+ python -m lidar_slam --result /working/result.json --no-model /working/19263b82-d54e-4276-9d33-1c75c134a9bd Lidar SLAM 0.0.16 ===================================================== The recording path: /working/19263b82-d54e-4276-9d33-1c75c134a9bd 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 0.019254154 Adjusted end_distance from 9.223372036854776e+18 to 1110.039254154 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.019254154 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [0, True] SLAMing on 0.079254154 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:0.06, Y:-0.00, Z:-0.00 [[ 0.9999978 -0.00209619 0. 0.0603516 ] [ 0.00209619 0.9999978 0. -0.00188033] [ 0. 0. 1. -0.00120307] [ 0. 0. 0. 1. ]] SLAMing on 0.139254154 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:0.12, Y:-0.00, Z:-0.00 [[ 9.99978796e-01 -6.51205295e-03 0.00000000e+00 1.20571005e-01] [ 6.51205295e-03 9.99978796e-01 0.00000000e+00 -1.18042059e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.36819432e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.199254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:0.18, Y:-0.00, Z:-0.00 [[ 9.99858564e-01 -1.68182158e-02 0.00000000e+00 1.82767669e-01] [ 1.68182158e-02 9.99858564e-01 0.00000000e+00 -3.40580867e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.98737964e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.259254154 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:0.25, Y:-0.01, Z:-0.00 [[ 0.99956339 -0.02954715 0. 0.24607144] [ 0.02954715 0.99956339 0. -0.00850441] [ 0. 0. 1. -0.00380031] [ 0. 0. 0. 1. ]] SLAMing on 0.319254154 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:0.31, Y:-0.01, Z:-0.00 [[ 0.99926237 -0.03840209 0. 0.30796137] [ 0.03840209 0.99926237 0. -0.00924442] [ 0. 0. 1. -0.0019708 ] [ 0. 0. 0. 1. ]] SLAMing on 0.379254154 meters Centerline goodness : 0.999543 with order 1 Centerline is valid? [True, True] Translation: X:0.37, Y:-0.01, Z:-0.00 [[ 0.99877588 -0.04946453 0. 0.37164402] [ 0.04946453 0.99877588 0. -0.01028355] [ 0. 0. 1. -0.00223198] [ 0. 0. 0. 1. ]] SLAMing on 0.439254154 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:0.43, Y:-0.01, Z:-0.00 [[ 0.99831345 -0.05805386 0. 0.43458266] [ 0.05805386 0.99831345 0. -0.01043797] [ 0. 0. 1. -0.00238695] [ 0. 0. 0. 1. ]] SLAMing on 0.499254154 meters Centerline goodness : 0.999545 with order 1 Centerline is valid? [True, True] Translation: X:0.50, Y:-0.01, Z:-0.00 [[ 0.99809318 -0.06172531 0. 0.49664407] [ 0.06172531 0.99809318 0. -0.00829222] [ 0. 0. 1. -0.00282646] [ 0. 0. 0. 1. ]] SLAMing on 0.559254154 meters Centerline goodness : 0.999436 with order 1 Centerline is valid? [True, True] Translation: X:0.56, Y:-0.00, Z:-0.00 [[ 0.99805318 -0.0623687 0. 0.5598103 ] [ 0.0623687 0.99805318 0. -0.00317882] [ 0. 0. 1. -0.00273963] [ 0. 0. 0. 1. ]] SLAMing on 0.619254154 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:0.62, Y:0.00, Z:-0.00 [[ 0.99838395 -0.05682852 0. 0.62287853] [ 0.05682852 0.99838395 0. 0.00412976] [ 0. 0. 1. -0.00195293] [ 0. 0. 0. 1. ]] SLAMing on 0.6792541539999999 meters Centerline goodness : 0.999174 with order 1 Centerline is valid? [True, True] Translation: X:0.68, Y:0.01, Z:-0.00 [[ 0.99871585 -0.05066214 0. 0.6846017 ] [ 0.05066214 0.99871585 0. 0.01244125] [ 0. 0. 1. -0.00122219] [ 0. 0. 0. 1. ]] SLAMing on 0.7392541539999999 meters Centerline goodness : 0.998890 with order 1 Centerline is valid? [True, True] Translation: X:0.75, Y:0.02, Z:-0.00 [[ 0.99886303 -0.0476723 0. 0.7475387 ] [ 0.0476723 0.99886303 0. 0.01868795] [ 0. 0. 1. -0.00184476] [ 0. 0. 0. 1. ]] SLAMing on 0.799254154 meters Centerline goodness : 0.998822 with order 1 Centerline is valid? [True, True] Translation: X:0.81, Y:0.02, Z:-0.00 [[ 0.99891958 -0.04647236 0. 0.81077413] [ 0.04647236 0.99891958 0. 0.02342278] [ 0. 0. 1. -0.00241829] [ 0. 0. 0. 1. ]] SLAMing on 0.8592541539999999 meters Centerline goodness : 0.998512 with order 1 Centerline is valid? [True, True] Translation: X:0.87, Y:0.03, Z:-0.00 [[ 0.9990966 -0.0424968 0. 0.87295044] [ 0.0424968 0.9990966 0. 0.03154084] [ 0. 0. 1. -0.0038804 ] [ 0. 0. 0. 1. ]] SLAMing on 0.9192541539999999 meters Centerline goodness : 0.997475 with order 1 Centerline is valid? [True, True] Translation: X:0.94, Y:0.04, Z:-0.01 [[ 0.99925934 -0.03848072 0. 0.93523085] [ 0.03848072 0.99925934 0. 0.03956842] [ 0. 0. 1. -0.00607453] [ 0. 0. 0. 1. ]] SLAMing on 0.9792541539999999 meters Centerline goodness : 0.996331 with order 1 Centerline is valid? [True, True] Translation: X:1.00, Y:0.05, Z:-0.01 [[ 0.99934901 -0.03607711 0. 0.99803549] [ 0.03607711 0.99934901 0. 0.04822813] [ 0. 0. 1. -0.00766638] [ 0. 0. 0. 1. ]] SLAMing on 1.039254154 meters Centerline goodness : 0.994666 with order 1 Centerline is valid? [True, True] Translation: X:1.06, Y:0.05, Z:-0.01 [[ 0.99945377 -0.03304788 0. 1.06114448] [ 0.03304788 0.99945377 0. 0.05476639] [ 0. 0. 1. -0.00864186] [ 0. 0. 0. 1. ]] SLAMing on 1.099254154 meters Centerline goodness : 0.992633 with order 1 Centerline is valid? [True, True] Translation: X:1.12, Y:0.06, Z:-0.01 [[ 0.99964143 -0.02677711 0. 1.12267834] [ 0.02677711 0.99964143 0. 0.06169168] [ 0. 0. 1. -0.00860769] [ 0. 0. 0. 1. ]] SLAMing on 1.1592541539999999 meters Centerline goodness : 0.989041 with order 1 Centerline is valid? [True, True] Translation: X:1.18, Y:0.07, Z:-0.01 [[ 0.9997499 -0.02236397 0. 1.18488147] [ 0.02236397 0.9997499 0. 0.06779133] [ 0. 0. 1. -0.00879215] [ 0. 0. 0. 1. ]] SLAMing on 1.219254154 meters Centerline goodness : 0.986188 with order 1 Centerline is valid? [True, True] Translation: X:1.25, Y:0.07, Z:-0.01 [[ 0.99976932 -0.02147814 0. 1.2471468 ] [ 0.02147814 0.99976932 0. 0.07278736] [ 0. 0. 1. -0.00912917] [ 0. 0. 0. 1. ]] SLAMing on 1.279254154 meters Centerline goodness : 0.982055 with order 1 Centerline is valid? [True, True] Translation: X:1.31, Y:0.08, Z:-0.01 [[ 0.99969816 -0.0245681 0. 1.30824729] [ 0.0245681 0.99969816 0. 0.07647212] [ 0. 0. 1. -0.00864332] [ 0. 0. 0. 1. ]] SLAMing on 1.3392541539999998 meters Centerline goodness : 0.978547 with order 1 Centerline is valid? [True, True] Translation: X:1.37, Y:0.08, Z:-0.01 [[ 0.9994142 -0.03422362 0. 1.37143556] [ 0.03422362 0.9994142 0. 0.07725946] [ 0. 0. 1. -0.01215048] [ 0. 0. 0. 1. ]] SLAMing on 1.3992541539999999 meters Centerline goodness : 0.969098 with order 1 Centerline is valid? [True, True] Translation: X:1.43, Y:0.07, Z:-0.00 [[ 0.99945698 -0.0329505 0. 1.43293909] [ 0.0329505 0.99945698 0. 0.07053702] [ 0. 0. 1. -0.00267717] [ 0. 0. 0. 1. ]] SLAMing on 1.459254154 meters Centerline goodness : 0.950855 with order 2 Centerline is valid? [True, True] Translation: X:1.50, Y:0.09, Z:-0.09 [[ 0.99872415 -0.05049819 0. 1.49664204] [ 0.05049819 0.99872415 0. 0.08714558] [ 0. 0. 1. -0.08920354] [ 0. 0. 0. 1. ]] SLAMing on 1.519254154 meters Centerline goodness : 0.957058 with order 2 Centerline is valid? [True, True] Translation: X:1.56, Y:0.08, Z:-0.08 [[ 0.99907527 -0.04299541 0. 1.56433046] [ 0.04299541 0.99907527 0. 0.08228441] [ 0. 0. 1. -0.08027563] [ 0. 0. 0. 1. ]] SLAMing on 1.579254154 meters Centerline goodness : 0.182924 with order 1 Centerline is valid? [True, False] Translation: X:1.57, Y:0.08, Z:-0.08 [[ 9.98940034e-01 -4.60137506e-02 -1.24235123e-03 1.56837261e+00] [ 4.60110445e-02 9.98938670e-01 -2.12537072e-03 7.83919132e-02] [ 1.33882897e-03 2.06595602e-03 9.99996970e-01 -8.17984684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6392541539999999 meters Centerline goodness : 0.168874 with order 1 Centerline is valid? [False, False] Translation: X:1.57, Y:0.07, Z:-0.08 [[ 0.99895151 -0.04378966 -0.01335441 1.56831022] [ 0.04385387 0.99902758 0.00455415 0.06811511] [ 0.013142 -0.00513502 0.99990045 -0.07940551] [ 0. 0. 0. 1. ]] SLAMing on 1.699254154 meters Centerline goodness : 0.171281 with order 1 Centerline is valid? [False, False] Translation: X:1.58, Y:0.07, Z:-0.08 [[ 0.99855065 -0.05040982 -0.01885335 1.57826634] [ 0.05035066 0.99872511 -0.00359994 0.06599539] [ 0.01901079 0.00264544 0.99981578 -0.07559043] [ 0. 0. 0. 1. ]] SLAMing on 1.759254154 meters Centerline goodness : 0.170064 with order 1 Centerline is valid? [False, False] Translation: X:1.59, Y:0.06, Z:-0.07 [[ 0.99813438 -0.05592073 -0.02450795 1.58949028] [ 0.05568057 0.99839473 -0.01037511 0.06045809] [ 0.0250488 0.00899114 0.9996458 -0.07180431] [ 0. 0. 0. 1. ]] SLAMing on 1.8192541539999998 meters Centerline goodness : 0.174426 with order 1 Centerline is valid? [False, False] Translation: X:1.60, Y:0.06, Z:-0.07 [[ 0.99782223 -0.05885945 -0.02977189 1.59977713] [ 0.05836 0.99814437 -0.01737613 0.05584396] [ 0.03073939 0.0156008 0.99940568 -0.06757949] [ 0. 0. 0. 1. ]] SLAMing on 1.8792541539999998 meters Centerline goodness : 0.175873 with order 1 Centerline is valid? [False, False] Translation: X:1.61, Y:0.04, Z:-0.07 [[ 0.9978785 -0.05530947 -0.03434181 1.60989515] [ 0.05488079 0.99840429 -0.01330297 0.04421965] [ 0.03502279 0.01139004 0.99932161 -0.06574933] [ 0. 0. 0. 1. ]] SLAMing on 1.939254154 meters Centerline goodness : 0.174223 with order 1 Centerline is valid? [False, False] Translation: X:1.61, Y:0.04, Z:-0.06 [[ 0.9978942 -0.05498917 -0.03439987 1.60999845] [ 0.05458667 0.99843038 -0.01253305 0.03774724] [ 0.03503506 0.01062888 0.99932956 -0.06443156] [ 0. 0. 0. 1. ]] SLAMing on 1.999254154 meters Centerline goodness : 0.171268 with order 1 Centerline is valid? [False, False] Translation: X:1.62, Y:0.03, Z:-0.06 [[ 0.99787355 -0.0522147 -0.03901295 1.61899958] [ 0.051944 0.99861858 -0.00792112 0.02717855] [ 0.03937266 0.00587779 0.99920731 -0.06092546] [ 0. 0. 0. 1. ]] SLAMing on 2.059254154 meters Centerline goodness : 0.168666 with order 1 Centerline is valid? [False, False] Translation: X:1.63, Y:0.02, Z:-0.06 [[ 0.99791756 -0.04674183 -0.04444932 1.63213355] [ 0.04659361 0.99890439 -0.00436519 0.01584023] [ 0.04460466 0.00228505 0.9990021 -0.05756996] [ 0. 0. 0. 1. ]] SLAMing on 2.119254154 meters Centerline goodness : 0.172170 with order 1 Centerline is valid? [False, False] Translation: X:1.65, Y:0.01, Z:-0.06 [[ 0.99821071 -0.04088924 -0.04362856 1.65484958] [ 0.04134762 0.99909816 0.00965601 0.00567562] [ 0.04319439 -0.01144267 0.99900116 -0.05875232] [ 0. 0. 0. 1. ]] SLAMing on 2.179254154 meters Centerline goodness : 0.181898 with order 1 Centerline is valid? [False, False] Translation: X:1.66, Y:0.00, Z:-0.06 [[ 9.98417915e-01 -3.37036564e-02 -4.50081091e-02 1.65758065e+00] [ 3.44312449e-02 9.99287031e-01 1.54893208e-02 6.90436264e-04] [ 4.44539729e-02 -1.70145007e-02 9.98866533e-01 -5.72795563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2392541539999997 meters Centerline goodness : 0.193773 with order 1 Centerline is valid? [False, False] Translation: X:1.69, Y:0.00, Z:-0.05 [[ 9.98856581e-01 -2.14332565e-02 -4.27334313e-02 1.68841858e+00] [ 2.14546332e-02 9.99769822e-01 4.16191981e-05 4.22429447e-03] [ 4.27227030e-02 -9.58401703e-04 9.99086509e-01 -4.88821246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2992541539999998 meters Centerline goodness : 0.118949 with order 1 Centerline is valid? [False, False] Translation: X:1.73, Y:0.01, Z:-0.04 [[ 0.99899985 -0.0145619 -0.04227596 1.73121009] [ 0.01445763 0.99989164 -0.00277105 0.0050025 ] [ 0.04231173 0.00215707 0.99910213 -0.04497853] [ 0. 0. 0. 1. ]] SLAMing on 2.359254154 meters Centerline goodness : 0.116914 with order 1 Centerline is valid? [False, False] Translation: X:1.79, Y:0.00, Z:-0.04 [[ 0.999025 -0.00867468 -0.04328735 1.79222992] [ 0.00847215 0.9999523 -0.00486006 0.00461763] [ 0.04332744 0.00448858 0.99905084 -0.04031961] [ 0. 0. 0. 1. ]] SLAMing on 2.419254154 meters Centerline goodness : 0.114951 with order 1 Centerline is valid? [False, False] Translation: X:1.85, Y:0.00, Z:-0.04 [[ 0.99896534 -0.00946633 -0.04448193 1.85453155] [ 0.00920424 0.99993908 -0.00609322 0.00431319] [ 0.0445369 0.0056775 0.99899161 -0.03739411] [ 0. 0. 0. 1. ]] SLAMing on 2.479254154 meters Centerline goodness : 0.118081 with order 1 Centerline is valid? [False, False] Translation: X:1.92, Y:0.00, Z:-0.04 [[ 0.99888769 -0.01629411 -0.04424794 1.91512619] [ 0.01587248 0.99982537 -0.00986348 0.00385291] [ 0.04440093 0.00915019 0.99897189 -0.03554676] [ 0. 0. 0. 1. ]] SLAMing on 2.539254154 meters Centerline goodness : 0.118864 with order 1 Centerline is valid? [False, False] Translation: X:1.94, Y:0.00, Z:-0.04 [[ 9.98854608e-01 -2.31903453e-02 -4.18530693e-02 1.94101732e+00] [ 2.28569307e-02 9.99703226e-01 -8.42739690e-03 1.25472056e-03] [ 4.20360826e-02 7.46111153e-03 9.99088234e-01 -3.86512093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.599254154 meters Centerline goodness : 0.106367 with order 1 Centerline is valid? [False, False] Translation: X:2.01, Y:0.00, Z:-0.03 [[ 0.99833971 -0.03662755 -0.04445497 2.00523903] [ 0.03624982 0.99929973 -0.00927377 0.00246916] [ 0.04476351 0.00764689 0.99896834 -0.03487712] [ 0. 0. 0. 1. ]] SLAMing on 2.6592541539999996 meters Centerline goodness : 0.863718 with order 2 Centerline is valid? [False, False] Translation: X:2.07, Y:0.01, Z:-0.03 [[ 0.99771091 -0.04840978 -0.04721685 2.06910995] [ 0.04800414 0.99880015 -0.00968811 0.00511778] [ 0.04762919 0.00739933 0.99883768 -0.03261485] [ 0. 0. 0. 1. ]] SLAMing on 2.7192541539999997 meters Centerline goodness : 0.884636 with order 2 Centerline is valid? [False, False] Translation: X:2.09, Y:0.00, Z:-0.04 [[ 9.97753103e-01 -5.02919315e-02 -4.42658610e-02 2.08847040e+00] [ 5.01653291e-02 9.98733049e-01 -3.96696834e-03 2.92870768e-03] [ 4.44092848e-02 1.73744348e-03 9.99011910e-01 -3.58524202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7792541539999998 meters Centerline goodness : 0.894695 with order 3 Centerline is valid? [False, False] Translation: X:2.15, Y:0.01, Z:-0.03 [[ 0.99738546 -0.05358521 -0.04848586 2.14624808] [ 0.05335482 0.99855738 -0.00603446 0.00921698] [ 0.04873927 0.00343173 0.99880564 -0.03470795] [ 0. 0. 0. 1. ]] SLAMing on 2.839254154 meters Centerline goodness : 0.113614 with order 1 Centerline is valid? [False, False] Translation: X:2.17, Y:0.01, Z:-0.04 [[ 9.97244325e-01 -5.39226707e-02 -5.09519500e-02 2.17321445e+00] [ 5.37903954e-02 9.98544378e-01 -3.96477614e-03 1.44162037e-02] [ 5.10915745e-02 1.21312497e-03 9.98693236e-01 -3.63279796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.899254154 meters Centerline goodness : 0.903967 with order 1 Centerline is valid? [False, False] Translation: X:2.24, Y:0.03, Z:-0.04 [[ 0.99739275 -0.05121741 -0.05083785 2.23668621] [ 0.0509378 0.9986788 -0.00678132 0.03006284] [ 0.051118 0.00417407 0.9986839 -0.03572219] [ 0. 0. 0. 1. ]] SLAMing on 2.959254154 meters Centerline goodness : 0.785667 with order 3 Centerline is valid? [False, False] Translation: X:2.25, Y:0.04, Z:-0.04 [[ 0.99768533 -0.04744217 -0.04871565 2.2549077 ] [ 0.0469952 0.99884221 -0.01028048 0.03728482] [ 0.04914698 0.00796728 0.99875978 -0.03996749] [ 0. 0. 0. 1. ]] SLAMing on 3.019254154 meters Centerline goodness : 0.108714 with order 1 Centerline is valid? [False, False] Translation: X:2.29, Y:0.05, Z:-0.04 [[ 0.99775074 -0.04214815 -0.05212482 2.29453708] [ 0.04141773 0.99902909 -0.01501497 0.04897315] [ 0.05270707 0.01282231 0.99852769 -0.03648404] [ 0. 0. 0. 1. ]] SLAMing on 3.079254154 meters Centerline goodness : 0.918512 with order 3 Centerline is valid? [False, False] Translation: X:2.32, Y:0.05, Z:-0.04 [[ 0.99786493 -0.03862502 -0.05266583 2.31855033] [ 0.03824179 0.99923433 -0.00826546 0.05264231] [ 0.05294475 0.00623378 0.99857799 -0.03823934] [ 0. 0. 0. 1. ]] SLAMing on 3.139254154 meters Centerline goodness : 0.931357 with order 2 Centerline is valid? [False, False] Translation: X:2.34, Y:0.06, Z:-0.04 [[ 0.99825658 -0.03116578 -0.05012484 2.3377999 ] [ 0.03076126 0.99948783 -0.00882172 0.06084475] [ 0.0503741 0.00726444 0.998704 -0.04154914] [ 0. 0. 0. 1. ]] SLAMing on 3.1992541539999997 meters Centerline goodness : 0.939996 with order 1 Centerline is valid? [False, False] Translation: X:2.36, Y:0.07, Z:-0.05 [[ 0.99863894 -0.02439265 -0.04610053 2.35567735] [ 0.02403345 0.99967645 -0.00832999 0.06723033] [ 0.0462888 0.0072107 0.99890207 -0.04568937] [ 0. 0. 0. 1. ]] SLAMing on 3.2592541539999997 meters Centerline goodness : 0.943330 with order 1 Centerline is valid? [False, False] Translation: X:2.38, Y:0.07, Z:-0.05 [[ 9.98812509e-01 -2.26682747e-02 -4.31244961e-02 2.37669488e+00] [ 2.26293561e-02 9.99742956e-01 -1.39048592e-03 6.79608420e-02] [ 4.31449312e-02 4.12955151e-04 9.99068739e-01 -4.74291259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.319254154 meters Centerline goodness : 0.947210 with order 1 Centerline is valid? [False, False] Translation: X:2.40, Y:0.07, Z:-0.05 [[ 9.98820147e-01 -2.54137835e-02 -4.13818112e-02 2.39824973e+00] [ 2.54934894e-02 9.99674009e-01 1.39945549e-03 6.84336836e-02] [ 4.13327556e-02 -2.45277111e-03 9.99142426e-01 -4.87834174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.379254154 meters Centerline goodness : 0.951307 with order 1 Centerline is valid? [False, True] Translation: X:2.41, Y:0.07, Z:-0.05 [[ 0.99899578 -0.02632214 -0.03625705 2.41145701] [ 0.02613529 0.99964263 -0.00561771 0.07016876] [ 0.03639196 0.00466448 0.99932671 -0.05197422] [ 0. 0. 0. 1. ]] SLAMing on 3.439254154 meters Centerline goodness : 0.954519 with order 1 Centerline is valid? [True, True] Translation: X:2.47, Y:0.07, Z:-0.04 [[ 9.98429552e-01 -4.25219150e-02 -3.64735047e-02 2.47212117e+00] [ 4.24480910e-02 9.99094760e-01 -2.79638456e-03 6.71722248e-02] [ 3.65593951e-02 1.24376234e-03 9.99330708e-01 -3.72115061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.499254154 meters Centerline goodness : 0.959018 with order 1 Centerline is valid? [True, True] Translation: X:2.53, Y:0.07, Z:-0.03 [[ 9.98111035e-01 -4.94373039e-02 -3.64734799e-02 2.53115875e+00] [ 4.93680779e-02 9.98776737e-01 -2.79670857e-03 7.16788625e-02] [ 3.65671250e-02 9.90800084e-04 9.99330708e-01 -3.28469471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.559254154 meters Centerline goodness : 0.961353 with order 1 Centerline is valid? [True, True] Translation: X:2.59, Y:0.07, Z:-0.03 [[ 9.97734163e-01 -5.65352552e-02 -3.64733361e-02 2.58939442e+00] [ 5.64706975e-02 9.98400335e-01 -2.79858174e-03 7.06430376e-02] [ 3.65732095e-02 7.32565882e-04 9.99330708e-01 -2.71077853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6192541539999996 meters Centerline goodness : 0.963995 with order 1 Centerline is valid? [True, True] Translation: X:2.65, Y:0.07, Z:-0.03 [[ 9.97995737e-01 -5.17128533e-02 -3.64731370e-02 2.65028241e+00] [ 5.16449822e-02 9.98661579e-01 -2.80117482e-03 7.10361620e-02] [ 3.65691773e-02 9.11906016e-04 9.99330708e-01 -2.96774509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6792541539999997 meters Centerline goodness : 0.968076 with order 1 Centerline is valid? [True, True] Translation: X:2.71, Y:0.07, Z:-0.03 [[ 9.97998724e-01 -5.16551579e-02 -3.64731709e-02 2.71019142e+00] [ 5.15872644e-02 9.98664563e-01 -2.80073324e-03 6.60567567e-02] [ 3.65691356e-02 9.13577090e-04 9.99330708e-01 -3.22138370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7392541539999997 meters Centerline goodness : 0.970266 with order 1 Centerline is valid? [True, True] Translation: X:2.77, Y:0.07, Z:-0.03 [[ 9.98015426e-01 -5.13314703e-02 -3.64731476e-02 2.76957098e+00] [ 5.12633499e-02 9.98681242e-01 -2.80103656e-03 7.12403270e-02] [ 3.65688297e-02 9.25741969e-04 9.99330708e-01 -3.01733370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7992541539999998 meters Centerline goodness : 0.974709 with order 1 Centerline is valid? [True, True] Translation: X:2.83, Y:0.07, Z:-0.04 [[ 9.98033438e-01 -5.09801326e-02 -3.64730484e-02 2.83013378e+00] [ 5.09117306e-02 9.98699225e-01 -2.80232754e-03 6.52106146e-02] [ 3.65684682e-02 9.39910570e-04 9.99330708e-01 -3.53070257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.859254154 meters Centerline goodness : 0.975989 with order 1 Centerline is valid? [True, True] Translation: X:2.89, Y:0.07, Z:-0.03 [[ 9.98365750e-01 -4.39949121e-02 -3.64729488e-02 2.88781445e+00] [ 4.39218054e-02 9.99031038e-01 -2.80362374e-03 6.91009619e-02] [ 3.65609531e-02 1.19708416e-03 9.99330708e-01 -2.52749725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.919254154 meters Centerline goodness : 0.977553 with order 1 Centerline is valid? [True, True] Translation: X:2.95, Y:0.06, Z:0.00 [[ 9.98095816e-01 -4.97441794e-02 -3.64727029e-02 2.94792981e+00] [ 4.96747890e-02 9.98761502e-01 -2.80681833e-03 6.25758981e-02] [ 3.65671544e-02 9.89699810e-04 9.99330708e-01 8.60010668e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.979254154 meters Centerline goodness : 0.980184 with order 1 Centerline is valid? [True, True] Translation: X:3.01, Y:0.06, Z:0.00 [[ 9.98093770e-01 -4.97852109e-02 -3.64727078e-02 3.00768794e+00] [ 4.97158501e-02 9.98759459e-01 -2.80675527e-03 5.65857746e-02] [ 3.65671968e-02 9.88133277e-04 9.99330708e-01 6.99538139e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.039254154 meters Centerline goodness : 0.982405 with order 1 Centerline is valid? [True, True] Translation: X:3.07, Y:0.05, Z:-0.03 [[ 9.98060277e-01 -5.04526820e-02 -3.64720394e-02 3.06916257e+00] [ 5.03834503e-02 9.98725979e-01 -2.81541411e-03 5.30114710e-02] [ 3.65676184e-02 9.72365802e-04 9.99330708e-01 -2.59501143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0992541540000005 meters Centerline goodness : 0.983714 with order 1 Centerline is valid? [True, True] Translation: X:3.13, Y:0.04, Z:0.00 [[ 9.97606849e-01 -5.87398151e-02 -3.64720246e-02 3.12924857e+00] [ 5.86761074e-02 9.98273102e-01 -2.81560614e-03 4.45022763e-02] [ 3.65744293e-02 6.68831540e-04 9.99330708e-01 4.06624268e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.159254154 meters Centerline goodness : 0.985818 with order 1 Centerline is valid? [True, True] Translation: X:3.19, Y:0.04, Z:0.01 [[ 9.97242711e-01 -6.46279110e-02 -3.64720241e-02 3.18881458e+00] [ 6.45681373e-02 9.97909329e-01 -2.81561145e-03 4.16933075e-02] [ 3.65777402e-02 4.52917329e-04 9.99330708e-01 6.74741992e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.219254154000001 meters Centerline goodness : 0.987175 with order 1 Centerline is valid? [True, True] Translation: X:3.25, Y:0.03, Z:0.01 [[ 9.96762816e-01 -7.16500406e-02 -3.64713538e-02 3.24794593e+00] [ 7.15946467e-02 9.97429812e-01 -2.82426826e-03 3.35050182e-02] [ 3.65799745e-02 2.03971899e-04 9.99330708e-01 7.67973065e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.279254154 meters Centerline goodness : 0.988590 with order 1 Centerline is valid? [True, True] Translation: X:3.31, Y:0.03, Z:0.01 [[ 9.96454152e-01 -7.58222897e-02 -3.64705934e-02 3.30708861e+00] [ 7.57693305e-02 9.97121345e-01 -2.83405284e-03 3.06992567e-02] [ 3.65804916e-02 6.06512712e-05 9.99330708e-01 9.27371165e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.339254154000001 meters Centerline goodness : 0.990820 with order 1 Centerline is valid? [True, True] Translation: X:3.37, Y:0.03, Z:0.01 [[ 9.96073843e-01 -8.06650071e-02 -3.64699323e-02 3.36531718e+00] [ 8.06149810e-02 9.96741263e-01 -2.84253546e-03 2.58303560e-02] [ 3.65803795e-02 -1.08647685e-04 9.99330708e-01 1.02306856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.399254154 meters Centerline goodness : 0.992303 with order 1 Centerline is valid? [True, True] Translation: X:3.42, Y:0.02, Z:0.01 [[ 9.95783796e-01 -8.41700166e-02 -3.64696996e-02 3.42362907e+00] [ 8.41222305e-02 9.96451380e-01 -2.84551719e-03 2.14012682e-02] [ 3.65797898e-02 -2.34392570e-04 9.99330708e-01 1.29986110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.459254154 meters Centerline goodness : 0.992785 with order 1 Centerline is valid? [True, True] Translation: X:3.48, Y:0.02, Z:0.02 [[ 9.95659676e-01 -8.56260755e-02 -3.64689619e-02 3.48249012e+00] [ 8.55789206e-02 9.96327304e-01 -2.85494159e-03 2.03775813e-02] [ 3.65794799e-02 -2.78424173e-04 9.99330708e-01 1.60140128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.519254154 meters Centerline goodness : 0.993594 with order 1 Centerline is valid? [True, True] Translation: X:3.54, Y:0.02, Z:0.02 [[ 9.95549634e-01 -8.68964221e-02 -3.64683224e-02 3.54063112e+00] [ 8.68498206e-02 9.96217301e-01 -2.86308639e-03 1.95882644e-02] [ 3.65791657e-02 -3.16922657e-04 9.99330708e-01 1.80547393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.579254154 meters Centerline goodness : 0.994518 with order 1 Centerline is valid? [True, True] Translation: X:3.60, Y:0.02, Z:0.02 [[ 9.95611113e-01 -8.61894737e-02 -3.64675966e-02 3.59864800e+00] [ 8.61420607e-02 9.96278724e-01 -2.87230172e-03 2.10196184e-02] [ 3.65794528e-02 -2.81698406e-04 9.99330708e-01 1.92040668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6392541540000005 meters Centerline goodness : 0.994836 with order 1 Centerline is valid? [True, True] Translation: X:3.66, Y:0.03, Z:0.02 [[ 9.95596100e-01 -8.63628156e-02 -3.64673731e-02 3.65709591e+00] [ 8.63154150e-02 9.96263711e-01 -2.87513679e-03 2.50029586e-02] [ 3.65794254e-02 -2.85221463e-04 9.99330708e-01 2.20974884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.699254154 meters Centerline goodness : 0.995371 with order 1 Centerline is valid? [True, True] Translation: X:3.72, Y:0.03, Z:0.03 [[ 9.95494826e-01 -8.75227289e-02 -3.64667456e-02 3.71552980e+00] [ 8.74758154e-02 9.96162471e-01 -2.88307338e-03 2.77144865e-02] [ 3.65791379e-02 -3.19873676e-04 9.99330708e-01 2.85282155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.759254154000001 meters Centerline goodness : 0.996021 with order 1 Centerline is valid? [True, True] Translation: X:3.77, Y:0.03, Z:0.03 [[ 9.95303368e-01 -8.96740208e-02 -3.64660998e-02 3.77408123e+00] [ 8.96282519e-02 9.95971093e-01 -2.89121933e-03 3.05582702e-02] [ 3.65784485e-02 -3.90752443e-04 9.99330708e-01 3.21528497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.819254154 meters Centerline goodness : 0.996692 with order 1 Centerline is valid? [True, True] Translation: X:3.83, Y:0.03, Z:0.04 [[ 9.95025360e-01 -9.27081570e-02 -3.64654590e-02 3.83262664e+00] [ 9.26641289e-02 9.95693202e-01 -2.89927840e-03 3.46660615e-02] [ 3.65771964e-02 -4.94184460e-04 9.99330708e-01 3.52382346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.879254154 meters Centerline goodness : 0.996660 with order 1 Centerline is valid? [True, True] Translation: X:3.89, Y:0.04, Z:0.04 [[ 9.95065007e-01 -9.22819017e-02 -3.64648248e-02 3.89015423e+00] [ 9.22372960e-02 9.95732810e-01 -2.90723345e-03 4.12616968e-02] [ 3.65775075e-02 -4.70530564e-04 9.99330708e-01 3.65267184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.939254154 meters Centerline goodness : 0.997195 with order 1 Centerline is valid? [True, True] Translation: X:3.95, Y:0.05, Z:0.04 [[ 9.95224272e-01 -9.05482291e-02 -3.64646015e-02 3.94762390e+00] [ 9.05023575e-02 9.95891990e-01 -2.91003177e-03 4.87610451e-02] [ 3.65783027e-02 -4.03998152e-04 9.99330708e-01 3.94930280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.999254154 meters Centerline goodness : 0.997439 with order 1 Centerline is valid? [True, True] Translation: X:4.00, Y:0.06, Z:0.04 [[ 9.95503785e-01 -8.74219564e-02 -3.64638945e-02 4.00476194e+00] [ 8.73736645e-02 9.96171332e-01 -2.91886281e-03 5.88580589e-02] [ 3.65794591e-02 -2.80245113e-04 9.99330708e-01 4.37717338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.0592541540000004 meters Centerline goodness : 0.997957 with order 1 Centerline is valid? [True, True] Translation: X:4.06, Y:0.07, Z:0.05 [[ 9.95554611e-01 -8.68413741e-02 -3.64635635e-02 4.06304320e+00] [ 8.67925416e-02 9.96222119e-01 -2.92299199e-03 7.08335060e-02] [ 3.65796452e-02 -2.54767204e-04 9.99330708e-01 4.81271491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.119254154 meters Centerline goodness : 0.998258 with order 1 Centerline is valid? [True, True] Translation: X:4.12, Y:0.08, Z:0.05 [[ 9.95472440e-01 -8.77785501e-02 -3.64629602e-02 4.12120770e+00] [ 8.77300711e-02 9.96139974e-01 -2.93049862e-03 8.01352466e-02] [ 3.65794472e-02 -2.81667486e-04 9.99330708e-01 5.04884768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1792541540000006 meters Centerline goodness : 0.998064 with order 1 Centerline is valid? [True, True] Translation: X:4.18, Y:0.09, Z:0.05 [[ 9.95218110e-01 -9.06168283e-02 -3.64623608e-02 4.17882831e+00] [ 9.05699804e-02 9.95885760e-01 -2.93793830e-03 9.05695293e-02] [ 3.65785725e-02 -3.78505899e-04 9.99330708e-01 5.26693766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.239254154 meters Centerline goodness : 0.998662 with order 1 Centerline is valid? [True, True] Translation: X:4.24, Y:0.10, Z:0.06 [[ 9.94993713e-01 -9.30486718e-02 -3.64617080e-02 4.23606873e+00] [ 9.30031597e-02 9.95661455e-01 -2.94601763e-03 1.02541677e-01] [ 3.65776403e-02 -4.59785030e-04 9.99330708e-01 5.57256253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.299254154 meters Centerline goodness : 0.998721 with order 1 Centerline is valid? [True, True] Translation: X:4.29, Y:0.11, Z:0.06 [[ 9.94900181e-01 -9.40435515e-02 -3.64614781e-02 4.29411962e+00] [ 9.39986029e-02 9.95567962e-01 -2.94886029e-03 1.12315356e-01] [ 3.65772007e-02 -4.93506365e-04 9.99330708e-01 5.92795839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.359254154 meters Centerline goodness : 0.999014 with order 1 Centerline is valid? [True, True] Translation: X:4.35, Y:0.13, Z:0.06 [[ 9.94961674e-01 -9.33909764e-02 -3.64608370e-02 4.35185775e+00] [ 9.33453001e-02 9.95629405e-01 -2.95676589e-03 1.25595585e-01] [ 3.65776167e-02 -4.61579039e-04 9.99330708e-01 6.47932380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.419254154 meters Centerline goodness : 0.998742 with order 1 Centerline is valid? [True, True] Translation: X:4.41, Y:0.14, Z:0.07 [[ 9.95483047e-01 -8.76593261e-02 -3.64602020e-02 4.40885694e+00] [ 8.76095190e-02 9.96150482e-01 -2.96457594e-03 1.41449526e-01] [ 3.65797205e-02 -2.43075675e-04 9.99330709e-01 6.76753495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.479254154 meters Centerline goodness : 0.998675 with order 1 Centerline is valid? [True, True] Translation: X:4.47, Y:0.15, Z:0.07 [[ 9.96006584e-01 -8.14956859e-02 -3.64600967e-02 4.46715240e+00] [ 8.14417011e-02 9.96673694e-01 -2.96587027e-03 1.54070630e-01] [ 3.65805249e-02 -1.53459812e-05 9.99330709e-01 6.97993023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.539254154 meters Centerline goodness : 0.999220 with order 1 Centerline is valid? [True, True] Translation: X:4.52, Y:0.17, Z:0.07 [[ 9.96736378e-01 -7.20229049e-02 -3.64594750e-02 4.52481404e+00] [ 7.19623015e-02 9.97402920e-01 -2.97349316e-03 1.70100674e-01] [ 3.65789464e-02 3.40081074e-04 9.99330709e-01 7.20880697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5992541540000005 meters Centerline goodness : 0.998879 with order 1 Centerline is valid? [True, True] Translation: X:4.58, Y:0.19, Z:0.08 [[ 9.97151441e-01 -6.60284407e-02 -3.64588600e-02 4.58364317e+00] [ 6.59635556e-02 9.97817580e-01 -2.98101444e-03 1.85060130e-01] [ 3.65761232e-02 5.67566802e-04 9.99330709e-01 7.89821423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.659254154 meters Centerline goodness : 0.999133 with order 1 Centerline is valid? [True, True] Translation: X:4.64, Y:0.20, Z:0.08 [[ 9.97269005e-01 -6.42283655e-02 -3.64588600e-02 4.64210452e+00] [ 6.41622780e-02 9.97935026e-01 -2.98101444e-03 1.95486874e-01] [ 3.65750391e-02 6.33589788e-04 9.99330709e-01 8.14562671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.719254154000001 meters Centerline goodness : 0.999009 with order 1 Centerline is valid? [True, True] Translation: X:4.70, Y:0.21, Z:0.08 [[ 9.97254366e-01 -6.44553297e-02 -3.64587519e-02 4.69982933e+00] [ 6.43893455e-02 9.97920397e-01 -2.98233581e-03 2.06881168e-01] [ 3.65751596e-02 6.26592231e-04 9.99330709e-01 8.17779110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.779254154 meters Centerline goodness : 0.999069 with order 1 Centerline is valid? [True, True] Translation: X:4.76, Y:0.22, Z:0.08 [[ 9.97165852e-01 -6.58106038e-02 -3.64585923e-02 4.75916853e+00] [ 6.57454536e-02 9.97831964e-01 -2.98428566e-03 2.17866283e-01] [ 3.65759465e-02 5.78841061e-04 9.99330709e-01 8.34206916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.839254154 meters Centerline goodness : 0.998941 with order 1 Centerline is valid? [True, True] Translation: X:4.82, Y:0.23, Z:0.09 [[ 9.97023557e-01 -6.79323652e-02 -3.64584843e-02 4.81891459e+00] [ 6.78685843e-02 9.97689802e-01 -2.98560464e-03 2.26815636e-01] [ 3.65770772e-02 5.02332437e-04 9.99330709e-01 8.64318239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.899254154 meters Centerline goodness : 0.998856 with order 1 Centerline is valid? [True, True] Translation: X:4.88, Y:0.24, Z:0.09 [[ 9.96674153e-01 -7.28794352e-02 -3.64584843e-02 4.87950761e+00] [ 7.28189616e-02 9.97340707e-01 -2.98560464e-03 2.36939445e-01] [ 3.65791197e-02 3.20806004e-04 9.99330709e-01 8.95924314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.959254154 meters Centerline goodness : 0.998834 with order 1 Centerline is valid? [True, True] Translation: X:4.94, Y:0.25, Z:0.09 [[ 9.96275460e-01 -7.81407592e-02 -3.64585950e-02 4.94109993e+00] [ 7.80838552e-02 9.96942328e-01 -2.98425267e-03 2.45455721e-01] [ 3.65803083e-02 1.26310057e-04 9.99330709e-01 9.18963810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.019254154 meters Centerline goodness : 0.998897 with order 1 Centerline is valid? [True, True] Translation: X:5.00, Y:0.25, Z:0.09 [[ 9.96189058e-01 -7.92345573e-02 -3.64588136e-02 5.00247060e+00] [ 7.91784833e-02 9.96855997e-01 -2.98157962e-03 2.53174903e-01] [ 3.65804311e-02 8.34634256e-05 9.99330709e-01 9.43666571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.079254154 meters Centerline goodness : 0.998873 with order 1 Centerline is valid? [True, True] Translation: X:5.06, Y:0.26, Z:0.10 [[ 9.96458881e-01 -7.57656783e-02 -3.64590333e-02 5.06367587e+00] [ 7.57073810e-02 9.97125628e-01 -2.97889033e-03 2.62757053e-01] [ 3.65799341e-02 2.08123799e-04 9.99330709e-01 9.79788851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.1392541540000005 meters Centerline goodness : 0.998952 with order 1 Centerline is valid? [True, True] Translation: X:5.13, Y:0.27, Z:0.10 [[ 9.96885528e-01 -6.99283001e-02 -3.64592514e-02 5.12561652e+00] [ 6.98661965e-02 9.97551932e-01 -2.97621869e-03 2.71475592e-01] [ 3.65781186e-02 4.19680113e-04 9.99330709e-01 9.99710969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.199254154 meters Centerline goodness : 0.999016 with order 1 Centerline is valid? [True, True] Translation: X:5.19, Y:0.28, Z:0.10 [[ 9.97210977e-01 -6.51227646e-02 -3.64594660e-02 5.18744584e+00] [ 6.50575459e-02 9.97877083e-01 -2.97358750e-03 2.79533291e-01] [ 3.65757138e-02 5.93330715e-04 9.99330709e-01 1.01737869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.259254154000001 meters Centerline goodness : 0.998930 with order 1 Centerline is valid? [True, True] Translation: X:5.25, Y:0.29, Z:0.10 [[ 9.97300608e-01 -6.37352985e-02 -3.64596873e-02 5.24787872e+00] [ 6.36692524e-02 9.97966633e-01 -2.97087110e-03 2.85920326e-01] [ 3.65749008e-02 6.41490515e-04 9.99330709e-01 1.01771423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.319254154 meters Centerline goodness : 0.999034 with order 1 Centerline is valid? [True, True] Translation: X:5.31, Y:0.29, Z:0.10 [[ 9.97307870e-01 -6.36215413e-02 -3.64597415e-02 5.30872192e+00] [ 6.35554436e-02 9.97973889e-01 -2.97020585e-03 2.92186223e-01] [ 3.65748391e-02 6.44994623e-04 9.99330709e-01 1.01982211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.379254154 meters Centerline goodness : 0.998993 with order 1 Centerline is valid? [True, True] Translation: X:5.37, Y:0.30, Z:0.10 [[ 9.97208503e-01 -6.51604178e-02 -3.64598490e-02 5.36847483e+00] [ 6.50953962e-02 9.97874629e-01 -2.96888604e-03 2.98604791e-01] [ 3.65758122e-02 5.87230090e-04 9.99330709e-01 1.02674456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.439254154 meters Centerline goodness : 0.999163 with order 1 Centerline is valid? [True, True] Translation: X:5.43, Y:0.31, Z:0.11 [[ 9.97025400e-01 -6.79045397e-02 -3.64599019e-02 5.42974725e+00] [ 6.78413753e-02 9.97691705e-01 -2.96823645e-03 3.05017213e-01] [ 3.65772984e-02 4.85917251e-04 9.99330709e-01 1.05543645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.499254154 meters Centerline goodness : 0.999249 with order 1 Centerline is valid? [True, True] Translation: X:5.49, Y:0.31, Z:0.11 [[ 9.96767621e-01 -7.15889428e-02 -3.64600092e-02 5.49029504e+00] [ 7.15282896e-02 9.97434159e-01 -2.96691803e-03 3.10368597e-01] [ 3.65788571e-02 3.49405737e-04 9.99330709e-01 1.08534209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.5592541540000004 meters Centerline goodness : 0.999166 with order 1 Centerline is valid? [True, True] Translation: X:5.55, Y:0.32, Z:0.11 [[ 9.96174621e-01 -7.94152936e-02 -3.64600626e-02 5.55251417e+00] [ 7.93599012e-02 9.96841616e-01 -2.96626192e-03 3.15616713e-01] [ 3.65804742e-02 6.14478804e-05 9.99330709e-01 1.12964621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.619254154 meters Centerline goodness : 0.999083 with order 1 Centerline is valid? [True, True] Translation: X:5.61, Y:0.32, Z:0.12 [[ 9.95755826e-01 -8.45043299e-02 -3.64602856e-02 5.61412698e+00] [ 8.44524468e-02 9.96423104e-01 -2.96351726e-03 3.20581748e-01] [ 3.65803010e-02 -1.28220755e-04 9.99330709e-01 1.15979303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6792541540000006 meters Centerline goodness : 0.999081 with order 1 Centerline is valid? [True, True] Translation: X:5.68, Y:0.33, Z:0.12 [[ 9.95161052e-01 -9.12420496e-02 -3.64605069e-02 5.67628630e+00] [ 9.11947839e-02 9.95828673e-01 -2.96079305e-03 3.25860772e-01] [ 3.65785670e-02 -3.78542123e-04 9.99330709e-01 1.18315277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.739254154 meters Centerline goodness : 0.999168 with order 1 Centerline is valid? [True, True] Translation: X:5.74, Y:0.33, Z:0.12 [[ 9.94803518e-01 -9.50609045e-02 -3.64607280e-02 5.73907711e+00] [ 9.50163014e-02 9.95471322e-01 -2.95806762e-03 3.31135568e-01] [ 3.65768057e-02 -5.21667442e-04 9.99330709e-01 1.19605893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.799254154 meters Centerline goodness : 0.999102 with order 1 Centerline is valid? [True, True] Translation: X:5.80, Y:0.34, Z:0.12 [[ 9.94538459e-01 -9.77949113e-02 -3.64610569e-02 5.79975806e+00] [ 9.77522928e-02 9.95206392e-01 -2.95400813e-03 3.38082755e-01] [ 3.65751638e-02 -6.26277209e-04 9.99330709e-01 1.19014872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.859254154 meters Centerline goodness : 0.999122 with order 1 Centerline is valid? [True, True] Translation: X:5.86, Y:0.35, Z:0.12 [[ 9.94530720e-01 -9.78734973e-02 -3.64612893e-02 5.86122870e+00] [ 9.78310367e-02 9.95198663e-01 -2.95113643e-03 3.46552034e-01] [ 3.65750644e-02 -6.32049899e-04 9.99330709e-01 1.21977846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.919254154 meters Centerline goodness : 0.999442 with order 1 Centerline is valid? [True, True] Translation: X:5.92, Y:0.36, Z:0.13 [[ 9.94932417e-01 -9.37018860e-02 -3.64615273e-02 5.92396941e+00] [ 9.36567325e-02 9.95600183e-01 -2.94819253e-03 3.56784679e-01] [ 3.65773545e-02 -4.81615191e-04 9.99330709e-01 1.25126235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.979254154 meters Centerline goodness : 0.999483 with order 1 Centerline is valid? [True, True] Translation: X:5.99, Y:0.37, Z:0.13 [[ 9.95322978e-01 -8.94578200e-02 -3.64618571e-02 5.98649633e+00] [ 8.94099686e-02 9.95990557e-01 -2.94410805e-03 3.66198860e-01] [ 3.65790389e-02 -3.29715114e-04 9.99330709e-01 1.27929656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.039254154 meters Centerline goodness : 0.999395 with order 1 Centerline is valid? [True, True] Translation: X:6.05, Y:0.38, Z:0.13 [[ 9.95734638e-01 -8.47528112e-02 -3.64621831e-02 6.04737341e+00] [ 8.47019534e-02 9.96401995e-01 -2.94006513e-03 3.77762189e-01] [ 3.65801708e-02 -1.60893448e-04 9.99330709e-01 1.31420170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0992541540000005 meters Centerline goodness : 0.999567 with order 1 Centerline is valid? [True, True] Translation: X:6.11, Y:0.39, Z:0.13 [[ 9.95810513e-01 -8.38565437e-02 -3.64623461e-02 6.10892681e+00] [ 8.38051593e-02 9.96477829e-01 -2.93804302e-03 3.88603170e-01] [ 3.65802936e-02 -1.29998600e-04 9.99330709e-01 1.33843647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.159254154 meters Centerline goodness : 0.999435 with order 1 Centerline is valid? [True, True] Translation: X:6.17, Y:0.40, Z:0.14 [[ 9.95756248e-01 -8.44983519e-02 -3.64626136e-02 6.17077704e+00] [ 8.44475193e-02 9.96423607e-01 -2.93471874e-03 3.97508350e-01] [ 3.65801879e-02 -1.56912745e-04 9.99330709e-01 1.36201957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.219254154 meters Centerline goodness : 0.999388 with order 1 Centerline is valid? [True, True] Translation: X:6.23, Y:0.41, Z:0.14 [[ 9.95847327e-01 -8.34179794e-02 -3.64628764e-02 6.23340109e+00] [ 8.33665425e-02 9.96514639e-01 -2.93145042e-03 4.09045080e-01] [ 3.65803258e-02 -1.20506867e-04 9.99330709e-01 1.38860978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.279254154 meters Centerline goodness : 0.999429 with order 1 Centerline is valid? [True, True] Translation: X:6.29, Y:0.42, Z:0.14 [[ 9.96026892e-01 -8.12457126e-02 -3.64632032e-02 6.29440892e+00] [ 8.11929694e-02 9.96694102e-01 -2.92737916e-03 4.20070620e-01] [ 3.65804966e-02 -4.48073811e-05 9.99330709e-01 1.41252715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.339254154 meters Centerline goodness : 0.999495 with order 1 Centerline is valid? [True, True] Translation: X:6.36, Y:0.43, Z:0.14 [[ 9.96117671e-01 -8.01249365e-02 -3.64634202e-02 6.35716476e+00] [ 8.00715416e-02 9.96784829e-01 -2.92467432e-03 4.29021893e-01] [ 3.65805234e-02 -6.36249703e-06 9.99330709e-01 1.43849188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.399254154 meters Centerline goodness : 0.999713 with order 1 Centerline is valid? [True, True] Translation: X:6.42, Y:0.44, Z:0.15 [[ 9.96032068e-01 -8.11819805e-02 -3.64637458e-02 6.41888035e+00] [ 8.11294425e-02 9.96699294e-01 -2.92060877e-03 4.38270644e-01] [ 3.65804905e-02 -4.92633732e-05 9.99330709e-01 1.45116743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.459254154 meters Centerline goodness : 0.999779 with order 1 Centerline is valid? [True, True] Translation: X:6.48, Y:0.45, Z:0.15 [[ 9.95867688e-01 -8.31740524e-02 -3.64640129e-02 6.48118674e+00] [ 8.31229713e-02 9.96535028e-01 -2.91727003e-03 4.47491485e-01] [ 3.65803073e-02 -1.25782143e-04 9.99330709e-01 1.46509648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.519254154 meters Centerline goodness : 0.999668 with order 1 Centerline is valid? [True, True] Translation: X:6.54, Y:0.45, Z:0.15 [[ 9.95586312e-01 -8.64768677e-02 -3.64643313e-02 6.54260249e+00] [ 8.64281463e-02 9.96253827e-01 -2.91328528e-03 4.52864215e-01] [ 3.65796614e-02 -2.51117614e-04 9.99330709e-01 1.48336690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.579254154 meters Centerline goodness : 0.999646 with order 1 Centerline is valid? [True, True] Translation: X:6.61, Y:0.46, Z:0.15 [[ 9.95000787e-01 -9.29718620e-02 -3.64645933e-02 6.60515770e+00] [ 9.29276179e-02 9.95668614e-01 -2.91000196e-03 4.58479170e-01] [ 3.65771994e-02 -4.93113558e-04 9.99330709e-01 1.51011123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.6392541540000005 meters Centerline goodness : 0.999646 with order 1 Centerline is valid? [True, True] Translation: X:6.67, Y:0.46, Z:0.15 [[ 9.94461263e-01 -9.85753898e-02 -3.64649064e-02 6.66831544e+00] [ 9.85350524e-02 9.95129337e-01 -2.90607390e-03 4.61009220e-01] [ 3.65737655e-02 -7.03093544e-04 9.99330709e-01 1.50678792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.699254154 meters Centerline goodness : 0.999713 with order 1 Centerline is valid? [True, True] Translation: X:6.73, Y:0.46, Z:0.15 [[ 9.93979942e-01 -1.03315835e-01 -3.64652232e-02 6.73058633e+00] [ 1.03278829e-01 9.94648210e-01 -2.90209243e-03 4.64130339e-01] [ 3.65699011e-02 -8.81463892e-04 9.99330709e-01 1.50593558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.759254154 meters Centerline goodness : 0.999515 with order 1 Centerline is valid? [True, True] Translation: X:6.79, Y:0.47, Z:0.15 [[ 9.93934817e-01 -1.03748985e-01 -3.64654318e-02 6.79387728e+00] [ 1.03712366e-01 9.94603106e-01 -2.89946887e-03 4.68997540e-01] [ 3.65694487e-02 -9.00033164e-04 9.99330709e-01 1.53072438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.819254154 meters Centerline goodness : 0.999736 with order 1 Centerline is valid? [True, True] Translation: X:6.86, Y:0.47, Z:0.16 [[ 9.94058113e-01 -1.02560796e-01 -3.64657459e-02 6.85533801e+00] [ 1.02523524e-01 9.94726366e-01 -2.89551361e-03 4.74161762e-01] [ 3.65704051e-02 -8.60287973e-04 9.99330709e-01 1.55462380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.879254154 meters Centerline goodness : 0.999736 with order 1 Centerline is valid? [True, True] Translation: X:6.92, Y:0.48, Z:0.16 [[ 9.94099044e-01 -1.02163031e-01 -3.64665117e-02 6.91853358e+00] [ 1.02125846e-01 9.94767301e-01 -2.88583619e-03 4.77729426e-01] [ 3.65705192e-02 -8.55366381e-04 9.99330709e-01 1.58537462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.939254154 meters Centerline goodness : 0.999649 with order 1 Centerline is valid? [True, True] Translation: X:6.98, Y:0.48, Z:0.16 [[ 9.94048697e-01 -1.02651631e-01 -3.64668290e-02 6.98145881e+00] [ 1.02614922e-01 9.94716981e-01 -2.88182156e-03 4.82261038e-01] [ 3.65699977e-02 -8.77369858e-04 9.99330709e-01 1.60316743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.999254154 meters Centerline goodness : 0.999649 with order 1 Centerline is valid? [True, True] Translation: X:7.04, Y:0.49, Z:0.16 [[ 9.93947483e-01 -1.03626968e-01 -3.64671424e-02 7.04407672e+00] [ 1.03591060e-01 9.94615810e-01 -2.87785092e-03 4.87340624e-01] [ 3.65690193e-02 -9.17237260e-04 9.99330709e-01 1.61757442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.059254154 meters Centerline goodness : 0.999626 with order 1 Centerline is valid? [True, True] Translation: X:7.11, Y:0.49, Z:0.16 [[ 9.93774747e-01 -1.05270493e-01 -3.64674540e-02 7.10649969e+00] [ 1.05235836e-01 9.94443140e-01 -2.87389668e-03 4.92400403e-01] [ 3.65673460e-02 -9.81677058e-04 9.99330709e-01 1.62455134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.119254154 meters Centerline goodness : 0.999736 with order 1 Centerline is valid? [True, True] Translation: X:7.17, Y:0.50, Z:0.16 [[ 9.93778600e-01 -1.05234046e-01 -3.64676666e-02 7.16741957e+00] [ 1.05199463e-01 9.94446997e-01 -2.87119652e-03 4.97441985e-01] [ 3.65673091e-02 -9.83045290e-04 9.99330709e-01 1.63287457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.179254154 meters Centerline goodness : 0.999714 with order 1 Centerline is valid? [True, True] Translation: X:7.23, Y:0.50, Z:0.16 [[ 9.94028304e-01 -1.02848485e-01 -3.64680773e-02 7.22904382e+00] [ 1.02812490e-01 9.94696626e-01 -2.86597073e-03 5.03262269e-01] [ 3.65694342e-02 -9.00517803e-04 9.99330709e-01 1.63433176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.239254154 meters Centerline goodness : 0.999691 with order 1 Centerline is valid? [True, True] Translation: X:7.29, Y:0.51, Z:0.17 [[ 9.94113901e-01 -1.02017720e-01 -3.64683058e-02 7.28942091e+00] [ 1.01981273e-01 9.94782199e-01 -2.86305943e-03 5.08940898e-01] [ 3.65701042e-02 -8.72877064e-04 9.99330709e-01 1.69534612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.299254154 meters Centerline goodness : 0.999604 with order 1 Centerline is valid? [True, True] Translation: X:7.35, Y:0.51, Z:0.17 [[ 9.94384696e-01 -9.93434817e-02 -3.64684774e-02 7.35146250e+00] [ 9.93053173e-02 9.95052898e-01 -2.86087245e-03 5.13666761e-01] [ 3.65722731e-02 -7.76705941e-04 9.99330709e-01 1.72806166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.359254154 meters Centerline goodness : 0.999713 with order 1 Centerline is valid? [True, True] Translation: X:7.41, Y:0.52, Z:0.18 [[ 9.94751672e-01 -9.55988841e-02 -3.64686838e-02 7.41395913e+00] [ 9.55583007e-02 9.95419731e-01 -2.85823808e-03 5.19024994e-01] [ 3.65748919e-02 -6.41648344e-04 9.99330709e-01 1.75087997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.419254154 meters Centerline goodness : 0.999757 with order 1 Centerline is valid? [True, True] Translation: X:7.48, Y:0.52, Z:0.18 [[ 9.95044979e-01 -9.24959527e-02 -3.64689943e-02 7.47666129e+00] [ 9.24534313e-02 9.95712919e-01 -2.85427152e-03 5.24508313e-01] [ 3.65766573e-02 -5.31555106e-04 9.99330709e-01 1.77492416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.479254154 meters Centerline goodness : 0.999624 with order 1 Centerline is valid? [True, True] Translation: X:7.54, Y:0.53, Z:0.18 [[ 9.95293637e-01 -8.97806558e-02 -3.64693035e-02 7.53804612e+00] [ 8.97364570e-02 9.95961467e-01 -2.85031542e-03 5.29358854e-01] [ 3.65779242e-02 -4.35725284e-04 9.99330709e-01 1.77353950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.539254154 meters Centerline goodness : 0.999713 with order 1 Centerline is valid? [True, True] Translation: X:7.60, Y:0.53, Z:0.18 [[ 9.95498626e-01 -8.74783569e-02 -3.64694746e-02 7.60134430e+00] [ 8.74326938e-02 9.96166358e-01 -2.84812400e-03 5.33304649e-01] [ 3.65788129e-02 -3.53320877e-04 9.99330709e-01 1.81156111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.599254154 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:7.66, Y:0.54, Z:0.18 [[ 9.95599787e-01 -8.63192683e-02 -3.64698212e-02 7.66465501e+00] [ 8.62729906e-02 9.96267476e-01 -2.84367887e-03 5.36716449e-01] [ 3.65791610e-02 -3.15194464e-04 9.99330709e-01 1.83767843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.659254154000001 meters Centerline goodness : 0.999758 with order 1 Centerline is valid? [True, True] Translation: X:7.73, Y:0.54, Z:0.18 [[ 9.95652972e-01 -8.57034912e-02 -3.64701295e-02 7.72719888e+00] [ 8.56569456e-02 9.96320643e-01 -2.83971934e-03 5.40715034e-01] [ 3.65793168e-02 -2.96544899e-04 9.99330709e-01 1.84733615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.719254154 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:7.79, Y:0.55, Z:0.19 [[ 9.95893830e-01 -8.28576232e-02 -3.64704376e-02 7.78892275e+00] [ 8.28093147e-02 9.96561376e-01 -2.83575765e-03 5.45424682e-01] [ 3.65799936e-02 -1.95978399e-04 9.99330709e-01 1.86641626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.779254154 meters Centerline goodness : 0.999669 with order 1 Centerline is valid? [True, True] Translation: X:7.85, Y:0.55, Z:0.19 [[ 9.96153327e-01 -7.96771000e-02 -3.64706464e-02 7.85009984e+00] [ 7.96267586e-02 9.96820723e-01 -2.83307013e-03 5.50931381e-01] [ 3.65804269e-02 -8.18671172e-05 9.99330709e-01 1.90304308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.839254154 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:7.91, Y:0.55, Z:0.19 [[ 9.96195924e-01 -7.91425525e-02 -3.64710364e-02 7.91257759e+00] [ 7.90920371e-02 9.96863307e-01 -2.82803950e-03 5.54983148e-01] [ 3.65804562e-02 -6.72871442e-05 9.99330709e-01 1.93288229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.899254154 meters Centerline goodness : 0.999538 with order 1 Centerline is valid? [True, True] Translation: X:7.98, Y:0.56, Z:0.20 [[ 9.96049209e-01 -8.09679783e-02 -3.64713430e-02 7.97592738e+00] [ 8.09188310e-02 9.96716694e-01 -2.82407983e-03 5.58046062e-01] [ 3.65802565e-02 -1.38295956e-04 9.99330709e-01 1.96236140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.959254154 meters Centerline goodness : 0.999626 with order 1 Centerline is valid? [True, True] Translation: X:8.04, Y:0.56, Z:0.20 [[ 9.95719783e-01 -8.49231029e-02 -3.64716476e-02 8.03911353e+00] [ 8.48767511e-02 9.96387467e-01 -2.82014144e-03 5.60450829e-01] [ 3.65793877e-02 -2.87524331e-04 9.99330709e-01 1.98269453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.019254154 meters Centerline goodness : 0.999583 with order 1 Centerline is valid? [True, True] Translation: X:8.10, Y:0.56, Z:0.20 [[ 9.95244005e-01 -9.03281035e-02 -3.64719620e-02 8.10099642e+00] [ 9.02855268e-02 9.95911941e-01 -2.81606871e-03 5.61556302e-01] [ 3.65772326e-02 -4.90214801e-04 9.99330709e-01 1.99639566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.079254154000001 meters Centerline goodness : 0.999453 with order 1 Centerline is valid? [True, True] Translation: X:8.16, Y:0.56, Z:0.20 [[ 9.94913185e-01 -9.39017350e-02 -3.64721688e-02 8.16355945e+00] [ 9.38616556e-02 9.95581275e-01 -2.81338832e-03 5.63812497e-01] [ 3.65751904e-02 -6.24261010e-04 9.99330709e-01 2.01589525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.139254154 meters Centerline goodness : 0.999651 with order 1 Centerline is valid? [True, True] Translation: X:8.23, Y:0.57, Z:0.20 [[ 9.94489910e-01 -9.82831432e-02 -3.64724799e-02 8.22573859e+00] [ 9.82461549e-02 9.95158179e-01 -2.80934996e-03 5.65976011e-01] [ 3.65719984e-02 -7.89410713e-04 9.99330709e-01 2.02826750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.199254154 meters Centerline goodness : 0.999695 with order 1 Centerline is valid? [True, True] Translation: X:8.29, Y:0.57, Z:0.20 [[ 9.94175724e-01 -1.01411900e-01 -3.64726835e-02 8.28771138e+00] [ 1.01377112e-01 9.94844110e-01 -2.80670437e-03 5.68641498e-01] [ 3.65692675e-02 -9.07137961e-04 9.99330709e-01 2.03186408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.259254154 meters Centerline goodness : 0.999457 with order 1 Centerline is valid? [True, True] Translation: X:8.35, Y:0.57, Z:0.20 [[ 9.94383522e-01 -9.93536118e-02 -3.64728849e-02 8.34990009e+00] [ 9.93175360e-02 9.95051840e-01 -2.80408387e-03 5.67306956e-01] [ 3.65710071e-02 -8.34062266e-04 9.99330709e-01 2.01884726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.319254154 meters Centerline goodness : 0.999521 with order 1 Centerline is valid? [True, True] Translation: X:8.41, Y:0.58, Z:0.21 [[ 9.93832966e-01 -1.04717474e-01 -3.64730919e-02 8.41072703e+00] [ 1.04685104e-01 9.94501474e-01 -2.80138859e-03 5.75380447e-01] [ 3.65658980e-02 -1.03407708e-03 9.99330709e-01 2.07735885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.379254154 meters Centerline goodness : 0.999587 with order 1 Centerline is valid? [True, True] Translation: X:8.47, Y:0.58, Z:0.21 [[ 9.93823609e-01 -1.04806014e-01 -3.64737414e-02 8.47239931e+00] [ 1.04774014e-01 9.94492135e-01 -2.79290717e-03 5.80208954e-01] [ 3.65655624e-02 -1.04584322e-03 9.99330709e-01 2.13044758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.439254154 meters Centerline goodness : 0.999609 with order 1 Centerline is valid? [True, True] Translation: X:8.53, Y:0.58, Z:0.22 [[ 9.93732652e-01 -1.05664886e-01 -3.64739438e-02 8.53463838e+00] [ 1.05633561e-01 9.94401209e-01 -2.79026119e-03 5.84540406e-01] [ 3.65645665e-02 -1.08009891e-03 9.99330709e-01 2.17946603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.499254154 meters Centerline goodness : 0.999480 with order 1 Centerline is valid? [True, True] Translation: X:8.60, Y:0.59, Z:0.22 [[ 9.93596628e-01 -1.06936327e-01 -3.64741496e-02 8.59721662e+00] [ 1.06905956e-01 9.94265229e-01 -2.78756816e-03 5.87674099e-01] [ 3.65630710e-02 -1.12958552e-03 9.99330709e-01 2.19618257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.559254154 meters Centerline goodness : 0.999544 with order 1 Centerline is valid? [True, True] Translation: X:8.66, Y:0.59, Z:0.22 [[ 9.93461987e-01 -1.08179946e-01 -3.64743562e-02 8.65932790e+00] [ 1.08150512e-01 9.94130631e-01 -2.78486251e-03 5.90642617e-01] [ 3.65615410e-02 -1.17806524e-03 9.99330709e-01 2.20409217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.619254154 meters Centerline goodness : 0.999588 with order 1 Centerline is valid? [True, True] Translation: X:8.72, Y:0.59, Z:0.22 [[ 9.93437520e-01 -1.08404338e-01 -3.64745601e-02 8.72085860e+00] [ 1.08375152e-01 9.94106174e-01 -2.78218974e-03 5.94967152e-01] [ 3.65611868e-02 -1.18900431e-03 9.99330709e-01 2.22232465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.679254154 meters Centerline goodness : 0.999587 with order 1 Centerline is valid? [True, True] Translation: X:8.78, Y:0.60, Z:0.22 [[ 9.93422227e-01 -1.08544326e-01 -3.64747602e-02 8.78251794e+00] [ 1.08515331e-01 9.94090890e-01 -2.77956330e-03 5.98690358e-01] [ 3.65609327e-02 -1.19679073e-03 9.99330709e-01 2.24861418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.739254154 meters Centerline goodness : 0.999458 with order 1 Centerline is valid? [True, True] Translation: X:8.84, Y:0.60, Z:0.23 [[ 9.93615968e-01 -1.06756185e-01 -3.64750069e-02 8.84418025e+00] [ 1.06726105e-01 9.94284582e-01 -2.77632186e-03 6.02550898e-01] [ 3.65629266e-02 -1.13423770e-03 9.99330709e-01 2.27621561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.799254154 meters Centerline goodness : 0.999544 with order 1 Centerline is valid? [True, True] Translation: X:8.91, Y:0.61, Z:0.23 [[ 9.94089743e-01 -1.02250392e-01 -3.64752004e-02 8.90576058e+00] [ 1.02217375e-01 9.94758219e-01 -2.77377794e-03 6.06601877e-01] [ 3.65676253e-02 -9.71015032e-04 9.99330709e-01 2.28913927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.859254154 meters Centerline goodness : 0.999653 with order 1 Centerline is valid? [True, True] Translation: X:8.97, Y:0.61, Z:0.23 [[ 9.94555038e-01 -9.76207014e-02 -3.64756750e-02 8.96814215e+00] [ 9.75848013e-02 9.95223366e-01 -2.76752220e-03 6.10527739e-01] [ 3.65716115e-02 -8.07018352e-04 9.99330709e-01 2.31561595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.919254154 meters Centerline goodness : 0.999675 with order 1 Centerline is valid? [True, True] Translation: X:9.03, Y:0.61, Z:0.23 [[ 9.94907484e-01 -9.39606845e-02 -3.64758622e-02 9.03141755e+00] [ 9.39224161e-02 9.95575680e-01 -2.76505284e-03 6.14786798e-01] [ 3.65742876e-02 -6.74929352e-04 9.99330709e-01 2.34101523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.979254154 meters Centerline goodness : 0.999522 with order 1 Centerline is valid? [True, True] Translation: X:9.09, Y:0.62, Z:0.24 [[ 9.95212420e-01 -9.06737558e-02 -3.64761399e-02 9.09347605e+00] [ 9.06334148e-02 9.95880494e-01 -2.76138498e-03 6.18882184e-01] [ 3.65762614e-02 -5.57792484e-04 9.99330709e-01 2.39155212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.039254154 meters Centerline goodness : 0.999587 with order 1 Centerline is valid? [True, True] Translation: X:9.16, Y:0.61, Z:0.22 [[ 9.96617132e-01 -7.36462410e-02 -3.64763455e-02 9.15774528e+00] [ 7.35945839e-02 9.97284426e-01 -2.75866646e-03 6.08334568e-01] [ 3.65804567e-02 6.48727853e-05 9.99330709e-01 2.24149165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.099254154 meters Centerline goodness : 0.999437 with order 1 Centerline is valid? [True, True] Translation: X:9.22, Y:0.62, Z:0.24 [[ 9.96291726e-01 -7.79246610e-02 -3.64766084e-02 9.21768020e+00] [ 7.78759969e-02 9.96959246e-01 -2.75518571e-03 6.24171100e-01] [ 3.65803889e-02 -9.56835203e-05 9.99330709e-01 2.41988893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.159254154 meters Centerline goodness : 0.999609 with order 1 Centerline is valid? [True, True] Translation: X:9.28, Y:0.63, Z:0.24 [[ 9.96768983e-01 -7.15614391e-02 -3.64767640e-02 9.27981042e+00] [ 7.15085892e-02 9.97436184e-01 -2.75312498e-03 6.28274004e-01] [ 3.65802618e-02 1.35827663e-04 9.99330709e-01 2.44986385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.219254154 meters Centerline goodness : 0.997740 with order 1 Centerline is valid? [True, True] Translation: X:9.34, Y:0.63, Z:0.24 [[ 9.97495264e-01 -6.06022135e-02 -3.64769680e-02 9.34123886e+00] [ 6.05421328e-02 9.98161853e-01 -2.75041883e-03 6.31547896e-01] [ 3.65765994e-02 5.35136320e-04 9.99330709e-01 2.40763445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.279254154 meters Centerline goodness : 0.999525 with order 1 Centerline is valid? [True, True] Translation: X:9.40, Y:0.63, Z:0.24 [[ 9.97894026e-01 -5.36370165e-02 -3.64771536e-02 9.40224384e+00] [ 5.35723737e-02 9.98560188e-01 -2.74795547e-03 6.31898512e-01] [ 3.65720255e-02 7.88000644e-04 9.99330709e-01 2.44119893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.339254154 meters Centerline goodness : 0.999416 with order 1 Centerline is valid? [True, True] Translation: X:9.46, Y:0.64, Z:0.25 [[ 9.97758569e-01 -5.61004056e-02 -3.64771536e-02 9.46184900e+00] [ 5.60374076e-02 9.98424888e-01 -2.74795547e-03 6.36825177e-01] [ 3.65738594e-02 6.97710996e-04 9.99330709e-01 2.51772415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.399254154 meters Centerline goodness : 0.999199 with order 1 Centerline is valid? [True, True] Translation: X:9.52, Y:0.63, Z:0.24 [[ 9.97766870e-01 -5.59525804e-02 -3.64771536e-02 9.52059354e+00] [ 5.58894837e-02 9.98433180e-01 -2.74795547e-03 6.34825338e-01] [ 3.65737556e-02 7.03129647e-04 9.99330709e-01 2.44691922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.459254154 meters Centerline goodness : 0.999546 with order 1 Centerline is valid? [True, True] Translation: X:9.58, Y:0.64, Z:0.26 [[ 9.97451084e-01 -6.13250959e-02 -3.64769363e-02 9.58028799e+00] [ 6.12654830e-02 9.98117715e-01 -2.75083720e-03 6.37793738e-01] [ 3.65769716e-02 5.09048427e-04 9.99330709e-01 2.55379004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.519254154 meters Centerline goodness : 0.999527 with order 1 Centerline is valid? [True, True] Translation: X:9.64, Y:0.64, Z:0.26 [[ 9.97066843e-01 -6.72840568e-02 -3.64769363e-02 9.64205919e+00] [ 6.72284283e-02 9.97733818e-01 -2.75083720e-03 6.37058023e-01] [ 3.65793604e-02 2.90481465e-04 9.99330709e-01 2.57552715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.579254154 meters Centerline goodness : 0.999465 with order 1 Centerline is valid? [True, True] Translation: X:9.70, Y:0.64, Z:0.26 [[ 9.96499762e-01 -7.52173507e-02 -3.64770379e-02 9.70393058e+00] [ 7.51670816e-02 9.97167163e-01 -2.74948882e-03 6.35994358e-01] [ 3.65805136e-02 -2.00753200e-06 9.99330709e-01 2.59724989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.639254154 meters Centerline goodness : 0.999338 with order 1 Centerline is valid? [True, True] Translation: X:9.77, Y:0.64, Z:0.26 [[ 9.96019058e-01 -8.13353400e-02 -3.64773689e-02 9.76581280e+00] [ 8.12893314e-02 9.96686766e-01 -2.74509038e-03 6.36506229e-01] [ 3.65797837e-02 -2.31058596e-04 9.99330709e-01 2.63077503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.699254154 meters Centerline goodness : 0.999342 with order 1 Centerline is valid? [True, True] Translation: X:9.83, Y:0.64, Z:0.26 [[ 9.95108467e-01 -9.18070052e-02 -3.64775730e-02 9.82706096e+00] [ 9.17681216e-02 9.95776627e-01 -2.74237562e-03 6.35453366e-01] [ 3.65752839e-02 -6.18517152e-04 9.99330709e-01 2.64717813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.759254154 meters Centerline goodness : 0.999491 with order 1 Centerline is valid? [True, True] Translation: X:9.89, Y:0.64, Z:0.27 [[ 9.94132147e-01 -1.01836386e-01 -3.64777237e-02 9.88982363e+00] [ 1.01804315e-01 9.94800669e-01 -2.74036964e-03 6.36298761e-01] [ 3.65671333e-02 -9.89300121e-04 9.99330709e-01 2.66237407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.819254154 meters Centerline goodness : 0.999154 with order 1 Centerline is valid? [True, True] Translation: X:9.95, Y:0.64, Z:0.27 [[ 9.93603218e-01 -1.06873785e-01 -3.64779265e-02 9.95171069e+00] [ 1.06845202e-01 9.94271898e-01 -2.73766755e-03 6.39243210e-01] [ 3.65615621e-02 -1.17733614e-03 9.99330709e-01 2.67446164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.879254154 meters Centerline goodness : 0.998119 with order 1 Centerline is valid? [True, True] Translation: X:10.01, Y:0.64, Z:0.27 [[ 9.93376178e-01 -1.08963806e-01 -3.64781771e-02 1.00128905e+01] [ 1.08936753e-01 9.94044922e-01 -2.73432466e-03 6.41820417e-01] [ 3.65588891e-02 -1.25760117e-03 9.99330709e-01 2.65288338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.939254154 meters Centerline goodness : 0.999406 with order 1 Centerline is valid? [True, True] Translation: X:10.07, Y:0.65, Z:0.27 [[ 9.93103901e-01 -1.11417988e-01 -3.64783989e-02 1.00741849e+01] [ 1.11392696e-01 9.93772714e-01 -2.73136151e-03 6.46867943e-01] [ 3.65555603e-02 -1.35090143e-03 9.99330709e-01 2.71210069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.999254154 meters Centerline goodness : 0.999216 with order 1 Centerline is valid? [True, True] Translation: X:10.14, Y:0.65, Z:0.27 [[ 9.93324685e-01 -1.09432097e-01 -3.64785788e-02 1.01359016e+01] [ 1.09405556e-01 9.93993449e-01 -2.72895745e-03 6.53096946e-01] [ 3.65581039e-02 -1.28021838e-03 9.99330709e-01 2.72820147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.059254154 meters Centerline goodness : 0.999364 with order 1 Centerline is valid? [True, True] Translation: X:10.20, Y:0.66, Z:0.28 [[ 9.93471001e-01 -1.08095628e-01 -3.64788288e-02 1.01983446e+01] [ 1.08068309e-01 9.94139734e-01 -2.72561124e-03 6.59507710e-01] [ 3.65596798e-02 -1.23438962e-03 9.99330709e-01 2.75389896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.119254154 meters Centerline goodness : 0.999130 with order 1 Centerline is valid? [True, True] Translation: X:10.26, Y:0.67, Z:0.28 [[ 9.93583285e-01 -1.07058531e-01 -3.64791301e-02 1.02597590e+01] [ 1.07030663e-01 9.94251995e-01 -2.72157215e-03 6.66903746e-01] [ 3.65608154e-02 -1.20027688e-03 9.99330709e-01 2.76960047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.179254154 meters Centerline goodness : 0.999405 with order 1 Centerline is valid? [True, True] Translation: X:10.32, Y:0.67, Z:0.28 [[ 9.93497576e-01 -1.07850837e-01 -3.64796215e-02 1.03221537e+01] [ 1.07823745e-01 9.94166319e-01 -2.71496994e-03 6.74726633e-01] [ 3.65596228e-02 -1.23605334e-03 9.99330709e-01 2.80119055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.239254154 meters Centerline goodness : 0.999255 with order 1 Centerline is valid? [True, True] Translation: X:10.38, Y:0.68, Z:0.28 [[ 9.93442646e-01 -1.08355546e-01 -3.64799214e-02 1.03839477e+01] [ 1.08328941e-01 9.94111408e-01 -2.71093470e-03 6.82018582e-01] [ 3.65588508e-02 -1.25867311e-03 9.99330709e-01 2.83401792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.299254154 meters Centerline goodness : 0.999256 with order 1 Centerline is valid? [True, True] Translation: X:10.45, Y:0.69, Z:0.29 [[ 9.93417386e-01 -1.08586824e-01 -3.64801173e-02 1.04470370e+01] [ 1.08560472e-01 9.94086158e-01 -2.70829559e-03 6.88752622e-01] [ 3.65584649e-02 -1.26983082e-03 9.99330709e-01 2.86156047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.359254154 meters Centerline goodness : 0.999298 with order 1 Centerline is valid? [True, True] Translation: X:10.51, Y:0.70, Z:0.29 [[ 9.93486167e-01 -1.07955623e-01 -3.64804088e-02 1.05094544e+01] [ 1.07928990e-01 9.94154927e-01 -2.70436376e-03 6.95940064e-01] [ 3.65591294e-02 -1.25054569e-03 9.99330709e-01 2.88679874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.419254154 meters Centerline goodness : 0.999278 with order 1 Centerline is valid? [True, True] Translation: X:10.57, Y:0.70, Z:0.29 [[ 9.93587273e-01 -1.07020977e-01 -3.64807069e-02 1.05721766e+01] [ 1.06993862e-01 9.94256014e-01 -2.70033583e-03 7.02607964e-01] [ 3.65601548e-02 -1.22019241e-03 9.99330709e-01 2.91780316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.479254154 meters Centerline goodness : 0.999297 with order 1 Centerline is valid? [True, True] Translation: X:10.63, Y:0.71, Z:0.29 [[ 9.93620083e-01 -1.06715823e-01 -3.64810106e-02 1.06348625e+01] [ 1.06688654e-01 9.94288822e-01 -2.69622707e-03 7.10783097e-01] [ 3.65603911e-02 -1.21308456e-03 9.99330709e-01 2.94798361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.539254154 meters Centerline goodness : 0.999297 with order 1 Centerline is valid? [True, True] Translation: X:10.70, Y:0.72, Z:0.30 [[ 9.93432825e-01 -1.08445083e-01 -3.64813120e-02 1.06979208e+01] [ 1.08419228e-01 9.94101616e-01 -2.69214218e-03 7.17378844e-01] [ 3.65580808e-02 -1.28081327e-03 9.99330709e-01 2.96824951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.599254154 meters Centerline goodness : 0.999638 with order 1 Centerline is valid? [True, True] Translation: X:10.76, Y:0.72, Z:0.30 [[ 9.93177319e-01 -1.10760579e-01 -3.64816117e-02 1.07611426e+01] [ 1.10736431e-01 9.93846174e-01 -2.68807464e-03 7.22722825e-01] [ 3.65548429e-02 -1.37010874e-03 9.99330709e-01 2.99777835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.659254154 meters Centerline goodness : 0.999595 with order 1 Centerline is valid? [True, True] Translation: X:10.82, Y:0.73, Z:0.30 [[ 9.92650900e-01 -1.15383107e-01 -3.64819099e-02 1.08242065e+01] [ 1.15362223e-01 9.93319865e-01 -2.68402256e-03 7.28651812e-01] [ 3.65478966e-02 -1.54433681e-03 9.99330709e-01 3.02850227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.719254154 meters Centerline goodness : 0.999466 with order 1 Centerline is valid? [True, True] Translation: X:10.89, Y:0.74, Z:0.31 [[ 9.92149685e-01 -1.19616263e-01 -3.64822087e-02 1.08866791e+01] [ 1.19598382e-01 9.92818737e-01 -2.67995446e-03 7.35622876e-01] [ 3.65407865e-02 -1.70429715e-03 9.99330709e-01 3.05365465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.779254154 meters Centerline goodness : 0.999360 with order 1 Centerline is valid? [True, True] Translation: X:10.95, Y:0.74, Z:0.31 [[ 9.91901166e-01 -1.21659783e-01 -3.64825097e-02 1.09479487e+01] [ 1.21643430e-01 9.92570257e-01 -2.67585011e-03 7.42322337e-01] [ 3.65369974e-02 -1.78367877e-03 9.99330709e-01 3.08779408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.839254154 meters Centerline goodness : 0.999550 with order 1 Centerline is valid? [True, True] Translation: X:11.01, Y:0.75, Z:0.31 [[ 9.91811875e-01 -1.22385438e-01 -3.64830003e-02 1.10104835e+01] [ 1.22369821e-01 9.92480983e-01 -2.66914538e-03 7.49134198e-01] [ 3.65353485e-02 -1.81712813e-03 9.99330709e-01 3.11481612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.899254154 meters Centerline goodness : 0.999528 with order 1 Centerline is valid? [True, True] Translation: X:11.07, Y:0.76, Z:0.31 [[ 9.91945140e-01 -1.21300492e-01 -3.64832869e-02 1.10728425e+01] [ 1.21284287e-01 9.92614234e-01 -2.66522236e-03 7.55922653e-01] [ 3.65371226e-02 -1.78109505e-03 9.99330709e-01 3.13387597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.959254154 meters Centerline goodness : 0.999592 with order 1 Centerline is valid? [True, True] Translation: X:11.14, Y:0.76, Z:0.32 [[ 9.92447057e-01 -1.17122965e-01 -3.64835701e-02 1.11353463e+01] [ 1.17104085e-01 9.93116081e-01 -2.66134018e-03 7.63871941e-01] [ 3.65441242e-02 -1.63113588e-03 9.99330709e-01 3.15856147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.019254154 meters Centerline goodness : 0.999505 with order 1 Centerline is valid? [True, True] Translation: X:11.20, Y:0.77, Z:0.32 [[ 9.92915519e-01 -1.13082713e-01 -3.64838675e-02 1.11974967e+01] [ 1.13061260e-01 9.93584466e-01 -2.65725677e-03 7.70312661e-01] [ 3.65502938e-02 -1.48648055e-03 9.99330709e-01 3.17496428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.079254154 meters Centerline goodness : 0.999569 with order 1 Centerline is valid? [True, True] Translation: X:11.26, Y:0.78, Z:0.32 [[ 9.93622526e-01 -1.06691849e-01 -3.64845923e-02 1.12588182e+01] [ 1.06666459e-01 9.94291335e-01 -2.64726655e-03 7.78763802e-01] [ 3.65587558e-02 -1.26129861e-03 9.99330709e-01 3.19387596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.139254154 meters Centerline goodness : 0.999568 with order 1 Centerline is valid? [True, True] Translation: X:11.32, Y:0.79, Z:0.32 [[ 9.94160994e-01 -1.01551849e-01 -3.64847888e-02 1.13192121e+01] [ 1.01523100e-01 9.94829667e-01 -2.64455598e-03 7.87249680e-01] [ 3.65647099e-02 -1.07493448e-03 9.99330709e-01 3.20489353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.199254154 meters Centerline goodness : 0.999588 with order 1 Centerline is valid? [True, True] Translation: X:11.38, Y:0.79, Z:0.32 [[ 9.94332827e-01 -9.98552926e-02 -3.64849337e-02 1.13812984e+01] [ 9.98254760e-02 9.95001453e-01 -2.64255521e-03 7.93359041e-01] [ 3.65664352e-02 -1.01454649e-03 9.99330709e-01 3.21585637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.259254154 meters Centerline goodness : 0.999697 with order 1 Centerline is valid? [True, True] Translation: X:11.44, Y:0.80, Z:0.32 [[ 9.94376462e-01 -9.94197584e-02 -3.64851242e-02 1.14430446e+01] [ 9.93897455e-02 9.95045079e-01 -2.63992217e-03 7.98950550e-01] [ 3.65668038e-02 -1.00117075e-03 9.99330709e-01 3.22857146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.319254154 meters Centerline goodness : 0.996663 with order 1 Centerline is valid? [True, True] Translation: X:11.51, Y:0.81, Z:0.32 [[ 9.94292947e-01 -1.00251468e-01 -3.64853117e-02 1.15054767e+01] [ 1.00222109e-01 9.94961594e-01 -2.63732923e-03 8.05348912e-01] [ 3.65658800e-02 -1.03435704e-03 9.99330709e-01 3.21436813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.379254154 meters Centerline goodness : 0.999631 with order 1 Centerline is valid? [True, True] Translation: X:11.57, Y:0.81, Z:0.33 [[ 9.94001946e-01 -1.03096687e-01 -3.64856688e-02 1.15672922e+01] [ 1.03069423e-01 9.94670681e-01 -2.63237911e-03 8.11801469e-01] [ 3.65626146e-02 -1.14396689e-03 9.99330709e-01 3.29127517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.439254154 meters Centerline goodness : 0.999631 with order 1 Centerline is valid? [True, True] Translation: X:11.63, Y:0.82, Z:0.33 [[ 9.93641460e-01 -1.06514919e-01 -3.64858955e-02 1.16291672e+01] [ 1.06490071e-01 9.94310290e-01 -2.62923298e-03 8.17428025e-01] [ 3.65583539e-02 -1.27287071e-03 9.99330709e-01 3.31988182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.499254154 meters Centerline goodness : 0.999674 with order 1 Centerline is valid? [True, True] Translation: X:11.69, Y:0.82, Z:0.34 [[ 9.93332365e-01 -1.09359855e-01 -3.64860842e-02 1.16910834e+01] [ 1.09337019e-01 9.94001266e-01 -2.62661181e-03 8.23435065e-01] [ 3.65544598e-02 -1.38018115e-03 9.99330709e-01 3.36252863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.559254154 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:11.75, Y:0.83, Z:0.34 [[ 9.93195316e-01 -1.10597538e-01 -3.64862765e-02 1.17525431e+01] [ 1.10575634e-01 9.93864248e-01 -2.62393819e-03 8.29019243e-01] [ 3.65526069e-02 -1.42841004e-03 9.99330709e-01 3.40016012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.619254154 meters Centerline goodness : 0.999718 with order 1 Centerline is valid? [True, True] Translation: X:11.81, Y:0.83, Z:0.34 [[ 9.93036708e-01 -1.12012647e-01 -3.64864704e-02 1.18147445e+01] [ 1.11991795e-01 9.93705674e-01 -2.62123898e-03 8.34182325e-01] [ 3.65504246e-02 -1.48319877e-03 9.99330709e-01 3.42127964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.679254154 meters Centerline goodness : 0.999718 with order 1 Centerline is valid? [True, True] Translation: X:11.88, Y:0.84, Z:0.34 [[ 9.92989547e-01 -1.12429736e-01 -3.64871840e-02 1.18767425e+01] [ 1.12409530e-01 9.93658532e-01 -2.61126855e-03 8.39998919e-01] [ 3.65493859e-02 -1.50854485e-03 9.99330709e-01 3.43504398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.739254154 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:11.94, Y:0.85, Z:0.34 [[ 9.93165983e-01 -1.10860284e-01 -3.64873749e-02 1.19374896e+01] [ 1.10839119e-01 9.93834938e-01 -2.60859857e-03 8.46718742e-01] [ 3.65516179e-02 -1.45345712e-03 9.99330709e-01 3.43720315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.799254154 meters Centerline goodness : 0.999716 with order 1 Centerline is valid? [True, True] Translation: X:12.00, Y:0.85, Z:0.35 [[ 9.93325384e-01 -1.09422618e-01 -3.64879817e-02 1.19998176e+01] [ 1.09400797e-01 9.93994318e-01 -2.60008255e-03 8.52626699e-01] [ 3.65533543e-02 -1.40908629e-03 9.99330709e-01 3.47101655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.859254154 meters Centerline goodness : 0.998027 with order 1 Centerline is valid? [True, True] Translation: X:12.06, Y:0.86, Z:0.34 [[ 9.93875299e-01 -1.04309652e-01 -3.64881711e-02 1.20619653e+01] [ 1.04284486e-01 9.94544116e-01 -2.59742223e-03 8.59440797e-01] [ 3.65600321e-02 -1.22363639e-03 9.99330709e-01 3.43753684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.919254154 meters Centerline goodness : 0.999670 with order 1 Centerline is valid? [True, True] Translation: X:12.12, Y:0.87, Z:0.35 [[ 9.94399026e-01 -9.91925909e-02 -3.64884423e-02 1.21222265e+01] [ 9.91641233e-02 9.95067711e-01 -2.59360678e-03 8.68775224e-01] [ 3.65657373e-02 -1.03926433e-03 9.99330709e-01 3.49601178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.979254154 meters Centerline goodness : 0.999779 with order 1 Centerline is valid? [True, True] Translation: X:12.18, Y:0.88, Z:0.35 [[ 9.95080447e-01 -9.21058393e-02 -3.64886054e-02 1.21836594e+01] [ 9.20726929e-02 9.95748916e-01 -2.59130992e-03 8.77777810e-01] [ 3.65721641e-02 -7.81042325e-04 9.99330709e-01 3.53630998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.039254154 meters Centerline goodness : 0.996279 with order 1 Centerline is valid? [True, True] Translation: X:12.25, Y:0.88, Z:0.35 [[ 9.95429540e-01 -8.82530352e-02 -3.64887910e-02 1.22453798e+01] [ 8.82173971e-02 9.96097881e-01 -2.58869435e-03 8.84955852e-01] [ 3.65748675e-02 -6.42083334e-04 9.99330709e-01 3.53846539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.099254154 meters Centerline goodness : 0.997824 with order 1 Centerline is valid? [True, True] Translation: X:12.31, Y:0.89, Z:0.36 [[ 9.96065374e-01 -8.07608559e-02 -3.64891130e-02 1.23061773e+01] [ 8.07203567e-02 9.96733438e-01 -2.58414715e-03 8.91489841e-01] [ 3.65786170e-02 -3.71434715e-04 9.99330709e-01 3.55294650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.159254154 meters Centerline goodness : 0.999778 with order 1 Centerline is valid? [True, True] Translation: X:12.37, Y:0.90, Z:0.36 [[ 9.96254027e-01 -7.83991681e-02 -3.64895156e-02 1.23673793e+01] [ 7.83572939e-02 9.96922006e-01 -2.57844914e-03 8.98031738e-01] [ 3.65793494e-02 -2.90429367e-04 9.99330709e-01 3.63747683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.219254154 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:12.43, Y:0.90, Z:0.37 [[ 9.96138912e-01 -7.98484043e-02 -3.64897404e-02 1.24289218e+01] [ 7.98076186e-02 9.96806958e-01 -2.57526395e-03 9.01945501e-01] [ 3.65788579e-02 -3.46838657e-04 9.99330709e-01 3.65260283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.279254154 meters Centerline goodness : 0.999735 with order 1 Centerline is valid? [True, True] Translation: X:12.49, Y:0.89, Z:0.36 [[ 9.96178255e-01 -7.93559443e-02 -3.64899734e-02 1.24920966e+01] [ 7.93149494e-02 9.96846289e-01 -2.57195839e-03 8.94361007e-01] [ 3.65789948e-02 -3.32071376e-04 9.99330709e-01 3.58485558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.339254154 meters Centerline goodness : 0.999713 with order 1 Centerline is valid? [True, True] Translation: X:12.55, Y:0.89, Z:0.35 [[ 9.96126878e-01 -7.99981928e-02 -3.64901638e-02 1.25548253e+01] [ 7.99577276e-02 9.96794944e-01 -2.56925391e-03 8.91649898e-01] [ 3.65787465e-02 -3.58367699e-04 9.99330709e-01 3.53834919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.399254154 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:12.61, Y:0.91, Z:0.37 [[ 9.94680005e-01 -9.63334883e-02 -3.64903627e-02 1.26140675e+01] [ 9.63040951e-02 9.95348650e-01 -2.56642572e-03 9.06557373e-01] [ 3.65678660e-02 -9.61399014e-04 9.99330709e-01 3.71916007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.459254154 meters Centerline goodness : 0.999780 with order 1 Centerline is valid? [True, True] Translation: X:12.68, Y:0.91, Z:0.37 [[ 9.94467600e-01 -9.85019573e-02 -3.64905101e-02 1.26774703e+01] [ 9.84740988e-02 9.95136310e-01 -2.56432922e-03 9.09065256e-01] [ 3.65656230e-02 -1.04322777e-03 9.99330709e-01 3.74906719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.519254154 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:12.74, Y:0.91, Z:0.38 [[ 9.94440987e-01 -9.87701626e-02 -3.64907936e-02 1.27393142e+01] [ 9.87426326e-02 9.95109711e-01 -2.56028757e-03 9.12133434e-01] [ 3.65652231e-02 -1.05714213e-03 9.99330709e-01 3.78233027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.579254154 meters Centerline goodness : 0.999670 with order 1 Centerline is valid? [True, True] Translation: X:12.80, Y:0.92, Z:0.38 [[ 9.94762634e-01 -9.54762305e-02 -3.64909788e-02 1.28020754e+01] [ 9.54465828e-02 9.95431267e-01 -2.55764655e-03 9.17036800e-01] [ 3.65684557e-02 -9.38688000e-04 9.99330709e-01 3.82431137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.639254154 meters Centerline goodness : 0.999648 with order 1 Centerline is valid? [True, True] Translation: X:12.86, Y:0.92, Z:0.38 [[ 9.95511399e-01 -8.73237801e-02 -3.64912611e-02 1.28644868e+01] [ 8.72888037e-02 9.96179775e-01 -2.55361180e-03 9.21593699e-01] [ 3.65748473e-02 -6.43128872e-04 9.99330709e-01 3.84203155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.699254154 meters Centerline goodness : 0.999713 with order 1 Centerline is valid? [True, True] Translation: X:12.93, Y:0.93, Z:0.39 [[ 9.96172986e-01 -7.94213847e-02 -3.64914491e-02 1.29271245e+01] [ 7.93812042e-02 9.96841069e-01 -2.55092275e-03 9.26977286e-01] [ 3.65787729e-02 -3.55574838e-04 9.99330709e-01 3.86691057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.759254154 meters Centerline goodness : 0.998738 with order 1 Centerline is valid? [True, True] Translation: X:12.99, Y:0.93, Z:0.39 [[ 9.97184182e-01 -6.55138162e-02 -3.64917336e-02 1.29876028e+01] [ 6.54644668e-02 9.97851651e-01 -2.54684604e-03 9.33379278e-01] [ 3.65801902e-02 1.50762706e-04 9.99330710e-01 3.86485615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.819254154 meters Centerline goodness : 0.999514 with order 1 Centerline is valid? [True, True] Translation: X:13.05, Y:0.92, Z:0.37 [[ 9.98466100e-01 -4.16387524e-02 -3.64919474e-02 1.30494427e+01] [ 4.15735609e-02 9.99132208e-01 -2.54377822e-03 9.21899878e-01] [ 3.65661998e-02 1.02277612e-03 9.99330710e-01 3.71746303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.879254154 meters Centerline goodness : 0.999668 with order 1 Centerline is valid? [True, True] Translation: X:13.11, Y:0.94, Z:0.40 [[ 9.98206710e-01 -4.74521094e-02 -3.64919474e-02 1.31062769e+01] [ 4.73907977e-02 9.98873186e-01 -2.54377822e-03 9.41321568e-01] [ 3.65715355e-02 8.09833993e-04 9.99330710e-01 3.95016249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.939254154 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:13.17, Y:0.94, Z:0.40 [[ 9.98233756e-01 -4.68797474e-02 -3.64918965e-02 1.31668437e+01] [ 4.68180268e-02 9.98900194e-01 -2.54450948e-03 9.42322671e-01] [ 3.65710484e-02 8.31536667e-04 9.99330710e-01 3.96020525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.999254153999999 meters Centerline goodness : 0.999714 with order 1 Centerline is valid? [True, True] Translation: X:13.23, Y:0.94, Z:0.40 [[ 9.97871297e-01 -5.40482746e-02 -3.64918965e-02 1.32273199e+01] [ 5.39913423e-02 9.98538162e-01 -2.54450948e-03 9.42630582e-01] [ 3.65760776e-02 5.68846504e-04 9.99330710e-01 3.98701925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.059254154 meters Centerline goodness : 0.999736 with order 1 Centerline is valid? [True, True] Translation: X:13.29, Y:0.94, Z:0.39 [[ 9.97576407e-01 -5.92423239e-02 -3.64918965e-02 1.32876391e+01] [ 5.91888640e-02 9.98243559e-01 -2.54450948e-03 9.40379701e-01] [ 3.65785433e-02 3.78428730e-04 9.99330710e-01 3.94687488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.119254154 meters Centerline goodness : 0.999606 with order 1 Centerline is valid? [True, True] Translation: X:13.35, Y:0.94, Z:0.40 [[ 9.96824980e-01 -7.07693175e-02 -3.64919463e-02 1.33490065e+01] [ 7.07235989e-02 9.97492708e-01 -2.54379487e-03 9.44359772e-01] [ 3.65804729e-02 -4.51235027e-05 9.99330710e-01 4.03414079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.179254154 meters Centerline goodness : 0.998497 with order 1 Centerline is valid? [True, True] Translation: X:13.41, Y:0.94, Z:0.40 [[ 9.96192936e-01 -7.91704307e-02 -3.64921470e-02 1.34100994e+01] [ 7.91304486e-02 9.96861031e-01 -2.54091241e-03 9.43858278e-01] [ 3.65787644e-02 -3.56400967e-04 9.99330710e-01 4.01029739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.239254154 meters Centerline goodness : 0.999565 with order 1 Centerline is valid? [True, True] Translation: X:13.47, Y:0.94, Z:0.41 [[ 9.94925845e-01 -9.37596463e-02 -3.64923562e-02 1.34719408e+01] [ 9.37295686e-02 9.95594459e-01 -2.53790434e-03 9.42753361e-01] [ 3.65695406e-02 -8.95386180e-04 9.99330710e-01 4.07462734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.299254154 meters Centerline goodness : 0.999589 with order 1 Centerline is valid? [True, True] Translation: X:13.54, Y:0.94, Z:0.41 [[ 9.93979689e-01 -1.03308609e-01 -3.64925783e-02 1.35352018e+01] [ 1.03285070e-01 9.94648566e-01 -2.53470662e-03 9.43186535e-01] [ 3.65591477e-02 -1.24969161e-03 9.99330710e-01 4.09279645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.359254154 meters Centerline goodness : 0.999698 with order 1 Centerline is valid? [True, True] Translation: X:13.60, Y:0.95, Z:0.41 [[ 9.93674922e-01 -1.06199911e-01 -3.64928574e-02 1.35984602e+01] [ 1.06178466e-01 9.94343869e-01 -2.53068176e-03 9.46384846e-01] [ 3.65552072e-02 -1.36008061e-03 9.99330710e-01 4.11126158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.419254153999999 meters Centerline goodness : 0.999632 with order 1 Centerline is valid? [True, True] Translation: X:13.66, Y:0.95, Z:0.42 [[ 9.93188381e-01 -1.10657542e-01 -3.64931330e-02 1.36587093e+01] [ 1.10639245e-01 9.93857421e-01 -2.52670156e-03 9.54281198e-01] [ 3.65485696e-02 -1.52808204e-03 9.99330710e-01 4.24014602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.479254154 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:13.72, Y:0.95, Z:0.41 [[ 9.93665459e-01 -1.06288286e-01 -3.64932330e-02 1.37197349e+01] [ 1.06267099e-01 9.94334414e-01 -2.52525660e-03 9.54916737e-01] [ 3.65548826e-02 -1.36876975e-03 9.99330710e-01 4.14682826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.539254154 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:13.78, Y:0.96, Z:0.41 [[ 9.93877665e-01 -1.04285314e-01 -3.64932813e-02 1.37816518e+01] [ 1.04262804e-01 9.94546577e-01 -2.52455732e-03 9.60653399e-01] [ 3.65575423e-02 -1.29579072e-03 9.99330710e-01 4.14630360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.599254154 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:13.84, Y:0.97, Z:0.42 [[ 9.94219551e-01 -1.00973811e-01 -3.64934652e-02 1.38436379e+01] [ 1.00949170e-01 9.94888388e-01 -2.52189661e-03 9.67901797e-01] [ 3.65615703e-02 -1.17666613e-03 9.99330710e-01 4.15208443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.659254154 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:13.91, Y:0.97, Z:0.41 [[ 9.94586007e-01 -9.72979349e-02 -3.64936480e-02 1.39056780e+01] [ 9.72709196e-02 9.95254752e-01 -2.51924837e-03 9.74422696e-01] [ 3.65655943e-02 -1.04416153e-03 9.99330710e-01 4.13927760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.719254154 meters Centerline goodness : 0.999630 with order 1 Centerline is valid? [True, True] Translation: X:13.97, Y:0.98, Z:0.42 [[ 9.94990967e-01 -9.30654292e-02 -3.64938465e-02 1.39668104e+01] [ 9.30356744e-02 9.95659596e-01 -2.51637012e-03 9.80482939e-01] [ 3.65696355e-02 -8.91464083e-04 9.99330710e-01 4.21682999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.779254154 meters Centerline goodness : 0.999738 with order 1 Centerline is valid? [True, True] Translation: X:14.03, Y:0.99, Z:0.43 [[ 9.95124808e-01 -9.16231662e-02 -3.64939963e-02 1.40288803e+01] [ 9.15925220e-02 9.95793397e-01 -2.51419589e-03 9.89471991e-01] [ 3.65708391e-02 -8.40638458e-04 9.99330710e-01 4.25896591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.839254154 meters Centerline goodness : 0.999694 with order 1 Centerline is valid? [True, True] Translation: X:14.09, Y:1.00, Z:0.43 [[ 9.95501684e-01 -8.74332382e-02 -3.64941799e-02 1.40906228e+01] [ 8.73998775e-02 9.96170143e-01 -2.51152770e-03 9.95639004e-01] [ 3.65740034e-02 -6.89356796e-04 9.99330710e-01 4.27964259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.899254154 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:14.15, Y:1.00, Z:0.43 [[ 9.95758338e-01 -8.44600144e-02 -3.64943641e-02 1.41534377e+01] [ 8.44247558e-02 9.96426699e-01 -2.50884829e-03 1.00106161e+00] [ 3.65758561e-02 -5.82821178e-04 9.99330710e-01 4.30548561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.959254154 meters Centerline goodness : 0.999737 with order 1 Centerline is valid? [True, True] Translation: X:14.22, Y:1.01, Z:0.43 [[ 9.96070340e-01 -8.06970770e-02 -3.64946404e-02 1.42152346e+01] [ 8.06594408e-02 9.96738572e-01 -2.50482276e-03 1.00659492e+00] [ 3.65777476e-02 -4.48657631e-04 9.99330710e-01 4.33414449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.019254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:14.28, Y:1.01, Z:0.44 [[ 9.96254478e-01 -7.83909584e-02 -3.64948228e-02 1.42769573e+01] [ 7.83518728e-02 9.96922626e-01 -2.50216309e-03 1.01088361e+00] [ 3.65786615e-02 -3.66646529e-04 9.99330710e-01 4.35874920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.079254154 meters Centerline goodness : 0.999693 with order 1 Centerline is valid? [True, True] Translation: X:14.34, Y:1.01, Z:0.44 [[ 9.96361644e-01 -7.70168162e-02 -3.64950040e-02 1.43394404e+01] [ 7.69769060e-02 9.97029743e-01 -2.49951700e-03 1.01407754e+00] [ 3.65791093e-02 -3.18849629e-04 9.99330710e-01 4.37059858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.139254154 meters Centerline goodness : 0.999759 with order 1 Centerline is valid? [True, True] Translation: X:14.40, Y:1.02, Z:0.44 [[ 9.96379142e-01 -7.67899691e-02 -3.64952744e-02 1.44020565e+01] [ 7.67500517e-02 9.97047241e-01 -2.49556187e-03 1.01729631e+00] [ 3.65791468e-02 -3.14488405e-04 9.99330710e-01 4.38201293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.199254154 meters Centerline goodness : 0.999671 with order 1 Centerline is valid? [True, True] Translation: X:14.46, Y:1.02, Z:0.44 [[ 9.96238825e-01 -7.85893056e-02 -3.64955410e-02 1.44646327e+01] [ 7.85507378e-02 9.96907003e-01 -2.49165682e-03 1.02026340e+00] [ 3.65784780e-02 -3.84466418e-04 9.99330710e-01 4.39282820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.259254154 meters Centerline goodness : 0.999606 with order 1 Centerline is valid? [True, True] Translation: X:14.53, Y:1.02, Z:0.44 [[ 9.95987343e-01 -8.17145939e-02 -3.64957233e-02 1.45275701e+01] [ 8.16782207e-02 9.96655644e-01 -2.48898479e-03 1.02250565e+00] [ 3.65770550e-02 -5.01908391e-04 9.99330710e-01 4.41062557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.319254154 meters Centerline goodness : 0.999607 with order 1 Centerline is valid? [True, True] Translation: X:14.59, Y:1.02, Z:0.44 [[ 9.95717942e-01 -8.49342273e-02 -3.64959956e-02 1.45898716e+01] [ 8.49001614e-02 9.96386365e-01 -2.48498546e-03 1.02445837e+00] [ 3.65751727e-02 -6.24171304e-04 9.99330710e-01 4.43877591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.379254154 meters Centerline goodness : 0.999651 with order 1 Centerline is valid? [True, True] Translation: X:14.65, Y:1.03, Z:0.45 [[ 9.95613701e-01 -8.61474767e-02 -3.64961758e-02 1.46518078e+01] [ 8.61143225e-02 9.96282170e-01 -2.48233562e-03 1.02706782e+00] [ 3.65743362e-02 -6.71396098e-04 9.99330710e-01 4.46291575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.439254154 meters Centerline goodness : 0.999564 with order 1 Centerline is valid? [True, True] Translation: X:14.71, Y:1.03, Z:0.45 [[ 9.95572371e-01 -8.66237327e-02 -3.64963550e-02 1.47138056e+01] [ 8.65909948e-02 9.96240860e-01 -2.47969786e-03 1.02848633e+00] [ 3.65739608e-02 -6.91537018e-04 9.99330710e-01 4.49047461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.499254153999999 meters Centerline goodness : 0.999391 with order 1 Centerline is valid? [True, True] Translation: X:14.78, Y:1.03, Z:0.45 [[ 9.95669990e-01 -8.54942908e-02 -3.64965387e-02 1.47767593e+01] [ 8.54608938e-02 9.96338447e-01 -2.47699173e-03 1.02978827e+00] [ 3.65746733e-02 -6.52760483e-04 9.99330710e-01 4.51272765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.559254154 meters Centerline goodness : 0.999566 with order 1 Centerline is valid? [True, True] Translation: X:14.84, Y:1.03, Z:0.45 [[ 9.95796032e-01 -8.40133610e-02 -3.64968142e-02 1.48384322e+01] [ 8.39791188e-02 9.96464446e-01 -2.47292651e-03 1.03249127e+00] [ 3.65755366e-02 -6.02439887e-04 9.99330710e-01 4.52730142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.619254154 meters Centerline goodness : 0.999610 with order 1 Centerline is valid? [True, True] Translation: X:14.90, Y:1.04, Z:0.45 [[ 9.95779083e-01 -8.42139222e-02 -3.64970402e-02 1.49004604e+01] [ 8.41799370e-02 9.96447510e-01 -2.46958656e-03 1.03534432e+00] [ 3.65753583e-02 -6.13155899e-04 9.99330710e-01 4.52646441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.679254154 meters Centerline goodness : 0.999480 with order 1 Centerline is valid? [True, True] Translation: X:14.96, Y:1.04, Z:0.45 [[ 9.95684490e-01 -8.53249602e-02 -3.64972145e-02 1.49625785e+01] [ 8.52918153e-02 9.96352960e-01 -2.46700677e-03 1.03733058e+00] [ 3.65746050e-02 -6.56553304e-04 9.99330710e-01 4.52720114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.739254154 meters Centerline goodness : 0.999632 with order 1 Centerline is valid? [True, True] Translation: X:15.03, Y:1.04, Z:0.45 [[ 9.95711235e-01 -8.50122149e-02 -3.64973976e-02 1.50256636e+01] [ 8.49789594e-02 9.96379699e-01 -2.46429557e-03 1.04105743e+00] [ 3.65747612e-02 -6.47784083e-04 9.99330710e-01 4.54440935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.799254154 meters Centerline goodness : 0.999544 with order 1 Centerline is valid? [True, True] Translation: X:15.09, Y:1.05, Z:0.46 [[ 9.95792763e-01 -8.40517251e-02 -3.64976694e-02 1.50879791e+01] [ 8.40179726e-02 9.96461202e-01 -2.46026405e-03 1.04651322e+00] [ 3.65753009e-02 -6.16547049e-04 9.99330710e-01 4.57898681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.859254154 meters Centerline goodness : 0.999566 with order 1 Centerline is valid? [True, True] Translation: X:15.15, Y:1.05, Z:0.46 [[ 9.95890399e-01 -8.28867935e-02 -3.64978515e-02 1.51491811e+01] [ 8.28523583e-02 9.96558803e-01 -2.45755901e-03 1.05259404e+00] [ 3.65759544e-02 -5.76473650e-04 9.99330710e-01 4.61839957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.919254153999999 meters Centerline goodness : 0.999718 with order 1 Centerline is valid? [True, True] Translation: X:15.21, Y:1.06, Z:0.47 [[ 9.95704353e-01 -8.50924630e-02 -3.64981430e-02 1.52111677e+01] [ 8.50596672e-02 9.96372839e-01 -2.45322278e-03 1.05712535e+00] [ 3.65745091e-02 -6.61835294e-04 9.99330710e-01 4.65432184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.979254154 meters Centerline goodness : 0.999565 with order 1 Centerline is valid? [True, True] Translation: X:15.27, Y:1.06, Z:0.47 [[ 9.95205731e-01 -9.07382306e-02 -3.64983192e-02 1.52733882e+01] [ 9.07093229e-02 9.95874396e-01 -2.45059714e-03 1.06072663e+00] [ 3.65701045e-02 -8.71889512e-04 9.99330710e-01 4.66029571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.039254153999998 meters Centerline goodness : 0.999588 with order 1 Centerline is valid? [True, True] Translation: X:15.34, Y:1.06, Z:0.47 [[ 9.95023423e-01 -9.27158508e-02 -3.64987433e-02 1.53364543e+01] [ 9.26885042e-02 9.95692155e-01 -2.44426427e-03 1.06475534e+00] [ 3.65681344e-02 -9.50913727e-04 9.99330710e-01 4.67695368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.099254153999997 meters Centerline goodness : 0.999415 with order 1 Centerline is valid? [True, True] Translation: X:15.40, Y:1.07, Z:0.47 [[ 9.94498213e-01 -9.81892363e-02 -3.64990058e-02 1.53995141e+01] [ 9.81657135e-02 9.95167090e-01 -2.44033910e-03 1.06962572e+00] [ 3.65622244e-02 -1.15603807e-03 9.99330710e-01 4.69305810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.159254154 meters Centerline goodness : 0.999458 with order 1 Centerline is valid? [True, True] Translation: X:15.46, Y:1.08, Z:0.47 [[ 9.94246742e-01 -1.00703617e-01 -3.64992725e-02 1.54621234e+01] [ 1.00681932e-01 9.94915681e-01 -2.43634282e-03 1.07544047e+00] [ 3.65590471e-02 -1.25249136e-03 9.99330710e-01 4.71829818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.219254153999998 meters Centerline goodness : 0.999565 with order 1 Centerline is valid? [True, True] Translation: X:15.52, Y:1.08, Z:0.47 [[ 9.94172594e-01 -1.01432915e-01 -3.64995441e-02 1.55247762e+01] [ 1.01411870e-01 9.94841554e-01 -2.43226750e-03 1.08160893e+00] [ 3.65579752e-02 -1.28339335e-03 9.99330710e-01 4.74816966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.279254153999997 meters Centerline goodness : 0.999542 with order 1 Centerline is valid? [True, True] Translation: X:15.59, Y:1.08, Z:0.47 [[ 9.94787714e-01 -9.52111785e-02 -3.64998140e-02 1.55875689e+01] [ 9.51860977e-02 9.95456534e-01 -2.42821119e-03 1.08135704e+00] [ 3.65651711e-02 -1.05872020e-03 9.99330710e-01 4.68194586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.339254154 meters Centerline goodness : 0.999738 with order 1 Centerline is valid? [True, True] Translation: X:15.65, Y:1.09, Z:0.48 [[ 9.94340229e-01 -9.97760390e-02 -3.65000018e-02 1.56477141e+01] [ 9.97541318e-02 9.95009161e-01 -2.42538481e-03 1.09446206e+00] [ 3.65598314e-02 -1.22936829e-03 9.99330710e-01 4.80862108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.399254153999998 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:15.71, Y:1.10, Z:0.48 [[ 9.94496062e-01 -9.82104355e-02 -3.65005966e-02 1.57092609e+01] [ 9.81878046e-02 9.95164969e-01 -2.41639975e-03 1.10052848e+00] [ 3.65614308e-02 -1.18081341e-03 9.99330710e-01 4.83702123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.459254153999996 meters Centerline goodness : 0.999606 with order 1 Centerline is valid? [True, True] Translation: X:15.77, Y:1.11, Z:0.49 [[ 9.94572116e-01 -9.74371466e-02 -3.65008141e-02 1.57724825e+01] [ 9.74141163e-02 9.95241009e-01 -2.41311002e-03 1.10608890e+00] [ 3.65622336e-02 -1.15568261e-03 9.99330710e-01 4.87000337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.519254154 meters Centerline goodness : 0.999672 with order 1 Centerline is valid? [True, True] Translation: X:15.83, Y:1.11, Z:0.49 [[ 9.94762573e-01 -9.54730017e-02 -3.65010805e-02 1.58339576e+01] [ 9.54487985e-02 9.95431426e-01 -2.40907418e-03 1.11020817e+00] [ 3.65643241e-02 -1.08752744e-03 9.99330710e-01 4.88089160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.579254153999997 meters Centerline goodness : 0.999715 with order 1 Centerline is valid? [True, True] Translation: X:15.90, Y:1.11, Z:0.49 [[ 9.95059358e-01 -9.23283722e-02 -3.65012989e-02 1.58971819e+01] [ 9.23021765e-02 9.95728136e-01 -2.40575982e-03 1.11451113e+00] [ 3.65674902e-02 -9.75275514e-04 9.99330710e-01 4.90018891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.639254154 meters Centerline goodness : 0.999715 with order 1 Centerline is valid? [True, True] Translation: X:15.96, Y:1.12, Z:0.49 [[ 9.95845394e-01 -8.34241477e-02 -3.65015572e-02 1.59602983e+01] [ 8.33921149e-02 9.96513917e-01 -2.40183483e-03 1.12081113e+00] [ 3.65746807e-02 -6.52085900e-04 9.99330710e-01 4.93361623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.699254154 meters Centerline goodness : 0.999692 with order 1 Centerline is valid? [True, True] Translation: X:16.02, Y:1.13, Z:0.50 [[ 9.96800482e-01 -7.11084795e-02 -3.65018250e-02 1.60226645e+01] [ 7.10683351e-02 9.97468567e-01 -2.39775749e-03 1.12753542e+00] [ 3.65799240e-02 -2.04038112e-04 9.99330710e-01 4.95805808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.759254153999997 meters Centerline goodness : 0.999670 with order 1 Centerline is valid? [True, True] Translation: X:16.08, Y:1.13, Z:0.50 [[ 9.97349288e-01 -6.29443862e-02 -3.65020942e-02 1.60832949e+01] [ 6.28989232e-02 9.98017032e-01 -2.39365223e-03 1.13214624e+00] [ 3.65803787e-02 9.13649242e-05 9.99330710e-01 4.98008117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.819254154 meters Centerline goodness : 0.999649 with order 1 Centerline is valid? [True, True] Translation: X:16.14, Y:1.14, Z:0.50 [[ 9.97841527e-01 -5.45881168e-02 -3.65023842e-02 1.61444061e+01] [ 5.45372242e-02 9.98508880e-01 -2.38922250e-03 1.13568234e+00] [ 3.65783779e-02 3.93326722e-04 9.99330710e-01 5.00396174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.879254153999998 meters Centerline goodness : 0.999671 with order 1 Centerline is valid? [True, True] Translation: X:16.21, Y:1.14, Z:0.50 [[ 9.97953576e-01 -5.24997698e-02 -3.65025121e-02 1.62059589e+01] [ 5.24475522e-02 9.98620827e-01 -2.38726633e-03 1.13770923e+00] [ 3.65774997e-02 4.67913566e-04 9.99330710e-01 5.03537496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.939254153999997 meters Centerline goodness : 0.999692 with order 1 Centerline is valid? [True, True] Translation: X:16.27, Y:1.14, Z:0.51 [[ 9.97844028e-01 -5.45422500e-02 -3.65025986e-02 1.62665287e+01] [ 5.44914467e-02 9.98511387e-01 -2.38594315e-03 1.13905119e+00] [ 3.65783950e-02 3.91719717e-04 9.99330710e-01 5.05214941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.999254154 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:16.33, Y:1.14, Z:0.51 [[ 9.97452696e-01 -6.12835927e-02 -3.65025986e-02 1.63283362e+01] [ 6.12372999e-02 9.98120384e-01 -2.38594315e-03 1.13825813e+00] [ 3.65802069e-02 1.44544849e-04 9.99330710e-01 5.06393443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.059254153999998 meters Centerline goodness : 0.999629 with order 1 Centerline is valid? [True, True] Translation: X:16.39, Y:1.14, Z:0.51 [[ 9.96932352e-01 -6.92346730e-02 -3.65026836e-02 1.63913119e+01] [ 6.91937530e-02 9.97600390e-01 -2.38464157e-03 1.13575376e+00] [ 3.65801913e-02 -1.48431344e-04 9.99330710e-01 5.06343918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.119254153999997 meters Centerline goodness : 0.999478 with order 1 Centerline is valid? [True, True] Translation: X:16.45, Y:1.13, Z:0.51 [[ 9.96356970e-01 -7.70735332e-02 -3.65028559e-02 1.64539187e+01] [ 7.70379655e-02 9.97025315e-01 -2.38200081e-03 1.13304779e+00] [ 3.65778606e-02 -4.38782642e-04 9.99330710e-01 5.06823607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.179254154 meters Centerline goodness : 0.999546 with order 1 Centerline is valid? [True, True] Translation: X:16.52, Y:1.13, Z:0.51 [[ 9.95893121e-01 -8.28517999e-02 -3.65030272e-02 1.65161355e+01] [ 8.28202059e-02 9.96561665e-01 -2.37937344e-03 1.13097038e+00] [ 3.65746529e-02 -6.53586589e-04 9.99330710e-01 5.08785709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.239254153999997 meters Centerline goodness : 0.999590 with order 1 Centerline is valid? [True, True] Translation: X:16.58, Y:1.13, Z:0.51 [[ 9.95714720e-01 -8.49688882e-02 -3.65031989e-02 1.65791553e+01] [ 8.49388122e-02 9.96383335e-01 -2.37673658e-03 1.13135776e+00] [ 3.65731277e-02 -7.33986754e-04 9.99330710e-01 5.11540066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.299254154 meters Centerline goodness : 0.999462 with order 1 Centerline is valid? [True, True] Translation: X:16.64, Y:1.13, Z:0.51 [[ 9.95516140e-01 -8.72646169e-02 -3.65034587e-02 1.66411667e+01] [ 8.72362292e-02 9.96184827e-01 -2.37273984e-03 1.13114918e+00] [ 3.65712479e-02 -8.22323282e-04 9.99330710e-01 5.14121723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.359254154 meters Centerline goodness : 0.999335 with order 1 Centerline is valid? [True, True] Translation: X:16.70, Y:1.13, Z:0.52 [[ 9.95236588e-01 -9.03969907e-02 -3.65036718e-02 1.67038310e+01] [ 9.03708277e-02 9.95905367e-01 -2.36945712e-03 1.13063740e+00] [ 3.65683944e-02 -9.40696610e-04 9.99330710e-01 5.15207992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.419254153999997 meters Centerline goodness : 0.999443 with order 1 Centerline is valid? [True, True] Translation: X:16.77, Y:1.13, Z:0.52 [[ 9.95059104e-01 -9.23301117e-02 -3.65038433e-02 1.67661515e+01] [ 9.23053449e-02 9.95727935e-01 -2.36681181e-03 1.13190086e+00] [ 3.65664245e-02 -1.01438221e-03 9.99330710e-01 5.16222375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.479254154 meters Centerline goodness : 0.999403 with order 1 Centerline is valid? [True, True] Translation: X:16.83, Y:1.13, Z:0.52 [[ 9.94833160e-01 -9.47335239e-02 -3.65040182e-02 1.68281399e+01] [ 9.47104718e-02 9.95502053e-01 -2.36411013e-03 1.13311174e+00] [ 3.65637856e-02 -1.10541764e-03 9.99330710e-01 5.16895312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.539254153999998 meters Centerline goodness : 0.999423 with order 1 Centerline is valid? [True, True] Translation: X:16.89, Y:1.13, Z:0.52 [[ 9.94648242e-01 -9.66556749e-02 -3.65041916e-02 1.68901917e+01] [ 9.66340137e-02 9.95317181e-01 -2.36142999e-03 1.13474333e+00] [ 3.65614947e-02 -1.17875436e-03 9.99330710e-01 5.18840424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.599254153999997 meters Centerline goodness : 0.999446 with order 1 Centerline is valid? [True, True] Translation: X:16.95, Y:1.14, Z:0.52 [[ 9.94618916e-01 -9.69569149e-02 -3.65043691e-02 1.69524683e+01] [ 9.69355570e-02 9.95287865e-01 -2.35868322e-03 1.13792120e+00] [ 3.65610462e-02 -1.19258040e-03 9.99330710e-01 5.20240846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.659254154 meters Centerline goodness : 0.999361 with order 1 Centerline is valid? [True, True] Translation: X:17.01, Y:1.14, Z:0.52 [[ 9.94593543e-01 -9.72167617e-02 -3.65045879e-02 1.70144191e+01] [ 9.71957029e-02 9.95262502e-01 -2.35529191e-03 1.14263920e+00] [ 3.65606213e-02 -1.20553096e-03 9.99330710e-01 5.24904977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.719254153999998 meters Centerline goodness : 0.999381 with order 1 Centerline is valid? [True, True] Translation: X:17.08, Y:1.15, Z:0.53 [[ 9.94479679e-01 -9.83746394e-02 -3.65047607e-02 1.70768280e+01] [ 9.83544578e-02 9.95148665e-01 -2.35261028e-03 1.14675308e+00] [ 3.65591011e-02 -1.25078283e-03 9.99330710e-01 5.28252025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.779254153999997 meters Centerline goodness : 0.999381 with order 1 Centerline is valid? [True, True] Translation: X:17.14, Y:1.15, Z:0.53 [[ 9.94372314e-01 -9.94539612e-02 -3.65049344e-02 1.71393158e+01] [ 9.94346045e-02 9.95041324e-01 -2.34991264e-03 1.15108948e+00] [ 3.65576264e-02 -1.29316564e-03 9.99330710e-01 5.31038658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.839254154 meters Centerline goodness : 0.999659 with order 1 Centerline is valid? [True, True] Translation: X:17.20, Y:1.15, Z:0.53 [[ 9.94180911e-01 -1.01349336e-01 -3.65051945e-02 1.72020850e+01] [ 1.01331403e-01 9.94849960e-01 -2.34586544e-03 1.15449764e+00] [ 3.65549432e-02 -1.36690795e-03 9.99330710e-01 5.33085379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.899254153999998 meters Centerline goodness : 0.999531 with order 1 Centerline is valid? [True, True] Translation: X:17.26, Y:1.16, Z:0.53 [[ 9.94048561e-01 -1.02639227e-01 -3.65054532e-02 1.72636137e+01] [ 1.02622310e-01 9.94717637e-01 -2.34183133e-03 1.15839928e+00] [ 3.65529819e-02 -1.41837988e-03 9.99330710e-01 5.33102973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.959254153999996 meters Centerline goodness : 0.999296 with order 1 Centerline is valid? [True, True] Translation: X:17.33, Y:1.16, Z:0.54 [[ 9.94048330e-01 -1.02641416e-01 -3.65055803e-02 1.73260787e+01] [ 1.02624573e-01 9.94717408e-01 -2.33984963e-03 1.16261235e+00] [ 3.65529017e-02 -1.42044599e-03 9.99330710e-01 5.35154302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.019254154 meters Centerline goodness : 0.999424 with order 1 Centerline is valid? [True, True] Translation: X:17.39, Y:1.17, Z:0.54 [[ 9.94186734e-01 -1.01291969e-01 -3.65058318e-02 1.73887395e+01] [ 1.01274362e-01 9.94855792e-01 -2.33591880e-03 1.16765841e+00] [ 3.65546480e-02 -1.37476533e-03 9.99330710e-01 5.38181092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.079254153999997 meters Centerline goodness : 0.999486 with order 1 Centerline is valid? [True, True] Translation: X:17.45, Y:1.17, Z:0.54 [[ 9.94361762e-01 -9.95589851e-02 -3.65060834e-02 1.74509858e+01] [ 9.95403566e-02 9.95030793e-01 -2.33198045e-03 1.17320928e+00] [ 3.65568467e-02 -1.31499637e-03 9.99330710e-01 5.41233991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.139254154 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:17.51, Y:1.18, Z:0.54 [[ 9.94456171e-01 -9.86114506e-02 -3.65062525e-02 1.75141898e+01] [ 9.85922818e-02 9.95125186e-01 -2.32932987e-03 1.17868811e+00] [ 3.65579899e-02 -1.28281827e-03 9.99330710e-01 5.43125736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.199254154 meters Centerline goodness : 0.999422 with order 1 Centerline is valid? [True, True] Translation: X:17.58, Y:1.18, Z:0.55 [[ 9.94420288e-01 -9.89725496e-02 -3.65065052e-02 1.75756254e+01] [ 9.89537692e-02 9.95089315e-01 -2.32536259e-03 1.18434446e+00] [ 3.65573803e-02 -1.30006856e-03 9.99330710e-01 5.45063218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.259254153999997 meters Centerline goodness : 0.999464 with order 1 Centerline is valid? [True, True] Translation: X:17.64, Y:1.19, Z:0.55 [[ 9.94226415e-01 -1.00901416e-01 -3.65067123e-02 1.76377995e+01] [ 1.00884053e-01 9.94895480e-01 -2.32210642e-03 1.19065248e+00] [ 3.65546669e-02 -1.37424555e-03 9.99330710e-01 5.48967167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.319254154 meters Centerline goodness : 0.999506 with order 1 Centerline is valid? [True, True] Translation: X:17.70, Y:1.20, Z:0.55 [[ 9.93862236e-01 -1.04427504e-01 -3.65068822e-02 1.76998431e+01] [ 1.04412612e-01 9.94531360e-01 -2.31943213e-03 1.19662810e+00] [ 3.65494517e-02 -1.50658293e-03 9.99330710e-01 5.52581309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.379254153999998 meters Centerline goodness : 0.999464 with order 1 Centerline is valid? [True, True] Translation: X:17.76, Y:1.20, Z:0.56 [[ 9.93582971e-01 -1.07051927e-01 -3.65070522e-02 1.77613892e+01] [ 1.07038901e-01 9.94252134e-01 -2.31675294e-03 1.20252540e+00] [ 3.65452275e-02 -1.60578849e-03 9.99330710e-01 5.55055361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.439254153999997 meters Centerline goodness : 0.999613 with order 1 Centerline is valid? [True, True] Translation: X:17.82, Y:1.21, Z:0.56 [[ 9.93486783e-01 -1.07940874e-01 -3.65072622e-02 1.78230833e+01] [ 1.07928568e-01 9.94155960e-01 -2.31343983e-03 1.20817036e+00] [ 3.65436270e-02 -1.64180465e-03 9.99330710e-01 5.57042364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.499254154 meters Centerline goodness : 0.999613 with order 1 Centerline is valid? [True, True] Translation: X:17.89, Y:1.21, Z:0.56 [[ 9.93516850e-01 -1.07663716e-01 -3.65074321e-02 1.78853683e+01] [ 1.07651322e-01 9.94186026e-01 -2.31075570e-03 1.21414786e+00] [ 3.65439634e-02 -1.63429859e-03 9.99330710e-01 5.59339203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.559254153999998 meters Centerline goodness : 0.999418 with order 1 Centerline is valid? [True, True] Translation: X:17.95, Y:1.22, Z:0.56 [[ 9.93576556e-01 -1.07111259e-01 -3.65076059e-02 1.79473502e+01] [ 1.07098594e-01 9.94245726e-01 -2.30800595e-03 1.21928972e+00] [ 3.65447446e-02 -1.61673266e-03 9.99330710e-01 5.61316593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.619254153999997 meters Centerline goodness : 0.999462 with order 1 Centerline is valid? [True, True] Translation: X:18.01, Y:1.22, Z:0.56 [[ 9.93697788e-01 -1.05980585e-01 -3.65078199e-02 1.80097358e+01] [ 1.05967283e-01 9.94366946e-01 -2.30461621e-03 1.22476991e+00] [ 3.65464140e-02 -1.57854243e-03 9.99330710e-01 5.63965611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.679254154 meters Centerline goodness : 0.999611 with order 1 Centerline is valid? [True, True] Translation: X:18.07, Y:1.23, Z:0.57 [[ 9.94049831e-01 -1.02626015e-01 -3.65079924e-02 1.80709857e+01] [ 1.02610555e-01 9.94718943e-01 -2.30188096e-03 1.23127209e+00] [ 3.65514244e-02 -1.45792097e-03 9.99330710e-01 5.65155133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.739254153999997 meters Centerline goodness : 0.999459 with order 1 Centerline is valid? [True, True] Translation: X:18.13, Y:1.24, Z:0.57 [[ 9.94619045e-01 -9.69541042e-02 -3.65083260e-02 1.81325736e+01] [ 9.69350214e-02 9.95288063e-01 -2.29657687e-03 1.23767288e+00] [ 3.65589636e-02 -1.25471627e-03 9.99330710e-01 5.67268015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.799254153999996 meters Centerline goodness : 0.999499 with order 1 Centerline is valid? [True, True] Translation: X:18.19, Y:1.25, Z:0.57 [[ 9.95233499e-01 -9.04290470e-02 -3.65084927e-02 1.81945007e+01] [ 9.04056742e-02 9.95902381e-01 -2.29392388e-03 1.24552822e+00] [ 3.65663322e-02 -1.01758501e-03 9.99330710e-01 5.69600900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.859254154 meters Centerline goodness : 0.999738 with order 1 Centerline is valid? [True, True] Translation: X:18.26, Y:1.25, Z:0.57 [[ 9.95753374e-01 -8.45123398e-02 -3.65086608e-02 1.82556761e+01] [ 8.44850901e-02 9.96422109e-01 -2.29124572e-03 1.25362231e+00] [ 3.65716753e-02 -8.02921840e-04 9.99330710e-01 5.70901503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.919254153999997 meters Centerline goodness : 0.999759 with order 1 Centerline is valid? [True, True] Translation: X:18.32, Y:1.26, Z:0.57 [[ 9.96048594e-01 -8.09586783e-02 -3.65087848e-02 1.83179863e+01] [ 8.09291151e-02 9.96717231e-01 -2.28926763e-03 1.26002776e+00] [ 3.65742710e-02 -6.74401841e-04 9.99330710e-01 5.73934728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.979254154 meters Centerline goodness : 0.999715 with order 1 Centerline is valid? [True, True] Translation: X:18.38, Y:1.27, Z:0.58 [[ 9.96279089e-01 -7.80709496e-02 -3.65089526e-02 1.83789736e+01] [ 7.80395464e-02 9.96947642e-01 -2.28658830e-03 1.26657375e+00] [ 3.65760304e-02 -5.71061995e-04 9.99330710e-01 5.75679904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.039254153999998 meters Centerline goodness : 0.999736 with order 1 Centerline is valid? [True, True] Translation: X:18.44, Y:1.27, Z:0.58 [[ 9.96297189e-01 -7.78395691e-02 -3.65090765e-02 1.84414911e+01] [ 7.78080831e-02 9.96965738e-01 -2.28460936e-03 1.27207483e+00] [ 3.65761314e-02 -5.64551373e-04 9.99330710e-01 5.79316827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.099254153999997 meters Centerline goodness : 0.999560 with order 1 Centerline is valid? [True, True] Translation: X:18.50, Y:1.28, Z:0.58 [[ 9.96138113e-01 -7.98494057e-02 -3.65093328e-02 1.85032314e+01] [ 7.98194189e-02 9.96806731e-01 -2.28050558e-03 1.27787085e+00] [ 3.65748457e-02 -6.42455206e-04 9.99330710e-01 5.82200053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.159254154 meters Centerline goodness : 0.999693 with order 1 Centerline is valid? [True, True] Translation: X:18.57, Y:1.28, Z:0.59 [[ 9.95754703e-01 -8.44963226e-02 -3.65095011e-02 1.85656472e+01] [ 8.44695546e-02 9.96423457e-01 -2.27780877e-03 1.28263508e+00] [ 3.65713897e-02 -8.15802497e-04 9.99330710e-01 5.85255459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.219254153999998 meters Centerline goodness : 0.999692 with order 1 Centerline is valid? [True, True] Translation: X:18.63, Y:1.29, Z:0.59 [[ 9.95183996e-01 -9.09717392e-02 -3.65096686e-02 1.86288586e+01] [ 9.09494204e-02 9.95852914e-01 -2.27511954e-03 1.28749196e+00] [ 3.65652315e-02 -1.05637065e-03 9.99330710e-01 5.87427662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.279254153999997 meters Centerline goodness : 0.999759 with order 1 Centerline is valid? [True, True] Translation: X:18.69, Y:1.29, Z:0.59 [[ 9.94545024e-01 -9.77098823e-02 -3.65099179e-02 1.86922551e+01] [ 9.76922415e-02 9.95214081e-01 -2.27111310e-03 1.29131862e+00] [ 3.65570946e-02 -1.30801148e-03 9.99330710e-01 5.89333671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.339254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:18.75, Y:1.29, Z:0.59 [[ 9.94501926e-01 -9.81474693e-02 -3.65101712e-02 1.87535126e+01] [ 9.81302724e-02 9.95170995e-01 -2.26703335e-03 1.29442001e+00] [ 3.65563670e-02 -1.32818401e-03 9.99330710e-01 5.88914819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.399254153999998 meters Centerline goodness : 0.999714 with order 1 Centerline is valid? [True, True] Translation: X:18.82, Y:1.30, Z:0.59 [[ 9.94845128e-01 -9.46053385e-02 -3.65102959e-02 1.88152013e+01] [ 9.45858327e-02 9.95514133e-01 -2.26502362e-03 1.30000818e+00] [ 3.65607989e-02 -1.20000902e-03 9.99330710e-01 5.92009957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.459254153999996 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:18.88, Y:1.31, Z:0.60 [[ 9.95596437e-01 -8.63407211e-02 -3.65104594e-02 1.88773038e+01] [ 8.63157572e-02 9.96265262e-01 -2.26238484e-03 1.30915769e+00] [ 3.65694383e-02 -8.99005665e-04 9.99330710e-01 5.96578946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.519254154 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:18.94, Y:1.32, Z:0.60 [[ 9.96179734e-01 -7.93278818e-02 -3.65106210e-02 1.89380281e+01] [ 7.92983045e-02 9.96848370e-01 -2.25977375e-03 1.31551314e+00] [ 3.65748161e-02 -6.44089529e-04 9.99330710e-01 5.98311611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.579254153999997 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:19.00, Y:1.32, Z:0.60 [[ 9.96469941e-01 -7.55951268e-02 -3.65107403e-02 1.90002877e+01] [ 7.55631154e-02 9.97138465e-01 -2.25784426e-03 1.32015161e+00] [ 3.65769456e-02 -5.08991348e-04 9.99330710e-01 6.00289734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.639254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:19.06, Y:1.32, Z:0.60 [[ 9.96579016e-01 -7.41432262e-02 -3.65109074e-02 1.90622701e+01] [ 7.41103399e-02 9.97247498e-01 -2.25513856e-03 1.32399431e+00] [ 3.65776143e-02 -4.58411998e-04 9.99330710e-01 6.01679495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.699254154 meters Centerline goodness : 0.999780 with order 1 Centerline is valid? [True, True] Translation: X:19.12, Y:1.33, Z:0.60 [[ 9.96510377e-01 -7.50600384e-02 -3.65110736e-02 1.91234065e+01] [ 7.50278658e-02 9.97178894e-01 -2.25244543e-03 1.32741652e+00] [ 3.65771406e-02 -4.94762681e-04 9.99330710e-01 6.02658039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.759254153999997 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:19.19, Y:1.33, Z:0.60 [[ 9.96297198e-01 -7.78383720e-02 -3.65113728e-02 1.91854993e+01] [ 7.78082417e-02 9.96965810e-01 -2.24758464e-03 1.32904932e+00] [ 3.65755387e-02 -6.01623437e-04 9.99330710e-01 6.03261940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.819254154 meters Centerline goodness : 0.999646 with order 1 Centerline is valid? [True, True] Translation: X:19.25, Y:1.33, Z:0.61 [[ 9.96088578e-01 -8.04639894e-02 -3.65115331e-02 1.92477650e+01] [ 8.04357169e-02 9.96757270e-01 -2.24497705e-03 1.33125038e+00] [ 3.65737759e-02 -7.00635347e-04 9.99330710e-01 6.06044893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.879254153999998 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:19.31, Y:1.33, Z:0.61 [[ 9.96075177e-01 -8.06296348e-02 -3.65116952e-02 1.93101134e+01] [ 8.06015702e-02 9.96743878e-01 -2.24233847e-03 1.33489212e+00] [ 3.65736076e-02 -7.09362281e-04 9.99330710e-01 6.09317521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.939254153999997 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:19.37, Y:1.34, Z:0.61 [[ 9.96070829e-01 -8.06832599e-02 -3.65118575e-02 1.93713852e+01] [ 8.06553283e-02 9.96739536e-01 -2.23969228e-03 1.33852898e+00] [ 3.65735176e-02 -7.13983710e-04 9.99330710e-01 6.14085245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.999254154 meters Centerline goodness : 0.999735 with order 1 Centerline is valid? [True, True] Translation: X:19.43, Y:1.34, Z:0.62 [[ 9.95952340e-01 -8.21328937e-02 -3.65119775e-02 1.94322319e+01] [ 8.21060071e-02 9.96621090e-01 -2.23773478e-03 1.34086383e+00] [ 3.65723984e-02 -7.69175489e-04 9.99330710e-01 6.17380261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.059254153999998 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:19.49, Y:1.34, Z:0.62 [[ 9.95773643e-01 -8.42716922e-02 -3.65120952e-02 1.94937083e+01] [ 8.42463124e-02 9.96442452e-01 -2.23581298e-03 1.34367905e+00] [ 3.65706174e-02 -8.49645739e-04 9.99330710e-01 6.19765160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.119254153999997 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:19.56, Y:1.35, Z:0.62 [[ 9.95676086e-01 -8.54165334e-02 -3.65122882e-02 1.95564176e+01] [ 8.53920383e-02 9.96344928e-01 -2.23265558e-03 1.34704658e+00] [ 3.65695389e-02 -8.94856941e-04 9.99330710e-01 6.22455469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.179254154 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:19.62, Y:1.35, Z:0.62 [[ 9.95461782e-01 -8.78787575e-02 -3.65125306e-02 1.96187554e+01] [ 8.78560621e-02 9.96130687e-01 -2.22868429e-03 1.34844023e+00] [ 3.65671062e-02 -9.89277127e-04 9.99330710e-01 6.23285489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.239254153999997 meters Centerline goodness : 0.999693 with order 1 Centerline is valid? [True, True] Translation: X:19.68, Y:1.35, Z:0.62 [[ 9.95302806e-01 -8.96612922e-02 -3.65126945e-02 1.96808680e+01] [ 8.96398932e-02 9.95971754e-01 -2.22599715e-03 1.35019853e+00] [ 3.65651981e-02 -1.05745282e-03 9.99330710e-01 6.23175354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.299254153999996 meters Centerline goodness : 0.999737 with order 1 Centerline is valid? [True, True] Translation: X:19.74, Y:1.35, Z:0.63 [[ 9.95429979e-01 -8.82381321e-02 -3.65128560e-02 1.97433182e+01] [ 8.82158740e-02 9.96098899e-01 -2.22334468e-03 1.35450910e+00] [ 3.65665994e-02 -1.00782955e-03 9.99330710e-01 6.25760825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.359254154 meters Centerline goodness : 0.999780 with order 1 Centerline is valid? [True, True] Translation: X:19.81, Y:1.36, Z:0.63 [[ 9.95850470e-01 -8.33585107e-02 -3.65130175e-02 1.98054125e+01] [ 8.33330718e-02 9.96519276e-01 -2.22068851e-03 1.35872664e+00] [ 3.65710391e-02 -8.31268212e-04 9.99330710e-01 6.29603713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.419254153999997 meters Centerline goodness : 0.999692 with order 1 Centerline is valid? [True, True] Translation: X:19.87, Y:1.36, Z:0.63 [[ 9.96444332e-01 -7.59307620e-02 -3.65131784e-02 1.98673779e+01] [ 7.59004339e-02 9.97112935e-01 -2.21803998e-03 1.36293967e+00] [ 3.65761799e-02 -5.61212717e-04 9.99330710e-01 6.31308143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.479254154 meters Centerline goodness : 0.999736 with order 1 Centerline is valid? [True, True] Translation: X:19.93, Y:1.36, Z:0.62 [[ 9.97658762e-01 -5.78253311e-02 -3.65133767e-02 1.99297117e+01] [ 5.77829876e-02 9.98326711e-01 -2.21477025e-03 1.35511879e+00] [ 3.65803491e-02 9.97329468e-05 9.99330710e-01 6.18032521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.539254153999998 meters Centerline goodness : 0.999735 with order 1 Centerline is valid? [True, True] Translation: X:19.99, Y:1.37, Z:0.64 [[ 9.97713296e-01 -5.68765853e-02 -3.65134607e-02 1.99894656e+01] [ 5.68336573e-02 9.98381208e-01 -2.21338580e-03 1.37493125e+00] [ 3.65802428e-02 1.33130936e-04 9.99330710e-01 6.37865729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.599254153999997 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:20.05, Y:1.38, Z:0.64 [[ 9.98183086e-01 -4.79299946e-02 -3.65135836e-02 2.00505621e+01] [ 4.78811548e-02 9.98850592e-01 -2.21135623e-03 1.38015822e+00] [ 3.65776049e-02 4.59025834e-04 9.99330710e-01 6.41010119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.659254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.11, Y:1.38, Z:0.64 [[ 9.98675152e-01 -3.62587016e-02 -3.65136633e-02 2.01101005e+01] [ 3.62021107e-02 9.99342045e-01 -2.21003950e-03 1.38425434e+00] [ 3.65697721e-02 8.85239854e-04 9.99330710e-01 6.43484105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.719254153999998 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:20.17, Y:1.39, Z:0.65 [[ 9.98837126e-01 -3.14825511e-02 -3.65136242e-02 2.01678354e+01] [ 3.14227481e-02 9.99503739e-01 -2.21068516e-03 1.38770821e+00] [ 3.65651019e-02 1.06075600e-03 9.99330710e-01 6.47261728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.779254153999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.23, Y:1.39, Z:0.65 [[ 9.98760485e-01 -3.38274215e-02 -3.65129865e-02 2.02260760e+01] [ 3.37688007e-02 9.99427203e-01 -2.22116800e-03 1.38969704e+00] [ 3.65672084e-02 9.85415067e-04 9.99330710e-01 6.50005831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.839254154 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:20.28, Y:1.39, Z:0.65 [[ 9.98135060e-01 -4.89208591e-02 -3.65123545e-02 2.02848292e+01] [ 4.88719449e-02 9.98802560e-01 -2.23150899e-03 1.38554574e+00] [ 3.65778005e-02 4.42917580e-04 9.99330710e-01 6.52076676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.899254153999998 meters Centerline goodness : 0.999057 with order 1 Centerline is valid? [True, True] Translation: X:20.34, Y:1.38, Z:0.65 [[ 9.97572687e-01 -5.92924345e-02 -3.65121955e-02 2.03445067e+01] [ 5.92503656e-02 9.98240654e-01 -2.23410678e-03 1.38459817e+00] [ 3.65804236e-02 6.53229708e-05 9.99330710e-01 6.49765176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.959254153999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.41, Y:1.38, Z:0.66 [[ 9.96278977e-01 -7.80708997e-02 -3.65121056e-02 2.04055017e+01] [ 7.80413654e-02 9.96947615e-01 -2.23557510e-03 1.38079631e+00] [ 3.65751900e-02 -6.22198102e-04 9.99330710e-01 6.56500497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.019254154 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:20.47, Y:1.38, Z:0.66 [[ 9.95082719e-01 -9.20719541e-02 -3.65121524e-02 2.04679531e+01] [ 9.20518525e-02 9.95751707e-01 -2.23481096e-03 1.37706008e+00] [ 3.65628015e-02 -1.13718949e-03 9.99330710e-01 6.59469083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.079254153999997 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:20.53, Y:1.38, Z:0.66 [[ 9.94503909e-01 -9.81265846e-02 -3.65123164e-02 2.05296151e+01] [ 9.81106534e-02 9.95173009e-01 -2.23212792e-03 1.37662608e+00] [ 3.65551029e-02 -1.36238728e-03 9.99330710e-01 6.60227617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.139254153999996 meters Centerline goodness : 0.999700 with order 1 Centerline is valid? [True, True] Translation: X:20.59, Y:1.38, Z:0.66 [[ 9.93907329e-01 -1.03995493e-01 -3.65124377e-02 2.05915635e+01] [ 1.03983585e-01 9.94576513e-01 -2.23014226e-03 1.37635297e+00] [ 3.65463377e-02 -1.58013942e-03 9.99330710e-01 6.64825167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.199254154 meters Centerline goodness : 0.999549 with order 1 Centerline is valid? [True, True] Translation: X:20.65, Y:1.38, Z:0.67 [[ 9.93571859e-01 -1.07153121e-01 -3.65125978e-02 2.06542924e+01] [ 1.07143435e-01 9.94241079e-01 -2.22751781e-03 1.37755620e+00] [ 3.65410101e-02 -1.69888614e-03 9.99330710e-01 6.68867477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.259254153999997 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:20.72, Y:1.38, Z:0.67 [[ 9.93349776e-01 -1.09192646e-01 -3.65128490e-02 2.07158494e+01] [ 1.09184485e-01 9.94019016e-01 -2.22339233e-03 1.37832769e+00] [ 3.65372444e-02 -1.77803036e-03 9.99330710e-01 6.69910106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.319254154 meters Centerline goodness : 0.999636 with order 1 Centerline is valid? [True, True] Translation: X:20.78, Y:1.38, Z:0.67 [[ 9.93209138e-01 -1.10464525e-01 -3.65129722e-02 2.07784140e+01] [ 1.10457296e-01 9.93878389e-01 -2.22136740e-03 1.38104556e+00] [ 3.65348363e-02 -1.82684178e-03 9.99330710e-01 6.70946454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.379254153999998 meters Centerline goodness : 0.999594 with order 1 Centerline is valid? [True, True] Translation: X:20.84, Y:1.38, Z:0.67 [[ 9.93086248e-01 -1.11563857e-01 -3.65131335e-02 2.08408650e+01] [ 1.11557466e-01 9.93755508e-01 -2.21871378e-03 1.38413494e+00] [ 3.65326558e-02 -1.86993850e-03 9.99330710e-01 6.71462165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.439254153999997 meters Centerline goodness : 0.999529 with order 1 Centerline is valid? [True, True] Translation: X:20.90, Y:1.39, Z:0.67 [[ 9.93074993e-01 -1.11663946e-01 -3.65132945e-02 2.09028702e+01] [ 1.11657720e-01 9.93744254e-01 -2.21606044e-03 1.38730300e+00] [ 3.65323307e-02 -1.87627699e-03 9.99330710e-01 6.73535556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.499254154 meters Centerline goodness : 0.999507 with order 1 Centerline is valid? [True, True] Translation: X:20.97, Y:1.39, Z:0.68 [[ 9.93126550e-01 -1.11204422e-01 -3.65134592e-02 2.09660117e+01] [ 1.11197986e-01 9.93795809e-01 -2.21334389e-03 1.39299684e+00] [ 3.65330563e-02 -1.86209253e-03 9.99330710e-01 6.77286712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.559254153999998 meters Centerline goodness : 0.999338 with order 1 Centerline is valid? [True, True] Translation: X:21.03, Y:1.40, Z:0.68 [[ 9.93150818e-01 -1.10987399e-01 -3.65137078e-02 2.10267921e+01] [ 1.10980967e-01 9.93820076e-01 -2.20923411e-03 1.39738127e+00] [ 3.65332531e-02 -1.85822392e-03 9.99330710e-01 6.79185427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.619254153999997 meters Centerline goodness : 0.999424 with order 1 Centerline is valid? [True, True] Translation: X:21.09, Y:1.40, Z:0.68 [[ 9.93127315e-01 -1.11197401e-01 -3.65140169e-02 2.10885185e+01] [ 1.11191298e-01 9.93796577e-01 -2.20411436e-03 1.40116730e+00] [ 3.65325968e-02 -1.87107477e-03 9.99330710e-01 6.81692259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.679254154 meters Centerline goodness : 0.999531 with order 1 Centerline is valid? [True, True] Translation: X:21.15, Y:1.41, Z:0.69 [[ 9.93106045e-01 -1.11387160e-01 -3.65141755e-02 2.11489418e+01] [ 1.11381281e-01 9.93775308e-01 -2.20148285e-03 1.40541000e+00] [ 3.65321030e-02 -1.88068973e-03 9.99330710e-01 6.85645433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.739254153999997 meters Centerline goodness : 0.999615 with order 1 Centerline is valid? [True, True] Translation: X:21.21, Y:1.41, Z:0.69 [[ 9.93065315e-01 -1.11749677e-01 -3.65142540e-02 2.12106492e+01] [ 1.11744091e-01 9.93734581e-01 -2.20018150e-03 1.40894103e+00] [ 3.65313464e-02 -1.89532817e-03 9.99330710e-01 6.88589679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.799254153999996 meters Centerline goodness : 0.999425 with order 1 Centerline is valid? [True, True] Translation: X:21.27, Y:1.40, Z:0.68 [[ 9.93749000e-01 -1.05497024e-01 -3.65144108e-02 2.12739520e+01] [ 1.05487321e-01 9.94418220e-01 -2.19757479e-03 1.40210769e+00] [ 3.65424330e-02 -1.66796963e-03 9.99330710e-01 6.78361015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.859254154 meters Centerline goodness : 0.999488 with order 1 Centerline is valid? [True, True] Translation: X:21.33, Y:1.41, Z:0.69 [[ 9.92857418e-01 -1.13581835e-01 -3.65145665e-02 2.13337847e+01] [ 1.13577674e-01 9.93526695e-01 -2.19498571e-03 1.41355389e+00] [ 3.65275071e-02 -1.96793166e-03 9.99330710e-01 6.92895542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.919254153999997 meters Centerline goodness : 0.999275 with order 1 Centerline is valid? [True, True] Translation: X:21.40, Y:1.40, Z:0.68 [[ 9.93799645e-01 -1.05018773e-01 -3.65146812e-02 2.13974517e+01] [ 1.05008913e-01 9.94468863e-01 -2.19307500e-03 1.40409531e+00] [ 3.65430276e-02 -1.65488983e-03 9.99330710e-01 6.80678439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.979254154 meters Centerline goodness : 0.999552 with order 1 Centerline is valid? [True, True] Translation: X:21.46, Y:1.42, Z:0.70 [[ 9.92919672e-01 -1.13036232e-01 -3.65148509e-02 2.14573082e+01] [ 1.13031877e-01 9.93588948e-01 -2.19024619e-03 1.41620859e+00] [ 3.65283295e-02 -1.95260361e-03 9.99330710e-01 6.97715389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.039254153999998 meters Centerline goodness : 0.999508 with order 1 Centerline is valid? [True, True] Translation: X:21.52, Y:1.42, Z:0.70 [[ 9.93361887e-01 -1.09081645e-01 -3.65151626e-02 2.15206725e+01] [ 1.09074816e-01 9.94031141e-01 -2.18503816e-03 1.41966045e+00] [ 3.65355563e-02 -1.81235100e-03 9.99330710e-01 7.00485058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.099254153999997 meters Centerline goodness : 0.999531 with order 1 Centerline is valid? [True, True] Translation: X:21.58, Y:1.42, Z:0.70 [[ 9.93664898e-01 -1.06285916e-01 -3.65154051e-02 2.15839512e+01] [ 1.06277353e-01 9.94334133e-01 -2.18097789e-03 1.42223610e+00] [ 3.65403209e-02 -1.71359941e-03 9.99330710e-01 7.02288235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.159254154 meters Centerline goodness : 0.999423 with order 1 Centerline is valid? [True, True] Translation: X:21.65, Y:1.41, Z:0.69 [[ 9.95388780e-01 -8.87005345e-02 -3.65156432e-02 2.16474858e+01] [ 8.86802863e-02 9.96057763e-01 -2.17698368e-03 1.40968139e+00] [ 3.65647895e-02 -1.07127256e-03 9.99330710e-01 6.85600308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.219254153999998 meters Centerline goodness : 0.999530 with order 1 Centerline is valid? [True, True] Translation: X:21.71, Y:1.43, Z:0.71 [[ 9.94674150e-01 -9.63843038e-02 -3.65157693e-02 2.17062546e+01] [ 9.63692999e-02 9.95343271e-01 -2.17486554e-03 1.42647709e+00] [ 3.65553482e-02 -1.35571659e-03 9.99330710e-01 7.05428176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.279254153999997 meters Centerline goodness : 0.999508 with order 1 Centerline is valid? [True, True] Translation: X:21.77, Y:1.43, Z:0.71 [[ 9.95305294e-01 -8.96324006e-02 -3.65158102e-02 2.17684619e+01] [ 8.96128816e-02 9.95974299e-01 -2.17417957e-03 1.43033181e+00] [ 3.65636854e-02 -1.10831454e-03 9.99330710e-01 7.08028337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.339254154 meters Centerline goodness : 0.999295 with order 1 Centerline is valid? [True, True] Translation: X:21.83, Y:1.42, Z:0.70 [[ 9.96486800e-01 -7.53700332e-02 -3.65159695e-02 2.18307713e+01] [ 7.53410339e-02 9.97155461e-01 -2.17149972e-03 1.42309553e+00] [ 3.65757645e-02 -5.87280091e-04 9.99330710e-01 6.95121905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.399254153999998 meters Centerline goodness : 0.999401 with order 1 Centerline is valid? [True, True] Translation: X:21.89, Y:1.44, Z:0.71 [[ 9.95965990e-01 -8.19653679e-02 -3.65160871e-02 2.18913308e+01] [ 8.19408685e-02 9.96634831e-01 -2.16952040e-03 1.43678160e+00] [ 3.65710299e-02 -8.31391356e-04 9.99330710e-01 7.10690775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.459254153999996 meters Centerline goodness : 0.999209 with order 1 Centerline is valid? [True, True] Translation: X:21.95, Y:1.43, Z:0.70 [[ 9.96782755e-01 -7.13491834e-02 -3.65162034e-02 2.19539709e+01] [ 7.13176310e-02 9.97451301e-01 -2.16756165e-03 1.42841780e+00] [ 3.65777883e-02 -4.43661048e-04 9.99330710e-01 6.97490914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.519254154 meters Centerline goodness : 0.999336 with order 1 Centerline is valid? [True, True] Translation: X:22.01, Y:1.44, Z:0.71 [[ 9.96087793e-01 -8.04715471e-02 -3.65162866e-02 2.20139180e+01] [ 8.04461677e-02 9.96756601e-01 -2.16616008e-03 1.44247757e+00] [ 3.65721639e-02 -7.79909706e-04 9.99330710e-01 7.09841482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.579254153999997 meters Centerline goodness : 0.998994 with order 1 Centerline is valid? [True, True] Translation: X:22.08, Y:1.44, Z:0.70 [[ 9.96532452e-01 -7.47638242e-02 -3.65163325e-02 2.20763112e+01] [ 7.47346421e-02 9.97201105e-01 -2.16538509e-03 1.43705752e+00] [ 3.65760196e-02 -5.71158530e-04 9.99330710e-01 7.02695240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.639254153999996 meters Centerline goodness : 0.999144 with order 1 Centerline is valid? [True, True] Translation: X:22.14, Y:1.45, Z:0.72 [[ 9.95803033e-01 -8.39218128e-02 -3.65164257e-02 2.21362566e+01] [ 8.38988366e-02 9.96471928e-01 -2.16381287e-03 1.44942146e+00] [ 3.65691842e-02 -9.08954209e-04 9.99330710e-01 7.16084405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.699254154 meters Centerline goodness : 0.999145 with order 1 Centerline is valid? [True, True] Translation: X:22.20, Y:1.45, Z:0.72 [[ 9.95637422e-01 -8.58642308e-02 -3.65165472e-02 2.21978915e+01] [ 8.58426347e-02 9.96306363e-01 -2.16175966e-03 1.45347524e+00] [ 3.65672862e-02 -9.82347811e-04 9.99330710e-01 7.18343877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.759254153999997 meters Centerline goodness : 0.999189 with order 1 Centerline is valid? [True, True] Translation: X:22.26, Y:1.46, Z:0.72 [[ 9.95398093e-01 -8.85955172e-02 -3.65167067e-02 2.22609301e+01] [ 8.85758554e-02 9.96067094e-01 -2.15906202e-03 1.45750303e+00] [ 3.65643732e-02 -1.08537231e-03 9.99330710e-01 7.20751247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.819254154 meters Centerline goodness : 0.999297 with order 1 Centerline is valid? [True, True] Translation: X:22.32, Y:1.46, Z:0.72 [[ 9.95111967e-01 -9.17533996e-02 -3.65169481e-02 2.23235863e+01] [ 9.17360105e-02 9.95781030e-01 -2.15497265e-03 1.46216569e+00] [ 3.65606102e-02 -1.20548006e-03 9.99330710e-01 7.23150279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.879254153999998 meters Centerline goodness : 0.999230 with order 1 Centerline is valid? [True, True] Translation: X:22.39, Y:1.47, Z:0.72 [[ 9.94750650e-01 -9.55910034e-02 -3.65171861e-02 2.23861511e+01] [ 9.55763432e-02 9.95419779e-01 -2.15093156e-03 1.46655171e+00] [ 3.65555390e-02 -1.35053855e-03 9.99330710e-01 7.24433121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.939254153999997 meters Centerline goodness : 0.999422 with order 1 Centerline is valid? [True, True] Translation: X:22.45, Y:1.47, Z:0.73 [[ 9.94232055e-01 -1.00841950e-01 -3.65174215e-02 2.24476111e+01] [ 1.00830970e-01 9.94901255e-01 -2.14692771e-03 1.47111275e+00] [ 3.65477288e-02 -1.54754268e-03 9.99330710e-01 7.25469341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.999254154 meters Centerline goodness : 0.999358 with order 1 Centerline is valid? [True, True] Translation: X:22.51, Y:1.48, Z:0.73 [[ 9.93982585e-01 -1.03271919e-01 -3.65175371e-02 2.25107227e+01] [ 1.03262647e-01 9.94651811e-01 -2.14495917e-03 1.47599393e+00] [ 3.65437485e-02 -1.63884547e-03 9.99330710e-01 7.27547172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.059254153999998 meters Centerline goodness : 0.999528 with order 1 Centerline is valid? [True, True] Translation: X:22.57, Y:1.48, Z:0.73 [[ 9.93835499e-01 -1.04677857e-01 -3.65177696e-02 2.25723769e+01] [ 1.04669677e-01 9.94504739e-01 -2.14099401e-03 1.48278114e+00] [ 3.65412095e-02 -1.69450728e-03 9.99330710e-01 7.30758125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.119254153999997 meters Centerline goodness : 0.999293 with order 1 Centerline is valid? [True, True] Translation: X:22.63, Y:1.48, Z:0.72 [[ 9.94593061e-01 -9.72166768e-02 -3.65179604e-02 2.26347108e+01] [ 9.72035941e-02 9.95262222e-01 -2.13773413e-03 1.48369181e+00] [ 3.65527698e-02 -1.42350147e-03 9.99330710e-01 7.24071083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.179254154 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:22.69, Y:1.50, Z:0.74 [[ 9.93958354e-01 -1.03504670e-01 -3.65181232e-02 2.26946325e+01] [ 1.03495922e-01 9.94627587e-01 -2.13495003e-03 1.49882043e+00] [ 3.65429100e-02 -1.65742541e-03 9.99330710e-01 7.37118793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.239254153999997 meters Centerline goodness : 0.999463 with order 1 Centerline is valid? [True, True] Translation: X:22.76, Y:1.51, Z:0.74 [[ 9.93788412e-01 -1.05123788e-01 -3.65182433e-02 2.27576518e+01] [ 1.05116205e-01 9.94457658e-01 -2.13289378e-03 1.50504589e+00] [ 3.65400646e-02 -1.71901403e-03 9.99330710e-01 7.39560291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.299254153999996 meters Centerline goodness : 0.999613 with order 1 Centerline is valid? [True, True] Translation: X:22.82, Y:1.51, Z:0.74 [[ 9.93431125e-01 -1.08448149e-01 -3.65184710e-02 2.28191113e+01] [ 1.08442948e-01 9.94100395e-01 -2.12898790e-03 1.51191813e+00] [ 3.65339112e-02 -1.84516782e-03 9.99330710e-01 7.41176314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.359254154 meters Centerline goodness : 0.999590 with order 1 Centerline is valid? [True, True] Translation: X:22.88, Y:1.52, Z:0.74 [[ 9.93483970e-01 -1.07962921e-01 -3.65186249e-02 2.28804426e+01] [ 1.07957490e-01 9.94153237e-01 -2.12634517e-03 1.51775196e+00] [ 3.65346756e-02 -1.82996925e-03 9.99330710e-01 7.38067646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.419254153999997 meters Centerline goodness : 0.999567 with order 1 Centerline is valid? [True, True] Translation: X:22.94, Y:1.53, Z:0.74 [[ 9.93145551e-01 -1.11032846e-01 -3.65187919e-02 2.29421017e+01] [ 1.11029590e-01 9.93814832e-01 -2.12347325e-03 1.52555626e+00] [ 3.65286923e-02 -1.94574846e-03 9.99330710e-01 7.44974106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.479254154 meters Centerline goodness : 0.999718 with order 1 Centerline is valid? [True, True] Translation: X:23.00, Y:1.53, Z:0.75 [[ 9.93294437e-01 -1.09692879e-01 -3.65189477e-02 2.30047914e+01] [ 1.09688818e-01 9.93963714e-01 -2.12078942e-03 1.53255369e+00] [ 3.65311444e-02 -1.89915186e-03 9.99330710e-01 7.49951861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.539254153999998 meters Centerline goodness : 0.999654 with order 1 Centerline is valid? [True, True] Translation: X:23.07, Y:1.53, Z:0.75 [[ 9.93547099e-01 -1.07380222e-01 -3.65191791e-02 2.30665725e+01] [ 1.07374749e-01 9.94216366e-01 -2.11679723e-03 1.53404456e+00] [ 3.65352677e-02 -1.81809994e-03 9.99330710e-01 7.50833469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.599254153999997 meters Centerline goodness : 0.999697 with order 1 Centerline is valid? [True, True] Translation: X:23.13, Y:1.54, Z:0.75 [[ 9.93791239e-01 -1.05096630e-01 -3.65194802e-02 2.31300712e+01] [ 1.05089810e-01 9.94460493e-01 -2.11159021e-03 1.53552633e+00] [ 3.65391013e-02 -1.73934537e-03 9.99330710e-01 7.47999783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.659254154 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:23.19, Y:1.55, Z:0.76 [[ 9.93194856e-01 -1.10590635e-01 -3.65197123e-02 2.31904983e+01] [ 1.10587663e-01 9.93864139e-01 -2.10756804e-03 1.54629533e+00] [ 3.65287097e-02 -1.94540392e-03 9.99330710e-01 7.57613964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.719254153999998 meters Centerline goodness : 0.999696 with order 1 Centerline is valid? [True, True] Translation: X:23.25, Y:1.55, Z:0.76 [[ 9.93369778e-01 -1.09008197e-01 -3.65198262e-02 2.32529494e+01] [ 1.09004232e-01 9.94039056e-01 -2.10559291e-03 1.54937300e+00] [ 3.65316604e-02 -1.88918324e-03 9.99330710e-01 7.58853571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.779254153999997 meters Centerline goodness : 0.999696 with order 1 Centerline is valid? [True, True] Translation: X:23.31, Y:1.55, Z:0.76 [[ 9.93514764e-01 -1.07678716e-01 -3.65199732e-02 2.33148711e+01] [ 1.07673949e-01 9.94184036e-01 -2.10304039e-03 1.55324679e+00] [ 3.65340270e-02 -1.84284805e-03 9.99330710e-01 7.60583434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.839254154 meters Centerline goodness : 0.999739 with order 1 Centerline is valid? [True, True] Translation: X:23.38, Y:1.55, Z:0.76 [[ 9.93923148e-01 -1.03841494e-01 -3.65201184e-02 2.33769881e+01] [ 1.03834235e-01 9.94592399e-01 -2.10051609e-03 1.55417502e+00] [ 3.65407529e-02 -1.70428697e-03 9.99330710e-01 7.60456584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.899254153999998 meters Centerline goodness : 0.999545 with order 1 Centerline is valid? [True, True] Translation: X:23.44, Y:1.56, Z:0.76 [[ 9.94071432e-01 -1.02412192e-01 -3.65202700e-02 2.34375632e+01] [ 1.02404067e-01 9.94740673e-01 -2.09787689e-03 1.55904323e+00] [ 3.65430461e-02 -1.65438469e-03 9.99330710e-01 7.63981357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.959254153999996 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:23.50, Y:1.56, Z:0.77 [[ 9.94235622e-01 -1.00805707e-01 -3.65203815e-02 2.35005438e+01] [ 1.00796572e-01 9.94904849e-01 -2.09593382e-03 1.56300978e+00] [ 3.65455867e-02 -1.59727720e-03 9.99330710e-01 7.66456088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.019254154 meters Centerline goodness : 0.999588 with order 1 Centerline is valid? [True, True] Translation: X:23.56, Y:1.57, Z:0.77 [[ 9.94416410e-01 -9.90063100e-02 -3.65206048e-02 2.35621623e+01] [ 9.89961068e-02 9.95085622e-01 -2.09203509e-03 1.56567764e+00] [ 3.65482534e-02 -1.53504368e-03 9.99330710e-01 7.67994969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.079254153999997 meters Centerline goodness : 0.999566 with order 1 Centerline is valid? [True, True] Translation: X:23.63, Y:1.57, Z:0.77 [[ 9.94324169e-01 -9.99283694e-02 -3.65207876e-02 2.36251132e+01] [ 9.99189040e-02 9.94993392e-01 -2.08883861e-03 1.56633301e+00] [ 3.65466766e-02 -1.57213436e-03 9.99330710e-01 7.70654090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.139254153999996 meters Centerline goodness : 0.999524 with order 1 Centerline is valid? [True, True] Translation: X:23.69, Y:1.57, Z:0.77 [[ 9.94100547e-01 -1.02128928e-01 -3.65210170e-02 2.36863982e+01] [ 1.02121091e-01 9.94769791e-01 -2.08482145e-03 1.56851957e+00] [ 3.65429250e-02 -1.65704396e-03 9.99330710e-01 7.70523228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.199254154 meters Centerline goodness : 0.999697 with order 1 Centerline is valid? [True, True] Translation: X:23.75, Y:1.58, Z:0.78 [[ 9.93603881e-01 -1.06852868e-01 -3.65211295e-02 2.37466474e+01] [ 1.06848284e-01 9.94273155e-01 -2.08284896e-03 1.57602746e+00] [ 3.65345370e-02 -1.83269320e-03 9.99330710e-01 7.83037223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.259254153999997 meters Centerline goodness : 0.999675 with order 1 Centerline is valid? [True, True] Translation: X:23.81, Y:1.57, Z:0.78 [[ 9.93943547e-01 -1.03645692e-01 -3.65211665e-02 2.38083439e+01] [ 1.03638972e-01 9.94612803e-01 -2.08219885e-03 1.57414614e+00] [ 3.65402308e-02 -1.71542805e-03 9.99330710e-01 7.76285900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.319254154 meters Centerline goodness : 0.999544 with order 1 Centerline is valid? [True, True] Translation: X:23.87, Y:1.58, Z:0.78 [[ 9.94021557e-01 -1.02894830e-01 -3.65212032e-02 2.38713186e+01] [ 1.02887628e-01 9.94690808e-01 -2.08155594e-03 1.57793800e+00] [ 3.65414864e-02 -1.68846849e-03 9.99330710e-01 7.79174981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.379254153999998 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:23.93, Y:1.58, Z:0.78 [[ 9.94241678e-01 -1.00745580e-01 -3.65214233e-02 2.39329024e+01] [ 1.00737073e-01 9.94910913e-01 -2.07768704e-03 1.58139746e+00] [ 3.65448804e-02 -1.61333825e-03 9.99330710e-01 7.81693384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.439254153999997 meters Centerline goodness : 0.999589 with order 1 Centerline is valid? [True, True] Translation: X:23.99, Y:1.59, Z:0.78 [[ 9.94368338e-01 -9.94876053e-02 -3.65215675e-02 2.39945762e+01] [ 9.94783452e-02 9.95037563e-01 -2.07514795e-03 1.58530766e+00] [ 3.65467831e-02 -1.56964368e-03 9.99330710e-01 7.84537113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.499254154 meters Centerline goodness : 0.999697 with order 1 Centerline is valid? [True, True] Translation: X:24.06, Y:1.59, Z:0.79 [[ 9.94403371e-01 -9.91367754e-02 -3.65217113e-02 2.40563901e+01] [ 9.91273720e-02 9.95072595e-01 -2.07261455e-03 1.58899115e+00] [ 3.65472264e-02 -1.55928637e-03 9.99330710e-01 7.86772134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.559254153999998 meters Centerline goodness : 0.999675 with order 1 Centerline is valid? [True, True] Translation: X:24.12, Y:1.59, Z:0.79 [[ 9.94040622e-01 -1.02710178e-01 -3.65220629e-02 2.41189514e+01] [ 1.02703408e-01 9.94709877e-01 -2.06639968e-03 1.59162987e+00] [ 3.65410970e-02 -1.69685511e-03 9.99330710e-01 7.89134572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.619254153999997 meters Centerline goodness : 0.999589 with order 1 Centerline is valid? [True, True] Translation: X:24.18, Y:1.59, Z:0.79 [[ 9.93564166e-01 -1.07221155e-01 -3.65222013e-02 2.41813481e+01] [ 1.07217512e-01 9.94233446e-01 -2.06395151e-03 1.59354744e+00] [ 3.65328933e-02 -1.86515130e-03 9.99330710e-01 7.89387364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.679254154 meters Centerline goodness : 0.999481 with order 1 Centerline is valid? [True, True] Translation: X:24.24, Y:1.60, Z:0.79 [[ 9.93297542e-01 -1.09663633e-01 -3.65223380e-02 2.42431682e+01] [ 1.09661724e-01 9.93966829e-01 -2.06153003e-03 1.59560356e+00] [ 3.65280673e-02 -1.95738986e-03 9.99330710e-01 7.91792479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.739254153999997 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:24.30, Y:1.60, Z:0.80 [[ 9.92977103e-01 -1.12528139e-01 -3.65224790e-02 2.43028913e+01] [ 1.12528253e-01 9.93646392e-01 -2.05902867e-03 1.60291967e+00] [ 3.65221282e-02 -2.06524242e-03 9.99330710e-01 8.00575842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.799254153999996 meters Centerline goodness : 0.999589 with order 1 Centerline is valid? [True, True] Translation: X:24.36, Y:1.60, Z:0.80 [[ 9.93557543e-01 -1.07282407e-01 -3.65225140e-02 2.43637624e+01] [ 1.07279009e-01 9.94226824e-01 -2.05840733e-03 1.60153291e+00] [ 3.65324940e-02 -1.87295297e-03 9.99330710e-01 8.01242028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.859254154 meters Centerline goodness : 0.999675 with order 1 Centerline is valid? [True, True] Translation: X:24.42, Y:1.61, Z:0.81 [[ 9.94157412e-01 -1.01573314e-01 -3.65226246e-02 2.44247833e+01] [ 1.01566144e-01 9.94826663e-01 -2.05644319e-03 1.60511048e+00] [ 3.65425605e-02 -1.66503390e-03 9.99330710e-01 8.05052289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.919254153999997 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:24.49, Y:1.61, Z:0.81 [[ 9.94561354e-01 -9.75387254e-02 -3.65227384e-02 2.44866314e+01] [ 9.75289137e-02 9.95230571e-01 -2.05441971e-03 1.60771444e+00] [ 3.65489313e-02 -1.51877656e-03 9.99330710e-01 8.09082319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.979254154 meters Centerline goodness : 0.999589 with order 1 Centerline is valid? [True, True] Translation: X:24.55, Y:1.61, Z:0.81 [[ 9.95194216e-01 -9.08545628e-02 -3.65228900e-02 2.45493332e+01] [ 9.08403540e-02 9.95863354e-01 -2.05172192e-03 1.60828847e+00] [ 3.65582160e-02 -1.27589047e-03 9.99330710e-01 8.10141220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.039254153999998 meters Centerline goodness : 0.999438 with order 1 Centerline is valid? [True, True] Translation: X:24.61, Y:1.61, Z:0.81 [[ 9.95524917e-01 -8.71562205e-02 -3.65230418e-02 2.46106159e+01] [ 8.71396247e-02 9.96194001e-01 -2.04901648e-03 1.61111645e+00] [ 3.65626196e-02 -1.14275719e-03 9.99330711e-01 8.11736054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.099254153999997 meters Centerline goodness : 0.999459 with order 1 Centerline is valid? [True, True] Translation: X:24.67, Y:1.61, Z:0.81 [[ 9.95980979e-01 -8.17798823e-02 -3.65231537e-02 2.46730032e+01] [ 8.17597475e-02 9.96649965e-01 -2.04701918e-03 1.61347852e+00] [ 3.65682049e-02 -9.47331653e-04 9.99330711e-01 8.14507608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.159254154 meters Centerline goodness : 0.999372 with order 1 Centerline is valid? [True, True] Translation: X:24.74, Y:1.62, Z:0.82 [[ 9.96271063e-01 -7.81665974e-02 -3.65233032e-02 2.47359886e+01] [ 7.81441339e-02 9.96939976e-01 -2.04434773e-03 1.61505514e+00] [ 3.65713408e-02 -8.17357416e-04 9.99330711e-01 8.16433126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.219254153999998 meters Centerline goodness : 0.999504 with order 1 Centerline is valid? [True, True] Translation: X:24.80, Y:1.62, Z:0.82 [[ 9.96317054e-01 -7.75780917e-02 -3.65235256e-02 2.47983641e+01] [ 7.75553790e-02 9.96985958e-01 -2.04036758e-03 1.61685651e+00] [ 3.65717300e-02 -7.99742851e-04 9.99330711e-01 8.19383598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.279254153999997 meters Centerline goodness : 0.999524 with order 1 Centerline is valid? [True, True] Translation: X:24.86, Y:1.62, Z:0.82 [[ 9.96175228e-01 -7.93784338e-02 -3.65236728e-02 2.48610748e+01] [ 7.93570266e-02 9.96844175e-01 -2.03772896e-03 1.61747044e+00] [ 3.65701622e-02 -8.68474962e-04 9.99330711e-01 8.21516533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.339254154 meters Centerline goodness : 0.999507 with order 1 Centerline is valid? [True, True] Translation: X:24.92, Y:1.62, Z:0.82 [[ 9.95617993e-01 -8.60861387e-02 -3.65238240e-02 2.49234746e+01] [ 8.60693369e-02 9.96287071e-01 -2.03501580e-03 1.61644342e+00] [ 3.65634003e-02 -1.11748297e-03 9.99330711e-01 8.23014974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.399254153999998 meters Centerline goodness : 0.999572 with order 1 Centerline is valid? [True, True] Translation: X:24.98, Y:1.62, Z:0.82 [[ 9.95254896e-01 -9.01869796e-02 -3.65239724e-02 2.49845307e+01] [ 9.01730321e-02 9.95924040e-01 -2.03234916e-03 1.61802440e+00] [ 3.65583935e-02 -1.27077188e-03 9.99330711e-01 8.24641646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.459254153999996 meters Centerline goodness : 0.999359 with order 1 Centerline is valid? [True, True] Translation: X:25.05, Y:1.62, Z:0.83 [[ 9.94871768e-01 -9.43194348e-02 -3.65240821e-02 2.50470216e+01] [ 9.43083386e-02 9.95540966e-01 -2.03037568e-03 1.61971810e+00] [ 3.65527238e-02 -1.42456205e-03 9.99330711e-01 8.27549121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.519254154 meters Centerline goodness : 0.999552 with order 1 Centerline is valid? [True, True] Translation: X:25.11, Y:1.62, Z:0.83 [[ 9.94483654e-01 -9.83272231e-02 -3.65242283e-02 2.51088661e+01] [ 9.83189200e-02 9.95152892e-01 -2.02774094e-03 1.61977197e+00] [ 3.65465736e-02 -1.57446746e-03 9.99330711e-01 8.30171479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.579254153999997 meters Centerline goodness : 0.999553 with order 1 Centerline is valid? [True, True] Translation: X:25.17, Y:1.62, Z:0.83 [[ 9.94361282e-01 -9.95570735e-02 -3.65243761e-02 2.51718116e+01] [ 9.95496957e-02 9.95030531e-01 -2.02507541e-03 1.62241631e+00] [ 3.65444799e-02 -1.62233395e-03 9.99330711e-01 8.32768493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.639254153999996 meters Centerline goodness : 0.999658 with order 1 Centerline is valid? [True, True] Translation: X:25.23, Y:1.63, Z:0.84 [[ 9.94304534e-01 -1.00122165e-01 -3.65245998e-02 2.52335841e+01] [ 1.00115316e-01 9.94973788e-01 -2.02103350e-03 1.62610159e+00] [ 3.65433697e-02 -1.64714908e-03 9.99330711e-01 8.35404766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.699254154 meters Centerline goodness : 0.999210 with order 1 Centerline is valid? [True, True] Translation: X:25.29, Y:1.63, Z:0.84 [[ 9.94361853e-01 -9.95512357e-02 -3.65247517e-02 2.52944703e+01] [ 9.95441030e-02 9.95031104e-01 -2.01828367e-03 1.62998156e+00] [ 3.65441867e-02 -1.62891936e-03 9.99330711e-01 8.36241687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.759254153999997 meters Centerline goodness : 0.999425 with order 1 Centerline is valid? [True, True] Translation: X:25.36, Y:1.63, Z:0.84 [[ 9.94384994e-01 -9.93197738e-02 -3.65248640e-02 2.53558421e+01] [ 9.93125598e-02 9.95054245e-01 -2.01625036e-03 1.63375276e+00] [ 3.65444745e-02 -1.62244864e-03 9.99330711e-01 8.37864966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.819254154 meters Centerline goodness : 0.999445 with order 1 Centerline is valid? [True, True] Translation: X:25.42, Y:1.64, Z:0.84 [[ 9.94164011e-01 -1.01507863e-01 -3.65249732e-02 2.54184098e+01] [ 1.01502195e-01 9.94833276e-01 -2.01427034e-03 1.63693305e+00] [ 3.65407230e-02 -1.70484986e-03 9.99330711e-01 8.40504641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.879254153999998 meters Centerline goodness : 0.999319 with order 1 Centerline is valid? [True, True] Translation: X:25.48, Y:1.64, Z:0.84 [[ 9.93918664e-01 -1.03882621e-01 -3.65251903e-02 2.54810538e+01] [ 1.03878696e-01 9.94587942e-01 -2.01032451e-03 1.64000750e+00] [ 3.65363517e-02 -1.79609009e-03 9.99330711e-01 8.41644868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.939254153999997 meters Centerline goodness : 0.999573 with order 1 Centerline is valid? [True, True] Translation: X:25.54, Y:1.64, Z:0.85 [[ 9.93858549e-01 -1.04456109e-01 -3.65254258e-02 2.55430563e+01] [ 1.04452727e-01 9.94527829e-01 -2.00603736e-03 1.64369969e+00] [ 3.65350953e-02 -1.82146296e-03 9.99330711e-01 8.48552503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.999254154 meters Centerline goodness : 0.999509 with order 1 Centerline is valid? [True, True] Translation: X:25.60, Y:1.65, Z:0.85 [[ 9.93888224e-01 -1.04173321e-01 -3.65255822e-02 2.56038864e+01] [ 1.04169853e-01 9.94557504e-01 -2.00318534e-03 1.64799920e+00] [ 3.65354704e-02 -1.81392222e-03 9.99330711e-01 8.49830582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.059254153999998 meters Centerline goodness : 0.999466 with order 1 Centerline is valid? [True, True] Translation: X:25.67, Y:1.65, Z:0.85 [[ 9.93943446e-01 -1.03645064e-01 -3.65256970e-02 2.56656041e+01] [ 1.03641318e-01 9.94612725e-01 -2.00108988e-03 1.65152637e+00] [ 3.65363261e-02 -1.79660120e-03 9.99330711e-01 8.53451854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.119254153999997 meters Centerline goodness : 0.999210 with order 1 Centerline is valid? [True, True] Translation: X:25.73, Y:1.66, Z:0.86 [[ 9.94015768e-01 -1.02949093e-01 -3.65258429e-02 2.57265409e+01] [ 1.02944976e-01 9.94685045e-01 -1.99842424e-03 1.65550502e+00] [ 3.65374456e-02 -1.77368680e-03 9.99330711e-01 8.55914033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.179254154 meters Centerline goodness : 0.999273 with order 1 Centerline is valid? [True, True] Translation: X:25.79, Y:1.66, Z:0.86 [[ 9.93991273e-01 -1.03185289e-01 -3.65259506e-02 2.57889433e+01] [ 1.03181403e-01 9.94660551e-01 -1.99645338e-03 1.65852742e+00] [ 3.65369268e-02 -1.78434160e-03 9.99330711e-01 8.57645578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.239254153999997 meters Centerline goodness : 0.999530 with order 1 Centerline is valid? [True, True] Translation: X:25.85, Y:1.66, Z:0.86 [[ 9.93896458e-01 -1.04094551e-01 -3.65260966e-02 2.58509311e+01] [ 1.04091376e-01 9.94565740e-01 -1.99377913e-03 1.66101689e+00] [ 3.65351458e-02 -1.82044162e-03 9.99330711e-01 8.57426736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.299254153999996 meters Centerline goodness : 0.999531 with order 1 Centerline is valid? [True, True] Translation: X:25.91, Y:1.66, Z:0.86 [[ 9.93774226e-01 -1.05254983e-01 -3.65263677e-02 2.59134751e+01] [ 1.05252771e-01 9.94443512e-01 -1.98879909e-03 1.66420019e+00] [ 3.65327404e-02 -1.86808414e-03 9.99330711e-01 8.61079828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.359254154 meters Centerline goodness : 0.999487 with order 1 Centerline is valid? [True, True] Translation: X:25.97, Y:1.67, Z:0.86 [[ 9.93676042e-01 -1.06177821e-01 -3.65266067e-02 2.59748987e+01] [ 1.06176392e-01 9.94345330e-01 -1.98440012e-03 1.66756412e+00] [ 3.65307601e-02 -1.90641244e-03 9.99330711e-01 8.62486626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.419254153999997 meters Centerline goodness : 0.999659 with order 1 Centerline is valid? [True, True] Translation: X:26.04, Y:1.67, Z:0.87 [[ 9.93484551e-01 -1.07954830e-01 -3.65267167e-02 2.60370432e+01] [ 1.07954672e-01 9.94153841e-01 -1.98237356e-03 1.67037933e+00] [ 3.65271825e-02 -1.97377221e-03 9.99330711e-01 8.66991634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.479254153999996 meters Centerline goodness : 0.999509 with order 1 Centerline is valid? [True, True] Translation: X:26.10, Y:1.67, Z:0.87 [[ 9.93326399e-01 -1.09400426e-01 -3.65268652e-02 2.61001730e+01] [ 1.09401342e-01 9.93995688e-01 -1.97963417e-03 1.67382100e+00] [ 3.65241193e-02 -2.02966520e-03 9.99330711e-01 8.70159575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.539254153999998 meters Centerline goodness : 0.999511 with order 1 Centerline is valid? [True, True] Translation: X:26.16, Y:1.68, Z:0.87 [[ 9.93145123e-01 -1.11033942e-01 -3.65270870e-02 2.61617734e+01] [ 1.11036110e-01 9.93814409e-01 -1.97553197e-03 1.67709182e+00] [ 3.65204965e-02 -2.09383570e-03 9.99330711e-01 8.71198611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.599254153999997 meters Centerline goodness : 0.999489 with order 1 Centerline is valid? [True, True] Translation: X:26.23, Y:1.68, Z:0.88 [[ 9.93004739e-01 -1.12282440e-01 -3.65272688e-02 2.62250126e+01] [ 1.12285573e-01 9.93674021e-01 -1.97216575e-03 1.67998554e+00] [ 3.65176376e-02 -2.14311535e-03 9.99330711e-01 8.75326301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.659254154 meters Centerline goodness : 0.999341 with order 1 Centerline is valid? [True, True] Translation: X:26.29, Y:1.68, Z:0.88 [[ 9.93020467e-01 -1.12143185e-01 -3.65274892e-02 2.62873394e+01] [ 1.12146374e-01 9.93689749e-01 -1.96807391e-03 1.68333415e+00] [ 3.65176977e-02 -2.14208780e-03 9.99330711e-01 8.76989691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.719254153999998 meters Centerline goodness : 0.999232 with order 1 Centerline is valid? [True, True] Translation: X:26.35, Y:1.69, Z:0.88 [[ 9.93293340e-01 -1.09699905e-01 -3.65276700e-02 2.63505845e+01] [ 1.09701571e-01 9.93962628e-01 -1.96471237e-03 1.68834485e+00] [ 3.65226677e-02 -2.05560706e-03 9.99330711e-01 8.80243788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.779254153999997 meters Centerline goodness : 0.999445 with order 1 Centerline is valid? [True, True] Translation: X:26.41, Y:1.69, Z:0.88 [[ 9.93736261e-01 -1.05612293e-01 -3.65278919e-02 2.64128791e+01] [ 1.05611357e-01 9.94405550e-01 -1.96057874e-03 1.69335899e+00] [ 3.65305997e-02 -1.90946204e-03 9.99330711e-01 8.83077886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.839254154 meters Centerline goodness : 0.999466 with order 1 Centerline is valid? [True, True] Translation: X:26.47, Y:1.70, Z:0.89 [[ 9.94048460e-01 -1.02632166e-01 -3.65280378e-02 2.64749973e+01] [ 1.02629322e-01 9.94717743e-01 -1.95785755e-03 1.69766550e+00] [ 3.65360265e-02 -1.80264248e-03 9.99330711e-01 8.85023202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.899254153999998 meters Centerline goodness : 0.999488 with order 1 Centerline is valid? [True, True] Translation: X:26.54, Y:1.70, Z:0.89 [[ 9.94387880e-01 -9.92896594e-02 -3.65281843e-02 2.65362303e+01] [ 9.92846660e-02 9.95057150e-01 -1.95511958e-03 1.70265519e+00] [ 3.65417541e-02 -1.68254136e-03 9.99330711e-01 8.85248729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.959254153999996 meters Centerline goodness : 0.999508 with order 1 Centerline is valid? [True, True] Translation: X:26.60, Y:1.70, Z:0.89 [[ 9.94736828e-01 -9.57304916e-02 -3.65282923e-02 2.65989665e+01] [ 9.57231772e-02 9.95406077e-01 -1.95310061e-03 1.70187511e+00] [ 3.65474554e-02 -1.55378309e-03 9.99330711e-01 8.86454026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.019254154 meters Centerline goodness : 0.999529 with order 1 Centerline is valid? [True, True] Translation: X:26.66, Y:1.71, Z:0.89 [[ 9.94706176e-01 -9.60484036e-02 -3.65284408e-02 2.66606744e+01] [ 9.60414051e-02 9.95375429e-01 -1.95031853e-03 1.70549024e+00] [ 3.65468374e-02 -1.56824890e-03 9.99330711e-01 8.88991502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.079254153999997 meters Centerline goodness : 0.999573 with order 1 Centerline is valid? [True, True] Translation: X:26.72, Y:1.71, Z:0.89 [[ 9.94502161e-01 -9.81382428e-02 -3.65285893e-02 2.67211980e+01] [ 9.81327527e-02 9.95171427e-01 -1.94753270e-03 1.71410763e+00] [ 3.65433358e-02 -1.64782554e-03 9.99330711e-01 8.91110143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.139254153999996 meters Centerline goodness : 0.999487 with order 1 Centerline is valid? [True, True] Translation: X:26.78, Y:1.72, Z:0.90 [[ 9.94611736e-01 -9.70213124e-02 -3.65288795e-02 2.67835093e+01] [ 9.70152706e-02 9.95280998e-01 -1.94207565e-03 1.71891129e+00] [ 3.65449223e-02 -1.61224790e-03 9.99330711e-01 8.95017008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.199254154 meters Centerline goodness : 0.999635 with order 1 Centerline is valid? [True, True] Translation: X:26.85, Y:1.72, Z:0.90 [[ 9.94597460e-01 -9.71675015e-02 -3.65290216e-02 2.68459361e+01] [ 9.71616563e-02 9.95266724e-01 -1.93939889e-03 1.72321073e+00] [ 3.65445662e-02 -1.62029903e-03 9.99330711e-01 8.98237130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.259254153999997 meters Centerline goodness : 0.999614 with order 1 Centerline is valid? [True, True] Translation: X:26.91, Y:1.73, Z:0.91 [[ 9.94601184e-01 -9.71293163e-02 -3.65291629e-02 2.69078591e+01] [ 9.71235431e-02 9.95270449e-01 -1.93673301e-03 1.72707822e+00] [ 3.65445099e-02 -1.62156478e-03 9.99330711e-01 9.05757560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.319254154 meters Centerline goodness : 0.999679 with order 1 Centerline is valid? [True, True] Translation: X:26.97, Y:1.74, Z:0.91 [[ 9.94038598e-01 -1.02727189e-01 -3.65293117e-02 2.69683697e+01] [ 1.02725287e-01 9.94707884e-01 -1.93392225e-03 1.73582109e+00] [ 3.65346608e-02 -1.83009066e-03 9.99330711e-01 9.14121726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.379254153999998 meters Centerline goodness : 0.999615 with order 1 Centerline is valid? [True, True] Translation: X:27.03, Y:1.74, Z:0.91 [[ 9.94068744e-01 -1.02435030e-01 -3.65293851e-02 2.70284491e+01] [ 1.02432982e-01 9.94738031e-01 -1.93253441e-03 1.73779104e+00] [ 3.65351278e-02 -1.82074179e-03 9.99330711e-01 9.06429573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.439254153999997 meters Centerline goodness : 0.999571 with order 1 Centerline is valid? [True, True] Translation: X:27.09, Y:1.74, Z:0.91 [[ 9.93983761e-01 -1.03256413e-01 -3.65293851e-02 2.70906690e+01] [ 1.03254917e-01 9.94653049e-01 -1.93253441e-03 1.74313757e+00] [ 3.65336109e-02 -1.85093083e-03 9.99330711e-01 9.07682277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.499254154 meters Centerline goodness : 0.999635 with order 1 Centerline is valid? [True, True] Translation: X:27.15, Y:1.75, Z:0.91 [[ 9.94019254e-01 -1.02914120e-01 -3.65295251e-02 2.71538298e+01] [ 1.02912492e-01 9.94688542e-01 -1.92988440e-03 1.74740084e+00] [ 3.65341124e-02 -1.84100220e-03 9.99330711e-01 9.10428896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.559254153999998 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:27.22, Y:1.75, Z:0.91 [[ 9.94126596e-01 -1.01871928e-01 -3.65297417e-02 2.72161219e+01] [ 1.01869748e-01 9.94795881e-01 -1.92577653e-03 1.75263859e+00] [ 3.65358192e-02 -1.80680992e-03 9.99330711e-01 9.11756244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.619254153999997 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:27.28, Y:1.76, Z:0.91 [[ 9.94402451e-01 -9.91429786e-02 -3.65299191e-02 2.72778044e+01] [ 9.91390857e-02 9.95071729e-01 -1.92240531e-03 1.75855589e+00] [ 3.65404828e-02 -1.70989822e-03 9.99330711e-01 9.14090876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.679254154 meters Centerline goodness : 0.999655 with order 1 Centerline is valid? [True, True] Translation: X:27.34, Y:1.76, Z:0.92 [[ 9.94628574e-01 -9.68481037e-02 -3.65300615e-02 2.73408367e+01] [ 9.68427658e-02 9.95297842e-01 -1.91969523e-03 1.76411177e+00] [ 3.65442102e-02 -1.62828847e-03 9.99330711e-01 9.15666952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.739254153999997 meters Centerline goodness : 0.999590 with order 1 Centerline is valid? [True, True] Translation: X:27.40, Y:1.77, Z:0.92 [[ 9.94841061e-01 -9.46403864e-02 -3.65302730e-02 2.74029322e+01] [ 9.46337110e-02 9.95510317e-01 -1.91566183e-03 1.76999741e+00] [ 3.65475627e-02 -1.55121625e-03 9.99330711e-01 9.17869606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.799254153999996 meters Centerline goodness : 0.999611 with order 1 Centerline is valid? [True, True] Translation: X:27.47, Y:1.78, Z:0.92 [[ 9.94896519e-01 -9.40555465e-02 -3.65304151e-02 2.74650185e+01] [ 9.40485771e-02 9.95565772e-01 -1.91294818e-03 1.77508620e+00] [ 3.65483543e-02 -1.53244808e-03 9.99330711e-01 9.19291391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.859254154 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:27.53, Y:1.78, Z:0.92 [[ 9.94785484e-01 -9.52226659e-02 -3.65305903e-02 2.75269928e+01] [ 9.52166045e-02 9.95454746e-01 -1.90959723e-03 1.77937902e+00] [ 3.65463864e-02 -1.57867917e-03 9.99330711e-01 9.22722652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.919254153999997 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:27.59, Y:1.78, Z:0.92 [[ 9.94568916e-01 -9.74585951e-02 -3.65307304e-02 2.75877065e+01] [ 9.74541364e-02 9.95238190e-01 -1.90691399e-03 1.78282193e+00] [ 3.65426231e-02 -1.66351340e-03 9.99330711e-01 9.24741160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.979254153999996 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:27.65, Y:1.79, Z:0.93 [[ 9.94320380e-01 -9.99623932e-02 -3.65308338e-02 2.76502308e+01] [ 9.99596924e-02 9.94989664e-01 -1.90493091e-03 1.78698876e+00] [ 3.65382235e-02 -1.75749928e-03 9.99330711e-01 9.27579824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.039254153999998 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:27.71, Y:1.79, Z:0.93 [[ 9.94148817e-01 -1.01654380e-01 -3.65310404e-02 2.77123298e+01] [ 1.01652964e-01 9.94818105e-01 -1.90096096e-03 1.79057549e+00] [ 3.65349813e-02 -1.82365045e-03 9.99330711e-01 9.30730618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.099254153999997 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:27.77, Y:1.79, Z:0.93 [[ 9.94100041e-01 -1.02130219e-01 -3.65311767e-02 2.77739603e+01] [ 1.02129219e-01 9.94769330e-01 -1.89833656e-03 1.79374998e+00] [ 3.65339717e-02 -1.84376411e-03 9.99330711e-01 9.34364802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.159254154 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:27.84, Y:1.80, Z:0.94 [[ 9.94118502e-01 -1.01950315e-01 -3.65313170e-02 2.78364032e+01] [ 1.01949293e-01 9.94787791e-01 -1.89563316e-03 1.79835318e+00] [ 3.65341686e-02 -1.83985795e-03 9.99330711e-01 9.37503699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.219254153999998 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:27.90, Y:1.80, Z:0.94 [[ 9.93986933e-01 -1.03225118e-01 -3.65315254e-02 2.78981440e+01] [ 1.03225102e-01 9.94656222e-01 -1.89160921e-03 1.80191859e+00] [ 3.65315706e-02 -1.89073558e-03 9.99330711e-01 9.39030972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.279254153999997 meters Centerline goodness : 0.999633 with order 1 Centerline is valid? [True, True] Translation: X:27.96, Y:1.80, Z:0.94 [[ 9.93794318e-01 -1.05063267e-01 -3.65316637e-02 2.79611309e+01] [ 1.05064587e-01 9.94463606e-01 -1.88893455e-03 1.80389793e+00] [ 3.65278677e-02 -1.96097174e-03 9.99330711e-01 9.40870867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.339254154 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:28.02, Y:1.81, Z:0.94 [[ 9.93720216e-01 -1.05761779e-01 -3.65318724e-02 2.80235781e+01] [ 1.05763718e-01 9.94389503e-01 -1.88489010e-03 1.80591353e+00] [ 3.65262597e-02 -1.99069323e-03 9.99330711e-01 9.42530491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.399254153999998 meters Centerline goodness : 0.999611 with order 1 Centerline is valid? [True, True] Translation: X:28.09, Y:1.81, Z:0.95 [[ 9.93778830e-01 -1.05209482e-01 -3.65322132e-02 2.80864046e+01] [ 1.05211292e-01 9.94448116e-01 -1.87826005e-03 1.80819755e+00] [ 3.65270014e-02 -1.97702627e-03 9.99330711e-01 9.45676206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.459254153999996 meters Centerline goodness : 0.999612 with order 1 Centerline is valid? [True, True] Translation: X:28.15, Y:1.81, Z:0.95 [[ 9.93974003e-01 -1.03349233e-01 -3.65324264e-02 2.81487538e+01] [ 1.03349942e-01 9.94643291e-01 -1.87410430e-03 1.80906061e+00] [ 3.65304201e-02 -1.91281321e-03 9.99330711e-01 9.46812336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.519254154 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:28.21, Y:1.81, Z:0.95 [[ 9.94377656e-01 -9.93902487e-02 -3.65329448e-02 2.82110296e+01] [ 9.93886650e-02 9.95046943e-01 -1.86394509e-03 1.81148206e+00] [ 3.65372530e-02 -1.77749526e-03 9.99330711e-01 9.49157397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.579254153999997 meters Centerline goodness : 0.999612 with order 1 Centerline is valid? [True, True] Translation: X:28.27, Y:1.81, Z:0.95 [[ 9.94912224e-01 -9.38881592e-02 -3.65332832e-02 2.82735352e+01] [ 9.38831173e-02 9.95581494e-01 -1.85728717e-03 1.81364813e+00] [ 3.65462380e-02 -1.58202080e-03 9.99330711e-01 9.51663881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.639254153999996 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:28.34, Y:1.82, Z:0.95 [[ 9.95305631e-01 -8.96214504e-02 -3.65334862e-02 2.83363458e+01] [ 8.96136855e-02 9.95974876e-01 -1.85328714e-03 1.81552155e+00] [ 3.65525286e-02 -1.42931321e-03 9.99330711e-01 9.54176729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.699254154 meters Centerline goodness : 0.999568 with order 1 Centerline is valid? [True, True] Translation: X:28.40, Y:1.82, Z:0.96 [[ 9.95893654e-01 -8.28318679e-02 -3.65336913e-02 2.83995593e+01] [ 8.28196878e-02 9.96562833e-01 -1.84923504e-03 1.81876399e+00] [ 3.65612945e-02 -1.18406747e-03 9.99330711e-01 9.56764518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.759254153999997 meters Centerline goodness : 0.999632 with order 1 Centerline is valid? [True, True] Translation: X:28.46, Y:1.82, Z:0.96 [[ 9.96373701e-01 -7.68421902e-02 -3.65338925e-02 2.84629351e+01] [ 7.68261326e-02 9.97042798e-01 -1.84525039e-03 1.82165616e+00] [ 3.65676475e-02 -9.68198711e-04 9.99330711e-01 9.59495556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.819254153999996 meters Centerline goodness : 0.999590 with order 1 Centerline is valid? [True, True] Translation: X:28.53, Y:1.82, Z:0.96 [[ 9.96534146e-01 -7.47325634e-02 -3.65340973e-02 2.85256378e+01] [ 7.47152381e-02 9.97203211e-01 -1.84118804e-03 1.82341648e+00] [ 3.65695158e-02 -8.94847025e-04 9.99330711e-01 9.61770746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.879254153999998 meters Centerline goodness : 0.999526 with order 1 Centerline is valid? [True, True] Translation: X:28.59, Y:1.82, Z:0.96 [[ 9.96465056e-01 -7.56481130e-02 -3.65343013e-02 2.85879439e+01] [ 7.56315512e-02 9.97134140e-01 -1.83712965e-03 1.82381468e+00] [ 3.65685745e-02 -9.32510378e-04 9.99330711e-01 9.63598467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.939254153999997 meters Centerline goodness : 0.999591 with order 1 Centerline is valid? [True, True] Translation: X:28.65, Y:1.82, Z:0.97 [[ 9.96264979e-01 -7.82389065e-02 -3.65344359e-02 2.86498993e+01] [ 7.82241827e-02 9.96934106e-01 -1.83444960e-03 1.82453748e+00] [ 3.65659505e-02 -1.03027849e-03 9.99330711e-01 9.65169423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.999254154 meters Centerline goodness : 0.999571 with order 1 Centerline is valid? [True, True] Translation: X:28.71, Y:1.82, Z:0.97 [[ 9.95914433e-01 -8.25812825e-02 -3.65345704e-02 2.87114159e+01] [ 8.25695742e-02 9.96583619e-01 -1.83176608e-03 1.82410610e+00] [ 3.65610240e-02 -1.19236165e-03 9.99330711e-01 9.65852901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.059254153999998 meters Centerline goodness : 0.999421 with order 1 Centerline is valid? [True, True] Translation: X:28.77, Y:1.82, Z:0.97 [[ 9.95670517e-01 -8.54718044e-02 -3.65348136e-02 2.87741104e+01] [ 8.54622168e-02 9.96339737e-01 -1.82690244e-03 1.82445473e+00] [ 3.65572353e-02 -1.30335327e-03 9.99330711e-01 9.67579283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.119254153999997 meters Centerline goodness : 0.999336 with order 1 Centerline is valid? [True, True] Translation: X:28.84, Y:1.83, Z:0.97 [[ 9.95672085e-01 -8.54534722e-02 -3.65349494e-02 2.88353280e+01] [ 8.54439719e-02 9.96341307e-01 -1.82418429e-03 1.82570889e+00] [ 3.65571621e-02 -1.30540181e-03 9.99330711e-01 9.69899332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.179254154 meters Centerline goodness : 0.999315 with order 1 Centerline is valid? [True, True] Translation: X:28.90, Y:1.83, Z:0.97 [[ 9.95853031e-01 -8.33182472e-02 -3.65350496e-02 2.88961519e+01] [ 8.33073856e-02 9.96522232e-01 -1.82217516e-03 1.82796430e+00] [ 3.65598096e-02 -1.22902081e-03 9.99330711e-01 9.72039235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.239254153999997 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:28.96, Y:1.83, Z:0.98 [[ 9.96239948e-01 -7.85566627e-02 -3.65351469e-02 2.89588857e+01] [ 7.85426737e-02 9.96909091e-01 -1.82022175e-03 1.83084443e+00] [ 3.65652106e-02 -1.05619050e-03 9.99330711e-01 9.75580104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.299254153999996 meters Centerline goodness : 0.999507 with order 1 Centerline is valid? [True, True] Translation: X:29.02, Y:1.83, Z:0.98 [[ 9.96676841e-01 -7.28041465e-02 -3.65353506e-02 2.90210964e+01] [ 7.27864449e-02 9.97345895e-01 -1.81612269e-03 1.83399770e+00] [ 3.65706033e-02 -8.49190860e-04 9.99330711e-01 9.77729059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.359254154 meters Centerline goodness : 0.999592 with order 1 Centerline is valid? [True, True] Translation: X:29.08, Y:1.84, Z:0.98 [[ 9.96981146e-01 -6.85109699e-02 -3.65354850e-02 2.90830498e+01] [ 6.84904862e-02 9.97650121e-01 -1.81341517e-03 1.83725747e+00] [ 3.65738699e-02 -6.94392405e-04 9.99330711e-01 9.79676203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.419254153999997 meters Centerline goodness : 0.999375 with order 1 Centerline is valid? [True, True] Translation: X:29.15, Y:1.84, Z:0.98 [[ 9.97243577e-01 -6.45786078e-02 -3.65356190e-02 2.91453710e+01] [ 6.45555850e-02 9.97912470e-01 -1.81071262e-03 1.84102883e+00] [ 3.65762831e-02 -5.52856722e-04 9.99330711e-01 9.81611261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.479254153999996 meters Centerline goodness : 0.999419 with order 1 Centerline is valid? [True, True] Translation: X:29.21, Y:1.84, Z:0.98 [[ 9.97525240e-01 -6.00710861e-02 -3.65357518e-02 2.92073838e+01] [ 6.00451389e-02 9.98194025e-01 -1.80802872e-03 1.84427935e+00] [ 3.65783794e-02 -3.90240014e-04 9.99330711e-01 9.82757508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.539254153999998 meters Centerline goodness : 0.999461 with order 1 Centerline is valid? [True, True] Translation: X:29.27, Y:1.85, Z:0.98 [[ 9.97659873e-01 -5.77919311e-02 -3.65358828e-02 2.92683927e+01] [ 5.77645531e-02 9.98328602e-01 -1.80537741e-03 1.84791096e+00] [ 3.65791530e-02 -3.09326344e-04 9.99330711e-01 9.84981985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.599254153999997 meters Centerline goodness : 0.999611 with order 1 Centerline is valid? [True, True] Translation: X:29.33, Y:1.85, Z:0.99 [[ 9.97600890e-01 -5.88012596e-02 -3.65359471e-02 2.93288229e+01] [ 5.87746059e-02 9.98269648e-01 -1.80407601e-03 1.85024707e+00] [ 3.65788090e-02 -3.47638059e-04 9.99330711e-01 9.87447085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.659254154 meters Centerline goodness : 0.999462 with order 1 Centerline is valid? [True, True] Translation: X:29.39, Y:1.85, Z:0.99 [[ 9.97376596e-01 -6.24903873e-02 -3.65359786e-02 2.93900576e+01] [ 6.24662305e-02 9.98045449e-01 -1.80343670e-03 1.85119595e+00] [ 3.65772646e-02 -4.83559303e-04 9.99330711e-01 9.90117919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.719254153999998 meters Centerline goodness : 0.999399 with order 1 Centerline is valid? [True, True] Translation: X:29.45, Y:1.85, Z:0.99 [[ 9.96993361e-01 -6.83326842e-02 -3.65360444e-02 2.94508802e+01] [ 6.83124953e-02 9.97662345e-01 -1.80210379e-03 1.85218192e+00] [ 3.65737783e-02 -6.99182847e-04 9.99330711e-01 9.91872686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.779254153999997 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:29.51, Y:1.85, Z:0.99 [[ 9.96684970e-01 -7.26923782e-02 -3.65361418e-02 2.95117758e+01] [ 7.26751877e-02 9.97354038e-01 -1.80012589e-03 1.85345752e+00] [ 3.65703240e-02 -8.61112548e-04 9.99330711e-01 9.92866287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.839254154 meters Centerline goodness : 0.999507 with order 1 Centerline is valid? [True, True] Translation: X:29.57, Y:1.85, Z:1.00 [[ 9.96150647e-01 -7.96805590e-02 -3.65362369e-02 2.95744405e+01] [ 7.96681320e-02 9.96819821e-01 -1.79819426e-03 1.85425660e+00] [ 3.65633262e-02 -1.11950137e-03 9.99330711e-01 9.95613273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.899254153999998 meters Centerline goodness : 0.999465 with order 1 Centerline is valid? [True, True] Translation: X:29.64, Y:1.86, Z:1.00 [[ 9.95725787e-01 -8.48248200e-02 -3.65363711e-02 2.96352058e+01] [ 8.48159497e-02 9.96395018e-01 -1.79546349e-03 1.85547813e+00] [ 3.65569580e-02 -1.31107772e-03 9.99330711e-01 9.97141805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.959254153999996 meters Centerline goodness : 0.999530 with order 1 Centerline is valid? [True, True] Translation: X:29.70, Y:1.86, Z:1.00 [[ 9.95063408e-01 -9.22707537e-02 -3.65365896e-02 2.96970313e+01] [ 9.22670530e-02 9.95732687e-01 -1.79100543e-03 1.85767798e+00] [ 3.65459340e-02 -1.58895949e-03 9.99330711e-01 1.00128154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.019254154 meters Centerline goodness : 0.999488 with order 1 Centerline is valid? [True, True] Translation: X:29.76, Y:1.86, Z:1.00 [[ 9.94529925e-01 -9.78534450e-02 -3.65367201e-02 2.97598441e+01] [ 9.78535980e-02 9.95199214e-01 -1.78834014e-03 1.86011282e+00] [ 3.65363103e-02 -1.79669173e-03 9.99330711e-01 1.00385002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.079254153999997 meters Centerline goodness : 0.999531 with order 1 Centerline is valid? [True, True] Translation: X:29.82, Y:1.86, Z:1.00 [[ 9.94074193e-01 -1.02379456e-01 -3.65369162e-02 2.98217507e+01] [ 1.02382803e-01 9.94743473e-01 -1.78432342e-03 1.86291113e+00] [ 3.65275370e-02 -1.96700204e-03 9.99330711e-01 1.00485070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.139254153999996 meters Centerline goodness : 0.999680 with order 1 Centerline is valid? [True, True] Translation: X:29.88, Y:1.87, Z:1.01 [[ 9.93738279e-01 -1.05590138e-01 -3.65370475e-02 2.98835239e+01] [ 1.05595746e-01 9.94407544e-01 -1.78163070e-03 1.86559126e+00] [ 3.65208383e-02 -2.08768214e-03 9.99330711e-01 1.00585741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.199254154 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:29.94, Y:1.87, Z:1.01 [[ 9.93618189e-01 -1.06714239e-01 -3.65371797e-02 2.99443679e+01] [ 1.06720703e-01 9.94287447e-01 -1.77891655e-03 1.86922443e+00] [ 3.65182948e-02 -2.13170967e-03 9.99330711e-01 1.00661025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.259254153999997 meters Centerline goodness : 0.999658 with order 1 Centerline is valid? [True, True] Translation: X:30.01, Y:1.87, Z:1.01 [[ 9.93752042e-01 -1.05460450e-01 -3.65372771e-02 3.00069029e+01] [ 1.05466143e-01 9.94421307e-01 -1.77691376e-03 1.87337743e+00] [ 3.65208409e-02 -2.08763400e-03 9.99330711e-01 1.01000271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.319254153999996 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:30.07, Y:1.88, Z:1.01 [[ 9.94370858e-01 -9.94565752e-02 -3.65374788e-02 3.00675387e+01] [ 9.94583782e-02 9.95040144e-01 -1.77275693e-03 1.87957160e+00] [ 3.65325705e-02 -1.87118055e-03 9.99330711e-01 1.01334868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.379254153999998 meters Centerline goodness : 0.999465 with order 1 Centerline is valid? [True, True] Translation: X:30.13, Y:1.89, Z:1.02 [[ 9.95442939e-01 -8.80815622e-02 -3.65375777e-02 3.01292690e+01] [ 8.80757881e-02 9.96112203e-01 -1.77071446e-03 1.88797551e+00] [ 3.65514943e-02 -1.45543074e-03 9.99330711e-01 1.01668604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.439254153999997 meters Centerline goodness : 0.999528 with order 1 Centerline is valid? [True, True] Translation: X:30.19, Y:1.90, Z:1.02 [[ 9.96253340e-01 -7.83854300e-02 -3.65377389e-02 3.01919061e+01] [ 7.83732621e-02 9.96922519e-01 -1.76738334e-03 1.89504691e+00] [ 3.65638318e-02 -1.10282023e-03 9.99330711e-01 1.02024421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.499254154 meters Centerline goodness : 0.999612 with order 1 Centerline is valid? [True, True] Translation: X:30.25, Y:1.90, Z:1.02 [[ 9.97372514e-01 -6.25543551e-02 -3.65379341e-02 3.02536545e+01] [ 6.25317098e-02 9.98041420e-01 -1.76333822e-03 1.90360244e+00] [ 3.65766761e-02 -5.26074423e-04 9.99330711e-01 1.02201957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.559254153999998 meters Centerline goodness : 0.999610 with order 1 Centerline is valid? [True, True] Translation: X:30.32, Y:1.91, Z:1.02 [[ 9.98158440e-01 -4.84220814e-02 -3.65380630e-02 3.03152356e+01] [ 4.83900624e-02 9.98826963e-01 -1.76066309e-03 1.91189490e+00] [ 3.65804575e-02 -1.06584263e-05 9.99330711e-01 1.02395902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.619254153999997 meters Centerline goodness : 0.999651 with order 1 Centerline is valid? [True, True] Translation: X:30.37, Y:1.92, Z:1.03 [[ 9.98594338e-01 -3.83967421e-02 -3.65381895e-02 3.03743319e+01] [ 3.83581081e-02 9.99262510e-01 -1.75803429e-03 1.91766004e+00] [ 3.65787457e-02 3.54027268e-04 9.99330711e-01 1.02701525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.679254154 meters Centerline goodness : 0.999674 with order 1 Centerline is valid? [True, True] Translation: X:30.43, Y:1.92, Z:1.03 [[ 9.98728244e-01 -3.47398998e-02 -3.65381268e-02 3.04315646e+01] [ 3.46987717e-02 9.99396268e-01 -1.75933637e-03 1.92131659e+00] [ 3.65771867e-02 4.89270801e-04 9.99330711e-01 1.03008692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.739254153999997 meters Centerline goodness : 0.999564 with order 1 Centerline is valid? [True, True] Translation: X:30.49, Y:1.92, Z:1.03 [[ 9.98520272e-01 -4.02770828e-02 -3.65379724e-02 3.04893001e+01] [ 4.02395423e-02 9.99188507e-01 -1.76253800e-03 1.92238102e+00] [ 3.65793119e-02 2.89658639e-04 9.99330711e-01 1.03269100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.799254153999996 meters Centerline goodness : 0.999544 with order 1 Centerline is valid? [True, True] Translation: X:30.55, Y:1.92, Z:1.03 [[ 9.98134184e-01 -4.89199844e-02 -3.65374498e-02 3.05469842e+01] [ 4.88878362e-02 9.98802701e-01 -1.77330543e-03 1.92214952e+00] [ 3.65804536e-02 -1.62400958e-05 9.99330711e-01 1.03414403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.859254154 meters Centerline goodness : 0.999352 with order 1 Centerline is valid? [True, True] Translation: X:30.61, Y:1.92, Z:1.03 [[ 9.97149057e-01 -6.60212893e-02 -3.65369246e-02 3.06061540e+01] [ 6.60002105e-02 9.97818014e-01 -1.78406035e-03 1.91874250e+00] [ 3.65749875e-02 -6.32470626e-04 9.99330711e-01 1.03480707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.919254153999997 meters Centerline goodness : 0.999571 with order 1 Centerline is valid? [True, True] Translation: X:30.67, Y:1.92, Z:1.04 [[ 9.95781269e-01 -8.41708052e-02 -3.65368278e-02 3.06685676e+01] [ 8.41618406e-02 9.96450498e-01 -1.78604050e-03 1.91501189e+00] [ 3.65574727e-02 -1.29650101e-03 9.99330711e-01 1.03692115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.979254153999996 meters Centerline goodness : 0.999379 with order 1 Centerline is valid? [True, True] Translation: X:30.73, Y:1.91, Z:1.04 [[ 9.94486131e-01 -9.82974343e-02 -3.65369578e-02 3.07314441e+01] [ 9.82980680e-02 9.95155420e-01 -1.78337662e-03 1.91279437e+00] [ 3.65352530e-02 -1.81796905e-03 9.99330711e-01 1.03960667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.039254153999998 meters Centerline goodness : 0.999232 with order 1 Centerline is valid? [True, True] Translation: X:30.79, Y:1.91, Z:1.04 [[ 9.93755556e-01 -1.05427372e-01 -3.65371606e-02 3.07934721e+01] [ 1.05432959e-01 9.94424822e-01 -1.77921248e-03 1.91122884e+00] [ 3.65210371e-02 -2.08411866e-03 9.99330711e-01 1.04260177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.099254153999997 meters Centerline goodness : 0.999297 with order 1 Centerline is valid? [True, True] Translation: X:30.86, Y:1.91, Z:1.05 [[ 9.93650971e-01 -1.06408514e-01 -3.65373272e-02 3.08565951e+01] [ 1.06414886e-01 9.94320229e-01 -1.77578557e-03 1.91173559e+00] [ 3.65187622e-02 -2.12360446e-03 9.99330711e-01 1.04587417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.159254154 meters Centerline goodness : 0.999424 with order 1 Centerline is valid? [True, True] Translation: X:30.92, Y:1.91, Z:1.05 [[ 9.93856076e-01 -1.04475397e-01 -3.65375285e-02 3.09195525e+01] [ 1.04480620e-01 9.94525345e-01 -1.77163342e-03 1.91315331e+00] [ 3.65225902e-02 -2.05671499e-03 9.99330711e-01 1.04787676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.219254153999998 meters Centerline goodness : 0.999424 with order 1 Centerline is valid? [True, True] Translation: X:30.98, Y:1.91, Z:1.05 [[ 9.94348914e-01 -9.96756367e-02 -3.65377262e-02 3.09827965e+01] [ 9.96777781e-02 9.95018199e-01 -1.76754626e-03 1.91491176e+00] [ 3.65318838e-02 -1.88444166e-03 9.99330711e-01 1.04720615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.279254153999997 meters Centerline goodness : 0.999402 with order 1 Centerline is valid? [True, True] Translation: X:31.04, Y:1.92, Z:1.05 [[ 9.94801359e-01 -9.50538604e-02 -3.65379273e-02 3.10446382e+01] [ 9.50530443e-02 9.95470647e-01 -1.76337967e-03 1.91858983e+00] [ 3.65400502e-02 -1.71882873e-03 9.99330711e-01 1.04739202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.339254154 meters Centerline goodness : 0.999423 with order 1 Centerline is valid? [True, True] Translation: X:31.11, Y:1.92, Z:1.05 [[ 9.95614575e-01 -8.61196147e-02 -3.65380587e-02 3.11067489e+01] [ 8.61128903e-02 9.96283830e-01 -1.76065236e-03 1.92403483e+00] [ 3.65539038e-02 -1.39346669e-03 9.99330711e-01 1.04794021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.399254153999998 meters Centerline goodness : 0.999316 with order 1 Centerline is valid? [True, True] Translation: X:31.17, Y:1.93, Z:1.05 [[ 9.96240531e-01 -7.85478565e-02 -3.65381885e-02 3.11691750e+01] [ 7.85361431e-02 9.96909717e-01 -1.75795607e-03 1.92966239e+00] [ 3.65633588e-02 -1.11822131e-03 9.99330711e-01 1.05097297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.459254153999996 meters Centerline goodness : 0.999445 with order 1 Centerline is valid? [True, True] Translation: X:31.23, Y:1.94, Z:1.05 [[ 9.96900229e-01 -6.96770091e-02 -3.65383195e-02 3.12301762e+01] [ 6.96594395e-02 9.97569287e-01 -1.75522755e-03 1.93563799e+00] [ 3.65718044e-02 -7.95452118e-04 9.99330711e-01 1.05372537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.519254154 meters Centerline goodness : 0.999655 with order 1 Centerline is valid? [True, True] Translation: X:31.29, Y:1.95, Z:1.06 [[ 9.98106347e-01 -4.94839887e-02 -3.65384162e-02 3.12922020e+01] [ 4.94529538e-02 9.98774915e-01 -1.75321368e-03 1.94541397e+00] [ 3.65804095e-02 -5.70389018e-05 9.99330711e-01 1.05914299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.579254153999997 meters Centerline goodness : 0.999481 with order 1 Centerline is valid? [True, True] Translation: X:31.35, Y:1.95, Z:1.06 [[ 9.98513089e-01 -4.04542323e-02 -3.65385464e-02 3.13505278e+01] [ 4.04172510e-02 9.99181356e-01 -1.75049439e-03 1.95067747e+00] [ 3.65794493e-02 2.71103958e-04 9.99330711e-01 1.06206072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.639254153999996 meters Centerline goodness : 0.999633 with order 1 Centerline is valid? [True, True] Translation: X:31.41, Y:1.96, Z:1.06 [[ 9.98764408e-01 -3.36842024e-02 -3.65380928e-02 3.14085689e+01] [ 3.36423472e-02 9.99432386e-01 -1.75991274e-03 1.95556105e+00] [ 3.65766345e-02 5.28511004e-04 9.99330711e-01 1.06457281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.699254154 meters Centerline goodness : 0.999481 with order 1 Centerline is valid? [True, True] Translation: X:31.47, Y:1.96, Z:1.07 [[ 9.98686956e-01 -3.59078031e-02 -3.65375739e-02 3.14661021e+01] [ 3.58670435e-02 9.99355002e-01 -1.77061998e-03 1.95637954e+00] [ 3.65775863e-02 4.57800323e-04 9.99330711e-01 1.06525231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.759254153999997 meters Centerline goodness : 0.999438 with order 1 Centerline is valid? [True, True] Translation: X:31.52, Y:1.95, Z:1.07 [[ 9.98599799e-01 -3.82555240e-02 -3.65370590e-02 3.15244265e+01] [ 3.82159486e-02 9.99267916e-01 -1.78118208e-03 1.95452097e+00] [ 3.65784509e-02 3.82389693e-04 9.99330711e-01 1.06658490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.819254153999996 meters Centerline goodness : 0.999397 with order 1 Centerline is valid? [True, True] Translation: X:31.58, Y:1.96, Z:1.07 [[ 9.98089138e-01 -4.98312721e-02 -3.65365153e-02 3.15820629e+01] [ 4.97990401e-02 9.98757650e-01 -1.79226669e-03 1.95640893e+00] [ 3.65804351e-02 -3.06414752e-05 9.99330711e-01 1.06822281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.879254153999998 meters Centerline goodness : 0.999636 with order 1 Centerline is valid? [True, True] Translation: X:31.64, Y:1.95, Z:1.07 [[ 9.97681209e-01 -5.74221233e-02 -3.65363479e-02 3.16416924e+01] [ 5.73948528e-02 9.98349942e-01 -1.79567329e-03 1.95477375e+00] [ 3.65791721e-02 -3.05488812e-04 9.99330711e-01 1.07095147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.939254153999997 meters Centerline goodness : 0.999401 with order 1 Centerline is valid? [True, True] Translation: X:31.70, Y:1.95, Z:1.07 [[ 9.97341884e-01 -6.30417920e-02 -3.65362815e-02 3.17026601e+01] [ 6.30182399e-02 9.98010758e-01 -1.79702245e-03 1.95320270e+00] [ 3.65768895e-02 -5.10206396e-04 9.99330711e-01 1.07449407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.999254154 meters Centerline goodness : 0.999340 with order 1 Centerline is valid? [True, True] Translation: X:31.76, Y:1.95, Z:1.07 [[ 9.97182325e-01 -6.55172247e-02 -3.65363477e-02 3.17628674e+01] [ 6.54953823e-02 9.97851257e-01 -1.79567523e-03 1.95071059e+00] [ 3.65754881e-02 -6.02346457e-04 9.99330711e-01 1.07452009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.059254154 meters Centerline goodness : 0.999152 with order 1 Centerline is valid? [True, True] Translation: X:31.82, Y:1.95, Z:1.08 [[ 9.96998443e-01 -6.82582629e-02 -3.65364646e-02 3.18242011e+01] [ 6.82383467e-02 9.97667436e-01 -1.79329441e-03 1.94952993e+00] [ 3.65736481e-02 -7.05276202e-04 9.99330711e-01 1.07748099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.119254154000004 meters Centerline goodness : 0.999301 with order 1 Centerline is valid? [True, True] Translation: X:31.89, Y:1.95, Z:1.08 [[ 9.97059447e-01 -6.73612779e-02 -3.65365279e-02 3.18853065e+01] [ 6.73408071e-02 9.97728422e-01 -1.79200338e-03 1.94830027e+00] [ 3.65742440e-02 -6.73665373e-04 9.99330711e-01 1.07820529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.179254154 meters Centerline goodness : 0.999258 with order 1 Centerline is valid? [True, True] Translation: X:31.95, Y:1.95, Z:1.08 [[ 9.97247615e-01 -6.45156641e-02 -3.65365931e-02 3.19466185e+01] [ 6.44933332e-02 9.97916531e-01 -1.79067230e-03 1.94972870e+00] [ 3.65759967e-02 -5.70622988e-04 9.99330711e-01 1.07923107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.239254154 meters Centerline goodness : 0.999364 with order 1 Centerline is valid? [True, True] Translation: X:32.01, Y:1.95, Z:1.08 [[ 9.97364356e-01 -6.26850335e-02 -3.65366576e-02 3.20068703e+01] [ 6.26615229e-02 9.98033232e-01 -1.78935517e-03 1.95259085e+00] [ 3.65769643e-02 -5.04803538e-04 9.99330711e-01 1.08059856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.299254154 meters Centerline goodness : 0.999214 with order 1 Centerline is valid? [True, True] Translation: X:32.07, Y:1.95, Z:1.08 [[ 9.97198956e-01 -6.52634050e-02 -3.65366893e-02 3.20675172e+01] [ 6.52416476e-02 9.97867891e-01 -1.78870808e-03 1.95496245e+00] [ 3.65755263e-02 -6.00015980e-04 9.99330711e-01 1.08326475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.359254154 meters Centerline goodness : 0.999257 with order 1 Centerline is valid? [True, True] Translation: X:32.13, Y:1.96, Z:1.08 [[ 9.96952570e-01 -6.89249170e-02 -3.65366893e-02 3.21280883e+01] [ 6.89056162e-02 9.97621580e-01 -1.78870808e-03 1.95735949e+00] [ 3.65730763e-02 -7.34325977e-04 9.99330711e-01 1.08427707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.419254154 meters Centerline goodness : 0.999300 with order 1 Centerline is valid? [True, True] Translation: X:32.19, Y:1.96, Z:1.09 [[ 9.96570415e-01 -7.42460468e-02 -3.65367220e-02 3.21893157e+01] [ 7.42303422e-02 9.97239519e-01 -1.78803992e-03 1.96096012e+00] [ 3.65686180e-02 -9.30225690e-04 9.99330711e-01 1.08518883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.479254154 meters Centerline goodness : 0.999512 with order 1 Centerline is valid? [True, True] Translation: X:32.25, Y:1.97, Z:1.09 [[ 9.96260251e-01 -7.82979964e-02 -3.65367873e-02 3.22505186e+01] [ 7.82850618e-02 9.96929414e-01 -1.78670397e-03 1.96568089e+00] [ 3.65644933e-02 -1.08026251e-03 9.99330711e-01 1.08761140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.539254154 meters Centerline goodness : 0.999449 with order 1 Centerline is valid? [True, True] Translation: X:32.31, Y:1.97, Z:1.09 [[ 9.95916894e-01 -8.25505643e-02 -3.65368841e-02 3.23128282e+01] [ 8.25405592e-02 9.96586108e-01 -1.78472330e-03 1.96939480e+00] [ 3.65594810e-02 -1.23833875e-03 9.99330711e-01 1.09201201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.599254154 meters Centerline goodness : 0.999406 with order 1 Centerline is valid? [True, True] Translation: X:32.37, Y:1.97, Z:1.09 [[ 9.95724263e-01 -8.48424303e-02 -3.65370132e-02 3.23745813e+01] [ 8.48340624e-02 9.96393500e-01 -1.78207558e-03 1.97308958e+00] [ 3.65564381e-02 -1.32512736e-03 9.99330711e-01 1.09489208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.659254154 meters Centerline goodness : 0.999512 with order 1 Centerline is valid? [True, True] Translation: X:32.44, Y:1.98, Z:1.10 [[ 9.95645495e-01 -8.57617998e-02 -3.65371441e-02 3.24370377e+01] [ 8.57541483e-02 9.96314739e-01 -1.77938926e-03 1.97797283e+00] [ 3.65550988e-02 -1.36157077e-03 9.99330711e-01 1.09730932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.719254154 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:32.50, Y:1.98, Z:1.10 [[ 9.95858770e-01 -8.32486442e-02 -3.65372757e-02 3.24991795e+01] [ 8.32394028e-02 9.96527995e-01 -1.77668160e-03 1.98452447e+00] [ 3.65583245e-02 -1.27201706e-03 9.99330711e-01 1.09971180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.779254154 meters Centerline goodness : 0.998440 with order 1 Centerline is valid? [True, True] Translation: X:32.56, Y:1.99, Z:1.10 [[ 9.96403871e-01 -7.64483037e-02 -3.65374058e-02 3.25602145e+01] [ 7.64345922e-02 9.97073019e-01 -1.77400278e-03 1.99249885e+00] [ 3.65660810e-02 -1.02509847e-03 9.99330711e-01 1.09730718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.839254154 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:32.62, Y:2.00, Z:1.10 [[ 9.96802553e-01 -7.10610818e-02 -3.65375539e-02 3.26211663e+01] [ 7.10438653e-02 9.97471620e-01 -1.77094623e-03 2.00188285e+00] [ 3.65710185e-02 -8.30485332e-04 9.99330711e-01 1.10293113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.899254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:32.68, Y:2.01, Z:1.11 [[ 9.97155146e-01 -6.59288715e-02 -3.65376282e-02 3.26827472e+01] [ 6.59082672e-02 9.97824118e-01 -1.76941323e-03 2.00942656e+00] [ 3.65747820e-02 -6.43752252e-04 9.99330711e-01 1.10554887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.959254154 meters Centerline goodness : 0.999567 with order 1 Centerline is valid? [True, True] Translation: X:32.74, Y:2.02, Z:1.11 [[ 9.97600144e-01 -5.88128012e-02 -3.65377551e-02 3.27447957e+01] [ 5.87875207e-02 9.98268955e-01 -1.76678807e-03 2.01977131e+00] [ 3.65784164e-02 -3.85415999e-04 9.99330711e-01 1.10894469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.019254154 meters Centerline goodness : 0.999588 with order 1 Centerline is valid? [True, True] Translation: X:32.81, Y:2.03, Z:1.11 [[ 9.97814873e-01 -5.50496400e-02 -3.65378852e-02 3.28055428e+01] [ 5.50219357e-02 9.98483588e-01 -1.76409414e-03 2.02651503e+00] [ 3.65795914e-02 -2.50145804e-04 9.99330711e-01 1.11149745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.079254154000004 meters Centerline goodness : 0.999477 with order 1 Centerline is valid? [True, True] Translation: X:32.87, Y:2.03, Z:1.12 [[ 9.97991059e-01 -5.17573586e-02 -3.65379492e-02 3.28659332e+01] [ 5.17274968e-02 9.98659681e-01 -1.76276613e-03 2.03444133e+00] [ 3.65802129e-02 -1.30791818e-04 9.99330711e-01 1.11608380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.139254154 meters Centerline goodness : 0.999587 with order 1 Centerline is valid? [True, True] Translation: X:32.93, Y:2.04, Z:1.12 [[ 9.97990894e-01 -5.17605238e-02 -3.65379808e-02 3.29258455e+01] [ 5.17306881e-02 9.98659517e-01 -1.76211221e-03 2.04116865e+00] [ 3.65802101e-02 -1.31562949e-04 9.99330711e-01 1.12045877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.199254154 meters Centerline goodness : 0.999542 with order 1 Centerline is valid? [True, True] Translation: X:32.99, Y:2.05, Z:1.12 [[ 9.97893729e-01 -5.36011416e-02 -3.65379808e-02 3.29860528e+01] [ 5.35725392e-02 9.98562406e-01 -1.76211221e-03 2.04543588e+00] [ 3.65799052e-02 -1.99031686e-04 9.99330711e-01 1.12239495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.259254154000004 meters Centerline goodness : 0.999498 with order 1 Centerline is valid? [True, True] Translation: X:33.05, Y:2.05, Z:1.12 [[ 9.97640121e-01 -5.81305852e-02 -3.65379808e-02 3.30472706e+01] [ 5.81050186e-02 9.98308921e-01 -1.76211221e-03 2.04823988e+00] [ 3.65786248e-02 -3.65086217e-04 9.99330711e-01 1.12326536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.319254154 meters Centerline goodness : 0.999391 with order 1 Centerline is valid? [True, True] Translation: X:33.11, Y:2.05, Z:1.12 [[ 9.97437037e-01 -6.15169003e-02 -3.65380434e-02 3.31087281e+01] [ 6.14936517e-02 9.98105921e-01 -1.76081236e-03 2.05071226e+00] [ 3.65771572e-02 -4.90558251e-04 9.99330711e-01 1.12487857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.379254154 meters Centerline goodness : 0.999565 with order 1 Centerline is valid? [True, True] Translation: X:33.17, Y:2.05, Z:1.13 [[ 9.97247017e-01 -6.45240624e-02 -3.65381056e-02 3.31707025e+01] [ 6.45028781e-02 9.97915970e-01 -1.75952141e-03 2.05271109e+00] [ 3.65754905e-02 -6.02135490e-04 9.99330711e-01 1.12789705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.439254154000004 meters Centerline goodness : 0.999413 with order 1 Centerline is valid? [True, True] Translation: X:33.23, Y:2.06, Z:1.13 [[ 9.97288272e-01 -6.38831678e-02 -3.65382329e-02 3.32328694e+01] [ 6.38616506e-02 9.97957215e-01 -1.75687332e-03 2.05511824e+00] [ 3.65758278e-02 -5.81282710e-04 9.99330711e-01 1.13116115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.499254154 meters Centerline goodness : 0.999565 with order 1 Centerline is valid? [True, True] Translation: X:33.29, Y:2.06, Z:1.13 [[ 9.97578496e-01 -5.91784723e-02 -3.65383638e-02 3.32945692e+01] [ 5.91538999e-02 9.98247334e-01 -1.75414748e-03 2.05762345e+00] [ 3.65781320e-02 -4.11486908e-04 9.99330711e-01 1.13472367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.559254154 meters Centerline goodness : 0.999457 with order 1 Centerline is valid? [True, True] Translation: X:33.36, Y:2.06, Z:1.14 [[ 9.97860334e-01 -5.42189236e-02 -3.65384920e-02 3.33556179e+01] [ 5.41911247e-02 9.98529045e-01 -1.75147347e-03 2.05904506e+00] [ 3.65797085e-02 -2.32336072e-04 9.99330711e-01 1.13748024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.619254154000004 meters Centerline goodness : 0.999326 with order 1 Centerline is valid? [True, True] Translation: X:33.42, Y:2.06, Z:1.14 [[ 9.98220760e-01 -4.71195093e-02 -3.65385555e-02 3.34169057e+01] [ 4.70870029e-02 9.98889259e-01 -1.75014728e-03 2.06051271e+00] [ 3.65804367e-02 2.65422805e-05 9.99330712e-01 1.14074481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.679254154 meters Centerline goodness : 0.999500 with order 1 Centerline is valid? [True, True] Translation: X:33.48, Y:2.06, Z:1.14 [[ 9.98373618e-01 -4.37612682e-02 -3.65386207e-02 3.34768280e+01] [ 4.37265631e-02 9.99042006e-01 -1.74878509e-03 2.06131219e+00] [ 3.65801459e-02 1.48232594e-04 9.99330712e-01 1.14203300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.739254154 meters Centerline goodness : 0.999392 with order 1 Centerline is valid? [True, True] Translation: X:33.53, Y:2.06, Z:1.14 [[ 9.98303329e-01 -4.53364831e-02 -3.65385555e-02 3.35345171e+01] [ 4.53027828e-02 9.98971769e-01 -1.75014645e-03 2.06214670e+00] [ 3.65803309e-02 9.18787827e-05 9.99330712e-01 1.14209463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.799254154 meters Centerline goodness : 0.999416 with order 1 Centerline is valid? [True, True] Translation: X:33.59, Y:2.06, Z:1.14 [[ 9.97969311e-01 -5.21747022e-02 -3.65383949e-02 3.35930255e+01] [ 5.21454596e-02 9.98637961e-01 -1.75349312e-03 2.06165753e+00] [ 3.65801161e-02 -1.55379076e-04 9.99330712e-01 1.14386518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.859254154 meters Centerline goodness : 0.999352 with order 1 Centerline is valid? [True, True] Translation: X:33.65, Y:2.06, Z:1.15 [[ 9.97650168e-01 -5.79579306e-02 -3.65379447e-02 3.36536225e+01] [ 5.79322222e-02 9.98318962e-01 -1.76282404e-03 2.06205520e+00] [ 3.65786926e-02 -3.58042631e-04 9.99330712e-01 1.14694834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.919254154 meters Centerline goodness : 0.999268 with order 1 Centerline is valid? [True, True] Translation: X:33.71, Y:2.06, Z:1.15 [[ 9.97024791e-01 -6.78715374e-02 -3.65379447e-02 3.37147098e+01] [ 6.78524780e-02 9.97693808e-01 -1.76282404e-03 2.06104749e+00] [ 3.65733267e-02 -7.21610819e-04 9.99330712e-01 1.14898360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.979254154 meters Centerline goodness : 0.999358 with order 1 Centerline is valid? [True, True] Translation: X:33.78, Y:2.06, Z:1.15 [[ 9.96161735e-01 -7.95410072e-02 -3.65380097e-02 3.37757779e+01] [ 7.95298319e-02 9.96830930e-01 -1.76147545e-03 2.05958442e+00] [ 3.65623277e-02 -1.15114733e-03 9.99330712e-01 1.15194516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.039254154 meters Centerline goodness : 0.999275 with order 1 Centerline is valid? [True, True] Translation: X:33.84, Y:2.06, Z:1.15 [[ 9.95085879e-01 -9.20274949e-02 -3.65381061e-02 3.38371197e+01] [ 9.20247862e-02 9.95755162e-01 -1.75947369e-03 2.05761832e+00] [ 3.65449277e-02 -1.61158397e-03 9.99330712e-01 1.15461736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.099254154 meters Centerline goodness : 0.999467 with order 1 Centerline is valid? [True, True] Translation: X:33.90, Y:2.06, Z:1.16 [[ 9.94384200e-01 -9.93227785e-02 -3.65383100e-02 3.39003865e+01] [ 9.93251338e-02 9.95053484e-01 -1.75522817e-03 2.05770279e+00] [ 3.65319069e-02 -1.88380138e-03 9.99330712e-01 1.15716522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.159254154 meters Centerline goodness : 0.999193 with order 1 Centerline is valid? [True, True] Translation: X:33.96, Y:2.06, Z:1.16 [[ 9.93562954e-01 -1.07226835e-01 -3.65384976e-02 3.39618330e+01] [ 1.07234656e-01 9.94232197e-01 -1.75131482e-03 2.05626854e+00] [ 3.65155387e-02 -2.17815169e-03 9.99330712e-01 1.15833890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.219254154 meters Centerline goodness : 0.999256 with order 1 Centerline is valid? [True, True] Translation: X:34.02, Y:2.06, Z:1.16 [[ 9.93262895e-01 -1.09971603e-01 -3.65385899e-02 3.40240137e+01] [ 1.09981344e-01 9.93932112e-01 -1.74938724e-03 2.05646979e+00] [ 3.65092608e-02 -2.28096178e-03 9.99330712e-01 1.15852760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.279254154 meters Centerline goodness : 0.999235 with order 1 Centerline is valid? [True, True] Translation: X:34.09, Y:2.06, Z:1.16 [[ 9.93546101e-01 -1.07382809e-01 -3.65387158e-02 3.40860938e+01] [ 1.07390902e-01 9.94215340e-01 -1.74675397e-03 2.06039978e+00] [ 3.65149231e-02 -2.18844506e-03 9.99330712e-01 1.15988169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.339254154 meters Centerline goodness : 0.999276 with order 1 Centerline is valid? [True, True] Translation: X:34.15, Y:2.07, Z:1.16 [[ 9.94067265e-01 -1.02446011e-01 -3.65388447e-02 3.41488473e+01] [ 1.02450879e-01 9.94736536e-01 -1.74405383e-03 2.06550948e+00] [ 3.65251951e-02 -2.00972991e-03 9.99330712e-01 1.16257193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.399254154 meters Centerline goodness : 0.999424 with order 1 Centerline is valid? [True, True] Translation: X:34.21, Y:2.07, Z:1.17 [[ 9.94950037e-01 -9.34843425e-02 -3.65390350e-02 3.42104207e+01] [ 9.34833253e-02 9.95619325e-01 -1.74005753e-03 2.07457112e+00] [ 3.65416375e-02 -1.68452018e-03 9.99330712e-01 1.16778347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.459254154 meters Centerline goodness : 0.999338 with order 1 Centerline is valid? [True, True] Translation: X:34.27, Y:2.08, Z:1.17 [[ 9.95638522e-01 -8.58418484e-02 -3.65391599e-02 3.42719124e+01] [ 8.58357883e-02 9.96307783e-01 -1.73743117e-03 2.08221599e+00] [ 3.65533937e-02 -1.40651419e-03 9.99330712e-01 1.17333364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.519254154 meters Centerline goodness : 0.999252 with order 1 Centerline is valid? [True, True] Translation: X:34.34, Y:2.09, Z:1.17 [[ 9.96117369e-01 -8.00941151e-02 -3.65392893e-02 3.43350979e+01] [ 8.00842923e-02 9.96786585e-01 -1.73470526e-03 2.08663544e+00] [ 3.65608131e-02 -1.19825308e-03 9.99330712e-01 1.17492972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.579254154000004 meters Centerline goodness : 0.999358 with order 1 Centerline is valid? [True, True] Translation: X:34.40, Y:2.09, Z:1.18 [[ 9.96388542e-01 -7.66468496e-02 -3.65394823e-02 3.43974475e+01] [ 7.66348606e-02 9.97057723e-01 -1.73062950e-03 2.09028269e+00] [ 3.65646203e-02 -1.07581872e-03 9.99330712e-01 1.17615325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.639254154 meters Centerline goodness : 0.999420 with order 1 Centerline is valid? [True, True] Translation: X:34.46, Y:2.09, Z:1.18 [[ 9.96960394e-01 -6.88100974e-02 -3.65396112e-02 3.44585783e+01] [ 6.87929470e-02 9.97629463e-01 -1.72790477e-03 2.09451414e+00] [ 3.65718899e-02 -7.91014917e-04 9.99330712e-01 1.17722018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.699254154 meters Centerline goodness : 0.999505 with order 1 Centerline is valid? [True, True] Translation: X:34.52, Y:2.10, Z:1.18 [[ 9.97695212e-01 -5.71761588e-02 -3.65397062e-02 3.45201205e+01] [ 5.71512787e-02 9.98364038e-01 -1.72589365e-03 2.09843932e+00] [ 3.65786086e-02 -3.66375098e-04 9.99330712e-01 1.18029475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.759254154000004 meters Centerline goodness : 0.999397 with order 1 Centerline is valid? [True, True] Translation: X:34.58, Y:2.10, Z:1.18 [[ 9.98357359e-01 -4.41296233e-02 -3.65398319e-02 3.45811148e+01] [ 4.40961002e-02 9.99025808e-01 -1.72322729e-03 2.10119341e+00] [ 3.65802804e-02 1.09132558e-04 9.99330712e-01 1.18370507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.819254154 meters Centerline goodness : 0.999310 with order 1 Centerline is valid? [True, True] Translation: X:34.64, Y:2.10, Z:1.19 [[ 9.98658036e-01 -3.67010100e-02 -3.65398958e-02 3.46393468e+01] [ 3.66625644e-02 9.99326219e-01 -1.72187025e-03 2.10391718e+00] [ 3.65784703e-02 3.79913272e-04 9.99330712e-01 1.18615101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.879254154 meters Centerline goodness : 0.999378 with order 1 Centerline is valid? [True, True] Translation: X:34.70, Y:2.10, Z:1.19 [[ 9.98919642e-01 -2.87126808e-02 -3.65394511e-02 3.46968545e+01] [ 2.86685492e-02 9.99587473e-01 -1.73125601e-03 2.10457636e+00] [ 3.65740867e-02 6.81852576e-04 9.99330712e-01 1.18832866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.939254154000004 meters Centerline goodness : 0.999228 with order 1 Centerline is valid? [True, True] Translation: X:34.75, Y:2.10, Z:1.19 [[ 9.98967050e-01 -2.70136661e-02 -3.65389398e-02 3.47549414e+01] [ 2.69680065e-02 9.99634779e-01 -1.74198139e-03 2.10340565e+00] [ 3.65726524e-02 7.54799642e-04 9.99330712e-01 1.19030379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.999254154 meters Centerline goodness : 0.999293 with order 1 Centerline is valid? [True, True] Translation: X:34.81, Y:2.10, Z:1.19 [[ 9.98893674e-01 -2.96035729e-02 -3.65384175e-02 3.48126795e+01] [ 2.95592466e-02 9.99561493e-01 -1.75286878e-03 2.10269524e+00] [ 3.65742863e-02 6.70881439e-04 9.99330712e-01 1.19216896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.059254154 meters Centerline goodness : 0.999209 with order 1 Centerline is valid? [True, True] Translation: X:34.87, Y:2.10, Z:1.19 [[ 9.98653974e-01 -3.68133482e-02 -3.65378979e-02 3.48706875e+01] [ 3.67734500e-02 9.99322072e-01 -1.76363356e-03 2.09911629e+00] [ 3.65780531e-02 4.17635104e-04 9.99330712e-01 1.19418792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.119254154000004 meters Centerline goodness : 0.999042 with order 1 Centerline is valid? [True, True] Translation: X:34.93, Y:2.10, Z:1.20 [[ 9.98396377e-01 -4.32399665e-02 -3.65373830e-02 3.49287044e+01] [ 4.32039810e-02 9.99064697e-01 -1.77423695e-03 2.09673263e+00] [ 3.65799274e-02 1.92831343e-04 9.99330712e-01 1.19593841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.179254154 meters Centerline goodness : 0.999130 with order 1 Centerline is valid? [True, True] Translation: X:34.99, Y:2.09, Z:1.20 [[ 9.98068690e-01 -5.02389064e-02 -3.65368678e-02 3.49865446e+01] [ 5.02072214e-02 9.98737227e-01 -1.78478445e-03 2.09393849e+00] [ 3.65803957e-02 -5.30771371e-05 9.99330712e-01 1.19774924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.239254154 meters Centerline goodness : 0.998964 with order 1 Centerline is valid? [True, True] Translation: X:35.04, Y:2.09, Z:1.20 [[ 9.97549108e-01 -5.96730522e-02 -3.65363494e-02 3.50448099e+01] [ 5.96473030e-02 9.98217900e-01 -1.79533445e-03 2.08937966e+00] [ 3.65783711e-02 -3.88360423e-04 9.99330712e-01 1.19879095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.299254154 meters Centerline goodness : 0.999095 with order 1 Centerline is valid? [True, True] Translation: X:35.10, Y:2.09, Z:1.20 [[ 9.96874809e-01 -7.00408979e-02 -3.65361087e-02 3.51046361e+01] [ 7.00219242e-02 9.97543828e-01 -1.80021983e-03 2.08572428e+00] [ 3.65724587e-02 -7.63734833e-04 9.99330712e-01 1.20027058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.359254154 meters Centerline goodness : 0.998905 with order 1 Centerline is valid? [True, True] Translation: X:35.16, Y:2.08, Z:1.20 [[ 9.95877741e-01 -8.30219343e-02 -3.65360443e-02 3.51649658e+01] [ 8.30116302e-02 9.96546950e-01 -1.80152484e-03 2.08172205e+00] [ 3.65594496e-02 -1.23881812e-03 9.99330712e-01 1.20032163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.419254154 meters Centerline goodness : 0.999032 with order 1 Centerline is valid? [True, True] Translation: X:35.23, Y:2.08, Z:1.20 [[ 9.95140077e-01 -9.14403746e-02 -3.65360760e-02 3.52275625e+01] [ 9.14357535e-02 9.95809349e-01 -1.80088150e-03 2.08068397e+00] [ 3.65476394e-02 -1.54857429e-03 9.99330712e-01 1.20210100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.479254154 meters Centerline goodness : 0.998889 with order 1 Centerline is valid? [True, True] Translation: X:35.29, Y:2.08, Z:1.20 [[ 9.94241959e-01 -1.00737447e-01 -3.65362054e-02 3.52896398e+01] [ 1.00739178e-01 9.94911244e-01 -1.79825284e-03 2.08112395e+00] [ 3.65314330e-02 -1.89272887e-03 9.99330712e-01 1.20431476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.539254154 meters Centerline goodness : 0.998932 with order 1 Centerline is valid? [True, True] Translation: X:35.35, Y:2.08, Z:1.21 [[ 9.93810224e-01 -1.04911083e-01 -3.65363358e-02 3.53511346e+01] [ 1.04915721e-01 9.94479496e-01 -1.79560009e-03 2.08378529e+00] [ 3.65230151e-02 -2.04875030e-03 9.99330712e-01 1.20608597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.599254154 meters Centerline goodness : 0.999204 with order 1 Centerline is valid? [True, True] Translation: X:35.41, Y:2.09, Z:1.21 [[ 9.93729797e-01 -1.05670150e-01 -3.65364322e-02 3.54127117e+01] [ 1.05675371e-01 9.94399064e-01 -1.79363674e-03 2.08684020e+00] [ 3.65213278e-02 -2.07861076e-03 9.99330712e-01 1.20870759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.659254154 meters Centerline goodness : 0.998866 with order 1 Centerline is valid? [True, True] Translation: X:35.47, Y:2.09, Z:1.21 [[ 9.93830874e-01 -1.04715202e-01 -3.65365597e-02 3.54745272e+01] [ 1.04719876e-01 9.94500146e-01 -1.79103555e-03 2.09132402e+00] [ 3.65231626e-02 -2.04611758e-03 9.99330712e-01 1.21390551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.719254154 meters Centerline goodness : 0.998907 with order 1 Centerline is valid? [True, True] Translation: X:35.54, Y:2.10, Z:1.22 [[ 9.94195346e-01 -1.01196269e-01 -3.65366932e-02 3.55357812e+01] [ 1.01198673e-01 9.94864629e-01 -1.78830864e-03 2.09801038e+00] [ 3.65300339e-02 -1.91953672e-03 9.99330712e-01 1.21708873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.779254154 meters Centerline goodness : 0.999006 with order 1 Centerline is valid? [True, True] Translation: X:35.60, Y:2.10, Z:1.22 [[ 9.94584273e-01 -9.72994688e-02 -3.65367921e-02 3.55979351e+01] [ 9.72993243e-02 9.95253561e-01 -1.78628525e-03 2.10405194e+00] [ 3.65371770e-02 -1.77839396e-03 9.99330712e-01 1.21961904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.839254154 meters Centerline goodness : 0.999028 with order 1 Centerline is valid? [True, True] Translation: X:35.66, Y:2.11, Z:1.22 [[ 9.95282768e-01 -8.98736083e-02 -3.65369237e-02 3.56592800e+01] [ 8.98685673e-02 9.95952037e-01 -1.78358906e-03 2.11260125e+00] [ 3.65493212e-02 -1.50834553e-03 9.99330712e-01 1.22156452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.899254154 meters Centerline goodness : 0.999069 with order 1 Centerline is valid? [True, True] Translation: X:35.72, Y:2.12, Z:1.22 [[ 9.96083025e-01 -8.05211150e-02 -3.65370556e-02 3.57209545e+01] [ 8.05098870e-02 9.96752219e-01 -1.78088376e-03 2.12247191e+00] [ 3.65617900e-02 -1.16768612e-03 9.99330712e-01 1.22490440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.959254154 meters Centerline goodness : 0.998938 with order 1 Centerline is valid? [True, True] Translation: X:35.78, Y:2.13, Z:1.23 [[ 9.96775494e-01 -7.14398183e-02 -3.65371885e-02 3.57822837e+01] [ 7.14225921e-02 9.97444561e-01 -1.77815143e-03 2.13137381e+00] [ 3.65708508e-02 -8.37162945e-04 9.99330712e-01 1.22641648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.019254154 meters Centerline goodness : 0.999066 with order 1 Centerline is valid? [True, True] Translation: X:35.84, Y:2.14, Z:1.23 [[ 9.97176945e-01 -6.55985082e-02 -3.65373197e-02 3.58433782e+01] [ 6.55774611e-02 9.97845902e-01 -1.77545257e-03 2.13728318e+00] [ 3.65750818e-02 -6.25584289e-04 9.99330712e-01 1.22777164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.079254154 meters Centerline goodness : 0.998978 with order 1 Centerline is valid? [True, True] Translation: X:35.90, Y:2.14, Z:1.23 [[ 9.97697200e-01 -5.71429280e-02 -3.65374163e-02 3.59045320e+01] [ 5.71162837e-02 9.98365957e-01 -1.77346111e-03 2.14424379e+00] [ 3.65790534e-02 -3.17504257e-04 9.99330712e-01 1.23155545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.139254154 meters Centerline goodness : 0.998805 with order 1 Centerline is valid? [True, True] Translation: X:35.97, Y:2.15, Z:1.24 [[ 9.98144450e-01 -4.87100603e-02 -3.65374813e-02 3.59651442e+01] [ 4.86778148e-02 9.98812960e-01 -1.77212255e-03 2.14929989e+00] [ 3.65804300e-02 -9.73045869e-06 9.99330712e-01 1.23582400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.199254154 meters Centerline goodness : 0.998997 with order 1 Centerline is valid? [True, True] Translation: X:36.02, Y:2.15, Z:1.24 [[ 9.98422093e-01 -4.26419490e-02 -3.65374813e-02 3.60237939e+01] [ 4.26056405e-02 9.99090396e-01 -1.77212255e-03 2.15241435e+00] [ 3.65798134e-02 2.12623514e-04 9.99330712e-01 1.23973214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.259254154000004 meters Centerline goodness : 0.999147 with order 1 Centerline is valid? [True, True] Translation: X:36.08, Y:2.15, Z:1.24 [[ 9.98451404e-01 -4.19501277e-02 -3.65373858e-02 3.60819239e+01] [ 4.19132842e-02 9.99119677e-01 -1.77408897e-03 2.15379252e+00] [ 3.65796443e-02 2.39939788e-04 9.99330712e-01 1.24147519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.319254154 meters Centerline goodness : 0.999081 with order 1 Centerline is valid? [True, True] Translation: X:36.14, Y:2.15, Z:1.24 [[ 9.98285816e-01 -4.57218462e-02 -3.65368658e-02 3.61403871e+01] [ 4.56871380e-02 9.98954203e-01 -1.78473373e-03 2.15349391e+00] [ 3.65802570e-02 1.12409538e-04 9.99330712e-01 1.24117400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.379254154 meters Centerline goodness : 0.999126 with order 1 Centerline is valid? [True, True] Translation: X:36.20, Y:2.15, Z:1.24 [[ 9.97915342e-01 -5.31983695e-02 -3.65363358e-02 3.61981718e+01] [ 5.31682741e-02 9.98583953e-01 -1.79551878e-03 2.15394058e+00] [ 3.65801173e-02 -1.50798185e-04 9.99330712e-01 1.24108030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.439254154000004 meters Centerline goodness : 0.999107 with order 1 Centerline is valid? [True, True] Translation: X:36.26, Y:2.15, Z:1.24 [[ 9.97433054e-01 -6.15825510e-02 -3.65361729e-02 3.62569537e+01] [ 6.15579542e-02 9.98101890e-01 -1.79882787e-03 2.15407867e+00] [ 3.65775996e-02 -4.54881675e-04 9.99330712e-01 1.24285328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.499254154 meters Centerline goodness : 0.999087 with order 1 Centerline is valid? [True, True] Translation: X:36.32, Y:2.16, Z:1.25 [[ 9.97085537e-01 -6.69742254e-02 -3.65360772e-02 3.63177880e+01] [ 6.69531738e-02 9.97754494e-01 -1.80076947e-03 2.15557825e+00] [ 3.65746403e-02 -6.50685131e-04 9.99330712e-01 1.24709142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.559254154 meters Centerline goodness : 0.999173 with order 1 Centerline is valid? [True, True] Translation: X:36.38, Y:2.16, Z:1.25 [[ 9.96475491e-01 -7.55096699e-02 -3.65360772e-02 3.63792325e+01] [ 7.54943473e-02 9.97144604e-01 -1.80076947e-03 2.15597160e+00] [ 3.65677277e-02 -9.63844656e-04 9.99330712e-01 1.25036137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.619254154000004 meters Centerline goodness : 0.999172 with order 1 Centerline is valid? [True, True] Translation: X:36.44, Y:2.16, Z:1.25 [[ 9.95799366e-01 -8.39567351e-02 -3.65361414e-02 3.64418676e+01] [ 8.39471347e-02 9.96468585e-01 -1.79946616e-03 2.15635242e+00] [ 3.65581944e-02 -1.27519713e-03 9.99330712e-01 1.25278784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.679254154 meters Centerline goodness : 0.999196 with order 1 Centerline is valid? [True, True] Translation: X:36.50, Y:2.16, Z:1.25 [[ 9.95020235e-01 -9.27352853e-02 -3.65362751e-02 3.65040604e+01] [ 9.27316867e-02 9.95689513e-01 -1.79674703e-03 2.15825284e+00] [ 3.65454078e-02 -1.60027076e-03 9.99330712e-01 1.25372449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.739254154 meters Centerline goodness : 0.999197 with order 1 Centerline is valid? [True, True] Translation: X:36.57, Y:2.16, Z:1.25 [[ 9.94440291e-01 -9.87603115e-02 -3.65364072e-02 3.65660023e+01] [ 9.87608653e-02 9.95109578e-01 -1.79405583e-03 2.16081382e+00] [ 3.65349103e-02 -1.82428579e-03 9.99330712e-01 1.25484633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.799254154 meters Centerline goodness : 0.999050 with order 1 Centerline is valid? [True, True] Translation: X:36.63, Y:2.16, Z:1.26 [[ 9.93523051e-01 -1.07596602e-01 -3.65365399e-02 3.66279547e+01] [ 1.07603204e-01 9.94192306e-01 -1.79134940e-03 2.16326018e+00] [ 3.65170900e-02 -2.15170186e-03 9.99330712e-01 1.25523338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.859254154 meters Centerline goodness : 0.999219 with order 1 Centerline is valid? [True, True] Translation: X:36.69, Y:2.17, Z:1.26 [[ 9.92955639e-01 -1.12712779e-01 -3.65366720e-02 3.66890499e+01] [ 1.12722927e-01 9.93624850e-01 -1.78865175e-03 2.16849939e+00] [ 3.65053491e-02 -2.34246878e-03 9.99330712e-01 1.25627731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.919254154 meters Centerline goodness : 0.999450 with order 1 Centerline is valid? [True, True] Translation: X:36.75, Y:2.17, Z:1.26 [[ 9.92970293e-01 -1.12583574e-01 -3.65367695e-02 3.67518580e+01] [ 1.12593709e-01 9.93639504e-01 -1.78665734e-03 2.17430491e+00] [ 3.65055258e-02 -2.33971273e-03 9.99330712e-01 1.26002520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.979254154 meters Centerline goodness : 0.999069 with order 1 Centerline is valid? [True, True] Translation: X:36.81, Y:2.18, Z:1.26 [[ 9.93348726e-01 -1.09194130e-01 -3.65369686e-02 3.68144182e+01] [ 1.09202131e-01 9.94017966e-01 -1.78257735e-03 2.18422382e+00] [ 3.65130502e-02 -2.21919388e-03 9.99330712e-01 1.26434830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.039254154 meters Centerline goodness : 0.999195 with order 1 Centerline is valid? [True, True] Translation: X:36.88, Y:2.19, Z:1.27 [[ 9.93544133e-01 -1.07401543e-01 -3.65371704e-02 3.68760215e+01] [ 1.07408487e-01 9.94213385e-01 -1.77843073e-03 2.18936579e+00] [ 3.65167501e-02 -2.15745280e-03 9.99330712e-01 1.26617144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.099254154 meters Centerline goodness : 0.999340 with order 1 Centerline is valid? [True, True] Translation: X:36.94, Y:2.20, Z:1.27 [[ 9.94013993e-01 -1.02962156e-01 -3.65373355e-02 3.69384808e+01] [ 1.02966235e-01 9.94683268e-01 -1.77503344e-03 2.19811993e+00] [ 3.65258375e-02 -1.99770381e-03 9.99330712e-01 1.26902975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.159254154 meters Centerline goodness : 0.999404 with order 1 Centerline is valid? [True, True] Translation: X:37.00, Y:2.21, Z:1.27 [[ 9.94369094e-01 -9.94741806e-02 -3.65375326e-02 3.70005279e+01] [ 9.94760611e-02 9.95038380e-01 -1.77096543e-03 2.20737946e+00] [ 3.65324126e-02 -1.87361654e-03 9.99330712e-01 1.27298520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.219254154 meters Centerline goodness : 0.999381 with order 1 Centerline is valid? [True, True] Translation: X:37.06, Y:2.22, Z:1.28 [[ 9.94998873e-01 -9.29636582e-02 -3.65376629e-02 3.70620291e+01] [ 9.29612566e-02 9.95668157e-01 -1.76827414e-03 2.21651486e+00] [ 3.65437727e-02 -1.63715628e-03 9.99330712e-01 1.27681935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.279254154 meters Centerline goodness : 0.999422 with order 1 Centerline is valid? [True, True] Translation: X:37.12, Y:2.22, Z:1.28 [[ 9.95563680e-01 -8.67061032e-02 -3.65377914e-02 3.71234790e+01] [ 8.66995912e-02 9.96232936e-01 -1.76561504e-03 2.22407369e+00] [ 3.65532408e-02 -1.41002937e-03 9.99330712e-01 1.27860099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.339254154 meters Centerline goodness : 0.999268 with order 1 Centerline is valid? [True, True] Translation: X:37.19, Y:2.23, Z:1.28 [[ 9.96441373e-01 -7.59576760e-02 -3.65379496e-02 3.71856277e+01] [ 7.59440624e-02 9.97110522e-01 -1.76233550e-03 2.23457964e+00] [ 3.65662369e-02 -1.01877632e-03 9.99330712e-01 1.28175468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.399254154 meters Centerline goodness : 0.999437 with order 1 Centerline is valid? [True, True] Translation: X:37.25, Y:2.24, Z:1.29 [[ 9.97164751e-01 -6.57831593e-02 -3.65381431e-02 3.72474538e+01] [ 6.57628639e-02 9.97833731e-01 -1.75831302e-03 2.24398194e+00] [ 3.65746591e-02 -6.49525173e-04 9.99330712e-01 1.28568273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.459254154 meters Centerline goodness : 0.999567 with order 1 Centerline is valid? [True, True] Translation: X:37.31, Y:2.25, Z:1.29 [[ 9.97541275e-01 -5.98026757e-02 -3.65382741e-02 3.73088862e+01] [ 5.97784691e-02 9.98210124e-01 -1.75558688e-03 2.25018916e+00] [ 3.65778640e-02 -4.32931718e-04 9.99330712e-01 1.28758119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.519254154 meters Centerline goodness : 0.999586 with order 1 Centerline is valid? [True, True] Translation: X:37.37, Y:2.26, Z:1.29 [[ 9.98123957e-01 -4.91275268e-02 -3.65383706e-02 3.73708903e+01] [ 4.90962398e-02 9.98792513e-01 -1.75357584e-03 2.25745762e+00] [ 3.65803999e-02 -4.36105520e-05 9.99330712e-01 1.28992218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.579254154 meters Centerline goodness : 0.999499 with order 1 Centerline is valid? [True, True] Translation: X:37.43, Y:2.26, Z:1.29 [[ 9.98650623e-01 -3.69035418e-02 -3.65385001e-02 3.74301793e+01] [ 3.68641707e-02 9.99318752e-01 -1.75087425e-03 2.26340169e+00] [ 3.65782218e-02 4.01550160e-04 9.99330712e-01 1.29257294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.639254154 meters Centerline goodness : 0.999475 with order 1 Centerline is valid? [True, True] Translation: X:37.49, Y:2.27, Z:1.30 [[ 9.98950572e-01 -2.76169182e-02 -3.65384684e-02 3.74886427e+01] [ 2.75713127e-02 9.99618305e-01 -1.75153490e-03 2.26706306e+00] [ 3.65728939e-02 7.42283252e-04 9.99330712e-01 1.29681365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.699254154 meters Centerline goodness : 0.999432 with order 1 Centerline is valid? [True, True] Translation: X:37.55, Y:2.27, Z:1.30 [[ 9.98999952e-01 -2.57695442e-02 -3.65380132e-02 3.75454579e+01] [ 2.57223586e-02 9.99667574e-01 -1.76097978e-03 2.26905614e+00] [ 3.65712467e-02 8.19374841e-04 9.99330712e-01 1.29843151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.759254154000004 meters Centerline goodness : 0.999651 with order 1 Centerline is valid? [True, True] Translation: X:37.60, Y:2.27, Z:1.30 [[ 9.98863210e-01 -3.06149915e-02 -3.65377893e-02 3.76036758e+01] [ 3.05708754e-02 9.99531042e-01 -1.76561291e-03 2.26782971e+00] [ 3.65747089e-02 6.46613574e-04 9.99330712e-01 1.29898546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.819254154 meters Centerline goodness : 0.999609 with order 1 Centerline is valid? [True, True] Translation: X:37.66, Y:2.26, Z:1.30 [[ 9.98423109e-01 -4.26183264e-02 -3.65372854e-02 3.76624058e+01] [ 4.25818609e-02 9.99091403e-01 -1.77598128e-03 2.26485242e+00] [ 3.65797770e-02 2.17355147e-04 9.99330712e-01 1.29979174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.879254154 meters Centerline goodness : 0.999460 with order 1 Centerline is valid? [True, True] Translation: X:37.72, Y:2.26, Z:1.30 [[ 9.97641068e-01 -5.81148409e-02 -3.65371575e-02 3.77217012e+01] [ 5.80886596e-02 9.98309844e-01 -1.77860802e-03 2.26027487e+00] [ 3.65787675e-02 -3.47982100e-04 9.99330712e-01 1.30216701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.939254154000004 meters Centerline goodness : 0.999528 with order 1 Centerline is valid? [True, True] Translation: X:37.78, Y:2.26, Z:1.31 [[ 9.97036465e-01 -6.77003111e-02 -3.65370274e-02 3.77834933e+01] [ 6.76804608e-02 9.97705459e-01 -1.78127730e-03 2.25841648e+00] [ 3.65737847e-02 -6.96844420e-04 9.99330712e-01 1.30567036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.999254154 meters Centerline goodness : 0.999488 with order 1 Centerline is valid? [True, True] Translation: X:37.85, Y:2.25, Z:1.31 [[ 9.96215022e-01 -7.88712249e-02 -3.65370924e-02 3.78458090e+01] [ 7.88589231e-02 9.96884197e-01 -1.77994249e-03 2.25420334e+00] [ 3.65636362e-02 -1.10807031e-03 9.99330712e-01 1.30848190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.059254154 meters Centerline goodness : 0.999189 with order 1 Centerline is valid? [True, True] Translation: X:37.91, Y:2.25, Z:1.31 [[ 9.95840524e-01 -8.34666550e-02 -3.65372238e-02 3.79077286e+01] [ 8.34575396e-02 9.96509749e-01 -1.77724100e-03 2.25229061e+00] [ 3.65580401e-02 -1.27945819e-03 9.99330712e-01 1.30820787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.119254154000004 meters Centerline goodness : 0.999277 with order 1 Centerline is valid? [True, True] Translation: X:37.97, Y:2.25, Z:1.31 [[ 9.95459777e-01 -8.78911510e-02 -3.65373552e-02 3.79699874e+01] [ 8.78851088e-02 9.96129037e-01 -1.77453568e-03 2.24956220e+00] [ 3.65518864e-02 -1.44461054e-03 9.99330712e-01 1.31164347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.179254154 meters Centerline goodness : 0.999278 with order 1 Centerline is valid? [True, True] Translation: X:38.03, Y:2.25, Z:1.31 [[ 9.95357977e-01 -8.90365587e-02 -3.65374875e-02 3.80325160e+01] [ 8.90313867e-02 9.96027245e-01 -1.77180602e-03 2.24906271e+00] [ 3.65500886e-02 -1.48940192e-03 9.99330712e-01 1.31116140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.239254154 meters Centerline goodness : 0.999127 with order 1 Centerline is valid? [True, True] Translation: X:38.09, Y:2.25, Z:1.31 [[ 9.95379394e-01 -8.87967586e-02 -3.65376185e-02 3.80938383e+01] [ 8.87915243e-02 9.96048661e-01 -1.76910216e-03 2.25086320e+00] [ 3.65503365e-02 -1.48330300e-03 9.99330712e-01 1.31086550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.299254154 meters Centerline goodness : 0.999128 with order 1 Centerline is valid? [True, True] Translation: X:38.16, Y:2.25, Z:1.31 [[ 9.95372644e-01 -8.88723485e-02 -3.65377150e-02 3.81563014e+01] [ 8.88672382e-02 9.96041912e-01 -1.76710599e-03 2.25395909e+00] [ 3.65501424e-02 -1.48807686e-03 9.99330712e-01 1.31296954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.359254154 meters Centerline goodness : 0.999043 with order 1 Centerline is valid? [True, True] Translation: X:38.22, Y:2.26, Z:1.32 [[ 9.95370779e-01 -8.88931872e-02 -3.65378413e-02 3.82189935e+01] [ 8.88881868e-02 9.96040048e-01 -1.76449158e-03 2.25769867e+00] [ 3.65500044e-02 -1.49145910e-03 9.99330712e-01 1.31640529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.419254154 meters Centerline goodness : 0.999235 with order 1 Centerline is valid? [True, True] Translation: X:38.28, Y:2.26, Z:1.32 [[ 9.95465723e-01 -8.78234979e-02 -3.65380357e-02 3.82813489e+01] [ 8.78179262e-02 9.96134987e-01 -1.76045560e-03 2.26320845e+00] [ 3.65514251e-02 -1.45622132e-03 9.99330712e-01 1.32010521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.479254154 meters Centerline goodness : 0.999424 with order 1 Centerline is valid? [True, True] Translation: X:38.34, Y:2.27, Z:1.32 [[ 9.95627819e-01 -8.59663249e-02 -3.65381629e-02 3.83425089e+01] [ 8.59596016e-02 9.96297073e-01 -1.75781117e-03 2.26903669e+00] [ 3.65539773e-02 -1.39068023e-03 9.99330712e-01 1.32367126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.539254154 meters Centerline goodness : 0.999146 with order 1 Centerline is valid? [True, True] Translation: X:38.41, Y:2.27, Z:1.33 [[ 9.95589257e-01 -8.64117250e-02 -3.65382568e-02 3.84053792e+01] [ 8.64053727e-02 9.96258515e-01 -1.75585759e-03 2.27412638e+00] [ 3.65532762e-02 -1.40898874e-03 9.99330712e-01 1.32674544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.599254154 meters Centerline goodness : 0.999381 with order 1 Centerline is valid? [True, True] Translation: X:38.47, Y:2.28, Z:1.33 [[ 9.95313672e-01 -8.95300868e-02 -3.65384438e-02 3.84685491e+01] [ 8.95259739e-02 9.95982947e-01 -1.75195857e-03 2.27861237e+00] [ 3.65485199e-02 -1.52739145e-03 9.99330712e-01 1.32843874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.659254154 meters Centerline goodness : 0.999253 with order 1 Centerline is valid? [True, True] Translation: X:38.53, Y:2.28, Z:1.33 [[ 9.95036830e-01 -9.25561223e-02 -3.65386338e-02 3.85303001e+01] [ 9.25541901e-02 9.95706114e-01 -1.74798611e-03 2.28396745e+00] [ 3.65435279e-02 -1.64249310e-03 9.99330712e-01 1.33017057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.719254154 meters Centerline goodness : 0.999358 with order 1 Centerline is valid? [True, True] Translation: X:38.59, Y:2.29, Z:1.33 [[ 9.95027055e-01 -9.26610964e-02 -3.65387617e-02 3.85933603e+01] [ 9.26593329e-02 9.95696340e-01 -1.74530864e-03 2.28958987e+00] [ 3.65432335e-02 -1.64902797e-03 9.99330712e-01 1.33260499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.779254154 meters Centerline goodness : 0.999507 with order 1 Centerline is valid? [True, True] Translation: X:38.66, Y:2.30, Z:1.34 [[ 9.95299227e-01 -8.96903224e-02 -3.65389578e-02 3.86551305e+01] [ 8.96867117e-02 9.95968505e-01 -1.74119384e-03 2.29656405e+00] [ 3.65478194e-02 -1.54405009e-03 9.99330712e-01 1.33516661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.839254154 meters Centerline goodness : 0.999506 with order 1 Centerline is valid? [True, True] Translation: X:38.72, Y:2.30, Z:1.34 [[ 9.95970206e-01 -8.19037904e-02 -3.65392766e-02 3.87166941e+01] [ 8.18951918e-02 9.96639438e-01 -1.73447877e-03 2.30446027e+00] [ 3.65585444e-02 -1.26490188e-03 9.99330712e-01 1.33819266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.899254154 meters Centerline goodness : 0.999504 with order 1 Centerline is valid? [True, True] Translation: X:38.78, Y:2.31, Z:1.34 [[ 9.96248027e-01 -7.84521425e-02 -3.65394337e-02 3.87790546e+01] [ 7.84413465e-02 9.96917227e-01 -1.73116275e-03 2.30926497e+00] [ 3.65626043e-02 -1.14153490e-03 9.99330712e-01 1.34066412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.959254154 meters Centerline goodness : 0.999653 with order 1 Centerline is valid? [True, True] Translation: X:38.84, Y:2.32, Z:1.34 [[ 9.97003782e-01 -6.81785521e-02 -3.65396255e-02 3.88403041e+01] [ 6.81610072e-02 9.97672839e-01 -1.72710426e-03 2.31739792e+00] [ 3.65723434e-02 -7.68648198e-04 9.99330712e-01 1.34339501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.019254154 meters Centerline goodness : 0.999456 with order 1 Centerline is valid? [True, True] Translation: X:38.90, Y:2.32, Z:1.35 [[ 9.97582735e-01 -5.91061417e-02 -3.65397196e-02 3.89024192e+01] [ 5.90825841e-02 9.98251608e-01 -1.72511160e-03 2.32445282e+00] [ 3.65777985e-02 -4.37919508e-04 9.99330712e-01 1.34588052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.079254154 meters Centerline goodness : 0.999673 with order 1 Centerline is valid? [True, True] Translation: X:38.96, Y:2.33, Z:1.35 [[ 9.97868083e-01 -5.40752047e-02 -3.65398436e-02 3.89634054e+01] [ 5.40483711e-02 9.98536833e-01 -1.72247936e-03 2.33028552e+00] [ 3.65795232e-02 -2.56111858e-04 9.99330712e-01 1.34648850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.139254154 meters Centerline goodness : 0.999565 with order 1 Centerline is valid? [True, True] Translation: X:39.02, Y:2.33, Z:1.35 [[ 9.97919989e-01 -5.31086720e-02 -3.65399045e-02 3.90238948e+01] [ 5.30812380e-02 9.98588714e-01 -1.72118701e-03 2.33428249e+00] [ 3.65797462e-02 -2.21976450e-04 9.99330712e-01 1.34762311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.199254154 meters Centerline goodness : 0.999607 with order 1 Centerline is valid? [True, True] Translation: X:39.08, Y:2.34, Z:1.35 [[ 9.97866262e-01 -5.41087438e-02 -3.65399344e-02 3.90842867e+01] [ 5.40820033e-02 9.98535015e-01 -1.72055155e-03 2.33834448e+00] [ 3.65795009e-02 -2.59272507e-04 9.99330712e-01 1.35076273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.259254154000004 meters Centerline goodness : 0.999586 with order 1 Centerline is valid? [True, True] Translation: X:39.14, Y:2.34, Z:1.35 [[ 9.97647566e-01 -5.80014492e-02 -3.65399344e-02 3.91446125e+01] [ 5.79773180e-02 9.98316418e-01 -1.72055155e-03 2.34192468e+00] [ 3.65782110e-02 -4.01983329e-04 9.99330712e-01 1.35293860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.319254154 meters Centerline goodness : 0.999476 with order 1 Centerline is valid? [True, True] Translation: X:39.21, Y:2.35, Z:1.35 [[ 9.97255601e-01 -6.43901608e-02 -3.65400374e-02 3.92071742e+01] [ 6.43703942e-02 9.97924596e-01 -1.71836176e-03 2.34505745e+00] [ 3.65748477e-02 -6.38450722e-04 9.99330712e-01 1.35471733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.379254154 meters Centerline goodness : 0.999543 with order 1 Centerline is valid? [True, True] Translation: X:39.27, Y:2.35, Z:1.36 [[ 9.96777677e-01 -7.14078413e-02 -3.65401633e-02 3.92687361e+01] [ 7.13928823e-02 9.97446797e-01 -1.71568014e-03 2.34680671e+00] [ 3.65693819e-02 -8.98555916e-04 9.99330712e-01 1.35659839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.439254154000004 meters Centerline goodness : 0.999608 with order 1 Centerline is valid? [True, True] Translation: X:39.33, Y:2.35, Z:1.36 [[ 9.96465709e-01 -7.56366367e-02 -3.65402568e-02 3.93306399e+01] [ 7.56245900e-02 9.97134888e-01 -1.71368830e-03 2.34916931e+00] [ 3.65651824e-02 -1.05571031e-03 9.99330712e-01 1.35908047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.499254154 meters Centerline goodness : 0.999456 with order 1 Centerline is valid? [True, True] Translation: X:39.39, Y:2.35, Z:1.36 [[ 9.96093110e-01 -8.03947504e-02 -3.65403832e-02 3.93937829e+01] [ 8.03859986e-02 9.96762341e-01 -1.71098805e-03 2.35108827e+00] [ 3.65596323e-02 -1.23303179e-03 9.99330712e-01 1.36070816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.559254154 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:39.46, Y:2.35, Z:1.36 [[ 9.95886881e-01 -8.29102320e-02 -3.65405712e-02 3.94565000e+01] [ 8.29033180e-02 9.96556133e-01 -1.70696358e-03 2.35378454e+00] [ 3.65562551e-02 -1.32939196e-03 9.99330712e-01 1.36345535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.619254154000004 meters Centerline goodness : 0.999479 with order 1 Centerline is valid? [True, True] Translation: X:39.52, Y:2.36, Z:1.37 [[ 9.95574009e-01 -8.65861702e-02 -3.65407579e-02 3.95198369e+01] [ 8.65818737e-02 9.96243283e-01 -1.70295764e-03 2.35665680e+00] [ 3.65509372e-02 -1.46834692e-03 9.99330713e-01 1.36537037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.679254154 meters Centerline goodness : 0.999674 with order 1 Centerline is valid? [True, True] Translation: X:39.58, Y:2.36, Z:1.37 [[ 9.95306741e-01 -8.96060898e-02 -3.65409411e-02 3.95816110e+01] [ 8.96039681e-02 9.95976025e-01 -1.69901718e-03 2.36031610e+00] [ 3.65461436e-02 -1.58317007e-03 9.99330713e-01 1.36706684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.739254154 meters Centerline goodness : 0.999673 with order 1 Centerline is valid? [True, True] Translation: X:39.64, Y:2.36, Z:1.37 [[ 9.95043372e-01 -9.24847994e-02 -3.65410640e-02 3.96436974e+01] [ 9.24847108e-02 9.95712660e-01 -1.69636916e-03 2.36488056e+00] [ 3.65412884e-02 -1.69152884e-03 9.99330713e-01 1.36763041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.799254154 meters Centerline goodness : 0.999608 with order 1 Centerline is valid? [True, True] Translation: X:39.70, Y:2.37, Z:1.37 [[ 9.94898168e-01 -9.40339155e-02 -3.65411856e-02 3.97043334e+01] [ 9.40349650e-02 9.95567455e-01 -1.69374625e-03 2.36835510e+00] [ 3.65384847e-02 -1.75104407e-03 9.99330713e-01 1.36847259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.859254154 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:39.77, Y:2.37, Z:1.37 [[ 9.94845376e-01 -9.45907667e-02 -3.65412753e-02 3.97673223e+01] [ 9.45922619e-02 9.95514662e-01 -1.69180813e-03 2.37321980e+00] [ 3.65374048e-02 -1.77343440e-03 9.99330713e-01 1.37075733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.919254154 meters Centerline goodness : 0.999672 with order 1 Centerline is valid? [True, True] Translation: X:39.83, Y:2.38, Z:1.38 [[ 9.95048133e-01 -9.24334165e-02 -3.65414468e-02 3.98289671e+01] [ 9.24335964e-02 9.95717420e-01 -1.68809677e-03 2.37967596e+00] [ 3.65409917e-02 -1.69791980e-03 9.99330713e-01 1.37527943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.979254154 meters Centerline goodness : 0.999671 with order 1 Centerline is valid? [True, True] Translation: X:39.89, Y:2.39, Z:1.38 [[ 9.95533442e-01 -8.70510136e-02 -3.65415727e-02 3.98911957e+01] [ 8.70476742e-02 9.96202721e-01 -1.68536681e-03 2.38614704e+00] [ 3.65495271e-02 -1.50301989e-03 9.99330713e-01 1.37943514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.039254154 meters Centerline goodness : 0.999714 with order 1 Centerline is valid? [True, True] Translation: X:39.95, Y:2.39, Z:1.38 [[ 9.95975977e-01 -8.18325021e-02 -3.65416978e-02 3.99516410e+01] [ 8.18257548e-02 9.96645230e-01 -1.68264965e-03 2.39184051e+00] [ 3.65568043e-02 -1.31417338e-03 9.99330713e-01 1.38372060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.099254154 meters Centerline goodness : 0.999779 with order 1 Centerline is valid? [True, True] Translation: X:40.01, Y:2.40, Z:1.39 [[ 9.96557294e-01 -7.44194637e-02 -3.65417901e-02 4.00142769e+01] [ 7.44078103e-02 9.97226480e-01 -1.68064295e-03 2.39924477e+00] [ 3.65655133e-02 -1.04413759e-03 9.99330713e-01 1.38731892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.159254154 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:40.07, Y:2.41, Z:1.39 [[ 9.97071751e-01 -6.71759410e-02 -3.65419764e-02 4.00748676e+01] [ 6.71595740e-02 9.97740838e-01 -1.67658196e-03 2.40511712e+00] [ 3.65720482e-02 -7.82471055e-04 9.99330713e-01 1.38697546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.219254154 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:40.14, Y:2.41, Z:1.39 [[ 9.97389742e-01 -6.22766466e-02 -3.65420676e-02 4.01364727e+01] [ 6.22570655e-02 9.98058743e-01 -1.67459301e-03 2.40940602e+00] [ 3.65754181e-02 -6.04780010e-04 9.99330713e-01 1.38832315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.279254154 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:40.20, Y:2.41, Z:1.39 [[ 9.97885547e-01 -5.37503873e-02 -3.65421869e-02 4.01987898e+01] [ 5.37251850e-02 9.98554360e-01 -1.67198569e-03 2.41469787e+00] [ 3.65792299e-02 -2.94785396e-04 9.99330713e-01 1.39162272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.339254154 meters Centerline goodness : 0.999733 with order 1 Centerline is valid? [True, True] Translation: X:40.26, Y:2.42, Z:1.39 [[ 9.98246432e-01 -4.65695219e-02 -3.65423096e-02 4.02596612e+01] [ 4.65396066e-02 9.98915051e-01 -1.66929899e-03 2.41824113e+00] [ 3.65804015e-02 -3.42929556e-05 9.99330713e-01 1.39463542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.399254154 meters Centerline goodness : 0.999667 with order 1 Centerline is valid? [True, True] Translation: X:40.32, Y:2.42, Z:1.40 [[ 9.98415898e-01 -4.27825951e-02 -3.65423706e-02 4.03197866e+01] [ 4.27501928e-02 9.99084400e-01 -1.66796212e-03 2.41969323e+00] [ 3.65802722e-02 1.03126506e-04 9.99330713e-01 1.39680430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.459254154 meters Centerline goodness : 0.999579 with order 1 Centerline is valid? [True, True] Translation: X:40.38, Y:2.42, Z:1.40 [[ 9.98426186e-01 -4.25418067e-02 -3.65423706e-02 4.03781255e+01] [ 4.25092432e-02 9.99094681e-01 -1.66796212e-03 2.42106179e+00] [ 3.65802463e-02 1.11948539e-04 9.99330713e-01 1.39897312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.519254154 meters Centerline goodness : 0.999757 with order 1 Centerline is valid? [True, True] Translation: X:40.44, Y:2.42, Z:1.40 [[ 9.98264433e-01 -4.61820628e-02 -3.65422814e-02 4.04369178e+01] [ 4.61518655e-02 9.98933039e-01 -1.66991543e-03 2.41981913e+00] [ 3.65804123e-02 -1.94772761e-05 9.99330713e-01 1.40020743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.579254154 meters Centerline goodness : 0.999692 with order 1 Centerline is valid? [True, True] Translation: X:40.50, Y:2.42, Z:1.40 [[ 9.97917417e-01 -5.31556272e-02 -3.65418679e-02 4.04967418e+01] [ 5.31297725e-02 9.98586205e-01 -1.67891517e-03 2.41715003e+00] [ 3.65794490e-02 -2.66042440e-04 9.99330713e-01 1.40134148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.639254154 meters Centerline goodness : 0.999737 with order 1 Centerline is valid? [True, True] Translation: X:40.56, Y:2.41, Z:1.40 [[ 9.97419110e-01 -6.18046495e-02 -3.65418077e-02 4.05577484e+01] [ 6.17845455e-02 9.98088096e-01 -1.68022505e-03 2.41483433e+00] [ 3.65757889e-02 -5.81830400e-04 9.99330713e-01 1.40350726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.699254154 meters Centerline goodness : 0.999651 with order 1 Centerline is valid? [True, True] Translation: X:40.62, Y:2.41, Z:1.41 [[ 9.97010508e-01 -6.80789197e-02 -3.65418679e-02 4.06197378e+01] [ 6.80630733e-02 9.97679608e-01 -1.67891315e-03 2.41424238e+00] [ 3.65713750e-02 -8.13257778e-04 9.99330713e-01 1.40666565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.759254154000004 meters Centerline goodness : 0.999739 with order 1 Centerline is valid? [True, True] Translation: X:40.68, Y:2.41, Z:1.41 [[ 9.96376560e-01 -7.68012624e-02 -3.65419892e-02 4.06824750e+01] [ 7.67913688e-02 9.97045774e-01 -1.67626844e-03 2.41210081e+00] [ 3.65627755e-02 -1.13591479e-03 9.99330713e-01 1.41005717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.819254154 meters Centerline goodness : 0.999502 with order 1 Centerline is valid? [True, True] Translation: X:40.75, Y:2.41, Z:1.41 [[ 9.96170714e-01 -7.94265827e-02 -3.65421114e-02 4.07456496e+01] [ 7.94185504e-02 9.96839954e-01 -1.67360191e-03 2.41366417e+00] [ 3.65595651e-02 -1.23492830e-03 9.99330713e-01 1.41289582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.879254154 meters Centerline goodness : 0.999525 with order 1 Centerline is valid? [True, True] Translation: X:40.81, Y:2.41, Z:1.41 [[ 9.95710213e-01 -8.50049018e-02 -3.65422955e-02 4.08079072e+01] [ 8.50007657e-02 9.96379487e-01 -1.66957112e-03 2.41070644e+00] [ 3.65519154e-02 -1.44371408e-03 9.99330713e-01 1.41363223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.939254154000004 meters Centerline goodness : 0.999525 with order 1 Centerline is valid? [True, True] Translation: X:40.87, Y:2.41, Z:1.42 [[ 9.94965200e-01 -9.33214965e-02 -3.65424256e-02 4.08686417e+01] [ 9.33230571e-02 9.95634486e-01 -1.66672039e-03 2.41158651e+00] [ 3.65384399e-02 -1.75192207e-03 9.99330713e-01 1.41640581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.999254154 meters Centerline goodness : 0.999612 with order 1 Centerline is valid? [True, True] Translation: X:40.93, Y:2.41, Z:1.42 [[ 9.94627362e-01 -9.68557845e-02 -3.65426752e-02 4.09311153e+01] [ 9.68599242e-02 9.95296637e-01 -1.66122859e-03 2.41094577e+00] [ 3.65317013e-02 -1.88721734e-03 9.99330713e-01 1.41751629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.059254154 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:40.99, Y:2.41, Z:1.42 [[ 9.94581987e-01 -9.73205762e-02 -3.65427955e-02 4.09929735e+01] [ 9.73251257e-02 9.95251259e-01 -1.65857791e-03 2.41245555e+00] [ 3.65306770e-02 -1.90694045e-03 9.99330713e-01 1.42048401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.119254154000004 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:41.05, Y:2.41, Z:1.42 [[ 9.94842868e-01 -9.46165010e-02 -3.65429197e-02 4.10547302e+01] [ 9.46193316e-02 9.95512150e-01 -1.65583732e-03 2.41432250e+00] [ 3.65355901e-02 -1.81036869e-03 9.99330713e-01 1.42202099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.179254154 meters Centerline goodness : 0.999526 with order 1 Centerline is valid? [True, True] Translation: X:41.12, Y:2.42, Z:1.42 [[ 9.95544616e-01 -8.69225050e-02 -3.65430729e-02 4.11173879e+01] [ 8.69202853e-02 9.96213899e-01 -1.65245057e-03 2.41788853e+00] [ 3.65483522e-02 -1.53124605e-03 9.99330713e-01 1.42414872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.239254154 meters Centerline goodness : 0.999568 with order 1 Centerline is valid? [True, True] Translation: X:41.18, Y:2.42, Z:1.43 [[ 9.96147183e-01 -7.97206358e-02 -3.65432519e-02 4.11805564e+01] [ 7.97137215e-02 9.96816435e-01 -1.64848097e-03 2.42300890e+00] [ 3.65583321e-02 -1.27086893e-03 9.99330713e-01 1.42712404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.299254154 meters Centerline goodness : 0.999394 with order 1 Centerline is valid? [True, True] Translation: X:41.24, Y:2.43, Z:1.43 [[ 9.96983439e-01 -6.84733568e-02 -3.65434325e-02 4.12425187e+01] [ 6.84590369e-02 9.97652573e-01 -1.64446914e-03 2.42823655e+00] [ 3.65702517e-02 -8.62219694e-04 9.99330713e-01 1.43008075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.359254154 meters Centerline goodness : 0.999609 with order 1 Centerline is valid? [True, True] Translation: X:41.30, Y:2.43, Z:1.43 [[ 9.97757873e-01 -5.60695639e-02 -3.65435509e-02 4.13045783e+01] [ 5.60470204e-02 9.98426780e-01 -1.64183189e-03 2.43246695e+00] [ 3.65781167e-02 -4.10006451e-04 9.99330713e-01 1.43272309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.419254154 meters Centerline goodness : 0.999500 with order 1 Centerline is valid? [True, True] Translation: X:41.37, Y:2.44, Z:1.43 [[ 9.98188644e-01 -4.77911104e-02 -3.65436710e-02 4.13659184e+01] [ 4.77631169e-02 9.98857346e-01 -1.63915491e-03 2.43596838e+00] [ 3.65802513e-02 -1.09253815e-04 9.99330713e-01 1.43410601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.479254154 meters Centerline goodness : 0.999477 with order 1 Centerline is valid? [True, True] Translation: X:41.43, Y:2.44, Z:1.44 [[ 9.98657966e-01 -3.66990764e-02 -3.65437313e-02 4.14256171e+01] [ 3.66637051e-02 9.99326318e-01 -1.63780976e-03 2.43954631e+00] [ 3.65792186e-02 2.95783172e-04 9.99330713e-01 1.43555805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.539254154 meters Centerline goodness : 0.999524 with order 1 Centerline is valid? [True, True] Translation: X:41.48, Y:2.44, Z:1.44 [[ 9.98859757e-01 -3.07204401e-02 -3.65436720e-02 4.14833347e+01] [ 3.06810204e-02 9.99527883e-01 -1.63913182e-03 2.44095218e+00] [ 3.65767740e-02 5.16065662e-04 9.99330713e-01 1.43805654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.599254154 meters Centerline goodness : 0.999567 with order 1 Centerline is valid? [True, True] Translation: X:41.54, Y:2.44, Z:1.44 [[ 9.98850809e-01 -3.10105746e-02 -3.65431980e-02 4.15412764e+01] [ 3.09709648e-02 9.99518923e-01 -1.64963244e-03 2.44150659e+00] [ 3.65767740e-02 5.15958599e-04 9.99330713e-01 1.44071640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.659254154 meters Centerline goodness : 0.999393 with order 1 Centerline is valid? [True, True] Translation: X:41.60, Y:2.44, Z:1.44 [[ 9.98729306e-01 -3.47041512e-02 -3.65430524e-02 4.16003783e+01] [ 3.46668946e-02 9.99397556e-01 -1.65285041e-03 2.43905209e+00] [ 3.65783981e-02 3.83915991e-04 9.99330713e-01 1.44060472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.719254154 meters Centerline goodness : 0.999394 with order 1 Centerline is valid? [True, True] Translation: X:41.66, Y:2.44, Z:1.44 [[ 9.98499277e-01 -4.07900744e-02 -3.65426168e-02 4.16576553e+01] [ 4.07565407e-02 9.99167724e-01 -1.66242598e-03 2.43894938e+00] [ 3.65800138e-02 1.70580489e-04 9.99330713e-01 1.44461105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.779254154 meters Centerline goodness : 0.999504 with order 1 Centerline is valid? [True, True] Translation: X:41.71, Y:2.44, Z:1.45 [[ 9.98198417e-01 -4.75875052e-02 -3.65424491e-02 4.17147592e+01] [ 4.75583887e-02 9.98867070e-01 -1.66610556e-03 2.43697650e+00] [ 3.65803348e-02 -7.47960642e-05 9.99330713e-01 1.44627396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.839254154 meters Centerline goodness : 0.999377 with order 1 Centerline is valid? [True, True] Translation: X:41.77, Y:2.44, Z:1.45 [[ 9.97978722e-01 -5.19917635e-02 -3.65421126e-02 4.17738957e+01] [ 5.19653288e-02 9.98647487e-01 -1.67345257e-03 2.43589051e+00] [ 3.65796947e-02 -2.28852844e-04 9.99330713e-01 1.44833283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.899254154 meters Centerline goodness : 0.999187 with order 1 Centerline is valid? [True, True] Translation: X:41.83, Y:2.43, Z:1.45 [[ 9.97648368e-01 -5.79865478e-02 -3.65416885e-02 4.18335442e+01] [ 5.79637942e-02 9.98317268e-01 -1.68266255e-03 2.43227828e+00] [ 3.65777704e-02 -4.39389364e-04 9.99330713e-01 1.44904802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.959254154 meters Centerline goodness : 0.999274 with order 1 Centerline is valid? [True, True] Translation: X:41.89, Y:2.43, Z:1.45 [[ 9.97482707e-01 -6.07697146e-02 -3.65416271e-02 4.18939035e+01] [ 6.07487785e-02 9.98151667e-01 -1.68399487e-03 2.43014434e+00] [ 3.65764219e-02 -5.40103444e-04 9.99330713e-01 1.45077264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.019254154 meters Centerline goodness : 0.999149 with order 1 Centerline is valid? [True, True] Translation: X:41.95, Y:2.43, Z:1.45 [[ 9.97707865e-01 -5.69537095e-02 -3.65416271e-02 4.19543185e+01] [ 5.69302146e-02 9.98376740e-01 -1.68399487e-03 2.42994397e+00] [ 3.65782203e-02 -4.00187743e-04 9.99330713e-01 1.45292552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.079254154 meters Centerline goodness : 0.999169 with order 1 Centerline is valid? [True, True] Translation: X:42.02, Y:2.43, Z:1.46 [[ 9.97994792e-01 -5.16827116e-02 -3.65416581e-02 4.20150841e+01] [ 5.16557085e-02 9.98663534e-01 -1.68332287e-03 2.43156303e+00] [ 3.65798201e-02 -2.07637775e-04 9.99330713e-01 1.45625669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.139254154 meters Centerline goodness : 0.998954 with order 1 Centerline is valid? [True, True] Translation: X:42.07, Y:2.43, Z:1.45 [[ 9.98389997e-01 -4.33834311e-02 -3.65416581e-02 4.20734692e+01] [ 4.33508689e-02 9.99058491e-01 -1.68332287e-03 2.43264024e+00] [ 3.65802821e-02 9.65000894e-05 9.99330713e-01 1.45497828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.199254154 meters Centerline goodness : 0.999234 with order 1 Centerline is valid? [True, True] Translation: X:42.13, Y:2.43, Z:1.46 [[ 9.98551604e-01 -3.94896751e-02 -3.65412091e-02 4.21313894e+01] [ 3.94541515e-02 9.99219948e-01 -1.69301276e-03 2.43209261e+00] [ 3.65795616e-02 2.48858207e-04 9.99330713e-01 1.45871010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.259254154 meters Centerline goodness : 0.999128 with order 1 Centerline is valid? [True, True] Translation: X:42.19, Y:2.43, Z:1.46 [[ 9.98559922e-01 -3.92792948e-02 -3.65406467e-02 4.21882088e+01] [ 3.92431894e-02 9.99228235e-01 -1.70506621e-03 2.43082046e+00] [ 3.65794197e-02 2.68639259e-04 9.99330713e-01 1.45926775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.319254154 meters Centerline goodness : 0.999066 with order 1 Centerline is valid? [True, True] Translation: X:42.25, Y:2.43, Z:1.46 [[ 9.98470702e-01 -4.14857127e-02 -3.65402990e-02 4.22461365e+01] [ 4.14508126e-02 9.99139078e-01 -1.71248536e-03 2.43123868e+00] [ 3.65798843e-02 1.95241374e-04 9.99330713e-01 1.46210984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.379254154 meters Centerline goodness : 0.999047 with order 1 Centerline is valid? [True, True] Translation: X:42.30, Y:2.43, Z:1.47 [[ 9.98219814e-01 -4.71385789e-02 -3.65398166e-02 4.23049091e+01] [ 4.71070894e-02 9.98888359e-01 -1.72271592e-03 2.42912840e+00] [ 3.65804039e-02 -1.63524968e-06 9.99330713e-01 1.46610137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.439254154000004 meters Centerline goodness : 0.999198 with order 1 Centerline is valid? [True, True] Translation: X:42.36, Y:2.43, Z:1.47 [[ 9.97861558e-01 -5.41958065e-02 -3.65393710e-02 4.23633876e+01] [ 5.41687009e-02 9.98530296e-01 -1.73211700e-03 2.42725663e+00] [ 3.65795424e-02 -2.50877285e-04 9.99330713e-01 1.46929280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.499254154 meters Centerline goodness : 0.999241 with order 1 Centerline is valid? [True, True] Translation: X:42.42, Y:2.43, Z:1.47 [[ 9.97560081e-01 -5.94877523e-02 -3.65389255e-02 4.24222739e+01] [ 5.94638518e-02 9.98228940e-01 -1.74146335e-03 2.42702336e+00] [ 3.65778087e-02 -4.35530931e-04 9.99330713e-01 1.47222994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.559254154 meters Centerline goodness : 0.998846 with order 1 Centerline is valid? [True, True] Translation: X:42.48, Y:2.42, Z:1.47 [[ 9.96989796e-01 -6.83833821e-02 -3.65384782e-02 4.24815225e+01] [ 6.83651065e-02 9.97658833e-01 -1.75079872e-03 2.42473017e+00] [ 3.65726611e-02 -7.52428502e-04 9.99330713e-01 1.47452575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.619254154000004 meters Centerline goodness : 0.999327 with order 1 Centerline is valid? [True, True] Translation: X:42.54, Y:2.42, Z:1.48 [[ 9.96220247e-01 -7.88045631e-02 -3.65384732e-02 4.25425322e+01] [ 7.87932805e-02 9.96889439e-01 -1.75090285e-03 2.42222647e+00] [ 3.65627972e-02 -1.13470130e-03 9.99330713e-01 1.47683774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.679254154 meters Centerline goodness : 0.998866 with order 1 Centerline is valid? [True, True] Translation: X:42.61, Y:2.42, Z:1.47 [[ 9.95664728e-01 -8.55376227e-02 -3.65385371e-02 4.26054618e+01] [ 8.55309132e-02 9.96333981e-01 -1.74956985e-03 2.41592151e+00] [ 3.65542401e-02 -1.38318946e-03 9.99330713e-01 1.47321562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.739254154 meters Centerline goodness : 0.999055 with order 1 Centerline is valid? [True, True] Translation: X:42.67, Y:2.42, Z:1.48 [[ 9.94996363e-01 -9.29901201e-02 -3.65386703e-02 4.26660098e+01] [ 9.29885238e-02 9.95665648e-01 -1.74678293e-03 2.42283602e+00] [ 3.65427324e-02 -1.65963435e-03 9.99330713e-01 1.47888600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.799254154 meters Centerline goodness : 0.999180 with order 1 Centerline is valid? [True, True] Translation: X:42.73, Y:2.42, Z:1.48 [[ 9.94834220e-01 -9.47089905e-02 -3.65387680e-02 4.27280755e+01] [ 9.47086256e-02 9.95503507e-01 -1.74473636e-03 2.41944369e+00] [ 3.65397139e-02 -1.72481306e-03 9.99330713e-01 1.47728406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.859254154 meters Centerline goodness : 0.999287 with order 1 Centerline is valid? [True, True] Translation: X:42.79, Y:2.43, Z:1.48 [[ 9.94397269e-01 -9.91916290e-02 -3.65389058e-02 4.27890374e+01] [ 9.91943863e-02 9.95066550e-01 -1.74184719e-03 2.42564582e+00] [ 3.65314196e-02 -1.89236625e-03 9.99330713e-01 1.48305792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.919254154 meters Centerline goodness : 0.999121 with order 1 Centerline is valid? [True, True] Translation: X:42.85, Y:2.43, Z:1.48 [[ 9.94765236e-01 -9.54306923e-02 -3.65391327e-02 4.28498807e+01] [ 9.54310937e-02 9.95434523e-01 -1.73707327e-03 2.43019575e+00] [ 3.65380842e-02 -1.75898929e-03 9.99330713e-01 1.48432605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.979254154 meters Centerline goodness : 0.999266 with order 1 Centerline is valid? [True, True] Translation: X:42.91, Y:2.43, Z:1.49 [[ 9.95125229e-01 -9.16005677e-02 -3.65392287e-02 4.29114403e+01] [ 9.15984667e-02 9.95794512e-01 -1.73505260e-03 2.43472495e+00] [ 3.65444952e-02 -1.62034271e-03 9.99330713e-01 1.48739137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.039254154 meters Centerline goodness : 0.999012 with order 1 Centerline is valid? [True, True] Translation: X:42.97, Y:2.44, Z:1.49 [[ 9.95676709e-01 -8.53976954e-02 -3.65393588e-02 4.29735314e+01] [ 8.53915244e-02 9.96345967e-01 -1.73230835e-03 2.44121659e+00] [ 3.65537779e-02 -1.39533247e-03 9.99330713e-01 1.49098717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.099254154 meters Centerline goodness : 0.999349 with order 1 Centerline is valid? [True, True] Translation: X:43.04, Y:2.45, Z:1.49 [[ 9.96265229e-01 -7.82333618e-02 -3.65394864e-02 4.30351607e+01] [ 7.82224757e-02 9.96934428e-01 -1.72961283e-03 2.44761509e+00] [ 3.65627853e-02 -1.13505596e-03 9.99330713e-01 1.49378593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.159254154 meters Centerline goodness : 0.998869 with order 1 Centerline is valid? [True, True] Translation: X:43.10, Y:2.44, Z:1.48 [[ 9.97372460e-01 -6.25542399e-02 -3.65396148e-02 4.30963741e+01] [ 6.25329293e-02 9.98041407e-01 -1.72689582e-03 2.44323013e+00] [ 3.65760732e-02 -5.62570811e-04 9.99330713e-01 1.48129354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.219254154 meters Centerline goodness : 0.998754 with order 1 Centerline is valid? [True, True] Translation: X:43.16, Y:2.46, Z:1.50 [[ 9.97346314e-01 -6.29697285e-02 -3.65396148e-02 4.31551079e+01] [ 6.29486966e-02 9.98015270e-01 -1.72689582e-03 2.46192220e+00] [ 3.65758357e-02 -5.77807938e-04 9.99330713e-01 1.49620874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.279254154 meters Centerline goodness : 0.999131 with order 1 Centerline is valid? [True, True] Translation: X:43.22, Y:2.47, Z:1.50 [[ 9.97798493e-01 -5.53446002e-02 -3.65396148e-02 4.32156037e+01] [ 5.53184557e-02 9.98467269e-01 -1.72689582e-03 2.46938971e+00] [ 3.65791837e-02 -2.98221011e-04 9.99330713e-01 1.49794006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.339254154 meters Centerline goodness : 0.999088 with order 1 Centerline is valid? [True, True] Translation: X:43.27, Y:2.48, Z:1.50 [[ 9.98148212e-01 -4.86312830e-02 -3.65396456e-02 4.32740986e+01] [ 4.86006642e-02 9.98816798e-01 -1.72624215e-03 2.47671226e+00] [ 3.65803612e-02 -5.28055352e-05 9.99330713e-01 1.49795682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.399254154 meters Centerline goodness : 0.999194 with order 1 Centerline is valid? [True, True] Translation: X:43.33, Y:2.48, Z:1.50 [[ 9.98234493e-01 -4.68271326e-02 -3.65392392e-02 4.33328510e+01] [ 4.67949921e-02 9.98903008e-01 -1.73480245e-03 2.48161198e+00] [ 3.65803918e-02 2.18862386e-05 9.99330713e-01 1.50434756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.459254154 meters Centerline goodness : 0.999299 with order 1 Centerline is valid? [True, True] Translation: X:43.39, Y:2.48, Z:1.49 [[ 9.98704293e-01 -3.54210643e-02 -3.65387800e-02 4.33920606e+01] [ 3.53809375e-02 9.99372376e-01 -1.74442157e-03 2.47572391e+00] [ 3.65776366e-02 4.49385021e-04 9.99330713e-01 1.49349594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.519254154 meters Centerline goodness : 0.999364 with order 1 Centerline is valid? [True, True] Translation: X:43.45, Y:2.49, Z:1.51 [[ 9.98317186e-01 -4.50305057e-02 -3.65383255e-02 4.34489821e+01] [ 4.49964636e-02 9.98985607e-01 -1.75388881e-03 2.48915885e+00] [ 3.65802398e-02 1.06841905e-04 9.99330713e-01 1.51030827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.579254154 meters Centerline goodness : 0.999214 with order 1 Centerline is valid? [True, True] Translation: X:43.51, Y:2.49, Z:1.51 [[ 9.97966323e-01 -5.22319935e-02 -3.65381668e-02 4.35071678e+01] [ 5.22026539e-02 9.98634966e-01 -1.75718896e-03 2.49036368e+00] [ 3.65800725e-02 -1.53773875e-04 9.99330713e-01 1.51198263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.639254154 meters Centerline goodness : 0.999089 with order 1 Centerline is valid? [True, True] Translation: X:43.57, Y:2.49, Z:1.51 [[ 9.97140227e-01 -6.61541239e-02 -3.65376555e-02 4.35660403e+01] [ 6.61337313e-02 9.97809203e-01 -1.76775779e-03 2.48847608e+00] [ 3.65745534e-02 -6.53669086e-04 9.99330713e-01 1.51290595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.699254154 meters Centerline goodness : 0.999134 with order 1 Centerline is valid? [True, True] Translation: X:43.63, Y:2.49, Z:1.51 [[ 9.96073306e-01 -8.06411939e-02 -3.65372000e-02 4.36275207e+01] [ 8.06301843e-02 9.96742502e-01 -1.77712325e-03 2.48587946e+00] [ 3.65614895e-02 -1.17585614e-03 9.99330713e-01 1.51257662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.759254154 meters Centerline goodness : 0.999221 with order 1 Centerline is valid? [True, True] Translation: X:43.69, Y:2.48, Z:1.52 [[ 9.95222528e-01 -9.05380985e-02 -3.65372651e-02 4.36887320e+01] [ 9.05337903e-02 9.95891801e-01 -1.77578341e-03 2.48489228e+00] [ 3.65479388e-02 -1.54055744e-03 9.99330713e-01 1.51515330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.819254154 meters Centerline goodness : 0.998991 with order 1 Centerline is valid? [True, True] Translation: X:43.75, Y:2.49, Z:1.52 [[ 9.94904999e-01 -9.39631048e-02 -3.65373618e-02 4.37512314e+01] [ 9.39611733e-02 9.95574282e-01 -1.77379088e-03 2.48641999e+00] [ 3.65423287e-02 -1.66833998e-03 9.99330713e-01 1.51777842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.879254154 meters Centerline goodness : 0.999138 with order 1 Centerline is valid? [True, True] Translation: X:43.81, Y:2.49, Z:1.52 [[ 9.94836425e-01 -9.46863172e-02 -3.65374905e-02 4.38131109e+01] [ 9.46849695e-02 9.95505710e-01 -1.77113662e-03 2.48891731e+00] [ 3.65409828e-02 -1.69755995e-03 9.99330713e-01 1.52118117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.939254154000004 meters Centerline goodness : 0.998904 with order 1 Centerline is valid? [True, True] Translation: X:43.88, Y:2.49, Z:1.52 [[ 9.94976744e-01 -9.32002165e-02 -3.65376240e-02 4.38758443e+01] [ 9.31979701e-02 9.95646027e-01 -1.76837911e-03 2.49329137e+00] [ 3.65433534e-02 -1.64573630e-03 9.99330713e-01 1.52390414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.999254154 meters Centerline goodness : 0.999055 with order 1 Centerline is valid? [True, True] Translation: X:43.94, Y:2.50, Z:1.53 [[ 9.95011727e-01 -9.28259114e-02 -3.65378262e-02 4.39384178e+01] [ 9.28235668e-02 9.95681010e-01 -1.76419059e-03 2.49736945e+00] [ 3.65437823e-02 -1.63618102e-03 9.99330713e-01 1.52501862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.059254154 meters Centerline goodness : 0.998969 with order 1 Centerline is valid? [True, True] Translation: X:44.00, Y:2.49, Z:1.52 [[ 9.95606576e-01 -8.62120544e-02 -3.65380258e-02 4.40013388e+01] [ 8.62054143e-02 9.96275830e-01 -1.76004621e-03 2.49237909e+00] [ 3.65536892e-02 -1.39746207e-03 9.99330713e-01 1.51532039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.119254154000004 meters Centerline goodness : 0.999286 with order 1 Centerline is valid? [True, True] Translation: X:44.06, Y:2.51, Z:1.53 [[ 9.94853785e-01 -9.45034946e-02 -3.65381575e-02 4.40612177e+01] [ 9.45025307e-02 9.95523070e-01 -1.75730749e-03 2.50789691e+00] [ 3.65406505e-02 -1.70468435e-03 9.99330713e-01 1.52672643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.179254154 meters Centerline goodness : 0.999115 with order 1 Centerline is valid? [True, True] Translation: X:44.12, Y:2.51, Z:1.53 [[ 9.95079687e-01 -9.20943212e-02 -3.65383643e-02 4.41241791e+01] [ 9.20918946e-02 9.95748969e-01 -1.75299905e-03 2.51418095e+00] [ 3.65444798e-02 -1.62051344e-03 9.99330713e-01 1.52874742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.239254154 meters Centerline goodness : 0.999303 with order 1 Centerline is valid? [True, True] Translation: X:44.19, Y:2.52, Z:1.53 [[ 9.95806657e-01 -8.38691610e-02 -3.65385615e-02 4.41862179e+01] [ 8.38613555e-02 9.96475898e-01 -1.74887840e-03 2.52286898e+00] [ 3.65564728e-02 -1.32262854e-03 9.99330714e-01 1.53357870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.299254154 meters Centerline goodness : 0.999321 with order 1 Centerline is valid? [True, True] Translation: X:44.25, Y:2.53, Z:1.54 [[ 9.96973291e-01 -6.86234683e-02 -3.65386901e-02 4.42483447e+01] [ 6.86055229e-02 9.97642337e-01 -1.74618673e-03 2.53200642e+00] [ 3.65723736e-02 -7.65854412e-04 9.99330714e-01 1.53796283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.359254154 meters Centerline goodness : 0.999342 with order 1 Centerline is valid? [True, True] Translation: X:44.31, Y:2.54, Z:1.54 [[ 9.97670254e-01 -5.76105771e-02 -3.65388197e-02 4.43098444e+01] [ 5.75853445e-02 9.98339065e-01 -1.74347096e-03 2.53889616e+00] [ 3.65785735e-02 -3.64691399e-04 9.99330714e-01 1.54133961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.419254154 meters Centerline goodness : 0.999362 with order 1 Centerline is valid? [True, True] Translation: X:44.37, Y:2.55, Z:1.54 [[ 9.98354655e-01 -4.41915579e-02 -3.65388831e-02 4.43703716e+01] [ 4.41573840e-02 9.99023068e-01 -1.74214108e-03 2.54517591e+00] [ 3.65801750e-02 1.25813162e-04 9.99330714e-01 1.54392913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.479254154 meters Centerline goodness : 0.999209 with order 1 Centerline is valid? [True, True] Translation: X:44.43, Y:2.54, Z:1.53 [[ 9.98923478e-01 -2.85796238e-02 -3.65388831e-02 4.44305394e+01] [ 2.85350052e-02 9.99591276e-01 -1.74214108e-03 2.53827354e+00] [ 3.65737385e-02 6.97628405e-04 9.99330714e-01 1.52858333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.539254154 meters Centerline goodness : 0.999037 with order 1 Centerline is valid? [True, True] Translation: X:44.49, Y:2.55, Z:1.54 [[ 9.98721157e-01 -3.49427102e-02 -3.65384484e-02 4.44869054e+01] [ 3.49020151e-02 9.99389205e-01 -1.75121091e-03 2.55085464e+00] [ 3.65773230e-02 4.73705913e-04 9.99330714e-01 1.53969721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.599254154 meters Centerline goodness : 0.999103 with order 1 Centerline is valid? [True, True] Translation: X:44.55, Y:2.55, Z:1.55 [[ 9.98453480e-01 -4.18999358e-02 -3.65382628e-02 4.45450896e+01] [ 4.18637545e-02 9.99121787e-01 -1.75507422e-03 2.55153097e+00] [ 3.65797120e-02 2.22731092e-04 9.99330714e-01 1.54568580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.659254154 meters Centerline goodness : 0.997800 with order 1 Centerline is valid? [True, True] Translation: X:44.60, Y:2.55, Z:1.54 [[ 9.98435669e-01 -4.23226564e-02 -3.65377697e-02 4.46040657e+01] [ 4.22863845e-02 9.99103971e-01 -1.76528167e-03 2.55309940e+00] [ 3.65797422e-02 2.17470009e-04 9.99330714e-01 1.54241670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.719254154 meters Centerline goodness : 0.999126 with order 1 Centerline is valid? [True, True] Translation: X:44.66, Y:2.55, Z:1.55 [[ 9.97949451e-01 -5.25539910e-02 -3.65372688e-02 4.46625474e+01] [ 5.25241936e-02 9.98618073e-01 -1.77558851e-03 2.55409498e+00] [ 3.65800912e-02 -1.47143002e-04 9.99330714e-01 1.55179986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.779254154 meters Centerline goodness : 0.999133 with order 1 Centerline is valid? [True, True] Translation: X:44.72, Y:2.55, Z:1.55 [[ 9.97419352e-01 -6.18037586e-02 -3.65367214e-02 4.47219508e+01] [ 6.17797513e-02 9.98088207e-01 -1.78678194e-03 2.55330039e+00] [ 3.65773006e-02 -4.75058672e-04 9.99330714e-01 1.55463557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.839254154 meters Centerline goodness : 0.999177 with order 1 Centerline is valid? [True, True] Translation: X:44.78, Y:2.55, Z:1.56 [[ 9.96750329e-01 -7.17903450e-02 -3.65366547e-02 4.47828330e+01] [ 7.17729879e-02 9.97419391e-01 -1.78814517e-03 2.55173522e+00] [ 3.65707394e-02 -8.40010590e-04 9.99330714e-01 1.55606851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.899254154 meters Centerline goodness : 0.999010 with order 1 Centerline is valid? [True, True] Translation: X:44.85, Y:2.55, Z:1.56 [[ 9.96260461e-01 -7.82953615e-02 -3.65366875e-02 4.48452881e+01] [ 7.82823969e-02 9.96929622e-01 -1.78747384e-03 2.55231076e+00] [ 3.65644570e-02 -1.07938996e-03 9.99330714e-01 1.55770325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.959254154 meters Centerline goodness : 0.999137 with order 1 Centerline is valid? [True, True] Translation: X:44.91, Y:2.55, Z:1.56 [[ 9.95594137e-01 -8.63560979e-02 -3.65368185e-02 4.49076774e+01] [ 8.63486477e-02 9.96263382e-01 -1.78479361e-03 2.55246996e+00] [ 3.65544221e-02 -1.37797481e-03 9.99330714e-01 1.55982531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.019254154 meters Centerline goodness : 0.999116 with order 1 Centerline is valid? [True, True] Translation: X:44.97, Y:2.55, Z:1.56 [[ 9.95279573e-01 -8.99089731e-02 -3.65369497e-02 4.49690623e+01] [ 8.99040103e-02 9.95948841e-01 -1.78210207e-03 2.55224561e+00] [ 3.65491597e-02 -1.51112852e-03 9.99330714e-01 1.56043903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.079254154 meters Centerline goodness : 0.999261 with order 1 Centerline is valid? [True, True] Translation: X:45.03, Y:2.56, Z:1.56 [[ 9.95310304e-01 -8.95680386e-02 -3.65371669e-02 4.50308873e+01] [ 8.95630101e-02 9.95979572e-01 -1.77763859e-03 2.55640859e+00] [ 3.65494915e-02 -1.50307664e-03 9.99330714e-01 1.56272228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.139254154 meters Centerline goodness : 0.999136 with order 1 Centerline is valid? [True, True] Translation: X:45.09, Y:2.56, Z:1.56 [[ 9.95463092e-01 -8.78536190e-02 -3.65372950e-02 4.50932709e+01] [ 8.78475344e-02 9.96132351e-01 -1.77500262e-03 2.56103826e+00] [ 3.65519219e-02 -1.44276168e-03 9.99330714e-01 1.56423233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.199254154 meters Centerline goodness : 0.999322 with order 1 Centerline is valid? [True, True] Translation: X:45.16, Y:2.57, Z:1.57 [[ 9.95618101e-01 -8.60791183e-02 -3.65374210e-02 4.51551130e+01] [ 8.60719360e-02 9.96287348e-01 -1.77240381e-03 2.56622431e+00] [ 3.65543373e-02 -1.38020925e-03 9.99330714e-01 1.56509322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.259254154 meters Centerline goodness : 0.999152 with order 1 Centerline is valid? [True, True] Translation: X:45.22, Y:2.57, Z:1.57 [[ 9.95580449e-01 -8.65134544e-02 -3.65375451e-02 4.52160135e+01] [ 8.65066579e-02 9.96249701e-01 -1.76984190e-03 2.57179684e+00] [ 3.65536335e-02 -1.39872092e-03 9.99330714e-01 1.56605217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.319254154 meters Centerline goodness : 0.999235 with order 1 Centerline is valid? [True, True] Translation: X:45.28, Y:2.58, Z:1.57 [[ 9.95554546e-01 -8.68109874e-02 -3.65376369e-02 4.52783968e+01] [ 8.68044605e-02 9.96223800e-01 -1.76794514e-03 2.57874232e+00] [ 3.65531406e-02 -1.41154404e-03 9.99330714e-01 1.56869633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.379254154 meters Centerline goodness : 0.999171 with order 1 Centerline is valid? [True, True] Translation: X:45.34, Y:2.58, Z:1.57 [[ 9.95578454e-01 -8.65363001e-02 -3.65377980e-02 4.53404653e+01] [ 8.65297107e-02 9.96247708e-01 -1.76461047e-03 2.58461414e+00] [ 3.65534003e-02 -1.40479693e-03 9.99330714e-01 1.57086233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.439254154000004 meters Centerline goodness : 0.999446 with order 1 Centerline is valid? [True, True] Translation: X:45.40, Y:2.59, Z:1.58 [[ 9.95544211e-01 -8.69293071e-02 -3.65379215e-02 4.54021152e+01] [ 8.69230758e-02 9.96213468e-01 -1.76204775e-03 2.59277732e+00] [ 3.65527431e-02 -1.42179209e-03 9.99330714e-01 1.57636710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.499254154 meters Centerline goodness : 0.999276 with order 1 Centerline is valid? [True, True] Translation: X:45.46, Y:2.60, Z:1.58 [[ 9.95370693e-01 -8.88940611e-02 -3.65380542e-02 4.54629368e+01] [ 8.88892517e-02 9.96039962e-01 -1.75929328e-03 2.60029853e+00] [ 3.65497528e-02 -1.49669132e-03 9.99330714e-01 1.57954500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.559254154 meters Centerline goodness : 0.999275 with order 1 Centerline is valid? [True, True] Translation: X:45.53, Y:2.59, Z:1.57 [[ 9.95790011e-01 -8.40667409e-02 -3.65381520e-02 4.55256254e+01] [ 8.40587610e-02 9.96459250e-01 -1.75725835e-03 2.59497891e+00] [ 3.65565066e-02 -1.32149148e-03 9.99330714e-01 1.56742393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.619254154000004 meters Centerline goodness : 0.999595 with order 1 Centerline is valid? [True, True] Translation: X:45.58, Y:2.61, Z:1.58 [[ 9.94308441e-01 -1.00078353e-01 -3.65382904e-02 4.55846660e+01] [ 1.00081248e-01 9.94977721e-01 -1.75437586e-03 2.61179258e+00] [ 3.65303600e-02 -1.91240700e-03 9.99330714e-01 1.58362009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.679254154 meters Centerline goodness : 0.999487 with order 1 Centerline is valid? [True, True] Translation: X:45.65, Y:2.62, Z:1.58 [[ 9.93600146e-01 -1.06881710e-01 -3.65383234e-02 4.56458003e+01] [ 1.06889211e-01 9.94269391e-01 -1.75369007e-03 2.61741579e+00] [ 3.65163739e-02 -2.16308584e-03 9.99330714e-01 1.58439797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.739254154 meters Centerline goodness : 0.999509 with order 1 Centerline is valid? [True, True] Translation: X:45.71, Y:2.62, Z:1.58 [[ 9.93864982e-01 -1.04390330e-01 -3.65384192e-02 4.57079525e+01] [ 1.04396226e-01 9.94534243e-01 -1.75169000e-03 2.61699767e+00] [ 3.65215686e-02 -2.07352973e-03 9.99330714e-01 1.57864920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.799254154 meters Centerline goodness : 0.999572 with order 1 Centerline is valid? [True, True] Translation: X:45.77, Y:2.63, Z:1.59 [[ 9.93480706e-01 -1.07986205e-01 -3.65385529e-02 4.57689327e+01] [ 1.07994626e-01 9.94149939e-01 -1.74889778e-03 2.62990038e+00] [ 3.65136570e-02 -2.20847114e-03 9.99330714e-01 1.58763321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.859254154 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:45.83, Y:2.63, Z:1.58 [[ 9.94571173e-01 -9.74324992e-02 -3.65388809e-02 4.58318442e+01] [ 9.74340664e-02 9.95240457e-01 -1.74201871e-03 2.63230507e+00] [ 3.65347017e-02 -1.82757016e-03 9.99330714e-01 1.58068194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.919254154 meters Centerline goodness : 0.999570 with order 1 Centerline is valid? [True, True] Translation: X:45.89, Y:2.64, Z:1.59 [[ 9.94607982e-01 -9.70559519e-02 -3.65390810e-02 4.58930783e+01] [ 9.70574199e-02 9.95277267e-01 -1.73781111e-03 2.64434367e+00] [ 3.65351815e-02 -1.81794812e-03 9.99330714e-01 1.59225784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.979254154 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:45.95, Y:2.65, Z:1.60 [[ 9.95232740e-01 -9.04249758e-02 -3.65392443e-02 4.59548915e+01] [ 9.04221092e-02 9.95902020e-01 -1.73437117e-03 2.65292253e+00] [ 3.65463376e-02 -1.57785256e-03 9.99330714e-01 1.59590757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.039254154 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:46.02, Y:2.66, Z:1.60 [[ 9.95584493e-01 -8.64661306e-02 -3.65393693e-02 4.60162190e+01] [ 8.64606989e-02 9.96253757e-01 -1.73173282e-03 2.66029849e+00] [ 3.65522202e-02 -1.43513306e-03 9.99330714e-01 1.59801701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.099254154 meters Centerline goodness : 0.999717 with order 1 Centerline is valid? [True, True] Translation: X:46.08, Y:2.67, Z:1.60 [[ 9.95821708e-01 -8.36898436e-02 -3.65395230e-02 4.60784644e+01] [ 8.36826648e-02 9.96490955e-01 -1.72848296e-03 2.66622514e+00] [ 3.65559607e-02 -1.33646380e-03 9.99330714e-01 1.59741608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.159254154 meters Centerline goodness : 0.999629 with order 1 Centerline is valid? [True, True] Translation: X:46.14, Y:2.67, Z:1.59 [[ 9.96038616e-01 -8.10674278e-02 -3.65396615e-02 4.61407656e+01] [ 8.10585944e-02 9.96707844e-01 -1.72555120e-03 2.66583888e+00] [ 3.65592532e-02 -1.24313797e-03 9.99330714e-01 1.59003810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.219254154 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:46.20, Y:2.68, Z:1.60 [[ 9.95558056e-01 -8.67698117e-02 -3.65398087e-02 4.62011474e+01] [ 8.67649251e-02 9.96227324e-01 -1.72242770e-03 2.67591652e+00] [ 3.65514106e-02 -1.45559700e-03 9.99330714e-01 1.59875220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.279254154 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:46.26, Y:2.68, Z:1.60 [[ 9.95639851e-01 -8.58261153e-02 -3.65399044e-02 4.62622437e+01] [ 8.58206688e-02 9.96309115e-01 -1.72039554e-03 2.68095326e+00] [ 3.65526947e-02 -1.42298467e-03 9.99330714e-01 1.59957465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.339254154 meters Centerline goodness : 0.999671 with order 1 Centerline is valid? [True, True] Translation: X:46.32, Y:2.69, Z:1.61 [[ 9.95860876e-01 -8.32222588e-02 -3.65399957e-02 4.63236712e+01] [ 8.32151334e-02 9.96530124e-01 -1.71845326e-03 2.68664868e+00] [ 3.65562201e-02 -1.32934025e-03 9.99330714e-01 1.60574613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.399254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:46.38, Y:2.69, Z:1.61 [[ 9.96044970e-01 -8.09891125e-02 -3.65401204e-02 4.63846877e+01] [ 8.09805838e-02 9.96714202e-01 -1.71579797e-03 2.69047493e+00] [ 3.65590179e-02 -1.25002835e-03 9.99330714e-01 1.60927647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.459254154 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:46.45, Y:2.70, Z:1.61 [[ 9.96220536e-01 -7.88001041e-02 -3.65402128e-02 4.64462819e+01] [ 7.87901769e-02 9.96889749e-01 -1.71382904e-03 2.69509695e+00] [ 3.65616134e-02 -1.17165814e-03 9.99330714e-01 1.61322146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.519254154 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:46.51, Y:2.70, Z:1.62 [[ 9.96246302e-01 -7.84736169e-02 -3.65403380e-02 4.65090890e+01] [ 7.84635684e-02 9.96915513e-01 -1.71115519e-03 2.69783838e+00] [ 3.65619103e-02 -1.16235328e-03 9.99330714e-01 1.61528109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.579254154 meters Centerline goodness : 0.999671 with order 1 Centerline is valid? [True, True] Translation: X:46.57, Y:2.70, Z:1.61 [[ 9.96521348e-01 -7.48998875e-02 -3.65405270e-02 4.65719776e+01] [ 7.48875870e-02 9.97190521e-01 -1.70710978e-03 2.69608384e+00] [ 3.65657295e-02 -1.03526056e-03 9.99330714e-01 1.61352713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.639254154 meters Centerline goodness : 0.999671 with order 1 Centerline is valid? [True, True] Translation: X:46.63, Y:2.70, Z:1.62 [[ 9.96240598e-01 -7.85458530e-02 -3.65406608e-02 4.66333283e+01] [ 7.85361064e-02 9.96909813e-01 -1.70424045e-03 2.70171153e+00] [ 3.65616044e-02 -1.17192770e-03 9.99330714e-01 1.61866151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.699254154 meters Centerline goodness : 0.999693 with order 1 Centerline is valid? [True, True] Translation: X:46.70, Y:2.70, Z:1.62 [[ 9.96339438e-01 -7.72819183e-02 -3.65407911e-02 4.66954906e+01] [ 7.72714252e-02 9.97008642e-01 -1.70144272e-03 2.70372725e+00] [ 3.65629752e-02 -1.12834452e-03 9.99330714e-01 1.62029547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.759254154 meters Centerline goodness : 0.999605 with order 1 Centerline is valid? [True, True] Translation: X:46.76, Y:2.71, Z:1.62 [[ 9.96587084e-01 -7.40199041e-02 -3.65409127e-02 4.67579872e+01] [ 7.40073162e-02 9.97256251e-01 -1.69882728e-03 2.70663675e+00] [ 3.65664006e-02 -1.01126556e-03 9.99330714e-01 1.62239489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.819254154 meters Centerline goodness : 0.999759 with order 1 Centerline is valid? [True, True] Translation: X:46.82, Y:2.71, Z:1.62 [[ 9.96937801e-01 -6.91359018e-02 -3.65410362e-02 4.68212435e+01] [ 6.91201327e-02 9.97606902e-01 -1.69616567e-03 2.70961081e+00] [ 3.65708559e-02 -8.34749599e-04 9.99330714e-01 1.62453324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.879254154 meters Centerline goodness : 0.999759 with order 1 Centerline is valid? [True, True] Translation: X:46.88, Y:2.71, Z:1.63 [[ 9.97236247e-01 -6.46885375e-02 -3.65412193e-02 4.68835520e+01] [ 6.46699290e-02 9.97905274e-01 -1.69221268e-03 2.71287141e+00] [ 3.65741422e-02 -6.75582237e-04 9.99330714e-01 1.62695412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.939254154000004 meters Centerline goodness : 0.999780 with order 1 Centerline is valid? [True, True] Translation: X:46.95, Y:2.72, Z:1.63 [[ 9.97661944e-01 -5.77527081e-02 -3.65413391e-02 4.69458718e+01] [ 5.77295428e-02 9.98330829e-01 -1.68962198e-03 2.71628588e+00] [ 3.65779256e-02 -4.23843251e-04 9.99330714e-01 1.62991464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.999254154 meters Centerline goodness : 0.999692 with order 1 Centerline is valid? [True, True] Translation: X:47.01, Y:2.72, Z:1.63 [[ 9.97844397e-01 -5.45094581e-02 -3.65414574e-02 4.70070889e+01] [ 5.44842125e-02 9.98513207e-01 -1.68705980e-03 2.71898637e+00] [ 3.65790885e-02 -3.07509362e-04 9.99330714e-01 1.63143037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.059254154 meters Centerline goodness : 0.999737 with order 1 Centerline is valid? [True, True] Translation: X:47.07, Y:2.72, Z:1.63 [[ 9.97779819e-01 -5.56789859e-02 -3.65415178e-02 4.70680835e+01] [ 5.56545722e-02 9.98448660e-01 -1.68574984e-03 2.72086322e+00] [ 3.65786903e-02 -3.51695372e-04 9.99330714e-01 1.63158208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.119254154000004 meters Centerline goodness : 0.999671 with order 1 Centerline is valid? [True, True] Translation: X:47.13, Y:2.72, Z:1.63 [[ 9.97660435e-01 -5.77786169e-02 -3.65415801e-02 4.71288939e+01] [ 5.77556603e-02 9.98329328e-01 -1.68439730e-03 2.72274679e+00] [ 3.65778533e-02 -4.30026543e-04 9.99330714e-01 1.63113662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.179254154 meters Centerline goodness : 0.999736 with order 1 Centerline is valid? [True, True] Translation: X:47.19, Y:2.73, Z:1.63 [[ 9.97506613e-01 -6.03760180e-02 -3.65416724e-02 4.71904901e+01] [ 6.03548764e-02 9.98175565e-01 -1.68239341e-03 2.72529728e+00] [ 3.65765807e-02 -5.27269569e-04 9.99330714e-01 1.63445180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.239254154 meters Centerline goodness : 0.999649 with order 1 Centerline is valid? [True, True] Translation: X:47.25, Y:2.73, Z:1.64 [[ 9.97273964e-01 -6.41041205e-02 -3.65417939e-02 4.72523197e+01] [ 6.40855764e-02 9.97942993e-01 -1.67975124e-03 2.72747747e+00] [ 3.65743061e-02 -6.66629741e-04 9.99330714e-01 1.63885456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.299254154 meters Centerline goodness : 0.999605 with order 1 Centerline is valid? [True, True] Translation: X:47.31, Y:2.73, Z:1.64 [[ 9.96967034e-01 -6.87125972e-02 -3.65419135e-02 4.73129961e+01] [ 6.86972408e-02 9.97636144e-01 -1.67714503e-03 2.72948134e+00] [ 3.65707746e-02 -8.38270319e-04 9.99330714e-01 1.64350322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.359254154 meters Centerline goodness : 0.999716 with order 1 Centerline is valid? [True, True] Translation: X:47.38, Y:2.73, Z:1.65 [[ 9.96560528e-01 -7.43760468e-02 -3.65420020e-02 4.73754371e+01] [ 7.43645632e-02 9.97229715e-01 -1.67521490e-03 2.73091404e+00] [ 3.65653661e-02 -1.04797697e-03 9.99330714e-01 1.64751212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.419254154 meters Centerline goodness : 0.999585 with order 1 Centerline is valid? [True, True] Translation: X:47.44, Y:2.73, Z:1.65 [[ 9.96194743e-01 -7.91246269e-02 -3.65421252e-02 4.74375837e+01] [ 7.91164312e-02 9.96863979e-01 -1.67252211e-03 2.73203872e+00] [ 3.65598660e-02 -1.22492480e-03 9.99330714e-01 1.64957571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.479254154 meters Centerline goodness : 0.999673 with order 1 Centerline is valid? [True, True] Translation: X:47.50, Y:2.73, Z:1.65 [[ 9.95503553e-01 -8.73918738e-02 -3.65422475e-02 4.74996828e+01] [ 8.73893322e-02 9.96172835e-01 -1.66984553e-03 2.73169718e+00] [ 3.65483252e-02 -1.53106545e-03 9.99330714e-01 1.64921052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.539254154 meters Centerline goodness : 0.999695 with order 1 Centerline is valid? [True, True] Translation: X:47.56, Y:2.73, Z:1.65 [[ 9.95025366e-01 -9.26778135e-02 -3.65423696e-02 4.75604811e+01] [ 9.26789245e-02 9.95694651e-01 -1.66717009e-03 2.73275591e+00] [ 3.65395516e-02 -1.72783098e-03 9.99330714e-01 1.64939968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.599254154 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:47.62, Y:2.73, Z:1.65 [[ 9.94510706e-01 -9.80464369e-02 -3.65424598e-02 4.76225009e+01] [ 9.80512326e-02 9.95179975e-01 -1.66518934e-03 2.73361865e+00] [ 3.65295901e-02 -1.92698460e-03 9.99330714e-01 1.64940466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.659254154 meters Centerline goodness : 0.999653 with order 1 Centerline is valid? [True, True] Translation: X:47.69, Y:2.74, Z:1.65 [[ 9.94646323e-01 -9.66609167e-02 -3.65425797e-02 4.76859663e+01] [ 9.66648765e-02 9.95315597e-01 -1.66255550e-03 2.73612259e+00] [ 3.65321036e-02 -1.87872923e-03 9.99330714e-01 1.65076790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.719254154 meters Centerline goodness : 0.999651 with order 1 Centerline is valid? [True, True] Translation: X:47.75, Y:2.74, Z:1.65 [[ 9.95140470e-01 -9.14334228e-02 -3.65427593e-02 4.77467391e+01] [ 9.14340110e-02 9.95809756e-01 -1.65859735e-03 2.74079034e+00] [ 3.65412875e-02 -1.69071370e-03 9.99330714e-01 1.65296423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.779254154 meters Centerline goodness : 0.998335 with order 1 Centerline is valid? [True, True] Translation: X:47.81, Y:2.75, Z:1.66 [[ 9.96302622e-01 -7.77541368e-02 -3.65428472e-02 4.78084818e+01] [ 7.77456017e-02 9.96971854e-01 -1.65665915e-03 2.74890857e+00] [ 3.65610022e-02 -1.19051179e-03 9.99330714e-01 1.65582352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.839254154 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:47.87, Y:2.76, Z:1.66 [[ 9.97248880e-01 -6.44924994e-02 -3.65429862e-02 4.78702965e+01] [ 6.44751742e-02 9.97917941e-01 -1.65358704e-03 2.75681194e+00] [ 3.65735455e-02 -7.07077580e-04 9.99330714e-01 1.66343357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.899254154 meters Centerline goodness : 0.999734 with order 1 Centerline is valid? [True, True] Translation: X:47.93, Y:2.76, Z:1.67 [[ 9.97930557e-01 -5.29074986e-02 -3.65431294e-02 4.79319711e+01] [ 5.28825211e-02 9.98599377e-01 -1.65041712e-03 2.76247396e+00] [ 3.65792656e-02 -2.85491132e-04 9.99330714e-01 1.66597127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.959254154 meters Centerline goodness : 0.999668 with order 1 Centerline is valid? [True, True] Translation: X:47.99, Y:2.77, Z:1.67 [[ 9.98205485e-01 -4.74383883e-02 -3.65432487e-02 4.79932286e+01] [ 4.74098431e-02 9.98874162e-01 -1.64777120e-03 2.76655545e+00] [ 3.65802745e-02 -8.76954399e-05 9.99330714e-01 1.66743854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.019254154 meters Centerline goodness : 0.999601 with order 1 Centerline is valid? [True, True] Translation: X:48.05, Y:2.77, Z:1.67 [[ 9.98466282e-01 -4.15893150e-02 -3.65433081e-02 4.80514249e+01] [ 4.15569010e-02 9.99134782e-01 -1.64645159e-03 2.76934291e+00] [ 3.65801650e-02 1.25299755e-04 9.99330714e-01 1.66651258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.079254154 meters Centerline goodness : 0.999624 with order 1 Centerline is valid? [True, True] Translation: X:48.11, Y:2.77, Z:1.67 [[ 9.98579999e-01 -3.87631193e-02 -3.65432203e-02 4.81099321e+01] [ 3.87287421e-02 9.99248401e-01 -1.64839801e-03 2.77171440e+00] [ 3.65796515e-02 2.30784330e-04 9.99330714e-01 1.66778717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.139254154 meters Centerline goodness : 0.999558 with order 1 Centerline is valid? [True, True] Translation: X:48.17, Y:2.77, Z:1.67 [[ 9.98696222e-01 -3.56437870e-02 -3.65427986e-02 4.81663765e+01] [ 3.56069819e-02 9.99364496e-01 -1.65769562e-03 2.77338116e+00] [ 3.65786620e-02 3.54355586e-04 9.99330714e-01 1.66952589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.199254154 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:48.22, Y:2.77, Z:1.67 [[ 9.98678918e-01 -3.61255820e-02 -3.65425909e-02 4.82246444e+01] [ 3.60889323e-02 9.99347200e-01 -1.66225992e-03 2.77374861e+00] [ 3.65787860e-02 3.41280844e-04 9.99330714e-01 1.67261563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.259254154 meters Centerline goodness : 0.999692 with order 1 Centerline is valid? [True, True] Translation: X:48.28, Y:2.77, Z:1.67 [[ 9.98494758e-01 -4.09007125e-02 -3.65424386e-02 4.82823296e+01] [ 4.08671366e-02 9.99163201e-01 -1.66560194e-03 2.77255589e+00] [ 3.65799842e-02 1.69709972e-04 9.99330714e-01 1.67410809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.319254154 meters Centerline goodness : 0.999737 with order 1 Centerline is valid? [True, True] Translation: X:48.34, Y:2.77, Z:1.68 [[ 9.98117376e-01 -4.92584084e-02 -3.65419446e-02 4.83399932e+01] [ 4.92300355e-02 9.98786060e-01 -1.67637069e-03 2.76967895e+00] [ 3.65801602e-02 -1.25746516e-04 9.99330714e-01 1.67642269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.379254154 meters Centerline goodness : 0.999541 with order 1 Centerline is valid? [True, True] Translation: X:48.40, Y:2.77, Z:1.68 [[ 9.97700957e-01 -5.70747197e-02 -3.65414517e-02 4.84002081e+01] [ 5.70511942e-02 9.98369829e-01 -1.68704647e-03 2.76848525e+00] [ 3.65781706e-02 -4.01565583e-04 9.99330714e-01 1.67882874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.439254154000004 meters Centerline goodness : 0.999738 with order 1 Centerline is valid? [True, True] Translation: X:48.46, Y:2.77, Z:1.68 [[ 9.97435928e-01 -6.15328820e-02 -3.65413909e-02 4.84614165e+01] [ 6.15122977e-02 9.98104898e-01 -1.68836230e-03 2.76904962e+00] [ 3.65760310e-02 -5.63711701e-04 9.99330714e-01 1.68117236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.499254154 meters Centerline goodness : 0.999718 with order 1 Centerline is valid? [True, True] Translation: X:48.52, Y:2.76, Z:1.68 [[ 9.96483210e-01 -7.54051387e-02 -3.65414520e-02 4.85234928e+01] [ 7.53939129e-02 9.97152401e-01 -1.68703897e-03 2.76403846e+00] [ 3.65646080e-02 -1.07389704e-03 9.99330714e-01 1.68181998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.559254154 meters Centerline goodness : 0.999569 with order 1 Centerline is valid? [True, True] Translation: X:48.59, Y:2.76, Z:1.68 [[ 9.95554929e-01 -8.68049303e-02 -3.65415762e-02 4.85850747e+01] [ 8.68014628e-02 9.96224206e-01 -1.68434476e-03 2.76014111e+00] [ 3.65498122e-02 -1.49500454e-03 9.99330714e-01 1.68318019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.619254154000004 meters Centerline goodness : 0.999527 with order 1 Centerline is valid? [True, True] Translation: X:48.65, Y:2.76, Z:1.69 [[ 9.95186345e-01 -9.09331923e-02 -3.65416681e-02 4.86474340e+01] [ 9.09325737e-02 9.95855630e-01 -1.68234838e-03 2.75990700e+00] [ 3.65432072e-02 -1.64857780e-03 9.99330714e-01 1.68557956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.679254154 meters Centerline goodness : 0.999528 with order 1 Centerline is valid? [True, True] Translation: X:48.71, Y:2.76, Z:1.69 [[ 9.95148796e-01 -9.13430933e-02 -3.65419500e-02 4.87099937e+01] [ 9.13429757e-02 9.95818081e-01 -1.67620306e-03 2.75976424e+00] [ 3.65422441e-02 -1.66977899e-03 9.99330714e-01 1.68882452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.739254154 meters Centerline goodness : 0.999335 with order 1 Centerline is valid? [True, True] Translation: X:48.77, Y:2.76, Z:1.69 [[ 9.95400827e-01 -8.85543128e-02 -3.65421356e-02 4.87723891e+01] [ 8.85524684e-02 9.96070110e-01 -1.67214779e-03 2.76209626e+00] [ 3.65466049e-02 -1.57143901e-03 9.99330714e-01 1.69089532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.799254154 meters Centerline goodness : 0.999420 with order 1 Centerline is valid? [True, True] Translation: X:48.83, Y:2.77, Z:1.69 [[ 9.96009558e-01 -8.14224198e-02 -3.65424283e-02 4.88346326e+01] [ 8.14160170e-02 9.96678814e-01 -1.66572488e-03 2.76573303e+00] [ 3.65566915e-02 -1.31606106e-03 9.99330714e-01 1.69326486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.859254154 meters Centerline goodness : 0.999571 with order 1 Centerline is valid? [True, True] Translation: X:48.90, Y:2.77, Z:1.70 [[ 9.96672870e-01 -7.28548767e-02 -3.65425487e-02 4.88969286e+01] [ 7.28428162e-02 9.97342047e-01 -1.66308042e-03 2.76920032e+00] [ 3.65665838e-02 -1.00431502e-03 9.99330714e-01 1.69500153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.919254154 meters Centerline goodness : 0.999397 with order 1 Centerline is valid? [True, True] Translation: X:48.96, Y:2.77, Z:1.70 [[ 9.97086008e-01 -6.69636115e-02 -3.65426670e-02 4.89592684e+01] [ 6.69476920e-02 9.97755105e-01 -1.66047633e-03 2.77245133e+00] [ 3.65718241e-02 -7.90809497e-04 9.99330714e-01 1.69753614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.979254154 meters Centerline goodness : 0.999375 with order 1 Centerline is valid? [True, True] Translation: X:49.02, Y:2.78, Z:1.70 [[ 9.97938722e-01 -5.27534980e-02 -3.65427848e-02 4.90201484e+01] [ 5.27281441e-02 9.98607528e-01 -1.65787958e-03 2.77662593e+00] [ 3.65793590e-02 -2.72370992e-04 9.99330714e-01 1.70200289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.039254154 meters Centerline goodness : 0.999330 with order 1 Centerline is valid? [True, True] Translation: X:49.08, Y:2.78, Z:1.71 [[ 9.98344491e-01 -4.44173156e-02 -3.65428447e-02 4.90797213e+01] [ 4.43864253e-02 9.99013064e-01 -1.65655816e-03 2.78041715e+00] [ 3.65803591e-02 3.18094687e-05 9.99330714e-01 1.70512966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.099254154 meters Centerline goodness : 0.999610 with order 1 Centerline is valid? [True, True] Translation: X:49.14, Y:2.78, Z:1.71 [[ 9.98654775e-01 -3.67867623e-02 -3.65427831e-02 4.91378361e+01] [ 3.67507140e-02 9.99323089e-01 -1.65791641e-03 2.78332110e+00] [ 3.65790363e-02 3.12712767e-04 9.99330714e-01 1.70751198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.159254154 meters Centerline goodness : 0.999395 with order 1 Centerline is valid? [True, True] Translation: X:49.20, Y:2.78, Z:1.71 [[ 9.98927885e-01 -2.84203482e-02 -3.65426314e-02 4.91956128e+01] [ 2.83785811e-02 9.99595867e-01 -1.66125413e-03 2.78429541e+00] [ 3.65750767e-02 6.22445050e-04 9.99330714e-01 1.70973773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.219254154 meters Centerline goodness : 0.999138 with order 1 Centerline is valid? [True, True] Translation: X:49.25, Y:2.78, Z:1.71 [[ 9.99043171e-01 -2.40294278e-02 -3.65421491e-02 4.92539973e+01] [ 2.39843396e-02 9.99710936e-01 -1.67179517e-03 2.78413455e+00] [ 3.65717584e-02 7.93756229e-04 9.99330714e-01 1.71166782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.279254154 meters Centerline goodness : 0.999375 with order 1 Centerline is valid? [True, True] Translation: X:49.31, Y:2.78, Z:1.71 [[ 9.99055188e-01 -2.35252591e-02 -3.65416549e-02 4.93122180e+01] [ 2.34794417e-02 9.99722904e-01 -1.68252812e-03 2.78478791e+00] [ 3.65711113e-02 8.22960789e-04 9.99330714e-01 1.71413930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.339254154 meters Centerline goodness : 0.999293 with order 1 Centerline is valid? [True, True] Translation: X:49.37, Y:2.78, Z:1.72 [[ 9.98983882e-01 -2.63808140e-02 -3.65411554e-02 4.93693220e+01] [ 2.63365111e-02 9.99651700e-01 -1.69330902e-03 2.77937373e+00] [ 3.65730989e-02 7.29221872e-04 9.99330714e-01 1.71567433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.399254154 meters Centerline goodness : 0.999059 with order 1 Centerline is valid? [True, True] Translation: X:49.43, Y:2.78, Z:1.72 [[ 9.98868115e-01 -3.04507663e-02 -3.65409403e-02 4.94270712e+01] [ 3.04090154e-02 9.99536097e-01 -1.69793662e-03 2.77741545e+00] [ 3.65756923e-02 5.84840729e-04 9.99330714e-01 1.71831381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.459254154 meters Centerline goodness : 0.999124 with order 1 Centerline is valid? [True, True] Translation: X:49.48, Y:2.77, Z:1.72 [[ 9.98614528e-01 -3.78658430e-02 -3.65404303e-02 4.94846793e+01] [ 3.78286535e-02 9.99282779e-01 -1.70884295e-03 2.77169851e+00] [ 3.65789295e-02 3.24200121e-04 9.99330714e-01 1.72027352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.519254154 meters Centerline goodness : 0.998851 with order 1 Centerline is valid? [True, True] Translation: X:49.54, Y:2.77, Z:1.72 [[ 9.98402006e-01 -4.31073506e-02 -3.65402733e-02 4.95429047e+01] [ 4.30735469e-02 9.99070437e-01 -1.71219413e-03 2.76843035e+00] [ 3.65801149e-02 1.35538884e-04 9.99330714e-01 1.72238805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.579254154 meters Centerline goodness : 0.998964 with order 1 Centerline is valid? [True, True] Translation: X:49.60, Y:2.76, Z:1.72 [[ 9.98087377e-01 -4.98641518e-02 -3.65397631e-02 4.96015565e+01] [ 4.98344771e-02 9.98756004e-01 -1.72301346e-03 2.76111484e+00] [ 3.65802244e-02 -1.01221998e-04 9.99330714e-01 1.72374602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.639254154 meters Centerline goodness : 0.998947 with order 1 Centerline is valid? [True, True] Translation: X:49.66, Y:2.75, Z:1.73 [[ 9.97889898e-01 -5.36715462e-02 -3.65392510e-02 4.96593088e+01] [ 5.36440274e-02 9.98558617e-01 -1.73380621e-03 2.75404662e+00] [ 3.65796400e-02 -2.29964875e-04 9.99330715e-01 1.72556708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.699254154 meters Centerline goodness : 0.999328 with order 1 Centerline is valid? [True, True] Translation: X:49.72, Y:2.75, Z:1.73 [[ 9.97829629e-01 -5.47808310e-02 -3.65388991e-02 4.97172845e+01] [ 5.47537852e-02 9.98498368e-01 -1.74119012e-03 2.75156534e+00] [ 3.65794150e-02 -2.63231943e-04 9.99330715e-01 1.72739399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.759254154 meters Centerline goodness : 0.999035 with order 1 Centerline is valid? [True, True] Translation: X:49.78, Y:2.75, Z:1.73 [[ 9.97968420e-01 -5.21917507e-02 -3.65383984e-02 4.97765913e+01] [ 5.21625875e-02 9.98637069e-01 -1.75163470e-03 2.74794691e+00] [ 3.65800200e-02 -1.57861289e-04 9.99330715e-01 1.72764894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.819254154 meters Centerline goodness : 0.999265 with order 1 Centerline is valid? [True, True] Translation: X:49.83, Y:2.75, Z:1.73 [[ 9.98164949e-01 -4.82877985e-02 -3.65379630e-02 4.98346786e+01] [ 4.82556894e-02 9.98833464e-01 -1.76066989e-03 2.74686710e+00] [ 3.65803590e-02 -5.72562455e-06 9.99330715e-01 1.72989263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.879254154 meters Centerline goodness : 0.999120 with order 1 Centerline is valid? [True, True] Translation: X:49.89, Y:2.75, Z:1.73 [[ 9.98489414e-01 -4.10354002e-02 -3.65374636e-02 4.98924637e+01] [ 4.09980585e-02 9.99157657e-01 -1.77097366e-03 2.74553101e+00] [ 3.65793591e-02 2.70333382e-04 9.99330715e-01 1.73341440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.939254154000004 meters Centerline goodness : 0.999265 with order 1 Centerline is valid? [True, True] Translation: X:49.95, Y:2.74, Z:1.74 [[ 9.98735272e-01 -3.45384987e-02 -3.65369521e-02 4.99507740e+01] [ 3.44964266e-02 9.99403233e-01 -1.78146338e-03 2.74393652e+00] [ 3.65766772e-02 5.18816025e-04 9.99330715e-01 1.73530839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.999254154 meters Centerline goodness : 0.999097 with order 1 Centerline is valid? [True, True] Translation: X:50.01, Y:2.74, Z:1.74 [[ 9.98805000e-01 -3.24601413e-02 -3.65364420e-02 5.00074740e+01] [ 3.24162990e-02 9.99472847e-01 -1.79186484e-03 2.74074321e+00] [ 3.65753459e-02 6.05347335e-04 9.99330715e-01 1.73680849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.059254154 meters Centerline goodness : 0.999100 with order 1 Centerline is valid? [True, True] Translation: X:50.07, Y:2.74, Z:1.74 [[ 9.98740689e-01 -3.43822570e-02 -3.65362226e-02 5.00670484e+01] [ 3.43395368e-02 9.99408610e-01 -1.79632732e-03 2.73685199e+00] [ 3.65763772e-02 5.39428227e-04 9.99330715e-01 1.73698930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.119254154000004 meters Centerline goodness : 0.999329 with order 1 Centerline is valid? [True, True] Translation: X:50.13, Y:2.74, Z:1.74 [[ 9.98467067e-01 -4.15768884e-02 -3.65359947e-02 5.01253866e+01] [ 4.15388122e-02 9.99135268e-01 -1.80095206e-03 2.73512170e+00] [ 3.65792788e-02 2.80529504e-04 9.99330715e-01 1.74316788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.179254154 meters Centerline goodness : 0.999414 with order 1 Centerline is valid? [True, True] Translation: X:50.18, Y:2.73, Z:1.75 [[ 9.98099992e-01 -4.96141435e-02 -3.65355003e-02 5.01838769e+01] [ 4.95810831e-02 9.98768460e-01 -1.81092592e-03 2.73087133e+00] [ 3.65803529e-02 -3.98452511e-06 9.99330715e-01 1.74575580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.239254154 meters Centerline goodness : 0.999268 with order 1 Centerline is valid? [True, True] Translation: X:50.24, Y:2.73, Z:1.75 [[ 9.97880350e-01 -5.38516817e-02 -3.65349684e-02 5.02423902e+01] [ 5.38210694e-02 9.98548934e-01 -1.82159312e-03 2.72935035e+00] [ 3.65800497e-02 -1.48619097e-04 9.99330715e-01 1.74786014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.299254154 meters Centerline goodness : 0.999373 with order 1 Centerline is valid? [True, True] Translation: X:50.30, Y:2.73, Z:1.75 [[ 9.97581025e-01 -5.91382582e-02 -3.65344387e-02 5.03010856e+01] [ 5.91108020e-02 9.98249746e-01 -1.83215713e-03 2.72641864e+00] [ 3.65788447e-02 -3.31854784e-04 9.99330715e-01 1.75166109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.359254154 meters Centerline goodness : 0.999126 with order 1 Centerline is valid? [True, True] Translation: X:50.36, Y:2.73, Z:1.75 [[ 9.97512939e-01 -6.02760714e-02 -3.65339691e-02 5.03592669e+01] [ 6.02490367e-02 9.98181678e-01 -1.84147406e-03 2.72839039e+00] [ 3.65785354e-02 -3.64242241e-04 9.99330715e-01 1.75342411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.419254154 meters Centerline goodness : 0.999189 with order 1 Centerline is valid? [True, True] Translation: X:50.42, Y:2.73, Z:1.76 [[ 9.97260886e-01 -6.43120000e-02 -3.65334338e-02 5.04175467e+01] [ 6.42872849e-02 9.97929714e-01 -1.85203244e-03 2.72905135e+00] [ 3.65769071e-02 -5.01675757e-04 9.99330715e-01 1.75542149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.479254154 meters Centerline goodness : 0.999459 with order 1 Centerline is valid? [True, True] Translation: X:50.48, Y:2.73, Z:1.76 [[ 9.96879212e-01 -6.99798909e-02 -3.65328879e-02 5.04757618e+01] [ 6.99585860e-02 9.97548157e-01 -1.86273830e-03 2.73029885e+00] [ 3.65736693e-02 -6.98864089e-04 9.99330715e-01 1.75691100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.539254154 meters Centerline goodness : 0.999438 with order 1 Centerline is valid? [True, True] Translation: X:50.53, Y:2.73, Z:1.76 [[ 9.96211836e-01 -7.89136617e-02 -3.65323421e-02 5.05337708e+01] [ 7.88979644e-02 9.96880937e-01 -1.87338175e-03 2.73269872e+00] [ 3.65662309e-02 -1.01604236e-03 9.99330715e-01 1.75913821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.599254154 meters Centerline goodness : 0.999272 with order 1 Centerline is valid? [True, True] Translation: X:50.59, Y:2.74, Z:1.76 [[ 9.95870708e-01 -8.31081294e-02 -3.65317855e-02 5.05927386e+01] [ 8.30948543e-02 9.96539861e-01 -1.88417508e-03 2.73555719e+00] [ 3.65619707e-02 -1.15920862e-03 9.99330715e-01 1.76018152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.659254154 meters Centerline goodness : 0.999249 with order 1 Centerline is valid? [True, True] Translation: X:50.65, Y:2.74, Z:1.76 [[ 9.95707816e-01 -8.50376955e-02 -3.65312998e-02 5.06516807e+01] [ 8.50253737e-02 9.96376987e-01 -1.89354562e-03 2.73876712e+00] [ 3.65599691e-02 -1.22066924e-03 9.99330715e-01 1.76184795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.719254154 meters Centerline goodness : 0.999189 with order 1 Centerline is valid? [True, True] Translation: X:50.71, Y:2.74, Z:1.76 [[ 9.95460735e-01 -8.78830209e-02 -3.65308158e-02 5.07105778e+01] [ 8.78722711e-02 9.96129933e-01 -1.90283590e-03 2.74474809e+00] [ 3.65566661e-02 -1.31584733e-03 9.99330715e-01 1.76455026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.779254154 meters Centerline goodness : 0.999230 with order 1 Centerline is valid? [True, True] Translation: X:50.77, Y:2.75, Z:1.77 [[ 9.95466539e-01 -8.78172730e-02 -3.65307469e-02 5.07694865e+01] [ 8.78064305e-02 9.96135736e-01 -1.90415919e-03 2.75001541e+00] [ 3.65568005e-02 -1.31210773e-03 9.99330715e-01 1.76697638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.839254154 meters Centerline goodness : 0.999063 with order 1 Centerline is valid? [True, True] Translation: X:50.83, Y:2.76, Z:1.77 [[ 9.95654905e-01 -8.56552264e-02 -3.65307129e-02 5.08296262e+01] [ 8.56429068e-02 9.96324076e-01 -1.90481131e-03 2.75805228e+00] [ 3.65595858e-02 -1.23206171e-03 9.99330715e-01 1.77033072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.899254154 meters Centerline goodness : 0.999209 with order 1 Centerline is valid? [True, True] Translation: X:50.89, Y:2.77, Z:1.77 [[ 9.95962866e-01 -8.19968052e-02 -3.65307129e-02 5.08899537e+01] [ 8.19820273e-02 9.96631988e-01 -1.90481131e-03 2.76632251e+00] [ 3.65638654e-02 -1.09774056e-03 9.99330715e-01 1.77149099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.959254154 meters Centerline goodness : 0.999230 with order 1 Centerline is valid? [True, True] Translation: X:50.95, Y:2.77, Z:1.78 [[ 9.96199134e-01 -7.90745862e-02 -3.65307481e-02 5.09498539e+01] [ 7.90578702e-02 9.96868210e-01 -1.90413435e-03 2.77409082e+00] [ 3.65669101e-02 -9.91146151e-04 9.99330715e-01 1.77525241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.019254154 meters Centerline goodness : 0.999353 with order 1 Centerline is valid? [True, True] Translation: X:51.01, Y:2.78, Z:1.78 [[ 9.96594212e-01 -7.39288898e-02 -3.65307481e-02 5.10103184e+01] [ 7.39087187e-02 9.97263193e-01 -1.90413435e-03 2.78226543e+00] [ 3.65715411e-02 -8.02291513e-04 9.99330715e-01 1.77711307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.079254154 meters Centerline goodness : 0.999227 with order 1 Centerline is valid? [True, True] Translation: X:51.07, Y:2.79, Z:1.78 [[ 9.96938630e-01 -6.91293902e-02 -3.65307481e-02 5.10696166e+01] [ 6.91059981e-02 9.97607506e-01 -1.90413435e-03 2.78828411e+00] [ 3.65749802e-02 -6.26188718e-04 9.99330715e-01 1.77850551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.139254154 meters Centerline goodness : 0.999018 with order 1 Centerline is valid? [True, True] Translation: X:51.13, Y:2.80, Z:1.78 [[ 9.97314531e-01 -6.34762640e-02 -3.65306777e-02 5.11283137e+01] [ 6.34490307e-02 9.97983261e-01 -1.90548566e-03 2.79505877e+00] [ 3.65779579e-02 -4.17467549e-04 9.99330715e-01 1.78122432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.199254154 meters Centerline goodness : 0.999373 with order 1 Centerline is valid? [True, True] Translation: X:51.19, Y:2.80, Z:1.78 [[ 9.97728606e-01 -5.65965896e-02 -3.65301848e-02 5.11858449e+01] [ 5.65644006e-02 9.98397116e-01 -1.91488876e-03 2.80231981e+00] [ 3.65800073e-02 -1.55768713e-04 9.99330715e-01 1.78430162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.259254154 meters Centerline goodness : 0.999056 with order 1 Centerline is valid? [True, True] Translation: X:51.24, Y:2.81, Z:1.79 [[ 9.97804693e-01 -5.52390524e-02 -3.65300115e-02 5.12435344e+01] [ 5.52058331e-02 9.98473153e-01 -1.91818851e-03 2.80671204e+00] [ 3.65801947e-02 -1.02692222e-04 9.99330715e-01 1.78625120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.319254154 meters Centerline goodness : 0.999163 with order 1 Centerline is valid? [True, True] Translation: X:51.30, Y:2.81, Z:1.79 [[ 9.97683506e-01 -5.73866034e-02 -3.65294438e-02 5.13014976e+01] [ 5.73544294e-02 9.98352016e-01 -1.92893846e-03 2.81053297e+00] [ 3.65799391e-02 -1.70655321e-04 9.99330715e-01 1.78880937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.379254154 meters Centerline goodness : 0.999100 with order 1 Centerline is valid? [True, True] Translation: X:51.36, Y:2.81, Z:1.79 [[ 9.97239077e-01 -6.46518760e-02 -3.65288680e-02 5.13590745e+01] [ 6.46241749e-02 9.97907788e-01 -1.93978240e-03 2.81334926e+00] [ 3.65778524e-02 -4.26221147e-04 9.99330716e-01 1.79079142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.439254154 meters Centerline goodness : 0.999163 with order 1 Centerline is valid? [True, True] Translation: X:51.42, Y:2.81, Z:1.79 [[ 9.96566698e-01 -7.43000685e-02 -3.65282866e-02 5.14180376e+01] [ 7.42784415e-02 9.97235633e-01 -1.95066960e-03 2.81429159e+00] [ 3.65722439e-02 -7.69291834e-04 9.99330716e-01 1.79223814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.499254154 meters Centerline goodness : 0.999124 with order 1 Centerline is valid? [True, True] Translation: X:51.48, Y:2.82, Z:1.80 [[ 9.96007402e-01 -8.14553643e-02 -3.65277712e-02 5.14773871e+01] [ 8.14381901e-02 9.96676466e-01 -1.96027432e-03 2.81664868e+00] [ 3.65660448e-02 -1.02230784e-03 9.99330716e-01 1.79500847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.559254154 meters Centerline goodness : 0.999186 with order 1 Centerline is valid? [True, True] Translation: X:51.54, Y:2.82, Z:1.80 [[ 9.95805046e-01 -8.38929959e-02 -3.65277349e-02 5.15388036e+01] [ 8.38774347e-02 9.96474150e-01 -1.96094903e-03 2.81972809e+00] [ 3.65634535e-02 -1.11112977e-03 9.99330716e-01 1.79791049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.619254154000004 meters Centerline goodness : 0.999059 with order 1 Centerline is valid? [True, True] Translation: X:51.60, Y:2.82, Z:1.80 [[ 9.95762046e-01 -8.44018189e-02 -3.65278087e-02 5.15989790e+01] [ 8.43866500e-02 9.96431158e-01 -1.95957368e-03 2.82253539e+00] [ 3.65628384e-02 -1.13119031e-03 9.99330716e-01 1.79903611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.679254154 meters Centerline goodness : 0.999040 with order 1 Centerline is valid? [True, True] Translation: X:51.66, Y:2.83, Z:1.80 [[ 9.95901158e-01 -8.27441791e-02 -3.65278450e-02 5.16599106e+01] [ 8.27279213e-02 9.96570245e-01 -1.95889712e-03 2.82608389e+00] [ 3.65646508e-02 -1.07100478e-03 9.99330716e-01 1.80218763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.739254154 meters Centerline goodness : 0.999083 with order 1 Centerline is valid? [True, True] Translation: X:51.72, Y:2.83, Z:1.80 [[ 9.96128136e-01 -7.99652933e-02 -3.65279174e-02 5.17208133e+01] [ 7.99472182e-02 9.96797176e-01 -1.95754641e-03 2.83116492e+00] [ 3.65674607e-02 -9.70338328e-04 9.99330716e-01 1.80482365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.799254154 meters Centerline goodness : 0.999163 with order 1 Centerline is valid? [True, True] Translation: X:51.78, Y:2.84, Z:1.81 [[ 9.96490851e-01 -7.53106269e-02 -3.65279893e-02 5.17810262e+01] [ 7.52894755e-02 9.97159801e-01 -1.95620386e-03 2.83668247e+00] [ 3.65715655e-02 -8.00833906e-04 9.99330716e-01 1.80686037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.859254154 meters Centerline goodness : 0.999124 with order 1 Centerline is valid? [True, True] Translation: X:51.84, Y:2.84, Z:1.81 [[ 9.96642215e-01 -7.32802902e-02 -3.65279893e-02 5.18415811e+01] [ 7.32577760e-02 9.97311121e-01 -1.95620386e-03 2.84163163e+00] [ 3.65731211e-02 -7.26323909e-04 9.99330716e-01 1.80812216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.919254154 meters Centerline goodness : 0.999289 with order 1 Centerline is valid? [True, True] Translation: X:51.90, Y:2.85, Z:1.81 [[ 9.96597291e-01 -7.38887397e-02 -3.65279893e-02 5.19023507e+01] [ 7.38666339e-02 9.97266210e-01 -1.95620386e-03 2.84670068e+00] [ 3.65726709e-02 -7.48652143e-04 9.99330716e-01 1.80902729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.979254154 meters Centerline goodness : 0.999226 with order 1 Centerline is valid? [True, True] Translation: X:51.96, Y:2.85, Z:1.81 [[ 9.96473719e-01 -7.55369729e-02 -3.65279893e-02 5.19614479e+01] [ 7.55159734e-02 9.97142673e-01 -1.95620386e-03 2.85129382e+00] [ 3.65713826e-02 -8.09140934e-04 9.99330716e-01 1.80995454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.039254154 meters Centerline goodness : 0.999082 with order 1 Centerline is valid? [True, True] Translation: X:52.02, Y:2.86, Z:1.81 [[ 9.96215866e-01 -7.88647819e-02 -3.65280013e-02 5.20214978e+01] [ 7.88460252e-02 9.96884887e-01 -1.95597956e-03 2.85584963e+00] [ 3.65684704e-02 -9.31509843e-04 9.99330716e-01 1.81145112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.099254154 meters Centerline goodness : 0.999225 with order 1 Centerline is valid? [True, True] Translation: X:52.08, Y:2.86, Z:1.82 [[ 9.95955665e-01 -8.20854394e-02 -3.65280013e-02 5.20825959e+01] [ 8.20688459e-02 9.96624743e-01 -1.95597956e-03 2.86051665e+00] [ 3.65652674e-02 -1.04974199e-03 9.99330716e-01 1.81707040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.159254154 meters Centerline goodness : 0.999059 with order 1 Centerline is valid? [True, True] Translation: X:52.14, Y:2.87, Z:1.82 [[ 9.95486113e-01 -8.75962242e-02 -3.65280743e-02 5.21433191e+01] [ 8.75833838e-02 9.96155274e-01 -1.95461582e-03 2.86551599e+00] [ 3.65588508e-02 -1.25345945e-03 9.99330716e-01 1.82162668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.219254154 meters Centerline goodness : 0.999100 with order 1 Centerline is valid? [True, True] Translation: X:52.20, Y:2.87, Z:1.82 [[ 9.95221987e-01 -9.05477323e-02 -3.65281462e-02 5.22041580e+01] [ 9.05369256e-02 9.95891184e-01 -1.95327080e-03 2.86940109e+00] [ 3.65549230e-02 -1.36320801e-03 9.99330716e-01 1.82432294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.279254154 meters Centerline goodness : 0.999307 with order 1 Centerline is valid? [True, True] Translation: X:52.27, Y:2.87, Z:1.83 [[ 9.94941208e-01 -9.35824785e-02 -3.65282529e-02 5.22658770e+01] [ 9.35737859e-02 9.95610435e-01 -1.95127429e-03 2.87408430e+00] [ 3.65505148e-02 -1.47668371e-03 9.99330716e-01 1.82680752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.339254154 meters Centerline goodness : 0.999121 with order 1 Centerline is valid? [True, True] Translation: X:52.33, Y:2.88, Z:1.83 [[ 9.94515367e-01 -9.80043982e-02 -3.65283949e-02 5.23272514e+01] [ 9.79987782e-02 9.95184627e-01 -1.94861218e-03 2.88107288e+00] [ 3.65434696e-02 -1.64181331e-03 9.99330716e-01 1.82927819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.399254154 meters Centerline goodness : 0.998950 with order 1 Centerline is valid? [True, True] Translation: X:52.39, Y:2.89, Z:1.83 [[ 9.94336862e-01 -9.97991570e-02 -3.65285351e-02 5.23889120e+01] [ 9.97948414e-02 9.95006132e-01 -1.94597935e-03 2.88785258e+00] [ 3.65403235e-02 -1.71040037e-03 9.99330716e-01 1.83034532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.459254154 meters Centerline goodness : 0.998823 with order 1 Centerline is valid? [True, True] Translation: X:52.45, Y:2.90, Z:1.83 [[ 9.94536360e-01 -9.77910267e-02 -3.65286760e-02 5.24505504e+01] [ 9.77854567e-02 9.95205621e-01 -1.94333082e-03 2.89567974e+00] [ 3.65435840e-02 -1.63926011e-03 9.99330716e-01 1.83297749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.519254154 meters Centerline goodness : 0.999118 with order 1 Centerline is valid? [True, True] Translation: X:52.51, Y:2.90, Z:1.83 [[ 9.94871930e-01 -9.43159005e-02 -3.65288180e-02 5.25126795e+01] [ 9.43080904e-02 9.95541168e-01 -1.94065781e-03 2.90314322e+00] [ 3.65489771e-02 -1.51425709e-03 9.99330716e-01 1.83452229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.579254154 meters Centerline goodness : 0.999071 with order 1 Centerline is valid? [True, True] Translation: X:52.57, Y:2.91, Z:1.83 [[ 9.95592372e-01 -8.63797688e-02 -3.65289597e-02 5.25731389e+01] [ 8.63667202e-02 9.96261529e-01 -1.93798823e-03 2.91287923e+00] [ 3.65598002e-02 -1.22544014e-03 9.99330716e-01 1.83451264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.639254154 meters Centerline goodness : 0.999322 with order 1 Centerline is valid? [True, True] Translation: X:52.63, Y:2.92, Z:1.84 [[ 9.96339776e-01 -7.72831005e-02 -3.65290642e-02 5.26343009e+01] [ 7.72640131e-02 9.97008788e-01 -1.93601532e-03 2.92237270e+00] [ 3.65694193e-02 -8.93453027e-04 9.99330716e-01 1.83833807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.699254154 meters Centerline goodness : 0.999301 with order 1 Centerline is valid? [True, True] Translation: X:52.70, Y:2.93, Z:1.84 [[ 9.96822813e-01 -7.07806387e-02 -3.65291705e-02 5.26957354e+01] [ 7.07572601e-02 9.97491689e-01 -1.93400846e-03 2.93115240e+00] [ 3.65744343e-02 -6.56840268e-04 9.99330716e-01 1.84292219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.759254154 meters Centerline goodness : 0.999257 with order 1 Centerline is valid? [True, True] Translation: X:52.76, Y:2.94, Z:1.85 [[ 9.97056356e-01 -6.74109169e-02 -3.65293129e-02 5.27561066e+01] [ 6.73853763e-02 9.97725153e-01 -1.93131515e-03 2.93866805e+00] [ 3.65764060e-02 -5.35911444e-04 9.99330716e-01 1.84527957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.819254154 meters Centerline goodness : 0.999341 with order 1 Centerline is valid? [True, True] Translation: X:52.82, Y:2.94, Z:1.85 [[ 9.97169913e-01 -6.57096310e-02 -3.65295569e-02 5.28170012e+01] [ 6.56831188e-02 9.97838672e-01 -1.92668838e-03 2.94407057e+00] [ 3.65772065e-02 -4.78139545e-04 9.99330716e-01 1.84678006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.879254154 meters Centerline goodness : 0.999383 with order 1 Centerline is valid? [True, True] Translation: X:52.88, Y:2.95, Z:1.85 [[ 9.97335507e-01 -6.31464375e-02 -3.65296285e-02 5.28778513e+01] [ 6.31182563e-02 9.98004198e-01 -1.92532920e-03 2.95151270e+00] [ 3.65783003e-02 -3.85487288e-04 9.99330716e-01 1.84773403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.939254154 meters Centerline goodness : 0.999680 with order 1 Centerline is valid? [True, True] Translation: X:52.94, Y:2.96, Z:1.85 [[ 9.97385570e-01 -6.23506622e-02 -3.65296991e-02 5.29389093e+01] [ 6.23219965e-02 9.98054241e-01 -1.92399034e-03 2.95851994e+00] [ 3.65785831e-02 -3.57643569e-04 9.99330716e-01 1.84868751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.999254154 meters Centerline goodness : 0.999679 with order 1 Centerline is valid? [True, True] Translation: X:53.00, Y:2.96, Z:1.85 [[ 9.97318798e-01 -6.34097010e-02 -3.65297689e-02 5.29988043e+01] [ 6.33817940e-02 9.97987501e-01 -1.92266377e-03 2.96469831e+00] [ 3.65781683e-02 -3.97813563e-04 9.99330716e-01 1.84994023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.059254154 meters Centerline goodness : 0.999615 with order 1 Centerline is valid? [True, True] Translation: X:53.06, Y:2.97, Z:1.85 [[ 9.97256121e-01 -6.43879103e-02 -3.65298032e-02 5.30593165e+01] [ 6.43606830e-02 9.97924851e-01 -1.92201123e-03 2.96881960e+00] [ 3.65777527e-02 -4.34345623e-04 9.99330716e-01 1.85208378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.119254154000004 meters Centerline goodness : 0.999380 with order 1 Centerline is valid? [True, True] Translation: X:53.12, Y:2.98, Z:1.86 [[ 9.97066141e-01 -6.72657467e-02 -3.65298370e-02 5.31204410e+01] [ 6.72404730e-02 9.97734948e-01 -1.92136946e-03 2.97521055e+00] [ 3.65763374e-02 -5.40551083e-04 9.99330716e-01 1.85525437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.179254154 meters Centerline goodness : 0.999445 with order 1 Centerline is valid? [True, True] Translation: X:53.18, Y:2.98, Z:1.86 [[ 9.96760933e-01 -7.16464083e-02 -3.65299052e-02 5.31827972e+01] [ 7.16241213e-02 9.97429846e-01 -1.92007221e-03 2.97962318e+00] [ 3.65735840e-02 -7.02569388e-04 9.99330716e-01 1.85709413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.239254154 meters Centerline goodness : 0.999315 with order 1 Centerline is valid? [True, True] Translation: X:53.24, Y:2.98, Z:1.86 [[ 9.96594363e-01 -7.39271993e-02 -3.65300493e-02 5.32444737e+01] [ 7.39065437e-02 9.97263329e-01 -1.91732593e-03 2.98289078e+00] [ 3.65718211e-02 -7.89013469e-04 9.99330716e-01 1.85894731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.299254154 meters Centerline goodness : 0.999593 with order 1 Centerline is valid? [True, True] Translation: X:53.31, Y:2.99, Z:1.86 [[ 9.95901157e-01 -8.27431598e-02 -3.65301928e-02 5.33055919e+01] [ 8.27285250e-02 9.96570281e-01 -1.91458870e-03 2.98660229e+00] [ 3.65633236e-02 -1.11534786e-03 9.99330716e-01 1.86035957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.359254154 meters Centerline goodness : 0.999530 with order 1 Centerline is valid? [True, True] Translation: X:53.37, Y:2.99, Z:1.86 [[ 9.95089837e-01 -9.19877868e-02 -3.65302988e-02 5.33671567e+01] [ 9.19794405e-02 9.95759070e-01 -1.91256393e-03 2.99121747e+00] [ 3.65513088e-02 -1.45686351e-03 9.99330716e-01 1.86180985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.419254154 meters Centerline goodness : 0.999444 with order 1 Centerline is valid? [True, True] Translation: X:53.43, Y:3.00, Z:1.86 [[ 9.94710208e-01 -9.60058835e-02 -3.65304389e-02 5.34300405e+01] [ 9.60003383e-02 9.95379469e-01 -1.90988447e-03 2.99621253e+00] [ 3.65450090e-02 -1.60715291e-03 9.99330716e-01 1.86406564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.479254154 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:53.49, Y:3.00, Z:1.87 [[ 9.94577871e-01 -9.73671963e-02 -3.65306466e-02 5.34931458e+01] [ 9.73627130e-02 9.95247140e-01 -1.90590354e-03 3.00331251e+00] [ 3.65425940e-02 -1.66115337e-03 9.99330716e-01 1.86771569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.539254154 meters Centerline goodness : 0.999635 with order 1 Centerline is valid? [True, True] Translation: X:53.56, Y:3.01, Z:1.87 [[ 9.94735845e-01 -9.57397283e-02 -3.65308519e-02 5.35559740e+01] [ 9.57342945e-02 9.95405107e-01 -1.90195922e-03 3.01123856e+00] [ 3.65450896e-02 -1.60530833e-03 9.99330716e-01 1.87146582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.599254154 meters Centerline goodness : 0.999591 with order 1 Centerline is valid? [True, True] Translation: X:53.62, Y:3.02, Z:1.87 [[ 9.94835922e-01 -9.46940829e-02 -3.65310563e-02 5.36192151e+01] [ 9.46880897e-02 9.95505180e-01 -1.89802567e-03 3.01865866e+00] [ 3.65465876e-02 -1.57083181e-03 9.99330716e-01 1.87222135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.659254154 meters Centerline goodness : 0.999654 with order 1 Centerline is valid? [True, True] Translation: X:53.68, Y:3.02, Z:1.87 [[ 9.94786472e-01 -9.52120868e-02 -3.65312575e-02 5.36806913e+01] [ 9.52065844e-02 9.95455734e-01 -1.89414527e-03 3.02438966e+00] [ 3.65455953e-02 -1.59374615e-03 9.99330716e-01 1.87400513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.719254154 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:53.74, Y:3.03, Z:1.88 [[ 9.94724446e-01 -9.58578778e-02 -3.65313986e-02 5.37418030e+01] [ 9.58529098e-02 9.95393712e-01 -1.89141877e-03 3.03410670e+00] [ 3.65444319e-02 -1.62020038e-03 9.99330716e-01 1.87653331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.779254154 meters Centerline goodness : 0.999565 with order 1 Centerline is valid? [True, True] Translation: X:53.80, Y:3.04, Z:1.88 [[ 9.94737299e-01 -9.57243758e-02 -3.65315028e-02 5.38044068e+01] [ 9.57193918e-02 9.95406564e-01 -1.88940505e-03 3.04077960e+00] [ 3.65445598e-02 -1.61731155e-03 9.99330716e-01 1.87963017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.839254154 meters Centerline goodness : 0.999760 with order 1 Centerline is valid? [True, True] Translation: X:53.87, Y:3.05, Z:1.88 [[ 9.95207775e-01 -9.07023693e-02 -3.65317065e-02 5.38671192e+01] [ 9.06941520e-02 9.95877008e-01 -1.88545852e-03 3.04776150e+00] [ 3.65521021e-02 -1.43678916e-03 9.99330716e-01 1.88235571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.899254154 meters Centerline goodness : 0.999649 with order 1 Centerline is valid? [True, True] Translation: X:53.93, Y:3.05, Z:1.89 [[ 9.95541579e-01 -8.69619664e-02 -3.65319153e-02 5.39286730e+01] [ 8.69513829e-02 9.96210780e-01 -1.88140438e-03 3.05325501e+00] [ 3.65570984e-02 -1.30348427e-03 9.99330716e-01 1.88551074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.959254154 meters Centerline goodness : 0.999649 with order 1 Centerline is valid? [True, True] Translation: X:53.99, Y:3.06, Z:1.89 [[ 9.95806622e-01 -8.38723933e-02 -3.65320863e-02 5.39917280e+01] [ 8.38598553e-02 9.96475789e-01 -1.87807800e-03 3.05950690e+00] [ 3.65608584e-02 -1.19337296e-03 9.99330716e-01 1.88757529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.019254154 meters Centerline goodness : 0.999605 with order 1 Centerline is valid? [True, True] Translation: X:54.05, Y:3.06, Z:1.89 [[ 9.95820722e-01 -8.37047248e-02 -3.65322897e-02 5.40537399e+01] [ 8.36922193e-02 9.96489890e-01 -1.87411339e-03 3.06423466e+00] [ 3.65609294e-02 -1.19118745e-03 9.99330716e-01 1.88785248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.079254154 meters Centerline goodness : 0.999759 with order 1 Centerline is valid? [True, True] Translation: X:54.12, Y:3.07, Z:1.89 [[ 9.95831956e-01 -8.35709107e-02 -3.65324251e-02 5.41160053e+01] [ 8.35584122e-02 9.96501124e-01 -1.87147049e-03 3.06899471e+00] [ 3.65610031e-02 -1.18892131e-03 9.99330716e-01 1.88952010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.139254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:54.18, Y:3.07, Z:1.89 [[ 9.95927207e-01 -8.24279702e-02 -3.65325589e-02 5.41782117e+01] [ 8.24147996e-02 9.96596362e-01 -1.86885427e-03 3.07330652e+00] [ 3.65622611e-02 -1.14958071e-03 9.99330716e-01 1.89334028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.199254154 meters Centerline goodness : 0.999737 with order 1 Centerline is valid? [True, True] Translation: X:54.24, Y:3.08, Z:1.90 [[ 9.96091090e-01 -8.04232727e-02 -3.65326953e-02 5.42405371e+01] [ 8.04088531e-02 9.96760219e-01 -1.86618471e-03 3.07696102e+00] [ 3.65644220e-02 -1.07866217e-03 9.99330716e-01 1.89656198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.259254154 meters Centerline goodness : 0.999759 with order 1 Centerline is valid? [True, True] Translation: X:54.30, Y:3.08, Z:1.90 [[ 9.96259644e-01 -7.83075563e-02 -3.65328296e-02 5.43022872e+01] [ 7.82918122e-02 9.96928743e-01 -1.86355046e-03 3.08016952e+00] [ 3.65665580e-02 -1.00364132e-03 9.99330716e-01 1.90077993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.319254154 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:54.37, Y:3.08, Z:1.90 [[ 9.96310347e-01 -7.76597345e-02 -3.65329651e-02 5.43651749e+01] [ 7.76436527e-02 9.96979438e-01 -1.86089171e-03 3.08288464e+00] [ 3.65671313e-02 -9.82527191e-04 9.99330716e-01 1.90324097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.379254154 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:54.43, Y:3.08, Z:1.90 [[ 9.96294222e-01 -7.78662340e-02 -3.65331712e-02 5.44272285e+01] [ 7.78504395e-02 9.96963320e-01 -1.85683568e-03 3.08396002e+00] [ 3.65668165e-02 -9.94168775e-04 9.99330716e-01 1.90416371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.439254154 meters Centerline goodness : 0.999628 with order 1 Centerline is valid? [True, True] Translation: X:54.49, Y:3.09, Z:1.90 [[ 9.96250447e-01 -7.84242586e-02 -3.65333081e-02 5.44887403e+01] [ 7.84089377e-02 9.96919556e-01 -1.85413829e-03 3.08527738e+00] [ 3.65661787e-02 -1.01735178e-03 9.99330716e-01 1.90441047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.499254154 meters Centerline goodness : 0.999519 with order 1 Centerline is valid? [True, True] Translation: X:54.55, Y:3.09, Z:1.91 [[ 9.96288773e-01 -7.79357437e-02 -3.65335468e-02 5.45512046e+01] [ 7.79202674e-02 9.96957879e-01 -1.84942365e-03 3.08713076e+00] [ 3.65665435e-02 -1.00414372e-03 9.99330716e-01 1.90666465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.559254154 meters Centerline goodness : 0.999672 with order 1 Centerline is valid? [True, True] Translation: X:54.61, Y:3.09, Z:1.91 [[ 9.96477103e-01 -7.54895547e-02 -3.65336813e-02 5.46143380e+01] [ 7.54725333e-02 9.97146171e-01 -1.84676258e-03 3.09000109e+00] [ 3.65688317e-02 -9.17032855e-04 9.99330716e-01 1.90787703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.619254154000004 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:54.68, Y:3.09, Z:1.91 [[ 9.96657153e-01 -7.30738946e-02 -3.65338808e-02 5.46774242e+01] [ 7.30553964e-02 9.97326182e-01 -1.84280659e-03 3.09362721e+00] [ 3.65708569e-02 -8.32350774e-04 9.99330716e-01 1.90998300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.679254154 meters Centerline goodness : 0.999716 with order 1 Centerline is valid? [True, True] Translation: X:54.74, Y:3.10, Z:1.91 [[ 9.96777426e-01 -7.14144482e-02 -3.65340805e-02 5.47391905e+01] [ 7.13949814e-02 9.97446427e-01 -1.83884012e-03 3.09740784e+00] [ 3.65721078e-02 -7.75435676e-04 9.99330716e-01 1.91333261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.739254154 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:54.80, Y:3.10, Z:1.92 [[ 9.96631125e-01 -7.34278676e-02 -3.65342112e-02 5.48008306e+01] [ 7.34098476e-02 9.97300167e-01 -1.83623937e-03 3.10007321e+00] [ 3.65704061e-02 -8.51917571e-04 9.99330716e-01 1.91639103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.799254154 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:54.86, Y:3.10, Z:1.92 [[ 9.96252295e-01 -7.84002957e-02 -3.65343435e-02 5.48628562e+01] [ 7.83857112e-02 9.96921420e-01 -1.83360249e-03 3.10154274e+00] [ 3.65656246e-02 -1.03703981e-03 9.99330716e-01 1.91708900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.859254154 meters Centerline goodness : 0.999607 with order 1 Centerline is valid? [True, True] Translation: X:54.92, Y:3.10, Z:1.92 [[ 9.95778191e-01 -8.42082380e-02 -3.65344741e-02 5.49247385e+01] [ 8.41976509e-02 9.96447391e-01 -1.83099790e-03 3.10253006e+00] [ 3.65588665e-02 -1.25284912e-03 9.99330716e-01 1.91747757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.919254154 meters Centerline goodness : 0.999651 with order 1 Centerline is valid? [True, True] Translation: X:54.99, Y:3.10, Z:1.92 [[ 9.95585378e-01 -8.64579538e-02 -3.65346028e-02 5.49871939e+01] [ 8.64489731e-02 9.96254602e-01 -1.82842615e-03 3.10437545e+00] [ 3.65558481e-02 -1.33802455e-03 9.99330716e-01 1.92061264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.979254154 meters Centerline goodness : 0.999717 with order 1 Centerline is valid? [True, True] Translation: X:55.05, Y:3.11, Z:1.92 [[ 9.95684670e-01 -8.53068074e-02 -3.65347332e-02 5.50488360e+01] [ 8.52971486e-02 9.96353884e-01 -1.82581553e-03 3.10691050e+00] [ 3.65572779e-02 -1.29837204e-03 9.99330716e-01 1.92483430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.039254154 meters Centerline goodness : 0.999564 with order 1 Centerline is valid? [True, True] Translation: X:55.11, Y:3.11, Z:1.93 [[ 9.95968288e-01 -8.19290750e-02 -3.65348644e-02 5.51100661e+01] [ 8.19172427e-02 9.96637467e-01 -1.82318697e-03 3.11076818e+00] [ 3.65613868e-02 -1.17699895e-03 9.99330716e-01 1.92845426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.099254154 meters Centerline goodness : 0.999717 with order 1 Centerline is valid? [True, True] Translation: X:55.17, Y:3.11, Z:1.93 [[ 9.96216691e-01 -7.88511300e-02 -3.65349613e-02 5.51727567e+01] [ 7.88373012e-02 9.96885832e-01 -1.82124313e-03 3.11386410e+00] [ 3.65647924e-02 -1.06596495e-03 9.99330716e-01 1.93108912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.159254154 meters Centerline goodness : 0.999586 with order 1 Centerline is valid? [True, True] Translation: X:55.23, Y:3.12, Z:1.93 [[ 9.96613929e-01 -7.36604265e-02 -3.65351595e-02 5.52349637e+01] [ 7.36432581e-02 9.97282993e-01 -1.81725834e-03 3.11692853e+00] [ 3.65697533e-02 -8.79463205e-04 9.99330716e-01 1.93153609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.219254154 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:55.30, Y:3.12, Z:1.93 [[ 9.96995678e-01 -6.82991633e-02 -3.65354819e-02 5.52971250e+01] [ 6.82786349e-02 9.97664648e-01 -1.81075387e-03 3.12073748e+00] [ 3.65738316e-02 -6.89279041e-04 9.99330716e-01 1.93294460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.279254154 meters Centerline goodness : 0.999694 with order 1 Centerline is valid? [True, True] Translation: X:55.36, Y:3.12, Z:1.93 [[ 9.97200148e-01 -6.52457787e-02 -3.65356477e-02 5.53584623e+01] [ 6.52233246e-02 9.97869055e-01 -1.80740234e-03 3.12399104e+00] [ 3.65757176e-02 -5.80634523e-04 9.99330716e-01 1.93381954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.339254154 meters Centerline goodness : 0.999497 with order 1 Centerline is valid? [True, True] Translation: X:55.42, Y:3.13, Z:1.93 [[ 9.97522760e-01 -6.01122453e-02 -3.65357474e-02 5.54193492e+01] [ 6.00864224e-02 9.98191546e-01 -1.80538557e-03 3.12709457e+00] [ 3.65781999e-02 -3.94389153e-04 9.99330716e-01 1.93391182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.399254154 meters Centerline goodness : 0.999628 with order 1 Centerline is valid? [True, True] Translation: X:55.48, Y:3.13, Z:1.94 [[ 9.97620464e-01 -5.84683023e-02 -3.65358424e-02 5.54801589e+01] [ 5.84414478e-02 9.98289209e-01 -1.80345997e-03 3.13043305e+00] [ 3.65787825e-02 -3.36038956e-04 9.99330716e-01 1.93637511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.459254154 meters Centerline goodness : 0.999562 with order 1 Centerline is valid? [True, True] Translation: X:55.54, Y:3.13, Z:1.94 [[ 9.97789651e-01 -5.55062085e-02 -3.65359091e-02 5.55409777e+01] [ 5.54774183e-02 9.98458316e-01 -1.80210764e-03 3.13302350e+00] [ 3.65796104e-02 -2.28793553e-04 9.99330716e-01 1.93928033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.519254154 meters Centerline goodness : 0.999517 with order 1 Centerline is valid? [True, True] Translation: X:55.60, Y:3.14, Z:1.94 [[ 9.97840147e-01 -5.45908733e-02 -3.65359755e-02 5.56011130e+01] [ 5.45615190e-02 9.98508787e-01 -1.80076089e-03 3.13522043e+00] [ 3.65797977e-02 -1.96586813e-04 9.99330716e-01 1.94270942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.579254154 meters Centerline goodness : 0.999627 with order 1 Centerline is valid? [True, True] Translation: X:55.66, Y:3.14, Z:1.95 [[ 9.97600116e-01 -5.88143573e-02 -3.65360081e-02 5.56624920e+01] [ 5.87878580e-02 9.98268875e-01 -1.80009829e-03 3.13688415e+00] [ 3.65786314e-02 -3.52095390e-04 9.99330716e-01 1.94641384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.639254154 meters Centerline goodness : 0.999607 with order 1 Centerline is valid? [True, True] Translation: X:55.72, Y:3.14, Z:1.95 [[ 9.96984158e-01 -6.84668087e-02 -3.65360740e-02 5.57246339e+01] [ 6.84468321e-02 9.97653144e-01 -1.79876108e-03 3.13588970e+00] [ 3.65734845e-02 -7.07442223e-04 9.99330716e-01 1.94866610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.699254154 meters Centerline goodness : 0.999435 with order 1 Centerline is valid? [True, True] Translation: X:55.79, Y:3.14, Z:1.95 [[ 9.96452285e-01 -7.58152271e-02 -3.65362042e-02 5.57866738e+01] [ 7.58002802e-02 9.97121403e-01 -1.79611200e-03 3.13576192e+00] [ 3.65672038e-02 -9.79714606e-04 9.99330716e-01 1.95045456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.759254154 meters Centerline goodness : 0.999438 with order 1 Centerline is valid? [True, True] Translation: X:55.85, Y:3.14, Z:1.95 [[ 9.95884940e-01 -8.29354117e-02 -3.65363368e-02 5.58491946e+01] [ 8.29253468e-02 9.96554148e-01 -1.79340941e-03 3.13507773e+00] [ 3.65591752e-02 -1.24375898e-03 9.99330716e-01 1.95250519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.819254154 meters Centerline goodness : 0.999525 with order 1 Centerline is valid? [True, True] Translation: X:55.91, Y:3.13, Z:1.95 [[ 9.95756402e-01 -8.44646340e-02 -3.65364683e-02 5.59120387e+01] [ 8.44556950e-02 9.96425626e-01 -1.79072805e-03 3.13374299e+00] [ 3.65571265e-02 -1.30258390e-03 9.99330716e-01 1.95257969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.879254154 meters Centerline goodness : 0.999417 with order 1 Centerline is valid? [True, True] Translation: X:55.97, Y:3.13, Z:1.95 [[ 9.95868932e-01 -8.31272765e-02 -3.65366396e-02 5.59749031e+01] [ 8.31175671e-02 9.96538146e-01 -1.78722627e-03 3.13146847e+00] [ 3.65587223e-02 -1.25699348e-03 9.99330716e-01 1.94949400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.939254154 meters Centerline goodness : 0.999481 with order 1 Centerline is valid? [True, True] Translation: X:56.04, Y:3.14, Z:1.96 [[ 9.95574385e-01 -8.65835298e-02 -3.65367856e-02 5.60361113e+01] [ 8.65762529e-02 9.96243629e-01 -1.78423624e-03 3.13543260e+00] [ 3.65540253e-02 -1.38687809e-03 9.99330716e-01 1.95569238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.999254154 meters Centerline goodness : 0.999460 with order 1 Centerline is valid? [True, True] Translation: X:56.10, Y:3.14, Z:1.96 [[ 9.95677321e-01 -8.53915649e-02 -3.65370149e-02 5.60992514e+01] [ 8.53836593e-02 9.96346558e-01 -1.77952724e-03 3.13722966e+00] [ 3.65554857e-02 -1.34782912e-03 9.99330716e-01 1.95816168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.059254154 meters Centerline goodness : 0.999417 with order 1 Centerline is valid? [True, True] Translation: X:56.16, Y:3.14, Z:1.96 [[ 9.95778265e-01 -8.42061697e-02 -3.65372109e-02 5.61624478e+01] [ 8.41976153e-02 9.96447494e-01 -1.77549356e-03 3.14047928e+00] [ 3.65569198e-02 -1.30834813e-03 9.99330716e-01 1.96000732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.119254154000004 meters Centerline goodness : 0.999459 with order 1 Centerline is valid? [True, True] Translation: X:56.22, Y:3.14, Z:1.96 [[ 9.96070288e-01 -8.06783731e-02 -3.65374072e-02 5.62241486e+01] [ 8.06675965e-02 9.96739485e-01 -1.77144453e-03 3.14479399e+00] [ 3.65611937e-02 -1.18290156e-03 9.99330716e-01 1.96086258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.179254154 meters Centerline goodness : 0.999611 with order 1 Centerline is valid? [True, True] Translation: X:56.29, Y:3.15, Z:1.96 [[ 9.96180368e-01 -7.93075179e-02 -3.65375370e-02 5.62858817e+01] [ 7.92959186e-02 9.96849552e-01 -1.76876425e-03 3.14801838e+00] [ 3.65627037e-02 -1.13526934e-03 9.99330716e-01 1.96183697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.239254154 meters Centerline goodness : 0.999653 with order 1 Centerline is valid? [True, True] Translation: X:56.35, Y:3.15, Z:1.96 [[ 9.96145063e-01 -7.97496918e-02 -3.65376651e-02 5.63478632e+01] [ 7.97384867e-02 9.96814253e-01 -1.76611394e-03 3.15103500e+00] [ 3.65621124e-02 -1.15415244e-03 9.99330716e-01 1.96307891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.299254154 meters Centerline goodness : 0.999523 with order 1 Centerline is valid? [True, True] Translation: X:56.41, Y:3.15, Z:1.96 [[ 9.96078174e-01 -8.05807671e-02 -3.65377929e-02 5.64087082e+01] [ 8.05702173e-02 9.96747375e-01 -1.76346700e-03 3.15438544e+00] [ 3.65610507e-02 -1.18730692e-03 9.99330716e-01 1.96459312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.359254154 meters Centerline goodness : 0.999458 with order 1 Centerline is valid? [True, True] Translation: X:56.47, Y:3.16, Z:1.97 [[ 9.96092025e-01 -8.04093344e-02 -3.65378872e-02 5.64705198e+01] [ 8.03987410e-02 9.96761225e-01 -1.76151079e-03 3.15929591e+00] [ 3.65611911e-02 -1.18297328e-03 9.99330716e-01 1.96870249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.419254154 meters Centerline goodness : 0.999544 with order 1 Centerline is valid? [True, True] Translation: X:56.53, Y:3.16, Z:1.97 [[ 9.96095127e-01 -8.03708425e-02 -3.65380127e-02 5.65325300e+01] [ 8.03603189e-02 9.96764328e-01 -1.75890239e-03 3.16364918e+00] [ 3.65611522e-02 -1.18417225e-03 9.99330716e-01 1.97198811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.479254154 meters Centerline goodness : 0.999414 with order 1 Centerline is valid? [True, True] Translation: X:56.59, Y:3.17, Z:1.98 [[ 9.95971635e-01 -8.18869121e-02 -3.65381433e-02 5.65948237e+01] [ 8.18775066e-02 9.96640853e-01 -1.75618699e-03 3.16911922e+00] [ 3.65592150e-02 -1.24253964e-03 9.99330716e-01 1.97547607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.539254154 meters Centerline goodness : 0.999544 with order 1 Centerline is valid? [True, True] Translation: X:56.66, Y:3.17, Z:1.98 [[ 9.95792650e-01 -8.40354253e-02 -3.65382725e-02 5.66580290e+01] [ 8.40275622e-02 9.96461888e-01 -1.75349419e-03 3.17446308e+00] [ 3.65563516e-02 -1.32410534e-03 9.99330716e-01 1.97895558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.599254154 meters Centerline goodness : 0.999480 with order 1 Centerline is valid? [True, True] Translation: X:56.72, Y:3.18, Z:1.98 [[ 9.96061263e-01 -8.07892395e-02 -3.65384646e-02 5.67202570e+01] [ 8.07793422e-02 9.96730474e-01 -1.74948243e-03 3.17885138e+00] [ 3.65603405e-02 -1.20896145e-03 9.99330716e-01 1.97943007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.659254154 meters Centerline goodness : 0.999521 with order 1 Centerline is valid? [True, True] Translation: X:56.78, Y:3.18, Z:1.98 [[ 9.96177258e-01 -7.93460701e-02 -3.65386218e-02 5.67827350e+01] [ 7.93353238e-02 9.96846456e-01 -1.74619205e-03 3.18147535e+00] [ 3.65619491e-02 -1.15928658e-03 9.99330716e-01 1.98144632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.719254154 meters Centerline goodness : 0.999436 with order 1 Centerline is valid? [True, True] Translation: X:56.85, Y:3.18, Z:1.98 [[ 9.96014932e-01 -8.13582829e-02 -3.65388166e-02 5.68455637e+01] [ 8.13490382e-02 9.96684152e-01 -1.74210605e-03 3.18258713e+00] [ 3.65593942e-02 -1.23723395e-03 9.99330716e-01 1.98171563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.779254154 meters Centerline goodness : 0.999566 with order 1 Centerline is valid? [True, True] Translation: X:56.91, Y:3.18, Z:1.98 [[ 9.95909391e-01 -8.26401012e-02 -3.65390088e-02 5.69090200e+01] [ 8.26318658e-02 9.96578624e-01 -1.73806602e-03 3.18477046e+00] [ 3.65576291e-02 -1.28833020e-03 9.99330716e-01 1.98382461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.839254154 meters Centerline goodness : 0.999697 with order 1 Centerline is valid? [True, True] Translation: X:56.97, Y:3.19, Z:1.99 [[ 9.95939379e-01 -8.22778255e-02 -3.65391977e-02 5.69720366e+01] [ 8.22694926e-02 9.96608611e-01 -1.73408585e-03 3.18680042e+00] [ 3.65579559e-02 -1.27901687e-03 9.99330716e-01 1.98620356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.899254154 meters Centerline goodness : 0.999567 with order 1 Centerline is valid? [True, True] Translation: X:57.04, Y:3.19, Z:1.99 [[ 9.95983397e-01 -8.17431754e-02 -3.65393866e-02 5.70352359e+01] [ 8.17346293e-02 9.96652626e-01 -1.73009676e-03 3.18943037e+00] [ 3.65584992e-02 -1.26338557e-03 9.99330716e-01 1.98782026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.959254154 meters Centerline goodness : 0.999435 with order 1 Centerline is valid? [True, True] Translation: X:57.10, Y:3.19, Z:1.99 [[ 9.96100997e-01 -8.02973445e-02 -3.65395748e-02 5.70979496e+01] [ 8.02879730e-02 9.96770215e-01 -1.72611318e-03 3.19200496e+00] [ 3.65601621e-02 -1.21430533e-03 9.99330716e-01 1.98907808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.019254154 meters Centerline goodness : 0.999500 with order 1 Centerline is valid? [True, True] Translation: X:57.16, Y:3.20, Z:1.99 [[ 9.96240867e-01 -7.85428625e-02 -3.65397608e-02 5.71605060e+01] [ 7.85324569e-02 9.96910070e-01 -1.72216623e-03 3.19503668e+00] [ 3.65621193e-02 -1.15386481e-03 9.99330716e-01 1.99038737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.079254154 meters Centerline goodness : 0.999522 with order 1 Centerline is valid? [True, True] Translation: X:57.22, Y:3.20, Z:1.99 [[ 9.96435128e-01 -7.60385902e-02 -3.65399441e-02 5.72224596e+01] [ 7.60266455e-02 9.97104306e-01 -1.71826705e-03 3.19928692e+00] [ 3.65647902e-02 -1.06586774e-03 9.99330716e-01 1.99199547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.139254154 meters Centerline goodness : 0.999586 with order 1 Centerline is valid? [True, True] Translation: X:57.28, Y:3.20, Z:1.99 [[ 9.96717233e-01 -7.22466693e-02 -3.65400702e-02 5.72831739e+01] [ 7.22322769e-02 9.97386362e-01 -1.71558282e-03 3.20403248e+00] [ 3.65685128e-02 -9.29421502e-04 9.99330716e-01 1.99259134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.199254154 meters Centerline goodness : 0.999542 with order 1 Centerline is valid? [True, True] Translation: X:57.34, Y:3.21, Z:2.00 [[ 9.96973751e-01 -6.86160045e-02 -3.65401632e-02 5.73447043e+01] [ 6.85992478e-02 9.97642825e-01 -1.71359840e-03 3.20921460e+00] [ 3.65716120e-02 -7.98215087e-04 9.99330716e-01 1.99562177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.259254154 meters Centerline goodness : 0.999410 with order 1 Centerline is valid? [True, True] Translation: X:57.41, Y:3.21, Z:2.00 [[ 9.97037216e-01 -6.76875032e-02 -3.65402870e-02 5.74065436e+01] [ 6.76702203e-02 9.97706276e-01 -1.71095493e-03 3.21249077e+00] [ 3.65722840e-02 -7.66803529e-04 9.99330716e-01 1.99899608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.319254154 meters Centerline goodness : 0.999520 with order 1 Centerline is valid? [True, True] Translation: X:57.47, Y:3.21, Z:2.00 [[ 9.96942418e-01 -6.90696304e-02 -3.65404106e-02 5.74674334e+01] [ 6.90533718e-02 9.97611504e-01 -1.70831033e-03 3.21440251e+00] [ 3.65711264e-02 -8.20151527e-04 9.99330716e-01 2.00190625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.379254154 meters Centerline goodness : 0.999738 with order 1 Centerline is valid? [True, True] Translation: X:57.53, Y:3.22, Z:2.00 [[ 9.96748079e-01 -7.18195778e-02 -3.65405952e-02 5.75294596e+01] [ 7.18053101e-02 9.97417211e-01 -1.70435414e-03 3.21656565e+00] [ 3.65686245e-02 -9.24997053e-04 9.99330716e-01 2.00467238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.439254154 meters Centerline goodness : 0.999478 with order 1 Centerline is valid? [True, True] Translation: X:57.59, Y:3.22, Z:2.01 [[ 9.96234650e-01 -7.86212369e-02 -3.65407172e-02 5.75919053e+01] [ 7.86116326e-02 9.96903865e-01 -1.70173485e-03 3.21714336e+00] [ 3.65613746e-02 -1.17719821e-03 9.99330716e-01 2.00649883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.499254154 meters Centerline goodness : 0.999718 with order 1 Centerline is valid? [True, True] Translation: X:57.65, Y:3.22, Z:2.01 [[ 9.95802726e-01 -8.39148234e-02 -3.65408418e-02 5.76533380e+01] [ 8.39088742e-02 9.96471984e-01 -1.69905462e-03 3.21641009e+00] [ 3.65545010e-02 -1.37417767e-03 9.99330716e-01 2.00862058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.559254154 meters Centerline goodness : 0.999546 with order 1 Centerline is valid? [True, True] Translation: X:57.72, Y:3.21, Z:2.01 [[ 9.95407472e-01 -8.84800777e-02 -3.65409338e-02 5.77168622e+01] [ 8.84772699e-02 9.96076750e-01 -1.69707290e-03 3.21423665e+00] [ 3.65477318e-02 -1.54376302e-03 9.99330716e-01 2.01041006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.619254154 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:57.78, Y:3.21, Z:2.01 [[ 9.95193336e-01 -9.08568660e-02 -3.65411226e-02 5.77804000e+01] [ 9.08558058e-02 9.95862619e-01 -1.69299872e-03 3.21328794e+00] [ 3.65437586e-02 -1.63511209e-03 9.99330716e-01 2.01210167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.679254154 meters Centerline goodness : 0.999591 with order 1 Centerline is valid? [True, True] Translation: X:57.84, Y:3.21, Z:2.01 [[ 9.95039936e-01 -9.25216678e-02 -3.65413106e-02 5.78440083e+01] [ 9.25218764e-02 9.95709220e-01 -1.68892981e-03 3.21132374e+00] [ 3.65407825e-02 -1.70031801e-03 9.99330716e-01 2.01272153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.739254154 meters Centerline goodness : 0.999505 with order 1 Centerline is valid? [True, True] Translation: X:57.91, Y:3.21, Z:2.01 [[ 9.95163884e-01 -9.11787454e-02 -3.65415007e-02 5.79060623e+01] [ 9.11782018e-02 9.95833167e-01 -1.68480702e-03 3.21167959e+00] [ 3.65428570e-02 -1.65512923e-03 9.99330716e-01 2.01329692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.799254154 meters Centerline goodness : 0.999376 with order 1 Centerline is valid? [True, True] Translation: X:57.97, Y:3.21, Z:2.01 [[ 9.95272967e-01 -8.99801716e-02 -3.65416266e-02 5.79679499e+01] [ 8.99789222e-02 9.95942249e-01 -1.68207165e-03 3.21375813e+00] [ 3.65447029e-02 -1.61385574e-03 9.99330716e-01 2.01463525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.859254154 meters Centerline goodness : 0.999441 with order 1 Centerline is valid? [True, True] Translation: X:58.03, Y:3.21, Z:2.02 [[ 9.95333992e-01 -8.93025512e-02 -3.65417521e-02 5.80296950e+01] [ 8.93009462e-02 9.96003273e-01 -1.67934287e-03 3.21485027e+00] [ 3.65456743e-02 -1.59170599e-03 9.99330716e-01 2.01534283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.919254154 meters Centerline goodness : 0.999442 with order 1 Centerline is valid? [True, True] Translation: X:58.09, Y:3.21, Z:2.01 [[ 9.96000970e-01 -8.15276406e-02 -3.65419068e-02 5.80928163e+01] [ 8.15209330e-02 9.96670221e-01 -1.67596868e-03 3.20844996e+00] [ 3.65568681e-02 -1.30966390e-03 9.99330716e-01 2.00676893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.979254154 meters Centerline goodness : 0.999377 with order 1 Centerline is valid? [True, True] Translation: X:58.15, Y:3.22, Z:2.02 [[ 9.95353726e-01 -8.90822091e-02 -3.65420334e-02 5.81532961e+01] [ 8.90806808e-02 9.96023008e-01 -1.67320442e-03 3.21931390e+00] [ 3.65457588e-02 -1.58975896e-03 9.99330716e-01 2.01848102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.039254154 meters Centerline goodness : 0.999462 with order 1 Centerline is valid? [True, True] Translation: X:58.22, Y:3.22, Z:2.02 [[ 9.95306597e-01 -8.96072010e-02 -3.65421260e-02 5.82158260e+01] [ 8.96061000e-02 9.95975880e-01 -1.67117876e-03 3.22206732e+00] [ 3.65448258e-02 -1.61106216e-03 9.99330716e-01 2.01965533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.099254154 meters Centerline goodness : 0.999397 with order 1 Centerline is valid? [True, True] Translation: X:58.28, Y:3.23, Z:2.02 [[ 9.95114939e-01 -9.17110818e-02 -3.65422466e-02 5.82776205e+01] [ 9.17114924e-02 9.95784223e-01 -1.66853879e-03 3.22554964e+00] [ 3.65412161e-02 -1.69095609e-03 9.99330716e-01 2.02007713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.159254154 meters Centerline goodness : 0.999462 with order 1 Centerline is valid? [True, True] Translation: X:58.34, Y:3.23, Z:2.02 [[ 9.94921938e-01 -9.37816216e-02 -3.65423652e-02 5.83404173e+01] [ 9.37835202e-02 9.95591219e-01 -1.66593609e-03 3.22868186e+00] [ 3.65374921e-02 -1.76959528e-03 9.99330716e-01 2.02226634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.219254154 meters Centerline goodness : 0.999547 with order 1 Centerline is valid? [True, True] Translation: X:58.40, Y:3.23, Z:2.03 [[ 9.94988882e-01 -9.30686159e-02 -3.65425452e-02 5.84015444e+01] [ 9.30701799e-02 9.95658164e-01 -1.66197917e-03 3.23330366e+00] [ 3.65385615e-02 -1.74737046e-03 9.99330716e-01 2.02562568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.279254154 meters Centerline goodness : 0.999352 with order 1 Centerline is valid? [True, True] Translation: X:58.46, Y:3.24, Z:2.03 [[ 9.95280592e-01 -8.98953827e-02 -3.65426335e-02 5.84629515e+01] [ 8.98948838e-02 9.95949875e-01 -1.66003492e-03 3.23922383e+00] [ 3.65438608e-02 -1.63279525e-03 9.99330716e-01 2.02989018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.339254154 meters Centerline goodness : 0.999439 with order 1 Centerline is valid? [True, True] Translation: X:58.53, Y:3.24, Z:2.03 [[ 9.95487410e-01 -8.75753597e-02 -3.65427547e-02 5.85251101e+01] [ 8.75733988e-02 9.96156691e-01 -1.65736204e-03 3.24323900e+00] [ 3.65474537e-02 -1.55029019e-03 9.99330716e-01 2.03259248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.399254154 meters Centerline goodness : 0.999459 with order 1 Centerline is valid? [True, True] Translation: X:58.59, Y:3.25, Z:2.04 [[ 9.95717160e-01 -8.49232303e-02 -3.65428753e-02 5.85868828e+01] [ 8.49195841e-02 9.96386434e-01 -1.65470030e-03 3.24849537e+00] [ 3.65513477e-02 -1.45559228e-03 9.99330716e-01 2.03561486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.459254154 meters Centerline goodness : 0.999525 with order 1 Centerline is valid? [True, True] Translation: X:58.65, Y:3.25, Z:2.04 [[ 9.95660764e-01 -8.55818463e-02 -3.65429956e-02 5.86501626e+01] [ 8.55787403e-02 9.96330041e-01 -1.65203855e-03 3.25270462e+00] [ 3.65502688e-02 -1.48243356e-03 9.99330716e-01 2.03853893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.519254154 meters Centerline goodness : 0.999460 with order 1 Centerline is valid? [True, True] Translation: X:58.71, Y:3.26, Z:2.04 [[ 9.95446045e-01 -8.80441213e-02 -3.65431737e-02 5.87124353e+01] [ 8.80428153e-02 9.96115328e-01 -1.64808912e-03 3.25540470e+00] [ 3.65463200e-02 -1.57678010e-03 9.99330716e-01 2.03945056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.579254154 meters Centerline goodness : 0.999459 with order 1 Centerline is valid? [True, True] Translation: X:58.77, Y:3.26, Z:2.04 [[ 9.95306842e-01 -8.96040053e-02 -3.65432948e-02 5.87743657e+01] [ 8.96038467e-02 9.95976126e-01 -1.64539973e-03 3.25753739e+00] [ 3.65436836e-02 -1.63674217e-03 9.99330716e-01 2.04007830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.639254154 meters Centerline goodness : 0.999524 with order 1 Centerline is valid? [True, True] Translation: X:58.84, Y:3.26, Z:2.04 [[ 9.95169131e-01 -9.11206828e-02 -3.65434180e-02 5.88351764e+01] [ 9.11216446e-02 9.95838414e-01 -1.64265911e-03 3.26064111e+00] [ 3.65410196e-02 -1.69517271e-03 9.99330716e-01 2.03990140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.699254154 meters Centerline goodness : 0.999545 with order 1 Centerline is valid? [True, True] Translation: X:58.90, Y:3.26, Z:2.04 [[ 9.95179819e-01 -9.10038422e-02 -3.65435089e-02 5.88973750e+01] [ 9.10047996e-02 9.95849102e-01 -1.64063447e-03 3.26356976e+00] [ 3.65411246e-02 -1.69290838e-03 9.99330716e-01 2.04323121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.759254154 meters Centerline goodness : 0.999373 with order 1 Centerline is valid? [True, True] Translation: X:58.96, Y:3.27, Z:2.05 [[ 9.95265869e-01 -9.00578295e-02 -3.65436257e-02 5.89597364e+01] [ 9.00582462e-02 9.95935153e-01 -1.63802951e-03 3.26701987e+00] [ 3.65425988e-02 -1.66077997e-03 9.99330716e-01 2.04791117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.819254154 meters Centerline goodness : 0.999481 with order 1 Centerline is valid? [True, True] Translation: X:59.02, Y:3.27, Z:2.05 [[ 9.95424730e-01 -8.82845497e-02 -3.65437418e-02 5.90220350e+01] [ 8.82838691e-02 9.96094014e-01 -1.63543513e-03 3.26971972e+00] [ 3.65453861e-02 -1.59827034e-03 9.99330716e-01 2.05144150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.879254154 meters Centerline goodness : 0.999372 with order 1 Centerline is valid? [True, True] Translation: X:59.08, Y:3.27, Z:2.05 [[ 9.95488442e-01 -8.75631666e-02 -3.65438612e-02 5.90836939e+01] [ 8.75620989e-02 9.96157725e-01 -1.63276187e-03 3.27222927e+00] [ 3.65464194e-02 -1.57446162e-03 9.99330716e-01 2.05294113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.939254154 meters Centerline goodness : 0.999589 with order 1 Centerline is valid? [True, True] Translation: X:59.15, Y:3.27, Z:2.06 [[ 9.95383765e-01 -8.87451170e-02 -3.65440086e-02 5.91460041e+01] [ 8.87449651e-02 9.96053049e-01 -1.62945599e-03 3.27370602e+00] [ 3.65443774e-02 -1.62116273e-03 9.99330716e-01 2.05526287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.999254154 meters Centerline goodness : 0.999568 with order 1 Centerline is valid? [True, True] Translation: X:59.21, Y:3.27, Z:2.06 [[ 9.95194649e-01 -9.08412775e-02 -3.65441292e-02 5.92070317e+01] [ 9.08426344e-02 9.95863931e-01 -1.62674752e-03 3.27417125e+00] [ 3.65407560e-02 -1.70083454e-03 9.99330716e-01 2.05556933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.059254154 meters Centerline goodness : 0.999308 with order 1 Centerline is valid? [True, True] Translation: X:59.27, Y:3.28, Z:2.06 [[ 9.95226571e-01 -9.04908385e-02 -3.65442182e-02 5.92694721e+01] [ 9.04920332e-02 9.95895854e-01 -1.62474457e-03 3.27599261e+00] [ 3.65412599e-02 -1.68997164e-03 9.99330716e-01 2.05651532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.119254154 meters Centerline goodness : 0.999612 with order 1 Centerline is valid? [True, True] Translation: X:59.33, Y:3.28, Z:2.06 [[ 9.95652047e-01 -8.56826240e-02 -3.65443351e-02 5.93312639e+01] [ 8.56806823e-02 9.96321328e-01 -1.62211060e-03 3.27868590e+00] [ 3.65488872e-02 -1.51608583e-03 9.99330716e-01 2.06039940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.179254154 meters Centerline goodness : 0.999546 with order 1 Centerline is valid? [True, True] Translation: X:59.39, Y:3.28, Z:2.06 [[ 9.96152604e-01 -7.96523245e-02 -3.65444504e-02 5.93933440e+01] [ 7.96464256e-02 9.96821862e-01 -1.61951021e-03 3.28160801e+00] [ 3.65573048e-02 -1.29735554e-03 9.99330716e-01 2.06452043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.239254154 meters Centerline goodness : 0.999523 with order 1 Centerline is valid? [True, True] Translation: X:59.45, Y:3.28, Z:2.07 [[ 9.96986203e-01 -6.84324944e-02 -3.65445674e-02 5.94542790e+01] [ 6.84191582e-02 9.97655354e-01 -1.61686560e-03 3.28465141e+00] [ 3.65695294e-02 -8.88355846e-04 9.99330716e-01 2.06742391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.299254154 meters Centerline goodness : 0.999328 with order 1 Centerline is valid? [True, True] Translation: X:59.51, Y:3.29, Z:2.07 [[ 9.97715688e-01 -5.68144898e-02 -3.65447511e-02 5.95144407e+01] [ 5.67935124e-02 9.98384643e-01 -1.61270279e-03 3.28810089e+00] [ 3.65773432e-02 -4.66485899e-04 9.99330716e-01 2.06862674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.359254154 meters Centerline goodness : 0.999393 with order 1 Centerline is valid? [True, True] Translation: X:59.57, Y:3.29, Z:2.07 [[ 9.98166992e-01 -4.82403409e-02 -3.65448459e-02 5.95746221e+01] [ 4.82136956e-02 9.98835745e-01 -1.61055151e-03 3.28927748e+00] [ 3.65799919e-02 -1.54362722e-04 9.99330716e-01 2.07063139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.419254154 meters Centerline goodness : 0.999544 with order 1 Centerline is valid? [True, True] Translation: X:59.63, Y:3.29, Z:2.07 [[ 9.98392445e-01 -4.33243680e-02 -3.65448459e-02 5.96329214e+01] [ 4.32944298e-02 9.99061058e-01 -1.61055151e-03 3.29056464e+00] [ 3.65803085e-02 2.57741922e-05 9.99330716e-01 2.07126341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.479254154 meters Centerline goodness : 0.999521 with order 1 Centerline is valid? [True, True] Translation: X:59.69, Y:3.29, Z:2.07 [[ 9.98476484e-01 -4.13426504e-02 -3.65444308e-02 5.96914474e+01] [ 4.13110424e-02 9.99145021e-01 -1.61991665e-03 3.29309353e+00] [ 3.65801577e-02 1.07760155e-04 9.99330716e-01 2.07257616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.539254154 meters Centerline goodness : 0.999587 with order 1 Centerline is valid? [True, True] Translation: X:59.75, Y:3.30, Z:2.07 [[ 9.98534246e-01 -3.99236137e-02 -3.65440103e-02 5.97489867e+01] [ 3.98907105e-02 9.99202720e-01 -1.62934759e-03 3.29524513e+00] [ 3.65799239e-02 1.69192836e-04 9.99330716e-01 2.07463931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.599254154 meters Centerline goodness : 0.999372 with order 1 Centerline is valid? [True, True] Translation: X:59.81, Y:3.30, Z:2.08 [[ 9.98449333e-01 -4.19940485e-02 -3.65435311e-02 5.98066402e+01] [ 4.19621407e-02 9.99117855e-01 -1.64002398e-03 3.29584000e+00] [ 3.65801657e-02 1.04036052e-04 9.99330716e-01 2.07804299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.659254154 meters Centerline goodness : 0.999461 with order 1 Centerline is valid? [True, True] Translation: X:59.86, Y:3.30, Z:2.08 [[ 9.98135583e-01 -4.88869983e-02 -3.65433841e-02 5.98648256e+01] [ 4.88595875e-02 9.98804305e-01 -1.64329337e-03 3.29652460e+00] [ 3.65800251e-02 -1.45265085e-04 9.99330716e-01 2.08425181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.719254154 meters Centerline goodness : 0.999335 with order 1 Centerline is valid? [True, True] Translation: X:59.92, Y:3.29, Z:2.09 [[ 9.97526400e-01 -6.00472583e-02 -3.65432364e-02 5.99237076e+01] [ 6.00272083e-02 9.98195383e-01 -1.64657171e-03 3.29418850e+00] [ 3.65761620e-02 -5.51089712e-04 9.99330716e-01 2.08877163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.779254154 meters Centerline goodness : 0.999147 with order 1 Centerline is valid? [True, True] Translation: X:59.98, Y:3.29, Z:2.09 [[ 9.96713783e-01 -7.22928590e-02 -3.65428087e-02 5.99848508e+01] [ 7.22806802e-02 9.97382956e-01 -1.65600902e-03 3.29079191e+00] [ 3.65668922e-02 -9.90772055e-04 9.99330716e-01 2.09126658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.839254154 meters Centerline goodness : 0.999340 with order 1 Centerline is valid? [True, True] Translation: X:60.05, Y:3.29, Z:2.09 [[ 9.96205225e-01 -7.89922288e-02 -3.65428087e-02 6.00472709e+01] [ 7.89845491e-02 9.96874465e-01 -1.65600902e-03 3.28952487e+00] [ 3.65594047e-02 -1.23659243e-03 9.99330716e-01 2.09287711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.899254154 meters Centerline goodness : 0.999277 with order 1 Centerline is valid? [True, True] Translation: X:60.11, Y:3.29, Z:2.09 [[ 9.95975212e-01 -8.18412572e-02 -3.65429297e-02 6.01095785e+01] [ 8.18355897e-02 9.96644472e-01 -1.65333498e-03 3.29055982e+00] [ 3.65556199e-02 -1.34383154e-03 9.99330716e-01 2.09459167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.959254154 meters Centerline goodness : 0.999406 with order 1 Centerline is valid? [True, True] Translation: X:60.17, Y:3.29, Z:2.10 [[ 9.95609445e-01 -8.61767845e-02 -3.65430494e-02 6.01716838e+01] [ 8.61741280e-02 9.96278724e-01 -1.65068653e-03 3.28829748e+00] [ 3.65493134e-02 -1.50562631e-03 9.99330716e-01 2.09510808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.019254154 meters Centerline goodness : 0.999149 with order 1 Centerline is valid? [True, True] Translation: X:60.23, Y:3.29, Z:2.10 [[ 9.95775321e-01 -8.42383881e-02 -3.65431691e-02 6.02333722e+01] [ 8.42345260e-02 9.96444594e-01 -1.64803186e-03 3.28884084e+00] [ 3.65520708e-02 -1.43712707e-03 9.99330716e-01 2.09586498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.079254154 meters Centerline goodness : 0.999022 with order 1 Centerline is valid? [True, True] Translation: X:60.29, Y:3.29, Z:2.10 [[ 9.96482260e-01 -7.54168152e-02 -3.65432575e-02 6.02949990e+01] [ 7.54070982e-02 9.97151473e-01 -1.64606815e-03 3.29204231e+00] [ 3.65633043e-02 -1.11534330e-03 9.99330716e-01 2.09783212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.139254154 meters Centerline goodness : 0.998848 with order 1 Centerline is valid? [True, True] Translation: X:60.36, Y:3.30, Z:2.10 [[ 9.97321480e-01 -6.33596733e-02 -3.65433737e-02 6.03560884e+01] [ 6.33419581e-02 9.97990529e-01 -1.64348510e-03 3.29679356e+00] [ 3.65740715e-02 -6.75645857e-04 9.99330716e-01 2.10148648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.199254154 meters Centerline goodness : 0.999168 with order 1 Centerline is valid? [True, True] Translation: X:60.42, Y:3.30, Z:2.10 [[ 9.97735450e-01 -5.64672415e-02 -3.65434316e-02 6.04161881e+01] [ 5.64449512e-02 9.98404362e-01 -1.64219677e-03 3.30047193e+00] [ 3.65778518e-02 -4.24214280e-04 9.99330716e-01 2.10418049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.259254154 meters Centerline goodness : 0.999127 with order 1 Centerline is valid? [True, True] Translation: X:60.47, Y:3.30, Z:2.11 [[ 9.97969701e-01 -5.21637259e-02 -3.65434316e-02 6.04747486e+01] [ 5.21385509e-02 9.98638511e-01 -1.64219677e-03 3.30343445e+00] [ 3.65793412e-02 -2.66458951e-04 9.99330716e-01 2.10724254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.319254154 meters Centerline goodness : 0.999192 with order 1 Centerline is valid? [True, True] Translation: X:60.53, Y:3.30, Z:2.11 [[ 9.97775263e-01 -5.57595923e-02 -3.65430240e-02 6.05325676e+01] [ 5.57364972e-02 9.98444148e-01 -1.65121701e-03 3.30388568e+00] [ 3.65782397e-02 -3.89236670e-04 9.99330716e-01 2.10939781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.379254154 meters Centerline goodness : 0.999002 with order 1 Centerline is valid? [True, True] Translation: X:60.59, Y:3.30, Z:2.11 [[ 9.97208448e-01 -6.51149261e-02 -3.65425514e-02 6.05911471e+01] [ 6.50977245e-02 9.97877510e-01 -1.66161127e-03 3.30309374e+00] [ 3.65731859e-02 -7.21864149e-04 9.99330717e-01 2.11114532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.439254154 meters Centerline goodness : 0.999050 with order 1 Centerline is valid? [True, True] Translation: X:60.65, Y:3.30, Z:2.11 [[ 9.96209266e-01 -7.89415741e-02 -3.65421249e-02 6.06511429e+01] [ 7.89333134e-02 9.96878498e-01 -1.67093888e-03 3.30141423e+00] [ 3.65599651e-02 -1.21978621e-03 9.99330717e-01 2.11389309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.499254154 meters Centerline goodness : 0.999048 with order 1 Centerline is valid? [True, True] Translation: X:60.71, Y:3.30, Z:2.12 [[ 9.95800089e-01 -8.39455642e-02 -3.65420949e-02 6.07128257e+01] [ 8.39406418e-02 9.96469354e-01 -1.67159444e-03 3.30263528e+00] [ 3.65534006e-02 -1.40279301e-03 9.99330717e-01 2.11714092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.559254154 meters Centerline goodness : 0.998941 with order 1 Centerline is valid? [True, True] Translation: X:60.77, Y:3.30, Z:2.12 [[ 9.95600326e-01 -8.62824253e-02 -3.65422185e-02 6.07746435e+01] [ 8.62791728e-02 9.96269602e-01 -1.66888728e-03 3.30498274e+00] [ 3.65498971e-02 -1.49128767e-03 9.99330717e-01 2.12060222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.619254154 meters Centerline goodness : 0.999239 with order 1 Centerline is valid? [True, True] Translation: X:60.84, Y:3.31, Z:2.12 [[ 9.95725605e-01 -8.48243897e-02 -3.65423412e-02 6.08359722e+01] [ 8.48202558e-02 9.96394876e-01 -1.66619680e-03 3.30833510e+00] [ 3.65519356e-02 -1.44045591e-03 9.99330717e-01 2.12410571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.679254154 meters Centerline goodness : 0.999005 with order 1 Centerline is valid? [True, True] Translation: X:60.90, Y:3.31, Z:2.13 [[ 9.96183947e-01 -7.92602958e-02 -3.65424319e-02 6.08977683e+01] [ 7.92524959e-02 9.96853185e-01 -1.66420484e-03 3.31221647e+00] [ 3.65593450e-02 -1.23822479e-03 9.99330717e-01 2.12723653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.739254154 meters Centerline goodness : 0.998919 with order 1 Centerline is valid? [True, True] Translation: X:60.96, Y:3.32, Z:2.13 [[ 9.96799090e-01 -7.11070663e-02 -3.65425573e-02 6.09591145e+01] [ 7.10938922e-02 9.97468244e-01 -1.66144696e-03 3.31677300e+00] [ 3.65681811e-02 -9.41823806e-04 9.99330717e-01 2.12950854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.799254154 meters Centerline goodness : 0.999127 with order 1 Centerline is valid? [True, True] Translation: X:61.02, Y:3.32, Z:2.13 [[ 9.97277584e-01 -6.40472958e-02 -3.65426497e-02 6.10200762e+01] [ 6.40294585e-02 9.97946629e-01 -1.65941266e-03 3.32164649e+00] [ 3.65738950e-02 -6.84911020e-04 9.99330717e-01 2.13124064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.859254154 meters Centerline goodness : 0.999255 with order 1 Centerline is valid? [True, True] Translation: X:61.08, Y:3.33, Z:2.13 [[ 9.97545233e-01 -5.97338882e-02 -3.65427112e-02 6.10802664e+01] [ 5.97132073e-02 9.98214197e-01 -1.65805744e-03 3.32534439e+00] [ 3.65764953e-02 -5.28095194e-04 9.99330717e-01 2.13138453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.919254154 meters Centerline goodness : 0.999234 with order 1 Centerline is valid? [True, True] Translation: X:61.14, Y:3.33, Z:2.13 [[ 9.97598083e-01 -5.88446639e-02 -3.65427112e-02 6.11398460e+01] [ 5.88233867e-02 9.98267028e-01 -1.65805744e-03 3.32898543e+00] [ 3.65769515e-02 -4.95491109e-04 9.99330717e-01 2.13255758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.979254154 meters Centerline goodness : 0.999126 with order 1 Centerline is valid? [True, True] Translation: X:61.20, Y:3.33, Z:2.13 [[ 9.97530508e-01 -5.99793352e-02 -3.65426501e-02 6.11996622e+01] [ 5.99587697e-02 9.98199475e-01 -1.65940160e-03 3.33249703e+00] [ 3.65763840e-02 -5.35748625e-04 9.99330717e-01 2.13385413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.039254154 meters Centerline goodness : 0.999297 with order 1 Centerline is valid? [True, True] Translation: X:61.26, Y:3.34, Z:2.14 [[ 9.97343146e-01 -6.30181598e-02 -3.65425893e-02 6.12590621e+01] [ 6.29995834e-02 9.98012171e-01 -1.66074026e-03 3.33596719e+00] [ 3.65746057e-02 -6.45839992e-04 9.99330717e-01 2.13549837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.099254154 meters Centerline goodness : 0.999426 with order 1 Centerline is valid? [True, True] Translation: X:61.32, Y:3.34, Z:2.14 [[ 9.96836335e-01 -7.05830260e-02 -3.65425593e-02 6.13181332e+01] [ 7.05695019e-02 9.97505481e-01 -1.66139944e-03 3.33977669e+00] [ 3.65686698e-02 -9.22646883e-04 9.99330717e-01 2.13747976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.159254154 meters Centerline goodness : 0.999214 with order 1 Centerline is valid? [True, True] Translation: X:61.38, Y:3.34, Z:2.14 [[ 9.96074615e-01 -8.06226076e-02 -3.65425300e-02 6.13796506e+01] [ 8.06158021e-02 9.96743864e-01 -1.66204501e-03 3.34317074e+00] [ 3.65575409e-02 -1.29038453e-03 9.99330717e-01 2.14112860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.219254154 meters Centerline goodness : 0.999215 with order 1 Centerline is valid? [True, True] Translation: X:61.44, Y:3.35, Z:2.14 [[ 9.95491646e-01 -8.75272533e-02 -3.65426178e-02 6.14419996e+01] [ 8.75251593e-02 9.96160926e-01 -1.66011224e-03 3.34657611e+00] [ 3.65476330e-02 -1.54577058e-03 9.99330717e-01 2.14492338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.279254154 meters Centerline goodness : 0.999279 with order 1 Centerline is valid? [True, True] Translation: X:61.50, Y:3.35, Z:2.15 [[ 9.94639495e-01 -9.67310895e-02 -3.65427395e-02 6.15045154e+01] [ 9.67352843e-02 9.95308765e-01 -1.65742812e-03 3.35021958e+00] [ 3.65316337e-02 -1.88642883e-03 9.99330717e-01 2.14729290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.339254154 meters Centerline goodness : 0.999256 with order 1 Centerline is valid? [True, True] Translation: X:61.57, Y:3.35, Z:2.15 [[ 9.94032637e-01 -1.02780033e-01 -3.65428592e-02 6.15660876e+01] [ 1.02788396e-01 9.94701869e-01 -1.65478446e-03 3.35397474e+00] [ 3.65193291e-02 -2.11127213e-03 9.99330717e-01 2.15004625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.399254154 meters Centerline goodness : 0.999235 with order 1 Centerline is valid? [True, True] Translation: X:61.63, Y:3.36, Z:2.15 [[ 9.93839804e-01 -1.04628174e-01 -3.65429783e-02 6.16288869e+01] [ 1.04637877e-01 9.94509017e-01 -1.65215059e-03 3.35759447e+00] [ 3.65151829e-02 -2.18180666e-03 9.99330717e-01 2.15308744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.459254154 meters Centerline goodness : 0.999320 with order 1 Centerline is valid? [True, True] Translation: X:61.69, Y:3.36, Z:2.15 [[ 9.93917231e-01 -1.03890017e-01 -3.65431634e-02 6.16895415e+01] [ 1.03899374e-01 9.94586449e-01 -1.64804530e-03 3.36332094e+00] [ 3.65165506e-02 -2.15879118e-03 9.99330717e-01 2.15440324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.519254154 meters Centerline goodness : 0.999381 with order 1 Centerline is valid? [True, True] Translation: X:61.75, Y:3.37, Z:2.15 [[ 9.94612037e-01 -9.70128150e-02 -3.65432542e-02 6.17501887e+01] [ 9.70176169e-02 9.95281303e-01 -1.64603094e-03 3.37060182e+00] [ 3.65305037e-02 -1.90817725e-03 9.99330717e-01 2.15463023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.579254154 meters Centerline goodness : 0.999185 with order 1 Centerline is valid? [True, True] Translation: X:61.81, Y:3.38, Z:2.16 [[ 9.95701132e-01 -8.51107515e-02 -3.65433423e-02 6.18120283e+01] [ 8.51076207e-02 9.96370408e-01 -1.64407258e-03 3.38112939e+00] [ 3.65506331e-02 -1.47311199e-03 9.99330717e-01 2.15706928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.639254154 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:61.87, Y:3.39, Z:2.16 [[ 9.96783854e-01 -7.13198719e-02 -3.65434626e-02 6.18725482e+01] [ 7.13075753e-02 9.97453024e-01 -1.64139331e-03 3.39305274e+00] [ 3.65674513e-02 -9.69711361e-04 9.99330717e-01 2.15951670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.699254154 meters Centerline goodness : 0.999329 with order 1 Centerline is valid? [True, True] Translation: X:61.93, Y:3.40, Z:2.16 [[ 9.97415112e-01 -6.18680479e-02 -3.65436504e-02 6.19343980e+01] [ 6.18495623e-02 9.98084140e-01 -1.63720096e-03 3.40166450e+00] [ 3.65749284e-02 -6.27239807e-04 9.99330717e-01 2.16403028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.759254154 meters Centerline goodness : 0.999412 with order 1 Centerline is valid? [True, True] Translation: X:62.00, Y:3.41, Z:2.17 [[ 9.97957707e-01 -5.23924447e-02 -3.65437710e-02 6.19952155e+01] [ 5.23677047e-02 9.98626533e-01 -1.63450512e-03 3.40971151e+00] [ 3.65792151e-02 -2.82546424e-04 9.99330717e-01 2.16701965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.819254154 meters Centerline goodness : 0.999540 with order 1 Centerline is valid? [True, True] Translation: X:62.05, Y:3.42, Z:2.17 [[ 9.98501003e-01 -4.07467200e-02 -3.65438310e-02 6.20549772e+01] [ 4.07142282e-02 9.99169497e-01 -1.63316316e-03 3.41979718e+00] [ 3.65800273e-02 1.42861176e-04 9.99330717e-01 2.16980019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.879254154 meters Centerline goodness : 0.999605 with order 1 Centerline is valid? [True, True] Translation: X:62.11, Y:3.43, Z:2.17 [[ 9.98638600e-01 -3.72222333e-02 -3.65438310e-02 6.21111832e+01] [ 3.71873823e-02 9.99306976e-01 -1.63316316e-03 3.42597758e+00] [ 3.65792952e-02 2.71970355e-04 9.99330717e-01 2.17150641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.939254154 meters Centerline goodness : 0.999519 with order 1 Centerline is valid? [True, True] Translation: X:62.17, Y:3.43, Z:2.17 [[ 9.98531040e-01 -4.00040709e-02 -3.65436213e-02 6.21690856e+01] [ 3.99709107e-02 9.99199501e-01 -1.63784281e-03 3.42752184e+00] [ 3.65798885e-02 1.74755061e-04 9.99330717e-01 2.17262922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.999254154 meters Centerline goodness : 0.999495 with order 1 Centerline is valid? [True, True] Translation: X:62.23, Y:3.43, Z:2.17 [[ 9.98286594e-01 -4.56998382e-02 -3.65431515e-02 6.22267520e+01] [ 4.56701107e-02 9.98955216e-01 -1.64825773e-03 3.42950454e+00] [ 3.65802969e-02 -2.34961746e-05 9.99330717e-01 2.17382471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.059254154 meters Centerline goodness : 0.999387 with order 1 Centerline is valid? [True, True] Translation: X:62.29, Y:3.43, Z:2.18 [[ 9.97756832e-01 -5.60886562e-02 -3.65426846e-02 6.22852862e+01] [ 5.60655134e-02 9.98425715e-01 -1.65854406e-03 3.43045691e+00] [ 3.65781815e-02 -3.93960707e-04 9.99330717e-01 2.17801983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.119254154 meters Centerline goodness : 0.999544 with order 1 Centerline is valid? [True, True] Translation: X:62.35, Y:3.43, Z:2.18 [[ 9.97114925e-01 -6.65318761e-02 -3.65422510e-02 6.23454336e+01] [ 6.65153897e-02 9.97784005e-01 -1.66804361e-03 3.42801245e+00] [ 3.65722516e-02 -7.67390886e-04 9.99330717e-01 2.18070565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.179254154 meters Centerline goodness : 0.999350 with order 1 Centerline is valid? [True, True] Translation: X:62.41, Y:3.43, Z:2.18 [[ 9.96382375e-01 -7.67256108e-02 -3.65423407e-02 6.24064337e+01] [ 7.67160398e-02 9.97051590e-01 -1.66607608e-03 3.42586750e+00] [ 3.65624296e-02 -1.14333482e-03 9.99330717e-01 2.18318710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.239254154 meters Centerline goodness : 0.999371 with order 1 Centerline is valid? [True, True] Translation: X:62.47, Y:3.43, Z:2.19 [[ 9.95940695e-01 -8.22604532e-02 -3.65424308e-02 6.24684894e+01] [ 8.22546730e-02 9.96609954e-01 -1.66409890e-03 3.42677031e+00] [ 3.65554398e-02 -1.34844188e-03 9.99330717e-01 2.18622850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.299254154 meters Centerline goodness : 0.999416 with order 1 Centerline is valid? [True, True] Translation: X:62.53, Y:3.43, Z:2.19 [[ 9.95439780e-01 -8.81151860e-02 -3.65425502e-02 6.25305157e+01] [ 8.81134374e-02 9.96109061e-01 -1.66147118e-03 3.42610786e+00] [ 3.65467662e-02 -1.56599521e-03 9.99330717e-01 2.18876595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.359254154 meters Centerline goodness : 0.999292 with order 1 Centerline is valid? [True, True] Translation: X:62.59, Y:3.42, Z:2.19 [[ 9.95220731e-01 -9.05556750e-02 -3.65426680e-02 6.25937525e+01] [ 9.05556626e-02 9.95890014e-01 -1.65887688e-03 3.42401012e+00] [ 3.65426989e-02 -1.65819686e-03 9.99330717e-01 2.19039336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.419254154 meters Centerline goodness : 0.999356 with order 1 Centerline is valid? [True, True] Translation: X:62.66, Y:3.42, Z:2.19 [[ 9.95269378e-01 -9.00193670e-02 -3.65428447e-02 6.26563219e+01] [ 9.00191368e-02 9.95938661e-01 -1.65497576e-03 3.42468958e+00] [ 3.65434117e-02 -1.64240864e-03 9.99330717e-01 2.19275581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.479254154 meters Centerline goodness : 0.999376 with order 1 Centerline is valid? [True, True] Translation: X:62.72, Y:3.43, Z:2.20 [[ 9.95719042e-01 -8.49011028e-02 -3.65430238e-02 6.27188812e+01] [ 8.48975768e-02 9.96388316e-01 -1.65101212e-03 3.42709571e+00] [ 3.65512146e-02 -1.45846996e-03 9.99330717e-01 2.19506053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.539254154 meters Centerline goodness : 0.999419 with order 1 Centerline is valid? [True, True] Translation: X:62.78, Y:3.43, Z:2.20 [[ 9.96427732e-01 -7.61339224e-02 -3.65431432e-02 6.27811591e+01] [ 7.61246029e-02 9.97096950e-01 -1.64836396e-03 3.43026096e+00] [ 3.65625531e-02 -1.13935670e-03 9.99330717e-01 2.19562979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.599254154 meters Centerline goodness : 0.999416 with order 1 Centerline is valid? [True, True] Translation: X:62.84, Y:3.43, Z:2.19 [[ 9.97334692e-01 -6.31514267e-02 -3.65432671e-02 6.28419953e+01] [ 6.31334939e-02 9.98003734e-01 -1.64561274e-03 3.43497616e+00] [ 3.65742398e-02 -6.65877456e-04 9.99330717e-01 2.19473984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.659254154 meters Centerline goodness : 0.999309 with order 1 Centerline is valid? [True, True] Translation: X:62.90, Y:3.44, Z:2.20 [[ 9.97875153e-01 -5.39422105e-02 -3.65433586e-02 6.29026617e+01] [ 5.39181768e-02 9.98544004e-01 -1.64357951e-03 3.43947162e+00] [ 3.65788099e-02 -3.30264109e-04 9.99330717e-01 2.19757172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.719254154 meters Centerline goodness : 0.999308 with order 1 Centerline is valid? [True, True] Translation: X:62.96, Y:3.44, Z:2.20 [[ 9.98382319e-01 -4.35582779e-02 -3.65434187e-02 6.29623349e+01] [ 4.35273364e-02 9.99050887e-01 -1.64224189e-03 3.44258124e+00] [ 3.65802680e-02 4.89475912e-05 9.99330717e-01 2.20236119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.779254154 meters Centerline goodness : 0.999460 with order 1 Centerline is valid? [True, True] Translation: X:63.02, Y:3.44, Z:2.21 [[ 9.98410544e-01 -4.29065182e-02 -3.65433579e-02 6.30197531e+01] [ 4.28750908e-02 9.99079089e-01 -1.64359191e-03 3.44496306e+00] [ 3.65802256e-02 7.41796981e-05 9.99330717e-01 2.20512959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.839254154 meters Centerline goodness : 0.999460 with order 1 Centerline is valid? [True, True] Translation: X:63.08, Y:3.45, Z:2.21 [[ 9.98397793e-01 -4.32026054e-02 -3.65428683e-02 6.30780284e+01] [ 4.31709805e-02 9.99066329e-01 -1.65440655e-03 3.44767622e+00] [ 3.65802240e-02 7.41643957e-05 9.99330717e-01 2.20726884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.899254154 meters Centerline goodness : 0.999394 with order 1 Centerline is valid? [True, True] Translation: X:63.14, Y:3.45, Z:2.21 [[ 9.98445924e-01 -4.20760130e-02 -3.65423748e-02 6.31362293e+01] [ 4.20432374e-02 9.99114404e-01 -1.66523635e-03 3.44895164e+00] [ 3.65800796e-02 1.26288706e-04 9.99330717e-01 2.21076037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.959254154 meters Centerline goodness : 0.999288 with order 1 Centerline is valid? [True, True] Translation: X:63.19, Y:3.45, Z:2.21 [[ 9.98440185e-01 -4.22123609e-02 -3.65419380e-02 6.31942998e+01] [ 4.21793278e-02 9.99108652e-01 -1.67476740e-03 3.44879444e+00] [ 3.65800623e-02 1.30840690e-04 9.99330717e-01 2.21340849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.019254154 meters Centerline goodness : 0.999181 with order 1 Centerline is valid? [True, True] Translation: X:63.25, Y:3.45, Z:2.22 [[ 9.98300607e-01 -4.53938497e-02 -3.65417144e-02 6.32527457e+01] [ 4.53627688e-02 9.98969168e-01 -1.67963195e-03 3.44704531e+00] [ 3.65802910e-02 1.91442520e-05 9.99330717e-01 2.21525498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.079254154 meters Centerline goodness : 0.999163 with order 1 Centerline is valid? [True, True] Translation: X:63.31, Y:3.45, Z:2.22 [[ 9.98126084e-01 -4.90821709e-02 -3.65412241e-02 6.33104613e+01] [ 4.90531725e-02 9.98794738e-01 -1.69023107e-03 3.44620251e+00] [ 3.65801426e-02 -1.05399247e-04 9.99330717e-01 2.21690804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.139254154 meters Centerline goodness : 0.999206 with order 1 Centerline is valid? [True, True] Translation: X:63.37, Y:3.44, Z:2.22 [[ 9.97796023e-01 -5.53883688e-02 -3.65407222e-02 6.33681271e+01] [ 5.53632013e-02 9.98464833e-01 -1.70101463e-03 3.44288013e+00] [ 3.65788425e-02 -3.25745722e-04 9.99330717e-01 2.21759054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.199254154 meters Centerline goodness : 0.999335 with order 1 Centerline is valid? [True, True] Translation: X:63.43, Y:3.44, Z:2.22 [[ 9.97603923e-01 -5.87471336e-02 -3.65402138e-02 6.34274196e+01] [ 5.87238205e-02 9.98272800e-01 -1.71186484e-03 3.44205947e+00] [ 3.65776687e-02 -4.38017879e-04 9.99330717e-01 2.21944580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.259254154 meters Centerline goodness : 0.999190 with order 1 Centerline is valid? [True, True] Translation: X:63.49, Y:3.44, Z:2.22 [[ 9.97444750e-01 -6.13904630e-02 -3.65401513e-02 6.34874419e+01] [ 6.13688735e-02 9.98113684e-01 -1.71319953e-03 3.43970422e+00] [ 3.65763991e-02 -5.33606039e-04 9.99330717e-01 2.22190287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.319254154 meters Centerline goodness : 0.999043 with order 1 Centerline is valid? [True, True] Translation: X:63.55, Y:3.44, Z:2.23 [[ 9.97381261e-01 -6.24134429e-02 -3.65401573e-02 6.35470224e+01] [ 6.23925442e-02 9.98050217e-01 -1.71307140e-03 3.43734237e+00] [ 3.65758306e-02 -5.71248062e-04 9.99330717e-01 2.22557898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.379254154 meters Centerline goodness : 0.999193 with order 1 Centerline is valid? [True, True] Translation: X:63.61, Y:3.44, Z:2.23 [[ 9.97420511e-01 -6.17830524e-02 -3.65400966e-02 6.36069522e+01] [ 6.17616835e-02 9.98089453e-01 -1.71436529e-03 3.43531860e+00] [ 3.65762037e-02 -5.46834773e-04 9.99330717e-01 2.22764157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.439254154 meters Centerline goodness : 0.999151 with order 1 Centerline is valid? [True, True] Translation: X:63.67, Y:3.43, Z:2.23 [[ 9.97638868e-01 -5.81507895e-02 -3.65400349e-02 6.36667106e+01] [ 5.81269368e-02 9.98307726e-01 -1.71567871e-03 3.43279164e+00] [ 3.65779672e-02 -4.12332534e-04 9.99330717e-01 2.23014416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.499254154 meters Centerline goodness : 0.999091 with order 1 Centerline is valid? [True, True] Translation: X:63.73, Y:3.43, Z:2.23 [[ 9.97879410e-01 -5.38656971e-02 -3.65399716e-02 6.37266849e+01] [ 5.38389227e-02 9.98548157e-01 -1.71702611e-03 3.43254923e+00] [ 3.65794101e-02 -2.53887704e-04 9.99330717e-01 2.23213691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.559254154 meters Centerline goodness : 0.999026 with order 1 Centerline is valid? [True, True] Translation: X:63.78, Y:3.43, Z:2.23 [[ 9.98249580e-01 -4.65038900e-02 -3.65399077e-02 6.37843707e+01] [ 4.64721340e-02 9.98918109e-01 -1.71838365e-03 3.43234735e+00] [ 3.65802871e-02 1.72882703e-05 9.99330717e-01 2.23345236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.619254154 meters Centerline goodness : 0.999048 with order 1 Centerline is valid? [True, True] Translation: X:63.84, Y:3.43, Z:2.23 [[ 9.98396848e-01 -4.32271540e-02 -3.65396746e-02 6.38420742e+01] [ 4.31930230e-02 9.99065260e-01 -1.72332732e-03 3.43095375e+00] [ 3.65800140e-02 1.42305557e-04 9.99330717e-01 2.23467225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.679254154 meters Centerline goodness : 0.999155 with order 1 Centerline is valid? [True, True] Translation: X:63.90, Y:3.43, Z:2.24 [[ 9.98328759e-01 -4.47725155e-02 -3.65391622e-02 6.39005308e+01] [ 4.47390241e-02 9.98997203e-01 -1.73412283e-03 3.42941759e+00] [ 3.65801619e-02 9.64982330e-05 9.99330717e-01 2.23592597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.739254154 meters Centerline goodness : 0.999219 with order 1 Centerline is valid? [True, True] Translation: X:63.96, Y:3.43, Z:2.24 [[ 9.98129141e-01 -4.90218818e-02 -3.65386512e-02 6.39588016e+01] [ 4.89908444e-02 9.98797704e-01 -1.74482490e-03 3.42807802e+00] [ 3.65802555e-02 -4.84987991e-05 9.99330717e-01 2.23817292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.799254154 meters Centerline goodness : 0.999115 with order 1 Centerline is valid? [True, True] Translation: X:64.02, Y:3.43, Z:2.24 [[ 9.97808676e-01 -5.51616699e-02 -3.65381366e-02 6.40166795e+01] [ 5.51343540e-02 9.98477401e-01 -1.75553504e-03 3.42749187e+00] [ 3.65793419e-02 -2.62818462e-04 9.99330717e-01 2.23940226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.859254154 meters Centerline goodness : 0.999076 with order 1 Centerline is valid? [True, True] Translation: X:64.08, Y:3.42, Z:2.24 [[ 9.97097423e-01 -6.67961947e-02 -3.65376261e-02 6.40752376e+01] [ 6.67762936e-02 9.97766409e-01 -1.76609730e-03 3.42477011e+00] [ 3.65739845e-02 -6.78876177e-04 9.99330717e-01 2.24111448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.919254154 meters Centerline goodness : 0.999244 with order 1 Centerline is valid? [True, True] Translation: X:64.13, Y:3.42, Z:2.24 [[ 9.96102484e-01 -8.02800106e-02 -3.65371192e-02 6.41330099e+01] [ 8.02687803e-02 9.96771672e-01 -1.77652209e-03 3.42176316e+00] [ 3.65617846e-02 -1.16319192e-03 9.99330717e-01 2.24417533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.979254154 meters Centerline goodness : 0.999396 with order 1 Centerline is valid? [True, True] Translation: X:64.19, Y:3.42, Z:2.25 [[ 9.95053813e-01 -9.23740169e-02 -3.65369628e-02 6.41929853e+01] [ 9.23707985e-02 9.95723088e-01 -1.77973222e-03 3.42075135e+00] [ 3.65450985e-02 -1.60401910e-03 9.99330717e-01 2.24744400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.03925415399999 meters Centerline goodness : 0.999184 with order 1 Centerline is valid? [True, True] Translation: X:64.26, Y:3.42, Z:2.25 [[ 9.94517872e-01 -9.79757871e-02 -3.65369321e-02 6.42552722e+01] [ 9.79763145e-02 9.95187154e-01 -1.78036182e-03 3.42268608e+00] [ 3.65355179e-02 -1.80915230e-03 9.99330717e-01 2.25084044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.099254154 meters Centerline goodness : 0.999246 with order 1 Centerline is valid? [True, True] Translation: X:64.32, Y:3.43, Z:2.25 [[ 9.94142677e-01 -1.01712249e-01 -3.65370630e-02 6.43172225e+01] [ 1.01715390e-01 9.94811952e-01 -1.77767289e-03 3.42557617e+00] [ 3.65283180e-02 -1.94912113e-03 9.99330717e-01 2.25405537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.159254154 meters Centerline goodness : 0.999059 with order 1 Centerline is valid? [True, True] Translation: X:64.38, Y:3.43, Z:2.26 [[ 9.94260430e-01 -1.00554616e-01 -3.65371930e-02 6.43789022e+01] [ 1.00557076e-01 9.94929708e-01 -1.77499553e-03 3.43039372e+00] [ 3.65304228e-02 -1.90926546e-03 9.99330717e-01 2.25730042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.219254154 meters Centerline goodness : 0.999038 with order 1 Centerline is valid? [True, True] Translation: X:64.44, Y:3.44, Z:2.26 [[ 9.94508480e-01 -9.80709298e-02 -3.65373232e-02 6.44413698e+01] [ 9.80718162e-02 9.95177762e-01 -1.77231296e-03 3.43657489e+00] [ 3.65349439e-02 -1.82070137e-03 9.99330717e-01 2.25818480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.27925415399999 meters Centerline goodness : 0.998972 with order 1 Centerline is valid? [True, True] Translation: X:64.50, Y:3.44, Z:2.26 [[ 9.94642129e-01 -9.67059838e-02 -3.65374887e-02 6.45032663e+01] [ 9.67060770e-02 9.95311411e-01 -1.76889272e-03 3.44345989e+00] [ 3.65372420e-02 -1.77398198e-03 9.99330717e-01 2.25788860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.33925415399999 meters Centerline goodness : 0.998911 with order 1 Centerline is valid? [True, True] Translation: X:64.56, Y:3.45, Z:2.26 [[ 9.94785524e-01 -9.52195541e-02 -3.65376194e-02 6.45648735e+01] [ 9.52187463e-02 9.95454806e-01 -1.76619003e-03 3.44925287e+00] [ 3.65397246e-02 -1.72208604e-03 9.99330718e-01 2.25883792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.39925415399999 meters Centerline goodness : 0.999180 with order 1 Centerline is valid? [True, True] Translation: X:64.63, Y:3.46, Z:2.26 [[ 9.95330726e-01 -8.93405715e-02 -3.65377508e-02 6.46268274e+01] [ 8.93359092e-02 9.95999993e-01 -1.76346811e-03 3.45861577e+00] [ 3.65491487e-02 -1.50889918e-03 9.99330718e-01 2.26282070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.45925415399999 meters Centerline goodness : 0.999199 with order 1 Centerline is valid? [True, True] Translation: X:64.69, Y:3.47, Z:2.27 [[ 9.95854749e-01 -8.32964683e-02 -3.65378815e-02 6.46872755e+01] [ 8.32878425e-02 9.96523976e-01 -1.76075509e-03 3.46625049e+00] [ 3.65575396e-02 -1.28970500e-03 9.99330718e-01 2.26593827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.519254154 meters Centerline goodness : 0.999030 with order 1 Centerline is valid? [True, True] Translation: X:64.75, Y:3.48, Z:2.27 [[ 9.96677169e-01 -7.27983304e-02 -3.65379778e-02 6.47482617e+01] [ 7.27827266e-02 9.97346270e-01 -1.75875505e-03 3.47628927e+00] [ 3.65690503e-02 -9.06422645e-04 9.99330718e-01 2.26913644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.579254154 meters Centerline goodness : 0.999112 with order 1 Centerline is valid? [True, True] Translation: X:64.81, Y:3.48, Z:2.27 [[ 9.97354175e-01 -6.28460045e-02 -3.65380403e-02 6.48094466e+01] [ 6.28237702e-02 9.98023089e-01 -1.75745533e-03 3.48424740e+00] [ 3.65762569e-02 -5.42652031e-04 9.99330718e-01 2.27286554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.639254154 meters Centerline goodness : 0.999024 with order 1 Centerline is valid? [True, True] Translation: X:64.87, Y:3.49, Z:2.28 [[ 9.97812078e-01 -5.51001208e-02 -3.65381046e-02 6.48682710e+01] [ 5.50727424e-02 9.98480801e-01 -1.75611675e-03 3.49021692e+00] [ 3.65793582e-02 -2.59979116e-04 9.99330718e-01 2.27535514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.69925415399999 meters Centerline goodness : 0.999109 with order 1 Centerline is valid? [True, True] Translation: X:64.93, Y:3.50, Z:2.28 [[ 9.98045963e-01 -5.06875174e-02 -3.65380730e-02 6.49263034e+01] [ 5.06571583e-02 9.98714557e-01 -1.75677376e-03 3.49518895e+00] [ 3.65801519e-02 -9.75739873e-05 9.99330718e-01 2.27768813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.75925415399999 meters Centerline goodness : 0.999172 with order 1 Centerline is valid? [True, True] Translation: X:64.98, Y:3.50, Z:2.28 [[ 9.98103499e-01 -4.95419856e-02 -3.65376184e-02 6.49841704e+01] [ 4.95105149e-02 9.98772041e-01 -1.76617877e-03 3.49838265e+00] [ 3.65802517e-02 -4.61670895e-05 9.99330718e-01 2.27946280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.81925415399999 meters Centerline goodness : 0.999002 with order 1 Centerline is valid? [True, True] Translation: X:65.04, Y:3.50, Z:2.28 [[ 9.98066810e-01 -5.02760683e-02 -3.65371034e-02 6.50413474e+01] [ 5.02447015e-02 9.98735357e-01 -1.77677010e-03 3.49997785e+00] [ 3.65802260e-02 -6.24605849e-05 9.99330718e-01 2.28142009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.879254154 meters Centerline goodness : 0.999005 with order 1 Centerline is valid? [True, True] Translation: X:65.10, Y:3.50, Z:2.28 [[ 9.97878575e-01 -5.38832660e-02 -3.65368816e-02 6.50994099e+01] [ 5.38541493e-02 9.98547223e-01 -1.78131938e-03 3.50108093e+00] [ 3.65797849e-02 -1.90122234e-04 9.99330718e-01 2.28486145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.939254154 meters Centerline goodness : 0.998898 with order 1 Centerline is valid? [True, True] Translation: X:65.16, Y:3.50, Z:2.29 [[ 9.97715260e-01 -5.68274072e-02 -3.65363680e-02 6.51569339e+01] [ 5.67998801e-02 9.98383976e-01 -1.79179195e-03 3.50153454e+00] [ 3.65791472e-02 -2.87563149e-04 9.99330718e-01 2.28700703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.999254154 meters Centerline goodness : 0.998923 with order 1 Centerline is valid? [True, True] Translation: X:65.21, Y:3.50, Z:2.29 [[ 9.97525127e-01 -6.00728991e-02 -3.65358355e-02 6.52148782e+01] [ 6.00471525e-02 9.98193914e-01 -1.80258369e-03 3.50173833e+00] [ 3.65781351e-02 -3.95750360e-04 9.99330718e-01 2.28733201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.05925415399999 meters Centerline goodness : 0.998967 with order 1 Centerline is valid? [True, True] Translation: X:65.27, Y:3.50, Z:2.29 [[ 9.97472182e-01 -6.09457983e-02 -3.65356719e-02 6.52746709e+01] [ 6.09205157e-02 9.98140987e-01 -1.80589450e-03 3.50353728e+00] [ 3.65778133e-02 -4.24442446e-04 9.99330718e-01 2.28897600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.11925415399999 meters Centerline goodness : 0.999050 with order 1 Centerline is valid? [True, True] Translation: X:65.33, Y:3.50, Z:2.29 [[ 9.97491912e-01 -6.06220751e-02 -3.65356051e-02 6.53343722e+01] [ 6.05965259e-02 9.98160706e-01 -1.80724408e-03 3.50423751e+00] [ 3.65779643e-02 -4.11219387e-04 9.99330718e-01 2.29159567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.17925415399999 meters Centerline goodness : 0.998988 with order 1 Centerline is valid? [True, True] Translation: X:65.39, Y:3.50, Z:2.29 [[ 9.97629973e-01 -5.83060101e-02 -3.65355389e-02 6.53939990e+01] [ 5.82788593e-02 9.98298705e-01 -1.80858248e-03 3.50488764e+00] [ 3.65788324e-02 -3.24953434e-04 9.99330718e-01 2.29430787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.239254154 meters Centerline goodness : 0.999029 with order 1 Centerline is valid? [True, True] Translation: X:65.45, Y:3.51, Z:2.30 [[ 9.97811653e-01 -5.51095661e-02 -3.65354727e-02 6.54522592e+01] [ 5.50802241e-02 9.98480292e-01 -1.80991772e-03 3.50789077e+00] [ 3.65796933e-02 -2.06425031e-04 9.99330718e-01 2.29698706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.299254154 meters Centerline goodness : 0.998986 with order 1 Centerline is valid? [True, True] Translation: X:65.51, Y:3.51, Z:2.30 [[ 9.98164050e-01 -4.83086186e-02 -3.65350136e-02 6.55095697e+01] [ 4.82743833e-02 9.98832456e-01 -1.81913870e-03 3.51058545e+00] [ 3.65802374e-02 5.20936028e-05 9.99330718e-01 2.29936126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.359254154 meters Centerline goodness : 0.999370 with order 1 Centerline is valid? [True, True] Translation: X:65.57, Y:3.51, Z:2.30 [[ 9.98377647e-01 -4.36727028e-02 -3.65344775e-02 6.55673919e+01] [ 4.36349721e-02 9.99045865e-01 -1.82984229e-03 3.51156600e+00] [ 3.65795329e-02 2.32692732e-04 9.99330718e-01 2.30083649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.41925415399999 meters Centerline goodness : 0.999137 with order 1 Centerline is valid? [True, True] Translation: X:65.63, Y:3.51, Z:2.30 [[ 9.98275995e-01 -4.59380962e-02 -3.65339394e-02 6.56256924e+01] [ 4.59014910e-02 9.98944276e-01 -1.84052406e-03 3.51170351e+00] [ 3.65799198e-02 1.60388699e-04 9.99330718e-01 2.30214282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.47925415399999 meters Centerline goodness : 0.999157 with order 1 Centerline is valid? [True, True] Translation: X:65.68, Y:3.51, Z:2.30 [[ 9.98017187e-01 -5.12543257e-02 -3.65333954e-02 6.56841494e+01] [ 5.12208873e-02 9.98685633e-01 -1.85126010e-03 3.51249789e+00] [ 3.65802622e-02 -2.36835305e-05 9.99330718e-01 2.30303785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.53925415399999 meters Centerline goodness : 0.999240 with order 1 Centerline is valid? [True, True] Translation: X:65.74, Y:3.51, Z:2.30 [[ 9.97507240e-01 -6.03709596e-02 -3.65329162e-02 6.57430790e+01] [ 6.03432857e-02 9.98175949e-01 -1.86066836e-03 3.51124340e+00] [ 3.65786086e-02 -3.48486042e-04 9.99330718e-01 2.30404775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.599254154 meters Centerline goodness : 0.998972 with order 1 Centerline is valid? [True, True] Translation: X:65.80, Y:3.51, Z:2.31 [[ 9.97198477e-01 -6.52731009e-02 -3.65324376e-02 6.58006351e+01] [ 6.52483716e-02 9.97867302e-01 -1.87001736e-03 3.51147529e+00] [ 3.65765868e-02 -5.18903600e-04 9.99330718e-01 2.30680337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.659254154 meters Centerline goodness : 0.998908 with order 1 Centerline is valid? [True, True] Translation: X:65.86, Y:3.51, Z:2.31 [[ 9.96992328e-01 -6.83499723e-02 -3.65318829e-02 6.58600028e+01] [ 6.83269122e-02 9.97661213e-01 -1.88079275e-03 3.51314218e+00] [ 3.65749947e-02 -6.20974814e-04 9.99330718e-01 2.31027031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.719254154 meters Centerline goodness : 0.999057 with order 1 Centerline is valid? [True, True] Translation: X:65.92, Y:3.51, Z:2.31 [[ 9.96916873e-01 -6.94418869e-02 -3.65318144e-02 6.59195786e+01] [ 6.94195108e-02 9.97585780e-01 -1.88212286e-03 3.51486355e+00] [ 3.65743167e-02 -6.59700647e-04 9.99330718e-01 2.31459585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.77925415399999 meters Centerline goodness : 0.999056 with order 1 Centerline is valid? [True, True] Translation: X:65.98, Y:3.52, Z:2.32 [[ 9.96963334e-01 -6.87716710e-02 -3.65317459e-02 6.59781527e+01] [ 6.87487965e-02 9.97632225e-01 -1.88345126e-03 3.51720364e+00] [ 3.65747750e-02 -6.33781719e-04 9.99330718e-01 2.31669930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.83925415399999 meters Centerline goodness : 0.999035 with order 1 Centerline is valid? [True, True] Translation: X:66.04, Y:3.52, Z:2.32 [[ 9.97242663e-01 -6.45949867e-02 -3.65316132e-02 6.60373812e+01] [ 6.45692164e-02 9.97911449e-01 -1.88602176e-03 3.51907166e+00] [ 3.65771426e-02 -4.77996269e-04 9.99330718e-01 2.31969102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.89925415399999 meters Centerline goodness : 0.998887 with order 1 Centerline is valid? [True, True] Translation: X:66.10, Y:3.52, Z:2.32 [[ 9.97703173e-01 -5.70423044e-02 -3.65315433e-02 6.60955595e+01] [ 5.70114215e-02 9.98371742e-01 -1.88737311e-03 3.52202365e+00] [ 3.65797207e-02 -1.99677081e-04 9.99330718e-01 2.32141069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.95925415399999 meters Centerline goodness : 0.999099 with order 1 Centerline is valid? [True, True] Translation: X:66.15, Y:3.52, Z:2.32 [[ 9.97966601e-01 -5.22316498e-02 -3.65310597e-02 6.61535214e+01] [ 5.21972030e-02 9.98634996e-01 -1.89668930e-03 3.52471941e+00] [ 3.65802618e-02 -1.39865673e-05 9.99330718e-01 2.32385096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.019254154 meters Centerline goodness : 0.999286 with order 1 Centerline is valid? [True, True] Translation: X:66.21, Y:3.53, Z:2.33 [[ 9.98213836e-01 -4.72722099e-02 -3.65304877e-02 6.62112147e+01] [ 4.72340415e-02 9.98882028e-01 -1.90764232e-03 3.52621484e+00] [ 3.65798261e-02 1.78752387e-04 9.99330718e-01 2.32520767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.079254154 meters Centerline goodness : 0.999266 with order 1 Centerline is valid? [True, True] Translation: X:66.27, Y:3.53, Z:2.33 [[ 9.98251431e-01 -4.64719918e-02 -3.65299209e-02 6.62695896e+01] [ 4.64328928e-02 9.98919569e-01 -1.91843510e-03 3.52627471e+00] [ 3.65796063e-02 2.18890685e-04 9.99330718e-01 2.32622367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.139254154 meters Centerline goodness : 0.999162 with order 1 Centerline is valid? [True, True] Translation: X:66.33, Y:3.53, Z:2.33 [[ 9.98148628e-01 -4.86304769e-02 -3.65293493e-02 6.63275161e+01] [ 4.85924268e-02 9.98816827e-01 -1.92925823e-03 3.52751286e+00] [ 3.65799495e-02 1.50636728e-04 9.99330718e-01 2.32805657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.19925415399999 meters Centerline goodness : 0.999247 with order 1 Centerline is valid? [True, True] Translation: X:66.39, Y:3.53, Z:2.33 [[ 9.97829497e-01 -5.47900002e-02 -3.65287762e-02 6.63851044e+01] [ 5.47556799e-02 9.98497898e-01 -1.94004789e-03 3.52628197e+00] [ 3.65802015e-02 -6.43209691e-05 9.99330718e-01 2.33052946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.25925415399999 meters Centerline goodness : 0.999017 with order 1 Centerline is valid? [True, True] Translation: X:66.44, Y:3.53, Z:2.33 [[ 9.97489355e-01 -6.06685775e-02 -3.65281997e-02 6.64427608e+01] [ 6.06378009e-02 9.98157929e-01 -1.95084295e-03 3.52661429e+00] [ 3.65792670e-02 -2.69044624e-04 9.99330718e-01 2.33310171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.31925415399999 meters Centerline goodness : 0.999164 with order 1 Centerline is valid? [True, True] Translation: X:66.50, Y:3.52, Z:2.34 [[ 9.96868883e-01 -7.01296200e-02 -3.65276260e-02 6.65014370e+01] [ 7.01047965e-02 9.97537704e-01 -1.96152686e-03 3.52478166e+00] [ 3.65752453e-02 -6.05376701e-04 9.99330719e-01 2.33633989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.379254154 meters Centerline goodness : 0.998833 with order 1 Centerline is valid? [True, True] Translation: X:66.56, Y:3.52, Z:2.34 [[ 9.96330611e-01 -7.74020877e-02 -3.65271154e-02 6.65595196e+01] [ 7.73817986e-02 9.96999585e-01 -1.97098897e-03 3.52312164e+00] [ 3.65700776e-02 -8.62777241e-04 9.99330719e-01 2.33940250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.439254154 meters Centerline goodness : 0.999376 with order 1 Centerline is valid? [True, True] Translation: X:66.62, Y:3.52, Z:2.34 [[ 9.95935508e-01 -8.23301100e-02 -3.65269358e-02 6.66192371e+01] [ 8.23130090e-02 9.96604571e-01 -1.97431136e-03 3.52214115e+00] [ 3.65654565e-02 -1.04035521e-03 9.99330719e-01 2.34163948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.499254154 meters Centerline goodness : 0.999251 with order 1 Centerline is valid? [True, True] Translation: X:66.68, Y:3.52, Z:2.34 [[ 9.95861528e-01 -8.32202200e-02 -3.65268632e-02 6.66787048e+01] [ 8.32036677e-02 9.96530605e-01 -1.97565508e-03 3.52373021e+00] [ 3.65645515e-02 -1.07169010e-03 9.99330719e-01 2.34265708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.55925415399999 meters Centerline goodness : 0.999147 with order 1 Centerline is valid? [True, True] Translation: X:66.74, Y:3.53, Z:2.34 [[ 9.95938724e-01 -8.22912473e-02 -3.65268273e-02 6.67378617e+01] [ 8.22740467e-02 9.96607784e-01 -1.97631706e-03 3.52568615e+00] [ 3.65655541e-02 -1.03691921e-03 9.99330719e-01 2.34477604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.61925415399999 meters Centerline goodness : 0.999292 with order 1 Centerline is valid? [True, True] Translation: X:66.80, Y:3.53, Z:2.35 [[ 9.96127114e-01 -7.99785507e-02 -3.65267556e-02 6.67978439e+01] [ 7.99597481e-02 9.96796131e-01 -1.97764147e-03 3.52856014e+00] [ 3.65678976e-02 -9.50687894e-04 9.99330719e-01 2.34790478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.67925415399999 meters Centerline goodness : 0.999314 with order 1 Centerline is valid? [True, True] Translation: X:66.86, Y:3.53, Z:2.35 [[ 9.96391357e-01 -7.66163448e-02 -3.65266850e-02 6.68559533e+01] [ 7.65952368e-02 9.97060306e-01 -1.97894491e-03 3.53320865e+00] [ 3.65709273e-02 -8.25966484e-04 9.99330719e-01 2.35026773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.739254154 meters Centerline goodness : 0.999187 with order 1 Centerline is valid? [True, True] Translation: X:66.91, Y:3.54, Z:2.35 [[ 9.96455970e-01 -7.57714349e-02 -3.65265525e-02 6.69141937e+01] [ 7.57496702e-02 9.97124898e-01 -1.98138709e-03 3.53710626e+00] [ 3.65716675e-02 -7.92509308e-04 9.99330719e-01 2.35254550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.799254154 meters Centerline goodness : 0.999353 with order 1 Centerline is valid? [True, True] Translation: X:66.97, Y:3.54, Z:2.35 [[ 9.96448522e-01 -7.58695697e-02 -3.65260362e-02 6.69718038e+01] [ 7.58475237e-02 9.97117440e-01 -1.99086010e-03 3.54118233e+00] [ 3.65717934e-02 -7.86619795e-04 9.99330719e-01 2.35274549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.859254154 meters Centerline goodness : 0.999417 with order 1 Centerline is valid? [True, True] Translation: X:67.03, Y:3.55, Z:2.35 [[ 9.96348151e-01 -7.71765761e-02 -3.65258548e-02 6.70314754e+01] [ 7.71552858e-02 9.97017094e-01 -1.99418205e-03 3.54531753e+00] [ 3.65708058e-02 -8.31263176e-04 9.99330719e-01 2.35465065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.91925415399999 meters Centerline goodness : 0.999229 with order 1 Centerline is valid? [True, True] Translation: X:67.09, Y:3.55, Z:2.36 [[ 9.96140066e-01 -7.98175175e-02 -3.65257824e-02 6.70910561e+01] [ 7.97979521e-02 9.96809061e-01 -1.99550768e-03 3.54866985e+00] [ 3.65685074e-02 -9.26877480e-04 9.99330719e-01 2.35831415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.97925415399999 meters Centerline goodness : 0.999312 with order 1 Centerline is valid? [True, True] Translation: X:67.15, Y:3.55, Z:2.36 [[ 9.95877804e-01 -8.30257321e-02 -3.65257085e-02 6.71492580e+01] [ 8.30082721e-02 9.96546858e-01 -1.99686027e-03 3.55235977e+00] [ 3.65653708e-02 -1.04330713e-03 9.99330719e-01 2.36076044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.03925415399999 meters Centerline goodness : 0.999101 with order 1 Centerline is valid? [True, True] Translation: X:67.21, Y:3.56, Z:2.36 [[ 9.95692272e-01 -8.52219627e-02 -3.65255639e-02 6.72091044e+01] [ 8.52058815e-02 9.96361360e-01 -1.99950199e-03 3.55727454e+00] [ 3.65630620e-02 -1.12130418e-03 9.99330719e-01 2.36427658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.099254154 meters Centerline goodness : 0.999020 with order 1 Centerline is valid? [True, True] Translation: X:67.27, Y:3.56, Z:2.37 [[ 9.95757478e-01 -8.44566619e-02 -3.65255639e-02 6.72691975e+01] [ 8.44400664e-02 9.96426554e-01 -1.99950199e-03 3.56209458e+00] [ 3.65639130e-02 -1.09320198e-03 9.99330719e-01 2.36658885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.159254154 meters Centerline goodness : 0.999250 with order 1 Centerline is valid? [True, True] Translation: X:67.33, Y:3.57, Z:2.37 [[ 9.95913105e-01 -8.26012685e-02 -3.65255639e-02 6.73302042e+01] [ 8.25834265e-02 9.96582149e-01 -1.99950199e-03 3.56823320e+00] [ 3.65658863e-02 -1.02507598e-03 9.99330719e-01 2.36898049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.219254154 meters Centerline goodness : 0.999123 with order 1 Centerline is valid? [True, True] Translation: X:67.39, Y:3.57, Z:2.37 [[ 9.95879986e-01 -8.29995824e-02 -3.65256385e-02 6.73903788e+01] [ 8.29820579e-02 9.96549038e-01 -1.99813849e-03 3.57402423e+00] [ 3.65654345e-02 -1.04106651e-03 9.99330719e-01 2.37130399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.27925415399999 meters Centerline goodness : 0.998978 with order 1 Centerline is valid? [True, True] Translation: X:67.45, Y:3.58, Z:2.37 [[ 9.95642169e-01 -8.58052942e-02 -3.65256385e-02 6.74506967e+01] [ 8.57896550e-02 9.96311268e-01 -1.99813849e-03 3.58030402e+00] [ 3.65623560e-02 -1.14409098e-03 9.99330719e-01 2.37178873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.33925415399999 meters Centerline goodness : 0.999080 with order 1 Centerline is valid? [True, True] Translation: X:67.51, Y:3.59, Z:2.37 [[ 9.95272644e-01 -8.99902209e-02 -3.65256752e-02 6.75108944e+01] [ 8.99774193e-02 9.95941803e-01 -1.99746736e-03 3.58618482e+00] [ 3.65571993e-02 -1.29846137e-03 9.99330719e-01 2.37177891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.39925415399999 meters Centerline goodness : 0.999206 with order 1 Centerline is valid? [True, True] Translation: X:67.57, Y:3.59, Z:2.38 [[ 9.95000833e-01 -9.29473789e-02 -3.65257110e-02 6.75714405e+01] [ 9.29365899e-02 9.95670027e-01 -1.99681097e-03 3.59322406e+00] [ 3.65531541e-02 -1.40774645e-03 9.99330719e-01 2.37519913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.45925415399999 meters Centerline goodness : 0.999186 with order 1 Centerline is valid? [True, True] Translation: X:67.63, Y:3.60, Z:2.38 [[ 9.94916885e-01 -9.38416713e-02 -3.65257847e-02 6.76327072e+01] [ 9.38315332e-02 9.95586089e-01 -1.99546283e-03 3.59766740e+00] [ 3.65518207e-02 -1.44195072e-03 9.99330719e-01 2.37676669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.519254154 meters Centerline goodness : 0.999270 with order 1 Centerline is valid? [True, True] Translation: X:67.69, Y:3.60, Z:2.38 [[ 9.94734535e-01 -9.57552250e-02 -3.65258938e-02 6.76940780e+01] [ 9.57464474e-02 9.95403759e-01 -1.99346368e-03 3.60486466e+00] [ 3.65488966e-02 -1.51425740e-03 9.99330719e-01 2.37989433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.579254154 meters Centerline goodness : 0.999165 with order 1 Centerline is valid? [True, True] Translation: X:67.76, Y:3.61, Z:2.38 [[ 9.94614621e-01 -9.69928072e-02 -3.65260390e-02 6.77562555e+01] [ 9.69849600e-02 9.95283856e-01 -1.99079917e-03 3.61233139e+00] [ 3.65468702e-02 -1.56239847e-03 9.99330719e-01 2.38295039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.639254154 meters Centerline goodness : 0.999057 with order 1 Centerline is valid? [True, True] Translation: X:67.82, Y:3.62, Z:2.39 [[ 9.94783717e-01 -9.52428197e-02 -3.65261822e-02 6.78176175e+01] [ 9.52338915e-02 9.95452939e-01 -1.98816791e-03 3.62236555e+00] [ 3.65494542e-02 -1.50073342e-03 9.99330719e-01 2.38684299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.69925415399999 meters Centerline goodness : 0.998976 with order 1 Centerline is valid? [True, True] Translation: X:67.88, Y:3.63, Z:2.39 [[ 9.94979879e-01 -9.31711749e-02 -3.65263296e-02 6.78800815e+01] [ 9.31609526e-02 9.95649082e-01 -1.98545692e-03 3.62773572e+00] [ 3.65523939e-02 -1.42733798e-03 9.99330719e-01 2.38898140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.75925415399999 meters Centerline goodness : 0.998975 with order 1 Centerline is valid? [True, True] Translation: X:67.94, Y:3.64, Z:2.39 [[ 9.95615337e-01 -8.61157066e-02 -3.65265145e-02 6.79421338e+01] [ 8.61008656e-02 9.96284454e-01 -1.98204894e-03 3.63705662e+00] [ 3.65614841e-02 -1.17160620e-03 9.99330719e-01 2.39069177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.81925415399999 meters Centerline goodness : 0.998929 with order 1 Centerline is valid? [True, True] Translation: X:68.00, Y:3.65, Z:2.39 [[ 9.96003752e-01 -8.15004908e-02 -3.65266608e-02 6.80041881e+01] [ 8.14826479e-02 9.96672795e-01 -1.97934970e-03 3.64583473e+00] [ 3.65664471e-02 -1.00484931e-03 9.99330719e-01 2.39242195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.879254154 meters Centerline goodness : 0.998969 with order 1 Centerline is valid? [True, True] Translation: X:68.07, Y:3.65, Z:2.39 [[ 9.96108642e-01 -8.02082700e-02 -3.65268048e-02 6.80655408e+01] [ 8.01896566e-02 9.96777664e-01 -1.97668800e-03 3.65178403e+00] [ 3.65676499e-02 -9.60075943e-04 9.99330719e-01 2.39330071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.939254154 meters Centerline goodness : 0.998988 with order 1 Centerline is valid? [True, True] Translation: X:68.13, Y:3.66, Z:2.39 [[ 9.96104142e-01 -8.02640803e-02 -3.65269109e-02 6.81276905e+01] [ 8.02455762e-02 9.96773168e-01 -1.97472681e-03 3.65687674e+00] [ 3.65675443e-02 -9.64089456e-04 9.99330719e-01 2.39463137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.999254154 meters Centerline goodness : 0.998735 with order 1 Centerline is valid? [True, True] Translation: X:68.19, Y:3.66, Z:2.40 [[ 9.96008044e-01 -8.14478446e-02 -3.65270543e-02 6.81892283e+01] [ 8.14302330e-02 9.96677093e-01 -1.97206962e-03 3.66270542e+00] [ 3.65662992e-02 -1.01020934e-03 9.99330719e-01 2.39571910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.05925415399999 meters Centerline goodness : 0.999004 with order 1 Centerline is valid? [True, True] Translation: X:68.25, Y:3.67, Z:2.40 [[ 9.95910022e-01 -8.26377124e-02 -3.65271963e-02 6.82509572e+01] [ 8.26209967e-02 9.96579095e-01 -1.96943689e-03 3.66958395e+00] [ 3.65649900e-02 -1.05653142e-03 9.99330719e-01 2.39868363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.11925415399999 meters Centerline goodness : 0.999028 with order 1 Centerline is valid? [True, True] Translation: X:68.31, Y:3.67, Z:2.40 [[ 9.95875434e-01 -8.30534366e-02 -3.65273412e-02 6.83133686e+01] [ 8.30370988e-02 9.96544516e-01 -1.96674520e-03 3.67486747e+00] [ 3.65644665e-02 -1.07449122e-03 9.99330719e-01 2.40192676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.17925415399999 meters Centerline goodness : 0.999006 with order 1 Centerline is valid? [True, True] Translation: X:68.38, Y:3.68, Z:2.41 [[ 9.95889760e-01 -8.28814189e-02 -3.65274864e-02 6.83751053e+01] [ 8.28650645e-02 9.96558841e-01 -1.96404443e-03 3.67904894e+00] [ 3.65645723e-02 -1.07088079e-03 9.99330719e-01 2.40537097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.239254154 meters Centerline goodness : 0.998878 with order 1 Centerline is valid? [True, True] Translation: X:68.44, Y:3.68, Z:2.41 [[ 9.96148722e-01 -7.97085656e-02 -3.65276334e-02 6.84366871e+01] [ 7.96901802e-02 9.96817751e-01 -1.96130650e-03 3.68323102e+00] [ 3.65677263e-02 -9.57140730e-04 9.99330719e-01 2.40906440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.299254154 meters Centerline goodness : 0.999302 with order 1 Centerline is valid? [True, True] Translation: X:68.50, Y:3.69, Z:2.41 [[ 9.96532212e-01 -7.47614377e-02 -3.65277790e-02 6.84982856e+01] [ 7.47398301e-02 9.97201144e-01 -1.95859156e-03 3.68826808e+00] [ 3.65719701e-02 -7.78280422e-04 9.99330719e-01 2.41203312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.359254154 meters Centerline goodness : 0.999064 with order 1 Centerline is valid? [True, True] Translation: X:68.56, Y:3.69, Z:2.41 [[ 9.97173760e-01 -6.56521383e-02 -3.65279233e-02 6.85596042e+01] [ 6.56245177e-02 9.97842471e-01 -1.95589603e-03 3.69370640e+00] [ 3.65775221e-02 -4.46759159e-04 9.99330719e-01 2.41366073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.41925415399999 meters Centerline goodness : 0.998998 with order 1 Centerline is valid? [True, True] Translation: X:68.62, Y:3.70, Z:2.41 [[ 9.97577225e-01 -5.92063033e-02 -3.65279948e-02 6.86199011e+01] [ 5.91744105e-02 9.98245746e-01 -1.95456084e-03 3.69721034e+00] [ 3.65796377e-02 -2.11697185e-04 9.99330719e-01 2.41418155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.47925415399999 meters Centerline goodness : 0.999000 with order 1 Centerline is valid? [True, True] Translation: X:68.68, Y:3.70, Z:2.41 [[ 9.97717818e-01 -5.67878311e-02 -3.65280299e-02 6.86788179e+01] [ 5.67543419e-02 9.98386261e-01 -1.95390475e-03 3.70030676e+00] [ 3.65800412e-02 -1.23678715e-04 9.99330719e-01 2.41344366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.53925415399999 meters Centerline goodness : 0.999021 with order 1 Centerline is valid? [True, True] Translation: X:68.74, Y:3.70, Z:2.42 [[ 9.97649818e-01 -5.79705505e-02 -3.65274732e-02 6.87369172e+01] [ 5.79374746e-02 9.98318281e-01 -1.96425659e-03 3.70281785e+00] [ 3.65799133e-02 -1.56669322e-04 9.99330719e-01 2.41903989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.599254154 meters Centerline goodness : 0.996369 with order 1 Centerline is valid? [True, True] Translation: X:68.79, Y:3.70, Z:2.42 [[ 9.97451116e-01 -6.12946189e-02 -3.65272625e-02 6.87947174e+01] [ 6.12636275e-02 9.98119679e-01 -1.96816729e-03 3.70448062e+00] [ 3.65792176e-02 -2.74641940e-04 9.99330719e-01 2.41543081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.659254154 meters Centerline goodness : 0.999130 with order 1 Centerline is valid? [True, True] Translation: X:68.85, Y:3.71, Z:2.42 [[ 9.97191379e-01 -6.53846818e-02 -3.65266646e-02 6.88529936e+01] [ 6.53560284e-02 9.97860046e-01 -1.97920102e-03 3.70608864e+00] [ 3.65779087e-02 -4.13595538e-04 9.99330719e-01 2.42051739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.719254154 meters Centerline goodness : 0.999024 with order 1 Centerline is valid? [True, True] Translation: X:68.91, Y:3.70, Z:2.42 [[ 9.97076733e-01 -6.71106197e-02 -3.65260591e-02 6.89136816e+01] [ 6.70827167e-02 9.97745432e-01 -1.99031385e-03 3.70051311e+00] [ 3.65772798e-02 -4.65771644e-04 9.99330719e-01 2.41832454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.77925415399999 meters Centerline goodness : 0.998984 with order 1 Centerline is valid? [True, True] Translation: X:68.97, Y:3.71, Z:2.42 [[ 9.96255969e-01 -7.83574605e-02 -3.65260591e-02 6.89735096e+01] [ 7.83371048e-02 9.96924940e-01 -1.99031385e-03 3.70815221e+00] [ 3.65696952e-02 -8.78483670e-04 9.99330719e-01 2.42482655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.83925415399999 meters Centerline goodness : 0.999073 with order 1 Centerline is valid? [True, True] Translation: X:69.03, Y:3.71, Z:2.43 [[ 9.95581261e-01 -8.65089414e-02 -3.65260969e-02 6.90346148e+01] [ 8.64940872e-02 9.96250377e-01 -1.98962072e-03 3.70783896e+00] [ 3.65612578e-02 -1.17846230e-03 9.99330719e-01 2.42739070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.89925415399999 meters Centerline goodness : 0.999050 with order 1 Centerline is valid? [True, True] Translation: X:69.10, Y:3.71, Z:2.43 [[ 9.94786858e-01 -9.52099974e-02 -3.65262034e-02 6.90970401e+01] [ 9.52010656e-02 9.95456080e-01 -1.98766247e-03 3.70826926e+00] [ 3.65494766e-02 -1.50003299e-03 9.99330719e-01 2.43449246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.95925415399999 meters Centerline goodness : 0.999285 with order 1 Centerline is valid? [True, True] Translation: X:69.16, Y:3.71, Z:2.43 [[ 9.93863846e-01 -1.04405366e-01 -3.65263574e-02 6.91581235e+01] [ 1.04402727e-01 9.94533122e-01 -1.98482858e-03 3.71046396e+00] [ 3.65338990e-02 -1.84080195e-03 9.99330719e-01 2.43214751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.019254154 meters Centerline goodness : 0.999177 with order 1 Centerline is valid? [True, True] Translation: X:69.22, Y:3.71, Z:2.44 [[ 9.93360702e-01 -1.09088650e-01 -3.65264707e-02 6.92205918e+01] [ 1.09089242e-01 9.94029982e-01 -1.98274196e-03 3.71357966e+00] [ 3.65247017e-02 -2.01506706e-03 9.99330719e-01 2.43501153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.079254154 meters Centerline goodness : 0.999221 with order 1 Centerline is valid? [True, True] Translation: X:69.28, Y:3.72, Z:2.44 [[ 9.92859399e-01 -1.13560646e-01 -3.65266190e-02 6.92827942e+01] [ 1.13564353e-01 9.93528670e-01 -1.98000531e-03 3.71801901e+00] [ 3.65150939e-02 -2.18225496e-03 9.99330719e-01 2.44147053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.139254154 meters Centerline goodness : 0.999095 with order 1 Centerline is valid? [True, True] Translation: X:69.34, Y:3.72, Z:2.45 [[ 9.92723593e-01 -1.14741728e-01 -3.65267655e-02 6.93447954e+01] [ 1.14746330e-01 9.93392858e-01 -1.97729930e-03 3.72384522e+00] [ 3.65123067e-02 -2.22840062e-03 9.99330719e-01 2.44503763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.19925415399999 meters Centerline goodness : 0.999408 with order 1 Centerline is valid? [True, True] Translation: X:69.41, Y:3.73, Z:2.45 [[ 9.92753166e-01 -1.14485524e-01 -3.65269140e-02 6.94067277e+01] [ 1.14490054e-01 9.93422432e-01 -1.97455326e-03 3.72975211e+00] [ 3.65127135e-02 -2.22172434e-03 9.99330719e-01 2.44680308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.25925415399999 meters Centerline goodness : 0.999199 with order 1 Centerline is valid? [True, True] Translation: X:69.47, Y:3.74, Z:2.44 [[ 9.93145198e-01 -1.11033279e-01 -3.65270623e-02 6.94680793e+01] [ 1.11035582e-01 9.93814475e-01 -1.97180478e-03 3.73620526e+00] [ 3.65200592e-02 -2.09751519e-03 9.99330719e-01 2.44251689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.31925415399999 meters Centerline goodness : 0.999260 with order 1 Centerline is valid? [True, True] Translation: X:69.53, Y:3.75, Z:2.45 [[ 9.93621559e-01 -1.06686281e-01 -3.65271721e-02 6.95296535e+01] [ 1.06685731e-01 9.94290840e-01 -1.96976958e-03 3.74523084e+00] [ 3.65287800e-02 -1.93972252e-03 9.99330719e-01 2.44605807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.379254154 meters Centerline goodness : 0.999556 with order 1 Centerline is valid? [True, True] Translation: X:69.59, Y:3.75, Z:2.45 [[ 9.93841897e-01 -1.04613765e-01 -3.65273134e-02 6.95921817e+01] [ 1.04611915e-01 9.94511175e-01 -1.96714517e-03 3.75059566e+00] [ 3.65326118e-02 -1.86616092e-03 9.99330719e-01 2.44860158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.439254154 meters Centerline goodness : 0.999256 with order 1 Centerline is valid? [True, True] Translation: X:69.65, Y:3.76, Z:2.45 [[ 9.94665267e-01 -9.64714803e-02 -3.65275230e-02 6.96534221e+01] [ 9.64642922e-02 9.95334510e-01 -1.96324569e-03 3.75942579e+00] [ 3.65465014e-02 -1.57082935e-03 9.99330719e-01 2.45312633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.499254154 meters Centerline goodness : 0.999339 with order 1 Centerline is valid? [True, True] Translation: X:69.71, Y:3.77, Z:2.46 [[ 9.95522792e-01 -8.71785011e-02 -3.65277875e-02 6.97141053e+01] [ 8.71652444e-02 9.96191942e-01 -1.95831204e-03 3.77077772e+00] [ 3.65594103e-02 -1.23440926e-03 9.99330719e-01 2.45906119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.55925415399999 meters Centerline goodness : 0.999232 with order 1 Centerline is valid? [True, True] Translation: X:69.77, Y:3.78, Z:2.46 [[ 9.96205743e-01 -7.89925052e-02 -3.65280885e-02 6.97744652e+01] [ 7.89739550e-02 9.96874767e-01 -1.95268191e-03 3.77901100e+00] [ 3.65681769e-02 -9.39494677e-04 9.99330719e-01 2.45971645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.61925415399999 meters Centerline goodness : 0.999336 with order 1 Centerline is valid? [True, True] Translation: X:69.84, Y:3.79, Z:2.46 [[ 9.97139735e-01 -6.61667552e-02 -3.65281957e-02 6.98364603e+01] [ 6.61396710e-02 9.97808468e-01 -1.95067402e-03 3.78882376e+00] [ 3.65772128e-02 -4.70868272e-04 9.99330719e-01 2.46392262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.67925415399999 meters Centerline goodness : 0.999397 with order 1 Centerline is valid? [True, True] Translation: X:69.90, Y:3.80, Z:2.47 [[ 9.97702303e-01 -5.70595790e-02 -3.65283395e-02 6.98960667e+01] [ 5.70264888e-02 9.98370765e-01 -1.94797699e-03 3.79676449e+00] [ 3.65799770e-02 -1.39581814e-04 9.99330719e-01 2.46645364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.739254154 meters Centerline goodness : 0.999420 with order 1 Centerline is valid? [True, True] Translation: X:69.96, Y:3.80, Z:2.47 [[ 9.97969936e-01 -5.21697695e-02 -3.65283747e-02 6.99563784e+01] [ 5.21334281e-02 9.98638230e-01 -1.94731721e-03 3.80248103e+00] [ 3.65802225e-02 3.90146340e-05 9.99330719e-01 2.47004072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.799254154 meters Centerline goodness : 0.999353 with order 1 Centerline is valid? [True, True] Translation: X:70.02, Y:3.81, Z:2.47 [[ 9.97982719e-01 -5.19246697e-02 -3.65283747e-02 7.00158166e+01] [ 5.18881642e-02 9.98651003e-01 -1.94731721e-03 3.80640393e+00] [ 3.65802118e-02 4.79986175e-05 9.99330719e-01 2.47128024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.859254154 meters Centerline goodness : 0.999417 with order 1 Centerline is valid? [True, True] Translation: X:70.08, Y:3.81, Z:2.47 [[ 9.97822009e-01 -5.49264867e-02 -3.65283393e-02 7.00755956e+01] [ 5.48919673e-02 9.98490399e-01 -1.94798077e-03 3.80888416e+00] [ 3.65801918e-02 -6.13743232e-05 9.99330719e-01 2.47263793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.91925415399999 meters Centerline goodness : 0.999332 with order 1 Centerline is valid? [True, True] Translation: X:70.14, Y:3.81, Z:2.47 [[ 9.97305267e-01 -6.36230287e-02 -3.65282685e-02 7.01356368e+01] [ 6.35942888e-02 9.97973931e-01 -1.94930834e-03 3.81266365e+00] [ 3.65782806e-02 -3.78933782e-04 9.99330719e-01 2.47418911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.97925415399999 meters Centerline goodness : 0.999485 with order 1 Centerline is valid? [True, True] Translation: X:70.20, Y:3.81, Z:2.48 [[ 9.96863031e-01 -7.02124419e-02 -3.65282269e-02 7.01958973e+01] [ 7.01880931e-02 9.97531869e-01 -1.95008632e-03 3.81085393e+00] [ 3.65749908e-02 -6.19877632e-04 9.99330719e-01 2.47527457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.03925415399999 meters Centerline goodness : 0.999422 with order 1 Centerline is valid? [True, True] Translation: X:70.26, Y:3.81, Z:2.48 [[ 9.96019264e-01 -8.13099667e-02 -3.65282685e-02 7.02579119e+01] [ 8.12930966e-02 9.96688333e-01 -1.94930817e-03 3.81061685e+00] [ 3.65657972e-02 -1.02794757e-03 9.99330719e-01 2.47902963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.099254154 meters Centerline goodness : 0.999189 with order 1 Centerline is valid? [True, True] Translation: X:70.32, Y:3.81, Z:2.48 [[ 9.95340577e-01 -8.92345862e-02 -3.65284119e-02 7.03198908e+01] [ 8.92231403e-02 9.96009760e-01 -1.94661640e-03 3.80970596e+00] [ 3.65563603e-02 -1.32163333e-03 9.99330719e-01 2.48159816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.159254154 meters Centerline goodness : 0.999189 with order 1 Centerline is valid? [True, True] Translation: X:70.38, Y:3.81, Z:2.48 [[ 9.94919170e-01 -9.38163640e-02 -3.65285557e-02 7.03812654e+01] [ 9.38080984e-02 9.95588400e-01 -1.94391438e-03 3.81050123e+00] [ 3.65497773e-02 -1.49263667e-03 9.99330719e-01 2.48342646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.219254154 meters Centerline goodness : 0.999254 with order 1 Centerline is valid? [True, True] Translation: X:70.44, Y:3.81, Z:2.49 [[ 9.94759404e-01 -9.54954682e-02 -3.65286620e-02 7.04445073e+01] [ 9.54884054e-02 9.95428648e-01 -1.94191485e-03 3.81273255e+00] [ 3.65471207e-02 -1.55632563e-03 9.99330719e-01 2.48554215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.27925415399999 meters Centerline goodness : 0.999489 with order 1 Centerline is valid? [True, True] Translation: X:70.51, Y:3.81, Z:2.49 [[ 9.94481455e-01 -9.83477349e-02 -3.65288721e-02 7.05072521e+01] [ 9.83427365e-02 9.95150717e-01 -1.93795395e-03 3.81495971e+00] [ 3.65423267e-02 -1.66508999e-03 9.99330719e-01 2.48728652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.33925415399999 meters Centerline goodness : 0.999337 with order 1 Centerline is valid? [True, True] Translation: X:70.57, Y:3.82, Z:2.49 [[ 9.93988264e-01 -1.03213159e-01 -3.65290873e-02 7.05689934e+01] [ 1.03211584e-01 9.94657544e-01 -1.93388864e-03 3.81794426e+00] [ 3.65335350e-02 -1.84796237e-03 9.99330719e-01 2.48765901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.39925415399999 meters Centerline goodness : 0.999318 with order 1 Centerline is valid? [True, True] Translation: X:70.63, Y:3.82, Z:2.49 [[ 9.93596312e-01 -1.06920457e-01 -3.65292305e-02 7.06313081e+01] [ 1.06921479e-01 9.94265592e-01 -1.93118127e-03 3.82125798e+00] [ 3.65262398e-02 -1.98694474e-03 9.99330719e-01 2.48829660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.45925415399999 meters Centerline goodness : 0.999424 with order 1 Centerline is valid? [True, True] Translation: X:70.69, Y:3.83, Z:2.49 [[ 9.93225004e-01 -1.10316350e-01 -3.65293720e-02 7.06938549e+01] [ 1.10319758e-01 9.93894276e-01 -1.92850044e-03 3.82528916e+00] [ 3.65190789e-02 -2.11447662e-03 9.99330719e-01 2.48842862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.519254154 meters Centerline goodness : 0.999442 with order 1 Centerline is valid? [True, True] Translation: X:70.76, Y:3.83, Z:2.49 [[ 9.93404049e-01 -1.08692180e-01 -3.65295113e-02 7.07557249e+01] [ 1.08694590e-01 9.94073326e-01 -1.92585775e-03 3.83237146e+00] [ 3.65223385e-02 -2.05740537e-03 9.99330719e-01 2.49162059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.579254154 meters Centerline goodness : 0.999486 with order 1 Centerline is valid? [True, True] Translation: X:70.82, Y:3.84, Z:2.50 [[ 9.93989253e-01 -1.03203440e-01 -3.65296496e-02 7.08168648e+01] [ 1.03202249e-01 9.94658533e-01 -1.92323207e-03 3.84200596e+00] [ 3.65330118e-02 -1.85827000e-03 9.99330719e-01 2.49678685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.63925415399999 meters Centerline goodness : 0.999441 with order 1 Centerline is valid? [True, True] Translation: X:70.88, Y:3.85, Z:2.50 [[ 9.94475517e-01 -9.84074285e-02 -3.65297569e-02 7.08778037e+01] [ 9.84030847e-02 9.95144784e-01 -1.92119093e-03 3.84953677e+00] [ 3.65414565e-02 -1.68406342e-03 9.99330719e-01 2.49834210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.69925415399999 meters Centerline goodness : 0.999397 with order 1 Centerline is valid? [True, True] Translation: X:70.94, Y:3.85, Z:2.50 [[ 9.94742018e-01 -9.56759448e-02 -3.65298624e-02 7.09400737e+01] [ 9.56698366e-02 9.95411271e-01 -1.91918317e-03 3.85487646e+00] [ 3.65458564e-02 -1.58571383e-03 9.99330719e-01 2.50139013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.75925415399999 meters Centerline goodness : 0.999590 with order 1 Centerline is valid? [True, True] Translation: X:71.00, Y:3.86, Z:2.50 [[ 9.95270785e-01 -9.00090187e-02 -3.65300053e-02 7.10026967e+01] [ 8.99991989e-02 9.95939994e-01 -1.91645915e-03 3.86237481e+00] [ 3.65541919e-02 -1.38027542e-03 9.99330719e-01 2.50379214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.81925415399999 meters Centerline goodness : 0.999546 with order 1 Centerline is valid? [True, True] Translation: X:71.06, Y:3.87, Z:2.51 [[ 9.95747703e-01 -8.45698240e-02 -3.65302177e-02 7.10642107e+01] [ 8.45564966e-02 9.96416851e-01 -1.91240170e-03 3.86917434e+00] [ 3.65610560e-02 -1.18459763e-03 9.99330719e-01 2.50643289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.879254154 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:71.13, Y:3.88, Z:2.51 [[ 9.96670791e-01 -7.28894145e-02 -3.65303604e-02 7.11264167e+01] [ 7.28683427e-02 9.97339740e-01 -1.90967257e-03 3.87817613e+00] [ 3.65723751e-02 -7.58591943e-04 9.99330719e-01 2.50939077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.939254154 meters Centerline goodness : 0.999607 with order 1 Centerline is valid? [True, True] Translation: X:71.19, Y:3.89, Z:2.51 [[ 9.97652614e-01 -5.79204923e-02 -3.65305007e-02 7.11881120e+01] [ 5.78894798e-02 9.98321177e-01 -1.90698558e-03 3.88845615e+00] [ 3.65796259e-02 -2.12222526e-04 9.99330719e-01 2.51266119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.999254154 meters Centerline goodness : 0.999627 with order 1 Centerline is valid? [True, True] Translation: X:71.25, Y:3.90, Z:2.52 [[ 9.98181210e-01 -4.79560707e-02 -3.65306388e-02 7.12490725e+01] [ 4.79184812e-02 9.98849434e-01 -1.90433579e-03 3.89596962e+00] [ 3.65799324e-02 1.50379472e-04 9.99330719e-01 2.51555794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.05925415399999 meters Centerline goodness : 0.999780 with order 1 Centerline is valid? [True, True] Translation: X:71.31, Y:3.90, Z:2.52 [[ 9.98603083e-01 -3.81757824e-02 -3.65307093e-02 7.13070042e+01] [ 3.81316983e-02 9.99270910e-01 -1.90298292e-03 3.90317955e+00] [ 3.65767230e-02 5.07346629e-04 9.99330719e-01 2.51500544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.11925415399999 meters Centerline goodness : 0.999493 with order 1 Centerline is valid? [True, True] Translation: X:71.36, Y:3.91, Z:2.52 [[ 9.98601948e-01 -3.82055561e-02 -3.65306053e-02 7.13644889e+01] [ 3.81614190e-02 9.99269772e-01 -1.90497734e-03 3.90830770e+00] [ 3.65767103e-02 5.08254352e-04 9.99330719e-01 2.51623835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.17925415399999 meters Centerline goodness : 0.999692 with order 1 Centerline is valid? [True, True] Translation: X:71.42, Y:3.91, Z:2.52 [[ 9.98155964e-01 -4.84791447e-02 -3.65300537e-02 7.14221903e+01] [ 4.84414969e-02 9.98824185e-01 -1.91549654e-03 3.91090890e+00] [ 3.65799627e-02 1.42393818e-04 9.99330719e-01 2.51779828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.239254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:71.48, Y:3.91, Z:2.52 [[ 9.97328390e-01 -6.32585986e-02 -3.65298843e-02 7.14818622e+01] [ 6.32307345e-02 9.97997091e-01 -1.91872203e-03 3.91151603e+00] [ 3.65780939e-02 -3.96215466e-04 9.99330719e-01 2.52115985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.299254154 meters Centerline goodness : 0.999737 with order 1 Centerline is valid? [True, True] Translation: X:71.54, Y:3.91, Z:2.52 [[ 9.97044245e-01 -6.75895477e-02 -3.65298174e-02 7.15437978e+01] [ 6.75645415e-02 9.97713058e-01 -1.91999490e-03 3.91378655e+00] [ 3.65760474e-02 -5.53800492e-04 9.99330719e-01 2.52412233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.359254154 meters Centerline goodness : 0.999695 with order 1 Centerline is valid? [True, True] Translation: X:71.61, Y:3.91, Z:2.53 [[ 9.96212670e-01 -7.89042358e-02 -3.65299520e-02 7.16060862e+01] [ 7.88869180e-02 9.96881727e-01 -1.91742931e-03 3.91328176e+00] [ 3.65673350e-02 -9.71567952e-04 9.99330719e-01 2.52793299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.41925415399999 meters Centerline goodness : 0.999739 with order 1 Centerline is valid? [True, True] Translation: X:71.67, Y:3.91, Z:2.53 [[ 9.95731193e-01 -8.47640514e-02 -3.65300909e-02 7.16691881e+01] [ 8.47507674e-02 9.96400342e-01 -1.91477927e-03 3.91301178e+00] [ 3.65608995e-02 -1.18934780e-03 9.99330719e-01 2.53017021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.47925415399999 meters Centerline goodness : 0.999067 with order 1 Centerline is valid? [True, True] Translation: X:71.73, Y:3.91, Z:2.53 [[ 9.95510586e-01 -8.73167204e-02 -3.65303010e-02 7.17306462e+01] [ 8.73052993e-02 9.96179770e-01 -1.91076280e-03 3.91462232e+00] [ 3.65575884e-02 -1.28710427e-03 9.99330719e-01 2.53137527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.53925415399999 meters Centerline goodness : 0.999545 with order 1 Centerline is valid? [True, True] Translation: X:71.79, Y:3.91, Z:2.53 [[ 9.95758747e-01 -8.44395995e-02 -3.65304178e-02 7.17928087e+01] [ 8.44263267e-02 9.96427896e-01 -1.90852669e-03 3.91452065e+00] [ 3.65610826e-02 -1.18369685e-03 9.99330719e-01 2.53214925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.599254154 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:71.86, Y:3.92, Z:2.53 [[ 9.96321189e-01 -7.75216442e-02 -3.65305776e-02 7.18553191e+01] [ 7.75038364e-02 9.96990233e-01 -1.90546394e-03 3.91693882e+00] [ 3.65683438e-02 -9.32805808e-04 9.99330719e-01 2.53355583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.659254154 meters Centerline goodness : 0.999586 with order 1 Centerline is valid? [True, True] Translation: X:71.92, Y:3.92, Z:2.53 [[ 9.96992641e-01 -6.83460317e-02 -3.65307137e-02 7.19170994e+01] [ 6.83221610e-02 9.97661496e-01 -1.90285142e-03 3.92027741e+00] [ 3.65753388e-02 -5.98728440e-04 9.99330719e-01 2.53411416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.719254154 meters Centerline goodness : 0.999564 with order 1 Centerline is valid? [True, True] Translation: X:71.98, Y:3.92, Z:2.54 [[ 9.97333123e-01 -6.31833645e-02 -3.65308531e-02 7.19785885e+01] [ 6.31561294e-02 9.98001850e-01 -1.90017163e-03 3.92370269e+00] [ 3.65779182e-02 -4.12043177e-04 9.99330719e-01 2.53527883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.77925415399999 meters Centerline goodness : 0.999564 with order 1 Centerline is valid? [True, True] Translation: X:72.04, Y:3.93, Z:2.54 [[ 9.97499342e-01 -6.05024213e-02 -3.65310848e-02 7.20408027e+01] [ 6.04735523e-02 9.98168000e-01 -1.89570695e-03 3.92713550e+00] [ 3.65788547e-02 -3.18198026e-04 9.99330719e-01 2.53683794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.83925415399999 meters Centerline goodness : 0.999434 with order 1 Centerline is valid? [True, True] Translation: X:72.10, Y:3.93, Z:2.54 [[ 9.97257091e-01 -6.43720724e-02 -3.65312225e-02 7.21007741e+01] [ 6.43458952e-02 9.97925860e-01 -1.89304862e-03 3.92953204e+00] [ 3.65773111e-02 -4.62778053e-04 9.99330719e-01 2.53702553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.89925415399999 meters Centerline goodness : 0.999544 with order 1 Centerline is valid? [True, True] Translation: X:72.16, Y:3.93, Z:2.54 [[ 9.96987752e-01 -6.84170256e-02 -3.65312602e-02 7.21623933e+01] [ 6.83935882e-02 9.97656622e-01 -1.89232051e-03 3.93074207e+00] [ 3.65751206e-02 -6.11883597e-04 9.99330719e-01 2.54210499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.95925415399999 meters Centerline goodness : 0.999548 with order 1 Centerline is valid? [True, True] Translation: X:72.22, Y:3.93, Z:2.54 [[ 9.96309659e-01 -7.76693350e-02 -3.65313397e-02 7.22232968e+01] [ 7.76521642e-02 9.96978719e-01 -1.89078607e-03 3.93066375e+00] [ 3.65678243e-02 -9.52929156e-04 9.99330719e-01 2.54460505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.019254154 meters Centerline goodness : 0.999634 with order 1 Centerline is valid? [True, True] Translation: X:72.28, Y:3.93, Z:2.55 [[ 9.95550801e-01 -8.68565225e-02 -3.65314427e-02 7.22839510e+01] [ 8.68455972e-02 9.96219993e-01 -1.88879302e-03 3.93094035e+00] [ 3.65574076e-02 -1.29220555e-03 9.99330719e-01 2.54904340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.079254154 meters Centerline goodness : 0.999506 with order 1 Centerline is valid? [True, True] Translation: X:72.35, Y:3.93, Z:2.55 [[ 9.94856570e-01 -9.44766779e-02 -3.65316765e-02 7.23458201e+01] [ 9.44710429e-02 9.95525827e-01 -1.88426092e-03 3.93101796e+00] [ 3.65462461e-02 -1.57661622e-03 9.99330719e-01 2.55369614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.13925415399999 meters Centerline goodness : 0.999356 with order 1 Centerline is valid? [True, True] Translation: X:72.41, Y:3.93, Z:2.56 [[ 9.94520619e-01 -9.79498072e-02 -3.65318133e-02 7.24080575e+01] [ 9.79466064e-02 9.95189892e-01 -1.88160481e-03 3.93203564e+00] [ 3.65403941e-02 -1.70687235e-03 9.99330719e-01 2.55682698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.19925415399999 meters Centerline goodness : 0.999528 with order 1 Centerline is valid? [True, True] Translation: X:72.47, Y:3.93, Z:2.56 [[ 9.94329389e-01 -9.98723157e-02 -3.65319824e-02 7.24702905e+01] [ 9.98705294e-02 9.94998668e-01 -1.87831503e-03 3.93170747e+00] [ 3.65368655e-02 -1.78080458e-03 9.99330719e-01 2.55961515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.25925415399999 meters Centerline goodness : 0.999292 with order 1 Centerline is valid? [True, True] Translation: X:72.53, Y:3.93, Z:2.55 [[ 9.94932436e-01 -9.36741841e-02 -3.65321201e-02 7.25332545e+01] [ 9.36683255e-02 9.95601691e-01 -1.87563400e-03 3.92767603e+00] [ 3.65471390e-02 -1.55577341e-03 9.99330719e-01 2.55439492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.31925415399999 meters Centerline goodness : 0.999357 with order 1 Centerline is valid? [True, True] Translation: X:72.59, Y:3.94, Z:2.56 [[ 9.94995020e-01 -9.30070147e-02 -3.65322624e-02 7.25938178e+01] [ 9.30008091e-02 9.95664272e-01 -1.87285690e-03 3.93587195e+00] [ 3.65480573e-02 -1.53404668e-03 9.99330719e-01 2.56087346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.379254154 meters Centerline goodness : 0.999398 with order 1 Centerline is valid? [True, True] Translation: X:72.65, Y:3.94, Z:2.56 [[ 9.95812767e-01 -8.37992761e-02 -3.65323662e-02 7.26547904e+01] [ 8.37869545e-02 9.96481935e-01 -1.87083002e-03 3.93975708e+00] [ 3.65606172e-02 -1.19793928e-03 9.99330719e-01 2.56149533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.439254154 meters Centerline goodness : 0.999461 with order 1 Centerline is valid? [True, True] Translation: X:72.72, Y:3.94, Z:2.57 [[ 9.96385136e-01 -7.66944544e-02 -3.65324665e-02 7.27167126e+01] [ 7.66774320e-02 9.97054201e-01 -1.86886958e-03 3.94455170e+00] [ 3.65681811e-02 -9.39101851e-04 9.99330719e-01 2.56584164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.499254154 meters Centerline goodness : 0.999526 with order 1 Centerline is valid? [True, True] Translation: X:72.78, Y:3.95, Z:2.57 [[ 9.97088739e-01 -6.69284304e-02 -3.65326044e-02 7.27790353e+01] [ 6.69049523e-02 9.97757608e-01 -1.86617107e-03 3.94892247e+00] [ 3.65755839e-02 -5.83473997e-04 9.99330719e-01 2.56968081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.55925415399999 meters Centerline goodness : 0.999354 with order 1 Centerline is valid? [True, True] Translation: X:72.84, Y:3.95, Z:2.57 [[ 9.97561615e-01 -5.94658067e-02 -3.65327420e-02 7.28415381e+01] [ 5.94374233e-02 9.98230294e-01 -1.86347255e-03 3.95182682e+00] [ 3.65789027e-02 -3.12483366e-04 9.99330719e-01 2.57318627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.61925415399999 meters Centerline goodness : 0.999244 with order 1 Centerline is valid? [True, True] Translation: X:72.90, Y:3.95, Z:2.58 [[ 9.97816260e-01 -5.50278205e-02 -3.65328778e-02 7.29020739e+01] [ 5.49965605e-02 9.98484810e-01 -1.86080669e-03 3.95433707e+00] [ 3.65799197e-02 -1.52439453e-04 9.99330719e-01 2.57563492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.67925415399999 meters Centerline goodness : 0.999505 with order 1 Centerline is valid? [True, True] Translation: X:72.96, Y:3.96, Z:2.58 [[ 9.97875213e-01 -5.39481753e-02 -3.65329110e-02 7.29621436e+01] [ 5.39162159e-02 9.98543730e-01 -1.86015464e-03 3.95630920e+00] [ 3.65800612e-02 -1.13514106e-04 9.99330719e-01 2.57739590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.739254154 meters Centerline goodness : 0.999460 with order 1 Centerline is valid? [True, True] Translation: X:73.02, Y:3.96, Z:2.58 [[ 9.97872177e-01 -5.40043436e-02 -3.65328452e-02 7.30224090e+01] [ 5.39723745e-02 9.98540694e-01 -1.86144545e-03 3.95709984e+00] [ 3.65800588e-02 -1.14279779e-04 9.99330719e-01 2.57967433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.799254154 meters Centerline goodness : 0.999073 with order 1 Centerline is valid? [True, True] Translation: X:73.08, Y:3.96, Z:2.58 [[ 9.97856665e-01 -5.42902119e-02 -3.65328452e-02 7.30817562e+01] [ 5.42584343e-02 9.98525191e-01 -1.86144545e-03 3.95854388e+00] [ 3.65800245e-02 -1.24759233e-04 9.99330719e-01 2.58128025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.859254154 meters Centerline goodness : 0.999333 with order 1 Centerline is valid? [True, True] Translation: X:73.14, Y:3.96, Z:2.58 [[ 9.97966799e-01 -5.22266411e-02 -3.65328115e-02 7.31416933e+01] [ 5.21934569e-02 9.98635257e-01 -1.86210634e-03 3.95881958e+00] [ 3.65802052e-02 -4.84534170e-05 9.99330719e-01 2.58163853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.91925415399999 meters Centerline goodness : 0.999140 with order 1 Centerline is valid? [True, True] Translation: X:73.20, Y:3.96, Z:2.59 [[ 9.97975033e-01 -5.20690834e-02 -3.65327756e-02 7.32010108e+01] [ 5.20357680e-02 9.98643484e-01 -1.86281037e-03 3.95940312e+00] [ 3.65802132e-02 -4.19727989e-05 9.99330719e-01 2.58633928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.97925415399999 meters Centerline goodness : 0.999250 with order 1 Centerline is valid? [True, True] Translation: X:73.26, Y:3.96, Z:2.59 [[ 9.98045451e-01 -5.07014737e-02 -3.65327019e-02 7.32597919e+01] [ 5.06671894e-02 9.98713853e-01 -1.86425496e-03 3.95780460e+00] [ 3.65802360e-02 9.60185256e-06 9.99330719e-01 2.58916422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.03925415399999 meters Centerline goodness : 0.999165 with order 1 Centerline is valid? [True, True] Translation: X:73.32, Y:3.96, Z:2.59 [[ 9.98001809e-01 -5.15534521e-02 -3.65326016e-02 7.33183328e+01] [ 5.15196665e-02 9.98670236e-01 -1.86621843e-03 3.95770333e+00] [ 3.65802319e-02 -1.96580791e-05 9.99330719e-01 2.59214320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.099254154 meters Centerline goodness : 0.999104 with order 1 Centerline is valid? [True, True] Translation: X:73.38, Y:3.95, Z:2.59 [[ 9.97797384e-01 -5.53695086e-02 -3.65321391e-02 7.33769668e+01] [ 5.53379495e-02 9.98465921e-01 -1.87522989e-03 3.95465684e+00] [ 3.65799264e-02 -1.50514190e-04 9.99330719e-01 2.59430847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.159254154 meters Centerline goodness : 0.998873 with order 1 Centerline is valid? [True, True] Translation: X:73.44, Y:3.95, Z:2.60 [[ 9.97545186e-01 -5.97414421e-02 -3.65316550e-02 7.34361080e+01] [ 5.97124692e-02 9.98213839e-01 -1.88461364e-03 3.95390084e+00] [ 3.65789931e-02 -3.01408057e-04 9.99330719e-01 2.59582352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.219254154 meters Centerline goodness : 0.999129 with order 1 Centerline is valid? [True, True] Translation: X:73.50, Y:3.95, Z:2.60 [[ 9.97384879e-01 -6.23606291e-02 -3.65315530e-02 7.34967808e+01] [ 6.23333398e-02 9.98053604e-01 -1.88658890e-03 3.95476436e+00] [ 3.65780969e-02 -3.95478459e-04 9.99330719e-01 2.59788613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.27925415399999 meters Centerline goodness : 0.999282 with order 1 Centerline is valid? [True, True] Translation: X:73.56, Y:3.95, Z:2.60 [[ 9.96413192e-01 -7.63295258e-02 -3.65315530e-02 7.35563180e+01] [ 7.63116090e-02 9.97082233e-01 -1.88658890e-03 3.94967185e+00] [ 3.65689648e-02 -9.07959517e-04 9.99330719e-01 2.59881122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.33925415399999 meters Centerline goodness : 0.999114 with order 1 Centerline is valid? [True, True] Translation: X:73.62, Y:3.95, Z:2.60 [[ 9.95810477e-01 -8.38268766e-02 -3.65314866e-02 7.36175240e+01] [ 8.38139489e-02 9.96479632e-01 -1.88787208e-03 3.94944586e+00] [ 3.65611368e-02 -1.18188536e-03 9.99330719e-01 2.60103233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.39925415399999 meters Centerline goodness : 0.998906 with order 1 Centerline is valid? [True, True] Translation: X:73.68, Y:3.95, Z:2.60 [[ 9.94729225e-01 -9.58082212e-02 -3.65315552e-02 7.36801126e+01] [ 9.58033983e-02 9.95398488e-01 -1.88654487e-03 3.94821181e+00] [ 3.65442013e-02 -1.62324581e-03 9.99330719e-01 2.60438396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.45925415399999 meters Centerline goodness : 0.998890 with order 1 Centerline is valid? [True, True] Translation: X:73.74, Y:3.95, Z:2.61 [[ 9.93696776e-01 -1.05981850e-01 -3.65316974e-02 7.37417276e+01] [ 1.05983976e-01 9.94366053e-01 -1.88378660e-03 3.94686461e+00] [ 3.65255270e-02 -1.99986188e-03 9.99330719e-01 2.60703127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.519254154 meters Centerline goodness : 0.998934 with order 1 Centerline is valid? [True, True] Translation: X:73.80, Y:3.95, Z:2.61 [[ 9.93099286e-01 -1.11441626e-01 -3.65318026e-02 7.38049098e+01] [ 1.11447506e-01 9.93768541e-01 -1.88174422e-03 3.94652023e+00] [ 3.65138608e-02 -2.20261945e-03 9.99330719e-01 2.60985068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.579254154 meters Centerline goodness : 0.999014 with order 1 Centerline is valid? [True, True] Translation: X:73.87, Y:3.95, Z:2.61 [[ 9.93034739e-01 -1.12015263e-01 -3.65320114e-02 7.38681876e+01] [ 1.12021679e-01 9.93703989e-01 -1.87768210e-03 3.94916398e+00] [ 3.65123345e-02 -2.22777369e-03 9.99330719e-01 2.61229519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.63925415399999 meters Centerline goodness : 0.999055 with order 1 Centerline is valid? [True, True] Translation: X:73.93, Y:3.95, Z:2.61 [[ 9.93300748e-01 -1.09631298e-01 -3.65322204e-02 7.39304194e+01] [ 1.09636256e-01 9.93970010e-01 -1.87360666e-03 3.95205454e+00] [ 3.65173374e-02 -2.14420098e-03 9.99330719e-01 2.61337130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.69925415399999 meters Centerline goodness : 0.999036 with order 1 Centerline is valid? [True, True] Translation: X:73.99, Y:3.96, Z:2.61 [[ 9.93922796e-01 -1.03840567e-01 -3.65323575e-02 7.39920138e+01] [ 1.03841723e-01 9.94592075e-01 -1.87092936e-03 3.95566192e+00] [ 3.65290717e-02 -1.93402362e-03 9.99330719e-01 2.61432360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.75925415399999 meters Centerline goodness : 0.999009 with order 1 Centerline is valid? [True, True] Translation: X:74.05, Y:3.96, Z:2.62 [[ 9.94499827e-01 -9.81604336e-02 -3.65324920e-02 7.40536082e+01] [ 9.81578622e-02 9.95169103e-01 -1.86830097e-03 3.96112625e+00] [ 3.65394005e-02 -1.72792631e-03 9.99330719e-01 2.61732545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.81925415399999 meters Centerline goodness : 0.999049 with order 1 Centerline is valid? [True, True] Translation: X:74.12, Y:3.97, Z:2.62 [[ 9.95664541e-01 -8.55423222e-02 -3.65326294e-02 7.41151457e+01] [ 8.55313632e-02 9.96333732e-01 -1.86560975e-03 3.97010758e+00] [ 3.65582796e-02 -1.26716411e-03 9.99330719e-01 2.62107235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.879254154 meters Centerline goodness : 0.998792 with order 1 Centerline is valid? [True, True] Translation: X:74.18, Y:3.98, Z:2.62 [[ 9.96822539e-01 -7.07826464e-02 -3.65327672e-02 7.41756946e+01] [ 7.07618739e-02 9.97491497e-01 -1.86290742e-03 3.97819296e+00] [ 3.65729861e-02 -7.28138960e-04 9.99330719e-01 2.62406371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.939254154 meters Centerline goodness : 0.998874 with order 1 Centerline is valid? [True, True] Translation: X:74.24, Y:3.99, Z:2.63 [[ 9.97711819e-01 -5.68900386e-02 -3.65328687e-02 7.42353879e+01] [ 5.68600224e-02 9.98380426e-01 -1.86091513e-03 3.98703706e+00] [ 3.65795685e-02 -2.20602709e-04 9.99330719e-01 2.62726375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.999254154 meters Centerline goodness : 0.999043 with order 1 Centerline is valid? [True, True] Translation: X:74.29, Y:3.99, Z:2.63 [[ 9.98222635e-01 -4.70841825e-02 -3.65328687e-02 7.42939828e+01] [ 4.70475984e-02 9.98890915e-01 -1.86091513e-03 3.99360362e+00] [ 3.65799703e-02 1.38823876e-04 9.99330719e-01 2.62993841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.05925415399999 meters Centerline goodness : 0.999105 with order 1 Centerline is valid? [True, True] Translation: X:74.35, Y:4.00, Z:2.63 [[ 9.98341836e-01 -4.44852254e-02 -3.65327713e-02 7.43519780e+01] [ 4.44468317e-02 9.99010014e-01 -1.86282398e-03 3.99658572e+00] [ 3.65794726e-02 2.35969176e-04 9.99330719e-01 2.63168369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.11925415399999 meters Centerline goodness : 0.998914 with order 1 Centerline is valid? [True, True] Translation: X:74.41, Y:4.00, Z:2.63 [[ 9.98237641e-01 -4.67654411e-02 -3.65322543e-02 7.44098410e+01] [ 4.67282047e-02 9.98905885e-01 -1.87290915e-03 3.99831732e+00] [ 3.65798712e-02 1.62521752e-04 9.99330719e-01 2.63125881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.17925415399999 meters Centerline goodness : 0.999087 with order 1 Centerline is valid? [True, True] Translation: X:74.47, Y:4.00, Z:2.63 [[ 9.98062736e-01 -5.03605057e-02 -3.65320954e-02 7.44676015e+01] [ 5.03255631e-02 9.98731104e-01 -1.87600264e-03 3.99981878e+00] [ 3.65802165e-02 3.38700571e-05 9.99330719e-01 2.63242367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.239254154 meters Centerline goodness : 0.998874 with order 1 Centerline is valid? [True, True] Translation: X:74.53, Y:4.00, Z:2.63 [[ 9.97863556e-01 -5.41642532e-02 -3.65315934e-02 7.45255242e+01] [ 5.41315022e-02 9.98532035e-01 -1.88572888e-03 4.00106413e+00] [ 3.65801054e-02 -9.58099056e-05 9.99330719e-01 2.63472775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.299254154 meters Centerline goodness : 0.998899 with order 1 Centerline is valid? [True, True] Translation: X:74.58, Y:4.00, Z:2.64 [[ 9.97562765e-01 -5.94475357e-02 -3.65310942e-02 7.45829851e+01] [ 5.94179727e-02 9.98231392e-01 -1.89534946e-03 4.00146324e+00] [ 3.65791589e-02 -2.79873514e-04 9.99330719e-01 2.63779926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.359254154 meters Centerline goodness : 0.998963 with order 1 Centerline is valid? [True, True] Translation: X:74.64, Y:4.00, Z:2.64 [[ 9.97255668e-01 -6.43942816e-02 -3.65309405e-02 7.46413724e+01] [ 6.43679267e-02 9.97924429e-01 -1.89830892e-03 4.00170776e+00] [ 3.65773581e-02 -4.58321567e-04 9.99330719e-01 2.64020762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.41925415399999 meters Centerline goodness : 0.999072 with order 1 Centerline is valid? [True, True] Translation: X:74.70, Y:4.00, Z:2.64 [[ 9.96878419e-01 -6.99922588e-02 -3.65308211e-02 7.47002276e+01] [ 6.99695750e-02 9.97547315e-01 -1.90060224e-03 4.00035003e+00] [ 3.65742500e-02 -6.61376668e-04 9.99330719e-01 2.64156086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.47925415399999 meters Centerline goodness : 0.999074 with order 1 Centerline is valid? [True, True] Translation: X:74.76, Y:4.00, Z:2.64 [[ 9.96481333e-01 -7.54352872e-02 -3.65304013e-02 7.47606954e+01] [ 7.54159622e-02 9.97150335e-01 -1.90863693e-03 3.99906018e+00] [ 3.65702805e-02 -8.53054294e-04 9.99330719e-01 2.64498562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.53925415399999 meters Centerline goodness : 0.999033 with order 1 Centerline is valid? [True, True] Translation: X:74.82, Y:4.00, Z:2.65 [[ 9.96259632e-01 -7.83088443e-02 -3.65304013e-02 7.48217069e+01] [ 7.82914489e-02 9.96928687e-01 -1.90863693e-03 4.00023898e+00] [ 3.65676682e-02 -9.58520121e-04 9.99330719e-01 2.64799450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.599254154 meters Centerline goodness : 0.998927 with order 1 Centerline is valid? [True, True] Translation: X:74.88, Y:4.00, Z:2.65 [[ 9.96108952e-01 -8.02027395e-02 -3.65304728e-02 7.48835518e+01] [ 8.01866662e-02 9.96778040e-01 -1.90726875e-03 4.00092275e+00] [ 3.65657412e-02 -1.02940935e-03 9.99330719e-01 2.65008054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.659254154 meters Centerline goodness : 0.998824 with order 1 Centerline is valid? [True, True] Translation: X:74.95, Y:4.00, Z:2.65 [[ 9.96111412e-01 -8.01721596e-02 -3.65305433e-02 7.49461256e+01] [ 8.01561152e-02 9.96780500e-01 -1.90591662e-03 4.00221301e+00] [ 3.65657347e-02 -1.02964115e-03 9.99330719e-01 2.65251604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.719254154 meters Centerline goodness : 0.998785 with order 1 Centerline is valid? [True, True] Translation: X:75.01, Y:4.00, Z:2.65 [[ 9.96078529e-01 -8.05796071e-02 -3.65306842e-02 7.50068944e+01] [ 8.05639355e-02 9.96747626e-01 -1.90321297e-03 4.00448920e+00] [ 3.65652329e-02 -1.04730611e-03 9.99330719e-01 2.65365521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.77925415399999 meters Centerline goodness : 0.998888 with order 1 Centerline is valid? [True, True] Translation: X:75.07, Y:4.01, Z:2.66 [[ 9.95819427e-01 -8.37207917e-02 -3.65307881e-02 7.50684689e+01] [ 8.37073037e-02 9.96488571e-01 -1.90121633e-03 4.00728175e+00] [ 3.65616842e-02 -1.16462562e-03 9.99330719e-01 2.65506511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.83925415399999 meters Centerline goodness : 0.998825 with order 1 Centerline is valid? [True, True] Translation: X:75.13, Y:4.01, Z:2.66 [[ 9.95460309e-01 -8.78877639e-02 -3.65310153e-02 7.51307520e+01] [ 8.78772369e-02 9.96129506e-01 -1.89684080e-03 4.00990144e+00] [ 3.65563313e-02 -1.32201496e-03 9.99330719e-01 2.65782574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.89925415399999 meters Centerline goodness : 0.998826 with order 1 Centerline is valid? [True, True] Translation: X:75.19, Y:4.01, Z:2.66 [[ 9.94605396e-01 -9.70854302e-02 -3.65311566e-02 7.51927636e+01] [ 9.70811891e-02 9.95274663e-01 -1.89411519e-03 4.01243201e+00] [ 3.65424256e-02 -1.66259093e-03 9.99330719e-01 2.66132731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.95925415399999 meters Centerline goodness : 0.998681 with order 1 Centerline is valid? [True, True] Translation: X:75.25, Y:4.02, Z:2.66 [[ 9.94320660e-01 -9.99594385e-02 -3.65312988e-02 7.52547772e+01] [ 9.99572323e-02 9.94989937e-01 -1.89136882e-03 4.01502436e+00] [ 3.65373349e-02 -1.77094043e-03 9.99330719e-01 2.66452012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.019254154 meters Centerline goodness : 0.998572 with order 1 Centerline is valid? [True, True] Translation: X:75.32, Y:4.02, Z:2.67 [[ 9.94318567e-01 -9.99802065e-02 -3.65314408e-02 7.53156097e+01] [ 9.99781150e-02 9.94987844e-01 -1.88862123e-03 4.01828046e+00] [ 3.65371643e-02 -1.77445344e-03 9.99330720e-01 2.66757483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.079254154 meters Centerline goodness : 0.998701 with order 1 Centerline is valid? [True, True] Translation: X:75.38, Y:4.02, Z:2.67 [[ 9.94457618e-01 -9.85874357e-02 -3.65316723e-02 7.53768608e+01] [ 9.85845713e-02 9.95126893e-01 -1.88413430e-03 4.02208343e+00] [ 3.65394015e-02 -1.72776754e-03 9.99330720e-01 2.66993142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.13925415399999 meters Centerline goodness : 0.998927 with order 1 Centerline is valid? [True, True] Translation: X:75.44, Y:4.03, Z:2.67 [[ 9.95024880e-01 -9.26871500e-02 -3.65319010e-02 7.54387709e+01] [ 9.26804788e-02 9.95694128e-01 -1.87968885e-03 4.02883177e+00] [ 3.65488223e-02 -1.51545690e-03 9.99330720e-01 2.67356983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.19925415399999 meters Centerline goodness : 0.998655 with order 1 Centerline is valid? [True, True] Translation: X:75.50, Y:4.04, Z:2.68 [[ 9.95811250e-01 -8.38174440e-02 -3.65320380e-02 7.55005886e+01] [ 8.38049076e-02 9.96480413e-01 -1.87702162e-03 4.03508577e+00] [ 3.65607875e-02 -1.19240483e-03 9.99330720e-01 2.67599426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.25925415399999 meters Centerline goodness : 0.999033 with order 1 Centerline is valid? [True, True] Translation: X:75.56, Y:4.04, Z:2.68 [[ 9.96628269e-01 -7.34676390e-02 -3.65321787e-02 7.55612543e+01] [ 7.34482519e-02 9.97297268e-01 -1.87427943e-03 4.04139853e+00] [ 3.65711409e-02 -8.15264804e-04 9.99330720e-01 2.67808044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.31925415399999 meters Centerline goodness : 0.998905 with order 1 Centerline is valid? [True, True] Translation: X:75.62, Y:4.05, Z:2.68 [[ 9.97155441e-01 -6.59273812e-02 -3.65322824e-02 7.56227819e+01] [ 6.59030087e-02 9.97824277e-01 -1.87225739e-03 4.04637266e+00] [ 3.65762313e-02 -5.40655674e-04 9.99330720e-01 2.67985777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.379254154 meters Centerline goodness : 0.998835 with order 1 Centerline is valid? [True, True] Translation: X:75.68, Y:4.05, Z:2.68 [[ 9.97817583e-01 -5.50041589e-02 -3.65323517e-02 7.56826195e+01] [ 5.49725134e-02 9.98486115e-01 -1.87090255e-03 4.05227388e+00] [ 3.65799534e-02 -1.41455730e-04 9.99330720e-01 2.68040943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.439254154 meters Centerline goodness : 0.999089 with order 1 Centerline is valid? [True, True] Translation: X:75.74, Y:4.06, Z:2.68 [[ 9.98171702e-01 -4.81522579e-02 -3.65323517e-02 7.57406335e+01] [ 4.81160233e-02 9.98840001e-01 -1.87090255e-03 4.05707270e+00] [ 3.65800624e-02 1.09690499e-04 9.99330720e-01 2.68326095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.499254154 meters Centerline goodness : 0.998965 with order 1 Centerline is valid? [True, True] Translation: X:75.80, Y:4.06, Z:2.69 [[ 9.98230868e-01 -4.69100805e-02 -3.65318713e-02 7.57992680e+01] [ 4.68726727e-02 9.98899103e-01 -1.88023623e-03 4.05958741e+00] [ 3.65798555e-02 1.64563400e-04 9.99330720e-01 2.68672074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.55925415399999 meters Centerline goodness : 0.998900 with order 1 Centerline is valid? [True, True] Translation: X:75.86, Y:4.06, Z:2.69 [[ 9.98086294e-01 -4.98919582e-02 -3.65313915e-02 7.58581614e+01] [ 4.98562073e-02 9.98754619e-01 -1.88951380e-03 4.06084072e+00] [ 3.65801675e-02 6.45812002e-05 9.99330720e-01 2.68988943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.61925415399999 meters Centerline goodness : 0.998965 with order 1 Centerline is valid? [True, True] Translation: X:75.92, Y:4.06, Z:2.69 [[ 9.97558965e-01 -5.95113820e-02 -3.65309123e-02 7.59161957e+01] [ 5.94817378e-02 9.98227588e-01 -1.89873374e-03 4.06039788e+00] [ 3.65791607e-02 -2.78823280e-04 9.99330720e-01 2.69133399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.67925415399999 meters Centerline goodness : 0.999053 with order 1 Centerline is valid? [True, True] Translation: X:75.97, Y:4.06, Z:2.69 [[ 9.96665727e-01 -7.29586272e-02 -3.65303538e-02 7.59747440e+01] [ 7.29376111e-02 9.97334678e-01 -1.90941845e-03 4.05862908e+00] [ 3.65722972e-02 -7.61384812e-04 9.99330720e-01 2.69255856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.739254154 meters Centerline goodness : 0.999161 with order 1 Centerline is valid? [True, True] Translation: X:76.04, Y:4.06, Z:2.69 [[ 9.95981182e-01 -8.17744169e-02 -3.65298526e-02 7.60352495e+01] [ 8.17589709e-02 9.96650284e-01 -1.91895992e-03 4.05890622e+00] [ 3.65644098e-02 -1.07539519e-03 9.99330720e-01 2.69409735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.799254154 meters Centerline goodness : 0.998970 with order 1 Centerline is valid? [True, True] Translation: X:76.10, Y:4.06, Z:2.70 [[ 9.95040752e-01 -9.25173645e-02 -3.65299671e-02 7.60970561e+01] [ 9.25092198e-02 9.95709983e-01 -1.91677800e-03 4.05896006e+00] [ 3.65505881e-02 -1.47208653e-03 9.99330720e-01 2.69640679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.859254154 meters Centerline goodness : 0.999014 with order 1 Centerline is valid? [True, True] Translation: X:76.16, Y:4.06, Z:2.70 [[ 9.94342890e-01 -9.97385251e-02 -3.65300346e-02 7.61587714e+01] [ 9.97352861e-02 9.95012163e-01 -1.91548948e-03 4.06088948e+00] [ 3.65388768e-02 -1.73868011e-03 9.99330720e-01 2.69882120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.91925415399999 meters Centerline goodness : 0.999245 with order 1 Centerline is valid? [True, True] Translation: X:76.22, Y:4.06, Z:2.70 [[ 9.93874792e-01 -1.04299784e-01 -3.65301757e-02 7.62210793e+01] [ 1.04299714e-01 9.94544072e-01 -1.91279495e-03 4.06410838e+00] [ 3.65303738e-02 -1.90900821e-03 9.99330720e-01 2.70257287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.97925415399999 meters Centerline goodness : 0.998869 with order 1 Centerline is valid? [True, True] Translation: X:76.28, Y:4.07, Z:2.70 [[ 9.93470068e-01 -1.08086814e-01 -3.65303190e-02 7.62824872e+01] [ 1.08089396e-01 9.94139343e-01 -1.91005530e-03 4.06881931e+00] [ 3.65226791e-02 -2.05095734e-03 9.99330720e-01 2.70437826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.03925415399999 meters Centerline goodness : 0.998739 with order 1 Centerline is valid? [True, True] Translation: X:76.35, Y:4.07, Z:2.71 [[ 9.93269463e-01 -1.09914974e-01 -3.65304247e-02 7.63457837e+01] [ 1.09918862e-01 9.93938732e-01 -1.90803052e-03 4.07381996e+00] [ 3.65187252e-02 -2.12019425e-03 9.99330720e-01 2.70668168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.099254154 meters Centerline goodness : 0.999158 with order 1 Centerline is valid? [True, True] Translation: X:76.41, Y:4.08, Z:2.71 [[ 9.93142626e-01 -1.11055110e-01 -3.65306395e-02 7.64070073e+01] [ 1.11059917e-01 9.93811889e-01 -1.90390896e-03 4.07956230e+00] [ 3.65160227e-02 -2.16623667e-03 9.99330720e-01 2.70837383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.159254154 meters Centerline goodness : 0.998906 with order 1 Centerline is valid? [True, True] Translation: X:76.47, Y:4.09, Z:2.71 [[ 9.93331580e-01 -1.09352039e-01 -3.65308664e-02 7.64678703e+01] [ 1.09355859e-01 9.94000849e-01 -1.89954518e-03 4.08639441e+00] [ 3.65194314e-02 -2.10798606e-03 9.99330720e-01 2.70982862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.219254154 meters Centerline goodness : 0.998841 with order 1 Centerline is valid? [True, True] Translation: X:76.53, Y:4.10, Z:2.71 [[ 9.94030615e-01 -1.02803818e-01 -3.65309681e-02 7.65305827e+01] [ 1.02803299e-01 9.94699895e-01 -1.89758749e-03 4.09566723e+00] [ 3.65324294e-02 -1.86924398e-03 9.99330720e-01 2.71339399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.27925415399999 meters Centerline goodness : 0.999007 with order 1 Centerline is valid? [True, True] Translation: X:76.59, Y:4.10, Z:2.72 [[ 9.94707469e-01 -9.60339687e-02 -3.65311800e-02 7.65928455e+01] [ 9.60290428e-02 9.95376731e-01 -1.89350057e-03 4.10364514e+00] [ 3.65441269e-02 -1.62457509e-03 9.99330720e-01 2.71608600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.33925415399999 meters Centerline goodness : 0.999024 with order 1 Centerline is valid? [True, True] Translation: X:76.65, Y:4.11, Z:2.72 [[ 9.95781720e-01 -8.41678650e-02 -3.65313210e-02 7.66549180e+01] [ 8.41550600e-02 9.96450877e-01 -1.89077495e-03 4.11449219e+00] [ 3.65608094e-02 -1.19149639e-03 9.99330720e-01 2.71977410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.39925415399999 meters Centerline goodness : 0.998873 with order 1 Centerline is valid? [True, True] Translation: X:76.72, Y:4.12, Z:2.72 [[ 9.96708610e-01 -7.23698723e-02 -3.65314614e-02 7.67164477e+01] [ 7.23492435e-02 9.97377573e-01 -1.88805973e-03 4.12403356e+00] [ 3.65722989e-02 -7.61178204e-04 9.99330720e-01 2.72387092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.45925415399999 meters Centerline goodness : 0.998936 with order 1 Centerline is valid? [True, True] Translation: X:76.78, Y:4.13, Z:2.73 [[ 9.97252270e-01 -6.44465115e-02 -3.65315993e-02 7.67771953e+01] [ 6.44206649e-02 9.97921051e-01 -1.88538652e-03 4.13072906e+00] [ 3.65771586e-02 -4.73183932e-04 9.99330720e-01 2.72701458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.519254154 meters Centerline goodness : 0.999188 with order 1 Centerline is valid? [True, True] Translation: X:76.84, Y:4.14, Z:2.73 [[ 9.97814797e-01 -5.50550298e-02 -3.65318202e-02 7.68377631e+01] [ 5.50230451e-02 9.98483313e-01 -1.88109721e-03 4.13835872e+00] [ 3.65799767e-02 -1.33105360e-04 9.99330720e-01 2.72852022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.579254154 meters Centerline goodness : 0.999122 with order 1 Centerline is valid? [True, True] Translation: X:76.90, Y:4.14, Z:2.73 [[ 9.98025725e-01 -5.10888768e-02 -3.65318877e-02 7.68968931e+01] [ 5.10542835e-02 9.98694111e-01 -1.87978567e-03 4.14295546e+00] [ 3.65802172e-02 1.09651030e-05 9.99330720e-01 2.72983106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.63925415399999 meters Centerline goodness : 0.999101 with order 1 Centerline is valid? [True, True] Translation: X:76.96, Y:4.15, Z:2.73 [[ 9.97901558e-01 -5.34594016e-02 -3.65318201e-02 7.69551365e+01] [ 5.34263480e-02 9.98570021e-01 -1.88109823e-03 4.14625639e+00] [ 3.65801427e-02 -7.46108773e-05 9.99330720e-01 2.73138909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.69925415399999 meters Centerline goodness : 0.999081 with order 1 Centerline is valid? [True, True] Translation: X:77.01, Y:4.15, Z:2.73 [[ 9.97572632e-01 -5.92815679e-02 -3.65313458e-02 7.70145134e+01] [ 5.92520799e-02 9.98241262e-01 -1.89026365e-03 4.14823995e+00] [ 3.65791546e-02 -2.78882942e-04 9.99330720e-01 2.73451519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.75925415399999 meters Centerline goodness : 0.999318 with order 1 Centerline is valid? [True, True] Translation: X:77.07, Y:4.15, Z:2.74 [[ 9.97321624e-01 -6.33643742e-02 -3.65312755e-02 7.70747081e+01] [ 6.33375735e-02 9.97990367e-01 -1.89162206e-03 4.15046275e+00] [ 3.65777225e-02 -4.27246765e-04 9.99330720e-01 2.73759065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.81925415399999 meters Centerline goodness : 0.999191 with order 1 Centerline is valid? [True, True] Translation: X:77.14, Y:4.15, Z:2.74 [[ 9.96882189e-01 -6.99383098e-02 -3.65312755e-02 7.71354608e+01] [ 6.99159188e-02 9.97551094e-01 -1.89162206e-03 4.15192937e+00] [ 3.65741107e-02 -6.68393353e-04 9.99330720e-01 2.74103492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.879254154 meters Centerline goodness : 0.999084 with order 1 Centerline is valid? [True, True] Translation: X:77.20, Y:4.15, Z:2.74 [[ 9.96413165e-01 -7.63299958e-02 -3.65313106e-02 7.71965091e+01] [ 7.63119198e-02 9.97082201e-01 -1.89094388e-03 4.15264290e+00] [ 3.65690553e-02 -9.03613073e-04 9.99330720e-01 2.74283438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.939254154 meters Centerline goodness : 0.999171 with order 1 Centerline is valid? [True, True] Translation: X:77.26, Y:4.15, Z:2.74 [[ 9.96080243e-01 -8.05580876e-02 -3.65314147e-02 7.72590601e+01] [ 8.05429250e-02 9.96749351e-01 -1.88893040e-03 4.15316467e+00] [ 3.65648325e-02 -1.06082075e-03 9.99330720e-01 2.74483659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.999254154 meters Centerline goodness : 0.999149 with order 1 Centerline is valid? [True, True] Translation: X:77.32, Y:4.16, Z:2.75 [[ 9.96018865e-01 -8.13133777e-02 -3.65315559e-02 7.73201125e+01] [ 8.12988226e-02 9.96687987e-01 -1.88619698e-03 4.15551994e+00] [ 3.65639359e-02 -1.09128470e-03 9.99330720e-01 2.74648719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.05925415399999 meters Centerline goodness : 0.999043 with order 1 Centerline is valid? [True, True] Translation: X:77.38, Y:4.16, Z:2.75 [[ 9.96148191e-01 -7.97133587e-02 -3.65316600e-02 7.73813616e+01] [ 7.96978028e-02 9.96817290e-01 -1.88417759e-03 4.15734657e+00] [ 3.65655845e-02 -1.03457294e-03 9.99330720e-01 2.74752613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.11925415399999 meters Centerline goodness : 0.999106 with order 1 Centerline is valid? [True, True] Translation: X:77.44, Y:4.16, Z:2.75 [[ 9.96765264e-01 -7.15851201e-02 -3.65318880e-02 7.74432522e+01] [ 7.15642692e-02 9.97434219e-01 -1.87974573e-03 4.16028463e+00] [ 3.65727171e-02 -7.40712621e-04 9.99330720e-01 2.74926943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.17925415399999 meters Centerline goodness : 0.999083 with order 1 Centerline is valid? [True, True] Translation: X:77.50, Y:4.17, Z:2.75 [[ 9.97576655e-01 -5.92134149e-02 -3.65320299e-02 7.75039378e+01] [ 5.91843675e-02 9.98245304e-01 -1.87698499e-03 4.16554247e+00] [ 3.65790700e-02 -2.89688677e-04 9.99330720e-01 2.75185679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.239254154 meters Centerline goodness : 0.998869 with order 1 Centerline is valid? [True, True] Translation: X:77.56, Y:4.17, Z:2.75 [[ 9.98151523e-01 -4.85689150e-02 -3.65321344e-02 7.75639085e+01] [ 4.85328112e-02 9.98819829e-01 -1.87494950e-03 4.16953428e+00] [ 3.65800845e-02 9.84765232e-05 9.99330720e-01 2.75420851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.299254154 meters Centerline goodness : 0.998867 with order 1 Centerline is valid? [True, True] Translation: X:77.62, Y:4.17, Z:2.76 [[ 9.98301509e-01 -4.53817068e-02 -3.65321344e-02 7.76220047e+01] [ 4.53434694e-02 9.98969696e-01 -1.87494950e-03 4.17248480e+00] [ 3.65795836e-02 2.15271202e-04 9.99330720e-01 2.75602121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.359254154 meters Centerline goodness : 0.999146 with order 1 Centerline is valid? [True, True] Translation: X:77.68, Y:4.17, Z:2.76 [[ 9.98298068e-01 -4.54577967e-02 -3.65315847e-02 7.76793777e+01] [ 4.54192205e-02 9.98966235e-01 -1.88559815e-03 4.17354492e+00] [ 3.65795348e-02 2.23152889e-04 9.99330720e-01 2.75871036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.41925415399999 meters Centerline goodness : 0.998872 with order 1 Centerline is valid? [True, True] Translation: X:77.74, Y:4.17, Z:2.76 [[ 9.98002712e-01 -5.15370819e-02 -3.65310244e-02 7.77376827e+01] [ 5.15021809e-02 9.98671082e-01 -1.89639126e-03 4.17363334e+00] [ 3.65802122e-02 1.11761918e-05 9.99330720e-01 2.75987597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.47925415399999 meters Centerline goodness : 0.998916 with order 1 Centerline is valid? [True, True] Translation: X:77.80, Y:4.17, Z:2.76 [[ 9.97631828e-01 -5.82774440e-02 -3.65304608e-02 7.77964893e+01] [ 5.82466634e-02 9.98300400e-01 -1.90718699e-03 4.17409234e+00] [ 3.65795196e-02 -2.25107010e-04 9.99330720e-01 2.76133673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.53925415399999 meters Centerline goodness : 0.998837 with order 1 Centerline is valid? [True, True] Translation: X:77.86, Y:4.17, Z:2.76 [[ 9.96913473e-01 -6.94916426e-02 -3.65299692e-02 7.78565384e+01] [ 6.94680383e-02 9.97582337e-01 -1.91655719e-03 4.17296444e+00] [ 3.65748367e-02 -6.27023620e-04 9.99330720e-01 2.76377565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.599254154 meters Centerline goodness : 0.998946 with order 1 Centerline is valid? [True, True] Translation: X:77.92, Y:4.17, Z:2.77 [[ 9.96134724e-01 -7.98822787e-02 -3.65298981e-02 7.79177576e+01] [ 7.98656001e-02 9.96803796e-01 -1.91791170e-03 4.17296579e+00] [ 3.65663482e-02 -1.00698379e-03 9.99330720e-01 2.76777269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.659254154 meters Centerline goodness : 0.999030 with order 1 Centerline is valid? [True, True] Translation: X:77.98, Y:4.17, Z:2.77 [[ 9.95597176e-01 -8.63239551e-02 -3.65299687e-02 7.79798001e+01] [ 8.63116540e-02 9.96266342e-01 -1.91656661e-03 4.17426321e+00] [ 3.65590239e-02 -1.24483371e-03 9.99330720e-01 2.77053600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.719254154 meters Centerline goodness : 0.999009 with order 1 Centerline is valid? [True, True] Translation: X:78.04, Y:4.17, Z:2.77 [[ 9.94725895e-01 -9.58433353e-02 -3.65301107e-02 7.80424301e+01] [ 9.58375350e-02 9.95395150e-01 -1.91385534e-03 4.17364045e+00] [ 3.65453253e-02 -1.59719429e-03 9.99330720e-01 2.77228341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.77925415399999 meters Centerline goodness : 0.999304 with order 1 Centerline is valid? [True, True] Translation: X:78.10, Y:4.18, Z:2.78 [[ 9.93935358e-01 -1.03720992e-01 -3.65302513e-02 7.81041148e+01] [ 1.03720592e-01 9.94604638e-01 -1.91116837e-03 4.17594680e+00] [ 3.65313856e-02 -1.88936148e-03 9.99330720e-01 2.77524799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.83925415399999 meters Centerline goodness : 0.998928 with order 1 Centerline is valid? [True, True] Translation: X:78.17, Y:4.18, Z:2.78 [[ 9.93409439e-01 -1.08642608e-01 -3.65303903e-02 7.81657285e+01] [ 1.08645621e-01 9.94078712e-01 -1.90850754e-03 4.17923298e+00] [ 3.65214286e-02 -2.07293753e-03 9.99330720e-01 2.77652509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.89925415399999 meters Centerline goodness : 0.998930 with order 1 Centerline is valid? [True, True] Translation: X:78.23, Y:4.18, Z:2.78 [[ 9.93140714e-01 -1.11072242e-01 -3.65305287e-02 7.82282404e+01] [ 1.11076989e-01 9.93809977e-01 -1.90585408e-03 4.18247466e+00] [ 3.65160914e-02 -2.16491988e-03 9.99330720e-01 2.77831503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.95925415399999 meters Centerline goodness : 0.998843 with order 1 Centerline is valid? [True, True] Translation: X:78.29, Y:4.19, Z:2.78 [[ 9.92936661e-01 -1.12881763e-01 -3.65307344e-02 7.82900585e+01] [ 1.12887875e-01 9.93605913e-01 -1.90190388e-03 4.18699081e+00] [ 3.65118440e-02 -2.23540688e-03 9.99330720e-01 2.77953115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.019254154 meters Centerline goodness : 0.999051 with order 1 Centerline is valid? [True, True] Translation: X:78.35, Y:4.19, Z:2.78 [[ 9.93172892e-01 -1.10784033e-01 -3.65308728e-02 7.83518970e+01] [ 1.10788828e-01 9.93842155e-01 -1.89924188e-03 4.19306896e+00] [ 3.65163270e-02 -2.16093704e-03 9.99330720e-01 2.78169311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.079254154 meters Centerline goodness : 0.998815 with order 1 Centerline is valid? [True, True] Translation: X:78.41, Y:4.20, Z:2.79 [[ 9.93794678e-01 -1.05060095e-01 -3.65310097e-02 7.84139483e+01] [ 1.05061131e-01 9.94463957e-01 -1.89660553e-03 4.19968326e+00] [ 3.65280300e-02 -1.95315273e-03 9.99330720e-01 2.78617025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.13925415399999 meters Centerline goodness : 0.998943 with order 1 Centerline is valid? [True, True] Translation: X:78.47, Y:4.21, Z:2.79 [[ 9.94823021e-01 -9.48294921e-02 -3.65311524e-02 7.84746679e+01] [ 9.48237428e-02 9.95492276e-01 -1.89385248e-03 4.20761715e+00] [ 3.65460731e-02 -1.57997255e-03 9.99330720e-01 2.79036626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.19925415399999 meters Centerline goodness : 0.998941 with order 1 Centerline is valid? [True, True] Translation: X:78.54, Y:4.21, Z:2.79 [[ 9.95566834e-01 -8.66726365e-02 -3.65312576e-02 7.85362556e+01] [ 8.66614766e-02 9.96236021e-01 -1.89182169e-03 4.21409472e+00] [ 3.65577238e-02 -1.28241779e-03 9.99330720e-01 2.79372700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.25925415399999 meters Centerline goodness : 0.999027 with order 1 Centerline is valid? [True, True] Translation: X:78.60, Y:4.22, Z:2.80 [[ 9.96598257e-01 -7.38740225e-02 -3.65313989e-02 7.85969909e+01] [ 7.38543657e-02 9.97267248e-01 -1.88908859e-03 4.22139254e+00] [ 3.65711222e-02 -8.15340899e-04 9.99330720e-01 2.79569762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.31925415399999 meters Centerline goodness : 0.998979 with order 1 Centerline is valid? [True, True] Translation: X:78.66, Y:4.23, Z:2.80 [[ 9.97359165e-01 -6.27705831e-02 -3.65315031e-02 7.86592421e+01] [ 6.27435510e-02 9.98027898e-01 -1.88707205e-03 4.22807523e+00] [ 3.65779118e-02 -4.10027624e-04 9.99330720e-01 2.79707436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.379254154 meters Centerline goodness : 0.999062 with order 1 Centerline is valid? [True, True] Translation: X:78.72, Y:4.23, Z:2.80 [[ 9.97826181e-01 -5.48484498e-02 -3.65316411e-02 7.87190880e+01] [ 5.48162060e-02 9.98494683e-01 -1.88439510e-03 4.23328775e+00] [ 3.65800056e-02 -1.22227204e-04 9.99330720e-01 2.79903041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.439254154 meters Centerline goodness : 0.998892 with order 1 Centerline is valid? [True, True] Translation: X:78.78, Y:4.24, Z:2.80 [[ 9.98001820e-01 -5.15538971e-02 -3.65316749e-02 7.87790073e+01] [ 5.15194704e-02 9.98670214e-01 -1.88374101e-03 4.23666367e+00] [ 3.65802097e-02 -2.11558406e-06 9.99330720e-01 2.80124588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.499254154 meters Centerline goodness : 0.999040 with order 1 Centerline is valid? [True, True] Translation: X:78.84, Y:4.24, Z:2.80 [[ 9.98156182e-01 -4.84734797e-02 -3.65316085e-02 7.88372546e+01] [ 4.84369432e-02 9.98824464e-01 -1.88502658e-03 4.23932398e+00] [ 3.65800381e-02 1.12071483e-04 9.99330720e-01 2.80393602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.55925415399999 meters Centerline goodness : 0.999064 with order 1 Centerline is valid? [True, True] Translation: X:78.89, Y:4.24, Z:2.81 [[ 9.98176287e-01 -4.80577644e-02 -3.65315105e-02 7.88946670e+01] [ 4.80208801e-02 9.98844550e-01 -1.88692430e-03 4.23990003e+00] [ 3.65799815e-02 1.29207802e-04 9.99330720e-01 2.80588887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.61925415399999 meters Centerline goodness : 0.998919 with order 1 Centerline is valid? [True, True] Translation: X:78.95, Y:4.24, Z:2.81 [[ 9.97967132e-01 -5.22215507e-02 -3.65309915e-02 7.89513269e+01] [ 5.21870888e-02 9.98635524e-01 -1.89691936e-03 4.23859466e+00] [ 3.65802059e-02 -1.33829226e-05 9.99330720e-01 2.80644403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.67925415399999 meters Centerline goodness : 0.998814 with order 1 Centerline is valid? [True, True] Translation: X:79.01, Y:4.24, Z:2.81 [[ 9.97652337e-01 -5.79250987e-02 -3.65307678e-02 7.90103837e+01] [ 5.78943006e-02 9.98320908e-01 -1.90121692e-03 4.23799785e+00] [ 3.65795575e-02 -2.18169754e-04 9.99330720e-01 2.80908767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.739254154 meters Centerline goodness : 0.998754 with order 1 Centerline is valid? [True, True] Translation: X:79.07, Y:4.24, Z:2.81 [[ 9.97036952e-01 -6.76967831e-02 -3.65302873e-02 7.90706213e+01] [ 6.76722001e-02 9.97705780e-01 -1.91040512e-03 4.23511468e+00] [ 3.65758071e-02 -5.67340414e-04 9.99330720e-01 2.81057234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.799254154 meters Centerline goodness : 0.998944 with order 1 Centerline is valid? [True, True] Translation: X:79.13, Y:4.23, Z:2.81 [[ 9.96386213e-01 -7.66815319e-02 -3.65302190e-02 7.91319181e+01] [ 7.66629310e-02 9.97055234e-01 -1.91171170e-03 4.23352577e+00] [ 3.65692390e-02 -8.95710473e-04 9.99330720e-01 2.81266916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.859254154 meters Centerline goodness : 0.998906 with order 1 Centerline is valid? [True, True] Translation: X:79.19, Y:4.23, Z:2.81 [[ 9.95953756e-01 -8.21075740e-02 -3.65302870e-02 7.91928848e+01] [ 8.20926651e-02 9.96622870e-01 -1.91041104e-03 4.23412821e+00] [ 3.65637787e-02 -1.09618756e-03 9.99330720e-01 2.81479462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.91925415399999 meters Centerline goodness : 0.998796 with order 1 Centerline is valid? [True, True] Translation: X:79.25, Y:4.23, Z:2.82 [[ 9.95492623e-01 -8.75211906e-02 -3.65305137e-02 7.92549960e+01] [ 8.75100790e-02 9.96161811e-01 -1.90606502e-03 4.23467916e+00] [ 3.65571238e-02 -1.29931447e-03 9.99330720e-01 2.81694183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.97925415399999 meters Centerline goodness : 0.998819 with order 1 Centerline is valid? [True, True] Translation: X:79.32, Y:4.24, Z:2.82 [[ 9.95007282e-01 -9.28763754e-02 -3.65306452e-02 7.93169102e+01] [ 9.28689571e-02 9.95676520e-01 -1.90354307e-03 4.23571190e+00] [ 3.65494998e-02 -1.49852371e-03 9.99330720e-01 2.81969888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.03925415399999 meters Centerline goodness : 0.998947 with order 1 Centerline is valid? [True, True] Translation: X:79.38, Y:4.24, Z:2.82 [[ 9.94234201e-01 -1.00815948e-01 -3.65307855e-02 7.93786143e+01] [ 1.00813971e-01 9.94903478e-01 -1.90084586e-03 4.23718041e+00] [ 3.65362411e-02 -1.79292759e-03 9.99330720e-01 2.82192030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.099254154 meters Centerline goodness : 0.998818 with order 1 Centerline is valid? [True, True] Translation: X:79.44, Y:4.24, Z:2.82 [[ 9.93610470e-01 -1.06788223e-01 -3.65309243e-02 7.94419412e+01] [ 1.06790365e-01 9.94279747e-01 -1.89817384e-03 4.23975907e+00] [ 3.65246608e-02 -2.01510535e-03 9.99330720e-01 2.82497505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.159254154 meters Centerline goodness : 0.998823 with order 1 Centerline is valid? [True, True] Translation: X:79.50, Y:4.24, Z:2.83 [[ 9.93401983e-01 -1.08710516e-01 -3.65311378e-02 7.95043109e+01] [ 1.08714105e-01 9.94071253e-01 -1.89405763e-03 4.24431743e+00] [ 3.65204579e-02 -2.08988933e-03 9.99330720e-01 2.82694160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.219254154 meters Centerline goodness : 0.998970 with order 1 Centerline is valid? [True, True] Translation: X:79.57, Y:4.25, Z:2.83 [[ 9.93478789e-01 -1.08006305e-01 -3.65312785e-02 7.95673891e+01] [ 1.08009518e-01 9.94148061e-01 -1.89133976e-03 4.24914038e+00] [ 3.65217763e-02 -2.06671986e-03 9.99330720e-01 2.82867601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.27925415399999 meters Centerline goodness : 0.998859 with order 1 Centerline is valid? [True, True] Translation: X:79.63, Y:4.26, Z:2.83 [[ 9.93748485e-01 -1.05495966e-01 -3.65314887e-02 7.96279180e+01] [ 1.05497638e-01 9.94417763e-01 -1.88727018e-03 4.25693338e+00] [ 3.65266607e-02 -1.97851388e-03 9.99330720e-01 2.82968227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.33925415399999 meters Centerline goodness : 0.998946 with order 1 Centerline is valid? [True, True] Translation: X:79.69, Y:4.27, Z:2.83 [[ 9.94303809e-01 -1.00126814e-01 -3.65315918e-02 7.96909252e+01] [ 1.00124944e-01 9.94973086e-01 -1.88527349e-03 4.26548425e+00] [ 3.65367170e-02 -1.78318895e-03 9.99330720e-01 2.83321036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.39925415399999 meters Centerline goodness : 0.998921 with order 1 Centerline is valid? [True, True] Translation: X:79.75, Y:4.27, Z:2.84 [[ 9.94715807e-01 -9.59473347e-02 -3.65317933e-02 7.97528518e+01] [ 9.59427954e-02 9.95385071e-01 -1.88135968e-03 4.27275290e+00] [ 3.65437131e-02 -1.63354415e-03 9.99330720e-01 2.83709183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.45925415399999 meters Centerline goodness : 0.999002 with order 1 Centerline is valid? [True, True] Translation: X:79.81, Y:4.28, Z:2.84 [[ 9.95353818e-01 -8.90853287e-02 -3.65319278e-02 7.98140965e+01] [ 8.90762700e-02 9.96023036e-01 -1.87874488e-03 4.28294067e+00] [ 3.65540102e-02 -1.38411197e-03 9.99330720e-01 2.84042496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.519254154 meters Centerline goodness : 0.999021 with order 1 Centerline is valid? [True, True] Translation: X:79.88, Y:4.29, Z:2.84 [[ 9.95947370e-01 -8.21842072e-02 -3.65320649e-02 7.98758457e+01] [ 8.21706081e-02 9.96616512e-01 -1.87607537e-03 4.29308713e+00] [ 3.65626428e-02 -1.13338966e-03 9.99330720e-01 2.84247425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.579254154 meters Centerline goodness : 0.999146 with order 1 Centerline is valid? [True, True] Translation: X:79.94, Y:4.30, Z:2.84 [[ 9.96595551e-01 -7.39101136e-02 -3.65322054e-02 7.99370160e+01] [ 7.38910582e-02 9.97264560e-01 -1.87333438e-03 4.30327636e+00] [ 3.65707321e-02 -8.32446608e-04 9.99330720e-01 2.84473690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.63925415399999 meters Centerline goodness : 0.999250 with order 1 Centerline is valid? [True, True] Translation: X:80.00, Y:4.31, Z:2.85 [[ 9.97244878e-01 -6.45603841e-02 -3.65323089e-02 7.99987358e+01] [ 6.45351292e-02 9.97913681e-01 -1.87131496e-03 4.31268275e+00] [ 3.65769036e-02 -4.91458018e-04 9.99330720e-01 2.84866172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.69925415399999 meters Centerline goodness : 0.999227 with order 1 Centerline is valid? [True, True] Translation: X:80.06, Y:4.32, Z:2.85 [[ 9.97565992e-01 -5.93925204e-02 -3.65324469e-02 8.00609782e+01] [ 5.93638994e-02 9.98234660e-01 -1.86861646e-03 4.31942027e+00] [ 3.65789365e-02 -3.04640271e-04 9.99330720e-01 2.85172670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.75925415399999 meters Centerline goodness : 0.999376 with order 1 Centerline is valid? [True, True] Translation: X:80.12, Y:4.33, Z:2.85 [[ 9.97798176e-01 -5.53549460e-02 -3.65325855e-02 8.01220340e+01] [ 5.53237186e-02 9.98466727e-01 -1.86590265e-03 4.32577637e+00] [ 3.65798580e-02 -1.59324222e-04 9.99330720e-01 2.85397282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.81925415399999 meters Centerline goodness : 0.999161 with order 1 Centerline is valid? [True, True] Translation: X:80.18, Y:4.33, Z:2.86 [[ 9.97721549e-01 -5.67192746e-02 -3.65326538e-02 8.01819261e+01] [ 5.66890103e-02 9.98390144e-01 -1.86456498e-03 4.32980910e+00] [ 3.65795982e-02 -2.10683327e-04 9.99330720e-01 2.85543642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.879254154 meters Centerline goodness : 0.999271 with order 1 Centerline is valid? [True, True] Translation: X:80.24, Y:4.33, Z:2.86 [[ 9.97483641e-01 -6.07597902e-02 -3.65326538e-02 8.02416926e+01] [ 6.07322342e-02 9.98152353e-01 -1.86456498e-03 4.33284771e+00] [ 3.65784449e-02 -3.58836620e-04 9.99330720e-01 2.85806939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.939254154 meters Centerline goodness : 0.999206 with order 1 Centerline is valid? [True, True] Translation: X:80.30, Y:4.33, Z:2.86 [[ 9.96919958e-01 -6.93971220e-02 -3.65326869e-02 8.03028770e+01] [ 6.93753827e-02 9.97588884e-01 -1.86391593e-03 4.33477053e+00] [ 3.65739528e-02 -6.76294148e-04 9.99330720e-01 2.86094707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.999254154 meters Centerline goodness : 0.999186 with order 1 Centerline is valid? [True, True] Translation: X:80.37, Y:4.34, Z:2.86 [[ 9.96503109e-01 -7.51459368e-02 -3.65327545e-02 8.03652054e+01] [ 7.51281047e-02 9.97172151e-01 -1.86258938e-03 4.33653421e+00] [ 3.65694114e-02 -8.88560498e-04 9.99330720e-01 2.86251508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.05925415399999 meters Centerline goodness : 0.999379 with order 1 Centerline is valid? [True, True] Translation: X:80.43, Y:4.34, Z:2.86 [[ 9.96053888e-01 -8.08826353e-02 -3.65328888e-02 8.04264942e+01] [ 8.08687526e-02 9.96723023e-01 -1.85995150e-03 4.33705764e+00] [ 3.65636092e-02 -1.10175723e-03 9.99330720e-01 2.86349013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.11925415399999 meters Centerline goodness : 0.999356 with order 1 Centerline is valid? [True, True] Translation: X:80.49, Y:4.34, Z:2.87 [[ 9.96127738e-01 -7.99678852e-02 -3.65331011e-02 8.04887683e+01] [ 7.99535411e-02 9.96796864e-01 -1.85577254e-03 4.33916505e+00] [ 3.65644828e-02 -1.07236430e-03 9.99330720e-01 2.86538342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.17925415399999 meters Centerline goodness : 0.999205 with order 1 Centerline is valid? [True, True] Translation: X:80.55, Y:4.34, Z:2.87 [[ 9.96557274e-01 -7.44239347e-02 -3.65332304e-02 8.05504115e+01] [ 7.44059610e-02 9.97226313e-01 -1.85322457e-03 4.34178774e+00] [ 3.65698229e-02 -8.71445685e-04 9.99330720e-01 2.86864292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.239254154 meters Centerline goodness : 0.999268 with order 1 Centerline is valid? [True, True] Translation: X:80.61, Y:4.34, Z:2.87 [[ 9.97262533e-01 -6.42864962e-02 -3.65333631e-02 8.06122977e+01] [ 6.42618162e-02 9.97931357e-01 -1.85060332e-03 4.34425152e+00] [ 3.65767575e-02 -5.02162911e-04 9.99330720e-01 2.86954086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.299254154 meters Centerline goodness : 0.999333 with order 1 Centerline is valid? [True, True] Translation: X:80.67, Y:4.35, Z:2.87 [[ 9.97713656e-01 -5.68573848e-02 -3.65335331e-02 8.06738085e+01] [ 5.68278474e-02 9.98382283e-01 -1.84724112e-03 4.34561984e+00] [ 3.65794615e-02 -2.33104356e-04 9.99330720e-01 2.87374402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.359254154 meters Centerline goodness : 0.999183 with order 1 Centerline is valid? [True, True] Translation: X:80.73, Y:4.35, Z:2.88 [[ 9.97898452e-01 -5.35161240e-02 -3.65336048e-02 8.07339237e+01] [ 5.34843998e-02 9.98566979e-01 -1.84582194e-03 4.34685026e+00] [ 3.65800327e-02 -1.12035071e-04 9.99330720e-01 2.87519949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.41925415399999 meters Centerline goodness : 0.999118 with order 1 Centerline is valid? [True, True] Translation: X:80.79, Y:4.35, Z:2.88 [[ 9.97959033e-01 -5.23742639e-02 -3.65336048e-02 8.07947481e+01] [ 5.23417748e-02 9.98627524e-01 -1.84582194e-03 4.34629579e+00] [ 3.65801369e-02 -7.01790373e-05 9.99330720e-01 2.87689580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.47925415399999 meters Centerline goodness : 0.999099 with order 1 Centerline is valid? [True, True] Translation: X:80.85, Y:4.35, Z:2.88 [[ 9.97468911e-01 -6.10005585e-02 -3.65336048e-02 8.08543096e+01] [ 6.09738503e-02 9.98137657e-01 -1.84582194e-03 4.35072921e+00] [ 3.65781629e-02 -3.86444553e-04 9.99330720e-01 2.88423608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.53925415399999 meters Centerline goodness : 0.999018 with order 1 Centerline is valid? [True, True] Translation: X:80.91, Y:4.34, Z:2.88 [[ 9.97366398e-01 -6.26543281e-02 -3.65336049e-02 8.09140721e+01] [ 6.26287288e-02 9.98035187e-01 -1.84581989e-03 4.34221133e+00] [ 3.65774719e-02 -4.47094502e-04 9.99330720e-01 2.87951635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.599254154 meters Centerline goodness : 0.999106 with order 1 Centerline is valid? [True, True] Translation: X:80.97, Y:4.34, Z:2.88 [[ 9.97177803e-01 -6.55875855e-02 -3.65335257e-02 8.09747807e+01] [ 6.55638959e-02 9.97846663e-01 -1.84738773e-03 4.34205417e+00] [ 3.65760224e-02 -5.53106240e-04 9.99330720e-01 2.88264738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.659254154 meters Centerline goodness : 0.998917 with order 1 Centerline is valid? [True, True] Translation: X:81.04, Y:4.34, Z:2.89 [[ 9.97052720e-01 -6.74624041e-02 -3.65335257e-02 8.10358448e+01] [ 6.74399723e-02 9.97721623e-01 -1.84738773e-03 4.34060457e+00] [ 3.65749177e-02 -6.21876999e-04 9.99330720e-01 2.88696511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.719254154 meters Centerline goodness : 0.999214 with order 1 Centerline is valid? [True, True] Translation: X:81.10, Y:4.34, Z:2.89 [[ 9.97153180e-01 -6.59608323e-02 -3.65335941e-02 8.10968808e+01] [ 6.59374428e-02 9.97822051e-01 -1.84603343e-03 4.33911698e+00] [ 3.65757917e-02 -5.68153661e-04 9.99330720e-01 2.88952235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.77925415399999 meters Centerline goodness : 0.999153 with order 1 Centerline is valid? [True, True] Translation: X:81.16, Y:4.34, Z:2.89 [[ 9.97231397e-01 -6.47675232e-02 -3.65336615e-02 8.11587467e+01] [ 6.47433822e-02 9.97900241e-01 -1.84469804e-03 4.33930686e+00] [ 3.65764262e-02 -5.25722011e-04 9.99330720e-01 2.89171073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.83925415399999 meters Centerline goodness : 0.999175 with order 1 Centerline is valid? [True, True] Translation: X:81.22, Y:4.34, Z:2.89 [[ 9.97293050e-01 -6.38111229e-02 -3.65337300e-02 8.12187491e+01] [ 6.37863901e-02 9.97961872e-01 -1.84334122e-03 4.33896027e+00] [ 3.65768953e-02 -4.92003363e-04 9.99330720e-01 2.89292363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.89925415399999 meters Centerline goodness : 0.999114 with order 1 Centerline is valid? [True, True] Translation: X:81.28, Y:4.34, Z:2.89 [[ 9.97366802e-01 -6.26477980e-02 -3.65337637e-02 8.12795650e+01] [ 6.26223096e-02 9.98035596e-01 -1.84267370e-03 4.33891158e+00] [ 3.65774360e-02 -4.50007086e-04 9.99330720e-01 2.89472697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.95925415399999 meters Centerline goodness : 0.999051 with order 1 Centerline is valid? [True, True] Translation: X:81.34, Y:4.34, Z:2.90 [[ 9.97582242e-01 -5.91181484e-02 -3.65337637e-02 8.13388923e+01] [ 5.90902936e-02 9.98250941e-01 -1.84267370e-03 4.33783234e+00] [ 3.65787994e-02 -3.20572264e-04 9.99330720e-01 2.89645568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.019254154 meters Centerline goodness : 0.998775 with order 1 Centerline is valid? [True, True] Translation: X:81.40, Y:4.34, Z:2.90 [[ 9.97871398e-01 -5.40181651e-02 -3.65336967e-02 8.13988287e+01] [ 5.39868439e-02 9.98539944e-01 -1.84399962e-03 4.33771541e+00] [ 3.65799650e-02 -1.32264504e-04 9.99330720e-01 2.89889409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.079254154 meters Centerline goodness : 0.998864 with order 1 Centerline is valid? [True, True] Translation: X:81.46, Y:4.34, Z:2.90 [[ 9.98076891e-01 -5.00780739e-02 -3.65336273e-02 8.14568408e+01] [ 5.00440633e-02 9.98745306e-01 -1.84537373e-03 4.33697083e+00] [ 3.65802016e-02 1.35337143e-05 9.99330720e-01 2.90009410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.13925415399999 meters Centerline goodness : 0.999071 with order 1 Centerline is valid? [True, True] Translation: X:81.51, Y:4.34, Z:2.90 [[ 9.98130208e-01 -4.90040175e-02 -3.65334567e-02 8.15145262e+01] [ 4.89691641e-02 9.98798580e-01 -1.84874497e-03 4.33722501e+00] [ 3.65801606e-02 5.62753680e-05 9.99330720e-01 2.90209390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.19925415399999 meters Centerline goodness : 0.998800 with order 1 Centerline is valid? [True, True] Translation: X:81.57, Y:4.34, Z:2.90 [[ 9.98128389e-01 -4.90414617e-02 -3.65329067e-02 8.15729233e+01] [ 4.90062380e-02 9.98796741e-01 -1.85955108e-03 4.33634446e+00] [ 3.65801433e-02 6.57304068e-05 9.99330720e-01 2.90469510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.25925415399999 meters Centerline goodness : 0.999222 with order 1 Centerline is valid? [True, True] Translation: X:81.63, Y:4.33, Z:2.91 [[ 9.98017824e-01 -5.12426610e-02 -3.65323599e-02 8.16315897e+01] [ 5.12085203e-02 9.98686232e-01 -1.87023239e-03 4.33465415e+00] [ 3.65802005e-02 -4.24282963e-06 9.99330720e-01 2.90839902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.31925415399999 meters Centerline goodness : 0.999011 with order 1 Centerline is valid? [True, True] Translation: X:81.69, Y:4.33, Z:2.91 [[ 9.97845673e-01 -5.44925169e-02 -3.65318788e-02 8.16900455e+01] [ 5.44602108e-02 9.98514172e-01 -1.87958342e-03 4.33197939e+00] [ 3.65800219e-02 -1.13999638e-04 9.99330721e-01 2.91144892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.379254154 meters Centerline goodness : 0.999055 with order 1 Centerline is valid? [True, True] Translation: X:81.75, Y:4.33, Z:2.91 [[ 9.97658740e-01 -5.78141273e-02 -3.65317045e-02 8.17478839e+01] [ 5.77839231e-02 9.98327337e-01 -1.88296403e-03 4.33159735e+00] [ 3.65794612e-02 -2.32389681e-04 9.99330721e-01 2.91320165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.439254154 meters Centerline goodness : 0.999034 with order 1 Centerline is valid? [True, True] Translation: X:81.81, Y:4.33, Z:2.91 [[ 9.97270004e-01 -6.41717546e-02 -3.65311477e-02 8.18059120e+01] [ 6.41454190e-02 9.97938765e-01 -1.89370493e-03 4.32919971e+00] [ 3.65773708e-02 -4.54770655e-04 9.99330721e-01 2.91431740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.499254154 meters Centerline goodness : 0.999164 with order 1 Centerline is valid? [True, True] Translation: X:81.87, Y:4.33, Z:2.92 [[ 9.96861290e-01 -7.02359162e-02 -3.65305858e-02 8.18651998e+01] [ 7.02132537e-02 9.97530186e-01 -1.90448271e-03 4.32701805e+00] [ 3.65741252e-02 -6.66426196e-04 9.99330721e-01 2.91592244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.55925415399999 meters Centerline goodness : 0.999206 with order 1 Centerline is valid? [True, True] Translation: X:81.92, Y:4.33, Z:2.92 [[ 9.96629444e-01 -7.34527342e-02 -3.65300880e-02 8.19233866e+01] [ 7.34318824e-02 9.97298398e-01 -1.91398364e-03 4.32757856e+00] [ 3.65719856e-02 -7.74940675e-04 9.99330721e-01 2.91753441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.61925415399999 meters Centerline goodness : 0.999122 with order 1 Centerline is valid? [True, True] Translation: X:81.98, Y:4.33, Z:2.92 [[ 9.96402596e-01 -7.64684671e-02 -3.65299830e-02 8.19827485e+01] [ 7.64495665e-02 9.97071609e-01 -1.91598552e-03 4.32770065e+00] [ 3.65695214e-02 -8.83608426e-04 9.99330721e-01 2.92153980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.67925415399999 meters Centerline goodness : 0.999144 with order 1 Centerline is valid? [True, True] Translation: X:82.04, Y:4.33, Z:2.92 [[ 9.96111507e-01 -8.01712588e-02 -3.65299118e-02 8.20427488e+01] [ 8.01547952e-02 9.96780584e-01 -1.91734269e-03 4.32612737e+00] [ 3.65660226e-02 -1.01816048e-03 9.99330721e-01 2.92293999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.739254154 meters Centerline goodness : 0.999088 with order 1 Centerline is valid? [True, True] Translation: X:82.10, Y:4.33, Z:2.92 [[ 9.95928172e-01 -8.24175145e-02 -3.65298400e-02 8.21025417e+01] [ 8.24025097e-02 9.96597283e-01 -1.91871015e-03 4.32697657e+00] [ 3.65636746e-02 -1.09925300e-03 9.99330721e-01 2.92324158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.799254154 meters Centerline goodness : 0.999083 with order 1 Centerline is valid? [True, True] Translation: X:82.16, Y:4.33, Z:2.93 [[ 9.95488631e-01 -8.75668770e-02 -3.65298046e-02 8.21624736e+01] [ 8.75553080e-02 9.96157811e-01 -1.91938402e-03 4.32677027e+00] [ 3.65575246e-02 -1.28765332e-03 9.99330721e-01 2.92652697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.859254154 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:82.22, Y:4.33, Z:2.93 [[ 9.95147420e-01 -9.13629674e-02 -3.65297354e-02 8.22230296e+01] [ 9.13539025e-02 9.95816637e-01 -1.92069887e-03 4.32723062e+00] [ 3.65523991e-02 -1.42575536e-03 9.99330721e-01 2.92875134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.91925415399999 meters Centerline goodness : 0.999147 with order 1 Centerline is valid? [True, True] Translation: X:82.28, Y:4.32, Z:2.93 [[ 9.95074008e-01 -9.21590812e-02 -3.65297354e-02 8.22845442e+01] [ 9.21505517e-02 9.95743233e-01 -1.92069887e-03 4.32321640e+00] [ 3.65512467e-02 -1.45499775e-03 9.99330721e-01 2.92801197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.97925415399999 meters Centerline goodness : 0.999189 with order 1 Centerline is valid? [True, True] Translation: X:82.34, Y:4.33, Z:2.93 [[ 9.94679378e-01 -9.63250096e-02 -3.65298082e-02 8.23449264e+01] [ 9.63193332e-02 9.95348634e-01 -1.91931488e-03 4.32963260e+00] [ 3.65447727e-02 -1.60942383e-03 9.99330721e-01 2.93222835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.03925415399999 meters Centerline goodness : 0.999188 with order 1 Centerline is valid? [True, True] Translation: X:82.41, Y:4.33, Z:2.93 [[ 9.94969215e-01 -9.32836101e-02 -3.65298437e-02 8.24064305e+01] [ 9.32759125e-02 9.95638450e-01 -1.91863739e-03 4.33315496e+00] [ 3.65494944e-02 -1.49836937e-03 9.99330721e-01 2.93463047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.099254154 meters Centerline goodness : 0.999122 with order 1 Centerline is valid? [True, True] Translation: X:82.47, Y:4.34, Z:2.94 [[ 9.95326497e-01 -8.93908845e-02 -3.65299146e-02 8.24677528e+01] [ 8.93806186e-02 9.95995697e-01 -1.91728706e-03 4.33738706e+00] [ 3.65550258e-02 -1.35673976e-03 9.99330721e-01 2.93728742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.159254154 meters Centerline goodness : 0.999039 with order 1 Centerline is valid? [True, True] Translation: X:82.53, Y:4.34, Z:2.94 [[ 9.96015478e-01 -8.13555655e-02 -3.65299867e-02 8.25280050e+01] [ 8.13399497e-02 9.96684575e-01 -1.91591285e-03 4.34244013e+00] [ 3.65647444e-02 -1.06306843e-03 9.99330721e-01 2.93964940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.219254154 meters Centerline goodness : 0.999185 with order 1 Centerline is valid? [True, True] Translation: X:82.59, Y:4.35, Z:2.94 [[ 9.96596150e-01 -7.39031405e-02 -3.65299867e-02 8.25884441e+01] [ 7.38825204e-02 9.97265111e-01 -1.91591285e-03 4.34671573e+00] [ 3.65716732e-02 -7.89536118e-04 9.99330721e-01 2.94241394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.27925415399999 meters Centerline goodness : 0.999251 with order 1 Centerline is valid? [True, True] Translation: X:82.65, Y:4.35, Z:2.94 [[ 9.96922777e-01 -6.93580329e-02 -3.65299867e-02 8.26469541e+01] [ 6.93343626e-02 9.97591638e-01 -1.91591285e-03 4.34962612e+00] [ 3.65748932e-02 -6.22766186e-04 9.99330721e-01 2.94334113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.33925415399999 meters Centerline goodness : 0.999397 with order 1 Centerline is valid? [True, True] Translation: X:82.71, Y:4.35, Z:2.94 [[ 9.96976357e-01 -6.85836063e-02 -3.65298806e-02 8.27059444e+01] [ 6.85593424e-02 9.97645197e-01 -1.91793424e-03 4.35251547e+00] [ 3.65753987e-02 -5.92329496e-04 9.99330721e-01 2.94496815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.39925415399999 meters Centerline goodness : 0.999252 with order 1 Centerline is valid? [True, True] Translation: X:82.76, Y:4.35, Z:2.95 [[ 9.96916694e-01 -6.94457354e-02 -3.65293793e-02 8.27644800e+01] [ 6.94217019e-02 9.97585541e-01 -1.92743499e-03 4.35435713e+00] [ 3.65750327e-02 -6.14439562e-04 9.99330721e-01 2.94682417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.45925415399999 meters Centerline goodness : 0.999210 with order 1 Centerline is valid? [True, True] Translation: X:82.82, Y:4.36, Z:2.95 [[ 9.96667549e-01 -7.29344828e-02 -3.65288745e-02 8.28231759e+01] [ 7.29124417e-02 9.97336465e-01 -1.93695357e-03 4.35538203e+00] [ 3.65728493e-02 -7.32910663e-04 9.99330721e-01 2.95018566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.519254154 meters Centerline goodness : 0.999395 with order 1 Centerline is valid? [True, True] Translation: X:82.88, Y:4.36, Z:2.95 [[ 9.96366201e-01 -7.69419988e-02 -3.65283694e-02 8.28815490e+01] [ 7.69223006e-02 9.97035190e-01 -1.94643385e-03 4.35591862e+00] [ 3.65698322e-02 -8.70485311e-04 9.99330721e-01 2.95329018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.579254154 meters Centerline goodness : 0.999273 with order 1 Centerline is valid? [True, True] Translation: X:82.94, Y:4.36, Z:2.96 [[ 9.96217852e-01 -7.88397580e-02 -3.65278640e-02 8.29402171e+01] [ 7.88209882e-02 9.96886867e-01 -1.95587170e-03 4.35730619e+00] [ 3.65683484e-02 -9.30688038e-04 9.99330721e-01 2.95530936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.63925415399999 meters Centerline goodness : 0.999396 with order 1 Centerline is valid? [True, True] Translation: X:83.00, Y:4.36, Z:2.96 [[ 9.96030250e-01 -8.11755169e-02 -3.65277575e-02 8.30000478e+01] [ 8.11582431e-02 9.96699306e-01 -1.95785959e-03 4.35823778e+00] [ 3.65661208e-02 -1.01444125e-03 9.99330721e-01 2.95715592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.69925415399999 meters Centerline goodness : 0.999375 with order 1 Centerline is valid? [True, True] Translation: X:83.06, Y:4.36, Z:2.96 [[ 9.95908402e-01 -8.26570253e-02 -3.65276853e-02 8.30589439e+01] [ 8.26406974e-02 9.96577482e-01 -1.95920523e-03 4.35952032e+00] [ 3.65646107e-02 -1.06748444e-03 9.99330721e-01 2.95876555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.75925415399999 meters Centerline goodness : 0.999292 with order 1 Centerline is valid? [True, True] Translation: X:83.12, Y:4.36, Z:2.96 [[ 9.95854775e-01 -8.33006747e-02 -3.65275786e-02 8.31179913e+01] [ 8.32847065e-02 9.96523864e-01 -1.96119205e-03 4.36125867e+00] [ 3.65639724e-02 -1.08912619e-03 9.99330721e-01 2.96085189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.81925415399999 meters Centerline goodness : 0.999102 with order 1 Centerline is valid? [True, True] Translation: X:83.18, Y:4.36, Z:2.96 [[ 9.96060869e-01 -8.07992417e-02 -3.65270735e-02 8.31777010e+01] [ 8.07812499e-02 9.96729907e-01 -1.97055492e-03 4.36389988e+00] [ 3.65668459e-02 -9.87910010e-04 9.99330721e-01 2.96310321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.879254154 meters Centerline goodness : 0.999375 with order 1 Centerline is valid? [True, True] Translation: X:83.24, Y:4.37, Z:2.96 [[ 9.96379013e-01 -7.67765592e-02 -3.65270004e-02 8.32367612e+01] [ 7.67558164e-02 9.97047971e-01 -1.97191006e-03 4.36682382e+00] [ 3.65705681e-02 -8.38889932e-04 9.99330721e-01 2.96475369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.939254154 meters Centerline goodness : 0.999334 with order 1 Centerline is valid? [True, True] Translation: X:83.30, Y:4.37, Z:2.97 [[ 9.96539707e-01 -7.46620878e-02 -3.65264921e-02 8.32950065e+01] [ 7.46395822e-02 9.97208608e-01 -1.98128154e-03 4.36985053e+00] [ 3.65724589e-02 -7.51896383e-04 9.99330721e-01 2.96664375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.999254154 meters Centerline goodness : 0.999416 with order 1 Centerline is valid? [True, True] Translation: X:83.35, Y:4.37, Z:2.97 [[ 9.96614860e-01 -7.36523786e-02 -3.65259790e-02 8.33534933e+01] [ 7.36288504e-02 9.97283726e-01 -1.99069458e-03 4.37289370e+00] [ 3.65733838e-02 -7.05410049e-04 9.99330721e-01 2.96801118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.05925415399999 meters Centerline goodness : 0.999312 with order 1 Centerline is valid? [True, True] Translation: X:83.41, Y:4.38, Z:2.97 [[ 9.96552871e-01 -7.44866847e-02 -3.65254627e-02 8.34111484e+01] [ 7.44633710e-02 9.97221744e-01 -2.00012293e-03 4.37601206e+00] [ 3.65729682e-02 -7.26580840e-04 9.99330721e-01 2.96994829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.11925415399999 meters Centerline goodness : 0.999313 with order 1 Centerline is valid? [True, True] Translation: X:83.47, Y:4.38, Z:2.97 [[ 9.96419290e-01 -7.62528856e-02 -3.65252814e-02 8.34693453e+01] [ 7.62306363e-02 9.97088199e-01 -2.00342963e-03 4.37895542e+00] [ 3.65716943e-02 -7.88089515e-04 9.99330721e-01 2.97202624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.17925415399999 meters Centerline goodness : 0.999293 with order 1 Centerline is valid? [True, True] Translation: X:83.53, Y:4.38, Z:2.97 [[ 9.96318567e-01 -7.75580996e-02 -3.65247082e-02 8.35284051e+01] [ 7.75363457e-02 9.96987492e-01 -2.01382516e-03 4.38198787e+00] [ 3.65708657e-02 -8.25581004e-04 9.99330721e-01 2.97411741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.239254154 meters Centerline goodness : 0.999102 with order 1 Centerline is valid? [True, True] Translation: X:83.59, Y:4.38, Z:2.98 [[ 9.96138264e-01 -7.98407326e-02 -3.65241784e-02 8.35872739e+01] [ 7.98201610e-02 9.96807227e-01 -2.02338779e-03 4.38442909e+00] [ 3.65691138e-02 -8.99791800e-04 9.99330721e-01 2.97617945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.299254154 meters Centerline goodness : 0.999170 with order 1 Centerline is valid? [True, True] Translation: X:83.65, Y:4.39, Z:2.98 [[ 9.95843785e-01 -8.34336812e-02 -3.65236401e-02 8.36456263e+01] [ 8.34151685e-02 9.96512808e-01 -2.03305846e-03 4.38650692e+00] [ 3.65659007e-02 -1.02201697e-03 9.99330721e-01 2.97818717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.359254154 meters Centerline goodness : 0.999291 with order 1 Centerline is valid? [True, True] Translation: X:83.70, Y:4.39, Z:2.98 [[ 9.95434433e-01 -8.81834505e-02 -3.65235267e-02 8.37038768e+01] [ 8.81680551e-02 9.96103535e-01 -2.03509383e-03 4.38954382e+00] [ 3.65606757e-02 -1.19440584e-03 9.99330721e-01 2.98067246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.41925415399999 meters Centerline goodness : 0.999230 with order 1 Centerline is valid? [True, True] Translation: X:83.76, Y:4.39, Z:2.98 [[ 9.95179354e-01 -9.10171557e-02 -3.65230125e-02 8.37636885e+01] [ 9.10033286e-02 9.95848490e-01 -2.04428021e-03 4.39310038e+00] [ 3.65574515e-02 -1.28929025e-03 9.99330721e-01 2.98283117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.47925415399999 meters Centerline goodness : 0.999168 with order 1 Centerline is valid? [True, True] Translation: X:83.82, Y:4.40, Z:2.99 [[ 9.94965336e-01 -9.33276787e-02 -3.65229379e-02 8.38228843e+01] [ 9.33153565e-02 9.95634501e-01 -2.04561313e-03 4.39719541e+00] [ 3.65544094e-02 -1.37283681e-03 9.99330721e-01 2.98501412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.53925415399999 meters Centerline goodness : 0.999147 with order 1 Centerline is valid? [True, True] Translation: X:83.88, Y:4.40, Z:2.99 [[ 9.94844612e-01 -9.46058976e-02 -3.65229012e-02 8.38828726e+01] [ 9.45944111e-02 9.95513792e-01 -2.04626841e-03 4.40163195e+00] [ 3.65526409e-02 -1.41914322e-03 9.99330721e-01 2.98649165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.599254154 meters Centerline goodness : 0.999252 with order 1 Centerline is valid? [True, True] Translation: X:83.94, Y:4.41, Z:2.99 [[ 9.94712742e-01 -9.59824926e-02 -3.65229012e-02 8.39418828e+01] [ 9.59719321e-02 9.95381937e-01 -2.04626841e-03 4.40696900e+00] [ 3.65506421e-02 -1.46972413e-03 9.99330721e-01 2.98801941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.659254154 meters Centerline goodness : 0.999273 with order 1 Centerline is valid? [True, True] Translation: X:84.00, Y:4.41, Z:2.99 [[ 9.94611074e-01 -9.70303690e-02 -3.65228649e-02 8.40021694e+01] [ 9.70204898e-02 9.95280279e-01 -2.04691511e-03 4.41264963e+00] [ 3.65491001e-02 -1.50758181e-03 9.99330721e-01 2.99081106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.719254154 meters Centerline goodness : 0.999271 with order 1 Centerline is valid? [True, True] Translation: X:84.06, Y:4.41, Z:2.99 [[ 9.94970621e-01 -9.32713461e-02 -3.65228649e-02 8.40631266e+01] [ 9.32589382e-02 9.95639785e-01 -2.04691511e-03 4.41300998e+00] [ 3.65545359e-02 -1.36946321e-03 9.99330721e-01 2.98744829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.77925415399999 meters Centerline goodness : 0.999170 with order 1 Centerline is valid? [True, True] Translation: X:84.12, Y:4.43, Z:3.00 [[ 9.94230011e-01 -1.00860133e-01 -3.65228649e-02 8.41225106e+01] [ 1.00852831e-01 9.94899249e-01 -2.04691511e-03 4.42515693e+00] [ 3.65430230e-02 -1.64832990e-03 9.99330721e-01 2.99594714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.83925415399999 meters Centerline goodness : 0.999272 with order 1 Centerline is valid? [True, True] Translation: X:84.18, Y:4.43, Z:3.00 [[ 9.93897366e-01 -1.04087002e-01 -3.65229029e-02 8.41831182e+01] [ 1.04081898e-01 9.94566625e-01 -2.04623709e-03 4.43088206e+00] [ 3.65374470e-02 -1.76762340e-03 9.99330721e-01 2.99896055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.89925415399999 meters Centerline goodness : 0.999130 with order 1 Centerline is valid? [True, True] Translation: X:84.24, Y:4.43, Z:2.99 [[ 9.94263268e-01 -1.00531721e-01 -3.65229759e-02 8.42443669e+01] [ 1.00524271e-01 9.94932505e-01 -2.04493437e-03 4.43277275e+00] [ 3.65434766e-02 -1.63824240e-03 9.99330721e-01 2.99301326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.95925415399999 meters Centerline goodness : 0.999232 with order 1 Centerline is valid? [True, True] Translation: X:84.30, Y:4.45, Z:3.00 [[ 9.93564267e-01 -1.07219931e-01 -3.65230529e-02 8.43048433e+01] [ 1.07217034e-01 9.94233540e-01 -2.04355723e-03 4.44807956e+00] [ 3.65315542e-02 -1.88548798e-03 9.99330721e-01 3.00254893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.019254154 meters Centerline goodness : 0.999086 with order 1 Centerline is valid? [True, True] Translation: X:84.37, Y:4.46, Z:3.00 [[ 9.93707518e-01 -1.05884029e-01 -3.65231667e-02 8.43669577e+01] [ 1.05880308e-01 9.94376786e-01 -2.04152136e-03 4.45527198e+00] [ 3.65339536e-02 -1.83840900e-03 9.99330721e-01 3.00492102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.079254154 meters Centerline goodness : 0.999065 with order 1 Centerline is valid? [True, True] Translation: X:84.43, Y:4.47, Z:3.01 [[ 9.94269850e-01 -1.00466479e-01 -3.65233169e-02 8.44284514e+01] [ 1.00459209e-01 9.94939089e-01 -2.03883082e-03 4.46666797e+00] [ 3.65433098e-02 -1.64195550e-03 9.99330721e-01 3.00784714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.13925415399999 meters Centerline goodness : 0.999038 with order 1 Centerline is valid? [True, True] Translation: X:84.49, Y:4.48, Z:3.01 [[ 9.94963862e-01 -9.33431863e-02 -3.65234661e-02 8.44900215e+01] [ 9.33312212e-02 9.95633033e-01 -2.03615447e-03 4.47806855e+00] [ 3.65540305e-02 -1.38287958e-03 9.99330721e-01 3.01064827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.19925415399999 meters Centerline goodness : 0.998994 with order 1 Centerline is valid? [True, True] Translation: X:84.55, Y:4.49, Z:3.01 [[ 9.95403059e-01 -8.85368587e-02 -3.65236185e-02 8.45516545e+01] [ 8.85217624e-02 9.96072167e-01 -2.03341653e-03 4.48594008e+00] [ 3.65601922e-02 -1.20906605e-03 9.99330721e-01 3.01311685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.25925415399999 meters Centerline goodness : 0.998995 with order 1 Centerline is valid? [True, True] Translation: X:84.61, Y:4.50, Z:3.02 [[ 9.95997341e-01 -8.15800857e-02 -3.65237730e-02 8.46125451e+01] [ 8.15604166e-02 9.96666331e-01 -2.03063884e-03 4.49619624e+00] [ 3.65676745e-02 -9.56383257e-04 9.99330721e-01 3.01566950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.31925415399999 meters Centerline goodness : 0.999244 with order 1 Centerline is valid? [True, True] Translation: X:84.67, Y:4.51, Z:3.02 [[ 9.96521149e-01 -7.49106529e-02 -3.65238868e-02 8.46731444e+01] [ 7.48865808e-02 9.97189994e-01 -2.02858928e-03 4.50650098e+00] [ 3.65732174e-02 -7.13616880e-04 9.99330721e-01 3.01799636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.379254154 meters Centerline goodness : 0.999075 with order 1 Centerline is valid? [True, True] Translation: X:84.73, Y:4.51, Z:3.02 [[ 9.96920960e-01 -6.93873190e-02 -3.65239616e-02 8.47345877e+01] [ 6.93595903e-02 9.97589664e-01 -2.02724121e-03 4.51435332e+00] [ 3.65765914e-02 -5.12287764e-04 9.99330721e-01 3.02047934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.439254154 meters Centerline goodness : 0.999096 with order 1 Centerline is valid? [True, True] Translation: X:84.80, Y:4.52, Z:3.02 [[ 9.97166224e-01 -6.57686654e-02 -3.65240357e-02 8.47953841e+01] [ 6.57385589e-02 9.97834825e-01 -2.02590573e-03 4.52167967e+00] [ 3.65781959e-02 -3.80872711e-04 9.99330721e-01 3.02315189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.49925415399998 meters Centerline goodness : 0.998905 with order 1 Centerline is valid? [True, True] Translation: X:84.86, Y:4.53, Z:3.02 [[ 9.97268374e-01 -6.42010824e-02 -3.65241090e-02 8.48553186e+01] [ 6.41699733e-02 9.97936930e-01 -2.02458359e-03 4.52651579e+00] [ 3.65787377e-02 -3.24697915e-04 9.99330721e-01 3.02449911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.55925415399999 meters Centerline goodness : 0.999093 with order 1 Centerline is valid? [True, True] Translation: X:84.91, Y:4.53, Z:3.03 [[ 9.97401114e-01 -6.21048095e-02 -3.65241090e-02 8.49145443e+01] [ 6.20722952e-02 9.98069602e-01 -2.02458359e-03 4.53231001e+00] [ 3.65793393e-02 -2.47813348e-04 9.99330721e-01 3.02563788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.61925415399999 meters Centerline goodness : 0.999050 with order 1 Centerline is valid? [True, True] Translation: X:84.97, Y:4.54, Z:3.03 [[ 9.97421044e-01 -6.17839150e-02 -3.65240726e-02 8.49749876e+01] [ 6.17511616e-02 9.98089521e-01 -2.02523973e-03 4.53604081e+00] [ 3.65794214e-02 -2.35387188e-04 9.99330721e-01 3.02745933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.67925415399999 meters Centerline goodness : 0.998968 with order 1 Centerline is valid? [True, True] Translation: X:85.03, Y:4.54, Z:3.03 [[ 9.97453318e-01 -6.12606761e-02 -3.65240726e-02 8.50341809e+01] [ 6.12275721e-02 9.98121778e-01 -2.02523973e-03 4.53967548e+00] [ 3.65795398e-02 -2.16198206e-04 9.99330721e-01 3.02932612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.739254154 meters Centerline goodness : 0.998986 with order 1 Centerline is valid? [True, True] Translation: X:85.09, Y:4.54, Z:3.03 [[ 9.97510027e-01 -6.03302941e-02 -3.65239982e-02 8.50941727e+01] [ 6.02965175e-02 9.98178452e-01 -2.02658087e-03 4.54249926e+00] [ 3.65797322e-02 -1.80735155e-04 9.99330721e-01 3.03221343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.799254154 meters Centerline goodness : 0.999007 with order 1 Centerline is valid? [True, True] Translation: X:85.15, Y:4.54, Z:3.03 [[ 9.97504399e-01 -6.04233220e-02 -3.65239235e-02 8.51545110e+01] [ 6.03895584e-02 9.98172825e-01 -2.02792638e-03 4.54498098e+00] [ 3.65797219e-02 -1.82798133e-04 9.99330721e-01 3.03431449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.859254154 meters Centerline goodness : 0.998968 with order 1 Centerline is valid? [True, True] Translation: X:85.21, Y:4.55, Z:3.04 [[ 9.97370784e-01 -6.25901125e-02 -3.65239235e-02 8.52141061e+01] [ 6.25578011e-02 9.98039282e-01 -2.02792638e-03 4.54596490e+00] [ 3.65792385e-02 -2.62261824e-04 9.99330721e-01 3.03560824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.91925415399999 meters Centerline goodness : 0.999305 with order 1 Centerline is valid? [True, True] Translation: X:85.27, Y:4.55, Z:3.04 [[ 9.97031998e-01 -6.77731493e-02 -3.65238859e-02 8.52735103e+01] [ 6.77442880e-02 9.97700655e-01 -2.02860388e-03 4.54595772e+00] [ 3.65773897e-02 -4.51701664e-04 9.99330721e-01 3.03631451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.97925415399999 meters Centerline goodness : 0.999055 with order 1 Centerline is valid? [True, True] Translation: X:85.33, Y:4.55, Z:3.04 [[ 9.96620617e-01 -7.35755237e-02 -3.65238118e-02 8.53325783e+01] [ 7.35505063e-02 9.97289428e-01 -2.02993612e-03 4.54688999e+00] [ 3.65741650e-02 -6.63268660e-04 9.99330721e-01 3.03808422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.03925415399999 meters Centerline goodness : 0.998995 with order 1 Centerline is valid? [True, True] Translation: X:85.39, Y:4.55, Z:3.04 [[ 9.96376802e-01 -7.68067820e-02 -3.65237754e-02 8.53927018e+01] [ 7.67839094e-02 9.97045690e-01 -2.03059170e-03 4.54922750e+00] [ 3.65718360e-02 -7.81203794e-04 9.99330721e-01 3.04017906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.099254154 meters Centerline goodness : 0.999286 with order 1 Centerline is valid? [True, True] Translation: X:85.45, Y:4.55, Z:3.04 [[ 9.95803728e-01 -8.39103106e-02 -3.65238911e-02 8.54546262e+01] [ 8.38922849e-02 9.96472764e-01 -2.02850892e-03 4.55014329e+00] [ 3.65652755e-02 -1.04407593e-03 9.99330721e-01 3.04332138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.159254154 meters Centerline goodness : 0.998888 with order 1 Centerline is valid? [True, True] Translation: X:85.52, Y:4.55, Z:3.04 [[ 9.95402335e-01 -8.85448238e-02 -3.65240418e-02 8.55169229e+01] [ 8.85300123e-02 9.96071450e-01 -2.02579040e-03 4.55266012e+00] [ 3.65599286e-02 -1.21699737e-03 9.99330721e-01 3.04498678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.219254154 meters Centerline goodness : 0.998824 with order 1 Centerline is valid? [True, True] Translation: X:85.58, Y:4.56, Z:3.05 [[ 9.94598927e-01 -9.71543021e-02 -3.65241921e-02 8.55793502e+01] [ 9.71453802e-02 9.95268146e-01 -2.02307721e-03 4.55570838e+00] [ 3.65479156e-02 -1.53600610e-03 9.99330721e-01 3.04787029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.27925415399999 meters Centerline goodness : 0.998868 with order 1 Centerline is valid? [True, True] Translation: X:85.64, Y:4.56, Z:3.05 [[ 9.93592467e-01 -1.06957848e-01 -3.65243416e-02 8.56410515e+01] [ 1.06955625e-01 9.94261742e-01 -2.02037403e-03 4.55828039e+00] [ 3.65308504e-02 -1.89905538e-03 9.99330721e-01 3.04954971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.33925415399999 meters Centerline goodness : 0.998912 with order 1 Centerline is valid? [True, True] Translation: X:85.70, Y:4.56, Z:3.05 [[ 9.93013381e-01 -1.12206889e-01 -3.65244931e-02 8.57023547e+01] [ 1.12208303e-01 9.93682659e-01 -2.01763210e-03 4.56229447e+00] [ 3.65201476e-02 -2.09481571e-03 9.99330721e-01 3.05099806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.39925415399999 meters Centerline goodness : 0.998825 with order 1 Centerline is valid? [True, True] Translation: X:85.76, Y:4.57, Z:3.05 [[ 9.92512555e-01 -1.16553770e-01 -3.65246051e-02 8.57640287e+01] [ 1.16558190e-01 9.93181819e-01 -2.01560280e-03 4.56825072e+00] [ 3.65104998e-02 -2.25673077e-03 9.99330721e-01 3.05221577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.45925415399999 meters Centerline goodness : 0.999011 with order 1 Centerline is valid? [True, True] Translation: X:85.83, Y:4.58, Z:3.05 [[ 9.92556192e-01 -1.16181532e-01 -3.65247536e-02 8.58255900e+01] [ 1.16185799e-01 9.93225457e-01 -2.01290750e-03 4.57593050e+00] [ 3.65111778e-02 -2.24573387e-03 9.99330721e-01 3.05444244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.519254154 meters Centerline goodness : 0.998885 with order 1 Centerline is valid? [True, True] Translation: X:85.89, Y:4.58, Z:3.06 [[ 9.92947517e-01 -1.12788123e-01 -3.65249009e-02 8.58872218e+01] [ 1.12790200e-01 9.93616792e-01 -2.01023219e-03 4.58289516e+00] [ 3.65184852e-02 -2.12359581e-03 9.99330721e-01 3.05609439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.579254154 meters Centerline goodness : 0.999071 with order 1 Centerline is valid? [True, True] Translation: X:85.95, Y:4.59, Z:3.06 [[ 9.93880092e-01 -1.04250989e-01 -3.65252419e-02 8.59485517e+01] [ 1.04247543e-01 9.94549362e-01 -2.00401716e-03 4.59331091e+00] [ 3.65350768e-02 -1.81591397e-03 9.99330721e-01 3.06035862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.63925415399999 meters Centerline goodness : 0.998921 with order 1 Centerline is valid? [True, True] Translation: X:86.01, Y:4.60, Z:3.06 [[ 9.95143698e-01 -9.14052363e-02 -3.65253845e-02 8.60086641e+01] [ 9.13932414e-02 9.95812869e-01 -2.00141350e-03 4.60429926e+00] [ 3.65553876e-02 -1.34647926e-03 9.99330721e-01 3.06424641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.69925415399999 meters Centerline goodness : 0.998747 with order 1 Centerline is valid? [True, True] Translation: X:86.07, Y:4.62, Z:3.07 [[ 9.96344361e-01 -7.72256587e-02 -3.65254899e-02 8.60701585e+01] [ 7.72042069e-02 9.97013296e-01 -1.99948941e-03 4.61519865e+00] [ 3.65708109e-02 -8.27741482e-04 9.99330721e-01 3.06743503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.75925415399999 meters Centerline goodness : 0.998827 with order 1 Centerline is valid? [True, True] Translation: X:86.13, Y:4.62, Z:3.07 [[ 9.96906852e-01 -6.95888318e-02 -3.65256408e-02 8.61310838e+01] [ 6.95623560e-02 9.97575607e-01 -1.99672793e-03 4.62308437e+00] [ 3.65760383e-02 -5.50257881e-04 9.99330721e-01 3.06897016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.81925415399999 meters Centerline goodness : 0.999102 with order 1 Centerline is valid? [True, True] Translation: X:86.19, Y:4.63, Z:3.07 [[ 9.97422638e-01 -6.17571864e-02 -3.65257519e-02 8.61925001e+01] [ 6.17255336e-02 9.98091168e-01 -1.99469456e-03 4.63206583e+00] [ 3.65792171e-02 -2.65018012e-04 9.99330721e-01 3.07001978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.879254154 meters Centerline goodness : 0.999144 with order 1 Centerline is valid? [True, True] Translation: X:86.25, Y:4.64, Z:3.07 [[ 9.97579445e-01 -5.91701714e-02 -3.65258995e-02 8.62539284e+01] [ 5.91368840e-02 9.98247896e-01 -1.99198775e-03 4.63883268e+00] [ 3.65797686e-02 -1.72861850e-04 9.99330721e-01 3.07064309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.939254154 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:86.31, Y:4.64, Z:3.07 [[ 9.97506083e-01 -6.03942683e-02 -3.65259722e-02 8.63141787e+01] [ 6.03618500e-02 9.98174576e-01 -1.99065463e-03 4.64472655e+00] [ 3.65795209e-02 -2.19085155e-04 9.99330721e-01 3.07391625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.99925415399998 meters Centerline goodness : 0.999057 with order 1 Centerline is valid? [True, True] Translation: X:86.37, Y:4.65, Z:3.08 [[ 9.97328382e-01 -6.32609818e-02 -3.65259722e-02 8.63749214e+01] [ 6.32304849e-02 9.97996965e-01 -1.99065463e-03 4.64897511e+00] [ 3.65787401e-02 -3.24218575e-04 9.99330721e-01 3.07742879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.05925415399999 meters Centerline goodness : 0.999314 with order 1 Centerline is valid? [True, True] Translation: X:86.44, Y:4.65, Z:3.08 [[ 9.97161147e-01 -6.58444771e-02 -3.65260469e-02 8.64361887e+01] [ 6.58157627e-02 9.97829809e-01 -1.98928132e-03 4.65203442e+00] [ 3.65777616e-02 -4.20355594e-04 9.99330721e-01 3.08005690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.11925415399999 meters Centerline goodness : 0.999271 with order 1 Centerline is valid? [True, True] Translation: X:86.50, Y:4.66, Z:3.08 [[ 9.96893946e-01 -6.97732115e-02 -3.65261577e-02 8.64985604e+01] [ 6.97472068e-02 9.97562719e-01 -1.98724529e-03 4.65516848e+00] [ 3.65757897e-02 -5.66524682e-04 9.99330721e-01 3.08204332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.17925415399999 meters Centerline goodness : 0.999249 with order 1 Centerline is valid? [True, True] Translation: X:86.56, Y:4.66, Z:3.08 [[ 9.96736720e-01 -7.19843030e-02 -3.65263023e-02 8.65610942e+01] [ 7.19598792e-02 9.97405553e-01 -1.98458446e-03 4.65796363e+00] [ 3.65743957e-02 -6.50320095e-04 9.99330721e-01 3.08334788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.239254154 meters Centerline goodness : 0.998971 with order 1 Centerline is valid? [True, True] Translation: X:86.62, Y:4.66, Z:3.08 [[ 9.96520132e-01 -7.49229329e-02 -3.65264488e-02 8.66225136e+01] [ 7.49005803e-02 9.97189037e-01 -1.98188493e-03 4.65998560e+00] [ 3.65722629e-02 -7.60863971e-04 9.99330721e-01 3.08489439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.299254154 meters Centerline goodness : 0.999208 with order 1 Centerline is valid? [True, True] Translation: X:86.68, Y:4.66, Z:3.09 [[ 9.96598419e-01 -7.38742363e-02 -3.65265570e-02 8.66844955e+01] [ 7.38512529e-02 9.97267302e-01 -1.97988853e-03 4.66306660e+00] [ 3.65730037e-02 -7.24378223e-04 9.99330721e-01 3.08740626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.359254154 meters Centerline goodness : 0.999294 with order 1 Centerline is valid? [True, True] Translation: X:86.75, Y:4.67, Z:3.09 [[ 9.96851273e-01 -7.03799708e-02 -3.65267041e-02 8.67464762e+01] [ 7.03547422e-02 9.97520076e-01 -1.97716981e-03 4.66642143e+00] [ 3.65752738e-02 -5.98882615e-04 9.99330721e-01 3.08852868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.41925415399999 meters Centerline goodness : 0.999270 with order 1 Centerline is valid? [True, True] Translation: X:86.81, Y:4.67, Z:3.09 [[ 9.97129781e-01 -6.63173294e-02 -3.65268521e-02 8.68081936e+01] [ 6.62894760e-02 9.97798480e-01 -1.97443194e-03 4.66985391e+00] [ 3.65773766e-02 -4.52581002e-04 9.99330721e-01 3.09013104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.47925415399999 meters Centerline goodness : 0.999251 with order 1 Centerline is valid? [True, True] Translation: X:86.87, Y:4.67, Z:3.09 [[ 9.97538063e-01 -5.98631088e-02 -3.65270003e-02 8.68688973e+01] [ 5.98310290e-02 9.98206572e-01 -1.97168710e-03 4.67329869e+00] [ 3.65795231e-02 -2.18615088e-04 9.99330721e-01 3.09295784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.53925415399999 meters Centerline goodness : 0.998970 with order 1 Centerline is valid? [True, True] Translation: X:86.93, Y:4.68, Z:3.10 [[ 9.97676367e-01 -5.75120561e-02 -3.65271095e-02 8.69293421e+01] [ 5.74784751e-02 9.98344803e-01 -1.96966250e-03 4.67562490e+00] [ 3.65799292e-02 -1.34436829e-04 9.99330721e-01 3.09562269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.599254154 meters Centerline goodness : 0.998969 with order 1 Centerline is valid? [True, True] Translation: X:86.99, Y:4.68, Z:3.10 [[ 9.97711299e-01 -5.69028559e-02 -3.65271095e-02 8.69897236e+01] [ 5.68688668e-02 9.98379714e-01 -1.96966250e-03 4.67674421e+00] [ 3.65800045e-02 -1.12100795e-04 9.99330721e-01 3.09718529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.659254154 meters Centerline goodness : 0.999013 with order 1 Centerline is valid? [True, True] Translation: X:87.05, Y:4.68, Z:3.10 [[ 9.97622199e-01 -5.84441398e-02 -3.65271095e-02 8.70506672e+01] [ 5.84111833e-02 9.98290666e-01 -1.96966250e-03 4.67619427e+00] [ 3.65797877e-02 -1.68612656e-04 9.99330721e-01 3.09646492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.719254154 meters Centerline goodness : 0.999015 with order 1 Centerline is valid? [True, True] Translation: X:87.11, Y:4.68, Z:3.10 [[ 9.97348382e-01 -6.29442274e-02 -3.65271095e-02 8.71100575e+01] [ 6.29142869e-02 9.98016990e-01 -1.96966250e-03 4.67634902e+00] [ 3.65786547e-02 -3.33637343e-04 9.99330721e-01 3.09702542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.77925415399999 meters Centerline goodness : 0.999211 with order 1 Centerline is valid? [True, True] Translation: X:87.17, Y:4.68, Z:3.10 [[ 9.96844715e-01 -7.04725983e-02 -3.65270743e-02 8.71702298e+01] [ 7.04476830e-02 9.97513530e-01 -1.97031511e-03 4.67620599e+00] [ 3.65751040e-02 -6.09149548e-04 9.99330721e-01 3.09891961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.83925415399999 meters Centerline goodness : 0.999127 with order 1 Centerline is valid? [True, True] Translation: X:87.23, Y:4.68, Z:3.10 [[ 9.96479600e-01 -7.54597937e-02 -3.65270743e-02 8.72319460e+01] [ 7.54382253e-02 9.97148531e-01 -1.97031511e-03 4.67749394e+00] [ 3.65715980e-02 -7.92158852e-04 9.99330721e-01 3.10257440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.89925415399999 meters Centerline goodness : 0.998833 with order 1 Centerline is valid? [True, True] Translation: X:87.29, Y:4.68, Z:3.11 [[ 9.95970528e-01 -8.19052452e-02 -3.65272191e-02 8.72943714e+01] [ 8.18881036e-02 9.96639587e-01 -1.96762574e-03 4.67914719e+00] [ 3.65656315e-02 -1.03144746e-03 9.99330721e-01 3.10589251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.95925415399999 meters Centerline goodness : 0.998853 with order 1 Centerline is valid? [True, True] Translation: X:87.36, Y:4.68, Z:3.11 [[ 9.95540443e-01 -8.69768860e-02 -3.65273625e-02 8.73564629e+01] [ 8.69632500e-02 9.96209582e-01 -1.96495999e-03 4.67963380e+00] [ 3.65598147e-02 -1.22034102e-03 9.99330721e-01 3.10810900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.019254154 meters Centerline goodness : 0.998958 with order 1 Centerline is valid? [True, True] Translation: X:87.42, Y:4.68, Z:3.11 [[ 9.95121256e-01 -9.16483899e-02 -3.65275076e-02 8.74189436e+01] [ 9.16379936e-02 9.95790454e-01 -1.96226039e-03 4.68143743e+00] [ 3.65535813e-02 -1.39462048e-03 9.99330721e-01 3.11102645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.079254154 meters Centerline goodness : 0.998769 with order 1 Centerline is valid? [True, True] Translation: X:87.48, Y:4.68, Z:3.11 [[ 9.94858488e-01 -9.44580298e-02 -3.65276533e-02 8.74810400e+01] [ 9.44496228e-02 9.95527714e-01 -1.95954427e-03 4.68390446e+00] [ 3.65493858e-02 -1.50055382e-03 9.99330721e-01 3.11254152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.13925415399999 meters Centerline goodness : 0.998813 with order 1 Centerline is valid? [True, True] Translation: X:87.54, Y:4.69, Z:3.11 [[ 9.94526871e-01 -9.78878065e-02 -3.65277986e-02 8.75431125e+01] [ 9.78818065e-02 9.95196123e-01 -1.95683051e-03 4.68638492e+00] [ 3.65438734e-02 -1.62928639e-03 9.99330721e-01 3.11323560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.19925415399999 meters Centerline goodness : 0.999002 with order 1 Centerline is valid? [True, True] Translation: X:87.61, Y:4.69, Z:3.12 [[ 9.94572602e-01 -9.74220140e-02 -3.65279451e-02 8.76057095e+01] [ 9.74158010e-02 9.95241852e-01 -1.95409345e-03 4.69101376e+00] [ 3.65445114e-02 -1.61491122e-03 9.99330721e-01 3.11529438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.25925415399999 meters Centerline goodness : 0.999086 with order 1 Centerline is valid? [True, True] Translation: X:87.67, Y:4.70, Z:3.12 [[ 9.94984309e-01 -9.31231312e-02 -3.65281640e-02 8.76682874e+01] [ 9.31141764e-02 9.95653528e-01 -1.94999163e-03 4.69799387e+00] [ 3.65509847e-02 -1.46107884e-03 9.99330721e-01 3.11774595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.31925415399999 meters Centerline goodness : 0.998850 with order 1 Centerline is valid? [True, True] Translation: X:87.73, Y:4.71, Z:3.12 [[ 9.95471961e-01 -8.77567821e-02 -3.65283848e-02 8.77289107e+01] [ 8.77443709e-02 9.96141124e-01 -1.94584651e-03 4.70568627e+00] [ 3.65581876e-02 -1.26812451e-03 9.99330721e-01 3.11824731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.379254154 meters Centerline goodness : 0.999147 with order 1 Centerline is valid? [True, True] Translation: X:87.79, Y:4.71, Z:3.12 [[ 9.95781051e-01 -8.41769997e-02 -3.65284930e-02 8.77907339e+01] [ 8.41622570e-02 9.96450167e-01 -1.94381499e-03 4.71214374e+00] [ 3.65624474e-02 -1.13870627e-03 9.99330721e-01 3.12058860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.439254154 meters Centerline goodness : 0.999251 with order 1 Centerline is valid? [True, True] Translation: X:87.85, Y:4.72, Z:3.12 [[ 9.96202539e-01 -7.90326532e-02 -3.65286365e-02 8.78527241e+01] [ 7.90145537e-02 9.96871573e-01 -1.94111414e-03 4.72036349e+00] [ 3.65677707e-02 -9.52551075e-04 9.99330721e-01 3.12438959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.49925415399998 meters Centerline goodness : 0.999185 with order 1 Centerline is valid? [True, True] Translation: X:87.91, Y:4.73, Z:3.13 [[ 9.96587225e-01 -7.40239896e-02 -3.65287807e-02 8.79138699e+01] [ 7.40026268e-02 9.97256163e-01 -1.93839676e-03 4.72793133e+00] [ 3.65720395e-02 -7.71444279e-04 9.99330721e-01 3.12776256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.55925415399999 meters Centerline goodness : 0.999315 with order 1 Centerline is valid? [True, True] Translation: X:87.98, Y:4.73, Z:3.13 [[ 9.96779547e-01 -7.13875052e-02 -3.65288869e-02 8.79758932e+01] [ 7.13644464e-02 9.97448428e-01 -1.93639357e-03 4.73388308e+00] [ 3.65739151e-02 -6.76706286e-04 9.99330721e-01 3.13068027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.61925415399999 meters Centerline goodness : 0.999356 with order 1 Centerline is valid? [True, True] Translation: X:88.04, Y:4.74, Z:3.13 [[ 9.97032112e-01 -6.77687034e-02 -3.65290298e-02 8.80374425e+01] [ 6.77433155e-02 9.97700909e-01 -1.93369415e-03 4.74143753e+00] [ 3.65760901e-02 -5.46642421e-04 9.99330721e-01 3.13321711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.67925415399999 meters Centerline goodness : 0.999460 with order 1 Centerline is valid? [True, True] Translation: X:88.10, Y:4.75, Z:3.14 [[ 9.97302874e-01 -6.36600081e-02 -3.65291712e-02 8.80985122e+01] [ 6.36319628e-02 9.97971565e-01 -1.93101853e-03 4.74887640e+00] [ 3.65780028e-02 -3.98612532e-04 9.99330721e-01 3.13561222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.739254154 meters Centerline goodness : 0.999331 with order 1 Centerline is valid? [True, True] Translation: X:88.16, Y:4.76, Z:3.14 [[ 9.97478964e-01 -6.08385385e-02 -3.65292753e-02 8.81596567e+01] [ 6.08086739e-02 9.98147576e-01 -1.92904644e-03 4.75587946e+00] [ 3.65789680e-02 -2.97113547e-04 9.99330721e-01 3.13864130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.799254154 meters Centerline goodness : 0.999589 with order 1 Centerline is valid? [True, True] Translation: X:88.22, Y:4.76, Z:3.14 [[ 9.97550890e-01 -5.96475409e-02 -3.65293450e-02 8.82207220e+01] [ 5.96169264e-02 9.98219468e-01 -1.92772551e-03 4.76045230e+00] [ 3.65792875e-02 -2.54762974e-04 9.99330721e-01 3.13831671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.859254154 meters Centerline goodness : 0.999395 with order 1 Centerline is valid? [True, True] Translation: X:88.28, Y:4.76, Z:3.14 [[ 9.97427502e-01 -6.16763858e-02 -3.65294547e-02 8.82814876e+01] [ 6.16472074e-02 9.98096145e-01 -1.92564598e-03 4.76483058e+00] [ 3.65786748e-02 -3.31246611e-04 9.99330721e-01 3.14182243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.91925415399999 meters Centerline goodness : 0.999611 with order 1 Centerline is valid? [True, True] Translation: X:88.34, Y:4.77, Z:3.14 [[ 9.97243379e-01 -6.45851116e-02 -3.65295296e-02 8.83431871e+01] [ 6.45579355e-02 9.97912106e-01 -1.92422419e-03 4.76845138e+00] [ 3.65775360e-02 -4.39351174e-04 9.99330721e-01 3.14396724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.97925415399999 meters Centerline goodness : 0.999482 with order 1 Centerline is valid? [True, True] Translation: X:88.40, Y:4.77, Z:3.15 [[ 9.96910649e-01 -6.95323049e-02 -3.65296711e-02 8.84048718e+01] [ 6.95085456e-02 9.97579506e-01 -1.92153319e-03 4.77179390e+00] [ 3.65748599e-02 -6.23527413e-04 9.99330721e-01 3.14615716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.03925415399999 meters Centerline goodness : 0.999438 with order 1 Centerline is valid? [True, True] Translation: X:88.47, Y:4.77, Z:3.15 [[ 9.96563194e-01 -7.43463076e-02 -3.65298106e-02 8.84668945e+01] [ 7.43258763e-02 9.97232161e-01 -1.91887865e-03 4.77417668e+00] [ 3.65713634e-02 -8.02826346e-04 9.99330721e-01 3.14764492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.099254154 meters Centerline goodness : 0.999439 with order 1 Centerline is valid? [True, True] Translation: X:88.53, Y:4.78, Z:3.15 [[ 9.95982440e-01 -8.17590519e-02 -3.65299498e-02 8.85289264e+01] [ 8.17436958e-02 9.96651542e-01 -1.91622380e-03 4.77590864e+00] [ 3.65642995e-02 -1.07756785e-03 9.99330721e-01 3.14752716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.159254154 meters Centerline goodness : 0.999396 with order 1 Centerline is valid? [True, True] Translation: X:88.59, Y:4.78, Z:3.15 [[ 9.95510583e-01 -8.73168484e-02 -3.65300904e-02 8.85901583e+01] [ 8.73053255e-02 9.96179762e-01 -1.91353916e-03 4.77844059e+00] [ 3.65576210e-02 -1.28432295e-03 9.99330721e-01 3.14816212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.219254154 meters Centerline goodness : 0.999439 with order 1 Centerline is valid? [True, True] Translation: X:88.65, Y:4.78, Z:3.15 [[ 9.95196382e-01 -9.08278275e-02 -3.65303449e-02 8.86533800e+01] [ 9.08188436e-02 9.95865601e-01 -1.90866997e-03 4.78354150e+00] [ 3.65526742e-02 -1.41814223e-03 9.99330721e-01 3.15107289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.27925415399999 meters Centerline goodness : 0.999545 with order 1 Centerline is valid? [True, True] Translation: X:88.71, Y:4.79, Z:3.15 [[ 9.94963255e-01 -9.33468819e-02 -3.65305517e-02 8.87147114e+01] [ 9.33397376e-02 9.95632495e-01 -1.90470220e-03 4.78799988e+00] [ 3.65488024e-02 -1.51464341e-03 9.99330721e-01 3.15358138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.33925415399999 meters Centerline goodness : 0.999458 with order 1 Centerline is valid? [True, True] Translation: X:88.78, Y:4.79, Z:3.16 [[ 9.94589941e-01 -9.72438226e-02 -3.65306532e-02 8.87761261e+01] [ 9.72393714e-02 9.95259205e-01 -1.90275434e-03 4.79327155e+00] [ 3.65424999e-02 -1.65975743e-03 9.99330721e-01 3.15749128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.39925415399999 meters Centerline goodness : 0.999567 with order 1 Centerline is valid? [True, True] Translation: X:88.84, Y:4.80, Z:3.16 [[ 9.94277383e-01 -1.00389189e-01 -3.65307583e-02 8.88380250e+01] [ 1.00386929e-01 9.94946658e-01 -1.90073523e-03 4.79887732e+00] [ 3.65369691e-02 -1.77735257e-03 9.99330721e-01 3.15921510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.45925415399999 meters Centerline goodness : 0.999436 with order 1 Centerline is valid? [True, True] Translation: X:88.90, Y:4.80, Z:3.16 [[ 9.94203696e-01 -1.01116281e-01 -3.65309308e-02 8.89006387e+01] [ 1.01114631e-01 9.94872972e-01 -1.89741358e-03 4.80297959e+00] [ 3.65354951e-02 -1.80739601e-03 9.99330721e-01 3.16161591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.519254154 meters Centerline goodness : 0.999523 with order 1 Centerline is valid? [True, True] Translation: X:88.96, Y:4.81, Z:3.16 [[ 9.94136455e-01 -1.01775169e-01 -3.65311389e-02 8.89621547e+01] [ 1.01774111e-01 9.94805732e-01 -1.89339749e-03 4.80814458e+00] [ 3.65340873e-02 -1.83562871e-03 9.99330722e-01 3.16128371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.579254154 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:89.02, Y:4.81, Z:3.16 [[ 9.94267231e-01 -1.00489445e-01 -3.65314093e-02 8.90237619e+01] [ 1.00487713e-01 9.94936508e-01 -1.88816568e-03 4.81455869e+00] [ 3.65361736e-02 -1.79361653e-03 9.99330722e-01 3.16217753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.63925415399999 meters Centerline goodness : 0.999629 with order 1 Centerline is valid? [True, True] Translation: X:89.09, Y:4.82, Z:3.17 [[ 9.94851207e-01 -9.45331841e-02 -3.65315441e-02 8.90858787e+01] [ 9.45275396e-02 9.95520461e-01 -1.88555419e-03 4.82261324e+00] [ 3.65461471e-02 -1.57739113e-03 9.99330722e-01 3.16524413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.69925415399999 meters Centerline goodness : 0.997749 with order 1 Centerline is valid? [True, True] Translation: X:89.15, Y:4.83, Z:3.16 [[ 9.95679342e-01 -8.53702806e-02 -3.65316817e-02 8.91469528e+01] [ 8.53585728e-02 9.96348518e-01 -1.88288440e-03 4.82917049e+00] [ 3.65590293e-02 -1.24354311e-03 9.99330722e-01 3.16355332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.75925415399999 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:89.21, Y:4.84, Z:3.17 [[ 9.96586944e-01 -7.40262811e-02 -3.65318004e-02 8.92079021e+01] [ 7.40070381e-02 9.97255946e-01 -1.88058001e-03 4.83956744e+00] [ 3.65707675e-02 -8.29448861e-04 9.99330722e-01 3.17411688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.81925415399999 meters Centerline goodness : 0.999691 with order 1 Centerline is valid? [True, True] Translation: X:89.27, Y:4.85, Z:3.18 [[ 9.97457567e-01 -6.11867612e-02 -3.65319218e-02 8.92694022e+01] [ 6.11589914e-02 9.98126270e-01 -1.87821874e-03 4.84928935e+00] [ 3.65783929e-02 -3.60811989e-04 9.99330722e-01 3.17836133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.879254154 meters Centerline goodness : 0.999756 with order 1 Centerline is valid? [True, True] Translation: X:89.33, Y:4.86, Z:3.18 [[ 9.97839272e-01 -5.46094821e-02 -3.65320594e-02 8.93312019e+01] [ 5.45774025e-02 9.98507781e-01 -1.87553771e-03 4.85533517e+00] [ 3.65799677e-02 -1.22339722e-04 9.99330722e-01 3.18047529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.939254154 meters Centerline goodness : 0.999734 with order 1 Centerline is valid? [True, True] Translation: X:89.39, Y:4.86, Z:3.18 [[ 9.98153692e-01 -4.85242817e-02 -3.65321962e-02 8.93913353e+01] [ 4.84882242e-02 9.98821998e-01 -1.87286904e-03 4.86065019e+00] [ 3.65800409e-02 9.80298217e-05 9.99330722e-01 3.18098568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.99925415399998 meters Centerline goodness : 0.999712 with order 1 Centerline is valid? [True, True] Translation: X:89.45, Y:4.86, Z:3.18 [[ 9.98253126e-01 -4.64336897e-02 -3.65323125e-02 8.94508566e+01] [ 4.63963157e-02 9.98921360e-01 -1.87059862e-03 4.86367255e+00] [ 3.65797660e-02 1.72366214e-04 9.99330722e-01 3.18248213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.05925415399999 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:89.51, Y:4.86, Z:3.19 [[ 9.98243336e-01 -4.66437261e-02 -3.65322465e-02 8.95100447e+01] [ 4.66064456e-02 9.98911575e-01 -1.87188527e-03 4.86464483e+00] [ 3.65797957e-02 1.65958837e-04 9.99330722e-01 3.18513942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.11925415399999 meters Centerline goodness : 0.999601 with order 1 Centerline is valid? [True, True] Translation: X:89.57, Y:4.87, Z:3.19 [[ 9.98165266e-01 -4.82856138e-02 -3.65321815e-02 8.95695817e+01] [ 4.82493861e-02 9.98833564e-01 -1.87315369e-03 4.86505824e+00] [ 3.65800154e-02 1.07061621e-04 9.99330722e-01 3.18786520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.17925415399999 meters Centerline goodness : 0.999625 with order 1 Centerline is valid? [True, True] Translation: X:89.63, Y:4.86, Z:3.19 [[ 9.97944211e-01 -5.26569670e-02 -3.65321159e-02 8.96296506e+01] [ 5.26236198e-02 9.98612658e-01 -1.87443228e-03 4.86406279e+00] [ 3.65801353e-02 -5.18733404e-05 9.99330722e-01 3.19076066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.239254154 meters Centerline goodness : 0.999670 with order 1 Centerline is valid? [True, True] Translation: X:89.69, Y:4.86, Z:3.19 [[ 9.97609588e-01 -5.86559156e-02 -3.65320830e-02 8.96906449e+01] [ 5.86265644e-02 9.98278223e-01 -1.87507393e-03 4.86213648e+00] [ 3.65791670e-02 -2.71158784e-04 9.99330722e-01 3.19425124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.299254154 meters Centerline goodness : 0.999584 with order 1 Centerline is valid? [True, True] Translation: X:89.75, Y:4.86, Z:3.20 [[ 9.97180578e-01 -6.55461462e-02 -3.65321515e-02 8.97530794e+01] [ 6.55214637e-02 9.97849401e-01 -1.87373801e-03 4.85856062e+00] [ 3.65764018e-02 -5.25184882e-04 9.99330722e-01 3.19556348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.359254154 meters Centerline goodness : 0.999500 with order 1 Centerline is valid? [True, True] Translation: X:89.82, Y:4.85, Z:3.20 [[ 9.96714222e-01 -7.22921247e-02 -3.65322875e-02 8.98155099e+01] [ 7.22720657e-02 9.97383200e-01 -1.87108300e-03 4.85463454e+00] [ 3.65719544e-02 -7.75328843e-04 9.99330722e-01 3.19561480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.41925415399999 meters Centerline goodness : 0.999545 with order 1 Centerline is valid? [True, True] Translation: X:89.88, Y:4.85, Z:3.20 [[ 9.96359537e-01 -7.70263293e-02 -3.65324234e-02 8.98775902e+01] [ 7.70095459e-02 9.97028605e-01 -1.86842571e-03 4.85189000e+00] [ 3.65677891e-02 -9.51721556e-04 9.99330722e-01 3.19882630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.47925415399999 meters Centerline goodness : 0.999460 with order 1 Centerline is valid? [True, True] Translation: X:89.94, Y:4.85, Z:3.20 [[ 9.96253009e-01 -7.83920482e-02 -3.65325593e-02 8.99395315e+01] [ 7.83762795e-02 9.96922102e-01 -1.86576443e-03 4.85150635e+00] [ 3.65663769e-02 -1.00451265e-03 9.99330722e-01 3.20178753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.53925415399999 meters Centerline goodness : 0.999376 with order 1 Centerline is valid? [True, True] Translation: X:90.00, Y:4.85, Z:3.20 [[ 9.96081201e-01 -8.05456540e-02 -3.65326979e-02 9.00003794e+01] [ 8.05314315e-02 9.96750329e-01 -1.86304557e-03 4.84972225e+00] [ 3.65640389e-02 -1.08628579e-03 9.99330722e-01 3.20431637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.599254154 meters Centerline goodness : 0.999570 with order 1 Centerline is valid? [True, True] Translation: X:90.06, Y:4.85, Z:3.21 [[ 9.95679115e-01 -8.53723866e-02 -3.65329359e-02 9.00630264e+01] [ 8.53615787e-02 9.96348306e-01 -1.85836774e-03 4.84776357e+00] [ 3.65581821e-02 -1.26817114e-03 9.99330722e-01 3.20606817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.659254154 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:90.13, Y:4.85, Z:3.21 [[ 9.95156171e-01 -9.12662572e-02 -3.65330711e-02 9.01257002e+01] [ 9.12595093e-02 9.95825416e-01 -1.85570529e-03 4.84666263e+00] [ 3.65499240e-02 -1.48727358e-03 9.99330722e-01 3.20590391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.719254154 meters Centerline goodness : 0.999572 with order 1 Centerline is valid? [True, True] Translation: X:90.19, Y:4.85, Z:3.21 [[ 9.94857681e-01 -9.44643868e-02 -3.65332061e-02 9.01882075e+01] [ 9.44598876e-02 9.95526944e-01 -1.85304538e-03 4.84759257e+00] [ 3.65448378e-02 -1.60740610e-03 9.99330722e-01 3.20791286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.77925415399999 meters Centerline goodness : 0.999359 with order 1 Centerline is valid? [True, True] Translation: X:90.25, Y:4.85, Z:3.21 [[ 9.94732092e-01 -9.57777593e-02 -3.65333430e-02 9.02498436e+01] [ 9.57742427e-02 9.95401362e-01 -1.85034184e-03 4.84996429e+00] [ 3.65425610e-02 -1.65835885e-03 9.99330722e-01 3.21029548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.83925415399999 meters Centerline goodness : 0.999186 with order 1 Centerline is valid? [True, True] Translation: X:90.31, Y:4.85, Z:3.21 [[ 9.94679977e-01 -9.63174182e-02 -3.65335119e-02 9.03119567e+01] [ 9.63143871e-02 9.95349249e-01 -1.84700140e-03 4.85196561e+00] [ 3.65415020e-02 -1.68152750e-03 9.99330722e-01 3.21242922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.89925415399999 meters Centerline goodness : 0.999487 with order 1 Centerline is valid? [True, True] Translation: X:90.37, Y:4.86, Z:3.21 [[ 9.94781079e-01 -9.52675071e-02 -3.65336499e-02 9.03733861e+01] [ 9.52638699e-02 9.95450347e-01 -1.84426662e-03 4.85571961e+00] [ 3.65431332e-02 -1.64569534e-03 9.99330722e-01 3.21377729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.95925415399999 meters Centerline goodness : 0.999358 with order 1 Centerline is valid? [True, True] Translation: X:90.44, Y:4.86, Z:3.22 [[ 9.94987405e-01 -9.30878538e-02 -3.65337518e-02 9.04353138e+01] [ 9.30828244e-02 9.95656665e-01 -1.84224625e-03 4.85964695e+00] [ 3.65465642e-02 -1.56765299e-03 9.99330722e-01 3.21741423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.019254154 meters Centerline goodness : 0.999250 with order 1 Centerline is valid? [True, True] Translation: X:90.50, Y:4.87, Z:3.22 [[ 9.95604081e-01 -8.62426115e-02 -3.65338879e-02 9.04966775e+01] [ 8.62330784e-02 9.96273292e-01 -1.83954236e-03 4.86539696e+00] [ 3.65563838e-02 -1.31897374e-03 9.99330722e-01 3.22258328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.079254154 meters Centerline goodness : 0.999376 with order 1 Centerline is valid? [True, True] Translation: X:90.56, Y:4.87, Z:3.23 [[ 9.96473152e-01 -7.55415240e-02 -3.65340247e-02 9.05585006e+01] [ 7.55249015e-02 9.97142224e-01 -1.83682340e-03 4.87217277e+00] [ 3.65683750e-02 -9.28883408e-04 9.99330722e-01 3.22647390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.13925415399999 meters Centerline goodness : 0.999331 with order 1 Centerline is valid? [True, True] Translation: X:90.62, Y:4.88, Z:3.23 [[ 9.97372122e-01 -6.25628061e-02 -3.65341596e-02 9.06203120e+01] [ 6.25375734e-02 9.98040925e-01 -1.83413468e-03 4.87840038e+00] [ 3.65773351e-02 -4.55442886e-04 9.99330722e-01 3.22707952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.19925415399999 meters Centerline goodness : 0.999264 with order 1 Centerline is valid? [True, True] Translation: X:90.68, Y:4.88, Z:3.23 [[ 9.97882329e-01 -5.38154524e-02 -3.65342953e-02 9.06813944e+01] [ 5.37844557e-02 9.98550889e-01 -1.83142842e-03 4.88343114e+00] [ 3.65799122e-02 -1.37427130e-04 9.99330722e-01 3.22903311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.25925415399999 meters Centerline goodness : 0.999197 with order 1 Centerline is valid? [True, True] Translation: X:90.74, Y:4.89, Z:3.23 [[ 9.98438340e-01 -4.22625412e-02 -3.65343626e-02 9.07417167e+01] [ 4.22238579e-02 9.99106499e-01 -1.83008434e-03 4.88909999e+00] [ 3.65790632e-02 2.84604627e-04 9.99330722e-01 3.23074696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.31925415399999 meters Centerline goodness : 0.999414 with order 1 Centerline is valid? [True, True] Translation: X:90.80, Y:4.89, Z:3.23 [[ 9.98685190e-01 -3.59601388e-02 -3.65343626e-02 9.07988076e+01] [ 3.59172393e-02 9.99353092e-01 -1.83008434e-03 4.89281487e+00] [ 3.65765383e-02 5.15464678e-04 9.99330722e-01 3.23302000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.379254154 meters Centerline goodness : 0.999523 with order 1 Centerline is valid? [True, True] Translation: X:90.86, Y:4.90, Z:3.24 [[ 9.98830815e-01 -3.16584842e-02 -3.65341303e-02 9.08564549e+01] [ 3.16125393e-02 9.99498515e-01 -1.83471060e-03 4.89593342e+00] [ 3.65738931e-02 6.77628853e-04 9.99330722e-01 3.23605430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.439254154 meters Centerline goodness : 0.999524 with order 1 Centerline is valid? [True, True] Translation: X:90.91, Y:4.90, Z:3.24 [[ 9.98861581e-01 -3.06730906e-02 -3.65335940e-02 9.09144921e+01] [ 3.06260988e-02 9.99529208e-01 -1.84532759e-03 4.89711074e+00] [ 3.65729962e-02 7.24345376e-04 9.99330722e-01 3.23972247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.49925415399998 meters Centerline goodness : 0.999459 with order 1 Centerline is valid? [True, True] Translation: X:90.97, Y:4.90, Z:3.24 [[ 9.98590394e-01 -3.85040533e-02 -3.65330425e-02 9.09722668e+01] [ 3.84619006e-02 9.99258343e-01 -1.85618251e-03 4.89593477e+00] [ 3.65774181e-02 4.48435773e-04 9.99330722e-01 3.24229605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.55925415399999 meters Centerline goodness : 0.999225 with order 1 Centerline is valid? [True, True] Translation: X:91.03, Y:4.89, Z:3.24 [[ 9.97869660e-01 -5.40508171e-02 -3.65328731e-02 9.10312231e+01] [ 5.40189499e-02 9.98538179e-01 -1.85951006e-03 4.89249686e+00] [ 3.65799767e-02 -1.17918776e-04 9.99330722e-01 3.24432797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.61925415399999 meters Centerline goodness : 0.999378 with order 1 Centerline is valid? [True, True] Translation: X:91.09, Y:4.89, Z:3.25 [[ 9.97153092e-01 -6.59626400e-02 -3.65327375e-02 9.10915047e+01] [ 6.59386605e-02 9.97821941e-01 -1.86217188e-03 4.89080354e+00] [ 3.65760008e-02 -5.52049327e-04 9.99330722e-01 3.24648370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.67925415399999 meters Centerline goodness : 0.999060 with order 1 Centerline is valid? [True, True] Translation: X:91.15, Y:4.89, Z:3.25 [[ 9.95995983e-01 -8.15926663e-02 -3.65327036e-02 9.11535788e+01] [ 8.15791548e-02 9.96665125e-01 -1.86283620e-03 4.88745083e+00] [ 3.65628654e-02 -1.12492971e-03 9.99330722e-01 3.24931845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.739254154 meters Centerline goodness : 0.999298 with order 1 Centerline is valid? [True, True] Translation: X:91.22, Y:4.89, Z:3.25 [[ 9.95034518e-01 -9.25832618e-02 -3.65328402e-02 9.12160146e+01] [ 9.25772366e-02 9.95703769e-01 -1.86015396e-03 4.88589586e+00] [ 3.65481058e-02 -1.53119199e-03 9.99330722e-01 3.25262413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.799254154 meters Centerline goodness : 0.999660 with order 1 Centerline is valid? [True, True] Translation: X:91.28, Y:4.88, Z:3.26 [[ 9.94399162e-01 -9.91748423e-02 -3.65329750e-02 9.12777328e+01] [ 9.91733492e-02 9.95068438e-01 -1.85750257e-03 4.88466781e+00] [ 3.65370279e-02 -1.77599848e-03 9.99330722e-01 3.25524922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.859254154 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:91.34, Y:4.89, Z:3.26 [[ 9.94035584e-01 -1.02754933e-01 -3.65332982e-02 9.13400776e+01] [ 1.02756084e-01 9.94704861e-01 -1.85112241e-03 4.88580549e+00] [ 3.65300613e-02 -1.91393711e-03 9.99330722e-01 3.25796356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.91925415399999 meters Centerline goodness : 0.999322 with order 1 Centerline is valid? [True, True] Translation: X:91.40, Y:4.89, Z:3.26 [[ 9.93982533e-01 -1.03266800e-01 -3.65334286e-02 9.14024733e+01] [ 1.03268390e-01 9.94651810e-01 -1.84854621e-03 4.88888317e+00] [ 3.65289343e-02 -1.93532570e-03 9.99330722e-01 3.26062120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.97925415399999 meters Centerline goodness : 0.999215 with order 1 Centerline is valid? [True, True] Translation: X:91.46, Y:4.89, Z:3.26 [[ 9.94173126e-01 -1.01415457e-01 -3.65335661e-02 9.14642436e+01] [ 1.01415900e-01 9.94842404e-01 -1.84582430e-03 4.89219616e+00] [ 3.65323359e-02 -1.87001558e-03 9.99330722e-01 3.26168831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.03925415399999 meters Centerline goodness : 0.999575 with order 1 Centerline is valid? [True, True] Translation: X:91.53, Y:4.90, Z:3.26 [[ 9.94682486e-01 -9.62914382e-02 -3.65337029e-02 9.15252996e+01] [ 9.62885321e-02 9.95351758e-01 -1.84311307e-03 4.89727096e+00] [ 3.65413614e-02 -1.68446433e-03 9.99330722e-01 3.26223244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.099254154 meters Centerline goodness : 0.999553 with order 1 Centerline is valid? [True, True] Translation: X:91.59, Y:4.90, Z:3.27 [[ 9.95474514e-01 -8.77255549e-02 -3.65338037e-02 9.15873816e+01] [ 8.77169611e-02 9.96143737e-01 -1.84111326e-03 4.90438038e+00] [ 3.65544324e-02 -1.37185291e-03 9.99330722e-01 3.26662627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.159254154 meters Centerline goodness : 0.999659 with order 1 Centerline is valid? [True, True] Translation: X:91.65, Y:4.91, Z:3.27 [[ 9.96375223e-01 -7.68224325e-02 -3.65339372e-02 9.16487002e+01] [ 7.68066102e-02 9.97044314e-01 -1.83845926e-03 4.91274762e+00] [ 3.65671893e-02 -9.74252623e-04 9.99330722e-01 3.27131055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.219254154 meters Centerline goodness : 0.999337 with order 1 Centerline is valid? [True, True] Translation: X:91.71, Y:4.92, Z:3.28 [[ 9.97180805e-01 -6.55416203e-02 -3.65340697e-02 9.17090951e+01] [ 6.55183236e-02 9.97849678e-01 -1.83582240e-03 4.92153629e+00] [ 3.65758325e-02 -5.63004140e-04 9.99330722e-01 3.27534787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.27925415399999 meters Centerline goodness : 0.999486 with order 1 Centerline is valid? [True, True] Translation: X:91.77, Y:4.93, Z:3.28 [[ 9.97591241e-01 -5.89658498e-02 -3.65341673e-02 9.17697643e+01] [ 5.89382149e-02 9.98259948e-01 -1.83387861e-03 4.92811250e+00] [ 3.65787322e-02 -3.23797371e-04 9.99330722e-01 3.27790668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.33925415399999 meters Centerline goodness : 0.999570 with order 1 Centerline is valid? [True, True] Translation: X:91.83, Y:4.94, Z:3.28 [[ 9.97949242e-01 -5.25600653e-02 -3.65342313e-02 9.18304292e+01] [ 5.25281845e-02 9.98617760e-01 -1.83260367e-03 4.93556782e+00] [ 3.65800540e-02 -9.02313952e-05 9.99330722e-01 3.28038342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.39925415399999 meters Centerline goodness : 0.999224 with order 1 Centerline is valid? [True, True] Translation: X:91.89, Y:4.94, Z:3.28 [[ 9.98011882e-01 -5.13568929e-02 -3.65342632e-02 9.18909393e+01] [ 5.13242295e-02 9.98680363e-01 -1.83196659e-03 4.94075414e+00] [ 3.65801354e-02 -4.67684893e-05 9.99330722e-01 3.28464708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.45925415399999 meters Centerline goodness : 0.999312 with order 1 Centerline is valid? [True, True] Translation: X:91.95, Y:4.94, Z:3.29 [[ 9.98025070e-01 -5.10999764e-02 -3.65342632e-02 9.19506514e+01] [ 5.10671409e-02 9.98693542e-01 -1.83196659e-03 4.94478079e+00] [ 3.65801462e-02 -3.73517870e-05 9.99330722e-01 3.28712072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.519254154 meters Centerline goodness : 0.999332 with order 1 Centerline is valid? [True, True] Translation: X:92.01, Y:4.95, Z:3.29 [[ 9.97957306e-01 -5.24067404e-02 -3.65342297e-02 9.20097948e+01] [ 5.23747558e-02 9.98625819e-01 -1.83263371e-03 4.94847496e+00] [ 3.65800675e-02 -8.45811592e-05 9.99330722e-01 3.28886781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.579254154 meters Centerline goodness : 0.999398 with order 1 Centerline is valid? [True, True] Translation: X:92.07, Y:4.95, Z:3.30 [[ 9.97908015e-01 -5.33370956e-02 -3.65341962e-02 9.20703376e+01] [ 5.33057099e-02 9.98576557e-01 -1.83330137e-03 4.95031309e+00] [ 3.65799749e-02 -1.18015134e-04 9.99330722e-01 3.29501025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.63925415399999 meters Centerline goodness : 0.999138 with order 1 Centerline is valid? [True, True] Translation: X:92.13, Y:4.95, Z:3.30 [[ 9.97715542e-01 -5.68238530e-02 -3.65341962e-02 9.21312791e+01] [ 5.67948036e-02 9.98384189e-01 -1.83330137e-03 4.95072345e+00] [ 3.65793391e-02 -2.45839230e-04 9.99330722e-01 3.29676173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.69925415399999 meters Centerline goodness : 0.999289 with order 1 Centerline is valid? [True, True] Translation: X:92.19, Y:4.95, Z:3.30 [[ 9.97532668e-01 -5.99485431e-02 -3.65341962e-02 9.21916318e+01] [ 5.99215881e-02 9.98201404e-01 -1.83330137e-03 4.95162921e+00] [ 3.65783897e-02 -3.60409052e-04 9.99330722e-01 3.29929364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.75925415399999 meters Centerline goodness : 0.999206 with order 1 Centerline is valid? [True, True] Translation: X:92.25, Y:4.95, Z:3.30 [[ 9.97257863e-01 -6.43584331e-02 -3.65341962e-02 9.22531783e+01] [ 6.43344351e-02 9.97926710e-01 -1.83330137e-03 4.95083390e+00] [ 3.65764387e-02 -5.22132671e-04 9.99330722e-01 3.30190320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.81925415399999 meters Centerline goodness : 0.999294 with order 1 Centerline is valid? [True, True] Translation: X:92.31, Y:4.95, Z:3.31 [[ 9.96977114e-01 -6.85702620e-02 -3.65342626e-02 9.23144264e+01] [ 6.85491379e-02 9.97646059e-01 -1.83197830e-03 4.94899238e+00] [ 3.65738823e-02 -6.77951763e-04 9.99330722e-01 3.30541742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.879254154 meters Centerline goodness : 0.999212 with order 1 Centerline is valid? [True, True] Translation: X:92.38, Y:4.95, Z:3.31 [[ 9.96622019e-01 -7.35513045e-02 -3.65343299e-02 9.23770560e+01] [ 7.35335726e-02 9.97291062e-01 -1.83063538e-03 4.94713857e+00] [ 3.65700063e-02 -8.62048266e-04 9.99330722e-01 3.30696512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.939254154 meters Centerline goodness : 0.999127 with order 1 Centerline is valid? [True, True] Translation: X:92.44, Y:4.95, Z:3.31 [[ 9.96057825e-01 -8.08334273e-02 -3.65344651e-02 9.24397705e+01] [ 8.08206848e-02 9.96726981e-01 -1.82793176e-03 4.94551039e+00] [ 3.65626452e-02 -1.13201477e-03 9.99330722e-01 3.30685920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.99925415399998 meters Centerline goodness : 0.999085 with order 1 Centerline is valid? [True, True] Translation: X:92.50, Y:4.95, Z:3.31 [[ 9.95601862e-01 -8.62679297e-02 -3.65345992e-02 9.25022670e+01] [ 8.62589374e-02 9.96271080e-01 -1.82524793e-03 4.94574463e+00] [ 3.65558250e-02 -1.33421547e-03 9.99330722e-01 3.30840975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.05925415399999 meters Centerline goodness : 0.999149 with order 1 Centerline is valid? [True, True] Translation: X:92.56, Y:4.95, Z:3.31 [[ 9.94895166e-01 -9.40681787e-02 -3.65347346e-02 9.25638835e+01] [ 9.40645312e-02 9.95564434e-01 -1.82253366e-03 4.94558423e+00] [ 3.65441248e-02 -1.62339276e-03 9.99330722e-01 3.30941924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.11925415399999 meters Centerline goodness : 0.999065 with order 1 Centerline is valid? [True, True] Translation: X:92.63, Y:4.95, Z:3.31 [[ 9.94419229e-01 -9.89726923e-02 -3.65349555e-02 9.26265164e+01] [ 9.89725075e-02 9.95088507e-01 -1.81809564e-03 4.94679868e+00] [ 3.65354561e-02 -1.80800689e-03 9.99330722e-01 3.31123629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.17925415399999 meters Centerline goodness : 0.999149 with order 1 Centerline is valid? [True, True] Translation: X:92.69, Y:4.95, Z:3.31 [[ 9.94415814e-01 -9.90069522e-02 -3.65350855e-02 9.26881107e+01] [ 9.90068863e-02 9.95085092e-01 -1.81547923e-03 4.94996608e+00] [ 3.65352640e-02 -1.81188380e-03 9.99330722e-01 3.31405675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.239254154 meters Centerline goodness : 0.999340 with order 1 Centerline is valid? [True, True] Translation: X:92.75, Y:4.95, Z:3.32 [[ 9.94628534e-01 -9.68465628e-02 -3.65352147e-02 9.27511855e+01] [ 9.68451385e-02 9.95297811e-01 -1.81287487e-03 4.95378907e+00] [ 3.65389899e-02 -1.73512086e-03 9.99330722e-01 3.31683861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.299254154 meters Centerline goodness : 0.999065 with order 1 Centerline is valid? [True, True] Translation: X:92.81, Y:4.96, Z:3.32 [[ 9.94824542e-01 -9.48118913e-02 -3.65354141e-02 9.28137800e+01] [ 9.48092456e-02 9.95493815e-01 -1.80884877e-03 4.95862944e+00] [ 3.65422791e-02 -1.66440790e-03 9.99330722e-01 3.31891707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.359254154 meters Centerline goodness : 0.999147 with order 1 Centerline is valid? [True, True] Translation: X:92.88, Y:4.96, Z:3.32 [[ 9.95022428e-01 -9.27120054e-02 -3.65356123e-02 9.28755647e+01] [ 9.27080942e-02 9.95691695e-01 -1.80483561e-03 4.96367866e+00] [ 3.65455357e-02 -1.59129507e-03 9.99330722e-01 3.32048209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.41925415399999 meters Centerline goodness : 0.999531 with order 1 Centerline is valid? [True, True] Translation: X:92.94, Y:4.97, Z:3.32 [[ 9.95211254e-01 -9.06625545e-02 -3.65357440e-02 9.29375147e+01] [ 9.06573628e-02 9.95880512e-01 -1.80216553e-03 4.96954335e+00] [ 3.65486244e-02 -1.51869878e-03 9.99330722e-01 3.32245324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.47925415399999 meters Centerline goodness : 0.999358 with order 1 Centerline is valid? [True, True] Translation: X:93.00, Y:4.98, Z:3.33 [[ 9.95744145e-01 -8.46092677e-02 -3.65358749e-02 9.29994250e+01] [ 8.46001039e-02 9.96413360e-01 -1.79950800e-03 4.97764000e+00] [ 3.65570889e-02 -1.29908926e-03 9.99330722e-01 3.32594406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.53925415399999 meters Centerline goodness : 0.999444 with order 1 Centerline is valid? [True, True] Translation: X:93.06, Y:4.98, Z:3.33 [[ 9.96301748e-01 -7.77685532e-02 -3.65360084e-02 9.30608248e+01] [ 7.77548930e-02 9.96970886e-01 -1.79679393e-03 4.98456566e+00] [ 3.65650707e-02 -1.05070449e-03 9.99330722e-01 3.32942896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.599254154 meters Centerline goodness : 0.999677 with order 1 Centerline is valid? [True, True] Translation: X:93.12, Y:4.99, Z:3.33 [[ 9.97091455e-01 -6.68860215e-02 -3.65361426e-02 9.31222030e+01] [ 6.68651564e-02 9.97760408e-01 -1.79406048e-03 4.99270009e+00] [ 3.65743141e-02 -6.54152518e-04 9.99330722e-01 3.33246066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.659254154 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:93.18, Y:5.00, Z:3.33 [[ 9.97512636e-01 -6.02796917e-02 -3.65362748e-02 9.31845607e+01] [ 6.02544945e-02 9.98181440e-01 -1.79136433e-03 5.00011404e+00] [ 3.65778143e-02 -4.14566212e-04 9.99330722e-01 3.33440711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.719254154 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:93.25, Y:5.00, Z:3.33 [[ 9.97623138e-01 -5.84223064e-02 -3.65364076e-02 9.32462535e+01] [ 5.83959633e-02 9.98291897e-01 -1.78865141e-03 5.00440127e+00] [ 3.65784968e-02 -3.49178681e-04 9.99330722e-01 3.33375803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.77925415399999 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:93.31, Y:5.01, Z:3.34 [[ 9.97450765e-01 -6.12948366e-02 -3.65364735e-02 9.33067122e+01] [ 6.12704688e-02 9.98119600e-01 -1.78730478e-03 5.00878824e+00] [ 3.65773228e-02 -4.55858339e-04 9.99330722e-01 3.33682913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.83925415399999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:93.37, Y:5.01, Z:3.34 [[ 9.97354951e-01 -6.28345738e-02 -3.65365386e-02 9.33682204e+01] [ 6.28112873e-02 9.98023824e-01 -1.78597180e-03 5.01278916e+00] [ 3.65765568e-02 -5.13659204e-04 9.99330722e-01 3.34001441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.89925415399999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:93.43, Y:5.02, Z:3.34 [[ 9.97338087e-01 -6.31016402e-02 -3.65366024e-02 9.34291276e+01] [ 6.30785807e-02 9.98006968e-01 -1.78466546e-03 5.01781453e+00] [ 3.65763991e-02 -5.24762188e-04 9.99330722e-01 3.34212383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.95925415399999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:93.49, Y:5.02, Z:3.34 [[ 9.97178671e-01 -6.55726341e-02 -3.65366653e-02 9.34906615e+01] [ 6.55512791e-02 9.97847608e-01 -1.78337804e-03 5.02328163e+00] [ 3.65749649e-02 -6.16678603e-04 9.99330722e-01 3.34420428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.019254154 meters Centerline goodness : 0.999676 with order 1 Centerline is valid? [True, True] Translation: X:93.55, Y:5.03, Z:3.35 [[ 9.96858999e-01 -7.02652375e-02 -3.65367294e-02 9.35525017e+01] [ 7.02470793e-02 9.97528031e-01 -1.78206396e-03 5.02836245e+00] [ 3.65716289e-02 -7.90132028e-04 9.99330722e-01 3.34640232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.079254154 meters Centerline goodness : 0.999589 with order 1 Centerline is valid? [True, True] Translation: X:93.61, Y:5.03, Z:3.35 [[ 9.96621069e-01 -7.35629202e-02 -3.65368600e-02 9.36136744e+01] [ 7.35470739e-02 9.97290159e-01 -1.77938143e-03 5.03301535e+00] [ 3.65687474e-02 -9.13810125e-04 9.99330722e-01 3.34731923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.13925415399999 meters Centerline goodness : 0.999481 with order 1 Centerline is valid? [True, True] Translation: X:93.68, Y:5.04, Z:3.35 [[ 9.96562514e-01 -7.43519072e-02 -3.65369564e-02 9.36757873e+01] [ 7.43366632e-02 9.97231619e-01 -1.77740098e-03 5.03848672e+00] [ 3.65679613e-02 -9.44744230e-04 9.99330722e-01 3.34942896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.19925415399999 meters Centerline goodness : 0.999502 with order 1 Centerline is valid? [True, True] Translation: X:93.74, Y:5.04, Z:3.35 [[ 9.96724153e-01 -7.21526414e-02 -3.65370843e-02 9.37374081e+01] [ 7.21360174e-02 9.97393225e-01 -1.77476753e-03 5.04372473e+00] [ 3.65698945e-02 -8.66686079e-04 9.99330722e-01 3.35286409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.25925415399999 meters Centerline goodness : 0.999587 with order 1 Centerline is valid? [True, True] Translation: X:93.80, Y:5.05, Z:3.36 [[ 9.96861499e-01 -7.02295053e-02 -3.65372131e-02 9.37989436e+01] [ 7.02116878e-02 9.97530540e-01 -1.77211103e-03 5.04821507e+00] [ 3.65714404e-02 -7.98790141e-04 9.99330722e-01 3.35539042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.31925415399999 meters Centerline goodness : 0.999630 with order 1 Centerline is valid? [True, True] Translation: X:93.86, Y:5.05, Z:3.36 [[ 9.97044496e-01 -6.75817644e-02 -3.65373434e-02 9.38605117e+01] [ 6.75622686e-02 9.97713490e-01 -1.76942092e-03 5.05332041e+00] [ 3.65733810e-02 -7.04354418e-04 9.99330722e-01 3.35695839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.379254154 meters Centerline goodness : 0.999456 with order 1 Centerline is valid? [True, True] Translation: X:93.92, Y:5.06, Z:3.36 [[ 9.97111795e-01 -6.65813946e-02 -3.65374720e-02 9.39218788e+01] [ 6.65613250e-02 9.97780772e-01 -1.76676214e-03 5.05768019e+00] [ 3.65740205e-02 -6.70323182e-04 9.99330722e-01 3.35665529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.439254154 meters Centerline goodness : 0.999587 with order 1 Centerline is valid? [True, True] Translation: X:93.98, Y:5.06, Z:3.36 [[ 9.97128982e-01 -6.63233841e-02 -3.65376914e-02 9.39840765e+01] [ 6.63033081e-02 9.97797958e-01 -1.76221187e-03 5.06177159e+00] [ 3.65741098e-02 -6.65417291e-04 9.99330722e-01 3.35738784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.49925415399998 meters Centerline goodness : 0.999651 with order 1 Centerline is valid? [True, True] Translation: X:94.05, Y:5.07, Z:3.36 [[ 9.97142577e-01 -6.61185908e-02 -3.65378177e-02 9.40458300e+01] [ 6.60984735e-02 9.97811553e-01 -1.75958948e-03 5.06771439e+00] [ 3.65741982e-02 -6.60532390e-04 9.99330722e-01 3.35911629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.55925415399999 meters Centerline goodness : 0.999497 with order 1 Centerline is valid? [True, True] Translation: X:94.11, Y:5.07, Z:3.36 [[ 9.97176356e-01 -6.56071134e-02 -3.65379434e-02 9.41075786e+01] [ 6.55867486e-02 9.97845324e-01 -1.75697644e-03 5.07244111e+00] [ 3.65744861e-02 -6.44389546e-04 9.99330722e-01 3.36347085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.61925415399999 meters Centerline goodness : 0.999650 with order 1 Centerline is valid? [True, True] Translation: X:94.17, Y:5.08, Z:3.37 [[ 9.97296079e-01 -6.37612770e-02 -3.65380733e-02 9.41684050e+01] [ 6.37397732e-02 9.97965011e-01 -1.75426959e-03 5.07784302e+00] [ 3.65755732e-02 -5.79402325e-04 9.99330722e-01 3.36697599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.67925415399999 meters Centerline goodness : 0.999693 with order 1 Centerline is valid? [True, True] Translation: X:94.23, Y:5.08, Z:3.37 [[ 9.97253703e-01 -6.44206015e-02 -3.65381693e-02 9.42302479e+01] [ 6.43996133e-02 9.97922652e-01 -1.75226868e-03 5.08384109e+00] [ 3.65751490e-02 -6.05587538e-04 9.99330722e-01 3.37137406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.739254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:94.29, Y:5.09, Z:3.37 [[ 9.97093574e-01 -6.68532615e-02 -3.65382936e-02 9.42922172e+01] [ 6.68340004e-02 9.97762574e-01 -1.74967225e-03 5.08637995e+00] [ 3.65735132e-02 -6.97413372e-04 9.99330722e-01 3.37351795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.799254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:94.35, Y:5.09, Z:3.37 [[ 9.96555794e-01 -7.44412094e-02 -3.65384191e-02 9.43541169e+01] [ 7.44271374e-02 9.97224924e-01 -1.74704733e-03 5.08894625e+00] [ 3.65670746e-02 -9.78419805e-04 9.99330722e-01 3.37439452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.859254154 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:94.42, Y:5.09, Z:3.37 [[ 9.95934847e-01 -8.23329544e-02 -3.65385436e-02 9.44168726e+01] [ 8.23242789e-02 9.96604069e-01 -1.74443999e-03 5.09056568e+00] [ 3.65580861e-02 -1.27066068e-03 9.99330722e-01 3.37435175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.91925415399999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:94.48, Y:5.09, Z:3.37 [[ 9.95618727e-01 -8.60713348e-02 -3.65387020e-02 9.44779232e+01] [ 8.60652935e-02 9.96287977e-01 -1.74111647e-03 5.09266026e+00] [ 3.65529297e-02 -1.41122594e-03 9.99330722e-01 3.37378097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.97925415399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.54, Y:5.10, Z:3.38 [[ 9.95915597e-01 -8.25652947e-02 -3.65389503e-02 9.45408523e+01] [ 8.25570886e-02 9.96584825e-01 -1.73588896e-03 5.09650034e+00] [ 3.65574876e-02 -1.28775047e-03 9.99330722e-01 3.37640470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.03925415399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.60, Y:5.10, Z:3.38 [[ 9.96529174e-01 -7.47963670e-02 -3.65391378e-02 9.46023459e+01] [ 7.47830873e-02 9.97198320e-01 -1.73193286e-03 5.10290390e+00] [ 3.65663092e-02 -1.00658791e-03 9.99330722e-01 3.38110497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.099254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:94.66, Y:5.11, Z:3.38 [[ 9.96873916e-01 -7.00519731e-02 -3.65392615e-02 9.46643768e+01] [ 7.00356041e-02 9.97542993e-01 -1.72931973e-03 5.10740074e+00] [ 3.65706266e-02 -8.35135524e-04 9.99330722e-01 3.38488450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.159254154 meters Centerline goodness : 0.999691 with order 1 Centerline is valid? [True, True] Translation: X:94.73, Y:5.11, Z:3.39 [[ 9.97155345e-01 -6.59248829e-02 -3.65393876e-02 9.47263317e+01] [ 6.59058422e-02 9.97824353e-01 -1.72665053e-03 5.11094251e+00] [ 3.65737201e-02 -6.86420315e-04 9.99330722e-01 3.38763108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.219254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:94.79, Y:5.11, Z:3.39 [[ 9.97549342e-01 -5.96671945e-02 -3.65395122e-02 9.47888166e+01] [ 5.96440533e-02 9.98218220e-01 -1.72401105e-03 5.11421783e+00] [ 3.65772737e-02 -4.59578527e-04 9.99330722e-01 3.38898527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.27925415399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.85, Y:5.12, Z:3.39 [[ 9.97910038e-01 -5.32955150e-02 -3.65396372e-02 9.48509573e+01] [ 5.32681999e-02 9.98578758e-01 -1.72135663e-03 5.11722177e+00] [ 3.65794462e-02 -2.28641642e-04 9.99330722e-01 3.38958067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.33925415399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.91, Y:5.12, Z:3.39 [[ 9.98110433e-01 -4.94004976e-02 -3.65397644e-02 9.49115540e+01] [ 4.93706719e-02 9.98779046e-01 -1.71865348e-03 5.11970076e+00] [ 3.65800533e-02 -8.85867500e-05 9.99330722e-01 3.39066805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.39925415399999 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:94.97, Y:5.12, Z:3.39 [[ 9.98337742e-01 -4.45711786e-02 -3.65398693e-02 9.49711982e+01] [ 4.45382002e-02 9.99006207e-01 -1.71642077e-03 5.12073154e+00] [ 3.65800591e-02 8.61476214e-05 9.99330722e-01 3.39142829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.45925415399999 meters Centerline goodness : 0.999758 with order 1 Centerline is valid? [True, True] Translation: X:95.03, Y:5.12, Z:3.39 [[ 9.98402986e-01 -4.30850310e-02 -3.65398072e-02 9.50301731e+01] [ 4.30510094e-02 9.99071399e-01 -1.71774017e-03 5.12117335e+00] [ 3.65798852e-02 1.41921329e-04 9.99330722e-01 3.39351979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.519254154 meters Centerline goodness : 0.999736 with order 1 Centerline is valid? [True, True] Translation: X:95.09, Y:5.12, Z:3.40 [[ 9.98335457e-01 -4.46227432e-02 -3.65393643e-02 9.50891475e+01] [ 4.45894082e-02 9.99003905e-01 -1.72711060e-03 5.12077243e+00] [ 3.65800360e-02 9.49671240e-05 9.99330722e-01 3.39679239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.579254154 meters Centerline goodness : 0.999342 with order 1 Centerline is valid? [True, True] Translation: X:95.15, Y:5.12, Z:3.40 [[ 9.98220094e-01 -4.71333373e-02 -3.65389240e-02 9.51480057e+01] [ 4.71013443e-02 9.98888607e-01 -1.73637725e-03 5.12089870e+00] [ 3.65801561e-02 1.22542234e-05 9.99330722e-01 3.39929670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.63925415399999 meters Centerline goodness : 0.999584 with order 1 Centerline is valid? [True, True] Translation: X:95.21, Y:5.12, Z:3.40 [[ 9.97964889e-01 -5.22591520e-02 -3.65384875e-02 9.52077682e+01] [ 5.22302581e-02 9.98633543e-01 -1.74551317e-03 5.11998736e+00] [ 3.65797783e-02 -1.66453780e-04 9.99330722e-01 3.40269917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.69925415399999 meters Centerline goodness : 0.999630 with order 1 Centerline is valid? [True, True] Translation: X:95.27, Y:5.12, Z:3.40 [[ 9.97570083e-01 -5.93200940e-02 -3.65384238e-02 9.52680056e+01] [ 5.92958838e-02 9.98238923e-01 -1.74684594e-03 5.11836647e+00] [ 3.65776999e-02 -4.23976883e-04 9.99330722e-01 3.40389247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.75925415399999 meters Centerline goodness : 0.999479 with order 1 Centerline is valid? [True, True] Translation: X:95.33, Y:5.12, Z:3.40 [[ 9.97133410e-01 -6.62563440e-02 -3.65384551e-02 9.53297960e+01] [ 6.62368099e-02 9.97802403e-01 -1.74619022e-03 5.11686881e+00] [ 3.65738545e-02 -6.79006098e-04 9.99330722e-01 3.40437752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.81925415399999 meters Centerline goodness : 0.999522 with order 1 Centerline is valid? [True, True] Translation: X:95.39, Y:5.12, Z:3.41 [[ 9.96891790e-01 -6.97974594e-02 -3.65386673e-02 9.53920228e+01] [ 6.97804646e-02 9.97560852e-01 -1.74173877e-03 5.11654011e+00] [ 3.65711130e-02 -8.13360100e-04 9.99330722e-01 3.40703979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.879254154 meters Centerline goodness : 0.999435 with order 1 Centerline is valid? [True, True] Translation: X:95.45, Y:5.12, Z:3.41 [[ 9.96908860e-01 -6.95531514e-02 -3.65387960e-02 9.54543233e+01] [ 6.95360916e-02 9.97577921e-01 -1.73903600e-03 5.11882825e+00] [ 3.65712515e-02 -8.07104671e-04 9.99330722e-01 3.40960206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.939254154 meters Centerline goodness : 0.999349 with order 1 Centerline is valid? [True, True] Translation: X:95.52, Y:5.12, Z:3.41 [[ 9.97122131e-01 -6.64256247e-02 -3.65389241e-02 9.55165295e+01] [ 6.64065650e-02 9.97791137e-01 -1.73634052e-03 5.12089379e+00] [ 3.65735521e-02 -6.95080878e-04 9.99330722e-01 3.41365383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.99925415399998 meters Centerline goodness : 0.999501 with order 1 Centerline is valid? [True, True] Translation: X:95.58, Y:5.12, Z:3.42 [[ 9.97377197e-01 -6.24789977e-02 -3.65390540e-02 9.55781051e+01] [ 6.24573909e-02 9.98046126e-01 -1.73360174e-03 5.12230824e+00] [ 3.65759750e-02 -5.53079138e-04 9.99330722e-01 3.41600606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.05925415399999 meters Centerline goodness : 0.999413 with order 1 Centerline is valid? [True, True] Translation: X:95.64, Y:5.12, Z:3.42 [[ 9.97509517e-01 -6.03295496e-02 -3.65391497e-02 9.56397183e+01] [ 6.03065752e-02 9.98178400e-01 -1.73158217e-03 5.12449229e+00] [ 3.65770556e-02 -4.76281291e-04 9.99330722e-01 3.41701609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.11925415399999 meters Centerline goodness : 0.999261 with order 1 Centerline is valid? [True, True] Translation: X:95.70, Y:5.13, Z:3.42 [[ 9.97475101e-01 -6.08958810e-02 -3.65392133e-02 9.57011264e+01] [ 6.08733356e-02 9.98143999e-01 -1.73023849e-03 5.12649215e+00] [ 3.65767609e-02 -4.98393989e-04 9.99330722e-01 3.41777499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.17925415399999 meters Centerline goodness : 0.999285 with order 1 Centerline is valid? [True, True] Translation: X:95.76, Y:5.13, Z:3.42 [[ 9.97386927e-01 -6.23233434e-02 -3.65392766e-02 9.57621501e+01] [ 6.23018043e-02 9.98055858e-01 -1.72890102e-03 5.12863971e+00] [ 3.65759900e-02 -5.52079591e-04 9.99330722e-01 3.41897503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.239254154 meters Centerline goodness : 0.999327 with order 1 Centerline is valid? [True, True] Translation: X:95.82, Y:5.13, Z:3.42 [[ 9.97349291e-01 -6.29227204e-02 -3.65393399e-02 9.58218452e+01] [ 6.29016324e-02 9.98018236e-01 -1.72756239e-03 5.13260518e+00] [ 3.65756305e-02 -5.75401003e-04 9.99330722e-01 3.42198325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.299254154 meters Centerline goodness : 0.999372 with order 1 Centerline is valid? [True, True] Translation: X:95.88, Y:5.14, Z:3.43 [[ 9.97209553e-01 -6.50997464e-02 -3.65394490e-02 9.58834989e+01] [ 6.50802033e-02 9.97878545e-01 -1.72525118e-03 5.13563741e+00] [ 3.65742457e-02 -6.57557814e-04 9.99330722e-01 3.42717360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.359254154 meters Centerline goodness : 0.999546 with order 1 Centerline is valid? [True, True] Translation: X:95.95, Y:5.13, Z:3.43 [[ 9.97267806e-01 -6.42011034e-02 -3.65395790e-02 9.59454397e+01] [ 6.41810585e-02 9.97936784e-01 -1.72249506e-03 5.13206888e+00] [ 3.65747760e-02 -6.27359983e-04 9.99330722e-01 3.42684840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.41925415399999 meters Centerline goodness : 0.999332 with order 1 Centerline is valid? [True, True] Translation: X:96.01, Y:5.14, Z:3.43 [[ 9.96693301e-01 -7.25762716e-02 -3.65396795e-02 9.60059269e+01] [ 7.25619253e-02 9.97362425e-01 -1.72035922e-03 5.14035999e+00] [ 3.65681606e-02 -9.36718988e-04 9.99330722e-01 3.43398939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.47925415399999 meters Centerline goodness : 0.999355 with order 1 Centerline is valid? [True, True] Translation: X:96.07, Y:5.14, Z:3.44 [[ 9.96056693e-01 -8.08449710e-02 -3.65397779e-02 9.60684464e+01] [ 8.08362547e-02 9.96725914e-01 -1.71826694e-03 5.14182409e+00] [ 3.65590568e-02 -1.24224751e-03 9.99330722e-01 3.43724540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.53925415399999 meters Centerline goodness : 0.999314 with order 1 Centerline is valid? [True, True] Translation: X:96.13, Y:5.14, Z:3.44 [[ 9.95759532e-01 -8.44262335e-02 -3.65399059e-02 9.61295151e+01] [ 8.44200236e-02 9.96428781e-01 -1.71554099e-03 5.14268255e+00] [ 3.65542506e-02 -1.37643342e-03 9.99330722e-01 3.43792694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.599254154 meters Centerline goodness : 0.999336 with order 1 Centerline is valid? [True, True] Translation: X:96.19, Y:5.14, Z:3.44 [[ 9.95462667e-01 -8.78572488e-02 -3.65401384e-02 9.61913942e+01] [ 8.78535273e-02 9.96131935e-01 -1.71057383e-03 5.14390684e+00] [ 3.65490851e-02 -1.50736766e-03 9.99330722e-01 3.43905364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.659254154 meters Centerline goodness : 0.999400 with order 1 Centerline is valid? [True, True] Translation: X:96.25, Y:5.15, Z:3.44 [[ 9.95628333e-01 -8.59594737e-02 -3.65402635e-02 9.62545321e+01] [ 8.59545744e-02 9.96297593e-01 -1.70789854e-03 5.14716665e+00] [ 3.65517866e-02 -1.44037062e-03 9.99330722e-01 3.44197462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.719254154 meters Centerline goodness : 0.999271 with order 1 Centerline is valid? [True, True] Translation: X:96.32, Y:5.15, Z:3.44 [[ 9.96003153e-01 -8.15016199e-02 -3.65404543e-02 9.63163061e+01] [ 8.14938747e-02 9.96672386e-01 -1.70380476e-03 5.15068956e+00] [ 3.65577247e-02 -1.28082830e-03 9.99330722e-01 3.44369924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.77925415399999 meters Centerline goodness : 0.999463 with order 1 Centerline is valid? [True, True] Translation: X:96.38, Y:5.16, Z:3.45 [[ 9.96675112e-01 -7.28251623e-02 -3.65406107e-02 9.63784625e+01] [ 7.28117127e-02 9.97344255e-01 -1.70044531e-03 5.15584565e+00] [ 3.65674033e-02 -9.65792924e-04 9.99330722e-01 3.44694659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.83925415399999 meters Centerline goodness : 0.999546 with order 1 Centerline is valid? [True, True] Translation: X:96.44, Y:5.16, Z:3.45 [[ 9.97275009e-01 -6.40884613e-02 -3.65407361e-02 9.64400563e+01] [ 6.40692474e-02 9.97944011e-01 -1.69774590e-03 5.16131519e+00] [ 3.65744147e-02 -6.48017902e-04 9.99330722e-01 3.45006313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.89925415399999 meters Centerline goodness : 0.999654 with order 1 Centerline is valid? [True, True] Translation: X:96.50, Y:5.17, Z:3.45 [[ 9.97730501e-01 -5.65562742e-02 -3.65408619e-02 9.65012102e+01] [ 5.65321085e-02 9.98399343e-01 -1.69503501e-03 5.16599008e+00] [ 3.65782373e-02 -3.74543835e-04 9.99330722e-01 3.45234585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.95925415399999 meters Centerline goodness : 0.999458 with order 1 Centerline is valid? [True, True] Translation: X:96.56, Y:5.17, Z:3.45 [[ 9.98087514e-01 -4.98605386e-02 -3.65409546e-02 9.65620204e+01] [ 4.98319590e-02 9.98756181e-01 -1.69303310e-03 5.17067267e+00] [ 3.65799198e-02 -1.31112155e-04 9.99330722e-01 3.45481234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.019254154 meters Centerline goodness : 0.999414 with order 1 Centerline is valid? [True, True] Translation: X:96.62, Y:5.17, Z:3.46 [[ 9.98301831e-01 -4.53674787e-02 -3.65410171e-02 9.66205182e+01] [ 4.53359390e-02 9.98970365e-01 -1.69168381e-03 5.17479991e+00] [ 3.65801406e-02 3.21897264e-05 9.99330722e-01 3.45637133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.079254154 meters Centerline goodness : 0.999501 with order 1 Centerline is valid? [True, True] Translation: X:96.68, Y:5.18, Z:3.46 [[ 9.98491885e-01 -4.09721302e-02 -3.65409248e-02 9.66793129e+01] [ 4.09375748e-02 9.99160271e-01 -1.69367412e-03 5.17858435e+00] [ 3.65796338e-02 1.95223018e-04 9.99330722e-01 3.45710709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.13925415399999 meters Centerline goodness : 0.999350 with order 1 Centerline is valid? [True, True] Translation: X:96.74, Y:5.18, Z:3.46 [[ 9.98673045e-01 -3.62895113e-02 -3.65406586e-02 9.67356848e+01] [ 3.62516127e-02 9.99341249e-01 -1.69939810e-03 5.17973769e+00] [ 3.65782578e-02 3.72485269e-04 9.99330722e-01 3.46049293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.19925415399999 meters Centerline goodness : 0.999458 with order 1 Centerline is valid? [True, True] Translation: X:96.79, Y:5.18, Z:3.46 [[ 9.98732057e-01 -3.46278079e-02 -3.65402840e-02 9.67938166e+01] [ 3.45885042e-02 9.99400180e-01 -1.70741625e-03 5.18106613e+00] [ 3.65774905e-02 4.41377582e-04 9.99330722e-01 3.46285761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.25925415399999 meters Centerline goodness : 0.999374 with order 1 Centerline is valid? [True, True] Translation: X:96.85, Y:5.18, Z:3.47 [[ 9.98658488e-01 -3.66884635e-02 -3.65401318e-02 9.68517334e+01] [ 3.66504195e-02 9.99326684e-01 -1.71066590e-03 5.18023907e+00] [ 3.65782904e-02 3.69159859e-04 9.99330722e-01 3.46501348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.31925415399999 meters Centerline goodness : 0.999440 with order 1 Centerline is valid? [True, True] Translation: X:96.91, Y:5.18, Z:3.47 [[ 9.98403536e-01 -4.30724433e-02 -3.65396232e-02 9.69097490e+01] [ 4.30382771e-02 9.99071941e-01 -1.72146155e-03 5.17724160e+00] [ 3.65798598e-02 1.46110867e-04 9.99330722e-01 3.46617441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.379254154 meters Centerline goodness : 0.999335 with order 1 Centerline is valid? [True, True] Translation: X:96.97, Y:5.17, Z:3.47 [[ 9.97990754e-01 -5.17624246e-02 -3.65391086e-02 9.69675968e+01] [ 5.17336810e-02 9.98659414e-01 -1.73231545e-03 5.17398216e+00] [ 3.65797937e-02 -1.61467794e-04 9.99330722e-01 3.46753569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.439254154 meters Centerline goodness : 0.999210 with order 1 Centerline is valid? [True, True] Translation: X:97.03, Y:5.17, Z:3.47 [[ 9.97449658e-01 -6.13115851e-02 -3.65385914e-02 9.70262981e+01] [ 6.12888454e-02 9.98118549e-01 -1.74315664e-03 5.16973165e+00] [ 3.65767216e-02 -5.00697086e-04 9.99330722e-01 3.46919773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.49925415399998 meters Centerline goodness : 0.999297 with order 1 Centerline is valid? [True, True] Translation: X:97.09, Y:5.17, Z:3.47 [[ 9.97068413e-01 -6.72273583e-02 -3.65384960e-02 9.70874473e+01] [ 6.72085136e-02 9.97737425e-01 -1.74515427e-03 5.16822340e+00] [ 3.65731471e-02 -7.15659812e-04 9.99330722e-01 3.46938809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.55925415399999 meters Centerline goodness : 0.999108 with order 1 Centerline is valid? [True, True] Translation: X:97.15, Y:5.17, Z:3.47 [[ 9.96673271e-01 -7.28514252e-02 -3.65384960e-02 9.71487844e+01] [ 7.28363552e-02 9.97342378e-01 -1.74515427e-03 5.16588303e+00] [ 3.65685275e-02 -9.21982265e-04 9.99330722e-01 3.47069074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.61925415399999 meters Centerline goodness : 0.999301 with order 1 Centerline is valid? [True, True] Translation: X:97.21, Y:5.16, Z:3.47 [[ 9.96532223e-01 -7.47560075e-02 -3.65385673e-02 9.72107609e+01] [ 7.47422710e-02 9.97201360e-01 -1.74366114e-03 5.16312092e+00] [ 3.65666581e-02 -9.93360981e-04 9.99330722e-01 3.47279504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.67925415399999 meters Centerline goodness : 0.999025 with order 1 Centerline is valid? [True, True] Translation: X:97.27, Y:5.16, Z:3.48 [[ 9.96103226e-01 -8.02701054e-02 -3.65386438e-02 9.72717400e+01] [ 8.02601311e-02 9.96772430e-01 -1.74205632e-03 5.16423987e+00] [ 3.65605478e-02 -1.19732842e-03 9.99330722e-01 3.47644655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.739254154 meters Centerline goodness : 0.998771 with order 1 Centerline is valid? [True, True] Translation: X:97.33, Y:5.17, Z:3.48 [[ 9.95771999e-01 -8.42795169e-02 -3.65388662e-02 9.73336673e+01] [ 8.42724082e-02 9.96441239e-01 -1.73737961e-03 5.16501829e+00] [ 3.65552586e-02 -1.34918427e-03 9.99330722e-01 3.47756085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.799254154 meters Centerline goodness : 0.999154 with order 1 Centerline is valid? [True, True] Translation: X:97.39, Y:5.17, Z:3.48 [[ 9.95580929e-01 -8.65073104e-02 -3.65390022e-02 9.73943568e+01] [ 8.65018042e-02 9.96250184e-01 -1.73451339e-03 5.16681220e+00] [ 3.65520358e-02 -1.43384116e-03 9.99330722e-01 3.47948005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.859254154 meters Centerline goodness : 0.999027 with order 1 Centerline is valid? [True, True] Translation: X:97.46, Y:5.17, Z:3.48 [[ 9.95350238e-01 -8.91223700e-02 -3.65391029e-02 9.74560095e+01] [ 8.91186997e-02 9.96019506e-01 -1.73239021e-03 5.16937404e+00] [ 3.65480539e-02 -1.53198233e-03 9.99330722e-01 3.48065486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.91925415399999 meters Centerline goodness : 0.999089 with order 1 Centerline is valid? [True, True] Translation: X:97.52, Y:5.17, Z:3.48 [[ 9.95176420e-01 -9.10427217e-02 -3.65392309e-02 9.75181785e+01] [ 9.10404418e-02 9.95845694e-01 -1.72968593e-03 5.17300078e+00] [ 3.65449111e-02 -1.60520507e-03 9.99330722e-01 3.48206967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.97925415399999 meters Centerline goodness : 0.998981 with order 1 Centerline is valid? [True, True] Translation: X:97.58, Y:5.18, Z:3.48 [[ 9.95217765e-01 -9.05895994e-02 -3.65393573e-02 9.75803281e+01] [ 9.05871128e-02 9.95887038e-01 -1.72701185e-03 5.17745996e+00] [ 3.65455216e-02 -1.59124200e-03 9.99330722e-01 3.48362003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.03925415399999 meters Centerline goodness : 0.998917 with order 1 Centerline is valid? [True, True] Translation: X:97.64, Y:5.18, Z:3.49 [[ 9.95368696e-01 -8.89158295e-02 -3.65394815e-02 9.76423966e+01] [ 8.89123138e-02 9.96037965e-01 -1.72437935e-03 5.18161856e+00] [ 3.65480354e-02 -1.53241662e-03 9.99330722e-01 3.48632434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.099254154 meters Centerline goodness : 0.999001 with order 1 Centerline is valid? [True, True] Translation: X:97.70, Y:5.19, Z:3.49 [[ 9.95721020e-01 -8.48793718e-02 -3.65396061e-02 9.77043681e+01] [ 8.48732394e-02 9.96390269e-01 -1.72173622e-03 5.18692922e+00] [ 3.65538478e-02 -1.38686579e-03 9.99330722e-01 3.49019505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.159254154 meters Centerline goodness : 0.998980 with order 1 Centerline is valid? [True, True] Translation: X:97.77, Y:5.19, Z:3.49 [[ 9.96208397e-01 -7.89536372e-02 -3.65397345e-02 9.77656266e+01] [ 7.89436232e-02 9.96877600e-01 -1.71900639e-03 5.19247305e+00] [ 3.65613646e-02 -1.17209043e-03 9.99330722e-01 3.49336745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.219254154 meters Centerline goodness : 0.999126 with order 1 Centerline is valid? [True, True] Translation: X:97.83, Y:5.20, Z:3.50 [[ 9.96781297e-01 -7.13574532e-02 -3.65398294e-02 9.78277391e+01] [ 7.13424123e-02 9.97450406e-01 -1.71698568e-03 5.19831422e+00] [ 3.65691874e-02 -8.95380359e-04 9.99330722e-01 3.49638289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.27925415399999 meters Centerline goodness : 0.998955 with order 1 Centerline is valid? [True, True] Translation: X:97.89, Y:5.20, Z:3.50 [[ 9.97308126e-01 -6.35714818e-02 -3.65399564e-02 9.78893657e+01] [ 6.35513155e-02 9.97977100e-01 -1.71427870e-03 5.20376940e+00] [ 3.65750190e-02 -6.12498228e-04 9.99330722e-01 3.49785458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.33925415399999 meters Centerline goodness : 0.999167 with order 1 Centerline is valid? [True, True] Translation: X:97.95, Y:5.21, Z:3.50 [[ 9.97595210e-01 -5.88950266e-02 -3.65400193e-02 9.79509225e+01] [ 5.88717733e-02 9.98264083e-01 -1.71293687e-03 5.20770197e+00] [ 3.65774724e-02 -4.42358119e-04 9.99330722e-01 3.49934027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.39925415399999 meters Centerline goodness : 0.999057 with order 1 Centerline is valid? [True, True] Translation: X:98.01, Y:5.21, Z:3.50 [[ 9.97901893e-01 -5.34474965e-02 -3.65400818e-02 9.80116841e+01] [ 5.34206404e-02 9.98570631e-01 -1.71160381e-03 5.21124612e+00] [ 3.65793335e-02 -2.43981890e-04 9.99330722e-01 3.50150528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.45925415399999 meters Centerline goodness : 0.999016 with order 1 Centerline is valid? [True, True] Translation: X:98.07, Y:5.21, Z:3.50 [[ 9.98074357e-01 -5.01238492e-02 -3.65400818e-02 9.80704689e+01] [ 5.00947661e-02 9.98743002e-01 -1.71160381e-03 5.21440268e+00] [ 3.65799432e-02 -1.22158982e-04 9.99330722e-01 3.50366349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.519254154 meters Centerline goodness : 0.999125 with order 1 Centerline is valid? [True, True] Translation: X:98.13, Y:5.22, Z:3.51 [[ 9.98154640e-01 -4.84989169e-02 -3.65399860e-02 9.81291387e+01] [ 4.84686706e-02 9.98823233e-01 -1.71364589e-03 5.21609516e+00] [ 3.65800970e-02 -6.05609527e-05 9.99330722e-01 3.50537752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.579254154 meters Centerline goodness : 0.998889 with order 1 Centerline is valid? [True, True] Translation: X:98.19, Y:5.22, Z:3.51 [[ 9.98094501e-01 -4.97215203e-02 -3.65395446e-02 9.81871371e+01] [ 4.96917502e-02 9.98763116e-01 -1.72300761e-03 5.21784265e+00] [ 3.65800199e-02 -9.59894964e-05 9.99330722e-01 3.50904105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.63925415399999 meters Centerline goodness : 0.998849 with order 1 Centerline is valid? [True, True] Translation: X:98.25, Y:5.22, Z:3.51 [[ 9.97899993e-01 -5.34836662e-02 -3.65390399e-02 9.82460864e+01] [ 5.34560274e-02 9.98568699e-01 -1.73364364e-03 5.21722692e+00] [ 3.65794632e-02 -2.23228941e-04 9.99330723e-01 3.51122223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.69925415399999 meters Centerline goodness : 0.998958 with order 1 Centerline is valid? [True, True] Translation: X:98.30, Y:5.22, Z:3.51 [[ 9.97479946e-01 -6.08168512e-02 -3.65385829e-02 9.83046973e+01] [ 6.07937773e-02 9.98148825e-01 -1.74322372e-03 5.21520816e+00] [ 3.65769610e-02 -4.82487764e-04 9.99330723e-01 3.51232728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.75925415399999 meters Centerline goodness : 0.999028 with order 1 Centerline is valid? [True, True] Translation: X:98.36, Y:5.21, Z:3.51 [[ 9.96935249e-01 -6.91742365e-02 -3.65381275e-02 9.83639967e+01] [ 6.91564212e-02 9.97604289e-01 -1.75271774e-03 5.21394498e+00] [ 3.65718356e-02 -7.79500036e-04 9.99330723e-01 3.51287702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.81925415399999 meters Centerline goodness : 0.998791 with order 1 Centerline is valid? [True, True] Translation: X:98.43, Y:5.21, Z:3.51 [[ 9.96460673e-01 -7.57039894e-02 -3.65380954e-02 9.84252743e+01] [ 7.56905332e-02 9.97129815e-01 -1.75338511e-03 5.21315714e+00] [ 3.65659626e-02 -1.01840861e-03 9.99330723e-01 3.51484475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.879254154 meters Centerline goodness : 0.998962 with order 1 Centerline is valid? [True, True] Translation: X:98.49, Y:5.21, Z:3.52 [[ 9.96230233e-01 -7.86783719e-02 -3.65381591e-02 9.84859981e+01] [ 7.86669620e-02 9.96899413e-01 -1.75205653e-03 5.21419398e+00] [ 3.65627183e-02 -1.12889429e-03 9.99330723e-01 3.51685837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.939254154 meters Centerline goodness : 0.998982 with order 1 Centerline is valid? [True, True] Translation: X:98.55, Y:5.22, Z:3.52 [[ 9.96042370e-01 -8.10219342e-02 -3.65382536e-02 9.85477910e+01] [ 8.10121709e-02 9.96711576e-01 -1.75008500e-03 5.21608485e+00] [ 3.65598956e-02 -1.21688443e-03 9.99330723e-01 3.51939497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.99925415399998 meters Centerline goodness : 0.998770 with order 1 Centerline is valid? [True, True] Translation: X:98.61, Y:5.22, Z:3.52 [[ 9.95876543e-01 -8.30352828e-02 -3.65383795e-02 9.86094063e+01] [ 8.30269687e-02 9.96545769e-01 -1.74745286e-03 5.21884273e+00] [ 3.65572677e-02 -1.29342357e-03 9.99330723e-01 3.52146009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.05925415399999 meters Centerline goodness : 0.998812 with order 1 Centerline is valid? [True, True] Translation: X:98.67, Y:5.22, Z:3.52 [[ 9.95763328e-01 -8.43820648e-02 -3.65385078e-02 9.86711580e+01] [ 8.43747543e-02 9.96432565e-01 -1.74476528e-03 5.22162617e+00] [ 3.65553859e-02 -1.34555433e-03 9.99330723e-01 3.52277101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.11925415399999 meters Centerline goodness : 0.998939 with order 1 Centerline is valid? [True, True] Translation: X:98.73, Y:5.23, Z:3.52 [[ 9.95532522e-01 -8.70627746e-02 -3.65386349e-02 9.87332820e+01] [ 8.70573637e-02 9.96201777e-01 -1.74209985e-03 5.22505656e+00] [ 3.65515250e-02 -1.44664017e-03 9.99330723e-01 3.52433266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.17925415399999 meters Centerline goodness : 0.998769 with order 1 Centerline is valid? [True, True] Translation: X:98.80, Y:5.23, Z:3.53 [[ 9.95222399e-01 -9.05389131e-02 -3.65387643e-02 9.87957166e+01] [ 9.05359391e-02 9.95891670e-01 -1.73938173e-03 5.23023521e+00] [ 3.65461327e-02 -1.57699968e-03 9.99330723e-01 3.52572957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.239254154 meters Centerline goodness : 0.999151 with order 1 Centerline is valid? [True, True] Translation: X:98.86, Y:5.24, Z:3.53 [[ 9.95023142e-01 -9.27030577e-02 -3.65388940e-02 9.88572628e+01] [ 9.27016391e-02 9.95692417e-01 -1.73665316e-03 5.23643391e+00] [ 3.65424927e-02 -1.65920528e-03 9.99330723e-01 3.52852556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.299254154 meters Centerline goodness : 0.998916 with order 1 Centerline is valid? [True, True] Translation: X:98.92, Y:5.24, Z:3.53 [[ 9.95050407e-01 -9.24098908e-02 -3.65390242e-02 9.89187433e+01] [ 9.24083757e-02 9.95719682e-01 -1.73390773e-03 5.24457439e+00] [ 3.65428558e-02 -1.65118629e-03 9.99330723e-01 3.53161187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.359254154 meters Centerline goodness : 0.999042 with order 1 Centerline is valid? [True, True] Translation: X:98.98, Y:5.25, Z:3.53 [[ 9.95136496e-01 -9.14781052e-02 -3.65391549e-02 9.89803374e+01] [ 9.14760644e-02 9.95805771e-01 -1.73115011e-03 5.25221592e+00] [ 3.65442636e-02 -1.61972743e-03 9.99330723e-01 3.53389256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.41925415399999 meters Centerline goodness : 0.998871 with order 1 Centerline is valid? [True, True] Translation: X:99.04, Y:5.26, Z:3.54 [[ 9.95172557e-01 -9.10849063e-02 -3.65393159e-02 9.90434687e+01] [ 9.10827259e-02 9.95841831e-01 -1.72774443e-03 5.25911203e+00] [ 3.65447507e-02 -1.60869665e-03 9.99330723e-01 3.53616221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.47925415399999 meters Centerline goodness : 0.999231 with order 1 Centerline is valid? [True, True] Translation: X:99.11, Y:5.27, Z:3.54 [[ 9.94984373e-01 -9.31180026e-02 -3.65395070e-02 9.91052828e+01] [ 9.31173381e-02 9.95653650e-01 -1.72369343e-03 5.26758803e+00] [ 3.65412004e-02 -1.68741361e-03 9.99330723e-01 3.53677789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.53925415399999 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:99.17, Y:5.28, Z:3.54 [[ 9.94732471e-01 -9.57714144e-02 -3.65396711e-02 9.91672994e+01] [ 9.57726627e-02 9.95401747e-01 -1.72020822e-03 5.27510409e+00] [ 3.65363992e-02 -1.78835462e-03 9.99330723e-01 3.53875649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.599254154 meters Centerline goodness : 0.999292 with order 1 Centerline is valid? [True, True] Translation: X:99.23, Y:5.28, Z:3.54 [[ 9.94321272e-01 -9.99502448e-02 -3.65398034e-02 9.92303366e+01] [ 9.99544083e-02 9.94990536e-01 -1.71739412e-03 5.28299600e+00] [ 3.65284125e-02 -1.94467292e-03 9.99330723e-01 3.54285145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.659254154 meters Centerline goodness : 0.999377 with order 1 Centerline is valid? [True, True] Translation: X:99.29, Y:5.29, Z:3.55 [[ 9.94226913e-01 -1.00884459e-01 -3.65399860e-02 9.92932190e+01] [ 1.00889394e-01 9.94896173e-01 -1.71350022e-03 5.29130215e+00] [ 3.65263577e-02 -1.98288901e-03 9.99330723e-01 3.54581769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.719254154 meters Centerline goodness : 0.999332 with order 1 Centerline is valid? [True, True] Translation: X:99.35, Y:5.30, Z:3.54 [[ 9.94484502e-01 -9.83127225e-02 -3.65401674e-02 9.93548051e+01] [ 9.83160687e-02 9.95153771e-01 -1.70962207e-03 5.29805874e+00] [ 3.65311630e-02 -1.89229296e-03 9.99330723e-01 3.54264476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.77925415399999 meters Centerline goodness : 0.999483 with order 1 Centerline is valid? [True, True] Translation: X:99.42, Y:5.31, Z:3.55 [[ 9.94576047e-01 -9.73821878e-02 -3.65403294e-02 9.94157145e+01] [ 9.73850349e-02 9.95245319e-01 -1.70615351e-03 5.30774449e+00] [ 3.65327407e-02 -1.86158184e-03 9.99330723e-01 3.55235567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.83925415399999 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:99.48, Y:5.32, Z:3.56 [[ 9.95002263e-01 -9.29262835e-02 -3.65404271e-02 9.94765493e+01] [ 9.29262096e-02 9.95671540e-01 -1.70405720e-03 5.31671083e+00] [ 3.65406151e-02 -1.70002262e-03 9.99330723e-01 3.55583531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.89925415399999 meters Centerline goodness : 0.999609 with order 1 Centerline is valid? [True, True] Translation: X:99.54, Y:5.32, Z:3.56 [[ 9.95420998e-01 -8.83279554e-02 -3.65405133e-02 9.95390541e+01] [ 8.83248570e-02 9.96090268e-01 -1.70220674e-03 5.32367028e+00] [ 3.65480022e-02 -1.53302328e-03 9.99330723e-01 3.55849803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.95925415399999 meters Centerline goodness : 0.999674 with order 1 Centerline is valid? [True, True] Translation: X:99.60, Y:5.33, Z:3.56 [[ 9.95895760e-01 -8.28034531e-02 -3.65407007e-02 9.96011261e+01] [ 8.27967890e-02 9.96565004e-01 -1.69817440e-03 5.33236389e+00] [ 3.65557983e-02 -1.33424800e-03 9.99330723e-01 3.56125587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.019254154 meters Centerline goodness : 0.999716 with order 1 Centerline is valid? [True, True] Translation: X:99.66, Y:5.34, Z:3.56 [[ 9.96254793e-01 -7.83655087e-02 -3.65408548e-02 9.96633618e+01] [ 7.83559847e-02 9.96924003e-01 -1.69485184e-03 5.33879584e+00] [ 3.65612732e-02 -1.17469039e-03 9.99330723e-01 3.56293638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.079254154 meters Centerline goodness : 0.999628 with order 1 Centerline is valid? [True, True] Translation: X:99.72, Y:5.34, Z:3.56 [[ 9.96535237e-01 -7.47146483e-02 -3.65409770e-02 9.97247679e+01] [ 7.47027689e-02 9.97204409e-01 -1.69221478e-03 5.34376464e+00] [ 3.65652565e-02 -1.04336050e-03 9.99330723e-01 3.56353019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.13925415399999 meters Centerline goodness : 0.999604 with order 1 Centerline is valid? [True, True] Translation: X:99.79, Y:5.35, Z:3.57 [[ 9.96831430e-01 -7.06530019e-02 -3.65411270e-02 9.97880316e+01] [ 7.06385146e-02 9.97500550e-01 -1.68896746e-03 5.34890642e+00] [ 3.65691250e-02 -8.97595084e-04 9.99330723e-01 3.56593925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.19925415399999 meters Centerline goodness : 0.999714 with order 1 Centerline is valid? [True, True] Translation: X:99.85, Y:5.34, Z:3.55 [[ 9.97548705e-01 -5.96767481e-02 -3.65413120e-02 9.98508479e+01] [ 5.96550437e-02 9.98217630e-01 -1.68495587e-03 5.34266295e+00] [ 3.65767346e-02 -4.99048019e-04 9.99330723e-01 3.55419133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.25925415399999 meters Centerline goodness : 0.999515 with order 1 Centerline is valid? [True, True] Translation: X:99.91, Y:5.36, Z:3.57 [[ 9.97238673e-01 -6.46510055e-02 -3.65414326e-02 9.99117263e+01] [ 6.46327333e-02 9.97907701e-01 -1.68233763e-03 5.35696973e+00] [ 3.65737418e-02 -6.84080523e-04 9.99330723e-01 3.57054421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.31925415399999 meters Centerline goodness : 0.999691 with order 1 Centerline is valid? [True, True] Translation: X:99.97, Y:5.36, Z:3.57 [[ 9.97405025e-01 -6.20316897e-02 -3.65415550e-02 9.99737963e+01] [ 6.20117580e-02 9.98074006e-01 -1.67967342e-03 5.35967556e+00] [ 3.65753692e-02 -5.90691364e-04 9.99330723e-01 3.57199606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.379254154 meters Centerline goodness : 0.999646 with order 1 Centerline is valid? [True, True] Translation: X:100.04, Y:5.36, Z:3.57 [[ 9.97522014e-01 -6.01210171e-02 -3.65416762e-02 1.00035760e+02] [ 6.00999008e-02 9.98190958e-01 -1.67703237e-03 5.36207352e+00] [ 3.65763957e-02 -5.23274406e-04 9.99330723e-01 3.57396944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.439254154 meters Centerline goodness : 0.999646 with order 1 Centerline is valid? [True, True] Translation: X:100.10, Y:5.36, Z:3.57 [[ 9.97549377e-01 -5.96652125e-02 -3.65418000e-02 1.00097008e+02] [ 5.96438895e-02 9.98218314e-01 -1.67433054e-03 5.36386345e+00] [ 3.65765933e-02 -5.09267691e-04 9.99330723e-01 3.57471006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.49925415399998 meters Centerline goodness : 0.999625 with order 1 Centerline is valid? [True, True] Translation: X:100.16, Y:5.37, Z:3.58 [[ 9.97526731e-01 -6.00425729e-02 -3.65418910e-02 1.00159362e+02] [ 6.00215757e-02 9.98195679e-01 -1.67234244e-03 5.36672473e+00] [ 3.65763695e-02 -5.25095592e-04 9.99330723e-01 3.57622358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.55925415399999 meters Centerline goodness : 0.999625 with order 1 Centerline is valid? [True, True] Translation: X:100.22, Y:5.37, Z:3.58 [[ 9.97452644e-01 -6.12609463e-02 -3.65420117e-02 1.00220071e+02] [ 6.12408629e-02 9.98121620e-01 -1.66970166e-03 5.36877911e+00] [ 3.65756594e-02 -5.72415989e-04 9.99330723e-01 3.57694382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.61925415399999 meters Centerline goodness : 0.999626 with order 1 Centerline is valid? [True, True] Translation: X:100.28, Y:5.37, Z:3.58 [[ 9.97232984e-01 -6.47383181e-02 -3.65421008e-02 1.00282586e+02] [ 6.47206388e-02 9.97902028e-01 -1.66774951e-03 5.36952668e+00] [ 3.65734038e-02 -7.01893282e-04 9.99330723e-01 3.58121440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.67925415399999 meters Centerline goodness : 0.999649 with order 1 Centerline is valid? [True, True] Translation: X:100.34, Y:5.37, Z:3.58 [[ 9.97032134e-01 -6.77612705e-02 -3.65422208e-02 1.00344616e+02] [ 6.77457162e-02 9.97701230e-01 -1.66511459e-03 5.37081650e+00] [ 3.65710490e-02 -8.15406173e-04 9.99330723e-01 3.58378864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.739254154 meters Centerline goodness : 0.999583 with order 1 Centerline is valid? [True, True] Translation: X:100.41, Y:5.37, Z:3.58 [[ 9.96843914e-01 -7.04760203e-02 -3.65423390e-02 1.00407072e+02] [ 7.04623832e-02 9.97513052e-01 -1.66251787e-03 5.37161588e+00] [ 3.65686277e-02 -9.17589475e-04 9.99330723e-01 3.58311084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.799254154 meters Centerline goodness : 0.999606 with order 1 Centerline is valid? [True, True] Translation: X:100.47, Y:5.37, Z:3.59 [[ 9.96627880e-01 -7.34677941e-02 -3.65424672e-02 1.00468143e+02] [ 7.34562689e-02 9.97297058e-01 -1.65969527e-03 5.37328035e+00] [ 3.65656292e-02 -1.03017472e-03 9.99330723e-01 3.58678431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.859254154 meters Centerline goodness : 0.999562 with order 1 Centerline is valid? [True, True] Translation: X:100.53, Y:5.37, Z:3.59 [[ 9.96428236e-01 -7.61276062e-02 -3.65425634e-02 1.00529969e+02] [ 7.61179448e-02 9.97097443e-01 -1.65757502e-03 5.37434217e+00] [ 3.65626837e-02 -1.12989027e-03 9.99330723e-01 3.58820332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.91925415399999 meters Centerline goodness : 0.999497 with order 1 Centerline is valid? [True, True] Translation: X:100.59, Y:5.37, Z:3.59 [[ 9.96445462e-01 -7.59017390e-02 -3.65426835e-02 1.00592153e+02] [ 7.58920231e-02 9.97114668e-01 -1.65492322e-03 5.37443681e+00] [ 3.65628572e-02 -1.12425744e-03 9.99330723e-01 3.58857831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.97925415399999 meters Centerline goodness : 0.999563 with order 1 Centerline is valid? [True, True] Translation: X:100.66, Y:5.38, Z:3.59 [[ 9.96603762e-01 -7.37940644e-02 -3.65428312e-02 1.00655315e+02] [ 7.37830529e-02 9.97272948e-01 -1.65165532e-03 5.37708869e+00] [ 3.65650593e-02 -1.05019574e-03 9.99330723e-01 3.59124989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.03925415399999 meters Centerline goodness : 0.999453 with order 1 Centerline is valid? [True, True] Translation: X:100.72, Y:5.38, Z:3.59 [[ 9.96950187e-01 -6.89560223e-02 -3.65430099e-02 1.00716971e+02] [ 6.89419080e-02 9.97619315e-01 -1.64769122e-03 5.38168829e+00] [ 3.65696307e-02 -8.76678758e-04 9.99330723e-01 3.59452962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.099254154 meters Centerline goodness : 0.999628 with order 1 Centerline is valid? [True, True] Translation: X:100.78, Y:5.39, Z:3.60 [[ 9.97232453e-01 -6.47459200e-02 -3.65431284e-02 1.00779064e+02] [ 6.47290771e-02 9.97901518e-01 -1.64505874e-03 5.38542740e+00] [ 3.65729542e-02 -7.24897013e-04 9.99330723e-01 3.59642764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.159254154 meters Centerline goodness : 0.999649 with order 1 Centerline is valid? [True, True] Translation: X:100.84, Y:5.39, Z:3.60 [[ 9.97316555e-01 -6.34372113e-02 -3.65432471e-02 1.00841144e+02] [ 6.34195870e-02 9.97985600e-01 -1.64241870e-03 5.38751431e+00] [ 3.65738248e-02 -6.79546275e-04 9.99330723e-01 3.59713040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.219254154 meters Centerline goodness : 0.999693 with order 1 Centerline is valid? [True, True] Translation: X:100.90, Y:5.39, Z:3.60 [[ 9.97267167e-01 -6.42088830e-02 -3.65433645e-02 1.00903634e+02] [ 6.41918723e-02 9.97936228e-01 -1.63980170e-03 5.39052167e+00] [ 3.65732371e-02 -7.10466591e-04 9.99330723e-01 3.59757273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.27925415399999 meters Centerline goodness : 0.999648 with order 1 Centerline is valid? [True, True] Translation: X:100.97, Y:5.39, Z:3.60 [[ 9.97182552e-01 -6.55097909e-02 -3.65434836e-02 1.00965633e+02] [ 6.54937504e-02 9.97851636e-01 -1.63714361e-03 5.39397330e+00] [ 3.65722238e-02 -7.60838748e-04 9.99330723e-01 3.59913672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.33925415399999 meters Centerline goodness : 0.999715 with order 1 Centerline is valid? [True, True] Translation: X:101.03, Y:5.40, Z:3.60 [[ 9.97015515e-01 -6.80046112e-02 -3.65436045e-02 1.01026756e+02] [ 6.79903440e-02 9.97684640e-01 -1.63443900e-03 5.39636792e+00] [ 3.65701423e-02 -8.55051197e-04 9.99330723e-01 3.60051641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.39925415399999 meters Centerline goodness : 0.999671 with order 1 Centerline is valid? [True, True] Translation: X:101.09, Y:5.40, Z:3.60 [[ 9.96882701e-01 -6.99244649e-02 -3.65437970e-02 1.01088433e+02] [ 6.99116442e-02 9.97551856e-01 -1.63012496e-03 5.39980579e+00] [ 3.65683181e-02 -9.29793555e-04 9.99330723e-01 3.60431410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.45925415399999 meters Centerline goodness : 0.999670 with order 1 Centerline is valid? [True, True] Translation: X:101.15, Y:5.40, Z:3.61 [[ 9.96904604e-01 -6.96114408e-02 -3.65439135e-02 1.01150551e+02] [ 6.95985058e-02 9.97573756e-01 -1.62750902e-03 5.40434561e+00] [ 3.65685423e-02 -9.20930537e-04 9.99330723e-01 3.60866525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.519254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.21, Y:5.41, Z:3.61 [[ 9.97025341e-01 -6.78601737e-02 -3.65440306e-02 1.01212873e+02] [ 6.78461598e-02 9.97694471e-01 -1.62487508e-03 5.40860256e+00] [ 3.65700416e-02 -8.59330511e-04 9.99330723e-01 3.61261750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.579254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.28, Y:5.41, Z:3.62 [[ 9.97075331e-01 -6.71215984e-02 -3.65441459e-02 1.01275149e+02] [ 6.71071840e-02 9.97744453e-01 -1.62227823e-03 5.41194314e+00] [ 3.65706088e-02 -8.34841119e-04 9.99330723e-01 3.61568127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.63925415399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.34, Y:5.42, Z:3.62 [[ 9.97032153e-01 -6.77598847e-02 -3.65442602e-02 1.01337369e+02] [ 6.77459932e-02 9.97701286e-01 -1.61969780e-03 5.41524015e+00] [ 3.65700060e-02 -8.60836422e-04 9.99330723e-01 3.61716378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.69925415399999 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:101.40, Y:5.42, Z:3.62 [[ 9.96835199e-01 -7.05981245e-02 -3.65443795e-02 1.01400029e+02] [ 7.05862367e-02 9.97504370e-01 -1.61700338e-03 5.41622664e+00] [ 3.65673356e-02 -9.67644331e-04 9.99330723e-01 3.61724131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.75925415399999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:101.46, Y:5.42, Z:3.62 [[ 9.96699241e-01 -7.24922227e-02 -3.65444972e-02 1.01461998e+02] [ 7.24817042e-02 9.97368436e-01 -1.61433896e-03 5.41746395e+00] [ 3.65653550e-02 -1.03979702e-03 9.99330723e-01 3.61732212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.81925415399999 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:101.52, Y:5.42, Z:3.62 [[ 9.96738000e-01 -7.19572891e-02 -3.65446140e-02 1.01523191e+02] [ 7.19465085e-02 9.97407190e-01 -1.61168927e-03 5.42067002e+00] [ 3.65658336e-02 -1.02282544e-03 9.99330723e-01 3.61911631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.879254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:101.59, Y:5.42, Z:3.62 [[ 9.96858285e-01 -7.02712173e-02 -3.65447002e-02 1.01585321e+02] [ 7.02593764e-02 9.97527458e-01 -1.60973351e-03 5.42378276e+00] [ 3.65674598e-02 -9.62931661e-04 9.99330723e-01 3.62182583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.939254154 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:101.65, Y:5.43, Z:3.63 [[ 9.97054946e-01 -6.74233759e-02 -3.65448135e-02 1.01647595e+02] [ 6.74097180e-02 9.97724084e-01 -1.60715651e-03 5.42695902e+00] [ 3.65700005e-02 -8.61052224e-04 9.99330723e-01 3.62562615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.99925415399998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.71, Y:5.43, Z:3.63 [[ 9.97237449e-01 -6.46679060e-02 -3.65449323e-02 1.01709193e+02] [ 6.46524982e-02 9.97906549e-01 -1.60445063e-03 5.43072105e+00] [ 3.65721837e-02 -7.62702913e-04 9.99330723e-01 3.62820486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.05925415399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.77, Y:5.43, Z:3.63 [[ 9.97353087e-01 -6.28591970e-02 -3.65450512e-02 1.01771613e+02] [ 6.28426751e-02 9.98022160e-01 -1.60173825e-03 5.43423956e+00] [ 3.65734549e-02 -6.99090186e-04 9.99330723e-01 3.63057291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.11925415399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.83, Y:5.44, Z:3.63 [[ 9.97327582e-01 -6.32625012e-02 -3.65451691e-02 1.01832237e+02] [ 6.32463486e-02 9.97996665e-01 -1.59904378e-03 5.43671085e+00] [ 3.65731163e-02 -7.16578034e-04 9.99330723e-01 3.63268866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.17925415399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.89, Y:5.44, Z:3.63 [[ 9.97256821e-01 -6.43682908e-02 -3.65452561e-02 1.01894875e+02] [ 6.43529530e-02 9.97925923e-01 -1.59705189e-03 5.43855069e+00] [ 3.65722579e-02 -7.59124257e-04 9.99330723e-01 3.63456453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.239254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:101.96, Y:5.44, Z:3.64 [[ 9.97099732e-01 -6.67574697e-02 -3.65453700e-02 1.01957081e+02] [ 6.67438307e-02 9.97768870e-01 -1.59444188e-03 5.43832570e+00] [ 3.65702734e-02 -8.49360413e-04 9.99330723e-01 3.63675268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.299254154 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:102.02, Y:5.44, Z:3.64 [[ 9.97051642e-01 -6.74718552e-02 -3.65454821e-02 1.02019268e+02] [ 6.74587899e-02 9.97720791e-01 -1.59186803e-03 5.43885368e+00] [ 3.65695936e-02 -8.78139368e-04 9.99330723e-01 3.63980874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.35925415399998 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:102.08, Y:5.44, Z:3.64 [[ 9.97137495e-01 -6.61909085e-02 -3.65455933e-02 1.02081564e+02] [ 6.61770771e-02 9.97806629e-01 -1.58931162e-03 5.44090494e+00] [ 3.65706332e-02 -8.33718339e-04 9.99330723e-01 3.64252205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.41925415399999 meters Centerline goodness : 0.999496 with order 1 Centerline is valid? [True, True] Translation: X:102.14, Y:5.44, Z:3.64 [[ 9.97236221e-01 -6.46864033e-02 -3.65457063e-02 1.02143668e+02] [ 6.46716578e-02 9.97905336e-01 -1.58670760e-03 5.44271021e+00] [ 3.65717938e-02 -7.81149128e-04 9.99330723e-01 3.64465703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.47925415399999 meters Centerline goodness : 0.999563 with order 1 Centerline is valid? [True, True] Translation: X:102.20, Y:5.44, Z:3.65 [[ 9.97388321e-01 -6.22971868e-02 -3.65458197e-02 1.02204459e+02] [ 6.22809342e-02 9.98057401e-01 -1.58409261e-03 5.44398003e+00] [ 3.65735103e-02 -6.96152317e-04 9.99330723e-01 3.64613619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.53925415399999 meters Centerline goodness : 0.999606 with order 1 Centerline is valid? [True, True] Translation: X:102.27, Y:5.45, Z:3.65 [[ 9.97565217e-01 -5.93972694e-02 -3.65459036e-02 1.02266560e+02] [ 5.93791426e-02 9.98234248e-01 -1.58215526e-03 5.44649504e+00] [ 3.65753483e-02 -5.91761366e-04 9.99330723e-01 3.64823801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.599254154 meters Centerline goodness : 0.999518 with order 1 Centerline is valid? [True, True] Translation: X:102.33, Y:5.45, Z:3.65 [[ 9.97897579e-01 -5.35239353e-02 -3.65460134e-02 1.02327228e+02] [ 5.35019636e-02 9.98566495e-01 -1.57961317e-03 5.44928060e+00] [ 3.65781717e-02 -3.78991321e-04 9.99330723e-01 3.64939110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.659254154 meters Centerline goodness : 0.999606 with order 1 Centerline is valid? [True, True] Translation: X:102.39, Y:5.45, Z:3.65 [[ 9.98159788e-01 -4.83882186e-02 -3.65461024e-02 1.02386722e+02] [ 4.83628805e-02 9.98828585e-01 -1.57755236e-03 5.45139107e+00] [ 3.65796267e-02 -1.92825453e-04 9.99330723e-01 3.65094594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.719254154 meters Centerline goodness : 0.999628 with order 1 Centerline is valid? [True, True] Translation: X:102.45, Y:5.45, Z:3.65 [[ 9.98251660e-01 -4.64543713e-02 -3.65460760e-02 1.02446113e+02] [ 4.64277152e-02 9.98920406e-01 -1.57816284e-03 5.45274978e+00] [ 3.65799337e-02 -1.21347137e-04 9.99330723e-01 3.65493370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.77925415399999 meters Centerline goodness : 0.999540 with order 1 Centerline is valid? [True, True] Translation: X:102.50, Y:5.45, Z:3.66 [[ 9.98225677e-01 -4.70094368e-02 -3.65460182e-02 1.02504944e+02] [ 4.69831036e-02 9.98894435e-01 -1.57950162e-03 5.45452282e+00] [ 3.65798657e-02 -1.40346282e-04 9.99330723e-01 3.65694207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.83925415399999 meters Centerline goodness : 0.999606 with order 1 Centerline is valid? [True, True] Translation: X:102.56, Y:5.45, Z:3.66 [[ 9.98064716e-01 -5.03114331e-02 -3.65456088e-02 1.02563378e+02] [ 5.02869676e-02 9.98733546e-01 -1.58891753e-03 5.45463958e+00] [ 3.65792662e-02 -2.51925323e-04 9.99330723e-01 3.65914915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.89925415399999 meters Centerline goodness : 0.999476 with order 1 Centerline is valid? [True, True] Translation: X:102.62, Y:5.45, Z:3.66 [[ 9.97865050e-01 -5.41275414e-02 -3.65452037e-02 1.02623055e+02] [ 5.41052943e-02 9.98533957e-01 -1.59818144e-03 5.45464077e+00] [ 3.65781325e-02 -3.82519595e-04 9.99330723e-01 3.66080928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.95925415399999 meters Centerline goodness : 0.999392 with order 1 Centerline is valid? [True, True] Translation: X:102.68, Y:5.45, Z:3.66 [[ 9.97306066e-01 -6.36008171e-02 -3.65451464e-02 1.02683926e+02] [ 6.35848751e-02 9.97975153e-01 -1.59949034e-03 5.45151868e+00] [ 3.65728769e-02 -7.28537147e-04 9.99330723e-01 3.66143795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.019254154 meters Centerline goodness : 0.999610 with order 1 Centerline is valid? [True, True] Translation: X:102.75, Y:5.45, Z:3.66 [[ 9.97073701e-01 -6.71452699e-02 -3.65451464e-02 1.02745862e+02] [ 6.71317062e-02 9.97742840e-01 -1.59949034e-03 5.45166882e+00] [ 3.65700564e-02 -8.58528274e-04 9.99330723e-01 3.66442892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.079254154 meters Centerline goodness : 0.999352 with order 1 Centerline is valid? [True, True] Translation: X:102.81, Y:5.45, Z:3.67 [[ 9.96953262e-01 -6.89103612e-02 -3.65452622e-02 1.02807982e+02] [ 6.88980791e-02 9.97622426e-01 -1.59684061e-03 5.45161384e+00] [ 3.65684120e-02 -9.25922910e-04 9.99330723e-01 3.66834961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.13925415399999 meters Centerline goodness : 0.999482 with order 1 Centerline is valid? [True, True] Translation: X:102.87, Y:5.45, Z:3.67 [[ 9.97135379e-01 -6.62228852e-02 -3.65453766e-02 1.02869466e+02] [ 6.62088956e-02 9.97804510e-01 -1.59421739e-03 5.45161481e+00] [ 3.65707153e-02 -8.29978457e-04 9.99330723e-01 3.66898585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.19925415399999 meters Centerline goodness : 0.999352 with order 1 Centerline is valid? [True, True] Translation: X:102.93, Y:5.45, Z:3.67 [[ 9.97311616e-01 -6.35135527e-02 -3.65454415e-02 1.02930616e+02] [ 6.34977998e-02 9.97980708e-01 -1.59272720e-03 5.45199772e+00] [ 3.65728054e-02 -7.32109791e-04 9.99330723e-01 3.67337091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.25925415399999 meters Centerline goodness : 0.999504 with order 1 Centerline is valid? [True, True] Translation: X:102.99, Y:5.45, Z:3.68 [[ 9.97416014e-01 -6.18524115e-02 -3.65455065e-02 1.02992396e+02] [ 6.18355989e-02 9.98085080e-01 -1.59123523e-03 5.45316745e+00] [ 3.65739465e-02 -6.72689779e-04 9.99330723e-01 3.67520641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.31925415399999 meters Centerline goodness : 0.999354 with order 1 Centerline is valid? [True, True] Translation: X:103.05, Y:5.45, Z:3.68 [[ 9.97490399e-01 -6.06409493e-02 -3.65455630e-02 1.03052475e+02] [ 6.06233717e-02 9.98159446e-01 -1.58993567e-03 5.45369808e+00] [ 3.65747141e-02 -6.29569689e-04 9.99330723e-01 3.67649168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.379254154 meters Centerline goodness : 0.999117 with order 1 Centerline is valid? [True, True] Translation: X:103.11, Y:5.45, Z:3.68 [[ 9.97490879e-01 -6.06330480e-02 -3.65455909e-02 1.03113439e+02] [ 6.06154885e-02 9.98159925e-01 -1.58929587e-03 5.45233055e+00] [ 3.65747081e-02 -6.29920712e-04 9.99330723e-01 3.67526952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.439254154 meters Centerline goodness : 0.999290 with order 1 Centerline is valid? [True, True] Translation: X:103.17, Y:5.45, Z:3.68 [[ 9.97392263e-01 -6.22341823e-02 -3.65455909e-02 1.03174062e+02] [ 6.22176968e-02 9.98061337e-01 -1.58929587e-03 5.45183324e+00] [ 3.65736498e-02 -6.88631091e-04 9.99330723e-01 3.67831671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.49925415399998 meters Centerline goodness : 0.999378 with order 1 Centerline is valid? [True, True] Translation: X:103.24, Y:5.45, Z:3.68 [[ 9.97368491e-01 -6.26139952e-02 -3.65455909e-02 1.03235844e+02] [ 6.25977645e-02 9.98037571e-01 -1.58929587e-03 5.45204653e+00] [ 3.65733849e-02 -7.02558671e-04 9.99330723e-01 3.68187693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.55925415399999 meters Centerline goodness : 0.999164 with order 1 Centerline is valid? [True, True] Translation: X:103.30, Y:5.45, Z:3.69 [[ 9.97414877e-01 -6.18706673e-02 -3.65456486e-02 1.03296810e+02] [ 6.18539867e-02 9.98083946e-01 -1.58796687e-03 5.45332068e+00] [ 3.65738737e-02 -6.76632277e-04 9.99330723e-01 3.68558898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.61925415399999 meters Centerline goodness : 0.999037 with order 1 Centerline is valid? [True, True] Translation: X:103.36, Y:5.45, Z:3.69 [[ 9.97464013e-01 -6.10733529e-02 -3.65457068e-02 1.03357469e+02] [ 6.10561865e-02 9.98133070e-01 -1.58662686e-03 5.45388171e+00] [ 3.65743791e-02 -6.48738297e-04 9.99330723e-01 3.68881417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.67925415399999 meters Centerline goodness : 0.999209 with order 1 Centerline is valid? [True, True] Translation: X:103.42, Y:5.45, Z:3.69 [[ 9.97364129e-01 -6.26833742e-02 -3.65457068e-02 1.03417724e+02] [ 6.26672878e-02 9.98033213e-01 -1.58662686e-03 5.45416911e+00] [ 3.65732843e-02 -7.07775612e-04 9.99330723e-01 3.69121969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.739254154 meters Centerline goodness : 0.999084 with order 1 Centerline is valid? [True, True] Translation: X:103.48, Y:5.45, Z:3.69 [[ 9.97161879e-01 -6.58224784e-02 -3.65457068e-02 1.03478298e+02] [ 6.58084982e-02 9.97831010e-01 -1.58662686e-03 5.45245361e+00] [ 3.65708752e-02 -8.22894261e-04 9.99330723e-01 3.69259811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.799254154 meters Centerline goodness : 0.999063 with order 1 Centerline is valid? [True, True] Translation: X:103.54, Y:5.45, Z:3.69 [[ 9.97005943e-01 -6.81436816e-02 -3.65457068e-02 1.03540110e+02] [ 6.81312591e-02 9.97675105e-01 -1.58662686e-03 5.45306044e+00] [ 3.65688604e-02 -9.08028614e-04 9.99330723e-01 3.69465261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.85925415399998 meters Centerline goodness : 0.999149 with order 1 Centerline is valid? [True, True] Translation: X:103.60, Y:5.45, Z:3.70 [[ 9.96849260e-01 -7.03985736e-02 -3.65457648e-02 1.03600274e+02] [ 7.03877137e-02 9.97518449e-01 -1.58528915e-03 5.45308379e+00] [ 3.65666767e-02 -9.92078516e-04 9.99330723e-01 3.69605138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.91925415399999 meters Centerline goodness : 0.999085 with order 1 Centerline is valid? [True, True] Translation: X:103.66, Y:5.45, Z:3.70 [[ 9.96868294e-01 -7.01285161e-02 -3.65457935e-02 1.03661964e+02] [ 7.01174992e-02 9.97537481e-01 -1.58462849e-03 5.45380182e+00] [ 3.65669264e-02 -9.82833741e-04 9.99330723e-01 3.69812502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.97925415399999 meters Centerline goodness : 0.999001 with order 1 Centerline is valid? [True, True] Translation: X:103.72, Y:5.46, Z:3.70 [[ 9.97012202e-01 -6.80519686e-02 -3.65458511e-02 1.03723405e+02] [ 6.80396065e-02 9.97681365e-01 -1.58329892e-03 5.45538272e+00] [ 3.65688612e-02 -9.07996980e-04 9.99330723e-01 3.70041545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.03925415399999 meters Centerline goodness : 0.999001 with order 1 Centerline is valid? [True, True] Translation: X:103.78, Y:5.46, Z:3.70 [[ 9.97363068e-01 -6.27001450e-02 -3.65459080e-02 1.03784186e+02] [ 6.26842399e-02 9.98032155e-01 -1.58198452e-03 5.45783575e+00] [ 3.65731820e-02 -7.13039529e-04 9.99330723e-01 3.70333667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.099254154 meters Centerline goodness : 0.999214 with order 1 Centerline is valid? [True, True] Translation: X:103.84, Y:5.46, Z:3.71 [[ 9.97711580e-01 -5.68858158e-02 -3.65459660e-02 1.03844469e+02] [ 5.68660603e-02 9.98380565e-01 -1.58064305e-03 5.46113842e+00] [ 3.65766983e-02 -5.01199225e-04 9.99330723e-01 3.70603753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.159254154 meters Centerline goodness : 0.998957 with order 1 Centerline is valid? [True, True] Translation: X:103.90, Y:5.46, Z:3.71 [[ 9.98185724e-01 -4.78503194e-02 -3.65459660e-02 1.03903258e+02] [ 4.78245077e-02 9.98854503e-01 -1.58064305e-03 5.46470325e+00] [ 3.65797370e-02 -1.70017500e-04 9.99330723e-01 3.70779531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.219254154 meters Centerline goodness : 0.999040 with order 1 Centerline is valid? [True, True] Translation: X:103.96, Y:5.47, Z:3.71 [[ 9.98423746e-01 -4.25963041e-02 -3.65455676e-02 1.03959974e+02] [ 4.25666378e-02 9.99092365e-01 -1.58980158e-03 5.46709828e+00] [ 3.65801172e-02 3.16737094e-05 9.99330723e-01 3.71108680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.27925415399999 meters Centerline goodness : 0.999188 with order 1 Centerline is valid? [True, True] Translation: X:104.02, Y:5.47, Z:3.71 [[ 9.98488320e-01 -4.10549664e-02 -3.65453715e-02 1.04017846e+02] [ 4.10241035e-02 9.99156885e-01 -1.59429697e-03 5.46823371e+00] [ 3.65800133e-02 9.26458024e-05 9.99330723e-01 3.71358195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.33925415399999 meters Centerline goodness : 0.999061 with order 1 Centerline is valid? [True, True] Translation: X:104.08, Y:5.47, Z:3.71 [[ 9.98449220e-01 -4.19955220e-02 -3.65449115e-02 1.04076223e+02] [ 4.19649055e-02 9.99117797e-01 -1.60477199e-03 5.46976327e+00] [ 3.65800647e-02 6.86795875e-05 9.99330723e-01 3.71485815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.39925415399999 meters Centerline goodness : 0.998996 with order 1 Centerline is valid? [True, True] Translation: X:104.13, Y:5.47, Z:3.71 [[ 9.98374229e-01 -4.37424562e-02 -3.65444434e-02 1.04134360e+02] [ 4.37126219e-02 9.99042841e-01 -1.61536169e-03 5.47039488e+00] [ 3.65801244e-02 1.52820403e-05 9.99330723e-01 3.71474468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.45925415399999 meters Centerline goodness : 0.998891 with order 1 Centerline is valid? [True, True] Translation: X:104.19, Y:5.47, Z:3.71 [[ 9.98395137e-01 -4.32627569e-02 -3.65442891e-02 1.04192738e+02] [ 4.32324739e-02 9.99063728e-01 -1.61884338e-03 5.47158607e+00] [ 3.65801094e-02 3.63453288e-05 9.99330723e-01 3.71317318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.519254154 meters Centerline goodness : 0.998913 with order 1 Centerline is valid? [True, True] Translation: X:104.25, Y:5.47, Z:3.72 [[ 9.98195828e-01 -4.76404707e-02 -3.65441334e-02 1.04250338e+02] [ 4.76129915e-02 9.98864541e-01 -1.62235254e-03 5.47349908e+00] [ 3.65799286e-02 -1.20549975e-04 9.99330723e-01 3.71873517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.579254154 meters Centerline goodness : 0.998851 with order 1 Centerline is valid? [True, True] Translation: X:104.31, Y:5.48, Z:3.72 [[ 9.98184460e-01 -4.78781987e-02 -3.65439774e-02 1.04309189e+02] [ 4.78507504e-02 9.98853174e-01 -1.62585813e-03 5.47551269e+00] [ 3.65799110e-02 -1.25750425e-04 9.99330723e-01 3.72311429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.63925415399999 meters Centerline goodness : 0.998723 with order 1 Centerline is valid? [True, True] Translation: X:104.37, Y:5.48, Z:3.73 [[ 9.98413501e-01 -4.28374695e-02 -3.65435774e-02 1.04367969e+02] [ 4.28063177e-02 9.99082052e-01 -1.63480023e-03 5.47842692e+00] [ 3.65800630e-02 6.79106359e-05 9.99330723e-01 3.72652373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.69925415399999 meters Centerline goodness : 0.998827 with order 1 Centerline is valid? [True, True] Translation: X:104.43, Y:5.48, Z:3.73 [[ 9.98508043e-01 -4.05744528e-02 -3.65431584e-02 1.04426084e+02] [ 4.05414449e-02 9.99176505e-01 -1.64411299e-03 5.48143415e+00] [ 3.65797743e-02 1.60147597e-04 9.99330723e-01 3.72915994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.75925415399999 meters Centerline goodness : 0.998893 with order 1 Centerline is valid? [True, True] Translation: X:104.48, Y:5.48, Z:3.73 [[ 9.98790397e-01 -3.28994886e-02 -3.65426673e-02 1.04483351e+02] [ 3.28609478e-02 9.99458563e-01 -1.65495539e-03 5.48453994e+00] [ 3.65773290e-02 4.52126867e-04 9.99330723e-01 3.73244480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.81925415399999 meters Centerline goodness : 0.998998 with order 1 Centerline is valid? [True, True] Translation: X:104.54, Y:5.49, Z:3.73 [[ 9.98884252e-01 -2.99152295e-02 -3.65421763e-02 1.04539885e+02] [ 2.98742986e-02 9.99552276e-01 -1.66572699e-03 5.48641495e+00] [ 3.65756461e-02 5.72196566e-04 9.99330723e-01 3.73396966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.879254154 meters Centerline goodness : 0.999084 with order 1 Centerline is valid? [True, True] Translation: X:104.60, Y:5.49, Z:3.73 [[ 9.98812652e-01 -3.22175598e-02 -3.65419653e-02 1.04598163e+02] [ 3.21780000e-02 9.99480758e-01 -1.67034393e-03 5.48598493e+00] [ 3.65768056e-02 4.92513293e-04 9.99330723e-01 3.73470814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.939254154 meters Centerline goodness : 0.998894 with order 1 Centerline is valid? [True, True] Translation: X:104.66, Y:5.49, Z:3.74 [[ 9.98638079e-01 -3.72385217e-02 -3.65414736e-02 1.04657270e+02] [ 3.72019301e-02 9.99306355e-01 -1.68103189e-03 5.48611413e+00] [ 3.65787259e-02 3.19329107e-04 9.99330723e-01 3.73544967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.99925415399998 meters Centerline goodness : 0.999108 with order 1 Centerline is valid? [True, True] Translation: X:104.72, Y:5.49, Z:3.74 [[ 9.98272188e-01 -4.60151210e-02 -3.65410331e-02 1.04715862e+02] [ 4.59840563e-02 9.98940743e-01 -1.69055364e-03 5.48507654e+00] [ 3.65801178e-02 7.32775933e-06 9.99330723e-01 3.73601591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.05925415399999 meters Centerline goodness : 0.999153 with order 1 Centerline is valid? [True, True] Translation: X:104.77, Y:5.49, Z:3.74 [[ 9.97893686e-01 -5.36001559e-02 -3.65405903e-02 1.04774463e+02] [ 5.35738244e-02 9.98562444e-01 -1.70007080e-03 5.48523376e+00] [ 3.65791852e-02 -2.61129247e-04 9.99330724e-01 3.73824225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.11925415399999 meters Centerline goodness : 0.999367 with order 1 Centerline is valid? [True, True] Translation: X:104.83, Y:5.49, Z:3.74 [[ 9.97522903e-01 -6.01072057e-02 -3.65401480e-02 1.04831855e+02] [ 6.00848900e-02 9.98191807e-01 -1.70952515e-03 5.48521724e+00] [ 3.65768311e-02 -4.90220281e-04 9.99330724e-01 3.74183174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.17925415399999 meters Centerline goodness : 0.998883 with order 1 Centerline is valid? [True, True] Translation: X:104.89, Y:5.49, Z:3.75 [[ 9.97257948e-01 -6.43538648e-02 -3.65399119e-02 1.04890905e+02] [ 6.43342131e-02 9.97926936e-01 -1.71455679e-03 5.48652440e+00] [ 3.65745007e-02 -6.40911089e-04 9.99330724e-01 3.74544569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.239254154 meters Centerline goodness : 0.998988 with order 1 Centerline is valid? [True, True] Translation: X:104.95, Y:5.49, Z:3.75 [[ 9.96931781e-01 -6.92234741e-02 -3.65394827e-02 1.04950712e+02] [ 6.92067565e-02 9.97600849e-01 -1.72365574e-03 5.48761903e+00] [ 3.65711364e-02 -8.10411896e-04 9.99330724e-01 3.74847787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.299254154 meters Centerline goodness : 0.998924 with order 1 Centerline is valid? [True, True] Translation: X:105.01, Y:5.49, Z:3.75 [[ 9.96416052e-01 -7.62884083e-02 -3.65394220e-02 1.05009855e+02] [ 7.62763866e-02 9.97085221e-01 -1.72494198e-03 5.48859909e+00] [ 3.65645107e-02 -1.06833519e-03 9.99330724e-01 3.75061014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.35925415399998 meters Centerline goodness : 0.999198 with order 1 Centerline is valid? [True, True] Translation: X:105.07, Y:5.49, Z:3.75 [[ 9.95406724e-01 -8.84891379e-02 -3.65393920e-02 1.05071089e+02] [ 8.84852915e-02 9.96075989e-01 -1.72557553e-03 5.48906914e+00] [ 3.65487057e-02 -1.51554927e-03 9.99330724e-01 3.75180010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.41925415399999 meters Centerline goodness : 0.999158 with order 1 Centerline is valid? [True, True] Translation: X:105.13, Y:5.49, Z:3.75 [[ 9.94952527e-01 -9.34576719e-02 -3.65394544e-02 1.05133299e+02] [ 9.34572152e-02 9.95621804e-01 -1.72425467e-03 5.49106056e+00] [ 3.65406223e-02 -1.69932411e-03 9.99330724e-01 3.75297666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.47925415399999 meters Centerline goodness : 0.999180 with order 1 Centerline is valid? [True, True] Translation: X:105.20, Y:5.48, Z:3.74 [[ 9.95400986e-01 -8.85535777e-02 -3.65395818e-02 1.05195224e+02] [ 8.85499221e-02 9.96070252e-01 -1.72155066e-03 5.48362439e+00] [ 3.65484399e-02 -1.52194389e-03 9.99330724e-01 3.73933086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.53925415399999 meters Centerline goodness : 0.999160 with order 1 Centerline is valid? [True, True] Translation: X:105.26, Y:5.50, Z:3.75 [[ 9.94553079e-01 -9.76167321e-02 -3.65396465e-02 1.05255454e+02] [ 9.76192232e-02 9.95222351e-01 -1.72017472e-03 5.49823593e+00] [ 3.65329908e-02 -1.85616684e-03 9.99330724e-01 3.75350322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.599254154 meters Centerline goodness : 0.998967 with order 1 Centerline is valid? [True, True] Translation: X:105.32, Y:5.51, Z:3.76 [[ 9.94917266e-01 -9.38321527e-02 -3.65398429e-02 1.05316780e+02] [ 9.38322507e-02 9.95586543e-01 -1.71599344e-03 5.50596519e+00] [ 3.65395912e-02 -1.72134420e-03 9.99330724e-01 3.75801014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.659254154 meters Centerline goodness : 0.999135 with order 1 Centerline is valid? [True, True] Translation: X:105.38, Y:5.51, Z:3.76 [[ 9.95413509e-01 -8.84125336e-02 -3.65399712e-02 1.05378566e+02] [ 8.84090871e-02 9.96082777e-01 -1.71325699e-03 5.51386560e+00] [ 3.65483094e-02 -1.52506635e-03 9.99330724e-01 3.76289118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.719254154 meters Centerline goodness : 0.999090 with order 1 Centerline is valid? [True, True] Translation: X:105.44, Y:5.52, Z:3.77 [[ 9.95820346e-01 -8.37057902e-02 -3.65400970e-02 1.05440174e+02] [ 8.36992783e-02 9.96489591e-01 -1.71056899e-03 5.52158679e+00] [ 3.65550109e-02 -1.35496034e-03 9.99330724e-01 3.76659540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.77925415399999 meters Centerline goodness : 0.999302 with order 1 Centerline is valid? [True, True] Translation: X:105.50, Y:5.53, Z:3.77 [[ 9.96233615e-01 -7.86345725e-02 -3.65402217e-02 1.05500734e+02] [ 7.86247509e-02 9.96902820e-01 -1.70790260e-03 5.52928082e+00] [ 3.65613502e-02 -1.17149585e-03 9.99330724e-01 3.76956383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.83925415399999 meters Centerline goodness : 0.999234 with order 1 Centerline is valid? [True, True] Translation: X:105.56, Y:5.54, Z:3.77 [[ 9.96542483e-01 -7.46182570e-02 -3.65403135e-02 1.05562351e+02] [ 7.46058102e-02 9.97211644e-01 -1.70593532e-03 5.53627094e+00] [ 3.65657200e-02 -1.02608268e-03 9.99330724e-01 3.77099080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.89925415399999 meters Centerline goodness : 0.998998 with order 1 Centerline is valid? [True, True] Translation: X:105.62, Y:5.54, Z:3.77 [[ 9.96649179e-01 -7.31793115e-02 -3.65404341e-02 1.05624347e+02] [ 7.31659932e-02 9.97318322e-01 -1.70334898e-03 5.54140272e+00] [ 3.65670943e-02 -9.75875793e-04 9.99330724e-01 3.77212600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.95925415399999 meters Centerline goodness : 0.999253 with order 1 Centerline is valid? [True, True] Translation: X:105.69, Y:5.55, Z:3.77 [[ 9.96630500e-01 -7.34331983e-02 -3.65405564e-02 1.05685664e+02] [ 7.34201468e-02 9.97299649e-01 -1.70072001e-03 5.54700274e+00] [ 3.65667734e-02 -9.87823583e-04 9.99330724e-01 3.77273028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.019254154 meters Centerline goodness : 0.999105 with order 1 Centerline is valid? [True, True] Translation: X:105.75, Y:5.55, Z:3.78 [[ 9.96634391e-01 -7.33802582e-02 -3.65407640e-02 1.05748048e+02] [ 7.33673350e-02 9.97303543e-01 -1.69624951e-03 5.55252648e+00] [ 3.65667046e-02 -9.90357871e-04 9.99330724e-01 3.77506827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.079254154 meters Centerline goodness : 0.999254 with order 1 Centerline is valid? [True, True] Translation: X:105.81, Y:5.56, Z:3.78 [[ 9.96729192e-01 -7.20810840e-02 -3.65408818e-02 1.05808225e+02] [ 7.20673816e-02 9.97398328e-01 -1.69370778e-03 5.55682374e+00] [ 3.65678987e-02 -9.45237686e-04 9.99330724e-01 3.77882402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.13925415399999 meters Centerline goodness : 0.999083 with order 1 Centerline is valid? [True, True] Translation: X:105.87, Y:5.56, Z:3.78 [[ 9.96754469e-01 -7.17306807e-02 -3.65409107e-02 1.05869742e+02] [ 7.17167660e-02 9.97423601e-01 -1.69308315e-03 5.56122390e+00] [ 3.65682127e-02 -9.33007745e-04 9.99330724e-01 3.78181297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.19925415399999 meters Centerline goodness : 0.999297 with order 1 Centerline is valid? [True, True] Translation: X:105.93, Y:5.57, Z:3.78 [[ 9.96620315e-01 -7.35710871e-02 -3.65409677e-02 1.05930431e+02] [ 7.35584531e-02 9.97289472e-01 -1.69185237e-03 5.56570042e+00] [ 3.65663938e-02 -1.00176261e-03 9.99330724e-01 3.78445044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.25925415399999 meters Centerline goodness : 0.999275 with order 1 Centerline is valid? [True, True] Translation: X:105.99, Y:5.57, Z:3.79 [[ 9.96113316e-01 -8.01437012e-02 -3.65410522e-02 1.05992665e+02] [ 8.01355485e-02 9.96782543e-01 -1.69002614e-03 5.56947443e+00] [ 3.65589278e-02 -1.24477971e-03 9.99330724e-01 3.78692983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.31925415399999 meters Centerline goodness : 0.999232 with order 1 Centerline is valid? [True, True] Translation: X:106.05, Y:5.57, Z:3.79 [[ 9.95511971e-01 -8.72963869e-02 -3.65411737e-02 1.06054621e+02] [ 8.72931377e-02 9.96181239e-01 -1.68739380e-03 5.57333573e+00] [ 3.65489351e-02 -1.50997298e-03 9.99330724e-01 3.78631784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.379254154 meters Centerline goodness : 0.999253 with order 1 Centerline is valid? [True, True] Translation: X:106.12, Y:5.58, Z:3.79 [[ 9.95158902e-01 -9.12331729e-02 -3.65413131e-02 1.06117066e+02] [ 9.12326816e-02 9.95828178e-01 -1.68437073e-03 5.57770584e+00] [ 3.65425397e-02 -1.65754545e-03 9.99330724e-01 3.79009490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.439254154 meters Centerline goodness : 0.999251 with order 1 Centerline is valid? [True, True] Translation: X:106.18, Y:5.58, Z:3.79 [[ 9.95016494e-01 -9.27733719e-02 -3.65414549e-02 1.06180005e+02] [ 9.27740294e-02 9.95685770e-01 -1.68128774e-03 5.58328129e+00] [ 3.65397854e-02 -1.71718899e-03 9.99330724e-01 3.79221985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.49925415399998 meters Centerline goodness : 0.999186 with order 1 Centerline is valid? [True, True] Translation: X:106.24, Y:5.59, Z:3.79 [[ 9.95328710e-01 -8.93614477e-02 -3.65416419e-02 1.06242142e+02] [ 8.93599599e-02 9.95997984e-01 -1.67721301e-03 5.58927970e+00] [ 3.65452799e-02 -1.59598140e-03 9.99330724e-01 3.79446495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.55925415399999 meters Centerline goodness : 0.999336 with order 1 Centerline is valid? [True, True] Translation: X:106.30, Y:5.59, Z:3.80 [[ 9.95517957e-01 -8.72278256e-02 -3.65417954e-02 1.06304320e+02] [ 8.72250261e-02 9.96187228e-01 -1.67386287e-03 5.59364979e+00] [ 3.65484773e-02 -1.52099851e-03 9.99330724e-01 3.79749590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.61925415399999 meters Centerline goodness : 0.999528 with order 1 Centerline is valid? [True, True] Translation: X:106.37, Y:5.60, Z:3.80 [[ 9.96283717e-01 -7.79964389e-02 -3.65419147e-02 1.06366245e+02] [ 7.79875314e-02 9.96952934e-01 -1.67125557e-03 5.60115003e+00] [ 3.65609210e-02 -1.18476901e-03 9.99330724e-01 3.80053512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.67925415399999 meters Centerline goodness : 0.999397 with order 1 Centerline is valid? [True, True] Translation: X:106.43, Y:5.61, Z:3.80 [[ 9.96883813e-01 -6.99095036e-02 -3.65420859e-02 1.06428152e+02] [ 6.98953036e-02 9.97552939e-01 -1.66750243e-03 5.60782179e+00] [ 3.65692395e-02 -8.91814013e-04 9.99330724e-01 3.80304145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.739254154 meters Centerline goodness : 0.999307 with order 1 Centerline is valid? [True, True] Translation: X:106.49, Y:5.61, Z:3.80 [[ 9.97496790e-01 -6.05377558e-02 -3.65422170e-02 1.06490661e+02] [ 6.05173734e-02 9.98165756e-01 -1.66462469e-03 5.61426769e+00] [ 3.65759623e-02 -5.50981209e-04 9.99330724e-01 3.80328853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.799254154 meters Centerline goodness : 0.999391 with order 1 Centerline is valid? [True, True] Translation: X:106.55, Y:5.62, Z:3.81 [[ 9.98118505e-01 -4.92352028e-02 -3.65423668e-02 1.06551493e+02] [ 4.92073650e-02 9.98787202e-01 -1.66132971e-03 5.62160138e+00] [ 3.65798442e-02 -1.39949658e-04 9.99330724e-01 3.80619826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.85925415399998 meters Centerline goodness : 0.999390 with order 1 Centerline is valid? [True, True] Translation: X:106.61, Y:5.63, Z:3.81 [[ 9.98453292e-01 -4.19007801e-02 -3.65424264e-02 1.06610768e+02] [ 4.18680781e-02 9.99121769e-01 -1.66001792e-03 5.62743190e+00] [ 3.65798897e-02 1.27489191e-04 9.99330724e-01 3.80909777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.91925415399999 meters Centerline goodness : 0.997690 with order 1 Centerline is valid? [True, True] Translation: X:106.67, Y:5.63, Z:3.81 [[ 9.98835084e-01 -3.15139691e-02 -3.65423646e-02 1.06669466e+02] [ 3.14742666e-02 9.99503182e-01 -1.66137748e-03 5.63098692e+00] [ 3.65765663e-02 5.09297990e-04 9.99330724e-01 3.80730841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.97925415399999 meters Centerline goodness : 0.999456 with order 1 Centerline is valid? [True, True] Translation: X:106.73, Y:5.63, Z:3.81 [[ 9.98976665e-01 -2.66517712e-02 -3.65418407e-02 1.06727419e+02] [ 2.66083987e-02 9.99644534e-01 -1.67282103e-03 5.63214925e+00] [ 3.65734350e-02 6.98789307e-04 9.99330724e-01 3.80774239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.03925415399999 meters Centerline goodness : 0.999435 with order 1 Centerline is valid? [True, True] Translation: X:106.79, Y:5.64, Z:3.82 [[ 9.98805889e-01 -3.24274142e-02 -3.65412021e-02 1.06785136e+02] [ 3.23873980e-02 9.99473967e-01 -1.68665641e-03 5.63674318e+00] [ 3.65766742e-02 5.01167892e-04 9.99330724e-01 3.81518633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.099254154 meters Centerline goodness : 0.999500 with order 1 Centerline is valid? [True, True] Translation: X:106.84, Y:5.64, Z:3.82 [[ 9.98480923e-01 -4.12383450e-02 -3.65410185e-02 1.06842950e+02] [ 4.12040794e-02 9.99149321e-01 -1.69062448e-03 5.63601275e+00] [ 3.65796524e-02 1.82417262e-04 9.99330724e-01 3.81642272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.159254154 meters Centerline goodness : 0.999154 with order 1 Centerline is valid? [True, True] Translation: X:106.90, Y:5.64, Z:3.82 [[ 9.98092040e-01 -4.97701671e-02 -3.65405274e-02 1.06900765e+02] [ 4.97412290e-02 9.98760690e-01 -1.70117303e-03 5.63585966e+00] [ 3.65799101e-02 -1.19643482e-04 9.99330724e-01 3.81765353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.219254154 meters Centerline goodness : 0.999481 with order 1 Centerline is valid? [True, True] Translation: X:106.96, Y:5.63, Z:3.82 [[ 9.97358093e-01 -6.27826382e-02 -3.65400364e-02 1.06959570e+02] [ 6.27620388e-02 9.98027052e-01 -1.71165574e-03 5.63407564e+00] [ 3.65754071e-02 -5.86193478e-04 9.99330724e-01 3.81847457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.27925415399999 meters Centerline goodness : 0.999397 with order 1 Centerline is valid? [True, True] Translation: X:107.02, Y:5.63, Z:3.82 [[ 9.96617066e-01 -7.36157683e-02 -3.65396099e-02 1.07021054e+02] [ 7.36021069e-02 9.97286202e-01 -1.72071171e-03 5.63311517e+00] [ 3.65671203e-02 -9.74501624e-04 9.99330724e-01 3.82079724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.33925415399999 meters Centerline goodness : 0.999422 with order 1 Centerline is valid? [True, True] Translation: X:107.08, Y:5.63, Z:3.82 [[ 9.96260208e-01 -7.82971899e-02 -3.65396717e-02 1.07082391e+02] [ 7.82867205e-02 9.96929402e-01 -1.71939989e-03 5.63408572e+00] [ 3.65620972e-02 -1.14760137e-03 9.99330724e-01 3.82297513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.39925415399999 meters Centerline goodness : 0.999485 with order 1 Centerline is valid? [True, True] Translation: X:107.14, Y:5.64, Z:3.83 [[ 9.96050590e-01 -8.09201313e-02 -3.65397632e-02 1.07144358e+02] [ 8.09114953e-02 9.96719810e-01 -1.71745154e-03 5.63646248e+00] [ 3.65588823e-02 -1.24581826e-03 9.99330724e-01 3.82699063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.45925415399999 meters Centerline goodness : 0.999247 with order 1 Centerline is valid? [True, True] Translation: X:107.21, Y:5.64, Z:3.83 [[ 9.96199497e-01 -7.90657835e-02 -3.65398924e-02 1.07206154e+02] [ 7.90560026e-02 9.96868702e-01 -1.71469814e-03 5.64043837e+00] [ 3.65610491e-02 -1.18051641e-03 9.99330724e-01 3.82918809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.519254154 meters Centerline goodness : 0.999333 with order 1 Centerline is valid? [True, True] Translation: X:107.27, Y:5.64, Z:3.83 [[ 9.96436172e-01 -7.60248743e-02 -3.65400195e-02 1.07267119e+02] [ 7.60131504e-02 9.97105346e-01 -1.71198614e-03 5.64392931e+00] [ 3.65644023e-02 -1.07163708e-03 9.99330724e-01 3.82896172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.579254154 meters Centerline goodness : 0.999312 with order 1 Centerline is valid? [True, True] Translation: X:107.33, Y:5.65, Z:3.83 [[ 9.96562908e-01 -7.43450781e-02 -3.65401132e-02 1.07328833e+02] [ 7.43322995e-02 9.97232062e-01 -1.70998319e-03 5.64749372e+00] [ 3.65661013e-02 -1.01200482e-03 9.99330724e-01 3.83248557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.63925415399999 meters Centerline goodness : 0.998061 with order 1 Centerline is valid? [True, True] Translation: X:107.39, Y:5.65, Z:3.83 [[ 9.97011693e-01 -6.80624295e-02 -3.65402384e-02 1.07389493e+02] [ 6.80455316e-02 9.97680756e-01 -1.70730531e-03 5.65190523e+00] [ 3.65716960e-02 -7.84196588e-04 9.99330724e-01 3.82816134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.69925415399999 meters Centerline goodness : 0.999416 with order 1 Centerline is valid? [True, True] Translation: X:107.45, Y:5.66, Z:3.83 [[ 9.97267682e-01 -6.42026356e-02 -3.65402737e-02 1.07450195e+02] [ 6.41831758e-02 9.97936675e-01 -1.70654785e-03 5.65860212e+00] [ 3.65744442e-02 -6.43385798e-04 9.99330724e-01 3.83431992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.75925415399999 meters Centerline goodness : 0.999414 with order 1 Centerline is valid? [True, True] Translation: X:107.51, Y:5.67, Z:3.84 [[ 9.97665998e-01 -5.76832728e-02 -3.65403484e-02 1.07512009e+02] [ 5.76594995e-02 9.98334851e-01 -1.70494831e-03 5.66608741e+00] [ 3.65778503e-02 -4.05929244e-04 9.99330724e-01 3.83618859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.81925415399999 meters Centerline goodness : 0.999500 with order 1 Centerline is valid? [True, True] Translation: X:107.57, Y:5.67, Z:3.84 [[ 9.97932882e-01 -5.28654567e-02 -3.65404737e-02 1.07571628e+02] [ 5.28385527e-02 9.98601617e-01 -1.70225797e-03 5.67168705e+00] [ 3.65793668e-02 -2.32006546e-04 9.99330724e-01 3.83888336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.879254154 meters Centerline goodness : 0.999453 with order 1 Centerline is valid? [True, True] Translation: X:107.63, Y:5.68, Z:3.84 [[ 9.98310796e-01 -4.51701983e-02 -3.65405044e-02 1.07630724e+02] [ 4.51381636e-02 9.98979304e-01 -1.70159922e-03 5.67864162e+00] [ 3.65800692e-02 4.93536103e-05 9.99330724e-01 3.84426872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.939254154 meters Centerline goodness : 0.999583 with order 1 Centerline is valid? [True, True] Translation: X:107.69, Y:5.69, Z:3.85 [[ 9.98640967e-01 -3.71620138e-02 -3.65404425e-02 1.07688465e+02] [ 3.71245699e-02 9.99309195e-01 -1.70292794e-03 5.68570736e+00] [ 3.65784844e-02 3.44065394e-04 9.99330724e-01 3.84891758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.99925415399998 meters Centerline goodness : 0.999543 with order 1 Centerline is valid? [True, True] Translation: X:107.75, Y:5.69, Z:3.85 [[ 9.98768697e-01 -3.35542986e-02 -3.65403640e-02 1.07746767e+02] [ 3.35143795e-02 9.99436782e-01 -1.70461029e-03 5.68991907e+00] [ 3.65769808e-02 4.77883778e-04 9.99330724e-01 3.85205081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.05925415399999 meters Centerline goodness : 0.999651 with order 1 Centerline is valid? [True, True] Translation: X:107.80, Y:5.69, Z:3.85 [[ 9.98589855e-01 -3.85114915e-02 -3.65399415e-02 1.07804071e+02] [ 3.84745594e-02 9.99258111e-01 -1.71361966e-03 5.69120653e+00] [ 3.65788269e-02 3.05345053e-04 9.99330724e-01 3.85258204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.11925415399999 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:107.86, Y:5.69, Z:3.85 [[ 9.98246043e-01 -4.65799737e-02 -3.65396138e-02 1.07861625e+02] [ 4.65481883e-02 9.98914564e-01 -1.72057856e-03 5.69118193e+00] [ 3.65800969e-02 1.67079183e-05 9.99330724e-01 3.85429411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.17925415399999 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:107.92, Y:5.69, Z:3.86 [[ 9.97514807e-01 -6.02420442e-02 -3.65391017e-02 1.07920709e+02] [ 6.02190184e-02 9.98183687e-01 -1.73138650e-03 5.68941640e+00] [ 3.65770375e-02 -4.73265161e-04 9.99330724e-01 3.85501046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.239254154 meters Centerline goodness : 0.999459 with order 1 Centerline is valid? [True, True] Translation: X:107.98, Y:5.69, Z:3.86 [[ 9.96762824e-01 -7.16154783e-02 -3.65389738e-02 1.07982741e+02] [ 7.15999843e-02 9.97431920e-01 -1.73407990e-03 5.68764278e+00] [ 3.65693258e-02 -8.87723576e-04 9.99330724e-01 3.85668155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.299254154 meters Centerline goodness : 0.999483 with order 1 Centerline is valid? [True, True] Translation: X:108.04, Y:5.69, Z:3.86 [[ 9.96247867e-01 -7.84543266e-02 -3.65391019e-02 1.08043549e+02] [ 7.84435238e-02 9.96917056e-01 -1.73137710e-03 5.68768421e+00] [ 3.65622879e-02 -1.14137517e-03 9.99330724e-01 3.85970923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.35925415399998 meters Centerline goodness : 0.999419 with order 1 Centerline is valid? [True, True] Translation: X:108.11, Y:5.69, Z:3.86 [[ 9.95901896e-01 -8.27302880e-02 -3.65391966e-02 1.08105957e+02] [ 8.27224314e-02 9.96571126e-01 -1.72937528e-03 5.68912828e+00] [ 3.65569801e-02 -1.30032307e-03 9.99330724e-01 3.86188150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.41925415399999 meters Centerline goodness : 0.999267 with order 1 Centerline is valid? [True, True] Translation: X:108.17, Y:5.69, Z:3.86 [[ 9.95643589e-01 -8.57829856e-02 -3.65393233e-02 1.08168571e+02] [ 8.57772789e-02 9.96312841e-01 -1.72669517e-03 5.69086938e+00] [ 3.65527181e-02 -1.41507075e-03 9.99330724e-01 3.86376655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.47925415399999 meters Centerline goodness : 0.999483 with order 1 Centerline is valid? [True, True] Translation: X:108.23, Y:5.69, Z:3.87 [[ 9.95386122e-01 -8.87205326e-02 -3.65395119e-02 1.08231557e+02] [ 8.87169472e-02 9.96055388e-01 -1.72269495e-03 5.69243111e+00] [ 3.65482161e-02 -1.52692730e-03 9.99330724e-01 3.86574270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.53925415399999 meters Centerline goodness : 0.999376 with order 1 Centerline is valid? [True, True] Translation: X:108.29, Y:5.70, Z:3.87 [[ 9.95095049e-01 -9.19276584e-02 -3.65396994e-02 1.08293847e+02] [ 9.19263758e-02 9.95764323e-01 -1.71870967e-03 5.69540101e+00] [ 3.65429260e-02 -1.64868265e-03 9.99330724e-01 3.86788754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.599254154 meters Centerline goodness : 0.999378 with order 1 Centerline is valid? [True, True] Translation: X:108.36, Y:5.70, Z:3.87 [[ 9.95020486e-01 -9.27311745e-02 -3.65398530e-02 1.08356787e+02] [ 9.27305524e-02 9.95689762e-01 -1.71543582e-03 5.69884675e+00] [ 3.65414320e-02 -1.68146698e-03 9.99330724e-01 3.87001928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.659254154 meters Centerline goodness : 0.999463 with order 1 Centerline is valid? [True, True] Translation: X:108.42, Y:5.70, Z:3.87 [[ 9.95046918e-01 -9.24470519e-02 -3.65400339e-02 1.08419619e+02] [ 9.24463801e-02 9.95716193e-01 -1.71157535e-03 5.70209547e+00] [ 3.65417335e-02 -1.67489608e-03 9.99330724e-01 3.87158912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.719254154 meters Centerline goodness : 0.999528 with order 1 Centerline is valid? [True, True] Translation: X:108.48, Y:5.71, Z:3.87 [[ 9.95205873e-01 -9.07198012e-02 -3.65402156e-02 1.08481486e+02] [ 9.07181102e-02 9.95875147e-01 -1.70768714e-03 5.70593974e+00] [ 3.65444136e-02 -1.61535903e-03 9.99330724e-01 3.87228413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.77925415399999 meters Centerline goodness : 0.999397 with order 1 Centerline is valid? [True, True] Translation: X:108.54, Y:5.71, Z:3.87 [[ 9.95387342e-01 -8.87065029e-02 -3.65403377e-02 1.08543889e+02] [ 8.87035540e-02 9.96056611e-01 -1.70507036e-03 5.71040977e+00] [ 3.65474958e-02 -1.54405236e-03 9.99330724e-01 3.87398455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.83925415399999 meters Centerline goodness : 0.999612 with order 1 Centerline is valid? [True, True] Translation: X:108.61, Y:5.72, Z:3.88 [[ 9.95938824e-01 -8.22839865e-02 -3.65404594e-02 1.08605689e+02] [ 8.22768163e-02 9.96608061e-01 -1.70245714e-03 5.71680163e+00] [ 3.65566014e-02 -1.31088951e-03 9.99330724e-01 3.87696846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.89925415399999 meters Centerline goodness : 0.999544 with order 1 Centerline is valid? [True, True] Translation: X:108.67, Y:5.72, Z:3.88 [[ 9.96700389e-01 -7.24784172e-02 -3.65405827e-02 1.08667649e+02] [ 7.24647582e-02 9.97369525e-01 -1.69980662e-03 5.72384526e+00] [ 3.65676630e-02 -9.53706574e-04 9.99330724e-01 3.88140689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.95925415399999 meters Centerline goodness : 0.999522 with order 1 Centerline is valid? [True, True] Translation: X:108.73, Y:5.73, Z:3.88 [[ 9.97240279e-01 -6.46266421e-02 -3.65407068e-02 1.08728601e+02] [ 6.46078116e-02 9.97909290e-01 -1.69713503e-03 5.73028554e+00] [ 3.65739909e-02 -6.68363688e-04 9.99330724e-01 3.88489628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.019254154 meters Centerline goodness : 0.999584 with order 1 Centerline is valid? [True, True] Translation: X:108.79, Y:5.74, Z:3.89 [[ 9.98197238e-01 -4.76134839e-02 -3.65407983e-02 1.08790788e+02] [ 4.75833211e-02 9.98865834e-01 -1.69516232e-03 5.73942548e+00] [ 3.65800676e-02 -4.66261953e-05 9.99330724e-01 3.88910338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.079254154 meters Centerline goodness : 0.999538 with order 1 Centerline is valid? [True, True] Translation: X:108.85, Y:5.74, Z:3.89 [[ 9.98541809e-01 -3.97368441e-02 -3.65409250e-02 1.08849417e+02] [ 3.97015075e-02 9.99210151e-01 -1.69242700e-03 5.74446869e+00] [ 3.65793149e-02 2.39229304e-04 9.99330724e-01 3.89088774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.13925415399999 meters Centerline goodness : 0.999737 with order 1 Centerline is valid? [True, True] Translation: X:108.91, Y:5.75, Z:3.89 [[ 9.98902441e-01 -2.93033021e-02 -3.65408037e-02 1.08906645e+02] [ 2.92608899e-02 9.99570371e-01 -1.69504168e-03 5.75020783e+00] [ 3.65747751e-02 6.23964833e-04 9.99330724e-01 3.89304298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.19925415399999 meters Centerline goodness : 0.999692 with order 1 Centerline is valid? [True, True] Translation: X:108.96, Y:5.75, Z:3.90 [[ 9.99018401e-01 -2.50402667e-02 -3.65406522e-02 1.08963889e+02] [ 2.49948854e-02 9.99686136e-01 -1.69830192e-03 5.75381966e+00] [ 3.65717094e-02 7.83305454e-04 9.99330724e-01 3.89518904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.25925415399999 meters Centerline goodness : 0.999605 with order 1 Centerline is valid? [True, True] Translation: X:109.02, Y:5.75, Z:3.90 [[ 9.99032108e-01 -2.44880223e-02 -3.65401612e-02 1.09022082e+02] [ 2.44418880e-02 9.99699792e-01 -1.70880167e-03 5.75488453e+00] [ 3.65710367e-02 8.14037207e-04 9.99330724e-01 3.89685791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.31925415399999 meters Centerline goodness : 0.999714 with order 1 Centerline is valid? [True, True] Translation: X:109.08, Y:5.75, Z:3.90 [[ 9.98890291e-01 -2.97160081e-02 -3.65396510e-02 1.09079772e+02] [ 2.96729722e-02 9.99558181e-01 -1.71964318e-03 5.75379482e+00] [ 3.65746080e-02 6.33494829e-04 9.99330724e-01 3.89742149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.379254154 meters Centerline goodness : 0.999693 with order 1 Centerline is valid? [True, True] Translation: X:109.14, Y:5.75, Z:3.90 [[ 9.98578934e-01 -3.87943819e-02 -3.65391439e-02 1.09138189e+02] [ 3.87570269e-02 9.99247166e-01 -1.73035088e-03 5.75227416e+00] [ 3.65787639e-02 3.11743350e-04 9.99330724e-01 3.90017060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.439254154 meters Centerline goodness : 0.999498 with order 1 Centerline is valid? [True, True] Translation: X:109.20, Y:5.75, Z:3.90 [[ 9.98277168e-01 -4.59085720e-02 -3.65390149e-02 1.09196435e+02] [ 4.58758798e-02 9.98945644e-01 -1.73307107e-03 5.75157787e+00] [ 3.65800526e-02 5.38258244e-05 9.99330724e-01 3.90110274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.49925415399998 meters Centerline goodness : 0.999501 with order 1 Centerline is valid? [True, True] Translation: X:109.25, Y:5.75, Z:3.90 [[ 9.97695380e-01 -5.71737749e-02 -3.65388558e-02 1.09254183e+02] [ 5.71485077e-02 9.98364179e-01 -1.73641778e-03 5.74855581e+00] [ 3.65783624e-02 -3.55725086e-04 9.99330724e-01 3.90400579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.55925415399999 meters Centerline goodness : 0.999114 with order 1 Centerline is valid? [True, True] Translation: X:109.32, Y:5.75, Z:3.91 [[ 9.97060134e-01 -6.73501232e-02 -3.65383355e-02 1.09315771e+02] [ 6.73312824e-02 9.97729144e-01 -1.74729818e-03 5.74635969e+00] [ 3.65730430e-02 -7.18011632e-04 9.99330725e-01 3.90681378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.61925415399999 meters Centerline goodness : 0.999332 with order 1 Centerline is valid? [True, True] Translation: X:109.38, Y:5.75, Z:3.91 [[ 9.96626833e-01 -7.34840165e-02 -3.65383996e-02 1.09377737e+02] [ 7.34693418e-02 9.97295948e-01 -1.74595699e-03 5.74582280e+00] [ 3.65678978e-02 -9.44384582e-04 9.99330725e-01 3.90903541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.67925415399999 meters Centerline goodness : 0.999528 with order 1 Centerline is valid? [True, True] Translation: X:109.44, Y:5.74, Z:3.91 [[ 9.95995218e-01 -8.15993942e-02 -3.65385288e-02 1.09440227e+02] [ 8.15902693e-02 9.96664432e-01 -1.74324893e-03 5.74472677e+00] [ 3.65589001e-02 -1.24492080e-03 9.99330725e-01 3.91110454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.739254154 meters Centerline goodness : 0.999377 with order 1 Centerline is valid? [True, True] Translation: X:109.50, Y:5.75, Z:3.91 [[ 9.95444799e-01 -8.80600870e-02 -3.65386567e-02 1.09501129e+02] [ 8.80554028e-02 9.96114058e-01 -1.74056511e-03 5.74696442e+00] [ 3.65499439e-02 -1.48478964e-03 9.99330725e-01 3.91186595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.799254154 meters Centerline goodness : 0.999143 with order 1 Centerline is valid? [True, True] Translation: X:109.56, Y:5.75, Z:3.91 [[ 9.95182817e-01 -9.09729672e-02 -3.65387510e-02 1.09563427e+02] [ 9.09703142e-02 9.95852087e-01 -1.73858267e-03 5.74921510e+00] [ 3.65453555e-02 -1.59373406e-03 9.99330725e-01 3.91324722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.85925415399998 meters Centerline goodness : 0.999227 with order 1 Centerline is valid? [True, True] Translation: X:109.63, Y:5.75, Z:3.92 [[ 9.94938720e-01 -9.36047760e-02 -3.65388761e-02 1.09625431e+02] [ 9.36039897e-02 9.95607995e-01 -1.73594910e-03 5.75119945e+00] [ 3.65408903e-02 -1.69302161e-03 9.99330725e-01 3.91563783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.91925415399999 meters Centerline goodness : 0.999442 with order 1 Centerline is valid? [True, True] Translation: X:109.69, Y:5.75, Z:3.91 [[ 9.94991915e-01 -9.30375709e-02 -3.65390051e-02 1.09686714e+02] [ 9.30365028e-02 9.95661190e-01 -1.73322946e-03 5.75410052e+00] [ 3.65417248e-02 -1.67491195e-03 9.99330725e-01 3.91492266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.97925415399999 meters Centerline goodness : 0.999463 with order 1 Centerline is valid? [True, True] Translation: X:109.75, Y:5.76, Z:3.92 [[ 9.95264010e-01 -9.00801466e-02 -3.65392584e-02 1.09749161e+02] [ 9.00772857e-02 9.95933279e-01 -1.72787336e-03 5.75916935e+00] [ 3.65463105e-02 -1.57166705e-03 9.99330725e-01 3.91786726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.03925415399999 meters Centerline goodness : 0.999310 with order 1 Centerline is valid? [True, True] Translation: X:109.81, Y:5.77, Z:3.92 [[ 9.96029729e-01 -8.11766593e-02 -3.65394181e-02 1.09810795e+02] [ 8.11679377e-02 9.96698948e-01 -1.72449014e-03 5.76615505e+00] [ 3.65587879e-02 -1.24818577e-03 9.99330725e-01 3.92159896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.099254154 meters Centerline goodness : 0.999481 with order 1 Centerline is valid? [True, True] Translation: X:109.87, Y:5.77, Z:3.93 [[ 9.96922146e-01 -6.93620738e-02 -3.65395455e-02 1.09871647e+02] [ 6.93455176e-02 9.97591216e-01 -1.72178613e-03 5.77435142e+00] [ 3.65709563e-02 -8.17366971e-04 9.99330725e-01 3.92575861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.159254154 meters Centerline goodness : 0.999283 with order 1 Centerline is valid? [True, True] Translation: X:109.93, Y:5.77, Z:3.92 [[ 9.98182688e-01 -4.79184269e-02 -3.65396393e-02 1.09932961e+02] [ 4.78875667e-02 9.98851252e-01 -1.71979348e-03 5.77336156e+00] [ 3.65800742e-02 -3.31263382e-05 9.99330725e-01 3.91857068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.219254154 meters Centerline goodness : 0.999260 with order 1 Centerline is valid? [True, True] Translation: X:109.99, Y:5.78, Z:3.92 [[ 9.98603724e-01 -3.81503798e-02 -3.65397118e-02 1.09991522e+02] [ 3.81130367e-02 9.99271957e-01 -1.71825033e-03 5.77784258e+00] [ 3.65786613e-02 3.23211798e-04 9.99330725e-01 3.91969164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.27925415399999 meters Centerline goodness : 0.999586 with order 1 Centerline is valid? [True, True] Translation: X:110.05, Y:5.79, Z:3.94 [[ 9.98703757e-01 -3.54357082e-02 -3.65392458e-02 1.10048533e+02] [ 3.53961881e-02 9.99371864e-01 -1.72810541e-03 5.79353356e+00] [ 3.65775308e-02 4.32515344e-04 9.99330725e-01 3.93548140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.33925415399999 meters Centerline goodness : 0.999497 with order 1 Centerline is valid? [True, True] Translation: X:110.11, Y:5.80, Z:3.94 [[ 9.98971571e-01 -2.68461726e-02 -3.65387870e-02 1.10106015e+02] [ 2.68005561e-02 9.99639290e-01 -1.73775222e-03 5.79841375e+00] [ 3.65722591e-02 7.56705262e-04 9.99330725e-01 3.93738093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.39925415399999 meters Centerline goodness : 0.999519 with order 1 Centerline is valid? [True, True] Translation: X:110.16, Y:5.80, Z:3.94 [[ 9.99006176e-01 -2.55263538e-02 -3.65385450e-02 1.10163858e+02] [ 2.54796697e-02 9.99673821e-01 -1.74282470e-03 5.80167415e+00] [ 3.65711149e-02 8.10102586e-04 9.99330725e-01 3.94005064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.45925415399999 meters Centerline goodness : 0.999432 with order 1 Centerline is valid? [True, True] Translation: X:110.22, Y:5.80, Z:3.94 [[ 9.98965964e-01 -2.70550271e-02 -3.65380481e-02 1.10222150e+02] [ 2.70089860e-02 9.99633653e-01 -1.75318184e-03 5.80304393e+00] [ 3.65720948e-02 7.64513355e-04 9.99330725e-01 3.94269301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.519254154 meters Centerline goodness : 0.999499 with order 1 Centerline is valid? [True, True] Translation: X:110.28, Y:5.80, Z:3.94 [[ 9.98802401e-01 -3.25387084e-02 -3.65376045e-02 1.10280929e+02] [ 3.24959971e-02 9.99470312e-01 -1.76237815e-03 5.80281281e+00] [ 3.65755964e-02 5.72941641e-04 9.99330725e-01 3.94480122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.579254154 meters Centerline goodness : 0.996630 with order 1 Centerline is valid? [True, True] Translation: X:110.34, Y:5.80, Z:3.94 [[ 9.98327391e-01 -4.48046601e-02 -3.65371501e-02 1.10339839e+02] [ 4.47698131e-02 9.98995758e-01 -1.77174802e-03 5.79913173e+00] [ 3.65798405e-02 1.33023196e-04 9.99330725e-01 3.93940169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.63925415399999 meters Centerline goodness : 0.999417 with order 1 Centerline is valid? [True, True] Translation: X:110.40, Y:5.79, Z:3.95 [[ 9.97435760e-01 -6.15384731e-02 -3.65365647e-02 1.10398103e+02] [ 6.15143992e-02 9.98104602e-01 -1.78373947e-03 5.79427966e+00] [ 3.65770820e-02 -4.68359292e-04 9.99330725e-01 3.94636373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.69925415399999 meters Centerline goodness : 0.999505 with order 1 Centerline is valid? [True, True] Translation: X:110.46, Y:5.79, Z:3.95 [[ 9.96798642e-01 -7.11167276e-02 -3.65359755e-02 1.10459138e+02] [ 7.10986403e-02 9.97467673e-01 -1.79572717e-03 5.79246565e+00] [ 3.65711607e-02 -8.07679776e-04 9.99330725e-01 3.94846002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.75925415399999 meters Centerline goodness : 0.999337 with order 1 Centerline is valid? [True, True] Translation: X:110.52, Y:5.79, Z:3.95 [[ 9.95838307e-01 -8.34936189e-02 -3.65360413e-02 1.10521263e+02] [ 8.34838929e-02 9.96507511e-01 -1.79438679e-03 5.78893255e+00] [ 3.65582595e-02 -1.26325186e-03 9.99330725e-01 3.94991958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.81925415399999 meters Centerline goodness : 0.999167 with order 1 Centerline is valid? [True, True] Translation: X:110.58, Y:5.79, Z:3.95 [[ 9.94976904e-01 -9.31990754e-02 -3.65361718e-02 1.10583695e+02] [ 9.31959722e-02 9.95646172e-01 -1.79172554e-03 5.78609175e+00] [ 3.65440868e-02 -1.62229853e-03 9.99330725e-01 3.95147234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.879254154 meters Centerline goodness : 0.999403 with order 1 Centerline is valid? [True, True] Translation: X:110.65, Y:5.78, Z:3.95 [[ 9.94496500e-01 -9.81927223e-02 -3.65363011e-02 1.10646399e+02] [ 9.81930756e-02 9.95165775e-01 -1.78908488e-03 5.78491551e+00] [ 3.65353515e-02 -1.80837313e-03 9.99330725e-01 3.95407748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.939254154 meters Centerline goodness : 0.999278 with order 1 Centerline is valid? [True, True] Translation: X:110.71, Y:5.79, Z:3.96 [[ 9.94413442e-01 -9.90302740e-02 -3.65364335e-02 1.10709135e+02] [ 9.90312902e-02 9.95082716e-01 -1.78637728e-03 5.78723584e+00] [ 3.65336790e-02 -1.84185257e-03 9.99330725e-01 3.95586436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.99925415399998 meters Centerline goodness : 0.999298 with order 1 Centerline is valid? [True, True] Translation: X:110.77, Y:5.79, Z:3.96 [[ 9.94424572e-01 -9.89183726e-02 -3.65366315e-02 1.10769942e+02] [ 9.89194623e-02 9.95093846e-01 -1.78231913e-03 5.79023358e+00] [ 3.65336813e-02 -1.84180201e-03 9.99330725e-01 3.95566914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.05925415399999 meters Centerline goodness : 0.999295 with order 1 Centerline is valid? [True, True] Translation: X:110.83, Y:5.79, Z:3.96 [[ 9.94449959e-01 -9.86627412e-02 -3.65368780e-02 1.10831800e+02] [ 9.86638445e-02 9.95119233e-01 -1.77725217e-03 5.79361403e+00] [ 3.65338985e-02 -1.83748050e-03 9.99330725e-01 3.95769156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.11925415399999 meters Centerline goodness : 0.999338 with order 1 Centerline is valid? [True, True] Translation: X:110.89, Y:5.80, Z:3.96 [[ 9.94497763e-01 -9.81796690e-02 -3.65370076e-02 1.10894329e+02] [ 9.81805450e-02 9.95167037e-01 -1.77458229e-03 5.79694907e+00] [ 3.65346535e-02 -1.82240521e-03 9.99330725e-01 3.95933816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.17925415399999 meters Centerline goodness : 0.999058 with order 1 Centerline is valid? [True, True] Translation: X:110.96, Y:5.80, Z:3.96 [[ 9.94755337e-01 -9.55345813e-02 -3.65371389e-02 1.10955329e+02] [ 9.55337767e-02 9.95424612e-01 -1.77187581e-03 5.80176219e+00] [ 3.65392427e-02 -1.72794795e-03 9.99330725e-01 3.95955441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.239254154 meters Centerline goodness : 0.999443 with order 1 Centerline is valid? [True, True] Translation: X:111.02, Y:5.81, Z:3.96 [[ 9.95374135e-01 -8.88557867e-02 -3.65373872e-02 1.11017055e+02] [ 8.88506783e-02 9.96043390e-01 -1.76674056e-03 5.80857921e+00] [ 3.65498081e-02 -1.48780378e-03 9.99330725e-01 3.96148191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.299254154 meters Centerline goodness : 0.999398 with order 1 Centerline is valid? [True, True] Translation: X:111.08, Y:5.81, Z:3.96 [[ 9.95902862e-01 -8.27194057e-02 -3.65375150e-02 1.11078491e+02] [ 8.27102695e-02 9.96572074e-01 -1.76409393e-03 5.81452848e+00] [ 3.65581919e-02 -1.26516152e-03 9.99330725e-01 3.96442674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.35925415399998 meters Centerline goodness : 0.999354 with order 1 Centerline is valid? [True, True] Translation: X:111.14, Y:5.82, Z:3.97 [[ 9.96728011e-01 -7.20990523e-02 -3.65376425e-02 1.11139684e+02] [ 7.20828802e-02 9.97397090e-01 -1.76144841e-03 5.82299810e+00] [ 3.65695371e-02 -8.78053544e-04 9.99330725e-01 3.96981259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.41925415399999 meters Centerline goodness : 0.999458 with order 1 Centerline is valid? [True, True] Translation: X:111.20, Y:5.83, Z:3.98 [[ 9.97564491e-01 -5.94144721e-02 -3.65377370e-02 1.11201616e+02] [ 5.93898622e-02 9.98233314e-01 -1.75948685e-03 5.83139562e+00] [ 3.65777252e-02 -4.14769557e-04 9.99330725e-01 3.97554057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.47925415399999 meters Centerline goodness : 0.999523 with order 1 Centerline is valid? [True, True] Translation: X:111.26, Y:5.84, Z:3.98 [[ 9.98231575e-01 -4.68903652e-02 -3.65378659e-02 1.11261106e+02] [ 4.68574616e-02 9.98900041e-01 -1.75680570e-03 5.83770393e+00] [ 3.65800530e-02 4.16272691e-05 9.99330725e-01 3.97764711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.53925415399999 meters Centerline goodness : 0.999326 with order 1 Centerline is valid? [True, True] Translation: X:111.32, Y:5.84, Z:3.98 [[ 9.98521075e-01 -4.02572973e-02 -3.65378344e-02 1.11319601e+02] [ 4.02199294e-02 9.99189306e-01 -1.75746118e-03 5.84265886e+00] [ 3.65789640e-02 2.85312909e-04 9.99330725e-01 3.97952903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.599254154 meters Centerline goodness : 0.999347 with order 1 Centerline is valid? [True, True] Translation: X:111.38, Y:5.85, Z:3.98 [[ 9.98733131e-01 -3.45999056e-02 -3.65373766e-02 1.11376198e+02] [ 3.45584064e-02 9.99401118e-01 -1.76692817e-03 5.84787344e+00] [ 3.65766305e-02 5.02016197e-04 9.99330725e-01 3.98146110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.659254154 meters Centerline goodness : 0.999498 with order 1 Centerline is valid? [True, True] Translation: X:111.43, Y:5.85, Z:3.98 [[ 9.98714025e-01 -3.51473018e-02 -3.65371513e-02 1.11433758e+02] [ 3.51059988e-02 9.99382024e-01 -1.77157407e-03 5.85021158e+00] [ 3.65768383e-02 4.86622678e-04 9.99330725e-01 3.98372052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.719254154 meters Centerline goodness : 0.999325 with order 1 Centerline is valid? [True, True] Translation: X:111.49, Y:5.85, Z:3.98 [[ 9.98625695e-01 -3.75738555e-02 -3.65366349e-02 1.11491915e+02] [ 3.75337884e-02 9.99293770e-01 -1.78215990e-03 5.85147593e+00] [ 3.65777943e-02 4.08352340e-04 9.99330725e-01 3.98492679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.77925415399999 meters Centerline goodness : 0.999434 with order 1 Centerline is valid? [True, True] Translation: X:111.55, Y:5.85, Z:3.99 [[ 9.98455749e-01 -4.18476918e-02 -3.65361232e-02 1.11549562e+02] [ 4.18101028e-02 9.99123967e-01 -1.79258960e-03 5.85147772e+00] [ 3.65791321e-02 2.62242326e-04 9.99330725e-01 3.98727733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.83925415399999 meters Centerline goodness : 0.999220 with order 1 Centerline is valid? [True, True] Translation: X:111.61, Y:5.85, Z:3.99 [[ 9.98207329e-01 -4.74054775e-02 -3.65355987e-02 1.11606267e+02] [ 4.73712202e-02 9.98875726e-01 -1.80321651e-03 5.85059541e+00] [ 3.65800050e-02 6.92480475e-05 9.99330725e-01 3.98951789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.89925415399999 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:111.66, Y:5.85, Z:3.99 [[ 9.97912134e-01 -5.32591752e-02 -3.65353727e-02 1.11664285e+02] [ 5.32286714e-02 9.98580713e-01 -1.80778421e-03 5.84813710e+00] [ 3.65797996e-02 -1.40719550e-04 9.99330725e-01 3.99268473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.95925415399999 meters Centerline goodness : 0.999484 with order 1 Centerline is valid? [True, True] Translation: X:111.72, Y:5.85, Z:4.00 [[ 9.97701102e-01 -5.70764188e-02 -3.65348348e-02 1.11723599e+02] [ 5.70480773e-02 9.98369776e-01 -1.81859089e-03 5.84528412e+00] [ 3.65790735e-02 -2.69831946e-04 9.99330725e-01 3.99518879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.019254154 meters Centerline goodness : 0.999549 with order 1 Centerline is valid? [True, True] Translation: X:111.78, Y:5.84, Z:4.00 [[ 9.97713853e-01 -5.68531517e-02 -3.65347339e-02 1.11782785e+02] [ 5.68245864e-02 9.98382518e-01 -1.82061540e-03 5.84466998e+00] [ 3.65791474e-02 -2.59617939e-04 9.99330725e-01 3.99603472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.079254154 meters Centerline goodness : 0.999164 with order 1 Centerline is valid? [True, True] Translation: X:111.84, Y:5.84, Z:4.00 [[ 9.97947051e-01 -5.26016388e-02 -3.65342505e-02 1.11841299e+02] [ 5.25698715e-02 9.98615571e-01 -1.83026533e-03 5.84291011e+00] [ 3.65799464e-02 -9.40929673e-05 9.99330725e-01 3.99805595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.13925415399999 meters Centerline goodness : 0.998950 with order 1 Centerline is valid? [True, True] Translation: X:111.90, Y:5.84, Z:4.00 [[ 9.98279206e-01 -4.58681122e-02 -3.65341389e-02 1.11899860e+02] [ 4.58317542e-02 9.98947492e-01 -1.83249065e-03 5.84178401e+00] [ 3.65797393e-02 1.54913644e-04 9.99330725e-01 3.99947912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.19925415399999 meters Centerline goodness : 0.999101 with order 1 Centerline is valid? [True, True] Translation: X:111.96, Y:5.84, Z:4.00 [[ 9.98440013e-01 -4.22235927e-02 -3.65336762e-02 1.11957913e+02] [ 4.21844595e-02 9.99108142e-01 -1.84166921e-03 5.84233315e+00] [ 3.65788552e-02 2.97642845e-04 9.99330725e-01 4.00153468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.25925415399999 meters Centerline goodness : 0.999188 with order 1 Centerline is valid? [True, True] Translation: X:112.02, Y:5.84, Z:4.00 [[ 9.98515566e-01 -4.03979514e-02 -3.65331312e-02 1.12016206e+02] [ 4.03572034e-02 9.99183599e-01 -1.85241748e-03 5.84053570e+00] [ 3.65781394e-02 3.75292682e-04 9.99330725e-01 4.00288316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.31925415399999 meters Centerline goodness : 0.999210 with order 1 Centerline is valid? [True, True] Translation: X:112.07, Y:5.84, Z:4.00 [[ 9.98487424e-01 -4.10881264e-02 -3.65325843e-02 1.12074557e+02] [ 4.10474479e-02 9.99155461e-01 -1.86314100e-03 5.84165692e+00] [ 3.65782841e-02 3.60753505e-04 9.99330726e-01 4.00456690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.379254154 meters Centerline goodness : 0.999085 with order 1 Centerline is valid? [True, True] Translation: X:112.13, Y:5.84, Z:4.01 [[ 9.98360313e-01 -4.40692203e-02 -3.65320420e-02 1.12132579e+02] [ 4.40301497e-02 9.99028446e-01 -1.87371356e-03 5.83984285e+00] [ 3.65791223e-02 2.62129971e-04 9.99330726e-01 4.00668730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.439254154 meters Centerline goodness : 0.999320 with order 1 Centerline is valid? [True, True] Translation: X:112.19, Y:5.84, Z:4.01 [[ 9.98127991e-01 -4.90506372e-02 -3.65314845e-02 1.12190315e+02] [ 4.90145056e-02 9.98796289e-01 -1.88452204e-03 5.83751954e+00] [ 3.65799481e-02 9.04215443e-05 9.99330726e-01 4.00866870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.49925415399998 meters Centerline goodness : 0.999154 with order 1 Centerline is valid? [True, True] Translation: X:112.25, Y:5.83, Z:4.01 [[ 9.97824750e-01 -5.48749510e-02 -3.65309264e-02 1.12248463e+02] [ 5.48423265e-02 9.98493228e-01 -1.89527796e-03 5.83489272e+00] [ 3.65798860e-02 -1.12285736e-04 9.99330726e-01 4.01127739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.55925415399999 meters Centerline goodness : 0.998989 with order 1 Centerline is valid? [True, True] Translation: X:112.31, Y:5.83, Z:4.02 [[ 9.97564668e-01 -5.94158002e-02 -3.65307549e-02 1.12306889e+02] [ 5.93860976e-02 9.98233283e-01 -1.89857919e-03 5.83250579e+00] [ 3.65790210e-02 -2.75463459e-04 9.99330726e-01 4.01585253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.61925415399999 meters Centerline goodness : 0.999179 with order 1 Centerline is valid? [True, True] Translation: X:112.37, Y:5.83, Z:4.02 [[ 9.97530076e-01 -5.99940585e-02 -3.65302632e-02 1.12365681e+02] [ 5.99643988e-02 9.98198693e-01 -1.90799333e-03 5.83242560e+00] [ 3.65789292e-02 -2.87234538e-04 9.99330726e-01 4.01930668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.67925415399999 meters Centerline goodness : 0.999179 with order 1 Centerline is valid? [True, True] Translation: X:112.42, Y:5.83, Z:4.02 [[ 9.97711469e-01 -5.68981671e-02 -3.65297656e-02 1.12424918e+02] [ 5.68660856e-02 9.98379974e-01 -1.91747174e-03 5.83149883e+00] [ 3.65796871e-02 -1.64221233e-04 9.99330726e-01 4.02217685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.739254154 meters Centerline goodness : 0.999390 with order 1 Centerline is valid? [True, True] Translation: X:112.48, Y:5.83, Z:4.02 [[ 9.97876963e-01 -5.39182552e-02 -3.65292700e-02 1.12482615e+02] [ 5.38838334e-02 9.98545352e-01 -1.92686805e-03 5.83209011e+00] [ 3.65800261e-02 -4.55598627e-05 9.99330726e-01 4.02420107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.799254154 meters Centerline goodness : 0.999307 with order 1 Centerline is valid? [True, True] Translation: X:112.54, Y:5.83, Z:4.02 [[ 9.98073111e-01 -5.01569375e-02 -3.65286985e-02 1.12542054e+02] [ 5.01196025e-02 9.98741343e-01 -1.93764249e-03 5.83054392e+00] [ 3.65799076e-02 1.03105025e-04 9.99330726e-01 4.02487424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.85925415399998 meters Centerline goodness : 0.999243 with order 1 Centerline is valid? [True, True] Translation: X:112.60, Y:5.83, Z:4.03 [[ 9.98064382e-01 -5.03306879e-02 -3.65282361e-02 1.12600494e+02] [ 5.02931516e-02 9.98732602e-01 -1.94631961e-03 5.83077312e+00] [ 3.65798999e-02 1.05432158e-04 9.99330726e-01 4.02578472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.91925415399999 meters Centerline goodness : 0.999016 with order 1 Centerline is valid? [True, True] Translation: X:112.66, Y:5.83, Z:4.03 [[ 9.97992286e-01 -5.17409063e-02 -3.65277394e-02 1.12658704e+02] [ 5.17039747e-02 9.98660540e-01 -1.95559837e-03 5.82890947e+00] [ 3.65799964e-02 6.30427802e-05 9.99330726e-01 4.02532572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.97925415399999 meters Centerline goodness : 0.999287 with order 1 Centerline is valid? [True, True] Translation: X:112.72, Y:5.83, Z:4.03 [[ 9.97801235e-01 -5.53033653e-02 -3.65271541e-02 1.12716593e+02] [ 5.52684215e-02 9.98469596e-01 -1.96646978e-03 5.82976453e+00] [ 3.65800052e-02 -5.66521735e-05 9.99330726e-01 4.03051193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.03925415399999 meters Centerline goodness : 0.999247 with order 1 Centerline is valid? [True, True] Translation: X:112.77, Y:5.83, Z:4.03 [[ 9.97427459e-01 -6.16787998e-02 -3.65265671e-02 1.12774699e+02] [ 6.16477309e-02 9.98096011e-01 -1.97731303e-03 5.82694297e+00] [ 3.65789792e-02 -2.79553665e-04 9.99330726e-01 4.02982821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.099254154 meters Centerline goodness : 0.999500 with order 1 Centerline is valid? [True, True] Translation: X:112.83, Y:5.82, Z:4.04 [[ 9.96784290e-01 -7.13225235e-02 -3.65263866e-02 1.12832378e+02] [ 7.12978001e-02 9.97453107e-01 -1.98064142e-03 5.82460197e+00] [ 3.65746222e-02 -6.29978758e-04 9.99330726e-01 4.03556932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.159254154 meters Centerline goodness : 0.998979 with order 1 Centerline is valid? [True, True] Translation: X:112.89, Y:5.82, Z:4.04 [[ 9.96203244e-01 -7.90248817e-02 -3.65262165e-02 1.12891648e+02] [ 7.90052137e-02 9.96872229e-01 -1.98377494e-03 5.82298187e+00] [ 3.65687384e-02 -9.09518510e-04 9.99330726e-01 4.03924131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.219254154 meters Centerline goodness : 0.999227 with order 1 Centerline is valid? [True, True] Translation: X:112.95, Y:5.82, Z:4.04 [[ 9.95932241e-01 -8.23701581e-02 -3.65257100e-02 1.12950938e+02] [ 8.23523968e-02 9.96601280e-01 -1.99305745e-03 5.82135888e+00] [ 3.65657377e-02 -1.02302959e-03 9.99330726e-01 4.04142325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.27925415399999 meters Centerline goodness : 0.999185 with order 1 Centerline is valid? [True, True] Translation: X:113.01, Y:5.82, Z:4.04 [[ 9.95827907e-01 -8.36221328e-02 -3.65255995e-02 1.13010810e+02] [ 8.36051385e-02 9.96496965e-01 -1.99507881e-03 5.82266384e+00] [ 3.65644818e-02 -1.06697265e-03 9.99330726e-01 4.04431243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.33925415399999 meters Centerline goodness : 0.999228 with order 1 Centerline is valid? [True, True] Translation: X:113.07, Y:5.82, Z:4.04 [[ 9.95821309e-01 -8.37006987e-02 -3.65255261e-02 1.13069802e+02] [ 8.36837079e-02 9.96490367e-01 -1.99642176e-03 5.82405019e+00] [ 3.65644368e-02 -1.06851213e-03 9.99330726e-01 4.04473546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.39925415399999 meters Centerline goodness : 0.999288 with order 1 Centerline is valid? [True, True] Translation: X:113.13, Y:5.83, Z:4.05 [[ 9.95819794e-01 -8.37187687e-02 -3.65254176e-02 1.13129500e+02] [ 8.37017174e-02 9.96488850e-01 -1.99840488e-03 5.82686614e+00] [ 3.65644754e-02 -1.06718905e-03 9.99330726e-01 4.04599863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.45925415399999 meters Centerline goodness : 0.999142 with order 1 Centerline is valid? [True, True] Translation: X:113.19, Y:5.83, Z:4.05 [[ 9.95756343e-01 -8.44701381e-02 -3.65253448e-02 1.13189155e+02] [ 8.44535429e-02 9.96425411e-01 -1.99973603e-03 5.82963382e+00] [ 3.65636996e-02 -1.09344493e-03 9.99330726e-01 4.04868791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.519254154 meters Centerline goodness : 0.999206 with order 1 Centerline is valid? [True, True] Translation: X:113.25, Y:5.83, Z:4.05 [[ 9.95573743e-01 -8.65957658e-02 -3.65252703e-02 1.13247639e+02] [ 8.65805493e-02 9.96242844e-01 -2.00109436e-03 5.83265661e+00] [ 3.65613255e-02 -1.17014096e-03 9.99330726e-01 4.04955092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.579254154 meters Centerline goodness : 0.999208 with order 1 Centerline is valid? [True, True] Translation: X:113.31, Y:5.84, Z:4.05 [[ 9.95248030e-01 -9.02622516e-02 -3.65251259e-02 1.13307550e+02] [ 9.02494032e-02 9.95917180e-01 -2.00372655e-03 5.83647242e+00] [ 3.65568613e-02 -1.30216592e-03 9.99330726e-01 4.05229617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.63925415399999 meters Centerline goodness : 0.999061 with order 1 Centerline is valid? [True, True] Translation: X:113.37, Y:5.84, Z:4.05 [[ 9.95005959e-01 -9.28927475e-02 -3.65250538e-02 1.13367668e+02] [ 9.28816198e-02 9.95675140e-01 -2.00503999e-03 5.83973442e+00] [ 3.65533418e-02 -1.39747943e-03 9.99330726e-01 4.05425427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.69925415399999 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:113.43, Y:5.84, Z:4.06 [[ 9.94802527e-01 -9.50465861e-02 -3.65250538e-02 1.13428752e+02] [ 9.50369072e-02 9.95471730e-01 -2.00503999e-03 5.84455241e+00] [ 3.65502308e-02 -1.47660931e-03 9.99330726e-01 4.05751944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.75925415399999 meters Centerline goodness : 0.999165 with order 1 Centerline is valid? [True, True] Translation: X:113.49, Y:5.85, Z:4.06 [[ 9.94947277e-01 -9.35191436e-02 -3.65251264e-02 1.13488324e+02] [ 9.35084858e-02 9.95616466e-01 -2.00371668e-03 5.85051278e+00] [ 3.65524032e-02 -1.42181681e-03 9.99330726e-01 4.05889201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.81925415399999 meters Centerline goodness : 0.999415 with order 1 Centerline is valid? [True, True] Translation: X:113.55, Y:5.86, Z:4.06 [[ 9.95095320e-01 -9.19305279e-02 -3.65250907e-02 1.13548625e+02] [ 9.19187778e-02 9.95764491e-01 -2.00436871e-03 5.85646149e+00] [ 3.65546510e-02 -1.36280377e-03 9.99330726e-01 4.06350807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.879254154 meters Centerline goodness : 0.998997 with order 1 Centerline is valid? [True, True] Translation: X:113.61, Y:5.86, Z:4.06 [[ 9.95447960e-01 -8.80299742e-02 -3.65250907e-02 1.13609348e+02] [ 8.80156016e-02 9.96117080e-01 -2.00436871e-03 5.86328453e+00] [ 3.65597112e-02 -1.21953308e-03 9.99330726e-01 4.06438052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.939254154 meters Centerline goodness : 0.999289 with order 1 Centerline is valid? [True, True] Translation: X:113.67, Y:5.87, Z:4.07 [[ 9.95565003e-01 -8.66962307e-02 -3.65251649e-02 1.13669554e+02] [ 8.66810113e-02 9.96234104e-01 -2.00301546e-03 5.87240686e+00] [ 3.65612688e-02 -1.17190613e-03 9.99330726e-01 4.06727964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.99925415399998 meters Centerline goodness : 0.999373 with order 1 Centerline is valid? [True, True] Translation: X:113.73, Y:5.88, Z:4.07 [[ 9.95579072e-01 -8.65345196e-02 -3.65251649e-02 1.13730087e+02] [ 8.65191914e-02 9.96248171e-01 -2.00301546e-03 5.87788445e+00] [ 3.65614587e-02 -1.16596746e-03 9.99330726e-01 4.06856562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.05925415399999 meters Centerline goodness : 0.999267 with order 1 Centerline is valid? [True, True] Translation: X:113.79, Y:5.88, Z:4.07 [[ 9.95530907e-01 -8.70868715e-02 -3.65252007e-02 1.13791434e+02] [ 8.70719386e-02 9.96200014e-01 -2.00236115e-03 5.88446734e+00] [ 3.65607849e-02 -1.18690762e-03 9.99330726e-01 4.07177456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.11925415399999 meters Centerline goodness : 0.998993 with order 1 Centerline is valid? [True, True] Translation: X:113.85, Y:5.89, Z:4.08 [[ 9.95594816e-01 -8.63531494e-02 -3.65252744e-02 1.13852709e+02] [ 8.63377727e-02 9.96263913e-01 -2.00101609e-03 5.89188895e+00] [ 3.65616069e-02 -1.16130959e-03 9.99330726e-01 4.07579040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.17925415399999 meters Centerline goodness : 0.999455 with order 1 Centerline is valid? [True, True] Translation: X:113.91, Y:5.90, Z:4.08 [[ 9.95670090e-01 -8.54808256e-02 -3.65253494e-02 1.13913287e+02] [ 8.54649128e-02 9.96339174e-01 -1.99964735e-03 5.89668346e+00] [ 3.65625679e-02 -1.13064674e-03 9.99330726e-01 4.07844005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.239254154 meters Centerline goodness : 0.999289 with order 1 Centerline is valid? [True, True] Translation: X:113.97, Y:5.90, Z:4.08 [[ 9.95914658e-01 -8.25825978e-02 -3.65254602e-02 1.13972995e+02] [ 8.25648120e-02 9.96583695e-01 -1.99761998e-03 5.90354617e+00] [ 3.65656468e-02 -1.02625874e-03 9.99330726e-01 4.08224215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.299254154 meters Centerline goodness : 0.999350 with order 1 Centerline is valid? [True, True] Translation: X:114.03, Y:5.91, Z:4.08 [[ 9.96169146e-01 -7.94538583e-02 -3.65255687e-02 1.14033478e+02] [ 7.94340438e-02 9.96838126e-01 -1.99563475e-03 5.91057100e+00] [ 3.65686403e-02 -9.13383865e-04 9.99330726e-01 4.08307230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.35925415399998 meters Centerline goodness : 0.999223 with order 1 Centerline is valid? [True, True] Translation: X:114.09, Y:5.91, Z:4.08 [[ 9.96643739e-01 -7.32607494e-02 -3.65256087e-02 1.14094282e+02] [ 7.32368041e-02 9.97312584e-01 -1.99490301e-03 5.91342805e+00] [ 3.65735973e-02 -6.86811253e-04 9.99330726e-01 4.08116749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.41925415399999 meters Centerline goodness : 0.999076 with order 1 Centerline is valid? [True, True] Translation: X:114.15, Y:5.92, Z:4.09 [[ 9.96694854e-01 -7.25620250e-02 -3.65256087e-02 1.14153773e+02] [ 7.25376108e-02 9.97363683e-01 -1.99490301e-03 5.92316434e+00] [ 3.65740698e-02 -6.61170821e-04 9.99330726e-01 4.08955526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.47925415399999 meters Centerline goodness : 0.999496 with order 1 Centerline is valid? [True, True] Translation: X:114.21, Y:5.93, Z:4.09 [[ 9.96973916e-01 -6.86213294e-02 -3.65256486e-02 1.14213961e+02] [ 6.85942982e-02 9.97642644e-01 -1.99417133e-03 5.92843037e+00] [ 3.65763874e-02 -5.17314435e-04 9.99330726e-01 4.09242804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.53925415399999 meters Centerline goodness : 0.999012 with order 1 Centerline is valid? [True, True] Translation: X:114.27, Y:5.93, Z:4.09 [[ 9.97040931e-01 -6.76406583e-02 -3.65256486e-02 1.14273882e+02] [ 6.76129694e-02 9.97709632e-01 -1.99417133e-03 5.93237377e+00] [ 3.65768785e-02 -4.81337125e-04 9.99330726e-01 4.09427316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.599254154 meters Centerline goodness : 0.999118 with order 1 Centerline is valid? [True, True] Translation: X:114.33, Y:5.93, Z:4.09 [[ 9.97235899e-01 -6.47027311e-02 -3.65255752e-02 1.14333443e+02] [ 6.46730229e-02 9.97904513e-01 -1.99551442e-03 5.93155173e+00] [ 3.65781516e-02 -3.72220749e-04 9.99330726e-01 4.09103131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.659254154 meters Centerline goodness : 0.999369 with order 1 Centerline is valid? [True, True] Translation: X:114.39, Y:5.94, Z:4.10 [[ 9.96490792e-01 -7.53126080e-02 -3.65254966e-02 1.14392670e+02] [ 7.52899648e-02 9.97159683e-01 -1.99695237e-03 5.93653161e+00] [ 3.65721483e-02 -7.60058704e-04 9.99330726e-01 4.09742480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.719254154 meters Centerline goodness : 0.999099 with order 1 Centerline is valid? [True, True] Translation: X:114.45, Y:5.94, Z:4.10 [[ 9.96140788e-01 -7.98086567e-02 -3.65254581e-02 1.14453381e+02] [ 7.97890064e-02 9.96809773e-01 -1.99765588e-03 5.93864003e+00] [ 3.65683639e-02 -9.24383506e-04 9.99330726e-01 4.09956757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.77925415399999 meters Centerline goodness : 0.999160 with order 1 Centerline is valid? [True, True] Translation: X:114.51, Y:5.94, Z:4.10 [[ 9.95560148e-01 -8.67518497e-02 -3.65254581e-02 1.14514857e+02] [ 8.67368641e-02 9.96229254e-01 -1.99765588e-03 5.94045425e+00] [ 3.65610302e-02 -1.17931711e-03 9.99330726e-01 4.10251682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.83925415399999 meters Centerline goodness : 0.999120 with order 1 Centerline is valid? [True, True] Translation: X:114.58, Y:5.94, Z:4.11 [[ 9.95118973e-01 -9.16739634e-02 -3.65255308e-02 1.14576575e+02] [ 9.16623355e-02 9.95788146e-01 -1.99632635e-03 5.94151608e+00] [ 3.65547017e-02 -1.36143323e-03 9.99330726e-01 4.10500653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.89925415399999 meters Centerline goodness : 0.999182 with order 1 Centerline is valid? [True, True] Translation: X:114.64, Y:5.94, Z:4.11 [[ 9.95110264e-01 -9.17683887e-02 -3.65256782e-02 1.14638676e+02] [ 9.17569232e-02 9.95779440e-01 -1.99362571e-03 5.94438181e+00] [ 3.65544712e-02 -1.36760644e-03 9.99330726e-01 4.10735728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.95925415399999 meters Centerline goodness : 0.999182 with order 1 Centerline is valid? [True, True] Translation: X:114.70, Y:5.95, Z:4.11 [[ 9.95331602e-01 -8.93356959e-02 -3.65258271e-02 1.14699580e+02] [ 8.93226949e-02 9.96000749e-01 -1.99089423e-03 5.94809221e+00] [ 3.65576091e-02 -1.28098537e-03 9.99330726e-01 4.10908340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.019254154 meters Centerline goodness : 0.999159 with order 1 Centerline is valid? [True, True] Translation: X:114.76, Y:5.95, Z:4.11 [[ 9.95875579e-01 -8.30523148e-02 -3.65259367e-02 1.14761310e+02] [ 8.30351648e-02 9.96544633e-01 -1.98888082e-03 5.95310754e+00] [ 3.65649074e-02 -1.05225934e-03 9.99330726e-01 4.11207844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.079254154 meters Centerline goodness : 0.999222 with order 1 Centerline is valid? [True, True] Translation: X:114.82, Y:5.96, Z:4.11 [[ 9.96416422e-01 -7.62899596e-02 -3.65260876e-02 1.14821360e+02] [ 7.62683698e-02 9.97085348e-01 -1.98610698e-03 5.95920168e+00] [ 3.65711467e-02 -8.06795544e-04 9.99330726e-01 4.11434464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.13925415399999 meters Centerline goodness : 0.999116 with order 1 Centerline is valid? [True, True] Translation: X:114.88, Y:5.96, Z:4.12 [[ 9.96674889e-01 -7.28354847e-02 -3.65261245e-02 1.14882895e+02] [ 7.28116011e-02 9.97343737e-01 -1.98542823e-03 5.96414595e+00] [ 3.65737111e-02 -6.80699146e-04 9.99330726e-01 4.11664626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.19925415399999 meters Centerline goodness : 0.999179 with order 1 Centerline is valid? [True, True] Translation: X:114.94, Y:5.97, Z:4.12 [[ 9.96808005e-01 -7.09904114e-02 -3.65261979e-02 1.14942712e+02] [ 7.09653393e-02 9.97476809e-01 -1.98407685e-03 5.97043809e+00] [ 3.65748857e-02 -6.14350336e-04 9.99330726e-01 4.11764522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.25925415399999 meters Centerline goodness : 0.999199 with order 1 Centerline is valid? [True, True] Translation: X:115.00, Y:5.97, Z:4.12 [[ 9.96853702e-01 -7.03458117e-02 -3.65261979e-02 1.15003510e+02] [ 7.03203071e-02 9.97522490e-01 -1.98407685e-03 5.97356388e+00] [ 3.65752753e-02 -5.90699096e-04 9.99330726e-01 4.11785172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.31925415399999 meters Centerline goodness : 0.998863 with order 1 Centerline is valid? [True, True] Translation: X:115.06, Y:5.97, Z:4.10 [[ 9.97131712e-01 -6.62886384e-02 -3.65262355e-02 1.15063855e+02] [ 6.62604378e-02 9.97800391e-01 -1.98338365e-03 5.96688087e+00] [ 3.65773679e-02 -4.42549623e-04 9.99330726e-01 4.10450236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.379254154 meters Centerline goodness : 0.998967 with order 1 Centerline is valid? [True, True] Translation: X:115.12, Y:5.99, Z:4.12 [[ 9.95485295e-01 -8.76063160e-02 -3.65261604e-02 1.15121519e+02] [ 8.75923771e-02 9.96154424e-01 -1.98476603e-03 5.98656669e+00] [ 3.65595743e-02 -1.22360782e-03 9.99330726e-01 4.12393759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.439254154 meters Centerline goodness : 0.999071 with order 1 Centerline is valid? [True, True] Translation: X:115.18, Y:5.98, Z:4.12 [[ 9.95617818e-01 -8.60871855e-02 -3.65261236e-02 1.15184484e+02] [ 8.60722008e-02 9.96286924e-01 -1.98544357e-03 5.98214515e+00] [ 3.65614205e-02 -1.16714084e-03 9.99330726e-01 4.11762152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.49925415399998 meters Centerline goodness : 0.999241 with order 1 Centerline is valid? [True, True] Translation: X:115.24, Y:6.00, Z:4.13 [[ 9.93968432e-01 -1.03404964e-01 -3.65262785e-02 1.15244320e+02] [ 1.03401733e-01 9.94637698e-01 -1.98258985e-03 5.99685255e+00] [ 3.65354232e-02 -1.80624877e-03 9.99330726e-01 4.12942879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.55925415399999 meters Centerline goodness : 0.999050 with order 1 Centerline is valid? [True, True] Translation: X:115.31, Y:6.00, Z:4.13 [[ 9.93277354e-01 -1.09844986e-01 -3.65263924e-02 1.15306548e+02] [ 1.09846170e-01 9.93946627e-01 -1.98048797e-03 6.00448152e+00] [ 3.65228312e-02 -2.04511047e-03 9.99330726e-01 4.13195751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.61925415399999 meters Centerline goodness : 0.999155 with order 1 Centerline is valid? [True, True] Translation: X:115.37, Y:6.01, Z:4.13 [[ 9.93046740e-01 -1.11910609e-01 -3.65265378e-02 1.15369291e+02] [ 1.11913283e-01 9.93716008e-01 -1.97780388e-03 6.01091284e+00] [ 3.65183425e-02 -2.12375307e-03 9.99330726e-01 4.13494351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.67925415399999 meters Centerline goodness : 0.998943 with order 1 Centerline is valid? [True, True] Translation: X:115.43, Y:6.02, Z:4.14 [[ 9.92909530e-01 -1.13121444e-01 -3.65267600e-02 1.15431577e+02] [ 1.13125086e-01 9.93578794e-01 -1.97369046e-03 6.01864590e+00] [ 3.65154809e-02 -2.17239679e-03 9.99330726e-01 4.13662419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.739254154 meters Centerline goodness : 0.999217 with order 1 Centerline is valid? [True, True] Translation: X:115.49, Y:6.03, Z:4.14 [[ 9.92957495e-01 -1.12699569e-01 -3.65269788e-02 1.15493276e+02] [ 1.12703075e-01 9.93626760e-01 -1.96963337e-03 6.02760567e+00] [ 3.65161604e-02 -2.16094059e-03 9.99330726e-01 4.13759565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.799254154 meters Centerline goodness : 0.999067 with order 1 Centerline is valid? [True, True] Translation: X:115.55, Y:6.04, Z:4.14 [[ 9.93276106e-01 -1.09856029e-01 -3.65271229e-02 1.15553812e+02] [ 1.09857716e-01 9.93945377e-01 -1.96695646e-03 6.03670601e+00] [ 3.65220470e-02 -2.05905546e-03 9.99330726e-01 4.13729029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.85925415399998 meters Centerline goodness : 0.999214 with order 1 Centerline is valid? [True, True] Translation: X:115.62, Y:6.05, Z:4.14 [[ 9.93597834e-01 -1.06906998e-01 -3.65272294e-02 1.15616528e+02] [ 1.06906771e-01 9.94267108e-01 -1.96497821e-03 6.04572410e+00] [ 3.65278926e-02 -1.95261006e-03 9.99330726e-01 4.14120082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.91925415399999 meters Centerline goodness : 0.999424 with order 1 Centerline is valid? [True, True] Translation: X:115.68, Y:6.06, Z:4.15 [[ 9.94114304e-01 -1.01992624e-01 -3.65274501e-02 1.15677089e+02] [ 1.01989239e-01 9.94783570e-01 -1.96086650e-03 6.05731460e+00] [ 3.65369011e-02 -1.77608138e-03 9.99330726e-01 4.14500131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.97925415399999 meters Centerline goodness : 0.999636 with order 1 Centerline is valid? [True, True] Translation: X:115.74, Y:6.07, Z:4.15 [[ 9.94564270e-01 -9.75071854e-02 -3.65275583e-02 1.15738516e+02] [ 9.75008551e-02 9.95233513e-01 -1.95884931e-03 6.06833146e+00] [ 3.65444520e-02 -1.61326663e-03 9.99330726e-01 4.14971107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.03925415399999 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:115.80, Y:6.08, Z:4.15 [[ 9.94884081e-01 -9.41880741e-02 -3.65277000e-02 1.15800641e+02] [ 9.41796077e-02 9.95553301e-01 -1.95620227e-03 6.07715358e+00] [ 3.65495232e-02 -1.49396997e-03 9.99330726e-01 4.15317058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.099254154 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:115.86, Y:6.08, Z:4.15 [[ 9.94951245e-01 -9.34758632e-02 -3.65278434e-02 1.15862896e+02] [ 9.34670161e-02 9.95620460e-01 -1.95352039e-03 6.08189103e+00] [ 3.65504753e-02 -1.47049098e-03 9.99330726e-01 4.15459960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.159254154 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:115.93, Y:6.09, Z:4.16 [[ 9.95007833e-01 -9.28714999e-02 -3.65280202e-02 1.15925250e+02] [ 9.28623677e-02 9.95677045e-01 -1.95020999e-03 6.08927128e+00] [ 3.65512301e-02 -1.45160422e-03 9.99330726e-01 4.15513479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.21925415399998 meters Centerline goodness : 0.999611 with order 1 Centerline is valid? [True, True] Translation: X:115.99, Y:6.10, Z:4.16 [[ 9.94952632e-01 -9.34609763e-02 -3.65281602e-02 1.15987277e+02] [ 9.34523368e-02 9.95621850e-01 -1.94758331e-03 6.09715539e+00] [ 3.65502575e-02 -1.47588879e-03 9.99330726e-01 4.15631761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.27925415399999 meters Centerline goodness : 0.999460 with order 1 Centerline is valid? [True, True] Translation: X:116.05, Y:6.10, Z:4.16 [[ 9.94948606e-01 -9.35037641e-02 -3.65283060e-02 1.16049164e+02] [ 9.34952538e-02 9.95617826e-01 -1.94484533e-03 6.10291567e+00] [ 3.65500830e-02 -1.48020209e-03 9.99330726e-01 4.15792266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.33925415399999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.11, Y:6.11, Z:4.16 [[ 9.95121887e-01 -9.16410806e-02 -3.65286627e-02 1.16109504e+02] [ 9.16315639e-02 9.95791093e-01 -1.93812278e-03 6.11058150e+00] [ 3.65525286e-02 -1.41851009e-03 9.99330726e-01 4.16193511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.39925415399999 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:116.17, Y:6.12, Z:4.17 [[ 9.95278869e-01 -8.99200843e-02 -3.65287678e-02 1.16171593e+02] [ 8.99094831e-02 9.95948059e-01 -1.93613982e-03 6.11718369e+00] [ 3.65548532e-02 -1.35728358e-03 9.99330726e-01 4.16607479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.45925415399999 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:116.23, Y:6.12, Z:4.17 [[ 9.95461438e-01 -8.78758427e-02 -3.65289104e-02 1.16233107e+02] [ 8.78639658e-02 9.96130607e-01 -1.93344538e-03 6.12453923e+00] [ 3.65574688e-02 -1.28490462e-03 9.99330726e-01 4.16956702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.519254154 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:116.29, Y:6.13, Z:4.17 [[ 9.95711168e-01 -8.49994016e-02 -3.65290509e-02 1.16294871e+02] [ 8.49856889e-02 9.96380301e-01 -1.93078691e-03 6.12969906e+00] [ 3.65609425e-02 -1.18194046e-03 9.99330726e-01 4.16969279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.579254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:116.36, Y:6.13, Z:4.17 [[ 9.95713226e-01 -8.49751401e-02 -3.65293954e-02 1.16358015e+02] [ 8.49616508e-02 9.96382364e-01 -1.92424798e-03 6.13387568e+00] [ 3.65607586e-02 -1.18759857e-03 9.99330726e-01 4.17189243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.63925415399999 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:116.42, Y:6.14, Z:4.17 [[ 9.95699190e-01 -8.51393565e-02 -3.65296053e-02 1.16421416e+02] [ 8.51261238e-02 9.96368333e-01 -1.92025394e-03 6.13685386e+00] [ 3.65604312e-02 -1.19762842e-03 9.99330726e-01 4.17401907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.69925415399999 meters Centerline goodness : 0.999694 with order 1 Centerline is valid? [True, True] Translation: X:116.48, Y:6.13, Z:4.16 [[ 9.96465581e-01 -7.56433659e-02 -3.65298174e-02 1.16482888e+02] [ 7.56239029e-02 9.97134571e-01 -1.91621145e-03 6.13039475e+00] [ 3.65700925e-02 -8.53088612e-04 9.99330726e-01 4.15862728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.75925415399999 meters Centerline goodness : 0.999737 with order 1 Centerline is valid? [True, True] Translation: X:116.54, Y:6.14, Z:4.16 [[ 9.96327014e-01 -7.74471022e-02 -3.65298174e-02 1.16543335e+02] [ 7.74288503e-02 9.96996039e-01 -1.91621145e-03 6.13599431e+00] [ 3.65684883e-02 -9.19288534e-04 9.99330726e-01 4.16342267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.81925415399999 meters Centerline goodness : 0.999671 with order 1 Centerline is valid? [True, True] Translation: X:116.60, Y:6.15, Z:4.18 [[ 9.95785890e-01 -8.41191301e-02 -3.65298919e-02 1.16603770e+02] [ 8.41054121e-02 9.96455023e-01 -1.91479026e-03 6.14563209e+00] [ 3.65614648e-02 -1.16564049e-03 9.99330726e-01 4.17928785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.879254154 meters Centerline goodness : 0.999759 with order 1 Centerline is valid? [True, True] Translation: X:116.67, Y:6.15, Z:4.18 [[ 9.95752863e-01 -8.45091399e-02 -3.65300009e-02 1.16666743e+02] [ 8.44957603e-02 9.96422003e-01 -1.91270764e-03 6.14827354e+00] [ 3.65609380e-02 -1.18204609e-03 9.99330726e-01 4.18172707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.939254154 meters Centerline goodness : 0.999629 with order 1 Centerline is valid? [True, True] Translation: X:116.73, Y:6.15, Z:4.18 [[ 9.95504817e-01 -8.73825125e-02 -3.65302125e-02 1.16727919e+02] [ 8.73712126e-02 9.96173995e-01 -1.90865767e-03 6.14959723e+00] [ 3.65572311e-02 -1.29161106e-03 9.99330726e-01 4.18263192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.99925415399998 meters Centerline goodness : 0.999717 with order 1 Centerline is valid? [True, True] Translation: X:116.79, Y:6.15, Z:4.18 [[ 9.95196491e-01 -9.08266457e-02 -3.65303163e-02 1.16790602e+02] [ 9.08177341e-02 9.95865706e-01 -1.90667019e-03 6.14997799e+00] [ 3.65524656e-02 -1.42008906e-03 9.99330726e-01 4.18328698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.05925415399999 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:116.85, Y:6.15, Z:4.18 [[ 9.95194879e-01 -9.08442523e-02 -3.65304592e-02 1.16853448e+02] [ 9.08354530e-02 9.95864095e-01 -1.90392813e-03 6.14967855e+00] [ 3.65523336e-02 -1.42348128e-03 9.99330726e-01 4.17929410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.11925415399999 meters Centerline goodness : 0.999499 with order 1 Centerline is valid? [True, True] Translation: X:116.91, Y:6.15, Z:4.19 [[ 9.94873527e-01 -9.42983556e-02 -3.65306103e-02 1.16914327e+02] [ 9.42919859e-02 9.95542770e-01 -1.90102478e-03 6.15462423e+00] [ 3.65470485e-02 -1.55326457e-03 9.99330726e-01 4.18885938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.17925415399999 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:116.98, Y:6.16, Z:4.19 [[ 9.94966250e-01 -9.33148817e-02 -3.65307215e-02 1.16976580e+02] [ 9.33079289e-02 9.95635488e-01 -1.89888406e-03 6.15554659e+00] [ 3.65484769e-02 -1.51928042e-03 9.99330726e-01 4.18943356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.239254154 meters Centerline goodness : 0.999653 with order 1 Centerline is valid? [True, True] Translation: X:117.04, Y:6.16, Z:4.20 [[ 9.94740541e-01 -9.56909208e-02 -3.65308658e-02 1.17037673e+02] [ 9.56856682e-02 9.95409794e-01 -1.89610459e-03 6.15767545e+00] [ 3.65446216e-02 -1.60934820e-03 9.99330726e-01 4.19608614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.299254154 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:117.10, Y:6.16, Z:4.20 [[ 9.94531138e-01 -9.78432638e-02 -3.65309718e-02 1.17101026e+02] [ 9.78395345e-02 9.95200401e-01 -1.89405958e-03 6.15870177e+00] [ 3.65409588e-02 -1.69047205e-03 9.99330726e-01 4.19767327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.35925415399998 meters Centerline goodness : 0.999546 with order 1 Centerline is valid? [True, True] Translation: X:117.16, Y:6.16, Z:4.20 [[ 9.94217798e-01 -1.00977443e-01 -3.65311774e-02 1.17162561e+02] [ 1.00975969e-01 9.94887070e-01 -1.89008747e-03 6.15835555e+00] [ 3.65352522e-02 -1.80961241e-03 9.99330726e-01 4.19700363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.41925415399999 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:117.22, Y:6.16, Z:4.20 [[ 9.94074576e-01 -1.02377744e-01 -3.65312782e-02 1.17224454e+02] [ 1.02377284e-01 9.94743850e-01 -1.88813672e-03 6.15988154e+00] [ 3.65325675e-02 -1.86302433e-03 9.99330726e-01 4.19901473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.47925415399999 meters Centerline goodness : 0.999546 with order 1 Centerline is valid? [True, True] Translation: X:117.29, Y:6.16, Z:4.20 [[ 9.94016215e-01 -1.02942805e-01 -3.65314137e-02 1.17286571e+02] [ 1.02942822e-01 9.94685488e-01 -1.88551119e-03 6.16203085e+00] [ 3.65313669e-02 -1.88641811e-03 9.99330726e-01 4.20126574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.53925415399999 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:117.35, Y:6.16, Z:4.20 [[ 9.94094634e-01 -1.02182702e-01 -3.65315507e-02 1.17348747e+02] [ 1.02182304e-01 9.94763907e-01 -1.88285284e-03 6.16361986e+00] [ 3.65326631e-02 -1.86114411e-03 9.99330726e-01 4.20254016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.599254154 meters Centerline goodness : 0.999397 with order 1 Centerline is valid? [True, True] Translation: X:117.41, Y:6.17, Z:4.20 [[ 9.94292516e-01 -1.00238853e-01 -3.65316875e-02 1.17411706e+02] [ 1.00237245e-01 9.94961788e-01 -1.88019447e-03 6.16590785e+00] [ 3.65361017e-02 -1.79237241e-03 9.99330726e-01 4.20458006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.659254154 meters Centerline goodness : 0.999548 with order 1 Centerline is valid? [True, True] Translation: X:117.47, Y:6.17, Z:4.21 [[ 9.94662446e-01 -9.64989017e-02 -3.65318979e-02 1.17473700e+02] [ 9.64949261e-02 9.95331708e-01 -1.87609808e-03 6.16964192e+00] [ 3.65423977e-02 -1.65905848e-03 9.99330726e-01 4.20882920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.71925415399998 meters Centerline goodness : 0.999547 with order 1 Centerline is valid? [True, True] Translation: X:117.54, Y:6.17, Z:4.21 [[ 9.94963592e-01 -9.33427068e-02 -3.65320357e-02 1.17535422e+02] [ 9.33367063e-02 9.95632839e-01 -1.87341068e-03 6.17342515e+00] [ 3.65473636e-02 -1.54580447e-03 9.99330726e-01 4.21320415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.77925415399999 meters Centerline goodness : 0.999526 with order 1 Centerline is valid? [True, True] Translation: X:117.60, Y:6.18, Z:4.21 [[ 9.95076785e-01 -9.21281341e-02 -3.65321724e-02 1.17597934e+02] [ 9.21214145e-02 9.95746025e-01 -1.87074230e-03 6.17515445e+00] [ 3.65491134e-02 -1.50386316e-03 9.99330726e-01 4.21400438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.83925415399999 meters Centerline goodness : 0.999439 with order 1 Centerline is valid? [True, True] Translation: X:117.66, Y:6.18, Z:4.21 [[ 9.95054170e-01 -9.23720078e-02 -3.65323411e-02 1.17659851e+02] [ 9.23655732e-02 9.95723412e-01 -1.86744203e-03 6.17709256e+00] [ 3.65486067e-02 -1.51612465e-03 9.99330726e-01 4.21468087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.89925415399999 meters Centerline goodness : 0.999353 with order 1 Centerline is valid? [True, True] Translation: X:117.72, Y:6.18, Z:4.21 [[ 9.95010567e-01 -9.28404485e-02 -3.65324773e-02 1.17721658e+02] [ 9.28344268e-02 9.95679814e-01 -1.86477333e-03 6.17925238e+00] [ 3.65477766e-02 -1.53600242e-03 9.99330726e-01 4.21446174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.95925415399999 meters Centerline goodness : 0.999504 with order 1 Centerline is valid? [True, True] Translation: X:117.78, Y:6.18, Z:4.22 [[ 9.95152881e-01 -9.13023129e-02 -3.65326116e-02 1.17784252e+02] [ 9.12953533e-02 9.95822118e-01 -1.86213798e-03 6.18144058e+00] [ 3.65500002e-02 -1.48214571e-03 9.99330726e-01 4.21758573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.019254154 meters Centerline goodness : 0.999439 with order 1 Centerline is valid? [True, True] Translation: X:117.85, Y:6.18, Z:4.22 [[ 9.95273375e-01 -8.99792287e-02 -3.65328189e-02 1.17846621e+02] [ 8.99715288e-02 9.95942605e-01 -1.85806248e-03 6.18419488e+00] [ 3.65517778e-02 -1.43763345e-03 9.99330726e-01 4.21992327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.079254154 meters Centerline goodness : 0.999396 with order 1 Centerline is valid? [True, True] Translation: X:117.91, Y:6.19, Z:4.22 [[ 9.95728367e-01 -8.47960086e-02 -3.65329548e-02 1.17908699e+02] [ 8.47849224e-02 9.96397548e-01 -1.85538543e-03 6.18843272e+00] [ 3.65586759e-02 -1.24998384e-03 9.99330726e-01 4.22432900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.13925415399999 meters Centerline goodness : 0.999611 with order 1 Centerline is valid? [True, True] Translation: X:117.97, Y:6.19, Z:4.23 [[ 9.96172924e-01 -7.94030143e-02 -3.65330889e-02 1.17970755e+02] [ 7.93884016e-02 9.96842038e-01 -1.85274277e-03 6.19230250e+00] [ 3.65648321e-02 -1.05465134e-03 9.99330726e-01 4.22779992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.19925415399999 meters Centerline goodness : 0.999525 with order 1 Centerline is valid? [True, True] Translation: X:118.03, Y:6.19, Z:4.23 [[ 9.96390396e-01 -7.66257311e-02 -3.65332236e-02 1.18033103e+02] [ 7.66093508e-02 9.97059469e-01 -1.85008144e-03 6.19440024e+00] [ 3.65675604e-02 -9.55383164e-04 9.99330726e-01 4.22918443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.25925415399999 meters Centerline goodness : 0.999396 with order 1 Centerline is valid? [True, True] Translation: X:118.10, Y:6.20, Z:4.23 [[ 9.96440009e-01 -7.59777672e-02 -3.65333609e-02 1.18095027e+02] [ 7.59610513e-02 9.97109074e-01 -1.84736609e-03 6.19724775e+00] [ 3.65681045e-02 -9.34323023e-04 9.99330726e-01 4.23120630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.31925415399999 meters Centerline goodness : 0.999335 with order 1 Centerline is valid? [True, True] Translation: X:118.16, Y:6.20, Z:4.23 [[ 9.96414971e-01 -7.63053640e-02 -3.65334958e-02 1.18156221e+02] [ 7.62889659e-02 9.97084044e-01 -1.84469617e-03 6.19981386e+00] [ 3.65677259e-02 -9.49019730e-04 9.99330726e-01 4.23146001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.379254154 meters Centerline goodness : 0.999461 with order 1 Centerline is valid? [True, True] Translation: X:118.22, Y:6.20, Z:4.23 [[ 9.96278938e-01 -7.80613429e-02 -3.65335952e-02 1.18218488e+02] [ 7.80461963e-02 9.96948041e-01 -1.84272384e-03 6.20158348e+00] [ 3.65659417e-02 -1.01544119e-03 9.99330726e-01 4.23322947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.439254154 meters Centerline goodness : 0.999398 with order 1 Centerline is valid? [True, True] Translation: X:118.28, Y:6.20, Z:4.24 [[ 9.96172453e-01 -7.94086232e-02 -3.65337339e-02 1.18280772e+02] [ 7.93944823e-02 9.96841578e-01 -1.83997091e-03 6.20259026e+00] [ 3.65644545e-02 -1.06764855e-03 9.99330726e-01 4.23608143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.49925415399998 meters Centerline goodness : 0.999398 with order 1 Centerline is valid? [True, True] Translation: X:118.34, Y:6.20, Z:4.24 [[ 9.96232540e-01 -7.86511485e-02 -3.65338709e-02 1.18342405e+02] [ 7.86365987e-02 9.96901655e-01 -1.83724541e-03 6.20490933e+00] [ 3.65651779e-02 -1.04257568e-03 9.99330726e-01 4.23922767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.55925415399999 meters Centerline goodness : 0.999333 with order 1 Centerline is valid? [True, True] Translation: X:118.40, Y:6.21, Z:4.24 [[ 9.96490620e-01 -7.53107668e-02 -3.65340062e-02 1.18404506e+02] [ 7.52940725e-02 9.97159685e-01 -1.83455176e-03 6.20801267e+00] [ 3.65683996e-02 -9.22680490e-04 9.99330726e-01 4.24235578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.61925415399999 meters Centerline goodness : 0.999356 with order 1 Centerline is valid? [True, True] Translation: X:118.47, Y:6.21, Z:4.24 [[ 9.96716941e-01 -7.22536883e-02 -3.65341427e-02 1.18466222e+02] [ 7.22350415e-02 9.97385955e-01 -1.83182893e-03 6.20986911e+00] [ 3.65709972e-02 -8.13230390e-04 9.99330726e-01 4.24435522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.67925415399999 meters Centerline goodness : 0.999419 with order 1 Centerline is valid? [True, True] Translation: X:118.53, Y:6.21, Z:4.25 [[ 9.96709035e-01 -7.23626024e-02 -3.65342771e-02 1.18527518e+02] [ 7.23441270e-02 9.97378053e-01 -1.82914513e-03 6.20977502e+00] [ 3.65708479e-02 -8.19914903e-04 9.99330726e-01 4.24525992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.739254154 meters Centerline goodness : 0.999420 with order 1 Centerline is valid? [True, True] Translation: X:118.59, Y:6.21, Z:4.25 [[ 9.96516284e-01 -7.49702282e-02 -3.65343763e-02 1.18589263e+02] [ 7.49535760e-02 9.97185350e-01 -1.82716102e-03 6.21043187e+00] [ 3.65685275e-02 -9.17586439e-04 9.99330726e-01 4.24669456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.799254154 meters Centerline goodness : 0.999271 with order 1 Centerline is valid? [True, True] Translation: X:118.65, Y:6.21, Z:4.25 [[ 9.96364341e-01 -7.69631757e-02 -3.65345067e-02 1.18651611e+02] [ 7.69479574e-02 9.97033441e-01 -1.82454961e-03 6.21130679e+00] [ 3.65665481e-02 -9.93339504e-04 9.99330726e-01 4.24861621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.85925415399998 meters Centerline goodness : 0.999122 with order 1 Centerline is valid? [True, True] Translation: X:118.71, Y:6.21, Z:4.25 [[ 9.96090338e-01 -8.04317051e-02 -3.65346397e-02 1.18712893e+02] [ 8.04189142e-02 9.96759489e-01 -1.82188333e-03 6.21160825e+00] [ 3.65627860e-02 -1.12331568e-03 9.99330726e-01 4.24994568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.91925415399999 meters Centerline goodness : 0.999231 with order 1 Centerline is valid? [True, True] Translation: X:118.77, Y:6.21, Z:4.25 [[ 9.95836299e-01 -8.35181315e-02 -3.65347378e-02 1.18774765e+02] [ 8.35074865e-02 9.96505488e-01 -1.81991469e-03 6.21323911e+00] [ 3.65590626e-02 -1.23858701e-03 9.99330726e-01 4.25197985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.97925415399999 meters Centerline goodness : 0.999146 with order 1 Centerline is valid? [True, True] Translation: X:118.84, Y:6.21, Z:4.26 [[ 9.95384785e-01 -8.87374390e-02 -3.65348659e-02 1.18837098e+02] [ 8.87303966e-02 9.96054022e-01 -1.81733840e-03 6.21455305e+00] [ 3.65519661e-02 -1.43280215e-03 9.99330726e-01 4.25684886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.03925415399999 meters Centerline goodness : 0.999360 with order 1 Centerline is valid? [True, True] Translation: X:118.90, Y:6.22, Z:4.26 [[ 9.95029569e-01 -9.26355828e-02 -3.65349999e-02 1.18898584e+02] [ 9.26312606e-02 9.95698828e-01 -1.81464088e-03 6.21502847e+00] [ 3.65459569e-02 -1.57866177e-03 9.99330726e-01 4.26013185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.099254154 meters Centerline goodness : 0.999211 with order 1 Centerline is valid? [True, True] Translation: X:118.96, Y:6.22, Z:4.26 [[ 9.94804288e-01 -9.50242912e-02 -3.65350989e-02 1.18961156e+02] [ 9.50216490e-02 9.95473556e-01 -1.81264570e-03 6.21618476e+00] [ 3.65419702e-02 -1.66839763e-03 9.99330726e-01 4.26203783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.159254154 meters Centerline goodness : 0.999381 with order 1 Centerline is valid? [True, True] Translation: X:119.02, Y:6.22, Z:4.26 [[ 9.94701003e-01 -9.60993641e-02 -3.65352945e-02 1.19023933e+02] [ 9.60975900e-02 9.95370274e-01 -1.80869547e-03 6.21821985e+00] [ 3.65399605e-02 -1.71184255e-03 9.99330726e-01 4.26463950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.21925415399998 meters Centerline goodness : 0.999595 with order 1 Centerline is valid? [True, True] Translation: X:119.09, Y:6.22, Z:4.27 [[ 9.94684183e-01 -9.62732274e-02 -3.65354938e-02 1.19085993e+02] [ 9.62717182e-02 9.95353455e-01 -1.80465976e-03 6.22117650e+00] [ 3.65394704e-02 -1.72226824e-03 9.99330726e-01 4.26754864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.27925415399999 meters Centerline goodness : 0.999360 with order 1 Centerline is valid? [True, True] Translation: X:119.15, Y:6.23, Z:4.27 [[ 9.94860325e-01 -9.44355907e-02 -3.65356280e-02 1.19148175e+02] [ 9.44329450e-02 9.95529594e-01 -1.80193801e-03 6.22559185e+00] [ 3.65424660e-02 -1.65749032e-03 9.99330726e-01 4.27014556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.33925415399999 meters Centerline goodness : 0.999360 with order 1 Centerline is valid? [True, True] Translation: X:119.21, Y:6.23, Z:4.27 [[ 9.95344125e-01 -8.91919861e-02 -3.65357621e-02 1.19209863e+02] [ 8.91859135e-02 9.96013371e-01 -1.79921624e-03 6.22989014e+00] [ 3.65505832e-02 -1.46763600e-03 9.99330726e-01 4.27263874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.39925415399999 meters Centerline goodness : 0.999210 with order 1 Centerline is valid? [True, True] Translation: X:119.27, Y:6.23, Z:4.27 [[ 9.95806619e-01 -8.38707690e-02 -3.65358954e-02 1.19271178e+02] [ 8.38612188e-02 9.96475824e-01 -1.79650485e-03 6.23466672e+00] [ 3.65578107e-02 -1.27497330e-03 9.99330726e-01 4.27344132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.45925415399999 meters Centerline goodness : 0.999423 with order 1 Centerline is valid? [True, True] Translation: X:119.33, Y:6.24, Z:4.28 [[ 9.96406828e-01 -7.64103703e-02 -3.65361144e-02 1.19332647e+02] [ 7.63959720e-02 9.97075947e-01 -1.79203971e-03 6.24130235e+00] [ 3.65662113e-02 -1.00561137e-03 9.99330727e-01 4.27898491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.519254154 meters Centerline goodness : 0.999272 with order 1 Centerline is valid? [True, True] Translation: X:119.39, Y:6.25, Z:4.28 [[ 9.96807839e-01 -7.09875618e-02 -3.65362470e-02 1.19394869e+02] [ 7.09696220e-02 9.97476872e-01 -1.78933300e-03 6.24555254e+00] [ 3.65710817e-02 -8.09342476e-04 9.99330727e-01 4.28165472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.579254154 meters Centerline goodness : 0.999273 with order 1 Centerline is valid? [True, True] Translation: X:119.46, Y:6.25, Z:4.28 [[ 9.96917443e-01 -6.94312915e-02 -3.65363794e-02 1.19456981e+02] [ 6.94124065e-02 9.97586450e-01 -1.78662510e-03 6.24760650e+00] [ 3.65722447e-02 -7.54960290e-04 9.99330727e-01 4.28408248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.63925415399999 meters Centerline goodness : 0.999060 with order 1 Centerline is valid? [True, True] Translation: X:119.52, Y:6.25, Z:4.28 [[ 9.96873020e-01 -7.00661539e-02 -3.65365099e-02 1.19518988e+02] [ 7.00477929e-02 9.97542041e-01 -1.78395123e-03 6.24901695e+00] [ 3.65716993e-02 -7.80929027e-04 9.99330727e-01 4.28487355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.69925415399999 meters Centerline goodness : 0.999060 with order 1 Centerline is valid? [True, True] Translation: X:119.58, Y:6.25, Z:4.29 [[ 9.96685925e-01 -7.26790271e-02 -3.65366406e-02 1.19580992e+02] [ 7.26625181e-02 9.97354995e-01 -1.78127102e-03 6.24958849e+00] [ 3.65694620e-02 -8.79476552e-04 9.99330727e-01 4.28709472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.75925415399999 meters Centerline goodness : 0.998998 with order 1 Centerline is valid? [True, True] Translation: X:119.64, Y:6.25, Z:4.29 [[ 9.96481551e-01 -7.54293231e-02 -3.65367736e-02 1.19642870e+02] [ 7.54147606e-02 9.97150666e-01 -1.77853872e-03 6.24978857e+00] [ 3.65668221e-02 -9.83131018e-04 9.99330727e-01 4.28892600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.81925415399999 meters Centerline goodness : 0.999192 with order 1 Centerline is valid? [True, True] Translation: X:119.70, Y:6.25, Z:4.29 [[ 9.96374013e-01 -7.68367203e-02 -3.65369063e-02 1.19704583e+02] [ 7.68232030e-02 9.97043150e-01 -1.77580760e-03 6.25114678e+00] [ 3.65653194e-02 -1.03751363e-03 9.99330727e-01 4.29211963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.879254154 meters Centerline goodness : 0.999255 with order 1 Centerline is valid? [True, True] Translation: X:119.77, Y:6.25, Z:4.30 [[ 9.96253015e-01 -7.83898952e-02 -3.65370381e-02 1.19766984e+02] [ 7.83775206e-02 9.96922174e-01 -1.77309197e-03 6.25147814e+00] [ 3.65635760e-02 -1.09723424e-03 9.99330727e-01 4.29553353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.939254154 meters Centerline goodness : 0.999087 with order 1 Centerline is valid? [True, True] Translation: X:119.83, Y:6.25, Z:4.30 [[ 9.96217326e-01 -7.88420809e-02 -3.65371700e-02 1.19828174e+02] [ 7.88301098e-02 9.96886493e-01 -1.77037128e-03 6.25330189e+00] [ 3.65629910e-02 -1.11655457e-03 9.99330727e-01 4.29683067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.99925415399998 meters Centerline goodness : 0.999193 with order 1 Centerline is valid? [True, True] Translation: X:119.89, Y:6.25, Z:4.30 [[ 9.96194580e-01 -7.91289276e-02 -3.65372672e-02 1.19890535e+02] [ 7.91172228e-02 9.96863751e-01 -1.76836116e-03 6.25241454e+00] [ 3.65626058e-02 -1.12909530e-03 9.99330727e-01 4.29863580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.05925415399999 meters Centerline goodness : 0.999194 with order 1 Centerline is valid? [True, True] Translation: X:119.95, Y:6.25, Z:4.30 [[ 9.96270748e-01 -7.81640274e-02 -3.65373968e-02 1.19952309e+02] [ 7.81517727e-02 9.96939909e-01 -1.76568004e-03 6.25345965e+00] [ 3.65636017e-02 -1.09636695e-03 9.99330727e-01 4.30105073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.11925415399999 meters Centerline goodness : 0.999028 with order 1 Centerline is valid? [True, True] Translation: X:120.01, Y:6.25, Z:4.30 [[ 9.96428417e-01 -7.61276455e-02 -3.65375277e-02 1.20014639e+02] [ 7.61141225e-02 9.97097554e-01 -1.76296704e-03 6.25493747e+00] [ 3.65656900e-02 -1.02435140e-03 9.99330727e-01 4.30367827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.17925415399999 meters Centerline goodness : 0.999046 with order 1 Centerline is valid? [True, True] Translation: X:120.08, Y:6.26, Z:4.31 [[ 9.96455075e-01 -7.57778597e-02 -3.65376576e-02 1.20077294e+02] [ 7.57642006e-02 9.97124209e-01 -1.76027166e-03 6.25565733e+00] [ 3.65659725e-02 -1.01421479e-03 9.99330727e-01 4.30515386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.239254154 meters Centerline goodness : 0.999194 with order 1 Centerline is valid? [True, True] Translation: X:120.14, Y:6.26, Z:4.31 [[ 9.96370870e-01 -7.68770458e-02 -3.65377885e-02 1.20139732e+02] [ 7.68642246e-02 9.97040020e-01 -1.75754943e-03 6.25699630e+00] [ 3.65647526e-02 -1.05727773e-03 9.99330727e-01 4.30609574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.299254154 meters Centerline goodness : 0.999003 with order 1 Centerline is valid? [True, True] Translation: X:120.20, Y:6.26, Z:4.31 [[ 9.96275262e-01 -7.81062309e-02 -3.65379189e-02 1.20202093e+02] [ 7.80943347e-02 9.96944429e-01 -1.75483492e-03 6.25778688e+00] [ 3.65633382e-02 -1.10510585e-03 9.99330727e-01 4.30669932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.35925415399998 meters Centerline goodness : 0.998939 with order 1 Centerline is valid? [True, True] Translation: X:120.26, Y:6.26, Z:4.31 [[ 9.96401727e-01 -7.64759463e-02 -3.65380489e-02 1.20264163e+02] [ 7.64630546e-02 9.97070876e-01 -1.75212337e-03 6.26065840e+00] [ 3.65650197e-02 -1.04799208e-03 9.99330727e-01 4.30922933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.41925415399999 meters Centerline goodness : 0.999130 with order 1 Centerline is valid? [True, True] Translation: X:120.33, Y:6.26, Z:4.31 [[ 9.96526018e-01 -7.48388730e-02 -3.65381780e-02 1.20325304e+02] [ 7.48249808e-02 9.97195147e-01 -1.74942708e-03 6.26371277e+00] [ 3.65666190e-02 -9.90618865e-04 9.99330727e-01 4.31163397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.47925415399999 meters Centerline goodness : 0.999002 with order 1 Centerline is valid? [True, True] Translation: X:120.39, Y:6.27, Z:4.32 [[ 9.96687371e-01 -7.26583702e-02 -3.65382733e-02 1.20387209e+02] [ 7.26430870e-02 9.97356470e-01 -1.74743450e-03 6.26644191e+00] [ 3.65686490e-02 -9.12607069e-04 9.99330727e-01 4.31601341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.53925415399999 meters Centerline goodness : 0.998896 with order 1 Centerline is valid? [True, True] Translation: X:120.45, Y:6.27, Z:4.32 [[ 9.96914201e-01 -6.94767634e-02 -3.65384036e-02 1.20448075e+02] [ 6.94594446e-02 9.97583250e-01 -1.74470597e-03 6.26914945e+00] [ 3.65713159e-02 -7.98615063e-04 9.99330727e-01 4.31896394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.599254154 meters Centerline goodness : 0.998874 with order 1 Centerline is valid? [True, True] Translation: X:120.51, Y:6.27, Z:4.32 [[ 9.97273787e-01 -6.41087651e-02 -3.65384676e-02 1.20509413e+02] [ 6.40878938e-02 9.97942735e-01 -1.74336420e-03 6.27199019e+00] [ 3.65750632e-02 -6.03062015e-04 9.99330727e-01 4.32252518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.659254154 meters Centerline goodness : 0.999150 with order 1 Centerline is valid? [True, True] Translation: X:120.57, Y:6.27, Z:4.32 [[ 9.97503229e-01 -6.04337991e-02 -3.65385329e-02 1.20569142e+02] [ 6.04105132e-02 9.98172097e-01 -1.74199571e-03 6.27423993e+00] [ 3.65770194e-02 -4.69665175e-04 9.99330727e-01 4.32414842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.71925415399998 meters Centerline goodness : 0.999066 with order 1 Centerline is valid? [True, True] Translation: X:120.63, Y:6.28, Z:4.33 [[ 9.97669325e-01 -5.76268660e-02 -3.65385008e-02 1.20628801e+02] [ 5.76016736e-02 9.98338124e-01 -1.74266785e-03 6.27577918e+00] [ 3.65782028e-02 -3.66072542e-04 9.99330727e-01 4.32609485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.77925415399999 meters Centerline goodness : 0.999067 with order 1 Centerline is valid? [True, True] Translation: X:120.69, Y:6.28, Z:4.33 [[ 9.97666776e-01 -5.76710226e-02 -3.65384360e-02 1.20688700e+02] [ 5.76458101e-02 9.98335574e-01 -1.74402593e-03 6.27711782e+00] [ 3.65782002e-02 -3.66331014e-04 9.99330727e-01 4.32736644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.83925415399999 meters Centerline goodness : 0.999111 with order 1 Centerline is valid? [True, True] Translation: X:120.75, Y:6.28, Z:4.33 [[ 9.97549128e-01 -5.96714741e-02 -3.65383715e-02 1.20747066e+02] [ 5.96475533e-02 9.98217974e-01 -1.74537517e-03 6.27693461e+00] [ 3.65774083e-02 -4.38326983e-04 9.99330727e-01 4.32841813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.89925415399999 meters Centerline goodness : 0.998903 with order 1 Centerline is valid? [True, True] Translation: X:120.81, Y:6.28, Z:4.33 [[ 9.97398393e-01 -6.21401606e-02 -3.65382763e-02 1.20806393e+02] [ 6.21178223e-02 9.98067294e-01 -1.74736724e-03 6.27674209e+00] [ 3.65762402e-02 -5.26856870e-04 9.99330727e-01 4.33013259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.95925415399999 meters Centerline goodness : 0.999092 with order 1 Centerline is valid? [True, True] Translation: X:120.87, Y:6.28, Z:4.33 [[ 9.97339815e-01 -6.30733854e-02 -3.65382116e-02 1.20865933e+02] [ 6.30516235e-02 9.98008735e-01 -1.74871765e-03 6.27850969e+00] [ 3.65757519e-02 -5.59727819e-04 9.99330727e-01 4.33136637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.019254154 meters Centerline goodness : 0.998881 with order 1 Centerline is valid? [True, True] Translation: X:120.93, Y:6.28, Z:4.34 [[ 9.97366700e-01 -6.26468454e-02 -3.65381798e-02 1.20925635e+02] [ 6.26247730e-02 9.98035609e-01 -1.74938232e-03 6.28016717e+00] [ 3.65759978e-02 -5.43419550e-04 9.99330727e-01 4.33546377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.079254154 meters Centerline goodness : 0.998964 with order 1 Centerline is valid? [True, True] Translation: X:120.99, Y:6.28, Z:4.34 [[ 9.97478512e-01 -6.08406427e-02 -3.65381143e-02 1.20985639e+02] [ 6.08173091e-02 9.98147379e-01 -1.75074889e-03 6.28110491e+00] [ 3.65769397e-02 -4.75815397e-04 9.99330727e-01 4.33882131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.13925415399999 meters Centerline goodness : 0.999282 with order 1 Centerline is valid? [True, True] Translation: X:121.04, Y:6.28, Z:4.34 [[ 9.97576171e-01 -5.92178557e-02 -3.65380497e-02 1.21044733e+02] [ 5.91933846e-02 9.98244997e-01 -1.75209739e-03 6.28237090e+00] [ 3.65776807e-02 -4.14960221e-04 9.99330727e-01 4.34241645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.19925415399999 meters Centerline goodness : 0.999093 with order 1 Centerline is valid? [True, True] Translation: X:121.10, Y:6.28, Z:4.35 [[ 9.97735023e-01 -5.64783050e-02 -3.65379845e-02 1.21103024e+02] [ 5.64519477e-02 9.98403778e-01 -1.75345546e-03 6.28260156e+00] [ 3.65786939e-02 -3.13156467e-04 9.99330727e-01 4.34527475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.25925415399999 meters Centerline goodness : 0.999388 with order 1 Centerline is valid? [True, True] Translation: X:121.16, Y:6.28, Z:4.35 [[ 9.97863405e-01 -5.41630300e-02 -3.65375262e-02 1.21160781e+02] [ 5.41347733e-02 9.98532082e-01 -1.76295377e-03 6.28338962e+00] [ 3.65793790e-02 -2.18763639e-04 9.99330727e-01 4.34680360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.31925415399999 meters Centerline goodness : 0.999093 with order 1 Centerline is valid? [True, True] Translation: X:121.22, Y:6.28, Z:4.35 [[ 9.97941947e-01 -5.26962237e-02 -3.65373651e-02 1.21219071e+02] [ 5.26668621e-02 9.98610576e-01 -1.76628602e-03 6.28256663e+00] [ 3.65796758e-02 -1.61657456e-04 9.99330727e-01 4.34805002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.379254154 meters Centerline goodness : 0.999264 with order 1 Centerline is valid? [True, True] Translation: X:121.28, Y:6.28, Z:4.35 [[ 9.97876260e-01 -5.39261527e-02 -3.65368308e-02 1.21277185e+02] [ 5.38972130e-02 9.98544907e-01 -1.77726950e-03 6.28257528e+00] [ 3.65795077e-02 -1.95738311e-04 9.99330727e-01 4.34943089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.439254154 meters Centerline goodness : 0.999327 with order 1 Centerline is valid? [True, True] Translation: X:121.34, Y:6.28, Z:4.35 [[ 9.97601641e-01 -5.87882996e-02 -3.65363014e-02 1.21335099e+02] [ 5.87622225e-02 9.98270406e-01 -1.78808780e-03 6.28033930e+00] [ 3.65782271e-02 -3.63154944e-04 9.99330727e-01 4.35083640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.49925415399998 meters Centerline goodness : 0.999037 with order 1 Centerline is valid? [True, True] Translation: X:121.39, Y:6.28, Z:4.35 [[ 9.97253272e-01 -6.44286334e-02 -3.65357716e-02 1.21392592e+02] [ 6.44059443e-02 9.97922161e-01 -1.79884919e-03 6.27805533e+00] [ 3.65757535e-02 -5.59212627e-04 9.99330727e-01 4.35174068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.55925415399999 meters Centerline goodness : 0.999268 with order 1 Centerline is valid? [True, True] Translation: X:121.45, Y:6.28, Z:4.35 [[ 9.96989676e-01 -6.83866967e-02 -3.65355432e-02 1.21451367e+02] [ 6.83664934e-02 9.97658644e-01 -1.80347563e-03 6.27755962e+00] [ 3.65733342e-02 -6.99760386e-04 9.99330727e-01 4.35459367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.61925415399999 meters Centerline goodness : 0.999310 with order 1 Centerline is valid? [True, True] Translation: X:121.51, Y:6.27, Z:4.36 [[ 9.96583559e-01 -7.40702227e-02 -3.65350787e-02 1.21510251e+02] [ 7.40534912e-02 9.97252623e-01 -1.81283622e-03 6.27472765e+00] [ 3.65689803e-02 -8.98907362e-04 9.99330727e-01 4.35708521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.67925415399999 meters Centerline goodness : 0.999227 with order 1 Centerline is valid? [True, True] Translation: X:121.57, Y:6.27, Z:4.36 [[ 9.96112713e-01 -8.01539644e-02 -3.65349808e-02 1.21569777e+02] [ 8.01412462e-02 9.96781865e-01 -1.81480791e-03 6.27304148e+00] [ 3.65628703e-02 -1.12020566e-03 9.99330727e-01 4.36090689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.739254154 meters Centerline goodness : 0.999102 with order 1 Centerline is valid? [True, True] Translation: X:121.63, Y:6.27, Z:4.36 [[ 9.95805474e-01 -8.38847885e-02 -3.65349127e-02 1.21630014e+02] [ 8.38745267e-02 9.96474669e-01 -1.81617827e-03 6.27288021e+00] [ 3.65584647e-02 -1.25578824e-03 9.99330727e-01 4.36128777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.799254154 meters Centerline goodness : 0.999041 with order 1 Centerline is valid? [True, True] Translation: X:121.69, Y:6.27, Z:4.36 [[ 9.95406703e-01 -8.84912200e-02 -3.65349127e-02 1.21689904e+02] [ 8.84840545e-02 9.96075938e-01 -1.81617827e-03 6.27377919e+00] [ 3.65522632e-02 -1.42492118e-03 9.99330727e-01 4.36255364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.85925415399998 meters Centerline goodness : 0.999167 with order 1 Centerline is valid? [True, True] Translation: X:121.75, Y:6.28, Z:4.37 [[ 9.94939044e-01 -9.36028675e-02 -3.65349462e-02 1.21751057e+02] [ 9.35991644e-02 9.95608307e-01 -1.81550385e-03 6.27527294e+00] [ 3.65444323e-02 -1.61332477e-03 9.99330727e-01 4.36612671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.91925415399999 meters Centerline goodness : 0.999060 with order 1 Centerline is valid? [True, True] Translation: X:121.81, Y:6.28, Z:4.36 [[ 9.94385161e-01 -9.93143726e-02 -3.65350124e-02 1.21811483e+02] [ 9.93145614e-02 9.95054434e-01 -1.81417026e-03 6.27637358e+00] [ 3.65344993e-02 -1.82447474e-03 9.99330727e-01 4.36492032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.97925415399999 meters Centerline goodness : 0.999061 with order 1 Centerline is valid? [True, True] Translation: X:121.87, Y:6.28, Z:4.37 [[ 9.94144357e-01 -1.01696516e-01 -3.65351229e-02 1.21872493e+02] [ 1.01698390e-01 9.94813628e-01 -1.81194134e-03 6.27927115e+00] [ 3.65299063e-02 -1.91423192e-03 9.99330727e-01 4.36850907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.03925415399999 meters Centerline goodness : 0.999020 with order 1 Centerline is valid? [True, True] Translation: X:121.93, Y:6.28, Z:4.37 [[ 9.94121236e-01 -1.01922266e-01 -3.65351872e-02 1.21933855e+02] [ 1.01924340e-01 9.94790506e-01 -1.81064403e-03 6.28331666e+00] [ 3.65294023e-02 -1.92382515e-03 9.99330727e-01 4.37146069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.099254154 meters Centerline goodness : 0.999167 with order 1 Centerline is valid? [True, True] Translation: X:121.99, Y:6.29, Z:4.37 [[ 9.94395354e-01 -9.92121730e-02 -3.65352506e-02 1.21994153e+02] [ 9.92124691e-02 9.95064627e-01 -1.80936460e-03 6.28759191e+00] [ 3.65344465e-02 -1.82552867e-03 9.99330727e-01 4.37314584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.159254154 meters Centerline goodness : 0.998978 with order 1 Centerline is valid? [True, True] Translation: X:122.05, Y:6.29, Z:4.38 [[ 9.94675154e-01 -9.63665461e-02 -3.65352818e-02 1.22054946e+02] [ 9.63649503e-02 9.95344425e-01 -1.80873457e-03 6.29214282e+00] [ 3.65394905e-02 -1.72161728e-03 9.99330727e-01 4.37513383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.21925415399998 meters Centerline goodness : 0.999079 with order 1 Centerline is valid? [True, True] Translation: X:122.12, Y:6.30, Z:4.38 [[ 9.95301896e-01 -8.96621647e-02 -3.65353436e-02 1.22115076e+02] [ 8.96561052e-02 9.95971142e-01 -1.80748419e-03 6.29876621e+00] [ 3.65502109e-02 -1.47662417e-03 9.99330727e-01 4.37799459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.27925415399999 meters Centerline goodness : 0.999101 with order 1 Centerline is valid? [True, True] Translation: X:122.17, Y:6.31, Z:4.38 [[ 9.95982155e-01 -8.17600926e-02 -3.65353741e-02 1.22174062e+02] [ 8.17487443e-02 9.96651332e-01 -1.80686899e-03 6.30501287e+00] [ 3.65607590e-02 -1.18711169e-03 9.99330727e-01 4.37971637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.33925415399999 meters Centerline goodness : 0.999143 with order 1 Centerline is valid? [True, True] Translation: X:122.23, Y:6.31, Z:4.38 [[ 9.96452057e-01 -7.58186478e-02 -3.65353442e-02 1.22233293e+02] [ 7.58032867e-02 9.97121154e-01 -1.80747160e-03 6.31000869e+00] [ 3.65672047e-02 -9.68440382e-04 9.99330727e-01 4.38207325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.39925415399999 meters Centerline goodness : 0.999101 with order 1 Centerline is valid? [True, True] Translation: X:122.29, Y:6.32, Z:4.39 [[ 9.97123468e-01 -6.64075480e-02 -3.65352854e-02 1.22293240e+02] [ 6.63858270e-02 9.97792389e-01 -1.80866083e-03 6.31637414e+00] [ 3.65747384e-02 -6.21966975e-04 9.99330727e-01 4.38675343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.45925415399999 meters Centerline goodness : 0.999118 with order 1 Centerline is valid? [True, True] Translation: X:122.35, Y:6.32, Z:4.39 [[ 9.97616152e-01 -5.85421809e-02 -3.65352854e-02 1.22351770e+02] [ 5.85151855e-02 9.98284880e-01 -1.80866083e-03 6.32277650e+00] [ 3.65785059e-02 -3.33519745e-04 9.99330727e-01 4.39029988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.519254154 meters Centerline goodness : 0.999078 with order 1 Centerline is valid? [True, True] Translation: X:122.41, Y:6.33, Z:4.39 [[ 9.97751777e-01 -5.61836236e-02 -3.65348114e-02 1.22409348e+02] [ 5.61546986e-02 9.98420424e-01 -1.81818545e-03 6.32595846e+00] [ 3.65792541e-02 -2.37503562e-04 9.99330727e-01 4.39176056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.579254154 meters Centerline goodness : 0.999329 with order 1 Centerline is valid? [True, True] Translation: X:122.47, Y:6.33, Z:4.39 [[ 9.97660515e-01 -5.77818685e-02 -3.65342662e-02 1.22465884e+02] [ 5.77536158e-02 9.98329191e-01 -1.82907443e-03 6.32793021e+00] [ 3.65789118e-02 -2.85190635e-04 9.99330727e-01 4.39388668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.63925415399999 meters Centerline goodness : 0.999121 with order 1 Centerline is valid? [True, True] Translation: X:122.52, Y:6.33, Z:4.40 [[ 9.97443640e-01 -6.14121221e-02 -3.65340317e-02 1.22523817e+02] [ 6.13861320e-02 9.98112409e-01 -1.83374633e-03 6.32989450e+00] [ 3.65776847e-02 -4.13624278e-04 9.99330727e-01 4.39659209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.69925415399999 meters Centerline goodness : 0.999123 with order 1 Centerline is valid? [True, True] Translation: X:122.58, Y:6.33, Z:4.40 [[ 9.97005452e-01 -6.81574016e-02 -3.65334980e-02 1.22582225e+02] [ 6.81355483e-02 9.97674368e-01 -1.84431931e-03 6.32952519e+00] [ 3.65742385e-02 -6.50433506e-04 9.99330727e-01 4.39838455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.75925415399999 meters Centerline goodness : 0.999456 with order 1 Centerline is valid? [True, True] Translation: X:122.64, Y:6.33, Z:4.40 [[ 9.96693750e-01 -7.25734916e-02 -3.65329490e-02 1.22641700e+02] [ 7.25542058e-02 9.97362745e-01 -1.85513102e-03 6.33052089e+00] [ 3.65712356e-02 -8.01621600e-04 9.99330727e-01 4.40039764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.81925415399999 meters Centerline goodness : 0.999144 with order 1 Centerline is valid? [True, True] Translation: X:122.70, Y:6.33, Z:4.40 [[ 9.96392635e-01 -7.65967769e-02 -3.65328793e-02 1.22701059e+02] [ 7.65801418e-02 9.97061701e-01 -1.85650131e-03 6.33116029e+00] [ 3.65677368e-02 -9.47888849e-04 9.99330727e-01 4.40115498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.879254154 meters Centerline goodness : 0.999206 with order 1 Centerline is valid? [True, True] Translation: X:122.76, Y:6.33, Z:4.40 [[ 9.96292389e-01 -7.78898387e-02 -3.65328451e-02 1.22760473e+02] [ 7.78740473e-02 9.96961476e-01 -1.85717553e-03 6.33329999e+00] [ 3.65664942e-02 -9.94670662e-04 9.99330727e-01 4.40445538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.939254154 meters Centerline goodness : 0.999144 with order 1 Centerline is valid? [True, True] Translation: X:122.82, Y:6.33, Z:4.41 [[ 9.96157052e-01 -7.96020391e-02 -3.65327753e-02 1.22820293e+02] [ 7.95873474e-02 9.96826163e-01 -1.85854702e-03 6.33336129e+00] [ 3.65647704e-02 -1.05614196e-03 9.99330727e-01 4.40595592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.99925415399998 meters Centerline goodness : 0.998978 with order 1 Centerline is valid? [True, True] Translation: X:122.88, Y:6.34, Z:4.41 [[ 9.95844341e-01 -8.34230723e-02 -3.65327067e-02 1.22880366e+02] [ 8.34108983e-02 9.96513504e-01 -1.85989474e-03 6.33534972e+00] [ 3.65604937e-02 -1.19506023e-03 9.99330727e-01 4.40760736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.05925415399999 meters Centerline goodness : 0.999227 with order 1 Centerline is valid? [True, True] Translation: X:122.94, Y:6.34, Z:4.41 [[ 9.95524215e-01 -8.71602164e-02 -3.65326388e-02 1.22940615e+02] [ 8.71505052e-02 9.96193418e-01 -1.86122744e-03 6.33746098e+00] [ 3.65557993e-02 -1.33094094e-03 9.99330727e-01 4.40930480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.11925415399999 meters Centerline goodness : 0.999144 with order 1 Centerline is valid? [True, True] Translation: X:123.00, Y:6.34, Z:4.41 [[ 9.94948513e-01 -9.35030631e-02 -3.65326388e-02 1.23001941e+02] [ 9.34976170e-02 9.95617764e-01 -1.86122744e-03 6.33891462e+00] [ 3.65465746e-02 -1.56388919e-03 9.99330727e-01 4.41140976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.17925415399999 meters Centerline goodness : 0.999103 with order 1 Centerline is valid? [True, True] Translation: X:123.06, Y:6.34, Z:4.41 [[ 9.94560827e-01 -9.75403682e-02 -3.65327085e-02 1.23063068e+02] [ 9.75376886e-02 9.95230094e-01 -1.85985782e-03 6.34162686e+00] [ 3.65398621e-02 -1.71357421e-03 9.99330727e-01 4.41397298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.239254154 meters Centerline goodness : 0.999184 with order 1 Centerline is valid? [True, True] Translation: X:123.12, Y:6.35, Z:4.42 [[ 9.94052600e-01 -1.02590370e-01 -3.65327774e-02 1.23124688e+02] [ 1.02591139e-01 9.94721873e-01 -1.85850370e-03 6.34590817e+00] [ 3.65306173e-02 -1.90048882e-03 9.99330727e-01 4.41655658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.299254154 meters Centerline goodness : 0.999251 with order 1 Centerline is valid? [True, True] Translation: X:123.19, Y:6.35, Z:4.42 [[ 9.93737439e-01 -1.05599467e-01 -3.65329177e-02 1.23186930e+02] [ 1.05602364e-01 9.94406706e-01 -1.85574167e-03 6.34990325e+00] [ 3.65245437e-02 -2.01384248e-03 9.99330727e-01 4.41895336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.35925415399998 meters Centerline goodness : 0.999144 with order 1 Centerline is valid? [True, True] Translation: X:123.25, Y:6.35, Z:4.42 [[ 9.93306826e-01 -1.09575934e-01 -3.65330568e-02 1.23248684e+02] [ 1.09581610e-01 9.93976075e-01 -1.85299910e-03 6.35447302e+00] [ 3.65160285e-02 -2.16275452e-03 9.99330727e-01 4.41996416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.41925415399999 meters Centerline goodness : 0.999267 with order 1 Centerline is valid? [True, True] Translation: X:123.31, Y:6.36, Z:4.42 [[ 9.93098281e-01 -1.11450124e-01 -3.65331956e-02 1.23309499e+02] [ 1.11457163e-01 9.93767517e-01 -1.85025924e-03 6.35972949e+00] [ 3.65117147e-02 -2.23439707e-03 9.99330727e-01 4.41908801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.47925415399999 meters Centerline goodness : 0.999247 with order 1 Centerline is valid? [True, True] Translation: X:123.37, Y:6.37, Z:4.42 [[ 9.92756111e-01 -1.14457953e-01 -3.65332979e-02 1.23370729e+02] [ 1.14467093e-01 9.93425321e-01 -1.84823692e-03 6.36836223e+00] [ 3.65046486e-02 -2.34701192e-03 9.99330727e-01 4.42391632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.53925415399999 meters Centerline goodness : 0.999102 with order 1 Centerline is valid? [True, True] Translation: X:123.43, Y:6.38, Z:4.43 [[ 9.92693329e-01 -1.15001140e-01 -3.65334370e-02 1.23431072e+02] [ 1.15010747e-01 9.93362533e-01 -1.84548248e-03 6.37616073e+00] [ 3.65031801e-02 -2.36973974e-03 9.99330727e-01 4.42665034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.599254154 meters Centerline goodness : 0.998891 with order 1 Centerline is valid? [True, True] Translation: X:123.49, Y:6.38, Z:4.43 [[ 9.92856965e-01 -1.13579698e-01 -3.65335397e-02 1.23492839e+02] [ 1.13588422e-01 9.93526181e-01 -1.84344780e-03 6.38339696e+00] [ 3.65064064e-02 -2.31950712e-03 9.99330727e-01 4.43030741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.659254154 meters Centerline goodness : 0.998908 with order 1 Centerline is valid? [True, True] Translation: X:123.55, Y:6.39, Z:4.43 [[ 9.93418596e-01 -1.08557744e-01 -3.65336735e-02 1.23554560e+02] [ 1.08563181e-01 9.94087847e-01 -1.84079155e-03 6.39369184e+00] [ 3.65175130e-02 -2.13753524e-03 9.99330727e-01 4.43400472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.71925415399998 meters Centerline goodness : 0.998909 with order 1 Centerline is valid? [True, True] Translation: X:123.62, Y:6.40, Z:4.44 [[ 9.93664165e-01 -1.06286443e-01 -3.65338111e-02 1.23616421e+02] [ 1.06290450e-01 9.94333426e-01 -1.83805677e-03 6.39894462e+00] [ 3.65221501e-02 -2.05678409e-03 9.99330727e-01 4.43636572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.77925415399999 meters Centerline goodness : 0.998969 with order 1 Centerline is valid? [True, True] Translation: X:123.68, Y:6.41, Z:4.44 [[ 9.94127257e-01 -1.01863964e-01 -3.65339484e-02 1.23677948e+02] [ 1.01865093e-01 9.94796529e-01 -1.83532316e-03 6.40596313e+00] [ 3.65307984e-02 -1.89698928e-03 9.99330727e-01 4.43800085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.83925415399999 meters Centerline goodness : 0.999010 with order 1 Centerline is valid? [True, True] Translation: X:123.74, Y:6.42, Z:4.44 [[ 9.94801572e-01 -9.50531069e-02 -3.65340839e-02 1.23738462e+02] [ 9.50497519e-02 9.95470836e-01 -1.83262308e-03 6.41555871e+00] [ 3.65428115e-02 -1.64945929e-03 9.99330727e-01 4.43933747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.89925415399999 meters Centerline goodness : 0.998818 with order 1 Centerline is valid? [True, True] Translation: X:123.80, Y:6.42, Z:4.44 [[ 9.95161486e-01 -9.12078461e-02 -3.65341838e-02 1.23800627e+02] [ 9.12019777e-02 9.95830733e-01 -1.83062902e-03 6.42291414e+00] [ 3.65488307e-02 -1.51021832e-03 9.99330727e-01 4.44158290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.95925415399999 meters Centerline goodness : 0.999070 with order 1 Centerline is valid? [True, True] Translation: X:123.86, Y:6.43, Z:4.44 [[ 9.95646362e-01 -8.57529254e-02 -3.65343227e-02 1.23861355e+02] [ 8.57434914e-02 9.96315569e-01 -1.82785209e-03 6.43174386e+00] [ 3.65564582e-02 -1.31268611e-03 9.99330727e-01 4.44204919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.019254154 meters Centerline goodness : 0.998921 with order 1 Centerline is valid? [True, True] Translation: X:123.92, Y:6.44, Z:4.44 [[ 9.95921400e-01 -8.24972747e-02 -3.65344248e-02 1.23923712e+02] [ 8.24857277e-02 9.96590573e-01 -1.82580867e-03 6.43885836e+00] [ 3.65604876e-02 -1.19520669e-03 9.99330727e-01 4.44459188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.079254154 meters Centerline goodness : 0.999129 with order 1 Centerline is valid? [True, True] Translation: X:123.99, Y:6.45, Z:4.45 [[ 9.96240364e-01 -7.85516588e-02 -3.65345607e-02 1.23985174e+02] [ 7.85375610e-02 9.96909488e-01 -1.82308580e-03 6.44786585e+00] [ 3.65648566e-02 -1.05310363e-03 9.99330727e-01 4.44885511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.13925415399999 meters Centerline goodness : 0.998938 with order 1 Centerline is valid? [True, True] Translation: X:124.05, Y:6.45, Z:4.45 [[ 9.96302442e-01 -7.77602758e-02 -3.65346983e-02 1.24047204e+02] [ 7.77457477e-02 9.96971557e-01 -1.82032364e-03 6.45399184e+00] [ 3.65656040e-02 -1.02682456e-03 9.99330727e-01 4.45175022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.19925415399999 meters Centerline goodness : 0.999043 with order 1 Centerline is valid? [True, True] Translation: X:124.11, Y:6.46, Z:4.46 [[ 9.96185102e-01 -7.92492774e-02 -3.65348344e-02 1.24109048e+02] [ 7.92358496e-02 9.96854240e-01 -1.81758908e-03 6.45881526e+00] [ 3.65639472e-02 -1.08421348e-03 9.99330727e-01 4.45860228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.25925415399999 meters Centerline goodness : 0.998831 with order 1 Centerline is valid? [True, True] Translation: X:124.17, Y:6.46, Z:4.46 [[ 9.95986875e-01 -8.17027515e-02 -3.65349769e-02 1.24169997e+02] [ 8.16910770e-02 9.96656046e-01 -1.81472020e-03 6.46132242e+00] [ 3.65610732e-02 -1.17714411e-03 9.99330727e-01 4.45658148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.31925415399999 meters Centerline goodness : 0.998958 with order 1 Centerline is valid? [True, True] Translation: X:124.23, Y:6.47, Z:4.46 [[ 9.95261147e-01 -9.01134296e-02 -3.65351882e-02 1.24232367e+02] [ 9.01075646e-02 9.95930394e-01 -1.81045621e-03 6.46741629e+00] [ 3.65496508e-02 -1.49022011e-03 9.99330727e-01 4.46263868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.379254154 meters Centerline goodness : 0.999128 with order 1 Centerline is valid? [True, True] Translation: X:124.29, Y:6.47, Z:4.46 [[ 9.95009639e-01 -9.28492610e-02 -3.65353635e-02 1.24293505e+02] [ 9.28453658e-02 9.95678901e-01 -1.80691145e-03 6.47213700e+00] [ 3.65452609e-02 -1.59424488e-03 9.99330727e-01 4.45959989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.439254154 meters Centerline goodness : 0.999148 with order 1 Centerline is valid? [True, True] Translation: X:124.35, Y:6.48, Z:4.46 [[ 9.95118593e-01 -9.16741268e-02 -3.65354671e-02 1.24354804e+02] [ 9.16695181e-02 9.95787850e-01 -1.80481330e-03 6.47840091e+00] [ 3.65470290e-02 -1.55318540e-03 9.99330727e-01 4.46124477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.49925415399998 meters Centerline goodness : 0.999085 with order 1 Centerline is valid? [True, True] Translation: X:124.42, Y:6.48, Z:4.46 [[ 9.95400647e-01 -8.85590437e-02 -3.65355649e-02 1.24416814e+02] [ 8.85524129e-02 9.96069887e-01 -1.80283270e-03 6.48429062e+00] [ 3.65516331e-02 -1.44077159e-03 9.99330727e-01 4.46429358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.55925415399999 meters Centerline goodness : 0.999423 with order 1 Centerline is valid? [True, True] Translation: X:124.48, Y:6.49, Z:4.47 [[ 9.95865913e-01 -8.31638574e-02 -3.65356944e-02 1.24479784e+02] [ 8.31536966e-02 9.96535108e-01 -1.80020327e-03 6.49165596e+00] [ 3.65588141e-02 -1.24531698e-03 9.99330727e-01 4.46791059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.61925415399999 meters Centerline goodness : 0.999231 with order 1 Centerline is valid? [True, True] Translation: X:124.54, Y:6.50, Z:4.47 [[ 9.96159533e-01 -7.95695467e-02 -3.65358973e-02 1.24542100e+02] [ 7.95571223e-02 9.96828691e-01 -1.79607699e-03 6.49793110e+00] [ 3.65629437e-02 -1.11751163e-03 9.99330727e-01 4.46802819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.67925415399999 meters Centerline goodness : 0.999421 with order 1 Centerline is valid? [True, True] Translation: X:124.60, Y:6.50, Z:4.47 [[ 9.96422901e-01 -7.62005302e-02 -3.65360444e-02 1.24603535e+02] [ 7.61859528e-02 9.97092015e-01 -1.79307947e-03 6.50332859e+00] [ 3.65664317e-02 -9.96867908e-04 9.99330727e-01 4.46998754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.739254154 meters Centerline goodness : 0.999378 with order 1 Centerline is valid? [True, True] Translation: X:124.66, Y:6.51, Z:4.47 [[ 9.96634443e-01 -7.33818397e-02 -3.65361912e-02 1.24664918e+02] [ 7.33654796e-02 9.97303515e-01 -1.79008338e-03 6.50872944e+00] [ 3.65690315e-02 -8.96436440e-04 9.99330727e-01 4.46925275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.799254154 meters Centerline goodness : 0.999548 with order 1 Centerline is valid? [True, True] Translation: X:124.73, Y:6.51, Z:4.47 [[ 9.96601506e-01 -7.38277540e-02 -3.65362924e-02 1.24726269e+02] [ 7.38117691e-02 9.97270588e-01 -1.78801430e-03 6.51435552e+00] [ 3.65685749e-02 -9.14870639e-04 9.99330727e-01 4.47442576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.85925415399998 meters Centerline goodness : 0.999505 with order 1 Centerline is valid? [True, True] Translation: X:124.79, Y:6.52, Z:4.48 [[ 9.96571854e-01 -7.42268884e-02 -3.65363994e-02 1.24788676e+02] [ 7.42112516e-02 9.97240944e-01 -1.78582555e-03 6.51953580e+00] [ 3.65681497e-02 -9.31708447e-04 9.99330727e-01 4.47744153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.91925415399999 meters Centerline goodness : 0.999441 with order 1 Centerline is valid? [True, True] Translation: X:124.85, Y:6.52, Z:4.48 [[ 9.96480406e-01 -7.54445636e-02 -3.65365317e-02 1.24850484e+02] [ 7.54298438e-02 9.97149517e-01 -1.78311499e-03 6.52396949e+00] [ 3.65669113e-02 -9.79105731e-04 9.99330727e-01 4.48014278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.97925415399999 meters Centerline goodness : 0.999419 with order 1 Centerline is valid? [True, True] Translation: X:124.91, Y:6.53, Z:4.48 [[ 9.96258182e-01 -7.83243723e-02 -3.65366646e-02 1.24911710e+02] [ 7.83116864e-02 9.96927334e-01 -1.78038778e-03 6.52779123e+00] [ 3.65638474e-02 -1.08752193e-03 9.99330727e-01 4.48194815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.03925415399999 meters Centerline goodness : 0.999484 with order 1 Centerline is valid? [True, True] Translation: X:124.97, Y:6.53, Z:4.48 [[ 9.95556105e-01 -8.67934681e-02 -3.65367625e-02 1.24973701e+02] [ 8.67865466e-02 9.96225342e-01 -1.77837660e-03 6.53071419e+00] [ 3.65532002e-02 -1.40042576e-03 9.99330727e-01 4.48304486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.099254154 meters Centerline goodness : 0.999613 with order 1 Centerline is valid? [True, True] Translation: X:125.04, Y:6.53, Z:4.48 [[ 9.94892997e-01 -9.40902812e-02 -3.65368911e-02 1.25036507e+02] [ 9.40883635e-02 9.95562267e-01 -1.77573001e-03 6.53372756e+00] [ 3.65418291e-02 -1.67103494e-03 9.99330727e-01 4.48497147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.159254154 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:125.10, Y:6.54, Z:4.49 [[ 9.93969428e-01 -1.03391574e-01 -3.65370817e-02 1.25098044e+02] [ 1.03396061e-01 9.94638686e-01 -1.77180075e-03 6.53694091e+00] [ 3.65243842e-02 -2.01667454e-03 9.99330727e-01 4.48716704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.21925415399998 meters Centerline goodness : 0.999506 with order 1 Centerline is valid? [True, True] Translation: X:125.16, Y:6.54, Z:4.49 [[ 9.93578546e-01 -1.07082642e-01 -3.65373806e-02 1.25160589e+02] [ 1.07089841e-01 9.94247780e-01 -1.76561528e-03 6.54016445e+00] [ 3.65162763e-02 -2.15850481e-03 9.99330727e-01 4.48992766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.27925415399999 meters Centerline goodness : 0.999571 with order 1 Centerline is valid? [True, True] Translation: X:125.22, Y:6.54, Z:4.49 [[ 9.93403997e-01 -1.08689947e-01 -3.65375683e-02 1.25222102e+02] [ 1.08698371e-01 9.94073217e-01 -1.76172163e-03 6.54375110e+00] [ 3.65124995e-02 -2.22147284e-03 9.99330727e-01 4.49193302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.33925415399999 meters Centerline goodness : 0.999635 with order 1 Centerline is valid? [True, True] Translation: X:125.28, Y:6.55, Z:4.49 [[ 9.93579353e-01 -1.07074986e-01 -3.65378742e-02 1.25284917e+02] [ 1.07082556e-01 9.94248583e-01 -1.75535519e-03 6.54817274e+00] [ 3.65156842e-02 -2.16848427e-03 9.99330727e-01 4.49377131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.39925415399999 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:125.35, Y:6.55, Z:4.50 [[ 9.94118199e-01 -1.01950856e-01 -3.65380553e-02 1.25347221e+02] [ 1.01955114e-01 9.94787458e-01 -1.75157580e-03 6.55362980e+00] [ 3.65261738e-02 -1.98396820e-03 9.99330727e-01 4.49662251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.45925415399999 meters Centerline goodness : 0.999482 with order 1 Centerline is valid? [True, True] Translation: X:125.41, Y:6.56, Z:4.50 [[ 9.94840311e-01 -9.46452103e-02 -3.65381825e-02 1.25410189e+02] [ 9.46446486e-02 9.95509584e-01 -1.74891810e-03 6.56030547e+00] [ 3.65396376e-02 -1.71824922e-03 9.99330727e-01 4.49923387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.519254154 meters Centerline goodness : 0.999589 with order 1 Centerline is valid? [True, True] Translation: X:125.47, Y:6.57, Z:4.50 [[ 9.95462116e-01 -8.78642346e-02 -3.65383738e-02 1.25473019e+02] [ 8.78592593e-02 9.96131370e-01 -1.74491242e-03 6.56555620e+00] [ 3.65503358e-02 -1.47324025e-03 9.99330727e-01 4.50257360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.579254154 meters Centerline goodness : 0.999437 with order 1 Centerline is valid? [True, True] Translation: X:125.54, Y:6.57, Z:4.51 [[ 9.96490885e-01 -7.53050447e-02 -3.65385672e-02 1.25536024e+02] [ 7.52917796e-02 9.97160026e-01 -1.74085357e-03 6.57258923e+00] [ 3.65658937e-02 -1.01630904e-03 9.99330727e-01 4.50535823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.63925415399999 meters Centerline goodness : 0.999588 with order 1 Centerline is valid? [True, True] Translation: X:125.60, Y:6.58, Z:4.51 [[ 9.96843108e-01 -7.04892667e-02 -3.65387591e-02 1.25597807e+02] [ 7.04729164e-02 9.97512181e-01 -1.73681750e-03 6.57669146e+00] [ 3.65702842e-02 -8.43658353e-04 9.99330727e-01 4.50777692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.69925415399999 meters Centerline goodness : 0.999500 with order 1 Centerline is valid? [True, True] Translation: X:125.66, Y:6.58, Z:4.51 [[ 9.97473415e-01 -6.09236956e-02 -3.65388856e-02 1.25659938e+02] [ 6.09010256e-02 9.98142303e-01 -1.73415205e-03 6.58176523e+00] [ 3.65766584e-02 -4.95485033e-04 9.99330727e-01 4.51062507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.75925415399999 meters Centerline goodness : 0.999563 with order 1 Centerline is valid? [True, True] Translation: X:125.72, Y:6.59, Z:4.51 [[ 9.98139419e-01 -4.88118931e-02 -3.65390148e-02 1.25721552e+02] [ 4.87812055e-02 9.98807988e-01 -1.73142498e-03 6.58697886e+00] [ 3.65799740e-02 -5.42136687e-05 9.99330727e-01 4.51281300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.81925415399999 meters Centerline goodness : 0.999541 with order 1 Centerline is valid? [True, True] Translation: X:125.78, Y:6.59, Z:4.52 [[ 9.98407328e-01 -4.29849103e-02 -3.65390787e-02 1.25781465e+02] [ 4.29503702e-02 9.99075709e-01 -1.73007635e-03 6.59016293e+00] [ 3.65796731e-02 1.57953951e-04 9.99330727e-01 4.51507765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.879254154 meters Centerline goodness : 0.999542 with order 1 Centerline is valid? [True, True] Translation: X:125.84, Y:6.59, Z:4.52 [[ 9.98541274e-01 -3.97520336e-02 -3.65390147e-02 1.25839559e+02] [ 3.97152802e-02 9.99209537e-01 -1.73142606e-03 6.59114264e+00] [ 3.65789597e-02 2.77743178e-04 9.99330727e-01 4.51726884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.939254154 meters Centerline goodness : 0.999564 with order 1 Centerline is valid? [True, True] Translation: X:125.90, Y:6.59, Z:4.52 [[ 9.98490235e-01 -4.10142558e-02 -3.65387765e-02 1.25898544e+02] [ 4.09781638e-02 9.99158533e-01 -1.73643890e-03 6.59095570e+00] [ 3.65792491e-02 2.36525314e-04 9.99330727e-01 4.51626772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.99925415399998 meters Centerline goodness : 0.999566 with order 1 Centerline is valid? [True, True] Translation: X:125.96, Y:6.59, Z:4.52 [[ 9.98017584e-01 -5.12431331e-02 -3.65382552e-02 1.25955861e+02] [ 5.12134916e-02 9.98686200e-01 -1.74733842e-03 6.58781948e+00] [ 3.65797904e-02 -1.27377155e-04 9.99330727e-01 4.52162818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.05925415399999 meters Centerline goodness : 0.999545 with order 1 Centerline is valid? [True, True] Translation: X:126.02, Y:6.59, Z:4.52 [[ 9.97503209e-01 -6.04344511e-02 -3.65379942e-02 1.26015155e+02] [ 6.04107707e-02 9.98172063e-01 -1.75277969e-03 6.58624208e+00] [ 3.65771333e-02 -4.58885028e-04 9.99330727e-01 4.52346442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.11925415399999 meters Centerline goodness : 0.999504 with order 1 Centerline is valid? [True, True] Translation: X:126.08, Y:6.58, Z:4.53 [[ 9.96552310e-01 -7.44880739e-02 -3.65379307e-02 1.26077189e+02] [ 7.44737748e-02 9.97221430e-01 -1.75410323e-03 6.58162953e+00] [ 3.65670672e-02 -9.73061994e-04 9.99330727e-01 4.52531335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.17925415399999 meters Centerline goodness : 0.999227 with order 1 Centerline is valid? [True, True] Translation: X:126.14, Y:6.58, Z:4.53 [[ 9.95913293e-01 -8.25935120e-02 -3.65379957e-02 1.26138311e+02] [ 8.25847070e-02 9.96582507e-01 -1.75274685e-03 6.57907105e+00] [ 3.65578929e-02 -1.27189578e-03 9.99330727e-01 4.52696003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.239254154 meters Centerline goodness : 0.999359 with order 1 Centerline is valid? [True, True] Translation: X:126.20, Y:6.57, Z:4.53 [[ 9.95145964e-01 -9.13754827e-02 -3.65380923e-02 1.26201256e+02] [ 9.13726551e-02 9.95815230e-01 -1.75073191e-03 6.57425788e+00] [ 3.65451628e-02 -1.59634871e-03 9.99330727e-01 4.52938363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.299254154 meters Centerline goodness : 0.999316 with order 1 Centerline is valid? [True, True] Translation: X:126.26, Y:6.57, Z:4.53 [[ 9.94800462e-01 -9.50631302e-02 -3.65382183e-02 1.26264696e+02] [ 9.50628796e-02 9.95469735e-01 -1.74809839e-03 6.57224211e+00] [ 3.65388702e-02 -1.73441916e-03 9.99330727e-01 4.53126408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.35925415399998 meters Centerline goodness : 0.999299 with order 1 Centerline is valid? [True, True] Translation: X:126.33, Y:6.57, Z:4.53 [[ 9.94628773e-01 -9.68429041e-02 -3.65384112e-02 1.26328022e+02] [ 9.68439992e-02 9.95298045e-01 -1.74405668e-03 6.56828680e+00] [ 3.65355087e-02 -1.80383690e-03 9.99330727e-01 4.53221749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.41925415399999 meters Centerline goodness : 0.999087 with order 1 Centerline is valid? [True, True] Translation: X:126.39, Y:6.57, Z:4.53 [[ 9.94682668e-01 -9.62876892e-02 -3.65386095e-02 1.26391264e+02] [ 9.62885632e-02 9.95351940e-01 -1.73989186e-03 6.56782871e+00] [ 3.65363061e-02 -1.78760994e-03 9.99330727e-01 4.53311060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.47925415399999 meters Centerline goodness : 0.999172 with order 1 Centerline is valid? [True, True] Translation: X:126.45, Y:6.57, Z:4.53 [[ 9.94914803e-01 -9.38586780e-02 -3.65388048e-02 1.26453615e+02] [ 9.38580686e-02 9.95584075e-01 -1.73578067e-03 6.56720326e+00] [ 3.65403703e-02 -1.70250776e-03 9.99330727e-01 4.53360116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.53925415399999 meters Centerline goodness : 0.999001 with order 1 Centerline is valid? [True, True] Translation: X:126.52, Y:6.57, Z:4.53 [[ 9.95061961e-01 -9.22854290e-02 -3.65389338e-02 1.26516313e+02] [ 9.22838610e-02 9.95731232e-01 -1.73306104e-03 6.56833045e+00] [ 3.65428938e-02 -1.64745077e-03 9.99330727e-01 4.53398464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.599254154 meters Centerline goodness : 0.998939 with order 1 Centerline is valid? [True, True] Translation: X:126.58, Y:6.56, Z:4.52 [[ 9.96051235e-01 -8.09125117e-02 -3.65390631e-02 1.26579717e+02] [ 8.09033985e-02 9.96720445e-01 -1.73033127e-03 6.55893112e+00] [ 3.65592367e-02 -1.23263579e-03 9.99330727e-01 4.52071739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.659254154 meters Centerline goodness : 0.999298 with order 1 Centerline is valid? [True, True] Translation: X:126.64, Y:6.57, Z:4.53 [[ 9.95308028e-01 -8.95924987e-02 -3.65391960e-02 1.26640373e+02] [ 8.95893227e-02 9.95977293e-01 -1.72752102e-03 6.57270622e+00] [ 3.65469824e-02 -1.55410628e-03 9.99330727e-01 4.53298499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.71925415399998 meters Centerline goodness : 0.999129 with order 1 Centerline is valid? [True, True] Translation: X:126.70, Y:6.58, Z:4.54 [[ 9.95169171e-01 -9.11218903e-02 -3.65393330e-02 1.26702352e+02] [ 9.11198492e-02 9.95838440e-01 -1.72461697e-03 6.57567535e+00] [ 3.65444228e-02 -1.61317287e-03 9.99330727e-01 4.53851136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.77925415399999 meters Centerline goodness : 0.999044 with order 1 Centerline is valid? [True, True] Translation: X:126.76, Y:6.58, Z:4.54 [[ 9.94949753e-01 -9.34871941e-02 -3.65394718e-02 1.26763929e+02] [ 9.34868518e-02 9.95619026e-01 -1.72167169e-03 6.57990159e+00] [ 3.65403476e-02 -1.70298336e-03 9.99330727e-01 4.54170741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.83925415399999 meters Centerline goodness : 0.999278 with order 1 Centerline is valid? [True, True] Translation: X:126.83, Y:6.58, Z:4.55 [[ 9.94603271e-01 -9.71040234e-02 -3.65395994e-02 1.26825875e+02] [ 9.71062138e-02 9.95272540e-01 -1.71896002e-03 6.58374111e+00] [ 3.65337778e-02 -1.83853889e-03 9.99330727e-01 4.54660890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.89925415399999 meters Centerline goodness : 0.999090 with order 1 Centerline is valid? [True, True] Translation: X:126.89, Y:6.59, Z:4.55 [[ 9.94300043e-01 -1.00161230e-01 -3.65397276e-02 1.26887615e+02] [ 1.00165578e-01 9.94969302e-01 -1.71622989e-03 6.58651240e+00] [ 3.65278069e-02 -1.95357550e-03 9.99330727e-01 4.54915219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.95925415399999 meters Centerline goodness : 0.999366 with order 1 Centerline is valid? [True, True] Translation: X:126.95, Y:6.59, Z:4.55 [[ 9.93946372e-01 -1.03612012e-01 -3.65398539e-02 1.26948275e+02] [ 1.03618782e-01 9.94615610e-01 -1.71353727e-03 6.58948176e+00] [ 3.65206521e-02 -2.08305101e-03 9.99330727e-01 4.55126779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.019254154 meters Centerline goodness : 0.999049 with order 1 Centerline is valid? [True, True] Translation: X:127.01, Y:6.59, Z:4.55 [[ 9.93310129e-01 -1.09543651e-01 -3.65400556e-02 1.27011503e+02] [ 1.09554574e-01 9.93979313e-01 -1.70922367e-03 6.59156688e+00] [ 3.65072940e-02 -2.30534103e-03 9.99330727e-01 4.55339906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.079254154 meters Centerline goodness : 0.999091 with order 1 Centerline is valid? [True, True] Translation: X:127.07, Y:6.59, Z:4.56 [[ 9.92953779e-01 -1.12728003e-01 -3.65402440e-02 1.27074346e+02] [ 1.12741219e-01 9.93622921e-01 -1.70518793e-03 6.59479337e+00] [ 3.64994464e-02 -2.42641885e-03 9.99330727e-01 4.55553730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.13925415399999 meters Centerline goodness : 0.999345 with order 1 Centerline is valid? [True, True] Translation: X:127.13, Y:6.60, Z:4.56 [[ 9.92696185e-01 -1.14974263e-01 -3.65404303e-02 1.27134999e+02] [ 1.14989139e-01 9.93365292e-01 -1.70118543e-03 6.59838866e+00] [ 3.64935878e-02 -2.51299234e-03 9.99330727e-01 4.55707701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.19925415399999 meters Centerline goodness : 0.999089 with order 1 Centerline is valid? [True, True] Translation: X:127.20, Y:6.59, Z:4.55 [[ 9.93415868e-01 -1.08580402e-01 -3.65405217e-02 1.27197812e+02] [ 1.08591043e-01 9.94085056e-01 -1.69922083e-03 6.59442620e+00] [ 3.65088886e-02 -2.27994041e-03 9.99330727e-01 4.54713341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.25925415399999 meters Centerline goodness : 0.999301 with order 1 Centerline is valid? [True, True] Translation: X:127.26, Y:6.61, Z:4.56 [[ 9.92823334e-01 -1.13871018e-01 -3.65406488e-02 1.27258601e+02] [ 1.13885323e-01 9.93492453e-01 -1.69648162e-03 6.60855462e+00] [ 3.64960390e-02 -2.47713706e-03 9.99330728e-01 4.56129435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.31925415399999 meters Centerline goodness : 0.999341 with order 1 Centerline is valid? [True, True] Translation: X:127.32, Y:6.61, Z:4.55 [[ 9.93855802e-01 -1.04476873e-01 -3.65407758e-02 1.27321121e+02] [ 1.04484950e-01 9.94525026e-01 -1.69374359e-03 6.60650142e+00] [ 3.65176730e-02 -2.13462423e-03 9.99330728e-01 4.55262575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.379254154 meters Centerline goodness : 0.999040 with order 1 Centerline is valid? [True, True] Translation: X:127.38, Y:6.61, Z:4.55 [[ 9.94146382e-01 -1.01674647e-01 -3.65409060e-02 1.27382110e+02] [ 1.01680941e-01 9.94815625e-01 -1.69092814e-03 6.61303089e+00] [ 3.65233888e-02 -2.03448361e-03 9.99330728e-01 4.55433388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.439254154 meters Centerline goodness : 0.999382 with order 1 Centerline is valid? [True, True] Translation: X:127.44, Y:6.63, Z:4.57 [[ 9.93333117e-01 -1.09334691e-01 -3.65410020e-02 1.27442218e+02] [ 1.09346220e-01 9.94002290e-01 -1.68885277e-03 6.62658156e+00] [ 3.65064898e-02 -2.31802704e-03 9.99330728e-01 4.56912815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.49925415399998 meters Centerline goodness : 0.999299 with order 1 Centerline is valid? [True, True] Translation: X:127.50, Y:6.63, Z:4.57 [[ 9.93254740e-01 -1.10044403e-01 -3.65410958e-02 1.27504078e+02] [ 1.10056484e-01 9.93923903e-01 -1.68681967e-03 6.63052590e+00] [ 3.65046936e-02 -2.34614290e-03 9.99330728e-01 4.57129906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.55925415399999 meters Centerline goodness : 0.999233 with order 1 Centerline is valid? [True, True] Translation: X:127.57, Y:6.63, Z:4.57 [[ 9.93090119e-01 -1.11520186e-01 -3.65412498e-02 1.27566959e+02] [ 1.11533384e-01 9.93759262e-01 -1.68347639e-03 6.63482608e+00] [ 3.65009471e-02 -2.40372549e-03 9.99330728e-01 4.57363890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.61925415399999 meters Centerline goodness : 0.999359 with order 1 Centerline is valid? [True, True] Translation: X:127.63, Y:6.64, Z:4.57 [[ 9.92907442e-01 -1.13135030e-01 -3.65414322e-02 1.27628783e+02] [ 1.13149462e-01 9.93576559e-01 -1.67950866e-03 6.63858521e+00] [ 3.64967217e-02 -2.46704673e-03 9.99330728e-01 4.57468938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.67925415399999 meters Centerline goodness : 0.999191 with order 1 Centerline is valid? [True, True] Translation: X:127.69, Y:6.63, Z:4.56 [[ 9.93659309e-01 -1.06329173e-01 -3.65415516e-02 1.27691481e+02] [ 1.06339114e-01 9.94328507e-01 -1.67690602e-03 6.63250527e+00] [ 3.65126105e-02 -2.21952296e-03 9.99330728e-01 4.56410608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.739254154 meters Centerline goodness : 0.999381 with order 1 Centerline is valid? [True, True] Translation: X:127.75, Y:6.64, Z:4.57 [[ 9.92817073e-01 -1.13925262e-01 -3.65416835e-02 1.27751627e+02] [ 1.13940426e-01 9.93486173e-01 -1.67402798e-03 6.64493184e+00] [ 3.64943714e-02 -2.50157144e-03 9.99330728e-01 4.57225081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.799254154 meters Centerline goodness : 0.999509 with order 1 Centerline is valid? [True, True] Translation: X:127.81, Y:6.65, Z:4.58 [[ 9.92818328e-01 -1.13914291e-01 -3.65417920e-02 1.27813816e+02] [ 1.13929535e-01 9.93487427e-01 -1.67165557e-03 6.64970096e+00] [ 3.64942364e-02 -2.50353909e-03 9.99330728e-01 4.57923887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.85925415399998 meters Centerline goodness : 0.999550 with order 1 Centerline is valid? [True, True] Translation: X:127.88, Y:6.66, Z:4.58 [[ 9.93601373e-01 -1.06869076e-01 -3.65419275e-02 1.27875715e+02] [ 1.06879682e-01 9.94270561e-01 -1.66868829e-03 6.65665810e+00] [ 3.65108940e-02 -2.24757863e-03 9.99330728e-01 4.58397124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.91925415399999 meters Centerline goodness : 0.999463 with order 1 Centerline is valid? [True, True] Translation: X:127.94, Y:6.66, Z:4.59 [[ 9.94365020e-01 -9.95132390e-02 -3.65420502e-02 1.27938097e+02] [ 9.95189915e-02 9.95034268e-01 -1.66599784e-03 6.66291646e+00] [ 3.65263810e-02 -1.98001801e-03 9.99330728e-01 4.58731230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.97925415399999 meters Centerline goodness : 0.999442 with order 1 Centerline is valid? [True, True] Translation: X:128.00, Y:6.67, Z:4.59 [[ 9.95556101e-01 -8.67912360e-02 -3.65421738e-02 1.27999949e+02] [ 8.67885305e-02 9.96225368e-01 -1.66328301e-03 6.67067632e+00] [ 3.65485989e-02 -1.51555002e-03 9.99330728e-01 4.58918944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.03925415399999 meters Centerline goodness : 0.999374 with order 1 Centerline is valid? [True, True] Translation: X:128.06, Y:6.66, Z:4.58 [[ 9.97059370e-01 -6.73592743e-02 -3.65423259e-02 1.28061955e+02] [ 6.73436399e-02 9.97728459e-01 -1.65993281e-03 6.66346128e+00] [ 3.65711304e-02 -8.05841676e-04 9.99330728e-01 4.57545728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.099254154 meters Centerline goodness : 0.999372 with order 1 Centerline is valid? [True, True] Translation: X:128.12, Y:6.68, Z:4.59 [[ 9.96833272e-01 -7.06263534e-02 -3.65423891e-02 1.28120825e+02] [ 7.06129627e-02 9.97502410e-01 -1.65854123e-03 6.68296370e+00] [ 3.65682579e-02 -9.27077282e-04 9.99330728e-01 4.59233418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.159254154 meters Centerline goodness : 0.999632 with order 1 Centerline is valid? [True, True] Translation: X:128.18, Y:6.69, Z:4.59 [[ 9.97059424e-01 -6.73584151e-02 -3.65424198e-02 1.28183216e+02] [ 6.73428559e-02 9.97728516e-01 -1.65786439e-03 6.68715918e+00] [ 3.65710854e-02 -8.07881596e-04 9.99330728e-01 4.59426817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.21925415399998 meters Centerline goodness : 0.999566 with order 1 Centerline is valid? [True, True] Translation: X:128.25, Y:6.69, Z:4.60 [[ 9.97232408e-01 -6.47469504e-02 -3.65425417e-02 1.28245368e+02] [ 6.47297375e-02 9.97901459e-01 -1.65517244e-03 6.69090234e+00] [ 3.65730231e-02 -7.14797542e-04 9.99330728e-01 4.59676656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.27925415399999 meters Centerline goodness : 0.999436 with order 1 Centerline is valid? [True, True] Translation: X:128.31, Y:6.69, Z:4.60 [[ 9.97271937e-01 -6.41351518e-02 -3.65426643e-02 1.28307876e+02] [ 6.41176278e-02 9.97940980e-01 -1.65246172e-03 6.69383333e+00] [ 3.65734031e-02 -6.95075251e-04 9.99330728e-01 4.59895381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.33925415399999 meters Centerline goodness : 0.999500 with order 1 Centerline is valid? [True, True] Translation: X:128.37, Y:6.70, Z:4.60 [[ 9.97216382e-01 -6.49931624e-02 -3.65427881e-02 1.28369302e+02] [ 6.49763145e-02 9.97885443e-01 -1.64971962e-03 6.69661377e+00] [ 3.65727368e-02 -7.29288258e-04 9.99330728e-01 4.60020546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.39925415399999 meters Centerline goodness : 0.999306 with order 1 Centerline is valid? [True, True] Translation: X:128.43, Y:6.70, Z:4.60 [[ 9.97115889e-01 -6.65170737e-02 -3.65428794e-02 1.28431487e+02] [ 6.65013225e-02 9.97784976e-01 -1.64769415e-03 6.69956117e+00] [ 3.65715359e-02 -7.87207794e-04 9.99330728e-01 4.60249365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.45925415399999 meters Centerline goodness : 0.999502 with order 1 Centerline is valid? [True, True] Translation: X:128.49, Y:6.70, Z:4.60 [[ 9.96782205e-01 -7.13431547e-02 -3.65430020e-02 1.28493923e+02] [ 7.13307423e-02 9.97451362e-01 -1.64497184e-03 6.70259746e+00] [ 3.65672246e-02 -9.66960795e-04 9.99330728e-01 4.60491590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.519254154 meters Centerline goodness : 0.999590 with order 1 Centerline is valid? [True, True] Translation: X:128.56, Y:6.70, Z:4.61 [[ 9.96444719e-01 -7.59112723e-02 -3.65431229e-02 1.28555621e+02] [ 7.59020258e-02 9.97113928e-01 -1.64228015e-03 6.70374748e+00] [ 3.65623244e-02 -1.13725568e-03 9.99330728e-01 4.60687494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.579254154 meters Centerline goodness : 0.999568 with order 1 Centerline is valid? [True, True] Translation: X:128.62, Y:6.70, Z:4.61 [[ 9.95779895e-01 -8.41842747e-02 -3.65432446e-02 1.28616704e+02] [ 8.41806858e-02 9.96449158e-01 -1.63956790e-03 6.70408566e+00] [ 3.65515112e-02 -1.44358664e-03 9.99330728e-01 4.60801350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.63925415399999 meters Centerline goodness : 0.999504 with order 1 Centerline is valid? [True, True] Translation: X:128.68, Y:6.71, Z:4.61 [[ 9.95377842e-01 -8.88118084e-02 -3.65433345e-02 1.28679328e+02] [ 8.88114038e-02 9.96047114e-01 -1.63756221e-03 6.70592211e+00] [ 3.65443177e-02 -1.61547170e-03 9.99330728e-01 4.61069679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.69925415399999 meters Centerline goodness : 0.999462 with order 1 Centerline is valid? [True, True] Translation: X:128.74, Y:6.69, Z:4.60 [[ 9.96180775e-01 -7.92996485e-02 -3.65435134e-02 1.28741016e+02] [ 7.92929975e-02 9.96850015e-01 -1.63355985e-03 6.69258810e+00] [ 3.65579426e-02 -1.27032380e-03 9.99330728e-01 4.59629990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.75925415399999 meters Centerline goodness : 0.999397 with order 1 Centerline is valid? [True, True] Translation: X:128.80, Y:6.70, Z:4.60 [[ 9.96053322e-01 -8.08848024e-02 -3.65435134e-02 1.28802416e+02] [ 8.08792164e-02 9.96722571e-01 -1.63355985e-03 6.69546679e+00] [ 3.65558748e-02 -1.32849802e-03 9.99330728e-01 4.59927780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.81925415399999 meters Centerline goodness : 0.999461 with order 1 Centerline is valid? [True, True] Translation: X:128.86, Y:6.71, Z:4.62 [[ 9.95305450e-01 -8.96193344e-02 -3.65436087e-02 1.28861178e+02] [ 8.96196976e-02 9.95974723e-01 -1.63142475e-03 6.71173131e+00] [ 3.65427178e-02 -1.65126122e-03 9.99330728e-01 4.61779904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.879254154 meters Centerline goodness : 0.999398 with order 1 Centerline is valid? [True, True] Translation: X:128.92, Y:6.71, Z:4.62 [[ 9.95577156e-01 -8.65487219e-02 -3.65437473e-02 1.28922989e+02] [ 8.65471347e-02 9.96246426e-01 -1.62831552e-03 6.71495613e+00] [ 3.65475063e-02 -1.54164289e-03 9.99330728e-01 4.61965671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.939254154 meters Centerline goodness : 0.999547 with order 1 Centerline is valid? [True, True] Translation: X:128.98, Y:6.72, Z:4.62 [[ 9.96059288e-01 -8.08111444e-02 -3.65438674e-02 1.28984640e+02] [ 8.08058000e-02 9.96728539e-01 -1.62561470e-03 6.71842661e+00] [ 3.65556834e-02 -1.33374782e-03 9.99330728e-01 4.62050410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.99925415399998 meters Centerline goodness : 0.999504 with order 1 Centerline is valid? [True, True] Translation: X:129.05, Y:6.72, Z:4.62 [[ 9.96442890e-01 -7.59348614e-02 -3.65439871e-02 1.29046726e+02] [ 7.59263401e-02 9.97112109e-01 -1.62292032e-03 6.72212314e+00] [ 3.65616882e-02 -1.15750378e-03 9.99330728e-01 4.62251875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.059254154 meters Centerline goodness : 0.999567 with order 1 Centerline is valid? [True, True] Translation: X:129.11, Y:6.73, Z:4.62 [[ 9.97014423e-01 -6.80203583e-02 -3.65441073e-02 1.29107410e+02] [ 6.80066227e-02 9.97683554e-01 -1.62020949e-03 6.72765967e+00] [ 3.65696621e-02 -8.69869084e-04 9.99330728e-01 4.62481000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.119254154 meters Centerline goodness : 0.999589 with order 1 Centerline is valid? [True, True] Translation: X:129.17, Y:6.73, Z:4.63 [[ 9.97397097e-01 -6.21574883e-02 -3.65441959e-02 1.29169008e+02] [ 6.21398924e-02 9.98066138e-01 -1.61820740e-03 6.73168293e+00] [ 3.65741082e-02 -6.56857035e-04 9.99330728e-01 4.62709432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.179254154 meters Centerline goodness : 0.999544 with order 1 Centerline is valid? [True, True] Translation: X:129.23, Y:6.74, Z:4.63 [[ 9.97929391e-01 -5.29286728e-02 -3.65443116e-02 1.29230129e+02] [ 5.29049846e-02 9.98598244e-01 -1.61559172e-03 6.73664808e+00] [ 3.65785965e-02 -3.21129783e-04 9.99330728e-01 4.62738247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.239254154 meters Centerline goodness : 0.999522 with order 1 Centerline is valid? [True, True] Translation: X:129.29, Y:6.74, Z:4.63 [[ 9.98202858e-01 -4.74927652e-02 -3.65443817e-02 1.29288280e+02] [ 4.74654926e-02 9.98871574e-01 -1.61400262e-03 6.73892964e+00] [ 3.65797976e-02 -1.23495049e-04 9.99330728e-01 4.63461047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.299254154 meters Centerline goodness : 0.999436 with order 1 Centerline is valid? [True, True] Translation: X:129.35, Y:6.74, Z:4.64 [[ 9.98386487e-01 -4.34619172e-02 -3.65442763e-02 1.29347237e+02] [ 4.34318575e-02 9.99055084e-01 -1.61638754e-03 6.74171440e+00] [ 3.65799963e-02 2.65936779e-05 9.99330728e-01 4.63771704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.359254154 meters Centerline goodness : 0.999565 with order 1 Centerline is valid? [True, True] Translation: X:129.41, Y:6.74, Z:4.64 [[ 9.98488648e-01 -4.10483318e-02 -3.65438579e-02 1.29405752e+02] [ 4.10163117e-02 9.99157154e-01 -1.62579197e-03 6.74260208e+00] [ 3.65797931e-02 1.24440558e-04 9.99330728e-01 4.63636273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.41925415400001 meters Centerline goodness : 0.999522 with order 1 Centerline is valid? [True, True] Translation: X:129.46, Y:6.74, Z:4.64 [[ 9.98377429e-01 -4.36702400e-02 -3.65433905e-02 1.29463888e+02] [ 4.36395935e-02 9.99045999e-01 -1.63623022e-03 6.74228815e+00] [ 3.65799826e-02 3.88366143e-05 9.99330728e-01 4.64096914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.47925415400002 meters Centerline goodness : 0.999523 with order 1 Centerline is valid? [True, True] Translation: X:129.52, Y:6.74, Z:4.64 [[ 9.98174741e-01 -4.80809739e-02 -3.65432106e-02 1.29521683e+02] [ 4.80531349e-02 9.98843434e-01 -1.64023891e-03 6.74171098e+00] [ 3.65798102e-02 -1.18770778e-04 9.99330728e-01 4.64196289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.539254154 meters Centerline goodness : 0.999417 with order 1 Centerline is valid? [True, True] Translation: X:129.58, Y:6.74, Z:4.64 [[ 9.97880740e-01 -5.38391916e-02 -3.65427296e-02 1.29579926e+02] [ 5.38148212e-02 9.98549568e-01 -1.65088538e-03 6.74060989e+00] [ 3.65786092e-02 -3.19153737e-04 9.99330728e-01 4.64354770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.599254154 meters Centerline goodness : 0.999355 with order 1 Centerline is valid? [True, True] Translation: X:129.64, Y:6.74, Z:4.65 [[ 9.97412541e-01 -6.19103127e-02 -3.65422492e-02 1.29639881e+02] [ 6.18909670e-02 9.98081534e-01 -1.66145165e-03 6.73679877e+00] [ 3.65750051e-02 -6.04482427e-04 9.99330728e-01 4.64558827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.659254154 meters Centerline goodness : 0.999334 with order 1 Centerline is valid? [True, True] Translation: X:129.70, Y:6.74, Z:4.65 [[ 9.97096981e-01 -6.68002948e-02 -3.65421883e-02 1.29700579e+02] [ 6.67841807e-02 9.97766059e-01 -1.66278971e-03 6.73552980e+00] [ 3.65716300e-02 -7.82477501e-04 9.99330728e-01 4.64791580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.719254154 meters Centerline goodness : 0.999166 with order 1 Centerline is valid? [True, True] Translation: X:129.76, Y:6.72, Z:4.64 [[ 9.97369693e-01 -6.25968323e-02 -3.65421883e-02 1.29761892e+02] [ 6.25778981e-02 9.98038698e-01 -1.66278971e-03 6.72176481e+00] [ 3.65746034e-02 -6.28317268e-04 9.99330728e-01 4.63628558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.779254154 meters Centerline goodness : 0.998953 with order 1 Centerline is valid? [True, True] Translation: X:129.82, Y:6.72, Z:4.64 [[ 9.96796439e-01 -7.11444133e-02 -3.65421883e-02 1.29822281e+02] [ 7.11312147e-02 9.97465581e-01 -1.66278971e-03 6.72176906e+00] [ 3.65678733e-02 -9.41827376e-04 9.99330728e-01 4.64260882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.839254154 meters Centerline goodness : 0.999125 with order 1 Centerline is valid? [True, True] Translation: X:129.88, Y:6.73, Z:4.65 [[ 9.95820355e-01 -8.37047715e-02 -3.65421883e-02 1.29882455e+02] [ 8.37000095e-02 9.96489610e-01 -1.66278971e-03 6.72949776e+00] [ 3.65530944e-02 -1.40274166e-03 9.99330728e-01 4.65448561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.899254154 meters Centerline goodness : 0.999190 with order 1 Centerline is valid? [True, True] Translation: X:129.94, Y:6.73, Z:4.66 [[ 9.95335945e-01 -8.92805571e-02 -3.65422853e-02 1.29943441e+02] [ 8.92796215e-02 9.96005217e-01 -1.66065592e-03 6.72833772e+00] [ 3.65445710e-02 -1.60957087e-03 9.99330728e-01 4.65543793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.959254154 meters Centerline goodness : 0.999170 with order 1 Centerline is valid? [True, True] Translation: X:130.01, Y:6.72, Z:4.65 [[ 9.95782886e-01 -8.41492190e-02 -3.65424816e-02 1.30006117e+02] [ 8.41449926e-02 9.96452145e-01 -1.65632349e-03 6.72102559e+00] [ 3.65522125e-02 -1.42552826e-03 9.99330728e-01 4.64884476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.019254154 meters Centerline goodness : 0.999363 with order 1 Centerline is valid? [True, True] Translation: X:130.07, Y:6.73, Z:4.66 [[ 9.95007980e-01 -9.28641822e-02 -3.65426111e-02 1.30066447e+02] [ 9.28659203e-02 9.95677250e-01 -1.65346258e-03 6.72914348e+00] [ 3.65381940e-02 -1.74835474e-03 9.99330728e-01 4.65945162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.079254154 meters Centerline goodness : 0.999320 with order 1 Centerline is valid? [True, True] Translation: X:130.13, Y:6.73, Z:4.66 [[ 9.95065454e-01 -9.22462601e-02 -3.65427060e-02 1.30128134e+02] [ 9.22476595e-02 9.95734725e-01 -1.65136283e-03 6.73096749e+00] [ 3.65391733e-02 -1.72776499e-03 9.99330728e-01 4.66142079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.139254154 meters Centerline goodness : 0.999108 with order 1 Centerline is valid? [True, True] Translation: X:130.19, Y:6.73, Z:4.66 [[ 9.95255975e-01 -9.01674320e-02 -3.65428304e-02 1.30190650e+02] [ 9.01675343e-02 9.95925247e-01 -1.64860525e-03 6.73379354e+00] [ 3.65425779e-02 -1.65419269e-03 9.99330728e-01 4.66247856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.19925415400002 meters Centerline goodness : 0.999150 with order 1 Centerline is valid? [True, True] Translation: X:130.25, Y:6.73, Z:4.66 [[ 9.96365694e-01 -7.69416439e-02 -3.65429533e-02 1.30253131e+02] [ 7.69329578e-02 9.97034910e-01 -1.64587638e-03 6.73141773e+00] [ 3.65612366e-02 -1.17146272e-03 9.99330728e-01 4.65637398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.25925415400002 meters Centerline goodness : 0.999127 with order 1 Centerline is valid? [True, True] Translation: X:130.31, Y:6.74, Z:4.67 [[ 9.96597906e-01 -7.38729725e-02 -3.65430811e-02 1.30313196e+02] [ 7.38623297e-02 9.97267094e-01 -1.64303406e-03 6.74312774e+00] [ 3.65645881e-02 -1.06171280e-03 9.99330728e-01 4.66516173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.319254154 meters Centerline goodness : 0.999104 with order 1 Centerline is valid? [True, True] Translation: X:130.38, Y:6.75, Z:4.67 [[ 9.97108170e-01 -6.66325434e-02 -3.65431432e-02 1.30375438e+02] [ 6.66170910e-02 9.97777264e-01 -1.64165203e-03 6.74825139e+00] [ 3.65713049e-02 -7.97493238e-04 9.99330728e-01 4.66952308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.379254154 meters Centerline goodness : 0.999252 with order 1 Centerline is valid? [True, True] Translation: X:130.44, Y:6.75, Z:4.67 [[ 9.97760554e-01 -5.60220147e-02 -3.65432662e-02 1.30436711e+02] [ 5.59995461e-02 9.98429449e-01 -1.63890990e-03 6.75218100e+00] [ 3.65776881e-02 -4.11166664e-04 9.99330728e-01 4.67447043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.439254154 meters Centerline goodness : 0.999314 with order 1 Centerline is valid? [True, True] Translation: X:130.50, Y:6.76, Z:4.68 [[ 9.98374870e-01 -4.37287496e-02 -3.65433293e-02 1.30495495e+02] [ 4.36980957e-02 9.99043440e-01 -1.63750143e-03 6.75975210e+00] [ 3.65799793e-02 3.79663816e-05 9.99330728e-01 4.68037720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.499254154 meters Centerline goodness : 0.999271 with order 1 Centerline is valid? [True, True] Translation: X:130.55, Y:6.76, Z:4.68 [[ 9.98639957e-01 -3.71867105e-02 -3.65429100e-02 1.30552804e+02] [ 3.71513366e-02 9.99308294e-01 -1.64680505e-03 6.76280367e+00] [ 3.65788723e-02 2.86947373e-04 9.99330728e-01 4.67791335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.559254154 meters Centerline goodness : 0.999271 with order 1 Centerline is valid? [True, True] Translation: X:130.61, Y:6.77, Z:4.68 [[ 9.98810175e-01 -3.22935068e-02 -3.65426261e-02 1.30610748e+02] [ 3.22546293e-02 9.99478317e-01 -1.65308073e-03 6.76554186e+00] [ 3.65769462e-02 4.72444992e-04 9.99330728e-01 4.68115322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.619254154 meters Centerline goodness : 0.999592 with order 1 Centerline is valid? [True, True] Translation: X:130.67, Y:6.77, Z:4.68 [[ 9.98783782e-01 -3.30998979e-02 -3.65424779e-02 1.30668770e+02] [ 3.30614401e-02 9.99451949e-01 -1.65635142e-03 6.76697463e+00] [ 3.65772758e-02 4.46189989e-04 9.99330728e-01 4.68393648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.679254154 meters Centerline goodness : 0.999700 with order 1 Centerline is valid? [True, True] Translation: X:130.73, Y:6.77, Z:4.69 [[ 9.98541062e-01 -3.97546338e-02 -3.65419867e-02 1.30727014e+02] [ 3.97202354e-02 9.99209449e-01 -1.66711741e-03 6.76684864e+00] [ 3.65793740e-02 2.13228874e-04 9.99330728e-01 4.68523809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.739254154 meters Centerline goodness : 0.999573 with order 1 Centerline is valid? [True, True] Translation: X:130.78, Y:6.77, Z:4.69 [[ 9.98263155e-01 -4.62103157e-02 -3.65414966e-02 1.30784763e+02] [ 4.61798490e-02 9.98931733e-01 -1.67779047e-03 6.76613352e+00] [ 3.65799918e-02 -1.26043857e-05 9.99330728e-01 4.68643272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.799254154 meters Centerline goodness : 0.999466 with order 1 Centerline is valid? [True, True] Translation: X:130.84, Y:6.76, Z:4.69 [[ 9.97725576e-01 -5.66430038e-02 -3.65410013e-02 1.30842424e+02] [ 5.66191351e-02 9.98394422e-01 -1.68851096e-03 6.76356530e+00] [ 3.65779742e-02 -3.84249317e-04 9.99330728e-01 4.68885262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.859254154 meters Centerline goodness : 0.999171 with order 1 Centerline is valid? [True, True] Translation: X:130.90, Y:6.76, Z:4.69 [[ 9.97354817e-01 -6.28343969e-02 -3.65404930e-02 1.30901133e+02] [ 6.28142797e-02 9.98023786e-01 -1.69943858e-03 6.76287400e+00] [ 3.65750644e-02 -6.00321495e-04 9.99330728e-01 4.69091413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.91925415400001 meters Centerline goodness : 0.998876 with order 1 Centerline is valid? [True, True] Translation: X:130.96, Y:6.76, Z:4.69 [[ 9.96812492e-01 -7.09200633e-02 -3.65403992e-02 1.30961326e+02] [ 7.09052977e-02 9.97481601e-01 -1.70145313e-03 6.76218318e+00] [ 3.65690431e-02 -8.94878154e-04 9.99330728e-01 4.69267988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.97925415400002 meters Centerline goodness : 0.999026 with order 1 Centerline is valid? [True, True] Translation: X:131.02, Y:6.76, Z:4.70 [[ 9.96516025e-01 -7.49707665e-02 -3.65403374e-02 1.31022662e+02] [ 7.49586718e-02 9.97185187e-01 -1.70278057e-03 6.76270874e+00] [ 3.65651419e-02 -1.04216704e-03 9.99330728e-01 4.69510395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.039254154 meters Centerline goodness : 0.999324 with order 1 Centerline is valid? [True, True] Translation: X:131.08, Y:6.76, Z:4.70 [[ 9.96154730e-01 -7.96275956e-02 -3.65404005e-02 1.31084257e+02] [ 7.96186784e-02 9.96823942e-01 -1.70142424e-03 6.76160508e+00] [ 3.65598264e-02 -1.21441659e-03 9.99330728e-01 4.69788638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.099254154 meters Centerline goodness : 0.999451 with order 1 Centerline is valid? [True, True] Translation: X:131.15, Y:6.76, Z:4.70 [[ 9.95862764e-01 -8.31994547e-02 -3.65404637e-02 1.31145949e+02] [ 8.31929872e-02 9.96532005e-01 -1.70006585e-03 6.76239532e+00] [ 3.65551861e-02 -1.34687805e-03 9.99330728e-01 4.70044971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.159254154 meters Centerline goodness : 0.998965 with order 1 Centerline is valid? [True, True] Translation: X:131.21, Y:6.76, Z:4.69 [[ 9.96155245e-01 -7.96210633e-02 -3.65405908e-02 1.31208653e+02] [ 7.96122917e-02 9.96824459e-01 -1.69733086e-03 6.75705132e+00] [ 3.65596979e-02 -1.21827513e-03 9.99330728e-01 4.69362913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.219254154 meters Centerline goodness : 0.999051 with order 1 Centerline is valid? [True, True] Translation: X:131.27, Y:6.77, Z:4.70 [[ 9.95038746e-01 -9.25346992e-02 -3.65407189e-02 1.31269280e+02] [ 9.25347094e-02 9.95708017e-01 -1.69456824e-03 6.76540024e+00] [ 3.65406931e-02 -1.69512374e-03 9.99330728e-01 4.70426072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.279254154 meters Centerline goodness : 0.999177 with order 1 Centerline is valid? [True, True] Translation: X:131.33, Y:6.77, Z:4.70 [[ 9.94672588e-01 -9.63909346e-02 -3.65408129e-02 1.31330367e+02] [ 9.63936134e-02 9.95341854e-01 -1.69253891e-03 6.76730283e+00] [ 3.65337459e-02 -1.83877893e-03 9.99330728e-01 4.70459204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.339254154 meters Centerline goodness : 0.999536 with order 1 Centerline is valid? [True, True] Translation: X:131.39, Y:6.77, Z:4.71 [[ 9.94520942e-01 -9.79431395e-02 -3.65409052e-02 1.31392062e+02] [ 9.79469358e-02 9.95190203e-01 -1.69054427e-03 6.76983006e+00] [ 3.65307280e-02 -1.89778802e-03 9.99330728e-01 4.70771740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.399254154 meters Centerline goodness : 0.999410 with order 1 Centerline is valid? [True, True] Translation: X:131.45, Y:6.77, Z:4.71 [[ 9.94229920e-01 -1.00854446e-01 -3.65410294e-02 1.31453261e+02] [ 1.00860300e-01 9.94899166e-01 -1.68785504e-03 6.77187896e+00] [ 3.65248674e-02 -2.00742320e-03 9.99330728e-01 4.70986800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.459254154 meters Centerline goodness : 0.999515 with order 1 Centerline is valid? [True, True] Translation: X:131.51, Y:6.78, Z:4.71 [[ 9.94224017e-01 -1.00912593e-01 -3.65411211e-02 1.31514988e+02] [ 1.00918559e-01 9.94893262e-01 -1.68586783e-03 6.77503621e+00] [ 3.65246404e-02 -2.01154700e-03 9.99330728e-01 4.71304771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.519254154 meters Centerline goodness : 0.999410 with order 1 Centerline is valid? [True, True] Translation: X:131.58, Y:6.78, Z:4.72 [[ 9.94606393e-01 -9.70714146e-02 -3.65412455e-02 1.31576329e+02] [ 9.70748947e-02 9.95275656e-01 -1.68316604e-03 6.77987381e+00] [ 3.65319994e-02 -1.87314986e-03 9.99330728e-01 4.71552523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.579254154 meters Centerline goodness : 0.999346 with order 1 Centerline is valid? [True, True] Translation: X:131.64, Y:6.79, Z:4.72 [[ 9.95048699e-01 -9.24273148e-02 -3.65414477e-02 1.31638647e+02] [ 9.24278319e-02 9.95717971e-01 -1.67876523e-03 6.78543633e+00] [ 3.65401399e-02 -1.70699363e-03 9.99330728e-01 4.72031772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.639254154 meters Centerline goodness : 0.999282 with order 1 Centerline is valid? [True, True] Translation: X:131.70, Y:6.79, Z:4.72 [[ 9.95862489e-01 -8.32022676e-02 -3.65415741e-02 1.31699292e+02] [ 8.31966834e-02 9.96531737e-01 -1.67601017e-03 6.79152186e+00] [ 3.65542861e-02 -1.37106211e-03 9.99330728e-01 4.72397514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.69925415400002 meters Centerline goodness : 0.999175 with order 1 Centerline is valid? [True, True] Translation: X:131.76, Y:6.80, Z:4.73 [[ 9.96418698e-01 -7.62527683e-02 -3.65416672e-02 1.31760851e+02] [ 7.62425899e-02 9.97087892e-01 -1.67397616e-03 6.79705126e+00] [ 3.65628993e-02 -1.11805020e-03 9.99330728e-01 4.72669105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.75925415400002 meters Centerline goodness : 0.999065 with order 1 Centerline is valid? [True, True] Translation: X:131.82, Y:6.80, Z:4.73 [[ 9.97223852e-01 -6.48790086e-02 -3.65417887e-02 1.31822117e+02] [ 6.48612929e-02 9.97892890e-01 -1.67132075e-03 6.80399606e+00] [ 3.65732248e-02 -7.03466742e-04 9.99330728e-01 4.72979780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.819254154 meters Centerline goodness : 0.999488 with order 1 Centerline is valid? [True, True] Translation: X:131.88, Y:6.81, Z:4.73 [[ 9.97602945e-01 -5.87627261e-02 -3.65418513e-02 1.31882656e+02] [ 5.87409582e-02 9.98271862e-01 -1.66995078e-03 6.80951992e+00] [ 3.65768328e-02 -4.80555541e-04 9.99330728e-01 4.73166678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.879254154 meters Centerline goodness : 0.999168 with order 1 Centerline is valid? [True, True] Translation: X:131.94, Y:6.81, Z:4.73 [[ 9.97862328e-01 -5.41799365e-02 -3.65418820e-02 1.31942355e+02] [ 5.41551210e-02 9.98531139e-01 -1.66927783e-03 6.81463755e+00] [ 3.65786485e-02 -3.13220579e-04 9.99330728e-01 4.73187799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.939254154 meters Centerline goodness : 0.999019 with order 1 Centerline is valid? [True, True] Translation: X:132.00, Y:6.82, Z:4.73 [[ 9.97805862e-01 -5.52101206e-02 -3.65418213e-02 1.32000776e+02] [ 5.51859470e-02 9.98474697e-01 -1.67060660e-03 6.81876951e+00] [ 3.65783183e-02 -3.49653955e-04 9.99330728e-01 4.73248350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.999254154 meters Centerline goodness : 0.999169 with order 1 Centerline is valid? [True, True] Translation: X:132.06, Y:6.82, Z:4.73 [[ 9.97480457e-01 -6.08067815e-02 -3.65413991e-02 1.32059702e+02] [ 6.07860240e-02 9.98149406e-01 -1.67979127e-03 6.82133026e+00] [ 3.65759185e-02 -5.45647402e-04 9.99330728e-01 4.73470511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.059254154 meters Centerline goodness : 0.999404 with order 1 Centerline is valid? [True, True] Translation: X:132.12, Y:6.82, Z:4.74 [[ 9.97195417e-01 -6.53150601e-02 -3.65409712e-02 1.32120388e+02] [ 6.52969875e-02 9.97864445e-01 -1.68904775e-03 6.82377052e+00] [ 3.65732562e-02 -7.01704667e-04 9.99330728e-01 4.73840314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.119254154 meters Centerline goodness : 0.999062 with order 1 Centerline is valid? [True, True] Translation: X:132.18, Y:6.83, Z:4.74 [[ 9.96882586e-01 -6.99275849e-02 -3.65409712e-02 1.32180597e+02] [ 6.99126076e-02 9.97551690e-01 -1.68904775e-03 6.82565319e+00] [ 3.65696186e-02 -8.70892294e-04 9.99330728e-01 4.74175196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.179254154 meters Centerline goodness : 0.999126 with order 1 Centerline is valid? [True, True] Translation: X:132.24, Y:6.83, Z:4.74 [[ 9.96525807e-01 -7.48403204e-02 -3.65409712e-02 1.32241356e+02] [ 7.48286413e-02 9.97194977e-01 -1.68904775e-03 6.82693433e+00] [ 3.65648818e-02 -1.05113156e-03 9.99330728e-01 4.74478276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.239254154 meters Centerline goodness : 0.999148 with order 1 Centerline is valid? [True, True] Translation: X:132.30, Y:6.83, Z:4.75 [[ 9.96367131e-01 -7.69238834e-02 -3.65411654e-02 1.32302360e+02] [ 7.69137578e-02 9.97036326e-01 -1.68483693e-03 6.82776476e+00] [ 3.65624735e-02 -1.13180221e-03 9.99330728e-01 4.74663669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.299254154 meters Centerline goodness : 0.999236 with order 1 Centerline is valid? [True, True] Translation: X:132.36, Y:6.83, Z:4.75 [[ 9.96331517e-01 -7.73837608e-02 -3.65412279e-02 1.32362983e+02] [ 7.73739938e-02 9.97000718e-01 -1.68348057e-03 6.82968831e+00] [ 3.65619045e-02 -1.15003599e-03 9.99330728e-01 4.74943377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.359254154 meters Centerline goodness : 0.998898 with order 1 Centerline is valid? [True, True] Translation: X:132.43, Y:6.83, Z:4.75 [[ 9.96666343e-01 -7.29447190e-02 -3.65413204e-02 1.32425369e+02] [ 7.29320447e-02 9.97335495e-01 -1.68146937e-03 6.83073798e+00] [ 3.65666102e-02 -9.89169287e-04 9.99330728e-01 4.75118592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.41925415400001 meters Centerline goodness : 0.999046 with order 1 Centerline is valid? [True, True] Translation: X:132.49, Y:6.83, Z:4.75 [[ 9.97288173e-01 -6.38828769e-02 -3.65414437e-02 1.32486630e+02] [ 6.38642194e-02 9.97957185e-01 -1.67878534e-03 6.83108366e+00] [ 3.65740419e-02 -6.59458012e-04 9.99330728e-01 4.75104420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.47925415400002 meters Centerline goodness : 0.999003 with order 1 Centerline is valid? [True, True] Translation: X:132.55, Y:6.84, Z:4.75 [[ 9.98054441e-01 -5.05178219e-02 -3.65415087e-02 1.32546354e+02] [ 5.04902562e-02 9.98723145e-01 -1.67736861e-03 6.83519507e+00] [ 3.65795876e-02 -1.70884951e-04 9.99330728e-01 4.75429411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.539254154 meters Centerline goodness : 0.999383 with order 1 Centerline is valid? [True, True] Translation: X:132.60, Y:6.84, Z:4.76 [[ 9.98614096e-01 -3.78762210e-02 -3.65414769e-02 1.32603258e+02] [ 3.78401648e-02 9.99282396e-01 -1.67806215e-03 6.83736054e+00] [ 3.65788132e-02 2.93001009e-04 9.99330728e-01 4.75813001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.599254154 meters Centerline goodness : 0.999383 with order 1 Centerline is valid? [True, True] Translation: X:132.66, Y:6.84, Z:4.76 [[ 9.98779003e-01 -3.32451325e-02 -3.65412628e-02 1.32661382e+02] [ 3.32058076e-02 9.99447119e-01 -1.68271104e-03 6.83816827e+00] [ 3.65770018e-02 4.67274310e-04 9.99330728e-01 4.76064770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.659254154 meters Centerline goodness : 0.999002 with order 1 Centerline is valid? [True, True] Translation: X:132.72, Y:6.84, Z:4.76 [[ 9.98756343e-01 -3.39195997e-02 -3.65407673e-02 1.32719501e+02] [ 3.38803349e-02 9.99424462e-01 -1.69340426e-03 6.83594097e+00] [ 3.65771763e-02 4.53284813e-04 9.99330728e-01 4.76221305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.719254154 meters Centerline goodness : 0.999045 with order 1 Centerline is valid? [True, True] Translation: X:132.78, Y:6.83, Z:4.76 [[ 9.98564902e-01 -3.91528360e-02 -3.65402672e-02 1.32777320e+02] [ 3.91166805e-02 9.99233197e-01 -1.70412728e-03 6.83460911e+00] [ 3.65789694e-02 2.72347736e-04 9.99330728e-01 4.76457679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.779254154 meters Centerline goodness : 0.999197 with order 1 Centerline is valid? [True, True] Translation: X:132.84, Y:6.83, Z:4.77 [[ 9.97998197e-01 -5.16182580e-02 -3.65397634e-02 1.32835945e+02] [ 5.15900569e-02 9.98666874e-01 -1.71486243e-03 6.83048684e+00] [ 3.65795695e-02 -1.73658857e-04 9.99330729e-01 4.76643359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.839254154 meters Centerline goodness : 0.998776 with order 1 Centerline is valid? [True, True] Translation: X:132.89, Y:6.83, Z:4.77 [[ 9.97432731e-01 -6.15857286e-02 -3.65396374e-02 1.32893556e+02] [ 6.15641108e-02 9.98101653e-01 -1.71754312e-03 6.82804378e+00] [ 3.65760486e-02 -5.36396560e-04 9.99330729e-01 4.76829615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.899254154 meters Centerline goodness : 0.998656 with order 1 Centerline is valid? [True, True] Translation: X:132.95, Y:6.83, Z:4.77 [[ 9.96530169e-01 -7.47831222e-02 -3.65391278e-02 1.32952304e+02] [ 7.47699659e-02 9.97199311e-01 -1.72831659e-03 6.82583251e+00] [ 3.65660419e-02 -1.00970971e-03 9.99330729e-01 4.77153449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.959254154 meters Centerline goodness : 0.998993 with order 1 Centerline is valid? [True, True] Translation: X:133.01, Y:6.83, Z:4.77 [[ 9.96013038e-01 -8.13815241e-02 -3.65386769e-02 1.33012156e+02] [ 8.13724524e-02 9.96682248e-01 -1.73779732e-03 6.82639579e+00] [ 3.65588752e-02 -1.24237296e-03 9.99330729e-01 4.77307867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.019254154 meters Centerline goodness : 0.998996 with order 1 Centerline is valid? [True, True] Translation: X:133.07, Y:6.83, Z:4.78 [[ 9.95267030e-01 -9.00470234e-02 -3.65386451e-02 1.33072218e+02] [ 9.00437519e-02 9.95936293e-01 -1.73846441e-03 6.82595707e+00] [ 3.65467063e-02 -1.55984039e-03 9.99330729e-01 4.77607493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.079254154 meters Centerline goodness : 0.998848 with order 1 Centerline is valid? [True, True] Translation: X:133.13, Y:6.83, Z:4.78 [[ 9.94580317e-01 -9.73391933e-02 -3.65386757e-02 1.33133034e+02] [ 9.73408507e-02 9.95249586e-01 -1.73782136e-03 6.82714027e+00] [ 3.65342600e-02 -1.82830286e-03 9.99330729e-01 4.78055409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.139254154 meters Centerline goodness : 0.998913 with order 1 Centerline is valid? [True, True] Translation: X:133.19, Y:6.83, Z:4.78 [[ 9.94137280e-01 -1.01764381e-01 -3.65387385e-02 1.33194615e+02] [ 1.01769065e-01 9.94806535e-01 -1.73650052e-03 6.82961960e+00] [ 3.65256897e-02 -1.99219336e-03 9.99330729e-01 4.78352251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.19925415400002 meters Centerline goodness : 0.998934 with order 1 Centerline is valid? [True, True] Translation: X:133.26, Y:6.83, Z:4.79 [[ 9.93737051e-01 -1.05601067e-01 -3.65388675e-02 1.33255957e+02] [ 1.05608434e-01 9.94406281e-01 -1.73378089e-03 6.83215372e+00] [ 3.65175685e-02 -2.13589027e-03 9.99330729e-01 4.78524918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.25925415400002 meters Centerline goodness : 0.998807 with order 1 Centerline is valid? [True, True] Translation: X:133.32, Y:6.83, Z:4.79 [[ 9.93461636e-01 -1.08161328e-01 -3.65390837e-02 1.33318423e+02] [ 1.08170587e-01 9.94130843e-01 -1.72921272e-03 6.83499672e+00] [ 3.65116641e-02 -2.23454763e-03 9.99330729e-01 4.78812067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.319254154 meters Centerline goodness : 0.999143 with order 1 Centerline is valid? [True, True] Translation: X:133.38, Y:6.84, Z:4.79 [[ 9.93412753e-01 -1.08609340e-01 -3.65392148e-02 1.33379780e+02] [ 1.08619003e-01 9.94081954e-01 -1.72643820e-03 6.83834547e+00] [ 3.65104814e-02 -2.25378735e-03 9.99330729e-01 4.78862403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.379254154 meters Centerline goodness : 0.999183 with order 1 Centerline is valid? [True, True] Translation: X:133.44, Y:6.84, Z:4.79 [[ 9.93630391e-01 -1.06599837e-01 -3.65393115e-02 1.33441920e+02] [ 1.06608221e-01 9.94299610e-01 -1.72438868e-03 6.84410256e+00] [ 3.65148427e-02 -2.18198601e-03 9.99330729e-01 4.78924834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.439254154 meters Centerline goodness : 0.999181 with order 1 Centerline is valid? [True, True] Translation: X:133.50, Y:6.85, Z:4.79 [[ 9.93885395e-01 -1.04195445e-01 -3.65394363e-02 1.33503617e+02] [ 1.04202307e-01 9.94554631e-01 -1.72174049e-03 6.84943233e+00] [ 3.65198631e-02 -2.09628082e-03 9.99330729e-01 4.79078975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.499254154 meters Centerline goodness : 0.999223 with order 1 Centerline is valid? [True, True] Translation: X:133.57, Y:6.86, Z:4.79 [[ 9.94634173e-01 -9.67869987e-02 -3.65395609e-02 1.33565608e+02] [ 9.67889709e-02 9.95303441e-01 -1.71909342e-03 6.85684990e+00] [ 3.65343366e-02 -1.82675743e-03 9.99330729e-01 4.79328900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.559254154 meters Centerline goodness : 0.998994 with order 1 Centerline is valid? [True, True] Translation: X:133.63, Y:6.87, Z:4.80 [[ 9.95234364e-01 -9.04069260e-02 -3.65396835e-02 1.33627227e+02] [ 9.04047021e-02 9.95903632e-01 -1.71648244e-03 6.86644808e+00] [ 3.65451854e-02 -1.59505689e-03 9.99330729e-01 4.79989430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.619254154 meters Centerline goodness : 0.998861 with order 1 Centerline is valid? [True, True] Translation: X:133.69, Y:6.87, Z:4.80 [[ 9.96538201e-01 -7.46756559e-02 -3.65398561e-02 1.33688415e+02] [ 7.46629959e-02 9.97207352e-01 -1.71280045e-03 6.87281213e+00] [ 3.65657177e-02 -1.02130405e-03 9.99330729e-01 4.80099658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.679254154 meters Centerline goodness : 0.999009 with order 1 Centerline is valid? [True, True] Translation: X:133.75, Y:6.88, Z:4.80 [[ 9.97185041e-01 -6.54738465e-02 -3.65399599e-02 1.33748482e+02] [ 6.54550916e-02 9.97854050e-01 -1.71058419e-03 6.87931640e+00] [ 3.65735455e-02 -6.85957456e-04 9.99330729e-01 4.80384682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.739254154 meters Centerline goodness : 0.999240 with order 1 Centerline is valid? [True, True] Translation: X:133.81, Y:6.89, Z:4.81 [[ 9.97771304e-01 -5.58323857e-02 -3.65399599e-02 1.33808523e+02] [ 5.58071653e-02 9.98440100e-01 -1.71058419e-03 6.88596386e+00] [ 3.65784672e-02 -3.32419764e-04 9.99330729e-01 4.80890996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.799254154 meters Centerline goodness : 0.999155 with order 1 Centerline is valid? [True, True] Translation: X:133.87, Y:6.89, Z:4.81 [[ 9.97938253e-01 -5.27643323e-02 -3.65399599e-02 1.33867089e+02] [ 5.27370557e-02 9.98606968e-01 -1.71058419e-03 6.89092735e+00] [ 3.65793164e-02 -2.19952505e-04 9.99330729e-01 4.81022825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.859254154 meters Centerline goodness : 0.998965 with order 1 Centerline is valid? [True, True] Translation: X:133.93, Y:6.89, Z:4.81 [[ 9.97884678e-01 -5.37683104e-02 -3.65395326e-02 1.33926183e+02] [ 5.37413741e-02 9.98553407e-01 -1.71966265e-03 6.89446464e+00] [ 3.65791381e-02 -2.47659686e-04 9.99330729e-01 4.81120963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.91925415400001 meters Centerline goodness : 0.998943 with order 1 Centerline is valid? [True, True] Translation: X:133.98, Y:6.90, Z:4.81 [[ 9.97689057e-01 -5.72838420e-02 -3.65391070e-02 1.33984056e+02] [ 5.72589327e-02 9.98357865e-01 -1.72865770e-03 6.89703677e+00] [ 3.65781290e-02 -3.67527396e-04 9.99330729e-01 4.81307022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.97925415400002 meters Centerline goodness : 0.999111 with order 1 Centerline is valid? [True, True] Translation: X:134.04, Y:6.90, Z:4.81 [[ 9.97530333e-01 -5.99846967e-02 -3.65386104e-02 1.34042003e+02] [ 5.99612159e-02 9.98199193e-01 -1.73909333e-03 6.89914680e+00] [ 3.65771303e-02 -4.56101154e-04 9.99330729e-01 4.81398090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.039254154 meters Centerline goodness : 0.998821 with order 1 Centerline is valid? [True, True] Translation: X:134.10, Y:6.90, Z:4.82 [[ 9.97239358e-01 -6.46421742e-02 -3.65383762e-02 1.34100504e+02] [ 6.46216374e-02 9.97908314e-01 -1.74399908e-03 6.89947055e+00] [ 3.65746853e-02 -6.21985173e-04 9.99330729e-01 4.81674388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.099254154 meters Centerline goodness : 0.998820 with order 1 Centerline is valid? [True, True] Translation: X:134.16, Y:6.90, Z:4.82 [[ 9.97021330e-01 -6.79221659e-02 -3.65382888e-02 1.34160500e+02] [ 6.79037627e-02 9.97690348e-01 -1.74582868e-03 6.90037621e+00] [ 3.65724785e-02 -7.40458854e-04 9.99330729e-01 4.82086443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.159254154 meters Centerline goodness : 0.998967 with order 1 Centerline is valid? [True, True] Translation: X:134.22, Y:6.90, Z:4.82 [[ 9.96656213e-01 -7.30845501e-02 -3.65382276e-02 1.34219769e+02] [ 7.30695649e-02 9.97325316e-01 -1.74710801e-03 6.89959484e+00] [ 3.65681860e-02 -9.28566341e-04 9.99330729e-01 4.82290253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.219254154 meters Centerline goodness : 0.998989 with order 1 Centerline is valid? [True, True] Translation: X:134.28, Y:6.90, Z:4.82 [[ 9.96360946e-01 -7.70053752e-02 -3.65381666e-02 1.34279856e+02] [ 7.69929760e-02 9.97030102e-01 -1.74838392e-03 6.89923731e+00] [ 3.65642869e-02 -1.07116072e-03 9.99330729e-01 4.82471161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.279254154 meters Centerline goodness : 0.998905 with order 1 Centerline is valid? [True, True] Translation: X:134.34, Y:6.90, Z:4.83 [[ 9.95963906e-01 -8.19808553e-02 -3.65381666e-02 1.34340605e+02] [ 8.19717984e-02 9.96633116e-01 -1.74838392e-03 6.89824059e+00] [ 3.65584808e-02 -1.25377194e-03 9.99330729e-01 4.82549916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.339254154 meters Centerline goodness : 0.998820 with order 1 Centerline is valid? [True, True] Translation: X:134.40, Y:6.90, Z:4.82 [[ 9.95639753e-01 -8.58279784e-02 -3.65381967e-02 1.34400860e+02] [ 8.58215300e-02 9.96308993e-01 -1.74775441e-03 6.89828981e+00] [ 3.65533402e-02 -1.39563017e-03 9.99330729e-01 4.82455467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.399254154 meters Centerline goodness : 0.999009 with order 1 Centerline is valid? [True, True] Translation: X:134.46, Y:6.90, Z:4.83 [[ 9.95530538e-01 -8.70856232e-02 -3.65382261e-02 1.34463331e+02] [ 8.70800428e-02 9.96199786e-01 -1.74713892e-03 6.89992938e+00] [ 3.65515237e-02 -1.44242015e-03 9.99330729e-01 4.82699673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.459254154 meters Centerline goodness : 0.998927 with order 1 Centerline is valid? [True, True] Translation: X:134.52, Y:6.90, Z:4.83 [[ 9.95524942e-01 -8.71495158e-02 -3.65383521e-02 1.34523984e+02] [ 8.71440751e-02 9.96194191e-01 -1.74449923e-03 6.90275310e+00] [ 3.65513264e-02 -1.44740840e-03 9.99330729e-01 4.82841639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.519254154 meters Centerline goodness : 0.999010 with order 1 Centerline is valid? [True, True] Translation: X:134.59, Y:6.91, Z:4.83 [[ 9.95585355e-01 -8.64566188e-02 -3.65383831e-02 1.34585326e+02] [ 8.64507360e-02 9.96254601e-01 -1.74385089e-03 6.90622079e+00] [ 3.65522997e-02 -1.42261770e-03 9.99330729e-01 4.83079474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.579254154 meters Centerline goodness : 0.998948 with order 1 Centerline is valid? [True, True] Translation: X:134.65, Y:6.91, Z:4.83 [[ 9.95580970e-01 -8.65070746e-02 -3.65384443e-02 1.34645394e+02] [ 8.65012728e-02 9.96250216e-01 -1.74256673e-03 6.90982079e+00] [ 3.65521774e-02 -1.42575566e-03 9.99330729e-01 4.83280592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.639254154 meters Centerline goodness : 0.999115 with order 1 Centerline is valid? [True, True] Translation: X:134.71, Y:6.91, Z:4.84 [[ 9.95498856e-01 -8.74469204e-02 -3.65385340e-02 1.34706723e+02] [ 8.74418194e-02 9.96168107e-01 -1.74068494e-03 6.91320059e+00] [ 3.65507398e-02 -1.46214602e-03 9.99330729e-01 4.83505309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.69925415400002 meters Centerline goodness : 0.998841 with order 1 Centerline is valid? [True, True] Translation: X:134.77, Y:6.92, Z:4.84 [[ 9.95333801e-01 -8.93059670e-02 -3.65385936e-02 1.34768272e+02] [ 8.93021618e-02 9.96003061e-01 -1.73943118e-03 6.91655448e+00] [ 3.65478927e-02 -1.53166075e-03 9.99330729e-01 4.83871614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.75925415400002 meters Centerline goodness : 0.998986 with order 1 Centerline is valid? [True, True] Translation: X:134.83, Y:6.92, Z:4.84 [[ 9.95190952e-01 -9.08839409e-02 -3.65387212e-02 1.34828978e+02] [ 9.08812951e-02 9.95860218e-01 -1.73674851e-03 6.91992075e+00] [ 3.65453014e-02 -1.59228990e-03 9.99330729e-01 4.83928743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.819254154 meters Centerline goodness : 0.998923 with order 1 Centerline is valid? [True, True] Translation: X:134.89, Y:6.92, Z:4.84 [[ 9.95248368e-01 -9.02529887e-02 -3.65388152e-02 1.34891396e+02] [ 9.02499912e-02 9.95917632e-01 -1.73476773e-03 6.92413870e+00] [ 3.65462183e-02 -1.57110299e-03 9.99330729e-01 4.84143986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.879254154 meters Centerline goodness : 0.998986 with order 1 Centerline is valid? [True, True] Translation: X:134.95, Y:6.93, Z:4.85 [[ 9.95604529e-01 -8.62353037e-02 -3.65389364e-02 1.34952983e+02] [ 8.62296987e-02 9.96273777e-01 -1.73221047e-03 6.93002818e+00] [ 3.65521619e-02 -1.42614488e-03 9.99330729e-01 4.84605877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.939254154 meters Centerline goodness : 0.998900 with order 1 Centerline is valid? [True, True] Translation: X:135.01, Y:6.94, Z:4.85 [[ 9.96021414e-01 -8.12787834e-02 -3.65390643e-02 1.35014562e+02] [ 8.12699464e-02 9.96690626e-01 -1.72950885e-03 6.93539234e+00] [ 3.65587153e-02 -1.24689995e-03 9.99330729e-01 4.84940779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.999254154 meters Centerline goodness : 0.999027 with order 1 Centerline is valid? [True, True] Translation: X:135.08, Y:6.94, Z:4.85 [[ 9.96703687e-01 -7.24337452e-02 -3.65391924e-02 1.35076640e+02] [ 7.24190672e-02 9.97372797e-01 -1.72679808e-03 6.94248188e+00] [ 3.65682750e-02 -9.25028214e-04 9.99330729e-01 4.85197413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.059254154 meters Centerline goodness : 0.998921 with order 1 Centerline is valid? [True, True] Translation: X:135.14, Y:6.95, Z:4.85 [[ 9.97048471e-01 -6.75220241e-02 -3.65393207e-02 1.35137934e+02] [ 6.75041491e-02 9.97717504e-01 -1.72407992e-03 6.94800622e+00] [ 3.65723332e-02 -7.47564505e-04 9.99330729e-01 4.85411941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.119254154 meters Centerline goodness : 0.998984 with order 1 Centerline is valid? [True, True] Translation: X:135.20, Y:6.95, Z:4.86 [[ 9.97252098e-01 -6.44447576e-02 -3.65393845e-02 1.35197773e+02] [ 6.44248675e-02 9.97921073e-01 -1.72272673e-03 6.95368868e+00] [ 3.65744425e-02 -6.36052156e-04 9.99330729e-01 4.85536607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.179254154 meters Centerline goodness : 0.999004 with order 1 Centerline is valid? [True, True] Translation: X:135.26, Y:6.96, Z:4.86 [[ 9.97218377e-01 -6.49644652e-02 -3.65393845e-02 1.35257066e+02] [ 6.49449238e-02 9.97887363e-01 -1.72272673e-03 6.95692804e+00] [ 3.65741060e-02 -6.55112786e-04 9.99330729e-01 4.85734791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.239254154 meters Centerline goodness : 0.998856 with order 1 Centerline is valid? [True, True] Translation: X:135.32, Y:6.96, Z:4.86 [[ 9.96861689e-01 -7.02257099e-02 -3.65393208e-02 1.35317391e+02] [ 7.02096494e-02 9.97530768e-01 -1.72407718e-03 6.95919674e+00] [ 3.65701712e-02 -8.46746406e-04 9.99330729e-01 4.85854404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.299254154 meters Centerline goodness : 0.998879 with order 1 Centerline is valid? [True, True] Translation: X:135.38, Y:6.96, Z:4.86 [[ 9.96471923e-01 -7.55551755e-02 -3.65393208e-02 1.35377992e+02] [ 7.55426930e-02 9.97141078e-01 -1.72407718e-03 6.96106051e+00] [ 3.65651206e-02 -1.04228418e-03 9.99330729e-01 4.85999115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.359254154 meters Centerline goodness : 0.999217 with order 1 Centerline is valid? [True, True] Translation: X:135.44, Y:6.96, Z:4.86 [[ 9.95998726e-01 -8.15561976e-02 -3.65393519e-02 1.35439105e+02] [ 8.15477702e-02 9.96667944e-01 -1.72341727e-03 6.96359190e+00] [ 3.65581561e-02 -1.26318126e-03 9.99330729e-01 4.86215389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.41925415400001 meters Centerline goodness : 0.998985 with order 1 Centerline is valid? [True, True] Translation: X:135.50, Y:6.97, Z:4.87 [[ 9.95069173e-01 -9.22074366e-02 -3.65394129e-02 1.35501179e+02] [ 9.22062169e-02 9.95738444e-01 -1.72212144e-03 6.96823406e+00] [ 3.65424906e-02 -1.65553108e-03 9.99330729e-01 4.87176627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.47925415400002 meters Centerline goodness : 0.999112 with order 1 Centerline is valid? [True, True] Translation: X:135.56, Y:6.97, Z:4.87 [[ 9.94464312e-01 -9.85169772e-02 -3.65395432e-02 1.35562427e+02] [ 9.85201040e-02 9.95133575e-01 -1.71935337e-03 6.96960930e+00] [ 3.65311118e-02 -1.89004403e-03 9.99330729e-01 4.86849271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.539254154 meters Centerline goodness : 0.999239 with order 1 Centerline is valid? [True, True] Translation: X:135.62, Y:6.98, Z:4.88 [[ 9.93895430e-01 -1.04099613e-01 -3.65396388e-02 1.35622827e+02] [ 1.04106572e-01 9.94564665e-01 -1.71731924e-03 6.97629532e+00] [ 3.65198059e-02 -2.09718081e-03 9.99330729e-01 4.87999396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.599254154 meters Centerline goodness : 0.998987 with order 1 Centerline is valid? [True, True] Translation: X:135.68, Y:6.98, Z:4.87 [[ 9.93880387e-01 -1.04243115e-01 -3.65397043e-02 1.35684400e+02] [ 1.04250222e-01 9.94549620e-01 -1.71592432e-03 6.97801791e+00] [ 3.65194223e-02 -2.10384875e-03 9.99330729e-01 4.87406523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.659254154 meters Centerline goodness : 0.999134 with order 1 Centerline is valid? [True, True] Translation: X:135.75, Y:6.98, Z:4.88 [[ 9.93833281e-01 -1.04691227e-01 -3.65397996e-02 1.35746788e+02] [ 1.04698711e-01 9.94502510e-01 -1.71389305e-03 6.98243159e+00] [ 3.65183520e-02 -2.12234595e-03 9.99330729e-01 4.87613384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.719254154 meters Centerline goodness : 0.999281 with order 1 Centerline is valid? [True, True] Translation: X:135.81, Y:6.99, Z:4.88 [[ 9.93967032e-01 -1.03413603e-01 -3.65399205e-02 1.35808465e+02] [ 1.03420321e-01 9.94636270e-01 -1.71131051e-03 6.98758723e+00] [ 3.65209030e-02 -2.07798408e-03 9.99330729e-01 4.87747041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.779254154 meters Centerline goodness : 0.998919 with order 1 Centerline is valid? [True, True] Translation: X:135.87, Y:6.99, Z:4.88 [[ 9.94151178e-01 -1.01628048e-01 -3.65400466e-02 1.35870628e+02] [ 1.01633662e-01 9.94820426e-01 -1.70861525e-03 6.99296184e+00] [ 3.65244279e-02 -2.01507689e-03 9.99330729e-01 4.87923624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.839254154 meters Centerline goodness : 0.999217 with order 1 Centerline is valid? [True, True] Translation: X:135.93, Y:7.00, Z:4.88 [[ 9.94436578e-01 -9.87962964e-02 -3.65401735e-02 1.35933707e+02] [ 9.88001043e-02 9.95105838e-01 -1.70589672e-03 6.99863143e+00] [ 3.65298762e-02 -1.91376686e-03 9.99330729e-01 4.88202816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.899254154 meters Centerline goodness : 0.999065 with order 1 Centerline is valid? [True, True] Translation: X:136.00, Y:7.01, Z:4.89 [[ 9.95121123e-01 -9.16447041e-02 -3.65403645e-02 1.35995175e+02] [ 9.16438508e-02 9.95790394e-01 -1.70179531e-03 7.00603274e+00] [ 3.65425045e-02 -1.65520725e-03 9.99330729e-01 4.88576345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.959254154 meters Centerline goodness : 0.999169 with order 1 Centerline is valid? [True, True] Translation: X:136.06, Y:7.01, Z:4.89 [[ 9.95993771e-01 -8.16161752e-02 -3.65404902e-02 1.36057003e+02] [ 8.16086794e-02 9.96663000e-01 -1.69909093e-03 7.01410188e+00] [ 3.65572280e-02 -1.28973717e-03 9.99330729e-01 4.88924791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.019254154 meters Centerline goodness : 0.999083 with order 1 Centerline is valid? [True, True] Translation: X:136.12, Y:7.02, Z:4.89 [[ 9.96540330e-01 -7.46468666e-02 -3.65406160e-02 1.36119208e+02] [ 7.46347888e-02 9.97209492e-01 -1.69638272e-03 7.01974833e+00] [ 3.65652787e-02 -1.03668736e-03 9.99330729e-01 4.89166337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.079254154 meters Centerline goodness : 0.999082 with order 1 Centerline is valid? [True, True] Translation: X:136.18, Y:7.03, Z:4.89 [[ 9.97165367e-01 -6.57723688e-02 -3.65407418e-02 1.36180632e+02] [ 6.57544338e-02 9.97834398e-01 -1.69366799e-03 7.02531231e+00] [ 3.65730057e-02 -7.13848719e-04 9.99330729e-01 4.89302362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.139254154 meters Centerline goodness : 0.999251 with order 1 Centerline is valid? [True, True] Translation: X:136.24, Y:7.03, Z:4.89 [[ 9.97399198e-01 -6.21256710e-02 -3.65409485e-02 1.36241387e+02] [ 6.21054534e-02 9.98068164e-01 -1.68919724e-03 7.02985953e+00] [ 3.65752999e-02 -5.84588202e-04 9.99330729e-01 4.89463268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.19925415400002 meters Centerline goodness : 0.999228 with order 1 Centerline is valid? [True, True] Translation: X:136.30, Y:7.03, Z:4.90 [[ 9.97557976e-01 -5.95217612e-02 -3.65410100e-02 1.36301550e+02] [ 5.94998462e-02 9.98226888e-01 -1.68786486e-03 7.03339789e+00] [ 3.65766834e-02 -4.90441429e-04 9.99330729e-01 4.89556082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.25925415400002 meters Centerline goodness : 0.999315 with order 1 Centerline is valid? [True, True] Translation: X:136.36, Y:7.04, Z:4.90 [[ 9.97295657e-01 -6.37661916e-02 -3.65410100e-02 1.36361542e+02] [ 6.37471233e-02 9.97964656e-01 -1.68786486e-03 7.04221023e+00] [ 3.65742652e-02 -6.46083980e-04 9.99330729e-01 4.90365926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.319254154 meters Centerline goodness : 0.999058 with order 1 Centerline is valid? [True, True] Translation: X:136.42, Y:7.04, Z:4.90 [[ 9.97475342e-01 -6.08908545e-02 -3.65410100e-02 1.36421317e+02] [ 6.08698576e-02 9.98144284e-01 -1.68786486e-03 7.03860106e+00] [ 3.65759758e-02 -5.40642502e-04 9.99330729e-01 4.90121290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.379254154 meters Centerline goodness : 0.999165 with order 1 Centerline is valid? [True, True] Translation: X:136.48, Y:7.04, Z:4.90 [[ 9.97361215e-01 -6.27324848e-02 -3.65409741e-02 1.36481694e+02] [ 6.27126946e-02 9.98030193e-01 -1.68864257e-03 7.04001157e+00] [ 3.65749282e-02 -6.07396346e-04 9.99330729e-01 4.90318309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.439254154 meters Centerline goodness : 0.999189 with order 1 Centerline is valid? [True, True] Translation: X:136.54, Y:7.04, Z:4.91 [[ 9.97002709e-01 -6.81935146e-02 -3.65409741e-02 1.36542788e+02] [ 6.81773883e-02 9.97671786e-01 -1.68864257e-03 7.04102242e+00] [ 3.65710533e-02 -8.07686966e-04 9.99330729e-01 4.90619795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.499254154 meters Centerline goodness : 0.999168 with order 1 Centerline is valid? [True, True] Translation: X:136.60, Y:7.04, Z:4.91 [[ 9.96664709e-01 -7.29671928e-02 -3.65410363e-02 1.36603081e+02] [ 7.29543201e-02 9.97333856e-01 -1.68729504e-03 7.04277546e+00] [ 3.65667298e-02 -9.84159045e-04 9.99330729e-01 4.90754097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.559254154 meters Centerline goodness : 0.999213 with order 1 Centerline is valid? [True, True] Translation: X:136.67, Y:7.04, Z:4.91 [[ 9.96023418e-01 -8.12532801e-02 -3.65411448e-02 1.36665475e+02] [ 8.12460590e-02 9.96692650e-01 -1.68494146e-03 7.04238492e+00] [ 3.65571975e-02 -1.29058285e-03 9.99330729e-01 4.91015560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.619254154 meters Centerline goodness : 0.999148 with order 1 Centerline is valid? [True, True] Translation: X:136.73, Y:7.04, Z:4.91 [[ 9.95580611e-01 -8.65100163e-02 -3.65412666e-02 1.36727132e+02] [ 8.65064250e-02 9.96249872e-01 -1.68229709e-03 7.04300862e+00] [ 3.65497677e-02 -1.48619197e-03 9.99330729e-01 4.91120587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.679254154 meters Centerline goodness : 0.999171 with order 1 Centerline is valid? [True, True] Translation: X:136.79, Y:7.05, Z:4.91 [[ 9.95090479e-01 -9.19764508e-02 -3.65413565e-02 1.36789752e+02] [ 9.19766068e-02 9.95759750e-01 -1.68034151e-03 7.04540396e+00] [ 3.65409639e-02 -1.68885814e-03 9.99330729e-01 4.91300015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.739254154 meters Centerline goodness : 0.999214 with order 1 Centerline is valid? [True, True] Translation: X:136.85, Y:7.05, Z:4.91 [[ 9.94929086e-01 -9.37060906e-02 -3.65415127e-02 1.36851620e+02] [ 9.37075347e-02 9.95598356e-01 -1.67693736e-03 7.04867295e+00] [ 3.65378092e-02 -1.75578131e-03 9.99330729e-01 4.91469238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.799254154 meters Centerline goodness : 0.999299 with order 1 Centerline is valid? [True, True] Translation: X:136.91, Y:7.05, Z:4.92 [[ 9.95004381e-01 -9.29031300e-02 -3.65416362e-02 1.36913397e+02] [ 9.29041327e-02 9.95673651e-01 -1.67424315e-03 7.05170354e+00] [ 3.65390867e-02 -1.72898975e-03 9.99330729e-01 4.91690181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.859254154 meters Centerline goodness : 0.999277 with order 1 Centerline is valid? [True, True] Translation: X:136.98, Y:7.06, Z:4.92 [[ 9.95345229e-01 -8.91771954e-02 -3.65417883e-02 1.36975430e+02] [ 8.91758143e-02 9.96014499e-01 -1.67091589e-03 7.05683477e+00] [ 3.65451586e-02 -1.59550557e-03 9.99330729e-01 4.92083145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.91925415400001 meters Centerline goodness : 0.999169 with order 1 Centerline is valid? [True, True] Translation: X:137.04, Y:7.06, Z:4.92 [[ 9.95671502e-01 -8.54572991e-02 -3.65419091e-02 1.37037141e+02] [ 8.54535142e-02 9.96340762e-01 -1.66827006e-03 7.06194234e+00] [ 3.65507594e-02 -1.46158559e-03 9.99330729e-01 4.92325399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.97925415400002 meters Centerline goodness : 0.999126 with order 1 Centerline is valid? [True, True] Translation: X:137.10, Y:7.07, Z:4.93 [[ 9.96050631e-01 -8.09185984e-02 -3.65420316e-02 1.37098864e+02] [ 8.09118617e-02 9.96719869e-01 -1.66558338e-03 7.06679212e+00] [ 3.65569456e-02 -1.29767842e-03 9.99330729e-01 4.92522918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.039254154 meters Centerline goodness : 0.999359 with order 1 Centerline is valid? [True, True] Translation: X:137.16, Y:7.07, Z:4.93 [[ 9.96266850e-01 -7.82114777e-02 -3.65421547e-02 1.37159666e+02] [ 7.82030216e-02 9.96936067e-01 -1.66287653e-03 7.07060895e+00] [ 3.65602481e-02 -1.20103815e-03 9.99330729e-01 4.92654579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.099254154 meters Centerline goodness : 0.999465 with order 1 Centerline is valid? [True, True] Translation: X:137.22, Y:7.08, Z:4.93 [[ 9.96929110e-01 -6.92604803e-02 -3.65422455e-02 1.37221842e+02] [ 6.92460871e-02 9.97598226e-01 -1.66087927e-03 7.07731190e+00] [ 3.65695126e-02 -8.74628628e-04 9.99330729e-01 4.93010424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.159254154 meters Centerline goodness : 0.999333 with order 1 Centerline is valid? [True, True] Translation: X:137.28, Y:7.08, Z:4.93 [[ 9.97496242e-01 -6.05467023e-02 -3.65423682e-02 1.37283048e+02] [ 6.05265620e-02 9.98165210e-01 -1.65817505e-03 7.08476727e+00] [ 3.65757177e-02 -5.57760533e-04 9.99330729e-01 4.93319444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.219254154 meters Centerline goodness : 0.999272 with order 1 Centerline is valid? [True, True] Translation: X:137.34, Y:7.09, Z:4.94 [[ 9.97765888e-01 -5.59274883e-02 -3.65424282e-02 1.37343680e+02] [ 5.59042992e-02 9.98434757e-01 -1.65685239e-03 7.08943875e+00] [ 3.65778940e-02 -3.89728044e-04 9.99330729e-01 4.93639387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.279254154 meters Centerline goodness : 0.999397 with order 1 Centerline is valid? [True, True] Translation: X:137.40, Y:7.09, Z:4.94 [[ 9.98004954e-01 -5.14855283e-02 -3.65424588e-02 1.37402775e+02] [ 5.14593868e-02 9.98673715e-01 -1.65617717e-03 7.09367053e+00] [ 3.65792622e-02 -2.27579504e-04 9.99330729e-01 4.93910968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.339254154 meters Centerline goodness : 0.999203 with order 1 Centerline is valid? [True, True] Translation: X:137.46, Y:7.10, Z:4.94 [[ 9.98113476e-01 -4.93370259e-02 -3.65423980e-02 1.37461628e+02] [ 4.93093959e-02 9.98782177e-01 -1.65751698e-03 7.09660389e+00] [ 3.65796728e-02 -1.47493539e-04 9.99330729e-01 4.94192941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.399254154 meters Centerline goodness : 0.999290 with order 1 Centerline is valid? [True, True] Translation: X:137.52, Y:7.10, Z:4.95 [[ 9.98122447e-01 -4.91552539e-02 -3.65423380e-02 1.37520487e+02] [ 4.91274537e-02 9.98791140e-01 -1.65883840e-03 7.09910981e+00] [ 3.65797041e-02 -1.39508177e-04 9.99330729e-01 4.94619452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.459254154 meters Centerline goodness : 0.999075 with order 1 Centerline is valid? [True, True] Translation: X:137.58, Y:7.10, Z:4.95 [[ 9.97990793e-01 -5.17596908e-02 -3.65419081e-02 1.37579503e+02] [ 5.17332908e-02 9.98659543e-01 -1.66825554e-03 7.09928103e+00] [ 3.65792737e-02 -2.25529485e-04 9.99330729e-01 4.94798827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.519254154 meters Centerline goodness : 0.999334 with order 1 Centerline is valid? [True, True] Translation: X:137.64, Y:7.10, Z:4.95 [[ 9.97635106e-01 -5.82143918e-02 -3.65414753e-02 1.37638184e+02] [ 5.81919731e-02 9.98304002e-01 -1.67768363e-03 7.09750346e+00] [ 3.65771663e-02 -4.52704459e-04 9.99330729e-01 4.94797722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.579254154 meters Centerline goodness : 0.999292 with order 1 Centerline is valid? [True, True] Translation: X:137.70, Y:7.10, Z:4.95 [[ 9.97378703e-01 -6.24537862e-02 -3.65410426e-02 1.37697659e+02] [ 6.24338672e-02 9.98047677e-01 -1.68705450e-03 7.09740691e+00] [ 3.65750656e-02 -5.98766377e-04 9.99330729e-01 4.94824374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.639254154 meters Centerline goodness : 0.999316 with order 1 Centerline is valid? [True, True] Translation: X:137.76, Y:7.10, Z:4.95 [[ 9.97081335e-01 -6.70340621e-02 -3.65410122e-02 1.37758055e+02] [ 6.70171918e-02 9.97750393e-01 -1.68771246e-03 7.09825632e+00] [ 3.65719435e-02 -7.66089429e-04 9.99330729e-01 4.95111716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.69925415400002 meters Centerline goodness : 0.999211 with order 1 Centerline is valid? [True, True] Translation: X:137.82, Y:7.10, Z:4.95 [[ 9.96639448e-01 -7.33114232e-02 -3.65410122e-02 1.37819746e+02] [ 7.32987664e-02 9.97308599e-01 -1.68771246e-03 7.09767691e+00] [ 3.65663943e-02 -9.96370301e-04 9.99330729e-01 4.95359805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.75925415400002 meters Centerline goodness : 0.999104 with order 1 Centerline is valid? [True, True] Translation: X:137.88, Y:7.10, Z:4.96 [[ 9.96173985e-01 -7.93860284e-02 -3.65410736e-02 1.37881382e+02] [ 7.93775000e-02 9.96843202e-01 -1.68638364e-03 7.09868258e+00] [ 3.65595960e-02 -1.22060756e-03 9.99330729e-01 4.95708518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.819254154 meters Centerline goodness : 0.999170 with order 1 Centerline is valid? [True, True] Translation: X:137.94, Y:7.10, Z:4.96 [[ 9.95881082e-01 -8.29795931e-02 -3.65411688e-02 1.37943216e+02] [ 8.29735549e-02 9.96550326e-01 -1.68431630e-03 7.10064110e+00] [ 3.65548776e-02 -1.35457194e-03 9.99330729e-01 4.95939986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.879254154 meters Centerline goodness : 0.999107 with order 1 Centerline is valid? [True, True] Translation: X:138.00, Y:7.10, Z:4.96 [[ 9.95341062e-01 -8.92239026e-02 -3.65412949e-02 1.38004876e+02] [ 8.92221623e-02 9.96010330e-01 -1.68157704e-03 7.10140407e+00] [ 3.65455441e-02 -1.58655067e-03 9.99330729e-01 4.96058315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.939254154 meters Centerline goodness : 0.999299 with order 1 Centerline is valid? [True, True] Translation: X:138.07, Y:7.10, Z:4.96 [[ 9.94955300e-01 -9.34273586e-02 -3.65414901e-02 1.38067434e+02] [ 9.34286010e-02 9.95624569e-01 -1.67732501e-03 7.10287333e+00] [ 3.65383134e-02 -1.74515689e-03 9.99330729e-01 4.96308377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.999254154 meters Centerline goodness : 0.999342 with order 1 Centerline is valid? [True, True] Translation: X:138.13, Y:7.11, Z:4.96 [[ 9.94500201e-01 -9.81532555e-02 -3.65416138e-02 1.38129154e+02] [ 9.81577765e-02 9.95169456e-01 -1.67462467e-03 7.10569140e+00] [ 3.65294678e-02 -1.92142899e-03 9.99330729e-01 4.96464004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.059254154 meters Centerline goodness : 0.998875 with order 1 Centerline is valid? [True, True] Translation: X:138.19, Y:7.11, Z:4.97 [[ 9.94342587e-01 -9.97372625e-02 -3.65417358e-02 1.38191022e+02] [ 9.97429472e-02 9.95011834e-01 -1.67195931e-03 7.10929283e+00] [ 3.65262162e-02 -1.98228008e-03 9.99330729e-01 4.96627714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.119254154 meters Centerline goodness : 0.999321 with order 1 Centerline is valid? [True, True] Translation: X:138.25, Y:7.11, Z:4.97 [[ 9.94439763e-01 -9.87636044e-02 -3.65418578e-02 1.38252485e+02] [ 9.87687317e-02 9.95109015e-01 -1.66928764e-03 7.11400507e+00] [ 3.65279970e-02 -1.94918695e-03 9.99330729e-01 4.96824463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.179254154 meters Centerline goodness : 0.999233 with order 1 Centerline is valid? [True, True] Translation: X:138.31, Y:7.12, Z:4.97 [[ 9.94720841e-01 -9.58912612e-02 -3.65419480e-02 1.38314281e+02] [ 9.58945281e-02 9.95390104e-01 -1.66731048e-03 7.11938025e+00] [ 3.65333740e-02 -1.84566438e-03 9.99330729e-01 4.97041892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.239254154 meters Centerline goodness : 0.999253 with order 1 Centerline is valid? [True, True] Translation: X:138.38, Y:7.13, Z:4.97 [[ 9.95354429e-01 -8.90743375e-02 -3.65420652e-02 1.38376564e+02] [ 8.90731136e-02 9.96023699e-01 -1.66473820e-03 7.12696356e+00] [ 3.65450484e-02 -1.59791099e-03 9.99330729e-01 4.97253712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.299254154 meters Centerline goodness : 0.999187 with order 1 Centerline is valid? [True, True] Translation: X:138.44, Y:7.13, Z:4.98 [[ 9.95840202e-01 -8.34683228e-02 -3.65421806e-02 1.38438481e+02] [ 8.34634233e-02 9.96509455e-01 -1.66220208e-03 7.13358944e+00] [ 3.65533697e-02 -1.39464783e-03 9.99330729e-01 4.97627170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.359254154 meters Centerline goodness : 0.999358 with order 1 Centerline is valid? [True, True] Translation: X:138.50, Y:7.14, Z:4.98 [[ 9.96527168e-01 -7.48215460e-02 -3.65423016e-02 1.38499200e+02] [ 7.48109354e-02 9.97196355e-01 -1.65953781e-03 7.14128148e+00] [ 3.65640191e-02 -1.07998924e-03 9.99330729e-01 4.97991203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.41925415400001 meters Centerline goodness : 0.999442 with order 1 Centerline is valid? [True, True] Translation: X:138.56, Y:7.15, Z:4.98 [[ 9.96880608e-01 -6.99549828e-02 -3.65424955e-02 1.38560724e+02] [ 6.99412618e-02 9.97549738e-01 -1.65525616e-03 7.14724396e+00] [ 3.65687503e-02 -9.05735482e-04 9.99330729e-01 4.98470241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.47925415400002 meters Centerline goodness : 0.999355 with order 1 Centerline is valid? [True, True] Translation: X:138.62, Y:7.15, Z:4.99 [[ 9.97291282e-01 -6.38336611e-02 -3.65426190e-02 1.38622876e+02] [ 6.38159324e-02 9.97960318e-01 -1.65252612e-03 7.15359281e+00] [ 3.65735704e-02 -6.83951414e-04 9.99330729e-01 4.98818382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.539254154 meters Centerline goodness : 0.999288 with order 1 Centerline is valid? [True, True] Translation: X:138.69, Y:7.15, Z:4.98 [[ 9.97971578e-01 -5.21282845e-02 -3.65427402e-02 1.38685221e+02] [ 5.21028058e-02 9.98640364e-01 -1.64984054e-03 7.14794424e+00] [ 3.65790587e-02 -2.57485327e-04 9.99330729e-01 4.97911569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.599254154 meters Centerline goodness : 0.999138 with order 1 Centerline is valid? [True, True] Translation: X:138.74, Y:7.16, Z:4.99 [[ 9.97774118e-01 -5.57802132e-02 -3.65428039e-02 1.38744112e+02] [ 5.57572339e-02 9.98442995e-01 -1.64842873e-03 7.16177024e+00] [ 3.65778563e-02 -3.92766141e-04 9.99330729e-01 4.99138188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.659254154 meters Centerline goodness : 0.999222 with order 1 Centerline is valid? [True, True] Translation: X:138.80, Y:7.17, Z:4.99 [[ 9.97998119e-01 -5.16176319e-02 -3.65427728e-02 1.38804478e+02] [ 5.15918374e-02 9.98666893e-01 -1.64911930e-03 7.16590172e+00] [ 3.65791810e-02 -2.39490828e-04 9.99330729e-01 4.99393948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.719254154 meters Centerline goodness : 0.999330 with order 1 Centerline is valid? [True, True] Translation: X:138.86, Y:7.17, Z:5.00 [[ 9.98255920e-01 -4.63653334e-02 -3.65427728e-02 1.38862707e+02] [ 4.63360200e-02 9.98924549e-01 -1.64911930e-03 7.17021368e+00] [ 3.65799347e-02 -4.70035440e-05 9.99330729e-01 4.99590205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.779254154 meters Centerline goodness : 0.999352 with order 1 Centerline is valid? [True, True] Translation: X:138.92, Y:7.17, Z:5.00 [[ 9.98335438e-01 -4.46204828e-02 -3.65426550e-02 1.38921504e+02] [ 4.45899055e-02 9.99004010e-01 -1.65172441e-03 7.17271089e+00] [ 3.65799596e-02 1.95414784e-05 9.99330729e-01 4.99845830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.839254154 meters Centerline goodness : 0.999459 with order 1 Centerline is valid? [True, True] Translation: X:138.98, Y:7.17, Z:5.00 [[ 9.98306198e-01 -4.52703180e-02 -3.65422196e-02 1.38979283e+02] [ 4.52398254e-02 9.98974774e-01 -1.66130091e-03 7.17463532e+00] [ 3.65799632e-02 5.32335693e-06 9.99330729e-01 5.00007539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.899254154 meters Centerline goodness : 0.999331 with order 1 Centerline is valid? [True, True] Translation: X:139.04, Y:7.18, Z:5.00 [[ 9.98146906e-01 -4.86563060e-02 -3.65419891e-02 1.39037621e+02] [ 4.86278962e-02 9.98815574e-01 -1.66635685e-03 7.17618179e+00] [ 3.65797866e-02 -1.13691119e-04 9.99330729e-01 5.00306316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.959254154 meters Centerline goodness : 0.999419 with order 1 Centerline is valid? [True, True] Translation: X:139.10, Y:7.17, Z:5.01 [[ 9.97613676e-01 -5.85804345e-02 -3.65415614e-02 1.39096133e+02] [ 5.85583345e-02 9.98282582e-01 -1.67568216e-03 7.17496873e+00] [ 3.65769665e-02 -4.68129538e-04 9.99330729e-01 5.00567460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.019254154 meters Centerline goodness : 0.999248 with order 1 Centerline is valid? [True, True] Translation: X:139.16, Y:7.18, Z:5.01 [[ 9.97354053e-01 -6.28461432e-02 -3.65411328e-02 1.39157194e+02] [ 6.28265635e-02 9.98023038e-01 -1.68497721e-03 7.17613686e+00] [ 3.65747867e-02 -6.15234953e-04 9.99330729e-01 5.00806854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.079254154 meters Centerline goodness : 0.999359 with order 1 Centerline is valid? [True, True] Translation: X:139.22, Y:7.18, Z:5.01 [[ 9.96774210e-01 -7.14556936e-02 -3.65411949e-02 1.39219048e+02] [ 7.14419405e-02 9.97443339e-01 -1.68362967e-03 7.17511065e+00] [ 3.65680764e-02 -9.32375238e-04 9.99330729e-01 5.00973562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.139254154 meters Centerline goodness : 0.999040 with order 1 Centerline is valid? [True, True] Translation: X:139.28, Y:7.17, Z:5.01 [[ 9.95849872e-01 -8.33532783e-02 -3.65412572e-02 1.39281314e+02] [ 8.33475659e-02 9.96519118e-01 -1.68227715e-03 7.17213222e+00] [ 3.65542847e-02 -1.37032936e-03 9.99330729e-01 5.01097810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.19925415400002 meters Centerline goodness : 0.999213 with order 1 Centerline is valid? [True, True] Translation: X:139.34, Y:7.17, Z:5.01 [[ 9.95207634e-01 -9.07000173e-02 -3.65413806e-02 1.39344091e+02] [ 9.06993422e-02 9.95876904e-01 -1.67959283e-03 7.17003889e+00] [ 3.65430561e-02 -1.64273558e-03 9.99330729e-01 5.01312672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.25925415400002 meters Centerline goodness : 0.999235 with order 1 Centerline is valid? [True, True] Translation: X:139.41, Y:7.17, Z:5.02 [[ 9.95096821e-01 -9.19077555e-02 -3.65415026e-02 1.39406865e+02] [ 9.19079901e-02 9.95766092e-01 -1.67693346e-03 7.17114084e+00] [ 3.65409124e-02 -1.68974491e-03 9.99330729e-01 5.01554900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.319254154 meters Centerline goodness : 0.999276 with order 1 Centerline is valid? [True, True] Translation: X:139.47, Y:7.17, Z:5.02 [[ 9.95145082e-01 -9.13836484e-02 -3.65416905e-02 1.39468144e+02] [ 9.13836809e-02 9.95814352e-01 -1.67283011e-03 7.17284477e+00] [ 3.65416091e-02 -1.67460552e-03 9.99330729e-01 5.01645546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.379254154 meters Centerline goodness : 0.999127 with order 1 Centerline is valid? [True, True] Translation: X:139.53, Y:7.18, Z:5.02 [[ 9.95270108e-01 -9.00117209e-02 -3.65417827e-02 1.39530860e+02] [ 9.00109047e-02 9.95939378e-01 -1.67081324e-03 7.17501837e+00] [ 3.65437931e-02 -1.62624845e-03 9.99330729e-01 5.01896503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.439254154 meters Centerline goodness : 0.999235 with order 1 Centerline is valid? [True, True] Translation: X:139.59, Y:7.18, Z:5.02 [[ 9.95389043e-01 -8.86867366e-02 -3.65419680e-02 1.39591904e+02] [ 8.86851784e-02 9.96058312e-01 -1.66675001e-03 7.17680812e+00] [ 3.65457496e-02 -1.58166626e-03 9.99330729e-01 5.02045781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.499254154 meters Centerline goodness : 0.999236 with order 1 Centerline is valid? [True, True] Translation: X:139.66, Y:7.18, Z:5.02 [[ 9.95441899e-01 -8.80914507e-02 -3.65420590e-02 1.39655232e+02] [ 8.80895654e-02 9.96111167e-01 -1.66475275e-03 7.17948728e+00] [ 3.65466035e-02 -1.56180945e-03 9.99330729e-01 5.02330897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.559254154 meters Centerline goodness : 0.999254 with order 1 Centerline is valid? [True, True] Translation: X:139.72, Y:7.18, Z:5.02 [[ 9.95393937e-01 -8.86316855e-02 -3.65422427e-02 1.39717580e+02] [ 8.86303115e-02 9.96063206e-01 -1.66071111e-03 7.18245798e+00] [ 3.65455750e-02 -1.58568859e-03 9.99330729e-01 5.02451674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.619254154 meters Centerline goodness : 0.999446 with order 1 Centerline is valid? [True, True] Translation: X:139.78, Y:7.18, Z:5.03 [[ 9.95288829e-01 -8.98042484e-02 -3.65423649e-02 1.39780004e+02] [ 8.98037615e-02 9.95958099e-01 -1.65801800e-03 7.18499839e+00] [ 3.65435613e-02 -1.63143503e-03 9.99330729e-01 5.02591661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.679254154 meters Centerline goodness : 0.999448 with order 1 Centerline is valid? [True, True] Translation: X:139.84, Y:7.19, Z:5.03 [[ 9.95185184e-01 -9.09455638e-02 -3.65424855e-02 1.39842589e+02] [ 9.09459421e-02 9.95854455e-01 -1.65535486e-03 7.18831135e+00] [ 3.65415442e-02 -1.67600614e-03 9.99330729e-01 5.02894141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.739254154 meters Centerline goodness : 0.999341 with order 1 Centerline is valid? [True, True] Translation: X:139.90, Y:7.19, Z:5.03 [[ 9.95271583e-01 -8.99950511e-02 -3.65426666e-02 1.39904264e+02] [ 8.99949370e-02 9.95940854e-01 -1.65134701e-03 7.19236156e+00] [ 3.65429477e-02 -1.64511623e-03 9.99330729e-01 5.03333433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.799254154 meters Centerline goodness : 0.999107 with order 1 Centerline is valid? [True, True] Translation: X:139.97, Y:7.20, Z:5.04 [[ 9.95837171e-01 -8.35042104e-02 -3.65427873e-02 1.39966513e+02] [ 8.34998308e-02 9.96506428e-01 -1.64867154e-03 7.19752539e+00] [ 3.65527935e-02 -1.40950816e-03 9.99330729e-01 5.03802164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.859254154 meters Centerline goodness : 0.999340 with order 1 Centerline is valid? [True, True] Translation: X:140.03, Y:7.20, Z:5.04 [[ 9.96297366e-01 -7.78214308e-02 -3.65429111e-02 1.40028873e+02] [ 7.78133338e-02 9.96966587e-01 -1.64592429e-03 7.20248897e+00] [ 3.65601495e-02 -1.20369570e-03 9.99330729e-01 5.04142049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.91925415400001 meters Centerline goodness : 0.999404 with order 1 Centerline is valid? [True, True] Translation: X:140.09, Y:7.21, Z:5.04 [[ 9.96733320e-01 -7.20228768e-02 -3.65430353e-02 1.40091015e+02] [ 7.20109870e-02 9.97402485e-01 -1.64316240e-03 7.20786227e+00] [ 3.65664595e-02 -9.93705322e-04 9.99330729e-01 5.04349928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.97925415400002 meters Centerline goodness : 0.999445 with order 1 Centerline is valid? [True, True] Translation: X:140.15, Y:7.21, Z:5.04 [[ 9.96845105e-01 -7.04587471e-02 -3.65431572e-02 1.40153310e+02] [ 7.04459068e-02 9.97514252e-01 -1.64044662e-03 7.21108875e+00] [ 3.65679039e-02 -9.39044662e-04 9.99330729e-01 5.04432117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.039254154 meters Centerline goodness : 0.999297 with order 1 Centerline is valid? [True, True] Translation: X:140.22, Y:7.21, Z:5.04 [[ 9.96750631e-01 -7.17827877e-02 -3.65432770e-02 1.40215182e+02] [ 7.17709341e-02 9.97419797e-01 -1.63777341e-03 7.21356329e+00] [ 3.65665518e-02 -9.90293449e-04 9.99330729e-01 5.04447284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.099254154 meters Centerline goodness : 0.999340 with order 1 Centerline is valid? [True, True] Translation: X:140.28, Y:7.22, Z:5.05 [[ 9.96533404e-01 -7.47379240e-02 -3.65433652e-02 1.40275889e+02] [ 7.47281269e-02 9.97202603e-01 -1.63580163e-03 7.21645268e+00] [ 3.65633954e-02 -1.10068627e-03 9.99330729e-01 5.04537319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.159254154 meters Centerline goodness : 0.999381 with order 1 Centerline is valid? [True, True] Translation: X:140.34, Y:7.22, Z:5.05 [[ 9.96361604e-01 -7.69943466e-02 -3.65434522e-02 1.40337741e+02] [ 7.69861361e-02 9.97030825e-01 -1.63385734e-03 7.21929941e+00] [ 3.65607460e-02 -1.18542646e-03 9.99330729e-01 5.04756049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.219254154 meters Centerline goodness : 0.999359 with order 1 Centerline is valid? [True, True] Translation: X:140.40, Y:7.22, Z:5.05 [[ 9.96160861e-01 -7.95493932e-02 -3.65435663e-02 1.40399949e+02] [ 7.95429927e-02 9.96830101e-01 -1.63130107e-03 7.22338147e+00] [ 3.65574959e-02 -1.28174634e-03 9.99330729e-01 5.05122924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.279254154 meters Centerline goodness : 0.999274 with order 1 Centerline is valid? [True, True] Translation: X:140.46, Y:7.23, Z:5.05 [[ 9.95978467e-01 -8.18013010e-02 -3.65436828e-02 1.40461845e+02] [ 8.17965093e-02 9.96647720e-01 -1.62868625e-03 7.22755889e+00] [ 3.65544068e-02 -1.36700926e-03 9.99330729e-01 5.05370642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.339254154 meters Centerline goodness : 0.999423 with order 1 Centerline is valid? [True, True] Translation: X:140.52, Y:7.23, Z:5.06 [[ 9.95669544e-01 -8.54793007e-02 -3.65437979e-02 1.40523458e+02] [ 8.54770757e-02 9.96338811e-01 -1.62609967e-03 7.23134548e+00] [ 3.65490020e-02 -1.50459907e-03 9.99330729e-01 5.05626873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.399254154 meters Centerline goodness : 0.999530 with order 1 Centerline is valid? [True, True] Translation: X:140.59, Y:7.24, Z:5.06 [[ 9.95008352e-01 -9.28596870e-02 -3.65439131e-02 1.40586402e+02] [ 9.28625196e-02 9.95677617e-01 -1.62350743e-03 7.23561579e+00] [ 3.65367147e-02 -1.77815639e-03 9.99330729e-01 5.05920190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.459254154 meters Centerline goodness : 0.999487 with order 1 Centerline is valid? [True, True] Translation: X:140.65, Y:7.24, Z:5.06 [[ 9.94335906e-01 -9.98029831e-02 -3.65440915e-02 1.40647206e+02] [ 9.98106348e-02 9.95005133e-01 -1.61948210e-03 7.24013719e+00] [ 3.65231877e-02 -2.03717977e-03 9.99330729e-01 5.06124241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.519254154 meters Centerline goodness : 0.999424 with order 1 Centerline is valid? [True, True] Translation: X:140.71, Y:7.24, Z:5.06 [[ 9.94062615e-01 -1.02489222e-01 -3.65441792e-02 1.40709026e+02] [ 1.02498755e-01 9.94731818e-01 -1.61750020e-03 7.24382208e+00] [ 3.65174341e-02 -2.13783639e-03 9.99330729e-01 5.06267379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.579254154 meters Centerline goodness : 0.999465 with order 1 Centerline is valid? [True, True] Translation: X:140.77, Y:7.25, Z:5.07 [[ 9.93968650e-01 -1.03396441e-01 -3.65444648e-02 1.40770888e+02] [ 1.03406821e-01 9.94637841e-01 -1.61102055e-03 7.24798832e+00] [ 3.65150814e-02 -2.17764302e-03 9.99330729e-01 5.06635728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.639254154 meters Centerline goodness : 0.999463 with order 1 Centerline is valid? [True, True] Translation: X:140.83, Y:7.25, Z:5.07 [[ 9.94023703e-01 -1.02865792e-01 -3.65445797e-02 1.40833671e+02] [ 1.02875911e-01 9.94692897e-01 -1.60841060e-03 7.25187538e+00] [ 3.65160843e-02 -2.16075865e-03 9.99330729e-01 5.06780400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.69925415400002 meters Centerline goodness : 0.999420 with order 1 Centerline is valid? [True, True] Translation: X:140.90, Y:7.26, Z:5.07 [[ 9.94241807e-01 -1.00735842e-01 -3.65447504e-02 1.40895742e+02] [ 1.00744669e-01 9.94911020e-01 -1.60452307e-03 7.25590839e+00] [ 3.65204079e-02 -2.08640487e-03 9.99330729e-01 5.06855195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.759254154 meters Centerline goodness : 0.999548 with order 1 Centerline is valid? [True, True] Translation: X:140.96, Y:7.25, Z:5.06 [[ 9.95074137e-01 -9.21516908e-02 -3.65448623e-02 1.40958516e+02] [ 9.21548362e-02 9.95743401e-01 -1.60197012e-03 7.25486557e+00] [ 3.65369297e-02 -1.77370676e-03 9.99330729e-01 5.06491125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.819254154 meters Centerline goodness : 0.999654 with order 1 Centerline is valid? [True, True] Translation: X:141.02, Y:7.26, Z:5.07 [[ 9.95769705e-01 -8.43039659e-02 -3.65449844e-02 1.41021213e+02] [ 8.43019373e-02 9.96438973e-01 -1.59917898e-03 7.26352776e+00] [ 3.65496639e-02 -1.48839900e-03 9.99330729e-01 5.06911574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.879254154 meters Centerline goodness : 0.999589 with order 1 Centerline is valid? [True, True] Translation: X:141.08, Y:7.27, Z:5.08 [[ 9.95704444e-01 -8.50712123e-02 -3.65451662e-02 1.41082286e+02] [ 8.50698519e-02 9.96373713e-01 -1.59501525e-03 7.27271572e+00] [ 3.65483328e-02 -1.52072810e-03 9.99330729e-01 5.07739691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.939254154 meters Centerline goodness : 0.999588 with order 1 Centerline is valid? [True, True] Translation: X:141.14, Y:7.28, Z:5.08 [[ 9.96343971e-01 -7.72213348e-02 -3.65452845e-02 1.41144576e+02] [ 7.72147994e-02 9.97013209e-01 -1.59229932e-03 7.27828114e+00] [ 3.65590909e-02 -1.23535899e-03 9.99330729e-01 5.08164014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.999254154 meters Centerline goodness : 0.999653 with order 1 Centerline is valid? [True, True] Translation: X:141.21, Y:7.28, Z:5.08 [[ 9.97166854e-01 -6.57472407e-02 -3.65454045e-02 1.41207007e+02] [ 6.57331030e-02 9.97835975e-01 -1.58954154e-03 7.28363718e+00] [ 3.65708272e-02 -8.17204700e-04 9.99330729e-01 5.08374893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.059254154 meters Centerline goodness : 0.999435 with order 1 Centerline is valid? [True, True] Translation: X:141.27, Y:7.29, Z:5.09 [[ 9.97796886e-01 -5.53696541e-02 -3.65455242e-02 1.41267922e+02] [ 5.53486571e-02 9.98465827e-01 -1.58678344e-03 7.28773070e+00] [ 3.65773167e-02 -4.39458111e-04 9.99330729e-01 5.08589546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.119254154 meters Centerline goodness : 0.999542 with order 1 Centerline is valid? [True, True] Translation: X:141.33, Y:7.29, Z:5.09 [[ 9.98138793e-01 -4.88197459e-02 -3.65456124e-02 1.41327770e+02] [ 4.87944334e-02 9.98807585e-01 -1.58475009e-03 7.29037061e+00] [ 3.65794019e-02 -2.01421909e-04 9.99330729e-01 5.08829793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.179254154 meters Centerline goodness : 0.999520 with order 1 Centerline is valid? [True, True] Translation: X:141.39, Y:7.29, Z:5.09 [[ 9.98517412e-01 -4.03409242e-02 -3.65457063e-02 1.41387611e+02] [ 4.03100120e-02 9.99185968e-01 -1.58258098e-03 7.29086701e+00] [ 3.65797997e-02 1.07076800e-04 9.99330729e-01 5.09128613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.239254154 meters Centerline goodness : 0.999565 with order 1 Centerline is valid? [True, True] Translation: X:141.45, Y:7.29, Z:5.09 [[ 9.98654424e-01 -3.67934432e-02 -3.65456480e-02 1.41445092e+02] [ 3.67601069e-02 9.99322864e-01 -1.58392714e-03 7.29083794e+00] [ 3.65791797e-02 2.38373914e-04 9.99330729e-01 5.09310052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.299254154 meters Centerline goodness : 0.999458 with order 1 Centerline is valid? [True, True] Translation: X:141.50, Y:7.29, Z:5.09 [[ 9.98702950e-01 -3.54520047e-02 -3.65455045e-02 1.41503033e+02] [ 3.54176497e-02 9.99371338e-01 -1.58723110e-03 7.28851607e+00] [ 3.65788002e-02 2.90816508e-04 9.99330729e-01 5.09402506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.359254154 meters Centerline goodness : 0.999329 with order 1 Centerline is valid? [True, True] Translation: X:141.56, Y:7.29, Z:5.09 [[ 9.98683655e-01 -3.59918889e-02 -3.65450486e-02 1.41560725e+02] [ 3.59575137e-02 9.99352042e-01 -1.59765815e-03 7.28717530e+00] [ 3.65788717e-02 2.81485996e-04 9.99330729e-01 5.09478949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.41925415400001 meters Centerline goodness : 0.999439 with order 1 Centerline is valid? [True, True] Translation: X:141.62, Y:7.28, Z:5.10 [[ 9.98611462e-01 -3.79425879e-02 -3.65445950e-02 1.41619215e+02] [ 3.79091410e-02 9.99279896e-01 -1.60796902e-03 7.28360703e+00] [ 3.65792896e-02 2.20362092e-04 9.99330730e-01 5.09631480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.47925415400002 meters Centerline goodness : 0.999162 with order 1 Centerline is valid? [True, True] Translation: X:141.68, Y:7.28, Z:5.10 [[ 9.98437984e-01 -4.22624938e-02 -3.65441235e-02 1.41677965e+02] [ 4.22315495e-02 9.99106539e-01 -1.61861318e-03 7.28088357e+00] [ 3.65798794e-02 7.27699262e-05 9.99330730e-01 5.09726323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.539254154 meters Centerline goodness : 0.999294 with order 1 Centerline is valid? [True, True] Translation: X:141.74, Y:7.28, Z:5.10 [[ 9.98288598e-01 -4.56554600e-02 -3.65438519e-02 1.41735465e+02] [ 4.56265643e-02 9.98957245e-01 -1.62472158e-03 7.27518523e+00] [ 3.65799230e-02 -4.54293788e-05 9.99330730e-01 5.10126443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.599254154 meters Centerline goodness : 0.999233 with order 1 Centerline is valid? [True, True] Translation: X:141.79, Y:7.27, Z:5.10 [[ 9.98087213e-01 -4.98646094e-02 -3.65436056e-02 1.41792713e+02] [ 4.98383313e-02 9.98755968e-01 -1.63024308e-03 7.27195309e+00] [ 3.65794356e-02 -1.94147547e-04 9.99330730e-01 5.10067819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.659254154 meters Centerline goodness : 0.999363 with order 1 Centerline is valid? [True, True] Translation: X:141.85, Y:7.27, Z:5.11 [[ 9.97868457e-01 -5.40661104e-02 -3.65431057e-02 1.41851882e+02] [ 5.40422405e-02 9.98537301e-01 -1.64137212e-03 7.26610778e+00] [ 3.65783968e-02 -3.36997839e-04 9.99330730e-01 5.10664330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.719254154 meters Centerline goodness : 0.999068 with order 1 Centerline is valid? [True, True] Translation: X:141.91, Y:7.26, Z:5.11 [[ 9.97871279e-01 -5.40143088e-02 -3.65426397e-02 1.41909790e+02] [ 5.39900266e-02 9.98540109e-01 -1.65168310e-03 7.26066032e+00] [ 3.65785059e-02 -3.24770962e-04 9.99330730e-01 5.10622965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.779254154 meters Centerline goodness : 0.999111 with order 1 Centerline is valid? [True, True] Translation: X:141.97, Y:7.26, Z:5.11 [[ 9.97941651e-01 -5.26982626e-02 -3.65424883e-02 1.41969068e+02] [ 5.26729759e-02 9.98610444e-01 -1.65502691e-03 7.25887384e+00] [ 3.65789275e-02 -2.73181312e-04 9.99330730e-01 5.10812422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.839254154 meters Centerline goodness : 0.999133 with order 1 Centerline is valid? [True, True] Translation: X:142.03, Y:7.26, Z:5.11 [[ 9.98069047e-01 -5.02280417e-02 -3.65420509e-02 1.42025854e+02] [ 5.02007482e-02 9.98737760e-01 -1.66462854e-03 7.25591212e+00] [ 3.65795371e-02 -1.73024073e-04 9.99330730e-01 5.10986124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.899254154 meters Centerline goodness : 0.999239 with order 1 Centerline is valid? [True, True] Translation: X:142.08, Y:7.25, Z:5.11 [[ 9.98085410e-01 -4.99019798e-02 -3.65418359e-02 1.42083891e+02] [ 4.98742955e-02 9.98754108e-01 -1.66933425e-03 7.25453029e+00] [ 3.65796118e-02 -1.56360161e-04 9.99330730e-01 5.11218236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.959254154 meters Centerline goodness : 0.999157 with order 1 Centerline is valid? [True, True] Translation: X:142.14, Y:7.25, Z:5.11 [[ 9.98016293e-01 -5.12660747e-02 -3.65413388e-02 1.42141649e+02] [ 5.12389086e-02 9.98685011e-01 -1.68014565e-03 7.25120513e+00] [ 3.65794218e-02 -1.95525588e-04 9.99330730e-01 5.11368684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.019254154 meters Centerline goodness : 0.999179 with order 1 Centerline is valid? [True, True] Translation: X:142.20, Y:7.25, Z:5.12 [[ 9.97932323e-01 -5.28757440e-02 -3.65408461e-02 1.42199799e+02] [ 5.28492667e-02 9.98601070e-01 -1.69079428e-03 7.25065937e+00] [ 3.65791300e-02 -2.43858653e-04 9.99330730e-01 5.11619456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.079254154 meters Centerline goodness : 0.999307 with order 1 Centerline is valid? [True, True] Translation: X:142.26, Y:7.25, Z:5.12 [[ 9.97724569e-01 -5.66611775e-02 -3.65403383e-02 1.42258501e+02] [ 5.66368381e-02 9.98393396e-01 -1.70169774e-03 7.24760518e+00] [ 3.65780526e-02 -3.71703575e-04 9.99330730e-01 5.11880316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.139254154 meters Centerline goodness : 0.999060 with order 1 Centerline is valid? [True, True] Translation: X:142.32, Y:7.25, Z:5.12 [[ 9.97485149e-01 -6.07306676e-02 -3.65398992e-02 1.42316888e+02] [ 6.07087133e-02 9.98154058e-01 -1.71107483e-03 7.24630385e+00] [ 3.65763634e-02 -5.11518527e-04 9.99330730e-01 5.12194330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.19925415400002 meters Centerline goodness : 0.999206 with order 1 Centerline is valid? [True, True] Translation: X:142.37, Y:7.24, Z:5.12 [[ 9.96897125e-01 -6.97207996e-02 -3.65394557e-02 1.42374863e+02] [ 6.97045315e-02 9.97566197e-01 -1.72049354e-03 7.24230977e+00] [ 3.65704801e-02 -8.31810579e-04 9.99330730e-01 5.12433789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.259254154 meters Centerline goodness : 0.998998 with order 1 Centerline is valid? [True, True] Translation: X:142.43, Y:7.24, Z:5.13 [[ 9.96415335e-01 -7.62978744e-02 -3.65392095e-02 1.42434334e+02] [ 7.62858309e-02 9.97084497e-01 -1.72570665e-03 7.24097812e+00] [ 3.65643471e-02 -1.06790338e-03 9.99330730e-01 5.12655295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.319254154 meters Centerline goodness : 0.999290 with order 1 Centerline is valid? [True, True] Translation: X:142.50, Y:7.24, Z:5.13 [[ 9.95610802e-01 -8.61627656e-02 -3.65391465e-02 1.42495348e+02] [ 8.61573013e-02 9.96280049e-01 -1.72703902e-03 7.23779238e+00] [ 3.65520292e-02 -1.42865555e-03 9.99330730e-01 5.12866135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.379254154 meters Centerline goodness : 0.999228 with order 1 Centerline is valid? [True, True] Translation: X:142.56, Y:7.24, Z:5.13 [[ 9.95061634e-01 -9.22888708e-02 -3.65391465e-02 1.42556764e+02] [ 9.22875257e-02 9.95730902e-01 -1.72703902e-03 7.23799564e+00] [ 3.65425438e-02 -1.65359716e-03 9.99330730e-01 5.13090389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.439254154 meters Centerline goodness : 0.999227 with order 1 Centerline is valid? [True, True] Translation: X:142.62, Y:7.24, Z:5.13 [[ 9.94300331e-01 -1.00158565e-01 -3.65392109e-02 1.42618192e+02] [ 1.00162564e-01 9.94969589e-01 -1.72567695e-03 7.23753917e+00] [ 3.65282449e-02 -1.94401990e-03 9.99330730e-01 5.13264502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.499254154 meters Centerline goodness : 0.999083 with order 1 Centerline is valid? [True, True] Translation: X:142.68, Y:7.24, Z:5.13 [[ 9.93870662e-01 -1.04335942e-01 -3.65392747e-02 1.42679722e+02] [ 1.04342804e-01 9.94539897e-01 -1.72432318e-03 7.23934346e+00] [ 3.65196754e-02 -2.09885616e-03 9.99330730e-01 5.13413399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.559254154 meters Centerline goodness : 0.999021 with order 1 Centerline is valid? [True, True] Translation: X:142.74, Y:7.24, Z:5.14 [[ 9.93549084e-01 -1.07354985e-01 -3.65393694e-02 1.42741474e+02] [ 1.07363954e-01 9.94218293e-01 -1.72231381e-03 7.24133464e+00] [ 3.65130085e-02 -2.21180787e-03 9.99330730e-01 5.13565464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.619254154 meters Centerline goodness : 0.999353 with order 1 Centerline is valid? [True, True] Translation: X:142.80, Y:7.24, Z:5.14 [[ 9.93542207e-01 -1.07418587e-01 -3.65394309e-02 1.42803373e+02] [ 1.07427646e-01 9.94211416e-01 -1.72100859e-03 7.24455087e+00] [ 3.65127877e-02 -2.21545039e-03 9.99330730e-01 5.13843976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.679254154 meters Centerline goodness : 0.999228 with order 1 Centerline is valid? [True, True] Translation: X:142.86, Y:7.25, Z:5.14 [[ 9.93825656e-01 -1.04763671e-01 -3.65395597e-02 1.42863941e+02] [ 1.04771042e-01 9.94494885e-01 -1.71827066e-03 7.24988302e+00] [ 3.65184175e-02 -2.12062628e-03 9.99330730e-01 5.14118393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.739254154 meters Centerline goodness : 0.999082 with order 1 Centerline is valid? [True, True] Translation: X:142.93, Y:7.26, Z:5.14 [[ 9.94179918e-01 -1.01346649e-01 -3.65396548e-02 1.42925720e+02] [ 1.01351794e-01 9.94849169e-01 -1.71624624e-03 7.25557010e+00] [ 3.65253810e-02 -1.99710203e-03 9.99330730e-01 5.14410190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.799254154 meters Centerline goodness : 0.998873 with order 1 Centerline is valid? [True, True] Translation: X:142.99, Y:7.26, Z:5.15 [[ 9.94597585e-01 -9.71621766e-02 -3.65397821e-02 1.42987236e+02] [ 9.71646049e-02 9.95266850e-01 -1.71353190e-03 7.26167893e+00] [ 3.65333243e-02 -1.84609880e-03 9.99330730e-01 5.14662559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.859254154 meters Centerline goodness : 0.998976 with order 1 Centerline is valid? [True, True] Translation: X:143.05, Y:7.27, Z:5.15 [[ 9.95054116e-01 -9.23695944e-02 -3.65399092e-02 1.43048138e+02] [ 9.23688980e-02 9.95723385e-01 -1.71081605e-03 7.26764051e+00] [ 3.65416695e-02 -1.67279659e-03 9.99330730e-01 5.14836986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.91925415400001 meters Centerline goodness : 0.999185 with order 1 Centerline is valid? [True, True] Translation: X:143.11, Y:7.27, Z:5.15 [[ 9.95536261e-01 -8.70193811e-02 -3.65401087e-02 1.43108812e+02] [ 8.70152437e-02 9.96205518e-01 -1.70654383e-03 7.27327209e+00] [ 3.65499604e-02 -1.48062020e-03 9.99330730e-01 5.15123255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.97925415400002 meters Centerline goodness : 0.998996 with order 1 Centerline is valid? [True, True] Translation: X:143.17, Y:7.28, Z:5.15 [[ 9.96375666e-01 -7.68137299e-02 -3.65401706e-02 1.43170141e+02] [ 7.68027834e-02 9.97044846e-01 -1.70521872e-03 7.28254556e+00] [ 3.65631729e-02 -1.10734837e-03 9.99330730e-01 5.15329525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.039254154 meters Centerline goodness : 0.999205 with order 1 Centerline is valid? [True, True] Translation: X:143.23, Y:7.29, Z:5.16 [[ 9.97238491e-01 -6.46544873e-02 -3.65402312e-02 1.43229489e+02] [ 6.46354268e-02 9.97907490e-01 -1.70391758e-03 7.29210366e+00] [ 3.65739364e-02 -6.62581250e-04 9.99330730e-01 5.15506414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.099254154 meters Centerline goodness : 0.998934 with order 1 Centerline is valid? [True, True] Translation: X:143.29, Y:7.30, Z:5.16 [[ 9.97710469e-01 -5.69089937e-02 -3.65402014e-02 1.43287661e+02] [ 5.68847157e-02 9.98379298e-01 -1.70455766e-03 7.29832344e+00] [ 3.65779853e-02 -3.77923946e-04 9.99330730e-01 5.15750864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.159254154 meters Centerline goodness : 0.999073 with order 1 Centerline is valid? [True, True] Translation: X:143.35, Y:7.31, Z:5.16 [[ 9.98269155e-01 -4.60818904e-02 -3.65397584e-02 1.43345736e+02] [ 4.60500122e-02 9.98937665e-01 -1.71400079e-03 7.30537880e+00] [ 3.65799254e-02 2.83777967e-05 9.99330730e-01 5.15769631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.219254154 meters Centerline goodness : 0.999220 with order 1 Centerline is valid? [True, True] Translation: X:143.40, Y:7.31, Z:5.16 [[ 9.98454987e-01 -4.18631857e-02 -3.65392039e-02 1.43403779e+02] [ 4.18280533e-02 9.99123334e-01 -1.72574294e-03 7.31078896e+00] [ 3.65794163e-02 1.94712879e-04 9.99330730e-01 5.16355615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.279254154 meters Centerline goodness : 0.999093 with order 1 Centerline is valid? [True, True] Translation: X:143.46, Y:7.31, Z:5.17 [[ 9.98533044e-01 -3.99585249e-02 -3.65386865e-02 1.43461796e+02] [ 3.99217194e-02 9.99201301e-01 -1.73662782e-03 7.31495290e+00] [ 3.65788962e-02 2.75393076e-04 9.99330730e-01 5.16585122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.339254154 meters Centerline goodness : 0.999114 with order 1 Centerline is valid? [True, True] Translation: X:143.52, Y:7.32, Z:5.17 [[ 9.98429151e-01 -4.24754704e-02 -3.65385261e-02 1.43519976e+02] [ 4.24402262e-02 9.99097493e-01 -1.73999626e-03 7.31762269e+00] [ 3.65794570e-02 1.86559674e-04 9.99330730e-01 5.16748193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.399254154 meters Centerline goodness : 0.998969 with order 1 Centerline is valid? [True, True] Translation: X:143.58, Y:7.32, Z:5.17 [[ 9.98082308e-01 -4.99667839e-02 -3.65380155e-02 1.43578079e+02] [ 4.99361660e-02 9.98750877e-01 -1.75065345e-03 7.31891097e+00] [ 3.65798495e-02 -7.72721667e-05 9.99330730e-01 5.16873316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.459254154 meters Centerline goodness : 0.999075 with order 1 Centerline is valid? [True, True] Translation: X:143.64, Y:7.32, Z:5.17 [[ 9.97503124e-01 -6.04359439e-02 -3.65378585e-02 1.43635756e+02] [ 6.04122226e-02 9.98171973e-01 -1.75392373e-03 7.31806430e+00] [ 3.65770663e-02 -4.57788839e-04 9.99330730e-01 5.17106269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.519254154 meters Centerline goodness : 0.999139 with order 1 Centerline is valid? [True, True] Translation: X:143.69, Y:7.32, Z:5.17 [[ 9.97045020e-01 -6.75740328e-02 -3.65373569e-02 1.43694787e+02] [ 6.75547189e-02 9.97714011e-01 -1.76431134e-03 7.31813349e+00] [ 3.65730545e-02 -7.09173036e-04 9.99330730e-01 5.17401262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.579254154 meters Centerline goodness : 0.999306 with order 1 Centerline is valid? [True, True] Translation: X:143.75, Y:7.32, Z:5.18 [[ 9.96369570e-01 -7.68943111e-02 -3.65368998e-02 1.43754612e+02] [ 7.68809087e-02 9.97038705e-01 -1.77372720e-03 7.31802637e+00] [ 3.65650928e-02 -1.04170225e-03 9.99330730e-01 5.17624232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.639254154 meters Centerline goodness : 0.999161 with order 1 Centerline is valid? [True, True] Translation: X:143.81, Y:7.32, Z:5.18 [[ 9.95983138e-01 -8.17474629e-02 -3.65368335e-02 1.43814977e+02] [ 8.17372705e-02 9.96652330e-01 -1.77509223e-03 7.31913869e+00] [ 3.65596295e-02 -1.21845912e-03 9.99330730e-01 5.17721690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.69925415400002 meters Centerline goodness : 0.998996 with order 1 Centerline is valid? [True, True] Translation: X:143.88, Y:7.32, Z:5.18 [[ 9.95425363e-01 -8.82802234e-02 -3.65369450e-02 1.43876343e+02] [ 8.82745059e-02 9.96094608e-01 -1.77279512e-03 7.31974637e+00] [ 3.65507566e-02 -1.46059553e-03 9.99330730e-01 5.17871162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.759254154 meters Centerline goodness : 0.998954 with order 1 Centerline is valid? [True, True] Translation: X:143.94, Y:7.32, Z:5.18 [[ 9.95022847e-01 -9.27069582e-02 -3.65370090e-02 1.43938530e+02] [ 9.27042658e-02 9.95692112e-01 -1.77147504e-03 7.32214288e+00] [ 3.65438397e-02 -1.62447845e-03 9.99330730e-01 5.18188787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.819254154 meters Centerline goodness : 0.999165 with order 1 Centerline is valid? [True, True] Translation: X:144.00, Y:7.32, Z:5.18 [[ 9.94269128e-01 -1.00468596e-01 -3.65371415e-02 1.43999828e+02] [ 1.00471226e-01 9.94938392e-01 -1.76873609e-03 7.32449338e+00] [ 3.65299073e-02 -1.91233173e-03 9.99330730e-01 5.18367558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.879254154 meters Centerline goodness : 0.999185 with order 1 Centerline is valid? [True, True] Translation: X:144.06, Y:7.33, Z:5.19 [[ 9.93786496e-01 -1.05135256e-01 -3.65373618e-02 1.44061969e+02] [ 1.05141195e-01 9.94455739e-01 -1.76417378e-03 7.32774692e+00] [ 3.65202660e-02 -2.08836982e-03 9.99330730e-01 5.18674999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.939254154 meters Centerline goodness : 0.998871 with order 1 Centerline is valid? [True, True] Translation: X:144.12, Y:7.33, Z:5.19 [[ 9.93405513e-01 -1.08676119e-01 -3.65374944e-02 1.44122645e+02] [ 1.08684544e-01 9.94074729e-01 -1.76142421e-03 7.33273260e+00] [ 3.65124246e-02 -2.22125241e-03 9.99330730e-01 5.18752941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.999254154 meters Centerline goodness : 0.998995 with order 1 Centerline is valid? [True, True] Translation: X:144.18, Y:7.34, Z:5.19 [[ 9.93529723e-01 -1.07534619e-01 -3.65375923e-02 1.44184076e+02] [ 1.07542350e-01 9.94198948e-01 -1.75939019e-03 7.34013229e+00] [ 3.65148312e-02 -2.18133211e-03 9.99330730e-01 5.19150945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.059254154 meters Centerline goodness : 0.998828 with order 1 Centerline is valid? [True, True] Translation: X:144.25, Y:7.35, Z:5.19 [[ 9.93925935e-01 -1.03808627e-01 -3.65377247e-02 1.44245340e+02] [ 1.03813949e-01 9.94595183e-01 -1.75663696e-03 7.34693961e+00] [ 3.65225991e-02 -2.04715847e-03 9.99330730e-01 5.19420458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.119254154 meters Centerline goodness : 0.999033 with order 1 Centerline is valid? [True, True] Translation: X:144.31, Y:7.36, Z:5.20 [[ 9.94850845e-01 -9.45345622e-02 -3.65378221e-02 1.44307340e+02] [ 9.45337173e-02 9.95520114e-01 -1.75460779e-03 7.35644410e+00] [ 3.65400079e-02 -1.70848310e-03 9.99330730e-01 5.19836870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.179254154 meters Centerline goodness : 0.998970 with order 1 Centerline is valid? [True, True] Translation: X:144.37, Y:7.36, Z:5.20 [[ 9.95542946e-01 -8.69437758e-02 -3.65379483e-02 1.44368683e+02] [ 8.69379227e-02 9.96212190e-01 -1.75197680e-03 7.36416485e+00] [ 3.65518730e-02 -1.43236518e-03 9.99330730e-01 5.20236900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.239254154 meters Centerline goodness : 0.999094 with order 1 Centerline is valid? [True, True] Translation: X:144.43, Y:7.37, Z:5.21 [[ 9.96468193e-01 -7.56049589e-02 -3.65380768e-02 1.44430708e+02] [ 7.55915859e-02 9.97137329e-01 -1.74929186e-03 7.37382413e+00] [ 3.65657355e-02 -1.01885747e-03 9.99330730e-01 5.20616014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.299254154 meters Centerline goodness : 0.999200 with order 1 Centerline is valid? [True, True] Translation: X:144.49, Y:7.38, Z:5.21 [[ 9.96934268e-01 -6.91883233e-02 -3.65382073e-02 1.44490709e+02] [ 6.91707428e-02 9.97603307e-01 -1.74656184e-03 7.38052063e+00] [ 3.65714782e-02 -7.86167592e-04 9.99330731e-01 5.20794540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.359254154 meters Centerline goodness : 0.998900 with order 1 Centerline is valid? [True, True] Translation: X:144.55, Y:7.39, Z:5.21 [[ 9.97284008e-01 -6.39497044e-02 -3.65382392e-02 1.44551730e+02] [ 6.39286336e-02 9.97952946e-01 -1.74589488e-03 7.38634275e+00] [ 3.65750929e-02 -5.94686669e-04 9.99330731e-01 5.20991179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.41925415400001 meters Centerline goodness : 0.999152 with order 1 Centerline is valid? [True, True] Translation: X:144.61, Y:7.39, Z:5.21 [[ 9.97628582e-01 -5.83280862e-02 -3.65383034e-02 1.44611323e+02] [ 5.83032949e-02 9.98297392e-01 -1.74455123e-03 7.39173750e+00] [ 3.65778493e-02 -3.89889307e-04 9.99330731e-01 5.20989064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.47925415400002 meters Centerline goodness : 0.999300 with order 1 Centerline is valid? [True, True] Translation: X:144.67, Y:7.40, Z:5.21 [[ 9.97694450e-01 -5.71903779e-02 -3.65382718e-02 1.44670371e+02] [ 5.71647997e-02 9.98363230e-01 -1.74521187e-03 7.39556457e+00] [ 3.65782764e-02 -3.47514791e-04 9.99330731e-01 5.21328847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.539254154 meters Centerline goodness : 0.999257 with order 1 Centerline is valid? [True, True] Translation: X:144.73, Y:7.40, Z:5.21 [[ 9.97627215e-01 -5.83515202e-02 -3.65382075e-02 1.44730325e+02] [ 5.83266711e-02 9.98296023e-01 -1.74655790e-03 7.39764020e+00] [ 3.65778615e-02 -3.88738319e-04 9.99330731e-01 5.21452255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.599254154 meters Centerline goodness : 0.999023 with order 1 Centerline is valid? [True, True] Translation: X:144.79, Y:7.40, Z:5.22 [[ 9.97398415e-01 -6.21398851e-02 -3.65381440e-02 1.44789318e+02] [ 6.21175276e-02 9.98067311e-01 -1.74788469e-03 7.39890194e+00] [ 3.65761405e-02 -5.26321749e-04 9.99330731e-01 5.21632894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.659254154 meters Centerline goodness : 0.998939 with order 1 Centerline is valid? [True, True] Translation: X:144.85, Y:7.40, Z:5.22 [[ 9.97302914e-01 -6.36542948e-02 -3.65380502e-02 1.44849967e+02] [ 6.36328813e-02 9.97971841e-01 -1.74984412e-03 7.40120986e+00] [ 3.65753303e-02 -5.79896767e-04 9.99330731e-01 5.21985174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.719254154 meters Centerline goodness : 0.999005 with order 1 Centerline is valid? [True, True] Translation: X:144.91, Y:7.40, Z:5.22 [[ 9.97156612e-01 -6.59064657e-02 -3.65380502e-02 1.44910087e+02] [ 6.58865629e-02 9.97825585e-01 -1.74984412e-03 7.40286315e+00] [ 3.65739273e-02 -6.62497907e-04 9.99330731e-01 5.22318246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.779254154 meters Centerline goodness : 0.999282 with order 1 Centerline is valid? [True, True] Translation: X:144.97, Y:7.40, Z:5.23 [[ 9.97018184e-01 -6.79684579e-02 -3.65380502e-02 1.44970011e+02] [ 6.79499385e-02 9.97687197e-01 -1.74984412e-03 7.40337192e+00] [ 3.65724791e-02 -7.38131855e-04 9.99330731e-01 5.22525662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.839254154 meters Centerline goodness : 0.998986 with order 1 Centerline is valid? [True, True] Translation: X:145.03, Y:7.40, Z:5.23 [[ 9.97105587e-01 -6.66739642e-02 -3.65380822e-02 1.45031124e+02] [ 6.66546008e-02 9.97774576e-01 -1.74917500e-03 7.40468592e+00] [ 3.65733939e-02 -6.91319112e-04 9.99330731e-01 5.22788338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.899254154 meters Centerline goodness : 0.999155 with order 1 Centerline is valid? [True, True] Translation: X:145.09, Y:7.41, Z:5.23 [[ 9.97243601e-01 -6.45768084e-02 -3.65381473e-02 1.45091936e+02] [ 6.45560880e-02 9.97912550e-01 -1.74781477e-03 7.40608497e+00] [ 3.65747440e-02 -6.15762756e-04 9.99330731e-01 5.22957321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.959254154 meters Centerline goodness : 0.999074 with order 1 Centerline is valid? [True, True] Translation: X:145.15, Y:7.41, Z:5.23 [[ 9.97496198e-01 -6.05499719e-02 -3.65381473e-02 1.45151389e+02] [ 6.05265507e-02 9.98165057e-01 -1.74781477e-03 7.40638193e+00] [ 3.65769320e-02 -4.68089439e-04 9.99330731e-01 5.22870233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.019254154 meters Centerline goodness : 0.998966 with order 1 Centerline is valid? [True, True] Translation: X:145.21, Y:7.41, Z:5.23 [[ 9.97742737e-01 -5.63418000e-02 -3.65380827e-02 1.45210759e+02] [ 5.63155083e-02 9.98411490e-01 -1.74916400e-03 7.40826645e+00] [ 3.65785926e-02 -3.12445020e-04 9.99330731e-01 5.22950077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.079254154 meters Centerline goodness : 0.998944 with order 1 Centerline is valid? [True, True] Translation: X:145.27, Y:7.41, Z:5.23 [[ 9.97861887e-01 -5.41906341e-02 -3.65380505e-02 1.45269337e+02] [ 5.41628761e-02 9.98530581e-01 -1.74983523e-03 7.41007770e+00] [ 3.65791855e-02 -2.32912021e-04 9.99330731e-01 5.23351003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.139254154 meters Centerline goodness : 0.999050 with order 1 Centerline is valid? [True, True] Translation: X:145.33, Y:7.41, Z:5.24 [[ 9.98097730e-01 -4.96580981e-02 -3.65375774e-02 1.45327998e+02] [ 4.96269438e-02 9.98766274e-01 -1.75965857e-03 7.41063194e+00] [ 3.65798814e-02 -5.69370807e-05 9.99330731e-01 5.23616344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.19925415400002 meters Centerline goodness : 0.999324 with order 1 Centerline is valid? [True, True] Translation: X:145.39, Y:7.41, Z:5.24 [[ 9.98158478e-01 -4.84220266e-02 -3.65371127e-02 1.45385885e+02] [ 4.83896930e-02 9.98826966e-01 -1.76925662e-03 7.41106063e+00] [ 3.65799244e-02 -2.02117278e-06 9.99330731e-01 5.23785105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.259254154 meters Centerline goodness : 0.999198 with order 1 Centerline is valid? [True, True] Translation: X:145.44, Y:7.41, Z:5.24 [[ 9.98136370e-01 -4.88760076e-02 -3.65365867e-02 1.45442595e+02] [ 4.88435830e-02 9.98804854e-01 -1.78005137e-03 7.41117132e+00] [ 3.65799220e-02 -7.84379299e-06 9.99330731e-01 5.23883087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.319254154 meters Centerline goodness : 0.999388 with order 1 Centerline is valid? [True, True] Translation: X:145.50, Y:7.41, Z:5.24 [[ 9.97925720e-01 -5.30033114e-02 -3.65363603e-02 1.45500824e+02] [ 5.29734818e-02 9.98594325e-01 -1.78468677e-03 7.40988909e+00] [ 3.65795964e-02 -1.54473390e-04 9.99330731e-01 5.24069331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.379254154 meters Centerline goodness : 0.999053 with order 1 Centerline is valid? [True, True] Translation: X:145.56, Y:7.41, Z:5.24 [[ 9.97524722e-01 -6.00796203e-02 -3.65358456e-02 1.45559111e+02] [ 6.00541498e-02 9.98193507e-01 -1.79516182e-03 7.40884046e+00] [ 3.65776965e-02 -4.03410853e-04 9.99330731e-01 5.24320072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.439254154 meters Centerline goodness : 0.999159 with order 1 Centerline is valid? [True, True] Translation: X:145.62, Y:7.41, Z:5.25 [[ 9.97190202e-01 -6.53977974e-02 -3.65353078e-02 1.45618241e+02] [ 6.53754949e-02 9.97859100e-01 -1.80604131e-03 7.40914978e+00] [ 3.65752005e-02 -5.87547128e-04 9.99330731e-01 5.24548750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.499254154 meters Centerline goodness : 0.999076 with order 1 Centerline is valid? [True, True] Translation: X:145.68, Y:7.41, Z:5.25 [[ 9.96750602e-01 -7.17874879e-02 -3.65348406e-02 1.45677862e+02] [ 7.17691284e-02 9.97419619e-01 -1.81544342e-03 7.40800330e+00] [ 3.65708930e-02 -8.12529345e-04 9.99330731e-01 5.24709840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.559254154 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:145.74, Y:7.41, Z:5.25 [[ 9.96509108e-01 -7.50653604e-02 -3.65347724e-02 1.45737885e+02] [ 7.50491511e-02 9.97178181e-01 -1.81681499e-03 7.40928871e+00] [ 3.65680578e-02 -9.31430968e-04 9.99330731e-01 5.25204138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.619254154 meters Centerline goodness : 0.999455 with order 1 Centerline is valid? [True, True] Translation: X:145.80, Y:7.41, Z:5.26 [[ 9.96373233e-01 -7.68478485e-02 -3.65347724e-02 1.45798460e+02] [ 7.68328361e-02 9.97042333e-01 -1.81681499e-03 7.41024865e+00] [ 3.65663331e-02 -9.96844355e-04 9.99330731e-01 5.25506453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.679254154 meters Centerline goodness : 0.999456 with order 1 Centerline is valid? [True, True] Translation: X:145.86, Y:7.41, Z:5.26 [[ 9.96482828e-01 -7.54134180e-02 -3.65347724e-02 1.45858833e+02] [ 7.53974424e-02 9.97151907e-01 -1.81681499e-03 7.41258394e+00] [ 3.65677302e-02 -9.44203457e-04 9.99330731e-01 5.25693709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.739254154 meters Centerline goodness : 0.999267 with order 1 Centerline is valid? [True, True] Translation: X:145.92, Y:7.41, Z:5.26 [[ 9.96820129e-01 -7.08155377e-02 -3.65347724e-02 1.45919255e+02] [ 7.07964756e-02 9.97489127e-01 -1.81681499e-03 7.41492960e+00] [ 3.65716970e-02 -7.75495370e-04 9.99330731e-01 5.25850760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.799254154 meters Centerline goodness : 0.999140 with order 1 Centerline is valid? [True, True] Translation: X:145.98, Y:7.42, Z:5.26 [[ 9.97212346e-01 -6.50595656e-02 -3.65347724e-02 1.45978387e+02] [ 6.50366416e-02 9.97881223e-01 -1.81681499e-03 7.41631074e+00] [ 3.65755646e-02 -5.64348561e-04 9.99330731e-01 5.25950464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.859254154 meters Centerline goodness : 0.999392 with order 1 Centerline is valid? [True, True] Translation: X:146.04, Y:7.42, Z:5.26 [[ 9.97451931e-01 -6.12769314e-02 -3.65346723e-02 1.46036054e+02] [ 6.12513970e-02 9.98120713e-01 -1.81882640e-03 7.41864513e+00] [ 3.65774653e-02 -4.23607809e-04 9.99330731e-01 5.26059152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.91925415400001 meters Centerline goodness : 0.998909 with order 1 Centerline is valid? [True, True] Translation: X:146.09, Y:7.42, Z:5.26 [[ 9.97687590e-01 -5.73123182e-02 -3.65345089e-02 1.46093739e+02] [ 5.72840061e-02 9.98356260e-01 -1.82210224e-03 7.42069011e+00] [ 3.65788846e-02 -2.74954240e-04 9.99330731e-01 5.26011225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.97925415400002 meters Centerline goodness : 0.999119 with order 1 Centerline is valid? [True, True] Translation: X:146.15, Y:7.42, Z:5.26 [[ 9.97736327e-01 -5.64578643e-02 -3.65339727e-02 1.46151867e+02] [ 5.64285883e-02 9.98404956e-01 -1.83279074e-03 7.42226697e+00] [ 3.65791749e-02 -2.32918606e-04 9.99330731e-01 5.26116335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.039254154 meters Centerline goodness : 0.998891 with order 1 Centerline is valid? [True, True] Translation: X:146.21, Y:7.42, Z:5.26 [[ 9.97662522e-01 -5.77477376e-02 -3.65334350e-02 1.46209621e+02] [ 5.77189358e-02 9.98331171e-01 -1.84344660e-03 7.42483265e+00] [ 3.65789218e-02 -2.69533410e-04 9.99330731e-01 5.26401394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.099254154 meters Centerline goodness : 0.998827 with order 1 Centerline is valid? [True, True] Translation: X:146.27, Y:7.43, Z:5.27 [[ 9.97510107e-01 -6.03235867e-02 -3.65328861e-02 1.46267773e+02] [ 6.02961155e-02 9.98178812e-01 -1.85426109e-03 7.42716075e+00] [ 3.65782086e-02 -3.53146944e-04 9.99330731e-01 5.26738760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.159254154 meters Centerline goodness : 0.999081 with order 1 Centerline is valid? [True, True] Translation: X:146.33, Y:7.43, Z:5.27 [[ 9.97093121e-01 -6.68632642e-02 -3.65323288e-02 1.46326128e+02] [ 6.68397786e-02 9.97761978e-01 -1.86517770e-03 7.42787287e+00] [ 3.65752805e-02 -5.82056909e-04 9.99330731e-01 5.27071511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.219254154 meters Centerline goodness : 0.998957 with order 1 Centerline is valid? [True, True] Translation: X:146.38, Y:7.43, Z:5.27 [[ 9.96463477e-01 -7.56701275e-02 -3.65317711e-02 1.46384322e+02] [ 7.56521543e-02 9.97132505e-01 -1.87603789e-03 7.42849302e+00] [ 3.65689764e-02 -8.94303947e-04 9.99330731e-01 5.27359438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.279254154 meters Centerline goodness : 0.999144 with order 1 Centerline is valid? [True, True] Translation: X:146.44, Y:7.43, Z:5.28 [[ 9.95928932e-01 -8.24075545e-02 -3.65315996e-02 1.46444850e+02] [ 8.23939843e-02 9.96598063e-01 -1.87937139e-03 7.42987152e+00] [ 3.65621958e-02 -1.13826370e-03 9.99330731e-01 5.27578839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.339254154 meters Centerline goodness : 0.999104 with order 1 Centerline is valid? [True, True] Translation: X:146.50, Y:7.43, Z:5.28 [[ 9.95213457e-01 -9.06400413e-02 -3.65315996e-02 1.46504963e+02] [ 9.06320045e-02 9.95882678e-01 -1.87937139e-03 7.43108178e+00] [ 3.65515335e-02 -1.44055640e-03 9.99330731e-01 5.27685766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.399254154 meters Centerline goodness : 0.998897 with order 1 Centerline is valid? [True, True] Translation: X:146.57, Y:7.43, Z:5.28 [[ 9.93936839e-01 -1.03706325e-01 -3.65315996e-02 1.46566105e+02] [ 1.03707080e-01 9.94606108e-01 -1.87937139e-03 7.43159806e+00] [ 3.65294548e-02 -1.92060907e-03 9.99330731e-01 5.27641142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.459254154 meters Centerline goodness : 0.999061 with order 1 Centerline is valid? [True, True] Translation: X:146.63, Y:7.44, Z:5.28 [[ 9.93220665e-01 -1.10354645e-01 -3.65316686e-02 1.46627965e+02] [ 1.10359928e-01 9.93889913e-01 -1.87802857e-03 7.43505338e+00] [ 3.65157061e-02 -2.16633554e-03 9.99330731e-01 5.27806073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.519254154 meters Centerline goodness : 0.999041 with order 1 Centerline is valid? [True, True] Translation: X:146.69, Y:7.44, Z:5.28 [[ 9.92813815e-01 -1.13956815e-01 -3.65318063e-02 1.46690169e+02] [ 1.13964624e-01 9.93483038e-01 -1.87534640e-03 7.44119558e+00] [ 3.65074384e-02 -2.30146375e-03 9.99330731e-01 5.27946105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.579254154 meters Centerline goodness : 0.998936 with order 1 Centerline is valid? [True, True] Translation: X:146.75, Y:7.45, Z:5.28 [[ 9.93028856e-01 -1.12067430e-01 -3.65319444e-02 1.46751968e+02] [ 1.12074064e-01 9.93698092e-01 -1.87265174e-03 7.44787987e+00] [ 3.65115867e-02 -2.23468628e-03 9.99330731e-01 5.28164607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.639254154 meters Centerline goodness : 0.999104 with order 1 Centerline is valid? [True, True] Translation: X:146.81, Y:7.45, Z:5.28 [[ 9.93249573e-01 -1.10094012e-01 -3.65320862e-02 1.46813052e+02] [ 1.10099418e-01 9.93918820e-01 -1.86988269e-03 7.45300036e+00] [ 3.65157909e-02 -2.16490124e-03 9.99330731e-01 5.28379915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.69925415400002 meters Centerline goodness : 0.999164 with order 1 Centerline is valid? [True, True] Translation: X:146.87, Y:7.46, Z:5.29 [[ 9.93959227e-01 -1.03491320e-01 -3.65321907e-02 1.46874851e+02] [ 1.03492353e-01 9.94628495e-01 -1.86783738e-03 7.46366709e+00] [ 3.65292629e-02 -1.92424820e-03 9.99330731e-01 5.28658208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.759254154 meters Centerline goodness : 0.998930 with order 1 Centerline is valid? [True, True] Translation: X:146.94, Y:7.47, Z:5.29 [[ 9.94465952e-01 -9.85030891e-02 -3.65323290e-02 1.46936532e+02] [ 9.85008640e-02 9.95135217e-01 -1.86512860e-03 7.47395502e+00] [ 3.65383281e-02 -1.74365908e-03 9.99330731e-01 5.28831325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.819254154 meters Centerline goodness : 0.998929 with order 1 Centerline is valid? [True, True] Translation: X:147.00, Y:7.48, Z:5.29 [[ 9.94617887e-01 -9.69568815e-02 -3.65324669e-02 1.46997961e+02] [ 9.69537150e-02 9.95287149e-01 -1.86242482e-03 7.48115605e+00] [ 3.65408697e-02 -1.68955734e-03 9.99330731e-01 5.29040991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.879254154 meters Centerline goodness : 0.998947 with order 1 Centerline is valid? [True, True] Translation: X:147.06, Y:7.49, Z:5.29 [[ 9.94937067e-01 -9.36247884e-02 -3.65326037e-02 1.47060192e+02] [ 9.36194787e-02 9.95606315e-01 -1.85973652e-03 7.49031892e+00] [ 3.65462084e-02 -1.56984252e-03 9.99330731e-01 5.29124520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.939254154 meters Centerline goodness : 0.999072 with order 1 Centerline is valid? [True, True] Translation: X:147.12, Y:7.50, Z:5.30 [[ 9.95306167e-01 -8.96158094e-02 -3.65327404e-02 1.47121591e+02] [ 8.96079021e-02 9.95975389e-01 -1.85704820e-03 7.49866715e+00] [ 3.65521312e-02 -1.42529069e-03 9.99330731e-01 5.29538503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.999254154 meters Centerline goodness : 0.999409 with order 1 Centerline is valid? [True, True] Translation: X:147.18, Y:7.51, Z:5.30 [[ 9.96273956e-01 -7.81252435e-02 -3.65328751e-02 1.47181880e+02] [ 7.81097120e-02 9.96943045e-01 -1.85439315e-03 7.50938180e+00] [ 3.65660707e-02 -1.00608876e-03 9.99330731e-01 5.29895258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.059254154 meters Centerline goodness : 0.999256 with order 1 Centerline is valid? [True, True] Translation: X:147.24, Y:7.52, Z:5.30 [[ 9.97340532e-01 -6.30650788e-02 -3.65329746e-02 1.47242508e+02] [ 6.30395126e-02 9.98009313e-01 -1.85243185e-03 7.51938246e+00] [ 3.65770726e-02 -4.55515543e-04 9.99330731e-01 5.30224195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.119254154 meters Centerline goodness : 0.999617 with order 1 Centerline is valid? [True, True] Translation: X:147.30, Y:7.53, Z:5.30 [[ 9.97853688e-01 -5.43447626e-02 -3.65330428e-02 1.47303114e+02] [ 5.43134008e-02 9.98522222e-01 -1.85108593e-03 7.52710975e+00] [ 3.65796519e-02 -1.37120875e-04 9.99330731e-01 5.30491147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.179254154 meters Centerline goodness : 0.999446 with order 1 Centerline is valid? [True, True] Translation: X:147.36, Y:7.53, Z:5.31 [[ 9.98124317e-01 -4.91241652e-02 -3.65330428e-02 1.47361138e+02] [ 4.90893067e-02 9.98792678e-01 -1.85108593e-03 7.53349143e+00] [ 3.65798687e-02 5.42321364e-05 9.99330731e-01 5.30664539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.239254154 meters Centerline goodness : 0.999168 with order 1 Centerline is valid? [True, True] Translation: X:147.42, Y:7.54, Z:5.31 [[ 9.98165723e-01 -4.82758741e-02 -3.65325712e-02 1.47419043e+02] [ 4.82401086e-02 9.98834036e-01 -1.86034664e-03 7.53873645e+00] [ 3.65797854e-02 9.45990475e-05 9.99330731e-01 5.30727898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.299254154 meters Centerline goodness : 0.999105 with order 1 Centerline is valid? [True, True] Translation: X:147.48, Y:7.54, Z:5.31 [[ 9.97983774e-01 -5.19018115e-02 -3.65320170e-02 1.47477217e+02] [ 5.18680780e-02 9.98652192e-01 -1.87116776e-03 7.54244456e+00] [ 3.65798958e-02 -2.74504457e-05 9.99330731e-01 5.30884210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.359254154 meters Centerline goodness : 0.999297 with order 1 Centerline is valid? [True, True] Translation: X:147.54, Y:7.55, Z:5.31 [[ 9.97477957e-01 -6.08537496e-02 -3.65314579e-02 1.47536293e+02] [ 6.08256172e-02 9.98146634e-01 -1.88201938e-03 7.54574880e+00] [ 3.65782797e-02 -3.44775628e-04 9.99330731e-01 5.31083018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.41925415400001 meters Centerline goodness : 0.998894 with order 1 Centerline is valid? [True, True] Translation: X:147.60, Y:7.55, Z:5.31 [[ 9.97036943e-01 -6.76965467e-02 -3.65309691e-02 1.47597036e+02] [ 6.76726574e-02 9.97705785e-01 -1.89146024e-03 7.54837878e+00] [ 3.65752045e-02 -5.86292015e-04 9.99330731e-01 5.31253136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.47925415400002 meters Centerline goodness : 0.999171 with order 1 Centerline is valid? [True, True] Translation: X:147.66, Y:7.55, Z:5.31 [[ 9.96331618e-01 -7.73873046e-02 -3.65309691e-02 1.47658668e+02] [ 7.73699194e-02 9.97000661e-01 -1.89146024e-03 7.55086709e+00] [ 3.65677753e-02 -9.41876488e-04 9.99330731e-01 5.31490086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.539254154 meters Centerline goodness : 0.998961 with order 1 Centerline is valid? [True, True] Translation: X:147.72, Y:7.55, Z:5.32 [[ 9.95892900e-01 -8.28421093e-02 -3.65310395e-02 1.47720916e+02] [ 8.28284379e-02 9.96562029e-01 -1.89009908e-03 7.55405960e+00] [ 3.65620267e-02 -1.14347269e-03 9.99330731e-01 5.31731628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.599254154 meters Centerline goodness : 0.999023 with order 1 Centerline is valid? [True, True] Translation: X:147.78, Y:7.56, Z:5.32 [[ 9.95156855e-01 -9.12595607e-02 -3.65311786e-02 1.47782969e+02] [ 9.12516461e-02 9.95826077e-01 -1.88740680e-03 7.55679475e+00] [ 3.65509442e-02 -1.45526437e-03 9.99330731e-01 5.31930510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.659254154 meters Centerline goodness : 0.999045 with order 1 Centerline is valid? [True, True] Translation: X:147.84, Y:7.56, Z:5.32 [[ 9.94295158e-01 -1.00212783e-01 -3.65313190e-02 1.47843930e+02] [ 1.00210991e-01 9.94964424e-01 -1.88468506e-03 7.55976291e+00] [ 3.65362323e-02 -1.78690647e-03 9.99330731e-01 5.32016708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.719254154 meters Centerline goodness : 0.999151 with order 1 Centerline is valid? [True, True] Translation: X:147.91, Y:7.56, Z:5.32 [[ 9.93827405e-01 -1.04749866e-01 -3.65315479e-02 1.47907241e+02] [ 1.04751293e-01 9.94496672e-01 -1.88023755e-03 7.56383188e+00] [ 3.65274575e-02 -1.95809527e-03 9.99330731e-01 5.32231924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.779254154 meters Centerline goodness : 0.999405 with order 1 Centerline is valid? [True, True] Translation: X:147.97, Y:7.57, Z:5.32 [[ 9.93451366e-01 -1.08258095e-01 -3.65317547e-02 1.47968959e+02] [ 1.08262032e-01 9.94120623e-01 -1.87621185e-03 7.56942373e+00] [ 3.65200858e-02 -2.09107678e-03 9.99330731e-01 5.32424622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.839254154 meters Centerline goodness : 0.999278 with order 1 Centerline is valid? [True, True] Translation: X:148.03, Y:7.57, Z:5.33 [[ 9.93421530e-01 -1.08531483e-01 -3.65319244e-02 1.48030530e+02] [ 1.08535726e-01 9.94090785e-01 -1.87290110e-03 7.57495589e+00] [ 3.65193182e-02 -2.10443867e-03 9.99330731e-01 5.32587951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.899254154 meters Centerline goodness : 0.999383 with order 1 Centerline is valid? [True, True] Translation: X:148.09, Y:7.58, Z:5.33 [[ 9.93583790e-01 -1.07035796e-01 -3.65320581e-02 1.48092779e+02] [ 1.07039127e-01 9.94253050e-01 -1.87029095e-03 7.58166403e+00] [ 3.65222982e-02 -2.05206883e-03 9.99330731e-01 5.32676023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.959254154 meters Centerline goodness : 0.999510 with order 1 Centerline is valid? [True, True] Translation: X:148.15, Y:7.59, Z:5.33 [[ 9.93818631e-01 -1.04832854e-01 -3.65321896e-02 1.48154383e+02] [ 1.04834795e-01 9.94487897e-01 -1.86771830e-03 7.58736734e+00] [ 3.65266186e-02 -1.97367137e-03 9.99330731e-01 5.32842510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.019254154 meters Centerline goodness : 0.999337 with order 1 Centerline is valid? [True, True] Translation: X:148.22, Y:7.60, Z:5.33 [[ 9.94427932e-01 -9.88861806e-02 -3.65323266e-02 1.48215523e+02] [ 9.88842167e-02 9.95097198e-01 -1.86503465e-03 7.59543673e+00] [ 3.65376420e-02 -1.75782795e-03 9.99330731e-01 5.32847135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.079254154 meters Centerline goodness : 0.999484 with order 1 Centerline is valid? [True, True] Translation: X:148.28, Y:7.60, Z:5.33 [[ 9.95051680e-01 -9.23987923e-02 -3.65324277e-02 1.48277877e+02] [ 9.23925364e-02 9.95720919e-01 -1.86305171e-03 7.60334515e+00] [ 3.65482462e-02 -1.52149093e-03 9.99330731e-01 5.33186204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.139254154 meters Centerline goodness : 0.999440 with order 1 Centerline is valid? [True, True] Translation: X:148.34, Y:7.61, Z:5.34 [[ 9.96146295e-01 -7.97366036e-02 -3.65326275e-02 1.48339084e+02] [ 7.97219810e-02 9.96815404e-01 -1.85912666e-03 7.61409323e+00] [ 3.65645262e-02 -1.06049130e-03 9.99330731e-01 5.33701655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.19925415400002 meters Centerline goodness : 0.999439 with order 1 Centerline is valid? [True, True] Translation: X:148.40, Y:7.62, Z:5.34 [[ 9.96849183e-01 -7.04064234e-02 -3.65327576e-02 1.48401182e+02] [ 7.03856305e-02 9.97518128e-01 -1.85656536e-03 7.62173131e+00] [ 3.65728021e-02 -7.20665517e-04 9.99330731e-01 5.34222125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.259254154 meters Centerline goodness : 0.999523 with order 1 Centerline is valid? [True, True] Translation: X:148.46, Y:7.63, Z:5.35 [[ 9.97707266e-01 -5.69698166e-02 -3.65328932e-02 1.48463107e+02] [ 5.69401110e-02 9.98375875e-01 -1.85389290e-03 7.63166954e+00] [ 3.65791752e-02 -2.30544576e-04 9.99330731e-01 5.34701503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.319254154 meters Centerline goodness : 0.999413 with order 1 Centerline is valid? [True, True] Translation: X:148.52, Y:7.64, Z:5.35 [[ 9.98204623e-01 -4.74643897e-02 -3.65330285e-02 1.48523276e+02] [ 4.74284148e-02 9.98872924e-01 -1.85122417e-03 7.63841645e+00] [ 3.65797202e-02 1.15196892e-04 9.99330731e-01 5.34946715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.379254154 meters Centerline goodness : 0.999478 with order 1 Centerline is valid? [True, True] Translation: X:148.58, Y:7.64, Z:5.35 [[ 9.98324614e-01 -4.48698274e-02 -3.65330615e-02 1.48582916e+02] [ 4.48321395e-02 9.98992820e-01 -1.85057122e-03 7.64243659e+00] [ 3.65793010e-02 2.09615491e-04 9.99330731e-01 5.35075977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.439254154 meters Centerline goodness : 0.999499 with order 1 Centerline is valid? [True, True] Translation: X:148.64, Y:7.65, Z:5.35 [[ 9.98195785e-01 -4.76499295e-02 -3.65329936e-02 1.48641437e+02] [ 4.76140537e-02 9.98864091e-01 -1.85191141e-03 7.64538903e+00] [ 3.65797389e-02 1.09086240e-04 9.99330731e-01 5.35100199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.499254154 meters Centerline goodness : 0.999456 with order 1 Centerline is valid? [True, True] Translation: X:148.70, Y:7.65, Z:5.35 [[ 9.98074539e-01 -5.01257557e-02 -3.65325088e-02 1.48700027e+02] [ 5.00911894e-02 9.98742914e-01 -1.86142646e-03 7.64789975e+00] [ 3.65798897e-02 2.78855381e-05 9.99330731e-01 5.35233304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.559254154 meters Centerline goodness : 0.999588 with order 1 Centerline is valid? [True, True] Translation: X:148.76, Y:7.65, Z:5.35 [[ 9.97785855e-01 -5.55769568e-02 -3.65320217e-02 1.48759765e+02] [ 5.55456937e-02 9.98454393e-01 -1.87093683e-03 7.64915967e+00] [ 3.65795386e-02 -1.62402185e-04 9.99330732e-01 5.35346841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.619254154 meters Centerline goodness : 0.999545 with order 1 Centerline is valid? [True, True] Translation: X:148.82, Y:7.65, Z:5.36 [[ 9.97261121e-01 -6.43091930e-02 -3.65319531e-02 1.48819844e+02] [ 6.42837343e-02 9.97929905e-01 -1.87227697e-03 7.64950279e+00] [ 3.65767331e-02 -4.81261331e-04 9.99330732e-01 5.35658393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.679254154 meters Centerline goodness : 0.999332 with order 1 Centerline is valid? [True, True] Translation: X:148.88, Y:7.65, Z:5.36 [[ 9.96690149e-01 -7.26234165e-02 -3.65319868e-02 1.48881074e+02] [ 7.26035600e-02 9.97359123e-01 -1.87161804e-03 7.64927208e+00] [ 3.65714336e-02 -7.86929039e-04 9.99330732e-01 5.36130233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.739254154 meters Centerline goodness : 0.999269 with order 1 Centerline is valid? [True, True] Translation: X:148.94, Y:7.65, Z:5.37 [[ 9.96327234e-01 -7.74431504e-02 -3.65322035e-02 1.48942673e+02] [ 7.74266851e-02 9.96996300e-01 -1.86737799e-03 7.65049141e+00] [ 3.65670874e-02 -9.68047873e-04 9.99330732e-01 5.36612812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.799254154 meters Centerline goodness : 0.999465 with order 1 Centerline is valid? [True, True] Translation: X:149.01, Y:7.65, Z:5.37 [[ 9.95986980e-01 -8.17026151e-02 -3.65324266e-02 1.49005377e+02] [ 8.16891710e-02 9.96656113e-01 -1.86300471e-03 7.65022740e+00] [ 3.65624786e-02 -1.12877521e-03 9.99330732e-01 5.36822136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.859254154 meters Centerline goodness : 0.999487 with order 1 Centerline is valid? [True, True] Translation: X:149.07, Y:7.65, Z:5.37 [[ 9.95818500e-01 -8.37310134e-02 -3.65326091e-02 1.49067173e+02] [ 8.37190636e-02 9.96487662e-01 -1.85941935e-03 7.65160874e+00] [ 3.65599853e-02 -1.20683163e-03 9.99330732e-01 5.37170631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.91925415400001 meters Centerline goodness : 0.999337 with order 1 Centerline is valid? [True, True] Translation: X:149.13, Y:7.65, Z:5.37 [[ 9.96378276e-01 -7.67833911e-02 -3.65327570e-02 1.49130182e+02] [ 7.67668810e-02 9.97047341e-01 -1.85650734e-03 7.64670901e+00] [ 3.65674372e-02 -9.54722225e-04 9.99330732e-01 5.36730089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.97925415400002 meters Centerline goodness : 0.999379 with order 1 Centerline is valid? [True, True] Translation: X:149.19, Y:7.66, Z:5.37 [[ 9.96183818e-01 -7.92663074e-02 -3.65329002e-02 1.49190882e+02] [ 7.92515682e-02 9.96852924e-01 -1.85368515e-03 7.65553063e+00] [ 3.65648632e-02 -1.04867848e-03 9.99330732e-01 5.37199803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.039254154 meters Centerline goodness : 0.999335 with order 1 Centerline is valid? [True, True] Translation: X:149.25, Y:7.66, Z:5.37 [[ 9.96734895e-01 -7.20060888e-02 -3.65331557e-02 1.49252990e+02] [ 7.19866599e-02 9.97403882e-01 -1.84863735e-03 7.66004044e+00] [ 3.65714244e-02 -7.87298497e-04 9.99330732e-01 5.37284866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.099254154 meters Centerline goodness : 0.999356 with order 1 Centerline is valid? [True, True] Translation: X:149.31, Y:7.66, Z:5.37 [[ 9.97200166e-01 -6.52468173e-02 -3.65332879e-02 1.49313706e+02] [ 6.52229492e-02 9.97869009e-01 -1.84601997e-03 7.66467043e+00] [ 3.65758827e-02 -5.41957358e-04 9.99330732e-01 5.37410293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.159254154 meters Centerline goodness : 0.999439 with order 1 Centerline is valid? [True, True] Translation: X:149.37, Y:7.67, Z:5.38 [[ 9.97800153e-01 -5.53187686e-02 -3.65333853e-02 1.49374750e+02] [ 5.52883155e-02 9.98468728e-01 -1.84409109e-03 7.66990044e+00] [ 3.65794556e-02 -1.79834963e-04 9.99330732e-01 5.37865915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.219254154 meters Centerline goodness : 0.999415 with order 1 Centerline is valid? [True, True] Translation: X:149.44, Y:7.67, Z:5.38 [[ 9.98100082e-01 -4.96138355e-02 -3.65334516e-02 1.49435031e+02] [ 4.95796091e-02 9.98768475e-01 -1.84277546e-03 7.67391204e+00] [ 3.65798869e-02 2.79600851e-05 9.99330732e-01 5.38229629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.279254154 meters Centerline goodness : 0.999457 with order 1 Centerline is valid? [True, True] Translation: X:149.49, Y:7.68, Z:5.38 [[ 9.98296209e-01 -4.54970987e-02 -3.65334516e-02 1.49494836e+02] [ 4.54601159e-02 9.98964455e-01 -1.84277546e-03 7.67767799e+00] [ 3.65794605e-02 1.78820806e-04 9.99330732e-01 5.38431901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.339254154 meters Centerline goodness : 0.999329 with order 1 Centerline is valid? [True, True] Translation: X:149.55, Y:7.68, Z:5.39 [[ 9.98247225e-01 -4.65595353e-02 -3.65333841e-02 1.49553422e+02] [ 4.65232148e-02 9.98915507e-01 -1.84411320e-03 7.67993755e+00] [ 3.65796250e-02 1.41230408e-04 9.99330732e-01 5.38581958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.399254154 meters Centerline goodness : 0.999073 with order 1 Centerline is valid? [True, True] Translation: X:149.61, Y:7.67, Z:5.38 [[ 9.98249587e-01 -4.65092355e-02 -3.65329121e-02 1.49613828e+02] [ 4.64725408e-02 9.98917848e-01 -1.85341692e-03 7.67411869e+00] [ 3.65795790e-02 1.52395428e-04 9.99330732e-01 5.38355431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.459254154 meters Centerline goodness : 0.998558 with order 1 Centerline is valid? [True, True] Translation: X:149.67, Y:7.68, Z:5.39 [[ 9.97590195e-01 -5.89843620e-02 -3.65328400e-02 1.49672047e+02] [ 5.89559719e-02 9.98258861e-01 -1.85483808e-03 7.68316850e+00] [ 3.65786376e-02 -3.03460802e-04 9.99330732e-01 5.38540179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.519254154 meters Centerline goodness : 0.999376 with order 1 Centerline is valid? [True, True] Translation: X:149.73, Y:7.68, Z:5.39 [[ 9.97076734e-01 -6.71069839e-02 -3.65327172e-02 1.49731577e+02] [ 6.70839521e-02 9.97745606e-01 -1.85725184e-03 7.68478846e+00] [ 3.65749927e-02 -5.98936456e-04 9.99330732e-01 5.39433510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.579254154 meters Centerline goodness : 0.999228 with order 1 Centerline is valid? [True, True] Translation: X:149.79, Y:7.68, Z:5.39 [[ 9.96947445e-01 -6.90011275e-02 -3.65326792e-02 1.49793296e+02] [ 6.89793390e-02 9.97616358e-01 -1.85799938e-03 7.68008605e+00] [ 3.65738025e-02 -6.67672331e-04 9.99330732e-01 5.39207090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.639254154 meters Centerline goodness : 0.999465 with order 1 Centerline is valid? [True, True] Translation: X:149.85, Y:7.69, Z:5.40 [[ 9.96235248e-01 -7.86173590e-02 -3.65327479e-02 1.49853230e+02] [ 7.86020754e-02 9.96904342e-01 -1.85664776e-03 7.68877018e+00] [ 3.65656198e-02 -1.02189186e-03 9.99330732e-01 5.40174863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.69925415400002 meters Centerline goodness : 0.999403 with order 1 Centerline is valid? [True, True] Translation: X:149.92, Y:7.69, Z:5.40 [[ 9.95466835e-01 -8.78130755e-02 -3.65327818e-02 1.49915846e+02] [ 8.78039952e-02 9.96136042e-01 -1.85598183e-03 7.68975657e+00] [ 3.65546001e-02 -1.36015584e-03 9.99330732e-01 5.40436173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.759254154 meters Centerline goodness : 0.999275 with order 1 Centerline is valid? [True, True] Translation: X:149.98, Y:7.69, Z:5.40 [[ 9.95236086e-01 -9.03907060e-02 -3.65329175e-02 1.49978605e+02] [ 9.03834569e-02 9.95905315e-01 -1.85330593e-03 7.68613529e+00] [ 3.65508483e-02 -1.45749444e-03 9.99330732e-01 5.39974177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.819254154 meters Centerline goodness : 0.999233 with order 1 Centerline is valid? [True, True] Translation: X:150.04, Y:7.69, Z:5.41 [[ 9.94013260e-01 -1.02970748e-01 -3.65330574e-02 1.50039027e+02] [ 1.02972064e-01 9.94682527e-01 -1.85054389e-03 7.69243998e+00] [ 3.65293457e-02 -1.92241918e-03 9.99330732e-01 5.40606349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.879254154 meters Centerline goodness : 0.999445 with order 1 Centerline is valid? [True, True] Translation: X:150.10, Y:7.69, Z:5.41 [[ 9.93800703e-01 -1.05002345e-01 -3.65331263e-02 1.50100789e+02] [ 1.05005080e-01 9.94469966e-01 -1.84918310e-03 7.69496943e+00] [ 3.65252654e-02 -1.99844437e-03 9.99330732e-01 5.40706675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.939254154 meters Centerline goodness : 0.999328 with order 1 Centerline is valid? [True, True] Translation: X:150.16, Y:7.70, Z:5.40 [[ 9.94102448e-01 -1.02106043e-01 -3.65332621e-02 1.50162023e+02] [ 1.02106926e-01 9.94771716e-01 -1.84649560e-03 7.69857952e+00] [ 3.65307942e-02 -1.89469329e-03 9.99330732e-01 5.40312509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.999254154 meters Centerline goodness : 0.999466 with order 1 Centerline is valid? [True, True] Translation: X:150.22, Y:7.71, Z:5.41 [[ 9.94804352e-01 -9.50242756e-02 -3.65333744e-02 1.50223695e+02] [ 9.50204741e-02 9.95473610e-01 -1.84427077e-03 7.70583863e+00] [ 3.65432606e-02 -1.63672997e-03 9.99330732e-01 5.41145734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.059254154 meters Centerline goodness : 0.999507 with order 1 Centerline is valid? [True, True] Translation: X:150.29, Y:7.71, Z:5.42 [[ 9.95536430e-01 -8.70202209e-02 -3.65335273e-02 1.50285313e+02] [ 8.70111481e-02 9.96205636e-01 -1.84123691e-03 7.71275755e+00] [ 3.65551307e-02 -1.34580574e-03 9.99330732e-01 5.41527598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.119254154 meters Centerline goodness : 0.999267 with order 1 Centerline is valid? [True, True] Translation: X:150.35, Y:7.72, Z:5.42 [[ 9.96645831e-01 -7.32282621e-02 -3.65336626e-02 1.50346664e+02] [ 7.32100231e-02 9.97314851e-01 -1.83854969e-03 7.72012588e+00] [ 3.65701980e-02 -8.42247400e-04 9.99330732e-01 5.41921530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.179254154 meters Centerline goodness : 0.999525 with order 1 Centerline is valid? [True, True] Translation: X:150.41, Y:7.73, Z:5.42 [[ 9.97265184e-01 -6.42450506e-02 -3.65339001e-02 1.50407923e+02] [ 6.42209575e-02 9.97934019e-01 -1.83381810e-03 7.72566176e+00] [ 3.65762355e-02 -5.17439104e-04 9.99330732e-01 5.42151039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.239254154 meters Centerline goodness : 0.999350 with order 1 Centerline is valid? [True, True] Translation: X:150.47, Y:7.73, Z:5.42 [[ 9.97907372e-01 -5.33492691e-02 -3.65340003e-02 1.50468589e+02] [ 5.33179457e-02 9.98575907e-01 -1.83181850e-03 7.73232121e+00] [ 3.65796987e-02 -1.19932664e-04 9.99330732e-01 5.42308482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.299254154 meters Centerline goodness : 0.999587 with order 1 Centerline is valid? [True, True] Translation: X:150.53, Y:7.74, Z:5.42 [[ 9.98316951e-01 -4.50391838e-02 -3.65340665e-02 1.50527586e+02] [ 4.50023439e-02 9.98985204e-01 -1.83049726e-03 7.74137229e+00] [ 3.65794360e-02 1.83297822e-04 9.99330732e-01 5.41725188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.359254154 meters Centerline goodness : 0.999456 with order 1 Centerline is valid? [True, True] Translation: X:150.59, Y:7.74, Z:5.43 [[ 9.98568705e-01 -3.90615601e-02 -3.65340305e-02 1.50586188e+02] [ 3.90206938e-02 9.99236725e-01 -1.83121545e-03 7.74084633e+00] [ 3.65776751e-02 4.03011224e-04 9.99330732e-01 5.42540126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.41925415400001 meters Centerline goodness : 0.999673 with order 1 Centerline is valid? [True, True] Translation: X:150.64, Y:7.74, Z:5.43 [[ 9.98649892e-01 -3.69282696e-02 -3.65334856e-02 1.50642631e+02] [ 3.68855811e-02 9.99317798e-01 -1.84202274e-03 7.74410022e+00] [ 3.65765851e-02 4.91976967e-04 9.99330732e-01 5.42716628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.47925415400002 meters Centerline goodness : 0.999433 with order 1 Centerline is valid? [True, True] Translation: X:150.70, Y:7.75, Z:5.43 [[ 9.98655033e-01 -3.67892209e-02 -3.65332498e-02 1.50701086e+02] [ 3.67462688e-02 9.99322922e-01 -1.84668803e-03 7.75414518e+00] [ 3.65764521e-02 5.01743681e-04 9.99330732e-01 5.43097927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.539254154 meters Centerline goodness : 0.999673 with order 1 Centerline is valid? [True, True] Translation: X:150.76, Y:7.75, Z:5.43 [[ 9.98827746e-01 -3.17568011e-02 -3.65327264e-02 1.50759519e+02] [ 3.17101077e-02 9.99495383e-01 -1.85698505e-03 7.75004407e+00] [ 3.65732633e-02 6.96351503e-04 9.99330732e-01 5.43110279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.599254154 meters Centerline goodness : 0.999478 with order 1 Centerline is valid? [True, True] Translation: X:150.82, Y:7.75, Z:5.43 [[ 9.98721572e-01 -3.49370239e-02 -3.65325250e-02 1.50817587e+02] [ 3.48923119e-02 9.99389345e-01 -1.86093957e-03 7.74966301e+00] [ 3.65752319e-02 5.83856240e-04 9.99330732e-01 5.43297684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.659254154 meters Centerline goodness : 0.997897 with order 1 Centerline is valid? [True, True] Translation: X:150.88, Y:7.75, Z:5.44 [[ 9.98311070e-01 -4.51707136e-02 -3.65323589e-02 1.50875526e+02] [ 4.51327286e-02 9.98979260e-01 -1.86419464e-03 7.74954842e+00] [ 3.65792758e-02 2.12241110e-04 9.99330732e-01 5.43739876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.719254154 meters Centerline goodness : 0.999375 with order 1 Centerline is valid? [True, True] Translation: X:150.93, Y:7.75, Z:5.44 [[ 9.98024660e-01 -5.11098224e-02 -3.65316842e-02 1.50933377e+02] [ 5.10753332e-02 9.98693039e-01 -1.87732350e-03 7.74504734e+00] [ 3.65798884e-02 7.74720753e-06 9.99330732e-01 5.43901312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.779254154 meters Centerline goodness : 0.999294 with order 1 Centerline is valid? [True, True] Translation: X:150.99, Y:7.74, Z:5.44 [[ 9.97525730e-01 -6.00655475e-02 -3.65314735e-02 1.50992789e+02] [ 6.00369089e-02 9.98194385e-01 -1.88141526e-03 7.73990049e+00] [ 3.65785199e-02 -3.16476609e-04 9.99330732e-01 5.44052912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.839254154 meters Centerline goodness : 0.999487 with order 1 Centerline is valid? [True, True] Translation: X:151.05, Y:7.74, Z:5.44 [[ 9.97343989e-01 -6.30115511e-02 -3.65309842e-02 1.51053016e+02] [ 6.29845414e-02 9.98012711e-01 -1.89086724e-03 7.73762378e+00] [ 3.65775331e-02 -4.15042210e-04 9.99330732e-01 5.44207407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.899254154 meters Centerline goodness : 0.999189 with order 1 Centerline is valid? [True, True] Translation: X:151.11, Y:7.73, Z:5.44 [[ 9.97356533e-01 -6.28126868e-02 -3.65309842e-02 1.51113700e+02] [ 6.27855437e-02 9.98025250e-01 -1.89086724e-03 7.73292840e+00] [ 3.65776151e-02 -4.07748910e-04 9.99330732e-01 5.44379693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.959254154 meters Centerline goodness : 0.999042 with order 1 Centerline is valid? [True, True] Translation: X:151.17, Y:7.73, Z:5.45 [[ 9.97542851e-01 -5.97808366e-02 -3.65309842e-02 1.51174794e+02] [ 5.97516610e-02 9.98211482e-01 -1.89086724e-03 7.73170563e+00] [ 3.65786855e-02 -2.96565887e-04 9.99330732e-01 5.44612967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.019254154 meters Centerline goodness : 0.999129 with order 1 Centerline is valid? [True, True] Translation: X:151.23, Y:7.73, Z:5.45 [[ 9.97926422e-01 -5.29937973e-02 -3.65309842e-02 1.51234925e+02] [ 5.29600741e-02 9.98594840e-01 -1.89086724e-03 7.73062174e+00] [ 3.65798566e-02 -4.77372477e-05 9.99330732e-01 5.44807305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.079254154 meters Centerline goodness : 0.999171 with order 1 Centerline is valid? [True, True] Translation: X:151.29, Y:7.74, Z:5.46 [[ 9.98088285e-01 -4.98524569e-02 -3.65309155e-02 1.51294846e+02] [ 4.98165814e-02 9.98756591e-01 -1.89219420e-03 7.73509208e+00] [ 3.65798231e-02 6.87315404e-05 9.99330732e-01 5.45673785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.139254154 meters Centerline goodness : 0.999171 with order 1 Centerline is valid? [True, True] Translation: X:151.35, Y:7.73, Z:5.45 [[ 9.98430344e-01 -4.24539732e-02 -3.65309155e-02 1.51354035e+02] [ 4.24131457e-02 9.99098366e-01 -1.89219420e-03 7.72857527e+00] [ 3.65783091e-02 3.39833069e-04 9.99330732e-01 5.45147713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.19925415400002 meters Centerline goodness : 0.999088 with order 1 Centerline is valid? [True, True] Translation: X:151.41, Y:7.73, Z:5.45 [[ 9.98430667e-01 -4.24465011e-02 -3.65307916e-02 1.51412186e+02] [ 4.24055812e-02 9.99098682e-01 -1.89458250e-03 7.72736998e+00] [ 3.65782842e-02 3.42499816e-04 9.99330732e-01 5.45375684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.259254154 meters Centerline goodness : 0.999217 with order 1 Centerline is valid? [True, True] Translation: X:151.47, Y:7.72, Z:5.45 [[ 9.98257870e-01 -4.63332173e-02 -3.65302271e-02 1.51471136e+02] [ 4.62945024e-02 9.98926018e-01 -1.90540589e-03 7.72352338e+00] [ 3.65792778e-02 2.10937738e-04 9.99330732e-01 5.45466918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.319254154 meters Centerline goodness : 0.999198 with order 1 Centerline is valid? [True, True] Translation: X:151.53, Y:7.72, Z:5.45 [[ 9.97983291e-01 -5.19127085e-02 -3.65297370e-02 1.51530600e+02] [ 5.18773868e-02 9.98651626e-01 -1.91475636e-03 7.71802253e+00] [ 3.65798814e-02 1.58275622e-05 9.99330732e-01 5.45449388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.379254154 meters Centerline goodness : 0.999264 with order 1 Centerline is valid? [True, True] Translation: X:151.59, Y:7.72, Z:5.46 [[ 9.97502053e-01 -6.04588179e-02 -3.65292467e-02 1.51589641e+02] [ 6.04288812e-02 9.98170651e-01 -1.92406344e-03 7.71749070e+00] [ 3.65787486e-02 -2.88164285e-04 9.99330732e-01 5.46253257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.439254154 meters Centerline goodness : 0.999096 with order 1 Centerline is valid? [True, True] Translation: X:151.65, Y:7.71, Z:5.46 [[ 9.97562794e-01 -5.94485131e-02 -3.65287113e-02 1.51648985e+02] [ 5.94175290e-02 9.98231344e-01 -1.93417520e-03 7.71074281e+00] [ 3.65790885e-02 -2.40984547e-04 9.99330732e-01 5.46002773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.499254154 meters Centerline goodness : 0.999098 with order 1 Centerline is valid? [True, True] Translation: X:151.71, Y:7.71, Z:5.46 [[ 9.97460260e-01 -6.11448871e-02 -3.65285294e-02 1.51707343e+02] [ 6.11149143e-02 9.98128856e-01 -1.93760476e-03 7.70950848e+00] [ 3.65786539e-02 -2.99754202e-04 9.99330732e-01 5.46325089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.559254154 meters Centerline goodness : 0.999163 with order 1 Centerline is valid? [True, True] Translation: X:151.76, Y:7.71, Z:5.47 [[ 9.97349745e-01 -6.29219442e-02 -3.65282764e-02 1.51764355e+02] [ 6.28929885e-02 9.98018386e-01 -1.94236361e-03 7.70675464e+00] [ 3.65781087e-02 -3.60156609e-04 9.99330732e-01 5.46553336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.619254154 meters Centerline goodness : 0.999227 with order 1 Centerline is valid? [True, True] Translation: X:151.82, Y:7.70, Z:5.47 [[ 9.97151477e-01 -6.59897261e-02 -3.65278941e-02 1.51822109e+02] [ 6.59625651e-02 9.97820194e-01 -1.94952609e-03 7.70426105e+00] [ 3.65769191e-02 -4.65500769e-04 9.99330732e-01 5.46699728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.679254154 meters Centerline goodness : 0.999103 with order 1 Centerline is valid? [True, True] Translation: X:151.88, Y:7.70, Z:5.47 [[ 9.96990916e-01 -6.83729977e-02 -3.65273397e-02 1.51880440e+02] [ 6.83470566e-02 9.97659681e-01 -1.95985992e-03 7.70333652e+00] [ 3.65758555e-02 -5.42573618e-04 9.99330732e-01 5.46846163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.739254154 meters Centerline goodness : 0.999250 with order 1 Centerline is valid? [True, True] Translation: X:151.94, Y:7.70, Z:5.47 [[ 9.96674975e-01 -7.28337799e-02 -3.65271692e-02 1.51939089e+02] [ 7.28107155e-02 9.97343846e-01 -1.96303251e-03 7.70236343e+00] [ 3.65731224e-02 -7.03063946e-04 9.99330732e-01 5.47184414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.799254154 meters Centerline goodness : 0.999333 with order 1 Centerline is valid? [True, True] Translation: X:152.00, Y:7.71, Z:5.48 [[ 9.96191714e-01 -7.91698897e-02 -3.65266556e-02 1.51998869e+02] [ 7.91507305e-02 9.96860708e-01 -1.97254148e-03 7.70695289e+00] [ 3.65681537e-02 -9.26081996e-04 9.99330732e-01 5.48315854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.859254154 meters Centerline goodness : 0.999334 with order 1 Centerline is valid? [True, True] Translation: X:152.06, Y:7.70, Z:5.47 [[ 9.96081657e-01 -8.05427768e-02 -3.65266186e-02 1.52058825e+02] [ 8.05245145e-02 9.96750675e-01 -1.97322632e-03 7.70322119e+00] [ 3.65668609e-02 -9.75793697e-04 9.99330732e-01 5.47428192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.91925415400001 meters Centerline goodness : 0.999167 with order 1 Centerline is valid? [True, True] Translation: X:152.12, Y:7.71, Z:5.48 [[ 9.95893342e-01 -8.28387627e-02 -3.65265827e-02 1.52117767e+02] [ 8.28220184e-02 9.96562400e-01 -1.97389132e-03 7.70516739e+00] [ 3.65645336e-02 -1.05942008e-03 9.99330732e-01 5.47559010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.97925415400002 meters Centerline goodness : 0.999250 with order 1 Centerline is valid? [True, True] Translation: X:152.18, Y:7.71, Z:5.48 [[ 9.95691413e-01 -8.52316028e-02 -3.65264758e-02 1.52177736e+02] [ 8.52163938e-02 9.96360508e-01 -1.97586799e-03 7.70830486e+00] [ 3.65619444e-02 -1.14529975e-03 9.99330732e-01 5.47814726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.039254154 meters Centerline goodness : 0.999313 with order 1 Centerline is valid? [True, True] Translation: X:152.24, Y:7.71, Z:5.48 [[ 9.95571458e-01 -8.66215561e-02 -3.65264043e-02 1.52238457e+02] [ 8.66072328e-02 9.96240572e-01 -1.97718872e-03 7.71265137e+00] [ 3.65603531e-02 -1.19501814e-03 9.99330732e-01 5.48182322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.099254154 meters Centerline goodness : 0.999104 with order 1 Centerline is valid? [True, True] Translation: X:152.30, Y:7.72, Z:5.49 [[ 9.95425902e-01 -8.82785122e-02 -3.65264043e-02 1.52298324e+02] [ 8.82653026e-02 9.96095039e-01 -1.97718872e-03 7.71776545e+00] [ 3.65583134e-02 -1.25586926e-03 9.99330732e-01 5.48540372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.159254154 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:152.36, Y:7.72, Z:5.49 [[ 9.95374294e-01 -8.88585214e-02 -3.65264043e-02 1.52358453e+02] [ 8.88457018e-02 9.96043439e-01 -1.97718872e-03 7.72243465e+00] [ 3.65575754e-02 -1.27717119e-03 9.99330732e-01 5.48774653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.219254154 meters Centerline goodness : 0.999145 with order 1 Centerline is valid? [True, True] Translation: X:152.42, Y:7.73, Z:5.49 [[ 9.95407107e-01 -8.84901713e-02 -3.65264397e-02 1.52418540e+02] [ 8.84771280e-02 9.96076248e-01 -1.97653356e-03 7.72894066e+00] [ 3.65580228e-02 -1.26429893e-03 9.99330732e-01 5.49064084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.279254154 meters Centerline goodness : 0.999102 with order 1 Centerline is valid? [True, True] Translation: X:152.48, Y:7.73, Z:5.49 [[ 9.95508075e-01 -8.73469595e-02 -3.65264397e-02 1.52479575e+02] [ 8.73331478e-02 9.96177200e-01 -1.97653356e-03 7.73348907e+00] [ 3.65594507e-02 -1.22231384e-03 9.99330732e-01 5.49296653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.339254154 meters Centerline goodness : 0.999163 with order 1 Centerline is valid? [True, True] Translation: X:152.54, Y:7.74, Z:5.49 [[ 9.95892541e-01 -8.28484150e-02 -3.65265125e-02 1.52539347e+02] [ 8.28316297e-02 9.96561599e-01 -1.97518729e-03 7.74138906e+00] [ 3.65645609e-02 -1.05847627e-03 9.99330732e-01 5.49417025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.399254154 meters Centerline goodness : 0.999120 with order 1 Centerline is valid? [True, True] Translation: X:152.60, Y:7.75, Z:5.50 [[ 9.96179299e-01 -7.93260296e-02 -3.65265125e-02 1.52598325e+02] [ 7.93068784e-02 9.96848292e-01 -1.97518729e-03 7.74760275e+00] [ 3.65680754e-02 -9.29162996e-04 9.99330732e-01 5.49507691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.459254154 meters Centerline goodness : 0.999184 with order 1 Centerline is valid? [True, True] Translation: X:152.66, Y:7.76, Z:5.50 [[ 9.96549671e-01 -7.45289799e-02 -3.65264772e-02 1.52658235e+02] [ 7.45065841e-02 9.97218564e-01 -1.97584112e-03 7.75510062e+00] [ 3.65721386e-02 -7.52439219e-04 9.99330732e-01 5.49693789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.519254154 meters Centerline goodness : 0.999226 with order 1 Centerline is valid? [True, True] Translation: X:152.72, Y:7.76, Z:5.50 [[ 9.96766009e-01 -7.15775069e-02 -3.65264772e-02 1.52717802e+02] [ 7.15531303e-02 9.97434833e-01 -1.97584112e-03 7.76121441e+00] [ 3.65742064e-02 -6.44132508e-04 9.99330732e-01 5.49891389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.579254154 meters Centerline goodness : 0.999454 with order 1 Centerline is valid? [True, True] Translation: X:152.78, Y:7.77, Z:5.50 [[ 9.96932331e-01 -6.92224272e-02 -3.65264829e-02 1.52777111e+02] [ 6.91964745e-02 9.97601095e-01 -1.97573442e-03 7.76845656e+00] [ 3.65756245e-02 -5.57830320e-04 9.99330732e-01 5.50130212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.639254154 meters Centerline goodness : 0.999204 with order 1 Centerline is valid? [True, True] Translation: X:152.84, Y:7.77, Z:5.50 [[ 9.96950202e-01 -6.89646031e-02 -3.65264105e-02 1.52836091e+02] [ 6.89384283e-02 9.97618957e-01 -1.97707365e-03 7.77404513e+00] [ 3.65757876e-02 -5.47029359e-04 9.99330732e-01 5.50359948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.69925415400002 meters Centerline goodness : 0.999163 with order 1 Centerline is valid? [True, True] Translation: X:152.90, Y:7.78, Z:5.51 [[ 9.96687262e-01 -7.26658737e-02 -3.65263377e-02 1.52895076e+02] [ 7.26421330e-02 9.97356108e-01 -1.97841604e-03 7.77971599e+00] [ 3.65735294e-02 -6.81489019e-04 9.99330732e-01 5.50592382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.759254154 meters Centerline goodness : 0.999119 with order 1 Centerline is valid? [True, True] Translation: X:152.96, Y:7.78, Z:5.51 [[ 9.96309906e-01 -7.76685432e-02 -3.65262659e-02 1.52955396e+02] [ 7.76481121e-02 9.96978862e-01 -1.97974113e-03 7.78297271e+00] [ 3.65696786e-02 -8.63759892e-04 9.99330732e-01 5.50867622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.819254154 meters Centerline goodness : 0.999287 with order 1 Centerline is valid? [True, True] Translation: X:153.02, Y:7.79, Z:5.51 [[ 9.95640721e-01 -8.58218333e-02 -3.65262659e-02 1.53015440e+02] [ 8.58068790e-02 9.96309821e-01 -1.97974113e-03 7.78623313e+00] [ 3.65613825e-02 -1.16309399e-03 9.99330732e-01 5.51151309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.879254154 meters Centerline goodness : 0.999159 with order 1 Centerline is valid? [True, True] Translation: X:153.08, Y:7.79, Z:5.51 [[ 9.95385472e-01 -8.87332790e-02 -3.65262659e-02 1.53076463e+02] [ 8.87202816e-02 9.96054613e-01 -1.97974113e-03 7.78993528e+00] [ 3.65578246e-02 -1.27001504e-03 9.99330732e-01 5.51278867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.939254154 meters Centerline goodness : 0.999224 with order 1 Centerline is valid? [True, True] Translation: X:153.14, Y:7.80, Z:5.51 [[ 9.95482453e-01 -8.76385205e-02 -3.65263744e-02 1.53137109e+02] [ 8.76248606e-02 9.96151581e-01 -1.97773722e-03 7.79554072e+00] [ 3.65591316e-02 -1.23181577e-03 9.99330732e-01 5.51466050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.999254154 meters Centerline goodness : 0.999180 with order 1 Centerline is valid? [True, True] Translation: X:153.20, Y:7.80, Z:5.52 [[ 9.96049608e-01 -8.09382349e-02 -3.65264464e-02 1.53198361e+02] [ 8.09201218e-02 9.96718630e-01 -1.97640651e-03 7.80097682e+00] [ 3.65665565e-02 -9.87125563e-04 9.99330732e-01 5.51794721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.059254154 meters Centerline goodness : 0.999264 with order 1 Centerline is valid? [True, True] Translation: X:153.26, Y:7.81, Z:5.52 [[ 9.96466333e-01 -7.56350456e-02 -3.65265173e-02 1.53259539e+02] [ 7.56134195e-02 9.97135252e-01 -1.97509585e-03 7.80623033e+00] [ 3.65712645e-02 -7.93778356e-04 9.99330732e-01 5.52101846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.119254154 meters Centerline goodness : 0.999074 with order 1 Centerline is valid? [True, True] Translation: X:153.32, Y:7.81, Z:5.52 [[ 9.96898165e-01 -6.97126752e-02 -3.65265881e-02 1.53319059e+02] [ 6.96871227e-02 9.97566945e-01 -1.97378642e-03 7.81124920e+00] [ 3.65753148e-02 -5.77768760e-04 9.99330732e-01 5.52264189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.179254154 meters Centerline goodness : 0.999178 with order 1 Centerline is valid? [True, True] Translation: X:153.38, Y:7.81, Z:5.52 [[ 9.96977028e-01 -6.85756021e-02 -3.65265893e-02 1.53378529e+02] [ 6.85492876e-02 9.97645779e-01 -1.97376411e-03 7.81422294e+00] [ 3.65759497e-02 -5.36074195e-04 9.99330732e-01 5.52361207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.239254154 meters Centerline goodness : 0.999201 with order 1 Centerline is valid? [True, True] Translation: X:153.44, Y:7.82, Z:5.52 [[ 9.96762255e-01 -7.16297464e-02 -3.65265191e-02 1.53438628e+02] [ 7.16054335e-02 9.97431081e-01 -1.97506103e-03 7.81727377e+00] [ 3.65741586e-02 -6.46830953e-04 9.99330732e-01 5.52434437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.299254154 meters Centerline goodness : 0.999075 with order 1 Centerline is valid? [True, True] Translation: X:153.50, Y:7.82, Z:5.53 [[ 9.96470249e-01 -7.55834594e-02 -3.65264841e-02 1.53499273e+02] [ 7.55617761e-02 9.97139165e-01 -1.97570965e-03 7.82056481e+00] [ 3.65713188e-02 -7.91270128e-04 9.99330732e-01 5.52671325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.359254154 meters Centerline goodness : 0.999139 with order 1 Centerline is valid? [True, True] Translation: X:153.56, Y:7.82, Z:5.53 [[ 9.95925757e-01 -8.24481792e-02 -3.65264841e-02 1.53559494e+02] [ 8.24311059e-02 9.96594807e-01 -1.97570965e-03 7.82295654e+00] [ 3.65649980e-02 -1.04325835e-03 9.99330732e-01 5.52837313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.41925415400001 meters Centerline goodness : 0.999202 with order 1 Centerline is valid? [True, True] Translation: X:153.62, Y:7.83, Z:5.53 [[ 9.95623201e-01 -8.60247386e-02 -3.65265199e-02 1.53620882e+02] [ 8.60100927e-02 9.96292308e-01 -1.97504596e-03 7.82578919e+00] [ 3.65609937e-02 -1.17524779e-03 9.99330732e-01 5.53176985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.47925415400002 meters Centerline goodness : 0.999287 with order 1 Centerline is valid? [True, True] Translation: X:153.68, Y:7.83, Z:5.54 [[ 9.95363785e-01 -8.89760800e-02 -3.65265915e-02 1.53682174e+02] [ 8.89634664e-02 9.96032934e-01 -1.97372260e-03 7.82959072e+00] [ 3.65573022e-02 -1.28496019e-03 9.99330732e-01 5.53534862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.539254154 meters Centerline goodness : 0.999056 with order 1 Centerline is valid? [True, True] Translation: X:153.74, Y:7.83, Z:5.55 [[ 9.95522046e-01 -8.71874778e-02 -3.65266974e-02 1.53743606e+02] [ 8.71737338e-02 9.96191173e-01 -1.97175978e-03 7.83489965e+00] [ 3.65594863e-02 -1.22123826e-03 9.99330732e-01 5.54521650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.599254154 meters Centerline goodness : 0.999201 with order 1 Centerline is valid? [True, True] Translation: X:153.80, Y:7.84, Z:5.54 [[ 9.95781481e-01 -8.41726297e-02 -3.65268475e-02 1.53804625e+02] [ 8.41569617e-02 9.96450565e-01 -1.96897533e-03 7.83924540e+00] [ 3.65629317e-02 -1.11331933e-03 9.99330732e-01 5.54063599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.659254154 meters Centerline goodness : 0.999244 with order 1 Centerline is valid? [True, True] Translation: X:153.87, Y:7.85, Z:5.54 [[ 9.96185886e-01 -7.92430595e-02 -3.65269578e-02 1.53866052e+02] [ 7.92241552e-02 9.96854886e-01 -1.96692740e-03 7.84515605e+00] [ 3.65679417e-02 -9.34392062e-04 9.99330732e-01 5.54314401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.719254154 meters Centerline goodness : 0.999178 with order 1 Centerline is valid? [True, True] Translation: X:153.93, Y:7.85, Z:5.54 [[ 9.96417527e-01 -7.62750810e-02 -3.65270261e-02 1.53927443e+02] [ 7.62542304e-02 9.97086470e-01 -1.96565739e-03 7.85010931e+00] [ 3.65705342e-02 -8.26724785e-04 9.99330732e-01 5.54493164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.779254154 meters Centerline goodness : 0.998904 with order 1 Centerline is valid? [True, True] Translation: X:153.99, Y:7.86, Z:5.54 [[ 9.96751700e-01 -7.17761783e-02 -3.65270940e-02 1.53986201e+02] [ 7.17523543e-02 9.97420544e-01 -1.96439615e-03 7.85567362e+00] [ 3.65738708e-02 -6.62889783e-04 9.99330732e-01 5.54403298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.839254154 meters Centerline goodness : 0.999009 with order 1 Centerline is valid? [True, True] Translation: X:154.05, Y:7.86, Z:5.55 [[ 9.96800327e-01 -7.10977139e-02 -3.65270198e-02 1.54046097e+02] [ 7.10733841e-02 9.97469152e-01 -1.96577411e-03 7.86083475e+00] [ 3.65743375e-02 -6.36614632e-04 9.99330732e-01 5.54638429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.899254154 meters Centerline goodness : 0.999156 with order 1 Centerline is valid? [True, True] Translation: X:154.11, Y:7.87, Z:5.55 [[ 9.96971798e-01 -6.86513890e-02 -3.65269784e-02 1.54106104e+02] [ 6.86253899e-02 9.97640561e-01 -1.96654293e-03 7.86682185e+00] [ 3.65758011e-02 -5.46090291e-04 9.99330732e-01 5.54670678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.959254154 meters Centerline goodness : 0.998965 with order 1 Centerline is valid? [True, True] Translation: X:154.17, Y:7.87, Z:5.55 [[ 9.97041116e-01 -6.76371991e-02 -3.65270140e-02 1.54166826e+02] [ 6.76105440e-02 9.97709852e-01 -1.96588107e-03 7.87227030e+00] [ 3.65763285e-02 -5.09547035e-04 9.99330732e-01 5.55001471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.019254154 meters Centerline goodness : 0.999092 with order 1 Centerline is valid? [True, True] Translation: X:154.23, Y:7.88, Z:5.55 [[ 9.97091631e-01 -6.68883708e-02 -3.65270504e-02 1.54226511e+02] [ 6.68612382e-02 9.97760348e-01 -1.96520513e-03 7.87819896e+00] [ 3.65766919e-02 -4.82754228e-04 9.99330732e-01 5.55446052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.079254154 meters Centerline goodness : 0.999071 with order 1 Centerline is valid? [True, True] Translation: X:154.29, Y:7.88, Z:5.56 [[ 9.97034012e-01 -6.77417889e-02 -3.65270862e-02 1.54287235e+02] [ 6.77152530e-02 9.97702754e-01 -1.96453994e-03 7.88241109e+00] [ 3.65762559e-02 -5.14727746e-04 9.99330732e-01 5.55751639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.139254154 meters Centerline goodness : 0.999154 with order 1 Centerline is valid? [True, True] Translation: X:154.35, Y:7.89, Z:5.56 [[ 9.96773805e-01 -7.14685494e-02 -3.65270862e-02 1.54347071e+02] [ 7.14445136e-02 9.97442641e-01 -1.96453994e-03 7.88642181e+00] [ 3.65740761e-02 -6.51457957e-04 9.99330732e-01 5.55960607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.19925415400002 meters Centerline goodness : 0.998966 with order 1 Centerline is valid? [True, True] Translation: X:154.41, Y:7.89, Z:5.56 [[ 9.96485287e-01 -7.53846487e-02 -3.65270862e-02 1.54407255e+02] [ 7.53632413e-02 9.97154212e-01 -1.96453994e-03 7.88959179e+00] [ 3.65712340e-02 -7.95164465e-04 9.99330732e-01 5.56063783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.259254154 meters Centerline goodness : 0.999008 with order 1 Centerline is valid? [True, True] Translation: X:154.47, Y:7.89, Z:5.56 [[ 9.96203295e-01 -7.90238208e-02 -3.65271215e-02 1.54467946e+02] [ 7.90048808e-02 9.96872295e-01 -1.96388234e-03 7.89294803e+00] [ 3.65680689e-02 -9.29394826e-04 9.99330732e-01 5.56239461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.319254154 meters Centerline goodness : 0.999134 with order 1 Centerline is valid? [True, True] Translation: X:154.53, Y:7.90, Z:5.56 [[ 9.95982344e-01 -8.17614607e-02 -3.65271555e-02 1.54529195e+02] [ 8.17443827e-02 9.96651394e-01 -1.96325021e-03 7.89694786e+00] [ 3.65653587e-02 -1.03052723e-03 9.99330732e-01 5.56344958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.379254154 meters Centerline goodness : 0.999136 with order 1 Centerline is valid? [True, True] Translation: X:154.59, Y:7.90, Z:5.57 [[ 9.95873913e-01 -8.30717091e-02 -3.65272647e-02 1.54590234e+02] [ 8.30555857e-02 9.96542986e-01 -1.96121702e-03 7.90154960e+00] [ 3.65639111e-02 -1.08066850e-03 9.99330732e-01 5.56759317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.439254154 meters Centerline goodness : 0.999025 with order 1 Centerline is valid? [True, True] Translation: X:154.65, Y:7.91, Z:5.57 [[ 9.95758335e-01 -8.44457963e-02 -3.65273424e-02 1.54650983e+02] [ 8.44306493e-02 9.96427431e-01 -1.95976816e-03 7.90969411e+00] [ 3.65623401e-02 -1.13257176e-03 9.99330732e-01 5.57282103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.499254154 meters Centerline goodness : 0.999066 with order 1 Centerline is valid? [True, True] Translation: X:154.71, Y:7.91, Z:5.57 [[ 9.96150512e-01 -7.96862637e-02 -3.65274689e-02 1.54711812e+02] [ 7.96680058e-02 9.96819531e-01 -1.95740786e-03 7.91180340e+00] [ 3.65672729e-02 -9.60197758e-04 9.99330732e-01 5.57013302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.559254154 meters Centerline goodness : 0.998961 with order 1 Centerline is valid? [True, True] Translation: X:154.77, Y:7.92, Z:5.57 [[ 9.96398675e-01 -7.65207081e-02 -3.65275535e-02 1.54773183e+02] [ 7.65003826e-02 9.97067634e-01 -1.95582714e-03 7.91716551e+00] [ 3.65701026e-02 -8.45588250e-04 9.99330732e-01 5.57205284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.619254154 meters Centerline goodness : 0.999193 with order 1 Centerline is valid? [True, True] Translation: X:154.83, Y:7.92, Z:5.58 [[ 9.96657119e-01 -7.30774773e-02 -3.65276577e-02 1.54834247e+02] [ 7.30549118e-02 9.97326006e-01 -1.95387922e-03 7.92349078e+00] [ 3.65727675e-02 -7.21177180e-04 9.99330732e-01 5.57549807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.679254154 meters Centerline goodness : 0.999256 with order 1 Centerline is valid? [True, True] Translation: X:154.90, Y:7.93, Z:5.58 [[ 9.96748031e-01 -7.18267920e-02 -3.65277257e-02 1.54895248e+02] [ 7.18034338e-02 9.97416891e-01 -1.95260750e-03 7.92759430e+00] [ 3.65736201e-02 -6.76558448e-04 9.99330732e-01 5.57735873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.739254154 meters Centerline goodness : 0.999171 with order 1 Centerline is valid? [True, True] Translation: X:154.96, Y:7.93, Z:5.58 [[ 9.96669564e-01 -7.29074830e-02 -3.65277927e-02 1.54956658e+02] [ 7.28848960e-02 9.97338450e-01 -1.95135399e-03 7.93160783e+00] [ 3.65728404e-02 -7.17469241e-04 9.99330732e-01 5.58207304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.799254154 meters Centerline goodness : 0.999086 with order 1 Centerline is valid? [True, True] Translation: X:155.02, Y:7.94, Z:5.58 [[ 9.96496083e-01 -7.52414253e-02 -3.65278638e-02 1.55017499e+02] [ 7.52204536e-02 9.97165022e-01 -1.95002137e-03 7.93550794e+00] [ 3.65710305e-02 -8.04453826e-04 9.99330732e-01 5.58480592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.859254154 meters Centerline goodness : 0.999235 with order 1 Centerline is valid? [True, True] Translation: X:155.08, Y:7.94, Z:5.59 [[ 9.96333026e-01 -7.73706071e-02 -3.65279347e-02 1.55079724e+02] [ 7.73511136e-02 9.97002010e-01 -1.94869245e-03 7.93926240e+00] [ 3.65691958e-02 -8.83929774e-04 9.99330732e-01 5.58711627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.91925415400001 meters Centerline goodness : 0.999299 with order 1 Centerline is valid? [True, True] Translation: X:155.14, Y:7.95, Z:5.60 [[ 9.96131178e-01 -7.99273142e-02 -3.65280763e-02 1.55140992e+02] [ 7.99096351e-02 9.96800212e-01 -1.94603406e-03 7.94518062e+00] [ 3.65667355e-02 -9.80440048e-04 9.99330732e-01 5.59572773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.97925415400002 meters Centerline goodness : 0.999086 with order 1 Centerline is valid? [True, True] Translation: X:155.20, Y:7.95, Z:5.59 [[ 9.96235261e-01 -7.86193164e-02 -3.65281877e-02 1.55202240e+02] [ 7.86008354e-02 9.96904273e-01 -1.94394205e-03 7.94929283e+00] [ 3.65679378e-02 -9.34522451e-04 9.99330732e-01 5.59284332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.039254154 meters Centerline goodness : 0.998848 with order 1 Centerline is valid? [True, True] Translation: X:155.26, Y:7.95, Z:5.59 [[ 9.96292462e-01 -7.78910023e-02 -3.65283735e-02 1.55263381e+02] [ 7.78721605e-02 9.96961464e-01 -1.94044287e-03 7.95361707e+00] [ 3.65685238e-02 -9.11294762e-04 9.99330732e-01 5.59495901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.099254154 meters Centerline goodness : 0.999254 with order 1 Centerline is valid? [True, True] Translation: X:155.33, Y:7.96, Z:5.60 [[ 9.96389687e-01 -7.66372028e-02 -3.65284796e-02 1.55325194e+02] [ 7.66175924e-02 9.97058668e-01 -1.93844335e-03 7.95766172e+00] [ 3.65695941e-02 -8.67279203e-04 9.99330732e-01 5.59721468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.159254154 meters Centerline goodness : 0.998975 with order 1 Centerline is valid? [True, True] Translation: X:155.39, Y:7.96, Z:5.60 [[ 9.96445896e-01 -7.59028120e-02 -3.65286221e-02 1.55387685e+02] [ 7.58828070e-02 9.97114864e-01 -1.93575534e-03 7.96130787e+00] [ 3.65701613e-02 -8.43018918e-04 9.99330732e-01 5.60112570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.219254154 meters Centerline goodness : 0.999104 with order 1 Centerline is valid? [True, True] Translation: X:155.45, Y:7.97, Z:5.60 [[ 9.96419819e-01 -7.62442798e-02 -3.65288108e-02 1.55448422e+02] [ 7.62246348e-02 9.97088798e-01 -1.93218804e-03 7.96523412e+00] [ 3.65697863e-02 -8.59124805e-04 9.99330732e-01 5.60108178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.279254154 meters Centerline goodness : 0.999061 with order 1 Centerline is valid? [True, True] Translation: X:155.51, Y:7.97, Z:5.60 [[ 9.96323465e-01 -7.74931737e-02 -3.65289216e-02 1.55510094e+02] [ 7.74744441e-02 9.96992470e-01 -1.93009027e-03 7.96814992e+00] [ 3.65686286e-02 -9.07063671e-04 9.99330732e-01 5.60313702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.339254154 meters Centerline goodness : 0.999084 with order 1 Centerline is valid? [True, True] Translation: X:155.57, Y:7.97, Z:5.61 [[ 9.96151202e-01 -7.96769078e-02 -3.65290642e-02 1.55572565e+02] [ 7.96597437e-02 9.96820250e-01 -1.92738821e-03 7.97112018e+00] [ 3.65664792e-02 -9.89925806e-04 9.99330732e-01 5.60540062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.399254154 meters Centerline goodness : 0.999340 with order 1 Centerline is valid? [True, True] Translation: X:155.63, Y:7.97, Z:5.61 [[ 9.95835831e-01 -8.35261349e-02 -3.65292070e-02 1.55634707e+02] [ 8.35116559e-02 9.96504942e-01 -1.92467701e-03 7.97373866e+00] [ 3.65622962e-02 -1.13395224e-03 9.99330732e-01 5.60718420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.459254154 meters Centerline goodness : 0.999361 with order 1 Centerline is valid? [True, True] Translation: X:155.70, Y:7.98, Z:5.61 [[ 9.95542830e-01 -8.69487266e-02 -3.65293498e-02 1.55696927e+02] [ 8.69366471e-02 9.96211988e-01 -1.92196313e-03 7.97711316e+00] [ 3.65580885e-02 -1.26234258e-03 9.99330732e-01 5.60929623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.519254154 meters Centerline goodness : 0.999276 with order 1 Centerline is valid? [True, True] Translation: X:155.76, Y:7.98, Z:5.61 [[ 9.95490333e-01 -8.75476631e-02 -3.65294900e-02 1.55759424e+02] [ 8.75360840e-02 9.96159500e-01 -1.91929465e-03 7.98085659e+00] [ 3.65572283e-02 -1.28700924e-03 9.99330732e-01 5.61226423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.579254154 meters Centerline goodness : 0.998999 with order 1 Centerline is valid? [True, True] Translation: X:155.82, Y:7.99, Z:5.62 [[ 9.95782610e-01 -8.41580629e-02 -3.65296297e-02 1.55821271e+02] [ 8.41443034e-02 9.96451736e-01 -1.91663245e-03 7.98593925e+00] [ 3.65613130e-02 -1.16521099e-03 9.99330732e-01 5.61662438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.639254154 meters Centerline goodness : 0.999254 with order 1 Centerline is valid? [True, True] Translation: X:155.88, Y:7.99, Z:5.62 [[ 9.96098565e-01 -8.03319643e-02 -3.65297704e-02 1.55883655e+02] [ 8.03157327e-02 9.96767636e-01 -1.91394667e-03 7.99044791e+00] [ 3.65654440e-02 -1.02743575e-03 9.99330732e-01 5.62016335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.69925415400002 meters Centerline goodness : 0.999274 with order 1 Centerline is valid? [True, True] Translation: X:155.95, Y:7.99, Z:5.62 [[ 9.96366944e-01 -7.69316467e-02 -3.65299115e-02 1.55946082e+02] [ 7.69132304e-02 9.97035958e-01 -1.91125069e-03 7.99407687e+00] [ 3.65686710e-02 -9.05326489e-04 9.99330732e-01 5.62242046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.759254154 meters Centerline goodness : 0.999060 with order 1 Centerline is valid? [True, True] Translation: X:156.01, Y:8.00, Z:5.62 [[ 9.96574186e-01 -7.41987064e-02 -3.65300521e-02 1.56007589e+02] [ 7.41785538e-02 9.97243150e-01 -1.90855996e-03 7.99709304e+00] [ 3.65709569e-02 -8.07724850e-04 9.99330732e-01 5.62285763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.819254154 meters Centerline goodness : 0.999063 with order 1 Centerline is valid? [True, True] Translation: X:156.07, Y:8.00, Z:5.62 [[ 9.96638309e-01 -7.33322486e-02 -3.65302908e-02 1.56069680e+02] [ 7.33116823e-02 9.97307261e-01 -1.90398057e-03 7.99958904e+00] [ 3.65715474e-02 -7.80517097e-04 9.99330732e-01 5.62372030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.879254154 meters Centerline goodness : 0.999189 with order 1 Centerline is valid? [True, True] Translation: X:156.13, Y:8.00, Z:5.63 [[ 9.96689849e-01 -7.26283181e-02 -3.65304268e-02 1.56131526e+02] [ 7.26073751e-02 9.97358789e-01 -1.90136697e-03 8.00229959e+00] [ 3.65720353e-02 -7.57305242e-04 9.99330732e-01 5.62622386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.939254154 meters Centerline goodness : 0.998999 with order 1 Centerline is valid? [True, True] Translation: X:156.19, Y:8.01, Z:5.63 [[ 9.96720911e-01 -7.22007189e-02 -3.65305665e-02 1.56192515e+02] [ 7.21795872e-02 9.97389845e-01 -1.89867967e-03 8.00507636e+00] [ 3.65723020e-02 -7.44307473e-04 9.99330732e-01 5.62654837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.999254154 meters Centerline goodness : 0.999210 with order 1 Centerline is valid? [True, True] Translation: X:156.25, Y:8.01, Z:5.63 [[ 9.96715265e-01 -7.22785498e-02 -3.65307073e-02 1.56253259e+02] [ 7.22575698e-02 9.97384203e-01 -1.89596570e-03 8.00826649e+00] [ 3.65721881e-02 -7.49882183e-04 9.99330732e-01 5.62991001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.059254154 meters Centerline goodness : 0.999018 with order 1 Centerline is valid? [True, True] Translation: X:156.32, Y:8.01, Z:5.63 [[ 9.96788500e-01 -7.12613893e-02 -3.65308119e-02 1.56315375e+02] [ 7.12398006e-02 9.97457420e-01 -1.89394942e-03 8.01192274e+00] [ 3.65728948e-02 -7.14580747e-04 9.99330732e-01 5.63238400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.119254154 meters Centerline goodness : 0.999060 with order 1 Centerline is valid? [True, True] Translation: X:156.38, Y:8.02, Z:5.64 [[ 9.96874801e-01 -7.00437056e-02 -3.65309457e-02 1.56377147e+02] [ 7.00213945e-02 9.97543697e-01 -1.89136510e-03 8.01541980e+00] [ 3.65736928e-02 -6.72493543e-04 9.99330732e-01 5.63582081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.179254154 meters Centerline goodness : 0.999380 with order 1 Centerline is valid? [True, True] Translation: X:156.44, Y:8.02, Z:5.64 [[ 9.96930630e-01 -6.92444853e-02 -3.65310827e-02 1.56439198e+02] [ 6.92217350e-02 9.97599511e-01 -1.88871415e-03 8.01890701e+00] [ 3.65741733e-02 -6.45827939e-04 9.99330732e-01 5.63978750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.239254154 meters Centerline goodness : 0.998994 with order 1 Centerline is valid? [True, True] Translation: X:156.50, Y:8.02, Z:5.64 [[ 9.97057856e-01 -6.73876924e-02 -3.65312242e-02 1.56499481e+02] [ 6.73637969e-02 9.97726697e-01 -1.88597323e-03 8.02203176e+00] [ 3.65752691e-02 -5.80457538e-04 9.99330732e-01 5.63887025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.299254154 meters Centerline goodness : 0.999121 with order 1 Centerline is valid? [True, True] Translation: X:156.56, Y:8.03, Z:5.64 [[ 9.97021012e-01 -6.79305985e-02 -3.65312979e-02 1.56560739e+02] [ 6.79071194e-02 9.97689867e-01 -1.88454502e-03 8.02577227e+00] [ 3.65749240e-02 -6.01804228e-04 9.99330732e-01 5.64463819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.359254154 meters Centerline goodness : 0.999186 with order 1 Centerline is valid? [True, True] Translation: X:156.62, Y:8.03, Z:5.65 [[ 9.97213864e-01 -6.50382066e-02 -3.65313744e-02 1.56622175e+02] [ 6.50128418e-02 9.97882651e-01 -1.88306144e-03 8.02908268e+00] [ 3.65764956e-02 -4.97193483e-04 9.99330732e-01 5.64715997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.41925415400001 meters Centerline goodness : 0.999231 with order 1 Centerline is valid? [True, True] Translation: X:156.68, Y:8.03, Z:5.65 [[ 9.97405382e-01 -6.20319110e-02 -3.65314442e-02 1.56683774e+02] [ 6.20045800e-02 9.98074091e-01 -1.88170472e-03 8.03182689e+00] [ 3.65778138e-02 -3.88294445e-04 9.99330732e-01 5.65033584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.47925415400002 meters Centerline goodness : 0.999101 with order 1 Centerline is valid? [True, True] Translation: X:156.74, Y:8.03, Z:5.65 [[ 9.97601737e-01 -5.87896554e-02 -3.65315134e-02 1.56743733e+02] [ 5.87602002e-02 9.98270356e-01 -1.88036132e-03 8.03496476e+00] [ 3.65788727e-02 -2.70747321e-04 9.99330732e-01 5.65267774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.539254154 meters Centerline goodness : 0.999443 with order 1 Centerline is valid? [True, True] Translation: X:156.80, Y:8.04, Z:5.65 [[ 9.97766101e-01 -5.59307895e-02 -3.65315474e-02 1.56803405e+02] [ 5.58994427e-02 9.98434634e-01 -1.87970064e-03 8.03818125e+00] [ 3.65794953e-02 -1.66591562e-04 9.99330732e-01 5.65386899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.599254154 meters Centerline goodness : 0.998842 with order 1 Centerline is valid? [True, True] Translation: X:156.86, Y:8.04, Z:5.66 [[ 9.97762640e-01 -5.59925548e-02 -3.65314798e-02 1.56862871e+02] [ 5.59612013e-02 9.98431172e-01 -1.88101319e-03 8.03981015e+00] [ 3.65794909e-02 -1.67540809e-04 9.99330732e-01 5.65548538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.659254154 meters Centerline goodness : 0.999102 with order 1 Centerline is valid? [True, True] Translation: X:156.92, Y:8.04, Z:5.66 [[ 9.97555465e-01 -5.95697052e-02 -3.65314122e-02 1.56921640e+02] [ 5.95407010e-02 9.98224104e-01 -1.88232450e-03 8.03936098e+00] [ 3.65786658e-02 -2.97382800e-04 9.99330732e-01 5.65662153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.719254154 meters Centerline goodness : 0.999018 with order 1 Centerline is valid? [True, True] Translation: X:156.98, Y:8.04, Z:5.66 [[ 9.97356543e-01 -6.28123318e-02 -3.65313124e-02 1.56982180e+02] [ 6.27854305e-02 9.98025270e-01 -1.88426061e-03 8.04011240e+00] [ 3.65775277e-02 -4.14354530e-04 9.99330732e-01 5.65936691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.779254154 meters Centerline goodness : 0.998508 with order 1 Centerline is valid? [True, True] Translation: X:157.04, Y:8.04, Z:5.66 [[ 9.97240702e-01 -6.46254188e-02 -3.65313124e-02 1.57042638e+02] [ 6.45997333e-02 9.97909477e-01 -1.88426061e-03 8.03689868e+00] [ 3.65767140e-02 -4.80851666e-04 9.99330732e-01 5.65828891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.839254154 meters Centerline goodness : 0.999108 with order 1 Centerline is valid? [True, True] Translation: X:157.10, Y:8.04, Z:5.66 [[ 9.96797322e-01 -7.11376435e-02 -3.65312870e-02 1.57102344e+02] [ 7.11163087e-02 9.97466249e-01 -1.88475274e-03 8.04073217e+00] [ 3.65728027e-02 -7.19253793e-04 9.99330732e-01 5.66432636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.899254154 meters Centerline goodness : 0.999299 with order 1 Centerline is valid? [True, True] Translation: X:157.16, Y:8.04, Z:5.67 [[ 9.96481202e-01 -7.54365942e-02 -3.65312870e-02 1.57163371e+02] [ 7.54181449e-02 9.97150215e-01 -1.88475274e-03 8.04071295e+00] [ 3.65693600e-02 -8.77001215e-04 9.99330732e-01 5.66648757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.959254154 meters Centerline goodness : 0.999554 with order 1 Centerline is valid? [True, True] Translation: X:157.22, Y:8.04, Z:5.67 [[ 9.96089309e-01 -8.04459371e-02 -3.65313558e-02 1.57224416e+02] [ 8.04309008e-02 9.96758408e-01 -1.88341872e-03 8.04441788e+00] [ 3.65644494e-02 -1.06219660e-03 9.99330732e-01 5.67322668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.019254154 meters Centerline goodness : 0.999110 with order 1 Centerline is valid? [True, True] Translation: X:157.29, Y:8.04, Z:5.67 [[ 9.95749397e-01 -8.45493446e-02 -3.65314578e-02 1.57287287e+02] [ 8.45371378e-02 9.96418553e-01 -1.88143751e-03 8.04208398e+00] [ 3.65596966e-02 -1.21482462e-03 9.99330732e-01 5.67103596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.079254154 meters Centerline goodness : 0.999259 with order 1 Centerline is valid? [True, True] Translation: X:157.35, Y:8.04, Z:5.68 [[ 9.95307367e-01 -8.96029500e-02 -3.65315929e-02 1.57349477e+02] [ 8.95942364e-02 9.95976577e-01 -1.87881058e-03 8.04403128e+00] [ 3.65529578e-02 -1.40302616e-03 9.99330732e-01 5.67598117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.139254154 meters Centerline goodness : 0.998984 with order 1 Centerline is valid? [True, True] Translation: X:157.41, Y:8.05, Z:5.68 [[ 9.95019537e-01 -9.27445679e-02 -3.65317258e-02 1.57411073e+02] [ 9.27380618e-02 9.95688772e-01 -1.87622378e-03 8.04539739e+00] [ 3.65482387e-02 -1.52100212e-03 9.99330732e-01 5.67626196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.19925415400002 meters Centerline goodness : 0.998941 with order 1 Centerline is valid? [True, True] Translation: X:157.47, Y:8.05, Z:5.68 [[ 9.94981989e-01 -9.31464835e-02 -3.65318237e-02 1.57473195e+02] [ 9.31403176e-02 9.95651228e-01 -1.87431549e-03 8.04814292e+00] [ 3.65475410e-02 -1.53767551e-03 9.99330732e-01 5.67650366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.259254154 meters Centerline goodness : 0.999089 with order 1 Centerline is valid? [True, True] Translation: X:157.53, Y:8.05, Z:5.68 [[ 9.94942176e-01 -9.35707381e-02 -3.65319512e-02 1.57534332e+02] [ 9.35649488e-02 9.95611418e-01 -1.87182724e-03 8.05406967e+00] [ 3.65467760e-02 -1.55575027e-03 9.99330732e-01 5.67708232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.319254154 meters Centerline goodness : 0.999003 with order 1 Centerline is valid? [True, True] Translation: X:157.60, Y:8.06, Z:5.68 [[ 9.94901744e-01 -9.39996197e-02 -3.65320455e-02 1.57595905e+02] [ 9.39941865e-02 9.95570990e-01 -1.86998414e-03 8.06041182e+00] [ 3.65460225e-02 -1.57334941e-03 9.99330732e-01 5.68163326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.379254154 meters Centerline goodness : 0.998832 with order 1 Centerline is valid? [True, True] Translation: X:157.66, Y:8.07, Z:5.69 [[ 9.95243922e-01 -9.03046865e-02 -3.65321697e-02 1.57657695e+02] [ 9.02968574e-02 9.95913144e-01 -1.86755396e-03 8.06754888e+00] [ 3.65515169e-02 -1.44006839e-03 9.99330732e-01 5.68594262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.439254154 meters Centerline goodness : 0.998981 with order 1 Centerline is valid? [True, True] Translation: X:157.72, Y:8.07, Z:5.68 [[ 9.95521584e-01 -8.71904061e-02 -3.65323094e-02 1.57718939e+02] [ 8.71805835e-02 9.96190779e-01 -1.86481808e-03 8.07024558e+00] [ 3.65557440e-02 -1.32844139e-03 9.99330732e-01 5.68498323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.499254154 meters Centerline goodness : 0.998957 with order 1 Centerline is valid? [True, True] Translation: X:157.78, Y:8.08, Z:5.69 [[ 9.95928615e-01 -8.24110219e-02 -3.65324122e-02 1.57780836e+02] [ 8.23980611e-02 9.96597757e-01 -1.86280149e-03 8.07797493e+00] [ 3.65616355e-02 -1.15498262e-03 9.99330732e-01 5.68815426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.559254154 meters Centerline goodness : 0.999126 with order 1 Centerline is valid? [True, True] Translation: X:157.84, Y:8.08, Z:5.69 [[ 9.96166974e-01 -7.94778809e-02 -3.65325474e-02 1.57842907e+02] [ 7.94630470e-02 9.96836077e-01 -1.86014646e-03 8.08351100e+00] [ 3.65648017e-02 -1.04997106e-03 9.99330732e-01 5.69053873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.619254154 meters Centerline goodness : 0.999019 with order 1 Centerline is valid? [True, True] Translation: X:157.90, Y:8.09, Z:5.69 [[ 9.96524946e-01 -7.48558306e-02 -3.65326825e-02 1.57904771e+02] [ 7.48379903e-02 9.97193976e-01 -1.85748886e-03 8.09063976e+00] [ 3.65692148e-02 -8.82998551e-04 9.99330732e-01 5.69258625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.679254154 meters Centerline goodness : 0.999229 with order 1 Centerline is valid? [True, True] Translation: X:157.97, Y:8.10, Z:5.69 [[ 9.96816167e-01 -7.08722987e-02 -3.65328192e-02 1.57966608e+02] [ 7.08518832e-02 9.97485123e-01 -1.85479793e-03 8.09583586e+00] [ 3.65723974e-02 -7.39526474e-04 9.99330732e-01 5.69482269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.739254154 meters Centerline goodness : 0.999248 with order 1 Centerline is valid? [True, True] Translation: X:158.03, Y:8.10, Z:5.70 [[ 9.97248534e-01 -6.45035259e-02 -3.65329569e-02 1.58028801e+02] [ 6.44789373e-02 9.97917350e-01 -1.85207993e-03 8.10235392e+00] [ 3.65763372e-02 -5.08622247e-04 9.99330732e-01 5.69700977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.799254154 meters Centerline goodness : 0.999225 with order 1 Centerline is valid? [True, True] Translation: X:158.09, Y:8.11, Z:5.70 [[ 9.97531223e-01 -5.99732584e-02 -3.65330922e-02 1.58090324e+02] [ 5.99457301e-02 9.98199924e-01 -1.84940746e-03 8.10692133e+00] [ 3.65782449e-02 -3.45161201e-04 9.99330732e-01 5.69943164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.859254154 meters Centerline goodness : 0.995518 with order 1 Centerline is valid? [True, True] Translation: X:158.15, Y:8.11, Z:5.70 [[ 9.97782168e-01 -5.56423771e-02 -3.65331614e-02 1.58150283e+02] [ 5.56119962e-02 9.98450745e-01 -1.84804038e-03 8.11277612e+00] [ 3.65793916e-02 -1.87740298e-04 9.99330732e-01 5.70020719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.91925415400001 meters Centerline goodness : 0.999314 with order 1 Centerline is valid? [True, True] Translation: X:158.21, Y:8.12, Z:5.71 [[ 9.97918117e-01 -5.31484646e-02 -3.65331614e-02 1.58209150e+02] [ 5.31164128e-02 9.98586617e-01 -1.84804038e-03 8.11749749e+00] [ 3.65797465e-02 -9.63175065e-05 9.99330732e-01 5.70708212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.97925415400002 meters Centerline goodness : 0.999055 with order 1 Centerline is valid? [True, True] Translation: X:158.27, Y:8.12, Z:5.71 [[ 9.97950159e-01 -5.25436518e-02 -3.65328040e-02 1.58267936e+02] [ 5.25109372e-02 9.98618626e-01 -1.85507886e-03 8.11622261e+00] [ 3.65798111e-02 -6.70955324e-05 9.99330732e-01 5.70706218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.039254154 meters Centerline goodness : 0.999097 with order 1 Centerline is valid? [True, True] Translation: X:158.33, Y:8.12, Z:5.71 [[ 9.97901754e-01 -5.34551383e-02 -3.65326891e-02 1.58327066e+02] [ 5.34229516e-02 9.98570247e-01 -1.85733804e-03 8.11822087e+00] [ 3.65797407e-02 -9.82431971e-05 9.99330733e-01 5.70935823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.099254154 meters Centerline goodness : 0.998991 with order 1 Centerline is valid? [True, True] Translation: X:158.39, Y:8.12, Z:5.71 [[ 9.97663196e-01 -5.77365988e-02 -3.65326208e-02 1.58386722e+02] [ 5.77072317e-02 9.98331819e-01 -1.85868139e-03 8.11742696e+00] [ 3.65789917e-02 -2.53858400e-04 9.99330733e-01 5.71011815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.159254154 meters Centerline goodness : 0.999059 with order 1 Centerline is valid? [True, True] Translation: X:158.45, Y:8.12, Z:5.71 [[ 9.97462433e-01 -6.11070171e-02 -3.65325520e-02 1.58447373e+02] [ 6.10798597e-02 9.98131149e-01 -1.86003277e-03 8.11765843e+00] [ 3.65779391e-02 -3.76090341e-04 9.99330733e-01 5.71104618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.219254154 meters Centerline goodness : 0.999019 with order 1 Centerline is valid? [True, True] Translation: X:158.51, Y:8.12, Z:5.71 [[ 9.97290915e-01 -6.38451507e-02 -3.65325520e-02 1.58506857e+02] [ 6.38198293e-02 9.97959703e-01 -1.86003277e-03 8.11811347e+00] [ 3.65767688e-02 -4.76507451e-04 9.99330733e-01 5.71237376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.279254154 meters Centerline goodness : 0.999127 with order 1 Centerline is valid? [True, True] Translation: X:158.57, Y:8.12, Z:5.71 [[ 9.97225470e-01 -6.48593636e-02 -3.65325184e-02 1.58567042e+02] [ 6.48346982e-02 9.97894283e-01 -1.86069183e-03 8.11804080e+00] [ 3.65762745e-02 -5.13045517e-04 9.99330733e-01 5.71387817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.339254154 meters Centerline goodness : 0.999191 with order 1 Centerline is valid? [True, True] Translation: X:158.63, Y:8.12, Z:5.72 [[ 9.97303531e-01 -6.36477981e-02 -3.65325184e-02 1.58627578e+02] [ 6.36223201e-02 9.97972313e-01 -1.86069183e-03 8.11938392e+00] [ 3.65768708e-02 -4.68609047e-04 9.99330733e-01 5.71649723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.399254154 meters Centerline goodness : 0.999106 with order 1 Centerline is valid? [True, True] Translation: X:158.69, Y:8.11, Z:5.72 [[ 9.97807034e-01 -5.51950869e-02 -3.65325184e-02 1.58688056e+02] [ 5.51639431e-02 9.98475577e-01 -1.86069183e-03 8.11428122e+00] [ 3.65795284e-02 -1.58666367e-04 9.99330733e-01 5.71538853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.459254154 meters Centerline goodness : 0.999107 with order 1 Centerline is valid? [True, True] Translation: X:158.75, Y:8.12, Z:5.72 [[ 9.97791815e-01 -5.54695307e-02 -3.65325184e-02 1.58745864e+02] [ 5.54385708e-02 9.98460366e-01 -1.86069183e-03 8.11994488e+00] [ 3.65794834e-02 -1.68727526e-04 9.99330733e-01 5.72273825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.519254154 meters Centerline goodness : 0.998854 with order 1 Centerline is valid? [True, True] Translation: X:158.80, Y:8.12, Z:5.73 [[ 9.98073133e-01 -5.01538339e-02 -3.65323842e-02 1.58804457e+02] [ 5.01192170e-02 9.98741504e-01 -1.86332382e-03 8.11929683e+00] [ 3.65798611e-02 2.87589507e-05 9.99330733e-01 5.72555841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.579254154 meters Centerline goodness : 0.998876 with order 1 Centerline is valid? [True, True] Translation: X:158.86, Y:8.12, Z:5.73 [[ 9.98185365e-01 -4.78685505e-02 -3.65318936e-02 1.58862243e+02] [ 4.78320531e-02 9.98853636e-01 -1.87289308e-03 8.11875162e+00] [ 3.65796674e-02 1.22098988e-04 9.99330733e-01 5.72687388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.639254154 meters Centerline goodness : 0.998856 with order 1 Centerline is valid? [True, True] Translation: X:158.92, Y:8.12, Z:5.73 [[ 9.98214359e-01 -4.72605010e-02 -3.65313348e-02 1.58920153e+02] [ 4.72232000e-02 9.98882586e-01 -1.88372931e-03 8.11565754e+00] [ 3.65795402e-02 1.55239116e-04 9.99330733e-01 5.72724956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.69925415400002 meters Centerline goodness : 0.999005 with order 1 Centerline is valid? [True, True] Translation: X:158.98, Y:8.11, Z:5.73 [[ 9.98105861e-01 -4.94991439e-02 -3.65311632e-02 1.58978290e+02] [ 4.94632200e-02 9.98774163e-01 -1.88705174e-03 8.11427221e+00] [ 3.65797894e-02 7.65284382e-05 9.99330733e-01 5.72793305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.759254154 meters Centerline goodness : 0.999158 with order 1 Centerline is valid? [True, True] Translation: X:159.04, Y:8.11, Z:5.73 [[ 9.97851661e-01 -5.43836122e-02 -3.65306185e-02 1.59036214e+02] [ 5.43505759e-02 9.98520112e-01 -1.89753701e-03 8.11082013e+00] [ 3.65797522e-02 -9.19997001e-05 9.99330733e-01 5.73019700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.819254154 meters Centerline goodness : 0.999242 with order 1 Centerline is valid? [True, True] Translation: X:159.09, Y:8.11, Z:5.73 [[ 9.97700149e-01 -5.70961204e-02 -3.65300533e-02 1.59094363e+02] [ 5.70645052e-02 9.98368670e-01 -1.90835754e-03 8.10938129e+00] [ 3.65794205e-02 -1.80600811e-04 9.99330733e-01 5.73189695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.879254154 meters Centerline goodness : 0.999116 with order 1 Centerline is valid? [True, True] Translation: X:159.15, Y:8.11, Z:5.74 [[ 9.97545371e-01 -5.97394373e-02 -3.65298794e-02 1.59152911e+02] [ 5.97094719e-02 9.98213967e-01 -1.91167986e-03 8.10824220e+00] [ 3.65788385e-02 -2.74192416e-04 9.99330733e-01 5.73603184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.939254154 meters Centerline goodness : 0.999056 with order 1 Centerline is valid? [True, True] Translation: X:159.21, Y:8.11, Z:5.74 [[ 9.97320696e-01 -6.33800653e-02 -3.65293879e-02 1.59210591e+02] [ 6.33521981e-02 9.97989383e-01 -1.92102592e-03 8.10555496e+00] [ 3.65776961e-02 -3.98338112e-04 9.99330733e-01 5.73890374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.999254154 meters Centerline goodness : 0.999141 with order 1 Centerline is valid? [True, True] Translation: X:159.27, Y:8.10, Z:5.74 [[ 9.96775265e-01 -7.14472931e-02 -3.65288263e-02 1.59268602e+02] [ 7.14244481e-02 9.97444142e-01 -1.93164693e-03 8.10211219e+00] [ 3.65734747e-02 -6.83633377e-04 9.99330733e-01 5.74054295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.059254154 meters Centerline goodness : 0.999290 with order 1 Centerline is valid? [True, True] Translation: X:159.33, Y:8.10, Z:5.74 [[ 9.96336520e-01 -7.73254451e-02 -3.65282637e-02 1.59327162e+02] [ 7.73061581e-02 9.97005509e-01 -1.94222765e-03 8.10064423e+00] [ 3.65690638e-02 -8.88747394e-04 9.99330733e-01 5.74189865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.119254154 meters Centerline goodness : 0.999206 with order 1 Centerline is valid? [True, True] Translation: X:159.39, Y:8.10, Z:5.74 [[ 9.95499705e-01 -8.74415825e-02 -3.65281601e-02 1.59387534e+02] [ 8.74290203e-02 9.96168854e-01 -1.94417490e-03 8.09838947e+00] [ 3.65582171e-02 -1.25819571e-03 9.99330733e-01 5.74374155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.179254154 meters Centerline goodness : 0.999332 with order 1 Centerline is valid? [True, True] Translation: X:159.45, Y:8.10, Z:5.75 [[ 9.94891975e-01 -9.41044674e-02 -3.65281601e-02 1.59447991e+02] [ 9.40963854e-02 9.95561194e-01 -1.94417490e-03 8.09851675e+00] [ 3.65489742e-02 -1.50292382e-03 9.99330733e-01 5.74513425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.239254154 meters Centerline goodness : 0.998979 with order 1 Centerline is valid? [True, True] Translation: X:159.51, Y:8.10, Z:5.75 [[ 9.93942897e-01 -1.03649463e-01 -3.65281601e-02 1.59508719e+02] [ 1.03647805e-01 9.94612162e-01 -1.94417490e-03 8.09808471e+00] [ 3.65328649e-02 -1.85366477e-03 9.99330733e-01 5.74513300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.299254154 meters Centerline goodness : 0.999062 with order 1 Centerline is valid? [True, True] Translation: X:159.57, Y:8.10, Z:5.75 [[ 9.93417362e-01 -1.08570848e-01 -3.65282802e-02 1.59569986e+02] [ 1.08572587e-01 9.94086627e-01 -1.94191551e-03 8.10081836e+00] [ 3.65231102e-02 -2.03683729e-03 9.99330733e-01 5.74706854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.359254154 meters Centerline goodness : 0.999144 with order 1 Centerline is valid? [True, True] Translation: X:159.63, Y:8.11, Z:5.75 [[ 9.92890416e-01 -1.13288576e-01 -3.65283502e-02 1.59632375e+02] [ 1.13293542e-01 9.93559665e-01 -1.94059825e-03 8.10596948e+00] [ 3.65129429e-02 -2.21162478e-03 9.99330733e-01 5.74918998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.41925415400001 meters Centerline goodness : 0.998976 with order 1 Centerline is valid? [True, True] Translation: X:159.69, Y:8.11, Z:5.75 [[ 9.92760903e-01 -1.14417911e-01 -3.65284890e-02 1.59693816e+02] [ 1.14423735e-01 9.93430145e-01 -1.93798093e-03 8.11151234e+00] [ 3.65102419e-02 -2.25577443e-03 9.99330733e-01 5.75164274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.47925415400002 meters Centerline goodness : 0.999185 with order 1 Centerline is valid? [True, True] Translation: X:159.76, Y:8.12, Z:5.75 [[ 9.92862367e-01 -1.13534050e-01 -3.65286260e-02 1.59756075e+02] [ 1.13539373e-01 9.93531613e-01 -1.93539571e-03 8.11723603e+00] [ 3.65120780e-02 -2.22585573e-03 9.99330733e-01 5.75453818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.539254154 meters Centerline goodness : 0.998935 with order 1 Centerline is valid? [True, True] Translation: X:159.82, Y:8.12, Z:5.76 [[ 9.93155548e-01 -1.10940109e-01 -3.65287614e-02 1.59817571e+02] [ 1.10943777e-01 9.93824805e-01 -1.93283706e-03 8.12440417e+00] [ 3.65176183e-02 -2.13303092e-03 9.99330733e-01 5.75761422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.599254154 meters Centerline goodness : 0.999124 with order 1 Centerline is valid? [True, True] Translation: X:159.88, Y:8.13, Z:5.76 [[ 9.93612280e-01 -1.06772082e-01 -3.65288947e-02 1.59879413e+02] [ 1.06773035e-01 9.94281546e-01 -1.93031420e-03 8.13236803e+00] [ 3.65261096e-02 -1.98231704e-03 9.99330733e-01 5.75982041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.659254154 meters Centerline goodness : 0.999182 with order 1 Centerline is valid? [True, True] Translation: X:159.94, Y:8.14, Z:5.76 [[ 9.93974598e-01 -1.03344708e-01 -3.65290296e-02 1.59941157e+02] [ 1.03343447e-01 9.94643864e-01 -1.92775764e-03 8.13868714e+00] [ 3.65325987e-02 -1.85889370e-03 9.99330733e-01 5.76156323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.719254154 meters Centerline goodness : 0.999077 with order 1 Centerline is valid? [True, True] Translation: X:160.00, Y:8.15, Z:5.76 [[ 9.94754653e-01 -9.55447523e-02 -3.65291639e-02 1.60002717e+02] [ 9.55383343e-02 9.95423890e-01 -1.92520996e-03 8.14726030e+00] [ 3.65459461e-02 -1.57482391e-03 9.99330733e-01 5.76491559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.779254154 meters Centerline goodness : 0.999098 with order 1 Centerline is valid? [True, True] Translation: X:160.06, Y:8.16, Z:5.77 [[ 9.95339798e-01 -8.92429090e-02 -3.65293090e-02 1.60064606e+02] [ 8.92323539e-02 9.96008981e-01 -1.92245218e-03 8.15626368e+00] [ 3.65550851e-02 -1.34610307e-03 9.99330733e-01 5.76885391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.839254154 meters Centerline goodness : 0.999368 with order 1 Centerline is valid? [True, True] Translation: X:160.13, Y:8.17, Z:5.77 [[ 9.96363742e-01 -7.69733205e-02 -3.65294528e-02 1.60125258e+02] [ 7.69546219e-02 9.97032748e-01 -1.91971652e-03 8.16730710e+00] [ 3.65688276e-02 -8.98374295e-04 9.99330733e-01 5.77082304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.899254154 meters Centerline goodness : 0.999559 with order 1 Centerline is valid? [True, True] Translation: X:160.19, Y:8.17, Z:5.77 [[ 9.96961236e-01 -6.88031795e-02 -3.65296745e-02 1.60186216e+02] [ 6.87791524e-02 9.97630071e-01 -1.91548835e-03 8.17489860e+00] [ 3.65748935e-02 -6.02812420e-04 9.99330733e-01 5.77354068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.959254154 meters Centerline goodness : 0.999515 with order 1 Centerline is valid? [True, True] Translation: X:160.25, Y:8.18, Z:5.78 [[ 9.97232957e-01 -6.47457136e-02 -3.65297445e-02 1.60246167e+02] [ 6.47190139e-02 9.97901691e-01 -1.91415265e-03 8.18017379e+00] [ 3.65770270e-02 -4.55312931e-04 9.99330733e-01 5.77624168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.019254154 meters Centerline goodness : 0.999240 with order 1 Centerline is valid? [True, True] Translation: X:160.30, Y:8.19, Z:5.78 [[ 9.97760323e-01 -5.60349412e-02 -3.65297445e-02 1.60304812e+02] [ 5.60024028e-02 9.98428799e-01 -1.91415265e-03 8.18926446e+00] [ 3.65796083e-02 -1.35887895e-04 9.99330733e-01 5.77911253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.079254154 meters Centerline goodness : 0.998961 with order 1 Centerline is valid? [True, True] Translation: X:160.36, Y:8.20, Z:5.78 [[ 9.97831417e-01 -5.47543976e-02 -3.65297100e-02 1.60363234e+02] [ 5.47209773e-02 9.98499849e-01 -1.91481069e-03 8.19578428e+00] [ 3.65797542e-02 -8.82831610e-05 9.99330733e-01 5.78203130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.139254154 meters Centerline goodness : 0.999089 with order 1 Centerline is valid? [True, True] Translation: X:160.42, Y:8.20, Z:5.78 [[ 9.97587183e-01 -5.90375210e-02 -3.65292100e-02 1.60421315e+02] [ 5.90066229e-02 9.98255737e-01 -1.92430239e-03 8.20017022e+00] [ 3.65790995e-02 -2.35805915e-04 9.99330733e-01 5.78431874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.19925415400002 meters Centerline goodness : 0.999300 with order 1 Centerline is valid? [True, True] Translation: X:160.48, Y:8.20, Z:5.79 [[ 9.97197802e-01 -6.52855093e-02 -3.65287049e-02 1.60479457e+02] [ 6.52584503e-02 9.97866522e-01 -1.93384356e-03 8.20360011e+00] [ 3.65770236e-02 -4.55382123e-04 9.99330733e-01 5.78652193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.259254154 meters Centerline goodness : 0.999407 with order 1 Centerline is valid? [True, True] Translation: X:160.54, Y:8.21, Z:5.79 [[ 9.96458918e-01 -7.57316687e-02 -3.65285983e-02 1.60539410e+02] [ 7.57115452e-02 9.97127883e-01 -1.93585377e-03 8.20626002e+00] [ 3.65702894e-02 -8.36637872e-04 9.99330733e-01 5.78803243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.319254154 meters Centerline goodness : 0.999470 with order 1 Centerline is valid? [True, True] Translation: X:160.60, Y:8.21, Z:5.79 [[ 9.96027213e-01 -8.12123898e-02 -3.65285983e-02 1.60601037e+02] [ 8.11959468e-02 9.96696278e-01 -1.93585377e-03 8.20886580e+00] [ 3.65651333e-02 -1.03781109e-03 9.99330733e-01 5.79037291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.379254154 meters Centerline goodness : 0.999110 with order 1 Centerline is valid? [True, True] Translation: X:160.66, Y:8.21, Z:5.79 [[ 9.95745653e-01 -8.45946246e-02 -3.65286692e-02 1.60662353e+02] [ 8.45805030e-02 9.96414771e-01 -1.93451625e-03 8.21354023e+00] [ 3.65613552e-02 -1.16332707e-03 9.99330733e-01 5.79168705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.439254154 meters Centerline goodness : 0.999321 with order 1 Centerline is valid? [True, True] Translation: X:160.72, Y:8.22, Z:5.79 [[ 9.96034167e-01 -8.11269158e-02 -3.65289065e-02 1.60724324e+02] [ 8.11106290e-02 9.96703236e-01 -1.93002366e-03 8.21916375e+00] [ 3.65650562e-02 -1.04051308e-03 9.99330733e-01 5.79446024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.499254154 meters Centerline goodness : 0.999342 with order 1 Centerline is valid? [True, True] Translation: X:160.79, Y:8.22, Z:5.80 [[ 9.96403768e-01 -7.64536433e-02 -3.65290474e-02 1.60785339e+02] [ 7.64343160e-02 9.97072756e-01 -1.92735407e-03 8.22335710e+00] [ 3.65694712e-02 -8.71649895e-04 9.99330733e-01 5.79697946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.559254154 meters Centerline goodness : 0.999446 with order 1 Centerline is valid? [True, True] Translation: X:160.85, Y:8.23, Z:5.80 [[ 9.96982181e-01 -6.84992882e-02 -3.65291513e-02 1.60846366e+02] [ 6.84746947e-02 9.97650996e-01 -1.92538220e-03 8.22838432e+00] [ 3.65752315e-02 -5.81750740e-04 9.99330733e-01 5.79949871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.619254154 meters Centerline goodness : 0.999213 with order 1 Centerline is valid? [True, True] Translation: X:160.91, Y:8.23, Z:5.80 [[ 9.97294678e-01 -6.37882488e-02 -3.65292227e-02 1.60907666e+02] [ 6.37605454e-02 9.97963372e-01 -1.92402762e-03 8.23303221e+00] [ 3.65775566e-02 -4.10300656e-04 9.99330733e-01 5.80111450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.679254154 meters Centerline goodness : 0.999254 with order 1 Centerline is valid? [True, True] Translation: X:160.97, Y:8.24, Z:5.80 [[ 9.97636354e-01 -5.82006472e-02 -3.65292932e-02 1.60967620e+02] [ 5.81692474e-02 9.98304884e-01 -1.92268820e-03 8.23680356e+00] [ 3.65792735e-02 -2.06737840e-04 9.99330733e-01 5.80298148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.739254154 meters Centerline goodness : 0.999276 with order 1 Centerline is valid? [True, True] Translation: X:161.03, Y:8.24, Z:5.80 [[ 9.97788439e-01 -5.55323463e-02 -3.65292932e-02 1.61027538e+02] [ 5.54991587e-02 9.98456883e-01 -1.92268820e-03 8.24000588e+00] [ 3.65796956e-02 -1.08908976e-04 9.99330733e-01 5.80475374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.799254154 meters Centerline goodness : 0.999211 with order 1 Centerline is valid? [True, True] Translation: X:161.09, Y:8.24, Z:5.81 [[ 9.97892763e-01 -5.36250802e-02 -3.65292232e-02 1.61086066e+02] [ 5.35905664e-02 9.98561140e-01 -1.92401581e-03 8.24251321e+00] [ 3.65798383e-02 -3.76603140e-05 9.99330733e-01 5.80741993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.859254154 meters Centerline goodness : 0.999274 with order 1 Centerline is valid? [True, True] Translation: X:161.14, Y:8.24, Z:5.81 [[ 9.97922016e-01 -5.30782736e-02 -3.65287189e-02 1.61144628e+02] [ 5.30430449e-02 9.98590355e-01 -1.93354341e-03 8.24437155e+00] [ 3.65798555e-02 -8.06894161e-06 9.99330733e-01 5.80907768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.91925415400001 meters Centerline goodness : 0.999403 with order 1 Centerline is valid? [True, True] Translation: X:161.20, Y:8.24, Z:5.81 [[ 9.97902968e-01 -5.34355405e-02 -3.65282135e-02 1.61202746e+02] [ 5.34002031e-02 9.98571301e-01 -1.94304608e-03 8.24449957e+00] [ 3.65798533e-02 -1.16425669e-05 9.99330733e-01 5.81052714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.97925415400002 meters Centerline goodness : 0.999064 with order 1 Centerline is valid? [True, True] Translation: X:161.26, Y:8.25, Z:5.81 [[ 9.97669766e-01 -5.76258748e-02 -3.65280357e-02 1.61260909e+02] [ 5.75932224e-02 9.98338235e-01 -1.94638247e-03 8.24534463e+00] [ 3.65794967e-02 -1.61920337e-04 9.99330733e-01 5.81422903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.039254154 meters Centerline goodness : 0.999404 with order 1 Centerline is valid? [True, True] Translation: X:161.32, Y:8.25, Z:5.82 [[ 9.97397723e-01 -6.21572682e-02 -3.65274612e-02 1.61319536e+02] [ 6.21272600e-02 9.98066317e-01 -1.95710449e-03 8.24568360e+00] [ 3.65784769e-02 -3.17339522e-04 9.99330733e-01 5.81660981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.099254154 meters Centerline goodness : 0.999152 with order 1 Centerline is valid? [True, True] Translation: X:161.38, Y:8.24, Z:5.82 [[ 9.96670489e-01 -7.28952450e-02 -3.65269611e-02 1.61379389e+02] [ 7.28720987e-02 9.97339356e-01 -1.96639379e-03 8.24337189e+00] [ 3.65731166e-02 -7.01949653e-04 9.99330733e-01 5.81847706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.159254154 meters Centerline goodness : 0.999197 with order 1 Centerline is valid? [True, True] Translation: X:161.44, Y:8.24, Z:5.82 [[ 9.96090038e-01 -8.04389327e-02 -3.65268885e-02 1.61440121e+02] [ 8.04208017e-02 9.96759059e-01 -1.96774261e-03 8.24262793e+00] [ 3.65667901e-02 -9.77472840e-04 9.99330733e-01 5.81937408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.219254154 meters Centerline goodness : 0.999240 with order 1 Centerline is valid? [True, True] Translation: X:161.50, Y:8.24, Z:5.82 [[ 9.95382649e-01 -8.87646790e-02 -3.65268885e-02 1.61501630e+02] [ 8.87521424e-02 9.96051798e-01 -1.96774261e-03 8.24249700e+00] [ 3.65573390e-02 -1.28318275e-03 9.99330733e-01 5.82239975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.279254154 meters Centerline goodness : 0.999455 with order 1 Centerline is valid? [True, True] Translation: X:161.56, Y:8.24, Z:5.82 [[ 9.94255474e-01 -1.00607326e-01 -3.65269598e-02 1.61563816e+02] [ 1.00602804e-01 9.94924725e-01 -1.96641798e-03 8.24117504e+00] [ 3.65394115e-02 -1.71959275e-03 9.99330733e-01 5.82448522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.339254154 meters Centerline goodness : 0.999226 with order 1 Centerline is valid? [True, True] Translation: X:161.63, Y:8.24, Z:5.83 [[ 9.93256036e-01 -1.10037349e-01 -3.65271038e-02 1.61626338e+02] [ 1.10039276e-01 9.93925300e-01 -1.96373991e-03 8.24189832e+00] [ 3.65212973e-02 -2.06891955e-03 9.99330733e-01 5.82687951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.399254154 meters Centerline goodness : 0.999161 with order 1 Centerline is valid? [True, True] Translation: X:161.69, Y:8.24, Z:5.83 [[ 9.92857901e-01 -1.13573538e-01 -3.65272480e-02 1.61687920e+02] [ 1.13577947e-01 9.93527153e-01 -1.96105286e-03 8.24470258e+00] [ 3.65135364e-02 -2.20164300e-03 9.99330733e-01 5.82888314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.459254154 meters Centerline goodness : 0.998972 with order 1 Centerline is valid? [True, True] Translation: X:161.75, Y:8.25, Z:5.83 [[ 9.92690569e-01 -1.15026854e-01 -3.65274858e-02 1.61749500e+02] [ 1.15032406e-01 9.93359813e-01 -1.95661375e-03 8.24825012e+00] [ 3.65099996e-02 -2.25953255e-03 9.99330733e-01 5.83169774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.519254154 meters Centerline goodness : 0.999266 with order 1 Centerline is valid? [True, True] Translation: X:161.81, Y:8.25, Z:5.83 [[ 9.92803391e-01 -1.14048937e-01 -3.65276249e-02 1.61811716e+02] [ 1.14053924e-01 9.93472639e-01 -1.95401427e-03 8.25212618e+00] [ 3.65120491e-02 -2.22616697e-03 9.99330733e-01 5.83402226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.579254154 meters Centerline goodness : 0.998848 with order 1 Centerline is valid? [True, True] Translation: X:161.87, Y:8.26, Z:5.83 [[ 9.93086068e-01 -1.11560678e-01 -3.65277619e-02 1.61873347e+02] [ 1.11564082e-01 9.93755326e-01 -1.95144883e-03 8.25666325e+00] [ 3.65173629e-02 -2.13722959e-03 9.99330733e-01 5.83456574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.639254154 meters Centerline goodness : 0.999182 with order 1 Centerline is valid? [True, True] Translation: X:161.93, Y:8.26, Z:5.84 [[ 9.93297857e-01 -1.09658922e-01 -3.65278972e-02 1.61934489e+02] [ 1.09661138e-01 9.93967121e-01 -1.94891370e-03 8.26133317e+00] [ 3.65212445e-02 -2.06983895e-03 9.99330733e-01 5.83623382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.69925415400002 meters Centerline goodness : 0.999223 with order 1 Centerline is valid? [True, True] Translation: X:162.00, Y:8.27, Z:5.84 [[ 9.93803910e-01 -1.04973781e-01 -3.65279971e-02 1.61995556e+02] [ 1.04972909e-01 9.94473176e-01 -1.94703972e-03 8.26735815e+00] [ 3.65305014e-02 -1.89947443e-03 9.99330733e-01 5.83864470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.759254154 meters Centerline goodness : 0.998989 with order 1 Centerline is valid? [True, True] Translation: X:162.06, Y:8.27, Z:5.84 [[ 9.94324249e-01 -9.99248526e-02 -3.65282206e-02 1.62057518e+02] [ 9.99207359e-02 9.94993503e-01 -1.94283742e-03 8.27336705e+00] [ 3.65394799e-02 -1.71811632e-03 9.99330733e-01 5.84186332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.819254154 meters Centerline goodness : 0.999282 with order 1 Centerline is valid? [True, True] Translation: X:162.12, Y:8.28, Z:5.85 [[ 9.94944809e-01 -9.35441459e-02 -3.65283490e-02 1.62118991e+02] [ 9.35358247e-02 9.95614024e-01 -1.94041884e-03 8.27956082e+00] [ 3.65496514e-02 -1.48609960e-03 9.99330733e-01 5.84738557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.879254154 meters Centerline goodness : 0.999198 with order 1 Centerline is valid? [True, True] Translation: X:162.18, Y:8.29, Z:5.85 [[ 9.95603575e-01 -8.62507381e-02 -3.65284959e-02 1.62179936e+02] [ 8.62376146e-02 9.96272713e-01 -1.93765038e-03 8.28595597e+00] [ 3.65594675e-02 -1.22099871e-03 9.99330733e-01 5.84991539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.939254154 meters Centerline goodness : 0.999639 with order 1 Centerline is valid? [True, True] Translation: X:162.24, Y:8.29, Z:5.85 [[ 9.96595184e-01 -7.39168503e-02 -3.65286041e-02 1.62241443e+02] [ 7.38955176e-02 9.97264110e-01 -1.93560817e-03 8.29331334e+00] [ 3.65717399e-02 -7.70282322e-04 9.99330733e-01 5.85282236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.999254154 meters Centerline goodness : 0.999406 with order 1 Centerline is valid? [True, True] Translation: X:162.30, Y:8.30, Z:5.85 [[ 9.97160114e-01 -6.58586105e-02 -3.65287500e-02 1.62302077e+02] [ 6.58319723e-02 9.97828851e-01 -1.93285012e-03 8.29880654e+00] [ 3.65767355e-02 -4.77398612e-04 9.99330733e-01 5.85434279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.059254154 meters Centerline goodness : 0.999553 with order 1 Centerline is valid? [True, True] Translation: X:162.36, Y:8.31, Z:5.86 [[ 9.97888469e-01 -5.37052051e-02 -3.65288214e-02 1.62361755e+02] [ 5.36704710e-02 9.98556834e-01 -1.93149983e-03 8.30506965e+00] [ 3.65798359e-02 -3.30976490e-05 9.99330733e-01 5.85724723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.119254154 meters Centerline goodness : 0.999362 with order 1 Centerline is valid? [True, True] Translation: X:162.42, Y:8.31, Z:5.86 [[ 9.98261225e-01 -4.62620279e-02 -3.65287858e-02 1.62419268e+02] [ 4.62222859e-02 9.98929310e-01 -1.93217368e-03 8.30939145e+00] [ 3.65790611e-02 2.40370079e-04 9.99330733e-01 5.85936175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.179254154 meters Centerline goodness : 0.999681 with order 1 Centerline is valid? [True, True] Translation: X:162.48, Y:8.31, Z:5.86 [[ 9.98602021e-01 -3.82056264e-02 -3.65285227e-02 1.62477422e+02] [ 3.81603134e-02 9.99269752e-01 -1.93713472e-03 8.31251400e+00] [ 3.65758573e-02 5.40486767e-04 9.99330733e-01 5.86224008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.239254154 meters Centerline goodness : 0.999130 with order 1 Centerline is valid? [True, True] Translation: X:162.54, Y:8.31, Z:5.86 [[ 9.98658727e-01 -3.66940707e-02 -3.65279584e-02 1.62535606e+02] [ 3.66473601e-02 9.99326362e-01 -1.94771803e-03 8.31371466e+00] [ 3.65748215e-02 6.06452362e-04 9.99330733e-01 5.86362042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.299254154 meters Centerline goodness : 0.999619 with order 1 Centerline is valid? [True, True] Translation: X:162.59, Y:8.31, Z:5.87 [[ 9.98548042e-01 -3.95923921e-02 -3.65273863e-02 1.62593283e+02] [ 3.95472291e-02 9.99215783e-01 -1.95838970e-03 8.31253985e+00] [ 3.65762782e-02 5.10989290e-04 9.99330733e-01 5.86560450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.359254154 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:162.65, Y:8.31, Z:5.87 [[ 9.98346119e-01 -4.43939279e-02 -3.65267956e-02 1.62650277e+02] [ 4.43515758e-02 9.99014044e-01 -1.96934449e-03 8.31243904e+00] [ 3.65782087e-02 3.46066484e-04 9.99330733e-01 5.86745101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.41925415400001 meters Centerline goodness : 0.999451 with order 1 Centerline is valid? [True, True] Translation: X:162.71, Y:8.31, Z:5.87 [[ 9.97809764e-01 -5.51496697e-02 -3.65265413e-02 1.62708863e+02] [ 5.51143455e-02 9.98478098e-01 -1.97405027e-03 8.30916018e+00] [ 3.65798197e-02 -4.34097773e-05 9.99330733e-01 5.86807683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.47925415400002 meters Centerline goodness : 0.999031 with order 1 Centerline is valid? [True, True] Translation: X:162.77, Y:8.31, Z:5.87 [[ 9.97319971e-01 -6.33934559e-02 -3.65259621e-02 1.62765941e+02] [ 6.33632655e-02 9.97988556e-01 -1.98470939e-03 8.30725151e+00] [ 3.65783098e-02 -3.35013923e-04 9.99330734e-01 5.86895578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.539254154 meters Centerline goodness : 0.999054 with order 1 Centerline is valid? [True, True] Translation: X:162.82, Y:8.30, Z:5.87 [[ 9.96509357e-01 -7.50665352e-02 -3.65255651e-02 1.62824907e+02] [ 7.50439085e-02 9.97178241e-01 -1.99198852e-03 8.30414465e+00] [ 3.65720305e-02 -7.55985973e-04 9.99330734e-01 5.87097314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.599254154 meters Centerline goodness : 0.999181 with order 1 Centerline is valid? [True, True] Translation: X:162.89, Y:8.30, Z:5.87 [[ 9.96085307e-01 -8.04983246e-02 -3.65250662e-02 1.62885239e+02] [ 8.04790112e-02 9.96754295e-01 -2.00109624e-03 8.30372302e+00] [ 3.65676015e-02 -9.46238646e-04 9.99330734e-01 5.87303132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.659254154 meters Centerline goodness : 0.999245 with order 1 Centerline is valid? [True, True] Translation: X:162.95, Y:8.30, Z:5.87 [[ 9.95591360e-01 -8.63930784e-02 -3.65250662e-02 1.62945714e+02] [ 8.63777253e-02 9.96260450e-01 -2.00109624e-03 8.30225668e+00] [ 3.65613597e-02 -1.16267801e-03 9.99330734e-01 5.87461410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.719254154 meters Centerline goodness : 0.999434 with order 1 Centerline is valid? [True, True] Translation: X:163.01, Y:8.30, Z:5.88 [[ 9.95089982e-01 -9.19882997e-02 -3.65250662e-02 1.63006511e+02] [ 9.19767080e-02 9.95759148e-01 -2.00109624e-03 8.30337827e+00] [ 3.65542462e-02 -1.36818453e-03 9.99330734e-01 5.87684045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.779254154 meters Centerline goodness : 0.999288 with order 1 Centerline is valid? [True, True] Translation: X:163.07, Y:8.31, Z:5.88 [[ 9.94698397e-01 -9.61302075e-02 -3.65251005e-02 1.63066380e+02] [ 9.61214248e-02 9.95367605e-01 -2.00046943e-03 8.30573139e+00] [ 3.65482074e-02 -1.52098097e-03 9.99330734e-01 5.87825199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.839254154 meters Centerline goodness : 0.999224 with order 1 Centerline is valid? [True, True] Translation: X:163.13, Y:8.31, Z:5.88 [[ 9.94089110e-01 -1.02238716e-01 -3.65251343e-02 1.63128957e+02] [ 1.02234067e-01 9.94758361e-01 -1.99985232e-03 8.30751688e+00] [ 3.65381450e-02 -1.74608161e-03 9.99330734e-01 5.87725938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.899254154 meters Centerline goodness : 0.999245 with order 1 Centerline is valid? [True, True] Translation: X:163.19, Y:8.31, Z:5.88 [[ 9.93708258e-01 -1.05876352e-01 -3.65252788e-02 1.63191154e+02] [ 1.05874249e-01 9.94377521e-01 -1.99720994e-03 8.31208138e+00] [ 3.65313735e-02 -1.88244246e-03 9.99330734e-01 5.88177017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.959254154 meters Centerline goodness : 0.999160 with order 1 Centerline is valid? [True, True] Translation: X:163.25, Y:8.32, Z:5.88 [[ 9.93510533e-01 -1.07715898e-01 -3.65254297e-02 1.63252375e+02] [ 1.07715135e-01 9.94179799e-01 -1.99444539e-03 8.31912819e+00] [ 3.65276778e-02 -1.95283910e-03 9.99330734e-01 5.88340722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.019254154 meters Centerline goodness : 0.999120 with order 1 Centerline is valid? [True, True] Translation: X:163.31, Y:8.33, Z:5.88 [[ 9.93628134e-01 -1.06625590e-01 -3.65255414e-02 1.63314786e+02] [ 1.06624168e-01 9.94297399e-01 -1.99239777e-03 8.32525581e+00] [ 3.65296914e-02 -1.91480299e-03 9.99330734e-01 5.88434719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.079254154 meters Centerline goodness : 0.999117 with order 1 Centerline is valid? [True, True] Translation: X:163.38, Y:8.33, Z:5.89 [[ 9.93890515e-01 -1.04151422e-01 -3.65256872e-02 1.63376949e+02] [ 1.04148432e-01 9.94559774e-01 -1.98972096e-03 8.33203004e+00] [ 3.65342115e-02 -1.82652828e-03 9.99330734e-01 5.88798992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.139254154 meters Centerline goodness : 0.998737 with order 1 Centerline is valid? [True, True] Translation: X:163.44, Y:8.34, Z:5.89 [[ 9.94582069e-01 -9.73261065e-02 -3.65258318e-02 1.63437926e+02] [ 9.73186198e-02 9.95251294e-01 -1.98706272e-03 8.34181297e+00] [ 3.65457745e-02 -1.57834659e-03 9.99330734e-01 5.88911565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.19925415400002 meters Centerline goodness : 0.998903 with order 1 Centerline is valid? [True, True] Translation: X:163.50, Y:8.35, Z:5.90 [[ 9.95130016e-01 -9.15538468e-02 -3.65259386e-02 1.63499882e+02] [ 9.15425494e-02 9.95799187e-01 -1.98509912e-03 8.35126644e+00] [ 3.65542434e-02 -1.36824581e-03 9.99330734e-01 5.89530508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.259254154 meters Centerline goodness : 0.998964 with order 1 Centerline is valid? [True, True] Translation: X:163.56, Y:8.36, Z:5.90 [[ 9.96020744e-01 -8.12928242e-02 -3.65260785e-02 1.63560334e+02] [ 8.12747251e-02 9.96689766e-01 -1.98252104e-03 8.36106894e+00] [ 3.65663333e-02 -9.94014905e-04 9.99330734e-01 5.89802879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.319254154 meters Centerline goodness : 0.999111 with order 1 Centerline is valid? [True, True] Translation: X:163.62, Y:8.37, Z:5.90 [[ 9.96684856e-01 -7.26988806e-02 -3.65262915e-02 1.63621284e+02] [ 7.26751557e-02 9.97353702e-01 -1.97858934e-03 8.36979586e+00] [ 3.65734732e-02 -6.82523894e-04 9.99330734e-01 5.90087295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.379254154 meters Centerline goodness : 0.998984 with order 1 Centerline is valid? [True, True] Translation: X:163.68, Y:8.38, Z:5.90 [[ 9.96955927e-01 -6.88818230e-02 -3.65263583e-02 1.63681944e+02] [ 6.88555824e-02 9.97624678e-01 -1.97735417e-03 8.37617956e+00] [ 3.65758002e-02 -5.43708720e-04 9.99330734e-01 5.90296163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.439254154 meters Centerline goodness : 0.999363 with order 1 Centerline is valid? [True, True] Translation: X:163.74, Y:8.38, Z:5.90 [[ 9.97204073e-01 -6.51909723e-02 -3.65263583e-02 1.63740883e+02] [ 6.51622564e-02 9.97872723e-01 -1.97735417e-03 8.38271807e+00] [ 3.65775623e-02 -4.08314299e-04 9.99330734e-01 5.90353528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.499254154 meters Centerline goodness : 0.999256 with order 1 Centerline is valid? [True, True] Translation: X:163.80, Y:8.39, Z:5.90 [[ 9.97340748e-01 -6.30655257e-02 -3.65263258e-02 1.63800194e+02] [ 6.30353628e-02 9.98009334e-01 -1.97795489e-03 8.38729347e+00] [ 3.65783549e-02 -3.29755193e-04 9.99330734e-01 5.90446678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.559254154 meters Centerline goodness : 0.999041 with order 1 Centerline is valid? [True, True] Translation: X:163.86, Y:8.39, Z:5.91 [[ 9.97467865e-01 -6.10220523e-02 -3.65262618e-02 1.63858626e+02] [ 6.09904764e-02 9.98136386e-01 -1.97913693e-03 8.39357533e+00] [ 3.65789619e-02 -2.53628618e-04 9.99330734e-01 5.90712053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.619254154 meters Centerline goodness : 0.999255 with order 1 Centerline is valid? [True, True] Translation: X:163.92, Y:8.40, Z:5.91 [[ 9.97510251e-01 -6.03252823e-02 -3.65261416e-02 1.63917165e+02] [ 6.02931583e-02 9.98178746e-01 -1.98135202e-03 8.39787563e+00] [ 3.65791438e-02 -2.25857488e-04 9.99330734e-01 5.91035691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.679254154 meters Centerline goodness : 0.999000 with order 1 Centerline is valid? [True, True] Translation: X:163.98, Y:8.40, Z:5.91 [[ 9.97472926e-01 -6.09395999e-02 -3.65257018e-02 1.63976991e+02] [ 6.09075920e-02 9.98141427e-01 -1.98942763e-03 8.40099191e+00] [ 3.65790510e-02 -2.40292340e-04 9.99330734e-01 5.91262681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.739254154 meters Centerline goodness : 0.999193 with order 1 Centerline is valid? [True, True] Translation: X:164.04, Y:8.40, Z:5.92 [[ 9.97341336e-01 -6.30565981e-02 -3.65256657e-02 1.64036381e+02] [ 6.30259849e-02 9.98009902e-01 -1.99008998e-03 8.40378967e+00] [ 3.65784643e-02 -3.17267050e-04 9.99330734e-01 5.91635277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.799254154 meters Centerline goodness : 0.998980 with order 1 Centerline is valid? [True, True] Translation: X:164.10, Y:8.40, Z:5.90 [[ 9.97731553e-01 -5.65475904e-02 -3.65255915e-02 1.64097897e+02] [ 5.65125656e-02 9.98399902e-01 -1.99145026e-03 8.39614687e+00] [ 3.65797587e-02 -7.72221286e-05 9.99330734e-01 5.90334573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.859254154 meters Centerline goodness : 0.999002 with order 1 Centerline is valid? [True, True] Translation: X:164.16, Y:8.41, Z:5.92 [[ 9.96734185e-01 -7.20197711e-02 -3.65255766e-02 1.64156132e+02] [ 7.19951094e-02 9.97402996e-01 -1.99172389e-03 8.40843883e+00] [ 3.65741630e-02 -6.44443593e-04 9.99330734e-01 5.92060121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.91925415400001 meters Centerline goodness : 0.998960 with order 1 Centerline is valid? [True, True] Translation: X:164.22, Y:8.41, Z:5.92 [[ 9.96544455e-01 -7.45991711e-02 -3.65255011e-02 1.64217555e+02] [ 7.45761897e-02 9.97213327e-01 -1.99310698e-03 8.40992676e+00] [ 3.65724006e-02 -7.37712987e-04 9.99330734e-01 5.92037665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.97925415400002 meters Centerline goodness : 0.998941 with order 1 Centerline is valid? [True, True] Translation: X:164.28, Y:8.41, Z:5.92 [[ 9.96411177e-01 -7.63586797e-02 -3.65255729e-02 1.64279020e+02] [ 7.63369277e-02 9.97080090e-01 -1.99178983e-03 8.41212794e+00] [ 3.65710120e-02 -8.03608373e-04 9.99330734e-01 5.92164962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.039254154 meters Centerline goodness : 0.998918 with order 1 Centerline is valid? [True, True] Translation: X:164.34, Y:8.42, Z:5.92 [[ 9.96503924e-01 -7.51385827e-02 -3.65256462e-02 1.64340614e+02] [ 7.51160609e-02 9.97172811e-01 -1.99044476e-03 8.41555474e+00] [ 3.65719405e-02 -7.60176657e-04 9.99330734e-01 5.92348959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.099254154 meters Centerline goodness : 0.999023 with order 1 Centerline is valid? [True, True] Translation: X:164.40, Y:8.42, Z:5.93 [[ 9.96969489e-01 -6.86855450e-02 -3.65257937e-02 1.64403164e+02] [ 6.86587925e-02 9.97638221e-01 -1.98773499e-03 8.41894541e+00] [ 3.65760565e-02 -5.26105756e-04 9.99330734e-01 5.92559913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.159254154 meters Centerline goodness : 0.998849 with order 1 Centerline is valid? [True, True] Translation: X:164.46, Y:8.42, Z:5.93 [[ 9.97633512e-01 -5.82514464e-02 -3.65259426e-02 1.64463420e+02] [ 5.82177993e-02 9.98301932e-01 -1.98499567e-03 8.42388353e+00] [ 3.65795479e-02 -1.46161791e-04 9.99330734e-01 5.92856012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.219254154 meters Centerline goodness : 0.998936 with order 1 Centerline is valid? [True, True] Translation: X:164.52, Y:8.43, Z:5.93 [[ 9.97980243e-01 -5.19739305e-02 -3.65259426e-02 1.64521781e+02] [ 5.19360789e-02 9.98648438e-01 -1.98499567e-03 8.42833543e+00] [ 3.65797435e-02 8.39722270e-05 9.99330734e-01 5.93116268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.279254154 meters Centerline goodness : 0.999039 with order 1 Centerline is valid? [True, True] Translation: X:164.58, Y:8.43, Z:5.93 [[ 9.98189269e-01 -4.77920066e-02 -3.65254324e-02 1.64579992e+02] [ 4.77510138e-02 9.98857279e-01 -1.99433857e-03 8.43057677e+00] [ 3.65790075e-02 2.46600926e-04 9.99330734e-01 5.93254790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.339254154 meters Centerline goodness : 0.998977 with order 1 Centerline is valid? [True, True] Translation: X:164.64, Y:8.43, Z:5.93 [[ 9.98102371e-01 -4.95741054e-02 -3.65248549e-02 1.64638035e+02] [ 4.95339204e-02 9.98770430e-01 -2.00486013e-03 8.43135294e+00] [ 3.65793342e-02 1.91836394e-04 9.99330734e-01 5.93412878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.399254154 meters Centerline goodness : 0.998981 with order 1 Centerline is valid? [True, True] Translation: X:164.70, Y:8.43, Z:5.94 [[ 9.97700370e-01 -5.70959637e-02 -3.65242661e-02 1.64696487e+02] [ 5.70604247e-02 9.98368692e-01 -2.01553089e-03 8.43138100e+00] [ 3.65797624e-02 -7.31942181e-05 9.99330734e-01 5.93625246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.459254154 meters Centerline goodness : 0.998918 with order 1 Centerline is valid? [True, True] Translation: X:164.75, Y:8.43, Z:5.94 [[ 9.97263719e-01 -6.42735789e-02 -3.65237190e-02 1.64754813e+02] [ 6.42424885e-02 9.97932262e-01 -2.02539649e-03 8.43093657e+00] [ 3.65783770e-02 -3.26520161e-04 9.99330734e-01 5.93575305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.519254154 meters Centerline goodness : 0.998964 with order 1 Centerline is valid? [True, True] Translation: X:164.81, Y:8.43, Z:5.94 [[ 9.96835137e-01 -7.06098401e-02 -3.65234187e-02 1.64813937e+02] [ 7.05828010e-02 9.97503857e-01 -2.03079758e-03 8.43149975e+00] [ 3.65756453e-02 -5.53554810e-04 9.99330734e-01 5.94111908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.579254154 meters Centerline goodness : 0.998986 with order 1 Centerline is valid? [True, True] Translation: X:164.87, Y:8.43, Z:5.94 [[ 9.96534144e-01 -7.47378511e-02 -3.65233350e-02 1.64874848e+02] [ 7.47135269e-02 9.97202968e-01 -2.03230097e-03 8.43276325e+00] [ 3.65730679e-02 -7.03529864e-04 9.99330734e-01 5.94408937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.639254154 meters Centerline goodness : 0.998882 with order 1 Centerline is valid? [True, True] Translation: X:164.94, Y:8.43, Z:5.95 [[ 9.96097577e-01 -8.03471404e-02 -3.65233350e-02 1.64936621e+02] [ 8.03265821e-02 9.96766527e-01 -2.03230097e-03 8.43317347e+00] [ 3.65685274e-02 -9.09424593e-04 9.99330734e-01 5.94696439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.69925415400002 meters Centerline goodness : 0.998862 with order 1 Centerline is valid? [True, True] Translation: X:165.00, Y:8.43, Z:5.95 [[ 9.95778217e-01 -8.42127225e-02 -3.65234095e-02 1.64997845e+02] [ 8.41948098e-02 9.96447244e-01 -2.03096105e-03 8.43417915e+00] [ 3.65646835e-02 -1.05269474e-03 9.99330734e-01 5.94870922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.759254154 meters Centerline goodness : 0.998799 with order 1 Centerline is valid? [True, True] Translation: X:165.06, Y:8.43, Z:5.95 [[ 9.95106134e-01 -9.18140321e-02 -3.65234835e-02 1.65058698e+02] [ 9.18012774e-02 9.95775279e-01 -2.02962974e-03 8.43426353e+00] [ 3.65555304e-02 -1.33320543e-03 9.99330734e-01 5.94945598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.819254154 meters Centerline goodness : 0.998882 with order 1 Centerline is valid? [True, True] Translation: X:165.12, Y:8.44, Z:5.95 [[ 9.94493900e-01 -9.82237307e-02 -3.65237124e-02 1.65120735e+02] [ 9.82154389e-02 9.95163115e-01 -2.02550236e-03 8.43564195e+00] [ 3.65460038e-02 -1.57284270e-03 9.99330734e-01 5.95194769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.879254154 meters Centerline goodness : 0.998969 with order 1 Centerline is valid? [True, True] Translation: X:165.18, Y:8.44, Z:5.95 [[ 9.93636811e-01 -1.06545277e-01 -3.65238605e-02 1.65182932e+02] [ 1.06542685e-01 9.94306072e-01 -2.02282713e-03 8.43792689e+00] [ 3.65314190e-02 -1.88139469e-03 9.99330734e-01 5.95400372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.939254154 meters Centerline goodness : 0.999078 with order 1 Centerline is valid? [True, True] Translation: X:165.24, Y:8.44, Z:5.96 [[ 9.93276395e-01 -1.09854450e-01 -3.65240088e-02 1.65244555e+02] [ 1.09854186e-01 9.93945661e-01 -2.02014699e-03 8.44117324e+00] [ 3.65248022e-02 -2.00575095e-03 9.99330734e-01 5.95541506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.999254154 meters Centerline goodness : 0.998906 with order 1 Centerline is valid? [True, True] Translation: X:165.31, Y:8.45, Z:5.96 [[ 9.93093073e-01 -1.11499480e-01 -3.65241552e-02 1.65306415e+02] [ 1.11500422e-01 9.93762339e-01 -2.01749624e-03 8.44591342e+00] [ 3.65212797e-02 -2.06889719e-03 9.99330734e-01 5.95604248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.059254154 meters Centerline goodness : 0.998778 with order 1 Centerline is valid? [True, True] Translation: X:165.37, Y:8.45, Z:5.96 [[ 9.93120286e-01 -1.11256786e-01 -3.65243002e-02 1.65368832e+02] [ 1.11257661e-01 9.93789552e-01 -2.01486762e-03 8.45092768e+00] [ 3.65216356e-02 -2.06260231e-03 9.99330734e-01 5.95716782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.119254154 meters Centerline goodness : 0.998777 with order 1 Centerline is valid? [True, True] Translation: X:165.43, Y:8.45, Z:5.96 [[ 9.93592549e-01 -1.06957055e-01 -3.65244448e-02 1.65431261e+02] [ 1.06955129e-01 9.94261812e-01 -2.01224370e-03 8.45432873e+00] [ 3.65300843e-02 -1.90712636e-03 9.99330734e-01 5.95540525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.179254154 meters Centerline goodness : 0.998965 with order 1 Centerline is valid? [True, True] Translation: X:165.49, Y:8.46, Z:5.96 [[ 9.93481788e-01 -1.07980973e-01 -3.65245977e-02 1.65493747e+02] [ 1.07979839e-01 9.94151053e-01 -2.00946471e-03 8.46230749e+00] [ 3.65279512e-02 -1.94755358e-03 9.99330734e-01 5.96045769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.239254154 meters Centerline goodness : 0.999133 with order 1 Centerline is valid? [True, True] Translation: X:165.55, Y:8.47, Z:5.97 [[ 9.93359060e-01 -1.09104151e-01 -3.65248256e-02 1.65554470e+02] [ 1.09103925e-01 9.94028326e-01 -2.00531350e-03 8.47247272e+00] [ 3.65254992e-02 -1.99300551e-03 9.99330734e-01 5.96850322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.299254154 meters Centerline goodness : 0.999155 with order 1 Centerline is valid? [True, True] Translation: X:165.62, Y:8.48, Z:5.97 [[ 9.93573819e-01 -1.07130736e-01 -3.65249376e-02 1.65615853e+02] [ 1.07129256e-01 9.94243084e-01 -2.00327174e-03 8.47963789e+00] [ 3.65292785e-02 -1.92249104e-03 9.99330734e-01 5.97289507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.359254154 meters Centerline goodness : 0.999301 with order 1 Centerline is valid? [True, True] Translation: X:165.68, Y:8.49, Z:5.97 [[ 9.93703961e-01 -1.05916741e-01 -3.65250845e-02 1.65677305e+02] [ 1.05914542e-01 9.94373223e-01 -2.00058862e-03 8.48553187e+00] [ 3.65314619e-02 -1.88054476e-03 9.99330734e-01 5.97482746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.41925415400001 meters Centerline goodness : 0.998704 with order 1 Centerline is valid? [True, True] Translation: X:165.74, Y:8.49, Z:5.97 [[ 9.93748462e-01 -1.05498339e-01 -3.65252661e-02 1.65739658e+02] [ 1.05495980e-01 9.94417724e-01 -1.99726747e-03 8.49172698e+00] [ 3.65320804e-02 -1.86848725e-03 9.99330734e-01 5.97450290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.47925415400002 meters Centerline goodness : 0.999170 with order 1 Centerline is valid? [True, True] Translation: X:165.80, Y:8.49, Z:5.96 [[ 9.94617688e-01 -9.69615832e-02 -3.65254116e-02 1.65803076e+02] [ 9.69535748e-02 9.95286906e-01 -1.99460444e-03 8.48852015e+00] [ 3.65466639e-02 -1.55740037e-03 9.99330734e-01 5.96265880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.539254154 meters Centerline goodness : 0.999021 with order 1 Centerline is valid? [True, True] Translation: X:165.86, Y:8.50, Z:5.98 [[ 9.93697635e-01 -1.05975895e-01 -3.65256069e-02 1.65863187e+02] [ 1.05974086e-01 9.94366899e-01 -1.99102142e-03 8.50419671e+00] [ 3.65308547e-02 -1.89229452e-03 9.99330734e-01 5.97603460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.599254154 meters Centerline goodness : 0.999299 with order 1 Centerline is valid? [True, True] Translation: X:165.93, Y:8.51, Z:5.98 [[ 9.93772923e-01 -1.05267515e-01 -3.65257220e-02 1.65925509e+02] [ 1.05265307e-01 9.94442185e-01 -1.98890719e-03 8.50993735e+00] [ 3.65320861e-02 -1.86836923e-03 9.99330734e-01 5.97710141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.659254154 meters Centerline goodness : 0.999236 with order 1 Centerline is valid? [True, True] Translation: X:165.99, Y:8.51, Z:5.98 [[ 9.93890134e-01 -1.04154963e-01 -3.65259431e-02 1.65988759e+02] [ 1.04152154e-01 9.94559395e-01 -1.98483872e-03 8.51464687e+00] [ 3.65339506e-02 -1.83154403e-03 9.99330734e-01 5.98031293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.719254154 meters Centerline goodness : 0.999296 with order 1 Centerline is valid? [True, True] Translation: X:166.05, Y:8.52, Z:5.98 [[ 9.94387077e-01 -9.92984466e-02 -3.65261604e-02 1.66050135e+02] [ 9.92925156e-02 9.95056316e-01 -1.98083220e-03 8.52244926e+00] [ 3.65422801e-02 -1.65706040e-03 9.99330734e-01 5.98384206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.779254154 meters Centerline goodness : 0.999147 with order 1 Centerline is valid? [True, True] Translation: X:166.11, Y:8.53, Z:5.99 [[ 9.94805536e-01 -9.50145966e-02 -3.65263086e-02 1.66110841e+02] [ 9.50058835e-02 9.95474746e-01 -1.97809406e-03 8.52892818e+00] [ 3.65489656e-02 -1.50239530e-03 9.99330734e-01 5.98640265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.839254154 meters Centerline goodness : 0.999100 with order 1 Centerline is valid? [True, True] Translation: X:166.17, Y:8.54, Z:5.99 [[ 9.95291341e-01 -8.97828300e-02 -3.65265774e-02 1.66172727e+02] [ 8.97707808e-02 9.95960498e-01 -1.97311888e-03 8.53616707e+00] [ 3.65561804e-02 -1.31519124e-03 9.99330734e-01 5.99014933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.899254154 meters Centerline goodness : 0.999163 with order 1 Centerline is valid? [True, True] Translation: X:166.23, Y:8.54, Z:5.99 [[ 9.95455149e-01 -8.79479657e-02 -3.65267233e-02 1.66233468e+02] [ 8.79347822e-02 9.96124285e-01 -1.97041317e-03 8.54158751e+00] [ 3.65584500e-02 -1.25051152e-03 9.99330734e-01 5.99192399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.959254154 meters Centerline goodness : 0.999377 with order 1 Centerline is valid? [True, True] Translation: X:166.29, Y:8.55, Z:5.99 [[ 9.95669478e-01 -8.54872584e-02 -3.65269599e-02 1.66294164e+02] [ 8.54725821e-02 9.96338583e-01 -1.96601844e-03 8.54784399e+00] [ 3.65612890e-02 -1.16454903e-03 9.99330734e-01 5.99236631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.019254154 meters Centerline goodness : 0.999290 with order 1 Centerline is valid? [True, True] Translation: X:166.36, Y:8.55, Z:6.00 [[ 9.95959816e-01 -8.20354136e-02 -3.65271983e-02 1.66356810e+02] [ 8.20185807e-02 9.96628870e-01 -1.96157926e-03 8.55329191e+00] [ 3.65649793e-02 -1.04225484e-03 9.99330734e-01 5.99531814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.079254154 meters Centerline goodness : 0.999331 with order 1 Centerline is valid? [True, True] Translation: X:166.42, Y:8.56, Z:6.00 [[ 9.96635777e-01 -7.33680828e-02 -3.65274156e-02 1.66419105e+02] [ 7.33455788e-02 9.97304665e-01 -1.95752388e-03 8.56002539e+00] [ 3.65725818e-02 -7.28186108e-04 9.99330734e-01 5.99763624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.139254154 meters Centerline goodness : 0.999437 with order 1 Centerline is valid? [True, True] Translation: X:166.48, Y:8.57, Z:6.00 [[ 9.97134689e-01 -6.62431150e-02 -3.65275578e-02 1.66481280e+02] [ 6.62159283e-02 9.97803402e-01 -1.95486665e-03 8.56535899e+00] [ 3.65768179e-02 -4.69440796e-04 9.99330734e-01 5.99898160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.19925415400002 meters Centerline goodness : 0.999436 with order 1 Centerline is valid? [True, True] Translation: X:166.54, Y:8.57, Z:6.00 [[ 9.97644673e-01 -5.80588814e-02 -3.65276983e-02 1.66541547e+02] [ 5.80263047e-02 9.98313146e-01 -1.95223890e-03 8.57091817e+00] [ 3.65794262e-02 -1.71926610e-04 9.99330734e-01 6.00103561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.259254154 meters Centerline goodness : 0.999349 with order 1 Centerline is valid? [True, True] Translation: X:166.60, Y:8.57, Z:6.00 [[ 9.97675302e-01 -5.75300758e-02 -3.65278261e-02 1.66600892e+02] [ 5.74972325e-02 9.98343762e-01 -1.94984332e-03 8.57466557e+00] [ 3.65795020e-02 -1.54938386e-04 9.99330734e-01 6.00485215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.319254154 meters Centerline goodness : 0.999524 with order 1 Centerline is valid? [True, True] Translation: X:166.66, Y:8.58, Z:6.01 [[ 9.97478571e-01 -6.08458986e-02 -3.65277469e-02 1.66660908e+02] [ 6.08152230e-02 9.98147134e-01 -1.95132735e-03 8.57677489e+00] [ 3.65787961e-02 -2.75035854e-04 9.99330734e-01 6.00590942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.379254154 meters Centerline goodness : 0.999481 with order 1 Centerline is valid? [True, True] Translation: X:166.72, Y:8.58, Z:6.01 [[ 9.97120553e-01 -6.64554535e-02 -3.65277469e-02 1.66721954e+02] [ 6.64285388e-02 9.97789277e-01 -1.95132735e-03 8.57821465e+00] [ 3.65766705e-02 -4.80776245e-04 9.99330734e-01 6.00701496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.439254154 meters Centerline goodness : 0.999352 with order 1 Centerline is valid? [True, True] Translation: X:166.78, Y:8.58, Z:6.01 [[ 9.96419035e-01 -7.62550001e-02 -3.65278187e-02 1.66783883e+02] [ 7.62347103e-02 9.97087993e-01 -1.94998220e-03 8.57908127e+00] [ 3.65701453e-02 -8.41688293e-04 9.99330734e-01 6.00874665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.499254154 meters Centerline goodness : 0.999483 with order 1 Centerline is valid? [True, True] Translation: X:166.85, Y:8.58, Z:6.01 [[ 9.95948537e-01 -8.21718859e-02 -3.65279614e-02 1.66846477e+02] [ 8.21556678e-02 9.96617607e-01 -1.94730407e-03 8.58112978e+00] [ 3.65644232e-02 -1.06156443e-03 9.99330734e-01 6.01101878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.559254154 meters Centerline goodness : 0.999376 with order 1 Centerline is valid? [True, True] Translation: X:166.91, Y:8.58, Z:6.02 [[ 9.95340797e-01 -8.92322594e-02 -3.65281029e-02 1.66908268e+02] [ 8.92208836e-02 9.96009966e-01 -1.94464710e-03 8.58365027e+00] [ 3.65558798e-02 -1.32348303e-03 9.99330734e-01 6.01527698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.619254154 meters Centerline goodness : 0.999528 with order 1 Centerline is valid? [True, True] Translation: X:166.97, Y:8.59, Z:6.02 [[ 9.95074605e-01 -9.21532330e-02 -3.65282478e-02 1.66969744e+02] [ 9.21439212e-02 9.95743806e-01 -1.94192202e-03 8.58672542e+00] [ 3.65517308e-02 -1.43349870e-03 9.99330734e-01 6.01928916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.679254154 meters Centerline goodness : 0.999420 with order 1 Centerline is valid? [True, True] Translation: X:167.03, Y:8.59, Z:6.02 [[ 9.94906850e-01 -9.39469988e-02 -3.65283547e-02 1.67030496e+02] [ 9.39389673e-02 9.95576068e-01 -1.93990761e-03 8.59084111e+00] [ 3.65490043e-02 -1.50140855e-03 9.99330734e-01 6.02339940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.739254154 meters Centerline goodness : 0.999442 with order 1 Centerline is valid? [True, True] Translation: X:167.09, Y:8.60, Z:6.03 [[ 9.94860499e-01 -9.44365397e-02 -3.65284597e-02 1.67093116e+02] [ 9.44289100e-02 9.95529721e-01 -1.93792930e-03 8.59515791e+00] [ 3.65481786e-02 -1.52137333e-03 9.99330734e-01 6.02584777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.799254154 meters Centerline goodness : 0.999270 with order 1 Centerline is valid? [True, True] Translation: X:167.16, Y:8.59, Z:6.02 [[ 9.95361440e-01 -8.90014660e-02 -3.65286668e-02 1.67155753e+02] [ 8.89903247e-02 9.96030613e-01 -1.93401700e-03 8.59070595e+00] [ 3.65558008e-02 -1.32565198e-03 9.99330734e-01 6.01514601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.859254154 meters Centerline goodness : 0.999442 with order 1 Centerline is valid? [True, True] Translation: X:167.22, Y:8.60, Z:6.03 [[ 9.94530242e-01 -9.78531715e-02 -3.65288137e-02 1.67216262e+02] [ 9.78480857e-02 9.95199489e-01 -1.93123892e-03 8.60159894e+00] [ 3.65424346e-02 -1.65359898e-03 9.99330734e-01 6.02764632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.91925415400001 meters Centerline goodness : 0.999270 with order 1 Centerline is valid? [True, True] Translation: X:167.28, Y:8.61, Z:6.03 [[ 9.94369758e-01 -9.94707102e-02 -3.65289215e-02 1.67278259e+02] [ 9.94667878e-02 9.95039012e-01 -1.92919872e-03 8.60582597e+00] [ 3.65396007e-02 -1.71507762e-03 9.99330734e-01 6.02880339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.97925415400002 meters Centerline goodness : 0.999312 with order 1 Centerline is valid? [True, True] Translation: X:167.34, Y:8.61, Z:6.03 [[ 9.94466901e-01 -9.84947186e-02 -3.65290609e-02 1.67339226e+02] [ 9.84902362e-02 9.95136152e-01 -1.92655523e-03 8.61019852e+00] [ 3.65411446e-02 -1.68186042e-03 9.99330734e-01 6.02802035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.039254154 meters Centerline goodness : 0.999227 with order 1 Centerline is valid? [True, True] Translation: X:167.40, Y:8.62, Z:6.03 [[ 9.95012702e-01 -9.28188091e-02 -3.65293335e-02 1.67400707e+02] [ 9.28106982e-02 9.95681918e-01 -1.92137156e-03 8.61568114e+00] [ 3.65499363e-02 -1.47852385e-03 9.99330734e-01 6.03140899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.099254154 meters Centerline goodness : 0.999374 with order 1 Centerline is valid? [True, True] Translation: X:167.46, Y:8.62, Z:6.04 [[ 9.95639234e-01 -8.58377119e-02 -3.65294710e-02 1.67462325e+02] [ 8.58250033e-02 9.96308380e-01 -1.91875417e-03 8.62149728e+00] [ 3.65593195e-02 -1.22475504e-03 9.99330734e-01 6.03681644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.159254154 meters Centerline goodness : 0.999373 with order 1 Centerline is valid? [True, True] Translation: X:167.52, Y:8.63, Z:6.04 [[ 9.96645346e-01 -7.32368921e-02 -3.65296130e-02 1.67523903e+02] [ 7.32158197e-02 9.97314280e-01 -1.91604677e-03 8.63001666e+00] [ 3.65718300e-02 -7.64926461e-04 9.99330734e-01 6.04372519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.219254154 meters Centerline goodness : 0.999523 with order 1 Centerline is valid? [True, True] Translation: X:167.59, Y:8.64, Z:6.05 [[ 9.97236134e-01 -6.46967467e-02 -3.65297573e-02 1.67585688e+02] [ 6.46700456e-02 9.97904867e-01 -1.91329293e-03 8.63598362e+00] [ 3.65770064e-02 -4.54376226e-04 9.99330734e-01 6.04727509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.279254154 meters Centerline goodness : 0.999566 with order 1 Centerline is valid? [True, True] Translation: X:167.65, Y:8.64, Z:6.05 [[ 9.97706703e-01 -5.69815839e-02 -3.65298988e-02 1.67647733e+02] [ 5.69498103e-02 9.98375214e-01 -1.91058699e-03 8.64074825e+00] [ 3.65794138e-02 -1.74165362e-04 9.99330734e-01 6.04978966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.339254154 meters Centerline goodness : 0.999522 with order 1 Centerline is valid? [True, True] Translation: X:167.71, Y:8.65, Z:6.05 [[ 9.98126765e-01 -4.90766396e-02 -3.65300391e-02 1.67709071e+02] [ 4.90396699e-02 9.98795009e-01 -1.90790119e-03 8.64552181e+00] [ 3.65796541e-02 1.12906187e-04 9.99330734e-01 6.05126734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.399254154 meters Centerline goodness : 0.999369 with order 1 Centerline is valid? [True, True] Translation: X:167.77, Y:8.65, Z:6.05 [[ 9.98196479e-01 -4.76376037e-02 -3.65301083e-02 1.67768426e+02] [ 4.75997191e-02 9.98864671e-01 -1.90657404e-03 8.64857104e+00] [ 3.65794593e-02 1.64312594e-04 9.99330734e-01 6.05259715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.459254154 meters Centerline goodness : 0.999479 with order 1 Centerline is valid? [True, True] Translation: X:167.83, Y:8.65, Z:6.05 [[ 9.98006027e-01 -5.14735467e-02 -3.65300382e-02 1.67827482e+02] [ 5.14381813e-02 9.98674358e-01 -1.90791657e-03 8.64876161e+00] [ 3.65798197e-02 2.50735086e-05 9.99330734e-01 6.05289970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.519254154 meters Centerline goodness : 0.999241 with order 1 Centerline is valid? [True, True] Translation: X:167.89, Y:8.65, Z:6.05 [[ 9.97558846e-01 -5.95142157e-02 -3.65295419e-02 1.67887136e+02] [ 5.94838908e-02 9.98227424e-01 -1.91737259e-03 8.64831312e+00] [ 3.65789014e-02 -2.60227289e-04 9.99330734e-01 6.05362557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.579254154 meters Centerline goodness : 0.999501 with order 1 Centerline is valid? [True, True] Translation: X:167.95, Y:8.65, Z:6.06 [[ 9.97422325e-01 -6.17600480e-02 -3.65294720e-02 1.67948625e+02] [ 6.17311798e-02 9.98090968e-01 -1.91870262e-03 8.65035730e+00] [ 3.65782352e-02 -3.41250577e-04 9.99330734e-01 6.05536669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.639254154 meters Centerline goodness : 0.999373 with order 1 Centerline is valid? [True, True] Translation: X:168.01, Y:8.65, Z:6.06 [[ 9.97148756e-01 -6.60299237e-02 -3.65295416e-02 1.68010081e+02] [ 6.60039672e-02 9.97817518e-01 -1.91737619e-03 8.65144257e+00] [ 3.65764208e-02 -4.99185381e-04 9.99330734e-01 6.05800889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.69925415400002 meters Centerline goodness : 0.999461 with order 1 Centerline is valid? [True, True] Translation: X:168.07, Y:8.65, Z:6.06 [[ 9.96899378e-01 -6.96937363e-02 -3.65296105e-02 1.68071348e+02] [ 6.96702855e-02 9.97568233e-01 -1.91606362e-03 8.65150457e+00] [ 3.65743166e-02 -6.34905760e-04 9.99330734e-01 6.06249621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.759254154 meters Centerline goodness : 0.999397 with order 1 Centerline is valid? [True, True] Translation: X:168.13, Y:8.65, Z:6.07 [[ 9.96805089e-01 -7.10295506e-02 -3.65296798e-02 1.68133457e+02] [ 7.10070446e-02 9.97473976e-01 -1.91474072e-03 8.65356232e+00] [ 3.65734082e-02 -6.85241313e-04 9.99330734e-01 6.06622290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.819254154 meters Centerline goodness : 0.999334 with order 1 Centerline is valid? [True, True] Translation: X:168.20, Y:8.65, Z:6.07 [[ 9.96688202e-01 -7.26512189e-02 -3.65298222e-02 1.68195144e+02] [ 7.26299009e-02 9.97357128e-01 -1.91202058e-03 8.65405795e+00] [ 3.65721892e-02 -7.47469009e-04 9.99330734e-01 6.06828033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.879254154 meters Centerline goodness : 0.999334 with order 1 Centerline is valid? [True, True] Translation: X:168.26, Y:8.65, Z:6.07 [[ 9.96648499e-01 -7.31937570e-02 -3.65300421e-02 1.68257518e+02] [ 7.31729573e-02 9.97317441e-01 -1.90781032e-03 8.65476197e+00] [ 3.65716879e-02 -7.71594915e-04 9.99330734e-01 6.07043016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.939254154 meters Centerline goodness : 0.998949 with order 1 Centerline is valid? [True, True] Translation: X:168.32, Y:8.66, Z:6.07 [[ 9.96797680e-01 -7.11331976e-02 -3.65301798e-02 1.68320154e+02] [ 7.11111118e-02 9.97466581e-01 -1.90517011e-03 8.65612923e+00] [ 3.65731544e-02 -6.98632548e-04 9.99330734e-01 6.07104093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.999254154 meters Centerline goodness : 0.999164 with order 1 Centerline is valid? [True, True] Translation: X:168.38, Y:8.66, Z:6.08 [[ 9.97002670e-01 -6.81997900e-02 -3.65303209e-02 1.68381900e+02] [ 6.81758353e-02 9.97671507e-01 -1.90246031e-03 8.65973898e+00] [ 3.65750077e-02 -5.93727130e-04 9.99330734e-01 6.07533568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.059254154 meters Centerline goodness : 0.999206 with order 1 Centerline is valid? [True, True] Translation: X:168.44, Y:8.66, Z:6.08 [[ 9.97361569e-01 -6.27329775e-02 -3.65304624e-02 1.68444506e+02] [ 6.27054560e-02 9.98030268e-01 -1.89973894e-03 8.66184562e+00] [ 3.65776835e-02 -3.95932696e-04 9.99330734e-01 6.07714033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.119254154 meters Centerline goodness : 0.999185 with order 1 Centerline is valid? [True, True] Translation: X:168.50, Y:8.66, Z:6.08 [[ 9.97485470e-01 -6.07309847e-02 -3.65306026e-02 1.68504790e+02] [ 6.07022200e-02 9.98154117e-01 -1.89703941e-03 8.66438774e+00] [ 3.65783805e-02 -3.25219430e-04 9.99330734e-01 6.07849274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.179254154 meters Centerline goodness : 0.999208 with order 1 Centerline is valid? [True, True] Translation: X:168.57, Y:8.67, Z:6.08 [[ 9.97504943e-01 -6.04102750e-02 -3.65306369e-02 1.68565760e+02] [ 6.03813195e-02 9.98173582e-01 -1.89637875e-03 8.66700470e+00] [ 3.65784775e-02 -3.14120887e-04 9.99330734e-01 6.07937555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.239254154 meters Centerline goodness : 0.999121 with order 1 Centerline is valid? [True, True] Translation: X:168.63, Y:8.67, Z:6.08 [[ 9.97398123e-01 -6.21489730e-02 -3.65306705e-02 1.68626688e+02] [ 6.21212067e-02 9.98066812e-01 -1.89573225e-03 8.66861330e+00] [ 3.65778676e-02 -3.78529541e-04 9.99330734e-01 6.08097694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.299254154 meters Centerline goodness : 0.999143 with order 1 Centerline is valid? [True, True] Translation: X:168.69, Y:8.67, Z:6.08 [[ 9.97162824e-01 -6.58165051e-02 -3.65306705e-02 1.68687177e+02] [ 6.57911981e-02 9.97831611e-01 -1.89573225e-03 8.66875492e+00] [ 3.65762282e-02 -5.13042851e-04 9.99330734e-01 6.08310383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.359254154 meters Centerline goodness : 0.999059 with order 1 Centerline is valid? [True, True] Translation: X:168.75, Y:8.67, Z:6.09 [[ 9.96998886e-01 -6.82548956e-02 -3.65306705e-02 1.68748125e+02] [ 6.82312243e-02 9.97667733e-01 -1.89573225e-03 8.67195543e+00] [ 3.65748642e-02 -6.02489424e-04 9.99330734e-01 6.08735668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.41925415400001 meters Centerline goodness : 0.999015 with order 1 Centerline is valid? [True, True] Translation: X:168.81, Y:8.67, Z:6.09 [[ 9.96853053e-01 -7.03526578e-02 -3.65307392e-02 1.68809532e+02] [ 7.03304425e-02 9.97521950e-01 -1.89440635e-03 8.67453304e+00] [ 3.65734907e-02 -6.80778303e-04 9.99330734e-01 6.08865215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.47925415400002 meters Centerline goodness : 0.999275 with order 1 Centerline is valid? [True, True] Translation: X:168.87, Y:8.68, Z:6.09 [[ 9.96551197e-01 -7.45064553e-02 -3.65308081e-02 1.68871168e+02] [ 7.44870765e-02 9.97220182e-01 -1.89307662e-03 8.67581034e+00] [ 3.65703056e-02 -8.34525329e-04 9.99330734e-01 6.09242875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.539254154 meters Centerline goodness : 0.999232 with order 1 Centerline is valid? [True, True] Translation: X:168.93, Y:8.68, Z:6.10 [[ 9.96230654e-01 -7.86763570e-02 -3.65310184e-02 1.68932836e+02] [ 7.86599271e-02 9.96899718e-01 -1.88900940e-03 8.67720140e+00] [ 3.65663824e-02 -9.91638179e-04 9.99330734e-01 6.09550138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.599254154 meters Centerline goodness : 0.999190 with order 1 Centerline is valid? [True, True] Translation: X:168.99, Y:8.68, Z:6.10 [[ 9.96046947e-01 -8.09688428e-02 -3.65311558e-02 1.68994093e+02] [ 8.09540503e-02 9.96716050e-01 -1.88634965e-03 8.67990576e+00] [ 3.65639248e-02 -1.07845221e-03 9.99330734e-01 6.09811792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.659254154 meters Centerline goodness : 0.999276 with order 1 Centerline is valid? [True, True] Translation: X:169.06, Y:8.68, Z:6.10 [[ 9.95845642e-01 -8.34081757e-02 -3.65312572e-02 1.69056609e+02] [ 8.33950940e-02 9.96514780e-01 -1.88438285e-03 8.68227514e+00] [ 3.65611107e-02 -1.16997318e-03 9.99330734e-01 6.10073944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.719254154 meters Centerline goodness : 0.999404 with order 1 Centerline is valid? [True, True] Translation: X:169.12, Y:8.68, Z:6.10 [[ 9.95774433e-01 -8.42539930e-02 -3.65313953e-02 1.69118715e+02] [ 8.42415779e-02 9.96443584e-01 -1.88170217e-03 8.68419976e+00] [ 3.65600154e-02 -1.20371147e-03 9.99330734e-01 6.10259654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.779254154 meters Centerline goodness : 0.999233 with order 1 Centerline is valid? [True, True] Translation: X:169.18, Y:8.69, Z:6.10 [[ 9.95690727e-01 -8.52374543e-02 -3.65315311e-02 1.69181267e+02] [ 8.52257969e-02 9.96359891e-01 -1.87906215e-03 8.68612243e+00] [ 3.65587188e-02 -1.24246409e-03 9.99330734e-01 6.10362273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.839254154 meters Centerline goodness : 0.999256 with order 1 Centerline is valid? [True, True] Translation: X:169.24, Y:8.69, Z:6.10 [[ 9.95660027e-01 -8.55952514e-02 -3.65316700e-02 1.69243380e+02] [ 8.55839336e-02 9.96329197e-01 -1.87635725e-03 8.68799738e+00] [ 3.65581768e-02 -1.25831011e-03 9.99330734e-01 6.10461440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.899254154 meters Centerline goodness : 0.999233 with order 1 Centerline is valid? [True, True] Translation: X:169.30, Y:8.69, Z:6.11 [[ 9.95680096e-01 -8.53614259e-02 -3.65318068e-02 1.69304757e+02] [ 8.53500486e-02 9.96349265e-01 -1.87369147e-03 8.69030420e+00] [ 3.65583798e-02 -1.25239418e-03 9.99330734e-01 6.10509395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.959254154 meters Centerline goodness : 0.999233 with order 1 Centerline is valid? [True, True] Translation: X:169.37, Y:8.69, Z:6.11 [[ 9.95786341e-01 -8.41128623e-02 -3.65320372e-02 1.69366928e+02] [ 8.41008109e-02 9.96455498e-01 -1.86918833e-03 8.69406553e+00] [ 3.65597721e-02 -1.21106175e-03 9.99330734e-01 6.10914879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.019254154 meters Centerline goodness : 0.999061 with order 1 Centerline is valid? [True, True] Translation: X:169.43, Y:8.70, Z:6.11 [[ 9.96056619e-01 -8.08493121e-02 -3.65321728e-02 1.69428447e+02] [ 8.08351654e-02 9.96725736e-01 -1.86653332e-03 8.69868303e+00] [ 3.65634648e-02 -1.09391136e-03 9.99330734e-01 6.11262642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.079254154 meters Centerline goodness : 0.999211 with order 1 Centerline is valid? [True, True] Translation: X:169.49, Y:8.70, Z:6.11 [[ 9.96180734e-01 -7.93053246e-02 -3.65323110e-02 1.69490887e+02] [ 7.92902400e-02 9.96849830e-01 -1.86382455e-03 8.70203835e+00] [ 3.65650393e-02 -1.03994960e-03 9.99330734e-01 6.11491654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.139254154 meters Centerline goodness : 0.999297 with order 1 Centerline is valid? [True, True] Translation: X:169.55, Y:8.71, Z:6.12 [[ 9.96304993e-01 -7.77286358e-02 -3.65324493e-02 1.69553248e+02] [ 7.77125918e-02 9.96974067e-01 -1.86110957e-03 8.70524155e+00] [ 3.65665661e-02 -9.84798571e-04 9.99330734e-01 6.11664278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.19925415400002 meters Centerline goodness : 0.999147 with order 1 Centerline is valid? [True, True] Translation: X:169.62, Y:8.71, Z:6.12 [[ 9.96429160e-01 -7.61203002e-02 -3.65325858e-02 1.69615209e+02] [ 7.61032745e-02 9.97098209e-01 -1.85842619e-03 8.70921702e+00] [ 3.65680399e-02 -9.28459362e-04 9.99330734e-01 6.11936642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.259254154 meters Centerline goodness : 0.999210 with order 1 Centerline is valid? [True, True] Translation: X:169.68, Y:8.71, Z:6.12 [[ 9.96747059e-01 -7.18377419e-02 -3.65327208e-02 1.69677289e+02] [ 7.18179387e-02 9.97416031e-01 -1.85577001e-03 8.71471732e+00] [ 3.65716357e-02 -7.73971396e-04 9.99330734e-01 6.12305180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.319254154 meters Centerline goodness : 0.999295 with order 1 Centerline is valid? [True, True] Translation: X:169.74, Y:8.72, Z:6.13 [[ 9.96948115e-01 -6.89913522e-02 -3.65328576e-02 1.69738905e+02] [ 6.89697377e-02 9.97617031e-01 -1.85307265e-03 8.71879531e+00] [ 3.65736469e-02 -6.72244315e-04 9.99330734e-01 6.12572530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.379254154 meters Centerline goodness : 0.999081 with order 1 Centerline is valid? [True, True] Translation: X:169.80, Y:8.72, Z:6.13 [[ 9.97126918e-01 -6.63569843e-02 -3.65329945e-02 1.69800360e+02] [ 6.63337014e-02 9.97795779e-01 -1.85037031e-03 8.72132064e+00] [ 3.65752527e-02 -5.78314706e-04 9.99330734e-01 6.12721034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.439254154 meters Centerline goodness : 0.999295 with order 1 Centerline is valid? [True, True] Translation: X:169.86, Y:8.72, Z:6.13 [[ 9.97186729e-01 -6.54519956e-02 -3.65330618e-02 1.69861388e+02] [ 6.54281544e-02 9.97855570e-01 -1.84904049e-03 8.72417260e+00] [ 3.65757425e-02 -5.46452163e-04 9.99330734e-01 6.12922392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.499254154 meters Centerline goodness : 0.998951 with order 1 Centerline is valid? [True, True] Translation: X:169.92, Y:8.73, Z:6.13 [[ 9.97355724e-01 -6.28242835e-02 -3.65331282e-02 1.69922554e+02] [ 6.27987281e-02 9.98024502e-01 -1.84772780e-03 8.72725524e+00] [ 3.65770392e-02 -4.51392089e-04 9.99330734e-01 6.13092581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.559254154 meters Centerline goodness : 0.999017 with order 1 Centerline is valid? [True, True] Translation: X:169.98, Y:8.73, Z:6.13 [[ 9.97492923e-01 -6.06068778e-02 -3.65331949e-02 1.69983009e+02] [ 6.05798841e-02 9.98161644e-01 -1.84640659e-03 8.72956570e+00] [ 3.65779389e-02 -3.71399202e-04 9.99330734e-01 6.13244210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.619254154 meters Centerline goodness : 0.998952 with order 1 Centerline is valid? [True, True] Translation: X:170.04, Y:8.73, Z:6.13 [[ 9.97635003e-01 -5.82213514e-02 -3.65331949e-02 1.70043021e+02] [ 5.81927587e-02 9.98303658e-01 -1.84640659e-03 8.73210970e+00] [ 3.65787224e-02 -2.83927546e-04 9.99330734e-01 6.13376612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.679254154 meters Centerline goodness : 0.999229 with order 1 Centerline is valid? [True, True] Translation: X:170.10, Y:8.74, Z:6.14 [[ 9.97744392e-01 -5.63156703e-02 -3.65331949e-02 1.70102530e+02] [ 5.62858004e-02 9.98412990e-01 -1.84640659e-03 8.73515938e+00] [ 3.65791980e-02 -2.14058294e-04 9.99330734e-01 6.13617098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.739254154 meters Centerline goodness : 0.998890 with order 1 Centerline is valid? [True, True] Translation: X:170.16, Y:8.74, Z:6.14 [[ 9.97854238e-01 -5.43346230e-02 -3.65331272e-02 1.70161125e+02] [ 5.43033766e-02 9.98522773e-01 -1.84774664e-03 8.73666959e+00] [ 3.65795561e-02 -1.40090347e-04 9.99330734e-01 6.13813830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.799254154 meters Centerline goodness : 0.999016 with order 1 Centerline is valid? [True, True] Translation: X:170.22, Y:8.74, Z:6.14 [[ 9.97912019e-01 -5.32629381e-02 -3.65330271e-02 1.70221012e+02] [ 5.32309015e-02 9.98580517e-01 -1.84972198e-03 8.73733373e+00] [ 3.65796908e-02 -9.88261727e-05 9.99330734e-01 6.14154131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.859254154 meters Centerline goodness : 0.999018 with order 1 Centerline is valid? [True, True] Translation: X:170.28, Y:8.74, Z:6.14 [[ 9.97909831e-01 -5.33039613e-02 -3.65329589e-02 1.70279940e+02] [ 5.32719028e-02 9.98578328e-01 -1.85106957e-03 8.73887808e+00] [ 3.65796903e-02 -9.89797145e-05 9.99330734e-01 6.14377026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.91925415400001 meters Centerline goodness : 0.998697 with order 1 Centerline is valid? [True, True] Translation: X:170.34, Y:8.74, Z:6.14 [[ 9.97966234e-01 -5.22376599e-02 -3.65324830e-02 1.70339294e+02] [ 5.22045450e-02 9.98634680e-01 -1.86041427e-03 8.73830635e+00] [ 3.65797881e-02 -5.05310323e-05 9.99330734e-01 6.14357043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.979254154 meters Centerline goodness : 0.999146 with order 1 Centerline is valid? [True, True] Translation: X:170.40, Y:8.74, Z:6.15 [[ 9.97950639e-01 -5.25350903e-02 -3.65320052e-02 1.70396824e+02] [ 5.25018330e-02 9.98619077e-01 -1.86975013e-03 8.73928789e+00] [ 3.65797848e-02 -5.20788927e-05 9.99330734e-01 6.14692562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.039254154 meters Centerline goodness : 0.999085 with order 1 Centerline is valid? [True, True] Translation: X:170.46, Y:8.74, Z:6.15 [[ 9.97885257e-01 -5.37630984e-02 -3.65313974e-02 1.70455052e+02] [ 5.37302316e-02 9.98553715e-01 -1.88155069e-03 8.73679919e+00] [ 3.65797206e-02 -8.52687456e-05 9.99330734e-01 6.15031210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.099254154 meters Centerline goodness : 0.998875 with order 1 Centerline is valid? [True, True] Translation: X:170.51, Y:8.73, Z:6.15 [[ 9.97803969e-01 -5.52516278e-02 -3.65307792e-02 1.70513148e+02] [ 5.52193216e-02 9.98472454e-01 -1.89347636e-03 8.73415973e+00] [ 3.65795944e-02 -1.27886620e-04 9.99330734e-01 6.15193605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.159254154 meters Centerline goodness : 0.999364 with order 1 Centerline is valid? [True, True] Translation: X:170.57, Y:8.73, Z:6.15 [[ 9.97757055e-01 -5.60927915e-02 -3.65302290e-02 1.70571367e+02] [ 5.60606624e-02 9.98425549e-01 -1.90403381e-03 8.73263810e+00] [ 3.65795165e-02 -1.48145661e-04 9.99330735e-01 6.15269086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.219254154 meters Centerline goodness : 0.999344 with order 1 Centerline is valid? [True, True] Translation: X:170.63, Y:8.73, Z:6.16 [[ 9.97704497e-01 -5.70201037e-02 -3.65300598e-02 1.70630222e+02] [ 5.69884772e-02 9.98373014e-01 -1.90727376e-03 8.73004866e+00] [ 3.65793789e-02 -1.78896870e-04 9.99330735e-01 6.15515027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.279254154 meters Centerline goodness : 0.999157 with order 1 Centerline is valid? [True, True] Translation: X:170.69, Y:8.73, Z:6.16 [[ 9.97664804e-01 -5.77107523e-02 -3.65295567e-02 1.70688200e+02] [ 5.76792376e-02 9.98333327e-01 -1.91686065e-03 8.72939784e+00] [ 3.65792974e-02 -1.94612582e-04 9.99330735e-01 6.15733968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.339254154 meters Centerline goodness : 0.999199 with order 1 Centerline is valid? [True, True] Translation: X:170.75, Y:8.73, Z:6.16 [[ 9.97467946e-01 -6.10188561e-02 -3.65293801e-02 1.70746077e+02] [ 6.09894354e-02 9.98136565e-01 -1.92022205e-03 8.72545099e+00] [ 3.65784797e-02 -3.12546323e-04 9.99330735e-01 6.15942988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.399254154 meters Centerline goodness : 0.998991 with order 1 Centerline is valid? [True, True] Translation: X:170.81, Y:8.72, Z:6.16 [[ 9.97185888e-01 -6.54669540e-02 -3.65292065e-02 1.70805178e+02] [ 6.54403949e-02 9.97854626e-01 -1.92351858e-03 8.72326181e+00] [ 3.65767646e-02 -4.72380110e-04 9.99330735e-01 6.16292349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.459254154 meters Centerline goodness : 0.999098 with order 1 Centerline is valid? [True, True] Translation: X:170.86, Y:8.72, Z:6.16 [[ 9.96656697e-01 -7.30827119e-02 -3.65287076e-02 1.70864652e+02] [ 7.30609168e-02 9.97325607e-01 -1.93294557e-03 8.71846258e+00] [ 3.65722804e-02 -7.42337720e-04 9.99330735e-01 6.16445174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.519254154 meters Centerline goodness : 0.998932 with order 1 Centerline is valid? [True, True] Translation: X:170.92, Y:8.72, Z:6.17 [[ 9.96272262e-01 -7.81488355e-02 -3.65286011e-02 1.70924652e+02] [ 7.81303678e-02 9.96941273e-01 -1.93495752e-03 8.71668056e+00] [ 3.65680847e-02 -9.26248531e-04 9.99330735e-01 6.16550090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.579254154 meters Centerline goodness : 0.999016 with order 1 Centerline is valid? [True, True] Translation: X:170.99, Y:8.70, Z:6.16 [[ 9.96145544e-01 -7.97478670e-02 -3.65285301e-02 1.70985835e+02] [ 7.97304241e-02 9.96814582e-01 -1.93629624e-03 8.70489010e+00] [ 3.65665869e-02 -9.83602325e-04 9.99330735e-01 6.15636793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.639254154 meters Centerline goodness : 0.999247 with order 1 Centerline is valid? [True, True] Translation: X:171.04, Y:8.71, Z:6.17 [[ 9.94576624e-01 -9.73807905e-02 -3.65283670e-02 1.71044004e+02] [ 9.73750888e-02 9.95245865e-01 -1.93936759e-03 8.71130981e+00] [ 3.65435634e-02 -1.62810332e-03 9.99330735e-01 6.16729521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.69925415400002 meters Centerline goodness : 0.999080 with order 1 Centerline is valid? [True, True] Translation: X:171.10, Y:8.71, Z:6.17 [[ 9.93841625e-01 -1.04616000e-01 -3.65282922e-02 1.71104939e+02] [ 1.04615117e-01 9.94510890e-01 -1.94077523e-03 8.71205208e+00] [ 3.65308206e-02 -1.89258836e-03 9.99330735e-01 6.17144593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.759254154 meters Centerline goodness : 0.999060 with order 1 Centerline is valid? [True, True] Translation: X:171.17, Y:8.71, Z:6.17 [[ 9.93229705e-01 -1.10274346e-01 -3.65283668e-02 1.71165819e+02] [ 1.10277326e-01 9.93898964e-01 -1.93937147e-03 8.71376976e+00] [ 3.65193688e-02 -2.10200926e-03 9.99330735e-01 6.17316303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.819254154 meters Centerline goodness : 0.998872 with order 1 Centerline is valid? [True, True] Translation: X:171.23, Y:8.72, Z:6.17 [[ 9.93302891e-01 -1.09613126e-01 -3.65284730e-02 1.71228236e+02] [ 1.09615734e-01 9.93972151e-01 -1.93736830e-03 8.71690652e+00] [ 3.65206459e-02 -2.07970183e-03 9.99330735e-01 6.17340265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.879254154 meters Centerline goodness : 0.999101 with order 1 Centerline is valid? [True, True] Translation: X:171.29, Y:8.72, Z:6.18 [[ 9.93531336e-01 -1.07522763e-01 -3.65286162e-02 1.71289718e+02] [ 1.07524062e-01 9.94200600e-01 -1.93466480e-03 8.72362670e+00] [ 3.65247926e-02 -2.00555508e-03 9.99330735e-01 6.17804965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.939254154 meters Centerline goodness : 0.999248 with order 1 Centerline is valid? [True, True] Translation: X:171.35, Y:8.73, Z:6.18 [[ 9.93824534e-01 -1.04778080e-01 -3.65287603e-02 1.71351352e+02] [ 1.04777630e-01 9.94493799e-01 -1.93193937e-03 8.72944822e+00] [ 3.65300505e-02 -1.90738819e-03 9.99330735e-01 6.18019904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.999254154 meters Centerline goodness : 0.998958 with order 1 Centerline is valid? [True, True] Translation: X:171.41, Y:8.74, Z:6.18 [[ 9.94265548e-01 -1.00507009e-01 -3.65289041e-02 1.71413427e+02] [ 1.00503784e-01 9.94934806e-01 -1.92921662e-03 8.73601082e+00] [ 3.65377779e-02 -1.75313946e-03 9.99330735e-01 6.18325753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.059254154 meters Centerline goodness : 0.998976 with order 1 Centerline is valid? [True, True] Translation: X:171.47, Y:8.74, Z:6.19 [[ 9.94776840e-01 -9.53135203e-02 -3.65290475e-02 1.71474738e+02] [ 9.53068995e-02 9.95446073e-01 -1.92649804e-03 8.74374401e+00] [ 3.65463182e-02 -1.56503463e-03 9.99330735e-01 6.18699436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.119254154 meters Centerline goodness : 0.999141 with order 1 Centerline is valid? [True, True] Translation: X:171.54, Y:8.75, Z:6.19 [[ 9.95212489e-01 -9.06516397e-02 -3.65291916e-02 1.71536417e+02] [ 9.06419837e-02 9.95881685e-01 -1.92376119e-03 8.75018658e+00] [ 3.65531450e-02 -1.39652723e-03 9.99330735e-01 6.18918135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.179254154 meters Centerline goodness : 0.999224 with order 1 Centerline is valid? [True, True] Translation: X:171.60, Y:8.76, Z:6.19 [[ 9.95876929e-01 -8.30346356e-02 -3.65293339e-02 1.71597052e+02] [ 8.30199590e-02 9.96546033e-01 -1.92105530e-03 8.75771397e+00] [ 3.65626770e-02 -1.11952916e-03 9.99330735e-01 6.19089404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.239254154 meters Centerline goodness : 0.999119 with order 1 Centerline is valid? [True, True] Translation: X:171.66, Y:8.77, Z:6.19 [[ 9.96527944e-01 -7.48175095e-02 -3.65294046e-02 1.71656833e+02] [ 7.47973638e-02 9.97196906e-01 -1.91971023e-03 8.76533187e+00] [ 3.65706372e-02 -8.19258282e-04 9.99330735e-01 6.19411028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.299254154 meters Centerline goodness : 0.999117 with order 1 Centerline is valid? [True, True] Translation: X:171.72, Y:8.77, Z:6.20 [[ 9.96961230e-01 -6.88033976e-02 -3.65294046e-02 1.71716977e+02] [ 6.87792159e-02 9.97630059e-01 -1.91971023e-03 8.77159426e+00] [ 3.65749147e-02 -5.98587137e-04 9.99330735e-01 6.19728955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.359254154 meters Centerline goodness : 0.999181 with order 1 Centerline is valid? [True, True] Translation: X:171.78, Y:8.78, Z:6.20 [[ 9.97160406e-01 -6.58538365e-02 -3.65294046e-02 1.71776585e+02] [ 6.58276764e-02 9.97829160e-01 -1.91971023e-03 8.77626090e+00] [ 3.65765254e-02 -4.90386797e-04 9.99330735e-01 6.20041996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.41925415400001 meters Centerline goodness : 0.999137 with order 1 Centerline is valid? [True, True] Translation: X:171.84, Y:8.78, Z:6.20 [[ 9.97679196e-01 -5.74615489e-02 -3.65293335e-02 1.71835146e+02] [ 5.74297133e-02 9.98347704e-01 -1.92106340e-03 8.78186045e+00] [ 3.65793635e-02 -1.81264163e-04 9.99330735e-01 6.20200561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.479254154 meters Centerline goodness : 0.999137 with order 1 Centerline is valid? [True, True] Translation: X:171.89, Y:8.79, Z:6.21 [[ 9.97880929e-01 -5.38448611e-02 -3.65292021e-02 1.71892344e+02] [ 5.38105113e-02 9.98549312e-01 -1.92355804e-03 8.78621734e+00] [ 3.65797834e-02 -4.61731544e-05 9.99330735e-01 6.20544679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.539254154 meters Centerline goodness : 0.999157 with order 1 Centerline is valid? [True, True] Translation: X:171.95, Y:8.79, Z:6.21 [[ 9.97785840e-01 -5.55794605e-02 -3.65286367e-02 1.71950016e+02] [ 5.55458817e-02 9.98454262e-01 -1.93423554e-03 8.78909097e+00] [ 3.65796768e-02 -9.90625060e-05 9.99330735e-01 6.20716992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.599254154 meters Centerline goodness : 0.999053 with order 1 Centerline is valid? [True, True] Translation: X:172.01, Y:8.79, Z:6.21 [[ 9.97306904e-01 -6.35974806e-02 -3.65280759e-02 1.72007444e+02] [ 6.35688897e-02 9.97975558e-01 -1.94476864e-03 8.78998936e+00] [ 3.65778093e-02 -3.82518038e-04 9.99330735e-01 6.20939148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.659254154 meters Centerline goodness : 0.999057 with order 1 Centerline is valid? [True, True] Translation: X:172.07, Y:8.79, Z:6.21 [[ 9.96561306e-01 -7.43727462e-02 -3.65275094e-02 1.72065219e+02] [ 7.43509960e-02 9.97230217e-01 -1.95535182e-03 8.78970593e+00] [ 3.65717610e-02 -7.67228741e-04 9.99330735e-01 6.21117101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.719254154 meters Centerline goodness : 0.998909 with order 1 Centerline is valid? [True, True] Translation: X:172.13, Y:8.79, Z:6.21 [[ 9.96010145e-01 -8.14220209e-02 -3.65273349e-02 1.72125806e+02] [ 8.14048849e-02 9.96679190e-01 -1.95860611e-03 8.79049518e+00] [ 3.65655083e-02 -1.02271193e-03 9.99330735e-01 6.21372550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.779254154 meters Centerline goodness : 0.998954 with order 1 Centerline is valid? [True, True] Translation: X:172.19, Y:8.79, Z:6.21 [[ 9.95359238e-01 -8.90266348e-02 -3.65273349e-02 1.72186030e+02] [ 8.90146091e-02 9.96028395e-01 -1.95860611e-03 8.79095610e+00] [ 3.65566309e-02 -1.30194975e-03 9.99330735e-01 6.21492010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.839254154 meters Centerline goodness : 0.998993 with order 1 Centerline is valid? [True, True] Translation: X:172.25, Y:8.79, Z:6.22 [[ 9.95082994e-01 -9.20629469e-02 -3.65273712e-02 1.72248193e+02] [ 9.20529876e-02 9.95752185e-01 -1.95792963e-03 8.79322265e+00] [ 3.65524624e-02 -1.41415117e-03 9.99330735e-01 6.21726932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.899254154 meters Centerline goodness : 0.999162 with order 1 Centerline is valid? [True, True] Translation: X:172.31, Y:8.80, Z:6.22 [[ 9.94798654e-01 -9.50861590e-02 -3.65275171e-02 1.72309875e+02] [ 9.50783331e-02 9.95467874e-01 -1.95520310e-03 8.79579374e+00] [ 3.65478826e-02 -1.52794203e-03 9.99330735e-01 6.22029786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.959254154 meters Centerline goodness : 0.999141 with order 1 Centerline is valid? [True, True] Translation: X:172.37, Y:8.80, Z:6.22 [[ 9.94615441e-01 -9.69837802e-02 -3.65276622e-02 1.72371851e+02] [ 9.69773305e-02 9.95284675e-01 -1.95248817e-03 8.79847441e+00] [ 3.65447821e-02 -1.60038029e-03 9.99330735e-01 6.22218005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.019254154 meters Centerline goodness : 0.999141 with order 1 Centerline is valid? [True, True] Translation: X:172.43, Y:8.80, Z:6.22 [[ 9.94512089e-01 -9.80378748e-02 -3.65278092e-02 1.72433088e+02] [ 9.80322353e-02 9.95181330e-01 -1.94973537e-03 8.80181342e+00] [ 3.65429416e-02 -1.64186739e-03 9.99330735e-01 6.22260097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.079254154 meters Centerline goodness : 0.998994 with order 1 Centerline is valid? [True, True] Translation: X:172.50, Y:8.81, Z:6.23 [[ 9.94630322e-01 -9.68309571e-02 -3.65279176e-02 1.72495217e+02] [ 9.68245800e-02 9.95299557e-01 -1.94770212e-03 8.80738869e+00] [ 3.65448180e-02 -1.59955669e-03 9.99330735e-01 6.22513627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.139254154 meters Centerline goodness : 0.999161 with order 1 Centerline is valid? [True, True] Translation: X:172.56, Y:8.81, Z:6.23 [[ 9.94841544e-01 -9.46361560e-02 -3.65280640e-02 1.72557503e+02] [ 9.46284031e-02 9.95510765e-01 -1.94495236e-03 8.81316829e+00] [ 3.65481437e-02 -1.52167295e-03 9.99330735e-01 6.22725213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.19925415400002 meters Centerline goodness : 0.999224 with order 1 Centerline is valid? [True, True] Translation: X:172.62, Y:8.82, Z:6.23 [[ 9.95315829e-01 -8.95102854e-02 -3.65282088e-02 1.72619666e+02] [ 8.94991851e-02 9.95985002e-01 -1.94222997e-03 8.82023716e+00] [ 3.65553976e-02 -1.33611269e-03 9.99330735e-01 6.22989213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.259254154 meters Centerline goodness : 0.999138 with order 1 Centerline is valid? [True, True] Translation: X:172.68, Y:8.83, Z:6.23 [[ 9.95695614e-01 -8.51817149e-02 -3.65283521e-02 1.72681687e+02] [ 8.51678040e-02 9.96364734e-01 -1.93953061e-03 8.82655060e+00] [ 3.65607744e-02 -1.17985741e-03 9.99330735e-01 6.23370703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.319254154 meters Centerline goodness : 0.999200 with order 1 Centerline is valid? [True, True] Translation: X:172.74, Y:8.83, Z:6.24 [[ 9.96254306e-01 -7.83774621e-02 -3.65284963e-02 1.72743382e+02] [ 7.83590799e-02 9.96923319e-01 -1.93681057e-03 8.83373284e+00] [ 3.65679121e-02 -9.32783495e-04 9.99330735e-01 6.23662242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.379254154 meters Centerline goodness : 0.999284 with order 1 Centerline is valid? [True, True] Translation: X:172.80, Y:8.84, Z:6.24 [[ 9.96471178e-01 -7.55701633e-02 -3.65286398e-02 1.72803562e+02] [ 7.55499955e-02 9.97140139e-01 -1.93410089e-03 8.83982476e+00] [ 3.65703333e-02 -8.32462780e-04 9.99330735e-01 6.23907135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.439254154 meters Centerline goodness : 0.999137 with order 1 Centerline is valid? [True, True] Translation: X:172.86, Y:8.85, Z:6.24 [[ 9.96646509e-01 -7.32215281e-02 -3.65286749e-02 1.72864051e+02] [ 7.31998082e-02 9.97315421e-01 -1.93343744e-03 8.84556961e+00] [ 3.65721800e-02 -7.46938318e-04 9.99330735e-01 6.24093883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.499254154 meters Centerline goodness : 0.999093 with order 1 Centerline is valid? [True, True] Translation: X:172.92, Y:8.85, Z:6.24 [[ 9.96687446e-01 -7.26621685e-02 -3.65286749e-02 1.72924257e+02] [ 7.26400731e-02 9.97356346e-01 -1.93343744e-03 8.85093356e+00] [ 3.65725935e-02 -7.26412788e-04 9.99330735e-01 6.23925945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.559254154 meters Centerline goodness : 0.999051 with order 1 Centerline is valid? [True, True] Translation: X:172.98, Y:8.86, Z:6.25 [[ 9.96279786e-01 -7.80528366e-02 -3.65286631e-02 1.72984372e+02] [ 7.80343519e-02 9.96948796e-01 -1.93366063e-03 8.85507183e+00] [ 3.65681344e-02 -9.24023549e-04 9.99330735e-01 6.24730084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.619254154 meters Centerline goodness : 0.999135 with order 1 Centerline is valid? [True, True] Translation: X:173.05, Y:8.86, Z:6.25 [[ 9.95859792e-01 -8.32402093e-02 -3.65286631e-02 1.73045063e+02] [ 8.32252089e-02 9.96528888e-01 -1.93366063e-03 8.85825407e+00] [ 3.65628263e-02 -1.11445074e-03 9.99330735e-01 6.24661316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.679254154 meters Centerline goodness : 0.999114 with order 1 Centerline is valid? [True, True] Translation: X:173.11, Y:8.86, Z:6.25 [[ 9.95382392e-01 -8.87667879e-02 -3.65287818e-02 1.73107452e+02] [ 8.87555841e-02 9.96051563e-01 -1.93141527e-03 8.86303517e+00] [ 3.65559957e-02 -1.31963661e-03 9.99330735e-01 6.24999668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.739254154 meters Centerline goodness : 0.999028 with order 1 Centerline is valid? [True, True] Translation: X:173.17, Y:8.87, Z:6.25 [[ 9.95087835e-01 -9.20099908e-02 -3.65289278e-02 1.73169456e+02] [ 9.20010691e-02 9.95757040e-01 -1.92865046e-03 8.86686048e+00] [ 3.65513921e-02 -1.44152380e-03 9.99330735e-01 6.25128265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.799254154 meters Centerline goodness : 0.999009 with order 1 Centerline is valid? [True, True] Translation: X:173.23, Y:8.87, Z:6.26 [[ 9.94669240e-01 -9.64299233e-02 -3.65290738e-02 1.73231757e+02] [ 9.64240762e-02 9.95338479e-01 -1.92588072e-03 8.87255802e+00] [ 3.65445053e-02 -1.60666788e-03 9.99330735e-01 6.25710276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.859254154 meters Centerline goodness : 0.999029 with order 1 Centerline is valid? [True, True] Translation: X:173.29, Y:8.88, Z:6.26 [[ 9.94534616e-01 -9.78085591e-02 -3.65292184e-02 1.73293815e+02] [ 9.78037404e-02 9.95203864e-01 -1.92313330e-03 8.87689543e+00] [ 3.65421182e-02 -1.66007156e-03 9.99330735e-01 6.25996736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.91925415400001 meters Centerline goodness : 0.999052 with order 1 Centerline is valid? [True, True] Translation: X:173.36, Y:8.88, Z:6.26 [[ 9.94458842e-01 -9.85759494e-02 -3.65293627e-02 1.73355848e+02] [ 9.85717476e-02 9.95128094e-01 -1.92038980e-03 8.88118907e+00] [ 3.65406993e-02 -1.69101450e-03 9.99330735e-01 6.26204508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.979254154 meters Centerline goodness : 0.998904 with order 1 Centerline is valid? [True, True] Translation: X:173.42, Y:8.89, Z:6.26 [[ 9.94513413e-01 -9.80237946e-02 -3.65295405e-02 1.73417880e+02] [ 9.80193455e-02 9.95182663e-01 -1.91700097e-03 8.88518525e+00] [ 3.65414771e-02 -1.67411847e-03 9.99330735e-01 6.26310139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.039254154 meters Centerline goodness : 0.999010 with order 1 Centerline is valid? [True, True] Translation: X:173.48, Y:8.89, Z:6.27 [[ 9.94602870e-01 -9.71118544e-02 -3.65296839e-02 1.73478846e+02] [ 9.71068920e-02 9.95272117e-01 -1.91426378e-03 8.89130466e+00] [ 3.65428736e-02 -1.64335182e-03 9.99330735e-01 6.26584623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.099254154 meters Centerline goodness : 0.998966 with order 1 Centerline is valid? [True, True] Translation: X:173.54, Y:8.90, Z:6.27 [[ 9.94749591e-01 -9.55972033e-02 -3.65297898e-02 1.73540646e+02] [ 9.55912959e-02 9.95418830e-01 -1.91224188e-03 8.89741200e+00] [ 3.65452456e-02 -1.58972811e-03 9.99330735e-01 6.26833417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.159254154 meters Centerline goodness : 0.999030 with order 1 Centerline is valid? [True, True] Translation: X:173.60, Y:8.90, Z:6.27 [[ 9.94919183e-01 -9.38156875e-02 -3.65299346e-02 1.73603821e+02] [ 9.38086832e-02 9.95588411e-01 -1.90947053e-03 8.90285733e+00] [ 3.65479179e-02 -1.52705621e-03 9.99330735e-01 6.27094759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.219254154 meters Centerline goodness : 0.998943 with order 1 Centerline is valid? [True, True] Translation: X:173.66, Y:8.91, Z:6.27 [[ 9.95539175e-01 -8.69902266e-02 -3.65301511e-02 1.73664479e+02] [ 8.69787849e-02 9.96208342e-01 -1.90532106e-03 8.90961591e+00] [ 3.65573855e-02 -1.28052640e-03 9.99330735e-01 6.27203813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.279254154 meters Centerline goodness : 0.999175 with order 1 Centerline is valid? [True, True] Translation: X:173.73, Y:8.91, Z:6.27 [[ 9.95756398e-01 -8.44673065e-02 -3.65303878e-02 1.73726070e+02] [ 8.44543359e-02 9.96425538e-01 -1.90077226e-03 8.91499259e+00] [ 3.65603644e-02 -1.19244350e-03 9.99330735e-01 6.27469734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.339254154 meters Centerline goodness : 0.999279 with order 1 Centerline is valid? [True, True] Translation: X:173.79, Y:8.92, Z:6.28 [[ 9.96238964e-01 -7.85712723e-02 -3.65305700e-02 1.73787392e+02] [ 7.85544694e-02 9.96908018e-01 -1.89726434e-03 8.92182982e+00] [ 3.65666885e-02 -9.79510879e-04 9.99330735e-01 6.27936536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.399254154 meters Centerline goodness : 0.999000 with order 1 Centerline is valid? [True, True] Translation: X:173.85, Y:8.93, Z:6.28 [[ 9.96712260e-01 -7.23199614e-02 -3.65307157e-02 1.73849464e+02] [ 7.22990646e-02 9.97381199e-01 -1.89445381e-03 8.92873271e+00] [ 3.65720559e-02 -7.52911237e-04 9.99330735e-01 6.28038703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.459254154 meters Centerline goodness : 0.999212 with order 1 Centerline is valid? [True, True] Translation: X:173.91, Y:8.93, Z:6.28 [[ 9.96713834e-01 -7.22981939e-02 -3.65308543e-02 1.73911074e+02] [ 7.22773805e-02 9.97382776e-01 -1.89177662e-03 8.93366675e+00] [ 3.65720169e-02 -7.54794536e-04 9.99330735e-01 6.28394343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.519254154 meters Centerline goodness : 0.999255 with order 1 Centerline is valid? [True, True] Translation: X:173.97, Y:8.94, Z:6.29 [[ 9.96541201e-01 -7.46399458e-02 -3.65309933e-02 1.73972281e+02] [ 7.46208028e-02 9.97210192e-01 -1.88908929e-03 8.93753458e+00] [ 3.65700804e-02 -8.43416735e-04 9.99330735e-01 6.28565271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.579254154 meters Centerline goodness : 0.999149 with order 1 Centerline is valid? [True, True] Translation: X:174.03, Y:8.94, Z:6.29 [[ 9.96213351e-01 -7.88951159e-02 -3.65310959e-02 1.74034027e+02] [ 7.88789028e-02 9.96882419e-01 -1.88710262e-03 8.94157684e+00] [ 3.65660905e-02 -1.00157595e-03 9.99330735e-01 6.28795816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.639254154 meters Centerline goodness : 0.999041 with order 1 Centerline is valid? [True, True] Translation: X:174.09, Y:8.94, Z:6.29 [[ 9.96023466e-01 -8.12571436e-02 -3.65312324e-02 1.74094801e+02] [ 8.12426141e-02 9.96692574e-01 -1.88445644e-03 8.94465475e+00] [ 3.65635336e-02 -1.09092998e-03 9.99330735e-01 6.28884645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.69925415400002 meters Centerline goodness : 0.999063 with order 1 Centerline is valid? [True, True] Translation: X:174.16, Y:8.95, Z:6.29 [[ 9.95831434e-01 -8.35775545e-02 -3.65314601e-02 1.74157047e+02] [ 8.35647460e-02 9.96500576e-01 -1.88003176e-03 8.94865195e+00] [ 3.65607496e-02 -1.18054747e-03 9.99330735e-01 6.29214142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.759254154 meters Centerline goodness : 0.999190 with order 1 Centerline is valid? [True, True] Translation: X:174.22, Y:8.95, Z:6.30 [[ 9.95822664e-01 -8.36819206e-02 -3.65316002e-02 1.74219266e+02] [ 8.36692822e-02 9.96491810e-01 -1.87730612e-03 8.95301375e+00] [ 3.65605370e-02 -1.18710878e-03 9.99330735e-01 6.29577161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.819254154 meters Centerline goodness : 0.999063 with order 1 Centerline is valid? [True, True] Translation: X:174.28, Y:8.95, Z:6.30 [[ 9.96162965e-01 -7.95284741e-02 -3.65317405e-02 1.74281398e+02] [ 7.95131456e-02 9.96832055e-01 -1.87457180e-03 8.95428358e+00] [ 3.65650918e-02 -1.03737460e-03 9.99330735e-01 6.29747402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.879254154 meters Centerline goodness : 0.999403 with order 1 Centerline is valid? [True, True] Translation: X:174.34, Y:8.96, Z:6.30 [[ 9.96455311e-01 -7.57775355e-02 -3.65318804e-02 1.74343293e+02] [ 7.57597882e-02 9.97124341e-01 -1.87184105e-03 8.96185213e+00] [ 3.65686707e-02 -9.02441564e-04 9.99330735e-01 6.30119874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.939254154 meters Centerline goodness : 0.999274 with order 1 Centerline is valid? [True, True] Translation: X:174.41, Y:8.97, Z:6.30 [[ 9.96756775e-01 -7.17031544e-02 -3.65320180e-02 1.74405349e+02] [ 7.16827705e-02 9.97425730e-01 -1.86915250e-03 8.96618511e+00] [ 3.65719989e-02 -7.55625848e-04 9.99330735e-01 6.30404846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.999254154 meters Centerline goodness : 0.999145 with order 1 Centerline is valid? [True, True] Translation: X:174.47, Y:8.97, Z:6.30 [[ 9.97116394e-01 -6.65153926e-02 -3.65321563e-02 1.74467467e+02] [ 6.64916271e-02 9.97785237e-01 -1.86644639e-03 8.96929120e+00] [ 3.65753936e-02 -5.68018218e-04 9.99330735e-01 6.30466708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.059254154 meters Centerline goodness : 0.999251 with order 1 Centerline is valid? [True, True] Translation: X:174.53, Y:8.97, Z:6.31 [[ 9.97243200e-01 -6.45863167e-02 -3.65322947e-02 1.74528720e+02] [ 6.45613568e-02 9.97911999e-01 -1.86373229e-03 8.97312679e+00] [ 3.65763869e-02 -4.99980159e-04 9.99330735e-01 6.30769256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.119254154 meters Centerline goodness : 0.999272 with order 1 Centerline is valid? [True, True] Translation: X:174.59, Y:8.98, Z:6.31 [[ 9.97238037e-01 -6.46659407e-02 -3.65323638e-02 1.74589978e+02] [ 6.46410837e-02 9.97906840e-01 -1.86237745e-03 8.97589406e+00] [ 3.65763281e-02 -5.04257952e-04 9.99330735e-01 6.31010190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.179254154 meters Centerline goodness : 0.999209 with order 1 Centerline is valid? [True, True] Translation: X:174.65, Y:8.98, Z:6.31 [[ 9.97177700e-01 -6.55897512e-02 -3.65324337e-02 1.74650559e+02] [ 6.55655642e-02 9.97846528e-01 -1.86100588e-03 8.97710342e+00] [ 3.65758250e-02 -5.39516062e-04 9.99330735e-01 6.30909985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.239254154 meters Centerline goodness : 0.999017 with order 1 Centerline is valid? [True, True] Translation: X:174.71, Y:8.98, Z:6.31 [[ 9.97085245e-01 -6.69805367e-02 -3.65324680e-02 1.74711987e+02] [ 6.69573072e-02 9.97754107e-01 -1.86033208e-03 8.97915753e+00] [ 3.65750260e-02 -5.91206008e-04 9.99330735e-01 6.31096227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.299254154 meters Centerline goodness : 0.999167 with order 1 Centerline is valid? [True, True] Translation: X:174.77, Y:8.98, Z:6.32 [[ 9.96915174e-01 -6.94658900e-02 -3.65325362e-02 1.74773509e+02] [ 6.94443770e-02 9.97584093e-01 -1.85899111e-03 8.98198125e+00] [ 3.65734135e-02 -6.83722769e-04 9.99330735e-01 6.31622288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.359254154 meters Centerline goodness : 0.999233 with order 1 Centerline is valid? [True, True] Translation: X:174.83, Y:8.98, Z:6.32 [[ 9.96851654e-01 -7.03715109e-02 -3.65326060e-02 1.74834123e+02] [ 7.03506559e-02 9.97520594e-01 -1.85761892e-03 8.98372713e+00] [ 3.65727503e-02 -7.18322298e-04 9.99330735e-01 6.31832761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.41925415400001 meters Centerline goodness : 0.999319 with order 1 Centerline is valid? [True, True] Translation: X:174.90, Y:8.98, Z:6.32 [[ 9.96754465e-01 -7.17349297e-02 -3.65326750e-02 1.74896610e+02] [ 7.17150394e-02 9.97423434e-01 -1.85626076e-03 8.98471256e+00] [ 3.65717049e-02 -7.69706021e-04 9.99330735e-01 6.32162727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.479254154 meters Centerline goodness : 0.999298 with order 1 Centerline is valid? [True, True] Translation: X:174.96, Y:8.98, Z:6.32 [[ 9.96709850e-01 -7.23521163e-02 -3.65328117e-02 1.74958662e+02] [ 7.23327389e-02 9.97378834e-01 -1.85356720e-03 8.98489650e+00] [ 3.65711626e-02 -7.95049639e-04 9.99330735e-01 6.32296383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.539254154 meters Centerline goodness : 0.999448 with order 1 Centerline is valid? [True, True] Translation: X:175.02, Y:8.99, Z:6.33 [[ 9.96577871e-01 -7.41477609e-02 -3.65329497e-02 1.75020402e+02] [ 7.41296888e-02 9.97246892e-01 -1.85084146e-03 8.98519313e+00] [ 3.65696063e-02 -8.63668551e-04 9.99330735e-01 6.32585396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.599254154 meters Centerline goodness : 0.999107 with order 1 Centerline is valid? [True, True] Translation: X:175.08, Y:8.99, Z:6.33 [[ 9.96538740e-01 -7.46717735e-02 -3.65330891e-02 1.75081605e+02] [ 7.46541541e-02 9.97207773e-01 -1.84808737e-03 8.98635750e+00] [ 3.65690803e-02 -8.85656205e-04 9.99330735e-01 6.32780798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.659254154 meters Centerline goodness : 0.999278 with order 1 Centerline is valid? [True, True] Translation: X:175.14, Y:8.99, Z:6.33 [[ 9.96484042e-01 -7.53981385e-02 -3.65331919e-02 1.75143843e+02] [ 7.53810813e-02 9.97153090e-01 -1.84605271e-03 8.98762526e+00] [ 3.65683741e-02 -9.14349444e-04 9.99330735e-01 6.32998740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.719254154 meters Centerline goodness : 0.999069 with order 1 Centerline is valid? [True, True] Translation: X:175.20, Y:8.99, Z:6.33 [[ 9.96522082e-01 -7.48936241e-02 -3.65333299e-02 1.75204838e+02] [ 7.48763283e-02 9.97191124e-01 -1.84331795e-03 8.98832542e+00] [ 3.65687650e-02 -8.98574556e-04 9.99330735e-01 6.32860495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.779254154 meters Centerline goodness : 0.999068 with order 1 Centerline is valid? [True, True] Translation: X:175.27, Y:8.99, Z:6.33 [[ 9.96519100e-01 -7.49331852e-02 -3.65335575e-02 1.75267075e+02] [ 7.49160818e-02 9.97188147e-01 -1.83879472e-03 8.98993168e+00] [ 3.65686173e-02 -9.04556921e-04 9.99330735e-01 6.33283290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.839254154 meters Centerline goodness : 0.998938 with order 1 Centerline is valid? [True, True] Translation: X:175.33, Y:8.99, Z:6.34 [[ 9.96577795e-01 -7.41484109e-02 -3.65336947e-02 1.75329402e+02] [ 7.41308806e-02 9.97246831e-01 -1.83606535e-03 8.99247858e+00] [ 3.65692526e-02 -8.78493003e-04 9.99330735e-01 6.33600295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.899254154 meters Centerline goodness : 0.999153 with order 1 Centerline is valid? [True, True] Translation: X:175.39, Y:8.99, Z:6.34 [[ 9.96677581e-01 -7.27947724e-02 -3.65338324e-02 1.75391368e+02] [ 7.27764339e-02 9.97346595e-01 -1.83332151e-03 8.99452614e+00] [ 3.65703495e-02 -8.31571589e-04 9.99330735e-01 6.33984133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.959254154 meters Centerline goodness : 0.999110 with order 1 Centerline is valid? [True, True] Translation: X:175.45, Y:9.00, Z:6.34 [[ 9.96677308e-01 -7.27984359e-02 -3.65339681e-02 1.75453167e+02] [ 7.27801991e-02 9.97346325e-01 -1.83061262e-03 8.99514982e+00] [ 3.65702846e-02 -8.34419417e-04 9.99330735e-01 6.34248527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.019254154 meters Centerline goodness : 0.998771 with order 1 Centerline is valid? [True, True] Translation: X:175.51, Y:9.00, Z:6.34 [[ 9.96495532e-01 -7.52457299e-02 -3.65340353e-02 1.75514599e+02] [ 7.52291853e-02 9.97164592e-01 -1.82927101e-03 8.99527978e+00] [ 3.65680912e-02 -9.25565322e-04 9.99330735e-01 6.34376021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.079254154 meters Centerline goodness : 0.998921 with order 1 Centerline is valid? [True, True] Translation: X:175.58, Y:8.99, Z:6.34 [[ 9.96244450e-01 -7.85000388e-02 -3.65341016e-02 1.75575542e+02] [ 7.84857280e-02 9.96913562e-01 -1.82794498e-03 8.99498862e+00] [ 3.65648351e-02 -1.04632552e-03 9.99330735e-01 6.34466228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.139254154 meters Centerline goodness : 0.999006 with order 1 Centerline is valid? [True, True] Translation: X:175.64, Y:9.00, Z:6.35 [[ 9.96162412e-01 -7.95342883e-02 -3.65341669e-02 1.75638060e+02] [ 7.95207201e-02 9.96831540e-01 -1.82663886e-03 8.99691873e+00] [ 3.65636903e-02 -1.08559429e-03 9.99330735e-01 6.34634411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.19925415400002 meters Centerline goodness : 0.998944 with order 1 Centerline is valid? [True, True] Translation: X:175.70, Y:9.00, Z:6.35 [[ 9.95985485e-01 -8.17200064e-02 -3.65342958e-02 1.75699928e+02] [ 8.17080010e-02 9.96654642e-01 -1.82405886e-03 8.99791026e+00] [ 3.65611376e-02 -1.16840813e-03 9.99330735e-01 6.34799690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.259254154 meters Centerline goodness : 0.998965 with order 1 Centerline is valid? [True, True] Translation: X:175.76, Y:9.00, Z:6.35 [[ 9.95855848e-01 -8.32848411e-02 -3.65344306e-02 1.75762174e+02] [ 8.32739863e-02 9.96525025e-01 -1.82135376e-03 8.99965395e+00] [ 3.65591655e-02 -1.22856188e-03 9.99330735e-01 6.34942576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.319254154 meters Centerline goodness : 0.999093 with order 1 Centerline is valid? [True, True] Translation: X:175.82, Y:9.00, Z:6.35 [[ 9.95683226e-01 -8.53237269e-02 -3.65345636e-02 1.75824038e+02] [ 8.53143402e-02 9.96352425e-01 -1.81868148e-03 9.00170060e+00] [ 3.65564778e-02 -1.30609155e-03 9.99330735e-01 6.35138334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.379254154 meters Centerline goodness : 0.998841 with order 1 Centerline is valid? [True, True] Translation: X:175.89, Y:9.00, Z:6.35 [[ 9.95599406e-01 -8.62962260e-02 -3.65346961e-02 1.75885758e+02] [ 8.62875906e-02 9.96268615e-01 -1.81601663e-03 9.00388741e+00] [ 3.65550865e-02 -1.34446583e-03 9.99330735e-01 6.35320551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.439254154 meters Centerline goodness : 0.999283 with order 1 Centerline is valid? [True, True] Translation: X:175.95, Y:9.01, Z:6.36 [[ 9.95527263e-01 -8.71244740e-02 -3.65348301e-02 1.75947731e+02] [ 8.71164943e-02 9.96196481e-01 -1.81331678e-03 9.00648954e+00] [ 3.65538534e-02 -1.37758002e-03 9.99330735e-01 6.35551070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.499254154 meters Centerline goodness : 0.998886 with order 1 Centerline is valid? [True, True] Translation: X:176.01, Y:9.01, Z:6.36 [[ 9.95507944e-01 -8.73448890e-02 -3.65349632e-02 1.76010139e+02] [ 8.73371560e-02 9.96177164e-01 -1.81063062e-03 9.00992640e+00] [ 3.65534454e-02 -1.38836261e-03 9.99330735e-01 6.35734871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.559254154 meters Centerline goodness : 0.999010 with order 1 Centerline is valid? [True, True] Translation: X:176.07, Y:9.01, Z:6.36 [[ 9.95494364e-01 -8.74994784e-02 -3.65350985e-02 1.76071470e+02] [ 8.74919494e-02 9.96163586e-01 -1.80789694e-03 9.01484821e+00] [ 3.65531248e-02 -1.39677578e-03 9.99330735e-01 6.35852890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.619254154 meters Centerline goodness : 0.998966 with order 1 Centerline is valid? [True, True] Translation: X:176.13, Y:9.02, Z:6.36 [[ 9.95472798e-01 -8.77444491e-02 -3.65351983e-02 1.76133041e+02] [ 8.77371588e-02 9.96142023e-01 -1.80587759e-03 9.01994869e+00] [ 3.65527021e-02 -1.40779248e-03 9.99330735e-01 6.36127347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.679254154 meters Centerline goodness : 0.998690 with order 1 Centerline is valid? [True, True] Translation: X:176.20, Y:9.02, Z:6.36 [[ 9.95543562e-01 -8.69378318e-02 -3.65353305e-02 1.76195126e+02] [ 8.69300974e-02 9.96212782e-01 -1.80319892e-03 9.02444912e+00] [ 3.65537295e-02 -1.38085677e-03 9.99330735e-01 6.36430240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.739254154 meters Centerline goodness : 0.998880 with order 1 Centerline is valid? [True, True] Translation: X:176.26, Y:9.03, Z:6.37 [[ 9.95973617e-01 -8.18640016e-02 -3.65354650e-02 1.76255884e+02] [ 8.18529574e-02 9.96642790e-01 -1.80046941e-03 9.03187693e+00] [ 3.65602014e-02 -1.19731583e-03 9.99330735e-01 6.36650609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.799254154 meters Centerline goodness : 0.998898 with order 1 Centerline is valid? [True, True] Translation: X:176.32, Y:9.04, Z:6.37 [[ 9.96541303e-01 -7.46363407e-02 -3.65355642e-02 1.76318022e+02] [ 7.46205160e-02 9.97210381e-01 -1.79845461e-03 9.03923334e+00] [ 3.65678740e-02 -9.34068353e-04 9.99330735e-01 6.36849505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.859254154 meters Centerline goodness : 0.999107 with order 1 Centerline is valid? [True, True] Translation: X:176.38, Y:9.04, Z:6.37 [[ 9.96792226e-01 -7.12067468e-02 -3.65356991e-02 1.76379749e+02] [ 7.11887204e-02 9.97461248e-01 -1.79570943e-03 9.04427738e+00] [ 3.65708107e-02 -8.10980472e-04 9.99330735e-01 6.36969295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.91925415400001 meters Centerline goodness : 0.999404 with order 1 Centerline is valid? [True, True] Translation: X:176.44, Y:9.05, Z:6.37 [[ 9.96906817e-01 -6.95839923e-02 -3.65358315e-02 1.76441154e+02] [ 6.95649756e-02 9.97575811e-01 -1.79301301e-03 9.04985276e+00] [ 3.65720267e-02 -7.54147331e-04 9.99330735e-01 6.37179612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.979254154 meters Centerline goodness : 0.999191 with order 1 Centerline is valid? [True, True] Translation: X:176.50, Y:9.05, Z:6.37 [[ 9.96892149e-01 -6.97937739e-02 -3.65358985e-02 1.76502741e+02] [ 6.97749481e-02 9.97561149e-01 -1.79164583e-03 9.05407109e+00] [ 3.65718386e-02 -7.63212759e-04 9.99330735e-01 6.37400818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.039254154 meters Centerline goodness : 0.999064 with order 1 Centerline is valid? [True, True] Translation: X:176.56, Y:9.06, Z:6.38 [[ 9.96878422e-01 -6.99895354e-02 -3.65359653e-02 1.76562472e+02] [ 6.99708909e-02 9.97547427e-01 -1.79028194e-03 9.05817144e+00] [ 3.65716592e-02 -7.71760607e-04 9.99330735e-01 6.37624654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.099254154 meters Centerline goodness : 0.999298 with order 1 Centerline is valid? [True, True] Translation: X:176.62, Y:9.06, Z:6.38 [[ 9.96883270e-01 -6.99204321e-02 -3.65359982e-02 1.76623241e+02] [ 6.99017657e-02 9.97552275e-01 -1.78961157e-03 9.06205465e+00] [ 3.65716985e-02 -7.69896954e-04 9.99330735e-01 6.37929246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.159254154 meters Centerline goodness : 0.998999 with order 1 Centerline is valid? [True, True] Translation: X:176.68, Y:9.07, Z:6.38 [[ 9.96880547e-01 -6.99592028e-02 -3.65360640e-02 1.76682979e+02] [ 6.99406118e-02 9.97549554e-01 -1.78826611e-03 9.06575789e+00] [ 3.65716400e-02 -7.72666968e-04 9.99330735e-01 6.38092991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.219254154 meters Centerline goodness : 0.999085 with order 1 Centerline is valid? [True, True] Translation: X:176.74, Y:9.07, Z:6.38 [[ 9.96869035e-01 -7.01230403e-02 -3.65360964e-02 1.76743911e+02] [ 7.01045835e-02 9.97538045e-01 -1.78760380e-03 9.06841877e+00] [ 3.65714984e-02 -7.79340947e-04 9.99330735e-01 6.38292417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.279254154 meters Centerline goodness : 0.999213 with order 1 Centerline is valid? [True, True] Translation: X:176.81, Y:9.07, Z:6.38 [[ 9.96866331e-01 -7.01614357e-02 -3.65361625e-02 1.76805238e+02] [ 7.01430542e-02 9.97535343e-01 -1.78625147e-03 9.07115868e+00] [ 3.65714394e-02 -7.82104082e-04 9.99330735e-01 6.38451580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.339254154 meters Centerline goodness : 0.999149 with order 1 Centerline is valid? [True, True] Translation: X:176.87, Y:9.07, Z:6.39 [[ 9.96945041e-01 -6.90339678e-02 -3.65362276e-02 1.76866018e+02] [ 6.90148785e-02 9.97614034e-01 -1.78491983e-03 9.07422551e+00] [ 3.65722735e-02 -7.42076336e-04 9.99330735e-01 6.38693089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.399254154 meters Centerline goodness : 0.999148 with order 1 Centerline is valid? [True, True] Translation: X:176.93, Y:9.08, Z:6.39 [[ 9.97212929e-01 -6.50497781e-02 -3.65362931e-02 1.76927546e+02] [ 6.50280649e-02 9.97881842e-01 -1.78357828e-03 9.07735432e+00] [ 3.65749248e-02 -5.97277117e-04 9.99330735e-01 6.38974606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.459254154 meters Centerline goodness : 0.999042 with order 1 Centerline is valid? [True, True] Translation: X:176.99, Y:9.08, Z:6.39 [[ 9.97646647e-01 -5.80195047e-02 -3.65363584e-02 1.76989027e+02] [ 5.79931264e-02 9.98315392e-01 -1.78223976e-03 9.07988878e+00] [ 3.65782136e-02 -3.40812128e-04 9.99330735e-01 6.39105823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.519254154 meters Centerline goodness : 0.999042 with order 1 Centerline is valid? [True, True] Translation: X:177.05, Y:9.08, Z:6.39 [[ 9.97883825e-01 -5.37862506e-02 -3.65364238e-02 1.77047584e+02] [ 5.37570843e-02 9.98552454e-01 -1.78089865e-03 9.08254568e+00] [ 3.65793235e-02 -1.86961656e-04 9.99330735e-01 6.39417677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.579254154 meters Centerline goodness : 0.998916 with order 1 Centerline is valid? [True, True] Translation: X:177.11, Y:9.08, Z:6.40 [[ 9.98104096e-01 -4.95308996e-02 -3.65363273e-02 1.77106629e+02] [ 4.94988102e-02 9.98772591e-01 -1.78287584e-03 9.08385494e+00] [ 3.65797897e-02 -2.90090443e-05 9.99330735e-01 6.39560697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.639254154 meters Centerline goodness : 0.998935 with order 1 Centerline is valid? [True, True] Translation: X:177.17, Y:9.08, Z:6.40 [[ 9.98162482e-01 -4.83403472e-02 -3.65358687e-02 1.77165597e+02] [ 4.83071183e-02 9.98830922e-01 -1.79222357e-03 9.08417134e+00] [ 3.65797922e-02 2.39877916e-05 9.99330735e-01 6.39544166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.69925415400002 meters Centerline goodness : 0.998957 with order 1 Centerline is valid? [True, True] Translation: X:177.22, Y:9.09, Z:6.40 [[ 9.98130646e-01 -4.89936527e-02 -3.65354129e-02 1.77223651e+02] [ 4.89605229e-02 9.98799090e-01 -1.80146799e-03 9.08551369e+00] [ 3.65797977e-02 9.30748529e-06 9.99330735e-01 6.39680209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.759254154 meters Centerline goodness : 0.999130 with order 1 Centerline is valid? [True, True] Translation: X:177.28, Y:9.09, Z:6.40 [[ 9.98059798e-01 -5.04166804e-02 -3.65348761e-02 1.77281221e+02] [ 5.03841076e-02 9.98728270e-01 -1.81228995e-03 9.08663934e+00] [ 3.65797832e-02 -3.20033850e-05 9.99330735e-01 6.39847527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.819254154 meters Centerline goodness : 0.999215 with order 1 Centerline is valid? [True, True] Translation: X:177.34, Y:9.09, Z:6.40 [[ 9.97856665e-01 -5.42892153e-02 -3.65343406e-02 1.77338663e+02] [ 5.42588437e-02 9.98525240e-01 -1.82302075e-03 9.08653491e+00] [ 3.65794316e-02 -1.63197674e-04 9.99330735e-01 6.40078929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.879254154 meters Centerline goodness : 0.998919 with order 1 Centerline is valid? [True, True] Translation: X:177.40, Y:9.09, Z:6.40 [[ 9.97690556e-01 -5.72611182e-02 -3.65338049e-02 1.77397665e+02] [ 5.72323473e-02 9.98359202e-01 -1.83369430e-03 9.08741461e+00] [ 3.65788597e-02 -2.61455930e-04 9.99330735e-01 6.40336007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.939254154 meters Centerline goodness : 0.999195 with order 1 Centerline is valid? [True, True] Translation: X:177.46, Y:9.09, Z:6.41 [[ 9.97386108e-01 -6.23399312e-02 -3.65333307e-02 1.77456081e+02] [ 6.23142207e-02 9.98054879e-01 -1.84309383e-03 9.08729411e+00] [ 3.65771673e-02 -4.38269852e-04 9.99330735e-01 6.40700163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.999254154 meters Centerline goodness : 0.999048 with order 1 Centerline is valid? [True, True] Translation: X:177.52, Y:9.09, Z:6.41 [[ 9.97131406e-01 -6.62893790e-02 -3.65332308e-02 1.77515253e+02] [ 6.62662448e-02 9.97800271e-01 -1.84507190e-03 9.08829348e+00] [ 3.65751763e-02 -5.81140875e-04 9.99330735e-01 6.40969244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.059254154 meters Centerline goodness : 0.999072 with order 1 Centerline is valid? [True, True] Translation: X:177.57, Y:9.09, Z:6.41 [[ 9.96735943e-01 -7.19915833e-02 -3.65331640e-02 1.77574850e+02] [ 7.19722267e-02 9.97404928e-01 -1.84639358e-03 9.08882334e+00] [ 3.65712826e-02 -7.89006316e-04 9.99330735e-01 6.41132015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.119254154 meters Centerline goodness : 0.999094 with order 1 Centerline is valid? [True, True] Translation: X:177.64, Y:9.09, Z:6.41 [[ 9.95889968e-01 -8.28764283e-02 -3.65331311e-02 1.77635234e+02] [ 8.28643575e-02 9.96559124e-01 -1.84704541e-03 9.08707735e+00] [ 3.65605016e-02 -1.18784044e-03 9.99330735e-01 6.41293246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.179254154 meters Centerline goodness : 0.998967 with order 1 Centerline is valid? [True, True] Translation: X:177.70, Y:9.09, Z:6.41 [[ 9.95254504e-01 -9.01875994e-02 -3.65331311e-02 1.77696659e+02] [ 9.01804430e-02 9.95923730e-01 -1.84704541e-03 9.08728071e+00] [ 3.65507928e-02 -1.45629368e-03 9.99330735e-01 6.41330046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.239254154 meters Centerline goodness : 0.998697 with order 1 Centerline is valid? [True, True] Translation: X:177.76, Y:9.09, Z:6.42 [[ 9.94647264e-01 -9.66547619e-02 -3.65332267e-02 1.77759081e+02] [ 9.66520250e-02 9.95316523e-01 -1.84515215e-03 9.08901688e+00] [ 3.65404669e-02 -1.69573480e-03 9.99330735e-01 6.41731185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.299254154 meters Centerline goodness : 0.998824 with order 1 Centerline is valid? [True, True] Translation: X:177.82, Y:9.09, Z:6.42 [[ 9.94196797e-01 -1.01183213e-01 -3.65333604e-02 1.77821392e+02] [ 1.01183621e-01 9.94866061e-01 -1.84250073e-03 9.09122576e+00] [ 3.65322305e-02 -1.86476937e-03 9.99330735e-01 6.42000378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.359254154 meters Centerline goodness : 0.998718 with order 1 Centerline is valid? [True, True] Translation: X:177.88, Y:9.10, Z:6.42 [[ 9.94220437e-01 -1.00950618e-01 -3.65334954e-02 1.77883013e+02] [ 1.00950968e-01 9.94889701e-01 -1.83981990e-03 9.09648171e+00] [ 3.65325293e-02 -1.85890518e-03 9.99330735e-01 6.42266339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.41925415400001 meters Centerline goodness : 0.998780 with order 1 Centerline is valid? [True, True] Translation: X:177.95, Y:9.10, Z:6.43 [[ 9.94437163e-01 -9.87928241e-02 -3.65336324e-02 1.77945125e+02] [ 9.87918212e-02 9.95106427e-01 -1.83709560e-03 9.10138175e+00] [ 3.65363443e-02 -1.78234794e-03 9.99330735e-01 6.42563642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.479254154 meters Centerline goodness : 0.998925 with order 1 Centerline is valid? [True, True] Translation: X:178.01, Y:9.11, Z:6.43 [[ 9.94989489e-01 -9.30655688e-02 -3.65337670e-02 1.78005887e+02] [ 9.30608108e-02 9.95658737e-01 -1.83441445e-03 9.10799911e+00] [ 3.65458852e-02 -1.57463889e-03 9.99330735e-01 6.42985535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.539254154 meters Centerline goodness : 0.998902 with order 1 Centerline is valid? [True, True] Translation: X:178.07, Y:9.11, Z:6.43 [[ 9.95493230e-01 -8.75128429e-02 -3.65339788e-02 1.78067923e+02] [ 8.75045059e-02 9.96162443e-01 -1.83018756e-03 9.11434781e+00] [ 3.65539425e-02 -1.37494844e-03 9.99330735e-01 6.43345925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.599254154 meters Centerline goodness : 0.999155 with order 1 Centerline is valid? [True, True] Translation: X:178.13, Y:9.12, Z:6.44 [[ 9.96296930e-01 -7.78311320e-02 -3.65341132e-02 1.78129525e+02] [ 7.78163883e-02 9.96966033e-01 -1.82750030e-03 9.12283528e+00] [ 3.65655063e-02 -1.02221979e-03 9.99330735e-01 6.43609665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.659254154 meters Centerline goodness : 0.998795 with order 1 Centerline is valid? [True, True] Translation: X:178.19, Y:9.13, Z:6.44 [[ 9.96759895e-01 -7.16586363e-02 -3.65342484e-02 1.78191036e+02] [ 7.16398476e-02 9.97428896e-01 -1.82479287e-03 9.12904226e+00] [ 3.65710772e-02 -7.98427643e-04 9.99330735e-01 6.43769471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.719254154 meters Centerline goodness : 0.998898 with order 1 Centerline is valid? [True, True] Translation: X:178.25, Y:9.14, Z:6.44 [[ 9.97114619e-01 -6.65407813e-02 -3.65343844e-02 1.78252214e+02] [ 6.65186584e-02 9.97783518e-01 -1.82206733e-03 9.13593530e+00] [ 3.65746483e-02 -6.13408263e-04 9.99330735e-01 6.44025345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.779254154 meters Centerline goodness : 0.998898 with order 1 Centerline is valid? [True, True] Translation: X:178.31, Y:9.14, Z:6.44 [[ 9.97105340e-01 -6.66796386e-02 -3.65344515e-02 1.78312952e+02] [ 6.66576582e-02 9.97774244e-01 -1.82072018e-03 9.14043189e+00] [ 3.65745397e-02 -6.19851164e-04 9.99330735e-01 6.44080470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.839254154 meters Centerline goodness : 0.999005 with order 1 Centerline is valid? [True, True] Translation: X:178.37, Y:9.14, Z:6.44 [[ 9.96995026e-01 -6.83092012e-02 -3.65345176e-02 1.78373945e+02] [ 6.82883627e-02 9.97663966e-01 -1.81939357e-03 9.14394365e+00] [ 3.65734530e-02 -6.80956044e-04 9.99330735e-01 6.44195896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.899254154 meters Centerline goodness : 0.998769 with order 1 Centerline is valid? [True, True] Translation: X:178.43, Y:9.15, Z:6.44 [[ 9.96822245e-01 -7.07858485e-02 -3.65345845e-02 1.78434570e+02] [ 7.07667211e-02 9.97491236e-01 -1.81804948e-03 9.14724745e+00] [ 3.65716200e-02 -7.73160584e-04 9.99330735e-01 6.44154343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.959254154 meters Centerline goodness : 0.998961 with order 1 Centerline is valid? [True, True] Translation: X:178.50, Y:9.15, Z:6.45 [[ 9.96636728e-01 -7.33515807e-02 -3.65346173e-02 1.78495237e+02] [ 7.33341997e-02 9.97305767e-01 -1.81738839e-03 9.15159810e+00] [ 3.65694929e-02 -8.67960901e-04 9.99330735e-01 6.44737311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.019254154 meters Centerline goodness : 0.999237 with order 1 Centerline is valid? [True, True] Translation: X:178.56, Y:9.16, Z:6.45 [[ 9.96359261e-01 -7.70288236e-02 -3.65346846e-02 1.78557684e+02] [ 7.70139612e-02 9.97028361e-01 -1.81603420e-03 9.15506845e+00] [ 3.65660037e-02 -1.00425829e-03 9.99330735e-01 6.45139611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.079254154 meters Centerline goodness : 0.998960 with order 1 Centerline is valid? [True, True] Translation: X:178.62, Y:9.16, Z:6.45 [[ 9.96071762e-01 -8.06613454e-02 -3.65348192e-02 1.78619770e+02] [ 8.06490222e-02 9.96740913e-01 -1.81332376e-03 9.15666369e+00] [ 3.65620141e-02 -1.14029685e-03 9.99330735e-01 6.45220147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.139254154 meters Centerline goodness : 0.998983 with order 1 Centerline is valid? [True, True] Translation: X:178.68, Y:9.16, Z:6.45 [[ 9.95341403e-01 -8.92226911e-02 -3.65349547e-02 1.78681309e+02] [ 8.92162220e-02 9.96010636e-01 -1.81058920e-03 9.15843435e+00] [ 3.65507491e-02 -1.45735624e-03 9.99330735e-01 6.45391211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.19925415400002 meters Centerline goodness : 0.999216 with order 1 Centerline is valid? [True, True] Translation: X:178.74, Y:9.16, Z:6.46 [[ 9.94820352e-01 -9.48559796e-02 -3.65350547e-02 1.78743453e+02] [ 9.48533732e-02 9.95489612e-01 -1.80856985e-03 9.16082137e+00] [ 3.65418210e-02 -1.66627108e-03 9.99330735e-01 6.45549822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.259254154 meters Centerline goodness : 0.999300 with order 1 Centerline is valid? [True, True] Translation: X:178.81, Y:9.16, Z:6.46 [[ 9.94106686e-01 -1.02064081e-01 -3.65351897e-02 1.78805255e+02] [ 1.02066426e-01 9.94775946e-01 -1.80583767e-03 9.16360608e+00] [ 3.65286391e-02 -1.93382093e-03 9.99330735e-01 6.45632158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.319254154 meters Centerline goodness : 0.999025 with order 1 Centerline is valid? [True, True] Translation: X:178.87, Y:9.17, Z:6.46 [[ 9.93810649e-01 -1.04907407e-01 -3.65353234e-02 1.78866774e+02] [ 1.04911765e-01 9.94479899e-01 -1.80312867e-03 9.16740249e+00] [ 3.65228063e-02 -2.04101679e-03 9.99330735e-01 6.45744095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.379254154 meters Centerline goodness : 0.999173 with order 1 Centerline is valid? [True, True] Translation: X:178.93, Y:9.17, Z:6.46 [[ 9.93820709e-01 -1.04812031e-01 -3.65354221e-02 1.78929420e+02] [ 1.04816399e-01 9.94489959e-01 -1.80112598e-03 9.17226428e+00] [ 3.65228901e-02 -2.03951509e-03 9.99330735e-01 6.45954249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.439254154 meters Centerline goodness : 0.999172 with order 1 Centerline is valid? [True, True] Translation: X:178.99, Y:9.18, Z:6.46 [[ 9.94042869e-01 -1.02683604e-01 -3.65356222e-02 1.78991553e+02] [ 1.02686687e-01 9.94712127e-01 -1.79705770e-03 9.17887844e+00] [ 3.65269548e-02 -1.96536962e-03 9.99330735e-01 6.46441478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.499254154 meters Centerline goodness : 0.999363 with order 1 Centerline is valid? [True, True] Translation: X:179.05, Y:9.18, Z:6.47 [[ 9.94275693e-01 -1.00404105e-01 -3.65357582e-02 1.79053182e+02] [ 1.00405755e-01 9.94944956e-01 -1.79428837e-03 9.18372056e+00] [ 3.65312223e-02 -1.88438309e-03 9.99330735e-01 6.46639577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.559254154 meters Centerline goodness : 0.999404 with order 1 Centerline is valid? [True, True] Translation: X:179.12, Y:9.19, Z:6.47 [[ 9.94750943e-01 -9.55807897e-02 -3.65359257e-02 1.79116070e+02] [ 9.55793195e-02 9.95420206e-01 -1.79087138e-03 9.19043171e+00] [ 3.65397716e-02 -1.71060792e-03 9.99330735e-01 6.46844726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.619254154 meters Centerline goodness : 0.999489 with order 1 Centerline is valid? [True, True] Translation: X:179.18, Y:9.20, Z:6.47 [[ 9.95145642e-01 -9.13797690e-02 -3.65361262e-02 1.79178017e+02] [ 9.13756232e-02 9.95814894e-01 -1.78677224e-03 9.19680100e+00] [ 3.65464935e-02 -1.56041269e-03 9.99330736e-01 6.47034276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.679254154 meters Centerline goodness : 0.999295 with order 1 Centerline is valid? [True, True] Translation: X:179.24, Y:9.21, Z:6.47 [[ 9.95962363e-01 -8.20004532e-02 -3.65362571e-02 1.79240190e+02] [ 8.19901008e-02 9.96631547e-01 -1.78409120e-03 9.20642455e+00] [ 3.65594827e-02 -1.21872372e-03 9.99330736e-01 6.47161159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.739254154 meters Centerline goodness : 0.999486 with order 1 Centerline is valid? [True, True] Translation: X:179.30, Y:9.21, Z:6.47 [[ 9.96211075e-01 -7.89213977e-02 -3.65363860e-02 1.79302201e+02] [ 7.89090737e-02 9.96880226e-01 -1.78144718e-03 9.21092328e+00] [ 3.65629951e-02 -1.10835497e-03 9.99330736e-01 6.47419803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.799254154 meters Centerline goodness : 0.999333 with order 1 Centerline is valid? [True, True] Translation: X:179.36, Y:9.22, Z:6.48 [[ 9.97017596e-01 -6.79779133e-02 -3.65365165e-02 1.79363810e+02] [ 6.79583407e-02 9.97686574e-01 -1.77876698e-03 9.21903799e+00] [ 3.65729089e-02 -7.09499063e-04 9.99330736e-01 6.47789292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.859254154 meters Centerline goodness : 0.999246 with order 1 Centerline is valid? [True, True] Translation: X:179.42, Y:9.23, Z:6.48 [[ 9.97553711e-01 -5.95958629e-02 -3.65366489e-02 1.79424322e+02] [ 5.95707682e-02 9.98222505e-01 -1.77604365e-03 9.22503970e+00] [ 3.65775500e-02 -4.04817309e-04 9.99330736e-01 6.47942465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.91925415400001 meters Centerline goodness : 0.999632 with order 1 Centerline is valid? [True, True] Translation: X:179.49, Y:9.23, Z:6.48 [[ 9.98120035e-01 -4.92083579e-02 -3.65367464e-02 1.79485681e+02] [ 4.91763761e-02 9.98788535e-01 -1.77403528e-03 9.23217592e+00] [ 3.65797808e-02 -2.60446245e-05 9.99330736e-01 6.48318322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.979254154 meters Centerline goodness : 0.999567 with order 1 Centerline is valid? [True, True] Translation: X:179.55, Y:9.24, Z:6.49 [[ 9.98240421e-01 -4.67025056e-02 -3.65368112e-02 1.79545172e+02] [ 4.66688946e-02 9.98908841e-01 -1.77269977e-03 9.23588132e+00] [ 3.65797332e-02 6.44479718e-05 9.99330736e-01 6.48511361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.039254154 meters Centerline goodness : 0.999697 with order 1 Centerline is valid? [True, True] Translation: X:179.60, Y:9.24, Z:6.49 [[ 9.98422938e-01 -4.26228022e-02 -3.65367466e-02 1.79602953e+02] [ 4.25864112e-02 9.99091212e-01 -1.77402949e-03 9.23908040e+00] [ 3.65791566e-02 2.15262817e-04 9.99330736e-01 6.48679274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.099254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:179.66, Y:9.24, Z:6.49 [[ 9.98438154e-01 -4.22650744e-02 -3.65365153e-02 1.79660351e+02] [ 4.22282701e-02 9.99106405e-01 -1.77878130e-03 9.24140180e+00] [ 3.65790468e-02 2.33129276e-04 9.99330736e-01 6.48912446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.159254154 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:179.72, Y:9.24, Z:6.49 [[ 9.98443563e-01 -4.21375235e-02 -3.65360095e-02 1.79717884e+02] [ 4.21002559e-02 9.99111789e-01 -1.78910991e-03 9.24165756e+00] [ 3.65789465e-02 2.48149922e-04 9.99330736e-01 6.49074043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.219254154 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:179.78, Y:9.24, Z:6.49 [[ 9.98392755e-01 -4.33248087e-02 -3.65358539e-02 1.79775278e+02] [ 4.32882197e-02 9.99061018e-01 -1.79228164e-03 9.24225913e+00] [ 3.65791977e-02 2.07828935e-04 9.99330736e-01 6.49351607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.279254154 meters Centerline goodness : 0.999203 with order 1 Centerline is valid? [True, True] Translation: X:179.83, Y:9.24, Z:6.50 [[ 9.98292374e-01 -4.55796453e-02 -3.65353405e-02 1.79833117e+02] [ 4.55441849e-02 9.98960699e-01 -1.80268798e-03 9.24084772e+00] [ 3.65795351e-02 1.35637357e-04 9.99330736e-01 6.49591299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.339254154 meters Centerline goodness : 0.999312 with order 1 Centerline is valid? [True, True] Translation: X:179.89, Y:9.24, Z:6.50 [[ 9.98243645e-01 -4.66350912e-02 -3.65348134e-02 1.79890688e+02] [ 4.65999488e-02 9.98911986e-01 -1.81330802e-03 9.24104188e+00] [ 3.65796268e-02 1.07602779e-04 9.99330736e-01 6.49839574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.399254154 meters Centerline goodness : 0.999250 with order 1 Centerline is valid? [True, True] Translation: X:179.95, Y:9.24, Z:6.50 [[ 9.98257022e-01 -4.63482973e-02 -3.65342746e-02 1.79948342e+02] [ 4.63125679e-02 9.98925332e-01 -1.82409930e-03 9.23794873e+00] [ 3.65795563e-02 1.28923864e-04 9.99330736e-01 6.49968270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.459254154 meters Centerline goodness : 0.999229 with order 1 Centerline is valid? [True, True] Translation: X:180.01, Y:9.24, Z:6.50 [[ 9.98323267e-01 -4.48992252e-02 -3.65337345e-02 1.80005908e+02] [ 4.48621322e-02 9.98991503e-01 -1.83485328e-03 9.23718731e+00] [ 3.65792738e-02 1.92795495e-04 9.99330736e-01 6.50234156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.519254154 meters Centerline goodness : 0.999358 with order 1 Centerline is valid? [True, True] Translation: X:180.06, Y:9.24, Z:6.50 [[ 9.98517646e-01 -4.03464753e-02 -3.65331791e-02 1.80062932e+02] [ 4.03059335e-02 9.99185681e-01 -1.84584565e-03 9.23503617e+00] [ 3.65779028e-02 3.70605567e-04 9.99330736e-01 6.50368451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.579254154 meters Centerline goodness : 0.999102 with order 1 Centerline is valid? [True, True] Translation: X:180.12, Y:9.23, Z:6.51 [[ 9.98720816e-01 -3.49582151e-02 -3.65329400e-02 1.80121142e+02] [ 3.49138967e-02 9.99388611e-01 -1.85056552e-03 9.23299028e+00] [ 3.65752966e-02 5.72691013e-04 9.99330736e-01 6.50509020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.639254154 meters Centerline goodness : 0.999316 with order 1 Centerline is valid? [True, True] Translation: X:180.18, Y:9.23, Z:6.51 [[ 9.98815776e-01 -3.21314250e-02 -3.65323996e-02 1.80178964e+02] [ 3.20848289e-02 9.99483416e-01 -1.86117285e-03 9.23147413e+00] [ 3.65733297e-02 6.86833014e-04 9.99330736e-01 6.50694797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.69925415400002 meters Centerline goodness : 0.999043 with order 1 Centerline is valid? [True, True] Translation: X:180.24, Y:9.23, Z:6.51 [[ 9.98859555e-01 -3.07410619e-02 -3.65318579e-02 1.80236960e+02] [ 3.06931501e-02 9.99527102e-01 -1.87174536e-03 9.22958432e+00] [ 3.65721215e-02 7.48332935e-04 9.99330736e-01 6.50857811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.759254154 meters Centerline goodness : 0.998916 with order 1 Centerline is valid? [True, True] Translation: X:180.30, Y:9.22, Z:6.51 [[ 9.98824013e-01 -3.18756072e-02 -3.65313161e-02 1.80295553e+02] [ 3.18280691e-02 9.99491586e-01 -1.88226227e-03 9.22337623e+00] [ 3.65727413e-02 7.17327504e-04 9.99330736e-01 6.51226837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.819254154 meters Centerline goodness : 0.998856 with order 1 Centerline is valid? [True, True] Translation: X:180.35, Y:9.22, Z:6.51 [[ 9.98629344e-01 -3.74821159e-02 -3.65311411e-02 1.80354834e+02] [ 3.74382020e-02 9.99297166e-01 -1.88565241e-03 9.21543887e+00] [ 3.65761440e-02 5.15407595e-04 9.99330736e-01 6.51482241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.879254154 meters Centerline goodness : 0.999282 with order 1 Centerline is valid? [True, True] Translation: X:180.41, Y:9.21, Z:6.52 [[ 9.98427091e-01 -4.25306407e-02 -3.65306510e-02 1.80413304e+02] [ 4.24897582e-02 9.99095105e-01 -1.89509989e-03 9.20999770e+00] [ 3.65781944e-02 3.39940545e-04 9.99330736e-01 6.51674107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.939254154 meters Centerline goodness : 0.999241 with order 1 Centerline is valid? [True, True] Translation: X:180.47, Y:9.20, Z:6.52 [[ 9.98001448e-01 -5.15622114e-02 -3.65300860e-02 1.80472141e+02] [ 5.15269781e-02 9.98669784e-01 -1.90592885e-03 9.20007883e+00] [ 3.65797670e-02 1.98348115e-05 9.99330736e-01 6.51910546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.999254154 meters Centerline goodness : 0.999138 with order 1 Centerline is valid? [True, True] Translation: X:180.53, Y:9.19, Z:6.52 [[ 9.97655478e-01 -5.78717720e-02 -3.65295130e-02 1.80531518e+02] [ 5.78403657e-02 9.98324004e-01 -1.91684748e-03 9.19466649e+00] [ 3.65792211e-02 -2.00527005e-04 9.99330736e-01 6.52168429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.059254154 meters Centerline goodness : 0.999107 with order 1 Centerline is valid? [True, True] Translation: X:180.59, Y:9.18, Z:6.52 [[ 9.97197290e-01 -6.52931523e-02 -3.65290120e-02 1.80589821e+02] [ 6.52663730e-02 9.97866018e-01 -1.92634813e-03 9.18421108e+00] [ 3.65768371e-02 -4.63166989e-04 9.99330736e-01 6.52446980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.119254154 meters Centerline goodness : 0.999164 with order 1 Centerline is valid? [True, True] Translation: X:180.65, Y:9.18, Z:6.53 [[ 9.96862102e-01 -7.02253005e-02 -3.65288359e-02 1.80648535e+02] [ 7.02017075e-02 9.97530950e-01 -1.92968138e-03 9.17586112e+00] [ 3.65741569e-02 -6.40760423e-04 9.99330736e-01 6.52581982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.179254154 meters Centerline goodness : 0.999416 with order 1 Centerline is valid? [True, True] Translation: X:180.71, Y:9.17, Z:6.53 [[ 9.96773436e-01 -7.14730956e-02 -3.65282644e-02 1.80707014e+02] [ 7.14499457e-02 9.97442299e-01 -1.94044055e-03 9.17188598e+00] [ 3.65735253e-02 -6.75762911e-04 9.99330736e-01 6.52681500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.239254154 meters Centerline goodness : 0.999540 with order 1 Centerline is valid? [True, True] Translation: X:180.76, Y:9.17, Z:6.53 [[ 9.96756441e-01 -7.17100093e-02 -3.65276825e-02 1.80764864e+02] [ 7.16866194e-02 9.97425296e-01 -1.95133325e-03 9.16527834e+00] [ 3.65735646e-02 -6.73542083e-04 9.99330736e-01 6.52825554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.299254154 meters Centerline goodness : 0.999478 with order 1 Centerline is valid? [True, True] Translation: X:180.82, Y:9.16, Z:6.53 [[ 9.96736557e-01 -7.19859903e-02 -3.65274319e-02 1.80823412e+02] [ 7.19626141e-02 9.97405412e-01 -1.95601285e-03 9.16239450e+00] [ 3.65734638e-02 -6.78979975e-04 9.99330736e-01 6.53025713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.359254154 meters Centerline goodness : 0.999126 with order 1 Centerline is valid? [True, True] Translation: X:180.88, Y:9.16, Z:6.53 [[ 9.96653452e-01 -7.31278847e-02 -3.65268362e-02 1.80881864e+02] [ 7.31048695e-02 9.97322319e-01 -1.96707557e-03 9.15714905e+00] [ 3.65728770e-02 -7.09796932e-04 9.99330736e-01 6.52977050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.41925415400001 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:180.94, Y:9.16, Z:6.53 [[ 9.96481841e-01 -7.54305931e-02 -3.65262372e-02 1.80939830e+02] [ 7.54087183e-02 9.97150747e-01 -1.97813519e-03 9.15594826e+00] [ 3.65713766e-02 -7.83220936e-04 9.99330737e-01 6.53132883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.479254154 meters Centerline goodness : 0.999351 with order 1 Centerline is valid? [True, True] Translation: X:181.00, Y:9.15, Z:6.53 [[ 9.96118894e-01 -8.00813730e-02 -3.65256392e-02 1.80997289e+02] [ 8.00622185e-02 9.96787883e-01 -1.98911530e-03 9.15388650e+00] [ 3.65676057e-02 -9.42928377e-04 9.99330737e-01 6.53316855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.539254154 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:181.06, Y:9.15, Z:6.54 [[ 9.95836840e-01 -8.35157702e-02 -3.65253818e-02 1.81055521e+02] [ 8.34987498e-02 9.96505887e-01 -1.99383165e-03 9.15385173e+00] [ 3.65642744e-02 -1.06429271e-03 9.99330737e-01 6.53573023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.599254154 meters Centerline goodness : 0.999624 with order 1 Centerline is valid? [True, True] Translation: X:181.11, Y:9.15, Z:6.54 [[ 9.95489531e-01 -8.75587405e-02 -3.65247834e-02 1.81113644e+02] [ 8.75440375e-02 9.96158633e-01 -2.00473332e-03 9.15451986e+00] [ 3.65600103e-02 -1.20183598e-03 9.99330737e-01 6.53819056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.659254154 meters Centerline goodness : 0.999541 with order 1 Centerline is valid? [True, True] Translation: X:181.17, Y:9.15, Z:6.54 [[ 9.95073569e-01 -9.21658559e-02 -3.65245998e-02 1.81171181e+02] [ 9.21541277e-02 9.95742730e-01 -2.00807405e-03 9.15451607e+00] [ 3.65541806e-02 -1.36771122e-03 9.99330737e-01 6.54089911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.719254154 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:181.23, Y:9.16, Z:6.55 [[ 9.94900678e-01 -9.40140284e-02 -3.65240054e-02 1.81228576e+02] [ 9.40031490e-02 9.95569853e-01 -2.01882794e-03 9.15723137e+00] [ 3.65519968e-02 -1.42483824e-03 9.99330737e-01 6.54535741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.779254154 meters Centerline goodness : 0.999540 with order 1 Centerline is valid? [True, True] Translation: X:181.29, Y:9.16, Z:6.55 [[ 9.94742978e-01 -9.56684268e-02 -3.65234057e-02 1.81286570e+02] [ 9.56582648e-02 9.95412164e-01 -2.02961879e-03 9.15996493e+00] [ 3.65500128e-02 -1.47481657e-03 9.99330737e-01 6.54720676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.839254154 meters Centerline goodness : 0.999541 with order 1 Centerline is valid? [True, True] Translation: X:181.34, Y:9.17, Z:6.55 [[ 9.94653708e-01 -9.65923691e-02 -3.65228085e-02 1.81343868e+02] [ 9.65824367e-02 9.95322897e-01 -2.04030949e-03 9.16527097e+00] [ 3.65490659e-02 -1.49806044e-03 9.99330737e-01 6.54900537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.899254154 meters Centerline goodness : 0.999520 with order 1 Centerline is valid? [True, True] Translation: X:181.40, Y:9.17, Z:6.55 [[ 9.94620866e-01 -9.69301909e-02 -3.65221927e-02 1.81401425e+02] [ 9.69200840e-02 9.95290053e-01 -2.05127284e-03 9.16956793e+00] [ 3.65490054e-02 -1.49949521e-03 9.99330737e-01 6.55105595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.959254154 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:181.46, Y:9.18, Z:6.55 [[ 9.94544942e-01 -9.77063600e-02 -3.65215797e-02 1.81459502e+02] [ 9.76963772e-02 9.95214130e-01 -2.06212999e-03 9.17531463e+00] [ 3.65482754e-02 -1.51714507e-03 9.99330737e-01 6.55233826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.019254154 meters Centerline goodness : 0.999417 with order 1 Centerline is valid? [True, True] Translation: X:181.52, Y:9.18, Z:6.55 [[ 9.94396046e-01 -9.92104931e-02 -3.65209748e-02 1.81516727e+02] [ 9.92011318e-02 9.95065244e-01 -2.07278874e-03 9.18150881e+00] [ 3.65463950e-02 -1.56174910e-03 9.99330737e-01 6.55228928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.079254154 meters Centerline goodness : 0.999541 with order 1 Centerline is valid? [True, True] Translation: X:181.57, Y:9.19, Z:6.56 [[ 9.94091645e-01 -1.02215658e-01 -3.65206923e-02 1.81574003e+02] [ 1.02208138e-01 9.94760866e-01 -2.07775408e-03 9.19003175e+00] [ 3.65417344e-02 -1.66723397e-03 9.99330737e-01 6.55573463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.139254154 meters Centerline goodness : 0.999415 with order 1 Centerline is valid? [True, True] Translation: X:181.63, Y:9.20, Z:6.56 [[ 9.93846255e-01 -1.04574872e-01 -3.65200919e-02 1.81632454e+02] [ 1.04568555e-01 9.94515488e-01 -2.08825334e-03 9.19619130e+00] [ 3.65381759e-02 -1.74345047e-03 9.99330737e-01 6.55770608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.19925415400002 meters Centerline goodness : 0.999395 with order 1 Centerline is valid? [True, True] Translation: X:181.69, Y:9.20, Z:6.56 [[ 9.93545937e-01 -1.07390846e-01 -3.65195458e-02 1.81691449e+02] [ 1.07386077e-01 9.94215183e-01 -2.09776046e-03 9.20450016e+00] [ 3.65335672e-02 -1.83746937e-03 9.99330737e-01 6.56067632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.259254154 meters Centerline goodness : 0.999478 with order 1 Centerline is valid? [True, True] Translation: X:181.75, Y:9.21, Z:6.56 [[ 9.93447583e-01 -1.08296947e-01 -3.65194684e-02 1.81751202e+02] [ 1.08292739e-01 9.94116832e-01 -2.09910769e-03 9.21339029e+00] [ 3.65319452e-02 -1.86943980e-03 9.99330737e-01 6.56300078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.319254154 meters Centerline goodness : 0.999478 with order 1 Centerline is valid? [True, True] Translation: X:181.81, Y:9.22, Z:6.57 [[ 9.93755125e-01 -1.05437564e-01 -3.65194684e-02 1.81811496e+02] [ 1.05431429e-01 9.94424360e-01 -2.09910769e-03 9.21994941e+00] [ 3.65371738e-02 -1.76430073e-03 9.99330737e-01 6.56641571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.379254154 meters Centerline goodness : 0.999436 with order 1 Centerline is valid? [True, True] Translation: X:181.87, Y:9.23, Z:6.57 [[ 9.94045882e-01 -1.02660180e-01 -3.65194684e-02 1.81870779e+02] [ 1.02652176e-01 9.94715097e-01 -2.09910769e-03 9.22935664e+00] [ 3.65419613e-02 -1.66219352e-03 9.99330737e-01 6.56881584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.439254154 meters Centerline goodness : 0.999541 with order 1 Centerline is valid? [True, True] Translation: X:181.93, Y:9.23, Z:6.57 [[ 9.95495229e-01 -8.74961689e-02 -3.65194295e-02 1.81930861e+02] [ 8.74779400e-02 9.96164244e-01 -2.09978416e-03 9.23478426e+00] [ 3.65630729e-02 -1.10431935e-03 9.99330737e-01 6.56526272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.499254154 meters Centerline goodness : 0.999249 with order 1 Centerline is valid? [True, True] Translation: X:181.99, Y:9.25, Z:6.57 [[ 9.96136313e-01 -7.98673195e-02 -3.65192601e-02 1.81989883e+02] [ 7.98438583e-02 9.96805165e-01 -2.10272519e-03 9.25197178e+00] [ 3.65705261e-02 -8.21237706e-04 9.99330737e-01 6.57142272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.559254154 meters Centerline goodness : 0.999750 with order 1 Centerline is valid? [True, True] Translation: X:182.05, Y:9.26, Z:6.57 [[ 9.96619021e-01 -7.35994244e-02 -3.65191842e-02 1.82048651e+02] [ 7.35717079e-02 9.97287710e-01 -2.10404259e-03 9.26078773e+00] [ 3.65749899e-02 -5.89849883e-04 9.99330737e-01 6.57479330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.619254154 meters Centerline goodness : 0.999271 with order 1 Centerline is valid? [True, True] Translation: X:182.11, Y:9.27, Z:6.58 [[ 9.96988035e-01 -6.84196083e-02 -3.65186933e-02 1.82107382e+02] [ 6.83881065e-02 9.97656556e-01 -2.11252983e-03 9.26996867e+00] [ 3.65776522e-02 -3.91277324e-04 9.99330737e-01 6.57680293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.679254154 meters Centerline goodness : 0.999375 with order 1 Centerline is valid? [True, True] Translation: X:182.17, Y:9.28, Z:6.58 [[ 9.96972234e-01 -6.86497614e-02 -3.65181449e-02 1.82165109e+02] [ 6.86180684e-02 9.97640746e-01 -2.12196737e-03 9.27502051e+00] [ 3.65776618e-02 -3.90262011e-04 9.99330737e-01 6.57847195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.739254154 meters Centerline goodness : 0.999332 with order 1 Centerline is valid? [True, True] Translation: X:182.22, Y:9.28, Z:6.58 [[ 9.96601895e-01 -7.38315822e-02 -3.65179526e-02 1.82223096e+02] [ 7.38032437e-02 9.97270557e-01 -2.12527200e-03 9.27979426e+00] [ 3.65751911e-02 -5.77093251e-04 9.99330737e-01 6.58033567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.799254154 meters Centerline goodness : 0.999273 with order 1 Centerline is valid? [True, True] Translation: X:182.28, Y:9.28, Z:6.58 [[ 9.96184961e-01 -7.92591212e-02 -3.65173387e-02 1.82281593e+02] [ 7.92340409e-02 9.96853753e-01 -2.13576783e-03 9.28378785e+00] [ 3.65717252e-02 -7.65796514e-04 9.99330737e-01 6.58243951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.859254154 meters Centerline goodness : 0.999270 with order 1 Centerline is valid? [True, True] Translation: X:182.34, Y:9.29, Z:6.58 [[ 9.95429610e-01 -8.82406585e-02 -3.65168065e-02 1.82340848e+02] [ 8.82212791e-02 9.96098592e-01 -2.14482837e-03 9.28673863e+00] [ 3.65636006e-02 -1.08653371e-03 9.99330737e-01 6.58464658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.91925415400001 meters Centerline goodness : 0.999270 with order 1 Centerline is valid? [True, True] Translation: X:182.40, Y:9.29, Z:6.59 [[ 9.94781517e-01 -9.52694009e-02 -3.65167659e-02 1.82400341e+02] [ 9.52547218e-02 9.95450619e-01 -2.14551956e-03 9.29004450e+00] [ 3.65550396e-02 -1.34407117e-03 9.99330737e-01 6.58534677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.979254154 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:182.46, Y:9.29, Z:6.59 [[ 9.94167184e-01 -1.01479745e-01 -3.65167252e-02 1.82460140e+02] [ 1.01469219e-01 9.94836364e-01 -2.14621133e-03 9.29438843e+00] [ 3.65459632e-02 -1.57163073e-03 9.99330737e-01 6.58802928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.039254154 meters Centerline goodness : 0.999146 with order 1 Centerline is valid? [True, True] Translation: X:182.52, Y:9.30, Z:6.59 [[ 9.93710424e-01 -1.05858931e-01 -3.65168530e-02 1.82521163e+02] [ 1.05851433e-01 9.94379644e-01 -2.14403588e-03 9.29866373e+00] [ 3.65385806e-02 -1.73481042e-03 9.99330737e-01 6.58994585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.099254154 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:182.58, Y:9.30, Z:6.59 [[ 9.93400000e-01 -1.08733409e-01 -3.65169293e-02 1.82582324e+02] [ 1.08727896e-01 9.94069240e-01 -2.14273502e-03 9.30320915e+00] [ 3.65333430e-02 -1.84181591e-03 9.99330737e-01 6.59222148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.159254154 meters Centerline goodness : 0.999123 with order 1 Centerline is valid? [True, True] Translation: X:182.64, Y:9.31, Z:6.60 [[ 9.92932734e-01 -1.12920738e-01 -3.65170046e-02 1.82644179e+02] [ 1.12918093e-01 9.93601992e-01 -2.14145042e-03 9.30946729e+00] [ 3.65251827e-02 -1.99711432e-03 9.99330737e-01 6.59531303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.219254154 meters Centerline goodness : 0.999226 with order 1 Centerline is valid? [True, True] Translation: X:182.71, Y:9.32, Z:6.60 [[ 9.92374303e-01 -1.17727392e-01 -3.65171637e-02 1.82705178e+02] [ 1.17728087e-01 9.93043566e-01 -2.13873509e-03 9.31810053e+00] [ 3.65149221e-02 -2.17667009e-03 9.99330737e-01 6.60446821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.279254154 meters Centerline goodness : 0.999120 with order 1 Centerline is valid? [True, True] Translation: X:182.77, Y:9.32, Z:6.60 [[ 9.92486989e-01 -1.16773560e-01 -3.65172880e-02 1.82766907e+02] [ 1.16773690e-01 9.93156252e-01 -2.13660963e-03 9.32249913e+00] [ 3.65168724e-02 -2.14370121e-03 9.99330737e-01 6.59639899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.339254154 meters Centerline goodness : 0.998973 with order 1 Centerline is valid? [True, True] Translation: X:182.83, Y:9.33, Z:6.60 [[ 9.92503452e-01 -1.16633515e-01 -3.65174101e-02 1.82828635e+02] [ 1.16633628e-01 9.93172714e-01 -2.13452074e-03 9.33127455e+00] [ 3.65170520e-02 -2.14063881e-03 9.99330737e-01 6.59823710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.399254154 meters Centerline goodness : 0.999079 with order 1 Centerline is valid? [True, True] Translation: X:182.89, Y:9.34, Z:6.60 [[ 9.92770025e-01 -1.14342229e-01 -3.65175687e-02 1.82890739e+02] [ 1.14340896e-01 9.93439286e-01 -2.13180389e-03 9.33828110e+00] [ 3.65217426e-02 -2.05906052e-03 9.99330737e-01 6.60136263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.459254154 meters Centerline goodness : 0.999331 with order 1 Centerline is valid? [True, True] Translation: X:182.95, Y:9.35, Z:6.60 [[ 9.93077027e-01 -1.11644411e-01 -3.65177301e-02 1.82951928e+02] [ 1.11641361e-01 9.93746282e-01 -2.12903624e-03 9.34824208e+00] [ 3.65270535e-02 -1.96259210e-03 9.99330737e-01 6.60365173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.519254154 meters Centerline goodness : 0.999201 with order 1 Centerline is valid? [True, True] Translation: X:183.01, Y:9.36, Z:6.61 [[ 9.94062176e-01 -1.02502845e-01 -3.65178881e-02 1.83013732e+02] [ 1.02493737e-01 9.94731377e-01 -2.12632322e-03 9.35982476e+00] [ 3.65434433e-02 -1.62915732e-03 9.99330737e-01 6.60701025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.579254154 meters Centerline goodness : 0.999116 with order 1 Centerline is valid? [True, True] Translation: X:183.07, Y:9.37, Z:6.61 [[ 9.95226399e-01 -9.05033063e-02 -3.65180397e-02 1.83074786e+02] [ 9.04862216e-02 9.95895443e-01 -2.12371625e-03 9.37230753e+00] [ 3.65603526e-02 -1.19080095e-03 9.99330737e-01 6.61246919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.639254154 meters Centerline goodness : 0.998967 with order 1 Centerline is valid? [True, True] Translation: X:183.14, Y:9.38, Z:6.61 [[ 9.95877342e-01 -8.30345711e-02 -3.65181984e-02 1.83135803e+02] [ 8.30125679e-02 9.96546243e-01 -2.12098294e-03 9.38124773e+00] [ 3.65681884e-02 -9.19230571e-04 9.99330737e-01 6.61475058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.69925415400002 meters Centerline goodness : 0.999132 with order 1 Centerline is valid? [True, True] Translation: X:183.20, Y:9.39, Z:6.62 [[ 9.96591641e-01 -7.39696836e-02 -3.65183153e-02 1.83197680e+02] [ 7.39416687e-02 9.97260317e-01 -2.11896909e-03 9.39089852e+00] [ 3.65750061e-02 -5.88478289e-04 9.99330737e-01 6.61721793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.759254154 meters Centerline goodness : 0.999152 with order 1 Centerline is valid? [True, True] Translation: X:183.26, Y:9.40, Z:6.62 [[ 9.96742166e-01 -7.19128414e-02 -3.65184682e-02 1.83258585e+02] [ 7.18835433e-02 9.97410787e-01 -2.11632973e-03 9.39585041e+00] [ 3.65761054e-02 -5.15641818e-04 9.99330737e-01 6.61945575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.819254154 meters Centerline goodness : 0.999044 with order 1 Centerline is valid? [True, True] Translation: X:183.32, Y:9.40, Z:6.62 [[ 9.96942922e-01 -6.90739159e-02 -3.65185472e-02 1.83318470e+02] [ 6.90427636e-02 9.97611459e-01 -2.11496709e-03 9.40304523e+00] [ 3.65774102e-02 -4.12839953e-04 9.99330737e-01 6.62053888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.879254154 meters Centerline goodness : 0.999171 with order 1 Centerline is valid? [True, True] Translation: X:183.38, Y:9.41, Z:6.62 [[ 9.96927824e-01 -6.92914636e-02 -3.65185859e-02 1.83379899e+02] [ 6.92604817e-02 9.97596369e-01 -2.11429703e-03 9.40760498e+00] [ 3.65773115e-02 -4.21493317e-04 9.99330737e-01 6.62257166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.939254154 meters Centerline goodness : 0.999171 with order 1 Centerline is valid? [True, True] Translation: X:183.44, Y:9.41, Z:6.62 [[ 9.96738932e-01 -7.19575492e-02 -3.65186631e-02 1.83440611e+02] [ 7.19284044e-02 9.97407560e-01 -2.11296418e-03 9.41176085e+00] [ 3.65760343e-02 -5.20655507e-04 9.99330737e-01 6.62427620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.999254154 meters Centerline goodness : 0.999108 with order 1 Centerline is valid? [True, True] Translation: X:183.50, Y:9.42, Z:6.63 [[ 9.96547538e-01 -7.45612980e-02 -3.65187393e-02 1.83501902e+02] [ 7.45339483e-02 9.97216241e-01 -2.11164657e-03 9.41507809e+00] [ 3.65745270e-02 -6.17529631e-04 9.99330737e-01 6.62657747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.059254154 meters Centerline goodness : 0.999043 with order 1 Centerline is valid? [True, True] Translation: X:183.56, Y:9.42, Z:6.63 [[ 9.96221121e-01 -7.88026232e-02 -3.65188159e-02 1.83562399e+02] [ 7.87781688e-02 9.96889937e-01 -2.11031983e-03 9.41846331e+00] [ 3.65715388e-02 -7.74540257e-04 9.99330737e-01 6.62787990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.119254154 meters Centerline goodness : 0.998875 with order 1 Centerline is valid? [True, True] Translation: X:183.62, Y:9.42, Z:6.63 [[ 9.95746332e-01 -8.45908707e-02 -3.65188537e-02 1.83624278e+02] [ 8.45703276e-02 9.96415279e-01 -2.10966625e-03 9.42095516e+00] [ 3.65664023e-02 -9.87718985e-04 9.99330737e-01 6.63041943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.179254154 meters Centerline goodness : 0.998898 with order 1 Centerline is valid? [True, True] Translation: X:183.69, Y:9.42, Z:6.63 [[ 9.95416225e-01 -8.83906178e-02 -3.65190074e-02 1.83686560e+02] [ 8.83727256e-02 9.96085248e-01 -2.10700111e-03 9.42367410e+00] [ 3.65622837e-02 -1.12994113e-03 9.99330737e-01 6.63271387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.239254154 meters Centerline goodness : 0.998982 with order 1 Centerline is valid? [True, True] Translation: X:183.75, Y:9.43, Z:6.63 [[ 9.95022244e-01 -9.27204662e-02 -3.65191610e-02 1.83748472e+02] [ 9.27055825e-02 9.95691341e-01 -2.10433710e-03 9.42711374e+00] [ 3.65569275e-02 -1.29166786e-03 9.99330737e-01 6.63449612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.299254154 meters Centerline goodness : 0.999045 with order 1 Centerline is valid? [True, True] Translation: X:183.81, Y:9.43, Z:6.64 [[ 9.94569941e-01 -9.74524117e-02 -3.65193163e-02 1.83810129e+02] [ 9.74408098e-02 9.95239103e-01 -2.10163841e-03 9.43065285e+00] [ 3.65502613e-02 -1.46824536e-03 9.99330737e-01 6.63560217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.359254154 meters Centerline goodness : 0.998792 with order 1 Centerline is valid? [True, True] Translation: X:183.87, Y:9.43, Z:6.64 [[ 9.94391614e-01 -9.92554596e-02 -3.65194724e-02 1.83871915e+02] [ 9.92451705e-02 9.95060797e-01 -2.09892141e-03 9.43415190e+00] [ 3.65474248e-02 -1.53723141e-03 9.99330737e-01 6.63681080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.41925415400001 meters Centerline goodness : 0.998895 with order 1 Centerline is valid? [True, True] Translation: X:183.93, Y:9.44, Z:6.64 [[ 9.94577868e-01 -9.73713434e-02 -3.65196655e-02 1.83933422e+02] [ 9.73599098e-02 9.95247033e-01 -2.09555733e-03 9.43996268e+00] [ 3.65501359e-02 -1.47135640e-03 9.99330737e-01 6.63856515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.479254154 meters Centerline goodness : 0.998979 with order 1 Centerline is valid? [True, True] Translation: X:184.00, Y:9.45, Z:6.64 [[ 9.95236622e-01 -9.03900974e-02 -3.65198186e-02 1.83995287e+02] [ 9.03740666e-02 9.95905692e-01 -2.09288583e-03 9.44911528e+00] [ 3.65594713e-02 -1.21752789e-03 9.99330737e-01 6.64095135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.539254154 meters Centerline goodness : 0.999126 with order 1 Centerline is valid? [True, True] Translation: X:184.06, Y:9.46, Z:6.64 [[ 9.95630228e-01 -8.59461492e-02 -3.65199700e-02 1.84055845e+02] [ 8.59272286e-02 9.96299223e-01 -2.09023905e-03 9.45610184e+00] [ 3.65644658e-02 -1.05695463e-03 9.99330737e-01 6.64303330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.599254154 meters Centerline goodness : 0.999232 with order 1 Centerline is valid? [True, True] Translation: X:184.12, Y:9.46, Z:6.65 [[ 9.95909140e-01 -8.26514838e-02 -3.65200817e-02 1.84117670e+02] [ 8.26304214e-02 9.96578071e-01 -2.08828624e-03 9.46403082e+00] [ 3.65677126e-02 -9.37926392e-04 9.99330737e-01 6.64562496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.659254154 meters Centerline goodness : 0.999359 with order 1 Centerline is valid? [True, True] Translation: X:184.18, Y:9.47, Z:6.65 [[ 9.95896034e-01 -8.28091886e-02 -3.65202350e-02 1.84179592e+02] [ 8.27883304e-02 9.96564972e-01 -2.08560232e-03 9.47023393e+00] [ 3.65674940e-02 -9.46406207e-04 9.99330737e-01 6.64693212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.719254154 meters Centerline goodness : 0.999252 with order 1 Centerline is valid? [True, True] Translation: X:184.24, Y:9.48, Z:6.65 [[ 9.95810466e-01 -8.38318335e-02 -3.65203883e-02 1.84241055e+02] [ 8.38117608e-02 9.96479428e-01 -2.08291345e-03 9.47647676e+00] [ 3.65664301e-02 -9.86651037e-04 9.99330737e-01 6.64852631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.779254154 meters Centerline goodness : 0.999422 with order 1 Centerline is valid? [True, True] Translation: X:184.30, Y:9.48, Z:6.65 [[ 9.95786901e-01 -8.41112229e-02 -3.65205419e-02 1.84302254e+02] [ 8.40914368e-02 9.96455871e-01 -2.08021700e-03 9.48422781e+00] [ 3.65660780e-02 -9.99612003e-04 9.99330737e-01 6.65068488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.839254154 meters Centerline goodness : 0.999228 with order 1 Centerline is valid? [True, True] Translation: X:184.36, Y:9.49, Z:6.65 [[ 9.95872510e-01 -8.30914320e-02 -3.65206553e-02 1.84364430e+02] [ 8.30710338e-02 9.96541461e-01 -2.07822538e-03 9.49254851e+00] [ 3.65670299e-02 -9.64161062e-04 9.99330737e-01 6.65444124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.899254154 meters Centerline goodness : 0.999485 with order 1 Centerline is valid? [True, True] Translation: X:184.43, Y:9.50, Z:6.66 [[ 9.95963109e-01 -8.19982690e-02 -3.65208053e-02 1.84426337e+02] [ 8.19772333e-02 9.96632041e-01 -2.07558473e-03 9.50041802e+00] [ 3.65679991e-02 -9.26668758e-04 9.99330737e-01 6.65871726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.959254154 meters Centerline goodness : 0.999356 with order 1 Centerline is valid? [True, True] Translation: X:184.49, Y:9.51, Z:6.66 [[ 9.96090476e-01 -8.04362080e-02 -3.65209537e-02 1.84488500e+02] [ 8.04142191e-02 9.96759377e-01 -2.07297043e-03 9.50631482e+00] [ 3.65693450e-02 -8.71937870e-04 9.99330737e-01 6.66162729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.019254154 meters Centerline goodness : 0.999418 with order 1 Centerline is valid? [True, True] Translation: X:184.55, Y:9.51, Z:6.66 [[ 9.96307849e-01 -7.76973522e-02 -3.65211015e-02 1.84550565e+02] [ 7.76736198e-02 9.96976691e-01 -2.07036462e-03 9.51176323e+00] [ 3.65715487e-02 -7.74005627e-04 9.99330737e-01 6.66295091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.079254154 meters Centerline goodness : 0.999547 with order 1 Centerline is valid? [True, True] Translation: X:184.61, Y:9.52, Z:6.67 [[ 9.96512024e-01 -7.50332253e-02 -3.65212481e-02 1.84611833e+02] [ 7.50077995e-02 9.97180803e-01 -2.06777534e-03 9.51940151e+00] [ 3.65734393e-02 -6.78815461e-04 9.99330737e-01 6.66717031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.139254154 meters Centerline goodness : 0.999201 with order 1 Centerline is valid? [True, True] Translation: X:184.67, Y:9.52, Z:6.67 [[ 9.96500542e-01 -7.51854826e-02 -3.65213966e-02 1.84674132e+02] [ 7.51602553e-02 9.97169329e-01 -2.06514775e-03 9.52408940e+00] [ 3.65732857e-02 -6.87036639e-04 9.99330737e-01 6.66800441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.19925415400002 meters Centerline goodness : 0.999417 with order 1 Centerline is valid? [True, True] Translation: X:184.74, Y:9.53, Z:6.67 [[ 9.96422116e-01 -7.62177378e-02 -3.65215487e-02 1.84736307e+02] [ 7.61933020e-02 9.97090932e-01 -2.06245502e-03 9.52764164e+00] [ 3.65725007e-02 -7.27621591e-04 9.99330737e-01 6.66924724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.259254154 meters Centerline goodness : 0.999373 with order 1 Centerline is valid? [True, True] Translation: X:184.80, Y:9.53, Z:6.67 [[ 9.96382139e-01 -7.67385041e-02 -3.65217032e-02 1.84797718e+02] [ 7.67145182e-02 9.97050972e-01 -2.05971482e-03 9.53170002e+00] [ 3.65720591e-02 -7.49481808e-04 9.99330737e-01 6.66885771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.319254154 meters Centerline goodness : 0.999436 with order 1 Centerline is valid? [True, True] Translation: X:184.86, Y:9.54, Z:6.67 [[ 9.96492716e-01 -7.52889385e-02 -3.65218173e-02 1.84859452e+02] [ 7.52640539e-02 9.97161516e-01 -2.05769052e-03 9.53572912e+00] [ 3.65730720e-02 -6.98306414e-04 9.99330737e-01 6.67294871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.379254154 meters Centerline goodness : 0.998916 with order 1 Centerline is valid? [True, True] Translation: X:184.92, Y:9.54, Z:6.67 [[ 9.96794755e-01 -7.11783770e-02 -3.65219687e-02 1.84920040e+02] [ 7.11508327e-02 9.97463451e-01 -2.05500008e-03 9.54045311e+00] [ 3.65756005e-02 -5.50155182e-04 9.99330737e-01 6.67330885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.439254154 meters Centerline goodness : 0.999500 with order 1 Centerline is valid? [True, True] Translation: X:184.98, Y:9.54, Z:6.68 [[ 9.96928683e-01 -6.92772278e-02 -3.65221389e-02 1.84982284e+02] [ 6.92485193e-02 9.97597330e-01 -2.05197049e-03 9.54438099e+00] [ 3.65765431e-02 -4.83435800e-04 9.99330737e-01 6.67775312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.499254154 meters Centerline goodness : 0.999609 with order 1 Centerline is valid? [True, True] Translation: X:185.04, Y:9.55, Z:6.68 [[ 9.97091259e-01 -6.68964986e-02 -3.65223101e-02 1.85044608e+02] [ 6.68663053e-02 9.97759840e-01 -2.04891821e-03 9.54723828e+00] [ 3.65775598e-02 -3.99153503e-04 9.99330737e-01 6.68003654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.559254154 meters Centerline goodness : 0.999609 with order 1 Centerline is valid? [True, True] Translation: X:185.11, Y:9.55, Z:6.68 [[ 9.97273060e-01 -6.41291986e-02 -3.65224611e-02 1.85107203e+02] [ 6.40972487e-02 9.97941559e-01 -2.04622308e-03 9.55004674e+00] [ 3.65785045e-02 -3.00346121e-04 9.99330737e-01 6.68234209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.619254154 meters Centerline goodness : 0.999479 with order 1 Centerline is valid? [True, True] Translation: X:185.17, Y:9.55, Z:6.68 [[ 9.97567680e-01 -5.93702231e-02 -3.65226099e-02 1.85168287e+02] [ 5.93351813e-02 9.98236024e-01 -2.04356508e-03 9.55180357e+00] [ 3.65795118e-02 -1.28481196e-04 9.99330737e-01 6.68491523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.679254154 meters Centerline goodness : 0.999177 with order 1 Centerline is valid? [True, True] Translation: X:185.23, Y:9.55, Z:6.69 [[ 9.97693221e-01 -5.72217609e-02 -3.65226857e-02 1.85229079e+02] [ 5.71853295e-02 9.98361491e-01 -2.04220883e-03 9.55296165e+00] [ 3.65797017e-02 -5.10639133e-05 9.99330737e-01 6.68596528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.739254154 meters Centerline goodness : 0.999393 with order 1 Centerline is valid? [True, True] Translation: X:185.29, Y:9.55, Z:6.69 [[ 9.97725598e-01 -5.66544029e-02 -3.65227230e-02 1.85289450e+02] [ 5.66176159e-02 9.98393849e-01 -2.04154214e-03 9.55484095e+00] [ 3.65797243e-02 -3.09306444e-05 9.99330737e-01 6.68771386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.799254154 meters Centerline goodness : 0.999199 with order 1 Centerline is valid? [True, True] Translation: X:185.35, Y:9.55, Z:6.69 [[ 9.97658774e-01 -5.78192048e-02 -3.65227230e-02 1.85348983e+02] [ 5.77831980e-02 9.98327068e-01 -2.04154214e-03 9.55302206e+00] [ 3.65796633e-02 -7.36372986e-05 9.99330737e-01 6.68791071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.859254154 meters Centerline goodness : 0.999310 with order 1 Centerline is valid? [True, True] Translation: X:185.41, Y:9.55, Z:6.69 [[ 9.97494662e-01 -6.05845981e-02 -3.65226860e-02 1.85408234e+02] [ 6.05504198e-02 9.98163051e-01 -2.04220222e-03 9.55210727e+00] [ 3.65793217e-02 -1.74378159e-04 9.99330737e-01 6.68870897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.91925415400001 meters Centerline goodness : 0.999055 with order 1 Centerline is valid? [True, True] Translation: X:185.47, Y:9.55, Z:6.69 [[ 9.97103118e-01 -6.67192959e-02 -3.65226946e-02 1.85468154e+02] [ 6.66892354e-02 9.97771705e-01 -2.04204970e-03 9.54846705e+00] [ 3.65775554e-02 -3.99536449e-04 9.99330737e-01 6.68909525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.979254154 meters Centerline goodness : 0.999250 with order 1 Centerline is valid? [True, True] Translation: X:185.53, Y:9.55, Z:6.69 [[ 9.96750006e-01 -7.18019786e-02 -3.65226126e-02 1.85528524e+02] [ 7.17752735e-02 9.97418736e-01 -2.04351395e-03 9.54763426e+00] [ 3.65750665e-02 -5.84547967e-04 9.99330737e-01 6.68979181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.039254154 meters Centerline goodness : 0.999146 with order 1 Centerline is valid? [True, True] Translation: X:185.59, Y:9.54, Z:6.69 [[ 9.96610312e-01 -7.37155694e-02 -3.65226126e-02 1.85590546e+02] [ 7.36901482e-02 9.97279091e-01 -2.04351395e-03 9.53880780e+00] [ 3.65738767e-02 -6.54769663e-04 9.99330737e-01 6.68657665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.099254154 meters Centerline goodness : 0.999127 with order 1 Centerline is valid? [True, True] Translation: X:185.65, Y:9.54, Z:6.70 [[ 9.95745772e-01 -8.45958082e-02 -3.65227004e-02 1.85650860e+02] [ 8.45777502e-02 9.96414790e-01 -2.04194404e-03 9.54481469e+00] [ 3.65644988e-02 -1.05575069e-03 9.99330737e-01 6.69596409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.159254154 meters Centerline goodness : 0.999087 with order 1 Centerline is valid? [True, True] Translation: X:185.71, Y:9.54, Z:6.70 [[ 9.95122391e-01 -9.16379302e-02 -3.65228182e-02 1.85713428e+02] [ 9.16246829e-02 9.95791523e-01 -2.03983429e-03 9.54459476e+00] [ 3.65560390e-02 -1.31650686e-03 9.99330737e-01 6.69937030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.219254154 meters Centerline goodness : 0.998962 with order 1 Centerline is valid? [True, True] Translation: X:185.78, Y:9.55, Z:6.70 [[ 9.94783068e-01 -9.52508246e-02 -3.65229680e-02 1.85775737e+02] [ 9.52401056e-02 9.95452245e-01 -2.03714901e-03 9.54589769e+00] [ 3.65509106e-02 -1.45192998e-03 9.99330737e-01 6.70066829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.279254154 meters Centerline goodness : 0.999089 with order 1 Centerline is valid? [True, True] Translation: X:185.84, Y:9.55, Z:6.70 [[ 9.94320234e-01 -9.99666631e-02 -3.65231169e-02 1.85838105e+02] [ 9.99592152e-02 9.94989455e-01 -2.03447643e-03 9.54658975e+00] [ 3.65434960e-02 -1.62790103e-03 9.99330737e-01 6.70315922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.339254154 meters Centerline goodness : 0.999109 with order 1 Centerline is valid? [True, True] Translation: X:185.90, Y:9.55, Z:6.71 [[ 9.94149397e-01 -1.01651498e-01 -3.65232635e-02 1.85900780e+02] [ 1.01645280e-01 9.94818631e-01 -2.03184147e-03 9.54946051e+00] [ 3.65405627e-02 -1.69246339e-03 9.99330737e-01 6.70614514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.399254154 meters Centerline goodness : 0.998876 with order 1 Centerline is valid? [True, True] Translation: X:185.96, Y:9.55, Z:6.71 [[ 9.94054177e-01 -1.02578397e-01 -3.65234896e-02 1.85963204e+02] [ 1.02572953e-01 9.94723418e-01 -2.02776877e-03 9.55234639e+00] [ 3.65387757e-02 -1.73061016e-03 9.99330737e-01 6.70796521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.459254154 meters Centerline goodness : 0.999001 with order 1 Centerline is valid? [True, True] Translation: X:186.03, Y:9.56, Z:6.71 [[ 9.94072573e-01 -1.02399922e-01 -3.65236398e-02 1.86025156e+02] [ 1.02394458e-01 9.94741813e-01 -2.02505916e-03 9.55555417e+00] [ 3.65389576e-02 -1.72676252e-03 9.99330737e-01 6.70977725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.519254154 meters Centerline goodness : 0.999044 with order 1 Centerline is valid? [True, True] Translation: X:186.09, Y:9.56, Z:6.71 [[ 9.94308844e-01 -1.00079643e-01 -3.65237882e-02 1.86086018e+02] [ 1.00072715e-01 9.94978071e-01 -2.02237989e-03 9.55984853e+00] [ 3.65427674e-02 -1.64416442e-03 9.99330737e-01 6.71054603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.579254154 meters Centerline goodness : 0.999214 with order 1 Centerline is valid? [True, True] Translation: X:186.15, Y:9.57, Z:6.71 [[ 9.94626829e-01 -9.68683440e-02 -3.65238979e-02 1.86147758e+02] [ 9.68593272e-02 9.95296031e-01 -2.02039741e-03 9.56512198e+00] [ 3.65478031e-02 -1.52813870e-03 9.99330737e-01 6.71267353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.639254154 meters Centerline goodness : 0.999128 with order 1 Centerline is valid? [True, True] Translation: X:186.21, Y:9.57, Z:6.71 [[ 9.95049574e-01 -9.24247722e-02 -3.65240463e-02 1.86208327e+02] [ 9.24128649e-02 9.95718731e-01 -2.01771060e-03 9.57133366e+00] [ 3.65541635e-02 -1.36756968e-03 9.99330737e-01 6.71447799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.69925415400002 meters Centerline goodness : 0.999296 with order 1 Centerline is valid? [True, True] Translation: X:186.27, Y:9.58, Z:6.72 [[ 9.95857573e-01 -8.32687186e-02 -3.65241558e-02 1.86269800e+02] [ 8.32507299e-02 9.96526594e-01 -2.01572621e-03 9.57978556e+00] [ 3.65651395e-02 -1.03328642e-03 9.99330737e-01 6.71964347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.759254154 meters Centerline goodness : 0.999637 with order 1 Centerline is valid? [True, True] Translation: X:186.33, Y:9.59, Z:6.72 [[ 9.96445951e-01 -7.59041640e-02 -3.65242996e-02 1.86331604e+02] [ 7.58813254e-02 9.97114824e-01 -2.01311661e-03 9.58651272e+00] [ 3.65717245e-02 -7.65550371e-04 9.99330737e-01 6.72349934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.819254154 meters Centerline goodness : 0.999700 with order 1 Centerline is valid? [True, True] Translation: X:186.39, Y:9.59, Z:6.73 [[ 9.97316720e-01 -6.34454502e-02 -3.65244447e-02 1.86392005e+02] [ 6.34143509e-02 9.97985259e-01 -2.01048074e-03 9.59482414e+00] [ 3.65784133e-02 -3.11087898e-04 9.99330737e-01 6.72642214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.879254154 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:186.45, Y:9.60, Z:6.73 [[ 9.97672408e-01 -5.75823132e-02 -3.65245518e-02 1.86451797e+02] [ 5.75473561e-02 9.98340757e-01 -2.00853320e-03 9.60036259e+00] [ 3.65796047e-02 -9.80332372e-05 9.99330737e-01 6.72848768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.939254154 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:186.51, Y:9.60, Z:6.73 [[ 9.97915203e-01 -5.32090648e-02 -3.65245518e-02 1.86511263e+02] [ 5.31711787e-02 9.98583392e-01 -2.00853320e-03 9.60459267e+00] [ 3.65796830e-02 6.22923422e-05 9.99330737e-01 6.73133012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.999254154 meters Centerline goodness : 0.999655 with order 1 Centerline is valid? [True, True] Translation: X:186.57, Y:9.61, Z:6.73 [[ 9.98001244e-01 -5.15701475e-02 -3.65244806e-02 1.86569732e+02] [ 5.15311168e-02 9.98669367e-01 -2.00982829e-03 9.60789908e+00] [ 3.65795270e-02 1.23663858e-04 9.99330737e-01 6.73389944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.059254154 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:186.63, Y:9.61, Z:6.74 [[ 9.97859359e-01 -5.42466584e-02 -3.65239723e-02 1.86628607e+02] [ 5.42090832e-02 9.98527565e-01 -2.01902326e-03 9.61028239e+00] [ 3.65797184e-02 3.47702075e-05 9.99330738e-01 6.73592669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.119254154 meters Centerline goodness : 0.999699 with order 1 Centerline is valid? [True, True] Translation: X:186.69, Y:9.61, Z:6.74 [[ 9.97698027e-01 -5.71374001e-02 -3.65234681e-02 1.86688243e+02] [ 5.71014287e-02 9.98366322e-01 -2.02810181e-03 9.61244435e+00] [ 3.65796810e-02 -6.21090384e-05 9.99330738e-01 6.73837255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.179254154 meters Centerline goodness : 0.999528 with order 1 Centerline is valid? [True, True] Translation: X:186.75, Y:9.61, Z:6.74 [[ 9.97306918e-01 -6.35999495e-02 -3.65233946e-02 1.86748071e+02] [ 6.35682599e-02 9.97975429e-01 -2.02942609e-03 9.61363498e+00] [ 3.65785218e-02 -2.97767960e-04 9.99330738e-01 6.74118403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.239254154 meters Centerline goodness : 0.999250 with order 1 Centerline is valid? [True, True] Translation: X:186.81, Y:9.62, Z:6.74 [[ 9.96958563e-01 -6.88452665e-02 -3.65233196e-02 1.86808036e+02] [ 6.88170445e-02 9.97627230e-01 -2.03077522e-03 9.61579396e+00] [ 3.65764674e-02 -4.88828160e-04 9.99330738e-01 6.74229643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.299254154 meters Centerline goodness : 0.999380 with order 1 Centerline is valid? [True, True] Translation: X:186.87, Y:9.62, Z:6.75 [[ 9.96567608e-01 -7.42902910e-02 -3.65233564e-02 1.86869256e+02] [ 7.42657465e-02 9.97236420e-01 -2.03011159e-03 9.61767822e+00] [ 3.65732388e-02 -6.89290881e-04 9.99330738e-01 6.74599208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.359254154 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:186.93, Y:9.62, Z:6.75 [[ 9.96457343e-01 -7.57548843e-02 -3.65234285e-02 1.86931438e+02] [ 7.57313704e-02 9.97126192e-01 -2.02881348e-03 9.62056726e+00] [ 3.65721598e-02 -7.44343201e-04 9.99330738e-01 6.74907618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.41925415400001 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:186.99, Y:9.62, Z:6.75 [[ 9.96439292e-01 -7.59918790e-02 -3.65235807e-02 1.86993386e+02] [ 7.59686246e-02 9.97108150e-01 -2.02607042e-03 9.62302075e+00] [ 3.65719249e-02 -7.55790019e-04 9.99330738e-01 6.75034053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.479254154 meters Centerline goodness : 0.999531 with order 1 Centerline is valid? [True, True] Translation: X:187.06, Y:9.63, Z:6.75 [[ 9.96480311e-01 -7.54520230e-02 -3.65237310e-02 1.87055895e+02] [ 7.54285057e-02 9.97149160e-01 -2.02335696e-03 9.62576891e+00] [ 3.65722741e-02 -7.38695082e-04 9.99330738e-01 6.75121481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.539254154 meters Centerline goodness : 0.999424 with order 1 Centerline is valid? [True, True] Translation: X:187.12, Y:9.63, Z:6.75 [[ 9.96550679e-01 -7.45167843e-02 -3.65238799e-02 1.87117831e+02] [ 7.44927378e-02 9.97219509e-01 -2.02066668e-03 9.62902904e+00] [ 3.65728991e-02 -7.07067056e-04 9.99330738e-01 6.75232018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.599254154 meters Centerline goodness : 0.999211 with order 1 Centerline is valid? [True, True] Translation: X:187.18, Y:9.63, Z:6.75 [[ 9.96593162e-01 -7.39463630e-02 -3.65240267e-02 1.87179603e+02] [ 7.39220311e-02 9.97261982e-01 -2.01800858e-03 9.63228841e+00] [ 3.65732477e-02 -6.88796688e-04 9.99330738e-01 6.75375986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.659254154 meters Centerline goodness : 0.999446 with order 1 Centerline is valid? [True, True] Translation: X:187.24, Y:9.64, Z:6.76 [[ 9.96535669e-01 -7.47170962e-02 -3.65241760e-02 1.87242008e+02] [ 7.46933806e-02 9.97204511e-01 -2.01530424e-03 9.63612040e+00] [ 3.65726507e-02 -7.19791620e-04 9.99330738e-01 6.75594640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.719254154 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:187.30, Y:9.64, Z:6.76 [[ 9.96180476e-01 -7.93122494e-02 -3.65243232e-02 1.87303391e+02] [ 7.92917167e-02 9.96849423e-01 -2.01263156e-03 9.63861779e+00] [ 3.65688769e-02 -8.91132025e-04 9.99330738e-01 6.75793443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.779254154 meters Centerline goodness : 0.999212 with order 1 Centerline is valid? [True, True] Translation: X:187.37, Y:9.64, Z:6.76 [[ 9.95497367e-01 -8.74697524e-02 -3.65244318e-02 1.87365607e+02] [ 8.74547723e-02 9.96166462e-01 -2.01065890e-03 9.64024291e+00] [ 3.65602859e-02 -1.19263023e-03 9.99330738e-01 6.75983112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.839254154 meters Centerline goodness : 0.999340 with order 1 Centerline is valid? [True, True] Translation: X:187.43, Y:9.64, Z:6.76 [[ 9.95034630e-01 -9.25853082e-02 -3.65245808e-02 1.87427576e+02] [ 9.25738667e-02 9.95703795e-01 -2.00794922e-03 9.64310030e+00] [ 3.65535703e-02 -1.38324266e-03 9.99330738e-01 6.76108736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.899254154 meters Centerline goodness : 0.998893 with order 1 Centerline is valid? [True, True] Translation: X:187.49, Y:9.65, Z:6.76 [[ 9.94682803e-01 -9.62915653e-02 -3.65247280e-02 1.87490042e+02] [ 9.62827151e-02 9.95352007e-01 -2.00526873e-03 9.64712611e+00] [ 3.65480517e-02 -1.52209366e-03 9.99330738e-01 6.76228402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.959254154 meters Centerline goodness : 0.999212 with order 1 Centerline is valid? [True, True] Translation: X:187.55, Y:9.65, Z:6.77 [[ 9.94516550e-01 -9.79937032e-02 -3.65248730e-02 1.87552385e+02] [ 9.79860951e-02 9.95185769e-01 -2.00262413e-03 9.65241255e+00] [ 3.65452783e-02 -1.58728683e-03 9.99330738e-01 6.76546718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.019254154 meters Centerline goodness : 0.999125 with order 1 Centerline is valid? [True, True] Translation: X:187.61, Y:9.66, Z:6.77 [[ 9.94728306e-01 -9.58202449e-02 -3.65250197e-02 1.87614013e+02] [ 9.58112727e-02 9.95397509e-01 -1.99994392e-03 9.65940814e+00] [ 3.65485487e-02 -1.51010780e-03 9.99330738e-01 6.77025529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.079254154 meters Centerline goodness : 0.999127 with order 1 Centerline is valid? [True, True] Translation: X:187.67, Y:9.67, Z:6.77 [[ 9.94972215e-01 -9.32534324e-02 -3.65251699e-02 1.87674758e+02] [ 9.32428343e-02 9.95641394e-01 -1.99719680e-03 9.66581456e+00] [ 3.65522165e-02 -1.41855505e-03 9.99330738e-01 6.77350030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.139254154 meters Centerline goodness : 0.999143 with order 1 Centerline is valid? [True, True] Translation: X:187.74, Y:9.67, Z:6.78 [[ 9.95201005e-01 -9.07792025e-02 -3.65252806e-02 1.87735629e+02] [ 9.07670149e-02 9.95870156e-01 -1.99517031e-03 9.67208584e+00] [ 3.65555569e-02 -1.32969519e-03 9.99330738e-01 6.77677927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.19925415400002 meters Centerline goodness : 0.999185 with order 1 Centerline is valid? [True, True] Translation: X:187.80, Y:9.68, Z:6.78 [[ 9.95615237e-01 -8.61173388e-02 -3.65253891e-02 1.87797318e+02] [ 8.61020904e-02 9.96284326e-01 -1.99318226e-03 9.67975723e+00] [ 3.65613202e-02 -1.16046972e-03 9.99330738e-01 6.77965813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.259254154 meters Centerline goodness : 0.999140 with order 1 Centerline is valid? [True, True] Translation: X:187.86, Y:9.69, Z:6.78 [[ 9.95966239e-01 -8.19581396e-02 -3.65255362e-02 1.87858564e+02] [ 8.19401955e-02 9.96635260e-01 -1.99048398e-03 9.68578331e+00] [ 3.65657736e-02 -1.01045474e-03 9.99330738e-01 6.78140662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.319254154 meters Centerline goodness : 0.999115 with order 1 Centerline is valid? [True, True] Translation: X:187.92, Y:9.69, Z:6.78 [[ 9.96469462e-01 -7.55941677e-02 -3.65257781e-02 1.87920000e+02] [ 7.55721132e-02 9.97138361e-01 -1.98603511e-03 9.69369157e+00] [ 3.65713871e-02 -7.81306892e-04 9.99330738e-01 6.78360580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.379254154 meters Centerline goodness : 0.999264 with order 1 Centerline is valid? [True, True] Translation: X:187.98, Y:9.70, Z:6.79 [[ 9.96735332e-01 -7.20037089e-02 -3.65259236e-02 1.87981817e+02] [ 7.19793429e-02 9.97404151e-01 -1.98335453e-03 9.69967308e+00] [ 3.65739167e-02 -6.52232439e-04 9.99330738e-01 6.78537856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.439254154 meters Centerline goodness : 0.999307 with order 1 Centerline is valid? [True, True] Translation: X:188.04, Y:9.70, Z:6.79 [[ 9.96896910e-01 -6.97308936e-02 -3.65260667e-02 1.88042462e+02] [ 6.97050994e-02 9.97565675e-01 -1.98071603e-03 9.70480892e+00] [ 3.65752675e-02 -5.71483423e-04 9.99330738e-01 6.78669638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.499254154 meters Centerline goodness : 0.999198 with order 1 Centerline is valid? [True, True] Translation: X:188.10, Y:9.71, Z:6.79 [[ 9.96964564e-01 -6.87568005e-02 -3.65261723e-02 1.88104108e+02] [ 6.87304243e-02 9.97633306e-01 -1.97876657e-03 9.70966565e+00] [ 3.65757797e-02 -5.37699174e-04 9.99330738e-01 6.78738078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.559254154 meters Centerline goodness : 0.999176 with order 1 Centerline is valid? [True, True] Translation: X:188.17, Y:9.71, Z:6.79 [[ 9.96944481e-01 -6.90473022e-02 -3.65263112e-02 1.88166330e+02] [ 6.90212148e-02 9.97613235e-01 -1.97619990e-03 9.71383360e+00] [ 3.65755827e-02 -5.50928782e-04 9.99330738e-01 6.78998880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.619254154 meters Centerline goodness : 0.999350 with order 1 Centerline is valid? [True, True] Translation: X:188.23, Y:9.72, Z:6.79 [[ 9.96923477e-01 -6.93498340e-02 -3.65264524e-02 1.88227999e+02] [ 6.93240453e-02 9.97592242e-01 -1.97358659e-03 9.71767720e+00] [ 3.65753734e-02 -5.64646635e-04 9.99330738e-01 6.79357183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.679254154 meters Centerline goodness : 0.999264 with order 1 Centerline is valid? [True, True] Translation: X:188.29, Y:9.72, Z:6.80 [[ 9.96767533e-01 -7.15562150e-02 -3.65265980e-02 1.88290161e+02] [ 7.15320055e-02 9.97436358e-01 -1.97088736e-03 9.72105147e+00] [ 3.65739861e-02 -6.48304281e-04 9.99330738e-01 6.79541730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.739254154 meters Centerline goodness : 0.999264 with order 1 Centerline is valid? [True, True] Translation: X:188.35, Y:9.72, Z:6.80 [[ 9.96542966e-01 -7.46184581e-02 -3.65267437e-02 1.88352216e+02] [ 7.45964027e-02 9.97211865e-01 -1.96818282e-03 9.72372066e+00] [ 3.65717650e-02 -7.63384939e-04 9.99330738e-01 6.79763549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.799254154 meters Centerline goodness : 0.999396 with order 1 Centerline is valid? [True, True] Translation: X:188.41, Y:9.73, Z:6.80 [[ 9.96193005e-01 -7.91535381e-02 -3.65268895e-02 1.88414322e+02] [ 7.91346268e-02 9.96862000e-01 -1.96547328e-03 9.72553180e+00] [ 3.65678423e-02 -9.32551043e-04 9.99330738e-01 6.79899716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.859254154 meters Centerline goodness : 0.999072 with order 1 Centerline is valid? [True, True] Translation: X:188.48, Y:9.72, Z:6.79 [[ 9.96468109e-01 -7.56113939e-02 -3.65270367e-02 1.88476901e+02] [ 7.55902047e-02 9.97137036e-01 -1.96273388e-03 9.72312555e+00] [ 3.65708662e-02 -8.05284468e-04 9.99330738e-01 6.79311856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.91925415400001 meters Centerline goodness : 0.999332 with order 1 Centerline is valid? [True, True] Translation: X:188.54, Y:9.73, Z:6.80 [[ 9.96203330e-01 -7.90233513e-02 -3.65271899e-02 1.88537337e+02] [ 7.90045575e-02 9.96872328e-01 -1.95987878e-03 9.73128067e+00] [ 3.65678211e-02 -9.33376708e-04 9.99330738e-01 6.80417340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.979254154 meters Centerline goodness : 0.999266 with order 1 Centerline is valid? [True, True] Translation: X:188.60, Y:9.73, Z:6.81 [[ 9.96360641e-01 -7.70144760e-02 -3.65273026e-02 1.88598554e+02] [ 7.69944104e-02 9.97029602e-01 -1.95777590e-03 9.73423069e+00] [ 3.65695791e-02 -8.61747280e-04 9.99330738e-01 6.80651853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.039254154 meters Centerline goodness : 0.999223 with order 1 Centerline is valid? [True, True] Translation: X:188.66, Y:9.74, Z:6.81 [[ 9.96538640e-01 -7.46758833e-02 -3.65274096e-02 1.88660805e+02] [ 7.46543210e-02 9.97207555e-01 -1.95577752e-03 9.73631325e+00] [ 3.65714583e-02 -7.77921097e-04 9.99330738e-01 6.80751670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.099254154 meters Centerline goodness : 0.999180 with order 1 Centerline is valid? [True, True] Translation: X:188.72, Y:9.74, Z:6.81 [[ 9.96715330e-01 -7.22792485e-02 -3.65275503e-02 1.88722803e+02] [ 7.22561741e-02 9.97384194e-01 -1.95314587e-03 9.73801365e+00] [ 3.65731733e-02 -6.92610607e-04 9.99330738e-01 6.80857695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.159254154 meters Centerline goodness : 0.999310 with order 1 Centerline is valid? [True, True] Translation: X:188.78, Y:9.74, Z:6.81 [[ 9.96782986e-01 -7.13400731e-02 -3.65276902e-02 1.88784642e+02] [ 7.13164644e-02 9.97451832e-01 -1.95052780e-03 9.73939917e+00] [ 3.65737623e-02 -6.60772790e-04 9.99330738e-01 6.81021867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.219254154 meters Centerline goodness : 0.999137 with order 1 Centerline is valid? [True, True] Translation: X:188.85, Y:9.74, Z:6.81 [[ 9.96596334e-01 -7.39017178e-02 -3.65278300e-02 1.88847081e+02] [ 7.38799242e-02 9.97265242e-01 -1.94790584e-03 9.74122206e+00] [ 3.65718888e-02 -7.57397488e-04 9.99330738e-01 6.81121962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.279254154 meters Centerline goodness : 0.999333 with order 1 Centerline is valid? [True, True] Translation: X:188.91, Y:9.74, Z:6.81 [[ 9.96349141e-01 -7.71627915e-02 -3.65279707e-02 1.88909454e+02] [ 7.71432840e-02 9.97018119e-01 -1.94526243e-03 9.74342329e+00] [ 3.65691506e-02 -8.79727067e-04 9.99330738e-01 6.81307700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.339254154 meters Centerline goodness : 0.999335 with order 1 Centerline is valid? [True, True] Translation: X:188.97, Y:9.74, Z:6.82 [[ 9.95820858e-01 -8.37049305e-02 -3.65281123e-02 1.88971468e+02] [ 8.36899146e-02 9.96489952e-01 -1.94260148e-03 9.74468773e+00] [ 3.65625022e-02 -1.12255153e-03 9.99330738e-01 6.81508450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.399254154 meters Centerline goodness : 0.999272 with order 1 Centerline is valid? [True, True] Translation: X:189.03, Y:9.75, Z:6.82 [[ 9.95386080e-01 -8.87256347e-02 -3.65282553e-02 1.89033640e+02] [ 8.87140919e-02 9.96055243e-01 -1.93990709e-03 9.74676797e+00] [ 3.65562797e-02 -1.30961449e-03 9.99330738e-01 6.81771415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.459254154 meters Centerline goodness : 0.999338 with order 1 Centerline is valid? [True, True] Translation: X:189.10, Y:9.75, Z:6.82 [[ 9.94750308e-01 -9.55902730e-02 -3.65283984e-02 1.89096563e+02] [ 9.55834457e-02 9.95419536e-01 -1.93721005e-03 9.74958048e+00] [ 3.65462598e-02 -1.56446988e-03 9.99330738e-01 6.82109326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.519254154 meters Centerline goodness : 0.999209 with order 1 Centerline is valid? [True, True] Translation: X:189.16, Y:9.75, Z:6.82 [[ 9.94472277e-01 -9.84405958e-02 -3.65286113e-02 1.89158282e+02] [ 9.84358338e-02 9.95141522e-01 -1.93318690e-03 9.75257207e+00] [ 3.65414419e-02 -1.67322353e-03 9.99330738e-01 6.82409808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.579254154 meters Centerline goodness : 0.999275 with order 1 Centerline is valid? [True, True] Translation: X:189.22, Y:9.75, Z:6.83 [[ 9.94313503e-01 -1.00031524e-01 -3.65287860e-02 1.89220031e+02] [ 1.00027954e-01 9.94982756e-01 -1.92988100e-03 9.75490081e+00] [ 3.65385610e-02 -1.73499297e-03 9.99330738e-01 6.82784135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.639254154 meters Centerline goodness : 0.999148 with order 1 Centerline is valid? [True, True] Translation: X:189.28, Y:9.76, Z:6.83 [[ 9.94525435e-01 -9.79019704e-02 -3.65289258e-02 1.89281868e+02] [ 9.78970642e-02 9.95194680e-01 -1.92723104e-03 9.75675389e+00] [ 3.65420723e-02 -1.65939430e-03 9.99330738e-01 6.82658762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.69925415400002 meters Centerline goodness : 0.999126 with order 1 Centerline is valid? [True, True] Translation: X:189.34, Y:9.76, Z:6.83 [[ 9.94436212e-01 -9.88040799e-02 -3.65290813e-02 1.89344202e+02] [ 9.87998890e-02 9.95105461e-01 -1.92427890e-03 9.76031755e+00] [ 3.65404149e-02 -1.69549655e-03 9.99330738e-01 6.83070328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.759254154 meters Centerline goodness : 0.999167 with order 1 Centerline is valid? [True, True] Translation: X:189.41, Y:9.76, Z:6.83 [[ 9.94652090e-01 -9.66065969e-02 -3.65292382e-02 1.89406074e+02] [ 9.66010366e-02 9.95321329e-01 -1.92129453e-03 9.76361309e+00] [ 3.65439397e-02 -1.61774266e-03 9.99330738e-01 6.83187660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.819254154 meters Centerline goodness : 0.999357 with order 1 Centerline is valid? [True, True] Translation: X:189.47, Y:9.77, Z:6.83 [[ 9.95212387e-01 -9.06526755e-02 -3.65294123e-02 1.89468212e+02] [ 9.06432320e-02 9.95881582e-01 -1.91797941e-03 9.76856339e+00] [ 3.65528389e-02 -1.40234712e-03 9.99330738e-01 6.83349682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.879254154 meters Centerline goodness : 0.999313 with order 1 Centerline is valid? [True, True] Translation: X:189.53, Y:9.77, Z:6.84 [[ 9.95738186e-01 -8.46820892e-02 -3.65295486e-02 1.89529981e+02] [ 8.46687275e-02 9.96407315e-01 -1.91537980e-03 9.77389029e+00] [ 3.65605078e-02 -1.18569359e-03 9.99330738e-01 6.83609403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.939254154 meters Centerline goodness : 0.999182 with order 1 Centerline is valid? [True, True] Translation: X:189.59, Y:9.78, Z:6.84 [[ 9.96664432e-01 -7.29766526e-02 -3.65296886e-02 1.89591069e+02] [ 7.29555278e-02 9.97333361e-01 -1.91270673e-03 9.78029749e+00] [ 3.65718600e-02 -7.58715946e-04 9.99330738e-01 6.83828221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.999254154 meters Centerline goodness : 0.999352 with order 1 Centerline is valid? [True, True] Translation: X:189.65, Y:9.79, Z:6.84 [[ 9.97282892e-01 -6.39718586e-02 -3.65299131e-02 1.89653507e+02] [ 6.39448503e-02 9.97951609e-01 -1.90840873e-03 9.78525385e+00] [ 3.65771700e-02 -4.32676448e-04 9.99330738e-01 6.84129888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.059254154 meters Centerline goodness : 0.999502 with order 1 Centerline is valid? [True, True] Translation: X:189.71, Y:9.79, Z:6.84 [[ 9.98011457e-01 -5.13681630e-02 -3.65300493e-02 1.89713022e+02] [ 5.13328045e-02 9.98679784e-01 -1.90579872e-03 9.78944244e+00] [ 3.65797191e-02 2.68190817e-05 9.99330738e-01 6.84463689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.119254154 meters Centerline goodness : 0.999265 with order 1 Centerline is valid? [True, True] Translation: X:189.77, Y:9.79, Z:6.85 [[ 9.98320589e-01 -4.49617244e-02 -3.65300460e-02 1.89771337e+02] [ 4.49220749e-02 9.98988676e-01 -1.90586205e-03 9.79250639e+00] [ 3.65787931e-02 2.61655861e-04 9.99330738e-01 6.84623434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.179254154 meters Centerline goodness : 0.999309 with order 1 Centerline is valid? [True, True] Translation: X:189.83, Y:9.79, Z:6.85 [[ 9.98536422e-01 -3.98823632e-02 -3.65295824e-02 1.89827892e+02] [ 3.98389919e-02 9.99204278e-01 -1.91470630e-03 9.79389532e+00] [ 3.65768780e-02 4.56602245e-04 9.99330738e-01 6.84922856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.239254154 meters Centerline goodness : 0.998985 with order 1 Centerline is valid? [True, True] Translation: X:189.88, Y:9.79, Z:6.85 [[ 9.98505910e-01 -4.06393161e-02 -3.65293541e-02 1.89884578e+02] [ 4.05962922e-02 9.99173788e-01 -1.91905216e-03 9.79351109e+00] [ 3.65771621e-02 4.33228587e-04 9.99330738e-01 6.85113289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.299254154 meters Centerline goodness : 0.999313 with order 1 Centerline is valid? [True, True] Translation: X:189.94, Y:9.79, Z:6.85 [[ 9.98159633e-01 -4.84042419e-02 -3.65291298e-02 1.89942337e+02] [ 4.83662581e-02 9.98827816e-01 -1.92331126e-03 9.79035708e+00] [ 3.65794074e-02 1.52994343e-04 9.99330738e-01 6.85319229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.359254154 meters Centerline goodness : 0.999228 with order 1 Centerline is valid? [True, True] Translation: X:190.00, Y:9.79, Z:6.86 [[ 9.97722810e-01 -5.66996787e-02 -3.65286217e-02 1.90000507e+02] [ 5.66668988e-02 9.98391269e-01 -1.93291470e-03 9.78835794e+00] [ 3.65794526e-02 -1.41450620e-04 9.99330738e-01 6.85500067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.41925415400001 meters Centerline goodness : 0.999255 with order 1 Centerline is valid? [True, True] Translation: X:190.06, Y:9.78, Z:6.86 [[ 9.96891799e-01 -6.98028810e-02 -3.65280558e-02 1.90059266e+02] [ 6.97784965e-02 9.97560617e-01 -1.94355024e-03 9.78307153e+00] [ 3.65746153e-02 -6.11363520e-04 9.99330738e-01 6.85631244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.479254154 meters Centerline goodness : 0.998960 with order 1 Centerline is valid? [True, True] Translation: X:190.12, Y:9.78, Z:6.86 [[ 9.95995159e-01 -8.16050299e-02 -3.65275588e-02 1.90121082e+02] [ 8.15882278e-02 9.96664210e-01 -1.95284610e-03 9.77960121e+00] [ 3.65650726e-02 -1.03519353e-03 9.99330738e-01 6.85789379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.539254154 meters Centerline goodness : 0.999343 with order 1 Centerline is valid? [True, True] Translation: X:190.18, Y:9.78, Z:6.86 [[ 9.95463199e-01 -8.78564274e-02 -3.65276290e-02 1.90182805e+02] [ 8.78438743e-02 9.96132343e-01 -1.95153180e-03 9.77898438e+00] [ 3.65578073e-02 -1.26605037e-03 9.99330738e-01 6.85989752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.599254154 meters Centerline goodness : 0.998961 with order 1 Centerline is valid? [True, True] Translation: X:190.25, Y:9.78, Z:6.86 [[ 9.94636852e-01 -9.67639228e-02 -3.65277333e-02 1.90245315e+02] [ 9.67574317e-02 9.95306083e-01 -1.94957776e-03 9.77711400e+00] [ 3.65449240e-02 -1.59520778e-03 9.99330738e-01 6.86360752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.659254154 meters Centerline goodness : 0.999155 with order 1 Centerline is valid? [True, True] Translation: X:190.31, Y:9.78, Z:6.87 [[ 9.94180919e-01 -1.01341075e-01 -3.65278784e-02 1.90306275e+02] [ 1.01337764e-01 9.94850173e-01 -1.94685627e-03 9.77727230e+00] [ 3.65370626e-02 -1.76612618e-03 9.99330738e-01 6.86672961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.719254154 meters Centerline goodness : 0.999025 with order 1 Centerline is valid? [True, True] Translation: X:190.37, Y:9.77, Z:6.86 [[ 9.94631002e-01 -9.68238988e-02 -3.65281179e-02 1.90368895e+02] [ 9.68177129e-02 9.95300235e-01 -1.94235244e-03 9.76867871e+00] [ 3.65445104e-02 -1.60464488e-03 9.99330738e-01 6.85695534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.779254154 meters Centerline goodness : 0.998922 with order 1 Centerline is valid? [True, True] Translation: X:190.43, Y:9.78, Z:6.87 [[ 9.93994416e-01 -1.03154204e-01 -3.65282326e-02 1.90429655e+02] [ 1.03152358e-01 9.94663675e-01 -1.94019212e-03 9.77634727e+00] [ 3.65334451e-02 -1.83943318e-03 9.99330738e-01 6.86729687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.839254154 meters Centerline goodness : 0.999026 with order 1 Centerline is valid? [True, True] Translation: X:190.49, Y:9.78, Z:6.87 [[ 9.93675787e-01 -1.06179611e-01 -3.65283425e-02 1.90492615e+02] [ 1.06179878e-01 9.94345049e-01 -1.93812160e-03 9.78076664e+00] [ 3.65275655e-02 -1.95271044e-03 9.99330738e-01 6.87249161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.899254154 meters Centerline goodness : 0.999176 with order 1 Centerline is valid? [True, True] Translation: X:190.55, Y:9.78, Z:6.87 [[ 9.93564585e-01 -1.07215107e-01 -3.65285592e-02 1.90554386e+02] [ 1.07216222e-01 9.94233846e-01 -1.93402737e-03 9.78370537e+00] [ 3.65252869e-02 -1.99487301e-03 9.99330738e-01 6.87179368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.959254154 meters Centerline goodness : 0.999092 with order 1 Centerline is valid? [True, True] Translation: X:190.62, Y:9.79, Z:6.87 [[ 9.93548882e-01 -1.07360482e-01 -3.65287025e-02 1.90616264e+02] [ 1.07361795e-01 9.94218143e-01 -1.93131738e-03 9.78843883e+00] [ 3.65248459e-02 -2.00292883e-03 9.99330738e-01 6.87284270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.019254154 meters Centerline goodness : 0.999026 with order 1 Centerline is valid? [True, True] Translation: X:190.68, Y:9.80, Z:6.87 [[ 9.93806301e-01 -1.04950847e-01 -3.65288440e-02 1.90678185e+02] [ 1.04950634e-01 9.94475563e-01 -1.92863688e-03 9.79507612e+00] [ 3.65294548e-02 -1.91703386e-03 9.99330738e-01 6.87467081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.079254154 meters Centerline goodness : 0.999109 with order 1 Centerline is valid? [True, True] Translation: X:190.74, Y:9.80, Z:6.88 [[ 9.94268367e-01 -1.00479095e-01 -3.65289843e-02 1.90738599e+02] [ 1.00475969e-01 9.94937621e-01 -1.92597729e-03 9.80211280e+00] [ 3.65375812e-02 -1.75534681e-03 9.99330738e-01 6.87743371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.139254154 meters Centerline goodness : 0.999258 with order 1 Centerline is valid? [True, True] Translation: X:190.80, Y:9.81, Z:6.88 [[ 9.95251650e-01 -9.02207201e-02 -3.65290877e-02 1.90799927e+02] [ 9.02107650e-02 9.95920838e-01 -1.92401352e-03 9.81183566e+00] [ 3.65536655e-02 -1.38043932e-03 9.99330738e-01 6.88208171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.19925415400002 meters Centerline goodness : 0.999236 with order 1 Centerline is valid? [True, True] Translation: X:190.86, Y:9.82, Z:6.89 [[ 9.95976850e-01 -8.18274445e-02 -3.65292225e-02 1.90861556e+02] [ 8.18119423e-02 9.96645932e-01 -1.92145114e-03 9.81908566e+00] [ 3.65639284e-02 -1.07480579e-03 9.99330738e-01 6.88635701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.259254154 meters Centerline goodness : 0.999107 with order 1 Centerline is valid? [True, True] Translation: X:190.92, Y:9.83, Z:6.89 [[ 9.96880241e-01 -6.99670750e-02 -3.65293560e-02 1.90923002e+02] [ 6.99437033e-02 9.97549095e-01 -1.91890945e-03 9.82761105e+00] [ 3.65740865e-02 -6.42075529e-04 9.99330738e-01 6.89126714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.319254154 meters Centerline goodness : 0.999212 with order 1 Centerline is valid? [True, True] Translation: X:190.98, Y:9.83, Z:6.89 [[ 9.97451411e-01 -6.12884886e-02 -3.65294964e-02 1.90984270e+02] [ 6.12593947e-02 9.98120040e-01 -1.91623235e-03 9.83389705e+00] [ 3.65782654e-02 -3.26426174e-04 9.99330738e-01 6.89308858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.379254154 meters Centerline goodness : 0.999189 with order 1 Centerline is valid? [True, True] Translation: X:191.04, Y:9.84, Z:6.89 [[ 9.97562186e-01 -5.94581818e-02 -3.65295681e-02 1.91043522e+02] [ 5.94279111e-02 9.98230763e-01 -1.91486616e-03 9.83745319e+00] [ 3.65787931e-02 -2.60677855e-04 9.99330738e-01 6.89402304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.439254154 meters Centerline goodness : 0.999040 with order 1 Centerline is valid? [True, True] Translation: X:191.10, Y:9.84, Z:6.90 [[ 9.97516907e-01 -6.02130747e-02 -3.65295329e-02 1.91103151e+02] [ 6.01832854e-02 9.98185505e-01 -1.91553718e-03 9.84480158e+00] [ 3.65785906e-02 -2.87686577e-04 9.99330738e-01 6.89848827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.499254154 meters Centerline goodness : 0.999082 with order 1 Centerline is valid? [True, True] Translation: X:191.16, Y:9.84, Z:6.90 [[ 9.97554760e-01 -5.95826635e-02 -3.65295329e-02 1.91161798e+02] [ 5.95524517e-02 9.98223340e-01 -1.91553718e-03 9.84458841e+00] [ 3.65787651e-02 -2.64570005e-04 9.99330738e-01 6.89821494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.559254154 meters Centerline goodness : 0.999381 with order 1 Centerline is valid? [True, True] Translation: X:191.22, Y:9.85, Z:6.90 [[ 9.97426999e-01 -6.16845610e-02 -3.65294060e-02 1.91222001e+02] [ 6.16556697e-02 9.98095637e-01 -1.91795353e-03 9.84747172e+00] [ 3.65781489e-02 -3.39226354e-04 9.99330738e-01 6.90094527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.619254154 meters Centerline goodness : 0.998911 with order 1 Centerline is valid? [True, True] Translation: X:191.28, Y:9.85, Z:6.90 [[ 9.97155036e-01 -6.59350932e-02 -3.65294060e-02 1.91282481e+02] [ 6.59090518e-02 9.97823791e-01 -1.91795353e-03 9.84865602e+00] [ 3.65763708e-02 -4.95121488e-04 9.99330738e-01 6.90273359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.679254154 meters Centerline goodness : 0.999298 with order 1 Centerline is valid? [True, True] Translation: X:191.34, Y:9.85, Z:6.91 [[ 9.96658201e-01 -7.30618462e-02 -3.65294060e-02 1.91342186e+02] [ 7.30405863e-02 9.97327125e-01 -1.91795353e-03 9.85020711e+00] [ 3.65718967e-02 -7.56585114e-04 9.99330738e-01 6.90713390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.739254154 meters Centerline goodness : 0.999128 with order 1 Centerline is valid? [True, True] Translation: X:191.40, Y:9.85, Z:6.91 [[ 9.96215814e-01 -7.88647002e-02 -3.65295796e-02 1.91403581e+02] [ 7.88474575e-02 9.96884854e-01 -1.91464216e-03 9.85126414e+00] [ 3.65667823e-02 -9.72867674e-04 9.99330738e-01 6.90997340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.799254154 meters Centerline goodness : 0.999003 with order 1 Centerline is valid? [True, True] Translation: X:191.47, Y:9.85, Z:6.91 [[ 9.95201353e-01 -9.07736280e-02 -3.65296482e-02 1.91465019e+02] [ 9.07644361e-02 9.95870552e-01 -1.91333207e-03 9.84922334e+00] [ 3.65524810e-02 -1.41144225e-03 9.99330738e-01 6.91201429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.859254154 meters Centerline goodness : 0.999277 with order 1 Centerline is valid? [True, True] Translation: X:191.53, Y:9.85, Z:6.91 [[ 9.94383904e-01 -9.93288874e-02 -3.65297500e-02 1.91526798e+02] [ 9.93255222e-02 9.95053158e-01 -1.91138689e-03 9.84907957e+00] [ 3.65388990e-02 -1.72768413e-03 9.99330738e-01 6.91393609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.91925415400001 meters Centerline goodness : 0.999280 with order 1 Centerline is valid? [True, True] Translation: X:191.59, Y:9.85, Z:6.92 [[ 9.93296308e-01 -1.09672287e-01 -3.65298935e-02 1.91589814e+02] [ 1.09675988e-01 9.93965560e-01 -1.90863942e-03 9.84988730e+00] [ 3.65187809e-02 -2.11060766e-03 9.99330738e-01 6.91513839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.979254154 meters Centerline goodness : 0.998943 with order 1 Centerline is valid? [True, True] Translation: X:191.65, Y:9.85, Z:6.92 [[ 9.92863965e-01 -1.13519594e-01 -3.65301089e-02 1.91651712e+02] [ 1.13526039e-01 9.93533196e-01 -1.90450786e-03 9.85176057e+00] [ 3.65100748e-02 -2.25620135e-03 9.99330738e-01 6.91571792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.039254154 meters Centerline goodness : 0.999024 with order 1 Centerline is valid? [True, True] Translation: X:191.71, Y:9.86, Z:6.92 [[ 9.92949821e-01 -1.12766094e-01 -3.65302857e-02 1.91714402e+02] [ 1.12772156e-01 9.93619055e-01 -1.90111080e-03 9.85587069e+00] [ 3.65115688e-02 -2.23189144e-03 9.99330738e-01 6.91801201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.099254154 meters Centerline goodness : 0.999088 with order 1 Centerline is valid? [True, True] Translation: X:191.78, Y:9.86, Z:6.92 [[ 9.93331854e-01 -1.09349674e-01 -3.65304979e-02 1.91776115e+02] [ 1.09353583e-01 9.94001104e-01 -1.89702396e-03 9.86209752e+00] [ 3.65187942e-02 -2.11036653e-03 9.99330738e-01 6.91964367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.159254154 meters Centerline goodness : 0.999214 with order 1 Centerline is valid? [True, True] Translation: X:191.84, Y:9.87, Z:6.92 [[ 9.93711439e-01 -1.05844638e-01 -3.65306410e-02 1.91836853e+02] [ 1.05846287e-01 9.94380699e-01 -1.89426576e-03 9.86706251e+00] [ 3.65258622e-02 -1.98427917e-03 9.99330738e-01 6.91805104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.219254154 meters Centerline goodness : 0.999299 with order 1 Centerline is valid? [True, True] Translation: X:191.90, Y:9.87, Z:6.92 [[ 9.94440877e-01 -9.87565009e-02 -3.65307464e-02 1.91899231e+02] [ 9.87534527e-02 9.95110132e-01 -1.89223035e-03 9.87385290e+00] [ 3.65389859e-02 -1.72582612e-03 9.99330738e-01 6.91848756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.279254154 meters Centerline goodness : 0.999105 with order 1 Centerline is valid? [True, True] Translation: X:191.96, Y:9.88, Z:6.92 [[ 9.95357524e-01 -8.90443388e-02 -3.65308870e-02 1.91961024e+02] [ 8.90348572e-02 9.96026718e-01 -1.88951163e-03 9.88144370e+00] [ 3.65539898e-02 -1.37178269e-03 9.99330738e-01 6.92196687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.339254154 meters Centerline goodness : 0.999338 with order 1 Centerline is valid? [True, True] Translation: X:192.02, Y:9.89, Z:6.93 [[ 9.96361216e-01 -7.70052641e-02 -3.65310263e-02 1.92022439e+02] [ 7.69877924e-02 9.97030250e-01 -1.88681557e-03 9.88897031e+00] [ 3.65678330e-02 -9.32493209e-04 9.99330738e-01 6.92739212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.399254154 meters Centerline goodness : 0.999294 with order 1 Centerline is valid? [True, True] Translation: X:192.08, Y:9.90, Z:6.93 [[ 9.97321954e-01 -6.33592514e-02 -3.65311669e-02 1.92083915e+02] [ 6.33327230e-02 9.97990690e-01 -1.88408877e-03 9.89674762e+00] [ 3.65771389e-02 -4.34575180e-04 9.99330738e-01 6.93088779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.459254154 meters Centerline goodness : 0.999421 with order 1 Centerline is valid? [True, True] Translation: X:192.14, Y:9.90, Z:6.93 [[ 9.97759946e-01 -5.60406450e-02 -3.65313061e-02 1.92144831e+02] [ 5.60093101e-02 9.98428474e-01 -1.88138507e-03 9.90168049e+00] [ 3.65793303e-02 -1.68922584e-04 9.99330738e-01 6.93394950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.519254154 meters Centerline goodness : 0.999399 with order 1 Centerline is valid? [True, True] Translation: X:192.20, Y:9.91, Z:6.94 [[ 9.97985559e-01 -5.18679394e-02 -3.65313762e-02 1.92204381e+02] [ 5.18338591e-02 9.98653952e-01 -1.88002449e-03 9.90547758e+00] [ 3.65797162e-02 -1.73249124e-05 9.99330738e-01 6.93567066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.579254154 meters Centerline goodness : 0.999270 with order 1 Centerline is valid? [True, True] Translation: X:192.26, Y:9.91, Z:6.94 [[ 9.97957009e-01 -5.24144289e-02 -3.65313067e-02 1.92262384e+02] [ 5.23806652e-02 9.98625418e-01 -1.88137274e-03 9.90883689e+00] [ 3.65797025e-02 -3.60050300e-05 9.99330738e-01 6.93717458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.639254154 meters Centerline goodness : 0.999315 with order 1 Centerline is valid? [True, True] Translation: X:192.32, Y:9.91, Z:6.94 [[ 9.97593184e-01 -5.89348371e-02 -3.65311359e-02 1.92321001e+02] [ 5.89053208e-02 9.98261795e-01 -1.88468455e-03 9.90992800e+00] [ 3.65787108e-02 -2.71729814e-04 9.99330738e-01 6.93996346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.69925415400002 meters Centerline goodness : 0.999252 with order 1 Centerline is valid? [True, True] Translation: X:192.38, Y:9.90, Z:6.93 [[ 9.97856448e-01 -5.42956645e-02 -3.65306585e-02 1.92381564e+02] [ 5.42627027e-02 9.98524898e-01 -1.89389176e-03 9.89933922e+00] [ 3.65796022e-02 -9.24201568e-05 9.99330738e-01 6.92877861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.759254154 meters Centerline goodness : 0.999147 with order 1 Centerline is valid? [True, True] Translation: X:192.44, Y:9.91, Z:6.94 [[ 9.96892749e-01 -6.97879912e-02 -3.65305868e-02 1.92438662e+02] [ 6.97653652e-02 9.97561628e-01 -1.89527369e-03 9.91102227e+00] [ 3.65737790e-02 -6.59185134e-04 9.99330738e-01 6.94468952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.819254154 meters Centerline goodness : 0.999171 with order 1 Centerline is valid? [True, True] Translation: X:192.50, Y:9.91, Z:6.95 [[ 9.96230483e-01 -7.86787436e-02 -3.65305457e-02 1.92500416e+02] [ 7.86620567e-02 9.96899536e-01 -1.89606607e-03 9.90997373e+00] [ 3.65664642e-02 -9.84649046e-04 9.99330738e-01 6.94639806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.879254154 meters Centerline goodness : 0.998959 with order 1 Centerline is valid? [True, True] Translation: X:192.56, Y:9.91, Z:6.95 [[ 9.95499346e-01 -8.74446333e-02 -3.65306489e-02 1.92563141e+02] [ 8.74339091e-02 9.96168522e-01 -1.89407475e-03 9.90587907e+00] [ 3.65563092e-02 -1.30846727e-03 9.99330738e-01 6.94949141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.939254154 meters Centerline goodness : 0.999192 with order 1 Centerline is valid? [True, True] Translation: X:192.62, Y:9.91, Z:6.95 [[ 9.95432159e-01 -8.82061124e-02 -3.65307863e-02 1.92624942e+02] [ 8.81959974e-02 9.96101345e-01 -1.89142097e-03 9.90537527e+00] [ 3.65552003e-02 -1.33908787e-03 9.99330738e-01 6.95111584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.999254154 meters Centerline goodness : 0.999024 with order 1 Centerline is valid? [True, True] Translation: X:192.69, Y:9.91, Z:6.95 [[ 9.95797888e-01 -8.39765291e-02 -3.65309279e-02 1.92685688e+02] [ 8.39636717e-02 9.96467026e-01 -1.88868280e-03 9.90639285e+00] [ 3.65604701e-02 -1.18652450e-03 9.99330738e-01 6.95251852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.059254154 meters Centerline goodness : 0.999362 with order 1 Centerline is valid? [True, True] Translation: X:192.75, Y:9.91, Z:6.95 [[ 9.95984125e-01 -8.17380310e-02 -3.65310324e-02 1.92748216e+02] [ 8.17237436e-02 9.96653235e-01 -1.88666060e-03 9.90919171e+00] [ 3.65629835e-02 -1.10636871e-03 9.99330738e-01 6.95473408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.119254154 meters Centerline goodness : 0.999319 with order 1 Centerline is valid? [True, True] Translation: X:192.81, Y:9.91, Z:6.96 [[ 9.96515368e-01 -7.49839582e-02 -3.65311708e-02 1.92810579e+02] [ 7.49652334e-02 9.97184368e-01 -1.88397618e-03 9.91130567e+00] [ 3.65695805e-02 -8.61156529e-04 9.99330738e-01 6.95614419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.179254154 meters Centerline goodness : 0.999045 with order 1 Centerline is valid? [True, True] Translation: X:192.87, Y:9.91, Z:6.96 [[ 9.96781595e-01 -7.13576627e-02 -3.65313122e-02 1.92871651e+02] [ 7.13366045e-02 9.97450525e-01 -1.88123012e-03 9.91422201e+00] [ 3.65724167e-02 -7.30844215e-04 9.99330738e-01 6.95717487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.239254154 meters Centerline goodness : 0.999066 with order 1 Centerline is valid? [True, True] Translation: X:192.93, Y:9.92, Z:6.96 [[ 9.96912102e-01 -6.95105718e-02 -3.65313815e-02 1.92933131e+02] [ 6.94883235e-02 9.97580994e-01 -1.87988308e-03 9.91590645e+00] [ 3.65736836e-02 -6.64426262e-04 9.99330738e-01 6.95789551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.299254154 meters Centerline goodness : 0.999193 with order 1 Centerline is valid? [True, True] Translation: X:192.99, Y:9.92, Z:6.96 [[ 9.96845460e-01 -7.04597831e-02 -3.65314516e-02 1.92993841e+02] [ 7.04382215e-02 9.97514375e-01 -1.87852056e-03 9.91739389e+00] [ 3.65730082e-02 -7.00615787e-04 9.99330738e-01 6.95985593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.359254154 meters Centerline goodness : 0.999088 with order 1 Centerline is valid? [True, True] Translation: X:193.05, Y:9.92, Z:6.96 [[ 9.96788953e-01 -7.12547253e-02 -3.65314516e-02 1.93053848e+02] [ 7.12336972e-02 9.97457885e-01 -1.87852056e-03 9.91906618e+00] [ 3.65724379e-02 -7.29781819e-04 9.99330738e-01 6.96145404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.41925415400001 meters Centerline goodness : 0.998962 with order 1 Centerline is valid? [True, True] Translation: X:193.11, Y:9.92, Z:6.96 [[ 9.96571819e-01 -7.42297354e-02 -3.65315656e-02 1.93114811e+02] [ 7.42107855e-02 9.97240813e-01 -1.87630168e-03 9.91970075e+00] [ 3.65700455e-02 -8.41166791e-04 9.99330738e-01 6.96463944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.479254154 meters Centerline goodness : 0.998986 with order 1 Centerline is valid? [True, True] Translation: X:193.18, Y:9.92, Z:6.97 [[ 9.96117245e-01 -8.00991867e-02 -3.65315656e-02 1.93176230e+02] [ 8.00841780e-02 9.96786338e-01 -1.87630168e-03 9.91953989e+00] [ 3.65644557e-02 -1.05658394e-03 9.99330738e-01 6.96702481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.539254154 meters Centerline goodness : 0.998988 with order 1 Centerline is valid? [True, True] Translation: X:193.24, Y:9.92, Z:6.97 [[ 9.95483238e-01 -8.76274106e-02 -3.65316349e-02 1.93238255e+02] [ 8.76175101e-02 9.96152426e-01 -1.87495070e-03 9.91842438e+00] [ 3.65553738e-02 -1.33432890e-03 9.99330738e-01 6.96952182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.599254154 meters Centerline goodness : 0.999135 with order 1 Centerline is valid? [True, True] Translation: X:193.30, Y:9.92, Z:6.97 [[ 9.94979559e-01 -9.31724607e-02 -3.65317746e-02 1.93300079e+02] [ 9.31663887e-02 9.95648793e-01 -1.87222504e-03 9.91924141e+00] [ 3.65472571e-02 -1.54070786e-03 9.99330738e-01 6.97216312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.659254154 meters Centerline goodness : 0.998779 with order 1 Centerline is valid? [True, True] Translation: X:193.36, Y:9.92, Z:6.98 [[ 9.94288710e-01 -1.00276521e-01 -3.65319129e-02 1.93361959e+02] [ 1.00275329e-01 9.94957971e-01 -1.86952247e-03 9.92025492e+00] [ 3.65351871e-02 -1.80440448e-03 9.99330738e-01 6.97535384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.719254154 meters Centerline goodness : 0.998933 with order 1 Centerline is valid? [True, True] Translation: X:193.42, Y:9.92, Z:6.98 [[ 9.93988619e-01 -1.03208691e-01 -3.65320517e-02 1.93422883e+02] [ 1.03209572e-01 9.94657881e-01 -1.86680603e-03 9.92361319e+00] [ 3.65295637e-02 -1.91487346e-03 9.99330738e-01 6.97864024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.779254154 meters Centerline goodness : 0.999159 with order 1 Centerline is valid? [True, True] Translation: X:193.48, Y:9.93, Z:6.98 [[ 9.93905481e-01 -1.04006229e-01 -3.65321545e-02 1.93484808e+02] [ 1.04007721e-01 9.94574742e-01 -1.86479251e-03 9.92736517e+00] [ 3.65279081e-02 -1.94619862e-03 9.99330738e-01 6.98103215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.839254154 meters Centerline goodness : 0.999159 with order 1 Centerline is valid? [True, True] Translation: X:193.55, Y:9.93, Z:6.98 [[ 9.93881623e-01 -1.04233927e-01 -3.65322901e-02 1.93546687e+02] [ 1.04235670e-01 9.94550882e-01 -1.86213268e-03 9.93150691e+00] [ 3.65273187e-02 -1.95722827e-03 9.99330738e-01 6.98198757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.899254154 meters Centerline goodness : 0.999097 with order 1 Centerline is valid? [True, True] Translation: X:193.61, Y:9.94, Z:6.98 [[ 9.93935938e-01 -1.03714666e-01 -3.65324287e-02 1.93608143e+02] [ 1.03716159e-01 9.94605199e-01 -1.85940847e-03 9.93584481e+00] [ 3.65281914e-02 -1.94087028e-03 9.99330738e-01 6.98325807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.959254154 meters Centerline goodness : 0.998928 with order 1 Centerline is valid? [True, True] Translation: X:193.67, Y:9.94, Z:6.99 [[ 9.94208386e-01 -1.01069572e-01 -3.65325310e-02 1.93669695e+02] [ 1.01069358e-01 9.94877648e-01 -1.85739580e-03 9.94222245e+00] [ 3.65331248e-02 -1.84568097e-03 9.99330738e-01 6.98522948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.019254154 meters Centerline goodness : 0.999051 with order 1 Centerline is valid? [True, True] Translation: X:193.73, Y:9.95, Z:6.99 [[ 9.94843260e-01 -9.46163482e-02 -3.65326645e-02 1.93731117e+02] [ 9.46118873e-02 9.95512507e-01 -1.85476768e-03 9.94900730e+00] [ 3.65442157e-02 -1.61122121e-03 9.99330738e-01 6.98692769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.079254154 meters Centerline goodness : 0.998943 with order 1 Centerline is valid? [True, True] Translation: X:193.79, Y:9.96, Z:6.99 [[ 9.95477947e-01 -8.76870042e-02 -3.65327991e-02 1.93791816e+02] [ 8.76779808e-02 9.96147148e-01 -1.85211293e-03 9.95540461e+00] [ 3.65544498e-02 -1.35938448e-03 9.99330738e-01 6.98910532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.139254154 meters Centerline goodness : 0.999238 with order 1 Centerline is valid? [True, True] Translation: X:193.85, Y:9.96, Z:6.99 [[ 9.96184425e-01 -7.92586823e-02 -3.65328982e-02 1.93852188e+02] [ 7.92440672e-02 9.96853527e-01 -1.85015431e-03 9.96191774e+00] [ 3.65645893e-02 -1.05192054e-03 9.99330738e-01 6.99197475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.19925415400002 meters Centerline goodness : 0.999108 with order 1 Centerline is valid? [True, True] Translation: X:193.91, Y:9.97, Z:7.00 [[ 9.97040584e-01 -6.76418299e-02 -3.65329633e-02 1.93913425e+02] [ 6.76194638e-02 9.97709472e-01 -1.84886857e-03 9.96920474e+00] [ 3.65743444e-02 -6.26942396e-04 9.99330738e-01 6.99589679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.259254154 meters Centerline goodness : 0.999255 with order 1 Centerline is valid? [True, True] Translation: X:193.97, Y:9.97, Z:7.00 [[ 9.97413316e-01 -6.19032690e-02 -3.65330301e-02 1.93974103e+02] [ 6.18771026e-02 9.98082066e-01 -1.84754751e-03 9.97391930e+00] [ 3.65773314e-02 -4.17789569e-04 9.99330738e-01 6.99825503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.319254154 meters Centerline goodness : 0.999254 with order 1 Centerline is valid? [True, True] Translation: X:194.03, Y:9.98, Z:7.00 [[ 9.97633564e-01 -5.82461073e-02 -3.65330301e-02 1.94032825e+02] [ 5.82174893e-02 9.98302214e-01 -1.84754751e-03 9.97862495e+00] [ 3.65786173e-02 -2.83685885e-04 9.99330738e-01 6.99916674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.379254154 meters Centerline goodness : 0.999065 with order 1 Centerline is valid? [True, True] Translation: X:194.09, Y:9.98, Z:7.00 [[ 9.97429738e-01 -6.16381663e-02 -3.65329315e-02 1.94091657e+02] [ 6.16117508e-02 9.98098478e-01 -1.84949521e-03 9.98194047e+00] [ 3.65774628e-02 -4.06116350e-04 9.99330738e-01 7.00004354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.439254154 meters Centerline goodness : 0.999148 with order 1 Centerline is valid? [True, True] Translation: X:194.15, Y:9.98, Z:7.00 [[ 9.97062272e-01 -6.73214507e-02 -3.65328347e-02 1.94151721e+02] [ 6.72987769e-02 9.97731150e-01 -1.85140485e-03 9.98362451e+00] [ 3.65745865e-02 -6.12649171e-04 9.99330738e-01 7.00215480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.499254154 meters Centerline goodness : 0.999042 with order 1 Centerline is valid? [True, True] Translation: X:194.21, Y:9.98, Z:7.00 [[ 9.96437674e-01 -7.60086793e-02 -3.65327710e-02 1.94212765e+02] [ 7.59917898e-02 9.97106722e-01 -1.85266112e-03 9.98478341e+00] [ 3.65678899e-02 -9.30129323e-04 9.99330738e-01 7.00470087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.559254154 meters Centerline goodness : 0.998894 with order 1 Centerline is valid? [True, True] Translation: X:194.27, Y:9.99, Z:7.01 [[ 9.95149560e-01 -9.13384063e-02 -3.65328399e-02 1.94274489e+02] [ 9.13318677e-02 9.95818790e-01 -1.85130241e-03 9.98501772e+00] [ 3.65491834e-02 -1.49428972e-03 9.99330738e-01 7.00738877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.619254154 meters Centerline goodness : 0.998959 with order 1 Centerline is valid? [True, True] Translation: X:194.34, Y:9.99, Z:7.01 [[ 9.94264279e-01 -1.00518087e-01 -3.65329771e-02 1.94335438e+02] [ 1.00517824e-01 9.94933540e-01 -1.84859093e-03 9.98631672e+00] [ 3.65337011e-02 -1.83422744e-03 9.99330738e-01 7.00931903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.679254154 meters Centerline goodness : 0.999045 with order 1 Centerline is valid? [True, True] Translation: X:194.40, Y:9.99, Z:7.01 [[ 9.93434890e-01 -1.08408734e-01 -3.65330786e-02 1.94397970e+02] [ 1.08413858e-01 9.94104132e-01 -1.84658277e-03 9.98809045e+00] [ 3.65178701e-02 -2.12623224e-03 9.99330738e-01 7.01174275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.739254154 meters Centerline goodness : 0.999236 with order 1 Centerline is valid? [True, True] Translation: X:194.46, Y:9.99, Z:7.01 [[ 9.93217466e-01 -1.10382900e-01 -3.65332847e-02 1.94461120e+02] [ 1.10389503e-01 9.93886695e-01 -1.84249561e-03 9.99130579e+00] [ 3.65133256e-02 -2.20289234e-03 9.99330738e-01 7.01407410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.799254154 meters Centerline goodness : 0.999215 with order 1 Centerline is valid? [True, True] Translation: X:194.52, Y:9.99, Z:7.02 [[ 9.93184910e-01 -1.10675375e-01 -3.65334909e-02 1.94522776e+02] [ 1.10682326e-01 9.93854136e-01 -1.83839854e-03 9.99457947e+00] [ 3.65124265e-02 -2.21774206e-03 9.99330738e-01 7.01508211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.859254154 meters Centerline goodness : 0.999088 with order 1 Centerline is valid? [True, True] Translation: X:194.59, Y:10.00, Z:7.02 [[ 9.93399383e-01 -1.08733434e-01 -3.65336257e-02 1.94585990e+02] [ 1.08739175e-01 9.94068620e-01 -1.83571479e-03 9.99823287e+00] [ 3.65165345e-02 -2.14903838e-03 9.99330738e-01 7.01573401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.91925415400001 meters Centerline goodness : 0.999214 with order 1 Centerline is valid? [True, True] Translation: X:194.65, Y:10.00, Z:7.02 [[ 9.94119407e-01 -1.01940594e-01 -3.65338316e-02 1.94646746e+02] [ 1.01941911e-01 9.94788667e-01 -1.83160825e-03 1.00043178e+01] [ 3.65301569e-02 -1.90349128e-03 9.99330738e-01 7.01612589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.979254154 meters Centerline goodness : 0.999021 with order 1 Centerline is valid? [True, True] Translation: X:194.71, Y:10.01, Z:7.02 [[ 9.94882121e-01 -9.42063519e-02 -3.65339325e-02 1.94708446e+02] [ 9.42025378e-02 9.95551372e-01 -1.82959441e-03 1.00106785e+01] [ 3.65437660e-02 -1.62135839e-03 9.99330738e-01 7.01851572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.039254154 meters Centerline goodness : 0.999319 with order 1 Centerline is valid? [True, True] Translation: X:194.77, Y:10.02, Z:7.02 [[ 9.96149450e-01 -7.96965151e-02 -3.65340650e-02 1.94770648e+02] [ 7.96830445e-02 9.96818577e-01 -1.82694407e-03 1.00196455e+01] [ 3.65634358e-02 -1.09123620e-03 9.99330738e-01 7.02051919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.099254154 meters Centerline goodness : 0.999359 with order 1 Centerline is valid? [True, True] Translation: X:194.83, Y:10.03, Z:7.02 [[ 9.96883729e-01 -6.99148348e-02 -3.65341968e-02 1.94831322e+02] [ 6.98948937e-02 9.97552693e-01 -1.82430386e-03 1.00270801e+01] [ 3.65723324e-02 -7.34934972e-04 9.99330738e-01 7.02227167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.159254154 meters Centerline goodness : 0.999312 with order 1 Centerline is valid? [True, True] Translation: X:194.89, Y:10.04, Z:7.03 [[ 9.97726693e-01 -5.66275764e-02 -3.65344068e-02 1.94892538e+02] [ 5.65988791e-02 9.98395340e-01 -1.82008987e-03 1.00356231e+01] [ 3.65788487e-02 -2.51854226e-04 9.99330738e-01 7.02505527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.219254154 meters Centerline goodness : 0.999356 with order 1 Centerline is valid? [True, True] Translation: X:194.95, Y:10.04, Z:7.03 [[ 9.97923001e-01 -5.30557828e-02 -3.65344746e-02 1.94952207e+02] [ 5.30247421e-02 9.98591543e-01 -1.81872797e-03 1.00398053e+01] [ 3.65795114e-02 -1.22280613e-04 9.99330738e-01 7.02670468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.279254154 meters Centerline goodness : 0.999223 with order 1 Centerline is valid? [True, True] Translation: X:195.01, Y:10.04, Z:7.03 [[ 9.98183232e-01 -4.79110878e-02 -3.65344077e-02 1.95011088e+02] [ 4.78765522e-02 9.98851602e-01 -1.82007139e-03 1.00447898e+01] [ 3.65796532e-02 6.76232661e-05 9.99330738e-01 7.02812258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.339254154 meters Centerline goodness : 0.999266 with order 1 Centerline is valid? [True, True] Translation: X:195.07, Y:10.05, Z:7.03 [[ 9.98334757e-01 -4.46428518e-02 -3.65339365e-02 1.95068331e+02] [ 4.46057838e-02 9.99002992e-01 -1.82947991e-03 1.00489565e+01] [ 3.65791851e-02 1.96808505e-04 9.99330738e-01 7.03051538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.399254154 meters Centerline goodness : 0.999417 with order 1 Centerline is valid? [True, True] Translation: X:195.13, Y:10.05, Z:7.03 [[ 9.98317277e-01 -4.50324847e-02 -3.65333965e-02 1.95126165e+02] [ 4.49952852e-02 9.98985504e-01 -1.84020091e-03 1.00518758e+01] [ 3.65792023e-02 1.93273769e-04 9.99330738e-01 7.03365474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.459254154 meters Centerline goodness : 0.999504 with order 1 Centerline is valid? [True, True] Translation: X:195.19, Y:10.05, Z:7.04 [[ 9.98124870e-01 -4.91127946e-02 -3.65332309e-02 1.95185098e+02] [ 4.90782067e-02 9.98793237e-01 -1.84348285e-03 1.00531700e+01] [ 3.65796825e-02 4.70406200e-05 9.99330738e-01 7.03729250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.519254154 meters Centerline goodness : 0.999183 with order 1 Centerline is valid? [True, True] Translation: X:195.24, Y:10.05, Z:7.04 [[ 9.97670330e-01 -5.76131082e-02 -3.65327533e-02 1.95243264e+02] [ 5.75838700e-02 9.98338953e-01 -1.85289982e-03 1.00529545e+01] [ 3.65788220e-02 -2.55114135e-04 9.99330738e-01 7.04021273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.579254154 meters Centerline goodness : 0.999272 with order 1 Centerline is valid? [True, True] Translation: X:195.30, Y:10.05, Z:7.04 [[ 9.97201415e-01 -6.52283487e-02 -3.65321973e-02 1.95301622e+02] [ 6.52038169e-02 9.97870226e-01 -1.86379801e-03 1.00528177e+01] [ 3.65759644e-02 -5.23456687e-04 9.99330738e-01 7.04196972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.639254154 meters Centerline goodness : 0.999062 with order 1 Centerline is valid? [True, True] Translation: X:195.36, Y:10.05, Z:7.04 [[ 9.96214411e-01 -7.88812796e-02 -3.65320637e-02 1.95362190e+02] [ 7.88658153e-02 9.96883494e-01 -1.86641207e-03 1.00502293e+01] [ 3.65654363e-02 -1.02178439e-03 9.99330738e-01 7.04230989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.69925415400002 meters Centerline goodness : 0.999256 with order 1 Centerline is valid? [True, True] Translation: X:195.42, Y:10.05, Z:7.04 [[ 9.95481372e-01 -8.76484286e-02 -3.65320637e-02 1.95424323e+02] [ 8.76388552e-02 9.96150565e-01 -1.86641207e-03 1.00494545e+01] [ 3.65550240e-02 -1.34364980e-03 9.99330738e-01 7.04396533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.759254154 meters Centerline goodness : 0.998958 with order 1 Centerline is valid? [True, True] Translation: X:195.49, Y:10.05, Z:7.05 [[ 9.94521978e-01 -9.79358620e-02 -3.65321990e-02 1.95486422e+02] [ 9.79333049e-02 9.95191235e-01 -1.86376074e-03 1.00479471e+01] [ 3.65390532e-02 -1.72416797e-03 9.99330738e-01 7.04623601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.819254154 meters Centerline goodness : 0.999024 with order 1 Centerline is valid? [True, True] Translation: X:195.55, Y:10.05, Z:7.05 [[ 9.94283426e-01 -1.00328743e-01 -3.65323331e-02 1.95549190e+02] [ 1.00327892e-01 9.94952687e-01 -1.86112792e-03 1.00484513e+01] [ 3.65346676e-02 -1.81472334e-03 9.99330738e-01 7.04688997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.879254154 meters Centerline goodness : 0.999108 with order 1 Centerline is valid? [True, True] Translation: X:195.61, Y:10.05, Z:7.05 [[ 9.94205099e-01 -1.01101907e-01 -3.65325387e-02 1.95611258e+02] [ 1.01101726e-01 9.94874360e-01 -1.85708334e-03 1.00499710e+01] [ 3.65330407e-02 -1.84718099e-03 9.99330738e-01 7.04991018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.939254154 meters Centerline goodness : 0.999067 with order 1 Centerline is valid? [True, True] Translation: X:195.67, Y:10.05, Z:7.05 [[ 9.94688133e-01 -9.62334734e-02 -3.65326782e-02 1.95673108e+02] [ 9.62301163e-02 9.95357386e-01 -1.85433445e-03 1.00527137e+01] [ 3.65415202e-02 -1.67105941e-03 9.99330738e-01 7.05240750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.999254154 meters Centerline goodness : 0.999149 with order 1 Centerline is valid? [True, True] Translation: X:195.74, Y:10.06, Z:7.05 [[ 9.95497444e-01 -8.74653735e-02 -3.65328159e-02 1.95735066e+02] [ 8.74562192e-02 9.96166643e-01 -1.85161795e-03 1.00574914e+01] [ 3.65547251e-02 -1.35174103e-03 9.99330738e-01 7.05423709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.059254154 meters Centerline goodness : 0.998998 with order 1 Centerline is valid? [True, True] Translation: X:195.80, Y:10.06, Z:7.06 [[ 9.95966104e-01 -8.19564724e-02 -3.65329537e-02 1.95797103e+02] [ 8.19437157e-02 9.96635244e-01 -1.84889520e-03 1.00617896e+01] [ 3.65615582e-02 -1.15220902e-03 9.99330738e-01 7.05522841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.119254154 meters Centerline goodness : 0.999210 with order 1 Centerline is valid? [True, True] Translation: X:195.86, Y:10.07, Z:7.06 [[ 9.96413231e-01 -7.63282746e-02 -3.65330893e-02 1.95858575e+02] [ 7.63118360e-02 9.97082291e-01 -1.84621149e-03 1.00668046e+01] [ 3.65674146e-02 -9.48317566e-04 9.99330738e-01 7.05615060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.179254154 meters Centerline goodness : 0.999020 with order 1 Centerline is valid? [True, True] Translation: X:195.92, Y:10.07, Z:7.06 [[ 9.96584481e-01 -7.40587687e-02 -3.65331560e-02 1.95919677e+02] [ 7.40408548e-02 9.97253502e-01 -1.84489085e-03 1.00711418e+01] [ 3.65694482e-02 -8.66356509e-04 9.99330738e-01 7.05874589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.239254154 meters Centerline goodness : 0.999190 with order 1 Centerline is valid? [True, True] Translation: X:195.98, Y:10.08, Z:7.06 [[ 9.96636979e-01 -7.33488592e-02 -3.65332228e-02 1.95980311e+02] [ 7.33305172e-02 9.97305989e-01 -1.84356796e-03 1.00754074e+01] [ 3.65700255e-02 -8.41632121e-04 9.99330738e-01 7.06064038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.299254154 meters Centerline goodness : 0.999211 with order 1 Centerline is valid? [True, True] Translation: X:196.04, Y:10.08, Z:7.06 [[ 9.96578977e-01 -7.41327388e-02 -3.65332556e-02 1.96040949e+02] [ 7.41149468e-02 9.97248002e-01 -1.84291740e-03 1.00788566e+01] [ 3.65693367e-02 -8.71047554e-04 9.99330738e-01 7.06477667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.359254154 meters Centerline goodness : 0.999041 with order 1 Centerline is valid? [True, True] Translation: X:196.10, Y:10.08, Z:7.07 [[ 9.96412111e-01 -7.63427991e-02 -3.65332893e-02 1.96100808e+02] [ 7.63265155e-02 9.97081175e-01 -1.84224866e-03 1.00829963e+01] [ 3.65672975e-02 -9.52819792e-04 9.99330738e-01 7.06769705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.41925415400001 meters Centerline goodness : 0.998892 with order 1 Centerline is valid? [True, True] Translation: X:196.16, Y:10.08, Z:7.07 [[ 9.96572691e-01 -7.42171268e-02 -3.65333957e-02 1.96162551e+02] [ 7.41994933e-02 9.97241720e-01 -1.84013657e-03 1.00813744e+01] [ 3.65691960e-02 -8.76929598e-04 9.99330738e-01 7.06677514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.479254154 meters Centerline goodness : 0.999001 with order 1 Centerline is valid? [True, True] Translation: X:196.22, Y:10.09, Z:7.07 [[ 9.96093502e-01 -8.03930411e-02 -3.65334640e-02 1.96223008e+02] [ 8.03796047e-02 9.96762629e-01 -1.83877917e-03 1.00887708e+01] [ 3.65630167e-02 -1.10494941e-03 9.99330738e-01 7.07481209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.539254154 meters Centerline goodness : 0.999109 with order 1 Centerline is valid? [True, True] Translation: X:196.28, Y:10.09, Z:7.08 [[ 9.95703979e-01 -8.50816495e-02 -3.65335323e-02 1.96284965e+02] [ 8.50714132e-02 9.96373162e-01 -1.83742118e-03 1.00905534e+01] [ 3.65573620e-02 -1.27843164e-03 9.99330738e-01 7.07896738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.599254154 meters Centerline goodness : 0.999046 with order 1 Centerline is valid? [True, True] Translation: X:196.35, Y:10.09, Z:7.08 [[ 9.95432268e-01 -8.82036882e-02 -3.65336682e-02 1.96347486e+02] [ 8.81956497e-02 9.96101481e-01 -1.83471466e-03 1.00923799e+01] [ 3.65530697e-02 -1.39577643e-03 9.99330738e-01 7.08223574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.659254154 meters Centerline goodness : 0.998878 with order 1 Centerline is valid? [True, True] Translation: X:196.41, Y:10.09, Z:7.08 [[ 9.95151899e-01 -9.13125297e-02 -3.65338044e-02 1.96410047e+02] [ 9.13066810e-02 9.95821135e-01 -1.83199957e-03 1.00932631e+01] [ 3.65484191e-02 -1.51266257e-03 9.99330739e-01 7.08230946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.719254154 meters Centerline goodness : 0.999026 with order 1 Centerline is valid? [True, True] Translation: X:196.47, Y:10.10, Z:7.09 [[ 9.94977971e-01 -9.31885636e-02 -3.65339388e-02 1.96470903e+02] [ 9.31840751e-02 9.95647218e-01 -1.82931465e-03 1.00954549e+01] [ 3.65453858e-02 -1.58425353e-03 9.99330739e-01 7.08532121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.779254154 meters Centerline goodness : 0.998811 with order 1 Centerline is valid? [True, True] Translation: X:196.53, Y:10.10, Z:7.09 [[ 9.94952261e-01 -9.34626266e-02 -3.65340380e-02 1.96533153e+02] [ 9.34583952e-02 9.95621509e-01 -1.82733140e-03 1.00973501e+01] [ 3.65448613e-02 -1.59630506e-03 9.99330739e-01 7.08587836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.839254154 meters Centerline goodness : 0.998832 with order 1 Centerline is valid? [True, True] Translation: X:196.59, Y:10.10, Z:7.09 [[ 9.95033642e-01 -9.25921456e-02 -3.65341723e-02 1.96593946e+02] [ 9.25874272e-02 9.95702887e-01 -1.82464268e-03 1.01000350e+01] [ 3.65461284e-02 -1.56702417e-03 9.99330739e-01 7.08529789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.899254154 meters Centerline goodness : 0.999064 with order 1 Centerline is valid? [True, True] Translation: X:196.66, Y:10.10, Z:7.09 [[ 9.95306200e-01 -8.96148115e-02 -3.65342714e-02 1.96655790e+02] [ 8.96081636e-02 9.95975429e-01 -1.82265583e-03 1.01037796e+01] [ 3.65505736e-02 -1.45966832e-03 9.99330739e-01 7.08857698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.959254154 meters Centerline goodness : 0.998919 with order 1 Centerline is valid? [True, True] Translation: X:196.72, Y:10.11, Z:7.09 [[ 9.95578616e-01 -8.65358729e-02 -3.65344073e-02 1.96716564e+02] [ 8.65272551e-02 9.96247822e-01 -1.81992910e-03 1.01073843e+01] [ 3.65548128e-02 -1.34933948e-03 9.99330739e-01 7.09089662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.019254154 meters Centerline goodness : 0.999063 with order 1 Centerline is valid? [True, True] Translation: X:196.78, Y:10.11, Z:7.10 [[ 9.96183627e-01 -7.92679724e-02 -3.65345074e-02 1.96778585e+02] [ 7.92545447e-02 9.96852754e-01 -1.81791718e-03 1.01127291e+01] [ 3.65636269e-02 -1.08454642e-03 9.99330739e-01 7.09604012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.079254154 meters Centerline goodness : 0.998916 with order 1 Centerline is valid? [True, True] Translation: X:196.84, Y:10.12, Z:7.10 [[ 9.96629815e-01 -7.34454359e-02 -3.65346391e-02 1.96839416e+02] [ 7.34281956e-02 9.97298854e-01 -1.81526567e-03 1.01168973e+01] [ 3.65692767e-02 -8.73524734e-04 9.99330739e-01 7.09977087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.139254154 meters Centerline goodness : 0.999021 with order 1 Centerline is valid? [True, True] Translation: X:196.90, Y:10.12, Z:7.10 [[ 9.97045652e-01 -6.75661386e-02 -3.65347041e-02 1.96901043e+02] [ 6.75450006e-02 9.97714580e-01 -1.81395706e-03 1.01208181e+01] [ 3.65737690e-02 -6.59138608e-04 9.99330739e-01 7.10230581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.19925415400002 meters Centerline goodness : 0.999191 with order 1 Centerline is valid? [True, True] Translation: X:196.96, Y:10.12, Z:7.10 [[ 9.97368866e-01 -6.26143471e-02 -3.65347683e-02 1.96961656e+02] [ 6.25899352e-02 9.98037682e-01 -1.81266261e-03 1.01238510e+01] [ 3.65765742e-02 -4.78815529e-04 9.99330739e-01 7.10382278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.259254154 meters Centerline goodness : 0.999063 with order 1 Centerline is valid? [True, True] Translation: X:197.02, Y:10.13, Z:7.11 [[ 9.97567051e-01 -5.93733119e-02 -3.65347683e-02 1.97021119e+02] [ 5.93467270e-02 9.98235784e-01 -1.81266261e-03 1.01270013e+01] [ 3.65779369e-02 -3.59966425e-04 9.99330739e-01 7.10644453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.319254154 meters Centerline goodness : 0.999277 with order 1 Centerline is valid? [True, True] Translation: X:197.08, Y:10.13, Z:7.11 [[ 9.97671338e-01 -5.75944204e-02 -3.65347014e-02 1.97080757e+02] [ 5.75665936e-02 9.98340021e-01 -1.81400982e-03 1.01288029e+01] [ 3.65785314e-02 -2.93392709e-04 9.99330739e-01 7.10830178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.379254154 meters Centerline goodness : 0.999086 with order 1 Centerline is valid? [True, True] Translation: X:197.14, Y:10.13, Z:7.11 [[ 9.97574096e-01 -5.92549031e-02 -3.65346344e-02 1.97138616e+02] [ 5.92281400e-02 9.98242822e-01 -1.81535951e-03 1.01293465e+01] [ 3.65780055e-02 -3.52922817e-04 9.99330739e-01 7.10869137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.439254154 meters Centerline goodness : 0.999191 with order 1 Centerline is valid? [True, True] Translation: X:197.20, Y:10.13, Z:7.11 [[ 9.97440265e-01 -6.14666608e-02 -3.65344693e-02 1.97197490e+02] [ 6.14412591e-02 9.98109044e-01 -1.81867621e-03 1.01306440e+01] [ 3.65771721e-02 -4.30702907e-04 9.99330739e-01 7.11031040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.499254154 meters Centerline goodness : 0.999129 with order 1 Centerline is valid? [True, True] Translation: X:197.26, Y:10.13, Z:7.11 [[ 9.97254563e-01 -6.44096457e-02 -3.65340080e-02 1.97256724e+02] [ 6.43858798e-02 9.97923403e-01 -1.82789484e-03 1.01322176e+01] [ 3.65758757e-02 -5.29397784e-04 9.99330739e-01 7.11301022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.559254154 meters Centerline goodness : 0.998897 with order 1 Centerline is valid? [True, True] Translation: X:197.32, Y:10.13, Z:7.11 [[ 9.96908561e-01 -6.95599844e-02 -3.65339428e-02 1.97316531e+02] [ 6.95396259e-02 9.97577513e-01 -1.82919841e-03 1.01320073e+01] [ 3.65726788e-02 -7.17013163e-04 9.99330739e-01 7.11489828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.619254154 meters Centerline goodness : 0.999069 with order 1 Centerline is valid? [True, True] Translation: X:197.38, Y:10.13, Z:7.12 [[ 9.96573561e-01 -7.42051983e-02 -3.65339106e-02 1.97376211e+02] [ 7.41879341e-02 9.97242599e-01 -1.82983976e-03 1.01325458e+01] [ 3.65689556e-02 -8.86805427e-04 9.99330739e-01 7.11733557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.679254154 meters Centerline goodness : 0.999131 with order 1 Centerline is valid? [True, True] Translation: X:197.44, Y:10.13, Z:7.12 [[ 9.96214617e-01 -7.88778524e-02 -3.65338474e-02 1.97437795e+02] [ 7.88636796e-02 9.96883728e-01 -1.83110167e-03 1.01336530e+01] [ 3.65644314e-02 -1.05702338e-03 9.99330739e-01 7.12059307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.739254154 meters Centerline goodness : 0.999046 with order 1 Centerline is valid? [True, True] Translation: X:197.50, Y:10.13, Z:7.12 [[ 9.95826335e-01 -8.36372120e-02 -3.65339148e-02 1.97498757e+02] [ 8.36262859e-02 9.96495507e-01 -1.82975630e-03 1.01326886e+01] [ 3.65589177e-02 -1.23307609e-03 9.99330739e-01 7.12278408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.799254154 meters Centerline goodness : 0.998985 with order 1 Centerline is valid? [True, True] Translation: X:197.56, Y:10.13, Z:7.12 [[ 9.95631394e-01 -8.59266898e-02 -3.65339823e-02 1.97559815e+02] [ 8.59173518e-02 9.96300590e-01 -1.82840727e-03 1.01334104e+01] [ 3.65559371e-02 -1.31848333e-03 9.99330739e-01 7.12487594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.859254154 meters Centerline goodness : 0.998962 with order 1 Centerline is valid? [True, True] Translation: X:197.62, Y:10.14, Z:7.13 [[ 9.95628668e-01 -8.59582294e-02 -3.65340823e-02 1.97622327e+02] [ 8.59489860e-02 9.96297865e-01 -1.82640574e-03 1.01356866e+01] [ 3.65558228e-02 -1.32164542e-03 9.99330739e-01 7.12800490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.91925415400001 meters Centerline goodness : 0.998922 with order 1 Centerline is valid? [True, True] Translation: X:197.68, Y:10.14, Z:7.13 [[ 9.95689779e-01 -8.52473728e-02 -3.65342193e-02 1.97683969e+02] [ 8.52377521e-02 9.96358971e-01 -1.82366187e-03 1.01385491e+01] [ 3.65566596e-02 -1.29829324e-03 9.99330739e-01 7.12957299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.979254154 meters Centerline goodness : 0.999240 with order 1 Centerline is valid? [True, True] Translation: X:197.75, Y:10.14, Z:7.13 [[ 9.95684073e-01 -8.53139414e-02 -3.65343548e-02 1.97745446e+02] [ 8.53044651e-02 9.96353267e-01 -1.82094408e-03 1.01418229e+01] [ 3.65564756e-02 -1.30345858e-03 9.99330739e-01 7.13175754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.039254154 meters Centerline goodness : 0.998945 with order 1 Centerline is valid? [True, True] Translation: X:197.81, Y:10.14, Z:7.13 [[ 9.95618488e-01 -8.60758974e-02 -3.65344548e-02 1.97807580e+02] [ 8.60670068e-02 9.96287690e-01 -1.81893583e-03 1.01449155e+01] [ 3.65553941e-02 -1.33344502e-03 9.99330739e-01 7.13355757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.099254154 meters Centerline goodness : 0.999049 with order 1 Centerline is valid? [True, True] Translation: X:197.87, Y:10.15, Z:7.13 [[ 9.95292173e-01 -8.97703410e-02 -3.65345908e-02 1.97868345e+02] [ 8.97640344e-02 9.95961405e-01 -1.81619979e-03 1.01473618e+01] [ 3.65500832e-02 -1.47184283e-03 9.99330739e-01 7.13378529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.159254154 meters Centerline goodness : 0.998921 with order 1 Centerline is valid? [True, True] Translation: X:197.93, Y:10.15, Z:7.14 [[ 9.95009231e-01 -9.28538993e-02 -3.65346912e-02 1.97930458e+02] [ 9.28497405e-02 9.95678479e-01 -1.81417762e-03 1.01501970e+01] [ 3.65452592e-02 -1.58711312e-03 9.99330739e-01 7.13616270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.219254154 meters Centerline goodness : 0.998967 with order 1 Centerline is valid? [True, True] Translation: X:197.99, Y:10.15, Z:7.14 [[ 9.94685916e-01 -9.62555756e-02 -3.65348263e-02 1.97991886e+02] [ 9.62538050e-02 9.95355175e-01 -1.81145174e-03 1.01533242e+01] [ 3.65394908e-02 -1.71479052e-03 9.99330739e-01 7.13844308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.279254154 meters Centerline goodness : 0.999071 with order 1 Centerline is valid? [True, True] Translation: X:198.05, Y:10.16, Z:7.14 [[ 9.94549667e-01 -9.76532582e-02 -3.65349261e-02 1.98053942e+02] [ 9.76525020e-02 9.95218928e-01 -1.80943784e-03 1.01563017e+01] [ 3.65369475e-02 -1.76815114e-03 9.99330739e-01 7.14287521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.339254154 meters Centerline goodness : 0.998882 with order 1 Centerline is valid? [True, True] Translation: X:198.11, Y:10.16, Z:7.15 [[ 9.94663496e-01 -9.64868898e-02 -3.65350609e-02 1.98114571e+02] [ 9.64854486e-02 9.95332755e-01 -1.80671075e-03 1.01590669e+01] [ 3.65388668e-02 -1.72803252e-03 9.99330739e-01 7.14512860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.399254154 meters Centerline goodness : 0.999134 with order 1 Centerline is valid? [True, True] Translation: X:198.18, Y:10.16, Z:7.15 [[ 9.94866375e-01 -9.43720200e-02 -3.65351606e-02 1.98176118e+02] [ 9.43692299e-02 9.95535630e-01 -1.80469401e-03 1.01617389e+01] [ 3.65423667e-02 -1.65236558e-03 9.99330739e-01 7.14694690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.459254154 meters Centerline goodness : 0.998796 with order 1 Centerline is valid? [True, True] Translation: X:198.24, Y:10.17, Z:7.15 [[ 9.95351371e-01 -8.91112930e-02 -3.65352572e-02 1.98237603e+02] [ 8.91050367e-02 9.96020603e-01 -1.80273526e-03 1.01664886e+01] [ 3.65505130e-02 -1.46112042e-03 9.99330739e-01 7.15009658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.519254154 meters Centerline goodness : 0.998860 with order 1 Centerline is valid? [True, True] Translation: X:198.30, Y:10.17, Z:7.15 [[ 9.95773798e-01 -8.42597678e-02 -3.65353877e-02 1.98299620e+02] [ 8.42503474e-02 9.96442993e-01 -1.80008737e-03 1.01708327e+01] [ 3.65571060e-02 -1.28563926e-03 9.99330739e-01 7.15301963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.579254154 meters Centerline goodness : 0.999068 with order 1 Centerline is valid? [True, True] Translation: X:198.36, Y:10.18, Z:7.15 [[ 9.96455523e-01 -7.57729897e-02 -3.65355216e-02 1.98361861e+02] [ 7.57579679e-02 9.97124616e-01 -1.79736562e-03 1.01763144e+01] [ 3.65666597e-02 -9.76861968e-04 9.99330739e-01 7.15495999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.639254154 meters Centerline goodness : 0.998939 with order 1 Centerline is valid? [True, True] Translation: X:198.42, Y:10.18, Z:7.16 [[ 9.96896321e-01 -6.97342843e-02 -3.65356536e-02 1.98421883e+02] [ 6.97153074e-02 9.97565314e-01 -1.79467796e-03 1.01816126e+01] [ 3.65718513e-02 -7.57986468e-04 9.99330739e-01 7.15699282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.69925415400002 meters Centerline goodness : 0.999085 with order 1 Centerline is valid? [True, True] Translation: X:198.48, Y:10.19, Z:7.16 [[ 9.97255244e-01 -6.43981700e-02 -3.65356536e-02 1.98481711e+02] [ 6.43756131e-02 9.97924125e-01 -1.79467796e-03 1.01866751e+01] [ 3.65753841e-02 -5.62253096e-04 9.99330739e-01 7.15964863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.759254154 meters Centerline goodness : 0.999083 with order 1 Centerline is valid? [True, True] Translation: X:198.54, Y:10.19, Z:7.16 [[ 9.97600366e-01 -5.88103370e-02 -3.65356536e-02 1.98540359e+02] [ 5.87840332e-02 9.98269110e-01 -1.79467796e-03 1.01922048e+01] [ 3.65779600e-02 -3.57341689e-04 9.99330739e-01 7.16011270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.819254154 meters Centerline goodness : 0.998828 with order 1 Centerline is valid? [True, True] Translation: X:198.60, Y:10.20, Z:7.16 [[ 9.97719005e-01 -5.67621328e-02 -3.65355541e-02 1.98599159e+02] [ 5.67343821e-02 9.98387691e-01 -1.79670075e-03 1.01960817e+01] [ 3.65786321e-02 -2.80219601e-04 9.99330739e-01 7.16376576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.879254154 meters Centerline goodness : 0.999211 with order 1 Centerline is valid? [True, True] Translation: X:198.66, Y:10.20, Z:7.17 [[ 9.97700970e-01 -5.70785531e-02 -3.65350836e-02 1.98658247e+02] [ 5.70506659e-02 9.98369651e-01 -1.80621872e-03 1.01991059e+01] [ 3.65786150e-02 -2.82284681e-04 9.99330739e-01 7.16647980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.939254154 meters Centerline goodness : 0.999021 with order 1 Centerline is valid? [True, True] Translation: X:198.72, Y:10.20, Z:7.17 [[ 9.97571355e-01 -5.93010507e-02 -3.65346119e-02 1.98716408e+02] [ 5.92743057e-02 9.98240081e-01 -1.81570959e-03 1.01990002e+01] [ 3.65779874e-02 -3.54263877e-04 9.99330739e-01 7.16759945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.999254154 meters Centerline goodness : 0.999192 with order 1 Centerline is valid? [True, True] Translation: X:198.78, Y:10.20, Z:7.17 [[ 9.97505921e-01 -6.03918244e-02 -3.65344460e-02 1.98775084e+02] [ 6.03656886e-02 9.98174671e-01 -1.81904157e-03 1.02006443e+01] [ 3.65776139e-02 -3.90922250e-04 9.99330739e-01 7.16955049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.059254154 meters Centerline goodness : 0.999193 with order 1 Centerline is valid? [True, True] Translation: X:198.83, Y:10.20, Z:7.17 [[ 9.97442265e-01 -6.14344860e-02 -3.65339823e-02 1.98834056e+02] [ 6.14087099e-02 9.98111030e-01 -1.82830697e-03 1.02022596e+01] [ 3.65772918e-02 -4.19874082e-04 9.99330739e-01 7.17157617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.119254154 meters Centerline goodness : 0.999215 with order 1 Centerline is valid? [True, True] Translation: X:198.89, Y:10.20, Z:7.17 [[ 9.97378764e-01 -6.24572055e-02 -3.65335162e-02 1.98892391e+02] [ 6.24317758e-02 9.98047542e-01 -1.83757436e-03 1.02031276e+01] [ 3.65769558e-02 -4.48094644e-04 9.99330739e-01 7.17343818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.179254154 meters Centerline goodness : 0.999196 with order 1 Centerline is valid? [True, True] Translation: X:198.95, Y:10.20, Z:7.17 [[ 9.97421251e-01 -6.17750668e-02 -3.65333907e-02 1.98951154e+02] [ 6.17490884e-02 9.98090008e-01 -1.84006614e-03 1.02048147e+01] [ 3.65772824e-02 -4.20582503e-04 9.99330739e-01 7.17483233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.239254154 meters Centerline goodness : 0.999173 with order 1 Centerline is valid? [True, True] Translation: X:199.01, Y:10.21, Z:7.18 [[ 9.97496754e-01 -6.05439485e-02 -3.65329352e-02 1.99008992e+02] [ 6.05168152e-02 9.98165465e-01 -1.84906568e-03 1.02072154e+01] [ 3.65778640e-02 -3.66419872e-04 9.99330739e-01 7.17579592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.299254154 meters Centerline goodness : 0.999003 with order 1 Centerline is valid? [True, True] Translation: X:199.07, Y:10.21, Z:7.18 [[ 9.97514978e-01 -6.02430458e-02 -3.65327751e-02 1.99068071e+02] [ 6.02155952e-02 9.98183676e-01 -1.85222330e-03 1.02086717e+01] [ 3.65780033e-02 -3.52222312e-04 9.99330739e-01 7.17736406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.359254154 meters Centerline goodness : 0.999384 with order 1 Centerline is valid? [True, True] Translation: X:199.13, Y:10.21, Z:7.18 [[ 9.97354782e-01 -6.28397124e-02 -3.65323113e-02 1.99127007e+02] [ 6.28136693e-02 9.98023536e-01 -1.86132668e-03 1.02106097e+01] [ 3.65770717e-02 -4.38325458e-04 9.99330739e-01 7.18015366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.41925415400001 meters Centerline goodness : 0.999217 with order 1 Centerline is valid? [True, True] Translation: X:199.18, Y:10.21, Z:7.18 [[ 9.96814892e-01 -7.08907431e-02 -3.65318281e-02 1.99184353e+02] [ 7.08697551e-02 9.97483823e-01 -1.87076115e-03 1.02117543e+01] [ 3.65725273e-02 -7.24199138e-04 9.99330739e-01 7.18101733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.479254154 meters Centerline goodness : 0.998709 with order 1 Centerline is valid? [True, True] Translation: X:199.24, Y:10.21, Z:7.18 [[ 9.96293504e-01 -7.78761351e-02 -3.65316584e-02 1.99243926e+02] [ 7.78597152e-02 9.96962563e-01 -1.87407018e-03 1.02127135e+01] [ 3.65666411e-02 -9.77220571e-04 9.99330739e-01 7.18221993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.539254154 meters Centerline goodness : 0.998817 with order 1 Centerline is valid? [True, True] Translation: X:199.30, Y:10.21, Z:7.18 [[ 9.95655938e-01 -8.56428354e-02 -3.65315938e-02 1.99303142e+02] [ 8.56315870e-02 9.96325105e-01 -1.87532908e-03 1.02134453e+01] [ 3.65579525e-02 -1.26107581e-03 9.99330739e-01 7.18316081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.599254154 meters Centerline goodness : 0.998649 with order 1 Centerline is valid? [True, True] Translation: X:199.37, Y:10.21, Z:7.19 [[ 9.94588334e-01 -9.72599136e-02 -3.65315619e-02 1.99365128e+02] [ 9.72564550e-02 9.95257586e-01 -1.87594936e-03 1.02135127e+01] [ 3.65407688e-02 -1.68713286e-03 9.99330739e-01 7.18755450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.659254154 meters Centerline goodness : 0.998844 with order 1 Centerline is valid? [True, True] Translation: X:199.43, Y:10.22, Z:7.19 [[ 9.93987414e-01 -1.03220423e-01 -3.65316982e-02 1.99427422e+02] [ 1.03221074e-01 9.94656675e-01 -1.87329213e-03 1.02156209e+01] [ 3.65298594e-02 -1.90881233e-03 9.99330739e-01 7.19208499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.719254154 meters Centerline goodness : 0.998820 with order 1 Centerline is valid? [True, True] Translation: X:199.49, Y:10.22, Z:7.20 [[ 9.93441265e-01 -1.08350716e-01 -3.65318349e-02 1.99489940e+02] [ 1.08354920e-01 9.94110513e-01 -1.87062263e-03 1.02183897e+01] [ 3.65193644e-02 -2.10005033e-03 9.99330739e-01 7.19544199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.779254154 meters Centerline goodness : 0.999050 with order 1 Centerline is valid? [True, True] Translation: X:199.55, Y:10.22, Z:7.20 [[ 9.93379783e-01 -1.08912912e-01 -3.65319735e-02 1.99551245e+02] [ 1.08917594e-01 9.94049027e-01 -1.86791122e-03 1.02232706e+01] [ 3.65180124e-02 -2.12342942e-03 9.99330739e-01 7.19594162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.839254154 meters Centerline goodness : 0.999091 with order 1 Centerline is valid? [True, True] Translation: X:199.61, Y:10.23, Z:7.20 [[ 9.93498123e-01 -1.07828048e-01 -3.65320758e-02 1.99612757e+02] [ 1.07832072e-01 9.94167372e-01 -1.86590871e-03 1.02286954e+01] [ 3.65201950e-02 -2.08555262e-03 9.99330739e-01 7.19809622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.899254154 meters Centerline goodness : 0.999197 with order 1 Centerline is valid? [True, True] Translation: X:199.67, Y:10.23, Z:7.20 [[ 9.93678350e-01 -1.06154297e-01 -3.65322148e-02 1.99674250e+02] [ 1.06157294e-01 9.94347604e-01 -1.86318184e-03 1.02342484e+01] [ 3.65235051e-02 -2.02675763e-03 9.99330739e-01 7.20102804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.959254154 meters Centerline goodness : 0.998964 with order 1 Centerline is valid? [True, True] Translation: X:199.74, Y:10.24, Z:7.21 [[ 9.94152074e-01 -1.01622047e-01 -3.65323541e-02 1.99735577e+02] [ 1.01622092e-01 9.94821335e-01 -1.86044716e-03 1.02419537e+01] [ 3.65322277e-02 -1.86292686e-03 9.99330739e-01 7.20555558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.019254154 meters Centerline goodness : 0.999029 with order 1 Centerline is valid? [True, True] Translation: X:199.80, Y:10.25, Z:7.21 [[ 9.95073478e-01 -9.21637146e-02 -3.65324934e-02 1.99796682e+02] [ 9.21574962e-02 9.95742710e-01 -1.85770735e-03 1.02520216e+01] [ 3.65481772e-02 -1.51818781e-03 9.99330739e-01 7.20996060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.079254154 meters Centerline goodness : 0.998854 with order 1 Centerline is valid? [True, True] Translation: X:199.86, Y:10.26, Z:7.21 [[ 9.95780594e-01 -8.41805799e-02 -3.65327089e-02 1.99857988e+02] [ 8.41691503e-02 9.96449757e-01 -1.85346073e-03 1.02598713e+01] [ 3.65590343e-02 -1.22928684e-03 9.99330739e-01 7.21498727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.139254154 meters Centerline goodness : 0.999045 with order 1 Centerline is valid? [True, True] Translation: X:199.92, Y:10.27, Z:7.22 [[ 9.96450431e-01 -7.58412135e-02 -3.65328477e-02 1.99920117e+02] [ 7.58242827e-02 9.97119478e-01 -1.85071970e-03 1.02664161e+01] [ 3.65679749e-02 -9.25926535e-04 9.99330739e-01 7.21872112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.19925415400002 meters Centerline goodness : 0.999190 with order 1 Centerline is valid? [True, True] Translation: X:199.98, Y:10.27, Z:7.22 [[ 9.97100345e-01 -6.67550967e-02 -3.65329858e-02 1.99981220e+02] [ 6.67321680e-02 9.97769213e-01 -1.84799007e-03 1.02740369e+01] [ 3.65748513e-02 -5.95293814e-04 9.99330739e-01 7.22147243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.259254154 meters Centerline goodness : 0.999167 with order 1 Centerline is valid? [True, True] Translation: X:200.04, Y:10.28, Z:7.22 [[ 9.97257782e-01 -6.43603339e-02 -3.65330537e-02 2.00041933e+02] [ 6.43358481e-02 9.97926595e-01 -1.84664792e-03 1.02783876e+01] [ 3.65761567e-02 -5.08800987e-04 9.99330739e-01 7.22205470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.319254154 meters Centerline goodness : 0.999039 with order 1 Centerline is valid? [True, True] Translation: X:200.10, Y:10.28, Z:7.22 [[ 9.97207391e-01 -6.51364306e-02 -3.65330537e-02 2.00101491e+02] [ 6.51124653e-02 9.97876223e-01 -1.84664792e-03 1.02813303e+01] [ 3.65757497e-02 -5.37266236e-04 9.99330739e-01 7.22370128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.379254154 meters Centerline goodness : 0.999167 with order 1 Centerline is valid? [True, True] Translation: X:200.16, Y:10.28, Z:7.23 [[ 9.97030072e-01 -6.77965752e-02 -3.65329855e-02 2.00162383e+02] [ 6.77743449e-02 9.97698964e-01 -1.84799623e-03 1.02829088e+01] [ 3.65742096e-02 -6.33491341e-04 9.99330739e-01 7.22672991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.439254154 meters Centerline goodness : 0.999124 with order 1 Centerline is valid? [True, True] Translation: X:200.22, Y:10.29, Z:7.23 [[ 9.96839830e-01 -7.05386021e-02 -3.65329855e-02 2.00222961e+02] [ 7.05182117e-02 9.97508780e-01 -1.84799623e-03 1.02856565e+01] [ 3.65723288e-02 -7.34084553e-04 9.99330739e-01 7.22901435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.499254154 meters Centerline goodness : 0.999170 with order 1 Centerline is valid? [True, True] Translation: X:200.28, Y:10.29, Z:7.23 [[ 9.96491180e-01 -7.53038417e-02 -3.65329855e-02 2.00284402e+02] [ 7.52866499e-02 9.97160220e-01 -1.84799623e-03 1.02868171e+01] [ 3.65684011e-02 -9.08934139e-04 9.99330739e-01 7.23151169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.559254154 meters Centerline goodness : 0.999129 with order 1 Centerline is valid? [True, True] Translation: X:200.35, Y:10.29, Z:7.23 [[ 9.96223504e-01 -7.87658946e-02 -3.65330529e-02 2.00346095e+02] [ 7.87510764e-02 9.96892601e-01 -1.84666285e-03 1.02891484e+01] [ 3.65649841e-02 -1.03732830e-03 9.99330739e-01 7.23468113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.619254154 meters Centerline goodness : 0.998920 with order 1 Centerline is valid? [True, True] Translation: X:200.41, Y:10.29, Z:7.24 [[ 9.95907356e-01 -8.26672256e-02 -3.65331203e-02 2.00408594e+02] [ 8.26550772e-02 9.96576506e-01 -1.84532690e-03 1.02909832e+01] [ 3.65605975e-02 -1.18187325e-03 9.99330739e-01 7.23711432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.679254154 meters Centerline goodness : 0.999110 with order 1 Centerline is valid? [True, True] Translation: X:200.47, Y:10.29, Z:7.24 [[ 9.95334878e-01 -8.92961469e-02 -3.65332551e-02 2.00471103e+02] [ 8.92885519e-02 9.96004096e-01 -1.84265471e-03 1.02917498e+01] [ 3.65518137e-02 -1.42794294e-03 9.99330739e-01 7.24042734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.739254154 meters Centerline goodness : 0.999174 with order 1 Centerline is valid? [True, True] Translation: X:200.53, Y:10.29, Z:7.24 [[ 9.94918745e-01 -9.38189814e-02 -3.65333909e-02 2.00533667e+02] [ 9.38145268e-02 9.95587992e-01 -1.83995964e-03 1.02931136e+01] [ 3.65448284e-02 -1.59675243e-03 9.99330739e-01 7.24177554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.799254154 meters Centerline goodness : 0.998754 with order 1 Centerline is valid? [True, True] Translation: X:200.60, Y:10.29, Z:7.24 [[ 9.94174748e-01 -1.01399563e-01 -3.65335248e-02 2.00595635e+02] [ 1.01400307e-01 9.94844009e-01 -1.83729715e-03 1.02939291e+01] [ 3.65314594e-02 -1.87791620e-03 9.99330739e-01 7.24334557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.859254154 meters Centerline goodness : 0.999048 with order 1 Centerline is valid? [True, True] Translation: X:200.66, Y:10.30, Z:7.25 [[ 9.93654555e-01 -1.06376300e-01 -3.65336606e-02 2.00658070e+02] [ 1.06380494e-01 9.94323803e-01 -1.83459211e-03 1.02959300e+01] [ 3.65214454e-02 -2.06351807e-03 9.99330739e-01 7.24512488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.91925415400001 meters Centerline goodness : 0.998921 with order 1 Centerline is valid? [True, True] Translation: X:200.72, Y:10.30, Z:7.25 [[ 9.93053734e-01 -1.11846162e-01 -3.65337948e-02 2.00720405e+02] [ 1.11854139e-01 9.93722947e-01 -1.83191615e-03 1.02992658e+01] [ 3.65093630e-02 -2.26726500e-03 9.99330739e-01 7.24673675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.979254154 meters Centerline goodness : 0.998920 with order 1 Centerline is valid? [True, True] Translation: X:200.78, Y:10.30, Z:7.25 [[ 9.92928723e-01 -1.12950535e-01 -3.65339282e-02 2.00782896e+02] [ 1.12959355e-01 9.93597926e-01 -1.82925135e-03 1.03028409e+01] [ 3.65066502e-02 -2.31053273e-03 9.99330739e-01 7.24974212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.039254154 meters Centerline goodness : 0.999090 with order 1 Centerline is valid? [True, True] Translation: X:200.85, Y:10.31, Z:7.25 [[ 9.92672982e-01 -1.15176446e-01 -3.65340649e-02 2.00846062e+02] [ 1.15186866e-01 9.93342161e-01 -1.82651775e-03 1.03070049e+01] [ 3.65011988e-02 -2.39510961e-03 9.99330739e-01 7.25132604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.099254154 meters Centerline goodness : 0.999217 with order 1 Centerline is valid? [True, True] Translation: X:200.91, Y:10.31, Z:7.25 [[ 9.92612747e-01 -1.15694349e-01 -3.65342672e-02 2.00907737e+02] [ 1.15705267e-01 9.93281919e-01 -1.82246160e-03 1.03102725e+01] [ 3.64996755e-02 -2.41820851e-03 9.99330739e-01 7.25236927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.159254154 meters Centerline goodness : 0.999067 with order 1 Centerline is valid? [True, True] Translation: X:200.97, Y:10.32, Z:7.26 [[ 9.92817428e-01 -1.13924504e-01 -3.65343994e-02 2.00970812e+02] [ 1.13934326e-01 9.93486617e-01 -1.81980756e-03 1.03170124e+01] [ 3.65037575e-02 -2.35578551e-03 9.99330739e-01 7.25612844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.219254154 meters Centerline goodness : 0.998940 with order 1 Centerline is valid? [True, True] Translation: X:201.03, Y:10.32, Z:7.26 [[ 9.93000329e-01 -1.12319054e-01 -3.65345966e-02 2.01033193e+02] [ 1.12327939e-01 9.93669531e-01 -1.81584057e-03 1.03211241e+01] [ 3.65072689e-02 -2.30072565e-03 9.99330739e-01 7.25972274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.279254154 meters Centerline goodness : 0.999216 with order 1 Centerline is valid? [True, True] Translation: X:201.09, Y:10.33, Z:7.26 [[ 9.93576946e-01 -1.07098368e-01 -3.65347991e-02 2.01094325e+02] [ 1.07103886e-01 9.94246184e-01 -1.81175728e-03 1.03271325e+01] [ 3.65186208e-02 -2.11289868e-03 9.99330739e-01 7.26151011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.339254154 meters Centerline goodness : 0.999065 with order 1 Centerline is valid? [True, True] Translation: X:201.16, Y:10.34, Z:7.27 [[ 9.94684633e-01 -9.62687980e-02 -3.65348983e-02 2.01155557e+02] [ 9.62670985e-02 9.95353892e-01 -1.80975462e-03 1.03352293e+01] [ 3.65393761e-02 -1.71697354e-03 9.99330739e-01 7.26810376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.399254154 meters Centerline goodness : 0.999212 with order 1 Centerline is valid? [True, True] Translation: X:201.22, Y:10.34, Z:7.27 [[ 9.95808652e-01 -8.38470074e-02 -3.65350331e-02 2.01217303e+02] [ 8.38370552e-02 9.96477839e-01 -1.80702753e-03 1.03438073e+01] [ 3.65578647e-02 -1.26353594e-03 9.99330739e-01 7.27311874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.459254154 meters Centerline goodness : 0.999125 with order 1 Centerline is valid? [True, True] Translation: X:201.28, Y:10.35, Z:7.28 [[ 9.96446105e-01 -7.58969083e-02 -3.65351662e-02 2.01279074e+02] [ 7.58817145e-02 9.97115194e-01 -1.80433233e-03 1.03493894e+01] [ 3.65667126e-02 -9.74431129e-04 9.99330739e-01 7.27569579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.519254154 meters Centerline goodness : 0.999166 with order 1 Centerline is valid? [True, True] Translation: X:201.34, Y:10.35, Z:7.28 [[ 9.96958052e-01 -6.88463122e-02 -3.65353015e-02 2.01340952e+02] [ 6.88264862e-02 9.97627019e-01 -1.80158991e-03 1.03549989e+01] [ 3.65726367e-02 -7.18486860e-04 9.99330739e-01 7.27671911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.579254154 meters Centerline goodness : 0.999120 with order 1 Centerline is valid? [True, True] Translation: X:201.40, Y:10.36, Z:7.28 [[ 9.97561434e-01 -5.94671951e-02 -3.65354353e-02 2.01402405e+02] [ 5.94411781e-02 9.98230189e-01 -1.79887203e-03 1.03613381e+01] [ 3.65777484e-02 -3.77223955e-04 9.99330739e-01 7.27728502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.639254154 meters Centerline goodness : 0.999073 with order 1 Centerline is valid? [True, True] Translation: X:201.46, Y:10.37, Z:7.28 [[ 9.97886033e-01 -5.37459029e-02 -3.65355022e-02 2.01461490e+02] [ 5.37161013e-02 9.98554630e-01 -1.79751129e-03 1.03659046e+01] [ 3.65793038e-02 -1.68833326e-04 9.99330739e-01 7.27935705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.69925415400002 meters Centerline goodness : 0.999029 with order 1 Centerline is valid? [True, True] Translation: X:201.52, Y:10.37, Z:7.28 [[ 9.98259086e-01 -4.63029162e-02 -3.65354362e-02 2.01519961e+02] [ 4.62680804e-02 9.98927439e-01 -1.79885286e-03 1.03707665e+01] [ 3.65795418e-02 1.05296714e-04 9.99330739e-01 7.28321440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.759254154 meters Centerline goodness : 0.999007 with order 1 Centerline is valid? [True, True] Translation: X:201.58, Y:10.37, Z:7.29 [[ 9.98403481e-01 -4.30776539e-02 -3.65349740e-02 2.01578247e+02] [ 4.30403173e-02 9.99071700e-01 -1.80819164e-03 1.03737990e+01] [ 3.65789512e-02 2.32827957e-04 9.99330739e-01 7.28650569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.819254154 meters Centerline goodness : 0.999203 with order 1 Centerline is valid? [True, True] Translation: X:201.64, Y:10.37, Z:7.29 [[ 9.98449264e-01 -4.20035308e-02 -3.65345107e-02 2.01637016e+02] [ 4.19651346e-02 9.99117423e-01 -1.81750434e-03 1.03739032e+01] [ 3.65786078e-02 2.81510214e-04 9.99330739e-01 7.28874393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.879254154 meters Centerline goodness : 0.999138 with order 1 Centerline is valid? [True, True] Translation: X:201.69, Y:10.37, Z:7.29 [[ 9.98334161e-01 -4.46560944e-02 -3.65340340e-02 2.01694606e+02] [ 4.46191247e-02 9.99002400e-01 -1.82703782e-03 1.03742286e+01] [ 3.65791760e-02 1.93877655e-04 9.99330739e-01 7.29036283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.939254154 meters Centerline goodness : 0.999033 with order 1 Centerline is valid? [True, True] Translation: X:201.75, Y:10.37, Z:7.29 [[ 9.97936649e-01 -5.27991320e-02 -3.65334871e-02 2.01752120e+02] [ 5.27672171e-02 9.98605149e-01 -1.83790828e-03 1.03728123e+01] [ 3.65795683e-02 -9.36544100e-05 9.99330739e-01 7.29273265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.999254154 meters Centerline goodness : 0.998995 with order 1 Centerline is valid? [True, True] Translation: X:201.81, Y:10.37, Z:7.29 [[ 9.97472552e-01 -6.09413808e-02 -3.65329451e-02 2.01809829e+02] [ 6.09145303e-02 9.98141274e-01 -1.84861965e-03 1.03712387e+01] [ 3.65776978e-02 -3.81439824e-04 9.99330739e-01 7.29441311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.059254154 meters Centerline goodness : 0.998806 with order 1 Centerline is valid? [True, True] Translation: X:201.87, Y:10.37, Z:7.30 [[ 9.96649421e-01 -7.31800197e-02 -3.65324048e-02 2.01869919e+02] [ 7.31609903e-02 9.97318411e-01 -1.85923630e-03 1.03668022e+01] [ 3.65704988e-02 -8.19740127e-04 9.99330739e-01 7.29663777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.119254154 meters Centerline goodness : 0.999065 with order 1 Centerline is valid? [True, True] Translation: X:201.93, Y:10.37, Z:7.30 [[ 9.96141182e-01 -7.98005914e-02 -3.65323373e-02 2.01931693e+02] [ 7.97859590e-02 9.96810282e-01 -1.86056034e-03 1.03658999e+01] [ 3.65642833e-02 -1.06138679e-03 9.99330739e-01 7.29985088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.179254154 meters Centerline goodness : 0.998921 with order 1 Centerline is valid? [True, True] Translation: X:201.99, Y:10.36, Z:7.30 [[ 9.95612768e-01 -8.61429021e-02 -3.65324052e-02 2.01992637e+02] [ 8.61325800e-02 9.96281949e-01 -1.85922756e-03 1.03639166e+01] [ 3.65567351e-02 -1.29555961e-03 9.99330739e-01 7.30256489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.239254154 meters Centerline goodness : 0.999113 with order 1 Centerline is valid? [True, True] Translation: X:202.05, Y:10.36, Z:7.30 [[ 9.95393678e-01 -8.86385588e-02 -3.65326100e-02 2.02054647e+02] [ 8.86300621e-02 9.96062885e-01 -1.85519385e-03 1.03638970e+01] [ 3.65532186e-02 -1.39123927e-03 9.99330739e-01 7.30418205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.299254154 meters Centerline goodness : 0.999072 with order 1 Centerline is valid? [True, True] Translation: X:202.12, Y:10.36, Z:7.30 [[ 9.95036908e-01 -9.25576071e-02 -3.65327389e-02 2.02117276e+02] [ 9.25518389e-02 9.95706144e-01 -1.85265268e-03 1.03629319e+01] [ 3.65473496e-02 -1.53771437e-03 9.99330739e-01 7.30312616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.359254154 meters Centerline goodness : 0.998947 with order 1 Centerline is valid? [True, True] Translation: X:202.18, Y:10.36, Z:7.31 [[ 9.94641276e-01 -9.67165004e-02 -3.65328664e-02 2.02179484e+02] [ 9.67136222e-02 9.95310531e-01 -1.85013415e-03 1.03637036e+01] [ 3.65404852e-02 -1.69300605e-03 9.99330739e-01 7.30758388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.41925415400001 meters Centerline goodness : 0.999116 with order 1 Centerline is valid? [True, True] Translation: X:202.24, Y:10.36, Z:7.31 [[ 9.93967539e-01 -1.03411172e-01 -3.65330033e-02 2.02242150e+02] [ 1.03412899e-01 9.94636798e-01 -1.84742681e-03 1.03639312e+01] [ 3.65281140e-02 -1.94170150e-03 9.99330739e-01 7.30916009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.479254154 meters Centerline goodness : 0.998780 with order 1 Centerline is valid? [True, True] Translation: X:202.30, Y:10.37, Z:7.31 [[ 9.93610665e-01 -1.06785659e-01 -3.65331381e-02 2.02303159e+02] [ 1.06789757e-01 9.94279913e-01 -1.84475722e-03 1.03666207e+01] [ 3.65211590e-02 -2.06839449e-03 9.99330739e-01 7.31096903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.539254154 meters Centerline goodness : 0.998801 with order 1 Centerline is valid? [True, True] Translation: X:202.37, Y:10.37, Z:7.32 [[ 9.93423698e-01 -1.08511188e-01 -3.65332377e-02 2.02365407e+02] [ 1.08516520e-01 9.94092938e-01 -1.84278408e-03 1.03712712e+01] [ 3.65173962e-02 -2.13379445e-03 9.99330739e-01 7.31617502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.599254154 meters Centerline goodness : 0.998822 with order 1 Centerline is valid? [True, True] Translation: X:202.43, Y:10.38, Z:7.32 [[ 9.93508352e-01 -1.07733317e-01 -3.65333716e-02 2.02426897e+02] [ 1.07738223e-01 9.94177594e-01 -1.84012559e-03 1.03758893e+01] [ 3.65189023e-02 -2.10786039e-03 9.99330739e-01 7.31907017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.659254154 meters Centerline goodness : 0.998988 with order 1 Centerline is valid? [True, True] Translation: X:202.49, Y:10.38, Z:7.32 [[ 9.93630767e-01 -1.06598319e-01 -3.65335036e-02 2.02488698e+02] [ 1.06602556e-01 9.94300014e-01 -1.83749963e-03 1.03814220e+01] [ 3.65211376e-02 -2.06876871e-03 9.99330739e-01 7.32416016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.719254154 meters Centerline goodness : 0.998904 with order 1 Centerline is valid? [True, True] Translation: X:202.55, Y:10.39, Z:7.33 [[ 9.93743985e-01 -1.05537602e-01 -3.65336396e-02 2.02550508e+02] [ 1.05541224e-01 9.94413236e-01 -1.83479311e-03 1.03862088e+01] [ 3.65231744e-02 -2.03249042e-03 9.99330739e-01 7.32701053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.779254154 meters Centerline goodness : 0.998944 with order 1 Centerline is valid? [True, True] Translation: X:202.61, Y:10.39, Z:7.33 [[ 9.94157711e-01 -1.01566375e-01 -3.65337747e-02 2.02612856e+02] [ 1.01567422e-01 9.94826971e-01 -1.83209831e-03 1.03927867e+01] [ 3.65308640e-02 -1.88924666e-03 9.99330739e-01 7.33055221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.839254154 meters Centerline goodness : 0.998964 with order 1 Centerline is valid? [True, True] Translation: X:202.67, Y:10.40, Z:7.33 [[ 9.94360342e-01 -9.95629582e-02 -3.65339115e-02 2.02674164e+02] [ 9.95627566e-02 9.95029603e-01 -1.82936742e-03 1.03968556e+01] [ 3.65344606e-02 -1.81836652e-03 9.99330739e-01 7.33247627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.899254154 meters Centerline goodness : 0.998926 with order 1 Centerline is valid? [True, True] Translation: X:202.74, Y:10.40, Z:7.33 [[ 9.94839825e-01 -9.46519305e-02 -3.65340122e-02 2.02735317e+02] [ 9.46484982e-02 9.95509077e-01 -1.82735270e-03 1.04027351e+01] [ 3.65429033e-02 -1.63996615e-03 9.99330739e-01 7.33429149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.959254154 meters Centerline goodness : 0.998964 with order 1 Centerline is valid? [True, True] Translation: X:202.80, Y:10.41, Z:7.34 [[ 9.95793662e-01 -8.40252443e-02 -3.65341095e-02 2.02797148e+02] [ 8.40147384e-02 9.96462840e-01 -1.82540627e-03 1.04104372e+01] [ 3.65582627e-02 -1.25167565e-03 9.99330739e-01 7.33809648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.019254154 meters Centerline goodness : 0.999173 with order 1 Centerline is valid? [True, True] Translation: X:202.86, Y:10.42, Z:7.34 [[ 9.96874641e-01 -7.00442636e-02 -3.65342379e-02 2.02859225e+02] [ 7.00244633e-02 9.97543609e-01 -1.82283215e-03 1.04177817e+01] [ 3.65721745e-02 -7.41155257e-04 9.99330739e-01 7.34271783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.079254154 meters Centerline goodness : 0.999236 with order 1 Centerline is valid? [True, True] Translation: X:202.92, Y:10.42, Z:7.35 [[ 9.97469541e-01 -6.09897917e-02 -3.65343724e-02 2.02919589e+02] [ 6.09640168e-02 9.98138305e-01 -1.82013234e-03 1.04226158e+01] [ 3.65773660e-02 -4.11755525e-04 9.99330739e-01 7.34528125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.139254154 meters Centerline goodness : 0.999064 with order 1 Centerline is valid? [True, True] Translation: X:202.98, Y:10.43, Z:7.35 [[ 9.98037943e-01 -5.08478300e-02 -3.65344053e-02 2.02979043e+02] [ 5.08152830e-02 9.98706412e-01 -1.81947189e-03 1.04253439e+01] [ 3.65796610e-02 -4.06041660e-05 9.99330739e-01 7.34559880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.199254154 meters Centerline goodness : 0.998873 with order 1 Centerline is valid? [True, True] Translation: X:203.04, Y:10.43, Z:7.35 [[ 9.98130488e-01 -4.89976641e-02 -3.65343399e-02 2.03036557e+02] [ 4.89638300e-02 9.98798893e-01 -1.82078386e-03 1.04272406e+01] [ 3.65796724e-02 2.85186706e-05 9.99330739e-01 7.34780221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.259254154 meters Centerline goodness : 0.999279 with order 1 Centerline is valid? [True, True] Translation: X:203.10, Y:10.43, Z:7.35 [[ 9.97947283e-01 -5.25975383e-02 -3.65338185e-02 2.03095694e+02] [ 5.25657344e-02 9.98615787e-01 -1.83118716e-03 1.04280148e+01] [ 3.65795638e-02 -9.29987475e-05 9.99330739e-01 7.34991846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.319254154 meters Centerline goodness : 0.998941 with order 1 Centerline is valid? [True, True] Translation: X:203.15, Y:10.42, Z:7.35 [[ 9.97687225e-01 -5.73194828e-02 -3.65332540e-02 2.03152729e+02] [ 5.72904330e-02 9.98355854e-01 -1.84237953e-03 1.04247442e+01] [ 3.65787923e-02 -2.54887418e-04 9.99330740e-01 7.35159454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.379254154 meters Centerline goodness : 0.998969 with order 1 Centerline is valid? [True, True] Translation: X:203.21, Y:10.42, Z:7.36 [[ 9.96958426e-01 -6.88421246e-02 -3.65329714e-02 2.03211227e+02] [ 6.88205968e-02 9.97627340e-01 -1.84796809e-03 1.04205908e+01] [ 3.65735091e-02 -6.71873535e-04 9.99330740e-01 7.35612629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.439254154 meters Centerline goodness : 0.999034 with order 1 Centerline is valid? [True, True] Translation: X:203.27, Y:10.42, Z:7.36 [[ 9.96011299e-01 -8.14054408e-02 -3.65328012e-02 2.03271632e+02] [ 8.13922248e-02 9.96680429e-01 -1.85132654e-03 1.04165563e+01] [ 3.65622360e-02 -1.12954381e-03 9.99330740e-01 7.35863476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.499254154 meters Centerline goodness : 0.998801 with order 1 Centerline is valid? [True, True] Translation: X:203.33, Y:10.40, Z:7.35 [[ 9.96285761e-01 -7.79745807e-02 -3.65328347e-02 2.03334240e+02] [ 7.79590844e-02 9.96954842e-01 -1.85066429e-03 1.04034156e+01] [ 3.65658912e-02 -1.00427587e-03 9.99330740e-01 7.34679370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.559254154 meters Centerline goodness : 0.998909 with order 1 Centerline is valid? [True, True] Translation: X:203.39, Y:10.41, Z:7.36 [[ 9.94758608e-01 -9.55021393e-02 -3.65329065e-02 2.03394034e+02] [ 9.54984766e-02 9.95427858e-01 -1.84924529e-03 1.04131459e+01] [ 3.65424798e-02 -1.64928425e-03 9.99330740e-01 7.36204978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.619254154 meters Centerline goodness : 0.998808 with order 1 Centerline is valid? [True, True] Translation: X:203.46, Y:10.41, Z:7.36 [[ 9.94487538e-01 -9.82846753e-02 -3.65329777e-02 2.03456101e+02] [ 9.82829365e-02 9.95156797e-01 -1.84783860e-03 1.04133360e+01] [ 3.65376553e-02 -1.75291586e-03 9.99330740e-01 7.36441673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.679254154 meters Centerline goodness : 0.998994 with order 1 Centerline is valid? [True, True] Translation: X:203.52, Y:10.41, Z:7.36 [[ 9.94371407e-01 -9.94526827e-02 -3.65331140e-02 2.03517656e+02] [ 9.94518289e-02 9.95040667e-01 -1.84514006e-03 1.04129249e+01] [ 3.65354382e-02 -1.79853049e-03 9.99330740e-01 7.36405337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.739254154 meters Centerline goodness : 0.999141 with order 1 Centerline is valid? [True, True] Translation: X:203.58, Y:10.41, Z:7.37 [[ 9.94397104e-01 -9.91953889e-02 -3.65331896e-02 2.03578819e+02] [ 9.91944167e-02 9.95066364e-01 -1.84364248e-03 1.04148177e+01] [ 3.65358289e-02 -1.79057569e-03 9.99330740e-01 7.36617170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.799254154 meters Centerline goodness : 0.998929 with order 1 Centerline is valid? [True, True] Translation: X:203.64, Y:10.42, Z:7.37 [[ 9.94597607e-01 -9.71644003e-02 -3.65332682e-02 2.03640963e+02] [ 9.71621185e-02 9.95266863e-01 -1.84208314e-03 1.04174926e+01] [ 3.65393361e-02 -1.71751825e-03 9.99330740e-01 7.36910062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.859254154 meters Centerline goodness : 0.999074 with order 1 Centerline is valid? [True, True] Translation: X:203.70, Y:10.42, Z:7.37 [[ 9.95141527e-01 -9.14256531e-02 -3.65334145e-02 2.03703221e+02] [ 9.14196174e-02 9.95810761e-01 -1.83917686e-03 1.04219438e+01] [ 3.65485152e-02 -1.50962951e-03 9.99330740e-01 7.37143470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.91925415400001 meters Centerline goodness : 0.998973 with order 1 Centerline is valid? [True, True] Translation: X:203.77, Y:10.43, Z:7.37 [[ 9.95451414e-01 -8.79873941e-02 -3.65335519e-02 2.03765672e+02] [ 8.79791468e-02 9.96120624e-01 -1.83644360e-03 1.04261371e+01] [ 3.65534084e-02 -1.38610035e-03 9.99330740e-01 7.37347722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.979254154 meters Centerline goodness : 0.999220 with order 1 Centerline is valid? [True, True] Translation: X:203.83, Y:10.43, Z:7.38 [[ 9.95710570e-01 -8.50044162e-02 -3.65336868e-02 2.03826717e+02] [ 8.49942623e-02 9.96379753e-01 -1.83375637e-03 1.04306296e+01] [ 3.65573032e-02 -1.27926315e-03 9.99330740e-01 7.37593324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.039254154 meters Centerline goodness : 0.999136 with order 1 Centerline is valid? [True, True] Translation: X:203.89, Y:10.44, Z:7.37 [[ 9.95868950e-01 -8.31283321e-02 -3.65337538e-02 2.03888195e+02] [ 8.31169665e-02 9.96538114e-01 -1.83241924e-03 1.04359057e+01] [ 3.65596041e-02 -1.21172536e-03 9.99330740e-01 7.37351621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.099254154 meters Centerline goodness : 0.998991 with order 1 Centerline is valid? [True, True] Translation: X:203.95, Y:10.44, Z:7.38 [[ 9.95925219e-01 -8.24514335e-02 -3.65338178e-02 2.03948479e+02] [ 8.24396598e-02 9.96594376e-01 -1.83114367e-03 1.04422719e+01] [ 3.65603777e-02 -1.18815335e-03 9.99330740e-01 7.38067242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.159254154 meters Centerline goodness : 0.999139 with order 1 Centerline is valid? [True, True] Translation: X:204.01, Y:10.45, Z:7.38 [[ 9.96081699e-01 -8.05389340e-02 -3.65339504e-02 2.04009711e+02] [ 8.05259725e-02 9.96750834e-01 -1.82849319e-03 1.04475688e+01] [ 3.65625104e-02 -1.12060328e-03 9.99330740e-01 7.38437522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.219254154 meters Centerline goodness : 0.998908 with order 1 Centerline is valid? [True, True] Translation: X:204.07, Y:10.44, Z:7.37 [[ 9.97188794e-01 -6.54199922e-02 -3.65340151e-02 2.04071095e+02] [ 6.53969294e-02 9.97857657e-01 -1.82719931e-03 1.04417452e+01] [ 3.65752821e-02 -5.67149737e-04 9.99330740e-01 7.37159886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.279254154 meters Centerline goodness : 0.999012 with order 1 Centerline is valid? [True, True] Translation: X:204.13, Y:10.46, Z:7.39 [[ 9.96624112e-01 -7.35230865e-02 -3.65340151e-02 2.04128766e+02] [ 7.35054611e-02 9.97293141e-01 -1.82719931e-03 1.04607607e+01] [ 3.65694640e-02 -8.64418741e-04 9.99330740e-01 7.39144392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.339254154 meters Centerline goodness : 0.998885 with order 1 Centerline is valid? [True, True] Translation: X:204.19, Y:10.47, Z:7.39 [[ 9.97090249e-01 -6.69051772e-02 -3.65339815e-02 2.04189422e+02] [ 6.68830861e-02 9.97759145e-01 -1.82787223e-03 1.04678884e+01] [ 3.65744082e-02 -6.20951846e-04 9.99330740e-01 7.39366374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.399254154 meters Centerline goodness : 0.999094 with order 1 Centerline is valid? [True, True] Translation: X:204.25, Y:10.47, Z:7.40 [[ 9.97411579e-01 -6.19306456e-02 -3.65340482e-02 2.04249472e+02] [ 6.19052670e-02 9.98080358e-01 -1.82653825e-03 1.04742434e+01] [ 3.65770346e-02 -4.39839609e-04 9.99330740e-01 7.39725819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.459254154 meters Centerline goodness : 0.999113 with order 1 Centerline is valid? [True, True] Translation: X:204.31, Y:10.48, Z:7.40 [[ 9.97873811e-01 -5.39733367e-02 -3.65340482e-02 2.04308645e+02] [ 5.39426247e-02 9.98542366e-01 -1.82653825e-03 1.04809836e+01] [ 3.65793793e-02 -1.48087771e-04 9.99330740e-01 7.40035274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.519254154 meters Centerline goodness : 0.998921 with order 1 Centerline is valid? [True, True] Translation: X:204.37, Y:10.49, Z:7.40 [[ 9.98054630e-01 -5.05195411e-02 -3.65339807e-02 2.04367576e+02] [ 5.04864662e-02 9.98723073e-01 -1.82788601e-03 1.04856411e+01] [ 3.65796734e-02 -2.01414860e-05 9.99330740e-01 7.40193745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.579254154 meters Centerline goodness : 0.999070 with order 1 Centerline is valid? [True, True] Translation: X:204.43, Y:10.49, Z:7.40 [[ 9.98154856e-01 -4.84993367e-02 -3.65335133e-02 2.04425108e+02] [ 4.84645687e-02 9.98823213e-01 -1.83718126e-03 1.04886009e+01] [ 3.65796232e-02 6.32104262e-05 9.99330740e-01 7.40274429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.639254154 meters Centerline goodness : 0.999260 with order 1 Centerline is valid? [True, True] Translation: X:204.48, Y:10.49, Z:7.40 [[ 9.98127668e-01 -4.90558087e-02 -3.65333489e-02 2.04483961e+02] [ 4.90212939e-02 9.98796038e-01 -1.84044496e-03 1.04901556e+01] [ 3.65796486e-02 4.60870056e-05 9.99330740e-01 7.40420009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.699254154 meters Centerline goodness : 0.999007 with order 1 Centerline is valid? [True, True] Translation: X:204.54, Y:10.49, Z:7.41 [[ 9.97978371e-01 -5.20049928e-02 -3.65328927e-02 2.04541026e+02] [ 5.19721233e-02 9.98646823e-01 -1.84945660e-03 1.04910376e+01] [ 3.65796382e-02 -5.29743162e-05 9.99330740e-01 7.40604574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.759254154 meters Centerline goodness : 0.999176 with order 1 Centerline is valid? [True, True] Translation: X:204.60, Y:10.49, Z:7.41 [[ 9.97882160e-01 -5.38196900e-02 -3.65326680e-02 2.04598846e+02] [ 5.37878740e-02 9.98550664e-01 -1.85388326e-03 1.04928940e+01] [ 3.65794953e-02 -1.15057511e-04 9.99330740e-01 7.40836220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.819254154 meters Centerline goodness : 0.998884 with order 1 Centerline is valid? [True, True] Translation: X:204.66, Y:10.49, Z:7.41 [[ 9.97504258e-01 -6.04206677e-02 -3.65321540e-02 2.04656378e+02] [ 6.03929064e-02 9.98172942e-01 -1.86395756e-03 1.04911383e+01] [ 3.65780292e-02 -3.46977353e-04 9.99330740e-01 7.41027619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.879254154 meters Centerline goodness : 0.999137 with order 1 Centerline is valid? [True, True] Translation: X:204.72, Y:10.49, Z:7.41 [[ 9.97110778e-01 -6.65996614e-02 -3.65319324e-02 2.04715524e+02] [ 6.65758848e-02 9.97779615e-01 -1.86829074e-03 1.04906879e+01] [ 3.65752450e-02 -5.69252894e-04 9.99330740e-01 7.41318484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.939254154 meters Centerline goodness : 0.998846 with order 1 Centerline is valid? [True, True] Translation: X:204.78, Y:10.48, Z:7.41 [[ 9.97081293e-01 -6.70398723e-02 -3.65314906e-02 2.04776646e+02] [ 6.70160760e-02 9.97750130e-01 -1.87688951e-03 1.04766405e+01] [ 3.65751260e-02 -5.76785730e-04 9.99330740e-01 7.40628657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.999254154 meters Centerline goodness : 0.998973 with order 1 Centerline is valid? [True, True] Translation: X:204.84, Y:10.47, Z:7.41 [[ 9.96566732e-01 -7.42980747e-02 -3.65314186e-02 2.04835740e+02] [ 7.42790977e-02 9.97235723e-01 -1.87829046e-03 1.04748153e+01] [ 3.65699890e-02 -8.41679032e-04 9.99330740e-01 7.40517378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.059254154 meters Centerline goodness : 0.998869 with order 1 Centerline is valid? [True, True] Translation: X:204.90, Y:10.47, Z:7.41 [[ 9.95912214e-01 -8.26094785e-02 -3.65313129e-02 2.04895893e+02] [ 8.25960080e-02 9.96581338e-01 -1.88034373e-03 1.04729564e+01] [ 3.65617589e-02 -1.14468333e-03 9.99330740e-01 7.40970184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.119254154 meters Centerline goodness : 0.999163 with order 1 Centerline is valid? [True, True] Translation: X:204.96, Y:10.48, Z:7.42 [[ 9.94599460e-01 -9.71461757e-02 -3.65312775e-02 2.04956105e+02] [ 9.71424542e-02 9.95268710e-01 -1.88103092e-03 1.04811495e+01] [ 3.65411724e-02 -1.67786561e-03 9.99330740e-01 7.42069021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.179254154 meters Centerline goodness : 0.999061 with order 1 Centerline is valid? [True, True] Translation: X:205.02, Y:10.48, Z:7.42 [[ 9.94290439e-01 -1.00259569e-01 -3.65313827e-02 2.05017368e+02] [ 1.00258018e-01 9.94959697e-01 -1.87898590e-03 1.04828290e+01] [ 3.65356398e-02 -1.79430632e-03 9.99330740e-01 7.42369880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.239254154 meters Centerline goodness : 0.999017 with order 1 Centerline is valid? [True, True] Translation: X:205.08, Y:10.48, Z:7.43 [[ 9.94207522e-01 -1.01078458e-01 -3.65314859e-02 2.05079552e+02] [ 1.01077531e-01 9.94876781e-01 -1.87697805e-03 1.04842489e+01] [ 3.65340491e-02 -1.82640671e-03 9.99330740e-01 7.42563273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.299254154 meters Centerline goodness : 0.999062 with order 1 Centerline is valid? [True, True] Translation: X:205.14, Y:10.49, Z:7.43 [[ 9.94249187e-01 -1.00667747e-01 -3.65316209e-02 2.05141688e+02] [ 1.00666640e-01 9.94918446e-01 -1.87434639e-03 1.04879508e+01] [ 3.65346697e-02 -1.81394817e-03 9.99330740e-01 7.42884193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.359254154 meters Centerline goodness : 0.999100 with order 1 Centerline is valid? [True, True] Translation: X:205.20, Y:10.49, Z:7.43 [[ 9.94385722e-01 -9.93099488e-02 -3.65317557e-02 2.05203485e+02] [ 9.93080249e-02 9.95054980e-01 -1.87171584e-03 1.04910492e+01] [ 3.65369854e-02 -1.76668899e-03 9.99330740e-01 7.42966443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.41925415400001 meters Centerline goodness : 0.999100 with order 1 Centerline is valid? [True, True] Translation: X:205.26, Y:10.50, Z:7.43 [[ 9.94550309e-01 -9.76478545e-02 -3.65318887e-02 2.05264475e+02] [ 9.76449073e-02 9.95219563e-01 -1.86911634e-03 1.04950031e+01] [ 3.65397655e-02 -1.70822265e-03 9.99330740e-01 7.43109045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.479254154 meters Centerline goodness : 0.998848 with order 1 Centerline is valid? [True, True] Translation: X:205.33, Y:10.50, Z:7.43 [[ 9.94995821e-01 -9.29985460e-02 -3.65319869e-02 2.05326815e+02] [ 9.29925414e-02 9.95665055e-01 -1.86719427e-03 1.04995178e+01] [ 3.65472691e-02 -1.53935181e-03 9.99330740e-01 7.43112310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.539254154 meters Centerline goodness : 0.999058 with order 1 Centerline is valid? [True, True] Translation: X:205.39, Y:10.50, Z:7.44 [[ 9.95251094e-01 -9.02256324e-02 -3.65321231e-02 2.05389092e+02] [ 9.02178608e-02 9.95920309e-01 -1.86452590e-03 1.05047597e+01] [ 3.65513114e-02 -1.44017856e-03 9.99330740e-01 7.43509071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.599254154 meters Centerline goodness : 0.998909 with order 1 Centerline is valid? [True, True] Translation: X:205.45, Y:10.51, Z:7.44 [[ 9.95735987e-01 -8.47067761e-02 -3.65322568e-02 2.05449131e+02] [ 8.46953907e-02 9.96405151e-01 -1.86190362e-03 1.05099890e+01] [ 3.65586447e-02 -1.24014932e-03 9.99330740e-01 7.43800285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.659254154 meters Centerline goodness : 0.999098 with order 1 Centerline is valid? [True, True] Translation: X:205.51, Y:10.51, Z:7.44 [[ 9.96021616e-01 -8.12793511e-02 -3.65322895e-02 2.05510215e+02] [ 8.12656863e-02 9.96690736e-01 -1.86126095e-03 1.05142539e+01] [ 3.65626766e-02 -1.11496544e-03 9.99330740e-01 7.44049503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.719254154 meters Centerline goodness : 0.999117 with order 1 Centerline is valid? [True, True] Translation: X:205.57, Y:10.52, Z:7.44 [[ 9.96318048e-01 -7.75611693e-02 -3.65323556e-02 2.05571777e+02] [ 7.75450547e-02 9.96987114e-01 -1.85996361e-03 1.05184419e+01] [ 3.65665487e-02 -9.79788192e-04 9.99330740e-01 7.44188067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.779254154 meters Centerline goodness : 0.998951 with order 1 Centerline is valid? [True, True] Translation: X:205.63, Y:10.52, Z:7.44 [[ 9.96631754e-01 -7.34202176e-02 -3.65324224e-02 2.05632430e+02] [ 7.34013709e-02 9.97300749e-01 -1.85864970e-03 1.05233227e+01] [ 3.65702747e-02 -8.29140579e-04 9.99330740e-01 7.44472730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.839254154 meters Centerline goodness : 0.999246 with order 1 Centerline is valid? [True, True] Translation: X:205.69, Y:10.53, Z:7.45 [[ 9.96802627e-01 -7.10626420e-02 -3.65324910e-02 2.05692724e+02] [ 7.10422624e-02 9.97471577e-01 -1.85730117e-03 1.05269538e+01] [ 3.65721061e-02 -7.43988124e-04 9.99330740e-01 7.44656606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.899254154 meters Centerline goodness : 0.999141 with order 1 Centerline is valid? [True, True] Translation: X:205.75, Y:10.53, Z:7.45 [[ 9.97028719e-01 -6.78167368e-02 -3.65324910e-02 2.05752856e+02] [ 6.77941792e-02 9.97697599e-01 -1.85730117e-03 1.05309875e+01] [ 3.65743346e-02 -6.24907634e-04 9.99330740e-01 7.44867042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.959254154 meters Centerline goodness : 0.999203 with order 1 Centerline is valid? [True, True] Translation: X:205.81, Y:10.53, Z:7.45 [[ 9.97295337e-01 -6.37760807e-02 -3.65324910e-02 2.05812005e+02] [ 6.37508128e-02 9.97964120e-01 -1.85730117e-03 1.05343874e+01] [ 3.65765666e-02 -4.76698201e-04 9.99330740e-01 7.45047117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.019254154 meters Centerline goodness : 0.999034 with order 1 Centerline is valid? [True, True] Translation: X:205.87, Y:10.54, Z:7.45 [[ 9.97455865e-01 -6.12142120e-02 -3.65324222e-02 2.05871206e+02] [ 6.11871769e-02 9.98124579e-01 -1.85865254e-03 1.05367754e+01] [ 3.65776845e-02 -3.81391903e-04 9.99330740e-01 7.45105536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.079254154 meters Centerline goodness : 0.999306 with order 1 Centerline is valid? [True, True] Translation: X:205.93, Y:10.54, Z:7.45 [[ 9.97553640e-01 -5.95996785e-02 -3.65323537e-02 2.05929316e+02] [ 5.95715119e-02 9.98222308e-01 -1.85999763e-03 1.05388563e+01] [ 3.65782657e-02 -3.20840137e-04 9.99330740e-01 7.45493965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.139254154 meters Centerline goodness : 0.999268 with order 1 Centerline is valid? [True, True] Translation: X:205.99, Y:10.54, Z:7.46 [[ 9.97503728e-01 -6.04293585e-02 -3.65322528e-02 2.05987330e+02] [ 6.04016756e-02 9.98172415e-01 -1.86197753e-03 1.05400587e+01] [ 3.65780051e-02 -3.49279750e-04 9.99330740e-01 7.45668693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.199254154 meters Centerline goodness : 0.999182 with order 1 Centerline is valid? [True, True] Translation: X:206.04, Y:10.54, Z:7.46 [[ 9.97159146e-01 -6.58716313e-02 -3.65317200e-02 2.06044985e+02] [ 6.58472168e-02 9.97827960e-01 -1.87237248e-03 1.05398163e+01] [ 3.65757079e-02 -5.38458752e-04 9.99330740e-01 7.45842449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.259254154 meters Centerline goodness : 0.999204 with order 1 Centerline is valid? [True, True] Translation: X:206.10, Y:10.54, Z:7.46 [[ 9.96768293e-01 -7.15432942e-02 -3.65311920e-02 2.06103664e+02] [ 7.15223096e-02 9.97437224e-01 -1.88261932e-03 1.05400959e+01] [ 3.65722595e-02 -7.36259973e-04 9.99330740e-01 7.45996628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.319254154 meters Centerline goodness : 0.999372 with order 1 Centerline is valid? [True, True] Translation: X:206.16, Y:10.54, Z:7.46 [[ 9.96091450e-01 -8.04196976e-02 -3.65307342e-02 2.06163594e+02] [ 8.04043487e-02 9.96760534e-01 -1.89145999e-03 1.05392585e+01] [ 3.65645048e-02 -1.05316276e-03 9.99330740e-01 7.46277214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.379254154 meters Centerline goodness : 0.999060 with order 1 Centerline is valid? [True, True] Translation: X:206.22, Y:10.54, Z:7.46 [[ 9.95399757e-01 -8.85710650e-02 -3.65306657e-02 2.06223754e+02] [ 8.85611453e-02 9.96068944e-01 -1.89278215e-03 1.05389047e+01] [ 3.65547074e-02 -1.35112271e-03 9.99330740e-01 7.46437267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.439254154 meters Centerline goodness : 0.999310 with order 1 Centerline is valid? [True, True] Translation: X:206.28, Y:10.54, Z:7.46 [[ 9.94864223e-01 -9.43964432e-02 -3.65306657e-02 2.06283947e+02] [ 9.43904410e-02 9.95533456e-01 -1.89278215e-03 1.05399065e+01] [ 3.65461718e-02 -1.56508441e-03 9.99330740e-01 7.46482234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.499254154 meters Centerline goodness : 0.999331 with order 1 Centerline is valid? [True, True] Translation: X:206.34, Y:10.54, Z:7.47 [[ 9.94327105e-01 -9.98955235e-02 -3.65307038e-02 2.06344710e+02] [ 9.98932485e-02 9.94996361e-01 -1.89204693e-03 1.05403138e+01] [ 3.65369244e-02 -1.76785712e-03 9.99330740e-01 7.47049243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.559254154 meters Centerline goodness : 0.999060 with order 1 Centerline is valid? [True, True] Translation: X:206.41, Y:10.54, Z:7.47 [[ 9.93975554e-01 -1.03334918e-01 -3.65307038e-02 2.06406462e+02] [ 1.03334958e-01 9.94644814e-01 -1.89204693e-03 1.05428136e+01] [ 3.65305896e-02 -1.89425035e-03 9.99330740e-01 7.47257152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.619254154 meters Centerline goodness : 0.998830 with order 1 Centerline is valid? [True, True] Translation: X:206.47, Y:10.54, Z:7.47 [[ 9.94166131e-01 -1.01484981e-01 -3.65308415e-02 2.06469000e+02] [ 1.01483874e-01 9.94835390e-01 -1.88938464e-03 1.05421731e+01] [ 3.65339181e-02 -1.82892909e-03 9.99330740e-01 7.47320903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.679254154 meters Centerline goodness : 0.999205 with order 1 Centerline is valid? [True, True] Translation: X:206.53, Y:10.55, Z:7.47 [[ 9.93307725e-01 -1.09568476e-01 -3.65309908e-02 2.06529950e+02] [ 1.09572918e-01 9.93976970e-01 -1.88649307e-03 1.05478752e+01] [ 3.65176637e-02 -2.12893913e-03 9.99330740e-01 7.47477433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.739254154 meters Centerline goodness : 0.999060 with order 1 Centerline is valid? [True, True] Translation: X:206.59, Y:10.55, Z:7.48 [[ 9.92996773e-01 -1.12351628e-01 -3.65310997e-02 2.06591660e+02] [ 1.12358023e-01 9.93666002e-01 -1.88438284e-03 1.05517071e+01] [ 3.65114252e-02 -2.23337605e-03 9.99330740e-01 7.47636620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.799254154 meters Centerline goodness : 0.999060 with order 1 Centerline is valid? [True, True] Translation: X:206.65, Y:10.56, Z:7.48 [[ 9.92655211e-01 -1.15330396e-01 -3.65312412e-02 2.06653867e+02] [ 1.15338900e-01 9.93324417e-01 -1.88163526e-03 1.05568463e+01] [ 3.65043836e-02 -2.34565813e-03 9.99330740e-01 7.47805565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.859254154 meters Centerline goodness : 0.998996 with order 1 Centerline is valid? [True, True] Translation: X:206.72, Y:10.56, Z:7.48 [[ 9.92651499e-01 -1.15362295e-01 -3.65313835e-02 2.06715823e+02] [ 1.15370922e-01 9.93320704e-01 -1.87886781e-03 1.05622206e+01] [ 3.65041301e-02 -2.34959846e-03 9.99330740e-01 7.48062235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.91925415400001 meters Centerline goodness : 0.998995 with order 1 Centerline is valid? [True, True] Translation: X:206.78, Y:10.57, Z:7.48 [[ 9.93114815e-01 -1.11303242e-01 -3.65315242e-02 2.06777207e+02] [ 1.11309233e-01 9.93784048e-01 -1.87612807e-03 1.05704203e+01] [ 3.65132652e-02 -2.20308537e-03 9.99330740e-01 7.48447100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.979254154 meters Centerline goodness : 0.999183 with order 1 Centerline is valid? [True, True] Translation: X:206.84, Y:10.58, Z:7.49 [[ 9.93957335e-01 -1.03509676e-01 -3.65316626e-02 2.06838061e+02] [ 1.03510517e-01 9.94626595e-01 -1.87342933e-03 1.05799462e+01] [ 3.65292813e-02 -1.91930245e-03 9.99330740e-01 7.48695255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.039254154 meters Centerline goodness : 0.999058 with order 1 Centerline is valid? [True, True] Translation: X:206.90, Y:10.59, Z:7.49 [[ 9.94548460e-01 -9.76667288e-02 -3.65317647e-02 2.06900012e+02] [ 9.76637093e-02 9.95217714e-01 -1.87143626e-03 1.05870942e+01] [ 3.65398364e-02 -1.70659360e-03 9.99330740e-01 7.48966851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.099254154 meters Centerline goodness : 0.998993 with order 1 Centerline is valid? [True, True] Translation: X:206.96, Y:10.59, Z:7.49 [[ 9.95073108e-01 -9.21679446e-02 -3.65319024e-02 2.06962278e+02] [ 9.21613245e-02 9.95742335e-01 -1.86874423e-03 1.05941228e+01] [ 3.65486002e-02 -1.50729139e-03 9.99330740e-01 7.49184522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.159254154 meters Centerline goodness : 0.999139 with order 1 Centerline is valid? [True, True] Translation: X:207.02, Y:10.60, Z:7.49 [[ 9.95718546e-01 -8.49116429e-02 -3.65320429e-02 2.07023963e+02] [ 8.49002453e-02 9.96387709e-01 -1.86599417e-03 1.06031025e+01] [ 3.65585232e-02 -1.24357440e-03 9.99330740e-01 7.49498904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.219254154 meters Centerline goodness : 0.999181 with order 1 Centerline is valid? [True, True] Translation: X:207.08, Y:10.61, Z:7.50 [[ 9.96067203e-01 -8.07188107e-02 -3.65321826e-02 2.07084768e+02] [ 8.07046962e-02 9.96736314e-01 -1.86325559e-03 1.06101351e+01] [ 3.65633528e-02 -1.09239092e-03 9.99330740e-01 7.49684191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.279254154 meters Centerline goodness : 0.999263 with order 1 Centerline is valid? [True, True] Translation: X:207.15, Y:10.62, Z:7.50 [[ 9.96585103e-01 -7.40508280e-02 -3.65322853e-02 2.07146139e+02] [ 7.40323097e-02 9.97254106e-01 -1.86123900e-03 1.06172400e+01] [ 3.65697978e-02 -8.49686397e-04 9.99330740e-01 7.50050293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.339254154 meters Centerline goodness : 0.999030 with order 1 Centerline is valid? [True, True] Translation: X:207.21, Y:10.62, Z:7.50 [[ 9.97158373e-01 -6.58829710e-02 -3.65323537e-02 2.07207441e+02] [ 6.58590211e-02 9.97827205e-01 -1.85989630e-03 1.06244592e+01] [ 3.65755118e-02 -5.51373887e-04 9.99330740e-01 7.50410664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.399254154 meters Centerline goodness : 0.999283 with order 1 Centerline is valid? [True, True] Translation: X:207.27, Y:10.63, Z:7.51 [[ 9.97545796e-01 -5.97307841e-02 -3.65324236e-02 2.07268119e+02] [ 5.97027593e-02 9.98214469e-01 -1.85852261e-03 1.06295483e+01] [ 3.65782048e-02 -3.27125079e-04 9.99330740e-01 7.50672382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.459254154 meters Centerline goodness : 0.998945 with order 1 Centerline is valid? [True, True] Translation: X:207.33, Y:10.63, Z:7.51 [[ 9.97920446e-01 -5.31052385e-02 -3.65324236e-02 2.07327798e+02] [ 5.30727740e-02 9.98588918e-01 -1.85852261e-03 1.06337685e+01] [ 3.65795706e-02 -8.42193517e-05 9.99330740e-01 7.50878529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.519254154 meters Centerline goodness : 0.999069 with order 1 Centerline is valid? [True, True] Translation: X:207.39, Y:10.64, Z:7.51 [[ 9.97988239e-01 -5.18156567e-02 -3.65323543e-02 2.07385667e+02] [ 5.17822786e-02 9.98656666e-01 -1.85988359e-03 1.06356598e+01] [ 3.65796502e-02 -3.55866025e-05 9.99330740e-01 7.51023407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.579254154 meters Centerline goodness : 0.999196 with order 1 Centerline is valid? [True, True] Translation: X:207.44, Y:10.64, Z:7.51 [[ 9.97904002e-01 -5.34137725e-02 -3.65318024e-02 2.07443765e+02] [ 5.33810703e-02 9.98572462e-01 -1.87066173e-03 1.06372700e+01] [ 3.65795709e-02 -8.33658863e-05 9.99330740e-01 7.51272330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.639254154 meters Centerline goodness : 0.999154 with order 1 Centerline is valid? [True, True] Translation: X:207.50, Y:10.64, Z:7.51 [[ 9.97650115e-01 -5.79630609e-02 -3.65312440e-02 2.07502138e+02] [ 5.79330099e-02 9.98318700e-01 -1.88150356e-03 1.06367005e+01] [ 3.65788817e-02 -2.39282678e-04 9.99330740e-01 7.51474720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.699254154 meters Centerline goodness : 0.999222 with order 1 Centerline is valid? [True, True] Translation: X:207.56, Y:10.64, Z:7.52 [[ 9.97389330e-01 -6.22896848e-02 -3.65310679e-02 2.07560917e+02] [ 6.22624089e-02 9.98058034e-01 -1.88491602e-03 1.06364539e+01] [ 3.65775366e-02 -3.94517160e-04 9.99330740e-01 7.51666906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.759254154 meters Centerline goodness : 0.999032 with order 1 Centerline is valid? [True, True] Translation: X:207.62, Y:10.64, Z:7.52 [[ 9.97053903e-01 -6.74462962e-02 -3.65309640e-02 2.07620292e+02] [ 6.74224049e-02 9.97722736e-01 -1.88692723e-03 1.06362342e+01] [ 3.65750396e-02 -5.81637290e-04 9.99330740e-01 7.51981702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.819254154 meters Centerline goodness : 0.999222 with order 1 Centerline is valid? [True, True] Translation: X:207.68, Y:10.64, Z:7.52 [[ 9.96432553e-01 -7.60766829e-02 -3.65308943e-02 2.07680492e+02] [ 7.60585340e-02 9.97101566e-01 -1.88827664e-03 1.06352232e+01] [ 3.65686657e-02 -8.96945954e-04 9.99330740e-01 7.52301341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.879254154 meters Centerline goodness : 0.999371 with order 1 Centerline is valid? [True, True] Translation: X:207.74, Y:10.63, Z:7.52 [[ 9.95868972e-01 -8.31293289e-02 -3.65308943e-02 2.07741449e+02] [ 8.31159170e-02 9.96538097e-01 -1.88827664e-03 1.06307962e+01] [ 3.65613990e-02 -1.15582266e-03 9.99330740e-01 7.51945084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.939254154 meters Centerline goodness : 0.999266 with order 1 Centerline is valid? [True, True] Translation: X:207.80, Y:10.63, Z:7.53 [[ 9.95185649e-01 -9.09451264e-02 -3.65309309e-02 2.07801157e+02] [ 9.09369941e-02 9.95854859e-01 -1.88756749e-03 1.06316133e+01] [ 3.65511701e-02 -1.44353297e-03 9.99330740e-01 7.52631348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.999254154 meters Centerline goodness : 0.998933 with order 1 Centerline is valid? [True, True] Translation: X:207.86, Y:10.63, Z:7.53 [[ 9.94507205e-01 -9.80862303e-02 -3.65309676e-02 2.07863996e+02] [ 9.80829278e-02 9.95176456e-01 -1.88685775e-03 1.06302652e+01] [ 3.65398336e-02 -1.70657063e-03 9.99330740e-01 7.52751658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.059254154 meters Centerline goodness : 0.999204 with order 1 Centerline is valid? [True, True] Translation: X:207.93, Y:10.63, Z:7.53 [[ 9.94205530e-01 -1.01098164e-01 -3.65311426e-02 2.07926459e+02] [ 1.01097014e-01 9.94874789e-01 -1.88346237e-03 1.06313720e+01] [ 3.65343274e-02 -1.82064072e-03 9.99330740e-01 7.52938994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.119254154 meters Centerline goodness : 0.999393 with order 1 Centerline is valid? [True, True] Translation: X:207.99, Y:10.63, Z:7.53 [[ 9.93879588e-01 -1.04253677e-01 -3.65312841e-02 2.07988616e+02] [ 1.04254752e-01 9.94548847e-01 -1.88071479e-03 1.06317929e+01] [ 3.65282179e-02 -1.93935591e-03 9.99330740e-01 7.53064354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.179254154 meters Centerline goodness : 0.999270 with order 1 Centerline is valid? [True, True] Translation: X:208.05, Y:10.63, Z:7.52 [[ 9.94432556e-01 -9.88400026e-02 -3.65314254e-02 2.08051472e+02] [ 9.88375333e-02 9.95101812e-01 -1.87796598e-03 1.06271494e+01] [ 3.65381057e-02 -1.74316546e-03 9.99330740e-01 7.52377434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.239254154 meters Centerline goodness : 0.999187 with order 1 Centerline is valid? [True, True] Translation: X:208.11, Y:10.64, Z:7.54 [[ 9.93893877e-01 -1.04117274e-01 -3.65315655e-02 2.08112001e+02] [ 1.04118457e-01 9.94563135e-01 -1.87523677e-03 1.06377342e+01] [ 3.65281928e-02 -1.93982391e-03 9.99330740e-01 7.53620119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.299254154 meters Centerline goodness : 0.999332 with order 1 Centerline is valid? [True, True] Translation: X:208.17, Y:10.64, Z:7.54 [[ 9.94057708e-01 -1.02541259e-01 -3.65316682e-02 2.08173583e+02] [ 1.02541454e-01 9.94726968e-01 -1.87323428e-03 1.06413571e+01] [ 3.65311193e-02 -1.88390741e-03 9.99330740e-01 7.53884859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.359254154 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:208.24, Y:10.65, Z:7.54 [[ 9.94403769e-01 -9.91290642e-02 -3.65318052e-02 2.08235287e+02] [ 9.91270609e-02 9.95073026e-01 -1.87055847e-03 1.06460515e+01] [ 3.65372406e-02 -1.76120009e-03 9.99330740e-01 7.54102289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.41925415400001 meters Centerline goodness : 0.999248 with order 1 Centerline is valid? [True, True] Translation: X:208.30, Y:10.65, Z:7.54 [[ 9.95339109e-01 -8.92495138e-02 -3.65319435e-02 2.08297465e+02] [ 8.92409639e-02 9.96008314e-01 -1.86785355e-03 1.06482288e+01] [ 3.65528244e-02 -1.40099816e-03 9.99330740e-01 7.53912203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.479254154 meters Centerline goodness : 0.999413 with order 1 Centerline is valid? [True, True] Translation: X:208.36, Y:10.66, Z:7.55 [[ 9.95390346e-01 -8.86761844e-02 -3.65320873e-02 2.08357802e+02] [ 8.86673522e-02 9.96059548e-01 -1.86503717e-03 1.06596267e+01] [ 3.65535187e-02 -1.38276345e-03 9.99330740e-01 7.54854866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.539254154 meters Centerline goodness : 0.999037 with order 1 Centerline is valid? [True, True] Translation: X:208.42, Y:10.66, Z:7.55 [[ 9.95628581e-01 -8.59599730e-02 -3.65323351e-02 2.08419973e+02] [ 8.59494933e-02 9.96297759e-01 -1.86016922e-03 1.06645646e+01] [ 3.65569837e-02 -1.28789805e-03 9.99330740e-01 7.55185725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.599254154 meters Centerline goodness : 0.999183 with order 1 Centerline is valid? [True, True] Translation: X:208.48, Y:10.67, Z:7.55 [[ 9.96259523e-01 -7.83092611e-02 -3.65324740e-02 2.08480360e+02] [ 7.82937414e-02 9.96928603e-01 -1.85743724e-03 1.06716015e+01] [ 3.65657228e-02 -1.00977454e-03 9.99330740e-01 7.55465700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.659254154 meters Centerline goodness : 0.999118 with order 1 Centerline is valid? [True, True] Translation: X:208.54, Y:10.68, Z:7.56 [[ 9.96581524e-01 -7.40988343e-02 -3.65325766e-02 2.08541689e+02] [ 7.40805615e-02 9.97250534e-01 -1.85541803e-03 1.06770257e+01] [ 3.65696158e-02 -8.57278459e-04 9.99330740e-01 7.55653618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.719254154 meters Centerline goodness : 0.999013 with order 1 Centerline is valid? [True, True] Translation: X:208.60, Y:10.68, Z:7.56 [[ 9.96942725e-01 -6.90693053e-02 -3.65326428e-02 2.08602043e+02] [ 6.90477049e-02 9.97611636e-01 -1.85411251e-03 1.06832152e+01] [ 3.65734519e-02 -6.74051162e-04 9.99330740e-01 7.55787301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.779254154 meters Centerline goodness : 0.999308 with order 1 Centerline is valid? [True, True] Translation: X:208.66, Y:10.69, Z:7.56 [[ 9.97062154e-01 -6.73233006e-02 -3.65326428e-02 2.08662032e+02] [ 6.73005288e-02 9.97731026e-01 -1.85411251e-03 1.06875307e+01] [ 3.65745762e-02 -6.10000766e-04 9.99330740e-01 7.55984104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.839254154 meters Centerline goodness : 0.999011 with order 1 Centerline is valid? [True, True] Translation: X:208.72, Y:10.69, Z:7.56 [[ 9.97182021e-01 -6.55239076e-02 -3.65326428e-02 2.08722395e+02] [ 6.54999288e-02 9.97850851e-01 -1.85411251e-03 1.06913036e+01] [ 3.65756175e-02 -5.43997841e-04 9.99330740e-01 7.56315714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.899254154 meters Centerline goodness : 0.999116 with order 1 Centerline is valid? [True, True] Translation: X:208.78, Y:10.69, Z:7.57 [[ 9.97313025e-01 -6.34987825e-02 -3.65326428e-02 2.08781585e+02] [ 6.34734455e-02 9.97981805e-01 -1.85411251e-03 1.06946560e+01] [ 3.65766467e-02 -4.69722156e-04 9.99330740e-01 7.56526964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.959254154 meters Centerline goodness : 0.999053 with order 1 Centerline is valid? [True, True] Translation: X:208.84, Y:10.70, Z:7.57 [[ 9.97510772e-01 -6.03127724e-02 -3.65325741e-02 2.08840112e+02] [ 6.02852497e-02 9.98179466e-01 -1.85546535e-03 1.06973489e+01] [ 3.65779736e-02 -3.51528676e-04 9.99330740e-01 7.56674922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.019254154 meters Centerline goodness : 0.999243 with order 1 Centerline is valid? [True, True] Translation: X:208.90, Y:10.70, Z:7.57 [[ 9.97562170e-01 -5.94566869e-02 -3.65324416e-02 2.08899060e+02] [ 5.94284950e-02 9.98230836e-01 -1.85807062e-03 1.06990612e+01] [ 3.65782845e-02 -3.17527061e-04 9.99330740e-01 7.56810778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.079254154 meters Centerline goodness : 0.999137 with order 1 Centerline is valid? [True, True] Translation: X:208.96, Y:10.70, Z:7.57 [[ 9.97481520e-01 -6.07947774e-02 -3.65323423e-02 2.08957512e+02] [ 6.07674110e-02 9.98150220e-01 -1.86002075e-03 1.06987277e+01] [ 3.65778451e-02 -3.64639541e-04 9.99330740e-01 7.57130390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.139254154 meters Centerline goodness : 0.999118 with order 1 Centerline is valid? [True, True] Translation: X:209.02, Y:10.70, Z:7.57 [[ 9.97327530e-01 -6.32710139e-02 -3.65318592e-02 2.09016438e+02] [ 6.32449620e-02 9.97996283e-01 -1.86946184e-03 1.06995019e+01] [ 3.65769424e-02 -4.45990291e-04 9.99330740e-01 7.57280496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.199254154 meters Centerline goodness : 0.999140 with order 1 Centerline is valid? [True, True] Translation: X:209.07, Y:10.70, Z:7.57 [[ 9.96859980e-01 -7.02538975e-02 -3.65317573e-02 2.09074991e+02] [ 7.02324568e-02 9.97528897e-01 -1.87145164e-03 1.06979039e+01] [ 3.65729603e-02 -7.00139815e-04 9.99330740e-01 7.57404540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.259254154 meters Centerline goodness : 0.999224 with order 1 Centerline is valid? [True, True] Translation: X:209.14, Y:10.70, Z:7.58 [[ 9.96415243e-01 -7.63028810e-02 -3.65312627e-02 2.09135452e+02] [ 7.62851485e-02 9.97084268e-01 -1.88105727e-03 1.06979347e+01] [ 3.65682774e-02 -9.12478655e-04 9.99330740e-01 7.57556541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.319254154 meters Centerline goodness : 0.999101 with order 1 Centerline is valid? [True, True] Translation: X:209.20, Y:10.70, Z:7.58 [[ 9.95770618e-01 -8.42991268e-02 -3.65312627e-02 2.09195884e+02] [ 8.42867655e-02 9.96439764e-01 -1.88105727e-03 1.06972515e+01] [ 3.65597742e-02 -1.20600040e-03 9.99330740e-01 7.57778421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.379254154 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:209.26, Y:10.70, Z:7.58 [[ 9.95476811e-01 -8.77005407e-02 -3.65312627e-02 2.09256722e+02] [ 8.76904655e-02 9.96145995e-01 -1.88105727e-03 1.06990788e+01] [ 3.65554407e-02 -1.33089453e-03 9.99330740e-01 7.58015396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.439254154 meters Centerline goodness : 0.998935 with order 1 Centerline is valid? [True, True] Translation: X:209.32, Y:10.70, Z:7.58 [[ 9.95309803e-01 -8.95759925e-02 -3.65313324e-02 2.09317687e+02] [ 8.95672279e-02 9.95979005e-01 -1.87970188e-03 1.07011473e+01] [ 3.65528163e-02 -1.40112447e-03 9.99330740e-01 7.58144809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.499254154 meters Centerline goodness : 0.999044 with order 1 Centerline is valid? [True, True] Translation: X:209.38, Y:10.70, Z:7.58 [[ 9.95338815e-01 -8.92529443e-02 -3.65315628e-02 2.09377827e+02] [ 8.92441270e-02 9.96008017e-01 -1.87521291e-03 1.07040008e+01] [ 3.65530977e-02 -1.39375524e-03 9.99330740e-01 7.58309044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.559254154 meters Centerline goodness : 0.999184 with order 1 Centerline is valid? [True, True] Translation: X:209.44, Y:10.71, Z:7.59 [[ 9.95605144e-01 -8.62313119e-02 -3.65315957e-02 2.09439777e+02] [ 8.62204868e-02 9.96274316e-01 -1.87457256e-03 1.07078504e+01] [ 3.65571374e-02 -1.28343788e-03 9.99330740e-01 7.58556677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.619254154 meters Centerline goodness : 0.999163 with order 1 Centerline is valid? [True, True] Translation: X:209.50, Y:10.71, Z:7.59 [[ 9.95806480e-01 -8.38742255e-02 -3.65317384e-02 2.09502185e+02] [ 8.38619184e-02 9.96475627e-01 -1.87178649e-03 1.07124705e+01] [ 3.65599816e-02 -1.19968455e-03 9.99330740e-01 7.58971279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.679254154 meters Centerline goodness : 0.999037 with order 1 Centerline is valid? [True, True] Translation: X:209.56, Y:10.72, Z:7.59 [[ 9.96300815e-01 -7.77824386e-02 -3.65318791e-02 2.09562693e+02] [ 7.77661400e-02 9.96969876e-01 -1.86903766e-03 1.07173501e+01] [ 3.65665613e-02 -9.78819483e-04 9.99330740e-01 7.59180436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.739254154 meters Centerline goodness : 0.999077 with order 1 Centerline is valid? [True, True] Translation: X:209.62, Y:10.72, Z:7.59 [[ 9.96734667e-01 -7.20098840e-02 -3.65319135e-02 2.09622925e+02] [ 7.19897347e-02 9.97403623e-01 -1.86836482e-03 1.07222359e+01] [ 3.65716036e-02 -7.67658775e-04 9.99330740e-01 7.59329204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.799254154 meters Centerline goodness : 0.999204 with order 1 Centerline is valid? [True, True] Translation: X:209.68, Y:10.73, Z:7.60 [[ 9.96926585e-01 -6.93022652e-02 -3.65319135e-02 2.09682906e+02] [ 6.92802990e-02 9.97595484e-01 -1.86836482e-03 1.07258436e+01] [ 3.65735538e-02 -6.68319328e-04 9.99330740e-01 7.59501228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.859254154 meters Centerline goodness : 0.999079 with order 1 Centerline is valid? [True, True] Translation: X:209.74, Y:10.73, Z:7.60 [[ 9.97017008e-01 -6.79890104e-02 -3.65319135e-02 2.09742836e+02] [ 6.79661631e-02 9.97685877e-01 -1.86836482e-03 1.07285143e+01] [ 3.65744024e-02 -6.20142486e-04 9.99330740e-01 7.59682608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.91925415400001 meters Centerline goodness : 0.999185 with order 1 Centerline is valid? [True, True] Translation: X:209.80, Y:10.73, Z:7.60 [[ 9.96962537e-01 -6.87831736e-02 -3.65318457e-02 2.09802694e+02] [ 6.87608106e-02 9.97631423e-01 -1.86968828e-03 1.07312476e+01] [ 3.65739203e-02 -6.47950157e-04 9.99330740e-01 7.59923525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.979254154 meters Centerline goodness : 0.999018 with order 1 Centerline is valid? [True, True] Translation: X:209.86, Y:10.73, Z:7.60 [[ 9.96801136e-01 -7.10839204e-02 -3.65317789e-02 2.09862283e+02] [ 7.10630534e-02 9.97470071e-01 -1.87099313e-03 1.07327611e+01] [ 3.65723536e-02 -7.31051678e-04 9.99330740e-01 7.60283326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.039254154 meters Centerline goodness : 0.999039 with order 1 Centerline is valid? [True, True] Translation: X:209.92, Y:10.73, Z:7.61 [[ 9.96648825e-01 -7.31884818e-02 -3.65317103e-02 2.09921632e+02] [ 7.31689783e-02 9.97317800e-01 -1.87233197e-03 1.07338036e+01] [ 3.65707581e-02 -8.06930461e-04 9.99330740e-01 7.60522538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.099254154 meters Centerline goodness : 0.999332 with order 1 Centerline is valid? [True, True] Translation: X:209.98, Y:10.73, Z:7.61 [[ 9.96312939e-01 -7.76270956e-02 -3.65316425e-02 2.09981973e+02] [ 7.76105236e-02 9.96981994e-01 -1.87365416e-03 1.07329273e+01] [ 3.65668361e-02 -9.68494023e-04 9.99330740e-01 7.60841621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.159254154 meters Centerline goodness : 0.999269 with order 1 Centerline is valid? [True, True] Translation: X:210.04, Y:10.73, Z:7.61 [[ 9.95972906e-01 -8.18743548e-02 -3.65316425e-02 2.10042280e+02] [ 8.18606355e-02 9.96642025e-01 -1.87365416e-03 1.07331630e+01] [ 3.65623744e-02 -1.12439470e-03 9.99330740e-01 7.61057903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.219254154 meters Centerline goodness : 0.999104 with order 1 Centerline is valid? [True, True] Translation: X:210.10, Y:10.73, Z:7.61 [[ 9.95150189e-01 -9.13320351e-02 -3.65316425e-02 2.10103320e+02] [ 9.13246728e-02 9.95819408e-01 -1.87365416e-03 1.07313916e+01] [ 3.65500432e-02 -1.47167301e-03 9.99330740e-01 7.61008235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.279254154 meters Centerline goodness : 0.999166 with order 1 Centerline is valid? [True, True] Translation: X:210.16, Y:10.73, Z:7.61 [[ 9.94437334e-01 -9.87918294e-02 -3.65316769e-02 2.10164734e+02] [ 9.87895103e-02 9.95106590e-01 -1.87298263e-03 1.07314256e+01] [ 3.65379478e-02 -1.74638262e-03 9.99330740e-01 7.61078700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.339254154 meters Centerline goodness : 0.998978 with order 1 Centerline is valid? [True, True] Translation: X:210.23, Y:10.73, Z:7.61 [[ 9.93458193e-01 -1.08195424e-01 -3.65317453e-02 2.10227322e+02] [ 1.08199485e-01 9.94127441e-01 -1.87164873e-03 1.07328047e+01] [ 3.65197142e-02 -2.09331127e-03 9.99330740e-01 7.61222716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.399254154 meters Centerline goodness : 0.999188 with order 1 Centerline is valid? [True, True] Translation: X:210.29, Y:10.74, Z:7.62 [[ 9.93035664e-01 -1.12007110e-01 -3.65318815e-02 2.10288964e+02] [ 1.12013837e-01 9.93704889e-01 -1.86898665e-03 1.07369590e+01] [ 3.65112490e-02 -2.23610581e-03 9.99330740e-01 7.61500557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.459254154 meters Centerline goodness : 0.998979 with order 1 Centerline is valid? [True, True] Translation: X:210.35, Y:10.74, Z:7.61 [[ 9.93361632e-01 -1.09078322e-01 -3.65320205e-02 2.10351594e+02] [ 1.09083175e-01 9.94030874e-01 -1.86626516e-03 1.07371608e+01] [ 3.65175253e-02 -2.13115259e-03 9.99330740e-01 7.61326364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.519254154 meters Centerline goodness : 0.999165 with order 1 Centerline is valid? [True, True] Translation: X:210.41, Y:10.75, Z:7.62 [[ 9.93239601e-01 -1.10183919e-01 -3.65321627e-02 2.10412796e+02] [ 1.10189619e-01 9.93908836e-01 -1.86347625e-03 1.07455191e+01] [ 3.65149645e-02 -2.17458670e-03 9.99330740e-01 7.61869695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.579254154 meters Centerline goodness : 0.999249 with order 1 Centerline is valid? [True, True] Translation: X:210.47, Y:10.75, Z:7.62 [[ 9.93377813e-01 -1.08930761e-01 -3.65323022e-02 2.10474996e+02] [ 1.08935718e-01 9.94047055e-01 -1.86073917e-03 1.07510550e+01] [ 3.65175191e-02 -2.13125555e-03 9.99330740e-01 7.62165304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.639254154 meters Centerline goodness : 0.999165 with order 1 Centerline is valid? [True, True] Translation: X:210.54, Y:10.76, Z:7.62 [[ 9.93692201e-01 -1.06024480e-01 -3.65324406e-02 2.10536621e+02] [ 1.06027579e-01 9.94361454e-01 -1.85801765e-03 1.07585157e+01] [ 3.65234461e-02 -2.02714857e-03 9.99330740e-01 7.62438404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.699254154 meters Centerline goodness : 0.999185 with order 1 Centerline is valid? [True, True] Translation: X:210.60, Y:10.77, Z:7.63 [[ 9.93991217e-01 -1.03183486e-01 -3.65325808e-02 2.10598583e+02] [ 1.03184773e-01 9.94660475e-01 -1.85525565e-03 1.07650907e+01] [ 3.65289460e-02 -1.92549823e-03 9.99330740e-01 7.62728429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.759254154 meters Centerline goodness : 0.998912 with order 1 Centerline is valid? [True, True] Translation: X:210.66, Y:10.77, Z:7.63 [[ 9.94600342e-01 -9.71366068e-02 -3.65327183e-02 2.10659459e+02] [ 9.71339229e-02 9.95269596e-01 -1.85254419e-03 1.07729249e+01] [ 3.65398537e-02 -1.70602517e-03 9.99330740e-01 7.62908461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.819254154 meters Centerline goodness : 0.998954 with order 1 Centerline is valid? [True, True] Translation: X:210.72, Y:10.78, Z:7.63 [[ 9.95108814e-01 -9.17812679e-02 -3.65328199e-02 2.10721569e+02] [ 9.17750550e-02 9.95778045e-01 -1.85053884e-03 1.07797411e+01] [ 3.65484248e-02 -1.51131404e-03 9.99330740e-01 7.63156111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.879254154 meters Centerline goodness : 0.998996 with order 1 Centerline is valid? [True, True] Translation: X:210.78, Y:10.79, Z:7.63 [[ 9.95919931e-01 -8.25156585e-02 -3.65329536e-02 2.10783200e+02] [ 8.25033141e-02 9.96589077e-01 -1.84789478e-03 1.07882584e+01] [ 3.65608228e-02 -1.17373451e-03 9.99330740e-01 7.63258885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.939254154 meters Centerline goodness : 0.999305 with order 1 Centerline is valid? [True, True] Translation: X:210.84, Y:10.80, Z:7.63 [[ 9.96780602e-01 -7.13706124e-02 -3.65330868e-02 2.10844486e+02] [ 7.13508806e-02 9.97449571e-01 -1.84525800e-03 1.07964245e+01] [ 3.65716090e-02 -7.67350537e-04 9.99330740e-01 7.63439497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.999254154 meters Centerline goodness : 0.999200 with order 1 Centerline is valid? [True, True] Translation: X:210.90, Y:10.80, Z:7.64 [[ 9.97307230e-01 -6.35894396e-02 -3.65331521e-02 2.10904929e+02] [ 6.35645351e-02 9.97976027e-01 -1.84396414e-03 1.08025320e+01] [ 3.65764667e-02 -4.83214060e-04 9.99330740e-01 7.63745508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.059254154 meters Centerline goodness : 0.999240 with order 1 Centerline is valid? [True, True] Translation: X:210.96, Y:10.81, Z:7.64 [[ 9.97766965e-01 -5.59143391e-02 -3.65331521e-02 2.10964043e+02] [ 5.58842896e-02 9.98435549e-01 -1.84396414e-03 1.08088499e+01] [ 3.65791019e-02 -2.01782749e-04 9.99330740e-01 7.64099476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.119254154 meters Centerline goodness : 0.999302 with order 1 Centerline is valid? [True, True] Translation: X:211.02, Y:10.81, Z:7.64 [[ 9.98204453e-01 -4.74679332e-02 -3.65330841e-02 2.11022741e+02] [ 4.74321771e-02 9.98872756e-01 -1.84531188e-03 1.08144454e+01] [ 3.65794955e-02 1.09154819e-04 9.99330740e-01 7.64390945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.179254154 meters Centerline goodness : 0.999092 with order 1 Centerline is valid? [True, True] Translation: X:211.08, Y:10.82, Z:7.65 [[ 9.98294450e-01 -4.55363473e-02 -3.65326127e-02 2.11080244e+02] [ 4.54989584e-02 9.98962665e-01 -1.85459614e-03 1.08175774e+01] [ 3.65791677e-02 1.89237210e-04 9.99330740e-01 7.64590349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.239254154 meters Centerline goodness : 0.999324 with order 1 Centerline is valid? [True, True] Translation: X:211.14, Y:10.82, Z:7.65 [[ 9.98219740e-01 -4.71461366e-02 -3.65320795e-02 2.11138551e+02] [ 4.71094430e-02 9.98887993e-01 -1.86504153e-03 1.08189647e+01] [ 3.65793850e-02 1.40715358e-04 9.99330740e-01 7.64787518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.299254154 meters Centerline goodness : 0.999281 with order 1 Centerline is valid? [True, True] Translation: X:211.20, Y:10.82, Z:7.65 [[ 9.98059176e-01 -5.04314034e-02 -3.65315498e-02 2.11195546e+02] [ 5.03965318e-02 9.98727527e-01 -1.87536007e-03 1.08210617e+01] [ 3.65796414e-02 3.06569136e-05 9.99330740e-01 7.64948837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.359254154 meters Centerline goodness : 0.999051 with order 1 Centerline is valid? [True, True] Translation: X:211.25, Y:10.82, Z:7.65 [[ 9.97737475e-01 -5.64392955e-02 -3.65313219e-02 2.11253855e+02] [ 5.64082861e-02 9.98406015e-01 -1.87978837e-03 1.08207269e+01] [ 3.65791855e-02 -1.85133954e-04 9.99330741e-01 7.65135972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.41925415400001 meters Centerline goodness : 0.998503 with order 1 Centerline is valid? [True, True] Translation: X:211.31, Y:10.82, Z:7.65 [[ 9.97518643e-01 -6.01835609e-02 -3.65307632e-02 2.11312197e+02] [ 6.01546656e-02 9.98187278e-01 -1.89058419e-03 1.08212495e+01] [ 3.65783252e-02 -3.11602867e-04 9.99330741e-01 7.65323180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.479254154 meters Centerline goodness : 0.999052 with order 1 Centerline is valid? [True, True] Translation: X:211.37, Y:10.82, Z:7.66 [[ 9.97243336e-01 -6.45853912e-02 -3.65302002e-02 2.11371498e+02] [ 6.45590509e-02 9.97912077e-01 -1.90140069e-03 1.08205603e+01] [ 3.65767307e-02 -4.62195889e-04 9.99330741e-01 7.65501007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.539254154 meters Centerline goodness : 0.998863 with order 1 Centerline is valid? [True, True] Translation: X:211.43, Y:10.82, Z:7.65 [[ 9.97236555e-01 -6.46902887e-02 -3.65297065e-02 2.11431443e+02] [ 6.46636731e-02 9.97905285e-01 -1.91083902e-03 1.08166117e+01] [ 3.65767999e-02 -4.56586476e-04 9.99330741e-01 7.65278804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.599254154 meters Centerline goodness : 0.999349 with order 1 Centerline is valid? [True, True] Translation: X:211.49, Y:10.82, Z:7.66 [[ 9.96473376e-01 -7.55407010e-02 -3.65296342e-02 2.11489505e+02] [ 7.55213151e-02 9.97142354e-01 -1.91221906e-03 1.08193949e+01] [ 3.65696959e-02 -8.53290633e-04 9.99330741e-01 7.65984860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.659254154 meters Centerline goodness : 0.999748 with order 1 Centerline is valid? [True, True] Translation: X:211.55, Y:10.82, Z:7.66 [[ 9.95757900e-01 -8.44499834e-02 -3.65295004e-02 2.11549861e+02] [ 8.44364879e-02 9.96427023e-01 -1.91477287e-03 1.08179639e+01] [ 3.65606839e-02 -1.17777250e-03 9.99330741e-01 7.66165831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.719254154 meters Centerline goodness : 0.999685 with order 1 Centerline is valid? [True, True] Translation: X:211.61, Y:10.82, Z:7.66 [[ 9.94734093e-01 -9.57584418e-02 -3.65295004e-02 2.11609667e+02] [ 9.57525498e-02 9.95403327e-01 -1.91477287e-03 1.08174602e+01] [ 3.65449419e-02 -1.59310295e-03 9.99330741e-01 7.65972988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.779254154 meters Centerline goodness : 0.999433 with order 1 Centerline is valid? [True, True] Translation: X:211.67, Y:10.82, Z:7.66 [[ 9.93947006e-01 -1.03609581e-01 -3.65295004e-02 2.11669521e+02] [ 1.03608973e-01 9.94616265e-01 -1.91477287e-03 1.08183658e+01] [ 3.65312240e-02 -1.88160125e-03 9.99330741e-01 7.66341274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.839254154 meters Centerline goodness : 0.999412 with order 1 Centerline is valid? [True, True] Translation: X:211.73, Y:10.82, Z:7.67 [[ 9.93251485e-01 -1.10077652e-01 -3.65294249e-02 2.11731181e+02] [ 1.10081348e-01 9.93920734e-01 -1.91621232e-03 1.08201191e+01] [ 3.65182849e-02 -2.11792762e-03 9.99330741e-01 7.66636630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.899254154 meters Centerline goodness : 0.999475 with order 1 Centerline is valid? [True, True] Translation: X:211.79, Y:10.82, Z:7.67 [[ 9.92582574e-01 -1.15954406e-01 -3.65295643e-02 2.11791923e+02] [ 1.15962160e-01 9.93251789e-01 -1.91355012e-03 1.08233845e+01] [ 3.65049397e-02 -2.33669069e-03 9.99330741e-01 7.66728528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.959254154 meters Centerline goodness : 0.999202 with order 1 Centerline is valid? [True, True] Translation: X:211.85, Y:10.83, Z:7.68 [[ 9.92214365e-01 -1.19064008e-01 -3.65296675e-02 2.11853991e+02] [ 1.19073932e-01 9.92883550e-01 -1.91157905e-03 1.08312452e+01] [ 3.64973062e-02 -2.45303495e-03 9.99330741e-01 7.67785804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.019254154 meters Centerline goodness : 0.999433 with order 1 Centerline is valid? [True, True] Translation: X:211.92, Y:10.84, Z:7.68 [[ 9.92189273e-01 -1.19272858e-01 -3.65298820e-02 2.11916383e+02] [ 1.19283074e-01 9.92858454e-01 -1.90747002e-03 1.08380882e+01] [ 3.64965116e-02 -2.46482532e-03 9.99330741e-01 7.68133973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.079254154 meters Centerline goodness : 0.999140 with order 1 Centerline is valid? [True, True] Translation: X:211.98, Y:10.85, Z:7.69 [[ 9.92465274e-01 -1.16953987e-01 -3.65300630e-02 2.11977900e+02] [ 1.16962766e-01 9.93134475e-01 -1.90399739e-03 1.08456070e+01] [ 3.65019451e-02 -2.38300593e-03 9.99330741e-01 7.68550956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.139254154 meters Centerline goodness : 0.999182 with order 1 Centerline is valid? [True, True] Translation: X:212.04, Y:10.85, Z:7.68 [[ 9.93124620e-01 -1.11216156e-01 -3.65302082e-02 2.12039958e+02] [ 1.11221169e-01 9.93793860e-01 -1.90120738e-03 1.08504763e+01] [ 3.65149416e-02 -2.17479662e-03 9.99330741e-01 7.68186350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.199254154 meters Centerline goodness : 0.999243 with order 1 Centerline is valid? [True, True] Translation: X:212.10, Y:10.86, Z:7.68 [[ 9.93360969e-01 -1.09084917e-01 -3.65303518e-02 2.12101197e+02] [ 1.09088596e-01 9.94030218e-01 -1.89844523e-03 1.08572233e+01] [ 3.65193653e-02 -2.09920339e-03 9.99330741e-01 7.68368992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.259254154 meters Centerline goodness : 0.998885 with order 1 Centerline is valid? [True, True] Translation: X:212.16, Y:10.87, Z:7.69 [[ 9.93891788e-01 -1.04137555e-01 -3.65305793e-02 2.12163025e+02] [ 1.04138062e-01 9.94561047e-01 -1.89405782e-03 1.08660086e+01] [ 3.65291337e-02 -1.92173522e-03 9.99330741e-01 7.68516113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.319254154 meters Centerline goodness : 0.999136 with order 1 Centerline is valid? [True, True] Translation: X:212.22, Y:10.87, Z:7.69 [[ 9.94349435e-01 -9.96730028e-02 -3.65307184e-02 2.12224844e+02] [ 9.96706028e-02 9.95018690e-01 -1.89136966e-03 1.08736519e+01] [ 3.65372661e-02 -1.76035638e-03 9.99330741e-01 7.68788156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.379254154 meters Centerline goodness : 0.998943 with order 1 Centerline is valid? [True, True] Translation: X:212.29, Y:10.88, Z:7.69 [[ 9.94908205e-01 -9.39316828e-02 -3.65308573e-02 2.12286324e+02] [ 9.39255181e-02 9.95577435e-01 -1.88868495e-03 1.08807231e+01] [ 3.65467045e-02 -1.55211154e-03 9.99330741e-01 7.68942619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.439254154 meters Centerline goodness : 0.998885 with order 1 Centerline is valid? [True, True] Translation: X:212.35, Y:10.89, Z:7.69 [[ 9.95447408e-01 -8.80337711e-02 -3.65309951e-02 2.12348166e+02] [ 8.80237382e-02 9.96116592e-01 -1.88601408e-03 1.08872544e+01] [ 3.65551633e-02 -1.33816693e-03 9.99330741e-01 7.69157879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.499254154 meters Centerline goodness : 0.998813 with order 1 Centerline is valid? [True, True] Translation: X:212.41, Y:10.90, Z:7.69 [[ 9.96345233e-01 -7.72117380e-02 -3.65311305e-02 2.12409807e+02] [ 7.71945303e-02 9.97014271e-01 -1.88338939e-03 1.08955766e+01] [ 3.65674782e-02 -9.43497412e-04 9.99330741e-01 7.69298402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.559254154 meters Centerline goodness : 0.998896 with order 1 Centerline is valid? [True, True] Translation: X:212.47, Y:10.90, Z:7.70 [[ 9.96955944e-01 -6.88789728e-02 -3.65312634e-02 2.12470697e+02] [ 6.88562668e-02 9.97624818e-01 -1.88080640e-03 1.09019494e+01] [ 3.65740431e-02 -6.40325303e-04 9.99330741e-01 7.69573951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.619254154 meters Centerline goodness : 0.999022 with order 1 Centerline is valid? [True, True] Translation: X:212.53, Y:10.91, Z:7.70 [[ 9.97708769e-01 -5.69444846e-02 -3.65313287e-02 2.12531160e+02] [ 5.69138229e-02 9.98377326e-01 -1.87953845e-03 1.09080520e+01] [ 3.65790796e-02 -2.03905579e-04 9.99330741e-01 7.70083089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.679254154 meters Centerline goodness : 0.998746 with order 1 Centerline is valid? [True, True] Translation: X:212.59, Y:10.91, Z:7.71 [[ 9.98096450e-01 -4.96884080e-02 -3.65313287e-02 2.12589596e+02] [ 4.96528859e-02 9.98764766e-01 -1.87953845e-03 1.09111914e+01] [ 3.65795952e-02 6.20747596e-05 9.99330741e-01 7.70513960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.739254154 meters Centerline goodness : 0.998789 with order 1 Centerline is valid? [True, True] Translation: X:212.65, Y:10.91, Z:7.71 [[ 9.98160653e-01 -4.83819049e-02 -3.65308487e-02 2.12647092e+02] [ 4.83451682e-02 9.98828903e-01 -1.88882227e-03 1.09130279e+01] [ 3.65794523e-02 1.19258042e-04 9.99330741e-01 7.70657585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.799254154 meters Centerline goodness : 0.999004 with order 1 Centerline is valid? [True, True] Translation: X:212.71, Y:10.91, Z:7.71 [[ 9.97984005e-01 -5.18985908e-02 -3.65303013e-02 2.12705532e+02] [ 5.18638235e-02 9.98652360e-01 -1.89935070e-03 1.09118582e+01] [ 3.65796452e-02 9.20523315e-07 9.99330741e-01 7.70593919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.859254154 meters Centerline goodness : 0.998793 with order 1 Centerline is valid? [True, True] Translation: X:212.76, Y:10.91, Z:7.71 [[ 9.97699901e-01 -5.71004172e-02 -3.65301330e-02 2.12763151e+02] [ 5.70690163e-02 9.98368423e-01 -1.90258056e-03 1.09111843e+01] [ 3.65791694e-02 -1.86534321e-04 9.99330741e-01 7.70719664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.91925415400001 meters Centerline goodness : 0.998905 with order 1 Centerline is valid? [True, True] Translation: X:212.82, Y:10.91, Z:7.71 [[ 9.97183581e-01 -6.55018779e-02 -3.65295716e-02 2.12821589e+02] [ 6.54757164e-02 9.97852329e-01 -1.91330044e-03 1.09086054e+01] [ 3.65764428e-02 -4.83888079e-04 9.99330741e-01 7.70904466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.979254154 meters Centerline goodness : 0.998969 with order 1 Centerline is valid? [True, True] Translation: X:212.88, Y:10.91, Z:7.71 [[ 9.96845426e-01 -7.04613398e-02 -3.65293990e-02 2.12881613e+02] [ 7.04383846e-02 9.97514291e-01 -1.91658933e-03 1.09083289e+01] [ 3.65736430e-02 -6.62528550e-04 9.99330741e-01 7.71194405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.039254154 meters Centerline goodness : 0.999013 with order 1 Centerline is valid? [True, True] Translation: X:212.94, Y:10.91, Z:7.72 [[ 9.96296356e-01 -7.78407066e-02 -3.65293641e-02 2.12941808e+02] [ 7.78226805e-02 9.96965373e-01 -1.91725348e-03 1.09054514e+01] [ 3.65677515e-02 -9.32660378e-04 9.99330741e-01 7.71503718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.099254154 meters Centerline goodness : 0.998824 with order 1 Centerline is valid? [True, True] Translation: X:213.00, Y:10.90, Z:7.72 [[ 9.95678393e-01 -8.53823350e-02 -3.65293641e-02 2.13002904e+02] [ 8.53693751e-02 9.96347527e-01 -1.91725348e-03 1.09025427e+01] [ 3.65596412e-02 -1.20952113e-03 9.99330741e-01 7.71588310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.159254154 meters Centerline goodness : 0.998864 with order 1 Centerline is valid? [True, True] Translation: X:213.06, Y:10.90, Z:7.72 [[ 9.95059255e-01 -9.23183613e-02 -3.65294355e-02 2.13064154e+02] [ 9.23101143e-02 9.95728463e-01 -1.91589371e-03 1.09031500e+01] [ 3.65502708e-02 -1.46560860e-03 9.99330741e-01 7.71815469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.219254154 meters Centerline goodness : 0.998951 with order 1 Centerline is valid? [True, True] Translation: X:213.13, Y:10.90, Z:7.72 [[ 9.93990030e-01 -1.03196008e-01 -3.65295057e-02 2.13125997e+02] [ 1.03195130e-01 9.94659288e-01 -1.91455285e-03 1.09027339e+01] [ 3.65319864e-02 -1.86662064e-03 9.99330741e-01 7.71938302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.279254154 meters Centerline goodness : 0.998824 with order 1 Centerline is valid? [True, True] Translation: X:213.19, Y:10.90, Z:7.72 [[ 9.93277880e-01 -1.09839143e-01 -3.65296467e-02 2.13187564e+02] [ 1.09842838e-01 9.93947129e-01 -1.91185952e-03 1.09035955e+01] [ 3.65185345e-02 -2.11351228e-03 9.99330741e-01 7.72008113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.339254154 meters Centerline goodness : 0.999075 with order 1 Centerline is valid? [True, True] Translation: X:213.25, Y:10.91, Z:7.72 [[ 9.92612194e-01 -1.15700513e-01 -3.65297510e-02 2.13249388e+02] [ 1.15708232e-01 9.93281409e-01 -1.90986379e-03 1.09066419e+01] [ 3.65052948e-02 -2.33103883e-03 9.99330741e-01 7.72168949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.399254154 meters Centerline goodness : 0.998760 with order 1 Centerline is valid? [True, True] Translation: X:213.31, Y:10.91, Z:7.72 [[ 9.92626768e-01 -1.15575371e-01 -3.65298875e-02 2.13310680e+02] [ 1.15583102e-01 9.93295983e-01 -1.90724995e-03 1.09121536e+01] [ 3.65054216e-02 -2.32905035e-03 9.99330741e-01 7.72462965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.459254154 meters Centerline goodness : 0.998780 with order 1 Centerline is valid? [True, True] Translation: X:213.37, Y:10.92, Z:7.73 [[ 9.93268771e-01 -1.09921379e-01 -3.65299884e-02 2.13372277e+02] [ 1.09925369e-01 9.93938018e-01 -1.90531524e-03 1.09193988e+01] [ 3.65179792e-02 -2.12308233e-03 9.99330741e-01 7.72818362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.519254154 meters Centerline goodness : 0.998592 with order 1 Centerline is valid? [True, True] Translation: X:213.43, Y:10.93, Z:7.73 [[ 9.94059750e-01 -1.02522015e-01 -3.65301289e-02 2.13433655e+02] [ 1.02521120e-01 9.94729008e-01 -1.90261808e-03 1.09277011e+01] [ 3.65326391e-02 -1.85379369e-03 9.99330741e-01 7.73142884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.579254154 meters Centerline goodness : 0.998863 with order 1 Centerline is valid? [True, True] Translation: X:213.50, Y:10.93, Z:7.73 [[ 9.94564983e-01 -9.74988890e-02 -3.65302692e-02 2.13495054e+02] [ 9.74947124e-02 9.95234229e-01 -1.89991975e-03 1.09345401e+01] [ 3.65414144e-02 -1.67191444e-03 9.99330741e-01 7.73410955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.639254154 meters Centerline goodness : 0.998864 with order 1 Centerline is valid? [True, True] Translation: X:213.56, Y:10.94, Z:7.74 [[ 9.95236722e-01 -9.03847122e-02 -3.65304072e-02 2.13556416e+02] [ 9.03758477e-02 9.95905923e-01 -1.89726374e-03 1.09434999e+01] [ 3.65523325e-02 -1.41323997e-03 9.99330741e-01 7.73685862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.699254154 meters Centerline goodness : 0.998716 with order 1 Centerline is valid? [True, True] Translation: X:213.62, Y:10.95, Z:7.74 [[ 9.95693611e-01 -8.52041803e-02 -3.65305457e-02 2.13616907e+02] [ 8.51919312e-02 9.96362758e-01 -1.89459290e-03 1.09503222e+01] [ 3.65591025e-02 -1.22567369e-03 9.99330741e-01 7.73685691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.759254154 meters Centerline goodness : 0.998650 with order 1 Centerline is valid? [True, True] Translation: X:213.68, Y:10.96, Z:7.74 [[ 9.96458808e-01 -7.57321322e-02 -3.65306479e-02 2.13678216e+02] [ 7.57135929e-02 9.97127810e-01 -1.89262095e-03 1.09605598e+01] [ 3.65690571e-02 -8.79947785e-04 9.99330741e-01 7.74216293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.819254154 meters Centerline goodness : 0.998983 with order 1 Centerline is valid? [True, True] Translation: X:213.74, Y:10.97, Z:7.75 [[ 9.97339030e-01 -6.30901041e-02 -3.65307850e-02 2.13739502e+02] [ 6.30631798e-02 9.98007747e-01 -1.88997001e-03 1.09718612e+01] [ 3.65772449e-02 -4.18806603e-04 9.99330741e-01 7.74505986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.879254154 meters Centerline goodness : 0.999088 with order 1 Centerline is valid? [True, True] Translation: X:213.80, Y:10.98, Z:7.75 [[ 9.97476754e-01 -6.08737758e-02 -3.65309241e-02 2.13799352e+02] [ 6.08454642e-02 9.98145414e-01 -1.88727805e-03 1.09766248e+01] [ 3.65780601e-02 -3.40225045e-04 9.99330741e-01 7.74737370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.939254154 meters Centerline goodness : 0.998830 with order 1 Centerline is valid? [True, True] Translation: X:213.86, Y:10.98, Z:7.75 [[ 9.97684312e-01 -5.73716374e-02 -3.65309241e-02 2.13859945e+02] [ 5.73409786e-02 9.98352869e-01 -1.88727806e-03 1.09821944e+01] [ 3.65790291e-02 -2.11811228e-04 9.99330741e-01 7.74997404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.999254154 meters Centerline goodness : 0.998764 with order 1 Centerline is valid? [True, True] Translation: X:213.92, Y:10.99, Z:7.75 [[ 9.97827424e-01 -5.48262969e-02 -3.65309241e-02 2.13918713e+02] [ 5.47939326e-02 9.98495900e-01 -1.88727806e-03 1.09895495e+01] [ 3.65794504e-02 -1.18495192e-04 9.99330741e-01 7.75246534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.059254154 meters Centerline goodness : 0.998975 with order 1 Centerline is valid? [True, True] Translation: X:213.98, Y:10.99, Z:7.75 [[ 9.97791669e-01 -5.54732812e-02 -3.65308213e-02 2.13978113e+02] [ 5.54412776e-02 9.98460162e-01 -1.88926506e-03 1.09931084e+01] [ 3.65793735e-02 -1.40222474e-04 9.99330741e-01 7.75496861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.119254154 meters Centerline goodness : 0.998910 with order 1 Centerline is valid? [True, True] Translation: X:214.04, Y:11.00, Z:7.76 [[ 9.97663889e-01 -5.77257984e-02 -3.65307527e-02 2.14037162e+02] [ 5.76952556e-02 9.98332451e-01 -1.89059087e-03 1.09960260e+01] [ 3.65789718e-02 -2.21476869e-04 9.99330741e-01 7.75741098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.179254154 meters Centerline goodness : 0.999104 with order 1 Centerline is valid? [True, True] Translation: X:214.10, Y:11.00, Z:7.76 [[ 9.97378186e-01 -6.24680934e-02 -3.65306849e-02 2.14096610e+02] [ 6.24406814e-02 9.98046884e-01 -1.89190036e-03 1.09987615e+01] [ 3.65775196e-02 -3.94060704e-04 9.99330741e-01 7.76076366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.239254154 meters Centerline goodness : 0.998805 with order 1 Centerline is valid? [True, True] Translation: X:214.16, Y:11.00, Z:7.76 [[ 9.97110380e-01 -6.66063327e-02 -3.65306182e-02 2.14157435e+02] [ 6.65816487e-02 9.97779184e-01 -1.89318749e-03 1.10001052e+01] [ 3.65755887e-02 -5.44551884e-04 9.99330741e-01 7.76245756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.299254154 meters Centerline goodness : 0.998769 with order 1 Centerline is valid? [True, True] Translation: X:214.22, Y:11.00, Z:7.76 [[ 9.96842941e-01 -7.04958465e-02 -3.65306182e-02 2.14217994e+02] [ 7.04737718e-02 9.97511836e-01 -1.89318749e-03 1.10002935e+01] [ 3.65731859e-02 -6.87239861e-04 9.99330741e-01 7.76344356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.359254154 meters Centerline goodness : 0.998595 with order 1 Centerline is valid? [True, True] Translation: X:214.28, Y:11.00, Z:7.77 [[ 9.96629870e-01 -7.34466960e-02 -3.65306182e-02 2.14279372e+02] [ 7.34266017e-02 9.97298827e-01 -1.89318749e-03 1.10014876e+01] [ 3.65709910e-02 -7.95511947e-04 9.99330741e-01 7.76514982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.41925415400001 meters Centerline goodness : 0.998833 with order 1 Centerline is valid? [True, True] Translation: X:214.34, Y:11.00, Z:7.77 [[ 9.96456163e-01 -7.57669052e-02 -3.65306830e-02 2.14341164e+02] [ 7.57484143e-02 9.97125167e-01 -1.89193564e-03 1.10021995e+01] [ 3.65690095e-02 -8.81910383e-04 9.99330741e-01 7.76682943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.479254154 meters Centerline goodness : 0.998919 with order 1 Centerline is valid? [True, True] Translation: X:214.40, Y:11.00, Z:7.77 [[ 9.96360345e-01 -7.70166713e-02 -3.65307476e-02 2.14402149e+02] [ 7.69990652e-02 9.97029372e-01 -1.89068856e-03 1.10038814e+01] [ 3.65678429e-02 -9.29026311e-04 9.99330741e-01 7.76811285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.539254154 meters Centerline goodness : 0.998795 with order 1 Centerline is valid? [True, True] Translation: X:214.46, Y:11.00, Z:7.77 [[ 9.96150904e-01 -7.96798406e-02 -3.65308115e-02 2.14464253e+02] [ 7.96640683e-02 9.96819977e-01 -1.88945164e-03 1.10041305e+01] [ 3.65651939e-02 -1.02801410e-03 9.99330741e-01 7.77052966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.599254154 meters Centerline goodness : 0.998751 with order 1 Centerline is valid? [True, True] Translation: X:214.53, Y:11.01, Z:7.77 [[ 9.95915126e-01 -8.25745207e-02 -3.65309513e-02 2.14526136e+02] [ 8.25607921e-02 9.96584244e-01 -1.88674532e-03 1.10061071e+01] [ 3.65619676e-02 -1.13698607e-03 9.99330741e-01 7.77304093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.659254154 meters Centerline goodness : 0.998836 with order 1 Centerline is valid? [True, True] Translation: X:214.59, Y:11.01, Z:7.78 [[ 9.95786338e-01 -8.41133069e-02 -3.65310908e-02 2.14587899e+02] [ 8.41007114e-02 9.96455479e-01 -1.88404047e-03 1.10087020e+01] [ 3.65600785e-02 -1.19618897e-03 9.99330741e-01 7.77574635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.719254154 meters Centerline goodness : 0.998945 with order 1 Centerline is valid? [True, True] Translation: X:214.65, Y:11.01, Z:7.78 [[ 9.95485394e-01 -8.76030825e-02 -3.65312302e-02 2.14649926e+02] [ 8.75929316e-02 9.96154576e-01 -1.88133326e-03 1.10115295e+01] [ 3.65555628e-02 -1.32703778e-03 9.99330741e-01 7.77843312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.779254154 meters Centerline goodness : 0.998772 with order 1 Centerline is valid? [True, True] Translation: X:214.71, Y:11.01, Z:7.78 [[ 9.95214018e-01 -9.06339753e-02 -3.65313697e-02 2.14710542e+02] [ 9.06259616e-02 9.95883229e-01 -1.87862071e-03 1.10141677e+01] [ 3.65512453e-02 -1.44106084e-03 9.99330741e-01 7.78043672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.839254154 meters Centerline goodness : 0.998774 with order 1 Centerline is valid? [True, True] Translation: X:214.77, Y:11.02, Z:7.78 [[ 9.94843173e-01 -9.46177167e-02 -3.65314728e-02 2.14772468e+02] [ 9.46124559e-02 9.95512412e-01 -1.87661458e-03 1.10176402e+01] [ 3.65450956e-02 -1.58939515e-03 9.99330741e-01 7.78378229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.899254154 meters Centerline goodness : 0.998816 with order 1 Centerline is valid? [True, True] Translation: X:214.83, Y:11.02, Z:7.79 [[ 9.94737954e-01 -9.57175219e-02 -3.65316132e-02 2.14834181e+02] [ 9.57131014e-02 9.95407198e-01 -1.87387636e-03 1.10219156e+01] [ 3.65431936e-02 -1.63253807e-03 9.99330741e-01 7.78604543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.959254154 meters Centerline goodness : 0.999134 with order 1 Centerline is valid? [True, True] Translation: X:214.90, Y:11.03, Z:7.79 [[ 9.94936587e-01 -9.36302239e-02 -3.65317522e-02 2.14896061e+02] [ 9.36244987e-02 9.95605822e-01 -1.87116261e-03 1.10273823e+01] [ 3.65464226e-02 -1.55857885e-03 9.99330741e-01 7.78778076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.019254154 meters Centerline goodness : 0.998919 with order 1 Centerline is valid? [True, True] Translation: X:214.96, Y:11.03, Z:7.79 [[ 9.95234721e-01 -9.04061466e-02 -3.65318913e-02 2.14958322e+02] [ 9.03983527e-02 9.95903935e-01 -1.86844381e-03 1.10324765e+01] [ 3.65511731e-02 -1.44288264e-03 9.99330741e-01 7.78774767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.079254154 meters Centerline goodness : 0.999004 with order 1 Centerline is valid? [True, True] Translation: X:215.02, Y:11.04, Z:7.79 [[ 9.95866798e-01 -8.31548543e-02 -3.65320440e-02 2.15019545e+02] [ 8.31422958e-02 9.96535940e-01 -1.86545417e-03 1.10395532e+01] [ 3.65606163e-02 -1.17961413e-03 9.99330741e-01 7.79260262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.139254154 meters Centerline goodness : 0.998958 with order 1 Centerline is valid? [True, True] Translation: X:215.08, Y:11.05, Z:7.80 [[ 9.96455156e-01 -7.57793864e-02 -3.65322778e-02 2.15081200e+02] [ 7.57620423e-02 9.97124190e-01 -1.86086385e-03 1.10458281e+01] [ 3.65682330e-02 -9.13492595e-04 9.99330741e-01 7.79556429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.199254154 meters Centerline goodness : 0.999108 with order 1 Centerline is valid? [True, True] Translation: X:215.14, Y:11.05, Z:7.80 [[ 9.96769889e-01 -7.15204247e-02 -3.65324139e-02 2.15143690e+02] [ 7.15003198e-02 9.97438846e-01 -1.85818684e-03 1.10504076e+01] [ 3.65717471e-02 -7.59894586e-04 9.99330741e-01 7.79792411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.259254154 meters Centerline goodness : 0.998894 with order 1 Centerline is valid? [True, True] Translation: X:215.21, Y:11.06, Z:7.80 [[ 9.97047042e-01 -6.75467965e-02 -3.65325482e-02 2.15205853e+02] [ 6.75241222e-02 9.97715916e-01 -1.85554394e-03 1.10552961e+01] [ 3.65744408e-02 -6.16763655e-04 9.99330741e-01 7.80043825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.319254154 meters Centerline goodness : 0.999022 with order 1 Centerline is valid? [True, True] Translation: X:215.27, Y:11.06, Z:7.80 [[ 9.97117776e-01 -6.64943871e-02 -3.65326856e-02 2.15266834e+02] [ 6.64711060e-02 9.97786630e-01 -1.85283396e-03 1.10586859e+01] [ 3.65750283e-02 -5.80874344e-04 9.99330741e-01 7.80201496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.379254154 meters Centerline goodness : 0.998891 with order 1 Centerline is valid? [True, True] Translation: X:215.33, Y:11.06, Z:7.80 [[ 9.97113728e-01 -6.65550195e-02 -3.65327539e-02 2.15328068e+02] [ 6.65318285e-02 9.97782585e-01 -1.85148615e-03 1.10612772e+01] [ 3.65749714e-02 -5.84448664e-04 9.99330741e-01 7.80215721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.439254154 meters Centerline goodness : 0.999019 with order 1 Centerline is valid? [True, True] Translation: X:215.39, Y:11.06, Z:7.80 [[ 9.97096359e-01 -6.68147045e-02 -3.65328218e-02 2.15389693e+02] [ 6.67917368e-02 9.97765223e-01 -1.85014530e-03 1.10643268e+01] [ 3.65747960e-02 -5.95317473e-04 9.99330741e-01 7.80368332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.499254154 meters Centerline goodness : 0.999127 with order 1 Centerline is valid? [True, True] Translation: X:215.45, Y:11.07, Z:7.81 [[ 9.97095551e-01 -6.68267236e-02 -3.65328902e-02 2.15450204e+02] [ 6.68038134e-02 9.97764417e-01 -1.84879500e-03 1.10671991e+01] [ 3.65747668e-02 -5.97111109e-04 9.99330741e-01 7.80595624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.559254154 meters Centerline goodness : 0.999253 with order 1 Centerline is valid? [True, True] Translation: X:215.51, Y:11.07, Z:7.81 [[ 9.97296659e-01 -6.37551082e-02 -3.65329985e-02 2.15510900e+02] [ 6.37302163e-02 9.97965455e-01 -1.84665276e-03 1.10698477e+01] [ 3.65764040e-02 -4.86595264e-04 9.99330741e-01 7.80945633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.619254154 meters Centerline goodness : 0.999210 with order 1 Centerline is valid? [True, True] Translation: X:215.57, Y:11.07, Z:7.81 [[ 9.97564442e-01 -5.94181920e-02 -3.65330314e-02 2.15571370e+02] [ 5.93904162e-02 9.98233124e-01 -1.84600071e-03 1.10728162e+01] [ 3.65781681e-02 -3.28207273e-04 9.99330741e-01 7.81247477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.679254154 meters Centerline goodness : 0.999338 with order 1 Centerline is valid? [True, True] Translation: X:215.63, Y:11.08, Z:7.82 [[ 9.97868871e-01 -5.40652672e-02 -3.65330314e-02 2.15630433e+02] [ 5.40339042e-02 9.98537395e-01 -1.84600071e-03 1.10750917e+01] [ 3.65794025e-02 -1.31955676e-04 9.99330741e-01 7.81549123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.739254154 meters Centerline goodness : 0.999041 with order 1 Centerline is valid? [True, True] Translation: X:215.69, Y:11.07, Z:7.82 [[ 9.97909711e-01 -5.33062106e-02 -3.65329638e-02 2.15689893e+02] [ 5.32742902e-02 9.98578208e-01 -1.84733830e-03 1.10748283e+01] [ 3.65794961e-02 -1.02790886e-04 9.99330741e-01 7.81632326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.799254154 meters Centerline goodness : 0.999384 with order 1 Centerline is valid? [True, True] Translation: X:215.75, Y:11.08, Z:7.82 [[ 9.97804586e-01 -5.52390752e-02 -3.65328951e-02 2.15747904e+02] [ 5.52084001e-02 9.98473142e-01 -1.84869485e-03 1.10757570e+01] [ 3.65792348e-02 -1.72286494e-04 9.99330741e-01 7.81663650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.859254154 meters Centerline goodness : 0.999276 with order 1 Centerline is valid? [True, True] Translation: X:215.81, Y:11.08, Z:7.82 [[ 9.97489103e-01 -6.06700103e-02 -3.65327261e-02 2.15806349e+02] [ 6.06428529e-02 9.98157810e-01 -1.85202845e-03 1.10755184e+01] [ 3.65777885e-02 -3.68070541e-04 9.99330741e-01 7.81745799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.91925415400001 meters Centerline goodness : 0.999112 with order 1 Centerline is valid? [True, True] Translation: X:215.87, Y:11.08, Z:7.82 [[ 9.97076494e-01 -6.71107952e-02 -3.65322544e-02 2.15865459e+02] [ 6.70876180e-02 9.97745352e-01 -1.86128696e-03 1.10751592e+01] [ 3.65747995e-02 -5.95016450e-04 9.99330741e-01 7.81857160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.979254154 meters Centerline goodness : 0.999026 with order 1 Centerline is valid? [True, True] Translation: X:215.93, Y:11.08, Z:7.82 [[ 9.96751929e-01 -7.17703839e-02 -3.65322213e-02 2.15925492e+02] [ 7.17503094e-02 9.97420887e-01 -1.86193619e-03 1.10769421e+01] [ 3.65716325e-02 -7.65309696e-04 9.99330741e-01 7.82174435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.039254154 meters Centerline goodness : 0.998858 with order 1 Centerline is valid? [True, True] Translation: X:215.99, Y:11.08, Z:7.82 [[ 9.96075949e-01 -8.06107998e-02 -3.65322213e-02 2.15986496e+02] [ 8.05966611e-02 9.96745058e-01 -1.86193619e-03 1.10781077e+01] [ 3.65634032e-02 -1.08974521e-03 9.99330741e-01 7.82487847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.099254154 meters Centerline goodness : 0.998922 with order 1 Centerline is valid? [True, True] Translation: X:216.05, Y:11.08, Z:7.83 [[ 9.95417317e-01 -8.83728247e-02 -3.65322859e-02 2.16048367e+02] [ 8.83639487e-02 9.96086518e-01 -1.86066756e-03 1.10798959e+01] [ 3.65537499e-02 -1.37599633e-03 9.99330741e-01 7.82757575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.159254154 meters Centerline goodness : 0.998817 with order 1 Centerline is valid? [True, True] Translation: X:216.11, Y:11.08, Z:7.83 [[ 9.95027750e-01 -9.26561350e-02 -3.65324148e-02 2.16110184e+02] [ 9.26502321e-02 9.95696983e-01 -1.85813341e-03 1.10824669e+01] [ 3.65473827e-02 -1.53584241e-03 9.99330741e-01 7.83053063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.219254154 meters Centerline goodness : 0.998651 with order 1 Centerline is valid? [True, True] Translation: X:216.17, Y:11.08, Z:7.83 [[ 9.93897164e-01 -1.04085543e-01 -3.65325496e-02 2.16171886e+02] [ 1.04087429e-01 9.94566420e-01 -1.85547980e-03 1.10837401e+01] [ 3.65271757e-02 -1.95842304e-03 9.99330741e-01 7.83198588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.279254154 meters Centerline goodness : 0.998692 with order 1 Centerline is valid? [True, True] Translation: X:216.24, Y:11.09, Z:7.83 [[ 9.92962323e-01 -1.12655174e-01 -3.65326858e-02 2.16235214e+02] [ 1.12662931e-01 9.93631537e-01 -1.85279497e-03 1.10864801e+01] [ 3.65087556e-02 -2.27612387e-03 9.99330741e-01 7.83431417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.339254154 meters Centerline goodness : 0.998838 with order 1 Centerline is valid? [True, True] Translation: X:216.30, Y:11.09, Z:7.84 [[ 9.92635798e-01 -1.15496839e-01 -3.65328922e-02 2.16297580e+02] [ 1.15506661e-01 9.93304985e-01 -1.84871592e-03 1.10907541e+01] [ 3.65018248e-02 -2.38469079e-03 9.99330741e-01 7.83756112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.399254154 meters Centerline goodness : 0.998923 with order 1 Centerline is valid? [True, True] Translation: X:216.36, Y:11.10, Z:7.84 [[ 9.92837095e-01 -1.13753401e-01 -3.65330962e-02 2.16359857e+02] [ 1.13762196e-01 9.93506296e-01 -1.84467481e-03 1.10962217e+01] [ 3.65056991e-02 -2.32462369e-03 9.99330741e-01 7.83665714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.459254154 meters Centerline goodness : 0.998815 with order 1 Centerline is valid? [True, True] Translation: X:216.42, Y:11.10, Z:7.84 [[ 9.93172945e-01 -1.10782784e-01 -3.65332301e-02 2.16422888e+02] [ 1.10789674e-01 9.93842168e-01 -1.84202002e-03 1.11024823e+01] [ 3.65123287e-02 -2.21806022e-03 9.99330741e-01 7.83966431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.519254154 meters Centerline goodness : 0.998684 with order 1 Centerline is valid? [True, True] Translation: X:216.48, Y:11.11, Z:7.84 [[ 9.94035774e-01 -1.02753047e-01 -3.65334344e-02 2.16484887e+02] [ 1.02754678e-01 9.94705031e-01 -1.83795822e-03 1.11133206e+01] [ 3.65288468e-02 -1.92698507e-03 9.99330741e-01 7.84310639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.579254154 meters Centerline goodness : 0.998981 with order 1 Centerline is valid? [True, True] Translation: X:216.55, Y:11.12, Z:7.85 [[ 9.94638954e-01 -9.67401090e-02 -3.65335679e-02 2.16546298e+02] [ 9.67377902e-02 9.95308209e-01 -1.83530086e-03 1.11215014e+01] [ 3.65397073e-02 -1.70871491e-03 9.99330741e-01 7.84668162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.639254154 meters Centerline goodness : 0.999189 with order 1 Centerline is valid? [True, True] Translation: X:216.61, Y:11.13, Z:7.85 [[ 9.95425749e-01 -8.82772194e-02 -3.65337029e-02 2.16608162e+02] [ 8.82693074e-02 9.96094961e-01 -1.83261101e-03 1.11311161e+01] [ 3.65528151e-02 -1.40057646e-03 9.99330741e-01 7.84901864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.699254154 meters Centerline goodness : 0.999079 with order 1 Centerline is valid? [True, True] Translation: X:216.67, Y:11.14, Z:7.85 [[ 9.96090664e-01 -8.04280294e-02 -3.65338359e-02 2.16670289e+02] [ 8.04149398e-02 9.96759795e-01 -1.82995589e-03 1.11408390e+01] [ 3.65626385e-02 -1.11506423e-03 9.99330741e-01 7.84978732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.759254154 meters Centerline goodness : 0.999186 with order 1 Centerline is valid? [True, True] Translation: X:216.73, Y:11.15, Z:7.85 [[ 9.96421775e-01 -7.62162397e-02 -3.65339700e-02 2.16731945e+02] [ 7.62004196e-02 9.97090847e-01 -1.82727472e-03 1.11480345e+01] [ 3.65669551e-02 -9.63167522e-04 9.99330741e-01 7.85306542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.819254154 meters Centerline goodness : 0.999118 with order 1 Centerline is valid? [True, True] Translation: X:216.79, Y:11.16, Z:7.85 [[ 9.97089797e-01 -6.69118577e-02 -3.65341055e-02 2.16792962e+02] [ 6.68898923e-02 9.97758695e-01 -1.82456049e-03 1.11565512e+01] [ 3.65743062e-02 -6.24511739e-04 9.99330741e-01 7.85307961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.879254154 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:216.85, Y:11.16, Z:7.86 [[ 9.97315820e-01 -6.34539513e-02 -3.65342435e-02 2.16853994e+02] [ 6.34297680e-02 9.97984642e-01 -1.82179282e-03 1.11635612e+01] [ 3.65762139e-02 -5.00455791e-04 9.99330741e-01 7.85688565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.939254154 meters Centerline goodness : 0.999329 with order 1 Centerline is valid? [True, True] Translation: X:216.91, Y:11.17, Z:7.86 [[ 9.97820955e-01 -5.49416668e-02 -3.65343122e-02 2.16914378e+02] [ 5.49118278e-02 9.98489548e-01 -1.82041510e-03 1.11719391e+01] [ 3.65791455e-02 -1.89717524e-04 9.99330741e-01 7.86030348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.999254154 meters Centerline goodness : 0.999177 with order 1 Centerline is valid? [True, True] Translation: X:216.97, Y:11.18, Z:7.86 [[ 9.97964399e-01 -5.22714111e-02 -3.65343467e-02 2.16974745e+02] [ 5.22398084e-02 9.98632911e-01 -1.81972239e-03 1.11771878e+01] [ 3.65795204e-02 -9.25291078e-05 9.99330741e-01 7.86174860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.059254154 meters Centerline goodness : 0.999327 with order 1 Centerline is valid? [True, True] Translation: X:217.03, Y:11.18, Z:7.87 [[ 9.97942773e-01 -5.26826700e-02 -3.65343467e-02 2.17034551e+02] [ 5.26513428e-02 9.98611298e-01 -1.81972239e-03 1.11834029e+01] [ 3.65794792e-02 -1.07603601e-04 9.99330741e-01 7.86537174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.119254154 meters Centerline goodness : 0.999371 with order 1 Centerline is valid? [True, True] Translation: X:217.10, Y:11.19, Z:7.87 [[ 9.97775232e-01 -5.57658248e-02 -3.65343467e-02 2.17095086e+02] [ 5.57365634e-02 9.98443851e-01 -1.81972239e-03 1.11874222e+01] [ 3.65789721e-02 -2.20624997e-04 9.99330741e-01 7.86751681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.179254154 meters Centerline goodness : 0.999307 with order 1 Centerline is valid? [True, True] Translation: X:217.16, Y:11.19, Z:7.87 [[ 9.97249112e-01 -6.44938063e-02 -3.65343467e-02 2.17156762e+02] [ 6.44703962e-02 9.97917961e-01 -1.81972239e-03 1.11899333e+01] [ 3.65756416e-02 -5.40667265e-04 9.99330741e-01 7.86903270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.239254154 meters Centerline goodness : 0.999287 with order 1 Centerline is valid? [True, True] Translation: X:217.22, Y:11.19, Z:7.87 [[ 9.96499795e-01 -7.51890592e-02 -3.65344137e-02 2.17218869e+02] [ 7.51728755e-02 9.97168858e-01 -1.81837569e-03 1.11907184e+01] [ 3.65677016e-02 -9.34385929e-04 9.99330741e-01 7.87059583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.299254154 meters Centerline goodness : 0.999139 with order 1 Centerline is valid? [True, True] Translation: X:217.28, Y:11.19, Z:7.87 [[ 9.96113232e-01 -8.01477194e-02 -3.65345468e-02 2.17280846e+02] [ 8.01349640e-02 9.96782369e-01 -1.81569823e-03 1.11917925e+01] [ 3.65625161e-02 -1.11905356e-03 9.99330741e-01 7.87064681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.359254154 meters Centerline goodness : 0.999312 with order 1 Centerline is valid? [True, True] Translation: X:217.34, Y:11.19, Z:7.87 [[ 9.95533997e-01 -8.70475609e-02 -3.65346814e-02 2.17342400e+02] [ 8.70395414e-02 9.96203208e-01 -1.81298544e-03 1.11933141e+01] [ 3.65537827e-02 -1.37507327e-03 9.99330741e-01 7.87430473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.41925415400001 meters Centerline goodness : 0.999420 with order 1 Centerline is valid? [True, True] Translation: X:217.40, Y:11.20, Z:7.88 [[ 9.95181554e-01 -9.09883456e-02 -3.65348482e-02 2.17404809e+02] [ 9.09830992e-02 9.95850793e-01 -1.80961707e-03 1.11958162e+01] [ 3.65479116e-02 -1.52315619e-03 9.99330741e-01 7.87645314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.479254154 meters Centerline goodness : 0.999335 with order 1 Centerline is valid? [True, True] Translation: X:217.47, Y:11.20, Z:7.88 [[ 9.94657671e-01 -9.65469405e-02 -3.65350074e-02 2.17467305e+02] [ 9.65455511e-02 9.95326928e-01 -1.80639784e-03 1.11987009e+01] [ 3.65386789e-02 -1.73054495e-03 9.99330741e-01 7.87792900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.539254154 meters Centerline goodness : 0.999421 with order 1 Centerline is valid? [True, True] Translation: X:217.53, Y:11.20, Z:7.88 [[ 9.94308209e-01 -1.00081802e-01 -3.65351782e-02 2.17530417e+02] [ 1.00082919e-01 9.94977466e-01 -1.80293672e-03 1.12004671e+01] [ 3.65321202e-02 -1.86387249e-03 9.99330741e-01 7.88014995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.599254154 meters Centerline goodness : 0.999421 with order 1 Centerline is valid? [True, True] Translation: X:217.59, Y:11.20, Z:7.88 [[ 9.93984334e-01 -1.03248772e-01 -3.65353939e-02 2.17593366e+02] [ 1.03252181e-01 9.94653584e-01 -1.79855421e-03 1.12029456e+01] [ 3.65257590e-02 -1.98462439e-03 9.99330741e-01 7.88124890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.659254154 meters Centerline goodness : 0.999571 with order 1 Centerline is valid? [True, True] Translation: X:217.66, Y:11.21, Z:7.88 [[ 9.93754055e-01 -1.05442063e-01 -3.65355919e-02 2.17656516e+02] [ 1.05447097e-01 9.94423295e-01 -1.79452464e-03 1.12064761e+01] [ 3.65210620e-02 -2.06925595e-03 9.99330741e-01 7.88227348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.719254154 meters Centerline goodness : 0.999378 with order 1 Centerline is valid? [True, True] Translation: X:217.72, Y:11.21, Z:7.88 [[ 9.93759384e-01 -1.05391762e-01 -3.65357871e-02 2.17719625e+02] [ 1.05396908e-01 9.94428623e-01 -1.79054148e-03 1.12110436e+01] [ 3.65209407e-02 -2.07139158e-03 9.99330741e-01 7.88443976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.779254154 meters Centerline goodness : 0.999312 with order 1 Centerline is valid? [True, True] Translation: X:217.78, Y:11.22, Z:7.88 [[ 9.93873721e-01 -1.04307951e-01 -3.65359826e-02 2.17781722e+02] [ 1.04312513e-01 9.94542964e-01 -1.78654334e-03 1.12158388e+01] [ 3.65229551e-02 -2.03556168e-03 9.99330741e-01 7.88452475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.839254154 meters Centerline goodness : 0.999462 with order 1 Centerline is valid? [True, True] Translation: X:217.84, Y:11.22, Z:7.89 [[ 9.93857376e-01 -1.04463533e-01 -3.65361107e-02 2.17844224e+02] [ 1.04468296e-01 9.94526617e-01 -1.78391830e-03 1.12204080e+01] [ 3.65224890e-02 -2.04390488e-03 9.99330741e-01 7.88792618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.899254154 meters Centerline goodness : 0.999417 with order 1 Centerline is valid? [True, True] Translation: X:217.91, Y:11.23, Z:7.89 [[ 9.93988373e-01 -1.03209564e-01 -3.65363013e-02 2.17905901e+02] [ 1.03213626e-01 9.94657619e-01 -1.78000726e-03 1.12258077e+01] [ 3.65248242e-02 -2.00173760e-03 9.99330741e-01 7.88938707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.959254154 meters Centerline goodness : 0.999395 with order 1 Centerline is valid? [True, True] Translation: X:217.97, Y:11.23, Z:7.89 [[ 9.94113411e-01 -1.01998118e-01 -3.65364259e-02 2.17968023e+02] [ 1.02001459e-01 9.94782661e-01 -1.77744571e-03 1.12314968e+01] [ 3.65270991e-02 -1.95978612e-03 9.99330741e-01 7.89464965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.019254154 meters Centerline goodness : 0.999611 with order 1 Centerline is valid? [True, True] Translation: X:218.03, Y:11.24, Z:7.90 [[ 9.94596198e-01 -9.71775824e-02 -3.65365522e-02 2.18031198e+02] [ 9.71777736e-02 9.95265457e-01 -1.77484559e-03 1.12379081e+01] [ 3.65360435e-02 -1.78528612e-03 9.99330741e-01 7.89787557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.079254154 meters Centerline goodness : 0.999567 with order 1 Centerline is valid? [True, True] Translation: X:218.09, Y:11.24, Z:7.90 [[ 9.94715077e-01 -9.59530219e-02 -3.65367454e-02 2.18093724e+02] [ 9.59525353e-02 9.95384335e-01 -1.77085848e-03 1.12416710e+01] [ 3.65380233e-02 -1.74429373e-03 9.99330741e-01 7.90117774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.139254154 meters Centerline goodness : 0.999543 with order 1 Centerline is valid? [True, True] Translation: X:218.16, Y:11.25, Z:7.90 [[ 9.95058462e-01 -9.23239322e-02 -3.65369381e-02 2.18155843e+02] [ 9.23211504e-02 9.95727715e-01 -1.76687350e-03 1.12466866e+01] [ 3.65439667e-02 -1.61498973e-03 9.99330741e-01 7.90148467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.199254154 meters Centerline goodness : 0.999456 with order 1 Centerline is valid? [True, True] Translation: X:218.22, Y:11.25, Z:7.90 [[ 9.95155126e-01 -9.12760395e-02 -3.65370940e-02 2.18218621e+02] [ 9.12726712e-02 9.95824377e-01 -1.76364577e-03 1.12508353e+01] [ 3.65455074e-02 -1.57973703e-03 9.99330741e-01 7.90316267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.259254154 meters Centerline goodness : 0.999500 with order 1 Centerline is valid? [True, True] Translation: X:218.28, Y:11.25, Z:7.90 [[ 9.95209846e-01 -9.06773958e-02 -3.65372787e-02 2.18281157e+02] [ 9.06737655e-02 9.95879095e-01 -1.75980938e-03 1.12548375e+01] [ 3.65462870e-02 -1.56159302e-03 9.99330741e-01 7.90404801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.319254154 meters Centerline goodness : 0.999477 with order 1 Centerline is valid? [True, True] Translation: X:218.34, Y:11.26, Z:7.91 [[ 9.95379216e-01 -8.87988396e-02 -3.65374071e-02 2.18342359e+02] [ 8.87940440e-02 9.96048458e-01 -1.75713918e-03 1.12585394e+01] [ 3.65490600e-02 -1.49528432e-03 9.99330741e-01 7.90531440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.379254154 meters Centerline goodness : 0.999607 with order 1 Centerline is valid? [True, True] Translation: X:218.41, Y:11.26, Z:7.91 [[ 9.95819871e-01 -8.37125816e-02 -3.65375019e-02 2.18405055e+02] [ 8.37044394e-02 9.96489080e-01 -1.75516664e-03 1.12635168e+01] [ 3.65561512e-02 -1.31052130e-03 9.99330741e-01 7.90874126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.439254154 meters Centerline goodness : 0.999563 with order 1 Centerline is valid? [True, True] Translation: X:218.47, Y:11.27, Z:7.91 [[ 9.96231100e-01 -7.86676116e-02 -3.65376892e-02 2.18467656e+02] [ 7.86562230e-02 9.96900262e-01 -1.75125915e-03 1.12688637e+01] [ 3.65621993e-02 -1.12925780e-03 9.99330741e-01 7.91243680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.499254154 meters Centerline goodness : 0.999563 with order 1 Centerline is valid? [True, True] Translation: X:218.53, Y:11.27, Z:7.92 [[ 9.96422057e-01 -7.62106806e-02 -3.65378778e-02 2.18529149e+02] [ 7.61977865e-02 9.97091192e-01 -1.74731543e-03 1.12727453e+01] [ 3.65647602e-02 -1.04304178e-03 9.99330741e-01 7.91587479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.559254154 meters Centerline goodness : 0.999540 with order 1 Centerline is valid? [True, True] Translation: X:218.59, Y:11.28, Z:7.92 [[ 9.96563512e-01 -7.43380375e-02 -3.65379748e-02 2.18590172e+02] [ 7.43239604e-02 9.97232622e-01 -1.74528338e-03 1.12765814e+01] [ 3.65666014e-02 -9.76361260e-04 9.99330741e-01 7.91676035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.619254154 meters Centerline goodness : 0.999541 with order 1 Centerline is valid? [True, True] Translation: X:218.65, Y:11.28, Z:7.92 [[ 9.96444526e-01 -7.59162297e-02 -3.65381089e-02 2.18652052e+02] [ 7.59033152e-02 9.97113660e-01 -1.74247228e-03 1.12801156e+01] [ 3.65649294e-02 -1.03708664e-03 9.99330741e-01 7.91864903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.679254154 meters Centerline goodness : 0.999671 with order 1 Centerline is valid? [True, True] Translation: X:218.71, Y:11.28, Z:7.92 [[ 9.96029632e-01 -8.11783815e-02 -3.65382418e-02 2.18714032e+02] [ 8.11691039e-02 9.96698826e-01 -1.73968133e-03 1.12830833e+01] [ 3.65588472e-02 -1.23300219e-03 9.99330741e-01 7.91908474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.739254154 meters Centerline goodness : 0.999518 with order 1 Centerline is valid? [True, True] Translation: X:218.78, Y:11.29, Z:7.92 [[ 9.95627218e-01 -8.59731938e-02 -3.65383690e-02 2.18775720e+02] [ 8.59672364e-02 9.96296450e-01 -1.73700503e-03 1.12850972e+01] [ 3.65523832e-02 -1.41169312e-03 9.99330741e-01 7.92030079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.799254154 meters Centerline goodness : 0.999607 with order 1 Centerline is valid? [True, True] Translation: X:218.84, Y:11.29, Z:7.92 [[ 9.95131035e-01 -9.15377633e-02 -3.65384968e-02 2.18838037e+02] [ 9.15356459e-02 9.95800290e-01 -1.73431222e-03 1.12864669e+01] [ 3.65438008e-02 -1.61870700e-03 9.99330741e-01 7.92199334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.859254154 meters Centerline goodness : 0.999738 with order 1 Centerline is valid? [True, True] Translation: X:218.90, Y:11.29, Z:7.92 [[ 9.95248601e-01 -9.02504794e-02 -3.65386544e-02 2.18900743e+02] [ 9.02476183e-02 9.95917854e-01 -1.73098524e-03 1.12887417e+01] [ 3.65457206e-02 -1.57476590e-03 9.99330741e-01 7.92399158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.91925415400001 meters Centerline goodness : 0.999738 with order 1 Centerline is valid? [True, True] Translation: X:218.96, Y:11.29, Z:7.93 [[ 9.95332053e-01 -8.93253441e-02 -3.65388428e-02 2.18963032e+02] [ 8.93220069e-02 9.96001303e-01 -1.72700005e-03 1.12920959e+01] [ 3.65469999e-02 -1.54478426e-03 9.99330741e-01 7.92748858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.979254154 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:219.03, Y:11.30, Z:7.93 [[ 9.95367064e-01 -8.89342958e-02 -3.65389978e-02 2.19025857e+02] [ 8.89308162e-02 9.96036314e-01 -1.72371455e-03 1.12955080e+01] [ 3.65474660e-02 -1.53371421e-03 9.99330741e-01 7.93095845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.039254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.09, Y:11.30, Z:7.93 [[ 9.95364499e-01 -8.89629331e-02 -3.65391797e-02 2.19089187e+02] [ 8.89596143e-02 9.96033749e-01 -1.71984898e-03 1.12973713e+01] [ 3.65472590e-02 -1.53863472e-03 9.99330741e-01 7.93305589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.099254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:219.15, Y:11.30, Z:7.93 [[ 9.95390568e-01 -8.86707006e-02 -3.65393602e-02 2.19151747e+02] [ 8.86673261e-02 9.96059818e-01 -1.71600567e-03 1.13014290e+01] [ 3.65475479e-02 -1.53175152e-03 9.99330741e-01 7.93480817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.159254154 meters Centerline goodness : 0.999759 with order 1 Centerline is valid? [True, True] Translation: X:219.21, Y:11.31, Z:7.94 [[ 9.95486812e-01 -8.75835134e-02 -3.65395092e-02 2.19213356e+02] [ 8.75795245e-02 9.96156059e-01 -1.71282774e-03 1.13055549e+01] [ 3.65490690e-02 -1.49501542e-03 9.99330741e-01 7.93890587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.219254154 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:219.27, Y:11.31, Z:7.94 [[ 9.95755362e-01 -8.44755201e-02 -3.65396358e-02 2.19274572e+02] [ 8.44695412e-02 9.96424594e-01 -1.71012225e-03 1.13103616e+01] [ 3.65534553e-02 -1.38362287e-03 9.99330741e-01 7.94033048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.279254154 meters Centerline goodness : 0.999518 with order 1 Centerline is valid? [True, True] Translation: X:219.34, Y:11.31, Z:7.94 [[ 9.95982534e-01 -8.17535364e-02 -3.65397292e-02 2.19337019e+02] [ 8.17458016e-02 9.96651748e-01 -1.70812404e-03 1.13144611e+01] [ 3.65570302e-02 -1.28570774e-03 9.99330741e-01 7.94390491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.339254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:219.40, Y:11.32, Z:7.95 [[ 9.96296353e-01 -7.78358032e-02 -3.65399130e-02 2.19398888e+02] [ 7.78255808e-02 9.96965533e-01 -1.70418415e-03 1.13191114e+01] [ 3.65616804e-02 -1.14586750e-03 9.99330741e-01 7.94768389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.399254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:219.46, Y:11.32, Z:7.95 [[ 9.96546764e-01 -7.45612009e-02 -3.65400367e-02 2.19460673e+02] [ 7.45488767e-02 9.97215909e-01 -1.70152744e-03 1.13232280e+01] [ 3.65651739e-02 -1.02836703e-03 9.99330741e-01 7.95141520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.459254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:219.52, Y:11.33, Z:7.96 [[ 9.96544409e-01 -7.45926058e-02 -3.65401585e-02 2.19522165e+02] [ 7.45803987e-02 9.97213557e-01 -1.69890709e-03 1.13278818e+01] [ 3.65650674e-02 -1.03214323e-03 9.99330741e-01 7.95686595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.519254154 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:219.58, Y:11.33, Z:7.96 [[ 9.96662872e-01 -7.29926479e-02 -3.65402866e-02 2.19583271e+02] [ 7.29794677e-02 9.97332001e-01 -1.69614938e-03 1.13273965e+01] [ 3.65666035e-02 -9.76201544e-04 9.99330741e-01 7.95899861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.579254154 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:219.65, Y:11.33, Z:7.96 [[ 9.96598981e-01 -7.38598144e-02 -3.65403807e-02 2.19645172e+02] [ 7.38472907e-02 9.97268122e-01 -1.69411920e-03 1.13290748e+01] [ 3.65656842e-02 -1.01005065e-03 9.99330741e-01 7.96193234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.639254154 meters Centerline goodness : 0.999694 with order 1 Centerline is valid? [True, True] Translation: X:219.71, Y:11.33, Z:7.96 [[ 9.96441331e-01 -7.59570000e-02 -3.65405025e-02 2.19707569e+02] [ 7.59459810e-02 9.97110499e-01 -1.69148662e-03 1.13294258e+01] [ 3.65633990e-02 -1.08963713e-03 9.99330741e-01 7.96418463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.699254154 meters Centerline goodness : 0.999629 with order 1 Centerline is valid? [True, True] Translation: X:219.77, Y:11.33, Z:7.97 [[ 9.96355150e-01 -7.70791693e-02 -3.65406231e-02 2.19769314e+02] [ 7.70689995e-02 9.97024331e-01 -1.68887804e-03 1.13300242e+01] [ 3.65620676e-02 -1.13342693e-03 9.99330741e-01 7.96712926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.759254154 meters Centerline goodness : 0.999432 with order 1 Centerline is valid? [True, True] Translation: X:219.83, Y:11.33, Z:7.97 [[ 9.96413558e-01 -7.63203435e-02 -3.65407446e-02 2.19832571e+02] [ 7.63097605e-02 9.97082733e-01 -1.68624545e-03 1.13306771e+01] [ 3.65628403e-02 -1.10821764e-03 9.99330741e-01 7.97190089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.819254154 meters Centerline goodness : 0.999586 with order 1 Centerline is valid? [True, True] Translation: X:219.89, Y:11.33, Z:7.98 [[ 9.96781263e-01 -7.13573701e-02 -3.65409306e-02 2.19893434e+02] [ 7.13436029e-02 9.97450380e-01 -1.68220520e-03 1.13319344e+01] [ 3.65678028e-02 -9.30171019e-04 9.99330741e-01 7.97591444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.879254154 meters Centerline goodness : 0.999411 with order 1 Centerline is valid? [True, True] Translation: X:219.96, Y:11.33, Z:7.98 [[ 9.97122452e-01 -6.64196455e-02 -3.65410218e-02 2.19955655e+02] [ 6.64026371e-02 9.97791495e-01 -1.68022263e-03 1.13333896e+01] [ 3.65719205e-02 -7.51032495e-04 9.99330741e-01 7.97982761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.939254154 meters Centerline goodness : 0.999498 with order 1 Centerline is valid? [True, True] Translation: X:220.02, Y:11.33, Z:7.98 [[ 9.97614931e-01 -5.85593266e-02 -3.65411450e-02 2.20017811e+02] [ 5.85371443e-02 9.98283822e-01 -1.67753833e-03 1.13335937e+01] [ 3.65766694e-02 -4.65476991e-04 9.99330741e-01 7.98213381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.999254154 meters Centerline goodness : 0.999607 with order 1 Centerline is valid? [True, True] Translation: X:220.08, Y:11.34, Z:7.98 [[ 9.97750337e-01 -5.62049966e-02 -3.65412676e-02 2.20078839e+02] [ 5.61813339e-02 9.98419177e-01 -1.67486297e-03 1.13352766e+01] [ 3.65776380e-02 -3.81842067e-04 9.99330741e-01 7.98406765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.059254154 meters Centerline goodness : 0.999435 with order 1 Centerline is valid? [True, True] Translation: X:220.14, Y:11.33, Z:7.98 [[ 9.98016227e-01 -5.12673648e-02 -3.65413288e-02 2.20140842e+02] [ 5.12404419e-02 9.98684944e-01 -1.67352729e-03 1.13333245e+01] [ 3.65790722e-02 -2.02186441e-04 9.99330741e-01 7.98370461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.119254154 meters Centerline goodness : 0.999412 with order 1 Centerline is valid? [True, True] Translation: X:220.20, Y:11.33, Z:7.98 [[ 9.98101151e-01 -4.95864745e-02 -3.65413901e-02 2.20201939e+02] [ 4.95584744e-02 9.98769824e-01 -1.67218787e-03 1.13299987e+01] [ 3.65793556e-02 -1.41922905e-04 9.99330741e-01 7.98360389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.179254154 meters Centerline goodness : 0.999198 with order 1 Centerline is valid? [True, True] Translation: X:220.26, Y:11.33, Z:7.98 [[ 9.98080018e-01 -5.00100499e-02 -3.65413901e-02 2.20261687e+02] [ 4.99823336e-02 9.98748702e-01 -1.67218787e-03 1.13285251e+01] [ 3.65792921e-02 -1.57446649e-04 9.99330741e-01 7.98495179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.239254154 meters Centerline goodness : 0.999158 with order 1 Centerline is valid? [True, True] Translation: X:220.32, Y:11.32, Z:7.98 [[ 9.98025192e-01 -5.10925373e-02 -3.65413297e-02 2.20319999e+02] [ 5.10654980e-02 9.98693904e-01 -1.67350676e-03 1.13238273e+01] [ 3.65791069e-02 -1.95799287e-04 9.99330741e-01 7.98163952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.299254154 meters Centerline goodness : 0.999332 with order 1 Centerline is valid? [True, True] Translation: X:220.38, Y:11.32, Z:7.99 [[ 9.97738197e-01 -5.64203500e-02 -3.65408714e-02 2.20378839e+02] [ 5.63965170e-02 9.98407031e-01 -1.68345492e-03 1.13214214e+01] [ 3.65776440e-02 -3.81130594e-04 9.99330741e-01 7.98899506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.359254154 meters Centerline goodness : 0.999271 with order 1 Centerline is valid? [True, True] Translation: X:220.44, Y:11.32, Z:7.99 [[ 9.97326233e-01 -6.32865300e-02 -3.65403826e-02 2.20439921e+02] [ 6.32669151e-02 9.97995204e-01 -1.69399776e-03 1.13169696e+01] [ 3.65743338e-02 -6.22328883e-04 9.99330741e-01 7.99089748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.41925415400001 meters Centerline goodness : 0.999104 with order 1 Centerline is valid? [True, True] Translation: X:220.50, Y:11.31, Z:7.99 [[ 9.96608190e-01 -7.37354475e-02 -3.65403826e-02 2.20501249e+02] [ 7.37228448e-02 9.97277330e-01 -1.69399776e-03 1.13123054e+01] [ 3.65658029e-02 -1.00560892e-03 9.99330741e-01 7.99132967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.479254154 meters Centerline goodness : 0.998980 with order 1 Centerline is valid? [True, True] Translation: X:220.56, Y:11.31, Z:7.99 [[ 9.95959919e-01 -8.20282624e-02 -3.65404460e-02 2.20562184e+02] [ 8.20212799e-02 9.96629141e-01 -1.69262905e-03 1.13106241e+01] [ 3.65561167e-02 -1.31130346e-03 9.99330741e-01 7.99432536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.539254154 meters Centerline goodness : 0.998980 with order 1 Centerline is valid? [True, True] Translation: X:220.62, Y:11.31, Z:8.00 [[ 9.95284273e-01 -8.98554614e-02 -3.65405402e-02 2.20624577e+02] [ 8.98538148e-02 9.95953530e-01 -1.69059398e-03 1.13091850e+01] [ 3.65445891e-02 -1.60068532e-03 9.99330741e-01 7.99712748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.599254154 meters Centerline goodness : 0.999005 with order 1 Centerline is valid? [True, True] Translation: X:220.69, Y:11.31, Z:8.00 [[ 9.94543183e-01 -9.77171276e-02 -3.65406659e-02 2.20686689e+02] [ 9.77208690e-02 9.95212431e-01 -1.68787185e-03 1.13061728e+01] [ 3.65306589e-02 -1.89212418e-03 9.99330741e-01 7.99727789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.659254154 meters Centerline goodness : 0.999004 with order 1 Centerline is valid? [True, True] Translation: X:220.75, Y:11.31, Z:8.00 [[ 9.94162462e-01 -1.01517335e-01 -3.65407907e-02 2.20748524e+02] [ 1.01523734e-01 9.94831690e-01 -1.68516511e-03 1.13060149e+01] [ 3.65230101e-02 -2.03442962e-03 9.99330741e-01 7.99914625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.719254154 meters Centerline goodness : 0.998897 with order 1 Centerline is valid? [True, True] Translation: X:220.81, Y:11.31, Z:8.00 [[ 9.94144001e-01 -1.01697913e-01 -3.65409449e-02 2.20810258e+02] [ 1.01704556e-01 9.94813226e-01 -1.68181504e-03 1.13080195e+01] [ 3.65224524e-02 -2.04441424e-03 9.99330741e-01 8.00054882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.779254154 meters Centerline goodness : 0.999132 with order 1 Centerline is valid? [True, True] Translation: X:220.87, Y:11.31, Z:8.00 [[ 9.94534292e-01 -9.78074246e-02 -3.65410673e-02 2.20872535e+02] [ 9.78115464e-02 9.95203538e-01 -1.67915200e-03 1.13113311e+01] [ 3.65300330e-02 -1.90416406e-03 9.99330741e-01 8.00221414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.839254154 meters Centerline goodness : 0.999195 with order 1 Centerline is valid? [True, True] Translation: X:220.93, Y:11.32, Z:8.00 [[ 9.95191533e-01 -9.08765123e-02 -3.65413671e-02 2.20934529e+02] [ 9.08762116e-02 9.95860792e-01 -1.67260197e-03 1.13165125e+01] [ 3.65421150e-02 -1.65618169e-03 9.99330741e-01 8.00498437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.899254154 meters Centerline goodness : 0.999109 with order 1 Centerline is valid? [True, True] Translation: X:221.00, Y:11.32, Z:8.01 [[ 9.95741716e-01 -8.46354257e-02 -3.65414848e-02 2.20996471e+02] [ 8.46310234e-02 9.96410960e-01 -1.67002599e-03 1.13216440e+01] [ 3.65516793e-02 -1.42962871e-03 9.99330741e-01 8.00770861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.959254154 meters Centerline goodness : 0.998918 with order 1 Centerline is valid? [True, True] Translation: X:221.06, Y:11.33, Z:8.01 [[ 9.96608499e-01 -7.37306631e-02 -3.65416082e-02 2.21058679e+02] [ 7.37190344e-02 9.97277656e-01 -1.66732271e-03 1.13289679e+01] [ 3.65650622e-02 -1.03214409e-03 9.99330742e-01 8.01003526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.019254154 meters Centerline goodness : 0.998935 with order 1 Centerline is valid? [True, True] Translation: X:221.12, Y:11.34, Z:8.01 [[ 9.97496419e-01 -6.05441623e-02 -3.65417338e-02 2.21120751e+02] [ 6.05237862e-02 9.98165367e-01 -1.66456399e-03 1.13357484e+01] [ 3.65754728e-02 -5.51247468e-04 9.99330742e-01 8.01185241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.079254154 meters Centerline goodness : 0.998911 with order 1 Centerline is valid? [True, True] Translation: X:221.18, Y:11.34, Z:8.01 [[ 9.98014976e-01 -5.12913211e-02 -3.65418593e-02 2.21180521e+02] [ 5.12648433e-02 9.98683711e-01 -1.66180616e-03 1.13413205e+01] [ 3.65789958e-02 -2.14805249e-04 9.99330742e-01 8.01432123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.139254154 meters Centerline goodness : 0.998997 with order 1 Centerline is valid? [True, True] Translation: X:221.24, Y:11.35, Z:8.02 [[ 9.98584140e-01 -3.86575834e-02 -3.65418593e-02 2.21239203e+02] [ 3.86226451e-02 9.99252485e-01 -1.66180616e-03 1.13468843e+01] [ 3.65787851e-02 2.48110019e-04 9.99330742e-01 8.01754426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.199254154 meters Centerline goodness : 0.998954 with order 1 Centerline is valid? [True, True] Translation: X:221.30, Y:11.35, Z:8.02 [[ 9.98789936e-01 -3.29148571e-02 -3.65414261e-02 2.21297373e+02] [ 3.28757298e-02 9.99458050e-01 -1.67127642e-03 1.13499289e+01] [ 3.65766323e-02 4.67928020e-04 9.99330742e-01 8.02019289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.259254154 meters Centerline goodness : 0.999018 with order 1 Centerline is valid? [True, True] Translation: X:221.36, Y:11.35, Z:8.02 [[ 9.98888537e-01 -2.97733116e-02 -3.65409337e-02 2.21355201e+02] [ 2.97316918e-02 9.99556500e-01 -1.68197517e-03 1.13507694e+01] [ 3.65748057e-02 5.93681935e-04 9.99330742e-01 8.02244759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.319254154 meters Centerline goodness : 0.999081 with order 1 Centerline is valid? [True, True] Translation: X:221.41, Y:11.35, Z:8.02 [[ 9.98757800e-01 -3.38770422e-02 -3.65404339e-02 2.21413464e+02] [ 3.38377725e-02 9.99425905e-01 -1.69276420e-03 1.13496847e+01] [ 3.65768020e-02 4.54214564e-04 9.99330742e-01 8.02320265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.379254154 meters Centerline goodness : 0.998892 with order 1 Centerline is valid? [True, True] Translation: X:221.47, Y:11.35, Z:8.02 [[ 9.98511444e-01 -4.04935649e-02 -3.65399318e-02 2.21471379e+02] [ 4.04583286e-02 9.99179774e-01 -1.70353236e-03 1.13494293e+01] [ 3.65789429e-02 2.22651992e-04 9.99330742e-01 8.02465181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.439254154 meters Centerline goodness : 0.998834 with order 1 Centerline is valid? [True, True] Translation: X:221.53, Y:11.35, Z:8.03 [[ 9.97886565e-01 -5.37333630e-02 -3.65394252e-02 2.21529054e+02] [ 5.37065985e-02 9.98555288e-01 -1.71433074e-03 1.13458796e+01] [ 3.65787530e-02 -2.51700623e-04 9.99330742e-01 8.02699280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.499254154 meters Centerline goodness : 0.998734 with order 1 Centerline is valid? [True, True] Translation: X:221.59, Y:11.34, Z:8.03 [[ 9.97344094e-01 -6.30050914e-02 -3.65392363e-02 2.21587364e+02] [ 6.29843958e-02 9.98013033e-01 -1.71834843e-03 1.13445952e+01] [ 3.65748987e-02 -5.87617057e-04 9.99330742e-01 8.02982727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.559254154 meters Centerline goodness : 0.998758 with order 1 Centerline is valid? [True, True] Translation: X:221.65, Y:11.33, Z:8.02 [[ 9.96897006e-01 -6.97227003e-02 -3.65390807e-02 2.21647819e+02] [ 6.97063908e-02 9.97566065e-01 -1.72164900e-03 1.13349942e+01] [ 3.65701850e-02 -8.30700705e-04 9.99330742e-01 8.02390143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.619254154 meters Centerline goodness : 0.999076 with order 1 Centerline is valid? [True, True] Translation: X:221.71, Y:11.34, Z:8.03 [[ 9.95669871e-01 -8.54775305e-02 -3.65390162e-02 2.21708350e+02] [ 8.54717525e-02 9.96339104e-01 -1.72301817e-03 1.13387679e+01] [ 3.65525300e-02 -1.40749647e-03 9.99330742e-01 8.03256777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.679254154 meters Centerline goodness : 0.998804 with order 1 Centerline is valid? [True, True] Translation: X:221.77, Y:11.34, Z:8.03 [[ 9.95144448e-01 -9.13915892e-02 -3.65390879e-02 2.21769463e+02] [ 9.13898432e-02 9.95813704e-01 -1.72149543e-03 1.13387178e+01] [ 3.65434547e-02 -1.62616489e-03 9.99330742e-01 8.03354503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.739254154 meters Centerline goodness : 0.999102 with order 1 Centerline is valid? [True, True] Translation: X:221.83, Y:11.34, Z:8.03 [[ 9.94377435e-01 -9.93901630e-02 -3.65391822e-02 2.21831972e+02] [ 9.93938717e-02 9.95046683e-01 -1.71949168e-03 1.13387329e+01] [ 3.65290926e-02 -1.92194706e-03 9.99330742e-01 8.03431603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.799254154 meters Centerline goodness : 0.998785 with order 1 Centerline is valid? [True, True] Translation: X:221.89, Y:11.34, Z:8.03 [[ 9.93663238e-01 -1.06293220e-01 -3.65393032e-02 2.21893847e+02] [ 1.06301671e-01 9.94332443e-01 -1.71691614e-03 1.13394788e+01] [ 3.65147112e-02 -2.17815253e-03 9.99330742e-01 8.03485509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.859254154 meters Centerline goodness : 0.998911 with order 1 Centerline is valid? [True, True] Translation: X:221.96, Y:11.34, Z:8.04 [[ 9.93441737e-01 -1.08343834e-01 -3.65394278e-02 2.21956009e+02] [ 1.08353763e-01 9.94110921e-01 -1.71426203e-03 1.13418171e+01] [ 3.65099739e-02 -2.25616505e-03 9.99330742e-01 8.03653461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.91925415400001 meters Centerline goodness : 0.998574 with order 1 Centerline is valid? [True, True] Translation: X:222.02, Y:11.35, Z:8.04 [[ 9.93453311e-01 -1.08237608e-01 -3.65395506e-02 2.22017917e+02] [ 1.08247562e-01 9.94122495e-01 -1.71164062e-03 1.13462006e+01] [ 3.65100531e-02 -2.25488222e-03 9.99330742e-01 8.03841744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.979254154 meters Centerline goodness : 0.998934 with order 1 Centerline is valid? [True, True] Translation: X:222.08, Y:11.35, Z:8.04 [[ 9.93684528e-01 -1.06093879e-01 -3.65396721e-02 2.22079839e+02] [ 1.06102484e-01 9.94353731e-01 -1.70904273e-03 1.13514956e+01] [ 3.65146782e-02 -2.17870066e-03 9.99330742e-01 8.04053654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.039254154 meters Centerline goodness : 0.998888 with order 1 Centerline is valid? [True, True] Translation: X:222.14, Y:11.36, Z:8.04 [[ 9.94107061e-01 -1.02058783e-01 -3.65397921e-02 2.22141602e+02] [ 1.02064765e-01 9.94776292e-01 -1.70647273e-03 1.13582608e+01] [ 3.65230794e-02 -2.03300872e-03 9.99330742e-01 8.04235422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.099254154 meters Centerline goodness : 0.998761 with order 1 Centerline is valid? [True, True] Translation: X:222.20, Y:11.36, Z:8.04 [[ 9.94364950e-01 -9.95147321e-02 -3.65399103e-02 2.22203976e+02] [ 9.95190946e-02 9.95034194e-01 -1.70393703e-03 1.13632309e+01] [ 3.65280270e-02 -1.94208353e-03 9.99330742e-01 8.04479744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.159254154 meters Centerline goodness : 0.999075 with order 1 Centerline is valid? [True, True] Translation: X:222.27, Y:11.37, Z:8.05 [[ 9.94644983e-01 -9.66756685e-02 -3.65400269e-02 2.22265800e+02] [ 9.66782122e-02 9.95314236e-01 -1.70143421e-03 1.13694124e+01] [ 3.65332962e-02 -1.84030147e-03 9.99330742e-01 8.04756995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.219254154 meters Centerline goodness : 0.999012 with order 1 Centerline is valid? [True, True] Translation: X:222.33, Y:11.37, Z:8.05 [[ 9.94932120e-01 -9.36744025e-02 -3.65401419e-02 2.22327740e+02] [ 9.36750177e-02 9.95601378e-01 -1.69896075e-03 1.13746562e+01] [ 3.65385648e-02 -1.73254782e-03 9.99330742e-01 8.04982362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.279254154 meters Centerline goodness : 0.999051 with order 1 Centerline is valid? [True, True] Translation: X:222.39, Y:11.38, Z:8.05 [[ 9.95603988e-01 -8.62409978e-02 -3.65402555e-02 2.22389606e+02] [ 8.62367042e-02 9.96273232e-01 -1.69651450e-03 1.13809626e+01] [ 3.65503875e-02 -1.46205460e-03 9.99330742e-01 8.05264230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.339254154 meters Centerline goodness : 0.999092 with order 1 Centerline is valid? [True, True] Translation: X:222.45, Y:11.39, Z:8.06 [[ 9.96526749e-01 -7.48280722e-02 -3.65403673e-02 2.22450045e+02] [ 7.48161992e-02 9.97195902e-01 -1.69410215e-03 1.13881069e+01] [ 3.65646709e-02 -1.04559329e-03 9.99330742e-01 8.05539871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.399254154 meters Centerline goodness : 0.998983 with order 1 Centerline is valid? [True, True] Translation: X:222.51, Y:11.39, Z:8.06 [[ 9.97158189e-01 -6.58812695e-02 -3.65404497e-02 2.22510363e+02] [ 6.58634567e-02 9.97827210e-01 -1.69232193e-03 1.13942925e+01] [ 3.65725473e-02 -7.19167656e-04 9.99330742e-01 8.05858706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.459254154 meters Centerline goodness : 0.998789 with order 1 Centerline is valid? [True, True] Translation: X:222.57, Y:11.40, Z:8.06 [[ 9.97910884e-01 -5.32791070e-02 -3.65404497e-02 2.22569126e+02] [ 5.32528439e-02 9.98579627e-01 -1.69232193e-03 1.14003960e+01] [ 3.65787141e-02 -2.57096393e-04 9.99330742e-01 8.06187823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.519254154 meters Centerline goodness : 0.998915 with order 1 Centerline is valid? [True, True] Translation: X:222.63, Y:11.40, Z:8.07 [[ 9.98182429e-01 -4.79232736e-02 -3.65403702e-02 2.22627970e+02] [ 4.78933594e-02 9.98851018e-01 -1.69403856e-03 1.14038314e+01] [ 3.65795698e-02 -5.90815593e-05 9.99330742e-01 8.06697266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.579254154 meters Centerline goodness : 0.999107 with order 1 Centerline is valid? [True, True] Translation: X:222.69, Y:11.41, Z:8.07 [[ 9.98321633e-01 -4.49304971e-02 -3.65399416e-02 2.22685987e+02] [ 4.48982421e-02 9.98990113e-01 -1.70323337e-03 1.14058825e+01] [ 3.65795675e-02 5.97955793e-05 9.99330742e-01 8.07002526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.639254154 meters Centerline goodness : 0.999045 with order 1 Centerline is valid? [True, True] Translation: X:222.74, Y:11.41, Z:8.07 [[ 9.98127593e-01 -4.90528068e-02 -3.65394349e-02 2.22743826e+02] [ 4.90229173e-02 9.98796183e-01 -1.71403454e-03 1.14053383e+01] [ 3.65795263e-02 -8.04445192e-05 9.99330742e-01 8.07173160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.699254154 meters Centerline goodness : 0.999068 with order 1 Centerline is valid? [True, True] Translation: X:222.80, Y:11.40, Z:8.07 [[ 9.97806565e-01 -5.51993247e-02 -3.65389330e-02 2.22801750e+02] [ 5.51731641e-02 9.98475311e-01 -1.72466783e-03 1.14046561e+01] [ 3.65784230e-02 -2.95083660e-04 9.99330742e-01 8.07322713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.759254154 meters Centerline goodness : 0.999007 with order 1 Centerline is valid? [True, True] Translation: X:222.86, Y:11.40, Z:8.08 [[ 9.97214507e-01 -6.50243739e-02 -3.65384338e-02 2.22860457e+02] [ 6.50044163e-02 9.97883468e-01 -1.73517886e-03 1.13979119e+01] [ 3.65739280e-02 -6.44814033e-04 9.99330742e-01 8.07701000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.819254154 meters Centerline goodness : 0.998970 with order 1 Centerline is valid? [True, True] Translation: X:222.92, Y:11.40, Z:8.08 [[ 9.96233158e-01 -7.86414128e-02 -3.65379747e-02 2.22920162e+02] [ 7.86302435e-02 9.96902322e-01 -1.74479319e-03 1.13973154e+01] [ 3.65620049e-02 -1.13476902e-03 9.99330742e-01 8.07836765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.879254154 meters Centerline goodness : 0.998926 with order 1 Centerline is valid? [True, True] Translation: X:222.98, Y:11.40, Z:8.08 [[ 9.95817677e-01 -8.37384580e-02 -3.65379852e-02 2.22981242e+02] [ 8.37307213e-02 9.96486890e-01 -1.74457489e-03 1.13967514e+01] [ 3.65557112e-02 -1.32207334e-03 9.99330742e-01 8.08149287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.939254154 meters Centerline goodness : 0.999054 with order 1 Centerline is valid? [True, True] Translation: X:223.04, Y:11.40, Z:8.08 [[ 9.95484433e-01 -8.76111536e-02 -3.65380505e-02 2.23043003e+02] [ 8.76060701e-02 9.96153672e-01 -1.74320446e-03 1.13953794e+01] [ 3.65502374e-02 -1.46562211e-03 9.99330742e-01 8.08159123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.999254154 meters Centerline goodness : 0.999034 with order 1 Centerline is valid? [True, True] Translation: X:223.11, Y:11.40, Z:8.09 [[ 9.95435421e-01 -8.81662417e-02 -3.65381472e-02 2.23105200e+02] [ 8.81616058e-02 9.96104663e-01 -1.74117528e-03 1.13955224e+01] [ 3.65493317e-02 -1.48803419e-03 9.99330742e-01 8.08515560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.059254154 meters Centerline goodness : 0.998823 with order 1 Centerline is valid? [True, True] Translation: X:223.17, Y:11.40, Z:8.09 [[ 9.95505632e-01 -8.73698557e-02 -3.65382766e-02 2.23167406e+02] [ 8.73647840e-02 9.96174870e-01 -1.73845569e-03 1.13976684e+01] [ 3.65504016e-02 -1.46151621e-03 9.99330742e-01 8.08698515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.119254154 meters Centerline goodness : 0.999141 with order 1 Centerline is valid? [True, True] Translation: X:223.23, Y:11.40, Z:8.09 [[ 9.95807605e-01 -8.38579627e-02 -3.65384059e-02 2.23229004e+02] [ 8.38506303e-02 9.96476823e-01 -1.73573342e-03 1.14012049e+01] [ 3.65552297e-02 -1.33531182e-03 9.99330742e-01 8.08849190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.179254154 meters Centerline goodness : 0.999117 with order 1 Centerline is valid? [True, True] Translation: X:223.29, Y:11.40, Z:8.09 [[ 9.96049092e-01 -8.09391210e-02 -3.65385351e-02 2.23290589e+02] [ 8.09299271e-02 9.96718287e-01 -1.73301026e-03 1.14047802e+01] [ 3.65588944e-02 -1.23089768e-03 9.99330742e-01 8.08930546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.239254154 meters Centerline goodness : 0.999180 with order 1 Centerline is valid? [True, True] Translation: X:223.35, Y:11.41, Z:8.09 [[ 9.96320382e-01 -7.75282163e-02 -3.65386302e-02 2.23351270e+02] [ 7.75168047e-02 9.96989543e-01 -1.73100202e-03 1.14094068e+01] [ 3.65628338e-02 -1.10772527e-03 9.99330742e-01 8.09030264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.299254154 meters Centerline goodness : 0.999306 with order 1 Centerline is valid? [True, True] Translation: X:223.41, Y:11.41, Z:8.09 [[ 9.96477949e-01 -7.54759746e-02 -3.65386609e-02 2.23411994e+02] [ 7.54632085e-02 9.97147085e-01 -1.73035368e-03 1.14133213e+01] [ 3.65650194e-02 -1.03306531e-03 9.99330742e-01 8.08915399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.359254154 meters Centerline goodness : 0.999096 with order 1 Centerline is valid? [True, True] Translation: X:223.47, Y:11.42, Z:8.09 [[ 9.96227185e-01 -7.87167176e-02 -3.65386609e-02 2.23472136e+02] [ 7.87061280e-02 9.96896359e-01 -1.73035368e-03 1.14175992e+01] [ 3.65614658e-02 -1.15199115e-03 9.99330742e-01 8.09327779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.41925415400001 meters Centerline goodness : 0.999284 with order 1 Centerline is valid? [True, True] Translation: X:223.53, Y:11.42, Z:8.10 [[ 9.96003494e-01 -8.14982628e-02 -3.65386609e-02 2.23533001e+02] [ 8.14895419e-02 9.96672695e-01 -1.73035368e-03 1.14210712e+01] [ 3.65581065e-02 -1.25408043e-03 9.99330742e-01 8.09556749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.479254154 meters Centerline goodness : 0.998965 with order 1 Centerline is valid? [True, True] Translation: X:223.59, Y:11.42, Z:8.09 [[ 9.95743378e-01 -8.46170624e-02 -3.65387224e-02 2.23593887e+02] [ 8.46104848e-02 9.96412603e-01 -1.72905557e-03 1.14231439e+01] [ 3.65539511e-02 -1.36986338e-03 9.99330742e-01 8.08842975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.539254154 meters Centerline goodness : 0.999070 with order 1 Centerline is valid? [True, True] Translation: X:223.65, Y:11.43, Z:8.10 [[ 9.95057877e-01 -9.23295164e-02 -3.65387601e-02 2.23653746e+02] [ 9.23281534e-02 9.95727134e-01 -1.72825890e-03 1.14290770e+01] [ 3.65422041e-02 -1.65383861e-03 9.99330742e-01 8.10019882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.599254154 meters Centerline goodness : 0.999157 with order 1 Centerline is valid? [True, True] Translation: X:223.72, Y:11.44, Z:8.10 [[ 9.94722809e-01 -9.58720470e-02 -3.65387978e-02 2.23715004e+02] [ 9.58730963e-02 9.95392066e-01 -1.72746147e-03 1.14352026e+01] [ 3.65360447e-02 -1.78474235e-03 9.99330742e-01 8.10381871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.659254154 meters Centerline goodness : 0.999007 with order 1 Centerline is valid? [True, True] Translation: X:223.78, Y:11.44, Z:8.11 [[ 9.94580424e-01 -9.73380159e-02 -3.65388857e-02 2.23777265e+02] [ 9.73401197e-02 9.95249679e-01 -1.72559983e-03 1.14404076e+01] [ 3.65332807e-02 -1.84045169e-03 9.99330742e-01 8.10862434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.719254154 meters Centerline goodness : 0.999091 with order 1 Centerline is valid? [True, True] Translation: X:223.84, Y:11.45, Z:8.11 [[ 9.94523827e-01 -9.79145451e-02 -3.65390156e-02 2.23837760e+02] [ 9.79171379e-02 9.95193080e-01 -1.72284376e-03 1.14460485e+01] [ 3.65320670e-02 -1.86438667e-03 9.99330742e-01 8.11071125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.779254154 meters Centerline goodness : 0.999069 with order 1 Centerline is valid? [True, True] Translation: X:223.90, Y:11.45, Z:8.11 [[ 9.94581067e-01 -9.73313650e-02 -3.65391114e-02 2.23899993e+02] [ 9.73336399e-02 9.95250321e-01 -1.72080965e-03 1.14499665e+01] [ 3.65330511e-02 -1.84500002e-03 9.99330742e-01 8.11327917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.839254154 meters Centerline goodness : 0.999046 with order 1 Centerline is valid? [True, True] Translation: X:223.96, Y:11.46, Z:8.12 [[ 9.94876208e-01 -9.42667211e-02 -3.65392398e-02 2.23961634e+02] [ 9.42670341e-02 9.95545466e-01 -1.71807867e-03 1.14580052e+01] [ 3.65384322e-02 -1.73517018e-03 9.99330742e-01 8.11546261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.899254154 meters Centerline goodness : 0.999342 with order 1 Centerline is valid? [True, True] Translation: X:224.02, Y:11.46, Z:8.12 [[ 9.95215792e-01 -9.06112659e-02 -3.65393694e-02 2.24022955e+02] [ 9.06092215e-02 9.95885047e-01 -1.71531859e-03 1.14641982e+01] [ 3.65444388e-02 -1.60369167e-03 9.99330742e-01 8.11716026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.959254154 meters Centerline goodness : 0.999086 with order 1 Centerline is valid? [True, True] Translation: X:224.09, Y:11.47, Z:8.12 [[ 9.95727488e-01 -8.48035225e-02 -3.65394649e-02 2.24085180e+02] [ 8.47976483e-02 9.96396720e-01 -1.71328158e-03 1.14724884e+01] [ 3.65530953e-02 -1.39249913e-03 9.99330742e-01 8.11990902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.019254154 meters Centerline goodness : 0.998829 with order 1 Centerline is valid? [True, True] Translation: X:224.15, Y:11.47, Z:8.11 [[ 9.96778629e-01 -7.13948392e-02 -3.65395950e-02 2.24147494e+02] [ 7.13800605e-02 9.97447724e-01 -1.71050300e-03 1.14687111e+01] [ 3.65684569e-02 -9.03205662e-04 9.99330742e-01 8.10774755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.079254154 meters Centerline goodness : 0.999318 with order 1 Centerline is valid? [True, True] Translation: X:224.21, Y:11.49, Z:8.12 [[ 9.96752289e-01 -7.17615981e-02 -3.65396593e-02 2.24207752e+02] [ 7.17471159e-02 9.97421391e-01 -1.70912752e-03 1.14869963e+01] [ 3.65680875e-02 -9.18038408e-04 9.99330742e-01 8.12318971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.139254154 meters Centerline goodness : 0.999017 with order 1 Centerline is valid? [True, True] Translation: X:224.27, Y:11.48, Z:8.11 [[ 9.97716663e-01 -5.68006147e-02 -3.65397235e-02 2.24270337e+02] [ 5.67761468e-02 9.98385473e-01 -1.70775431e-03 1.14847078e+01] [ 3.65777306e-02 -3.70729779e-04 9.99330742e-01 8.11125902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.199254154 meters Centerline goodness : 0.999229 with order 1 Centerline is valid? [True, True] Translation: X:224.33, Y:11.50, Z:8.13 [[ 9.97455276e-01 -6.12193884e-02 -3.65398216e-02 2.24328220e+02] [ 6.11979602e-02 9.98124191e-01 -1.70565244e-03 1.15008542e+01] [ 3.65756989e-02 -5.34850521e-04 9.99330742e-01 8.12743178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.259254154 meters Centerline goodness : 0.999398 with order 1 Centerline is valid? [True, True] Translation: X:224.39, Y:11.51, Z:8.13 [[ 9.97679526e-01 -5.74491962e-02 -3.65397578e-02 2.24389173e+02] [ 5.74251900e-02 9.98348353e-01 -1.70701965e-03 1.15072443e+01] [ 3.65774739e-02 -3.95243977e-04 9.99330742e-01 8.12915716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.319254154 meters Centerline goodness : 0.999139 with order 1 Centerline is valid? [True, True] Translation: X:224.45, Y:11.51, Z:8.13 [[ 9.97795921e-01 -5.53908068e-02 -3.65398193e-02 2.24449731e+02] [ 5.53654691e-02 9.98464699e-01 -1.70570129e-03 1.15121925e+01] [ 3.65781998e-02 -3.21102450e-04 9.99330742e-01 8.13143048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.379254154 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:224.51, Y:11.52, Z:8.13 [[ 9.98014022e-01 -5.13113426e-02 -3.65398193e-02 2.24509306e+02] [ 5.12832712e-02 9.98682691e-01 -1.70570129e-03 1.15187456e+01] [ 3.65792069e-02 -1.71567660e-04 9.99330742e-01 8.13201816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.439254154 meters Centerline goodness : 0.999309 with order 1 Centerline is valid? [True, True] Translation: X:224.57, Y:11.52, Z:8.14 [[ 9.98061363e-01 -5.03821410e-02 -3.65397832e-02 2.24567824e+02] [ 5.03534187e-02 9.98730004e-01 -1.70647363e-03 1.15215211e+01] [ 3.65793536e-02 -1.36737612e-04 9.99330742e-01 8.13603470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.499254154 meters Centerline goodness : 0.999461 with order 1 Centerline is valid? [True, True] Translation: X:224.63, Y:11.52, Z:8.14 [[ 9.98031131e-01 -5.09775729e-02 -3.65396748e-02 2.24627037e+02] [ 5.09491647e-02 9.98699786e-01 -1.70879276e-03 1.15241658e+01] [ 3.65792755e-02 -1.56237536e-04 9.99330742e-01 8.13783755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.559254154 meters Centerline goodness : 0.999352 with order 1 Centerline is valid? [True, True] Translation: X:224.69, Y:11.53, Z:8.14 [[ 9.97897809e-01 -5.35240154e-02 -3.65396115e-02 2.24687045e+02] [ 5.34972639e-02 9.98566532e-01 -1.71014513e-03 1.15261345e+01] [ 3.65787669e-02 -2.48219159e-04 9.99330742e-01 8.13878937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.619254154 meters Centerline goodness : 0.999310 with order 1 Centerline is valid? [True, True] Translation: X:224.75, Y:11.53, Z:8.14 [[ 9.97842725e-01 -5.45413332e-02 -3.65395489e-02 2.24746293e+02] [ 5.45152145e-02 9.98511473e-01 -1.71148052e-03 1.15282680e+01] [ 3.65785053e-02 -2.84172963e-04 9.99330742e-01 8.13665200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.679254154 meters Centerline goodness : 0.999290 with order 1 Centerline is valid? [True, True] Translation: X:224.81, Y:11.53, Z:8.14 [[ 9.97519991e-01 -6.01558853e-02 -3.65395140e-02 2.24805678e+02] [ 6.01335032e-02 9.98188875e-01 -1.71222521e-03 1.15307724e+01] [ 3.65763368e-02 -4.89270106e-04 9.99330742e-01 8.14071488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.739254154 meters Centerline goodness : 0.999310 with order 1 Centerline is valid? [True, True] Translation: X:224.87, Y:11.53, Z:8.14 [[ 9.97284891e-01 -6.39352275e-02 -3.65394791e-02 2.24866480e+02] [ 6.39153528e-02 9.97953853e-01 -1.71297056e-03 1.15339622e+01] [ 3.65742331e-02 -6.27114036e-04 9.99330742e-01 8.14254513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.799254154 meters Centerline goodness : 0.999225 with order 1 Centerline is valid? [True, True] Translation: X:224.93, Y:11.54, Z:8.14 [[ 9.97135433e-01 -6.62253348e-02 -3.65394791e-02 2.24927851e+02] [ 6.62069964e-02 9.97804439e-01 -1.71297056e-03 1.15372719e+01] [ 3.65726965e-02 -7.11105518e-04 9.99330742e-01 8.14481225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.859254154 meters Centerline goodness : 0.999398 with order 1 Centerline is valid? [True, True] Translation: X:224.99, Y:11.54, Z:8.15 [[ 9.96904560e-01 -6.96143706e-02 -3.65395415e-02 2.24989426e+02] [ 6.95983551e-02 9.97573626e-01 -1.71163809e-03 1.15405742e+01] [ 3.65700375e-02 -8.36752165e-04 9.99330742e-01 8.14760961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.91925415400001 meters Centerline goodness : 0.999527 with order 1 Centerline is valid? [True, True] Translation: X:225.05, Y:11.54, Z:8.15 [[ 9.96725537e-01 -7.21322479e-02 -3.65396037e-02 2.25050718e+02] [ 7.21179712e-02 9.97394643e-01 -1.71030946e-03 1.15433209e+01] [ 3.65677734e-02 -9.30452973e-04 9.99330742e-01 8.14997702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.979254154 meters Centerline goodness : 0.999335 with order 1 Centerline is valid? [True, True] Translation: X:225.11, Y:11.55, Z:8.15 [[ 9.96238482e-01 -7.85731299e-02 -3.65396959e-02 2.25113274e+02] [ 7.85632506e-02 9.96907667e-01 -1.70833702e-03 1.15459213e+01] [ 3.65609324e-02 -1.16876620e-03 9.99330742e-01 8.15194211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.039254154 meters Centerline goodness : 0.999486 with order 1 Centerline is valid? [True, True] Translation: X:225.17, Y:11.55, Z:8.15 [[ 9.95431722e-01 -8.82073065e-02 -3.65398214e-02 2.25174667e+02] [ 8.82039999e-02 9.96100971e-01 -1.70564935e-03 1.15475944e+01] [ 3.65478023e-02 -1.52510093e-03 9.99330742e-01 8.15336512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.099254154 meters Centerline goodness : 0.999507 with order 1 Centerline is valid? [True, True] Translation: X:225.24, Y:11.55, Z:8.16 [[ 9.94771424e-01 -9.53658668e-02 -3.65399142e-02 2.25237166e+02] [ 9.53674477e-02 9.95440680e-01 -1.70365860e-03 1.15495785e+01] [ 3.65357879e-02 -1.78996747e-03 9.99330742e-01 8.15576645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.159254154 meters Centerline goodness : 0.999401 with order 1 Centerline is valid? [True, True] Translation: X:225.30, Y:11.55, Z:8.16 [[ 9.93907066e-01 -1.03988317e-01 -3.65400421e-02 2.25297860e+02] [ 1.03995802e-01 9.94576282e-01 -1.70091036e-03 1.15519322e+01] [ 3.65187340e-02 -2.10946416e-03 9.99330742e-01 8.15704516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.219254154 meters Centerline goodness : 0.999357 with order 1 Centerline is valid? [True, True] Translation: X:225.36, Y:11.56, Z:8.16 [[ 9.93460077e-01 -1.08175292e-01 -3.65401367e-02 2.25360003e+02] [ 1.08185671e-01 9.94129254e-01 -1.69887643e-03 1.15561887e+01] [ 3.65093953e-02 -2.26535329e-03 9.99330742e-01 8.15913369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.279254154 meters Centerline goodness : 0.999293 with order 1 Centerline is valid? [True, True] Translation: X:225.42, Y:11.56, Z:8.16 [[ 9.93521946e-01 -1.07605540e-01 -3.65402616e-02 2.25422450e+02] [ 1.07615634e-01 9.94191128e-01 -1.69618464e-03 1.15602750e+01] [ 3.65105228e-02 -2.24710675e-03 9.99330742e-01 8.16122790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.339254154 meters Centerline goodness : 0.999398 with order 1 Centerline is valid? [True, True] Translation: X:225.48, Y:11.57, Z:8.16 [[ 9.94085827e-01 -1.02265184e-01 -3.65403857e-02 2.25484564e+02] [ 1.02271780e-01 9.94755053e-01 -1.69350705e-03 1.15671422e+01] [ 3.65219201e-02 -2.05355893e-03 9.99330742e-01 8.16410620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.399254154 meters Centerline goodness : 0.999419 with order 1 Centerline is valid? [True, True] Translation: X:225.55, Y:11.57, Z:8.17 [[ 9.94734861e-01 -9.57462665e-02 -3.65405095e-02 2.25547039e+02] [ 9.57485733e-02 9.95404115e-01 -1.69083289e-03 1.15735642e+01] [ 3.65344644e-02 -1.81677123e-03 9.99330742e-01 8.16689827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.459254154 meters Centerline goodness : 0.999525 with order 1 Centerline is valid? [True, True] Translation: X:225.61, Y:11.58, Z:8.17 [[ 9.95843244e-01 -8.34326759e-02 -3.65406928e-02 2.25608224e+02] [ 8.34268484e-02 9.96512476e-01 -1.68686189e-03 1.15819606e+01] [ 3.65539957e-02 -1.36862482e-03 9.99330742e-01 8.17115456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.519254154 meters Centerline goodness : 0.999523 with order 1 Centerline is valid? [True, True] Translation: X:225.67, Y:11.59, Z:8.18 [[ 9.96833733e-01 -7.06206816e-02 -3.65407826e-02 2.25670189e+02] [ 7.06063205e-02 9.97502836e-01 -1.68491510e-03 1.15903883e+01] [ 3.65685241e-02 -9.00429996e-04 9.99330742e-01 8.17521286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.579254154 meters Centerline goodness : 0.999478 with order 1 Centerline is valid? [True, True] Translation: X:225.73, Y:11.60, Z:8.18 [[ 9.97288559e-01 -6.38771664e-02 -3.65409025e-02 2.25732399e+02] [ 6.38583758e-02 9.97957553e-01 -1.68231033e-03 1.15958868e+01] [ 3.65737308e-02 -6.55693834e-04 9.99330742e-01 8.17764875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.639254154 meters Centerline goodness : 0.999607 with order 1 Centerline is valid? [True, True] Translation: X:225.79, Y:11.60, Z:8.18 [[ 9.97904708e-01 -5.33942613e-02 -3.65410253e-02 2.25792321e+02] [ 5.33685399e-02 9.98573471e-01 -1.67963728e-03 1.16018396e+01] [ 3.65785815e-02 -2.74023216e-04 9.99330742e-01 8.17512141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.699254154 meters Centerline goodness : 0.999715 with order 1 Centerline is valid? [True, True] Translation: X:225.85, Y:11.61, Z:8.18 [[ 9.98011130e-01 -5.13666712e-02 -3.65410554e-02 2.25852832e+02] [ 5.13396150e-02 9.98679841e-01 -1.67898214e-03 1.16059283e+01] [ 3.65790592e-02 -2.00360860e-04 9.99330742e-01 8.17832463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.759254154 meters Centerline goodness : 0.999475 with order 1 Centerline is valid? [True, True] Translation: X:225.91, Y:11.61, Z:8.18 [[ 9.98234867e-01 -4.68177507e-02 -3.65410554e-02 2.25911846e+02] [ 4.67876472e-02 9.98903447e-01 -1.67898214e-03 1.16104028e+01] [ 3.65795924e-02 -3.36515019e-05 9.99330742e-01 8.18044809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.819254154 meters Centerline goodness : 0.999628 with order 1 Centerline is valid? [True, True] Translation: X:225.97, Y:11.61, Z:8.19 [[ 9.98527039e-01 -4.01062156e-02 -3.65409955e-02 2.25970995e+02] [ 4.00715706e-02 9.99195399e-01 -1.68028609e-03 1.16145697e+01] [ 3.65789845e-02 2.13556011e-04 9.99330742e-01 8.18525794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.879254154 meters Centerline goodness : 0.999519 with order 1 Centerline is valid? [True, True] Translation: X:226.03, Y:11.62, Z:8.19 [[ 9.98620334e-01 -3.77119155e-02 -3.65409346e-02 2.26029168e+02] [ 3.76756197e-02 9.99288607e-01 -1.68160988e-03 1.16172866e+01] [ 3.65783563e-02 3.02587462e-04 9.99330742e-01 8.18845353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.939254154 meters Centerline goodness : 0.999585 with order 1 Centerline is valid? [True, True] Translation: X:226.09, Y:11.62, Z:8.19 [[ 9.98585421e-01 -3.86257459e-02 -3.65405051e-02 2.26087888e+02] [ 3.85897221e-02 9.99253709e-01 -1.69088976e-03 1.16180323e+01] [ 3.65785472e-02 2.78409922e-04 9.99330742e-01 8.19138705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.999254154 meters Centerline goodness : 0.999520 with order 1 Centerline is valid? [True, True] Translation: X:226.15, Y:11.62, Z:8.19 [[ 9.98392290e-01 -4.33319505e-02 -3.65400736e-02 2.26146392e+02] [ 4.32987374e-02 9.99060723e-01 -1.70016519e-03 1.16159268e+01] [ 3.65794238e-02 1.15292770e-04 9.99330742e-01 8.19230176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.059254154 meters Centerline goodness : 0.999435 with order 1 Centerline is valid? [True, True] Translation: X:226.20, Y:11.62, Z:8.19 [[ 9.98126590e-01 -4.90731027e-02 -3.65395794e-02 2.26204738e+02] [ 4.90433480e-02 9.98795186e-01 -1.71072002e-03 1.16152369e+01] [ 3.65795064e-02 -8.45081746e-05 9.99330742e-01 8.19355188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.119254154 meters Centerline goodness : 0.999502 with order 1 Centerline is valid? [True, True] Translation: X:226.26, Y:11.61, Z:8.19 [[ 9.97616153e-01 -5.85397443e-02 -3.65391506e-02 2.26263637e+02] [ 5.85160000e-02 9.98284989e-01 -1.71983125e-03 1.16109633e+01] [ 3.65771640e-02 -4.22393500e-04 9.99330742e-01 8.19369885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.179254154 meters Centerline goodness : 0.999415 with order 1 Centerline is valid? [True, True] Translation: X:226.32, Y:11.61, Z:8.20 [[ 9.97304270e-01 -6.36326527e-02 -3.65387255e-02 2.26324090e+02] [ 6.36119946e-02 9.97973209e-01 -1.72881615e-03 1.16095715e+01] [ 3.65746782e-02 -6.00145477e-04 9.99330742e-01 8.19535506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.239254154 meters Centerline goodness : 0.999247 with order 1 Centerline is valid? [True, True] Translation: X:226.38, Y:11.61, Z:8.20 [[ 9.97149273e-01 -6.60170378e-02 -3.65387255e-02 2.26384422e+02] [ 6.59979792e-02 9.97818259e-01 -1.72881615e-03 1.16055082e+01] [ 3.65731387e-02 -6.87594276e-04 9.99330742e-01 8.19712091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.299254154 meters Centerline goodness : 0.999440 with order 1 Centerline is valid? [True, True] Translation: X:226.45, Y:11.60, Z:8.20 [[ 9.97275834e-01 -6.40767528e-02 -3.65387551e-02 2.26445993e+02] [ 6.40564156e-02 9.97944783e-01 -1.72818910e-03 1.16036627e+01] [ 3.65743968e-02 -6.17060451e-04 9.99330742e-01 8.19996312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.359254154 meters Centerline goodness : 0.999313 with order 1 Centerline is valid? [True, True] Translation: X:226.51, Y:11.60, Z:8.20 [[ 9.97542840e-01 -5.97762236e-02 -3.65388144e-02 2.26507280e+02] [ 5.97530482e-02 9.98211696e-01 -1.72693470e-03 1.16026675e+01] [ 3.65767015e-02 -4.60614190e-04 9.99330742e-01 8.20268223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.41925415400001 meters Centerline goodness : 0.999271 with order 1 Centerline is valid? [True, True] Translation: X:226.57, Y:11.60, Z:8.20 [[ 9.97767794e-01 -5.58957961e-02 -3.65388732e-02 2.26567319e+02] [ 5.58700649e-02 9.98436557e-01 -1.72568947e-03 1.16023835e+01] [ 3.65782055e-02 -3.19591845e-04 9.99330742e-01 8.20486225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.479254154 meters Centerline goodness : 0.999058 with order 1 Centerline is valid? [True, True] Translation: X:226.63, Y:11.60, Z:8.21 [[ 9.98141358e-01 -4.87723613e-02 -3.65388442e-02 2.26626042e+02] [ 4.87418347e-02 9.98809919e-01 -1.72630453e-03 1.16014528e+01] [ 3.65795559e-02 -5.78743509e-05 9.99330742e-01 8.20801918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.539254154 meters Centerline goodness : 0.999188 with order 1 Centerline is valid? [True, True] Translation: X:226.68, Y:11.60, Z:8.21 [[ 9.98397893e-01 -4.32040565e-02 -3.65384219e-02 2.26684006e+02] [ 4.31694758e-02 9.99066257e-01 -1.73519595e-03 1.16013589e+01] [ 3.65792719e-02 1.55071457e-04 9.99330742e-01 8.21112779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.599254154 meters Centerline goodness : 0.999100 with order 1 Centerline is valid? [True, True] Translation: X:226.74, Y:11.60, Z:8.21 [[ 9.98718823e-01 -3.50099026e-02 -3.65379094e-02 2.26741376e+02] [ 3.49694462e-02 9.99386857e-01 -1.74592103e-03 1.16002706e+01] [ 3.65766310e-02 4.65973734e-04 9.99330743e-01 8.21231324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.659254154 meters Centerline goodness : 0.998954 with order 1 Centerline is valid? [True, True] Translation: X:226.80, Y:11.60, Z:8.22 [[ 9.98871852e-01 -3.03318261e-02 -3.65376889e-02 2.26799232e+02] [ 3.02880729e-02 9.99539678e-01 -1.75052474e-03 1.15976690e+01] [ 3.65739664e-02 6.41893705e-04 9.99330743e-01 8.21613624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.719254154 meters Centerline goodness : 0.998870 with order 1 Centerline is valid? [True, True] Translation: X:226.86, Y:11.59, Z:8.22 [[ 9.98791041e-01 -3.28860447e-02 -3.65371771e-02 2.26857665e+02] [ 3.28436111e-02 9.99458951e-01 -1.76114277e-03 1.15931019e+01] [ 3.65753257e-02 5.59000790e-04 9.99330743e-01 8.21838652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.779254154 meters Centerline goodness : 0.999090 with order 1 Centerline is valid? [True, True] Translation: X:226.92, Y:11.58, Z:8.22 [[ 9.98290358e-01 -4.56227272e-02 -3.65366525e-02 2.26916569e+02] [ 4.55884203e-02 9.98958736e-01 -1.77195838e-03 1.15824929e+01] [ 3.65794498e-02 1.03280697e-04 9.99330743e-01 8.22175603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.839254154 meters Centerline goodness : 0.999328 with order 1 Centerline is valid? [True, True] Translation: X:226.97, Y:11.57, Z:8.22 [[ 9.97419981e-01 -6.17937281e-02 -3.65365220e-02 2.26974888e+02] [ 6.17701581e-02 9.98088823e-01 -1.77464637e-03 1.15723198e+01] [ 3.65763562e-02 -4.86798993e-04 9.99330743e-01 8.22455846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.899254154 meters Centerline goodness : 0.999328 with order 1 Centerline is valid? [True, True] Translation: X:227.03, Y:11.58, Z:8.23 [[ 9.97404293e-01 -6.20465160e-02 -3.65363608e-02 2.27034022e+02] [ 6.20229942e-02 9.98073137e-01 -1.77795865e-03 1.15752485e+01] [ 3.65762764e-02 -4.92750901e-04 9.99330743e-01 8.22672657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.959254154 meters Centerline goodness : 0.998972 with order 1 Centerline is valid? [True, True] Translation: X:227.09, Y:11.57, Z:8.23 [[ 9.96885041e-01 -6.98952297e-02 -3.65359077e-02 2.27092818e+02] [ 6.98766338e-02 9.97554040e-01 -1.78722021e-03 1.15722853e+01] [ 3.65714605e-02 -7.71353155e-04 9.99330743e-01 8.22863218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.019254154 meters Centerline goodness : 0.999100 with order 1 Centerline is valid? [True, True] Translation: X:227.15, Y:11.57, Z:8.23 [[ 9.96063504e-01 -8.07629678e-02 -3.65354596e-02 2.27153150e+02] [ 8.07513351e-02 9.96732660e-01 -1.79633471e-03 1.15671876e+01] [ 3.65611631e-02 -1.16102370e-03 9.99330743e-01 8.23197076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.079254154 meters Centerline goodness : 0.999016 with order 1 Centerline is valid? [True, True] Translation: X:227.22, Y:11.57, Z:8.23 [[ 9.95475954e-01 -8.77085567e-02 -3.65353919e-02 2.27215039e+02] [ 8.77015413e-02 9.96145174e-01 -1.79770963e-03 1.15654337e+01] [ 3.65522289e-02 -1.41463348e-03 9.99330743e-01 8.23408453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.139254154 meters Centerline goodness : 0.999209 with order 1 Centerline is valid? [True, True] Translation: X:227.28, Y:11.56, Z:8.24 [[ 9.94636231e-01 -9.67673929e-02 -3.65354596e-02 2.27275079e+02] [ 9.67665206e-02 9.95305488e-01 -1.79633385e-03 1.15627219e+01] [ 3.65377700e-02 -1.74871057e-03 9.99330743e-01 8.23558160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.199254154 meters Centerline goodness : 0.998936 with order 1 Centerline is valid? [True, True] Translation: X:227.34, Y:11.56, Z:8.24 [[ 9.94000548e-01 -1.03092521e-01 -3.65354929e-02 2.27336873e+02] [ 1.03095931e-01 9.94669797e-01 -1.79565589e-03 1.15622990e+01] [ 3.65258700e-02 -1.98177771e-03 9.99330743e-01 8.23711968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.259254154 meters Centerline goodness : 0.999165 with order 1 Centerline is valid? [True, True] Translation: X:227.40, Y:11.56, Z:8.24 [[ 9.93824765e-01 -1.04773488e-01 -3.65356286e-02 2.27399332e+02] [ 1.04778131e-01 9.94494006e-01 -1.79289057e-03 1.15649442e+01] [ 3.65223111e-02 -2.04631581e-03 9.99330743e-01 8.23926143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.319254154 meters Centerline goodness : 0.999103 with order 1 Centerline is valid? [True, True] Translation: X:227.46, Y:11.57, Z:8.24 [[ 9.93915431e-01 -1.03909836e-01 -3.65357637e-02 2.27461530e+02] [ 1.03913999e-01 9.94584675e-01 -1.79013321e-03 1.15692694e+01] [ 3.65239231e-02 -2.01733629e-03 9.99330743e-01 8.24137022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.379254154 meters Centerline goodness : 0.999040 with order 1 Centerline is valid? [True, True] Translation: X:227.52, Y:11.57, Z:8.24 [[ 9.94100916e-01 -1.02120016e-01 -3.65358967e-02 2.27523805e+02] [ 1.02123073e-01 9.94770166e-01 -1.78741530e-03 1.15732790e+01] [ 3.65273509e-02 -1.95428687e-03 9.99330743e-01 8.24403069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.439254154 meters Centerline goodness : 0.999039 with order 1 Centerline is valid? [True, True] Translation: X:227.59, Y:11.58, Z:8.25 [[ 9.94474914e-01 -9.84111951e-02 -3.65360313e-02 2.27586188e+02] [ 9.84118568e-02 9.95144171e-01 -1.78465944e-03 1.15783279e+01] [ 3.65342490e-02 -1.82077963e-03 9.99330743e-01 8.24665407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.499254154 meters Centerline goodness : 0.999164 with order 1 Centerline is valid? [True, True] Translation: X:227.65, Y:11.58, Z:8.25 [[ 9.94912734e-01 -9.38816340e-02 -3.65361650e-02 2.27648160e+02] [ 9.38793486e-02 9.95581987e-01 -1.78191695e-03 1.15836768e+01] [ 3.65420371e-02 -1.65713951e-03 9.99330743e-01 8.24934950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.559254154 meters Centerline goodness : 0.999142 with order 1 Centerline is valid? [True, True] Translation: X:227.71, Y:11.59, Z:8.25 [[ 9.95241766e-01 -9.03267781e-02 -3.65362971e-02 2.27709504e+02] [ 9.03222011e-02 9.95911007e-01 -1.77920523e-03 1.15888789e+01] [ 3.65476103e-02 -1.52929943e-03 9.99330743e-01 8.25102059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.619254154 meters Centerline goodness : 0.999079 with order 1 Centerline is valid? [True, True] Translation: X:227.77, Y:11.59, Z:8.25 [[ 9.95622621e-01 -8.60272693e-02 -3.65363622e-02 2.27770419e+02] [ 8.60198508e-02 9.96291837e-01 -1.77786742e-03 1.15945520e+01] [ 3.65538245e-02 -1.37276740e-03 9.99330743e-01 8.25247150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.679254154 meters Centerline goodness : 0.998993 with order 1 Centerline is valid? [True, True] Translation: X:227.83, Y:11.60, Z:8.25 [[ 9.96007649e-01 -8.14484725e-02 -3.65364262e-02 2.27830277e+02] [ 8.14380253e-02 9.96676824e-01 -1.77655211e-03 1.16004686e+01] [ 3.65597066e-02 -1.20599490e-03 9.99330743e-01 8.25419393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.739254154 meters Centerline goodness : 0.999120 with order 1 Centerline is valid? [True, True] Translation: X:227.89, Y:11.61, Z:8.26 [[ 9.96678233e-01 -7.27845373e-02 -3.65364262e-02 2.27890256e+02] [ 7.27682716e-02 9.97347293e-01 -1.77655211e-03 1.16064499e+01] [ 3.65688112e-02 -8.88041760e-04 9.99330743e-01 8.25665419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.799254154 meters Centerline goodness : 0.999117 with order 1 Centerline is valid? [True, True] Translation: X:227.95, Y:11.61, Z:8.26 [[ 9.97154416e-01 -6.59405745e-02 -3.65364262e-02 2.27950307e+02] [ 6.59197160e-02 9.97823349e-01 -1.77655211e-03 1.16115575e+01] [ 3.65740460e-02 -6.36974052e-04 9.99330743e-01 8.25967649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.859254154 meters Centerline goodness : 0.999094 with order 1 Centerline is valid? [True, True] Translation: X:228.01, Y:11.62, Z:8.26 [[ 9.97771571e-01 -5.58299412e-02 -3.65364262e-02 2.28009298e+02] [ 5.58023034e-02 9.98440257e-01 -1.77655211e-03 1.16171626e+01] [ 3.65786235e-02 -2.66223547e-04 9.99330743e-01 8.26133182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.91925415400001 meters Centerline goodness : 0.999242 with order 1 Centerline is valid? [True, True] Translation: X:228.07, Y:11.62, Z:8.26 [[ 9.98072471e-01 -5.01640961e-02 -3.65363603e-02 2.28066551e+02] [ 5.01326128e-02 9.98740988e-01 -1.77790495e-03 1.16207222e+01] [ 3.65795476e-02 -5.71852138e-05 9.99330743e-01 8.26420968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.979254154 meters Centerline goodness : 0.999140 with order 1 Centerline is valid? [True, True] Translation: X:228.12, Y:11.63, Z:8.28 [[ 9.98259650e-01 -4.62904342e-02 -3.65358255e-02 2.28124709e+02] [ 4.62559569e-02 9.98928019e-01 -1.78882832e-03 1.16261605e+01] [ 3.65794654e-02 9.57155651e-05 9.99330743e-01 8.27741986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.039254154 meters Centerline goodness : 0.999284 with order 1 Centerline is valid? [True, True] Translation: X:228.18, Y:11.63, Z:8.27 [[ 9.98385778e-01 -4.34854289e-02 -3.65356916e-02 2.28184058e+02] [ 4.34489740e-02 9.99054041e-01 -1.79155842e-03 1.16251352e+01] [ 3.65790371e-02 2.01228130e-04 9.99330743e-01 8.26798776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.099254154 meters Centerline goodness : 0.999117 with order 1 Centerline is valid? [True, True] Translation: X:228.24, Y:11.62, Z:8.27 [[ 9.98279376e-01 -4.58632499e-02 -3.65355928e-02 2.28242010e+02] [ 4.58283131e-02 9.98947721e-01 -1.79357162e-03 1.16246921e+01] [ 3.65794062e-02 1.16120973e-04 9.99330743e-01 8.27024091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.159254154 meters Centerline goodness : 0.999075 with order 1 Centerline is valid? [True, True] Translation: X:228.30, Y:11.62, Z:8.27 [[ 9.98144420e-01 -4.87124879e-02 -3.65350506e-02 2.28300042e+02] [ 4.86790571e-02 9.98812842e-01 -1.80454879e-03 1.16237764e+01] [ 3.65795818e-02 2.27084916e-05 9.99330743e-01 8.27116561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.219254154 meters Centerline goodness : 0.999162 with order 1 Centerline is valid? [True, True] Translation: X:228.36, Y:11.62, Z:8.27 [[ 9.97957610e-01 -5.24007428e-02 -3.65345080e-02 2.28358399e+02] [ 5.23693825e-02 9.98626132e-01 -1.81546891e-03 1.16221236e+01] [ 3.65794463e-02 -1.01528606e-04 9.99330743e-01 8.27291711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.279254154 meters Centerline goodness : 0.999287 with order 1 Centerline is valid? [True, True] Translation: X:228.42, Y:11.62, Z:8.27 [[ 9.97788589e-01 -5.55265734e-02 -3.65339638e-02 2.28416071e+02] [ 5.54969088e-02 9.98457189e-01 -1.82635497e-03 1.16199378e+01] [ 3.65790100e-02 -2.05205906e-04 9.99330743e-01 8.27449480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.339254154 meters Centerline goodness : 0.999267 with order 1 Centerline is valid? [True, True] Translation: X:228.47, Y:11.62, Z:8.28 [[ 9.97657093e-01 -5.78414619e-02 -3.65334233e-02 2.28473948e+02] [ 5.78129551e-02 9.98325742e-01 -1.83710333e-03 1.16195896e+01] [ 3.65785177e-02 -2.79305997e-04 9.99330743e-01 8.27599688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.399254154 meters Centerline goodness : 0.999184 with order 1 Centerline is valid? [True, True] Translation: X:228.53, Y:11.62, Z:8.28 [[ 9.97470391e-01 -6.09767720e-02 -3.65328846e-02 2.28531944e+02] [ 6.09499768e-02 9.98139112e-01 -1.84775507e-03 1.16174211e+01] [ 3.65775711e-02 -3.83597492e-04 9.99330743e-01 8.27739657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.459254154 meters Centerline goodness : 0.999103 with order 1 Centerline is valid? [True, True] Translation: X:228.59, Y:11.62, Z:8.28 [[ 9.97298287e-01 -6.37300075e-02 -3.65323481e-02 2.28589913e+02] [ 6.37046721e-02 9.97967064e-01 -1.85830126e-03 1.16158156e+01] [ 3.65765097e-02 -4.74000595e-04 9.99330743e-01 8.27844479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.519254154 meters Centerline goodness : 0.999375 with order 1 Centerline is valid? [True, True] Translation: X:228.65, Y:11.62, Z:8.28 [[ 9.97236553e-01 -6.46891381e-02 -3.65318155e-02 2.28647713e+02] [ 6.46640646e-02 9.97905340e-01 -1.86871296e-03 1.16169624e+01] [ 3.65761792e-02 -4.98746814e-04 9.99330743e-01 8.27993759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.579254154 meters Centerline goodness : 0.999373 with order 1 Centerline is valid? [True, True] Translation: X:228.71, Y:11.62, Z:8.28 [[ 9.97305522e-01 -6.36172967e-02 -3.65312829e-02 2.28705744e+02] [ 6.35911251e-02 9.97974267e-01 -1.87906817e-03 1.16186966e+01] [ 3.65768215e-02 -4.49060319e-04 9.99330743e-01 8.28143160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.639254154 meters Centerline goodness : 0.999310 with order 1 Centerline is valid? [True, True] Translation: X:228.76, Y:11.62, Z:8.28 [[ 9.97420888e-01 -6.17822798e-02 -3.65311192e-02 2.28763286e+02] [ 6.17547616e-02 9.98089578e-01 -1.88224532e-03 1.16210117e+01] [ 3.65776187e-02 -3.78579760e-04 9.99330743e-01 8.28372298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.699254154 meters Centerline goodness : 0.999372 with order 1 Centerline is valid? [True, True] Translation: X:228.82, Y:11.62, Z:8.29 [[ 9.97734171e-01 -5.64981533e-02 -3.65305635e-02 2.28820814e+02] [ 5.64667009e-02 9.98402688e-01 -1.89296824e-03 1.16236151e+01] [ 3.65791620e-02 -1.74081303e-04 9.99330743e-01 8.28609800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.759254154 meters Centerline goodness : 0.999351 with order 1 Centerline is valid? [True, True] Translation: X:228.88, Y:11.63, Z:8.30 [[ 9.97625707e-01 -5.83824006e-02 -3.65300303e-02 2.28880048e+02] [ 5.83518360e-02 9.98294266e-01 -1.90320389e-03 1.16341913e+01] [ 3.65788333e-02 -2.32909202e-04 9.99330743e-01 8.29827901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.819254154 meters Centerline goodness : 0.999372 with order 1 Centerline is valid? [True, True] Translation: X:228.94, Y:11.63, Z:8.29 [[ 9.98144002e-01 -4.87248467e-02 -3.65299939e-02 2.28941212e+02] [ 4.86877879e-02 9.98812232e-01 -1.90390107e-03 1.16288111e+01] [ 3.65793720e-02 1.21802843e-04 9.99330743e-01 8.29179963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.879254154 meters Centerline goodness : 0.999310 with order 1 Centerline is valid? [True, True] Translation: X:229.00, Y:11.63, Z:8.29 [[ 9.98132842e-01 -4.89529377e-02 -3.65299939e-02 2.28998750e+02] [ 4.89160315e-02 9.98801080e-01 -1.90390107e-03 1.16312216e+01] [ 3.65793989e-02 1.13443855e-04 9.99330743e-01 8.29361783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.939254154 meters Centerline goodness : 0.998669 with order 1 Centerline is valid? [True, True] Translation: X:229.06, Y:11.63, Z:8.30 [[ 9.97872255e-01 -5.40052165e-02 -3.65294281e-02 2.29056090e+02] [ 5.39712984e-02 9.98540652e-01 -1.91469650e-03 1.16324793e+01] [ 3.65795225e-02 -6.09181517e-05 9.99330743e-01 8.29570412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.999254154 meters Centerline goodness : 0.998558 with order 1 Centerline is valid? [True, True] Translation: X:229.11, Y:11.63, Z:8.30 [[ 9.97502367e-01 -6.04536786e-02 -3.65291845e-02 2.29113734e+02] [ 6.04239116e-02 9.98170961e-01 -1.91933297e-03 1.16343101e+01] [ 3.65784019e-02 -2.92697035e-04 9.99330743e-01 8.29852612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.059254154 meters Centerline goodness : 0.998914 with order 1 Centerline is valid? [True, True] Translation: X:229.17, Y:11.64, Z:8.30 [[ 9.96681425e-01 -7.27447379e-02 -3.65286174e-02 2.29171405e+02] [ 7.27228214e-02 9.97350323e-01 -1.93006484e-03 1.16356975e+01] [ 3.65722304e-02 -7.32804341e-04 9.99330744e-01 8.30084122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.119254154 meters Centerline goodness : 0.998725 with order 1 Centerline is valid? [True, True] Translation: X:229.23, Y:11.64, Z:8.30 [[ 9.95936391e-01 -8.23189312e-02 -3.65280534e-02 2.29229350e+02] [ 8.23030543e-02 9.96605459e-01 -1.94068023e-03 1.16375418e+01] [ 3.65638122e-02 -1.07357631e-03 9.99330744e-01 8.30276547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.179254154 meters Centerline goodness : 0.999372 with order 1 Centerline is valid? [True, True] Translation: X:229.29, Y:11.64, Z:8.31 [[ 9.94671220e-01 -9.64100969e-02 -3.65274803e-02 2.29288385e+02] [ 9.64033003e-02 9.95340442e-01 -1.95140901e-03 1.16386291e+01] [ 3.65454139e-02 -1.58035927e-03 9.99330744e-01 8.30862300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.239254154 meters Centerline goodness : 0.999329 with order 1 Centerline is valid? [True, True] Translation: X:229.35, Y:11.64, Z:8.31 [[ 9.93091735e-01 -1.11510469e-01 -3.65270000e-02 2.29349033e+02] [ 1.11513513e-01 9.93760984e-01 -1.96035858e-03 1.16431116e+01] [ 3.65177079e-02 -2.12643817e-03 9.99330744e-01 8.30780673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.299254154 meters Centerline goodness : 0.999497 with order 1 Centerline is valid? [True, True] Translation: X:229.41, Y:11.64, Z:8.31 [[ 9.92295973e-01 -1.18382755e-01 -3.65270363e-02 2.29410608e+02] [ 1.18390456e-01 9.92965185e-01 -1.95968240e-03 1.16432344e+01] [ 3.65020679e-02 -2.37986753e-03 9.99330744e-01 8.30786459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.359254154 meters Centerline goodness : 0.999581 with order 1 Centerline is valid? [True, True] Translation: X:229.47, Y:11.65, Z:8.31 [[ 9.91423678e-01 -1.25478530e-01 -3.65271083e-02 2.29470914e+02] [ 1.25491068e-01 9.92092817e-01 -1.95833858e-03 1.16521516e+01] [ 3.64840112e-02 -2.64228260e-03 9.99330744e-01 8.31347238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.41925415400001 meters Centerline goodness : 0.999268 with order 1 Centerline is valid? [True, True] Translation: X:229.53, Y:11.66, Z:8.32 [[ 9.91391291e-01 -1.25734141e-01 -3.65271785e-02 2.29533169e+02] [ 1.25746899e-01 9.92060425e-01 -1.95702789e-03 1.16596845e+01] [ 3.64832335e-02 -2.65299902e-03 9.99330744e-01 8.31559759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.479254154 meters Centerline goodness : 0.999415 with order 1 Centerline is valid? [True, True] Translation: X:229.60, Y:11.66, Z:8.32 [[ 9.91509021e-01 -1.24802311e-01 -3.65273213e-02 2.29595603e+02] [ 1.24814538e-01 9.92178165e-01 -1.95435872e-03 1.16645922e+01] [ 3.64855191e-02 -2.62137644e-03 9.99330744e-01 8.31738761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.539254154 meters Centerline goodness : 0.999290 with order 1 Centerline is valid? [True, True] Translation: X:229.66, Y:11.67, Z:8.32 [[ 9.92321141e-01 -1.18171478e-01 -3.65274627e-02 2.29657284e+02] [ 1.18179329e-01 9.92990351e-01 -1.95171282e-03 1.16719174e+01] [ 3.65020548e-02 -2.38006513e-03 9.99330744e-01 8.32092271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.599254154 meters Centerline goodness : 0.999162 with order 1 Centerline is valid? [True, True] Translation: X:229.72, Y:11.68, Z:8.32 [[ 9.92810810e-01 -1.13984338e-01 -3.65276112e-02 2.29718436e+02] [ 1.13989467e-01 9.93480047e-01 -1.94892955e-03 1.16810102e+01] [ 3.65116003e-02 -2.22884461e-03 9.99330744e-01 8.32148265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.659254154 meters Centerline goodness : 0.999226 with order 1 Centerline is valid? [True, True] Translation: X:229.78, Y:11.69, Z:8.32 [[ 9.93912998e-01 -1.03935931e-01 -3.65277200e-02 2.29779793e+02] [ 1.03934366e-01 9.94582253e-01 -1.94688764e-03 1.16928188e+01] [ 3.65321737e-02 -1.86144849e-03 9.99330744e-01 8.32434382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.719254154 meters Centerline goodness : 0.999140 with order 1 Centerline is valid? [True, True] Translation: X:229.84, Y:11.70, Z:8.33 [[ 9.94682728e-01 -9.62911494e-02 -3.65278627e-02 2.29841939e+02] [ 9.62845368e-02 9.95351952e-01 -1.94420722e-03 1.17014290e+01] [ 3.65452894e-02 -1.58319900e-03 9.99330744e-01 8.32738941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.779254154 meters Centerline goodness : 0.999118 with order 1 Centerline is valid? [True, True] Translation: X:229.90, Y:11.71, Z:8.33 [[ 9.95830499e-01 -8.35902041e-02 -3.65280057e-02 2.29903003e+02] [ 8.35751507e-02 9.96499586e-01 -1.94151779e-03 1.17121619e+01] [ 3.65624344e-02 -1.11941094e-03 9.99330744e-01 8.33008401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.839254154 meters Centerline goodness : 0.999050 with order 1 Centerline is valid? [True, True] Translation: X:229.96, Y:11.72, Z:8.33 [[ 9.96810559e-01 -7.09535652e-02 -3.65280757e-02 2.29962434e+02] [ 7.09300754e-02 9.97479403e-01 -1.94019873e-03 1.17231103e+01] [ 3.65736672e-02 -6.56928582e-04 9.99330744e-01 8.33327218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.899254154 meters Centerline goodness : 0.998921 with order 1 Centerline is valid? [True, True] Translation: X:230.02, Y:11.73, Z:8.34 [[ 9.97310080e-01 -6.35475855e-02 -3.65281866e-02 2.30022214e+02] [ 6.35192049e-02 9.97978734e-01 -1.93810944e-03 1.17302564e+01] [ 3.65775156e-02 -3.87345290e-04 9.99330744e-01 8.33663972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.959254154 meters Centerline goodness : 0.999090 with order 1 Centerline is valid? [True, True] Translation: X:230.08, Y:11.74, Z:8.34 [[ 9.97924403e-01 -5.30337335e-02 -3.65281866e-02 2.30080364e+02] [ 5.29983078e-02 9.98592721e-01 -1.93810944e-03 1.17373395e+01] [ 3.65795664e-02 -1.84537135e-06 9.99330744e-01 8.33811083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.019254154 meters Centerline goodness : 0.999092 with order 1 Centerline is valid? [True, True] Translation: X:230.14, Y:11.74, Z:8.34 [[ 9.98181890e-01 -4.79441291e-02 -3.65277155e-02 2.30137474e+02] [ 4.79049723e-02 9.98850000e-01 -1.94694744e-03 1.17431308e+01] [ 3.65790533e-02 1.93548480e-04 9.99330744e-01 8.34116306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.079254154 meters Centerline goodness : 0.999026 with order 1 Centerline is valid? [True, True] Translation: X:230.19, Y:11.75, Z:8.34 [[ 9.98389183e-01 -4.34140281e-02 -3.65275502e-02 2.30194907e+02] [ 4.33717267e-02 9.99057101e-01 -1.95004332e-03 1.17476422e+01] [ 3.65777677e-02 3.62639233e-04 9.99330744e-01 8.34408598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.139254154 meters Centerline goodness : 0.999152 with order 1 Centerline is valid? [True, True] Translation: X:230.25, Y:11.75, Z:8.35 [[ 9.98359281e-01 -4.40967792e-02 -3.65269814e-02 2.30252493e+02] [ 4.40545468e-02 9.99027203e-01 -1.96064100e-03 1.17498518e+01] [ 3.65779060e-02 3.48244532e-04 9.99330744e-01 8.34611691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.199254154 meters Centerline goodness : 0.999302 with order 1 Centerline is valid? [True, True] Translation: X:230.31, Y:11.75, Z:8.35 [[ 9.98233237e-01 -4.68639096e-02 -3.65264040e-02 2.30310207e+02] [ 4.68231374e-02 9.98901250e-01 -1.97133948e-03 1.17510071e+01] [ 3.65786553e-02 2.57575763e-04 9.99330744e-01 8.34819744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.259254154 meters Centerline goodness : 0.999155 with order 1 Centerline is valid? [True, True] Translation: X:230.37, Y:11.75, Z:8.35 [[ 9.97917919e-01 -5.31572219e-02 -3.65258303e-02 2.30369208e+02] [ 5.31202755e-02 9.98586155e-01 -1.98191292e-03 1.17507929e+01] [ 3.65795414e-02 3.75242525e-05 9.99330744e-01 8.35090905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.319254154 meters Centerline goodness : 0.999096 with order 1 Centerline is valid? [True, True] Translation: X:230.43, Y:11.75, Z:8.35 [[ 9.97589203e-01 -5.90057804e-02 -3.65253203e-02 2.30426365e+02] [ 5.89724091e-02 9.98257627e-01 -1.99126667e-03 1.17508834e+01] [ 3.65791758e-02 -1.67519999e-04 9.99330744e-01 8.35269918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.379254154 meters Centerline goodness : 0.999245 with order 1 Centerline is valid? [True, True] Translation: X:230.49, Y:11.75, Z:8.36 [[ 9.96855408e-01 -7.03222152e-02 -3.65250687e-02 2.30485553e+02] [ 7.02962624e-02 9.97524161e-01 -1.99587075e-03 1.17485263e+01] [ 3.65749926e-02 -5.77981264e-04 9.99330744e-01 8.35649220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.439254154 meters Centerline goodness : 0.999266 with order 1 Centerline is valid? [True, True] Translation: X:230.55, Y:11.75, Z:8.36 [[ 9.96211100e-01 -7.89265636e-02 -3.65245410e-02 2.30546207e+02] [ 7.89060337e-02 9.96880041e-01 -2.00548155e-03 1.17478923e+01] [ 3.65688717e-02 -8.84123686e-04 9.99330744e-01 8.35845819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.499254154 meters Centerline goodness : 0.999206 with order 1 Centerline is valid? [True, True] Translation: X:230.61, Y:11.75, Z:8.36 [[ 9.95063589e-01 -9.22735655e-02 -3.65245410e-02 2.30607817e+02] [ 9.22620045e-02 9.95732746e-01 -2.00548155e-03 1.17450211e+01] [ 3.65537345e-02 -1.37424570e-03 9.99330744e-01 8.36031632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.559254154 meters Centerline goodness : 0.999163 with order 1 Centerline is valid? [True, True] Translation: X:230.67, Y:11.74, Z:8.36 [[ 9.94232372e-01 -1.00836222e-01 -3.65246150e-02 2.30669101e+02] [ 1.00830471e-01 9.94901603e-01 -2.00413404e-03 1.17449799e+01] [ 3.65404873e-02 -1.69021919e-03 9.99330744e-01 8.36170616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.619254154 meters Centerline goodness : 0.999228 with order 1 Centerline is valid? [True, True] Translation: X:230.73, Y:11.75, Z:8.36 [[ 9.93099644e-01 -1.11440712e-01 -3.65248637e-02 2.30731117e+02] [ 1.11442270e-01 9.93768898e-01 -1.99959140e-03 1.17452411e+01] [ 3.65201094e-02 -2.08462021e-03 9.99330744e-01 8.36381093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.679254154 meters Centerline goodness : 0.999249 with order 1 Centerline is valid? [True, True] Translation: X:230.79, Y:11.75, Z:8.37 [[ 9.92541916e-01 -1.16303348e-01 -3.65250121e-02 2.30791894e+02] [ 1.16308283e-01 9.93211154e-01 -1.99687666e-03 1.17478539e+01] [ 3.65092928e-02 -2.26617767e-03 9.99330744e-01 8.36571527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.739254154 meters Centerline goodness : 0.999351 with order 1 Centerline is valid? [True, True] Translation: X:230.85, Y:11.75, Z:8.37 [[ 9.92544054e-01 -1.16285067e-01 -3.65251217e-02 2.30853614e+02] [ 1.16290064e-01 9.93213291e-01 -1.99486916e-03 1.17525227e+01] [ 3.65092099e-02 -2.26751322e-03 9.99330744e-01 8.36844689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.799254154 meters Centerline goodness : 0.998974 with order 1 Centerline is valid? [True, True] Translation: X:230.92, Y:11.76, Z:8.37 [[ 9.93097201e-01 -1.11462340e-01 -3.65252706e-02 2.30915769e+02] [ 1.11464186e-01 9.93766455e-01 -1.99214011e-03 1.17604666e+01] [ 3.65196372e-02 -2.09287078e-03 9.99330744e-01 8.37138581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.859254154 meters Centerline goodness : 0.999036 with order 1 Centerline is valid? [True, True] Translation: X:230.98, Y:11.77, Z:8.37 [[ 9.93668517e-01 -1.06248628e-01 -3.65254200e-02 2.30977105e+02] [ 1.06247062e-01 9.94337772e-01 -1.98939691e-03 1.17665856e+01] [ 3.65299754e-02 -1.90391750e-03 9.99330744e-01 8.37422089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.91925415400001 meters Centerline goodness : 0.999265 with order 1 Centerline is valid? [True, True] Translation: X:231.04, Y:11.77, Z:8.38 [[ 9.94485273e-01 -9.83103594e-02 -3.65255300e-02 2.31038500e+02] [ 9.83035231e-02 9.95154494e-01 -1.98737501e-03 1.17744365e+01] [ 3.65439249e-02 -1.61417310e-03 9.99330744e-01 8.37803177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.979254154 meters Centerline goodness : 0.998909 with order 1 Centerline is valid? [True, True] Translation: X:231.10, Y:11.78, Z:8.38 [[ 9.94973092e-01 -9.32438792e-02 -3.65256773e-02 2.31100188e+02] [ 9.32337339e-02 9.95642271e-01 -1.98466407e-03 1.17805333e+01] [ 3.65515661e-02 -1.43073793e-03 9.99330744e-01 8.38018205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.039254154 meters Centerline goodness : 0.998992 with order 1 Centerline is valid? [True, True] Translation: X:231.16, Y:11.79, Z:8.38 [[ 9.95621673e-01 -8.60427122e-02 -3.65258268e-02 2.31160602e+02] [ 8.60278265e-02 9.96290763e-01 -1.98190899e-03 1.17881791e+01] [ 3.65608727e-02 -1.16900594e-03 9.99330744e-01 8.38140802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.099254154 meters Centerline goodness : 0.999181 with order 1 Centerline is valid? [True, True] Translation: X:231.22, Y:11.80, Z:8.38 [[ 9.96119748e-01 -8.00706127e-02 -3.65259370e-02 2.31222881e+02] [ 8.00517894e-02 9.96788739e-01 -1.97987674e-03 1.17958161e+01] [ 3.65671726e-02 -9.51772295e-04 9.99330744e-01 8.38384922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.159254154 meters Centerline goodness : 0.998971 with order 1 Centerline is valid? [True, True] Translation: X:231.28, Y:11.80, Z:8.38 [[ 9.96409792e-01 -7.63765116e-02 -3.65260819e-02 2.31284721e+02] [ 7.63553058e-02 9.97078712e-01 -1.97719989e-03 1.18012785e+01] [ 3.65703903e-02 -8.18858814e-04 9.99330744e-01 8.38462873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.219254154 meters Centerline goodness : 0.999139 with order 1 Centerline is valid? [True, True] Translation: X:231.34, Y:11.81, Z:8.39 [[ 9.96773733e-01 -7.14699977e-02 -3.65262284e-02 2.31344860e+02] [ 7.14455983e-02 9.97442544e-01 -1.97448891e-03 1.18093318e+01] [ 3.65739309e-02 -6.41519557e-04 9.99330744e-01 8.38930878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.279254154 meters Centerline goodness : 0.998989 with order 1 Centerline is valid? [True, True] Translation: X:231.40, Y:11.81, Z:8.39 [[ 9.97085277e-01 -6.69834476e-02 -3.65262643e-02 2.31404653e+02] [ 6.69560628e-02 9.97753973e-01 -1.97382402e-03 1.18147914e+01] [ 3.65764389e-02 -4.77583981e-04 9.99330744e-01 8.39172416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.339254154 meters Centerline goodness : 0.999072 with order 1 Centerline is valid? [True, True] Translation: X:231.47, Y:11.82, Z:8.40 [[ 9.97543312e-01 -5.97759995e-02 -3.65262993e-02 2.31465087e+02] [ 5.97438067e-02 9.98211793e-01 -1.97317738e-03 1.18196352e+01] [ 3.65789313e-02 -2.13890266e-04 9.99330744e-01 8.39548414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.399254154 meters Centerline goodness : 0.999029 with order 1 Centerline is valid? [True, True] Translation: X:231.52, Y:11.83, Z:8.40 [[ 9.97574024e-01 -5.92612271e-02 -3.65263404e-02 2.31523611e+02] [ 5.92287172e-02 9.98242490e-01 -1.97241532e-03 1.18256418e+01] [ 3.65790328e-02 -1.95777998e-04 9.99330744e-01 8.39875910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.459254154 meters Centerline goodness : 0.999071 with order 1 Centerline is valid? [True, True] Translation: X:231.58, Y:11.83, Z:8.40 [[ 9.97772234e-01 -5.58247679e-02 -3.65262167e-02 2.31583703e+02] [ 5.57898720e-02 9.98440579e-01 -1.97470403e-03 1.18264768e+01] [ 3.65794943e-02 -6.74881048e-05 9.99330744e-01 8.39853682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.519254154 meters Centerline goodness : 0.999050 with order 1 Centerline is valid? [True, True] Translation: X:231.64, Y:11.83, Z:8.40 [[ 9.97604949e-01 -5.87384285e-02 -3.65261793e-02 2.31641274e+02] [ 5.87054592e-02 9.98273393e-01 -1.97539471e-03 1.18317663e+01] [ 3.65791445e-02 -1.73622592e-04 9.99330744e-01 8.40056016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.579254154 meters Centerline goodness : 0.999031 with order 1 Centerline is valid? [True, True] Translation: X:231.70, Y:11.83, Z:8.41 [[ 9.97342639e-01 -6.30358001e-02 -3.65259921e-02 2.31701035e+02] [ 6.30055844e-02 9.98011213e-01 -1.97885107e-03 1.18337646e+01] [ 3.65780881e-02 -3.27748926e-04 9.99330744e-01 8.40518237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.639254154 meters Centerline goodness : 0.999304 with order 1 Centerline is valid? [True, True] Translation: X:231.76, Y:11.84, Z:8.41 [[ 9.97079274e-01 -6.70729325e-02 -3.65259189e-02 2.31760607e+02] [ 6.70453742e-02 9.97747962e-01 -1.98020162e-03 1.18352630e+01] [ 3.65764790e-02 -4.74475907e-04 9.99330744e-01 8.40760568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.699254154 meters Centerline goodness : 0.998968 with order 1 Centerline is valid? [True, True] Translation: X:231.82, Y:11.84, Z:8.41 [[ 9.96564879e-01 -7.43256509e-02 -3.65258828e-02 2.31821178e+02] [ 7.43029342e-02 9.97233749e-01 -1.98086598e-03 1.18356986e+01] [ 3.65720722e-02 -7.39918798e-04 9.99330744e-01 8.40936490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.759254154 meters Centerline goodness : 0.999159 with order 1 Centerline is valid? [True, True] Translation: X:231.88, Y:11.83, Z:8.40 [[ 9.96699069e-01 -7.25039706e-02 -3.65258828e-02 2.31882348e+02] [ 7.24800314e-02 9.97367897e-01 -1.98086598e-03 1.18290735e+01] [ 3.65733636e-02 -6.73069850e-04 9.99330744e-01 8.40069984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.819254154 meters Centerline goodness : 0.998678 with order 1 Centerline is valid? [True, True] Translation: X:231.94, Y:11.84, Z:8.41 [[ 9.95818911e-01 -8.37290479e-02 -3.65259183e-02 2.31942366e+02] [ 8.37126697e-02 9.96487967e-01 -1.98021166e-03 1.18379203e+01] [ 3.65634393e-02 -1.08574991e-03 9.99330744e-01 8.41174838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.879254154 meters Centerline goodness : 0.998803 with order 1 Centerline is valid? [True, True] Translation: X:232.00, Y:11.84, Z:8.41 [[ 9.95770802e-01 -8.42992663e-02 -3.65259183e-02 2.32003907e+02] [ 8.42832713e-02 9.96439867e-01 -1.98021166e-03 1.18403208e+01] [ 3.65628116e-02 -1.10668692e-03 9.99330744e-01 8.41406507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.939254154 meters Centerline goodness : 0.997902 with order 1 Centerline is valid? [True, True] Translation: X:232.06, Y:11.84, Z:8.42 [[ 9.95808411e-01 -8.38537942e-02 -3.65260228e-02 2.32064210e+02] [ 8.38375706e-02 9.96477470e-01 -1.97828136e-03 1.18423899e+01] [ 3.65632452e-02 -1.09226380e-03 9.99330744e-01 8.41585819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.999254154 meters Centerline goodness : 0.998195 with order 1 Centerline is valid? [True, True] Translation: X:232.13, Y:11.84, Z:8.42 [[ 9.95804474e-01 -8.39005176e-02 -3.65260567e-02 2.32125024e+02] [ 8.38843483e-02 9.96473535e-01 -1.97765561e-03 1.18444482e+01] [ 3.65631752e-02 -1.09460616e-03 9.99330744e-01 8.41867092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.059254154 meters Centerline goodness : 0.998886 with order 1 Centerline is valid? [True, True] Translation: X:232.19, Y:11.85, Z:8.42 [[ 9.95756027e-01 -8.44735308e-02 -3.65261232e-02 2.32186807e+02] [ 8.44577916e-02 9.96425098e-01 -1.97642642e-03 1.18471610e+01] [ 3.65625016e-02 -1.11687718e-03 9.99330744e-01 8.42266136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.119254154 meters Centerline goodness : 0.998929 with order 1 Centerline is valid? [True, True] Translation: X:232.25, Y:11.85, Z:8.42 [[ 9.95590819e-01 -8.63987991e-02 -3.65262667e-02 2.32247852e+02] [ 8.63844510e-02 9.96259921e-01 -1.97377072e-03 1.18500094e+01] [ 3.65601871e-02 -1.19023349e-03 9.99330744e-01 8.42380194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.179254154 meters Centerline goodness : 0.998909 with order 1 Centerline is valid? [True, True] Translation: X:232.31, Y:11.85, Z:8.43 [[ 9.95357875e-01 -8.90422665e-02 -3.65263727e-02 2.32309521e+02] [ 8.90297672e-02 9.96027014e-01 -1.97180709e-03 1.18531027e+01] [ 3.65568281e-02 -1.28928074e-03 9.99330744e-01 8.42689262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.239254154 meters Centerline goodness : 0.998509 with order 1 Centerline is valid? [True, True] Translation: X:232.37, Y:11.86, Z:8.43 [[ 9.94832518e-01 -9.47315880e-02 -3.65265163e-02 2.32371242e+02] [ 9.47230122e-02 9.95501719e-01 -1.96914512e-03 1.18571138e+01] [ 3.65487500e-02 -1.50093205e-03 9.99330744e-01 8.42875093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.299254154 meters Centerline goodness : 0.998950 with order 1 Centerline is valid? [True, True] Translation: X:232.43, Y:11.86, Z:8.43 [[ 9.94524316e-01 -9.79141887e-02 -3.65266582e-02 2.32433092e+02] [ 9.79078507e-02 9.95193542e-01 -1.96650908e-03 1.18609761e+01] [ 3.65436435e-02 -1.62050549e-03 9.99330744e-01 8.43155131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.359254154 meters Centerline goodness : 0.998995 with order 1 Centerline is valid? [True, True] Translation: X:232.49, Y:11.87, Z:8.44 [[ 9.94270849e-01 -1.00455321e-01 -3.65267977e-02 2.32494867e+02] [ 1.00450788e-01 9.94940090e-01 -1.96391455e-03 1.18653194e+01] [ 3.65392610e-02 -1.71648264e-03 9.99330744e-01 8.43534209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.419254154 meters Centerline goodness : 0.999014 with order 1 Centerline is valid? [True, True] Translation: X:232.56, Y:11.87, Z:8.44 [[ 9.94294841e-01 -1.00217520e-01 -3.65269350e-02 2.32556384e+02] [ 1.00212921e-01 9.94964082e-01 -1.96135708e-03 1.18706864e+01] [ 3.65395507e-02 -1.71030361e-03 9.99330744e-01 8.43933068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.479254154 meters Centerline goodness : 0.999098 with order 1 Centerline is valid? [True, True] Translation: X:232.62, Y:11.88, Z:8.44 [[ 9.94471159e-01 -9.84524621e-02 -3.65270737e-02 2.32618591e+02] [ 9.84467700e-02 9.95140390e-01 -1.95877061e-03 1.18756659e+01] [ 3.65424122e-02 -1.64803154e-03 9.99330744e-01 8.44332351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.539254154 meters Centerline goodness : 0.999012 with order 1 Centerline is valid? [True, True] Translation: X:232.68, Y:11.88, Z:8.44 [[ 9.94801909e-01 -9.50522211e-02 -3.65272203e-02 2.32679244e+02] [ 9.50443416e-02 9.95471118e-01 -1.95603241e-03 1.18807838e+01] [ 3.65477181e-02 -1.52584084e-03 9.99330744e-01 8.44419588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.599254154 meters Centerline goodness : 0.999009 with order 1 Centerline is valid? [True, True] Translation: X:232.74, Y:11.89, Z:8.45 [[ 9.95202424e-01 -9.07628170e-02 -3.65273287e-02 2.32740917e+02] [ 9.07521268e-02 9.95871595e-01 -1.95400669e-03 1.18860065e+01] [ 3.65538802e-02 -1.37030057e-03 9.99330744e-01 8.44663832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.659254154 meters Centerline goodness : 0.998653 with order 1 Centerline is valid? [True, True] Translation: X:232.80, Y:11.89, Z:8.44 [[ 9.95967231e-01 -8.19452128e-02 -3.65274714e-02 2.32803710e+02] [ 8.19286944e-02 9.96636283e-01 -1.95133492e-03 1.18861814e+01] [ 3.65645059e-02 -1.04918240e-03 9.99330744e-01 8.44123532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.719254154 meters Centerline goodness : 0.998565 with order 1 Centerline is valid? [True, True] Translation: X:232.86, Y:11.90, Z:8.45 [[ 9.96417401e-01 -7.62764410e-02 -3.65276201e-02 2.32864203e+02] [ 7.62562179e-02 9.97086352e-01 -1.94854760e-03 1.18973266e+01] [ 3.65698197e-02 -8.43891418e-04 9.99330744e-01 8.45148992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.779254154 meters Centerline goodness : 0.998839 with order 1 Centerline is valid? [True, True] Translation: X:232.93, Y:11.90, Z:8.45 [[ 9.97018133e-01 -6.79746672e-02 -3.65278872e-02 2.32925590e+02] [ 6.79490570e-02 9.97686899e-01 -1.94352684e-03 1.19029978e+01] [ 3.65755051e-02 -5.44303987e-04 9.99330744e-01 8.45303356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.839254154 meters Centerline goodness : 0.998815 with order 1 Centerline is valid? [True, True] Translation: X:232.99, Y:11.91, Z:8.46 [[ 9.97694447e-01 -5.71969942e-02 -3.65279939e-02 2.32986583e+02] [ 5.71642324e-02 9.98362900e-01 -1.94152004e-03 1.19086881e+01] [ 3.65792431e-02 -1.51050965e-04 9.99330744e-01 8.45601179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.899254154 meters Centerline goodness : 0.998302 with order 1 Centerline is valid? [True, True] Translation: X:233.05, Y:11.91, Z:8.46 [[ 9.97961524e-01 -5.23306474e-02 -3.65280661e-02 2.33045629e+02] [ 5.22946757e-02 9.98629813e-01 -1.94016092e-03 1.19117834e+01] [ 3.65795457e-02 2.59825816e-05 9.99330744e-01 8.45707584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.959254154 meters Centerline goodness : 0.998793 with order 1 Centerline is valid? [True, True] Translation: X:233.10, Y:11.91, Z:8.46 [[ 9.98001990e-01 -5.15532409e-02 -3.65279596e-02 2.33104042e+02] [ 5.15166753e-02 9.98670246e-01 -1.94216354e-03 1.19144854e+01] [ 3.65795112e-02 5.64840462e-05 9.99330744e-01 8.46104144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.019254154 meters Centerline goodness : 0.999153 with order 1 Centerline is valid? [True, True] Translation: X:233.16, Y:11.91, Z:8.46 [[ 9.97676996e-01 -5.75009227e-02 -3.65274530e-02 2.33162331e+02] [ 5.74679938e-02 9.98345442e-01 -1.95164580e-03 1.19145833e+01] [ 3.65792376e-02 -1.52047319e-04 9.99330744e-01 8.46246582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.079254154 meters Centerline goodness : 0.999050 with order 1 Centerline is valid? [True, True] Translation: X:233.22, Y:11.91, Z:8.46 [[ 9.97177694e-01 -6.55927717e-02 -3.65271932e-02 2.33220633e+02] [ 6.55650891e-02 9.97846377e-01 -1.95649568e-03 1.19149556e+01] [ 3.65768594e-02 -4.43934829e-04 9.99330744e-01 8.46412881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.139254154 meters Centerline goodness : 0.998714 with order 1 Centerline is valid? [True, True] Translation: X:233.28, Y:11.91, Z:8.47 [[ 9.96077730e-01 -8.05912944e-02 -3.65266924e-02 2.33281329e+02] [ 8.05733365e-02 9.96746745e-01 -1.96580210e-03 1.19129861e+01] [ 3.65662882e-02 -9.84985784e-04 9.99330744e-01 8.46570973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.199254154 meters Centerline goodness : 0.998107 with order 1 Centerline is valid? [True, True] Translation: X:233.34, Y:11.91, Z:8.47 [[ 9.95268275e-01 -9.00381154e-02 -3.65266924e-02 2.33343152e+02] [ 9.00265057e-02 9.95937430e-01 -1.96580210e-03 1.19130113e+01] [ 3.65552972e-02 -1.33187002e-03 9.99330744e-01 8.46738680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.259254154 meters Centerline goodness : 0.998867 with order 1 Centerline is valid? [True, True] Translation: X:233.40, Y:11.91, Z:8.47 [[ 9.94265091e-01 -1.00512280e-01 -3.65268380e-02 2.33404649e+02] [ 1.00507816e-01 9.94934332e-01 -1.96309225e-03 1.19131906e+01] [ 3.65391201e-02 -1.71939861e-03 9.99330744e-01 8.46889175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.319254154 meters Centerline goodness : 0.998805 with order 1 Centerline is valid? [True, True] Translation: X:233.47, Y:11.92, Z:8.47 [[ 9.94066072e-01 -1.02461826e-01 -3.65269457e-02 2.33467038e+02] [ 1.02458748e-01 9.94735321e-01 -1.96108637e-03 1.19154366e+01] [ 3.65355795e-02 -1.79305570e-03 9.99330744e-01 8.47028189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.379254154 meters Centerline goodness : 0.998782 with order 1 Centerline is valid? [True, True] Translation: X:233.53, Y:11.92, Z:8.47 [[ 9.93475509e-01 -1.08037881e-01 -3.65270933e-02 2.33529532e+02] [ 1.08038659e-01 9.94144765e-01 -1.95833241e-03 1.19180811e+01] [ 3.65247927e-02 -2.00078290e-03 9.99330744e-01 8.47309396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.439254154 meters Centerline goodness : 0.998258 with order 1 Centerline is valid? [True, True] Translation: X:233.59, Y:11.92, Z:8.48 [[ 9.93150695e-01 -1.10984017e-01 -3.65273159e-02 2.33590856e+02] [ 1.10986932e-01 9.93819945e-01 -1.95417306e-03 1.19211734e+01] [ 3.65184570e-02 -2.11326639e-03 9.99330744e-01 8.47560527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.499254154 meters Centerline goodness : 0.998322 with order 1 Centerline is valid? [True, True] Translation: X:233.65, Y:11.92, Z:8.48 [[ 9.93027230e-01 -1.12083310e-01 -3.65274249e-02 2.33651580e+02] [ 1.12087041e-01 9.93696475e-01 -1.95213205e-03 1.19248378e+01] [ 3.65159748e-02 -2.15573069e-03 9.99330744e-01 8.47832281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.559254154 meters Centerline goodness : 0.998848 with order 1 Centerline is valid? [True, True] Translation: X:233.71, Y:11.93, Z:8.48 [[ 9.93058131e-01 -1.11809159e-01 -3.65275318e-02 2.33713311e+02] [ 1.11812778e-01 9.93727377e-01 -1.95013002e-03 1.19292528e+01] [ 3.65164508e-02 -2.14765234e-03 9.99330744e-01 8.47982848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.619254154 meters Centerline goodness : 0.998760 with order 1 Centerline is valid? [True, True] Translation: X:233.78, Y:11.93, Z:8.48 [[ 9.93290799e-01 -1.09722918e-01 -3.65276721e-02 2.33775244e+02] [ 1.09725228e-01 9.93960050e-01 -1.94749866e-03 1.19333803e+01] [ 3.65207321e-02 -2.07357467e-03 9.99330744e-01 8.48060885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.679254154 meters Centerline goodness : 0.998317 with order 1 Centerline is valid? [True, True] Translation: X:233.84, Y:11.94, Z:8.48 [[ 9.93785720e-01 -1.05145906e-01 -3.65278194e-02 2.33837170e+02] [ 1.05145234e-01 9.94454975e-01 -1.94473302e-03 1.19405986e+01] [ 3.65297524e-02 -1.90807822e-03 9.99330744e-01 8.48372842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.739254154 meters Centerline goodness : 0.998610 with order 1 Centerline is valid? [True, True] Translation: X:233.90, Y:11.95, Z:8.49 [[ 9.94274910e-01 -1.00414700e-01 -3.65279658e-02 2.33898188e+02] [ 1.00410944e-01 9.94944155e-01 -1.94197931e-03 1.19473297e+01] [ 3.65382893e-02 -1.73694622e-03 9.99330744e-01 8.48550490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.799254154 meters Centerline goodness : 0.998945 with order 1 Centerline is valid? [True, True] Translation: X:233.96, Y:11.96, Z:8.49 [[ 9.95131341e-01 -9.15385937e-02 -3.65280736e-02 2.33958478e+02] [ 9.15289405e-02 9.95800527e-01 -1.93994893e-03 1.19558857e+01] [ 3.65522551e-02 -1.41287190e-03 9.99330744e-01 8.48812590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.859254154 meters Centerline goodness : 0.998777 with order 1 Centerline is valid? [True, True] Translation: X:234.02, Y:11.96, Z:8.49 [[ 9.95697539e-01 -8.51592793e-02 -3.65281740e-02 2.34020508e+02] [ 8.51454070e-02 9.96366651e-01 -1.93805592e-03 1.19627580e+01] [ 3.65604979e-02 -1.18048873e-03 9.99330744e-01 8.49232516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.919254154 meters Centerline goodness : 0.998098 with order 1 Centerline is valid? [True, True] Translation: X:234.08, Y:11.97, Z:8.50 [[ 9.96488829e-01 -7.53372120e-02 -3.65283128e-02 2.34081985e+02] [ 7.53168387e-02 9.97157775e-01 -1.93543752e-03 1.19711702e+01] [ 3.65703015e-02 -8.22555172e-04 9.99330744e-01 8.49629749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.979254154 meters Centerline goodness : 0.998472 with order 1 Centerline is valid? [True, True] Translation: X:234.14, Y:11.98, Z:8.50 [[ 9.97123599e-01 -6.64093385e-02 -3.65284540e-02 2.34143781e+02] [ 6.63830725e-02 9.97792339e-01 -1.93276827e-03 1.19786047e+01] [ 3.65761654e-02 -4.97662155e-04 9.99330744e-01 8.49882453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.039254154 meters Centerline goodness : 0.998749 with order 1 Centerline is valid? [True, True] Translation: X:234.20, Y:11.98, Z:8.50 [[ 9.97439774e-01 -6.14781182e-02 -3.65285971e-02 2.34204905e+02] [ 6.14486451e-02 9.98108380e-01 -1.93005977e-03 1.19831094e+01] [ 3.65781553e-02 -3.19514416e-04 9.99330744e-01 8.50122169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.099254154 meters Centerline goodness : 0.998831 with order 1 Centerline is valid? [True, True] Translation: X:234.27, Y:11.99, Z:8.50 [[ 9.97736700e-01 -5.64546983e-02 -3.65286680e-02 2.34265411e+02] [ 5.64219079e-02 9.98405152e-01 -1.92871778e-03 1.19870683e+01] [ 3.65792955e-02 -1.36664622e-04 9.99330744e-01 8.50370033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.159254154 meters Centerline goodness : 0.998765 with order 1 Centerline is valid? [True, True] Translation: X:234.32, Y:11.99, Z:8.50 [[ 9.97839438e-01 -5.46087170e-02 -3.65286680e-02 2.34324835e+02] [ 5.45746899e-02 9.98507828e-01 -1.92871778e-03 1.19899813e+01] [ 3.65794857e-02 -6.89900585e-05 9.99330744e-01 8.50496550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.219254154 meters Centerline goodness : 0.998702 with order 1 Centerline is valid? [True, True] Translation: X:234.38, Y:11.99, Z:8.51 [[ 9.97817540e-01 -5.50074369e-02 -3.65285962e-02 2.34384363e+02] [ 5.49736272e-02 9.98485941e-01 -1.93007624e-03 1.19914742e+01] [ 3.65794583e-02 -8.22455038e-05 9.99330744e-01 8.50518107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.279254154 meters Centerline goodness : 0.998811 with order 1 Centerline is valid? [True, True] Translation: X:234.44, Y:11.99, Z:8.51 [[ 9.97701505e-01 -5.70734086e-02 -3.65285249e-02 2.34443137e+02] [ 5.70409336e-02 9.98369972e-01 -1.93142380e-03 1.19925911e+01] [ 3.65792154e-02 -1.56636730e-04 9.99330744e-01 8.50629233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.339254154 meters Centerline goodness : 0.998705 with order 1 Centerline is valid? [True, True] Translation: X:234.50, Y:11.99, Z:8.51 [[ 9.97335170e-01 -6.31524534e-02 -3.65284197e-02 2.34502911e+02] [ 6.31239799e-02 9.98003820e-01 -1.93341258e-03 1.19926148e+01] [ 3.65776021e-02 -3.77558866e-04 9.99330744e-01 8.50886082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.399254154 meters Centerline goodness : 0.998816 with order 1 Centerline is valid? [True, True] Translation: X:234.56, Y:11.99, Z:8.51 [[ 9.96797042e-01 -7.11430799e-02 -3.65283480e-02 2.34563704e+02] [ 7.11199163e-02 9.97465896e-01 -1.93476526e-03 1.19910838e+01] [ 3.65734266e-02 -6.69324766e-04 9.99330744e-01 8.51103817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.459254154 meters Centerline goodness : 0.998607 with order 1 Centerline is valid? [True, True] Translation: X:234.63, Y:11.99, Z:8.51 [[ 9.96370457e-01 -7.68868591e-02 -3.65283833e-02 2.34625135e+02] [ 7.68675752e-02 9.97039435e-01 -1.93409969e-03 1.19905341e+01] [ 3.65689455e-02 -8.80768455e-04 9.99330744e-01 8.51276156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.519254154 meters Centerline goodness : 0.998864 with order 1 Centerline is valid? [True, True] Translation: X:234.69, Y:11.99, Z:8.51 [[ 9.95889452e-01 -8.28846922e-02 -3.65284531e-02 2.34686891e+02] [ 8.28694849e-02 9.96558535e-01 -1.93277936e-03 1.19881917e+01] [ 3.65629395e-02 -1.10225952e-03 9.99330744e-01 8.51310549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.579254154 meters Centerline goodness : 0.998740 with order 1 Centerline is valid? [True, True] Translation: X:234.75, Y:11.99, Z:8.52 [[ 9.95771741e-01 -8.42870495e-02 -3.65285224e-02 2.34749222e+02] [ 8.42728326e-02 9.96440846e-01 -1.93146862e-03 1.19889716e+01] [ 3.65613096e-02 -1.15506018e-03 9.99330744e-01 8.51509123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.639254154 meters Centerline goodness : 0.998929 with order 1 Centerline is valid? [True, True] Translation: X:234.81, Y:11.99, Z:8.52 [[ 9.96026857e-01 -8.12167349e-02 -3.65286599e-02 2.34810960e+02] [ 8.12005506e-02 9.96695917e-01 -1.92886581e-03 1.19895192e+01] [ 3.65646223e-02 -1.04494514e-03 9.99330744e-01 8.51610161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.699254154 meters Centerline goodness : 0.999139 with order 1 Centerline is valid? [True, True] Translation: X:234.87, Y:11.99, Z:8.52 [[ 9.96409251e-01 -7.63822993e-02 -3.65287272e-02 2.34872137e+02] [ 7.63629152e-02 9.97078226e-01 -1.92758937e-03 1.19916848e+01] [ 3.65692323e-02 -8.68772215e-04 9.99330744e-01 8.51823750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.759254154 meters Centerline goodness : 0.998907 with order 1 Centerline is valid? [True, True] Translation: X:234.93, Y:11.99, Z:8.52 [[ 9.97091994e-01 -6.68819985e-02 -3.65287986e-02 2.34932049e+02] [ 6.68562888e-02 9.97760756e-01 -1.92623599e-03 1.19948006e+01] [ 3.65758322e-02 -5.21545423e-04 9.99330744e-01 8.51903100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.819254154 meters Centerline goodness : 0.999012 with order 1 Centerline is valid? [True, True] Translation: X:234.99, Y:12.00, Z:8.52 [[ 9.97503269e-01 -6.04390053e-02 -3.65288337e-02 2.34991790e+02] [ 6.04090000e-02 9.98171851e-01 -1.92557041e-03 1.19978446e+01] [ 3.65784331e-02 -2.85907537e-04 9.99330744e-01 8.52125711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.879254154 meters Centerline goodness : 0.998843 with order 1 Centerline is valid? [True, True] Translation: X:235.05, Y:12.00, Z:8.52 [[ 9.97981883e-01 -5.19404497e-02 -3.65287695e-02 2.35049894e+02] [ 5.19047063e-02 9.98650183e-01 -1.92678710e-03 1.20000776e+01] [ 3.65795406e-02 2.68835717e-05 9.99330744e-01 8.52253731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.939254154 meters Centerline goodness : 0.999031 with order 1 Centerline is valid? [True, True] Translation: X:235.11, Y:12.00, Z:8.52 [[ 9.98239538e-01 -4.67278521e-02 -3.65285306e-02 2.35108756e+02] [ 4.66884536e-02 9.98907633e-01 -1.93130636e-03 1.20021988e+01] [ 3.65788738e-02 2.22445768e-04 9.99330744e-01 8.52494962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.999254154 meters Centerline goodness : 0.999348 with order 1 Centerline is valid? [True, True] Translation: X:235.17, Y:12.00, Z:8.53 [[ 9.98256856e-01 -4.63567612e-02 -3.65280659e-02 2.35167164e+02] [ 4.63167943e-02 9.98924917e-01 -1.94005478e-03 1.20028190e+01] [ 3.65787299e-02 2.44810071e-04 9.99330744e-01 8.52876955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.059254154 meters Centerline goodness : 0.999012 with order 1 Centerline is valid? [True, True] Translation: X:235.23, Y:12.00, Z:8.53 [[ 9.98107816e-01 -4.94623648e-02 -3.65275589e-02 2.35225657e+02] [ 4.94241289e-02 9.98775978e-01 -1.94955505e-03 1.20002745e+01] [ 3.65792780e-02 1.40523356e-04 9.99330744e-01 8.53012326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.119254154 meters Centerline goodness : 0.999181 with order 1 Centerline is valid? [True, True] Translation: X:235.28, Y:12.00, Z:8.53 [[ 9.97944141e-01 -5.26618549e-02 -3.65269892e-02 2.35282239e+02] [ 5.26253726e-02 9.98612401e-01 -1.96017013e-03 1.19998648e+01] [ 3.65795306e-02 3.38938741e-05 9.99330744e-01 8.53377374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.179254154 meters Centerline goodness : 0.998868 with order 1 Centerline is valid? [True, True] Translation: X:235.34, Y:12.00, Z:8.54 [[ 9.97628964e-01 -5.83287783e-02 -3.65267437e-02 2.35340626e+02] [ 5.82959248e-02 9.98297413e-01 -1.96473482e-03 1.19952154e+01] [ 3.65791543e-02 -1.69283939e-04 9.99330744e-01 8.53662758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.239254154 meters Centerline goodness : 0.998868 with order 1 Centerline is valid? [True, True] Translation: X:235.40, Y:12.00, Z:8.54 [[ 9.97612463e-01 -5.86106803e-02 -3.65261867e-02 2.35398904e+02] [ 5.85776386e-02 9.98280902e-01 -1.97503541e-03 1.19984594e+01] [ 3.65791528e-02 -1.69297823e-04 9.99330745e-01 8.53876685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.299254154 meters Centerline goodness : 0.999268 with order 1 Centerline is valid? [True, True] Translation: X:235.46, Y:12.00, Z:8.54 [[ 9.97540132e-01 -5.98294591e-02 -3.65256261e-02 2.35457107e+02] [ 5.97968564e-02 9.98208593e-01 -1.98534973e-03 1.19955029e+01] [ 3.65789762e-02 -2.03651590e-04 9.99330745e-01 8.54082678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.359254154 meters Centerline goodness : 0.999226 with order 1 Centerline is valid? [True, True] Translation: X:235.51, Y:12.00, Z:8.54 [[ 9.97508740e-01 -6.03509209e-02 -3.65250707e-02 2.35514554e+02] [ 6.03182954e-02 9.98177199e-01 -1.99551571e-03 1.19956484e+01] [ 3.65789240e-02 -2.12585642e-04 9.99330745e-01 8.54296478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.419254154 meters Centerline goodness : 0.999100 with order 1 Centerline is valid? [True, True] Translation: X:235.57, Y:11.99, Z:8.55 [[ 9.97534433e-01 -5.99250804e-02 -3.65245211e-02 2.35572329e+02] [ 5.98918031e-02 9.98202860e-01 -2.00552447e-03 1.19938925e+01] [ 3.65790627e-02 -1.86939716e-04 9.99330745e-01 8.54515747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.479254154 meters Centerline goodness : 0.999060 with order 1 Centerline is valid? [True, True] Translation: X:235.63, Y:11.99, Z:8.55 [[ 9.97657813e-01 -5.78350357e-02 -3.65239268e-02 2.35629727e+02] [ 5.77999639e-02 9.98326148e-01 -2.01629068e-03 1.19914312e+01] [ 3.65794034e-02 -9.95134950e-05 9.99330745e-01 8.54727266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.539254154 meters Centerline goodness : 0.999374 with order 1 Centerline is valid? [True, True] Translation: X:235.69, Y:11.99, Z:8.55 [[ 9.97796105e-01 -5.53981404e-02 -3.65236710e-02 2.35687541e+02] [ 5.53612671e-02 9.98464344e-01 -2.02091365e-03 1.19923522e+01] [ 3.65795380e-02 -5.53693412e-06 9.99330745e-01 8.54960853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.599254154 meters Centerline goodness : 0.999127 with order 1 Centerline is valid? [True, True] Translation: X:235.75, Y:11.99, Z:8.55 [[ 9.97998361e-01 -5.16269093e-02 -3.65230677e-02 2.35745137e+02] [ 5.15871140e-02 9.98666432e-01 -2.03175868e-03 1.19918506e+01] [ 3.65792551e-02 1.43572179e-04 9.99330745e-01 8.54877418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.659254154 meters Centerline goodness : 0.999437 with order 1 Centerline is valid? [True, True] Translation: X:235.80, Y:11.99, Z:8.55 [[ 9.98126801e-01 -4.90815387e-02 -3.65224718e-02 2.35803303e+02] [ 4.90396499e-02 9.98794744e-01 -2.04241406e-03 1.19888078e+01] [ 3.65786977e-02 2.47538986e-04 9.99330745e-01 8.55343519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.719254154 meters Centerline goodness : 0.999310 with order 1 Centerline is valid? [True, True] Translation: X:235.86, Y:11.99, Z:8.56 [[ 9.98106234e-01 -4.94984705e-02 -3.65218741e-02 2.35861688e+02] [ 4.94564717e-02 9.98774170e-01 -2.05304780e-03 1.19885491e+01] [ 3.65787272e-02 2.42916781e-04 9.99330745e-01 8.55602756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.779254154 meters Centerline goodness : 0.999331 with order 1 Centerline is valid? [True, True] Translation: X:235.92, Y:11.99, Z:8.56 [[ 9.97945540e-01 -5.26392910e-02 -3.65212735e-02 2.35920258e+02] [ 5.25990054e-02 9.98613582e-01 -2.06367595e-03 1.19863021e+01] [ 3.65792702e-02 1.38453554e-04 9.99330745e-01 8.55847749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.839254154 meters Centerline goodness : 0.999310 with order 1 Centerline is valid? [True, True] Translation: X:235.98, Y:11.98, Z:8.56 [[ 9.97735590e-01 -5.64795044e-02 -3.65206622e-02 2.35978280e+02] [ 5.64413961e-02 9.98403759e-01 -2.07443843e-03 1.19847359e+01] [ 3.65795296e-02 8.46389320e-06 9.99330745e-01 8.56069258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.899254154 meters Centerline goodness : 0.999354 with order 1 Centerline is valid? [True, True] Translation: X:236.04, Y:11.98, Z:8.56 [[ 9.97372749e-01 -6.25610550e-02 -3.65200365e-02 2.36036197e+02] [ 6.25266196e-02 9.98041118e-01 -2.08539538e-03 1.19817458e+01] [ 3.65789626e-02 -2.03557905e-04 9.99330745e-01 8.56080949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.959254154 meters Centerline goodness : 0.999166 with order 1 Centerline is valid? [True, True] Translation: X:236.09, Y:11.98, Z:8.56 [[ 9.97100762e-01 -6.67560591e-02 -3.65198443e-02 2.36094043e+02] [ 6.67243125e-02 9.97769264e-01 -2.08875591e-03 1.19813942e+01] [ 3.65778153e-02 -3.54061400e-04 9.99330745e-01 8.56319701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.019254154 meters Centerline goodness : 0.999478 with order 1 Centerline is valid? [True, True] Translation: X:236.15, Y:11.98, Z:8.57 [[ 9.96696088e-01 -7.25482873e-02 -3.65192291e-02 2.36152176e+02] [ 7.25200334e-02 9.97364746e-01 -2.09945777e-03 1.19792865e+01] [ 3.65753037e-02 -5.55854367e-04 9.99330745e-01 8.56556825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.079254154 meters Centerline goodness : 0.999562 with order 1 Centerline is valid? [True, True] Translation: X:236.21, Y:11.98, Z:8.57 [[ 9.96285054e-01 -7.79902664e-02 -3.65186145e-02 2.36210039e+02] [ 7.79652748e-02 9.96953842e-01 -2.11009450e-03 1.19788131e+01] [ 3.65719398e-02 -7.44928197e-04 9.99330745e-01 8.56854984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.139254154 meters Centerline goodness : 0.999498 with order 1 Centerline is valid? [True, True] Translation: X:236.27, Y:11.98, Z:8.57 [[ 9.95982382e-01 -8.17651020e-02 -3.65179817e-02 2.36267495e+02] [ 8.17422457e-02 9.96651246e-01 -2.12098845e-03 1.19810358e+01] [ 3.65691148e-02 -8.72594710e-04 9.99330745e-01 8.57081334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.199254154 meters Centerline goodness : 0.999770 with order 1 Centerline is valid? [True, True] Translation: X:236.33, Y:11.98, Z:8.57 [[ 9.95528100e-01 -8.71222447e-02 -3.65173447e-02 2.36325239e+02] [ 8.71025873e-02 9.96197066e-01 -2.13190059e-03 1.19829371e+01] [ 3.65642076e-02 -1.05838826e-03 9.99330745e-01 8.57253458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.259254154 meters Centerline goodness : 0.999728 with order 1 Centerline is valid? [True, True] Translation: X:236.38, Y:11.99, Z:8.58 [[ 9.95217518e-01 -9.06012636e-02 -3.65171487e-02 2.36383381e+02] [ 9.05838216e-02 9.95886546e-01 -2.13525144e-03 1.19860015e+01] [ 3.65603936e-02 -1.18282325e-03 9.99330745e-01 8.57500440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.319254154 meters Centerline goodness : 0.999541 with order 1 Centerline is valid? [True, True] Translation: X:236.44, Y:11.99, Z:8.58 [[ 9.94835690e-01 -9.47021297e-02 -3.65165151e-02 2.36440635e+02] [ 9.46870499e-02 9.95504775e-01 -2.14603342e-03 1.19913821e+01] [ 3.65555991e-02 -1.32269045e-03 9.99330745e-01 8.57713789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.379254154 meters Centerline goodness : 0.999435 with order 1 Centerline is valid? [True, True] Translation: X:236.50, Y:12.00, Z:8.58 [[ 9.94587929e-01 -9.72697792e-02 -3.65163202e-02 2.36497838e+02] [ 9.72563052e-02 9.95257048e-01 -2.14934389e-03 1.19968575e+01] [ 3.65521913e-02 -1.41373090e-03 9.99330745e-01 8.57952503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.439254154 meters Centerline goodness : 0.999561 with order 1 Centerline is valid? [True, True] Translation: X:236.56, Y:12.00, Z:8.58 [[ 9.94371223e-01 -9.94609238e-02 -3.65156955e-02 2.36556623e+02] [ 9.94485369e-02 9.95040363e-01 -2.15990637e-03 1.20031452e+01] [ 3.65494172e-02 -1.48368375e-03 9.99330745e-01 8.58192163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.499254154 meters Centerline goodness : 0.999145 with order 1 Centerline is valid? [True, True] Translation: X:236.62, Y:12.01, Z:8.58 [[ 9.94327407e-01 -9.98982073e-02 -3.65151420e-02 2.36615719e+02] [ 9.98857730e-02 9.94996546e-01 -2.16922279e-03 1.20105136e+01] [ 3.65491417e-02 -1.49042552e-03 9.99330745e-01 8.58326247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.559254154 meters Centerline goodness : 0.999374 with order 1 Centerline is valid? [True, True] Translation: X:236.68, Y:12.02, Z:8.59 [[ 9.94410473e-01 -9.90679656e-02 -3.65150637e-02 2.36675324e+02] [ 9.90549243e-02 9.95079600e-01 -2.17054074e-03 1.20174023e+01] [ 3.65504260e-02 -1.45858843e-03 9.99330745e-01 8.58638903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.619254154 meters Centerline goodness : 0.999352 with order 1 Centerline is valid? [True, True] Translation: X:236.74, Y:12.03, Z:8.59 [[ 9.94707248e-01 -9.60424260e-02 -3.65149851e-02 2.36735392e+02] [ 9.60273009e-02 9.95376331e-01 -2.17186232e-03 1.20260099e+01] [ 3.65547428e-02 -1.34606827e-03 9.99330745e-01 8.58847788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.679254154 meters Centerline goodness : 0.999353 with order 1 Centerline is valid? [True, True] Translation: X:236.79, Y:12.03, Z:8.59 [[ 9.94970136e-01 -9.32796051e-02 -3.65149851e-02 2.36794949e+02] [ 9.32626219e-02 9.95639175e-01 -2.17186232e-03 1.20335154e+01] [ 3.65583401e-02 -1.24454510e-03 9.99330745e-01 8.58953144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.739254154 meters Centerline goodness : 0.999249 with order 1 Centerline is valid? [True, True] Translation: X:236.85, Y:12.04, Z:8.59 [[ 9.95407975e-01 -8.84851550e-02 -3.65149458e-02 2.36854756e+02] [ 8.84649246e-02 9.96076923e-01 -2.17252282e-03 1.20436967e+01] [ 3.65639309e-02 -1.06774538e-03 9.99330745e-01 8.59337456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.799254154 meters Centerline goodness : 0.999020 with order 1 Centerline is valid? [True, True] Translation: X:236.91, Y:12.05, Z:8.60 [[ 9.95785469e-01 -8.41306018e-02 -3.65149458e-02 2.36914777e+02] [ 8.41074457e-02 9.96454323e-01 -2.17252282e-03 1.20543509e+01] [ 3.65682512e-02 -9.07812165e-04 9.99330745e-01 8.59648724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.859254154 meters Centerline goodness : 0.999164 with order 1 Centerline is valid? [True, True] Translation: X:236.97, Y:12.06, Z:8.60 [[ 9.96104325e-01 -8.02672586e-02 -3.65149458e-02 2.36974281e+02] [ 8.02415081e-02 9.96773084e-01 -2.17252282e-03 1.20624333e+01] [ 3.65714976e-02 -7.65954942e-04 9.99330745e-01 8.59905535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.919254154 meters Centerline goodness : 0.999103 with order 1 Centerline is valid? [True, True] Translation: X:237.03, Y:12.07, Z:8.60 [[ 9.96580795e-01 -7.41173244e-02 -3.65149509e-02 2.37033634e+02] [ 7.40874497e-02 9.97249382e-01 -2.17243760e-03 1.20728561e+01] [ 3.65755274e-02 -5.40289993e-04 9.99330745e-01 8.60158488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.979254154 meters Centerline goodness : 0.998958 with order 1 Centerline is valid? [True, True] Translation: X:237.09, Y:12.08, Z:8.60 [[ 9.96776030e-01 -7.14437594e-02 -3.65148717e-02 2.37091773e+02] [ 7.14120426e-02 9.97444532e-01 -2.17376723e-03 1.20802292e+01] [ 3.65768612e-02 -4.40842503e-04 9.99330745e-01 8.60415294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.039254154 meters Centerline goodness : 0.999227 with order 1 Centerline is valid? [True, True] Translation: X:237.15, Y:12.09, Z:8.61 [[ 9.96832707e-01 -7.06488329e-02 -3.65143216e-02 2.37149428e+02] [ 7.06162461e-02 9.97501168e-01 -2.18296823e-03 1.20875872e+01] [ 3.65773026e-02 -4.02450195e-04 9.99330746e-01 8.60695626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.099254154 meters Centerline goodness : 0.997349 with order 1 Centerline is valid? [True, True] Translation: X:237.21, Y:12.09, Z:8.61 [[ 9.96708021e-01 -7.23867358e-02 -3.65141283e-02 2.37207457e+02] [ 7.23551962e-02 9.97376532e-01 -2.18619667e-03 1.20929610e+01] [ 3.65765863e-02 -4.62987167e-04 9.99330746e-01 8.60700895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.159254154 meters Centerline goodness : 0.999080 with order 1 Centerline is valid? [True, True] Translation: X:237.27, Y:12.10, Z:8.61 [[ 9.96501611e-01 -7.51751736e-02 -3.65134456e-02 2.37265290e+02] [ 7.51450890e-02 9.97170189e-01 -2.19754121e-03 1.20974565e+01] [ 3.65753200e-02 -5.53952756e-04 9.99330746e-01 8.61123989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.219254154 meters Centerline goodness : 0.999103 with order 1 Centerline is valid? [True, True] Translation: X:237.33, Y:12.10, Z:8.61 [[ 9.96008088e-01 -8.14537511e-02 -3.65126685e-02 2.37326134e+02] [ 8.14274102e-02 9.96676824e-01 -2.21037708e-03 1.21008638e+01] [ 3.65713740e-02 -7.71578585e-04 9.99330746e-01 8.61252666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.279254154 meters Centerline goodness : 0.999040 with order 1 Centerline is valid? [True, True] Translation: X:237.39, Y:12.10, Z:8.61 [[ 9.95609870e-01 -8.61847515e-02 -3.65126685e-02 2.37385598e+02] [ 8.61615880e-02 9.96278724e-01 -2.21037708e-03 1.21038932e+01] [ 3.65672956e-02 -9.45316259e-04 9.99330746e-01 8.61429094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.339254154 meters Centerline goodness : 0.998996 with order 1 Centerline is valid? [True, True] Translation: X:237.45, Y:12.11, Z:8.62 [[ 9.95162490e-01 -9.12055132e-02 -3.65126288e-02 2.37446540e+02] [ 9.11856997e-02 9.95831451e-01 -2.21103274e-03 1.21078277e+01] [ 3.65620825e-02 -1.12909276e-03 9.99330746e-01 8.61708024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.399254154 meters Centerline goodness : 0.999099 with order 1 Centerline is valid? [True, True] Translation: X:237.51, Y:12.11, Z:8.62 [[ 9.95208853e-01 -9.06981839e-02 -3.65127122e-02 2.37507311e+02] [ 9.06780798e-02 9.95877805e-01 -2.20965537e-03 1.21122652e+01] [ 3.65626114e-02 -1.11183404e-03 9.99330746e-01 8.61854745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.459254154 meters Centerline goodness : 0.998913 with order 1 Centerline is valid? [True, True] Translation: X:237.57, Y:12.12, Z:8.62 [[ 9.95562717e-01 -8.67276938e-02 -3.65127945e-02 2.37567015e+02] [ 8.67049714e-02 9.96231585e-01 -2.20829369e-03 1.21175695e+01] [ 3.65667194e-02 -9.67345943e-04 9.99330746e-01 8.62041431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.519254154 meters Centerline goodness : 0.998973 with order 1 Centerline is valid? [True, True] Translation: X:237.63, Y:12.12, Z:8.62 [[ 9.96101354e-01 -8.03050790e-02 -3.65128350e-02 2.37628275e+02] [ 8.02780678e-02 9.96770063e-01 -2.20762403e-03 1.21230778e+01] [ 3.65721843e-02 -7.32162563e-04 9.99330746e-01 8.62301064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.579254154 meters Centerline goodness : 0.999121 with order 1 Centerline is valid? [True, True] Translation: X:237.69, Y:12.13, Z:8.63 [[ 9.96966062e-01 -6.87421062e-02 -3.65129167e-02 2.37688164e+02] [ 6.87073874e-02 9.97634416e-01 -2.20627256e-03 1.21300867e+01] [ 3.65782061e-02 -3.09128250e-04 9.99330746e-01 8.62614619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.639254154 meters Centerline goodness : 0.998931 with order 1 Centerline is valid? [True, True] Translation: X:237.75, Y:12.14, Z:8.63 [[ 9.97620671e-01 -5.84790920e-02 -3.65129167e-02 2.37747433e+02] [ 5.84374973e-02 9.98288631e-01 -2.20627255e-03 1.21352753e+01] [ 3.65794504e-02 6.72996357e-05 9.99330746e-01 8.62854667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.699254154 meters Centerline goodness : 0.999055 with order 1 Centerline is valid? [True, True] Translation: X:237.80, Y:12.14, Z:8.63 [[ 9.97840545e-01 -5.45990773e-02 -3.65128367e-02 2.37804888e+02] [ 5.45548370e-02 9.98508336e-01 -2.20759519e-03 1.21393238e+01] [ 3.65789045e-02 2.10876133e-04 9.99330746e-01 8.63027654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.759254154 meters Centerline goodness : 0.999120 with order 1 Centerline is valid? [True, True] Translation: X:237.86, Y:12.14, Z:8.63 [[ 9.97936434e-01 -5.28179333e-02 -3.65121885e-02 2.37863092e+02] [ 5.27721107e-02 9.98604118e-01 -2.21826515e-03 1.21421374e+01] [ 3.65783859e-02 2.86862357e-04 9.99330746e-01 8.63192744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.819254154 meters Centerline goodness : 0.999119 with order 1 Centerline is valid? [True, True] Translation: X:237.92, Y:12.14, Z:8.63 [[ 9.97884339e-01 -5.37936269e-02 -3.65115379e-02 2.37920630e+02] [ 5.37480672e-02 9.98552040e-01 -2.22892278e-03 1.21436787e+01] [ 3.65785725e-02 2.61782537e-04 9.99330746e-01 8.63295400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.879254154 meters Centerline goodness : 0.999205 with order 1 Centerline is valid? [True, True] Translation: X:237.98, Y:12.14, Z:8.64 [[ 9.97595206e-01 -5.89131487e-02 -3.65108912e-02 2.37978373e+02] [ 5.88706298e-02 9.98263108e-01 -2.23946543e-03 1.21437054e+01] [ 3.65794097e-02 8.46608195e-05 9.99330746e-01 8.63665504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.939254154 meters Centerline goodness : 0.999414 with order 1 Centerline is valid? [True, True] Translation: X:238.03, Y:12.15, Z:8.64 [[ 9.97326064e-01 -6.33065911e-02 -3.65102484e-02 2.38034977e+02] [ 6.32666326e-02 9.97994124e-01 -2.24989675e-03 1.21450361e+01] [ 3.65794466e-02 -6.59997993e-05 9.99330746e-01 8.63930002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.999254154 meters Centerline goodness : 0.999165 with order 1 Centerline is valid? [True, True] Translation: X:238.09, Y:12.14, Z:8.64 [[ 9.96869974e-01 -7.01232998e-02 -3.65099712e-02 2.38093148e+02] [ 7.00877450e-02 9.97538283e-01 -2.25438593e-03 1.21434591e+01] [ 3.65781790e-02 -3.11571909e-04 9.99330746e-01 8.64330582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.059254154 meters Centerline goodness : 0.999124 with order 1 Centerline is valid? [True, True] Translation: X:238.15, Y:12.14, Z:8.65 [[ 9.96388126e-01 -7.66666313e-02 -3.65093175e-02 2.38151926e+02] [ 7.66350790e-02 9.97056636e-01 -2.26492281e-03 1.21415570e+01] [ 3.65755013e-02 -5.41152241e-04 9.99330746e-01 8.64710848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.119254154 meters Centerline goodness : 0.999061 with order 1 Centerline is valid? [True, True] Translation: X:238.21, Y:12.14, Z:8.65 [[ 9.96124751e-01 -8.00161995e-02 -3.65087510e-02 2.38210236e+02] [ 7.99865617e-02 9.96793348e-01 -2.27401827e-03 1.21414683e+01] [ 3.65736384e-02 -6.55003587e-04 9.99330746e-01 8.64834570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.179254154 meters Centerline goodness : 0.999144 with order 1 Centerline is valid? [True, True] Translation: X:238.27, Y:12.14, Z:8.65 [[ 9.95639588e-01 -8.58425145e-02 -3.65085516e-02 2.38269395e+02] [ 8.58166716e-02 9.96308342e-01 -2.27721468e-03 1.21406697e+01] [ 3.65692564e-02 -8.65757303e-04 9.99330746e-01 8.65293193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.239254154 meters Centerline goodness : 0.999312 with order 1 Centerline is valid? [True, True] Translation: X:238.33, Y:12.14, Z:8.66 [[ 9.95446359e-01 -8.80551659e-02 -3.65079989e-02 2.38328174e+02] [ 8.80304859e-02 9.96115158e-01 -2.28604205e-03 1.21412468e+01] [ 3.65674689e-02 -9.38184640e-04 9.99330746e-01 8.65502139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.299254154 meters Centerline goodness : 0.999396 with order 1 Centerline is valid? [True, True] Translation: X:238.39, Y:12.14, Z:8.66 [[ 9.95496688e-01 -8.74843936e-02 -3.65078822e-02 2.38387515e+02] [ 8.74592618e-02 9.96165470e-01 -2.28790408e-03 1.21422416e+01] [ 3.65680475e-02 -9.15351489e-04 9.99330746e-01 8.65567286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.359254154 meters Centerline goodness : 0.999104 with order 1 Centerline is valid? [True, True] Translation: X:238.45, Y:12.15, Z:8.66 [[ 9.95839005e-01 -8.34976400e-02 -3.65078056e-02 2.38445067e+02] [ 8.34697858e-02 9.96507679e-01 -2.28912534e-03 1.21457384e+01] [ 3.65714452e-02 -7.67698419e-04 9.99330746e-01 8.65747417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.419254154 meters Centerline goodness : 0.999312 with order 1 Centerline is valid? [True, True] Translation: X:238.50, Y:12.15, Z:8.66 [[ 9.96215338e-01 -7.88808874e-02 -3.65076168e-02 2.38504648e+02] [ 7.88498240e-02 9.96883871e-01 -2.29213270e-03 1.21492544e+01] [ 3.65746598e-02 -5.95161410e-04 9.99330746e-01 8.65973263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.479254154 meters Centerline goodness : 0.999458 with order 1 Centerline is valid? [True, True] Translation: X:238.56, Y:12.15, Z:8.66 [[ 9.96736250e-01 -7.20003303e-02 -3.65075328e-02 2.38563497e+02] [ 7.19646025e-02 9.97404550e-01 -2.29347007e-03 1.21520921e+01] [ 3.65779099e-02 -3.41265327e-04 9.99330746e-01 8.66019170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.539254154 meters Centerline goodness : 0.999313 with order 1 Centerline is valid? [True, True] Translation: X:238.62, Y:12.16, Z:8.66 [[ 9.96889609e-01 -6.98451943e-02 -3.65069451e-02 2.38621406e+02] [ 6.98076806e-02 9.97557810e-01 -2.30278655e-03 1.21552424e+01] [ 3.65786268e-02 -2.52841182e-04 9.99330746e-01 8.66058774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.599254154 meters Centerline goodness : 0.999354 with order 1 Centerline is valid? [True, True] Translation: X:238.68, Y:12.16, Z:8.66 [[ 9.96833748e-01 -7.06383174e-02 -3.65062678e-02 2.38678867e+02] [ 7.06009439e-02 9.97501957e-01 -2.31347514e-03 1.21569661e+01] [ 3.65784935e-02 -2.71226865e-04 9.99330746e-01 8.66046192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.659254154 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:238.74, Y:12.16, Z:8.66 [[ 9.96606005e-01 -7.37820888e-02 -3.65058053e-02 2.38736781e+02] [ 7.37465566e-02 9.97274315e-01 -2.32075033e-03 1.21585379e+01] [ 3.65775317e-02 -3.79303720e-04 9.99330746e-01 8.66191875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.719254154 meters Centerline goodness : 0.999499 with order 1 Centerline is valid? [True, True] Translation: X:238.80, Y:12.16, Z:8.66 [[ 9.95980778e-01 -8.17903675e-02 -3.65051470e-02 2.38795009e+02] [ 8.17598306e-02 9.96649335e-01 -2.33105886e-03 1.21589949e+01] [ 3.65734886e-02 -6.62964817e-04 9.99330746e-01 8.66373839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.779254154 meters Centerline goodness : 0.999352 with order 1 Centerline is valid? [True, True] Translation: X:238.85, Y:12.16, Z:8.67 [[ 9.95247145e-01 -9.02803590e-02 -3.65044891e-02 2.38853775e+02] [ 9.02551481e-02 9.95915923e-01 -2.34131698e-03 1.21594171e+01] [ 3.65667769e-02 -9.64529028e-04 9.99330746e-01 8.66662118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.839254154 meters Centerline goodness : 0.999481 with order 1 Centerline is valid? [True, True] Translation: X:238.91, Y:12.16, Z:8.67 [[ 9.94823023e-01 -9.48399587e-02 -3.65039039e-02 2.38912267e+02] [ 9.48174795e-02 9.95491899e-01 -2.35040502e-03 1.21613894e+01] [ 3.65622529e-02 -1.12297113e-03 9.99330746e-01 8.66802284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.899254154 meters Centerline goodness : 0.999541 with order 1 Centerline is valid? [True, True] Translation: X:238.97, Y:12.16, Z:8.67 [[ 9.94283457e-01 -1.00338996e-01 -3.65033211e-02 2.38971340e+02] [ 1.00319885e-01 9.94952438e-01 -2.35942150e-03 1.21642872e+01] [ 3.65558103e-02 -1.31607520e-03 9.99330746e-01 8.67435489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.959254154 meters Centerline goodness : 0.999375 with order 1 Centerline is valid? [True, True] Translation: X:239.03, Y:12.17, Z:8.68 [[ 9.94057539e-01 -1.02553024e-01 -3.65032336e-02 2.39030258e+02] [ 1.02535353e-01 9.94726559e-01 -2.36077561e-03 1.21677566e+01] [ 3.65528406e-02 -1.39612514e-03 9.99330746e-01 8.67708648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.019254154 meters Centerline goodness : 0.999375 with order 1 Centerline is valid? [True, True] Translation: X:239.09, Y:12.17, Z:8.68 [[ 9.93821859e-01 -1.04812358e-01 -3.65031904e-02 2.39090869e+02] [ 1.04796183e-01 9.94490917e-01 -2.36144270e-03 1.21716286e+01] [ 3.65495997e-02 -1.47854164e-03 9.99330746e-01 8.67948752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.079254154 meters Centerline goodness : 0.999292 with order 1 Centerline is valid? [True, True] Translation: X:239.15, Y:12.18, Z:8.68 [[ 9.93584191e-01 -1.07041915e-01 -3.65031904e-02 2.39150729e+02] [ 1.07027242e-01 9.94253284e-01 -2.36144270e-03 1.21760289e+01] [ 3.65461903e-02 -1.56054365e-03 9.99330746e-01 8.68087953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.139254154 meters Centerline goodness : 0.999168 with order 1 Centerline is valid? [True, True] Translation: X:239.21, Y:12.18, Z:8.68 [[ 9.93219863e-01 -1.10371282e-01 -3.65031904e-02 2.39211359e+02] [ 1.10358851e-01 9.93889002e-01 -2.36144270e-03 1.21806681e+01] [ 3.65407549e-02 -1.68301835e-03 9.99330746e-01 8.68454952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.199254154 meters Centerline goodness : 0.999211 with order 1 Centerline is valid? [True, True] Translation: X:239.27, Y:12.19, Z:8.69 [[ 9.92935214e-01 -1.12903401e-01 -3.65031904e-02 2.39272624e+02] [ 1.12892676e-01 9.93604382e-01 -2.36144270e-03 1.21859392e+01] [ 3.65363448e-02 -1.77618324e-03 9.99330746e-01 8.68628357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.259254154 meters Centerline goodness : 0.999129 with order 1 Centerline is valid? [True, True] Translation: X:239.33, Y:12.19, Z:8.69 [[ 9.92769865e-01 -1.14348183e-01 -3.65032770e-02 2.39332482e+02] [ 1.14338481e-01 9.93439048e-01 -2.36010353e-03 1.21915886e+01] [ 3.65336543e-02 -1.83068959e-03 9.99330746e-01 8.68896356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.319254154 meters Centerline goodness : 0.999128 with order 1 Centerline is valid? [True, True] Translation: X:239.39, Y:12.20, Z:8.69 [[ 9.92853539e-01 -1.13619352e-01 -3.65033196e-02 2.39393380e+02] [ 1.13609183e-01 9.93522716e-01 -2.35944426e-03 1.21989301e+01] [ 3.65349557e-02 -1.80452974e-03 9.99330746e-01 8.69056678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.379254154 meters Centerline goodness : 0.999274 with order 1 Centerline is valid? [True, True] Translation: X:239.45, Y:12.21, Z:8.69 [[ 9.92991156e-01 -1.12410253e-01 -3.65034042e-02 2.39454574e+02] [ 1.12399317e-01 9.93660321e-01 -2.35813498e-03 1.22059075e+01] [ 3.65370628e-02 -1.76135051e-03 9.99330746e-01 8.69215122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.439254154 meters Centerline goodness : 0.999210 with order 1 Centerline is valid? [True, True] Translation: X:239.52, Y:12.21, Z:8.68 [[ 9.93995213e-01 -1.03155283e-01 -3.65034881e-02 2.39516502e+02] [ 1.03138162e-01 9.94664247e-01 -2.35683474e-03 1.22063494e+01] [ 3.65518345e-02 -1.42222024e-03 9.99330746e-01 8.68453760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.499254154 meters Centerline goodness : 0.999022 with order 1 Centerline is valid? [True, True] Translation: X:239.58, Y:12.21, Z:8.69 [[ 9.94264156e-01 -1.00529985e-01 -3.65035730e-02 2.39576800e+02] [ 1.00511146e-01 9.94933144e-01 -2.35552018e-03 1.22142718e+01] [ 3.65554150e-02 -1.32700666e-03 9.99330746e-01 8.68664966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.559254154 meters Centerline goodness : 0.999230 with order 1 Centerline is valid? [True, True] Translation: X:239.64, Y:12.23, Z:8.70 [[ 9.94337731e-01 -9.97996250e-02 -3.65035730e-02 2.39635425e+02] [ 9.97802940e-02 9.95006706e-01 -2.35552018e-03 1.22320358e+01] [ 3.65563799e-02 -1.30015465e-03 9.99330746e-01 8.69716137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.619254154 meters Centerline goodness : 0.999209 with order 1 Centerline is valid? [True, True] Translation: X:239.70, Y:12.24, Z:8.70 [[ 9.94853949e-01 -9.45151132e-02 -3.65036138e-02 2.39695041e+02] [ 9.44922514e-02 9.95522812e-01 -2.35488652e-03 1.22407186e+01] [ 3.65627527e-02 -1.10654050e-03 9.99330746e-01 8.69809886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.679254154 meters Centerline goodness : 0.999164 with order 1 Centerline is valid? [True, True] Translation: X:239.76, Y:12.25, Z:8.70 [[ 9.95707640e-01 -8.50516247e-02 -3.65036540e-02 2.39755175e+02] [ 8.50224270e-02 9.96376256e-01 -2.35426335e-03 1.22505707e+01] [ 3.65716081e-02 -7.59471260e-04 9.99330746e-01 8.69987193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.739254154 meters Centerline goodness : 0.999208 with order 1 Centerline is valid? [True, True] Translation: X:239.81, Y:12.26, Z:8.70 [[ 9.96391464e-01 -7.66259383e-02 -3.65036540e-02 2.39813927e+02] [ 7.65910860e-02 9.97059809e-01 -2.35426335e-03 1.22601359e+01] [ 3.65767240e-02 -4.50086601e-04 9.99330746e-01 8.70367414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.799254154 meters Centerline goodness : 0.999250 with order 1 Centerline is valid? [True, True] Translation: X:239.87, Y:12.27, Z:8.71 [[ 9.96689247e-01 -7.26500845e-02 -3.65035754e-02 2.39872649e+02] [ 7.26125212e-02 9.97357445e-01 -2.35548242e-03 1.22668147e+01] [ 3.65782387e-02 -3.02932645e-04 9.99330746e-01 8.70638998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.859254154 meters Centerline goodness : 0.999143 with order 1 Centerline is valid? [True, True] Translation: X:239.93, Y:12.27, Z:8.71 [[ 9.96790415e-01 -7.12485587e-02 -3.65035837e-02 2.39931285e+02] [ 7.12100607e-02 9.97458560e-01 -2.35535335e-03 1.22721883e+01] [ 3.65786276e-02 -2.51628765e-04 9.99330746e-01 8.70861084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.919254154 meters Centerline goodness : 0.999204 with order 1 Centerline is valid? [True, True] Translation: X:239.99, Y:12.28, Z:8.71 [[ 9.96657181e-01 -7.30889310e-02 -3.65030470e-02 2.39990116e+02] [ 7.30513631e-02 9.97325379e-01 -2.36364217e-03 1.22771911e+01] [ 3.65781712e-02 -3.10856402e-04 9.99330746e-01 8.71013968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.979254154 meters Centerline goodness : 0.998912 with order 1 Centerline is valid? [True, True] Translation: X:240.05, Y:12.28, Z:8.71 [[ 9.96319347e-01 -7.75585220e-02 -3.65025164e-02 2.40048875e+02] [ 7.75236525e-02 9.96987692e-01 -2.37180784e-03 1.22810647e+01] [ 3.65765135e-02 -4.66730354e-04 9.99330746e-01 8.71282487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.039254154 meters Centerline goodness : 0.999143 with order 1 Centerline is valid? [True, True] Translation: X:240.11, Y:12.28, Z:8.71 [[ 9.96106245e-01 -8.02493188e-02 -3.65019859e-02 2.40106979e+02] [ 8.02159566e-02 9.96774667e-01 -2.37994363e-03 1.22842036e+01] [ 3.65752437e-02 -5.57365011e-04 9.99330746e-01 8.71491810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.099254154 meters Centerline goodness : 0.999310 with order 1 Centerline is valid? [True, True] Translation: X:240.17, Y:12.29, Z:8.72 [[ 9.95944871e-01 -8.22278971e-02 -3.65018739e-02 2.40166278e+02] [ 8.21957998e-02 9.96613354e-01 -2.38166050e-03 1.22874148e+01] [ 3.65740939e-02 -6.28298166e-04 9.99330746e-01 8.71623021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.159254154 meters Centerline goodness : 0.999080 with order 1 Centerline is valid? [True, True] Translation: X:240.22, Y:12.29, Z:8.72 [[ 9.95943581e-01 -8.22435593e-02 -3.65018000e-02 2.40224458e+02] [ 8.22114310e-02 9.96612062e-01 -2.38279320e-03 1.22907354e+01] [ 3.65741036e-02 -6.27737617e-04 9.99330746e-01 8.71767609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.219254154 meters Centerline goodness : 0.999125 with order 1 Centerline is valid? [True, True] Translation: X:240.28, Y:12.29, Z:8.72 [[ 9.96025244e-01 -8.12486364e-02 -3.65016904e-02 2.40283451e+02] [ 8.12157789e-02 9.96693690e-01 -2.38446992e-03 1.22933992e+01] [ 3.65747395e-02 -5.89520986e-04 9.99330746e-01 8.71868619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.279254154 meters Centerline goodness : 0.999143 with order 1 Centerline is valid? [True, True] Translation: X:240.34, Y:12.30, Z:8.72 [[ 9.96162143e-01 -7.95528079e-02 -3.65011815e-02 2.40344079e+02] [ 7.95185280e-02 9.96830518e-01 -2.39223582e-03 1.22975485e+01] [ 3.65758007e-02 -5.19465457e-04 9.99330747e-01 8.72187527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.339254154 meters Centerline goodness : 0.999017 with order 1 Centerline is valid? [True, True] Translation: X:240.40, Y:12.30, Z:8.72 [[ 9.96215310e-01 -7.88842177e-02 -3.65011815e-02 2.40404640e+02] [ 7.88494892e-02 9.96883662e-01 -2.39223582e-03 1.23017441e+01] [ 3.65761411e-02 -4.94917564e-04 9.99330747e-01 8.72339363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.399254154 meters Centerline goodness : 0.999183 with order 1 Centerline is valid? [True, True] Translation: X:240.46, Y:12.31, Z:8.73 [[ 9.96265790e-01 -7.82440987e-02 -3.65011815e-02 2.40464478e+02] [ 7.82089408e-02 9.96934120e-01 -2.39223582e-03 1.23062282e+01] [ 3.65764516e-02 -4.71416029e-04 9.99330747e-01 8.72615817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.459254154 meters Centerline goodness : 0.999121 with order 1 Centerline is valid? [True, True] Translation: X:240.52, Y:12.31, Z:8.73 [[ 9.96392834e-01 -7.66092889e-02 -3.65011815e-02 2.40524751e+02] [ 7.65730345e-02 9.97061105e-01 -2.39223582e-03 1.23110065e+01] [ 3.65771758e-02 -4.11399595e-04 9.99330747e-01 8.73010562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.519254154 meters Centerline goodness : 0.999060 with order 1 Centerline is valid? [True, True] Translation: X:240.58, Y:12.32, Z:8.73 [[ 9.96368740e-01 -7.69220300e-02 -3.65011815e-02 2.40584377e+02] [ 7.68859853e-02 9.97037022e-01 -2.39223582e-03 1.23152554e+01] [ 3.65770449e-02 -4.22880310e-04 9.99330747e-01 8.73254663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.579254154 meters Centerline goodness : 0.998872 with order 1 Centerline is valid? [True, True] Translation: X:240.64, Y:12.32, Z:8.73 [[ 9.96233703e-01 -7.86516138e-02 -3.65011385e-02 2.40644643e+02] [ 7.86167053e-02 9.96902045e-01 -2.39289155e-03 1.23195666e+01] [ 3.65762644e-02 -4.85720042e-04 9.99330747e-01 8.73420157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.639254154 meters Centerline goodness : 0.999038 with order 1 Centerline is valid? [True, True] Translation: X:240.70, Y:12.32, Z:8.73 [[ 9.95763259e-01 -8.43990475e-02 -3.65011385e-02 2.40703938e+02] [ 8.43679963e-02 9.96431792e-01 -2.39289155e-03 1.23226020e+01] [ 3.65728526e-02 -6.96774431e-04 9.99330747e-01 8.73465836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.699254154 meters Centerline goodness : 0.998956 with order 1 Centerline is valid? [True, True] Translation: X:240.76, Y:12.33, Z:8.74 [[ 9.95319410e-01 -8.94815173e-02 -3.65010967e-02 2.40764030e+02] [ 8.94538560e-02 9.95988092e-01 -2.39352950e-03 1.23257975e+01] [ 3.65688343e-02 -8.82837475e-04 9.99330747e-01 8.73595807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.759254154 meters Centerline goodness : 0.999103 with order 1 Centerline is valid? [True, True] Translation: X:240.82, Y:12.33, Z:8.74 [[ 9.94673693e-01 -9.63945807e-02 -3.65010967e-02 2.40824904e+02] [ 9.63715660e-02 9.95342550e-01 -2.39352950e-03 1.23294689e+01] [ 3.65618179e-02 -1.13688702e-03 9.99330747e-01 8.73939382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.819254154 meters Centerline goodness : 0.999123 with order 1 Centerline is valid? [True, True] Translation: X:240.89, Y:12.33, Z:8.74 [[ 9.94381806e-01 -9.93603958e-02 -3.65011856e-02 2.40887368e+02] [ 9.93394255e-02 9.95050730e-01 -2.39217212e-03 1.23334739e+01] [ 3.65582186e-02 -1.24727438e-03 9.99330747e-01 8.74178677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.879254154 meters Centerline goodness : 0.998976 with order 1 Centerline is valid? [True, True] Translation: X:240.95, Y:12.34, Z:8.74 [[ 9.94207672e-01 -1.01087860e-01 -3.65013645e-02 2.40949571e+02] [ 1.01068152e-01 9.94876635e-01 -2.38943976e-03 1.23378695e+01] [ 3.65558980e-02 -1.31352611e-03 9.99330747e-01 8.74247848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.939254154 meters Centerline goodness : 0.998852 with order 1 Centerline is valid? [True, True] Translation: X:241.01, Y:12.34, Z:8.75 [[ 9.94154818e-01 -1.01606271e-01 -3.65015425e-02 2.41011705e+02] [ 1.01587011e-01 9.94823795e-01 -2.38671786e-03 1.23425302e+01] [ 3.65551085e-02 -1.33531556e-03 9.99330747e-01 8.74529084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.999254154 meters Centerline goodness : 0.999059 with order 1 Centerline is valid? [True, True] Translation: X:241.07, Y:12.35, Z:8.75 [[ 9.94193550e-01 -1.01226529e-01 -3.65017176e-02 2.41073874e+02] [ 1.01207113e-01 9.94862521e-01 -2.38403675e-03 1.23475887e+01] [ 3.65555185e-02 -1.32403949e-03 9.99330747e-01 8.74736209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.059254154 meters Centerline goodness : 0.998870 with order 1 Centerline is valid? [True, True] Translation: X:241.14, Y:12.35, Z:8.75 [[ 9.94458693e-01 -9.85876196e-02 -3.65018949e-02 2.41135920e+02] [ 9.85665274e-02 9.95127614e-01 -2.38131869e-03 1.23544606e+01] [ 3.65588121e-02 -1.22974195e-03 9.99330747e-01 8.74931845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.119254154 meters Centerline goodness : 0.999078 with order 1 Centerline is valid? [True, True] Translation: X:241.20, Y:12.36, Z:8.75 [[ 9.94839137e-01 -9.46714853e-02 -3.65020731e-02 2.41196887e+02] [ 9.46478598e-02 9.95507973e-01 -2.37858357e-03 1.23610652e+01] [ 3.65632889e-02 -1.08853508e-03 9.99330747e-01 8.75092608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.179254154 meters Centerline goodness : 0.998911 with order 1 Centerline is valid? [True, True] Translation: X:241.26, Y:12.37, Z:8.75 [[ 9.95110344e-01 -9.17768590e-02 -3.65022047e-02 2.41258550e+02] [ 9.17513619e-02 9.95779112e-01 -2.37656297e-03 1.23669414e+01] [ 3.65662464e-02 -9.84184599e-04 9.99330747e-01 8.75391582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.239254154 meters Centerline goodness : 0.998867 with order 1 Centerline is valid? [True, True] Translation: X:241.32, Y:12.37, Z:8.76 [[ 9.95413891e-01 -8.84237625e-02 -3.65023786e-02 2.41320394e+02] [ 8.83961105e-02 9.96082573e-01 -2.37388901e-03 1.23732412e+01] [ 3.65692914e-02 -8.63666191e-04 9.99330747e-01 8.75602018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.299254154 meters Centerline goodness : 0.999371 with order 1 Centerline is valid? [True, True] Translation: X:241.38, Y:12.38, Z:8.76 [[ 9.95867921e-01 -8.31543661e-02 -3.65025519e-02 2.41381858e+02] [ 8.31232732e-02 9.96536451e-01 -2.37122136e-03 1.23805639e+01] [ 3.65733009e-02 -6.72788311e-04 9.99330747e-01 8.75822560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.359254154 meters Centerline goodness : 0.999243 with order 1 Centerline is valid? [True, True] Translation: X:241.44, Y:12.39, Z:8.76 [[ 9.96204617e-01 -7.90184594e-02 -3.65026465e-02 2.41441682e+02] [ 7.89846442e-02 9.96873016e-01 -2.36976379e-03 1.23875816e+01] [ 3.65757584e-02 -5.22378915e-04 9.99330747e-01 8.75970246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.419254154 meters Centerline goodness : 0.999223 with order 1 Centerline is valid? [True, True] Translation: X:241.50, Y:12.39, Z:8.76 [[ 9.96349482e-01 -7.71703526e-02 -3.65026893e-02 2.41502375e+02] [ 7.71353217e-02 9.97017818e-01 -2.36910454e-03 1.23935352e+01] [ 3.65766563e-02 -4.55190601e-04 9.99330747e-01 8.76294898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.479254154 meters Centerline goodness : 0.999157 with order 1 Centerline is valid? [True, True] Translation: X:241.56, Y:12.40, Z:8.77 [[ 9.96408622e-01 -7.64029137e-02 -3.65027743e-02 2.41563276e+02] [ 7.63674161e-02 9.97076933e-01 -2.36779349e-03 1.24006192e+01] [ 3.65769806e-02 -4.28332709e-04 9.99330747e-01 8.76621389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.539254154 meters Centerline goodness : 0.999053 with order 1 Centerline is valid? [True, True] Translation: X:241.62, Y:12.41, Z:8.77 [[ 9.96345253e-01 -7.72248605e-02 -3.65028580e-02 2.41623976e+02] [ 7.71899615e-02 9.97013595e-01 -2.36650312e-03 1.24059402e+01] [ 3.65765986e-02 -4.59800056e-04 9.99330747e-01 8.76679976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.599254154 meters Centerline goodness : 0.999072 with order 1 Centerline is valid? [True, True] Translation: X:241.68, Y:12.41, Z:8.77 [[ 9.95730493e-01 -8.47839344e-02 -3.65029995e-02 2.41684175e+02] [ 8.47541886e-02 9.96399085e-01 -2.36431742e-03 1.24103238e+01] [ 3.65720115e-02 -7.39559154e-04 9.99330747e-01 8.77106163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.659254154 meters Centerline goodness : 0.999305 with order 1 Centerline is valid? [True, True] Translation: X:241.75, Y:12.42, Z:8.77 [[ 9.94993340e-01 -9.30364457e-02 -3.65030468e-02 2.41745563e+02] [ 9.30122708e-02 9.95662157e-01 -2.36358808e-03 1.24150524e+01] [ 3.65646021e-02 -1.04347687e-03 9.99330747e-01 8.77223104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.719254154 meters Centerline goodness : 0.998906 with order 1 Centerline is valid? [True, True] Translation: X:241.81, Y:12.42, Z:8.77 [[ 9.94453806e-01 -9.86364348e-02 -3.65031769e-02 2.41807971e+02] [ 9.86160992e-02 9.95122750e-01 -2.36157702e-03 1.24194945e+01] [ 3.65580793e-02 -1.25132166e-03 9.99330747e-01 8.77474135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.779254154 meters Centerline goodness : 0.998970 with order 1 Centerline is valid? [True, True] Translation: X:241.87, Y:12.42, Z:8.78 [[ 9.93555718e-01 -1.07305826e-01 -3.65033498e-02 2.41869607e+02] [ 1.07291423e-01 9.94224817e-01 -2.35890070e-03 1.24239864e+01] [ 3.65456601e-02 -1.57279708e-03 9.99330747e-01 8.77744164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.839254154 meters Centerline goodness : 0.998971 with order 1 Centerline is valid? [True, True] Translation: X:241.93, Y:12.43, Z:8.78 [[ 9.93071511e-01 -1.11698102e-01 -3.65035247e-02 2.41931550e+02] [ 1.11686758e-01 9.93740669e-01 -2.35619140e-03 1.24287024e+01] [ 3.65382192e-02 -1.73709378e-03 9.99330747e-01 8.77974140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.899254154 meters Centerline goodness : 0.998697 with order 1 Centerline is valid? [True, True] Translation: X:241.99, Y:12.44, Z:8.78 [[ 9.92754085e-01 -1.14484949e-01 -3.65037408e-02 2.41994690e+02] [ 1.14475605e-01 9.93423273e-01 -2.35283821e-03 1.24355863e+01] [ 3.65330303e-02 -1.84299809e-03 9.99330747e-01 8.78205477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.959254154 meters Centerline goodness : 0.998800 with order 1 Centerline is valid? [True, True] Translation: X:242.06, Y:12.44, Z:8.78 [[ 9.92783103e-01 -1.14232958e-01 -3.65039985e-02 2.42057527e+02] [ 1.14223592e-01 9.93452291e-01 -2.34883413e-03 1.24424321e+01] [ 3.65332952e-02 -1.83773498e-03 9.99330747e-01 8.78436727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.019254154 meters Centerline goodness : 0.998904 with order 1 Centerline is valid? [True, True] Translation: X:242.12, Y:12.45, Z:8.79 [[ 9.93060457e-01 -1.11796104e-01 -3.65042522e-02 2.42119169e+02] [ 1.11785241e-01 9.93729622e-01 -2.34488347e-03 1.24504945e+01] [ 3.65375056e-02 -1.75202558e-03 9.99330747e-01 8.78652651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.079254154 meters Centerline goodness : 0.999051 with order 1 Centerline is valid? [True, True] Translation: X:242.18, Y:12.46, Z:8.79 [[ 9.93541493e-01 -1.07437009e-01 -3.65046663e-02 2.42182154e+02] [ 1.07423446e-01 9.94210609e-01 -2.33841964e-03 1.24591459e+01] [ 3.65445593e-02 -1.59814011e-03 9.99330747e-01 8.78811169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.139254154 meters Centerline goodness : 0.999239 with order 1 Centerline is valid? [True, True] Translation: X:242.24, Y:12.47, Z:8.79 [[ 9.93953251e-01 -1.03558316e-01 -3.65049186e-02 2.42243749e+02] [ 1.03542286e-01 9.94622313e-01 -2.33447434e-03 1.24672378e+01] [ 3.65503608e-02 -1.45944437e-03 9.99330747e-01 8.78919693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.199254154 meters Centerline goodness : 0.999194 with order 1 Centerline is valid? [True, True] Translation: X:242.31, Y:12.48, Z:8.79 [[ 9.94714251e-01 -9.59736257e-02 -3.65050919e-02 2.42305148e+02] [ 9.59525923e-02 9.95383174e-01 -2.33176108e-03 1.24770989e+01] [ 3.65603418e-02 -1.18332222e-03 9.99330747e-01 8.78866806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.259254154 meters Centerline goodness : 0.999276 with order 1 Centerline is valid? [True, True] Translation: X:242.37, Y:12.48, Z:8.79 [[ 9.95242187e-01 -9.03346820e-02 -3.65052652e-02 2.42366351e+02] [ 9.03099575e-02 9.95910984e-01 -2.32904515e-03 1.24849539e+01] [ 3.65663881e-02 -9.78824963e-04 9.99330747e-01 8.79278504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.319254154 meters Centerline goodness : 0.998850 with order 1 Centerline is valid? [True, True] Translation: X:242.43, Y:12.49, Z:8.80 [[ 9.95884947e-01 -8.29489566e-02 -3.65053935e-02 2.42427544e+02] [ 8.29193450e-02 9.96553545e-01 -2.32703287e-03 1.24932990e+01] [ 3.65726042e-02 -7.09546307e-04 9.99330747e-01 8.79588239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.379254154 meters Centerline goodness : 0.999015 with order 1 Centerline is valid? [True, True] Translation: X:242.49, Y:12.50, Z:8.80 [[ 9.96781525e-01 -7.13717502e-02 -3.65056696e-02 2.42488948e+02] [ 7.13345309e-02 9.97449743e-01 -2.32269226e-03 1.25037763e+01] [ 3.65783454e-02 -2.88898088e-04 9.99330747e-01 8.80040269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.439254154 meters Centerline goodness : 0.999078 with order 1 Centerline is valid? [True, True] Translation: X:242.55, Y:12.51, Z:8.80 [[ 9.97200554e-01 -6.52562504e-02 -3.65058391e-02 2.42550757e+02] [ 6.52150305e-02 9.97868537e-01 -2.32002550e-03 1.25098208e+01] [ 3.65794244e-02 -6.71986954e-05 9.99330747e-01 8.80307201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.499254154 meters Centerline goodness : 0.999033 with order 1 Centerline is valid? [True, True] Translation: X:242.61, Y:12.51, Z:8.81 [[ 9.97497920e-01 -6.05409880e-02 -3.65060075e-02 2.42612222e+02] [ 6.04967077e-02 9.98165707e-01 -2.31737269e-03 1.25146992e+01] [ 3.65793408e-02 1.03081175e-04 9.99330747e-01 8.80617171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.559254154 meters Centerline goodness : 0.999228 with order 1 Centerline is valid? [True, True] Translation: X:242.67, Y:12.52, Z:8.81 [[ 9.97363091e-01 -6.27229580e-02 -3.65060910e-02 2.42672606e+02] [ 6.26801868e-02 9.98030977e-01 -2.31605611e-03 1.25168227e+01] [ 3.65794796e-02 2.17402713e-05 9.99330747e-01 8.80717263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.619254154 meters Centerline goodness : 0.999102 with order 1 Centerline is valid? [True, True] Translation: X:242.73, Y:12.52, Z:8.81 [[ 9.97013177e-01 -6.80590259e-02 -3.65060910e-02 2.42733553e+02] [ 6.80198292e-02 9.97681281e-01 -2.31605611e-03 1.25183537e+01] [ 3.65790722e-02 -1.73999625e-04 9.99330747e-01 8.80740220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.679254154 meters Centerline goodness : 0.999038 with order 1 Centerline is valid? [True, True] Translation: X:242.80, Y:12.52, Z:8.81 [[ 9.96153952e-01 -7.96530585e-02 -3.65060910e-02 2.42795778e+02] [ 7.96216368e-02 9.96822467e-01 -2.31605611e-03 1.25176958e+01] [ 3.65745727e-02 -5.99526281e-04 9.99330747e-01 8.80812755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.739254154 meters Centerline goodness : 0.999191 with order 1 Centerline is valid? [True, True] Translation: X:242.86, Y:12.52, Z:8.81 [[ 9.95449192e-01 -8.80238510e-02 -3.65062655e-02 2.42856747e+02] [ 8.79981508e-02 9.96117952e-01 -2.31330250e-03 1.25189053e+01] [ 3.65681723e-02 -9.09708755e-04 9.99330747e-01 8.81028884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.799254154 meters Centerline goodness : 0.998961 with order 1 Centerline is valid? [True, True] Translation: X:242.92, Y:12.52, Z:8.81 [[ 9.94375582e-01 -9.94206907e-02 -3.65065531e-02 2.42917811e+02] [ 9.94028194e-02 9.95044597e-01 -2.30875576e-03 1.25195230e+01] [ 3.65551865e-02 -1.33308395e-03 9.99330747e-01 8.81306237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.859254154 meters Centerline goodness : 0.999046 with order 1 Centerline is valid? [True, True] Translation: X:242.98, Y:12.52, Z:8.82 [[ 9.94076171e-01 -1.02371034e-01 -3.65066789e-02 2.42980589e+02] [ 1.02355222e-01 9.94745237e-01 -2.30676405e-03 1.25221400e+01] [ 3.65509908e-02 -1.44355003e-03 9.99330747e-01 8.81535543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.919254154 meters Centerline goodness : 0.998815 with order 1 Centerline is valid? [True, True] Translation: X:243.04, Y:12.52, Z:8.82 [[ 9.93264883e-01 -1.09964159e-01 -3.65069386e-02 2.43042395e+02] [ 1.09953611e-01 9.93934053e-01 -2.30264696e-03 1.25238754e+01] [ 3.65386981e-02 -1.72693134e-03 9.99330747e-01 8.81679027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.979254154 meters Centerline goodness : 0.998944 with order 1 Centerline is valid? [True, True] Translation: X:243.11, Y:12.53, Z:8.82 [[ 9.92631052e-01 -1.15545760e-01 -3.65071518e-02 2.43105675e+02] [ 1.15539097e-01 9.93300272e-01 -2.29926209e-03 1.25285481e+01] [ 3.65282338e-02 -1.93568440e-03 9.99330747e-01 8.81867094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.039254154 meters Centerline goodness : 0.998986 with order 1 Centerline is valid? [True, True] Translation: X:243.17, Y:12.53, Z:8.82 [[ 9.92284065e-01 -1.18488579e-01 -3.65074099e-02 2.43167144e+02] [ 1.18484051e-01 9.92953303e-01 -2.29515673e-03 1.25323841e+01] [ 3.65221031e-02 -2.04809837e-03 9.99330747e-01 8.82104326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.099254154 meters Centerline goodness : 0.998861 with order 1 Centerline is valid? [True, True] Translation: X:243.23, Y:12.54, Z:8.82 [[ 9.91839462e-01 -1.22154309e-01 -3.65076213e-02 2.43230117e+02] [ 1.22152377e-01 9.92508712e-01 -2.29178901e-03 1.25368965e+01] [ 3.65140841e-02 -2.18640596e-03 9.99330747e-01 8.82406159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.159254154 meters Centerline goodness : 0.999345 with order 1 Centerline is valid? [True, True] Translation: X:243.29, Y:12.54, Z:8.83 [[ 9.91736039e-01 -1.22991068e-01 -3.65078812e-02 2.43292813e+02] [ 1.22989854e-01 9.92405292e-01 -2.28764156e-03 1.25429227e+01] [ 3.65119740e-02 -2.22136238e-03 9.99330747e-01 8.82654741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.219254154 meters Centerline goodness : 0.999152 with order 1 Centerline is valid? [True, True] Translation: X:243.35, Y:12.55, Z:8.83 [[ 9.91786173e-01 -1.22586066e-01 -3.65081374e-02 2.43353471e+02] [ 1.22584728e-01 9.92455425e-01 -2.28354555e-03 1.25501564e+01] [ 3.65126299e-02 -2.21055119e-03 9.99330747e-01 8.82689015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.279254154 meters Centerline goodness : 0.999173 with order 1 Centerline is valid? [True, True] Translation: X:243.42, Y:12.56, Z:8.83 [[ 9.91811917e-01 -1.22377563e-01 -3.65082629e-02 2.43415638e+02] [ 1.22376158e-01 9.92481169e-01 -2.28153789e-03 1.25557775e+01] [ 3.65129724e-02 -2.20488448e-03 9.99330747e-01 8.82784692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.339254154 meters Centerline goodness : 0.999065 with order 1 Centerline is valid? [True, True] Translation: X:243.48, Y:12.56, Z:8.83 [[ 9.91775889e-01 -1.22669148e-01 -3.65084316e-02 2.43477104e+02] [ 1.22668038e-01 9.92445142e-01 -2.27883472e-03 1.25634227e+01] [ 3.65121583e-02 -2.21832436e-03 9.99330747e-01 8.82831226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.399254154 meters Centerline goodness : 0.999320 with order 1 Centerline is valid? [True, True] Translation: X:243.54, Y:12.57, Z:8.83 [[ 9.91911555e-01 -1.21567218e-01 -3.65086010e-02 2.43538766e+02] [ 1.21565465e-01 9.92580806e-01 -2.27611765e-03 1.25701949e+01] [ 3.65144379e-02 -2.18047766e-03 9.99330747e-01 8.83084981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.459254154 meters Centerline goodness : 0.999126 with order 1 Centerline is valid? [True, True] Translation: X:243.60, Y:12.58, Z:8.84 [[ 9.92532246e-01 -1.16390924e-01 -3.65088097e-02 2.43600302e+02] [ 1.16385802e-01 9.93201480e-01 -2.27276543e-03 1.25798591e+01] [ 3.65251331e-02 -1.99331413e-03 9.99330747e-01 8.83749317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.519254154 meters Centerline goodness : 0.999339 with order 1 Centerline is valid? [True, True] Translation: X:243.66, Y:12.59, Z:8.84 [[ 9.93217713e-01 -1.10388720e-01 -3.65089804e-02 2.43660840e+02] [ 1.10379653e-01 9.93886905e-01 -2.27001952e-03 1.25877909e+01] [ 3.65363821e-02 -1.77522500e-03 9.99330747e-01 8.84238419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.579254154 meters Centerline goodness : 0.999337 with order 1 Centerline is valid? [True, True] Translation: X:243.72, Y:12.60, Z:8.85 [[ 9.93929718e-01 -1.03782468e-01 -3.65091062e-02 2.43723229e+02] [ 1.03769027e-01 9.94598836e-01 -2.26799482e-03 1.25957244e+01] [ 3.65472926e-02 -1.53428698e-03 9.99330747e-01 8.84643898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.639254154 meters Centerline goodness : 0.999549 with order 1 Centerline is valid? [True, True] Translation: X:243.79, Y:12.60, Z:8.85 [[ 9.94788457e-01 -9.51997501e-02 -3.65093579e-02 2.43786450e+02] [ 9.51806828e-02 9.95457439e-01 -2.26393570e-03 1.26027769e+01] [ 3.65590380e-02 -1.22284851e-03 9.99330747e-01 8.84779848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.699254154 meters Centerline goodness : 0.999398 with order 1 Centerline is valid? [True, True] Translation: X:243.85, Y:12.61, Z:8.85 [[ 9.95168887e-01 -9.11369042e-02 -3.65096060e-02 2.43849517e+02] [ 9.11152523e-02 9.95837790e-01 -2.25992759e-03 1.26090743e+01] [ 3.65636081e-02 -1.07757234e-03 9.99330747e-01 8.84718487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.759254154 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:243.91, Y:12.61, Z:8.85 [[ 9.95163121e-01 -9.11997420e-02 -3.65098524e-02 2.43911543e+02] [ 9.11782785e-02 9.95832030e-01 -2.25594003e-03 1.26137700e+01] [ 3.65634216e-02 -1.08387717e-03 9.99330747e-01 8.84678219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.819254154 meters Centerline goodness : 0.999397 with order 1 Centerline is valid? [True, True] Translation: X:243.97, Y:12.62, Z:8.85 [[ 9.95210197e-01 -9.06845172e-02 -3.65100162e-02 2.43974510e+02] [ 9.06628047e-02 9.95879098e-01 -2.25328550e-03 1.26178696e+01] [ 3.65639001e-02 -1.06760776e-03 9.99330747e-01 8.84769219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.879254154 meters Centerline goodness : 0.999440 with order 1 Centerline is valid? [True, True] Translation: X:244.04, Y:12.62, Z:8.85 [[ 9.95324589e-01 -8.94201522e-02 -3.65102653e-02 2.44037001e+02] [ 8.93977381e-02 9.95993467e-01 -2.24924296e-03 1.26218845e+01] [ 3.65651133e-02 -1.02520831e-03 9.99330747e-01 8.85003549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.939254154 meters Centerline goodness : 0.999375 with order 1 Centerline is valid? [True, True] Translation: X:244.10, Y:12.63, Z:8.85 [[ 9.95909927e-01 -8.26462327e-02 -3.65105142e-02 2.44098176e+02] [ 8.26194166e-02 9.96578643e-01 -2.24519517e-03 1.26276619e+01] [ 3.65711556e-02 -7.80465224e-04 9.99330747e-01 8.85378623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.999254154 meters Centerline goodness : 0.999589 with order 1 Centerline is valid? [True, True] Translation: X:244.16, Y:12.63, Z:8.86 [[ 9.96595502e-01 -7.39214432e-02 -3.65106361e-02 2.44159897e+02] [ 7.38888446e-02 9.97263960e-01 -2.24321067e-03 1.26319645e+01] [ 3.65765629e-02 -4.62155054e-04 9.99330747e-01 8.85746609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.059254154 meters Centerline goodness : 0.999590 with order 1 Centerline is valid? [True, True] Translation: X:244.22, Y:12.63, Z:8.86 [[ 9.97006875e-01 -6.81487612e-02 -3.65107969e-02 2.44222179e+02] [ 6.81123879e-02 9.97675139e-01 -2.24059022e-03 1.26344594e+01] [ 3.65786078e-02 -2.52953707e-04 9.99330747e-01 8.85955895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.119254154 meters Centerline goodness : 0.999633 with order 1 Centerline is valid? [True, True] Translation: X:244.28, Y:12.64, Z:8.86 [[ 9.97119303e-01 -6.64834293e-02 -3.65109566e-02 2.44284803e+02] [ 6.64460354e-02 9.97787510e-01 -2.23798485e-03 1.26363141e+01] [ 3.65789654e-02 -1.94470419e-04 9.99330747e-01 8.86112949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.179254154 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:244.35, Y:12.64, Z:8.86 [[ 9.97103356e-01 -6.67220751e-02 -3.65111222e-02 2.44346711e+02] [ 6.66849401e-02 9.97771578e-01 -2.23528030e-03 1.26350751e+01] [ 3.65789025e-02 -2.05936504e-04 9.99330747e-01 8.86210995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.239254154 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:244.41, Y:12.63, Z:8.86 [[ 9.96989089e-01 -6.84082076e-02 -3.65112867e-02 2.44408603e+02] [ 6.83723012e-02 9.97657378e-01 -2.23259065e-03 1.26329876e+01] [ 3.65784820e-02 -2.70492168e-04 9.99330747e-01 8.86319402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.299254154 meters Centerline goodness : 0.999613 with order 1 Centerline is valid? [True, True] Translation: X:244.47, Y:12.63, Z:8.86 [[ 9.96873874e-01 -7.00670134e-02 -3.65115431e-02 2.44470291e+02] [ 7.00323729e-02 9.97542230e-01 -2.22838946e-03 1.26333080e+01] [ 3.65779427e-02 -3.35566768e-04 9.99330747e-01 8.86329676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.359254154 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:244.53, Y:12.63, Z:8.87 [[ 9.96684109e-01 -7.27164745e-02 -3.65116688e-02 2.44531745e+02] [ 7.26836861e-02 9.97352558e-01 -2.22632680e-03 1.26328017e+01] [ 3.65768970e-02 -4.34858138e-04 9.99330747e-01 8.86669302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.419254154 meters Centerline goodness : 0.999381 with order 1 Centerline is valid? [True, True] Translation: X:244.59, Y:12.63, Z:8.87 [[ 9.96341222e-01 -7.72726378e-02 -3.65117533e-02 2.44593959e+02] [ 7.72429569e-02 9.97009817e-01 -2.22493995e-03 1.26302616e+01] [ 3.65745035e-02 -6.03476399e-04 9.99330747e-01 8.86892287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.479254154 meters Centerline goodness : 0.999424 with order 1 Centerline is valid? [True, True] Translation: X:244.66, Y:12.63, Z:8.87 [[ 9.95823278e-01 -8.36832021e-02 -3.65119174e-02 2.44656751e+02] [ 8.36579234e-02 9.96492054e-01 -2.22224414e-03 1.26285941e+01] [ 3.65698001e-02 -8.41548750e-04 9.99330747e-01 8.87130972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.539254154 meters Centerline goodness : 0.999363 with order 1 Centerline is valid? [True, True] Translation: X:244.72, Y:12.63, Z:8.87 [[ 9.95363274e-01 -8.89877531e-02 -3.65120845e-02 2.44718456e+02] [ 8.89661388e-02 9.96032178e-01 -2.21949526e-03 1.26287142e+01] [ 3.65647190e-02 -1.03913511e-03 9.99330747e-01 8.87273778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.599254154 meters Centerline goodness : 0.999385 with order 1 Centerline is valid? [True, True] Translation: X:244.78, Y:12.63, Z:8.88 [[ 9.94530603e-01 -9.78556502e-02 -3.65123551e-02 2.44780478e+02] [ 9.78401620e-02 9.95199677e-01 -2.21503462e-03 1.26274586e+01] [ 3.65538377e-02 -1.36945503e-03 9.99330747e-01 8.87549921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.659254154 meters Centerline goodness : 0.999364 with order 1 Centerline is valid? [True, True] Translation: X:244.84, Y:12.63, Z:8.88 [[ 9.93960133e-01 -1.03489566e-01 -3.65125211e-02 2.44841658e+02] [ 1.03477970e-01 9.94629285e-01 -2.21229511e-03 1.26289169e+01] [ 3.65453722e-02 -1.57930842e-03 9.99330747e-01 8.87751357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.719254154 meters Centerline goodness : 0.999344 with order 1 Centerline is valid? [True, True] Translation: X:244.90, Y:12.63, Z:8.88 [[ 9.93458065e-01 -1.08203049e-01 -3.65126437e-02 2.44904197e+02] [ 1.08194701e-01 9.94127266e-01 -2.21026933e-03 1.26308813e+01] [ 3.65373726e-02 -1.75466470e-03 9.99330747e-01 8.88057388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.779254154 meters Centerline goodness : 0.999218 with order 1 Centerline is valid? [True, True] Translation: X:244.96, Y:12.63, Z:8.88 [[ 9.93150825e-01 -1.10987633e-01 -3.65128060e-02 2.44964984e+02] [ 1.10981260e-01 9.93820047e-01 -2.20758595e-03 1.26330477e+01] [ 3.65321733e-02 -1.85977140e-03 9.99330747e-01 8.88021631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.839254154 meters Centerline goodness : 0.999577 with order 1 Centerline is valid? [True, True] Translation: X:245.03, Y:12.64, Z:8.89 [[ 9.92918593e-01 -1.13046332e-01 -3.65129346e-02 2.45026391e+02] [ 1.13041424e-01 9.93587828e-01 -2.20545678e-03 1.26364943e+01] [ 3.65281262e-02 -1.93763507e-03 9.99330747e-01 8.88930350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.899254154 meters Centerline goodness : 0.999472 with order 1 Centerline is valid? [True, True] Translation: X:245.09, Y:12.64, Z:8.89 [[ 9.92963961e-01 -1.12647084e-01 -3.65131084e-02 2.45088924e+02] [ 1.12642012e-01 9.93633195e-01 -2.20257567e-03 1.26415338e+01] [ 3.65287503e-02 -1.92583174e-03 9.99330747e-01 8.89355042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.959254154 meters Centerline goodness : 0.999237 with order 1 Centerline is valid? [True, True] Translation: X:245.15, Y:12.65, Z:8.90 [[ 9.93275338e-01 -1.09867551e-01 -3.65133482e-02 2.45151098e+02] [ 1.09860752e-01 9.93944556e-01 -2.19859327e-03 1.26477725e+01] [ 3.65337977e-02 -1.82757543e-03 9.99330747e-01 8.89549007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.019254154 meters Centerline goodness : 0.999300 with order 1 Centerline is valid? [True, True] Translation: X:245.21, Y:12.65, Z:8.90 [[ 9.93605019e-01 -1.06844892e-01 -3.65135066e-02 2.45213491e+02] [ 1.06836154e-01 9.94274215e-01 -2.19595930e-03 1.26536056e+01] [ 3.65390651e-02 -1.71904642e-03 9.99330747e-01 8.89809483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.079254154 meters Centerline goodness : 0.999427 with order 1 Centerline is valid? [True, True] Translation: X:245.28, Y:12.66, Z:8.90 [[ 9.94238906e-01 -1.00775730e-01 -3.65137102e-02 2.45275269e+02] [ 1.00763030e-01 9.94908038e-01 -2.19256887e-03 1.26611376e+01] [ 3.65487415e-02 -1.49929480e-03 9.99330747e-01 8.90020952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.139254154 meters Centerline goodness : 0.999043 with order 1 Centerline is valid? [True, True] Translation: X:245.34, Y:12.67, Z:8.90 [[ 9.94996255e-01 -9.30010149e-02 -3.65138731e-02 2.45337411e+02] [ 9.29831848e-02 9.95665271e-01 -2.18985260e-03 1.26701265e+01] [ 3.65592539e-02 -1.21628108e-03 9.99330747e-01 8.90207308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.199254154 meters Centerline goodness : 0.999233 with order 1 Centerline is valid? [True, True] Translation: X:245.40, Y:12.68, Z:8.91 [[ 9.95912604e-01 -8.26124074e-02 -3.65140335e-02 2.45399448e+02] [ 8.25876948e-02 9.96581401e-01 -2.18717404e-03 1.26782480e+01] [ 3.65698944e-02 -8.37375661e-04 9.99330747e-01 8.90605791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.259254154 meters Centerline goodness : 0.999271 with order 1 Centerline is valid? [True, True] Translation: X:245.46, Y:12.69, Z:8.91 [[ 9.96564199e-01 -7.43405041e-02 -3.65141954e-02 2.45459827e+02] [ 7.43103384e-02 9.97232772e-01 -2.18446896e-03 1.26857324e+01] [ 3.65755468e-02 -5.36418651e-04 9.99330747e-01 8.90862619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.319254154 meters Centerline goodness : 0.999101 with order 1 Centerline is valid? [True, True] Translation: X:245.52, Y:12.69, Z:8.92 [[ 9.97384879e-01 -6.23707349e-02 -3.65143145e-02 2.45521352e+02] [ 6.23326177e-02 9.98053045e-01 -2.18247577e-03 1.26931711e+01] [ 3.65793454e-02 -9.92644749e-05 9.99330747e-01 8.91644007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.379254154 meters Centerline goodness : 0.999206 with order 1 Centerline is valid? [True, True] Translation: X:245.58, Y:12.70, Z:8.92 [[ 9.97731386e-01 -5.65577067e-02 -3.65144747e-02 2.45581823e+02] [ 5.65157948e-02 9.98399326e-01 -2.17979227e-03 1.26989023e+01] [ 3.65793110e-02 1.11202606e-04 9.99330747e-01 8.91878189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.439254154 meters Centerline goodness : 0.999167 with order 1 Centerline is valid? [True, True] Translation: X:245.64, Y:12.70, Z:8.92 [[ 9.97661787e-01 -5.77723972e-02 -3.65145139e-02 2.45642760e+02] [ 5.77313225e-02 9.98329778e-01 -2.17913580e-03 1.27018449e+01] [ 3.65794204e-02 6.60093399e-05 9.99330747e-01 8.91953321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.499254154 meters Centerline goodness : 0.999142 with order 1 Centerline is valid? [True, True] Translation: X:245.70, Y:12.70, Z:8.92 [[ 9.97137547e-01 -6.62072894e-02 -3.65144906e-02 2.45703637e+02] [ 6.61718510e-02 9.97805861e-01 -2.17952574e-03 1.27033764e+01] [ 3.65786732e-02 -2.42944482e-04 9.99330747e-01 8.92341191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.559254154 meters Centerline goodness : 0.999231 with order 1 Centerline is valid? [True, True] Translation: X:245.77, Y:12.70, Z:8.93 [[ 9.96640061e-01 -7.33162725e-02 -3.65145717e-02 2.45765314e+02] [ 7.32856505e-02 9.97308613e-01 -2.17816652e-03 1.27044424e+01] [ 3.65759919e-02 -5.05146124e-04 9.99330747e-01 8.92604515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.619254154 meters Centerline goodness : 0.999062 with order 1 Centerline is valid? [True, True] Translation: X:245.83, Y:12.70, Z:8.93 [[ 9.95926519e-01 -8.24441401e-02 -3.65148266e-02 2.45827444e+02] [ 8.24198015e-02 9.96595329e-01 -2.17388489e-03 1.27043339e+01] [ 3.65697297e-02 -8.44515145e-04 9.99330747e-01 8.92888760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.679254154 meters Centerline goodness : 0.998785 with order 1 Centerline is valid? [True, True] Translation: X:245.89, Y:12.70, Z:8.93 [[ 9.95482022e-01 -8.76481536e-02 -3.65149879e-02 2.45889520e+02] [ 8.76274101e-02 9.96150954e-01 -2.17117239e-03 1.27039116e+01] [ 3.65647392e-02 -1.03835074e-03 9.99330747e-01 8.93056828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.739254154 meters Centerline goodness : 0.999042 with order 1 Centerline is valid? [True, True] Translation: X:245.95, Y:12.71, Z:8.93 [[ 9.95244694e-01 -9.03030566e-02 -3.65151494e-02 2.45951519e+02] [ 9.02841972e-02 9.95913682e-01 -2.16845185e-03 1.27059431e+01] [ 3.65617547e-02 -1.13860076e-03 9.99330747e-01 8.93286889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.799254154 meters Centerline goodness : 0.998915 with order 1 Centerline is valid? [True, True] Translation: X:246.01, Y:12.70, Z:8.94 [[ 9.94892418e-01 -9.41047793e-02 -3.65153095e-02 2.46013648e+02] [ 9.40885749e-02 9.95561475e-01 -2.16575315e-03 1.27047718e+01] [ 3.65570431e-02 -1.28098205e-03 9.99330747e-01 8.93535388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.859254154 meters Centerline goodness : 0.998917 with order 1 Centerline is valid? [True, True] Translation: X:246.08, Y:12.71, Z:8.94 [[ 9.94596807e-01 -9.71792794e-02 -3.65154725e-02 2.46076292e+02] [ 9.71652438e-02 9.95265913e-01 -2.16300159e-03 1.27064427e+01] [ 3.65528040e-02 -1.39672031e-03 9.99330747e-01 8.93650918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.919254154 meters Centerline goodness : 0.998920 with order 1 Centerline is valid? [True, True] Translation: X:246.14, Y:12.71, Z:8.94 [[ 9.94219582e-01 -1.00965497e-01 -3.65156328e-02 2.46139749e+02] [ 1.00954109e-01 9.94888738e-01 -2.16029170e-03 1.27083563e+01] [ 3.65471068e-02 -1.53859885e-03 9.99330747e-01 8.93817076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.979254154 meters Centerline goodness : 0.999045 with order 1 Centerline is valid? [True, True] Translation: X:246.20, Y:12.71, Z:8.94 [[ 9.93529544e-01 -1.07543651e-01 -3.65158750e-02 2.46203335e+02] [ 1.07536842e-01 9.94198762e-01 -2.15618897e-03 1.27089251e+01] [ 3.65359222e-02 -1.78456446e-03 9.99330747e-01 8.93884777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.039254154 meters Centerline goodness : 0.998982 with order 1 Centerline is valid? [True, True] Translation: X:246.27, Y:12.71, Z:8.94 [[ 9.93185025e-01 -1.10680077e-01 -3.65161167e-02 2.46265100e+02] [ 1.10675531e-01 9.93854263e-01 -2.15208850e-03 1.27116015e+01] [ 3.65298916e-02 -1.90401853e-03 9.99330747e-01 8.94019842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.099254154 meters Centerline goodness : 0.998918 with order 1 Centerline is valid? [True, True] Translation: X:246.33, Y:12.71, Z:8.94 [[ 9.92949324e-01 -1.12775008e-01 -3.65162748e-02 2.46327568e+02] [ 1.12771973e-01 9.93618570e-01 -2.14940226e-03 1.27148376e+01] [ 3.65256476e-02 -1.98376485e-03 9.99330747e-01 8.94219445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.159254154 meters Centerline goodness : 0.999004 with order 1 Centerline is valid? [True, True] Translation: X:246.39, Y:12.72, Z:8.94 [[ 9.92923152e-01 -1.13005123e-01 -3.65165107e-02 2.46389818e+02] [ 1.13002390e-01 9.93592400e-01 -2.14538731e-03 1.27178642e+01] [ 3.65249673e-02 -1.99624825e-03 9.99330747e-01 8.94305137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.219254154 meters Centerline goodness : 0.998855 with order 1 Centerline is valid? [True, True] Translation: X:246.45, Y:12.72, Z:8.95 [[ 9.93114851e-01 -1.11307787e-01 -3.65167041e-02 2.46452384e+02] [ 1.11304031e-01 9.93784093e-01 -2.14209023e-03 1.27216078e+01] [ 3.65281510e-02 -1.93711473e-03 9.99330747e-01 8.94560524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.279254154 meters Centerline goodness : 0.998834 with order 1 Centerline is valid? [True, True] Translation: X:246.51, Y:12.73, Z:8.95 [[ 9.93324711e-01 -1.09419079e-01 -3.65169004e-02 2.46512903e+02] [ 1.09414173e-01 9.93993946e-01 -2.13873897e-03 1.27260529e+01] [ 3.65315968e-02 -1.87100420e-03 9.99330747e-01 8.94700317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.339254154 meters Centerline goodness : 0.999002 with order 1 Centerline is valid? [True, True] Translation: X:246.57, Y:12.73, Z:8.95 [[ 9.93401988e-01 -1.08715230e-01 -3.65169779e-02 2.46574534e+02] [ 1.08709899e-01 9.94071219e-01 -2.13741521e-03 1.27296360e+01] [ 3.65328463e-02 -1.84644446e-03 9.99330747e-01 8.95199599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.399254154 meters Centerline goodness : 0.999024 with order 1 Centerline is valid? [True, True] Translation: X:246.64, Y:12.73, Z:8.96 [[ 9.93436926e-01 -1.08395446e-01 -3.65171340e-02 2.46636719e+02] [ 1.08389997e-01 9.94106157e-01 -2.13474535e-03 1.27330747e+01] [ 3.65333044e-02 -1.83735719e-03 9.99330747e-01 8.95651637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.459254154 meters Centerline goodness : 0.998961 with order 1 Centerline is valid? [True, True] Translation: X:246.70, Y:12.74, Z:8.96 [[ 9.93483887e-01 -1.07964130e-01 -3.65172883e-02 2.46698413e+02] [ 1.07958488e-01 9.94153117e-01 -2.13210272e-03 1.27380384e+01] [ 3.65339665e-02 -1.82414152e-03 9.99330747e-01 8.95945141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.519254154 meters Centerline goodness : 0.998961 with order 1 Centerline is valid? [True, True] Translation: X:246.76, Y:12.74, Z:8.96 [[ 9.93578981e-01 -1.07085411e-01 -3.65174405e-02 2.46760291e+02] [ 1.07079273e-01 9.94248206e-01 -2.12949223e-03 1.27431785e+01] [ 3.65354372e-02 -1.79444224e-03 9.99330747e-01 8.96284695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.579254154 meters Centerline goodness : 0.999175 with order 1 Centerline is valid? [True, True] Translation: X:246.82, Y:12.75, Z:8.96 [[ 9.93579310e-01 -1.07082305e-01 -3.65176014e-02 2.46822236e+02] [ 1.07076266e-01 9.94248536e-01 -2.12672828e-03 1.27475486e+01] [ 3.65353067e-02 -1.79709518e-03 9.99330747e-01 8.96359931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.639254154 meters Centerline goodness : 0.999214 with order 1 Centerline is valid? [True, True] Translation: X:246.88, Y:12.75, Z:8.96 [[ 9.93450669e-01 -1.08269192e-01 -3.65177997e-02 2.46884306e+02] [ 1.08264077e-01 9.94119903e-01 -2.12331786e-03 1.27532533e+01] [ 3.65329614e-02 -1.84415434e-03 9.99330747e-01 8.96450924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.699254154 meters Centerline goodness : 0.999175 with order 1 Centerline is valid? [True, True] Translation: X:246.95, Y:12.76, Z:8.96 [[ 9.93402763e-01 -1.08707815e-01 -3.65179575e-02 2.46945258e+02] [ 1.08703095e-01 9.94071999e-01 -2.12060097e-03 1.27574238e+01] [ 3.65320049e-02 -1.86300416e-03 9.99330747e-01 8.96491354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.759254154 meters Centerline goodness : 0.999002 with order 1 Centerline is valid? [True, True] Translation: X:247.01, Y:12.76, Z:8.97 [[ 9.93179556e-01 -1.10728498e-01 -3.65180738e-02 2.47006940e+02] [ 1.10725213e-01 9.93848801e-01 -2.11859644e-03 1.27621635e+01] [ 3.65280329e-02 -1.93932483e-03 9.99330747e-01 8.96791930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.819254154 meters Centerline goodness : 0.998854 with order 1 Centerline is valid? [True, True] Translation: X:247.07, Y:12.77, Z:8.97 [[ 9.93179132e-01 -1.10732250e-01 -3.65182309e-02 2.47069288e+02] [ 1.10729067e-01 9.93848377e-01 -2.11588487e-03 1.27663166e+01] [ 3.65278812e-02 -1.94217694e-03 9.99330747e-01 8.97217815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.879254154 meters Centerline goodness : 0.999300 with order 1 Centerline is valid? [True, True] Translation: X:247.13, Y:12.77, Z:8.98 [[ 9.93203239e-01 -1.10515756e-01 -3.65183891e-02 2.47130356e+02] [ 1.10512527e-01 9.93872485e-01 -2.11315124e-03 1.27708116e+01] [ 3.65281586e-02 -1.93695083e-03 9.99330747e-01 8.97581782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.939254154 meters Centerline goodness : 0.999068 with order 1 Centerline is valid? [True, True] Translation: X:247.19, Y:12.77, Z:8.98 [[ 9.93141681e-01 -1.11067546e-01 -3.65185060e-02 2.47191972e+02] [ 1.11064763e-01 9.93810929e-01 -2.11112996e-03 1.27739872e+01] [ 3.65269683e-02 -1.95926804e-03 9.99330747e-01 8.97825996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.999254154 meters Centerline goodness : 0.999133 with order 1 Centerline is valid? [True, True] Translation: X:247.25, Y:12.78, Z:8.98 [[ 9.93055986e-01 -1.11831108e-01 -3.65186583e-02 2.47254945e+02] [ 1.11828937e-01 9.93725235e-01 -2.10849088e-03 1.27773555e+01] [ 3.65253072e-02 -1.98999325e-03 9.99330747e-01 8.98075550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.059254154 meters Centerline goodness : 0.999027 with order 1 Centerline is valid? [True, True] Translation: X:247.32, Y:12.78, Z:8.98 [[ 9.92914528e-01 -1.13080109e-01 -3.65188969e-02 2.47317245e+02] [ 1.13078932e-01 9.93583780e-01 -2.10435049e-03 1.27812197e+01] [ 3.65225438e-02 -2.04007768e-03 9.99330747e-01 8.98126854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.119254154 meters Centerline goodness : 0.999029 with order 1 Centerline is valid? [True, True] Translation: X:247.38, Y:12.78, Z:8.98 [[ 9.92939810e-01 -1.12857767e-01 -3.65192851e-02 2.47380449e+02] [ 1.12856687e-01 9.93609062e-01 -2.09759167e-03 1.27844739e+01] [ 3.65226222e-02 -2.03866326e-03 9.99330747e-01 8.98303419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.179254154 meters Centerline goodness : 0.999111 with order 1 Centerline is valid? [True, True] Translation: X:247.44, Y:12.79, Z:8.98 [[ 9.93199903e-01 -1.10545359e-01 -3.65195221e-02 2.47442887e+02] [ 1.10542872e-01 9.93869152e-01 -2.09345718e-03 1.27888304e+01] [ 3.65270485e-02 -1.95775140e-03 9.99330747e-01 8.98280102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.239254154 meters Centerline goodness : 0.999109 with order 1 Centerline is valid? [True, True] Translation: X:247.50, Y:12.80, Z:8.98 [[ 9.93717344e-01 -1.05792951e-01 -3.65197545e-02 2.47504514e+02] [ 1.05787412e-01 9.94386574e-01 -2.08939642e-03 1.27951218e+01] [ 3.65357969e-02 -1.78706085e-03 9.99330747e-01 8.98465413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.299254154 meters Centerline goodness : 0.999170 with order 1 Centerline is valid? [True, True] Translation: X:247.57, Y:12.80, Z:8.99 [[ 9.94129190e-01 -1.01850133e-01 -3.65199089e-02 2.47565569e+02] [ 1.01842038e-01 9.94798394e-01 -2.08669357e-03 1.28003633e+01] [ 3.65424767e-02 -1.64481896e-03 9.99330747e-01 8.98730271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.359254154 meters Centerline goodness : 0.999085 with order 1 Centerline is valid? [True, True] Translation: X:247.63, Y:12.80, Z:8.99 [[ 9.94144603e-01 -1.01699541e-01 -3.65200229e-02 2.47628317e+02] [ 1.01691418e-01 9.94813806e-01 -2.08469729e-03 1.28048887e+01] [ 3.65426357e-02 -1.64128235e-03 9.99330747e-01 8.98917181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.419254154 meters Centerline goodness : 0.999277 with order 1 Centerline is valid? [True, True] Translation: X:247.69, Y:12.81, Z:8.99 [[ 9.93611449e-01 -1.06782765e-01 -3.65202531e-02 2.47689121e+02] [ 1.06778213e-01 9.94280687e-01 -2.08065586e-03 1.28085909e+01] [ 3.65335605e-02 -1.83220386e-03 9.99330747e-01 8.98956543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.479254154 meters Centerline goodness : 0.999278 with order 1 Centerline is valid? [True, True] Translation: X:247.75, Y:12.81, Z:8.99 [[ 9.92545996e-01 -1.16269985e-01 -3.65203661e-02 2.47750920e+02] [ 1.16271899e-01 9.93215246e-01 -2.07867083e-03 1.28119133e+01] [ 3.65142714e-02 -2.18311591e-03 9.99330747e-01 8.99046592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.539254154 meters Centerline goodness : 0.999278 with order 1 Centerline is valid? [True, True] Translation: X:247.81, Y:12.82, Z:8.99 [[ 9.92558423e-01 -1.16163802e-01 -3.65205134e-02 2.47814320e+02] [ 1.16165739e-01 9.93227673e-01 -2.07607890e-03 1.28154181e+01] [ 3.65143498e-02 -2.18180284e-03 9.99330747e-01 8.99278932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.599254154 meters Centerline goodness : 0.999194 with order 1 Centerline is valid? [True, True] Translation: X:247.88, Y:12.82, Z:9.00 [[ 9.92181765e-01 -1.19338097e-01 -3.65207351e-02 2.47877600e+02] [ 1.19342318e-01 9.92851004e-01 -2.07217278e-03 1.28199086e+01] [ 3.65069376e-02 -2.30249715e-03 9.99330747e-01 8.99618104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.659254154 meters Centerline goodness : 0.999363 with order 1 Centerline is valid? [True, True] Translation: X:247.94, Y:12.83, Z:9.00 [[ 9.91941257e-01 -1.21320902e-01 -3.65209635e-02 2.47940250e+02] [ 1.21326609e-01 9.92610486e-01 -2.06813868e-03 1.28261876e+01] [ 3.65019998e-02 -2.37949257e-03 9.99330747e-01 8.99889987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.719254154 meters Centerline goodness : 0.999259 with order 1 Centerline is valid? [True, True] Translation: X:248.00, Y:12.83, Z:9.00 [[ 9.91972972e-01 -1.21061241e-01 -3.65211989e-02 2.48001739e+02] [ 1.21066926e-01 9.92642201e-01 -2.06397400e-03 1.28334782e+01] [ 3.65023505e-02 -2.37410285e-03 9.99330747e-01 8.99951586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.779254154 meters Centerline goodness : 0.999382 with order 1 Centerline is valid? [True, True] Translation: X:248.06, Y:12.84, Z:9.00 [[ 9.91928557e-01 -1.21424454e-01 -3.65217726e-02 2.48063997e+02] [ 1.21430758e-01 9.92597780e-01 -2.05377205e-03 1.28399860e+01] [ 3.65008085e-02 -2.39767138e-03 9.99330747e-01 9.00144710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.839254154 meters Centerline goodness : 0.999445 with order 1 Centerline is valid? [True, True] Translation: X:248.13, Y:12.84, Z:9.00 [[ 9.91850922e-01 -1.22056923e-01 -3.65219990e-02 2.48126995e+02] [ 1.22063801e-01 9.92520139e-01 -2.04973784e-03 1.28449255e+01] [ 3.64990042e-02 -2.42497967e-03 9.99330747e-01 9.00429825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.899254154 meters Centerline goodness : 0.999487 with order 1 Centerline is valid? [True, True] Translation: X:248.19, Y:12.85, Z:9.01 [[ 9.91780129e-01 -1.22630753e-01 -3.65222283e-02 2.48188493e+02] [ 1.22638169e-01 9.92449341e-01 -2.04564431e-03 1.28497412e+01] [ 3.64973203e-02 -2.45018981e-03 9.99330747e-01 9.00637791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.959254154 meters Centerline goodness : 0.999380 with order 1 Centerline is valid? [True, True] Translation: X:248.25, Y:12.85, Z:9.01 [[ 9.91501922e-01 -1.24860020e-01 -3.65227881e-02 2.48250743e+02] [ 1.24869308e-01 9.92171110e-01 -2.03559918e-03 1.28544979e+01] [ 3.64910202e-02 -2.54227477e-03 9.99330747e-01 9.00707655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.019254154 meters Centerline goodness : 0.999443 with order 1 Centerline is valid? [True, True] Translation: X:248.31, Y:12.86, Z:9.01 [[ 9.91209403e-01 -1.27161295e-01 -3.65229344e-02 2.48313062e+02] [ 1.27172233e-01 9.91878566e-01 -2.03297148e-03 1.28581473e+01] [ 3.64848311e-02 -2.62960266e-03 9.99330747e-01 9.00766872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.079254154 meters Centerline goodness : 0.999614 with order 1 Centerline is valid? [True, True] Translation: X:248.37, Y:12.86, Z:9.01 [[ 9.91063321e-01 -1.28294812e-01 -3.65230834e-02 2.48374865e+02] [ 1.28306613e-01 9.91732469e-01 -2.03029141e-03 1.28626293e+01] [ 3.64816035e-02 -2.67400578e-03 9.99330747e-01 9.00887959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.139254154 meters Centerline goodness : 0.999506 with order 1 Centerline is valid? [True, True] Translation: X:248.44, Y:12.87, Z:9.01 [[ 9.91177177e-01 -1.27412155e-01 -3.65232315e-02 2.48436773e+02] [ 1.27423458e-01 9.91846334e-01 -2.02762339e-03 1.28677375e+01] [ 3.64837772e-02 -2.64418242e-03 9.99330747e-01 9.01027313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.199254154 meters Centerline goodness : 0.999591 with order 1 Centerline is valid? [True, True] Translation: X:248.50, Y:12.87, Z:9.01 [[ 9.91730446e-01 -1.23031562e-01 -3.65233773e-02 2.48498410e+02] [ 1.23040005e-01 9.92399646e-01 -2.02499344e-03 1.28735766e+01] [ 3.64949248e-02 -2.48558889e-03 9.99330747e-01 9.01393809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.259254154 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:248.56, Y:12.88, Z:9.02 [[ 9.93292252e-01 -1.09711144e-01 -3.65235231e-02 2.48560345e+02] [ 1.09710702e-01 9.93961504e-01 -2.02236097e-03 1.28820907e+01] [ 3.65248515e-02 -1.99822588e-03 9.99330747e-01 9.01822571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.319254154 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:248.62, Y:12.89, Z:9.02 [[ 9.95176953e-01 -9.10431437e-02 -3.65236672e-02 2.48621852e+02] [ 9.10302321e-02 9.95846081e-01 -2.01975498e-03 1.28919325e+01] [ 3.65558357e-02 -1.31474430e-03 9.99330747e-01 9.02337654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.379254154 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:248.68, Y:12.90, Z:9.03 [[ 9.96651952e-01 -7.31498234e-02 -3.65238135e-02 2.48683631e+02] [ 7.31249899e-02 9.97320744e-01 -2.01710538e-03 1.29001178e+01] [ 3.65735078e-02 -6.60451475e-04 9.99330747e-01 9.02718329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.439254154 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:248.75, Y:12.91, Z:9.03 [[ 9.97291437e-01 -6.38419096e-02 -3.65239607e-02 2.48745269e+02] [ 6.38109310e-02 9.97959973e-01 -2.01443646e-03 1.29056122e+01] [ 3.65780563e-02 -3.21647705e-04 9.99330747e-01 9.02954865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.499254154 meters Centerline goodness : 0.999608 with order 1 Centerline is valid? [True, True] Translation: X:248.81, Y:12.91, Z:9.03 [[ 9.97675350e-01 -5.75316078e-02 -3.65241053e-02 2.48807169e+02] [ 5.74964967e-02 9.98343681e-01 -2.01181257e-03 1.29105282e+01] [ 3.65793525e-02 -9.28722921e-05 9.99330747e-01 9.03127922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.559254154 meters Centerline goodness : 0.999695 with order 1 Centerline is valid? [True, True] Translation: X:248.87, Y:12.91, Z:9.03 [[ 9.97875808e-01 -5.39430344e-02 -3.65242477e-02 2.48867887e+02] [ 5.39056146e-02 9.98544014e-01 -2.00922280e-03 1.29146427e+01] [ 3.65794525e-02 3.60928044e-05 9.99330747e-01 9.03305242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.619254154 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:248.93, Y:12.92, Z:9.03 [[ 9.97923895e-01 -5.30459573e-02 -3.65243187e-02 2.48928587e+02] [ 5.30079841e-02 9.98592070e-01 -2.00793234e-03 1.29180178e+01] [ 3.65794077e-02 6.76831573e-05 9.99330747e-01 9.03461379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.679254154 meters Centerline goodness : 0.999673 with order 1 Centerline is valid? [True, True] Translation: X:248.99, Y:12.92, Z:9.04 [[ 9.97760339e-01 -5.60382049e-02 -3.65243187e-02 2.48989330e+02] [ 5.60022355e-02 9.98428624e-01 -2.00793234e-03 1.29206392e+01] [ 3.65794462e-02 -4.20082462e-05 9.99330747e-01 9.03650834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.739254154 meters Centerline goodness : 0.999587 with order 1 Centerline is valid? [True, True] Translation: X:249.05, Y:12.92, Z:9.04 [[ 9.97317512e-01 -6.34330690e-02 -3.65243187e-02 2.49049198e+02] [ 6.34020546e-02 9.97986046e-01 -2.00793234e-03 1.29213134e+01] [ 3.65781297e-02 -3.13170760e-04 9.99330747e-01 9.03851038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.799254154 meters Centerline goodness : 0.999547 with order 1 Centerline is valid? [True, True] Translation: X:249.11, Y:12.92, Z:9.04 [[ 9.96852029e-01 -7.03704701e-02 -3.65243539e-02 2.49110672e+02] [ 7.03441313e-02 9.97520764e-01 -2.00729126e-03 1.29219301e+01] [ 3.65750554e-02 -5.68301580e-04 9.99330747e-01 9.03996372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.859254154 meters Centerline goodness : 0.999547 with order 1 Centerline is valid? [True, True] Translation: X:249.17, Y:12.92, Z:9.04 [[ 9.96265070e-01 -7.82424041e-02 -3.65244576e-02 2.49173378e+02] [ 7.82214177e-02 9.96933994e-01 -2.00540171e-03 1.29221118e+01] [ 3.65693809e-02 -8.59083187e-04 9.99330747e-01 9.04262532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.919254154 meters Centerline goodness : 0.999526 with order 1 Centerline is valid? [True, True] Translation: X:249.23, Y:12.92, Z:9.05 [[ 9.95336557e-01 -8.92809711e-02 -3.65246052e-02 2.49234807e+02] [ 8.92674995e-02 9.96005674e-01 -2.00271021e-03 1.29197211e+01] [ 3.65575180e-02 -1.26708949e-03 9.99330747e-01 9.04504722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.979254154 meters Centerline goodness : 0.999529 with order 1 Centerline is valid? [True, True] Translation: X:249.30, Y:12.92, Z:9.05 [[ 9.94680738e-01 -9.63128504e-02 -3.65248414e-02 2.49298219e+02] [ 9.63042661e-02 9.95349936e-01 -1.99839391e-03 1.29167242e+01] [ 3.65474695e-02 -1.52973411e-03 9.99330747e-01 9.04769531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.039254154 meters Centerline goodness : 0.999507 with order 1 Centerline is valid? [True, True] Translation: X:249.36, Y:12.92, Z:9.05 [[ 9.94592752e-01 -9.72171697e-02 -3.65250663e-02 2.49360765e+02] [ 9.72093447e-02 9.95261959e-01 -1.99427478e-03 1.29173881e+01] [ 3.65458868e-02 -1.56708652e-03 9.99330747e-01 9.04962407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.099254154 meters Centerline goodness : 0.999274 with order 1 Centerline is valid? [True, True] Translation: X:249.42, Y:12.92, Z:9.05 [[ 9.95036814e-01 -9.25615707e-02 -3.65252502e-02 2.49423652e+02] [ 9.25507378e-02 9.95705979e-01 -1.99090069e-03 1.29162667e+01] [ 3.65526909e-02 -1.39941938e-03 9.99330747e-01 9.04964691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.159254154 meters Centerline goodness : 0.999084 with order 1 Centerline is valid? [True, True] Translation: X:249.49, Y:12.92, Z:9.05 [[ 9.95494122e-01 -8.75062488e-02 -3.65254717e-02 2.49486363e+02] [ 8.74921663e-02 9.96163226e-01 -1.98682826e-03 1.29176598e+01] [ 3.65591916e-02 -1.21781680e-03 9.99330747e-01 9.05070576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.219254154 meters Centerline goodness : 0.999317 with order 1 Centerline is valid? [True, True] Translation: X:249.55, Y:12.92, Z:9.05 [[ 9.96210245e-01 -7.89368392e-02 -3.65256554e-02 2.49547087e+02] [ 7.89171235e-02 9.96879207e-01 -1.98344631e-03 1.29194849e+01] [ 3.65682333e-02 -9.06570124e-04 9.99330747e-01 9.05148174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.279254154 meters Centerline goodness : 0.999080 with order 1 Centerline is valid? [True, True] Translation: X:249.61, Y:12.92, Z:9.05 [[ 9.96594700e-01 -7.39247757e-02 -3.65257637e-02 2.49609144e+02] [ 7.39017685e-02 9.97263557e-01 -1.98144887e-03 1.29221399e+01] [ 3.65722912e-02 -7.24617097e-04 9.99330747e-01 9.05352677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.339254154 meters Centerline goodness : 0.999208 with order 1 Centerline is valid? [True, True] Translation: X:249.67, Y:12.92, Z:9.05 [[ 9.96875747e-01 -7.00328694e-02 -3.65259086e-02 2.49670496e+02] [ 7.00073487e-02 9.97544513e-01 -1.97877463e-03 1.29230532e+01] [ 3.65747990e-02 -5.84489583e-04 9.99330747e-01 9.05480322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.399254154 meters Centerline goodness : 0.999187 with order 1 Centerline is valid? [True, True] Translation: X:249.73, Y:12.92, Z:9.06 [[ 9.96831613e-01 -7.06582304e-02 -3.65260155e-02 2.49732225e+02] [ 7.06332016e-02 9.97500398e-01 -1.97679917e-03 1.29237112e+01] [ 3.65743921e-02 -6.09413514e-04 9.99330747e-01 9.05819695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.459254154 meters Centerline goodness : 0.999424 with order 1 Centerline is valid? [True, True] Translation: X:249.79, Y:12.92, Z:9.06 [[ 9.96611966e-01 -7.36914379e-02 -3.65261582e-02 2.49793793e+02] [ 7.36685411e-02 9.97280827e-01 -1.97415925e-03 1.29247014e+01] [ 3.65723159e-02 -7.23358057e-04 9.99330747e-01 9.06181998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.519254154 meters Centerline goodness : 0.998980 with order 1 Centerline is valid? [True, True] Translation: X:249.86, Y:12.92, Z:9.06 [[ 9.95857637e-01 -8.32669873e-02 -3.65263699e-02 2.49855957e+02] [ 8.32506643e-02 9.96526691e-01 -1.97023450e-03 1.29222506e+01] [ 3.65635580e-02 -1.07877148e-03 9.99330747e-01 9.06409877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.579254154 meters Centerline goodness : 0.999237 with order 1 Centerline is valid? [True, True] Translation: X:249.92, Y:12.92, Z:9.07 [[ 9.95000628e-01 -9.29492536e-02 -3.65265076e-02 2.49918093e+02] [ 9.29395326e-02 9.95669810e-01 -1.96767916e-03 1.29220794e+01] [ 3.65512352e-02 -1.43691454e-03 9.99330747e-01 9.06675897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.639254154 meters Centerline goodness : 0.999070 with order 1 Centerline is valid? [True, True] Translation: X:249.98, Y:12.92, Z:9.07 [[ 9.93577930e-01 -1.07092018e-01 -3.65266467e-02 2.49980757e+02] [ 1.07091911e-01 9.94247183e-01 -1.96509273e-03 1.29210759e+01] [ 3.65269613e-02 -1.95923563e-03 9.99330747e-01 9.06901375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.699254154 meters Centerline goodness : 0.999094 with order 1 Centerline is valid? [True, True] Translation: X:250.04, Y:12.92, Z:9.07 [[ 9.92735546e-01 -1.14638257e-01 -3.65267945e-02 2.50043352e+02] [ 1.14643336e-01 9.93404779e-01 -1.96234153e-03 1.29211649e+01] [ 3.65108516e-02 -2.23946737e-03 9.99330747e-01 9.06952275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.759254154 meters Centerline goodness : 0.999055 with order 1 Centerline is valid? [True, True] Translation: X:250.11, Y:12.92, Z:9.07 [[ 9.92090118e-01 -1.20095702e-01 -3.65269771e-02 2.50106685e+02] [ 1.20104585e-01 9.92759312e-01 -1.95893701e-03 1.29215793e+01] [ 3.64977566e-02 -2.44361539e-03 9.99330747e-01 9.07265912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.819254154 meters Centerline goodness : 0.999180 with order 1 Centerline is valid? [True, True] Translation: X:250.17, Y:12.93, Z:9.07 [[ 9.92191034e-01 -1.19259031e-01 -3.65271948e-02 2.50169041e+02] [ 1.19267500e-01 9.92860233e-01 -1.95486967e-03 1.29257780e+01] [ 3.64995350e-02 -2.41690303e-03 9.99330747e-01 9.07492910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.879254154 meters Centerline goodness : 0.998885 with order 1 Centerline is valid? [True, True] Translation: X:250.23, Y:12.93, Z:9.08 [[ 9.92489887e-01 -1.16745718e-01 -3.65275493e-02 2.50231155e+02] [ 1.16752735e-01 9.93159103e-01 -1.94822204e-03 1.29307511e+01] [ 3.65051147e-02 -2.33110061e-03 9.99330747e-01 9.07755041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.939254154 meters Centerline goodness : 0.999114 with order 1 Centerline is valid? [True, True] Translation: X:250.29, Y:12.94, Z:9.08 [[ 9.93040426e-01 -1.11966246e-01 -3.65276918e-02 2.50294179e+02] [ 1.11970139e-01 9.93709667e-01 -1.94554653e-03 1.29364743e+01] [ 3.65157560e-02 -2.15800439e-03 9.99330747e-01 9.08051744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.999254154 meters Centerline goodness : 0.999008 with order 1 Centerline is valid? [True, True] Translation: X:250.36, Y:12.94, Z:9.08 [[ 9.93847619e-01 -1.04559179e-01 -3.65279038e-02 2.50356511e+02] [ 1.04558229e-01 9.94516871e-01 -1.94155940e-03 1.29364077e+01] [ 3.65306244e-02 -1.88967874e-03 9.99330747e-01 9.07844557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.059254154 meters Centerline goodness : 0.999196 with order 1 Centerline is valid? [True, True] Translation: X:250.42, Y:12.95, Z:9.09 [[ 9.93869158e-01 -1.04354202e-01 -3.65280425e-02 2.50417653e+02] [ 1.04353209e-01 9.94538410e-01 -1.93894598e-03 1.29487584e+01] [ 3.65308784e-02 -1.88475984e-03 9.99330747e-01 9.08679472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.119254154 meters Centerline goodness : 0.999175 with order 1 Centerline is valid? [True, True] Translation: X:250.48, Y:12.95, Z:9.09 [[ 9.94197363e-01 -1.01179517e-01 -3.65281795e-02 2.50480845e+02] [ 1.01176482e-01 9.94866609e-01 -1.93636185e-03 1.29537949e+01] [ 3.65365862e-02 -1.77066684e-03 9.99330747e-01 9.08906629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.179254154 meters Centerline goodness : 0.999193 with order 1 Centerline is valid? [True, True] Translation: X:250.54, Y:12.96, Z:9.09 [[ 9.94756861e-01 -9.55220623e-02 -3.65283931e-02 2.50543240e+02] [ 9.55153678e-02 9.95426080e-01 -1.93232299e-03 1.29600631e+01] [ 3.65458946e-02 -1.56683135e-03 9.99330747e-01 9.09100708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.239254154 meters Centerline goodness : 0.999108 with order 1 Centerline is valid? [True, True] Translation: X:250.61, Y:12.97, Z:9.09 [[ 9.95180843e-01 -9.09986609e-02 -3.65285373e-02 2.50605198e+02] [ 9.09890240e-02 9.95850026e-01 -1.92959400e-03 1.29657577e+01] [ 3.65525353e-02 -1.40340097e-03 9.99330747e-01 9.09269324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.299254154 meters Centerline goodness : 0.999236 with order 1 Centerline is valid? [True, True] Translation: X:250.67, Y:12.97, Z:9.10 [[ 9.95785505e-01 -8.41242178e-02 -3.65286789e-02 2.50667476e+02] [ 8.41100584e-02 9.96454608e-01 -1.92690830e-03 1.29727917e+01] [ 3.65612701e-02 -1.15364196e-03 9.99330747e-01 9.09606526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.359254154 meters Centerline goodness : 0.999298 with order 1 Centerline is valid? [True, True] Translation: X:250.73, Y:12.98, Z:9.10 [[ 9.96154061e-01 -7.96412699e-02 -3.65288219e-02 2.50729402e+02] [ 7.96241985e-02 9.96823096e-01 -1.92419477e-03 1.29779650e+01] [ 3.65660186e-02 -9.91783729e-04 9.99330747e-01 9.09923009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.419254154 meters Centerline goodness : 0.999295 with order 1 Centerline is valid? [True, True] Translation: X:250.79, Y:12.98, Z:9.10 [[ 9.96590472e-01 -7.39801749e-02 -3.65289665e-02 2.50790979e+02] [ 7.39594033e-02 9.97259402e-01 -1.92144463e-03 1.29844027e+01] [ 3.65710041e-02 -7.86767159e-04 9.99330747e-01 9.10144185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.479254154 meters Centerline goodness : 0.999124 with order 1 Centerline is valid? [True, True] Translation: X:250.85, Y:12.99, Z:9.10 [[ 9.96663239e-01 -7.29932361e-02 -3.65291101e-02 2.50852199e+02] [ 7.29719021e-02 9.97332151e-01 -1.91871170e-03 1.29886479e+01] [ 3.65717089e-02 -7.53289231e-04 9.99330747e-01 9.10333417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.539254154 meters Centerline goodness : 0.999317 with order 1 Centerline is valid? [True, True] Translation: X:250.91, Y:12.99, Z:9.10 [[ 9.96566091e-01 -7.43077548e-02 -3.65292158e-02 2.50914639e+02] [ 7.42873770e-02 9.97235033e-01 -1.91669638e-03 1.29926853e+01] [ 3.65706392e-02 -8.03545010e-04 9.99330747e-01 9.10488458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.599254154 meters Centerline goodness : 0.999551 with order 1 Centerline is valid? [True, True] Translation: X:250.98, Y:13.00, Z:9.11 [[ 9.96213142e-01 -7.88985467e-02 -3.65293589e-02 2.50975322e+02] [ 7.88813513e-02 9.96882174e-01 -1.91396583e-03 1.29953047e+01] [ 3.65664758e-02 -9.74767281e-04 9.99330747e-01 9.10612975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.659254154 meters Centerline goodness : 0.999275 with order 1 Centerline is valid? [True, True] Translation: X:251.04, Y:13.00, Z:9.11 [[ 9.95481048e-01 -8.76531853e-02 -3.65294646e-02 2.51037148e+02] [ 8.76419460e-02 9.96150206e-01 -1.91194679e-03 1.29969708e+01] [ 3.65564219e-02 -1.29820656e-03 9.99330747e-01 9.10819632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.719254154 meters Centerline goodness : 0.999467 with order 1 Centerline is valid? [True, True] Translation: X:251.10, Y:13.00, Z:9.11 [[ 9.95061349e-01 -9.22957222e-02 -3.65296037e-02 2.51099154e+02] [ 9.22877019e-02 9.95730553e-01 -1.90928459e-03 1.29998276e+01] [ 3.65498613e-02 -1.47137788e-03 9.99330747e-01 9.11068992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.779254154 meters Centerline goodness : 0.999317 with order 1 Centerline is valid? [True, True] Translation: X:251.16, Y:13.00, Z:9.11 [[ 9.94755443e-01 -9.55362924e-02 -3.65297760e-02 2.51161579e+02] [ 9.55305729e-02 9.95424672e-01 -1.90598316e-03 1.30032835e+01] [ 3.65447308e-02 -1.59372330e-03 9.99330747e-01 9.11342403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.839254154 meters Centerline goodness : 0.999425 with order 1 Centerline is valid? [True, True] Translation: X:251.22, Y:13.01, Z:9.12 [[ 9.94892778e-01 -9.40953016e-02 -3.65299131e-02 2.51223844e+02] [ 9.40887092e-02 9.95561998e-01 -1.90335163e-03 1.30064691e+01] [ 3.65468897e-02 -1.54342157e-03 9.99330747e-01 9.11609286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.899254154 meters Centerline goodness : 0.999296 with order 1 Centerline is valid? [True, True] Translation: X:251.29, Y:13.01, Z:9.12 [[ 9.95075543e-01 -9.21423893e-02 -3.65300518e-02 2.51286167e+02] [ 9.21345810e-02 9.95744750e-01 -1.90068569e-03 1.30113973e+01] [ 3.65497410e-02 -1.47435517e-03 9.99330747e-01 9.11968801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.959254154 meters Centerline goodness : 0.999467 with order 1 Centerline is valid? [True, True] Translation: X:251.35, Y:13.02, Z:9.12 [[ 9.95526699e-01 -8.71328697e-02 -3.65301897e-02 2.51347968e+02] [ 8.71217906e-02 9.96195860e-01 -1.89803112e-03 1.30169532e+01] [ 3.65566047e-02 -1.29303489e-03 9.99330747e-01 9.12190786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.019254154 meters Centerline goodness : 0.999465 with order 1 Centerline is valid? [True, True] Translation: X:251.41, Y:13.02, Z:9.12 [[ 9.95839614e-01 -8.34805203e-02 -3.65303304e-02 2.51408652e+02] [ 8.34670860e-02 9.96508732e-01 -1.89532014e-03 1.30214316e+01] [ 3.65610155e-02 -1.16164535e-03 9.99330747e-01 9.12216207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.079254154 meters Centerline goodness : 0.999550 with order 1 Centerline is valid? [True, True] Translation: X:251.47, Y:13.03, Z:9.12 [[ 9.96207788e-01 -7.89655745e-02 -3.65305598e-02 2.51470925e+02] [ 7.89492697e-02 9.96876842e-01 -1.89088824e-03 1.30270873e+01] [ 3.65657841e-02 -1.00034342e-03 9.99330747e-01 9.12422674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.139254154 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:251.53, Y:13.03, Z:9.13 [[ 9.96446981e-01 -7.58875626e-02 -3.65306976e-02 2.51532442e+02] [ 7.58692886e-02 9.97115984e-01 -1.88822255e-03 1.30332293e+01] [ 3.65686351e-02 -8.90044381e-04 9.99330747e-01 9.12684206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.199254154 meters Centerline goodness : 0.999507 with order 1 Centerline is valid? [True, True] Translation: X:251.59, Y:13.04, Z:9.13 [[ 9.96589975e-01 -7.39859378e-02 -3.65308369e-02 2.51594366e+02] [ 7.39664861e-02 9.97258945e-01 -1.88552270e-03 1.30381532e+01] [ 3.65702061e-02 -8.22964624e-04 9.99330747e-01 9.12824782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.259254154 meters Centerline goodness : 0.999461 with order 1 Centerline is valid? [True, True] Translation: X:251.66, Y:13.05, Z:9.13 [[ 9.96411413e-01 -7.63530241e-02 -3.65309741e-02 2.51656343e+02] [ 7.63352590e-02 9.97080430e-01 -1.88286069e-03 1.30483534e+01] [ 3.65680815e-02 -9.12497495e-04 9.99330747e-01 9.13439200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.319254154 meters Centerline goodness : 0.999483 with order 1 Centerline is valid? [True, True] Translation: X:251.72, Y:13.05, Z:9.14 [[ 9.96567638e-01 -7.42860381e-02 -3.65311920e-02 2.51717810e+02] [ 7.42670406e-02 9.97236621e-01 -1.87862395e-03 1.30487333e+01] [ 3.65697980e-02 -8.40887687e-04 9.99330747e-01 9.13560829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.379254154 meters Centerline goodness : 0.999396 with order 1 Centerline is valid? [True, True] Translation: X:251.78, Y:13.05, Z:9.14 [[ 9.96186132e-01 -7.92379172e-02 -3.65313966e-02 2.51779736e+02] [ 7.92223907e-02 9.96855204e-01 -1.87463801e-03 1.30534811e+01] [ 3.65650552e-02 -1.02661618e-03 9.99330747e-01 9.13980268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.439254154 meters Centerline goodness : 0.999398 with order 1 Centerline is valid? [True, True] Translation: X:251.84, Y:13.06, Z:9.14 [[ 9.95742667e-01 -8.46285260e-02 -3.65315309e-02 2.51841813e+02] [ 8.46167171e-02 9.96411816e-01 -1.87201717e-03 1.30567335e+01] [ 3.65588750e-02 -1.22713084e-03 9.99330747e-01 9.14225458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.499254154 meters Centerline goodness : 0.999526 with order 1 Centerline is valid? [True, True] Translation: X:251.90, Y:13.06, Z:9.14 [[ 9.94967786e-01 -9.32981381e-02 -3.65316642e-02 2.51902660e+02] [ 9.32922533e-02 9.95637013e-01 -1.86941170e-03 1.30600375e+01] [ 3.65466896e-02 -1.54811685e-03 9.99330747e-01 9.14469940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.559254154 meters Centerline goodness : 0.999527 with order 1 Centerline is valid? [True, True] Translation: X:251.97, Y:13.06, Z:9.15 [[ 9.94362971e-01 -9.95374442e-02 -3.65318969e-02 2.51965335e+02] [ 9.95359246e-02 9.95032222e-01 -1.86485321e-03 1.30635742e+01] [ 3.65360372e-02 -1.78189516e-03 9.99330747e-01 9.14748959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.619254154 meters Centerline goodness : 0.999420 with order 1 Centerline is valid? [True, True] Translation: X:252.03, Y:13.07, Z:9.15 [[ 9.94105837e-01 -1.02073452e-01 -3.65321017e-02 2.52028252e+02] [ 1.02073787e-01 9.94775090e-01 -1.86083311e-03 1.30669407e+01] [ 3.65311664e-02 -1.87910491e-03 9.99330747e-01 9.14988800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.679254154 meters Centerline goodness : 0.999548 with order 1 Centerline is valid? [True, True] Translation: X:252.09, Y:13.07, Z:9.15 [[ 9.94152581e-01 -1.01617102e-01 -3.65323111e-02 2.52090717e+02] [ 1.01617280e-01 9.94821834e-01 -1.85671135e-03 1.30706834e+01] [ 3.65318144e-02 -1.86645972e-03 9.99330747e-01 9.15131407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.739254154 meters Centerline goodness : 0.999591 with order 1 Centerline is valid? [True, True] Translation: X:252.15, Y:13.08, Z:9.15 [[ 9.94546217e-01 -9.76893112e-02 -3.65324485e-02 2.52153462e+02] [ 9.76869454e-02 9.95215466e-01 -1.85400375e-03 1.30755534e+01] [ 3.65387741e-02 -1.72485089e-03 9.99330747e-01 9.15406062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.799254154 meters Centerline goodness : 0.999590 with order 1 Centerline is valid? [True, True] Translation: X:252.22, Y:13.08, Z:9.16 [[ 9.95467039e-01 -8.78108125e-02 -3.65326539e-02 2.52215135e+02] [ 8.78019513e-02 9.96136233e-01 -1.84994778e-03 1.30825278e+01] [ 3.65539457e-02 -1.36607626e-03 9.99330747e-01 9.15693350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.859254154 meters Centerline goodness : 0.999502 with order 1 Centerline is valid? [True, True] Translation: X:252.28, Y:13.09, Z:9.16 [[ 9.96111232e-01 -8.01733652e-02 -3.65327889e-02 2.52277522e+02] [ 8.01594696e-02 9.96780340e-01 -1.84727906e-03 1.30877137e+01] [ 3.65632683e-02 -1.08835356e-03 9.99330747e-01 9.15989800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.919254154 meters Centerline goodness : 0.999609 with order 1 Centerline is valid? [True, True] Translation: X:252.34, Y:13.09, Z:9.16 [[ 9.96683804e-01 -7.27099665e-02 -3.65329255e-02 2.52339494e+02] [ 7.26911585e-02 9.97352793e-01 -1.84457289e-03 1.30921459e+01] [ 3.65703341e-02 -8.17164750e-04 9.99330748e-01 9.16164495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.979254154 meters Centerline goodness : 0.999608 with order 1 Centerline is valid? [True, True] Translation: X:252.40, Y:13.10, Z:9.16 [[ 9.97385676e-01 -6.23470029e-02 -3.65330609e-02 2.52400666e+02] [ 6.23213412e-02 9.98054436e-01 -1.84188687e-03 1.30982225e+01] [ 3.65768197e-02 -4.39717771e-04 9.99330748e-01 9.16276789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.039254154 meters Centerline goodness : 0.999541 with order 1 Centerline is valid? [True, True] Translation: X:252.46, Y:13.10, Z:9.16 [[ 9.97894931e-01 -5.35820317e-02 -3.65331607e-02 2.52462502e+02] [ 5.35505682e-02 9.98563444e-01 -1.83990557e-03 1.31040530e+01] [ 3.65792647e-02 -1.20339070e-04 9.99330748e-01 9.16355401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.099254154 meters Centerline goodness : 0.999584 with order 1 Centerline is valid? [True, True] Translation: X:252.52, Y:13.11, Z:9.16 [[ 9.98178912e-01 -4.80018632e-02 -3.65332945e-02 2.52522415e+02] [ 4.79667598e-02 9.98847243e-01 -1.83724453e-03 1.31079796e+01] [ 3.65793717e-02 8.15149781e-05 9.99330748e-01 9.16494344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.159254154 meters Centerline goodness : 0.999607 with order 1 Centerline is valid? [True, True] Translation: X:252.58, Y:13.11, Z:9.17 [[ 9.98227951e-01 -4.69710118e-02 -3.65332945e-02 2.52582272e+02] [ 4.69352183e-02 9.98896246e-01 -1.83724453e-03 1.31112384e+01] [ 3.65792680e-02 1.19290687e-04 9.99330748e-01 9.16751045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.219254154 meters Centerline goodness : 0.999629 with order 1 Centerline is valid? [True, True] Translation: X:252.64, Y:13.11, Z:9.17 [[ 9.98199880e-01 -4.75638787e-02 -3.65332268e-02 2.52641147e+02] [ 4.75284329e-02 9.98868193e-01 -1.83858965e-03 1.31138325e+01] [ 3.65793288e-02 9.89129458e-05 9.99330748e-01 9.16866098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.279254154 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:252.70, Y:13.11, Z:9.17 [[ 9.97871804e-01 -5.40110205e-02 -3.65331567e-02 2.52700471e+02] [ 5.39798415e-02 9.98540330e-01 -1.83998172e-03 1.31144524e+01] [ 3.65792097e-02 -1.35988128e-04 9.99330748e-01 9.17421329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.339254154 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:252.76, Y:13.12, Z:9.18 [[ 9.97745241e-01 -5.63006902e-02 -3.65330834e-02 2.52761284e+02] [ 5.62709922e-02 9.98413834e-01 -1.84143579e-03 1.31165928e+01] [ 3.65788100e-02 -2.18469060e-04 9.99330748e-01 9.17693539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.399254154 meters Centerline goodness : 0.999566 with order 1 Centerline is valid? [True, True] Translation: X:252.82, Y:13.12, Z:9.18 [[ 9.97425980e-01 -6.16988486e-02 -3.65330834e-02 2.52822764e+02] [ 6.16727689e-02 9.98094724e-01 -1.84143579e-03 1.31173152e+01] [ 3.65770923e-02 -4.16400516e-04 9.99330748e-01 9.18067691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.459254154 meters Centerline goodness : 0.999696 with order 1 Centerline is valid? [True, True] Translation: X:252.88, Y:13.12, Z:9.18 [[ 9.97064472e-01 -6.72886832e-02 -3.65331513e-02 2.52884991e+02] [ 6.72664017e-02 9.97733354e-01 -1.84008927e-03 1.31180312e+01] [ 3.65741607e-02 -6.22765987e-04 9.99330748e-01 9.18378185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.519254154 meters Centerline goodness : 0.999546 with order 1 Centerline is valid? [True, True] Translation: X:252.95, Y:13.12, Z:9.19 [[ 9.96460232e-01 -7.57121217e-02 -3.65332864e-02 2.52947450e+02] [ 7.56955919e-02 9.97129280e-01 -1.83740178e-03 1.31169866e+01] [ 3.65675232e-02 -9.34510937e-04 9.99330748e-01 9.18512842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.579254154 meters Centerline goodness : 0.999548 with order 1 Centerline is valid? [True, True] Translation: X:253.01, Y:13.12, Z:9.19 [[ 9.95855351e-01 -8.32912302e-02 -3.65334220e-02 2.53010239e+02] [ 8.32798901e-02 9.96524507e-01 -1.83470291e-03 1.31160757e+01] [ 3.65592650e-02 -1.21540066e-03 9.99330748e-01 9.18501268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.639254154 meters Centerline goodness : 0.999569 with order 1 Centerline is valid? [True, True] Translation: X:253.07, Y:13.12, Z:9.19 [[ 9.95461333e-01 -8.78751025e-02 -3.65335597e-02 2.53072210e+02] [ 8.78669439e-02 9.96130536e-01 -1.83195516e-03 1.31178136e+01] [ 3.65531777e-02 -1.38645172e-03 9.99330748e-01 9.18612184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.699254154 meters Centerline goodness : 0.999441 with order 1 Centerline is valid? [True, True] Translation: X:253.13, Y:13.12, Z:9.19 [[ 9.94876815e-01 -9.42624634e-02 -3.65336977e-02 2.53134652e+02] [ 9.42587011e-02 9.95546057e-01 -1.82919948e-03 1.31190021e+01] [ 3.65434036e-02 -1.62379074e-03 9.99330748e-01 9.18759641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.759254154 meters Centerline goodness : 0.999506 with order 1 Centerline is valid? [True, True] Translation: X:253.20, Y:13.12, Z:9.19 [[ 9.94476112e-01 -9.83999113e-02 -3.65338343e-02 2.53196975e+02] [ 9.83990329e-02 9.95145363e-01 -1.82646859e-03 1.31202967e+01] [ 3.65362001e-02 -1.77851457e-03 9.99330748e-01 9.18918862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.819254154 meters Centerline goodness : 0.999463 with order 1 Centerline is valid? [True, True] Translation: X:253.26, Y:13.12, Z:9.19 [[ 9.93931277e-01 -1.03758778e-01 -3.65340028e-02 2.53259064e+02] [ 1.03761630e-01 9.94600523e-01 -1.82309038e-03 1.31217901e+01] [ 3.65259000e-02 -1.97880115e-03 9.99330748e-01 9.19076645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.879254154 meters Centerline goodness : 0.999506 with order 1 Centerline is valid? [True, True] Translation: X:253.32, Y:13.12, Z:9.19 [[ 9.93744200e-01 -1.05535394e-01 -3.65341640e-02 2.53320723e+02] [ 1.05539562e-01 9.94413440e-01 -1.81985418e-03 1.31243623e+01] [ 3.65221227e-02 -2.04733012e-03 9.99330748e-01 9.19467413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.939254154 meters Centerline goodness : 0.999335 with order 1 Centerline is valid? [True, True] Translation: X:253.38, Y:13.13, Z:9.20 [[ 9.93683172e-01 -1.06108424e-01 -3.65343017e-02 2.53382988e+02] [ 1.06113079e-01 9.94352409e-01 -1.81708650e-03 1.31269616e+01] [ 3.65207791e-02 -2.07115895e-03 9.99330748e-01 9.19693267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.999254154 meters Centerline goodness : 0.999249 with order 1 Centerline is valid? [True, True] Translation: X:253.44, Y:13.13, Z:9.20 [[ 9.93765288e-01 -1.05336539e-01 -3.65344368e-02 2.53444894e+02] [ 1.05340774e-01 9.94434527e-01 -1.81436602e-03 1.31290317e+01] [ 3.65222244e-02 -2.04551189e-03 9.99330748e-01 9.19877376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.059254154 meters Centerline goodness : 0.999506 with order 1 Centerline is valid? [True, True] Translation: X:253.51, Y:13.13, Z:9.20 [[ 9.94106387e-01 -1.02067217e-01 -3.65345718e-02 2.53506955e+02] [ 1.02069350e-01 9.94775636e-01 -1.81164404e-03 1.31320256e+01] [ 3.65286113e-02 -1.92809309e-03 9.99330748e-01 9.19960031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.119254154 meters Centerline goodness : 0.999571 with order 1 Centerline is valid? [True, True] Translation: X:253.57, Y:13.14, Z:9.20 [[ 9.94576040e-01 -9.73843713e-02 -3.65347054e-02 2.53568906e+02] [ 9.73834518e-02 9.95245292e-01 -1.80894421e-03 1.31355014e+01] [ 3.65371565e-02 -1.75874316e-03 9.99330748e-01 9.20070986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.179254154 meters Centerline goodness : 0.999420 with order 1 Centerline is valid? [True, True] Translation: X:253.63, Y:13.14, Z:9.20 [[ 9.95583951e-01 -8.64742832e-02 -3.65348390e-02 2.53630585e+02] [ 8.64661252e-02 9.96253154e-01 -1.80624289e-03 1.31393724e+01] [ 3.65541421e-02 -1.36075953e-03 9.99330748e-01 9.20243380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.239254154 meters Centerline goodness : 0.999569 with order 1 Centerline is valid? [True, True] Translation: X:253.69, Y:13.14, Z:9.21 [[ 9.96753847e-01 -7.17423409e-02 -3.65349715e-02 2.53692459e+02] [ 7.17243861e-02 9.97422859e-01 -1.80355789e-03 1.31446184e+01] [ 3.65702072e-02 -8.22745142e-04 9.99330748e-01 9.20738478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.299254154 meters Centerline goodness : 0.999331 with order 1 Centerline is valid? [True, True] Translation: X:253.75, Y:13.15, Z:9.21 [[ 9.97432021e-01 -6.15999214e-02 -3.65351058e-02 2.53753347e+02] [ 6.15752623e-02 9.98100819e-01 -1.80083467e-03 1.31489406e+01] [ 3.65766502e-02 -4.53448552e-04 9.99330748e-01 9.21020089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.359254154 meters Centerline goodness : 0.999373 with order 1 Centerline is valid? [True, True] Translation: X:253.82, Y:13.15, Z:9.21 [[ 9.97954349e-01 -5.24623387e-02 -3.65352046e-02 2.53815022e+02] [ 5.24316289e-02 9.98622896e-01 -1.79882662e-03 1.31524414e+01] [ 3.65792625e-02 -1.20453443e-04 9.99330748e-01 9.21263897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.419254154 meters Centerline goodness : 0.999438 with order 1 Centerline is valid? [True, True] Translation: X:253.87, Y:13.15, Z:9.22 [[ 9.98352915e-01 -4.42338280e-02 -3.65352685e-02 2.53874997e+02] [ 4.41976556e-02 9.99021189e-01 -1.79752755e-03 1.31528300e+01] [ 3.65790190e-02 1.79793653e-04 9.99330748e-01 9.21592060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.479254154 meters Centerline goodness : 0.999352 with order 1 Centerline is valid? [True, True] Translation: X:253.93, Y:13.15, Z:9.22 [[ 9.98356369e-01 -4.41558477e-02 -3.65352027e-02 2.53934142e+02] [ 4.41195741e-02 9.99024638e-01 -1.79886465e-03 1.31523890e+01] [ 3.65789981e-02 1.83990391e-04 9.99330748e-01 9.21748264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.539254154 meters Centerline goodness : 0.999290 with order 1 Centerline is valid? [True, True] Translation: X:253.99, Y:13.15, Z:9.22 [[ 9.98037039e-01 -5.08653244e-02 -3.65347356e-02 2.53992754e+02] [ 5.08331980e-02 9.98705520e-01 -1.80830207e-03 1.31489137e+01] [ 3.65794220e-02 -5.24250019e-05 9.99330748e-01 9.21783970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.599254154 meters Centerline goodness : 0.999185 with order 1 Centerline is valid? [True, True] Translation: X:254.05, Y:13.15, Z:9.22 [[ 9.97649884e-01 -5.79651243e-02 -3.65342721e-02 2.54051898e+02] [ 5.79374138e-02 9.98318563e-01 -1.81761908e-03 1.31470109e+01] [ 3.65782005e-02 -3.03353774e-04 9.99330748e-01 9.22044077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.659254154 meters Centerline goodness : 0.999148 with order 1 Centerline is valid? [True, True] Translation: X:254.11, Y:13.14, Z:9.22 [[ 9.97073120e-01 -6.71600690e-02 -3.65337995e-02 2.54112866e+02] [ 6.71381781e-02 9.97742014e-01 -1.82706958e-03 1.31422845e+01] [ 3.65740128e-02 -6.31090768e-04 9.99330748e-01 9.22303847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.719254154 meters Centerline goodness : 0.999021 with order 1 Centerline is valid? [True, True] Translation: X:254.17, Y:13.14, Z:9.23 [[ 9.96813282e-01 -7.09123566e-02 -3.65337995e-02 2.54174394e+02] [ 7.08929834e-02 9.97482254e-01 -1.82706958e-03 1.31425088e+01] [ 3.65713784e-02 -7.68742814e-04 9.99330748e-01 9.22673862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.779254154 meters Centerline goodness : 0.999193 with order 1 Centerline is valid? [True, True] Translation: X:254.24, Y:13.14, Z:9.23 [[ 9.96739417e-01 -7.19431171e-02 -3.65338665e-02 2.54236487e+02] [ 7.19244849e-02 9.97408409e-01 -1.82572812e-03 1.31419770e+01] [ 3.65705342e-02 -8.07904347e-04 9.99330748e-01 9.23054385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.839254154 meters Centerline goodness : 0.999192 with order 1 Centerline is valid? [True, True] Translation: X:254.30, Y:13.14, Z:9.23 [[ 9.96840417e-01 -7.05297860e-02 -3.65340017e-02 2.54298935e+02] [ 7.05103045e-02 9.97509385e-01 -1.82301804e-03 1.31430285e+01] [ 3.65715867e-02 -7.58765519e-04 9.99330748e-01 9.23404431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.899254154 meters Centerline goodness : 0.999087 with order 1 Centerline is valid? [True, True] Translation: X:254.36, Y:13.14, Z:9.24 [[ 9.97121907e-01 -6.64316097e-02 -3.65341365e-02 2.54359790e+02] [ 6.64094776e-02 9.97790794e-01 -1.82031296e-03 1.31430481e+01] [ 3.65743514e-02 -6.11138985e-04 9.99330748e-01 9.23703818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.959254154 meters Centerline goodness : 0.998811 with order 1 Centerline is valid? [True, True] Translation: X:254.42, Y:13.14, Z:9.24 [[ 9.97438050e-01 -6.15027356e-02 -3.65342359e-02 2.54420752e+02] [ 6.14773711e-02 9.98106821e-01 -1.81831614e-03 1.31445811e+01] [ 3.65769015e-02 -4.32371075e-04 9.99330748e-01 9.23849752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.019254154 meters Centerline goodness : 0.998980 with order 1 Centerline is valid? [True, True] Translation: X:254.48, Y:13.15, Z:9.24 [[ 9.97689520e-01 -5.72788433e-02 -3.65343011e-02 2.54481031e+02] [ 5.72506953e-02 9.98358180e-01 -1.81700519e-03 1.31463806e+01] [ 3.65783943e-02 -2.78807099e-04 9.99330748e-01 9.24020973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.079254154 meters Centerline goodness : 0.999042 with order 1 Centerline is valid? [True, True] Translation: X:254.54, Y:13.15, Z:9.24 [[ 9.97971747e-01 -5.21309603e-02 -3.65343011e-02 2.54540114e+02] [ 5.20993630e-02 9.98640253e-01 -1.81700519e-03 1.31474977e+01] [ 3.65793459e-02 -9.00939668e-05 9.99330748e-01 9.24155617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.139254154 meters Centerline goodness : 0.998891 with order 1 Centerline is valid? [True, True] Translation: X:254.60, Y:13.15, Z:9.24 [[ 9.98334995e-01 -4.46376041e-02 -3.65338427e-02 2.54598457e+02] [ 4.46006536e-02 9.99003227e-01 -1.82617539e-03 1.31487417e+01] [ 3.65789428e-02 1.93701535e-04 9.99330748e-01 9.24428969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.199254154 meters Centerline goodness : 0.999062 with order 1 Centerline is valid? [True, True] Translation: X:254.66, Y:13.15, Z:9.25 [[ 9.98434960e-01 -4.23431734e-02 -3.65333698e-02 2.54655793e+02] [ 4.23043429e-02 9.99103084e-01 -1.83558814e-03 1.31509641e+01] [ 3.65783271e-02 2.87195170e-04 9.99330748e-01 9.24687475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.259254154 meters Centerline goodness : 0.999254 with order 1 Centerline is valid? [True, True] Translation: X:254.71, Y:13.15, Z:9.25 [[ 9.98406591e-01 -4.30073420e-02 -3.65328292e-02 2.54713277e+02] [ 4.29685647e-02 9.99074719e-01 -1.84628451e-03 1.31516408e+01] [ 3.65784299e-02 2.73579393e-04 9.99330748e-01 9.24791619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.319254154 meters Centerline goodness : 0.998998 with order 1 Centerline is valid? [True, True] Translation: X:254.77, Y:13.15, Z:9.25 [[ 9.98227925e-01 -4.69720534e-02 -3.65326631e-02 2.54771564e+02] [ 4.69358096e-02 9.98896195e-01 -1.84956640e-03 1.31520479e+01] [ 3.65792161e-02 1.31598710e-04 9.99330748e-01 9.25052174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.379254154 meters Centerline goodness : 0.999066 with order 1 Centerline is valid? [True, True] Translation: X:254.83, Y:13.15, Z:9.25 [[ 9.97765675e-01 -5.59380195e-02 -3.65321229e-02 2.54829361e+02] [ 5.59073923e-02 9.98434226e-01 -1.86017364e-03 1.31516884e+01] [ 3.65789763e-02 -1.86398319e-04 9.99330748e-01 9.25299251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.439254154 meters Centerline goodness : 0.999088 with order 1 Centerline is valid? [True, True] Translation: X:254.89, Y:13.15, Z:9.26 [[ 9.97422139e-01 -6.17615747e-02 -3.65319569e-02 2.54888421e+02] [ 6.17347316e-02 9.98090853e-01 -1.86342835e-03 1.31516691e+01] [ 3.65773003e-02 -3.96665869e-04 9.99330748e-01 9.25720175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.499254154 meters Centerline goodness : 0.998921 with order 1 Centerline is valid? [True, True] Translation: X:254.95, Y:13.15, Z:9.26 [[ 9.97156806e-01 -6.59071691e-02 -3.65314726e-02 2.54947779e+02] [ 6.58827599e-02 9.97825613e-01 -1.87287604e-03 1.31507278e+01] [ 3.65754750e-02 -5.39243150e-04 9.99330748e-01 9.25903260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.559254154 meters Centerline goodness : 0.998921 with order 1 Centerline is valid? [True, True] Translation: X:255.01, Y:13.15, Z:9.26 [[ 9.97224905e-01 -6.48686537e-02 -3.65314386e-02 2.55007394e+02] [ 6.48435237e-02 9.97893685e-01 -1.87353902e-03 1.31520530e+01] [ 3.65760258e-02 -5.00487433e-04 9.99330748e-01 9.26166882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.619254154 meters Centerline goodness : 0.998986 with order 1 Centerline is valid? [True, True] Translation: X:255.07, Y:13.15, Z:9.27 [[ 9.97622984e-01 -5.84280845e-02 -3.65313722e-02 2.55066910e+02] [ 5.83985893e-02 9.98291586e-01 -1.87483314e-03 1.31518002e+01] [ 3.65785043e-02 -2.63003969e-04 9.99330748e-01 9.26696434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.679254154 meters Centerline goodness : 0.998968 with order 1 Centerline is valid? [True, True] Translation: X:255.13, Y:13.15, Z:9.27 [[ 9.98066590e-01 -5.02846504e-02 -3.65313016e-02 2.55125378e+02] [ 5.02496495e-02 9.98734926e-01 -1.87620716e-03 1.31522152e+01] [ 3.65794312e-02 3.68945762e-05 9.99330748e-01 9.27001645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.739254154 meters Centerline goodness : 0.999030 with order 1 Centerline is valid? [True, True] Translation: X:255.18, Y:13.15, Z:9.27 [[ 9.98314322e-01 -4.51000547e-02 -3.65308089e-02 2.55183331e+02] [ 4.50612337e-02 9.98982447e-01 -1.88575113e-03 1.31535159e+01] [ 3.65786844e-02 2.36449037e-04 9.99330748e-01 9.27195385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.799254154 meters Centerline goodness : 0.999348 with order 1 Centerline is valid? [True, True] Translation: X:255.24, Y:13.15, Z:9.27 [[ 9.98479201e-01 -4.12895444e-02 -3.65302478e-02 2.55241059e+02] [ 4.12477784e-02 9.99147148e-01 -1.89655924e-03 1.31538789e+01] [ 3.65774010e-02 3.86883390e-04 9.99330748e-01 9.27319200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.859254154 meters Centerline goodness : 0.999390 with order 1 Centerline is valid? [True, True] Translation: X:255.30, Y:13.15, Z:9.27 [[ 9.98573553e-01 -3.89415193e-02 -3.65296844e-02 2.55300273e+02] [ 3.88977880e-02 9.99241374e-01 -1.90734916e-03 1.31507068e+01] [ 3.65762471e-02 4.83704509e-04 9.99330748e-01 9.27400994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.919254154 meters Centerline goodness : 0.999306 with order 1 Centerline is valid? [True, True] Translation: X:255.36, Y:13.15, Z:9.28 [[ 9.98478207e-01 -4.13145011e-02 -3.65291834e-02 2.55358887e+02] [ 4.12720078e-02 9.99146109e-01 -1.91689722e-03 1.31468226e+01] [ 3.65771871e-02 4.06347354e-04 9.99330748e-01 9.27509426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.979254154 meters Centerline goodness : 0.999204 with order 1 Centerline is valid? [True, True] Translation: X:255.42, Y:13.14, Z:9.28 [[ 9.98348585e-01 -4.43368796e-02 -3.65286852e-02 2.55417370e+02] [ 4.42960627e-02 9.99016590e-01 -1.92634418e-03 1.31446864e+01] [ 3.65781706e-02 3.05086059e-04 9.99330748e-01 9.27704621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.039254154 meters Centerline goodness : 0.999204 with order 1 Centerline is valid? [True, True] Translation: X:255.48, Y:13.14, Z:9.28 [[ 9.98067039e-01 -5.02780454e-02 -3.65281108e-02 2.55475232e+02] [ 5.02408086e-02 9.98735254e-01 -1.93717536e-03 1.31390266e+01] [ 3.65793094e-02 9.82290580e-05 9.99330748e-01 9.27929087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.099254154 meters Centerline goodness : 0.999102 with order 1 Centerline is valid? [True, True] Translation: X:255.53, Y:13.14, Z:9.28 [[ 9.97756692e-01 -5.61010003e-02 -3.65275422e-02 2.55534189e+02] [ 5.60672729e-02 9.98425093e-01 -1.94783767e-03 1.31358528e+01] [ 3.65792904e-02 -1.04531611e-04 9.99330748e-01 9.28232569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.159254154 meters Centerline goodness : 0.999291 with order 1 Centerline is valid? [True, True] Translation: X:255.59, Y:13.13, Z:9.29 [[ 9.97167775e-01 -6.57434642e-02 -3.65270388e-02 2.55592559e+02] [ 6.57158555e-02 9.97836457e-01 -1.95723340e-03 1.31294879e+01] [ 3.65766863e-02 -4.48715530e-04 9.99330748e-01 9.28570455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.219254154 meters Centerline goodness : 0.999165 with order 1 Centerline is valid? [True, True] Translation: X:255.65, Y:13.13, Z:9.29 [[ 9.96738672e-01 -7.19569874e-02 -3.65268616e-02 2.55651155e+02] [ 7.19334258e-02 9.97407509e-01 -1.96053427e-03 1.31270779e+01] [ 3.65732402e-02 -6.73361966e-04 9.99330748e-01 9.28875278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.279254154 meters Centerline goodness : 0.999375 with order 1 Centerline is valid? [True, True] Translation: X:255.71, Y:13.12, Z:9.29 [[ 9.96066874e-01 -8.07255083e-02 -3.65263533e-02 2.55709332e+02] [ 8.07074882e-02 9.96735883e-01 -1.96995845e-03 1.31211850e+01] [ 3.65661529e-02 -9.85739868e-04 9.99330748e-01 9.29083627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.339254154 meters Centerline goodness : 0.999417 with order 1 Centerline is valid? [True, True] Translation: X:255.77, Y:13.12, Z:9.29 [[ 9.95565176e-01 -8.66939910e-02 -3.65257693e-02 2.55767778e+02] [ 8.66795862e-02 9.96234273e-01 -1.98072799e-03 1.31186304e+01] [ 3.65599404e-02 -1.19409476e-03 9.99330748e-01 9.29217053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.399254154 meters Centerline goodness : 0.999459 with order 1 Centerline is valid? [True, True] Translation: X:255.83, Y:13.11, Z:9.29 [[ 9.94693430e-01 -9.61813996e-02 -3.65255895e-02 2.55826442e+02] [ 9.61732530e-02 9.95362632e-01 -1.98403788e-03 1.31145645e+01] [ 3.65470345e-02 -1.53927532e-03 9.99330749e-01 9.29435841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.459254154 meters Centerline goodness : 0.999459 with order 1 Centerline is valid? [True, True] Translation: X:255.89, Y:13.11, Z:9.30 [[ 9.94100365e-01 -1.02129249e-01 -3.65250677e-02 2.55885742e+02] [ 1.02124755e-01 9.94769601e-01 -1.99359849e-03 1.31140008e+01] [ 3.65376318e-02 -1.74827662e-03 9.99330749e-01 9.29597715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.519254154 meters Centerline goodness : 0.999522 with order 1 Centerline is valid? [True, True] Translation: X:255.94, Y:13.11, Z:9.30 [[ 9.93604201e-01 -1.06848720e-01 -3.65245457e-02 2.55944083e+02] [ 1.06847054e-01 9.94273451e-01 -2.00311595e-03 1.31139984e+01] [ 3.65294165e-02 -1.91223571e-03 9.99330749e-01 9.29600691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.579254154 meters Centerline goodness : 0.999332 with order 1 Centerline is valid? [True, True] Translation: X:256.00, Y:13.12, Z:9.30 [[ 9.93173600e-01 -1.10779808e-01 -3.65244356e-02 2.56003319e+02] [ 1.10780717e-01 9.93842851e-01 -2.00512117e-03 1.31160919e+01] [ 3.65216762e-02 -2.05476977e-03 9.99330749e-01 9.29922029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.639254154 meters Centerline goodness : 0.999584 with order 1 Centerline is valid? [True, True] Translation: X:256.06, Y:13.12, Z:9.30 [[ 9.93171932e-01 -1.10794783e-01 -3.65243619e-02 2.56063212e+02] [ 1.10795654e-01 9.93841183e-01 -2.00646292e-03 1.31201305e+01] [ 3.65217207e-02 -2.05397792e-03 9.99330749e-01 9.30162814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.699254154 meters Centerline goodness : 0.999562 with order 1 Centerline is valid? [True, True] Translation: X:256.12, Y:13.13, Z:9.30 [[ 9.93360957e-01 -1.09087033e-01 -3.65243619e-02 2.56123541e+02] [ 1.09086753e-01 9.94030208e-01 -2.00646292e-03 1.31254355e+01] [ 3.65251982e-02 -1.99118211e-03 9.99330749e-01 9.30333514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.759254154 meters Centerline goodness : 0.999227 with order 1 Centerline is valid? [True, True] Translation: X:256.18, Y:13.13, Z:9.30 [[ 9.93309279e-01 -1.09556596e-01 -3.65243619e-02 2.56182521e+02] [ 1.09556633e-01 9.93978530e-01 -2.00646292e-03 1.31320144e+01] [ 3.65242528e-02 -2.00844788e-03 9.99330749e-01 9.30447751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.819254154 meters Centerline goodness : 0.999520 with order 1 Centerline is valid? [True, True] Translation: X:256.24, Y:13.14, Z:9.31 [[ 9.93112914e-01 -1.11322564e-01 -3.65243255e-02 2.56242059e+02] [ 1.11323766e-01 9.93782165e-01 -2.00712640e-03 1.31368989e+01] [ 3.65206617e-02 -2.07272231e-03 9.99330749e-01 9.30588636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.879254154 meters Centerline goodness : 0.999415 with order 1 Centerline is valid? [True, True] Translation: X:256.30, Y:13.14, Z:9.31 [[ 9.92801570e-01 -1.14065853e-01 -3.65242898e-02 2.56303072e+02] [ 1.14068881e-01 9.93470815e-01 -2.00777515e-03 1.31442251e+01] [ 3.65148345e-02 -2.17296253e-03 9.99330749e-01 9.31200026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.939254154 meters Centerline goodness : 0.999416 with order 1 Centerline is valid? [True, True] Translation: X:256.36, Y:13.15, Z:9.31 [[ 9.92766741e-01 -1.14368561e-01 -3.65243653e-02 2.56363032e+02] [ 1.14371843e-01 9.93435985e-01 -2.00640130e-03 1.31516695e+01] [ 3.65140880e-02 -2.18547047e-03 9.99330749e-01 9.31399526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.999254154 meters Centerline goodness : 0.999396 with order 1 Centerline is valid? [True, True] Translation: X:256.42, Y:13.16, Z:9.32 [[ 9.92960838e-01 -1.12670949e-01 -3.65244035e-02 2.56423250e+02] [ 1.12673112e-01 9.93630086e-01 -2.00570569e-03 1.31606893e+01] [ 3.65177309e-02 -2.12373101e-03 9.99330749e-01 9.31642190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.059254154 meters Centerline goodness : 0.999312 with order 1 Centerline is valid? [True, True] Translation: X:256.48, Y:13.17, Z:9.32 [[ 9.93384249e-01 -1.08874691e-01 -3.65244417e-02 2.56484771e+02] [ 1.08874321e-01 9.94053501e-01 -2.00500949e-03 1.31667504e+01] [ 3.65255439e-02 -1.98482895e-03 9.99330749e-01 9.32013778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.119254154 meters Centerline goodness : 0.999354 with order 1 Centerline is valid? [True, True] Translation: X:256.55, Y:13.17, Z:9.32 [[ 9.94061148e-01 -1.02510454e-01 -3.65245274e-02 2.56546168e+02] [ 1.02505856e-01 9.94730383e-01 -2.00344789e-03 1.31746572e+01] [ 3.65374315e-02 -1.75242822e-03 9.99330749e-01 9.32168639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.179254154 meters Centerline goodness : 0.999103 with order 1 Centerline is valid? [True, True] Translation: X:256.61, Y:13.18, Z:9.32 [[ 9.94837023e-01 -9.46850131e-02 -3.65246020e-02 2.56607128e+02] [ 9.46751982e-02 9.95506202e-01 -2.00208622e-03 1.31835929e+01] [ 3.65500354e-02 -1.46622444e-03 9.99330749e-01 9.32494169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.239254154 meters Centerline goodness : 0.999210 with order 1 Centerline is valid? [True, True] Translation: X:256.67, Y:13.19, Z:9.33 [[ 9.95580669e-01 -8.65163593e-02 -3.65246762e-02 2.56667645e+02] [ 8.65011019e-02 9.96249746e-01 -2.00073166e-03 1.31920449e+01] [ 3.65607954e-02 -1.16753497e-03 9.99330749e-01 9.32812492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.299254154 meters Centerline goodness : 0.999165 with order 1 Centerline is valid? [True, True] Translation: X:256.73, Y:13.20, Z:9.33 [[ 9.96363718e-01 -7.69759019e-02 -3.65246762e-02 2.56726257e+02] [ 7.69542363e-02 9.97032619e-01 -2.00073166e-03 1.32013653e+01] [ 3.65703017e-02 -8.17272123e-04 9.99330749e-01 9.33032844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.359254154 meters Centerline goodness : 0.999249 with order 1 Centerline is valid? [True, True] Translation: X:256.79, Y:13.21, Z:9.33 [[ 9.96633233e-01 -7.34040065e-02 -3.65246720e-02 2.56785794e+02] [ 7.33799406e-02 9.97302051e-01 -2.00080821e-03 1.32077118e+01] [ 3.65729976e-02 -6.86106312e-04 9.99330749e-01 9.33217912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.419254154 meters Centerline goodness : 0.999061 with order 1 Centerline is valid? [True, True] Translation: X:256.84, Y:13.21, Z:9.33 [[ 9.96663056e-01 -7.29979891e-02 -3.65246001e-02 2.56844398e+02] [ 7.29736026e-02 9.97331863e-01 -2.00212038e-03 1.32137439e+01] [ 3.65732982e-02 -6.69892236e-04 9.99330749e-01 9.33410934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.479254154 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:256.90, Y:13.22, Z:9.34 [[ 9.96506078e-01 -7.51107646e-02 -3.65240996e-02 2.56903302e+02] [ 7.50874631e-02 9.97174923e-01 -2.01120936e-03 1.32177050e+01] [ 3.65719797e-02 -7.38319630e-04 9.99330749e-01 9.33625179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.539254154 meters Centerline goodness : 0.999206 with order 1 Centerline is valid? [True, True] Translation: X:256.96, Y:13.22, Z:9.34 [[ 9.96084053e-01 -8.05143495e-02 -3.65239588e-02 2.56963505e+02] [ 8.04945823e-02 9.96753012e-01 -2.01376294e-03 1.32213299e+01] [ 3.65675028e-02 -9.34103657e-04 9.99330749e-01 9.34080966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.599254154 meters Centerline goodness : 0.999226 with order 1 Centerline is valid? [True, True] Translation: X:257.02, Y:13.22, Z:9.34 [[ 9.95785431e-01 -8.41271420e-02 -3.65239588e-02 2.57023476e+02] [ 8.41098017e-02 9.96454458e-01 -2.01376294e-03 1.32245894e+01] [ 3.65638737e-02 -1.06674713e-03 9.99330749e-01 9.34262197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.659254154 meters Centerline goodness : 0.999143 with order 1 Centerline is valid? [True, True] Translation: X:257.08, Y:13.23, Z:9.34 [[ 9.95426866e-01 -8.82686469e-02 -3.65239588e-02 2.57084728e+02] [ 8.82540897e-02 9.96095959e-01 -2.01376294e-03 1.32278210e+01] [ 3.65591199e-02 -1.21883500e-03 9.99330749e-01 9.34408668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.719254154 meters Centerline goodness : 0.999060 with order 1 Centerline is valid? [True, True] Translation: X:257.15, Y:13.23, Z:9.35 [[ 9.95416942e-01 -8.83804613e-02 -3.65240328e-02 2.57145020e+02] [ 8.83660284e-02 9.96086038e-01 -2.01242040e-03 1.32303547e+01] [ 3.65589377e-02 -1.22428636e-03 9.99330749e-01 9.34533963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.779254154 meters Centerline goodness : 0.999165 with order 1 Centerline is valid? [True, True] Translation: X:257.21, Y:13.23, Z:9.35 [[ 9.95537970e-01 -8.70065659e-02 -3.65240692e-02 2.57205892e+02] [ 8.69912338e-02 9.96207046e-01 -2.01175950e-03 1.32337156e+01] [ 3.65605713e-02 -1.17449087e-03 9.99330749e-01 9.34883192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.839254154 meters Centerline goodness : 0.999038 with order 1 Centerline is valid? [True, True] Translation: X:257.27, Y:13.24, Z:9.35 [[ 9.96072909e-01 -8.06520111e-02 -3.65241441e-02 2.57265654e+02] [ 8.06324596e-02 9.96741875e-01 -2.01039919e-03 1.32384189e+01] [ 3.65672866e-02 -9.42527401e-04 9.99330749e-01 9.34992791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.899254154 meters Centerline goodness : 0.999330 with order 1 Centerline is valid? [True, True] Translation: X:257.33, Y:13.24, Z:9.35 [[ 9.96523816e-01 -7.48750582e-02 -3.65241073e-02 2.57326399e+02] [ 7.48516037e-02 9.97192656e-01 -2.01106724e-03 1.32422846e+01] [ 3.65721503e-02 -7.29811604e-04 9.99330749e-01 9.35204610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.959254154 meters Centerline goodness : 0.999226 with order 1 Centerline is valid? [True, True] Translation: X:257.39, Y:13.25, Z:9.35 [[ 9.97131309e-01 -6.62958659e-02 -3.65241073e-02 2.57386133e+02] [ 6.62666560e-02 9.97799923e-01 -2.01106724e-03 1.32461128e+01] [ 3.65770769e-02 -4.15032344e-04 9.99330749e-01 9.35390139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.019254154 meters Centerline goodness : 0.999455 with order 1 Centerline is valid? [True, True] Translation: X:257.45, Y:13.25, Z:9.36 [[ 9.97350909e-01 -6.29059096e-02 -3.65241067e-02 2.57445164e+02] [ 6.28744266e-02 9.98019420e-01 -2.01107666e-03 1.32494046e+01] [ 3.65782764e-02 -2.90683137e-04 9.99330749e-01 9.35610123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.079254154 meters Centerline goodness : 0.999286 with order 1 Centerline is valid? [True, True] Translation: X:257.50, Y:13.25, Z:9.36 [[ 9.97416932e-01 -6.18505572e-02 -3.65235788e-02 2.57503533e+02] [ 6.18180175e-02 9.98085392e-01 -2.02061874e-03 1.32521293e+01] [ 3.65786269e-02 -2.42415894e-04 9.99330749e-01 9.35654979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.139254154 meters Centerline goodness : 0.999181 with order 1 Centerline is valid? [True, True] Translation: X:257.56, Y:13.25, Z:9.36 [[ 9.97218462e-01 -6.49723456e-02 -3.65230512e-02 2.57562146e+02] [ 6.49415509e-02 9.97887004e-01 -2.03011107e-03 1.32535330e+01] [ 3.65777793e-02 -3.47399356e-04 9.99330749e-01 9.35585343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.199254154 meters Centerline goodness : 0.999352 with order 1 Centerline is valid? [True, True] Translation: X:257.62, Y:13.25, Z:9.36 [[ 9.96585249e-01 -7.40536816e-02 -3.65225168e-02 2.57620556e+02] [ 7.40286276e-02 9.97254031e-01 -2.03968014e-03 1.32537721e+01] [ 3.65732729e-02 -6.70996659e-04 9.99330749e-01 9.35760055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.259254154 meters Centerline goodness : 0.999416 with order 1 Centerline is valid? [True, True] Translation: X:257.68, Y:13.26, Z:9.36 [[ 9.96016374e-01 -8.13482163e-02 -3.65219114e-02 2.57680459e+02] [ 8.13276643e-02 9.96685310e-01 -2.05046371e-03 1.32550549e+01] [ 3.65676541e-02 -9.27946324e-04 9.99330749e-01 9.36140650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.319254154 meters Centerline goodness : 0.999395 with order 1 Centerline is valid? [True, True] Translation: X:257.74, Y:13.26, Z:9.36 [[ 9.95147078e-01 -9.13698444e-02 -3.65218348e-02 2.57740818e+02] [ 9.13559769e-02 9.95816186e-01 -2.05182758e-03 1.32561487e+01] [ 3.65565094e-02 -1.29461768e-03 9.99330749e-01 9.36470073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.379254154 meters Centerline goodness : 0.999375 with order 1 Centerline is valid? [True, True] Translation: X:257.80, Y:13.26, Z:9.37 [[ 9.94578544e-01 -9.73636280e-02 -3.65218348e-02 2.57801653e+02] [ 9.73537919e-02 9.95247723e-01 -2.05182758e-03 1.32582240e+01] [ 3.65480463e-02 -1.51483542e-03 9.99330749e-01 9.36696600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.439254154 meters Centerline goodness : 0.999394 with order 1 Centerline is valid? [True, True] Translation: X:257.86, Y:13.26, Z:9.37 [[ 9.93781420e-01 -1.05188591e-01 -3.65219112e-02 2.57863165e+02] [ 1.05184072e-01 9.94450656e-01 -2.05046555e-03 1.32610623e+01] [ 3.65349242e-02 -1.80380877e-03 9.99330749e-01 9.36920866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.499254154 meters Centerline goodness : 0.999438 with order 1 Centerline is valid? [True, True] Translation: X:257.93, Y:13.26, Z:9.37 [[ 9.93117137e-01 -1.11285641e-01 -3.65220246e-02 2.57925620e+02] [ 1.11285303e-01 9.93786388e-01 -2.04844386e-03 1.32647210e+01] [ 3.65230533e-02 -2.03001989e-03 9.99330749e-01 9.37165680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.559254154 meters Centerline goodness : 0.999312 with order 1 Centerline is valid? [True, True] Translation: X:257.99, Y:13.27, Z:9.37 [[ 9.92767445e-01 -1.14363153e-01 -3.65221748e-02 2.57987698e+02] [ 1.14364988e-01 9.93436694e-01 -2.04576355e-03 1.32697021e+01] [ 3.65164285e-02 -2.14589061e-03 9.99330749e-01 9.37498086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.619254154 meters Centerline goodness : 0.999208 with order 1 Centerline is valid? [True, True] Translation: X:258.05, Y:13.28, Z:9.38 [[ 9.92569828e-01 -1.16065736e-01 -3.65223308e-02 2.58048980e+02] [ 1.16068821e-01 9.93239072e-01 -2.04297414e-03 1.32763325e+01] [ 3.65125253e-02 -2.21130939e-03 9.99330749e-01 9.37589784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.679254154 meters Centerline goodness : 0.999184 with order 1 Centerline is valid? [True, True] Translation: X:258.11, Y:13.28, Z:9.38 [[ 9.92779551e-01 -1.14257931e-01 -3.65224465e-02 2.58111224e+02] [ 1.14259874e-01 9.93448799e-01 -2.04090397e-03 1.32825841e+01] [ 3.65163701e-02 -2.14688239e-03 9.99330749e-01 9.37836090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.739254154 meters Centerline goodness : 0.999099 with order 1 Centerline is valid? [True, True] Translation: X:258.17, Y:13.29, Z:9.38 [[ 9.93402084e-01 -1.08712464e-01 -3.65226010e-02 2.58171755e+02] [ 1.08710771e-01 9.94071333e-01 -2.03813596e-03 1.32908933e+01] [ 3.65276414e-02 -1.94571160e-03 9.99330749e-01 9.38052230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.799254154 meters Centerline goodness : 0.999121 with order 1 Centerline is valid? [True, True] Translation: X:258.23, Y:13.30, Z:9.38 [[ 9.94334602e-01 -9.98237964e-02 -3.65227149e-02 2.58233450e+02] [ 9.98161926e-02 9.95003810e-01 -2.03609141e-03 1.33002378e+01] [ 3.65434909e-02 -1.62100220e-03 9.99330749e-01 9.38204781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.859254154 meters Centerline goodness : 0.998871 with order 1 Centerline is valid? [True, True] Translation: X:258.30, Y:13.31, Z:9.38 [[ 9.94930936e-01 -9.36937177e-02 -3.65228652e-02 2.58295104e+02] [ 9.36820886e-02 9.95600086e-01 -2.03339215e-03 1.33082390e+01] [ 3.65526838e-02 -1.39845353e-03 9.99330749e-01 9.38439156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.919254154 meters Centerline goodness : 0.999225 with order 1 Centerline is valid? [True, True] Translation: X:258.36, Y:13.32, Z:9.39 [[ 9.95682207e-01 -8.53405643e-02 -3.65230130e-02 2.58356780e+02] [ 8.53234172e-02 9.96351239e-01 -2.03073442e-03 1.33183713e+01] [ 3.65630533e-02 -1.09430214e-03 9.99330749e-01 9.38899189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.979254154 meters Centerline goodness : 0.999077 with order 1 Centerline is valid? [True, True] Translation: X:258.42, Y:13.33, Z:9.39 [[ 9.96142728e-01 -7.97854872e-02 -3.65231616e-02 2.58418741e+02] [ 7.97647067e-02 9.96811657e-01 -2.02805809e-03 1.33273016e+01] [ 3.65685228e-02 -8.93023954e-04 9.99330749e-01 9.39257673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.039254154 meters Centerline goodness : 0.998847 with order 1 Centerline is valid? [True, True] Translation: X:258.48, Y:13.33, Z:9.39 [[ 9.96252894e-01 -7.83978293e-02 -3.65233098e-02 2.58480950e+02] [ 7.83762149e-02 9.96921796e-01 -2.02538634e-03 1.33340058e+01] [ 3.65696694e-02 -8.44761776e-04 9.99330749e-01 9.39451900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.099254154 meters Centerline goodness : 0.998803 with order 1 Centerline is valid? [True, True] Translation: X:258.54, Y:13.34, Z:9.40 [[ 9.96269628e-01 -7.81848112e-02 -3.65234611e-02 2.58542086e+02] [ 7.81631540e-02 9.96938529e-01 -2.02265352e-03 1.33386169e+01] [ 3.65697864e-02 -8.39680641e-04 9.99330749e-01 9.39598648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.159254154 meters Centerline goodness : 0.999077 with order 1 Centerline is valid? [True, True] Translation: X:258.60, Y:13.35, Z:9.40 [[ 9.96325846e-01 -7.74650949e-02 -3.65235357e-02 2.58603091e+02] [ 7.74430039e-02 9.96994732e-01 -2.02130474e-03 1.33464140e+01] [ 3.65703533e-02 -8.14614169e-04 9.99330749e-01 9.39705610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.219254154 meters Centerline goodness : 0.998844 with order 1 Centerline is valid? [True, True] Translation: X:258.66, Y:13.35, Z:9.40 [[ 9.96431960e-01 -7.60879285e-02 -3.65236463e-02 2.58663829e+02] [ 7.60649863e-02 9.97100818e-01 -2.01930548e-03 1.33524672e+01] [ 3.65714023e-02 -7.66070135e-04 9.99330749e-01 9.39875822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.279254154 meters Centerline goodness : 0.999033 with order 1 Centerline is valid? [True, True] Translation: X:258.73, Y:13.36, Z:9.40 [[ 9.96554233e-01 -7.44692961e-02 -3.65237546e-02 2.58725198e+02] [ 7.44453393e-02 9.97223055e-01 -2.01734364e-03 1.33585438e+01] [ 3.65725604e-02 -7.08630960e-04 9.99330749e-01 9.40156038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.339254154 meters Centerline goodness : 0.999139 with order 1 Centerline is valid? [True, True] Translation: X:258.79, Y:13.37, Z:9.40 [[ 9.96841104e-01 -7.05253410e-02 -3.65238259e-02 2.58786120e+02] [ 7.04987852e-02 9.97509828e-01 -2.01605253e-03 1.33651565e+01] [ 3.65750581e-02 -5.65201326e-04 9.99330749e-01 9.40413697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.399254154 meters Centerline goodness : 0.998968 with order 1 Centerline is valid? [True, True] Translation: X:258.85, Y:13.37, Z:9.41 [[ 9.96991689e-01 -6.83635590e-02 -3.65238991e-02 2.58846363e+02] [ 6.83356017e-02 9.97660356e-01 -2.01472560e-03 1.33693513e+01] [ 3.65761800e-02 -4.87217940e-04 9.99330749e-01 9.40583934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.459254154 meters Centerline goodness : 0.999326 with order 1 Centerline is valid? [True, True] Translation: X:258.91, Y:13.37, Z:9.41 [[ 9.96965194e-01 -6.87488445e-02 -3.65239351e-02 2.58907687e+02] [ 6.87211696e-02 9.97633873e-01 -2.01407255e-03 1.33722642e+01] [ 3.65759800e-02 -5.02007307e-04 9.99330749e-01 9.40773811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.519254154 meters Centerline goodness : 0.999305 with order 1 Centerline is valid? [True, True] Translation: X:258.97, Y:13.37, Z:9.41 [[ 9.96638280e-01 -7.33357726e-02 -3.65240104e-02 2.58968127e+02] [ 7.33112250e-02 9.97307081e-01 -2.01270642e-03 1.33737969e+01] [ 3.65732576e-02 -6.71679684e-04 9.99330749e-01 9.40930680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.579254154 meters Centerline goodness : 0.998466 with order 1 Centerline is valid? [True, True] Translation: X:259.03, Y:13.38, Z:9.41 [[ 9.96415557e-01 -7.63022507e-02 -3.65240104e-02 2.59029711e+02] [ 7.62796941e-02 9.97084428e-01 -2.01270642e-03 1.33765283e+01] [ 3.65710961e-02 -7.80548357e-04 9.99330749e-01 9.41104040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.639254154 meters Centerline goodness : 0.998653 with order 1 Centerline is valid? [True, True] Translation: X:259.09, Y:13.38, Z:9.41 [[ 9.96262471e-01 -7.82756692e-02 -3.65240847e-02 2.59090534e+02] [ 7.82544869e-02 9.96931387e-01 -2.01135644e-03 1.33786730e+01] [ 3.65694467e-02 -8.54334576e-04 9.99330749e-01 9.41252292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.699254154 meters Centerline goodness : 0.999326 with order 1 Centerline is valid? [True, True] Translation: X:259.15, Y:13.38, Z:9.41 [[ 9.96351227e-01 -7.71376553e-02 -3.65241597e-02 2.59152015e+02] [ 7.71157589e-02 9.97020120e-01 -2.00999433e-03 1.33805220e+01] [ 3.65703683e-02 -8.13927975e-04 9.99330749e-01 9.41402256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.759254154 meters Centerline goodness : 0.999557 with order 1 Centerline is valid? [True, True] Translation: X:259.21, Y:13.38, Z:9.42 [[ 9.96829374e-01 -7.06907082e-02 -3.65242707e-02 2.59213149e+02] [ 7.06645592e-02 9.97498114e-01 -2.00797558e-03 1.33825647e+01] [ 3.65748364e-02 -5.79362443e-04 9.99330749e-01 9.41698185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.819254154 meters Centerline goodness : 0.999136 with order 1 Centerline is valid? [True, True] Translation: X:259.27, Y:13.39, Z:9.42 [[ 9.97231607e-01 -6.47695454e-02 -3.65243446e-02 2.59274779e+02] [ 6.47394746e-02 9.97900182e-01 -2.00663070e-03 1.33850372e+01] [ 3.65776187e-02 -3.63491318e-04 9.99330749e-01 9.42041455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.879254154 meters Centerline goodness : 0.999136 with order 1 Centerline is valid? [True, True] Translation: X:259.33, Y:13.38, Z:9.42 [[ 9.97930492e-01 -5.29216318e-02 -3.65244180e-02 2.59334345e+02] [ 5.28836719e-02 9.98598666e-01 -2.00529320e-03 1.33825994e+01] [ 3.65793585e-02 6.95978910e-05 9.99330749e-01 9.42367620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.939254154 meters Centerline goodness : 0.999431 with order 1 Centerline is valid? [True, True] Translation: X:259.39, Y:13.39, Z:9.43 [[ 9.97950145e-01 -5.25497947e-02 -3.65243435e-02 2.59391938e+02] [ 5.25115362e-02 9.98618301e-01 -2.00664943e-03 1.33868159e+01] [ 3.65793269e-02 8.45867007e-05 9.99330749e-01 9.42612969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.999254154 meters Centerline goodness : 0.999305 with order 1 Centerline is valid? [True, True] Translation: X:259.45, Y:13.38, Z:9.43 [[ 9.97919075e-01 -5.31369491e-02 -3.65237551e-02 2.59450490e+02] [ 5.30986938e-02 9.98587232e-01 -2.01730247e-03 1.33834105e+01] [ 3.65793488e-02 7.37409202e-05 9.99330749e-01 9.42570151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.059254154 meters Centerline goodness : 0.999349 with order 1 Centerline is valid? [True, True] Translation: X:259.51, Y:13.38, Z:9.43 [[ 9.97521097e-01 -6.01472400e-02 -3.65235734e-02 2.59509284e+02] [ 6.01135600e-02 9.98189500e-01 -2.02058771e-03 1.33779071e+01] [ 3.65789802e-02 -1.79983154e-04 9.99330749e-01 9.42574920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.119254154 meters Centerline goodness : 0.999309 with order 1 Centerline is valid? [True, True] Translation: X:259.57, Y:13.38, Z:9.43 [[ 9.97099549e-01 -6.67724151e-02 -3.65230717e-02 2.59566999e+02] [ 6.67428454e-02 9.97768146e-01 -2.02961517e-03 1.33760919e+01] [ 3.65770798e-02 -4.13925354e-04 9.99330749e-01 9.42863836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.179254154 meters Centerline goodness : 0.999312 with order 1 Centerline is valid? [True, True] Translation: X:259.63, Y:13.38, Z:9.44 [[ 9.96326035e-01 -7.74631433e-02 -3.65225013e-02 2.59625490e+02] [ 7.74403723e-02 9.96994899e-01 -2.03982724e-03 1.33756840e+01] [ 3.65707589e-02 -7.95983118e-04 9.99330749e-01 9.44118619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.239254154 meters Centerline goodness : 0.999185 with order 1 Centerline is valid? [True, True] Translation: X:259.69, Y:13.37, Z:9.44 [[ 9.96060111e-01 -8.08108800e-02 -3.65220136e-02 2.59685869e+02] [ 8.07900383e-02 9.96729037e-01 -2.04852339e-03 1.33692363e+01] [ 3.65680944e-02 -9.10162444e-04 9.99330749e-01 9.43758546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.299254154 meters Centerline goodness : 0.999353 with order 1 Centerline is valid? [True, True] Translation: X:259.75, Y:13.37, Z:9.44 [[ 9.95746867e-01 -8.45832461e-02 -3.65219356e-02 2.59746409e+02] [ 8.45648873e-02 9.96415866e-01 -2.04991239e-03 1.33676418e+01] [ 3.65644243e-02 -1.04727953e-03 9.99330749e-01 9.44108970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.359254154 meters Centerline goodness : 0.999416 with order 1 Centerline is valid? [True, True] Translation: X:259.81, Y:13.36, Z:9.44 [[ 9.95266832e-01 -9.00559863e-02 -3.65219356e-02 2.59807183e+02] [ 9.00413056e-02 9.95935922e-01 -2.04991239e-03 1.33641047e+01] [ 3.65581145e-02 -1.24827295e-03 9.99330749e-01 9.44355804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.419254154 meters Centerline goodness : 0.999167 with order 1 Centerline is valid? [True, True] Translation: X:259.87, Y:13.36, Z:9.45 [[ 9.94827908e-01 -9.47817586e-02 -3.65219356e-02 2.59868185e+02] [ 9.47702557e-02 9.95497060e-01 -2.04991239e-03 1.33616049e+01] [ 3.65517738e-02 -1.42188312e-03 9.99330749e-01 9.44523214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.479254154 meters Centerline goodness : 0.999313 with order 1 Centerline is valid? [True, True] Translation: X:259.93, Y:13.36, Z:9.45 [[ 9.94698594e-01 -9.61293523e-02 -3.65219734e-02 2.59929832e+02] [ 9.61187806e-02 9.95367762e-01 -2.04923945e-03 1.33618977e+01] [ 3.65497869e-02 -1.47207195e-03 9.99330749e-01 9.44712537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.539254154 meters Centerline goodness : 0.999316 with order 1 Centerline is valid? [True, True] Translation: X:259.99, Y:13.36, Z:9.45 [[ 9.94804466e-01 -9.50274432e-02 -3.65220500e-02 2.59989452e+02] [ 9.50161803e-02 9.95473622e-01 -2.04787353e-03 1.33624821e+01] [ 3.65513415e-02 -1.43295195e-03 9.99330749e-01 9.44766418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.599254154 meters Centerline goodness : 0.999438 with order 1 Centerline is valid? [True, True] Translation: X:260.05, Y:13.37, Z:9.45 [[ 9.95115136e-01 -9.17170048e-02 -3.65220123e-02 2.60050220e+02] [ 9.17034910e-02 9.95784250e-01 -2.04854565e-03 1.33661530e+01] [ 3.65559311e-02 -1.31065724e-03 9.99330749e-01 9.45043365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.659254154 meters Centerline goodness : 0.999209 with order 1 Centerline is valid? [True, True] Translation: X:260.11, Y:13.37, Z:9.45 [[ 9.95797753e-01 -8.39820083e-02 -3.65220123e-02 2.60110310e+02] [ 8.39632957e-02 9.96466742e-01 -2.04854565e-03 1.33715669e+01] [ 3.65650116e-02 -1.02657136e-03 9.99330749e-01 9.45470360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.719254154 meters Centerline goodness : 0.998183 with order 1 Centerline is valid? [True, True] Translation: X:260.17, Y:13.38, Z:9.46 [[ 9.96370831e-01 -7.68850483e-02 -3.65220123e-02 2.60170481e+02] [ 7.68615698e-02 9.97039670e-01 -2.04854565e-03 1.33768032e+01] [ 3.65713976e-02 -7.66028060e-04 9.99330749e-01 9.45695770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.779254154 meters Centerline goodness : 0.997209 with order 1 Centerline is valid? [True, True] Translation: X:260.23, Y:13.38, Z:9.46 [[ 9.96605730e-01 -7.37777834e-02 -3.65220123e-02 2.60228209e+02] [ 7.37522194e-02 9.97274493e-01 -2.04854565e-03 1.33807264e+01] [ 3.65736084e-02 -6.51987128e-04 9.99330749e-01 9.45883083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.839254154 meters Centerline goodness : 0.997394 with order 1 Centerline is valid? [True, True] Translation: X:260.29, Y:13.38, Z:9.46 [[ 9.96774242e-01 -7.14651412e-02 -3.65218236e-02 2.60286333e+02] [ 7.14379026e-02 9.97442939e-01 -2.05190309e-03 1.33837329e+01] [ 3.65750746e-02 -5.63758326e-04 9.99330749e-01 9.46373444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.899254154 meters Centerline goodness : 0.997501 with order 1 Centerline is valid? [True, True] Translation: X:260.34, Y:13.39, Z:9.47 [[ 9.96752371e-01 -7.17698118e-02 -3.65212852e-02 2.60344022e+02] [ 7.17424282e-02 9.97421062e-01 -2.06144233e-03 1.33859220e+01] [ 3.65750484e-02 -5.65378153e-04 9.99330749e-01 9.46610589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.959254154 meters Centerline goodness : 0.997370 with order 1 Centerline is valid? [True, True] Translation: X:260.40, Y:13.39, Z:9.47 [[ 9.96691905e-01 -7.26047930e-02 -3.65210958e-02 2.60402769e+02] [ 7.25778469e-02 9.97360613e-01 -2.06479175e-03 1.33884572e+01] [ 3.65746163e-02 -5.92661279e-04 9.99330749e-01 9.46827040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.019254154 meters Centerline goodness : 0.997872 with order 1 Centerline is valid? [True, True] Translation: X:260.46, Y:13.39, Z:9.47 [[ 9.96346752e-01 -7.71971404e-02 -3.65205566e-02 2.60461153e+02] [ 7.71729283e-02 9.97015565e-01 -2.07428566e-03 1.33893111e+01] [ 3.65716923e-02 -7.51690520e-04 9.99330749e-01 9.46983352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.079254154 meters Centerline goodness : 0.997540 with order 1 Centerline is valid? [True, True] Translation: X:260.52, Y:13.39, Z:9.47 [[ 9.95736291e-01 -8.47084797e-02 -3.65200181e-02 2.60520183e+02] [ 8.46889660e-02 9.96405257e-01 -2.08372369e-03 1.33903406e+01] [ 3.65652471e-02 -1.01800327e-03 9.99330749e-01 9.47091073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.139254154 meters Centerline goodness : 0.997536 with order 1 Centerline is valid? [True, True] Translation: X:260.58, Y:13.39, Z:9.47 [[ 9.95167463e-01 -9.11484925e-02 -3.65194741e-02 2.60579889e+02] [ 9.11329591e-02 9.95836534e-01 -2.09321508e-03 1.33924995e+01] [ 3.65582199e-02 -1.24502819e-03 9.99330749e-01 9.47298843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.199254154 meters Centerline goodness : 0.997583 with order 1 Centerline is valid? [True, True] Translation: X:260.64, Y:13.39, Z:9.48 [[ 9.94217677e-01 -1.00982889e-01 -3.65193969e-02 2.60639557e+02] [ 1.00973922e-01 9.94886868e-01 -2.09455969e-03 1.33949399e+01] [ 3.65441831e-02 -1.60505848e-03 9.99330749e-01 9.47610788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.259254154 meters Centerline goodness : 0.997689 with order 1 Centerline is valid? [True, True] Translation: X:260.70, Y:13.40, Z:9.48 [[ 9.93508002e-01 -1.07741297e-01 -3.65193590e-02 2.60700874e+02] [ 1.07736857e-01 9.94177238e-01 -2.09522154e-03 1.33984654e+01] [ 3.65324573e-02 -1.85286159e-03 9.99330749e-01 9.47917144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.319254154 meters Centerline goodness : 0.997893 with order 1 Centerline is valid? [True, True] Translation: X:260.76, Y:13.40, Z:9.48 [[ 9.92456614e-01 -1.17030767e-01 -3.65194352e-02 2.60761150e+02] [ 1.17032636e-01 9.93125862e-01 -2.09389165e-03 1.34022362e+01] [ 3.65134453e-02 -2.19586916e-03 9.99330749e-01 9.48126658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.379254154 meters Centerline goodness : 0.997896 with order 1 Centerline is valid? [True, True] Translation: X:260.82, Y:13.41, Z:9.48 [[ 9.91946147e-01 -1.21281367e-01 -3.65194729e-02 2.60822645e+02] [ 1.21286127e-01 9.92615381e-01 -2.09323509e-03 1.34065311e+01] [ 3.65036609e-02 -2.35292893e-03 9.99330749e-01 9.48391896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.439254154 meters Centerline goodness : 0.997937 with order 1 Centerline is valid? [True, True] Translation: X:260.88, Y:13.41, Z:9.48 [[ 9.91811679e-01 -1.22376125e-01 -3.65195467e-02 2.60883280e+02] [ 1.22381671e-01 9.92480907e-01 -2.09194534e-03 1.34130688e+01] [ 3.65009570e-02 -2.39450735e-03 9.99330749e-01 9.48483431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.499254154 meters Centerline goodness : 0.997707 with order 1 Centerline is valid? [True, True] Translation: X:260.94, Y:13.42, Z:9.49 [[ 9.92011643e-01 -1.20744425e-01 -3.65196387e-02 2.60943899e+02] [ 1.20748930e-01 9.92680878e-01 -2.09033778e-03 1.34202728e+01] [ 3.65047437e-02 -2.33606787e-03 9.99330749e-01 9.48689452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.559254154 meters Centerline goodness : 0.997687 with order 1 Centerline is valid? [True, True] Translation: X:261.01, Y:13.43, Z:9.49 [[ 9.92486603e-01 -1.16776079e-01 -3.65197151e-02 2.61005877e+02] [ 1.16777956e-01 9.93155851e-01 -2.08900231e-03 1.34273602e+01] [ 3.65137143e-02 -2.19139087e-03 9.99330749e-01 9.48788160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.619254154 meters Centerline goodness : 0.997647 with order 1 Centerline is valid? [True, True] Translation: X:261.07, Y:13.44, Z:9.49 [[ 9.93461113e-01 -1.08172626e-01 -3.65198647e-02 2.61066205e+02] [ 1.08168800e-01 9.94130352e-01 -2.08638451e-03 1.34378004e+01] [ 3.65311957e-02 -1.87756806e-03 9.99330749e-01 9.48880197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.679254154 meters Centerline goodness : 0.997707 with order 1 Centerline is valid? [True, True] Translation: X:261.13, Y:13.45, Z:9.49 [[ 9.94147412e-01 -1.01672090e-01 -3.65199752e-02 2.61127428e+02] [ 1.01663957e-01 9.94816614e-01 -2.08444933e-03 1.34470244e+01] [ 3.65426083e-02 -1.64051528e-03 9.99330749e-01 9.49063894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.739254154 meters Centerline goodness : 0.997768 with order 1 Centerline is valid? [True, True] Translation: X:261.19, Y:13.46, Z:9.50 [[ 9.95089123e-01 -9.19995800e-02 -3.65200468e-02 2.61188085e+02] [ 9.19849861e-02 9.95758215e-01 -2.08319279e-03 1.34578071e+01] [ 3.65567895e-02 -1.28633351e-03 9.99330749e-01 9.49609599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.799254154 meters Centerline goodness : 0.998144 with order 1 Centerline is valid? [True, True] Translation: X:261.25, Y:13.47, Z:9.50 [[ 9.95649648e-01 -8.57208201e-02 -3.65201216e-02 2.61248584e+02] [ 8.57020541e-02 9.96318636e-01 -2.08188111e-03 1.34656834e+01] [ 3.65641383e-02 -1.05702524e-03 9.99330749e-01 9.50045195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.859254154 meters Centerline goodness : 0.997640 with order 1 Centerline is valid? [True, True] Translation: X:261.31, Y:13.48, Z:9.50 [[ 9.96344882e-01 -7.72214460e-02 -3.65201969e-02 2.61308731e+02] [ 7.71970204e-02 9.97013687e-01 -2.08055912e-03 1.34756243e+01] [ 3.65717999e-02 -7.46295955e-04 9.99330749e-01 9.50419404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.919254154 meters Centerline goodness : 0.998100 with order 1 Centerline is valid? [True, True] Translation: X:261.37, Y:13.48, Z:9.51 [[ 9.96759523e-01 -7.16709604e-02 -3.65202340e-02 2.61369204e+02] [ 7.16428340e-02 9.97428182e-01 -2.07990819e-03 1.34820706e+01] [ 3.65753796e-02 -5.43244770e-04 9.99330749e-01 9.50651574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.979254154 meters Centerline goodness : 0.998032 with order 1 Centerline is valid? [True, True] Translation: X:261.43, Y:13.49, Z:9.51 [[ 9.97150230e-01 -6.60128155e-02 -3.65202340e-02 2.61428167e+02] [ 6.59808947e-02 9.97818719e-01 -2.07990819e-03 1.34887249e+01] [ 3.65778737e-02 -3.35656787e-04 9.99330749e-01 9.50775768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.039254154 meters Centerline goodness : 0.998056 with order 1 Centerline is valid? [True, True] Translation: X:261.49, Y:13.49, Z:9.51 [[ 9.97229645e-01 -6.48020659e-02 -3.65202353e-02 2.61486324e+02] [ 6.47693343e-02 9.97898095e-01 -2.07988527e-03 1.34938101e+01] [ 3.65782541e-02 -2.91268078e-04 9.99330749e-01 9.50912196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.099254154 meters Centerline goodness : 0.998013 with order 1 Centerline is valid? [True, True] Translation: X:261.54, Y:13.50, Z:9.51 [[ 9.97105769e-01 -6.66812897e-02 -3.65197378e-02 2.61543841e+02] [ 6.66494993e-02 9.97774264e-01 -2.08858362e-03 1.34973312e+01] [ 3.65777240e-02 -3.51483467e-04 9.99330749e-01 9.51021037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.159254154 meters Centerline goodness : 0.998429 with order 1 Centerline is valid? [True, True] Translation: X:261.60, Y:13.50, Z:9.51 [[ 9.96850564e-01 -7.03937103e-02 -3.65195626e-02 2.61602017e+02] [ 7.03642972e-02 9.97519168e-01 -2.09164318e-03 1.35005073e+01] [ 3.65762022e-02 -4.84617671e-04 9.99330749e-01 9.51256458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.219254154 meters Centerline goodness : 0.998539 with order 1 Centerline is valid? [True, True] Translation: X:261.66, Y:13.50, Z:9.52 [[ 9.96322410e-01 -7.75113626e-02 -3.65190782e-02 2.61660279e+02] [ 7.74864169e-02 9.96991196e-01 -2.10006605e-03 1.35032870e+01] [ 3.65719785e-02 -7.37389654e-04 9.99330749e-01 9.51512533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.279254154 meters Centerline goodness : 0.998389 with order 1 Centerline is valid? [True, True] Translation: X:261.72, Y:13.51, Z:9.52 [[ 9.95490180e-01 -8.75537874e-02 -3.65189759e-02 2.61720440e+02] [ 8.75355214e-02 9.96159181e-01 -2.10184413e-03 1.35050366e+01] [ 3.65627375e-02 -1.10434241e-03 9.99330749e-01 9.51882494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.339254154 meters Centerline goodness : 0.998309 with order 1 Centerline is valid? [True, True] Translation: X:261.78, Y:13.51, Z:9.52 [[ 9.94850373e-01 -9.45468108e-02 -3.65189759e-02 2.61781602e+02] [ 9.45332462e-02 9.95519486e-01 -2.10184413e-03 1.35075583e+01] [ 3.65540748e-02 -1.36123692e-03 9.99330749e-01 9.52118297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.399254154 meters Centerline goodness : 0.998623 with order 1 Centerline is valid? [True, True] Translation: X:261.84, Y:13.51, Z:9.52 [[ 9.93992385e-01 -1.03177024e-01 -3.65190447e-02 2.61841920e+02] [ 1.03169310e-01 9.94661591e-01 -2.10064839e-03 1.35101092e+01] [ 3.65408297e-02 -1.67961615e-03 9.99330749e-01 9.52194036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.459254154 meters Centerline goodness : 0.998729 with order 1 Centerline is valid? [True, True] Translation: X:261.90, Y:13.51, Z:9.52 [[ 9.93234249e-01 -1.10236490e-01 -3.65190786e-02 2.61902669e+02] [ 1.10233553e-01 9.93903493e-01 -2.10005804e-03 1.35129093e+01] [ 3.65279428e-02 -1.93977821e-03 9.99330749e-01 9.52214607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.519254154 meters Centerline goodness : 0.998892 with order 1 Centerline is valid? [True, True] Translation: X:261.96, Y:13.52, Z:9.52 [[ 9.92778230e-01 -1.14270451e-01 -3.65191792e-02 2.61964050e+02] [ 1.14270297e-01 9.93447480e-01 -2.09830790e-03 1.35162714e+01] [ 3.65196611e-02 -2.08990305e-03 9.99330749e-01 9.52359076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.579254154 meters Centerline goodness : 0.998870 with order 1 Centerline is valid? [True, True] Translation: X:262.03, Y:13.52, Z:9.53 [[ 9.92085656e-01 -1.20134911e-01 -3.65192451e-02 2.62025608e+02] [ 1.20138754e-01 9.92754895e-01 -2.09716047e-03 1.35212872e+01] [ 3.65066015e-02 -2.30681376e-03 9.99330749e-01 9.52633979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.639254154 meters Centerline goodness : 0.998810 with order 1 Centerline is valid? [True, True] Translation: X:262.09, Y:13.53, Z:9.53 [[ 9.91732184e-01 -1.23018735e-01 -3.65193854e-02 2.62088053e+02] [ 1.23024613e-01 9.92401409e-01 -2.09471466e-03 1.35260926e+01] [ 3.64995786e-02 -2.41538732e-03 9.99330749e-01 9.52806140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.699254154 meters Centerline goodness : 0.998913 with order 1 Centerline is valid? [True, True] Translation: X:262.15, Y:13.53, Z:9.53 [[ 9.91390556e-01 -1.25742154e-01 -3.65195241e-02 2.62148645e+02] [ 1.25749959e-01 9.92059761e-01 -2.09229360e-03 1.35334143e+01] [ 3.64926398e-02 -2.51804852e-03 9.99330749e-01 9.52932363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.759254154 meters Centerline goodness : 0.998996 with order 1 Centerline is valid? [True, True] Translation: X:262.21, Y:13.54, Z:9.53 [[ 9.91358350e-01 -1.25995789e-01 -3.65196265e-02 2.62210779e+02] [ 1.26003831e-01 9.92027552e-01 -2.09050484e-03 1.35399554e+01] [ 3.64918705e-02 -2.52917342e-03 9.99330749e-01 9.53070546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.819254154 meters Centerline goodness : 0.998681 with order 1 Centerline is valid? [True, True] Translation: X:262.27, Y:13.55, Z:9.53 [[ 9.91547439e-01 -1.24498932e-01 -3.65197609e-02 2.62271468e+02] [ 1.24506050e-01 9.92216651e-01 -2.08815312e-03 1.35487767e+01] [ 3.64954877e-02 -2.47642830e-03 9.99330749e-01 9.53384269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.879254154 meters Centerline goodness : 0.998787 with order 1 Centerline is valid? [True, True] Translation: X:262.33, Y:13.56, Z:9.54 [[ 9.91876230e-01 -1.21851730e-01 -3.65198603e-02 2.62333043e+02] [ 1.21857125e-01 9.92545459e-01 -2.08641356e-03 1.35559450e+01] [ 3.65018546e-02 -2.38074117e-03 9.99330749e-01 9.53700716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.939254154 meters Centerline goodness : 0.998783 with order 1 Centerline is valid? [True, True] Translation: X:262.39, Y:13.56, Z:9.54 [[ 9.92296959e-01 -1.18376666e-01 -3.65199911e-02 2.62394692e+02] [ 1.18379801e-01 9.92966202e-01 -2.08412206e-03 1.35639539e+01] [ 3.65098283e-02 -2.25516131e-03 9.99330749e-01 9.54048805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.999254154 meters Centerline goodness : 0.998635 with order 1 Centerline is valid? [True, True] Translation: X:262.46, Y:13.57, Z:9.55 [[ 9.92778535e-01 -1.14267495e-01 -3.65201203e-02 2.62457240e+02] [ 1.14267942e-01 9.93447786e-01 -2.08185560e-03 1.35723330e+01] [ 3.65187211e-02 -2.10625742e-03 9.99330749e-01 9.54609366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.059254154 meters Centerline goodness : 0.998861 with order 1 Centerline is valid? [True, True] Translation: X:262.52, Y:13.58, Z:9.55 [[ 9.93726944e-01 -1.05702530e-01 -3.65203454e-02 2.62519174e+02] [ 1.05697352e-01 9.94396175e-01 -2.07789942e-03 1.35812133e+01] [ 3.65353310e-02 -1.79523915e-03 9.99330749e-01 9.54920711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.119254154 meters Centerline goodness : 0.998821 with order 1 Centerline is valid? [True, True] Translation: X:262.58, Y:13.59, Z:9.55 [[ 9.94839526e-01 -9.46602891e-02 -3.65204939e-02 2.62580593e+02] [ 9.46477744e-02 9.95508660e-01 -2.07528515e-03 1.35906660e+01] [ 3.65529151e-02 -1.39200777e-03 9.99330749e-01 9.55143094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.179254154 meters Centerline goodness : 0.998902 with order 1 Centerline is valid? [True, True] Translation: X:262.64, Y:13.60, Z:9.55 [[ 9.95650503e-01 -8.57106495e-02 -3.65206770e-02 2.62641977e+02] [ 8.56922366e-02 9.96319501e-01 -2.07205850e-03 1.35977364e+01] [ 3.65638602e-02 -1.06649240e-03 9.99330749e-01 9.55356616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.239254154 meters Centerline goodness : 0.999343 with order 1 Centerline is valid? [True, True] Translation: X:262.70, Y:13.61, Z:9.55 [[ 9.96746498e-01 -7.18515688e-02 -3.65208273e-02 2.62703608e+02] [ 7.18239483e-02 9.97415178e-01 -2.06940545e-03 1.36055574e+01] [ 3.65751175e-02 -5.60397377e-04 9.99330749e-01 9.55418062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.299254154 meters Centerline goodness : 0.999066 with order 1 Centerline is valid? [True, True] Translation: X:262.76, Y:13.61, Z:9.55 [[ 9.97330089e-01 -6.32369540e-02 -3.65209788e-02 2.62764189e+02] [ 6.32036550e-02 9.97998510e-01 -2.06672928e-03 1.36115155e+01] [ 3.65785761e-02 -2.47048046e-04 9.99330749e-01 9.55449099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.359254154 meters Centerline goodness : 0.999149 with order 1 Centerline is valid? [True, True] Translation: X:262.82, Y:13.62, Z:9.56 [[ 9.97901088e-01 -5.34754943e-02 -3.65210902e-02 2.62824486e+02] [ 5.34357289e-02 9.98569156e-01 -2.06475785e-03 1.36183419e+01] [ 3.65792482e-02 1.08893029e-04 9.99330749e-01 9.55666867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.419254154 meters Centerline goodness : 0.998851 with order 1 Centerline is valid? [True, True] Translation: X:262.88, Y:13.62, Z:9.56 [[ 9.98095637e-01 -4.97122656e-02 -3.65210902e-02 2.62883579e+02] [ 4.96699814e-02 9.98763550e-01 -2.06475785e-03 1.36229536e+01] [ 3.65785776e-02 2.46823930e-04 9.99330749e-01 9.55869930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.479254154 meters Centerline goodness : 0.998956 with order 1 Centerline is valid? [True, True] Translation: X:262.94, Y:13.63, Z:9.56 [[ 9.98098822e-01 -4.96483323e-02 -3.65210183e-02 2.62942563e+02] [ 4.96059588e-02 9.98766730e-01 -2.06602938e-03 1.36252526e+01] [ 3.65785529e-02 2.50441360e-04 9.99330749e-01 9.56059738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.539254154 meters Centerline goodness : 0.998936 with order 1 Centerline is valid? [True, True] Translation: X:263.00, Y:13.63, Z:9.56 [[ 9.97919690e-01 -5.31276321e-02 -3.65205061e-02 2.63001490e+02] [ 5.30872573e-02 9.98587721e-01 -2.07504406e-03 1.36269054e+01] [ 3.65791712e-02 1.31953820e-04 9.99330749e-01 9.56257736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.599254154 meters Centerline goodness : 0.999046 with order 1 Centerline is valid? [True, True] Translation: X:263.06, Y:13.63, Z:9.57 [[ 9.97331745e-01 -6.32113881e-02 -3.65199999e-02 2.63059949e+02] [ 6.31774427e-02 9.98000134e-01 -2.08391532e-03 1.36292676e+01] [ 3.65786920e-02 -2.28885300e-04 9.99330750e-01 9.56894814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.659254154 meters Centerline goodness : 0.998965 with order 1 Centerline is valid? [True, True] Translation: X:263.12, Y:13.63, Z:9.57 [[ 9.96660424e-01 -7.30365062e-02 -3.65194076e-02 2.63119570e+02] [ 7.30087708e-02 9.97329100e-01 -2.09424353e-03 1.36284985e+01] [ 3.65748242e-02 -5.78987418e-04 9.99330750e-01 9.57255349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.719254154 meters Centerline goodness : 0.998817 with order 1 Centerline is valid? [True, True] Translation: X:263.18, Y:13.62, Z:9.57 [[ 9.96499937e-01 -7.51944976e-02 -3.65193653e-02 2.63181862e+02] [ 7.51681831e-02 9.97168669e-01 -2.09498044e-03 1.36238868e+01] [ 3.65734980e-02 -6.57446471e-04 9.99330750e-01 9.56974170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.779254154 meters Centerline goodness : 0.998879 with order 1 Centerline is valid? [True, True] Translation: X:263.24, Y:13.62, Z:9.57 [[ 9.96328318e-01 -7.74351925e-02 -3.65194892e-02 2.63242826e+02] [ 7.74104612e-02 9.96997112e-01 -2.09282006e-03 1.36240461e+01] [ 3.65718831e-02 -7.41854603e-04 9.99330750e-01 9.57095899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.839254154 meters Centerline goodness : 0.998987 with order 1 Centerline is valid? [True, True] Translation: X:263.30, Y:13.62, Z:9.57 [[ 9.96476292e-01 -7.55070729e-02 -3.65196019e-02 2.63303596e+02] [ 7.54811196e-02 9.97145039e-01 -2.09085120e-03 1.36249754e+01] [ 3.65732139e-02 -6.73056787e-04 9.99330750e-01 9.57143305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.899254154 meters Centerline goodness : 0.999007 with order 1 Centerline is valid? [True, True] Translation: X:263.36, Y:13.63, Z:9.57 [[ 9.96601609e-01 -7.38345642e-02 -3.65197195e-02 2.63364566e+02] [ 7.38075638e-02 9.97270315e-01 -2.08879547e-03 1.36272139e+01] [ 3.65742574e-02 -6.13734599e-04 9.99330750e-01 9.57349138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.959254154 meters Centerline goodness : 0.999072 with order 1 Centerline is valid? [True, True] Translation: X:263.43, Y:13.63, Z:9.57 [[ 9.96726783e-01 -7.21250616e-02 -3.65197918e-02 2.63425532e+02] [ 7.20969607e-02 9.97395443e-01 -2.08752908e-03 1.36299760e+01] [ 3.65752371e-02 -5.52269852e-04 9.99330750e-01 9.57468557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.019254154 meters Centerline goodness : 0.998776 with order 1 Centerline is valid? [True, True] Translation: X:263.49, Y:13.63, Z:9.58 [[ 9.96597473e-01 -7.38902974e-02 -3.65198640e-02 2.63486904e+02] [ 7.38634271e-02 9.97266184e-01 -2.08626655e-03 1.36309578e+01] [ 3.65741802e-02 -6.18314342e-04 9.99330750e-01 9.57668863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.079254154 meters Centerline goodness : 0.998822 with order 1 Centerline is valid? [True, True] Translation: X:263.55, Y:13.63, Z:9.58 [[ 9.96347975e-01 -7.71816467e-02 -3.65199413e-02 2.63548486e+02] [ 7.71570348e-02 9.97016773e-01 -2.08491231e-03 1.36325037e+01] [ 3.65719110e-02 -7.40472225e-04 9.99330750e-01 9.57855265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.139254154 meters Centerline goodness : 0.999095 with order 1 Centerline is valid? [True, True] Translation: X:263.61, Y:13.63, Z:9.58 [[ 9.95806188e-01 -8.38828003e-02 -3.65200184e-02 2.63610615e+02] [ 8.38627379e-02 9.96475138e-01 -2.08355984e-03 1.36337119e+01] [ 3.65660652e-02 -9.87846954e-04 9.99330750e-01 9.58120169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.199254154 meters Centerline goodness : 0.998926 with order 1 Centerline is valid? [True, True] Translation: X:263.67, Y:13.63, Z:9.58 [[ 9.95313032e-01 -8.95446502e-02 -3.65201742e-02 2.63672386e+02] [ 8.95284927e-02 9.95982088e-01 -2.08082638e-03 1.36348969e+01] [ 3.65597662e-02 -1.19852253e-03 9.99330750e-01 9.58359081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.259254154 meters Centerline goodness : 0.998992 with order 1 Centerline is valid? [True, True] Translation: X:263.73, Y:13.63, Z:9.59 [[ 9.94426068e-01 -9.89093529e-02 -3.65203319e-02 2.63734763e+02] [ 9.88995953e-02 9.95095248e-01 -2.07805421e-03 1.36341782e+01] [ 3.65467477e-02 -1.54537477e-03 9.99330750e-01 9.58650027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.319254154 meters Centerline goodness : 0.998679 with order 1 Centerline is valid? [True, True] Translation: X:263.80, Y:13.64, Z:9.59 [[ 9.93897266e-01 -1.04088797e-01 -3.65204879e-02 2.63796883e+02] [ 1.04082627e-01 9.94566488e-01 -2.07531017e-03 1.36352376e+01] [ 3.65380699e-02 -1.73850320e-03 9.99330750e-01 9.58915251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.379254154 meters Centerline goodness : 0.998844 with order 1 Centerline is valid? [True, True] Translation: X:263.86, Y:13.64, Z:9.59 [[ 9.93257232e-01 -1.10028694e-01 -3.65206413e-02 2.63859734e+02] [ 1.10026624e-01 9.93926479e-01 -2.07260609e-03 1.36364032e+01] [ 3.65268786e-02 -1.95961187e-03 9.99330750e-01 9.59086956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.439254154 meters Centerline goodness : 0.998846 with order 1 Centerline is valid? [True, True] Translation: X:263.92, Y:13.64, Z:9.59 [[ 9.93082882e-01 -1.11591284e-01 -3.65208757e-02 2.63921435e+02] [ 1.11590418e-01 9.93752132e-01 -2.06846781e-03 1.36381864e+01] [ 3.65235211e-02 -2.02121983e-03 9.99330750e-01 9.59300741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.499254154 meters Centerline goodness : 0.998680 with order 1 Centerline is valid? [True, True] Translation: X:263.98, Y:13.64, Z:9.59 [[ 9.93044644e-01 -1.11931005e-01 -3.65210303e-02 2.63983502e+02] [ 1.11930469e-01 9.93713894e-01 -2.06573548e-03 1.36407027e+01] [ 3.65226750e-02 -2.03644847e-03 9.99330750e-01 9.59437377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.559254154 meters Centerline goodness : 0.998973 with order 1 Centerline is valid? [True, True] Translation: X:264.05, Y:13.64, Z:9.60 [[ 9.93124984e-01 -1.11215865e-01 -3.65211856e-02 2.64045207e+02] [ 1.11214947e-01 9.93794234e-01 -2.06298471e-03 1.36445344e+01] [ 3.65239803e-02 -2.01290008e-03 9.99330750e-01 9.59530348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.619254154 meters Centerline goodness : 0.999016 with order 1 Centerline is valid? [True, True] Translation: X:264.11, Y:13.65, Z:9.60 [[ 9.93539288e-01 -1.07451733e-01 -3.65213398e-02 2.64107325e+02] [ 1.07448380e-01 9.94208530e-01 -2.06025116e-03 1.36491731e+01] [ 3.65312052e-02 -1.87721831e-03 9.99330750e-01 9.59700269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.679254154 meters Centerline goodness : 0.998867 with order 1 Centerline is valid? [True, True] Translation: X:264.17, Y:13.66, Z:9.60 [[ 9.94201821e-01 -1.01138117e-01 -3.65214925e-02 2.64169614e+02] [ 1.01130612e-01 9.94871030e-01 -2.05754202e-03 1.36552415e+01] [ 3.65422708e-02 -1.64782885e-03 9.99330750e-01 9.60030765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.739254154 meters Centerline goodness : 0.998952 with order 1 Centerline is valid? [True, True] Translation: X:264.23, Y:13.66, Z:9.60 [[ 9.94762741e-01 -9.54633912e-02 -3.65216465e-02 2.64231400e+02] [ 9.54521675e-02 9.95431897e-01 -2.05480423e-03 1.36610540e+01] [ 3.65509704e-02 -1.44202763e-03 9.99330750e-01 9.60244123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.799254154 meters Centerline goodness : 0.998783 with order 1 Centerline is valid? [True, True] Translation: X:264.29, Y:13.67, Z:9.60 [[ 9.95401274e-01 -8.85576732e-02 -3.65217991e-02 2.64293395e+02] [ 8.85419055e-02 9.96070339e-01 -2.05208855e-03 1.36666824e+01] [ 3.65600090e-02 -1.19105813e-03 9.99330750e-01 9.60408614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.859254154 meters Centerline goodness : 0.999035 with order 1 Centerline is valid? [True, True] Translation: X:264.36, Y:13.67, Z:9.61 [[ 9.95871775e-01 -8.30996728e-02 -3.65219499e-02 2.64355640e+02] [ 8.30803361e-02 9.96540746e-01 -2.04940189e-03 1.36726498e+01] [ 3.65659158e-02 -9.93314372e-04 9.99330750e-01 9.60719863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.919254154 meters Centerline goodness : 0.998866 with order 1 Centerline is valid? [True, True] Translation: X:264.42, Y:13.68, Z:9.61 [[ 9.96414440e-01 -7.63177589e-02 -3.65221000e-02 2.64417717e+02] [ 7.62939664e-02 9.97083267e-01 -2.04672304e-03 1.36779793e+01] [ 3.65717761e-02 -7.47031478e-04 9.99330750e-01 9.60942360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.979254154 meters Centerline goodness : 0.998927 with order 1 Centerline is valid? [True, True] Translation: X:264.48, Y:13.68, Z:9.61 [[ 9.96607796e-01 -7.37497474e-02 -3.65222527e-02 2.64479043e+02] [ 7.37243313e-02 9.97276564e-01 -2.04399421e-03 1.36826598e+01] [ 3.65735307e-02 -6.55518093e-04 9.99330750e-01 9.61008962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.039254154 meters Centerline goodness : 0.999181 with order 1 Centerline is valid? [True, True] Translation: X:264.54, Y:13.69, Z:9.61 [[ 9.96652350e-01 -7.31451313e-02 -3.65223653e-02 2.64539914e+02] [ 7.31193834e-02 9.97321105e-01 -2.04198014e-03 1.36863909e+01] [ 3.65738866e-02 -6.35348529e-04 9.99330750e-01 9.61107820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.099254154 meters Centerline goodness : 0.999161 with order 1 Centerline is valid? [True, True] Translation: X:264.60, Y:13.69, Z:9.61 [[ 9.96637077e-01 -7.33529015e-02 -3.65224400e-02 2.64599743e+02] [ 7.33273419e-02 9.97305839e-01 -2.04064328e-03 1.36894697e+01] [ 3.65737298e-02 -6.44312690e-04 9.99330750e-01 9.61214780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.159254154 meters Centerline goodness : 0.999161 with order 1 Centerline is valid? [True, True] Translation: X:264.66, Y:13.69, Z:9.62 [[ 9.96118018e-01 -8.00936961e-02 -3.65225140e-02 2.64660539e+02] [ 8.00727100e-02 9.96786939e-01 -2.03931881e-03 1.36919825e+01] [ 3.65685015e-02 -8.93054458e-04 9.99330750e-01 9.61589282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.219254154 meters Centerline goodness : 0.998932 with order 1 Centerline is valid? [True, True] Translation: X:264.72, Y:13.69, Z:9.62 [[ 9.95830375e-01 -8.35940449e-02 -3.65225905e-02 2.64722145e+02] [ 8.35754601e-02 9.96499367e-01 -2.03794700e-03 1.36948039e+01] [ 3.65650986e-02 -1.02294278e-03 9.99330750e-01 9.61890844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.279254154 meters Centerline goodness : 0.998952 with order 1 Centerline is valid? [True, True] Translation: X:264.78, Y:13.70, Z:9.62 [[ 9.95304501e-01 -8.96383819e-02 -3.65227442e-02 2.64783629e+02] [ 8.96239601e-02 9.95973596e-01 -2.03518940e-03 1.36963551e+01] [ 3.65581199e-02 -1.24767980e-03 9.99330750e-01 9.62128201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.339254154 meters Centerline goodness : 0.999056 with order 1 Centerline is valid? [True, True] Translation: X:264.85, Y:13.70, Z:9.62 [[ 9.94915208e-01 -9.38605383e-02 -3.65229817e-02 2.64845034e+02] [ 9.38491121e-02 9.95584361e-01 -2.03091746e-03 1.36975945e+01] [ 3.65523324e-02 -1.40705874e-03 9.99330750e-01 9.62156862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.399254154 meters Centerline goodness : 0.999265 with order 1 Centerline is valid? [True, True] Translation: X:264.91, Y:13.70, Z:9.62 [[ 9.94746113e-01 -9.56359428e-02 -3.65230927e-02 2.64907601e+02] [ 9.56257840e-02 9.95415287e-01 -2.02892016e-03 1.37006200e+01] [ 3.65496825e-02 -1.47428892e-03 9.99330750e-01 9.62356976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.459254154 meters Centerline goodness : 0.998992 with order 1 Centerline is valid? [True, True] Translation: X:264.97, Y:13.70, Z:9.63 [[ 9.94903324e-01 -9.39863252e-02 -3.65232375e-02 2.64969560e+02] [ 9.39751525e-02 9.95572481e-01 -2.02630955e-03 1.37044225e+01] [ 3.65519756e-02 -1.41629470e-03 9.99330750e-01 9.62634370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.519254154 meters Centerline goodness : 0.999265 with order 1 Centerline is valid? [True, True] Translation: X:265.03, Y:13.71, Z:9.63 [[ 9.95226041e-01 -9.05050866e-02 -3.65233824e-02 2.65032003e+02] [ 9.04916688e-02 9.95895156e-01 -2.02369508e-03 1.37087668e+01] [ 3.65566143e-02 -1.29102778e-03 9.99330750e-01 9.62897013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.579254154 meters Centerline goodness : 0.999031 with order 1 Centerline is valid? [True, True] Translation: X:265.09, Y:13.71, Z:9.63 [[ 9.95724068e-01 -8.48505255e-02 -3.65235261e-02 2.65093958e+02] [ 8.48334023e-02 9.96393100e-01 -2.02109862e-03 1.37144941e+01] [ 3.65632806e-02 -1.08595844e-03 9.99330750e-01 9.63097905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.639254154 meters Centerline goodness : 0.999137 with order 1 Centerline is valid? [True, True] Translation: X:265.16, Y:13.72, Z:9.63 [[ 9.95969482e-01 -8.19195458e-02 -3.65236696e-02 2.65155598e+02] [ 8.19005488e-02 9.96638463e-01 -2.01850078e-03 1.37192276e+01] [ 3.65662486e-02 -9.80943408e-04 9.99330750e-01 9.63279672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.699254154 meters Centerline goodness : 0.998818 with order 1 Centerline is valid? [True, True] Translation: X:265.22, Y:13.72, Z:9.63 [[ 9.96110175e-01 -8.01905921e-02 -3.65238169e-02 2.65216226e+02] [ 8.01705317e-02 9.96779124e-01 -2.01583157e-03 1.37235355e+01] [ 3.65678290e-02 -9.20143482e-04 9.99330750e-01 9.63283621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.759254154 meters Centerline goodness : 0.998777 with order 1 Centerline is valid? [True, True] Translation: X:265.28, Y:13.73, Z:9.63 [[ 9.96104442e-01 -8.02617185e-02 -3.65239257e-02 2.65278338e+02] [ 8.02417781e-02 9.96773395e-01 -2.01385977e-03 1.37281503e+01] [ 3.65677132e-02 -9.24730076e-04 9.99330750e-01 9.63323908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.819254154 meters Centerline goodness : 0.998838 with order 1 Centerline is valid? [True, True] Translation: X:265.34, Y:13.73, Z:9.63 [[ 9.96194426e-01 -7.91369519e-02 -3.65240756e-02 2.65340783e+02] [ 7.91163560e-02 9.96863360e-01 -2.01113619e-03 1.37329683e+01] [ 3.65686679e-02 -8.86169108e-04 9.99330750e-01 9.63421608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.879254154 meters Centerline goodness : 0.998945 with order 1 Centerline is valid? [True, True] Translation: X:265.40, Y:13.74, Z:9.64 [[ 9.96491013e-01 -7.53102898e-02 -3.65242658e-02 2.65402020e+02] [ 7.52872516e-02 9.97159866e-01 -2.00767610e-03 1.37385641e+01] [ 3.65717307e-02 -7.49180404e-04 9.99330750e-01 9.63955503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.939254154 meters Centerline goodness : 0.998796 with order 1 Centerline is valid? [True, True] Translation: X:265.46, Y:13.74, Z:9.64 [[ 9.96910954e-01 -6.95307275e-02 -3.65243426e-02 2.65463870e+02] [ 6.95038624e-02 9.97579665e-01 -2.00627942e-03 1.37441527e+01] [ 3.65754395e-02 -5.38500948e-04 9.99330750e-01 9.64305326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.999254154 meters Centerline goodness : 0.998729 with order 1 Centerline is valid? [True, True] Translation: X:265.52, Y:13.75, Z:9.65 [[ 9.97516083e-01 -6.02297805e-02 -3.65244917e-02 2.65524771e+02] [ 6.01967792e-02 9.98184519e-01 -2.00356117e-03 1.37505064e+01] [ 3.65788562e-02 -2.00072268e-04 9.99330750e-01 9.64584531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.059254154 meters Centerline goodness : 0.998878 with order 1 Centerline is valid? [True, True] Translation: X:265.58, Y:13.75, Z:9.65 [[ 9.97758982e-01 -5.60621944e-02 -3.65245662e-02 2.65582816e+02] [ 5.60264509e-02 9.98427277e-01 -2.00220085e-03 1.37544907e+01] [ 3.65793710e-02 -4.86279388e-05 9.99330750e-01 9.64699262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.119254154 meters Centerline goodness : 0.998836 with order 1 Centerline is valid? [True, True] Translation: X:265.64, Y:13.76, Z:9.65 [[ 9.97891821e-01 -5.36458471e-02 -3.65244563e-02 2.65642341e+02] [ 5.36084121e-02 9.98560024e-01 -2.00420414e-03 1.37577765e+01] [ 3.65793792e-02 4.19608149e-05 9.99330750e-01 9.64930563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.179254154 meters Centerline goodness : 0.998985 with order 1 Centerline is valid? [True, True] Translation: X:265.70, Y:13.76, Z:9.65 [[ 9.97872599e-01 -5.40022820e-02 -3.65243821e-02 2.65700535e+02] [ 5.39650361e-02 9.98540812e-01 -2.00555522e-03 1.37587992e+01] [ 3.65793907e-02 3.02489946e-05 9.99330750e-01 9.64981803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.239254154 meters Centerline goodness : 0.999071 with order 1 Centerline is valid? [True, True] Translation: X:265.76, Y:13.76, Z:9.65 [[ 9.97898587e-01 -5.35200227e-02 -3.65241997e-02 2.65758721e+02] [ 5.34823325e-02 9.98566775e-01 -2.00887275e-03 1.37583571e+01] [ 3.65793672e-02 5.12518866e-05 9.99330750e-01 9.65079009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.299254154 meters Centerline goodness : 0.998904 with order 1 Centerline is valid? [True, True] Translation: X:265.82, Y:13.76, Z:9.65 [[ 9.97970817e-01 -5.21559531e-02 -3.65240201e-02 2.65816116e+02] [ 5.21172303e-02 9.98638947e-01 -2.01213117e-03 1.37591685e+01] [ 3.65792536e-02 1.04517422e-04 9.99330750e-01 9.65396032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.359254154 meters Centerline goodness : 0.999028 with order 1 Centerline is valid? [True, True] Translation: X:265.87, Y:13.76, Z:9.66 [[ 9.98114324e-01 -4.93339140e-02 -3.65234264e-02 2.65874243e+02] [ 4.92929099e-02 9.98782317e-01 -2.02285200e-03 1.37579885e+01] [ 3.65787476e-02 2.18691597e-04 9.99330750e-01 9.65629257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.419254154 meters Centerline goodness : 0.998839 with order 1 Centerline is valid? [True, True] Translation: X:265.93, Y:13.76, Z:9.66 [[ 9.98210131e-01 -4.73562828e-02 -3.65228349e-02 2.65932284e+02] [ 4.73135667e-02 9.98878016e-01 -2.03347520e-03 1.37568579e+01] [ 3.65781547e-02 3.01809962e-04 9.99330750e-01 9.65724868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.479254154 meters Centerline goodness : 0.999178 with order 1 Centerline is valid? [True, True] Translation: X:265.99, Y:13.75, Z:9.66 [[ 9.98111955e-01 -4.93827110e-02 -3.65222375e-02 2.65990982e+02] [ 4.93409603e-02 9.98779901e-01 -2.04414810e-03 1.37542964e+01] [ 3.65786224e-02 2.38246378e-04 9.99330750e-01 9.66179047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.539254154 meters Centerline goodness : 0.999012 with order 1 Centerline is valid? [True, True] Translation: X:266.05, Y:13.75, Z:9.66 [[ 9.97685970e-01 -5.73486670e-02 -3.65217075e-02 2.66049360e+02] [ 5.73119045e-02 9.98354210e-01 -2.05357548e-03 1.37493478e+01] [ 3.65793702e-02 -4.43051668e-05 9.99330750e-01 9.66306116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.599254154 meters Centerline goodness : 0.999204 with order 1 Centerline is valid? [True, True] Translation: X:266.11, Y:13.75, Z:9.66 [[ 9.97143199e-01 -6.61184513e-02 -3.65211018e-02 2.66107427e+02] [ 6.60871733e-02 9.97811718e-01 -2.06429012e-03 1.37463729e+01] [ 3.65776710e-02 -3.55183528e-04 9.99330750e-01 9.66482915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.659254154 meters Centerline goodness : 0.999017 with order 1 Centerline is valid? [True, True] Translation: X:266.17, Y:13.74, Z:9.67 [[ 9.96081603e-01 -8.05462272e-02 -3.65204835e-02 2.66166459e+02] [ 8.05242311e-02 9.96750491e-01 -2.07517217e-03 1.37416768e+01] [ 3.65689572e-02 -8.73743036e-04 9.99330750e-01 9.66613551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.719254154 meters Centerline goodness : 0.998828 with order 1 Centerline is valid? [True, True] Translation: X:266.23, Y:13.74, Z:9.67 [[ 9.95733555e-01 -8.47406691e-02 -3.65199451e-02 2.66226013e+02] [ 8.47211447e-02 9.96402520e-01 -2.08460357e-03 1.37428877e+01] [ 3.65652161e-02 -1.01830183e-03 9.99330750e-01 9.66746073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.779254154 meters Centerline goodness : 0.998873 with order 1 Centerline is valid? [True, True] Translation: X:266.29, Y:13.74, Z:9.67 [[ 9.94759107e-01 -9.55019167e-02 -3.65199073e-02 2.66287078e+02] [ 9.54896023e-02 9.95428243e-01 -2.08526691e-03 1.37409692e+01] [ 3.65520941e-02 -1.41293317e-03 9.99330750e-01 9.66946766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.839254154 meters Centerline goodness : 0.999123 with order 1 Centerline is valid? [True, True] Translation: X:266.35, Y:13.74, Z:9.67 [[ 9.94280873e-01 -1.00358562e-01 -3.65199073e-02 2.66348132e+02] [ 1.00349515e-01 9.94950062e-01 -2.08526691e-03 1.37413290e+01] [ 3.65447584e-02 -1.59141399e-03 9.99330750e-01 9.67289576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.899254154 meters Centerline goodness : 0.999021 with order 1 Centerline is valid? [True, True] Translation: X:266.41, Y:13.74, Z:9.68 [[ 9.93908804e-01 -1.03978746e-01 -3.65199831e-02 2.66410011e+02] [ 1.03972185e-01 9.94578022e-01 -2.08393758e-03 1.37428403e+01] [ 3.65386578e-02 -1.72581853e-03 9.99330750e-01 9.67694319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.959254154 meters Centerline goodness : 0.998999 with order 1 Centerline is valid? [True, True] Translation: X:266.47, Y:13.75, Z:9.68 [[ 9.93912979e-01 -1.03938776e-01 -3.65201403e-02 2.66472405e+02] [ 1.03932289e-01 9.94582198e-01 -2.08117895e-03 1.37460478e+01] [ 3.65385966e-02 -1.72711101e-03 9.99330750e-01 9.67863226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.019254154 meters Centerline goodness : 0.999084 with order 1 Centerline is valid? [True, True] Translation: X:266.53, Y:13.75, Z:9.68 [[ 9.93895241e-01 -1.04108202e-01 -3.65202954e-02 2.66534642e+02] [ 1.04101929e-01 9.94564462e-01 -2.07845416e-03 1.37498781e+01] [ 3.65381721e-02 -1.73606751e-03 9.99330750e-01 9.68040106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.079254154 meters Centerline goodness : 0.999020 with order 1 Centerline is valid? [True, True] Translation: X:266.60, Y:13.75, Z:9.68 [[ 9.93939445e-01 -1.03685276e-01 -3.65204482e-02 2.66596754e+02] [ 1.03678817e-01 9.94608664e-01 -2.07576529e-03 1.37544043e+01] [ 3.65387805e-02 -1.72321186e-03 9.99330750e-01 9.68093976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.139254154 meters Centerline goodness : 0.999125 with order 1 Centerline is valid? [True, True] Translation: X:266.66, Y:13.76, Z:9.68 [[ 9.94027195e-01 -1.02840562e-01 -3.65206011e-02 2.66658782e+02] [ 1.02833634e-01 9.94696409e-01 -2.07307147e-03 1.37590254e+01] [ 3.65401067e-02 -1.69485670e-03 9.99330750e-01 9.68253748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.199254154 meters Centerline goodness : 0.999167 with order 1 Centerline is valid? [True, True] Translation: X:266.72, Y:13.76, Z:9.67 [[ 9.95153486e-01 -9.13004560e-02 -3.65207539e-02 2.66720557e+02] [ 9.12858619e-02 9.95822577e-01 -2.07037616e-03 1.37557585e+01] [ 3.65572176e-02 -1.27348644e-03 9.99330750e-01 9.67402467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.259254154 meters Centerline goodness : 0.999188 with order 1 Centerline is valid? [True, True] Translation: X:266.78, Y:13.77, Z:9.69 [[ 9.94575488e-01 -9.73952167e-02 -3.65208337e-02 2.66780480e+02] [ 9.73847734e-02 9.95244656e-01 -2.06896808e-03 1.37719288e+01] [ 3.65486722e-02 -1.49882818e-03 9.99330750e-01 9.68843083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.319254154 meters Centerline goodness : 0.999065 with order 1 Centerline is valid? [True, True] Translation: X:266.84, Y:13.78, Z:9.69 [[ 9.95413706e-01 -8.84181743e-02 -3.65209506e-02 2.66841696e+02] [ 8.84017699e-02 9.96082755e-01 -2.06690188e-03 1.37766628e+01] [ 3.65606408e-02 -1.17109421e-03 9.99330750e-01 9.69070297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.379254154 meters Centerline goodness : 0.999039 with order 1 Centerline is valid? [True, True] Translation: X:266.90, Y:13.79, Z:9.69 [[ 9.95469079e-01 -8.77925197e-02 -3.65210274e-02 2.66902278e+02] [ 8.77757445e-02 9.96138119e-01 -2.06554554e-03 1.37870907e+01] [ 3.65613269e-02 -1.14947365e-03 9.99330750e-01 9.69477636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.439254154 meters Centerline goodness : 0.999123 with order 1 Centerline is valid? [True, True] Translation: X:266.96, Y:13.79, Z:9.70 [[ 9.96112927e-01 -8.01576347e-02 -3.65211022e-02 2.66963232e+02] [ 8.01357790e-02 9.96781820e-01 -2.06422126e-03 1.37907838e+01] [ 3.65690338e-02 -8.70449495e-04 9.99330750e-01 9.69802363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.499254154 meters Centerline goodness : 0.999100 with order 1 Centerline is valid? [True, True] Translation: X:267.02, Y:13.80, Z:9.70 [[ 9.96433366e-01 -7.60706946e-02 -3.65211816e-02 2.67023212e+02] [ 7.60461467e-02 9.97102165e-01 -2.06281507e-03 1.38002794e+01] [ 3.65722691e-02 -7.21837370e-04 9.99330750e-01 9.69871641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.559254154 meters Centerline goodness : 0.999204 with order 1 Centerline is valid? [True, True] Translation: X:267.08, Y:13.81, Z:9.70 [[ 9.97044252e-01 -6.75940780e-02 -3.65212204e-02 2.67083153e+02] [ 6.75638684e-02 9.97712820e-01 -2.06212930e-03 1.38070281e+01] [ 3.65770775e-02 -4.11480757e-04 9.99330750e-01 9.70239264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.619254154 meters Centerline goodness : 0.999139 with order 1 Centerline is valid? [True, True] Translation: X:267.14, Y:13.81, Z:9.70 [[ 9.97404942e-01 -6.20450059e-02 -3.65212204e-02 2.67142947e+02] [ 6.20110766e-02 9.98073331e-01 -2.06212930e-03 1.38113879e+01] [ 3.65788009e-02 -2.07942236e-04 9.99330750e-01 9.70462711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.679254154 meters Centerline goodness : 0.999265 with order 1 Centerline is valid? [True, True] Translation: X:267.20, Y:13.81, Z:9.71 [[ 9.97650629e-01 -5.79605699e-02 -3.65211462e-02 2.67201653e+02] [ 5.79238560e-02 9.98318871e-01 -2.06344204e-03 1.38144963e+01] [ 3.65793477e-02 -5.68513627e-05 9.99330750e-01 9.70735533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.739254154 meters Centerline goodness : 0.999286 with order 1 Centerline is valid? [True, True] Translation: X:267.26, Y:13.82, Z:9.71 [[ 9.97737534e-01 -5.64451793e-02 -3.65206059e-02 2.67259166e+02] [ 5.64071021e-02 9.98405700e-01 -2.07296071e-03 1.38164499e+01] [ 3.65793897e-02 8.24916436e-06 9.99330750e-01 9.70845317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.799254154 meters Centerline goodness : 0.999245 with order 1 Centerline is valid? [True, True] Translation: X:267.32, Y:13.82, Z:9.71 [[ 9.97460250e-01 -6.11498902e-02 -3.65204165e-02 2.67317110e+02] [ 6.11148425e-02 9.98128581e-01 -2.07629176e-03 1.38163854e+01] [ 3.65790365e-02 -1.60921005e-04 9.99330750e-01 9.70979236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.859254154 meters Centerline goodness : 0.999203 with order 1 Centerline is valid? [True, True] Translation: X:267.38, Y:13.82, Z:9.71 [[ 9.97103271e-01 -6.67185871e-02 -3.65198134e-02 2.67375048e+02] [ 6.66868854e-02 9.97771770e-01 -2.08684621e-03 1.38162773e+01] [ 3.65776703e-02 -3.54591432e-04 9.99330750e-01 9.71079363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.919254154 meters Centerline goodness : 0.999310 with order 1 Centerline is valid? [True, True] Translation: X:267.43, Y:13.81, Z:9.71 [[ 9.96410342e-01 -7.63724229e-02 -3.65196278e-02 2.67433958e+02] [ 7.63470782e-02 9.97079112e-01 -2.09008962e-03 1.38134568e+01] [ 3.65725832e-02 -7.05579961e-04 9.99330750e-01 9.71330272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.979254154 meters Centerline goodness : 0.999353 with order 1 Centerline is valid? [True, True] Translation: X:267.49, Y:13.81, Z:9.72 [[ 9.95896899e-01 -8.27992815e-02 -3.65191055e-02 2.67494980e+02] [ 8.27779190e-02 9.96565808e-01 -2.09917532e-03 1.38122318e+01] [ 3.65675021e-02 -9.32413369e-04 9.99330750e-01 9.71553661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.039254154 meters Centerline goodness : 0.999164 with order 1 Centerline is valid? [True, True] Translation: X:267.56, Y:13.81, Z:9.72 [[ 9.95230369e-01 -9.04592067e-02 -3.65191055e-02 2.67555084e+02] [ 9.04429914e-02 9.95899422e-01 -2.09917532e-03 1.38091301e+01] [ 3.65592458e-02 -1.21373412e-03 9.99330750e-01 9.71632571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.099254154 meters Centerline goodness : 0.999520 with order 1 Centerline is valid? [True, True] Translation: X:267.62, Y:13.81, Z:9.72 [[ 9.94811724e-01 -9.49525800e-02 -3.65190676e-02 2.67616571e+02] [ 9.49393620e-02 9.95480843e-01 -2.09983498e-03 1.38093663e+01] [ 3.65534169e-02 -1.37815652e-03 9.99330750e-01 9.71992597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.159254154 meters Centerline goodness : 0.999354 with order 1 Centerline is valid? [True, True] Translation: X:267.68, Y:13.81, Z:9.72 [[ 9.94573890e-01 -9.74121669e-02 -3.65191445e-02 2.67676584e+02] [ 9.74006525e-02 9.95243040e-01 -2.09849710e-03 1.38109674e+01] [ 3.65498435e-02 -1.46987808e-03 9.99330750e-01 9.72131917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.219254154 meters Centerline goodness : 0.999248 with order 1 Centerline is valid? [True, True] Translation: X:267.74, Y:13.81, Z:9.72 [[ 9.94221092e-01 -1.00949309e-01 -3.65192672e-02 2.67737591e+02] [ 1.00940253e-01 9.94890281e-01 -2.09635827e-03 1.38121376e+01] [ 3.65442900e-02 -1.60202048e-03 9.99330750e-01 9.72331465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.279254154 meters Centerline goodness : 0.999290 with order 1 Centerline is valid? [True, True] Translation: X:267.80, Y:13.82, Z:9.72 [[ 9.94007526e-01 -1.03030945e-01 -3.65193418e-02 2.67798297e+02] [ 1.03023338e-01 9.94676733e-01 -2.09505855e-03 1.38155091e+01] [ 3.65407955e-02 -1.67984053e-03 9.99330750e-01 9.72492301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.339254154 meters Centerline goodness : 0.999227 with order 1 Centerline is valid? [True, True] Translation: X:267.86, Y:13.81, Z:9.72 [[ 9.94341822e-01 -9.97530782e-02 -3.65193786e-02 2.67860318e+02] [ 9.97432886e-02 9.95011000e-01 -2.09441782e-03 1.38119161e+01] [ 3.65461080e-02 -1.55999568e-03 9.99330750e-01 9.72108397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.399254154 meters Centerline goodness : 0.999457 with order 1 Centerline is valid? [True, True] Translation: X:267.92, Y:13.82, Z:9.73 [[ 9.93555361e-01 -1.07303650e-01 -3.65194609e-02 2.67920827e+02] [ 1.07298996e-01 9.94224595e-01 -2.09298083e-03 1.38220007e+01] [ 3.65331307e-02 -1.83900917e-03 9.99330750e-01 9.72814986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.459254154 meters Centerline goodness : 0.999563 with order 1 Centerline is valid? [True, True] Translation: X:267.98, Y:13.83, Z:9.73 [[ 9.93526769e-01 -1.07567971e-01 -3.65197269e-02 2.67981676e+02] [ 1.07563666e-01 9.94196005e-01 -2.08832986e-03 1.38269900e+01] [ 3.65324040e-02 -1.85338409e-03 9.99330750e-01 9.73024562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.519254154 meters Centerline goodness : 0.999062 with order 1 Centerline is valid? [True, True] Translation: X:268.04, Y:13.82, Z:9.72 [[ 9.94462214e-01 -9.85454714e-02 -3.65198020e-02 2.68043258e+02] [ 9.85351404e-02 9.95131384e-01 -2.08701584e-03 1.38237957e+01] [ 3.65476670e-02 -1.52302543e-03 9.99330750e-01 9.72286985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.579254154 meters Centerline goodness : 0.998999 with order 1 Centerline is valid? [True, True] Translation: X:268.10, Y:13.84, Z:9.73 [[ 9.94436364e-01 -9.88059513e-02 -3.65198810e-02 2.68102747e+02] [ 9.87958463e-02 9.95105538e-01 -2.08563269e-03 1.38380232e+01] [ 3.65472087e-02 -1.53398356e-03 9.99330750e-01 9.73443308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.639254154 meters Centerline goodness : 0.998809 with order 1 Centerline is valid? [True, True] Translation: X:268.16, Y:13.84, Z:9.73 [[ 9.95740765e-01 -8.46559159e-02 -3.65199196e-02 2.68164951e+02] [ 8.46363217e-02 9.96409728e-01 -2.08495568e-03 1.38365222e+01] [ 3.65653070e-02 -1.01483630e-03 9.99330750e-01 9.72870443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.699254154 meters Centerline goodness : 0.999270 with order 1 Centerline is valid? [True, True] Translation: X:268.22, Y:13.85, Z:9.74 [[ 9.95754643e-01 -8.44924909e-02 -3.65200011e-02 2.68223542e+02] [ 8.44728393e-02 9.96423604e-01 -2.08352791e-03 1.38523459e+01] [ 3.65654335e-02 -1.01026559e-03 9.99330750e-01 9.74206858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.759254154 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:268.28, Y:13.86, Z:9.74 [[ 9.96365455e-01 -7.69556333e-02 -3.65200011e-02 2.68282910e+02] [ 7.69309204e-02 9.97034248e-01 -2.08352791e-03 1.38586726e+01] [ 3.65720310e-02 -7.33562067e-04 9.99330750e-01 9.74461310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.819254154 meters Centerline goodness : 0.999310 with order 1 Centerline is valid? [True, True] Translation: X:268.34, Y:13.87, Z:9.75 [[ 9.97097265e-01 -6.68082049e-02 -3.65199635e-02 2.68343010e+02] [ 6.67766606e-02 9.97765771e-01 -2.08418675e-03 1.38653623e+01] [ 3.65776103e-02 -3.60544303e-04 9.99330750e-01 9.74613780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.879254154 meters Centerline goodness : 0.999078 with order 1 Centerline is valid? [True, True] Translation: X:268.40, Y:13.87, Z:9.75 [[ 9.97545419e-01 -5.97446972e-02 -3.65199635e-02 2.68401058e+02] [ 5.97084191e-02 9.98213685e-01 -2.08418675e-03 1.38718878e+01] [ 3.65792464e-02 -1.01478343e-04 9.99330750e-01 9.74828886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.939254154 meters Centerline goodness : 0.996395 with order 1 Centerline is valid? [True, True] Translation: X:268.46, Y:13.88, Z:9.75 [[ 9.97771327e-01 -5.58454097e-02 -3.65194262e-02 2.68458889e+02] [ 5.58061769e-02 9.98439426e-01 -2.09355858e-03 1.38763933e+01] [ 3.65793506e-02 5.08831642e-05 9.99330750e-01 9.74832350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.999254154 meters Centerline goodness : 0.999162 with order 1 Centerline is valid? [True, True] Translation: X:268.52, Y:13.88, Z:9.75 [[ 9.97862391e-01 -5.41944110e-02 -3.65186951e-02 2.68517366e+02] [ 5.41536090e-02 9.98530395e-01 -2.10623425e-03 1.38796219e+01] [ 3.65791732e-02 1.24112812e-04 9.99330750e-01 9.75246845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.059254154 meters Centerline goodness : 0.999351 with order 1 Centerline is valid? [True, True] Translation: X:268.58, Y:13.88, Z:9.75 [[ 9.97765141e-01 -5.59567461e-02 -3.65180190e-02 2.68575358e+02] [ 5.59166972e-02 9.98433191e-01 -2.11789266e-03 1.38800965e+01] [ 3.65793126e-02 7.11924528e-05 9.99330750e-01 9.75367240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.119254154 meters Centerline goodness : 0.999205 with order 1 Centerline is valid? [True, True] Translation: X:268.63, Y:13.88, Z:9.75 [[ 9.97565969e-01 -5.94021620e-02 -3.65173926e-02 2.68633138e+02] [ 5.93640271e-02 9.98234131e-01 -2.12863906e-03 1.38814128e+01] [ 3.65793534e-02 -4.43615969e-05 9.99330751e-01 9.75443520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.179254154 meters Centerline goodness : 0.999103 with order 1 Centerline is valid? [True, True] Translation: X:268.69, Y:13.88, Z:9.76 [[ 9.97001963e-01 -6.82173854e-02 -3.65167539e-02 2.68691006e+02] [ 6.81847587e-02 9.97670417e-01 -2.13953946e-03 1.38792779e+01] [ 3.65776389e-02 -3.56761008e-04 9.99330751e-01 9.75818094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.239254154 meters Centerline goodness : 0.999268 with order 1 Centerline is valid? [True, True] Translation: X:268.75, Y:13.88, Z:9.76 [[ 9.96464260e-01 -7.56673967e-02 -3.65160649e-02 2.68748885e+02] [ 7.56393387e-02 9.97132921e-01 -2.15123502e-03 1.38773972e+01] [ 3.65741488e-02 -6.18422184e-04 9.99330751e-01 9.76030539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.299254154 meters Centerline goodness : 0.999436 with order 1 Centerline is valid? [True, True] Translation: X:268.81, Y:13.87, Z:9.76 [[ 9.95628767e-01 -8.59648582e-02 -3.65157699e-02 2.68808189e+02] [ 8.59435313e-02 9.96297676e-01 -2.15623104e-03 1.38727407e+01] [ 3.65659368e-02 -9.91488557e-04 9.99330751e-01 9.76086137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.359254154 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:268.87, Y:13.87, Z:9.76 [[ 9.95177838e-01 -9.10368489e-02 -3.65152302e-02 2.68868117e+02] [ 9.10185970e-02 9.95846839e-01 -2.16533221e-03 1.38717796e+01] [ 3.65607016e-02 -1.16867439e-03 9.99330751e-01 9.76187636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.419254154 meters Centerline goodness : 0.999248 with order 1 Centerline is valid? [True, True] Translation: X:268.93, Y:13.87, Z:9.76 [[ 9.94898104e-01 -9.40447063e-02 -3.65151496e-02 2.68928889e+02] [ 9.40284269e-02 9.95567155e-01 -2.16669062e-03 1.38688821e+01] [ 3.65570494e-02 -1.27782569e-03 9.99330751e-01 9.76315124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.479254154 meters Centerline goodness : 0.999248 with order 1 Centerline is valid? [True, True] Translation: X:268.99, Y:13.87, Z:9.77 [[ 9.95094036e-01 -9.19483772e-02 -3.65151496e-02 2.68988747e+02] [ 9.19306882e-02 9.95763051e-01 -2.16669062e-03 1.38681432e+01] [ 3.65596605e-02 -1.20080192e-03 9.99330751e-01 9.76658955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.539254154 meters Centerline goodness : 0.999269 with order 1 Centerline is valid? [True, True] Translation: X:269.05, Y:13.87, Z:9.77 [[ 9.95303069e-01 -8.96573917e-02 -3.65151099e-02 2.69048603e+02] [ 8.96381383e-02 9.95972041e-01 -2.16735886e-03 1.38712369e+01] [ 3.65623483e-02 -1.11596755e-03 9.99330751e-01 9.77071144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.599254154 meters Centerline goodness : 0.999374 with order 1 Centerline is valid? [True, True] Translation: X:269.11, Y:13.87, Z:9.77 [[ 9.95397824e-01 -8.85992071e-02 -3.65151099e-02 2.69107845e+02] [ 8.85792425e-02 9.96066775e-01 -2.16735886e-03 1.38705638e+01] [ 3.65635141e-02 -1.07709648e-03 9.99330751e-01 9.76947156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.659254154 meters Centerline goodness : 0.999436 with order 1 Centerline is valid? [True, True] Translation: X:269.17, Y:13.87, Z:9.77 [[ 9.95084839e-01 -9.20479240e-02 -3.65149592e-02 2.69167893e+02] [ 9.20301845e-02 9.95753853e-01 -2.16989617e-03 1.38701826e+01] [ 3.65596457e-02 -1.20124764e-03 9.99330751e-01 9.76972559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.719254154 meters Centerline goodness : 0.999457 with order 1 Centerline is valid? [True, True] Translation: X:269.23, Y:13.87, Z:9.77 [[ 9.94646295e-01 -9.66716653e-02 -3.65148783e-02 2.69227326e+02] [ 9.66569854e-02 9.95315384e-01 -2.17125665e-03 1.38716365e+01] [ 3.65537191e-02 -1.36978568e-03 9.99330751e-01 9.77105468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.779254154 meters Centerline goodness : 0.999332 with order 1 Centerline is valid? [True, True] Translation: X:269.29, Y:13.87, Z:9.77 [[ 9.93871220e-01 -1.04339193e-01 -3.65147974e-02 2.69286257e+02] [ 1.04329624e-01 9.94540401e-01 -2.17261578e-03 1.38723197e+01] [ 3.65421302e-02 -1.65027477e-03 9.99330751e-01 9.77251591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.839254154 meters Centerline goodness : 0.999354 with order 1 Centerline is valid? [True, True] Translation: X:269.35, Y:13.87, Z:9.77 [[ 9.93391153e-01 -1.08814961e-01 -3.65146779e-02 2.69346099e+02] [ 1.08808332e-01 9.94060369e-01 -2.17462241e-03 1.38742957e+01] [ 3.65344256e-02 -1.81285054e-03 9.99330751e-01 9.77485383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.899254154 meters Centerline goodness : 0.999209 with order 1 Centerline is valid? [True, True] Translation: X:269.41, Y:13.88, Z:9.78 [[ 9.93084727e-01 -1.11576906e-01 -3.65146389e-02 2.69406159e+02] [ 1.11572115e-01 9.93753959e-01 -2.17527665e-03 1.38766358e+01] [ 3.65292776e-02 -1.91378146e-03 9.99330751e-01 9.77765528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.959254154 meters Centerline goodness : 0.999645 with order 1 Centerline is valid? [True, True] Translation: X:269.47, Y:13.88, Z:9.78 [[ 9.93284317e-01 -1.09785916e-01 -3.65146389e-02 2.69465958e+02] [ 1.09779918e-01 9.93953539e-01 -2.17527665e-03 1.38815295e+01] [ 3.65326693e-02 -1.84790588e-03 9.99330751e-01 9.78244085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.019254154 meters Centerline goodness : 0.999333 with order 1 Centerline is valid? [True, True] Translation: X:269.53, Y:13.89, Z:9.79 [[ 9.93948033e-01 -1.03604963e-01 -3.65146389e-02 2.69525943e+02] [ 1.03594802e-01 9.94617205e-01 -2.17527665e-03 1.38879401e+01] [ 3.65434576e-02 -1.62061484e-03 9.99330751e-01 9.79070896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.079254154 meters Centerline goodness : 0.999520 with order 1 Centerline is valid? [True, True] Translation: X:269.59, Y:13.89, Z:9.79 [[ 9.94454856e-01 -9.86216076e-02 -3.65146389e-02 2.69585480e+02] [ 9.86080922e-02 9.95123968e-01 -2.17527665e-03 1.38931451e+01] [ 3.65511217e-02 -1.43742446e-03 9.99330751e-01 9.78792831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.139254154 meters Centerline goodness : 0.999333 with order 1 Centerline is valid? [True, True] Translation: X:269.64, Y:13.90, Z:9.79 [[ 9.95061231e-01 -9.23029262e-02 -3.65145976e-02 2.69644815e+02] [ 9.22851355e-02 9.95730244e-01 -2.17597077e-03 1.38987604e+01] [ 3.65595376e-02 -1.20453043e-03 9.99330751e-01 9.78766316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.199254154 meters Centerline goodness : 0.999374 with order 1 Centerline is valid? [True, True] Translation: X:269.70, Y:13.90, Z:9.79 [[ 9.95372698e-01 -8.88812838e-02 -3.65145175e-02 2.69703902e+02] [ 8.88611438e-02 9.96041644e-01 -2.17731331e-03 1.39040378e+01] [ 3.65635024e-02 -1.07748357e-03 9.99330751e-01 9.79032509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.259254154 meters Centerline goodness : 0.999353 with order 1 Centerline is valid? [True, True] Translation: X:269.76, Y:13.91, Z:9.81 [[ 9.95277769e-01 -8.99380830e-02 -3.65144368e-02 2.69763286e+02] [ 8.99186038e-02 9.95946735e-01 -2.17866666e-03 1.39124245e+01] [ 3.65623792e-02 -1.11494868e-03 9.99330751e-01 9.80535401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.319254154 meters Centerline goodness : 0.997639 with order 1 Centerline is valid? [True, True] Translation: X:269.82, Y:13.92, Z:9.79 [[ 9.95675283e-01 -8.54249820e-02 -3.65144267e-02 2.69824413e+02] [ 8.54024639e-02 9.96344153e-01 -2.17883504e-03 1.39151040e+01] [ 3.65670625e-02 -9.49009815e-04 9.99330751e-01 9.79246744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.379254154 meters Centerline goodness : 0.999499 with order 1 Centerline is valid? [True, True] Translation: X:269.88, Y:13.92, Z:9.80 [[ 9.95500497e-01 -8.74382880e-02 -3.65144743e-02 2.69881839e+02] [ 8.74171518e-02 9.96169412e-01 -2.17803716e-03 1.39191736e+01] [ 3.65650462e-02 -1.02375427e-03 9.99330751e-01 9.79687706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.439254154 meters Centerline goodness : 0.999457 with order 1 Centerline is valid? [True, True] Translation: X:269.94, Y:13.92, Z:9.80 [[ 9.95042289e-01 -9.25072659e-02 -3.65136938e-02 2.69941162e+02] [ 9.24890600e-02 9.95711290e-01 -2.19104394e-03 1.39236903e+01] [ 3.65597847e-02 -1.19693584e-03 9.99330751e-01 9.79946539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.499254154 meters Centerline goodness : 0.999436 with order 1 Centerline is valid? [True, True] Translation: X:270.00, Y:13.93, Z:9.80 [[ 9.94422550e-01 -9.89472031e-02 -3.65136127e-02 2.70000149e+02] [ 9.89332792e-02 9.95091654e-01 -2.19239462e-03 1.39277211e+01] [ 3.65513226e-02 -1.43224479e-03 9.99330751e-01 9.80231727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.559254154 meters Centerline goodness : 0.999249 with order 1 Centerline is valid? [True, True] Translation: X:270.06, Y:13.93, Z:9.81 [[ 9.93576451e-01 -1.07110214e-01 -3.65135325e-02 2.70060411e+02] [ 1.07101736e-01 9.94245647e-01 -2.19372964e-03 1.39311388e+01] [ 3.65383916e-02 -1.73102463e-03 9.99330751e-01 9.80506455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.619254154 meters Centerline goodness : 0.999333 with order 1 Centerline is valid? [True, True] Translation: X:270.12, Y:13.93, Z:9.81 [[ 9.92584606e-01 -1.15942066e-01 -3.65135325e-02 2.70120321e+02] [ 1.15939540e-01 9.93253850e-01 -2.19372964e-03 1.39345706e+01] [ 3.65215523e-02 -2.05589988e-03 9.99330751e-01 9.80704157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.679254154 meters Centerline goodness : 0.999209 with order 1 Centerline is valid? [True, True] Translation: X:270.18, Y:13.94, Z:9.81 [[ 9.91177604e-01 -1.27411606e-01 -3.65135724e-02 2.70181900e+02] [ 1.27416843e-01 9.91846832e-01 -2.19306561e-03 1.39390676e+01] [ 3.64952931e-02 -2.47872660e-03 9.99330751e-01 9.81053015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.739254154 meters Centerline goodness : 0.998980 with order 1 Centerline is valid? [True, True] Translation: X:270.24, Y:13.94, Z:9.81 [[ 9.90800072e-01 -1.30314865e-01 -3.65137390e-02 2.70244189e+02] [ 1.30322164e-01 9.91469281e-01 -2.19028868e-03 1.39428043e+01] [ 3.64876777e-02 -2.58841131e-03 9.99330751e-01 9.81430809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.799254154 meters Centerline goodness : 0.998959 with order 1 Centerline is valid? [True, True] Translation: X:270.31, Y:13.95, Z:9.81 [[ 9.90653368e-01 -1.31425411e-01 -3.65139068e-02 2.70305049e+02] [ 1.31433563e-01 9.91322568e-01 -2.18748767e-03 1.39514554e+01] [ 3.64845513e-02 -2.63211084e-03 9.99330751e-01 9.81401823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.859254154 meters Centerline goodness : 0.998770 with order 1 Centerline is valid? [True, True] Translation: X:270.37, Y:13.96, Z:9.82 [[ 9.91458061e-01 -1.25210378e-01 -3.65140295e-02 2.70366397e+02] [ 1.25214409e-01 9.92127298e-01 -2.18543753e-03 1.39611005e+01] [ 3.65002049e-02 -2.40531296e-03 9.99330751e-01 9.81548972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.919254154 meters Centerline goodness : 0.998874 with order 1 Centerline is valid? [True, True] Translation: X:270.43, Y:13.97, Z:9.82 [[ 9.92678368e-01 -1.15136314e-01 -3.65141919e-02 2.70427921e+02] [ 1.15133648e-01 9.93347612e-01 -2.18272093e-03 1.39732071e+01] [ 3.65225957e-02 -2.03727228e-03 9.99330751e-01 9.81748396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.979254154 meters Centerline goodness : 0.998998 with order 1 Centerline is valid? [True, True] Translation: X:270.49, Y:13.98, Z:9.82 [[ 9.93545836e-01 -1.07393543e-01 -3.65143539e-02 2.70489356e+02] [ 1.07385759e-01 9.94215040e-01 -2.18000698e-03 1.39820114e+01] [ 3.65372385e-02 -1.75518476e-03 9.99330751e-01 9.82224980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.039254154 meters Centerline goodness : 0.999060 with order 1 Centerline is valid? [True, True] Translation: X:270.55, Y:13.99, Z:9.82 [[ 9.94122761e-01 -1.01914795e-01 -3.65145197e-02 2.70549755e+02] [ 1.01903424e-01 9.94791914e-01 -2.17722628e-03 1.39927185e+01] [ 3.65462405e-02 -1.55652440e-03 9.99330751e-01 9.82271006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.099254154 meters Centerline goodness : 0.998932 with order 1 Centerline is valid? [True, True] Translation: X:270.61, Y:14.00, Z:9.82 [[ 9.94925236e-01 -9.37574288e-02 -3.65146414e-02 2.70611015e+02] [ 9.37406449e-02 9.95594275e-01 -2.17518397e-03 1.40045208e+01] [ 3.65577075e-02 -1.25876061e-03 9.99330751e-01 9.82483688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.159254154 meters Centerline goodness : 0.998849 with order 1 Centerline is valid? [True, True] Translation: X:270.67, Y:14.02, Z:9.83 [[ 9.95579105e-01 -8.65385192e-02 -3.65148000e-02 2.70671809e+02] [ 8.65169808e-02 9.96248007e-01 -2.17251685e-03 1.40152570e+01] [ 3.65658032e-02 -9.96237869e-04 9.99330751e-01 9.82733138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.219254154 meters Centerline goodness : 0.999056 with order 1 Centerline is valid? [True, True] Translation: X:270.73, Y:14.02, Z:9.83 [[ 9.96101381e-01 -8.03037966e-02 -3.65149170e-02 2.70732770e+02] [ 8.02781429e-02 9.96770138e-01 -2.17054929e-03 1.40238038e+01] [ 3.65712822e-02 -7.69262582e-04 9.99330751e-01 9.83111608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.279254154 meters Centerline goodness : 0.999097 with order 1 Centerline is valid? [True, True] Translation: X:270.79, Y:14.03, Z:9.83 [[ 9.96341027e-01 -7.72736238e-02 -3.65149969e-02 2.70793875e+02] [ 7.72459853e-02 9.97009705e-01 -2.16920475e-03 1.40303201e+01] [ 3.65734286e-02 -6.59369225e-04 9.99330751e-01 9.83421259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.339254154 meters Centerline goodness : 0.998907 with order 1 Centerline is valid? [True, True] Translation: X:270.85, Y:14.04, Z:9.84 [[ 9.96574089e-01 -7.42073792e-02 -3.65150778e-02 2.70854149e+02] [ 7.41777332e-02 9.97242681e-01 -2.16784090e-03 1.40373379e+01] [ 3.65752639e-02 -5.48191637e-04 9.99330751e-01 9.83700533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.399254154 meters Centerline goodness : 0.998971 with order 1 Centerline is valid? [True, True] Translation: X:270.92, Y:14.04, Z:9.84 [[ 9.96555627e-01 -7.44548333e-02 -3.65152056e-02 2.70915699e+02] [ 7.44254323e-02 9.97224230e-01 -2.16568714e-03 1.40408098e+01] [ 3.65750936e-02 -5.59432257e-04 9.99330751e-01 9.83896121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.459254154 meters Centerline goodness : 0.998804 with order 1 Centerline is valid? [True, True] Translation: X:270.98, Y:14.04, Z:9.84 [[ 9.96396727e-01 -7.65519154e-02 -3.65152845e-02 2.70976231e+02] [ 7.65239702e-02 9.97065393e-01 -2.16435626e-03 1.40431811e+01] [ 3.65738121e-02 -6.37737045e-04 9.99330751e-01 9.83999669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.519254154 meters Centerline goodness : 0.999078 with order 1 Centerline is valid? [True, True] Translation: X:271.04, Y:14.05, Z:9.84 [[ 9.96213650e-01 -7.88986341e-02 -3.65153232e-02 2.71036367e+02] [ 7.88722880e-02 9.96882381e-01 -2.16370185e-03 1.40467317e+01] [ 3.65721955e-02 -7.24537773e-04 9.99330751e-01 9.84231756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.579254154 meters Centerline goodness : 0.999117 with order 1 Centerline is valid? [True, True] Translation: X:271.10, Y:14.05, Z:9.84 [[ 9.96201547e-01 -7.90512855e-02 -3.65153612e-02 2.71097644e+02] [ 7.90250653e-02 9.96870283e-01 -2.16306146e-03 1.40495457e+01] [ 3.65720712e-02 -7.30783628e-04 9.99330751e-01 9.84346510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.639254154 meters Centerline goodness : 0.999117 with order 1 Centerline is valid? [True, True] Translation: X:271.16, Y:14.05, Z:9.84 [[ 9.96227139e-01 -7.87280778e-02 -3.65154361e-02 2.71157495e+02] [ 7.87016871e-02 9.96895868e-01 -2.16179562e-03 1.40518144e+01] [ 3.65722814e-02 -7.20186966e-04 9.99330751e-01 9.84487891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.699254154 meters Centerline goodness : 0.999053 with order 1 Centerline is valid? [True, True] Translation: X:271.22, Y:14.06, Z:9.85 [[ 9.96249295e-01 -7.84472088e-02 -3.65154376e-02 2.71218535e+02] [ 7.84206305e-02 9.96918016e-01 -2.16176981e-03 1.40550526e+01] [ 3.65724825e-02 -7.09901990e-04 9.99330751e-01 9.84802389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.759254154 meters Centerline goodness : 0.999011 with order 1 Centerline is valid? [True, True] Translation: X:271.28, Y:14.06, Z:9.85 [[ 9.96391649e-01 -7.66178821e-02 -3.65155144e-02 2.71280213e+02] [ 7.65901235e-02 9.97060322e-01 -2.16047253e-03 1.40579752e+01] [ 3.65737014e-02 -6.44050970e-04 9.99330751e-01 9.85026075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.819254154 meters Centerline goodness : 0.998864 with order 1 Centerline is valid? [True, True] Translation: X:271.34, Y:14.06, Z:9.85 [[ 9.96675170e-01 -7.28369217e-02 -3.65155913e-02 2.71340976e+02] [ 7.28066740e-02 9.97343735e-01 -2.15917172e-03 1.40607552e+01] [ 3.65758637e-02 -5.06585909e-04 9.99330751e-01 9.85309534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.879254154 meters Centerline goodness : 0.998949 with order 1 Centerline is valid? [True, True] Translation: X:271.40, Y:14.06, Z:9.85 [[ 9.96880605e-01 -6.99690326e-02 -3.65156711e-02 2.71400587e+02] [ 6.99369108e-02 9.97549083e-01 -2.15782191e-03 1.40639325e+01] [ 3.65771549e-02 -4.02702420e-04 9.99330751e-01 9.85492396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.939254154 meters Centerline goodness : 0.999075 with order 1 Centerline is valid? [True, True] Translation: X:271.46, Y:14.07, Z:9.86 [[ 9.97026472e-01 -6.78589313e-02 -3.65154837e-02 2.71459955e+02] [ 6.78252788e-02 9.97694874e-01 -2.16098892e-03 1.40661591e+01] [ 3.65779533e-02 -3.22109699e-04 9.99330751e-01 9.85811851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.999254154 meters Centerline goodness : 0.999119 with order 1 Centerline is valid? [True, True] Translation: X:271.52, Y:14.07, Z:9.86 [[ 9.97070539e-01 -6.72083747e-02 -3.65154009e-02 2.71519702e+02] [ 6.71742349e-02 9.97738917e-01 -2.16238642e-03 1.40665408e+01] [ 3.65781670e-02 -2.96842325e-04 9.99330751e-01 9.85970431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.059254154 meters Centerline goodness : 0.999140 with order 1 Centerline is valid? [True, True] Translation: X:271.58, Y:14.07, Z:9.86 [[ 9.96854268e-01 -7.03434454e-02 -3.65153210e-02 2.71579028e+02] [ 7.03113581e-02 9.97522747e-01 -2.16373481e-03 1.40656633e+01] [ 3.65770679e-02 -4.10513531e-04 9.99330751e-01 9.86095961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.119254154 meters Centerline goodness : 0.999101 with order 1 Centerline is valid? [True, True] Translation: X:271.64, Y:14.07, Z:9.86 [[ 9.96601531e-01 -7.38378317e-02 -3.65152403e-02 2.71638697e+02] [ 7.38080383e-02 9.97270117e-01 -2.16509649e-03 1.40652200e+01] [ 3.65754240e-02 -5.37379773e-04 9.99330751e-01 9.86190258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.179254154 meters Centerline goodness : 0.999060 with order 1 Centerline is valid? [True, True] Translation: X:271.70, Y:14.06, Z:9.86 [[ 9.96089504e-01 -8.04508712e-02 -3.65151605e-02 2.71699033e+02] [ 8.04254668e-02 9.96758271e-01 -2.16644153e-03 1.40617017e+01] [ 3.65710803e-02 -7.78779154e-04 9.99330751e-01 9.86246518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.239254154 meters Centerline goodness : 0.999268 with order 1 Centerline is valid? [True, True] Translation: X:271.76, Y:14.06, Z:9.87 [[ 9.95555188e-01 -8.68131113e-02 -3.65150793e-02 2.71759910e+02] [ 8.67919300e-02 9.96224102e-01 -2.16780844e-03 1.40599031e+01] [ 3.65653963e-02 -1.01104126e-03 9.99330751e-01 9.86564482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.299254154 meters Centerline goodness : 0.999372 with order 1 Centerline is valid? [True, True] Translation: X:271.82, Y:14.06, Z:9.87 [[ 9.95370317e-01 -8.89077109e-02 -3.65150793e-02 2.71821416e+02] [ 8.88879370e-02 9.96039274e-01 -2.16780844e-03 1.40605033e+01] [ 3.65631880e-02 -1.08797789e-03 9.99330751e-01 9.86910618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.359254154 meters Centerline goodness : 0.999102 with order 1 Centerline is valid? [True, True] Translation: X:271.88, Y:14.06, Z:9.87 [[ 9.95465715e-01 -8.78331026e-02 -3.65151597e-02 2.71881411e+02] [ 8.78126563e-02 9.96134651e-01 -2.16645365e-03 1.40603675e+01] [ 3.65643022e-02 -1.04986283e-03 9.99330751e-01 9.87175980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.419254154 meters Centerline goodness : 0.999122 with order 1 Centerline is valid? [True, True] Translation: X:271.94, Y:14.06, Z:9.87 [[ 9.95584864e-01 -8.64720672e-02 -3.65151992e-02 2.71941666e+02] [ 8.64507308e-02 9.96253773e-01 -2.16578682e-03 1.40631067e+01] [ 3.65656851e-02 -1.00054109e-03 9.99330751e-01 9.87429232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.479254154 meters Centerline goodness : 0.999228 with order 1 Centerline is valid? [True, True] Translation: X:272.00, Y:14.06, Z:9.88 [[ 9.95960469e-01 -8.20328218e-02 -3.65151992e-02 2.72001354e+02] [ 8.20085035e-02 9.96629276e-01 -2.16578682e-03 1.40647545e+01] [ 3.65697822e-02 -8.37518791e-04 9.99330751e-01 9.87688069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.539254154 meters Centerline goodness : 0.999165 with order 1 Centerline is valid? [True, True] Translation: X:272.06, Y:14.07, Z:9.88 [[ 9.96142140e-01 -7.97964965e-02 -3.65151598e-02 2.72061109e+02] [ 7.97706524e-02 9.96810890e-01 -2.16645192e-03 1.40672938e+01] [ 3.65715842e-02 -7.54744071e-04 9.99330751e-01 9.87908627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.599254154 meters Centerline goodness : 0.999248 with order 1 Centerline is valid? [True, True] Translation: X:272.12, Y:14.07, Z:9.88 [[ 9.96116935e-01 -8.01105575e-02 -3.65150810e-02 2.72120331e+02] [ 8.00848755e-02 9.96785691e-01 -2.16777900e-03 1.40688110e+01] [ 3.65713722e-02 -7.64944340e-04 9.99330751e-01 9.88003330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.659254154 meters Centerline goodness : 0.999457 with order 1 Centerline is valid? [True, True] Translation: X:272.18, Y:14.07, Z:9.89 [[ 9.95817324e-01 -8.37528836e-02 -3.65145333e-02 2.72179752e+02] [ 8.37293109e-02 9.96486158e-01 -2.17696534e-03 1.40706158e+01] [ 3.65685542e-02 -8.89476917e-04 9.99330751e-01 9.88915415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.719254154 meters Centerline goodness : 0.999374 with order 1 Centerline is valid? [True, True] Translation: X:272.24, Y:14.07, Z:9.88 [[ 9.95637399e-01 -8.58653880e-02 -3.65144488e-02 2.72238523e+02] [ 8.58431824e-02 9.96306280e-01 -2.17838157e-03 1.40720026e+01] [ 3.65666222e-02 -9.65638328e-04 9.99330751e-01 9.88095464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.779254154 meters Centerline goodness : 0.999457 with order 1 Centerline is valid? [True, True] Translation: X:272.30, Y:14.07, Z:9.88 [[ 9.95378154e-01 -8.88202409e-02 -3.65143225e-02 2.72297192e+02] [ 8.87999432e-02 9.96047095e-01 -2.18049769e-03 1.40741635e+01] [ 3.65636571e-02 -1.07205000e-03 9.99330751e-01 9.88381077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.839254154 meters Centerline goodness : 0.999519 with order 1 Centerline is valid? [True, True] Translation: X:272.36, Y:14.08, Z:9.89 [[ 9.95431965e-01 -8.82153377e-02 -3.65137912e-02 2.72357835e+02] [ 8.81943088e-02 9.96100884e-01 -2.18935764e-03 1.40779870e+01] [ 3.65645546e-02 -1.04095200e-03 9.99330751e-01 9.88923563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.899254154 meters Centerline goodness : 0.999312 with order 1 Centerline is valid? [True, True] Translation: X:272.42, Y:14.08, Z:9.89 [[ 9.95430659e-01 -8.82300703e-02 -3.65137912e-02 2.72417880e+02] [ 8.82090513e-02 9.96099578e-01 -2.18935764e-03 1.40824383e+01] [ 3.65645392e-02 -1.04149316e-03 9.99330751e-01 9.89265765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.959254154 meters Centerline goodness : 0.999164 with order 1 Centerline is valid? [True, True] Translation: X:272.48, Y:14.09, Z:9.90 [[ 9.95442217e-01 -8.80995830e-02 -3.65137912e-02 2.72477509e+02] [ 8.80784763e-02 9.96111133e-01 -2.18935764e-03 1.40866567e+01] [ 3.65646754e-02 -1.03670007e-03 9.99330751e-01 9.89555817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.019254154 meters Centerline goodness : 0.999270 with order 1 Centerline is valid? [True, True] Translation: X:272.54, Y:14.09, Z:9.90 [[ 9.95484795e-01 -8.76171524e-02 -3.65137912e-02 2.72537726e+02] [ 8.75957216e-02 9.96153701e-01 -2.18935764e-03 1.40906340e+01] [ 3.65651736e-02 -1.01897965e-03 9.99330751e-01 9.89793069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.079254154 meters Centerline goodness : 0.999291 with order 1 Centerline is valid? [True, True] Translation: X:272.60, Y:14.10, Z:9.90 [[ 9.95558716e-01 -8.67731875e-02 -3.65137912e-02 2.72597996e+02] [ 8.67511896e-02 9.96227603e-01 -2.18935764e-03 1.40958004e+01] [ 3.65660243e-02 -9.87980742e-04 9.99330751e-01 9.90008251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.139254154 meters Centerline goodness : 0.999395 with order 1 Centerline is valid? [True, True] Translation: X:272.66, Y:14.10, Z:9.91 [[ 9.95441227e-01 -8.81107656e-02 -3.65137912e-02 2.72658229e+02] [ 8.80896664e-02 9.96110143e-01 -2.18935764e-03 1.41041328e+01] [ 3.65646638e-02 -1.03711083e-03 9.99330751e-01 9.90728934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.199254154 meters Centerline goodness : 0.999395 with order 1 Centerline is valid? [True, True] Translation: X:272.72, Y:14.10, Z:9.90 [[ 9.95906328e-01 -8.26881293e-02 -3.65138330e-02 2.72718302e+02] [ 8.26634129e-02 9.96575120e-01 -2.18866129e-03 1.41043710e+01] [ 3.65697538e-02 -8.38656425e-04 9.99330751e-01 9.90279891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.259254154 meters Centerline goodness : 0.999374 with order 1 Centerline is valid? [True, True] Translation: X:272.78, Y:14.11, Z:9.90 [[ 9.96064410e-01 -8.07615832e-02 -3.65138064e-02 2.72777229e+02] [ 8.07355570e-02 9.96733153e-01 -2.18910433e-03 1.41086085e+01] [ 3.65713169e-02 -7.67473580e-04 9.99330751e-01 9.90455775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.319254154 meters Centerline goodness : 0.999061 with order 1 Centerline is valid? [True, True] Translation: X:272.84, Y:14.11, Z:9.91 [[ 9.96307587e-01 -7.77041943e-02 -3.65136867e-02 2.72836457e+02] [ 7.76760427e-02 9.96976244e-01 -2.19109954e-03 1.41125765e+01] [ 3.65735358e-02 -6.53229586e-04 9.99330751e-01 9.90682482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.379254154 meters Centerline goodness : 0.999416 with order 1 Centerline is valid? [True, True] Translation: X:272.90, Y:14.12, Z:9.91 [[ 9.96334818e-01 -7.73542924e-02 -3.65136067e-02 2.72895028e+02] [ 7.73258572e-02 9.97003463e-01 -2.19243141e-03 1.41158360e+01] [ 3.65737863e-02 -6.39050184e-04 9.99330751e-01 9.90967716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.439254154 meters Centerline goodness : 0.999185 with order 1 Centerline is valid? [True, True] Translation: X:272.95, Y:14.12, Z:9.91 [[ 9.96260708e-01 -7.83032571e-02 -3.65130389e-02 2.72953811e+02] [ 7.82751137e-02 9.96929365e-01 -2.20184777e-03 1.41186488e+01] [ 3.65733325e-02 -6.64447848e-04 9.99330751e-01 9.91240436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.499254154 meters Centerline goodness : 0.999165 with order 1 Centerline is valid? [True, True] Translation: X:273.01, Y:14.12, Z:9.92 [[ 9.96089697e-01 -8.04497015e-02 -3.65124739e-02 2.73012572e+02] [ 8.04226571e-02 9.96758399e-01 -2.21117650e-03 1.41207956e+01] [ 3.65720036e-02 -7.33900046e-04 9.99330751e-01 9.91579278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.559254154 meters Centerline goodness : 0.999166 with order 1 Centerline is valid? [True, True] Translation: X:273.07, Y:14.12, Z:9.92 [[ 9.95904249e-01 -8.27138168e-02 -3.65123550e-02 2.73071547e+02] [ 8.26882207e-02 9.96573008e-01 -2.21313888e-03 1.41225051e+01] [ 3.65702846e-02 -8.15067252e-04 9.99330751e-01 9.91858749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.619254154 meters Centerline goodness : 0.999270 with order 1 Centerline is valid? [True, True] Translation: X:273.13, Y:14.12, Z:9.92 [[ 9.95559310e-01 -8.67672047e-02 -3.65118017e-02 2.73129681e+02] [ 8.67439980e-02 9.96228157e-01 -2.22222889e-03 1.41232414e+01] [ 3.65669015e-02 -9.54818997e-04 9.99330751e-01 9.91993781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.679254154 meters Centerline goodness : 0.999248 with order 1 Centerline is valid? [True, True] Translation: X:273.19, Y:14.12, Z:9.92 [[ 9.95147203e-01 -9.13725763e-02 -3.65116073e-02 2.73189478e+02] [ 9.13523476e-02 9.95816146e-01 -2.22541835e-03 1.41240517e+01] [ 3.65621903e-02 -1.12080219e-03 9.99330751e-01 9.92250883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.739254154 meters Centerline goodness : 0.999290 with order 1 Centerline is valid? [True, True] Translation: X:273.25, Y:14.13, Z:9.92 [[ 9.94880205e-01 -9.42352725e-02 -3.65115268e-02 2.73249369e+02] [ 9.42169200e-02 9.95549202e-01 -2.22673925e-03 1.41254300e+01] [ 3.65588587e-02 -1.22466480e-03 9.99330751e-01 9.92441556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.799254154 meters Centerline goodness : 0.999333 with order 1 Centerline is valid? [True, True] Translation: X:273.31, Y:14.13, Z:9.93 [[ 9.94696225e-01 -9.61578406e-02 -3.65114870e-02 2.73309367e+02] [ 9.61407572e-02 9.95365256e-01 -2.22739076e-03 1.41265732e+01] [ 3.65564467e-02 -1.29466483e-03 9.99330751e-01 9.92786250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.859254154 meters Centerline goodness : 0.999354 with order 1 Centerline is valid? [True, True] Translation: X:273.37, Y:14.13, Z:9.93 [[ 9.94734700e-01 -9.57590052e-02 -3.65114870e-02 2.73369753e+02] [ 9.57416535e-02 9.95403724e-01 -2.22739076e-03 1.41289804e+01] [ 3.65569629e-02 -1.28000726e-03 9.99330751e-01 9.93038875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.919254154 meters Centerline goodness : 0.999228 with order 1 Centerline is valid? [True, True] Translation: X:273.43, Y:14.13, Z:9.93 [[ 9.94813835e-01 -9.49333716e-02 -3.65114870e-02 2.73429991e+02] [ 9.49154647e-02 9.95482844e-01 -2.22739076e-03 1.41318012e+01] [ 3.65580127e-02 -1.24966562e-03 9.99330751e-01 9.93285615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.979254154 meters Centerline goodness : 0.999228 with order 1 Centerline is valid? [True, True] Translation: X:273.49, Y:14.13, Z:9.93 [[ 9.94813868e-01 -9.49330217e-02 -3.65114870e-02 2.73490880e+02] [ 9.49151146e-02 9.95482878e-01 -2.22739076e-03 1.41345341e+01] [ 3.65580131e-02 -1.24965276e-03 9.99330751e-01 9.93435110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.039254154 meters Centerline goodness : 0.998895 with order 1 Centerline is valid? [True, True] Translation: X:273.55, Y:14.14, Z:9.94 [[ 9.94707466e-01 -9.60414905e-02 -3.65114870e-02 2.73551486e+02] [ 9.60243289e-02 9.95376495e-01 -2.22739076e-03 1.41377868e+01] [ 3.65565979e-02 -1.29038882e-03 9.99330751e-01 9.93696192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.099254154 meters Centerline goodness : 0.999332 with order 1 Centerline is valid? [True, True] Translation: X:273.61, Y:14.14, Z:9.94 [[ 9.94513562e-01 -9.80290110e-02 -3.65114870e-02 2.73610542e+02] [ 9.80131863e-02 9.95182623e-01 -2.22739076e-03 1.41412923e+01] [ 3.65539464e-02 -1.36343687e-03 9.99330751e-01 9.93841816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.159254154 meters Centerline goodness : 0.999270 with order 1 Centerline is valid? [True, True] Translation: X:273.67, Y:14.14, Z:9.94 [[ 9.94373986e-01 -9.94348588e-02 -3.65114458e-02 2.73669925e+02] [ 9.94199551e-02 9.95043069e-01 -2.22806648e-03 1.41444864e+01] [ 3.65520085e-02 -1.41443495e-03 9.99330751e-01 9.93987281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.219254154 meters Centerline goodness : 0.999228 with order 1 Centerline is valid? [True, True] Translation: X:273.73, Y:14.15, Z:9.94 [[ 9.94251555e-01 -1.00651673e-01 -3.65114509e-02 2.73731115e+02] [ 1.00637591e-01 9.94920656e-01 -2.22798360e-03 1.41497658e+01] [ 3.65502469e-02 -1.45924831e-03 9.99330751e-01 9.94340876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.279254154 meters Centerline goodness : 0.999143 with order 1 Centerline is valid? [True, True] Translation: X:273.79, Y:14.16, Z:9.95 [[ 9.94113991e-01 -1.02001379e-01 -3.65115336e-02 2.73792297e+02] [ 1.01988255e-01 9.94783111e-01 -2.22662628e-03 1.41551333e+01] [ 3.65481760e-02 -1.51022727e-03 9.99330751e-01 9.94759331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.339254154 meters Centerline goodness : 0.999143 with order 1 Centerline is valid? [True, True] Translation: X:273.85, Y:14.16, Z:9.95 [[ 9.94096576e-01 -1.02170929e-01 -3.65116170e-02 2.73853811e+02] [ 1.02157969e-01 9.94765700e-01 -2.22525880e-03 1.41592073e+01] [ 3.65478610e-02 -1.51783050e-03 9.99330751e-01 9.94983716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.399254154 meters Centerline goodness : 0.999332 with order 1 Centerline is valid? [True, True] Translation: X:273.91, Y:14.16, Z:9.95 [[ 9.93957696e-01 -1.03513255e-01 -3.65116999e-02 2.73913715e+02] [ 1.03501249e-01 9.94626837e-01 -2.22389776e-03 1.41648760e+01] [ 3.65457195e-02 -1.56854625e-03 9.99330751e-01 9.95209300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.459254154 meters Centerline goodness : 0.999478 with order 1 Centerline is valid? [True, True] Translation: X:273.98, Y:14.17, Z:9.95 [[ 9.93947448e-01 -1.03611609e-01 -3.65116999e-02 2.73975177e+02] [ 1.03599670e-01 9.94616591e-01 -2.22389776e-03 1.41707329e+01] [ 3.65455641e-02 -1.57216255e-03 9.99330751e-01 9.95414719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.519254154 meters Centerline goodness : 0.999164 with order 1 Centerline is valid? [True, True] Translation: X:274.04, Y:14.18, Z:9.96 [[ 9.94125096e-01 -1.01893000e-01 -3.65117829e-02 2.74036080e+02] [ 1.01879954e-01 9.94794218e-01 -2.22253417e-03 1.41777829e+01] [ 3.65481712e-02 -1.51034176e-03 9.99330751e-01 9.95556528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.579254154 meters Centerline goodness : 0.999291 with order 1 Centerline is valid? [True, True] Translation: X:274.10, Y:14.19, Z:9.96 [[ 9.94589814e-01 -9.72521743e-02 -3.65118659e-02 2.74096295e+02] [ 9.72360551e-02 9.95258869e-01 -2.22116909e-03 1.41853007e+01] [ 3.65547719e-02 -1.34111765e-03 9.99330751e-01 9.95720984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.639254154 meters Centerline goodness : 0.999228 with order 1 Centerline is valid? [True, True] Translation: X:274.16, Y:14.19, Z:9.96 [[ 9.95055865e-01 -9.23618248e-02 -3.65119067e-02 2.74156801e+02] [ 9.23424415e-02 9.95724833e-01 -2.22049793e-03 1.41917481e+01] [ 3.65609015e-02 -1.16207912e-03 9.99330751e-01 9.95886419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.699254154 meters Centerline goodness : 0.999165 with order 1 Centerline is valid? [True, True] Translation: X:274.22, Y:14.20, Z:9.96 [[ 9.95685293e-01 -8.53093068e-02 -3.65119067e-02 2.74216810e+02] [ 8.52851842e-02 9.96354107e-01 -2.22049793e-03 1.42001034e+01] [ 3.65682174e-02 -9.03007560e-04 9.99330751e-01 9.95977551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.759254154 meters Centerline goodness : 0.999039 with order 1 Centerline is valid? [True, True] Translation: X:274.28, Y:14.21, Z:9.96 [[ 9.96181529e-01 -7.93047464e-02 -3.65119067e-02 2.74276913e+02] [ 7.92765919e-02 9.96850185e-01 -2.22049793e-03 1.42076251e+01] [ 3.65729970e-02 -6.82520508e-04 9.99330751e-01 9.96139489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.819254154 meters Centerline goodness : 0.999228 with order 1 Centerline is valid? [True, True] Translation: X:274.34, Y:14.21, Z:9.96 [[ 9.96387414e-01 -7.66746476e-02 -3.65119067e-02 2.74336243e+02] [ 7.66447281e-02 9.97055994e-01 -2.22049793e-03 1.42136687e+01] [ 3.65746714e-02 -5.85968973e-04 9.99330751e-01 9.96321723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.879254154 meters Centerline goodness : 0.999394 with order 1 Centerline is valid? [True, True] Translation: X:274.40, Y:14.22, Z:9.97 [[ 9.96399348e-01 -7.65194121e-02 -3.65119111e-02 2.74395983e+02] [ 7.64893909e-02 9.97067923e-01 -2.22042678e-03 1.42197184e+01] [ 3.65747611e-02 -5.80342048e-04 9.99330751e-01 9.96618528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.939254154 meters Centerline goodness : 0.999372 with order 1 Centerline is valid? [True, True] Translation: X:274.45, Y:14.22, Z:9.97 [[ 9.96195167e-01 -7.91332827e-02 -3.65118297e-02 2.74454197e+02] [ 7.91049668e-02 9.96863816e-01 -2.22176359e-03 1.42239655e+01] [ 3.65731374e-02 -6.74956925e-04 9.99330751e-01 9.96806049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.999254154 meters Centerline goodness : 0.999210 with order 1 Centerline is valid? [True, True] Translation: X:274.51, Y:14.23, Z:9.97 [[ 9.95629415e-01 -8.59590787e-02 -3.65117097e-02 2.74514840e+02] [ 8.59352739e-02 9.96298240e-01 -2.22373423e-03 1.42272127e+01] [ 3.65677023e-02 -9.23628563e-04 9.99330751e-01 9.96935416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.059254154 meters Centerline goodness : 0.999163 with order 1 Centerline is valid? [True, True] Translation: X:274.58, Y:14.23, Z:9.97 [[ 9.94790253e-01 -9.51800811e-02 -3.65117097e-02 2.74575506e+02] [ 9.51624741e-02 9.95459270e-01 -2.22373423e-03 1.42305671e+01] [ 3.65575751e-02 -1.26239549e-03 9.99330751e-01 9.97049850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.119254154 meters Centerline goodness : 0.999021 with order 1 Centerline is valid? [True, True] Translation: X:274.64, Y:14.23, Z:9.97 [[ 9.94170261e-01 -1.01451385e-01 -3.65117503e-02 2.74636488e+02] [ 1.01438021e-01 9.94839377e-01 -2.22306746e-03 1.42339341e+01] [ 3.65488602e-02 -1.49357215e-03 9.99330751e-01 9.97221848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.179254154 meters Centerline goodness : 0.998831 with order 1 Centerline is valid? [True, True] Translation: X:274.70, Y:14.24, Z:9.97 [[ 9.93256774e-01 -1.10035753e-01 -3.65118307e-02 2.74699032e+02] [ 1.10028219e-01 9.93925981e-01 -2.22174591e-03 1.42366221e+01] [ 3.65345286e-02 -1.81056754e-03 9.99330751e-01 9.97407186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.239254154 meters Centerline goodness : 0.998937 with order 1 Centerline is valid? [True, True] Translation: X:274.76, Y:14.24, Z:9.98 [[ 9.92661278e-01 -1.15284264e-01 -3.65119930e-02 2.74760874e+02] [ 1.15280365e-01 9.93330516e-01 -2.21907498e-03 1.42416915e+01] [ 3.65243013e-02 -2.00632608e-03 9.99330751e-01 9.97843324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.299254154 meters Centerline goodness : 0.998917 with order 1 Centerline is valid? [True, True] Translation: X:274.82, Y:14.25, Z:9.98 [[ 9.92233962e-01 -1.18905956e-01 -3.65121589e-02 2.74822943e+02] [ 1.18904600e-01 9.92903210e-01 -2.21634212e-03 1.42474259e+01] [ 3.65165761e-02 -2.14233373e-03 9.99330751e-01 9.98212254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.359254154 meters Centerline goodness : 0.998894 with order 1 Centerline is valid? [True, True] Translation: X:274.89, Y:14.25, Z:9.98 [[ 9.92179815e-01 -1.19356877e-01 -3.65123268e-02 2.74885195e+02] [ 1.19355926e-01 9.92849064e-01 -2.21357334e-03 1.42543924e+01] [ 3.65154347e-02 -2.16169981e-03 9.99330751e-01 9.98350052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.419254154 meters Centerline goodness : 0.999018 with order 1 Centerline is valid? [True, True] Translation: X:274.95, Y:14.26, Z:9.98 [[ 9.92293648e-01 -1.18406727e-01 -3.65124928e-02 2.74947235e+02] [ 1.18405236e-01 9.92962896e-01 -2.21083231e-03 1.42605744e+01] [ 3.65173280e-02 -2.12947546e-03 9.99330751e-01 9.98465763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.479254154 meters Centerline goodness : 0.999039 with order 1 Centerline is valid? [True, True] Translation: X:275.01, Y:14.27, Z:9.99 [[ 9.92690191e-01 -1.15034821e-01 -3.65126580e-02 2.75009161e+02] [ 1.15031156e-01 9.93359430e-01 -2.20810061e-03 1.42692414e+01] [ 3.65242016e-02 -2.00813343e-03 9.99330751e-01 9.98596888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.539254154 meters Centerline goodness : 0.998974 with order 1 Centerline is valid? [True, True] Translation: X:275.07, Y:14.28, Z:9.99 [[ 9.93237644e-01 -1.10207971e-01 -3.65128230e-02 2.75071013e+02] [ 1.10201154e-01 9.93906858e-01 -2.20536771e-03 1.42794570e+01] [ 3.65333943e-02 -1.83330100e-03 9.99330751e-01 9.98945029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.599254154 meters Centerline goodness : 0.999077 with order 1 Centerline is valid? [True, True] Translation: X:275.13, Y:14.29, Z:9.99 [[ 9.93755529e-01 -1.05436004e-01 -3.65129855e-02 2.75132510e+02] [ 1.05426071e-01 9.94424704e-01 -2.20267414e-03 1.42876296e+01] [ 3.65416560e-02 -1.66050099e-03 9.99330751e-01 9.99286884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.659254154 meters Centerline goodness : 0.999097 with order 1 Centerline is valid? [True, True] Translation: X:275.19, Y:14.30, Z:10.00 [[ 9.94791739e-01 -9.51639927e-02 -3.65131511e-02 2.75194140e+02] [ 9.51472477e-02 9.95460779e-01 -2.19992640e-03 1.42984840e+01] [ 3.65567636e-02 -1.28565722e-03 9.99330751e-01 9.99572367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.719254154 meters Centerline goodness : 0.999117 with order 1 Centerline is valid? [True, True] Translation: X:275.26, Y:14.31, Z:10.00 [[ 9.95845551e-01 -8.34171194e-02 -3.65133145e-02 2.75255586e+02] [ 8.33925792e-02 9.96514350e-01 -2.19721135e-03 1.43080428e+01] [ 3.65693269e-02 -8.56856318e-04 9.99330751e-01 9.99921181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.779254154 meters Centerline goodness : 0.998989 with order 1 Centerline is valid? [True, True] Translation: X:275.32, Y:14.32, Z:10.00 [[ 9.96335398e-01 -7.73468815e-02 -3.65134781e-02 2.75317856e+02] [ 7.73183659e-02 9.97004039e-01 -2.19448856e-03 1.43153562e+01] [ 3.65738220e-02 -6.36715825e-04 9.99330751e-01 1.00023477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.839254154 meters Centerline goodness : 0.998884 with order 1 Centerline is valid? [True, True] Translation: X:275.38, Y:14.32, Z:10.00 [[ 9.96666977e-01 -7.29499261e-02 -3.65136398e-02 2.75379523e+02] [ 7.29185592e-02 9.97335490e-01 -2.19179525e-03 1.43209662e+01] [ 3.65762401e-02 -4.78032056e-04 9.99330751e-01 1.00042041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.899254154 meters Centerline goodness : 0.998883 with order 1 Centerline is valid? [True, True] Translation: X:275.44, Y:14.32, Z:10.01 [[ 9.96620169e-01 -7.35865471e-02 -3.65138036e-02 2.75440685e+02] [ 7.35557073e-02 9.97288707e-01 -2.18906196e-03 1.43241129e+01] [ 3.65758895e-02 -5.04135350e-04 9.99330751e-01 1.00055028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.959254154 meters Centerline goodness : 0.998948 with order 1 Centerline is valid? [True, True] Translation: X:275.50, Y:14.33, Z:10.01 [[ 9.96437556e-01 -7.60192984e-02 -3.65138840e-02 2.75502448e+02] [ 7.59901399e-02 9.97106169e-01 -2.18772051e-03 1.43266042e+01] [ 3.65745280e-02 -5.94768272e-04 9.99330751e-01 1.00076591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.019254154 meters Centerline goodness : 0.998907 with order 1 Centerline is valid? [True, True] Translation: X:275.56, Y:14.33, Z:10.01 [[ 9.96104530e-01 -8.02651603e-02 -3.65139651e-02 2.75563307e+02] [ 8.02389011e-02 9.96773263e-01 -2.18636635e-03 1.43279427e+01] [ 3.65716332e-02 -7.51991006e-04 9.99330751e-01 1.00094784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.079254154 meters Centerline goodness : 0.998802 with order 1 Centerline is valid? [True, True] Translation: X:275.62, Y:14.33, Z:10.01 [[ 9.95846128e-01 -8.34099094e-02 -3.65140464e-02 2.75624510e+02] [ 8.33858116e-02 9.96514943e-01 -2.18500701e-03 1.43296577e+01] [ 3.65690441e-02 -8.68822621e-04 9.99330751e-01 1.00114478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.139254154 meters Centerline goodness : 0.998951 with order 1 Centerline is valid? [True, True] Translation: X:275.69, Y:14.33, Z:10.01 [[ 9.95418579e-01 -8.83661141e-02 -3.65141276e-02 2.75686553e+02] [ 8.83453957e-02 9.96087508e-01 -2.18364915e-03 1.43294000e+01] [ 3.65642270e-02 -1.05221012e-03 9.99330751e-01 1.00129641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.199254154 meters Centerline goodness : 0.998950 with order 1 Centerline is valid? [True, True] Translation: X:275.75, Y:14.33, Z:10.02 [[ 9.94945547e-01 -9.35417852e-02 -3.65142893e-02 2.75749335e+02] [ 9.35246452e-02 9.95614576e-01 -2.18094171e-03 1.43293017e+01] [ 3.65581679e-02 -1.24506771e-03 9.99330751e-01 1.00150354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.259254154 meters Centerline goodness : 0.998952 with order 1 Centerline is valid? [True, True] Translation: X:275.81, Y:14.33, Z:10.02 [[ 9.94801646e-01 -9.50598600e-02 -3.65144898e-02 2.75810999e+02] [ 9.50438642e-02 9.95470704e-01 -2.17757981e-03 1.43316898e+01] [ 3.65561053e-02 -1.30421823e-03 9.99330751e-01 1.00174371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.319254154 meters Centerline goodness : 0.998954 with order 1 Centerline is valid? [True, True] Translation: X:275.87, Y:14.33, Z:10.02 [[ 9.94542461e-01 -9.77342001e-02 -3.65146539e-02 2.75872465e+02] [ 9.77201042e-02 9.95211561e-01 -2.17482557e-03 1.43329705e+01] [ 3.65523605e-02 -1.40525941e-03 9.99330751e-01 1.00175601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.379254154 meters Centerline goodness : 0.999120 with order 1 Centerline is valid? [True, True] Translation: X:275.93, Y:14.33, Z:10.02 [[ 9.94157625e-01 -1.01573992e-01 -3.65149276e-02 2.75934943e+02] [ 1.01562649e-01 9.94826778e-01 -2.17022052e-03 1.43339841e+01] [ 3.65464657e-02 -1.55101148e-03 9.99330751e-01 1.00201311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.439254154 meters Centerline goodness : 0.998892 with order 1 Centerline is valid? [True, True] Translation: X:276.00, Y:14.33, Z:10.02 [[ 9.93774945e-01 -1.05252112e-01 -3.65150845e-02 2.75996943e+02] [ 1.05243342e-01 9.94444136e-01 -2.16757663e-03 1.43348189e+01] [ 3.65403537e-02 -1.68888619e-03 9.99330751e-01 1.00221001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.499254154 meters Centerline goodness : 0.999146 with order 1 Centerline is valid? [True, True] Translation: X:276.06, Y:14.34, Z:10.02 [[ 9.93491969e-01 -1.07890428e-01 -3.65152455e-02 2.76058483e+02] [ 1.07883534e-01 9.94161182e-01 -2.16486144e-03 1.43376602e+01] [ 3.65356075e-02 -1.78862129e-03 9.99330751e-01 1.00243457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.559254154 meters Centerline goodness : 0.998830 with order 1 Centerline is valid? [True, True] Translation: X:276.12, Y:14.34, Z:10.03 [[ 9.93387470e-01 -1.08848348e-01 -3.65153642e-02 2.76120586e+02] [ 1.08842173e-01 9.94056690e-01 -2.16285705e-03 1.43415829e+01] [ 3.65337655e-02 -1.82585650e-03 9.99330751e-01 1.00269528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.619254154 meters Centerline goodness : 0.998807 with order 1 Centerline is valid? [True, True] Translation: X:276.18, Y:14.35, Z:10.03 [[ 9.93357663e-01 -1.09119977e-01 -3.65155203e-02 2.76182412e+02] [ 1.09114082e-01 9.94026886e-01 -2.16021902e-03 1.43457135e+01] [ 3.65331320e-02 -1.83848737e-03 9.99330751e-01 1.00292746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.679254154 meters Centerline goodness : 0.998871 with order 1 Centerline is valid? [True, True] Translation: X:276.24, Y:14.35, Z:10.03 [[ 9.93345864e-01 -1.09227285e-01 -3.65156802e-02 2.76243989e+02] [ 1.09221561e-01 9.94015088e-01 -2.15751265e-03 1.43501728e+01] [ 3.65327963e-02 -1.84514333e-03 9.99330751e-01 1.00314926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.739254154 meters Centerline goodness : 0.998806 with order 1 Centerline is valid? [True, True] Translation: X:276.31, Y:14.35, Z:10.03 [[ 9.93744217e-01 -1.05541574e-01 -3.65158403e-02 2.76305736e+02] [ 1.05533468e-01 9.94413417e-01 -2.15479860e-03 1.43512815e+01] [ 3.65392624e-02 -1.71232462e-03 9.99330751e-01 1.00276165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.799254154 meters Centerline goodness : 0.998699 with order 1 Centerline is valid? [True, True] Translation: X:276.37, Y:14.36, Z:10.03 [[ 9.94223441e-01 -1.00927367e-01 -3.65159587e-02 2.76367271e+02] [ 1.00916228e-01 9.94892597e-01 -2.15279160e-03 1.43564850e+01] [ 3.65467326e-02 -1.54469692e-03 9.99330751e-01 1.00316782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.859254154 meters Centerline goodness : 0.998700 with order 1 Centerline is valid? [True, True] Translation: X:276.43, Y:14.37, Z:10.04 [[ 9.94365489e-01 -9.95180760e-02 -3.65161223e-02 2.76427774e+02] [ 9.95060901e-02 9.95034630e-01 -2.15001169e-03 1.43662180e+01] [ 3.65487713e-02 -1.49567913e-03 9.99330751e-01 1.00395803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.919254154 meters Centerline goodness : 0.998700 with order 1 Centerline is valid? [True, True] Translation: X:276.49, Y:14.37, Z:10.04 [[ 9.95491927e-01 -8.75350644e-02 -3.65162430e-02 2.76489785e+02] [ 8.75150955e-02 9.96160878e-01 -2.14796054e-03 1.43734381e+01] [ 3.65640745e-02 -1.05744512e-03 9.99330751e-01 1.00420635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.979254154 meters Centerline goodness : 0.998572 with order 1 Centerline is valid? [True, True] Translation: X:276.55, Y:14.38, Z:10.05 [[ 9.96355305e-01 -7.70886186e-02 -3.65164439e-02 2.76550606e+02] [ 7.70617596e-02 9.97024015e-01 -2.14453926e-03 1.43797582e+01] [ 3.65730911e-02 -6.77298357e-04 9.99330751e-01 1.00455008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.039254154 meters Centerline goodness : 0.998972 with order 1 Centerline is valid? [True, True] Translation: X:276.61, Y:14.38, Z:10.05 [[ 9.96739822e-01 -7.19462996e-02 -3.65165274e-02 2.76611988e+02] [ 7.19160425e-02 9.97408387e-01 -2.14311733e-03 1.43839396e+01] [ 3.65760800e-02 -4.89993747e-04 9.99330751e-01 1.00476189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.099254154 meters Centerline goodness : 0.998904 with order 1 Centerline is valid? [True, True] Translation: X:276.67, Y:14.39, Z:10.05 [[ 9.97061989e-01 -6.73344406e-02 -3.65166074e-02 2.76672356e+02] [ 6.73011409e-02 9.97730409e-01 -2.14175282e-03 1.43875070e+01] [ 3.65779434e-02 -3.22149014e-04 9.99330751e-01 1.00491012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.159254154 meters Centerline goodness : 0.998947 with order 1 Centerline is valid? [True, True] Translation: X:276.73, Y:14.39, Z:10.05 [[ 9.97094420e-01 -6.68524633e-02 -3.65166467e-02 2.76730951e+02] [ 6.68188650e-02 9.97762825e-01 -2.14108316e-03 1.43901907e+01] [ 3.65780892e-02 -3.05138811e-04 9.99330751e-01 1.00509166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.219254154 meters Centerline goodness : 0.999076 with order 1 Centerline is valid? [True, True] Translation: X:276.79, Y:14.39, Z:10.05 [[ 9.96953206e-01 -6.89263950e-02 -3.65165318e-02 2.76791818e+02] [ 6.88941154e-02 9.97621676e-01 -2.14304062e-03 1.43905957e+01] [ 3.65773957e-02 -3.79262944e-04 9.99330751e-01 1.00522569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.279254154 meters Centerline goodness : 0.999181 with order 1 Centerline is valid? [True, True] Translation: X:276.85, Y:14.39, Z:10.05 [[ 9.96591502e-01 -7.39724348e-02 -3.65165318e-02 2.76852861e+02] [ 7.39435397e-02 9.97260127e-01 -2.14304062e-03 1.43901688e+01] [ 3.65750070e-02 -5.64425554e-04 9.99330751e-01 1.00534456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.339254154 meters Centerline goodness : 0.999140 with order 1 Centerline is valid? [True, True] Translation: X:276.91, Y:14.39, Z:10.06 [[ 9.96256827e-01 -7.83509943e-02 -3.65165318e-02 2.76913704e+02] [ 7.83250376e-02 9.96925572e-01 -2.14304062e-03 1.43904738e+01] [ 3.65721737e-02 -7.25139882e-04 9.99330751e-01 1.00553303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.399254154 meters Centerline goodness : 0.999119 with order 1 Centerline is valid? [True, True] Translation: X:276.97, Y:14.39, Z:10.06 [[ 9.95612909e-01 -8.61479992e-02 -3.65165318e-02 2.76973827e+02] [ 8.61272787e-02 9.96281837e-01 -2.14304062e-03 1.43895067e+01] [ 3.65653760e-02 -1.01143061e-03 9.99330751e-01 1.00578612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.459254154 meters Centerline goodness : 0.998974 with order 1 Centerline is valid? [True, True] Translation: X:277.03, Y:14.39, Z:10.06 [[ 9.95221897e-01 -9.05533869e-02 -3.65165704e-02 2.77034317e+02] [ 9.05356512e-02 9.95890911e-01 -2.14238202e-03 1.43895581e+01] [ 3.65605205e-02 -1.17390598e-03 9.99330751e-01 1.00597678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.519254154 meters Centerline goodness : 0.999184 with order 1 Centerline is valid? [True, True] Translation: X:277.10, Y:14.39, Z:10.06 [[ 9.94690443e-01 -9.62156900e-02 -3.65166085e-02 2.77095535e+02] [ 9.62017857e-02 9.95359548e-01 -2.14173326e-03 1.43886279e+01] [ 3.65532232e-02 -1.38260134e-03 9.99330751e-01 1.00614381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.579254154 meters Centerline goodness : 0.999351 with order 1 Centerline is valid? [True, True] Translation: X:277.16, Y:14.39, Z:10.06 [[ 9.94414904e-01 -9.90228748e-02 -3.65166835e-02 2.77156776e+02] [ 9.90109060e-02 9.95084046e-01 -2.14045342e-03 1.43885375e+01] [ 3.65491230e-02 -1.48705113e-03 9.99330751e-01 1.00624893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.639254154 meters Centerline goodness : 0.999205 with order 1 Centerline is valid? [True, True] Translation: X:277.22, Y:14.39, Z:10.06 [[ 9.94506032e-01 -9.81034133e-02 -3.65167575e-02 2.77217211e+02] [ 9.80908721e-02 9.95175163e-01 -2.13919048e-03 1.43904490e+01] [ 3.65504320e-02 -1.45452276e-03 9.99330751e-01 1.00638524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.699254154 meters Centerline goodness : 0.999246 with order 1 Centerline is valid? [True, True] Translation: X:277.28, Y:14.39, Z:10.07 [[ 9.94976073e-01 -9.32155429e-02 -3.65167938e-02 2.77278345e+02] [ 9.31997367e-02 9.95645135e-01 -2.13856945e-03 1.43931611e+01] [ 3.65571161e-02 -1.27553014e-03 9.99330751e-01 1.00665923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.759254154 meters Centerline goodness : 0.999079 with order 1 Centerline is valid? [True, True] Translation: X:277.34, Y:14.40, Z:10.07 [[ 9.95652340e-01 -8.56909321e-02 -3.65168652e-02 2.77338851e+02] [ 8.56701131e-02 9.96321265e-01 -2.13734986e-03 1.43964504e+01] [ 3.65656809e-02 -1.00034659e-03 9.99330751e-01 1.00696560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.819254154 meters Centerline goodness : 0.999267 with order 1 Centerline is valid? [True, True] Translation: X:277.40, Y:14.40, Z:10.07 [[ 9.96053599e-01 -8.08934231e-02 -3.65168652e-02 2.77399507e+02] [ 8.08693818e-02 9.96722416e-01 -2.13734986e-03 1.43996810e+01] [ 3.65700757e-02 -8.24181299e-04 9.99330751e-01 1.00744086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.879254154 meters Centerline goodness : 0.999122 with order 1 Centerline is valid? [True, True] Translation: X:277.46, Y:14.40, Z:10.08 [[ 9.96368474e-01 -7.69179882e-02 -3.65169455e-02 2.77459328e+02] [ 7.68913284e-02 9.97037191e-01 -2.13597811e-03 1.44026671e+01] [ 3.65730479e-02 -6.79615197e-04 9.99330751e-01 1.00754234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.939254154 meters Centerline goodness : 0.999184 with order 1 Centerline is valid? [True, True] Translation: X:277.52, Y:14.40, Z:10.08 [[ 9.96272607e-01 -7.81498675e-02 -3.65169849e-02 2.77518563e+02] [ 7.81240592e-02 9.96941358e-01 -2.13530365e-03 1.44045365e+01] [ 3.65721662e-02 -7.25510555e-04 9.99330751e-01 1.00757649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.999254154 meters Centerline goodness : 0.999205 with order 1 Centerline is valid? [True, True] Translation: X:277.58, Y:14.41, Z:10.08 [[ 9.95991820e-01 -8.16505335e-02 -3.65169082e-02 2.77578268e+02] [ 8.16270275e-02 9.96660656e-01 -2.13661513e-03 1.44064511e+01] [ 3.65694214e-02 -8.52715478e-04 9.99330751e-01 1.00769057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.059254154 meters Centerline goodness : 0.999227 with order 1 Centerline is valid? [True, True] Translation: X:277.64, Y:14.41, Z:10.08 [[ 9.95423344e-01 -8.83113091e-02 -3.65168304e-02 2.77638586e+02] [ 8.82922290e-02 9.96092321e-01 -2.13794342e-03 1.44073108e+01] [ 3.65629389e-02 -1.09599357e-03 9.99330751e-01 1.00797334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.119254154 meters Centerline goodness : 0.999249 with order 1 Centerline is valid? [True, True] Translation: X:277.70, Y:14.41, Z:10.08 [[ 9.95202269e-01 -9.07687396e-02 -3.65168304e-02 2.77700057e+02] [ 9.07513114e-02 9.95871291e-01 -2.13794342e-03 1.44102401e+01] [ 3.65601215e-02 -1.18626411e-03 9.99330751e-01 1.00823136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.179254154 meters Centerline goodness : 0.999375 with order 1 Centerline is valid? [True, True] Translation: X:277.76, Y:14.41, Z:10.09 [[ 9.94570700e-01 -9.74455655e-02 -3.65169105e-02 2.77760826e+02] [ 9.74326777e-02 9.95239825e-01 -2.13657378e-03 1.44117869e+01] [ 3.65512833e-02 -1.43296669e-03 9.99330751e-01 1.00855223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.239254154 meters Centerline goodness : 0.999270 with order 1 Centerline is valid? [True, True] Translation: X:277.82, Y:14.41, Z:10.09 [[ 9.94285972e-01 -1.00309114e-01 -3.65169501e-02 2.77820753e+02] [ 1.00298178e-01 9.94955131e-01 -2.13589712e-03 1.44139272e+01] [ 3.65469769e-02 -1.53889101e-03 9.99330751e-01 1.00882249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.299254154 meters Centerline goodness : 0.999186 with order 1 Centerline is valid? [True, True] Translation: X:277.88, Y:14.42, Z:10.09 [[ 9.93883972e-01 -1.04216859e-01 -3.65170759e-02 2.77881532e+02] [ 1.04208632e-01 9.94553170e-01 -2.13374530e-03 1.44161855e+01] [ 3.65405458e-02 -1.68469927e-03 9.99330751e-01 1.00914066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.359254154 meters Centerline goodness : 0.999043 with order 1 Centerline is valid? [True, True] Translation: X:277.94, Y:14.42, Z:10.09 [[ 9.93331328e-01 -1.09358907e-01 -3.65171534e-02 2.77943803e+02] [ 1.09354193e-01 9.94000560e-01 -2.13241792e-03 1.44184702e+01] [ 3.65312698e-02 -1.87510630e-03 9.99330751e-01 1.00948979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.419254154 meters Centerline goodness : 0.999480 with order 1 Centerline is valid? [True, True] Translation: X:278.01, Y:14.42, Z:10.10 [[ 9.92938036e-01 -1.12874013e-01 -3.65173136e-02 2.78005099e+02] [ 1.12871767e-01 9.93607281e-01 -2.12967018e-03 1.44206539e+01] [ 3.65242531e-02 -2.00714321e-03 9.99330751e-01 1.00965849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.479254154 meters Centerline goodness : 0.999188 with order 1 Centerline is valid? [True, True] Translation: X:278.07, Y:14.42, Z:10.10 [[ 9.92429818e-01 -1.17258406e-01 -3.65174319e-02 2.78067434e+02] [ 1.17259191e-01 9.93099066e-01 -2.12764015e-03 1.44226861e+01] [ 3.65149112e-02 -2.17047099e-03 9.99330751e-01 1.00965046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.539254154 meters Centerline goodness : 0.999269 with order 1 Centerline is valid? [True, True] Translation: X:278.13, Y:14.43, Z:10.10 [[ 9.92209431e-01 -1.19108823e-01 -3.65175895e-02 2.78129144e+02] [ 1.19110955e-01 9.92878676e-01 -2.12493130e-03 1.44269819e+01] [ 3.65106340e-02 -2.24126809e-03 9.99330751e-01 1.00987388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.599254154 meters Centerline goodness : 0.999374 with order 1 Centerline is valid? [True, True] Translation: X:278.19, Y:14.43, Z:10.10 [[ 9.92369791e-01 -1.17765241e-01 -3.65177469e-02 2.78190778e+02] [ 1.17766566e-01 9.93039039e-01 -2.12222243e-03 1.44315537e+01] [ 3.65134723e-02 -2.19454025e-03 9.99330751e-01 1.00997543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.659254154 meters Centerline goodness : 0.999229 with order 1 Centerline is valid? [True, True] Translation: X:278.25, Y:14.44, Z:10.10 [[ 9.92818100e-01 -1.13923935e-01 -3.65179033e-02 2.78252933e+02] [ 1.13922769e-01 9.93487348e-01 -2.11952880e-03 1.44368478e+01] [ 3.65215399e-02 -2.05591411e-03 9.99330751e-01 1.01022436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.719254154 meters Centerline goodness : 0.999186 with order 1 Centerline is valid? [True, True] Translation: X:278.31, Y:14.44, Z:10.11 [[ 9.93720328e-01 -1.05765504e-01 -3.65180604e-02 2.78313715e+02] [ 1.05758941e-01 9.94389544e-01 -2.11681873e-03 1.44447943e+01] [ 3.65370638e-02 -1.75858558e-03 9.99330751e-01 1.01062373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.779254154 meters Centerline goodness : 0.999124 with order 1 Centerline is valid? [True, True] Translation: X:278.37, Y:14.45, Z:10.11 [[ 9.94711199e-01 -9.60002795e-02 -3.65181761e-02 2.78374958e+02] [ 9.59872168e-02 9.95380320e-01 -2.11482000e-03 1.44527368e+01] [ 3.65524972e-02 -1.40164295e-03 9.99330751e-01 1.01103021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.839254154 meters Centerline goodness : 0.999416 with order 1 Centerline is valid? [True, True] Translation: X:278.44, Y:14.46, Z:10.11 [[ 9.95610551e-01 -8.61744854e-02 -3.65183363e-02 2.78435241e+02] [ 8.61549184e-02 9.96279514e-01 -2.11205076e-03 1.44603537e+01] [ 3.65644752e-02 -1.04345426e-03 9.99330751e-01 1.01134485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.899254154 meters Centerline goodness : 0.999061 with order 1 Centerline is valid? [True, True] Translation: X:278.50, Y:14.47, Z:10.12 [[ 9.95998281e-01 -8.15710316e-02 -3.65183754e-02 2.78495948e+02] [ 8.15483972e-02 9.96667147e-01 -2.11137378e-03 1.44655994e+01] [ 3.65688920e-02 -8.75090331e-04 9.99330751e-01 1.01150582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.959254154 meters Centerline goodness : 0.998956 with order 1 Centerline is valid? [True, True] Translation: X:278.56, Y:14.47, Z:10.12 [[ 9.96324530e-01 -7.74844465e-02 -3.65183754e-02 2.78556777e+02] [ 7.74590683e-02 9.96993297e-01 -2.11137378e-03 1.44701991e+01] [ 3.65721742e-02 -7.25065851e-04 9.99330751e-01 1.01161808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.019254154 meters Centerline goodness : 0.999164 with order 1 Centerline is valid? [True, True] Translation: X:278.62, Y:14.47, Z:10.12 [[ 9.96433977e-01 -7.60640318e-02 -3.65183754e-02 2.78615822e+02] [ 7.60377003e-02 9.97102708e-01 -2.11137378e-03 1.44737542e+01] [ 3.65731706e-02 -6.72928715e-04 9.99330751e-01 1.01175850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.079254154 meters Centerline goodness : 0.999142 with order 1 Centerline is valid? [True, True] Translation: X:278.68, Y:14.48, Z:10.12 [[ 9.96454847e-01 -7.57901880e-02 -3.65182981e-02 2.78675848e+02] [ 7.57636237e-02 9.97123568e-01 -2.11271097e-03 1.44768245e+01] [ 3.65733784e-02 -6.61537509e-04 9.99330751e-01 1.01197567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.139254154 meters Centerline goodness : 0.999267 with order 1 Centerline is valid? [True, True] Translation: X:278.74, Y:14.48, Z:10.12 [[ 9.96422446e-01 -7.62150132e-02 -3.65182191e-02 2.78735746e+02] [ 7.61886840e-02 9.97091177e-01 -2.11407545e-03 1.44800527e+01] [ 3.65731183e-02 -6.75762825e-04 9.99330751e-01 1.01227460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.199254154 meters Centerline goodness : 0.999078 with order 1 Centerline is valid? [True, True] Translation: X:278.79, Y:14.48, Z:10.12 [[ 9.96205677e-01 -7.89979348e-02 -3.65181402e-02 2.78794539e+02] [ 7.89734238e-02 9.96874477e-01 -2.11543738e-03 1.44809008e+01] [ 3.65711171e-02 -7.76551830e-04 9.99330751e-01 1.01239652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.259254154 meters Centerline goodness : 0.998870 with order 1 Centerline is valid? [True, True] Translation: X:278.85, Y:14.48, Z:10.13 [[ 9.95793384e-01 -8.40355338e-02 -3.65180237e-02 2.78853664e+02] [ 8.40143321e-02 9.96462297e-01 -2.11744701e-03 1.44833822e+01] [ 3.65667745e-02 -9.59497648e-04 9.99330751e-01 1.01267225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.319254154 meters Centerline goodness : 0.998999 with order 1 Centerline is valid? [True, True] Translation: X:278.91, Y:14.48, Z:10.13 [[ 9.94932319e-01 -9.36809523e-02 -3.65179461e-02 2.78913900e+02] [ 9.36661845e-02 9.95601405e-01 -2.11878405e-03 1.44840453e+01] [ 3.65558081e-02 -1.31244995e-03 9.99330751e-01 1.01271147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.379254154 meters Centerline goodness : 0.999165 with order 1 Centerline is valid? [True, True] Translation: X:278.97, Y:14.49, Z:10.13 [[ 9.94167083e-01 -1.01480299e-01 -3.65179461e-02 2.78974908e+02] [ 1.01470779e-01 9.94836264e-01 -2.11878405e-03 1.44863784e+01] [ 3.65443919e-02 -1.59907908e-03 9.99330751e-01 1.01290427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.439254154 meters Centerline goodness : 0.999187 with order 1 Centerline is valid? [True, True] Translation: X:279.04, Y:14.49, Z:10.13 [[ 9.93104300e-01 -1.11401455e-01 -3.65180242e-02 2.79037133e+02] [ 1.11398666e-01 9.93773542e-01 -2.11743736e-03 1.44881510e+01] [ 3.65265318e-02 -1.96522302e-03 9.99330751e-01 1.01296862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.499254154 meters Centerline goodness : 0.999083 with order 1 Centerline is valid? [True, True] Translation: X:279.10, Y:14.49, Z:10.13 [[ 9.92259071e-01 -1.18694390e-01 -3.65181816e-02 2.79097754e+02] [ 1.18696617e-01 9.92928316e-01 -2.11471928e-03 1.44924925e+01] [ 3.65109418e-02 -2.23623522e-03 9.99330751e-01 1.01321035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.559254154 meters Centerline goodness : 0.999166 with order 1 Centerline is valid? [True, True] Translation: X:279.16, Y:14.50, Z:10.14 [[ 9.91885516e-01 -1.21776589e-01 -3.65182980e-02 2.79159915e+02] [ 1.21780969e-01 9.92554750e-01 -2.11270739e-03 1.44971009e+01] [ 3.65036884e-02 -2.35166985e-03 9.99330751e-01 1.01353437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.619254154 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:279.22, Y:14.50, Z:10.14 [[ 9.91541729e-01 -1.24544783e-01 -3.65184510e-02 2.79221979e+02] [ 1.24551128e-01 9.92210947e-01 -2.11005847e-03 1.45028635e+01] [ 3.64968037e-02 -2.45620324e-03 9.99330751e-01 1.01385170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.679254154 meters Centerline goodness : 0.999165 with order 1 Centerline is valid? [True, True] Translation: X:279.28, Y:14.51, Z:10.14 [[ 9.91401169e-01 -1.25658719e-01 -3.65186070e-02 2.79283706e+02] [ 1.25665915e-01 9.92070379e-01 -2.10735572e-03 1.45106475e+01] [ 3.64938359e-02 -2.49990924e-03 9.99330751e-01 1.01407694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.739254154 meters Centerline goodness : 0.999123 with order 1 Centerline is valid? [True, True] Translation: X:279.35, Y:14.52, Z:10.14 [[ 9.91455615e-01 -1.25228365e-01 -3.65187674e-02 2.79345560e+02] [ 1.25235373e-01 9.92124827e-01 -2.10457188e-03 1.45180687e+01] [ 3.64947279e-02 -2.48685184e-03 9.99330751e-01 1.01418459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.799254154 meters Centerline goodness : 0.998977 with order 1 Centerline is valid? [True, True] Translation: X:279.41, Y:14.53, Z:10.14 [[ 9.91586924e-01 -1.24184299e-01 -3.65189258e-02 2.79406024e+02] [ 1.24190703e-01 9.92256142e-01 -2.10182007e-03 1.45253765e+01] [ 3.64971415e-02 -2.45117376e-03 9.99330751e-01 1.01439222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.859254154 meters Centerline goodness : 0.998998 with order 1 Centerline is valid? [True, True] Translation: X:279.47, Y:14.53, Z:10.15 [[ 9.92114735e-01 -1.19894553e-01 -3.65191706e-02 2.79468034e+02] [ 1.19898218e-01 9.92783973e-01 -2.09755743e-03 1.45347916e+01] [ 3.65071330e-02 -2.29756587e-03 9.99330751e-01 1.01472419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.919254154 meters Centerline goodness : 0.999290 with order 1 Centerline is valid? [True, True] Translation: X:279.53, Y:14.54, Z:10.15 [[ 9.92830064e-01 -1.13819168e-01 -3.65193274e-02 2.79529362e+02] [ 1.13818837e-01 9.93499313e-01 -2.09482403e-03 1.45419828e+01] [ 3.65203578e-02 -2.07678310e-03 9.99330751e-01 1.01490945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.979254154 meters Centerline goodness : 0.999497 with order 1 Centerline is valid? [True, True] Translation: X:279.59, Y:14.55, Z:10.15 [[ 9.94369766e-01 -9.94741079e-02 -3.65194428e-02 2.79591124e+02] [ 9.94641894e-02 9.95038942e-01 -2.09281012e-03 1.45531018e+01] [ 3.65464482e-02 -1.55134967e-03 9.99330751e-01 1.01527625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.039254154 meters Centerline goodness : 0.999182 with order 1 Centerline is valid? [True, True] Translation: X:279.65, Y:14.56, Z:10.15 [[ 9.94921855e-01 -9.37913658e-02 -3.65196000e-02 2.79652318e+02] [ 9.37777249e-02 9.95590965e-01 -2.09006463e-03 1.45591792e+01] [ 3.65546138e-02 -1.34527402e-03 9.99330751e-01 1.01545525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.099254154 meters Centerline goodness : 0.999370 with order 1 Centerline is valid? [True, True] Translation: X:279.71, Y:14.57, Z:10.16 [[ 9.96177658e-01 -7.93496973e-02 -3.65198504e-02 2.79714273e+02] [ 7.93265128e-02 9.96846505e-01 -2.08567872e-03 1.45684578e+01] [ 3.65701832e-02 -8.19285847e-04 9.99330751e-01 1.01597877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.159254154 meters Centerline goodness : 0.998968 with order 1 Centerline is valid? [True, True] Translation: X:279.77, Y:14.57, Z:10.16 [[ 9.96733846e-01 -7.20272857e-02 -3.65200062e-02 2.79774926e+02] [ 7.19992870e-02 9.97402509e-01 -2.08294767e-03 1.45745220e+01] [ 3.65751749e-02 -5.53269970e-04 9.99330751e-01 1.01618926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.219254154 meters Centerline goodness : 0.999284 with order 1 Centerline is valid? [True, True] Translation: X:279.83, Y:14.58, Z:10.16 [[ 9.96826977e-01 -7.07266666e-02 -3.65200829e-02 2.79834751e+02] [ 7.06978447e-02 9.97495605e-01 -2.08160163e-03 1.45784831e+01] [ 3.65758470e-02 -5.06894490e-04 9.99330751e-01 1.01638970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.279254154 meters Centerline goodness : 0.999010 with order 1 Centerline is valid? [True, True] Translation: X:279.90, Y:14.58, Z:10.16 [[ 9.96729621e-01 -7.20856741e-02 -3.65201206e-02 2.79895178e+02] [ 7.20577880e-02 9.97398288e-01 -2.08094024e-03 1.45803774e+01] [ 3.65751118e-02 -5.57424332e-04 9.99330751e-01 1.01645192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.339254154 meters Centerline goodness : 0.998926 with order 1 Centerline is valid? [True, True] Translation: X:279.96, Y:14.58, Z:10.17 [[ 9.96592468e-01 -7.39576405e-02 -3.65201206e-02 2.79955292e+02] [ 7.39310104e-02 9.97261187e-01 -2.08094024e-03 1.45820712e+01] [ 3.65740003e-02 -6.26120045e-04 9.99330751e-01 1.01659272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.399254154 meters Centerline goodness : 0.998885 with order 1 Centerline is valid? [True, True] Translation: X:280.02, Y:14.58, Z:10.17 [[ 9.96459548e-01 -7.57274658e-02 -3.65201206e-02 2.80016373e+02] [ 7.57020234e-02 9.97128313e-01 -2.08094024e-03 1.45840146e+01] [ 3.65728306e-02 -6.91074249e-04 9.99330751e-01 1.01685281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.459254154 meters Centerline goodness : 0.999118 with order 1 Centerline is valid? [True, True] Translation: X:280.08, Y:14.58, Z:10.17 [[ 9.96361256e-01 -7.70098828e-02 -3.65201973e-02 2.80077637e+02] [ 7.69853505e-02 9.97030055e-01 -2.07959362e-03 1.45843189e+01] [ 3.65718836e-02 -7.39493675e-04 9.99330751e-01 1.01704001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.519254154 meters Centerline goodness : 0.998950 with order 1 Centerline is valid? [True, True] Translation: X:280.14, Y:14.59, Z:10.17 [[ 9.96200782e-01 -7.90586534e-02 -3.65202742e-02 2.80138372e+02] [ 7.90355460e-02 9.96869632e-01 -2.07824188e-03 1.45853455e+01] [ 3.65702553e-02 -8.16053632e-04 9.99330751e-01 1.01718035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.579254154 meters Centerline goodness : 0.999224 with order 1 Centerline is valid? [True, True] Translation: X:280.20, Y:14.59, Z:10.18 [[ 9.95766149e-01 -8.43566001e-02 -3.65204002e-02 2.80199814e+02] [ 8.43371320e-02 9.96435115e-01 -2.07602611e-03 1.45856295e+01] [ 3.65653357e-02 -1.01278929e-03 9.99330751e-01 1.01750819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.639254154 meters Centerline goodness : 0.999059 with order 1 Centerline is valid? [True, True] Translation: X:280.26, Y:14.59, Z:10.18 [[ 9.95121355e-01 -9.16501145e-02 -3.65204766e-02 2.80260303e+02] [ 9.16355976e-02 9.95790446e-01 -2.07468064e-03 1.45867398e+01] [ 3.65568864e-02 -1.28201669e-03 9.99330751e-01 1.01763853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.699254154 meters Centerline goodness : 0.999288 with order 1 Centerline is valid? [True, True] Translation: X:280.32, Y:14.58, Z:10.18 [[ 9.94622914e-01 -9.69098035e-02 -3.65205142e-02 2.80322481e+02] [ 9.68988484e-02 9.95292074e-01 -2.07401833e-03 1.45845397e+01] [ 3.65495710e-02 -1.47592962e-03 9.99330751e-01 1.01766414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.759254154 meters Centerline goodness : 0.999120 with order 1 Centerline is valid? [True, True] Translation: X:280.38, Y:14.59, Z:10.18 [[ 9.93802808e-01 -1.04986760e-01 -3.65206753e-02 2.80383665e+02] [ 1.04981346e-01 9.94472034e-01 -2.07117905e-03 1.45898560e+01] [ 3.65362366e-02 -1.77564609e-03 9.99330751e-01 1.01807584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.819254154 meters Centerline goodness : 0.999373 with order 1 Centerline is valid? [True, True] Translation: X:280.45, Y:14.59, Z:10.18 [[ 9.93315884e-01 -1.09497879e-01 -3.65207936e-02 2.80445853e+02] [ 1.09495579e-01 9.93985129e-01 -2.06908997e-03 1.45931019e+01] [ 3.65276867e-02 -1.94360552e-03 9.99330751e-01 1.01834557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.879254154 meters Centerline goodness : 0.999225 with order 1 Centerline is valid? [True, True] Translation: X:280.51, Y:14.60, Z:10.19 [[ 9.93368082e-01 -1.09023277e-01 -3.65209436e-02 2.80508042e+02] [ 1.09020756e-01 9.94037326e-01 -2.06643946e-03 1.45982964e+01] [ 3.65284711e-02 -1.92880586e-03 9.99330751e-01 1.01866002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.939254154 meters Centerline goodness : 0.999246 with order 1 Centerline is valid? [True, True] Translation: X:280.57, Y:14.61, Z:10.19 [[ 9.93861794e-01 -1.04426736e-01 -3.65210965e-02 2.80570168e+02] [ 1.04421217e-01 9.94531020e-01 -2.06373300e-03 1.46059108e+01] [ 3.65368723e-02 -1.76251197e-03 9.99330751e-01 1.01894353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.99925415399997 meters Centerline goodness : 0.999138 with order 1 Centerline is valid? [True, True] Translation: X:280.63, Y:14.61, Z:10.19 [[ 9.94363519e-01 -9.95358778e-02 -3.65212481e-02 2.80631950e+02] [ 9.95271653e-02 9.95032711e-01 -2.06104639e-03 1.46132720e+01] [ 3.65449846e-02 -1.58542696e-03 9.99330751e-01 1.01916506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.059254154 meters Centerline goodness : 0.999032 with order 1 Centerline is valid? [True, True] Translation: X:280.69, Y:14.62, Z:10.19 [[ 9.94595786e-01 -9.71874991e-02 -3.65213984e-02 2.80693723e+02] [ 9.71773041e-02 9.95264957e-01 -2.05838108e-03 1.46195486e+01] [ 3.65485169e-02 -1.50179389e-03 9.99330751e-01 1.01942646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.119254154 meters Centerline goodness : 0.999054 with order 1 Centerline is valid? [True, True] Translation: X:280.76, Y:14.63, Z:10.20 [[ 9.94844432e-01 -9.46083074e-02 -3.65215519e-02 2.80755431e+02] [ 9.45964774e-02 9.95513576e-01 -2.05565380e-03 1.46271053e+01] [ 3.65521826e-02 -1.40975441e-03 9.99330751e-01 1.01958872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.179254154 meters Centerline goodness : 0.998966 with order 1 Centerline is valid? [True, True] Translation: X:280.82, Y:14.63, Z:10.20 [[ 9.95158975e-01 -9.12402293e-02 -3.65217029e-02 2.80816011e+02] [ 9.12262328e-02 9.95828077e-01 -2.05296716e-03 1.46344543e+01] [ 3.65566504e-02 -1.28870867e-03 9.99330751e-01 1.01970163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.239254154 meters Centerline goodness : 0.998943 with order 1 Centerline is valid? [True, True] Translation: X:280.88, Y:14.64, Z:10.20 [[ 9.95399747e-01 -8.85748267e-02 -3.65218143e-02 2.80877618e+02] [ 8.85591110e-02 9.96068812e-01 -2.05098290e-03 1.46412453e+01] [ 3.65599056e-02 -1.19279155e-03 9.99330751e-01 1.02004312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.299254154 meters Centerline goodness : 0.998794 with order 1 Centerline is valid? [True, True] Translation: X:280.94, Y:14.65, Z:10.20 [[ 9.95806837e-01 -8.38742489e-02 -3.65219663e-02 2.80939090e+02] [ 8.38554739e-02 9.96475822e-01 -2.04827223e-03 1.46500322e+01] [ 3.65650537e-02 -1.02288330e-03 9.99330751e-01 1.02036513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.359254154 meters Centerline goodness : 0.998923 with order 1 Centerline is valid? [True, True] Translation: X:281.00, Y:14.66, Z:10.21 [[ 9.96107479e-01 -8.02248457e-02 -3.65221183e-02 2.81000757e+02] [ 8.02037189e-02 9.96776394e-01 -2.04555889e-03 1.46559818e+01] [ 3.65684900e-02 -8.91613198e-04 9.99330751e-01 1.02067628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.419254154 meters Centerline goodness : 0.998920 with order 1 Centerline is valid? [True, True] Translation: X:281.06, Y:14.66, Z:10.21 [[ 9.96545598e-01 -7.45854900e-02 -3.65222688e-02 2.81062788e+02] [ 7.45606760e-02 9.97214386e-01 -2.04286873e-03 1.46636222e+01] [ 3.65729002e-02 -6.87313208e-04 9.99330751e-01 1.02109149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.479254154 meters Centerline goodness : 0.998984 with order 1 Centerline is valid? [True, True] Translation: X:281.12, Y:14.67, Z:10.21 [[ 9.96746119e-01 -7.18560200e-02 -3.65224227e-02 2.81123768e+02] [ 7.18294754e-02 9.97414841e-01 -2.04011269e-03 1.46692539e+01] [ 3.65746008e-02 -5.89912060e-04 9.99330751e-01 1.02132102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.539254154 meters Centerline goodness : 0.998963 with order 1 Centerline is valid? [True, True] Translation: X:281.18, Y:14.67, Z:10.21 [[ 9.96688372e-01 -7.26524891e-02 -3.65226736e-02 2.81184232e+02] [ 7.26266438e-02 9.97357121e-01 -2.03561232e-03 1.46719977e+01] [ 3.65740409e-02 -6.23648077e-04 9.99330751e-01 1.02136119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.599254154 meters Centerline goodness : 0.999004 with order 1 Centerline is valid? [True, True] Translation: X:281.25, Y:14.67, Z:10.21 [[ 9.96346710e-01 -7.71966599e-02 -3.65227105e-02 2.81245917e+02] [ 7.71738886e-02 9.97015572e-01 -2.03495025e-03 1.46739415e+01] [ 3.65708024e-02 -7.91083602e-04 9.99330751e-01 1.02142830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.659254154 meters Centerline goodness : 0.998968 with order 1 Centerline is valid? [True, True] Translation: X:281.31, Y:14.68, Z:10.22 [[ 9.95828972e-01 -8.36106684e-02 -3.65227835e-02 2.81308539e+02] [ 8.35922525e-02 9.96497968e-01 -2.03363903e-03 1.46751950e+01] [ 3.65649134e-02 -1.02786507e-03 9.99330751e-01 1.02154607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.719254154 meters Centerline goodness : 0.998903 with order 1 Centerline is valid? [True, True] Translation: X:281.37, Y:14.68, Z:10.22 [[ 9.95475952e-01 -8.77137684e-02 -3.65229308e-02 2.81371012e+02] [ 8.76982067e-02 9.96145019e-01 -2.03098950e-03 1.46767736e+01] [ 3.65602814e-02 -1.18119433e-03 9.99330751e-01 1.02174848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.779254154 meters Centerline goodness : 0.998840 with order 1 Centerline is valid? [True, True] Translation: X:281.43, Y:14.68, Z:10.22 [[ 9.95074488e-01 -9.21565399e-02 -3.65230777e-02 2.81432915e+02] [ 9.21440620e-02 9.95743620e-01 -2.02834392e-03 1.46788200e+01] [ 3.65545468e-02 -1.34703145e-03 9.99330751e-01 1.02198908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.839254154 meters Centerline goodness : 0.998946 with order 1 Centerline is valid? [True, True] Translation: X:281.49, Y:14.68, Z:10.22 [[ 9.94849318e-01 -9.45562754e-02 -3.65232262e-02 2.81493510e+02] [ 9.45455095e-02 9.95518480e-01 -2.02566729e-03 1.46818807e+01] [ 3.65510862e-02 -1.43787331e-03 9.99330751e-01 1.02225896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.899254154 meters Centerline goodness : 0.998839 with order 1 Centerline is valid? [True, True] Translation: X:281.56, Y:14.68, Z:10.22 [[ 9.94766064e-01 -9.54281033e-02 -3.65233359e-02 2.81555901e+02] [ 9.54179965e-02 9.95435237e-01 -2.02368757e-03 1.46848581e+01] [ 3.65497322e-02 -1.47188781e-03 9.99330751e-01 1.02249461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.959254154 meters Centerline goodness : 0.999113 with order 1 Centerline is valid? [True, True] Translation: X:281.62, Y:14.69, Z:10.23 [[ 9.94739282e-01 -9.57068230e-02 -3.65234778e-02 2.81617921e+02] [ 9.56969977e-02 9.95408459e-01 -2.02112244e-03 1.46880374e+01] [ 3.65492140e-02 -1.48469729e-03 9.99330751e-01 1.02276734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.019254154 meters Centerline goodness : 0.999134 with order 1 Centerline is valid? [True, True] Translation: X:281.68, Y:14.69, Z:10.23 [[ 9.94811000e-01 -9.49584059e-02 -3.65236262e-02 2.81679430e+02] [ 9.49481755e-02 9.95480171e-01 -2.01843827e-03 1.46915820e+01] [ 3.65502133e-02 -1.45988707e-03 9.99330751e-01 1.02290153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.079254154 meters Centerline goodness : 0.998922 with order 1 Centerline is valid? [True, True] Translation: X:281.74, Y:14.70, Z:10.23 [[ 9.95169355e-01 -9.11261343e-02 -3.65237358e-02 2.81740494e+02] [ 9.11133994e-02 9.95838482e-01 -2.01645306e-03 1.46952179e+01] [ 3.65554932e-02 -1.32108943e-03 9.99330751e-01 1.02308155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.139254154 meters Centerline goodness : 0.999134 with order 1 Centerline is valid? [True, True] Translation: X:281.80, Y:14.70, Z:10.23 [[ 9.95744823e-01 -8.46064822e-02 -3.65238423e-02 2.81801244e+02] [ 8.45894360e-02 9.96413854e-01 -2.01452129e-03 1.46990275e+01] [ 3.65633040e-02 -1.08358208e-03 9.99330751e-01 1.02328983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.199254154 meters Centerline goodness : 0.999050 with order 1 Centerline is valid? [True, True] Translation: X:281.86, Y:14.70, Z:10.24 [[ 9.96172758e-01 -7.94093066e-02 -3.65239468e-02 2.81863299e+02] [ 7.93888390e-02 9.96841693e-01 -2.01262503e-03 1.47032063e+01] [ 3.65684141e-02 -8.94671501e-04 9.99330751e-01 1.02361793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.259254154 meters Centerline goodness : 0.998902 with order 1 Centerline is valid? [True, True] Translation: X:281.92, Y:14.71, Z:10.24 [[ 9.96639625e-01 -7.33174461e-02 -3.65240930e-02 2.81923892e+02] [ 7.32929865e-02 9.97308427e-01 -2.00996806e-03 1.47075085e+01] [ 3.65731515e-02 -6.73746040e-04 9.99330751e-01 1.02363354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.319254154 meters Centerline goodness : 0.999089 with order 1 Centerline is valid? [True, True] Translation: X:281.99, Y:14.71, Z:10.24 [[ 9.96771159e-01 -7.15069186e-02 -3.65242009e-02 2.81985262e+02] [ 7.14813160e-02 9.97439918e-01 -2.00800620e-03 1.47109302e+01] [ 3.65742823e-02 -6.09275276e-04 9.99330751e-01 1.02380787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.379254154 meters Centerline goodness : 0.999025 with order 1 Centerline is valid? [True, True] Translation: X:282.05, Y:14.71, Z:10.24 [[ 9.96671064e-01 -7.28887350e-02 -3.65242712e-02 2.82046226e+02] [ 7.28641064e-02 9.97339859e-01 -2.00672663e-03 1.47131503e+01] [ 3.65733792e-02 -6.61262021e-04 9.99330751e-01 1.02396813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.439254154 meters Centerline goodness : 0.998984 with order 1 Centerline is valid? [True, True] Translation: X:282.11, Y:14.72, Z:10.24 [[ 9.96305709e-01 -7.77232734e-02 -3.65243410e-02 2.82107309e+02] [ 7.77019364e-02 9.96974617e-01 -2.00545490e-03 1.47151784e+01] [ 3.65697114e-02 -8.39965853e-04 9.99330751e-01 1.02439439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.49925415399997 meters Centerline goodness : 0.999175 with order 1 Centerline is valid? [True, True] Translation: X:282.17, Y:14.72, Z:10.25 [[ 9.95819617e-01 -8.37213063e-02 -3.65244145e-02 2.82169258e+02] [ 8.37040467e-02 9.96488643e-01 -2.00411625e-03 1.47169965e+01] [ 3.65639514e-02 -1.06150302e-03 9.99330751e-01 1.02473965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.559254154 meters Centerline goodness : 0.998669 with order 1 Centerline is valid? [True, True] Translation: X:282.23, Y:14.72, Z:10.25 [[ 9.95498399e-01 -8.74579528e-02 -3.65245595e-02 2.82230070e+02] [ 8.74433011e-02 9.96167488e-01 -2.00147026e-03 1.47180920e+01] [ 3.65596231e-02 -1.20136761e-03 9.99330751e-01 1.02484231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.619254154 meters Centerline goodness : 0.998987 with order 1 Centerline is valid? [True, True] Translation: X:282.29, Y:14.72, Z:10.25 [[ 9.94856582e-01 -9.44792562e-02 -3.65246666e-02 2.82292480e+02] [ 9.44693972e-02 9.95525758e-01 -1.99951372e-03 1.47202809e+01] [ 3.65501589e-02 -1.46123385e-03 9.99330751e-01 1.02525256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.679254154 meters Centerline goodness : 0.998713 with order 1 Centerline is valid? [True, True] Translation: X:282.35, Y:14.72, Z:10.25 [[ 9.94046014e-01 -1.02657000e-01 -3.65248107e-02 2.82354915e+02] [ 1.02652741e-01 9.94715249e-01 -1.99687642e-03 1.47217200e+01] [ 3.65367796e-02 -1.76438489e-03 9.99330751e-01 1.02548319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.739254154 meters Centerline goodness : 0.999012 with order 1 Centerline is valid? [True, True] Translation: X:282.42, Y:14.72, Z:10.26 [[ 9.93344827e-01 -1.09233611e-01 -3.65249529e-02 2.82417033e+02] [ 1.09233876e-01 9.94014076e-01 -1.99427279e-03 1.47234196e+01] [ 3.65241589e-02 -2.00876162e-03 9.99330751e-01 1.02559490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.799254154 meters Centerline goodness : 0.998971 with order 1 Centerline is valid? [True, True] Translation: X:282.48, Y:14.73, Z:10.26 [[ 9.93029158e-01 -1.12066980e-01 -3.65250929e-02 2.82479257e+02] [ 1.12069249e-01 9.93698403e-01 -1.99170516e-03 1.47253967e+01] [ 3.65181309e-02 -2.11551843e-03 9.99330751e-01 1.02576628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.859254154 meters Centerline goodness : 0.998781 with order 1 Centerline is valid? [True, True] Translation: X:282.54, Y:14.73, Z:10.26 [[ 9.92794587e-01 -1.14126312e-01 -3.65252310e-02 2.82541493e+02] [ 1.14130062e-01 9.93463825e-01 -1.98916918e-03 1.47287330e+01] [ 3.65135123e-02 -2.19379049e-03 9.99330751e-01 1.02594752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.919254154 meters Centerline goodness : 0.998907 with order 1 Centerline is valid? [True, True] Translation: X:282.60, Y:14.73, Z:10.26 [[ 9.92876757e-01 -1.13409179e-01 -3.65253745e-02 2.82603726e+02] [ 1.13412542e-01 9.93545997e-01 -1.98653044e-03 1.47319059e+01] [ 3.65149305e-02 -2.17005569e-03 9.99330751e-01 1.02616809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.979254154 meters Centerline goodness : 0.999117 with order 1 Centerline is valid? [True, True] Translation: X:282.67, Y:14.74, Z:10.26 [[ 9.93224065e-01 -1.10326079e-01 -3.65255238e-02 2.82665228e+02] [ 1.10327465e-01 9.93893312e-01 -1.98378329e-03 1.47372951e+01] [ 3.65213368e-02 -2.05942714e-03 9.99330751e-01 1.02642159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.039254154 meters Centerline goodness : 0.999178 with order 1 Centerline is valid? [True, True] Translation: X:282.73, Y:14.74, Z:10.26 [[ 9.93664163e-01 -1.06289260e-01 -3.65256729e-02 2.82727281e+02] [ 1.06288028e-01 9.94333410e-01 -1.98103371e-03 1.47429972e+01] [ 3.65292595e-02 -1.91375954e-03 9.99330751e-01 1.02646216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.099254154 meters Centerline goodness : 0.999156 with order 1 Centerline is valid? [True, True] Translation: X:282.79, Y:14.74, Z:10.26 [[ 9.95162737e-01 -9.11975308e-02 -3.65258566e-02 2.82789525e+02] [ 9.11862665e-02 9.95831890e-01 -1.97764041e-03 1.47428459e+01] [ 3.65539687e-02 -1.36258245e-03 9.99330751e-01 1.02627398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.159254154 meters Centerline goodness : 0.998965 with order 1 Centerline is valid? [True, True] Translation: X:282.85, Y:14.76, Z:10.27 [[ 9.95637095e-01 -8.58639982e-02 -3.65260067e-02 2.82849264e+02] [ 8.58492504e-02 9.96306181e-01 -1.97486379e-03 1.47570032e+01] [ 3.65606560e-02 -1.16948265e-03 9.99330751e-01 1.02738383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.219254154 meters Centerline goodness : 0.999177 with order 1 Centerline is valid? [True, True] Translation: X:282.91, Y:14.76, Z:10.28 [[ 9.96536747e-01 -7.47017732e-02 -3.65261168e-02 2.82911085e+02] [ 7.46796034e-02 9.97205628e-01 -1.97282663e-03 1.47638842e+01] [ 3.65714229e-02 -7.61761676e-04 9.99330751e-01 1.02765161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.279254154 meters Centerline goodness : 0.998919 with order 1 Centerline is valid? [True, True] Translation: X:282.97, Y:14.77, Z:10.28 [[ 9.96940634e-01 -6.91028570e-02 -3.65262623e-02 2.82972780e+02] [ 6.90770292e-02 9.97609384e-01 -1.97012743e-03 1.47683548e+01] [ 3.65750835e-02 -5.59025604e-04 9.99330751e-01 1.02782079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.339254154 meters Centerline goodness : 0.999002 with order 1 Centerline is valid? [True, True] Translation: X:283.03, Y:14.77, Z:10.28 [[ 9.97206438e-01 -6.51547453e-02 -3.65264095e-02 2.83033127e+02] [ 6.51263696e-02 9.97875085e-01 -1.96739590e-03 1.47720896e+01] [ 3.65769791e-02 -4.16932590e-04 9.99330751e-01 1.02792767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.399254154 meters Centerline goodness : 0.999086 with order 1 Centerline is valid? [True, True] Translation: X:283.09, Y:14.78, Z:10.28 [[ 9.97179001e-01 -6.55732687e-02 -3.65265298e-02 2.83093168e+02] [ 6.55452556e-02 9.97847663e-01 -1.96515865e-03 1.47750928e+01] [ 3.65767743e-02 -4.34525794e-04 9.99330751e-01 1.02812467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.459254154 meters Centerline goodness : 0.999087 with order 1 Centerline is valid? [True, True] Translation: X:283.15, Y:14.78, Z:10.28 [[ 9.97152002e-01 -6.59825551e-02 -3.65265298e-02 2.83153299e+02] [ 6.59548164e-02 9.97820675e-01 -1.96515865e-03 1.47759427e+01] [ 3.65765929e-02 -4.49538687e-04 9.99330751e-01 1.02810148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.519254154 meters Centerline goodness : 0.998834 with order 1 Centerline is valid? [True, True] Translation: X:283.21, Y:14.78, Z:10.29 [[ 9.96810307e-01 -7.09579021e-02 -3.65265298e-02 2.83212315e+02] [ 7.09335007e-02 9.97479111e-01 -1.96515865e-03 1.47785989e+01] [ 3.65738940e-02 -6.32064232e-04 9.99330751e-01 1.02858854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.579254154 meters Centerline goodness : 0.999132 with order 1 Centerline is valid? [True, True] Translation: X:283.27, Y:14.78, Z:10.29 [[ 9.96278717e-01 -7.80674992e-02 -3.65264919e-02 2.83273903e+02] [ 7.80478440e-02 9.96947676e-01 -1.96586322e-03 1.47790642e+01] [ 3.65684713e-02 -8.92266257e-04 9.99330751e-01 1.02882625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.639254154 meters Centerline goodness : 0.998772 with order 1 Centerline is valid? [True, True] Translation: X:283.34, Y:14.78, Z:10.29 [[ 9.95688283e-01 -8.52681311e-02 -3.65265632e-02 2.83336486e+02] [ 8.52533612e-02 9.96357368e-01 -1.96453803e-03 1.47794110e+01] [ 3.65610229e-02 -1.15794479e-03 9.99330751e-01 1.02905851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.699254154 meters Centerline goodness : 0.998859 with order 1 Centerline is valid? [True, True] Translation: X:283.40, Y:14.78, Z:10.29 [[ 9.94587841e-01 -9.72667763e-02 -3.65267090e-02 2.83399232e+02] [ 9.72601741e-02 9.95257057e-01 -1.96182348e-03 1.47772958e+01] [ 3.65442851e-02 -1.60138830e-03 9.99330751e-01 1.02897012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.759254154 meters Centerline goodness : 0.999008 with order 1 Centerline is valid? [True, True] Translation: X:283.46, Y:14.78, Z:10.29 [[ 9.93384505e-01 -1.08871550e-01 -3.65268548e-02 2.83460994e+02] [ 1.08872861e-01 9.94053752e-01 -1.95910505e-03 1.47770870e+01] [ 3.65229479e-02 -2.03063859e-03 9.99330751e-01 1.02926208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.819254154 meters Centerline goodness : 0.999009 with order 1 Centerline is valid? [True, True] Translation: X:283.52, Y:14.78, Z:10.29 [[ 9.92844758e-01 -1.13688457e-01 -3.65270007e-02 2.83522668e+02] [ 1.13693114e-01 9.93513990e-01 -1.95638007e-03 1.47778452e+01] [ 3.65125041e-02 -2.21048676e-03 9.99330751e-01 1.02940616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.879254154 meters Centerline goodness : 0.999052 with order 1 Centerline is valid? [True, True] Translation: X:283.58, Y:14.77, Z:10.28 [[ 9.93641451e-01 -1.06500854e-01 -3.65271813e-02 2.83584786e+02] [ 1.06500791e-01 9.94310700e-01 -1.95300290e-03 1.47689979e+01] [ 3.65273637e-02 -1.94958909e-03 9.99330751e-01 1.02828479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.939254154 meters Centerline goodness : 0.999516 with order 1 Centerline is valid? [True, True] Translation: X:283.64, Y:14.78, Z:10.30 [[ 9.92632303e-01 -1.15528655e-01 -3.65272576e-02 2.83643749e+02] [ 1.15534728e-01 9.93301524e-01 -1.95157581e-03 1.47818538e+01] [ 3.65080435e-02 -2.28296959e-03 9.99330751e-01 1.02983312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.99925415399997 meters Centerline goodness : 0.999138 with order 1 Centerline is valid? [True, True] Translation: X:283.71, Y:14.78, Z:10.30 [[ 9.92801577e-01 -1.14064846e-01 -3.65272576e-02 2.83705324e+02] [ 1.14069932e-01 9.93470806e-01 -1.95157581e-03 1.47849596e+01] [ 3.65113702e-02 -2.22913426e-03 9.99330751e-01 1.02990384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.059254154 meters Centerline goodness : 0.999115 with order 1 Centerline is valid? [True, True] Translation: X:283.77, Y:14.79, Z:10.30 [[ 9.93092203e-01 -1.11506151e-01 -3.65274380e-02 2.83766855e+02] [ 1.11509637e-01 9.93761443e-01 -1.94819197e-03 1.47887095e+01] [ 3.65167949e-02 -2.13842708e-03 9.99330751e-01 1.02991118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.119254154 meters Centerline goodness : 0.998986 with order 1 Centerline is valid? [True, True] Translation: X:283.83, Y:14.79, Z:10.30 [[ 9.93876620e-01 -1.04283281e-01 -3.65275413e-02 2.83829180e+02] [ 1.04281973e-01 9.94545867e-01 -1.94625377e-03 1.47886732e+01] [ 3.65312770e-02 -1.87482795e-03 9.99330751e-01 1.02953957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.179254154 meters Centerline goodness : 0.998733 with order 1 Centerline is valid? [True, True] Translation: X:283.89, Y:14.80, Z:10.30 [[ 9.93804288e-01 -1.04970307e-01 -3.65276888e-02 2.83890224e+02] [ 1.04969562e-01 9.94473536e-01 -1.94348136e-03 1.47987505e+01] [ 3.65298277e-02 -1.90285540e-03 9.99330751e-01 1.03029224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.239254154 meters Centerline goodness : 0.999154 with order 1 Centerline is valid? [True, True] Translation: X:283.95, Y:14.81, Z:10.31 [[ 9.94672756e-01 -9.63941202e-02 -3.65278330e-02 2.83952464e+02] [ 9.63877027e-02 9.95341973e-01 -1.94076760e-03 1.48056220e+01] [ 3.65447640e-02 -1.59040525e-03 9.99330751e-01 1.03083974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.299254154 meters Centerline goodness : 0.999070 with order 1 Centerline is valid? [True, True] Translation: X:284.01, Y:14.81, Z:10.31 [[ 9.95769975e-01 -8.43081528e-02 -3.65279768e-02 2.84014170e+02] [ 8.42937083e-02 9.96439067e-01 -1.93805797e-03 1.48133358e+01] [ 3.65612972e-02 -1.14921868e-03 9.99330751e-01 1.03125472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.359254154 meters Centerline goodness : 0.998942 with order 1 Centerline is valid? [True, True] Translation: X:284.08, Y:14.82, Z:10.32 [[ 9.96449209e-01 -7.58595373e-02 -3.65281228e-02 2.84075444e+02] [ 7.58395194e-02 9.97118158e-01 -1.93530150e-03 1.48195251e+01] [ 3.65696656e-02 -8.41845632e-04 9.99330751e-01 1.03153903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.419254154 meters Centerline goodness : 0.998982 with order 1 Centerline is valid? [True, True] Translation: X:284.14, Y:14.83, Z:10.32 [[ 9.97071431e-01 -6.71881676e-02 -3.65282303e-02 2.84136623e+02] [ 6.71624054e-02 9.97740184e-01 -1.93327111e-03 1.48260791e+01] [ 3.65755761e-02 -5.25714420e-04 9.99330751e-01 1.03177172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.479254154 meters Centerline goodness : 0.998937 with order 1 Centerline is valid? [True, True] Translation: X:284.20, Y:14.83, Z:10.32 [[ 9.97190847e-01 -6.53918850e-02 -3.65283011e-02 2.84197350e+02] [ 6.53649672e-02 9.97859554e-01 -1.93193159e-03 1.48307635e+01] [ 3.65764469e-02 -4.61166709e-04 9.99330751e-01 1.03193341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.539254154 meters Centerline goodness : 0.998858 with order 1 Centerline is valid? [True, True] Translation: X:284.26, Y:14.83, Z:10.32 [[ 9.97044025e-01 -6.75935654e-02 -3.65283730e-02 2.84256510e+02] [ 6.75681741e-02 9.97712792e-01 -1.93057186e-03 1.48341356e+01] [ 3.65753192e-02 -5.43290326e-04 9.99330751e-01 1.03199591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.599254154 meters Centerline goodness : 0.999511 with order 1 Centerline is valid? [True, True] Translation: X:284.32, Y:14.84, Z:10.32 [[ 9.96678078e-01 -7.27907241e-02 -3.65283376e-02 2.84317096e+02] [ 7.27687952e-02 9.97346967e-01 -1.93124063e-03 1.48370566e+01] [ 3.65720031e-02 -7.33297921e-04 9.99330751e-01 1.03236009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.659254154 meters Centerline goodness : 0.999024 with order 1 Centerline is valid? [True, True] Translation: X:284.38, Y:14.84, Z:10.33 [[ 9.96370235e-01 -7.68897603e-02 -3.65283376e-02 2.84378801e+02] [ 7.68705830e-02 9.97039209e-01 -1.93124063e-03 1.48402961e+01] [ 3.65686775e-02 -8.83723927e-04 9.99330751e-01 1.03261209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.719254154 meters Centerline goodness : 0.999322 with order 1 Centerline is valid? [True, True] Translation: X:284.44, Y:14.84, Z:10.33 [[ 9.95841386e-01 -8.34602241e-02 -3.65284078e-02 2.84440460e+02] [ 8.34455084e-02 9.96510473e-01 -1.92991226e-03 1.48424977e+01] [ 3.65620118e-02 -1.12624506e-03 9.99330751e-01 1.03292070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.779254154 meters Centerline goodness : 0.999131 with order 1 Centerline is valid? [True, True] Translation: X:284.50, Y:14.84, Z:10.33 [[ 9.95145302e-01 -9.13865091e-02 -3.65285478e-02 2.84502369e+02] [ 9.13772184e-02 9.95814486e-01 -1.92725865e-03 1.48441283e+01] [ 3.65517825e-02 -1.41997470e-03 9.99330751e-01 1.03321577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.839254154 meters Centerline goodness : 0.999153 with order 1 Centerline is valid? [True, True] Translation: X:284.56, Y:14.85, Z:10.33 [[ 9.94627103e-01 -9.68637182e-02 -3.65286924e-02 2.84563235e+02] [ 9.68582124e-02 9.95296329e-01 -1.92451369e-03 1.48459457e+01] [ 3.65432890e-02 -1.62393038e-03 9.99330751e-01 1.03306593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.899254154 meters Centerline goodness : 0.999407 with order 1 Centerline is valid? [True, True] Translation: X:284.62, Y:14.85, Z:10.33 [[ 9.93698062e-01 -1.05970789e-01 -3.65288110e-02 2.84624229e+02] [ 1.05971496e-01 9.94367310e-01 -1.92226120e-03 1.48471621e+01] [ 3.65267590e-02 -1.96086553e-03 9.99330751e-01 1.03346341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.959254154 meters Centerline goodness : 0.998920 with order 1 Centerline is valid? [True, True] Translation: X:284.69, Y:14.85, Z:10.34 [[ 9.93300512e-01 -1.09634531e-01 -3.65289281e-02 2.84686604e+02] [ 1.09637788e-01 9.93969753e-01 -1.92003213e-03 1.48503890e+01] [ 3.65191515e-02 -2.09778198e-03 9.99330751e-01 1.03383922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.019254154 meters Centerline goodness : 0.998857 with order 1 Centerline is valid? [True, True] Translation: X:284.75, Y:14.85, Z:10.34 [[ 9.93345828e-01 -1.09223135e-01 -3.65290722e-02 2.84748722e+02] [ 1.09226216e-01 9.94015069e-01 -1.91728624e-03 1.48548642e+01] [ 3.65198603e-02 -2.08540404e-03 9.99330752e-01 1.03409576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.079254154 meters Centerline goodness : 0.998919 with order 1 Centerline is valid? [True, True] Translation: X:284.81, Y:14.86, Z:10.34 [[ 9.93829200e-01 -1.04733651e-01 -3.65292157e-02 2.84810220e+02] [ 1.04733808e-01 9.94498448e-01 -1.91454819e-03 1.48604792e+01] [ 3.65287660e-02 -1.92310998e-03 9.99330752e-01 1.03438578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.139254154 meters Centerline goodness : 0.998940 with order 1 Centerline is valid? [True, True] Translation: X:284.87, Y:14.87, Z:10.35 [[ 9.94302695e-01 -1.00138622e-01 -3.65295492e-02 2.84872495e+02] [ 1.00135920e-01 9.94971938e-01 -1.90816425e-03 1.48659752e+01] [ 3.65369573e-02 -1.76062715e-03 9.99330752e-01 1.03456804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.199254154 meters Centerline goodness : 0.999065 with order 1 Centerline is valid? [True, True] Translation: X:284.93, Y:14.87, Z:10.35 [[ 9.95077590e-01 -9.21204181e-02 -3.65296876e-02 2.84934113e+02] [ 9.21124180e-02 9.95746791e-01 -1.90551056e-03 1.48737808e+01] [ 3.65498557e-02 -1.46870701e-03 9.99330752e-01 1.03467130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.259254154 meters Centerline goodness : 0.998811 with order 1 Centerline is valid? [True, True] Translation: X:285.00, Y:14.88, Z:10.35 [[ 9.95952898e-01 -8.21181836e-02 -3.65298246e-02 2.84995572e+02] [ 8.21035568e-02 9.96621987e-01 -1.90288125e-03 1.48798174e+01] [ 3.65626875e-02 -1.10404843e-03 9.99330752e-01 1.03490822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.319254154 meters Centerline goodness : 0.999085 with order 1 Centerline is valid? [True, True] Translation: X:285.06, Y:14.88, Z:10.35 [[ 9.96588209e-01 -7.40101130e-02 -3.65300595e-02 2.85057636e+02] [ 7.39902070e-02 9.97257161e-01 -1.89836219e-03 1.48829610e+01] [ 3.65703614e-02 -8.10981287e-04 9.99330752e-01 1.03486300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.379254154 meters Centerline goodness : 0.999062 with order 1 Centerline is valid? [True, True] Translation: X:285.12, Y:14.89, Z:10.36 [[ 9.96978438e-01 -6.85531874e-02 -3.65302011e-02 2.85117740e+02] [ 6.85297196e-02 9.97647274e-01 -1.89563308e-03 1.48939052e+01] [ 3.65742072e-02 -6.13499132e-04 9.99330752e-01 1.03563664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.439254154 meters Centerline goodness : 0.999059 with order 1 Centerline is valid? [True, True] Translation: X:285.18, Y:14.90, Z:10.36 [[ 9.97678700e-01 -5.74695707e-02 -3.65302707e-02 2.85178809e+02] [ 5.74387207e-02 9.98347237e-01 -1.89429000e-03 1.48966530e+01] [ 3.65787589e-02 -2.08359232e-04 9.99330752e-01 1.03581132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.49925415399997 meters Centerline goodness : 0.998953 with order 1 Centerline is valid? [True, True] Translation: X:285.24, Y:14.90, Z:10.36 [[ 9.97720239e-01 -5.67438025e-02 -3.65303418e-02 2.85238379e+02] [ 5.67125163e-02 9.98388756e-01 -1.89291911e-03 1.49025415e+01] [ 3.65788939e-02 -1.83123897e-04 9.99330752e-01 1.03635067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.559254154 meters Centerline goodness : 0.999061 with order 1 Centerline is valid? [True, True] Translation: X:285.30, Y:14.90, Z:10.37 [[ 9.97719387e-01 -5.67588233e-02 -3.65302719e-02 2.85298955e+02] [ 5.67274979e-02 9.98387902e-01 -1.89426674e-03 1.49042155e+01] [ 3.65788978e-02 -1.82324271e-04 9.99330752e-01 1.03659075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.619254154 meters Centerline goodness : 0.999126 with order 1 Centerline is valid? [True, True] Translation: X:285.36, Y:14.90, Z:10.37 [[ 9.97330354e-01 -6.32273995e-02 -3.65302719e-02 2.85358288e+02] [ 6.32004098e-02 9.97999058e-01 -1.89426674e-03 1.49047691e+01] [ 3.65769465e-02 -4.19518433e-04 9.99330752e-01 1.03660084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.679254154 meters Centerline goodness : 0.999021 with order 1 Centerline is valid? [True, True] Translation: X:285.42, Y:14.90, Z:10.37 [[ 9.96913000e-01 -6.94982678e-02 -3.65302853e-02 2.85418438e+02] [ 6.94754935e-02 9.97581861e-01 -1.89400772e-03 1.49039769e+01] [ 3.65735802e-02 -6.49798685e-04 9.99330752e-01 1.03673281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.739254154 meters Centerline goodness : 0.998983 with order 1 Centerline is valid? [True, True] Translation: X:285.48, Y:14.90, Z:10.37 [[ 9.96406073e-01 -7.64230129e-02 -3.65302853e-02 2.85480398e+02] [ 7.64048863e-02 9.97075075e-01 -1.89400772e-03 1.49042824e+01] [ 3.65681827e-02 -9.03891503e-04 9.99330752e-01 1.03707336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.799254154 meters Centerline goodness : 0.999025 with order 1 Centerline is valid? [True, True] Translation: X:285.54, Y:14.91, Z:10.37 [[ 9.95804064e-01 -8.39034823e-02 -3.65304267e-02 2.85543015e+02] [ 8.38904802e-02 9.96473186e-01 -1.89127708e-03 1.49054939e+01] [ 3.65602754e-02 -1.18121363e-03 9.99330752e-01 1.03739559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.859254154 meters Centerline goodness : 0.998962 with order 1 Centerline is valid? [True, True] Translation: X:285.60, Y:14.91, Z:10.38 [[ 9.95680185e-01 -8.53609266e-02 -3.65305670e-02 2.85604692e+02] [ 8.53490034e-02 9.96349327e-01 -1.88856312e-03 1.49082076e+01] [ 3.65584153e-02 -1.23744261e-03 9.99330752e-01 1.03760459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.919254154 meters Centerline goodness : 0.998878 with order 1 Centerline is valid? [True, True] Translation: X:285.67, Y:14.91, Z:10.38 [[ 9.95736987e-01 -8.46956972e-02 -3.65307067e-02 2.85666835e+02] [ 8.46834262e-02 9.96406122e-01 -1.88585681e-03 1.49114129e+01] [ 3.65591438e-02 -1.21572802e-03 9.99330752e-01 1.03782123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.979254154 meters Centerline goodness : 0.999153 with order 1 Centerline is valid? [True, True] Translation: X:285.73, Y:14.91, Z:10.38 [[ 9.96054195e-01 -8.08797728e-02 -3.65308465e-02 2.85729287e+02] [ 8.08650373e-02 9.96723281e-01 -1.88314431e-03 1.49148338e+01] [ 3.65634535e-02 -1.07835448e-03 9.99330752e-01 1.03813418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.039254154 meters Centerline goodness : 0.999192 with order 1 Centerline is valid? [True, True] Translation: X:285.79, Y:14.92, Z:10.38 [[ 9.96510306e-01 -7.50512972e-02 -3.65309862e-02 2.85791222e+02] [ 7.50327472e-02 9.97179297e-01 -1.88043031e-03 1.49200407e+01] [ 3.65690719e-02 -8.67152070e-04 9.99330752e-01 1.03842840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.099254154 meters Centerline goodness : 0.998787 with order 1 Centerline is valid? [True, True] Translation: X:285.85, Y:14.92, Z:10.39 [[ 9.96836672e-01 -7.05841853e-02 -3.65311255e-02 2.85853358e+02] [ 7.05627363e-02 9.97505576e-01 -1.87772015e-03 1.49237408e+01] [ 3.65725388e-02 -7.05955878e-04 9.99330752e-01 1.03854804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.159254154 meters Centerline goodness : 0.999169 with order 1 Centerline is valid? [True, True] Translation: X:285.91, Y:14.93, Z:10.39 [[ 9.97255396e-01 -6.43983035e-02 -3.65312648e-02 2.85914437e+02] [ 6.43728042e-02 9.97924159e-01 -1.87500761e-03 1.49287475e+01] [ 3.65761789e-02 -4.81758497e-04 9.99330752e-01 1.03871309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.219254154 meters Centerline goodness : 0.999211 with order 1 Centerline is valid? [True, True] Translation: X:285.98, Y:14.93, Z:10.39 [[ 9.97497157e-01 -6.05382738e-02 -3.65313330e-02 2.85975863e+02] [ 6.05102353e-02 9.98165818e-01 -1.87367601e-03 1.49335718e+01] [ 3.65777571e-02 -3.41533060e-04 9.99330752e-01 1.03889467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.279254154 meters Centerline goodness : 0.998996 with order 1 Centerline is valid? [True, True] Translation: X:286.04, Y:14.94, Z:10.39 [[ 9.97738672e-01 -5.64180705e-02 -3.65314005e-02 2.86036219e+02] [ 5.63873189e-02 9.98407214e-01 -1.87235907e-03 1.49383420e+01] [ 3.65788487e-02 -1.91782677e-04 9.99330752e-01 1.03921016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.339254154 meters Centerline goodness : 0.999103 with order 1 Centerline is valid? [True, True] Translation: X:286.10, Y:14.94, Z:10.39 [[ 9.97801143e-01 -5.53022254e-02 -3.65314005e-02 2.86096230e+02] [ 5.52707262e-02 9.98469650e-01 -1.87235907e-03 1.49413271e+01] [ 3.65790403e-02 -1.50875013e-04 9.99330752e-01 1.03929566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.399254154 meters Centerline goodness : 0.999104 with order 1 Centerline is valid? [True, True] Translation: X:286.16, Y:14.94, Z:10.40 [[ 9.97729982e-01 -5.65715908e-02 -3.65313328e-02 2.86155965e+02] [ 5.65408937e-02 9.98398526e-01 -1.87367942e-03 1.49449149e+01] [ 3.65788259e-02 -1.96088067e-04 9.99330752e-01 1.03961511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.459254154 meters Centerline goodness : 0.999424 with order 1 Centerline is valid? [True, True] Translation: X:286.22, Y:14.95, Z:10.40 [[ 9.97534923e-01 -5.99128114e-02 -3.65312638e-02 2.86215194e+02] [ 5.98843043e-02 9.98203564e-01 -1.87502331e-03 1.49470581e+01] [ 3.65779757e-02 -3.17248093e-04 9.99330752e-01 1.03989832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.519254154 meters Centerline goodness : 0.998977 with order 1 Centerline is valid? [True, True] Translation: X:286.27, Y:14.95, Z:10.40 [[ 9.97270020e-01 -6.41714863e-02 -3.65311955e-02 2.86274684e+02] [ 6.41457856e-02 9.97938774e-01 -1.87635339e-03 1.49481183e+01] [ 3.65763049e-02 -4.72091251e-04 9.99330752e-01 1.04012919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.579254154 meters Centerline goodness : 0.998550 with order 1 Centerline is valid? [True, True] Translation: X:286.34, Y:14.95, Z:10.41 [[ 9.97104532e-01 -6.66935202e-02 -3.65311619e-02 2.86335422e+02] [ 6.66694870e-02 9.97773349e-01 -1.87700793e-03 1.49498126e+01] [ 3.65750040e-02 -5.63940711e-04 9.99330752e-01 1.04059530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.639254154 meters Centerline goodness : 0.996357 with order 1 Centerline is valid? [True, True] Translation: X:286.40, Y:14.95, Z:10.41 [[ 9.96931915e-01 -6.92258850e-02 -3.65312766e-02 2.86396400e+02] [ 6.92036326e-02 9.97600793e-01 -1.87477210e-03 1.49499263e+01] [ 3.65734133e-02 -6.59076913e-04 9.99330752e-01 1.04082875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.699254154 meters Centerline goodness : 0.993816 with order 1 Centerline is valid? [True, True] Translation: X:286.46, Y:14.95, Z:10.41 [[ 9.96919556e-01 -6.94036051e-02 -3.65313463e-02 2.86457257e+02] [ 6.93815217e-02 9.97588440e-01 -1.87341285e-03 1.49486963e+01] [ 3.65732704e-02 -6.66958494e-04 9.99330752e-01 1.04094069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.759254154 meters Centerline goodness : 0.992318 with order 1 Centerline is valid? [True, True] Translation: X:286.52, Y:14.95, Z:10.41 [[ 9.96999513e-01 -6.82453550e-02 -3.65313807e-02 2.86518164e+02] [ 6.82225190e-02 9.97668372e-01 -1.87274321e-03 1.49490933e+01] [ 3.65740091e-02 -6.25138745e-04 9.99330752e-01 1.04114555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.819254154 meters Centerline goodness : 0.991693 with order 1 Centerline is valid? [True, True] Translation: X:286.58, Y:14.94, Z:10.40 [[ 9.97704635e-01 -5.70167842e-02 -3.65314497e-02 2.86578401e+02] [ 5.69864690e-02 9.98373197e-01 -1.87139603e-03 1.49416009e+01] [ 3.65787212e-02 -2.14697829e-04 9.99330752e-01 1.04002012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.879254154 meters Centerline goodness : 0.990886 with order 1 Centerline is valid? [True, True] Translation: X:286.64, Y:14.95, Z:10.41 [[ 9.97573080e-01 -5.92740107e-02 -3.65313724e-02 2.86636098e+02] [ 5.92451531e-02 9.98241706e-01 -1.87290286e-03 1.49484107e+01] [ 3.65781540e-02 -2.95949281e-04 9.99330752e-01 1.04068827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.939254154 meters Centerline goodness : 0.990600 with order 1 Centerline is valid? [True, True] Translation: X:286.69, Y:14.95, Z:10.42 [[ 9.97649283e-01 -5.79773918e-02 -3.65312176e-02 2.86694767e+02] [ 5.79475548e-02 9.98317866e-01 -1.87591839e-03 1.49489717e+01] [ 3.65785280e-02 -2.45386091e-04 9.99330752e-01 1.04163672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.99925415399997 meters Centerline goodness : 0.991020 with order 1 Centerline is valid? [True, True] Translation: X:286.75, Y:14.95, Z:10.42 [[ 9.97744544e-01 -5.63146111e-02 -3.65306584e-02 2.86753893e+02] [ 5.62832634e-02 9.98413058e-01 -1.88674520e-03 1.49475586e+01] [ 3.65789377e-02 -1.73574935e-04 9.99330752e-01 1.04181981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.059254154 meters Centerline goodness : 0.990797 with order 1 Centerline is valid? [True, True] Translation: X:286.81, Y:14.95, Z:10.42 [[ 9.97674704e-01 -5.75387072e-02 -3.65305542e-02 2.86812910e+02] [ 5.75081060e-02 9.98343253e-01 -1.88876117e-03 1.49465404e+01] [ 3.65787091e-02 -2.16433742e-04 9.99330752e-01 1.04193391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.119254154 meters Centerline goodness : 0.991455 with order 1 Centerline is valid? [True, True] Translation: X:286.87, Y:14.94, Z:10.42 [[ 9.97395997e-01 -6.21834318e-02 -3.65300679e-02 2.86870892e+02] [ 6.21556010e-02 9.98064666e-01 -1.89812046e-03 1.49413988e+01] [ 3.65774016e-02 -3.77370570e-04 9.99330752e-01 1.04193442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.179254154 meters Centerline goodness : 0.991177 with order 1 Centerline is valid? [True, True] Translation: X:286.93, Y:14.94, Z:10.42 [[ 9.97079181e-01 -6.70721531e-02 -3.65298969e-02 2.86929813e+02] [ 6.70474804e-02 9.97747974e-01 -1.90140488e-03 1.49378429e+01] [ 3.65751619e-02 -5.53386324e-04 9.99330752e-01 1.04224238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.239254154 meters Centerline goodness : 0.991690 with order 1 Centerline is valid? [True, True] Translation: X:286.99, Y:14.93, Z:10.43 [[ 9.97084940e-01 -6.69867404e-02 -3.65294259e-02 2.86989115e+02] [ 6.69616804e-02 9.97753719e-01 -1.91041165e-03 1.49347443e+01] [ 3.65753428e-02 -5.41229055e-04 9.99330752e-01 1.04257279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.299254154 meters Centerline goodness : 0.991558 with order 1 Centerline is valid? [True, True] Translation: X:287.05, Y:14.93, Z:10.43 [[ 9.96854571e-01 -7.03318802e-02 -3.65293187e-02 2.87048533e+02] [ 7.03089893e-02 9.97523428e-01 -1.91245896e-03 1.49331725e+01] [ 3.65733580e-02 -6.61896022e-04 9.99330752e-01 1.04280343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.359254154 meters Centerline goodness : 0.991459 with order 1 Centerline is valid? [True, True] Translation: X:287.11, Y:14.93, Z:10.43 [[ 9.96851486e-01 -7.03756324e-02 -3.65292473e-02 2.87108607e+02] [ 7.03527209e-02 9.97520342e-01 -1.91382116e-03 1.49317478e+01] [ 3.65733536e-02 -6.62136473e-04 9.99330752e-01 1.04301228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.419254154 meters Centerline goodness : 0.991790 with order 1 Centerline is valid? [True, True] Translation: X:287.17, Y:14.93, Z:10.43 [[ 9.96926138e-01 -6.93101332e-02 -3.65291765e-02 2.87168565e+02] [ 6.92864574e-02 9.97594967e-01 -1.91517183e-03 1.49289317e+01] [ 3.65740635e-02 -6.21692376e-04 9.99330752e-01 1.04327884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.479254154 meters Centerline goodness : 0.992353 with order 1 Centerline is valid? [True, True] Translation: X:287.23, Y:14.93, Z:10.43 [[ 9.97058196e-01 -6.73838066e-02 -3.65291053e-02 2.87226276e+02] [ 6.73587889e-02 9.97726977e-01 -1.91652824e-03 1.49265798e+01] [ 3.65752168e-02 -5.49666110e-04 9.99330752e-01 1.04336280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.539254154 meters Centerline goodness : 0.992011 with order 1 Centerline is valid? [True, True] Translation: X:287.29, Y:14.93, Z:10.44 [[ 9.97088129e-01 -6.69395222e-02 -3.65289302e-02 2.87285288e+02] [ 6.69140845e-02 9.97756894e-01 -1.91985972e-03 1.49263458e+01] [ 3.65755065e-02 -5.30030593e-04 9.99330752e-01 1.04364870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.599254154 meters Centerline goodness : 0.992730 with order 1 Centerline is valid? [True, True] Translation: X:287.34, Y:14.92, Z:10.44 [[ 9.97083263e-01 -6.70122430e-02 -3.65284205e-02 2.87343677e+02] [ 6.69865005e-02 9.97752016e-01 -1.92951079e-03 1.49241194e+01] [ 3.65756060e-02 -5.23028144e-04 9.99330752e-01 1.04380330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.659254154 meters Centerline goodness : 0.992977 with order 1 Centerline is valid? [True, True] Translation: X:287.40, Y:14.93, Z:10.44 [[ 9.97029595e-01 -6.78063715e-02 -3.65278393e-02 2.87401678e+02] [ 6.77807610e-02 9.97698353e-01 -1.94045024e-03 1.49256421e+01] [ 3.65753400e-02 -5.41198434e-04 9.99330752e-01 1.04397576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.719254154 meters Centerline goodness : 0.993165 with order 1 Centerline is valid? [True, True] Translation: X:287.46, Y:14.92, Z:10.44 [[ 9.96868031e-01 -7.01419199e-02 -3.65272561e-02 2.87459268e+02] [ 7.01174762e-02 9.97536832e-01 -1.95136819e-03 1.49242791e+01] [ 3.65741560e-02 -6.15942445e-04 9.99330752e-01 1.04403299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.779254154 meters Centerline goodness : 0.993226 with order 1 Centerline is valid? [True, True] Translation: X:287.52, Y:14.92, Z:10.44 [[ 9.96689846e-01 -7.26300878e-02 -3.65270052e-02 2.87516749e+02] [ 7.26071420e-02 9.97358700e-01 -1.95605225e-03 1.49247345e+01] [ 3.65725947e-02 -7.02544039e-04 9.99330752e-01 1.04420550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.839254154 meters Centerline goodness : 0.993730 with order 1 Centerline is valid? [True, True] Translation: X:287.57, Y:14.92, Z:10.44 [[ 9.96395897e-01 -7.65574085e-02 -3.65264324e-02 2.87573701e+02] [ 7.65367090e-02 9.97064825e-01 -1.96669126e-03 1.49238968e+01] [ 3.65697857e-02 -8.36009823e-04 9.99330752e-01 1.04440362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.899254154 meters Centerline goodness : 0.993789 with order 1 Centerline is valid? [True, True] Translation: X:287.63, Y:14.92, Z:10.45 [[ 9.96216078e-01 -7.88629427e-02 -3.65261856e-02 2.87632049e+02] [ 7.88436237e-02 9.96885047e-01 -1.97126405e-03 1.49236988e+01] [ 3.65678679e-02 -9.16051896e-04 9.99330752e-01 1.04469209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.959254154 meters Centerline goodness : 0.994028 with order 1 Centerline is valid? [True, True] Translation: X:287.69, Y:14.92, Z:10.45 [[ 9.96225957e-01 -7.87383062e-02 -3.65256291e-02 2.87689487e+02] [ 7.87185276e-02 9.96894913e-01 -1.98152307e-03 1.49246926e+01] [ 3.65682356e-02 -9.01199026e-04 9.99330752e-01 1.04499126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.019254154 meters Centerline goodness : 0.994324 with order 1 Centerline is valid? [True, True] Translation: X:287.75, Y:14.93, Z:10.45 [[ 9.96449387e-01 -7.58585320e-02 -3.65253671e-02 2.87748040e+02] [ 7.58366435e-02 9.97118277e-01 -1.98633968e-03 1.49260649e+01] [ 3.65707919e-02 -7.90674288e-04 9.99330752e-01 1.04527697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.079254154 meters Centerline goodness : 0.994652 with order 1 Centerline is valid? [True, True] Translation: X:287.81, Y:14.93, Z:10.45 [[ 9.96917008e-01 -6.94436022e-02 -3.65248480e-02 2.87806396e+02] [ 6.94170611e-02 9.97585730e-01 -1.99583925e-03 1.49276697e+01] [ 3.65752654e-02 -5.45761515e-04 9.99330752e-01 1.04545925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.139254154 meters Centerline goodness : 0.994757 with order 1 Centerline is valid? [True, True] Translation: X:287.86, Y:14.93, Z:10.46 [[ 9.97314414e-01 -6.34817993e-02 -3.65242467e-02 2.87863148e+02] [ 6.34508596e-02 9.97982946e-01 -2.00678466e-03 1.49296462e+01] [ 3.65779696e-02 -3.16099575e-04 9.99330752e-01 1.04557943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.199254154 meters Centerline goodness : 0.995374 with order 1 Centerline is valid? [True, True] Translation: X:287.92, Y:14.93, Z:10.46 [[ 9.97817419e-01 -5.50127036e-02 -3.65239885e-02 2.87921037e+02] [ 5.49759178e-02 9.98485655e-01 -2.01147239e-03 1.49309264e+01] [ 3.65793351e-02 -8.57603755e-07 9.99330752e-01 1.04586312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.259254154 meters Centerline goodness : 0.995341 with order 1 Centerline is valid? [True, True] Translation: X:287.98, Y:14.93, Z:10.46 [[ 9.98012679e-01 -5.13491454e-02 -3.65233892e-02 2.87977631e+02] [ 5.13095105e-02 9.98680752e-01 -2.02229656e-03 1.49322680e+01] [ 3.65790489e-02 1.44280386e-04 9.99330752e-01 1.04603508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.319254154 meters Centerline goodness : 0.995639 with order 1 Centerline is valid? [True, True] Translation: X:288.04, Y:14.93, Z:10.46 [[ 9.98061516e-01 -5.03912854e-02 -3.65229800e-02 2.88035854e+02] [ 5.03507400e-02 9.98729535e-01 -2.02965843e-03 1.49313593e+01] [ 3.65788560e-02 1.86764902e-04 9.99330752e-01 1.04622856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.379254154 meters Centerline goodness : 0.995760 with order 1 Centerline is valid? [True, True] Translation: X:288.09, Y:14.93, Z:10.46 [[ 9.97907323e-01 -5.33581247e-02 -3.65223906e-02 2.88094264e+02] [ 5.33191791e-02 9.98575437e-01 -2.04021095e-03 1.49306508e+01] [ 3.65792239e-02 8.85975670e-05 9.99330752e-01 1.04640839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.439254154 meters Centerline goodness : 0.996154 with order 1 Centerline is valid? [True, True] Translation: X:288.15, Y:14.93, Z:10.47 [[ 9.97294807e-01 -6.37905036e-02 -3.65217748e-02 2.88151408e+02] [ 6.37581452e-02 9.97963272e-01 -2.05117418e-03 1.49277914e+01] [ 3.65782353e-02 -2.82935269e-04 9.99330752e-01 1.04656039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.49925415399997 meters Centerline goodness : 0.996261 with order 1 Centerline is valid? [True, True] Translation: X:288.21, Y:14.92, Z:10.47 [[ 9.96217339e-01 -7.88491742e-02 -3.65215095e-02 2.88209324e+02] [ 7.88267452e-02 9.96886211e-01 -2.05588798e-03 1.49245338e+01] [ 3.65698943e-02 -8.30760471e-04 9.99330752e-01 1.04699862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.559254154 meters Centerline goodness : 0.996535 with order 1 Centerline is valid? [True, True] Translation: X:288.27, Y:14.92, Z:10.47 [[ 9.95379097e-01 -8.88067880e-02 -3.65213252e-02 2.88267783e+02] [ 8.87909286e-02 9.96048157e-01 -2.05915678e-03 1.49230911e+01] [ 3.65598657e-02 -1.19312076e-03 9.99330752e-01 1.04717968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.619254154 meters Centerline goodness : 0.996604 with order 1 Centerline is valid? [True, True] Translation: X:288.33, Y:14.92, Z:10.47 [[ 9.94025749e-01 -1.02854502e-01 -3.65207110e-02 2.88326024e+02] [ 1.02847695e-01 9.94694962e-01 -2.06999267e-03 1.49203268e+01] [ 3.65398753e-02 -1.69844494e-03 9.99330752e-01 1.04744734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.679254154 meters Centerline goodness : 0.996826 with order 1 Centerline is valid? [True, True] Translation: X:288.38, Y:14.92, Z:10.48 [[ 9.93195144e-01 -1.10587924e-01 -3.65200942e-02 2.88383833e+02] [ 1.10585929e-01 9.93864388e-01 -2.08081866e-03 1.49215321e+01] [ 3.65261345e-02 -1.97194956e-03 9.99330753e-01 1.04765763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.739254154 meters Centerline goodness : 0.996734 with order 1 Centerline is valid? [True, True] Translation: X:288.44, Y:14.92, Z:10.48 [[ 9.92268990e-01 -1.18611045e-01 -3.65194746e-02 2.88440635e+02] [ 1.18614063e-01 9.92938230e-01 -2.09163607e-03 1.49236652e+01] [ 3.65096736e-02 -2.25625764e-03 9.99330753e-01 1.04776358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.799254154 meters Centerline goodness : 0.996967 with order 1 Centerline is valid? [True, True] Translation: X:288.50, Y:14.93, Z:10.48 [[ 9.91646797e-01 -1.23705206e-01 -3.65192073e-02 2.88499626e+02] [ 1.23711489e-01 9.92316015e-01 -2.09629260e-03 1.49275446e+01] [ 3.64979166e-02 -2.43906367e-03 9.99330753e-01 1.04809483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.859254154 meters Centerline goodness : 0.996971 with order 1 Centerline is valid? [True, True] Translation: X:288.56, Y:14.93, Z:10.48 [[ 9.91542331e-01 -1.24539928e-01 -3.65186562e-02 2.88558984e+02] [ 1.24546424e-01 9.92211547e-01 -2.10584926e-03 1.49345107e+01] [ 3.64964947e-02 -2.46022936e-03 9.99330753e-01 1.04824509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.919254154 meters Centerline goodness : 0.997076 with order 1 Centerline is valid? [True, True] Translation: X:288.62, Y:14.94, Z:10.48 [[ 9.91748274e-01 -1.22889194e-01 -3.65185773e-02 2.88618804e+02] [ 1.22894526e-01 9.92417500e-01 -2.10721766e-03 1.49419047e+01] [ 3.65006295e-02 -2.39810379e-03 9.99330753e-01 1.04834212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.979254154 meters Centerline goodness : 0.997206 with order 1 Centerline is valid? [True, True] Translation: X:288.68, Y:14.95, Z:10.48 [[ 9.92319393e-01 -1.18188920e-01 -3.65184985e-02 2.88678155e+02] [ 1.18191031e-01 9.92988637e-01 -2.10858215e-03 1.49535571e+01] [ 3.65116651e-02 -2.22377204e-03 9.99330753e-01 1.04842177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.039254154 meters Centerline goodness : 0.997107 with order 1 Centerline is valid? [True, True] Translation: X:288.74, Y:14.96, Z:10.49 [[ 9.92712606e-01 -1.14839397e-01 -3.65184198e-02 2.88737090e+02] [ 1.14839199e-01 9.93381853e-01 -2.10994409e-03 1.49626179e+01] [ 3.65190402e-02 -2.09917799e-03 9.99330753e-01 1.04863692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.099254154 meters Centerline goodness : 0.997208 with order 1 Centerline is valid? [True, True] Translation: X:288.80, Y:14.97, Z:10.49 [[ 9.93341349e-01 -1.09267448e-01 -3.65183412e-02 2.88797220e+02] [ 1.09263446e-01 9.94010584e-01 -2.11130276e-03 1.49742881e+01] [ 3.65303144e-02 -1.89287546e-03 9.99330753e-01 1.04879171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.159254154 meters Centerline goodness : 0.997295 with order 1 Centerline is valid? [True, True] Translation: X:288.86, Y:14.98, Z:10.49 [[ 9.93589096e-01 -1.06991208e-01 -3.65183412e-02 2.88857544e+02] [ 1.06985672e-01 9.94258321e-01 -2.11130276e-03 1.49835085e+01] [ 3.65345555e-02 -1.80917189e-03 9.99330753e-01 1.04928958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.219254154 meters Centerline goodness : 0.997572 with order 1 Centerline is valid? [True, True] Translation: X:288.92, Y:15.00, Z:10.50 [[ 9.94022226e-01 -1.02889385e-01 -3.65183412e-02 2.88917528e+02] [ 1.02881087e-01 9.94691422e-01 -2.11130276e-03 1.49960557e+01] [ 3.65417114e-02 -1.65836479e-03 9.99330753e-01 1.04969361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.279254154 meters Centerline goodness : 0.997403 with order 1 Centerline is valid? [True, True] Translation: X:288.98, Y:15.00, Z:10.50 [[ 9.94352351e-01 -9.96484437e-02 -3.65183412e-02 2.88977388e+02] [ 9.96379646e-02 9.95021517e-01 -2.11130276e-03 1.50043121e+01] [ 3.65469233e-02 -1.53923432e-03 9.99330753e-01 1.04978947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.339254154 meters Centerline goodness : 0.997507 with order 1 Centerline is valid? [True, True] Translation: X:289.04, Y:15.02, Z:10.50 [[ 9.94529969e-01 -9.78598526e-02 -3.65183412e-02 2.89036575e+02] [ 9.78481698e-02 9.95199115e-01 -2.11130276e-03 1.50155734e+01] [ 3.65496327e-02 -1.47349899e-03 9.99330753e-01 1.05008996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.399254154 meters Centerline goodness : 0.997557 with order 1 Centerline is valid? [True, True] Translation: X:289.10, Y:15.02, Z:10.50 [[ 9.94710526e-01 -9.60072017e-02 -3.65183028e-02 2.89097265e+02] [ 9.59942482e-02 9.95379648e-01 -2.11196735e-03 1.50232159e+01] [ 3.65523395e-02 -1.40475087e-03 9.99330753e-01 1.05014234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.459254154 meters Centerline goodness : 0.997757 with order 1 Centerline is valid? [True, True] Translation: X:289.16, Y:15.03, Z:10.51 [[ 9.94663297e-01 -9.64952498e-02 -3.65183796e-02 2.89156594e+02] [ 9.64826734e-02 9.95332426e-01 -2.11063821e-03 1.50326001e+01] [ 3.65515940e-02 -1.42401654e-03 9.99330753e-01 1.05059871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.519254154 meters Centerline goodness : 0.997921 with order 1 Centerline is valid? [True, True] Translation: X:289.22, Y:15.04, Z:10.51 [[ 9.94980692e-01 -9.31655907e-02 -3.65184174e-02 2.89217817e+02] [ 9.31507987e-02 9.95649776e-01 -2.10998464e-03 1.50414310e+01] [ 3.65561321e-02 -1.30232577e-03 9.99330753e-01 1.05084453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.579254154 meters Centerline goodness : 0.998062 with order 1 Centerline is valid? [True, True] Translation: X:289.28, Y:15.05, Z:10.51 [[ 9.95167320e-01 -9.11504505e-02 -3.65184924e-02 2.89276975e+02] [ 9.11343512e-02 9.95836374e-01 -2.10868616e-03 1.50468150e+01] [ 3.65586507e-02 -1.22959355e-03 9.99330753e-01 1.05100419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.639254154 meters Centerline goodness : 0.998000 with order 1 Centerline is valid? [True, True] Translation: X:289.34, Y:15.06, Z:10.51 [[ 9.95733714e-01 -8.47394384e-02 -3.65184555e-02 2.89336719e+02] [ 8.47190072e-02 9.96402650e-01 -2.10932475e-03 1.50560115e+01] [ 3.65658288e-02 -9.93481528e-04 9.99330753e-01 1.05120978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.699254154 meters Centerline goodness : 0.998060 with order 1 Centerline is valid? [True, True] Translation: X:289.40, Y:15.06, Z:10.51 [[ 9.96040150e-01 -8.10581442e-02 -3.65184555e-02 2.89396753e+02] [ 8.10352404e-02 9.96709005e-01 -2.10932475e-03 1.50616657e+01] [ 3.65692514e-02 -8.58309683e-04 9.99330753e-01 1.05149838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.759254154 meters Centerline goodness : 0.998226 with order 1 Centerline is valid? [True, True] Translation: X:289.46, Y:15.07, Z:10.52 [[ 9.96337472e-01 -7.73178129e-02 -3.65184555e-02 2.89456076e+02] [ 7.72923979e-02 9.97006237e-01 -2.10932475e-03 1.50672692e+01] [ 3.65722162e-02 -7.20999706e-04 9.99330753e-01 1.05183469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.819254154 meters Centerline goodness : 0.998561 with order 1 Centerline is valid? [True, True] Translation: X:289.52, Y:15.07, Z:10.52 [[ 9.96281630e-01 -7.80340926e-02 -3.65184193e-02 2.89515709e+02] [ 7.80091356e-02 9.96950411e-01 -2.10995073e-03 1.50713781e+01] [ 3.65717013e-02 -7.46665171e-04 9.99330753e-01 1.05198260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.879254154 meters Centerline goodness : 0.998434 with order 1 Centerline is valid? [True, True] Translation: X:289.58, Y:15.07, Z:10.52 [[ 9.96111505e-01 -8.01765575e-02 -3.65183482e-02 2.89575316e+02] [ 8.01529937e-02 9.96780337e-01 -2.11118128e-03 1.50740081e+01] [ 3.65700387e-02 -8.24082971e-04 9.99330753e-01 1.05202448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.939254154 meters Centerline goodness : 0.998392 with order 1 Centerline is valid? [True, True] Translation: X:289.63, Y:15.08, Z:10.52 [[ 9.95716214e-01 -8.49448704e-02 -3.65183548e-02 2.89634597e+02] [ 8.49245134e-02 9.96385152e-01 -2.11106640e-03 1.50757060e+01] [ 3.65656708e-02 -9.99280468e-04 9.99330753e-01 1.05206444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.99925415399997 meters Centerline goodness : 0.998644 with order 1 Centerline is valid? [True, True] Translation: X:289.69, Y:15.08, Z:10.52 [[ 9.95497487e-01 -8.74709518e-02 -3.65182857e-02 2.89694529e+02] [ 8.74522482e-02 9.96166473e-01 -2.11226159e-03 1.50787782e+01] [ 3.65630534e-02 -1.09085508e-03 9.99330753e-01 1.05232041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.059254154 meters Centerline goodness : 0.998625 with order 1 Centerline is valid? [True, True] Translation: X:289.75, Y:15.08, Z:10.53 [[ 9.95336751e-01 -8.92813970e-02 -3.65182857e-02 2.89754087e+02] [ 8.92639103e-02 9.96005769e-01 -2.11226159e-03 1.50818888e+01] [ 3.65610089e-02 -1.15735339e-03 9.99330753e-01 1.05267230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.119254154 meters Centerline goodness : 0.998662 with order 1 Centerline is valid? [True, True] Translation: X:289.81, Y:15.08, Z:10.53 [[ 9.95594038e-01 -8.63650913e-02 -3.65182520e-02 2.89813469e+02] [ 8.63456233e-02 9.96263002e-01 -2.11284438e-03 1.50803429e+01] [ 3.65642593e-02 -1.04965596e-03 9.99330753e-01 1.05279501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.179254154 meters Centerline goodness : 0.998809 with order 1 Centerline is valid? [True, True] Translation: X:289.87, Y:15.09, Z:10.53 [[ 9.95517345e-01 -8.72447198e-02 -3.65181524e-02 2.89873125e+02] [ 8.72257799e-02 9.96186324e-01 -2.11456408e-03 1.50880624e+01] [ 3.65633685e-02 -1.08023911e-03 9.99330753e-01 1.05323057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.239254154 meters Centerline goodness : 0.999078 with order 1 Centerline is valid? [True, True] Translation: X:289.93, Y:15.09, Z:10.53 [[ 9.95626816e-01 -8.59864617e-02 -3.65180872e-02 2.89931643e+02] [ 8.59666350e-02 9.96295770e-01 -2.11568939e-03 1.50912052e+01] [ 3.65647364e-02 -1.03289998e-03 9.99330753e-01 1.05343295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.299254154 meters Centerline goodness : 0.999014 with order 1 Centerline is valid? [True, True] Translation: X:289.99, Y:15.09, Z:10.54 [[ 9.95568713e-01 -8.66566408e-02 -3.65179902e-02 2.89991486e+02] [ 8.66372032e-02 9.96237678e-01 -2.11736234e-03 1.50940401e+01] [ 3.65640813e-02 -1.05583683e-03 9.99330753e-01 1.05358738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.359254154 meters Centerline goodness : 0.999099 with order 1 Centerline is valid? [True, True] Translation: X:290.05, Y:15.10, Z:10.54 [[ 9.95250761e-01 -9.02350425e-02 -3.65179260e-02 2.90051014e+02] [ 9.02179692e-02 9.95919791e-01 -2.11846903e-03 1.50966961e+01] [ 3.65600854e-02 -1.18616521e-03 9.99330753e-01 1.05376149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.419254154 meters Centerline goodness : 0.998932 with order 1 Centerline is valid? [True, True] Translation: X:290.11, Y:15.10, Z:10.54 [[ 9.94836934e-01 -9.46885413e-02 -3.65178625e-02 2.90109481e+02] [ 9.46744224e-02 9.95506033e-01 -2.11956334e-03 1.50996418e+01] [ 3.65544508e-02 -1.34868764e-03 9.99330753e-01 1.05376482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.479254154 meters Centerline goodness : 0.999310 with order 1 Centerline is valid? [True, True] Translation: X:290.17, Y:15.10, Z:10.54 [[ 9.94596475e-01 -9.71818158e-02 -3.65177684e-02 2.90169203e+02] [ 9.71693147e-02 9.95265605e-01 -2.12118270e-03 1.51028514e+01] [ 3.65510193e-02 -1.43868570e-03 9.99330753e-01 1.05388971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.539254154 meters Centerline goodness : 0.998997 with order 1 Centerline is valid? [True, True] Translation: X:290.23, Y:15.11, Z:10.54 [[ 9.94404296e-01 -9.91289724e-02 -3.65177063e-02 2.90228802e+02] [ 9.91177422e-02 9.95073449e-01 -2.12225134e-03 1.51073403e+01] [ 3.65481766e-02 -1.50917675e-03 9.99330753e-01 1.05402066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.599254154 meters Centerline goodness : 0.999080 with order 1 Centerline is valid? [True, True] Translation: X:290.29, Y:15.11, Z:10.55 [[ 9.94425690e-01 -9.89141448e-02 -3.65176449e-02 2.90290029e+02] [ 9.89027314e-02 9.95094840e-01 -2.12330700e-03 1.51134220e+01] [ 3.65485451e-02 -1.50022379e-03 9.99330753e-01 1.05486218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.659254154 meters Centerline goodness : 0.998705 with order 1 Centerline is valid? [True, True] Translation: X:290.35, Y:15.12, Z:10.55 [[ 9.94568698e-01 -9.74656575e-02 -3.65178023e-02 2.90351237e+02] [ 9.74533688e-02 9.95237833e-01 -2.12059783e-03 1.51178913e+01] [ 3.65505838e-02 -1.44970263e-03 9.99330753e-01 1.05497444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.719254154 meters Centerline goodness : 0.999039 with order 1 Centerline is valid? [True, True] Translation: X:290.41, Y:15.12, Z:10.56 [[ 9.94549746e-01 -9.76587702e-02 -3.65180545e-02 2.90413172e+02] [ 9.76467710e-02 9.95218885e-01 -2.11624535e-03 1.51243296e+01] [ 3.65501274e-02 -1.46115883e-03 9.99330753e-01 1.05562507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.779254154 meters Centerline goodness : 0.999038 with order 1 Centerline is valid? [True, True] Translation: X:290.47, Y:15.13, Z:10.56 [[ 9.94591629e-01 -9.72312333e-02 -3.65182082e-02 2.90474038e+02] [ 9.72190439e-02 9.95260765e-01 -2.11358910e-03 1.51298628e+01] [ 3.65506467e-02 -1.44810727e-03 9.99330753e-01 1.05586155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.839254154 meters Centerline goodness : 0.999016 with order 1 Centerline is valid? [True, True] Translation: X:290.54, Y:15.14, Z:10.56 [[ 9.94749738e-01 -9.56000617e-02 -3.65183217e-02 2.90536320e+02] [ 9.55868469e-02 9.95418854e-01 -2.11162673e-03 1.51366957e+01] [ 3.65528976e-02 -1.39013109e-03 9.99330753e-01 1.05604986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.899254154 meters Centerline goodness : 0.998890 with order 1 Centerline is valid? [True, True] Translation: X:290.60, Y:15.14, Z:10.56 [[ 9.95090369e-01 -9.19867334e-02 -3.65184784e-02 2.90598238e+02] [ 9.19711881e-02 9.95759435e-01 -2.10891248e-03 1.51436047e+01] [ 3.65576114e-02 -1.26008936e-03 9.99330753e-01 1.05625153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.959254154 meters Centerline goodness : 0.998975 with order 1 Centerline is valid? [True, True] Translation: X:290.66, Y:15.15, Z:10.56 [[ 9.95381795e-01 -8.87776552e-02 -3.65186365e-02 2.90658831e+02] [ 8.87600531e-02 9.96050810e-01 -2.10617130e-03 1.51499505e+01] [ 3.65613985e-02 -1.14495155e-03 9.99330753e-01 1.05647378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.019254154 meters Centerline goodness : 0.999099 with order 1 Centerline is valid? [True, True] Translation: X:290.72, Y:15.16, Z:10.57 [[ 9.95799403e-01 -8.39638616e-02 -3.65187532e-02 2.90720298e+02] [ 8.39430991e-02 9.96468328e-01 -2.10414693e-03 1.51570411e+01] [ 3.65664532e-02 -9.70189056e-04 9.99330753e-01 1.05664352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.079254154 meters Centerline goodness : 0.999159 with order 1 Centerline is valid? [True, True] Translation: X:290.78, Y:15.16, Z:10.57 [[ 9.95992387e-01 -8.16427213e-02 -3.65189037e-02 2.90782459e+02] [ 8.16204956e-02 9.96661266e-01 -2.10153168e-03 1.51632816e+01] [ 3.65685515e-02 -8.87581459e-04 9.99330753e-01 1.05688894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.139254154 meters Centerline goodness : 0.998865 with order 1 Centerline is valid? [True, True] Translation: X:290.84, Y:15.17, Z:10.57 [[ 9.95993333e-01 -8.16311147e-02 -3.65190618e-02 2.90844800e+02] [ 8.16089821e-02 9.96662214e-01 -2.09877986e-03 1.51678174e+01] [ 3.65684948e-02 -8.89912715e-04 9.99330753e-01 1.05711338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.199254154 meters Centerline goodness : 0.998866 with order 1 Centerline is valid? [True, True] Translation: X:290.91, Y:15.17, Z:10.57 [[ 9.95798434e-01 -8.39751436e-02 -3.65192178e-02 2.90906423e+02] [ 8.39546850e-02 9.96467369e-01 -2.09606170e-03 1.51726315e+01] [ 3.65662260e-02 -9.78704473e-04 9.99330753e-01 1.05741444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.259254154 meters Centerline goodness : 0.998803 with order 1 Centerline is valid? [True, True] Translation: X:290.97, Y:15.18, Z:10.58 [[ 9.95550415e-01 -8.68660296e-02 -3.65193732e-02 2.90968259e+02] [ 8.68476127e-02 9.96219409e-01 -2.09335123e-03 1.51762914e+01] [ 3.65631495e-02 -1.08758370e-03 9.99330753e-01 1.05769278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.319254154 meters Centerline goodness : 0.998822 with order 1 Centerline is valid? [True, True] Translation: X:291.03, Y:15.18, Z:10.58 [[ 9.95067622e-01 -9.22320574e-02 -3.65195298e-02 2.91029833e+02] [ 9.22173477e-02 9.95736707e-01 -2.09061631e-03 1.51794690e+01] [ 3.65566582e-02 -1.28742958e-03 9.99330753e-01 1.05783219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.379254154 meters Centerline goodness : 0.998804 with order 1 Centerline is valid? [True, True] Translation: X:291.09, Y:15.18, Z:10.58 [[ 9.94630487e-01 -9.68323817e-02 -3.65196454e-02 2.91092249e+02] [ 9.68208402e-02 9.95299635e-01 -2.08859474e-03 1.51833488e+01] [ 3.65502333e-02 -1.45848275e-03 9.99330753e-01 1.05818497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.439254154 meters Centerline goodness : 0.998826 with order 1 Centerline is valid? [True, True] Translation: X:291.15, Y:15.19, Z:10.58 [[ 9.94633448e-01 -9.68019020e-02 -3.65198013e-02 2.91153153e+02] [ 9.67904400e-02 9.95302597e-01 -2.08586490e-03 1.51877786e+01] [ 3.65501688e-02 -1.46009664e-03 9.99330753e-01 1.05835611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.49925415399997 meters Centerline goodness : 0.998783 with order 1 Centerline is valid? [True, True] Translation: X:291.21, Y:15.19, Z:10.58 [[ 9.94927458e-01 -9.37317356e-02 -3.65200598e-02 2.91214940e+02] [ 9.37183748e-02 9.95596572e-01 -2.08132983e-03 1.51917783e+01] [ 3.65543330e-02 -1.35182845e-03 9.99330753e-01 1.05843053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.559254154 meters Centerline goodness : 0.998908 with order 1 Centerline is valid? [True, True] Translation: X:291.28, Y:15.20, Z:10.59 [[ 9.95254528e-01 -9.01925586e-02 -3.65202138e-02 2.91276811e+02] [ 9.01769173e-02 9.95923593e-01 -2.07862313e-03 1.51978526e+01] [ 3.65588189e-02 -1.22452122e-03 9.99330753e-01 1.05901786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.619254154 meters Centerline goodness : 0.998886 with order 1 Centerline is valid? [True, True] Translation: X:291.34, Y:15.20, Z:10.59 [[ 9.95857314e-01 -8.32734868e-02 -3.65203701e-02 2.91338934e+02] [ 8.32532967e-02 9.96526256e-01 -2.07587363e-03 1.52031547e+01] [ 3.65663729e-02 -9.73167271e-04 9.99330753e-01 1.05931549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.679254154 meters Centerline goodness : 0.998803 with order 1 Centerline is valid? [True, True] Translation: X:291.40, Y:15.21, Z:10.60 [[ 9.96197134e-01 -7.91044991e-02 -3.65205246e-02 2.91400573e+02] [ 7.90816090e-02 9.96865990e-01 -2.07315150e-03 1.52073977e+01] [ 3.65700645e-02 -8.22834262e-04 9.99330753e-01 1.05952601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.739254154 meters Centerline goodness : 0.998739 with order 1 Centerline is valid? [True, True] Translation: X:291.46, Y:15.21, Z:10.60 [[ 9.96216577e-01 -7.88591873e-02 -3.65206787e-02 2.91462846e+02] [ 7.88362321e-02 9.96885431e-01 -2.07043323e-03 1.52102074e+01] [ 3.65702052e-02 -8.16552795e-04 9.99330753e-01 1.05964744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.799254154 meters Centerline goodness : 0.998969 with order 1 Centerline is valid? [True, True] Translation: X:291.52, Y:15.21, Z:10.60 [[ 9.96124182e-01 -8.00177638e-02 -3.65208337e-02 2.91524313e+02] [ 7.99956868e-02 9.96793065e-01 -2.06769582e-03 1.52129694e+01] [ 3.65691662e-02 -8.61827374e-04 9.99330753e-01 1.05977205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.859254154 meters Centerline goodness : 0.999115 with order 1 Centerline is valid? [True, True] Translation: X:291.59, Y:15.22, Z:10.60 [[ 9.96022007e-01 -8.12796679e-02 -3.65209104e-02 2.91586384e+02] [ 8.12584880e-02 9.96690919e-01 -2.06634022e-03 1.52153585e+01] [ 3.65680112e-02 -9.09513632e-04 9.99330753e-01 1.05992579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.919254154 meters Centerline goodness : 0.998715 with order 1 Centerline is valid? [True, True] Translation: X:291.65, Y:15.22, Z:10.60 [[ 9.96054307e-01 -8.08828182e-02 -3.65210619e-02 2.91647933e+02] [ 8.08614700e-02 9.96723213e-01 -2.06365884e-03 1.52180770e+01] [ 3.65683047e-02 -8.97630477e-04 9.99330753e-01 1.06012681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.979254154 meters Centerline goodness : 0.998886 with order 1 Centerline is valid? [True, True] Translation: X:291.71, Y:15.22, Z:10.61 [[ 9.96253068e-01 -7.83966098e-02 -3.65211739e-02 2.91709499e+02] [ 7.83736648e-02 9.96921922e-01 -2.06167545e-03 1.52214073e+01] [ 3.65703872e-02 -8.08347750e-04 9.99330753e-01 1.06056556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.039254154 meters Centerline goodness : 0.998842 with order 1 Centerline is valid? [True, True] Translation: X:291.77, Y:15.22, Z:10.61 [[ 9.96623932e-01 -7.35318325e-02 -3.65213266e-02 2.91771893e+02] [ 7.35057217e-02 9.97292670e-01 -2.05896601e-03 1.52249455e+01] [ 3.65738509e-02 -6.32511669e-04 9.99330753e-01 1.06095460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.099254154 meters Centerline goodness : 0.998989 with order 1 Centerline is valid? [True, True] Translation: X:291.83, Y:15.23, Z:10.61 [[ 9.96963388e-01 -6.87763400e-02 -3.65214806e-02 2.91832709e+02] [ 6.87471393e-02 9.97631998e-01 -2.05623215e-03 1.52282792e+01] [ 3.65764177e-02 -4.60759145e-04 9.99330753e-01 1.06124986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.159254154 meters Centerline goodness : 0.999092 with order 1 Centerline is valid? [True, True] Translation: X:291.89, Y:15.23, Z:10.61 [[ 9.97310210e-01 -6.35493585e-02 -3.65215570e-02 2.91893022e+02] [ 6.35167030e-02 9.97978660e-01 -2.05487460e-03 1.52310293e+01] [ 3.65783204e-02 -2.70381470e-04 9.99330753e-01 1.06138299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.219254154 meters Centerline goodness : 0.998882 with order 1 Centerline is valid? [True, True] Translation: X:291.95, Y:15.23, Z:10.61 [[ 9.97337452e-01 -6.31203773e-02 -3.65215570e-02 2.91952660e+02] [ 6.30874343e-02 9.98005888e-01 -2.05487460e-03 1.52330132e+01] [ 3.65784333e-02 -2.54647927e-04 9.99330753e-01 1.06148255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.279254154 meters Centerline goodness : 0.998904 with order 1 Centerline is valid? [True, True] Translation: X:292.01, Y:15.23, Z:10.62 [[ 9.97119655e-01 -6.64723645e-02 -3.65214813e-02 2.92012424e+02] [ 6.64416194e-02 9.97788196e-01 -2.05621740e-03 1.52328303e+01] [ 3.65773846e-02 -3.76251581e-04 9.99330753e-01 1.06159429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.339254154 meters Centerline goodness : 0.999117 with order 1 Centerline is valid? [True, True] Translation: X:292.07, Y:15.23, Z:10.62 [[ 9.96733191e-01 -7.20356335e-02 -3.65214060e-02 2.92072470e+02] [ 7.20085705e-02 9.97401891e-01 -2.05755456e-03 1.52334392e+01] [ 3.65747367e-02 -5.79021313e-04 9.99330753e-01 1.06154934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.399254154 meters Centerline goodness : 0.999095 with order 1 Centerline is valid? [True, True] Translation: X:292.13, Y:15.24, Z:10.62 [[ 9.96403279e-01 -7.64637021e-02 -3.65213307e-02 2.92132855e+02] [ 7.64395617e-02 9.97072091e-01 -2.05889115e-03 1.52354322e+01] [ 3.65718300e-02 -7.40188613e-04 9.99330753e-01 1.06165209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.459254154 meters Centerline goodness : 0.998928 with order 1 Centerline is valid? [True, True] Translation: X:292.19, Y:15.24, Z:10.62 [[ 9.95869370e-01 -8.31287560e-02 -3.65213307e-02 2.92194554e+02] [ 8.31090910e-02 9.96538328e-01 -2.05889115e-03 1.52374234e+01] [ 3.65660589e-02 -9.84867958e-04 9.99330753e-01 1.06176974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.519254154 meters Centerline goodness : 0.998844 with order 1 Centerline is valid? [True, True] Translation: X:292.26, Y:15.24, Z:10.62 [[ 9.95389912e-01 -8.86854502e-02 -3.65214073e-02 2.92255782e+02] [ 8.86695688e-02 9.96058971e-01 -2.05753108e-03 1.52411064e+01] [ 3.65599484e-02 -1.19029175e-03 9.99330753e-01 1.06215534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.579254154 meters Centerline goodness : 0.998931 with order 1 Centerline is valid? [True, True] Translation: X:292.32, Y:15.24, Z:10.62 [[ 9.94650890e-01 -9.66218806e-02 -3.65214834e-02 2.92317066e+02] [ 9.66113857e-02 9.95320055e-01 -2.05617856e-03 1.52443924e+01] [ 3.65492367e-02 -1.48321129e-03 9.99330753e-01 1.06241199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.639254154 meters Centerline goodness : 0.998871 with order 1 Centerline is valid? [True, True] Translation: X:292.38, Y:15.25, Z:10.63 [[ 9.93850671e-01 -1.04532373e-01 -3.65215964e-02 2.92377768e+02] [ 1.04527276e-01 9.94519899e-01 -2.05417103e-03 1.52487268e+01] [ 3.65361817e-02 -1.77596372e-03 9.99330753e-01 1.06256563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.699254154 meters Centerline goodness : 0.998785 with order 1 Centerline is valid? [True, True] Translation: X:292.44, Y:15.25, Z:10.63 [[ 9.93302993e-01 -1.09614409e-01 -3.65218401e-02 2.92439336e+02] [ 1.09612894e-01 9.93972239e-01 -2.04982894e-03 1.52541864e+01] [ 3.65263859e-02 -1.96716337e-03 9.99330753e-01 1.06299629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.759254154 meters Centerline goodness : 0.998742 with order 1 Centerline is valid? [True, True] Translation: X:292.50, Y:15.26, Z:10.63 [[ 9.92740131e-01 -1.14600072e-01 -3.65219932e-02 2.92502330e+02] [ 1.14602017e-01 9.93409375e-01 -2.04709654e-03 1.52596028e+01] [ 3.65158879e-02 -2.15325921e-03 9.99330753e-01 1.06316926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.819254154 meters Centerline goodness : 0.998740 with order 1 Centerline is valid? [True, True] Translation: X:292.56, Y:15.27, Z:10.63 [[ 9.92540918e-01 -1.16312742e-01 -3.65222198e-02 2.92564997e+02] [ 1.16315991e-01 9.93210157e-01 -2.04304523e-03 1.52660295e+01] [ 3.65118719e-02 -2.22031221e-03 9.99330753e-01 1.06342136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.879254154 meters Centerline goodness : 0.998801 with order 1 Centerline is valid? [True, True] Translation: X:292.63, Y:15.27, Z:10.63 [[ 9.93431691e-01 -1.08441628e-01 -3.65224504e-02 2.92627977e+02] [ 1.08439723e-01 9.94100935e-01 -2.03891453e-03 1.52666179e+01] [ 3.65281053e-02 -1.93496211e-03 9.99330753e-01 1.06268711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.939254154 meters Centerline goodness : 0.999051 with order 1 Centerline is valid? [True, True] Translation: X:292.69, Y:15.28, Z:10.64 [[ 9.93151310e-01 -1.10980063e-01 -3.65226059e-02 2.92688800e+02] [ 1.10979971e-01 9.93820557e-01 -2.03612603e-03 1.52800768e+01] [ 3.65228859e-02 -2.03109651e-03 9.99330753e-01 1.06373184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.99925415399997 meters Centerline goodness : 0.998691 with order 1 Centerline is valid? [True, True] Translation: X:292.75, Y:15.29, Z:10.64 [[ 9.94275916e-01 -1.00406632e-01 -3.65227599e-02 2.92749267e+02] [ 1.00399520e-01 9.94945125e-01 -2.03336045e-03 1.52903389e+01] [ 3.65423048e-02 -1.64514623e-03 9.99330753e-01 1.06363076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.059254154 meters Centerline goodness : 0.998794 with order 1 Centerline is valid? [True, True] Translation: X:292.81, Y:15.30, Z:10.64 [[ 9.95110057e-01 -9.17717459e-02 -3.65228739e-02 2.92810457e+02] [ 9.17589004e-02 9.95779181e-01 -2.03131096e-03 1.52997487e+01] [ 3.65551344e-02 -1.32992078e-03 9.99330753e-01 1.06412656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.119254154 meters Centerline goodness : 0.998959 with order 1 Centerline is valid? [True, True] Translation: X:292.87, Y:15.31, Z:10.65 [[ 9.96356611e-01 -7.70686282e-02 -3.65230210e-02 2.92871475e+02] [ 7.70460014e-02 9.97025475e-01 -2.02866171e-03 1.53108494e+01] [ 3.65707286e-02 -7.92682220e-04 9.99330753e-01 1.06461165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.179254154 meters Centerline goodness : 0.999236 with order 1 Centerline is valid? [True, True] Translation: X:292.93, Y:15.32, Z:10.65 [[ 9.97039198e-01 -6.76675614e-02 -3.65231345e-02 2.92932960e+02] [ 6.76387017e-02 9.97707822e-01 -2.02661691e-03 1.53179824e+01] [ 3.65765532e-02 -4.49760904e-04 9.99330753e-01 1.06495077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.239254154 meters Centerline goodness : 0.999103 with order 1 Centerline is valid? [True, True] Translation: X:292.99, Y:15.33, Z:10.65 [[ 9.97671367e-01 -5.76011548e-02 -3.65232841e-02 2.92994011e+02] [ 5.75656471e-02 9.98339672e-01 -2.02391762e-03 1.53259564e+01] [ 3.65792234e-02 -8.32818266e-05 9.99330753e-01 1.06526340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.299254154 meters Centerline goodness : 0.999167 with order 1 Centerline is valid? [True, True] Translation: X:293.05, Y:15.33, Z:10.65 [[ 9.97869911e-01 -5.40526158e-02 -3.65233579e-02 2.93053263e+02] [ 5.40147803e-02 9.98538088e-01 -2.02258459e-03 1.53299329e+01] [ 3.65792899e-02 4.54751539e-05 9.99330753e-01 1.06535318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.359254154 meters Centerline goodness : 0.996415 with order 1 Centerline is valid? [True, True] Translation: X:293.11, Y:15.33, Z:10.65 [[ 9.97832954e-01 -5.47306705e-02 -3.65232830e-02 2.93111701e+02] [ 5.46932396e-02 9.98501153e-01 -2.02393563e-03 1.53339742e+01] [ 3.65793116e-02 2.19729952e-05 9.99330753e-01 1.06532282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.419254154 meters Centerline goodness : 0.998934 with order 1 Centerline is valid? [True, True] Translation: X:293.17, Y:15.33, Z:10.65 [[ 9.97354347e-01 -6.28522376e-02 -3.65226274e-02 2.93169462e+02] [ 6.28198170e-02 9.98022809e-01 -2.03569789e-03 1.53335844e+01] [ 3.65783633e-02 -2.64032630e-04 9.99330753e-01 1.06548470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.479254154 meters Centerline goodness : 0.998936 with order 1 Centerline is valid? [True, True] Translation: X:293.23, Y:15.33, Z:10.66 [[ 9.96868877e-01 -7.01324254e-02 -3.65223931e-02 2.93231272e+02] [ 7.01047326e-02 9.97537551e-01 -2.03989353e-03 1.53340925e+01] [ 3.65755212e-02 -5.26886229e-04 9.99330753e-01 1.06571539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.539254154 meters Centerline goodness : 0.998899 with order 1 Centerline is valid? [True, True] Translation: X:293.29, Y:15.32, Z:10.64 [[ 9.97076206e-01 -6.71204051e-02 -3.65224684e-02 2.93293606e+02] [ 6.70907417e-02 9.97744795e-01 -2.03854420e-03 1.53191574e+01] [ 3.65769307e-02 -4.17735581e-04 9.99330753e-01 1.06424237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.599254154 meters Centerline goodness : 0.998986 with order 1 Centerline is valid? [True, True] Translation: X:293.35, Y:15.33, Z:10.66 [[ 9.95724731e-01 -8.48431837e-02 -3.65225087e-02 2.93351937e+02] [ 8.48254426e-02 9.96393743e-01 -2.03782170e-03 1.53316449e+01] [ 3.65636944e-02 -1.06892850e-03 9.99330753e-01 1.06636506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.659254154 meters Centerline goodness : 0.998882 with order 1 Centerline is valid? [True, True] Translation: X:293.41, Y:15.33, Z:10.66 [[ 9.95741064e-01 -8.46513015e-02 -3.65224786e-02 2.93414412e+02] [ 8.46334117e-02 9.96410072e-01 -2.03836021e-03 1.53329768e+01] [ 3.65639154e-02 -1.06134301e-03 9.99330753e-01 1.06648807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.719254154 meters Centerline goodness : 0.998947 with order 1 Centerline is valid? [True, True] Translation: X:293.48, Y:15.33, Z:10.67 [[ 9.95820456e-01 -8.37120707e-02 -3.65227204e-02 2.93475663e+02] [ 8.36937089e-02 9.96489451e-01 -2.03401999e-03 1.53331099e+01] [ 3.65647776e-02 -1.03120321e-03 9.99330753e-01 1.06676481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.779254154 meters Centerline goodness : 0.998967 with order 1 Centerline is valid? [True, True] Translation: X:293.54, Y:15.33, Z:10.67 [[ 9.95974213e-01 -8.18623050e-02 -3.65230008e-02 2.93536630e+02] [ 8.18428857e-02 9.96643179e-01 -2.02897204e-03 1.53340130e+01] [ 3.65664959e-02 -9.68343953e-04 9.99330753e-01 1.06686086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.839254154 meters Centerline goodness : 0.998945 with order 1 Centerline is valid? [True, True] Translation: X:293.60, Y:15.33, Z:10.67 [[ 9.96259375e-01 -7.83155137e-02 -3.65231126e-02 2.93598509e+02] [ 7.82937864e-02 9.96928269e-01 -2.02695705e-03 1.53342896e+01] [ 3.65696656e-02 -8.40157809e-04 9.99330753e-01 1.06682276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.899254154 meters Centerline goodness : 0.998881 with order 1 Centerline is valid? [True, True] Translation: X:293.66, Y:15.34, Z:10.67 [[ 9.96687109e-01 -7.26695076e-02 -3.65232630e-02 2.93660878e+02] [ 7.26440902e-02 9.97355874e-01 -2.02424393e-03 1.53364810e+01] [ 3.65737917e-02 -6.35661374e-04 9.99330753e-01 1.06693154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.959254154 meters Centerline goodness : 0.998713 with order 1 Centerline is valid? [True, True] Translation: X:293.72, Y:15.34, Z:10.67 [[ 9.97024876e-01 -6.78781052e-02 -3.65234149e-02 2.93721674e+02] [ 6.78495741e-02 9.97693514e-01 -2.02149968e-03 1.53389562e+01] [ 3.65763897e-02 -4.62612682e-04 9.99330753e-01 1.06718330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.019254154 meters Centerline goodness : 0.998796 with order 1 Centerline is valid? [True, True] Translation: X:293.78, Y:15.34, Z:10.67 [[ 9.97365818e-01 -6.26694537e-02 -3.65234901e-02 2.93781395e+02] [ 6.26374804e-02 9.98034301e-01 -2.02013879e-03 1.53413565e+01] [ 3.65782969e-02 -2.72922022e-04 9.99330753e-01 1.06739314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.079254154 meters Centerline goodness : 0.999092 with order 1 Centerline is valid? [True, True] Translation: X:293.84, Y:15.34, Z:10.68 [[ 9.97769490e-01 -5.58756028e-02 -3.65234532e-02 2.93839778e+02] [ 5.58390532e-02 9.98437738e-01 -2.02080690e-03 1.53444522e+01] [ 3.65793078e-02 -2.31355819e-05 9.99330753e-01 1.06773242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.139254154 meters Centerline goodness : 0.998821 with order 1 Centerline is valid? [True, True] Translation: X:293.90, Y:15.35, Z:10.68 [[ 9.97849917e-01 -5.44204737e-02 -3.65233448e-02 2.93898838e+02] [ 5.43828780e-02 9.98518108e-01 -2.02276369e-03 1.53451693e+01] [ 3.65793009e-02 3.21699780e-05 9.99330753e-01 1.06796423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.199254154 meters Centerline goodness : 0.998737 with order 1 Centerline is valid? [True, True] Translation: X:293.96, Y:15.34, Z:10.68 [[ 9.97548738e-01 -5.96875127e-02 -3.65228127e-02 2.93956492e+02] [ 5.96530949e-02 9.98217100e-01 -2.03232597e-03 1.53437156e+01] [ 3.65790007e-02 -1.51354606e-04 9.99330753e-01 1.06801302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.259254154 meters Centerline goodness : 0.998971 with order 1 Centerline is valid? [True, True] Translation: X:294.02, Y:15.34, Z:10.68 [[ 9.97183329e-01 -6.55098190e-02 -3.65222021e-02 2.94015304e+02] [ 6.54789038e-02 9.97851862e-01 -2.04323956e-03 1.53442546e+01] [ 3.65775997e-02 -3.53949334e-04 9.99330753e-01 1.06814761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.319254154 meters Centerline goodness : 0.998993 with order 1 Centerline is valid? [True, True] Translation: X:294.07, Y:15.34, Z:10.68 [[ 9.96632662e-01 -7.34132388e-02 -3.65216738e-02 2.94074830e+02] [ 7.33872801e-02 9.97301406e-01 -2.05264046e-03 1.53423568e+01] [ 3.65738076e-02 -6.34497776e-04 9.99330753e-01 1.06839066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.379254154 meters Centerline goodness : 0.998888 with order 1 Centerline is valid? [True, True] Translation: X:294.13, Y:15.34, Z:10.69 [[ 9.96405456e-01 -7.64352070e-02 -3.65215968e-02 2.94134167e+02] [ 7.64112262e-02 9.97074273e-01 -2.05401018e-03 1.53415667e+01] [ 3.65717432e-02 -7.44033041e-04 9.99330753e-01 1.06858441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.439254154 meters Centerline goodness : 0.999078 with order 1 Centerline is valid? [True, True] Translation: X:294.19, Y:15.34, Z:10.69 [[ 9.96342232e-01 -7.72549828e-02 -3.65215588e-02 2.94194708e+02] [ 7.72315277e-02 9.97011068e-01 -2.05468419e-03 1.53413057e+01] [ 3.65711330e-02 -7.73447149e-04 9.99330753e-01 1.06900130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.49925415399997 meters Centerline goodness : 0.999224 with order 1 Centerline is valid? [True, True] Translation: X:294.26, Y:15.34, Z:10.69 [[ 9.96486377e-01 -7.53729183e-02 -3.65215588e-02 2.94255037e+02] [ 7.53481998e-02 9.97155167e-01 -2.05468419e-03 1.53431849e+01] [ 3.65725286e-02 -7.04368908e-04 9.99330753e-01 1.06937748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.559254154 meters Centerline goodness : 0.999036 with order 1 Centerline is valid? [True, True] Translation: X:294.32, Y:15.34, Z:10.70 [[ 9.96900058e-01 -6.96882314e-02 -3.65215588e-02 2.94315487e+02] [ 6.96596989e-02 9.97568697e-01 -2.05468419e-03 1.53436873e+01] [ 3.65759512e-02 -4.95766003e-04 9.99330753e-01 1.06953587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.619254154 meters Centerline goodness : 0.999100 with order 1 Centerline is valid? [True, True] Translation: X:294.37, Y:15.34, Z:10.70 [[ 9.97367803e-01 -6.26389796e-02 -3.65215588e-02 2.94373921e+02] [ 6.26057209e-02 9.98036223e-01 -2.05468419e-03 1.53446205e+01] [ 3.65785419e-02 -2.37182663e-04 9.99330753e-01 1.06967367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.679254154 meters Centerline goodness : 0.999183 with order 1 Centerline is valid? [True, True] Translation: X:294.43, Y:15.35, Z:10.70 [[ 9.97610876e-01 -5.86406522e-02 -3.65214219e-02 2.94432073e+02] [ 5.86046255e-02 9.98279152e-01 -2.05711566e-03 1.53460318e+01] [ 3.65792047e-02 -8.81232995e-05 9.99330753e-01 1.06994348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.739254154 meters Centerline goodness : 0.999246 with order 1 Centerline is valid? [True, True] Translation: X:294.49, Y:15.34, Z:10.70 [[ 9.97874587e-01 -5.39679332e-02 -3.65208203e-02 2.94489634e+02] [ 5.39283884e-02 9.98542665e-01 -2.06774097e-03 1.53447758e+01] [ 3.65791889e-02 9.38371887e-05 9.99330753e-01 1.07012401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.799254154 meters Centerline goodness : 0.999103 with order 1 Centerline is valid? [True, True] Translation: X:294.55, Y:15.34, Z:10.70 [[ 9.97956567e-01 -5.24302773e-02 -3.65206356e-02 2.94548145e+02] [ 5.23895839e-02 9.98624575e-01 -2.07099773e-03 1.53435973e+01] [ 3.65789872e-02 1.53464879e-04 9.99330753e-01 1.07023073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.859254154 meters Centerline goodness : 0.999188 with order 1 Centerline is valid? [True, True] Translation: X:294.61, Y:15.35, Z:10.72 [[ 9.97881279e-01 -5.38445360e-02 -3.65201119e-02 2.94607938e+02] [ 5.38044529e-02 9.98549325e-01 -2.08019173e-03 1.53457088e+01] [ 3.65791401e-02 1.10839747e-04 9.99330753e-01 1.07153145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.919254154 meters Centerline goodness : 0.999352 with order 1 Centerline is valid? [True, True] Translation: X:294.67, Y:15.34, Z:10.71 [[ 9.98015024e-01 -5.13059034e-02 -3.65200726e-02 2.94667943e+02] [ 5.12640957e-02 9.98682964e-01 -2.08088268e-03 1.53424515e+01] [ 3.65787359e-02 2.04583683e-04 9.99330753e-01 1.07064116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.979254154 meters Centerline goodness : 0.999269 with order 1 Centerline is valid? [True, True] Translation: X:294.73, Y:15.34, Z:10.71 [[ 9.97824392e-01 -5.48887278e-02 -3.65199948e-02 2.94726454e+02] [ 5.48492685e-02 9.98492475e-01 -2.08224660e-03 1.53407019e+01] [ 3.65792318e-02 7.46214475e-05 9.99330753e-01 1.07108976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.039254154 meters Centerline goodness : 0.999435 with order 1 Centerline is valid? [True, True] Translation: X:294.79, Y:15.34, Z:10.71 [[ 9.97465868e-01 -6.10587468e-02 -3.65194584e-02 2.94785542e+02] [ 6.10230772e-02 9.98134164e-01 -2.09161193e-03 1.53366141e+01] [ 3.65790303e-02 -1.42218217e-04 9.99330753e-01 1.07146050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.099254154 meters Centerline goodness : 0.999394 with order 1 Centerline is valid? [True, True] Translation: X:294.84, Y:15.33, Z:10.72 [[ 9.96958934e-01 -6.88422249e-02 -3.65189237e-02 2.94843454e+02] [ 6.88114321e-02 9.97627472e-01 -2.10090560e-03 1.53321292e+01] [ 3.65769126e-02 -4.18402835e-04 9.99330753e-01 1.07172689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.159254154 meters Centerline goodness : 0.999331 with order 1 Centerline is valid? [True, True] Translation: X:294.90, Y:15.33, Z:10.72 [[ 9.96678947e-01 -7.27838536e-02 -3.65183048e-02 2.94901887e+02] [ 7.27553124e-02 9.97347585e-01 -2.11160993e-03 1.53301460e+01] [ 3.65751342e-02 -5.52303510e-04 9.99330753e-01 1.07196433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.219254154 meters Centerline goodness : 0.999332 with order 1 Centerline is valid? [True, True] Translation: X:294.96, Y:15.33, Z:10.72 [[ 9.96639978e-01 -7.33158436e-02 -3.65176770e-02 2.94959186e+02] [ 7.32872637e-02 9.97308614e-01 -2.12241153e-03 1.53276267e+01] [ 3.65750002e-02 -5.61000438e-04 9.99330753e-01 1.07218212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.279254154 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:295.02, Y:15.33, Z:10.72 [[ 9.96734661e-01 -7.20173186e-02 -3.65174065e-02 2.95017428e+02] [ 7.19876975e-02 9.97403252e-01 -2.12705492e-03 1.53296724e+01] [ 3.65757648e-02 -5.08694650e-04 9.99330753e-01 1.07240919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.339254154 meters Centerline goodness : 0.999458 with order 1 Centerline is valid? [True, True] Translation: X:295.07, Y:15.33, Z:10.73 [[ 9.97203323e-01 -6.52075632e-02 -3.65172170e-02 2.95074978e+02] [ 6.51732571e-02 9.97871689e-01 -2.13030389e-03 1.53288875e+01] [ 3.65784089e-02 -2.55599857e-04 9.99330753e-01 1.07264435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.399254154 meters Centerline goodness : 0.999521 with order 1 Centerline is valid? [True, True] Translation: X:295.13, Y:15.33, Z:10.73 [[ 9.97497000e-01 -6.05497520e-02 -3.65166142e-02 2.95132881e+02] [ 6.05119483e-02 9.98165178e-01 -2.14058794e-03 1.53293747e+01] [ 3.65792247e-02 -7.44614203e-05 9.99330753e-01 1.07297557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.459254154 meters Centerline goodness : 0.999584 with order 1 Centerline is valid? [True, True] Translation: X:295.19, Y:15.33, Z:10.73 [[ 9.97748578e-01 -5.62526250e-02 -3.65159906e-02 2.95191380e+02] [ 5.62115562e-02 9.98416563e-01 -2.15117315e-03 1.53275835e+01] [ 3.65791789e-02 9.37092956e-05 9.99330753e-01 1.07291582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.519254154 meters Centerline goodness : 0.999729 with order 1 Centerline is valid? [True, True] Translation: X:295.25, Y:15.33, Z:10.73 [[ 9.97731888e-01 -5.65482247e-02 -3.65154526e-02 2.95250505e+02] [ 5.65070210e-02 9.98399865e-01 -2.16026611e-03 1.53252012e+01] [ 3.65791822e-02 9.19869354e-05 9.99330754e-01 1.07324584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.579254154 meters Centerline goodness : 0.999750 with order 1 Centerline is valid? [True, True] Translation: X:295.31, Y:15.32, Z:10.74 [[ 9.97585549e-01 -5.90739802e-02 -3.65149027e-02 2.95308028e+02] [ 5.90341290e-02 9.98253607e-01 -2.16952234e-03 1.53243747e+01] [ 3.65792956e-02 8.65866275e-06 9.99330754e-01 1.07355122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.639254154 meters Centerline goodness : 0.999686 with order 1 Centerline is valid? [True, True] Translation: X:295.37, Y:15.32, Z:10.74 [[ 9.97175509e-01 -6.56331656e-02 -3.65142636e-02 2.95367443e+02] [ 6.55973167e-02 9.97843795e-01 -2.18022549e-03 1.53200128e+01] [ 3.65786265e-02 -2.21170246e-04 9.99330754e-01 1.07400714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.699254154 meters Centerline goodness : 0.999728 with order 1 Centerline is valid? [True, True] Translation: X:295.43, Y:15.32, Z:10.74 [[ 9.96588608e-01 -7.40128088e-02 -3.65136997e-02 2.95426698e+02] [ 7.39822341e-02 9.97257156e-01 -2.18962880e-03 1.53151357e+01] [ 3.65756089e-02 -5.19205964e-04 9.99330754e-01 1.07440901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.759254154 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:295.49, Y:15.31, Z:10.75 [[ 9.96264862e-01 -7.82503350e-02 -3.65131397e-02 2.95486118e+02] [ 7.82222631e-02 9.96933519e-01 -2.19892749e-03 1.53112562e+01] [ 3.65732397e-02 -6.65426231e-04 9.99330754e-01 1.07475328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.819254154 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:295.54, Y:15.31, Z:10.75 [[ 9.96366962e-01 -7.69396538e-02 -3.65125678e-02 2.95544538e+02] [ 7.69103558e-02 9.97035566e-01 -2.20838362e-03 1.53102976e+01] [ 3.65742410e-02 -6.07834099e-04 9.99330754e-01 1.07497927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.879254154 meters Centerline goodness : 0.999876 with order 1 Centerline is valid? [True, True] Translation: X:295.60, Y:15.31, Z:10.75 [[ 9.96641493e-01 -7.32981160e-02 -3.65119149e-02 2.95601208e+02] [ 7.32659815e-02 9.97309968e-01 -2.21912565e-03 1.53099785e+01] [ 3.65763544e-02 -4.63408577e-04 9.99330754e-01 1.07522395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.939254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.66, Y:15.31, Z:10.76 [[ 9.97048015e-01 -6.75437386e-02 -3.65116341e-02 2.95659728e+02] [ 6.75075770e-02 9.97716283e-01 -2.22373680e-03 1.53085445e+01] [ 3.65784513e-02 -2.47639584e-04 9.99330754e-01 1.07557318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.99925415399997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.72, Y:15.31, Z:10.76 [[ 9.97222983e-01 -6.49096618e-02 -3.65110626e-02 2.95718128e+02] [ 6.48713928e-02 9.97891134e-01 -2.23308034e-03 1.53053893e+01] [ 3.65790142e-02 -1.41644448e-04 9.99330754e-01 1.07583032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.059254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.78, Y:15.30, Z:10.76 [[ 9.97138447e-01 -6.61959797e-02 -3.65103979e-02 2.95777554e+02] [ 6.61581767e-02 9.97806625e-01 -2.24389505e-03 1.53043488e+01] [ 3.65788538e-02 -1.77987333e-04 9.99330754e-01 1.07598274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.119254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.84, Y:15.30, Z:10.76 [[ 9.96719930e-01 -7.22247486e-02 -3.65098177e-02 2.95835883e+02] [ 7.21906426e-02 9.97388306e-01 -2.25329736e-03 1.53003871e+01] [ 3.65772090e-02 -3.89760814e-04 9.99330754e-01 1.07600527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.179254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.89, Y:15.30, Z:10.76 [[ 9.95795818e-01 -8.40105332e-02 -3.65091577e-02 2.95893735e+02] [ 8.39839462e-02 9.96464536e-01 -2.26393947e-03 1.52976402e+01] [ 3.65702757e-02 -8.11761685e-04 9.99330754e-01 1.07626841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.239254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:295.95, Y:15.30, Z:10.77 [[ 9.94980590e-01 -9.31705707e-02 -3.65084883e-02 2.95952148e+02] [ 9.31497447e-02 9.95649512e-01 -2.27468325e-03 1.52973081e+01] [ 3.65615921e-02 -1.13749068e-03 9.99330754e-01 1.07660269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.299254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.01, Y:15.30, Z:10.77 [[ 9.93679570e-01 -1.06151237e-01 -3.65078992e-02 2.96010803e+02] [ 1.06138799e-01 9.94348700e-01 -2.28410048e-03 1.52970012e+01] [ 3.65440422e-02 -1.60524060e-03 9.99330754e-01 1.07694619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.359254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.07, Y:15.30, Z:10.77 [[ 9.92989463e-01 -1.12423939e-01 -3.65073135e-02 2.96068696e+02] [ 1.12415385e-01 9.93658654e-01 -2.29342358e-03 1.52988639e+01] [ 3.65336437e-02 -1.82663825e-03 9.99330754e-01 1.07721601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.419254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.13, Y:15.30, Z:10.77 [[ 9.92261696e-01 -1.18676000e-01 -3.65066236e-02 2.96126658e+02] [ 1.18671261e-01 9.92930925e-01 -2.30435381e-03 1.53023915e+01] [ 3.65220270e-02 -2.04576501e-03 9.99330754e-01 1.07740642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.479254154 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:296.18, Y:15.31, Z:10.78 [[ 9.91856811e-01 -1.22013871e-01 -3.65059259e-02 2.96182885e+02] [ 1.22010980e-01 9.92526050e-01 -2.31535377e-03 1.53091386e+01] [ 3.65155877e-02 -2.15762438e-03 9.99330754e-01 1.07751072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.539254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.24, Y:15.32, Z:10.78 [[ 9.91670680e-01 -1.23517621e-01 -3.65056256e-02 2.96239267e+02] [ 1.23515571e-01 9.92339922e-01 -2.32007883e-03 1.53160640e+01] [ 3.65125603e-02 -2.20825905e-03 9.99330754e-01 1.07763831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.599254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:296.30, Y:15.33, Z:10.78 [[ 9.91627720e-01 -1.23862121e-01 -3.65053331e-02 2.96296598e+02] [ 1.23860135e-01 9.92296963e-01 -2.32467216e-03 1.53261108e+01] [ 3.65120700e-02 -2.21634613e-03 9.99330754e-01 1.07794019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.659254154 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:296.35, Y:15.34, Z:10.78 [[ 9.91967852e-01 -1.21108185e-01 -3.65046382e-02 2.96353627e+02] [ 1.21103942e-01 9.92637084e-01 -2.33553403e-03 1.53382044e+01] [ 3.65187099e-02 -2.10408092e-03 9.99330754e-01 1.07802948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.719254154 meters Centerline goodness : 0.999814 with order 1 Centerline is valid? [True, True] Translation: X:296.41, Y:15.35, Z:10.78 [[ 9.92367988e-01 -1.17784714e-01 -3.65039483e-02 2.96410991e+02] [ 1.17777836e-01 9.93037198e-01 -2.34626693e-03 1.53483827e+01] [ 3.65261329e-02 -1.97099585e-03 9.99330754e-01 1.07818049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.779254154 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:296.47, Y:15.36, Z:10.78 [[ 9.93222505e-01 -1.10347490e-01 -3.65032566e-02 2.96468500e+02] [ 1.10335206e-01 9.93891637e-01 -2.35697909e-03 1.53634902e+01] [ 3.65403682e-02 -1.68658967e-03 9.99330755e-01 1.07838399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.839254154 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:296.53, Y:15.37, Z:10.79 [[ 9.93916327e-01 -1.03912935e-01 -3.65025640e-02 2.96525568e+02] [ 1.03895926e-01 9.94585356e-01 -2.36765840e-03 1.53745010e+01] [ 3.65509459e-02 -1.43921336e-03 9.99330755e-01 1.07863966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.899254154 meters Centerline goodness : 0.999605 with order 1 Centerline is valid? [True, True] Translation: X:296.58, Y:15.39, Z:10.79 [[ 9.94808560e-01 -9.49923251e-02 -3.65018652e-02 2.96582787e+02] [ 9.49689225e-02 9.95477397e-01 -2.37838242e-03 1.53893166e+01] [ 3.65627098e-02 -1.10050762e-03 9.99330755e-01 1.07887931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.959254154 meters Centerline goodness : 0.999561 with order 1 Centerline is valid? [True, True] Translation: X:296.64, Y:15.40, Z:10.79 [[ 9.95325837e-01 -8.94099716e-02 -3.65011682e-02 2.96640094e+02] [ 8.93824269e-02 9.95994515e-01 -2.38903158e-03 1.54018915e+01] [ 3.65685666e-02 -8.84698140e-04 9.99330755e-01 1.07905666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.019254154 meters Centerline goodness : 0.999415 with order 1 Centerline is valid? [True, True] Translation: X:296.70, Y:15.41, Z:10.79 [[ 9.95469847e-01 -8.77923736e-02 -3.65004580e-02 2.96698006e+02] [ 8.77633465e-02 9.96138462e-01 -2.39983368e-03 1.54105701e+01] [ 3.65701972e-02 -8.14440278e-04 9.99330755e-01 1.07920642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.079254154 meters Centerline goodness : 0.999519 with order 1 Centerline is valid? [True, True] Translation: X:296.75, Y:15.42, Z:10.79 [[ 9.95327321e-01 -8.93940278e-02 -3.64997484e-02 2.96754931e+02] [ 8.93656827e-02 9.95995966e-01 -2.41057765e-03 1.54208698e+01] [ 3.65690934e-02 -8.62511138e-04 9.99330755e-01 1.07939411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.139254154 meters Centerline goodness : 0.999478 with order 1 Centerline is valid? [True, True] Translation: X:296.81, Y:15.43, Z:10.80 [[ 9.95144767e-01 -9.14041214e-02 -3.64990271e-02 2.96813344e+02] [ 9.13767283e-02 9.95813451e-01 -2.42145047e-03 1.54304160e+01] [ 3.65675527e-02 -9.25467917e-04 9.99330755e-01 1.07966800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.199254154 meters Centerline goodness : 0.999540 with order 1 Centerline is valid? [True, True] Translation: X:296.87, Y:15.44, Z:10.80 [[ 9.95122207e-01 -9.16496546e-02 -3.64983989e-02 2.96871286e+02] [ 9.16220808e-02 9.95790884e-01 -2.43088291e-03 1.54363452e+01] [ 3.65675625e-02 -9.25033679e-04 9.99330755e-01 1.07994414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.259254154 meters Centerline goodness : 0.999540 with order 1 Centerline is valid? [True, True] Translation: X:296.93, Y:15.45, Z:10.80 [[ 9.95341557e-01 -8.92362309e-02 -3.64976797e-02 2.96929815e+02] [ 8.92066416e-02 9.96010147e-01 -2.44163308e-03 1.54469274e+01] [ 3.65699415e-02 -8.25576562e-04 9.99330755e-01 1.08032713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.319254154 meters Centerline goodness : 0.999416 with order 1 Centerline is valid? [True, True] Translation: X:296.99, Y:15.45, Z:10.81 [[ 9.95618535e-01 -8.60912203e-02 -3.64970416e-02 2.96988282e+02] [ 8.60591708e-02 9.96287012e-01 -2.45113434e-03 1.54546033e+01] [ 3.65725497e-02 -7.00510352e-04 9.99330755e-01 1.08055350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.379254154 meters Centerline goodness : 0.999144 with order 1 Centerline is valid? [True, True] Translation: X:297.05, Y:15.46, Z:10.81 [[ 9.95957789e-01 -8.20734989e-02 -3.64969073e-02 2.97046286e+02] [ 8.20386793e-02 9.96626127e-01 -2.45313248e-03 1.54626209e+01] [ 3.65751085e-02 -5.50941677e-04 9.99330755e-01 1.08084452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.439254154 meters Centerline goodness : 0.999480 with order 1 Centerline is valid? [True, True] Translation: X:297.10, Y:15.47, Z:10.81 [[ 9.95950988e-01 -8.21562671e-02 -3.64962591e-02 2.97103387e+02] [ 8.21211511e-02 9.96619311e-01 -2.46273811e-03 1.54689799e+01] [ 3.65752060e-02 -5.44348350e-04 9.99330755e-01 1.08097611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.49925415399997 meters Centerline goodness : 0.999521 with order 1 Centerline is valid? [True, True] Translation: X:297.16, Y:15.48, Z:10.81 [[ 9.95691640e-01 -8.52420415e-02 -3.64959189e-02 2.97162142e+02] [ 8.52088123e-02 9.96360060e-01 -2.46776891e-03 1.54755535e+01] [ 3.65734336e-02 -6.52637034e-04 9.99330755e-01 1.08107621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.559254154 meters Centerline goodness : 0.999542 with order 1 Centerline is valid? [True, True] Translation: X:297.22, Y:15.48, Z:10.81 [[ 9.95009959e-01 -9.28615909e-02 -3.64952908e-02 2.97221615e+02] [ 9.28331401e-02 9.95678599e-01 -2.47702449e-03 1.54807873e+01] [ 3.65676004e-02 -9.23308404e-04 9.99330755e-01 1.08113984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.619254154 meters Centerline goodness : 0.999458 with order 1 Centerline is valid? [True, True] Translation: X:297.28, Y:15.49, Z:10.81 [[ 9.94409393e-01 -9.90861195e-02 -3.64951991e-02 2.97281907e+02] [ 9.90618039e-02 9.95078196e-01 -2.47837404e-03 1.54864605e+01] [ 3.65611494e-02 -1.15076183e-03 9.99330755e-01 1.08126356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.679254154 meters Centerline goodness : 0.999500 with order 1 Centerline is valid? [True, True] Translation: X:297.34, Y:15.49, Z:10.81 [[ 9.93186196e-01 -1.10676471e-01 -3.64951991e-02 2.97341522e+02] [ 1.10659957e-01 9.93855237e-01 -2.47837404e-03 1.54926342e+01] [ 3.65452424e-02 -1.57707027e-03 9.99330755e-01 1.08147459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.739254154 meters Centerline goodness : 0.999354 with order 1 Centerline is valid? [True, True] Translation: X:297.40, Y:15.50, Z:10.82 [[ 9.92336876e-01 -1.18049234e-01 -3.64952450e-02 2.97402864e+02] [ 1.18037713e-01 9.93006022e-01 -2.47769874e-03 1.54981465e+01] [ 3.65324884e-02 -1.84910343e-03 9.99330755e-01 1.08165095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.799254154 meters Centerline goodness : 0.999666 with order 1 Centerline is valid? [True, True] Translation: X:297.46, Y:15.51, Z:10.82 [[ 9.91052157e-01 -1.28388908e-01 -3.64953361e-02 2.97463530e+02] [ 1.28384414e-01 9.91721387e-01 -2.47635492e-03 1.55052877e+01] [ 3.65111419e-02 -2.23123544e-03 9.99330755e-01 1.08187672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.859254154 meters Centerline goodness : 0.999395 with order 1 Centerline is valid? [True, True] Translation: X:297.53, Y:15.51, Z:10.82 [[ 9.90067832e-01 -1.35771014e-01 -3.64954714e-02 2.97525364e+02] [ 1.35771580e-01 9.90737077e-01 -2.47435914e-03 1.55148587e+01] [ 3.64933629e-02 -2.50526445e-03 9.99330755e-01 1.08218572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.919254154 meters Centerline goodness : 0.999416 with order 1 Centerline is valid? [True, True] Translation: X:297.59, Y:15.52, Z:10.82 [[ 9.89697576e-01 -1.38444126e-01 -3.64956530e-02 2.97586991e+02] [ 1.38446599e-01 9.90366816e-01 -2.47167818e-03 1.55229835e+01] [ 3.64862730e-02 -2.60648513e-03 9.99330755e-01 1.08242329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.979254154 meters Centerline goodness : 0.999374 with order 1 Centerline is valid? [True, True] Translation: X:297.65, Y:15.53, Z:10.83 [[ 9.89761003e-01 -1.37989894e-01 -3.64958323e-02 2.97647772e+02] [ 1.37992157e-01 9.90430244e-01 -2.46902836e-03 1.55346713e+01] [ 3.64872770e-02 -2.59239063e-03 9.99330755e-01 1.08260876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.039254154 meters Centerline goodness : 0.999394 with order 1 Centerline is valid? [True, True] Translation: X:297.71, Y:15.55, Z:10.83 [[ 9.90344079e-01 -1.33740978e-01 -3.64959647e-02 2.97709893e+02] [ 1.33740441e-01 9.91013324e-01 -2.46706905e-03 1.55476312e+01] [ 3.64979355e-02 -2.43773918e-03 9.99330755e-01 1.08286709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.099254154 meters Centerline goodness : 0.999539 with order 1 Centerline is valid? [True, True] Translation: X:297.77, Y:15.56, Z:10.83 [[ 9.91014939e-01 -1.28675618e-01 -3.64962430e-02 2.97772236e+02] [ 1.28671809e-01 9.91684173e-01 -2.46294495e-03 1.55588901e+01] [ 3.65096676e-02 -2.25522238e-03 9.99330755e-01 1.08307175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.159254154 meters Centerline goodness : 0.999414 with order 1 Centerline is valid? [True, True] Translation: X:297.83, Y:15.58, Z:10.83 [[ 9.92286778e-01 -1.18469212e-01 -3.64965233e-02 2.97833578e+02] [ 1.18458668e-01 9.92955940e-01 -2.45878543e-03 1.55753796e+01] [ 3.65307299e-02 -1.88350928e-03 9.99330755e-01 1.08331760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.219254154 meters Centerline goodness : 0.999560 with order 1 Centerline is valid? [True, True] Translation: X:297.90, Y:15.59, Z:10.84 [[ 9.93114607e-01 -1.11316503e-01 -3.64967524e-02 2.97895484e+02] [ 1.11301264e-01 9.93783679e-01 -2.45538035e-03 1.55877112e+01] [ 3.65432012e-02 -1.62366056e-03 9.99330755e-01 1.08360598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.279254154 meters Centerline goodness : 0.999622 with order 1 Centerline is valid? [True, True] Translation: X:297.96, Y:15.60, Z:10.84 [[ 9.94171126e-01 -1.01448242e-01 -3.64969334e-02 2.97956852e+02] [ 1.01426458e-01 9.94840016e-01 -2.45268681e-03 1.56022457e+01] [ 3.65574306e-02 -1.26336426e-03 9.99330755e-01 1.08379315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.339254154 meters Centerline goodness : 0.999474 with order 1 Centerline is valid? [True, True] Translation: X:298.02, Y:15.62, Z:10.84 [[ 9.94769378e-01 -9.54035798e-02 -3.64971564e-02 2.98018067e+02] [ 9.53778515e-02 9.95438128e-01 -2.44936401e-03 1.56160964e+01] [ 3.65643391e-02 -1.04446805e-03 9.99330755e-01 1.08415573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.399254154 meters Centerline goodness : 0.999220 with order 1 Centerline is valid? [True, True] Translation: X:298.08, Y:15.62, Z:10.84 [[ 9.95153962e-01 -9.13046349e-02 -3.64973338e-02 2.98079856e+02] [ 9.12762489e-02 9.95822605e-01 -2.44671775e-03 1.56245982e+01] [ 3.65682666e-02 -8.96478855e-04 9.99330755e-01 1.08429350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.459254154 meters Centerline goodness : 0.999132 with order 1 Centerline is valid? [True, True] Translation: X:298.14, Y:15.63, Z:10.85 [[ 9.95484356e-01 -8.76288996e-02 -3.64975772e-02 2.98141323e+02] [ 8.75981777e-02 9.96152895e-01 -2.44308134e-03 1.56346407e+01] [ 3.65712517e-02 -7.65071995e-04 9.99330755e-01 1.08457615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.519254154 meters Centerline goodness : 0.999109 with order 1 Centerline is valid? [True, True] Translation: X:298.20, Y:15.64, Z:10.85 [[ 9.95683021e-01 -8.53418654e-02 -3.64977724e-02 2.98203262e+02] [ 8.53097148e-02 9.96351493e-01 -2.44016188e-03 1.56409934e+01] [ 3.65728580e-02 -6.83986800e-04 9.99330755e-01 1.08478090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.579254154 meters Centerline goodness : 0.998897 with order 1 Centerline is valid? [True, True] Translation: X:298.26, Y:15.65, Z:10.85 [[ 9.95823455e-01 -8.36871947e-02 -3.64979453e-02 2.98264694e+02] [ 8.36540282e-02 9.96491877e-01 -2.43757182e-03 1.56468095e+01] [ 3.65738996e-02 -6.25808955e-04 9.99330755e-01 1.08488374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.639254154 meters Centerline goodness : 0.998788 with order 1 Centerline is valid? [True, True] Translation: X:298.33, Y:15.65, Z:10.85 [[ 9.95818067e-01 -8.37511598e-02 -3.64982307e-02 2.98325426e+02] [ 8.37181931e-02 9.96486499e-01 -2.43329183e-03 1.56513848e+01] [ 3.65737851e-02 -6.32449956e-04 9.99330755e-01 1.08486680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.699254154 meters Centerline goodness : 0.999170 with order 1 Centerline is valid? [True, True] Translation: X:298.39, Y:15.66, Z:10.85 [[ 9.95741506e-01 -8.46565022e-02 -3.64983555e-02 2.98387162e+02] [ 8.46242119e-02 9.96409971e-01 -2.43141768e-03 1.56555067e+01] [ 3.65731607e-02 -6.67581074e-04 9.99330755e-01 1.08500286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.759254154 meters Centerline goodness : 0.998874 with order 1 Centerline is valid? [True, True] Translation: X:298.45, Y:15.66, Z:10.85 [[ 9.95671590e-01 -8.54748052e-02 -3.64985191e-02 2.98449583e+02] [ 8.54431543e-02 9.96340086e-01 -2.42896045e-03 1.56575370e+01] [ 3.65725526e-02 -7.00101679e-04 9.99330755e-01 1.08503746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.819254154 meters Centerline goodness : 0.998980 with order 1 Centerline is valid? [True, True] Translation: X:298.51, Y:15.66, Z:10.85 [[ 9.95564526e-01 -8.67128545e-02 -3.64986966e-02 2.98510344e+02] [ 8.66821328e-02 9.96233066e-01 -2.42628965e-03 1.56607450e+01] [ 3.65715989e-02 -7.48256959e-04 9.99330755e-01 1.08515283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.879254154 meters Centerline goodness : 0.998721 with order 1 Centerline is valid? [True, True] Translation: X:298.57, Y:15.65, Z:10.84 [[ 9.96306120e-01 -7.77299679e-02 -3.64988779e-02 2.98572395e+02] [ 7.76933176e-02 9.96974360e-01 -2.42356018e-03 1.56526636e+01] [ 3.65768286e-02 -4.21111071e-04 9.99330755e-01 1.08395985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.939254154 meters Centerline goodness : 0.998934 with order 1 Centerline is valid? [True, True] Translation: X:298.63, Y:15.66, Z:10.85 [[ 9.95337955e-01 -8.92758906e-02 -3.64989269e-02 2.98631469e+02] [ 8.92470174e-02 9.96006576e-01 -2.42282177e-03 1.56646876e+01] [ 3.65694708e-02 -8.45893897e-04 9.99330755e-01 1.08533950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.99925415399997 meters Centerline goodness : 0.998957 with order 1 Centerline is valid? [True, True] Translation: X:298.69, Y:15.67, Z:10.86 [[ 9.95249191e-01 -9.02599977e-02 -3.64990576e-02 2.98692918e+02] [ 9.02318578e-02 9.95917844e-01 -2.42085009e-03 1.56665874e+01] [ 3.65685687e-02 -8.84028692e-04 9.99330755e-01 1.08554622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.059254154 meters Centerline goodness : 0.998977 with order 1 Centerline is valid? [True, True] Translation: X:298.76, Y:15.67, Z:10.86 [[ 9.95245964e-01 -9.02955134e-02 -3.64992062e-02 2.98755224e+02] [ 9.02674796e-02 9.95914621e-01 -2.41860754e-03 1.56698868e+01] [ 3.65684826e-02 -8.87581961e-04 9.99330755e-01 1.08569001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.119254154 meters Centerline goodness : 0.998942 with order 1 Centerline is valid? [True, True] Translation: X:298.82, Y:15.67, Z:10.86 [[ 9.95160961e-01 -9.12275011e-02 -3.64993818e-02 2.98815940e+02] [ 9.12001907e-02 9.95829648e-01 -2.41595492e-03 1.56727252e+01] [ 3.65675681e-02 -9.24486563e-04 9.99330755e-01 1.08589569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.179254154 meters Centerline goodness : 0.998961 with order 1 Centerline is valid? [True, True] Translation: X:298.88, Y:15.67, Z:10.86 [[ 9.94875939e-01 -9.42849474e-02 -3.64995115e-02 2.98878469e+02] [ 9.42597638e-02 9.95544710e-01 -2.41399439e-03 1.56747575e+01] [ 3.65644989e-02 -1.03881040e-03 9.99330755e-01 1.08612841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.239254154 meters Centerline goodness : 0.999240 with order 1 Centerline is valid? [True, True] Translation: X:298.94, Y:15.68, Z:10.86 [[ 9.94302900e-01 -1.00147475e-01 -3.64996881e-02 2.98940387e+02] [ 1.00126332e-01 9.94971810e-01 -2.41132092e-03 1.56763607e+01] [ 3.65576485e-02 -1.25699649e-03 9.99330755e-01 1.08621214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.299254154 meters Centerline goodness : 0.999198 with order 1 Centerline is valid? [True, True] Translation: X:299.00, Y:15.68, Z:10.86 [[ 9.93744056e-01 -1.05548598e-01 -3.64999161e-02 2.99002191e+02] [ 1.05531217e-01 9.94413075e-01 -2.40786468e-03 1.56780638e+01] [ 3.65501406e-02 -1.45907934e-03 9.99330755e-01 1.08628063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.359254154 meters Centerline goodness : 0.999054 with order 1 Centerline is valid? [True, True] Translation: X:299.06, Y:15.68, Z:10.86 [[ 9.92878013e-01 -1.13406300e-01 -3.65001620e-02 2.99063531e+02] [ 1.13394348e-01 9.93547151e-01 -2.40413145e-03 1.56798243e+01] [ 3.65372756e-02 -1.75190281e-03 9.99330755e-01 1.08632275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.419254154 meters Centerline goodness : 0.998864 with order 1 Centerline is valid? [True, True] Translation: X:299.13, Y:15.68, Z:10.86 [[ 9.92175817e-01 -1.19393779e-01 -3.65003099e-02 2.99125872e+02] [ 1.19385947e-01 9.92845016e-01 -2.40188425e-03 1.56827973e+01] [ 3.65259208e-02 -1.97453258e-03 9.99330755e-01 1.08643394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.479254154 meters Centerline goodness : 0.998822 with order 1 Centerline is valid? [True, True] Translation: X:299.19, Y:15.69, Z:10.87 [[ 9.91958218e-01 -1.21188319e-01 -3.65004917e-02 2.99188473e+02] [ 1.21181798e-01 9.92627431e-01 -2.39911791e-03 1.56877001e+01] [ 3.65221344e-02 -2.04337049e-03 9.99330755e-01 1.08683859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.539254154 meters Centerline goodness : 0.998844 with order 1 Centerline is valid? [True, True] Translation: X:299.25, Y:15.69, Z:10.87 [[ 9.92223294e-01 -1.18998443e-01 -3.65007507e-02 2.99249886e+02] [ 1.18990590e-01 9.92892493e-01 -2.39517141e-03 1.56938732e+01] [ 3.65263430e-02 -1.96670099e-03 9.99330755e-01 1.08719947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.599254154 meters Centerline goodness : 0.998906 with order 1 Centerline is valid? [True, True] Translation: X:299.31, Y:15.70, Z:10.88 [[ 9.92819445e-01 -1.13917628e-01 -3.65010147e-02 2.99311569e+02] [ 1.13906497e-01 9.93488597e-01 -2.39114125e-03 1.57002827e+01] [ 3.65357350e-02 -1.78373121e-03 9.99330755e-01 1.08777763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.659254154 meters Centerline goodness : 0.999093 with order 1 Centerline is valid? [True, True] Translation: X:299.37, Y:15.71, Z:10.88 [[ 9.93961482e-01 -1.03480600e-01 -3.65012031e-02 2.99373821e+02] [ 1.03462545e-01 9.94630483e-01 -2.38826242e-03 1.57089280e+01] [ 3.65523481e-02 -1.40266653e-03 9.99330755e-01 1.08801355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.719254154 meters Centerline goodness : 0.998923 with order 1 Centerline is valid? [True, True] Translation: X:299.44, Y:15.71, Z:10.88 [[ 9.94282711e-01 -1.00347064e-01 -3.65014680e-02 2.99435723e+02] [ 1.00327050e-01 9.94951656e-01 -2.38420593e-03 1.57147033e+01] [ 3.65564441e-02 -1.29150986e-03 9.99330755e-01 1.08818875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.779254154 meters Centerline goodness : 0.998774 with order 1 Centerline is valid? [True, True] Translation: X:299.50, Y:15.72, Z:10.88 [[ 9.94860982e-01 -9.44418185e-02 -3.65016453e-02 2.99496209e+02] [ 9.44179319e-02 9.95529800e-01 -2.38148938e-03 1.57211518e+01] [ 3.65633878e-02 -1.07715899e-03 9.99330755e-01 1.08820733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.839254154 meters Centerline goodness : 0.998795 with order 1 Centerline is valid? [True, True] Translation: X:299.56, Y:15.73, Z:10.88 [[ 9.94916551e-01 -9.38545518e-02 -3.65017759e-02 2.99558228e+02] [ 9.38303438e-02 9.95585358e-01 -2.37948488e-03 1.57269926e+01] [ 3.65639591e-02 -1.05758529e-03 9.99330755e-01 1.08819785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.899254154 meters Centerline goodness : 0.998856 with order 1 Centerline is valid? [True, True] Translation: X:299.62, Y:15.73, Z:10.88 [[ 9.94912843e-01 -9.38937842e-02 -3.65019467e-02 2.99620249e+02] [ 9.38696988e-02 9.95581654e-01 -2.37686258e-03 1.57325586e+01] [ 3.65638411e-02 -1.06165563e-03 9.99330755e-01 1.08831551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.959254154 meters Centerline goodness : 0.998918 with order 1 Centerline is valid? [True, True] Translation: X:299.68, Y:15.74, Z:10.89 [[ 9.95013579e-01 -9.28201065e-02 -3.65021178e-02 2.99681249e+02] [ 9.27953958e-02 9.95682368e-01 -2.37423194e-03 1.57380983e+01] [ 3.65648915e-02 -1.02483544e-03 9.99330755e-01 1.08857766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.019254154 meters Centerline goodness : 0.999089 with order 1 Centerline is valid? [True, True] Translation: X:299.74, Y:15.74, Z:10.89 [[ 9.95258372e-01 -9.01574123e-02 -3.65022441e-02 2.99742930e+02] [ 9.01309834e-02 9.95927095e-01 -2.37228823e-03 1.57443733e+01] [ 3.65674533e-02 -9.28943435e-04 9.99330755e-01 1.08907057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.079254154 meters Centerline goodness : 0.999044 with order 1 Centerline is valid? [True, True] Translation: X:299.81, Y:15.75, Z:10.89 [[ 9.95279682e-01 -8.99217852e-02 -3.65024168e-02 2.99806155e+02] [ 8.98952956e-02 9.95948403e-01 -2.36962801e-03 1.57493088e+01] [ 3.65676049e-02 -9.22952935e-04 9.99330755e-01 1.08946210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.139254154 meters Centerline goodness : 0.999087 with order 1 Centerline is valid? [True, True] Translation: X:299.87, Y:15.75, Z:10.90 [[ 9.94601535e-01 -9.71356834e-02 -3.65026806e-02 2.99867183e+02] [ 9.71141922e-02 9.95270435e-01 -2.36555763e-03 1.57516564e+01] [ 3.65598188e-02 -1.19214109e-03 9.99330755e-01 1.08976673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.199254154 meters Centerline goodness : 0.998452 with order 1 Centerline is valid? [True, True] Translation: X:299.93, Y:15.75, Z:10.90 [[ 9.93910567e-01 -1.03967923e-01 -3.65028099e-02 2.99928906e+02] [ 1.03951102e-01 9.94579601e-01 -2.36356059e-03 1.57524711e+01] [ 3.65506846e-02 -1.44533947e-03 9.99330755e-01 1.08963899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.259254154 meters Centerline goodness : 0.999237 with order 1 Centerline is valid? [True, True] Translation: X:299.99, Y:15.76, Z:10.90 [[ 9.93093758e-01 -1.11500311e-01 -3.65029996e-02 2.99991377e+02] [ 1.11488670e-01 9.93762901e-01 -2.36062728e-03 1.57554467e+01] [ 3.65385375e-02 -1.72534666e-03 9.99330755e-01 1.08993028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.319254154 meters Centerline goodness : 0.999089 with order 1 Centerline is valid? [True, True] Translation: X:300.05, Y:15.76, Z:10.90 [[ 9.92675657e-01 -1.15163174e-01 -3.65032021e-02 3.00052943e+02] [ 1.15154117e-01 9.93344840e-01 -2.35749156e-03 1.57589271e+01] [ 3.65317637e-02 -1.86326952e-03 9.99330755e-01 1.09004395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.379254154 meters Centerline goodness : 0.999045 with order 1 Centerline is valid? [True, True] Translation: X:300.11, Y:15.76, Z:10.90 [[ 9.92334255e-01 -1.18068700e-01 -3.65035390e-02 3.00114954e+02] [ 1.18061794e-01 9.93003464e-01 -2.35226268e-03 1.57622034e+01] [ 3.65258693e-02 -1.97544247e-03 9.99330755e-01 1.09022294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.439254154 meters Centerline goodness : 0.999241 with order 1 Centerline is valid? [True, True] Translation: X:300.18, Y:15.77, Z:10.90 [[ 9.92371149e-01 -1.17758148e-01 -3.65037107e-02 3.00178022e+02] [ 1.17751130e-01 9.93040357e-01 -2.34959523e-03 1.57661246e+01] [ 3.65263419e-02 -1.96668266e-03 9.99330755e-01 1.09048495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.49925415399997 meters Centerline goodness : 0.999172 with order 1 Centerline is valid? [True, True] Translation: X:300.24, Y:15.77, Z:10.91 [[ 9.92615318e-01 -1.15681852e-01 -3.65039652e-02 3.00240603e+02] [ 1.15673579e-01 9.93284512e-01 -2.34563583e-03 1.57698310e+01] [ 3.65301707e-02 -1.89423025e-03 9.99330755e-01 1.09077306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.559254154 meters Centerline goodness : 0.999131 with order 1 Centerline is valid? [True, True] Translation: X:300.30, Y:15.77, Z:10.91 [[ 9.92944960e-01 -1.12817320e-01 -3.65042241e-02 3.00301366e+02] [ 1.12807265e-01 9.93614129e-01 -2.34159839e-03 1.57739677e+01] [ 3.65352857e-02 -1.79286337e-03 9.99330755e-01 1.09090577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.619254154 meters Centerline goodness : 0.999090 with order 1 Centerline is valid? [True, True] Translation: X:300.36, Y:15.78, Z:10.91 [[ 9.93047136e-01 -1.11914335e-01 -3.65043512e-02 3.00363522e+02] [ 1.11903743e-01 9.93716297e-01 -2.33961675e-03 1.57787986e+01] [ 3.65368053e-02 -1.76162383e-03 9.99330755e-01 1.09115519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.679254154 meters Centerline goodness : 0.998960 with order 1 Centerline is valid? [True, True] Translation: X:300.43, Y:15.78, Z:10.91 [[ 9.92899978e-01 -1.13212422e-01 -3.65045235e-02 3.00425901e+02] [ 1.13202804e-01 9.93569154e-01 -2.33692527e-03 1.57836592e+01] [ 3.65343375e-02 -1.81208138e-03 9.99330755e-01 1.09125159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.739254154 meters Centerline goodness : 0.999107 with order 1 Centerline is valid? [True, True] Translation: X:300.49, Y:15.79, Z:10.92 [[ 9.92619728e-01 -1.15643778e-01 -3.65046940e-02 3.00487459e+02] [ 1.15635897e-01 9.93288926e-01 -2.33425861e-03 1.57878679e+01] [ 3.65296508e-02 -1.90422191e-03 9.99330755e-01 1.09151374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.799254154 meters Centerline goodness : 0.999001 with order 1 Centerline is valid? [True, True] Translation: X:300.55, Y:15.79, Z:10.92 [[ 9.92209131e-01 -1.19115215e-01 -3.65048677e-02 3.00548977e+02] [ 1.19109775e-01 9.92878354e-01 -2.33153914e-03 1.57931295e+01] [ 3.65226147e-02 -2.03471216e-03 9.99330755e-01 1.09179684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.859254154 meters Centerline goodness : 0.999086 with order 1 Centerline is valid? [True, True] Translation: X:300.61, Y:15.80, Z:10.92 [[ 9.92000629e-01 -1.20839287e-01 -3.65050393e-02 3.00610743e+02] [ 1.20835109e-01 9.92669861e-01 -2.32884879e-03 1.57988211e+01] [ 3.65188687e-02 -2.10087092e-03 9.99330755e-01 1.09201741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.919254154 meters Centerline goodness : 0.999298 with order 1 Centerline is valid? [True, True] Translation: X:300.67, Y:15.80, Z:10.92 [[ 9.91968157e-01 -1.21105513e-01 -3.65052087e-02 3.00673311e+02] [ 1.21101611e-01 9.92637390e-01 -2.32618979e-03 1.58036710e+01] [ 3.65181495e-02 -2.11333340e-03 9.99330755e-01 1.09238092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.979254154 meters Centerline goodness : 0.999298 with order 1 Centerline is valid? [True, True] Translation: X:300.74, Y:15.81, Z:10.93 [[ 9.91990725e-01 -1.20920437e-01 -3.65054693e-02 3.00735007e+02] [ 1.20916561e-01 9.92659958e-01 -2.32209408e-03 1.58092263e+01] [ 3.65183062e-02 -2.11062001e-03 9.99330755e-01 1.09261158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.039254154 meters Centerline goodness : 0.999129 with order 1 Centerline is valid? [True, True] Translation: X:300.80, Y:15.81, Z:10.93 [[ 9.91977189e-01 -1.21031375e-01 -3.65056404e-02 3.00797323e+02] [ 1.21027673e-01 9.92646424e-01 -2.31939990e-03 1.58148276e+01] [ 3.65179136e-02 -2.11740092e-03 9.99330755e-01 1.09286190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.099254154 meters Centerline goodness : 0.999213 with order 1 Centerline is valid? [True, True] Translation: X:300.86, Y:15.82, Z:10.93 [[ 9.91846742e-01 -1.22095703e-01 -3.65058957e-02 3.00858815e+02] [ 1.22092866e-01 9.92515980e-01 -2.31537533e-03 1.58196797e+01] [ 3.65153822e-02 -2.16061196e-03 9.99330755e-01 1.09297669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.159254154 meters Centerline goodness : 0.999128 with order 1 Centerline is valid? [True, True] Translation: X:300.92, Y:15.82, Z:10.93 [[ 9.91625952e-01 -1.23875991e-01 -3.65063118e-02 3.00921104e+02] [ 1.23874597e-01 9.92295195e-01 -2.30879556e-03 1.58240385e+01] [ 3.65110421e-02 -2.23274306e-03 9.99330755e-01 1.09304134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.219254154 meters Centerline goodness : 0.999128 with order 1 Centerline is valid? [True, True] Translation: X:300.98, Y:15.83, Z:10.93 [[ 9.91736094e-01 -1.22991048e-01 -3.65064764e-02 3.00982582e+02] [ 1.22989152e-01 9.92405336e-01 -2.30618970e-03 1.58293879e+01] [ 3.65128627e-02 -2.20276902e-03 9.99330755e-01 1.09320385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.279254154 meters Centerline goodness : 0.999063 with order 1 Centerline is valid? [True, True] Translation: X:301.05, Y:15.84, Z:10.93 [[ 9.92480715e-01 -1.16830199e-01 -3.65066385e-02 3.01045628e+02] [ 1.16824242e-01 9.93149933e-01 -2.30362204e-03 1.58360881e+01] [ 3.65256982e-02 -1.97855992e-03 9.99330755e-01 1.09348803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.339254154 meters Centerline goodness : 0.999276 with order 1 Centerline is valid? [True, True] Translation: X:301.11, Y:15.84, Z:10.94 [[ 9.93234401e-01 -1.10239157e-01 -3.65068780e-02 3.01107874e+02] [ 1.10228897e-01 9.93903567e-01 -2.29981932e-03 1.58426713e+01] [ 3.65378464e-02 -1.73985323e-03 9.99330755e-01 1.09379951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.399254154 meters Centerline goodness : 0.999467 with order 1 Centerline is valid? [True, True] Translation: X:301.17, Y:15.85, Z:10.94 [[ 9.94412103e-01 -9.90545574e-02 -3.65070349e-02 3.01168223e+02] [ 9.90368585e-02 9.95081114e-01 -2.29732628e-03 1.58504770e+01] [ 3.65550216e-02 -1.33105299e-03 9.99330755e-01 1.09419048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.459254154 meters Centerline goodness : 0.999315 with order 1 Centerline is valid? [True, True] Translation: X:301.23, Y:15.86, Z:10.95 [[ 9.95620271e-01 -8.60668354e-02 -3.65071962e-02 3.01230035e+02] [ 8.60404999e-02 9.96288997e-01 -2.29475964e-03 1.58574033e+01] [ 3.65692206e-02 -8.56388205e-04 9.99330755e-01 1.09461185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.519254154 meters Centerline goodness : 0.999574 with order 1 Centerline is valid? [True, True] Translation: X:301.29, Y:15.86, Z:10.95 [[ 9.96349724e-01 -7.71650112e-02 -3.65073735e-02 3.01292057e+02] [ 7.71328035e-02 9.97018193e-01 -2.29193686e-03 1.58632660e+01] [ 3.65753729e-02 -5.32345404e-04 9.99330755e-01 1.09484091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.579254154 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:301.35, Y:15.87, Z:10.95 [[ 9.97021279e-01 -6.79394564e-02 -3.65075398e-02 3.01354550e+02] [ 6.79011598e-02 9.97689426e-01 -2.28928365e-03 1.58689926e+01] [ 3.65787192e-02 -1.96439788e-04 9.99330755e-01 1.09479066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.639254154 meters Centerline goodness : 0.999504 with order 1 Centerline is valid? [True, True] Translation: X:301.42, Y:15.88, Z:10.95 [[ 9.97607265e-01 -5.87105607e-02 -3.65077255e-02 3.01415050e+02] [ 5.86661915e-02 9.98275038e-01 -2.28631915e-03 1.58753460e+01] [ 3.65789821e-02 1.39079380e-04 9.99330755e-01 1.09543613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.699254154 meters Centerline goodness : 0.999395 with order 1 Centerline is valid? [True, True] Translation: X:301.47, Y:15.88, Z:10.96 [[ 9.97815286e-01 -5.50620886e-02 -3.65078219e-02 3.01474762e+02] [ 5.50153342e-02 9.98482896e-01 -2.28477924e-03 1.58796878e+01] [ 3.65782404e-02 2.71297631e-04 9.99330755e-01 1.09550122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.759254154 meters Centerline goodness : 0.999459 with order 1 Centerline is valid? [True, True] Translation: X:301.53, Y:15.88, Z:10.96 [[ 9.97734787e-01 -5.65019566e-02 -3.65078636e-02 3.01534722e+02] [ 5.64561900e-02 9.98402465e-01 -2.28411154e-03 1.58827998e+01] [ 3.65785978e-02 2.17842653e-04 9.99330755e-01 1.09581815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.819254154 meters Centerline goodness : 0.999395 with order 1 Centerline is valid? [True, True] Translation: X:301.59, Y:15.88, Z:10.96 [[ 9.97375318e-01 -6.25272066e-02 -3.65078636e-02 3.01594796e+02] [ 6.24854736e-02 9.98043260e-01 -2.28411154e-03 1.58834733e+01] [ 3.65792463e-02 -3.09467731e-06 9.99330755e-01 1.09616040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.879254154 meters Centerline goodness : 0.999591 with order 1 Centerline is valid? [True, True] Translation: X:301.66, Y:15.89, Z:10.96 [[ 9.96986151e-01 -6.84528326e-02 -3.65078636e-02 3.01655556e+02] [ 6.84150695e-02 9.97654329e-01 -2.28411154e-03 1.58850542e+01] [ 3.65785821e-02 -2.20460453e-04 9.99330755e-01 1.09640682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.939254154 meters Centerline goodness : 0.999248 with order 1 Centerline is valid? [True, True] Translation: X:301.72, Y:15.88, Z:10.97 [[ 9.96192624e-01 -7.91670608e-02 -3.65079887e-02 3.01718263e+02] [ 7.91365564e-02 9.96861173e-01 -2.28211035e-03 1.58846225e+01] [ 3.65740644e-02 -6.15695010e-04 9.99330755e-01 1.09659948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.99925415399997 meters Centerline goodness : 0.999229 with order 1 Centerline is valid? [True, True] Translation: X:301.78, Y:15.88, Z:10.97 [[ 9.95636019e-01 -8.58840654e-02 -3.65081563e-02 3.01780417e+02] [ 8.58581692e-02 9.96304762e-01 -2.27942616e-03 1.58846033e+01] [ 3.65690164e-02 -8.65044670e-04 9.99330755e-01 1.09677107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.059254154 meters Centerline goodness : 0.999295 with order 1 Centerline is valid? [True, True] Translation: X:301.84, Y:15.88, Z:10.97 [[ 9.94926034e-01 -9.37514215e-02 -3.65083239e-02 3.01842640e+02] [ 9.37309107e-02 9.95594964e-01 -2.27673935e-03 1.58843385e+01] [ 3.65609509e-02 -1.15677119e-03 9.99330755e-01 1.09700411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.119254154 meters Centerline goodness : 0.999146 with order 1 Centerline is valid? [True, True] Translation: X:301.91, Y:15.89, Z:10.97 [[ 9.94673242e-01 -9.63964269e-02 -3.65084927e-02 3.01905646e+02] [ 9.63777941e-02 9.95342227e-01 -2.27402851e-03 1.58861431e+01] [ 3.65576527e-02 -1.25669269e-03 9.99330755e-01 1.09722201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.179254154 meters Centerline goodness : 0.999296 with order 1 Centerline is valid? [True, True] Translation: X:301.97, Y:15.89, Z:10.97 [[ 9.94664379e-01 -9.64877401e-02 -3.65087460e-02 3.01967315e+02] [ 9.64693180e-02 9.95333370e-01 -2.26995569e-03 1.58879114e+01] [ 3.65573960e-02 -1.26412975e-03 9.99330755e-01 1.09746537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.239254154 meters Centerline goodness : 0.999041 with order 1 Centerline is valid? [True, True] Translation: X:302.03, Y:15.89, Z:10.98 [[ 9.94967439e-01 -9.33107527e-02 -3.65088733e-02 3.02028254e+02] [ 9.32902694e-02 9.95636370e-01 -2.26790584e-03 1.58913143e+01] [ 3.65611821e-02 -1.14943016e-03 9.99330755e-01 1.09756716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.299254154 meters Centerline goodness : 0.999254 with order 1 Centerline is valid? [True, True] Translation: X:302.09, Y:15.90, Z:10.98 [[ 9.95159930e-01 -9.12348432e-02 -3.65091480e-02 3.02090340e+02] [ 9.12131268e-02 9.95828822e-01 -2.26347477e-03 1.58955464e+01] [ 3.65633696e-02 -1.07759416e-03 9.99330755e-01 1.09780591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.359254154 meters Centerline goodness : 0.999147 with order 1 Centerline is valid? [True, True] Translation: X:302.15, Y:15.90, Z:10.98 [[ 9.95230777e-01 -9.04586719e-02 -3.65093160e-02 3.02152344e+02] [ 9.04365333e-02 9.95899655e-01 -2.26076150e-03 1.58997218e+01] [ 3.65641207e-02 -1.05179655e-03 9.99330755e-01 1.09796341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.419254154 meters Centerline goodness : 0.998892 with order 1 Centerline is valid? [True, True] Translation: X:302.21, Y:15.90, Z:10.98 [[ 9.95017782e-01 -9.27721496e-02 -3.65094837e-02 3.02213028e+02] [ 9.27516654e-02 9.95686713e-01 -2.25805059e-03 1.59037727e+01] [ 3.65614920e-02 -1.13951493e-03 9.99330755e-01 1.09801676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.479254154 meters Centerline goodness : 0.999128 with order 1 Centerline is valid? [True, True] Translation: X:302.28, Y:15.91, Z:10.98 [[ 9.94558970e-01 -9.75679429e-02 -3.65096073e-02 3.02275032e+02] [ 9.75507572e-02 9.95227994e-01 -2.25604931e-03 1.59083024e+01] [ 3.65555014e-02 -1.31776576e-03 9.99330755e-01 1.09834126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.539254154 meters Centerline goodness : 0.999256 with order 1 Centerline is valid? [True, True] Translation: X:302.34, Y:15.91, Z:10.99 [[ 9.94273553e-01 -1.00434748e-01 -3.65097747e-02 3.02336477e+02] [ 1.00419591e-01 9.94942626e-01 -2.25333837e-03 1.59134615e+01] [ 3.65514445e-02 -1.42586188e-03 9.99330755e-01 1.09866016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.599254154 meters Centerline goodness : 0.999086 with order 1 Centerline is valid? [True, True] Translation: X:302.40, Y:15.92, Z:10.99 [[ 9.94072911e-01 -1.02401465e-01 -3.65100926e-02 3.02397250e+02] [ 1.02387821e-01 9.94742017e-01 -2.24817479e-03 1.59188883e+01] [ 3.65483396e-02 -1.50333917e-03 9.99330755e-01 1.09905327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.659254154 meters Centerline goodness : 0.998999 with order 1 Centerline is valid? [True, True] Translation: X:302.46, Y:15.92, Z:10.99 [[ 9.94050212e-01 -1.02621481e-01 -3.65103851e-02 3.02458892e+02] [ 1.02608159e-01 9.94719324e-01 -2.24341424e-03 1.59241651e+01] [ 3.65478081e-02 -1.51619701e-03 9.99330755e-01 1.09942896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.719254154 meters Centerline goodness : 0.999191 with order 1 Centerline is valid? [True, True] Translation: X:302.52, Y:15.93, Z:11.00 [[ 9.94168452e-01 -1.01469551e-01 -3.65105478e-02 3.02520179e+02] [ 1.01455551e-01 9.94837550e-01 -2.24076336e-03 1.59302301e+01] [ 3.65494332e-02 -1.47650151e-03 9.99330755e-01 1.09975232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.779254154 meters Centerline goodness : 0.999231 with order 1 Centerline is valid? [True, True] Translation: X:302.58, Y:15.94, Z:11.00 [[ 9.94335572e-01 -9.98185434e-02 -3.65106680e-02 3.02581531e+02] [ 9.98035042e-02 9.95004647e-01 -2.23880304e-03 1.59355288e+01] [ 3.65517584e-02 -1.41777111e-03 9.99330755e-01 1.09996619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.839254154 meters Centerline goodness : 0.999144 with order 1 Centerline is valid? [True, True] Translation: X:302.64, Y:15.94, Z:11.00 [[ 9.94722289e-01 -9.58881145e-02 -3.65107857e-02 3.02642227e+02] [ 9.58705015e-02 9.95391302e-01 -2.23688209e-03 1.59417473e+01] [ 3.65570089e-02 -1.27523087e-03 9.99330755e-01 1.10006585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.899254154 meters Centerline goodness : 0.999101 with order 1 Centerline is valid? [True, True] Translation: X:302.70, Y:15.95, Z:11.00 [[ 9.94931492e-01 -9.36924733e-02 -3.65109012e-02 3.02704502e+02] [ 9.36734531e-02 9.95600467e-01 -2.23499496e-03 1.59465863e+01] [ 3.65596725e-02 -1.19643532e-03 9.99330756e-01 1.10027150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.959254154 meters Centerline goodness : 0.999292 with order 1 Centerline is valid? [True, True] Translation: X:302.77, Y:15.95, Z:11.01 [[ 9.95663693e-01 -8.55613956e-02 -3.65110558e-02 3.02766606e+02] [ 8.55370035e-02 9.96332493e-01 -2.23246796e-03 1.59543784e+01] [ 3.65681643e-02 -9.00259008e-04 9.99330756e-01 1.10061613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.019254154 meters Centerline goodness : 0.999355 with order 1 Centerline is valid? [True, True] Translation: X:302.83, Y:15.96, Z:11.01 [[ 9.96288887e-01 -7.79447543e-02 -3.65112209e-02 3.02827291e+02] [ 7.79153474e-02 9.96957485e-01 -2.22976458e-03 1.59605202e+01] [ 3.65739334e-02 -6.23294788e-04 9.99330756e-01 1.10074096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.079254154 meters Centerline goodness : 0.999396 with order 1 Centerline is valid? [True, True] Translation: X:302.89, Y:15.97, Z:11.01 [[ 9.97299653e-01 -6.37206660e-02 -3.65113424e-02 3.02888781e+02] [ 6.36817948e-02 9.97967768e-01 -2.22777262e-03 1.59680948e+01] [ 3.65790980e-02 -1.03350952e-04 9.99330756e-01 1.10088821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.139254154 meters Centerline goodness : 0.999285 with order 1 Centerline is valid? [True, True] Translation: X:302.95, Y:15.97, Z:11.01 [[ 9.97845360e-01 -5.45119197e-02 -3.65114901e-02 3.02949527e+02] [ 5.44669714e-02 9.98513093e-01 -2.22534903e-03 1.59741670e+01] [ 3.65785090e-02 2.31883910e-04 9.99330756e-01 1.10149463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.199254154 meters Centerline goodness : 0.999219 with order 1 Centerline is valid? [True, True] Translation: X:303.01, Y:15.98, Z:11.02 [[ 9.98104274e-01 -4.95455647e-02 -3.65115705e-02 3.03009788e+02] [ 4.94973425e-02 9.98771779e-01 -2.22402861e-03 1.59772652e+01] [ 3.65769170e-02 4.12586747e-04 9.99330756e-01 1.10173486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.259254154 meters Centerline goodness : 0.999330 with order 1 Centerline is valid? [True, True] Translation: X:303.07, Y:15.98, Z:11.02 [[ 9.98211180e-01 -4.73428448e-02 -3.65115705e-02 3.03069602e+02] [ 4.72931496e-02 9.98878577e-01 -2.22402861e-03 1.59789958e+01] [ 3.65759175e-02 4.93303050e-04 9.99330756e-01 1.10196759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.319254154 meters Centerline goodness : 0.999309 with order 1 Centerline is valid? [True, True] Translation: X:303.13, Y:15.98, Z:11.02 [[ 9.98095305e-01 -4.97259744e-02 -3.65114908e-02 3.03128819e+02] [ 4.96778249e-02 9.98762815e-01 -2.22533630e-03 1.59781144e+01] [ 3.65769764e-02 4.07286264e-04 9.99330756e-01 1.10217384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.379254154 meters Centerline goodness : 0.998924 with order 1 Centerline is valid? [True, True] Translation: X:303.19, Y:15.98, Z:11.02 [[ 9.97772342e-01 -5.58328501e-02 -3.65109107e-02 3.03187914e+02] [ 5.57884395e-02 9.98440111e-01 -2.23481426e-03 1.59818381e+01] [ 3.65787338e-02 1.92949128e-04 9.99330756e-01 1.10229868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.439254154 meters Centerline goodness : 0.999315 with order 1 Centerline is valid? [True, True] Translation: X:303.25, Y:15.97, Z:11.02 [[ 9.97458263e-01 -6.11883456e-02 -3.65102593e-02 3.03247996e+02] [ 6.11471327e-02 9.98126238e-01 -2.24540571e-03 1.59737406e+01] [ 3.65792404e-02 7.20080625e-06 9.99330756e-01 1.10240958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.49925415399997 meters Centerline goodness : 0.998930 with order 1 Centerline is valid? [True, True] Translation: X:303.31, Y:15.97, Z:11.03 [[ 9.97084338e-01 -6.70061782e-02 -3.65102093e-02 3.03309512e+02] [ 6.69688330e-02 9.97752539e-01 -2.24621895e-03 1.59721505e+01] [ 3.65786646e-02 -2.05376373e-04 9.99330756e-01 1.10257973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.559254154 meters Centerline goodness : 0.999127 with order 1 Centerline is valid? [True, True] Translation: X:303.37, Y:15.97, Z:11.03 [[ 9.96494347e-01 -7.52729436e-02 -3.65102908e-02 3.03371427e+02] [ 7.52411899e-02 9.97162837e-01 -2.24489322e-03 1.59680079e+01] [ 3.65756849e-02 -5.10054317e-04 9.99330756e-01 1.10283454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.619254154 meters Centerline goodness : 0.999112 with order 1 Centerline is valid? [True, True] Translation: X:303.43, Y:15.97, Z:11.03 [[ 9.96130113e-01 -7.99486772e-02 -3.65103715e-02 3.03433452e+02] [ 7.99201092e-02 9.96798747e-01 -2.24358010e-03 1.59668670e+01] [ 3.65728638e-02 -6.83015179e-04 9.99330756e-01 1.10305411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.679254154 meters Centerline goodness : 0.999049 with order 1 Centerline is valid? [True, True] Translation: X:303.50, Y:15.96, Z:11.03 [[ 9.95713683e-01 -8.49778936e-02 -3.65105310e-02 3.03496031e+02] [ 8.49527976e-02 9.96382457e-01 -2.24098103e-03 1.59631121e+01] [ 3.65688865e-02 -8.70296278e-04 9.99330756e-01 1.10322070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.739254154 meters Centerline goodness : 0.998989 with order 1 Centerline is valid? [True, True] Translation: X:303.56, Y:15.96, Z:11.03 [[ 9.95428184e-01 -8.82592772e-02 -3.65106951e-02 3.03558811e+02] [ 8.82364837e-02 9.96097040e-01 -2.23830417e-03 1.59606476e+01] [ 3.65657465e-02 -9.93504304e-04 9.99330756e-01 1.10340222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.799254154 meters Centerline goodness : 0.998864 with order 1 Centerline is valid? [True, True] Translation: X:303.62, Y:15.96, Z:11.03 [[ 9.95327518e-01 -8.93872961e-02 -3.65108614e-02 3.03620095e+02] [ 8.93653601e-02 9.95996403e-01 -2.23558930e-03 1.59598634e+01] [ 3.65645199e-02 -1.03766272e-03 9.99330756e-01 1.10331721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.859254154 meters Centerline goodness : 0.999011 with order 1 Centerline is valid? [True, True] Translation: X:303.68, Y:15.96, Z:11.04 [[ 9.95135430e-01 -9.15009468e-02 -3.65109841e-02 3.03682086e+02] [ 9.14805050e-02 9.95804362e-01 -2.23358258e-03 1.59593367e+01] [ 3.65621722e-02 -1.11732610e-03 9.99330756e-01 1.10371127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.919254154 meters Centerline goodness : 0.999013 with order 1 Centerline is valid? [True, True] Translation: X:303.74, Y:15.96, Z:11.04 [[ 9.95122652e-01 -9.16397529e-02 -3.65111451e-02 3.03744015e+02] [ 9.16195010e-02 9.95791590e-01 -2.23094738e-03 1.59606505e+01] [ 3.65619347e-02 -1.12506663e-03 9.99330756e-01 1.10381234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.979254154 meters Centerline goodness : 0.999032 with order 1 Centerline is valid? [True, True] Translation: X:303.81, Y:15.96, Z:11.04 [[ 9.95176216e-01 -9.10561623e-02 -3.65113042e-02 3.03806468e+02] [ 9.10356136e-02 9.95845144e-01 -2.22834089e-03 1.59617405e+01] [ 3.65625092e-02 -1.10623713e-03 9.99330756e-01 1.10398212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.039254154 meters Centerline goodness : 0.998759 with order 1 Centerline is valid? [True, True] Translation: X:303.87, Y:15.96, Z:11.04 [[ 9.95318831e-01 -8.94837268e-02 -3.65114696e-02 3.03868493e+02] [ 8.94622208e-02 9.95987730e-01 -2.22562747e-03 1.59640936e+01] [ 3.65641332e-02 -1.05118822e-03 9.99330756e-01 1.10421509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.099254154 meters Centerline goodness : 0.998949 with order 1 Centerline is valid? [True, True] Translation: X:303.93, Y:15.97, Z:11.05 [[ 9.95769773e-01 -8.43176150e-02 -3.65116330e-02 3.03931002e+02] [ 8.42927365e-02 9.96438555e-01 -2.22294418e-03 1.59667378e+01] [ 3.65690322e-02 -8.64124837e-04 9.99330756e-01 1.10455657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.159254154 meters Centerline goodness : 0.999032 with order 1 Centerline is valid? [True, True] Translation: X:303.99, Y:15.97, Z:11.05 [[ 9.96246930e-01 -7.84789321e-02 -3.65117948e-02 3.03991909e+02] [ 7.84502311e-02 9.96915559e-01 -2.22028357e-03 1.59704124e+01] [ 3.65734218e-02 -6.52408048e-04 9.99330756e-01 1.10491772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.219254154 meters Centerline goodness : 0.999160 with order 1 Centerline is valid? [True, True] Translation: X:304.05, Y:15.97, Z:11.05 [[ 9.96493119e-01 -7.52884063e-02 -3.65119141e-02 3.04052736e+02] [ 7.52576363e-02 9.97161656e-01 -2.21832050e-03 1.59732453e+01] [ 3.65752945e-02 -5.37259229e-04 9.99330756e-01 1.10520800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.279254154 meters Centerline goodness : 0.998947 with order 1 Centerline is valid? [True, True] Translation: X:304.11, Y:15.97, Z:11.05 [[ 9.96642399e-01 -7.32858022e-02 -3.65119141e-02 3.04113339e+02] [ 7.32536889e-02 9.97310872e-01 -2.21832051e-03 1.59744066e+01] [ 3.65763003e-02 -4.63760123e-04 9.99330756e-01 1.10548920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.339254154 meters Centerline goodness : 0.999075 with order 1 Centerline is valid? [True, True] Translation: X:304.17, Y:15.98, Z:11.06 [[ 9.96596633e-01 -7.39055568e-02 -3.65119141e-02 3.04173706e+02] [ 7.38738592e-02 9.97265126e-01 -2.21832051e-03 1.59764917e+01] [ 3.65760048e-02 -4.86505251e-04 9.99330756e-01 1.10578404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.399254154 meters Centerline goodness : 0.999077 with order 1 Centerline is valid? [True, True] Translation: X:304.23, Y:15.98, Z:11.06 [[ 9.96248726e-01 -7.84560822e-02 -3.65119141e-02 3.04234716e+02] [ 7.84274378e-02 9.96917357e-01 -2.21832050e-03 1.59769070e+01] [ 3.65734016e-02 -6.53536893e-04 9.99330756e-01 1.10602156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.459254154 meters Centerline goodness : 0.999037 with order 1 Centerline is valid? [True, True] Translation: X:304.30, Y:15.98, Z:11.06 [[ 9.95515124e-01 -8.72726685e-02 -3.65119141e-02 3.04296338e+02] [ 8.72499445e-02 9.96183982e-01 -2.21832051e-03 1.59765955e+01] [ 3.65661827e-02 -9.77290863e-04 9.99330756e-01 1.10622487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.519254154 meters Centerline goodness : 0.999040 with order 1 Centerline is valid? [True, True] Translation: X:304.36, Y:15.98, Z:11.06 [[ 9.94898659e-01 -9.40400546e-02 -3.65119959e-02 3.04356738e+02] [ 9.40219288e-02 9.95567658e-01 -2.21697215e-03 1.59772954e+01] [ 3.65586465e-02 -1.22726566e-03 9.99330756e-01 1.10618248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.579254154 meters Centerline goodness : 0.999037 with order 1 Centerline is valid? [True, True] Translation: X:304.42, Y:15.98, Z:11.07 [[ 9.94271263e-01 -1.00456595e-01 -3.65120363e-02 3.04418671e+02] [ 1.00442809e-01 9.94940365e-01 -2.21630723e-03 1.59789952e+01] [ 3.65499414e-02 -1.46376092e-03 9.99330756e-01 1.10664041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.639254154 meters Centerline goodness : 0.999040 with order 1 Centerline is valid? [True, True] Translation: X:304.48, Y:15.98, Z:11.07 [[ 9.93430894e-01 -1.08452383e-01 -3.65121934e-02 3.04481032e+02] [ 1.08444076e-01 9.94100086e-01 -2.21371509e-03 1.59800254e+01] [ 3.65368573e-02 -1.76035813e-03 9.99330756e-01 1.10706196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.699254154 meters Centerline goodness : 0.998955 with order 1 Centerline is valid? [True, True] Translation: X:304.54, Y:15.98, Z:11.07 [[ 9.92786883e-01 -1.14197425e-01 -3.65123610e-02 3.04542995e+02] [ 1.14193092e-01 9.93456114e-01 -2.21094785e-03 1.59824962e+01] [ 3.65259128e-02 -1.97445936e-03 9.99330756e-01 1.10735811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.759254154 meters Centerline goodness : 0.999122 with order 1 Centerline is valid? [True, True] Translation: X:304.61, Y:15.99, Z:11.08 [[ 9.92571938e-01 -1.16050778e-01 -3.65125261e-02 3.04605110e+02] [ 1.16047794e-01 9.93241176e-01 -2.20821735e-03 1.59860243e+01] [ 3.65220097e-02 -2.04538353e-03 9.99330756e-01 1.10765081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.819254154 meters Centerline goodness : 0.999079 with order 1 Centerline is valid? [True, True] Translation: X:304.67, Y:15.99, Z:11.08 [[ 9.92437448e-01 -1.17195284e-01 -3.65126914e-02 3.04666034e+02] [ 1.17193171e-01 9.93106689e-01 -2.20548175e-03 1.59901689e+01] [ 3.65194701e-02 -2.09023542e-03 9.99330756e-01 1.10781743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.879254154 meters Centerline goodness : 0.998890 with order 1 Centerline is valid? [True, True] Translation: X:304.73, Y:15.99, Z:11.08 [[ 9.92368705e-01 -1.17775925e-01 -3.65128131e-02 3.04727718e+02] [ 1.17774279e-01 9.93037947e-01 -2.20346450e-03 1.59940502e+01] [ 3.65181241e-02 -2.11362102e-03 9.99330756e-01 1.10801507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.939254154 meters Centerline goodness : 0.998954 with order 1 Centerline is valid? [True, True] Translation: X:304.79, Y:16.00, Z:11.08 [[ 9.92265854e-01 -1.18639276e-01 -3.65129770e-02 3.04788611e+02] [ 1.18638311e-01 9.92935098e-01 -2.20074562e-03 1.59987890e+01] [ 3.65161112e-02 -2.14811319e-03 9.99330756e-01 1.10808188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.99925415399997 meters Centerline goodness : 0.998931 with order 1 Centerline is valid? [True, True] Translation: X:304.85, Y:16.01, Z:11.08 [[ 9.92257748e-01 -1.18707015e-01 -3.65130978e-02 3.04850341e+02] [ 1.18706170e-01 9.92926992e-01 -2.19873964e-03 1.60062281e+01] [ 3.65158462e-02 -2.15261355e-03 9.99330756e-01 1.10821351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.059254154 meters Centerline goodness : 0.998993 with order 1 Centerline is valid? [True, True] Translation: X:304.91, Y:16.02, Z:11.09 [[ 9.92427533e-01 -1.17279039e-01 -3.65132580e-02 3.04911807e+02] [ 1.17277328e-01 9.93096776e-01 -2.19607635e-03 1.60153604e+01] [ 3.65187525e-02 -2.10273069e-03 9.99330756e-01 1.10858480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.119254154 meters Centerline goodness : 0.998824 with order 1 Centerline is valid? [True, True] Translation: X:304.97, Y:16.02, Z:11.09 [[ 9.92663163e-01 -1.15267578e-01 -3.65134219e-02 3.04972410e+02] [ 1.15264611e-01 9.93332401e-01 -2.19334730e-03 1.60234302e+01] [ 3.65227869e-02 -2.03145032e-03 9.99330756e-01 1.10882572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.179254154 meters Centerline goodness : 0.998782 with order 1 Centerline is valid? [True, True] Translation: X:305.03, Y:16.04, Z:11.09 [[ 9.93168923e-01 -1.10825316e-01 -3.65135429e-02 3.05033468e+02] [ 1.10819429e-01 9.93838142e-01 -2.19133198e-03 1.60352083e+01] [ 3.65314066e-02 -1.87004716e-03 9.99330756e-01 1.10937434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.239254154 meters Centerline goodness : 0.998823 with order 1 Centerline is valid? [True, True] Translation: X:305.10, Y:16.04, Z:11.10 [[ 9.93599132e-01 -1.06899548e-01 -3.65137028e-02 3.05095125e+02] [ 1.06891114e-01 9.94268324e-01 -2.18866381e-03 1.60444435e+01] [ 3.65383852e-02 -1.72833592e-03 9.99330756e-01 1.10977769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.299254154 meters Centerline goodness : 0.998882 with order 1 Centerline is valid? [True, True] Translation: X:305.16, Y:16.06, Z:11.10 [[ 9.94168682e-01 -1.01466100e-01 -3.65138661e-02 3.05156913e+02] [ 1.01454108e-01 9.94837819e-01 -2.18593591e-03 1.60552385e+01] [ 3.65471733e-02 -1.53129269e-03 9.99330756e-01 1.11000184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.359254154 meters Centerline goodness : 0.999111 with order 1 Centerline is valid? [True, True] Translation: X:305.22, Y:16.07, Z:11.10 [[ 9.94575453e-01 -9.73981209e-02 -3.65140284e-02 3.05218559e+02] [ 9.73834910e-02 9.95244537e-01 -2.18322081e-03 1.60653148e+01] [ 3.65530289e-02 -1.38448573e-03 9.99330756e-01 1.11015810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.419254154 meters Centerline goodness : 0.999069 with order 1 Centerline is valid? [True, True] Translation: X:305.28, Y:16.07, Z:11.10 [[ 9.94810065e-01 -9.49718274e-02 -3.65141900e-02 3.05280005e+02] [ 9.49556646e-02 9.95479114e-01 -2.18051456e-03 1.60723935e+01] [ 3.65562010e-02 -1.29803136e-03 9.99330756e-01 1.11032340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.479254154 meters Centerline goodness : 0.999129 with order 1 Centerline is valid? [True, True] Translation: X:305.34, Y:16.08, Z:11.11 [[ 9.95174161e-01 -9.10773889e-02 -3.65143495e-02 3.05341395e+02] [ 9.10587055e-02 9.95843145e-01 -2.17784117e-03 1.60814403e+01] [ 3.65609167e-02 -1.15761814e-03 9.99330756e-01 1.11065273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.539254154 meters Centerline goodness : 0.998980 with order 1 Centerline is valid? [True, True] Translation: X:305.40, Y:16.09, Z:11.11 [[ 9.95475336e-01 -8.77242590e-02 -3.65145073e-02 3.05403293e+02] [ 8.77034191e-02 9.96144256e-01 -2.17519141e-03 1.60884126e+01] [ 3.65645338e-02 -1.03709774e-03 9.99330756e-01 1.11112594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.599254154 meters Centerline goodness : 0.999108 with order 1 Centerline is valid? [True, True] Translation: X:305.46, Y:16.10, Z:11.11 [[ 9.95763252e-01 -8.43932790e-02 -3.65146707e-02 3.05464968e+02] [ 8.43703019e-02 9.96432101e-01 -2.17244629e-03 1.60969022e+01] [ 3.65677299e-02 -9.17511606e-04 9.99330756e-01 1.11142843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.659254154 meters Centerline goodness : 0.999214 with order 1 Centerline is valid? [True, True] Translation: X:305.53, Y:16.10, Z:11.12 [[ 9.95780492e-01 -8.41895437e-02 -3.65148321e-02 3.05526361e+02] [ 8.41665293e-02 9.96449340e-01 -2.16972876e-03 1.61028532e+01] [ 3.65678489e-02 -9.12753116e-04 9.99330756e-01 1.11158719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.719254154 meters Centerline goodness : 0.999339 with order 1 Centerline is valid? [True, True] Translation: X:305.59, Y:16.11, Z:11.12 [[ 9.95443275e-01 -8.80871458e-02 -3.65149512e-02 3.05588295e+02] [ 8.80668235e-02 9.96112210e-01 -2.16772354e-03 1.61089723e+01] [ 3.65639373e-02 -1.05790994e-03 9.99330756e-01 1.11196772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.779254154 meters Centerline goodness : 0.999189 with order 1 Centerline is valid? [True, True] Translation: X:305.65, Y:16.11, Z:11.12 [[ 9.94712060e-01 -9.59925171e-02 -3.65151116e-02 3.05651010e+02] [ 9.59776089e-02 9.95381139e-01 -2.16501870e-03 1.61138649e+01] [ 3.65542789e-02 -1.35106289e-03 9.99330756e-01 1.11220634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.839254154 meters Centerline goodness : 0.999276 with order 1 Centerline is valid? [True, True] Translation: X:305.71, Y:16.12, Z:11.12 [[ 9.93802925e-01 -1.04987502e-01 -3.65153495e-02 3.05712026e+02] [ 1.04978794e-01 9.94472113e-01 -2.16099825e-03 1.61183121e+01] [ 3.65403746e-02 -1.68573099e-03 9.99330756e-01 1.11245893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.899254154 meters Centerline goodness : 0.999316 with order 1 Centerline is valid? [True, True] Translation: X:305.77, Y:16.12, Z:11.13 [[ 9.93208603e-01 -1.10468509e-01 -3.65154662e-02 3.05773848e+02] [ 1.10463566e-01 9.93877829e-01 -2.15902441e-03 1.61230671e+01] [ 3.65304165e-02 -1.88926699e-03 9.99330756e-01 1.11272257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.959254154 meters Centerline goodness : 0.999361 with order 1 Centerline is valid? [True, True] Translation: X:305.84, Y:16.13, Z:11.13 [[ 9.92502596e-01 -1.16641361e-01 -3.65156193e-02 3.05835313e+02] [ 1.16640674e-01 9.93171840e-01 -2.15643202e-03 1.61278702e+01] [ 3.65178140e-02 -2.11894206e-03 9.99330756e-01 1.11286474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.019254154 meters Centerline goodness : 0.999531 with order 1 Centerline is valid? [True, True] Translation: X:305.90, Y:16.13, Z:11.13 [[ 9.92179766e-01 -1.19356243e-01 -3.65157324e-02 3.05898303e+02] [ 1.19357457e-01 9.92849009e-01 -2.15451516e-03 1.61319087e+01] [ 3.65117636e-02 -2.22075862e-03 9.99330756e-01 1.11321243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.079254154 meters Centerline goodness : 0.999318 with order 1 Centerline is valid? [True, True] Translation: X:305.96, Y:16.14, Z:11.13 [[ 9.91855847e-01 -1.22018698e-01 -3.65159669e-02 3.05960439e+02] [ 1.22021854e-01 9.92525084e-01 -2.15053247e-03 1.61389118e+01] [ 3.65054183e-02 -2.32272780e-03 9.99330756e-01 1.11332631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.139254154 meters Centerline goodness : 0.999338 with order 1 Centerline is valid? [True, True] Translation: X:306.02, Y:16.14, Z:11.14 [[ 9.91830949e-01 -1.22220869e-01 -3.65161222e-02 3.06022452e+02] [ 1.22224258e-01 9.92500185e-01 -2.14789216e-03 1.61437902e+01] [ 3.65047753e-02 -2.33281004e-03 9.99330756e-01 1.11351190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.199254154 meters Centerline goodness : 0.999530 with order 1 Centerline is valid? [True, True] Translation: X:306.08, Y:16.15, Z:11.14 [[ 9.92090607e-01 -1.20094914e-01 -3.65162775e-02 3.06083247e+02] [ 1.20096966e-01 9.92759848e-01 -2.14524931e-03 1.61511378e+01] [ 3.65095277e-02 -2.25721246e-03 9.99330756e-01 1.11371179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.259254154 meters Centerline goodness : 0.999356 with order 1 Centerline is valid? [True, True] Translation: X:306.14, Y:16.16, Z:11.14 [[ 9.92815892e-01 -1.13943543e-01 -3.65167709e-02 3.06144812e+02] [ 1.13941756e-01 9.93485133e-01 -2.13681724e-03 1.61600140e+01] [ 3.65223456e-02 -2.03931889e-03 9.99330756e-01 1.11442313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.319254154 meters Centerline goodness : 0.999528 with order 1 Centerline is valid? [True, True] Translation: X:306.21, Y:16.17, Z:11.15 [[ 9.93557088e-01 -1.07288521e-01 -3.65169324e-02 3.06206609e+02] [ 1.07282351e-01 9.94226304e-01 -2.13405333e-03 1.61679724e+01] [ 3.65350542e-02 -1.79731856e-03 9.99330756e-01 1.11486346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.379254154 meters Centerline goodness : 0.999442 with order 1 Centerline is valid? [True, True] Translation: X:306.27, Y:16.18, Z:11.15 [[ 9.94703060e-01 -9.60849891e-02 -3.65170938e-02 3.06266996e+02] [ 9.60713796e-02 9.95372165e-01 -2.13128850e-03 1.61776010e+01] [ 3.65528836e-02 -1.38824838e-03 9.99330756e-01 1.11521527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.439254154 meters Centerline goodness : 0.999439 with order 1 Centerline is valid? [True, True] Translation: X:306.33, Y:16.18, Z:11.15 [[ 9.95284517e-01 -8.98622495e-02 -3.65172130e-02 3.06329245e+02] [ 8.98445306e-02 9.95953526e-01 -2.12924516e-03 1.61841569e+01] [ 3.65607858e-02 -1.16166712e-03 9.99330756e-01 1.11536371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.49925415399997 meters Centerline goodness : 0.999718 with order 1 Centerline is valid? [True, True] Translation: X:306.39, Y:16.19, Z:11.15 [[ 9.95781419e-01 -8.41774757e-02 -3.65173685e-02 3.06391197e+02] [ 8.41560348e-02 9.96450320e-01 -2.12657414e-03 1.61906169e+01] [ 3.65667532e-02 -9.55553922e-04 9.99330756e-01 1.11545495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.559254154 meters Centerline goodness : 0.999522 with order 1 Centerline is valid? [True, True] Translation: X:306.45, Y:16.20, Z:11.15 [[ 9.95858375e-01 -8.32620375e-02 -3.65175248e-02 3.06452513e+02] [ 8.32400801e-02 9.96527259e-01 -2.12388694e-03 1.61955972e+01] [ 3.65675480e-02 -9.24631086e-04 9.99330756e-01 1.11548086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.619254154 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:306.51, Y:16.20, Z:11.16 [[ 9.95819281e-01 -8.37282559e-02 -3.65176399e-02 3.06514246e+02] [ 8.37066843e-02 9.96488178e-01 -2.12190565e-03 1.62004257e+01] [ 3.65670599e-02 -9.43736001e-04 9.99330756e-01 1.11567089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.679254154 meters Centerline goodness : 0.999673 with order 1 Centerline is valid? [True, True] Translation: X:306.58, Y:16.20, Z:11.16 [[ 9.95782112e-01 -8.41690914e-02 -3.65177934e-02 3.06576132e+02] [ 8.41479129e-02 9.96451021e-01 -2.11926015e-03 1.62045054e+01] [ 3.65665688e-02 -9.62574751e-04 9.99330756e-01 1.11588869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.739254154 meters Centerline goodness : 0.999674 with order 1 Centerline is valid? [True, True] Translation: X:306.64, Y:16.21, Z:11.16 [[ 9.95686310e-01 -8.52948533e-02 -3.65179463e-02 3.06637947e+02] [ 8.52745276e-02 9.96355245e-01 -2.11662335e-03 1.62097168e+01] [ 3.65653844e-02 -1.00655773e-03 9.99330756e-01 1.11618782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.799254154 meters Centerline goodness : 0.999543 with order 1 Centerline is valid? [True, True] Translation: X:306.70, Y:16.21, Z:11.17 [[ 9.95555477e-01 -8.68085261e-02 -3.65180998e-02 3.06700209e+02] [ 8.67893147e-02 9.96224446e-01 -2.11397079e-03 1.62148039e+01] [ 3.65637344e-02 -1.06480566e-03 9.99330756e-01 1.11653894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.859254154 meters Centerline goodness : 0.999586 with order 1 Centerline is valid? [True, True] Translation: X:306.76, Y:16.22, Z:11.17 [[ 9.95141329e-01 -9.14338689e-02 -3.65182531e-02 3.06762470e+02] [ 9.14178635e-02 9.95810382e-01 -2.11132047e-03 1.62188190e+01] [ 3.65583017e-02 -1.23735841e-03 9.99330756e-01 1.11686719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.919254154 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:306.82, Y:16.22, Z:11.17 [[ 9.94395449e-01 -9.92174238e-02 -3.65184067e-02 3.06823192e+02] [ 9.92067514e-02 9.95064608e-01 -2.10866022e-03 1.62212496e+01] [ 3.65473899e-02 -1.52603037e-03 9.99330756e-01 1.11696529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.979254154 meters Centerline goodness : 0.999587 with order 1 Centerline is valid? [True, True] Translation: X:306.89, Y:16.22, Z:11.17 [[ 9.93902278e-01 -1.04041627e-01 -3.65185207e-02 3.06885253e+02] [ 1.04034275e-01 9.94571481e-01 -2.10668349e-03 1.62241402e+01] [ 3.65394620e-02 -1.70534029e-03 9.99330756e-01 1.11716729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.039254154 meters Centerline goodness : 0.999674 with order 1 Centerline is valid? [True, True] Translation: X:306.95, Y:16.23, Z:11.17 [[ 9.93408038e-01 -1.08659361e-01 -3.65186736e-02 3.06947402e+02] [ 1.08655215e-01 9.94077269e-01 -2.10402976e-03 1.62272466e+01] [ 3.65310059e-02 -1.87778426e-03 9.99330756e-01 1.11694501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.099254154 meters Centerline goodness : 0.999588 with order 1 Centerline is valid? [True, True] Translation: X:307.01, Y:16.23, Z:11.18 [[ 9.93404756e-01 -1.08689294e-01 -3.65188777e-02 3.07008525e+02] [ 1.08685299e-01 9.94073988e-01 -2.10048093e-03 1.62289057e+01] [ 3.65307662e-02 -1.88243740e-03 9.99330756e-01 1.11750990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.159254154 meters Centerline goodness : 0.999610 with order 1 Centerline is valid? [True, True] Translation: X:307.07, Y:16.23, Z:11.18 [[ 9.93569685e-01 -1.07170958e-01 -3.65194055e-02 3.07070975e+02] [ 1.07166278e-01 9.94238913e-01 -2.09126473e-03 1.62327254e+01] [ 3.65331368e-02 -1.83583152e-03 9.99330756e-01 1.11763623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.219254154 meters Centerline goodness : 0.999610 with order 1 Centerline is valid? [True, True] Translation: X:307.13, Y:16.24, Z:11.18 [[ 9.93994444e-01 -1.03157001e-01 -3.65195580e-02 3.07133216e+02] [ 1.03149715e-01 9.94663649e-01 -2.08859841e-03 1.62364530e+01] [ 3.65401303e-02 -1.69092680e-03 9.99330756e-01 1.11779853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.279254154 meters Centerline goodness : 0.999479 with order 1 Centerline is valid? [True, True] Translation: X:307.20, Y:16.24, Z:11.18 [[ 9.94532112e-01 -9.78375662e-02 -3.65197155e-02 3.07196048e+02] [ 9.78268018e-02 9.95201269e-01 -2.08584104e-03 1.62387384e+01] [ 3.65485408e-02 -1.49817107e-03 9.99330756e-01 1.11785703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.339254154 meters Centerline goodness : 0.999586 with order 1 Centerline is valid? [True, True] Translation: X:307.26, Y:16.25, Z:11.18 [[ 9.95101213e-01 -9.18687568e-02 -3.65199497e-02 3.07258566e+02] [ 9.18541284e-02 9.95770298e-01 -2.08173198e-03 1.62457359e+01] [ 3.65567273e-02 -1.28297413e-03 9.99330756e-01 1.11794210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.399254154 meters Centerline goodness : 0.999629 with order 1 Centerline is valid? [True, True] Translation: X:307.32, Y:16.25, Z:11.18 [[ 9.95615415e-01 -8.61174933e-02 -3.65201796e-02 3.07320960e+02] [ 8.60991472e-02 9.96284407e-01 -2.07769055e-03 1.62507476e+01] [ 3.65634110e-02 -1.07577558e-03 9.99330756e-01 1.11808969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.459254154 meters Centerline goodness : 0.999672 with order 1 Centerline is valid? [True, True] Translation: X:307.38, Y:16.26, Z:11.18 [[ 9.96292841e-01 -7.78898866e-02 -3.65204081e-02 3.07382702e+02] [ 7.78661621e-02 9.96961665e-01 -2.07366611e-03 1.62567071e+01] [ 3.65709645e-02 -7.77725324e-04 9.99330756e-01 1.11825146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.519254154 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:307.44, Y:16.26, Z:11.18 [[ 9.96894141e-01 -6.97733358e-02 -3.65205948e-02 3.07444132e+02] [ 6.97442858e-02 9.97562754e-01 -2.07037282e-03 1.62628518e+01] [ 3.65760420e-02 -4.83160266e-04 9.99330756e-01 1.11840713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.579254154 meters Centerline goodness : 0.999693 with order 1 Centerline is valid? [True, True] Translation: X:307.51, Y:16.27, Z:11.19 [[ 9.97226789e-01 -6.48457343e-02 -3.65207057e-02 3.07505868e+02] [ 6.48134519e-02 9.97895254e-01 -2.06841568e-03 1.62680377e+01] [ 3.65779668e-02 -3.04353473e-04 9.99330756e-01 1.11865843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.639254154 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:307.57, Y:16.27, Z:11.19 [[ 9.97613136e-01 -5.86025349e-02 -3.65208553e-02 3.07568285e+02] [ 5.85661659e-02 9.98281392e-01 -2.06577025e-03 1.62726328e+01] [ 3.65791496e-02 -7.80469293e-05 9.99330756e-01 1.11897295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.699254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:307.63, Y:16.28, Z:11.19 [[ 9.97787519e-01 -5.55543292e-02 -3.65210078e-02 3.07630101e+02] [ 5.55160175e-02 9.98455665e-01 -2.06306996e-03 1.62763693e+01] [ 3.65792197e-02 3.10045475e-05 9.99330756e-01 1.11923375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.759254154 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:307.69, Y:16.28, Z:11.19 [[ 9.97901280e-01 -5.34718571e-02 -3.65211588e-02 3.07691809e+02] [ 5.34322490e-02 9.98569351e-01 -2.06039378e-03 1.62790548e+01] [ 3.65790830e-02 1.04661935e-04 9.99330756e-01 1.11936975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.819254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.75, Y:16.28, Z:11.20 [[ 9.97871250e-01 -5.40293164e-02 -3.65212341e-02 3.07753262e+02] [ 5.39901304e-02 9.98539346e-01 -2.05905840e-03 1.62794359e+01] [ 3.65791388e-02 8.28889830e-05 9.99330756e-01 1.11950198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.879254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:307.81, Y:16.28, Z:11.20 [[ 9.97820682e-01 -5.49552578e-02 -3.65213082e-02 3.07814954e+02] [ 5.49167399e-02 9.98488817e-01 -2.05774363e-03 1.62804885e+01] [ 3.65792016e-02 4.76279695e-05 9.99330756e-01 1.11973273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.939254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.88, Y:16.27, Z:11.18 [[ 9.98281854e-01 -4.58206222e-02 -3.65213826e-02 3.07876921e+02] [ 4.57760393e-02 9.98949611e-01 -2.05642285e-03 1.62675467e+01] [ 3.65772475e-02 3.81085376e-04 9.99330756e-01 1.11829669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.99925415399997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:307.94, Y:16.28, Z:11.20 [[ 9.97417543e-01 -6.18420099e-02 -3.65213763e-02 3.07935384e+02] [ 6.18081494e-02 9.98085930e-01 -2.05653402e-03 1.62806936e+01] [ 3.65786520e-02 -2.06095578e-04 9.99330756e-01 1.12023483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.059254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:308.00, Y:16.28, Z:11.20 [[ 9.96806255e-01 -7.10174698e-02 -3.65213415e-02 3.07998287e+02] [ 7.09897385e-02 9.97474925e-01 -2.05715106e-03 1.62767602e+01] [ 3.65752161e-02 -5.42059446e-04 9.99330756e-01 1.12022843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.119254154 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:308.06, Y:16.27, Z:11.20 [[ 9.96061311e-01 -8.07963242e-02 -3.65214910e-02 3.08059950e+02] [ 8.07752537e-02 9.96730223e-01 -2.05449343e-03 1.62727633e+01] [ 3.65680694e-02 -9.03631283e-04 9.99330756e-01 1.12030804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.179254154 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:308.12, Y:16.27, Z:11.21 [[ 9.95176070e-01 -9.10536265e-02 -3.65216015e-02 3.08122318e+02] [ 9.10395204e-02 9.95845165e-01 -2.05252820e-03 1.62706817e+01] [ 3.65567504e-02 -1.28228214e-03 9.99330756e-01 1.12050173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.239254154 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:308.19, Y:16.27, Z:11.21 [[ 9.94167465e-01 -1.01475188e-01 -3.65217501e-02 3.08185001e+02] [ 1.01468190e-01 9.94836672e-01 -2.04988017e-03 1.62680617e+01] [ 3.65411883e-02 -1.66787172e-03 9.99330756e-01 1.12078270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.299254154 meters Centerline goodness : 0.999595 with order 1 Centerline is valid? [True, True] Translation: X:308.25, Y:16.27, Z:11.21 [[ 9.93671325e-01 -1.06223580e-01 -3.65218984e-02 3.08247747e+02] [ 1.06219876e-01 9.94340559e-01 -2.04723467e-03 1.62677565e+01] [ 3.65326695e-02 -1.84507312e-03 9.99330756e-01 1.12101321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.359254154 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:308.31, Y:16.27, Z:11.21 [[ 9.93135205e-01 -1.11124236e-01 -3.65221814e-02 3.08310175e+02] [ 1.11124019e-01 9.93804449e-01 -2.04217408e-03 1.62665760e+01] [ 3.65228414e-02 -2.03033662e-03 9.99330756e-01 1.12122438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.419254154 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:308.37, Y:16.27, Z:11.21 [[ 9.93055622e-01 -1.11833125e-01 -3.65223839e-02 3.08373255e+02] [ 1.11833519e-01 9.93724866e-01 -2.03854594e-03 1.62683648e+01] [ 3.65211780e-02 -2.06003720e-03 9.99330756e-01 1.12146890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.479254154 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:308.44, Y:16.27, Z:11.21 [[ 9.93059423e-01 -1.11799285e-01 -3.65226262e-02 3.08435799e+02] [ 1.11799815e-01 9.93728667e-01 -2.03419614e-03 1.62666974e+01] [ 3.65210023e-02 -2.06314520e-03 9.99330756e-01 1.12145201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.539254154 meters Centerline goodness : 0.999746 with order 1 Centerline is valid? [True, True] Translation: X:308.50, Y:16.27, Z:11.21 [[ 9.93503508e-01 -1.07781555e-01 -3.65228243e-02 3.08499010e+02] [ 1.07779509e-01 9.94172749e-01 -2.03063329e-03 1.62673475e+01] [ 3.65288614e-02 -1.91897076e-03 9.99330756e-01 1.12145201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.599254154 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:308.56, Y:16.27, Z:11.22 [[ 9.93779075e-01 -1.05210348e-01 -3.65230521e-02 3.08562103e+02] [ 1.05206720e-01 9.94448309e-01 -2.02652617e-03 1.62707940e+01] [ 3.65334990e-02 -1.82855124e-03 9.99330756e-01 1.12166486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.659254154 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:308.62, Y:16.28, Z:11.22 [[ 9.95298776e-01 -8.97017103e-02 -3.65232846e-02 3.08622986e+02] [ 8.96878022e-02 9.95967875e-01 -2.02232842e-03 1.62752930e+01] [ 3.65574245e-02 -1.26287212e-03 9.99330756e-01 1.12187459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.719254154 meters Centerline goodness : 0.999319 with order 1 Centerline is valid? [True, True] Translation: X:308.69, Y:16.28, Z:11.22 [[ 9.96104076e-01 -8.02665057e-02 -3.65233997e-02 3.08685405e+02] [ 8.02463343e-02 9.96773016e-01 -2.02024711e-03 1.62796797e+01] [ 3.65676974e-02 -9.18492566e-04 9.99330756e-01 1.12214291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.779254154 meters Centerline goodness : 0.999296 with order 1 Centerline is valid? [True, True] Translation: X:308.75, Y:16.28, Z:11.23 [[ 9.96681383e-01 -7.27478646e-02 -3.65235504e-02 3.08746835e+02] [ 7.27227461e-02 9.97350155e-01 -2.01751849e-03 1.62840185e+01] [ 3.65735388e-02 -6.45269764e-04 9.99330756e-01 1.12268532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.839254154 meters Centerline goodness : 0.999060 with order 1 Centerline is valid? [True, True] Translation: X:308.81, Y:16.29, Z:11.23 [[ 9.97508038e-01 -6.03633401e-02 -3.65237163e-02 3.08809282e+02] [ 6.03300273e-02 9.98176452e-01 -2.01451112e-03 1.62878328e+01] [ 3.65787162e-02 -1.93985769e-04 9.99330756e-01 1.12274999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.899254154 meters Centerline goodness : 0.998994 with order 1 Centerline is valid? [True, True] Translation: X:308.87, Y:16.29, Z:11.23 [[ 9.97959322e-01 -5.23755461e-02 -3.65238667e-02 3.08869322e+02] [ 5.23369832e-02 9.98627455e-01 -2.01178129e-03 1.62910607e+01] [ 3.65791041e-02 9.61268933e-05 9.99330756e-01 1.12277578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.959254154 meters Centerline goodness : 0.999122 with order 1 Centerline is valid? [True, True] Translation: X:308.93, Y:16.29, Z:11.23 [[ 9.98319046e-01 -4.50010204e-02 -3.65238263e-02 3.08926669e+02] [ 4.49574954e-02 9.98986873e-01 -2.01251468e-03 1.62936522e+01] [ 3.65773882e-02 3.67111989e-04 9.99330756e-01 1.12313901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.019254154 meters Centerline goodness : 0.998974 with order 1 Centerline is valid? [True, True] Translation: X:308.98, Y:16.30, Z:11.23 [[ 9.98511229e-01 -4.05135875e-02 -3.65236236e-02 3.08984853e+02] [ 4.04669271e-02 9.99178844e-01 -2.01618498e-03 1.62952677e+01] [ 3.65753150e-02 5.35184530e-04 9.99330756e-01 1.12343336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.079254154 meters Centerline goodness : 0.995646 with order 1 Centerline is valid? [True, True] Translation: X:309.04, Y:16.30, Z:11.24 [[ 9.98622965e-01 -3.76595372e-02 -3.65230355e-02 3.09043097e+02] [ 3.76105814e-02 9.99290416e-01 -2.02678421e-03 1.62954389e+01] [ 3.65734471e-02 6.50340661e-04 9.99330756e-01 1.12370582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.139254154 meters Centerline goodness : 0.999192 with order 1 Centerline is valid? [True, True] Translation: X:309.10, Y:16.29, Z:11.24 [[ 9.98555405e-01 -3.94109249e-02 -3.65223399e-02 3.09101238e+02] [ 3.93626843e-02 9.99222908e-01 -2.03924161e-03 1.62910131e+01] [ 3.65743271e-02 5.98678396e-04 9.99330756e-01 1.12381976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.199254154 meters Centerline goodness : 0.999215 with order 1 Centerline is valid? [True, True] Translation: X:309.16, Y:16.29, Z:11.24 [[ 9.98244376e-01 -4.66294074e-02 -3.65221080e-02 3.09159095e+02] [ 4.65858424e-02 9.98912200e-01 -2.04338632e-03 1.62863780e+01] [ 3.65776612e-02 3.38385730e-04 9.99330756e-01 1.12400519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.259254154 meters Centerline goodness : 0.998924 with order 1 Centerline is valid? [True, True] Translation: X:309.22, Y:16.28, Z:11.24 [[ 9.97796423e-01 -5.53938386e-02 -3.65215118e-02 3.09217394e+02] [ 5.53557518e-02 9.98464582e-01 -2.05398779e-03 1.62830858e+01] [ 3.65792143e-02 2.77859301e-05 9.99330756e-01 1.12421238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.319254154 meters Centerline goodness : 0.999014 with order 1 Centerline is valid? [True, True] Translation: X:309.27, Y:16.28, Z:11.24 [[ 9.96757923e-01 -7.16928660e-02 -3.65209077e-02 3.09274904e+02] [ 7.16653123e-02 9.97426599e-01 -2.06467247e-03 1.62758435e+01] [ 3.65749471e-02 -5.59303619e-04 9.99330756e-01 1.12447571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.379254154 meters Centerline goodness : 0.999036 with order 1 Centerline is valid? [True, True] Translation: X:309.34, Y:16.27, Z:11.25 [[ 9.95896759e-01 -8.28002885e-02 -3.65206476e-02 3.09335963e+02] [ 8.27800227e-02 9.96565696e-01 -2.06926336e-03 1.62721466e+01] [ 3.65665602e-02 -9.62407361e-04 9.99330756e-01 1.12461745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.439254154 meters Centerline goodness : 0.999056 with order 1 Centerline is valid? [True, True] Translation: X:309.40, Y:16.27, Z:11.25 [[ 9.94659843e-01 -9.65299948e-02 -3.65206476e-02 3.09396847e+02] [ 9.65189583e-02 9.95328995e-01 -2.06926336e-03 1.62652036e+01] [ 3.65498055e-02 -1.46672170e-03 9.99330756e-01 1.12466716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.49925415399997 meters Centerline goodness : 0.999016 with order 1 Centerline is valid? [True, True] Translation: X:309.46, Y:16.26, Z:11.25 [[ 9.93705895e-01 -1.05900114e-01 -3.65206849e-02 3.09458646e+02] [ 1.05895409e-01 9.94375122e-01 -2.06860553e-03 1.62614362e+01] [ 3.65343260e-02 -1.81178734e-03 9.99330756e-01 1.12495501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.559254154 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:309.52, Y:16.26, Z:11.25 [[ 9.93305180e-01 -1.09594937e-01 -3.65207948e-02 3.09520899e+02] [ 1.09592792e-01 9.93974421e-01 -2.06666325e-03 1.62614100e+01] [ 3.65272317e-02 -1.94958856e-03 9.99330756e-01 1.12521588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.619254154 meters Centerline goodness : 0.999103 with order 1 Centerline is valid? [True, True] Translation: X:309.58, Y:16.26, Z:11.25 [[ 9.92909530e-01 -1.13123325e-01 -3.65209419e-02 3.09582130e+02] [ 1.13123653e-01 9.93578773e-01 -2.06405991e-03 1.62604794e+01] [ 3.65199260e-02 -2.08195761e-03 9.99330756e-01 1.12525944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.679254154 meters Centerline goodness : 0.998810 with order 1 Centerline is valid? [True, True] Translation: X:309.64, Y:16.26, Z:11.25 [[ 9.92930038e-01 -1.12943100e-01 -3.65211778e-02 3.09643195e+02] [ 1.12943459e-01 9.93599281e-01 -2.05987806e-03 1.62612508e+01] [ 3.65200650e-02 -2.07951336e-03 9.99330756e-01 1.12512323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.739254154 meters Centerline goodness : 0.998915 with order 1 Centerline is valid? [True, True] Translation: X:309.70, Y:16.27, Z:11.25 [[ 9.93081626e-01 -1.11602340e-01 -3.65212472e-02 3.09704065e+02] [ 1.11601841e-01 9.93750870e-01 -2.05864636e-03 1.62650248e+01] [ 3.65227709e-02 -2.03143454e-03 9.99330756e-01 1.12549357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.799254154 meters Centerline goodness : 0.999000 with order 1 Centerline is valid? [True, True] Translation: X:309.77, Y:16.27, Z:11.26 [[ 9.93621504e-01 -1.06688798e-01 -3.65213161e-02 3.09765918e+02] [ 1.06685034e-01 9.94290737e-01 -2.05742362e-03 1.62696547e+01] [ 3.65323104e-02 -1.85197750e-03 9.99330756e-01 1.12570311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.859254154 meters Centerline goodness : 0.998937 with order 1 Centerline is valid? [True, True] Translation: X:309.83, Y:16.28, Z:11.26 [[ 9.94278273e-01 -1.00383756e-01 -3.65214668e-02 3.09827299e+02] [ 1.00375845e-01 9.94947470e-01 -2.05474482e-03 1.62761212e+01] [ 3.65432040e-02 -1.62288498e-03 9.99330756e-01 1.12609535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.919254154 meters Centerline goodness : 0.998999 with order 1 Centerline is valid? [True, True] Translation: X:309.89, Y:16.28, Z:11.26 [[ 9.95003955e-01 -9.29155600e-02 -3.65216155e-02 3.09888602e+02] [ 9.29027216e-02 9.95673075e-01 -2.05209905e-03 1.62788934e+01] [ 3.65542611e-02 -1.35111080e-03 9.99330756e-01 1.12618176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.979254154 meters Centerline goodness : 0.999165 with order 1 Centerline is valid? [True, True] Translation: X:309.95, Y:16.29, Z:11.27 [[ 9.95490040e-01 -8.75542448e-02 -3.65216928e-02 3.09948943e+02] [ 8.75378526e-02 9.96159083e-01 -2.05072134e-03 1.62874577e+01] [ 3.65609654e-02 -1.15555789e-03 9.99330756e-01 1.12664760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.039254154 meters Centerline goodness : 0.999038 with order 1 Centerline is valid? [True, True] Translation: X:310.01, Y:16.29, Z:11.27 [[ 9.96190536e-01 -7.91869480e-02 -3.65218066e-02 3.10009947e+02] [ 7.91650093e-02 9.96859420e-01 -2.04869395e-03 1.62934687e+01] [ 3.65693367e-02 -8.50359637e-04 9.99330756e-01 1.12698172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.099254154 meters Centerline goodness : 0.999079 with order 1 Centerline is valid? [True, True] Translation: X:310.07, Y:16.30, Z:11.27 [[ 9.96875662e-01 -7.00361792e-02 -3.65218823e-02 3.10069757e+02] [ 7.00081490e-02 9.97544319e-01 -2.04734332e-03 1.62992954e+01] [ 3.65755843e-02 -5.15882649e-04 9.99330756e-01 1.12728307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.159254154 meters Centerline goodness : 0.999098 with order 1 Centerline is valid? [True, True] Translation: X:310.13, Y:16.30, Z:11.28 [[ 9.97273429e-01 -6.41237926e-02 -3.65218823e-02 3.10129438e+02] [ 6.40917980e-02 9.97941907e-01 -2.04734332e-03 1.63040109e+01] [ 3.65780003e-02 -2.98992009e-04 9.99330756e-01 1.12753587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.219254154 meters Centerline goodness : 0.999035 with order 1 Centerline is valid? [True, True] Translation: X:310.19, Y:16.31, Z:11.28 [[ 9.97567417e-01 -5.93751375e-02 -3.65218078e-02 3.10188196e+02] [ 5.93399119e-02 9.98235733e-01 -2.04867179e-03 1.63076864e+01] [ 3.65790137e-02 -1.23512633e-04 9.99330756e-01 1.12769948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.279254154 meters Centerline goodness : 0.999223 with order 1 Centerline is valid? [True, True] Translation: X:310.25, Y:16.31, Z:11.28 [[ 9.97757607e-01 -5.60887952e-02 -3.65212868e-02 3.10246610e+02] [ 5.60510300e-02 9.98425784e-01 -2.05791686e-03 1.63106878e+01] [ 3.65792205e-02 6.24645885e-06 9.99330756e-01 1.12801066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.339254154 meters Centerline goodness : 0.999099 with order 1 Centerline is valid? [True, True] Translation: X:310.31, Y:16.30, Z:11.27 [[ 9.98092090e-01 -4.97836728e-02 -3.65207695e-02 3.10306558e+02] [ 4.97413523e-02 9.98759994e-01 -2.06705668e-03 1.63029006e+01] [ 3.65783892e-02 2.46520460e-04 9.99330756e-01 1.12682037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.399254154 meters Centerline goodness : 0.999077 with order 1 Centerline is valid? [True, True] Translation: X:310.36, Y:16.31, Z:11.28 [[ 9.97490197e-01 -6.06595239e-02 -3.65202450e-02 3.10362935e+02] [ 6.06241480e-02 9.98158505e-01 -2.07628242e-03 1.63138158e+01] [ 3.65789395e-02 -1.42937374e-04 9.99330756e-01 1.12834619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.459254154 meters Centerline goodness : 0.999185 with order 1 Centerline is valid? [True, True] Translation: X:310.42, Y:16.31, Z:11.29 [[ 9.97181627e-01 -6.55369454e-02 -3.65200247e-02 3.10419632e+02] [ 6.55046966e-02 9.97850093e-01 -2.08015015e-03 1.63132912e+01] [ 3.65778367e-02 -3.17945629e-04 9.99330756e-01 1.12852700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.519254154 meters Centerline goodness : 0.999330 with order 1 Centerline is valid? [True, True] Translation: X:310.48, Y:16.32, Z:11.29 [[ 9.97079095e-01 -6.70789371e-02 -3.65197709e-02 3.10478630e+02] [ 6.70475592e-02 9.97747603e-01 -2.08459650e-03 1.63152926e+01] [ 3.65773464e-02 -3.70053905e-04 9.99330756e-01 1.12881680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.579254154 meters Centerline goodness : 0.998997 with order 1 Centerline is valid? [True, True] Translation: X:310.54, Y:16.31, Z:11.29 [[ 9.96894383e-01 -6.97705899e-02 -3.65192331e-02 3.10537542e+02] [ 6.97406734e-02 9.97562957e-01 -2.09397489e-03 1.63143141e+01] [ 3.65763321e-02 -4.59404103e-04 9.99330756e-01 1.12902303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.639254154 meters Centerline goodness : 0.999289 with order 1 Centerline is valid? [True, True] Translation: X:310.60, Y:16.31, Z:11.29 [[ 9.96797030e-01 -7.11482041e-02 -3.65186906e-02 3.10596541e+02] [ 7.11188666e-02 9.97465630e-01 -2.10339491e-03 1.63147246e+01] [ 3.65757915e-02 -5.00510088e-04 9.99330757e-01 1.12912412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.699254154 meters Centerline goodness : 0.999040 with order 1 Centerline is valid? [True, True] Translation: X:310.65, Y:16.31, Z:11.29 [[ 9.96539867e-01 -7.46638282e-02 -3.65185763e-02 3.10654984e+02] [ 7.46367766e-02 9.97208563e-01 -2.10537765e-03 1.63137658e+01] [ 3.65738325e-02 -6.27536056e-04 9.99330757e-01 1.12928201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.759254154 meters Centerline goodness : 0.999165 with order 1 Centerline is valid? [True, True] Translation: X:310.71, Y:16.31, Z:11.30 [[ 9.96388274e-01 -7.66605520e-02 -3.65180476e-02 3.10714201e+02] [ 7.66345059e-02 9.97057010e-01 -2.11450846e-03 1.63136298e+01] [ 3.65726747e-02 -6.91671103e-04 9.99330757e-01 1.12954371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.819254154 meters Centerline goodness : 0.999103 with order 1 Centerline is valid? [True, True] Translation: X:310.77, Y:16.31, Z:11.30 [[ 9.96593238e-01 -7.39483320e-02 -3.65179685e-02 3.10771581e+02] [ 7.39204160e-02 9.97261899e-01 -2.11587218e-03 1.63145121e+01] [ 3.65744439e-02 -5.90759517e-04 9.99330757e-01 1.12959140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.879254154 meters Centerline goodness : 0.999228 with order 1 Centerline is valid? [True, True] Translation: X:310.83, Y:16.32, Z:11.30 [[ 9.96852957e-01 -7.03607906e-02 -3.65176756e-02 3.10830717e+02] [ 7.03302833e-02 9.97521505e-01 -2.12091537e-03 1.63169292e+01] [ 3.65763961e-02 -4.54057717e-04 9.99330757e-01 1.12978882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.939254154 meters Centerline goodness : 0.999125 with order 1 Centerline is valid? [True, True] Translation: X:310.89, Y:16.32, Z:11.30 [[ 9.97265176e-01 -6.42547144e-02 -3.65171321e-02 3.10889007e+02] [ 6.42197723e-02 9.97933506e-01 -2.13023230e-03 1.63191139e+01] [ 3.65785472e-02 -2.20715425e-04 9.99330757e-01 1.13005500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.99925415399997 meters Centerline goodness : 0.999353 with order 1 Centerline is valid? [True, True] Translation: X:310.95, Y:16.32, Z:11.30 [[ 9.97439314e-01 -6.14927522e-02 -3.65165109e-02 3.10947012e+02] [ 6.14555714e-02 9.98107524e-01 -2.14082963e-03 1.63212195e+01] [ 3.65790497e-02 -1.08795404e-04 9.99330757e-01 1.13034366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.059254154 meters Centerline goodness : 0.997000 with order 1 Centerline is valid? [True, True] Translation: X:311.00, Y:16.32, Z:11.30 [[ 9.97513973e-01 -6.02699265e-02 -3.65158867e-02 3.11004719e+02] [ 6.02315387e-02 9.98182114e-01 -2.15142409e-03 1.63211216e+01] [ 3.65791711e-02 -5.33324492e-05 9.99330757e-01 1.13017715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.119254154 meters Centerline goodness : 0.999352 with order 1 Centerline is valid? [True, True] Translation: X:311.06, Y:16.32, Z:11.31 [[ 9.97169817e-01 -6.57188086e-02 -3.65156596e-02 3.11062990e+02] [ 6.56839309e-02 9.97838151e-01 -2.15527067e-03 1.63207913e+01] [ 3.65783601e-02 -2.49321205e-04 9.99330757e-01 1.13069207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.179254154 meters Centerline goodness : 0.999187 with order 1 Centerline is valid? [True, True] Translation: X:311.12, Y:16.32, Z:11.31 [[ 9.96529396e-01 -7.48050565e-02 -3.65152875e-02 3.11120972e+02] [ 7.47760417e-02 9.97198010e-01 -2.16155629e-03 1.63189896e+01] [ 3.65746674e-02 -5.76414277e-04 9.99330757e-01 1.13078402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.239254154 meters Centerline goodness : 0.999394 with order 1 Centerline is valid? [True, True] Translation: X:311.18, Y:16.32, Z:11.31 [[ 9.95928769e-01 -8.24170298e-02 -3.65146556e-02 3.11178989e+02] [ 8.23927352e-02 9.96597571e-01 -2.17217981e-03 1.63187744e+01] [ 3.65694417e-02 -8.45205981e-04 9.99330757e-01 1.13106497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.299254154 meters Centerline goodness : 0.999415 with order 1 Centerline is valid? [True, True] Translation: X:311.24, Y:16.32, Z:11.31 [[ 9.95162315e-01 -9.12068683e-02 -3.65140240e-02 3.11237235e+02] [ 9.11880922e-02 9.95831295e-01 -2.18274448e-03 1.63178243e+01] [ 3.65608891e-02 -1.15745914e-03 9.99330757e-01 1.13116669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.359254154 meters Centerline goodness : 0.999434 with order 1 Centerline is valid? [True, True] Translation: X:311.30, Y:16.32, Z:11.31 [[ 9.94858151e-01 -9.44669217e-02 -3.65138298e-02 3.11295729e+02] [ 9.44502186e-02 9.95527186e-01 -2.18598907e-03 1.63196884e+01] [ 3.65570139e-02 -1.27399016e-03 9.99330757e-01 1.13136100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.419254154 meters Centerline goodness : 0.999352 with order 1 Centerline is valid? [True, True] Translation: X:311.35, Y:16.32, Z:11.32 [[ 9.94718590e-01 -9.59255291e-02 -3.65132719e-02 3.11354044e+02] [ 9.59094669e-02 9.95387641e-01 -2.19526842e-03 1.63228003e+01] [ 3.65554418e-02 -1.31829413e-03 9.99330757e-01 1.13177754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.479254154 meters Centerline goodness : 0.999477 with order 1 Centerline is valid? [True, True] Translation: X:311.41, Y:16.33, Z:11.32 [[ 9.94964623e-01 -9.33392708e-02 -3.65127195e-02 3.11412894e+02] [ 9.33211339e-02 9.95633621e-01 -2.20441871e-03 1.63266681e+01] [ 3.65590499e-02 -1.21408975e-03 9.99330757e-01 1.13197803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.539254154 meters Centerline goodness : 0.999415 with order 1 Centerline is valid? [True, True] Translation: X:311.47, Y:16.33, Z:11.32 [[ 9.95156344e-01 -9.12725634e-02 -3.65126031e-02 3.11471409e+02] [ 9.12529664e-02 9.95825300e-01 -2.20634443e-03 1.63314383e+01] [ 3.65615526e-02 -1.13622568e-03 9.99330757e-01 1.13216115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.599254154 meters Centerline goodness : 0.999394 with order 1 Centerline is valid? [True, True] Translation: X:311.53, Y:16.34, Z:11.32 [[ 9.95448891e-01 -8.80248474e-02 -3.65120676e-02 3.11530294e+02] [ 8.80027442e-02 9.96117769e-01 -2.21517087e-03 1.63360031e+01] [ 3.65653094e-02 -1.00807276e-03 9.99330757e-01 1.13229067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.659254154 meters Centerline goodness : 0.999644 with order 1 Centerline is valid? [True, True] Translation: X:311.59, Y:16.34, Z:11.33 [[ 9.95403134e-01 -8.85410091e-02 -3.65115222e-02 3.11588524e+02] [ 8.85189246e-02 9.96072012e-01 -2.22412506e-03 1.63410991e+01] [ 3.65650316e-02 -1.01805962e-03 9.99330757e-01 1.13260554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.719254154 meters Centerline goodness : 0.999394 with order 1 Centerline is valid? [True, True] Translation: X:311.65, Y:16.35, Z:11.33 [[ 9.95346699e-01 -8.91734264e-02 -3.65109423e-02 3.11647099e+02] [ 8.91514194e-02 9.96015580e-01 -2.23360303e-03 1.63460595e+01] [ 3.65646454e-02 -1.03179293e-03 9.99330757e-01 1.13253360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.779254154 meters Centerline goodness : 0.999416 with order 1 Centerline is valid? [True, True] Translation: X:311.71, Y:16.35, Z:11.33 [[ 9.95233060e-01 -9.04329392e-02 -3.65108201e-02 3.11706101e+02] [ 9.04117055e-02 9.95901966e-01 -2.23559914e-03 1.63523220e+01] [ 3.65633693e-02 -1.07606334e-03 9.99330757e-01 1.13277795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.839254154 meters Centerline goodness : 0.999291 with order 1 Centerline is valid? [True, True] Translation: X:311.76, Y:16.36, Z:11.33 [[ 9.95138806e-01 -9.14643266e-02 -3.65107368e-02 3.11764875e+02] [ 9.14437364e-02 9.95807732e-01 -2.23695946e-03 1.63584694e+01] [ 3.65622760e-02 -1.11259302e-03 9.99330757e-01 1.13309597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.899254154 meters Centerline goodness : 0.999373 with order 1 Centerline is valid? [True, True] Translation: X:311.82, Y:16.36, Z:11.34 [[ 9.95140174e-01 -9.14494886e-02 -3.65106135e-02 3.11824129e+02] [ 9.14288147e-02 9.95809098e-01 -2.23896868e-03 1.63638190e+01] [ 3.65623537e-02 -1.11003444e-03 9.99330757e-01 1.13352802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.959254154 meters Centerline goodness : 0.999353 with order 1 Centerline is valid? [True, True] Translation: X:311.88, Y:16.37, Z:11.34 [[ 9.95179342e-01 -9.10222944e-02 -3.65105312e-02 3.11882784e+02] [ 9.10012841e-02 9.95848255e-01 -2.24031122e-03 1.63702110e+01] [ 3.65628670e-02 -1.09299378e-03 9.99330757e-01 1.13378297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.019254154 meters Centerline goodness : 0.999415 with order 1 Centerline is valid? [True, True] Translation: X:311.94, Y:16.38, Z:11.34 [[ 9.95233379e-01 -9.04295817e-02 -3.65104500e-02 3.11943334e+02] [ 9.04081247e-02 9.95902277e-01 -2.24163275e-03 1.63755566e+01] [ 3.65635502e-02 -1.06989358e-03 9.99330757e-01 1.13396997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.079254154 meters Centerline goodness : 0.999165 with order 1 Centerline is valid? [True, True] Translation: X:312.00, Y:16.38, Z:11.34 [[ 9.95462789e-01 -8.78682092e-02 -3.65104500e-02 3.12003933e+02] [ 8.78450310e-02 9.96131631e-01 -2.24163275e-03 1.63800189e+01] [ 3.65661824e-02 -9.75799624e-04 9.99330757e-01 1.13409829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.139254154 meters Centerline goodness : 0.999208 with order 1 Centerline is valid? [True, True] Translation: X:312.06, Y:16.39, Z:11.34 [[ 9.95972752e-01 -8.18856764e-02 -3.65104500e-02 3.12063205e+02] [ 8.18584800e-02 9.96641442e-01 -2.24163275e-03 1.63855996e+01] [ 3.65713852e-02 -7.56084807e-04 9.99330757e-01 1.13441119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.199254154 meters Centerline goodness : 0.999354 with order 1 Centerline is valid? [True, True] Translation: X:312.12, Y:16.39, Z:11.35 [[ 9.96179117e-01 -7.93357289e-02 -3.65104084e-02 3.12122712e+02] [ 7.93067959e-02 9.96847734e-01 -2.24231000e-03 1.63900642e+01] [ 3.65732132e-02 -6.61781112e-04 9.99330757e-01 1.13473185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.259254154 meters Centerline goodness : 0.999248 with order 1 Centerline is valid? [True, True] Translation: X:312.18, Y:16.39, Z:11.35 [[ 9.96903565e-01 -6.96439367e-02 -3.65103252e-02 3.12181496e+02] [ 6.96084531e-02 9.97571867e-01 -2.24366453e-03 1.63945247e+01] [ 3.65779309e-02 -3.04710091e-04 9.99330757e-01 1.13489619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.319254154 meters Centerline goodness : 0.999227 with order 1 Centerline is valid? [True, True] Translation: X:312.24, Y:16.40, Z:11.35 [[ 9.97486376e-01 -6.07286472e-02 -3.65097340e-02 3.12238840e+02] [ 6.06868396e-02 9.98154312e-01 -2.25324394e-03 1.63980465e+01] [ 3.65791849e-02 3.19197599e-05 9.99330757e-01 1.13493228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.379254154 meters Centerline goodness : 0.999372 with order 1 Centerline is valid? [True, True] Translation: X:312.30, Y:16.40, Z:11.35 [[ 9.97539481e-01 -5.98501840e-02 -3.65094438e-02 3.12296822e+02] [ 5.98076165e-02 9.98207369e-01 -2.25793636e-03 1.64016769e+01] [ 3.65791337e-02 6.88378575e-05 9.99330757e-01 1.13524204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.439254154 meters Centerline goodness : 0.999143 with order 1 Centerline is valid? [True, True] Translation: X:312.36, Y:16.40, Z:11.35 [[ 9.97416217e-01 -6.18708189e-02 -3.65087933e-02 3.12355005e+02] [ 6.18292212e-02 9.98084166e-01 -2.26840495e-03 1.64035953e+01] [ 3.65791966e-02 5.23361842e-06 9.99330757e-01 1.13547158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.49925415399997 meters Centerline goodness : 0.999436 with order 1 Centerline is valid? [True, True] Translation: X:312.41, Y:16.40, Z:11.36 [[ 9.96723773e-01 -7.21725739e-02 -3.65080930e-02 3.12412891e+02] [ 7.21374687e-02 9.97392094e-01 -2.27962112e-03 1.64025688e+01] [ 3.65774094e-02 -3.61448854e-04 9.99330757e-01 1.13572484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.559254154 meters Centerline goodness : 0.999290 with order 1 Centerline is valid? [True, True] Translation: X:312.47, Y:16.40, Z:11.36 [[ 9.95653487e-01 -8.56816173e-02 -3.65074421e-02 3.12469673e+02] [ 8.56551976e-02 9.96322208e-01 -2.28999765e-03 1.64011729e+01] [ 3.65693860e-02 -8.47008025e-04 9.99330757e-01 1.13588819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.619254154 meters Centerline goodness : 0.999102 with order 1 Centerline is valid? [True, True] Translation: X:312.53, Y:16.40, Z:11.36 [[ 9.94696312e-01 -9.61586472e-02 -3.65069961e-02 3.12528738e+02] [ 9.61390091e-02 9.95365267e-01 -2.29708593e-03 1.64000773e+01] [ 3.65586806e-02 -1.22484353e-03 9.99330757e-01 1.13606268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.679254154 meters Centerline goodness : 0.999436 with order 1 Centerline is valid? [True, True] Translation: X:312.59, Y:16.40, Z:11.36 [[ 9.94453867e-01 -9.86346274e-02 -3.65064007e-02 3.12588281e+02] [ 9.86163092e-02 9.95122859e-01 -2.30650936e-03 1.64026402e+01] [ 3.65558555e-02 -1.30640936e-03 9.99330757e-01 1.13631216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.739254154 meters Centerline goodness : 0.999331 with order 1 Centerline is valid? [True, True] Translation: X:312.65, Y:16.40, Z:11.37 [[ 9.93951874e-01 -1.03571026e-01 -3.65063589e-02 3.12647563e+02] [ 1.03556006e-01 9.94620948e-01 -2.30717160e-03 1.64043506e+01] [ 3.65489454e-02 -1.48723517e-03 9.99330757e-01 1.13652782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.799254154 meters Centerline goodness : 0.999415 with order 1 Centerline is valid? [True, True] Translation: X:312.71, Y:16.41, Z:11.37 [[ 9.93605778e-01 -1.06840297e-01 -3.65062738e-02 3.12708005e+02] [ 1.06827428e-01 9.94274897e-01 -2.30851645e-03 1.64078905e+01] [ 3.65439142e-02 -1.60611607e-03 9.99330757e-01 1.13677543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.859254154 meters Centerline goodness : 0.999248 with order 1 Centerline is valid? [True, True] Translation: X:312.77, Y:16.41, Z:11.37 [[ 9.93386418e-01 -1.08860996e-01 -3.65062738e-02 3.12768449e+02] [ 1.08849488e-01 9.94055562e-01 -2.30851645e-03 1.64109911e+01] [ 3.65405719e-02 -1.68044033e-03 9.99330757e-01 1.13699101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.919254154 meters Centerline goodness : 0.999312 with order 1 Centerline is valid? [True, True] Translation: X:312.83, Y:16.42, Z:11.37 [[ 9.93171506e-01 -1.10804568e-01 -3.65062738e-02 3.12828100e+02] [ 1.10794370e-01 9.93840671e-01 -2.30851645e-03 1.64157086e+01] [ 3.65372138e-02 -1.75193684e-03 9.99330757e-01 1.13714244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.979254154 meters Centerline goodness : 0.999184 with order 1 Centerline is valid? [True, True] Translation: X:312.89, Y:16.42, Z:11.37 [[ 9.93216260e-01 -1.10402698e-01 -3.65062314e-02 3.12888484e+02] [ 1.10392204e-01 9.93885420e-01 -2.30918734e-03 1.64216842e+01] [ 3.65379516e-02 -1.73648093e-03 9.99330757e-01 1.13721486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.039254154 meters Centerline goodness : 0.999290 with order 1 Centerline is valid? [True, True] Translation: X:312.95, Y:16.43, Z:11.37 [[ 9.93406953e-01 -1.08673461e-01 -3.65062314e-02 3.12949206e+02] [ 1.08661802e-01 9.94076094e-01 -2.30918734e-03 1.64276189e+01] [ 3.65409193e-02 -1.67287015e-03 9.99330757e-01 1.13730754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.099254154 meters Centerline goodness : 0.999020 with order 1 Centerline is valid? [True, True] Translation: X:313.01, Y:16.44, Z:11.37 [[ 9.93862124e-01 -1.04428797e-01 -3.65062314e-02 3.13008995e+02] [ 1.04414280e-01 9.94531209e-01 -2.30918734e-03 1.64358117e+01] [ 3.65477321e-02 -1.51675802e-03 9.99330757e-01 1.13743833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.159254154 meters Centerline goodness : 0.999270 with order 1 Centerline is valid? [True, True] Translation: X:313.07, Y:16.44, Z:11.38 [[ 9.94264630e-01 -1.00524327e-01 -3.65062314e-02 3.13068971e+02] [ 1.00507182e-01 9.94933653e-01 -2.30918734e-03 1.64434380e+01] [ 3.65534077e-02 -1.37319516e-03 9.99330757e-01 1.13773193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.219254154 meters Centerline goodness : 0.999205 with order 1 Centerline is valid? [True, True] Translation: X:313.13, Y:16.45, Z:11.38 [[ 9.94813480e-01 -9.49391117e-02 -3.65062314e-02 3.13129038e+02] [ 9.49182098e-02 9.95482396e-01 -2.30918734e-03 1.64526201e+01] [ 3.65605429e-02 -1.16789544e-03 9.99330757e-01 1.13805818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.279254154 meters Centerline goodness : 0.999289 with order 1 Centerline is valid? [True, True] Translation: X:313.19, Y:16.46, Z:11.38 [[ 9.95210155e-01 -9.06865110e-02 -3.65062314e-02 3.13188753e+02] [ 9.06627505e-02 9.95878975e-01 -2.30918734e-03 1.64607084e+01] [ 3.65652004e-02 -1.01162866e-03 9.99330757e-01 1.13827061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.339254154 meters Centerline goodness : 0.999017 with order 1 Centerline is valid? [True, True] Translation: X:313.25, Y:16.47, Z:11.38 [[ 9.95420160e-01 -8.83515767e-02 -3.65062314e-02 3.13247790e+02] [ 8.83262472e-02 9.96088923e-01 -2.30918734e-03 1.64679374e+01] [ 3.65674730e-02 -9.25846790e-04 9.99330757e-01 1.13844254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.399254154 meters Centerline goodness : 0.999143 with order 1 Centerline is valid? [True, True] Translation: X:313.31, Y:16.48, Z:11.39 [[ 9.95598897e-01 -8.63141585e-02 -3.65061889e-02 3.13307959e+02] [ 8.62874359e-02 9.96267606e-01 -2.30985823e-03 1.64757315e+01] [ 3.65693069e-02 -8.50333131e-04 9.99330757e-01 1.13870776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.459254154 meters Centerline goodness : 0.999017 with order 1 Centerline is valid? [True, True] Translation: X:313.37, Y:16.48, Z:11.39 [[ 9.95718196e-01 -8.49268616e-02 -3.65061889e-02 3.13368167e+02] [ 8.48992072e-02 9.96386867e-01 -2.30985823e-03 1.64809668e+01] [ 3.65704562e-02 -7.99378629e-04 9.99330757e-01 1.13890804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.519254154 meters Centerline goodness : 0.999184 with order 1 Centerline is valid? [True, True] Translation: X:313.43, Y:16.49, Z:11.39 [[ 9.95877669e-01 -8.30359391e-02 -3.65061889e-02 3.13427998e+02] [ 8.30070150e-02 9.96546286e-01 -2.30985823e-03 1.64878078e+01] [ 3.65719082e-02 -7.29933544e-04 9.99330757e-01 1.13915122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.579254154 meters Centerline goodness : 0.999226 with order 1 Centerline is valid? [True, True] Translation: X:313.49, Y:16.49, Z:11.39 [[ 9.96096190e-01 -8.03721205e-02 -3.65061889e-02 3.13487936e+02] [ 8.03414083e-02 9.96764728e-01 -2.30985823e-03 1.64942464e+01] [ 3.65737297e-02 -6.32117648e-04 9.99330757e-01 1.13933330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.639254154 meters Centerline goodness : 0.999185 with order 1 Centerline is valid? [True, True] Translation: X:313.55, Y:16.50, Z:11.39 [[ 9.96326898e-01 -7.74597376e-02 -3.65061889e-02 3.13547914e+02] [ 7.74270711e-02 9.96995343e-01 -2.30985823e-03 1.64987123e+01] [ 3.65754214e-02 -5.25193403e-04 9.99330757e-01 1.13946583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.699254154 meters Centerline goodness : 0.999061 with order 1 Centerline is valid? [True, True] Translation: X:313.61, Y:16.50, Z:11.40 [[ 9.96397950e-01 -7.65403436e-02 -3.65061889e-02 3.13607596e+02] [ 7.65070603e-02 9.97066364e-01 -2.30985823e-03 1.65032206e+01] [ 3.65758904e-02 -4.91443194e-04 9.99330757e-01 1.13970729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.759254154 meters Centerline goodness : 0.999058 with order 1 Centerline is valid? [True, True] Translation: X:313.67, Y:16.51, Z:11.40 [[ 9.96253172e-01 -7.84023117e-02 -3.65061034e-02 3.13666759e+02] [ 7.83702281e-02 9.96921645e-01 -2.31120995e-03 1.65064288e+01] [ 3.65749288e-02 -5.58441404e-04 9.99330757e-01 1.14001374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.819254154 meters Centerline goodness : 0.999122 with order 1 Centerline is valid? [True, True] Translation: X:313.73, Y:16.51, Z:11.40 [[ 9.95992627e-01 -8.16455553e-02 -3.65060179e-02 3.13725586e+02] [ 8.16155988e-02 9.96661199e-01 -2.31255976e-03 1.65079807e+01] [ 3.65729418e-02 -6.76168037e-04 9.99330757e-01 1.14015444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.879254154 meters Centerline goodness : 0.999227 with order 1 Centerline is valid? [True, True] Translation: X:313.79, Y:16.51, Z:11.40 [[ 9.95420171e-01 -8.83515872e-02 -3.65058914e-02 3.13786323e+02] [ 8.83260611e-02 9.96088927e-01 -2.31455368e-03 1.65091762e+01] [ 3.65676087e-02 -9.20468173e-04 9.99330757e-01 1.14033160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.939254154 meters Centerline goodness : 0.999288 with order 1 Centerline is valid? [True, True] Translation: X:313.85, Y:16.51, Z:11.40 [[ 9.94987419e-01 -9.30986342e-02 -3.65058914e-02 3.13846347e+02] [ 9.30762983e-02 9.95656289e-01 -2.31455368e-03 1.65112604e+01] [ 3.65628022e-02 -1.09488144e-03 9.99330757e-01 1.14045179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.99925415399997 meters Centerline goodness : 0.999227 with order 1 Centerline is valid? [True, True] Translation: X:313.91, Y:16.51, Z:11.41 [[ 9.94356292e-01 -9.96136797e-02 -3.65058914e-02 3.13906151e+02] [ 9.95957252e-02 9.95025293e-01 -2.31455368e-03 1.65137166e+01] [ 3.65548465e-02 -1.33433971e-03 9.99330757e-01 1.14069264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.059254154 meters Centerline goodness : 0.998767 with order 1 Centerline is valid? [True, True] Translation: X:313.97, Y:16.52, Z:11.41 [[ 9.94039125e-01 -1.02730396e-01 -3.65059336e-02 3.13966990e+02] [ 1.02714563e-01 9.94708181e-01 -2.31388887e-03 1.65176346e+01] [ 3.65504575e-02 -1.44959495e-03 9.99330757e-01 1.14094712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.119254154 meters Centerline goodness : 0.998559 with order 1 Centerline is valid? [True, True] Translation: X:314.03, Y:16.52, Z:11.41 [[ 9.94129049e-01 -1.01856494e-01 -3.65060173e-02 3.14028642e+02] [ 1.01840122e-01 9.94798091e-01 -2.31256697e-03 1.65180151e+01] [ 3.65516663e-02 -1.41878726e-03 9.99330757e-01 1.14110065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.179254154 meters Centerline goodness : 0.998726 with order 1 Centerline is valid? [True, True] Translation: X:314.09, Y:16.53, Z:11.42 [[ 9.93673145e-01 -1.06211979e-01 -3.65061043e-02 3.14089338e+02] [ 1.06198589e-01 9.94342254e-01 -2.31119229e-03 1.65277185e+01] [ 3.65450384e-02 -1.58032704e-03 9.99330757e-01 1.14165757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.239254154 meters Centerline goodness : 0.998474 with order 1 Centerline is valid? [True, True] Translation: X:314.15, Y:16.53, Z:11.41 [[ 9.94222436e-01 -1.00940790e-01 -3.65062331e-02 3.14150586e+02] [ 1.00923927e-01 9.94891466e-01 -2.30915737e-03 1.65270868e+01] [ 3.65528279e-02 -1.38853633e-03 9.99330757e-01 1.14144635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.299254154 meters Centerline goodness : 0.998747 with order 1 Centerline is valid? [True, True] Translation: X:314.21, Y:16.54, Z:11.42 [[ 9.93758623e-01 -1.05409144e-01 -3.65063215e-02 3.14211616e+02] [ 1.05395339e-01 9.94427723e-01 -2.30775793e-03 1.65376958e+01] [ 3.65461570e-02 -1.55424180e-03 9.99330757e-01 1.14224893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.359254154 meters Centerline goodness : 0.998975 with order 1 Centerline is valid? [True, True] Translation: X:314.27, Y:16.54, Z:11.42 [[ 9.93801497e-01 -1.05004094e-01 -3.65064957e-02 3.14272658e+02] [ 1.04990118e-01 9.94470594e-01 -2.30499880e-03 1.65429411e+01] [ 3.65466708e-02 -1.54211004e-03 9.99330757e-01 1.14229739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.419254154 meters Centerline goodness : 0.998955 with order 1 Centerline is valid? [True, True] Translation: X:314.34, Y:16.55, Z:11.43 [[ 9.93919293e-01 -1.03883136e-01 -3.65066246e-02 3.14335012e+02] [ 1.03868481e-01 9.94588375e-01 -2.30295604e-03 1.65492679e+01] [ 3.65483027e-02 -1.50293518e-03 9.99330757e-01 1.14254108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.479254154 meters Centerline goodness : 0.999039 with order 1 Centerline is valid? [True, True] Translation: X:314.40, Y:16.55, Z:11.43 [[ 9.93847180e-01 -1.04570709e-01 -3.65068375e-02 3.14397077e+02] [ 1.04556640e-01 9.94516275e-01 -2.29957584e-03 1.65539573e+01] [ 3.65471123e-02 -1.53160529e-03 9.99330757e-01 1.14277103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.539254154 meters Centerline goodness : 0.998765 with order 1 Centerline is valid? [True, True] Translation: X:314.46, Y:16.56, Z:11.43 [[ 9.93971895e-01 -1.03378482e-01 -3.65070078e-02 3.14458588e+02] [ 1.03363709e-01 9.94640974e-01 -2.29686894e-03 1.65600899e+01] [ 3.65488127e-02 -1.49047657e-03 9.99330757e-01 1.14293361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.599254154 meters Centerline goodness : 0.999141 with order 1 Centerline is valid? [True, True] Translation: X:314.52, Y:16.57, Z:11.43 [[ 9.94332747e-01 -9.98479594e-02 -3.65071776e-02 3.14518996e+02] [ 9.98309100e-02 9.95001772e-01 -2.29416703e-03 1.65676905e+01] [ 3.65537743e-02 -1.36337936e-03 9.99330757e-01 1.14312330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.659254154 meters Centerline goodness : 0.998974 with order 1 Centerline is valid? [True, True] Translation: X:314.58, Y:16.57, Z:11.43 [[ 9.94666166e-01 -9.64698116e-02 -3.65074459e-02 3.14580702e+02] [ 9.64506466e-02 9.95335134e-01 -2.28988927e-03 1.65745600e+01] [ 3.65580488e-02 -1.24349138e-03 9.99330757e-01 1.14344903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.719254154 meters Centerline goodness : 0.999015 with order 1 Centerline is valid? [True, True] Translation: X:314.64, Y:16.58, Z:11.44 [[ 9.94766600e-01 -9.54285330e-02 -3.65076158e-02 3.14642769e+02] [ 9.54087671e-02 9.95435551e-01 -2.28717732e-03 1.65805434e+01] [ 3.65592407e-02 -1.20793902e-03 9.99330757e-01 1.14379631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.779254154 meters Centerline goodness : 0.999098 with order 1 Centerline is valid? [True, True] Translation: X:314.70, Y:16.59, Z:11.44 [[ 9.94842425e-01 -9.46347207e-02 -3.65077864e-02 3.14704100e+02] [ 9.46145210e-02 9.95511363e-01 -2.28445107e-03 1.65874166e+01] [ 3.65601046e-02 -1.18149788e-03 9.99330757e-01 1.14426780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.839254154 meters Centerline goodness : 0.998910 with order 1 Centerline is valid? [True, True] Translation: X:314.77, Y:16.59, Z:11.45 [[ 9.94753777e-01 -9.55619821e-02 -3.65079593e-02 3.14765976e+02] [ 9.55425073e-02 9.95422736e-01 -2.28168539e-03 1.65924408e+01] [ 3.65588951e-02 -1.21834681e-03 9.99330757e-01 1.14451259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.899254154 meters Centerline goodness : 0.999204 with order 1 Centerline is valid? [True, True] Translation: X:314.83, Y:16.60, Z:11.45 [[ 9.94652964e-01 -9.66055743e-02 -3.65081315e-02 3.14826547e+02] [ 9.65869025e-02 9.95321946e-01 -2.27892614e-03 1.65980556e+01] [ 3.65575015e-02 -1.25946670e-03 9.99330757e-01 1.14458535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.959254154 meters Centerline goodness : 0.999267 with order 1 Centerline is valid? [True, True] Translation: X:314.89, Y:16.60, Z:11.45 [[ 9.94596289e-01 -9.71872912e-02 -3.65082586e-02 3.14888529e+02] [ 9.71690854e-02 9.95265284e-01 -2.27688821e-03 1.66028879e+01] [ 3.65566870e-02 -1.28288954e-03 9.99330757e-01 1.14478748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.019254154 meters Centerline goodness : 0.999013 with order 1 Centerline is valid? [True, True] Translation: X:314.95, Y:16.61, Z:11.45 [[ 9.94477256e-01 -9.83977753e-02 -3.65084296e-02 3.14949432e+02] [ 9.83804844e-02 9.95146275e-01 -2.27414356e-03 1.66086646e+01] [ 3.65549984e-02 -1.33013294e-03 9.99330757e-01 1.14483938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.079254154 meters Centerline goodness : 0.999118 with order 1 Centerline is valid? [True, True] Translation: X:315.01, Y:16.62, Z:11.45 [[ 9.94438491e-01 -9.87887315e-02 -3.65085557e-02 3.15011186e+02] [ 9.87717779e-02 9.95107519e-01 -2.27211713e-03 1.66150093e+01] [ 3.65543978e-02 -1.34653423e-03 9.99330757e-01 1.14505657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.139254154 meters Centerline goodness : 0.998972 with order 1 Centerline is valid? [True, True] Translation: X:315.07, Y:16.62, Z:11.45 [[ 9.94650907e-01 -9.66265278e-02 -3.65087244e-02 3.15072093e+02] [ 9.66082193e-02 9.95319899e-01 -2.26940242e-03 1.66219514e+01] [ 3.65571444e-02 -1.26977968e-03 9.99330757e-01 1.14505012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.199254154 meters Centerline goodness : 0.998972 with order 1 Centerline is valid? [True, True] Translation: X:315.13, Y:16.62, Z:11.44 [[ 9.95663180e-01 -8.55683270e-02 -3.65088196e-02 3.15133906e+02] [ 8.55426421e-02 9.96331929e-01 -2.26787063e-03 1.66208958e+01] [ 3.65689606e-02 -8.65025612e-04 9.99330757e-01 1.14448021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.259254154 meters Centerline goodness : 0.999011 with order 1 Centerline is valid? [True, True] Translation: X:315.19, Y:16.64, Z:11.46 [[ 9.95147470e-01 -9.13707345e-02 -3.65089167e-02 3.15193613e+02] [ 9.13490056e-02 9.95816360e-01 -2.26630625e-03 1.66373623e+01] [ 3.65632506e-02 -1.07974430e-03 9.99330757e-01 1.14562814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.319254154 meters Centerline goodness : 0.999011 with order 1 Centerline is valid? [True, True] Translation: X:315.26, Y:16.64, Z:11.46 [[ 9.95085753e-01 -9.20403160e-02 -3.65092278e-02 3.15255269e+02] [ 9.20192213e-02 9.95754663e-01 -2.26128311e-03 1.66428541e+01] [ 3.65623631e-02 -1.10938011e-03 9.99330757e-01 1.14620025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.379254154 meters Centerline goodness : 0.999073 with order 1 Centerline is valid? [True, True] Translation: X:315.32, Y:16.65, Z:11.46 [[ 9.94791595e-01 -9.51669372e-02 -3.65094146e-02 3.15316075e+02] [ 9.51480554e-02 9.95460571e-01 -2.25826414e-03 1.66486372e+01] [ 3.65585947e-02 -1.22729762e-03 9.99330758e-01 1.14638458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.439254154 meters Centerline goodness : 0.999009 with order 1 Centerline is valid? [True, True] Translation: X:315.38, Y:16.65, Z:11.47 [[ 9.94639212e-01 -9.67465325e-02 -3.65095389e-02 3.15378232e+02] [ 9.67287867e-02 9.95308219e-01 -2.25625273e-03 1.66545095e+01] [ 3.65565287e-02 -1.28736597e-03 9.99330758e-01 1.14659527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.49925415399997 meters Centerline goodness : 0.998923 with order 1 Centerline is valid? [True, True] Translation: X:315.44, Y:16.66, Z:11.47 [[ 9.94699485e-01 -9.61247978e-02 -3.65097063e-02 3.15438672e+02] [ 9.61067333e-02 9.95368483e-01 -2.25354061e-03 1.66605924e+01] [ 3.65572321e-02 -1.26723292e-03 9.99330758e-01 1.14683442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.559254154 meters Centerline goodness : 0.998902 with order 1 Centerline is valid? [True, True] Translation: X:315.50, Y:16.67, Z:11.47 [[ 9.94824250e-01 -9.48248099e-02 -3.65098298e-02 3.15500638e+02] [ 9.48059446e-02 9.95493226e-01 -2.25153761e-03 1.66659465e+01] [ 3.65587899e-02 -1.22146468e-03 9.99330758e-01 1.14711539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.619254154 meters Centerline goodness : 0.998818 with order 1 Centerline is valid? [True, True] Translation: X:315.56, Y:16.67, Z:11.47 [[ 9.94980977e-01 -9.31658509e-02 -3.65099981e-02 3.15561468e+02] [ 9.31459703e-02 9.95649924e-01 -2.24880581e-03 1.66727311e+01] [ 3.65606887e-02 -1.16324020e-03 9.99330758e-01 1.14727279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.679254154 meters Centerline goodness : 0.998901 with order 1 Centerline is valid? [True, True] Translation: X:315.62, Y:16.68, Z:11.47 [[ 9.95002056e-01 -9.29404134e-02 -3.65101223e-02 3.15623386e+02] [ 9.29204552e-02 9.95671000e-01 -2.24678674e-03 1.66782679e+01] [ 3.65608873e-02 -1.15697976e-03 9.99330758e-01 1.14748253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.739254154 meters Centerline goodness : 0.999046 with order 1 Centerline is valid? [True, True] Translation: X:315.69, Y:16.68, Z:11.48 [[ 9.95001163e-01 -9.29499049e-02 -3.65102858e-02 3.15685510e+02] [ 9.29300505e-02 9.95670111e-01 -2.24412737e-03 1.66833041e+01] [ 3.65607917e-02 -1.15999336e-03 9.99330758e-01 1.14753282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.799254154 meters Centerline goodness : 0.998942 with order 1 Centerline is valid? [True, True] Translation: X:315.75, Y:16.69, Z:11.48 [[ 9.94808957e-01 -9.49848577e-02 -3.65104983e-02 3.15747551e+02] [ 9.49664986e-02 9.95477947e-01 -2.24066512e-03 1.66884126e+01] [ 3.65582251e-02 -1.23824046e-03 9.99330758e-01 1.14802141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.859254154 meters Centerline goodness : 0.998921 with order 1 Centerline is valid? [True, True] Translation: X:315.81, Y:16.69, Z:11.48 [[ 9.94675890e-01 -9.63682762e-02 -3.65106796e-02 3.15810276e+02] [ 9.63509559e-02 9.95344908e-01 -2.23770674e-03 1.66932023e+01] [ 3.65563629e-02 -1.29204593e-03 9.99330758e-01 1.14824589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.919254154 meters Centerline goodness : 0.998624 with order 1 Centerline is valid? [True, True] Translation: X:315.87, Y:16.70, Z:11.48 [[ 9.94497143e-01 -9.81956452e-02 -3.65109301e-02 3.15873447e+02] [ 9.81797043e-02 9.95166195e-01 -2.23361220e-03 1.66971881e+01] [ 3.65537744e-02 -1.36331136e-03 9.99330758e-01 1.14838634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.979254154 meters Centerline goodness : 0.999152 with order 1 Centerline is valid? [True, True] Translation: X:315.94, Y:16.70, Z:11.49 [[ 9.94526255e-01 -9.79002667e-02 -3.65111763e-02 3.15935153e+02] [ 9.78842749e-02 9.95195306e-01 -2.22957967e-03 1.67014553e+01] [ 3.65540277e-02 -1.35649450e-03 9.99330758e-01 1.14860006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.039254154 meters Centerline goodness : 0.999004 with order 1 Centerline is valid? [True, True] Translation: X:316.00, Y:16.71, Z:11.49 [[ 9.94935049e-01 -9.36545326e-02 -3.65113379e-02 3.15997003e+02] [ 9.36357823e-02 9.95604028e-01 -2.22693098e-03 1.67070476e+01] [ 3.65593972e-02 -1.20311600e-03 9.99330758e-01 1.14885593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.099254154 meters Centerline goodness : 0.999085 with order 1 Centerline is valid? [True, True] Translation: X:316.06, Y:16.71, Z:11.49 [[ 9.95723968e-01 -8.48568816e-02 -3.65115032e-02 3.16057436e+02] [ 8.48323186e-02 9.96392759e-01 -2.22421725e-03 1.67140272e+01] [ 3.65685375e-02 -8.82649046e-04 9.99330758e-01 1.14920921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.159254154 meters Centerline goodness : 0.998874 with order 1 Centerline is valid? [True, True] Translation: X:316.12, Y:16.72, Z:11.49 [[ 9.96245245e-01 -7.85003957e-02 -3.65116252e-02 3.16119827e+02] [ 7.84716383e-02 9.96913870e-01 -2.22221307e-03 1.67191959e+01] [ 3.65733901e-02 -6.51257843e-04 9.99330758e-01 1.14944393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.219254154 meters Centerline goodness : 0.998957 with order 1 Centerline is valid? [True, True] Translation: X:316.18, Y:16.72, Z:11.50 [[ 9.96603744e-01 -7.38096641e-02 -3.65117847e-02 3.16182198e+02] [ 7.37778556e-02 9.97272230e-01 -2.21958867e-03 1.67240934e+01] [ 3.65760161e-02 -4.81710804e-04 9.99330758e-01 1.14962593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.279254154 meters Centerline goodness : 0.998999 with order 1 Centerline is valid? [True, True] Translation: X:316.24, Y:16.73, Z:11.50 [[ 9.96770077e-01 -7.15282532e-02 -3.65119440e-02 3.16244557e+02] [ 7.14950108e-02 9.97438494e-01 -2.21696454e-03 1.67278423e+01] [ 3.65769941e-02 -4.00617914e-04 9.99330758e-01 1.14970603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.339254154 meters Centerline goodness : 0.999149 with order 1 Centerline is valid? [True, True] Translation: X:316.31, Y:16.74, Z:11.51 [[ 9.96316256e-01 -7.75937105e-02 -3.65121062e-02 3.16305393e+02] [ 7.75646349e-02 9.96984867e-01 -2.21428987e-03 1.67387416e+01] [ 3.65738323e-02 -6.25915195e-04 9.99330758e-01 1.15060271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.399254154 meters Centerline goodness : 0.999129 with order 1 Centerline is valid? [True, True] Translation: X:316.37, Y:16.73, Z:11.50 [[ 9.96332472e-01 -7.73851557e-02 -3.65122434e-02 3.16365876e+02] [ 7.73560232e-02 9.97001080e-01 -2.21202511e-03 1.67337846e+01] [ 3.65739240e-02 -6.20529502e-04 9.99330758e-01 1.15017492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.459254154 meters Centerline goodness : 0.998980 with order 1 Centerline is valid? [True, True] Translation: X:316.43, Y:16.74, Z:11.50 [[ 9.96020273e-01 -8.13048056e-02 -3.65122434e-02 3.16427618e+02] [ 8.12783041e-02 9.96688991e-01 -2.21202511e-03 1.67361408e+01] [ 3.65711993e-02 -7.64431369e-04 9.99330758e-01 1.15040496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.519254154 meters Centerline goodness : 0.998833 with order 1 Centerline is valid? [True, True] Translation: X:316.49, Y:16.74, Z:11.50 [[ 9.95542380e-01 -8.69609944e-02 -3.65124039e-02 3.16488638e+02] [ 8.69383889e-02 9.96211240e-01 -2.20937267e-03 1.67366320e+01] [ 3.65661965e-02 -9.74805445e-04 9.99330758e-01 1.15048652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.579254154 meters Centerline goodness : 0.998983 with order 1 Centerline is valid? [True, True] Translation: X:316.55, Y:16.74, Z:11.51 [[ 9.95194459e-01 -9.08559993e-02 -3.65126772e-02 3.16550547e+02] [ 9.08361772e-02 9.95863408e-01 -2.20484679e-03 1.67386722e+01] [ 3.65619628e-02 -1.12242071e-03 9.99330758e-01 1.15080046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.639254154 meters Centerline goodness : 0.999003 with order 1 Centerline is valid? [True, True] Translation: X:316.61, Y:16.74, Z:11.51 [[ 9.94747735e-01 -9.56229933e-02 -3.65128325e-02 3.16611462e+02] [ 9.56064708e-02 9.95416773e-01 -2.20227204e-03 1.67406678e+01] [ 3.65560738e-02 -1.30015793e-03 9.99330758e-01 1.15091992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.699254154 meters Centerline goodness : 0.999069 with order 1 Centerline is valid? [True, True] Translation: X:316.67, Y:16.74, Z:11.51 [[ 9.94356591e-01 -9.96080532e-02 -3.65130907e-02 3.16673914e+02] [ 9.95943688e-02 9.95025693e-01 -2.19798369e-03 1.67430216e+01] [ 3.65504003e-02 -1.45091865e-03 9.99330758e-01 1.15122605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.759254154 meters Centerline goodness : 0.999132 with order 1 Centerline is valid? [True, True] Translation: X:316.74, Y:16.74, Z:11.51 [[ 9.94709234e-01 -9.60225137e-02 -3.65132428e-02 3.16736061e+02] [ 9.60065099e-02 9.95378285e-01 -2.19545422e-03 1.67411424e+01] [ 3.65553020e-02 -1.32167042e-03 9.99330758e-01 1.15083273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.819254154 meters Centerline goodness : 0.999302 with order 1 Centerline is valid? [True, True] Translation: X:316.80, Y:16.75, Z:11.52 [[ 9.94273529e-01 -1.00433674e-01 -3.65133719e-02 3.16796200e+02] [ 1.00420717e-01 9.94942646e-01 -2.19330392e-03 1.67500578e+01] [ 3.65489925e-02 -1.48595496e-03 9.99330758e-01 1.15163444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.879254154 meters Centerline goodness : 0.999301 with order 1 Centerline is valid? [True, True] Translation: X:316.86, Y:16.75, Z:11.52 [[ 9.94689928e-01 -9.62221186e-02 -3.65137004e-02 3.16857831e+02] [ 9.62065287e-02 9.95358989e-01 -2.18782236e-03 1.67549452e+01] [ 3.65547568e-02 -1.33665150e-03 9.99330758e-01 1.15175466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.939254154 meters Centerline goodness : 0.999341 with order 1 Centerline is valid? [True, True] Translation: X:316.92, Y:16.76, Z:11.52 [[ 9.95448759e-01 -8.80256009e-02 -3.65138541e-02 3.16919426e+02] [ 8.80045947e-02 9.96117672e-01 -2.18525418e-03 1.67614498e+01] [ 3.65644536e-02 -1.03807836e-03 9.99330758e-01 1.15199407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.99925415399997 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:316.98, Y:16.77, Z:11.52 [[ 9.96077957e-01 -8.05942354e-02 -3.65140140e-02 3.16980799e+02] [ 8.05683358e-02 9.96746698e-01 -2.18257823e-03 1.67678219e+01] [ 3.65711261e-02 -7.67855284e-04 9.99330758e-01 1.15225738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.059254154 meters Centerline goodness : 0.999594 with order 1 Centerline is valid? [True, True] Translation: X:317.04, Y:16.78, Z:11.52 [[ 9.96951119e-01 -6.89578258e-02 -3.65141771e-02 3.17042182e+02] [ 6.89242193e-02 9.97619517e-01 -2.17984642e-03 1.67750484e+01] [ 3.65775732e-02 -3.43510829e-04 9.99330758e-01 1.15245566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.119254154 meters Centerline goodness : 0.999358 with order 1 Centerline is valid? [True, True] Translation: X:317.10, Y:16.78, Z:11.52 [[ 9.97584845e-01 -5.90862026e-02 -3.65143386e-02 3.17103241e+02] [ 5.90460808e-02 9.98252884e-01 -2.17713780e-03 1.67794898e+01] [ 3.65791826e-02 1.58510866e-05 9.99330758e-01 1.15249536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.179254154 meters Centerline goodness : 0.999679 with order 1 Centerline is valid? [True, True] Translation: X:317.16, Y:16.78, Z:11.52 [[ 9.97845678e-01 -5.45041272e-02 -3.65144180e-02 3.17161644e+02] [ 5.44609866e-02 9.98513529e-01 -2.17580496e-03 1.67837876e+01] [ 3.65787308e-02 1.82506350e-04 9.99330758e-01 1.15220044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.239254154 meters Centerline goodness : 0.999615 with order 1 Centerline is valid? [True, True] Translation: X:317.22, Y:16.79, Z:11.53 [[ 9.98006792e-01 -5.14700619e-02 -3.65140388e-02 3.17219037e+02] [ 5.14246589e-02 9.98674493e-01 -2.18215136e-03 1.67852763e+01] [ 3.65779546e-02 3.00079889e-04 9.99330758e-01 1.15309326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.299254154 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:317.28, Y:16.79, Z:11.53 [[ 9.98056752e-01 -5.04922678e-02 -3.65136979e-02 3.17277345e+02] [ 5.04460024e-02 9.98724394e-01 -2.18783997e-03 1.67871848e+01] [ 3.65775898e-02 3.41618366e-04 9.99330758e-01 1.15324118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.359254154 meters Centerline goodness : 0.999362 with order 1 Centerline is valid? [True, True] Translation: X:317.34, Y:16.79, Z:11.53 [[ 9.98026056e-01 -5.10958745e-02 -3.65130463e-02 3.17335172e+02] [ 5.10496171e-02 9.98693698e-01 -2.19866108e-03 1.67869024e+01] [ 3.65776918e-02 3.30344011e-04 9.99330758e-01 1.15342546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.419254154 meters Centerline goodness : 0.999299 with order 1 Centerline is valid? [True, True] Translation: X:317.39, Y:16.79, Z:11.54 [[ 9.97897524e-01 -5.35476633e-02 -3.65127359e-02 3.17394127e+02] [ 5.35028582e-02 9.98565264e-01 -2.20380362e-03 1.67880177e+01] [ 3.65783583e-02 2.45634439e-04 9.99330758e-01 1.15384077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.479254154 meters Centerline goodness : 0.999088 with order 1 Centerline is valid? [True, True] Translation: X:317.45, Y:16.79, Z:11.54 [[ 9.97857973e-01 -5.42800859e-02 -3.65121654e-02 3.17452563e+02] [ 5.42354265e-02 9.98525723e-01 -2.21321528e-03 1.67859210e+01] [ 3.65784699e-02 2.28221653e-04 9.99330758e-01 1.15393812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.539254154 meters Centerline goodness : 0.999556 with order 1 Centerline is valid? [True, True] Translation: X:317.51, Y:16.79, Z:11.54 [[ 9.97730880e-01 -5.65683199e-02 -3.65118628e-02 3.17510355e+02] [ 5.65250097e-02 9.98398719e-01 -2.21819682e-03 1.67867772e+01] [ 3.65788767e-02 1.49330062e-04 9.99330758e-01 1.15435857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.599254154 meters Centerline goodness : 0.999282 with order 1 Centerline is valid? [True, True] Translation: X:317.57, Y:16.78, Z:11.54 [[ 9.97569912e-01 -5.93397206e-02 -3.65112037e-02 3.17569011e+02] [ 5.92978706e-02 9.98237844e-01 -2.22899243e-03 1.67836229e+01] [ 3.65791331e-02 5.85391508e-05 9.99330758e-01 1.15437798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.659254154 meters Centerline goodness : 0.999325 with order 1 Centerline is valid? [True, True] Translation: X:317.63, Y:16.78, Z:11.55 [[ 9.97231360e-01 -6.47810806e-02 -3.65106292e-02 3.17627726e+02] [ 6.47425320e-02 9.97899491e-01 -2.23836418e-03 1.67809863e+01] [ 3.65789419e-02 -1.31623619e-04 9.99330758e-01 1.15459360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.719254154 meters Centerline goodness : 0.999410 with order 1 Centerline is valid? [True, True] Translation: X:317.69, Y:16.78, Z:11.55 [[ 9.97034019e-01 -6.77508820e-02 -3.65100476e-02 3.17687389e+02] [ 6.77139776e-02 9.97702242e-01 -2.24781075e-03 1.67795935e+01] [ 3.65784475e-02 -2.31096762e-04 9.99330758e-01 1.15464668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.779254154 meters Centerline goodness : 0.999117 with order 1 Centerline is valid? [True, True] Translation: X:317.75, Y:16.78, Z:11.55 [[ 9.96483926e-01 -7.54109298e-02 -3.65099648e-02 3.17747195e+02] [ 7.53791125e-02 9.97152411e-01 -2.24915443e-03 1.67775215e+01] [ 3.65756103e-02 -5.10842511e-04 9.99330758e-01 1.15492386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.839254154 meters Centerline goodness : 0.999098 with order 1 Centerline is valid? [True, True] Translation: X:317.81, Y:16.77, Z:11.55 [[ 9.95956930e-01 -8.20781465e-02 -3.65098827e-02 3.17806988e+02] [ 8.20507549e-02 9.96625611e-01 -2.25048573e-03 1.67736405e+01] [ 3.65713999e-02 -7.54276587e-04 9.99330758e-01 1.15492690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.899254154 meters Centerline goodness : 0.999204 with order 1 Centerline is valid? [True, True] Translation: X:317.87, Y:16.77, Z:11.55 [[ 9.95443863e-01 -8.80826140e-02 -3.65098423e-02 3.17867494e+02] [ 8.80592313e-02 9.96112697e-01 -2.25114167e-03 1.67737606e+01] [ 3.65662039e-02 -9.74143484e-04 9.99330758e-01 1.15526171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.959254154 meters Centerline goodness : 0.999076 with order 1 Centerline is valid? [True, True] Translation: X:317.93, Y:16.77, Z:11.55 [[ 9.94892658e-01 -9.41043627e-02 -3.65098423e-02 3.17927948e+02] [ 9.40850274e-02 9.95561620e-01 -2.25114167e-03 1.67733878e+01] [ 3.65596400e-02 -1.19538519e-03 9.99330758e-01 1.15537610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.019254154 meters Centerline goodness : 0.999057 with order 1 Centerline is valid? [True, True] Translation: X:317.99, Y:16.77, Z:11.56 [[ 9.93744238e-01 -1.05543438e-01 -3.65098828e-02 3.17989244e+02] [ 1.05531824e-01 9.94413380e-01 -2.25048404e-03 1.67715984e+01] [ 3.65434398e-02 -1.61654899e-03 9.99330758e-01 1.15552817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.079254154 meters Centerline goodness : 0.998995 with order 1 Centerline is valid? [True, True] Translation: X:318.05, Y:16.77, Z:11.56 [[ 9.92447477e-01 -1.17111178e-01 -3.65099655e-02 3.18051576e+02] [ 1.17107408e-01 9.93116708e-01 -2.24914202e-03 1.67705817e+01] [ 3.65220564e-02 -2.04343212e-03 9.99330758e-01 1.15573553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.139254154 meters Centerline goodness : 0.999162 with order 1 Centerline is valid? [True, True] Translation: X:318.11, Y:16.77, Z:11.56 [[ 9.92003896e-01 -1.20810926e-01 -3.65101295e-02 3.18113960e+02] [ 1.20809749e-01 9.92673137e-01 -2.24647752e-03 1.67736261e+01] [ 3.65140238e-02 -2.18226512e-03 9.99330758e-01 1.15601036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.199254154 meters Centerline goodness : 0.999036 with order 1 Centerline is valid? [True, True] Translation: X:318.18, Y:16.78, Z:11.56 [[ 9.91159812e-01 -1.27550870e-01 -3.65102992e-02 3.18175534e+02] [ 1.27554343e-01 9.91829045e-01 -2.24371566e-03 1.67770601e+01] [ 3.64981631e-02 -2.43316643e-03 9.99330758e-01 1.15616781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.259254154 meters Centerline goodness : 0.999059 with order 1 Centerline is valid? [True, True] Translation: X:318.24, Y:16.78, Z:11.56 [[ 9.91596445e-01 -1.24110708e-01 -3.65105813e-02 3.18237923e+02] [ 1.24112028e-01 9.92265686e-01 -2.23911535e-03 1.67775788e+01] [ 3.65060952e-02 -2.31110346e-03 9.99330758e-01 1.15619850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.319254154 meters Centerline goodness : 0.999021 with order 1 Centerline is valid? [True, True] Translation: X:318.30, Y:16.78, Z:11.57 [[ 9.91807939e-01 -1.22409057e-01 -3.65107549e-02 3.18299639e+02] [ 1.22409333e-01 9.92477181e-01 -2.23628138e-03 1.67834921e+01] [ 3.65098322e-02 -2.25129552e-03 9.99330758e-01 1.15657115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.379254154 meters Centerline goodness : 0.999039 with order 1 Centerline is valid? [True, True] Translation: X:318.36, Y:16.79, Z:11.57 [[ 9.92068096e-01 -1.20282360e-01 -3.65109245e-02 3.18361841e+02] [ 1.20281302e-01 9.92737337e-01 -2.23350869e-03 1.67921405e+01] [ 3.65144097e-02 -2.17578883e-03 9.99330758e-01 1.15682473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.439254154 meters Centerline goodness : 0.999102 with order 1 Centerline is valid? [True, True] Translation: X:318.42, Y:16.80, Z:11.57 [[ 9.92931635e-01 -1.12932315e-01 -3.65110922e-02 3.18423317e+02] [ 1.12926402e-01 9.93600851e-01 -2.23076383e-03 1.68016004e+01] [ 3.65293776e-02 -1.90807029e-03 9.99330758e-01 1.15721408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.49925415399997 meters Centerline goodness : 0.999184 with order 1 Centerline is valid? [True, True] Translation: X:318.49, Y:16.81, Z:11.57 [[ 9.93561157e-01 -1.07252766e-01 -3.65112617e-02 3.18485579e+02] [ 1.07243128e-01 9.94230329e-01 -2.22798585e-03 1.68092439e+01] [ 3.65395614e-02 -1.70194172e-03 9.99330758e-01 1.15749141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.559254154 meters Centerline goodness : 0.998952 with order 1 Centerline is valid? [True, True] Translation: X:318.55, Y:16.82, Z:11.58 [[ 9.94446789e-01 -9.87040995e-02 -3.65114308e-02 3.18546600e+02] [ 9.86888086e-02 9.95115856e-01 -2.22521189e-03 1.68176215e+01] [ 3.65527413e-02 -1.39041479e-03 9.99330758e-01 1.15755282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.619254154 meters Centerline goodness : 0.999163 with order 1 Centerline is valid? [True, True] Translation: X:318.61, Y:16.83, Z:11.58 [[ 9.95273362e-01 -8.99880072e-02 -3.65115554e-02 3.18608618e+02] [ 8.99669303e-02 9.95942272e-01 -2.22316506e-03 1.68278622e+01] [ 3.65634597e-02 -1.07217560e-03 9.99330758e-01 1.15790478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.679254154 meters Centerline goodness : 0.999033 with order 1 Centerline is valid? [True, True] Translation: X:318.67, Y:16.84, Z:11.58 [[ 9.95860525e-01 -8.32388696e-02 -3.65117202e-02 3.18670227e+02] [ 8.32133578e-02 9.96529280e-01 -2.22045633e-03 1.68354435e+01] [ 3.65698265e-02 -8.26998027e-04 9.99330758e-01 1.15819755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.739254154 meters Centerline goodness : 0.999140 with order 1 Centerline is valid? [True, True] Translation: X:318.73, Y:16.84, Z:11.58 [[ 9.96415445e-01 -7.63095249e-02 -3.65118856e-02 3.18729818e+02] [ 7.62794615e-02 9.97084011e-01 -2.21773247e-03 1.68421870e+01] [ 3.65746515e-02 -5.75324089e-04 9.99330758e-01 1.15836935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.799254154 meters Centerline goodness : 0.998989 with order 1 Centerline is valid? [True, True] Translation: X:318.79, Y:16.85, Z:11.59 [[ 9.96975991e-01 -6.85984833e-02 -3.65119261e-02 3.18789552e+02] [ 6.85632729e-02 9.97644306e-01 -2.21706563e-03 1.68499916e+01] [ 3.65780025e-02 -2.93015950e-04 9.99330758e-01 1.15866506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.859254154 meters Centerline goodness : 0.999052 with order 1 Centerline is valid? [True, True] Translation: X:318.85, Y:16.85, Z:11.59 [[ 9.97125933e-01 -6.63833838e-02 -3.65119261e-02 3.18848420e+02] [ 6.63466887e-02 9.97794168e-01 -2.21706563e-03 1.68549619e+01] [ 3.65785632e-02 -2.11751765e-04 9.99330758e-01 1.15908657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.919254154 meters Centerline goodness : 0.998906 with order 1 Centerline is valid? [True, True] Translation: X:318.91, Y:16.86, Z:11.59 [[ 9.97127941e-01 -6.63532501e-02 -3.65118440e-02 3.18908317e+02] [ 6.63164854e-02 9.97796173e-01 -2.21841624e-03 1.68581318e+01] [ 3.65785774e-02 -2.09292352e-04 9.99330758e-01 1.15932105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.979254154 meters Centerline goodness : 0.999159 with order 1 Centerline is valid? [True, True] Translation: X:318.97, Y:16.86, Z:11.60 [[ 9.96884687e-01 -6.99128821e-02 -3.65117632e-02 3.18967920e+02] [ 6.98784547e-02 9.97553043e-01 -2.21974619e-03 1.68582082e+01] [ 3.65776093e-02 -3.38554602e-04 9.99330758e-01 1.15950264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.039254154 meters Centerline goodness : 0.999012 with order 1 Centerline is valid? [True, True] Translation: X:319.03, Y:16.86, Z:11.60 [[ 9.96615040e-01 -7.36570320e-02 -3.65116819e-02 3.19028399e+02] [ 7.36250665e-02 9.97283519e-01 -2.22108171e-03 1.68594221e+01] [ 3.65760969e-02 -4.74611570e-04 9.99330758e-01 1.15971046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.099254154 meters Centerline goodness : 0.998994 with order 1 Centerline is valid? [True, True] Translation: X:319.09, Y:16.86, Z:11.60 [[ 9.96191726e-01 -7.91766510e-02 -3.65116819e-02 3.19089380e+02] [ 7.91483890e-02 9.96860371e-01 -2.22108171e-03 1.68581142e+01] [ 3.65729066e-02 -6.77217582e-04 9.99330758e-01 1.15959577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.159254154 meters Centerline goodness : 0.999245 with order 1 Centerline is valid? [True, True] Translation: X:319.15, Y:16.86, Z:11.60 [[ 9.95871792e-01 -8.31039716e-02 -3.65116819e-02 3.19151113e+02] [ 8.30783463e-02 9.96540544e-01 -2.22108171e-03 1.68595095e+01] [ 3.65699521e-02 -8.21417530e-04 9.99330758e-01 1.15989241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.219254154 meters Centerline goodness : 0.999142 with order 1 Centerline is valid? [True, True] Translation: X:319.21, Y:16.86, Z:11.61 [[ 9.95364640e-01 -8.89726085e-02 -3.65117650e-02 3.19211497e+02] [ 8.89509756e-02 9.96033532e-01 -2.21971483e-03 1.68626641e+01] [ 3.65644361e-02 -1.03833147e-03 9.99330758e-01 1.16114117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.279254154 meters Centerline goodness : 0.999058 with order 1 Centerline is valid? [True, True] Translation: X:319.27, Y:16.86, Z:11.60 [[ 9.95587616e-01 -8.64418200e-02 -3.65117966e-02 3.19273036e+02] [ 8.64185057e-02 9.96256451e-01 -2.21919567e-03 1.68618236e+01] [ 3.65669442e-02 -9.45891171e-04 9.99330758e-01 1.16042151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.339254154 meters Centerline goodness : 0.999079 with order 1 Centerline is valid? [True, True] Translation: X:319.33, Y:16.86, Z:11.61 [[ 9.95706906e-01 -8.50567105e-02 -3.65118372e-02 3.19333752e+02] [ 8.50324903e-02 9.96375709e-01 -2.21852805e-03 1.68640958e+01] [ 3.65682083e-02 -8.95688735e-04 9.99330758e-01 1.16058346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.399254154 meters Centerline goodness : 0.999288 with order 1 Centerline is valid? [True, True] Translation: X:319.39, Y:16.87, Z:11.61 [[ 9.95873980e-01 -8.30776657e-02 -3.65118777e-02 3.19394880e+02] [ 8.30521407e-02 9.96542735e-01 -2.21786035e-03 1.68664873e+01] [ 3.65699011e-02 -8.23680190e-04 9.99330758e-01 1.16095355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.459254154 meters Centerline goodness : 0.999119 with order 1 Centerline is valid? [True, True] Translation: X:319.46, Y:16.87, Z:11.61 [[ 9.96241244e-01 -7.85510011e-02 -3.65119581e-02 3.19455514e+02] [ 7.85224857e-02 9.96909879e-01 -2.21653569e-03 1.68683095e+01] [ 3.65732428e-02 -6.58805433e-04 9.99330758e-01 1.16120220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.519254154 meters Centerline goodness : 0.999121 with order 1 Centerline is valid? [True, True] Translation: X:319.52, Y:16.87, Z:11.62 [[ 9.96615718e-01 -7.36477270e-02 -3.65119581e-02 3.19515707e+02] [ 7.36159218e-02 9.97284204e-01 -2.21653569e-03 1.68704990e+01] [ 3.65760419e-02 -4.78827143e-04 9.99330758e-01 1.16151558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.579254154 meters Centerline goodness : 0.999205 with order 1 Centerline is valid? [True, True] Translation: X:319.58, Y:16.87, Z:11.62 [[ 9.96836129e-01 -7.06017655e-02 -3.65119581e-02 3.19575305e+02] [ 7.05679176e-02 9.97504514e-01 -2.21653569e-03 1.68725716e+01] [ 3.65773344e-02 -3.67049991e-04 9.99330758e-01 1.16171169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.639254154 meters Centerline goodness : 0.999268 with order 1 Centerline is valid? [True, True] Translation: X:319.63, Y:16.87, Z:11.62 [[ 9.97044391e-01 -6.75970861e-02 -3.65118762e-02 3.19634370e+02] [ 6.75611745e-02 9.97712668e-01 -2.21788454e-03 1.68735542e+01] [ 3.65782840e-02 -2.55455894e-04 9.99330758e-01 1.16175961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.699254154 meters Centerline goodness : 0.999162 with order 1 Centerline is valid? [True, True] Translation: X:319.69, Y:16.88, Z:11.62 [[ 9.97090574e-01 -6.69127180e-02 -3.65113002e-02 3.19693437e+02] [ 6.68760019e-02 9.97758808e-01 -2.22732702e-03 1.68753920e+01] [ 3.65785078e-02 -2.20883006e-04 9.99330758e-01 1.16188160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.759254154 meters Centerline goodness : 0.999246 with order 1 Centerline is valid? [True, True] Translation: X:319.75, Y:16.88, Z:11.62 [[ 9.97066479e-01 -6.72711186e-02 -3.65107279e-02 3.19752245e+02] [ 6.72343006e-02 9.97734707e-01 -2.23666831e-03 1.68771694e+01] [ 3.65784836e-02 -2.24666263e-04 9.99330758e-01 1.16222622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.819254154 meters Centerline goodness : 0.999101 with order 1 Centerline is valid? [True, True] Translation: X:319.81, Y:16.88, Z:11.63 [[ 9.96809237e-01 -7.09813651e-02 -3.65101517e-02 3.19810230e+02] [ 7.09466913e-02 9.97477580e-01 -2.24603559e-03 1.68789681e+01] [ 3.65774844e-02 -3.51405435e-04 9.99330758e-01 1.16257334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.879254154 meters Centerline goodness : 0.999228 with order 1 Centerline is valid? [True, True] Translation: X:319.87, Y:16.88, Z:11.63 [[ 9.96437253e-01 -7.60251525e-02 -3.65099493e-02 3.19868495e+02] [ 7.59937412e-02 9.97105758e-01 -2.24931961e-03 1.68804661e+01] [ 3.65752856e-02 -5.33221789e-04 9.99330758e-01 1.16286281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.939254154 meters Centerline goodness : 0.999144 with order 1 Centerline is valid? [True, True] Translation: X:319.93, Y:16.88, Z:11.63 [[ 9.95529049e-01 -8.71147450e-02 -3.65093681e-02 3.19927755e+02] [ 8.70904344e-02 9.96197849e-01 -2.25871516e-03 1.68793850e+01] [ 3.65673213e-02 -9.31000172e-04 9.99330758e-01 1.16303475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.99925415399997 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:319.99, Y:16.88, Z:11.63 [[ 9.94673227e-01 -9.63962959e-02 -3.65092454e-02 3.19988660e+02] [ 9.63781517e-02 9.95342223e-01 -2.26069550e-03 1.68800492e+01] [ 3.65571162e-02 -1.27004030e-03 9.99330758e-01 1.16335538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.059254154 meters Centerline goodness : 0.999206 with order 1 Centerline is valid? [True, True] Translation: X:320.05, Y:16.88, Z:11.63 [[ 9.94246695e-01 -1.00700472e-01 -3.65092454e-02 3.20050386e+02] [ 1.00685224e-01 9.94915763e-01 -2.26069550e-03 1.68821757e+01] [ 3.65512769e-02 -1.42825251e-03 9.99330758e-01 1.16333596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.119254154 meters Centerline goodness : 0.999290 with order 1 Centerline is valid? [True, True] Translation: X:320.11, Y:16.88, Z:11.64 [[ 9.93208564e-01 -1.10470891e-01 -3.65093296e-02 3.20111930e+02] [ 1.10462271e-01 9.93877750e-01 -2.25933589e-03 1.68839955e+01] [ 3.65354012e-02 -1.78891171e-03 9.99330758e-01 1.16385330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.179254154 meters Centerline goodness : 0.999101 with order 1 Centerline is valid? [True, True] Translation: X:320.17, Y:16.89, Z:11.64 [[ 9.91880645e-01 -1.21818921e-01 -3.65094142e-02 3.20173060e+02] [ 1.21818003e-01 9.92549886e-01 -2.25796699e-03 1.68860029e+01] [ 3.65124780e-02 -2.20787019e-03 9.99330758e-01 1.16445398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.239254154 meters Centerline goodness : 0.999186 with order 1 Centerline is valid? [True, True] Translation: X:320.23, Y:16.89, Z:11.64 [[ 9.91403494e-01 -1.25643018e-01 -3.65094998e-02 3.20233823e+02] [ 1.25644732e-01 9.92072734e-01 -2.25658239e-03 1.68904012e+01] [ 3.65036031e-02 -2.35004264e-03 9.99330758e-01 1.16425547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.299254154 meters Centerline goodness : 0.999102 with order 1 Centerline is valid? [True, True] Translation: X:320.30, Y:16.90, Z:11.65 [[ 9.91483614e-01 -1.25009158e-01 -3.65096259e-02 3.20295616e+02] [ 1.25010519e-01 9.92152855e-01 -2.25454125e-03 1.68975309e+01] [ 3.65049678e-02 -2.32874656e-03 9.99330758e-01 1.16453451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.359254154 meters Centerline goodness : 0.999043 with order 1 Centerline is valid? [True, True] Translation: X:320.36, Y:16.91, Z:11.65 [[ 9.92091400e-01 -1.20090341e-01 -3.65097910e-02 3.20356912e+02] [ 1.20088480e-01 9.92760639e-01 -2.25186445e-03 1.69058639e+01] [ 3.65159106e-02 -2.15034996e-03 9.99330758e-01 1.16471493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.419254154 meters Centerline goodness : 0.999061 with order 1 Centerline is valid? [True, True] Translation: X:320.42, Y:16.91, Z:11.65 [[ 9.92484801e-01 -1.16794450e-01 -3.65099570e-02 3.20419205e+02] [ 1.16790466e-01 9.93154031e-01 -2.24916994e-03 1.69125692e+01] [ 3.65227015e-02 -2.03174789e-03 9.99330758e-01 1.16491138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.479254154 meters Centerline goodness : 0.999124 with order 1 Centerline is valid? [True, True] Translation: X:320.48, Y:16.92, Z:11.65 [[ 9.93041285e-01 -1.11964357e-01 -3.65101248e-02 3.20478859e+02] [ 1.11957217e-01 9.93710489e-01 -2.24644202e-03 1.69203684e+01] [ 3.65320154e-02 -1.85676229e-03 9.99330758e-01 1.16483133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.539254154 meters Centerline goodness : 0.999165 with order 1 Centerline is valid? [True, True] Translation: X:320.54, Y:16.93, Z:11.65 [[ 9.93134318e-01 -1.11136090e-01 -3.65102162e-02 3.20540167e+02] [ 1.11128446e-01 9.93803516e-01 -2.24495629e-03 1.69272000e+01] [ 3.65334769e-02 -1.82778045e-03 9.99330758e-01 1.16545882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.599254154 meters Centerline goodness : 0.998891 with order 1 Centerline is valid? [True, True] Translation: X:320.60, Y:16.94, Z:11.66 [[ 9.93557790e-01 -1.07284267e-01 -3.65103125e-02 3.20601705e+02] [ 1.07274086e-01 9.94226955e-01 -2.24338851e-03 1.69350766e+01] [ 3.65402171e-02 -1.68767427e-03 9.99330758e-01 1.16602441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.659254154 meters Centerline goodness : 0.998933 with order 1 Centerline is valid? [True, True] Translation: X:320.66, Y:16.94, Z:11.66 [[ 9.93903478e-01 -1.04032984e-01 -3.65104853e-02 3.20662608e+02] [ 1.04020716e-01 9.94572607e-01 -2.24057253e-03 1.69424582e+01] [ 3.65454220e-02 -1.57093401e-03 9.99330758e-01 1.16599890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.719254154 meters Centerline goodness : 0.998974 with order 1 Centerline is valid? [True, True] Translation: X:320.72, Y:16.95, Z:11.66 [[ 9.94733423e-01 -9.57726114e-02 -3.65106122e-02 3.20724421e+02] [ 9.57548613e-02 9.95402429e-01 -2.23850212e-03 1.69517865e+01] [ 3.65571393e-02 -1.26935574e-03 9.99330758e-01 1.16624445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.779254154 meters Centerline goodness : 0.999161 with order 1 Centerline is valid? [True, True] Translation: X:320.79, Y:16.96, Z:11.67 [[ 9.95736156e-01 -8.47140566e-02 -3.65107819e-02 3.20785761e+02] [ 8.46889758e-02 9.96404927e-01 -2.23573099e-03 1.69623232e+01] [ 3.65689209e-02 -8.65862548e-04 9.99330758e-01 1.16654331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.839254154 meters Centerline goodness : 0.998824 with order 1 Centerline is valid? [True, True] Translation: X:320.85, Y:16.97, Z:11.67 [[ 9.96277181e-01 -7.80943588e-02 -3.65109500e-02 3.20847132e+02] [ 7.80649343e-02 9.96945776e-01 -2.23298373e-03 1.69701621e+01] [ 3.65738208e-02 -6.25554180e-04 9.99330758e-01 1.16679448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.899254154 meters Centerline goodness : 0.998926 with order 1 Centerline is valid? [True, True] Translation: X:320.91, Y:16.98, Z:11.67 [[ 9.96757969e-01 -7.16972446e-02 -3.65110327e-02 3.20907495e+02] [ 7.16635784e-02 9.97426364e-01 -2.23163041e-03 1.69784810e+01] [ 3.65770683e-02 -3.92115856e-04 9.99330758e-01 1.16704152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.959254154 meters Centerline goodness : 0.999053 with order 1 Centerline is valid? [True, True] Translation: X:320.97, Y:16.98, Z:11.67 [[ 9.96817023e-01 -7.08714693e-02 -3.65110733e-02 3.20967352e+02] [ 7.08372736e-02 9.97485390e-01 -2.23096636e-03 1.69847927e+01] [ 3.65773740e-02 -3.62479640e-04 9.99330758e-01 1.16732197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.019254154 meters Centerline goodness : 0.998652 with order 1 Centerline is valid? [True, True] Translation: X:321.03, Y:16.99, Z:11.67 [[ 9.96676677e-01 -7.28185674e-02 -3.65110733e-02 3.21027891e+02] [ 7.27856775e-02 9.97345110e-01 -2.23096636e-03 1.69901215e+01] [ 3.65765961e-02 -4.33931063e-04 9.99330758e-01 1.16745985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.079254154 meters Centerline goodness : 0.998339 with order 1 Centerline is valid? [True, True] Translation: X:321.09, Y:16.99, Z:11.68 [[ 9.95975123e-01 -8.18565590e-02 -3.65110733e-02 3.21088110e+02] [ 8.18297338e-02 9.96643827e-01 -2.23096636e-03 1.69939236e+01] [ 3.65711550e-02 -7.65704410e-04 9.99330758e-01 1.16765190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.139254154 meters Centerline goodness : 0.996112 with order 1 Centerline is valid? [True, True] Translation: X:321.15, Y:17.00, Z:11.68 [[ 9.95258330e-01 -9.01543052e-02 -3.65110733e-02 3.21149892e+02] [ 9.01330541e-02 9.95927234e-01 -2.23096636e-03 1.69972592e+01] [ 3.65635034e-02 -1.07046669e-03 9.99330758e-01 1.16771349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.199254154 meters Centerline goodness : 0.994882 with order 1 Centerline is valid? [True, True] Translation: X:321.21, Y:17.00, Z:11.68 [[ 9.94087665e-01 -1.02257747e-01 -3.65111945e-02 3.21211672e+02] [ 1.02244710e-01 9.94756780e-01 -2.22898081e-03 1.70000526e+01] [ 3.65476888e-02 -1.51727415e-03 9.99330758e-01 1.16774973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.259254154 meters Centerline goodness : 0.995245 with order 1 Centerline is valid? [True, True] Translation: X:321.27, Y:17.00, Z:11.67 [[ 9.93717812e-01 -1.05791450e-01 -3.65113541e-02 3.21274055e+02] [ 1.05780888e-01 9.94386971e-01 -2.22636362e-03 1.69971206e+01] [ 3.65419450e-02 -1.64982625e-03 9.99330758e-01 1.16739219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.319254154 meters Centerline goodness : 0.995621 with order 1 Centerline is valid? [True, True] Translation: X:321.34, Y:17.00, Z:11.68 [[ 9.93309623e-01 -1.09557753e-01 -3.65115224e-02 3.21335776e+02] [ 1.09549828e-01 9.93978818e-01 -2.22359922e-03 1.70023341e+01] [ 3.65352924e-02 -1.79110851e-03 9.99330758e-01 1.16774841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.379254154 meters Centerline goodness : 0.996088 with order 1 Centerline is valid? [True, True] Translation: X:321.40, Y:17.01, Z:11.68 [[ 9.92692346e-01 -1.15016531e-01 -3.65116925e-02 3.21396589e+02] [ 1.15012387e-01 9.93361575e-01 -2.22080214e-03 1.70134558e+01] [ 3.65247414e-02 -1.99472364e-03 9.99330758e-01 1.16828800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.439254154 meters Centerline goodness : 0.996504 with order 1 Centerline is valid? [True, True] Translation: X:321.46, Y:17.02, Z:11.69 [[ 9.92773757e-01 -1.14311653e-01 -3.65118179e-02 3.21459220e+02] [ 1.14307111e-01 9.93442984e-01 -2.21873853e-03 1.70197097e+01] [ 3.65260370e-02 -1.97085503e-03 9.99330758e-01 1.16864791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.49925415399997 meters Centerline goodness : 0.996881 with order 1 Centerline is valid? [True, True] Translation: X:321.52, Y:17.03, Z:11.69 [[ 9.93282341e-01 -1.09804646e-01 -3.65120628e-02 3.21521314e+02] [ 1.09797214e-01 9.93951542e-01 -2.21470195e-03 1.70259524e+01] [ 3.65344057e-02 -1.80909843e-03 9.99330758e-01 1.16893611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.559254154 meters Centerline goodness : 0.997193 with order 1 Centerline is valid? [True, True] Translation: X:321.58, Y:17.03, Z:11.69 [[ 9.93406557e-01 -1.08675067e-01 -3.65122317e-02 3.21582506e+02] [ 1.08666976e-01 9.94075750e-01 -2.21191332e-03 1.70349902e+01] [ 3.65363039e-02 -1.77034462e-03 9.99330758e-01 1.16919696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.619254154 meters Centerline goodness : 0.997653 with order 1 Centerline is valid? [True, True] Translation: X:321.64, Y:17.04, Z:11.69 [[ 9.93707283e-01 -1.05889947e-01 -3.65123962e-02 3.21644522e+02] [ 1.05880080e-01 9.94376452e-01 -2.20919448e-03 1.70422194e+01] [ 3.65409985e-02 -1.67064279e-03 9.99330758e-01 1.16933867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.679254154 meters Centerline goodness : 0.997433 with order 1 Centerline is valid? [True, True] Translation: X:321.71, Y:17.05, Z:11.70 [[ 9.94185579e-01 -1.01300875e-01 -3.65125573e-02 3.21706207e+02] [ 1.01288016e-01 9.94854697e-01 -2.20652981e-03 1.70510562e+01] [ 3.65482125e-02 -1.50458438e-03 9.99330758e-01 1.16950810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.739254154 meters Centerline goodness : 0.997985 with order 1 Centerline is valid? [True, True] Translation: X:321.77, Y:17.06, Z:11.70 [[ 9.94616010e-01 -9.69835803e-02 -3.65127199e-02 3.21767486e+02] [ 9.69679156e-02 9.95285068e-01 -2.20383510e-03 1.70587943e+01] [ 3.65543007e-02 -1.34859267e-03 9.99330758e-01 1.16972619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.799254154 meters Centerline goodness : 0.998191 with order 1 Centerline is valid? [True, True] Translation: X:321.83, Y:17.07, Z:11.70 [[ 9.95425109e-01 -8.82930073e-02 -3.65129782e-02 3.21828962e+02] [ 8.82716569e-02 9.96094010e-01 -2.19954751e-03 1.70695096e+01] [ 3.65645635e-02 -1.03357627e-03 9.99330758e-01 1.17017597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.859254154 meters Centerline goodness : 0.998271 with order 1 Centerline is valid? [True, True] Translation: X:321.89, Y:17.06, Z:11.69 [[ 9.97220690e-01 -6.49437132e-02 -3.65131408e-02 3.21891863e+02] [ 6.49067937e-02 9.97888913e-01 -2.19684515e-03 1.70644016e+01] [ 3.65787296e-02 -1.79211458e-04 9.99330758e-01 1.16873138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.919254154 meters Centerline goodness : 0.998825 with order 1 Centerline is valid? [True, True] Translation: X:321.95, Y:17.08, Z:11.71 [[ 9.96500908e-01 -7.51845857e-02 -3.65132694e-02 3.21950334e+02] [ 7.51546111e-02 9.97169478e-01 -2.19470505e-03 1.70841035e+01] [ 3.65749258e-02 -5.57114993e-04 9.99330758e-01 1.17086321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.979254154 meters Centerline goodness : 0.999099 with order 1 Centerline is valid? [True, True] Translation: X:322.01, Y:17.09, Z:11.71 [[ 9.97036394e-01 -6.77141598e-02 -3.65133114e-02 3.22011936e+02] [ 6.76792010e-02 9.97704722e-01 -2.19400609e-03 1.70924880e+01] [ 3.65780685e-02 -2.83687826e-04 9.99330758e-01 1.17113595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.039254154 meters Centerline goodness : 0.999164 with order 1 Centerline is valid? [True, True] Translation: X:322.07, Y:17.10, Z:11.71 [[ 9.97170488e-01 -6.57098451e-02 -3.65134740e-02 3.22072568e+02] [ 6.56736422e-02 9.97838750e-01 -2.19129636e-03 1.70981460e+01] [ 3.65785490e-02 -2.12876769e-04 9.99330758e-01 1.17126766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.099254154 meters Centerline goodness : 0.999314 with order 1 Centerline is valid? [True, True] Translation: X:322.13, Y:17.10, Z:11.72 [[ 9.97168004e-01 -6.57474663e-02 -3.65135938e-02 3.22133469e+02] [ 6.57113617e-02 9.97836271e-01 -2.18929873e-03 1.71030550e+01] [ 3.65785291e-02 -2.16259326e-04 9.99330758e-01 1.17154707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.159254154 meters Centerline goodness : 0.999100 with order 1 Centerline is valid? [True, True] Translation: X:322.19, Y:17.11, Z:11.72 [[ 9.97118790e-01 -6.64896256e-02 -3.65136739e-02 3.22194339e+02] [ 6.64540674e-02 9.97787086e-01 -2.18796176e-03 1.71073607e+01] [ 3.65783491e-02 -2.44824367e-04 9.99330758e-01 1.17175497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.219254154 meters Centerline goodness : 0.998821 with order 1 Centerline is valid? [True, True] Translation: X:322.26, Y:17.11, Z:11.72 [[ 9.97207260e-01 -6.51492668e-02 -3.65137536e-02 3.22255645e+02] [ 6.51128591e-02 9.97875510e-01 -2.18663080e-03 1.71111809e+01] [ 3.65786379e-02 -1.96990783e-04 9.99330758e-01 1.17195257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.279254154 meters Centerline goodness : 0.998972 with order 1 Centerline is valid? [True, True] Translation: X:322.32, Y:17.12, Z:11.72 [[ 9.97297026e-01 -6.37603451e-02 -3.65138345e-02 3.22317109e+02] [ 6.37230562e-02 9.97965228e-01 -2.18527988e-03 1.71152879e+01] [ 3.65788714e-02 -1.47399996e-04 9.99330758e-01 1.17231631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.339254154 meters Centerline goodness : 0.998800 with order 1 Centerline is valid? [True, True] Translation: X:322.38, Y:17.12, Z:11.73 [[ 9.97520427e-01 -6.01642053e-02 -3.65139148e-02 3.22377899e+02] [ 6.01245566e-02 9.98188493e-01 -2.18393655e-03 1.71168798e+01] [ 3.65791644e-02 -1.68616171e-05 9.99330758e-01 1.17258962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.399254154 meters Centerline goodness : 0.998864 with order 1 Centerline is valid? [True, True] Translation: X:322.44, Y:17.12, Z:11.73 [[ 9.97610383e-01 -5.86536915e-02 -3.65139547e-02 3.22438335e+02] [ 5.86130556e-02 9.98278390e-01 -2.18327003e-03 1.71188663e+01] [ 3.65791487e-02 3.78583932e-05 9.99330758e-01 1.17283491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.459254154 meters Centerline goodness : 0.998737 with order 1 Centerline is valid? [True, True] Translation: X:322.50, Y:17.12, Z:11.73 [[ 9.97432683e-01 -6.16017424e-02 -3.65139547e-02 3.22498731e+02] [ 6.15630809e-02 9.98100807e-01 -2.18327003e-03 1.71179222e+01] [ 3.65791009e-02 -7.02466648e-05 9.99330758e-01 1.17299343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.519254154 meters Centerline goodness : 0.998634 with order 1 Centerline is valid? [True, True] Translation: X:322.56, Y:17.12, Z:11.73 [[ 9.97063730e-01 -6.73100926e-02 -3.65139547e-02 3.22559762e+02] [ 6.72752561e-02 9.97732065e-01 -2.18327003e-03 1.71169116e+01] [ 3.65780995e-02 -2.79626291e-04 9.99330758e-01 1.17314513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.579254154 meters Centerline goodness : 0.999019 with order 1 Centerline is valid? [True, True] Translation: X:322.62, Y:17.11, Z:11.73 [[ 9.96157487e-01 -7.96051896e-02 -3.65140341e-02 3.22621614e+02] [ 7.95786494e-02 9.96826202e-01 -2.18194048e-03 1.71125808e+01] [ 3.65718398e-02 -7.32181174e-04 9.99330758e-01 1.17331155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.639254154 meters Centerline goodness : 0.998897 with order 1 Centerline is valid? [True, True] Translation: X:322.68, Y:17.11, Z:11.73 [[ 9.95382398e-01 -8.87727538e-02 -3.65141145e-02 3.22682890e+02] [ 8.87524204e-02 9.96051330e-01 -2.18059467e-03 1.71112932e+01] [ 3.65635097e-02 -1.07019049e-03 9.99330758e-01 1.17339594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.699254154 meters Centerline goodness : 0.998729 with order 1 Centerline is valid? [True, True] Translation: X:322.74, Y:17.11, Z:11.74 [[ 9.93982595e-01 -1.03272943e-01 -3.65143810e-02 3.22744771e+02] [ 1.03262527e-01 9.94651756e-01 -2.17612298e-03 1.71090014e+01] [ 3.65438278e-02 -1.60753887e-03 9.99330758e-01 1.17374125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.759254154 meters Centerline goodness : 0.998626 with order 1 Centerline is valid? [True, True] Translation: X:322.81, Y:17.11, Z:11.74 [[ 9.92754052e-01 -1.14481787e-01 -3.65145438e-02 3.22806865e+02] [ 1.14479022e-01 9.93423288e-01 -2.17338724e-03 1.71078781e+01] [ 3.65232115e-02 -2.02251029e-03 9.99330758e-01 1.17402739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.819254154 meters Centerline goodness : 0.998796 with order 1 Centerline is valid? [True, True] Translation: X:322.87, Y:17.11, Z:11.74 [[ 9.92231520e-01 -1.18925550e-01 -3.65147044e-02 3.22868867e+02] [ 1.18925881e-01 9.92900762e-01 -2.17068624e-03 1.71092640e+01] [ 3.65136279e-02 -2.18872007e-03 9.99330758e-01 1.17427408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.879254154 meters Centerline goodness : 0.998627 with order 1 Centerline is valid? [True, True] Translation: X:322.93, Y:17.11, Z:11.75 [[ 9.91938837e-01 -1.21342527e-01 -3.65148645e-02 3.22931904e+02] [ 1.21344587e-01 9.92608075e-01 -2.16798904e-03 1.71116031e+01] [ 3.65080187e-02 -2.28036864e-03 9.99330758e-01 1.17458411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.939254154 meters Centerline goodness : 0.998880 with order 1 Centerline is valid? [True, True] Translation: X:322.99, Y:17.11, Z:11.75 [[ 9.91927263e-01 -1.21437027e-01 -3.65151084e-02 3.22994029e+02] [ 1.21439302e-01 9.92596501e-01 -2.16387463e-03 1.71148401e+01] [ 3.65075433e-02 -2.28796302e-03 9.99330758e-01 1.17473174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.99925415399997 meters Centerline goodness : 0.998776 with order 1 Centerline is valid? [True, True] Translation: X:323.06, Y:17.12, Z:11.75 [[ 9.92087899e-01 -1.20117593e-01 -3.65152689e-02 3.23055148e+02] [ 1.20119077e-01 9.92757139e-01 -2.16116180e-03 1.71193500e+01] [ 3.65103875e-02 -2.24211791e-03 9.99330758e-01 1.17473707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.059254154 meters Centerline goodness : 0.998819 with order 1 Centerline is valid? [True, True] Translation: X:323.12, Y:17.12, Z:11.75 [[ 9.92180711e-01 -1.19348498e-01 -3.65153875e-02 3.23116890e+02] [ 1.19349537e-01 9.92849951e-01 -2.15915656e-03 1.71241663e+01] [ 3.65119928e-02 -2.21582108e-03 9.99330758e-01 1.17508972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.119254154 meters Centerline goodness : 0.998694 with order 1 Centerline is valid? [True, True] Translation: X:323.18, Y:17.13, Z:11.75 [[ 9.92453754e-01 -1.17056230e-01 -3.65155468e-02 3.23180133e+02] [ 1.17055822e-01 9.93122996e-01 -2.15645931e-03 1.71300379e+01] [ 3.65168562e-02 -2.13417120e-03 9.99330758e-01 1.17535344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.179254154 meters Centerline goodness : 0.998986 with order 1 Centerline is valid? [True, True] Translation: X:323.24, Y:17.14, Z:11.75 [[ 9.92899964e-01 -1.13208912e-01 -3.65157876e-02 3.23240642e+02] [ 1.13206060e-01 9.93569200e-01 -2.15237411e-03 1.71369040e+01] [ 3.65246298e-02 -1.99671626e-03 9.99330758e-01 1.17547671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.239254154 meters Centerline goodness : 0.999032 with order 1 Centerline is valid? [True, True] Translation: X:323.30, Y:17.14, Z:11.76 [[ 9.93293436e-01 -1.09702953e-01 -3.65159055e-02 3.23302726e+02] [ 1.09697812e-01 9.93962658e-01 -2.15037163e-03 1.71436542e+01] [ 3.65313486e-02 -1.86976490e-03 9.99330758e-01 1.17574416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.299254154 meters Centerline goodness : 0.998836 with order 1 Centerline is valid? [True, True] Translation: X:323.36, Y:17.15, Z:11.76 [[ 9.93893494e-01 -1.04126368e-01 -3.65160610e-02 3.23364736e+02] [ 1.04117567e-01 9.94562678e-01 -2.14772767e-03 1.71519263e+01] [ 3.65411465e-02 -1.66735087e-03 9.99330758e-01 1.17618100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.359254154 meters Centerline goodness : 0.998899 with order 1 Centerline is valid? [True, True] Translation: X:323.43, Y:17.16, Z:11.76 [[ 9.94202430e-01 -1.01134037e-01 -3.65162210e-02 3.23427898e+02] [ 1.01123321e-01 9.94871586e-01 -2.14500468e-03 1.71588399e+01] [ 3.65458836e-02 -1.56007268e-03 9.99330758e-01 1.17649946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.419254154 meters Centerline goodness : 0.999322 with order 1 Centerline is valid? [True, True] Translation: X:323.49, Y:17.17, Z:11.77 [[ 9.94495832e-01 -9.82068653e-02 -3.65164639e-02 3.23489438e+02] [ 9.81943322e-02 9.95164956e-01 -2.14086092e-03 1.71665184e+01] [ 3.65501524e-02 -1.45663253e-03 9.99330758e-01 1.17655410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.479254154 meters Centerline goodness : 0.999383 with order 1 Centerline is valid? [True, True] Translation: X:323.55, Y:17.17, Z:11.77 [[ 9.94530708e-01 -9.78529759e-02 -3.65166628e-02 3.23551053e+02] [ 9.78403294e-02 9.95199830e-01 -2.13746219e-03 1.71737879e+01] [ 3.65505337e-02 -1.44703053e-03 9.99330758e-01 1.17678348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.539254154 meters Centerline goodness : 0.999083 with order 1 Centerline is valid? [True, True] Translation: X:323.61, Y:17.18, Z:11.77 [[ 9.94495007e-01 -9.82150820e-02 -3.65168175e-02 3.23612887e+02] [ 9.82027761e-02 9.95164136e-01 -2.13481594e-03 1.71793234e+01] [ 3.65498983e-02 -1.46298907e-03 9.99330758e-01 1.17712398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.599254154 meters Centerline goodness : 0.999296 with order 1 Centerline is valid? [True, True] Translation: X:323.67, Y:17.18, Z:11.77 [[ 9.94442181e-01 -9.87484620e-02 -3.65169761e-02 3.23673802e+02] [ 9.87366146e-02 9.95111318e-01 -2.13209943e-03 1.71846643e+01] [ 3.65489978e-02 -1.48531299e-03 9.99330758e-01 1.17729296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.659254154 meters Centerline goodness : 0.999126 with order 1 Centerline is valid? [True, True] Translation: X:323.74, Y:17.19, Z:11.78 [[ 9.94247563e-01 -1.00689052e-01 -3.65170932e-02 3.23735348e+02] [ 1.00678584e-01 9.94916723e-01 -2.13009215e-03 1.71906977e+01] [ 3.65459437e-02 -1.55865031e-03 9.99330758e-01 1.17754252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.719254154 meters Centerline goodness : 0.999531 with order 1 Centerline is valid? [True, True] Translation: X:323.80, Y:17.20, Z:11.78 [[ 9.94062241e-01 -1.02502451e-01 -3.65172464e-02 3.23798425e+02] [ 1.02493300e-01 9.94731420e-01 -2.12746264e-03 1.71956987e+01] [ 3.65429225e-02 -1.62794282e-03 9.99330758e-01 1.17771546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.779254154 meters Centerline goodness : 0.999276 with order 1 Centerline is valid? [True, True] Translation: X:323.86, Y:17.20, Z:11.78 [[ 9.93686276e-01 -1.06085150e-01 -3.65174742e-02 3.23860685e+02] [ 1.06078555e-01 9.94355485e-01 -2.12354620e-03 1.72006886e+01] [ 3.65366275e-02 -1.76358218e-03 9.99330758e-01 1.17780132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.839254154 meters Centerline goodness : 0.999423 with order 1 Centerline is valid? [True, True] Translation: X:323.92, Y:17.20, Z:11.78 [[ 9.93450943e-01 -1.08266745e-01 -3.65176227e-02 3.23923933e+02] [ 1.08261713e-01 9.94120165e-01 -2.12098834e-03 1.72047551e+01] [ 3.65325377e-02 -1.84636252e-03 9.99330758e-01 1.17802206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.899254154 meters Centerline goodness : 0.999359 with order 1 Centerline is valid? [True, True] Translation: X:323.99, Y:17.21, Z:11.78 [[ 9.93301687e-01 -1.09627576e-01 -3.65178549e-02 3.23987174e+02] [ 1.09623608e-01 9.93970917e-01 -2.11698393e-03 1.72097684e+01] [ 3.65297655e-02 -1.90041529e-03 9.99330758e-01 1.17819829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.959254154 meters Centerline goodness : 0.999529 with order 1 Centerline is valid? [True, True] Translation: X:324.05, Y:17.22, Z:11.78 [[ 9.93486005e-01 -1.07944372e-01 -3.65180911e-02 3.24048033e+02] [ 1.07939419e-01 9.94155228e-01 -2.11290074e-03 1.72153893e+01] [ 3.65327270e-02 -1.84260424e-03 9.99330758e-01 1.17818186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.019254154 meters Centerline goodness : 0.999422 with order 1 Centerline is valid? [True, True] Translation: X:324.11, Y:17.22, Z:11.78 [[ 9.93820024e-01 -1.04824526e-01 -3.65182067e-02 3.24110822e+02] [ 1.04817545e-01 9.94489229e-01 -2.11090200e-03 1.72212742e+01] [ 3.65382375e-02 -1.72989210e-03 9.99330758e-01 1.17845814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.079254154 meters Centerline goodness : 0.999162 with order 1 Centerline is valid? [True, True] Translation: X:324.17, Y:17.23, Z:11.79 [[ 9.94620459e-01 -9.69357827e-02 -3.65184390e-02 3.24172894e+02] [ 9.69236404e-02 9.95289591e-01 -2.10687433e-03 1.72289813e+01] [ 3.65506537e-02 -1.44395975e-03 9.99330758e-01 1.17885158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.139254154 meters Centerline goodness : 0.999398 with order 1 Centerline is valid? [True, True] Translation: X:324.23, Y:17.24, Z:11.79 [[ 9.95234911e-01 -9.04094286e-02 -3.65185925e-02 3.24233379e+02] [ 9.03929950e-02 9.95903951e-01 -2.10421065e-03 1.72355235e+01] [ 3.65592510e-02 -1.20684105e-03 9.99330758e-01 1.17914111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.199254154 meters Centerline goodness : 0.999698 with order 1 Centerline is valid? [True, True] Translation: X:324.30, Y:17.24, Z:11.79 [[ 9.95970531e-01 -8.19090057e-02 -3.65187056e-02 3.24296120e+02] [ 8.18869325e-02 9.96639409e-01 -2.10224557e-03 1.72426782e+01] [ 3.65681740e-02 -8.96630145e-04 9.99330758e-01 1.17932534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.259254154 meters Centerline goodness : 0.999350 with order 1 Centerline is valid? [True, True] Translation: X:324.36, Y:17.25, Z:11.79 [[ 9.96270024e-01 -7.81818776e-02 -3.65189375e-02 3.24358153e+02] [ 7.81574497e-02 9.96938820e-01 -2.09820997e-03 1.72478436e+01] [ 3.65711885e-02 -7.63843324e-04 9.99330758e-01 1.17938010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.319254154 meters Centerline goodness : 0.999240 with order 1 Centerline is valid? [True, True] Translation: X:324.42, Y:17.25, Z:11.79 [[ 9.96422570e-01 -7.62129748e-02 -3.65190894e-02 3.24420051e+02] [ 7.61873224e-02 9.97091320e-01 -2.09556326e-03 1.72528966e+01] [ 3.65725761e-02 -6.94225105e-04 9.99330758e-01 1.17930799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.379254154 meters Centerline goodness : 0.999348 with order 1 Centerline is valid? [True, True] Translation: X:324.48, Y:17.26, Z:11.79 [[ 9.96447145e-01 -7.58909213e-02 -3.65192389e-02 3.24481869e+02] [ 7.58651484e-02 9.97115890e-01 -2.09295374e-03 1.72569553e+01] [ 3.65727496e-02 -6.85019697e-04 9.99330758e-01 1.17943866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.439254154 meters Centerline goodness : 0.999346 with order 1 Centerline is valid? [True, True] Translation: X:324.54, Y:17.26, Z:11.80 [[ 9.96459407e-01 -7.57296869e-02 -3.65193863e-02 3.24543325e+02] [ 7.57039001e-02 9.97128151e-01 -2.09037854e-03 1.72624879e+01] [ 3.65728119e-02 -6.81682615e-04 9.99330758e-01 1.17976532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.49925415399997 meters Centerline goodness : 0.999456 with order 1 Centerline is valid? [True, True] Translation: X:324.61, Y:17.27, Z:11.80 [[ 9.96413869e-01 -7.63264398e-02 -3.65195431e-02 3.24605292e+02] [ 7.63011539e-02 9.97082632e-01 -2.08763699e-03 1.72672682e+01] [ 3.65723440e-02 -7.06332830e-04 9.99330758e-01 1.17998299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.559254154 meters Centerline goodness : 0.999370 with order 1 Centerline is valid? [True, True] Translation: X:324.67, Y:17.27, Z:11.80 [[ 9.96239844e-01 -7.85651672e-02 -3.65196981e-02 3.24667530e+02] [ 7.85414836e-02 9.96908666e-01 -2.08492146e-03 1.72710573e+01] [ 3.65706057e-02 -7.91229438e-04 9.99330758e-01 1.18017776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.619254154 meters Centerline goodness : 0.999609 with order 1 Centerline is valid? [True, True] Translation: X:324.73, Y:17.27, Z:11.81 [[ 9.95519636e-01 -8.72178591e-02 -3.65198514e-02 3.24729495e+02] [ 8.72000859e-02 9.96188641e-01 -2.08223264e-03 1.72746809e+01] [ 3.65622690e-02 -1.11163070e-03 9.99330758e-01 1.18051789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.679254154 meters Centerline goodness : 0.999675 with order 1 Centerline is valid? [True, True] Translation: X:324.79, Y:17.28, Z:11.81 [[ 9.94369950e-01 -9.94720604e-02 -3.65200069e-02 3.24791887e+02] [ 9.94626281e-02 9.95039126e-01 -2.07950159e-03 1.72773098e+01] [ 3.65456880e-02 -1.56458198e-03 9.99330758e-01 1.18068761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.739254154 meters Centerline goodness : 0.999481 with order 1 Centerline is valid? [True, True] Translation: X:324.85, Y:17.28, Z:11.81 [[ 9.93542094e-01 -1.07426168e-01 -3.65201990e-02 3.24853885e+02] [ 1.07422215e-01 9.94211324e-01 -2.07612174e-03 1.72791349e+01] [ 3.65318253e-02 -1.86036632e-03 9.99330758e-01 1.18085632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.799254154 meters Centerline goodness : 0.999590 with order 1 Centerline is valid? [True, True] Translation: X:324.92, Y:17.28, Z:11.81 [[ 9.92850034e-01 -1.13644511e-01 -3.65203464e-02 3.24915979e+02] [ 1.13644843e-01 9.93519275e-01 -2.07352659e-03 1.72803747e+01] [ 3.65193130e-02 -2.09164808e-03 9.99330758e-01 1.18095624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.859254154 meters Centerline goodness : 0.999633 with order 1 Centerline is valid? [True, True] Translation: X:324.98, Y:17.28, Z:11.81 [[ 9.93085451e-01 -1.11568546e-01 -3.65204977e-02 3.24978800e+02] [ 1.11567577e-01 9.93754692e-01 -2.07085906e-03 1.72834573e+01] [ 3.65234586e-02 -2.01796343e-03 9.99330758e-01 1.18118616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.919254154 meters Centerline goodness : 0.999546 with order 1 Centerline is valid? [True, True] Translation: X:325.04, Y:17.29, Z:11.82 [[ 9.93367862e-01 -1.09025354e-01 -3.65207284e-02 3.25042012e+02] [ 1.09022820e-01 9.94037098e-01 -2.06678137e-03 1.72883506e+01] [ 3.65282905e-02 -1.92851861e-03 9.99330758e-01 1.18154017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.979254154 meters Centerline goodness : 0.999502 with order 1 Centerline is valid? [True, True] Translation: X:325.10, Y:17.29, Z:11.82 [[ 9.94137091e-01 -1.01772611e-01 -3.65209565e-02 3.25103620e+02] [ 1.01765341e-01 9.94806293e-01 -2.06274333e-03 1.72944143e+01] [ 3.65412081e-02 -1.66591793e-03 9.99330758e-01 1.18189682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.039254154 meters Centerline goodness : 0.999394 with order 1 Centerline is valid? [True, True] Translation: X:325.17, Y:17.30, Z:11.82 [[ 9.94785412e-01 -9.52269708e-02 -3.65213281e-02 3.25166347e+02] [ 9.52155387e-02 9.95454556e-01 -2.05614270e-03 1.72998619e+01] [ 3.65511227e-02 -1.43197717e-03 9.99330758e-01 1.18216519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.099254154 meters Centerline goodness : 0.999544 with order 1 Centerline is valid? [True, True] Translation: X:325.23, Y:17.31, Z:11.82 [[ 9.95790717e-01 -8.40656007e-02 -3.65215484e-02 3.25228693e+02] [ 8.40468092e-02 9.96459694e-01 -2.05222256e-03 1.73076641e+01] [ 3.65647723e-02 -1.02593544e-03 9.99330759e-01 1.18241731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.159254154 meters Centerline goodness : 0.999521 with order 1 Centerline is valid? [True, True] Translation: X:325.29, Y:17.31, Z:11.83 [[ 9.96363030e-01 -7.69861885e-02 -3.65217649e-02 3.25291435e+02] [ 7.69627844e-02 9.97031862e-01 -2.04836245e-03 1.73134877e+01] [ 3.65710589e-02 -7.69904103e-04 9.99330759e-01 1.18276205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.219254154 meters Centerline goodness : 0.999565 with order 1 Centerline is valid? [True, True] Translation: X:325.35, Y:17.32, Z:11.83 [[ 9.97095733e-01 -6.68299505e-02 -3.65219955e-02 3.25353070e+02] [ 6.67998836e-02 9.97764299e-01 -2.04424316e-03 1.73193599e+01] [ 3.65769599e-02 -4.01358914e-04 9.99330759e-01 1.18285978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.279254154 meters Centerline goodness : 0.999585 with order 1 Centerline is valid? [True, True] Translation: X:325.42, Y:17.32, Z:11.83 [[ 9.97551839e-01 -5.96360765e-02 -3.65221474e-02 3.25415199e+02] [ 5.96012874e-02 9.98220175e-01 -2.04152478e-03 1.73248209e+01] [ 3.65788929e-02 -1.40240209e-04 9.99330759e-01 1.18308871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.339254154 meters Centerline goodness : 0.999671 with order 1 Centerline is valid? [True, True] Translation: X:325.48, Y:17.33, Z:11.83 [[ 9.98152148e-01 -4.85634788e-02 -3.65223002e-02 3.25475881e+02] [ 4.85213761e-02 9.98820064e-01 -2.03878725e-03 1.73311626e+01] [ 3.65782168e-02 2.62907608e-04 9.99330759e-01 1.18338108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.399254154 meters Centerline goodness : 0.999542 with order 1 Centerline is valid? [True, True] Translation: X:325.54, Y:17.33, Z:11.84 [[ 9.98507689e-01 -4.06018385e-02 -3.65224129e-02 3.25535116e+02] [ 4.05544846e-02 9.99175253e-01 -2.03676663e-03 1.73345308e+01] [ 3.65749876e-02 5.52579513e-04 9.99330759e-01 1.18372682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.459254154 meters Centerline goodness : 0.999630 with order 1 Centerline is valid? [True, True] Translation: X:325.59, Y:17.34, Z:11.84 [[ 9.98577707e-01 -3.88417448e-02 -3.65223382e-02 3.25593681e+02] [ 3.87931653e-02 9.99245183e-01 -2.03810513e-03 1.73364610e+01] [ 3.65739341e-02 6.18389244e-04 9.99330759e-01 1.18398272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.519254154 meters Centerline goodness : 0.999413 with order 1 Centerline is valid? [True, True] Translation: X:325.65, Y:17.34, Z:11.84 [[ 9.98496577e-01 -4.08747233e-02 -3.65218097e-02 3.25651186e+02] [ 4.08271581e-02 9.99164126e-01 -2.04753253e-03 1.73355963e+01] [ 3.65749744e-02 5.53372531e-04 9.99330759e-01 1.18419991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.579254154 meters Centerline goodness : 0.999544 with order 1 Centerline is valid? [True, True] Translation: X:325.71, Y:17.33, Z:11.84 [[ 9.98368992e-01 -4.38808296e-02 -3.65216242e-02 3.25709218e+02] [ 4.38351536e-02 9.99036673e-01 -2.05083575e-03 1.73348858e+01] [ 3.65764343e-02 4.46559809e-04 9.99330759e-01 1.18445421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.639254154 meters Centerline goodness : 0.999436 with order 1 Centerline is valid? [True, True] Translation: X:325.77, Y:17.33, Z:11.85 [[ 9.98075777e-01 -5.01094590e-02 -3.65210337e-02 3.25767656e+02] [ 5.00675672e-02 9.98743706e-01 -2.06129868e-03 1.73310860e+01] [ 3.65784431e-02 2.28812974e-04 9.99330759e-01 1.18469236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.699254154 meters Centerline goodness : 0.999245 with order 1 Centerline is valid? [True, True] Translation: X:325.83, Y:17.32, Z:11.85 [[ 9.97699847e-01 -5.71075478e-02 -3.65204476e-02 3.25827134e+02] [ 5.70699629e-02 9.98368032e-01 -2.07163056e-03 1.73245614e+01] [ 3.65791531e-02 -1.73550967e-05 9.99330759e-01 1.18495526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.759254154 meters Centerline goodness : 0.999183 with order 1 Centerline is valid? [True, True] Translation: X:325.89, Y:17.32, Z:11.85 [[ 9.97585945e-01 -5.90641909e-02 -3.65199190e-02 3.25888207e+02] [ 5.90275769e-02 9.98254184e-01 -2.08090734e-03 1.73240584e+01] [ 3.65790690e-02 -7.97984144e-05 9.99330759e-01 1.18514930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.819254154 meters Centerline goodness : 0.999188 with order 1 Centerline is valid? [True, True] Translation: X:325.95, Y:17.32, Z:11.85 [[ 9.97220143e-01 -6.49482995e-02 -3.65199190e-02 3.25949381e+02] [ 6.49156284e-02 9.97888586e-01 -2.08090734e-03 1.73159241e+01] [ 3.65779617e-02 -2.95590776e-04 9.99330759e-01 1.18527002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.879254154 meters Centerline goodness : 0.998764 with order 1 Centerline is valid? [True, True] Translation: X:326.01, Y:17.31, Z:11.85 [[ 9.96836134e-01 -7.05975721e-02 -3.65199190e-02 3.26010184e+02] [ 7.05686889e-02 9.97504752e-01 -2.08090734e-03 1.73087492e+01] [ 3.65756997e-02 -5.02839175e-04 9.99330759e-01 1.18532283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.939254154 meters Centerline goodness : 0.999023 with order 1 Centerline is valid? [True, True] Translation: X:326.07, Y:17.31, Z:11.85 [[ 9.96493931e-01 -7.52737748e-02 -3.65199190e-02 3.26071798e+02] [ 7.52480290e-02 9.97162677e-01 -2.08090734e-03 1.73055018e+01] [ 3.65729379e-02 -6.74440391e-04 9.99330759e-01 1.18539747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.99925415399997 meters Centerline goodness : 0.999090 with order 1 Centerline is valid? [True, True] Translation: X:326.13, Y:17.30, Z:11.87 [[ 9.95566154e-01 -8.66851898e-02 -3.65199949e-02 3.26132741e+02] [ 8.66671561e-02 9.96235153e-01 -2.07957386e-03 1.73037220e+01] [ 3.65627710e-02 -1.09473075e-03 9.99330759e-01 1.18664059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.059254154 meters Centerline goodness : 0.999030 with order 1 Centerline is valid? [True, True] Translation: X:326.19, Y:17.30, Z:11.86 [[ 9.95350821e-01 -8.91236772e-02 -3.65200353e-02 3.26193544e+02] [ 8.91073082e-02 9.96019862e-01 -2.07886533e-03 1.72964419e+01] [ 3.65599566e-02 -1.18500172e-03 9.99330759e-01 1.18566522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.119254154 meters Centerline goodness : 0.998944 with order 1 Centerline is valid? [True, True] Translation: X:326.26, Y:17.29, Z:11.86 [[ 9.94425974e-01 -9.89104109e-02 -3.65200353e-02 3.26256185e+02] [ 9.89006240e-02 9.95095144e-01 -2.07886533e-03 1.72923596e+01] [ 3.65465312e-02 -1.54457659e-03 9.99330759e-01 1.18580712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.179254154 meters Centerline goodness : 0.998674 with order 1 Centerline is valid? [True, True] Translation: X:326.32, Y:17.29, Z:11.86 [[ 9.93651731e-01 -1.06407300e-01 -3.65201916e-02 3.26317803e+02] [ 1.06402661e-01 9.94320956e-01 -2.07611585e-03 1.72907684e+01] [ 3.65337057e-02 -1.82290944e-03 9.99330759e-01 1.18599335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.239254154 meters Centerline goodness : 0.998738 with order 1 Centerline is valid? [True, True] Translation: X:326.38, Y:17.29, Z:11.86 [[ 9.93196757e-01 -1.10573365e-01 -3.65203071e-02 3.26380034e+02] [ 1.10571607e-01 9.93865996e-01 -2.07408191e-03 1.72912357e+01] [ 3.65256296e-02 -1.97813762e-03 9.99330759e-01 1.18625552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.299254154 meters Centerline goodness : 0.998780 with order 1 Centerline is valid? [True, True] Translation: X:326.44, Y:17.29, Z:11.86 [[ 9.93227182e-01 -1.10299688e-01 -3.65204605e-02 3.26440825e+02] [ 1.10297844e-01 9.93896421e-01 -2.07137667e-03 1.72938390e+01] [ 3.65260272e-02 -1.97078046e-03 9.99330759e-01 1.18640923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.359254154 meters Centerline goodness : 0.998738 with order 1 Centerline is valid? [True, True] Translation: X:326.50, Y:17.30, Z:11.87 [[ 9.93504269e-01 -1.07775298e-01 -3.65205738e-02 3.26502338e+02] [ 1.07771828e-01 9.94173501e-01 -2.06937673e-03 1.72973811e+01] [ 3.65308145e-02 -1.87995438e-03 9.99330759e-01 1.18681197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.419254154 meters Centerline goodness : 0.998947 with order 1 Centerline is valid? [True, True] Translation: X:326.56, Y:17.30, Z:11.87 [[ 9.93857490e-01 -1.04467825e-01 -3.65207289e-02 3.26564875e+02] [ 1.04462228e-01 9.94526708e-01 -2.06663660e-03 1.73008158e+01] [ 3.65367373e-02 -1.76109444e-03 9.99330759e-01 1.18705299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.479254154 meters Centerline goodness : 0.998757 with order 1 Centerline is valid? [True, True] Translation: X:326.63, Y:17.31, Z:11.87 [[ 9.94716425e-01 -9.59450864e-02 -3.65208832e-02 3.26626832e+02] [ 9.59338527e-02 9.95385572e-01 -2.06390668e-03 1.73062205e+01] [ 3.65503819e-02 -1.45058716e-03 9.99330759e-01 1.18729063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.539254154 meters Centerline goodness : 0.998967 with order 1 Centerline is valid? [True, True] Translation: X:326.69, Y:17.31, Z:11.88 [[ 9.95742746e-01 -8.46321336e-02 -3.65210385e-02 3.26688821e+02] [ 8.46133955e-02 9.96411725e-01 -2.06115439e-03 1.73147723e+01] [ 3.65644309e-02 -1.03778954e-03 9.99330759e-01 1.18762701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.599254154 meters Centerline goodness : 0.998841 with order 1 Centerline is valid? [True, True] Translation: X:326.75, Y:17.32, Z:11.88 [[ 9.96374400e-01 -7.68391643e-02 -3.65211925e-02 3.26750617e+02] [ 7.68152929e-02 9.97043216e-01 -2.05842174e-03 1.73213455e+01] [ 3.65713746e-02 -7.54427371e-04 9.99330759e-01 1.18793199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.659254154 meters Centerline goodness : 0.999069 with order 1 Centerline is valid? [True, True] Translation: X:326.81, Y:17.33, Z:11.88 [[ 9.97021403e-01 -6.79302115e-02 -3.65213465e-02 3.26811972e+02] [ 6.79004632e-02 9.97689983e-01 -2.05568669e-03 1.73282378e+01] [ 3.65766248e-02 -4.30252718e-04 9.99330759e-01 1.18811270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.719254154 meters Centerline goodness : 0.999152 with order 1 Centerline is valid? [True, True] Translation: X:326.87, Y:17.34, Z:11.89 [[ 9.97149469e-01 -6.60236452e-02 -3.65214228e-02 3.26871822e+02] [ 6.59926682e-02 9.97817993e-01 -2.05433033e-03 1.73410146e+01] [ 3.65773671e-02 -3.61671734e-04 9.99330759e-01 1.18870845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.779254154 meters Centerline goodness : 0.999111 with order 1 Centerline is valid? [True, True] Translation: X:326.93, Y:17.34, Z:11.89 [[ 9.97666458e-01 -5.76873053e-02 -3.65214228e-02 3.26931240e+02] [ 5.76507420e-02 9.98334699e-01 -2.05433033e-03 1.73383442e+01] [ 3.65791124e-02 -5.59506560e-05 9.99330759e-01 1.18852210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.839254154 meters Centerline goodness : 0.999068 with order 1 Centerline is valid? [True, True] Translation: X:326.99, Y:17.34, Z:11.89 [[ 9.97954734e-01 -5.24645556e-02 -3.65214851e-02 3.26988494e+02] [ 5.24245356e-02 9.98622778e-01 -2.05322241e-03 1.73417449e+01] [ 3.65789083e-02 1.34401131e-04 9.99330759e-01 1.18866424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.899254154 meters Centerline goodness : 0.999324 with order 1 Centerline is valid? [True, True] Translation: X:327.05, Y:17.35, Z:11.89 [[ 9.98021287e-01 -5.11833783e-02 -3.65208421e-02 3.27046640e+02] [ 5.11420846e-02 9.98689253e-01 -2.06459562e-03 1.73482508e+01] [ 3.65786455e-02 1.92758376e-04 9.99330759e-01 1.18949023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.959254154 meters Centerline goodness : 0.994688 with order 1 Centerline is valid? [True, True] Translation: X:327.11, Y:17.34, Z:11.89 [[ 9.98054392e-01 -5.05341865e-02 -3.65202338e-02 3.27105630e+02] [ 5.04920666e-02 9.98722306e-01 -2.07530108e-03 1.73449680e+01] [ 3.65784457e-02 2.27281284e-04 9.99330759e-01 1.18943052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.019254154 meters Centerline goodness : 0.999429 with order 1 Centerline is valid? [True, True] Translation: X:327.16, Y:17.34, Z:11.90 [[ 9.97528620e-01 -6.00247642e-02 -3.65195840e-02 3.27163409e+02] [ 5.99885826e-02 9.98196882e-01 -2.08667322e-03 1.73388531e+01] [ 3.65789869e-02 -1.09241824e-04 9.99330759e-01 1.18954651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.079254154 meters Centerline goodness : 0.999410 with order 1 Centerline is valid? [True, True] Translation: X:327.22, Y:17.33, Z:11.90 [[ 9.96703915e-01 -7.24406241e-02 -3.65193338e-02 3.27221743e+02] [ 7.24126060e-02 9.97372569e-01 -2.09104242e-03 1.73345853e+01] [ 3.65748582e-02 -5.60309963e-04 9.99330759e-01 1.18962713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.139254154 meters Centerline goodness : 0.999410 with order 1 Centerline is valid? [True, True] Translation: X:327.28, Y:17.34, Z:11.90 [[ 9.96703909e-01 -7.24410193e-02 -3.65187118e-02 3.27282600e+02] [ 7.24126056e-02 9.97372547e-01 -2.10184992e-03 1.73380932e+01] [ 3.65750207e-02 -5.49493045e-04 9.99330759e-01 1.18985055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.199254154 meters Centerline goodness : 0.999411 with order 1 Centerline is valid? [True, True] Translation: X:327.34, Y:17.34, Z:11.90 [[ 9.96445552e-01 -7.59120952e-02 -3.65187118e-02 3.27343257e+02] [ 7.58860105e-02 9.97114284e-01 -2.10184992e-03 1.73379559e+01] [ 3.65728850e-02 -6.76880344e-04 9.99330759e-01 1.19003579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.259254154 meters Centerline goodness : 0.999371 with order 1 Centerline is valid? [True, True] Translation: X:327.40, Y:17.34, Z:11.90 [[ 9.96327996e-01 -7.74397037e-02 -3.65187118e-02 3.27402779e+02] [ 7.74146444e-02 9.96996768e-01 -2.10184992e-03 1.73364501e+01] [ 3.65718042e-02 -7.32951168e-04 9.99330759e-01 1.19011241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.319254154 meters Centerline goodness : 0.999351 with order 1 Centerline is valid? [True, True] Translation: X:327.46, Y:17.34, Z:11.90 [[ 9.96529084e-01 -7.48075349e-02 -3.65187189e-02 3.27462929e+02] [ 7.47807135e-02 9.97197788e-01 -2.10172583e-03 1.73362936e+01] [ 3.65736106e-02 -6.36464944e-04 9.99330759e-01 1.19027101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.379254154 meters Centerline goodness : 0.999497 with order 1 Centerline is valid? [True, True] Translation: X:327.52, Y:17.34, Z:11.90 [[ 9.96686673e-01 -7.26777764e-02 -3.65187189e-02 3.27523074e+02] [ 7.26495260e-02 9.97355317e-01 -2.10172583e-03 1.73373902e+01] [ 3.65748873e-02 -5.58305499e-04 9.99330759e-01 1.19047262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.439254154 meters Centerline goodness : 0.999205 with order 1 Centerline is valid? [True, True] Translation: X:327.58, Y:17.34, Z:11.91 [[ 9.96901467e-01 -6.96696008e-02 -3.65186409e-02 3.27582160e+02] [ 6.96392831e-02 9.97570021e-01 -2.10308052e-03 1.73367020e+01] [ 3.65764222e-02 -4.46567920e-04 9.99330759e-01 1.19056128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.49925415399997 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:327.64, Y:17.34, Z:11.91 [[ 9.96813032e-01 -7.09239610e-02 -3.65180952e-02 3.27641821e+02] [ 7.08941391e-02 9.97481608e-01 -2.11251365e-03 1.73398772e+01] [ 3.65759562e-02 -4.83137788e-04 9.99330759e-01 1.19101732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.559254154 meters Centerline goodness : 0.999728 with order 1 Centerline is valid? [True, True] Translation: X:327.70, Y:17.34, Z:11.91 [[ 9.96517628e-01 -7.49603319e-02 -3.65180158e-02 3.27699743e+02] [ 7.49331675e-02 9.97186318e-01 -2.11388595e-03 1.73362997e+01] [ 3.65737233e-02 -6.29885984e-04 9.99330759e-01 1.19093029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.619254154 meters Centerline goodness : 0.999518 with order 1 Centerline is valid? [True, True] Translation: X:327.76, Y:17.33, Z:11.91 [[ 9.95845236e-01 -8.34189159e-02 -3.65178180e-02 3.27758884e+02] [ 8.33973052e-02 9.96514128e-01 -2.11729717e-03 1.73348477e+01] [ 3.65671442e-02 -9.36987312e-04 9.99330759e-01 1.19103873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.679254154 meters Centerline goodness : 0.999561 with order 1 Centerline is valid? [True, True] Translation: X:327.82, Y:17.34, Z:11.91 [[ 9.95616878e-01 -8.61018085e-02 -3.65172708e-02 3.27818826e+02] [ 8.60816559e-02 9.96285815e-01 -2.12669257e-03 1.73368080e+01] [ 3.65647510e-02 -1.02609612e-03 9.99330759e-01 1.19123625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.739254154 meters Centerline goodness : 0.999330 with order 1 Centerline is valid? [True, True] Translation: X:327.88, Y:17.34, Z:11.91 [[ 9.94997143e-01 -9.29902194e-02 -3.65171921e-02 3.27878348e+02] [ 9.29746473e-02 9.95666202e-01 -2.12804353e-03 1.73378248e+01] [ 3.65568212e-02 -1.27777583e-03 9.99330759e-01 1.19145617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.799254154 meters Centerline goodness : 0.999289 with order 1 Centerline is valid? [True, True] Translation: X:327.94, Y:17.34, Z:11.92 [[ 9.94718028e-01 -9.59298848e-02 -3.65171533e-02 3.27938648e+02] [ 9.59162654e-02 9.95387130e-01 -2.12870866e-03 1.73393001e+01] [ 3.65529112e-02 -1.38512409e-03 9.99330759e-01 1.19171636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.859254154 meters Centerline goodness : 0.999205 with order 1 Centerline is valid? [True, True] Translation: X:328.00, Y:17.34, Z:11.92 [[ 9.94542902e-01 -9.77287740e-02 -3.65171533e-02 3.27999272e+02] [ 9.77163648e-02 9.95212028e-01 -2.12870866e-03 1.73416442e+01] [ 3.65503463e-02 -1.45123139e-03 9.99330759e-01 1.19211599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.919254154 meters Centerline goodness : 0.999080 with order 1 Centerline is valid? [True, True] Translation: X:328.06, Y:17.35, Z:11.93 [[ 9.94477739e-01 -9.83896584e-02 -3.65171533e-02 3.28059203e+02] [ 9.83776938e-02 9.95146873e-01 -2.12870866e-03 1.73451193e+01] [ 3.65493738e-02 -1.47551995e-03 9.99330759e-01 1.19261141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.979254154 meters Centerline goodness : 0.999457 with order 1 Centerline is valid? [True, True] Translation: X:328.12, Y:17.35, Z:11.93 [[ 9.94390396e-01 -9.92685176e-02 -3.65171533e-02 3.28120637e+02] [ 9.92571443e-02 9.95059540e-01 -2.12870866e-03 1.73490663e+01] [ 3.65480555e-02 -1.50782091e-03 9.99330759e-01 1.19295195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.039254154 meters Centerline goodness : 0.999520 with order 1 Centerline is valid? [True, True] Translation: X:328.18, Y:17.35, Z:11.93 [[ 9.94206864e-01 -1.01090072e-01 -3.65172321e-02 3.28182231e+02] [ 1.01079974e-01 9.94876029e-01 -2.12735630e-03 1.73535099e+01] [ 3.65451735e-02 -1.57612863e-03 9.99330759e-01 1.19311369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.099254154 meters Centerline goodness : 0.998998 with order 1 Centerline is valid? [True, True] Translation: X:328.24, Y:17.36, Z:11.93 [[ 9.94041518e-01 -1.02703195e-01 -3.65173105e-02 3.28243408e+02] [ 1.02694233e-01 9.94710699e-01 -2.12600964e-03 1.73586201e+01] [ 3.65425074e-02 -1.63677534e-03 9.99330759e-01 1.19326437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.159254154 meters Centerline goodness : 0.999333 with order 1 Centerline is valid? [True, True] Translation: X:328.30, Y:17.36, Z:11.93 [[ 9.93936343e-01 -1.03716088e-01 -3.65173878e-02 3.28304549e+02] [ 1.03707856e-01 9.94605533e-01 -2.12468181e-03 1.73648483e+01] [ 3.65407596e-02 -1.67534151e-03 9.99330759e-01 1.19349129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.219254154 meters Centerline goodness : 0.999020 with order 1 Centerline is valid? [True, True] Translation: X:328.37, Y:17.37, Z:11.94 [[ 9.94120575e-01 -1.01935067e-01 -3.65174656e-02 3.28365882e+02] [ 1.01925685e-01 9.94789750e-01 -2.12334269e-03 1.73723432e+01] [ 3.65436436e-02 -1.61120903e-03 9.99330759e-01 1.19373350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.279254154 meters Centerline goodness : 0.999330 with order 1 Centerline is valid? [True, True] Translation: X:328.43, Y:17.38, Z:11.94 [[ 9.94420666e-01 -9.89646819e-02 -3.65175424e-02 3.28425498e+02] [ 9.89533494e-02 9.95089811e-01 -2.12202219e-03 1.73794884e+01] [ 3.65482396e-02 -1.50335041e-03 9.99330759e-01 1.19398787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.339254154 meters Centerline goodness : 0.999226 with order 1 Centerline is valid? [True, True] Translation: X:328.49, Y:17.39, Z:11.94 [[ 9.95010978e-01 -9.28418688e-02 -3.65176713e-02 3.28486759e+02] [ 9.28264991e-02 9.95680043e-01 -2.11980091e-03 1.73885391e+01] [ 3.65567228e-02 -1.28058241e-03 9.99330759e-01 1.19430323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.399254154 meters Centerline goodness : 0.999118 with order 1 Centerline is valid? [True, True] Translation: X:328.55, Y:17.40, Z:11.95 [[ 9.95317867e-01 -8.94918883e-02 -3.65177460e-02 3.28547404e+02] [ 8.94743136e-02 9.95986877e-01 -2.11851415e-03 1.73967863e+01] [ 3.65607856e-02 -1.15880527e-03 9.99330759e-01 1.19462849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.459254154 meters Centerline goodness : 0.999014 with order 1 Centerline is valid? [True, True] Translation: X:328.61, Y:17.40, Z:11.95 [[ 9.95379954e-01 -8.87986289e-02 -3.65178194e-02 3.28608765e+02] [ 8.87806347e-02 9.96048953e-01 -2.11724719e-03 1.74025763e+01] [ 3.65615444e-02 -1.13460978e-03 9.99330759e-01 1.19489355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.519254154 meters Centerline goodness : 0.999286 with order 1 Centerline is valid? [True, True] Translation: X:328.67, Y:17.41, Z:11.95 [[ 9.95547664e-01 -8.68981657e-02 -3.65178932e-02 3.28668442e+02] [ 8.68789410e-02 9.96216629e-01 -2.11597412e-03 1.74093731e+01] [ 3.65636067e-02 -1.06608279e-03 9.99330759e-01 1.19499302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.579254154 meters Centerline goodness : 0.999223 with order 1 Centerline is valid? [True, True] Translation: X:328.73, Y:17.42, Z:11.95 [[ 9.95741400e-01 -8.46493091e-02 -3.65179295e-02 3.28726390e+02] [ 8.46285965e-02 9.96410320e-01 -2.11534743e-03 1.74174863e+01] [ 3.65659045e-02 -9.84122104e-04 9.99330759e-01 1.19546087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.639254154 meters Centerline goodness : 0.998992 with order 1 Centerline is valid? [True, True] Translation: X:328.79, Y:17.42, Z:11.95 [[ 9.96417874e-01 -7.62749436e-02 -3.65178545e-02 3.28786493e+02] [ 7.62485606e-02 9.97086594e-01 -2.11664053e-03 1.74230537e+01] [ 3.65729098e-02 -6.75375383e-04 9.99330759e-01 1.19549314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.699254154 meters Centerline goodness : 0.999095 with order 1 Centerline is valid? [True, True] Translation: X:328.85, Y:17.43, Z:11.96 [[ 9.97034881e-01 -6.77339815e-02 -3.65178545e-02 3.28846810e+02] [ 6.77018693e-02 9.97703351e-01 -2.11664053e-03 1.74305654e+01] [ 3.65773543e-02 -3.61962570e-04 9.99330759e-01 1.19575137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.759254154 meters Centerline goodness : 0.999222 with order 1 Centerline is valid? [True, True] Translation: X:328.91, Y:17.44, Z:11.96 [[ 9.97250159e-01 -6.44869529e-02 -3.65178545e-02 3.28905831e+02] [ 6.44526641e-02 9.97918521e-01 -2.11664053e-03 1.74353455e+01] [ 3.65783391e-02 -2.42852901e-04 9.99330759e-01 1.19593439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.819254154 meters Centerline goodness : 0.999202 with order 1 Centerline is valid? [True, True] Translation: X:328.97, Y:17.44, Z:11.96 [[ 9.97292265e-01 -6.38325210e-02 -3.65177790e-02 3.28965679e+02] [ 6.37977459e-02 9.97960601e-01 -2.11794243e-03 1.74389062e+01] [ 3.65784983e-02 -2.17544383e-04 9.99330759e-01 1.19616263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.879254154 meters Centerline goodness : 0.998885 with order 1 Centerline is valid? [True, True] Translation: X:329.02, Y:17.44, Z:11.96 [[ 9.96792464e-01 -7.12126539e-02 -3.65177020e-02 3.29024423e+02] [ 7.11827781e-02 9.97461037e-01 -2.11927018e-03 1.74393846e+01] [ 3.65759037e-02 -4.86958926e-04 9.99330759e-01 1.19630698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.939254154 meters Centerline goodness : 0.999097 with order 1 Centerline is valid? [True, True] Translation: X:329.08, Y:17.44, Z:11.97 [[ 9.96562632e-01 -7.43598392e-02 -3.65175882e-02 3.29084020e+02] [ 7.43320029e-02 9.97231294e-01 -2.12122935e-03 1.74415388e+01] [ 3.65742160e-02 -6.00487568e-04 9.99330759e-01 1.19656339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.99925415399997 meters Centerline goodness : 0.998849 with order 1 Centerline is valid? [True, True] Translation: X:329.14, Y:17.44, Z:11.97 [[ 9.95794057e-01 -8.40277738e-02 -3.65175108e-02 3.29144488e+02] [ 8.40063793e-02 9.96462956e-01 -2.12255964e-03 1.74397327e+01] [ 3.65667008e-02 -9.54071587e-04 9.99330759e-01 1.19663076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.059254154 meters Centerline goodness : 0.999100 with order 1 Centerline is valid? [True, True] Translation: X:329.21, Y:17.44, Z:11.97 [[ 9.95049122e-01 -9.24322250e-02 -3.65175108e-02 3.29205603e+02] [ 9.24164787e-02 9.95718178e-01 -2.12255964e-03 1.74403058e+01] [ 3.65573423e-02 -1.26276865e-03 9.99330759e-01 1.19709830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.119254154 meters Centerline goodness : 0.999040 with order 1 Centerline is valid? [True, True] Translation: X:329.27, Y:17.44, Z:11.97 [[ 9.94778529e-01 -9.53002825e-02 -3.65175903e-02 3.29267450e+02] [ 9.52865151e-02 9.95447628e-01 -2.12119194e-03 1.74423635e+01] [ 3.65534988e-02 -1.36951772e-03 9.99330759e-01 1.19731343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.179254154 meters Centerline goodness : 0.998830 with order 1 Centerline is valid? [True, True] Translation: X:329.33, Y:17.44, Z:11.98 [[ 9.94645120e-01 -9.66826745e-02 -3.65177494e-02 3.29329506e+02] [ 9.66699376e-02 9.95314239e-01 -2.11844931e-03 1.74442297e+01] [ 3.65514533e-02 -1.42306328e-03 9.99330759e-01 1.19754203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.239254154 meters Centerline goodness : 0.998790 with order 1 Centerline is valid? [True, True] Translation: X:329.39, Y:17.45, Z:11.98 [[ 9.94761697e-01 -9.54756926e-02 -3.65179074e-02 3.29391304e+02] [ 9.54622438e-02 9.95430803e-01 -2.11572112e-03 1.74465793e+01] [ 3.65530499e-02 -1.38144305e-03 9.99330759e-01 1.19754260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.299254154 meters Centerline goodness : 0.999018 with order 1 Centerline is valid? [True, True] Translation: X:329.45, Y:17.45, Z:11.98 [[ 9.94727548e-01 -9.58307706e-02 -3.65180644e-02 3.29453721e+02] [ 9.58176601e-02 9.95396660e-01 -2.11300808e-03 1.74501879e+01] [ 3.65524506e-02 -1.39720814e-03 9.99330759e-01 1.19785300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.359254154 meters Centerline goodness : 0.998996 with order 1 Centerline is valid? [True, True] Translation: X:329.52, Y:17.45, Z:11.98 [[ 9.94758333e-01 -9.55106215e-02 -3.65182207e-02 3.29515222e+02] [ 9.54973947e-02 9.95427443e-01 -2.11030418e-03 1.74530699e+01] [ 3.65527955e-02 -1.38815227e-03 9.99330759e-01 1.19798777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.419254154 meters Centerline goodness : 0.998825 with order 1 Centerline is valid? [True, True] Translation: X:329.58, Y:17.46, Z:11.98 [[ 9.94963600e-01 -9.33479226e-02 -3.65184809e-02 3.29576493e+02] [ 9.33334067e-02 9.95632684e-01 -2.10579114e-03 1.74570820e+01] [ 3.65555644e-02 -1.31320870e-03 9.99330759e-01 1.19813733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.479254154 meters Centerline goodness : 0.999329 with order 1 Centerline is valid? [True, True] Translation: X:329.64, Y:17.46, Z:11.98 [[ 9.95472636e-01 -8.77531442e-02 -3.65187302e-02 3.29637861e+02] [ 8.77350260e-02 9.96141631e-01 -2.10145936e-03 1.74629431e+01] [ 3.65622371e-02 -1.11202646e-03 9.99330759e-01 1.19845375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.539254154 meters Centerline goodness : 0.999099 with order 1 Centerline is valid? [True, True] Translation: X:329.70, Y:17.47, Z:11.99 [[ 9.95648950e-01 -8.57294888e-02 -3.65188059e-02 3.29699541e+02] [ 8.57100591e-02 9.96317909e-01 -2.10014244e-03 1.74667673e+01] [ 3.65643845e-02 -1.03902439e-03 9.99330759e-01 1.19863767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.599254154 meters Centerline goodness : 0.999120 with order 1 Centerline is valid? [True, True] Translation: X:329.76, Y:17.47, Z:11.99 [[ 9.95851594e-01 -8.33425138e-02 -3.65188816e-02 3.29760204e+02] [ 8.33215287e-02 9.96520505e-01 -2.09882540e-03 1.74711277e+01] [ 3.65667358e-02 -9.52690428e-04 9.99330759e-01 1.19896349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.659254154 meters Centerline goodness : 0.998973 with order 1 Centerline is valid? [True, True] Translation: X:329.82, Y:17.48, Z:11.99 [[ 9.95874511e-01 -8.30681848e-02 -3.65189571e-02 3.29821728e+02] [ 8.30470637e-02 9.96543419e-01 -2.09751085e-03 1.74764788e+01] [ 3.65669628e-02 -9.43934569e-04 9.99330759e-01 1.19924657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.719254154 meters Centerline goodness : 0.999163 with order 1 Centerline is valid? [True, True] Translation: X:329.88, Y:17.48, Z:11.99 [[ 9.95769726e-01 -8.43149602e-02 -3.65190324e-02 3.29882253e+02] [ 8.42947246e-02 9.96438661e-01 -2.09619921e-03 1.74815912e+01] [ 3.65657167e-02 -9.91030064e-04 9.99330759e-01 1.19946448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.779254154 meters Centerline goodness : 0.999057 with order 1 Centerline is valid? [True, True] Translation: X:329.94, Y:17.49, Z:12.00 [[ 9.95524009e-01 -8.71682547e-02 -3.65190694e-02 3.29942412e+02] [ 8.71499599e-02 9.96193000e-01 -2.09555417e-03 1.74868469e+01] [ 3.65627071e-02 -1.09646095e-03 9.99330759e-01 1.19971158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.839254154 meters Centerline goodness : 0.999204 with order 1 Centerline is valid? [True, True] Translation: X:330.00, Y:17.49, Z:12.00 [[ 9.95274926e-01 -8.99676107e-02 -3.65191944e-02 3.30003335e+02] [ 8.99512773e-02 9.95943967e-01 -2.09337430e-03 1.74908625e+01] [ 3.65594072e-02 -1.20146523e-03 9.99330759e-01 1.19998771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.899254154 meters Centerline goodness : 0.998807 with order 1 Centerline is valid? [True, True] Translation: X:330.06, Y:17.49, Z:12.00 [[ 9.95204397e-01 -9.07444292e-02 -3.65192665e-02 3.30064519e+02] [ 9.07286641e-02 9.95873452e-01 -2.09211499e-03 1.74946534e+01] [ 3.65584158e-02 -1.23126223e-03 9.99330759e-01 1.20009335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.959254154 meters Centerline goodness : 0.998888 with order 1 Centerline is valid? [True, True] Translation: X:330.13, Y:17.50, Z:12.01 [[ 9.95027959e-01 -9.26590422e-02 -3.65193385e-02 3.30126526e+02] [ 9.26446105e-02 9.95697045e-01 -2.09085859e-03 1.74993215e+01] [ 3.65559343e-02 -1.30285713e-03 9.99330759e-01 1.20061745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.019254154 meters Centerline goodness : 0.998969 with order 1 Centerline is valid? [True, True] Translation: X:330.19, Y:17.50, Z:12.01 [[ 9.94966756e-01 -9.33138866e-02 -3.65194925e-02 3.30187679e+02] [ 9.32999939e-02 9.95635852e-01 -2.08816485e-03 1.75033422e+01] [ 3.65549708e-02 -1.32961382e-03 9.99330759e-01 1.20087973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.079254154 meters Centerline goodness : 0.998760 with order 1 Centerline is valid? [True, True] Translation: X:330.25, Y:17.51, Z:12.01 [[ 9.95134336e-01 -9.15094034e-02 -3.65196063e-02 3.30248584e+02] [ 9.14943704e-02 9.95803408e-01 -2.08617329e-03 1.75069972e+01] [ 3.65572529e-02 -1.26531571e-03 9.99330759e-01 1.20082501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.139254154 meters Centerline goodness : 0.999055 with order 1 Centerline is valid? [True, True] Translation: X:330.31, Y:17.51, Z:12.02 [[ 9.95077245e-01 -9.21281076e-02 -3.65196923e-02 3.30309445e+02] [ 9.21135459e-02 9.95746328e-01 -2.08466537e-03 1.75134928e+01] [ 3.65564058e-02 -1.28955528e-03 9.99330759e-01 1.20157525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.199254154 meters Centerline goodness : 0.999012 with order 1 Centerline is valid? [True, True] Translation: X:330.37, Y:17.52, Z:12.02 [[ 9.95071553e-01 -9.21895289e-02 -3.65197787e-02 3.30371286e+02] [ 9.21750640e-02 9.95740638e-01 -2.08315176e-03 1.75182657e+01] [ 3.65562725e-02 -1.29332788e-03 9.99330759e-01 1.20179155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.259254154 meters Centerline goodness : 0.999035 with order 1 Centerline is valid? [True, True] Translation: X:330.43, Y:17.52, Z:12.02 [[ 9.95098611e-01 -9.18969443e-02 -3.65199295e-02 3.30431918e+02] [ 9.18823797e-02 9.95767694e-01 -2.08050499e-03 1.75219357e+01] [ 3.65565580e-02 -1.28523040e-03 9.99330759e-01 1.20188670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.319254154 meters Centerline goodness : 0.999012 with order 1 Centerline is valid? [True, True] Translation: X:330.49, Y:17.53, Z:12.02 [[ 9.95513456e-01 -8.72882902e-02 -3.65200407e-02 3.30494062e+02] [ 8.72706992e-02 9.96182466e-01 -2.07855055e-03 1.75273331e+01] [ 3.65620573e-02 -1.11790445e-03 9.99330759e-01 1.20235519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.379254154 meters Centerline goodness : 0.999012 with order 1 Centerline is valid? [True, True] Translation: X:330.55, Y:17.53, Z:12.02 [[ 9.95890715e-01 -8.28731453e-02 -3.65201960e-02 3.30554700e+02] [ 8.28526881e-02 9.96559644e-01 -2.07581797e-03 1.75337373e+01] [ 3.65665831e-02 -9.58508563e-04 9.99330759e-01 1.20238584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.439254154 meters Centerline goodness : 0.999202 with order 1 Centerline is valid? [True, True] Translation: X:330.62, Y:17.54, Z:12.03 [[ 9.96691549e-01 -7.26100698e-02 -3.65203106e-02 3.30616207e+02] [ 7.25827970e-02 9.97360234e-01 -2.07380032e-03 1.75392403e+01] [ 3.65744843e-02 -5.83807040e-04 9.99330759e-01 1.20298375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.49925415399997 meters Centerline goodness : 0.999035 with order 1 Centerline is valid? [True, True] Translation: X:330.68, Y:17.54, Z:12.03 [[ 9.97372309e-01 -6.25678300e-02 -3.65204646e-02 3.30676297e+02] [ 6.25339231e-02 9.98040690e-01 -2.07108473e-03 1.75444424e+01] [ 3.65784930e-02 -2.18125360e-04 9.99330759e-01 1.20330408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.559254154 meters Centerline goodness : 0.999074 with order 1 Centerline is valid? [True, True] Translation: X:330.73, Y:17.55, Z:12.04 [[ 9.97631430e-01 -5.82905314e-02 -3.65204646e-02 3.30734661e+02] [ 5.82537588e-02 9.98299660e-01 -2.07108473e-03 1.75483636e+01] [ 3.65790920e-02 -6.12751115e-05 9.99330759e-01 1.20355349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.619254154 meters Centerline goodness : 0.999092 with order 1 Centerline is valid? [True, True] Translation: X:330.79, Y:17.55, Z:12.04 [[ 9.97751701e-01 -5.61946419e-02 -3.65199366e-02 3.30793249e+02] [ 5.61561263e-02 9.98419832e-01 -2.08035293e-03 1.75503928e+01] [ 3.65791337e-02 2.48575034e-05 9.99330759e-01 1.20377365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.679254154 meters Centerline goodness : 0.999075 with order 1 Centerline is valid? [True, True] Translation: X:330.85, Y:17.55, Z:12.04 [[ 9.97705377e-01 -5.70115298e-02 -3.65193927e-02 3.30851693e+02] [ 5.69732134e-02 9.98373520e-01 -2.08985778e-03 1.75523492e+01] [ 3.65791406e-02 4.43519251e-06 9.99330759e-01 1.20384430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.739254154 meters Centerline goodness : 0.999073 with order 1 Centerline is valid? [True, True] Translation: X:330.91, Y:17.55, Z:12.04 [[ 9.97451078e-01 -6.13002549e-02 -3.65188542e-02 3.30909312e+02] [ 6.12644683e-02 9.98119361e-01 -2.09922513e-03 1.75541128e+01] [ 3.65788585e-02 -1.43433823e-04 9.99330759e-01 1.20403923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.799254154 meters Centerline goodness : 0.999011 with order 1 Centerline is valid? [True, True] Translation: X:330.97, Y:17.55, Z:12.04 [[ 9.96911749e-01 -6.95223074e-02 -3.65186651e-02 3.30968254e+02] [ 6.94919118e-02 9.97580299e-01 -2.10250993e-03 1.75530296e+01] [ 3.65764722e-02 -4.41735008e-04 9.99330759e-01 1.20407353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.859254154 meters Centerline goodness : 0.999119 with order 1 Centerline is valid? [True, True] Translation: X:331.03, Y:17.55, Z:12.05 [[ 9.96421537e-01 -7.62269323e-02 -3.65181454e-02 3.31028341e+02] [ 7.62007055e-02 9.97090264e-01 -2.11149813e-03 1.75531937e+01] [ 3.65728403e-02 -6.78766233e-04 9.99330759e-01 1.20458422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.919254154 meters Centerline goodness : 0.998910 with order 1 Centerline is valid? [True, True] Translation: X:331.09, Y:17.55, Z:12.05 [[ 9.95862180e-01 -8.32162430e-02 -3.65181454e-02 3.31089313e+02] [ 8.31947087e-02 9.96531074e-01 -2.11149813e-03 1.75534087e+01] [ 3.65671776e-02 -9.35355343e-04 9.99330759e-01 1.20488435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.979254154 meters Centerline goodness : 0.998891 with order 1 Centerline is valid? [True, True] Translation: X:331.15, Y:17.55, Z:12.05 [[ 9.95551715e-01 -8.68516394e-02 -3.65181454e-02 3.31150055e+02] [ 8.68325475e-02 9.96220684e-01 -2.11149813e-03 1.75537192e+01] [ 3.65635189e-02 -1.06885801e-03 9.99330759e-01 1.20505051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.039254154 meters Centerline goodness : 0.998870 with order 1 Centerline is valid? [True, True] Translation: X:331.21, Y:17.56, Z:12.05 [[ 9.95185379e-01 -9.09531960e-02 -3.65181843e-02 3.31211789e+02] [ 9.09368855e-02 9.95854421e-01 -2.11082467e-03 1.75554442e+01] [ 3.65587816e-02 -1.22018810e-03 9.99330759e-01 1.20533518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.099254154 meters Centerline goodness : 0.998911 with order 1 Centerline is valid? [True, True] Translation: X:331.27, Y:17.56, Z:12.06 [[ 9.94889781e-01 -9.41315052e-02 -3.65182621e-02 3.31273434e+02] [ 9.41173811e-02 9.95558873e-01 -2.10947929e-03 1.75584313e+01] [ 3.65546483e-02 -1.33830380e-03 9.99330759e-01 1.20550734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.159254154 meters Centerline goodness : 0.998891 with order 1 Centerline is valid? [True, True] Translation: X:331.34, Y:17.56, Z:12.06 [[ 9.94469258e-01 -9.84748667e-02 -3.65184178e-02 3.31335495e+02] [ 9.84637633e-02 9.95138407e-01 -2.10678066e-03 1.75611080e+01] [ 3.65483450e-02 -1.50061224e-03 9.99330759e-01 1.20559074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.219254154 meters Centerline goodness : 0.999057 with order 1 Centerline is valid? [True, True] Translation: X:331.40, Y:17.56, Z:12.06 [[ 9.94222579e-01 -1.00934915e-01 -3.65185715e-02 3.31397229e+02] [ 1.00925565e-01 9.94891754e-01 -2.10411213e-03 1.75644876e+01] [ 3.65444041e-02 -1.59370167e-03 9.99330759e-01 1.20564892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.279254154 meters Centerline goodness : 0.998953 with order 1 Centerline is valid? [True, True] Translation: X:331.46, Y:17.57, Z:12.06 [[ 9.94212903e-01 -1.01030123e-01 -3.65187263e-02 3.31458759e+02] [ 1.01020936e-01 9.94882081e-01 -2.10142193e-03 1.75696763e+01] [ 3.65441333e-02 -1.59989511e-03 9.99330759e-01 1.20585415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.339254154 meters Centerline goodness : 0.998954 with order 1 Centerline is valid? [True, True] Translation: X:331.52, Y:17.58, Z:12.06 [[ 9.94367121e-01 -9.95007558e-02 -3.65188825e-02 3.31520452e+02] [ 9.94906388e-02 9.95036285e-01 -2.09870410e-03 1.75757139e+01] [ 3.65464358e-02 -1.54640460e-03 9.99330759e-01 1.20614743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.399254154 meters Centerline goodness : 0.998866 with order 1 Centerline is valid? [True, True] Translation: X:331.58, Y:17.58, Z:12.06 [[ 9.94760393e-01 -9.54888531e-02 -3.65190388e-02 3.31581894e+02] [ 9.54761368e-02 9.95429512e-01 -2.09598089e-03 1.75827713e+01] [ 3.65522718e-02 -1.40169796e-03 9.99330759e-01 1.20646494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.459254154 meters Centerline goodness : 0.999160 with order 1 Centerline is valid? [True, True] Translation: X:331.64, Y:17.59, Z:12.07 [[ 9.94933745e-01 -9.36653200e-02 -3.65191936e-02 3.31643998e+02] [ 9.36514762e-02 9.95602842e-01 -2.09328074e-03 1.75873999e+01] [ 3.65546807e-02 -1.33740074e-03 9.99330759e-01 1.20674741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.519254154 meters Centerline goodness : 0.998868 with order 1 Centerline is valid? [True, True] Translation: X:331.70, Y:17.59, Z:12.07 [[ 9.95559898e-01 -8.67572820e-02 -3.65193486e-02 3.31704346e+02] [ 8.67388936e-02 9.96228886e-01 -2.09057293e-03 1.75947649e+01] [ 3.65630024e-02 -1.08635732e-03 9.99330759e-01 1.20705243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.579254154 meters Centerline goodness : 0.998824 with order 1 Centerline is valid? [True, True] Translation: X:331.77, Y:17.60, Z:12.08 [[ 9.96222164e-01 -7.87890728e-02 -3.65196142e-02 3.31765577e+02] [ 7.87655028e-02 9.96890989e-01 -2.08592278e-03 1.76007836e+01] [ 3.65704222e-02 -7.98443269e-04 9.99330759e-01 1.20796930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.639254154 meters Centerline goodness : 0.998867 with order 1 Centerline is valid? [True, True] Translation: X:331.83, Y:17.61, Z:12.08 [[ 9.96422153e-01 -7.62181220e-02 -3.65197322e-02 3.31825359e+02] [ 7.61929019e-02 9.97090918e-01 -2.08385485e-03 1.76067687e+01] [ 3.65723208e-02 -7.06145233e-04 9.99330759e-01 1.20765698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.699254154 meters Centerline goodness : 0.999054 with order 1 Centerline is valid? [True, True] Translation: X:331.89, Y:17.61, Z:12.08 [[ 9.96345795e-01 -7.72098821e-02 -3.65197322e-02 3.31886006e+02] [ 7.71853277e-02 9.97014585e-01 -2.08385485e-03 1.76103555e+01] [ 3.65715998e-02 -7.42547475e-04 9.99330759e-01 1.20776306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.759254154 meters Centerline goodness : 0.998907 with order 1 Centerline is valid? [True, True] Translation: X:331.95, Y:17.61, Z:12.08 [[ 9.95997994e-01 -8.15738626e-02 -3.65198588e-02 3.31946364e+02] [ 8.15523197e-02 9.96666888e-01 -2.08163344e-03 1.76138642e+01] [ 3.65679409e-02 -9.04976471e-04 9.99330759e-01 1.20792261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.819254154 meters Centerline goodness : 0.998740 with order 1 Centerline is valid? [True, True] Translation: X:332.01, Y:17.62, Z:12.08 [[ 9.95807189e-01 -8.38709644e-02 -3.65198950e-02 3.32006367e+02] [ 8.38509877e-02 9.96476132e-01 -2.08099833e-03 1.76170926e+01] [ 3.65657390e-02 -9.89956163e-04 9.99330759e-01 1.20814136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.879254154 meters Centerline goodness : 0.999035 with order 1 Centerline is valid? [True, True] Translation: X:332.07, Y:17.62, Z:12.09 [[ 9.95792230e-01 -8.40483776e-02 -3.65199306e-02 3.32068628e+02] [ 8.40285430e-02 9.96461176e-01 -2.08037268e-03 1.76210646e+01] [ 3.65655450e-02 -9.97097607e-04 9.99330759e-01 1.20866119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.939254154 meters Centerline goodness : 0.998866 with order 1 Centerline is valid? [True, True] Translation: X:332.13, Y:17.62, Z:12.09 [[ 9.95913208e-01 -8.26024492e-02 -3.65200845e-02 3.32130193e+02] [ 8.25817424e-02 9.96582129e-01 -2.07766864e-03 1.76248860e+01] [ 3.65668840e-02 -9.46714561e-04 9.99330759e-01 1.20892751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.99925415399997 meters Centerline goodness : 0.998931 with order 1 Centerline is valid? [True, True] Translation: X:332.19, Y:17.63, Z:12.09 [[ 9.96032169e-01 -8.11553469e-02 -3.65202384e-02 3.32192369e+02] [ 8.11337675e-02 9.96701062e-01 -2.07495959e-03 1.76284962e+01] [ 3.65681544e-02 -8.96298030e-04 9.99330759e-01 1.20918696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.059254154 meters Centerline goodness : 0.998762 with order 1 Centerline is valid? [True, True] Translation: X:332.25, Y:17.63, Z:12.09 [[ 9.96037959e-01 -8.10841891e-02 -3.65203900e-02 3.32254508e+02] [ 8.10626597e-02 9.96706853e-01 -2.07228805e-03 1.76305287e+01] [ 3.65681528e-02 -8.96362388e-04 9.99330759e-01 1.20943442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.119254154 meters Centerline goodness : 0.998803 with order 1 Centerline is valid? [True, True] Translation: X:332.32, Y:17.63, Z:12.10 [[ 9.95905511e-01 -8.26950057e-02 -3.65205439e-02 3.32316920e+02] [ 8.26746578e-02 9.96574442e-01 -2.06957128e-03 1.76326588e+01] [ 3.65665839e-02 -9.58226030e-04 9.99330759e-01 1.20952175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.179254154 meters Centerline goodness : 0.998846 with order 1 Centerline is valid? [True, True] Translation: X:332.38, Y:17.64, Z:12.10 [[ 9.95885990e-01 -8.29296945e-02 -3.65206997e-02 3.32378076e+02] [ 8.29096051e-02 9.96554929e-01 -2.06681812e-03 1.76354437e+01] [ 3.65662839e-02 -9.69601589e-04 9.99330759e-01 1.20957201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.239254154 meters Centerline goodness : 0.999141 with order 1 Centerline is valid? [True, True] Translation: X:332.44, Y:17.64, Z:12.10 [[ 9.96153101e-01 -7.96569543e-02 -3.65208147e-02 3.32439524e+02] [ 7.96347415e-02 9.96821972e-01 -2.06478526e-03 1.76376969e+01] [ 3.65692250e-02 -8.51483394e-04 9.99330759e-01 1.20969407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.299254154 meters Centerline goodness : 0.998827 with order 1 Centerline is valid? [True, True] Translation: X:332.50, Y:17.64, Z:12.10 [[ 9.96739807e-01 -7.19443005e-02 -3.65208900e-02 3.32500698e+02] [ 7.19169601e-02 9.97408489e-01 -2.06345176e-03 1.76411874e+01] [ 3.65746993e-02 -5.69746886e-04 9.99330759e-01 1.20995564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.359254154 meters Centerline goodness : 0.998890 with order 1 Centerline is valid? [True, True] Translation: X:332.56, Y:17.65, Z:12.10 [[ 9.97151805e-01 -6.59886089e-02 -3.65209669e-02 3.32561068e+02] [ 6.59573242e-02 9.97820314e-01 -2.06209037e-03 1.76453420e+01] [ 3.65774371e-02 -3.52608122e-04 9.99330759e-01 1.21021169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.419254154 meters Centerline goodness : 0.998973 with order 1 Centerline is valid? [True, True] Translation: X:332.62, Y:17.65, Z:12.10 [[ 9.97584469e-01 -5.90884604e-02 -3.65209669e-02 3.32619833e+02] [ 5.90525516e-02 9.98252746e-01 -2.06209037e-03 1.76483848e+01] [ 3.65790012e-02 -9.95469567e-05 9.99330759e-01 1.21038021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.479254154 meters Centerline goodness : 0.998847 with order 1 Centerline is valid? [True, True] Translation: X:332.68, Y:17.65, Z:12.11 [[ 9.97705053e-01 -5.70162876e-02 -3.65208277e-02 3.32678797e+02] [ 5.69789006e-02 9.98373248e-01 -2.06455345e-03 1.76494470e+01] [ 3.65791305e-02 -2.11012017e-05 9.99330759e-01 1.21056449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.539254154 meters Centerline goodness : 0.998910 with order 1 Centerline is valid? [True, True] Translation: X:332.74, Y:17.65, Z:12.11 [[ 9.97579142e-01 -5.91787518e-02 -3.65202869e-02 3.32736611e+02] [ 5.91424647e-02 9.98247398e-01 -2.07407428e-03 1.76510693e+01] [ 3.65790225e-02 -9.08465412e-05 9.99330759e-01 1.21065864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.599254154 meters Centerline goodness : 0.998909 with order 1 Centerline is valid? [True, True] Translation: X:332.79, Y:17.65, Z:12.11 [[ 9.97152093e-01 -6.59849814e-02 -3.65196718e-02 3.32794759e+02] [ 6.59528608e-02 9.97820562e-01 -2.08484884e-03 1.76504232e+01] [ 3.65776482e-02 -3.29665448e-04 9.99330760e-01 1.21069636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.659254154 meters Centerline goodness : 0.998954 with order 1 Centerline is valid? [True, True] Translation: X:332.85, Y:17.65, Z:12.11 [[ 9.96823052e-01 -7.07824998e-02 -3.65190516e-02 3.32853057e+02] [ 7.07532005e-02 9.97491651e-01 -2.09565644e-03 1.76506422e+01] [ 3.65757849e-02 -4.94841132e-04 9.99330760e-01 1.21068710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.719254154 meters Centerline goodness : 0.999351 with order 1 Centerline is valid? [True, True] Translation: X:332.91, Y:17.65, Z:12.11 [[ 9.96139975e-01 -7.98220121e-02 -3.65184554e-02 3.32911598e+02] [ 7.97984001e-02 9.96808798e-01 -2.10599505e-03 1.76500513e+01] [ 3.65700224e-02 -8.16248468e-04 9.99330760e-01 1.21102377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.779254154 meters Centerline goodness : 0.999248 with order 1 Centerline is valid? [True, True] Translation: X:332.97, Y:17.65, Z:12.12 [[ 9.95629491e-01 -8.59555944e-02 -3.65178399e-02 3.32971357e+02] [ 8.59357129e-02 9.96298436e-01 -2.11661492e-03 1.76518396e+01] [ 3.65646017e-02 -1.03082237e-03 9.99330760e-01 1.21159902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.839254154 meters Centerline goodness : 0.998935 with order 1 Centerline is valid? [True, True] Translation: X:333.03, Y:17.65, Z:12.11 [[ 9.95385368e-01 -8.87378921e-02 -3.65178781e-02 3.33032474e+02] [ 8.87199044e-02 9.96054367e-01 -2.11595540e-03 1.76507430e+01] [ 3.65615574e-02 -1.13367161e-03 9.99330760e-01 1.21146462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.899254154 meters Centerline goodness : 0.999062 with order 1 Centerline is valid? [True, True] Translation: X:333.09, Y:17.65, Z:12.12 [[ 9.94838276e-01 -9.46744225e-02 -3.65179164e-02 3.33094167e+02] [ 9.46604504e-02 9.95507370e-01 -2.11529405e-03 1.76520369e+01] [ 3.65541192e-02 -1.35242693e-03 9.99330760e-01 1.21166634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.959254154 meters Centerline goodness : 0.998833 with order 1 Centerline is valid? [True, True] Translation: X:333.16, Y:17.65, Z:12.12 [[ 9.94417762e-01 -9.89936907e-02 -3.65179923e-02 3.33155702e+02] [ 9.89826724e-02 9.95086912e-01 -2.11398314e-03 1.76542115e+01] [ 3.65478472e-02 -1.51246609e-03 9.99330760e-01 1.21177890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.019254154 meters Centerline goodness : 0.999061 with order 1 Centerline is valid? [True, True] Translation: X:333.22, Y:17.66, Z:12.12 [[ 9.93819820e-01 -1.04826505e-01 -3.65180674e-02 3.33217900e+02] [ 1.04819460e-01 9.94489023e-01 -2.11268468e-03 1.76569387e+01] [ 3.65382826e-02 -1.72817621e-03 9.99330760e-01 1.21187413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.079254154 meters Centerline goodness : 0.999060 with order 1 Centerline is valid? [True, True] Translation: X:333.28, Y:17.66, Z:12.12 [[ 9.93428989e-01 -1.08467794e-01 -3.65182229e-02 3.33280121e+02] [ 1.08463300e-01 9.94098215e-01 -2.10999336e-03 1.76609134e+01] [ 3.65315665e-02 -1.86475841e-03 9.99330760e-01 1.21203980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.139254154 meters Centerline goodness : 0.998897 with order 1 Centerline is valid? [True, True] Translation: X:333.34, Y:17.67, Z:12.12 [[ 9.93323812e-01 -1.09426742e-01 -3.65183801e-02 3.33342206e+02] [ 1.09422995e-01 9.93993042e-01 -2.10726901e-03 1.76659415e+01] [ 3.65296073e-02 -1.90275004e-03 9.99330760e-01 1.21227385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.199254154 meters Centerline goodness : 0.999185 with order 1 Centerline is valid? [True, True] Translation: X:333.40, Y:17.67, Z:12.12 [[ 9.93292606e-01 -1.09709598e-01 -3.65185350e-02 3.33404424e+02] [ 1.09706140e-01 9.93961837e-01 -2.10458175e-03 1.76722708e+01] [ 3.65289230e-02 -1.91584202e-03 9.99330760e-01 1.21244317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.259254154 meters Centerline goodness : 0.999290 with order 1 Centerline is valid? [True, True] Translation: X:333.47, Y:17.68, Z:12.13 [[ 9.93449037e-01 -1.08283866e-01 -3.65186901e-02 3.33466469e+02] [ 1.08279546e-01 9.94118264e-01 -2.10188660e-03 1.76791647e+01] [ 3.65314972e-02 -1.86610997e-03 9.99330760e-01 1.21266912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.319254154 meters Centerline goodness : 0.998955 with order 1 Centerline is valid? [True, True] Translation: X:333.53, Y:17.69, Z:12.13 [[ 9.93569485e-01 -1.07173000e-01 -3.65188433e-02 3.33528672e+02] [ 1.07168030e-01 9.94238707e-01 -2.09922176e-03 1.76860111e+01] [ 3.65334275e-02 -1.82792980e-03 9.99330760e-01 1.21299248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.379254154 meters Centerline goodness : 0.998727 with order 1 Centerline is valid? [True, True] Translation: X:333.59, Y:17.69, Z:12.13 [[ 9.93726012e-01 -1.05711760e-01 -3.65189978e-02 3.33590075e+02] [ 1.05705903e-01 9.94395227e-01 -2.09653154e-03 1.76928232e+01] [ 3.65359451e-02 -1.77689572e-03 9.99330760e-01 1.21314715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.439254154 meters Centerline goodness : 0.998996 with order 1 Centerline is valid? [True, True] Translation: X:333.65, Y:17.70, Z:12.13 [[ 9.93964374e-01 -1.03446486e-01 -3.65191493e-02 3.33651532e+02] [ 1.03439202e-01 9.94633574e-01 -2.09388849e-03 1.76994593e+01] [ 3.65397774e-02 -1.69626110e-03 9.99330760e-01 1.21339405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.49925415399997 meters Centerline goodness : 0.998891 with order 1 Centerline is valid? [True, True] Translation: X:333.71, Y:17.71, Z:12.14 [[ 9.94454380e-01 -9.86246749e-02 -3.65193036e-02 3.33713486e+02] [ 9.86142437e-02 9.95123539e-01 -2.09119329e-03 1.77079989e+01] [ 3.65474619e-02 -1.52172718e-03 9.99330760e-01 1.21378802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.559254154 meters Centerline goodness : 0.998930 with order 1 Centerline is valid? [True, True] Translation: X:333.77, Y:17.72, Z:12.14 [[ 9.94919918e-01 -9.38119755e-02 -3.65194577e-02 3.33774025e+02] [ 9.37984056e-02 9.95589020e-01 -2.08849839e-03 1.77153047e+01] [ 3.65542973e-02 -1.34757827e-03 9.99330760e-01 1.21404313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.619254154 meters Centerline goodness : 0.999033 with order 1 Centerline is valid? [True, True] Translation: X:333.84, Y:17.72, Z:12.14 [[ 9.95711792e-01 -8.49961046e-02 -3.65197100e-02 3.33835349e+02] [ 8.49767708e-02 9.96380753e-01 -2.08407837e-03 1.77241077e+01] [ 3.65646747e-02 -1.02818562e-03 9.99330760e-01 1.21436740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.679254154 meters Centerline goodness : 0.998906 with order 1 Centerline is valid? [True, True] Translation: X:333.90, Y:17.73, Z:12.15 [[ 9.96551139e-01 -7.45125994e-02 -3.65198670e-02 3.33895635e+02] [ 7.44863276e-02 9.97219863e-01 -2.08132252e-03 1.77324262e+01] [ 3.65734216e-02 -6.46086450e-04 9.99330760e-01 1.21475575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.739254154 meters Centerline goodness : 0.998903 with order 1 Centerline is valid? [True, True] Translation: X:333.96, Y:17.74, Z:12.15 [[ 9.96954641e-01 -6.89038011e-02 -3.65199827e-02 3.33956213e+02] [ 6.88738412e-02 9.97623211e-01 -2.07929060e-03 1.77391845e+01] [ 3.65764535e-02 -4.42313078e-04 9.99330760e-01 1.21515122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.799254154 meters Centerline goodness : 0.998837 with order 1 Centerline is valid? [True, True] Translation: X:334.02, Y:17.75, Z:12.16 [[ 9.97209831e-01 -6.51063559e-02 -3.65200578e-02 3.34016986e+02] [ 6.50738982e-02 9.97878284e-01 -2.07797183e-03 1.77463744e+01] [ 3.65778618e-02 -3.04328589e-04 9.99330760e-01 1.21565690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.859254154 meters Centerline goodness : 0.999091 with order 1 Centerline is valid? [True, True] Translation: X:334.08, Y:17.75, Z:12.16 [[ 9.96963879e-01 -6.87699323e-02 -3.65201341e-02 3.34077741e+02] [ 6.87399801e-02 9.97632449e-01 -2.07662943e-03 1.77499649e+01] [ 3.65764805e-02 -4.40068759e-04 9.99330760e-01 1.21588061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.919254154 meters Centerline goodness : 0.999072 with order 1 Centerline is valid? [True, True] Translation: X:334.14, Y:17.75, Z:12.16 [[ 9.96542635e-01 -7.46261131e-02 -3.65201341e-02 3.34138420e+02] [ 7.46000894e-02 9.97211369e-01 -2.07662943e-03 1.77533022e+01] [ 3.65732637e-02 -6.54955506e-04 9.99330760e-01 1.21611330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.979254154 meters Centerline goodness : 0.999198 with order 1 Centerline is valid? [True, True] Translation: X:334.20, Y:17.76, Z:12.16 [[ 9.95734163e-01 -8.47334459e-02 -3.65201341e-02 3.34200722e+02] [ 8.47142087e-02 9.96403126e-01 -2.07662943e-03 1.77564427e+01] [ 3.65647358e-02 -1.02600339e-03 9.99330760e-01 1.21628925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.039254154 meters Centerline goodness : 0.998969 with order 1 Centerline is valid? [True, True] Translation: X:334.26, Y:17.76, Z:12.16 [[ 9.94607031e-01 -9.70727679e-02 -3.65202874e-02 3.34261633e+02] [ 9.70619254e-02 9.95276184e-01 -2.07393036e-03 1.77582280e+01] [ 3.65490944e-02 -1.48198369e-03 9.99330760e-01 1.21630189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.099254154 meters Centerline goodness : 0.998989 with order 1 Centerline is valid? [True, True] Translation: X:334.32, Y:17.76, Z:12.17 [[ 9.93901073e-01 -1.04052471e-01 -3.65204006e-02 3.34323234e+02] [ 1.04046399e-01 9.94570286e-01 -2.07193406e-03 1.77616266e+01] [ 3.65376952e-02 -1.74051869e-03 9.99330760e-01 1.21667389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.159254154 meters Centerline goodness : 0.999031 with order 1 Centerline is valid? [True, True] Translation: X:334.38, Y:17.77, Z:12.17 [[ 9.93760858e-01 -1.05383136e-01 -3.65205552e-02 3.34383849e+02] [ 1.05378060e-01 9.94430079e-01 -2.06920567e-03 1.77660596e+01] [ 3.65351980e-02 -1.79216968e-03 9.99330760e-01 1.21671150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.219254154 meters Centerline goodness : 0.998903 with order 1 Centerline is valid? [True, True] Translation: X:334.45, Y:17.77, Z:12.17 [[ 9.93771674e-01 -1.05281053e-01 -3.65206695e-02 3.34445329e+02] [ 1.05275982e-01 9.94440895e-01 -2.06718689e-03 1.77701067e+01] [ 3.65352829e-02 -1.79043758e-03 9.99330760e-01 1.21711429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.279254154 meters Centerline goodness : 0.999030 with order 1 Centerline is valid? [True, True] Translation: X:334.51, Y:17.77, Z:12.17 [[ 9.93842290e-01 -1.04612294e-01 -3.65208215e-02 3.34507232e+02] [ 1.04606872e-01 9.94511508e-01 -2.06449800e-03 1.77740830e+01] [ 3.65363491e-02 -1.76854347e-03 9.99330760e-01 1.21733774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.339254154 meters Centerline goodness : 0.999071 with order 1 Centerline is valid? [True, True] Translation: X:334.57, Y:17.78, Z:12.18 [[ 9.93920541e-01 -1.03866147e-01 -3.65209726e-02 3.34569459e+02] [ 1.03860321e-01 9.94589756e-01 -2.06182183e-03 1.77792719e+01] [ 3.65375387e-02 -1.74379285e-03 9.99330760e-01 1.21750526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.399254154 meters Centerline goodness : 0.998794 with order 1 Centerline is valid? [True, True] Translation: X:334.63, Y:17.79, Z:12.18 [[ 9.94247884e-01 -1.00684426e-01 -3.65211212e-02 3.34630236e+02] [ 1.00676554e-01 9.94917078e-01 -2.05918591e-03 1.77850868e+01] [ 3.65428151e-02 -1.62947940e-03 9.99330760e-01 1.21757270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.459254154 meters Centerline goodness : 0.999130 with order 1 Centerline is valid? [True, True] Translation: X:334.69, Y:17.79, Z:12.18 [[ 9.94705198e-01 -9.60612780e-02 -3.65212308e-02 3.34692214e+02] [ 9.60503668e-02 9.95374349e-01 -2.05724016e-03 1.77921983e+01] [ 3.65499175e-02 -1.46153013e-03 9.99330760e-01 1.21781126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.519254154 meters Centerline goodness : 0.999002 with order 1 Centerline is valid? [True, True] Translation: X:334.75, Y:17.80, Z:12.18 [[ 9.95117990e-01 -9.16862904e-02 -3.65213738e-02 3.34754427e+02] [ 9.16725300e-02 9.95787088e-01 -2.05469772e-03 1.77987302e+01] [ 3.65559001e-02 -1.30334008e-03 9.99330760e-01 1.21811344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.579254154 meters Centerline goodness : 0.999043 with order 1 Centerline is valid? [True, True] Translation: X:334.82, Y:17.81, Z:12.19 [[ 9.95683245e-01 -8.53291002e-02 -3.65215150e-02 3.34816260e+02] [ 8.53111589e-02 9.96352244e-01 -2.05218632e-03 1.78065573e+01] [ 3.65634046e-02 -1.07236524e-03 9.99330760e-01 1.21871132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.639254154 meters Centerline goodness : 0.999106 with order 1 Centerline is valid? [True, True] Translation: X:334.88, Y:17.81, Z:12.19 [[ 9.96101682e-01 -8.02969904e-02 -3.65216595e-02 3.34878210e+02] [ 8.02757634e-02 9.96770586e-01 -2.04961068e-03 1.78137330e+01] [ 3.65682935e-02 -8.90183452e-04 9.99330760e-01 1.21921281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.699254154 meters Centerline goodness : 0.999171 with order 1 Centerline is valid? [True, True] Translation: X:334.94, Y:17.82, Z:12.20 [[ 9.96195220e-01 -7.91280096e-02 -3.65218088e-02 3.34939791e+02] [ 7.91060953e-02 9.96864101e-01 -2.04694648e-03 1.78189841e+01] [ 3.65692509e-02 -8.49939397e-04 9.99330760e-01 1.21952149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.759254154 meters Centerline goodness : 0.999150 with order 1 Centerline is valid? [True, True] Translation: X:335.00, Y:17.82, Z:12.19 [[ 9.96026044e-01 -8.12297158e-02 -3.65219601e-02 3.35000754e+02] [ 8.12093118e-02 9.96694973e-01 -2.04424464e-03 1.78236667e+01] [ 3.65673074e-02 -9.29802340e-04 9.99330760e-01 1.21939797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.819254154 meters Centerline goodness : 0.999213 with order 1 Centerline is valid? [True, True] Translation: X:335.06, Y:17.83, Z:12.20 [[ 9.95690277e-01 -8.52467090e-02 -3.65222062e-02 3.35062907e+02] [ 8.52291649e-02 9.96359287e-01 -2.03983699e-03 1.78273678e+01] [ 3.65631288e-02 -1.08171128e-03 9.99330760e-01 1.21992458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.879254154 meters Centerline goodness : 0.999319 with order 1 Centerline is valid? [True, True] Translation: X:335.12, Y:17.83, Z:12.20 [[ 9.95464843e-01 -8.78399881e-02 -3.65223545e-02 3.35124498e+02] [ 8.78242842e-02 9.96133899e-01 -2.03717902e-03 1.78320021e+01] [ 3.65601012e-02 -1.17960955e-03 9.99330760e-01 1.22027039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.939254154 meters Centerline goodness : 0.999107 with order 1 Centerline is valid? [True, True] Translation: X:335.19, Y:17.84, Z:12.21 [[ 9.95264783e-01 -9.00784021e-02 -3.65225057e-02 3.35186852e+02] [ 9.00643023e-02 9.95933875e-01 -2.03446447e-03 1.78364273e+01] [ 3.65572619e-02 -1.26454316e-03 9.99330760e-01 1.22050323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.99925415399997 meters Centerline goodness : 0.999211 with order 1 Centerline is valid? [True, True] Translation: X:335.25, Y:17.84, Z:12.21 [[ 9.95341606e-01 -8.92254638e-02 -3.65226561e-02 3.35247734e+02] [ 8.92108897e-02 9.96010687e-01 -2.03176141e-03 1.78402518e+01] [ 3.65582406e-02 -1.23592198e-03 9.99330760e-01 1.22072542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.059254154 meters Centerline goodness : 0.999253 with order 1 Centerline is valid? [True, True] Translation: X:335.31, Y:17.85, Z:12.21 [[ 9.95723791e-01 -8.48541084e-02 -3.65227672e-02 3.35308503e+02] [ 8.48366698e-02 9.96392804e-01 -2.02976243e-03 1.78455964e+01] [ 3.65632561e-02 -1.07738720e-03 9.99330760e-01 1.22113793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.119254154 meters Centerline goodness : 0.999144 with order 1 Centerline is valid? [True, True] Translation: X:335.37, Y:17.85, Z:12.22 [[ 9.96297949e-01 -7.78233680e-02 -3.65228761e-02 3.35370516e+02] [ 7.78012793e-02 9.96966824e-01 -2.02779981e-03 1.78518398e+01] [ 3.65699061e-02 -8.21233694e-04 9.99330760e-01 1.22168987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.179254154 meters Centerline goodness : 0.999123 with order 1 Centerline is valid? [True, True] Translation: X:335.43, Y:17.86, Z:12.22 [[ 9.96657030e-01 -7.30810039e-02 -3.65230277e-02 3.35431974e+02] [ 7.30558324e-02 9.97325797e-01 -2.02506614e-03 1.78559774e+01] [ 3.65733516e-02 -6.49923785e-04 9.99330760e-01 1.22177081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.239254154 meters Centerline goodness : 0.999271 with order 1 Centerline is valid? [True, True] Translation: X:335.49, Y:17.86, Z:12.22 [[ 9.97024278e-01 -6.78870316e-02 -3.65231394e-02 3.35493595e+02] [ 6.78584498e-02 9.97692908e-01 -2.02304919e-03 1.78597275e+01] [ 3.65762160e-02 -4.61374460e-04 9.99330760e-01 1.22200973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.299254154 meters Centerline goodness : 0.999249 with order 1 Centerline is valid? [True, True] Translation: X:335.56, Y:17.86, Z:12.22 [[ 9.97094147e-01 -6.68529175e-02 -3.65232853e-02 3.35555782e+02] [ 6.68237388e-02 9.97762750e-01 -2.02041200e-03 1.78632082e+01] [ 3.65766441e-02 -4.26081495e-04 9.99330760e-01 1.22231979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.359254154 meters Centerline goodness : 0.999077 with order 1 Centerline is valid? [True, True] Translation: X:335.62, Y:17.87, Z:12.22 [[ 9.97150975e-01 -6.59997814e-02 -3.65234356e-02 3.35617821e+02] [ 6.59701302e-02 9.97819558e-01 -2.01769234e-03 1.78659123e+01] [ 3.65769656e-02 -3.97511914e-04 9.99330760e-01 1.22249023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.419254154 meters Centerline goodness : 0.999187 with order 1 Centerline is valid? [True, True] Translation: X:335.68, Y:17.87, Z:12.23 [[ 9.97051443e-01 -6.74866477e-02 -3.65235830e-02 3.35678978e+02] [ 6.74580914e-02 9.97720074e-01 -2.01501942e-03 1.78679547e+01] [ 3.65762989e-02 -4.54733181e-04 9.99330760e-01 1.22267157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.479254154 meters Centerline goodness : 0.998952 with order 1 Centerline is valid? [True, True] Translation: X:335.74, Y:17.87, Z:12.23 [[ 9.96731385e-01 -7.20594824e-02 -3.65236578e-02 3.35740627e+02] [ 7.20340431e-02 9.97400141e-01 -2.01366358e-03 1.78682601e+01] [ 3.65738050e-02 -6.23865053e-04 9.99330760e-01 1.22275088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.539254154 meters Centerline goodness : 0.999040 with order 1 Centerline is valid? [True, True] Translation: X:335.80, Y:17.87, Z:12.23 [[ 9.96253483e-01 -7.83901232e-02 -3.65237686e-02 3.35803319e+02] [ 7.83690066e-02 9.96922390e-01 -2.01165225e-03 1.78683249e+01] [ 3.65690563e-02 -8.58215899e-04 9.99330760e-01 1.22295739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.599254154 meters Centerline goodness : 0.999108 with order 1 Centerline is valid? [True, True] Translation: X:335.86, Y:17.87, Z:12.23 [[ 9.95889342e-01 -8.28880148e-02 -3.65239160e-02 3.35864934e+02] [ 8.28700173e-02 9.96558340e-01 -2.00897182e-03 1.78686889e+01] [ 3.65647328e-02 -1.02602393e-03 9.99330760e-01 1.22315383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.659254154 meters Centerline goodness : 0.999236 with order 1 Centerline is valid? [True, True] Translation: X:335.93, Y:17.87, Z:12.24 [[ 9.95421673e-01 -8.83271632e-02 -3.65240248e-02 3.35926941e+02] [ 8.83128931e-02 9.96090761e-01 -2.00699185e-03 1.78670772e+01] [ 3.65585156e-02 -1.22773911e-03 9.99330760e-01 1.22350368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.719254154 meters Centerline goodness : 0.998944 with order 1 Centerline is valid? [True, True] Translation: X:335.99, Y:17.87, Z:12.24 [[ 9.95252851e-01 -9.02094614e-02 -3.65241713e-02 3.35988789e+02] [ 9.01965545e-02 9.95921967e-01 -2.00432291e-03 1.78677446e+01] [ 3.65560334e-02 -1.29954631e-03 9.99330760e-01 1.22386790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.779254154 meters Centerline goodness : 0.999008 with order 1 Centerline is valid? [True, True] Translation: X:336.05, Y:17.87, Z:12.24 [[ 9.95170032e-01 -9.11184968e-02 -3.65243209e-02 3.36050711e+02] [ 9.11063011e-02 9.95839161e-01 -2.00159154e-03 1.78673361e+01] [ 3.65547312e-02 -1.33567187e-03 9.99330760e-01 1.22423103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.839254154 meters Centerline goodness : 0.998901 with order 1 Centerline is valid? [True, True] Translation: X:336.11, Y:17.87, Z:12.24 [[ 9.95199583e-01 -9.07951117e-02 -3.65244706e-02 3.36112589e+02] [ 9.07827988e-02 9.95868710e-01 -1.99885776e-03 1.78682990e+01] [ 3.65550639e-02 -1.32653125e-03 9.99330760e-01 1.22441086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.899254154 meters Centerline goodness : 0.998816 with order 1 Centerline is valid? [True, True] Translation: X:336.18, Y:17.87, Z:12.25 [[ 9.95095174e-01 -9.19322956e-02 -3.65246179e-02 3.36175135e+02] [ 9.19208462e-02 9.95764316e-01 -1.99616247e-03 1.78695032e+01] [ 3.65534229e-02 -1.37100214e-03 9.99330760e-01 1.22453009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.959254154 meters Centerline goodness : 0.998927 with order 1 Centerline is valid? [True, True] Translation: X:336.24, Y:17.87, Z:12.24 [[ 9.95031631e-01 -9.26174695e-02 -3.65247671e-02 3.36237200e+02] [ 9.26065811e-02 9.95700782e-01 -1.99342716e-03 1.78703846e+01] [ 3.65523654e-02 -1.39891073e-03 9.99330760e-01 1.22443607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.019254154 meters Centerline goodness : 0.998881 with order 1 Centerline is valid? [True, True] Translation: X:336.30, Y:17.87, Z:12.24 [[ 9.95119761e-01 -9.16656534e-02 -3.65249141e-02 3.36298995e+02] [ 9.16542237e-02 9.95788903e-01 -1.99073039e-03 1.78728366e+01] [ 3.65535858e-02 -1.36664751e-03 9.99330760e-01 1.22447873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.079254154 meters Centerline goodness : 0.999029 with order 1 Centerline is valid? [True, True] Translation: X:336.36, Y:17.88, Z:12.25 [[ 9.95511704e-01 -8.73061725e-02 -3.65250585e-02 3.36360465e+02] [ 8.72919093e-02 9.96180792e-01 -1.98807845e-03 1.78776877e+01] [ 3.65591332e-02 -1.20918673e-03 9.99330760e-01 1.22477193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.139254154 meters Centerline goodness : 0.998943 with order 1 Centerline is valid? [True, True] Translation: X:336.42, Y:17.88, Z:12.25 [[ 9.96056303e-01 -8.08563552e-02 -3.65252028e-02 3.36422722e+02] [ 8.08378558e-02 9.96725288e-01 -1.98542395e-03 1.78833759e+01] [ 3.65661274e-02 -9.75025036e-04 9.99330760e-01 1.22532618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.199254154 meters Centerline goodness : 0.998859 with order 1 Centerline is valid? [True, True] Translation: X:336.48, Y:17.89, Z:12.26 [[ 9.96393000e-01 -7.65956116e-02 -3.65253480e-02 3.36484437e+02] [ 7.65743493e-02 9.97061903e-01 -1.98274831e-03 1.78878246e+01] [ 3.65699028e-02 -8.21308220e-04 9.99330760e-01 1.22567097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.259254154 meters Centerline goodness : 0.998881 with order 1 Centerline is valid? [True, True] Translation: X:336.55, Y:17.89, Z:12.26 [[ 9.96667777e-01 -7.29330584e-02 -3.65254961e-02 3.36545419e+02] [ 7.29094379e-02 9.97336600e-01 -1.98001685e-03 1.78915112e+01] [ 3.65726228e-02 -6.89634398e-04 9.99330760e-01 1.22589031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.319254154 meters Centerline goodness : 0.999007 with order 1 Centerline is valid? [True, True] Translation: X:336.61, Y:17.89, Z:12.26 [[ 9.96727437e-01 -7.21130794e-02 -3.65256054e-02 3.36607771e+02] [ 7.20889827e-02 9.97396243e-01 -1.97799803e-03 1.78947589e+01] [ 3.65731412e-02 -6.61568831e-04 9.99330760e-01 1.22617915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.379254154 meters Centerline goodness : 0.998861 with order 1 Centerline is valid? [True, True] Translation: X:336.67, Y:17.90, Z:12.26 [[ 9.96568090e-01 -7.42826517e-02 -3.65257526e-02 3.36668657e+02] [ 7.42601106e-02 9.97236950e-01 -1.97527582e-03 1.78963226e+01] [ 3.65715589e-02 -7.43909581e-04 9.99330760e-01 1.22626840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.439254154 meters Centerline goodness : 0.999029 with order 1 Centerline is valid? [True, True] Translation: X:336.73, Y:17.90, Z:12.26 [[ 9.96262955e-01 -7.82686721e-02 -3.65258612e-02 3.36730487e+02] [ 7.82488805e-02 9.96931903e-01 -1.97326633e-03 1.78969273e+01] [ 3.65682412e-02 -8.92215601e-04 9.99330760e-01 1.22628661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.49925415399997 meters Centerline goodness : 0.998801 with order 1 Centerline is valid? [True, True] Translation: X:336.79, Y:17.90, Z:12.26 [[ 9.96190930e-01 -7.91800877e-02 -3.65259344e-02 3.36791425e+02] [ 7.91609578e-02 9.96859897e-01 -1.97191040e-03 1.78970068e+01] [ 3.65673752e-02 -9.27028695e-04 9.99330760e-01 1.22639506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.559254154 meters Centerline goodness : 0.998968 with order 1 Centerline is valid? [True, True] Translation: X:336.85, Y:17.90, Z:12.27 [[ 9.96263381e-01 -7.82631686e-02 -3.65260428e-02 3.36853210e+02] [ 7.82434967e-02 9.96932332e-01 -1.96989981e-03 1.78993369e+01] [ 3.65681637e-02 -8.95386265e-04 9.99330760e-01 1.22660695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.619254154 meters Centerline goodness : 0.999033 with order 1 Centerline is valid? [True, True] Translation: X:336.91, Y:17.90, Z:12.27 [[ 9.96588297e-01 -7.40108342e-02 -3.65261845e-02 3.36914448e+02] [ 7.39884040e-02 9.97257161e-01 -1.96726966e-03 1.79018729e+01] [ 3.65715983e-02 -7.41956175e-04 9.99330760e-01 1.22686768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.679254154 meters Centerline goodness : 0.999116 with order 1 Centerline is valid? [True, True] Translation: X:336.98, Y:17.91, Z:12.27 [[ 9.96897444e-01 -6.97231512e-02 -3.65262559e-02 3.36975773e+02] [ 6.96978926e-02 9.97566208e-01 -1.96594265e-03 1.79050384e+01] [ 3.65744303e-02 -5.85959860e-04 9.99330760e-01 1.22715000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.739254154 meters Centerline goodness : 0.999032 with order 1 Centerline is valid? [True, True] Translation: X:337.04, Y:17.91, Z:12.27 [[ 9.97239972e-01 -6.46395018e-02 -3.65263261e-02 3.37037526e+02] [ 6.46108816e-02 9.97908600e-01 -1.96463667e-03 1.79070444e+01] [ 3.65769281e-02 -4.00783912e-04 9.99330760e-01 1.22739820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.799254154 meters Centerline goodness : 0.997372 with order 1 Centerline is valid? [True, True] Translation: X:337.10, Y:17.91, Z:12.27 [[ 9.97360052e-01 -6.27594466e-02 -3.65264001e-02 3.37095748e+02] [ 6.27296164e-02 9.98028627e-01 -1.96326138e-03 1.79082134e+01] [ 3.65776061e-02 -3.33208591e-04 9.99330760e-01 1.22736425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.859254154 meters Centerline goodness : 0.998928 with order 1 Centerline is valid? [True, True] Translation: X:337.15, Y:17.91, Z:12.28 [[ 9.97688603e-01 -5.72999549e-02 -3.65262414e-02 3.37154940e+02] [ 5.72663581e-02 9.98356999e-01 -1.96620881e-03 1.79078618e+01] [ 3.65788924e-02 -1.30060702e-04 9.99330760e-01 1.22768059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.919254154 meters Centerline goodness : 0.998884 with order 1 Centerline is valid? [True, True] Translation: X:337.21, Y:17.91, Z:12.28 [[ 9.97895817e-01 -5.35706610e-02 -3.65256410e-02 3.37213151e+02] [ 5.35341604e-02 9.98564061e-01 -1.97730006e-03 1.79095494e+01] [ 3.65791177e-02 1.77699377e-05 9.99330760e-01 1.22791035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.979254154 meters Centerline goodness : 0.999156 with order 1 Centerline is valid? [True, True] Translation: X:337.27, Y:17.91, Z:12.28 [[ 9.98139286e-01 -4.88250160e-02 -3.65251203e-02 3.37271664e+02] [ 4.87849880e-02 9.98807327e-01 -1.98687208e-03 1.79080965e+01] [ 3.65785669e-02 2.01297523e-04 9.99330760e-01 1.22806669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.039254154 meters Centerline goodness : 0.998928 with order 1 Centerline is valid? [True, True] Translation: X:337.33, Y:17.90, Z:12.28 [[ 9.98122836e-01 -4.91605776e-02 -3.65245252e-02 3.37329452e+02] [ 4.91203760e-02 9.98790868e-01 -1.99775249e-03 1.79034123e+01] [ 3.65785729e-02 1.99903971e-04 9.99330760e-01 1.22818017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.099254154 meters Centerline goodness : 0.999476 with order 1 Centerline is valid? [True, True] Translation: X:337.39, Y:17.90, Z:12.28 [[ 9.97715969e-01 -5.68229459e-02 -3.65239361e-02 3.37388029e+02] [ 5.67874826e-02 9.98384269e-01 -2.00846522e-03 1.78976605e+01] [ 3.65790501e-02 -7.02245615e-05 9.99330760e-01 1.22836224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.159254154 meters Centerline goodness : 0.999289 with order 1 Centerline is valid? [True, True] Translation: X:337.45, Y:17.90, Z:12.29 [[ 9.97460755e-01 -6.11399035e-02 -3.65233470e-02 3.37445920e+02] [ 6.11069424e-02 9.98129182e-01 -2.01912086e-03 1.78974151e+01] [ 3.65784673e-02 -2.17836248e-04 9.99330760e-01 1.22853873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.219254154 meters Centerline goodness : 0.999248 with order 1 Centerline is valid? [True, True] Translation: X:337.50, Y:17.89, Z:12.29 [[ 9.96575586e-01 -7.41834828e-02 -3.65227539e-02 3.37504872e+02] [ 7.41588778e-02 9.97244374e-01 -2.02979390e-03 1.78889964e+01] [ 3.65726880e-02 -6.85643393e-04 9.99330760e-01 1.22858428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.279254154 meters Centerline goodness : 0.999209 with order 1 Centerline is valid? [True, True] Translation: X:337.56, Y:17.89, Z:12.29 [[ 9.95980854e-01 -8.17818606e-02 -3.65221380e-02 3.37563539e+02] [ 8.17619531e-02 9.96649797e-01 -2.04081459e-03 1.78851734e+01] [ 3.65666831e-02 -9.53509077e-04 9.99330760e-01 1.22878375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.339254154 meters Centerline goodness : 0.999208 with order 1 Centerline is valid? [True, True] Translation: X:337.62, Y:17.88, Z:12.29 [[ 9.95436208e-01 -8.81640460e-02 -3.65219941e-02 3.37624559e+02] [ 8.81483323e-02 9.96105264e-01 -2.04338747e-03 1.78799919e+01] [ 3.65599038e-02 -1.18529099e-03 9.99330760e-01 1.22905218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.399254154 meters Centerline goodness : 0.999313 with order 1 Centerline is valid? [True, True] Translation: X:337.69, Y:17.88, Z:12.29 [[ 9.95403990e-01 -8.85270590e-02 -3.65219941e-02 3.37685669e+02] [ 8.85115893e-02 9.96073051e-01 -2.04338747e-03 1.78780222e+01] [ 3.65594692e-02 -1.19862369e-03 9.99330760e-01 1.22925712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.459254154 meters Centerline goodness : 0.999417 with order 1 Centerline is valid? [True, True] Translation: X:337.75, Y:17.88, Z:12.30 [[ 9.95896104e-01 -8.28075707e-02 -3.65219941e-02 3.37745160e+02] [ 8.27882578e-02 9.96565065e-01 -2.04338747e-03 1.78753214e+01] [ 3.65657514e-02 -9.88590639e-04 9.99330760e-01 1.22950734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.519254154 meters Centerline goodness : 0.999459 with order 1 Centerline is valid? [True, True] Translation: X:337.80, Y:17.88, Z:12.30 [[ 9.96798965e-01 -7.11194038e-02 -3.65219565e-02 3.37804225e+02] [ 7.10922205e-02 9.97467653e-01 -2.04405836e-03 1.78754921e+01] [ 3.65748425e-02 -5.58911726e-04 9.99330760e-01 1.22977324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.579254154 meters Centerline goodness : 0.999354 with order 1 Centerline is valid? [True, True] Translation: X:337.86, Y:17.88, Z:12.30 [[ 9.97342231e-01 -6.30449000e-02 -3.65214277e-02 3.37861045e+02] [ 6.30119581e-02 9.98010659e-01 -2.05346366e-03 1.78761050e+01] [ 3.65782346e-02 -2.53280645e-04 9.99330760e-01 1.22993557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.639254154 meters Centerline goodness : 0.999541 with order 1 Centerline is valid? [True, True] Translation: X:337.92, Y:17.87, Z:12.30 [[ 9.97873994e-01 -5.39786680e-02 -3.65211680e-02 3.37918365e+02] [ 5.39394842e-02 9.98542085e-01 -2.05807162e-03 1.78738502e+01] [ 3.65790153e-02 8.37631861e-05 9.99330760e-01 1.22998960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.699254154 meters Centerline goodness : 0.999646 with order 1 Centerline is valid? [True, True] Translation: X:337.98, Y:17.87, Z:12.30 [[ 9.98006382e-01 -5.14731346e-02 -3.65209139e-02 3.37976589e+02] [ 5.14321089e-02 9.98674363e-01 -2.06257235e-03 1.78707715e+01] [ 3.65786675e-02 1.80112755e-04 9.99330760e-01 1.23004873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.759254154 meters Centerline goodness : 0.999688 with order 1 Centerline is valid? [True, True] Translation: X:338.04, Y:17.87, Z:12.30 [[ 9.97891195e-01 -5.36603117e-02 -3.65203280e-02 3.38035109e+02] [ 5.36203723e-02 9.98559242e-01 -2.07289398e-03 1.78686359e+01] [ 3.65789432e-02 1.10289065e-04 9.99330760e-01 1.23016451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.819254154 meters Centerline goodness : 0.999708 with order 1 Centerline is valid? [True, True] Translation: X:338.09, Y:17.86, Z:12.30 [[ 9.97534332e-01 -5.99296857e-02 -3.65197155e-02 3.38093610e+02] [ 5.98935518e-02 9.98202595e-01 -2.08362876e-03 1.78624085e+01] [ 3.65789460e-02 -1.08804257e-04 9.99330760e-01 1.23027066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.879254154 meters Centerline goodness : 0.999646 with order 1 Centerline is valid? [True, True] Translation: X:338.15, Y:17.86, Z:12.31 [[ 9.97256915e-01 -6.43816857e-02 -3.65190954e-02 3.38150889e+02] [ 6.43481391e-02 9.97925313e-01 -2.09444196e-03 1.78608355e+01] [ 3.65781734e-02 -2.61239099e-04 9.99330761e-01 1.23050794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.939254154 meters Centerline goodness : 0.999624 with order 1 Centerline is valid? [True, True] Translation: X:338.21, Y:17.86, Z:12.31 [[ 9.96784077e-01 -7.13293691e-02 -3.65188281e-02 3.38208804e+02] [ 7.13003107e-02 9.97452685e-01 -2.09909198e-03 1.78571800e+01] [ 3.65755301e-02 -5.11462329e-04 9.99330761e-01 1.23081753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.99925415399997 meters Centerline goodness : 0.999770 with order 1 Centerline is valid? [True, True] Translation: X:338.27, Y:17.85, Z:12.31 [[ 9.96295248e-01 -7.78601242e-02 -3.65182000e-02 3.38266532e+02] [ 7.78350497e-02 9.96964018e-01 -2.10996355e-03 1.78532157e+01] [ 3.65716134e-02 -7.40249251e-04 9.99330761e-01 1.23107798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.059254154 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:338.32, Y:17.85, Z:12.31 [[ 9.95841941e-01 -8.34583450e-02 -3.65175725e-02 3.38323207e+02] [ 8.34366337e-02 9.96510828e-01 -2.12076791e-03 1.78512923e+01] [ 3.65671522e-02 -9.34953683e-04 9.99330761e-01 1.23128040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.119254154 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:338.38, Y:17.85, Z:12.31 [[ 9.95696329e-01 -8.51780907e-02 -3.65173017e-02 3.38381425e+02] [ 8.51573640e-02 9.96365247e-01 -2.12542021e-03 1.78523930e+01] [ 3.65656096e-02 -9.93444058e-04 9.99330761e-01 1.23141561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.179254154 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:338.44, Y:17.85, Z:12.32 [[ 9.95752081e-01 -8.45240935e-02 -3.65167111e-02 3.38437907e+02] [ 8.45025574e-02 9.96420974e-01 -2.13551997e-03 1.78530744e+01] [ 3.65665197e-02 -9.59307018e-04 9.99330761e-01 1.23169205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.239254154 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:338.50, Y:17.86, Z:12.32 [[ 9.95954808e-01 -8.21009735e-02 -3.65164353e-02 3.38495320e+02] [ 8.20776375e-02 9.96623641e-01 -2.14022445e-03 1.78558144e+01] [ 3.65688572e-02 -8.65615910e-04 9.99330761e-01 1.23194506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.299254154 meters Centerline goodness : 0.999770 with order 1 Centerline is valid? [True, True] Translation: X:338.55, Y:17.86, Z:12.32 [[ 9.96357575e-01 -7.70595700e-02 -3.65158156e-02 3.38553602e+02] [ 7.70324640e-02 9.97026265e-01 -2.15074606e-03 1.78591865e+01] [ 3.65729629e-02 -6.69991124e-04 9.99330761e-01 1.23210727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.359254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:338.61, Y:17.86, Z:12.32 [[ 9.96680534e-01 -7.27636816e-02 -3.65152019e-02 3.38611845e+02] [ 7.27333133e-02 9.97349084e-01 -2.16111588e-03 1.78628464e+01] [ 3.65756539e-02 -5.01929489e-04 9.99330761e-01 1.23222392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.419254154 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:338.67, Y:17.86, Z:12.32 [[ 9.96664821e-01 -7.29789051e-02 -3.65145812e-02 3.38670377e+02] [ 7.29482989e-02 9.97333360e-01 -2.17155366e-03 1.78647650e+01] [ 3.65756875e-02 -4.99365440e-04 9.99330761e-01 1.23226231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.479254154 meters Centerline goodness : 0.999813 with order 1 Centerline is valid? [True, True] Translation: X:338.73, Y:17.87, Z:12.32 [[ 9.96517038e-01 -7.49701165e-02 -3.65140426e-02 3.38727377e+02] [ 7.49405157e-02 9.97185622e-01 -2.18057278e-03 1.78664669e+01] [ 3.65747560e-02 -5.63403252e-04 9.99330761e-01 1.23242742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.539254154 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:338.78, Y:17.87, Z:12.33 [[ 9.95938696e-01 -8.22973688e-02 -3.65137773e-02 3.38783742e+02] [ 8.22725238e-02 9.96607474e-01 -2.18500482e-03 1.78680573e+01] [ 3.65697236e-02 -8.27949762e-04 9.99330761e-01 1.23278080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.599254154 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:338.84, Y:17.87, Z:12.34 [[ 9.95023036e-01 -9.27142776e-02 -3.65132889e-02 3.38842302e+02] [ 9.26961339e-02 9.95692029e-01 -2.19313604e-03 1.78709266e+01] [ 3.65593258e-02 -1.20241984e-03 9.99330761e-01 1.23399122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.659254154 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:338.90, Y:17.87, Z:12.33 [[ 9.94621305e-01 -9.69291031e-02 -3.65131298e-02 3.38902637e+02] [ 9.69136969e-02 9.95290367e-01 -2.19578171e-03 1.78703638e+01] [ 3.65540015e-02 -1.35465113e-03 9.99330761e-01 1.23335833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.719254154 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:338.96, Y:17.87, Z:12.33 [[ 9.94021665e-01 -1.02896675e-01 -3.65130515e-02 3.38960121e+02] [ 1.02885237e-01 9.94690807e-01 -2.19708399e-03 1.78732579e+01] [ 3.65452693e-02 -1.57270487e-03 9.99330761e-01 1.23342215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.779254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.02, Y:17.88, Z:12.34 [[ 9.93855574e-01 -1.04488801e-01 -3.65128570e-02 3.39017390e+02] [ 1.04478316e-01 9.94524731e-01 -2.20031065e-03 1.78782474e+01] [ 3.65428471e-02 -1.62801082e-03 9.99330761e-01 1.23385775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.839254154 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:339.07, Y:17.88, Z:12.34 [[ 9.93929031e-01 -1.03787954e-01 -3.65122044e-02 3.39074643e+02] [ 1.03776602e-01 9.94598174e-01 -2.21108857e-03 1.78834966e+01] [ 3.65444561e-02 -1.59144738e-03 9.99330761e-01 1.23416293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.899254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:339.13, Y:17.89, Z:12.34 [[ 9.94295501e-01 -1.00216584e-01 -3.65115443e-02 3.39132742e+02] [ 1.00202431e-01 9.94964590e-01 -2.22193428e-03 1.78902045e+01] [ 3.65503684e-02 -1.44928625e-03 9.99330761e-01 1.23430580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.959254154 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:339.19, Y:17.90, Z:12.35 [[ 9.94903449e-01 -9.39897983e-02 -3.65108916e-02 3.39191286e+02] [ 9.39710653e-02 9.95572425e-01 -2.23260932e-03 1.78979641e+01] [ 3.65590794e-02 -1.20973667e-03 9.99330761e-01 1.23494581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.019254154 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:339.25, Y:17.90, Z:12.35 [[ 9.95316019e-01 -8.95154762e-02 -3.65102851e-02 3.39248859e+02] [ 8.94933735e-02 9.95984893e-01 -2.24248295e-03 1.79041829e+01] [ 3.65644294e-02 -1.03544938e-03 9.99330761e-01 1.23452099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.079254154 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:339.31, Y:17.91, Z:12.35 [[ 9.95729775e-01 -8.47893313e-02 -3.65100719e-02 3.39306455e+02] [ 8.47639264e-02 9.96398531e-01 -2.24594974e-03 1.79107028e+01] [ 3.65690145e-02 -8.58378013e-04 9.99330761e-01 1.23480593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.139254154 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:339.36, Y:17.92, Z:12.35 [[ 9.95755621e-01 -8.44855459e-02 -3.65094027e-02 3.39364223e+02] [ 8.44595403e-02 9.96424354e-01 -2.25677538e-03 1.79155015e+01] [ 3.65695229e-02 -8.36370600e-04 9.99330761e-01 1.23502943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.199254154 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:339.42, Y:17.92, Z:12.35 [[ 9.95682431e-01 -8.53440638e-02 -3.65087303e-02 3.39420849e+02] [ 8.53182380e-02 9.96351171e-01 -2.26760081e-03 1.79216904e+01] [ 3.65690425e-02 -8.57050254e-04 9.99330761e-01 1.23525252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.259254154 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:339.48, Y:17.93, Z:12.37 [[ 9.95130048e-01 -9.15604802e-02 -3.65084414e-02 3.39480494e+02] [ 9.15386611e-02 9.95798931e-01 -2.27224353e-03 1.79297920e+01] [ 3.65631146e-02 -1.08075603e-03 9.99330761e-01 1.23679457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.319254154 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:339.54, Y:17.93, Z:12.36 [[ 9.95226109e-01 -9.05103693e-02 -3.65084316e-02 3.39540329e+02] [ 9.04878386e-02 9.95894968e-01 -2.27240035e-03 1.79315753e+01] [ 3.65642391e-02 -1.04201691e-03 9.99330761e-01 1.23576660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.379254154 meters Centerline goodness : 0.999792 with order 1 Centerline is valid? [True, True] Translation: X:339.60, Y:17.94, Z:12.36 [[ 9.94782390e-01 -9.52635065e-02 -3.65083763e-02 3.39598163e+02] [ 9.52441387e-02 9.95451348e-01 -2.27328816e-03 1.79365593e+01] [ 3.65588738e-02 -1.21578183e-03 9.99330761e-01 1.23598069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.439254154 meters Centerline goodness : 0.999749 with order 1 Centerline is valid? [True, True] Translation: X:339.66, Y:17.95, Z:12.37 [[ 9.93890123e-01 -1.04161462e-01 -3.65077076e-02 3.39656936e+02] [ 1.04147690e-01 9.94559220e-01 -2.28397717e-03 1.79466019e+01] [ 3.65469796e-02 -1.53217105e-03 9.99330761e-01 1.23748213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.49925415399997 meters Centerline goodness : 0.999708 with order 1 Centerline is valid? [True, True] Translation: X:339.72, Y:17.95, Z:12.37 [[ 9.93965773e-01 -1.03437095e-01 -3.65076595e-02 3.39718361e+02] [ 1.03422806e-01 9.94634859e-01 -2.28474539e-03 1.79456698e+01] [ 3.65481182e-02 -1.50476589e-03 9.99330761e-01 1.23651939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.559254154 meters Centerline goodness : 0.999729 with order 1 Centerline is valid? [True, True] Translation: X:339.78, Y:17.95, Z:12.37 [[ 9.93953224e-01 -1.03557614e-01 -3.65076599e-02 3.39776070e+02] [ 1.03543407e-01 9.94622312e-01 -2.28473889e-03 1.79532153e+01] [ 3.65479352e-02 -1.50920390e-03 9.99330761e-01 1.23682526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.619254154 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:339.83, Y:17.96, Z:12.37 [[ 9.94385045e-01 -9.93256629e-02 -3.65074535e-02 3.39832418e+02] [ 9.93084869e-02 9.95054064e-01 -2.28803206e-03 1.79601876e+01] [ 3.65541503e-02 -1.35031510e-03 9.99330761e-01 1.23686526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.679254154 meters Centerline goodness : 0.999749 with order 1 Centerline is valid? [True, True] Translation: X:339.89, Y:17.97, Z:12.37 [[ 9.94830205e-01 -9.47633322e-02 -3.65071718e-02 3.39890189e+02] [ 9.47429231e-02 9.95499133e-01 -2.29251904e-03 1.79687849e+01] [ 3.65601046e-02 -1.17812898e-03 9.99330761e-01 1.23703898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.739254154 meters Centerline goodness : 0.999562 with order 1 Centerline is valid? [True, True] Translation: X:339.95, Y:17.98, Z:12.37 [[ 9.95088003e-01 -9.20170683e-02 -3.65064993e-02 3.39947580e+02] [ 9.19944222e-02 9.95756859e-01 -2.30317792e-03 1.79754432e+01] [ 3.65635288e-02 -1.06652960e-03 9.99330762e-01 1.23716410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.799254154 meters Centerline goodness : 0.999624 with order 1 Centerline is valid? [True, True] Translation: X:340.01, Y:17.98, Z:12.37 [[ 9.95371884e-01 -8.88939693e-02 -3.65058203e-02 3.40005545e+02] [ 8.88688318e-02 9.96040650e-01 -2.31389083e-03 1.79811763e+01] [ 3.65669719e-02 -9.41047729e-04 9.99330762e-01 1.23728325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.859254154 meters Centerline goodness : 0.999665 with order 1 Centerline is valid? [True, True] Translation: X:340.06, Y:17.99, Z:12.37 [[ 9.95515955e-01 -8.72660220e-02 -3.65051329e-02 3.40063758e+02] [ 8.72393952e-02 9.96184663e-01 -2.32468465e-03 1.79878655e+01] [ 3.65687195e-02 -8.70425058e-04 9.99330762e-01 1.23743921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.919254154 meters Centerline goodness : 0.999477 with order 1 Centerline is valid? [True, True] Translation: X:340.12, Y:17.99, Z:12.38 [[ 9.95614929e-01 -8.61297522e-02 -3.65045168e-02 3.40121322e+02] [ 8.61020091e-02 9.96283592e-01 -2.33432012e-03 1.79943819e+01] [ 3.65699055e-02 -8.19028275e-04 9.99330762e-01 1.23774791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.979254154 meters Centerline goodness : 0.999477 with order 1 Centerline is valid? [True, True] Translation: X:340.18, Y:18.00, Z:12.38 [[ 9.95721218e-01 -8.48922436e-02 -3.65043004e-02 3.40178823e+02] [ 8.48635456e-02 9.96389840e-01 -2.33769820e-03 1.79997653e+01] [ 3.65709665e-02 -7.70188667e-04 9.99330762e-01 1.23797802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.039254154 meters Centerline goodness : 0.999415 with order 1 Centerline is valid? [True, True] Translation: X:340.24, Y:18.00, Z:12.38 [[ 9.95666660e-01 -8.55300421e-02 -3.65036058e-02 3.40236477e+02] [ 8.55013768e-02 9.96335285e-01 -2.34849564e-03 1.80049480e+01] [ 3.65706974e-02 -7.82789742e-04 9.99330762e-01 1.23805934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.099254154 meters Centerline goodness : 0.999164 with order 1 Centerline is valid? [True, True] Translation: X:340.29, Y:18.01, Z:12.38 [[ 9.95489807e-01 -8.75647151e-02 -3.65029382e-02 3.40294308e+02] [ 8.75370376e-02 9.96158473e-01 -2.35882684e-03 1.80093662e+01] [ 3.65692612e-02 -8.47170999e-04 9.99330762e-01 1.23838423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.159254154 meters Centerline goodness : 0.999395 with order 1 Centerline is valid? [True, True] Translation: X:340.35, Y:18.01, Z:12.39 [[ 9.95286299e-01 -8.98483993e-02 -3.65027157e-02 3.40352537e+02] [ 8.98221300e-02 9.95955021e-01 -2.36226456e-03 1.80140905e+01] [ 3.65673087e-02 -9.27622124e-04 9.99330762e-01 1.23877772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.219254154 meters Centerline goodness : 0.999500 with order 1 Centerline is valid? [True, True] Translation: X:340.41, Y:18.02, Z:12.39 [[ 9.95319780e-01 -8.94769883e-02 -3.65021099e-02 3.40410950e+02] [ 8.94501278e-02 9.95988479e-01 -2.37158848e-03 1.80179139e+01] [ 3.65678835e-02 -9.04629469e-04 9.99330762e-01 1.23893974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.279254154 meters Centerline goodness : 0.999540 with order 1 Centerline is valid? [True, True] Translation: X:340.47, Y:18.02, Z:12.39 [[ 9.95564583e-01 -8.67110248e-02 -3.65014862e-02 3.40468486e+02] [ 8.66819559e-02 9.96233190e-01 -2.38114978e-03 1.80228516e+01] [ 3.65704640e-02 -7.93431826e-04 9.99330762e-01 1.23905735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.339254154 meters Centerline goodness : 0.999374 with order 1 Centerline is valid? [True, True] Translation: X:340.53, Y:18.03, Z:12.39 [[ 9.95776604e-01 -8.42413890e-02 -3.65012674e-02 3.40525898e+02] [ 8.42105391e-02 9.96445131e-01 -2.38449918e-03 1.80254370e+01] [ 3.65723837e-02 -6.99362906e-04 9.99330762e-01 1.23911752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.399254154 meters Centerline goodness : 0.999373 with order 1 Centerline is valid? [True, True] Translation: X:340.58, Y:18.03, Z:12.39 [[ 9.95753178e-01 -8.45181504e-02 -3.65005612e-02 3.40583187e+02] [ 8.44870919e-02 9.96421695e-01 -2.39526128e-03 1.80293599e+01] [ 3.65723941e-02 -6.98737230e-04 9.99330762e-01 1.23938810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.459254154 meters Centerline goodness : 0.999499 with order 1 Centerline is valid? [True, True] Translation: X:340.64, Y:18.03, Z:12.40 [[ 9.95599708e-01 -8.63072825e-02 -3.65003442e-02 3.40640724e+02] [ 8.62773044e-02 9.96268274e-01 -2.39856257e-03 1.80318471e+01] [ 3.65711484e-02 -7.61143112e-04 9.99330762e-01 1.23963279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.519254154 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:340.70, Y:18.03, Z:12.40 [[ 9.95327875e-01 -8.93879071e-02 -3.64996415e-02 3.40697357e+02] [ 8.93596079e-02 9.95996514e-01 -2.40920858e-03 1.80336885e+01] [ 3.65688698e-02 -8.63641203e-04 9.99330762e-01 1.23979306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.579254154 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:340.76, Y:18.04, Z:12.42 [[ 9.94124967e-01 -1.01898717e-01 -3.64993392e-02 3.40756798e+02] [ 1.01878662e-01 9.94793904e-01 -2.41377993e-03 1.80405489e+01] [ 3.65552812e-02 -1.31890496e-03 9.99330762e-01 1.24191118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.639254154 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:340.82, Y:18.04, Z:12.40 [[ 9.93897643e-01 -1.04092618e-01 -3.64993468e-02 3.40817302e+02] [ 1.04074043e-01 9.94566623e-01 -2.41366588e-03 1.80366624e+01] [ 3.65522768e-02 -1.39969775e-03 9.99330762e-01 1.24024057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.699254154 meters Centerline goodness : 0.999540 with order 1 Centerline is valid? [True, True] Translation: X:340.88, Y:18.04, Z:12.40 [[ 9.93214650e-01 -1.10419486e-01 -3.64992591e-02 3.40875091e+02] [ 1.10405123e-01 9.93883734e-01 -2.41499057e-03 1.80384831e+01] [ 3.65426819e-02 -1.63110118e-03 9.99330762e-01 1.24042626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.759254154 meters Centerline goodness : 0.999791 with order 1 Centerline is valid? [True, True] Translation: X:340.93, Y:18.04, Z:12.41 [[ 9.92751908e-01 -1.14505323e-01 -3.64990504e-02 3.40934411e+02] [ 1.14493598e-01 9.93421043e-01 -2.41814111e-03 1.80418021e+01] [ 3.65358147e-02 -1.77829339e-03 9.99330762e-01 1.24075533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.819254154 meters Centerline goodness : 0.999354 with order 1 Centerline is valid? [True, True] Translation: X:340.99, Y:18.05, Z:12.41 [[ 9.92520290e-01 -1.16495920e-01 -3.64989613e-02 3.40993788e+02] [ 1.16485487e-01 9.93189447e-01 -2.41948511e-03 1.80458690e+01] [ 3.65322433e-02 -1.85021121e-03 9.99330762e-01 1.24090020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.879254154 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:341.05, Y:18.05, Z:12.41 [[ 9.92277167e-01 -1.18548965e-01 -3.64988712e-02 3.41052852e+02] [ 1.18539867e-01 9.92946343e-01 -2.42084291e-03 1.80532928e+01] [ 3.65284091e-02 -1.92442420e-03 9.99330762e-01 1.24122032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.93925415399997 meters Centerline goodness : 0.999563 with order 1 Centerline is valid? [True, True] Translation: X:341.11, Y:18.06, Z:12.43 [[ 9.91925641e-01 -1.21455162e-01 -3.64988674e-02 3.41112629e+02] [ 1.21448022e-01 9.92594840e-01 -2.42090079e-03 1.80622940e+01] [ 3.65226183e-02 -2.03136167e-03 9.99330762e-01 1.24262808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.99925415399997 meters Centerline goodness : 0.999499 with order 1 Centerline is valid? [True, True] Translation: X:341.17, Y:18.07, Z:12.42 [[ 9.92375668e-01 -1.17721555e-01 -3.64989003e-02 3.41172149e+02] [ 1.17711915e-01 9.93044836e-01 -2.42040381e-03 1.80657174e+01] [ 3.65299782e-02 -1.89440560e-03 9.99330762e-01 1.24163463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.059254154 meters Centerline goodness : 0.999437 with order 1 Centerline is valid? [True, True] Translation: X:341.23, Y:18.07, Z:12.42 [[ 9.92484218e-01 -1.16802845e-01 -3.64989283e-02 3.41232128e+02] [ 1.16792601e-01 9.93153378e-01 -2.41998285e-03 1.80744444e+01] [ 3.65316948e-02 -1.86100998e-03 9.99330762e-01 1.24201148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.119254154 meters Centerline goodness : 0.999374 with order 1 Centerline is valid? [True, True] Translation: X:341.29, Y:18.08, Z:12.42 [[ 9.92514108e-01 -1.16548589e-01 -3.64989283e-02 3.41292189e+02] [ 1.16538174e-01 9.93183265e-01 -2.41998285e-03 1.80810185e+01] [ 3.65321703e-02 -1.85165131e-03 9.99330762e-01 1.24225711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.179254154 meters Centerline goodness : 0.999270 with order 1 Centerline is valid? [True, True] Translation: X:341.35, Y:18.09, Z:12.42 [[ 9.92617241e-01 -1.15666941e-01 -3.64989283e-02 3.41352179e+02] [ 1.15655931e-01 9.93286388e-01 -2.41998285e-03 1.80888906e+01] [ 3.65338006e-02 -1.81920083e-03 9.99330762e-01 1.24240233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.239254154 meters Centerline goodness : 0.999312 with order 1 Centerline is valid? [True, True] Translation: X:341.41, Y:18.10, Z:12.43 [[ 9.92857922e-01 -1.13582459e-01 -3.64989283e-02 3.41413141e+02] [ 1.13570044e-01 9.93527045e-01 -2.41998285e-03 1.80974570e+01] [ 3.65375399e-02 -1.74248575e-03 9.99330762e-01 1.24270464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.299254154 meters Centerline goodness : 0.999541 with order 1 Centerline is valid? [True, True] Translation: X:341.47, Y:18.11, Z:12.43 [[ 9.93432136e-01 -1.08445441e-01 -3.64990169e-02 3.41474233e+02] [ 1.08429615e-01 9.94101186e-01 -2.41864570e-03 1.81069913e+01] [ 3.65460071e-02 -1.55481396e-03 9.99330762e-01 1.24308712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.359254154 meters Centerline goodness : 0.999437 with order 1 Centerline is valid? [True, True] Translation: X:341.54, Y:18.12, Z:12.43 [[ 9.94181072e-01 -1.01349942e-01 -3.64991060e-02 3.41535066e+02] [ 1.01329389e-01 9.94849995e-01 -2.41729986e-03 1.81152696e+01] [ 3.65561286e-02 -1.29519833e-03 9.99330762e-01 1.24323835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.419254154 meters Centerline goodness : 0.999270 with order 1 Centerline is valid? [True, True] Translation: X:341.59, Y:18.13, Z:12.43 [[ 9.94951880e-01 -9.34802958e-02 -3.64991952e-02 3.41594876e+02] [ 9.34544993e-02 9.95620620e-01 -2.41595256e-03 1.81251865e+01] [ 3.65651953e-02 -1.00725747e-03 9.99330762e-01 1.24339680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.479254154 meters Centerline goodness : 0.999290 with order 1 Centerline is valid? [True, True] Translation: X:341.65, Y:18.13, Z:12.44 [[ 9.95427217e-01 -8.82749326e-02 -3.64991952e-02 3.41654675e+02] [ 8.82456387e-02 9.96095814e-01 -2.41595256e-03 1.81323763e+01] [ 3.65699636e-02 -8.15989854e-04 9.99330762e-01 1.24360739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.539254154 meters Centerline goodness : 0.999271 with order 1 Centerline is valid? [True, True] Translation: X:341.71, Y:18.14, Z:12.44 [[ 9.95852869e-01 -8.33358999e-02 -3.64991952e-02 3.41714342e+02] [ 8.33032897e-02 9.96521312e-01 -2.41595256e-03 1.81384447e+01] [ 3.65735614e-02 -6.34569739e-04 9.99330762e-01 1.24378064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.599254154 meters Centerline goodness : 0.999291 with order 1 Centerline is valid? [True, True] Translation: X:341.77, Y:18.14, Z:12.44 [[ 9.95879058e-01 -8.30223704e-02 -3.64991523e-02 3.41772519e+02] [ 8.29895260e-02 9.96547489e-01 -2.41659944e-03 1.81435755e+01] [ 3.65737704e-02 -6.22406576e-04 9.99330762e-01 1.24397526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.659254154 meters Centerline goodness : 0.999083 with order 1 Centerline is valid? [True, True] Translation: X:341.83, Y:18.15, Z:12.44 [[ 9.95529729e-01 -8.71113114e-02 -3.64990261e-02 3.41830911e+02] [ 8.70811424e-02 9.96198286e-01 -2.41850478e-03 1.81481170e+01] [ 3.65709464e-02 -7.70683486e-04 9.99330762e-01 1.24412891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.719254154 meters Centerline goodness : 0.999165 with order 1 Centerline is valid? [True, True] Translation: X:341.89, Y:18.15, Z:12.44 [[ 9.94708533e-01 -9.60353949e-02 -3.64984442e-02 3.41890425e+02] [ 9.60109017e-02 9.95377323e-01 -2.42725488e-03 1.81515072e+01] [ 3.65628260e-02 -1.08983739e-03 9.99330762e-01 1.24433948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.779254154 meters Centerline goodness : 0.999312 with order 1 Centerline is valid? [True, True] Translation: X:341.95, Y:18.15, Z:12.45 [[ 9.93721315e-01 -1.05763025e-01 -3.64983575e-02 3.41950279e+02] [ 1.05745029e-01 9.94390311e-01 -2.42855786e-03 1.81547403e+01] [ 3.65504647e-02 -1.44621015e-03 9.99330762e-01 1.24450417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.839254154 meters Centerline goodness : 0.999041 with order 1 Centerline is valid? [True, True] Translation: X:342.01, Y:18.16, Z:12.45 [[ 9.93204077e-01 -1.10514837e-01 -3.64984002e-02 3.42011807e+02] [ 1.10500064e-01 9.93873151e-01 -2.42791545e-03 1.81590937e+01] [ 3.65431007e-02 -1.62166005e-03 9.99330762e-01 1.24503368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.899254154 meters Centerline goodness : 0.999145 with order 1 Centerline is valid? [True, True] Translation: X:342.07, Y:18.16, Z:12.45 [[ 9.92264269e-01 -1.18656960e-01 -3.64985910e-02 3.42072444e+02] [ 1.18647781e-01 9.92933444e-01 -2.42504414e-03 1.81628390e+01] [ 3.65284200e-02 -1.92419217e-03 9.99330762e-01 1.24517389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.959254154 meters Centerline goodness : 0.999019 with order 1 Centerline is valid? [True, True] Translation: X:342.13, Y:18.17, Z:12.46 [[ 9.91670417e-01 -1.23521763e-01 -3.64987303e-02 3.42134236e+02] [ 1.23515942e-01 9.92339630e-01 -2.42294504e-03 1.81670959e+01] [ 3.65184230e-02 -2.10541214e-03 9.99330762e-01 1.24550977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.019254154 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:342.20, Y:18.17, Z:12.46 [[ 9.91472475e-01 -1.25100605e-01 -3.64989079e-02 3.42195221e+02] [ 1.25095949e-01 9.92141697e-01 -2.42026789e-03 1.81722376e+01] [ 3.65148654e-02 -2.16623650e-03 9.99330762e-01 1.24569211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.079254154 meters Centerline goodness : 0.998981 with order 1 Centerline is valid? [True, True] Translation: X:342.26, Y:18.18, Z:12.46 [[ 9.91294260e-01 -1.26504941e-01 -3.64991847e-02 3.42256726e+02] [ 1.26501386e-01 9.91963488e-01 -2.41608531e-03 1.81792664e+01] [ 3.65115053e-02 -2.22214596e-03 9.99330762e-01 1.24586557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.139254154 meters Centerline goodness : 0.999020 with order 1 Centerline is valid? [True, True] Translation: X:342.32, Y:18.19, Z:12.46 [[ 9.91378449e-01 -1.25843427e-01 -3.64993558e-02 3.42318163e+02] [ 1.25839520e-01 9.92047675e-01 -2.41349838e-03 1.81872204e+01] [ 3.65128240e-02 -2.20037111e-03 9.99330762e-01 1.24616702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.199254154 meters Centerline goodness : 0.999125 with order 1 Centerline is valid? [True, True] Translation: X:342.38, Y:18.20, Z:12.46 [[ 9.91803673e-01 -1.22446963e-01 -3.64995354e-02 3.42378578e+02] [ 1.22440863e-01 9.92472883e-01 -2.41077901e-03 1.81972401e+01] [ 3.65199917e-02 -2.07801515e-03 9.99330762e-01 1.24628747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.259254154 meters Centerline goodness : 0.999168 with order 1 Centerline is valid? [True, True] Translation: X:342.44, Y:18.21, Z:12.47 [[ 9.92476192e-01 -1.16870797e-01 -3.64996681e-02 3.42440118e+02] [ 1.16861010e-01 9.93145358e-01 -2.40876814e-03 1.82073783e+01] [ 3.65309906e-02 -1.87474304e-03 9.99330762e-01 1.24654966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.319254154 meters Centerline goodness : 0.999080 with order 1 Centerline is valid? [True, True] Translation: X:342.50, Y:18.22, Z:12.47 [[ 9.92991933e-01 -1.12404545e-01 -3.64998467e-02 3.42501430e+02] [ 1.12391847e-01 9.93661051e-01 -2.40605912e-03 1.82159259e+01] [ 3.65389280e-02 -1.71308789e-03 9.99330762e-01 1.24681449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.379254154 meters Centerline goodness : 0.999016 with order 1 Centerline is valid? [True, True] Translation: X:342.56, Y:18.23, Z:12.47 [[ 9.93780467e-01 -1.05205187e-01 -3.65000237e-02 3.42562597e+02] [ 1.05187739e-01 9.94449478e-01 -2.40337030e-03 1.82276941e+01] [ 3.65502766e-02 -1.45093250e-03 9.99330762e-01 1.24710370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.43925415399997 meters Centerline goodness : 0.998848 with order 1 Centerline is valid? [True, True] Translation: X:342.62, Y:18.24, Z:12.47 [[ 9.94393534e-01 -9.92433106e-02 -3.65002014e-02 3.42622860e+02] [ 9.92219495e-02 9.95062431e-01 -2.40066890e-03 1.82380642e+01] [ 3.65582295e-02 -1.23441150e-03 9.99330762e-01 1.24740984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.49925415399997 meters Centerline goodness : 0.998782 with order 1 Centerline is valid? [True, True] Translation: X:342.68, Y:18.25, Z:12.48 [[ 9.94658933e-01 -9.65470515e-02 -3.65003325e-02 3.42684405e+02] [ 9.65239502e-02 9.95327772e-01 -2.39867478e-03 1.82452647e+01] [ 3.65613796e-02 -1.13729298e-03 9.99330762e-01 1.24770354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.559254154 meters Centerline goodness : 0.998991 with order 1 Centerline is valid? [True, True] Translation: X:342.75, Y:18.25, Z:12.48 [[ 9.94794063e-01 -9.51445539e-02 -3.65005077e-02 3.42745274e+02] [ 9.51206074e-02 9.95462872e-01 -2.39600469e-03 1.82531084e+01] [ 3.65628671e-02 -1.08841922e-03 9.99330762e-01 1.24783769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.619254154 meters Centerline goodness : 0.998735 with order 1 Centerline is valid? [True, True] Translation: X:342.81, Y:18.26, Z:12.48 [[ 9.94815073e-01 -9.49245743e-02 -3.65006371e-02 3.42807441e+02] [ 9.49005522e-02 9.95483879e-01 -2.39403249e-03 1.82592766e+01] [ 3.65630483e-02 -1.08231101e-03 9.99330762e-01 1.24812755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.679254154 meters Centerline goodness : 0.998924 with order 1 Centerline is valid? [True, True] Translation: X:342.87, Y:18.27, Z:12.48 [[ 9.94913806e-01 -9.38840201e-02 -3.65008126e-02 3.42869059e+02] [ 9.38593967e-02 9.95582591e-01 -2.39135375e-03 1.82661883e+01] [ 3.65640835e-02 -1.04675339e-03 9.99330762e-01 1.24832813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.739254154 meters Centerline goodness : 0.998795 with order 1 Centerline is valid? [True, True] Translation: X:342.93, Y:18.27, Z:12.49 [[ 9.95116038e-01 -9.17155836e-02 -3.65009857e-02 3.42930821e+02] [ 9.16895998e-02 9.95784772e-01 -2.38870835e-03 1.82726232e+01] [ 3.65662075e-02 -9.69718780e-04 9.99330762e-01 1.24862881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.799254154 meters Centerline goodness : 0.998819 with order 1 Centerline is valid? [True, True] Translation: X:342.99, Y:18.28, Z:12.49 [[ 9.95336972e-01 -8.92859311e-02 -3.65011648e-02 3.42991927e+02] [ 8.92584152e-02 9.96005644e-01 -2.38596849e-03 1.82775268e+01] [ 3.65683996e-02 -8.83193474e-04 9.99330762e-01 1.24876693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.859254154 meters Centerline goodness : 0.998965 with order 1 Centerline is valid? [True, True] Translation: X:343.05, Y:18.28, Z:12.49 [[ 9.95444376e-01 -8.80802923e-02 -3.65014569e-02 3.43054084e+02] [ 8.80521306e-02 9.96113021e-01 -2.38149097e-03 1.82813606e+01] [ 3.65693390e-02 -8.43389259e-04 9.99330762e-01 1.24905302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.919254154 meters Centerline goodness : 0.998988 with order 1 Centerline is valid? [True, True] Translation: X:343.12, Y:18.29, Z:12.49 [[ 9.95375478e-01 -8.88554409e-02 -3.65016340e-02 3.43116578e+02] [ 8.88278994e-02 9.96044148e-01 -2.37877443e-03 1.82850345e+01] [ 3.65686060e-02 -8.74589741e-04 9.99330762e-01 1.24922508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.979254154 meters Centerline goodness : 0.998904 with order 1 Centerline is valid? [True, True] Translation: X:343.18, Y:18.29, Z:12.49 [[ 9.95166888e-01 -9.11618472e-02 -3.65018107e-02 3.43178654e+02] [ 9.11359549e-02 9.95835625e-01 -2.37605905e-03 1.82884337e+01] [ 3.65664094e-02 -9.62052084e-04 9.99330762e-01 1.24936767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.039254154 meters Centerline goodness : 0.998970 with order 1 Centerline is valid? [True, True] Translation: X:343.24, Y:18.29, Z:12.50 [[ 9.94676340e-01 -9.63669208e-02 -3.65019846e-02 3.43240398e+02] [ 9.63446255e-02 9.95345207e-01 -2.37338427e-03 1.82895036e+01] [ 3.65607912e-02 -1.15602086e-03 9.99330762e-01 1.24952532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.099254154 meters Centerline goodness : 0.998822 with order 1 Centerline is valid? [True, True] Translation: X:343.30, Y:18.29, Z:12.50 [[ 9.94187873e-01 -1.01282107e-01 -3.65021605e-02 3.43302870e+02] [ 1.01263217e-01 9.94856844e-01 -2.37067656e-03 1.82919462e+01] [ 3.65545313e-02 -1.33942833e-03 9.99330762e-01 1.24980264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.159254154 meters Centerline goodness : 0.998740 with order 1 Centerline is valid? [True, True] Translation: X:343.36, Y:18.29, Z:12.50 [[ 9.93990123e-01 -1.03204724e-01 -3.65023371e-02 3.43364692e+02] [ 1.03187228e-01 9.94659132e-01 -2.36795460e-03 1.82948679e+01] [ 3.65517670e-02 -1.41285150e-03 9.99330762e-01 1.25001065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.219254154 meters Centerline goodness : 0.998926 with order 1 Centerline is valid? [True, True] Translation: X:343.43, Y:18.30, Z:12.50 [[ 9.93913327e-01 -1.03941627e-01 -3.65025552e-02 3.43427195e+02] [ 1.03924750e-01 9.94582352e-01 -2.36458735e-03 1.82984067e+01] [ 3.65505763e-02 -1.44332406e-03 9.99330762e-01 1.25027701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.279254154 meters Centerline goodness : 0.998782 with order 1 Centerline is valid? [True, True] Translation: X:343.49, Y:18.30, Z:12.51 [[ 9.94072757e-01 -1.02405592e-01 -3.65027273e-02 3.43488343e+02] [ 1.02387779e-01 9.94741757e-01 -2.36192824e-03 1.83024978e+01] [ 3.65526617e-02 -1.38950464e-03 9.99330762e-01 1.25054315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.339254154 meters Centerline goodness : 0.998926 with order 1 Centerline is valid? [True, True] Translation: X:343.55, Y:18.31, Z:12.51 [[ 9.94337974e-01 -9.97974681e-02 -3.65028543e-02 3.43549897e+02] [ 9.97779723e-02 9.95006928e-01 -2.35996319e-03 1.83066409e+01] [ 3.65561113e-02 -1.29557976e-03 9.99330762e-01 1.25099576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.399254154 meters Centerline goodness : 0.998675 with order 1 Centerline is valid? [True, True] Translation: X:343.61, Y:18.31, Z:12.51 [[ 9.94684939e-01 -9.62777262e-02 -3.65030248e-02 3.43610900e+02] [ 9.62559598e-02 9.95353823e-01 -2.35732242e-03 1.83100082e+01] [ 3.65603830e-02 -1.16884058e-03 9.99330762e-01 1.25126191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.459254154 meters Centerline goodness : 0.998990 with order 1 Centerline is valid? [True, True] Translation: X:343.67, Y:18.31, Z:12.52 [[ 9.94882745e-01 -9.42116951e-02 -3.65031508e-02 3.43672388e+02] [ 9.41886110e-02 9.95551585e-01 -2.35537073e-03 1.83139156e+01] [ 3.65626731e-02 -1.09486337e-03 9.99330762e-01 1.25162660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.519254154 meters Centerline goodness : 0.998634 with order 1 Centerline is valid? [True, True] Translation: X:343.73, Y:18.32, Z:12.52 [[ 9.95063743e-01 -9.22803019e-02 -3.65033232e-02 3.43734261e+02] [ 9.22560176e-02 9.95732540e-01 -2.35269585e-03 1.83180004e+01] [ 3.65646542e-02 -1.02656889e-03 9.99330762e-01 1.25176750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.579254154 meters Centerline goodness : 0.998803 with order 1 Centerline is valid? [True, True] Translation: X:343.80, Y:18.32, Z:12.52 [[ 9.94971101e-01 -9.32738073e-02 -3.65034985e-02 3.43795891e+02] [ 9.32502906e-02 9.95639925e-01 -2.34997262e-03 1.83212775e+01] [ 3.65635314e-02 -1.06580700e-03 9.99330762e-01 1.25188870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.639254154 meters Centerline goodness : 0.998845 with order 1 Centerline is valid? [True, True] Translation: X:343.86, Y:18.33, Z:12.52 [[ 9.94784691e-01 -9.52412714e-02 -3.65036735e-02 3.43856994e+02] [ 9.52191772e-02 9.95453564e-01 -2.34725056e-03 1.83254222e+01] [ 3.65612670e-02 -1.14084084e-03 9.99330762e-01 1.25208408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.699254154 meters Centerline goodness : 0.998950 with order 1 Centerline is valid? [True, True] Translation: X:343.92, Y:18.33, Z:12.53 [[ 9.94313753e-01 -1.00038159e-01 -3.65038028e-02 3.43918905e+02] [ 1.00019365e-01 9.94982727e-01 -2.34523860e-03 1.83299894e+01] [ 3.65552666e-02 -1.31918416e-03 9.99330762e-01 1.25255023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.759254154 meters Centerline goodness : 0.998782 with order 1 Centerline is valid? [True, True] Translation: X:343.98, Y:18.33, Z:12.53 [[ 9.93670333e-01 -1.06239015e-01 -3.65039785e-02 3.43980333e+02] [ 1.06224495e-01 9.94339414e-01 -2.34249973e-03 1.83331144e+01] [ 3.65462095e-02 -1.54994420e-03 9.99330762e-01 1.25277854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.819254154 meters Centerline goodness : 0.998741 with order 1 Centerline is valid? [True, True] Translation: X:344.04, Y:18.34, Z:12.53 [[ 9.92991001e-01 -1.12411395e-01 -3.65041083e-02 3.44042728e+02] [ 1.12401106e-01 9.93660160e-01 -2.34047617e-03 1.83362911e+01] [ 3.65357743e-02 -1.77903038e-03 9.99330762e-01 1.25303739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.879254154 meters Centerline goodness : 0.998698 with order 1 Centerline is valid? [True, True] Translation: X:344.10, Y:18.34, Z:12.53 [[ 9.91849053e-01 -1.22077404e-01 -3.65042850e-02 3.44104772e+02] [ 1.22073735e-01 9.92518281e-01 -2.33771721e-03 1.83397742e+01] [ 3.65165526e-02 -2.13755182e-03 9.99330762e-01 1.25331367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.93925415399997 meters Centerline goodness : 0.998700 with order 1 Centerline is valid? [True, True] Translation: X:344.17, Y:18.34, Z:12.54 [[ 9.90758951e-01 -1.30629728e-01 -3.65044592e-02 3.44166553e+02] [ 1.30631933e-01 9.91428185e-01 -2.33499271e-03 1.83429887e+01] [ 3.64965692e-02 -2.45523313e-03 9.99330762e-01 1.25354654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.99925415399997 meters Centerline goodness : 0.998722 with order 1 Centerline is valid? [True, True] Translation: X:344.23, Y:18.35, Z:12.54 [[ 9.90269852e-01 -1.34287124e-01 -3.65046310e-02 3.44228605e+02] [ 1.34291898e-01 9.90939073e-01 -2.33230501e-03 1.83491725e+01] [ 3.64870637e-02 -2.59266485e-03 9.99330762e-01 1.25433848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.059254154 meters Centerline goodness : 0.998723 with order 1 Centerline is valid? [True, True] Translation: X:344.29, Y:18.36, Z:12.55 [[ 9.90159872e-01 -1.35095618e-01 -3.65048104e-02 3.44290750e+02] [ 1.35101042e-01 9.90829088e-01 -2.32949328e-03 1.83567591e+01] [ 3.64847323e-02 -2.62526714e-03 9.99330762e-01 1.25488438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.119254154 meters Centerline goodness : 0.998928 with order 1 Centerline is valid? [True, True] Translation: X:344.35, Y:18.37, Z:12.55 [[ 9.90789743e-01 -1.30395783e-01 -3.65051457e-02 3.44351650e+02] [ 1.30398224e-01 9.91458976e-01 -2.32422721e-03 1.83659105e+01] [ 3.64964238e-02 -2.45738569e-03 9.99330762e-01 1.25509607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.179254154 meters Centerline goodness : 0.998802 with order 1 Centerline is valid? [True, True] Translation: X:344.41, Y:18.37, Z:12.55 [[ 9.91413996e-01 -1.25561349e-01 -3.65052770e-02 3.44413798e+02] [ 1.25560602e-01 9.92083234e-01 -2.32216306e-03 1.83731142e+01] [ 3.65078472e-02 -2.28139958e-03 9.99330762e-01 1.25546701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.239254154 meters Centerline goodness : 0.998841 with order 1 Centerline is valid? [True, True] Translation: X:344.47, Y:18.38, Z:12.55 [[ 9.92182122e-01 -1.19339800e-01 -3.65054596e-02 3.44474989e+02] [ 1.19334960e-01 9.92851343e-01 -2.31928821e-03 1.83785559e+01] [ 3.65212780e-02 -2.05522125e-03 9.99330762e-01 1.25532590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.299254154 meters Centerline goodness : 0.998904 with order 1 Centerline is valid? [True, True] Translation: X:344.54, Y:18.39, Z:12.55 [[ 9.93063851e-01 -1.11765515e-01 -3.65055945e-02 3.44535944e+02] [ 1.11755647e-01 9.93733016e-01 -2.31716262e-03 1.83862435e+01] [ 3.65357934e-02 -1.77861588e-03 9.99330762e-01 1.25504060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.359254154 meters Centerline goodness : 0.998754 with order 1 Centerline is valid? [True, True] Translation: X:344.60, Y:18.39, Z:12.55 [[ 9.93963602e-01 -1.03458640e-01 -3.65057247e-02 3.44597822e+02] [ 1.03443252e-01 9.94632663e-01 -2.31511026e-03 1.83946001e+01] [ 3.65493043e-02 -1.47513556e-03 9.99330762e-01 1.25533791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.419254154 meters Centerline goodness : 0.998944 with order 1 Centerline is valid? [True, True] Translation: X:344.66, Y:18.40, Z:12.55 [[ 9.95103379e-01 -9.18508788e-02 -3.65058956e-02 3.44658622e+02] [ 9.18277825e-02 9.95772218e-01 -2.31241225e-03 1.84024919e+01] [ 3.65639537e-02 -1.05116619e-03 9.99330762e-01 1.25545993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.479254154 meters Centerline goodness : 0.998792 with order 1 Centerline is valid? [True, True] Translation: X:344.72, Y:18.41, Z:12.56 [[ 9.95485260e-01 -8.76151081e-02 -3.65060331e-02 3.44720750e+02] [ 8.75892452e-02 9.96153998e-01 -2.31023959e-03 1.84088204e+01] [ 3.65680427e-02 -8.97726424e-04 9.99330762e-01 1.25591631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.539254154 meters Centerline goodness : 0.998961 with order 1 Centerline is valid? [True, True] Translation: X:344.78, Y:18.41, Z:12.56 [[ 9.96088131e-01 -8.04719196e-02 -3.65062251e-02 3.44781935e+02] [ 8.04413716e-02 9.96756672e-01 -2.30720170e-03 1.84136171e+01] [ 3.65734884e-02 -6.38434583e-04 9.99330762e-01 1.25612558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.599254154 meters Centerline goodness : 0.999151 with order 1 Centerline is valid? [True, True] Translation: X:344.84, Y:18.42, Z:12.57 [[ 9.96237631e-01 -7.85993436e-02 -3.65065068e-02 3.44842964e+02] [ 7.85677026e-02 9.96906121e-01 -2.30273516e-03 1.84221413e+01] [ 3.65745536e-02 -5.74160944e-04 9.99330762e-01 1.25678157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.659254154 meters Centerline goodness : 0.999129 with order 1 Centerline is valid? [True, True] Translation: X:344.90, Y:18.42, Z:12.56 [[ 9.96619970e-01 -7.35928012e-02 -3.65066547e-02 3.44904702e+02] [ 7.35578877e-02 9.97288296e-01 -2.30038897e-03 1.84216569e+01] [ 3.65769515e-02 -3.92738818e-04 9.99330762e-01 1.25647622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.719254154 meters Centerline goodness : 0.998874 with order 1 Centerline is valid? [True, True] Translation: X:344.97, Y:18.42, Z:12.57 [[ 9.96624611e-01 -7.35297823e-02 -3.65069339e-02 3.44966627e+02] [ 7.34949892e-02 9.97292944e-01 -2.29594873e-03 1.84240046e+01] [ 3.65769282e-02 -3.94877699e-04 9.99330762e-01 1.25660918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.779254154 meters Centerline goodness : 0.998770 with order 1 Centerline is valid? [True, True] Translation: X:345.03, Y:18.43, Z:12.57 [[ 9.96568767e-01 -7.42827308e-02 -3.65071003e-02 3.45028397e+02] [ 7.42485396e-02 9.97237131e-01 -2.29329923e-03 1.84271535e+01] [ 3.65765885e-02 -4.25168503e-04 9.99330762e-01 1.25680282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.839254154 meters Centerline goodness : 0.998899 with order 1 Centerline is valid? [True, True] Translation: X:345.09, Y:18.43, Z:12.57 [[ 9.96323621e-01 -7.75013727e-02 -3.65072659e-02 3.45090379e+02] [ 7.74694373e-02 9.96992096e-01 -2.29066067e-03 1.84289164e+01] [ 3.65749849e-02 -5.45958010e-04 9.99330762e-01 1.25713800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.899254154 meters Centerline goodness : 0.998880 with order 1 Centerline is valid? [True, True] Translation: X:345.15, Y:18.43, Z:12.57 [[ 9.96032531e-01 -8.11566625e-02 -3.65074356e-02 3.45153133e+02] [ 8.11272794e-02 9.96701124e-01 -2.28795226e-03 1.84298461e+01] [ 3.65726847e-02 -6.82874045e-04 9.99330762e-01 1.25726502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.959254154 meters Centerline goodness : 0.999092 with order 1 Centerline is valid? [True, True] Translation: X:345.21, Y:18.43, Z:12.57 [[ 9.95719675e-01 -8.49089018e-02 -3.65076450e-02 3.45213993e+02] [ 8.48821606e-02 9.96388378e-01 -2.28460655e-03 1.84297327e+01] [ 3.65697766e-02 -8.24020098e-04 9.99330762e-01 1.25735696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.019254154 meters Centerline goodness : 0.998757 with order 1 Centerline is valid? [True, True] Translation: X:345.28, Y:18.43, Z:12.58 [[ 9.95571674e-01 -8.66269292e-02 -3.65077689e-02 3.45275703e+02] [ 8.66014145e-02 9.96240425e-01 -2.28262579e-03 1.84303645e+01] [ 3.65682520e-02 -8.89106849e-04 9.99330762e-01 1.25750449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.079254154 meters Centerline goodness : 0.998820 with order 1 Centerline is valid? [True, True] Translation: X:345.34, Y:18.43, Z:12.58 [[ 9.95269123e-01 -9.00363046e-02 -3.65080468e-02 3.45338329e+02] [ 9.00132438e-02 9.95937963e-01 -2.27817100e-03 1.84308249e+01] [ 3.65648679e-02 -1.01881447e-03 9.99330762e-01 1.25774026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.139254154 meters Centerline goodness : 0.998843 with order 1 Centerline is valid? [True, True] Translation: X:345.40, Y:18.43, Z:12.58 [[ 9.95166733e-01 -9.11609727e-02 -3.65082133e-02 3.45400522e+02] [ 9.11387657e-02 9.95835603e-01 -2.27550035e-03 1.84304738e+01] [ 3.65636154e-02 -1.06281125e-03 9.99330762e-01 1.25784888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.199254154 meters Centerline goodness : 0.998928 with order 1 Centerline is valid? [True, True] Translation: X:345.46, Y:18.43, Z:12.58 [[ 9.95152757e-01 -9.13133574e-02 -3.65083791e-02 3.45462244e+02] [ 9.12913504e-02 9.95821632e-01 -2.27283742e-03 1.84309050e+01] [ 3.65633741e-02 -1.07107880e-03 9.99330762e-01 1.25811986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.259254154 meters Centerline goodness : 0.998990 with order 1 Centerline is valid? [True, True] Translation: X:345.52, Y:18.43, Z:12.59 [[ 9.95293628e-01 -8.97648207e-02 -3.65085029e-02 3.45524472e+02] [ 8.97418459e-02 9.95962471e-01 -2.27084646e-03 1.84334978e+01] [ 3.65649409e-02 -1.01618143e-03 9.99330762e-01 1.25851837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.319254154 meters Centerline goodness : 0.998905 with order 1 Centerline is valid? [True, True] Translation: X:345.59, Y:18.44, Z:12.59 [[ 9.95740639e-01 -8.46622565e-02 -3.65086717e-02 3.45585926e+02] [ 8.46359534e-02 9.96409359e-01 -2.26813027e-03 1.84355589e+01] [ 3.65696072e-02 -8.31476751e-04 9.99330762e-01 1.25863062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.379254154 meters Centerline goodness : 0.998846 with order 1 Centerline is valid? [True, True] Translation: X:345.65, Y:18.44, Z:12.59 [[ 9.96045724e-01 -8.09939664e-02 -3.65087963e-02 3.45647562e+02] [ 8.09652739e-02 9.96714347e-01 -2.26612258e-03 1.84392143e+01] [ 3.65723833e-02 -6.98782986e-04 9.99330762e-01 1.25889721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.43925415399997 meters Centerline goodness : 0.998988 with order 1 Centerline is valid? [True, True] Translation: X:345.71, Y:18.44, Z:12.59 [[ 9.96387783e-01 -7.66712143e-02 -3.65090541e-02 3.45708942e+02] [ 7.66397733e-02 9.97056282e-01 -2.26196144e-03 1.84408529e+01] [ 3.65750091e-02 -5.44254883e-04 9.99330762e-01 1.25926875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.49925415399997 meters Centerline goodness : 0.999116 with order 1 Centerline is valid? [True, True] Translation: X:345.77, Y:18.44, Z:12.60 [[ 9.96570292e-01 -7.42612480e-02 -3.65091800e-02 3.45770368e+02] [ 7.42282648e-02 9.97238716e-01 -2.25992724e-03 1.84418582e+01] [ 3.65761928e-02 -4.57836736e-04 9.99330762e-01 1.25957088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.559254154 meters Centerline goodness : 0.999306 with order 1 Centerline is valid? [True, True] Translation: X:345.83, Y:18.44, Z:12.60 [[ 9.96514598e-01 -7.50048640e-02 -3.65092604e-02 3.45832059e+02] [ 7.49724272e-02 9.97183049e-01 -2.25862733e-03 1.84423304e+01] [ 3.65758237e-02 -4.86432768e-04 9.99330762e-01 1.25979552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.619254154 meters Centerline goodness : 0.999096 with order 1 Centerline is valid? [True, True] Translation: X:345.89, Y:18.44, Z:12.60 [[ 9.96280308e-01 -7.80552115e-02 -3.65093395e-02 3.45893600e+02] [ 7.80248680e-02 9.96948857e-01 -2.25734933e-03 1.84434065e+01] [ 3.65741421e-02 -5.99683704e-04 9.99330762e-01 1.26019057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.679254154 meters Centerline goodness : 0.999077 with order 1 Centerline is valid? [True, True] Translation: X:345.95, Y:18.45, Z:12.60 [[ 9.96094797e-01 -8.03879157e-02 -3.65094236e-02 3.45953979e+02] [ 8.03591877e-02 9.96763418e-01 -2.25598703e-03 1.84452628e+01] [ 3.65726120e-02 -6.86690681e-04 9.99330762e-01 1.26025944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.739254154 meters Centerline goodness : 0.999121 with order 1 Centerline is valid? [True, True] Translation: X:346.02, Y:18.45, Z:12.61 [[ 9.95769266e-01 -8.43245386e-02 -3.65094650e-02 3.46015570e+02] [ 8.42984783e-02 9.96437996e-01 -2.25531686e-03 1.84462429e+01] [ 3.65695967e-02 -8.31917133e-04 9.99330762e-01 1.26058687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.799254154 meters Centerline goodness : 0.999268 with order 1 Centerline is valid? [True, True] Translation: X:346.08, Y:18.45, Z:12.61 [[ 9.95528173e-01 -8.71246822e-02 -3.65095446e-02 3.46077162e+02] [ 8.71005500e-02 9.96196975e-01 -2.25402745e-03 1.84492116e+01] [ 3.65670794e-02 -9.36053587e-04 9.99330762e-01 1.26088727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.859254154 meters Centerline goodness : 0.999079 with order 1 Centerline is valid? [True, True] Translation: X:346.14, Y:18.45, Z:12.61 [[ 9.95025761e-01 -9.26864754e-02 -3.65096256e-02 3.46138911e+02] [ 9.26661291e-02 9.95694689e-01 -2.25271491e-03 1.84512598e+01] [ 3.65612365e-02 -1.14169631e-03 9.99330762e-01 1.26115011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.919254154 meters Centerline goodness : 0.998934 with order 1 Centerline is valid? [True, True] Translation: X:346.20, Y:18.45, Z:12.61 [[ 9.94363247e-01 -9.95427947e-02 -3.65097910e-02 3.46200698e+02] [ 9.95271580e-02 9.95032302e-01 -2.25003176e-03 1.84524506e+01] [ 3.65523958e-02 -1.39636685e-03 9.99330762e-01 1.26127501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.979254154 meters Centerline goodness : 0.999142 with order 1 Centerline is valid? [True, True] Translation: X:346.26, Y:18.45, Z:12.61 [[ 9.93584545e-01 -1.07036329e-01 -3.65099555e-02 3.46261935e+02] [ 1.07025834e-01 9.94253700e-01 -2.24735869e-03 1.84544461e+01] [ 3.65407074e-02 -1.67456760e-03 9.99330762e-01 1.26139576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.039254154 meters Centerline goodness : 0.999060 with order 1 Centerline is valid? [True, True] Translation: X:346.32, Y:18.46, Z:12.62 [[ 9.92707878e-01 -1.14882910e-01 -3.65100772e-02 3.46324070e+02] [ 1.14877775e-01 9.93377096e-01 -2.24537947e-03 1.84568957e+01] [ 3.65262302e-02 -1.96519056e-03 9.99330762e-01 1.26160004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.099254154 meters Centerline goodness : 0.999143 with order 1 Centerline is valid? [True, True] Translation: X:346.39, Y:18.46, Z:12.62 [[ 9.92257325e-01 -1.18711429e-01 -3.65102414e-02 3.46386522e+02] [ 1.18708974e-01 9.92926558e-01 -2.24270638e-03 1.84603797e+01] [ 3.65182232e-02 -2.10875145e-03 9.99330762e-01 1.26180507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.159254154 meters Centerline goodness : 0.999038 with order 1 Centerline is valid? [True, True] Translation: X:346.45, Y:18.47, Z:12.62 [[ 9.91875735e-01 -1.21858591e-01 -3.65104065e-02 3.46448091e+02] [ 1.21858358e-01 9.92544973e-01 -2.24001594e-03 1.84653531e+01] [ 3.65111856e-02 -2.22728072e-03 9.99330762e-01 1.26209315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.219254154 meters Centerline goodness : 0.998746 with order 1 Centerline is valid? [True, True] Translation: X:346.51, Y:18.47, Z:12.62 [[ 9.91911692e-01 -1.21565508e-01 -3.65105733e-02 3.46509837e+02] [ 1.21565176e-01 9.92580930e-01 -2.23729455e-03 1.84716933e+01] [ 3.65116766e-02 -2.21921565e-03 9.99330762e-01 1.26231777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.279254154 meters Centerline goodness : 0.999185 with order 1 Centerline is valid? [True, True] Translation: X:346.57, Y:18.48, Z:12.62 [[ 9.91928080e-01 -1.21431667e-01 -3.65107406e-02 3.46572000e+02] [ 1.21431346e-01 9.92597318e-01 -2.23456029e-03 1.84780583e+01] [ 3.65118096e-02 -2.21702526e-03 9.99330762e-01 1.26244745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.339254154 meters Centerline goodness : 0.999100 with order 1 Centerline is valid? [True, True] Translation: X:346.63, Y:18.49, Z:12.63 [[ 9.91878522e-01 -1.21835741e-01 -3.65109471e-02 3.46634541e+02] [ 1.21835817e-01 9.92547760e-01 -2.23118130e-03 1.84855819e+01] [ 3.65106964e-02 -2.23528024e-03 9.99330762e-01 1.26279127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.399254154 meters Centerline goodness : 0.999391 with order 1 Centerline is valid? [True, True] Translation: X:346.70, Y:18.49, Z:12.63 [[ 9.91739011e-01 -1.22966120e-01 -3.65111970e-02 3.46696211e+02] [ 1.22967108e-01 9.92408248e-01 -2.22708496e-03 1.84932377e+01] [ 3.65078690e-02 -2.28098927e-03 9.99330762e-01 1.26292112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.459254154 meters Centerline goodness : 0.998991 with order 1 Centerline is valid? [True, True] Translation: X:346.76, Y:18.50, Z:12.63 [[ 9.91692264e-01 -1.23342496e-01 -3.65114015e-02 3.46758937e+02] [ 1.23343862e-01 9.92361500e-01 -2.22372635e-03 1.84998163e+01] [ 3.65067891e-02 -2.29820504e-03 9.99330762e-01 1.26321567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.519254154 meters Centerline goodness : 0.998931 with order 1 Centerline is valid? [True, True] Translation: X:346.82, Y:18.51, Z:12.64 [[ 9.91816179e-01 -1.22342009e-01 -3.65116449e-02 3.46819460e+02] [ 1.22342845e-01 9.92485416e-01 -2.21972361e-03 1.85090097e+01] [ 3.65088405e-02 -2.26538074e-03 9.99330762e-01 1.26353105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.579254154 meters Centerline goodness : 0.998718 with order 1 Centerline is valid? [True, True] Translation: X:346.88, Y:18.52, Z:12.64 [[ 9.91864156e-01 -1.21952393e-01 -3.65117643e-02 3.46882477e+02] [ 1.21953039e-01 9.92533394e-01 -2.21775704e-03 1.85173666e+01] [ 3.65096061e-02 -2.25300692e-03 9.99330762e-01 1.26377950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.639254154 meters Centerline goodness : 0.998759 with order 1 Centerline is valid? [True, True] Translation: X:346.94, Y:18.52, Z:12.64 [[ 9.91850854e-01 -1.22060462e-01 -3.65120131e-02 3.46944538e+02] [ 1.22061331e-01 9.92520091e-01 -2.21365295e-03 1.85236704e+01] [ 3.65091061e-02 -2.26109136e-03 9.99330762e-01 1.26385481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.699254154 meters Centerline goodness : 0.999242 with order 1 Centerline is valid? [True, True] Translation: X:347.01, Y:18.53, Z:12.64 [[ 9.91775189e-01 -1.22673685e-01 -3.65122169e-02 3.47006761e+02] [ 1.22675092e-01 9.92444425e-01 -2.21028667e-03 1.85318929e+01] [ 3.65074901e-02 -2.28703209e-03 9.99330762e-01 1.26403153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.759254154 meters Centerline goodness : 0.999095 with order 1 Centerline is valid? [True, True] Translation: X:347.07, Y:18.54, Z:12.64 [[ 9.91868207e-01 -1.21919261e-01 -3.65123781e-02 3.47068997e+02] [ 1.21920257e-01 9.92537444e-01 -2.20762087e-03 1.85384593e+01] [ 3.65090539e-02 -2.26192956e-03 9.99330762e-01 1.26424541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.819254154 meters Centerline goodness : 0.999075 with order 1 Centerline is valid? [True, True] Translation: X:347.13, Y:18.55, Z:12.65 [[ 9.92123612e-01 -1.19823069e-01 -3.65126225e-02 3.47132042e+02] [ 1.19822799e-01 9.92792849e-01 -2.20357062e-03 1.85452041e+01] [ 3.65135092e-02 -2.18883017e-03 9.99330762e-01 1.26451138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.879254154 meters Centerline goodness : 0.998948 with order 1 Centerline is valid? [True, True] Translation: X:347.19, Y:18.55, Z:12.65 [[ 9.92822677e-01 -1.13885656e-01 -3.65128697e-02 3.47194706e+02] [ 1.13881533e-01 9.93491902e-01 -2.19946823e-03 1.85537386e+01] [ 3.65257282e-02 -1.97445963e-03 9.99330762e-01 1.26480724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.93925415399997 meters Centerline goodness : 0.999113 with order 1 Centerline is valid? [True, True] Translation: X:347.26, Y:18.56, Z:12.65 [[ 9.93788745e-01 -1.05122415e-01 -3.65131177e-02 3.47255957e+02] [ 1.05112539e-01 9.94457910e-01 -2.19534272e-03 1.85637587e+01] [ 3.65415385e-02 -1.65627963e-03 9.99330762e-01 1.26502640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.99925415399997 meters Centerline goodness : 0.999005 with order 1 Centerline is valid? [True, True] Translation: X:347.32, Y:18.57, Z:12.65 [[ 9.94398366e-01 -9.91900546e-02 -3.65133208e-02 3.47318617e+02] [ 9.91763095e-02 9.95067463e-01 -2.19196019e-03 1.85705042e+01] [ 3.65506381e-02 -1.44157478e-03 9.99330762e-01 1.26532358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.059254154 meters Centerline goodness : 0.999385 with order 1 Centerline is valid? [True, True] Translation: X:347.38, Y:18.58, Z:12.66 [[ 9.95058278e-01 -9.23351647e-02 -3.65135658e-02 3.47380527e+02] [ 9.23169591e-02 9.95727268e-01 -2.18787168e-03 1.85773152e+01] [ 3.65595706e-02 -1.19376152e-03 9.99330762e-01 1.26557540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.119254154 meters Centerline goodness : 0.999279 with order 1 Centerline is valid? [True, True] Translation: X:347.44, Y:18.58, Z:12.66 [[ 9.95593346e-01 -8.63749651e-02 -3.65137658e-02 3.47442144e+02] [ 8.63528763e-02 9.96262219e-01 -2.18452838e-03 1.85840246e+01] [ 3.65659739e-02 -9.78166777e-04 9.99330762e-01 1.26581042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.179254154 meters Centerline goodness : 0.999363 with order 1 Centerline is valid? [True, True] Translation: X:347.50, Y:18.59, Z:12.66 [[ 9.95956772e-01 -8.20782610e-02 -3.65139243e-02 3.47503648e+02] [ 8.20533835e-02 9.96625547e-01 -2.18187612e-03 1.85898209e+01] [ 3.65697943e-02 -8.23036728e-04 9.99330762e-01 1.26599521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.239254154 meters Centerline goodness : 0.999276 with order 1 Centerline is valid? [True, True] Translation: X:347.57, Y:18.60, Z:12.66 [[ 9.96517511e-01 -7.49637970e-02 -3.65140855e-02 3.47565025e+02] [ 7.49342432e-02 9.97186096e-01 -2.17917400e-03 1.85955188e+01] [ 3.65746976e-02 -5.64570309e-04 9.99330762e-01 1.26614138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.299254154 meters Centerline goodness : 0.999233 with order 1 Centerline is valid? [True, True] Translation: X:347.63, Y:18.60, Z:12.66 [[ 9.96819959e-01 -7.08285441e-02 -3.65142044e-02 3.47627080e+02] [ 7.07962895e-02 9.97488419e-01 -2.17717997e-03 1.85999065e+01] [ 3.65767025e-02 -4.14813741e-04 9.99330762e-01 1.26633916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.359254154 meters Centerline goodness : 0.999360 with order 1 Centerline is valid? [True, True] Translation: X:347.69, Y:18.60, Z:12.66 [[ 9.97047338e-01 -6.75522584e-02 -3.65143590e-02 3.47689262e+02] [ 6.75179023e-02 9.97715693e-01 -2.17458416e-03 1.86037765e+01] [ 3.65778471e-02 -2.97209581e-04 9.99330762e-01 1.26649667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.419254154 meters Centerline goodness : 0.999021 with order 1 Centerline is valid? [True, True] Translation: X:347.75, Y:18.61, Z:12.67 [[ 9.97053108e-01 -6.74669574e-02 -3.65145111e-02 3.47751018e+02] [ 6.74326377e-02 9.97721465e-01 -2.17202729e-03 1.86063682e+01] [ 3.65778516e-02 -2.96643241e-04 9.99330762e-01 1.26656221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.479254154 meters Centerline goodness : 0.999212 with order 1 Centerline is valid? [True, True] Translation: X:347.81, Y:18.61, Z:12.66 [[ 9.96965190e-01 -6.87538761e-02 -3.65145881e-02 3.47812368e+02] [ 6.87204667e-02 9.97633593e-01 -2.17073126e-03 1.86076059e+01] [ 3.65774259e-02 -3.45156039e-04 9.99330762e-01 1.26649300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.539254154 meters Centerline goodness : 0.999127 with order 1 Centerline is valid? [True, True] Translation: X:347.87, Y:18.61, Z:12.67 [[ 9.96539212e-01 -7.46744511e-02 -3.65147157e-02 3.47872249e+02] [ 7.46450911e-02 9.97207806e-01 -2.16858313e-03 1.86074625e+01] [ 3.65746973e-02 -5.64566156e-04 9.99330762e-01 1.26688158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.599254154 meters Centerline goodness : 0.999001 with order 1 Centerline is valid? [True, True] Translation: X:347.93, Y:18.61, Z:12.67 [[ 9.96264832e-01 -7.82499675e-02 -3.65147583e-02 3.47934948e+02] [ 7.82230332e-02 9.96933527e-01 -2.16786634e-03 1.86079587e+01] [ 3.65724222e-02 -6.96526157e-04 9.99330762e-01 1.26705987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.659254154 meters Centerline goodness : 0.998918 with order 1 Centerline is valid? [True, True] Translation: X:348.00, Y:18.61, Z:12.67 [[ 9.95742638e-01 -8.46360396e-02 -3.65149169e-02 3.47997703e+02] [ 8.46134913e-02 9.96411496e-01 -2.16519146e-03 1.86077675e+01] [ 3.65671362e-02 -9.33681144e-04 9.99330762e-01 1.26724454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.719254154 meters Centerline goodness : 0.999004 with order 1 Centerline is valid? [True, True] Translation: X:348.06, Y:18.61, Z:12.67 [[ 9.95546856e-01 -8.69086165e-02 -3.65150771e-02 3.48060366e+02] [ 8.68876940e-02 9.96215766e-01 -2.16248545e-03 1.86088386e+01] [ 3.65648342e-02 -1.01985526e-03 9.99330762e-01 1.26738046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.779254154 meters Centerline goodness : 0.998837 with order 1 Centerline is valid? [True, True] Translation: X:348.12, Y:18.61, Z:12.68 [[ 9.95375904e-01 -8.88450757e-02 -3.65152358e-02 3.48122190e+02] [ 8.88255528e-02 9.96044857e-01 -2.15980335e-03 1.86096244e+01] [ 3.65627007e-02 -1.09366980e-03 9.99330762e-01 1.26755360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.839254154 meters Centerline goodness : 0.998986 with order 1 Centerline is valid? [True, True] Translation: X:348.18, Y:18.61, Z:12.68 [[ 9.95166985e-01 -9.11553528e-02 -3.65153934e-02 3.48184320e+02] [ 9.11374805e-02 9.95835984e-01 -2.15713590e-03 1.86115571e+01] [ 3.65599772e-02 -1.18121053e-03 9.99330762e-01 1.26792147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.899254154 meters Centerline goodness : 0.999177 with order 1 Centerline is valid? [True, True] Translation: X:348.25, Y:18.61, Z:12.68 [[ 9.95069447e-01 -9.22139333e-02 -3.65155507e-02 3.48246164e+02] [ 9.21968706e-02 9.95738467e-01 -2.15446873e-03 1.86140319e+01] [ 3.65586106e-02 -1.22277350e-03 9.99330762e-01 1.26812021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.959254154 meters Centerline goodness : 0.999176 with order 1 Centerline is valid? [True, True] Translation: X:348.31, Y:18.62, Z:12.68 [[ 9.94902289e-01 -9.40002081e-02 -3.65157070e-02 3.48306926e+02] [ 9.39844437e-02 9.95571341e-01 -2.15181605e-03 1.86166285e+01] [ 3.65562626e-02 -1.29106170e-03 9.99330762e-01 1.26831459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.019254154 meters Centerline goodness : 0.998923 with order 1 Centerline is valid? [True, True] Translation: X:348.37, Y:18.62, Z:12.68 [[ 9.94797935e-01 -9.50981252e-02 -3.65159646e-02 3.48370244e+02] [ 9.50832597e-02 9.95467007e-01 -2.14743630e-03 1.86202974e+01] [ 3.65546552e-02 -1.33579175e-03 9.99330762e-01 1.26835178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.079254154 meters Centerline goodness : 0.998754 with order 1 Centerline is valid? [True, True] Translation: X:348.43, Y:18.62, Z:12.69 [[ 9.94609189e-01 -9.70521976e-02 -3.65162027e-02 3.48432997e+02] [ 9.70387952e-02 9.95278292e-01 -2.14338041e-03 1.86248546e+01] [ 3.65518036e-02 -1.41166246e-03 9.99330762e-01 1.26874955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.139254154 meters Centerline goodness : 0.999156 with order 1 Centerline is valid? [True, True] Translation: X:348.50, Y:18.63, Z:12.69 [[ 9.94543122e-01 -9.77267986e-02 -3.65164448e-02 3.48496094e+02] [ 9.77140016e-02 9.95212237e-01 -2.13924808e-03 1.86299745e+01] [ 3.65506746e-02 -1.44059348e-03 9.99330763e-01 1.26903237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.199254154 meters Centerline goodness : 0.998967 with order 1 Centerline is valid? [True, True] Translation: X:348.56, Y:18.63, Z:12.68 [[ 9.95238981e-01 -9.03653858e-02 -3.65166839e-02 3.48558856e+02] [ 9.03477881e-02 9.95907987e-01 -2.13515745e-03 1.86296952e+01] [ 3.65602015e-02 -1.17420970e-03 9.99330763e-01 1.26849954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.259254154 meters Centerline goodness : 0.999176 with order 1 Centerline is valid? [True, True] Translation: X:348.62, Y:18.64, Z:12.70 [[ 9.94884008e-01 -9.41930424e-02 -3.65168517e-02 3.48619165e+02] [ 9.41781236e-02 9.95553080e-01 -2.13228471e-03 1.86414270e+01] [ 3.65553105e-02 -1.31771262e-03 9.99330763e-01 1.26973666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.319254154 meters Centerline goodness : 0.998963 with order 1 Centerline is valid? [True, True] Translation: X:348.68, Y:18.65, Z:12.70 [[ 9.95185986e-01 -9.09470362e-02 -3.65169753e-02 3.48680573e+02] [ 9.09300125e-02 9.95855007e-01 -2.13016595e-03 1.86483094e+01] [ 3.65593450e-02 -1.20057772e-03 9.99330763e-01 1.27005034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.379254154 meters Centerline goodness : 0.999024 with order 1 Centerline is valid? [True, True] Translation: X:348.74, Y:18.66, Z:12.70 [[ 9.95381586e-01 -8.87806189e-02 -3.65171297e-02 3.48741065e+02] [ 8.87622361e-02 9.96050571e-01 -2.12751600e-03 1.86553673e+01] [ 3.65617900e-02 -1.12365183e-03 9.99330763e-01 1.27024156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.43925415399997 meters Centerline goodness : 0.999043 with order 1 Centerline is valid? [True, True] Translation: X:348.80, Y:18.66, Z:12.70 [[ 9.95469203e-01 -8.77926868e-02 -3.65172434e-02 3.48802626e+02] [ 8.77737117e-02 9.96138172e-01 -2.12556171e-03 1.86618357e+01] [ 3.65628289e-02 -1.08932277e-03 9.99330763e-01 1.27039678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.49925415399997 meters Centerline goodness : 0.998808 with order 1 Centerline is valid? [True, True] Translation: X:348.87, Y:18.67, Z:12.71 [[ 9.95547058e-01 -8.69053257e-02 -3.65173913e-02 3.48865346e+02] [ 8.68858476e-02 9.96216012e-01 -2.12301747e-03 1.86663688e+01] [ 3.65637115e-02 -1.05928071e-03 9.99330763e-01 1.27059080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.559254154 meters Centerline goodness : 0.999149 with order 1 Centerline is valid? [True, True] Translation: X:348.93, Y:18.67, Z:12.71 [[ 9.95718989e-01 -8.49126503e-02 -3.65176218e-02 3.48928072e+02] [ 8.48919789e-02 9.96387907e-01 -2.11904683e-03 1.86721906e+01] [ 3.65656506e-02 -9.90078008e-04 9.99330763e-01 1.27081951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.619254154 meters Centerline goodness : 0.999106 with order 1 Centerline is valid? [True, True] Translation: X:348.99, Y:18.68, Z:12.71 [[ 9.95782919e-01 -8.41595133e-02 -3.65178596e-02 3.48989943e+02] [ 8.41384865e-02 9.96451826e-01 -2.11494030e-03 1.86766319e+01] [ 3.65662802e-02 -9.66536013e-04 9.99330763e-01 1.27099901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.679254154 meters Centerline goodness : 0.999233 with order 1 Centerline is valid? [True, True] Translation: X:349.05, Y:18.68, Z:12.71 [[ 9.95973476e-01 -8.18734965e-02 -3.65180150e-02 3.49052044e+02] [ 8.18510327e-02 9.96642336e-01 -2.11225307e-03 1.86809500e+01] [ 3.65683374e-02 -8.85289212e-04 9.99330763e-01 1.27103695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.739254154 meters Centerline goodness : 0.999172 with order 1 Centerline is valid? [True, True] Translation: X:349.11, Y:18.68, Z:12.71 [[ 9.96014244e-01 -8.13759720e-02 -3.65181685e-02 3.49112999e+02] [ 8.13532715e-02 9.96683096e-01 -2.10959653e-03 1.86839357e+01] [ 3.65687117e-02 -8.69684284e-04 9.99330763e-01 1.27124590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.799254154 meters Centerline goodness : 0.998958 with order 1 Centerline is valid? [True, True] Translation: X:349.18, Y:18.69, Z:12.72 [[ 9.95971367e-01 -8.18990317e-02 -3.65182818e-02 3.49175156e+02] [ 8.18767543e-02 9.96640233e-01 -2.10763334e-03 1.86867690e+01] [ 3.65682020e-02 -8.90855929e-04 9.99330763e-01 1.27162067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.859254154 meters Centerline goodness : 0.999110 with order 1 Centerline is valid? [True, True] Translation: X:349.24, Y:18.69, Z:12.72 [[ 9.95923320e-01 -8.24811798e-02 -3.65184346e-02 3.49237152e+02] [ 8.24593906e-02 9.96592202e-01 -2.10498188e-03 1.86883988e+01] [ 3.65676086e-02 -9.14887320e-04 9.99330763e-01 1.27189035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.919254154 meters Centerline goodness : 0.999088 with order 1 Centerline is valid? [True, True] Translation: X:349.30, Y:18.69, Z:12.72 [[ 9.95767492e-01 -8.43415376e-02 -3.65185889e-02 3.49299362e+02] [ 8.43210961e-02 9.96436417e-01 -2.10230214e-03 1.86888420e+01] [ 3.65657633e-02 -9.85883316e-04 9.99330763e-01 1.27188984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.979254154 meters Centerline goodness : 0.999194 with order 1 Centerline is valid? [True, True] Translation: X:349.36, Y:18.69, Z:12.72 [[ 9.95671861e-01 -8.54630167e-02 -3.65187447e-02 3.49361316e+02] [ 8.54434280e-02 9.96340811e-01 -2.09959202e-03 1.86911788e+01] [ 3.65645532e-02 -1.02978204e-03 9.99330763e-01 1.27208882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.039254154 meters Centerline goodness : 0.998940 with order 1 Centerline is valid? [True, True] Translation: X:349.42, Y:18.69, Z:12.72 [[ 9.95808600e-01 -8.38546541e-02 -3.65189005e-02 3.49423302e+02] [ 8.38340843e-02 9.96477521e-01 -2.09687922e-03 1.86930332e+01] [ 3.65660965e-02 -9.73438220e-04 9.99330763e-01 1.27232518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.099254154 meters Centerline goodness : 0.998621 with order 1 Centerline is valid? [True, True] Translation: X:349.48, Y:18.70, Z:12.73 [[ 9.96394324e-01 -7.65813981e-02 -3.65190543e-02 3.49484931e+02] [ 7.65560430e-02 9.97063081e-01 -2.09419654e-03 1.86956673e+01] [ 3.65721773e-02 -7.09108744e-04 9.99330763e-01 1.27253975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.159254154 meters Centerline goodness : 0.998918 with order 1 Centerline is valid? [True, True] Translation: X:349.55, Y:18.70, Z:12.73 [[ 9.96751761e-01 -7.17793398e-02 -3.65192069e-02 3.49547126e+02] [ 7.17508601e-02 9.97420393e-01 -2.09153168e-03 1.86983813e+01] [ 3.65751305e-02 -5.35546618e-04 9.99330763e-01 1.27299775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.219254154 meters Centerline goodness : 0.998938 with order 1 Centerline is valid? [True, True] Translation: X:349.61, Y:18.70, Z:12.73 [[ 9.97211983e-01 -6.50737915e-02 -3.65193576e-02 3.49608831e+02] [ 6.50409118e-02 9.97880412e-01 -2.08889729e-03 1.86991200e+01] [ 3.65778841e-02 -2.92178908e-04 9.99330763e-01 1.27327278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.279254154 meters Centerline goodness : 0.998727 with order 1 Centerline is valid? [True, True] Translation: X:349.67, Y:18.70, Z:12.73 [[ 9.97350112e-01 -6.29212101e-02 -3.65195103e-02 3.49669389e+02] [ 6.28869856e-02 9.98018474e-01 -2.08622497e-03 1.86982235e+01] [ 3.65784137e-02 -2.15905212e-04 9.99330763e-01 1.27327076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.339254154 meters Centerline goodness : 0.998898 with order 1 Centerline is valid? [True, True] Translation: X:349.73, Y:18.70, Z:12.74 [[ 9.97278462e-01 -6.40468206e-02 -3.65195103e-02 3.49729928e+02] [ 6.40133505e-02 9.97946862e-01 -2.08622497e-03 1.86970944e+01] [ 3.65781467e-02 -2.57188985e-04 9.99330763e-01 1.27353886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.399254154 meters Centerline goodness : 0.998986 with order 1 Centerline is valid? [True, True] Translation: X:349.79, Y:18.69, Z:12.74 [[ 9.96736481e-01 -7.19910358e-02 -3.65195513e-02 3.49790605e+02] [ 7.19629188e-02 9.97405128e-01 -2.08550579e-03 1.86933688e+01] [ 3.65749255e-02 -5.49353802e-04 9.99330763e-01 1.27377637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.459254154 meters Centerline goodness : 0.998948 with order 1 Centerline is valid? [True, True] Translation: X:349.85, Y:18.69, Z:12.74 [[ 9.95773200e-01 -8.42736974e-02 -3.65195513e-02 3.49851352e+02] [ 8.42538259e-02 9.96442143e-01 -2.08550579e-03 1.86912755e+01] [ 3.65653733e-02 -1.00022114e-03 9.99330763e-01 1.27382355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.519254154 meters Centerline goodness : 0.998760 with order 1 Centerline is valid? [True, True] Translation: X:349.92, Y:18.68, Z:12.73 [[ 9.95996001e-01 -8.15983147e-02 -3.65195933e-02 3.49915103e+02] [ 8.15766731e-02 9.96664889e-01 -2.08477121e-03 1.86792327e+01] [ 3.65679102e-02 -9.02723137e-04 9.99330763e-01 1.27278047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.579254154 meters Centerline goodness : 0.998720 with order 1 Centerline is valid? [True, True] Translation: X:349.98, Y:18.69, Z:12.74 [[ 9.94612829e-01 -9.70135469e-02 -3.65197529e-02 3.49975404e+02] [ 9.70023697e-02 9.95281973e-01 -2.08197068e-03 1.86888033e+01] [ 3.65494311e-02 -1.47174783e-03 9.99330763e-01 1.27430326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.639254154 meters Centerline goodness : 0.998827 with order 1 Centerline is valid? [True, True] Translation: X:350.04, Y:18.69, Z:12.75 [[ 9.94028450e-01 -1.02828693e-01 -3.65198689e-02 3.50037873e+02] [ 1.02821504e-01 9.94697649e-01 -2.07993387e-03 1.86877686e+01] [ 3.65401046e-02 -1.68751441e-03 9.99330763e-01 1.27482022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.699254154 meters Centerline goodness : 0.998996 with order 1 Centerline is valid? [True, True] Translation: X:350.10, Y:18.69, Z:12.75 [[ 9.93656213e-01 -1.06365493e-01 -3.65200196e-02 3.50099740e+02] [ 1.06360783e-01 9.94325434e-01 -2.07728455e-03 1.86883700e+01] [ 3.65337358e-02 -1.82019118e-03 9.99330763e-01 1.27510513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.759254154 meters Centerline goodness : 0.999059 with order 1 Centerline is valid? [True, True] Translation: X:350.16, Y:18.69, Z:12.75 [[ 9.93193934e-01 -1.10598766e-01 -3.65201745e-02 3.50161056e+02] [ 1.10597007e-01 9.93863169e-01 -2.07455888e-03 1.86882373e+01] [ 3.65255000e-02 -1.97858270e-03 9.99330763e-01 1.27515606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.819254154 meters Centerline goodness : 0.998934 with order 1 Centerline is valid? [True, True] Translation: X:350.22, Y:18.69, Z:12.75 [[ 9.92938156e-01 -1.12871994e-01 -3.65202887e-02 3.50223483e+02] [ 1.12871841e-01 9.93607393e-01 -2.07254602e-03 1.86903209e+01] [ 3.65207613e-02 -2.06420221e-03 9.99330763e-01 1.27539971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.879254154 meters Centerline goodness : 0.999038 with order 1 Centerline is valid? [True, True] Translation: X:350.28, Y:18.69, Z:12.75 [[ 9.93089725e-01 -1.11530508e-01 -3.65204453e-02 3.50284744e+02] [ 1.11529552e-01 9.93758962e-01 -2.06978217e-03 1.86929072e+01] [ 3.65233637e-02 -2.01762952e-03 9.99330763e-01 1.27522982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.93925415399997 meters Centerline goodness : 0.999038 with order 1 Centerline is valid? [True, True] Translation: X:350.35, Y:18.70, Z:12.76 [[ 9.93126844e-01 -1.11199462e-01 -3.65205608e-02 3.50346729e+02] [ 1.11198358e-01 9.93796081e-01 -2.06774332e-03 1.86981997e+01] [ 3.65239221e-02 -2.00749498e-03 9.99330763e-01 1.27556125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.99925415399997 meters Centerline goodness : 0.999183 with order 1 Centerline is valid? [True, True] Translation: X:350.41, Y:18.70, Z:12.76 [[ 9.93456928e-01 -1.08210763e-01 -3.65207125e-02 3.50408384e+02] [ 1.08207744e-01 9.94126159e-01 -2.06506051e-03 1.87036148e+01] [ 3.65296574e-02 -1.90027521e-03 9.99330763e-01 1.27592177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.059254154 meters Centerline goodness : 0.999121 with order 1 Centerline is valid? [True, True] Translation: X:350.47, Y:18.71, Z:12.76 [[ 9.93807227e-01 -1.04944850e-01 -3.65208671e-02 3.50469659e+02] [ 1.04939732e-01 9.94476445e-01 -2.06232309e-03 1.87094313e+01] [ 3.65355722e-02 -1.78293840e-03 9.99330763e-01 1.27620903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.119254154 meters Centerline goodness : 0.999015 with order 1 Centerline is valid? [True, True] Translation: X:350.53, Y:18.72, Z:12.77 [[ 9.94529198e-01 -9.78667051e-02 -3.65209809e-02 3.50530938e+02] [ 9.78568961e-02 9.95198364e-01 -2.06030540e-03 1.87161915e+01] [ 3.65472557e-02 -1.52479596e-03 9.99330763e-01 1.27673542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.179254154 meters Centerline goodness : 0.999223 with order 1 Centerline is valid? [True, True] Translation: X:350.59, Y:18.72, Z:12.77 [[ 9.95023506e-01 -9.27061614e-02 -3.65210963e-02 3.50592055e+02] [ 9.26929562e-02 9.95692613e-01 -2.05825803e-03 1.87213434e+01] [ 3.65545990e-02 -1.33723326e-03 9.99330763e-01 1.27693911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.239254154 meters Centerline goodness : 0.999158 with order 1 Centerline is valid? [True, True] Translation: X:350.65, Y:18.73, Z:12.77 [[ 9.95667560e-01 -8.55120572e-02 -3.65212094e-02 3.50653787e+02] [ 8.54940900e-02 9.96336556e-01 -2.05624793e-03 1.87273351e+01] [ 3.65632500e-02 -1.07500821e-03 9.99330763e-01 1.27706733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.299254154 meters Centerline goodness : 0.999198 with order 1 Centerline is valid? [True, True] Translation: X:350.72, Y:18.73, Z:12.77 [[ 9.95964472e-01 -8.19814709e-02 -3.65213608e-02 3.50715252e+02] [ 8.19612305e-02 9.96633403e-01 -2.05355638e-03 1.87339043e+01] [ 3.65667617e-02 -9.48066478e-04 9.99330763e-01 1.27734883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.359254154 meters Centerline goodness : 0.999220 with order 1 Centerline is valid? [True, True] Translation: X:350.78, Y:18.74, Z:12.77 [[ 9.96185930e-01 -7.92450178e-02 -3.65215108e-02 3.50777277e+02] [ 7.92230376e-02 9.96854806e-01 -2.05088475e-03 1.87392556e+01] [ 3.65691660e-02 -8.50282490e-04 9.99330763e-01 1.27742911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.419254154 meters Centerline goodness : 0.999199 with order 1 Centerline is valid? [True, True] Translation: X:350.84, Y:18.74, Z:12.78 [[ 9.96335956e-01 -7.73358317e-02 -3.65216619e-02 3.50839130e+02] [ 7.73126685e-02 9.97004792e-01 -2.04819085e-03 1.87439315e+01] [ 3.65706705e-02 -7.82900948e-04 9.99330763e-01 1.27764781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.479254154 meters Centerline goodness : 0.999304 with order 1 Centerline is valid? [True, True] Translation: X:350.90, Y:18.75, Z:12.78 [[ 9.96534200e-01 -7.47378392e-02 -3.65218148e-02 3.50900372e+02] [ 7.47130323e-02 9.97202978e-01 -2.04546086e-03 1.87494876e+01] [ 3.65725358e-02 -6.90283825e-04 9.99330763e-01 1.27797897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.539254154 meters Centerline goodness : 0.998883 with order 1 Centerline is valid? [True, True] Translation: X:350.96, Y:18.75, Z:12.78 [[ 9.96609814e-01 -7.37226412e-02 -3.65219276e-02 3.50961540e+02] [ 7.36972269e-02 9.97278568e-01 -2.04344508e-03 1.87528455e+01] [ 3.65731838e-02 -6.55047364e-04 9.99330763e-01 1.27827409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.599254154 meters Centerline goodness : 0.999072 with order 1 Centerline is valid? [True, True] Translation: X:351.02, Y:18.76, Z:12.79 [[ 9.96653547e-01 -7.31290002e-02 -3.65220025e-02 3.51022689e+02] [ 7.31032366e-02 9.97322288e-01 -2.04210593e-03 1.87561494e+01] [ 3.65735442e-02 -6.34604468e-04 9.99330763e-01 1.27854849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.659254154 meters Centerline goodness : 0.999072 with order 1 Centerline is valid? [True, True] Translation: X:351.08, Y:18.76, Z:12.79 [[ 9.96617670e-01 -7.36162832e-02 -3.65220779e-02 3.51083655e+02] [ 7.35908960e-02 9.97286426e-01 -2.04075661e-03 1.87577998e+01] [ 3.65732054e-02 -6.53838332e-04 9.99330763e-01 1.27868909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.719254154 meters Centerline goodness : 0.999054 with order 1 Centerline is valid? [True, True] Translation: X:351.14, Y:18.76, Z:12.79 [[ 9.96410736e-01 -7.63660812e-02 -3.65221541e-02 3.51144613e+02] [ 7.63425895e-02 9.97079560e-01 -2.03939069e-03 1.87586914e+01] [ 3.65712337e-02 -7.56125040e-04 9.99330763e-01 1.27887045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.779254154 meters Centerline goodness : 0.999053 with order 1 Centerline is valid? [True, True] Translation: X:351.21, Y:18.76, Z:12.79 [[ 9.96314711e-01 -7.76087906e-02 -3.65222291e-02 3.51206305e+02] [ 7.75861824e-02 9.96983566e-01 -2.03804633e-03 1.87596971e+01] [ 3.65702326e-02 -8.03084790e-04 9.99330763e-01 1.27889312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.839254154 meters Centerline goodness : 0.998674 with order 1 Centerline is valid? [True, True] Translation: X:351.27, Y:18.76, Z:12.79 [[ 9.96374591e-01 -7.68361652e-02 -3.65223044e-02 3.51266517e+02] [ 7.68130877e-02 9.97043430e-01 -2.03669759e-03 1.87618763e+01] [ 3.65708156e-02 -7.76077238e-04 9.99330763e-01 1.27900365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.899254154 meters Centerline goodness : 0.998931 with order 1 Centerline is valid? [True, True] Translation: X:351.33, Y:18.77, Z:12.79 [[ 9.96559718e-01 -7.43965487e-02 -3.65223413e-02 3.51327595e+02] [ 7.43718580e-02 9.97228500e-01 -2.03603433e-03 1.87650576e+01] [ 3.65725936e-02 -6.87204586e-04 9.99330763e-01 1.27933211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.959254154 meters Centerline goodness : 0.998972 with order 1 Centerline is valid? [True, True] Translation: X:351.39, Y:18.77, Z:12.80 [[ 9.96984582e-01 -6.84679219e-02 -3.65224158e-02 3.51388650e+02] [ 6.84393029e-02 9.97653207e-01 -2.03469748e-03 1.87676445e+01] [ 3.65760168e-02 -4.71006665e-04 9.99330763e-01 1.27974649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.019254154 meters Centerline goodness : 0.998906 with order 1 Centerline is valid? [True, True] Translation: X:351.45, Y:18.77, Z:12.80 [[ 9.97320862e-01 -6.33814263e-02 -3.65224899e-02 3.51449065e+02] [ 6.33494457e-02 9.97989335e-01 -2.03336691e-03 1.87705015e+01] [ 3.65779331e-02 -2.85760251e-04 9.99330763e-01 1.28015085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.079254154 meters Centerline goodness : 0.998782 with order 1 Centerline is valid? [True, True] Translation: X:351.51, Y:18.77, Z:12.80 [[ 9.97790301e-01 -5.55033552e-02 -3.65224899e-02 3.51508264e+02] [ 5.54660965e-02 9.98458501e-01 -2.03336691e-03 1.87727381e+01] [ 3.65790492e-02 3.11383227e-06 9.99330763e-01 1.28044167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.139254154 meters Centerline goodness : 0.998950 with order 1 Centerline is valid? [True, True] Translation: X:351.57, Y:18.77, Z:12.81 [[ 9.98055904e-01 -5.05027343e-02 -3.65224148e-02 3.51566702e+02] [ 5.04620784e-02 9.98723905e-01 -2.03471556e-03 1.87728545e+01] [ 3.65785674e-02 1.87762921e-04 9.99330763e-01 1.28054212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.199254154 meters Centerline goodness : 0.999036 with order 1 Centerline is valid? [True, True] Translation: X:351.62, Y:18.77, Z:12.81 [[ 9.98065131e-01 -5.03204869e-02 -3.65218074e-02 3.51624892e+02] [ 5.02793123e-02 9.98733101e-01 -2.04556022e-03 1.87717067e+01] [ 3.65784715e-02 2.05310972e-04 9.99330763e-01 1.28070813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.259254154 meters Centerline goodness : 0.998993 with order 1 Centerline is valid? [True, True] Translation: X:351.68, Y:18.77, Z:12.81 [[ 9.98000952e-01 -5.15781183e-02 -3.65211899e-02 3.51683185e+02] [ 5.15373841e-02 9.98668949e-01 -2.05652615e-03 1.87718454e+01] [ 3.65786500e-02 1.70208462e-04 9.99330763e-01 1.28054283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.319254154 meters Centerline goodness : 0.999183 with order 1 Centerline is valid? [True, True] Translation: X:351.74, Y:18.77, Z:12.81 [[ 9.97654892e-01 -5.78872362e-02 -3.65210001e-02 3.51742326e+02] [ 5.78506032e-02 9.98323126e-01 -2.05989004e-03 1.87690345e+01] [ 3.65790004e-02 -5.77025105e-05 9.99330763e-01 1.28104616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.379254154 meters Centerline goodness : 0.999037 with order 1 Centerline is valid? [True, True] Translation: X:351.80, Y:18.77, Z:12.81 [[ 9.97393768e-01 -6.22248060e-02 -3.65204619e-02 3.51801384e+02] [ 6.21907313e-02 9.98062138e-01 -2.06938847e-03 1.87686418e+01] [ 3.65784576e-02 -2.07239073e-04 9.99330763e-01 1.28130971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.43925415399997 meters Centerline goodness : 0.999187 with order 1 Centerline is valid? [True, True] Translation: X:351.86, Y:18.77, Z:12.82 [[ 9.96929920e-01 -6.92605961e-02 -3.65199220e-02 3.51859316e+02] [ 6.92308907e-02 9.97598497e-01 -2.07887330e-03 1.87670727e+01] [ 3.65762033e-02 -4.55815736e-04 9.99330763e-01 1.28156801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.49925415399997 meters Centerline goodness : 0.999061 with order 1 Centerline is valid? [True, True] Translation: X:351.92, Y:18.77, Z:12.82 [[ 9.96428712e-01 -7.61323262e-02 -3.65197323e-02 3.51918668e+02] [ 7.61071091e-02 9.97097474e-01 -2.08220108e-03 1.87658718e+01] [ 3.65722556e-02 -7.04646306e-04 9.99330763e-01 1.28178732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.559254154 meters Centerline goodness : 0.999061 with order 1 Centerline is valid? [True, True] Translation: X:351.98, Y:18.77, Z:12.82 [[ 9.95915494e-01 -8.25752742e-02 -3.65192088e-02 3.51979360e+02] [ 8.25540480e-02 9.96584395e-01 -2.09134258e-03 1.87658424e+01] [ 3.65671667e-02 -9.32008036e-04 9.99330763e-01 1.28206222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.619254154 meters Centerline goodness : 0.999250 with order 1 Centerline is valid? [True, True] Translation: X:352.04, Y:18.77, Z:12.82 [[ 9.95563951e-01 -8.67108250e-02 -3.65192088e-02 3.52039634e+02] [ 8.66923770e-02 9.96232934e-01 -2.09134258e-03 1.87661845e+01] [ 3.65629805e-02 -1.08387173e-03 9.99330763e-01 1.28220273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.679254154 meters Centerline goodness : 0.999189 with order 1 Centerline is valid? [True, True] Translation: X:352.10, Y:18.76, Z:12.82 [[ 9.95531718e-01 -8.70801108e-02 -3.65192088e-02 3.52100445e+02] [ 8.70619109e-02 9.96200708e-01 -2.09134258e-03 1.87602900e+01] [ 3.65625760e-02 -1.09743423e-03 9.99330763e-01 1.28181444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.739254154 meters Centerline goodness : 0.999144 with order 1 Centerline is valid? [True, True] Translation: X:352.16, Y:18.77, Z:12.83 [[ 9.94831171e-01 -9.47485538e-02 -3.65192088e-02 3.52159866e+02] [ 9.47355094e-02 9.95500281e-01 -2.09134258e-03 1.87682692e+01] [ 3.65530343e-02 -1.37913306e-03 9.99330763e-01 1.28251011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.799254154 meters Centerline goodness : 0.999082 with order 1 Centerline is valid? [True, True] Translation: X:352.22, Y:18.77, Z:12.83 [[ 9.94626988e-01 -9.68684668e-02 -3.65192477e-02 3.52221030e+02] [ 9.68568733e-02 9.95296124e-01 -2.09066269e-03 1.87706609e+01] [ 3.65499850e-02 -1.45771061e-03 9.99330763e-01 1.28263394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.859254154 meters Centerline goodness : 0.999019 with order 1 Centerline is valid? [True, True] Translation: X:352.28, Y:18.77, Z:12.83 [[ 9.94526119e-01 -9.78986105e-02 -3.65193244e-02 3.52282180e+02] [ 9.78877592e-02 9.95195268e-01 -2.08932235e-03 1.87735031e+01] [ 3.65484005e-02 -1.49690919e-03 9.99330763e-01 1.28275906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.919254154 meters Centerline goodness : 0.999352 with order 1 Centerline is valid? [True, True] Translation: X:352.34, Y:18.78, Z:12.83 [[ 9.94557146e-01 -9.75828730e-02 -3.65194002e-02 3.52343039e+02] [ 9.75718579e-02 9.95226292e-01 -2.08799615e-03 1.87785847e+01] [ 3.65488199e-02 -1.48663423e-03 9.99330763e-01 1.28305378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.979254154 meters Centerline goodness : 0.999206 with order 1 Centerline is valid? [True, True] Translation: X:352.40, Y:18.78, Z:12.83 [[ 9.94591430e-01 -9.72327912e-02 -3.65194752e-02 3.52402990e+02] [ 9.72215888e-02 9.95260573e-01 -2.08668270e-03 1.87836732e+01] [ 3.65492878e-02 -1.47508468e-03 9.99330763e-01 1.28336183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.039254154 meters Centerline goodness : 0.999041 with order 1 Centerline is valid? [True, True] Translation: X:352.46, Y:18.79, Z:12.84 [[ 9.94842452e-01 -9.46299209e-02 -3.65195122e-02 3.52464299e+02] [ 9.46169913e-02 9.95511564e-01 -2.08603590e-03 1.87885394e+01] [ 3.65529981e-02 -1.38008929e-03 9.99330763e-01 1.28362252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.099254154 meters Centerline goodness : 0.999020 with order 1 Centerline is valid? [True, True] Translation: X:352.52, Y:18.79, Z:12.84 [[ 9.95024758e-01 -9.26933101e-02 -3.65195907e-02 3.52524554e+02] [ 9.26791285e-02 9.95693845e-01 -2.08466011e-03 1.87934417e+01] [ 3.65555658e-02 -1.31031542e-03 9.99330763e-01 1.28400114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.159254154 meters Centerline goodness : 0.999021 with order 1 Centerline is valid? [True, True] Translation: X:352.59, Y:18.80, Z:12.84 [[ 9.95307585e-01 -8.96053962e-02 -3.65196293e-02 3.52585606e+02] [ 8.95891633e-02 9.95976626e-01 -2.08398377e-03 1.87988187e+01] [ 3.65594334e-02 -1.19755818e-03 9.99330763e-01 1.28417224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.219254154 meters Centerline goodness : 0.998855 with order 1 Centerline is valid? [True, True] Translation: X:352.65, Y:18.80, Z:12.84 [[ 9.95581294e-01 -8.65112620e-02 -3.65197054e-02 3.52646582e+02] [ 8.64929985e-02 9.96250282e-01 -2.08265030e-03 1.88034408e+01] [ 3.65629395e-02 -1.08525113e-03 9.99330763e-01 1.28419912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.279254154 meters Centerline goodness : 0.999019 with order 1 Centerline is valid? [True, True] Translation: X:352.71, Y:18.81, Z:12.84 [[ 9.95805798e-01 -8.38875342e-02 -3.65197826e-02 3.52708179e+02] [ 8.38675577e-02 9.96474737e-01 -2.08129460e-03 1.88078785e+01] [ 3.65656354e-02 -9.90259741e-04 9.99330763e-01 1.28428487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.339254154 meters Centerline goodness : 0.998874 with order 1 Centerline is valid? [True, True] Translation: X:352.77, Y:18.81, Z:12.84 [[ 9.96144040e-01 -7.97706227e-02 -3.65198592e-02 3.52769572e+02] [ 7.97479304e-02 9.96812892e-01 -2.07995033e-03 1.88132524e+01] [ 3.65693854e-02 -8.40453065e-04 9.99330763e-01 1.28431510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.399254154 meters Centerline goodness : 0.998873 with order 1 Centerline is valid? [True, True] Translation: X:352.83, Y:18.82, Z:12.85 [[ 9.96301147e-01 -7.77837947e-02 -3.65199379e-02 3.52829146e+02] [ 7.77598193e-02 9.96969954e-01 -2.07856657e-03 1.88182751e+01] [ 3.65709597e-02 -7.68905520e-04 9.99330763e-01 1.28450857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.459254154 meters Centerline goodness : 0.999123 with order 1 Centerline is valid? [True, True] Translation: X:352.89, Y:18.82, Z:12.85 [[ 9.96398668e-01 -7.65244558e-02 -3.65198993e-02 3.52888828e+02] [ 7.64996102e-02 9.97067443e-01 -2.07924592e-03 1.88240580e+01] [ 3.65719157e-02 -7.22000192e-04 9.99330763e-01 1.28490880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.519254154 meters Centerline goodness : 0.998892 with order 1 Centerline is valid? [True, True] Translation: X:352.95, Y:18.83, Z:12.85 [[ 9.96480337e-01 -7.54535236e-02 -3.65198993e-02 3.52949268e+02] [ 7.54279592e-02 9.97149086e-01 -2.07924592e-03 1.88308379e+01] [ 3.65726706e-02 -6.82693795e-04 9.99330763e-01 1.28520312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.579254154 meters Centerline goodness : 0.998976 with order 1 Centerline is valid? [True, True] Translation: X:353.01, Y:18.84, Z:12.85 [[ 9.96379148e-01 -7.67781858e-02 -3.65198993e-02 3.53008484e+02] [ 7.67535105e-02 9.97047930e-01 -2.07924592e-03 1.88356341e+01] [ 3.65717307e-02 -7.31313190e-04 9.99330763e-01 1.28544551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.639254154 meters Centerline goodness : 0.998830 with order 1 Centerline is valid? [True, True] Translation: X:353.07, Y:18.84, Z:12.86 [[ 9.96042873e-01 -8.10240529e-02 -3.65198238e-02 3.53067775e+02] [ 8.10021796e-02 9.96711753e-01 -2.08057134e-03 1.88404308e+01] [ 3.65683139e-02 -8.85847064e-04 9.99330763e-01 1.28562377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.699254154 meters Centerline goodness : 0.998789 with order 1 Centerline is valid? [True, True] Translation: X:353.13, Y:18.84, Z:12.85 [[ 9.96465696e-01 -7.56466759e-02 -3.65198311e-02 3.53129519e+02] [ 7.56211974e-02 9.97134447e-01 -2.08044181e-03 1.88351306e+01] [ 3.65725601e-02 -6.88584460e-04 9.99330763e-01 1.28476355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.759254154 meters Centerline goodness : 0.998955 with order 1 Centerline is valid? [True, True] Translation: X:353.19, Y:18.85, Z:12.86 [[ 9.95603565e-01 -8.62545367e-02 -3.65198177e-02 3.53188214e+02] [ 8.62361730e-02 9.96272550e-01 -2.08067820e-03 1.88500496e+01] [ 3.65631598e-02 -1.07779868e-03 9.99330763e-01 1.28593310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.819254154 meters Centerline goodness : 0.999163 with order 1 Centerline is valid? [True, True] Translation: X:353.25, Y:18.86, Z:12.86 [[ 9.95678394e-01 -8.53863285e-02 -3.65200136e-02 3.53247520e+02] [ 8.53675076e-02 9.96347366e-01 -2.07723421e-03 1.88566901e+01] [ 3.65639867e-02 -1.04936531e-03 9.99330763e-01 1.28645331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.879254154 meters Centerline goodness : 0.999060 with order 1 Centerline is valid? [True, True] Translation: X:353.31, Y:18.87, Z:12.87 [[ 9.96110754e-01 -8.01851390e-02 -3.65199782e-02 3.53307146e+02] [ 8.01628019e-02 9.96779618e-01 -2.07785485e-03 1.88654942e+01] [ 3.65689831e-02 -8.57770220e-04 9.99330763e-01 1.28679484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.93925415399997 meters Centerline goodness : 0.998829 with order 1 Centerline is valid? [True, True] Translation: X:353.37, Y:18.87, Z:12.87 [[ 9.96447143e-01 -7.58905845e-02 -3.65200130e-02 3.53368571e+02] [ 7.58653868e-02 9.97115905e-01 -2.07724437e-03 1.88732402e+01] [ 3.65723291e-02 -7.00740692e-04 9.99330763e-01 1.28704761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.99925415399997 meters Centerline goodness : 0.999122 with order 1 Centerline is valid? [True, True] Translation: X:353.43, Y:18.88, Z:12.87 [[ 9.96516852e-01 -7.49696448e-02 -3.65200904e-02 3.53429693e+02] [ 7.49438789e-02 9.97185592e-01 -2.07588242e-03 1.88788865e+01] [ 3.65729361e-02 -6.68305422e-04 9.99330763e-01 1.28728199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.059254154 meters Centerline goodness : 0.999206 with order 1 Centerline is valid? [True, True] Translation: X:353.49, Y:18.89, Z:12.87 [[ 9.96414414e-01 -7.63190196e-02 -3.65201686e-02 3.53490644e+02] [ 7.62942098e-02 9.97083191e-01 -2.07450462e-03 1.88854911e+01] [ 3.65719705e-02 -7.19211104e-04 9.99330763e-01 1.28745423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.119254154 meters Centerline goodness : 0.999120 with order 1 Centerline is valid? [True, True] Translation: X:353.55, Y:18.89, Z:12.88 [[ 9.96176476e-01 -7.93643479e-02 -3.65202456e-02 3.53552103e+02] [ 7.93416321e-02 9.96845328e-01 -2.07314890e-03 1.88917303e+01] [ 3.65695703e-02 -8.32353722e-04 9.99330763e-01 1.28764081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.179254154 meters Centerline goodness : 0.999058 with order 1 Centerline is valid? [True, True] Translation: X:353.61, Y:18.90, Z:12.88 [[ 9.96043064e-01 -8.10214875e-02 -3.65203214e-02 3.53614170e+02] [ 8.09999334e-02 9.96711954e-01 -2.07181226e-03 1.88968752e+01] [ 3.65681022e-02 -8.94529368e-04 9.99330763e-01 1.28787430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.239254154 meters Centerline goodness : 0.998888 with order 1 Centerline is valid? [True, True] Translation: X:353.68, Y:18.90, Z:12.88 [[ 9.95972594e-01 -8.18831308e-02 -3.65204754e-02 3.53676103e+02] [ 8.18622549e-02 9.96641505e-01 -2.06909519e-03 1.89025625e+01] [ 3.65672455e-02 -9.28886357e-04 9.99330763e-01 1.28815299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.299254154 meters Centerline goodness : 0.998762 with order 1 Centerline is valid? [True, True] Translation: X:353.74, Y:18.91, Z:12.88 [[ 9.95996208e-01 -8.15953285e-02 -3.65206303e-02 3.53738351e+02] [ 8.15743597e-02 9.96665116e-01 -2.06635748e-03 1.89086929e+01] [ 3.65674433e-02 -9.21062816e-04 9.99330763e-01 1.28824576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.359254154 meters Centerline goodness : 0.998948 with order 1 Centerline is valid? [True, True] Translation: X:353.80, Y:18.91, Z:12.88 [[ 9.95902906e-01 -8.27262640e-02 -3.65207838e-02 3.53800081e+02] [ 8.27061544e-02 9.96571841e-01 -2.06364039e-03 1.89136766e+01] [ 3.65663020e-02 -9.65308126e-04 9.99330763e-01 1.28843213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.419254154 meters Centerline goodness : 0.998990 with order 1 Centerline is valid? [True, True] Translation: X:353.86, Y:18.92, Z:12.89 [[ 9.95484829e-01 -8.76137927e-02 -3.65209359e-02 3.53861380e+02] [ 8.75970656e-02 9.96153857e-01 -2.06094537e-03 1.89188851e+01] [ 3.65610384e-02 -1.14748697e-03 9.99330763e-01 1.28856573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.479254154 meters Centerline goodness : 0.998800 with order 1 Centerline is valid? [True, True] Translation: X:353.92, Y:18.91, Z:12.88 [[ 9.95530526e-01 -8.70929697e-02 -3.65210481e-02 3.53924066e+02] [ 8.70759655e-02 9.96199547e-01 -2.05895458e-03 1.89144960e+01] [ 3.65615721e-02 -1.13035339e-03 9.99330763e-01 1.28755508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.539254154 meters Centerline goodness : 0.998841 with order 1 Centerline is valid? [True, True] Translation: X:353.98, Y:18.93, Z:12.89 [[ 9.94281656e-01 -1.00350333e-01 -3.65212077e-02 3.53984386e+02] [ 1.00342349e-01 9.94950846e-01 -2.05612075e-03 1.89277433e+01] [ 3.65431389e-02 -1.62026060e-03 9.99330763e-01 1.28876982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.599254154 meters Centerline goodness : 0.998923 with order 1 Centerline is valid? [True, True] Translation: X:354.05, Y:18.93, Z:12.89 [[ 9.93592248e-01 -1.06960913e-01 -3.65213253e-02 3.54046735e+02] [ 1.06957456e-01 9.94261476e-01 -2.05402953e-03 1.89325479e+01] [ 3.65314477e-02 -1.86536022e-03 9.99330763e-01 1.28879191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.659254154 meters Centerline goodness : 0.998946 with order 1 Centerline is valid? [True, True] Translation: X:354.11, Y:18.94, Z:12.89 [[ 9.93106939e-01 -1.11376787e-01 -3.65214745e-02 3.54109280e+02] [ 1.11376403e-01 9.93776176e-01 -2.05137304e-03 1.89371997e+01] [ 3.65226466e-02 -2.03039765e-03 9.99330763e-01 1.28888586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.719254154 meters Centerline goodness : 0.999072 with order 1 Centerline is valid? [True, True] Translation: X:354.17, Y:18.94, Z:12.89 [[ 9.92843410e-01 -1.13701931e-01 -3.65216993e-02 3.54170161e+02] [ 1.13703261e-01 9.93512646e-01 -2.04736266e-03 1.89422098e+01] [ 3.65175592e-02 -2.11992578e-03 9.99330763e-01 1.28894694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.779254154 meters Centerline goodness : 0.998966 with order 1 Centerline is valid? [True, True] Translation: X:354.23, Y:18.95, Z:12.89 [[ 9.92619342e-01 -1.15641688e-01 -3.65218122e-02 3.54232627e+02] [ 1.15644399e-01 9.93288573e-01 -2.04534775e-03 1.89487797e+01] [ 3.65132262e-02 -2.19329129e-03 9.99330763e-01 1.28926503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.839254154 meters Centerline goodness : 0.999028 with order 1 Centerline is valid? [True, True] Translation: X:354.29, Y:18.96, Z:12.90 [[ 9.92524223e-01 -1.16455171e-01 -3.65220363e-02 3.54294909e+02] [ 1.16458578e-01 9.93193452e-01 -2.04133780e-03 1.89550331e+01] [ 3.65111716e-02 -2.22722718e-03 9.99330763e-01 1.28956845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.899254154 meters Centerline goodness : 0.999280 with order 1 Centerline is valid? [True, True] Translation: X:354.36, Y:18.96, Z:12.90 [[ 9.92450838e-01 -1.17078854e-01 -3.65222659e-02 3.54357327e+02] [ 1.17082832e-01 9.93120063e-01 -2.03722079e-03 1.89606981e+01] [ 3.65095105e-02 -2.25428884e-03 9.99330763e-01 1.28978180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.959254154 meters Centerline goodness : 0.999260 with order 1 Centerline is valid? [True, True] Translation: X:354.42, Y:18.97, Z:12.90 [[ 9.92352044e-01 -1.17913225e-01 -3.65224934e-02 3.54419457e+02] [ 1.17917916e-01 9.93021264e-01 -2.03313533e-03 1.89672081e+01] [ 3.65073461e-02 -2.28907031e-03 9.99330763e-01 1.28989915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.019254154 meters Centerline goodness : 0.999321 with order 1 Centerline is valid? [True, True] Translation: X:354.48, Y:18.97, Z:12.90 [[ 9.92380543e-01 -1.17673081e-01 -3.65226443e-02 3.54480563e+02] [ 1.17677709e-01 9.93049764e-01 -2.03042108e-03 1.89729927e+01] [ 3.65077292e-02 -2.28295074e-03 9.99330763e-01 1.28986490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.079254154 meters Centerline goodness : 0.999407 with order 1 Centerline is valid? [True, True] Translation: X:354.54, Y:18.98, Z:12.90 [[ 9.92543971e-01 -1.16286513e-01 -3.65227558e-02 3.54542235e+02] [ 1.16290280e-01 9.93213198e-01 -2.02841262e-03 1.89788267e+01] [ 3.65107601e-02 -2.23395278e-03 9.99330763e-01 1.29008605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.139254154 meters Centerline goodness : 0.999277 with order 1 Centerline is valid? [True, True] Translation: X:354.60, Y:18.99, Z:12.90 [[ 9.93000291e-01 -1.12323194e-01 -3.65229024e-02 3.54603810e+02] [ 1.12324386e-01 9.93669527e-01 -2.02576958e-03 1.89865850e+01] [ 3.65192361e-02 -2.09082280e-03 9.99330763e-01 1.29042059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.199254154 meters Centerline goodness : 0.999235 with order 1 Centerline is valid? [True, True] Translation: X:354.66, Y:18.99, Z:12.90 [[ 9.93805835e-01 -1.04957272e-01 -3.65230541e-02 3.54664850e+02] [ 1.04953602e-01 9.94475062e-01 -2.02303048e-03 1.89939877e+01] [ 3.65335983e-02 -1.82272659e-03 9.99330763e-01 1.29044511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.259254154 meters Centerline goodness : 0.999318 with order 1 Centerline is valid? [True, True] Translation: X:354.73, Y:19.00, Z:12.91 [[ 9.94396942e-01 -9.92007041e-02 -3.65231660e-02 3.54726510e+02] [ 9.91932333e-02 9.95066138e-01 -2.02100872e-03 1.90019691e+01] [ 3.65434512e-02 -1.61316604e-03 9.99330763e-01 1.29108639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.319254154 meters Centerline goodness : 0.999274 with order 1 Centerline is valid? [True, True] Translation: X:354.79, Y:19.01, Z:12.91 [[ 9.95373756e-01 -8.88658211e-02 -3.65233117e-02 3.54788515e+02] [ 8.88514959e-02 9.96042839e-01 -2.01837293e-03 1.90114369e+01] [ 3.65581474e-02 -1.23611543e-03 9.99330763e-01 1.29142605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.379254154 meters Centerline goodness : 0.999465 with order 1 Centerline is valid? [True, True] Translation: X:354.85, Y:19.02, Z:12.92 [[ 9.95786301e-01 -8.41170582e-02 -3.65234594e-02 3.54851281e+02] [ 8.40996397e-02 9.96455311e-01 -2.01569628e-03 1.90191254e+01] [ 3.65635495e-02 -1.06440703e-03 9.99330763e-01 1.29185799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.43925415399997 meters Centerline goodness : 0.999378 with order 1 Centerline is valid? [True, True] Translation: X:354.91, Y:19.02, Z:12.92 [[ 9.96149582e-01 -7.96996326e-02 -3.65236838e-02 3.54913581e+02] [ 7.96793964e-02 9.96818513e-01 -2.01162180e-03 1.90241178e+01] [ 3.65678097e-02 -9.06308868e-04 9.99330763e-01 1.29192107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.49925415399997 meters Centerline goodness : 0.999484 with order 1 Centerline is valid? [True, True] Translation: X:354.98, Y:19.03, Z:12.92 [[ 9.96538678e-01 -7.46771290e-02 -3.65238309e-02 3.54975492e+02] [ 7.46536190e-02 9.97207502e-01 -2.00894771e-03 1.90319894e+01] [ 3.65718606e-02 -7.24642058e-04 9.99330763e-01 1.29233520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.559254154 meters Centerline goodness : 0.999309 with order 1 Centerline is valid? [True, True] Translation: X:355.04, Y:19.04, Z:12.92 [[ 9.96882211e-01 -6.99418129e-02 -3.65239753e-02 3.55037428e+02] [ 6.99152220e-02 9.97550919e-01 -2.00631883e-03 1.90372074e+01] [ 3.65748507e-02 -5.53518288e-04 9.99330763e-01 1.29248729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.619254154 meters Centerline goodness : 0.999568 with order 1 Centerline is valid? [True, True] Translation: X:355.10, Y:19.04, Z:12.93 [[ 9.97367232e-01 -6.26465719e-02 -3.65241238e-02 3.55099692e+02] [ 6.26151885e-02 9.98035733e-01 -2.00361066e-03 1.90428883e+01] [ 3.65779000e-02 -2.88629276e-04 9.99330763e-01 1.29281066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.679254154 meters Centerline goodness : 0.999247 with order 1 Centerline is valid? [True, True] Translation: X:355.16, Y:19.05, Z:12.93 [[ 9.97756975e-01 -5.60980931e-02 -3.65242701e-02 3.55161562e+02] [ 5.60624197e-02 9.98425261e-01 -2.00094172e-03 1.90477670e+01] [ 3.65790029e-02 -5.11854022e-05 9.99330763e-01 1.29331693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.739254154 meters Centerline goodness : 0.999352 with order 1 Centerline is valid? [True, True] Translation: X:355.22, Y:19.05, Z:12.94 [[ 9.97910310e-01 -5.33008426e-02 -3.65244158e-02 3.55221791e+02] [ 5.32633934e-02 9.98578499e-01 -1.99827732e-03 1.90502299e+01] [ 3.65790062e-02 4.86872142e-05 9.99330763e-01 1.29375735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.799254154 meters Centerline goodness : 0.999376 with order 1 Centerline is valid? [True, True] Translation: X:355.28, Y:19.05, Z:12.94 [[ 9.97817757e-01 -5.50062815e-02 -3.65244158e-02 3.55281813e+02] [ 5.49699744e-02 9.98486008e-01 -1.99827732e-03 1.90512730e+01] [ 3.65790360e-02 -1.38296064e-05 9.99330763e-01 1.29391236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.859254154 meters Centerline goodness : 0.996950 with order 1 Centerline is valid? [True, True] Translation: X:355.34, Y:19.05, Z:12.94 [[ 9.97324739e-01 -6.33192876e-02 -3.65244158e-02 3.55342964e+02] [ 6.32885503e-02 9.97993270e-01 -1.99827732e-03 1.90499912e+01] [ 3.65776507e-02 -3.18645918e-04 9.99330763e-01 1.29366795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.919254154 meters Centerline goodness : 0.999379 with order 1 Centerline is valid? [True, True] Translation: X:355.40, Y:19.05, Z:12.94 [[ 9.96780530e-01 -7.13760548e-02 -3.65244158e-02 3.55403714e+02] [ 7.13507206e-02 9.97449288e-01 -1.99827732e-03 1.90480469e+01] [ 3.65738817e-02 -6.14199459e-04 9.99330763e-01 1.29427414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.979254154 meters Centerline goodness : 0.999360 with order 1 Centerline is valid? [True, True] Translation: X:355.47, Y:19.05, Z:12.94 [[ 9.96067110e-01 -8.07234578e-02 -3.65244630e-02 3.55465751e+02] [ 8.07044298e-02 9.96736076e-01 -1.99741463e-03 1.90456384e+01] [ 3.65664882e-02 -9.58126937e-04 9.99330763e-01 1.29446521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.039254154 meters Centerline goodness : 0.999296 with order 1 Centerline is valid? [True, True] Translation: X:355.53, Y:19.04, Z:12.95 [[ 9.95695440e-01 -8.51853440e-02 -3.65246104e-02 3.55528029e+02] [ 8.51694123e-02 9.96364488e-01 -1.99471525e-03 1.90437046e+01] [ 3.65617453e-02 -1.12465073e-03 9.99330763e-01 1.29463816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.099254154 meters Centerline goodness : 0.999255 with order 1 Centerline is valid? [True, True] Translation: X:355.59, Y:19.04, Z:12.95 [[ 9.95718514e-01 -8.49151495e-02 -3.65247570e-02 3.55589610e+02] [ 8.48991346e-02 9.96387560e-01 -1.99202838e-03 1.90441641e+01] [ 3.65619669e-02 -1.11742072e-03 9.99330763e-01 1.29487619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.159254154 meters Centerline goodness : 0.999233 with order 1 Centerline is valid? [True, True] Translation: X:355.65, Y:19.05, Z:12.95 [[ 9.96047826e-01 -8.09608684e-02 -3.65248655e-02 3.55651767e+02] [ 8.09422701e-02 9.96716805e-01 -1.99003738e-03 1.90464706e+01] [ 3.65660623e-02 -9.74233122e-04 9.99330763e-01 1.29529908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.219254154 meters Centerline goodness : 0.999234 with order 1 Centerline is valid? [True, True] Translation: X:355.71, Y:19.05, Z:12.95 [[ 9.96314004e-01 -7.76165480e-02 -3.65250116e-02 3.55714255e+02] [ 7.75958024e-02 9.96982920e-01 -1.98735195e-03 1.90476560e+01] [ 3.65690641e-02 -8.54161001e-04 9.99330763e-01 1.29533863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.279254154 meters Centerline goodness : 0.999086 with order 1 Centerline is valid? [True, True] Translation: X:355.78, Y:19.05, Z:12.96 [[ 9.96417605e-01 -7.62749645e-02 -3.65251550e-02 3.55776761e+02] [ 7.62534149e-02 9.97086495e-01 -1.98471322e-03 1.90493869e+01] [ 3.65701226e-02 -8.07564601e-04 9.99330763e-01 1.29557271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.339254154 meters Centerline goodness : 0.999257 with order 1 Centerline is valid? [True, True] Translation: X:355.84, Y:19.05, Z:12.96 [[ 9.96414580e-01 -7.63144019e-02 -3.65252959e-02 3.55837959e+02] [ 7.62929739e-02 9.97083474e-01 -1.98211635e-03 1.90515112e+01] [ 3.65700329e-02 -8.11613814e-04 9.99330763e-01 1.29559029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.399254154 meters Centerline goodness : 0.998917 with order 1 Centerline is valid? [True, True] Translation: X:355.90, Y:19.05, Z:12.96 [[ 9.96299037e-01 -7.78082401e-02 -3.65254151e-02 3.55898960e+02] [ 7.77878956e-02 9.96967965e-01 -1.97991694e-03 1.90527997e+01] [ 3.65687226e-02 -8.68645834e-04 9.99330763e-01 1.29591505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.459254154 meters Centerline goodness : 0.999215 with order 1 Centerline is valid? [True, True] Translation: X:355.96, Y:19.06, Z:12.96 [[ 9.96274328e-01 -7.81239504e-02 -3.65254986e-02 3.55960831e+02] [ 7.81038744e-02 9.96943264e-01 -1.97837457e-03 1.90559498e+01] [ 3.65684083e-02 -8.81779165e-04 9.99330763e-01 1.29632942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.519254154 meters Centerline goodness : 0.999216 with order 1 Centerline is valid? [True, True] Translation: X:356.02, Y:19.06, Z:12.97 [[ 9.96352673e-01 -7.71182689e-02 -3.65256462e-02 3.56022873e+02] [ 7.70976176e-02 9.97021592e-01 -1.97564580e-03 1.90595416e+01] [ 3.65692163e-02 -8.47600338e-04 9.99330763e-01 1.29671489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.579254154 meters Centerline goodness : 0.998897 with order 1 Centerline is valid? [True, True] Translation: X:356.08, Y:19.06, Z:12.97 [[ 9.96396702e-01 -7.65472378e-02 -3.65257924e-02 3.56084984e+02] [ 7.65263023e-02 9.97065611e-01 -1.97293986e-03 1.90630938e+01] [ 3.65696346e-02 -8.29353066e-04 9.99330763e-01 1.29698495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.639254154 meters Centerline goodness : 0.999048 with order 1 Centerline is valid? [True, True] Translation: X:356.15, Y:19.07, Z:12.97 [[ 9.96411582e-01 -7.63532213e-02 -3.65259375e-02 3.56146789e+02] [ 7.63322542e-02 9.97080491e-01 -1.97024943e-03 1.90657079e+01] [ 3.65697346e-02 -8.24927800e-04 9.99330763e-01 1.29729301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.699254154 meters Centerline goodness : 0.998540 with order 1 Centerline is valid? [True, True] Translation: X:356.21, Y:19.07, Z:12.97 [[ 9.96330869e-01 -7.73992499e-02 -3.65260839e-02 3.56208185e+02] [ 7.73790846e-02 9.96999802e-01 -1.96753224e-03 1.90677955e+01] [ 3.65687839e-02 -8.66041823e-04 9.99330763e-01 1.29699381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.759254154 meters Centerline goodness : 0.999173 with order 1 Centerline is valid? [True, True] Translation: X:356.27, Y:19.07, Z:12.98 [[ 9.96158727e-01 -7.95840822e-02 -3.65262105e-02 3.56269313e+02] [ 7.95654702e-02 9.96827705e-01 -1.96517882e-03 1.90702122e+01] [ 3.65667356e-02 -9.48595083e-04 9.99330763e-01 1.29779338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.819254154 meters Centerline goodness : 0.999174 with order 1 Centerline is valid? [True, True] Translation: X:356.33, Y:19.07, Z:12.98 [[ 9.95972518e-01 -8.18814602e-02 -3.65262954e-02 3.56330886e+02] [ 8.18644491e-02 9.96641538e-01 -1.96359919e-03 1.90717348e+01] [ 3.65644056e-02 -1.03451422e-03 9.99330763e-01 1.29786139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.879254154 meters Centerline goodness : 0.999217 with order 1 Centerline is valid? [True, True] Translation: X:356.39, Y:19.07, Z:12.98 [[ 9.95685214e-01 -8.53040239e-02 -3.65264041e-02 3.56392629e+02] [ 8.52893863e-02 9.96354291e-01 -1.96157638e-03 1.90744087e+01] [ 3.65605698e-02 -1.16220199e-03 9.99330763e-01 1.29807602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.93925415399997 meters Centerline goodness : 0.999238 with order 1 Centerline is valid? [True, True] Translation: X:356.45, Y:19.08, Z:12.98 [[ 9.95404360e-01 -8.85210226e-02 -3.65265481e-02 3.56454605e+02] [ 8.85086456e-02 9.96073482e-01 -1.95888968e-03 1.90771544e+01] [ 3.65565289e-02 -1.28302798e-03 9.99330763e-01 1.29837291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.99925415399997 meters Centerline goodness : 0.999069 with order 1 Centerline is valid? [True, True] Translation: X:356.52, Y:19.08, Z:12.98 [[ 9.95233411e-01 -9.04226606e-02 -3.65266951e-02 3.56517188e+02] [ 9.04116626e-02 9.95902558e-01 -1.95614517e-03 1.90800275e+01] [ 3.65539090e-02 -1.35561820e-03 9.99330763e-01 1.29844997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.059254154 meters Centerline goodness : 0.999048 with order 1 Centerline is valid? [True, True] Translation: X:356.58, Y:19.08, Z:12.98 [[ 9.95540781e-01 -8.69732364e-02 -3.65268407e-02 3.56580240e+02] [ 8.69600195e-02 9.96209887e-01 -1.95342258e-03 1.90756107e+01] [ 3.65582954e-02 -1.23166294e-03 9.99330763e-01 1.29778626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.119254154 meters Centerline goodness : 0.999092 with order 1 Centerline is valid? [True, True] Translation: X:356.64, Y:19.09, Z:12.99 [[ 9.94361679e-01 -9.95521542e-02 -3.65269891e-02 3.56640820e+02] [ 9.95474991e-02 9.95030899e-01 -1.95064340e-03 1.90890632e+01] [ 3.65396736e-02 -1.69652538e-03 9.99330763e-01 1.29887672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.179254154 meters Centerline goodness : 0.999217 with order 1 Centerline is valid? [True, True] Translation: X:356.70, Y:19.09, Z:12.99 [[ 9.93762072e-01 -1.05369422e-01 -3.65270976e-02 3.56703412e+02] [ 1.05368758e-01 9.94431309e-01 -1.94861020e-03 1.90934934e+01] [ 3.65290134e-02 -1.91236001e-03 9.99330763e-01 1.29916474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.239254154 meters Centerline goodness : 0.999089 with order 1 Centerline is valid? [True, True] Translation: X:356.77, Y:19.10, Z:12.99 [[ 9.93494262e-01 -1.07865224e-01 -3.65273122e-02 3.56765507e+02] [ 1.07866389e-01 9.94163498e-01 -1.94457934e-03 1.90960778e+01] [ 3.65238729e-02 -2.00814086e-03 9.99330763e-01 1.29913538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.299254154 meters Centerline goodness : 0.999217 with order 1 Centerline is valid? [True, True] Translation: X:356.83, Y:19.10, Z:13.00 [[ 9.93233107e-01 -1.10243992e-01 -3.65274882e-02 3.56828082e+02] [ 1.10246881e-01 9.93902338e-01 -1.94126759e-03 1.91019496e+01] [ 3.65187690e-02 -2.09891040e-03 9.99330763e-01 1.29960971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.359254154 meters Centerline goodness : 0.999216 with order 1 Centerline is valid? [True, True] Translation: X:356.89, Y:19.11, Z:13.00 [[ 9.93148954e-01 -1.10999472e-01 -3.65277039e-02 3.56889811e+02] [ 1.11003019e-01 9.93818181e-01 -1.93720019e-03 1.91084952e+01] [ 3.65169245e-02 -2.13075706e-03 9.99330763e-01 1.29974467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.419254154 meters Centerline goodness : 0.999043 with order 1 Centerline is valid? [True, True] Translation: X:356.95, Y:19.12, Z:13.00 [[ 9.93379625e-01 -1.08915735e-01 -3.65278485e-02 3.56952085e+02] [ 1.08917978e-01 9.94048858e-01 -1.93446975e-03 1.91153166e+01] [ 3.65211603e-02 -2.05687655e-03 9.99330763e-01 1.30004574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.479254154 meters Centerline goodness : 0.999426 with order 1 Centerline is valid? [True, True] Translation: X:357.01, Y:19.12, Z:13.00 [[ 9.93639871e-01 -1.06515286e-01 -3.65280687e-02 3.57012965e+02] [ 1.06516065e-01 9.94309108e-01 -1.93030282e-03 1.91216632e+01] [ 3.65257982e-02 -1.97280029e-03 9.99330763e-01 1.30034603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.539254154 meters Centerline goodness : 0.999296 with order 1 Centerline is valid? [True, True] Translation: X:357.07, Y:19.13, Z:13.01 [[ 9.94109933e-01 -1.02034961e-01 -3.65281766e-02 3.57074521e+02] [ 1.02032798e-01 9.94779166e-01 -1.92825976e-03 1.91313062e+01] [ 3.65342189e-02 -1.81016987e-03 9.99330763e-01 1.30071319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.599254154 meters Centerline goodness : 0.999402 with order 1 Centerline is valid? [True, True] Translation: X:357.13, Y:19.14, Z:13.02 [[ 9.94238692e-01 -1.00772547e-01 -3.65283179e-02 3.57134139e+02] [ 1.00769632e-01 9.94907922e-01 -1.92557785e-03 1.91442928e+01] [ 3.65363583e-02 -1.76646115e-03 9.99330763e-01 1.30212448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.659254154 meters Centerline goodness : 0.999550 with order 1 Centerline is valid? [True, True] Translation: X:357.20, Y:19.15, Z:13.03 [[ 9.94538076e-01 -9.77736907e-02 -3.65283557e-02 3.57195211e+02] [ 9.77687840e-02 9.95207295e-01 -1.92486025e-03 1.91541961e+01] [ 3.65414868e-02 -1.65698612e-03 9.99330763e-01 1.30265441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.719254154 meters Centerline goodness : 0.999270 with order 1 Centerline is valid? [True, True] Translation: X:357.26, Y:19.15, Z:13.01 [[ 9.95310954e-01 -8.95643661e-02 -3.65284688e-02 3.57255948e+02] [ 8.95540164e-02 9.95980111e-01 -1.92271310e-03 1.91526881e+01] [ 3.65538350e-02 -1.35757368e-03 9.99330763e-01 1.30108868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.779254154 meters Centerline goodness : 0.999420 with order 1 Centerline is valid? [True, True] Translation: X:357.32, Y:19.16, Z:13.01 [[ 9.95613676e-01 -8.61340857e-02 -3.65284388e-02 3.57318158e+02] [ 8.61214094e-02 9.96282793e-01 -1.92328267e-03 1.91604403e+01] [ 3.65583152e-02 -1.23103410e-03 9.99330763e-01 1.30149467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.839254154 meters Centerline goodness : 0.999569 with order 1 Centerline is valid? [True, True] Translation: X:357.38, Y:19.17, Z:13.03 [[ 9.95740031e-01 -8.46607871e-02 -3.65286509e-02 3.57378964e+02] [ 8.46472686e-02 9.96409131e-01 -1.91924463e-03 1.91725909e+01] [ 3.65599661e-02 -1.18098182e-03 9.99330763e-01 1.30260276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.899254154 meters Centerline goodness : 0.999547 with order 1 Centerline is valid? [True, True] Translation: X:357.44, Y:19.18, Z:13.03 [[ 9.96209901e-01 -7.89397248e-02 -3.65288078e-02 3.57440921e+02] [ 7.89224728e-02 9.96878915e-01 -1.91625503e-03 1.91800683e+01] [ 3.65660669e-02 -9.73951603e-04 9.99330763e-01 1.30282684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.959254154 meters Centerline goodness : 0.999547 with order 1 Centerline is valid? [True, True] Translation: X:357.50, Y:19.18, Z:13.02 [[ 9.96988402e-01 -6.84087544e-02 -3.65290083e-02 3.57501275e+02] [ 6.83845744e-02 9.97657202e-01 -1.91242499e-03 1.91775556e+01] [ 3.65742548e-02 -5.91355152e-04 9.99330763e-01 1.30217031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.019254154 meters Centerline goodness : 0.999503 with order 1 Centerline is valid? [True, True] Translation: X:357.56, Y:19.18, Z:13.03 [[ 9.96933492e-01 -6.92043632e-02 -3.65290083e-02 3.57563364e+02] [ 6.91807169e-02 9.97602311e-01 -1.91242499e-03 1.91815894e+01] [ 3.65737712e-02 -6.20542459e-04 9.99330763e-01 1.30267690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.079254154 meters Centerline goodness : 0.999459 with order 1 Centerline is valid? [True, True] Translation: X:357.62, Y:19.19, Z:13.03 [[ 9.97042171e-01 -6.76204854e-02 -3.65291501e-02 3.57624180e+02] [ 6.75958760e-02 9.97710955e-01 -1.90971261e-03 1.91850638e+01] [ 3.65746689e-02 -5.65155890e-04 9.99330763e-01 1.30284385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.139254154 meters Centerline goodness : 0.999524 with order 1 Centerline is valid? [True, True] Translation: X:357.68, Y:19.20, Z:13.04 [[ 9.96794607e-01 -7.11767098e-02 -3.65292556e-02 3.57684179e+02] [ 7.11545602e-02 9.97463478e-01 -1.90769162e-03 1.91957396e+01] [ 3.65723816e-02 -6.97646403e-04 9.99330763e-01 1.30377634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.199254154 meters Centerline goodness : 0.999394 with order 1 Centerline is valid? [True, True] Translation: X:357.74, Y:19.19, Z:13.03 [[ 9.97411658e-01 -6.19321955e-02 -3.65292699e-02 3.57744640e+02] [ 6.19038557e-02 9.98080295e-01 -1.90741909e-03 1.91914872e+01] [ 3.65772751e-02 -3.58820607e-04 9.99330763e-01 1.30308285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.259254154 meters Centerline goodness : 0.999437 with order 1 Centerline is valid? [True, True] Translation: X:357.80, Y:19.20, Z:13.04 [[ 9.97371031e-01 -6.25829495e-02 -3.65294645e-02 3.57804428e+02] [ 6.25551827e-02 9.98039691e-01 -1.90368406e-03 1.92014898e+01] [ 3.65769936e-02 -3.86427993e-04 9.99330763e-01 1.30422502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.319254154 meters Centerline goodness : 0.999328 with order 1 Centerline is valid? [True, True] Translation: X:357.86, Y:19.20, Z:13.04 [[ 9.97834889e-01 -5.46912159e-02 -3.65295041e-02 3.57864806e+02] [ 5.46581883e-02 9.98503311e-01 -1.90292315e-03 1.91965353e+01] [ 3.65789040e-02 -9.78334040e-05 9.99330763e-01 1.30375874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.379254154 meters Centerline goodness : 0.999221 with order 1 Centerline is valid? [True, True] Translation: X:357.93, Y:19.20, Z:13.04 [[ 9.98013314e-01 -5.13323536e-02 -3.65296417e-02 3.57925888e+02] [ 5.12971732e-02 9.98681625e-01 -1.90027848e-03 1.91953514e+01] [ 3.65790277e-02 2.26358644e-05 9.99330763e-01 1.30365932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.43925415399997 meters Centerline goodness : 0.999287 with order 1 Centerline is valid? [True, True] Translation: X:357.99, Y:19.20, Z:13.04 [[ 9.97811213e-01 -5.51213717e-02 -3.65296773e-02 3.57985916e+02] [ 5.50887541e-02 9.98479655e-01 -1.89959481e-03 1.91974657e+01] [ 3.65788478e-02 -1.16937404e-04 9.99330763e-01 1.30417572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.49925415399997 meters Centerline goodness : 0.999266 with order 1 Centerline is valid? [True, True] Translation: X:358.05, Y:19.20, Z:13.04 [[ 9.97578893e-01 -5.91771782e-02 -3.65296422e-02 3.58047099e+02] [ 5.91472536e-02 9.98247460e-01 -1.90026843e-03 1.91977805e+01] [ 3.65780751e-02 -2.64960335e-04 9.99330763e-01 1.30438474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.559254154 meters Centerline goodness : 0.999375 with order 1 Centerline is valid? [True, True] Translation: X:358.11, Y:19.20, Z:13.05 [[ 9.97398425e-01 -6.21446926e-02 -3.65297125e-02 3.58108048e+02] [ 6.21168066e-02 9.98067080e-01 -1.89891575e-03 1.91985086e+01] [ 3.65771111e-02 -3.75133518e-04 9.99330763e-01 1.30461286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.619254154 meters Centerline goodness : 0.999226 with order 1 Centerline is valid? [True, True] Translation: X:358.17, Y:19.20, Z:13.05 [[ 9.97034245e-01 -6.77369125e-02 -3.65297825e-02 3.58170715e+02] [ 6.77128259e-02 9.97703048e-01 -1.89756877e-03 1.91988854e+01] [ 3.65744108e-02 -5.81593758e-04 9.99330763e-01 1.30484701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.679254154 meters Centerline goodness : 0.999377 with order 1 Centerline is valid? [True, True] Translation: X:358.23, Y:19.20, Z:13.05 [[ 9.96617822e-01 -7.36103343e-02 -3.65299228e-02 3.58233049e+02] [ 7.35902879e-02 9.97286759e-01 -1.89486518e-03 1.91992473e+01] [ 3.65702899e-02 -7.99791128e-04 9.99330763e-01 1.30509966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.739254154 meters Centerline goodness : 0.999314 with order 1 Centerline is valid? [True, True] Translation: X:358.29, Y:19.20, Z:13.05 [[ 9.96381744e-01 -7.67396507e-02 -3.65300637e-02 3.58294571e+02] [ 7.67218047e-02 9.97050743e-01 -1.89214502e-03 1.92006456e+01] [ 3.65675297e-02 -9.17353653e-04 9.99330763e-01 1.30523425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.799254154 meters Centerline goodness : 0.999357 with order 1 Centerline is valid? [True, True] Translation: X:358.36, Y:19.20, Z:13.06 [[ 9.95975497e-01 -8.18434883e-02 -3.65301678e-02 3.58357127e+02] [ 8.18291438e-02 9.96644580e-01 -1.89013248e-03 1.92016151e+01] [ 3.65622888e-02 -1.10670672e-03 9.99330763e-01 1.30567960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.859254154 meters Centerline goodness : 0.999337 with order 1 Centerline is valid? [True, True] Translation: X:358.42, Y:19.20, Z:13.06 [[ 9.95415363e-01 -8.83956568e-02 -3.65303073e-02 3.58418400e+02] [ 8.83858144e-02 9.96084527e-01 -1.88743267e-03 1.92021538e+01] [ 3.65541147e-02 -1.34998149e-03 9.99330763e-01 1.30569981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.919254154 meters Centerline goodness : 0.999294 with order 1 Centerline is valid? [True, True] Translation: X:358.48, Y:19.20, Z:13.06 [[ 9.94966808e-01 -9.33090062e-02 -3.65305345e-02 3.58480132e+02] [ 9.33026292e-02 9.95636015e-01 -1.88302401e-03 1.92037536e+01] [ 3.65468189e-02 -1.53484853e-03 9.99330763e-01 1.30600305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.979254154 meters Centerline goodness : 0.999230 with order 1 Centerline is valid? [True, True] Translation: X:358.54, Y:19.20, Z:13.06 [[ 9.94440065e-01 -9.87647038e-02 -3.65306739e-02 3.58541351e+02] [ 9.87620965e-02 9.95109297e-01 -1.88031654e-03 1.92045629e+01] [ 3.65377221e-02 -1.73798384e-03 9.99330763e-01 1.30593822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.039254154 meters Centerline goodness : 0.999250 with order 1 Centerline is valid? [True, True] Translation: X:358.60, Y:19.21, Z:13.06 [[ 9.94467362e-01 -9.84894329e-02 -3.65307768e-02 3.58603637e+02] [ 9.84867137e-02 9.95136593e-01 -1.87831604e-03 1.92086673e+01] [ 3.65381070e-02 -1.72987216e-03 9.99330763e-01 1.30616711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.099254154 meters Centerline goodness : 0.999121 with order 1 Centerline is valid? [True, True] Translation: X:358.66, Y:19.21, Z:13.07 [[ 9.95069825e-01 -9.22037711e-02 -3.65309106e-02 3.58664130e+02] [ 9.21969189e-02 9.95739027e-01 -1.87570924e-03 1.92149402e+01] [ 3.65482008e-02 -1.50157573e-03 9.99330763e-01 1.30657850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.159254154 meters Centerline goodness : 0.999208 with order 1 Centerline is valid? [True, True] Translation: X:358.73, Y:19.22, Z:13.07 [[ 9.95331375e-01 -8.93361044e-02 -3.65310095e-02 3.58726227e+02] [ 8.93273946e-02 9.96000555e-01 -1.87378048e-03 1.92190070e+01] [ 3.65523020e-02 -1.39818740e-03 9.99330763e-01 1.30698561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.219254154 meters Centerline goodness : 0.999379 with order 1 Centerline is valid? [True, True] Translation: X:358.79, Y:19.22, Z:13.07 [[ 9.95978993e-01 -8.18004866e-02 -3.65311503e-02 3.58787539e+02] [ 8.17868131e-02 9.96648091e-01 -1.87103291e-03 1.92238542e+01] [ 3.65617526e-02 -1.12425688e-03 9.99330763e-01 1.30682999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.279254154 meters Centerline goodness : 0.999397 with order 1 Centerline is valid? [True, True] Translation: X:358.85, Y:19.23, Z:13.07 [[ 9.96692182e-01 -7.25958595e-02 -3.65313046e-02 3.58849154e+02] [ 7.25761159e-02 9.97361127e-01 -1.86801543e-03 1.92307212e+01] [ 3.65705133e-02 -7.89463817e-04 9.99330763e-01 1.30734124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.339254154 meters Centerline goodness : 0.999266 with order 1 Centerline is valid? [True, True] Translation: X:358.91, Y:19.23, Z:13.06 [[ 9.98047235e-01 -5.06672468e-02 -3.65314597e-02 3.58912114e+02] [ 5.06329131e-02 9.98715590e-01 -1.86497731e-03 1.92251331e+01] [ 3.65790316e-02 1.16412254e-05 9.99330763e-01 1.30567304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.399254154 meters Centerline goodness : 0.999416 with order 1 Centerline is valid? [True, True] Translation: X:358.97, Y:19.24, Z:13.08 [[ 9.97670557e-01 -5.76099369e-02 -3.65315702e-02 3.58969711e+02] [ 5.75803335e-02 9.98339138e-01 -1.86280980e-03 1.92432002e+01] [ 3.65782126e-02 -2.45029504e-04 9.99330763e-01 1.30766633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.459254154 meters Centerline goodness : 0.999240 with order 1 Centerline is valid? [True, True] Translation: X:359.03, Y:19.23, Z:13.06 [[ 9.98697937e-01 -3.56072549e-02 -3.65315580e-02 3.59031654e+02] [ 3.55629144e-02 9.99365703e-01 -1.86304946e-03 1.92340291e+01] [ 3.65747242e-02 5.61454980e-04 9.99330763e-01 1.30575282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.519254154 meters Centerline goodness : 0.999565 with order 1 Centerline is valid? [True, True] Translation: X:359.09, Y:19.25, Z:13.08 [[ 9.98393441e-01 -4.33126394e-02 -3.65315143e-02 3.59089171e+02] [ 4.32734217e-02 9.99061528e-01 -1.86390551e-03 1.92548308e+01] [ 3.65779611e-02 2.80067415e-04 9.99330763e-01 1.30807281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.579254154 meters Centerline goodness : 0.999327 with order 1 Centerline is valid? [True, True] Translation: X:359.15, Y:19.26, Z:13.08 [[ 9.98644910e-01 -3.70647184e-02 -3.65315016e-02 3.59146143e+02] [ 3.70213121e-02 9.99312738e-01 -1.86415481e-03 1.92592303e+01] [ 3.65754892e-02 5.09184596e-04 9.99330763e-01 1.30796776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.639254154 meters Centerline goodness : 0.999348 with order 1 Centerline is valid? [True, True] Translation: X:359.20, Y:19.26, Z:13.08 [[ 9.98726106e-01 -3.48088809e-02 -3.65308978e-02 3.59204664e+02] [ 3.47635362e-02 9.99393805e-01 -1.87591233e-03 1.92635683e+01] [ 3.65740514e-02 6.03579425e-04 9.99330763e-01 1.30844467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.699254154 meters Centerline goodness : 0.999347 with order 1 Centerline is valid? [True, True] Translation: X:359.26, Y:19.27, Z:13.09 [[ 9.98741159e-01 -3.43748500e-02 -3.65303574e-02 3.59262043e+02] [ 3.43288324e-02 9.99408812e-01 -1.88637821e-03 1.92656538e+01] [ 3.65736050e-02 6.29959048e-04 9.99330763e-01 1.30865379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.759254154 meters Centerline goodness : 0.999457 with order 1 Centerline is valid? [True, True] Translation: X:359.32, Y:19.27, Z:13.09 [[ 9.98619617e-01 -3.77416841e-02 -3.65297873e-02 3.59319464e+02] [ 3.76975162e-02 9.99287395e-01 -1.89735380e-03 1.92666087e+01] [ 3.65753653e-02 5.17652480e-04 9.99330763e-01 1.30881068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.819254154 meters Centerline goodness : 0.999328 with order 1 Centerline is valid? [True, True] Translation: X:359.38, Y:19.26, Z:13.09 [[ 9.98243919e-01 -4.66336240e-02 -3.65292207e-02 3.59377138e+02] [ 4.65950080e-02 9.98912040e-01 -1.90820066e-03 1.92647348e+01] [ 3.65784647e-02 2.02770375e-04 9.99330763e-01 1.30890404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.879254154 meters Centerline goodness : 0.999396 with order 1 Centerline is valid? [True, True] Translation: X:359.44, Y:19.26, Z:13.09 [[ 9.97670685e-01 -5.76095660e-02 -3.65286582e-02 3.59436148e+02] [ 5.75779084e-02 9.98339172e-01 -1.91890803e-03 1.92624965e+01] [ 3.65785378e-02 -1.88805449e-04 9.99330764e-01 1.30908857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.93925415399997 meters Centerline goodness : 0.999313 with order 1 Centerline is valid? [True, True] Translation: X:359.50, Y:19.26, Z:13.09 [[ 9.97055261e-01 -6.74277334e-02 -3.65281698e-02 3.59498008e+02] [ 6.74023189e-02 9.97724015e-01 -1.92816127e-03 1.92607762e+01] [ 3.65750437e-02 -5.39600010e-04 9.99330764e-01 1.30932064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.99925415399997 meters Centerline goodness : 0.999444 with order 1 Centerline is valid? [True, True] Translation: X:359.56, Y:19.26, Z:13.09 [[ 9.96642951e-01 -7.32701579e-02 -3.65282392e-02 3.59560688e+02] [ 7.32487116e-02 9.97311844e-01 -1.92684402e-03 1.92605399e+01] [ 3.65712258e-02 -7.55270954e-04 9.99330764e-01 1.30947925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.059254154 meters Centerline goodness : 0.999445 with order 1 Centerline is valid? [True, True] Translation: X:359.62, Y:19.26, Z:13.10 [[ 9.96108782e-01 -8.02058057e-02 -3.65283801e-02 3.59623459e+02] [ 8.01891138e-02 9.96777811e-01 -1.92417075e-03 1.92588801e+01] [ 3.65650084e-02 -1.01249505e-03 9.99330764e-01 1.30962965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.119254154 meters Centerline goodness : 0.999127 with order 1 Centerline is valid? [True, True] Translation: X:359.69, Y:19.26, Z:13.10 [[ 9.95685055e-01 -8.53049676e-02 -3.65285221e-02 3.59685758e+02] [ 8.52918004e-02 9.96354162e-01 -1.92147137e-03 1.92579870e+01] [ 3.65592560e-02 -1.20240308e-03 9.99330764e-01 1.30986278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.179254154 meters Centerline goodness : 0.998957 with order 1 Centerline is valid? [True, True] Translation: X:359.75, Y:19.26, Z:13.10 [[ 9.95240350e-01 -9.03454648e-02 -3.65286650e-02 3.59746750e+02] [ 9.03357855e-02 9.95909516e-01 -1.91874983e-03 1.92575068e+01] [ 3.65525954e-02 -1.39022840e-03 9.99330764e-01 1.31002631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.239254154 meters Centerline goodness : 0.999044 with order 1 Centerline is valid? [True, True] Translation: X:359.81, Y:19.26, Z:13.10 [[ 9.94934599e-01 -9.36525062e-02 -3.65287708e-02 3.59809460e+02] [ 9.36451247e-02 9.95603795e-01 -1.91673453e-03 1.92587644e+01] [ 3.65476898e-02 -1.51371579e-03 9.99330764e-01 1.31025069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.299254154 meters Centerline goodness : 0.999128 with order 1 Centerline is valid? [True, True] Translation: X:359.87, Y:19.25, Z:13.09 [[ 9.95486281e-01 -8.75939334e-02 -3.65289789e-02 3.59872311e+02] [ 8.75826239e-02 9.96155422e-01 -1.91275931e-03 1.92477043e+01] [ 3.65560865e-02 -1.29517817e-03 9.99330764e-01 1.30905367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.359254154 meters Centerline goodness : 0.999088 with order 1 Centerline is valid? [True, True] Translation: X:359.93, Y:19.26, Z:13.11 [[ 9.94074576e-01 -1.02378531e-01 -3.65290918e-02 3.59930764e+02] [ 1.02377246e-01 9.94743811e-01 -1.91060119e-03 1.92625030e+01] [ 3.65326925e-02 -1.84046776e-03 9.99330764e-01 1.31067566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.419254154 meters Centerline goodness : 0.999046 with order 1 Centerline is valid? [True, True] Translation: X:359.99, Y:19.26, Z:13.11 [[ 9.93728371e-01 -1.05686088e-01 -3.65290918e-02 3.59992469e+02] [ 1.05687031e-01 9.94397607e-01 -1.91060119e-03 1.92644716e+01] [ 3.65263654e-02 -1.96203263e-03 9.99330764e-01 1.31088350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.479254154 meters Centerline goodness : 0.999219 with order 1 Centerline is valid? [True, True] Translation: X:360.05, Y:19.26, Z:13.11 [[ 9.93997860e-01 -1.03120654e-01 -3.65292299e-02 3.60054693e+02] [ 1.03119966e-01 9.94667096e-01 -1.90795740e-03 1.92625785e+01] [ 3.65311728e-02 -1.87038736e-03 9.99330764e-01 1.31106562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.539254154 meters Centerline goodness : 0.999258 with order 1 Centerline is valid? [True, True] Translation: X:360.12, Y:19.27, Z:13.11 [[ 9.93624814e-01 -1.06655210e-01 -3.65293752e-02 3.60116190e+02] [ 1.06657004e-01 9.94294048e-01 -1.90517119e-03 1.92712990e+01] [ 3.65241368e-02 -2.00308836e-03 9.99330764e-01 1.31141875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.599254154 meters Centerline goodness : 0.999025 with order 1 Centerline is valid? [True, True] Translation: X:360.18, Y:19.27, Z:13.12 [[ 9.94485948e-01 -9.83020554e-02 -3.65295171e-02 3.60177939e+02] [ 9.82983257e-02 9.95155174e-01 -1.90244602e-03 1.92721565e+01] [ 3.65395523e-02 -1.69883454e-03 9.99330764e-01 1.31178892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.659254154 meters Centerline goodness : 0.999237 with order 1 Centerline is valid? [True, True] Translation: X:360.24, Y:19.28, Z:13.12 [[ 9.94953356e-01 -9.34526750e-02 -3.65296650e-02 3.60238569e+02] [ 9.34457870e-02 9.95622557e-01 -1.89960215e-03 1.92836266e+01] [ 3.65472814e-02 -1.52352776e-03 9.99330764e-01 1.31221087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.719254154 meters Centerline goodness : 0.999065 with order 1 Centerline is valid? [True, True] Translation: X:360.30, Y:19.29, Z:13.12 [[ 9.95922506e-01 -8.24859799e-02 -3.65297726e-02 3.60300568e+02] [ 8.24717959e-02 9.96591593e-01 -1.89753066e-03 1.92897284e+01] [ 3.65617839e-02 -1.12288246e-03 9.99330764e-01 1.31245385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.779254154 meters Centerline goodness : 0.999107 with order 1 Centerline is valid? [True, True] Translation: X:360.36, Y:19.30, Z:13.13 [[ 9.96793514e-01 -7.11916879e-02 -3.65299142e-02 3.60363006e+02] [ 7.11700205e-02 9.97462399e-01 -1.89480126e-03 1.92955875e+01] [ 3.65721099e-02 -7.11109141e-04 9.99330764e-01 1.31257728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.839254154 meters Centerline goodness : 0.997760 with order 1 Centerline is valid? [True, True] Translation: X:360.42, Y:19.30, Z:13.13 [[ 9.97300875e-01 -6.36908110e-02 -3.65300530e-02 3.60423442e+02] [ 6.36642105e-02 9.97969583e-01 -1.89212037e-03 1.93006423e+01] [ 3.65763925e-02 -4.38643681e-04 9.99330764e-01 1.31254339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.899254154 meters Centerline goodness : 0.999358 with order 1 Centerline is valid? [True, True] Translation: X:360.48, Y:19.30, Z:13.13 [[ 9.97946648e-01 -5.26121464e-02 -3.65301307e-02 3.60482995e+02] [ 5.25781767e-02 9.98615021e-01 -1.89061968e-03 1.93049144e+01] [ 3.65790068e-02 -3.39500999e-05 9.99330764e-01 1.31278485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.959254154 meters Centerline goodness : 0.999315 with order 1 Centerline is valid? [True, True] Translation: X:360.54, Y:19.31, Z:13.14 [[ 9.98040362e-01 -5.08034606e-02 -3.65300519e-02 3.60542450e+02] [ 5.07682239e-02 9.98708670e-01 -1.89214081e-03 1.93141327e+01] [ 3.65790069e-02 3.38670479e-05 9.99330764e-01 1.31409220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.019254154 meters Centerline goodness : 0.995953 with order 1 Centerline is valid? [True, True] Translation: X:360.60, Y:19.31, Z:13.14 [[ 9.98276546e-01 -4.59293030e-02 -3.65299410e-02 3.60602253e+02] [ 4.58907250e-02 9.98944670e-01 -1.89427955e-03 1.93149450e+01] [ 3.65783928e-02 2.14629367e-04 9.99330764e-01 1.31373839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.079254154 meters Centerline goodness : 0.999294 with order 1 Centerline is valid? [True, True] Translation: X:360.66, Y:19.32, Z:13.15 [[ 9.98275841e-01 -4.59447037e-02 -3.65298510e-02 3.60661700e+02] [ 4.59060726e-02 9.98943961e-01 -1.89601380e-03 1.93176063e+01] [ 3.65783859e-02 2.15802781e-04 9.99330764e-01 1.31465555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.139254154 meters Centerline goodness : 0.999125 with order 1 Centerline is valid? [True, True] Translation: X:360.72, Y:19.31, Z:13.14 [[ 9.98370033e-01 -4.38503475e-02 -3.65297590e-02 3.60721376e+02] [ 4.38102501e-02 9.99038068e-01 -1.89778535e-03 1.93097205e+01] [ 3.65778384e-02 2.94314150e-04 9.99330764e-01 1.31353671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.199254154 meters Centerline goodness : 0.999021 with order 1 Centerline is valid? [True, True] Translation: X:360.78, Y:19.31, Z:13.14 [[ 9.97757144e-01 -5.60915287e-02 -3.65297289e-02 3.60779289e+02] [ 5.60596061e-02 9.98425619e-01 -1.89836404e-03 1.93064066e+01] [ 3.65786993e-02 -1.53735931e-04 9.99330764e-01 1.31397640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.259254154 meters Centerline goodness : 0.999152 with order 1 Centerline is valid? [True, True] Translation: X:360.84, Y:19.30, Z:13.14 [[ 9.97194890e-01 -6.53297463e-02 -3.65291037e-02 3.60838630e+02] [ 6.53035782e-02 9.97863615e-01 -1.91031958e-03 1.93049252e+01] [ 3.65758641e-02 -4.80520252e-04 9.99330764e-01 1.31420845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.319254154 meters Centerline goodness : 0.998737 with order 1 Centerline is valid? [True, True] Translation: X:360.90, Y:19.30, Z:13.14 [[ 9.96299371e-01 -7.78022629e-02 -3.65290341e-02 3.60899244e+02] [ 7.77844158e-02 9.96968370e-01 -1.91164832e-03 1.93010857e+01] [ 3.65670222e-02 -9.36815564e-04 9.99330764e-01 1.31415247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.379254154 meters Centerline goodness : 0.998987 with order 1 Centerline is valid? [True, True] Translation: X:360.96, Y:19.30, Z:13.14 [[ 9.95530468e-01 -8.70902319e-02 -3.65291561e-02 3.60961296e+02] [ 8.70787100e-02 9.96199605e-01 -1.90931471e-03 1.92975698e+01] [ 3.65566135e-02 -1.28013083e-03 9.99330764e-01 1.31433769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.43925415399997 meters Centerline goodness : 0.998990 with order 1 Centerline is valid? [True, True] Translation: X:361.02, Y:19.30, Z:13.15 [[ 9.95195086e-01 -9.08424831e-02 -3.65292239e-02 3.61023657e+02] [ 9.08335313e-02 9.95864262e-01 -1.90801748e-03 1.92967018e+01] [ 3.65514776e-02 -1.41922878e-03 9.99330764e-01 1.31465238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.49925415399997 meters Centerline goodness : 0.998905 with order 1 Centerline is valid? [True, True] Translation: X:361.09, Y:19.30, Z:13.15 [[ 9.95254252e-01 -9.01919047e-02 -3.65293643e-02 3.61085084e+02] [ 9.01826142e-02 9.95923424e-01 -1.90532418e-03 1.92980359e+01] [ 3.65522944e-02 -1.39803158e-03 9.99330764e-01 1.31474071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.559254154 meters Centerline goodness : 0.998864 with order 1 Centerline is valid? [True, True] Translation: X:361.15, Y:19.30, Z:13.15 [[ 9.95477876e-01 -8.76891820e-02 -3.65295166e-02 3.61147486e+02] [ 8.76783161e-02 9.96147024e-01 -1.90240045e-03 1.92992865e+01] [ 3.65555892e-02 -1.30904895e-03 9.99330764e-01 1.31504108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.619254154 meters Centerline goodness : 0.999013 with order 1 Centerline is valid? [True, True] Translation: X:361.21, Y:19.30, Z:13.15 [[ 9.95781024e-01 -8.41768122e-02 -3.65296761e-02 3.61209682e+02] [ 8.41636982e-02 9.96450131e-01 -1.89933287e-03 1.93018220e+01] [ 3.65598803e-02 -1.18315301e-03 9.99330764e-01 1.31515183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.679254154 meters Centerline goodness : 0.999096 with order 1 Centerline is valid? [True, True] Translation: X:361.27, Y:19.31, Z:13.15 [[ 9.96046007e-01 -8.09810157e-02 -3.65298171e-02 3.61270747e+02] [ 8.09658542e-02 9.96715071e-01 -1.89661659e-03 1.93060731e+01] [ 3.65634092e-02 -1.06855047e-03 9.99330764e-01 1.31526208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.739254154 meters Centerline goodness : 0.998781 with order 1 Centerline is valid? [True, True] Translation: X:361.33, Y:19.31, Z:13.16 [[ 9.95995799e-01 -8.15961751e-02 -3.65298866e-02 3.61331279e+02] [ 8.15814759e-02 9.96664874e-01 -1.89527702e-03 1.93134120e+01] [ 3.65627022e-02 -1.09247412e-03 9.99330764e-01 1.31615430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.799254154 meters Centerline goodness : 0.998735 with order 1 Centerline is valid? [True, True] Translation: X:361.39, Y:19.32, Z:13.16 [[ 9.96374059e-01 -7.68394209e-02 -3.65299607e-02 3.61392111e+02] [ 7.68215794e-02 9.97043057e-01 -1.89384853e-03 1.93156987e+01] [ 3.65674659e-02 -9.19307734e-04 9.99330764e-01 1.31558697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.859254154 meters Centerline goodness : 0.998884 with order 1 Centerline is valid? [True, True] Translation: X:361.45, Y:19.32, Z:13.16 [[ 9.96463896e-01 -7.56654667e-02 -3.65299967e-02 3.61454157e+02] [ 7.56468625e-02 9.97132874e-01 -1.89315463e-03 1.93215512e+01] [ 3.65685070e-02 -8.76919393e-04 9.99330764e-01 1.31612658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.919254154 meters Centerline goodness : 0.998903 with order 1 Centerline is valid? [True, True] Translation: X:361.52, Y:19.33, Z:13.16 [[ 9.96481634e-01 -7.54314367e-02 -3.65301337e-02 3.61515313e+02] [ 7.54127723e-02 9.97150610e-01 -1.89050712e-03 1.93255270e+01] [ 3.65686488e-02 -8.70983027e-04 9.99330764e-01 1.31649111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.979254154 meters Centerline goodness : 0.998838 with order 1 Centerline is valid? [True, True] Translation: X:361.58, Y:19.33, Z:13.17 [[ 9.96504896e-01 -7.51234740e-02 -3.65302008e-02 3.61576535e+02] [ 7.51046505e-02 9.97173868e-01 -1.88920823e-03 1.93296505e+01] [ 3.65688855e-02 -8.60982714e-04 9.99330764e-01 1.31658025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.039254154 meters Centerline goodness : 0.998863 with order 1 Centerline is valid? [True, True] Translation: X:361.64, Y:19.34, Z:13.17 [[ 9.96470375e-01 -7.55799629e-02 -3.65302755e-02 3.61637726e+02] [ 7.55614988e-02 9.97139356e-01 -1.88776280e-03 1.93362999e+01] [ 3.65684525e-02 -8.79182669e-04 9.99330764e-01 1.31710810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.099254154 meters Centerline goodness : 0.998985 with order 1 Centerline is valid? [True, True] Translation: X:361.70, Y:19.34, Z:13.17 [[ 9.96492655e-01 -7.52856025e-02 -3.65303564e-02 3.61697907e+02] [ 7.52669982e-02 9.97161632e-01 -1.88619593e-03 1.93394063e+01] [ 3.65686733e-02 -8.69949887e-04 9.99330764e-01 1.31723892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.159254154 meters Centerline goodness : 0.998732 with order 1 Centerline is valid? [True, True] Translation: X:361.76, Y:19.34, Z:13.17 [[ 9.96614919e-01 -7.36494019e-02 -3.65303960e-02 3.61758811e+02] [ 7.36297273e-02 9.97283866e-01 -1.88542858e-03 1.93434010e+01] [ 3.65700353e-02 -8.10676852e-04 9.99330764e-01 1.31731122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.219254154 meters Centerline goodness : 0.998986 with order 1 Centerline is valid? [True, True] Translation: X:361.82, Y:19.35, Z:13.18 [[ 9.96887220e-01 -6.98669739e-02 -3.65304986e-02 3.61819346e+02] [ 6.98448339e-02 9.97556090e-01 -1.88344003e-03 1.93485905e+01] [ 3.65728116e-02 -6.73889311e-04 9.99330764e-01 1.31772227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.279254154 meters Centerline goodness : 0.998834 with order 1 Centerline is valid? [True, True] Translation: X:361.88, Y:19.35, Z:13.18 [[ 9.97107603e-01 -6.66479485e-02 -3.65305315e-02 3.61880015e+02] [ 6.66236725e-02 9.97776398e-01 -1.88280023e-03 1.93524594e+01] [ 3.65747870e-02 -5.56443748e-04 9.99330764e-01 1.31801017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.339254154 meters Centerline goodness : 0.998960 with order 1 Centerline is valid? [True, True] Translation: X:361.94, Y:19.36, Z:13.18 [[ 9.97410671e-01 -6.19472994e-02 -3.65306012e-02 3.61941145e+02] [ 6.19199208e-02 9.98079347e-01 -1.88144796e-03 1.93554252e+01] [ 3.65769892e-02 -3.85395662e-04 9.99330764e-01 1.31826546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.399254154 meters Centerline goodness : 0.998836 with order 1 Centerline is valid? [True, True] Translation: X:362.00, Y:19.36, Z:13.18 [[ 9.97570930e-01 -5.93106132e-02 -3.65306717e-02 3.62000836e+02] [ 5.92815173e-02 9.98239534e-01 -1.88007766e-03 1.93585470e+01] [ 3.65778693e-02 -2.90082827e-04 9.99330764e-01 1.31839302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.459254154 meters Centerline goodness : 0.998842 with order 1 Centerline is valid? [True, True] Translation: X:362.06, Y:19.36, Z:13.19 [[ 9.97443506e-01 -6.14163200e-02 -3.65306328e-02 3.62059292e+02] [ 6.13886079e-02 9.98112169e-01 -1.88083394e-03 1.93580227e+01] [ 3.65771830e-02 -3.66539091e-04 9.99330764e-01 1.31874509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.519254154 meters Centerline goodness : 0.998692 with order 1 Centerline is valid? [True, True] Translation: X:362.12, Y:19.36, Z:13.19 [[ 9.97220095e-01 -6.49430770e-02 -3.65305157e-02 3.62119051e+02] [ 6.49176464e-02 9.97888848e-01 -1.88310481e-03 1.93587320e+01] [ 3.65756889e-02 -4.93605146e-04 9.99330764e-01 1.31887411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.579254154 meters Centerline goodness : 0.999072 with order 1 Centerline is valid? [True, True] Translation: X:362.18, Y:19.36, Z:13.19 [[ 9.96747007e-01 -7.18396019e-02 -3.65304812e-02 3.62179896e+02] [ 7.18187734e-02 9.97415919e-01 -1.88377484e-03 1.93583791e+01] [ 3.65714131e-02 -7.45927410e-04 9.99330764e-01 1.31911407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.639254154 meters Centerline goodness : 0.998907 with order 1 Centerline is valid? [True, True] Translation: X:362.24, Y:19.36, Z:13.19 [[ 9.96410433e-01 -7.63660415e-02 -3.65304812e-02 3.62241697e+02] [ 7.63482513e-02 9.97079433e-01 -1.88377484e-03 1.93590300e+01] [ 3.65676479e-02 -9.12025448e-04 9.99330764e-01 1.31928484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.699254154 meters Centerline goodness : 0.998908 with order 1 Centerline is valid? [True, True] Translation: X:362.30, Y:19.36, Z:13.19 [[ 9.95968725e-01 -8.19256836e-02 -3.65305503e-02 3.62304179e+02] [ 8.19116764e-02 9.96637815e-01 -1.88243337e-03 1.93587228e+01] [ 3.65619475e-02 -1.11743386e-03 9.99330764e-01 1.31945216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.759254154 meters Centerline goodness : 0.998698 with order 1 Centerline is valid? [True, True] Translation: X:362.37, Y:19.36, Z:13.20 [[ 9.95705776e-01 -8.50618365e-02 -3.65306905e-02 3.62365999e+02] [ 8.50500364e-02 9.96374908e-01 -1.87970810e-03 1.93592451e+01] [ 3.65581548e-02 -1.23530034e-03 9.99330764e-01 1.31963478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.819254154 meters Centerline goodness : 0.998820 with order 1 Centerline is valid? [True, True] Translation: X:362.43, Y:19.36, Z:13.20 [[ 9.95596036e-01 -8.63367302e-02 -3.65308292e-02 3.62427339e+02] [ 8.63258858e-02 9.96265185e-01 -1.87700825e-03 1.93607247e+01] [ 3.65564481e-02 -1.28481422e-03 9.99330764e-01 1.31979689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.879254154 meters Centerline goodness : 0.998970 with order 1 Centerline is valid? [True, True] Translation: X:362.49, Y:19.36, Z:13.20 [[ 9.95674298e-01 -8.54294078e-02 -3.65309316e-02 3.62489926e+02] [ 8.54180268e-02 9.96343437e-01 -1.87501331e-03 1.93616306e+01] [ 3.65575353e-02 -1.25349754e-03 9.99330764e-01 1.31999194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.93925415399997 meters Centerline goodness : 0.999201 with order 1 Centerline is valid? [True, True] Translation: X:362.55, Y:19.36, Z:13.20 [[ 9.95769160e-01 -8.43164385e-02 -3.65310648e-02 3.62550862e+02] [ 8.43044048e-02 9.96438288e-01 -1.87241494e-03 1.93639603e+01] [ 3.65588270e-02 -1.21523662e-03 9.99330764e-01 1.32017720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.99925415399997 meters Centerline goodness : 0.999032 with order 1 Centerline is valid? [True, True] Translation: X:362.61, Y:19.37, Z:13.20 [[ 9.96291232e-01 -7.79054395e-02 -3.65311306e-02 3.62612316e+02] [ 7.78891462e-02 9.96960270e-01 -1.87113117e-03 1.93671391e+01] [ 3.65658571e-02 -9.81186997e-04 9.99330764e-01 1.32026412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.059254154 meters Centerline goodness : 0.998864 with order 1 Centerline is valid? [True, True] Translation: X:362.67, Y:19.37, Z:13.20 [[ 9.96827407e-01 -7.07148409e-02 -3.65312334e-02 3.62671217e+02] [ 7.06937944e-02 9.97496313e-01 -1.86912054e-03 1.93708491e+01] [ 3.65719452e-02 -7.19340924e-04 9.99330764e-01 1.32048582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.119254154 meters Centerline goodness : 0.999177 with order 1 Centerline is valid? [True, True] Translation: X:362.73, Y:19.37, Z:13.21 [[ 9.97232410e-01 -6.47533138e-02 -3.65311991e-02 3.62730523e+02] [ 6.47282435e-02 9.97901177e-01 -1.86979153e-03 1.93747025e+01] [ 3.65756018e-02 -4.99983637e-04 9.99330764e-01 1.32070702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.179254154 meters Centerline goodness : 0.998989 with order 1 Centerline is valid? [True, True] Translation: X:362.79, Y:19.38, Z:13.22 [[ 9.97633531e-01 -5.82478554e-02 -3.65311670e-02 3.62789401e+02] [ 5.82184009e-02 9.98302118e-01 -1.87041773e-03 1.93804133e+01] [ 3.65780893e-02 -2.60794683e-04 9.99330764e-01 1.32162004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.239254154 meters Centerline goodness : 0.999050 with order 1 Centerline is valid? [True, True] Translation: X:362.85, Y:19.38, Z:13.21 [[ 9.97839020e-01 -5.46147403e-02 -3.65310881e-02 3.62847085e+02] [ 5.45827950e-02 9.98507493e-01 -1.87195928e-03 1.93818342e+01] [ 3.65788017e-02 -1.26054882e-04 9.99330764e-01 1.32140594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.299254154 meters Centerline goodness : 0.999303 with order 1 Centerline is valid? [True, True] Translation: X:362.90, Y:19.38, Z:13.22 [[ 9.97754838e-01 -5.61317834e-02 -3.65308901e-02 3.62904755e+02] [ 5.61007135e-02 9.98423353e-01 -1.87581365e-03 1.93832872e+01] [ 3.65785866e-02 -1.77806851e-04 9.99330764e-01 1.32161152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.359254154 meters Centerline goodness : 0.999051 with order 1 Centerline is valid? [True, True] Translation: X:362.96, Y:19.38, Z:13.22 [[ 9.97576792e-01 -5.92121592e-02 -3.65303228e-02 3.62963744e+02] [ 5.91827512e-02 9.98245382e-01 -1.88679689e-03 1.93849179e+01] [ 3.65779474e-02 -2.79740218e-04 9.99330764e-01 1.32182659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.419254154 meters Centerline goodness : 0.998884 with order 1 Centerline is valid? [True, True] Translation: X:363.02, Y:19.39, Z:13.22 [[ 9.97164076e-01 -6.57980049e-02 -3.65298272e-02 3.63022001e+02] [ 6.57726627e-02 9.97832832e-01 -1.89634511e-03 1.93857421e+01] [ 3.65754366e-02 -5.11696780e-04 9.99330764e-01 1.32209101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.479254154 meters Centerline goodness : 0.999097 with order 1 Centerline is valid? [True, True] Translation: X:363.08, Y:19.39, Z:13.22 [[ 9.96718248e-01 -7.22380905e-02 -3.65293298e-02 3.63082119e+02] [ 7.22167196e-02 9.97387143e-01 -1.90587737e-03 1.93859150e+01] [ 3.65715609e-02 -7.38405622e-04 9.99330764e-01 1.32232550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.539254154 meters Centerline goodness : 0.998865 with order 1 Centerline is valid? [True, True] Translation: X:363.14, Y:19.39, Z:13.22 [[ 9.96389483e-01 -7.66394529e-02 -3.65293298e-02 3.63142892e+02] [ 7.66210365e-02 9.97058466e-01 -1.90587737e-03 1.93877865e+01] [ 3.65679430e-02 -8.99918952e-04 9.99330764e-01 1.32249214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.599254154 meters Centerline goodness : 0.998971 with order 1 Centerline is valid? [True, True] Translation: X:363.20, Y:19.39, Z:13.23 [[ 9.96301516e-01 -7.77746626e-02 -3.65293298e-02 3.63203661e+02] [ 7.77570084e-02 9.96970519e-01 -1.90587737e-03 1.93915007e+01] [ 3.65668939e-02 -9.41582900e-04 9.99330764e-01 1.32270179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.659254154 meters Centerline goodness : 0.998761 with order 1 Centerline is valid? [True, True] Translation: X:363.27, Y:19.39, Z:13.23 [[ 9.96433348e-01 -7.60669893e-02 -3.65294006e-02 3.63265301e+02] [ 7.60482383e-02 9.97102321e-01 -1.90451938e-03 1.93943344e+01] [ 3.65684212e-02 -8.80269941e-04 9.99330764e-01 1.32294870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.719254154 meters Centerline goodness : 0.998929 with order 1 Centerline is valid? [True, True] Translation: X:363.33, Y:19.40, Z:13.23 [[ 9.96595784e-01 -7.39083288e-02 -3.65294722e-02 3.63326544e+02] [ 7.38881790e-02 9.97264717e-01 -1.90314580e-03 1.93989369e+01] [ 3.65702121e-02 -8.02429096e-04 9.99330764e-01 1.32329268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.779254154 meters Centerline goodness : 0.999095 with order 1 Centerline is valid? [True, True] Translation: X:363.39, Y:19.40, Z:13.24 [[ 9.96714217e-01 -7.22935838e-02 -3.65295431e-02 3.63388078e+02] [ 7.22724001e-02 9.97383118e-01 -1.90178350e-03 1.94027515e+01] [ 3.65714364e-02 -7.44543108e-04 9.99330764e-01 1.32351104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.839254154 meters Centerline goodness : 0.998886 with order 1 Centerline is valid? [True, True] Translation: X:363.45, Y:19.41, Z:13.24 [[ 9.96849887e-01 -7.03980902e-02 -3.65296135e-02 3.63448949e+02] [ 7.03756841e-02 9.97518747e-01 -1.90043067e-03 1.94065900e+01] [ 3.65727610e-02 -6.76352439e-04 9.99330764e-01 1.32365103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.899254154 meters Centerline goodness : 0.999390 with order 1 Centerline is valid? [True, True] Translation: X:363.51, Y:19.41, Z:13.24 [[ 9.96901380e-01 -6.96650575e-02 -3.65296849e-02 3.63508566e+02] [ 6.96422099e-02 9.97570226e-01 -1.89905723e-03 1.94099353e+01] [ 3.65732240e-02 -6.50835208e-04 9.99330764e-01 1.32376454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.959254154 meters Centerline goodness : 0.998952 with order 1 Centerline is valid? [True, True] Translation: X:363.57, Y:19.42, Z:13.24 [[ 9.96940603e-01 -6.91015091e-02 -3.65296498e-02 3.63567900e+02] [ 6.90782587e-02 9.97609435e-01 -1.89973234e-03 1.94150620e+01] [ 3.65735977e-02 -6.29484293e-04 9.99330764e-01 1.32391521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.019254154 meters Centerline goodness : 0.999076 with order 1 Centerline is valid? [True, True] Translation: X:363.63, Y:19.42, Z:13.24 [[ 9.96861981e-01 -7.02266164e-02 -3.65296157e-02 3.63628300e+02] [ 7.02040969e-02 9.97530838e-01 -1.90038830e-03 1.94200238e+01] [ 3.65728760e-02 -6.70103831e-04 9.99330764e-01 1.32436755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.079254154 meters Centerline goodness : 0.999118 with order 1 Centerline is valid? [True, True] Translation: X:363.69, Y:19.42, Z:13.25 [[ 9.96761489e-01 -7.16388312e-02 -3.65296157e-02 3.63688490e+02] [ 7.16172592e-02 9.97430377e-01 -1.90038830e-03 1.94239709e+01] [ 3.65718899e-02 -7.21917084e-04 9.99330764e-01 1.32464956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.139254154 meters Centerline goodness : 0.998972 with order 1 Centerline is valid? [True, True] Translation: X:363.75, Y:19.43, Z:13.25 [[ 9.96416828e-01 -7.62829780e-02 -3.65296157e-02 3.63748976e+02] [ 7.62645233e-02 9.97085809e-01 -1.90038830e-03 1.94283977e+01] [ 3.65681287e-02 -8.92334845e-04 9.99330764e-01 1.32485652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.199254154 meters Centerline goodness : 0.998868 with order 1 Centerline is valid? [True, True] Translation: X:363.81, Y:19.43, Z:13.25 [[ 9.95774804e-01 -8.42503783e-02 -3.65296157e-02 3.63809441e+02] [ 8.42372751e-02 9.96443912e-01 -1.90038830e-03 1.94317992e+01] [ 3.65598216e-02 -1.18479650e-03 9.99330764e-01 1.32491057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.259254154 meters Centerline goodness : 0.998909 with order 1 Centerline is valid? [True, True] Translation: X:363.87, Y:19.44, Z:13.25 [[ 9.95113495e-01 -9.17317666e-02 -3.65296499e-02 3.63871807e+02] [ 9.17237165e-02 9.95782683e-01 -1.89973122e-03 1.94351632e+01] [ 3.65498584e-02 -1.46018708e-03 9.99330764e-01 1.32515691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.319254154 meters Centerline goodness : 0.997962 with order 1 Centerline is valid? [True, True] Translation: X:363.93, Y:19.44, Z:13.25 [[ 9.94157768e-01 -1.01567252e-01 -3.65297858e-02 3.63933101e+02] [ 1.01565915e-01 9.94827003e-01 -1.89711409e-03 1.94389145e+01] [ 3.65335020e-02 -1.82415040e-03 9.99330764e-01 1.32521713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.379254154 meters Centerline goodness : 0.999162 with order 1 Centerline is valid? [True, True] Translation: X:363.99, Y:19.44, Z:13.26 [[ 9.93332061e-01 -1.09348004e-01 -3.65298654e-02 3.63994665e+02] [ 1.09351963e-01 9.94001285e-01 -1.89557914e-03 1.94443466e+01] [ 3.65180110e-02 -2.11167297e-03 9.99330764e-01 1.32558205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.43925415399997 meters Centerline goodness : 0.998970 with order 1 Centerline is valid? [True, True] Translation: X:364.06, Y:19.45, Z:13.26 [[ 9.93258661e-01 -1.10012675e-01 -3.65300281e-02 3.64057625e+02] [ 1.10017197e-01 9.93927882e-01 -1.89243954e-03 1.94484504e+01] [ 3.65164058e-02 -2.13924935e-03 9.99330764e-01 1.32599030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.49925415399997 meters Centerline goodness : 0.998974 with order 1 Centerline is valid? [True, True] Translation: X:364.12, Y:19.46, Z:13.26 [[ 9.93286333e-01 -1.09762476e-01 -3.65302511e-02 3.64118130e+02] [ 1.09766988e-01 9.93955554e-01 -1.88812352e-03 1.94561827e+01] [ 3.65166911e-02 -2.13436835e-03 9.99330764e-01 1.32632442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.559254154 meters Centerline goodness : 0.998990 with order 1 Centerline is valid? [True, True] Translation: X:364.18, Y:19.46, Z:13.26 [[ 9.93544887e-01 -1.07396883e-01 -3.65303603e-02 3.64178788e+02] [ 1.07399879e-01 9.94214116e-01 -1.88600902e-03 1.94639573e+01] [ 3.65215514e-02 -2.04952165e-03 9.99330764e-01 1.32625229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.619254154 meters Centerline goodness : 0.999115 with order 1 Centerline is valid? [True, True] Translation: X:364.24, Y:19.47, Z:13.26 [[ 9.93926187e-01 -1.03808767e-01 -3.65304662e-02 3.64241077e+02] [ 1.03809422e-01 9.94595423e-01 -1.88395527e-03 1.94707452e+01] [ 3.65286056e-02 -1.91969409e-03 9.99330764e-01 1.32645692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.679254154 meters Centerline goodness : 0.998943 with order 1 Centerline is valid? [True, True] Translation: X:364.30, Y:19.48, Z:13.27 [[ 9.94868908e-01 -9.43470482e-02 -3.65306747e-02 3.64302749e+02] [ 9.43414838e-02 9.95538121e-01 -1.87990476e-03 1.94811281e+01] [ 3.65450427e-02 -1.57609926e-03 9.99330764e-01 1.32672708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.739254154 meters Centerline goodness : 0.999343 with order 1 Centerline is valid? [True, True] Translation: X:364.36, Y:19.49, Z:13.27 [[ 9.95668675e-01 -8.54949654e-02 -3.65308118e-02 3.64364924e+02] [ 8.54835470e-02 9.96337814e-01 -1.87723648e-03 1.94898303e+01] [ 3.65575234e-02 -1.25367781e-03 9.99330764e-01 1.32703571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.799254154 meters Centerline goodness : 0.999170 with order 1 Centerline is valid? [True, True] Translation: X:364.43, Y:19.50, Z:13.27 [[ 9.96769563e-01 -7.15257195e-02 -3.65309476e-02 3.64426466e+02] [ 7.15050167e-02 9.97438479e-01 -1.87459032e-03 1.95002854e+01] [ 3.65714542e-02 -7.43611445e-04 9.99330764e-01 1.32737897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.859254154 meters Centerline goodness : 0.999104 with order 1 Centerline is valid? [True, True] Translation: X:364.49, Y:19.51, Z:13.28 [[ 9.97057187e-01 -6.73976651e-02 -3.65310818e-02 3.64488805e+02] [ 6.73742886e-02 9.97726015e-01 -1.87197062e-03 1.95058172e+01] [ 3.65741771e-02 -5.94793891e-04 9.99330764e-01 1.32756385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.919254154 meters Centerline goodness : 0.999229 with order 1 Centerline is valid? [True, True] Translation: X:364.55, Y:19.51, Z:13.28 [[ 9.97711930e-01 -5.68891426e-02 -3.65312147e-02 3.64548591e+02] [ 5.68588158e-02 9.98380479e-01 -1.86937469e-03 1.95140947e+01] [ 3.65783987e-02 -2.12024177e-04 9.99330764e-01 1.32760959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.979254154 meters Centerline goodness : 0.999420 with order 1 Centerline is valid? [True, True] Translation: X:364.61, Y:19.52, Z:13.28 [[ 9.97911477e-01 -5.32743128e-02 -3.65312472e-02 3.64609090e+02] [ 5.32415875e-02 9.98579912e-01 -1.86873860e-03 1.95192176e+01] [ 3.65789254e-02 -8.01458953e-05 9.99330764e-01 1.32794632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.039254154 meters Centerline goodness : 0.999057 with order 1 Centerline is valid? [True, True] Translation: X:364.67, Y:19.52, Z:13.27 [[ 9.98339311e-01 -4.45431010e-02 -3.65312472e-02 3.64669472e+02] [ 4.45045299e-02 9.99007435e-01 -1.86873860e-03 1.95166453e+01] [ 3.65782270e-02 2.39829227e-04 9.99330764e-01 1.32735073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.099254154 meters Centerline goodness : 0.999143 with order 1 Centerline is valid? [True, True] Translation: X:364.73, Y:19.53, Z:13.29 [[ 9.97926721e-01 -5.29880366e-02 -3.65311750e-02 3.64726172e+02] [ 5.29550680e-02 9.98595145e-01 -1.87014907e-03 1.95259351e+01] [ 3.65789495e-02 -6.82391275e-05 9.99330764e-01 1.32854871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.159254154 meters Centerline goodness : 0.999358 with order 1 Centerline is valid? [True, True] Translation: X:364.79, Y:19.53, Z:13.29 [[ 9.97795993e-01 -5.53953255e-02 -3.65309967e-02 3.64785844e+02] [ 5.53638422e-02 9.98464488e-01 -1.87362600e-03 1.95283334e+01] [ 3.65786930e-02 -1.52999820e-04 9.99330764e-01 1.32887999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.219254154 meters Centerline goodness : 0.999083 with order 1 Centerline is valid? [True, True] Translation: X:364.85, Y:19.53, Z:13.29 [[ 9.97608412e-01 -5.86766287e-02 -3.65309297e-02 3.64846565e+02] [ 5.86472964e-02 9.98277005e-01 -1.87493082e-03 1.95296356e+01] [ 3.65780017e-02 -2.71993503e-04 9.99330764e-01 1.32921967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.279254154 meters Centerline goodness : 0.999081 with order 1 Centerline is valid? [True, True] Translation: X:364.91, Y:19.53, Z:13.29 [[ 9.97144833e-01 -6.60883760e-02 -3.65309297e-02 3.64907563e+02] [ 6.60640129e-02 9.97813625e-01 -1.87493082e-03 1.95299889e+01] [ 3.65749705e-02 -5.43802232e-04 9.99330764e-01 1.32938645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.339254154 meters Centerline goodness : 0.999191 with order 1 Centerline is valid? [True, True] Translation: X:364.97, Y:19.53, Z:13.29 [[ 9.96691109e-01 -7.26107381e-02 -3.65309984e-02 3.64970053e+02] [ 7.25908002e-02 9.97360048e-01 -1.87359062e-03 1.95292696e+01] [ 3.65706012e-02 -7.84423291e-04 9.99330764e-01 1.32948823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.399254154 meters Centerline goodness : 0.999172 with order 1 Centerline is valid? [True, True] Translation: X:365.03, Y:19.53, Z:13.30 [[ 9.96423752e-01 -7.61917507e-02 -3.65311350e-02 3.65032138e+02] [ 7.61743143e-02 9.97092761e-01 -1.87092460e-03 1.95304100e+01] [ 3.65674792e-02 -9.18500447e-04 9.99330764e-01 1.32961464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.459254154 meters Centerline goodness : 0.999238 with order 1 Centerline is valid? [True, True] Translation: X:365.09, Y:19.53, Z:13.30 [[ 9.96231437e-01 -7.86663214e-02 -3.65312699e-02 3.65094726e+02] [ 7.86506433e-02 9.96900489e-01 -1.86828572e-03 1.95315884e+01] [ 3.65650120e-02 -1.01196292e-03 9.99330764e-01 1.32976267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.519254154 meters Centerline goodness : 0.999238 with order 1 Centerline is valid? [True, True] Translation: X:365.16, Y:19.53, Z:13.30 [[ 9.96206178e-01 -7.89854860e-02 -3.65314034e-02 3.65156924e+02] [ 7.89701181e-02 9.96875238e-01 -1.86567177e-03 1.95328435e+01] [ 3.65646125e-02 -1.02629550e-03 9.99330764e-01 1.33017301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.579254154 meters Centerline goodness : 0.998837 with order 1 Centerline is valid? [True, True] Translation: X:365.22, Y:19.53, Z:13.30 [[ 9.96280980e-01 -7.80362459e-02 -3.65315407e-02 3.65219075e+02] [ 7.80203391e-02 9.96950027e-01 -1.86298092e-03 1.95347500e+01] [ 3.65655005e-02 -9.94150728e-04 9.99330764e-01 1.33042509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.639254154 meters Centerline goodness : 0.999112 with order 1 Centerline is valid? [True, True] Translation: X:365.28, Y:19.54, Z:13.31 [[ 9.96266124e-01 -7.82256125e-02 -3.65316779e-02 3.65280843e+02] [ 7.82099316e-02 9.96935176e-01 -1.86028512e-03 1.95364213e+01] [ 3.65652367e-02 -1.00380099e-03 9.99330764e-01 1.33065169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.699254154 meters Centerline goodness : 0.999216 with order 1 Centerline is valid? [True, True] Translation: X:365.34, Y:19.54, Z:13.31 [[ 9.96140747e-01 -7.98062524e-02 -3.65318179e-02 3.65342330e+02] [ 7.97917340e-02 9.96809826e-01 -1.85753202e-03 1.95381544e+01] [ 3.65635177e-02 -1.06457377e-03 9.99330764e-01 1.33058252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.759254154 meters Centerline goodness : 0.999217 with order 1 Centerline is valid? [True, True] Translation: X:365.40, Y:19.54, Z:13.31 [[ 9.95689835e-01 -8.52477008e-02 -3.65319213e-02 3.65404604e+02] [ 8.52369129e-02 9.96358984e-01 -1.85549743e-03 1.95398787e+01] [ 3.65570848e-02 -1.26636826e-03 9.99330764e-01 1.33073638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.819254154 meters Centerline goodness : 0.999067 with order 1 Centerline is valid? [True, True] Translation: X:365.47, Y:19.54, Z:13.31 [[ 9.95427393e-01 -8.82593509e-02 -3.65320619e-02 3.65465378e+02] [ 8.82506888e-02 9.96096573e-01 -1.85272437e-03 1.95423319e+01] [ 3.65529819e-02 -1.37972704e-03 9.99330764e-01 1.33086612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.879254154 meters Centerline goodness : 0.998983 with order 1 Centerline is valid? [True, True] Translation: X:365.53, Y:19.55, Z:13.31 [[ 9.95278059e-01 -8.99276765e-02 -3.65321644e-02 3.65526553e+02] [ 8.99202103e-02 9.95947253e-01 -1.85070123e-03 1.95455270e+01] [ 3.65505380e-02 -1.44301757e-03 9.99330764e-01 1.33113069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.93925415399997 meters Centerline goodness : 0.998981 with order 1 Centerline is valid? [True, True] Translation: X:365.59, Y:19.55, Z:13.32 [[ 9.95465246e-01 -8.78313058e-02 -3.65322639e-02 3.65588004e+02] [ 8.78225022e-02 9.96134424e-01 -1.84873438e-03 1.95499565e+01] [ 3.65534224e-02 -1.36800400e-03 9.99330764e-01 1.33156823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.99925415399997 meters Centerline goodness : 0.998938 with order 1 Centerline is valid? [True, True] Translation: X:365.65, Y:19.56, Z:13.32 [[ 9.95988485e-01 -8.16842923e-02 -3.65323653e-02 3.65649971e+02] [ 8.16714313e-02 9.96657598e-01 -1.84672929e-03 1.95562418e+01] [ 3.65611082e-02 -1.14432945e-03 9.99330764e-01 1.33200169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.059254154 meters Centerline goodness : 0.999149 with order 1 Centerline is valid? [True, True] Translation: X:365.71, Y:19.56, Z:13.32 [[ 9.96289927e-01 -7.79214862e-02 -3.65325010e-02 3.65711979e+02] [ 7.79061963e-02 9.96958988e-01 -1.84403954e-03 1.95607584e+01] [ 3.65650956e-02 -1.00891018e-03 9.99330764e-01 1.33227588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.119254154 meters Centerline goodness : 0.999298 with order 1 Centerline is valid? [True, True] Translation: X:365.77, Y:19.57, Z:13.32 [[ 9.96600777e-01 -7.38394014e-02 -3.65326365e-02 3.65773959e+02] [ 7.38214692e-02 9.97269773e-01 -1.84135209e-03 1.95653668e+01] [ 3.65688584e-02 -8.61799975e-04 9.99330764e-01 1.33245621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.179254154 meters Centerline goodness : 0.999041 with order 1 Centerline is valid? [True, True] Translation: X:365.83, Y:19.57, Z:13.33 [[ 9.96929331e-01 -6.92622883e-02 -3.65327733e-02 3.65834957e+02] [ 6.92413839e-02 9.97598241e-01 -1.83863441e-03 1.95703640e+01] [ 3.65723784e-02 -6.96591202e-04 9.99330764e-01 1.33250537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.239254154 meters Centerline goodness : 0.998932 with order 1 Centerline is valid? [True, True] Translation: X:365.90, Y:19.58, Z:13.33 [[ 9.97331620e-01 -6.32059271e-02 -3.65328741e-02 3.65895082e+02] [ 6.31810337e-02 9.98000393e-01 -1.83662906e-03 1.95761298e+01] [ 3.65759085e-02 -4.76456511e-04 9.99330764e-01 1.33264046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.299254154 meters Centerline goodness : 0.999171 with order 1 Centerline is valid? [True, True] Translation: X:365.96, Y:19.58, Z:13.33 [[ 9.97408392e-01 -6.19825829e-02 -3.65329822e-02 3.65956571e+02] [ 6.19569481e-02 9.98077137e-01 -1.83447606e-03 1.95795920e+01] [ 3.65764398e-02 -4.33750264e-04 9.99330764e-01 1.33281448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.359254154 meters Centerline goodness : 0.999187 with order 1 Centerline is valid? [True, True] Translation: X:366.02, Y:19.58, Z:13.33 [[ 9.97511906e-01 -6.02937270e-02 -3.65330468e-02 3.66017442e+02] [ 6.02670071e-02 9.98180609e-01 -1.83318863e-03 1.95838157e+01] [ 3.65771087e-02 -3.73109902e-04 9.99330764e-01 1.33292837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.419254154 meters Centerline goodness : 0.999058 with order 1 Centerline is valid? [True, True] Translation: X:366.08, Y:19.59, Z:13.33 [[ 9.97531937e-01 -5.99613917e-02 -3.65330787e-02 3.66078034e+02] [ 5.99344724e-02 9.98200632e-01 -1.83255215e-03 1.95887019e+01] [ 3.65772246e-02 -3.61561498e-04 9.99330764e-01 1.33309274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.479254154 meters Centerline goodness : 0.999315 with order 1 Centerline is valid? [True, True] Translation: X:366.14, Y:19.59, Z:13.33 [[ 9.97355369e-01 -6.28299409e-02 -3.65330787e-02 3.66138254e+02] [ 6.28049447e-02 9.98024138e-01 -1.83255215e-03 1.95911924e+01] [ 3.65760336e-02 -4.66752261e-04 9.99330764e-01 1.33347845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.539254154 meters Centerline goodness : 0.999293 with order 1 Centerline is valid? [True, True] Translation: X:366.20, Y:19.59, Z:13.34 [[ 9.97136425e-01 -6.62139319e-02 -3.65330787e-02 3.66199734e+02] [ 6.61912052e-02 9.97805275e-01 -1.83255215e-03 1.95933048e+01] [ 3.65742391e-02 -5.90864009e-04 9.99330764e-01 1.33383230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.599254154 meters Centerline goodness : 0.999550 with order 1 Centerline is valid? [True, True] Translation: X:366.26, Y:19.60, Z:13.34 [[ 9.96656832e-01 -7.30786473e-02 -3.65331456e-02 3.66262242e+02] [ 7.30605758e-02 9.97325824e-01 -1.83121820e-03 1.95956976e+01] [ 3.65692725e-02 -8.44036525e-04 9.99330764e-01 1.33416474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.659254154 meters Centerline goodness : 0.999573 with order 1 Centerline is valid? [True, True] Translation: X:366.32, Y:19.60, Z:13.34 [[ 9.96304164e-01 -7.77388713e-02 -3.65332784e-02 3.66323922e+02] [ 7.77240258e-02 9.96973235e-01 -1.82856566e-03 1.95973035e+01] [ 3.65648514e-02 -1.01770589e-03 9.99330764e-01 1.33437829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.719254154 meters Centerline goodness : 0.999680 with order 1 Centerline is valid? [True, True] Translation: X:366.39, Y:19.60, Z:13.34 [[ 9.95921822e-01 -8.24926292e-02 -3.65334126e-02 3.66385317e+02] [ 8.24810753e-02 9.96590958e-01 -1.82587962e-03 1.95983036e+01] [ 3.65594903e-02 -1.19488180e-03 9.99330764e-01 1.33441895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.779254154 meters Centerline goodness : 0.999595 with order 1 Centerline is valid? [True, True] Translation: X:366.45, Y:19.60, Z:13.35 [[ 9.95845758e-01 -8.34057640e-02 -3.65336238e-02 3.66447103e+02] [ 8.33949788e-02 9.96514907e-01 -1.82164397e-03 1.96010732e+01] [ 3.65582363e-02 -1.23264437e-03 9.99330764e-01 1.33458701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.839254154 meters Centerline goodness : 0.999552 with order 1 Centerline is valid? [True, True] Translation: X:366.51, Y:19.61, Z:13.35 [[ 9.95840572e-01 -8.34675974e-02 -3.65337561e-02 3.66508632e+02] [ 8.34569512e-02 9.96509723e-01 -1.81898658e-03 1.96055757e+01] [ 3.65580696e-02 -1.23757526e-03 9.99330764e-01 1.33475740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.899254154 meters Centerline goodness : 0.999063 with order 1 Centerline is valid? [True, True] Translation: X:366.57, Y:19.61, Z:13.35 [[ 9.96012710e-01 -8.13876927e-02 -3.65338862e-02 3.66571051e+02] [ 8.13757449e-02 9.96681839e-01 -1.81637026e-03 1.96105967e+01] [ 3.65604911e-02 -1.16384434e-03 9.99330764e-01 1.33503500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.959254154 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:366.63, Y:19.62, Z:13.35 [[ 9.96218189e-01 -7.88326506e-02 -3.65340127e-02 3.66633262e+02] [ 7.88190799e-02 9.96887287e-01 -1.81382225e-03 1.96155801e+01] [ 3.65632812e-02 -1.07261455e-03 9.99330764e-01 1.33532784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.019254154 meters Centerline goodness : 0.999574 with order 1 Centerline is valid? [True, True] Translation: X:366.70, Y:19.62, Z:13.36 [[ 9.96297073e-01 -7.78292940e-02 -3.65341397e-02 3.66695620e+02] [ 7.78151433e-02 9.96966159e-01 -1.81125980e-03 1.96202476e+01] [ 3.65642700e-02 -1.03835649e-03 9.99330764e-01 1.33567707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.079254154 meters Centerline goodness : 0.999616 with order 1 Centerline is valid? [True, True] Translation: X:366.76, Y:19.62, Z:13.36 [[ 9.96351404e-01 -7.71305802e-02 -3.65342738e-02 3.66757224e+02] [ 7.71160595e-02 9.97020482e-01 -1.80855236e-03 1.96246188e+01] [ 3.65649139e-02 -1.01542555e-03 9.99330764e-01 1.33582511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.139254154 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:366.82, Y:19.63, Z:13.36 [[ 9.96303849e-01 -7.77423755e-02 -3.65344079e-02 3.66818461e+02] [ 7.77283651e-02 9.96972939e-01 -1.80583811e-03 1.96285967e+01] [ 3.65642062e-02 -1.04059634e-03 9.99330764e-01 1.33588761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.199254154 meters Centerline goodness : 0.999616 with order 1 Centerline is valid? [True, True] Translation: X:366.88, Y:19.63, Z:13.36 [[ 9.96224317e-01 -7.87549379e-02 -3.65345068e-02 3.66880772e+02] [ 7.87416809e-02 9.96893422e-01 -1.80383546e-03 1.96327590e+01] [ 3.65630704e-02 -1.07976372e-03 9.99330764e-01 1.33617654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.259254154 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:366.94, Y:19.64, Z:13.36 [[ 9.96344939e-01 -7.72138765e-02 -3.65346397e-02 3.66942815e+02] [ 7.71996833e-02 9.97014024e-01 -1.80114060e-03 1.96369747e+01] [ 3.65646212e-02 -1.02590528e-03 9.99330764e-01 1.33645327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.319254154 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:367.00, Y:19.64, Z:13.37 [[ 9.96659603e-01 -7.30400378e-02 -3.65347714e-02 3.67004550e+02] [ 7.30231403e-02 9.97328625e-01 -1.79846457e-03 1.96416212e+01] [ 3.65685332e-02 -8.75426752e-04 9.99330764e-01 1.33677651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.379254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:367.07, Y:19.65, Z:13.37 [[ 9.97352765e-01 -6.28702073e-02 -3.65349009e-02 3.67066570e+02] [ 6.28465832e-02 9.98021584e-01 -1.79582877e-03 1.96477377e+01] [ 3.65755238e-02 -5.05018898e-04 9.99330764e-01 1.33729993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.43925415399997 meters Centerline goodness : 0.999271 with order 1 Centerline is valid? [True, True] Translation: X:367.13, Y:19.65, Z:13.38 [[ 9.97879831e-01 -5.38612563e-02 -3.65350299e-02 3.67127200e+02] [ 5.38316897e-02 9.98548413e-01 -1.79320160e-03 1.96520789e+01] [ 3.65785802e-02 -1.77342685e-04 9.99330764e-01 1.33774659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.49925415399997 meters Centerline goodness : 0.999335 with order 1 Centerline is valid? [True, True] Translation: X:367.19, Y:19.65, Z:13.38 [[ 9.98066573e-01 -5.02822207e-02 -3.65350971e-02 3.67187088e+02] [ 5.02503067e-02 9.98735048e-01 -1.79183188e-03 1.96537393e+01] [ 3.65789792e-02 -4.75323231e-05 9.99330764e-01 1.33796059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.559254154 meters Centerline goodness : 0.999572 with order 1 Centerline is valid? [True, True] Translation: X:367.25, Y:19.65, Z:13.38 [[ 9.98045267e-01 -5.07034187e-02 -3.65350305e-02 3.67246696e+02] [ 5.06717371e-02 9.98713753e-01 -1.79318732e-03 1.96536786e+01] [ 3.65789582e-02 -6.16113400e-05 9.99330764e-01 1.33811325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.619254154 meters Centerline goodness : 0.999402 with order 1 Centerline is valid? [True, True] Translation: X:367.31, Y:19.65, Z:13.38 [[ 9.97880259e-01 -5.38533718e-02 -3.65349639e-02 3.67306834e+02] [ 5.38237507e-02 9.98548839e-01 -1.79454336e-03 1.96531675e+01] [ 3.65785880e-02 -1.75709403e-04 9.99330764e-01 1.33825159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.679254154 meters Centerline goodness : 0.999383 with order 1 Centerline is valid? [True, True] Translation: X:367.37, Y:19.65, Z:13.38 [[ 9.97390721e-01 -6.22651722e-02 -3.65348965e-02 3.67367137e+02] [ 6.22411391e-02 9.98059525e-01 -1.79591568e-03 1.96497417e+01] [ 3.65758244e-02 -4.82743937e-04 9.99330764e-01 1.33823246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.739254154 meters Centerline goodness : 0.999448 with order 1 Centerline is valid? [True, True] Translation: X:367.43, Y:19.65, Z:13.38 [[ 9.96720412e-01 -7.22054515e-02 -3.65348299e-02 3.67429048e+02] [ 7.21880376e-02 9.97389421e-01 -1.79726906e-03 1.96468678e+01] [ 3.65692255e-02 -8.46002920e-04 9.99330764e-01 1.33838684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.799254154 meters Centerline goodness : 0.999323 with order 1 Centerline is valid? [True, True] Translation: X:367.49, Y:19.64, Z:13.39 [[ 9.96102870e-01 -8.02762400e-02 -3.65348958e-02 3.67491583e+02] [ 8.02642946e-02 9.96771999e-01 -1.79592756e-03 1.96437062e+01] [ 3.65611315e-02 -1.14351905e-03 9.99330764e-01 1.33855217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.859254154 meters Centerline goodness : 0.999301 with order 1 Centerline is valid? [True, True] Translation: X:367.55, Y:19.64, Z:13.39 [[ 9.95603435e-01 -8.62495911e-02 -3.65350286e-02 3.67553819e+02] [ 8.62417586e-02 9.96272625e-01 -1.79322241e-03 1.96411120e+01] [ 3.65535136e-02 -1.36550672e-03 9.99330764e-01 1.33873581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.919254154 meters Centerline goodness : 0.999302 with order 1 Centerline is valid? [True, True] Translation: X:367.62, Y:19.64, Z:13.39 [[ 9.95302132e-01 -8.96596250e-02 -3.65351614e-02 3.67616227e+02] [ 8.96541842e-02 9.95971346e-01 -1.79051225e-03 1.96413121e+01] [ 3.65485106e-02 -1.49342943e-03 9.99330764e-01 1.33899151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.979254154 meters Centerline goodness : 0.999068 with order 1 Centerline is valid? [True, True] Translation: X:367.68, Y:19.64, Z:13.39 [[ 9.94896430e-01 -9.40545922e-02 -3.65352952e-02 3.67678672e+02] [ 9.40522073e-02 9.95565661e-01 -1.78777766e-03 1.96412653e+01] [ 3.65414341e-02 -1.65757155e-03 9.99330764e-01 1.33917389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.039254154 meters Centerline goodness : 0.998792 with order 1 Centerline is valid? [True, True] Translation: X:367.74, Y:19.64, Z:13.39 [[ 9.94672681e-01 -9.63920172e-02 -3.65354283e-02 3.67741062e+02] [ 9.63913047e-02 9.95341916e-01 -1.78505442e-03 1.96426243e+01] [ 3.65373082e-02 -1.74615273e-03 9.99330764e-01 1.33933109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.099254154 meters Centerline goodness : 0.998817 with order 1 Centerline is valid? [True, True] Translation: X:367.80, Y:19.65, Z:13.39 [[ 9.94377833e-01 -9.93875129e-02 -3.65355592e-02 3.67803321e+02] [ 9.93889144e-02 9.95047068e-01 -1.78237083e-03 1.96450434e+01] [ 3.65317465e-02 -1.85887952e-03 9.99330764e-01 1.33948946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.159254154 meters Centerline goodness : 0.998834 with order 1 Centerline is valid? [True, True] Translation: X:367.87, Y:19.65, Z:13.40 [[ 9.94245836e-01 -1.00699344e-01 -3.65357207e-02 3.67865044e+02] [ 1.00701750e-01 9.94915068e-01 -1.77905374e-03 1.96480991e+01] [ 3.65290886e-02 -1.91039422e-03 9.99330764e-01 1.33952771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.219254154 meters Centerline goodness : 0.998942 with order 1 Centerline is valid? [True, True] Translation: X:367.93, Y:19.65, Z:13.40 [[ 9.94340117e-01 -9.97640369e-02 -3.65358461e-02 3.67927434e+02] [ 9.97659079e-02 9.95009351e-01 -1.77647497e-03 1.96527064e+01] [ 3.65307368e-02 -1.87861153e-03 9.99330764e-01 1.33962564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.279254154 meters Centerline goodness : 0.999068 with order 1 Centerline is valid? [True, True] Translation: X:367.99, Y:19.66, Z:13.40 [[ 9.94736677e-01 -9.57291311e-02 -3.65359775e-02 3.67988751e+02] [ 9.57283861e-02 9.95405912e-01 -1.77376976e-03 1.96584545e+01] [ 3.65379294e-02 -1.73309632e-03 9.99330764e-01 1.33974411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.339254154 meters Centerline goodness : 0.998941 with order 1 Centerline is valid? [True, True] Translation: X:368.05, Y:19.67, Z:13.40 [[ 9.95111321e-01 -9.17527870e-02 -3.65360743e-02 3.68050918e+02] [ 9.17494405e-02 9.95780549e-01 -1.77177283e-03 1.96652105e+01] [ 3.65444772e-02 -1.58905317e-03 9.99330764e-01 1.34019835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.399254154 meters Centerline goodness : 0.998854 with order 1 Centerline is valid? [True, True] Translation: X:368.11, Y:19.67, Z:13.41 [[ 9.95791393e-01 -8.40512223e-02 -3.65362066e-02 3.68112148e+02] [ 8.40427985e-02 9.96460576e-01 -1.76903937e-03 1.96741310e+01] [ 3.65555794e-02 -1.30901088e-03 9.99330764e-01 1.34064839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.459254154 meters Centerline goodness : 0.998982 with order 1 Centerline is valid? [True, True] Translation: X:368.17, Y:19.68, Z:13.41 [[ 9.96247089e-01 -7.84654907e-02 -3.65363375e-02 3.68173749e+02] [ 7.84534135e-02 9.96916216e-01 -1.76633295e-03 1.96802635e+01] [ 3.65622635e-02 -1.10669633e-03 9.99330764e-01 1.34097294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.519254154 meters Centerline goodness : 0.998980 with order 1 Centerline is valid? [True, True] Translation: X:368.23, Y:19.69, Z:13.41 [[ 9.96859300e-01 -7.02610980e-02 -3.65364701e-02 3.68234182e+02] [ 7.02436130e-02 9.97528308e-01 -1.76358650e-03 1.96871601e+01] [ 3.65700747e-02 -8.08406056e-04 9.99330764e-01 1.34111187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.579254154 meters Centerline goodness : 0.999000 with order 1 Centerline is valid? [True, True] Translation: X:368.30, Y:19.69, Z:13.41 [[ 9.97112653e-01 -6.65690280e-02 -3.65365676e-02 3.68296501e+02] [ 6.65491398e-02 9.97781594e-01 -1.76156400e-03 1.96935784e+01] [ 3.65727802e-02 -6.74999387e-04 9.99330764e-01 1.34134941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.639254154 meters Centerline goodness : 0.999253 with order 1 Centerline is valid? [True, True] Translation: X:368.36, Y:19.70, Z:13.41 [[ 9.97481807e-01 -6.07874527e-02 -3.65366964e-02 3.68357205e+02] [ 6.07637848e-02 9.98150624e-01 -1.75888753e-03 1.96991987e+01] [ 3.65760446e-02 -4.65649647e-04 9.99330764e-01 1.34142510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.699254154 meters Centerline goodness : 0.999189 with order 1 Centerline is valid? [True, True] Translation: X:368.42, Y:19.70, Z:13.42 [[ 9.97687679e-01 -5.73093242e-02 -3.65367915e-02 3.68418337e+02] [ 5.72833970e-02 9.98356412e-01 -1.75690982e-03 1.97035817e+01] [ 3.65774274e-02 -3.40104256e-04 9.99330764e-01 1.34165682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.759254154 meters Centerline goodness : 0.999124 with order 1 Centerline is valid? [True, True] Translation: X:368.48, Y:19.71, Z:13.42 [[ 9.97855533e-01 -5.43083207e-02 -3.65368549e-02 3.68478443e+02] [ 5.42804306e-02 9.98524187e-01 -1.75559044e-03 1.97076849e+01] [ 3.65782765e-02 -2.31410583e-04 9.99330764e-01 1.34195057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.819254154 meters Centerline goodness : 0.999189 with order 1 Centerline is valid? [True, True] Translation: X:368.54, Y:19.71, Z:13.42 [[ 9.97916405e-01 -5.31780721e-02 -3.65368549e-02 3.68539136e+02] [ 5.31494247e-02 9.98585027e-01 -1.75559044e-03 1.97105606e+01] [ 3.65785152e-02 -1.89980317e-04 9.99330764e-01 1.34221065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.879254154 meters Centerline goodness : 0.999381 with order 1 Centerline is valid? [True, True] Translation: X:368.60, Y:19.71, Z:13.43 [[ 9.97835446e-01 -5.46761373e-02 -3.65368549e-02 3.68598597e+02] [ 5.46484937e-02 9.98504111e-01 -1.75559044e-03 1.97123486e+01] [ 3.65781887e-02 -2.44893715e-04 9.99330764e-01 1.34250004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.93925415399997 meters Centerline goodness : 0.999171 with order 1 Centerline is valid? [True, True] Translation: X:368.66, Y:19.71, Z:13.43 [[ 9.97559824e-01 -5.94933716e-02 -3.65367899e-02 3.68658098e+02] [ 5.94689073e-02 9.98228612e-01 -1.75694271e-03 1.97105949e+01] [ 3.65765955e-02 -4.20147514e-04 9.99330764e-01 1.34268710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.99925415399997 meters Centerline goodness : 0.999171 with order 1 Centerline is valid? [True, True] Translation: X:368.72, Y:19.71, Z:13.43 [[ 9.97262221e-01 -6.42894089e-02 -3.65367579e-02 3.68719576e+02] [ 6.42681364e-02 9.97931119e-01 -1.75760791e-03 1.97098939e+01] [ 3.65741632e-02 -5.95353368e-04 9.99330764e-01 1.34296206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.059254154 meters Centerline goodness : 0.999280 with order 1 Centerline is valid? [True, True] Translation: X:368.78, Y:19.71, Z:13.43 [[ 9.97056644e-01 -6.74025876e-02 -3.65368229e-02 3.68780108e+02] [ 6.73834531e-02 9.97725606e-01 -1.75625556e-03 1.97068927e+01] [ 3.65720999e-02 -7.10891021e-04 9.99330764e-01 1.34311645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.119254154 meters Centerline goodness : 0.999028 with order 1 Centerline is valid? [True, True] Translation: X:368.84, Y:19.70, Z:13.43 [[ 9.97173285e-01 -6.56543338e-02 -3.65369328e-02 3.68841575e+02] [ 6.56341103e-02 9.97842216e-01 -1.75396572e-03 1.97048287e+01] [ 3.65732494e-02 -6.49061320e-04 9.99330764e-01 1.34332319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.179254154 meters Centerline goodness : 0.999045 with order 1 Centerline is valid? [True, True] Translation: X:368.90, Y:19.70, Z:13.43 [[ 9.97592286e-01 -5.89463986e-02 -3.65369970e-02 3.68903177e+02] [ 5.89217257e-02 9.98261067e-01 -1.75262847e-03 1.97040552e+01] [ 3.65767727e-02 -4.04414268e-04 9.99330764e-01 1.34349872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.239254154 meters Centerline goodness : 0.999047 with order 1 Centerline is valid? [True, True] Translation: X:368.96, Y:19.71, Z:13.44 [[ 9.97940552e-01 -5.27228386e-02 -3.65370604e-02 3.68962067e+02] [ 5.26940431e-02 9.98609168e-01 -1.75130474e-03 1.97050795e+01] [ 3.65785773e-02 -1.77587422e-04 9.99330764e-01 1.34363654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.299254154 meters Centerline goodness : 0.999090 with order 1 Centerline is valid? [True, True] Translation: X:369.02, Y:19.71, Z:13.44 [[ 9.98353174e-01 -4.42265695e-02 -3.65369666e-02 3.69020462e+02] [ 4.41920123e-02 9.99021517e-01 -1.75325878e-03 1.97050701e+01] [ 3.65787565e-02 1.35729387e-04 9.99330764e-01 1.34384038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.359254154 meters Centerline goodness : 0.999218 with order 1 Centerline is valid? [True, True] Translation: X:369.08, Y:19.70, Z:13.44 [[ 9.98566295e-01 -3.91207838e-02 -3.65365276e-02 3.69078601e+02] [ 3.90824764e-02 9.99234434e-01 -1.76236116e-03 1.97028992e+01] [ 3.65775014e-02 3.31896475e-04 9.99330764e-01 1.34412555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.419254154 meters Centerline goodness : 0.999134 with order 1 Centerline is valid? [True, True] Translation: X:369.14, Y:19.70, Z:13.44 [[ 9.98590632e-01 -3.84950607e-02 -3.65360063e-02 3.69136255e+02] [ 3.84559417e-02 9.99258724e-01 -1.77310348e-03 1.97020707e+01] [ 3.65771787e-02 3.65578004e-04 9.99330764e-01 1.34430940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.479254154 meters Centerline goodness : 0.999156 with order 1 Centerline is valid? [True, True] Translation: X:369.19, Y:19.70, Z:13.44 [[ 9.98556430e-01 -3.93727618e-02 -3.65354816e-02 3.69194474e+02] [ 3.93338369e-02 9.99224533e-01 -1.78384968e-03 1.97006704e+01] [ 3.65773846e-02 3.44193895e-04 9.99330764e-01 1.34446958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.539254154 meters Centerline goodness : 0.999200 with order 1 Centerline is valid? [True, True] Translation: X:369.25, Y:19.70, Z:13.45 [[ 9.98400136e-01 -4.31551259e-02 -3.65349579e-02 3.69253412e+02] [ 4.31183419e-02 9.99068360e-01 -1.79451142e-03 1.96956968e+01] [ 3.65783628e-02 2.16313644e-04 9.99330764e-01 1.34463928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.599254154 meters Centerline goodness : 0.999286 with order 1 Centerline is valid? [True, True] Translation: X:369.31, Y:19.69, Z:13.45 [[ 9.98095585e-01 -4.97034566e-02 -3.65344979e-02 3.69311453e+02] [ 4.96707158e-02 9.98764019e-01 -1.80382849e-03 1.96898774e+01] [ 3.65789985e-02 -1.43014098e-05 9.99330764e-01 1.34494381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.659254154 meters Centerline goodness : 0.999121 with order 1 Centerline is valid? [True, True] Translation: X:369.37, Y:19.68, Z:13.45 [[ 9.97676911e-01 -5.74982616e-02 -3.65339713e-02 3.69369735e+02] [ 5.74703548e-02 9.98345565e-01 -1.81443089e-03 1.96839335e+01] [ 3.65778549e-02 -2.89404488e-04 9.99330764e-01 1.34520526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.719254154 meters Centerline goodness : 0.999290 with order 1 Centerline is valid? [True, True] Translation: X:369.43, Y:19.68, Z:13.45 [[ 9.97332676e-01 -6.31889350e-02 -3.65334423e-02 3.69426493e+02] [ 6.31644554e-02 9.98001463e-01 -1.82502116e-03 1.96806806e+01] [ 3.65757500e-02 -4.87461751e-04 9.99330765e-01 1.34534932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.779254154 meters Centerline goodness : 0.999102 with order 1 Centerline is valid? [True, True] Translation: X:369.49, Y:19.67, Z:13.46 [[ 9.96908244e-01 -6.95649871e-02 -3.65330783e-02 3.69485299e+02] [ 6.95445185e-02 9.97577166e-01 -1.83227917e-03 1.96720760e+01] [ 3.65720272e-02 -7.14061134e-04 9.99330765e-01 1.34560735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.839254154 meters Centerline goodness : 0.999604 with order 1 Centerline is valid? [True, True] Translation: X:369.54, Y:19.67, Z:13.46 [[ 9.95943192e-01 -8.22345909e-02 -3.65325914e-02 3.69542930e+02] [ 8.22222752e-02 9.96612314e-01 -1.84193595e-03 1.96703916e+01] [ 3.65603013e-02 -1.16932921e-03 9.99330765e-01 1.34591220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.899254154 meters Centerline goodness : 0.999249 with order 1 Centerline is valid? [True, True] Translation: X:369.60, Y:19.66, Z:13.46 [[ 9.95477084e-01 -8.76969643e-02 -3.65324204e-02 3.69604030e+02] [ 8.76881954e-02 9.96146262e-01 -1.84532141e-03 1.96635685e+01] [ 3.65534631e-02 -1.36648684e-03 9.99330765e-01 1.34594530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.959254154 meters Centerline goodness : 0.999437 with order 1 Centerline is valid? [True, True] Translation: X:369.66, Y:19.67, Z:13.46 [[ 9.94845638e-01 -9.45914352e-02 -3.65324204e-02 3.69662912e+02] [ 9.45873026e-02 9.95514860e-01 -1.84532141e-03 1.96671147e+01] [ 3.65431190e-02 -1.61969314e-03 9.99330765e-01 1.34633918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.019254154 meters Centerline goodness : 0.999583 with order 1 Centerline is valid? [True, True] Translation: X:369.72, Y:19.67, Z:13.46 [[ 9.94815729e-01 -9.49054833e-02 -3.65323857e-02 3.69724038e+02] [ 9.49015368e-02 9.95484952e-01 -1.84600783e-03 1.96659096e+01] [ 3.65426365e-02 -1.63054193e-03 9.99330765e-01 1.34631964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.079254154 meters Centerline goodness : 0.999186 with order 1 Centerline is valid? [True, True] Translation: X:369.78, Y:19.67, Z:13.47 [[ 9.94473743e-01 -9.84243573e-02 -3.65324545e-02 3.69783210e+02] [ 9.84228283e-02 9.95142977e-01 -1.84464586e-03 1.96726936e+01] [ 3.65365736e-02 -1.76117562e-03 9.99330765e-01 1.34694053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.139254154 meters Centerline goodness : 0.999332 with order 1 Centerline is valid? [True, True] Translation: X:369.84, Y:19.67, Z:13.47 [[ 9.94789785e-01 -9.51770237e-02 -3.65324209e-02 3.69843852e+02] [ 9.51732853e-02 9.95459010e-01 -1.84531135e-03 1.96733090e+01] [ 3.65421587e-02 -1.64121364e-03 9.99330765e-01 1.34682901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.199254154 meters Centerline goodness : 0.999333 with order 1 Centerline is valid? [True, True] Translation: X:369.90, Y:19.68, Z:13.47 [[ 9.94967007e-01 -9.33061428e-02 -3.65324209e-02 3.69903715e+02] [ 9.33011460e-02 9.95636224e-01 -1.84531135e-03 1.96776225e+01] [ 3.65451805e-02 -1.57249282e-03 9.99330765e-01 1.34704184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.259254154 meters Centerline goodness : 0.999356 with order 1 Centerline is valid? [True, True] Translation: X:369.96, Y:19.68, Z:13.47 [[ 9.95408449e-01 -8.84726031e-02 -3.65324209e-02 3.69963228e+02] [ 8.84643560e-02 9.96077634e-01 -1.84531135e-03 1.96819897e+01] [ 3.65523868e-02 -1.39497858e-03 9.99330765e-01 1.34723988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.319254154 meters Centerline goodness : 0.999247 with order 1 Centerline is valid? [True, True] Translation: X:370.02, Y:19.69, Z:13.48 [[ 9.95824060e-01 -8.36649595e-02 -3.65323884e-02 3.70023064e+02] [ 8.36534576e-02 9.96493197e-01 -1.84595413e-03 1.96873141e+01] [ 3.65587182e-02 -1.21781506e-03 9.99330765e-01 1.34751070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.379254154 meters Centerline goodness : 0.999352 with order 1 Centerline is valid? [True, True] Translation: X:370.08, Y:19.69, Z:13.48 [[ 9.96385254e-01 -7.66929854e-02 -3.65323241e-02 3.70081170e+02] [ 7.66767539e-02 9.97054293e-01 -1.84722489e-03 1.96945304e+01] [ 3.65663798e-02 -9.60632386e-04 9.99330765e-01 1.34777504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.43925415399997 meters Centerline goodness : 0.999163 with order 1 Centerline is valid? [True, True] Translation: X:370.14, Y:19.70, Z:13.48 [[ 9.96820933e-01 -7.08055389e-02 -3.65322293e-02 3.70139994e+02] [ 7.07852867e-02 9.97489862e-01 -1.84909882e-03 1.97004119e+01] [ 3.65714548e-02 -7.42723911e-04 9.99330765e-01 1.34768446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.49925415399997 meters Centerline goodness : 0.999246 with order 1 Centerline is valid? [True, True] Translation: X:370.20, Y:19.71, Z:13.48 [[ 9.97040760e-01 -6.76398579e-02 -3.65318071e-02 3.70197342e+02] [ 6.76171775e-02 9.97709611e-01 -1.85740250e-03 1.97071440e+01] [ 3.65737695e-02 -6.18271687e-04 9.99330765e-01 1.34829247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.559254154 meters Centerline goodness : 0.999580 with order 1 Centerline is valid? [True, True] Translation: X:370.26, Y:19.71, Z:13.49 [[ 9.97150972e-01 -6.59952883e-02 -3.65316446e-02 3.70255128e+02] [ 6.59713879e-02 9.97819780e-01 -1.86059240e-03 1.97114551e+01] [ 3.65747880e-02 -5.54751777e-04 9.99330765e-01 1.34858347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.619254154 meters Centerline goodness : 0.999538 with order 1 Centerline is valid? [True, True] Translation: X:370.31, Y:19.72, Z:13.49 [[ 9.97373609e-01 -6.25408573e-02 -3.65311538e-02 3.70313587e+02] [ 6.25142892e-02 9.98042317e-01 -1.87018006e-03 1.97164067e+01] [ 3.65766000e-02 -4.18450874e-04 9.99330765e-01 1.34907423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.679254154 meters Centerline goodness : 0.999099 with order 1 Centerline is valid? [True, True] Translation: X:370.37, Y:19.72, Z:13.49 [[ 9.97387065e-01 -6.23261788e-02 -3.65306814e-02 3.70371259e+02] [ 6.22991306e-02 9.98055753e-01 -1.87936204e-03 1.97195056e+01] [ 3.65767902e-02 -4.01378307e-04 9.99330765e-01 1.34923515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.739254154 meters Centerline goodness : 0.999434 with order 1 Centerline is valid? [True, True] Translation: X:370.43, Y:19.72, Z:13.49 [[ 9.97213924e-01 -6.50379766e-02 -3.65301417e-02 3.70428866e+02] [ 6.50123645e-02 9.97882669e-01 -1.88979525e-03 1.97223169e+01] [ 3.65757037e-02 -4.90380755e-04 9.99330765e-01 1.34942046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.799254154 meters Centerline goodness : 0.999309 with order 1 Centerline is valid? [True, True] Translation: X:370.49, Y:19.72, Z:13.50 [[ 9.96838592e-01 -7.05578483e-02 -3.65296025e-02 3.70486682e+02] [ 7.05355593e-02 9.97507456e-01 -1.90016143e-03 1.97236402e+01] [ 3.65726221e-02 -6.82481692e-04 9.99330765e-01 1.34963536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.859254154 meters Centerline goodness : 0.999183 with order 1 Centerline is valid? [True, True] Translation: X:370.54, Y:19.72, Z:13.50 [[ 9.96457942e-01 -7.57442903e-02 -3.65290547e-02 3.70544996e+02] [ 7.57250986e-02 9.97126902e-01 -1.91063454e-03 1.97248920e+01] [ 3.65688228e-02 -8.62299307e-04 9.99330765e-01 1.34983043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.919254154 meters Centerline goodness : 0.999187 with order 1 Centerline is valid? [True, True] Translation: X:370.60, Y:19.73, Z:13.50 [[ 9.95822694e-01 -8.36828900e-02 -3.65285729e-02 3.70604909e+02] [ 8.36686940e-02 9.96491778e-01 -1.91980133e-03 1.97258223e+01] [ 3.65610771e-02 -1.14451626e-03 9.99330765e-01 1.35006516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.979254154 meters Centerline goodness : 0.999185 with order 1 Centerline is valid? [True, True] Translation: X:370.67, Y:19.73, Z:13.50 [[ 9.95210118e-01 -9.06779488e-02 -3.65285029e-02 3.70665087e+02] [ 9.06684057e-02 9.95879285e-01 -1.92113331e-03 1.97269326e+01] [ 3.65521837e-02 -1.40004981e-03 9.99330765e-01 1.35012389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.039254154 meters Centerline goodness : 0.999290 with order 1 Centerline is valid? [True, True] Translation: X:370.73, Y:19.73, Z:13.50 [[ 9.94916363e-01 -9.38462131e-02 -3.65283439e-02 3.70726246e+02] [ 9.38386901e-02 9.95585555e-01 -1.92415094e-03 1.97286177e+01] [ 3.65476658e-02 -1.51340268e-03 9.99330765e-01 1.35025344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.099254154 meters Centerline goodness : 0.999332 with order 1 Centerline is valid? [True, True] Translation: X:370.79, Y:19.73, Z:13.50 [[ 9.95029296e-01 -9.26411074e-02 -3.65284140e-02 3.70787587e+02] [ 9.26328227e-02 9.95698480e-01 -1.92281902e-03 1.97325651e+01] [ 3.65494184e-02 -1.47046884e-03 9.99330765e-01 1.35049459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.159254154 meters Centerline goodness : 0.999101 with order 1 Centerline is valid? [True, True] Translation: X:370.85, Y:19.74, Z:13.51 [[ 9.95664230e-01 -8.55477112e-02 -3.65284851e-02 3.70847619e+02] [ 8.55347072e-02 9.96333339e-01 -1.92146815e-03 1.97370676e+01] [ 3.65589247e-02 -1.21131617e-03 9.99330765e-01 1.35074341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.219254154 meters Centerline goodness : 0.999121 with order 1 Centerline is valid? [True, True] Translation: X:370.91, Y:19.74, Z:13.51 [[ 9.96723329e-01 -7.21683808e-02 -3.65284851e-02 3.70907440e+02] [ 7.21463919e-02 9.97392203e-01 -1.92146815e-03 1.97421826e+01] [ 3.65718954e-02 -7.20226272e-04 9.99330765e-01 1.35104074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.279254154 meters Centerline goodness : 0.999476 with order 1 Centerline is valid? [True, True] Translation: X:370.97, Y:19.75, Z:13.51 [[ 9.97382205e-01 -6.24051901e-02 -3.65284851e-02 3.70965482e+02] [ 6.23766528e-02 9.98050831e-01 -1.92146815e-03 1.97471180e+01] [ 3.65771945e-02 -3.62086495e-04 9.99330765e-01 1.35127377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.339254154 meters Centerline goodness : 0.999202 with order 1 Centerline is valid? [True, True] Translation: X:371.02, Y:19.75, Z:13.51 [[ 9.97833825e-01 -5.47113864e-02 -3.65283800e-02 3.71022957e+02] [ 5.46776204e-02 9.98502207e-01 -1.92346416e-03 1.97512260e+01] [ 3.65789034e-02 -7.79872971e-05 9.99330765e-01 1.35149227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.399254154 meters Centerline goodness : 0.999350 with order 1 Centerline is valid? [True, True] Translation: X:371.08, Y:19.75, Z:13.52 [[ 9.98128116e-01 -4.90508362e-02 -3.65278023e-02 3.71080359e+02] [ 4.90128805e-02 9.98796273e-01 -1.93437242e-03 1.97531720e+01] [ 3.65787154e-02 1.40418688e-04 9.99330765e-01 1.35154756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.459254154 meters Centerline goodness : 0.999184 with order 1 Centerline is valid? [True, True] Translation: X:371.14, Y:19.75, Z:13.52 [[ 9.98032260e-01 -5.09643825e-02 -3.65272330e-02 3.71139226e+02] [ 5.09273165e-02 9.98700468e-01 -1.94506441e-03 1.97548704e+01] [ 3.65788937e-02 8.10030763e-05 9.99330765e-01 1.35167244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.519254154 meters Centerline goodness : 0.999122 with order 1 Centerline is valid? [True, True] Translation: X:371.20, Y:19.76, Z:13.52 [[ 9.97799581e-01 -5.53334888e-02 -3.65267321e-02 3.71197504e+02] [ 5.52990061e-02 9.98467926e-01 -1.95442502e-03 1.97557230e+01] [ 3.65789156e-02 -6.97675147e-05 9.99330765e-01 1.35189993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.579254154 meters Centerline goodness : 0.999227 with order 1 Centerline is valid? [True, True] Translation: X:371.26, Y:19.75, Z:13.52 [[ 9.97320362e-01 -6.33871869e-02 -3.65261522e-02 3.71256350e+02] [ 6.33577063e-02 9.97988947e-01 -1.96520428e-03 1.97543027e+01] [ 3.65772649e-02 -3.54274977e-04 9.99330765e-01 1.35218296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.639254154 meters Centerline goodness : 0.999205 with order 1 Centerline is valid? [True, True] Translation: X:371.32, Y:19.75, Z:13.52 [[ 9.96799006e-01 -7.11169409e-02 -3.65256491e-02 3.71315198e+02] [ 7.10923035e-02 9.97467787e-01 -1.97451043e-03 1.97537543e+01] [ 3.65735795e-02 -6.28502493e-04 9.99330765e-01 1.35247590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.699254154 meters Centerline goodness : 0.999145 with order 1 Centerline is valid? [True, True] Translation: X:371.37, Y:19.75, Z:13.53 [[ 9.96391445e-01 -7.66159426e-02 -3.65251472e-02 3.71372729e+02] [ 7.65946570e-02 9.97060341e-01 -1.98375225e-03 1.97524534e+01] [ 3.65697627e-02 -8.21037345e-04 9.99330765e-01 1.35275395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.759254154 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:371.43, Y:19.75, Z:13.53 [[ 9.96202435e-01 -7.90358482e-02 -3.65245517e-02 3.71431042e+02] [ 7.90157879e-02 9.96871369e-01 -1.99465670e-03 1.97532255e+01] [ 3.65679292e-02 -8.98934366e-04 9.99330765e-01 1.35288593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.819254154 meters Centerline goodness : 0.999333 with order 1 Centerline is valid? [True, True] Translation: X:371.49, Y:19.75, Z:13.53 [[ 9.96018257e-01 -8.13240292e-02 -3.65244418e-02 3.71489885e+02] [ 8.13054319e-02 9.96687233e-01 -1.99666560e-03 1.97534559e+01] [ 3.65658218e-02 -9.80920129e-04 9.99330765e-01 1.35309774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.879254154 meters Centerline goodness : 0.999374 with order 1 Centerline is valid? [True, True] Translation: X:371.55, Y:19.76, Z:13.54 [[ 9.95685977e-01 -8.52961767e-02 -3.65239204e-02 3.71549220e+02] [ 8.52799000e-02 9.96355014e-01 -2.00615815e-03 1.97591951e+01] [ 3.65619089e-02 -1.11725275e-03 9.99330765e-01 1.35415683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.93925415399997 meters Centerline goodness : 0.999331 with order 1 Centerline is valid? [True, True] Translation: X:371.61, Y:19.76, Z:13.53 [[ 9.96061636e-01 -8.07912478e-02 -3.65238434e-02 3.71608671e+02] [ 8.07718935e-02 9.96730591e-01 -2.00755880e-03 1.97561102e+01] [ 3.65666252e-02 -9.50447689e-04 9.99330765e-01 1.35333625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.99925415399997 meters Centerline goodness : 0.999332 with order 1 Centerline is valid? [True, True] Translation: X:371.67, Y:19.76, Z:13.54 [[ 9.96299518e-01 -7.78028921e-02 -3.65236852e-02 3.71666989e+02] [ 7.77814258e-02 9.96968409e-01 -2.01043358e-03 1.97591108e+01] [ 3.65693779e-02 -8.37870306e-04 9.99330765e-01 1.35353607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.059254154 meters Centerline goodness : 0.999206 with order 1 Centerline is valid? [True, True] Translation: X:371.72, Y:19.76, Z:13.54 [[ 9.96810876e-01 -7.09516490e-02 -3.65231613e-02 3.71724556e+02] [ 7.09252377e-02 9.97479589e-01 -2.01990584e-03 1.97625390e+01] [ 3.65744236e-02 -5.76949795e-04 9.99330765e-01 1.35370901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.119254154 meters Centerline goodness : 0.999186 with order 1 Centerline is valid? [True, True] Translation: X:371.78, Y:19.76, Z:13.54 [[ 9.97200752e-01 -6.52438637e-02 -3.65225673e-02 3.71781981e+02] [ 6.52132332e-02 9.97869285e-01 -2.03059100e-03 1.97647285e+01] [ 3.65772317e-02 -3.56847830e-04 9.99330765e-01 1.35381162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.179254154 meters Centerline goodness : 0.999396 with order 1 Centerline is valid? [True, True] Translation: X:371.84, Y:19.77, Z:13.54 [[ 9.97225116e-01 -6.48707556e-02 -3.65219624e-02 3.71839214e+02] [ 6.48394787e-02 9.97893619e-01 -2.04141194e-03 1.97670000e+01] [ 3.65774612e-02 -3.32317751e-04 9.99330766e-01 1.35393456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.239254154 meters Centerline goodness : 0.999227 with order 1 Centerline is valid? [True, True] Translation: X:371.90, Y:19.77, Z:13.54 [[ 9.96980593e-01 -6.85263699e-02 -3.65217025e-02 3.71897217e+02] [ 6.84973742e-02 9.97649199e-01 -2.04605190e-03 1.97675914e+01] [ 3.65760557e-02 -4.61766692e-04 9.99330766e-01 1.35418066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.299254154 meters Centerline goodness : 0.999019 with order 1 Centerline is valid? [True, True] Translation: X:371.95, Y:19.77, Z:13.54 [[ 9.96593135e-01 -7.39481773e-02 -3.65210957e-02 3.71954986e+02] [ 7.39224240e-02 9.97261874e-01 -2.05682688e-03 1.97670538e+01] [ 3.65731949e-02 -6.49908370e-04 9.99330766e-01 1.35438719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.359254154 meters Centerline goodness : 0.999291 with order 1 Centerline is valid? [True, True] Translation: X:372.01, Y:19.77, Z:13.55 [[ 9.96257598e-01 -7.83391442e-02 -3.65209092e-02 3.72012619e+02] [ 7.83162170e-02 9.96926440e-01 -2.06013177e-03 1.97682852e+01] [ 3.65700490e-02 -8.07757520e-04 9.99330766e-01 1.35466883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.419254154 meters Centerline goodness : 0.999312 with order 1 Centerline is valid? [True, True] Translation: X:372.07, Y:19.77, Z:13.55 [[ 9.95798098e-01 -8.39786583e-02 -3.65202984e-02 3.72070226e+02] [ 8.39591237e-02 9.96467048e-01 -2.07090374e-03 1.97689966e+01] [ 3.65651856e-02 -1.00401024e-03 9.99330766e-01 1.35488684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.479254154 meters Centerline goodness : 0.997542 with order 1 Centerline is valid? [True, True] Translation: X:372.13, Y:19.77, Z:13.55 [[ 9.95769022e-01 -8.43229951e-02 -3.65196916e-02 3.72127702e+02] [ 8.43033016e-02 9.96437966e-01 -2.08154892e-03 1.97710242e+01] [ 3.65651297e-02 -1.00598864e-03 9.99330766e-01 1.35486161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.539254154 meters Centerline goodness : 0.999189 with order 1 Centerline is valid? [True, True] Translation: X:372.18, Y:19.77, Z:13.55 [[ 9.95122536e-01 -9.16378888e-02 -3.65189863e-02 3.72184606e+02] [ 9.16226606e-02 9.95791597e-01 -2.09385049e-03 1.97725921e+01] [ 3.65571757e-02 -1.26232888e-03 9.99330766e-01 1.35532492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.599254154 meters Centerline goodness : 0.999438 with order 1 Centerline is valid? [True, True] Translation: X:372.24, Y:19.78, Z:13.56 [[ 9.94804315e-01 -9.50303114e-02 -3.65186777e-02 3.72243525e+02] [ 9.50171677e-02 9.95473421e-01 -2.09921911e-03 1.97752601e+01] [ 3.65528625e-02 -1.38158909e-03 9.99330766e-01 1.35568269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.659254154 meters Centerline goodness : 0.999334 with order 1 Centerline is valid? [True, True] Translation: X:372.30, Y:19.78, Z:13.56 [[ 9.94493522e-01 -9.82296323e-02 -3.65181382e-02 3.72301755e+02] [ 9.82182983e-02 9.95162660e-01 -2.10856230e-03 1.97777697e+01] [ 3.65486109e-02 -1.48979785e-03 9.99330766e-01 1.35593066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.719254154 meters Centerline goodness : 0.999353 with order 1 Centerline is valid? [True, True] Translation: X:372.36, Y:19.78, Z:13.56 [[ 9.94332606e-01 -9.98455479e-02 -3.65176029e-02 3.72360418e+02] [ 9.98349628e-02 9.95001756e-01 -2.11779369e-03 1.97807082e+01] [ 3.65465313e-02 -1.53994220e-03 9.99330766e-01 1.35613594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.779254154 meters Centerline goodness : 0.999310 with order 1 Centerline is valid? [True, True] Translation: X:372.42, Y:19.79, Z:13.56 [[ 9.93842290e-01 -1.04613606e-01 -3.65170734e-02 3.72419121e+02] [ 1.04605897e-01 9.94511479e-01 -2.12688501e-03 1.97850134e+01] [ 3.65391498e-02 -1.70611296e-03 9.99330766e-01 1.35644790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.839254154 meters Centerline goodness : 0.999395 with order 1 Centerline is valid? [True, True] Translation: X:372.48, Y:19.79, Z:13.57 [[ 9.93689416e-01 -1.06056055e-01 -3.65165378e-02 3.72479146e+02] [ 1.06048982e-01 9.94358613e-01 -2.13604041e-03 1.97888638e+01] [ 3.65370739e-02 -1.74998092e-03 9.99330766e-01 1.35673652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.899254154 meters Centerline goodness : 0.999352 with order 1 Centerline is valid? [True, True] Translation: X:372.54, Y:19.79, Z:13.57 [[ 9.93390336e-01 -1.08821796e-01 -3.65165378e-02 3.72539600e+02] [ 1.08816586e-01 9.94059549e-01 -2.13604041e-03 1.97928964e+01] [ 3.65320609e-02 -1.85168308e-03 9.99330766e-01 1.35681251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.959254154 meters Centerline goodness : 0.999353 with order 1 Centerline is valid? [True, True] Translation: X:372.60, Y:19.80, Z:13.57 [[ 9.92922912e-01 -1.13007230e-01 -3.65165378e-02 3.72598224e+02] [ 1.13004840e-01 9.93592141e-01 -2.13604041e-03 1.98010747e+01] [ 3.65239330e-02 -2.00562205e-03 9.99330766e-01 1.35729296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.019254154 meters Centerline goodness : 0.999416 with order 1 Centerline is valid? [True, True] Translation: X:372.66, Y:19.81, Z:13.58 [[ 9.92789462e-01 -1.14173678e-01 -3.65164981e-02 3.72657192e+02] [ 1.14172049e-01 9.93458694e-01 -2.13671881e-03 1.98087079e+01] [ 3.65215896e-02 -2.04785150e-03 9.99330766e-01 1.35754950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.079254154 meters Centerline goodness : 0.999273 with order 1 Centerline is valid? [True, True] Translation: X:372.72, Y:19.82, Z:13.58 [[ 9.93115911e-01 -1.11298386e-01 -3.65165131e-02 3.72717520e+02] [ 1.11294829e-01 9.93785136e-01 -2.13646273e-03 1.98176272e+01] [ 3.65273528e-02 -1.94234396e-03 9.99330766e-01 1.35791744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.139254154 meters Centerline goodness : 0.999436 with order 1 Centerline is valid? [True, True] Translation: X:372.78, Y:19.83, Z:13.58 [[ 9.93864096e-01 -1.04406415e-01 -3.65165513e-02 3.72778410e+02] [ 1.04398240e-01 9.94533280e-01 -2.13581008e-03 1.98281924e+01] [ 3.65399178e-02 -1.68955872e-03 9.99330766e-01 1.35835787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.199254154 meters Centerline goodness : 0.999457 with order 1 Centerline is valid? [True, True] Translation: X:372.84, Y:19.83, Z:13.59 [[ 9.94104474e-01 -1.02092265e-01 -3.65166293e-02 3.72839212e+02] [ 1.02082580e-01 9.94773638e-01 -2.13447544e-03 1.98342101e+01] [ 3.65436936e-02 -1.60582015e-03 9.99330766e-01 1.35866191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.259254154 meters Centerline goodness : 0.998914 with order 1 Centerline is valid? [True, True] Translation: X:372.90, Y:19.84, Z:13.59 [[ 9.94847118e-01 -9.45819335e-02 -3.65167077e-02 3.72899630e+02] [ 9.45672450e-02 9.95516191e-01 -2.13313273e-03 1.98443707e+01] [ 3.65547296e-02 -1.33114350e-03 9.99330766e-01 1.35890906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.319254154 meters Centerline goodness : 0.999143 with order 1 Centerline is valid? [True, True] Translation: X:372.96, Y:19.85, Z:13.59 [[ 9.95311555e-01 -8.95624565e-02 -3.65167852e-02 3.72960179e+02] [ 8.95444419e-02 9.95980546e-01 -2.13180536e-03 1.98514396e+01] [ 3.65609374e-02 -1.14806465e-03 9.99330766e-01 1.35923277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.379254154 meters Centerline goodness : 0.999099 with order 1 Centerline is valid? [True, True] Translation: X:373.02, Y:19.86, Z:13.60 [[ 9.95899916e-01 -8.27640157e-02 -3.65167852e-02 3.73021141e+02] [ 8.27414334e-02 9.96568769e-01 -2.13180536e-03 1.98617286e+01] [ 3.65679245e-02 -8.98386378e-04 9.99330766e-01 1.35966601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.43925415399997 meters Centerline goodness : 0.999373 with order 1 Centerline is valid? [True, True] Translation: X:373.08, Y:19.87, Z:13.60 [[ 9.96254077e-01 -7.83857914e-02 -3.65168654e-02 3.73080205e+02] [ 7.83603198e-02 9.96922826e-01 -2.13043179e-03 1.98701373e+01] [ 3.65714922e-02 -7.39021890e-04 9.99330766e-01 1.35974453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.49925415399997 meters Centerline goodness : 0.998934 with order 1 Centerline is valid? [True, True] Translation: X:373.14, Y:19.88, Z:13.60 [[ 9.96377588e-01 -7.67998702e-02 -3.65168775e-02 3.73140099e+02] [ 7.67733417e-02 9.97046296e-01 -2.13022310e-03 1.98765966e+01] [ 3.65726183e-02 -6.81016159e-04 9.99330766e-01 1.36009916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.559254154 meters Centerline goodness : 0.999185 with order 1 Centerline is valid? [True, True] Translation: X:373.20, Y:19.88, Z:13.60 [[ 9.96352190e-01 -7.71286648e-02 -3.65168775e-02 3.73200132e+02] [ 7.71023569e-02 9.97020907e-01 -2.13022310e-03 1.98847286e+01] [ 3.65723916e-02 -6.93084871e-04 9.99330766e-01 1.36038870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.619254154 meters Centerline goodness : 0.999142 with order 1 Centerline is valid? [True, True] Translation: X:373.26, Y:19.89, Z:13.61 [[ 9.96277892e-01 -7.80825182e-02 -3.65168775e-02 3.73260249e+02] [ 7.80568506e-02 9.96946634e-01 -2.13022310e-03 1.98904577e+01] [ 3.65717113e-02 -7.28098272e-04 9.99330766e-01 1.36054173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.679254154 meters Centerline goodness : 0.999373 with order 1 Centerline is valid? [True, True] Translation: X:373.32, Y:19.90, Z:13.61 [[ 9.95893264e-01 -8.28439813e-02 -3.65168775e-02 3.73320508e+02] [ 8.28215107e-02 9.96562120e-01 -2.13022310e-03 1.98960733e+01] [ 3.65678131e-02 -9.02908125e-04 9.99330766e-01 1.36093114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.739254154 meters Centerline goodness : 0.999057 with order 1 Centerline is valid? [True, True] Translation: X:373.38, Y:19.90, Z:13.61 [[ 9.95298545e-01 -8.97068787e-02 -3.65168775e-02 3.73381682e+02] [ 8.96890191e-02 9.95967541e-01 -2.13022310e-03 1.99018079e+01] [ 3.65607204e-02 -1.15495497e-03 9.99330766e-01 1.36120266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.799254154 meters Centerline goodness : 0.999057 with order 1 Centerline is valid? [True, True] Translation: X:373.44, Y:19.91, Z:13.62 [[ 9.94785040e-01 -9.52325337e-02 -3.65169544e-02 3.73443896e+02] [ 9.52184378e-02 9.95454126e-01 -2.12890501e-03 1.99065510e+01] [ 3.65536939e-02 -1.35928450e-03 9.99330766e-01 1.36153541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.859254154 meters Centerline goodness : 0.999121 with order 1 Centerline is valid? [True, True] Translation: X:373.51, Y:19.91, Z:13.62 [[ 9.93867986e-01 -1.04369189e-01 -3.65171146e-02 3.73505628e+02] [ 1.04361343e-01 9.94537174e-01 -2.12615333e-03 1.99107210e+01] [ 3.65395328e-02 -1.69785938e-03 9.99330766e-01 1.36171692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.919254154 meters Centerline goodness : 0.999099 with order 1 Centerline is valid? [True, True] Translation: X:373.57, Y:19.91, Z:13.62 [[ 9.93288642e-01 -1.09745899e-01 -3.65172735e-02 3.73567423e+02] [ 1.09741774e-01 9.93957863e-01 -2.12342009e-03 1.99148780e+01] [ 3.65296678e-02 -1.89830131e-03 9.99330766e-01 1.36192970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.979254154 meters Centerline goodness : 0.998910 with order 1 Centerline is valid? [True, True] Translation: X:373.63, Y:19.92, Z:13.62 [[ 9.92663344e-01 -1.15264752e-01 -3.65174313e-02 3.73629387e+02] [ 1.15264446e-01 9.93332578e-01 -2.12070324e-03 1.99208838e+01] [ 3.65183965e-02 -2.10401711e-03 9.99330766e-01 1.36219035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.039254154 meters Centerline goodness : 0.998868 with order 1 Centerline is valid? [True, True] Translation: X:373.69, Y:19.93, Z:13.62 [[ 9.92567084e-01 -1.16090693e-01 -3.65175879e-02 3.73691128e+02] [ 1.16091043e-01 9.93236318e-01 -2.11800320e-03 1.99262040e+01] [ 3.65164750e-02 -2.13710459e-03 9.99330766e-01 1.36242555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.099254154 meters Centerline goodness : 0.998783 with order 1 Centerline is valid? [True, True] Translation: X:373.75, Y:19.93, Z:13.63 [[ 9.93025311e-01 -1.12103462e-01 -3.65177440e-02 3.73752932e+02] [ 1.12101224e-01 9.93694541e-01 -2.11530812e-03 1.99335450e+01] [ 3.65246163e-02 -1.99312928e-03 9.99330766e-01 1.36264143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.159254154 meters Centerline goodness : 0.998865 with order 1 Centerline is valid? [True, True] Translation: X:373.81, Y:19.94, Z:13.63 [[ 9.93782813e-01 -1.05176823e-01 -3.65178978e-02 3.73813665e+02] [ 1.05170016e-01 9.94452012e-01 -2.11265076e-03 1.99432154e+01] [ 3.65374988e-02 -1.74107187e-03 9.99330766e-01 1.36284940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.219254154 meters Centerline goodness : 0.998841 with order 1 Centerline is valid? [True, True] Translation: X:373.88, Y:19.95, Z:13.63 [[ 9.94322296e-01 -9.99479727e-02 -3.65181435e-02 3.73875964e+02] [ 9.99378011e-02 9.94991453e-01 -2.10839441e-03 1.99503483e+01] [ 3.65459704e-02 -1.55311939e-03 9.99330766e-01 1.36303835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.279254154 meters Centerline goodness : 0.998842 with order 1 Centerline is valid? [True, True] Translation: X:373.94, Y:19.96, Z:13.63 [[ 9.95063445e-01 -9.22775910e-02 -3.65182927e-02 3.73937416e+02] [ 9.22623547e-02 9.95732506e-01 -2.10580642e-03 1.99596573e+01] [ 3.65567699e-02 -1.27385268e-03 9.99330766e-01 1.36321102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.339254154 meters Centerline goodness : 0.998988 with order 1 Centerline is valid? [True, True] Translation: X:374.00, Y:19.97, Z:13.63 [[ 9.95356376e-01 -8.90622687e-02 -3.65184515e-02 3.73999737e+02] [ 8.90449718e-02 9.96025386e-01 -2.10305036e-03 1.99670336e+01] [ 3.65606072e-02 -1.15849989e-03 9.99330766e-01 1.36343340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.399254154 meters Centerline goodness : 0.999198 with order 1 Centerline is valid? [True, True] Translation: X:374.06, Y:19.97, Z:13.64 [[ 9.95511717e-01 -8.73087221e-02 -3.65186079e-02 3.74061773e+02] [ 8.72903464e-02 9.96180698e-01 -2.10032957e-03 1.99724561e+01] [ 3.65625095e-02 -1.09681924e-03 9.99330766e-01 1.36366599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.459254154 meters Centerline goodness : 0.999074 with order 1 Centerline is valid? [True, True] Translation: X:374.12, Y:19.98, Z:13.64 [[ 9.95924878e-01 -8.24622169e-02 -3.65187640e-02 3.74123645e+02] [ 8.24406849e-02 9.96593766e-01 -2.09761262e-03 1.99817457e+01] [ 3.65673463e-02 -9.21567317e-04 9.99330766e-01 1.36400584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.519254154 meters Centerline goodness : 0.998707 with order 1 Centerline is valid? [True, True] Translation: X:374.18, Y:19.99, Z:13.64 [[ 9.96316375e-01 -7.75889724e-02 -3.65189197e-02 3.74184897e+02] [ 7.75642677e-02 9.96985153e-01 -2.09489834e-03 1.99897972e+01] [ 3.65713618e-02 -7.45381744e-04 9.99330766e-01 1.36431329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.579254154 meters Centerline goodness : 0.998878 with order 1 Centerline is valid? [True, True] Translation: X:374.25, Y:20.00, Z:13.65 [[ 9.96465290e-01 -7.56524008e-02 -3.65190357e-02 3.74245490e+02] [ 7.56264705e-02 9.97134022e-01 -2.09287419e-03 1.99958622e+01] [ 3.65727039e-02 -6.76329292e-04 9.99330766e-01 1.36452196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.639254154 meters Centerline goodness : 0.998767 with order 1 Centerline is valid? [True, True] Translation: X:374.31, Y:20.00, Z:13.65 [[ 9.96440924e-01 -7.59725996e-02 -3.65191496e-02 3.74307574e+02] [ 7.59469571e-02 9.97109667e-01 -2.09088541e-03 2.00018061e+01] [ 3.65724471e-02 -6.90074492e-04 9.99330766e-01 1.36475717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.699254154 meters Centerline goodness : 0.998940 with order 1 Centerline is valid? [True, True] Translation: X:374.37, Y:20.01, Z:13.65 [[ 9.96332836e-01 -7.73771276e-02 -3.65192984e-02 3.74369135e+02] [ 7.73525232e-02 9.97001618e-01 -2.08828218e-03 2.00053933e+01] [ 3.65713849e-02 -7.44235767e-04 9.99330766e-01 1.36491093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.759254154 meters Centerline goodness : 0.999088 with order 1 Centerline is valid? [True, True] Translation: X:374.43, Y:20.01, Z:13.65 [[ 9.96283602e-01 -7.80084464e-02 -3.65194103e-02 3.74430740e+02] [ 7.79843375e-02 9.96952401e-01 -2.08632408e-03 2.00103581e+01] [ 3.65708647e-02 -7.69371553e-04 9.99330766e-01 1.36499558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.819254154 meters Centerline goodness : 0.999130 with order 1 Centerline is valid? [True, True] Translation: X:374.49, Y:20.02, Z:13.65 [[ 9.96445832e-01 -7.59080088e-02 -3.65195622e-02 3.74493143e+02] [ 7.58825876e-02 9.97114583e-01 -2.08366147e-03 2.00153306e+01] [ 3.65723546e-02 -6.94943094e-04 9.99330766e-01 1.36521033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.879254154 meters Centerline goodness : 0.998895 with order 1 Centerline is valid? [True, True] Translation: X:374.56, Y:20.02, Z:13.65 [[ 9.96808020e-01 -7.09935288e-02 -3.65197162e-02 3.74555149e+02] [ 7.09649092e-02 9.97476642e-01 -2.08095980e-03 2.00204504e+01] [ 3.65752985e-02 -5.17300924e-04 9.99330766e-01 1.36543819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.93925415399997 meters Centerline goodness : 0.999109 with order 1 Centerline is valid? [True, True] Translation: X:374.62, Y:20.03, Z:13.66 [[ 9.97066908e-01 -6.72597874e-02 -3.65198715e-02 3.74617077e+02] [ 6.72287639e-02 9.97735423e-01 -2.07823026e-03 2.00250158e+01] [ 3.65769508e-02 -3.83051195e-04 9.99330766e-01 1.36568192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.99925415399997 meters Centerline goodness : 0.999131 with order 1 Centerline is valid? [True, True] Translation: X:374.68, Y:20.03, Z:13.66 [[ 9.97104407e-01 -6.67014900e-02 -3.65200244e-02 3.74678048e+02] [ 6.66701906e-02 9.97772909e-01 -2.07553997e-03 2.00286690e+01] [ 3.65771326e-02 -3.65266938e-04 9.99330766e-01 1.36587042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.059254154 meters Centerline goodness : 0.998963 with order 1 Centerline is valid? [True, True] Translation: X:374.74, Y:20.03, Z:13.66 [[ 9.96903636e-01 -6.96378043e-02 -3.65200998e-02 3.74739291e+02] [ 6.96085225e-02 9.97572229e-01 -2.07421204e-03 2.00307313e+01] [ 3.65758809e-02 -4.74320665e-04 9.99330766e-01 1.36592962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.119254154 meters Centerline goodness : 0.999070 with order 1 Centerline is valid? [True, True] Translation: X:374.80, Y:20.03, Z:13.66 [[ 9.96568451e-01 -7.42805513e-02 -3.65201742e-02 3.74800210e+02] [ 7.42544321e-02 9.97237175e-01 -2.07290050e-03 2.00327044e+01] [ 3.65732516e-02 -6.45997563e-04 9.99330766e-01 1.36607651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.179254154 meters Centerline goodness : 0.999048 with order 1 Centerline is valid? [True, True] Translation: X:374.86, Y:20.03, Z:13.66 [[ 9.95749508e-01 -8.45528761e-02 -3.65202499e-02 3.74861976e+02] [ 8.45337029e-02 9.96418467e-01 -2.07156688e-03 2.00333840e+01] [ 3.65646084e-02 -1.02443026e-03 9.99330766e-01 1.36619938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.239254154 meters Centerline goodness : 0.999004 with order 1 Centerline is valid? [True, True] Translation: X:374.92, Y:20.03, Z:13.66 [[ 9.95096045e-01 -9.19245416e-02 -3.65204034e-02 3.74923922e+02] [ 9.19104222e-02 9.95765130e-01 -2.06885663e-03 2.00345212e+01] [ 3.65559230e-02 -1.29789464e-03 9.99330766e-01 1.36641144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.299254154 meters Centerline goodness : 0.998880 with order 1 Centerline is valid? [True, True] Translation: X:374.99, Y:20.04, Z:13.67 [[ 9.94245159e-01 -1.00711533e-01 -3.65205560e-02 3.74986608e+02] [ 1.00703424e-01 9.94914344e-01 -2.06615901e-03 2.00350294e+01] [ 3.65429111e-02 -1.62347644e-03 9.99330766e-01 1.36663955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.359254154 meters Centerline goodness : 0.998881 with order 1 Centerline is valid? [True, True] Translation: X:375.05, Y:20.04, Z:13.67 [[ 9.93879021e-01 -1.04262788e-01 -3.65207070e-02 3.75049653e+02] [ 1.04257168e-01 9.94548232e-01 -2.06348745e-03 2.00379677e+01] [ 3.65367495e-02 -1.75668859e-03 9.99330766e-01 1.36692427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.419254154 meters Centerline goodness : 0.998945 with order 1 Centerline is valid? [True, True] Translation: X:375.11, Y:20.04, Z:13.67 [[ 9.93649501e-01 -1.06427868e-01 -3.65209330e-02 3.75112645e+02] [ 1.06423852e-01 9.94318723e-01 -2.05947980e-03 2.00411263e+01] [ 3.65326335e-02 -1.84029728e-03 9.99330766e-01 1.36715354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.479254154 meters Centerline goodness : 0.998985 with order 1 Centerline is valid? [True, True] Translation: X:375.17, Y:20.04, Z:13.67 [[ 9.93672089e-01 -1.06216688e-01 -3.65211606e-02 3.75173830e+02] [ 1.06212679e-01 9.94341311e-01 -2.05543653e-03 2.00448514e+01] [ 3.65328203e-02 -1.83658037e-03 9.99330766e-01 1.36739473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.539254154 meters Centerline goodness : 0.999029 with order 1 Centerline is valid? [True, True] Translation: X:375.24, Y:20.05, Z:13.68 [[ 9.93794777e-01 -1.05062541e-01 -3.65212722e-02 3.75236343e+02] [ 1.05057827e-01 9.94463995e-01 -2.05345124e-03 2.00489265e+01] [ 3.65348310e-02 -1.79613637e-03 9.99330766e-01 1.36767128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.599254154 meters Centerline goodness : 0.999133 with order 1 Centerline is valid? [True, True] Translation: X:375.30, Y:20.05, Z:13.68 [[ 9.94079463e-01 -1.02333778e-01 -3.65214872e-02 3.75298217e+02] [ 1.02327366e-01 9.94748666e-01 -2.04962006e-03 2.00542589e+01] [ 3.65394460e-02 -1.69966240e-03 9.99330766e-01 1.36789642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.659254154 meters Centerline goodness : 0.999003 with order 1 Centerline is valid? [True, True] Translation: X:375.36, Y:20.06, Z:13.68 [[ 9.94371216e-01 -9.94588110e-02 -3.65216380e-02 3.75360431e+02] [ 9.94505635e-02 9.95040399e-01 -2.04692878e-03 2.00588812e+01] [ 3.65440904e-02 -1.59669042e-03 9.99330766e-01 1.36799993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.719254154 meters Centerline goodness : 0.998959 with order 1 Centerline is valid? [True, True] Translation: X:375.42, Y:20.06, Z:13.68 [[ 9.94933746e-01 -9.36642920e-02 -3.65217883e-02 3.75421978e+02] [ 9.36522447e-02 9.95602872e-01 -2.04424359e-03 2.00646147e+01] [ 3.65526700e-02 -1.38646052e-03 9.99330766e-01 1.36818620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.779254154 meters Centerline goodness : 0.999044 with order 1 Centerline is valid? [True, True] Translation: X:375.48, Y:20.07, Z:13.68 [[ 9.95450739e-01 -8.79998472e-02 -3.65219413e-02 3.75483156e+02] [ 8.79840919e-02 9.96119788e-01 -2.04150729e-03 2.00701353e+01] [ 3.65598807e-02 -1.18112990e-03 9.99330766e-01 1.36840244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.839254154 meters Centerline goodness : 0.999002 with order 1 Centerline is valid? [True, True] Translation: X:375.55, Y:20.08, Z:13.69 [[ 9.96206502e-01 -7.89856584e-02 -3.65221930e-02 3.75545148e+02] [ 7.89640130e-02 9.96875386e-01 -2.03699483e-03 2.00768090e+01] [ 3.65689686e-02 -8.54671428e-04 9.99330766e-01 1.36883661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.899254154 meters Centerline goodness : 0.999023 with order 1 Centerline is valid? [True, True] Translation: X:375.61, Y:20.08, Z:13.69 [[ 9.96643416e-01 -7.32667670e-02 -3.65223451e-02 3.75607457e+02] [ 7.32413830e-02 9.97312169e-01 -2.03426360e-03 2.00813594e+01] [ 3.65732231e-02 -6.47511640e-04 9.99330766e-01 1.36914767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.959254154 meters Centerline goodness : 0.998896 with order 1 Centerline is valid? [True, True] Translation: X:375.67, Y:20.08, Z:13.69 [[ 9.96744813e-01 -7.18740862e-02 -3.65224946e-02 3.75669769e+02] [ 7.18478663e-02 9.97413534e-01 -2.03157604e-03 2.00848392e+01] [ 3.65740480e-02 -5.99100424e-04 9.99330766e-01 1.36939761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.019254154 meters Centerline goodness : 0.999107 with order 1 Centerline is valid? [True, True] Translation: X:375.73, Y:20.09, Z:13.69 [[ 9.96736316e-01 -7.19917574e-02 -3.65226452e-02 3.75731850e+02] [ 7.19657157e-02 9.97405043e-01 -2.02886563e-03 2.00878644e+01] [ 3.65739321e-02 -6.06134243e-04 9.99330766e-01 1.36943814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.079254154 meters Centerline goodness : 0.999066 with order 1 Centerline is valid? [True, True] Translation: X:375.79, Y:20.09, Z:13.70 [[ 9.96627203e-01 -7.34867536e-02 -3.65227954e-02 3.75793249e+02] [ 7.34618142e-02 9.97295972e-01 -2.02615757e-03 2.00907901e+01] [ 3.65729325e-02 -6.63707062e-04 9.99330766e-01 1.36950378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.139254154 meters Centerline goodness : 0.999044 with order 1 Centerline is valid? [True, True] Translation: X:375.86, Y:20.09, Z:13.70 [[ 9.96464668e-01 -7.56587213e-02 -3.65229062e-02 3.75855138e+02] [ 7.56353128e-02 9.97133493e-01 -2.02415750e-03 2.00930079e+01] [ 3.65713582e-02 -7.45420008e-04 9.99330766e-01 1.36969869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.199254154 meters Centerline goodness : 0.998959 with order 1 Centerline is valid? [True, True] Translation: X:375.92, Y:20.10, Z:13.70 [[ 9.96247111e-01 -7.84714015e-02 -3.65230556e-02 3.75916913e+02] [ 7.84499800e-02 9.96916002e-01 -2.02145939e-03 2.00950913e+01] [ 3.65690453e-02 -8.51359903e-04 9.99330766e-01 1.36988099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.259254154 meters Centerline goodness : 0.998941 with order 1 Centerline is valid? [True, True] Translation: X:375.98, Y:20.10, Z:13.70 [[ 9.96227322e-01 -7.87221642e-02 -3.65232055e-02 3.75977799e+02] [ 7.87010105e-02 9.96896221e-01 -2.01874627e-03 2.00976006e+01] [ 3.65687656e-02 -8.63282988e-04 9.99330766e-01 1.37006686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.319254154 meters Centerline goodness : 0.999006 with order 1 Centerline is valid? [True, True] Translation: X:376.04, Y:20.10, Z:13.70 [[ 9.96303644e-01 -7.77502147e-02 -3.65233161e-02 3.76040293e+02] [ 7.77284818e-02 9.96972525e-01 -2.01674339e-03 2.01006048e+01] [ 3.65695449e-02 -8.29613122e-04 9.99330766e-01 1.37037767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.379254154 meters Centerline goodness : 0.999067 with order 1 Centerline is valid? [True, True] Translation: X:376.10, Y:20.10, Z:13.71 [[ 9.96360942e-01 -7.70124070e-02 -3.65234630e-02 3.76102288e+02] [ 7.69902764e-02 9.97029809e-01 -2.01408050e-03 2.01039160e+01] [ 3.65700905e-02 -8.05200367e-04 9.99330766e-01 1.37058866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.43925415399997 meters Centerline goodness : 0.999047 with order 1 Centerline is valid? [True, True] Translation: X:376.16, Y:20.11, Z:13.71 [[ 9.96351559e-01 -7.71336342e-02 -3.65236073e-02 3.76164418e+02] [ 7.71116810e-02 9.97020432e-01 -2.01145913e-03 2.01066812e+01] [ 3.65699339e-02 -8.12276317e-04 9.99330766e-01 1.37073536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.49925415399997 meters Centerline goodness : 0.999069 with order 1 Centerline is valid? [True, True] Translation: X:376.23, Y:20.11, Z:13.71 [[ 9.96069680e-01 -8.06920621e-02 -3.65237526e-02 3.76225494e+02] [ 8.06725950e-02 9.96738630e-01 -2.00881715e-03 2.01081763e+01] [ 3.65667308e-02 -9.45544053e-04 9.99330766e-01 1.37070304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.559254154 meters Centerline goodness : 0.999048 with order 1 Centerline is valid? [True, True] Translation: X:376.29, Y:20.11, Z:13.71 [[ 9.95856123e-01 -8.32861920e-02 -3.65238599e-02 3.76287564e+02] [ 8.32685389e-02 9.96525124e-01 -2.00686597e-03 2.01101135e+01] [ 3.65640882e-02 -1.04273868e-03 9.99330766e-01 1.37076506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.619254154 meters Centerline goodness : 0.998983 with order 1 Centerline is valid? [True, True] Translation: X:376.35, Y:20.11, Z:13.71 [[ 9.95847317e-01 -8.33913630e-02 -3.65240002e-02 3.76349446e+02] [ 8.33738742e-02 9.96516322e-01 -2.00430844e-03 2.01134764e+01] [ 3.65639044e-02 -1.04916222e-03 9.99330766e-01 1.37092375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.679254154 meters Centerline goodness : 0.999026 with order 1 Centerline is valid? [True, True] Translation: X:376.41, Y:20.12, Z:13.71 [[ 9.96088336e-01 -8.04612523e-02 -3.65241421e-02 3.76411199e+02] [ 8.04418903e-02 9.96757290e-01 -2.00172003e-03 2.01170986e+01] [ 3.65667658e-02 -9.44181050e-04 9.99330766e-01 1.37115704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.739254154 meters Centerline goodness : 0.998899 with order 1 Centerline is valid? [True, True] Translation: X:376.47, Y:20.12, Z:13.71 [[ 9.96723423e-01 -7.21692025e-02 -3.65242853e-02 3.76471926e+02] [ 7.21443702e-02 9.97392196e-01 -1.99910330e-03 2.01222305e+01] [ 3.65733108e-02 -6.42468471e-04 9.99330766e-01 1.37144561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.799254154 meters Centerline goodness : 0.998937 with order 1 Centerline is valid? [True, True] Translation: X:376.53, Y:20.13, Z:13.72 [[ 9.97326249e-01 -6.32955194e-02 -3.65243910e-02 3.76532599e+02] [ 6.32648067e-02 9.97994777e-01 -1.99717049e-03 2.01272416e+01] [ 3.65775634e-02 -3.18877980e-04 9.99330766e-01 1.37176722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.859254154 meters Centerline goodness : 0.998851 with order 1 Centerline is valid? [True, True] Translation: X:376.59, Y:20.13, Z:13.72 [[ 9.97601820e-01 -5.87926236e-02 -3.65244616e-02 3.76593374e+02] [ 5.87589406e-02 9.98270206e-01 -1.99587869e-03 2.01306004e+01] [ 3.65786247e-02 -1.55046452e-04 9.99330766e-01 1.37202965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.919254154 meters Centerline goodness : 0.998852 with order 1 Centerline is valid? [True, True] Translation: X:376.65, Y:20.13, Z:13.72 [[ 9.97728436e-01 -5.66032910e-02 -3.65244616e-02 3.76652990e+02] [ 5.65681413e-02 9.98396746e-01 -1.99587869e-03 2.01322213e+01] [ 3.65788769e-02 -7.47759801e-05 9.99330766e-01 1.37206035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.979254154 meters Centerline goodness : 0.999149 with order 1 Centerline is valid? [True, True] Translation: X:376.71, Y:20.13, Z:13.72 [[ 9.97591827e-01 -5.89619907e-02 -3.65243879e-02 3.76712518e+02] [ 5.89283718e-02 9.98260216e-01 -1.99722596e-03 2.01329147e+01] [ 3.65786038e-02 -1.59906413e-04 9.99330766e-01 1.37214872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.039254154 meters Centerline goodness : 0.998833 with order 1 Centerline is valid? [True, True] Translation: X:376.77, Y:20.13, Z:13.72 [[ 9.97389255e-01 -6.22948486e-02 -3.65243138e-02 3.76772552e+02] [ 6.22634136e-02 9.98057750e-01 -1.99857968e-03 2.01338012e+01] [ 3.65778757e-02 -2.80766558e-04 9.99330766e-01 1.37242543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.099254154 meters Centerline goodness : 0.998836 with order 1 Centerline is valid? [True, True] Translation: X:376.83, Y:20.13, Z:13.73 [[ 9.96885449e-01 -6.98955046e-02 -3.65242406e-02 3.76832780e+02] [ 6.98691170e-02 9.97554162e-01 -1.99991637e-03 2.01337191e+01] [ 3.65746934e-02 -5.58228910e-04 9.99330766e-01 1.37269003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.159254154 meters Centerline goodness : 0.998755 with order 1 Centerline is valid? [True, True] Translation: X:376.89, Y:20.13, Z:13.73 [[ 9.96535809e-01 -7.47152024e-02 -3.65242406e-02 3.76893972e+02] [ 7.46920487e-02 9.97204642e-01 -1.99991637e-03 2.01345927e+01] [ 3.65715665e-02 -7.35082080e-04 9.99330766e-01 1.37307369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.219254154 meters Centerline goodness : 0.998778 with order 1 Centerline is valid? [True, True] Translation: X:376.96, Y:20.13, Z:13.73 [[ 9.95941216e-01 -8.22621889e-02 -3.65243149e-02 3.76955890e+02] [ 8.22441524e-02 9.96610207e-01 -1.99855872e-03 2.01342569e+01] [ 3.65649109e-02 -1.01346431e-03 9.99330766e-01 1.37334378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.279254154 meters Centerline goodness : 0.998820 with order 1 Centerline is valid? [True, True] Translation: X:377.02, Y:20.13, Z:13.73 [[ 9.95224600e-01 -9.05204891e-02 -3.65244626e-02 3.77018402e+02] [ 9.05081014e-02 9.95893719e-01 -1.99585553e-03 2.01341354e+01] [ 3.65551488e-02 -1.31943524e-03 9.99330766e-01 1.37349416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.339254154 meters Centerline goodness : 0.998465 with order 1 Centerline is valid? [True, True] Translation: X:377.08, Y:20.13, Z:13.74 [[ 9.94675682e-01 -9.63651436e-02 -3.65246140e-02 3.77079513e+02] [ 9.63567884e-02 9.95344863e-01 -1.99308212e-03 2.01348493e+01] [ 3.65466505e-02 -1.53692418e-03 9.99330766e-01 1.37361051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.399254154 meters Centerline goodness : 0.998929 with order 1 Centerline is valid? [True, True] Translation: X:377.14, Y:20.14, Z:13.74 [[ 9.93679931e-01 -1.06142068e-01 -3.65247257e-02 3.77141654e+02] [ 1.06140369e-01 9.94349163e-01 -1.99103162e-03 2.01350915e+01] [ 3.65296627e-02 -1.89829971e-03 9.99330766e-01 1.37353338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.459254154 meters Centerline goodness : 0.998843 with order 1 Centerline is valid? [True, True] Translation: X:377.20, Y:20.14, Z:13.74 [[ 9.93095941e-01 -1.11473700e-01 -3.65248754e-02 3.77204706e+02] [ 1.11475693e-01 9.93765172e-01 -1.98828210e-03 2.01376102e+01] [ 3.65187903e-02 -2.09708093e-03 9.99330766e-01 1.37367417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.519254154 meters Centerline goodness : 0.998567 with order 1 Centerline is valid? [True, True] Translation: X:377.27, Y:20.14, Z:13.74 [[ 9.93182738e-01 -1.10697636e-01 -3.65250985e-02 3.77266829e+02] [ 1.10699257e-01 9.93851970e-01 -1.98417475e-03 2.01418872e+01] [ 3.65201846e-02 -2.07265317e-03 9.99330766e-01 1.37397664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.579254154 meters Centerline goodness : 0.998779 with order 1 Centerline is valid? [True, True] Translation: X:377.33, Y:20.15, Z:13.74 [[ 9.93528902e-01 -1.07546395e-01 -3.65252466e-02 3.77328792e+02] [ 1.07545993e-01 9.94198136e-01 -1.98144601e-03 2.01466116e+01] [ 3.65264294e-02 -1.95952005e-03 9.99330766e-01 1.37411691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.639254154 meters Centerline goodness : 0.998672 with order 1 Centerline is valid? [True, True] Translation: X:377.39, Y:20.15, Z:13.74 [[ 9.94224531e-01 -1.00913214e-01 -3.65253938e-02 3.77390628e+02] [ 1.00908445e-01 9.94893748e-01 -1.97872888e-03 2.01538080e+01] [ 3.65385658e-02 -1.71841990e-03 9.99330766e-01 1.37422935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.699254154 meters Centerline goodness : 0.998797 with order 1 Centerline is valid? [True, True] Translation: X:377.45, Y:20.16, Z:13.74 [[ 9.94875426e-01 -9.42802781e-02 -3.65255402e-02 3.77452436e+02] [ 9.42711457e-02 9.95544598e-01 -1.97602209e-03 2.01602004e+01] [ 3.65491042e-02 -1.47740871e-03 9.99330766e-01 1.37442583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.759254154 meters Centerline goodness : 0.998965 with order 1 Centerline is valid? [True, True] Translation: X:377.51, Y:20.17, Z:13.75 [[ 9.95340119e-01 -8.92408095e-02 -3.65256850e-02 3.77514811e+02] [ 8.92283866e-02 9.96009237e-01 -1.97334182e-03 2.01656984e+01] [ 3.65560223e-02 -1.29498166e-03 9.99330766e-01 1.37470032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.819254154 meters Centerline goodness : 0.998752 with order 1 Centerline is valid? [True, True] Translation: X:377.58, Y:20.17, Z:13.75 [[ 9.95786970e-01 -8.41081104e-02 -3.65258327e-02 3.77575984e+02] [ 8.40923384e-02 9.96456018e-01 -1.97060372e-03 2.01717809e+01] [ 3.65621296e-02 -1.10924118e-03 9.99330766e-01 1.37488695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.879254154 meters Centerline goodness : 0.998839 with order 1 Centerline is valid? [True, True] Translation: X:377.64, Y:20.18, Z:13.75 [[ 9.96505163e-01 -7.51220034e-02 -3.65259416e-02 3.77637612e+02] [ 7.51002707e-02 9.97174044e-01 -1.96858378e-03 2.01792250e+01] [ 3.65706049e-02 -7.81404203e-04 9.99330766e-01 1.37511268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.93925415399997 meters Centerline goodness : 0.998900 with order 1 Centerline is valid? [True, True] Translation: X:377.70, Y:20.19, Z:13.75 [[ 9.97115083e-01 -6.65383799e-02 -3.65260841e-02 3.77698466e+02] [ 6.65109853e-02 9.97783756e-01 -1.96593685e-03 2.01851725e+01] [ 3.65759436e-02 -4.69120551e-04 9.99330766e-01 1.37524932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.99925415399997 meters Centerline goodness : 0.999004 with order 1 Centerline is valid? [True, True] Translation: X:377.76, Y:20.19, Z:13.75 [[ 9.97604909e-01 -5.87391341e-02 -3.65261541e-02 3.77759429e+02] [ 5.87065592e-02 9.98273349e-01 -1.96463444e-03 2.01913411e+01] [ 3.65784871e-02 -1.84395867e-04 9.99330766e-01 1.37549418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.059254154 meters Centerline goodness : 0.998981 with order 1 Centerline is valid? [True, True] Translation: X:377.82, Y:20.20, Z:13.76 [[ 9.97896124e-01 -5.35645442e-02 -3.65262258e-02 3.77818225e+02] [ 5.35285518e-02 9.98564389e-01 -1.96330074e-03 2.01952549e+01] [ 3.65789517e-02 3.97422441e-06 9.99330766e-01 1.37566237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.119254154 meters Centerline goodness : 0.998790 with order 1 Centerline is valid? [True, True] Translation: X:377.88, Y:20.20, Z:13.76 [[ 9.97767241e-01 -5.59140035e-02 -3.65261200e-02 3.77876225e+02] [ 5.58795128e-02 9.98435585e-01 -1.96526655e-03 2.02023770e+01] [ 3.65788640e-02 -8.01832057e-05 9.99330766e-01 1.37644857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.179254154 meters Centerline goodness : 0.998661 with order 1 Centerline is valid? [True, True] Translation: X:377.94, Y:20.20, Z:13.76 [[ 9.97909061e-01 -5.33234350e-02 -3.65255765e-02 3.77935344e+02] [ 5.32868413e-02 9.98577293e-01 -1.97531714e-03 2.01995716e+01] [ 3.65789420e-02 2.48542770e-05 9.99330766e-01 1.37613835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.239254154 meters Centerline goodness : 0.999048 with order 1 Centerline is valid? [True, True] Translation: X:377.99, Y:20.21, Z:13.77 [[ 9.97367945e-01 -6.26347215e-02 -3.65249822e-02 3.77993527e+02] [ 6.26039659e-02 9.98036471e-01 -1.98624532e-03 2.02051459e+01] [ 3.65776723e-02 -3.05591325e-04 9.99330766e-01 1.37716045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.299254154 meters Centerline goodness : 0.998968 with order 1 Centerline is valid? [True, True] Translation: X:378.05, Y:20.20, Z:13.77 [[ 9.97144777e-01 -6.60927949e-02 -3.65244475e-02 3.78053993e+02] [ 6.60639993e-02 9.97813391e-01 -1.99602926e-03 2.01964919e+01] [ 3.65765060e-02 -4.22620927e-04 9.99330766e-01 1.37650593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.359254154 meters Centerline goodness : 0.999032 with order 1 Centerline is valid? [True, True] Translation: X:378.11, Y:20.19, Z:13.77 [[ 9.96584312e-01 -7.40653533e-02 -3.65244064e-02 3.78114638e+02] [ 7.40418784e-02 9.97253134e-01 -1.99678133e-03 2.01937847e+01] [ 3.65719711e-02 -7.14374710e-04 9.99330766e-01 1.37675935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.419254154 meters Centerline goodness : 0.999035 with order 1 Centerline is valid? [True, True] Translation: X:378.18, Y:20.19, Z:13.77 [[ 9.96437607e-01 -7.60135665e-02 -3.65244064e-02 3.78176856e+02] [ 7.59913992e-02 9.97106474e-01 -1.99678133e-03 2.01888683e+01] [ 3.65705046e-02 -7.85872735e-04 9.99330766e-01 1.37682955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.479254154 meters Centerline goodness : 0.998952 with order 1 Centerline is valid? [True, True] Translation: X:378.24, Y:20.19, Z:13.77 [[ 9.95430963e-01 -8.82222194e-02 -3.65244831e-02 3.78238127e+02] [ 8.82083042e-02 9.96100052e-01 -1.99537787e-03 2.01901904e+01] [ 3.65580762e-02 -1.23550180e-03 9.99330766e-01 1.37711637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.539254154 meters Centerline goodness : 0.998805 with order 1 Centerline is valid? [True, True] Translation: X:378.30, Y:20.19, Z:13.77 [[ 9.94852351e-01 -9.45238233e-02 -3.65245960e-02 3.78300643e+02] [ 9.45142210e-02 9.95521516e-01 -1.99330965e-03 2.01879302e+01] [ 3.65494364e-02 -1.46904494e-03 9.99330766e-01 1.37731255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.599254154 meters Centerline goodness : 0.998851 with order 1 Centerline is valid? [True, True] Translation: X:378.36, Y:20.19, Z:13.77 [[ 9.94595722e-01 -9.71868965e-02 -3.65247424e-02 3.78363140e+02] [ 9.71791843e-02 9.95264911e-01 -1.99062309e-03 2.01885905e+01] [ 3.65452570e-02 -1.56957947e-03 9.99330766e-01 1.37745179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.659254154 meters Centerline goodness : 0.998764 with order 1 Centerline is valid? [True, True] Translation: X:378.43, Y:20.18, Z:13.77 [[ 9.94967956e-01 -9.32989793e-02 -3.65248892e-02 3.78425221e+02] [ 9.32887506e-02 9.95637111e-01 -1.98792515e-03 2.01796664e+01] [ 3.65510066e-02 -1.42943946e-03 9.99330766e-01 1.37670934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.719254154 meters Centerline goodness : 0.999121 with order 1 Centerline is valid? [True, True] Translation: X:378.49, Y:20.18, Z:13.77 [[ 9.94333556e-01 -9.98333908e-02 -3.65249646e-02 3.78487477e+02] [ 9.98276092e-02 9.95002765e-01 -1.98653981e-03 2.01819607e+01] [ 3.65407637e-02 -1.67091670e-03 9.99330766e-01 1.37699744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.779254154 meters Centerline goodness : 0.998597 with order 1 Centerline is valid? [True, True] Translation: X:378.55, Y:20.18, Z:13.77 [[ 9.94040432e-01 -1.02710932e-01 -3.65251160e-02 3.78550024e+02] [ 1.02707189e-01 9.94709655e-01 -1.98375143e-03 2.01832740e+01] [ 3.65356385e-02 -1.77946288e-03 9.99330766e-01 1.37707571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.839254154 meters Centerline goodness : 0.998890 with order 1 Centerline is valid? [True, True] Translation: X:378.61, Y:20.19, Z:13.78 [[ 9.92746985e-01 -1.14539641e-01 -3.65252670e-02 3.78610496e+02] [ 1.14543969e-01 9.93416204e-01 -1.98096710e-03 2.01944156e+01] [ 3.65116914e-02 -2.21714995e-03 9.99330766e-01 1.37809707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.899254154 meters Centerline goodness : 0.998783 with order 1 Centerline is valid? [True, True] Translation: X:378.67, Y:20.20, Z:13.78 [[ 9.92428312e-01 -1.17268672e-01 -3.65253788e-02 3.78672830e+02] [ 1.17274916e-01 9.93097517e-01 -1.97890478e-03 2.01979026e+01] [ 3.65053265e-02 -2.31958959e-03 9.99330766e-01 1.37826704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.959254154 meters Centerline goodness : 0.998865 with order 1 Centerline is valid? [True, True] Translation: X:378.73, Y:20.20, Z:13.78 [[ 9.92854343e-01 -1.13605195e-01 -3.65255270e-02 3.78734945e+02] [ 1.13609069e-01 9.93523565e-01 -1.97616429e-03 2.01963601e+01] [ 3.65134744e-02 -2.18758783e-03 9.99330766e-01 1.37789990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.019254154 meters Centerline goodness : 0.998889 with order 1 Centerline is valid? [True, True] Translation: X:378.80, Y:20.21, Z:13.79 [[ 9.92287697e-01 -1.18452530e-01 -3.65256776e-02 3.78796069e+02] [ 1.18459775e-01 9.92956891e-01 -1.97337712e-03 2.02067816e+01] [ 3.65021748e-02 -2.36866571e-03 9.99330766e-01 1.37873484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.079254154 meters Centerline goodness : 0.998929 with order 1 Centerline is valid? [True, True] Translation: X:378.86, Y:20.21, Z:13.78 [[ 9.93045466e-01 -1.11922143e-01 -3.65258253e-02 3.78858706e+02] [ 1.11925086e-01 9.93714693e-01 -1.97063933e-03 2.02067594e+01] [ 3.65168075e-02 -2.13122167e-03 9.99330766e-01 1.37845951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.139254154 meters Centerline goodness : 0.998741 with order 1 Centerline is valid? [True, True] Translation: X:378.92, Y:20.22, Z:13.80 [[ 9.92866326e-01 -1.13500274e-01 -3.65259754e-02 3.78919025e+02] [ 1.13504382e-01 9.93535547e-01 -1.96785338e-03 2.02215387e+01] [ 3.65132069e-02 -2.19204292e-03 9.99330766e-01 1.37952549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.199254154 meters Centerline goodness : 0.998928 with order 1 Centerline is valid? [True, True] Translation: X:378.98, Y:20.23, Z:13.80 [[ 9.93312762e-01 -1.09524439e-01 -3.65260857e-02 3.78981229e+02] [ 1.09525943e-01 9.93981994e-01 -1.96580460e-03 2.02280008e+01] [ 3.65215751e-02 -2.04789518e-03 9.99330766e-01 1.37984377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.259254154 meters Centerline goodness : 0.998905 with order 1 Centerline is valid? [True, True] Translation: X:379.04, Y:20.22, Z:13.79 [[ 9.95035010e-01 -9.25805752e-02 -3.65262263e-02 3.79043737e+02] [ 9.25707701e-02 9.95704172e-01 -1.96318773e-03 2.02247510e+01] [ 3.65510690e-02 -1.42782038e-03 9.99330766e-01 1.37872387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.319254154 meters Centerline goodness : 0.998990 with order 1 Centerline is valid? [True, True] Translation: X:379.10, Y:20.25, Z:13.80 [[ 9.94811096e-01 -9.49563509e-02 -3.65263480e-02 3.79102933e+02] [ 9.49482268e-02 9.95480281e-01 -1.96092158e-03 2.02452033e+01] [ 3.65474611e-02 -1.51736543e-03 9.99330766e-01 1.38027341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.379254154 meters Centerline goodness : 0.998926 with order 1 Centerline is valid? [True, True] Translation: X:379.16, Y:20.25, Z:13.80 [[ 9.95286887e-01 -8.98322523e-02 -3.65264215e-02 3.79164558e+02] [ 8.98207324e-02 9.95956021e-01 -1.95955139e-03 2.02509591e+01] [ 3.65547403e-02 -1.33051413e-03 9.99330766e-01 1.38037912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.43925415399997 meters Centerline goodness : 0.998904 with order 1 Centerline is valid? [True, True] Translation: X:379.23, Y:20.25, Z:13.79 [[ 9.96779629e-01 -7.13875421e-02 -3.65265672e-02 3.79226774e+02] [ 7.13637337e-02 9.97448439e-01 -1.95683268e-03 2.02460039e+01] [ 3.65730609e-02 -6.56141257e-04 9.99330766e-01 1.37909645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.49925415399997 meters Centerline goodness : 0.998988 with order 1 Centerline is valid? [True, True] Translation: X:379.29, Y:20.27, Z:13.81 [[ 9.96308452e-01 -7.76870157e-02 -3.65266425e-02 3.79285400e+02] [ 7.76674871e-02 9.96977401e-01 -1.95542501e-03 2.02658120e+01] [ 3.65681482e-02 -8.88726073e-04 9.99330766e-01 1.38100509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.559254154 meters Centerline goodness : 0.999091 with order 1 Centerline is valid? [True, True] Translation: X:379.35, Y:20.27, Z:13.81 [[ 9.96441716e-01 -7.59585991e-02 -3.65266795e-02 3.79347527e+02] [ 7.59379355e-02 9.97110630e-01 -1.95473380e-03 2.02716743e+01] [ 3.65696193e-02 -8.25982327e-04 9.99330766e-01 1.38134486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.619254154 meters Centerline goodness : 0.999048 with order 1 Centerline is valid? [True, True] Translation: X:379.41, Y:20.26, Z:13.80 [[ 9.97072803e-01 -6.71685697e-02 -3.65268214e-02 3.79409659e+02] [ 6.71421053e-02 9.97741513e-01 -1.95207806e-03 2.02648201e+01] [ 3.65754444e-02 -5.06123753e-04 9.99330766e-01 1.38011322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.679254154 meters Centerline goodness : 0.998797 with order 1 Centerline is valid? [True, True] Translation: X:379.47, Y:20.28, Z:13.82 [[ 9.96014729e-01 -8.13661168e-02 -3.65268980e-02 3.79468540e+02] [ 8.13492341e-02 9.96683750e-01 -1.95064392e-03 2.02798818e+01] [ 3.65644820e-02 -1.02856511e-03 9.99330766e-01 1.38178602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.739254154 meters Centerline goodness : 0.998966 with order 1 Centerline is valid? [True, True] Translation: X:379.53, Y:20.28, Z:13.82 [[ 9.95614604e-01 -8.61239809e-02 -3.65269717e-02 3.79529174e+02] [ 8.61103456e-02 9.96283699e-01 -1.94926240e-03 2.02828043e+01] [ 3.65591048e-02 -1.20463604e-03 9.99330766e-01 1.38194222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.799254154 meters Centerline goodness : 0.998775 with order 1 Centerline is valid? [True, True] Translation: X:379.59, Y:20.28, Z:13.82 [[ 9.95002072e-01 -9.29335801e-02 -3.65270764e-02 3.79590294e+02] [ 9.29245947e-02 9.95671245e-01 -1.94729956e-03 2.02847330e+01] [ 3.65499291e-02 -1.45669667e-03 9.99330766e-01 1.38185094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.859254154 meters Centerline goodness : 0.999028 with order 1 Centerline is valid? [True, True] Translation: X:379.65, Y:20.29, Z:13.82 [[ 9.94462109e-01 -9.85437894e-02 -3.65271788e-02 3.79652178e+02] [ 9.85386486e-02 9.95131323e-01 -1.94537696e-03 2.02886823e+01] [ 3.65410446e-02 -1.66473516e-03 9.99330766e-01 1.38235283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.919254154 meters Centerline goodness : 0.999029 with order 1 Centerline is valid? [True, True] Translation: X:379.71, Y:20.29, Z:13.83 [[ 9.94357705e-01 -9.95917138e-02 -3.65273255e-02 3.79714630e+02] [ 9.95873794e-02 9.95026924e-01 -1.94261780e-03 2.02925492e+01] [ 3.65391410e-02 -1.70600365e-03 9.99330766e-01 1.38265575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.979254154 meters Centerline goodness : 0.999069 with order 1 Centerline is valid? [True, True] Translation: X:379.78, Y:20.30, Z:13.83 [[ 9.94366190e-01 -9.95068742e-02 -3.65275445e-02 3.79776584e+02] [ 9.95026339e-02 9.95035410e-01 -1.93849196e-03 2.02968016e+01] [ 3.65390935e-02 -1.70701602e-03 9.99330766e-01 1.38294181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.039254154 meters Centerline goodness : 0.998922 with order 1 Centerline is valid? [True, True] Translation: X:379.84, Y:20.30, Z:13.83 [[ 9.94385089e-01 -9.93177874e-02 -3.65276899e-02 3.79838726e+02] [ 9.93135205e-02 9.95054309e-01 -1.93574707e-03 2.03012360e+01] [ 3.65392894e-02 -1.70281546e-03 9.99330766e-01 1.38318481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.099254154 meters Centerline goodness : 0.999069 with order 1 Centerline is valid? [True, True] Translation: X:379.90, Y:20.30, Z:13.83 [[ 9.94336520e-01 -9.98028209e-02 -3.65278339e-02 3.79900830e+02] [ 9.97989801e-02 9.95005742e-01 -1.93302708e-03 2.03048277e+01] [ 3.65383260e-02 -1.72336115e-03 9.99330766e-01 1.38332710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.159254154 meters Centerline goodness : 0.998858 with order 1 Centerline is valid? [True, True] Translation: X:379.96, Y:20.31, Z:13.83 [[ 9.94212191e-01 -1.01033790e-01 -3.65279760e-02 3.79962420e+02] [ 1.01030876e-01 9.94881418e-01 -1.93033766e-03 2.03087232e+01] [ 3.65360339e-02 -1.77128818e-03 9.99330766e-01 1.38344374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.219254154 meters Centerline goodness : 0.998878 with order 1 Centerline is valid? [True, True] Translation: X:380.02, Y:20.31, Z:13.84 [[ 9.94289744e-01 -1.00267652e-01 -3.65281155e-02 3.80023678e+02] [ 1.00264320e-01 9.94958969e-01 -1.92769507e-03 2.03136427e+01] [ 3.65372616e-02 -1.74577921e-03 9.99330766e-01 1.38356501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.279254154 meters Centerline goodness : 0.999026 with order 1 Centerline is valid? [True, True] Translation: X:380.09, Y:20.32, Z:13.84 [[ 9.94603611e-01 -9.71048229e-02 -3.65282184e-02 3.80085506e+02] [ 9.70994336e-02 9.95272823e-01 -1.92574204e-03 2.03188944e+01] [ 3.65425419e-02 -1.63151934e-03 9.99330766e-01 1.38390364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.339254154 meters Centerline goodness : 0.999150 with order 1 Centerline is valid? [True, True] Translation: X:380.15, Y:20.33, Z:13.84 [[ 9.95399156e-01 -8.85787781e-02 -3.65283571e-02 3.80147277e+02] [ 8.85677512e-02 9.96068298e-01 -1.92310811e-03 2.03264297e+01] [ 3.65550851e-02 -1.32097425e-03 9.99330766e-01 1.38423019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.399254154 meters Centerline goodness : 0.998938 with order 1 Centerline is valid? [True, True] Translation: X:380.21, Y:20.32, Z:13.83 [[ 9.97076808e-01 -6.71081784e-02 -3.65284998e-02 3.80210169e+02] [ 6.70828340e-02 9.97745561e-01 -1.92039342e-03 2.03212000e+01] [ 3.65750227e-02 -5.35655546e-04 9.99330766e-01 1.38289047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.459254154 meters Centerline goodness : 0.999168 with order 1 Centerline is valid? [True, True] Translation: X:380.27, Y:20.34, Z:13.85 [[ 9.97026331e-01 -6.78539135e-02 -3.65286425e-02 3.80269771e+02] [ 6.78291689e-02 9.97695107e-01 -1.91767456e-03 2.03431395e+01] [ 3.65745696e-02 -5.65735436e-04 9.99330766e-01 1.38517459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.519254154 meters Centerline goodness : 0.999123 with order 1 Centerline is valid? [True, True] Translation: X:380.33, Y:20.35, Z:13.85 [[ 9.97609854e-01 -5.86534932e-02 -3.65287135e-02 3.80330866e+02] [ 5.86226297e-02 9.98278376e-01 -1.91632250e-03 2.03489042e+01] [ 3.65782238e-02 -2.29667034e-04 9.99330766e-01 1.38543306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.579254154 meters Centerline goodness : 0.996015 with order 1 Centerline is valid? [True, True] Translation: X:380.39, Y:20.35, Z:13.85 [[ 9.97791667e-01 -5.54746459e-02 -3.65287842e-02 3.80390185e+02] [ 5.54417019e-02 9.98460090e-01 -1.91497425e-03 2.03526090e+01] [ 3.65787656e-02 -1.14472612e-04 9.99330766e-01 1.38500270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.639254154 meters Centerline goodness : 0.999081 with order 1 Centerline is valid? [True, True] Translation: X:380.45, Y:20.35, Z:13.86 [[ 9.97584124e-01 -5.90894737e-02 -3.65287396e-02 3.80448535e+02] [ 5.90589207e-02 9.98252660e-01 -1.91582411e-03 2.03537234e+01] [ 3.65781165e-02 -2.46152221e-04 9.99330766e-01 1.38559868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.699254154 meters Centerline goodness : 0.996948 with order 1 Centerline is valid? [True, True] Translation: X:380.51, Y:20.35, Z:13.85 [[ 9.97120303e-01 -6.64587218e-02 -3.65286055e-02 3.80508007e+02] [ 6.64330158e-02 9.97789043e-01 -1.91837624e-03 2.03549221e+01] [ 3.65753352e-02 -5.13853532e-04 9.99330766e-01 1.38508531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.759254154 meters Centerline goodness : 0.999083 with order 1 Centerline is valid? [True, True] Translation: X:380.57, Y:20.35, Z:13.85 [[ 9.96890725e-01 -6.98180631e-02 -3.65283646e-02 3.80568747e+02] [ 6.97944428e-02 9.97559541e-01 -1.92295284e-03 2.03530592e+01] [ 3.65734755e-02 -6.32503003e-04 9.99330766e-01 1.38512658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.819254154 meters Centerline goodness : 0.999104 with order 1 Centerline is valid? [True, True] Translation: X:380.63, Y:20.36, Z:13.86 [[ 9.96003441e-01 -8.15034576e-02 -3.65285097e-02 3.80629707e+02] [ 8.14877830e-02 9.96672491e-01 -1.92019391e-03 2.03561751e+01] [ 3.65634631e-02 -1.06410753e-03 9.99330766e-01 1.38619784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.879254154 meters Centerline goodness : 0.999213 with order 1 Centerline is valid? [True, True] Translation: X:380.69, Y:20.36, Z:13.86 [[ 9.95604395e-01 -8.62412361e-02 -3.65285855e-02 3.80691937e+02] [ 8.62287978e-02 9.96273513e-01 -1.91874989e-03 2.03576491e+01] [ 3.65579376e-02 -1.23950019e-03 9.99330766e-01 1.38644391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.93925415399997 meters Centerline goodness : 0.999235 with order 1 Centerline is valid? [True, True] Translation: X:380.75, Y:20.36, Z:13.87 [[ 9.95074120e-01 -9.21582738e-02 -3.65287291e-02 3.80753423e+02] [ 9.21499137e-02 9.95743301e-01 -1.91601277e-03 2.03588091e+01] [ 3.65498137e-02 -1.45954451e-03 9.99330766e-01 1.38662640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.99925415399997 meters Centerline goodness : 0.999214 with order 1 Centerline is valid? [True, True] Translation: X:380.82, Y:20.36, Z:13.87 [[ 9.94563075e-01 -9.75188953e-02 -3.65288352e-02 3.80815703e+02] [ 9.75142154e-02 9.95232292e-01 -1.91398807e-03 2.03613242e+01] [ 3.65413263e-02 -1.65849884e-03 9.99330766e-01 1.38692948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.059254154 meters Centerline goodness : 0.999171 with order 1 Centerline is valid? [True, True] Translation: X:380.88, Y:20.36, Z:13.87 [[ 9.93881416e-01 -1.04237055e-01 -3.65289794e-02 3.80878361e+02] [ 1.04236998e-01 9.94550650e-01 -1.91123032e-03 2.03640601e+01] [ 3.65291413e-02 -1.90813488e-03 9.99330766e-01 1.38707412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.119254154 meters Centerline goodness : 0.999087 with order 1 Centerline is valid? [True, True] Translation: X:380.94, Y:20.37, Z:13.87 [[ 9.93376550e-01 -1.08943325e-01 -3.65291955e-02 3.80941480e+02] [ 1.08946590e-01 9.94045775e-01 -1.90709109e-03 2.03668111e+01] [ 3.65194574e-02 -2.08527172e-03 9.99330767e-01 1.38723523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.179254154 meters Centerline goodness : 0.999279 with order 1 Centerline is valid? [True, True] Translation: X:381.00, Y:20.37, Z:13.87 [[ 9.92780952e-01 -1.14243525e-01 -3.65294111e-02 3.81003255e+02] [ 1.14250513e-01 9.93450149e-01 -1.90295365e-03 2.03709880e+01] [ 3.65075490e-02 -2.28428781e-03 9.99330767e-01 1.38732525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.239254154 meters Centerline goodness : 0.999130 with order 1 Centerline is valid? [True, True] Translation: X:381.06, Y:20.38, Z:13.87 [[ 9.92675460e-01 -1.15156513e-01 -3.65295536e-02 3.81063928e+02] [ 1.15164217e-01 9.93344649e-01 -1.90021407e-03 2.03770129e+01] [ 3.65052586e-02 -2.32060157e-03 9.99330767e-01 1.38722170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.299254154 meters Centerline goodness : 0.999213 with order 1 Centerline is valid? [True, True] Translation: X:381.13, Y:20.38, Z:13.87 [[ 9.92907791e-01 -1.13135771e-01 -3.65296589e-02 3.81126117e+02] [ 1.13142187e-01 9.93576994e-01 -1.89818822e-03 2.03828511e+01] [ 3.65097816e-02 -2.24831962e-03 9.99330767e-01 1.38738631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.359254154 meters Centerline goodness : 0.999318 with order 1 Centerline is valid? [True, True] Translation: X:381.19, Y:20.39, Z:13.88 [[ 9.93545239e-01 -1.07393819e-01 -3.65297999e-02 3.81187335e+02] [ 1.07396466e-01 9.94214467e-01 -1.89547046e-03 2.03920614e+01] [ 3.65220173e-02 -2.03993575e-03 9.99330767e-01 1.38780311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.419254154 meters Centerline goodness : 0.999402 with order 1 Centerline is valid? [True, True] Translation: X:381.25, Y:20.40, Z:13.88 [[ 9.94408320e-01 -9.90840911e-02 -3.65299392e-02 3.81249299e+02] [ 9.90812417e-02 9.95077547e-01 -1.89278235e-03 2.04023794e+01] [ 3.65376669e-02 -1.73723322e-03 9.99330767e-01 1.38831002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.479254154 meters Centerline goodness : 0.999380 with order 1 Centerline is valid? [True, True] Translation: X:381.31, Y:20.41, Z:13.89 [[ 9.95032902e-01 -9.26017147e-02 -3.65300773e-02 3.81311229e+02] [ 9.25946021e-02 9.95702098e-01 -1.89011298e-03 2.04102792e+01] [ 3.65481023e-02 -1.50176337e-03 9.99330767e-01 1.38868299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.539254154 meters Centerline goodness : 0.999314 with order 1 Centerline is valid? [True, True] Translation: X:381.37, Y:20.42, Z:13.89 [[ 9.95891862e-01 -8.28548552e-02 -3.65304154e-02 3.81372971e+02] [ 8.28414310e-02 9.96560961e-01 -1.88355594e-03 2.04179499e+01] [ 3.65608476e-02 -1.15041385e-03 9.99330767e-01 1.38900925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.599254154 meters Centerline goodness : 0.999570 with order 1 Centerline is valid? [True, True] Translation: X:381.43, Y:20.43, Z:13.89 [[ 9.96458135e-01 -7.57410340e-02 -3.65305555e-02 3.81434623e+02] [ 7.57229318e-02 9.97127123e-01 -1.88083425e-03 2.04263727e+01] [ 3.65680640e-02 -8.92028171e-04 9.99330767e-01 1.38933948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.659254154 meters Centerline goodness : 0.999525 with order 1 Centerline is valid? [True, True] Translation: X:381.50, Y:20.43, Z:13.89 [[ 9.96956579e-01 -6.88700830e-02 -3.65306925e-02 3.81496134e+02] [ 6.88474672e-02 9.97625430e-01 -1.87816940e-03 2.04321139e+01] [ 3.65732975e-02 -6.42592311e-04 9.99330767e-01 1.38945330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.719254154 meters Centerline goodness : 0.998919 with order 1 Centerline is valid? [True, True] Translation: X:381.56, Y:20.44, Z:13.89 [[ 9.97247501e-01 -6.45207038e-02 -3.65308273e-02 3.81557914e+02] [ 6.44952669e-02 9.97916250e-01 -1.87554363e-03 2.04373259e+01] [ 3.65757176e-02 -4.85684256e-04 9.99330767e-01 1.38949054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.779254154 meters Centerline goodness : 0.999306 with order 1 Centerline is valid? [True, True] Translation: X:381.62, Y:20.44, Z:13.90 [[ 9.97820784e-01 -5.49469769e-02 -3.65309889e-02 3.81618778e+02] [ 5.49152385e-02 9.98489264e-01 -1.87239043e-03 2.04389251e+01] [ 3.65786825e-02 -1.37797878e-04 9.99330767e-01 1.38982848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.839254154 meters Centerline goodness : 0.999588 with order 1 Centerline is valid? [True, True] Translation: X:381.68, Y:20.45, Z:13.90 [[ 9.97818137e-01 -5.49949614e-02 -3.65310720e-02 3.81678624e+02] [ 5.49633145e-02 9.98486622e-01 -1.87076774e-03 2.04455976e+01] [ 3.65786695e-02 -1.41182824e-04 9.99330767e-01 1.39030837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.899254154 meters Centerline goodness : 0.999349 with order 1 Centerline is valid? [True, True] Translation: X:381.74, Y:20.44, Z:13.90 [[ 9.97996876e-01 -5.16499035e-02 -3.65311130e-02 3.81738649e+02] [ 5.16160452e-02 9.98665253e-01 -1.86996723e-03 2.04449280e+01] [ 3.65789368e-02 -1.93701245e-05 9.99330767e-01 1.39037528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.959254154 meters Centerline goodness : 0.997418 with order 1 Centerline is valid? [True, True] Translation: X:381.80, Y:20.45, Z:13.91 [[ 9.97906763e-01 -5.33626221e-02 -3.65311130e-02 3.81798420e+02] [ 5.33299110e-02 9.98575197e-01 -1.86996723e-03 2.04460328e+01] [ 3.65788497e-02 -8.21480560e-05 9.99330767e-01 1.39062303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.019254154 meters Centerline goodness : 0.999459 with order 1 Centerline is valid? [True, True] Translation: X:381.86, Y:20.45, Z:13.91 [[ 9.97883159e-01 -5.38022570e-02 -3.65310694e-02 3.81856761e+02] [ 5.37698092e-02 9.98551605e-01 -1.87081912e-03 2.04462412e+01] [ 3.65788123e-02 -9.74097344e-05 9.99330767e-01 1.39084178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.079254154 meters Centerline goodness : 0.999245 with order 1 Centerline is valid? [True, True] Translation: X:381.92, Y:20.44, Z:13.91 [[ 9.97446046e-01 -6.13748871e-02 -3.65309382e-02 3.81917245e+02] [ 6.13474202e-02 9.98114715e-01 -1.87337737e-03 2.04429833e+01] [ 3.65770453e-02 -3.72485965e-04 9.99330767e-01 1.39095086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.139254154 meters Centerline goodness : 0.999139 with order 1 Centerline is valid? [True, True] Translation: X:381.98, Y:20.44, Z:13.91 [[ 9.96965772e-01 -6.87367477e-02 -3.65309382e-02 3.81979224e+02] [ 6.87142180e-02 9.97634626e-01 -1.87337737e-03 2.04409454e+01] [ 3.65732987e-02 -6.42501732e-04 9.99330767e-01 1.39105870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.199254154 meters Centerline goodness : 0.999401 with order 1 Centerline is valid? [True, True] Translation: X:382.04, Y:20.44, Z:13.91 [[ 9.96247801e-01 -7.84589318e-02 -3.65310083e-02 3.82040854e+02] [ 7.84429780e-02 9.96916844e-01 -1.87200842e-03 2.04364629e+01] [ 3.65652533e-02 -1.00061682e-03 9.99330767e-01 1.39111456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.259254154 meters Centerline goodness : 0.999210 with order 1 Centerline is valid? [True, True] Translation: X:382.10, Y:20.43, Z:13.91 [[ 9.95819437e-01 -8.37205268e-02 -3.65311123e-02 3.82103039e+02] [ 8.37081818e-02 9.96488557e-01 -1.86997763e-03 2.04341821e+01] [ 3.65593909e-02 -1.19579292e-03 9.99330767e-01 1.39123911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.319254154 meters Centerline goodness : 0.999211 with order 1 Centerline is valid? [True, True] Translation: X:382.16, Y:20.43, Z:13.91 [[ 9.95703504e-01 -8.50881941e-02 -3.65312491e-02 3.82164098e+02] [ 8.50768663e-02 9.96372641e-01 -1.86730041e-03 2.04331969e+01] [ 3.65576224e-02 -1.24868664e-03 9.99330767e-01 1.39136007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.379254154 meters Centerline goodness : 0.998958 with order 1 Centerline is valid? [True, True] Translation: X:382.23, Y:20.43, Z:13.92 [[ 9.95724093e-01 -8.48468721e-02 -3.65313503e-02 3.82226177e+02] [ 8.48354547e-02 9.96393229e-01 -1.86532027e-03 2.04340535e+01] [ 3.65578566e-02 -1.24180938e-03 9.99330767e-01 1.39158452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.43925415399997 meters Centerline goodness : 0.999064 with order 1 Centerline is valid? [True, True] Translation: X:382.29, Y:20.43, Z:13.92 [[ 9.95825919e-01 -8.36432330e-02 -3.65314858e-02 3.82287326e+02] [ 8.36311043e-02 9.96495042e-01 -1.86266163e-03 2.04342405e+01] [ 3.65592435e-02 -1.20028177e-03 9.99330767e-01 1.39169981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.49925415399997 meters Centerline goodness : 0.999066 with order 1 Centerline is valid? [True, True] Translation: X:382.35, Y:20.43, Z:13.92 [[ 9.96037560e-01 -8.10840501e-02 -3.65315857e-02 3.82349705e+02] [ 8.10702739e-02 9.96706651e-01 -1.86070019e-03 2.04347770e+01] [ 3.65621476e-02 -1.10829838e-03 9.99330767e-01 1.39195871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.559254154 meters Centerline goodness : 0.999108 with order 1 Centerline is valid? [True, True] Translation: X:382.41, Y:20.44, Z:13.92 [[ 9.96366279e-01 -7.69394016e-02 -3.65317261e-02 3.82412397e+02] [ 7.69229429e-02 9.97035310e-01 -1.85793915e-03 2.04359008e+01] [ 3.65663696e-02 -9.58939964e-04 9.99330767e-01 1.39210265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.619254154 meters Centerline goodness : 0.999023 with order 1 Centerline is valid? [True, True] Translation: X:382.47, Y:20.44, Z:13.92 [[ 9.96615556e-01 -7.36400290e-02 -3.65318989e-02 3.82474629e+02] [ 7.36214799e-02 9.97284532e-01 -1.85453590e-03 2.04381532e+01] [ 3.65692658e-02 -8.41273133e-04 9.99330767e-01 1.39233435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.679254154 meters Centerline goodness : 0.999279 with order 1 Centerline is valid? [True, True] Translation: X:382.54, Y:20.44, Z:13.93 [[ 9.96938868e-01 -6.91252717e-02 -3.65320379e-02 3.82537015e+02] [ 6.91037933e-02 9.97607757e-01 -1.85179372e-03 2.04416159e+01] [ 3.65726501e-02 -6.78377258e-04 9.99330767e-01 1.39261518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.739254154 meters Centerline goodness : 0.998810 with order 1 Centerline is valid? [True, True] Translation: X:382.60, Y:20.44, Z:13.93 [[ 9.97325413e-01 -6.33041975e-02 -3.65321744e-02 3.82597897e+02] [ 6.32789134e-02 9.97994168e-01 -1.84909641e-03 2.04448727e+01] [ 3.65759526e-02 -4.67565462e-04 9.99330767e-01 1.39272877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.799254154 meters Centerline goodness : 0.999043 with order 1 Centerline is valid? [True, True] Translation: X:382.66, Y:20.45, Z:13.93 [[ 9.97583951e-01 -5.90902421e-02 -3.65322413e-02 3.82658471e+02] [ 5.90621813e-02 9.98252596e-01 -1.84777412e-03 2.04483923e+01] [ 3.65775901e-02 -3.14364059e-04 9.99330767e-01 1.39310636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.859254154 meters Centerline goodness : 0.999128 with order 1 Centerline is valid? [True, True] Translation: X:382.72, Y:20.45, Z:13.93 [[ 9.97895700e-01 -5.35683343e-02 -3.65322413e-02 3.82717061e+02] [ 5.35365735e-02 9.98564180e-01 -1.84777412e-03 2.04520969e+01] [ 3.65787698e-02 -1.11925177e-04 9.99330767e-01 1.39339938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.919254154 meters Centerline goodness : 0.999212 with order 1 Centerline is valid? [True, True] Translation: X:382.78, Y:20.46, Z:13.94 [[ 9.98088036e-01 -4.98565670e-02 -3.65321075e-02 3.82775614e+02] [ 4.98222234e-02 9.98756388e-01 -1.85041583e-03 2.04552144e+01] [ 3.65789311e-02 2.67670811e-05 9.99330767e-01 1.39368890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.979254154 meters Centerline goodness : 0.998913 with order 1 Centerline is valid? [True, True] Translation: X:382.83, Y:20.46, Z:13.94 [[ 9.98151862e-01 -4.85623348e-02 -3.65316283e-02 3.82833761e+02] [ 4.85267802e-02 9.98820150e-01 -1.85982813e-03 2.04582325e+01] [ 3.65788441e-02 8.36286187e-05 9.99330767e-01 1.39387221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.039254154 meters Centerline goodness : 0.999019 with order 1 Centerline is valid? [True, True] Translation: X:382.89, Y:20.46, Z:13.94 [[ 9.98198202e-01 -4.76005097e-02 -3.65313721e-02 3.82891472e+02] [ 4.75641274e-02 9.98866446e-01 -1.86484836e-03 2.04603541e+01] [ 3.65787295e-02 1.23905446e-04 9.99330767e-01 1.39423316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.099254154 meters Centerline goodness : 0.998935 with order 1 Centerline is valid? [True, True] Translation: X:382.95, Y:20.46, Z:13.94 [[ 9.98169692e-01 -4.81950640e-02 -3.65308264e-02 3.82949206e+02] [ 4.81586908e-02 9.98837936e-01 -1.87547659e-03 2.04602187e+01] [ 3.65787640e-02 1.12767115e-04 9.99330767e-01 1.39433278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.159254154 meters Centerline goodness : 0.999172 with order 1 Centerline is valid? [True, True] Translation: X:383.01, Y:20.46, Z:13.95 [[ 9.98098664e-01 -4.96444154e-02 -3.65306590e-02 3.83008470e+02] [ 4.96088934e-02 9.98766954e-01 -1.87873150e-03 2.04593561e+01] [ 3.65788835e-02 6.29138326e-05 9.99330767e-01 1.39458601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.219254154 meters Centerline goodness : 0.998768 with order 1 Centerline is valid? [True, True] Translation: X:383.07, Y:20.46, Z:13.95 [[ 9.98011644e-01 -5.13644271e-02 -3.65301755e-02 3.83067170e+02] [ 5.13297145e-02 9.98679977e-01 -1.88808650e-03 2.04597494e+01] [ 3.65789353e-02 9.24883141e-06 9.99330767e-01 1.39480809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.279254154 meters Centerline goodness : 0.999005 with order 1 Centerline is valid? [True, True] Translation: X:383.13, Y:20.46, Z:13.95 [[ 9.97833370e-01 -5.47188167e-02 -3.65296790e-02 3.83125406e+02] [ 5.46860009e-02 9.98501798e-01 -1.89764379e-03 2.04573428e+01] [ 3.65787870e-02 -1.04129762e-04 9.99330767e-01 1.39485463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.339254154 meters Centerline goodness : 0.999070 with order 1 Centerline is valid? [True, True] Translation: X:383.18, Y:20.46, Z:13.95 [[ 9.97672331e-01 -5.75807654e-02 -3.65291074e-02 3.83183436e+02] [ 5.75494665e-02 9.98340832e-01 -1.90858362e-03 2.04573917e+01] [ 3.65783972e-02 -1.98089579e-04 9.99330767e-01 1.39498890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.399254154 meters Centerline goodness : 0.998818 with order 1 Centerline is valid? [True, True] Translation: X:383.24, Y:20.46, Z:13.95 [[ 9.97355487e-01 -6.28304905e-02 -3.65289318e-02 3.83242320e+02] [ 6.28025873e-02 9.98024138e-01 -1.91193846e-03 2.04566198e+01] [ 3.65768837e-02 -3.87229120e-04 9.99330767e-01 1.39523274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.459254154 meters Centerline goodness : 0.998989 with order 1 Centerline is valid? [True, True] Translation: X:383.30, Y:20.46, Z:13.95 [[ 9.96871879e-01 -7.00865958e-02 -3.65284309e-02 3.83302006e+02] [ 7.00632103e-02 9.97540703e-01 -1.92146141e-03 2.04550899e+01] [ 3.65732653e-02 -6.43848288e-04 9.99330767e-01 1.39531699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.519254154 meters Centerline goodness : 0.999179 with order 1 Centerline is valid? [True, True] Translation: X:383.36, Y:20.45, Z:13.95 [[ 9.96300616e-01 -7.77866410e-02 -3.65283597e-02 3.83361534e+02] [ 7.77683742e-02 9.96969600e-01 -1.92281337e-03 2.04539445e+01] [ 3.65672334e-02 -9.25051008e-04 9.99330767e-01 1.39539753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.579254154 meters Centerline goodness : 0.999057 with order 1 Centerline is valid? [True, True] Translation: X:383.42, Y:20.46, Z:13.96 [[ 9.95926207e-01 -8.24419272e-02 -3.65283247e-02 3.83422354e+02] [ 8.24267626e-02 9.96595268e-01 -1.92347970e-03 2.04555287e+01] [ 3.65625309e-02 -1.09526770e-03 9.99330767e-01 1.39566425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.639254154 meters Centerline goodness : 0.998764 with order 1 Centerline is valid? [True, True] Translation: X:383.48, Y:20.46, Z:13.96 [[ 9.95483241e-01 -8.76287251e-02 -3.65283957e-02 3.83483553e+02] [ 8.76170955e-02 9.96152373e-01 -1.92212883e-03 2.04569738e+01] [ 3.65562818e-02 -1.28706490e-03 9.99330767e-01 1.39588310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.699254154 meters Centerline goodness : 0.998973 with order 1 Centerline is valid? [True, True] Translation: X:383.54, Y:20.46, Z:13.96 [[ 9.95331518e-01 -8.93355496e-02 -3.65284675e-02 3.83544437e+02] [ 8.93251174e-02 9.96000670e-01 -1.92076328e-03 2.04602192e+01] [ 3.65539706e-02 -1.35111343e-03 9.99330767e-01 1.39604693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.759254154 meters Centerline goodness : 0.998971 with order 1 Centerline is valid? [True, True] Translation: X:383.61, Y:20.46, Z:13.96 [[ 9.95454134e-01 -8.79586840e-02 -3.65285740e-02 3.83606334e+02] [ 8.79474005e-02 9.96123272e-01 -1.91873661e-03 2.04646765e+01] [ 3.65557322e-02 -1.30257883e-03 9.99330767e-01 1.39632420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.819254154 meters Centerline goodness : 0.999076 with order 1 Centerline is valid? [True, True] Translation: X:383.67, Y:20.47, Z:13.96 [[ 9.95796403e-01 -8.39950972e-02 -3.65287182e-02 3.83667228e+02] [ 8.39812507e-02 9.96465493e-01 -1.91598801e-03 2.04705877e+01] [ 3.65605408e-02 -1.15979347e-03 9.99330767e-01 1.39643020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.879254154 meters Centerline goodness : 0.998989 with order 1 Centerline is valid? [True, True] Translation: X:383.73, Y:20.48, Z:13.97 [[ 9.96066208e-01 -8.07326113e-02 -3.65288245e-02 3.83728081e+02] [ 8.07166474e-02 9.96735251e-01 -1.91395847e-03 2.04754324e+01] [ 3.65640859e-02 -1.04205489e-03 9.99330767e-01 1.39665851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.93925415399997 meters Centerline goodness : 0.999093 with order 1 Centerline is valid? [True, True] Translation: X:383.79, Y:20.48, Z:13.97 [[ 9.96334965e-01 -7.73451875e-02 -3.65288940e-02 3.83789149e+02] [ 7.73269974e-02 9.97003951e-01 -1.91263066e-03 2.04807173e+01] [ 3.65673844e-02 -9.19048895e-04 9.99330767e-01 1.39683574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.99925415399997 meters Centerline goodness : 0.999011 with order 1 Centerline is valid? [True, True] Translation: X:383.85, Y:20.49, Z:13.97 [[ 9.96653378e-01 -7.31278227e-02 -3.65289626e-02 3.83850619e+02] [ 7.31068495e-02 9.97322283e-01 -1.91131922e-03 2.04877471e+01] [ 3.65709190e-02 -7.65594621e-04 9.99330767e-01 1.39704625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.059254154 meters Centerline goodness : 0.998796 with order 1 Centerline is valid? [True, True] Translation: X:383.91, Y:20.49, Z:13.97 [[ 9.96832934e-01 -7.06380354e-02 -3.65290322e-02 3.83911782e+02] [ 7.06154402e-02 9.97501785e-01 -1.90998912e-03 2.04931354e+01] [ 3.65726927e-02 -6.75573628e-04 9.99330767e-01 1.39731349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.119254154 meters Centerline goodness : 0.999093 with order 1 Centerline is valid? [True, True] Translation: X:383.97, Y:20.50, Z:13.98 [[ 9.96883201e-01 -6.99250157e-02 -3.65291032e-02 3.83972805e+02] [ 6.99019918e-02 9.97552038e-01 -1.90862996e-03 2.04988453e+01] [ 3.65731423e-02 -6.50775930e-04 9.99330767e-01 1.39761943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.179254154 meters Centerline goodness : 0.998775 with order 1 Centerline is valid? [True, True] Translation: X:384.03, Y:20.50, Z:13.98 [[ 9.96626709e-01 -7.34902925e-02 -3.65291736e-02 3.84032758e+02] [ 7.34697106e-02 9.97295625e-01 -1.90728111e-03 2.05033353e+01] [ 3.65705517e-02 -7.82940522e-04 9.99330767e-01 1.39790713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.239254154 meters Centerline goodness : 0.998945 with order 1 Centerline is valid? [True, True] Translation: X:384.09, Y:20.51, Z:13.98 [[ 9.96410453e-01 -7.63664101e-02 -3.65291736e-02 3.84093171e+02] [ 7.63477588e-02 9.97079426e-01 -1.90728111e-03 2.05066252e+01] [ 3.65681397e-02 -8.88485705e-04 9.99330767e-01 1.39816400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.299254154 meters Centerline goodness : 0.998904 with order 1 Centerline is valid? [True, True] Translation: X:384.15, Y:20.51, Z:13.99 [[ 9.96213443e-01 -7.88948204e-02 -3.65292079e-02 3.84154011e+02] [ 7.88778910e-02 9.96882462e-01 -1.90662493e-03 2.05114602e+01] [ 3.65657495e-02 -9.81941489e-04 9.99330767e-01 1.39858775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.359254154 meters Centerline goodness : 0.999197 with order 1 Centerline is valid? [True, True] Translation: X:384.22, Y:20.52, Z:13.99 [[ 9.96148247e-01 -7.97137542e-02 -3.65292787e-02 3.84216060e+02] [ 7.96974245e-02 9.96817280e-01 -1.90526695e-03 2.05163687e+01] [ 3.65648922e-02 -1.01336110e-03 9.99330767e-01 1.39926404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.419254154 meters Centerline goodness : 0.999091 with order 1 Centerline is valid? [True, True] Translation: X:384.28, Y:20.52, Z:13.99 [[ 9.96120952e-01 -8.00540419e-02 -3.65294228e-02 3.84277424e+02] [ 8.00380421e-02 9.96789994e-01 -1.90250119e-03 2.05201170e+01] [ 3.65644660e-02 -1.02862217e-03 9.99330767e-01 1.39918918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.479254154 meters Centerline goodness : 0.998838 with order 1 Centerline is valid? [True, True] Translation: X:384.34, Y:20.52, Z:13.99 [[ 9.96111770e-01 -8.01681700e-02 -3.65295289e-02 3.84339588e+02] [ 8.01523216e-02 9.96780815e-01 -1.90046096e-03 2.05239987e+01] [ 3.65642901e-02 -1.03485502e-03 9.99330767e-01 1.39948590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.539254154 meters Centerline goodness : 0.999217 with order 1 Centerline is valid? [True, True] Translation: X:384.40, Y:20.53, Z:14.00 [[ 9.96275767e-01 -7.81036469e-02 -3.65296676e-02 3.84401197e+02] [ 7.80865098e-02 9.96944781e-01 -1.89779132e-03 2.05286701e+01] [ 3.65662859e-02 -9.61750744e-04 9.99330767e-01 1.39971302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.599254154 meters Centerline goodness : 0.999133 with order 1 Centerline is valid? [True, True] Translation: X:384.46, Y:20.53, Z:14.00 [[ 9.96677889e-01 -7.27925704e-02 -3.65298092e-02 3.84463088e+02] [ 7.27719678e-02 9.97346805e-01 -1.89506193e-03 2.05320202e+01] [ 3.65708349e-02 -7.69579776e-04 9.99330767e-01 1.39982158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.659254154 meters Centerline goodness : 0.999110 with order 1 Centerline is valid? [True, True] Translation: X:384.52, Y:20.54, Z:14.00 [[ 9.96842201e-01 -7.05066530e-02 -3.65299567e-02 3.84523643e+02] [ 7.04846207e-02 9.97511072e-01 -1.89221477e-03 2.05389614e+01] [ 3.65724499e-02 -6.88560600e-04 9.99330767e-01 1.40003702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.719254154 meters Centerline goodness : 0.999005 with order 1 Centerline is valid? [True, True] Translation: X:384.58, Y:20.54, Z:14.00 [[ 9.96827735e-01 -7.07108395e-02 -3.65300286e-02 3.84584780e+02] [ 7.06889951e-02 9.97496612e-01 -1.89082474e-03 2.05432217e+01] [ 3.65722816e-02 -6.97444469e-04 9.99330767e-01 1.40033428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.779254154 meters Centerline goodness : 0.999004 with order 1 Centerline is valid? [True, True] Translation: X:384.64, Y:20.55, Z:14.00 [[ 9.96802352e-01 -7.10677408e-02 -3.65300977e-02 3.84644822e+02] [ 7.10461849e-02 9.97471237e-01 -1.88948947e-03 2.05466317e+01] [ 3.65720035e-02 -7.11876522e-04 9.99330767e-01 1.40042243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.839254154 meters Centerline goodness : 0.999068 with order 1 Centerline is valid? [True, True] Translation: X:384.71, Y:20.55, Z:14.01 [[ 9.96818452e-01 -7.08414858e-02 -3.65302254e-02 3.84705623e+02] [ 7.08198686e-02 9.97487336e-01 -1.88701765e-03 2.05504449e+01] [ 3.65721163e-02 -7.06051752e-04 9.99330767e-01 1.40091414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.899254154 meters Centerline goodness : 0.999091 with order 1 Centerline is valid? [True, True] Translation: X:384.77, Y:20.55, Z:14.01 [[ 9.96900045e-01 -6.96838483e-02 -3.65302941e-02 3.84766144e+02] [ 6.96615031e-02 9.97568904e-01 -1.88568622e-03 2.05538609e+01] [ 3.65728873e-02 -6.64914515e-04 9.99330767e-01 1.40119073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.959254154 meters Centerline goodness : 0.999050 with order 1 Centerline is valid? [True, True] Translation: X:384.83, Y:20.56, Z:14.02 [[ 9.96895631e-01 -6.97469442e-02 -3.65303279e-02 3.84826843e+02] [ 6.97246652e-02 9.97564493e-01 -1.88503182e-03 2.05563480e+01] [ 3.65728332e-02 -6.67884895e-04 9.99330767e-01 1.40177816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.019254154 meters Centerline goodness : 0.999283 with order 1 Centerline is valid? [True, True] Translation: X:384.89, Y:20.56, Z:14.02 [[ 9.96771285e-01 -7.15019996e-02 -3.65303970e-02 3.84888065e+02] [ 7.14809475e-02 9.97440187e-01 -1.88369035e-03 2.05572482e+01] [ 3.65715737e-02 -7.33618943e-04 9.99330767e-01 1.40207173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.079254154 meters Centerline goodness : 0.999031 with order 1 Centerline is valid? [True, True] Translation: X:384.95, Y:20.56, Z:14.02 [[ 9.96585532e-01 -7.40459465e-02 -3.65304669e-02 3.84948563e+02] [ 7.40266515e-02 9.97254487e-01 -1.88233439e-03 2.05577273e+01] [ 3.65695513e-02 -8.28320918e-04 9.99330767e-01 1.40221162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.139254154 meters Centerline goodness : 0.999262 with order 1 Centerline is valid? [True, True] Translation: X:385.01, Y:20.56, Z:14.02 [[ 9.96533592e-01 -7.47416995e-02 -3.65305013e-02 3.85009367e+02] [ 7.47228960e-02 9.97202561e-01 -1.88166757e-03 2.05597091e+01] [ 3.65689484e-02 -8.54519903e-04 9.99330767e-01 1.40242845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.199254154 meters Centerline goodness : 0.999029 with order 1 Centerline is valid? [True, True] Translation: X:385.07, Y:20.56, Z:14.03 [[ 9.96569126e-01 -7.42663825e-02 -3.65305683e-02 3.85070702e+02] [ 7.42473076e-02 9.97238087e-01 -1.88036568e-03 2.05621420e+01] [ 3.65693220e-02 -8.38381960e-04 9.99330767e-01 1.40269179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.259254154 meters Centerline goodness : 0.998929 with order 1 Centerline is valid? [True, True] Translation: X:385.13, Y:20.56, Z:14.03 [[ 9.96609850e-01 -7.37178387e-02 -3.65306360e-02 3.85132410e+02] [ 7.36984438e-02 9.97278802e-01 -1.87904890e-03 2.05634233e+01] [ 3.65697483e-02 -8.19572382e-04 9.99330767e-01 1.40286616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.319254154 meters Centerline goodness : 0.999303 with order 1 Centerline is valid? [True, True] Translation: X:385.19, Y:20.57, Z:14.03 [[ 9.96773186e-01 -7.14753380e-02 -3.65307030e-02 3.85193560e+02] [ 7.14544857e-02 9.97442094e-01 -1.87774591e-03 2.05659815e+01] [ 3.65714734e-02 -7.38595823e-04 9.99330767e-01 1.40343518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.379254154 meters Centerline goodness : 0.998860 with order 1 Centerline is valid? [True, True] Translation: X:385.26, Y:20.57, Z:14.04 [[ 9.97083289e-01 -6.70105785e-02 -3.65307720e-02 3.85255039e+02] [ 6.69867800e-02 9.97752099e-01 -1.87640268e-03 2.05689569e+01] [ 3.65743932e-02 -5.76149031e-04 9.99330767e-01 1.40376424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.43925415399997 meters Centerline goodness : 0.999092 with order 1 Centerline is valid? [True, True] Translation: X:385.31, Y:20.57, Z:14.04 [[ 9.97640883e-01 -5.81219918e-02 -3.65308403e-02 3.85314243e+02] [ 5.80922826e-02 9.98309456e-01 -1.87507124e-03 2.05715647e+01] [ 3.65780662e-02 -2.51512174e-04 9.99330767e-01 1.40408923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.49925415399997 meters Centerline goodness : 0.999025 with order 1 Centerline is valid? [True, True] Translation: X:385.37, Y:20.57, Z:14.04 [[ 9.97955147e-01 -5.24502175e-02 -3.65308067e-02 3.85373705e+02] [ 5.24166844e-02 9.98623539e-01 -1.87572576e-03 2.05727419e+01] [ 3.65789057e-02 -4.29335875e-05 9.99330767e-01 1.40445071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.559254154 meters Centerline goodness : 0.999156 with order 1 Centerline is valid? [True, True] Translation: X:385.43, Y:20.57, Z:14.04 [[ 9.97951938e-01 -5.25112864e-02 -3.65307376e-02 3.85431748e+02] [ 5.24777451e-02 9.98620330e-01 -1.87707021e-03 2.05719845e+01] [ 3.65789046e-02 -4.38248842e-05 9.99330767e-01 1.40441196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.619254154 meters Centerline goodness : 0.999176 with order 1 Centerline is valid? [True, True] Translation: X:385.49, Y:20.57, Z:14.05 [[ 9.97707110e-01 -5.69740308e-02 -3.65305678e-02 3.85490668e+02] [ 5.69433583e-02 9.98375640e-01 -1.88036967e-03 2.05703838e+01] [ 3.65783612e-02 -2.04115019e-04 9.99330767e-01 1.40450891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.679254154 meters Centerline goodness : 0.998925 with order 1 Centerline is valid? [True, True] Translation: X:385.55, Y:20.57, Z:14.05 [[ 9.97463208e-01 -6.10958339e-02 -3.65300918e-02 3.85549483e+02] [ 6.10675869e-02 9.98131845e-01 -1.88957255e-03 2.05712132e+01] [ 3.65772929e-02 -3.46025459e-04 9.99330767e-01 1.40468172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.739254154 meters Centerline goodness : 0.999180 with order 1 Centerline is valid? [True, True] Translation: X:385.61, Y:20.57, Z:14.05 [[ 9.97026967e-01 -6.78440485e-02 -3.65296147e-02 3.85608414e+02] [ 6.78199905e-02 9.97695767e-01 -1.89875008e-03 2.05710887e+01] [ 3.65742609e-02 -5.84333091e-04 9.99330767e-01 1.40478572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.799254154 meters Centerline goodness : 0.999115 with order 1 Centerline is valid? [True, True] Translation: X:385.67, Y:20.57, Z:14.05 [[ 9.96869850e-01 -7.01148765e-02 -3.65295140e-02 3.85667613e+02] [ 7.00922710e-02 9.97538701e-01 -1.90068529e-03 2.05728409e+01] [ 3.65728703e-02 -6.65700740e-04 9.99330767e-01 1.40494756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.859254154 meters Centerline goodness : 0.999157 with order 1 Centerline is valid? [True, True] Translation: X:385.73, Y:20.57, Z:14.05 [[ 9.96269125e-01 -7.81884297e-02 -3.65294476e-02 3.85727785e+02] [ 7.81711967e-02 9.96938136e-01 -1.90196207e-03 2.05729790e+01] [ 3.65663108e-02 -9.60684539e-04 9.99330767e-01 1.40515649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.919254154 meters Centerline goodness : 0.999074 with order 1 Centerline is valid? [True, True] Translation: X:385.79, Y:20.57, Z:14.06 [[ 9.95635907e-01 -8.58763067e-02 -3.65294476e-02 3.85788842e+02] [ 8.58642383e-02 9.96305031e-01 -1.90196207e-03 2.05745796e+01] [ 3.65578059e-02 -1.24291146e-03 9.99330767e-01 1.40566413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.979254154 meters Centerline goodness : 0.999159 with order 1 Centerline is valid? [True, True] Translation: X:385.85, Y:20.58, Z:14.06 [[ 9.95206739e-01 -9.07146150e-02 -3.65295178e-02 3.85849999e+02] [ 9.07058485e-02 9.95875914e-01 -1.90061248e-03 2.05767466e+01] [ 3.65512802e-02 -1.42193856e-03 9.99330767e-01 1.40581162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.039254154 meters Centerline goodness : 0.999094 with order 1 Centerline is valid? [True, True] Translation: X:385.91, Y:20.58, Z:14.06 [[ 9.94428596e-01 -9.88804619e-02 -3.65297412e-02 3.85912468e+02] [ 9.88773462e-02 9.95097822e-01 -1.89630929e-03 2.05782867e+01] [ 3.65381738e-02 -1.72621968e-03 9.99330767e-01 1.40592917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.099254154 meters Centerline goodness : 0.999264 with order 1 Centerline is valid? [True, True] Translation: X:385.97, Y:20.58, Z:14.06 [[ 9.93611651e-01 -1.06777591e-01 -3.65298810e-02 3.85974526e+02] [ 1.06779891e-01 9.94280880e-01 -1.89361215e-03 2.05819157e+01] [ 3.65231576e-02 -2.01914162e-03 9.99330767e-01 1.40599627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.159254154 meters Centerline goodness : 0.999494 with order 1 Centerline is valid? [True, True] Translation: X:386.04, Y:20.59, Z:14.06 [[ 9.93228635e-01 -1.10283434e-01 -3.65300221e-02 3.86036996e+02] [ 1.10288196e-01 9.93897851e-01 -1.89088574e-03 2.05857828e+01] [ 3.65156438e-02 -2.15074837e-03 9.99330767e-01 1.40619977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.219254154 meters Centerline goodness : 0.999600 with order 1 Centerline is valid? [True, True] Translation: X:386.10, Y:20.59, Z:14.06 [[ 9.93016810e-01 -1.12174695e-01 -3.65301649e-02 3.86098674e+02] [ 1.12180832e-01 9.93686015e-01 -1.88812360e-03 2.05908373e+01] [ 3.65113136e-02 -2.22304581e-03 9.99330767e-01 1.40631123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.279254154 meters Centerline goodness : 0.999493 with order 1 Centerline is valid? [True, True] Translation: X:386.16, Y:20.60, Z:14.06 [[ 9.93184354e-01 -1.10681415e-01 -3.65303055e-02 3.86160975e+02] [ 1.10686646e-01 9.93853567e-01 -1.88539837e-03 2.05980557e+01] [ 3.65144530e-02 -2.17086884e-03 9.99330767e-01 1.40643606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.339254154 meters Centerline goodness : 0.999449 with order 1 Centerline is valid? [True, True] Translation: X:386.22, Y:20.61, Z:14.07 [[ 9.93456881e-01 -1.08207915e-01 -3.65304442e-02 3.86221337e+02] [ 1.08211578e-01 9.94126104e-01 -1.88270760e-03 2.06072021e+01] [ 3.65195920e-02 -2.08262818e-03 9.99330767e-01 1.40658755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.399254154 meters Centerline goodness : 0.999448 with order 1 Centerline is valid? [True, True] Translation: X:386.28, Y:20.61, Z:14.07 [[ 9.93690445e-01 -1.06041586e-01 -3.65305466e-02 3.86283363e+02] [ 1.06043863e-01 9.94359674e-01 -1.88071820e-03 2.06145010e+01] [ 3.65239368e-02 -2.00498858e-03 9.99330767e-01 1.40690473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.459254154 meters Centerline goodness : 0.999110 with order 1 Centerline is valid? [True, True] Translation: X:386.34, Y:20.62, Z:14.07 [[ 9.93960262e-01 -1.03481911e-01 -3.65306861e-02 3.86344879e+02] [ 1.03482563e-01 9.94629495e-01 -1.87800571e-03 2.06237500e+01] [ 3.65288374e-02 -1.91362598e-03 9.99330767e-01 1.40730501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.519254154 meters Centerline goodness : 0.999278 with order 1 Centerline is valid? [True, True] Translation: X:386.41, Y:20.63, Z:14.08 [[ 9.94182293e-01 -1.01326537e-01 -3.65308262e-02 3.86406744e+02] [ 1.01325839e-01 9.94851525e-01 -1.87527536e-03 2.06333689e+01] [ 3.65327634e-02 -1.83715105e-03 9.99330767e-01 1.40762338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.579254154 meters Centerline goodness : 0.999448 with order 1 Centerline is valid? [True, True] Translation: X:386.47, Y:20.64, Z:14.08 [[ 9.94276501e-01 -1.00397833e-01 -3.65309988e-02 3.86469110e+02] [ 1.00396633e-01 9.94945733e-01 -1.87190734e-03 2.06404995e+01] [ 3.65342968e-02 -1.80639580e-03 9.99330767e-01 1.40782880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.639254154 meters Centerline goodness : 0.999638 with order 1 Centerline is valid? [True, True] Translation: X:386.53, Y:20.65, Z:14.08 [[ 9.94150364e-01 -1.01639219e-01 -3.65311328e-02 3.86531427e+02] [ 1.01638950e-01 9.94819596e-01 -1.86928902e-03 2.06494066e+01] [ 3.65318799e-02 -1.85463162e-03 9.99330767e-01 1.40795765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.699254154 meters Centerline goodness : 0.999617 with order 1 Centerline is valid? [True, True] Translation: X:386.59, Y:20.66, Z:14.08 [[ 9.93658197e-01 -1.06343075e-01 -3.65313430e-02 3.86594163e+02] [ 1.06346124e-01 9.94327422e-01 -1.86517099e-03 2.06578433e+01] [ 3.65224642e-02 -2.03162431e-03 9.99330767e-01 1.40802941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.759254154 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:386.66, Y:20.67, Z:14.08 [[ 9.93415726e-01 -1.08584722e-01 -3.65315515e-02 3.86655787e+02] [ 1.08589432e-01 9.94084942e-01 -1.86107820e-03 2.06662364e+01] [ 3.65175500e-02 -2.11811608e-03 9.99330767e-01 1.40837586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.819254154 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:386.72, Y:20.67, Z:14.08 [[ 9.93335526e-01 -1.09315907e-01 -3.65316924e-02 3.86716935e+02] [ 1.09321211e-01 9.94004738e-01 -1.85830826e-03 2.06725813e+01] [ 3.65158180e-02 -2.14776524e-03 9.99330767e-01 1.40848049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.879254154 meters Centerline goodness : 0.999658 with order 1 Centerline is valid? [True, True] Translation: X:386.78, Y:20.68, Z:14.09 [[ 9.93633885e-01 -1.06569829e-01 -3.65318286e-02 3.86779849e+02] [ 1.06573382e-01 9.94303108e-01 -1.85562755e-03 2.06812421e+01] [ 3.65214647e-02 -2.04950610e-03 9.99330767e-01 1.40882446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.93925415399997 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:386.84, Y:20.69, Z:14.09 [[ 9.94160451e-01 -1.01540177e-01 -3.65320298e-02 3.86842380e+02] [ 1.01540488e-01 9.94829684e-01 -1.85165749e-03 2.06887452e+01] [ 3.65311653e-02 -1.86863549e-03 9.99330767e-01 1.40912818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.99925415399997 meters Centerline goodness : 0.999700 with order 1 Centerline is valid? [True, True] Translation: X:386.90, Y:20.69, Z:14.09 [[ 9.94519210e-01 -9.79639624e-02 -3.65322304e-02 3.86904802e+02] [ 9.79620118e-02 9.95188440e-01 -1.84769288e-03 2.06945991e+01] [ 3.65374606e-02 -1.74120471e-03 9.99330767e-01 1.40935642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.059254154 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:386.97, Y:20.70, Z:14.10 [[ 9.94866857e-01 -9.43679981e-02 -3.65324310e-02 3.86967072e+02] [ 9.43637739e-02 9.95536076e-01 -1.84371728e-03 2.07017137e+01] [ 3.65433409e-02 -1.61308484e-03 9.99330767e-01 1.40962920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.119254154 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:387.03, Y:20.71, Z:14.10 [[ 9.94963558e-01 -9.33428310e-02 -3.65326333e-02 3.87030189e+02] [ 9.33380644e-02 9.95632774e-01 -1.83969932e-03 2.07064565e+01] [ 3.65448098e-02 -1.57945151e-03 9.99330767e-01 1.40973072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.179254154 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:387.09, Y:20.71, Z:14.10 [[ 9.94952286e-01 -9.34628234e-02 -3.65328398e-02 3.87092571e+02] [ 9.34582881e-02 9.95621504e-01 -1.83559110e-03 2.07108364e+01] [ 3.65444404e-02 -1.58797110e-03 9.99330767e-01 1.40973260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.239254154 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:387.15, Y:20.72, Z:14.10 [[ 9.94989511e-01 -9.30656461e-02 -3.65329771e-02 3.87154281e+02] [ 9.30609440e-02 9.95658727e-01 -1.83285366e-03 2.07152255e+01] [ 3.65449532e-02 -1.57612317e-03 9.99330767e-01 1.40986315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.299254154 meters Centerline goodness : 0.999591 with order 1 Centerline is valid? [True, True] Translation: X:387.22, Y:20.72, Z:14.10 [[ 9.95243100e-01 -9.03133619e-02 -3.65331130e-02 3.87216781e+02] [ 9.03069084e-02 9.95912302e-01 -1.83013981e-03 2.07208765e+01] [ 3.65490628e-02 -1.47775848e-03 9.99330767e-01 1.40998624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.359254154 meters Centerline goodness : 0.999613 with order 1 Centerline is valid? [True, True] Translation: X:387.28, Y:20.73, Z:14.10 [[ 9.95664461e-01 -8.55429555e-02 -3.65333346e-02 3.87278938e+02] [ 8.55334576e-02 9.96333626e-01 -1.82570571e-03 2.07263174e+01] [ 3.65555660e-02 -1.30703214e-03 9.99330767e-01 1.41029012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.419254154 meters Centerline goodness : 0.999395 with order 1 Centerline is valid? [True, True] Translation: X:387.34, Y:20.73, Z:14.11 [[ 9.95951043e-01 -8.21389758e-02 -3.65336612e-02 3.87341268e+02] [ 8.21274308e-02 9.96620176e-01 -1.81914809e-03 2.07309501e+01] [ 3.65596068e-02 -1.18863329e-03 9.99330767e-01 1.41069394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.479254154 meters Centerline goodness : 0.999567 with order 1 Centerline is valid? [True, True] Translation: X:387.40, Y:20.74, Z:14.11 [[ 9.96180561e-01 -7.93067905e-02 -3.65338606e-02 3.87403644e+02] [ 7.92934900e-02 9.96849662e-01 -1.81513378e-03 2.07358928e+01] [ 3.65627190e-02 -1.08869633e-03 9.99330767e-01 1.41111926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.539254154 meters Centerline goodness : 0.999546 with order 1 Centerline is valid? [True, True] Translation: X:387.47, Y:20.74, Z:14.11 [[ 9.96323774e-01 -7.74867962e-02 -3.65339953e-02 3.87466999e+02] [ 7.74723730e-02 9.96992852e-01 -1.81241868e-03 2.07393899e+01] [ 3.65645707e-02 -1.02461949e-03 9.99330767e-01 1.41129697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.599254154 meters Centerline goodness : 0.999461 with order 1 Centerline is valid? [True, True] Translation: X:387.53, Y:20.73, Z:14.10 [[ 9.97054990e-01 -6.74284741e-02 -3.65341947e-02 3.87528567e+02] [ 6.74074472e-02 9.97723893e-01 -1.80839099e-03 2.07311260e+01] [ 3.65729760e-02 -6.59611537e-04 9.99330767e-01 1.40989097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.659254154 meters Centerline goodness : 0.999460 with order 1 Centerline is valid? [True, True] Translation: X:387.59, Y:20.74, Z:14.12 [[ 9.96191114e-01 -7.91739687e-02 -3.65341947e-02 3.87588025e+02] [ 7.91608261e-02 9.96860218e-01 -1.80839099e-03 2.07426348e+01] [ 3.65626627e-02 -1.09057400e-03 9.99330767e-01 1.41151990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.719254154 meters Centerline goodness : 0.999460 with order 1 Centerline is valid? [True, True] Translation: X:387.65, Y:20.74, Z:14.12 [[ 9.96189597e-01 -7.91930318e-02 -3.65342285e-02 3.87649840e+02] [ 7.91799271e-02 9.96858702e-01 -1.80770656e-03 2.07442658e+01] [ 3.65626214e-02 -1.09195908e-03 9.99330767e-01 1.41166600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.779254154 meters Centerline goodness : 0.999502 with order 1 Centerline is valid? [True, True] Translation: X:387.71, Y:20.75, Z:14.12 [[ 9.95970031e-01 -8.19080911e-02 -3.65343927e-02 3.87712357e+02] [ 8.18969321e-02 9.96639171e-01 -1.80438318e-03 2.07455114e+01] [ 3.65594004e-02 -1.19494310e-03 9.99330767e-01 1.41186222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.839254154 meters Centerline goodness : 0.999417 with order 1 Centerline is valid? [True, True] Translation: X:387.78, Y:20.75, Z:14.12 [[ 9.95898464e-01 -8.27736492e-02 -3.65345240e-02 3.87775041e+02] [ 8.27631693e-02 9.96567615e-01 -1.80172062e-03 2.07460873e+01] [ 3.65582584e-02 -1.22938219e-03 9.99330767e-01 1.41204505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.899254154 meters Centerline goodness : 0.999398 with order 1 Centerline is valid? [True, True] Translation: X:387.84, Y:20.75, Z:14.12 [[ 9.95939634e-01 -8.22767319e-02 -3.65347197e-02 3.87837113e+02] [ 8.22660639e-02 9.96608781e-01 -1.79774262e-03 2.07473707e+01] [ 3.65587349e-02 -1.21512445e-03 9.99330767e-01 1.41223646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.959254154 meters Centerline goodness : 0.999528 with order 1 Centerline is valid? [True, True] Translation: X:387.90, Y:20.75, Z:14.12 [[ 9.96024934e-01 -8.12375145e-02 -3.65348802e-02 3.87898772e+02] [ 8.12262680e-02 9.96694072e-01 -1.79447543e-03 2.07491937e+01] [ 3.65598772e-02 -1.18024969e-03 9.99330767e-01 1.41235920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.019254154 meters Centerline goodness : 0.999463 with order 1 Centerline is valid? [True, True] Translation: X:387.96, Y:20.75, Z:14.12 [[ 9.96262150e-01 -7.82746773e-02 -3.65349745e-02 3.87960583e+02] [ 7.82615110e-02 9.96931253e-01 -1.79255342e-03 2.07511742e+01] [ 3.65631694e-02 -1.07342919e-03 9.99330767e-01 1.41247119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.079254154 meters Centerline goodness : 0.999505 with order 1 Centerline is valid? [True, True] Translation: X:388.02, Y:20.75, Z:14.13 [[ 9.96539277e-01 -7.46636146e-02 -3.65351019e-02 3.88022228e+02] [ 7.46481188e-02 9.97208331e-01 -1.78995369e-03 2.07549364e+01] [ 3.65667523e-02 -9.43517468e-04 9.99330767e-01 1.41268395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.139254154 meters Centerline goodness : 0.999482 with order 1 Centerline is valid? [True, True] Translation: X:388.08, Y:20.76, Z:14.13 [[ 9.97120894e-01 -6.64462196e-02 -3.65352303e-02 3.88084451e+02] [ 6.64253051e-02 9.97789800e-01 -1.78732899e-03 2.07589064e+01] [ 3.65732413e-02 -6.44680735e-04 9.99330767e-01 1.41300818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.199254154 meters Centerline goodness : 0.999288 with order 1 Centerline is valid? [True, True] Translation: X:388.15, Y:20.76, Z:14.13 [[ 9.97505092e-01 -6.04049530e-02 -3.65353619e-02 3.88146932e+02] [ 6.03800858e-02 9.98173863e-01 -1.78463408e-03 2.07613683e+01] [ 3.65764441e-02 -4.25826703e-04 9.99330767e-01 1.41328724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.259254154 meters Centerline goodness : 0.999396 with order 1 Centerline is valid? [True, True] Translation: X:388.21, Y:20.76, Z:14.14 [[ 9.97731571e-01 -5.65408763e-02 -3.65354945e-02 3.88208232e+02] [ 5.65135184e-02 9.98400244e-01 -1.78191620e-03 2.07642611e+01] [ 3.65777977e-02 -2.86875293e-04 9.99330767e-01 1.41382162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.319254154 meters Centerline goodness : 0.999398 with order 1 Centerline is valid? [True, True] Translation: X:388.27, Y:20.77, Z:14.14 [[ 9.97663909e-01 -5.77224134e-02 -3.65355600e-02 3.88267775e+02] [ 5.76958967e-02 9.98332616e-01 -1.78057207e-03 2.07655604e+01] [ 3.65774201e-02 -3.31539401e-04 9.99330767e-01 1.41404565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.379254154 meters Centerline goodness : 0.999270 with order 1 Centerline is valid? [True, True] Translation: X:388.33, Y:20.76, Z:14.14 [[ 9.97190242e-01 -6.53970715e-02 -3.65355277e-02 3.88329699e+02] [ 6.53756766e-02 9.97859132e-01 -1.78123301e-03 2.07645271e+01] [ 3.65737974e-02 -6.12306670e-04 9.99330767e-01 1.41411269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.43925415399997 meters Centerline goodness : 0.999507 with order 1 Centerline is valid? [True, True] Translation: X:388.39, Y:20.76, Z:14.14 [[ 9.96446786e-01 -7.58877700e-02 -3.65355919e-02 3.88391608e+02] [ 7.58734638e-02 9.97115866e-01 -1.77991661e-03 2.07626923e+01] [ 3.65652922e-02 -9.98489720e-04 9.99330767e-01 1.41413009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.49925415399997 meters Centerline goodness : 0.999486 with order 1 Centerline is valid? [True, True] Translation: X:388.45, Y:20.76, Z:14.14 [[ 9.95881348e-01 -8.29788068e-02 -3.65357186e-02 3.88454227e+02] [ 8.29693591e-02 9.96550514e-01 -1.77731085e-03 2.07633448e+01] [ 3.65571683e-02 -1.26135444e-03 9.99330767e-01 1.41429225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.559254154 meters Centerline goodness : 0.999273 with order 1 Centerline is valid? [True, True] Translation: X:388.52, Y:20.76, Z:14.14 [[ 9.95121408e-01 -9.16434162e-02 -3.65358500e-02 3.88516917e+02] [ 9.16398922e-02 9.95790631e-01 -1.77460681e-03 2.07633715e+01] [ 3.65446881e-02 -1.58219212e-03 9.99330767e-01 1.41442496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.619254154 meters Centerline goodness : 0.999294 with order 1 Centerline is valid? [True, True] Translation: X:388.58, Y:20.76, Z:14.15 [[ 9.94686879e-01 -9.62451762e-02 -3.65359813e-02 3.88579658e+02] [ 9.62448467e-02 9.95356112e-01 -1.77189925e-03 2.07644169e+01] [ 3.65368490e-02 -1.75391499e-03 9.99330767e-01 1.41460542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.679254154 meters Centerline goodness : 0.999256 with order 1 Centerline is valid? [True, True] Translation: X:388.64, Y:20.76, Z:14.15 [[ 9.94116146e-01 -1.01971543e-01 -3.65361774e-02 3.88641968e+02] [ 1.01975215e-01 9.94785369e-01 -1.76784638e-03 2.07649491e+01] [ 3.65259247e-02 -1.96833993e-03 9.99330767e-01 1.41487238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.739254154 meters Centerline goodness : 0.999191 with order 1 Centerline is valid? [True, True] Translation: X:388.70, Y:20.77, Z:14.15 [[ 9.93784864e-01 -1.05151044e-01 -3.65363062e-02 3.88702751e+02] [ 1.05156955e-01 9.94454071e-01 -1.76518112e-03 2.07668434e+01] [ 3.65192890e-02 -2.08783642e-03 9.99330767e-01 1.41506247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.799254154 meters Centerline goodness : 0.998935 with order 1 Centerline is valid? [True, True] Translation: X:388.76, Y:20.77, Z:14.15 [[ 9.93483652e-01 -1.07959826e-01 -3.65364012e-02 3.88764677e+02] [ 1.07967701e-01 9.94152839e-01 -1.76321052e-03 2.07686668e+01] [ 3.65131229e-02 -2.19303042e-03 9.99330767e-01 1.41508704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.859254154 meters Centerline goodness : 0.999192 with order 1 Centerline is valid? [True, True] Translation: X:388.83, Y:20.76, Z:14.14 [[ 9.94113374e-01 -1.01998419e-01 -3.65365806e-02 3.88826571e+02] [ 1.02002416e-01 9.94782595e-01 -1.75948521e-03 2.07611815e+01] [ 3.65254192e-02 -1.97769172e-03 9.99330767e-01 1.41448023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.919254154 meters Centerline goodness : 0.999298 with order 1 Centerline is valid? [True, True] Translation: X:388.89, Y:20.77, Z:14.16 [[ 9.93627202e-01 -1.06630457e-01 -3.65366885e-02 3.88887795e+02] [ 1.06637656e-01 9.94296396e-01 -1.75724280e-03 2.07718561e+01] [ 3.65156733e-02 -2.15014257e-03 9.99330767e-01 1.41553168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.979254154 meters Centerline goodness : 0.999171 with order 1 Centerline is valid? [True, True] Translation: X:388.95, Y:20.78, Z:14.16 [[ 9.94051220e-01 -1.02602310e-01 -3.65368091e-02 3.88949662e+02] [ 1.02606888e-01 9.94720437e-01 -1.75473162e-03 2.07754821e+01] [ 3.65239502e-02 -2.00463517e-03 9.99330767e-01 1.41551580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.039254154 meters Centerline goodness : 0.999168 with order 1 Centerline is valid? [True, True] Translation: X:389.01, Y:20.78, Z:14.16 [[ 9.94528308e-01 -9.78698015e-02 -3.65369278e-02 3.89011858e+02] [ 9.78712851e-02 9.95197539e-01 -1.75225616e-03 2.07793607e+01] [ 3.65329536e-02 -1.83324773e-03 9.99330767e-01 1.41569277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.099254154 meters Centerline goodness : 0.999188 with order 1 Centerline is valid? [True, True] Translation: X:389.07, Y:20.78, Z:14.16 [[ 9.95550332e-01 -8.68595489e-02 -3.65370446e-02 3.89073818e+02] [ 8.68537168e-02 9.96219539e-01 -1.74981756e-03 2.07847368e+01] [ 3.65509061e-02 -1.43134667e-03 9.99330767e-01 1.41610167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.159254154 meters Centerline goodness : 0.999358 with order 1 Centerline is valid? [True, True] Translation: X:389.14, Y:20.79, Z:14.17 [[ 9.96675668e-01 -7.28192892e-02 -3.65371686e-02 3.89135714e+02] [ 7.28041207e-02 9.97344728e-01 -1.74722472e-03 2.07913003e+01] [ 3.65673842e-02 -9.18640064e-04 9.99330767e-01 1.41654618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.219254154 meters Centerline goodness : 0.999270 with order 1 Centerline is valid? [True, True] Translation: X:389.20, Y:20.80, Z:14.17 [[ 9.97303717e-01 -6.36421452e-02 -3.65372918e-02 3.89197665e+02] [ 6.36209133e-02 9.97972613e-01 -1.74464451e-03 2.07957203e+01] [ 3.65742495e-02 -5.84595421e-04 9.99330767e-01 1.41685973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.279254154 meters Centerline goodness : 0.999506 with order 1 Centerline is valid? [True, True] Translation: X:389.26, Y:20.80, Z:14.17 [[ 9.98002474e-01 -5.15371520e-02 -3.65374188e-02 3.89257775e+02] [ 5.15079035e-02 9.98671068e-01 -1.74198060e-03 2.07993754e+01] [ 3.65786398e-02 -1.43464894e-04 9.99330767e-01 1.41709945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.339254154 meters Centerline goodness : 0.999075 with order 1 Centerline is valid? [True, True] Translation: X:389.32, Y:20.80, Z:14.17 [[ 9.98441805e-01 -4.21779348e-02 -3.65374188e-02 3.89316417e+02] [ 4.21424191e-02 9.99110095e-01 -1.74198060e-03 2.08023360e+01] [ 3.65783771e-02 1.99491039e-04 9.99330767e-01 1.41726413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.399254154 meters Centerline goodness : 0.997285 with order 1 Centerline is valid? [True, True] Translation: X:389.37, Y:20.81, Z:14.17 [[ 9.98657975e-01 -3.67055661e-02 -3.65369854e-02 3.89373994e+02] [ 3.66660577e-02 9.99326040e-01 -1.75102370e-03 2.08060422e+01] [ 3.65766333e-02 4.09006562e-04 9.99330767e-01 1.41720677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.459254154 meters Centerline goodness : 0.999504 with order 1 Centerline is valid? [True, True] Translation: X:389.43, Y:20.80, Z:14.18 [[ 9.98812348e-01 -3.22332210e-02 -3.65364498e-02 3.89431725e+02] [ 3.21903152e-02 9.99480204e-01 -1.76212951e-03 2.08043983e+01] [ 3.65742574e-02 5.83916877e-04 9.99330767e-01 1.41764201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.519254154 meters Centerline goodness : 0.999141 with order 1 Centerline is valid? [True, True] Translation: X:389.49, Y:20.81, Z:14.18 [[ 9.98838717e-01 -3.14057202e-02 -3.65362713e-02 3.89490360e+02] [ 3.13621260e-02 9.99506528e-01 -1.76582376e-03 2.08055665e+01] [ 3.65736986e-02 6.17917991e-04 9.99330767e-01 1.41768181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.579254154 meters Centerline goodness : 0.999252 with order 1 Centerline is valid? [True, True] Translation: X:389.55, Y:20.80, Z:14.18 [[ 9.98749451e-01 -3.41272805e-02 -3.65357739e-02 3.89548864e+02] [ 3.40851320e-02 9.99417355e-01 -1.77605408e-03 2.08002074e+01] [ 3.65750985e-02 5.28506364e-04 9.99330767e-01 1.41789250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.639254154 meters Centerline goodness : 0.999211 with order 1 Centerline is valid? [True, True] Translation: X:389.61, Y:20.80, Z:14.18 [[ 9.98673534e-01 -3.62811528e-02 -3.65355963e-02 3.89607100e+02] [ 3.62403114e-02 9.99341519e-01 -1.77970147e-03 2.08007233e+01] [ 3.65761079e-02 4.53279372e-04 9.99330767e-01 1.41809726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.699254154 meters Centerline goodness : 0.998959 with order 1 Centerline is valid? [True, True] Translation: X:389.67, Y:20.78, Z:14.17 [[ 9.98680980e-01 -3.60760947e-02 -3.65351253e-02 3.89667257e+02] [ 3.60347644e-02 9.99348935e-01 -1.78931868e-03 2.07836427e+01] [ 3.65758902e-02 4.70423904e-04 9.99330768e-01 1.41736023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.759254154 meters Centerline goodness : 0.998813 with order 1 Centerline is valid? [True, True] Translation: X:389.72, Y:20.79, Z:14.19 [[ 9.97814947e-01 -5.50504446e-02 -3.65346489e-02 3.89724395e+02] [ 5.50214627e-02 9.98483551e-01 -1.79899227e-03 2.07900018e+01] [ 3.65782813e-02 -2.15128450e-04 9.99330768e-01 1.41860548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.819254154 meters Centerline goodness : 0.998973 with order 1 Centerline is valid? [True, True] Translation: X:389.78, Y:20.78, Z:14.19 [[ 9.97019738e-01 -6.79475982e-02 -3.65344406e-02 3.89783098e+02] [ 6.79271092e-02 9.97688657e-01 -1.80321335e-03 2.07818854e+01] [ 3.65725210e-02 -6.83839637e-04 9.99330768e-01 1.41884981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.879254154 meters Centerline goodness : 0.998991 with order 1 Centerline is valid? [True, True] Translation: X:389.84, Y:20.78, Z:14.19 [[ 9.96559049e-01 -7.43998250e-02 -3.65339171e-02 3.89843799e+02] [ 7.43832799e-02 9.97228077e-01 -1.81375733e-03 2.07780321e+01] [ 3.65675912e-02 -9.09996309e-04 9.99330768e-01 1.41905425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.93925415399997 meters Centerline goodness : 0.999244 with order 1 Centerline is valid? [True, True] Translation: X:389.90, Y:20.77, Z:14.19 [[ 9.96035386e-01 -8.11096940e-02 -3.65339171e-02 3.89903274e+02] [ 8.10976551e-02 9.96704510e-01 -1.81375733e-03 2.07714630e+01] [ 3.65606333e-02 -1.15624853e-03 9.99330768e-01 1.41911674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.99925415399997 meters Centerline goodness : 0.999015 with order 1 Centerline is valid? [True, True] Translation: X:389.96, Y:20.77, Z:14.19 [[ 9.95634891e-01 -8.58862016e-02 -3.65338850e-02 3.89963794e+02] [ 8.58773485e-02 9.96304065e-01 -1.81440476e-03 2.07681560e+01] [ 3.65546904e-02 -1.33094849e-03 9.99330768e-01 1.41927518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.059254154 meters Centerline goodness : 0.999078 with order 1 Centerline is valid? [True, True] Translation: X:390.02, Y:20.77, Z:14.19 [[ 9.95417504e-01 -8.83700599e-02 -3.65338850e-02 3.90024184e+02] [ 8.83628765e-02 9.96086698e-01 -1.81440476e-03 2.07685680e+01] [ 3.65512559e-02 -1.42214891e-03 9.99330768e-01 1.41943810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.119254154 meters Centerline goodness : 0.998932 with order 1 Centerline is valid? [True, True] Translation: X:390.08, Y:20.77, Z:14.19 [[ 9.95237454e-01 -9.03752436e-02 -3.65338850e-02 3.90084501e+02] [ 9.03694083e-02 9.95906661e-01 -1.81440476e-03 2.07693837e+01] [ 3.65483167e-02 -1.49578200e-03 9.99330768e-01 1.41947694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.179254154 meters Centerline goodness : 0.999519 with order 1 Centerline is valid? [True, True] Translation: X:390.14, Y:20.77, Z:14.20 [[ 9.95212746e-01 -9.06469111e-02 -3.65339157e-02 3.90144793e+02] [ 9.06412812e-02 9.95881955e-01 -1.81378640e-03 2.07714749e+01] [ 3.65478815e-02 -1.50637758e-03 9.99330768e-01 1.41959640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.239254154 meters Centerline goodness : 0.999143 with order 1 Centerline is valid? [True, True] Translation: X:390.20, Y:20.77, Z:14.20 [[ 9.95226822e-01 -9.04922469e-02 -3.65339157e-02 3.90204948e+02] [ 9.04865129e-02 9.95896029e-01 -1.81378640e-03 2.07747048e+01] [ 3.65481152e-02 -1.50069776e-03 9.99330768e-01 1.41975106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.299254154 meters Centerline goodness : 0.998972 with order 1 Centerline is valid? [True, True] Translation: X:390.27, Y:20.78, Z:14.20 [[ 9.95390058e-01 -8.86786657e-02 -3.65339157e-02 3.90265667e+02] [ 8.86717123e-02 9.96059254e-01 -1.81378640e-03 2.07788592e+01] [ 3.65507890e-02 -1.43409991e-03 9.99330768e-01 1.42021892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.359254154 meters Centerline goodness : 0.999016 with order 1 Centerline is valid? [True, True] Translation: X:390.33, Y:20.78, Z:14.21 [[ 9.95620655e-01 -8.60510277e-02 -3.65339810e-02 3.90326647e+02] [ 8.60423563e-02 9.96289831e-01 -1.81247006e-03 2.07838122e+01] [ 3.65543987e-02 -1.33893718e-03 9.99330768e-01 1.42053868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.419254154 meters Centerline goodness : 0.999245 with order 1 Centerline is valid? [True, True] Translation: X:390.39, Y:20.79, Z:14.21 [[ 9.96126620e-01 -7.99813738e-02 -3.65340461e-02 3.90387535e+02] [ 7.99686722e-02 9.96795732e-01 -1.81115677e-03 2.07908344e+01] [ 3.65618400e-02 -1.11743768e-03 9.99330768e-01 1.42102500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.479254154 meters Centerline goodness : 0.999056 with order 1 Centerline is valid? [True, True] Translation: X:390.45, Y:20.80, Z:14.21 [[ 9.96473593e-01 -7.55356665e-02 -3.65341132e-02 3.90448156e+02] [ 7.55200290e-02 9.97142643e-01 -1.80980187e-03 2.07964859e+01] [ 3.65664268e-02 -9.55637521e-04 9.99330768e-01 1.42119500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.539254154 meters Centerline goodness : 0.999370 with order 1 Centerline is valid? [True, True] Translation: X:390.51, Y:20.80, Z:14.22 [[ 9.96861832e-01 -7.02263448e-02 -3.65342183e-02 3.90508518e+02] [ 7.02072213e-02 9.97530791e-01 -1.80767761e-03 2.08020560e+01] [ 3.65709543e-02 -7.62961136e-04 9.99330768e-01 1.42154826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.599254154 meters Centerline goodness : 0.999097 with order 1 Centerline is valid? [True, True] Translation: X:390.57, Y:20.81, Z:14.22 [[ 9.97053918e-01 -6.74443137e-02 -3.65342183e-02 3.90567949e+02] [ 6.74233234e-02 9.97722821e-01 -1.80767761e-03 2.08070083e+01] [ 3.65729409e-02 -6.60906375e-04 9.99330768e-01 1.42177893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.659254154 meters Centerline goodness : 0.999115 with order 1 Centerline is valid? [True, True] Translation: X:390.63, Y:20.81, Z:14.22 [[ 9.97340111e-01 -6.30710589e-02 -3.65341529e-02 3.90627703e+02] [ 6.30470870e-02 9.98008914e-01 -1.80899876e-03 2.08133502e+01] [ 3.65755057e-02 -4.99184890e-04 9.99330768e-01 1.42199212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.719254154 meters Centerline goodness : 0.999263 with order 1 Centerline is valid? [True, True] Translation: X:390.69, Y:20.82, Z:14.22 [[ 9.97557892e-01 -5.95274048e-02 -3.65340859e-02 3.90687041e+02] [ 5.95010074e-02 9.98226604e-01 -1.81035152e-03 2.08185434e+01] [ 3.65770620e-02 -3.67884471e-04 9.99330768e-01 1.42218569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.779254154 meters Centerline goodness : 0.999178 with order 1 Centerline is valid? [True, True] Translation: X:390.75, Y:20.82, Z:14.22 [[ 9.97943302e-01 -5.26728697e-02 -3.65340188e-02 3.90745839e+02] [ 5.26418295e-02 9.98611814e-01 -1.81170368e-03 2.08238491e+01] [ 3.65787304e-02 -1.15240035e-04 9.99330768e-01 1.42248861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.839254154 meters Centerline goodness : 0.999053 with order 1 Centerline is valid? [True, True] Translation: X:390.80, Y:20.83, Z:14.23 [[ 9.98201922e-01 -4.75207593e-02 -3.65335457e-02 3.90804032e+02] [ 4.74859213e-02 9.98870247e-01 -1.82119428e-03 2.08276869e+01] [ 3.65788164e-02 8.30905521e-05 9.99330768e-01 1.42278841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.899254154 meters Centerline goodness : 0.999430 with order 1 Centerline is valid? [True, True] Translation: X:390.86, Y:20.83, Z:14.23 [[ 9.98430682e-01 -4.24441600e-02 -3.65330778e-02 3.90862867e+02] [ 4.24055823e-02 9.99098802e-01 -1.83053258e-03 2.08316835e+01] [ 3.65778497e-02 2.78453451e-04 9.99330768e-01 1.42305232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.959254154 meters Centerline goodness : 0.999262 with order 1 Centerline is valid? [True, True] Translation: X:390.92, Y:20.83, Z:14.23 [[ 9.98512992e-01 -4.04619705e-02 -3.65326397e-02 3.90920394e+02] [ 4.04217481e-02 9.99181014e-01 -1.83923502e-03 2.08331952e+01] [ 3.65771391e-02 3.59786902e-04 9.99330768e-01 1.42334566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.019254154 meters Centerline goodness : 0.999114 with order 1 Centerline is valid? [True, True] Translation: X:390.98, Y:20.83, Z:14.24 [[ 9.98426622e-01 -4.25404302e-02 -3.65320819e-02 3.90978347e+02] [ 4.25011955e-02 9.99094703e-01 -1.85024866e-03 2.08339348e+01] [ 3.65777199e-02 2.94680368e-04 9.99330768e-01 1.42355708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.079254154 meters Centerline goodness : 0.999264 with order 1 Centerline is valid? [True, True] Translation: X:391.04, Y:20.83, Z:14.24 [[ 9.97985703e-01 -5.18650555e-02 -3.65315280e-02 3.91036186e+02] [ 5.18316651e-02 9.98654102e-01 -1.86112137e-03 2.08329685e+01] [ 3.65788874e-02 -3.61174042e-05 9.99330768e-01 1.42379989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.139254154 meters Centerline goodness : 0.999203 with order 1 Centerline is valid? [True, True] Translation: X:391.09, Y:20.83, Z:14.24 [[ 9.97482552e-01 -6.07786653e-02 -3.65309792e-02 3.91093749e+02] [ 6.07508553e-02 9.98151206e-01 -1.87183216e-03 2.08321948e+01] [ 3.65772084e-02 -3.52168305e-04 9.99330768e-01 1.42394870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.199254154 meters Centerline goodness : 0.999205 with order 1 Centerline is valid? [True, True] Translation: X:391.15, Y:20.83, Z:14.24 [[ 9.96623274e-01 -7.35362342e-02 -3.65304301e-02 3.91151390e+02] [ 7.35165914e-02 9.97292217e-01 -1.88248715e-03 2.08290691e+01] [ 3.65699446e-02 -8.09462199e-04 9.99330768e-01 1.42392011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.259254154 meters Centerline goodness : 0.999017 with order 1 Centerline is valid? [True, True] Translation: X:391.21, Y:20.83, Z:14.24 [[ 9.96097493e-01 -8.03450375e-02 -3.65302611e-02 3.91211539e+02] [ 8.03298465e-02 9.96766552e-01 -1.88576122e-03 2.08294702e+01] [ 3.65636539e-02 -1.05606824e-03 9.99330768e-01 1.42404510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.319254154 meters Centerline goodness : 0.999226 with order 1 Centerline is valid? [True, True] Translation: X:391.27, Y:20.83, Z:14.24 [[ 9.95491133e-01 -8.75382448e-02 -3.65302611e-02 3.91272394e+02] [ 8.75278871e-02 9.96160285e-01 -1.88576122e-03 2.08310477e+01] [ 3.65550715e-02 -1.32015799e-03 9.99330768e-01 1.42436656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.379254154 meters Centerline goodness : 0.999146 with order 1 Centerline is valid? [True, True] Translation: X:391.33, Y:20.83, Z:14.25 [[ 9.95147669e-01 -9.13600438e-02 -3.65302611e-02 3.91332499e+02] [ 9.13522556e-02 9.95816855e-01 -1.88576122e-03 2.08333708e+01] [ 3.65497329e-02 -1.46051086e-03 9.99330768e-01 1.42455691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.43925415399997 meters Centerline goodness : 0.999164 with order 1 Centerline is valid? [True, True] Translation: X:391.39, Y:20.84, Z:14.25 [[ 9.94575510e-01 -9.73914391e-02 -3.65302954e-02 3.91394190e+02] [ 9.73877323e-02 9.95244732e-01 -1.88509561e-03 2.08350678e+01] [ 3.65401762e-02 -1.68273270e-03 9.99330768e-01 1.42490653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.49925415399997 meters Centerline goodness : 0.999058 with order 1 Centerline is valid? [True, True] Translation: X:391.46, Y:20.84, Z:14.25 [[ 9.94357719e-01 -9.95904618e-02 -3.65303635e-02 3.91456407e+02] [ 9.95882833e-02 9.95026947e-01 -1.88377508e-03 2.08378882e+01] [ 3.65363021e-02 -1.76484990e-03 9.99330768e-01 1.42516687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.559254154 meters Centerline goodness : 0.999016 with order 1 Centerline is valid? [True, True] Translation: X:391.52, Y:20.84, Z:14.25 [[ 9.93936923e-01 -1.03705909e-01 -3.65304995e-02 3.91518020e+02] [ 1.03706598e-01 9.94606155e-01 -1.88113372e-03 2.08405385e+01] [ 3.65285443e-02 -1.91872555e-03 9.99330768e-01 1.42542019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.619254154 meters Centerline goodness : 0.998975 with order 1 Centerline is valid? [True, True] Translation: X:391.58, Y:20.84, Z:14.25 [[ 9.93345669e-01 -1.09224054e-01 -3.65306337e-02 3.91579657e+02] [ 1.09228555e-01 9.94014886e-01 -1.87852477e-03 2.08429231e+01] [ 3.65171738e-02 -2.12416388e-03 9.99330768e-01 1.42544450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.679254154 meters Centerline goodness : 0.998891 with order 1 Centerline is valid? [True, True] Translation: X:391.64, Y:20.85, Z:14.25 [[ 9.93095703e-01 -1.11473902e-01 -3.65307328e-02 3.91641780e+02] [ 1.11479990e-01 9.93764907e-01 -1.87659502e-03 2.08464153e+01] [ 3.65121517e-02 -2.20880728e-03 9.99330768e-01 1.42549704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.739254154 meters Centerline goodness : 0.999186 with order 1 Centerline is valid? [True, True] Translation: X:391.70, Y:20.85, Z:14.26 [[ 9.93163558e-01 -1.10867682e-01 -3.65308641e-02 3.91704233e+02] [ 1.10873454e-01 9.93832765e-01 -1.87403622e-03 2.08522688e+01] [ 3.65133397e-02 -2.18907860e-03 9.99330768e-01 1.42563720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.799254154 meters Centerline goodness : 0.998951 with order 1 Centerline is valid? [True, True] Translation: X:391.77, Y:20.86, Z:14.26 [[ 9.93450566e-01 -1.08265676e-01 -3.65310294e-02 3.91765681e+02] [ 1.08269814e-01 9.94119785e-01 -1.87080758e-03 2.08580990e+01] [ 3.65187634e-02 -2.09665293e-03 9.99330768e-01 1.42582099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.859254154 meters Centerline goodness : 0.998950 with order 1 Centerline is valid? [True, True] Translation: X:391.83, Y:20.87, Z:14.26 [[ 9.94237905e-01 -1.00779251e-01 -3.65312341e-02 3.91827442e+02] [ 1.00778495e-01 9.94907136e-01 -1.86680165e-03 2.08653537e+01] [ 3.65333204e-02 -1.82551782e-03 9.99330768e-01 1.42638381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.919254154 meters Centerline goodness : 0.998972 with order 1 Centerline is valid? [True, True] Translation: X:391.89, Y:20.86, Z:14.26 [[ 9.95510038e-01 -8.73225286e-02 -3.65313683e-02 3.91890281e+02] [ 8.73128171e-02 9.96179199e-01 -1.86417252e-03 2.08647491e+01] [ 3.65545735e-02 -1.33385422e-03 9.99330768e-01 1.42579508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.979254154 meters Centerline goodness : 0.998887 with order 1 Centerline is valid? [True, True] Translation: X:391.95, Y:20.88, Z:14.27 [[ 9.95887140e-01 -8.29111173e-02 -3.65315101e-02 3.91951101e+02] [ 8.28985432e-02 9.96556254e-01 -1.86139052e-03 2.08809718e+01] [ 3.65600348e-02 -1.17467408e-03 9.99330768e-01 1.42699786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.039254154 meters Centerline goodness : 0.998864 with order 1 Centerline is valid? [True, True] Translation: X:392.01, Y:20.89, Z:14.27 [[ 9.96473379e-01 -7.55396876e-02 -3.65316482e-02 3.92011451e+02] [ 7.55222621e-02 9.97142384e-01 -1.85867560e-03 2.08872146e+01] [ 3.65676585e-02 -9.06831956e-04 9.99330768e-01 1.42702792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.099254154 meters Centerline goodness : 0.998840 with order 1 Centerline is valid? [True, True] Translation: X:392.07, Y:20.90, Z:14.27 [[ 9.97030942e-01 -6.77844933e-02 -3.65316823e-02 3.92072111e+02] [ 6.77618878e-02 9.97699792e-01 -1.85800407e-03 2.08953226e+01] [ 3.65735957e-02 -6.22968211e-04 9.99330768e-01 1.42732733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.159254154 meters Centerline goodness : 0.998775 with order 1 Centerline is valid? [True, True] Translation: X:392.13, Y:20.90, Z:14.28 [[ 9.97282959e-01 -6.39697711e-02 -3.65317506e-02 3.92131424e+02] [ 6.39446562e-02 9.97951719e-01 -1.85666125e-03 2.09015485e+01] [ 3.65756935e-02 -4.84393611e-04 9.99330768e-01 1.42754144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.219254154 meters Centerline goodness : 0.998817 with order 1 Centerline is valid? [True, True] Translation: X:392.19, Y:20.91, Z:14.28 [[ 9.97482897e-01 -6.07725527e-02 -3.65317170e-02 3.92190102e+02] [ 6.07452701e-02 9.98151573e-01 -1.85732086e-03 2.09128890e+01] [ 3.65770650e-02 -3.66483225e-04 9.99330768e-01 1.42831286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.279254154 meters Centerline goodness : 0.998898 with order 1 Centerline is valid? [True, True] Translation: X:392.25, Y:20.91, Z:14.28 [[ 9.97940570e-01 -5.27262364e-02 -3.65316803e-02 3.92248915e+02] [ 5.26935356e-02 9.98609002e-01 -1.85804292e-03 2.09148126e+01] [ 3.65788324e-02 -7.07669844e-05 9.99330768e-01 1.42795746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.339254154 meters Centerline goodness : 0.999067 with order 1 Centerline is valid? [True, True] Translation: X:392.31, Y:20.92, Z:14.28 [[ 9.98044449e-01 -5.07220071e-02 -3.65315699e-02 3.92306834e+02] [ 5.06878846e-02 9.98712811e-01 -1.86021096e-03 2.09198579e+01] [ 3.65789005e-02 4.86521912e-06 9.99330768e-01 1.42820087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.399254154 meters Centerline goodness : 0.998876 with order 1 Centerline is valid? [True, True] Translation: X:392.36, Y:20.92, Z:14.28 [[ 9.98069809e-01 -5.02209129e-02 -3.65310386e-02 3.92364911e+02] [ 5.01860750e-02 9.98738133e-01 -1.87058786e-03 2.09228977e+01] [ 3.65788839e-02 3.36278235e-05 9.99330768e-01 1.42843272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.459254154 meters Centerline goodness : 0.998691 with order 1 Centerline is valid? [True, True] Translation: X:392.42, Y:20.92, Z:14.29 [[ 9.97848634e-01 -5.44389852e-02 -3.65308049e-02 3.92422819e+02] [ 5.44068057e-02 9.98517092e-01 -1.87514045e-03 2.09244240e+01] [ 3.65787138e-02 -1.16418063e-04 9.99330768e-01 1.42863686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.519254154 meters Centerline goodness : 0.998969 with order 1 Centerline is valid? [True, True] Translation: X:392.48, Y:20.93, Z:14.29 [[ 9.97500348e-01 -6.04863121e-02 -3.65302869e-02 3.92479853e+02] [ 6.04578175e-02 9.98168973e-01 -1.88517704e-03 2.09251477e+01] [ 3.65774264e-02 -3.28076670e-04 9.99330768e-01 1.42877454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.579254154 meters Centerline goodness : 0.998695 with order 1 Centerline is valid? [True, True] Translation: X:392.54, Y:20.92, Z:14.29 [[ 9.96693349e-01 -7.25804566e-02 -3.65300637e-02 3.92538701e+02] [ 7.25599156e-02 9.97362265e-01 -1.88949324e-03 2.09229887e+01] [ 3.65708474e-02 -7.67372994e-04 9.99330768e-01 1.42891910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.639254154 meters Centerline goodness : 0.998822 with order 1 Centerline is valid? [True, True] Translation: X:392.60, Y:20.92, Z:14.29 [[ 9.96133455e-01 -7.98982495e-02 -3.65295756e-02 3.92599330e+02] [ 7.98822775e-02 9.96802496e-01 -1.89888300e-03 2.09227141e+01] [ 3.65644896e-02 -1.02652481e-03 9.99330768e-01 1.42907124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.699254154 meters Centerline goodness : 0.998969 with order 1 Centerline is valid? [True, True] Translation: X:392.66, Y:20.92, Z:14.29 [[ 9.95517119e-01 -8.72425083e-02 -3.65295756e-02 3.92659981e+02] [ 8.72314709e-02 9.96186260e-01 -1.89888300e-03 2.09235279e+01] [ 3.65559246e-02 -1.29615808e-03 9.99330768e-01 1.42913303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.759254154 meters Centerline goodness : 0.999033 with order 1 Centerline is valid? [True, True] Translation: X:392.72, Y:20.93, Z:14.30 [[ 9.95154799e-01 -9.12825627e-02 -3.65297051e-02 3.92720719e+02] [ 9.12743329e-02 9.95823980e-01 -1.89638919e-03 2.09256721e+01] [ 3.65502636e-02 -1.44702366e-03 9.99330768e-01 1.42954281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.819254154 meters Centerline goodness : 0.998820 with order 1 Centerline is valid? [True, True] Translation: X:392.78, Y:20.93, Z:14.30 [[ 9.94881225e-01 -9.42174239e-02 -3.65297832e-02 3.92782881e+02] [ 9.42112230e-02 9.95550428e-01 -1.89488305e-03 2.09277292e+01] [ 3.65457723e-02 -1.55633198e-03 9.99330768e-01 1.42975987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.879254154 meters Centerline goodness : 0.998797 with order 1 Centerline is valid? [True, True] Translation: X:392.84, Y:20.93, Z:14.30 [[ 9.94823631e-01 -9.48235591e-02 -3.65299248e-02 3.92843590e+02] [ 9.48178663e-02 9.95492839e-01 -1.89214856e-03 2.09311830e+01] [ 3.65446988e-02 -1.58133543e-03 9.99330768e-01 1.43002282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.93925415399997 meters Centerline goodness : 0.998776 with order 1 Centerline is valid? [True, True] Translation: X:392.91, Y:20.94, Z:14.30 [[ 9.94858634e-01 -9.44555731e-02 -3.65300295e-02 3.92905511e+02] [ 9.44497068e-02 9.95527840e-01 -1.89012641e-03 2.09355148e+01] [ 3.65451943e-02 -1.56984199e-03 9.99330768e-01 1.43029686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.99925415399997 meters Centerline goodness : 0.998882 with order 1 Centerline is valid? [True, True] Translation: X:392.97, Y:20.94, Z:14.30 [[ 9.94922114e-01 -9.37845082e-02 -3.65301691e-02 3.92967674e+02] [ 9.37782895e-02 9.95591317e-01 -1.88742397e-03 2.09399474e+01] [ 3.65461303e-02 -1.54789692e-03 9.99330768e-01 1.43046109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.059254154 meters Centerline goodness : 0.998884 with order 1 Centerline is valid? [True, True] Translation: X:393.03, Y:20.94, Z:14.31 [[ 9.94964295e-01 -9.33358933e-02 -3.65303088e-02 3.93029149e+02] [ 9.33294722e-02 9.95633496e-01 -1.88471535e-03 2.09445494e+01] [ 3.65467107e-02 -1.53412997e-03 9.99330768e-01 1.43057555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.119254154 meters Centerline goodness : 0.998905 with order 1 Centerline is valid? [True, True] Translation: X:393.09, Y:20.95, Z:14.31 [[ 9.95015216e-01 -9.27914321e-02 -3.65304119e-02 3.93090900e+02] [ 9.27847182e-02 9.95684414e-01 -1.88271487e-03 2.09489148e+01] [ 3.65474616e-02 -1.51613403e-03 9.99330768e-01 1.43076528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.179254154 meters Centerline goodness : 0.998987 with order 1 Centerline is valid? [True, True] Translation: X:393.15, Y:20.95, Z:14.31 [[ 9.95214290e-01 -9.06313221e-02 -3.65305495e-02 3.93153168e+02] [ 9.06232534e-02 9.95883473e-01 -1.88004144e-03 2.09545841e+01] [ 3.65505612e-02 -1.43947314e-03 9.99330768e-01 1.43089518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.239254154 meters Centerline goodness : 0.998988 with order 1 Centerline is valid? [True, True] Translation: X:393.21, Y:20.96, Z:14.31 [[ 9.95527119e-01 -8.71278657e-02 -3.65306888e-02 3.93214830e+02] [ 8.71175411e-02 9.96196271e-01 -1.87733161e-03 2.09604867e+01] [ 3.65553038e-02 -1.31352925e-03 9.99330768e-01 1.43109841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.299254154 meters Centerline goodness : 0.998837 with order 1 Centerline is valid? [True, True] Translation: X:393.28, Y:20.97, Z:14.31 [[ 9.96148945e-01 -7.97043100e-02 -3.65308283e-02 3.93276781e+02] [ 7.96890971e-02 9.96818004e-01 -1.87461258e-03 2.09690086e+01] [ 3.65640021e-02 -1.04371538e-03 9.99330768e-01 1.43138624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.359254154 meters Centerline goodness : 0.998943 with order 1 Centerline is valid? [True, True] Translation: X:393.34, Y:20.98, Z:14.32 [[ 9.96645393e-01 -7.32355733e-02 -3.65309651e-02 3.93337920e+02] [ 7.32161150e-02 9.97314342e-01 -1.87194285e-03 2.09761161e+01] [ 3.65699482e-02 -8.08992121e-04 9.99330768e-01 1.43166073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.419254154 meters Centerline goodness : 0.999048 with order 1 Centerline is valid? [True, True] Translation: X:393.40, Y:20.98, Z:14.32 [[ 9.96879655e-01 -6.99744669e-02 -3.65311835e-02 3.93399355e+02] [ 6.99529766e-02 9.97548542e-01 -1.86767143e-03 2.09809452e+01] [ 3.65723181e-02 -6.93621369e-04 9.99330768e-01 1.43203512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.479254154 meters Centerline goodness : 0.998853 with order 1 Centerline is valid? [True, True] Translation: X:393.46, Y:20.99, Z:14.32 [[ 9.97491033e-01 -6.06391565e-02 -3.65312527e-02 3.93459910e+02] [ 6.06114549e-02 9.98159691e-01 -1.86631678e-03 2.09888172e+01] [ 3.65771958e-02 -3.52578128e-04 9.99330768e-01 1.43244856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.539254154 meters Centerline goodness : 0.998808 with order 1 Centerline is valid? [True, True] Translation: X:393.52, Y:20.99, Z:14.33 [[ 9.97745849e-01 -5.62910622e-02 -3.65313218e-02 3.93518934e+02] [ 5.62604962e-02 9.98414382e-01 -1.86496271e-03 2.09946411e+01] [ 3.65783778e-02 -1.94511492e-04 9.99330768e-01 1.43267912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.599254154 meters Centerline goodness : 0.998934 with order 1 Centerline is valid? [True, True] Translation: X:393.58, Y:21.00, Z:14.33 [[ 9.97938730e-01 -5.27613123e-02 -3.65312879e-02 3.93578545e+02] [ 5.27283573e-02 9.98607150e-01 -1.86562781e-03 2.09994474e+01] [ 3.65788382e-02 -6.44525471e-05 9.99330768e-01 1.43280636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.659254154 meters Centerline goodness : 0.999168 with order 1 Centerline is valid? [True, True] Translation: X:393.64, Y:21.00, Z:14.33 [[ 9.97920764e-01 -5.31000865e-02 -3.65312179e-02 3.93636707e+02] [ 5.30673083e-02 9.98589192e-01 -1.86699654e-03 2.10030350e+01] [ 3.65788171e-02 -7.54987895e-05 9.99330768e-01 1.43305343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.719254154 meters Centerline goodness : 0.998761 with order 1 Centerline is valid? [True, True] Translation: X:393.69, Y:21.01, Z:14.33 [[ 9.97848474e-01 -5.44419720e-02 -3.65307242e-02 3.93694623e+02] [ 5.44097409e-02 9.98516929e-01 -1.87660668e-03 2.10065898e+01] [ 3.65787128e-02 -1.15058127e-04 9.99330768e-01 1.43325636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.779254154 meters Centerline goodness : 0.998912 with order 1 Centerline is valid? [True, True] Translation: X:393.75, Y:21.01, Z:14.33 [[ 9.97766380e-01 -5.59264688e-02 -3.65305508e-02 3.93753021e+02] [ 5.58951089e-02 9.98434876e-01 -1.87997584e-03 2.10098895e+01] [ 3.65785164e-02 -1.66102426e-04 9.99330768e-01 1.43349774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.839254154 meters Centerline goodness : 0.998978 with order 1 Centerline is valid? [True, True] Translation: X:393.81, Y:21.01, Z:14.34 [[ 9.97624772e-01 -5.83983712e-02 -3.65300624e-02 3.93812743e+02] [ 5.83683218e-02 9.98293328e-01 -1.88941867e-03 2.10115969e+01] [ 3.65780566e-02 -2.47267569e-04 9.99330768e-01 1.43355468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.899254154 meters Centerline goodness : 0.998892 with order 1 Centerline is valid? [True, True] Translation: X:393.87, Y:21.01, Z:14.34 [[ 9.97488138e-01 -6.06875145e-02 -3.65299927e-02 3.93872488e+02] [ 6.06589500e-02 9.98156760e-01 -1.89076615e-03 2.10140136e+01] [ 3.65774050e-02 -3.29854194e-04 9.99330768e-01 1.43389607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.959254154 meters Centerline goodness : 0.998913 with order 1 Centerline is valid? [True, True] Translation: X:393.93, Y:21.02, Z:14.34 [[ 9.97453844e-01 -6.12486194e-02 -3.65299224e-02 3.93932920e+02] [ 6.12203814e-02 9.98122480e-01 -1.89212332e-03 2.10159370e+01] [ 3.65772267e-02 -3.49070096e-04 9.99330768e-01 1.43414306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.019254154 meters Centerline goodness : 0.998935 with order 1 Centerline is valid? [True, True] Translation: X:393.99, Y:21.02, Z:14.34 [[ 9.97517377e-01 -6.02050387e-02 -3.65299224e-02 3.93992111e+02] [ 6.01761011e-02 9.98185983e-01 -1.89212332e-03 2.10178146e+01] [ 3.65775719e-02 -3.10802408e-04 9.99330768e-01 1.43432421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.079254154 meters Centerline goodness : 0.998896 with order 1 Centerline is valid? [True, True] Translation: X:394.05, Y:21.02, Z:14.35 [[ 9.97628871e-01 -5.83284324e-02 -3.65298528e-02 3.94052236e+02] [ 5.82981879e-02 9.98297419e-01 -1.89346657e-03 2.10181937e+01] [ 3.65781007e-02 -2.40647305e-04 9.99330768e-01 1.43450710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.139254154 meters Centerline goodness : 0.998832 with order 1 Centerline is valid? [True, True] Translation: X:394.11, Y:21.02, Z:14.35 [[ 9.97728406e-01 -5.66003745e-02 -3.65297840e-02 3.94111841e+02] [ 5.65689236e-02 9.98396898e-01 -1.89479306e-03 2.10188947e+01] [ 3.65784690e-02 -1.75961701e-04 9.99330768e-01 1.43472593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.199254154 meters Centerline goodness : 0.999004 with order 1 Centerline is valid? [True, True] Translation: X:394.17, Y:21.02, Z:14.35 [[ 9.97939467e-01 -5.27484555e-02 -3.65297135e-02 3.94171010e+02] [ 5.27143746e-02 9.98607831e-01 -1.89615022e-03 2.10185784e+01] [ 3.65788770e-02 -3.33978597e-05 9.99330768e-01 1.43494625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.259254154 meters Centerline goodness : 0.999152 with order 1 Centerline is valid? [True, True] Translation: X:394.23, Y:21.02, Z:14.35 [[ 9.98070127e-01 -5.02159100e-02 -3.65292245e-02 3.94228889e+02] [ 5.01797901e-02 9.98738383e-01 -1.90552457e-03 2.10198445e+01] [ 3.65788263e-02 6.88183347e-05 9.99330768e-01 1.43518818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.319254154 meters Centerline goodness : 0.999132 with order 1 Centerline is valid? [True, True] Translation: X:394.29, Y:21.02, Z:14.35 [[ 9.98247506e-01 -4.65572028e-02 -3.65286607e-02 3.94286793e+02] [ 4.65182404e-02 9.98915603e-01 -1.91627153e-03 2.10193180e+01] [ 3.65782654e-02 2.13664251e-04 9.99330768e-01 1.43531089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.379254154 meters Centerline goodness : 0.999134 with order 1 Centerline is valid? [True, True] Translation: X:394.35, Y:21.02, Z:14.36 [[ 9.98296961e-01 -4.54848871e-02 -3.65280962e-02 3.94345166e+02] [ 4.54448155e-02 9.98964992e-01 -1.92697324e-03 2.10194642e+01] [ 3.65779375e-02 2.63678944e-04 9.99330769e-01 1.43554185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.43925415399997 meters Centerline goodness : 0.999156 with order 1 Centerline is valid? [True, True] Translation: X:394.40, Y:21.02, Z:14.36 [[ 9.98283787e-01 -4.57735818e-02 -3.65275328e-02 3.94403303e+02] [ 4.57333148e-02 9.98951805e-01 -1.93759387e-03 2.10175316e+01] [ 3.65779355e-02 2.63743391e-04 9.99330769e-01 1.43585913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.49925415399997 meters Centerline goodness : 0.997280 with order 1 Centerline is valid? [True, True] Translation: X:394.46, Y:21.01, Z:14.36 [[ 9.98303977e-01 -4.53315496e-02 -3.65269651e-02 3.94461137e+02] [ 4.52905973e-02 9.98971955e-01 -1.94823846e-03 2.10134231e+01] [ 3.65777304e-02 2.90606139e-04 9.99330769e-01 1.43568191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.559254154 meters Centerline goodness : 0.999030 with order 1 Centerline is valid? [True, True] Translation: X:394.52, Y:21.01, Z:14.36 [[ 9.98220175e-01 -4.71410468e-02 -3.65267628e-02 3.94520277e+02] [ 4.71011670e-02 9.98888217e-01 -1.95202344e-03 2.10126616e+01] [ 3.65781734e-02 2.28096030e-04 9.99330769e-01 1.43623633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.619254154 meters Centerline goodness : 0.998971 with order 1 Centerline is valid? [True, True] Translation: X:394.58, Y:21.01, Z:14.36 [[ 9.98233478e-01 -4.68589701e-02 -3.65261516e-02 3.94578494e+02] [ 4.68184854e-02 9.98901484e-01 -1.96339418e-03 2.10074903e+01] [ 3.65780297e-02 2.49826705e-04 9.99330769e-01 1.43633287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.679254154 meters Centerline goodness : 0.999329 with order 1 Centerline is valid? [True, True] Translation: X:394.64, Y:21.00, Z:14.37 [[ 9.98210693e-01 -4.73423232e-02 -3.65255640e-02 3.94636158e+02] [ 4.73017642e-02 9.98878694e-01 -1.97426511e-03 2.10047918e+01] [ 3.65780740e-02 2.43008931e-04 9.99330769e-01 1.43654845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.739254154 meters Centerline goodness : 0.999120 with order 1 Centerline is valid? [True, True] Translation: X:394.69, Y:21.00, Z:14.37 [[ 9.98151622e-01 -4.85722634e-02 -3.65249802e-02 3.94694657e+02] [ 4.85321344e-02 9.98819649e-01 -1.98500822e-03 2.09989297e+01] [ 3.65782842e-02 2.08703927e-04 9.99330769e-01 1.43678907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.799254154 meters Centerline goodness : 0.999330 with order 1 Centerline is valid? [True, True] Translation: X:394.75, Y:20.99, Z:14.37 [[ 9.98031122e-01 -5.09887123e-02 -3.65243930e-02 3.94752820e+02] [ 5.09498075e-02 9.98699221e-01 -1.99575392e-03 2.09929062e+01] [ 3.65786438e-02 1.30913729e-04 9.99330769e-01 1.43694893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.859254154 meters Centerline goodness : 0.999248 with order 1 Centerline is valid? [True, True] Translation: X:394.81, Y:20.99, Z:14.37 [[ 9.97957378e-01 -5.24126201e-02 -3.65238010e-02 3.94811001e+02] [ 5.23742743e-02 9.98625510e-01 -2.00652970e-03 2.09902866e+01] [ 3.65787669e-02 8.95235482e-05 9.99330769e-01 1.43709206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.919254154 meters Centerline goodness : 0.999331 with order 1 Centerline is valid? [True, True] Translation: X:394.87, Y:20.98, Z:14.37 [[ 9.97893745e-01 -5.36109055e-02 -3.65232112e-02 3.94869138e+02] [ 5.35729711e-02 9.98561900e-01 -2.01720834e-03 2.09847189e+01] [ 3.65788315e-02 5.63026421e-05 9.99330769e-01 1.43731706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.979254154 meters Centerline goodness : 0.999164 with order 1 Centerline is valid? [True, True] Translation: X:394.93, Y:20.98, Z:14.38 [[ 9.97855724e-01 -5.43143895e-02 -3.65226074e-02 3.94927512e+02] [ 5.42765281e-02 9.98523883e-01 -2.02808122e-03 2.09829845e+01] [ 3.65788498e-02 4.14121208e-05 9.99330769e-01 1.43760712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.039254154 meters Centerline goodness : 0.999331 with order 1 Centerline is valid? [True, True] Translation: X:394.99, Y:20.98, Z:14.38 [[ 9.97875145e-01 -5.39568140e-02 -3.65220004e-02 3.94986037e+02] [ 5.39183153e-02 9.98543268e-01 -2.03895392e-03 2.09811518e+01] [ 3.65788131e-02 6.54167028e-05 9.99330769e-01 1.43786551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.099254154 meters Centerline goodness : 0.999394 with order 1 Centerline is valid? [True, True] Translation: X:395.04, Y:20.98, Z:14.38 [[ 9.97996545e-01 -5.16631858e-02 -3.65213919e-02 3.95042794e+02] [ 5.16227548e-02 9.98664553e-01 -2.04979564e-03 2.09767734e+01] [ 3.65785185e-02 1.60354099e-04 9.99330769e-01 1.43811944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.159254154 meters Centerline goodness : 0.999414 with order 1 Centerline is valid? [True, True] Translation: X:395.10, Y:20.97, Z:14.38 [[ 9.98059957e-01 -5.04236140e-02 -3.65209757e-02 3.95100774e+02] [ 5.03820830e-02 9.98727898e-01 -2.05718536e-03 2.09748376e+01] [ 3.65782480e-02 2.13191503e-04 9.99330769e-01 1.43829938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.219254154 meters Centerline goodness : 0.999435 with order 1 Centerline is valid? [True, True] Translation: X:395.16, Y:20.97, Z:14.38 [[ 9.98068412e-01 -5.02564203e-02 -3.65203704e-02 3.95158823e+02] [ 5.02143863e-02 9.98736321e-01 -2.06787535e-03 2.09689190e+01] [ 3.65781444e-02 2.30033078e-04 9.99330769e-01 1.43826091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.279254154 meters Centerline goodness : 0.999581 with order 1 Centerline is valid? [True, True] Translation: X:395.22, Y:20.97, Z:14.39 [[ 9.97902804e-01 -5.34443738e-02 -3.65197637e-02 3.95216601e+02] [ 5.34040834e-02 9.98570821e-01 -2.07853538e-03 2.09671617e+01] [ 3.65786564e-02 1.23871775e-04 9.99330769e-01 1.43860197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.339254154 meters Centerline goodness : 0.999583 with order 1 Centerline is valid? [True, True] Translation: X:395.27, Y:20.96, Z:14.39 [[ 9.97642870e-01 -5.80952381e-02 -3.65191477e-02 3.95274992e+02] [ 5.80576678e-02 9.98311045e-01 -2.08930296e-03 2.09647697e+01] [ 3.65788470e-02 -3.58383417e-05 9.99330769e-01 1.43872194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.399254154 meters Centerline goodness : 0.999604 with order 1 Centerline is valid? [True, True] Translation: X:395.33, Y:20.96, Z:14.39 [[ 9.97294684e-01 -6.37940368e-02 -3.65189583e-02 3.95332918e+02] [ 6.37601635e-02 9.97963057e-01 -2.09260768e-03 2.09621201e+01] [ 3.65780671e-02 -2.41508237e-04 9.99330769e-01 1.43889962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.459254154 meters Centerline goodness : 0.999520 with order 1 Centerline is valid? [True, True] Translation: X:395.39, Y:20.96, Z:14.39 [[ 9.96793814e-01 -7.11934042e-02 -3.65183670e-02 3.95391493e+02] [ 7.11641159e-02 9.97462404e-01 -2.10287590e-03 2.09564637e+01] [ 3.65754090e-02 -5.02663616e-04 9.99330769e-01 1.43899917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.519254154 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:395.45, Y:20.96, Z:14.39 [[ 9.96567990e-01 -7.42879163e-02 -3.65177655e-02 3.95449393e+02] [ 7.42603232e-02 9.97236651e-01 -2.11326945e-03 2.09562314e+01] [ 3.65738446e-02 -6.05804380e-04 9.99330770e-01 1.43942297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.579254154 meters Centerline goodness : 0.999771 with order 1 Centerline is valid? [True, True] Translation: X:395.51, Y:20.95, Z:14.40 [[ 9.96476735e-01 -7.55021989e-02 -3.65175804e-02 3.95507506e+02] [ 7.54753035e-02 9.97145425e-01 -2.11646370e-03 2.09528003e+01] [ 3.65731359e-02 -6.47168626e-04 9.99330770e-01 1.43958112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.639254154 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:395.57, Y:20.95, Z:14.40 [[ 9.96457509e-01 -7.57558263e-02 -3.65169612e-02 3.95565682e+02] [ 7.57287118e-02 9.97126189e-01 -2.12709330e-03 2.09533269e+01] [ 3.65731581e-02 -6.45824341e-04 9.99330770e-01 1.43994101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.699254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.62, Y:20.95, Z:14.40 [[ 9.96635431e-01 -7.33782979e-02 -3.65163328e-02 3.95623505e+02] [ 7.33491949e-02 9.97304029e-01 -2.13782708e-03 2.09527578e+01] [ 3.65747560e-02 -5.47809396e-04 9.99330770e-01 1.44013144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.759254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.68, Y:20.95, Z:14.40 [[ 9.96882997e-01 -6.99349151e-02 -3.65157114e-02 3.95681802e+02] [ 6.99031157e-02 9.97551472e-01 -2.14838957e-03 2.09543690e+01] [ 3.65765491e-02 -4.10868966e-04 9.99330770e-01 1.44038003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.819254154 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:395.74, Y:20.95, Z:14.40 [[ 9.97374672e-01 -6.25332955e-02 -3.65150869e-02 3.95739834e+02] [ 6.24961483e-02 9.98042870e-01 -2.15895187e-03 2.09540949e+01] [ 3.65786285e-02 -1.28768371e-04 9.99330770e-01 1.44048374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.879254154 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:395.80, Y:20.96, Z:14.41 [[ 9.97604005e-01 -5.87617511e-02 -3.65144504e-02 3.95798058e+02] [ 5.87216856e-02 9.98272035e-01 -2.16966457e-03 2.09559199e+01] [ 3.65788480e-02 2.02759918e-05 9.99330770e-01 1.44070559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.93925415399997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.86, Y:20.96, Z:14.41 [[ 9.97724516e-01 -5.66792043e-02 -3.65138120e-02 3.95855352e+02] [ 5.66373532e-02 9.98392436e-01 -2.18035537e-03 2.09557136e+01] [ 3.65786945e-02 1.07348342e-04 9.99330770e-01 1.44079391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.99925415399997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.91, Y:20.96, Z:14.41 [[ 9.97545879e-01 -5.97409508e-02 -3.65135371e-02 3.95912911e+02] [ 5.97009816e-02 9.98213914e-01 -2.18494973e-03 2.09557325e+01] [ 3.65788517e-02 -3.06404583e-07 9.99330770e-01 1.44089416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.059254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:395.97, Y:20.95, Z:14.41 [[ 9.96968899e-01 -6.87009477e-02 -3.65129300e-02 3.95970687e+02] [ 6.86666122e-02 9.97637248e-01 -2.19504774e-03 2.09534566e+01] [ 3.65774609e-02 -3.18824878e-04 9.99330770e-01 1.44112313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.119254154 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:396.03, Y:20.95, Z:14.41 [[ 9.96370783e-01 -7.68900713e-02 -3.65127431e-02 3.96029320e+02] [ 7.68611146e-02 9.97039386e-01 -2.19815288e-03 2.09513840e+01] [ 3.65736591e-02 -6.16234826e-04 9.99330770e-01 1.44117679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.179254154 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:396.09, Y:20.95, Z:14.41 [[ 9.95225003e-01 -9.05210498e-02 -3.65121021e-02 3.96087258e+02] [ 9.05008591e-02 9.95893928e-01 -2.20874893e-03 2.09485345e+01] [ 3.65621190e-02 -1.10617445e-03 9.99330770e-01 1.44145209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.239254154 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:396.15, Y:20.95, Z:14.43 [[ 9.94382142e-01 -9.93532526e-02 -3.65114561e-02 3.96146699e+02] [ 9.93386120e-02 9.95051212e-01 -2.21937693e-03 2.09488797e+01] [ 3.65512709e-02 -1.42008858e-03 9.99330770e-01 1.44267951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.299254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.21, Y:20.95, Z:14.42 [[ 9.93471642e-01 -1.08078754e-01 -3.65113694e-02 3.96205751e+02] [ 1.08069935e-01 9.94140814e-01 -2.22080148e-03 2.09492132e+01] [ 3.65374639e-02 -1.73947802e-03 9.99330770e-01 1.44221046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.359254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.26, Y:20.95, Z:14.42 [[ 9.92799794e-01 -1.14085477e-01 -3.65112846e-02 3.96262666e+02] [ 1.14080655e-01 9.93469006e-01 -2.22219488e-03 2.09514297e+01] [ 3.65263498e-02 -1.95903663e-03 9.99330770e-01 1.44246465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.419254154 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:396.32, Y:20.96, Z:14.43 [[ 9.92759485e-01 -1.14435797e-01 -3.65109907e-02 3.96320679e+02] [ 1.14431034e-01 9.93428698e-01 -2.22701377e-03 2.09553219e+01] [ 3.65259160e-02 -1.96710137e-03 9.99330770e-01 1.44261345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.479254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.38, Y:20.96, Z:14.43 [[ 9.92964470e-01 -1.12643494e-01 -3.65103229e-02 3.96377910e+02] [ 1.12637123e-01 9.93633670e-01 -2.23790828e-03 2.09623466e+01] [ 3.65299719e-02 -1.89025433e-03 9.99330770e-01 1.44293669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.539254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.44, Y:20.97, Z:14.43 [[ 9.93649921e-01 -1.06427817e-01 -3.65096602e-02 3.96435306e+02] [ 1.06416864e-01 9.94319061e-01 -2.24866751e-03 2.09704764e+01] [ 3.65415718e-02 -1.65085527e-03 9.99330770e-01 1.44315026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.599254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.49, Y:20.98, Z:14.43 [[ 9.94021447e-01 -1.02900226e-01 -3.65089825e-02 3.96492824e+02] [ 1.02886497e-01 9.94690536e-01 -2.25961696e-03 2.09780004e+01] [ 3.65476545e-02 -1.51017362e-03 9.99330770e-01 1.44327081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.659254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.55, Y:20.99, Z:14.45 [[ 9.93839444e-01 -1.04643693e-01 -3.65083008e-02 3.96551402e+02] [ 1.04630736e-01 9.94508549e-01 -2.27057902e-03 2.09935481e+01] [ 3.65454190e-02 -1.56329940e-03 9.99330770e-01 1.44489919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.719254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.61, Y:21.00, Z:14.44 [[ 9.94467544e-01 -9.84959276e-02 -3.65082935e-02 3.96611380e+02] [ 9.84788286e-02 9.95136556e-01 -2.27069645e-03 2.09955566e+01] [ 3.65543918e-02 -1.33716005e-03 9.99330770e-01 1.44350130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.779254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:396.67, Y:21.01, Z:14.44 [[ 9.94546520e-01 -9.76952611e-02 -3.65082968e-02 3.96668701e+02] [ 9.76776254e-02 9.95215517e-01 -2.27064322e-03 2.10056100e+01] [ 3.65554545e-02 -1.30778343e-03 9.99330770e-01 1.44360273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.839254154 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:396.73, Y:21.01, Z:14.44 [[ 9.94478384e-01 -9.83865011e-02 -3.65080906e-02 3.96726693e+02] [ 9.83692091e-02 9.95147390e-01 -2.27395294e-03 2.10137046e+01] [ 3.65546574e-02 -1.32987496e-03 9.99330770e-01 1.44385072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.899254154 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:396.78, Y:21.02, Z:14.44 [[ 9.94247115e-01 -1.00696964e-01 -3.65074734e-02 3.96784261e+02] [ 1.00680864e-01 9.94916151e-01 -2.28381890e-03 2.10239115e+01] [ 3.65518486e-02 -1.40492363e-03 9.99330770e-01 1.44417479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.959254154 meters Centerline goodness : 0.999665 with order 1 Centerline is valid? [True, True] Translation: X:396.84, Y:21.03, Z:14.44 [[ 9.94103190e-01 -1.02108285e-01 -3.65067974e-02 3.96841621e+02] [ 1.02092742e-01 9.94772239e-01 -2.29457452e-03 2.10311308e+01] [ 3.65502437e-02 -1.44603519e-03 9.99330770e-01 1.44446811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.019254154 meters Centerline goodness : 0.999539 with order 1 Centerline is valid? [True, True] Translation: X:396.90, Y:21.04, Z:14.45 [[ 9.94191165e-01 -1.01248365e-01 -3.65061010e-02 3.96897907e+02] [ 1.01231838e-01 9.94860191e-01 -2.30560201e-03 2.10423930e+01] [ 3.65519050e-02 -1.40337056e-03 9.99330770e-01 1.44478160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.079254154 meters Centerline goodness : 0.999623 with order 1 Centerline is valid? [True, True] Translation: X:396.96, Y:21.05, Z:14.45 [[ 9.94448169e-01 -9.86923465e-02 -3.65056062e-02 3.96955183e+02] [ 9.86738137e-02 9.95117142e-01 -2.31340938e-03 2.10510822e+01] [ 3.65556703e-02 -1.30158166e-03 9.99330770e-01 1.44505215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.139254154 meters Centerline goodness : 0.999581 with order 1 Centerline is valid? [True, True] Translation: X:397.01, Y:21.06, Z:14.45 [[ 9.94633158e-01 -9.68104887e-02 -3.65049216e-02 3.97012906e+02] [ 9.67902959e-02 9.95302083e-01 -2.32416168e-03 2.10593117e+01] [ 3.65584278e-02 -1.22163390e-03 9.99330771e-01 1.44526062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.199254154 meters Centerline goodness : 0.999708 with order 1 Centerline is valid? [True, True] Translation: X:397.07, Y:21.07, Z:14.45 [[ 9.94787127e-01 -9.52156071e-02 -3.65042382e-02 3.97070133e+02] [ 9.51939501e-02 9.95456006e-01 -2.33484694e-03 2.10699173e+01] [ 3.65606770e-02 -1.15230695e-03 9.99330771e-01 1.44543080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.259254154 meters Centerline goodness : 0.999582 with order 1 Centerline is valid? [True, True] Translation: X:397.13, Y:21.08, Z:14.46 [[ 9.94901855e-01 -9.40093344e-02 -3.65040282e-02 3.97128186e+02] [ 9.39867462e-02 9.95570703e-01 -2.33812592e-03 2.10758115e+01] [ 3.65621467e-02 -1.10468901e-03 9.99330771e-01 1.44637677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.319254154 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:397.19, Y:21.09, Z:14.46 [[ 9.94861398e-01 -9.44367478e-02 -3.65034083e-02 3.97186856e+02] [ 9.44140937e-02 9.95530244e-01 -2.34776340e-03 2.10857002e+01] [ 3.65619621e-02 -1.11073703e-03 9.99330771e-01 1.44589942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.379254154 meters Centerline goodness : 0.999645 with order 1 Centerline is valid? [True, True] Translation: X:397.24, Y:21.09, Z:14.46 [[ 9.94962781e-01 -9.33627846e-02 -3.65027950e-02 3.97243887e+02] [ 9.33390602e-02 9.95631590e-01 -2.35726169e-03 2.10930040e+01] [ 3.65634163e-02 -1.06174893e-03 9.99330771e-01 1.44603963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.43925415399997 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:397.30, Y:21.10, Z:14.46 [[ 9.95239885e-01 -9.03611218e-02 -3.65025786e-02 3.97302311e+02] [ 9.03352576e-02 9.95908615e-01 -2.36060653e-03 2.11025232e+01] [ 3.65665396e-02 -9.48100077e-04 9.99330771e-01 1.44627239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.49925415399997 meters Centerline goodness : 0.999477 with order 1 Centerline is valid? [True, True] Translation: X:397.36, Y:21.11, Z:14.47 [[ 9.95567957e-01 -8.66720718e-02 -3.65019790e-02 3.97359861e+02] [ 8.66433909e-02 9.96236572e-01 -2.36984249e-03 2.11110925e+01] [ 3.65700056e-02 -8.03315994e-04 9.99330771e-01 1.44666309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.559254154 meters Centerline goodness : 0.999561 with order 1 Centerline is valid? [True, True] Translation: X:397.42, Y:21.11, Z:14.47 [[ 9.96041109e-01 -8.10540966e-02 -3.65012757e-02 3.97418369e+02] [ 8.10212490e-02 9.96709531e-01 -2.38062680e-03 2.11127812e+01] [ 3.65741289e-02 -5.86176783e-04 9.99330771e-01 1.44681108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.619254154 meters Centerline goodness : 0.999373 with order 1 Centerline is valid? [True, True] Translation: X:397.48, Y:21.12, Z:14.47 [[ 9.95863794e-01 -8.32046015e-02 -3.65006635e-02 3.97476561e+02] [ 8.31728547e-02 9.96532270e-01 -2.38997640e-03 2.11234355e+01] [ 3.65729460e-02 -6.55773410e-04 9.99330771e-01 1.44727292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.679254154 meters Centerline goodness : 0.999518 with order 1 Centerline is valid? [True, True] Translation: X:397.53, Y:21.13, Z:14.47 [[ 9.95976384e-01 -8.18461286e-02 -3.65000403e-02 3.97534676e+02] [ 8.18131228e-02 9.96644799e-01 -2.39945607e-03 2.11280417e+01] [ 3.65739615e-02 -5.96380692e-04 9.99330771e-01 1.44742818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.739254154 meters Centerline goodness : 0.999415 with order 1 Centerline is valid? [True, True] Translation: X:397.59, Y:21.13, Z:14.48 [[ 9.96190598e-01 -7.91964993e-02 -3.64994096e-02 3.97593557e+02] [ 7.91613655e-02 9.96858904e-01 -2.40901222e-03 2.11327915e+01] [ 3.65755468e-02 -4.89507776e-04 9.99330771e-01 1.44757997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.799254154 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:397.65, Y:21.14, Z:14.48 [[ 9.96553453e-01 -7.44919731e-02 -3.64987832e-02 3.97650815e+02] [ 7.44533380e-02 9.97221566e-01 -2.41846479e-03 2.11379517e+01] [ 3.65775300e-02 -3.07326810e-04 9.99330771e-01 1.44780223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.859254154 meters Centerline goodness : 0.999561 with order 1 Centerline is valid? [True, True] Translation: X:397.71, Y:21.14, Z:14.48 [[ 9.96747784e-01 -7.18452966e-02 -3.64980684e-02 3.97708986e+02] [ 7.18044941e-02 9.97415768e-01 -2.42920550e-03 2.11418280e+01] [ 3.65782759e-02 -1.99420133e-04 9.99330771e-01 1.44809027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.919254154 meters Centerline goodness : 0.999624 with order 1 Centerline is valid? [True, True] Translation: X:397.77, Y:21.14, Z:14.48 [[ 9.96862900e-01 -7.02303518e-02 -3.64973459e-02 3.97767807e+02] [ 7.01880715e-02 9.97530792e-01 -2.44001227e-03 2.11445000e+01] [ 3.65785893e-02 -1.29320613e-04 9.99330771e-01 1.44836138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.979254154 meters Centerline goodness : 0.999624 with order 1 Centerline is valid? [True, True] Translation: X:397.83, Y:21.15, Z:14.49 [[ 9.96786894e-01 -7.13013122e-02 -3.64967164e-02 3.97826003e+02] [ 7.12594060e-02 9.97454810e-01 -2.44939141e-03 2.11474760e+01] [ 3.65784702e-02 -1.59213082e-04 9.99330771e-01 1.44853245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.039254154 meters Centerline goodness : 0.999416 with order 1 Centerline is valid? [True, True] Translation: X:397.88, Y:21.15, Z:14.49 [[ 9.96356808e-01 -7.70786467e-02 -3.64964954e-02 3.97884485e+02] [ 7.70404928e-02 9.97024948e-01 -2.45268046e-03 2.11478000e+01] [ 3.65769657e-02 -3.67963121e-04 9.99330771e-01 1.44863532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.099254154 meters Centerline goodness : 0.999541 with order 1 Centerline is valid? [True, True] Translation: X:397.94, Y:21.15, Z:14.49 [[ 9.95887778e-01 -8.29191858e-02 -3.64957837e-02 3.97942899e+02] [ 8.28845637e-02 9.96556111e-01 -2.46322529e-03 2.11495095e+01] [ 3.65743449e-02 -5.71841145e-04 9.99330771e-01 1.44881384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.159254154 meters Centerline goodness : 0.999477 with order 1 Centerline is valid? [True, True] Translation: X:398.00, Y:21.15, Z:14.49 [[ 9.95010052e-01 -9.28606814e-02 -3.64950779e-02 3.97999714e+02] [ 9.28323537e-02 9.95678681e-01 -2.47363808e-03 2.11501134e+01] [ 3.65670747e-02 -9.26629225e-04 9.99330771e-01 1.44897361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.219254154 meters Centerline goodness : 0.999479 with order 1 Centerline is valid? [True, True] Translation: X:398.06, Y:21.15, Z:14.49 [[ 9.94197889e-01 -1.01186467e-01 -3.64945957e-02 3.98057244e+02] [ 1.01163478e-01 9.94866723e-01 -2.48073266e-03 2.11520991e+01] [ 3.65582754e-02 -1.22558103e-03 9.99330771e-01 1.44914977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.279254154 meters Centerline goodness : 0.999459 with order 1 Centerline is valid? [True, True] Translation: X:398.12, Y:21.16, Z:14.49 [[ 9.93678461e-01 -1.06166265e-01 -3.64943821e-02 3.98116261e+02] [ 1.06146512e-01 9.94347398e-01 -2.48387040e-03 2.11553256e+01] [ 3.65517971e-02 -1.40558283e-03 9.99330771e-01 1.44936216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.339254154 meters Centerline goodness : 0.999438 with order 1 Centerline is valid? [True, True] Translation: X:398.17, Y:21.16, Z:14.50 [[ 9.93128860e-01 -1.11190242e-01 -3.64937893e-02 3.98173845e+02] [ 1.11173554e-01 9.93797881e-01 -2.49254943e-03 2.11595809e+01] [ 3.65445977e-02 -1.58172147e-03 9.99330771e-01 1.44950915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.399254154 meters Centerline goodness : 0.999498 with order 1 Centerline is valid? [True, True] Translation: X:398.23, Y:21.17, Z:14.50 [[ 9.92486642e-01 -1.16784063e-01 -3.64931173e-02 3.98233613e+02] [ 1.16770784e-01 9.93155739e-01 -2.50235029e-03 2.11662784e+01] [ 3.65355835e-02 -1.77778068e-03 9.99330771e-01 1.45047006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.459254154 meters Centerline goodness : 0.999457 with order 1 Centerline is valid? [True, True] Translation: X:398.29, Y:21.17, Z:14.50 [[ 9.91971628e-01 -1.21080724e-01 -3.64931173e-02 3.98293506e+02] [ 1.21070343e-01 9.92640776e-01 -2.50235029e-03 2.11746624e+01] [ 3.65275426e-02 -1.93597372e-03 9.99330771e-01 1.45010623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.519254154 meters Centerline goodness : 0.999540 with order 1 Centerline is valid? [True, True] Translation: X:398.35, Y:21.18, Z:14.51 [[ 9.91636763e-01 -1.23793290e-01 -3.64931649e-02 3.98354275e+02] [ 1.23784765e-01 9.92305938e-01 -2.50165571e-03 2.11823699e+01] [ 3.65220724e-02 -2.03656407e-03 9.99330771e-01 1.45098493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.579254154 meters Centerline goodness : 0.999374 with order 1 Centerline is valid? [True, True] Translation: X:398.41, Y:21.19, Z:14.51 [[ 9.91271697e-01 -1.26683322e-01 -3.64932596e-02 3.98414727e+02] [ 1.26676798e-01 9.91940894e-01 -2.50027310e-03 2.11914609e+01] [ 3.65158995e-02 -2.14439931e-03 9.99330771e-01 1.45069941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.639254154 meters Centerline goodness : 0.999227 with order 1 Centerline is valid? [True, True] Translation: X:398.48, Y:21.20, Z:14.51 [[ 9.91182388e-01 -1.27380185e-01 -3.64933057e-02 3.98475883e+02] [ 1.27374157e-01 9.91851590e-01 -2.49960003e-03 2.12002199e+01] [ 3.65143428e-02 -2.17074451e-03 9.99330771e-01 1.45126524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.699254154 meters Centerline goodness : 0.999310 with order 1 Centerline is valid? [True, True] Translation: X:398.54, Y:21.21, Z:14.52 [[ 9.90782431e-01 -1.30454588e-01 -3.64934972e-02 3.98536707e+02] [ 1.30450738e-01 9.91451648e-01 -2.49680184e-03 2.12123786e+01] [ 3.65072572e-02 -2.28681625e-03 9.99330771e-01 1.45186534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.759254154 meters Centerline goodness : 0.999226 with order 1 Centerline is valid? [True, True] Translation: X:398.60, Y:21.22, Z:14.51 [[ 9.91227245e-01 -1.27030561e-01 -3.64936385e-02 3.98596908e+02] [ 1.27024475e-01 9.91896446e-01 -2.49473407e-03 2.12203963e+01] [ 3.65148178e-02 -2.16273689e-03 9.99330771e-01 1.45105307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.819254154 meters Centerline goodness : 0.999288 with order 1 Centerline is valid? [True, True] Translation: X:398.66, Y:21.24, Z:14.52 [[ 9.91783196e-01 -1.22614447e-01 -3.64936848e-02 3.98656327e+02] [ 1.22605405e-01 9.92452364e-01 -2.49405718e-03 2.12361530e+01] [ 3.65240512e-02 -2.00075901e-03 9.99330771e-01 1.45237369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.879254154 meters Centerline goodness : 0.998934 with order 1 Centerline is valid? [True, True] Translation: X:398.72, Y:21.25, Z:14.52 [[ 9.93101920e-01 -1.11430623e-01 -3.64937325e-02 3.98715769e+02] [ 1.11414067e-01 9.93770944e-01 -2.49335848e-03 2.12484676e+01] [ 3.65442475e-02 -1.58975607e-03 9.99330771e-01 1.45168041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.93925415399997 meters Centerline goodness : 0.998932 with order 1 Centerline is valid? [True, True] Translation: X:398.78, Y:21.26, Z:14.52 [[ 9.93920621e-01 -1.03874895e-01 -3.64939211e-02 3.98777001e+02] [ 1.03853352e-01 9.94589502e-01 -2.49059458e-03 2.12601401e+01] [ 3.65551811e-02 -1.31456274e-03 9.99330771e-01 1.45211887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.99925415399997 meters Centerline goodness : 0.998994 with order 1 Centerline is valid? [True, True] Translation: X:398.84, Y:21.27, Z:14.52 [[ 9.94716699e-01 -9.59524315e-02 -3.64941083e-02 3.98838729e+02] [ 9.59256609e-02 9.95385392e-01 -2.48784859e-03 2.12711026e+01] [ 3.65644174e-02 -1.02601693e-03 9.99330771e-01 1.45237269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.059254154 meters Centerline goodness : 0.998888 with order 1 Centerline is valid? [True, True] Translation: X:398.90, Y:21.27, Z:14.51 [[ 9.96283253e-01 -7.80246466e-02 -3.64942934e-02 3.98900897e+02] [ 7.79859385e-02 9.96951362e-01 -2.48513109e-03 2.12728733e+01] [ 3.65769370e-02 -3.70147228e-04 9.99330771e-01 1.45133276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.119254154 meters Centerline goodness : 0.998845 with order 1 Centerline is valid? [True, True] Translation: X:398.96, Y:21.29, Z:14.53 [[ 9.95669792e-01 -8.54975102e-02 -3.64943869e-02 3.98960229e+02] [ 8.54638663e-02 9.96338175e-01 -2.48375701e-03 2.12897918e+01] [ 3.65731059e-02 -6.45949580e-04 9.99330771e-01 1.45282228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.179254154 meters Centerline goodness : 0.999013 with order 1 Centerline is valid? [True, True] Translation: X:399.02, Y:21.30, Z:14.53 [[ 9.95767602e-01 -8.43506954e-02 -3.64944332e-02 3.99021420e+02] [ 8.43163066e-02 9.96435946e-01 -2.48307722e-03 2.12976972e+01] [ 3.65738143e-02 -6.04507974e-04 9.99330771e-01 1.45292413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.239254154 meters Centerline goodness : 0.999138 with order 1 Centerline is valid? [True, True] Translation: X:399.08, Y:21.31, Z:14.53 [[ 9.95598713e-01 -8.63211994e-02 -3.64945705e-02 3.99082844e+02] [ 8.62882075e-02 9.96267128e-01 -2.48105704e-03 2.13062026e+01] [ 3.65725087e-02 -6.78913879e-04 9.99330771e-01 1.45313403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.299254154 meters Centerline goodness : 0.998971 with order 1 Centerline is valid? [True, True] Translation: X:399.14, Y:21.31, Z:14.53 [[ 9.95361963e-01 -8.90095203e-02 -3.64947559e-02 3.99144034e+02] [ 8.89784336e-02 9.96030470e-01 -2.47832637e-03 2.13132037e+01] [ 3.65704835e-02 -7.80414417e-04 9.99330771e-01 1.45331122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.359254154 meters Centerline goodness : 0.998907 with order 1 Centerline is valid? [True, True] Translation: X:399.21, Y:21.31, Z:14.53 [[ 9.95698769e-01 -8.51591696e-02 -3.64948929e-02 3.99206297e+02] [ 8.51255716e-02 9.96367154e-01 -2.47630728e-03 2.13145884e+01] [ 3.65731929e-02 -6.40992516e-04 9.99330771e-01 1.45296375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.419254154 meters Centerline goodness : 0.998781 with order 1 Centerline is valid? [True, True] Translation: X:399.27, Y:21.31, Z:14.52 [[ 9.96193307e-01 -7.91644128e-02 -3.64950855e-02 3.99266294e+02] [ 7.91268964e-02 9.96861483e-01 -2.47346577e-03 2.13113196e+01] [ 3.65763555e-02 -4.23692809e-04 9.99330771e-01 1.45196597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.479254154 meters Centerline goodness : 0.998822 with order 1 Centerline is valid? [True, True] Translation: X:399.33, Y:21.33, Z:14.54 [[ 9.95165128e-01 -9.11837729e-02 -3.64950380e-02 3.99325690e+02] [ 9.11542992e-02 9.95833707e-01 -2.47416695e-03 2.13322066e+01] [ 3.65685928e-02 -8.64474941e-04 9.99330771e-01 1.45403339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.539254154 meters Centerline goodness : 0.998947 with order 1 Centerline is valid? [True, True] Translation: X:399.39, Y:21.34, Z:14.54 [[ 9.95196997e-01 -9.08352548e-02 -3.64951302e-02 3.99387701e+02] [ 9.08055968e-02 9.95865568e-01 -2.47280578e-03 2.13383065e+01] [ 3.65688615e-02 -8.53033190e-04 9.99330771e-01 1.45427227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.599254154 meters Centerline goodness : 0.998695 with order 1 Centerline is valid? [True, True] Translation: X:399.45, Y:21.34, Z:14.54 [[ 9.95186889e-01 -9.09458528e-02 -3.64953161e-02 3.99449978e+02] [ 9.09163698e-02 9.95855468e-01 -2.47005939e-03 2.13429860e+01] [ 3.65687017e-02 -8.59850938e-04 9.99330771e-01 1.45448248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.659254154 meters Centerline goodness : 0.998908 with order 1 Centerline is valid? [True, True] Translation: X:399.51, Y:21.35, Z:14.55 [[ 9.95294789e-01 -8.97572392e-02 -3.64954999e-02 3.99511801e+02] [ 8.97270573e-02 9.95963336e-01 -2.46734062e-03 2.13478815e+01] [ 3.65696415e-02 -8.18902553e-04 9.99330771e-01 1.45470473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.719254154 meters Centerline goodness : 0.999054 with order 1 Centerline is valid? [True, True] Translation: X:399.57, Y:21.35, Z:14.55 [[ 9.95503961e-01 -8.74066834e-02 -3.64956847e-02 3.99574199e+02] [ 8.73750232e-02 9.96172440e-01 -2.46460357e-03 2.13530003e+01] [ 3.65714182e-02 -7.35288682e-04 9.99330771e-01 1.45489860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.779254154 meters Centerline goodness : 0.998800 with order 1 Centerline is valid? [True, True] Translation: X:399.64, Y:21.36, Z:14.55 [[ 9.95983266e-01 -8.17642117e-02 -3.64958667e-02 3.99636634e+02] [ 8.17288629e-02 9.96651560e-01 -2.46190661e-03 2.13580935e+01] [ 3.65749583e-02 -5.30747897e-04 9.99330771e-01 1.45502824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.839254154 meters Centerline goodness : 0.998863 with order 1 Centerline is valid? [True, True] Translation: X:399.70, Y:21.36, Z:14.55 [[ 9.96373177e-01 -7.68669708e-02 -3.64960487e-02 3.99698002e+02] [ 7.68284360e-02 9.97041295e-01 -2.45920583e-03 2.13620496e+01] [ 3.65770993e-02 -3.53647617e-04 9.99330771e-01 1.45517360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.899254154 meters Centerline goodness : 0.999178 with order 1 Centerline is valid? [True, True] Translation: X:399.76, Y:21.37, Z:14.55 [[ 9.96878488e-01 -7.00092673e-02 -3.64963470e-02 3.99759604e+02] [ 6.99662985e-02 9.97546335e-01 -2.45477049e-03 2.13664516e+01] [ 3.65786539e-02 -1.06406411e-04 9.99330771e-01 1.45545930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.959254154 meters Centerline goodness : 0.998605 with order 1 Centerline is valid? [True, True] Translation: X:399.82, Y:21.37, Z:14.55 [[ 9.97134347e-01 -6.62654082e-02 -3.64964330e-02 3.99820546e+02] [ 6.62199787e-02 9.97802032e-01 -2.45349124e-03 2.13703388e+01] [ 3.65787966e-02 2.96673721e-05 9.99330771e-01 1.45515113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.019254154 meters Centerline goodness : 0.999177 with order 1 Centerline is valid? [True, True] Translation: X:399.88, Y:21.37, Z:14.56 [[ 9.97104156e-01 -6.67181294e-02 -3.64964864e-02 3.99879299e+02] [ 6.66730322e-02 9.97771863e-01 -2.45269641e-03 2.13719127e+01] [ 3.65788065e-02 1.22623683e-05 9.99330771e-01 1.45579543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.079254154 meters Centerline goodness : 0.998922 with order 1 Centerline is valid? [True, True] Translation: X:399.94, Y:21.37, Z:14.56 [[ 9.96951981e-01 -6.89548065e-02 -3.64963258e-02 3.99939543e+02] [ 6.89111199e-02 9.97619782e-01 -2.45508367e-03 2.13733061e+01] [ 3.65787464e-02 -6.74021506e-05 9.99330771e-01 1.45601796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.139254154 meters Centerline goodness : 0.999008 with order 1 Centerline is valid? [True, True] Translation: X:400.00, Y:21.37, Z:14.56 [[ 9.96413246e-01 -7.63456679e-02 -3.64963258e-02 3.99999817e+02] [ 7.63069345e-02 9.97081353e-01 -2.45508367e-03 2.13724968e+01] [ 3.65772409e-02 -3.38644849e-04 9.99330771e-01 1.45630462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.199254154 meters Centerline goodness : 0.999137 with order 1 Centerline is valid? [True, True] Translation: X:400.06, Y:21.37, Z:14.57 [[ 9.95913065e-01 -8.26146806e-02 -3.64963258e-02 4.00061049e+02] [ 8.25801524e-02 9.96581402e-01 -2.45508367e-03 2.13730548e+01] [ 3.65743855e-02 -5.68822240e-04 9.99330771e-01 1.45653916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.259254154 meters Centerline goodness : 0.998971 with order 1 Centerline is valid? [True, True] Translation: X:400.12, Y:21.37, Z:14.57 [[ 9.94937717e-01 -9.36319938e-02 -3.64964165e-02 4.00122122e+02] [ 9.36049141e-02 9.95606398e-01 -2.45373413e-03 2.13708955e+01] [ 3.65658138e-02 -9.74931299e-04 9.99330771e-01 1.45667474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.319254154 meters Centerline goodness : 0.999118 with order 1 Centerline is valid? [True, True] Translation: X:400.18, Y:21.37, Z:14.57 [[ 9.94121870e-01 -1.01929922e-01 -3.64965511e-02 4.00184468e+02] [ 1.01908496e-01 9.94790756e-01 -2.45173100e-03 2.13712010e+01] [ 3.65563364e-02 -1.28198922e-03 9.99330771e-01 1.45695338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.379254154 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:400.25, Y:21.37, Z:14.57 [[ 9.92808120e-01 -1.14017656e-01 -3.64967359e-02 4.00245533e+02] [ 1.14004471e-01 9.93477218e-01 -2.44897690e-03 2.13701236e+01] [ 3.65379023e-02 -1.72942692e-03 9.99330771e-01 1.45708061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.43925415399997 meters Centerline goodness : 0.998953 with order 1 Centerline is valid? [True, True] Translation: X:400.31, Y:21.37, Z:14.57 [[ 9.92002985e-01 -1.20822419e-01 -3.64968725e-02 4.00307492e+02] [ 1.20813897e-01 9.92672159e-01 -2.44693937e-03 2.13721266e+01] [ 3.65250744e-02 -1.98195823e-03 9.99330771e-01 1.45729199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.49925415399997 meters Centerline goodness : 0.998996 with order 1 Centerline is valid? [True, True] Translation: X:400.37, Y:21.36, Z:14.56 [[ 9.92681673e-01 -1.15113259e-01 -3.64970448e-02 4.00370228e+02] [ 1.15100981e-01 9.93350789e-01 -2.44436653e-03 2.13622944e+01] [ 3.65357473e-02 -1.77436780e-03 9.99330771e-01 1.45610309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.559254154 meters Centerline goodness : 0.998935 with order 1 Centerline is valid? [True, True] Translation: X:400.43, Y:21.38, Z:14.58 [[ 9.91413019e-01 -1.25571436e-01 -3.64971381e-02 4.00429321e+02] [ 1.25566264e-01 9.92082227e-01 -2.44297324e-03 2.13786831e+01] [ 3.65149297e-02 -2.16081380e-03 9.99330771e-01 1.45779006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.619254154 meters Centerline goodness : 0.999057 with order 1 Centerline is valid? [True, True] Translation: X:400.49, Y:21.38, Z:14.58 [[ 9.92044050e-01 -1.20484672e-01 -3.64972289e-02 4.00491529e+02] [ 1.20476116e-01 9.92713223e-01 -2.44161581e-03 2.13847746e+01] [ 3.65254590e-02 -1.97485397e-03 9.99330771e-01 1.45799526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.679254154 meters Centerline goodness : 0.998890 with order 1 Centerline is valid? [True, True] Translation: X:400.55, Y:21.39, Z:14.58 [[ 9.93067843e-01 -1.11732707e-01 -3.64974107e-02 4.00553423e+02] [ 1.11718352e-01 9.93736918e-01 -2.43889540e-03 2.13923639e+01] [ 3.65413288e-02 -1.65544196e-03 9.99330771e-01 1.45811663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.739254154 meters Centerline goodness : 0.999012 with order 1 Centerline is valid? [True, True] Translation: X:400.62, Y:21.40, Z:14.58 [[ 9.93835808e-01 -1.04681957e-01 -3.64975904e-02 4.00615621e+02] [ 1.04662953e-01 9.94504767e-01 -2.43620298e-03 2.13992414e+01] [ 3.65520541e-02 -1.39875982e-03 9.99330771e-01 1.45837970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.799254154 meters Centerline goodness : 0.998886 with order 1 Centerline is valid? [True, True] Translation: X:400.68, Y:21.41, Z:14.59 [[ 9.94553647e-01 -9.76266087e-02 -3.64977746e-02 4.00676740e+02] [ 9.76029584e-02 9.95222458e-01 -2.43344084e-03 2.14067193e+01] [ 3.65609735e-02 -1.14210331e-03 9.99330771e-01 1.45864061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.859254154 meters Centerline goodness : 0.999138 with order 1 Centerline is valid? [True, True] Translation: X:400.74, Y:21.42, Z:14.59 [[ 9.95547594e-01 -8.69073708e-02 -3.64979103e-02 4.00738608e+02] [ 8.68765920e-02 9.96216114e-01 -2.43140349e-03 2.14151844e+01] [ 3.65711132e-02 -7.50236168e-04 9.99330771e-01 1.45904094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.919254154 meters Centerline goodness : 0.998971 with order 1 Centerline is valid? [True, True] Translation: X:400.80, Y:21.42, Z:14.59 [[ 9.96157346e-01 -7.96142712e-02 -3.64980928e-02 4.00800224e+02] [ 7.95786978e-02 9.96825628e-01 -2.42866113e-03 2.14213827e+01] [ 3.65755903e-02 -4.85142070e-04 9.99330771e-01 1.45928207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.979254154 meters Centerline goodness : 0.999030 with order 1 Centerline is valid? [True, True] Translation: X:400.86, Y:21.43, Z:14.60 [[ 9.96876231e-01 -7.00403835e-02 -3.64982730e-02 4.00860896e+02] [ 6.99984908e-02 9.97544147e-01 -2.42594987e-03 2.14284365e+01] [ 3.65785531e-02 -1.36452262e-04 9.99330771e-01 1.45965545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.039254154 meters Centerline goodness : 0.998990 with order 1 Centerline is valid? [True, True] Translation: X:400.92, Y:21.43, Z:14.60 [[ 9.97079328e-01 -6.70871265e-02 -3.64983630e-02 4.00921197e+02] [ 6.70433050e-02 9.97747121e-01 -2.42459496e-03 2.14326182e+01] [ 3.65787957e-02 -2.94573648e-05 9.99330771e-01 1.45982634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.099254154 meters Centerline goodness : 0.999050 with order 1 Centerline is valid? [True, True] Translation: X:400.98, Y:21.44, Z:14.60 [[ 9.97334282e-01 -6.31838562e-02 -3.64983630e-02 4.00980820e+02] [ 6.31374212e-02 9.98001897e-01 -2.42459496e-03 2.14367462e+01] [ 3.65786308e-02 1.13719158e-04 9.99330771e-01 1.46000350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.159254154 meters Centerline goodness : 0.999115 with order 1 Centerline is valid? [True, True] Translation: X:401.04, Y:21.44, Z:14.60 [[ 9.97448009e-01 -6.13624140e-02 -3.64982742e-02 4.01039574e+02] [ 6.13147110e-02 9.98115535e-01 -2.42593013e-03 2.14388184e+01] [ 3.65783555e-02 1.81858040e-04 9.99330771e-01 1.46019834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.219254154 meters Centerline goodness : 0.999158 with order 1 Centerline is valid? [True, True] Translation: X:401.10, Y:21.44, Z:14.60 [[ 9.97172489e-01 -6.56879877e-02 -3.64981433e-02 4.01098500e+02] [ 6.56431084e-02 9.97840211e-01 -2.42789817e-03 2.14382479e+01] [ 3.65787988e-02 2.51816820e-05 9.99330771e-01 1.46045003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.279254154 meters Centerline goodness : 0.999095 with order 1 Centerline is valid? [True, True] Translation: X:401.16, Y:21.44, Z:14.61 [[ 9.96737546e-01 -7.19874558e-02 -3.64975298e-02 4.01157686e+02] [ 7.19464600e-02 9.97405518e-01 -2.43708649e-03 2.14383459e+01] [ 3.65782773e-02 -1.96732462e-04 9.99330772e-01 1.46134005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.339254154 meters Centerline goodness : 0.999013 with order 1 Centerline is valid? [True, True] Translation: X:401.22, Y:21.44, Z:14.61 [[ 9.96320685e-01 -7.75437253e-02 -3.64974353e-02 4.01217244e+02] [ 7.75064027e-02 9.96988872e-01 -2.43850062e-03 2.14367644e+01] [ 3.65766273e-02 -3.99256313e-04 9.99330772e-01 1.46085434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.399254154 meters Centerline goodness : 0.999244 with order 1 Centerline is valid? [True, True] Translation: X:401.28, Y:21.43, Z:14.61 [[ 9.95600332e-01 -8.63013501e-02 -3.64973424e-02 4.01278485e+02] [ 8.62698534e-02 9.96268819e-01 -2.43989005e-03 2.14334450e+01] [ 3.65717300e-02 -7.19465031e-04 9.99330772e-01 1.46097718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.459254154 meters Centerline goodness : 0.998995 with order 1 Centerline is valid? [True, True] Translation: X:401.34, Y:21.43, Z:14.61 [[ 9.95137716e-01 -9.14815276e-02 -3.64973424e-02 4.01339676e+02] [ 9.14535103e-02 9.95806358e-01 -2.43989005e-03 2.14325278e+01] [ 3.65674905e-02 -9.09783464e-04 9.99330772e-01 1.46121649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.519254154 meters Centerline goodness : 0.998932 with order 1 Centerline is valid? [True, True] Translation: X:401.40, Y:21.43, Z:14.61 [[ 9.94799762e-01 -9.50861280e-02 -3.64974329e-02 4.01400815e+02] [ 9.50605829e-02 9.95468502e-01 -2.43853592e-03 2.14294806e+01] [ 3.65639158e-02 -1.04361229e-03 9.99330772e-01 1.46134148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.579254154 meters Centerline goodness : 0.999059 with order 1 Centerline is valid? [True, True] Translation: X:401.46, Y:21.43, Z:14.62 [[ 9.94827632e-01 -9.47940364e-02 -3.64975790e-02 4.01461728e+02] [ 9.47683751e-02 9.95496368e-01 -2.43634761e-03 2.14302692e+01] [ 3.65641585e-02 -1.03507033e-03 9.99330772e-01 1.46158197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.639254154 meters Centerline goodness : 0.999206 with order 1 Centerline is valid? [True, True] Translation: X:401.52, Y:21.43, Z:14.62 [[ 9.95318594e-01 -8.94919921e-02 -3.64976680e-02 4.01522209e+02] [ 8.94628169e-02 9.95987186e-01 -2.43501367e-03 2.14295658e+01] [ 3.65691238e-02 -8.41569804e-04 9.99330772e-01 1.46168996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.699254154 meters Centerline goodness : 0.997159 with order 1 Centerline is valid? [True, True] Translation: X:401.58, Y:21.43, Z:14.62 [[ 9.96117083e-01 -8.01166450e-02 -3.64976680e-02 4.01581789e+02] [ 8.00811759e-02 9.96785371e-01 -2.43501367e-03 2.14297282e+01] [ 3.65754266e-02 -4.97217456e-04 9.99330772e-01 1.46161180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.759254154 meters Centerline goodness : 0.999436 with order 1 Centerline is valid? [True, True] Translation: X:401.64, Y:21.43, Z:14.62 [[ 9.96516987e-01 -7.49788126e-02 -3.64975625e-02 4.01639444e+02] [ 7.49398399e-02 9.97185080e-01 -2.43659374e-03 2.14313305e+01] [ 3.65775177e-02 -3.07014441e-04 9.99330772e-01 1.46200530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.819254154 meters Centerline goodness : 0.999164 with order 1 Centerline is valid? [True, True] Translation: X:401.70, Y:21.43, Z:14.62 [[ 9.96844780e-01 -7.04871093e-02 -3.64972983e-02 4.01698741e+02] [ 7.04449815e-02 9.97512681e-01 -2.44054445e-03 2.14317400e+01] [ 3.65785448e-02 -1.38207514e-04 9.99330772e-01 1.46215830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.879254154 meters Centerline goodness : 0.999268 with order 1 Centerline is valid? [True, True] Translation: X:401.76, Y:21.43, Z:14.62 [[ 9.96802223e-01 -7.10867183e-02 -3.64966590e-02 4.01757375e+02] [ 7.10446436e-02 9.97470128e-01 -2.45006817e-03 2.14323977e+01] [ 3.65784944e-02 -1.50658726e-04 9.99330772e-01 1.46220969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.93925415399997 meters Centerline goodness : 0.998996 with order 1 Centerline is valid? [True, True] Translation: X:401.82, Y:21.43, Z:14.62 [[ 9.96580403e-01 -7.41319203e-02 -3.64960197e-02 4.01816461e+02] [ 7.40915391e-02 9.97248412e-01 -2.45955347e-03 2.14324971e+01] [ 3.65779291e-02 -2.52903482e-04 9.99330772e-01 1.46233232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.99925415399997 meters Centerline goodness : 0.999331 with order 1 Centerline is valid? [True, True] Translation: X:401.87, Y:21.43, Z:14.63 [[ 9.96179108e-01 -7.93427510e-02 -3.64953765e-02 4.01874619e+02] [ 7.93055156e-02 9.96847300e-01 -2.46906109e-03 2.14301712e+01] [ 3.65762196e-02 -4.34657571e-04 9.99330772e-01 1.46257658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.059254154 meters Centerline goodness : 0.999248 with order 1 Centerline is valid? [True, True] Translation: X:401.93, Y:21.43, Z:14.63 [[ 9.95922567e-01 -8.25007996e-02 -3.64946464e-02 4.01932405e+02] [ 8.24652892e-02 9.96590852e-01 -2.47980634e-03 2.14309112e+01] [ 3.65748167e-02 -5.39846478e-04 9.99330772e-01 1.46287483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.119254154 meters Centerline goodness : 0.999395 with order 1 Centerline is valid? [True, True] Translation: X:401.99, Y:21.43, Z:14.63 [[ 9.95743410e-01 -8.46360216e-02 -3.64939141e-02 4.01990325e+02] [ 8.46015510e-02 9.96411750e-01 -2.49053629e-03 2.14300986e+01] [ 3.65737539e-02 -6.07506644e-04 9.99330772e-01 1.46319171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.179254154 meters Centerline goodness : 0.999394 with order 1 Centerline is valid? [True, True] Translation: X:402.05, Y:21.43, Z:14.63 [[ 9.95761849e-01 -8.44191164e-02 -3.64931832e-02 4.02048857e+02] [ 8.43841096e-02 9.96430161e-01 -2.50120069e-03 2.14313609e+01] [ 3.65740575e-02 -5.88844546e-04 9.99330772e-01 1.46348311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.239254154 meters Centerline goodness : 0.999354 with order 1 Centerline is valid? [True, True] Translation: X:402.11, Y:21.43, Z:14.64 [[ 9.96078932e-01 -8.05919088e-02 -3.64925468e-02 4.02107533e+02] [ 8.05539951e-02 9.96747085e-01 -2.51045125e-03 2.14323993e+01] [ 3.65761617e-02 -4.39012833e-04 9.99330772e-01 1.46392309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.299254154 meters Centerline goodness : 0.996993 with order 1 Centerline is valid? [True, True] Translation: X:402.17, Y:21.44, Z:14.64 [[ 9.96472386e-01 -7.55719834e-02 -3.64918956e-02 4.02165719e+02] [ 7.55303583e-02 9.97140319e-01 -2.51988202e-03 2.14357005e+01] [ 3.65779729e-02 -2.45253101e-04 9.99330772e-01 1.46424393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.359254154 meters Centerline goodness : 0.999332 with order 1 Centerline is valid? [True, True] Translation: X:402.22, Y:21.44, Z:14.64 [[ 9.96737965e-01 -7.19849276e-02 -3.64910944e-02 4.02224771e+02] [ 7.19404759e-02 9.97405715e-01 -2.53143128e-03 2.14351547e+01] [ 3.65786510e-02 -1.02013030e-04 9.99330772e-01 1.46447092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.419254154 meters Centerline goodness : 0.999415 with order 1 Centerline is valid? [True, True] Translation: X:402.28, Y:21.43, Z:14.65 [[ 9.96978664e-01 -6.85711597e-02 -3.64902729e-02 4.02281729e+02] [ 6.85239900e-02 9.97646227e-01 -2.54321768e-03 2.14336109e+01] [ 3.65787745e-02 3.50746610e-05 9.99330772e-01 1.46463693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.479254154 meters Centerline goodness : 0.999728 with order 1 Centerline is valid? [True, True] Translation: X:402.34, Y:21.43, Z:14.65 [[ 9.97004317e-01 -6.81973278e-02 -3.64899449e-02 4.02339948e+02] [ 6.81497359e-02 9.97671851e-01 -2.54791622e-03 2.14342705e+01] [ 3.65787519e-02 5.35033619e-05 9.99330772e-01 1.46482485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.539254154 meters Centerline goodness : 0.999457 with order 1 Centerline is valid? [True, True] Translation: X:402.40, Y:21.43, Z:14.65 [[ 9.96923275e-01 -6.93723605e-02 -3.64891798e-02 4.02398832e+02] [ 6.93251561e-02 9.97590836e-01 -2.55882564e-03 2.14343007e+01] [ 3.65787832e-02 2.13347487e-05 9.99330772e-01 1.46488748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.599254154 meters Centerline goodness : 0.999624 with order 1 Centerline is valid? [True, True] Translation: X:402.46, Y:21.43, Z:14.65 [[ 9.96482395e-01 -7.54415323e-02 -3.64885188e-02 4.02457756e+02] [ 7.53980497e-02 9.97150209e-01 -2.56821801e-03 2.14315459e+01] [ 3.65782844e-02 -1.91979120e-04 9.99330772e-01 1.46506631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.659254154 meters Centerline goodness : 0.999727 with order 1 Centerline is valid? [True, True] Translation: X:402.51, Y:21.43, Z:14.65 [[ 9.95927412e-01 -8.24452990e-02 -3.64878424e-02 4.02514514e+02] [ 8.24061618e-02 9.96595494e-01 -2.57779167e-03 2.14311476e+01] [ 3.65761461e-02 -4.39529652e-04 9.99330772e-01 1.46526870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.719254154 meters Centerline goodness : 0.999665 with order 1 Centerline is valid? [True, True] Translation: X:402.57, Y:21.43, Z:14.66 [[ 9.94759856e-01 -9.55064926e-02 -3.64875092e-02 4.02573095e+02] [ 9.54759526e-02 9.95428387e-01 -2.58249904e-03 2.14276867e+01] [ 3.65673479e-02 -9.14713325e-04 9.99330772e-01 1.46569796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.779254154 meters Centerline goodness : 0.999644 with order 1 Centerline is valid? [True, True] Translation: X:402.63, Y:21.43, Z:14.66 [[ 9.93873181e-01 -1.04330143e-01 -3.64872695e-02 4.02631566e+02] [ 1.04305412e-01 9.94541952e-01 -2.58588180e-03 2.14275206e+01] [ 3.65579056e-02 -1.23578112e-03 9.99330772e-01 1.46598001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.839254154 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:402.69, Y:21.43, Z:14.66 [[ 9.92645351e-01 -1.15429354e-01 -3.64865896e-02 4.02689507e+02] [ 1.15411748e-01 9.93314347e-01 -2.59543920e-03 2.14275363e+01] [ 3.65422428e-02 -1.63463042e-03 9.99330772e-01 1.46615706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.899254154 meters Centerline goodness : 0.999728 with order 1 Centerline is valid? [True, True] Translation: X:402.75, Y:21.43, Z:14.66 [[ 9.91796084e-01 -1.22512340e-01 -3.64863504e-02 4.02747630e+02] [ 1.22499387e-01 9.92465187e-01 -2.59879809e-03 2.14294417e+01] [ 3.65298174e-02 -1.89207777e-03 9.99330772e-01 1.46644608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.959254154 meters Centerline goodness : 0.999770 with order 1 Centerline is valid? [True, True] Translation: X:402.81, Y:21.43, Z:14.67 [[ 9.90952239e-01 -1.29160612e-01 -3.64855724e-02 4.02805637e+02] [ 1.29151747e-01 9.91621408e-01 -2.60967540e-03 2.14319699e+01] [ 3.65169419e-02 -2.12611172e-03 9.99330772e-01 1.46657924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.019254154 meters Centerline goodness : 0.999728 with order 1 Centerline is valid? [True, True] Translation: X:402.86, Y:21.44, Z:14.67 [[ 9.90259785e-01 -1.34366730e-01 -3.64847821e-02 4.02863725e+02] [ 1.34360978e-01 9.90928988e-01 -2.62067769e-03 2.14352679e+01] [ 3.65059601e-02 -2.30697927e-03 9.99330772e-01 1.46677486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.079254154 meters Centerline goodness : 0.999478 with order 1 Centerline is valid? [True, True] Translation: X:402.92, Y:21.44, Z:14.67 [[ 9.89557629e-01 -1.39443960e-01 -3.64839864e-02 4.02921226e+02] [ 1.39441235e-01 9.90226851e-01 -2.63170857e-03 2.14408847e+01] [ 3.64943988e-02 -2.48314482e-03 9.99330772e-01 1.46690510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.139254154 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:402.98, Y:21.45, Z:14.67 [[ 9.89404032e-01 -1.40529848e-01 -3.64831938e-02 4.02979134e+02] [ 1.40527457e-01 9.90073255e-01 -2.64265029e-03 2.14483878e+01] [ 3.64924057e-02 -2.51224159e-03 9.99330773e-01 1.46718497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.199254154 meters Centerline goodness : 0.999750 with order 1 Centerline is valid? [True, True] Translation: X:403.04, Y:21.46, Z:14.67 [[ 9.89536825e-01 -1.39591905e-01 -3.64824928e-02 4.03037128e+02] [ 1.39588525e-01 9.90206044e-01 -2.65229383e-03 2.14564585e+01] [ 3.64954236e-02 -2.46799494e-03 9.99330773e-01 1.46732329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.259254154 meters Centerline goodness : 0.999498 with order 1 Centerline is valid? [True, True] Translation: X:403.10, Y:21.47, Z:14.68 [[ 9.89793610e-01 -1.37759531e-01 -3.64817950e-02 4.03096036e+02] [ 1.37754561e-01 9.90462819e-01 -2.66185675e-03 2.14673908e+01] [ 3.65005577e-02 -2.39084484e-03 9.99330773e-01 1.46752084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.319254154 meters Centerline goodness : 0.999562 with order 1 Centerline is valid? [True, True] Translation: X:403.16, Y:21.48, Z:14.68 [[ 9.89958826e-01 -1.36567234e-01 -3.64816951e-02 4.03155296e+02] [ 1.36561408e-01 9.90628028e-01 -2.66322558e-03 2.14803052e+01] [ 3.65034990e-02 -2.34550798e-03 9.99330773e-01 1.46775746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.379254154 meters Centerline goodness : 0.999434 with order 1 Centerline is valid? [True, True] Translation: X:403.21, Y:21.49, Z:14.68 [[ 9.90031266e-01 -1.36041117e-01 -3.64815955e-02 4.03214218e+02] [ 1.36034885e-01 9.90700464e-01 -2.66458855e-03 2.14899556e+01] [ 3.65048272e-02 -2.32474367e-03 9.99330773e-01 1.46798202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.43925415399997 meters Centerline goodness : 0.999729 with order 1 Centerline is valid? [True, True] Translation: X:403.27, Y:21.50, Z:14.68 [[ 9.90195868e-01 -1.34837839e-01 -3.64814960e-02 4.03274248e+02] [ 1.34830744e-01 9.90865058e-01 -2.66595091e-03 2.15034926e+01] [ 3.65077107e-02 -2.27901367e-03 9.99330773e-01 1.46841716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.49925415399997 meters Centerline goodness : 0.999624 with order 1 Centerline is valid? [True, True] Translation: X:403.33, Y:21.51, Z:14.69 [[ 9.90345838e-01 -1.33731905e-01 -3.64814960e-02 4.03334849e+02] [ 1.33724063e-01 9.91015019e-01 -2.66595091e-03 2.15141342e+01] [ 3.65102331e-02 -2.23824047e-03 9.99330773e-01 1.46873105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.559254154 meters Centerline goodness : 0.999499 with order 1 Centerline is valid? [True, True] Translation: X:403.40, Y:21.53, Z:14.69 [[ 9.90744320e-01 -1.30747032e-01 -3.64815951e-02 4.03395661e+02] [ 1.30737223e-01 9.91413475e-01 -2.66459411e-03 2.15278713e+01] [ 3.65167327e-02 -2.12957095e-03 9.99330773e-01 1.46905551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.619254154 meters Centerline goodness : 0.999143 with order 1 Centerline is valid? [True, True] Translation: X:403.46, Y:21.54, Z:14.69 [[ 9.91141312e-01 -1.27702721e-01 -3.64816951e-02 4.03455438e+02] [ 1.27690906e-01 9.91810435e-01 -2.66322430e-03 2.15385777e+01] [ 3.65230269e-02 -2.01874908e-03 9.99330773e-01 1.46920409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.679254154 meters Centerline goodness : 0.999166 with order 1 Centerline is valid? [True, True] Translation: X:403.52, Y:21.55, Z:14.70 [[ 9.92021523e-01 -1.20674684e-01 -3.64817441e-02 4.03516075e+02] [ 1.20658152e-01 9.92690547e-01 -2.66255238e-03 2.15519231e+01] [ 3.65363852e-02 -1.76051055e-03 9.99330773e-01 1.46956635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.739254154 meters Centerline goodness : 0.999436 with order 1 Centerline is valid? [True, True] Translation: X:403.58, Y:21.56, Z:14.70 [[ 9.92715081e-01 -1.14829630e-01 -3.64818408e-02 4.03576680e+02] [ 1.14809206e-01 9.93383996e-01 -2.66122642e-03 2.15623566e+01] [ 3.65460645e-02 -1.54661159e-03 9.99330773e-01 1.46986513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.799254154 meters Centerline goodness : 0.999268 with order 1 Centerline is valid? [True, True] Translation: X:403.64, Y:21.58, Z:14.70 [[ 9.93837011e-01 -1.04675994e-01 -3.64819381e-02 4.03637980e+02] [ 1.04648782e-01 9.94505685e-01 -2.65989176e-03 2.15751193e+01] [ 3.65599217e-02 -1.17429151e-03 9.99330773e-01 1.47009296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.859254154 meters Centerline goodness : 0.999269 with order 1 Centerline is valid? [True, True] Translation: X:403.70, Y:21.58, Z:14.70 [[ 9.94524224e-01 -9.79317167e-02 -3.64821370e-02 4.03699263e+02] [ 9.79000698e-02 9.95192703e-01 -2.65716115e-03 2.15842485e+01] [ 3.65669769e-02 -9.28992631e-04 9.99330773e-01 1.47028830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.919254154 meters Centerline goodness : 0.999184 with order 1 Centerline is valid? [True, True] Translation: X:403.76, Y:21.59, Z:14.70 [[ 9.95239987e-01 -9.03681798e-02 -3.64823351e-02 4.03759622e+02] [ 9.03315515e-02 9.95908211e-01 -2.65443830e-03 2.15949421e+01] [ 3.65729339e-02 -6.53702795e-04 9.99330773e-01 1.47035810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.979254154 meters Centerline goodness : 0.999120 with order 1 Centerline is valid? [True, True] Translation: X:403.82, Y:21.60, Z:14.71 [[ 9.95500073e-01 -8.74564683e-02 -3.64824811e-02 4.03820503e+02] [ 8.74179591e-02 9.96168191e-01 -2.65243011e-03 2.16025038e+01] [ 3.65746594e-02 -5.48729677e-04 9.99330773e-01 1.47066968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.039254154 meters Centerline goodness : 0.999184 with order 1 Centerline is valid? [True, True] Translation: X:403.88, Y:21.61, Z:14.71 [[ 9.95510365e-01 -8.73391938e-02 -3.64825792e-02 4.03881761e+02] [ 8.73006553e-02 9.96178482e-01 -2.65108094e-03 2.16086819e+01] [ 3.65747036e-02 -5.45774518e-04 9.99330773e-01 1.47084768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.099254154 meters Centerline goodness : 0.999079 with order 1 Centerline is valid? [True, True] Translation: X:403.94, Y:21.61, Z:14.71 [[ 9.95162823e-01 -9.12138732e-02 -3.64826781e-02 4.03943240e+02] [ 9.11779857e-02 9.95831087e-01 -2.64971844e-03 2.16147833e+01] [ 3.65722761e-02 -6.89515827e-04 9.99330773e-01 1.47106021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.159254154 meters Centerline goodness : 0.998911 with order 1 Centerline is valid? [True, True] Translation: X:404.00, Y:21.62, Z:14.71 [[ 9.94412072e-01 -9.90638041e-02 -3.64827770e-02 4.04004718e+02] [ 9.90332409e-02 9.95080601e-01 -2.64835639e-03 2.16204982e+01] [ 3.65656600e-02 -9.79450079e-04 9.99330773e-01 1.47134314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.219254154 meters Centerline goodness : 0.999038 with order 1 Centerline is valid? [True, True] Translation: X:404.07, Y:21.62, Z:14.72 [[ 9.93794071e-01 -1.05082556e-01 -3.64828759e-02 4.04066920e+02] [ 1.05056091e-01 9.94462775e-01 -2.64699314e-03 2.16246130e+01] [ 3.65590148e-02 -1.20218225e-03 9.99330773e-01 1.47150749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.279254154 meters Centerline goodness : 0.999101 with order 1 Centerline is valid? [True, True] Translation: X:404.13, Y:21.63, Z:14.72 [[ 9.93270527e-01 -1.09921088e-01 -3.64830716e-02 4.04128964e+02] [ 1.09897979e-01 9.93939355e-01 -2.64429301e-03 2.16263749e+01] [ 3.65526243e-02 -1.38291754e-03 9.99330773e-01 1.47175315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.339254154 meters Centerline goodness : 0.999082 with order 1 Centerline is valid? [True, True] Translation: X:404.19, Y:21.63, Z:14.72 [[ 9.92565726e-01 -1.16113089e-01 -3.64832713e-02 4.04189837e+02] [ 1.16094253e-01 9.93234689e-01 -2.64153595e-03 2.16337004e+01] [ 3.65431675e-02 -1.61360006e-03 9.99330773e-01 1.47189778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.399254154 meters Centerline goodness : 0.999122 with order 1 Centerline is valid? [True, True] Translation: X:404.25, Y:21.64, Z:14.73 [[ 9.92064353e-01 -1.20321566e-01 -3.64834165e-02 4.04251373e+02] [ 1.20305640e-01 9.92733391e-01 -2.63952771e-03 2.16403570e+01] [ 3.65358979e-02 -1.77057944e-03 9.99330773e-01 1.47287008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.459254154 meters Centerline goodness : 0.999247 with order 1 Centerline is valid? [True, True] Translation: X:404.31, Y:21.64, Z:14.72 [[ 9.91848126e-01 -1.22091118e-01 -3.64836234e-02 4.04313121e+02] [ 1.22076490e-01 9.92517193e-01 -2.63666617e-03 2.16434685e+01] [ 3.65325370e-02 -1.83862029e-03 9.99330773e-01 1.47225140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.519254154 meters Centerline goodness : 0.998914 with order 1 Centerline is valid? [True, True] Translation: X:404.37, Y:21.65, Z:14.73 [[ 9.91695941e-01 -1.23321063e-01 -3.64839069e-02 4.04374928e+02] [ 1.23307409e-01 9.92365029e-01 -2.63273623e-03 2.16493061e+01] [ 3.65300252e-02 -1.88786222e-03 9.99330773e-01 1.47259375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.579254154 meters Centerline goodness : 0.999058 with order 1 Centerline is valid? [True, True] Translation: X:404.44, Y:21.66, Z:14.73 [[ 9.91765374e-01 -1.22761364e-01 -3.64841018e-02 4.04435457e+02] [ 1.22747432e-01 9.92434457e-01 -2.63003338e-03 2.16567205e+01] [ 3.65309462e-02 -1.86995378e-03 9.99330773e-01 1.47272729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.639254154 meters Centerline goodness : 0.999058 with order 1 Centerline is valid? [True, True] Translation: X:404.50, Y:21.66, Z:14.73 [[ 9.92066402e-01 -1.20304418e-01 -3.64842458e-02 4.04496907e+02] [ 1.20288903e-01 9.92735450e-01 -2.62803372e-03 2.16629507e+01] [ 3.65353683e-02 -1.78146594e-03 9.99330773e-01 1.47291776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.699254154 meters Centerline goodness : 0.999099 with order 1 Centerline is valid? [True, True] Translation: X:404.56, Y:21.67, Z:14.73 [[ 9.92608021e-01 -1.15750602e-01 -3.64844358e-02 4.04558923e+02] [ 1.15732114e-01 9.93276993e-01 -2.62539430e-03 2.16712149e+01] [ 3.65430416e-02 -1.61643343e-03 9.99330773e-01 1.47316808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.759254154 meters Centerline goodness : 0.998931 with order 1 Centerline is valid? [True, True] Translation: X:404.62, Y:21.68, Z:14.74 [[ 9.92940225e-01 -1.12865322e-01 -3.64846322e-02 4.04619906e+02] [ 1.12844989e-01 9.93609144e-01 -2.62266199e-03 2.16844048e+01] [ 3.65474717e-02 -1.51296134e-03 9.99330773e-01 1.47399704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.819254154 meters Centerline goodness : 0.999076 with order 1 Centerline is valid? [True, True] Translation: X:404.68, Y:21.69, Z:14.74 [[ 9.93655156e-01 -1.06387449e-01 -3.64848049e-02 4.04679976e+02] [ 1.06362843e-01 9.94323931e-01 -2.62025699e-03 2.16879903e+01] [ 3.65564771e-02 -1.27699570e-03 9.99330773e-01 1.47350265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.87925415399997 meters Centerline goodness : 0.999098 with order 1 Centerline is valid? [True, True] Translation: X:404.74, Y:21.70, Z:14.74 [[ 9.94102930e-01 -1.02118673e-01 -3.64848049e-02 4.04741987e+02] [ 1.02091194e-01 9.94771593e-01 -2.62025699e-03 2.16955350e+01] [ 3.65616246e-02 -1.11997215e-03 9.99330773e-01 1.47387375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.93925415399997 meters Centerline goodness : 0.999201 with order 1 Centerline is valid? [True, True] Translation: X:404.80, Y:21.70, Z:14.74 [[ 9.94495316e-01 -9.82237854e-02 -3.64850005e-02 4.04803311e+02] [ 9.81937876e-02 9.95163870e-01 -2.61753095e-03 2.17026615e+01] [ 3.65656581e-02 -9.79478120e-04 9.99330773e-01 1.47421591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.99925415399997 meters Centerline goodness : 0.999243 with order 1 Centerline is valid? [True, True] Translation: X:404.86, Y:21.71, Z:14.75 [[ 9.94651440e-01 -9.66299334e-02 -3.64851928e-02 4.04864993e+02] [ 9.65989626e-02 9.95319950e-01 -2.61484699e-03 2.17098441e+01] [ 3.65671128e-02 -9.23570452e-04 9.99330773e-01 1.47460748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.059254154 meters Centerline goodness : 0.998843 with order 1 Centerline is valid? [True, True] Translation: X:404.93, Y:21.71, Z:14.75 [[ 9.94612730e-01 -9.70274924e-02 -3.64853861e-02 4.04927196e+02] [ 9.69968878e-02 9.95281257e-01 -2.61214786e-03 2.17149005e+01] [ 3.65666711e-02 -9.40893378e-04 9.99330773e-01 1.47480239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.119254154 meters Centerline goodness : 0.998860 with order 1 Centerline is valid? [True, True] Translation: X:404.99, Y:21.72, Z:14.75 [[ 9.94483385e-01 -9.83442912e-02 -3.64855769e-02 4.04989043e+02] [ 9.83146696e-02 9.95151956e-01 -2.60947917e-03 2.17199847e+01] [ 3.65653206e-02 -9.91983767e-04 9.99330773e-01 1.47492564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.179254154 meters Centerline goodness : 0.999091 with order 1 Centerline is valid? [True, True] Translation: X:405.05, Y:21.73, Z:14.76 [[ 9.94114799e-01 -1.02002725e-01 -3.64857648e-02 4.05049816e+02] [ 1.01975660e-01 9.94783479e-01 -2.60684971e-03 2.17291482e+01] [ 3.65613418e-02 -1.12915207e-03 9.99330773e-01 1.47618640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.239254154 meters Centerline goodness : 0.999006 with order 1 Centerline is valid? [True, True] Translation: X:405.11, Y:21.73, Z:14.75 [[ 9.94345863e-01 -9.97250190e-02 -3.64859474e-02 4.05110485e+02] [ 9.96965160e-02 9.95014484e-01 -2.60429086e-03 2.17292472e+01] [ 3.65637591e-02 -1.04795600e-03 9.99330773e-01 1.47545183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.299254154 meters Centerline goodness : 0.999050 with order 1 Centerline is valid? [True, True] Translation: X:405.17, Y:21.73, Z:14.76 [[ 9.94236814e-01 -1.00806332e-01 -3.64861761e-02 4.05172918e+02] [ 1.00778673e-01 9.94905470e-01 -2.60108356e-03 2.17333512e+01] [ 3.65625018e-02 -1.09093539e-03 9.99330773e-01 1.47561911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.359254154 meters Centerline goodness : 0.998839 with order 1 Centerline is valid? [True, True] Translation: X:405.23, Y:21.74, Z:14.76 [[ 9.93979223e-01 -1.03315292e-01 -3.64863550e-02 4.05234923e+02] [ 1.03289414e-01 9.94647950e-01 -2.59857128e-03 2.17374341e+01] [ 3.65595504e-02 -1.18572835e-03 9.99330773e-01 1.47619157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.419254154 meters Centerline goodness : 0.998902 with order 1 Centerline is valid? [True, True] Translation: X:405.30, Y:21.74, Z:14.76 [[ 9.94010946e-01 -1.03009561e-01 -3.64865568e-02 4.05295888e+02] [ 1.02983581e-01 9.94679669e-01 -2.59573465e-03 2.17404302e+01] [ 3.65598218e-02 -1.17732761e-03 9.99330773e-01 1.47581157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.479254154 meters Centerline goodness : 0.999135 with order 1 Centerline is valid? [True, True] Translation: X:405.36, Y:21.74, Z:14.76 [[ 9.93968700e-01 -1.03416357e-01 -3.64867056e-02 4.05357806e+02] [ 1.03390728e-01 9.94637437e-01 -2.59364143e-03 2.17448118e+01] [ 3.65592683e-02 -1.19438864e-03 9.99330773e-01 1.47606034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.539254154 meters Centerline goodness : 0.998946 with order 1 Centerline is valid? [True, True] Translation: X:405.42, Y:21.75, Z:14.76 [[ 9.93896433e-01 -1.04108537e-01 -3.64868965e-02 4.05419525e+02] [ 1.04083472e-01 9.94565190e-01 -2.59095272e-03 2.17496902e+01] [ 3.65583375e-02 -1.22254420e-03 9.99330773e-01 1.47631472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.599254154 meters Centerline goodness : 0.998946 with order 1 Centerline is valid? [True, True] Translation: X:405.48, Y:21.75, Z:14.76 [[ 9.93695037e-01 -1.06013513e-01 -3.64870908e-02 4.05481380e+02] [ 1.05989830e-01 9.94363845e-01 -2.58821360e-03 2.17545695e+01] [ 3.65558296e-02 -1.29536553e-03 9.99330773e-01 1.47647322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.659254154 meters Centerline goodness : 0.999390 with order 1 Centerline is valid? [True, True] Translation: X:405.54, Y:21.76, Z:14.77 [[ 9.93689672e-01 -1.06063722e-01 -3.64872827e-02 4.05543090e+02] [ 1.06040172e-01 9.94358485e-01 -2.58550668e-03 2.17587704e+01] [ 3.65556676e-02 -1.29992645e-03 9.99330773e-01 1.47665380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.719254154 meters Centerline goodness : 0.999221 with order 1 Centerline is valid? [True, True] Translation: X:405.60, Y:21.76, Z:14.77 [[ 9.94067651e-01 -1.02460576e-01 -3.64874731e-02 4.05604762e+02] [ 1.02434700e-01 9.94736378e-01 -2.58281647e-03 2.17642332e+01] [ 3.65600537e-02 -1.17008907e-03 9.99330773e-01 1.47686573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.779254154 meters Centerline goodness : 0.999033 with order 1 Centerline is valid? [True, True] Translation: X:405.67, Y:21.77, Z:14.77 [[ 9.94591106e-01 -9.72480462e-02 -3.64876605e-02 4.05666819e+02] [ 9.72187623e-02 9.95259692e-01 -2.58016582e-03 2.17702763e+01] [ 3.65656139e-02 -9.81075213e-04 9.99330773e-01 1.47701127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.839254154 meters Centerline goodness : 0.999199 with order 1 Centerline is valid? [True, True] Translation: X:405.73, Y:21.78, Z:14.78 [[ 9.95473049e-01 -8.77612693e-02 -3.64879168e-02 4.05728104e+02] [ 8.77257455e-02 9.96141333e-01 -2.57653590e-03 2.17768261e+01] [ 3.65732422e-02 -6.36057661e-04 9.99330773e-01 1.47762402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.899254154 meters Centerline goodness : 0.999620 with order 1 Centerline is valid? [True, True] Translation: X:405.79, Y:21.78, Z:14.78 [[ 9.96162237e-01 -7.95576131e-02 -3.64881292e-02 4.05790118e+02] [ 7.95166955e-02 9.96830212e-01 -2.57352490e-03 2.17811739e+01] [ 3.65772131e-02 -3.37767141e-04 9.99330773e-01 1.47781506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.959254154 meters Centerline goodness : 0.999198 with order 1 Centerline is valid? [True, True] Translation: X:405.85, Y:21.78, Z:14.78 [[ 9.96459007e-01 -7.57499173e-02 -3.64883185e-02 4.05852476e+02] [ 7.57065455e-02 9.97126827e-01 -2.57083840e-03 2.17848157e+01] [ 3.65782220e-02 -2.00669468e-04 9.99330773e-01 1.47798746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.019254154 meters Centerline goodness : 0.999514 with order 1 Centerline is valid? [True, True] Translation: X:405.91, Y:21.79, Z:14.78 [[ 9.96485823e-01 -7.53962376e-02 -3.64885084e-02 4.05912998e+02] [ 7.53527275e-02 9.97153635e-01 -2.56814051e-03 2.17876661e+01] [ 3.65782769e-02 -1.90393021e-04 9.99330773e-01 1.47804961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.079254154 meters Centerline goodness : 0.999598 with order 1 Centerline is valid? [True, True] Translation: X:405.97, Y:21.79, Z:14.78 [[ 9.96304125e-01 -7.77603696e-02 -3.64885548e-02 4.05973800e+02] [ 7.77184684e-02 9.96972040e-01 -2.56748053e-03 2.17899344e+01] [ 3.65777171e-02 -2.77843145e-04 9.99330773e-01 1.47817493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.139254154 meters Centerline goodness : 0.999598 with order 1 Centerline is valid? [True, True] Translation: X:406.03, Y:21.79, Z:14.78 [[ 9.95615060e-01 -8.61349769e-02 -3.64886002e-02 4.06033791e+02] [ 8.60987168e-02 9.96283304e-01 -2.56683570e-03 2.17907086e+01] [ 3.65740775e-02 -5.86041375e-04 9.99330773e-01 1.47841646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.199254154 meters Centerline goodness : 0.999579 with order 1 Centerline is valid? [True, True] Translation: X:406.09, Y:21.79, Z:14.79 [[ 9.94910844e-01 -9.39201304e-02 -3.64886447e-02 4.06094852e+02] [ 9.38891217e-02 9.95579353e-01 -2.56620288e-03 2.17918689e+01] [ 3.65683594e-02 -8.72743729e-04 9.99330773e-01 1.47869335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.259254154 meters Centerline goodness : 0.999432 with order 1 Centerline is valid? [True, True] Translation: X:406.16, Y:21.79, Z:14.79 [[ 9.93578373e-01 -1.07100836e-01 -3.64887339e-02 4.06156715e+02] [ 1.07078739e-01 9.94247235e-01 -2.56493304e-03 2.17916330e+01] [ 3.65535293e-02 -1.35870562e-03 9.99330773e-01 1.47914864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.319254154 meters Centerline goodness : 0.999370 with order 1 Centerline is valid? [True, True] Translation: X:406.22, Y:21.79, Z:14.79 [[ 9.92335587e-01 -1.18062025e-01 -3.64889212e-02 4.06218584e+02] [ 1.18047410e-01 9.93004654e-01 -2.56226638e-03 2.17923690e+01] [ 3.65361749e-02 -1.76479452e-03 9.99330773e-01 1.47946220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.37925415399997 meters Centerline goodness : 0.999307 with order 1 Centerline is valid? [True, True] Translation: X:406.28, Y:21.80, Z:14.80 [[ 9.91610208e-01 -1.24007019e-01 -3.64891099e-02 4.06281983e+02] [ 1.23996513e-01 9.92279353e-01 -2.55957605e-03 2.17952625e+01] [ 3.65247958e-02 -1.98642065e-03 9.99330773e-01 1.47973546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.43925415399997 meters Centerline goodness : 0.999328 with order 1 Centerline is valid? [True, True] Translation: X:406.34, Y:21.80, Z:14.80 [[ 9.90917480e-01 -1.29425929e-01 -3.64893945e-02 4.06344644e+02] [ 1.29419230e-01 9.91586674e-01 -2.55551292e-03 2.17982904e+01] [ 3.65131469e-02 -2.19012691e-03 9.99330773e-01 1.48005967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.49925415399997 meters Centerline goodness : 0.999412 with order 1 Centerline is valid? [True, True] Translation: X:406.41, Y:21.80, Z:14.80 [[ 9.90624468e-01 -1.31649786e-01 -3.64896817e-02 4.06406764e+02] [ 1.31644740e-01 9.91293676e-01 -2.55140546e-03 2.18018494e+01] [ 3.65078827e-02 -2.27618998e-03 9.99330773e-01 1.48023739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.559254154 meters Centerline goodness : 0.999748 with order 1 Centerline is valid? [True, True] Translation: X:406.47, Y:21.81, Z:14.80 [[ 9.90541926e-01 -1.32269341e-01 -3.64899172e-02 4.06469266e+02] [ 1.32264837e-01 9.91211138e-01 -2.54803319e-03 2.18057717e+01] [ 3.65062390e-02 -2.30239924e-03 9.99330773e-01 1.48024557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.619254154 meters Centerline goodness : 0.999182 with order 1 Centerline is valid? [True, True] Translation: X:406.53, Y:21.81, Z:14.80 [[ 9.90787006e-01 -1.30420782e-01 -3.64901049e-02 4.06530993e+02] [ 1.30415128e-01 9.91456210e-01 -2.54534161e-03 2.18107203e+01] [ 3.65103065e-02 -2.23697031e-03 9.99330773e-01 1.48031552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.679254154 meters Centerline goodness : 0.999056 with order 1 Centerline is valid? [True, True] Translation: X:406.59, Y:21.82, Z:14.81 [[ 9.91773226e-01 -1.22696075e-01 -3.64902912e-02 4.06592891e+02] [ 1.22685305e-01 9.92442366e-01 -2.54266739e-03 2.18193616e+01] [ 3.65264863e-02 -1.95507307e-03 9.99330773e-01 1.48052234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.739254154 meters Centerline goodness : 0.999118 with order 1 Centerline is valid? [True, True] Translation: X:406.66, Y:21.83, Z:14.81 [[ 9.92185985e-01 -1.19312266e-01 -3.64904805e-02 4.06655462e+02] [ 1.19299313e-01 9.92855086e-01 -2.53994782e-03 2.18253671e+01] [ 3.65328061e-02 -1.83318865e-03 9.99330773e-01 1.48076331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.799254154 meters Centerline goodness : 0.999138 with order 1 Centerline is valid? [True, True] Translation: X:406.72, Y:21.83, Z:14.81 [[ 9.93064458e-01 -1.11764957e-01 -3.64907626e-02 4.06717215e+02] [ 1.11747066e-01 9.93733446e-01 -2.53588853e-03 2.18321079e+01] [ 3.65455148e-02 -1.55943488e-03 9.99330773e-01 1.48102117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.859254154 meters Centerline goodness : 0.999224 with order 1 Centerline is valid? [True, True] Translation: X:406.78, Y:21.84, Z:14.81 [[ 9.94284086e-01 -1.00337269e-01 -3.64909476e-02 4.06778595e+02] [ 1.00311783e-01 9.94952827e-01 -2.53322430e-03 2.18401249e+01] [ 3.65609483e-02 -1.14172743e-03 9.99330773e-01 1.48133838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.919254154 meters Centerline goodness : 0.999116 with order 1 Centerline is valid? [True, True] Translation: X:406.84, Y:21.85, Z:14.82 [[ 9.95052410e-01 -9.24072400e-02 -3.64911294e-02 4.06840388e+02] [ 9.23765197e-02 9.95720932e-01 -2.53060249e-03 2.18472166e+01] [ 3.65688274e-02 -8.52841430e-04 9.99330773e-01 1.48168400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.979254154 meters Centerline goodness : 0.998946 with order 1 Centerline is valid? [True, True] Translation: X:406.90, Y:21.85, Z:14.82 [[ 9.96038477e-01 -8.10909161e-02 -3.64913081e-02 4.06902235e+02] [ 8.10526934e-02 9.96706612e-01 -2.52802339e-03 2.18548360e+01] [ 3.65761278e-02 -4.39710242e-04 9.99330773e-01 1.48192484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.039254154 meters Centerline goodness : 0.999008 with order 1 Centerline is valid? [True, True] Translation: X:406.96, Y:21.86, Z:14.82 [[ 9.96794084e-01 -7.12034099e-02 -3.64914932e-02 4.06963804e+02] [ 7.11586573e-02 9.97461813e-01 -2.52534793e-03 2.18560281e+01] [ 3.65786844e-02 -7.94337818e-05 9.99330773e-01 1.48200475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.099254154 meters Centerline goodness : 0.999135 with order 1 Centerline is valid? [True, True] Translation: X:407.02, Y:21.86, Z:14.82 [[ 9.96875293e-01 -7.00572165e-02 -3.64915894e-02 4.07024144e+02] [ 7.00117471e-02 9.97542974e-01 -2.52395797e-03 2.18631797e+01] [ 3.65787501e-02 -3.87685851e-05 9.99330773e-01 1.48228552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.159254154 meters Centerline goodness : 0.999031 with order 1 Centerline is valid? [True, True] Translation: X:407.08, Y:21.87, Z:14.83 [[ 9.96915999e-01 -6.94755413e-02 -3.64916363e-02 4.07084233e+02] [ 6.94297071e-02 9.97583655e-01 -2.52327860e-03 2.18650366e+01] [ 3.65787661e-02 -1.81068181e-05 9.99330773e-01 1.48260118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.219254154 meters Centerline goodness : 0.999073 with order 1 Centerline is valid? [True, True] Translation: X:407.14, Y:21.87, Z:14.83 [[ 9.96822787e-01 -7.08003657e-02 -3.64916363e-02 4.07143667e+02] [ 7.07554188e-02 9.97490503e-01 -2.52327860e-03 2.18660695e+01] [ 3.65787097e-02 -6.67194093e-05 9.99330773e-01 1.48285354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.279254154 meters Centerline goodness : 0.999096 with order 1 Centerline is valid? [True, True] Translation: X:407.20, Y:21.87, Z:14.83 [[ 9.96651309e-01 -7.31746980e-02 -3.64915430e-02 4.07203748e+02] [ 7.31312925e-02 9.97319127e-01 -2.52462787e-03 2.18663977e+01] [ 3.65784527e-02 -1.52500032e-04 9.99330773e-01 1.48303904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.339254154 meters Centerline goodness : 0.999162 with order 1 Centerline is valid? [True, True] Translation: X:407.26, Y:21.87, Z:14.83 [[ 9.96181661e-01 -7.93124931e-02 -3.64914498e-02 4.07264174e+02] [ 7.92731528e-02 9.96849731e-01 -2.52597393e-03 2.18654306e+01] [ 3.65768332e-02 -3.76463371e-04 9.99330773e-01 1.48323535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.399254154 meters Centerline goodness : 0.998933 with order 1 Centerline is valid? [True, True] Translation: X:407.33, Y:21.85, Z:14.82 [[ 9.96345643e-01 -7.72252089e-02 -3.64914498e-02 4.07326121e+02] [ 7.71844689e-02 9.97013629e-01 -2.52597393e-03 2.18523787e+01] [ 3.65775417e-02 -2.99830055e-04 9.99330773e-01 1.48230408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.459254154 meters Centerline goodness : 0.999143 with order 1 Centerline is valid? [True, True] Translation: X:407.39, Y:21.86, Z:14.84 [[ 9.95122800e-01 -9.16459906e-02 -3.64914498e-02 4.07385739e+02] [ 9.16149285e-02 9.95791306e-01 -2.52597393e-03 2.18620479e+01] [ 3.65693638e-02 -8.29507319e-04 9.99330773e-01 1.48351484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.519254154 meters Centerline goodness : 0.999166 with order 1 Centerline is valid? [True, True] Translation: X:407.45, Y:21.86, Z:14.84 [[ 9.94459234e-01 -9.85860154e-02 -3.64914962e-02 4.07447282e+02] [ 9.85596423e-02 9.95127941e-01 -2.52530314e-03 2.18582591e+01] [ 3.65626671e-02 -1.08527779e-03 9.99330773e-01 1.48374508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.579254154 meters Centerline goodness : 0.999185 with order 1 Centerline is valid? [True, True] Translation: X:407.51, Y:21.86, Z:14.84 [[ 9.94164048e-01 -1.01519506e-01 -3.64915888e-02 4.07509865e+02] [ 1.01495155e-01 9.94832832e-01 -2.52396555e-03 2.18574527e+01] [ 3.65592623e-02 -1.19448365e-03 9.99330773e-01 1.48384141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.639254154 meters Centerline goodness : 0.999249 with order 1 Centerline is valid? [True, True] Translation: X:407.57, Y:21.85, Z:14.83 [[ 9.94821783e-01 -9.48576313e-02 -3.64917740e-02 4.07572882e+02] [ 9.48288992e-02 9.95490393e-01 -2.52128517e-03 2.18464871e+01] [ 3.65663735e-02 -9.52245342e-04 9.99330773e-01 1.48305520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.699254154 meters Centerline goodness : 0.999167 with order 1 Centerline is valid? [True, True] Translation: X:407.63, Y:21.86, Z:14.84 [[ 9.93997922e-01 -1.03133271e-01 -3.64919211e-02 4.07632201e+02] [ 1.03110182e-01 9.94666750e-01 -2.51915410e-03 2.18576620e+01] [ 3.65571091e-02 -1.25865468e-03 9.99330773e-01 1.48431719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.759254154 meters Centerline goodness : 0.999059 with order 1 Centerline is valid? [True, True] Translation: X:407.69, Y:21.86, Z:14.85 [[ 9.94247226e-01 -1.00701492e-01 -3.64919690e-02 4.07694053e+02] [ 1.00676793e-01 9.94915997e-01 -2.51845962e-03 2.18587738e+01] [ 3.65600564e-02 -1.16992291e-03 9.99330773e-01 1.48454732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.819254154 meters Centerline goodness : 0.999331 with order 1 Centerline is valid? [True, True] Translation: X:407.76, Y:21.86, Z:14.85 [[ 9.94552715e-01 -9.76382431e-02 -3.64920594e-02 4.07755092e+02] [ 9.76115318e-02 9.95221409e-01 -2.51714950e-03 2.18594868e+01] [ 3.65634488e-02 -1.05860794e-03 9.99330773e-01 1.48464194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.87925415399997 meters Centerline goodness : 0.999415 with order 1 Centerline is valid? [True, True] Translation: X:407.82, Y:21.86, Z:14.85 [[ 9.94791051e-01 -9.51792795e-02 -3.64920594e-02 4.07815676e+02] [ 9.51509151e-02 9.95459676e-01 -2.51714950e-03 2.18608289e+01] [ 3.65659541e-02 -9.68215046e-04 9.99330773e-01 1.48498666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.93925415399997 meters Centerline goodness : 0.999268 with order 1 Centerline is valid? [True, True] Translation: X:407.88, Y:21.86, Z:14.85 [[ 9.95313387e-01 -8.95521689e-02 -3.64920594e-02 4.07875379e+02] [ 8.95200238e-02 9.95981842e-01 -2.51714950e-03 2.18589979e+01] [ 3.65708447e-02 -7.61417427e-04 9.99330773e-01 1.48477887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.99925415399997 meters Centerline goodness : 0.999268 with order 1 Centerline is valid? [True, True] Translation: X:407.93, Y:21.87, Z:14.85 [[ 9.95314254e-01 -8.95425698e-02 -3.64919695e-02 4.07934257e+02] [ 8.95103706e-02 9.95982706e-01 -2.51845157e-03 2.18658856e+01] [ 3.65708792e-02 -7.59758963e-04 9.99330773e-01 1.48537642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.059254154 meters Centerline goodness : 0.999334 with order 1 Centerline is valid? [True, True] Translation: X:407.99, Y:21.87, Z:14.86 [[ 9.95503983e-01 -8.74080207e-02 -3.64918756e-02 4.07993256e+02] [ 8.73743384e-02 9.96172362e-01 -2.51981105e-03 2.18689438e+01] [ 3.65724497e-02 -6.79971553e-04 9.99330773e-01 1.48561815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.119254154 meters Centerline goodness : 0.999186 with order 1 Centerline is valid? [True, True] Translation: X:408.05, Y:21.87, Z:14.86 [[ 9.95733187e-01 -8.47571009e-02 -3.64918293e-02 4.08052431e+02] [ 8.47216145e-02 9.96401473e-01 -2.52048196e-03 2.18711601e+01] [ 3.65741412e-02 -5.81919153e-04 9.99330773e-01 1.48606984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.179254154 meters Centerline goodness : 0.999437 with order 1 Centerline is valid? [True, True] Translation: X:408.11, Y:21.87, Z:14.86 [[ 9.95736358e-01 -8.47198799e-02 -3.64917356e-02 4.08110770e+02] [ 8.46843188e-02 9.96404640e-01 -2.52183698e-03 2.18726449e+01] [ 3.65741844e-02 -5.79193000e-04 9.99330773e-01 1.48634669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.239254154 meters Centerline goodness : 0.999333 with order 1 Centerline is valid? [True, True] Translation: X:408.17, Y:21.87, Z:14.86 [[ 9.95536014e-01 -8.70427851e-02 -3.64910768e-02 4.08169616e+02] [ 8.70084352e-02 9.96204359e-01 -2.53133446e-03 2.18744715e+01] [ 3.65729042e-02 -6.54996876e-04 9.99330773e-01 1.48649717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.299254154 meters Centerline goodness : 0.999583 with order 1 Centerline is valid? [True, True] Translation: X:408.23, Y:21.88, Z:14.87 [[ 9.95244608e-01 -9.03140005e-02 -3.64904193e-02 4.08229678e+02] [ 9.02815011e-02 9.95913046e-01 -2.54077815e-03 2.18762304e+01] [ 3.65707524e-02 -7.65714073e-04 9.99330773e-01 1.48668146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.359254154 meters Centerline goodness : 0.999437 with order 1 Centerline is valid? [True, True] Translation: X:408.29, Y:21.88, Z:14.87 [[ 9.94649708e-01 -9.66458195e-02 -3.64903253e-02 4.08289303e+02] [ 9.66175252e-02 9.95318337e-01 -2.54212738e-03 2.18762432e+01] [ 3.65651758e-02 -9.97078667e-04 9.99330773e-01 1.48681457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.419254154 meters Centerline goodness : 0.999416 with order 1 Centerline is valid? [True, True] Translation: X:408.35, Y:21.88, Z:14.87 [[ 9.94070374e-01 -1.02433170e-01 -3.64902308e-02 4.08347918e+02] [ 1.02408718e-01 9.94739154e-01 -2.54348234e-03 2.18761428e+01] [ 3.65587983e-02 -1.20851733e-03 9.99330773e-01 1.48699235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.479254154 meters Centerline goodness : 0.999333 with order 1 Centerline is valid? [True, True] Translation: X:408.41, Y:21.88, Z:14.87 [[ 9.93875962e-01 -1.04302662e-01 -3.64900913e-02 4.08407291e+02] [ 1.04279395e-01 9.94544784e-01 -2.54548203e-03 2.18789585e+01] [ 3.65565306e-02 -1.27527125e-03 9.99330773e-01 1.48725658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.539254154 meters Centerline goodness : 0.998224 with order 1 Centerline is valid? [True, True] Translation: X:408.46, Y:21.88, Z:14.87 [[ 9.94004901e-01 -1.03066660e-01 -3.64900001e-02 4.08464746e+02] [ 1.03042513e-01 9.94673692e-01 -2.54678937e-03 2.18822621e+01] [ 3.65581322e-02 -1.22850018e-03 9.99330773e-01 1.48708321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.599254154 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:408.52, Y:21.89, Z:14.88 [[ 9.94018630e-01 -1.02934458e-01 -3.64891705e-02 4.08522738e+02] [ 1.02909788e-01 9.94687403e-01 -2.55862098e-03 2.18866010e+01] [ 3.65586885e-02 -1.21177589e-03 9.99330773e-01 1.48781576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.659254154 meters Centerline goodness : 0.999666 with order 1 Centerline is valid? [True, True] Translation: X:408.58, Y:21.89, Z:14.88 [[ 9.94051033e-01 -1.02621335e-01 -3.64884203e-02 4.08582532e+02] [ 1.02596064e-01 9.94719783e-01 -2.56927460e-03 2.18906179e+01] [ 3.65594159e-02 -1.18957824e-03 9.99330773e-01 1.48812458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.719254154 meters Centerline goodness : 0.999415 with order 1 Centerline is valid? [True, True] Translation: X:408.64, Y:21.89, Z:14.88 [[ 9.93990689e-01 -1.03204222e-01 -3.64883267e-02 4.08642625e+02] [ 1.03179294e-01 9.94659452e-01 -2.57060383e-03 2.18943532e+01] [ 3.65587562e-02 -1.20968353e-03 9.99330773e-01 1.48806546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.779254154 meters Centerline goodness : 0.999376 with order 1 Centerline is valid? [True, True] Translation: X:408.70, Y:21.90, Z:14.88 [[ 9.93669108e-01 -1.06255869e-01 -3.64882803e-02 4.08702206e+02] [ 1.06232970e-01 9.94337943e-01 -2.57126158e-03 2.18989886e+01] [ 3.65548932e-02 -1.32127520e-03 9.99330773e-01 1.48848777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.839254154 meters Centerline goodness : 0.999477 with order 1 Centerline is valid? [True, True] Translation: X:408.76, Y:21.90, Z:14.89 [[ 9.93111893e-01 -1.11343526e-01 -3.64881877e-02 4.08761400e+02] [ 1.11324005e-01 9.93780835e-01 -2.57257563e-03 2.19016935e+01] [ 3.65477012e-02 -1.50715574e-03 9.99330773e-01 1.48863392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.899254154 meters Centerline goodness : 0.999312 with order 1 Centerline is valid? [True, True] Translation: X:408.82, Y:21.91, Z:14.89 [[ 9.92805384e-01 -1.14044208e-01 -3.64881917e-02 4.08821528e+02] [ 1.14026509e-01 9.93474377e-01 -2.57251801e-03 2.19050900e+01] [ 3.65434643e-02 -1.60661140e-03 9.99330773e-01 1.48863510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.959254154 meters Centerline goodness : 0.999290 with order 1 Centerline is valid? [True, True] Translation: X:408.88, Y:21.91, Z:14.89 [[ 9.92801667e-01 -1.14076560e-01 -3.64881917e-02 4.08882148e+02] [ 1.14058883e-01 9.93470661e-01 -2.57251801e-03 2.19104056e+01] [ 3.65434119e-02 -1.60780222e-03 9.99330773e-01 1.48876551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.019254154 meters Centerline goodness : 0.999540 with order 1 Centerline is valid? [True, True] Translation: X:408.94, Y:21.92, Z:14.89 [[ 9.92919386e-01 -1.13047360e-01 -3.64881917e-02 4.08942291e+02] [ 1.13028989e-01 9.93588360e-01 -2.57251801e-03 2.19168147e+01] [ 3.65450590e-02 -1.56992042e-03 9.99330773e-01 1.48928574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.079254154 meters Centerline goodness : 0.999415 with order 1 Centerline is valid? [True, True] Translation: X:409.00, Y:21.92, Z:14.90 [[ 9.93404012e-01 -1.08706395e-01 -3.64881917e-02 4.09001390e+02] [ 1.08685100e-01 9.94072900e-01 -2.57251801e-03 2.19242965e+01] [ 3.65515717e-02 -1.41017307e-03 9.99330773e-01 1.48955778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.139254154 meters Centerline goodness : 0.999520 with order 1 Centerline is valid? [True, True] Translation: X:409.06, Y:21.93, Z:14.90 [[ 9.94033854e-01 -1.02787707e-01 -3.64881454e-02 4.09059997e+02] [ 1.02762405e-01 9.94702602e-01 -2.57317537e-03 2.19329307e+01] [ 3.65593440e-02 -1.19178614e-03 9.99330773e-01 1.49005540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.199254154 meters Centerline goodness : 0.999291 with order 1 Centerline is valid? [True, True] Translation: X:409.12, Y:21.94, Z:14.90 [[ 9.94510758e-01 -9.80661674e-02 -3.64880553e-02 4.09119540e+02] [ 9.80376430e-02 9.95179377e-01 -2.57445189e-03 2.19402510e+01] [ 3.65646268e-02 -1.01688284e-03 9.99330773e-01 1.49040142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.259254154 meters Centerline goodness : 0.999270 with order 1 Centerline is valid? [True, True] Translation: X:409.18, Y:21.95, Z:14.91 [[ 9.95079611e-01 -9.21151076e-02 -3.64880075e-02 4.09178463e+02] [ 9.20825591e-02 9.95748046e-01 -2.57512909e-03 2.19487527e+01] [ 3.65700705e-02 -7.97450652e-04 9.99330773e-01 1.49057999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.319254154 meters Centerline goodness : 0.999227 with order 1 Centerline is valid? [True, True] Translation: X:409.24, Y:21.96, Z:14.91 [[ 9.95380959e-01 -8.87996143e-02 -3.64880173e-02 4.09238753e+02] [ 8.87648442e-02 9.96049282e-01 -2.57499090e-03 2.19552870e+01] [ 3.65725216e-02 -6.75756255e-04 9.99330773e-01 1.49074880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.37925415399997 meters Centerline goodness : 0.999415 with order 1 Centerline is valid? [True, True] Translation: X:409.30, Y:21.96, Z:14.91 [[ 9.95722922e-01 -8.48792511e-02 -3.64880173e-02 4.09299004e+02] [ 8.48418495e-02 9.96391103e-01 -2.57499090e-03 2.19614226e+01] [ 3.65748991e-02 -5.31733403e-04 9.99330773e-01 1.49097781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.43925415399997 meters Centerline goodness : 0.999102 with order 1 Centerline is valid? [True, True] Translation: X:409.36, Y:21.97, Z:14.91 [[ 9.95936938e-01 -8.23300649e-02 -3.64880173e-02 4.09358558e+02] [ 8.22909530e-02 9.96605021e-01 -2.57499090e-03 2.19674152e+01] [ 3.65761404e-02 -4.38105159e-04 9.99330773e-01 1.49112781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.49925415399997 meters Centerline goodness : 0.999186 with order 1 Centerline is valid? [True, True] Translation: X:409.42, Y:21.97, Z:14.91 [[ 9.96044817e-01 -8.10145302e-02 -3.64879219e-02 4.09416750e+02] [ 8.09744864e-02 9.96712845e-01 -2.57634209e-03 2.19724858e+01] [ 3.65767015e-02 -3.88438544e-04 9.99330773e-01 1.49139078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.559254154 meters Centerline goodness : 0.999415 with order 1 Centerline is valid? [True, True] Translation: X:409.48, Y:21.98, Z:14.92 [[ 9.96100214e-01 -8.03308375e-02 -3.64872520e-02 4.09475337e+02] [ 8.02899890e-02 9.96768193e-01 -2.58579388e-03 2.19768481e+01] [ 3.65770513e-02 -3.53851225e-04 9.99330773e-01 1.49162896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.619254154 meters Centerline goodness : 0.999289 with order 1 Centerline is valid? [True, True] Translation: X:409.53, Y:21.98, Z:14.92 [[ 9.95951034e-01 -8.21600080e-02 -3.64865790e-02 4.09534299e+02] [ 8.21200396e-02 9.96619067e-01 -2.59525665e-03 2.19803254e+01] [ 3.65764466e-02 -4.11530762e-04 9.99330773e-01 1.49187335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.679254154 meters Centerline goodness : 0.999353 with order 1 Centerline is valid? [True, True] Translation: X:409.59, Y:21.98, Z:14.92 [[ 9.95708577e-01 -8.50482701e-02 -3.64859138e-02 4.09592567e+02] [ 8.50098981e-02 9.96376703e-01 -2.60457429e-03 2.19831445e+01] [ 3.65752290e-02 -5.08266858e-04 9.99330773e-01 1.49196702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.739254154 meters Centerline goodness : 0.999333 with order 1 Centerline is valid? [True, True] Translation: X:409.65, Y:21.98, Z:14.92 [[ 9.94896618e-01 -9.40720211e-02 -3.64852500e-02 4.09651329e+02] [ 9.40393684e-02 9.95565048e-01 -2.61384014e-03 2.19840551e+01] [ 3.65693289e-02 -8.30549153e-04 9.99330773e-01 1.49237423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.799254154 meters Centerline goodness : 0.999437 with order 1 Centerline is valid? [True, True] Translation: X:409.71, Y:21.99, Z:14.93 [[ 9.94091562e-01 -1.02229170e-01 -3.64851092e-02 4.09710695e+02] [ 1.02201929e-01 9.94760234e-01 -2.61580394e-03 2.19851075e+01] [ 3.65613472e-02 -1.12849991e-03 9.99330773e-01 1.49258338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.859254154 meters Centerline goodness : 0.999479 with order 1 Centerline is valid? [True, True] Translation: X:409.77, Y:21.99, Z:14.93 [[ 9.93627260e-01 -1.06647604e-01 -3.64850160e-02 4.09771612e+02] [ 1.06623288e-01 9.94296045e-01 -2.61710291e-03 2.19881623e+01] [ 3.65560149e-02 -1.28972758e-03 9.99330773e-01 1.49288071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.919254154 meters Centerline goodness : 0.999500 with order 1 Centerline is valid? [True, True] Translation: X:409.83, Y:21.99, Z:14.93 [[ 9.93192090e-01 -1.10626886e-01 -3.64851131e-02 4.09832274e+02] [ 1.10605299e-01 9.93860969e-01 -2.61574849e-03 2.19928609e+01] [ 3.65505020e-02 -1.43750614e-03 9.99330773e-01 1.49312783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.979254154 meters Centerline goodness : 0.999290 with order 1 Centerline is valid? [True, True] Translation: X:409.89, Y:22.00, Z:14.93 [[ 9.93064061e-01 -1.11770304e-01 -3.64852102e-02 4.09892381e+02] [ 1.11749537e-01 9.93732965e-01 -2.61439348e-03 2.19986592e+01] [ 3.65487677e-02 -1.48094513e-03 9.99330773e-01 1.49333844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.039254154 meters Centerline goodness : 0.999499 with order 1 Centerline is valid? [True, True] Translation: X:409.95, Y:22.01, Z:14.94 [[ 9.92953920e-01 -1.12744575e-01 -3.64852581e-02 4.09953713e+02] [ 1.12724489e-01 9.93622845e-01 -2.61372527e-03 2.20054460e+01] [ 3.65472693e-02 -1.51747331e-03 9.99330773e-01 1.49356854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.099254154 meters Centerline goodness : 0.999332 with order 1 Centerline is valid? [True, True] Translation: X:410.01, Y:22.01, Z:14.94 [[ 9.92837739e-01 -1.13763096e-01 -3.64853549e-02 4.10014607e+02] [ 1.13743746e-01 9.93506686e-01 -2.61237290e-03 2.20118977e+01] [ 3.65456357e-02 -1.55631853e-03 9.99330773e-01 1.49374817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.159254154 meters Centerline goodness : 0.999415 with order 1 Centerline is valid? [True, True] Translation: X:410.07, Y:22.02, Z:14.94 [[ 9.92553049e-01 -1.16220723e-01 -3.64854515e-02 4.10074971e+02] [ 1.16203078e-01 9.93222043e-01 -2.61102362e-03 2.20191494e+01] [ 3.65416097e-02 -1.64814230e-03 9.99330773e-01 1.49388245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.219254154 meters Centerline goodness : 0.999269 with order 1 Centerline is valid? [True, True] Translation: X:410.14, Y:22.03, Z:14.94 [[ 9.92354312e-01 -1.17905561e-01 -3.64855947e-02 4.10136358e+02] [ 1.17889125e-01 9.93023337e-01 -2.60902110e-03 2.20254681e+01] [ 3.65386651e-02 -1.71218150e-03 9.99330773e-01 1.49405027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.279254154 meters Centerline goodness : 0.999102 with order 1 Centerline is valid? [True, True] Translation: X:410.20, Y:22.03, Z:14.94 [[ 9.92155837e-01 -1.19564164e-01 -3.64856884e-02 4.10197887e+02] [ 1.19548894e-01 9.92824890e-01 -2.60771010e-03 2.20344516e+01] [ 3.65356882e-02 -1.77456891e-03 9.99330773e-01 1.49433028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.339254154 meters Centerline goodness : 0.999039 with order 1 Centerline is valid? [True, True] Translation: X:410.26, Y:22.04, Z:14.95 [[ 9.92174597e-01 -1.19408335e-01 -3.64858814e-02 4.10259779e+02] [ 1.19393060e-01 9.92843649e-01 -2.60500712e-03 2.20423346e+01] [ 3.65358352e-02 -1.77153913e-03 9.99330773e-01 1.49464306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.399254154 meters Centerline goodness : 0.999228 with order 1 Centerline is valid? [True, True] Translation: X:410.32, Y:22.05, Z:14.95 [[ 9.92649096e-01 -1.15397308e-01 -3.64860771e-02 4.10320518e+02] [ 1.15379429e-01 9.93318084e-01 -2.60226294e-03 2.20518587e+01] [ 3.65425743e-02 -1.62660880e-03 9.99330773e-01 1.49500129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.459254154 meters Centerline goodness : 0.999122 with order 1 Centerline is valid? [True, True] Translation: X:410.38, Y:22.06, Z:14.95 [[ 9.93288619e-01 -1.09756437e-01 -3.64862214e-02 4.10382431e+02] [ 1.09734833e-01 9.93957497e-01 -2.60023862e-03 2.20597146e+01] [ 3.65511462e-02 -1.42102196e-03 9.99330773e-01 1.49527552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.519254154 meters Centerline goodness : 0.999038 with order 1 Centerline is valid? [True, True] Translation: X:410.44, Y:22.07, Z:14.96 [[ 9.94301256e-01 -1.00168630e-01 -3.64864124e-02 4.10443590e+02] [ 1.00140673e-01 9.94969898e-01 -2.59755458e-03 2.20701235e+01] [ 3.65630756e-02 -1.07102210e-03 9.99330773e-01 1.49563630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.579254154 meters Centerline goodness : 0.999268 with order 1 Centerline is valid? [True, True] Translation: X:410.51, Y:22.08, Z:14.96 [[ 9.94649442e-01 -9.66499653e-02 -3.64866074e-02 4.10505599e+02] [ 9.66197424e-02 9.95317986e-01 -2.59481309e-03 2.20758692e+01] [ 3.65665652e-02 -9.44397222e-04 9.99330773e-01 1.49574490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.639254154 meters Centerline goodness : 0.999288 with order 1 Centerline is valid? [True, True] Translation: X:410.57, Y:22.08, Z:14.96 [[ 9.95275828e-01 -8.99707673e-02 -3.64868016e-02 4.10566898e+02] [ 8.99361574e-02 9.95944159e-01 -2.59207942e-03 2.20841793e+01] [ 3.65720283e-02 -7.01648741e-04 9.99330773e-01 1.49601272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.699254154 meters Centerline goodness : 0.998995 with order 1 Centerline is valid? [True, True] Translation: X:410.63, Y:22.08, Z:14.95 [[ 9.96288463e-01 -7.79615582e-02 -3.64868967e-02 4.10628828e+02] [ 7.79189399e-02 9.96956331e-01 -2.59074084e-03 2.20804859e+01] [ 3.65778208e-02 -2.61895097e-04 9.99330773e-01 1.49483209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.759254154 meters Centerline goodness : 0.999058 with order 1 Centerline is valid? [True, True] Translation: X:410.69, Y:22.10, Z:14.96 [[ 9.95650472e-01 -8.57253801e-02 -3.64869467e-02 4.10687902e+02] [ 8.56879951e-02 9.96318653e-01 -2.59003576e-03 2.20970766e+01] [ 3.65746574e-02 -5.47722980e-04 9.99330773e-01 1.49643163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.819254154 meters Centerline goodness : 0.999330 with order 1 Centerline is valid? [True, True] Translation: X:410.75, Y:22.10, Z:14.97 [[ 9.95595357e-01 -8.63631003e-02 -3.64869957e-02 4.10748496e+02] [ 8.63261686e-02 9.96263563e-01 -2.58934500e-03 2.21020838e+01] [ 3.65742882e-02 -5.71842686e-04 9.99330773e-01 1.49679640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.87925415399997 meters Centerline goodness : 0.999227 with order 1 Centerline is valid? [True, True] Translation: X:410.81, Y:22.11, Z:14.97 [[ 9.95470742e-01 -8.77877796e-02 -3.64870910e-02 4.10808955e+02] [ 8.77518534e-02 9.96139004e-01 -2.58800193e-03 2.21053351e+01] [ 3.65734094e-02 -6.25529655e-04 9.99330773e-01 1.49693553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.93925415399997 meters Centerline goodness : 0.999123 with order 1 Centerline is valid? [True, True] Translation: X:410.87, Y:22.11, Z:14.97 [[ 9.95068709e-01 -9.22331483e-02 -3.64871378e-02 4.10870139e+02] [ 9.22002315e-02 9.95737125e-01 -2.58734107e-03 2.21075617e+01] [ 3.65702364e-02 -7.89540415e-04 9.99330773e-01 1.49724093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.99925415399997 meters Centerline goodness : 0.998914 with order 1 Centerline is valid? [True, True] Translation: X:410.93, Y:22.11, Z:14.97 [[ 9.94801728e-01 -9.50694660e-02 -3.64872332e-02 4.10932497e+02] [ 9.50385041e-02 9.95470238e-01 -2.58599567e-03 2.21093174e+01] [ 3.65678040e-02 -8.95139103e-04 9.99330773e-01 1.49734478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.059254154 meters Centerline goodness : 0.999125 with order 1 Centerline is valid? [True, True] Translation: X:410.99, Y:22.11, Z:14.98 [[ 9.94355378e-01 -9.96295608e-02 -3.64874275e-02 4.10994729e+02] [ 9.96017649e-02 9.95024027e-01 -2.58325138e-03 2.21107223e+01] [ 3.65632353e-02 -1.06554227e-03 9.99330773e-01 1.49768987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.119254154 meters Centerline goodness : 0.999374 with order 1 Centerline is valid? [True, True] Translation: X:411.06, Y:22.11, Z:14.98 [[ 9.94323754e-01 -9.99446153e-02 -3.64876198e-02 4.11055572e+02] [ 9.99171310e-02 9.94992416e-01 -2.58053202e-03 2.21127734e+01] [ 3.65628153e-02 -1.07985401e-03 9.99330773e-01 1.49788380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.179254154 meters Centerline goodness : 0.999102 with order 1 Centerline is valid? [True, True] Translation: X:411.12, Y:22.11, Z:14.98 [[ 9.94626489e-01 -9.68853820e-02 -3.64879361e-02 4.11116822e+02] [ 9.68560051e-02 9.95295071e-01 -2.57605263e-03 2.21139102e+01] [ 3.65658448e-02 -9.71865541e-04 9.99330773e-01 1.49812114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.239254154 meters Centerline goodness : 0.999205 with order 1 Centerline is valid? [True, True] Translation: X:411.18, Y:22.12, Z:14.98 [[ 9.95253107e-01 -9.02212463e-02 -3.64880737e-02 4.11178135e+02] [ 9.01874634e-02 9.95921481e-01 -2.57410174e-03 2.21154045e+01] [ 3.65714950e-02 -7.28884057e-04 9.99330773e-01 1.49836981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.299254154 meters Centerline goodness : 0.998933 with order 1 Centerline is valid? [True, True] Translation: X:411.24, Y:22.10, Z:14.97 [[ 9.96615030e-01 -7.36688252e-02 -3.64881689e-02 4.11240102e+02] [ 7.36239889e-02 9.97282753e-01 -2.57275118e-03 2.21043003e+01] [ 3.65785531e-02 -1.22362048e-04 9.99330773e-01 1.49664060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.359254154 meters Centerline goodness : 0.999206 with order 1 Centerline is valid? [True, True] Translation: X:411.30, Y:22.12, Z:14.99 [[ 9.95776046e-01 -8.42536651e-02 -3.64881602e-02 4.11298385e+02] [ 8.42159212e-02 9.96444208e-01 -2.57287535e-03 2.21176521e+01] [ 3.65751900e-02 -5.10876378e-04 9.99330773e-01 1.49863133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.419254154 meters Centerline goodness : 0.999269 with order 1 Centerline is valid? [True, True] Translation: X:411.36, Y:22.12, Z:14.99 [[ 9.95662554e-01 -8.55844458e-02 -3.64881031e-02 4.11358090e+02] [ 8.55475653e-02 9.96330763e-01 -2.57368388e-03 2.21180977e+01] [ 3.65744870e-02 -5.58947724e-04 9.99330773e-01 1.49877448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.479254154 meters Centerline goodness : 0.999122 with order 1 Centerline is valid? [True, True] Translation: X:411.42, Y:22.12, Z:14.99 [[ 9.95166000e-01 -9.11770440e-02 -3.64880556e-02 4.11417299e+02] [ 9.11438936e-02 9.95834406e-01 -2.57435822e-03 2.21173659e+01] [ 3.65707835e-02 -7.63749682e-04 9.99330773e-01 1.49895978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.539254154 meters Centerline goodness : 0.999145 with order 1 Centerline is valid? [True, True] Translation: X:411.48, Y:22.12, Z:14.99 [[ 9.94676962e-01 -9.63658435e-02 -3.64878724e-02 4.11478214e+02] [ 9.63360844e-02 9.95345527e-01 -2.57695156e-03 2.21188137e+01] [ 3.65663707e-02 -9.51864406e-04 9.99330773e-01 1.49918444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.599254154 meters Centerline goodness : 0.998998 with order 1 Centerline is valid? [True, True] Translation: X:411.54, Y:22.12, Z:14.99 [[ 9.93874932e-01 -1.04313252e-01 -3.64878724e-02 4.11538618e+02] [ 1.04288838e-01 9.94543713e-01 -2.57695156e-03 2.21187577e+01] [ 3.65575943e-02 -1.24411025e-03 9.99330773e-01 1.49940018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.659254154 meters Centerline goodness : 0.999227 with order 1 Centerline is valid? [True, True] Translation: X:411.60, Y:22.12, Z:15.00 [[ 9.93421924e-01 -1.08542694e-01 -3.64878724e-02 4.11598868e+02] [ 1.08521126e-01 9.94090803e-01 -2.57695156e-03 2.21212535e+01] [ 3.65519676e-02 -1.39970484e-03 9.99330773e-01 1.49960051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.719254154 meters Centerline goodness : 0.999124 with order 1 Centerline is valid? [True, True] Translation: X:411.66, Y:22.12, Z:15.00 [[ 9.92676387e-01 -1.15161727e-01 -3.64879189e-02 4.11660246e+02] [ 1.15144643e-01 9.93345395e-01 -2.57629258e-03 2.21238352e+01] [ 3.65417965e-02 -1.64396358e-03 9.99330773e-01 1.49984351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.779254154 meters Centerline goodness : 0.999126 with order 1 Centerline is valid? [True, True] Translation: X:411.72, Y:22.13, Z:15.00 [[ 9.92050358e-01 -1.20435510e-01 -3.64880143e-02 4.11720857e+02] [ 1.20422030e-01 9.92719449e-01 -2.57494143e-03 2.21273026e+01] [ 3.65324758e-02 -1.83948919e-03 9.99330773e-01 1.50004796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.839254154 meters Centerline goodness : 0.999229 with order 1 Centerline is valid? [True, True] Translation: X:411.78, Y:22.13, Z:15.00 [[ 9.91057418e-01 -1.28350361e-01 -3.64880612e-02 4.11783230e+02] [ 1.28342247e-01 9.91726596e-01 -2.57427688e-03 2.21313330e+01] [ 3.65165900e-02 -2.13170357e-03 9.99330773e-01 1.50030027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.899254154 meters Centerline goodness : 0.999126 with order 1 Centerline is valid? [True, True] Translation: X:411.84, Y:22.14, Z:15.01 [[ 9.90483265e-01 -1.32708363e-01 -3.64882555e-02 4.11844869e+02] [ 1.32703294e-01 9.91152472e-01 -2.57151945e-03 2.21370048e+01] [ 3.65066868e-02 -2.29506472e-03 9.99330773e-01 1.50052112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.959254154 meters Centerline goodness : 0.999145 with order 1 Centerline is valid? [True, True] Translation: X:411.91, Y:22.14, Z:15.01 [[ 9.90102692e-01 -1.35518462e-01 -3.64884472e-02 4.11907073e+02] [ 1.35515392e-01 9.90771911e-01 -2.56879584e-03 2.21442563e+01] [ 3.64998479e-02 -2.40137455e-03 9.99330773e-01 1.50061821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.019254154 meters Centerline goodness : 0.998958 with order 1 Centerline is valid? [True, True] Translation: X:411.97, Y:22.15, Z:15.01 [[ 9.90237060e-01 -1.34533058e-01 -3.64886389e-02 4.11968455e+02] [ 1.34529421e-01 9.90906277e-01 -2.56607102e-03 2.21509012e+01] [ 3.65020427e-02 -2.36777685e-03 9.99330773e-01 1.50057133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.079254154 meters Centerline goodness : 0.999061 with order 1 Centerline is valid? [True, True] Translation: X:412.03, Y:22.16, Z:15.01 [[ 9.90824068e-01 -1.30139291e-01 -3.64887804e-02 4.12029739e+02] [ 1.30132761e-01 9.91493263e-01 -2.56405707e-03 2.21620649e+01] [ 3.65120645e-02 -2.20785627e-03 9.99330773e-01 1.50094370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.139254154 meters Centerline goodness : 0.999144 with order 1 Centerline is valid? [True, True] Translation: X:412.09, Y:22.17, Z:15.01 [[ 9.91768145e-01 -1.22737532e-01 -3.64889723e-02 4.12091379e+02] [ 1.22726105e-01 9.92437274e-01 -2.56132293e-03 2.21735388e+01] [ 3.65273867e-02 -1.93791095e-03 9.99330773e-01 1.50125347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.199254154 meters Centerline goodness : 0.999039 with order 1 Centerline is valid? [True, True] Translation: X:412.15, Y:22.18, Z:15.02 [[ 9.92531700e-01 -1.16401744e-01 -3.64891623e-02 4.12152456e+02] [ 1.16386144e-01 9.93200745e-01 -2.55861352e-03 2.21826981e+01] [ 3.65388902e-02 -1.70732786e-03 9.99330773e-01 1.50153652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.259254154 meters Centerline goodness : 0.999162 with order 1 Centerline is valid? [True, True] Translation: X:412.21, Y:22.19, Z:15.02 [[ 9.93649239e-01 -1.06441110e-01 -3.64894487e-02 4.12214209e+02] [ 1.06418950e-01 9.94318099e-01 -2.55452197e-03 2.21938918e+01] [ 3.65540254e-02 -1.34487001e-03 9.99330773e-01 1.50182184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.319254154 meters Centerline goodness : 0.999014 with order 1 Centerline is valid? [True, True] Translation: X:412.28, Y:22.20, Z:15.02 [[ 9.94267487e-01 -1.00502091e-01 -3.64896319e-02 4.12275522e+02] [ 1.00476031e-01 9.94936206e-01 -2.55190275e-03 2.22025422e+01] [ 3.65613275e-02 -1.12905945e-03 9.99330773e-01 1.50209519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.37925415399997 meters Centerline goodness : 0.998867 with order 1 Centerline is valid? [True, True] Translation: X:412.34, Y:22.21, Z:15.02 [[ 9.94839521e-01 -9.46721753e-02 -3.64898119e-02 4.12337173e+02] [ 9.46422906e-02 9.95508080e-01 -2.54932696e-03 2.22104618e+01] [ 3.65672529e-02 -9.17308166e-04 9.99330773e-01 1.50233312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.43925415399997 meters Centerline goodness : 0.999181 with order 1 Centerline is valid? [True, True] Translation: X:412.40, Y:22.22, Z:15.03 [[ 9.95056832e-01 -9.23600568e-02 -3.64900031e-02 4.12399157e+02] [ 9.23287190e-02 9.95725325e-01 -2.54658642e-03 2.22162065e+01] [ 3.65692231e-02 -8.35077030e-04 9.99330773e-01 1.50254822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.49925415399997 meters Centerline goodness : 0.999119 with order 1 Centerline is valid? [True, True] Translation: X:412.46, Y:22.22, Z:15.03 [[ 9.95185012e-01 -9.09684462e-02 -3.64901942e-02 4.12460898e+02] [ 9.09362741e-02 9.95853465e-01 -2.54384465e-03 2.22219213e+01] [ 3.65702960e-02 -7.86686234e-04 9.99330773e-01 1.50269380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.559254154 meters Centerline goodness : 0.999329 with order 1 Centerline is valid? [True, True] Translation: X:412.52, Y:22.23, Z:15.03 [[ 9.95285708e-01 -8.98599507e-02 -3.64903867e-02 4.12522611e+02] [ 8.98271353e-02 9.95954130e-01 -2.54108153e-03 2.22266095e+01] [ 3.65710928e-02 -7.48724767e-04 9.99330773e-01 1.50291653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.619254154 meters Centerline goodness : 0.998973 with order 1 Centerline is valid? [True, True] Translation: X:412.59, Y:22.23, Z:15.03 [[ 9.95489012e-01 -8.75789113e-02 -3.64905758e-02 4.12585040e+02] [ 8.75446639e-02 9.96157361e-01 -2.53836313e-03 2.22294423e+01] [ 3.65726627e-02 -6.67642585e-04 9.99330773e-01 1.50284182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.679254154 meters Centerline goodness : 0.999205 with order 1 Centerline is valid? [True, True] Translation: X:412.65, Y:22.23, Z:15.03 [[ 9.95468056e-01 -8.78167065e-02 -3.64907670e-02 4.12645700e+02] [ 8.77827195e-02 9.96136419e-01 -2.53561069e-03 2.22339240e+01] [ 3.65724510e-02 -6.79139318e-04 9.99330773e-01 1.50335783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.739254154 meters Centerline goodness : 0.998871 with order 1 Centerline is valid? [True, True] Translation: X:412.71, Y:22.24, Z:15.04 [[ 9.95356013e-01 -8.90776363e-02 -3.64908614e-02 4.12706848e+02] [ 8.90445458e-02 9.96024421e-01 -2.53425236e-03 2.22358582e+01] [ 3.65715342e-02 -7.26828849e-04 9.99330773e-01 1.50357472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.799254154 meters Centerline goodness : 0.999060 with order 1 Centerline is valid? [True, True] Translation: X:412.77, Y:22.24, Z:15.04 [[ 9.95182259e-01 -9.09982546e-02 -3.64909554e-02 4.12768385e+02] [ 9.09665036e-02 9.95850732e-01 -2.53289773e-03 2.22364678e+01] [ 3.65700339e-02 -7.98759741e-04 9.99330773e-01 1.50380149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.859254154 meters Centerline goodness : 0.999164 with order 1 Centerline is valid? [True, True] Translation: X:412.83, Y:22.24, Z:15.04 [[ 9.95148930e-01 -9.13619767e-02 -3.64910506e-02 4.12830033e+02] [ 9.13305204e-02 9.95817417e-01 -2.53152499e-03 2.22385114e+01] [ 3.65697089e-02 -8.13502260e-04 9.99330773e-01 1.50398889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.919254154 meters Centerline goodness : 0.998913 with order 1 Centerline is valid? [True, True] Translation: X:412.89, Y:22.24, Z:15.04 [[ 9.95181019e-01 -9.10117387e-02 -3.64911454e-02 4.12891665e+02] [ 9.09800972e-02 9.95849497e-01 -2.53015828e-03 2.22398584e+01] [ 3.65699629e-02 -8.02002465e-04 9.99330773e-01 1.50405518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.979254154 meters Centerline goodness : 0.999208 with order 1 Centerline is valid? [True, True] Translation: X:412.95, Y:22.24, Z:15.04 [[ 9.95225045e-01 -9.05289956e-02 -3.64912394e-02 4.12952270e+02] [ 9.04970796e-02 9.95893510e-01 -2.52880126e-03 2.22413006e+01] [ 3.65703184e-02 -7.85624251e-04 9.99330773e-01 1.50414932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.039254154 meters Centerline goodness : 0.999102 with order 1 Centerline is valid? [True, True] Translation: X:413.01, Y:22.24, Z:15.04 [[ 9.95287223e-01 -8.98428042e-02 -3.64912856e-02 4.13013409e+02] [ 8.98104518e-02 9.95955667e-01 -2.52813394e-03 2.22425837e+01] [ 3.65708374e-02 -7.61079447e-04 9.99330773e-01 1.50436898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.099254154 meters Centerline goodness : 0.998936 with order 1 Centerline is valid? [True, True] Translation: X:413.07, Y:22.24, Z:15.05 [[ 9.95439000e-01 -8.81451979e-02 -3.64913797e-02 4.13074847e+02] [ 8.81117552e-02 9.96107391e-01 -2.52677558e-03 2.22446041e+01] [ 3.65720562e-02 -7.00068557e-04 9.99330773e-01 1.50462852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.159254154 meters Centerline goodness : 0.999144 with order 1 Centerline is valid? [True, True] Translation: X:413.13, Y:22.25, Z:15.05 [[ 9.95830688e-01 -8.36039098e-02 -3.64914727e-02 4.13134899e+02] [ 8.35674681e-02 9.96498921e-01 -2.52543177e-03 2.22468352e+01] [ 3.65748492e-02 -5.34597524e-04 9.99330773e-01 1.50492192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.219254154 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:413.20, Y:22.25, Z:15.05 [[ 9.96034056e-01 -8.11451266e-02 -3.64914727e-02 4.13195617e+02] [ 8.11070353e-02 9.96702198e-01 -2.52543177e-03 2.22494674e+01] [ 3.65760575e-02 -4.44299114e-04 9.99330773e-01 1.50521844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.279254154 meters Centerline goodness : 0.999417 with order 1 Centerline is valid? [True, True] Translation: X:413.26, Y:22.25, Z:15.06 [[ 9.95916169e-01 -8.25793918e-02 -3.64914727e-02 4.13255166e+02] [ 8.25422626e-02 9.96584365e-01 -2.52543177e-03 2.22504809e+01] [ 3.65753798e-02 -4.96970389e-04 9.99330773e-01 1.50554751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.339254154 meters Centerline goodness : 0.999394 with order 1 Centerline is valid? [True, True] Translation: X:413.32, Y:22.25, Z:15.06 [[ 9.95479637e-01 -8.76850715e-02 -3.64913797e-02 4.13315160e+02] [ 8.76513199e-02 9.96148012e-01 -2.52677549e-03 2.22511528e+01] [ 3.65723758e-02 -6.83164046e-04 9.99330773e-01 1.50570880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.399254154 meters Centerline goodness : 0.999437 with order 1 Centerline is valid? [True, True] Translation: X:413.37, Y:22.25, Z:15.06 [[ 9.94532417e-01 -9.78450672e-02 -3.64912867e-02 4.13374942e+02] [ 9.78180927e-02 9.95201100e-01 -2.52811732e-03 2.22490330e+01] [ 3.65635325e-02 -1.05521344e-03 9.99330773e-01 1.50578768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.459254154 meters Centerline goodness : 0.999186 with order 1 Centerline is valid? [True, True] Translation: X:413.43, Y:22.25, Z:15.06 [[ 9.93636679e-01 -1.06557678e-01 -3.64912409e-02 4.13434594e+02] [ 1.06536541e-01 9.94305572e-01 -2.52877774e-03 2.22479281e+01] [ 3.65529049e-02 -1.37496427e-03 9.99330773e-01 1.50587705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.519254154 meters Centerline goodness : 0.999416 with order 1 Centerline is valid? [True, True] Translation: X:413.50, Y:22.25, Z:15.06 [[ 9.93033495e-01 -1.12039596e-01 -3.64911958e-02 4.13495505e+02] [ 1.12022127e-01 9.93702493e-01 -2.52942889e-03 2.22508503e+01] [ 3.65447884e-02 -1.57601375e-03 9.99330773e-01 1.50637752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.579254154 meters Centerline goodness : 0.999354 with order 1 Centerline is valid? [True, True] Translation: X:413.56, Y:22.25, Z:15.07 [[ 9.92387494e-01 -1.17624179e-01 -3.64912881e-02 4.13556848e+02] [ 1.17610523e-01 9.93056581e-01 -2.52809632e-03 2.22521579e+01] [ 3.65352791e-02 -1.78290830e-03 9.99330773e-01 1.50671121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.639254154 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:413.62, Y:22.26, Z:15.07 [[ 9.92096547e-01 -1.20053404e-01 -3.64913792e-02 4.13617538e+02] [ 1.20041434e-01 9.92765667e-01 -2.52678026e-03 2.22554385e+01] [ 3.65307370e-02 -1.87366751e-03 9.99330773e-01 1.50700845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.699254154 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:413.68, Y:22.26, Z:15.07 [[ 9.92153161e-01 -1.19584617e-01 -3.64914242e-02 4.13677494e+02] [ 1.19572355e-01 9.92822275e-01 -2.52613161e-03 2.22589120e+01] [ 3.65315852e-02 -1.85705605e-03 9.99330773e-01 1.50698915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.759254154 meters Centerline goodness : 0.999228 with order 1 Centerline is valid? [True, True] Translation: X:413.74, Y:22.26, Z:15.07 [[ 9.92109277e-01 -1.19948158e-01 -3.64913892e-02 4.13738686e+02] [ 1.19936123e-01 9.92778396e-01 -2.52663573e-03 2.22620203e+01] [ 3.65309282e-02 -1.86993699e-03 9.99330773e-01 1.50735557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.819254154 meters Centerline goodness : 0.999357 with order 1 Centerline is valid? [True, True] Translation: X:413.80, Y:22.27, Z:15.08 [[ 9.92184616e-01 -1.19323339e-01 -3.64914847e-02 4.13799765e+02] [ 1.19310932e-01 9.92853728e-01 -2.52525703e-03 2.22686953e+01] [ 3.65320287e-02 -1.84831187e-03 9.99330773e-01 1.50766273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.87925415399997 meters Centerline goodness : 0.999290 with order 1 Centerline is valid? [True, True] Translation: X:413.86, Y:22.27, Z:15.08 [[ 9.92190956e-01 -1.19270583e-01 -3.64915777e-02 4.13860539e+02] [ 1.19258190e-01 9.92860068e-01 -2.52391190e-03 2.22741854e+01] [ 3.65320587e-02 -1.84771695e-03 9.99330773e-01 1.50780572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.93925415399997 meters Centerline goodness : 0.999145 with order 1 Centerline is valid? [True, True] Translation: X:413.92, Y:22.28, Z:15.08 [[ 9.92237447e-01 -1.18883162e-01 -3.64916710e-02 4.13921740e+02] [ 1.18870557e-01 9.92906555e-01 -2.52256254e-03 2.22793695e+01] [ 3.65327095e-02 -1.83480424e-03 9.99330773e-01 1.50797063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.99925415399997 meters Centerline goodness : 0.999104 with order 1 Centerline is valid? [True, True] Translation: X:413.98, Y:22.28, Z:15.08 [[ 9.92416772e-01 -1.17376751e-01 -3.64917628e-02 4.13982700e+02] [ 1.17363179e-01 9.93085861e-01 -2.52123366e-03 2.22841699e+01] [ 3.65353879e-02 -1.78067472e-03 9.99330773e-01 1.50817958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.059254154 meters Centerline goodness : 0.999312 with order 1 Centerline is valid? [True, True] Translation: X:414.04, Y:22.29, Z:15.09 [[ 9.93000346e-01 -1.12332800e-01 -3.64918558e-02 4.14044196e+02] [ 1.12315879e-01 9.93669358e-01 -2.51988605e-03 2.22925387e+01] [ 3.65439048e-02 -1.59636713e-03 9.99330773e-01 1.50853532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.119254154 meters Centerline goodness : 0.999375 with order 1 Centerline is valid? [True, True] Translation: X:414.10, Y:22.30, Z:15.09 [[ 9.93580454e-01 -1.07080403e-01 -3.64920444e-02 4.14104671e+02] [ 1.07060044e-01 9.94249371e-01 -2.51715199e-03 2.22995981e+01] [ 3.65517299e-02 -1.40584689e-03 9.99330773e-01 1.50877355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.179254154 meters Centerline goodness : 0.999169 with order 1 Centerline is valid? [True, True] Translation: X:414.17, Y:22.31, Z:15.09 [[ 9.94208417e-01 -1.01083862e-01 -3.64921378e-02 4.14165948e+02] [ 1.01059517e-01 9.94877201e-01 -2.51579805e-03 2.23070760e+01] [ 3.65595025e-02 -1.18665022e-03 9.99330773e-01 1.50906566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.239254154 meters Centerline goodness : 0.999124 with order 1 Centerline is valid? [True, True] Translation: X:414.23, Y:22.31, Z:15.09 [[ 9.94423125e-01 -9.89493104e-02 -3.64922296e-02 4.14226372e+02] [ 9.89235790e-02 9.95091857e-01 -2.51446545e-03 2.23125428e+01] [ 3.65619251e-02 -1.10949937e-03 9.99330773e-01 1.50936746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.299254154 meters Centerline goodness : 0.999270 with order 1 Centerline is valid? [True, True] Translation: X:414.29, Y:22.32, Z:15.10 [[ 9.94747977e-01 -9.56283354e-02 -3.64922296e-02 4.14286652e+02] [ 9.56003712e-02 9.95416620e-01 -2.51446545e-03 2.23187752e+01] [ 3.65654260e-02 -9.87411279e-04 9.99330773e-01 1.50974581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.359254154 meters Centerline goodness : 0.999164 with order 1 Centerline is valid? [True, True] Translation: X:414.35, Y:22.32, Z:15.10 [[ 9.94863891e-01 -9.44148100e-02 -3.64922296e-02 4.14348000e+02] [ 9.43860302e-02 9.95532498e-01 -2.51446545e-03 2.23236835e+01] [ 3.65666033e-02 -9.42805806e-04 9.99330773e-01 1.50997515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.419254154 meters Centerline goodness : 0.999103 with order 1 Centerline is valid? [True, True] Translation: X:414.41, Y:22.33, Z:15.10 [[ 9.95198389e-01 -9.08211307e-02 -3.64923239e-02 4.14407894e+02] [ 9.07899865e-02 9.95866890e-01 -2.51309538e-03 2.23283294e+01] [ 3.65697393e-02 -8.12109130e-04 9.99330773e-01 1.50991307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.479254154 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:414.47, Y:22.33, Z:15.10 [[ 9.95331831e-01 -8.93468359e-02 -3.64923239e-02 4.14468973e+02] [ 8.93147015e-02 9.96000285e-01 -2.51309538e-03 2.23319313e+01] [ 3.65709022e-02 -7.57937199e-04 9.99330773e-01 1.51007459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.539254154 meters Centerline goodness : 0.999123 with order 1 Centerline is valid? [True, True] Translation: X:414.53, Y:22.33, Z:15.10 [[ 9.95390539e-01 -8.86903479e-02 -3.64924171e-02 4.14529902e+02] [ 8.86578222e-02 9.96058975e-01 -2.51174261e-03 2.23347042e+01] [ 3.65713669e-02 -7.35173391e-04 9.99330773e-01 1.51011050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.599254154 meters Centerline goodness : 0.998955 with order 1 Centerline is valid? [True, True] Translation: X:414.59, Y:22.34, Z:15.10 [[ 9.95311932e-01 -8.95681955e-02 -3.64924171e-02 4.14589252e+02] [ 8.95362594e-02 9.95980396e-01 -2.51174261e-03 2.23386981e+01] [ 3.65707042e-02 -7.67427129e-04 9.99330773e-01 1.51032390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.659254154 meters Centerline goodness : 0.999227 with order 1 Centerline is valid? [True, True] Translation: X:414.65, Y:22.34, Z:15.11 [[ 9.95020827e-01 -9.27462151e-02 -3.64923710e-02 4.14649811e+02] [ 9.27163893e-02 9.95689389e-01 -2.51241137e-03 2.23409791e+01] [ 3.65680832e-02 -8.83539238e-04 9.99330773e-01 1.51056028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.719254154 meters Centerline goodness : 0.999247 with order 1 Centerline is valid? [True, True] Translation: X:414.71, Y:22.35, Z:15.12 [[ 9.94414223e-01 -9.90386838e-02 -3.64923710e-02 4.14709738e+02] [ 9.90130878e-02 9.95082959e-01 -2.51241137e-03 2.23450150e+01] [ 3.65617625e-02 -1.11484474e-03 9.99330773e-01 1.51180362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.779254154 meters Centerline goodness : 0.999164 with order 1 Centerline is valid? [True, True] Translation: X:414.77, Y:22.35, Z:15.11 [[ 9.94053725e-01 -1.02593855e-01 -3.64923710e-02 4.14770403e+02] [ 1.02570650e-01 9.94722549e-01 -2.51241137e-03 2.23475017e+01] [ 3.65575423e-02 -1.24557433e-03 9.99330773e-01 1.51105914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.839254154 meters Centerline goodness : 0.999185 with order 1 Centerline is valid? [True, True] Translation: X:414.83, Y:22.35, Z:15.11 [[ 9.93408898e-01 -1.08660314e-01 -3.64924192e-02 4.14832006e+02] [ 1.08641219e-01 9.94077853e-01 -2.51171171e-03 2.23499376e+01] [ 3.65492291e-02 -1.46942413e-03 9.99330773e-01 1.51124032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.899254154 meters Centerline goodness : 0.999040 with order 1 Centerline is valid? [True, True] Translation: X:414.89, Y:22.35, Z:15.11 [[ 9.92858384e-01 -1.13580482e-01 -3.64925092e-02 4.14892518e+02] [ 1.13564749e-01 9.93527426e-01 -2.51040296e-03 2.23530759e+01] [ 3.65414415e-02 -1.65178803e-03 9.99330773e-01 1.51137245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.959254154 meters Centerline goodness : 0.999021 with order 1 Centerline is valid? [True, True] Translation: X:414.95, Y:22.36, Z:15.12 [[ 9.92105760e-01 -1.19976864e-01 -3.64926455e-02 4.14954165e+02] [ 1.19965516e-01 9.92774890e-01 -2.50842074e-03 2.23567290e+01] [ 3.65299345e-02 -1.88924038e-03 9.99330773e-01 1.51167744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.019254154 meters Centerline goodness : 0.999333 with order 1 Centerline is valid? [True, True] Translation: X:415.02, Y:22.36, Z:15.12 [[ 9.91668134e-01 -1.23541861e-01 -3.64927372e-02 4.15015505e+02] [ 1.23532967e-01 9.92337302e-01 -2.50708497e-03 2.23611008e+01] [ 3.65228343e-02 -2.02185982e-03 9.99330773e-01 1.51182256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.079254154 meters Centerline goodness : 0.999084 with order 1 Centerline is valid? [True, True] Translation: X:415.08, Y:22.37, Z:15.12 [[ 9.91227518e-01 -1.27028647e-01 -3.64928721e-02 4.15076893e+02] [ 1.27022179e-01 9.91896714e-01 -2.50512046e-03 2.23672892e+01] [ 3.65153819e-02 -2.15225978e-03 9.99330773e-01 1.51225073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.139254154 meters Centerline goodness : 0.999292 with order 1 Centerline is valid? [True, True] Translation: X:415.14, Y:22.37, Z:15.12 [[ 9.91104371e-01 -1.27985867e-01 -3.64930591e-02 4.15138877e+02] [ 1.27980145e-01 9.91773573e-01 -2.50239262e-03 2.23738158e+01] [ 3.65131225e-02 -2.19025472e-03 9.99330773e-01 1.51248646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.199254154 meters Centerline goodness : 0.998957 with order 1 Centerline is valid? [True, True] Translation: X:415.20, Y:22.38, Z:15.12 [[ 9.90998230e-01 -1.28805088e-01 -3.64932441e-02 4.15201120e+02] [ 1.28800018e-01 9.91667438e-01 -2.49969291e-03 2.23809721e+01] [ 3.65111350e-02 -2.22313923e-03 9.99330773e-01 1.51249621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.259254154 meters Centerline goodness : 0.998978 with order 1 Centerline is valid? [True, True] Translation: X:415.26, Y:22.39, Z:15.13 [[ 9.90916884e-01 -1.29429360e-01 -3.64934286e-02 4.15262396e+02] [ 1.29424810e-01 9.91586095e-01 -2.49699583e-03 2.23879001e+01] [ 3.65095609e-02 -2.24883974e-03 9.99330773e-01 1.51267358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.319254154 meters Centerline goodness : 0.999019 with order 1 Centerline is valid? [True, True] Translation: X:415.32, Y:22.40, Z:15.13 [[ 9.90784865e-01 -1.30436083e-01 -3.64935647e-02 4.15324514e+02] [ 1.30432286e-01 9.91454080e-01 -2.49500484e-03 2.23970876e+01] [ 3.65071323e-02 -2.28792605e-03 9.99330773e-01 1.51285698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.37925415399997 meters Centerline goodness : 0.999146 with order 1 Centerline is valid? [True, True] Translation: X:415.39, Y:22.41, Z:15.13 [[ 9.90901462e-01 -1.29547282e-01 -3.64937493e-02 4.15385647e+02] [ 1.29542984e-01 9.91570675e-01 -2.49230275e-03 2.24072754e+01] [ 3.65090026e-02 -2.25788275e-03 9.99330773e-01 1.51302724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.43925415399997 meters Centerline goodness : 0.999060 with order 1 Centerline is valid? [True, True] Translation: X:415.45, Y:22.42, Z:15.13 [[ 9.91249182e-01 -1.26859182e-01 -3.64939309e-02 4.15447236e+02] [ 1.26853167e-01 9.91918382e-01 -2.48964058e-03 2.24162976e+01] [ 3.65148346e-02 -2.16151652e-03 9.99330773e-01 1.51338513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.49925415399997 meters Centerline goodness : 0.998994 with order 1 Centerline is valid? [True, True] Translation: X:415.51, Y:22.42, Z:15.13 [[ 9.92642483e-01 -1.15451634e-01 -3.64941188e-02 4.15509051e+02] [ 1.15438024e-01 9.93311571e-01 -2.48688239e-03 2.24245669e+01] [ 3.65371452e-02 -1.74422388e-03 9.99330773e-01 1.51323682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.559254154 meters Centerline goodness : 0.999060 with order 1 Centerline is valid? [True, True] Translation: X:415.57, Y:22.44, Z:15.14 [[ 9.92903996e-01 -1.13180478e-01 -3.64943115e-02 4.15569221e+02] [ 1.13165442e-01 9.93573053e-01 -2.48405227e-03 2.24391238e+01] [ 3.65409107e-02 -1.66346946e-03 9.99330773e-01 1.51423881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.619254154 meters Centerline goodness : 0.998930 with order 1 Centerline is valid? [True, True] Translation: X:415.63, Y:22.45, Z:15.15 [[ 9.93842129e-01 -1.04623029e-01 -3.64944523e-02 4.15630254e+02] [ 1.04602306e-01 9.94511034e-01 -2.48198070e-03 2.24512573e+01] [ 3.65538079e-02 -1.35070688e-03 9.99330773e-01 1.51464665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.679254154 meters Centerline goodness : 0.998802 with order 1 Centerline is valid? [True, True] Translation: X:415.69, Y:22.46, Z:15.15 [[ 9.94203133e-01 -1.01134913e-01 -3.64946400e-02 4.15691385e+02] [ 1.01111944e-01 9.94871966e-01 -2.47921879e-03 2.24617955e+01] [ 3.65582298e-02 -1.22519691e-03 9.99330773e-01 1.51484238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.739254154 meters Centerline goodness : 0.998802 with order 1 Centerline is valid? [True, True] Translation: X:415.75, Y:22.47, Z:15.15 [[ 9.94153802e-01 -1.01618628e-01 -3.64948250e-02 4.15752238e+02] [ 1.01596085e-01 9.94822649e-01 -2.47649232e-03 2.24690362e+01] [ 3.65575362e-02 -1.24571707e-03 9.99330773e-01 1.51486747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.799254154 meters Centerline goodness : 0.998929 with order 1 Centerline is valid? [True, True] Translation: X:415.81, Y:22.47, Z:15.15 [[ 9.94128521e-01 -1.01865604e-01 -3.64949616e-02 4.15813953e+02] [ 1.01843300e-01 9.94797376e-01 -2.47447780e-03 2.24735611e+01] [ 3.65571562e-02 -1.25681838e-03 9.99330773e-01 1.51493367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.859254154 meters Centerline goodness : 0.998738 with order 1 Centerline is valid? [True, True] Translation: X:415.88, Y:22.47, Z:15.14 [[ 9.94479890e-01 -9.83760785e-02 -3.64951487e-02 4.15876245e+02] [ 9.83515290e-02 9.95148666e-01 -2.47171432e-03 2.24740133e+01] [ 3.65612562e-02 -1.13128350e-03 9.99330773e-01 1.51435288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.919254154 meters Centerline goodness : 0.999033 with order 1 Centerline is valid? [True, True] Translation: X:415.94, Y:22.49, Z:15.16 [[ 9.93681663e-01 -1.06135966e-01 -3.64953348e-02 4.15937369e+02] [ 1.06116739e-01 9.94350613e-01 -2.46896397e-03 2.24899766e+01] [ 3.65512044e-02 -1.41940170e-03 9.99330773e-01 1.51575641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.979254154 meters Centerline goodness : 0.999178 with order 1 Centerline is valid? [True, True] Translation: X:416.00, Y:22.50, Z:15.16 [[ 9.93736686e-01 -1.05619488e-01 -3.64955198e-02 4.15999993e+02] [ 1.05600013e-01 9.94405629e-01 -2.46622693e-03 2.24959217e+01] [ 3.65518319e-02 -1.40314719e-03 9.99330773e-01 1.51604255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.039254154 meters Centerline goodness : 0.998863 with order 1 Centerline is valid? [True, True] Translation: X:416.06, Y:22.50, Z:15.16 [[ 9.93770671e-01 -1.05299150e-01 -3.64957996e-02 4.16061378e+02] [ 1.05279611e-01 9.94439612e-01 -2.46207953e-03 2.25009300e+01] [ 3.65521236e-02 -1.39552117e-03 9.99330773e-01 1.51625300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.099254154 meters Centerline goodness : 0.999013 with order 1 Centerline is valid? [True, True] Translation: X:416.12, Y:22.51, Z:15.17 [[ 9.93728726e-01 -1.05694176e-01 -3.64960291e-02 4.16123251e+02] [ 1.05675028e-01 9.94397679e-01 -2.45867304e-03 2.25052160e+01] [ 3.65514340e-02 -1.41346488e-03 9.99330773e-01 1.51653990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.159254154 meters Centerline goodness : 0.998843 with order 1 Centerline is valid? [True, True] Translation: X:416.19, Y:22.51, Z:15.17 [[ 9.93799927e-01 -1.05022534e-01 -3.64962101e-02 4.16186273e+02] [ 1.05003033e-01 9.94468869e-01 -2.45598334e-03 2.25088134e+01] [ 3.65522783e-02 -1.39145670e-03 9.99330773e-01 1.51674256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.219254154 meters Centerline goodness : 0.998905 with order 1 Centerline is valid? [True, True] Translation: X:416.25, Y:22.51, Z:15.17 [[ 9.93991713e-01 -1.03191480e-01 -3.64964840e-02 4.16247035e+02] [ 1.03170897e-01 9.94660623e-01 -2.45190610e-03 2.25109227e+01] [ 3.65546313e-02 -1.32820062e-03 9.99330773e-01 1.51674861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.279254154 meters Centerline goodness : 0.998968 with order 1 Centerline is valid? [True, True] Translation: X:416.31, Y:22.52, Z:15.17 [[ 9.93988786e-01 -1.03219621e-01 -3.64966181e-02 4.16308882e+02] [ 1.03199130e-01 9.94657699e-01 -2.44990748e-03 2.25159070e+01] [ 3.65545207e-02 -1.33123867e-03 9.99330773e-01 1.51711442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.339254154 meters Centerline goodness : 0.998777 with order 1 Centerline is valid? [True, True] Translation: X:416.37, Y:22.51, Z:15.16 [[ 9.95194282e-01 -9.08643154e-02 -3.64967992e-02 4.16372475e+02] [ 9.08356152e-02 9.95862893e-01 -2.44720663e-03 2.25077240e+01] [ 3.65681718e-02 -8.79763159e-04 9.99330773e-01 1.51617813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.399254154 meters Centerline goodness : 0.998988 with order 1 Centerline is valid? [True, True] Translation: X:416.43, Y:22.52, Z:15.17 [[ 9.94400230e-01 -9.91773774e-02 -3.64969907e-02 4.16431815e+02] [ 9.91543701e-02 9.95069061e-01 -2.44434833e-03 2.25219467e+01] [ 3.65594503e-02 -1.18817558e-03 9.99330773e-01 1.51747397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.459254154 meters Centerline goodness : 0.999093 with order 1 Centerline is valid? [True, True] Translation: X:416.49, Y:22.52, Z:15.18 [[ 9.94532499e-01 -9.78420719e-02 -3.64970841e-02 4.16493630e+02] [ 9.78182178e-02 9.95201300e-01 -2.44295265e-03 2.25243429e+01] [ 3.65609691e-02 -1.14048391e-03 9.99330773e-01 1.51752095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.519254154 meters Centerline goodness : 0.998969 with order 1 Centerline is valid? [True, True] Translation: X:416.56, Y:22.53, Z:15.18 [[ 9.94582957e-01 -9.73277524e-02 -3.64972623e-02 4.16556237e+02] [ 9.73036501e-02 9.95251749e-01 -2.44028796e-03 2.25271032e+01] [ 3.65614718e-02 -1.12424802e-03 9.99330773e-01 1.51759341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.579254154 meters Centerline goodness : 0.998990 with order 1 Centerline is valid? [True, True] Translation: X:416.62, Y:22.53, Z:15.18 [[ 9.94534024e-01 -9.78264430e-02 -3.64974390e-02 4.16618380e+02] [ 9.78027731e-02 9.95202831e-01 -2.43764170e-03 2.25294704e+01] [ 3.65608204e-02 -1.14523314e-03 9.99330773e-01 1.51779431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.639254154 meters Centerline goodness : 0.998850 with order 1 Centerline is valid? [True, True] Translation: X:416.68, Y:22.53, Z:15.18 [[ 9.94393860e-01 -9.92409982e-02 -3.64976169e-02 4.16680014e+02] [ 9.92183774e-02 9.95062704e-01 -2.43497470e-03 2.25319868e+01] [ 3.65590667e-02 -1.19991044e-03 9.99330773e-01 1.51806859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.699254154 meters Centerline goodness : 0.998866 with order 1 Centerline is valid? [True, True] Translation: X:416.74, Y:22.53, Z:15.18 [[ 9.94020573e-01 -1.02912644e-01 -3.64977947e-02 4.16741918e+02] [ 1.02892592e-01 9.94689499e-01 -2.43230739e-03 2.25334855e+01] [ 3.65542883e-02 -1.33758910e-03 9.99330774e-01 1.51830784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.759254154 meters Centerline goodness : 0.999036 with order 1 Centerline is valid? [True, True] Translation: X:416.81, Y:22.53, Z:15.18 [[ 9.94473722e-01 -9.84373594e-02 -3.64979747e-02 4.16805058e+02] [ 9.84143950e-02 9.95142555e-01 -2.42960382e-03 2.25294012e+01] [ 3.65598515e-02 -1.17574894e-03 9.99330774e-01 1.51783516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.819254154 meters Centerline goodness : 0.998950 with order 1 Centerline is valid? [True, True] Translation: X:416.87, Y:22.54, Z:15.19 [[ 9.93736243e-01 -1.05622739e-01 -3.64981638e-02 4.16865729e+02] [ 1.05604713e-01 9.94405227e-01 -2.42675914e-03 2.25397177e+01] [ 3.65502858e-02 -1.44281961e-03 9.99330774e-01 1.51885741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.87925415399997 meters Centerline goodness : 0.998910 with order 1 Centerline is valid? [True, True] Translation: X:416.93, Y:22.54, Z:15.19 [[ 9.93749123e-01 -1.05501444e-01 -3.64983027e-02 4.16927614e+02] [ 1.05483414e-01 9.94418106e-01 -2.42466831e-03 2.25428725e+01] [ 3.65503791e-02 -1.44045357e-03 9.99330774e-01 1.51908904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.93925415399997 meters Centerline goodness : 0.998721 with order 1 Centerline is valid? [True, True] Translation: X:416.99, Y:22.55, Z:15.19 [[ 9.93786846e-01 -1.05145451e-01 -3.64984751e-02 4.16989213e+02] [ 1.05127276e-01 9.94455826e-01 -2.42206982e-03 2.25457457e+01] [ 3.65507908e-02 -1.42996415e-03 9.99330774e-01 1.51924829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.99925415399997 meters Centerline goodness : 0.999077 with order 1 Centerline is valid? [True, True] Translation: X:417.05, Y:22.55, Z:15.20 [[ 9.93797870e-01 -1.05041158e-01 -3.64986025e-02 4.17050823e+02] [ 1.05022983e-01 9.94466850e-01 -2.42014951e-03 2.25491852e+01] [ 3.65508655e-02 -1.42805269e-03 9.99330774e-01 1.51950173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.059254154 meters Centerline goodness : 0.998888 with order 1 Centerline is valid? [True, True] Translation: X:417.11, Y:22.55, Z:15.20 [[ 9.93910318e-01 -1.03971717e-01 -3.64987821e-02 4.17112261e+02] [ 1.03952923e-01 9.94579281e-01 -2.41743672e-03 2.25527271e+01] [ 3.65522775e-02 -1.39143977e-03 9.99330774e-01 1.51960531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.119254154 meters Centerline goodness : 0.998846 with order 1 Centerline is valid? [True, True] Translation: X:417.17, Y:22.56, Z:15.20 [[ 9.94173451e-01 -1.01424682e-01 -3.64990792e-02 4.17174518e+02] [ 1.01404338e-01 9.94842368e-01 -2.41294342e-03 2.25562206e+01] [ 3.65555624e-02 -1.30228066e-03 9.99330774e-01 1.51975702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.179254154 meters Centerline goodness : 0.998951 with order 1 Centerline is valid? [True, True] Translation: X:417.24, Y:22.56, Z:15.20 [[ 9.94391540e-01 -9.92636322e-02 -3.64992601e-02 4.17235455e+02] [ 9.92419348e-02 9.95060415e-01 -2.41020370e-03 2.25601713e+01] [ 3.65582145e-02 -1.22557103e-03 9.99330774e-01 1.51989779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.239254154 meters Centerline goodness : 0.999014 with order 1 Centerline is valid? [True, True] Translation: X:417.30, Y:22.57, Z:15.20 [[ 9.94523210e-01 -9.79355892e-02 -3.64993934e-02 4.17297046e+02] [ 9.79130727e-02 9.95192057e-01 -2.40818325e-03 2.25653174e+01] [ 3.65597533e-02 -1.17877362e-03 9.99330774e-01 1.52026207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.299254154 meters Centerline goodness : 0.998994 with order 1 Centerline is valid? [True, True] Translation: X:417.36, Y:22.57, Z:15.20 [[ 9.94690906e-01 -9.62173745e-02 -3.64995765e-02 4.17359239e+02] [ 9.61938044e-02 9.95359717e-01 -2.40540460e-03 2.25693765e+01] [ 3.65616499e-02 -1.11839905e-03 9.99330774e-01 1.52048285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.359254154 meters Centerline goodness : 0.999036 with order 1 Centerline is valid? [True, True] Translation: X:417.42, Y:22.57, Z:15.21 [[ 9.94887769e-01 -9.41599435e-02 -3.64997568e-02 4.17421093e+02] [ 9.41350906e-02 9.95556534e-01 -2.40266574e-03 2.25735969e+01] [ 3.65638063e-02 -1.04552516e-03 9.99330774e-01 1.52070629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.419254154 meters Centerline goodness : 0.999015 with order 1 Centerline is valid? [True, True] Translation: X:417.48, Y:22.58, Z:15.21 [[ 9.95050994e-01 -9.24190115e-02 -3.64999363e-02 4.17481916e+02] [ 9.23930886e-02 9.95719718e-01 -2.39993619e-03 2.25787013e+01] [ 3.65655060e-02 -9.84282959e-04 9.99330774e-01 1.52096310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.479254154 meters Centerline goodness : 0.998783 with order 1 Centerline is valid? [True, True] Translation: X:417.54, Y:22.58, Z:15.21 [[ 9.95302109e-01 -8.96741654e-02 -3.65000688e-02 4.17543809e+02] [ 8.96464720e-02 9.95970763e-01 -2.39791964e-03 2.25835577e+01] [ 3.65680328e-02 -8.85447911e-04 9.99330774e-01 1.52121066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.539254154 meters Centerline goodness : 0.998972 with order 1 Centerline is valid? [True, True] Translation: X:417.61, Y:22.59, Z:15.21 [[ 9.95372910e-01 -8.88847628e-02 -3.65002472e-02 4.17605771e+02] [ 8.88566387e-02 9.96041546e-01 -2.39520052e-03 2.25872607e+01] [ 3.65686595e-02 -8.59171563e-04 9.99330774e-01 1.52144545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.599254154 meters Centerline goodness : 0.999057 with order 1 Centerline is valid? [True, True] Translation: X:417.67, Y:22.59, Z:15.22 [[ 9.95327999e-01 -8.93862091e-02 -3.65004233e-02 4.17666395e+02] [ 8.93585203e-02 9.95996652e-01 -2.39251459e-03 2.25900805e+01] [ 3.65681572e-02 -8.80287054e-04 9.99330774e-01 1.52165887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.659254154 meters Centerline goodness : 0.998783 with order 1 Centerline is valid? [True, True] Translation: X:417.73, Y:22.59, Z:15.22 [[ 9.95206410e-01 -9.07298839e-02 -3.65005532e-02 4.17728216e+02] [ 9.07031706e-02 9.95875103e-01 -2.39053042e-03 2.25927989e+01] [ 3.65668847e-02 -9.31644712e-04 9.99330774e-01 1.52179439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.719254154 meters Centerline goodness : 0.999035 with order 1 Centerline is valid? [True, True] Translation: X:417.79, Y:22.60, Z:15.22 [[ 9.95031104e-01 -9.26325981e-02 -3.65007246e-02 4.17790542e+02] [ 9.26072595e-02 9.95699851e-01 -2.38791041e-03 2.25951455e+01] [ 3.65649644e-02 -1.00418695e-03 9.99330774e-01 1.52195311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.779254154 meters Centerline goodness : 0.999014 with order 1 Centerline is valid? [True, True] Translation: X:417.85, Y:22.60, Z:15.22 [[ 9.94867580e-01 -9.43725732e-02 -3.65008933e-02 4.17852885e+02] [ 9.43484987e-02 9.95536374e-01 -2.38532956e-03 2.25963620e+01] [ 3.65630766e-02 -1.07071743e-03 9.99330774e-01 1.52210302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.839254154 meters Centerline goodness : 0.998932 with order 1 Centerline is valid? [True, True] Translation: X:417.92, Y:22.60, Z:15.22 [[ 9.94831259e-01 -9.47546197e-02 -3.65010624e-02 4.17915178e+02] [ 9.47308970e-02 9.95500065e-01 -2.38273929e-03 2.25987252e+01] [ 3.65625855e-02 -1.08735485e-03 9.99330774e-01 1.52228000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.899254154 meters Centerline goodness : 0.998805 with order 1 Centerline is valid? [True, True] Translation: X:417.98, Y:22.60, Z:15.22 [[ 9.94847632e-01 -9.45825019e-02 -3.65012389e-02 4.17976993e+02] [ 9.45587627e-02 9.95516437e-01 -2.38003134e-03 2.26016714e+01] [ 3.65626926e-02 -1.08374345e-03 9.99330774e-01 1.52244278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.959254154 meters Centerline goodness : 0.998909 with order 1 Centerline is valid? [True, True] Translation: X:418.04, Y:22.60, Z:15.23 [[ 9.95159735e-01 -9.12400657e-02 -3.65014124e-02 4.18039498e+02] [ 9.12141776e-02 9.95828460e-01 -2.37736862e-03 2.26043620e+01] [ 3.65660565e-02 -9.63584782e-04 9.99330774e-01 1.52258328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.019254154 meters Centerline goodness : 0.999184 with order 1 Centerline is valid? [True, True] Translation: X:418.10, Y:22.61, Z:15.23 [[ 9.95573363e-01 -8.66101245e-02 -3.65015898e-02 4.18101873e+02] [ 8.65812262e-02 9.96241965e-01 -2.37464045e-03 2.26092088e+01] [ 3.65700835e-02 -7.96223624e-04 9.99330774e-01 1.52286411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.079254154 meters Centerline goodness : 0.999100 with order 1 Centerline is valid? [True, True] Translation: X:418.16, Y:22.61, Z:15.23 [[ 9.96022229e-01 -8.12855518e-02 -3.65017660e-02 4.18163307e+02] [ 8.12531782e-02 9.96690672e-01 -2.37193011e-03 2.26144338e+01] [ 3.65737733e-02 -6.03389379e-04 9.99330774e-01 1.52310646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.139254154 meters Centerline goodness : 0.999183 with order 1 Centerline is valid? [True, True] Translation: X:418.22, Y:22.62, Z:15.23 [[ 9.96432206e-01 -7.60951555e-02 -3.65018536e-02 4.18223917e+02] [ 7.60593491e-02 9.97100474e-01 -2.37058037e-03 2.26179750e+01] [ 3.65764052e-02 -4.14184604e-04 9.99330774e-01 1.52331983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.199254154 meters Centerline goodness : 0.999246 with order 1 Centerline is valid? [True, True] Translation: X:418.28, Y:22.62, Z:15.23 [[ 9.96499912e-01 -7.52033035e-02 -3.65018967e-02 4.18283928e+02] [ 7.51669233e-02 9.97168149e-01 -2.36991747e-03 2.26204931e+01] [ 3.65767544e-02 -3.82112714e-04 9.99330774e-01 1.52336443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.259254154 meters Centerline goodness : 0.999203 with order 1 Centerline is valid? [True, True] Translation: X:418.34, Y:22.62, Z:15.24 [[ 9.96295774e-01 -7.78610501e-02 -3.65018967e-02 4.18343508e+02] [ 7.78264525e-02 9.96964105e-01 -2.36991747e-03 2.26215880e+01] [ 3.65756050e-02 -4.79674363e-04 9.99330774e-01 1.52364335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.319254154 meters Centerline goodness : 0.998952 with order 1 Centerline is valid? [True, True] Translation: X:418.40, Y:22.62, Z:15.24 [[ 9.95999260e-01 -8.15664724e-02 -3.65018546e-02 4.18403697e+02] [ 8.15343373e-02 9.96667714e-01 -2.37056521e-03 2.26227888e+01] [ 3.65735786e-02 -6.15073327e-04 9.99330774e-01 1.52372841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.37925415399997 meters Centerline goodness : 0.999162 with order 1 Centerline is valid? [True, True] Translation: X:418.46, Y:22.62, Z:15.24 [[ 9.95452041e-01 -8.79934540e-02 -3.65018546e-02 4.18464521e+02] [ 8.79656341e-02 9.96120689e-01 -2.37056521e-03 2.26230862e+01] [ 3.65688468e-02 -8.51124802e-04 9.99330774e-01 1.52387685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.43925415399997 meters Centerline goodness : 0.998953 with order 1 Centerline is valid? [True, True] Translation: X:418.53, Y:22.62, Z:15.24 [[ 9.95163464e-01 -9.11991869e-02 -3.65018982e-02 4.18525146e+02] [ 9.11735454e-02 9.95832199e-01 -2.36989358e-03 2.26247569e+01] [ 3.65658979e-02 -9.69575965e-04 9.99330774e-01 1.52406567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.49925415399997 meters Centerline goodness : 0.999036 with order 1 Centerline is valid? [True, True] Translation: X:418.59, Y:22.63, Z:15.24 [[ 9.94932780e-01 -9.36822475e-02 -3.65020396e-02 4.18586571e+02] [ 9.36583547e-02 9.95601580e-01 -2.36771347e-03 2.26265899e+01] [ 3.65633010e-02 -1.06300523e-03 9.99330774e-01 1.52446325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.559254154 meters Centerline goodness : 0.999016 with order 1 Centerline is valid? [True, True] Translation: X:418.65, Y:22.63, Z:15.25 [[ 9.94959167e-01 -9.34015536e-02 -3.65021242e-02 4.18646847e+02] [ 9.33775200e-02 9.95627962e-01 -2.36640849e-03 2.26289644e+01] [ 3.65635618e-02 -1.05399801e-03 9.99330774e-01 1.52476087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.619254154 meters Centerline goodness : 0.999059 with order 1 Centerline is valid? [True, True] Translation: X:418.71, Y:22.63, Z:15.25 [[ 9.95162513e-01 -9.12094501e-02 -3.65021659e-02 4.18707320e+02] [ 9.11839668e-02 9.95831254e-01 -2.36576602e-03 2.26312510e+01] [ 3.65657778e-02 -9.74090623e-04 9.99330774e-01 1.52494320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.679254154 meters Centerline goodness : 0.998996 with order 1 Centerline is valid? [True, True] Translation: X:418.77, Y:22.63, Z:15.25 [[ 9.95828296e-01 -8.36277249e-02 -3.65021659e-02 4.18768353e+02] [ 8.35971492e-02 9.96496824e-01 -2.36576602e-03 2.26310693e+01] [ 3.65721360e-02 -6.95580264e-04 9.99330774e-01 1.52510064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.739254154 meters Centerline goodness : 0.999164 with order 1 Centerline is valid? [True, True] Translation: X:418.83, Y:22.64, Z:15.25 [[ 9.95990589e-01 -8.16721001e-02 -3.65022564e-02 4.18828379e+02] [ 8.16402629e-02 9.96659058e-01 -2.36436751e-03 2.26357306e+01] [ 3.65734074e-02 -6.25166021e-04 9.99330774e-01 1.52534037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.799254154 meters Centerline goodness : 0.999122 with order 1 Centerline is valid? [True, True] Translation: X:418.89, Y:22.64, Z:15.25 [[ 9.96133329e-01 -7.99122808e-02 -3.65023007e-02 4.18888405e+02] [ 7.98792876e-02 9.96801742e-01 -2.36368436e-03 2.26372821e+01] [ 3.65744443e-02 -5.61233006e-04 9.99330774e-01 1.52545857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.859254154 meters Centerline goodness : 0.999185 with order 1 Centerline is valid? [True, True] Translation: X:418.95, Y:22.64, Z:15.26 [[ 9.96184487e-01 -7.92719966e-02 -3.65023007e-02 4.18947952e+02] [ 7.92385739e-02 9.96852879e-01 -2.36368436e-03 2.26394613e+01] [ 3.65747975e-02 -5.37724558e-04 9.99330774e-01 1.52561353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.919254154 meters Centerline goodness : 0.999038 with order 1 Centerline is valid? [True, True] Translation: X:419.01, Y:22.64, Z:15.25 [[ 9.96281209e-01 -7.80470377e-02 -3.65022139e-02 4.19006944e+02] [ 7.80127441e-02 9.96949557e-01 -2.36502327e-03 2.26406265e+01] [ 3.65754491e-02 -4.91409627e-04 9.99330774e-01 1.52549109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.979254154 meters Centerline goodness : 0.999041 with order 1 Centerline is valid? [True, True] Translation: X:419.07, Y:22.64, Z:15.26 [[ 9.96242381e-01 -7.85411741e-02 -3.65020857e-02 4.19065868e+02] [ 7.85071395e-02 9.96910741e-01 -2.36700050e-03 2.26437356e+01] [ 3.65752283e-02 -5.07568124e-04 9.99330774e-01 1.52589422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.039254154 meters Centerline goodness : 0.999123 with order 1 Centerline is valid? [True, True] Translation: X:419.12, Y:22.65, Z:15.26 [[ 9.96032430e-01 -8.11605827e-02 -3.65014943e-02 4.19124181e+02] [ 8.11279730e-02 9.96700861e-01 -2.37608590e-03 2.26455042e+01] [ 3.65739153e-02 -5.94633635e-04 9.99330774e-01 1.52609815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.099254154 meters Centerline goodness : 0.998978 with order 1 Centerline is valid? [True, True] Translation: X:419.18, Y:22.65, Z:15.26 [[ 9.95719118e-01 -8.49183255e-02 -3.65009014e-02 4.19182982e+02] [ 8.48879057e-02 9.96387653e-01 -2.38515883e-03 2.26487978e+01] [ 3.65715912e-02 -7.23536830e-04 9.99330774e-01 1.52632805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.159254154 meters Centerline goodness : 0.999166 with order 1 Centerline is valid? [True, True] Translation: X:419.24, Y:22.65, Z:15.27 [[ 9.95133994e-01 -9.15206500e-02 -3.65007539e-02 4.19241390e+02] [ 9.14945823e-02 9.95802712e-01 -2.38741387e-03 2.26501662e+01] [ 3.65660474e-02 -9.63824537e-04 9.99330774e-01 1.52656768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.219254154 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:419.30, Y:22.65, Z:15.27 [[ 9.94673866e-01 -9.63929720e-02 -3.65006083e-02 4.19300462e+02] [ 9.63700979e-02 9.95342702e-01 -2.38963777e-03 2.26524340e+01] [ 3.65609584e-02 -1.14065696e-03 9.99330774e-01 1.52676599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.279254154 meters Centerline goodness : 0.998976 with order 1 Centerline is valid? [True, True] Translation: X:419.36, Y:22.66, Z:15.27 [[ 9.94184886e-01 -1.01312000e-01 -3.65005684e-02 4.19360299e+02] [ 1.01292412e-01 9.94853825e-01 -2.39024833e-03 2.26552842e+01] [ 3.65548909e-02 -1.32088186e-03 9.99330774e-01 1.52685410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.339254154 meters Centerline goodness : 0.999166 with order 1 Centerline is valid? [True, True] Translation: X:419.42, Y:22.66, Z:15.27 [[ 9.94023747e-01 -1.02881015e-01 -3.65005223e-02 4.19418789e+02] [ 1.02862457e-01 9.94692715e-01 -2.39095173e-03 2.26591601e+01] [ 3.65527872e-02 -1.37787062e-03 9.99330774e-01 1.52715811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.399254154 meters Centerline goodness : 0.999019 with order 1 Centerline is valid? [True, True] Translation: X:419.48, Y:22.65, Z:15.26 [[ 9.94746825e-01 -9.56372089e-02 -3.65003838e-02 4.19480510e+02] [ 9.56137011e-02 9.95415639e-01 -2.39306369e-03 2.26541466e+01] [ 3.65619188e-02 -1.10944428e-03 9.99330774e-01 1.52631840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.459254154 meters Centerline goodness : 0.999229 with order 1 Centerline is valid? [True, True] Translation: X:419.54, Y:22.67, Z:15.27 [[ 9.93999560e-01 -1.03114464e-01 -3.65004290e-02 4.19538576e+02] [ 1.03096011e-01 9.94668532e-01 -2.39237393e-03 2.26672749e+01] [ 3.65525165e-02 -1.38503000e-03 9.99330774e-01 1.52739367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.519254154 meters Centerline goodness : 0.999101 with order 1 Centerline is valid? [True, True] Translation: X:419.60, Y:22.67, Z:15.28 [[ 9.93850273e-01 -1.04543545e-01 -3.65004290e-02 4.19598984e+02] [ 1.04526054e-01 9.94519271e-01 -2.39237393e-03 2.26724396e+01] [ 3.65504873e-02 -1.43758434e-03 9.99330774e-01 1.52767866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.579254154 meters Centerline goodness : 0.999416 with order 1 Centerline is valid? [True, True] Translation: X:419.66, Y:22.68, Z:15.28 [[ 9.93834844e-01 -1.04690117e-01 -3.65004290e-02 4.19660270e+02] [ 1.04672725e-01 9.94503845e-01 -2.39237393e-03 2.26776377e+01] [ 3.65502749e-02 -1.44297479e-03 9.99330774e-01 1.52789602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.639254154 meters Centerline goodness : 0.999123 with order 1 Centerline is valid? [True, True] Translation: X:419.72, Y:22.68, Z:15.28 [[ 9.93720199e-01 -1.05772765e-01 -3.65005175e-02 4.19721419e+02] [ 1.05756152e-01 9.94389219e-01 -2.39102277e-03 2.26840766e+01] [ 3.65486262e-02 -1.48414664e-03 9.99330774e-01 1.52802809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.699254154 meters Centerline goodness : 0.999082 with order 1 Centerline is valid? [True, True] Translation: X:419.78, Y:22.69, Z:15.28 [[ 9.93687062e-01 -1.06083591e-01 -3.65006048e-02 4.19783040e+02] [ 1.06067235e-01 9.94356089e-01 -2.38968929e-03 2.26897586e+01] [ 3.65481055e-02 -1.49691490e-03 9.99330774e-01 1.52825961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.759254154 meters Centerline goodness : 0.999165 with order 1 Centerline is valid? [True, True] Translation: X:419.84, Y:22.70, Z:15.28 [[ 9.93713350e-01 -1.05837000e-01 -3.65007801e-02 4.19844030e+02] [ 1.05820577e-01 9.94382375e-01 -2.38700941e-03 2.26975376e+01] [ 3.65483663e-02 -1.49053048e-03 9.99330774e-01 1.52849925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.819254154 meters Centerline goodness : 0.998935 with order 1 Centerline is valid? [True, True] Translation: X:419.90, Y:22.70, Z:15.29 [[ 9.93821991e-01 -1.04811901e-01 -3.65009095e-02 4.19903971e+02] [ 1.04794860e-01 9.94491000e-01 -2.38502902e-03 2.27041018e+01] [ 3.65498054e-02 -1.45481343e-03 9.99330774e-01 1.52873169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.87925415399997 meters Centerline goodness : 0.999060 with order 1 Centerline is valid? [True, True] Translation: X:419.96, Y:22.71, Z:15.29 [[ 9.94117167e-01 -1.01974205e-01 -3.65009516e-02 4.19964458e+02] [ 1.01955277e-01 9.94786126e-01 -2.38438483e-03 2.27113778e+01] [ 3.65537859e-02 -1.35110675e-03 9.99330774e-01 1.52890881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.93925415399997 meters Centerline goodness : 0.999163 with order 1 Centerline is valid? [True, True] Translation: X:420.03, Y:22.72, Z:15.29 [[ 9.94365410e-01 -9.95243984e-02 -3.65010342e-02 4.20025373e+02] [ 9.95038694e-02 9.95034321e-01 -2.38311961e-03 2.27172917e+01] [ 3.65569603e-02 -1.26230243e-03 9.99330774e-01 1.52895273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.99925415399997 meters Centerline goodness : 0.999080 with order 1 Centerline is valid? [True, True] Translation: X:420.09, Y:22.72, Z:15.29 [[ 9.94452191e-01 -9.86534588e-02 -3.65011589e-02 4.20085340e+02] [ 9.86324140e-02 9.95121086e-01 -2.38120708e-03 2.27230030e+01] [ 3.65579873e-02 -1.23220082e-03 9.99330774e-01 1.52930393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.059254154 meters Centerline goodness : 0.999058 with order 1 Centerline is valid? [True, True] Translation: X:420.15, Y:22.73, Z:15.30 [[ 9.94497604e-01 -9.81945896e-02 -3.65012006e-02 4.20147410e+02] [ 9.81732596e-02 9.95166491e-01 -2.38056897e-03 2.27281029e+01] [ 3.65585307e-02 -1.21597170e-03 9.99330774e-01 1.52955293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.119254154 meters Centerline goodness : 0.998722 with order 1 Centerline is valid? [True, True] Translation: X:420.21, Y:22.73, Z:15.30 [[ 9.94551239e-01 -9.76497972e-02 -3.65013765e-02 4.20209074e+02] [ 9.76281998e-02 9.95220117e-01 -2.37786866e-03 2.27319943e+01] [ 3.65591025e-02 -1.19865145e-03 9.99330774e-01 1.52960811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.179254154 meters Centerline goodness : 0.998995 with order 1 Centerline is valid? [True, True] Translation: X:420.27, Y:22.74, Z:15.30 [[ 9.94631460e-01 -9.68292122e-02 -3.65015510e-02 4.20270440e+02] [ 9.68071613e-02 9.95300323e-01 -2.37518727e-03 2.27367371e+01] [ 3.65599929e-02 -1.17117555e-03 9.99330774e-01 1.52971820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.239254154 meters Centerline goodness : 0.999162 with order 1 Centerline is valid? [True, True] Translation: X:420.33, Y:22.74, Z:15.30 [[ 9.94837421e-01 -9.46896726e-02 -3.65016797e-02 4.20331115e+02] [ 9.46662557e-02 9.95506237e-01 -2.37320684e-03 2.27424448e+01] [ 3.65623680e-02 -1.09452238e-03 9.99330774e-01 1.53003505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.299254154 meters Centerline goodness : 0.999038 with order 1 Centerline is valid? [True, True] Translation: X:420.39, Y:22.75, Z:15.30 [[ 9.94911418e-01 -9.39089500e-02 -3.65017645e-02 4.20391964e+02] [ 9.38850561e-02 9.95580218e-01 -2.37190132e-03 2.27476159e+01] [ 3.65631775e-02 -1.06713850e-03 9.99330774e-01 1.53041419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.359254154 meters Centerline goodness : 0.999163 with order 1 Centerline is valid? [True, True] Translation: X:420.45, Y:22.75, Z:15.31 [[ 9.94967844e-01 -9.33091885e-02 -3.65018504e-02 4.20453250e+02] [ 9.32849399e-02 9.95636631e-01 -2.37057886e-03 2.27512551e+01] [ 3.65637762e-02 -1.04642318e-03 9.99330774e-01 1.53076166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.419254154 meters Centerline goodness : 0.998974 with order 1 Centerline is valid? [True, True] Translation: X:420.51, Y:22.75, Z:15.31 [[ 9.95051130e-01 -9.24167626e-02 -3.65019373e-02 4.20514919e+02] [ 9.23919632e-02 9.95719896e-01 -2.36924031e-03 2.27546832e+01] [ 3.65646628e-02 -1.01497040e-03 9.99330774e-01 1.53101739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.479254154 meters Centerline goodness : 0.999246 with order 1 Centerline is valid? [True, True] Translation: X:420.58, Y:22.76, Z:15.31 [[ 9.95217706e-01 -9.06052617e-02 -3.65021142e-02 4.20576340e+02] [ 9.05793450e-02 9.95886430e-01 -2.36651180e-03 2.27566990e+01] [ 3.65663786e-02 -9.51143157e-04 9.99330774e-01 1.53127086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.539254154 meters Centerline goodness : 0.999143 with order 1 Centerline is valid? [True, True] Translation: X:420.64, Y:22.76, Z:15.31 [[ 9.95259144e-01 -9.01489089e-02 -3.65022018e-02 4.20637409e+02] [ 9.01227352e-02 9.95927858e-01 -2.36515940e-03 2.27588436e+01] [ 3.65667762e-02 -9.35731753e-04 9.99330774e-01 1.53145744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.599254154 meters Centerline goodness : 0.998891 with order 1 Centerline is valid? [True, True] Translation: X:420.70, Y:22.76, Z:15.31 [[ 9.95212807e-01 -9.06589850e-02 -3.65022890e-02 4.20698756e+02] [ 9.06332033e-02 9.95881537e-01 -2.36381330e-03 2.27594151e+01] [ 3.65662566e-02 -9.55822115e-04 9.99330774e-01 1.53143308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.659254154 meters Centerline goodness : 0.999288 with order 1 Centerline is valid? [True, True] Translation: X:420.76, Y:22.76, Z:15.31 [[ 9.95141306e-01 -9.14404570e-02 -3.65023778e-02 4.20759366e+02] [ 9.14152508e-02 9.95810058e-01 -2.36244074e-03 2.27613309e+01] [ 3.65654576e-02 -9.85911665e-04 9.99330774e-01 1.53149520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.719254154 meters Centerline goodness : 0.999225 with order 1 Centerline is valid? [True, True] Translation: X:420.82, Y:22.76, Z:15.32 [[ 9.95079752e-01 -9.21078702e-02 -3.65024215e-02 4.20820647e+02] [ 9.20831373e-02 9.95748521e-01 -2.36176560e-03 2.27619165e+01] [ 3.65647695e-02 -1.01111237e-03 9.99330774e-01 1.53158419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.779254154 meters Centerline goodness : 0.999288 with order 1 Centerline is valid? [True, True] Translation: X:420.88, Y:22.76, Z:15.32 [[ 9.95118335e-01 -9.16900500e-02 -3.65025082e-02 4.20880555e+02] [ 9.16650853e-02 9.95787096e-01 -2.36042529e-03 2.27640063e+01] [ 3.65651541e-02 -9.97103048e-04 9.99330774e-01 1.53182845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.839254154 meters Centerline goodness : 0.999227 with order 1 Centerline is valid? [True, True] Translation: X:420.94, Y:22.77, Z:15.32 [[ 9.95243392e-01 -9.03225079e-02 -3.65025509e-02 4.20942189e+02] [ 9.02966485e-02 9.95912118e-01 -2.35976513e-03 2.27668291e+01] [ 3.65664727e-02 -9.47517356e-04 9.99330774e-01 1.53220733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.899254154 meters Centerline goodness : 0.998954 with order 1 Centerline is valid? [True, True] Translation: X:421.00, Y:22.77, Z:15.32 [[ 9.95315766e-01 -8.95214152e-02 -3.65026371e-02 4.21003521e+02] [ 8.94950665e-02 9.95984473e-01 -2.35843043e-03 2.27697457e+01] [ 3.65671898e-02 -9.19422950e-04 9.99330774e-01 1.53239391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.959254154 meters Centerline goodness : 0.999290 with order 1 Centerline is valid? [True, True] Translation: X:421.06, Y:22.77, Z:15.33 [[ 9.95334649e-01 -8.93111812e-02 -3.65027230e-02 4.21064340e+02] [ 8.92847400e-02 9.96003353e-01 -2.35710001e-03 2.27700065e+01] [ 3.65673499e-02 -9.13032823e-04 9.99330774e-01 1.53270548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.019254154 meters Centerline goodness : 0.999018 with order 1 Centerline is valid? [True, True] Translation: X:421.12, Y:22.77, Z:15.33 [[ 9.95322246e-01 -8.94493047e-02 -3.65027230e-02 4.21124558e+02] [ 8.94229563e-02 9.95990953e-01 -2.35710001e-03 2.27720778e+01] [ 3.65672228e-02 -9.18107332e-04 9.99330774e-01 1.53290069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.079254154 meters Centerline goodness : 0.999269 with order 1 Centerline is valid? [True, True] Translation: X:421.19, Y:22.77, Z:15.33 [[ 9.95353327e-01 -8.91027867e-02 -3.65027230e-02 4.21185546e+02] [ 8.90762055e-02 9.96022025e-01 -2.35710001e-03 2.27732608e+01] [ 3.65675403e-02 -9.05376723e-04 9.99330774e-01 1.53312785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.139254154 meters Centerline goodness : 0.999185 with order 1 Centerline is valid? [True, True] Translation: X:421.25, Y:22.77, Z:15.33 [[ 9.95423553e-01 -8.83147886e-02 -3.65027230e-02 4.21245641e+02] [ 8.82876780e-02 9.96092230e-01 -2.35710001e-03 2.27748055e+01] [ 3.65682455e-02 -8.76427791e-04 9.99330774e-01 1.53324087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.199254154 meters Centerline goodness : 0.999331 with order 1 Centerline is valid? [True, True] Translation: X:421.31, Y:22.78, Z:15.33 [[ 9.95569786e-01 -8.66507525e-02 -3.65027230e-02 4.21305037e+02] [ 8.66225242e-02 9.96238416e-01 -2.35710001e-03 2.27754502e+01] [ 3.65696595e-02 -8.15300457e-04 9.99330774e-01 1.53322164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.259254154 meters Centerline goodness : 0.999291 with order 1 Centerline is valid? [True, True] Translation: X:421.36, Y:22.78, Z:15.33 [[ 9.95674127e-01 -8.54434774e-02 -3.65026795e-02 4.21363948e+02] [ 8.54144137e-02 9.96342722e-01 -2.35777426e-03 2.27777956e+01] [ 3.65706354e-02 -7.70280143e-04 9.99330774e-01 1.53331189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.319254154 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:421.42, Y:22.78, Z:15.33 [[ 9.95771690e-01 -8.42991078e-02 -3.65020860e-02 4.21422400e+02] [ 8.42689404e-02 9.96440236e-01 -2.36692603e-03 2.27793610e+01] [ 3.65716770e-02 -7.19074181e-04 9.99330774e-01 1.53336932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.37925415399997 meters Centerline goodness : 0.999165 with order 1 Centerline is valid? [True, True] Translation: X:421.48, Y:22.78, Z:15.34 [[ 9.95591524e-01 -8.64011531e-02 -3.65014799e-02 4.21479948e+02] [ 8.63720559e-02 9.96260117e-01 -2.37623682e-03 2.27813002e+01] [ 3.65702783e-02 -7.86946629e-04 9.99330774e-01 1.53368718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.43925415399997 meters Centerline goodness : 0.999123 with order 1 Centerline is valid? [True, True] Translation: X:421.54, Y:22.78, Z:15.34 [[ 9.95347757e-01 -8.91655816e-02 -3.65012636e-02 4.21538805e+02] [ 8.91382196e-02 9.96016423e-01 -2.37955511e-03 2.27835080e+01] [ 3.65680324e-02 -8.85172811e-04 9.99330774e-01 1.53378472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.49925415399997 meters Centerline goodness : 0.999102 with order 1 Centerline is valid? [True, True] Translation: X:421.60, Y:22.79, Z:15.34 [[ 9.94892093e-01 -9.41139014e-02 -3.65006455e-02 4.21595079e+02] [ 9.40895185e-02 9.95560875e-01 -2.38899924e-03 2.27875937e+01] [ 3.65634526e-02 -1.05753171e-03 9.99330774e-01 1.53392526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.559254154 meters Centerline goodness : 0.999354 with order 1 Centerline is valid? [True, True] Translation: X:421.65, Y:22.79, Z:15.34 [[ 9.93838888e-01 -1.04651907e-01 -3.64999006e-02 4.21652646e+02] [ 1.04634197e-01 9.94507880e-01 -2.40032609e-03 2.27873725e+01] [ 3.65506374e-02 -1.43360039e-03 9.99330774e-01 1.53441425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.619254154 meters Centerline goodness : 0.999166 with order 1 Centerline is valid? [True, True] Translation: X:421.71, Y:22.79, Z:15.35 [[ 9.93024188e-01 -1.12119467e-01 -3.64991468e-02 4.21711837e+02] [ 1.12106368e-01 9.93693286e-01 -2.41173407e-03 2.27911408e+01] [ 3.65393594e-02 -1.69687651e-03 9.99330774e-01 1.53467193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.679254154 meters Centerline goodness : 0.999208 with order 1 Centerline is valid? [True, True] Translation: X:421.77, Y:22.80, Z:15.35 [[ 9.91780581e-01 -1.22633986e-01 -3.64991040e-02 4.21771712e+02] [ 1.22627953e-01 9.92449780e-01 -2.41238176e-03 2.27961307e+01] [ 3.65193677e-02 -2.08325702e-03 9.99330774e-01 1.53489454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.739254154 meters Centerline goodness : 0.999249 with order 1 Centerline is valid? [True, True] Translation: X:421.83, Y:22.80, Z:15.35 [[ 9.91124870e-01 -1.27825297e-01 -3.64991040e-02 4.21831542e+02] [ 1.27822768e-01 9.91794092e-01 -2.41238176e-03 2.28009131e+01] [ 3.65079591e-02 -2.27444495e-03 9.99330774e-01 1.53506859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.799254154 meters Centerline goodness : 0.999123 with order 1 Centerline is valid? [True, True] Translation: X:421.89, Y:22.80, Z:15.34 [[ 9.91728604e-01 -1.23053600e-01 -3.64991455e-02 4.21893280e+02] [ 1.23047873e-01 9.92397806e-01 -2.41175293e-03 2.27978220e+01] [ 3.65184468e-02 -2.09933786e-03 9.99330774e-01 1.53420829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.859254154 meters Centerline goodness : 0.999061 with order 1 Centerline is valid? [True, True] Translation: X:421.95, Y:22.80, Z:15.34 [[ 9.91897133e-01 -1.21687649e-01 -3.64992385e-02 4.21954602e+02] [ 1.21681053e-01 9.92566326e-01 -2.41034552e-03 2.28036053e+01] [ 3.65212243e-02 -2.05045095e-03 9.99330774e-01 1.53432156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.919254154 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:422.01, Y:22.82, Z:15.36 [[ 9.91074428e-01 -1.28215741e-01 -3.64993315e-02 4.22014338e+02] [ 1.28213602e-01 9.91743651e-01 -2.40893618e-03 2.28239658e+01] [ 3.65068438e-02 -2.29227571e-03 9.99330774e-01 1.53572643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.979254154 meters Centerline goodness : 0.999314 with order 1 Centerline is valid? [True, True] Translation: X:422.08, Y:22.83, Z:15.36 [[ 9.91256885e-01 -1.26797384e-01 -3.64994694e-02 4.22076725e+02] [ 1.26794365e-01 9.91926104e-01 -2.40684528e-03 2.28298571e+01] [ 3.65099581e-02 -2.24212507e-03 9.99330774e-01 1.53593362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.039254154 meters Centerline goodness : 0.999205 with order 1 Centerline is valid? [True, True] Translation: X:422.14, Y:22.84, Z:15.36 [[ 9.91814490e-01 -1.22359284e-01 -3.64996390e-02 4.22138798e+02] [ 1.22353364e-01 9.92483690e-01 -2.40427013e-03 2.28389750e+01] [ 3.65194811e-02 -2.08126365e-03 9.99330774e-01 1.53623358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.099254154 meters Centerline goodness : 0.999143 with order 1 Centerline is valid? [True, True] Translation: X:422.20, Y:22.85, Z:15.36 [[ 9.92172728e-01 -1.19419601e-01 -3.64998179e-02 4.22200500e+02] [ 1.19411797e-01 9.92841908e-01 -2.40155074e-03 2.28459286e+01] [ 3.65253411e-02 -1.97575571e-03 9.99330774e-01 1.53649425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.159254154 meters Centerline goodness : 0.999039 with order 1 Centerline is valid? [True, True] Translation: X:422.26, Y:22.86, Z:15.37 [[ 9.92788497e-01 -1.14187352e-01 -3.64999942e-02 4.22262118e+02] [ 1.14176118e-01 9.93457628e-01 -2.39886860e-03 2.28551461e+01] [ 3.65351181e-02 -1.78585850e-03 9.99330774e-01 1.53675475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.219254154 meters Centerline goodness : 0.999143 with order 1 Centerline is valid? [True, True] Translation: X:422.32, Y:22.86, Z:15.37 [[ 9.93257605e-01 -1.10032118e-01 -3.65001746e-02 4.22323696e+02] [ 1.10018186e-01 9.93926686e-01 -2.39612062e-03 2.28622069e+01] [ 3.65421478e-02 -1.63571796e-03 9.99330774e-01 1.53697425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.279254154 meters Centerline goodness : 0.999142 with order 1 Centerline is valid? [True, True] Translation: X:422.39, Y:22.87, Z:15.37 [[ 9.94086902e-01 -1.02269039e-01 -3.65003540e-02 4.22385370e+02] [ 1.02249981e-01 9.94755856e-01 -2.39338474e-03 2.28705109e+01] [ 3.65537100e-02 -1.35292806e-03 9.99330774e-01 1.53721960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.339254154 meters Centerline goodness : 0.999164 with order 1 Centerline is valid? [True, True] Translation: X:422.45, Y:22.88, Z:15.37 [[ 9.94587376e-01 -9.72813570e-02 -3.65005331e-02 4.22446837e+02] [ 9.72590432e-02 9.95256230e-01 -2.39064974e-03 2.28768452e+01] [ 3.65599486e-02 -1.17229688e-03 9.99330774e-01 1.53743326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.399254154 meters Centerline goodness : 0.999204 with order 1 Centerline is valid? [True, True] Translation: X:422.51, Y:22.88, Z:15.38 [[ 9.95050339e-01 -9.24257557e-02 -3.65007116e-02 4.22508544e+02] [ 9.24002776e-02 9.95719080e-01 -2.38792163e-03 2.28836498e+01] [ 3.65651604e-02 -9.96573654e-04 9.99330774e-01 1.53760214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.459254154 meters Centerline goodness : 0.998951 with order 1 Centerline is valid? [True, True] Translation: X:422.57, Y:22.88, Z:15.37 [[ 9.95871642e-01 -8.31105159e-02 -3.65008890e-02 4.22570128e+02] [ 8.30788807e-02 9.96540120e-01 -2.38520751e-03 2.28788138e+01] [ 3.65728361e-02 -6.57092481e-04 9.99330774e-01 1.53686976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.519254154 meters Centerline goodness : 0.999165 with order 1 Centerline is valid? [True, True] Translation: X:422.63, Y:22.89, Z:15.38 [[ 9.95073155e-01 -9.21797261e-02 -3.65008890e-02 4.22629869e+02] [ 9.21541822e-02 9.95741893e-01 -2.38520751e-03 2.28918149e+01] [ 3.65653320e-02 -9.90253611e-04 9.99330774e-01 1.53786122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.579254154 meters Centerline goodness : 0.999077 with order 1 Centerline is valid? [True, True] Translation: X:422.69, Y:22.89, Z:15.38 [[ 9.94818692e-01 -9.48865359e-02 -3.65008890e-02 4.22690227e+02] [ 9.48628114e-02 9.95487498e-01 -2.38520751e-03 2.28945865e+01] [ 3.65625027e-02 -1.08972793e-03 9.99330774e-01 1.53794541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.639254154 meters Centerline goodness : 0.999269 with order 1 Centerline is valid? [True, True] Translation: X:422.75, Y:22.90, Z:15.38 [[ 9.94372987e-01 -9.94487068e-02 -3.65009324e-02 4.22751421e+02] [ 9.94280747e-02 9.95041895e-01 -2.38454243e-03 2.28971079e+01] [ 3.65570966e-02 -1.25809285e-03 9.99330774e-01 1.53815997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.699254154 meters Centerline goodness : 0.999206 with order 1 Centerline is valid? [True, True] Translation: X:422.81, Y:22.90, Z:15.38 [[ 9.94154053e-01 -1.01613954e-01 -3.65010151e-02 4.22813201e+02] [ 1.01594825e-01 9.94823005e-01 -2.38327605e-03 2.29001565e+01] [ 3.65542236e-02 -1.33897068e-03 9.99330774e-01 1.53825947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.759254154 meters Centerline goodness : 0.999141 with order 1 Centerline is valid? [True, True] Translation: X:422.87, Y:22.90, Z:15.39 [[ 9.93742701e-01 -1.05560939e-01 -3.65011410e-02 4.22874820e+02] [ 1.05544537e-01 9.94411726e-01 -2.38134631e-03 2.29046838e+01] [ 3.65485397e-02 -1.48605051e-03 9.99330774e-01 1.53868452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.819254154 meters Centerline goodness : 0.999078 with order 1 Centerline is valid? [True, True] Translation: X:422.94, Y:22.91, Z:15.39 [[ 9.93491039e-01 -1.07903699e-01 -3.65013171e-02 4.22936929e+02] [ 1.07888974e-01 9.94160103e-01 -2.37864366e-03 2.29084354e+01] [ 3.65448176e-02 -1.57492851e-03 9.99330774e-01 1.53889207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.87925415399997 meters Centerline goodness : 0.999078 with order 1 Centerline is valid? [True, True] Translation: X:423.00, Y:22.91, Z:15.39 [[ 9.93091123e-01 -1.11524272e-01 -3.65014907e-02 4.22998548e+02] [ 1.11512084e-01 9.93760238e-01 -2.37597638e-03 2.29121759e+01] [ 3.65387091e-02 -1.71079623e-03 9.99330774e-01 1.53908998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.93925415399997 meters Centerline goodness : 0.999078 with order 1 Centerline is valid? [True, True] Translation: X:423.06, Y:22.92, Z:15.39 [[ 9.92834975e-01 -1.13781991e-01 -3.65016683e-02 4.23060209e+02] [ 1.13771424e-01 9.93504117e-01 -2.37324550e-03 2.29179928e+01] [ 3.65345903e-02 -1.79660564e-03 9.99330774e-01 1.53917705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.99925415399997 meters Centerline goodness : 0.999164 with order 1 Centerline is valid? [True, True] Translation: X:423.12, Y:22.92, Z:15.39 [[ 9.92824529e-01 -1.13873043e-01 -3.65018468e-02 4.23121823e+02] [ 1.13862639e-01 9.93493674e-01 -2.37049619e-03 2.29235956e+01] [ 3.65342895e-02 -1.80270984e-03 9.99330774e-01 1.53936710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.059254154 meters Centerline goodness : 0.999120 with order 1 Centerline is valid? [True, True] Translation: X:423.18, Y:22.93, Z:15.40 [[ 9.92962448e-01 -1.12664013e-01 -3.65020243e-02 4.23184065e+02] [ 1.12652894e-01 9.93631581e-01 -2.36775987e-03 2.29295848e+01] [ 3.65363255e-02 -1.76096203e-03 9.99330774e-01 1.53959224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.119254154 meters Centerline goodness : 0.999160 with order 1 Centerline is valid? [True, True] Translation: X:423.25, Y:22.94, Z:15.40 [[ 9.93521887e-01 -1.07619002e-01 -3.65022020e-02 4.23246366e+02] [ 1.07604585e-01 9.94190957e-01 -2.36501720e-03 2.29351163e+01] [ 3.65446800e-02 -1.57810795e-03 9.99330774e-01 1.53994815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.179254154 meters Centerline goodness : 0.999201 with order 1 Centerline is valid? [True, True] Translation: X:423.31, Y:22.95, Z:15.40 [[ 9.93828854e-01 -1.04746287e-01 -3.65023862e-02 4.23307082e+02] [ 1.04730040e-01 9.94497883e-01 -2.36217124e-03 2.29460970e+01] [ 3.65489744e-02 -1.47530243e-03 9.99330774e-01 1.54009209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.239254154 meters Centerline goodness : 0.998925 with order 1 Centerline is valid? [True, True] Translation: X:423.37, Y:22.95, Z:15.40 [[ 9.94189839e-01 -1.01262678e-01 -3.65025213e-02 4.23367457e+02] [ 1.01244163e-01 9.94858809e-01 -2.36008202e-03 2.29525012e+01] [ 3.65538431e-02 -1.34929766e-03 9.99330774e-01 1.53996944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.299254154 meters Centerline goodness : 0.999094 with order 1 Centerline is valid? [True, True] Translation: X:423.43, Y:22.96, Z:15.40 [[ 9.94668171e-01 -9.64509632e-02 -3.65026190e-02 4.23428447e+02] [ 9.64292671e-02 9.95337045e-01 -2.35857004e-03 2.29594807e+01] [ 3.65598953e-02 -1.17392624e-03 9.99330774e-01 1.54048584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.359254154 meters Centerline goodness : 0.998945 with order 1 Centerline is valid? [True, True] Translation: X:423.49, Y:22.96, Z:15.41 [[ 9.94879938e-01 -9.42415011e-02 -3.65027188e-02 4.23490139e+02] [ 9.42183761e-02 9.95548764e-01 -2.35702460e-03 2.29648549e+01] [ 3.65623661e-02 -1.09427039e-03 9.99330774e-01 1.54074433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.419254154 meters Centerline goodness : 0.998945 with order 1 Centerline is valid? [True, True] Translation: X:423.55, Y:22.97, Z:15.41 [[ 9.95186418e-01 -9.09479632e-02 -3.65028942e-02 4.23552154e+02] [ 9.09227242e-02 9.95855168e-01 -2.35430410e-03 2.29706080e+01] [ 3.65657150e-02 -9.75971123e-04 9.99330774e-01 1.54098554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.479254154 meters Centerline goodness : 0.998925 with order 1 Centerline is valid? [True, True] Translation: X:423.61, Y:22.98, Z:15.41 [[ 9.95499812e-01 -8.74508396e-02 -3.65030682e-02 4.23613908e+02] [ 8.74233501e-02 9.96168474e-01 -2.35160279e-03 2.29764652e+01] [ 3.65688554e-02 -8.50200376e-04 9.99330774e-01 1.54128547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.539254154 meters Centerline goodness : 0.999072 with order 1 Centerline is valid? [True, True] Translation: X:423.68, Y:22.98, Z:15.42 [[ 9.95897914e-01 -8.27940716e-02 -3.65032441e-02 4.23675284e+02] [ 8.27635553e-02 9.96566444e-01 -2.34886909e-03 2.29821672e+01] [ 3.65723806e-02 -6.81904437e-04 9.99330774e-01 1.54161001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.599254154 meters Centerline goodness : 0.999070 with order 1 Centerline is valid? [True, True] Translation: X:423.74, Y:22.99, Z:15.42 [[ 9.96454532e-01 -7.58015171e-02 -3.65033755e-02 4.23736441e+02] [ 7.57663838e-02 9.97122835e-01 -2.34682540e-03 2.29877270e+01] [ 3.65762422e-02 -4.27223962e-04 9.99330774e-01 1.54184136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.659254154 meters Centerline goodness : 0.999113 with order 1 Centerline is valid? [True, True] Translation: X:423.80, Y:22.99, Z:15.42 [[ 9.96582400e-01 -7.41014000e-02 -3.65034631e-02 4.23796946e+02] [ 7.40651765e-02 9.97250645e-01 -2.34546212e-03 2.29913093e+01] [ 3.65769042e-02 -3.66189173e-04 9.99330774e-01 1.54221453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.719254154 meters Centerline goodness : 0.999116 with order 1 Centerline is valid? [True, True] Translation: X:423.86, Y:22.99, Z:15.42 [[ 9.96394850e-01 -7.65819652e-02 -3.65035062e-02 4.23857760e+02] [ 7.65474300e-02 9.97063184e-01 -2.34479176e-03 2.29934501e+01] [ 3.65758709e-02 -4.57911148e-04 9.99330774e-01 1.54233188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.779254154 meters Centerline goodness : 0.999117 with order 1 Centerline is valid? [True, True] Translation: X:423.92, Y:22.99, Z:15.42 [[ 9.95764407e-01 -8.43844775e-02 -3.65035062e-02 4.23918803e+02] [ 8.43551785e-02 9.96432991e-01 -2.34479176e-03 2.29922466e+01] [ 3.65711619e-02 -7.44399600e-04 9.99330774e-01 1.54231596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.839254154 meters Centerline goodness : 0.999055 with order 1 Centerline is valid? [True, True] Translation: X:423.98, Y:22.99, Z:15.42 [[ 9.95205094e-01 -9.07431234e-02 -3.65035062e-02 4.23979766e+02] [ 9.07180954e-02 9.95873852e-01 -2.34479176e-03 2.29924372e+01] [ 3.65656611e-02 -9.77979850e-04 9.99330774e-01 1.54243956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.899254154 meters Centerline goodness : 0.999035 with order 1 Centerline is valid? [True, True] Translation: X:424.04, Y:22.99, Z:15.43 [[ 9.94680807e-01 -9.63201907e-02 -3.65035935e-02 4.24041977e+02] [ 9.62989616e-02 9.95349697e-01 -2.34343162e-03 2.29933345e+01] [ 3.65595605e-02 -1.18429170e-03 9.99330774e-01 1.54259826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.959254154 meters Centerline goodness : 0.999266 with order 1 Centerline is valid? [True, True] Translation: X:424.10, Y:22.99, Z:15.43 [[ 9.94234800e-01 -1.00819822e-01 -3.65037695e-02 4.24104706e+02] [ 1.00801721e-01 9.94903781e-01 -2.34068763e-03 2.29942008e+01] [ 3.65537260e-02 -1.35244967e-03 9.99330774e-01 1.54275753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.019254154 meters Centerline goodness : 0.999100 with order 1 Centerline is valid? [True, True] Translation: X:424.17, Y:22.99, Z:15.43 [[ 9.93837644e-01 -1.04662309e-01 -3.65039441e-02 4.24166349e+02] [ 1.04646893e-01 9.94506693e-01 -2.33796048e-03 2.29943680e+01] [ 3.65481131e-02 -1.49647121e-03 9.99330774e-01 1.54278058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.079254154 meters Centerline goodness : 0.999392 with order 1 Centerline is valid? [True, True] Translation: X:424.23, Y:23.00, Z:15.43 [[ 9.93718078e-01 -1.05791469e-01 -3.65040732e-02 4.24228044e+02] [ 1.05776888e-01 9.94387145e-01 -2.33594285e-03 2.29979449e+01] [ 3.65463040e-02 -1.54001862e-03 9.99330774e-01 1.54333343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.139254154 meters Centerline goodness : 0.999121 with order 1 Centerline is valid? [True, True] Translation: X:424.29, Y:23.00, Z:15.44 [[ 9.93715207e-01 -1.05818367e-01 -3.65042456e-02 4.24289847e+02] [ 1.05803902e-01 9.94384277e-01 -2.33324613e-03 2.30018499e+01] [ 3.65461482e-02 -1.54370947e-03 9.99330774e-01 1.54362900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.199254154 meters Centerline goodness : 0.999245 with order 1 Centerline is valid? [True, True] Translation: X:424.35, Y:23.01, Z:15.44 [[ 9.93697178e-01 -1.05987477e-01 -3.65044207e-02 4.24351421e+02] [ 1.05973227e-01 9.94366252e-01 -2.33050330e-03 2.30055898e+01] [ 3.65457682e-02 -1.55267670e-03 9.99330774e-01 1.54382952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.259254154 meters Centerline goodness : 0.999014 with order 1 Centerline is valid? [True, True] Translation: X:424.41, Y:23.01, Z:15.44 [[ 9.93649182e-01 -1.06436450e-01 -3.65045934e-02 4.24413251e+02] [ 1.06422602e-01 9.94318265e-01 -2.32779510e-03 2.30105845e+01] [ 3.65449462e-02 -1.57190212e-03 9.99330774e-01 1.54391440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.319254154 meters Centerline goodness : 0.999284 with order 1 Centerline is valid? [True, True] Translation: X:424.47, Y:23.02, Z:15.44 [[ 9.93609632e-01 -1.06804964e-01 -3.65047672e-02 4.24474846e+02] [ 1.06791463e-01 9.94278722e-01 -2.32506638e-03 2.30158671e+01] [ 3.65442419e-02 -1.58818915e-03 9.99330774e-01 1.54405070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.37925415399997 meters Centerline goodness : 0.999306 with order 1 Centerline is valid? [True, True] Translation: X:424.54, Y:23.02, Z:15.44 [[ 9.93744396e-01 -1.05543663e-01 -3.65049380e-02 4.24536390e+02] [ 1.05529412e-01 9.94413470e-01 -2.32238128e-03 2.30201152e+01] [ 3.65461147e-02 -1.54449126e-03 9.99330774e-01 1.54417966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.43925415399997 meters Centerline goodness : 0.999221 with order 1 Centerline is valid? [True, True] Translation: X:424.60, Y:23.03, Z:15.44 [[ 9.93948932e-01 -1.03599701e-01 -3.65051058e-02 4.24598179e+02] [ 1.03584238e-01 9.94617979e-01 -2.31974035e-03 2.30252559e+01] [ 3.65489590e-02 -1.47565014e-03 9.99330774e-01 1.54443053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.49925415399997 meters Centerline goodness : 0.999178 with order 1 Centerline is valid? [True, True] Translation: X:424.66, Y:23.03, Z:15.45 [[ 9.94326961e-01 -9.99062522e-02 -3.65052793e-02 4.24658516e+02] [ 9.98884040e-02 9.94995949e-01 -2.31700801e-03 2.30320935e+01] [ 3.65540886e-02 -1.34259055e-03 9.99330774e-01 1.54465872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.559254154 meters Centerline goodness : 0.999179 with order 1 Centerline is valid? [True, True] Translation: X:424.72, Y:23.04, Z:15.45 [[ 9.94605218e-01 -9.70969397e-02 -3.65054073e-02 4.24720762e+02] [ 9.70772757e-02 9.95274155e-01 -2.31498921e-03 2.30373918e+01] [ 3.65576668e-02 -1.24134515e-03 9.99330774e-01 1.54491325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.619254154 meters Centerline goodness : 0.999200 with order 1 Centerline is valid? [True, True] Translation: X:424.78, Y:23.04, Z:15.45 [[ 9.95202896e-01 -9.07663936e-02 -3.65055774e-02 4.24782711e+02] [ 9.07425721e-02 9.95871698e-01 -2.31230405e-03 2.30436563e+01] [ 3.65647508e-02 -1.01139830e-03 9.99330774e-01 1.54527835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.679254154 meters Centerline goodness : 0.998947 with order 1 Centerline is valid? [True, True] Translation: X:424.84, Y:23.05, Z:15.46 [[ 9.95698343e-01 -8.51595000e-02 -3.65057505e-02 4.24844477e+02] [ 8.51320121e-02 9.96367004e-01 -2.30956776e-03 2.30495776e+01] [ 3.65698069e-02 -8.08175199e-04 9.99330774e-01 1.54557312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.739254154 meters Centerline goodness : 0.999367 with order 1 Centerline is valid? [True, True] Translation: X:424.91, Y:23.06, Z:15.46 [[ 9.96321903e-01 -7.75240855e-02 -3.65059243e-02 4.24905218e+02] [ 7.74915734e-02 9.96990338e-01 -2.30681661e-03 2.30562511e+01] [ 3.65748877e-02 -5.30569596e-04 9.99330774e-01 1.54587572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.799254154 meters Centerline goodness : 0.999326 with order 1 Centerline is valid? [True, True] Translation: X:424.97, Y:23.06, Z:15.46 [[ 9.96580456e-01 -7.41262880e-02 -3.65060094e-02 4.24966493e+02] [ 7.40915461e-02 9.97248779e-01 -2.30546920e-03 2.30606062e+01] [ 3.65764692e-02 -4.07201131e-04 9.99330774e-01 1.54608714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.859254154 meters Centerline goodness : 0.999113 with order 1 Centerline is valid? [True, True] Translation: X:425.03, Y:23.06, Z:15.46 [[ 9.96649066e-01 -7.31979820e-02 -3.65060948e-02 4.25027045e+02] [ 7.31626671e-02 9.97317359e-01 -2.30411666e-03 2.30639546e+01] [ 3.65768187e-02 -3.74487541e-04 9.99330774e-01 1.54618050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.919254154 meters Centerline goodness : 0.999219 with order 1 Centerline is valid? [True, True] Translation: X:425.09, Y:23.07, Z:15.46 [[ 9.96431244e-01 -7.61057229e-02 -3.65060948e-02 4.25087815e+02] [ 7.60723581e-02 9.97099638e-01 -2.30411666e-03 2.30662431e+01] [ 3.65755704e-02 -4.81210885e-04 9.99330774e-01 1.54631721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.979254154 meters Centerline goodness : 0.999240 with order 1 Centerline is valid? [True, True] Translation: X:425.15, Y:23.07, Z:15.46 [[ 9.96162022e-01 -7.95520651e-02 -3.65060948e-02 4.25147756e+02] [ 7.95210126e-02 9.96830527e-01 -2.30411666e-03 2.30684149e+01] [ 3.65736869e-02 -6.07728110e-04 9.99330774e-01 1.54641290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.039254154 meters Centerline goodness : 0.999032 with order 1 Centerline is valid? [True, True] Translation: X:425.21, Y:23.07, Z:15.47 [[ 9.95572059e-01 -8.66232233e-02 -3.65060526e-02 4.25207964e+02] [ 8.65968937e-02 9.96240767e-01 -2.30478445e-03 2.30692322e+01] [ 3.65684657e-02 -8.66731760e-04 9.99330774e-01 1.54660493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.099254154 meters Centerline goodness : 0.999284 with order 1 Centerline is valid? [True, True] Translation: X:425.27, Y:23.07, Z:15.47 [[ 9.95204020e-01 -9.07538835e-02 -3.65060526e-02 4.25268977e+02] [ 9.07303292e-02 9.95872831e-01 -2.30478445e-03 2.30710418e+01] [ 3.65645541e-02 -1.01847542e-03 9.99330774e-01 1.54679080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.159254154 meters Centerline goodness : 0.999390 with order 1 Centerline is valid? [True, True] Translation: X:425.33, Y:23.07, Z:15.47 [[ 9.94878013e-01 -9.42604921e-02 -3.65061372e-02 4.25331038e+02] [ 9.42393440e-02 9.95546905e-01 -2.30344387e-03 2.30735770e+01] [ 3.65606957e-02 -1.14866877e-03 9.99330774e-01 1.54706614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.219254154 meters Centerline goodness : 0.999326 with order 1 Centerline is valid? [True, True] Translation: X:425.39, Y:23.08, Z:15.47 [[ 9.94960561e-01 -9.33850700e-02 -3.65063084e-02 4.25393222e+02] [ 9.33634329e-02 9.95629437e-01 -2.30072785e-03 2.30774015e+01] [ 3.65616089e-02 -1.11922080e-03 9.99330774e-01 1.54732209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.279254154 meters Centerline goodness : 0.999391 with order 1 Centerline is valid? [True, True] Translation: X:425.45, Y:23.08, Z:15.48 [[ 9.95137980e-01 -9.14750145e-02 -3.65064799e-02 4.25454690e+02] [ 9.14521934e-02 9.95806816e-01 -2.29800289e-03 2.30811988e+01] [ 3.65636114e-02 -1.05176771e-03 9.99330774e-01 1.54756368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.339254154 meters Centerline goodness : 0.999601 with order 1 Centerline is valid? [True, True] Translation: X:425.52, Y:23.09, Z:15.48 [[ 9.95509601e-01 -8.73378750e-02 -3.65065643e-02 4.25515689e+02] [ 8.73123232e-02 9.96178339e-01 -2.29666171e-03 2.30853846e+01] [ 3.65676341e-02 -9.01124151e-04 9.99330774e-01 1.54799500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.399254154 meters Centerline goodness : 0.999643 with order 1 Centerline is valid? [True, True] Translation: X:425.58, Y:23.09, Z:15.48 [[ 9.95818750e-01 -8.37393687e-02 -3.65066495e-02 4.25576886e+02] [ 8.37114498e-02 9.96487393e-01 -2.29530605e-03 2.30896705e+01] [ 3.65706235e-02 -7.70315757e-04 9.99330774e-01 1.54825551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.459254154 meters Centerline goodness : 0.999179 with order 1 Centerline is valid? [True, True] Translation: X:425.64, Y:23.09, Z:15.48 [[ 9.96043824e-01 -8.10182609e-02 -3.65067350e-02 4.25637081e+02] [ 8.09885651e-02 9.96712391e-01 -2.29394505e-03 2.30941385e+01] [ 3.65725666e-02 -6.71758289e-04 9.99330774e-01 1.54843166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.519254154 meters Centerline goodness : 0.999179 with order 1 Centerline is valid? [True, True] Translation: X:425.70, Y:23.10, Z:15.48 [[ 9.96176647e-01 -7.93684034e-02 -3.65067770e-02 4.25697836e+02] [ 7.93376248e-02 9.96845165e-01 -2.29327644e-03 2.30972910e+01] [ 3.65736179e-02 -6.11852547e-04 9.99330774e-01 1.54848547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.579254154 meters Centerline goodness : 0.999243 with order 1 Centerline is valid? [True, True] Translation: X:425.76, Y:23.10, Z:15.49 [[ 9.95882584e-01 -8.29767033e-02 -3.65067770e-02 4.25757380e+02] [ 8.29483467e-02 9.96551209e-01 -2.29327644e-03 2.30995765e+01] [ 3.65711613e-02 -7.44342733e-04 9.99330774e-01 1.54856453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.639254154 meters Centerline goodness : 0.999453 with order 1 Centerline is valid? [True, True] Translation: X:425.82, Y:23.10, Z:15.49 [[ 9.95472697e-01 -8.77574321e-02 -3.65067372e-02 4.25818915e+02] [ 8.77322630e-02 9.96141450e-01 -2.29391058e-03 2.31025715e+01] [ 3.65671818e-02 -9.19293314e-04 9.99330774e-01 1.54890678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.699254154 meters Centerline goodness : 0.999601 with order 1 Centerline is valid? [True, True] Translation: X:425.88, Y:23.11, Z:15.49 [[ 9.94840328e-01 -9.46571430e-02 -3.65068216e-02 4.25878807e+02] [ 9.46366604e-02 9.95509240e-01 -2.29256693e-03 2.31053928e+01] [ 3.65598860e-02 -1.17414564e-03 9.99330774e-01 1.54910143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.759254154 meters Centerline goodness : 0.999411 with order 1 Centerline is valid? [True, True] Translation: X:425.94, Y:23.11, Z:15.49 [[ 9.94512757e-01 -9.80388955e-02 -3.65068630e-02 4.25940698e+02] [ 9.80207113e-02 9.95181736e-01 -2.29190669e-03 2.31093058e+01] [ 3.65556593e-02 -1.29909824e-03 9.99330774e-01 1.54946409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.819254154 meters Centerline goodness : 0.999475 with order 1 Centerline is valid? [True, True] Translation: X:426.00, Y:23.11, Z:15.50 [[ 9.94517562e-01 -9.79900791e-02 -3.65070290e-02 4.26002288e+02] [ 9.79719591e-02 9.95186543e-01 -2.28925973e-03 2.31136452e+01] [ 3.65556287e-02 -1.29995615e-03 9.99330774e-01 1.54978692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.87925415399997 meters Centerline goodness : 0.999685 with order 1 Centerline is valid? [True, True] Translation: X:426.06, Y:23.12, Z:15.50 [[ 9.94666995e-01 -9.64613617e-02 -3.65071974e-02 4.26063757e+02] [ 9.64423121e-02 9.95335949e-01 -2.28657068e-03 2.31180610e+01] [ 3.65574917e-02 -1.24646214e-03 9.99330774e-01 1.55019389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.93925415399997 meters Centerline goodness : 0.999263 with order 1 Centerline is valid? [True, True] Translation: X:426.13, Y:23.12, Z:15.51 [[ 9.94917137e-01 -9.38461233e-02 -3.65074698e-02 4.26125764e+02] [ 9.38254748e-02 9.95586044e-01 -2.28221452e-03 2.31238128e+01] [ 3.65605044e-02 -1.15471635e-03 9.99330774e-01 1.55067735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.99925415399997 meters Centerline goodness : 0.999390 with order 1 Centerline is valid? [True, True] Translation: X:426.19, Y:23.13, Z:15.51 [[ 9.94998954e-01 -9.29745896e-02 -3.65076377e-02 4.26187933e+02] [ 9.29534538e-02 9.95667846e-01 -2.27952513e-03 2.31283851e+01] [ 3.65614189e-02 -1.12538589e-03 9.99330774e-01 1.55092611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.059254154 meters Centerline goodness : 0.999136 with order 1 Centerline is valid? [True, True] Translation: X:426.25, Y:23.13, Z:15.51 [[ 9.94829767e-01 -9.47676930e-02 -3.65078035e-02 4.26250352e+02] [ 9.47478602e-02 9.95498699e-01 -2.27686708e-03 2.31316567e+01] [ 3.65592443e-02 -1.19394111e-03 9.99330774e-01 1.55106846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.119254154 meters Centerline goodness : 0.999157 with order 1 Centerline is valid? [True, True] Translation: X:426.31, Y:23.13, Z:15.51 [[ 9.94523489e-01 -9.79295554e-02 -3.65079700e-02 4.26312274e+02] [ 9.79119471e-02 9.95192483e-01 -2.27419416e-03 2.31343416e+01] [ 3.65551681e-02 -1.31282691e-03 9.99330774e-01 1.55115031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.179254154 meters Centerline goodness : 0.999324 with order 1 Centerline is valid? [True, True] Translation: X:426.37, Y:23.14, Z:15.51 [[ 9.94394326e-01 -9.92324536e-02 -3.65081338e-02 4.26373321e+02] [ 9.92158183e-02 9.95063345e-01 -2.27156169e-03 2.31384938e+01] [ 3.65533184e-02 -1.36335631e-03 9.99330774e-01 1.55138304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.239254154 meters Centerline goodness : 0.999430 with order 1 Centerline is valid? [True, True] Translation: X:426.44, Y:23.14, Z:15.52 [[ 9.94454199e-01 -9.86306096e-02 -3.65082154e-02 4.26435744e+02] [ 9.86136175e-02 9.95123209e-01 -2.27024864e-03 2.31441657e+01] [ 3.65540885e-02 -1.34254889e-03 9.99330774e-01 1.55162872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.299254154 meters Centerline goodness : 0.999262 with order 1 Centerline is valid? [True, True] Translation: X:426.50, Y:23.15, Z:15.52 [[ 9.94668979e-01 -9.64404308e-02 -3.65084251e-02 4.26496407e+02] [ 9.64220893e-02 9.95337954e-01 -2.26687123e-03 2.31491836e+01] [ 3.65568392e-02 -1.26543214e-03 9.99330774e-01 1.55175502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.359254154 meters Centerline goodness : 0.998822 with order 1 Centerline is valid? [True, True] Translation: X:426.56, Y:23.16, Z:15.52 [[ 9.95156311e-01 -9.12745475e-02 -3.65085492e-02 4.26558239e+02] [ 9.12528060e-02 9.95825183e-01 -2.26487109e-03 2.31561442e+01] [ 3.65628578e-02 -1.07760680e-03 9.99330774e-01 1.55218051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.419254154 meters Centerline goodness : 0.999282 with order 1 Centerline is valid? [True, True] Translation: X:426.62, Y:23.16, Z:15.52 [[ 9.95551367e-01 -8.68595944e-02 -3.65087157e-02 4.26620233e+02] [ 8.68349848e-02 9.96220140e-01 -2.26218424e-03 2.31621375e+01] [ 3.65672103e-02 -9.18113154e-04 9.99330774e-01 1.55243650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.479254154 meters Centerline goodness : 0.999324 with order 1 Centerline is valid? [True, True] Translation: X:426.68, Y:23.17, Z:15.53 [[ 9.95921603e-01 -8.25061342e-02 -3.65088826e-02 4.26680970e+02] [ 8.24786997e-02 9.96590266e-01 -2.25948719e-03 2.31678081e+01] [ 3.65708186e-02 -7.60933065e-04 9.99330774e-01 1.55268956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.539254154 meters Centerline goodness : 0.999239 with order 1 Centerline is valid? [True, True] Translation: X:426.74, Y:23.17, Z:15.53 [[ 9.96037795e-01 -8.10913490e-02 -3.65089654e-02 4.26741714e+02] [ 8.10630138e-02 9.96706420e-01 -2.25814852e-03 2.31711708e+01] [ 3.65718365e-02 -7.10325498e-04 9.99330774e-01 1.55288416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.599254154 meters Centerline goodness : 0.999556 with order 1 Centerline is valid? [True, True] Translation: X:426.80, Y:23.17, Z:15.53 [[ 9.95962814e-01 -8.20070614e-02 -3.65091001e-02 4.26803325e+02] [ 8.19794208e-02 9.96631469e-01 -2.25596883e-03 2.31742329e+01] [ 3.65711234e-02 -7.46133816e-04 9.99330774e-01 1.55302146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.659254154 meters Centerline goodness : 0.999239 with order 1 Centerline is valid? [True, True] Translation: X:426.87, Y:23.18, Z:15.53 [[ 9.95838833e-01 -8.34990936e-02 -3.65091814e-02 4.26865035e+02] [ 8.34725031e-02 9.96507530e-01 -2.25465269e-03 2.31767316e+01] [ 3.65699356e-02 -8.02242052e-04 9.99330774e-01 1.55315421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.719254154 meters Centerline goodness : 0.999473 with order 1 Centerline is valid? [True, True] Translation: X:426.93, Y:23.18, Z:15.53 [[ 9.95644229e-01 -8.57883577e-02 -3.65092615e-02 4.26926877e+02] [ 8.57633522e-02 9.96312988e-01 -2.25335387e-03 2.31775813e+01] [ 3.65679630e-02 -8.87617877e-04 9.99330774e-01 1.55333382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.779254154 meters Centerline goodness : 0.999008 with order 1 Centerline is valid? [True, True] Translation: X:426.99, Y:23.18, Z:15.53 [[ 9.95604513e-01 -8.62480214e-02 -3.65093437e-02 4.26988716e+02] [ 8.62233735e-02 9.96273285e-01 -2.25202193e-03 2.31779380e+01] [ 3.65675162e-02 -9.05835581e-04 9.99330774e-01 1.55344636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.839254154 meters Centerline goodness : 0.999410 with order 1 Centerline is valid? [True, True] Translation: X:427.05, Y:23.18, Z:15.54 [[ 9.95478325e-01 -8.76924508e-02 -3.65094265e-02 4.27049695e+02] [ 8.76688224e-02 9.96147134e-01 -2.25067818e-03 2.31801966e+01] [ 3.65661281e-02 -9.60237085e-04 9.99330774e-01 1.55371635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.899254154 meters Centerline goodness : 0.999073 with order 1 Centerline is valid? [True, True] Translation: X:427.11, Y:23.18, Z:15.54 [[ 9.95220647e-01 -9.05699752e-02 -3.65095097e-02 4.27110412e+02] [ 9.05483299e-02 9.95889522e-01 -2.24932874e-03 2.31799086e+01] [ 3.65631598e-02 -1.06729672e-03 9.99330774e-01 1.55389743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.959254154 meters Centerline goodness : 0.999306 with order 1 Centerline is valid? [True, True] Translation: X:427.17, Y:23.18, Z:15.54 [[ 9.94939254e-01 -9.36105419e-02 -3.65095506e-02 4.27171763e+02] [ 9.35909648e-02 9.95608193e-01 -2.24866443e-03 2.31793648e+01] [ 3.65597064e-02 -1.17967955e-03 9.99330774e-01 1.55412266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.019254154 meters Centerline goodness : 0.998883 with order 1 Centerline is valid? [True, True] Translation: X:427.23, Y:23.18, Z:15.54 [[ 9.94817867e-01 -9.48918232e-02 -3.65096333e-02 4.27233461e+02] [ 9.48731570e-02 9.95486832e-01 -2.24731995e-03 2.31818195e+01] [ 3.65581115e-02 -1.22811013e-03 9.99330774e-01 1.55441167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.079254154 meters Centerline goodness : 0.999158 with order 1 Centerline is valid? [True, True] Translation: X:427.29, Y:23.18, Z:15.55 [[ 9.94798130e-01 -9.50984803e-02 -3.65097150e-02 4.27293477e+02] [ 9.50800017e-02 9.95467101e-01 -2.24599241e-03 2.31823925e+01] [ 3.65578106e-02 -1.23703472e-03 9.99330774e-01 1.55466135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.139254154 meters Centerline goodness : 0.999093 with order 1 Centerline is valid? [True, True] Translation: X:427.36, Y:23.18, Z:15.55 [[ 9.94833291e-01 -9.47299005e-02 -3.65098370e-02 4.27355221e+02] [ 9.47112468e-02 9.95502257e-01 -2.24400826e-03 2.31834122e+01] [ 3.65581998e-02 -1.22547805e-03 9.99330774e-01 1.55482784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.199254154 meters Centerline goodness : 0.999095 with order 1 Centerline is valid? [True, True] Translation: X:427.42, Y:23.18, Z:15.55 [[ 9.94962016e-01 -9.33681551e-02 -3.65099163e-02 4.27415212e+02] [ 9.33486331e-02 9.95630957e-01 -2.24271590e-03 2.31842376e+01] [ 3.65598012e-02 -1.17673366e-03 9.99330774e-01 1.55499134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.259254154 meters Centerline goodness : 0.999118 with order 1 Centerline is valid? [True, True] Translation: X:427.48, Y:23.19, Z:15.55 [[ 9.95017015e-01 -9.27802170e-02 -3.65098773e-02 4.27476421e+02] [ 9.27602764e-02 9.95685944e-01 -2.24335204e-03 2.31866921e+01] [ 3.65605103e-02 -1.15449285e-03 9.99330774e-01 1.55526358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.319254154 meters Centerline goodness : 0.999097 with order 1 Centerline is valid? [True, True] Translation: X:427.54, Y:23.19, Z:15.55 [[ 9.94892338e-01 -9.41077011e-02 -3.65099596e-02 4.27537880e+02] [ 9.40887022e-02 9.95561294e-01 -2.24201190e-03 2.31878863e+01] [ 3.65588932e-02 -1.20461425e-03 9.99330774e-01 1.55532460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.37925415399997 meters Centerline goodness : 0.998930 with order 1 Centerline is valid? [True, True] Translation: X:427.60, Y:23.19, Z:15.55 [[ 9.94760717e-01 -9.54889172e-02 -3.65100423e-02 4.27599578e+02] [ 9.54708965e-02 9.95429700e-01 -2.24066376e-03 2.31903144e+01] [ 3.65571390e-02 -1.25672218e-03 9.99330774e-01 1.55536479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.43925415399997 meters Centerline goodness : 0.998873 with order 1 Centerline is valid? [True, True] Translation: X:427.66, Y:23.20, Z:15.56 [[ 9.94442625e-01 -9.87465239e-02 -3.65101251e-02 4.27659910e+02] [ 9.87307439e-02 9.95111665e-01 -2.23931371e-03 2.31953324e+01] [ 3.65527758e-02 -1.37780281e-03 9.99330774e-01 1.55566894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.49925415399997 meters Centerline goodness : 0.999099 with order 1 Centerline is valid? [True, True] Translation: X:427.72, Y:23.20, Z:15.56 [[ 9.94159306e-01 -1.01559251e-01 -3.65101658e-02 4.27721504e+02] [ 1.01545389e-01 9.94828388e-01 -2.23864967e-03 2.31994395e+01] [ 3.65487050e-02 -1.48186457e-03 9.99330774e-01 1.55604672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.559254154 meters Centerline goodness : 0.999349 with order 1 Centerline is valid? [True, True] Translation: X:427.78, Y:23.20, Z:15.56 [[ 9.93921716e-01 -1.03858647e-01 -3.65103333e-02 4.27783335e+02] [ 1.03846432e-01 9.94590830e-01 -2.23591424e-03 2.32037376e+01] [ 3.65450618e-02 -1.56914411e-03 9.99330774e-01 1.55639375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.619254154 meters Centerline goodness : 0.999349 with order 1 Centerline is valid? [True, True] Translation: X:427.84, Y:23.21, Z:15.57 [[ 9.93415528e-01 -1.08593608e-01 -3.65105005e-02 4.27843858e+02] [ 1.08584681e-01 9.94084695e-01 -2.23318120e-03 2.32087547e+01] [ 3.65370389e-02 -1.74600418e-03 9.99330774e-01 1.55677196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.679254154 meters Centerline goodness : 0.999035 with order 1 Centerline is valid? [True, True] Translation: X:427.90, Y:23.21, Z:15.57 [[ 9.92992586e-01 -1.12395276e-01 -3.65106240e-02 4.27904470e+02] [ 1.12388985e-01 9.93661782e-01 -2.23116036e-03 2.32134417e+01] [ 3.65299836e-02 -1.88786628e-03 9.99330774e-01 1.55701017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.739254154 meters Centerline goodness : 0.998930 with order 1 Centerline is valid? [True, True] Translation: X:427.97, Y:23.22, Z:15.57 [[ 9.92516969e-01 -1.16520521e-01 -3.65107454e-02 4.27966732e+02] [ 1.16517085e-01 9.93186186e-01 -2.22917120e-03 2.32172096e+01] [ 3.65217122e-02 -2.04163537e-03 9.99330774e-01 1.55717639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.799254154 meters Centerline goodness : 0.999098 with order 1 Centerline is valid? [True, True] Translation: X:428.03, Y:23.21, Z:15.56 [[ 9.93193779e-01 -1.10603216e-01 -3.65109092e-02 4.28028872e+02] [ 1.10595889e-01 9.93862964e-01 -2.22648535e-03 2.32098636e+01] [ 3.65330969e-02 -1.82662508e-03 9.99330774e-01 1.55611371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.859254154 meters Centerline goodness : 0.998950 with order 1 Centerline is valid? [True, True] Translation: X:428.09, Y:23.23, Z:15.58 [[ 9.91404701e-01 -1.25633059e-01 -3.65109961e-02 4.28088436e+02] [ 1.25635921e-01 9.92073921e-01 -2.22505909e-03 2.32276842e+01] [ 3.65011481e-02 -2.38115858e-03 9.99330774e-01 1.55758638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.919254154 meters Centerline goodness : 0.999034 with order 1 Centerline is valid? [True, True] Translation: X:428.15, Y:23.23, Z:15.58 [[ 9.91183917e-01 -1.27363182e-01 -3.65111229e-02 4.28150163e+02] [ 1.27367288e-01 9.91853130e-01 -2.22297662e-03 2.32323464e+01] [ 3.64967970e-02 -2.44694404e-03 9.99330774e-01 1.55771081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.979254154 meters Centerline goodness : 0.999120 with order 1 Centerline is valid? [True, True] Translation: X:428.21, Y:23.24, Z:15.58 [[ 9.91234978e-01 -1.26965129e-01 -3.65112867e-02 4.28211739e+02] [ 1.26969065e-01 9.91904192e-01 -2.22028349e-03 2.32367265e+01] [ 3.64975969e-02 -2.43498130e-03 9.99330774e-01 1.55770199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.039254154 meters Centerline goodness : 0.999016 with order 1 Centerline is valid? [True, True] Translation: X:428.27, Y:23.24, Z:15.57 [[ 9.92528579e-01 -1.16421362e-01 -3.65114476e-02 4.28274690e+02] [ 1.16418282e-01 9.93197798e-01 -2.21763395e-03 2.32351317e+01] [ 3.65212694e-02 -2.04953492e-03 9.99330774e-01 1.55736038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.099254154 meters Centerline goodness : 0.999287 with order 1 Centerline is valid? [True, True] Translation: X:428.33, Y:23.25, Z:15.58 [[ 9.92883302e-01 -1.13356297e-01 -3.65116205e-02 4.28334434e+02] [ 1.13351255e-01 9.93552509e-01 -2.21478399e-03 2.32528199e+01] [ 3.65272719e-02 -1.93961597e-03 9.99330774e-01 1.55833572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.159254154 meters Centerline goodness : 0.999163 with order 1 Centerline is valid? [True, True] Translation: X:428.40, Y:23.25, Z:15.58 [[ 9.94919400e-01 -9.38204628e-02 -3.65117466e-02 4.28396937e+02] [ 9.38023452e-02 9.95588381e-01 -2.21270426e-03 2.32534525e+01] [ 3.65582676e-02 -1.22342505e-03 9.99330774e-01 1.55786551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.219254154 meters Centerline goodness : 0.999223 with order 1 Centerline is valid? [True, True] Translation: X:428.46, Y:23.27, Z:15.59 [[ 9.95106416e-01 -9.18155800e-02 -3.65119178e-02 4.28456921e+02] [ 9.17962182e-02 9.95775362e-01 -2.20987407e-03 2.32692854e+01] [ 3.65605691e-02 -1.15259612e-03 9.99330774e-01 1.55868837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.279254154 meters Centerline goodness : 0.999073 with order 1 Centerline is valid? [True, True] Translation: X:428.52, Y:23.28, Z:15.59 [[ 9.96103820e-01 -8.02748397e-02 -3.65120432e-02 4.28517787e+02] [ 8.02478012e-02 9.96772500e-01 -2.20780150e-03 2.32796501e+01] [ 3.65714315e-02 -7.30811675e-04 9.99330774e-01 1.55922604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.339254154 meters Centerline goodness : 0.998821 with order 1 Centerline is valid? [True, True] Translation: X:428.58, Y:23.29, Z:15.60 [[ 9.96489379e-01 -7.53377908e-02 -3.65121220e-02 4.28578616e+02] [ 7.53074869e-02 9.97157918e-01 -2.20649671e-03 2.32861464e+01] [ 3.65745842e-02 -5.50885611e-04 9.99330774e-01 1.55950623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.399254154 meters Centerline goodness : 0.998863 with order 1 Centerline is valid? [True, True] Translation: X:428.64, Y:23.29, Z:15.60 [[ 9.96654437e-01 -7.31217681e-02 -3.65122006e-02 4.28639285e+02] [ 7.30900253e-02 9.97322909e-01 -2.20519493e-03 2.32910355e+01] [ 3.65757019e-02 -4.70860358e-04 9.99330774e-01 1.55967111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.459254154 meters Centerline goodness : 0.998753 with order 1 Centerline is valid? [True, True] Translation: X:428.70, Y:23.29, Z:15.60 [[ 9.96518119e-01 -7.49565983e-02 -3.65122803e-02 4.28699528e+02] [ 7.49261346e-02 9.97186651e-01 -2.20387518e-03 2.32949278e+01] [ 3.65747535e-02 -5.39522479e-04 9.99330774e-01 1.55982036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.519254154 meters Centerline goodness : 0.998947 with order 1 Centerline is valid? [True, True] Translation: X:428.76, Y:23.30, Z:15.60 [[ 9.96001748e-01 -8.15314078e-02 -3.65122803e-02 4.28759073e+02] [ 8.15053567e-02 9.96670467e-01 -2.20387518e-03 2.32985952e+01] [ 3.65703965e-02 -7.80882896e-04 9.99330774e-01 1.56011262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.579254154 meters Centerline goodness : 0.998992 with order 1 Centerline is valid? [True, True] Translation: X:428.82, Y:23.30, Z:15.60 [[ 9.95430309e-01 -8.82346864e-02 -3.65121927e-02 4.28819230e+02] [ 8.82130845e-02 9.96099186e-01 -2.20532637e-03 2.32970842e+01] [ 3.65643517e-02 -1.02560443e-03 9.99330774e-01 1.56020767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.639254154 meters Centerline goodness : 0.999179 with order 1 Centerline is valid? [True, True] Translation: X:428.88, Y:23.30, Z:15.60 [[ 9.94922073e-01 -9.37919631e-02 -3.65121488e-02 4.28880262e+02] [ 9.37740701e-02 9.95591059e-01 -2.20605204e-03 2.32987224e+01] [ 3.65580789e-02 -1.22904294e-03 9.99330774e-01 1.56046252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.699254154 meters Centerline goodness : 0.999138 with order 1 Centerline is valid? [True, True] Translation: X:428.94, Y:23.30, Z:15.61 [[ 9.94169949e-01 -1.01454271e-01 -3.65122246e-02 4.28940990e+02] [ 1.01441579e-01 9.94839055e-01 -2.20479741e-03 2.33004093e+01] [ 3.65474731e-02 -1.51191438e-03 9.99330774e-01 1.56068981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.759254154 meters Centerline goodness : 0.999390 with order 1 Centerline is valid? [True, True] Translation: X:429.00, Y:23.30, Z:15.61 [[ 9.93730443e-01 -1.05672347e-01 -3.65124781e-02 4.29002047e+02] [ 1.05662648e-01 9.94399599e-01 -2.20059037e-03 2.33012347e+01] [ 3.65405352e-02 -1.67121150e-03 9.99330774e-01 1.56088281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.819254154 meters Centerline goodness : 0.999307 with order 1 Centerline is valid? [True, True] Translation: X:429.06, Y:23.30, Z:15.61 [[ 9.93291359e-01 -1.09722873e-01 -3.65125506e-02 4.29063393e+02] [ 1.09715947e-01 9.93960549e-01 -2.19938779e-03 2.33021688e+01] [ 3.65333580e-02 -1.82137618e-03 9.99330774e-01 1.56108623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.87925415399997 meters Centerline goodness : 0.999286 with order 1 Centerline is valid? [True, True] Translation: X:429.13, Y:23.29, Z:15.60 [[ 9.93950638e-01 -1.03580670e-01 -3.65126582e-02 4.29125670e+02] [ 1.03569672e-01 9.94619773e-01 -2.19759869e-03 2.32949968e+01] [ 3.65438406e-02 -1.59729943e-03 9.99330774e-01 1.56028857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.93925415399997 meters Centerline goodness : 0.999266 with order 1 Centerline is valid? [True, True] Translation: X:429.18, Y:23.31, Z:15.61 [[ 9.93549588e-01 -1.07359380e-01 -3.65127300e-02 4.29184708e+02] [ 1.07350971e-01 9.94218761e-01 -2.19640568e-03 2.33084998e+01] [ 3.65374459e-02 -1.73743907e-03 9.99330774e-01 1.56142069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.99925415399997 meters Centerline goodness : 0.999286 with order 1 Centerline is valid? [True, True] Translation: X:429.25, Y:23.31, Z:15.62 [[ 9.93964682e-01 -1.03445782e-01 -3.65127653e-02 4.29245959e+02] [ 1.03434760e-01 9.94633816e-01 -2.19581899e-03 2.33121772e+01] [ 3.65439793e-02 -1.59412258e-03 9.99330774e-01 1.56158283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.059254154 meters Centerline goodness : 0.999159 with order 1 Centerline is valid? [True, True] Translation: X:429.31, Y:23.32, Z:15.62 [[ 9.94648300e-01 -9.66518071e-02 -3.65128350e-02 4.29305883e+02] [ 9.66362550e-02 9.95317345e-01 -2.19465925e-03 2.33179474e+01] [ 3.65539758e-02 -1.34554954e-03 9.99330774e-01 1.56171032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.119254154 meters Centerline goodness : 0.999327 with order 1 Centerline is valid? [True, True] Translation: X:429.37, Y:23.32, Z:15.62 [[ 9.94994395e-01 -9.30213111e-02 -3.65128694e-02 4.29366809e+02] [ 9.30033385e-02 9.95663379e-01 -2.19408756e-03 2.33228256e+01] [ 3.65586238e-02 -1.21271393e-03 9.99330774e-01 1.56194462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.179254154 meters Centerline goodness : 0.999073 with order 1 Centerline is valid? [True, True] Translation: X:429.43, Y:23.33, Z:15.62 [[ 9.95319871e-01 -8.94715575e-02 -3.65129390e-02 4.29428050e+02] [ 8.94512412e-02 9.95988788e-01 -2.19292781e-03 2.33271792e+01] [ 3.65626826e-02 -1.08346309e-03 9.99330774e-01 1.56220148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.239254154 meters Centerline goodness : 0.999030 with order 1 Centerline is valid? [True, True] Translation: X:429.49, Y:23.33, Z:15.62 [[ 9.95659979e-01 -8.56037753e-02 -3.65130175e-02 4.29488956e+02] [ 8.55809082e-02 9.96328814e-01 -2.19161942e-03 2.33316262e+01] [ 3.65665823e-02 -9.42709454e-04 9.99330774e-01 1.56236836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.299254154 meters Centerline goodness : 0.999008 with order 1 Centerline is valid? [True, True] Translation: X:429.55, Y:23.34, Z:15.63 [[ 9.95816018e-01 -8.37690412e-02 -3.65130977e-02 4.29550127e+02] [ 8.37449907e-02 9.96484811e-01 -2.19028305e-03 2.33363502e+01] [ 3.65682252e-02 -8.76670085e-04 9.99330774e-01 1.56260088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.359254154 meters Centerline goodness : 0.999155 with order 1 Centerline is valid? [True, True] Translation: X:429.61, Y:23.34, Z:15.63 [[ 9.95922667e-01 -8.24913874e-02 -3.65131774e-02 4.29611315e+02] [ 8.24665276e-02 9.96591431e-01 -2.18895353e-03 2.33399072e+01] [ 3.65692895e-02 -8.31086515e-04 9.99330774e-01 1.56298122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.419254154 meters Centerline goodness : 0.999071 with order 1 Centerline is valid? [True, True] Translation: X:429.67, Y:23.34, Z:15.63 [[ 9.96046555e-01 -8.09817428e-02 -3.65132573e-02 4.29672117e+02] [ 8.09559183e-02 9.96715282e-01 -2.18762074e-03 2.33438474e+01] [ 3.65704789e-02 -7.76992172e-04 9.99330774e-01 1.56337966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.479254154 meters Centerline goodness : 0.998859 with order 1 Centerline is valid? [True, True] Translation: X:429.73, Y:23.35, Z:15.64 [[ 9.96391310e-01 -7.66233182e-02 -3.65133386e-02 4.29732200e+02] [ 7.65946180e-02 9.97059920e-01 -2.18626216e-03 2.33479083e+01] [ 3.65735051e-02 -6.18352604e-04 9.99330774e-01 1.56365128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.539254154 meters Centerline goodness : 0.998987 with order 1 Centerline is valid? [True, True] Translation: X:429.79, Y:23.35, Z:15.64 [[ 9.96699146e-01 -7.25092063e-02 -3.65133785e-02 4.29792328e+02] [ 7.24777705e-02 9.97367633e-01 -2.18559501e-03 2.33518285e+01] [ 3.65757377e-02 -4.68027592e-04 9.99330774e-01 1.56399397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.599254154 meters Centerline goodness : 0.998861 with order 1 Centerline is valid? [True, True] Translation: X:429.85, Y:23.35, Z:15.64 [[ 9.96796959e-01 -7.11519136e-02 -3.65133785e-02 4.29852053e+02] [ 7.11195676e-02 9.97465403e-01 -2.18559501e-03 2.33542261e+01] [ 3.65763411e-02 -4.18221236e-04 9.99330774e-01 1.56408072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.659254154 meters Centerline goodness : 0.998945 with order 1 Centerline is valid? [True, True] Translation: X:429.91, Y:23.36, Z:15.64 [[ 9.96777492e-01 -7.14241181e-02 -3.65133882e-02 4.29911435e+02] [ 7.13919606e-02 9.97445944e-01 -2.18543402e-03 2.33562598e+01] [ 3.65762237e-02 -4.28370930e-04 9.99330774e-01 1.56440515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.719254154 meters Centerline goodness : 0.998947 with order 1 Centerline is valid? [True, True] Translation: X:429.97, Y:23.36, Z:15.65 [[ 9.96609313e-01 -7.37336843e-02 -3.65133074e-02 4.29970003e+02] [ 7.37030264e-02 9.97277836e-01 -2.18678233e-03 2.33566327e+01] [ 3.65751517e-02 -5.11773620e-04 9.99330774e-01 1.56454671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.779254154 meters Centerline goodness : 0.999030 with order 1 Centerline is valid? [True, True] Translation: X:430.03, Y:23.36, Z:15.65 [[ 9.96519464e-01 -7.49382751e-02 -3.65131879e-02 4.30029666e+02] [ 7.49083522e-02 9.97188020e-01 -2.18877666e-03 2.33579917e+01] [ 3.65745367e-02 -5.53984196e-04 9.99330774e-01 1.56479075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.839254154 meters Centerline goodness : 0.998949 with order 1 Centerline is valid? [True, True] Translation: X:430.09, Y:23.36, Z:15.65 [[ 9.96609520e-01 -7.37309802e-02 -3.65131081e-02 4.30088544e+02] [ 7.37001987e-02 9.97278038e-01 -2.19010680e-03 2.33586410e+01] [ 3.65751995e-02 -5.08342039e-04 9.99330774e-01 1.56471460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.899254154 meters Centerline goodness : 0.998927 with order 1 Centerline is valid? [True, True] Translation: X:430.15, Y:23.36, Z:15.65 [[ 9.96487431e-01 -7.53633480e-02 -3.65125515e-02 4.30146844e+02] [ 7.53333231e-02 9.97155982e-01 -2.19934741e-03 2.33584340e+01] [ 3.65744593e-02 -5.58989786e-04 9.99330774e-01 1.56513885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.959254154 meters Centerline goodness : 0.998845 with order 1 Centerline is valid? [True, True] Translation: X:430.21, Y:23.36, Z:15.65 [[ 9.96329782e-01 -7.74199110e-02 -3.65119455e-02 4.30205969e+02] [ 7.73908991e-02 9.96998379e-01 -2.20936204e-03 2.33603599e+01] [ 3.65733991e-02 -6.24439089e-04 9.99330774e-01 1.56544525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.019254154 meters Centerline goodness : 0.999181 with order 1 Centerline is valid? [True, True] Translation: X:430.27, Y:23.36, Z:15.65 [[ 9.95985066e-01 -8.17351326e-02 -3.65118665e-02 4.30265207e+02] [ 8.17089694e-02 9.96653780e-01 -2.21066673e-03 2.33603648e+01] [ 3.65703789e-02 -7.81555936e-04 9.99330774e-01 1.56532518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.079254154 meters Centerline goodness : 0.995997 with order 1 Centerline is valid? [True, True] Translation: X:430.32, Y:23.36, Z:15.65 [[ 9.95649703e-01 -8.57239663e-02 -3.65112345e-02 4.30323969e+02] [ 8.57001011e-02 9.96318503e-01 -2.22105673e-03 2.33614199e+01] [ 3.65672163e-02 -9.17622015e-04 9.99330774e-01 1.56546054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.139254154 meters Centerline goodness : 0.999078 with order 1 Centerline is valid? [True, True] Translation: X:430.38, Y:23.36, Z:15.66 [[ 9.95199117e-01 -9.08058160e-02 -3.65105572e-02 4.30381828e+02] [ 9.07849594e-02 9.95868018e-01 -2.23213416e-03 2.33624798e+01] [ 3.65623870e-02 -1.09319151e-03 9.99330774e-01 1.56612191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.199254154 meters Centerline goodness : 0.998805 with order 1 Centerline is valid? [True, True] Translation: X:430.44, Y:23.37, Z:15.66 [[ 9.95036968e-01 -9.25658127e-02 -3.65103152e-02 4.30442954e+02] [ 9.25459943e-02 9.95705900e-01 -2.23608580e-03 2.33654353e+01] [ 3.65605213e-02 -1.15389539e-03 9.99330774e-01 1.56642589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.259254154 meters Centerline goodness : 0.999079 with order 1 Centerline is valid? [True, True] Translation: X:430.50, Y:23.37, Z:15.66 [[ 9.94900449e-01 -9.40217411e-02 -3.65103940e-02 4.30502197e+02] [ 9.40029488e-02 9.95569411e-01 -2.23479797e-03 2.33671296e+01] [ 3.65587511e-02 -1.20868319e-03 9.99330774e-01 1.56643097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.319254154 meters Centerline goodness : 0.999035 with order 1 Centerline is valid? [True, True] Translation: X:430.56, Y:23.37, Z:15.67 [[ 9.94417923e-01 -9.89949097e-02 -3.65103036e-02 4.30562065e+02] [ 9.89794083e-02 9.95086969e-01 -2.23627372e-03 2.33683613e+01] [ 3.65523071e-02 -1.38997758e-03 9.99330774e-01 1.56696215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.37925415399997 meters Centerline goodness : 0.998887 with order 1 Centerline is valid? [True, True] Translation: X:430.62, Y:23.37, Z:15.67 [[ 9.94154059e-01 -1.01610583e-01 -3.65102114e-02 4.30623791e+02] [ 1.01596786e-01 9.94823143e-01 -2.23777803e-03 2.33704549e+01] [ 3.65485852e-02 -1.48462403e-03 9.99330774e-01 1.56719597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.43925415399997 meters Centerline goodness : 0.999099 with order 1 Centerline is valid? [True, True] Translation: X:430.69, Y:23.37, Z:15.67 [[ 9.93599907e-01 -1.06893514e-01 -3.65102949e-02 4.30685501e+02] [ 1.06883325e-01 9.94269055e-01 -2.23641630e-03 2.33722024e+01] [ 3.65401148e-02 -1.68023867e-03 9.99330774e-01 1.56730916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.49925415399997 meters Centerline goodness : 0.998973 with order 1 Centerline is valid? [True, True] Translation: X:430.75, Y:23.38, Z:15.67 [[ 9.93427419e-01 -1.08484818e-01 -3.65103775e-02 4.30745282e+02] [ 1.08475749e-01 9.94096583e-01 -2.23506683e-03 2.33751010e+01] [ 3.65373123e-02 -1.74011387e-03 9.99330774e-01 1.56686389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.559254154 meters Centerline goodness : 0.998829 with order 1 Centerline is valid? [True, True] Translation: X:430.80, Y:23.38, Z:15.68 [[ 9.92343012e-01 -1.17992962e-01 -3.65103775e-02 4.30804688e+02] [ 1.17990301e-01 9.93012232e-01 -2.23506683e-03 2.33797397e+01] [ 3.65189736e-02 -2.08991750e-03 9.99330774e-01 1.56760059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.619254154 meters Centerline goodness : 0.999099 with order 1 Centerline is valid? [True, True] Translation: X:430.87, Y:23.38, Z:15.68 [[ 9.92146095e-01 -1.19637474e-01 -3.65102857e-02 4.30865545e+02] [ 1.19635868e-01 9.92815319e-01 -2.23656480e-03 2.33843518e+01] [ 3.65155479e-02 -2.14894068e-03 9.99330774e-01 1.56760484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.679254154 meters Centerline goodness : 0.998974 with order 1 Centerline is valid? [True, True] Translation: X:430.93, Y:23.39, Z:15.68 [[ 9.91612484e-01 -1.23982566e-01 -3.65103297e-02 4.30926300e+02] [ 1.23983918e-01 9.92281708e-01 -2.23584655e-03 2.33905862e+01] [ 3.65057383e-02 -2.30960037e-03 9.99330774e-01 1.56828174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.739254154 meters Centerline goodness : 0.998996 with order 1 Centerline is valid? [True, True] Translation: X:430.99, Y:23.40, Z:15.69 [[ 9.91609517e-01 -1.24006267e-01 -3.65104185e-02 4.30987952e+02] [ 1.24007688e-01 9.92278742e-01 -2.23439601e-03 2.34007877e+01] [ 3.65055912e-02 -2.31192423e-03 9.99330774e-01 1.56855564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.799254154 meters Centerline goodness : 0.998763 with order 1 Centerline is valid? [True, True] Translation: X:431.05, Y:23.41, Z:15.69 [[ 9.91707590e-01 -1.23219452e-01 -3.65105773e-02 4.31049920e+02] [ 1.23220437e-01 9.92376815e-01 -2.23179694e-03 2.34089119e+01] [ 3.65072512e-02 -2.28555933e-03 9.99330774e-01 1.56883010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.859254154 meters Centerline goodness : 0.999039 with order 1 Centerline is valid? [True, True] Translation: X:431.11, Y:23.42, Z:15.69 [[ 9.91595312e-01 -1.24119712e-01 -3.65107427e-02 4.31111325e+02] [ 1.24121405e-01 9.92264535e-01 -2.22908859e-03 2.34173420e+01] [ 3.65049890e-02 -2.32141088e-03 9.99330774e-01 1.56893240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.919254154 meters Centerline goodness : 0.998867 with order 1 Centerline is valid? [True, True] Translation: X:431.17, Y:23.42, Z:15.69 [[ 9.91283218e-01 -1.26588050e-01 -3.65109088e-02 4.31173169e+02] [ 1.26591509e-01 9.91952435e-01 -2.22636449e-03 2.34236237e+01] [ 3.64989160e-02 -2.41501327e-03 9.99330774e-01 1.56911379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.979254154 meters Centerline goodness : 0.998760 with order 1 Centerline is valid? [True, True] Translation: X:431.24, Y:23.43, Z:15.69 [[ 9.90679485e-01 -1.31229187e-01 -3.65110758e-02 4.31235021e+02] [ 1.31235880e-01 9.91348677e-01 -2.22362237e-03 2.34326190e+01] [ 3.64870108e-02 -2.58866609e-03 9.99330774e-01 1.56924900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.039254154 meters Centerline goodness : 0.998867 with order 1 Centerline is valid? [True, True] Translation: X:431.30, Y:23.44, Z:15.69 [[ 9.90505021e-01 -1.32539550e-01 -3.65112420e-02 4.31297584e+02] [ 1.32547228e-01 9.91174203e-01 -2.22088958e-03 2.34393961e+01] [ 3.64833569e-02 -2.63966164e-03 9.99330774e-01 1.56939449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.099254154 meters Centerline goodness : 0.998613 with order 1 Centerline is valid? [True, True] Translation: X:431.36, Y:23.44, Z:15.69 [[ 9.91241367e-01 -1.26915183e-01 -3.65114892e-02 4.31359722e+02] [ 1.26919212e-01 9.91910580e-01 -2.21681871e-03 2.34447191e+01] [ 3.64974804e-02 -2.43660704e-03 9.99330775e-01 1.56948895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.159254154 meters Centerline goodness : 0.998910 with order 1 Centerline is valid? [True, True] Translation: X:431.42, Y:23.46, Z:15.70 [[ 9.91212125e-01 -1.27143312e-01 -3.65116616e-02 4.31420326e+02] [ 1.27147600e-01 9.91881337e-01 -2.21397462e-03 2.34565472e+01] [ 3.64967278e-02 -2.44785166e-03 9.99330775e-01 1.57011781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.219254154 meters Centerline goodness : 0.998908 with order 1 Centerline is valid? [True, True] Translation: X:431.48, Y:23.47, Z:15.70 [[ 9.92082152e-01 -1.20166108e-01 -3.65117885e-02 4.31481409e+02] [ 1.20165764e-01 9.92751377e-01 -2.21187995e-03 2.34662448e+01] [ 3.65129214e-02 -2.19310033e-03 9.99330775e-01 1.57033792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.279254154 meters Centerline goodness : 0.999135 with order 1 Centerline is valid? [True, True] Translation: X:431.54, Y:23.47, Z:15.71 [[ 9.92678997e-01 -1.15131604e-01 -3.65119572e-02 4.31542966e+02] [ 1.15127967e-01 9.93348212e-01 -2.20909226e-03 2.34731111e+01] [ 3.65234238e-02 -2.01062790e-03 9.99330775e-01 1.57088968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.339254154 meters Centerline goodness : 0.999175 with order 1 Centerline is valid? [True, True] Translation: X:431.60, Y:23.48, Z:15.71 [[ 9.93660712e-01 -1.06326168e-01 -3.65121365e-02 4.31603751e+02] [ 1.06316707e-01 9.94329870e-01 -2.20612459e-03 2.34827650e+01] [ 3.65396767e-02 -1.68971078e-03 9.99330775e-01 1.57058180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.399254154 meters Centerline goodness : 0.999132 with order 1 Centerline is valid? [True, True] Translation: X:431.67, Y:23.49, Z:15.71 [[ 9.94353364e-01 -9.96405619e-02 -3.65122590e-02 4.31665873e+02] [ 9.96266747e-02 9.95022446e-01 -2.20409508e-03 2.34892131e+01] [ 3.65501346e-02 -1.44594559e-03 9.99330775e-01 1.57062812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.459254154 meters Centerline goodness : 0.998892 with order 1 Centerline is valid? [True, True] Translation: X:431.73, Y:23.50, Z:15.71 [[ 9.95405274e-01 -8.85165752e-02 -3.65124125e-02 4.31727496e+02] [ 8.84953012e-02 9.96074161e-01 -2.20154988e-03 2.34976840e+01] [ 3.65639443e-02 -1.03974258e-03 9.99330775e-01 1.57113614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.519254154 meters Centerline goodness : 0.999126 with order 1 Centerline is valid? [True, True] Translation: X:431.79, Y:23.50, Z:15.71 [[ 9.95750619e-01 -8.45431011e-02 -3.65125759e-02 4.31789362e+02] [ 8.45192571e-02 9.96419420e-01 -2.19883607e-03 2.35029621e+01] [ 3.65677361e-02 -8.96523416e-04 9.99330775e-01 1.57146454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.579254154 meters Centerline goodness : 0.999125 with order 1 Centerline is valid? [True, True] Translation: X:431.85, Y:23.51, Z:15.72 [[ 9.96668324e-01 -7.29319692e-02 -3.65127389e-02 4.31851358e+02] [ 7.29004312e-02 9.97336806e-01 -2.19612727e-03 2.35108851e+01] [ 3.65756662e-02 -4.72983925e-04 9.99330775e-01 1.57193945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.639254154 meters Centerline goodness : 0.998975 with order 1 Centerline is valid? [True, True] Translation: X:431.91, Y:23.52, Z:15.72 [[ 9.97097299e-01 -6.68115566e-02 -3.65128990e-02 4.31911375e+02] [ 6.67760127e-02 9.97765580e-01 -2.19346143e-03 2.35154912e+01] [ 3.65778624e-02 -2.51091336e-04 9.99330775e-01 1.57194966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.699254154 meters Centerline goodness : 0.999060 with order 1 Centerline is valid? [True, True] Translation: X:431.97, Y:23.52, Z:15.72 [[ 9.97443742e-01 -6.14230195e-02 -3.65129382e-02 4.31970807e+02] [ 6.13838891e-02 9.98111822e-01 -2.19280919e-03 2.35185405e+01] [ 3.65786842e-02 -5.41023407e-05 9.99330775e-01 1.57213058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.759254154 meters Centerline goodness : 0.999082 with order 1 Centerline is valid? [True, True] Translation: X:432.03, Y:23.52, Z:15.73 [[ 9.97430589e-01 -6.16362501e-02 -3.65129027e-02 4.32030241e+02] [ 6.15972409e-02 9.98098677e-01 -2.19339982e-03 2.35209203e+01] [ 3.65786728e-02 -6.13299865e-05 9.99330775e-01 1.57262895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.819254154 meters Centerline goodness : 0.999084 with order 1 Centerline is valid? [True, True] Translation: X:432.09, Y:23.51, Z:15.72 [[ 9.97440101e-01 -6.14821748e-02 -3.65128244e-02 4.32090454e+02] [ 6.14430147e-02 9.98108180e-01 -2.19470222e-03 2.35148690e+01] [ 3.65786838e-02 -5.43740020e-05 9.99330775e-01 1.57239771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.87925415399997 meters Centerline goodness : 0.999021 with order 1 Centerline is valid? [True, True] Translation: X:432.15, Y:23.52, Z:15.73 [[ 9.96671097e-01 -7.28940563e-02 -3.65127418e-02 4.32148959e+02] [ 7.28624947e-02 9.97339578e-01 -2.19607630e-03 2.35207364e+01] [ 3.65756834e-02 -4.71643682e-04 9.99330775e-01 1.57311920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.93925415399997 meters Centerline goodness : 0.999153 with order 1 Centerline is valid? [True, True] Translation: X:432.21, Y:23.52, Z:15.73 [[ 9.95910057e-01 -8.26437144e-02 -3.65126606e-02 4.32211021e+02] [ 8.26186465e-02 9.96578813e-01 -2.19742459e-03 2.35176197e+01] [ 3.65693473e-02 -8.28189352e-04 9.99330775e-01 1.57326696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.99925415399997 meters Centerline goodness : 0.999133 with order 1 Centerline is valid? [True, True] Translation: X:432.27, Y:23.52, Z:15.74 [[ 9.95406350e-01 -8.85043446e-02 -3.65127408e-02 4.32273384e+02] [ 8.84832624e-02 9.96075243e-01 -2.19609195e-03 2.35173364e+01] [ 3.65638008e-02 -1.04476255e-03 9.99330775e-01 1.57359935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.059254154 meters Centerline goodness : 0.998884 with order 1 Centerline is valid? [True, True] Translation: X:432.34, Y:23.52, Z:15.74 [[ 9.94658132e-01 -9.65505498e-02 -3.65129040e-02 4.32335223e+02] [ 9.65349766e-02 9.95327176e-01 -2.19337544e-03 2.35155420e+01] [ 3.65540572e-02 -1.34311361e-03 9.99330775e-01 1.57372279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.119254154 meters Centerline goodness : 0.999114 with order 1 Centerline is valid? [True, True] Translation: X:432.40, Y:23.52, Z:15.74 [[ 9.94097538e-01 -1.02161027e-01 -3.65131510e-02 4.32397066e+02] [ 1.02149380e-01 9.94766662e-01 -2.18925472e-03 2.35160361e+01] [ 3.65457219e-02 -1.55346302e-03 9.99330775e-01 1.57397922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.179254154 meters Centerline goodness : 0.998758 with order 1 Centerline is valid? [True, True] Translation: X:432.46, Y:23.51, Z:15.74 [[ 9.93009268e-01 -1.12246923e-01 -3.65133113e-02 4.32459557e+02] [ 1.12242167e-01 9.93678477e-01 -2.18657766e-03 2.35146364e+01] [ 3.65279282e-02 -1.92704131e-03 9.99330775e-01 1.57406665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.239254154 meters Centerline goodness : 0.998947 with order 1 Centerline is valid? [True, True] Translation: X:432.52, Y:23.52, Z:15.74 [[ 9.92168711e-01 -1.19448800e-01 -3.65134711e-02 4.32520705e+02] [ 1.19448998e-01 9.92837936e-01 -2.18390578e-03 2.35151663e+01] [ 3.65128243e-02 -2.19469454e-03 9.99330775e-01 1.57418550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.299254154 meters Centerline goodness : 0.998967 with order 1 Centerline is valid? [True, True] Translation: X:432.58, Y:23.52, Z:15.75 [[ 9.91443223e-01 -1.25327944e-01 -3.65135892e-02 4.32583016e+02] [ 1.25332181e-01 9.92112435e-01 -2.18193099e-03 2.35170912e+01] [ 3.64990428e-02 -2.41306707e-03 9.99330775e-01 1.57452575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.359254154 meters Centerline goodness : 0.999160 with order 1 Centerline is valid? [True, True] Translation: X:432.64, Y:23.52, Z:15.75 [[ 9.90968444e-01 -1.29028250e-01 -3.65137532e-02 4.32644906e+02] [ 1.29035086e-01 9.91637634e-01 -2.17918199e-03 2.35200737e+01] [ 3.64895879e-02 -2.55205472e-03 9.99330775e-01 1.57462320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.419254154 meters Centerline goodness : 0.998925 with order 1 Centerline is valid? [True, True] Translation: X:432.71, Y:23.53, Z:15.75 [[ 9.91292844e-01 -1.26511784e-01 -3.65139164e-02 4.32706815e+02] [ 1.26517022e-01 9.91962049e-01 -2.17644478e-03 2.35262565e+01] [ 3.64957652e-02 -2.46213781e-03 9.99330775e-01 1.57483198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.479254154 meters Centerline goodness : 0.998822 with order 1 Centerline is valid? [True, True] Translation: X:432.77, Y:23.53, Z:15.75 [[ 9.91802994e-01 -1.22448126e-01 -3.65140807e-02 4.32768395e+02] [ 1.22450722e-01 9.92472214e-01 -2.17368417e-03 2.35327097e+01] [ 3.65053741e-02 -2.31530909e-03 9.99330775e-01 1.57502337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.539254154 meters Centerline goodness : 0.999051 with order 1 Centerline is valid? [True, True] Translation: X:432.83, Y:23.54, Z:15.75 [[ 9.92679879e-01 -1.15123261e-01 -3.65142831e-02 4.32830368e+02] [ 1.15121041e-01 9.93349101e-01 -2.17027894e-03 2.35407590e+01] [ 3.65212799e-02 -2.04917007e-03 9.99330775e-01 1.57534955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.599254154 meters Centerline goodness : 0.999070 with order 1 Centerline is valid? [True, True] Translation: X:432.89, Y:23.55, Z:15.76 [[ 9.93340731e-01 -1.09274368e-01 -3.65144455e-02 4.32893268e+02] [ 1.09268307e-01 9.94009929e-01 -2.16754320e-03 2.35475908e+01] [ 3.65325783e-02 -1.83676269e-03 9.99330775e-01 1.57557902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.659254154 meters Centerline goodness : 0.999091 with order 1 Centerline is valid? [True, True] Translation: X:432.95, Y:23.56, Z:15.76 [[ 9.94397447e-01 -9.91987692e-02 -3.65146889e-02 4.32954899e+02] [ 9.91860753e-02 9.95066552e-01 -2.16343473e-03 2.35564942e+01] [ 3.65491557e-02 -1.47043472e-03 9.99330775e-01 1.57585542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.719254154 meters Centerline goodness : 0.998982 with order 1 Centerline is valid? [True, True] Translation: X:433.02, Y:23.56, Z:15.76 [[ 9.95317729e-01 -8.94946012e-02 -3.65148503e-02 4.33015773e+02] [ 8.94754814e-02 9.95986681e-01 -2.16070795e-03 2.35648198e+01] [ 3.65616762e-02 -1.11659287e-03 9.99330775e-01 1.57611007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.779254154 meters Centerline goodness : 0.999046 with order 1 Centerline is valid? [True, True] Translation: X:433.08, Y:23.57, Z:15.76 [[ 9.95867802e-01 -8.31503364e-02 -3.65149693e-02 4.33077290e+02] [ 8.31270279e-02 9.96536621e-01 -2.15869538e-03 2.35714069e+01] [ 3.65680003e-02 -8.85605644e-04 9.99330775e-01 1.57640689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.839254154 meters Centerline goodness : 0.999086 with order 1 Centerline is valid? [True, True] Translation: X:433.14, Y:23.58, Z:15.77 [[ 9.96451823e-01 -7.58314531e-02 -3.65151244e-02 4.33138658e+02] [ 7.58033277e-02 9.97120458e-01 -2.15606714e-03 2.35779302e+01] [ 3.65734753e-02 -6.19550914e-04 9.99330775e-01 1.57671852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.899254154 meters Centerline goodness : 0.999065 with order 1 Centerline is valid? [True, True] Translation: X:433.20, Y:23.58, Z:15.77 [[ 9.96630414e-01 -7.34469754e-02 -3.65152008e-02 4.33200194e+02] [ 7.34172977e-02 9.97298981e-01 -2.15477338e-03 2.35826538e+01] [ 3.65748341e-02 -5.33334682e-04 9.99330775e-01 1.57694603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.959254154 meters Centerline goodness : 0.998978 with order 1 Centerline is valid? [True, True] Translation: X:433.26, Y:23.58, Z:15.77 [[ 9.96806914e-01 -7.10113499e-02 -3.65152759e-02 4.33262053e+02] [ 7.09800852e-02 9.97475408e-01 -2.15350028e-03 2.35840561e+01] [ 3.65760127e-02 -4.45233425e-04 9.99330775e-01 1.57681482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.019254154 meters Centerline goodness : 0.999129 with order 1 Centerline is valid? [True, True] Translation: X:433.32, Y:23.59, Z:15.77 [[ 9.96471774e-01 -7.55686993e-02 -3.65153998e-02 4.33321943e+02] [ 7.55405688e-02 9.97140408e-01 -2.15139622e-03 2.35885417e+01] [ 3.65735589e-02 -6.14588469e-04 9.99330775e-01 1.57745881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.079254154 meters Centerline goodness : 0.998897 with order 1 Centerline is valid? [True, True] Translation: X:433.38, Y:23.58, Z:15.76 [[ 9.97150603e-01 -6.60098351e-02 -3.65154412e-02 4.33384231e+02] [ 6.59753199e-02 9.97818937e-01 -2.15069414e-03 2.35753681e+01] [ 3.65777657e-02 -2.64551957e-04 9.99330775e-01 1.57601829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.139254154 meters Centerline goodness : 0.998964 with order 1 Centerline is valid? [True, True] Translation: X:433.44, Y:23.59, Z:15.78 [[ 9.95955563e-01 -8.20922618e-02 -3.65154365e-02 4.33442206e+02] [ 8.20685331e-02 9.96624368e-01 -2.15077342e-03 2.35920265e+01] [ 3.65687357e-02 -8.54693556e-04 9.99330775e-01 1.57806461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.199254154 meters Centerline goodness : 0.999072 with order 1 Centerline is valid? [True, True] Translation: X:433.50, Y:23.59, Z:15.78 [[ 9.95456128e-01 -8.79415769e-02 -3.65154193e-02 4.33504836e+02] [ 8.79217668e-02 9.96125060e-01 -2.15106556e-03 2.35908035e+01] [ 3.65630924e-02 -1.06920878e-03 9.99330775e-01 1.57833700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.259254154 meters Centerline goodness : 0.998418 with order 1 Centerline is valid? [True, True] Translation: X:433.57, Y:23.58, Z:15.77 [[ 9.95881827e-01 -8.29819234e-02 -3.65155784e-02 4.33567690e+02] [ 8.29588805e-02 9.96550655e-01 -2.14836185e-03 2.35799222e+01] [ 3.65678988e-02 -8.89776974e-04 9.99330775e-01 1.57726727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.319254154 meters Centerline goodness : 0.998967 with order 1 Centerline is valid? [True, True] Translation: X:433.63, Y:23.59, Z:15.78 [[ 9.94434333e-01 -9.88279320e-02 -3.65157043e-02 4.33628249e+02] [ 9.88156197e-02 9.95103445e-01 -2.14621965e-03 2.35895622e+01] [ 3.65490096e-02 -1.47404744e-03 9.99330775e-01 1.57848987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.37925415399997 meters Centerline goodness : 0.998906 with order 1 Centerline is valid? [True, True] Translation: X:433.69, Y:23.59, Z:15.79 [[ 9.94193727e-01 -1.01219676e-01 -3.65159030e-02 4.33690620e+02] [ 1.01209098e-01 9.94862868e-01 -2.14283261e-03 2.35903248e+01] [ 3.65452129e-02 -1.56535087e-03 9.99330775e-01 1.57859892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.43925415399997 meters Centerline goodness : 0.998799 with order 1 Centerline is valid? [True, True] Translation: X:433.75, Y:23.59, Z:15.79 [[ 9.94146356e-01 -1.01683828e-01 -3.65160625e-02 4.33751310e+02] [ 1.01673662e-01 9.94815504e-01 -2.14011231e-03 2.35928282e+01] [ 3.65443599e-02 -1.58513694e-03 9.99330775e-01 1.57879202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.49925415399997 meters Centerline goodness : 0.998782 with order 1 Centerline is valid? [True, True] Translation: X:433.81, Y:23.59, Z:15.79 [[ 9.94367911e-01 -9.94937928e-02 -3.65163271e-02 4.33813541e+02] [ 9.94823184e-02 9.95037038e-01 -2.13558808e-03 2.35931503e+01] [ 3.65475757e-02 -1.50916862e-03 9.99330775e-01 1.57906928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.559254154 meters Centerline goodness : 0.998910 with order 1 Centerline is valid? [True, True] Translation: X:433.88, Y:23.60, Z:15.79 [[ 9.95104166e-01 -9.18381498e-02 -3.65164845e-02 4.33875988e+02] [ 9.18216249e-02 9.95773187e-01 -2.13289193e-03 2.35956122e+01] [ 3.65580170e-02 -1.23055330e-03 9.99330775e-01 1.57940235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.619254154 meters Centerline goodness : 0.999098 with order 1 Centerline is valid? [True, True] Translation: X:433.94, Y:23.60, Z:15.80 [[ 9.95715828e-01 -8.49501334e-02 -3.65166401e-02 4.33938242e+02] [ 8.49290772e-02 9.96384722e-01 -2.13022468e-03 2.35985256e+01] [ 3.65655852e-02 -9.80226118e-04 9.99330775e-01 1.57966463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.679254154 meters Centerline goodness : 0.999202 with order 1 Centerline is valid? [True, True] Translation: X:434.00, Y:23.60, Z:15.80 [[ 9.96449620e-01 -7.58595992e-02 -3.65167978e-02 4.33998660e+02] [ 7.58325386e-02 9.97118298e-01 -2.12751823e-03 2.35994864e+01] [ 3.65729600e-02 -6.49196745e-04 9.99330775e-01 1.57979863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.739254154 meters Centerline goodness : 0.999224 with order 1 Centerline is valid? [True, True] Translation: X:434.06, Y:23.60, Z:15.80 [[ 9.96679452e-01 -7.27776794e-02 -3.65168365e-02 4.34059151e+02] [ 7.27485754e-02 9.97348044e-01 -2.12685408e-03 2.36004382e+01] [ 3.65747830e-02 -5.36756073e-04 9.99330775e-01 1.57998478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.799254154 meters Centerline goodness : 0.999182 with order 1 Centerline is valid? [True, True] Translation: X:434.12, Y:23.59, Z:15.79 [[ 9.97061543e-01 -6.73409235e-02 -3.65168365e-02 4.34119133e+02] [ 6.73081736e-02 9.97729967e-01 -2.12685408e-03 2.35920216e+01] [ 3.65771664e-02 -3.37277158e-04 9.99330775e-01 1.57937529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.859254154 meters Centerline goodness : 0.999245 with order 1 Centerline is valid? [True, True] Translation: X:434.18, Y:23.60, Z:15.80 [[ 9.96346772e-01 -7.71989035e-02 -3.65162776e-02 4.34176585e+02] [ 7.71724161e-02 9.97015473e-01 -2.13640787e-03 2.35995376e+01] [ 3.65722221e-02 -6.89446282e-04 9.99330775e-01 1.58009072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.919254154 meters Centerline goodness : 0.999036 with order 1 Centerline is valid? [True, True] Translation: X:434.24, Y:23.60, Z:15.80 [[ 9.95871494e-01 -8.31056192e-02 -3.65160826e-02 4.34236239e+02] [ 8.30829755e-02 9.96540336e-01 -2.13973531e-03 2.35968555e+01] [ 3.65675732e-02 -9.02963392e-04 9.99330775e-01 1.58032500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.979254154 meters Centerline goodness : 0.999163 with order 1 Centerline is valid? [True, True] Translation: X:434.30, Y:23.60, Z:15.81 [[ 9.95424612e-01 -8.82973527e-02 -3.65160053e-02 4.34296334e+02] [ 8.82781486e-02 9.96093562e-01 -2.14105260e-03 2.35967407e+01] [ 3.65624071e-02 -1.09230889e-03 9.99330775e-01 1.58074080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.039254154 meters Centerline goodness : 0.999039 with order 1 Centerline is valid? [True, True] Translation: X:434.36, Y:23.60, Z:15.81 [[ 9.95280174e-01 -8.99108242e-02 -3.65160053e-02 4.34357716e+02] [ 8.98927045e-02 9.95949154e-01 -2.14105260e-03 2.35981572e+01] [ 3.65605884e-02 -1.15157528e-03 9.99330775e-01 1.58115263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.099254154 meters Centerline goodness : 0.999227 with order 1 Centerline is valid? [True, True] Translation: X:434.42, Y:23.60, Z:15.82 [[ 9.95316440e-01 -8.95084346e-02 -3.65160842e-02 4.34417831e+02] [ 8.94900938e-02 9.95985414e-01 -2.13970613e-03 2.35988243e+01] [ 3.65610090e-02 -1.13814312e-03 9.99330775e-01 1.58151647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.159254154 meters Centerline goodness : 0.999290 with order 1 Centerline is valid? [True, True] Translation: X:434.48, Y:23.60, Z:15.82 [[ 9.95462049e-01 -8.78742365e-02 -3.65161230e-02 4.34478690e+02] [ 8.78548217e-02 9.96130993e-01 -2.13904383e-03 2.36008726e+01] [ 3.65628087e-02 -1.07878052e-03 9.99330775e-01 1.58185281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.219254154 meters Centerline goodness : 0.999249 with order 1 Centerline is valid? [True, True] Translation: X:434.54, Y:23.60, Z:15.83 [[ 9.95612378e-01 -8.61543124e-02 -3.65161230e-02 4.34540273e+02] [ 8.61337419e-02 9.96281287e-01 -2.13904383e-03 2.36030716e+01] [ 3.65646179e-02 -1.01561180e-03 9.99330775e-01 1.58274960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.279254154 meters Centerline goodness : 0.999187 with order 1 Centerline is valid? [True, True] Translation: X:434.60, Y:23.60, Z:15.82 [[ 9.95730883e-01 -8.47736523e-02 -3.65162478e-02 4.34601222e+02] [ 8.47522324e-02 9.96399766e-01 -2.13691255e-03 2.36022175e+01] [ 3.65659346e-02 -9.67043693e-04 9.99330775e-01 1.58227603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.339254154 meters Centerline goodness : 0.999604 with order 1 Centerline is valid? [True, True] Translation: X:434.66, Y:23.60, Z:15.82 [[ 9.95756852e-01 -8.44680543e-02 -3.65162889e-02 4.34660417e+02] [ 8.44464549e-02 9.96425729e-01 -2.13620935e-03 2.36026757e+01] [ 3.65662112e-02 -9.56526045e-04 9.99330775e-01 1.58233431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.399254154 meters Centerline goodness : 0.999394 with order 1 Centerline is valid? [True, True] Translation: X:434.72, Y:23.60, Z:15.82 [[ 9.95768321e-01 -8.43327649e-02 -3.65162499e-02 4.34720450e+02] [ 8.43110503e-02 9.96437193e-01 -2.13687511e-03 2.36044848e+01] [ 3.65663582e-02 -9.50890845e-04 9.99330775e-01 1.58242048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.459254154 meters Centerline goodness : 0.999080 with order 1 Centerline is valid? [True, True] Translation: X:434.78, Y:23.61, Z:15.82 [[ 9.95633056e-01 -8.59150048e-02 -3.65161705e-02 4.34779332e+02] [ 8.58943034e-02 9.96301961e-01 -2.13823163e-03 2.36055279e+01] [ 3.65648384e-02 -1.00763694e-03 9.99330775e-01 1.58232883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.519254154 meters Centerline goodness : 0.999352 with order 1 Centerline is valid? [True, True] Translation: X:434.84, Y:23.61, Z:15.83 [[ 9.95395170e-01 -8.86286246e-02 -3.65160532e-02 4.34837753e+02] [ 8.86096732e-02 9.96064127e-01 -2.14023253e-03 2.36079022e+01] [ 3.65620166e-02 -1.10529842e-03 9.99330775e-01 1.58251513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.579254154 meters Centerline goodness : 0.999374 with order 1 Centerline is valid? [True, True] Translation: X:434.90, Y:23.61, Z:15.83 [[ 9.94909831e-01 -9.39204209e-02 -3.65155132e-02 4.34896857e+02] [ 9.39046907e-02 9.95578871e-01 -2.14940652e-03 2.36102680e+01] [ 3.65559466e-02 -1.29051230e-03 9.99330775e-01 1.58293059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.639254154 meters Centerline goodness : 0.999166 with order 1 Centerline is valid? [True, True] Translation: X:434.96, Y:23.61, Z:15.83 [[ 9.94203056e-01 -1.01128170e-01 -3.65154335e-02 4.34957751e+02] [ 1.01117239e-01 9.94872192e-01 -2.15076050e-03 2.36116824e+01] [ 3.65456918e-02 -1.55404714e-03 9.99330775e-01 1.58318784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.699254154 meters Centerline goodness : 0.999146 with order 1 Centerline is valid? [True, True] Translation: X:435.02, Y:23.61, Z:15.83 [[ 9.93681595e-01 -1.06129686e-01 -3.65154335e-02 4.35017514e+02] [ 1.06122122e-01 9.94350778e-01 -2.15076050e-03 2.36144062e+01] [ 3.65374092e-02 -1.73792416e-03 9.99330775e-01 1.58335000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.759254154 meters Centerline goodness : 0.999249 with order 1 Centerline is valid? [True, True] Translation: X:435.08, Y:23.62, Z:15.84 [[ 9.92980792e-01 -1.12497870e-01 -3.65154335e-02 4.35078741e+02] [ 1.12494597e-01 9.93650009e-01 -2.15076050e-03 2.36174574e+01] [ 3.65255168e-02 -1.97212509e-03 9.99330775e-01 1.58366019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.819254154 meters Centerline goodness : 0.999065 with order 1 Centerline is valid? [True, True] Translation: X:435.14, Y:23.62, Z:15.84 [[ 9.92649146e-01 -1.15387564e-01 -3.65155115e-02 4.35139787e+02] [ 1.15386287e-01 9.93318370e-01 -2.14943458e-03 2.36211186e+01] [ 3.65195464e-02 -2.07975488e-03 9.99330775e-01 1.58394530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.87925415399997 meters Centerline goodness : 0.999248 with order 1 Centerline is valid? [True, True] Translation: X:435.20, Y:23.63, Z:15.84 [[ 9.92460080e-01 -1.17002567e-01 -3.65155906e-02 4.35201812e+02] [ 1.17002428e-01 9.93129306e-01 -2.14809047e-03 2.36254158e+01] [ 3.65160352e-02 -2.14051874e-03 9.99330775e-01 1.58418203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.93925415399997 meters Centerline goodness : 0.999249 with order 1 Centerline is valid? [True, True] Translation: X:435.26, Y:23.63, Z:15.84 [[ 9.92584293e-01 -1.15944044e-01 -3.65157503e-02 4.35262355e+02] [ 1.15943291e-01 9.93253518e-01 -2.14537287e-03 2.36309095e+01] [ 3.65181406e-02 -2.10429285e-03 9.99330775e-01 1.58428287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.99925415399997 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:435.32, Y:23.64, Z:15.84 [[ 9.92852493e-01 -1.13624421e-01 -3.65160025e-02 4.35323274e+02] [ 1.13622262e-01 9.93521715e-01 -2.14107142e-03 2.36363360e+01] [ 3.65227194e-02 -2.02326270e-03 9.99330775e-01 1.58437196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.059254154 meters Centerline goodness : 0.999227 with order 1 Centerline is valid? [True, True] Translation: X:435.39, Y:23.64, Z:15.84 [[ 9.93432739e-01 -1.08434170e-01 -3.65160797e-02 4.35385054e+02] [ 1.08428562e-01 9.94101941e-01 -2.13975322e-03 2.36443989e+01] [ 3.65327281e-02 -1.83368512e-03 9.99330775e-01 1.58449063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.119254154 meters Centerline goodness : 0.999246 with order 1 Centerline is valid? [True, True] Translation: X:435.45, Y:23.65, Z:15.84 [[ 9.93935316e-01 -1.03726332e-01 -3.65162371e-02 4.35445513e+02] [ 1.03717653e-01 9.94604485e-01 -2.13706321e-03 2.36528851e+01] [ 3.65408830e-02 -1.66327581e-03 9.99330775e-01 1.58445622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.179254154 meters Centerline goodness : 0.999144 with order 1 Centerline is valid? [True, True] Translation: X:435.51, Y:23.66, Z:15.85 [[ 9.94950894e-01 -9.34841440e-02 -3.65161980e-02 4.35505043e+02] [ 9.34685484e-02 9.95619938e-01 -2.13773122e-03 2.36641149e+01] [ 3.65560988e-02 -1.28617844e-03 9.99330775e-01 1.58510658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.239254154 meters Centerline goodness : 0.999097 with order 1 Centerline is valid? [True, True] Translation: X:435.57, Y:23.67, Z:15.85 [[ 9.95585984e-01 -8.64586944e-02 -3.65163353e-02 4.35565904e+02] [ 8.64384626e-02 9.96254903e-01 -2.13538371e-03 2.36723309e+01] [ 3.65642006e-02 -1.03045779e-03 9.99330775e-01 1.58546216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.299254154 meters Centerline goodness : 0.999032 with order 1 Centerline is valid? [True, True] Translation: X:435.63, Y:23.68, Z:15.86 [[ 9.96424335e-01 -7.61911819e-02 -3.65164125e-02 4.35625682e+02] [ 7.61641041e-02 9.97093012e-01 -2.13406311e-03 2.36828772e+01] [ 3.65728565e-02 -6.54807421e-04 9.99330775e-01 1.58587915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.359254154 meters Centerline goodness : 0.999097 with order 1 Centerline is valid? [True, True] Translation: X:435.69, Y:23.69, Z:15.86 [[ 9.96670052e-01 -7.29065106e-02 -3.65164125e-02 4.35686189e+02] [ 7.28772289e-02 9.97338636e-01 -2.13406311e-03 2.36884504e+01] [ 3.65748161e-02 -5.34258158e-04 9.99330775e-01 1.58619378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.419254154 meters Centerline goodness : 0.999051 with order 1 Centerline is valid? [True, True] Translation: X:435.75, Y:23.70, Z:15.86 [[ 9.97020589e-01 -6.79448039e-02 -3.65164125e-02 4.35745032e+02] [ 6.79121948e-02 9.97689019e-01 -2.13406311e-03 2.36965180e+01] [ 3.65770223e-02 -3.52204855e-04 9.99330775e-01 1.58632439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.479254154 meters Centerline goodness : 0.999282 with order 1 Centerline is valid? [True, True] Translation: X:435.80, Y:23.70, Z:15.86 [[ 9.96991805e-01 -6.83659110e-02 -3.65163340e-02 4.35804386e+02] [ 6.83335350e-02 9.97660247e-01 -2.13540572e-03 2.37010864e+01] [ 3.65768837e-02 -3.66308178e-04 9.99330775e-01 1.58649067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.539254154 meters Centerline goodness : 0.999242 with order 1 Centerline is valid? [True, True] Translation: X:435.86, Y:23.71, Z:15.87 [[ 9.96651996e-01 -7.31530098e-02 -3.65162564e-02 4.35863612e+02] [ 7.31237957e-02 9.97320583e-01 -2.13673158e-03 2.37072597e+01] [ 3.65747225e-02 -5.40629475e-04 9.99330775e-01 1.58733153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.599254154 meters Centerline goodness : 0.998947 with order 1 Centerline is valid? [True, True] Translation: X:435.92, Y:23.71, Z:15.87 [[ 9.96708573e-01 -7.23780998e-02 -3.65161697e-02 4.35922192e+02] [ 7.23483117e-02 9.97377135e-01 -2.13821197e-03 2.37071337e+01] [ 3.65751525e-02 -5.10709030e-04 9.99330775e-01 1.58663723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.659254154 meters Centerline goodness : 0.998885 with order 1 Centerline is valid? [True, True] Translation: X:435.98, Y:23.71, Z:15.88 [[ 9.96380210e-01 -7.67662792e-02 -3.65159615e-02 4.35982125e+02] [ 7.67393053e-02 9.97048891e-01 -2.14176117e-03 2.37143842e+01] [ 3.65726140e-02 -6.68201073e-04 9.99330775e-01 1.58843917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.719254154 meters Centerline goodness : 0.998908 with order 1 Centerline is valid? [True, True] Translation: X:436.04, Y:23.71, Z:15.87 [[ 9.96677807e-01 -7.28007125e-02 -3.65158274e-02 4.36042481e+02] [ 7.27709942e-02 9.97346372e-01 -2.14404599e-03 2.37099767e+01] [ 3.65750160e-02 -5.20370005e-04 9.99330775e-01 1.58702775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.779254154 meters Centerline goodness : 0.999138 with order 1 Centerline is valid? [True, True] Translation: X:436.10, Y:23.71, Z:15.87 [[ 9.96595063e-01 -7.39247912e-02 -3.65158207e-02 4.36102237e+02] [ 7.38958228e-02 9.97263661e-01 -2.14415917e-03 2.37124717e+01] [ 3.65744076e-02 -5.61508176e-04 9.99330775e-01 1.58741102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.839254154 meters Centerline goodness : 0.998845 with order 1 Centerline is valid? [True, True] Translation: X:436.16, Y:23.71, Z:15.88 [[ 9.96587018e-01 -7.40332144e-02 -3.65157435e-02 4.36161042e+02] [ 7.40042706e-02 9.97255617e-01 -2.14547352e-03 2.37127408e+01] [ 3.65743666e-02 -5.64169912e-04 9.99330775e-01 1.58760334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.899254154 meters Centerline goodness : 0.999098 with order 1 Centerline is valid? [True, True] Translation: X:436.22, Y:23.71, Z:15.88 [[ 9.96611264e-01 -7.37063647e-02 -3.65151982e-02 4.36220912e+02] [ 7.36768631e-02 9.97279839e-01 -2.15471493e-03 2.37138086e+01] [ 3.65746872e-02 -5.42912082e-04 9.99330775e-01 1.58789827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.959254154 meters Centerline goodness : 0.998993 with order 1 Centerline is valid? [True, True] Translation: X:436.28, Y:23.71, Z:15.88 [[ 9.96691407e-01 -7.26146396e-02 -3.65151196e-02 4.36279143e+02] [ 7.25843569e-02 9.97359946e-01 -2.15604514e-03 2.37129600e+01] [ 3.65752782e-02 -5.01514809e-04 9.99330775e-01 1.58797282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.019254154 meters Centerline goodness : 0.999035 with order 1 Centerline is valid? [True, True] Translation: X:436.34, Y:23.71, Z:15.88 [[ 9.96784233e-01 -7.13291808e-02 -3.65149262e-02 4.36338793e+02] [ 7.12979162e-02 9.97452728e-01 -2.15931646e-03 2.37141740e+01] [ 3.65759350e-02 -4.51065544e-04 9.99330775e-01 1.58828254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.079254154 meters Centerline goodness : 0.999058 with order 1 Centerline is valid? [True, True] Translation: X:436.40, Y:23.71, Z:15.88 [[ 9.96932630e-01 -6.92242519e-02 -3.65148461e-02 4.36396377e+02] [ 6.91915261e-02 9.97601055e-01 -2.16067056e-03 2.37141397e+01] [ 3.65768198e-02 -3.72474941e-04 9.99330775e-01 1.58827666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.139254154 meters Centerline goodness : 0.999226 with order 1 Centerline is valid? [True, True] Translation: X:436.45, Y:23.72, Z:15.89 [[ 9.96975554e-01 -6.86034420e-02 -3.65145550e-02 4.36454204e+02] [ 6.85701203e-02 9.97643949e-01 -2.16557856e-03 2.37151566e+01] [ 3.65770910e-02 -3.44778540e-04 9.99330775e-01 1.58853453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.199254154 meters Centerline goodness : 0.999372 with order 1 Centerline is valid? [True, True] Translation: X:436.51, Y:23.72, Z:15.89 [[ 9.96912993e-01 -6.95069715e-02 -3.65139100e-02 4.36512264e+02] [ 6.94738593e-02 9.97581398e-01 -2.17639992e-03 2.37159038e+01] [ 3.65768724e-02 -3.67080884e-04 9.99330775e-01 1.58869089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.259254154 meters Centerline goodness : 0.999103 with order 1 Centerline is valid? [True, True] Translation: X:436.57, Y:23.72, Z:15.89 [[ 9.96611460e-01 -7.37046760e-02 -3.65132691e-02 4.36570876e+02] [ 7.36739869e-02 9.97279981e-01 -2.18710004e-03 2.37159031e+01] [ 3.65751518e-02 -5.10389148e-04 9.99330775e-01 1.58907794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.319254154 meters Centerline goodness : 0.999142 with order 1 Centerline is valid? [True, True] Translation: X:436.63, Y:23.72, Z:15.89 [[ 9.96266734e-01 -7.82267087e-02 -3.65126904e-02 4.36629920e+02] [ 7.81987015e-02 9.96935373e-01 -2.19671923e-03 2.37178304e+01] [ 3.65726347e-02 -6.66726677e-04 9.99330775e-01 1.58926816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.37925415399997 meters Centerline goodness : 0.999247 with order 1 Centerline is valid? [True, True] Translation: X:436.69, Y:23.72, Z:15.90 [[ 9.95690167e-01 -8.52523148e-02 -3.65121186e-02 4.36689253e+02] [ 8.52286780e-02 9.96358974e-01 -2.20618189e-03 2.37181085e+01] [ 3.65672591e-02 -9.15205980e-04 9.99330775e-01 1.58951047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.43925415399997 meters Centerline goodness : 0.999352 with order 1 Centerline is valid? [True, True] Translation: X:436.75, Y:23.72, Z:15.90 [[ 9.95208630e-01 -9.07009955e-02 -3.65118012e-02 4.36748692e+02] [ 9.06808277e-02 9.95877551e-01 -2.21142172e-03 2.37200485e+01] [ 3.65618613e-02 -1.11009438e-03 9.99330775e-01 1.58987269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.49925415399997 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:436.81, Y:23.72, Z:15.90 [[ 9.94470074e-01 -9.84691144e-02 -3.65117204e-02 4.36808339e+02] [ 9.84541214e-02 9.95139131e-01 -2.21275552e-03 2.37213420e+01] [ 3.65521298e-02 -1.39421021e-03 9.99330775e-01 1.59018555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.559254154 meters Centerline goodness : 0.999186 with order 1 Centerline is valid? [True, True] Translation: X:436.87, Y:23.72, Z:15.90 [[ 9.93899897e-01 -1.04066782e-01 -3.65116399e-02 4.36868950e+02] [ 1.04055508e-01 9.94569027e-01 -2.21408318e-03 2.37244252e+01] [ 3.65437587e-02 -1.59866018e-03 9.99330775e-01 1.59046822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.619254154 meters Centerline goodness : 0.999270 with order 1 Centerline is valid? [True, True] Translation: X:436.93, Y:23.73, Z:15.91 [[ 9.93680972e-01 -1.06136815e-01 -3.65116795e-02 4.36928206e+02] [ 1.06126958e-01 9.94350124e-01 -2.21342912e-03 2.37281875e+01] [ 3.65403194e-02 -1.67543108e-03 9.99330775e-01 1.59066103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.679254154 meters Centerline goodness : 0.999373 with order 1 Centerline is valid? [True, True] Translation: X:436.99, Y:23.73, Z:15.91 [[ 9.93645557e-01 -1.06467869e-01 -3.65116407e-02 4.36986978e+02] [ 1.06458212e-01 9.94314712e-01 -2.21407015e-03 2.37344990e+01] [ 3.65397888e-02 -1.68696301e-03 9.99330775e-01 1.59080801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.739254154 meters Centerline goodness : 0.999059 with order 1 Centerline is valid? [True, True] Translation: X:437.05, Y:23.74, Z:15.91 [[ 9.93809888e-01 -1.04922875e-01 -3.65116025e-02 4.37046813e+02] [ 1.04912154e-01 9.94479027e-01 -2.21469905e-03 2.37411644e+01] [ 3.65423955e-02 -1.62952107e-03 9.99330775e-01 1.59094820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.799254154 meters Centerline goodness : 0.999205 with order 1 Centerline is valid? [True, True] Translation: X:437.11, Y:23.75, Z:15.91 [[ 9.94300959e-01 -1.00162395e-01 -3.65116025e-02 4.37107646e+02] [ 1.00148470e-01 9.94970039e-01 -2.21469905e-03 2.37487721e+01] [ 3.65497802e-02 -1.45450372e-03 9.99330775e-01 1.59139207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.859254154 meters Centerline goodness : 0.999205 with order 1 Centerline is valid? [True, True] Translation: X:437.17, Y:23.75, Z:15.91 [[ 9.95281106e-01 -8.99022594e-02 -3.65116846e-02 4.37168805e+02] [ 8.98814842e-02 9.95950009e-01 -2.21334571e-03 2.37524358e+01] [ 3.65627973e-02 -1.07882323e-03 9.99330775e-01 1.59129204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.919254154 meters Centerline goodness : 0.999078 with order 1 Centerline is valid? [True, True] Translation: X:437.23, Y:23.76, Z:15.92 [[ 9.95301209e-01 -8.96793947e-02 -3.65117674e-02 4.37228829e+02] [ 8.96585199e-02 9.95970108e-01 -2.21197869e-03 2.37640763e+01] [ 3.65629978e-02 -1.07200596e-03 9.99330775e-01 1.59202277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.979254154 meters Centerline goodness : 0.998933 with order 1 Centerline is valid? [True, True] Translation: X:437.29, Y:23.77, Z:15.92 [[ 9.95957364e-01 -8.20720440e-02 -3.65117674e-02 4.37287986e+02] [ 8.20460589e-02 9.96626084e-01 -2.21197869e-03 2.37716445e+01] [ 3.65701213e-02 -7.92610154e-04 9.99330775e-01 1.59233816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.039254154 meters Centerline goodness : 0.999077 with order 1 Centerline is valid? [True, True] Translation: X:437.35, Y:23.78, Z:15.93 [[ 9.96345411e-01 -7.72186219e-02 -3.65117273e-02 4.37347790e+02] [ 7.71893548e-02 9.97013996e-01 -2.21264011e-03 2.37772831e+01] [ 3.65735601e-02 -6.13762850e-04 9.99330775e-01 1.59258991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.099254154 meters Centerline goodness : 0.998995 with order 1 Centerline is valid? [True, True] Translation: X:437.41, Y:23.78, Z:15.93 [[ 9.96663922e-01 -7.29926059e-02 -3.65117273e-02 4.37407403e+02] [ 7.29605037e-02 9.97332376e-01 -2.21264011e-03 2.37824818e+01] [ 3.65758341e-02 -4.58655443e-04 9.99330775e-01 1.59282669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.159254154 meters Centerline goodness : 0.999056 with order 1 Centerline is valid? [True, True] Translation: X:437.47, Y:23.79, Z:15.93 [[ 9.96752200e-01 -7.17771025e-02 -3.65116466e-02 4.37465652e+02] [ 7.17441364e-02 9.97420612e-01 -2.21397077e-03 2.37861017e+01] [ 3.65763813e-02 -4.12716322e-04 9.99330775e-01 1.59305205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.219254154 meters Centerline goodness : 0.999181 with order 1 Centerline is valid? [True, True] Translation: X:437.52, Y:23.79, Z:15.93 [[ 9.96853628e-01 -7.03547076e-02 -3.65110771e-02 4.37524985e+02] [ 7.03204453e-02 9.97521976e-01 -2.22332304e-03 2.37890478e+01] [ 3.65770230e-02 -3.51147565e-04 9.99330775e-01 1.59328561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.279254154 meters Centerline goodness : 0.999099 with order 1 Centerline is valid? [True, True] Translation: X:437.58, Y:23.79, Z:15.93 [[ 9.96931801e-01 -6.92382290e-02 -3.65109954e-02 4.37582282e+02] [ 6.92031690e-02 9.97600106e-01 -2.22466429e-03 2.37924544e+01] [ 3.65774047e-02 -3.08838010e-04 9.99330775e-01 1.59346025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.339254154 meters Centerline goodness : 0.999162 with order 1 Centerline is valid? [True, True] Translation: X:437.64, Y:23.79, Z:15.94 [[ 9.97060393e-01 -6.73612291e-02 -3.65107940e-02 4.37641279e+02] [ 6.73247902e-02 9.97728625e-01 -2.22796371e-03 2.37946490e+01] [ 3.65779427e-02 -2.36667178e-04 9.99330775e-01 1.59366415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.399254154 meters Centerline goodness : 0.999224 with order 1 Centerline is valid? [True, True] Translation: X:437.70, Y:23.80, Z:15.94 [[ 9.97163304e-01 -6.58205801e-02 -3.65102111e-02 4.37700249e+02] [ 6.57827605e-02 9.97831460e-01 -2.23747519e-03 2.37953989e+01] [ 3.65783092e-02 -1.70614319e-04 9.99330775e-01 1.59381706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.459254154 meters Centerline goodness : 0.999288 with order 1 Centerline is valid? [True, True] Translation: X:437.76, Y:23.80, Z:15.94 [[ 9.97132821e-01 -6.62811056e-02 -3.65096322e-02 4.37757326e+02] [ 6.62432502e-02 9.97800974e-01 -2.24688183e-03 2.37964107e+01] [ 3.65782724e-02 -1.78077088e-04 9.99330775e-01 1.59395650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.519254154 meters Centerline goodness : 0.999310 with order 1 Centerline is valid? [True, True] Translation: X:437.82, Y:23.80, Z:15.94 [[ 9.96920195e-01 -6.94059920e-02 -3.65093474e-02 4.37815636e+02] [ 6.93700618e-02 9.97588455e-01 -2.25150102e-03 2.37959159e+01] [ 3.65775711e-02 -2.88088850e-04 9.99330775e-01 1.59425909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.579254154 meters Centerline goodness : 0.999351 with order 1 Centerline is valid? [True, True] Translation: X:437.87, Y:23.80, Z:15.94 [[ 9.96752831e-01 -7.17698382e-02 -3.65086771e-02 4.37873244e+02] [ 7.17350965e-02 9.97421154e-01 -2.26231802e-03 2.37963045e+01] [ 3.65768930e-02 -3.63981584e-04 9.99330775e-01 1.59442562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.639254154 meters Centerline goodness : 0.999205 with order 1 Centerline is valid? [True, True] Translation: X:437.93, Y:23.80, Z:15.95 [[ 9.96509641e-01 -7.50710837e-02 -3.65084713e-02 4.37931566e+02] [ 7.50384345e-02 9.97178068e-01 -2.26563412e-03 2.37963550e+01] [ 3.65755305e-02 -4.81812288e-04 9.99330775e-01 1.59461635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.699254154 meters Centerline goodness : 0.999352 with order 1 Centerline is valid? [True, True] Translation: X:437.99, Y:23.80, Z:15.95 [[ 9.96188985e-01 -7.92129084e-02 -3.65078153e-02 4.37990090e+02] [ 7.91826526e-02 9.96857526e-01 -2.27615608e-03 2.37959922e+01] [ 3.65733914e-02 -6.23304043e-04 9.99330775e-01 1.59484329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.759254154 meters Centerline goodness : 0.999310 with order 1 Centerline is valid? [True, True] Translation: X:438.05, Y:23.80, Z:15.95 [[ 9.95905043e-01 -8.27065135e-02 -3.65072403e-02 4.38048890e+02] [ 8.26782662e-02 9.96573671e-01 -2.28534057e-03 2.37969942e+01] [ 3.65711671e-02 -7.42373135e-04 9.99330775e-01 1.59508806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.819254154 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:438.11, Y:23.80, Z:15.97 [[ 9.95126416e-01 -9.16006551e-02 -3.65066691e-02 4.38108237e+02] [ 9.15780494e-02 9.95795258e-01 -2.29442930e-03 2.38004145e+01] [ 3.65633392e-02 -1.05996234e-03 9.99330775e-01 1.59695630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.87925415399997 meters Centerline goodness : 0.999290 with order 1 Centerline is valid? [True, True] Translation: X:438.17, Y:23.80, Z:15.96 [[ 9.95135864e-01 -9.14979932e-02 -3.65065584e-02 4.38168076e+02] [ 9.14752539e-02 9.95804702e-01 -2.29618990e-03 2.37978762e+01] [ 3.65634993e-02 -1.05442578e-03 9.99330775e-01 1.59570703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.93925415399997 meters Centerline goodness : 0.999353 with order 1 Centerline is valid? [True, True] Translation: X:438.23, Y:23.80, Z:15.96 [[ 9.94976674e-01 -9.32131751e-02 -3.65064744e-02 4.38226467e+02] [ 9.31915398e-02 9.95645549e-01 -2.29752410e-03 2.37980733e+01] [ 3.65616683e-02 -1.11611168e-03 9.99330775e-01 1.59591097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.99925415399997 meters Centerline goodness : 0.999228 with order 1 Centerline is valid? [True, True] Translation: X:438.29, Y:23.80, Z:15.96 [[ 9.95034220e-01 -9.25969061e-02 -3.65063482e-02 4.38286354e+02] [ 9.25747832e-02 9.95703079e-01 -2.29952747e-03 2.37998634e+01] [ 3.65624125e-02 -1.09145875e-03 9.99330775e-01 1.59628722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.059254154 meters Centerline goodness : 0.999458 with order 1 Centerline is valid? [True, True] Translation: X:438.35, Y:23.80, Z:15.97 [[ 9.95271951e-01 -9.00057580e-02 -3.65062643e-02 4.38345773e+02] [ 8.99818448e-02 9.95940748e-01 -2.30085921e-03 2.38012483e+01] [ 3.65651667e-02 -9.94920376e-04 9.99330775e-01 1.59672319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.119254154 meters Centerline goodness : 0.999185 with order 1 Centerline is valid? [True, True] Translation: X:438.40, Y:23.80, Z:15.97 [[ 9.95584562e-01 -8.64793538e-02 -3.65061792e-02 4.38404941e+02] [ 8.64530220e-02 9.96253268e-01 -2.30220785e-03 2.38037227e+01] [ 3.65684938e-02 -8.64026927e-04 9.99330775e-01 1.59682405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.179254154 meters Centerline goodness : 0.999333 with order 1 Centerline is valid? [True, True] Translation: X:438.46, Y:23.81, Z:15.97 [[ 9.95749549e-01 -8.45587204e-02 -3.65055851e-02 4.38463579e+02] [ 8.45307549e-02 9.96418189e-01 -2.31159144e-03 2.38071252e+01] [ 3.65702942e-02 -7.84078531e-04 9.99330775e-01 1.59713673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.239254154 meters Centerline goodness : 0.999437 with order 1 Centerline is valid? [True, True] Translation: X:438.52, Y:23.81, Z:15.97 [[ 9.96057927e-01 -8.08454775e-02 -3.65049889e-02 4.38521037e+02] [ 8.08146756e-02 9.96726443e-01 -2.32096834e-03 2.38101786e+01] [ 3.65731275e-02 -6.38319915e-04 9.99330776e-01 1.59725676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.299254154 meters Centerline goodness : 0.999395 with order 1 Centerline is valid? [True, True] Translation: X:438.58, Y:23.81, Z:15.98 [[ 9.96197415e-01 -7.91082217e-02 -3.65047796e-02 4.38580034e+02] [ 7.90761335e-02 9.96865870e-01 -2.32425501e-03 2.38138745e+01] [ 3.65742366e-02 -5.71239988e-04 9.99330776e-01 1.59758861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.359254154 meters Centerline goodness : 0.999291 with order 1 Centerline is valid? [True, True] Translation: X:438.64, Y:23.82, Z:15.98 [[ 9.96097561e-01 -8.03560400e-02 -3.65041802e-02 4.38637451e+02] [ 8.03244457e-02 9.96766040e-01 -2.33363171e-03 2.38158558e+01] [ 3.65736485e-02 -6.07653181e-04 9.99330776e-01 1.59775183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.419254154 meters Centerline goodness : 0.999289 with order 1 Centerline is valid? [True, True] Translation: X:438.70, Y:23.82, Z:15.98 [[ 9.95541332e-01 -8.69765645e-02 -3.65038856e-02 4.38695852e+02] [ 8.69492465e-02 9.96209999e-01 -2.33823117e-03 2.38170333e+01] [ 3.65689071e-02 -8.46179574e-04 9.99330776e-01 1.59809419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.479254154 meters Centerline goodness : 0.999395 with order 1 Centerline is valid? [True, True] Translation: X:438.75, Y:23.82, Z:15.98 [[ 9.95089330e-01 -9.20039939e-02 -3.65032996e-02 4.38753804e+02] [ 9.19797197e-02 9.95758114e-01 -2.34734380e-03 2.38198634e+01] [ 3.65644218e-02 -1.02174649e-03 9.99330776e-01 1.59837155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.539254154 meters Centerline goodness : 0.999206 with order 1 Centerline is valid? [True, True] Translation: X:438.81, Y:23.82, Z:15.99 [[ 9.94681278e-01 -9.63155193e-02 -3.65030930e-02 4.38812064e+02] [ 9.62940260e-02 9.95350157e-01 -2.35055228e-03 2.38224006e+01] [ 3.65597540e-02 -1.17697943e-03 9.99330776e-01 1.59865846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.599254154 meters Centerline goodness : 0.999394 with order 1 Centerline is valid? [True, True] Translation: X:438.87, Y:23.82, Z:15.99 [[ 9.94304125e-01 -1.00134278e-01 -3.65024977e-02 4.38872065e+02] [ 1.00115016e-01 9.94973073e-01 -2.35976086e-03 2.38225111e+01] [ 3.65552952e-02 -1.30812818e-03 9.99330776e-01 1.59933387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.659254154 meters Centerline goodness : 0.999373 with order 1 Centerline is valid? [True, True] Translation: X:438.93, Y:23.83, Z:15.99 [[ 9.93876840e-01 -1.04289984e-01 -3.65024074e-02 4.38931479e+02] [ 1.04273467e-01 9.94545861e-01 -2.36115723e-03 2.38271578e+01] [ 3.65495632e-02 -1.45953310e-03 9.99330776e-01 1.59906053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.719254154 meters Centerline goodness : 0.999352 with order 1 Centerline is valid? [True, True] Translation: X:438.99, Y:23.83, Z:15.99 [[ 9.93581378e-01 -1.07068310e-01 -3.65023634e-02 4.38991350e+02] [ 1.07053639e-01 9.94250441e-01 -2.36183722e-03 2.38308332e+01] [ 3.65453688e-02 -1.56103335e-03 9.99330776e-01 1.59936395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.779254154 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:439.05, Y:23.84, Z:15.99 [[ 9.93433259e-01 -1.08434051e-01 -3.65022757e-02 4.39051666e+02] [ 1.08420250e-01 9.94102341e-01 -2.36319145e-03 2.38358851e+01] [ 3.65432481e-02 -1.60991287e-03 9.99330776e-01 1.59943001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.839254154 meters Centerline goodness : 0.999372 with order 1 Centerline is valid? [True, True] Translation: X:439.11, Y:23.84, Z:16.00 [[ 9.93509649e-01 -1.07731892e-01 -3.65022757e-02 4.39111931e+02] [ 1.07717618e-01 9.94178721e-01 -2.36319145e-03 2.38414637e+01] [ 3.65443769e-02 -1.58408469e-03 9.99330776e-01 1.59950685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.899254154 meters Centerline goodness : 0.999414 with order 1 Centerline is valid? [True, True] Translation: X:439.17, Y:23.85, Z:16.00 [[ 9.93688449e-01 -1.06070024e-01 -3.65022757e-02 4.39171050e+02] [ 1.06054631e-01 9.94357496e-01 -2.36319145e-03 2.38500440e+01] [ 3.65469752e-02 -1.52295934e-03 9.99330776e-01 1.59976289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.959254154 meters Centerline goodness : 0.999352 with order 1 Centerline is valid? [True, True] Translation: X:439.23, Y:23.86, Z:16.00 [[ 9.93632525e-01 -1.06592644e-01 -3.65022330e-02 4.39230399e+02] [ 1.06577578e-01 9.94301580e-01 -2.36385116e-03 2.38579775e+01] [ 3.65461971e-02 -1.54152020e-03 9.99330776e-01 1.59998719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.019254154 meters Centerline goodness : 0.999227 with order 1 Centerline is valid? [True, True] Translation: X:439.29, Y:23.86, Z:16.00 [[ 9.93417475e-01 -1.08578605e-01 -3.65021495e-02 4.39290350e+02] [ 1.08564829e-01 9.94086558e-01 -2.36513902e-03 2.38647259e+01] [ 3.65430997e-02 -1.61327920e-03 9.99330776e-01 1.60032124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.079254154 meters Centerline goodness : 0.999206 with order 1 Centerline is valid? [True, True] Translation: X:439.35, Y:23.87, Z:16.01 [[ 9.93017930e-01 -1.12173898e-01 -3.65021495e-02 4.39351500e+02] [ 1.12162545e-01 9.93687058e-01 -2.36513902e-03 2.38742175e+01] [ 3.65370204e-02 -1.74554853e-03 9.99330776e-01 1.60074107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.139254154 meters Centerline goodness : 0.999248 with order 1 Centerline is valid? [True, True] Translation: X:439.41, Y:23.88, Z:16.01 [[ 9.92842394e-01 -1.13717050e-01 -3.65022365e-02 4.39412374e+02] [ 1.13706786e-01 9.93511540e-01 -2.36379612e-03 2.38808381e+01] [ 3.65341971e-02 -1.80367498e-03 9.99330776e-01 1.60089682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.199254154 meters Centerline goodness : 0.999437 with order 1 Centerline is valid? [True, True] Translation: X:439.47, Y:23.89, Z:16.01 [[ 9.92681278e-01 -1.15114988e-01 -3.65023232e-02 4.39474125e+02] [ 1.15105715e-01 9.93350438e-01 -2.36245581e-03 2.38873799e+01] [ 3.65315528e-02 -1.85646036e-03 9.99330776e-01 1.60114362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.259254154 meters Centerline goodness : 0.999145 with order 1 Centerline is valid? [True, True] Translation: X:439.54, Y:23.90, Z:16.01 [[ 9.92583933e-01 -1.15951300e-01 -3.65024998e-02 4.39535464e+02] [ 1.15942691e-01 9.93253102e-01 -2.35972488e-03 2.38950720e+01] [ 3.65298343e-02 -1.88997306e-03 9.99330776e-01 1.60140218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.319254154 meters Centerline goodness : 0.999310 with order 1 Centerline is valid? [True, True] Translation: X:439.60, Y:23.91, Z:16.02 [[ 9.92830994e-01 -1.13816396e-01 -3.65026763e-02 4.39597278e+02] [ 1.13806449e-01 9.93500144e-01 -2.35699122e-03 2.39057031e+01] [ 3.65336784e-02 -1.81414602e-03 9.99330776e-01 1.60167558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.37925415399997 meters Centerline goodness : 0.998977 with order 1 Centerline is valid? [True, True] Translation: X:439.66, Y:23.92, Z:16.02 [[ 9.93377657e-01 -1.08942061e-01 -3.65028541e-02 4.39657577e+02] [ 1.08928931e-01 9.94046752e-01 -2.35423390e-03 2.39152079e+01] [ 3.65420187e-02 -1.63757351e-03 9.99330776e-01 1.60184015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.43925415399997 meters Centerline goodness : 0.999165 with order 1 Centerline is valid? [True, True] Translation: X:439.72, Y:23.92, Z:16.02 [[ 9.93767586e-01 -1.05325763e-01 -3.65029854e-02 4.39718749e+02] [ 1.05310272e-01 9.94436631e-01 -2.35219603e-03 2.39230909e+01] [ 3.65476527e-02 -1.50660315e-03 9.99330776e-01 1.60200384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.49925415399997 meters Centerline goodness : 0.998998 with order 1 Centerline is valid? [True, True] Translation: X:439.78, Y:23.93, Z:16.02 [[ 9.94244615e-01 -1.00723230e-01 -3.65031133e-02 4.39780257e+02] [ 1.00704715e-01 9.94913583e-01 -2.35021004e-03 2.39334179e+01] [ 3.65541640e-02 -1.33935193e-03 9.99330776e-01 1.60228299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.559254154 meters Centerline goodness : 0.998975 with order 1 Centerline is valid? [True, True] Translation: X:439.84, Y:23.94, Z:16.03 [[ 9.94446013e-01 -9.87149345e-02 -3.65032845e-02 4.39842367e+02] [ 9.86951651e-02 9.95114945e-01 -2.34754748e-03 2.39409760e+01] [ 3.65567020e-02 -1.26818846e-03 9.99330776e-01 1.60262880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.619254154 meters Centerline goodness : 0.999079 with order 1 Centerline is valid? [True, True] Translation: X:439.90, Y:23.95, Z:16.03 [[ 9.94349223e-01 -9.96851020e-02 -3.65034551e-02 4.39903759e+02] [ 9.96660826e-02 9.95018177e-01 -2.34489201e-03 2.39486733e+01] [ 3.65553522e-02 -1.30651483e-03 9.99330776e-01 1.60300649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.679254154 meters Centerline goodness : 0.998932 with order 1 Centerline is valid? [True, True] Translation: X:439.97, Y:23.96, Z:16.03 [[ 9.93811999e-01 -1.04905650e-01 -3.65036237e-02 4.39965842e+02] [ 1.04890240e-01 9.94481046e-01 -2.34226488e-03 2.39567591e+01] [ 3.65478787e-02 -1.50110291e-03 9.99330776e-01 1.60328261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.739254154 meters Centerline goodness : 0.998808 with order 1 Centerline is valid? [True, True] Translation: X:440.03, Y:23.96, Z:16.03 [[ 9.93420137e-01 -1.08553693e-01 -3.65037955e-02 4.40027612e+02] [ 1.08540838e-01 9.94089238e-01 -2.33958362e-03 2.39624705e+01] [ 3.65420007e-02 -1.63796310e-03 9.99330776e-01 1.60339854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.799254154 meters Centerline goodness : 0.998887 with order 1 Centerline is valid? [True, True] Translation: X:440.09, Y:23.97, Z:16.03 [[ 9.92942303e-01 -1.12840791e-01 -3.65039669e-02 4.40089413e+02] [ 1.12830923e-01 9.93611454e-01 -2.33690725e-03 2.39698129e+01] [ 3.65344581e-02 -1.79836220e-03 9.99330776e-01 1.60344795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.859254154 meters Centerline goodness : 0.998741 with order 1 Centerline is valid? [True, True] Translation: X:440.15, Y:23.98, Z:16.04 [[ 9.92710257e-01 -1.14864239e-01 -3.65041383e-02 4.40149746e+02] [ 1.14855833e-01 9.93379429e-01 -2.33422566e-03 2.39787399e+01] [ 3.65305791e-02 -1.87550344e-03 9.99330776e-01 1.60383696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.919254154 meters Centerline goodness : 0.998698 with order 1 Centerline is valid? [True, True] Translation: X:440.21, Y:23.98, Z:16.04 [[ 9.92804051e-01 -1.14050668e-01 -3.65042650e-02 4.40211872e+02] [ 1.14041786e-01 9.93473216e-01 -2.33224235e-03 2.39849885e+01] [ 3.65320034e-02 -1.84755193e-03 9.99330776e-01 1.60397747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.979254154 meters Centerline goodness : 0.999033 with order 1 Centerline is valid? [True, True] Translation: X:440.27, Y:23.99, Z:16.04 [[ 9.93038506e-01 -1.11990855e-01 -3.65044320e-02 4.40273222e+02] [ 1.11980681e-01 9.93707653e-01 -2.32962704e-03 2.39941655e+01] [ 3.65356303e-02 -1.77438179e-03 9.99330776e-01 1.60434119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.039254154 meters Centerline goodness : 0.999262 with order 1 Centerline is valid? [True, True] Translation: X:440.34, Y:24.00, Z:16.05 [[ 9.93295411e-01 -1.09688841e-01 -3.65045962e-02 4.40335657e+02] [ 1.09677210e-01 9.93964534e-01 -2.32705020e-03 2.40022815e+01] [ 3.65395254e-02 -1.69227397e-03 9.99330776e-01 1.60460491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.099254154 meters Centerline goodness : 0.999133 with order 1 Centerline is valid? [True, True] Translation: X:440.40, Y:24.01, Z:16.05 [[ 9.93624415e-01 -1.06667322e-01 -3.65048567e-02 4.40398193e+02] [ 1.06653806e-01 9.94293503e-01 -2.32295635e-03 2.40116463e+01] [ 3.65443254e-02 -1.58523577e-03 9.99330776e-01 1.60477445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.159254154 meters Centerline goodness : 0.998983 with order 1 Centerline is valid? [True, True] Translation: X:440.46, Y:24.02, Z:16.05 [[ 9.93663468e-01 -1.06302821e-01 -3.65051170e-02 4.40459260e+02] [ 1.06289210e-01 9.94332553e-01 -2.31885890e-03 2.40208868e+01] [ 3.65447274e-02 -1.57593469e-03 9.99330776e-01 1.60512049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.219254154 meters Centerline goodness : 0.999152 with order 1 Centerline is valid? [True, True] Translation: X:440.52, Y:24.03, Z:16.05 [[ 9.93703263e-01 -1.05930097e-01 -3.65053302e-02 4.40521639e+02] [ 1.05916359e-01 9.94372346e-01 -2.31549757e-03 2.40282184e+01] [ 3.65451717e-02 -1.56559415e-03 9.99330776e-01 1.60544621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.279254154 meters Centerline goodness : 0.998896 with order 1 Centerline is valid? [True, True] Translation: X:440.58, Y:24.04, Z:16.06 [[ 9.93952080e-01 -1.03569323e-01 -3.65055903e-02 4.40584287e+02] [ 1.03554146e-01 9.94621132e-01 -2.31139013e-03 2.40367866e+01] [ 3.65486206e-02 -1.48289420e-03 9.99330776e-01 1.60567851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.339254154 meters Centerline goodness : 0.999213 with order 1 Centerline is valid? [True, True] Translation: X:440.65, Y:24.04, Z:16.06 [[ 9.94194258e-01 -1.01218082e-01 -3.65058480e-02 4.40647163e+02] [ 1.01201472e-01 9.94863276e-01 -2.30731233e-03 2.40433069e+01] [ 3.65518693e-02 -1.40052888e-03 9.99330776e-01 1.60599500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.399254154 meters Centerline goodness : 0.999192 with order 1 Centerline is valid? [True, True] Translation: X:440.71, Y:24.05, Z:16.06 [[ 9.94470902e-01 -9.84628336e-02 -3.65061053e-02 4.40709377e+02] [ 9.84445193e-02 9.95139875e-01 -2.30323452e-03 2.40510509e+01] [ 3.65554641e-02 -1.30332628e-03 9.99330776e-01 1.60635654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.459254154 meters Centerline goodness : 0.999148 with order 1 Centerline is valid? [True, True] Translation: X:440.77, Y:24.06, Z:16.07 [[ 9.94485017e-01 -9.83200664e-02 -3.65063649e-02 4.40771778e+02] [ 9.83018072e-02 9.95153993e-01 -2.29911158e-03 2.40573667e+01] [ 3.65555036e-02 -1.30220963e-03 9.99330776e-01 1.60653752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.519254154 meters Centerline goodness : 0.999362 with order 1 Centerline is valid? [True, True] Translation: X:440.83, Y:24.06, Z:16.07 [[ 9.94379114e-01 -9.93853289e-02 -3.65066247e-02 4.40833987e+02] [ 9.93679378e-02 9.95048112e-01 -2.29498035e-03 2.40613466e+01] [ 3.65539353e-02 -1.34550747e-03 9.99330776e-01 1.60665357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.579254154 meters Centerline goodness : 0.999107 with order 1 Centerline is valid? [True, True] Translation: X:440.90, Y:24.06, Z:16.07 [[ 9.94252867e-01 -1.00640390e-01 -3.65068376e-02 4.40897103e+02] [ 1.00623968e-01 9.94921889e-01 -2.29158736e-03 2.40647796e+01] [ 3.65520781e-02 -1.39504556e-03 9.99330776e-01 1.60685845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.639254154 meters Centerline goodness : 0.999256 with order 1 Centerline is valid? [True, True] Translation: X:440.96, Y:24.07, Z:16.07 [[ 9.94489009e-01 -9.82794093e-02 -3.65070933e-02 4.40959775e+02] [ 9.82615482e-02 9.95157995e-01 -2.28750717e-03 2.40696780e+01] [ 3.65551406e-02 -1.31234276e-03 9.99330776e-01 1.60688694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.699254154 meters Centerline goodness : 0.999468 with order 1 Centerline is valid? [True, True] Translation: X:441.02, Y:24.08, Z:16.07 [[ 9.94669396e-01 -9.64365413e-02 -3.65073485e-02 4.41020410e+02] [ 9.64175902e-02 9.95338352e-01 -2.28342695e-03 2.40750052e+01] [ 3.65573699e-02 -1.24869566e-03 9.99330776e-01 1.60710809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.759254154 meters Centerline goodness : 0.999617 with order 1 Centerline is valid? [True, True] Translation: X:441.08, Y:24.08, Z:16.07 [[ 9.94960605e-01 -9.33841433e-02 -3.65074736e-02 4.41083282e+02] [ 9.33632131e-02 9.95629502e-01 -2.28142580e-03 2.40806176e+01] [ 3.65609667e-02 -1.13852624e-03 9.99330776e-01 1.60725416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.819254154 meters Centerline goodness : 0.999275 with order 1 Centerline is valid? [True, True] Translation: X:441.14, Y:24.09, Z:16.08 [[ 9.95198957e-01 -9.08087036e-02 -3.65077315e-02 4.41144274e+02] [ 9.07861938e-02 9.95867803e-01 -2.27729082e-03 2.40861297e+01] [ 3.65636722e-02 -1.04804054e-03 9.99330776e-01 1.60752898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.87925415399997 meters Centerline goodness : 0.999423 with order 1 Centerline is valid? [True, True] Translation: X:441.21, Y:24.09, Z:16.08 [[ 9.95638911e-01 -8.58505950e-02 -3.65080059e-02 4.41206404e+02] [ 8.58249155e-02 9.96307642e-01 -2.27288273e-03 2.40925050e+01] [ 3.65683336e-02 -8.70326042e-04 9.99330776e-01 1.60784950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.93925415399997 meters Centerline goodness : 0.999039 with order 1 Centerline is valid? [True, True] Translation: X:441.27, Y:24.10, Z:16.08 [[ 9.95851658e-01 -8.33464323e-02 -3.65081749e-02 4.41268192e+02] [ 8.33191707e-02 9.96520327e-01 -2.27016569e-03 2.40982154e+01] [ 3.65703486e-02 -7.81082584e-04 9.99330776e-01 1.60818127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.99925415399997 meters Centerline goodness : 0.998867 with order 1 Centerline is valid? [True, True] Translation: X:441.33, Y:24.10, Z:16.08 [[ 9.95884240e-01 -8.29561250e-02 -3.65083830e-02 4.41329878e+02] [ 8.29287242e-02 9.96552903e-01 -2.26681351e-03 2.41024543e+01] [ 3.65705811e-02 -7.70109776e-04 9.99330776e-01 1.60822440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.059254154 meters Centerline goodness : 0.999209 with order 1 Centerline is valid? [True, True] Translation: X:441.39, Y:24.11, Z:16.09 [[ 9.95772580e-01 -8.42857960e-02 -3.65085479e-02 4.41392214e+02] [ 8.42593855e-02 9.96441283e-01 -2.26415427e-03 2.41067555e+01] [ 3.65694604e-02 -8.21605075e-04 9.99330776e-01 1.60850658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.119254154 meters Centerline goodness : 0.999122 with order 1 Centerline is valid? [True, True] Translation: X:441.45, Y:24.11, Z:16.09 [[ 9.95563133e-01 -8.67246368e-02 -3.65087181e-02 4.41454798e+02] [ 8.66999650e-02 9.96231902e-01 -2.26140686e-03 2.41099330e+01] [ 3.65672694e-02 -9.13931282e-04 9.99330776e-01 1.60860607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.179254154 meters Centerline goodness : 0.998931 with order 1 Centerline is valid? [True, True] Translation: X:441.52, Y:24.11, Z:16.08 [[ 9.95168668e-01 -9.11395776e-02 -3.65088859e-02 4.41516034e+02] [ 9.11179718e-02 9.95837544e-01 -2.25869451e-03 2.41119503e+01] [ 3.65627757e-02 -1.07883363e-03 9.99330776e-01 1.60842206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.239254154 meters Centerline goodness : 0.999189 with order 1 Centerline is valid? [True, True] Translation: X:441.58, Y:24.12, Z:16.09 [[ 9.94928263e-01 -9.37274989e-02 -3.65090098e-02 4.41578168e+02] [ 9.37077063e-02 9.95597194e-01 -2.25668961e-03 2.41156725e+01] [ 3.65597816e-02 -1.17593130e-03 9.99330776e-01 1.60870220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.299254154 meters Centerline goodness : 0.999381 with order 1 Centerline is valid? [True, True] Translation: X:441.64, Y:24.12, Z:16.09 [[ 9.94892783e-01 -9.41032986e-02 -3.65091736e-02 4.41640300e+02] [ 9.40838559e-02 9.95561725e-01 -2.25403770e-03 2.41196485e+01] [ 3.65592482e-02 -1.19239799e-03 9.99330776e-01 1.60886146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.359254154 meters Centerline goodness : 0.999212 with order 1 Centerline is valid? [True, True] Translation: X:441.70, Y:24.12, Z:16.09 [[ 9.95098889e-01 -9.18981334e-02 -3.65093756e-02 4.41702012e+02] [ 9.18773283e-02 9.95767790e-01 -2.25076073e-03 2.41237394e+01] [ 3.65617009e-02 -1.11465439e-03 9.99330776e-01 1.60933645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.419254154 meters Centerline goodness : 0.999232 with order 1 Centerline is valid? [True, True] Translation: X:441.76, Y:24.13, Z:16.10 [[ 9.95441378e-01 -8.81108223e-02 -3.65095389e-02 4.41763907e+02] [ 8.80875691e-02 9.96110198e-01 -2.24810850e-03 2.41286015e+01] [ 3.65656067e-02 -9.78176315e-04 9.99330776e-01 1.60971620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.479254154 meters Centerline goodness : 0.999082 with order 1 Centerline is valid? [True, True] Translation: X:441.83, Y:24.13, Z:16.10 [[ 9.95942045e-01 -8.22586463e-02 -3.65097068e-02 4.41825116e+02] [ 8.22315626e-02 9.96610721e-01 -2.24537821e-03 2.41340246e+01] [ 3.65706670e-02 -7.65983673e-04 9.99330776e-01 1.60997419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.539254154 meters Centerline goodness : 0.998936 with order 1 Centerline is valid? [True, True] Translation: X:441.89, Y:24.14, Z:16.10 [[ 9.96143281e-01 -7.97846793e-02 -3.65098304e-02 4.41887300e+02] [ 7.97560085e-02 9.96811891e-01 -2.24336765e-03 2.41369678e+01] [ 3.65724194e-02 -6.77162726e-04 9.99330776e-01 1.61026854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.599254154 meters Centerline goodness : 0.999082 with order 1 Centerline is valid? [True, True] Translation: X:441.95, Y:24.14, Z:16.10 [[ 9.96100746e-01 -8.03139077e-02 -3.65099963e-02 4.41949107e+02] [ 8.02856913e-02 9.96769375e-01 -2.24066436e-03 2.41390548e+01] [ 3.65720027e-02 -6.99302847e-04 9.99330776e-01 1.61049231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.659254154 meters Centerline goodness : 0.999360 with order 1 Centerline is valid? [True, True] Translation: X:442.01, Y:24.14, Z:16.11 [[ 9.95950894e-01 -8.21512293e-02 -3.65101621e-02 4.42010074e+02] [ 8.21243454e-02 9.96619578e-01 -2.23795958e-03 2.41409347e+01] [ 3.65705934e-02 -7.69475315e-04 9.99330776e-01 1.61057251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.719254154 meters Centerline goodness : 0.999530 with order 1 Centerline is valid? [True, True] Translation: X:442.07, Y:24.14, Z:16.11 [[ 9.96005619e-01 -8.14850094e-02 -3.65102846e-02 4.42071791e+02] [ 8.14577515e-02 9.96674287e-01 -2.23595935e-03 2.41435736e+01] [ 3.65710590e-02 -7.47017613e-04 9.99330776e-01 1.61064424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.779254154 meters Centerline goodness : 0.999424 with order 1 Centerline is valid? [True, True] Translation: X:442.13, Y:24.15, Z:16.11 [[ 9.96184771e-01 -7.92646859e-02 -3.65104431e-02 4.42134383e+02] [ 7.92360325e-02 9.96853381e-01 -2.23336813e-03 2.41459536e+01] [ 3.65725858e-02 -6.68095333e-04 9.99330776e-01 1.61086802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.839254154 meters Centerline goodness : 0.999553 with order 1 Centerline is valid? [True, True] Translation: X:442.20, Y:24.15, Z:16.11 [[ 9.96263572e-01 -7.82679406e-02 -3.65106080e-02 4.42195267e+02] [ 7.82387172e-02 9.96932158e-01 -2.23066861e-03 2.41487834e+01] [ 3.65731891e-02 -6.34209258e-04 9.99330776e-01 1.61117063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.899254154 meters Centerline goodness : 0.999127 with order 1 Centerline is valid? [True, True] Translation: X:442.26, Y:24.15, Z:16.12 [[ 9.96395732e-01 -7.65670478e-02 -3.65107297e-02 4.42257406e+02] [ 7.65367560e-02 9.97064270e-01 -2.22867476e-03 2.41523877e+01] [ 3.65741871e-02 -5.73770790e-04 9.99330776e-01 1.61152965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.959254154 meters Centerline goodness : 0.999425 with order 1 Centerline is valid? [True, True] Translation: X:442.32, Y:24.16, Z:16.12 [[ 9.96696003e-01 -7.25536575e-02 -3.65108903e-02 4.42319664e+02] [ 7.25207702e-02 9.97364418e-01 -2.22604070e-03 2.41554485e+01] [ 3.65761703e-02 -4.29112019e-04 9.99330776e-01 1.61176216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.019254154 meters Centerline goodness : 0.999489 with order 1 Centerline is valid? [True, True] Translation: X:442.38, Y:24.16, Z:16.12 [[ 9.96809241e-01 -7.09808393e-02 -3.65110490e-02 4.42381746e+02] [ 7.09469927e-02 9.97477609e-01 -2.22343532e-03 2.41580478e+01] [ 3.65767751e-02 -3.74008249e-04 9.99330776e-01 1.61193499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.079254154 meters Centerline goodness : 0.999127 with order 1 Centerline is valid? [True, True] Translation: X:442.44, Y:24.16, Z:16.12 [[ 9.96695259e-01 -7.25637088e-02 -3.65112107e-02 4.42443599e+02] [ 7.25310209e-02 9.97363685e-01 -2.22077702e-03 2.41585372e+01] [ 3.65761034e-02 -4.34757458e-04 9.99330776e-01 1.61205937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.139254154 meters Centerline goodness : 0.998896 with order 1 Centerline is valid? [True, True] Translation: X:442.51, Y:24.16, Z:16.12 [[ 9.96420020e-01 -7.62500388e-02 -3.65112927e-02 4.42505458e+02] [ 7.62198731e-02 9.97088564e-01 -2.21942810e-03 2.41591675e+01] [ 3.65742239e-02 -5.71403500e-04 9.99330776e-01 1.61217583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.199254154 meters Centerline goodness : 0.999130 with order 1 Centerline is valid? [True, True] Translation: X:442.57, Y:24.16, Z:16.12 [[ 9.96221143e-01 -7.88057933e-02 -3.65113746e-02 4.42568135e+02] [ 7.87773920e-02 9.96889765e-01 -2.21807991e-03 2.41602721e+01] [ 3.65726131e-02 -6.66572766e-04 9.99330776e-01 1.61235351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.259254154 meters Centerline goodness : 0.999279 with order 1 Centerline is valid? [True, True] Translation: X:442.63, Y:24.16, Z:16.13 [[ 9.95965825e-01 -8.19694038e-02 -3.65115378e-02 4.42630381e+02] [ 8.19432248e-02 9.96634537e-01 -2.21539024e-03 2.41614853e+01] [ 3.65702537e-02 -7.85420181e-04 9.99330776e-01 1.61251693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.319254154 meters Centerline goodness : 0.999067 with order 1 Centerline is valid? [True, True] Translation: X:442.69, Y:24.16, Z:16.13 [[ 9.95800145e-01 -8.39581320e-02 -3.65116995e-02 4.42692587e+02] [ 8.39333862e-02 9.96468911e-01 -2.21272191e-03 2.41644547e+01] [ 3.65685494e-02 -8.61121771e-04 9.99330776e-01 1.61273169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.37925415399997 meters Centerline goodness : 0.999005 with order 1 Centerline is valid? [True, True] Translation: X:442.76, Y:24.17, Z:16.13 [[ 9.95700264e-01 -8.51344175e-02 -3.65118629e-02 4.42755054e+02] [ 8.51105608e-02 9.96369062e-01 -2.21002113e-03 2.41678717e+01] [ 3.65674395e-02 -9.07026508e-04 9.99330776e-01 1.61301822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.43925415399997 meters Centerline goodness : 0.998920 with order 1 Centerline is valid? [True, True] Translation: X:442.82, Y:24.17, Z:16.13 [[ 9.95623419e-01 -8.60283632e-02 -3.65120265e-02 4.42816738e+02] [ 8.60052061e-02 9.96292242e-01 -2.20731621e-03 2.41716887e+01] [ 3.65665405e-02 -9.42568648e-04 9.99330776e-01 1.61329855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.49925415399997 meters Centerline goodness : 0.998774 with order 1 Centerline is valid? [True, True] Translation: X:442.88, Y:24.18, Z:16.13 [[ 9.95620199e-01 -8.60655549e-02 -3.65121877e-02 4.42878923e+02] [ 8.60425206e-02 9.96289026e-01 -2.20464671e-03 2.41752464e+01] [ 3.65664360e-02 -9.46609861e-04 9.99330776e-01 1.61339780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.559254154 meters Centerline goodness : 0.999004 with order 1 Centerline is valid? [True, True] Translation: X:442.94, Y:24.18, Z:16.14 [[ 9.95496397e-01 -8.74858363e-02 -3.65123481e-02 4.42941338e+02] [ 8.74638536e-02 9.96165260e-01 -2.20198690e-03 2.41791033e+01] [ 3.65649754e-02 -1.00144064e-03 9.99330776e-01 1.61381414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.619254154 meters Centerline goodness : 0.999068 with order 1 Centerline is valid? [True, True] Translation: X:443.00, Y:24.18, Z:16.14 [[ 9.95358947e-01 -8.90359697e-02 -3.65125095e-02 4.43002638e+02] [ 8.90151269e-02 9.96027846e-01 -2.19930615e-03 2.41820662e+01] [ 3.65632936e-02 -1.06106661e-03 9.99330776e-01 1.61407953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.679254154 meters Centerline goodness : 0.998940 with order 1 Centerline is valid? [True, True] Translation: X:443.06, Y:24.19, Z:16.14 [[ 9.95257209e-01 -9.01660490e-02 -3.65126288e-02 4.43064363e+02] [ 9.01460383e-02 9.95926134e-01 -2.19732429e-03 2.41857696e+01] [ 3.65620053e-02 -1.10456600e-03 9.99330776e-01 1.61436854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.739254154 meters Centerline goodness : 0.998770 with order 1 Centerline is valid? [True, True] Translation: X:443.13, Y:24.19, Z:16.14 [[ 9.95300985e-01 -8.96814626e-02 -3.65127866e-02 4.43126415e+02] [ 8.96612225e-02 9.95969903e-01 -2.19469871e-03 2.41887566e+01] [ 3.65624604e-02 -1.08939530e-03 9.99330776e-01 1.61447925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.799254154 meters Centerline goodness : 0.998920 with order 1 Centerline is valid? [True, True] Translation: X:443.19, Y:24.19, Z:16.15 [[ 9.95456695e-01 -8.79361891e-02 -3.65129442e-02 4.43188228e+02] [ 8.79148723e-02 9.96125579e-01 -2.19207451e-03 2.41920350e+01] [ 3.65642403e-02 -1.02791557e-03 9.99330776e-01 1.61459688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.859254154 meters Centerline goodness : 0.998731 with order 1 Centerline is valid? [True, True] Translation: X:443.25, Y:24.20, Z:16.15 [[ 9.95517171e-01 -8.72488158e-02 -3.65131073e-02 4.43249974e+02] [ 8.72271368e-02 9.96186044e-01 -2.18935413e-03 2.41953595e+01] [ 3.65648664e-02 -1.00539418e-03 9.99330776e-01 1.61479111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.919254154 meters Centerline goodness : 0.998900 with order 1 Centerline is valid? [True, True] Translation: X:443.31, Y:24.20, Z:16.15 [[ 9.95633238e-01 -8.59141194e-02 -3.65132683e-02 4.43312208e+02] [ 8.58916423e-02 9.96302085e-01 -2.18666579e-03 2.41994835e+01] [ 3.65661108e-02 -9.59067436e-04 9.99330776e-01 1.61515726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.979254154 meters Centerline goodness : 0.999026 with order 1 Centerline is valid? [True, True] Translation: X:443.37, Y:24.20, Z:16.15 [[ 9.95749624e-01 -8.45544540e-02 -3.65134263e-02 4.43374119e+02] [ 8.45311604e-02 9.96418443e-01 -2.18402314e-03 2.42032400e+01] [ 3.65673203e-02 -9.11782073e-04 9.99330776e-01 1.61546467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.039254154 meters Centerline goodness : 0.999003 with order 1 Centerline is valid? [True, True] Translation: X:443.44, Y:24.21, Z:16.16 [[ 9.96258630e-01 -7.83294378e-02 -3.65135845e-02 4.43435698e+02] [ 7.83020616e-02 9.96927294e-01 -2.18137571e-03 2.42079689e+01] [ 3.65722549e-02 -6.85874568e-04 9.99330776e-01 1.61592650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.099254154 meters Centerline goodness : 0.998857 with order 1 Centerline is valid? [True, True] Translation: X:443.50, Y:24.21, Z:16.16 [[ 9.96698169e-01 -7.25224558e-02 -3.65137417e-02 4.43497416e+02] [ 7.24912799e-02 9.97366666e-01 -2.17874144e-03 2.42105071e+01] [ 3.65755965e-02 -4.75380270e-04 9.99330776e-01 1.61604235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.159254154 meters Centerline goodness : 0.999131 with order 1 Centerline is valid? [True, True] Translation: X:443.56, Y:24.21, Z:16.16 [[ 9.96662619e-01 -7.30093079e-02 -3.65139036e-02 4.43558283e+02] [ 7.29785581e-02 9.97331136e-01 -2.17602516e-03 2.42127493e+01] [ 3.65753230e-02 -4.95969096e-04 9.99330776e-01 1.61640811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.219254154 meters Centerline goodness : 0.998837 with order 1 Centerline is valid? [True, True] Translation: X:443.62, Y:24.21, Z:16.16 [[ 9.96378528e-01 -7.67890434e-02 -3.65139829e-02 4.43619615e+02] [ 7.67608782e-02 9.97047160e-01 -2.17469305e-03 2.42125378e+01] [ 3.65731555e-02 -6.36027933e-04 9.99330776e-01 1.61634632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.279254154 meters Centerline goodness : 0.999049 with order 1 Centerline is valid? [True, True] Translation: X:443.68, Y:24.21, Z:16.16 [[ 9.95918902e-01 -8.25364415e-02 -3.65140629e-02 4.43681269e+02] [ 8.25121838e-02 9.96587686e-01 -2.17334913e-03 2.42115933e+01] [ 3.65688460e-02 -8.48375590e-04 9.99330776e-01 1.61639176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.339254154 meters Centerline goodness : 0.998774 with order 1 Centerline is valid? [True, True] Translation: X:443.74, Y:24.21, Z:16.17 [[ 9.95609064e-01 -8.61934352e-02 -3.65141436e-02 4.43743709e+02] [ 8.61716835e-02 9.96277935e-01 -2.17199305e-03 2.42128189e+01] [ 3.65654471e-02 -9.84029256e-04 9.99330776e-01 1.61652913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.399254154 meters Centerline goodness : 0.999113 with order 1 Centerline is valid? [True, True] Translation: X:443.81, Y:24.21, Z:16.17 [[ 9.95202085e-01 -9.07717778e-02 -3.65143049e-02 4.43806067e+02] [ 9.07532022e-02 9.95871051e-01 -2.16927792e-03 2.42137306e+01] [ 3.65604484e-02 -1.15492018e-03 9.99330776e-01 1.61681414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.459254154 meters Centerline goodness : 0.998860 with order 1 Centerline is valid? [True, True] Translation: X:443.87, Y:24.22, Z:16.17 [[ 9.95021125e-01 -9.27343229e-02 -3.65144677e-02 4.43867738e+02] [ 9.27171674e-02 9.95690129e-01 -2.16653313e-03 2.42163330e+01] [ 3.65580071e-02 -1.22977178e-03 9.99330776e-01 1.61697983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.519254154 meters Centerline goodness : 0.999243 with order 1 Centerline is valid? [True, True] Translation: X:443.93, Y:24.22, Z:16.17 [[ 9.94840431e-01 -9.46530473e-02 -3.65146279e-02 4.43929446e+02] [ 9.46372810e-02 9.95509469e-01 -2.16383067e-03 2.42200647e+01] [ 3.65554710e-02 -1.30297887e-03 9.99330776e-01 1.61739697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.579254154 meters Centerline goodness : 0.999369 with order 1 Centerline is valid? [True, True] Translation: X:443.99, Y:24.22, Z:16.18 [[ 9.94767212e-01 -9.54194074e-02 -3.65147879e-02 4.43991366e+02] [ 9.54042556e-02 9.95436265e-01 -2.16112702e-03 2.42242463e+01] [ 3.65543575e-02 -1.33384786e-03 9.99330776e-01 1.61762561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.639254154 meters Centerline goodness : 0.999369 with order 1 Centerline is valid? [True, True] Translation: X:444.05, Y:24.23, Z:16.18 [[ 9.94731905e-01 -9.57867246e-02 -3.65149491e-02 4.44052715e+02] [ 9.57719199e-02 9.95400965e-01 -2.15839905e-03 2.42293634e+01] [ 3.65537616e-02 -1.35007839e-03 9.99330776e-01 1.61772199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.699254154 meters Centerline goodness : 0.999430 with order 1 Centerline is valid? [True, True] Translation: X:444.11, Y:24.23, Z:16.18 [[ 9.94688065e-01 -9.62408004e-02 -3.65152161e-02 4.44114622e+02] [ 9.62264670e-02 9.95357136e-01 -2.15387391e-03 2.42335917e+01] [ 3.65529714e-02 -1.37129756e-03 9.99330776e-01 1.61793747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.759254154 meters Centerline goodness : 0.999474 with order 1 Centerline is valid? [True, True] Translation: X:444.18, Y:24.24, Z:16.18 [[ 9.94741028e-01 -9.56917726e-02 -3.65153762e-02 4.44176718e+02] [ 9.56771695e-02 9.95410092e-01 -2.15115603e-03 2.42383610e+01] [ 3.65536219e-02 -1.35384467e-03 9.99330776e-01 1.61821310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.819254154 meters Centerline goodness : 0.999493 with order 1 Centerline is valid? [True, True] Translation: X:444.24, Y:24.24, Z:16.18 [[ 9.94828337e-01 -9.47797174e-02 -3.65155361e-02 4.44237380e+02] [ 9.47646005e-02 9.95497391e-01 -2.14843845e-03 2.42435018e+01] [ 3.65547493e-02 -1.32305273e-03 9.99330776e-01 1.61842954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.87925415399997 meters Centerline goodness : 0.999133 with order 1 Centerline is valid? [True, True] Translation: X:444.30, Y:24.25, Z:16.19 [[ 9.94987514e-01 -9.30937863e-02 -3.65156540e-02 4.44299461e+02] [ 9.30776093e-02 9.95656543e-01 -2.14643147e-03 2.42496827e+01] [ 3.65568693e-02 -1.26311726e-03 9.99330776e-01 1.61859216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.93925415399997 meters Centerline goodness : 0.999662 with order 1 Centerline is valid? [True, True] Translation: X:444.36, Y:24.26, Z:16.19 [[ 9.95038314e-01 -9.25491669e-02 -3.65158134e-02 4.44361630e+02] [ 9.25327231e-02 9.95707336e-01 -2.14371742e-03 2.42553235e+01] [ 3.65574625e-02 -1.24582668e-03 9.99330776e-01 1.61866889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.99925415399997 meters Centerline goodness : 0.999450 with order 1 Centerline is valid? [True, True] Translation: X:444.42, Y:24.26, Z:16.19 [[ 9.94974965e-01 -9.32276965e-02 -3.65159711e-02 4.44422486e+02] [ 9.32118076e-02 9.95644000e-01 -2.14102772e-03 2.42598968e+01] [ 3.65565106e-02 -1.27345069e-03 9.99330776e-01 1.61880252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.059254154 meters Centerline goodness : 0.999513 with order 1 Centerline is valid? [True, True] Translation: X:444.48, Y:24.27, Z:16.19 [[ 9.94967040e-01 -9.33121857e-02 -3.65160877e-02 4.44484403e+02] [ 9.32964265e-02 9.95636079e-01 -2.13903720e-03 2.42661189e+01] [ 3.65563326e-02 -1.27854898e-03 9.99330776e-01 1.61908922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.119254154 meters Centerline goodness : 0.998879 with order 1 Centerline is valid? [True, True] Translation: X:444.55, Y:24.27, Z:16.19 [[ 9.95315476e-01 -8.95190888e-02 -3.65162376e-02 4.44546433e+02] [ 8.95008736e-02 9.95984452e-01 -2.13647468e-03 2.42728254e+01] [ 3.65608602e-02 -1.14176885e-03 9.99330776e-01 1.61927873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.179254154 meters Centerline goodness : 0.999322 with order 1 Centerline is valid? [True, True] Translation: X:444.61, Y:24.28, Z:16.20 [[ 9.95608389e-01 -8.62002854e-02 -3.65163935e-02 4.44608385e+02] [ 8.61799378e-02 9.96277303e-01 -2.13380602e-03 2.42794719e+01] [ 3.65643888e-02 -1.02254535e-03 9.99330776e-01 1.61982010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.239254154 meters Centerline goodness : 0.999385 with order 1 Centerline is valid? [True, True] Translation: X:444.67, Y:24.29, Z:16.20 [[ 9.96049563e-01 -8.09432454e-02 -3.65165526e-02 4.44670647e+02] [ 8.09194667e-02 9.96718365e-01 -2.13108031e-03 2.42858531e+01] [ 3.65692152e-02 -8.32238353e-04 9.99330776e-01 1.62014039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.299254154 meters Centerline goodness : 0.999533 with order 1 Centerline is valid? [True, True] Translation: X:444.73, Y:24.29, Z:16.20 [[ 9.96234536e-01 -7.86338237e-02 -3.65167096e-02 4.44732425e+02] [ 7.86085932e-02 9.96903285e-01 -2.12838647e-03 2.42904052e+01] [ 3.65709909e-02 -7.50155066e-04 9.99330776e-01 1.62031382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.359254154 meters Centerline goodness : 0.999490 with order 1 Centerline is valid? [True, True] Translation: X:444.79, Y:24.29, Z:16.20 [[ 9.96109068e-01 -8.02074987e-02 -3.65168669e-02 4.44794727e+02] [ 8.01834238e-02 9.96777859e-01 -2.12568384e-03 2.42948274e+01] [ 3.65697002e-02 -8.10634468e-04 9.99330776e-01 1.62046569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.419254154 meters Centerline goodness : 0.999511 with order 1 Centerline is valid? [True, True] Translation: X:444.86, Y:24.30, Z:16.21 [[ 9.95987698e-01 -8.17007444e-02 -3.65170225e-02 4.44855997e+02] [ 8.16777701e-02 9.96656528e-01 -2.12300796e-03 2.42982186e+01] [ 3.65683802e-02 -8.68139159e-04 9.99330776e-01 1.62061361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.479254154 meters Centerline goodness : 0.999321 with order 1 Centerline is valid? [True, True] Translation: X:444.92, Y:24.30, Z:16.21 [[ 9.95850716e-01 -8.33537624e-02 -3.65171372e-02 4.44917871e+02] [ 8.33319706e-02 9.96519585e-01 -2.12103381e-03 2.43009337e+01] [ 3.65668385e-02 -9.30811964e-04 9.99330776e-01 1.62076516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.539254154 meters Centerline goodness : 0.999490 with order 1 Centerline is valid? [True, True] Translation: X:444.98, Y:24.30, Z:16.21 [[ 9.95847515e-01 -8.33919273e-02 -3.65172910e-02 4.44979979e+02] [ 8.33702584e-02 9.96516388e-01 -2.11838131e-03 2.43045397e+01] [ 3.65667349e-02 -9.34871229e-04 9.99330776e-01 1.62107882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.599254154 meters Centerline goodness : 0.999511 with order 1 Centerline is valid? [True, True] Translation: X:445.04, Y:24.31, Z:16.21 [[ 9.96028221e-01 -8.12050455e-02 -3.65174428e-02 4.45041636e+02] [ 8.11820039e-02 9.96697048e-01 -2.11576258e-03 2.43087230e+01] [ 3.65686380e-02 -8.57199938e-04 9.99330776e-01 1.62137771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.659254154 meters Centerline goodness : 0.999278 with order 1 Centerline is valid? [True, True] Translation: X:445.10, Y:24.31, Z:16.21 [[ 9.96388282e-01 -7.66606526e-02 -3.65175975e-02 4.45103651e+02] [ 7.66346582e-02 9.97057001e-01 -2.11308896e-03 2.43119771e+01] [ 3.65721170e-02 -6.93056526e-04 9.99330776e-01 1.62147326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.719254154 meters Centerline goodness : 0.999320 with order 1 Centerline is valid? [True, True] Translation: X:445.16, Y:24.32, Z:16.22 [[ 9.96782782e-01 -7.13480109e-02 -3.65177526e-02 4.45164727e+02] [ 7.13185504e-02 9.97451357e-01 -2.11040406e-03 2.43172496e+01] [ 3.65752551e-02 -5.00778751e-04 9.99330776e-01 1.62186910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.779254154 meters Centerline goodness : 0.999446 with order 1 Centerline is valid? [True, True] Translation: X:445.23, Y:24.32, Z:16.22 [[ 9.97207019e-01 -6.51506424e-02 -3.65178672e-02 4.45226811e+02] [ 6.51170993e-02 9.97875402e-01 -2.10841917e-03 2.43209683e+01] [ 3.65776463e-02 -2.75407192e-04 9.99330776e-01 1.62206999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.839254154 meters Centerline goodness : 0.999487 with order 1 Centerline is valid? [True, True] Translation: X:445.29, Y:24.32, Z:16.22 [[ 9.97333241e-01 -6.31889304e-02 -3.65180215e-02 4.45288113e+02] [ 6.31541705e-02 9.98001561e-01 -2.10574437e-03 2.43241902e+01] [ 3.65781022e-02 -2.06136504e-04 9.99330776e-01 1.62226535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.899254154 meters Centerline goodness : 0.999680 with order 1 Centerline is valid? [True, True] Translation: X:445.35, Y:24.33, Z:16.22 [[ 9.97502105e-01 -6.04646906e-02 -3.65180992e-02 4.45348457e+02] [ 6.04281549e-02 9.98170331e-01 -2.10439578e-03 2.43271029e+01] [ 3.65785248e-02 -1.07582130e-04 9.99330776e-01 1.62242433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.959254154 meters Centerline goodness : 0.999594 with order 1 Centerline is valid? [True, True] Translation: X:445.41, Y:24.33, Z:16.23 [[ 9.97585029e-01 -5.90807850e-02 -3.65180992e-02 4.45408516e+02] [ 5.90433223e-02 9.98253203e-01 -2.10439578e-03 2.43294664e+01] [ 3.65786389e-02 -5.68361737e-05 9.99330776e-01 1.62265649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.019254154 meters Centerline goodness : 0.999594 with order 1 Centerline is valid? [True, True] Translation: X:445.47, Y:24.33, Z:16.23 [[ 9.97541245e-01 -5.98155341e-02 -3.65180220e-02 4.45468552e+02] [ 5.97785146e-02 9.98209445e-01 -2.10573412e-03 2.43307891e+01] [ 3.65785901e-02 -8.24364773e-05 9.99330776e-01 1.62281267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.079254154 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:445.53, Y:24.33, Z:16.23 [[ 9.97231754e-01 -6.47708973e-02 -3.65179451e-02 4.45528369e+02] [ 6.47371492e-02 9.97900126e-01 -2.10706743e-03 2.43306459e+01] [ 3.65777387e-02 -2.62833109e-04 9.99330776e-01 1.62298528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.139254154 meters Centerline goodness : 0.999639 with order 1 Centerline is valid? [True, True] Translation: X:445.59, Y:24.33, Z:16.23 [[ 9.96573429e-01 -7.42148676e-02 -3.65178686e-02 4.45588806e+02] [ 7.41874041e-02 9.97242089e-01 -2.10839165e-03 2.43300248e+01] [ 3.65736296e-02 -6.07998782e-04 9.99330776e-01 1.62329753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.199254154 meters Centerline goodness : 0.999241 with order 1 Centerline is valid? [True, True] Translation: X:445.65, Y:24.33, Z:16.24 [[ 9.95731795e-01 -8.47622444e-02 -3.65178686e-02 4.45650490e+02] [ 8.47418621e-02 9.96400708e-01 -2.10839165e-03 2.43286083e+01] [ 3.65651422e-02 -9.95199587e-04 9.99330776e-01 1.62365224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.259254154 meters Centerline goodness : 0.999344 with order 1 Centerline is valid? [True, True] Translation: X:445.71, Y:24.33, Z:16.24 [[ 9.95177837e-01 -9.10357035e-02 -3.65181162e-02 4.45712240e+02] [ 9.10196946e-02 9.95846870e-01 -2.10409435e-03 2.43289031e+01] [ 3.65579995e-02 -1.22991972e-03 9.99330776e-01 1.62381899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.319254154 meters Centerline goodness : 0.999198 with order 1 Centerline is valid? [True, True] Translation: X:445.77, Y:24.33, Z:16.24 [[ 9.94292183e-01 -1.00247016e-01 -3.65183652e-02 4.45774165e+02] [ 1.00237362e-01 9.94961337e-01 -2.09976383e-03 2.43288409e+01] [ 3.65448566e-02 -1.57272584e-03 9.99330776e-01 1.62421240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.37925415399997 meters Centerline goodness : 0.999579 with order 1 Centerline is valid? [True, True] Translation: X:445.84, Y:24.33, Z:16.24 [[ 9.93833764e-01 -1.04694062e-01 -3.65185207e-02 4.45836636e+02] [ 1.04687501e-01 9.94502956e-01 -2.09705725e-03 2.43302178e+01] [ 3.65373262e-02 -1.73890637e-03 9.99330776e-01 1.62436369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.43925415399997 meters Centerline goodness : 0.999285 with order 1 Centerline is valid? [True, True] Translation: X:445.90, Y:24.33, Z:16.25 [[ 9.93373761e-01 -1.08972276e-01 -3.65186759e-02 4.45899524e+02] [ 1.08968695e-01 9.94042976e-01 -2.09435066e-03 2.43313326e+01] [ 3.65293594e-02 -1.89891946e-03 9.99330776e-01 1.62452826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.49925415399997 meters Centerline goodness : 0.999034 with order 1 Centerline is valid? [True, True] Translation: X:445.96, Y:24.33, Z:16.25 [[ 9.93234672e-01 -1.10232739e-01 -3.65189073e-02 4.45961458e+02] [ 1.10230155e-01 9.93903890e-01 -2.09030716e-03 2.43339669e+01] [ 3.65267044e-02 -1.94931928e-03 9.99330776e-01 1.62469818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.559254154 meters Centerline goodness : 0.998697 with order 1 Centerline is valid? [True, True] Translation: X:446.02, Y:24.34, Z:16.25 [[ 9.93583696e-01 -1.07041101e-01 -3.65190616e-02 4.46024040e+02] [ 1.07036467e-01 9.94252904e-01 -2.08760935e-03 2.43378518e+01] [ 3.65326430e-02 -1.83465670e-03 9.99330776e-01 1.62468088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.619254154 meters Centerline goodness : 0.999156 with order 1 Centerline is valid? [True, True] Translation: X:446.09, Y:24.34, Z:16.25 [[ 9.94003030e-01 -1.03074359e-01 -3.65192143e-02 4.46086415e+02] [ 1.03067151e-01 9.94672215e-01 -2.08493446e-03 2.43425388e+01] [ 3.65395510e-02 -1.69150021e-03 9.99330776e-01 1.62483002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.679254154 meters Centerline goodness : 0.998963 with order 1 Centerline is valid? [True, True] Translation: X:446.15, Y:24.35, Z:16.25 [[ 9.94780667e-01 -9.52772833e-02 -3.65193696e-02 4.46147227e+02] [ 9.52649288e-02 9.95449777e-01 -2.08221004e-03 2.43494675e+01] [ 3.65515856e-02 -1.40767285e-03 9.99330776e-01 1.62503254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.739254154 meters Centerline goodness : 0.998771 with order 1 Centerline is valid? [True, True] Translation: X:446.21, Y:24.36, Z:16.25 [[ 9.95747688e-01 -8.45746361e-02 -3.65194840e-02 4.46208507e+02] [ 8.45551609e-02 9.96416628e-01 -2.08020090e-03 2.43572571e+01] [ 3.65645534e-02 -1.01655561e-03 9.99330776e-01 1.62541584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.799254154 meters Centerline goodness : 0.998896 with order 1 Centerline is valid? [True, True] Translation: X:446.27, Y:24.37, Z:16.26 [[ 9.96643659e-01 -7.32648082e-02 -3.65196404e-02 4.46269528e+02] [ 7.32378406e-02 9.97312340e-01 -2.07745177e-03 2.43652156e+01] [ 3.65736922e-02 -6.04140467e-04 9.99330776e-01 1.62580806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.859254154 meters Centerline goodness : 0.998702 with order 1 Centerline is valid? [True, True] Translation: X:446.33, Y:24.37, Z:16.26 [[ 9.97140633e-01 -6.61578895e-02 -3.65197556e-02 4.46330724e+02] [ 6.61262298e-02 9.97809107e-01 -2.07542560e-03 2.43702135e+01] [ 3.65770505e-02 -3.45422554e-04 9.99330776e-01 1.62597768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.919254154 meters Centerline goodness : 0.998911 with order 1 Centerline is valid? [True, True] Translation: X:446.39, Y:24.38, Z:16.26 [[ 9.97549928e-01 -5.96694520e-02 -3.65198319e-02 4.46391236e+02] [ 5.96334932e-02 9.98218185e-01 -2.07408263e-03 2.43751147e+01] [ 3.65785196e-02 -1.08804166e-04 9.99330776e-01 1.62625889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.979254154 meters Centerline goodness : 0.998954 with order 1 Centerline is valid? [True, True] Translation: X:446.45, Y:24.38, Z:16.26 [[ 9.97599051e-01 -5.88424548e-02 -3.65198319e-02 4.46450968e+02] [ 5.88059421e-02 9.98267279e-01 -2.07408263e-03 2.43779548e+01] [ 3.65785973e-02 -7.84802515e-05 9.99330776e-01 1.62632064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.039254154 meters Centerline goodness : 0.999318 with order 1 Centerline is valid? [True, True] Translation: X:446.51, Y:24.38, Z:16.26 [[ 9.97400601e-01 -6.21156089e-02 -3.65197546e-02 4.46510500e+02] [ 6.20812393e-02 9.98068942e-01 -2.07544269e-03 2.43799465e+01] [ 3.65781502e-02 -1.97143836e-04 9.99330776e-01 1.62644863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.099254154 meters Centerline goodness : 0.999043 with order 1 Centerline is valid? [True, True] Translation: X:446.57, Y:24.38, Z:16.27 [[ 9.96757987e-01 -7.16926002e-02 -3.65196777e-02 4.46569963e+02] [ 7.16646020e-02 9.97426625e-01 -2.07679373e-03 2.43790349e+01] [ 3.65745896e-02 -5.47107429e-04 9.99330776e-01 1.62656369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.159254154 meters Centerline goodness : 0.999091 with order 1 Centerline is valid? [True, True] Translation: X:446.63, Y:24.38, Z:16.27 [[ 9.95957384e-01 -8.20683101e-02 -3.65196012e-02 4.46630384e+02] [ 8.20472269e-02 9.96626276e-01 -2.07813908e-03 2.43779388e+01] [ 3.65669435e-02 -9.26594047e-04 9.99330776e-01 1.62673173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.219254154 meters Centerline goodness : 0.999007 with order 1 Centerline is valid? [True, True] Translation: X:446.69, Y:24.38, Z:16.27 [[ 9.95327726e-01 -8.93813948e-02 -3.65196389e-02 4.46691598e+02] [ 8.93652494e-02 9.95996755e-01 -2.07747586e-03 2.43782946e+01] [ 3.65591295e-02 -1.19581732e-03 9.99330776e-01 1.62697687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.279254154 meters Centerline goodness : 0.999238 with order 1 Centerline is valid? [True, True] Translation: X:446.75, Y:24.38, Z:16.27 [[ 9.94944651e-01 -9.35491286e-02 -3.65198832e-02 4.46754146e+02] [ 9.35359430e-02 9.95613745e-01 -2.07317326e-03 2.43793409e+01] [ 3.65536412e-02 -1.35322906e-03 9.99330776e-01 1.62723319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.339254154 meters Centerline goodness : 0.999325 with order 1 Centerline is valid? [True, True] Translation: X:446.82, Y:24.38, Z:16.27 [[ 9.94654605e-01 -9.65841807e-02 -3.65200337e-02 4.46816200e+02] [ 9.65731339e-02 9.95323738e-01 -2.07051801e-03 2.43813434e+01] [ 3.65492357e-02 -1.46740383e-03 9.99330776e-01 1.62739385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.399254154 meters Centerline goodness : 0.999071 with order 1 Centerline is valid? [True, True] Translation: X:446.88, Y:24.38, Z:16.28 [[ 9.94297399e-01 -1.00194599e-01 -3.65201869e-02 4.46878089e+02] [ 1.00186081e-01 9.94966569e-01 -2.06781162e-03 2.43842149e+01] [ 3.65435486e-02 -1.60279468e-03 9.99330776e-01 1.62759971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.459254154 meters Centerline goodness : 0.998943 with order 1 Centerline is valid? [True, True] Translation: X:446.94, Y:24.39, Z:16.28 [[ 9.93803730e-01 -1.04978145e-01 -3.65203399e-02 4.46939327e+02] [ 1.04972946e-01 9.94472934e-01 -2.06510608e-03 2.43881084e+01] [ 3.65352806e-02 -1.78133754e-03 9.99330776e-01 1.62770250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.519254154 meters Centerline goodness : 0.999136 with order 1 Centerline is valid? [True, True] Translation: X:447.00, Y:24.39, Z:16.28 [[ 9.93459348e-01 -1.08188629e-01 -3.65204530e-02 4.47001545e+02] [ 1.08185666e-01 9.94128566e-01 -2.06310421e-03 2.43932467e+01] [ 3.65292300e-02 -1.90137936e-03 9.99330776e-01 1.62785027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.579254154 meters Centerline goodness : 0.999196 with order 1 Centerline is valid? [True, True] Translation: X:447.06, Y:24.40, Z:16.28 [[ 9.93622313e-01 -1.06681511e-01 -3.65206049e-02 4.47063175e+02] [ 1.06677632e-01 9.94291525e-01 -2.06041155e-03 2.43978418e+01] [ 3.65319358e-02 -1.84866075e-03 9.99330776e-01 1.62800296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.639254154 meters Centerline goodness : 0.999259 with order 1 Centerline is valid? [True, True] Translation: X:447.12, Y:24.41, Z:16.28 [[ 9.93608870e-01 -1.06806594e-01 -3.65207609e-02 4.47124485e+02] [ 1.06802900e-01 9.94278083e-01 -2.05764367e-03 2.44062135e+01] [ 3.65315620e-02 -1.85603016e-03 9.99330776e-01 1.62817470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.699254154 meters Centerline goodness : 0.999491 with order 1 Centerline is valid? [True, True] Translation: X:447.19, Y:24.42, Z:16.28 [[ 9.93788082e-01 -1.05125974e-01 -3.65209134e-02 4.47186431e+02] [ 1.05121248e-01 9.94457289e-01 -2.05493309e-03 2.44154307e+01] [ 3.65345154e-02 -1.79695599e-03 9.99330776e-01 1.62847525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.759254154 meters Centerline goodness : 0.999404 with order 1 Centerline is valid? [True, True] Translation: X:447.25, Y:24.42, Z:16.28 [[ 9.94257579e-01 -1.00588660e-01 -3.65210651e-02 4.47247040e+02] [ 1.00580978e-01 9.94926759e-01 -2.05223396e-03 2.44245841e+01] [ 3.65422164e-02 -1.63287528e-03 9.99330776e-01 1.62848120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.819254154 meters Centerline goodness : 0.999000 with order 1 Centerline is valid? [True, True] Translation: X:447.31, Y:24.43, Z:16.29 [[ 9.94569273e-01 -9.74585287e-02 -3.65211771e-02 4.47309413e+02] [ 9.74488136e-02 9.95238426e-01 -2.05023784e-03 2.44297904e+01] [ 3.65470920e-02 -1.51984182e-03 9.99330776e-01 1.62865603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.87925415399997 meters Centerline goodness : 0.999296 with order 1 Centerline is valid? [True, True] Translation: X:447.37, Y:24.44, Z:16.29 [[ 9.95564145e-01 -8.67077043e-02 -3.65213269e-02 4.47369469e+02] [ 8.66908582e-02 9.96233157e-01 -2.04756653e-03 2.44417432e+01] [ 3.65612966e-02 -1.12758135e-03 9.99330776e-01 1.62920214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.93925415399997 meters Centerline goodness : 0.999637 with order 1 Centerline is valid? [True, True] Translation: X:447.43, Y:24.45, Z:16.30 [[ 9.96710641e-01 -7.23469572e-02 -3.65214374e-02 4.47430646e+02] [ 7.23205408e-02 9.97379344e-01 -2.04559403e-03 2.44522646e+01] [ 3.65737197e-02 -6.02384763e-04 9.99330776e-01 1.62969434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.99925415399997 meters Centerline goodness : 0.999506 with order 1 Centerline is valid? [True, True] Translation: X:447.49, Y:24.46, Z:16.30 [[ 9.97325427e-01 -6.33100853e-02 -3.65215837e-02 4.47492879e+02] [ 6.32777049e-02 9.97993867e-01 -2.04297859e-03 2.44600583e+01] [ 3.65776577e-02 -2.73487497e-04 9.99330776e-01 1.63009887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.059254154 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:447.55, Y:24.47, Z:16.30 [[ 9.97870590e-01 -5.40411761e-02 -3.65217347e-02 4.47554115e+02] [ 5.40026855e-02 9.98538706e-01 -2.04027591e-03 2.44663797e+01] [ 3.65786246e-02 6.36595703e-05 9.99330776e-01 1.63041117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.119254154 meters Centerline goodness : 0.999503 with order 1 Centerline is valid? [True, True] Translation: X:447.61, Y:24.48, Z:16.31 [[ 9.97841905e-01 -5.45682190e-02 -3.65218104e-02 4.47613387e+02] [ 5.45301309e-02 9.98510044e-01 -2.03892013e-03 2.44753571e+01] [ 3.65786547e-02 4.29808466e-05 9.99330776e-01 1.63080762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.179254154 meters Centerline goodness : 0.999397 with order 1 Centerline is valid? [True, True] Translation: X:447.67, Y:24.47, Z:16.31 [[ 9.97841042e-01 -5.45840464e-02 -3.65217270e-02 4.47672185e+02] [ 5.45459143e-02 9.98509179e-01 -2.04041228e-03 2.44725746e+01] [ 3.65786536e-02 4.38961312e-05 9.99330776e-01 1.63052847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.239254154 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:447.73, Y:24.47, Z:16.31 [[ 9.97601666e-01 -5.87970134e-02 -3.65216018e-02 4.47731346e+02] [ 5.87616209e-02 9.98269953e-01 -2.04265073e-03 2.44723096e+01] [ 3.65785195e-02 -1.08316754e-04 9.99330776e-01 1.63058724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.299254154 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:447.79, Y:24.47, Z:16.31 [[ 9.97474317e-01 -6.09193515e-02 -3.65214935e-02 4.47791441e+02] [ 6.08853101e-02 9.98142675e-01 -2.04458551e-03 2.44729726e+01] [ 3.65782160e-02 -1.84200924e-04 9.99330776e-01 1.63077370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.359254154 meters Centerline goodness : 0.999487 with order 1 Centerline is valid? [True, True] Translation: X:447.85, Y:24.47, Z:16.31 [[ 9.97390717e-01 -6.22731008e-02 -3.65214935e-02 4.47851072e+02] [ 6.22399666e-02 9.98059120e-01 -2.04458551e-03 2.44725639e+01] [ 3.65779323e-02 -2.33845930e-04 9.99330776e-01 1.63108215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.419254154 meters Centerline goodness : 0.999297 with order 1 Centerline is valid? [True, True] Translation: X:447.91, Y:24.47, Z:16.31 [[ 9.97428410e-01 -6.16664701e-02 -3.65214211e-02 4.47911834e+02] [ 6.16328821e-02 9.98096790e-01 -2.04587753e-03 2.44728410e+01] [ 3.65780752e-02 -2.10304072e-04 9.99330776e-01 1.63133403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.479254154 meters Centerline goodness : 0.999320 with order 1 Centerline is valid? [True, True] Translation: X:447.97, Y:24.47, Z:16.32 [[ 9.97530421e-01 -5.99937064e-02 -3.65214211e-02 4.47972156e+02] [ 5.99589976e-02 9.98198744e-01 -2.04587753e-03 2.44701552e+01] [ 3.65783765e-02 -1.48962727e-04 9.99330776e-01 1.63157199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.539254154 meters Centerline goodness : 0.999129 with order 1 Centerline is valid? [True, True] Translation: X:448.03, Y:24.47, Z:16.32 [[ 9.97508300e-01 -6.03604363e-02 -3.65213485e-02 4.48030860e+02] [ 6.03259257e-02 9.98176634e-01 -2.04717250e-03 2.44670841e+01] [ 3.65783249e-02 -1.61112591e-04 9.99330776e-01 1.63175425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.599254154 meters Centerline goodness : 0.999747 with order 1 Centerline is valid? [True, True] Translation: X:448.09, Y:24.46, Z:16.32 [[ 9.97317398e-01 -6.34367658e-02 -3.65210230e-02 4.48090257e+02] [ 6.34041047e-02 9.97985824e-01 -2.05296302e-03 2.44618965e+01] [ 3.65776966e-02 -2.68127030e-04 9.99330776e-01 1.63178301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.659254154 meters Centerline goodness : 0.999747 with order 1 Centerline is valid? [True, True] Translation: X:448.15, Y:24.46, Z:16.32 [[ 9.97106418e-01 -6.66711986e-02 -3.65204317e-02 4.48149360e+02] [ 6.66403223e-02 9.97774929e-01 -2.06342877e-03 2.44577334e+01] [ 3.65767424e-02 -3.76275267e-04 9.99330776e-01 1.63168689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.719254154 meters Centerline goodness : 0.999304 with order 1 Centerline is valid? [True, True] Translation: X:448.21, Y:24.46, Z:16.32 [[ 9.97042969e-01 -6.76134970e-02 -3.65203230e-02 4.48208979e+02] [ 6.75831822e-02 9.97711505e-01 -2.06535133e-03 2.44571075e+01] [ 3.65763920e-02 -4.08915618e-04 9.99330776e-01 1.63178798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.779254154 meters Centerline goodness : 0.999683 with order 1 Centerline is valid? [True, True] Translation: X:448.27, Y:24.46, Z:16.32 [[ 9.97137568e-01 -6.62037949e-02 -3.65202515e-02 4.48268146e+02] [ 6.61724887e-02 9.97806059e-01 -2.06661444e-03 2.44557377e+01] [ 3.65769459e-02 -3.55937035e-04 9.99330776e-01 1.63195013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.839254154 meters Centerline goodness : 0.999367 with order 1 Centerline is valid? [True, True] Translation: X:448.33, Y:24.46, Z:16.32 [[ 9.97171265e-01 -6.56943512e-02 -3.65201457e-02 4.48326647e+02] [ 6.56626350e-02 9.97839737e-01 -2.06848194e-03 2.44563722e+01] [ 3.65771402e-02 -3.35378246e-04 9.99330776e-01 1.63215703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.899254154 meters Centerline goodness : 0.999242 with order 1 Centerline is valid? [True, True] Translation: X:448.38, Y:24.46, Z:16.32 [[ 9.97094819e-01 -6.68448763e-02 -3.65196559e-02 4.48384752e+02] [ 6.68136161e-02 9.97763312e-01 -2.07709448e-03 2.44550367e+01] [ 3.65768159e-02 -3.68950122e-04 9.99330776e-01 1.63246304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.959254154 meters Centerline goodness : 0.999309 with order 1 Centerline is valid? [True, True] Translation: X:448.44, Y:24.45, Z:16.33 [[ 9.97007641e-01 -6.81328903e-02 -3.65194834e-02 4.48443906e+02] [ 6.81023828e-02 9.97676169e-01 -2.08012186e-03 2.44527054e+01] [ 3.65763430e-02 -4.13166452e-04 9.99330776e-01 1.63271978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.019254154 meters Centerline goodness : 0.998720 with order 1 Centerline is valid? [True, True] Translation: X:448.50, Y:24.45, Z:16.33 [[ 9.97098446e-01 -6.67911034e-02 -3.65189956e-02 4.48502327e+02] [ 6.67593839e-02 9.97766918e-01 -2.08865200e-03 2.44519253e+01] [ 3.65769490e-02 -3.55393982e-04 9.99330776e-01 1.63308271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.079254154 meters Centerline goodness : 0.999288 with order 1 Centerline is valid? [True, True] Translation: X:448.56, Y:24.45, Z:16.33 [[ 9.97279911e-01 -6.40248483e-02 -3.65184646e-02 4.48560792e+02] [ 6.39909361e-02 9.97948275e-01 -2.09789424e-03 2.44501919e+01] [ 3.65778561e-02 -2.44662956e-04 9.99330776e-01 1.63347347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.139254154 meters Centerline goodness : 0.999184 with order 1 Centerline is valid? [True, True] Translation: X:448.62, Y:24.45, Z:16.34 [[ 9.97332948e-01 -6.31936086e-02 -3.65179261e-02 4.48618699e+02] [ 6.31587976e-02 9.98001265e-01 -2.10722651e-03 2.44483347e+01] [ 3.65780997e-02 -2.04821878e-04 9.99330776e-01 1.63377503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.199254154 meters Centerline goodness : 0.999351 with order 1 Centerline is valid? [True, True] Translation: X:448.68, Y:24.45, Z:16.34 [[ 9.97245388e-01 -6.45609978e-02 -3.65173062e-02 4.48677121e+02] [ 6.45267118e-02 9.97913733e-01 -2.11791560e-03 2.44482058e+01] [ 3.65778561e-02 -2.44260129e-04 9.99330776e-01 1.63389089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.259254154 meters Centerline goodness : 0.999436 with order 1 Centerline is valid? [True, True] Translation: X:448.73, Y:24.45, Z:16.34 [[ 9.96950804e-01 -6.89610594e-02 -3.65166691e-02 4.48734108e+02] [ 6.89293228e-02 9.97619274e-01 -2.12884312e-03 2.44456725e+01] [ 3.65765402e-02 -3.94717418e-04 9.99330777e-01 1.63385694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.319254154 meters Centerline goodness : 0.999059 with order 1 Centerline is valid? [True, True] Translation: X:448.79, Y:24.44, Z:16.34 [[ 9.96594685e-01 -7.39296927e-02 -3.65162159e-02 4.48791656e+02] [ 7.39010048e-02 9.97263293e-01 -2.13658960e-03 2.44441542e+01] [ 3.65742391e-02 -5.69271201e-04 9.99330777e-01 1.63389439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.37925415399997 meters Centerline goodness : 0.999519 with order 1 Centerline is valid? [True, True] Translation: X:448.85, Y:24.44, Z:16.34 [[ 9.96271422e-01 -7.81654629e-02 -3.65159517e-02 4.48850187e+02] [ 7.81394524e-02 9.96940139e-01 -2.14109578e-03 2.44428798e+01] [ 3.65715777e-02 -7.20223932e-04 9.99330777e-01 1.63412238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.43925415399997 meters Centerline goodness : 0.999540 with order 1 Centerline is valid? [True, True] Translation: X:448.91, Y:24.44, Z:16.34 [[ 9.96105218e-01 -8.02559913e-02 -3.65153473e-02 4.48907878e+02] [ 8.02310083e-02 9.96773975e-01 -2.15135443e-03 2.44441849e+01] [ 3.65702069e-02 -7.86687756e-04 9.99330777e-01 1.63438903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.49925415399997 meters Centerline goodness : 0.999351 with order 1 Centerline is valid? [True, True] Translation: X:448.97, Y:24.44, Z:16.35 [[ 9.95926889e-01 -8.24395685e-02 -3.65150668e-02 4.48966243e+02] [ 8.24158777e-02 9.96595693e-01 -2.15610338e-03 2.44449219e+01] [ 3.65685066e-02 -8.62099952e-04 9.99330777e-01 1.63459981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.559254154 meters Centerline goodness : 0.999225 with order 1 Centerline is valid? [True, True] Translation: X:449.03, Y:24.45, Z:16.35 [[ 9.95795771e-01 -8.40087703e-02 -3.65145120e-02 4.49025254e+02] [ 8.39857905e-02 9.96464599e-01 -2.16545869e-03 2.44467213e+01] [ 3.65673361e-02 -9.10345551e-04 9.99330777e-01 1.63482949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.619254154 meters Centerline goodness : 0.999415 with order 1 Centerline is valid? [True, True] Translation: X:449.09, Y:24.45, Z:16.35 [[ 9.95573448e-01 -8.66039314e-02 -3.65139548e-02 4.49085093e+02] [ 8.65823520e-02 9.96242323e-01 -2.17481386e-03 2.44479434e+01] [ 3.65650946e-02 -9.96277155e-04 9.99330777e-01 1.63508385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.679254154 meters Centerline goodness : 0.999291 with order 1 Centerline is valid? [True, True] Translation: X:449.14, Y:24.45, Z:16.35 [[ 9.95441715e-01 -8.81052126e-02 -3.65138740e-02 4.49143572e+02] [ 8.80845923e-02 9.96110621e-01 -2.17617030e-03 2.44512496e+01] [ 3.65635896e-02 -1.05005901e-03 9.99330777e-01 1.63530173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.739254154 meters Centerline goodness : 0.999458 with order 1 Centerline is valid? [True, True] Translation: X:449.20, Y:24.46, Z:16.35 [[ 9.95184194e-01 -9.09681134e-02 -3.65133110e-02 4.49202889e+02] [ 9.09490724e-02 9.95853147e-01 -2.18557569e-03 2.44550673e+01] [ 3.65607134e-02 -1.14580139e-03 9.99330777e-01 1.63539902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.799254154 meters Centerline goodness : 0.999208 with order 1 Centerline is valid? [True, True] Translation: X:449.26, Y:24.46, Z:16.35 [[ 9.94862232e-01 -9.44241689e-02 -3.65132289e-02 4.49261006e+02] [ 9.44074013e-02 9.95531245e-01 -2.18694706e-03 2.44585505e+01] [ 3.65565609e-02 -1.27140802e-03 9.99330777e-01 1.63540857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.859254154 meters Centerline goodness : 0.999292 with order 1 Centerline is valid? [True, True] Translation: X:449.32, Y:24.46, Z:16.36 [[ 9.94717557e-01 -9.59363008e-02 -3.65131076e-02 4.49320040e+02] [ 9.59204759e-02 9.95386594e-01 -2.18897037e-03 2.44623349e+01] [ 3.65546595e-02 -1.32494740e-03 9.99330777e-01 1.63556782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.919254154 meters Centerline goodness : 0.999123 with order 1 Centerline is valid? [True, True] Translation: X:449.38, Y:24.47, Z:16.36 [[ 9.94702115e-01 -9.60963118e-02 -3.65130261e-02 4.49380606e+02] [ 9.60805447e-02 9.95371153e-01 -2.19032944e-03 2.44686094e+01] [ 3.65544954e-02 -1.32946611e-03 9.99330777e-01 1.63572964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.979254154 meters Centerline goodness : 0.999396 with order 1 Centerline is valid? [True, True] Translation: X:449.44, Y:24.48, Z:16.36 [[ 9.94778428e-01 -9.53030880e-02 -3.65130261e-02 4.49440807e+02] [ 9.52867874e-02 9.95447452e-01 -2.19032944e-03 2.44750390e+01] [ 3.65555439e-02 -1.30031648e-03 9.99330777e-01 1.63585700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.039254154 meters Centerline goodness : 0.999228 with order 1 Centerline is valid? [True, True] Translation: X:449.50, Y:24.48, Z:16.36 [[ 9.95007538e-01 -9.28805576e-02 -3.65130261e-02 4.49502134e+02] [ 9.28626280e-02 9.95676521e-01 -2.19032944e-03 2.44792761e+01] [ 3.65586018e-02 -1.21130125e-03 9.99330777e-01 1.63616904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.099254154 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:449.56, Y:24.49, Z:16.36 [[ 9.95105590e-01 -9.18240613e-02 -3.65131108e-02 4.49561784e+02] [ 9.18054733e-02 9.95774555e-01 -2.18891589e-03 2.44884654e+01] [ 3.65598218e-02 -1.17390098e-03 9.99330777e-01 1.63649479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.159254154 meters Centerline goodness : 0.999205 with order 1 Centerline is valid? [True, True] Translation: X:449.62, Y:24.50, Z:16.37 [[ 9.95525644e-01 -8.71520216e-02 -3.65132457e-02 4.49622235e+02] [ 8.71303762e-02 9.96194517e-01 -2.18666350e-03 2.44966315e+01] [ 3.65648673e-02 -1.00453324e-03 9.99330777e-01 1.63679604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.219254154 meters Centerline goodness : 0.999206 with order 1 Centerline is valid? [True, True] Translation: X:449.68, Y:24.50, Z:16.37 [[ 9.95693938e-01 -8.52077796e-02 -3.65132457e-02 4.49682359e+02] [ 8.51848280e-02 9.96362767e-01 -2.18666350e-03 2.45029436e+01] [ 3.65667592e-02 -9.33126962e-04 9.99330777e-01 1.63696731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.279254154 meters Centerline goodness : 0.999081 with order 1 Centerline is valid? [True, True] Translation: X:449.74, Y:24.51, Z:16.37 [[ 9.95627288e-01 -8.59830609e-02 -3.65132457e-02 4.49742163e+02] [ 8.59606301e-02 9.96296135e-01 -2.18666350e-03 2.45076147e+01] [ 3.65660216e-02 -9.61599755e-04 9.99330777e-01 1.63709321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.339254154 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:449.80, Y:24.51, Z:16.37 [[ 9.95431459e-01 -8.82213079e-02 -3.65131656e-02 4.49802837e+02] [ 8.82003321e-02 9.96100353e-01 -2.18799979e-03 2.45132217e+01] [ 3.65638054e-02 -1.04246951e-03 9.99330777e-01 1.63730279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.399254154 meters Centerline goodness : 0.999145 with order 1 Centerline is valid? [True, True] Translation: X:449.86, Y:24.52, Z:16.37 [[ 9.95321630e-01 -8.94519002e-02 -3.65131656e-02 4.49862654e+02] [ 8.94317513e-02 9.95990549e-01 -2.18799979e-03 2.45190580e+01] [ 3.65624886e-02 -1.08767283e-03 9.99330777e-01 1.63749113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.459254154 meters Centerline goodness : 0.999059 with order 1 Centerline is valid? [True, True] Translation: X:449.92, Y:24.53, Z:16.38 [[ 9.95331171e-01 -8.93456755e-02 -3.65131656e-02 4.49923247e+02] [ 8.93254552e-02 9.96000088e-01 -2.18799979e-03 2.45251613e+01] [ 3.65626045e-02 -1.08377075e-03 9.99330777e-01 1.63763421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.519254154 meters Centerline goodness : 0.998934 with order 1 Centerline is valid? [True, True] Translation: X:449.98, Y:24.53, Z:16.38 [[ 9.95297995e-01 -8.97144908e-02 -3.65131656e-02 4.49984284e+02] [ 8.96945184e-02 9.95966920e-01 -2.18799979e-03 2.45304603e+01] [ 3.65622004e-02 -1.09731900e-03 9.99330777e-01 1.63783918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.579254154 meters Centerline goodness : 0.999120 with order 1 Centerline is valid? [True, True] Translation: X:450.05, Y:24.54, Z:16.38 [[ 9.95059447e-01 -9.23226928e-02 -3.65132462e-02 4.50045776e+02] [ 9.23045229e-02 9.95728424e-01 -2.18665401e-03 2.45360670e+01] [ 3.65591549e-02 -1.19448704e-03 9.99330777e-01 1.63822821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.639254154 meters Centerline goodness : 0.998997 with order 1 Centerline is valid? [True, True] Translation: X:450.11, Y:24.54, Z:16.39 [[ 9.95009076e-01 -9.28639654e-02 -3.65133282e-02 4.50106607e+02] [ 9.28462096e-02 9.95678063e-01 -2.18528451e-03 2.45378857e+01] [ 3.65584541e-02 -1.21574620e-03 9.99330777e-01 1.63860318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.699254154 meters Centerline goodness : 0.998954 with order 1 Centerline is valid? [True, True] Translation: X:450.17, Y:24.55, Z:16.39 [[ 9.94366624e-01 -9.95077289e-02 -3.65134093e-02 4.50166789e+02] [ 9.94944915e-02 9.95035716e-01 -2.18392859e-03 2.45465936e+01] [ 3.65494641e-02 -1.46125739e-03 9.99330777e-01 1.63869890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.759254154 meters Centerline goodness : 0.999080 with order 1 Centerline is valid? [True, True] Translation: X:450.23, Y:24.55, Z:16.39 [[ 9.94077009e-01 -1.02360486e-01 -3.65134489e-02 4.50228324e+02] [ 1.02349192e-01 9.94746137e-01 -2.18326486e-03 2.45507295e+01] [ 3.65450923e-02 -1.56678862e-03 9.99330777e-01 1.63886737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.819254154 meters Centerline goodness : 0.999083 with order 1 Centerline is valid? [True, True] Translation: X:450.29, Y:24.56, Z:16.39 [[ 9.93715423e-01 -1.05813140e-01 -3.65135276e-02 4.50288802e+02] [ 1.05804220e-01 9.94384587e-01 -2.18194813e-03 2.45562976e+01] [ 3.65393679e-02 -1.69504979e-03 9.99330777e-01 1.63900190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.87925415399997 meters Centerline goodness : 0.998872 with order 1 Centerline is valid? [True, True] Translation: X:450.35, Y:24.56, Z:16.39 [[ 9.93679993e-01 -1.06145301e-01 -3.65136442e-02 4.50350525e+02] [ 1.06136676e-01 9.94349161e-01 -2.17999588e-03 2.45619434e+01] [ 3.65387078e-02 -1.70921853e-03 9.99330777e-01 1.63926594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.93925415399997 meters Centerline goodness : 0.998994 with order 1 Centerline is valid? [True, True] Translation: X:450.41, Y:24.57, Z:16.39 [[ 9.94032333e-01 -1.02793304e-01 -3.65137966e-02 4.50411575e+02] [ 1.02782516e-01 9.94701469e-01 -2.17744038e-03 2.45684759e+01] [ 3.65441534e-02 -1.58853372e-03 9.99330777e-01 1.63947070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.99925415399997 meters Centerline goodness : 0.998784 with order 1 Centerline is valid? [True, True] Translation: X:450.47, Y:24.57, Z:16.40 [[ 9.94318364e-01 -9.99886363e-02 -3.65138715e-02 4.50473666e+02] [ 9.99760065e-02 9.94987468e-01 -2.17618291e-03 2.45749272e+01] [ 3.65484382e-02 -1.48669243e-03 9.99330777e-01 1.63973312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.059254154 meters Centerline goodness : 0.998868 with order 1 Centerline is valid? [True, True] Translation: X:450.54, Y:24.57, Z:16.39 [[ 9.95456405e-01 -8.79390223e-02 -3.65140231e-02 4.50536000e+02] [ 8.79183832e-02 9.96125310e-01 -2.17363655e-03 2.45690555e+01] [ 3.65636901e-02 -1.04649345e-03 9.99330777e-01 1.63865991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.119254154 meters Centerline goodness : 0.998643 with order 1 Centerline is valid? [True, True] Translation: X:450.60, Y:24.58, Z:16.39 [[ 9.95618561e-01 -8.60836811e-02 -3.65141049e-02 4.50597373e+02] [ 8.60618458e-02 9.96287428e-01 -2.17226111e-03 2.45757342e+01] [ 3.65655399e-02 -9.79727785e-04 9.99330777e-01 1.63901056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.179254154 meters Centerline goodness : 0.999055 with order 1 Centerline is valid? [True, True] Translation: X:450.66, Y:24.59, Z:16.40 [[ 9.95378562e-01 -8.88157165e-02 -3.65141893e-02 4.50657351e+02] [ 8.87957689e-02 9.96047488e-01 -2.17084139e-03 2.45915359e+01] [ 3.65626714e-02 -1.08149654e-03 9.99330777e-01 1.64027095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.239254154 meters Centerline goodness : 0.999117 with order 1 Centerline is valid? [True, True] Translation: X:450.72, Y:24.60, Z:16.41 [[ 9.96045162e-01 -8.09983971e-02 -3.65143143e-02 4.50718537e+02] [ 8.09732755e-02 9.96713913e-01 -2.16873831e-03 2.45964449e+01] [ 3.65699894e-02 -7.96522328e-04 9.99330777e-01 1.64062232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.299254154 meters Centerline goodness : 0.998989 with order 1 Centerline is valid? [True, True] Translation: X:450.78, Y:24.59, Z:16.40 [[ 9.97124161e-01 -6.64086305e-02 -3.65143912e-02 4.50780142e+02] [ 6.63737692e-02 9.97792476e-01 -2.16744228e-03 2.45902821e+01] [ 3.65777217e-02 -2.62388704e-04 9.99330777e-01 1.63959335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.359254154 meters Centerline goodness : 0.998798 with order 1 Centerline is valid? [True, True] Translation: X:450.84, Y:24.60, Z:16.41 [[ 9.96845797e-01 -7.04638719e-02 -3.65143912e-02 4.50836503e+02] [ 7.04317294e-02 9.97514247e-01 -2.16744228e-03 2.46047452e+01] [ 3.65763518e-02 -4.11165987e-04 9.99330777e-01 1.64075648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.419254154 meters Centerline goodness : 0.998903 with order 1 Centerline is valid? [True, True] Translation: X:450.89, Y:24.61, Z:16.41 [[ 9.96906880e-01 -6.95946581e-02 -3.65137769e-02 4.50894757e+02] [ 6.95615555e-02 9.97575284e-01 -2.17774249e-03 2.46069590e+01] [ 3.65768006e-02 -3.68948641e-04 9.99330777e-01 1.64105240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.479254154 meters Centerline goodness : 0.999072 with order 1 Centerline is valid? [True, True] Translation: X:450.95, Y:24.61, Z:16.41 [[ 9.96735276e-01 -7.20109488e-02 -3.65131851e-02 4.50953831e+02] [ 7.19791047e-02 9.97403741e-01 -2.18761960e-03 2.46086468e+01] [ 3.65759200e-02 -4.47708748e-04 9.99330777e-01 1.64127917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.539254154 meters Centerline goodness : 0.999033 with order 1 Centerline is valid? [True, True] Translation: X:451.01, Y:24.61, Z:16.42 [[ 9.96183534e-01 -7.92790110e-02 -3.65130686e-02 4.51013070e+02] [ 7.92519722e-02 9.96852211e-01 -2.18956179e-03 2.46079709e+01] [ 3.65717195e-02 -7.12527301e-04 9.99330777e-01 1.64158793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.599254154 meters Centerline goodness : 0.998846 with order 1 Centerline is valid? [True, True] Translation: X:451.07, Y:24.61, Z:16.42 [[ 9.95708679e-01 -8.50354478e-02 -3.65129891e-02 4.51072602e+02] [ 8.50122257e-02 9.96377500e-01 -2.19088696e-03 2.46084305e+01] [ 3.65670238e-02 -9.22565309e-04 9.99330777e-01 1.64169830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.659254154 meters Centerline goodness : 0.999118 with order 1 Centerline is valid? [True, True] Translation: X:451.13, Y:24.61, Z:16.42 [[ 9.95040650e-01 -9.25251836e-02 -3.65129499e-02 4.51132851e+02] [ 9.25069707e-02 9.95709625e-01 -2.19153993e-03 2.46081892e+01] [ 3.65590683e-02 -1.19703107e-03 9.99330777e-01 1.64197114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.719254154 meters Centerline goodness : 0.998847 with order 1 Centerline is valid? [True, True] Translation: X:451.19, Y:24.61, Z:16.42 [[ 9.94686149e-01 -9.62614459e-02 -3.65129884e-02 4.51194137e+02] [ 9.62457690e-02 9.95355189e-01 -2.19089905e-03 2.46093366e+01] [ 3.65542916e-02 -1.33496370e-03 9.99330777e-01 1.64219919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.779254154 meters Centerline goodness : 0.999058 with order 1 Centerline is valid? [True, True] Translation: X:451.25, Y:24.61, Z:16.42 [[ 9.94283028e-01 -1.00339705e-01 -3.65130652e-02 4.51254653e+02] [ 1.00326818e-01 9.94952127e-01 -2.18961763e-03 2.46102757e+01] [ 3.65484575e-02 -1.48614002e-03 9.99330777e-01 1.64238951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.839254154 meters Centerline goodness : 0.998975 with order 1 Centerline is valid? [True, True] Translation: X:451.32, Y:24.61, Z:16.43 [[ 9.94001105e-01 -1.03095087e-01 -3.65131030e-02 4.51316529e+02] [ 1.03084078e-01 9.94670237e-01 -2.18898741e-03 2.46120172e+01] [ 3.65441707e-02 -1.58806367e-03 9.99330777e-01 1.64267685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.899254154 meters Centerline goodness : 0.998851 with order 1 Centerline is valid? [True, True] Translation: X:451.38, Y:24.61, Z:16.43 [[ 9.93909778e-01 -1.03971800e-01 -3.65132640e-02 4.51377476e+02] [ 1.03961480e-01 9.94578921e-01 -2.18629907e-03 2.46149515e+01] [ 3.65426361e-02 -1.62298896e-03 9.99330777e-01 1.64266576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.959254154 meters Centerline goodness : 0.998870 with order 1 Centerline is valid? [True, True] Translation: X:451.44, Y:24.62, Z:16.43 [[ 9.93934352e-01 -1.03736578e-01 -3.65133827e-02 4.51439239e+02] [ 1.03726173e-01 9.94603494e-01 -2.18431420e-03 2.46175062e+01] [ 3.65429313e-02 -1.61632853e-03 9.99330777e-01 1.64303340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.019254154 meters Centerline goodness : 0.998931 with order 1 Centerline is valid? [True, True] Translation: X:451.50, Y:24.62, Z:16.43 [[ 9.93906799e-01 -1.04000177e-01 -3.65135442e-02 4.51499871e+02] [ 1.03990049e-01 9.94575945e-01 -2.18161064e-03 2.46211984e+01] [ 3.65423807e-02 -1.62872760e-03 9.99330777e-01 1.64313898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.079254154 meters Centerline goodness : 0.999077 with order 1 Centerline is valid? [True, True] Translation: X:451.56, Y:24.62, Z:16.43 [[ 9.94510249e-01 -9.80617971e-02 -3.65136634e-02 4.51561938e+02] [ 9.80477450e-02 9.95179325e-01 -2.17961494e-03 2.46168090e+01] [ 3.65513798e-02 -1.41243296e-03 9.99330777e-01 1.64259280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.139254154 meters Centerline goodness : 0.999119 with order 1 Centerline is valid? [True, True] Translation: X:451.62, Y:24.63, Z:16.43 [[ 9.93344538e-01 -1.09239986e-01 -3.65137451e-02 4.51622003e+02] [ 1.09233509e-01 9.94013730e-01 -2.17824528e-03 2.46289379e+01] [ 3.65331154e-02 -1.82477645e-03 9.99330777e-01 1.64334429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.199254154 meters Centerline goodness : 0.999077 with order 1 Centerline is valid? [True, True] Translation: X:451.68, Y:24.63, Z:16.44 [[ 9.93122658e-01 -1.11239048e-01 -3.65138250e-02 4.51683590e+02] [ 1.11233968e-01 9.93791862e-01 -2.17690427e-03 2.46344636e+01] [ 3.65292989e-02 -1.89964467e-03 9.99330777e-01 1.64363504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.259254154 meters Centerline goodness : 0.998993 with order 1 Centerline is valid? [True, True] Translation: X:451.75, Y:24.64, Z:16.44 [[ 9.93417514e-01 -1.08574267e-01 -3.65139819e-02 4.51745026e+02] [ 1.08567487e-01 9.94086703e-01 -2.17426998e-03 2.46407746e+01] [ 3.65341336e-02 -1.80427339e-03 9.99330777e-01 1.64413249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.319254154 meters Centerline goodness : 0.998928 with order 1 Centerline is valid? [True, True] Translation: X:451.81, Y:24.65, Z:16.44 [[ 9.94021917e-01 -1.02893860e-01 -3.65141431e-02 4.51807160e+02] [ 1.02883355e-01 9.94691057e-01 -2.17155990e-03 2.46479865e+01] [ 3.65437318e-02 -1.59811941e-03 9.99330777e-01 1.64441371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.37925415399997 meters Centerline goodness : 0.999053 with order 1 Centerline is valid? [True, True] Translation: X:451.87, Y:24.65, Z:16.45 [[ 9.94372952e-01 -9.94441497e-02 -3.65143024e-02 4.51869327e+02] [ 9.94314213e-02 9.95042054e-01 -2.16887671e-03 2.46548746e+01] [ 3.65489486e-02 -1.47399665e-03 9.99330777e-01 1.64480509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.43925415399997 meters Centerline goodness : 0.999265 with order 1 Centerline is valid? [True, True] Translation: X:451.93, Y:24.66, Z:16.45 [[ 9.94726108e-01 -9.58470889e-02 -3.65144638e-02 4.51930003e+02] [ 9.58320403e-02 9.95395162e-01 -2.16615623e-03 2.46628063e+01] [ 3.65539404e-02 -1.34452342e-03 9.99330777e-01 1.64505692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.49925415399997 meters Centerline goodness : 0.999329 with order 1 Centerline is valid? [True, True] Translation: X:451.99, Y:24.67, Z:16.45 [[ 9.94810833e-01 -9.49636372e-02 -3.65145828e-02 4.51992292e+02] [ 9.49480681e-02 9.95479875e-01 -2.16414822e-03 2.46689580e+01] [ 3.65550477e-02 -1.31407101e-03 9.99330777e-01 1.64532326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.559254154 meters Centerline goodness : 0.999326 with order 1 Centerline is valid? [True, True] Translation: X:452.05, Y:24.67, Z:16.45 [[ 9.94746248e-01 -9.56377319e-02 -3.65147432e-02 4.52052956e+02] [ 9.56227155e-02 9.95415303e-01 -2.16143957e-03 2.46743464e+01] [ 3.65540493e-02 -1.34155499e-03 9.99330777e-01 1.64549838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.619254154 meters Centerline goodness : 0.999116 with order 1 Centerline is valid? [True, True] Translation: X:452.11, Y:24.68, Z:16.46 [[ 9.94550981e-01 -9.76473818e-02 -3.65148615e-02 4.52114761e+02] [ 9.76337905e-02 9.95220066e-01 -2.15943801e-03 2.46806823e+01] [ 3.65511864e-02 -1.41741315e-03 9.99330777e-01 1.64569855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.679254154 meters Centerline goodness : 0.998819 with order 1 Centerline is valid? [True, True] Translation: X:452.18, Y:24.67, Z:16.44 [[ 9.95380718e-01 -8.87912157e-02 -3.65150227e-02 4.52177360e+02] [ 8.87717695e-02 9.96049658e-01 -2.15671003e-03 2.46739754e+01] [ 3.65622728e-02 -1.09475560e-03 9.99330777e-01 1.64444453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.739254154 meters Centerline goodness : 0.999050 with order 1 Centerline is valid? [True, True] Translation: X:452.24, Y:24.69, Z:16.46 [[ 9.94630639e-01 -9.68325315e-02 -3.65151030e-02 4.52237028e+02] [ 9.68185420e-02 9.95299716e-01 -2.15534871e-03 2.46934183e+01] [ 3.65521795e-02 -1.39156317e-03 9.99330777e-01 1.64607552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.799254154 meters Centerline goodness : 0.998858 with order 1 Centerline is valid? [True, True] Translation: X:452.30, Y:24.70, Z:16.46 [[ 9.95230154e-01 -9.04631361e-02 -3.65152219e-02 4.52298140e+02] [ 9.04449375e-02 9.95899130e-01 -2.15333220e-03 2.46986224e+01] [ 3.65602749e-02 -1.15955582e-03 9.99330777e-01 1.64593403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.859254154 meters Centerline goodness : 0.998834 with order 1 Centerline is valid? [True, True] Translation: X:452.36, Y:24.71, Z:16.47 [[ 9.95888608e-01 -8.29006189e-02 -3.65153146e-02 4.52357372e+02] [ 8.28773968e-02 9.96557428e-01 -2.15175905e-03 2.47081209e+01] [ 3.65679902e-02 -8.83381902e-04 9.99330777e-01 1.64667339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.919254154 meters Centerline goodness : 0.998897 with order 1 Centerline is valid? [True, True] Translation: X:452.42, Y:24.70, Z:16.45 [[ 9.96846115e-01 -7.04588636e-02 -3.65153610e-02 4.52418558e+02] [ 7.04273209e-02 9.97514594e-01 -2.15097221e-03 2.47020426e+01] [ 3.65761606e-02 -4.27490753e-04 9.99330777e-01 1.64541152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.979254154 meters Centerline goodness : 0.999001 with order 1 Centerline is valid? [True, True] Translation: X:452.48, Y:24.72, Z:16.47 [[ 9.96082119e-01 -8.05421679e-02 -3.65153610e-02 4.52477784e+02] [ 8.05173910e-02 9.96750883e-01 -2.15097221e-03 2.47193418e+01] [ 3.65699623e-02 -7.97576642e-04 9.99330777e-01 1.64709900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.039254154 meters Centerline goodness : 0.999002 with order 1 Centerline is valid? [True, True] Translation: X:452.54, Y:24.72, Z:16.47 [[ 9.95975019e-01 -8.18559059e-02 -3.65153610e-02 4.52540258e+02] [ 8.18320111e-02 9.96643816e-01 -2.15097221e-03 2.47244077e+01] [ 3.65688785e-02 -8.45810836e-04 9.99330777e-01 1.64722883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.099254154 meters Centerline goodness : 0.998959 with order 1 Centerline is valid? [True, True] Translation: X:452.60, Y:24.73, Z:16.47 [[ 9.95797060e-01 -8.39930427e-02 -3.65155213e-02 4.52602593e+02] [ 8.39706831e-02 9.96465910e-01 -2.14824808e-03 2.47306322e+01] [ 3.65669100e-02 -9.27014140e-04 9.99330777e-01 1.64723911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.159254154 meters Centerline goodness : 0.998894 with order 1 Centerline is valid? [True, True] Translation: X:452.66, Y:24.74, Z:16.47 [[ 9.95648973e-01 -8.57305492e-02 -3.65156788e-02 4.52664764e+02] [ 8.57094550e-02 9.96317864e-01 -2.14556710e-03 2.47358251e+01] [ 3.65651637e-02 -9.93507246e-04 9.99330777e-01 1.64741298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.219254154 meters Centerline goodness : 0.999147 with order 1 Centerline is valid? [True, True] Translation: X:452.73, Y:24.74, Z:16.48 [[ 9.95375441e-01 -8.88500143e-02 -3.65158376e-02 4.52726784e+02] [ 8.88311153e-02 9.96044397e-01 -2.14286072e-03 2.47425678e+01] [ 3.65617887e-02 -1.11079164e-03 9.99330777e-01 1.64767709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.279254154 meters Centerline goodness : 0.999000 with order 1 Centerline is valid? [True, True] Translation: X:452.79, Y:24.75, Z:16.48 [[ 9.95234553e-01 -9.04144187e-02 -3.65159940e-02 4.52788254e+02] [ 9.03966690e-02 9.95903540e-01 -2.14019209e-03 2.47477762e+01] [ 3.65599119e-02 -1.17093111e-03 9.99330777e-01 1.64799133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.339254154 meters Centerline goodness : 0.998957 with order 1 Centerline is valid? [True, True] Translation: X:452.85, Y:24.74, Z:16.47 [[ 9.95901891e-01 -8.27405245e-02 -3.65161510e-02 4.52850690e+02] [ 8.27177171e-02 9.96570725e-01 -2.13750992e-03 2.47448993e+01] [ 3.65677858e-02 -8.91782480e-04 9.99330777e-01 1.64719286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.399254154 meters Centerline goodness : 0.998913 with order 1 Centerline is valid? [True, True] Translation: X:452.91, Y:24.76, Z:16.49 [[ 9.95261365e-01 -9.01186690e-02 -3.65163110e-02 4.52910681e+02] [ 9.01009191e-02 9.95930353e-01 -2.13477404e-03 2.47615517e+01] [ 3.65600854e-02 -1.16549505e-03 9.99330777e-01 1.64870398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.459254154 meters Centerline goodness : 0.998914 with order 1 Centerline is valid? [True, True] Translation: X:452.97, Y:24.77, Z:16.49 [[ 9.95328048e-01 -8.93790635e-02 -3.65165736e-02 4.52972990e+02] [ 8.93609815e-02 9.95997027e-01 -2.13027163e-03 2.47655580e+01] [ 3.65608004e-02 -1.14283775e-03 9.99330777e-01 1.64887203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.519254154 meters Centerline goodness : 0.999127 with order 1 Centerline is valid? [True, True] Translation: X:453.03, Y:24.77, Z:16.49 [[ 9.95206618e-01 -9.07210861e-02 -3.65167252e-02 4.53034927e+02] [ 9.07040015e-02 9.95875623e-01 -2.12766967e-03 2.47709790e+01] [ 3.65591410e-02 -1.19474216e-03 9.99330777e-01 1.64923354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.579254154 meters Centerline goodness : 0.999169 with order 1 Centerline is valid? [True, True] Translation: X:453.10, Y:24.78, Z:16.49 [[ 9.95081294e-01 -9.20854837e-02 -3.65168832e-02 4.53096477e+02] [ 9.20694159e-02 9.95750324e-01 -2.12495436e-03 2.47767234e+01] [ 3.65573757e-02 -1.24758578e-03 9.99330777e-01 1.64948100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.639254154 meters Centerline goodness : 0.998806 with order 1 Centerline is valid? [True, True] Translation: X:453.16, Y:24.77, Z:16.48 [[ 9.95965843e-01 -8.19667341e-02 -3.65170387e-02 4.53159757e+02] [ 8.19439651e-02 9.96634679e-01 -2.12227962e-03 2.47706159e+01] [ 3.65681034e-02 -8.78632929e-04 9.99330777e-01 1.64814888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.699254154 meters Centerline goodness : 0.999168 with order 1 Centerline is valid? [True, True] Translation: X:453.22, Y:24.79, Z:16.50 [[ 9.94948456e-01 -9.35096999e-02 -3.65172031e-02 4.53219851e+02] [ 9.34947917e-02 9.95617513e-01 -2.11944644e-03 2.47880018e+01] [ 3.65553557e-02 -1.30542833e-03 9.99330777e-01 1.64967521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.759254154 meters Centerline goodness : 0.999104 with order 1 Centerline is valid? [True, True] Translation: X:453.28, Y:24.79, Z:16.50 [[ 9.94787338e-01 -9.52083408e-02 -3.65174373e-02 4.53282286e+02] [ 9.51947231e-02 9.95456423e-01 -2.11540297e-03 2.47937310e+01] [ 3.65529216e-02 -1.37189125e-03 9.99330777e-01 1.64982274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.819254154 meters Centerline goodness : 0.999211 with order 1 Centerline is valid? [True, True] Translation: X:453.34, Y:24.80, Z:16.50 [[ 9.94425782e-01 -9.89132382e-02 -3.65175922e-02 4.53343750e+02] [ 9.89022111e-02 9.95094915e-01 -2.11272675e-03 2.47990802e+01] [ 3.65474469e-02 -1.51072066e-03 9.99330777e-01 1.65016054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.87925415399997 meters Centerline goodness : 0.998911 with order 1 Centerline is valid? [True, True] Translation: X:453.41, Y:24.80, Z:16.50 [[ 9.94151741e-01 -1.01630556e-01 -3.65177477e-02 4.53405113e+02] [ 1.01621456e-01 9.94820902e-01 -2.11003430e-03 2.48046780e+01] [ 3.65430627e-02 -1.61329242e-03 9.99330777e-01 1.65022351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.93925415399997 meters Centerline goodness : 0.999402 with order 1 Centerline is valid? [True, True] Translation: X:453.47, Y:24.81, Z:16.51 [[ 9.93891762e-01 -1.04142247e-01 -3.65179212e-02 4.53466476e+02] [ 1.04134948e-01 9.94560945e-01 -2.10702740e-03 2.48114038e+01] [ 3.65387288e-02 -1.70863466e-03 9.99330777e-01 1.65088449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.99925415399997 meters Centerline goodness : 0.999382 with order 1 Centerline is valid? [True, True] Translation: X:453.53, Y:24.82, Z:16.51 [[ 9.93844255e-01 -1.04594579e-01 -3.65180972e-02 4.53529606e+02] [ 1.04587697e-01 9.94513442e-01 -2.10397398e-03 2.48169453e+01] [ 3.65378028e-02 -1.72832123e-03 9.99330777e-01 1.65122480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.059254154 meters Centerline goodness : 0.999401 with order 1 Centerline is valid? [True, True] Translation: X:453.59, Y:24.82, Z:16.51 [[ 9.93649150e-01 -1.06432034e-01 -3.65183330e-02 4.53591037e+02] [ 1.06426539e-01 9.94318351e-01 -2.09987276e-03 2.48212125e+01] [ 3.65343424e-02 -1.79998301e-03 9.99330777e-01 1.65148422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.119254154 meters Centerline goodness : 0.999422 with order 1 Centerline is valid? [True, True] Translation: X:453.65, Y:24.82, Z:16.52 [[ 9.93539150e-01 -1.07453963e-01 -3.65185258e-02 4.53652584e+02] [ 1.07449280e-01 9.94208357e-01 -2.09651351e-03 2.48248634e+01] [ 3.65323023e-02 -1.84092108e-03 9.99330777e-01 1.65168474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.179254154 meters Centerline goodness : 0.999443 with order 1 Centerline is valid? [True, True] Translation: X:453.71, Y:24.83, Z:16.52 [[ 9.93601300e-01 -1.06877689e-01 -3.65187113e-02 4.53714363e+02] [ 1.06872736e-01 9.94270505e-01 -2.09327830e-03 2.48289523e+01] [ 3.65332023e-02 -1.82297055e-03 9.99330777e-01 1.65165339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.239254154 meters Centerline goodness : 0.999355 with order 1 Centerline is valid? [True, True] Translation: X:453.78, Y:24.83, Z:16.52 [[ 9.94210045e-01 -1.01058194e-01 -3.65188595e-02 4.53776122e+02] [ 1.01049418e-01 9.94879211e-01 -2.09069027e-03 2.48348529e+01] [ 3.65431355e-02 -1.61162424e-03 9.99330777e-01 1.65173738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.299254154 meters Centerline goodness : 0.999483 with order 1 Centerline is valid? [True, True] Translation: X:453.84, Y:24.84, Z:16.52 [[ 9.95323369e-01 -8.94301538e-02 -3.65190102e-02 4.53837717e+02] [ 8.94136536e-02 9.95992389e-01 -2.08805339e-03 2.48426767e+01] [ 3.65593912e-02 -1.18700980e-03 9.99330777e-01 1.65222912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.359254154 meters Centerline goodness : 0.999331 with order 1 Centerline is valid? [True, True] Translation: X:453.90, Y:24.85, Z:16.53 [[ 9.96170764e-01 -7.94365181e-02 -3.65191638e-02 4.53898134e+02] [ 7.94134028e-02 9.96839587e-01 -2.08536462e-03 2.48494668e+01] [ 3.65694022e-02 -8.22731802e-04 9.99330777e-01 1.65260543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.419254154 meters Centerline goodness : 0.999371 with order 1 Centerline is valid? [True, True] Translation: X:453.96, Y:24.86, Z:16.53 [[ 9.97171616e-01 -6.56895034e-02 -3.65192769e-02 4.53960245e+02] [ 6.56572383e-02 9.97840061e-01 -2.08338217e-03 2.48566069e+01] [ 3.65772538e-02 -3.20265300e-04 9.99330777e-01 1.65292659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.479254154 meters Centerline goodness : 0.999523 with order 1 Centerline is valid? [True, True] Translation: X:454.02, Y:24.86, Z:16.53 [[ 9.97648024e-01 -5.80064762e-02 -3.65194303e-02 4.54022572e+02] [ 5.79691617e-02 9.98316206e-01 -2.08068959e-03 2.48613534e+01] [ 3.65786325e-02 -4.12048990e-05 9.99330777e-01 1.65302369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.539254154 meters Centerline goodness : 0.999501 with order 1 Centerline is valid? [True, True] Translation: X:454.08, Y:24.86, Z:16.53 [[ 9.97695514e-01 -5.71837529e-02 -3.65195836e-02 4.54082883e+02] [ 5.71459861e-02 9.98363670e-01 -2.07799438e-03 2.48611441e+01] [ 3.65786531e-02 -1.37419503e-05 9.99330777e-01 1.65253087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.599254154 meters Centerline goodness : 0.999350 with order 1 Centerline is valid? [True, True] Translation: X:454.14, Y:24.86, Z:16.53 [[ 9.97194998e-01 -6.53334463e-02 -3.65195431e-02 4.54141804e+02] [ 6.53011138e-02 9.97863439e-01 -2.07870693e-03 2.48644846e+01] [ 3.65773259e-02 -3.11890681e-04 9.99330777e-01 1.65319351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.659254154 meters Centerline goodness : 0.999437 with order 1 Centerline is valid? [True, True] Translation: X:454.20, Y:24.86, Z:16.53 [[ 9.96335972e-01 -7.73366443e-02 -3.65195025e-02 4.54203822e+02] [ 7.73123372e-02 9.97004754e-01 -2.07942009e-03 2.48633499e+01] [ 3.65709329e-02 -7.51607046e-04 9.99330777e-01 1.65336169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.719254154 meters Centerline goodness : 0.999441 with order 1 Centerline is valid? [True, True] Translation: X:454.26, Y:24.86, Z:16.53 [[ 9.95255376e-01 -9.01834280e-02 -3.65196559e-02 4.54264708e+02] [ 9.01678494e-02 9.95924418e-01 -2.07672224e-03 2.48626582e+01] [ 3.65581030e-02 -1.22602986e-03 9.99330777e-01 1.65349475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.779254154 meters Centerline goodness : 0.999442 with order 1 Centerline is valid? [True, True] Translation: X:454.33, Y:24.86, Z:16.54 [[ 9.94589732e-01 -9.72500483e-02 -3.65197693e-02 4.54327143e+02] [ 9.72392952e-02 9.95258868e-01 -2.07472598e-03 2.48645188e+01] [ 3.65483915e-02 -1.48765547e-03 9.99330777e-01 1.65378504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.839254154 meters Centerline goodness : 0.999379 with order 1 Centerline is valid? [True, True] Translation: X:454.39, Y:24.87, Z:16.54 [[ 9.93763157e-01 -1.05361678e-01 -3.65199161e-02 4.54389054e+02] [ 1.05356480e-01 9.94432360e-01 -2.07213894e-03 2.48656802e+01] [ 3.65349104e-02 -1.78839446e-03 9.99330777e-01 1.65409851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.899254154 meters Centerline goodness : 0.999187 with order 1 Centerline is valid? [True, True] Translation: X:454.45, Y:24.87, Z:16.54 [[ 9.93261165e-01 -1.09993378e-01 -3.65200674e-02 4.54451592e+02] [ 1.09991397e-01 9.93930385e-01 -2.06946772e-03 2.48687040e+01] [ 3.65260324e-02 -1.96137131e-03 9.99330777e-01 1.65438026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.959254154 meters Centerline goodness : 0.999187 with order 1 Centerline is valid? [True, True] Translation: X:454.51, Y:24.87, Z:16.55 [[ 9.93198537e-01 -1.10557375e-01 -3.65203034e-02 4.54514684e+02] [ 1.10555927e-01 9.93867759e-01 -2.06529524e-03 2.48738983e+01] [ 3.65246857e-02 -1.98628780e-03 9.99330777e-01 1.65460972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.019254154 meters Centerline goodness : 0.999251 with order 1 Centerline is valid? [True, True] Translation: X:454.58, Y:24.88, Z:16.55 [[ 9.93359122e-01 -1.09105020e-01 -3.65205362e-02 4.54575753e+02] [ 1.09102745e-01 9.94028341e-01 -2.06117020e-03 2.48789067e+01] [ 3.65273320e-02 -1.93700852e-03 9.99330777e-01 1.65463231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.079254154 meters Centerline goodness : 0.999463 with order 1 Centerline is valid? [True, True] Translation: X:454.64, Y:24.88, Z:16.55 [[ 9.93485913e-01 -1.07944347e-01 -3.65206505e-02 4.54637373e+02] [ 1.07941365e-01 9.94155130e-01 -2.05914397e-03 2.48833859e+01] [ 3.65294649e-02 -1.89635831e-03 9.99330777e-01 1.65480325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.139254154 meters Centerline goodness : 0.999592 with order 1 Centerline is valid? [True, True] Translation: X:454.70, Y:24.89, Z:16.55 [[ 9.93638985e-01 -1.06526048e-01 -3.65208032e-02 4.54698085e+02] [ 1.06522210e-01 9.94308197e-01 -2.05643073e-03 2.48899066e+01] [ 3.65319975e-02 -1.84692692e-03 9.99330777e-01 1.65489073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.199254154 meters Centerline goodness : 0.999397 with order 1 Centerline is valid? [True, True] Translation: X:454.76, Y:24.90, Z:16.55 [[ 9.93756971e-01 -1.05419600e-01 -3.65211014e-02 4.54759925e+02] [ 1.05415211e-01 9.94426179e-01 -2.05112241e-03 2.48971721e+01] [ 3.65337678e-02 -1.81156240e-03 9.99330777e-01 1.65490584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.259254154 meters Centerline goodness : 0.999503 with order 1 Centerline is valid? [True, True] Translation: X:454.82, Y:24.90, Z:16.55 [[ 9.93829938e-01 -1.04729423e-01 -3.65212479e-02 4.54821326e+02] [ 1.04724666e-01 9.94499144e-01 -2.04850947e-03 2.49033911e+01] [ 3.65348890e-02 -1.78880544e-03 9.99330777e-01 1.65517613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.319254154 meters Centerline goodness : 0.999524 with order 1 Centerline is valid? [True, True] Translation: X:454.88, Y:24.91, Z:16.55 [[ 9.94027641e-01 -1.02835969e-01 -3.65213954e-02 4.54883040e+02] [ 1.02830033e-01 9.94696838e-01 -2.04587715e-03 2.49111106e+01] [ 3.65381063e-02 -1.72183786e-03 9.99330777e-01 1.65546571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.37925415399997 meters Centerline goodness : 0.999416 with order 1 Centerline is valid? [True, True] Translation: X:454.95, Y:24.92, Z:16.56 [[ 9.94087230e-01 -1.02258284e-01 -3.65215412e-02 4.54945572e+02] [ 1.02252054e-01 9.94756424e-01 -2.04327131e-03 2.49160971e+01] [ 3.65389791e-02 -1.70321270e-03 9.99330777e-01 1.65575276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.43925415399997 meters Centerline goodness : 0.999545 with order 1 Centerline is valid? [True, True] Translation: X:455.01, Y:24.92, Z:16.56 [[ 9.94400838e-01 -9.91621616e-02 -3.65217608e-02 4.55007577e+02] [ 9.91539922e-02 9.95070011e-01 -2.03933831e-03 2.49240670e+01] [ 3.65439341e-02 -1.59335866e-03 9.99330777e-01 1.65621829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.49925415399997 meters Centerline goodness : 0.999545 with order 1 Centerline is valid? [True, True] Translation: X:455.07, Y:24.93, Z:16.57 [[ 9.94948395e-01 -9.35085115e-02 -3.65219071e-02 4.55069687e+02] [ 9.34966350e-02 9.95617512e-01 -2.03671568e-03 2.49307183e+01] [ 3.65523005e-02 -1.38824841e-03 9.99330777e-01 1.65656027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.559254154 meters Centerline goodness : 0.999499 with order 1 Centerline is valid? [True, True] Translation: X:455.13, Y:24.94, Z:16.57 [[ 9.95664650e-01 -8.55455720e-02 -3.65220555e-02 4.55131678e+02] [ 8.55284403e-02 9.96333653e-01 -2.03405061e-03 2.49373034e+01] [ 3.65621570e-02 -1.09844215e-03 9.99330777e-01 1.65663408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.619254154 meters Centerline goodness : 0.999628 with order 1 Centerline is valid? [True, True] Translation: X:455.19, Y:24.94, Z:16.57 [[ 9.95989552e-01 -8.16758019e-02 -3.65222639e-02 4.55193592e+02] [ 8.16562080e-02 9.96658488e-01 -2.03030162e-03 2.49430329e+01] [ 3.65660508e-02 -9.60110371e-04 9.99330777e-01 1.65727901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.679254154 meters Centerline goodness : 0.999520 with order 1 Centerline is valid? [True, True] Translation: X:455.25, Y:24.95, Z:16.58 [[ 9.96406938e-01 -7.64154772e-02 -3.65224330e-02 4.55254055e+02] [ 7.63924630e-02 9.97075765e-01 -2.02725419e-03 2.49480047e+01] [ 3.65705465e-02 -7.70068471e-04 9.99330777e-01 1.65756019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.739254154 meters Centerline goodness : 0.999584 with order 1 Centerline is valid? [True, True] Translation: X:455.32, Y:24.95, Z:16.58 [[ 9.96783165e-01 -7.13402186e-02 -3.65225419e-02 4.55315679e+02] [ 7.13138706e-02 9.97451869e-01 -2.02529056e-03 2.49506857e+01] [ 3.65739624e-02 -5.85788300e-04 9.99330777e-01 1.65788705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.799254154 meters Centerline goodness : 0.999562 with order 1 Centerline is valid? [True, True] Translation: X:455.38, Y:24.95, Z:16.58 [[ 9.96992909e-01 -6.83464094e-02 -3.65226892e-02 4.55377745e+02] [ 6.83181507e-02 9.97661535e-01 -2.02263142e-03 2.49538578e+01] [ 3.65755218e-02 -4.78613400e-04 9.99330777e-01 1.65815483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.859254154 meters Centerline goodness : 0.999518 with order 1 Centerline is valid? [True, True] Translation: X:455.44, Y:24.96, Z:16.58 [[ 9.97154425e-01 -6.59479711e-02 -3.65228361e-02 4.55440169e+02] [ 6.59182014e-02 9.97822986e-01 -2.01997483e-03 2.49558706e+01] [ 3.65765386e-02 -3.93292825e-04 9.99330777e-01 1.65837102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.919254154 meters Centerline goodness : 0.999301 with order 1 Centerline is valid? [True, True] Translation: X:455.50, Y:24.96, Z:16.58 [[ 9.97161741e-01 -6.58371812e-02 -3.65229853e-02 4.55501478e+02] [ 6.58074361e-02 9.97830302e-01 -2.01727439e-03 2.49551115e+01] [ 3.65765531e-02 -3.91935172e-04 9.99330777e-01 1.65843381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.979254154 meters Centerline goodness : 0.999607 with order 1 Centerline is valid? [True, True] Translation: X:455.56, Y:24.96, Z:16.59 [[ 9.97150219e-01 -6.60113090e-02 -3.65232389e-02 4.55563772e+02] [ 6.59818491e-02 9.97818794e-01 -2.01267275e-03 2.49553269e+01] [ 3.65764333e-02 -4.02933764e-04 9.99330777e-01 1.65871802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.039254154 meters Centerline goodness : 0.999173 with order 1 Centerline is valid? [True, True] Translation: X:455.63, Y:24.95, Z:16.59 [[ 9.97166472e-01 -6.57652623e-02 -3.65233839e-02 4.55626020e+02] [ 6.57357340e-02 9.97835043e-01 -2.01003778e-03 2.49530704e+01] [ 3.65765030e-02 -3.96549168e-04 9.99330777e-01 1.65889182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.099254154 meters Centerline goodness : 0.999372 with order 1 Centerline is valid? [True, True] Translation: X:455.69, Y:24.95, Z:16.59 [[ 9.96951305e-01 -6.89501838e-02 -3.65235327e-02 4.55688691e+02] [ 6.89228904e-02 9.97619971e-01 -2.00733083e-03 2.49497613e+01] [ 3.65750114e-02 -5.16096346e-04 9.99330777e-01 1.65917940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.159254154 meters Centerline goodness : 0.999094 with order 1 Centerline is valid? [True, True] Translation: X:455.75, Y:24.93, Z:16.58 [[ 9.97471045e-01 -6.09715999e-02 -3.65236804e-02 4.55751338e+02] [ 6.09390561e-02 9.98139476e-01 -2.00463911e-03 2.49343034e+01] [ 3.65779532e-02 -2.26149142e-04 9.99330777e-01 1.65782258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.219254154 meters Centerline goodness : 0.999184 with order 1 Centerline is valid? [True, True] Translation: X:455.81, Y:24.94, Z:16.59 [[ 9.96193186e-01 -7.91527233e-02 -3.65237191e-02 4.55810479e+02] [ 7.91324012e-02 9.96862100e-01 -2.00393428e-03 2.49428300e+01] [ 3.65677282e-02 -8.93903912e-04 9.99330777e-01 1.65948051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.279254154 meters Centerline goodness : 0.999037 with order 1 Centerline is valid? [True, True] Translation: X:455.87, Y:24.94, Z:16.60 [[ 9.95468567e-01 -8.77971964e-02 -3.65237572e-02 4.55872860e+02] [ 8.77827071e-02 9.96137633e-01 -2.00323919e-03 2.49390887e+01] [ 3.65585678e-02 -1.21199263e-03 9.99330777e-01 1.65963530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.339254154 meters Centerline goodness : 0.998829 with order 1 Centerline is valid? [True, True] Translation: X:455.94, Y:24.92, Z:16.58 [[ 9.95639852e-01 -8.58329158e-02 -3.65239048e-02 4.55936119e+02] [ 8.58172051e-02 9.96308890e-01 -2.00054365e-03 2.49208825e+01] [ 3.65608036e-02 -1.14255844e-03 9.99330777e-01 1.65822234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.399254154 meters Centerline goodness : 0.998766 with order 1 Centerline is valid? [True, True] Translation: X:456.00, Y:24.92, Z:16.58 [[ 9.95191177e-01 -9.08874018e-02 -3.65239838e-02 4.55997273e+02] [ 9.08751414e-02 9.95860288e-01 -1.99910098e-03 2.49173481e+01] [ 3.65544781e-02 -1.32963453e-03 9.99330777e-01 1.65811254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.459254154 meters Centerline goodness : 0.999007 with order 1 Centerline is valid? [True, True] Translation: X:456.06, Y:24.93, Z:16.60 [[ 9.93275759e-01 -1.09860169e-01 -3.65240998e-02 4.56056562e+02] [ 1.09860756e-01 9.93944982e-01 -1.99697964e-03 2.49319879e+01] [ 3.65223342e-02 -2.02901376e-03 9.99330777e-01 1.65999022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.519254154 meters Centerline goodness : 0.999003 with order 1 Centerline is valid? [True, True] Translation: X:456.12, Y:24.93, Z:16.60 [[ 9.93225863e-01 -1.10310277e-01 -3.65243574e-02 4.56119313e+02] [ 1.10311340e-01 9.93895085e-01 -1.99225673e-03 2.49326379e+01] [ 3.65211457e-02 -2.05028991e-03 9.99330777e-01 1.66007863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.579254154 meters Centerline goodness : 0.998960 with order 1 Centerline is valid? [True, True] Translation: X:456.18, Y:24.94, Z:16.60 [[ 9.93589036e-01 -1.06989651e-01 -3.65245369e-02 4.56181386e+02] [ 1.06988598e-01 9.94258258e-01 -1.98896021e-03 2.49356038e+01] [ 3.65276206e-02 -1.93149995e-03 9.99330777e-01 1.66028903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.639254154 meters Centerline goodness : 0.998876 with order 1 Centerline is valid? [True, True] Translation: X:456.24, Y:24.94, Z:16.61 [[ 9.93973555e-01 -1.03356268e-01 -3.65247145e-02 4.56243477e+02] [ 1.03352888e-01 9.94642769e-01 -1.98569393e-03 2.49396430e+01] [ 3.65342771e-02 -1.80120748e-03 9.99330777e-01 1.66060094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.699254154 meters Centerline goodness : 0.999277 with order 1 Centerline is valid? [True, True] Translation: X:456.31, Y:24.94, Z:16.61 [[ 9.94703041e-01 -9.60822272e-02 -3.65248549e-02 4.56305230e+02] [ 9.60740467e-02 9.95372214e-01 -1.98310790e-03 2.49440829e+01] [ 3.65463671e-02 -1.53648716e-03 9.99330777e-01 1.66094752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.759254154 meters Centerline goodness : 0.998914 with order 1 Centerline is valid? [True, True] Translation: X:456.37, Y:24.95, Z:16.61 [[ 9.95550527e-01 -8.68623718e-02 -3.65250031e-02 4.56366703e+02] [ 8.68480921e-02 9.96219598e-01 -1.98037528e-03 2.49501265e+01] [ 3.65589439e-02 -1.20056318e-03 9.99330777e-01 1.66100388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.819254154 meters Centerline goodness : 0.998784 with order 1 Centerline is valid? [True, True] Translation: X:456.43, Y:24.94, Z:16.59 [[ 9.97291284e-01 -6.38436273e-02 -3.65251481e-02 4.56428813e+02] [ 6.38139951e-02 9.97959850e-01 -1.97769620e-03 2.49416441e+01] [ 3.65768946e-02 -3.58476435e-04 9.99330777e-01 1.65948650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.87925415399997 meters Centerline goodness : 0.998717 with order 1 Centerline is valid? [True, True] Translation: X:456.49, Y:24.95, Z:16.60 [[ 9.97756984e-01 -5.60973193e-02 -3.65252199e-02 4.56487651e+02] [ 5.60625449e-02 9.98425303e-01 -1.97636923e-03 2.49473037e+01] [ 3.65785728e-02 -7.57605805e-05 9.99330777e-01 1.65991177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.93925415399997 meters Centerline goodness : 0.999017 with order 1 Centerline is valid? [True, True] Translation: X:456.54, Y:24.97, Z:16.62 [[ 9.97399844e-01 -6.21247098e-02 -3.65249430e-02 4.56544130e+02] [ 6.20937870e-02 9.98068352e-01 -1.98147440e-03 2.49673727e+01] [ 3.65774882e-02 -2.91649771e-04 9.99330777e-01 1.66204625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.99925415399997 meters Centerline goodness : 0.998974 with order 1 Centerline is valid? [True, True] Translation: X:456.60, Y:24.97, Z:16.62 [[ 9.97899740e-01 -5.34981216e-02 -3.65247937e-02 4.56604770e+02] [ 5.34613190e-02 9.98567950e-01 -1.98422231e-03 2.49725410e+01] [ 3.65786405e-02 2.73912832e-05 9.99330777e-01 1.66237626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.059254154 meters Centerline goodness : 0.994880 with order 1 Centerline is valid? [True, True] Translation: X:456.66, Y:24.98, Z:16.62 [[ 9.98210361e-01 -4.73499108e-02 -3.65247937e-02 4.56663609e+02] [ 4.73089927e-02 9.98878332e-01 -1.98422231e-03 2.49772598e+01] [ 3.65777777e-02 2.52720075e-04 9.99330777e-01 1.66234147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.119254154 meters Centerline goodness : 0.999015 with order 1 Centerline is valid? [True, True] Translation: X:456.72, Y:24.98, Z:16.63 [[ 9.98212929e-01 -4.72961938e-02 -3.65242228e-02 4.56721433e+02] [ 4.72548572e-02 9.98880874e-01 -1.99467534e-03 2.49814269e+01] [ 3.65776881e-02 2.65163777e-04 9.99330777e-01 1.66324114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.179254154 meters Centerline goodness : 0.998935 with order 1 Centerline is valid? [True, True] Translation: X:456.78, Y:24.98, Z:16.63 [[ 9.98151529e-01 -4.85753087e-02 -3.65234849e-02 4.56780561e+02] [ 4.85343370e-02 9.98819496e-01 -2.00809623e-03 2.49780586e+01] [ 3.65779127e-02 2.31741200e-04 9.99330777e-01 1.66330319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.239254154 meters Centerline goodness : 0.998932 with order 1 Centerline is valid? [True, True] Translation: X:456.84, Y:24.98, Z:16.64 [[ 9.97829754e-01 -5.47892390e-02 -3.65228923e-02 4.56839010e+02] [ 5.47520347e-02 9.98497941e-01 -2.01881678e-03 2.49775358e+01] [ 3.65786423e-02 1.47327798e-05 9.99330777e-01 1.66350715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.299254154 meters Centerline goodness : 0.995264 with order 1 Centerline is valid? [True, True] Translation: X:456.90, Y:24.98, Z:16.63 [[ 9.97346976e-01 -6.29692898e-02 -3.65222903e-02 4.56897323e+02] [ 6.29371690e-02 9.98015427e-01 -2.02965033e-03 2.49760805e+01] [ 3.65776148e-02 -2.74343942e-04 9.99330777e-01 1.66327484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.359254154 meters Centerline goodness : 0.998984 with order 1 Centerline is valid? [True, True] Translation: X:456.96, Y:24.97, Z:16.64 [[ 9.96238691e-01 -7.85788742e-02 -3.65216628e-02 4.56956649e+02] [ 7.85568131e-02 9.96907549e-01 -2.04087978e-03 2.49715229e+01] [ 3.65690914e-02 -8.35822039e-04 9.99330778e-01 1.66366340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.419254154 meters Centerline goodness : 0.998816 with order 1 Centerline is valid? [True, True] Translation: X:457.02, Y:24.97, Z:16.64 [[ 9.95626748e-01 -8.59860100e-02 -3.65210304e-02 4.57018494e+02] [ 8.59685115e-02 9.96295741e-01 -2.05213428e-03 2.49701412e+01] [ 3.65622019e-02 -1.09649885e-03 9.99330778e-01 1.66371051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.479254154 meters Centerline goodness : 0.998732 with order 1 Centerline is valid? [True, True] Translation: X:457.08, Y:24.97, Z:16.64 [[ 9.95026629e-01 -9.26726346e-02 -3.65211033e-02 4.57080932e+02] [ 9.26596784e-02 9.95695726e-01 -2.05083517e-03 2.49683164e+01] [ 3.65539628e-02 -1.34339809e-03 9.99330778e-01 1.66440033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.539254154 meters Centerline goodness : 0.999028 with order 1 Centerline is valid? [True, True] Translation: X:457.14, Y:24.97, Z:16.64 [[ 9.94707117e-01 -9.60413922e-02 -3.65212575e-02 4.57142078e+02] [ 9.60308024e-02 9.95376256e-01 -2.04808592e-03 2.49704254e+01] [ 3.65490936e-02 -1.46992002e-03 9.99330778e-01 1.66418499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.599254154 meters Centerline goodness : 0.998878 with order 1 Centerline is valid? [True, True] Translation: X:457.20, Y:24.97, Z:16.64 [[ 9.94715126e-01 -9.59583668e-02 -3.65213703e-02 4.57204188e+02] [ 9.59477951e-02 9.95384265e-01 -2.04607190e-03 2.49733564e+01] [ 3.65491351e-02 -1.46888629e-03 9.99330778e-01 1.66436524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.659254154 meters Centerline goodness : 0.998899 with order 1 Centerline is valid? [True, True] Translation: X:457.27, Y:24.98, Z:16.65 [[ 9.94948362e-01 -9.35090207e-02 -3.65215122e-02 4.57266366e+02] [ 9.34968945e-02 9.95617474e-01 -2.04353748e-03 2.49769440e+01] [ 3.65525449e-02 -1.38143370e-03 9.99330778e-01 1.66469627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.719254154 meters Centerline goodness : 0.998772 with order 1 Centerline is valid? [True, True] Translation: X:457.33, Y:24.98, Z:16.65 [[ 9.95326005e-01 -8.93997259e-02 -3.65216657e-02 4.57328111e+02] [ 8.93849374e-02 9.95995064e-01 -2.04079062e-03 2.49812133e+01] [ 3.65578449e-02 -1.23323482e-03 9.99330778e-01 1.66483980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.779254154 meters Centerline goodness : 0.998899 with order 1 Centerline is valid? [True, True] Translation: X:457.39, Y:24.99, Z:16.65 [[ 9.95720380e-01 -8.48945304e-02 -3.65218178e-02 4.57389582e+02] [ 8.48768142e-02 9.96389368e-01 -2.03806452e-03 2.49867526e+01] [ 3.65629715e-02 -1.07051316e-03 9.99330778e-01 1.66501984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.839254154 meters Centerline goodness : 0.998814 with order 1 Centerline is valid? [True, True] Translation: X:457.45, Y:24.99, Z:16.65 [[ 9.96018688e-01 -8.13198586e-02 -3.65219688e-02 4.57450557e+02] [ 8.12998404e-02 9.96687611e-01 -2.03535386e-03 2.49921821e+01] [ 3.65665086e-02 -9.41979762e-04 9.99330778e-01 1.66511240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.899254154 meters Centerline goodness : 0.998983 with order 1 Centerline is valid? [True, True] Translation: X:457.51, Y:25.00, Z:16.65 [[ 9.96183580e-01 -7.92743057e-02 -3.65220430e-02 4.57511600e+02] [ 7.92529628e-02 9.96852462e-01 -2.03402203e-03 2.49966673e+01] [ 3.65683342e-02 -8.68220774e-04 9.99330778e-01 1.66522035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.959254154 meters Centerline goodness : 0.998813 with order 1 Centerline is valid? [True, True] Translation: X:457.57, Y:25.00, Z:16.65 [[ 9.96413004e-01 -7.63364923e-02 -3.65221171e-02 4.57572148e+02] [ 7.63132259e-02 9.97081822e-01 -2.03269147e-03 2.50017520e+01] [ 3.65707076e-02 -7.61720353e-04 9.99330778e-01 1.66494780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.019254154 meters Centerline goodness : 0.999001 with order 1 Centerline is valid? [True, True] Translation: X:457.63, Y:25.01, Z:16.66 [[ 9.96630955e-01 -7.34361989e-02 -3.65221171e-02 4.57631762e+02] [ 7.34109860e-02 9.97299702e-01 -2.03269147e-03 2.50082353e+01] [ 3.65727696e-02 -6.55281383e-04 9.99330778e-01 1.66561070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.079254154 meters Centerline goodness : 0.998854 with order 1 Centerline is valid? [True, True] Translation: X:457.69, Y:25.01, Z:16.66 [[ 9.96836048e-01 -7.05976522e-02 -3.65221171e-02 4.57693110e+02] [ 7.05705349e-02 9.97504721e-01 -2.03269147e-03 2.50134073e+01] [ 3.65744874e-02 -5.51125206e-04 9.99330778e-01 1.66593379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.139254154 meters Centerline goodness : 0.998917 with order 1 Centerline is valid? [True, True] Translation: X:457.75, Y:25.02, Z:16.66 [[ 9.97086447e-01 -6.69682485e-02 -3.65221903e-02 4.57753430e+02] [ 6.69387454e-02 9.97755019e-01 -2.03137444e-03 2.50187558e+01] [ 3.65762363e-02 -4.19293675e-04 9.99330778e-01 1.66631969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.199254154 meters Centerline goodness : 0.998853 with order 1 Centerline is valid? [True, True] Translation: X:457.81, Y:25.02, Z:16.67 [[ 9.97180888e-01 -6.55469590e-02 -3.65222264e-02 4.57812580e+02] [ 6.55165266e-02 9.97849418e-01 -2.03072584e-03 2.50218072e+01] [ 3.65767902e-02 -3.67808418e-04 9.99330778e-01 1.66654858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.259254154 meters Centerline goodness : 0.998919 with order 1 Centerline is valid? [True, True] Translation: X:457.87, Y:25.02, Z:16.67 [[ 9.96902112e-01 -6.96585324e-02 -3.65221471e-02 4.57871548e+02] [ 6.96308050e-02 9.97570760e-01 -2.03215066e-03 2.50235225e+01] [ 3.65749827e-02 -5.17211217e-04 9.99330778e-01 1.66691694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.319254154 meters Centerline goodness : 0.998876 with order 1 Centerline is valid? [True, True] Translation: X:457.93, Y:25.03, Z:16.67 [[ 9.96678364e-01 -7.27899728e-02 -3.65220281e-02 4.57932261e+02] [ 7.27642678e-02 9.97347093e-01 -2.03428808e-03 2.50261401e+01] [ 3.65732143e-02 -6.29967714e-04 9.99330778e-01 1.66717729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.37925415399997 meters Centerline goodness : 0.999049 with order 1 Centerline is valid? [True, True] Translation: X:457.99, Y:25.03, Z:16.67 [[ 9.96406774e-01 -7.64178091e-02 -3.65220281e-02 4.57992937e+02] [ 7.63945387e-02 9.97075592e-01 -2.03428808e-03 2.50280893e+01] [ 3.65706786e-02 -7.63105062e-04 9.99330778e-01 1.66719752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.43925415399997 meters Centerline goodness : 0.998963 with order 1 Centerline is valid? [True, True] Translation: X:458.05, Y:25.03, Z:16.67 [[ 9.96158190e-01 -7.95927026e-02 -3.65220650e-02 4.58053357e+02] [ 7.95715879e-02 9.96827080e-01 -2.03362511e-03 2.50309159e+01] [ 3.65680451e-02 -8.80306399e-04 9.99330778e-01 1.66729608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.49925415399997 meters Centerline goodness : 0.998794 with order 1 Centerline is valid? [True, True] Translation: X:458.12, Y:25.03, Z:16.68 [[ 9.96136310e-01 -7.98660757e-02 -3.65220650e-02 4.58115656e+02] [ 7.98451446e-02 9.96805205e-01 -2.03362511e-03 2.50313277e+01] [ 3.65678021e-02 -8.90341750e-04 9.99330778e-01 1.66771139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.559254154 meters Centerline goodness : 0.998943 with order 1 Centerline is valid? [True, True] Translation: X:458.18, Y:25.04, Z:16.68 [[ 9.95878158e-01 -8.30230217e-02 -3.65222228e-02 4.58176336e+02] [ 8.30043150e-02 9.96547119e-01 -2.03078604e-03 2.50354665e+01] [ 3.65647179e-02 -1.00908663e-03 9.99330778e-01 1.66774935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.619254154 meters Centerline goodness : 0.995830 with order 1 Centerline is valid? [True, True] Translation: X:458.24, Y:25.04, Z:16.68 [[ 9.95989821e-01 -8.16724375e-02 -3.65224636e-02 4.58236985e+02] [ 8.16529827e-02 9.96658760e-01 -2.02644596e-03 2.50390570e+01] [ 3.65659381e-02 -9.63848543e-04 9.99330778e-01 1.66770946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.679254154 meters Centerline goodness : 0.998900 with order 1 Centerline is valid? [True, True] Translation: X:458.30, Y:25.04, Z:16.68 [[ 9.96105524e-01 -8.02489507e-02 -3.65224636e-02 4.58296720e+02] [ 8.02285398e-02 9.96774435e-01 -2.02644596e-03 2.50436065e+01] [ 3.65672782e-02 -9.11589915e-04 9.99330778e-01 1.66804497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.739254154 meters Centerline goodness : 0.998668 with order 1 Centerline is valid? [True, True] Translation: X:458.36, Y:25.04, Z:16.67 [[ 9.96679600e-01 -7.27728765e-02 -3.65223741e-02 4.58356916e+02] [ 7.27473882e-02 9.97348337e-01 -2.02805909e-03 2.50376581e+01] [ 3.65731167e-02 -6.35582202e-04 9.99330778e-01 1.66719377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.799254154 meters Centerline goodness : 0.998792 with order 1 Centerline is valid? [True, True] Translation: X:458.42, Y:25.04, Z:16.68 [[ 9.96482630e-01 -7.54220846e-02 -3.65222947e-02 4.58416731e+02] [ 7.53983218e-02 9.97151430e-01 -2.02948685e-03 2.50416882e+01] [ 3.65713265e-02 -7.31371332e-04 9.99330778e-01 1.66751339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.859254154 meters Centerline goodness : 0.998898 with order 1 Centerline is valid? [True, True] Translation: X:458.48, Y:25.05, Z:16.68 [[ 9.95586701e-01 -8.64479174e-02 -3.65222947e-02 4.58475746e+02] [ 8.64315593e-02 9.96255724e-01 -2.02948685e-03 2.50543623e+01] [ 3.65609901e-02 -1.13614876e-03 9.99330778e-01 1.66839819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.919254154 meters Centerline goodness : 0.998919 with order 1 Centerline is valid? [True, True] Translation: X:458.54, Y:25.05, Z:16.68 [[ 9.95615977e-01 -8.61100468e-02 -3.65224078e-02 4.58537042e+02] [ 8.60935363e-02 9.96284996e-01 -2.02745032e-03 2.50540164e+01] [ 3.65613107e-02 -1.12578131e-03 9.99330778e-01 1.66814731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.979254154 meters Centerline goodness : 0.998813 with order 1 Centerline is valid? [True, True] Translation: X:458.60, Y:25.06, Z:16.69 [[ 9.95269037e-01 -9.00313907e-02 -3.65224901e-02 4.58597733e+02] [ 9.00175702e-02 9.95938117e-01 -2.02596640e-03 2.50647204e+01] [ 3.65565406e-02 -1.27128419e-03 9.99330778e-01 1.66893286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.039254154 meters Centerline goodness : 0.998724 with order 1 Centerline is valid? [True, True] Translation: X:458.66, Y:25.07, Z:16.69 [[ 9.95544011e-01 -8.69380315e-02 -3.65226023e-02 4.58659832e+02] [ 8.69222060e-02 9.96213046e-01 -2.02394094e-03 2.50687301e+01] [ 3.65602504e-02 -1.15970288e-03 9.99330778e-01 1.66926251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.099254154 meters Centerline goodness : 0.999021 with order 1 Centerline is valid? [True, True] Translation: X:458.72, Y:25.08, Z:16.70 [[ 9.96081588e-01 -8.05453764e-02 -3.65227594e-02 4.58720517e+02] [ 8.05253604e-02 9.96750511e-01 -2.02110279e-03 2.50784309e+01] [ 3.65668696e-02 -9.27825085e-04 9.99330778e-01 1.66957003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.159254154 meters Centerline goodness : 0.998934 with order 1 Centerline is valid? [True, True] Translation: X:458.78, Y:25.08, Z:16.70 [[ 9.96425198e-01 -7.61767947e-02 -3.65228746e-02 4.58782019e+02] [ 7.61539220e-02 9.97094030e-01 -2.01901941e-03 2.50844513e+01] [ 3.65705426e-02 -7.69558324e-04 9.99330778e-01 1.66966927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.219254154 meters Centerline goodness : 0.998997 with order 1 Centerline is valid? [True, True] Translation: X:458.84, Y:25.08, Z:16.70 [[ 9.96752811e-01 -7.17628472e-02 -3.65229636e-02 4.58842714e+02] [ 7.17370714e-02 9.97421537e-01 -2.01740816e-03 2.50834703e+01] [ 3.65735654e-02 -6.09193194e-04 9.99330778e-01 1.66961325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.279254154 meters Centerline goodness : 0.998977 with order 1 Centerline is valid? [True, True] Translation: X:458.90, Y:25.09, Z:16.70 [[ 9.96442138e-01 -7.59548439e-02 -3.65229636e-02 4.58902943e+02] [ 7.59318812e-02 9.97110966e-01 -2.01740816e-03 2.50938703e+01] [ 3.65706794e-02 -7.63026834e-04 9.99330778e-01 1.67021780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.339254154 meters Centerline goodness : 0.998953 with order 1 Centerline is valid? [True, True] Translation: X:458.96, Y:25.10, Z:16.70 [[ 9.96140138e-01 -7.98178745e-02 -3.65230377e-02 4.58964376e+02] [ 7.97975545e-02 9.96809052e-01 -2.01606507e-03 2.50990092e+01] [ 3.65674126e-02 -9.06165754e-04 9.99330778e-01 1.67027453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.399254154 meters Centerline goodness : 0.999059 with order 1 Centerline is valid? [True, True] Translation: X:459.03, Y:25.10, Z:16.70 [[ 9.95887871e-01 -8.29059663e-02 -3.65232729e-02 4.59026648e+02] [ 8.28878768e-02 9.96556849e-01 -2.01179482e-03 2.51023642e+01] [ 3.65643076e-02 -1.02381449e-03 9.99330778e-01 1.67040762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.459254154 meters Centerline goodness : 0.999124 with order 1 Centerline is valid? [True, True] Translation: X:459.09, Y:25.11, Z:16.71 [[ 9.95727611e-01 -8.48089912e-02 -3.65234171e-02 4.59088546e+02] [ 8.47922763e-02 9.96396624e-01 -2.00917429e-03 2.51066093e+01] [ 3.65622055e-02 -1.09631336e-03 9.99330778e-01 1.67053521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.519254154 meters Centerline goodness : 0.999166 with order 1 Centerline is valid? [True, True] Translation: X:459.15, Y:25.11, Z:16.71 [[ 9.95628543e-01 -8.59641417e-02 -3.65235594e-02 4.59149078e+02] [ 8.59482978e-02 9.96297578e-01 -2.00658457e-03 2.51119561e+01] [ 3.65608280e-02 -1.14132489e-03 9.99330778e-01 1.67073992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.579254154 meters Centerline goodness : 0.999081 with order 1 Centerline is valid? [True, True] Translation: X:459.21, Y:25.12, Z:16.71 [[ 9.95601493e-01 -8.62768130e-02 -3.65236645e-02 4.59209622e+02] [ 8.62612494e-02 9.96270535e-01 -2.00466985e-03 2.51166361e+01] [ 3.65604072e-02 -1.15472463e-03 9.99330778e-01 1.67090670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.639254154 meters Centerline goodness : 0.999121 with order 1 Centerline is valid? [True, True] Translation: X:459.27, Y:25.12, Z:16.71 [[ 9.95642649e-01 -8.58004706e-02 -3.65238927e-02 4.59271541e+02] [ 8.57847396e-02 9.96311686e-01 -2.00050328e-03 2.51220996e+01] [ 3.65608252e-02 -1.14140623e-03 9.99330778e-01 1.67128179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.699254154 meters Centerline goodness : 0.998972 with order 1 Centerline is valid? [True, True] Translation: X:459.33, Y:25.13, Z:16.71 [[ 9.95687955e-01 -8.52730411e-02 -3.65240408e-02 4.59332825e+02] [ 8.52570550e-02 9.96356986e-01 -1.99779512e-03 2.51288310e+01] [ 3.65613413e-02 -1.12475161e-03 9.99330778e-01 1.67129222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.759254154 meters Centerline goodness : 0.999034 with order 1 Centerline is valid? [True, True] Translation: X:459.40, Y:25.13, Z:16.72 [[ 9.95613434e-01 -8.61387032e-02 -3.65241500e-02 4.59395207e+02] [ 8.61233720e-02 9.96282481e-01 -1.99579584e-03 2.51338050e+01] [ 3.65602861e-02 -1.15854181e-03 9.99330778e-01 1.67166246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.819254154 meters Centerline goodness : 0.999335 with order 1 Centerline is valid? [True, True] Translation: X:459.46, Y:25.14, Z:16.72 [[ 9.95481299e-01 -8.76524866e-02 -3.65242990e-02 4.59457371e+02] [ 8.76382728e-02 9.96150371e-01 -1.99306597e-03 2.51388011e+01] [ 3.65583912e-02 -1.21686658e-03 9.99330778e-01 1.67188416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.87925415399997 meters Centerline goodness : 0.999269 with order 1 Centerline is valid? [True, True] Translation: X:459.52, Y:25.15, Z:16.72 [[ 9.95303190e-01 -8.96522484e-02 -3.65244459e-02 4.59518840e+02] [ 8.96394776e-02 9.95972290e-01 -1.99037070e-03 2.51456833e+01] [ 3.65557772e-02 -1.29300994e-03 9.99330778e-01 1.67215969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.93925415399997 meters Centerline goodness : 0.999441 with order 1 Centerline is valid? [True, True] Translation: X:459.58, Y:25.15, Z:16.72 [[ 9.95192224e-01 -9.08756871e-02 -3.65245941e-02 4.59580712e+02] [ 9.08638387e-02 9.95861342e-01 -1.98764708e-03 2.51514704e+01] [ 3.65540601e-02 -1.34067391e-03 9.99330778e-01 1.67238188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.99925415399997 meters Centerline goodness : 0.999288 with order 1 Centerline is valid? [True, True] Translation: X:459.64, Y:25.16, Z:16.73 [[ 9.94979910e-01 -9.31714698e-02 -3.65247409e-02 4.59642455e+02] [ 9.31612641e-02 9.95649054e-01 -1.98494651e-03 2.51568244e+01] [ 3.65507641e-02 -1.42770913e-03 9.99330778e-01 1.67258273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.059254154 meters Centerline goodness : 0.999376 with order 1 Centerline is valid? [True, True] Translation: X:459.71, Y:25.16, Z:16.73 [[ 9.94612348e-01 -9.70165336e-02 -3.65249218e-02 4.59705389e+02] [ 9.70090366e-02 9.95281528e-01 -1.98161151e-03 2.51618635e+01] [ 3.65448291e-02 -1.57231219e-03 9.99330778e-01 1.67275602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.119254154 meters Centerline goodness : 0.999569 with order 1 Centerline is valid? [True, True] Translation: X:459.77, Y:25.17, Z:16.73 [[ 9.94409733e-01 -9.90716813e-02 -3.65251351e-02 4.59768468e+02] [ 9.90657115e-02 9.95078928e-01 -1.97767276e-03 2.51665388e+01] [ 3.65413236e-02 -1.65177145e-03 9.99330778e-01 1.67300139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.179254154 meters Centerline goodness : 0.999548 with order 1 Centerline is valid? [True, True] Translation: X:459.83, Y:25.17, Z:16.73 [[ 9.94437338e-01 -9.87941317e-02 -3.65253462e-02 4.59830640e+02] [ 9.87881183e-02 9.95106533e-01 -1.97376497e-03 2.51710983e+01] [ 3.65416071e-02 -1.64548465e-03 9.99330778e-01 1.67313619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.239254154 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:459.89, Y:25.18, Z:16.73 [[ 9.94636178e-01 -9.67716977e-02 -3.65254934e-02 4.59892950e+02] [ 9.67644236e-02 9.95305361e-01 -1.97103740e-03 2.51785300e+01] [ 3.65447601e-02 -1.57390321e-03 9.99330778e-01 1.67344186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.299254154 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:459.96, Y:25.18, Z:16.74 [[ 9.95002280e-01 -9.29318872e-02 -3.65257125e-02 4.59955461e+02] [ 9.29221792e-02 9.95671432e-01 -1.96697022e-03 2.51837808e+01] [ 3.65504027e-02 -1.43690894e-03 9.99330778e-01 1.67363362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.359254154 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:460.02, Y:25.19, Z:16.74 [[ 9.95373796e-01 -8.88642938e-02 -3.65259313e-02 4.60016780e+02] [ 8.88520002e-02 9.96042905e-01 -1.96289774e-03 2.51907372e+01] [ 3.65558263e-02 -1.29158508e-03 9.99330778e-01 1.67403873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.419254154 meters Centerline goodness : 0.999653 with order 1 Centerline is valid? [True, True] Translation: X:460.08, Y:25.19, Z:16.74 [[ 9.95659433e-01 -8.56045498e-02 -3.65260758e-02 4.60079195e+02] [ 8.55901639e-02 9.96328501e-01 -1.96020614e-03 2.51949806e+01] [ 3.65597729e-02 -1.17457507e-03 9.99330778e-01 1.67422730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.479254154 meters Centerline goodness : 0.999631 with order 1 Centerline is valid? [True, True] Translation: X:460.14, Y:25.20, Z:16.74 [[ 9.96058747e-01 -8.08257504e-02 -3.65262931e-02 4.60141314e+02] [ 8.08083028e-02 9.96727742e-01 -1.95614690e-03 2.51994801e+01] [ 3.65648767e-02 -1.00319053e-03 9.99330778e-01 1.67429779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.539254154 meters Centerline goodness : 0.999608 with order 1 Centerline is valid? [True, True] Translation: X:460.20, Y:25.20, Z:16.75 [[ 9.96337135e-01 -7.73183866e-02 -3.65264367e-02 4.60202740e+02] [ 7.72986822e-02 9.97006067e-01 -1.95346252e-03 2.52049108e+01] [ 3.65681176e-02 -8.77138173e-04 9.99330778e-01 1.67459679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.599254154 meters Centerline goodness : 0.999717 with order 1 Centerline is valid? [True, True] Translation: X:460.27, Y:25.21, Z:16.75 [[ 9.96600988e-01 -7.38395425e-02 -3.65266136e-02 4.60265316e+02] [ 7.38176242e-02 9.97269851e-01 -1.95014906e-03 2.52067952e+01] [ 3.65708886e-02 -7.52787363e-04 9.99330778e-01 1.67478033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.659254154 meters Centerline goodness : 0.999630 with order 1 Centerline is valid? [True, True] Translation: X:460.33, Y:25.21, Z:16.75 [[ 9.96965604e-01 -6.87414091e-02 -3.65267568e-02 4.60327296e+02] [ 6.87161685e-02 9.97634350e-01 -1.94746350e-03 2.52074470e+01] [ 3.65742187e-02 -5.68424652e-04 9.99330778e-01 1.67492902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.719254154 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:460.39, Y:25.21, Z:16.75 [[ 9.97262454e-01 -6.42913923e-02 -3.65268989e-02 4.60389576e+02] [ 6.42632652e-02 9.97931085e-01 -1.94479521e-03 2.52095358e+01] [ 3.65763614e-02 -4.07866546e-04 9.99330778e-01 1.67520668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.779254154 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:460.45, Y:25.21, Z:16.75 [[ 9.97387804e-01 -6.23164720e-02 -3.65270422e-02 4.60451096e+02] [ 6.22871196e-02 9.98056383e-01 -1.94209944e-03 2.52110003e+01] [ 3.65770724e-02 -3.38137948e-04 9.99330778e-01 1.67536361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.839254154 meters Centerline goodness : 0.999675 with order 1 Centerline is valid? [True, True] Translation: X:460.51, Y:25.21, Z:16.76 [[ 9.97365587e-01 -6.26710165e-02 -3.65271127e-02 4.60512015e+02] [ 6.26419503e-02 9.98034178e-01 -1.94077297e-03 2.52123200e+01] [ 3.65769371e-02 -3.52469410e-04 9.99330778e-01 1.67573755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.899254154 meters Centerline goodness : 0.999697 with order 1 Centerline is valid? [True, True] Translation: X:460.57, Y:25.21, Z:16.76 [[ 9.97107548e-01 -6.66506017e-02 -3.65271845e-02 4.60573314e+02] [ 6.66242534e-02 9.97776251e-01 -1.93942038e-03 2.52119901e+01] [ 3.65752207e-02 -4.99785700e-04 9.99330778e-01 1.67616307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.959254154 meters Centerline goodness : 0.999439 with order 1 Centerline is valid? [True, True] Translation: X:460.63, Y:25.21, Z:16.76 [[ 9.96591844e-01 -7.39625292e-02 -3.65272557e-02 4.60634922e+02] [ 7.39411357e-02 9.97260724e-01 -1.93807786e-03 2.52125393e+01] [ 3.65705426e-02 -7.69394187e-04 9.99330778e-01 1.67642383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.019254154 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:460.70, Y:25.21, Z:16.77 [[ 9.95750273e-01 -8.45408112e-02 -3.65273265e-02 4.60696815e+02] [ 8.45265703e-02 9.96419343e-01 -1.93674398e-03 2.52114721e+01] [ 3.65602685e-02 -1.15901629e-03 9.99330778e-01 1.67654876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.079254154 meters Centerline goodness : 0.999335 with order 1 Centerline is valid? [True, True] Translation: X:460.76, Y:25.21, Z:16.77 [[ 9.95021894e-01 -9.27209490e-02 -3.65274690e-02 4.60758256e+02] [ 9.27123057e-02 9.95691060e-01 -1.93405227e-03 2.52115995e+01] [ 3.65494015e-02 -1.46212151e-03 9.99330778e-01 1.67659988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.139254154 meters Centerline goodness : 0.999314 with order 1 Centerline is valid? [True, True] Translation: X:460.82, Y:25.21, Z:16.77 [[ 9.94302232e-01 -1.00143938e-01 -3.65275744e-02 4.60821768e+02] [ 1.00140362e-01 9.94971444e-01 -1.93205858e-03 2.52119528e+01] [ 3.65373774e-02 -1.73683435e-03 9.99330778e-01 1.67689679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.199254154 meters Centerline goodness : 0.999486 with order 1 Centerline is valid? [True, True] Translation: X:460.88, Y:25.21, Z:16.77 [[ 9.93330951e-01 -1.09358782e-01 -3.65277901e-02 4.60884523e+02] [ 1.09361560e-01 9.94000167e-01 -1.92797204e-03 2.52121686e+01] [ 3.65194701e-02 -2.07962182e-03 9.99330778e-01 1.67702759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.259254154 meters Centerline goodness : 0.999187 with order 1 Centerline is valid? [True, True] Translation: X:460.95, Y:25.21, Z:16.77 [[ 9.92851746e-01 -1.13627091e-01 -3.65280036e-02 4.60946318e+02] [ 1.13632895e-01 9.93520943e-01 -1.92391833e-03 2.52141399e+01] [ 3.65099458e-02 -2.24061711e-03 9.99330778e-01 1.67720656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.319254154 meters Centerline goodness : 0.999359 with order 1 Centerline is valid? [True, True] Translation: X:461.01, Y:25.22, Z:16.78 [[ 9.92470599e-01 -1.16909380e-01 -3.65281790e-02 4.61008311e+02] [ 1.16917519e-01 9.93139771e-01 -1.92058344e-03 2.52152020e+01] [ 3.65021215e-02 -2.36466146e-03 9.99330778e-01 1.67754021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.37925415399997 meters Centerline goodness : 0.999317 with order 1 Centerline is valid? [True, True] Translation: X:461.07, Y:25.22, Z:16.78 [[ 9.92535276e-01 -1.16358956e-01 -3.65283229e-02 4.61070930e+02] [ 1.16366824e-01 9.93204452e-01 -1.91784154e-03 2.52165697e+01] [ 3.65032510e-02 -2.34715954e-03 9.99330778e-01 1.67770964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.43925415399997 meters Centerline goodness : 0.999380 with order 1 Centerline is valid? [True, True] Translation: X:461.13, Y:25.22, Z:16.78 [[ 9.93083234e-01 -1.11585644e-01 -3.65285378e-02 4.61132994e+02] [ 1.11590445e-01 9.93752439e-01 -1.91373967e-03 2.52202934e+01] [ 3.65138694e-02 -2.17573302e-03 9.99330778e-01 1.67779881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.49925415399997 meters Centerline goodness : 0.999230 with order 1 Centerline is valid? [True, True] Translation: X:461.19, Y:25.23, Z:16.78 [[ 9.94011938e-01 -1.02985059e-01 -3.65286793e-02 4.61194545e+02] [ 1.02984166e-01 9.94681160e-01 -1.91103500e-03 2.52251130e+01] [ 3.65311972e-02 -1.86228396e-03 9.99330778e-01 1.67766184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.559254154 meters Centerline goodness : 0.999099 with order 1 Centerline is valid? [True, True] Translation: X:461.26, Y:25.22, Z:16.76 [[ 9.96076264e-01 -8.06084429e-02 -3.65288181e-02 4.61257012e+02] [ 8.05925998e-02 9.96745299e-01 -1.90837910e-03 2.52195295e+01] [ 3.65637592e-02 -1.04306129e-03 9.99330778e-01 1.67646623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.619254154 meters Centerline goodness : 0.999441 with order 1 Centerline is valid? [True, True] Translation: X:461.32, Y:25.24, Z:16.78 [[ 9.96574426e-01 -7.41960289e-02 -3.65289251e-02 4.61315008e+02] [ 7.41759553e-02 9.97243347e-01 -1.90632836e-03 2.52390986e+01] [ 3.65696695e-02 -8.09769821e-04 9.99330778e-01 1.67795397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.679254154 meters Centerline goodness : 0.995830 with order 1 Centerline is valid? [True, True] Translation: X:461.38, Y:25.25, Z:16.78 [[ 9.97421415e-01 -6.17749827e-02 -3.65290639e-02 4.61375909e+02] [ 6.17466748e-02 9.98090038e-01 -1.90366510e-03 2.52458771e+01] [ 3.65768936e-02 -3.56791890e-04 9.99330778e-01 1.67776908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.739254154 meters Centerline goodness : 0.999348 with order 1 Centerline is valid? [True, True] Translation: X:461.43, Y:25.25, Z:16.79 [[ 9.98378201e-01 -4.36644964e-02 -3.65291519e-02 4.61434494e+02] [ 4.36241214e-02 9.99046204e-01 -1.90197457e-03 2.52523715e+01] [ 3.65773593e-02 3.05337797e-04 9.99330778e-01 1.67871882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.799254154 meters Centerline goodness : 0.999394 with order 1 Centerline is valid? [True, True] Translation: X:461.49, Y:25.26, Z:16.79 [[ 9.98911187e-01 -2.90184030e-02 -3.65290638e-02 4.61492637e+02] [ 2.89681742e-02 9.99578522e-01 -1.90366496e-03 2.52582026e+01] [ 3.65689089e-02 8.43411939e-04 9.99330778e-01 1.67932176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.859254154 meters Centerline goodness : 0.994402 with order 1 Centerline is valid? [True, True] Translation: X:461.55, Y:25.26, Z:16.79 [[ 9.99063381e-01 -2.31952881e-02 -3.65286215e-02 4.61551515e+02] [ 2.31408616e-02 9.99730386e-01 -1.91211480e-03 2.52619691e+01] [ 3.65631249e-02 1.06502010e-03 9.99330778e-01 1.67938620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.919254154 meters Centerline goodness : 0.999266 with order 1 Centerline is valid? [True, True] Translation: X:461.61, Y:25.26, Z:16.80 [[ 9.99043555e-01 -2.40345817e-02 -3.65282630e-02 4.61609210e+02] [ 2.39804662e-02 9.99710586e-01 -1.91893909e-03 2.52609128e+01] [ 3.65638121e-02 1.04113896e-03 9.99330778e-01 1.68013718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.979254154 meters Centerline goodness : 0.999226 with order 1 Centerline is valid? [True, True] Translation: X:461.67, Y:25.26, Z:16.80 [[ 9.98879597e-01 -3.00875541e-02 -3.65279285e-02 4.61667481e+02] [ 3.00372493e-02 9.99546926e-01 -1.92528620e-03 2.52579927e+01] [ 3.65693058e-02 8.25930605e-04 9.99330778e-01 1.68025958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.039254154 meters Centerline goodness : 0.999183 with order 1 Centerline is valid? [True, True] Translation: X:461.73, Y:25.25, Z:16.80 [[ 9.98724659e-01 -3.48540866e-02 -3.65273654e-02 4.61726678e+02] [ 3.48065786e-02 9.99392192e-01 -1.93591071e-03 2.52507637e+01] [ 3.65726382e-02 6.62049152e-04 9.99330778e-01 1.68021734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.099254154 meters Centerline goodness : 0.999122 with order 1 Centerline is valid? [True, True] Translation: X:461.78, Y:25.25, Z:16.81 [[ 9.98356461e-01 -4.41606736e-02 -3.65268597e-02 4.61784816e+02] [ 4.41190417e-02 9.99024387e-01 -1.94540458e-03 2.52497351e+01] [ 3.65771340e-02 3.30677189e-04 9.99330778e-01 1.68074005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.159254154 meters Centerline goodness : 0.999040 with order 1 Centerline is valid? [True, True] Translation: X:461.85, Y:25.23, Z:16.80 [[ 9.98435171e-01 -4.23439689e-02 -3.65266652e-02 4.61845274e+02] [ 4.23009883e-02 9.99103012e-01 -1.94905108e-03 2.52305654e+01] [ 3.65764317e-02 4.00887113e-04 9.99330778e-01 1.67975845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.219254154 meters Centerline goodness : 0.998899 with order 1 Centerline is valid? [True, True] Translation: X:461.90, Y:25.22, Z:16.80 [[ 9.98067596e-01 -5.02684244e-02 -3.65261329e-02 4.61902732e+02] [ 5.02303834e-02 9.98735736e-01 -1.95897561e-03 2.52227171e+01] [ 3.65784288e-02 1.20468421e-04 9.99330778e-01 1.67989789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.279254154 meters Centerline goodness : 0.998944 with order 1 Centerline is valid? [True, True] Translation: X:461.96, Y:25.23, Z:16.81 [[ 9.97075322e-01 -6.71316864e-02 -3.65258726e-02 4.61960381e+02] [ 6.71047672e-02 9.97744002e-01 -1.96381738e-03 2.52294128e+01] [ 3.65753047e-02 -4.92986331e-04 9.99330778e-01 1.68139664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.339254154 meters Centerline goodness : 0.998884 with order 1 Centerline is valid? [True, True] Translation: X:462.02, Y:25.22, Z:16.81 [[ 9.96445385e-01 -7.59109084e-02 -3.65257295e-02 4.62018789e+02] [ 7.58897823e-02 9.97114273e-01 -1.96647472e-03 2.52202639e+01] [ 3.65696031e-02 -8.12445003e-04 9.99330778e-01 1.68113300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.399254154 meters Centerline goodness : 0.999117 with order 1 Centerline is valid? [True, True] Translation: X:462.08, Y:25.21, Z:16.81 [[ 9.95806999e-01 -8.38709181e-02 -3.65252035e-02 4.62078024e+02] [ 8.38547813e-02 9.96476026e-01 -1.97619730e-03 2.52128343e+01] [ 3.65622351e-02 -1.09490184e-03 9.99330778e-01 1.68146161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.459254154 meters Centerline goodness : 0.999118 with order 1 Centerline is valid? [True, True] Translation: X:462.14, Y:25.21, Z:16.82 [[ 9.95536731e-01 -8.70204845e-02 -3.65246764e-02 4.62137650e+02] [ 8.70061089e-02 9.96205799e-01 -1.98589160e-03 2.52087381e+01] [ 3.65589077e-02 -1.20084193e-03 9.99330778e-01 1.68154511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.519254154 meters Centerline goodness : 0.999373 with order 1 Centerline is valid? [True, True] Translation: X:462.20, Y:25.21, Z:16.81 [[ 9.95544473e-01 -8.69318881e-02 -3.65246417e-02 4.62196453e+02] [ 8.69174295e-02 9.96213538e-01 -1.98652886e-03 2.52080842e+01] [ 3.65590353e-02 -1.19695015e-03 9.99330778e-01 1.68120270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.579254154 meters Centerline goodness : 0.999287 with order 1 Centerline is valid? [True, True] Translation: X:462.26, Y:25.21, Z:16.82 [[ 9.95681794e-01 -8.53448945e-02 -3.65241494e-02 4.62255425e+02] [ 8.53290392e-02 9.96350828e-01 -1.99554056e-03 2.52103373e+01] [ 3.65611757e-02 -1.12964717e-03 9.99330778e-01 1.68208314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.639254154 meters Centerline goodness : 0.997104 with order 1 Centerline is valid? [True, True] Translation: X:462.31, Y:25.21, Z:16.82 [[ 9.95755852e-01 -8.44764779e-02 -3.65240662e-02 4.62313260e+02] [ 8.44599834e-02 9.96424871e-01 -1.99706220e-03 2.52131731e+01] [ 3.65621927e-02 -1.09623565e-03 9.99330778e-01 1.68171808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.699254154 meters Centerline goodness : 0.998892 with order 1 Centerline is valid? [True, True] Translation: X:462.37, Y:25.21, Z:16.82 [[ 9.96130964e-01 -7.99319066e-02 -3.65238559e-02 4.62372668e+02] [ 7.99122188e-02 9.96799897e-01 -2.00090110e-03 2.52082646e+01] [ 3.65669116e-02 -9.25542824e-04 9.99330778e-01 1.68167368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.759254154 meters Centerline goodness : 0.998869 with order 1 Centerline is valid? [True, True] Translation: X:462.43, Y:25.22, Z:16.82 [[ 9.95241354e-01 -9.03364195e-02 -3.65236637e-02 4.62430698e+02] [ 9.03235944e-02 9.95910453e-01 -2.00440170e-03 2.52194485e+01] [ 3.65553690e-02 -1.30408513e-03 9.99330778e-01 1.68242941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.819254154 meters Centerline goodness : 0.999120 with order 1 Centerline is valid? [True, True] Translation: X:462.49, Y:25.23, Z:16.83 [[ 9.94979689e-01 -9.31742736e-02 -3.65235915e-02 4.62490523e+02] [ 9.31633084e-02 9.95648821e-01 -2.00571744e-03 2.52250577e+01] [ 3.65515521e-02 -1.40701050e-03 9.99330778e-01 1.68298960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.87925415399997 meters Centerline goodness : 0.999287 with order 1 Centerline is valid? [True, True] Translation: X:462.55, Y:25.23, Z:16.83 [[ 9.95206306e-01 -9.07217544e-02 -3.65235915e-02 4.62550327e+02] [ 9.07091401e-02 9.95875408e-01 -2.00571744e-03 2.52305536e+01] [ 3.65549088e-02 -1.31692093e-03 9.99330778e-01 1.68337419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.93925415399997 meters Centerline goodness : 0.999266 with order 1 Centerline is valid? [True, True] Translation: X:462.61, Y:25.24, Z:16.84 [[ 9.95575362e-01 -8.65778585e-02 -3.65235915e-02 4.62610692e+02] [ 8.65624588e-02 9.96244407e-01 -2.00571744e-03 2.52368581e+01] [ 3.65600745e-02 -1.16472902e-03 9.99330778e-01 1.68377887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.99925415399997 meters Centerline goodness : 0.999097 with order 1 Centerline is valid? [True, True] Translation: X:462.67, Y:25.24, Z:16.84 [[ 9.95997231e-01 -8.15815083e-02 -3.65235915e-02 4.62670644e+02] [ 8.15627519e-02 9.96666190e-01 -2.00571744e-03 2.52435814e+01] [ 3.65654582e-02 -9.81275611e-04 9.99330778e-01 1.68411000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.059254154 meters Centerline goodness : 0.999222 with order 1 Centerline is valid? [True, True] Translation: X:462.73, Y:25.25, Z:16.84 [[ 9.96615373e-01 -7.36466285e-02 -3.65235915e-02 4.62728895e+02] [ 7.36225450e-02 9.97284161e-01 -2.00571744e-03 2.52506421e+01] [ 3.65721136e-02 -6.90030921e-04 9.99330778e-01 1.68394401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.119254154 meters Centerline goodness : 0.997649 with order 1 Centerline is valid? [True, True] Translation: X:462.79, Y:25.26, Z:16.84 [[ 9.96727046e-01 -7.21197563e-02 -3.65230839e-02 4.62786160e+02] [ 7.20943112e-02 9.97395784e-01 -2.01491759e-03 2.52561266e+01] [ 3.65732853e-02 -6.24783726e-04 9.99330778e-01 1.68422020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.179254154 meters Centerline goodness : 0.999158 with order 1 Centerline is valid? [True, True] Translation: X:462.85, Y:25.26, Z:16.85 [[ 9.96807659e-01 -7.09971889e-02 -3.65224572e-02 4.62845621e+02] [ 7.09705769e-02 9.97476351e-01 -2.02621446e-03 2.52626944e+01] [ 3.65741429e-02 -5.72273764e-04 9.99330778e-01 1.68451834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.239254154 meters Centerline goodness : 0.999202 with order 1 Centerline is valid? [True, True] Translation: X:462.90, Y:25.27, Z:16.85 [[ 9.96455810e-01 -7.57755628e-02 -3.65223669e-02 4.62903061e+02] [ 7.57520976e-02 9.97124620e-01 -2.02784025e-03 2.52676001e+01] [ 3.65710120e-02 -7.45992707e-04 9.99330778e-01 1.68516238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.299254154 meters Centerline goodness : 0.999221 with order 1 Centerline is valid? [True, True] Translation: X:462.96, Y:25.27, Z:16.85 [[ 9.95983121e-01 -8.17542385e-02 -3.65221545e-02 4.62961235e+02] [ 8.17346476e-02 9.96652056e-01 -2.03165869e-03 2.52722645e+01] [ 3.65659771e-02 -9.61627662e-04 9.99330778e-01 1.68535476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.359254154 meters Centerline goodness : 0.999054 with order 1 Centerline is valid? [True, True] Translation: X:463.02, Y:25.28, Z:16.86 [[ 9.95622295e-01 -8.60371178e-02 -3.65220508e-02 4.63022717e+02] [ 8.60203358e-02 9.96291306e-01 -2.03352145e-03 2.52760161e+01] [ 3.65615600e-02 -1.11701978e-03 9.99330778e-01 1.68577106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.419254154 meters Centerline goodness : 0.999243 with order 1 Centerline is valid? [True, True] Translation: X:463.08, Y:25.28, Z:16.86 [[ 9.95182968e-01 -9.09779934e-02 -3.65221214e-02 4.63082921e+02] [ 9.09645789e-02 9.95852055e-01 -2.03225213e-03 2.52802583e+01] [ 3.65555199e-02 -1.29975669e-03 9.99330778e-01 1.68601177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.479254154 meters Centerline goodness : 0.999200 with order 1 Centerline is valid? [True, True] Translation: X:463.14, Y:25.28, Z:16.87 [[ 9.94979662e-01 -9.31750947e-02 -3.65222255e-02 4.63144627e+02] [ 9.31632261e-02 9.95648779e-01 -2.03037929e-03 2.52849797e+01] [ 3.65524901e-02 -1.38234226e-03 9.99330778e-01 1.68651537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.539254154 meters Centerline goodness : 0.999034 with order 1 Centerline is valid? [True, True] Translation: X:463.21, Y:25.29, Z:16.87 [[ 9.94967911e-01 -9.33004441e-02 -3.65223731e-02 4.63206449e+02] [ 9.32887572e-02 9.95637030e-01 -2.02772160e-03 2.52897426e+01] [ 3.65522144e-02 -1.38960887e-03 9.99330778e-01 1.68668903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.599254154 meters Centerline goodness : 0.998777 with order 1 Centerline is valid? [True, True] Translation: X:463.27, Y:25.28, Z:16.85 [[ 9.95772313e-01 -8.42828991e-02 -3.65225182e-02 4.63268423e+02] [ 8.42652469e-02 9.96441301e-01 -2.02510390e-03 2.52827896e+01] [ 3.65632272e-02 -1.06103662e-03 9.99330778e-01 1.68519990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.659254154 meters Centerline goodness : 0.999136 with order 1 Centerline is valid? [True, True] Translation: X:463.33, Y:25.30, Z:16.87 [[ 9.95085607e-01 -9.20366069e-02 -3.65225539e-02 4.63327919e+02] [ 9.20241897e-02 9.95754714e-01 -2.02446020e-03 2.52999099e+01] [ 3.65538297e-02 -1.34644722e-03 9.99330778e-01 1.68698516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.719254154 meters Centerline goodness : 0.999072 with order 1 Centerline is valid? [True, True] Translation: X:463.39, Y:25.31, Z:16.87 [[ 9.95592618e-01 -8.63796213e-02 -3.65225890e-02 4.63389132e+02] [ 8.63634247e-02 9.96261644e-01 -2.02382695e-03 2.53066811e+01] [ 3.65608720e-02 -1.13930869e-03 9.99330778e-01 1.68714980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.779254154 meters Centerline goodness : 0.998985 with order 1 Centerline is valid? [True, True] Translation: X:463.45, Y:25.31, Z:16.88 [[ 9.96330852e-01 -7.74010862e-02 -3.65226584e-02 4.63450190e+02] [ 7.73789051e-02 9.96999706e-01 -2.02257361e-03 2.53144675e+01] [ 3.65696291e-02 -8.10930830e-04 9.99330778e-01 1.68758076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.839254154 meters Centerline goodness : 0.999069 with order 1 Centerline is valid? [True, True] Translation: X:463.51, Y:25.32, Z:16.88 [[ 9.96746252e-01 -7.18540139e-02 -3.65227312e-02 4.63509934e+02] [ 7.18281582e-02 9.97414974e-01 -2.02125824e-03 2.53203822e+01] [ 3.65735545e-02 -6.08678946e-04 9.99330778e-01 1.68763822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.899254154 meters Centerline goodness : 0.998771 with order 1 Centerline is valid? [True, True] Translation: X:463.57, Y:25.32, Z:16.88 [[ 9.96854140e-01 -7.03413946e-02 -3.65227670e-02 4.63569548e+02] [ 7.03145479e-02 9.97522823e-01 -2.02061165e-03 2.53246734e+01] [ 3.65744263e-02 -5.53826758e-04 9.99330778e-01 1.68784305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.959254154 meters Centerline goodness : 0.998559 with order 1 Centerline is valid? [True, True] Translation: X:463.63, Y:25.33, Z:16.88 [[ 9.96917482e-01 -6.94379347e-02 -3.65227013e-02 4.63629289e+02] [ 6.94104385e-02 9.97586138e-01 -2.02179854e-03 2.53306466e+01] [ 3.65749301e-02 -5.19490401e-04 9.99330778e-01 1.68783839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.019254154 meters Centerline goodness : 0.996221 with order 1 Centerline is valid? [True, True] Translation: X:463.69, Y:25.33, Z:16.88 [[ 9.96866907e-01 -7.01603017e-02 -3.65226167e-02 4.63689039e+02] [ 7.01332342e-02 9.97535581e-01 -2.02332498e-03 2.53342109e+01] [ 3.65745668e-02 -5.44463521e-04 9.99330778e-01 1.68825492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.079254154 meters Centerline goodness : 0.999089 with order 1 Centerline is valid? [True, True] Translation: X:463.75, Y:25.33, Z:16.89 [[ 9.96812496e-01 -7.09292791e-02 -3.65223995e-02 4.63748581e+02] [ 7.09025840e-02 9.97481185e-01 -2.02723839e-03 2.53338777e+01] [ 3.65741969e-02 -5.68755939e-04 9.99330778e-01 1.68874073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.139254154 meters Centerline goodness : 0.998791 with order 1 Centerline is valid? [True, True] Translation: X:463.81, Y:25.34, Z:16.89 [[ 9.96133567e-01 -7.99001319e-02 -3.65224028e-02 4.63809230e+02] [ 7.98794598e-02 9.96802469e-01 -2.02717974e-03 2.53356347e+01] [ 3.65675932e-02 -8.98048015e-04 9.99330778e-01 1.68928398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.199254154 meters Centerline goodness : 0.998879 with order 1 Centerline is valid? [True, True] Translation: X:463.87, Y:25.34, Z:16.89 [[ 9.95561053e-01 -8.67427467e-02 -3.65224028e-02 4.63869474e+02] [ 8.67266713e-02 9.96230081e-01 -2.02717974e-03 2.53361982e+01] [ 3.65605594e-02 -1.14928522e-03 9.99330778e-01 1.68931009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.259254154 meters Centerline goodness : 0.998985 with order 1 Centerline is valid? [True, True] Translation: X:463.93, Y:25.34, Z:16.90 [[ 9.95340861e-01 -8.92338650e-02 -3.65224401e-02 4.63931602e+02] [ 8.92194885e-02 9.96009928e-01 -2.02650708e-03 2.53376523e+01] [ 3.65575460e-02 -1.24144812e-03 9.99330778e-01 1.68962424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.319254154 meters Centerline goodness : 0.998668 with order 1 Centerline is valid? [True, True] Translation: X:463.99, Y:25.34, Z:16.90 [[ 9.95413021e-01 -8.84252126e-02 -3.65225913e-02 4.63993139e+02] [ 8.84103925e-02 9.96082078e-01 -2.02377823e-03 2.53386613e+01] [ 3.65584517e-02 -1.21448143e-03 9.99330778e-01 1.68956029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.37925415399997 meters Centerline goodness : 0.998819 with order 1 Centerline is valid? [True, True] Translation: X:464.05, Y:25.34, Z:16.90 [[ 9.95762457e-01 -8.43991787e-02 -3.65227118e-02 4.64054702e+02] [ 8.43817330e-02 9.96431451e-01 -2.02160131e-03 2.53396481e+01] [ 3.65630002e-02 -1.06881503e-03 9.99330778e-01 1.68992310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.43925415399997 meters Centerline goodness : 0.999091 with order 1 Centerline is valid? [True, True] Translation: X:464.11, Y:25.35, Z:16.90 [[ 9.96049304e-01 -8.09436238e-02 -3.65227962e-02 4.64114737e+02] [ 8.09239129e-02 9.96718235e-01 -2.02007457e-03 2.53454916e+01] [ 3.65664492e-02 -9.43473711e-04 9.99330778e-01 1.69020181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.49925415399997 meters Centerline goodness : 0.998904 with order 1 Centerline is valid? [True, True] Translation: X:464.18, Y:25.35, Z:16.90 [[ 9.96587604e-01 -7.40218217e-02 -3.65228346e-02 4.64176137e+02] [ 7.39974894e-02 9.97256383e-01 -2.01938144e-03 2.53498705e+01] [ 3.65721082e-02 -6.90107555e-04 9.99330778e-01 1.69043170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.559254154 meters Centerline goodness : 0.999068 with order 1 Centerline is valid? [True, True] Translation: X:464.24, Y:25.36, Z:16.91 [[ 9.97305706e-01 -6.36192323e-02 -3.65229068e-02 4.64235577e+02] [ 6.35879710e-02 9.97974197e-01 -2.01807380e-03 2.53550516e+01] [ 3.65773069e-02 -3.09781026e-04 9.99330778e-01 1.69064087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.619254154 meters Centerline goodness : 0.998899 with order 1 Centerline is valid? [True, True] Translation: X:464.29, Y:25.36, Z:16.91 [[ 9.97845774e-01 -5.44967073e-02 -3.65228713e-02 4.64294109e+02] [ 5.44593108e-02 9.98513950e-01 -2.01871729e-03 2.53579758e+01] [ 3.65786099e-02 2.53581159e-05 9.99330778e-01 1.69093122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.679254154 meters Centerline goodness : 0.999046 with order 1 Centerline is valid? [True, True] Translation: X:464.35, Y:25.36, Z:16.91 [[ 9.97872959e-01 -5.39968484e-02 -3.65225569e-02 4.64351299e+02] [ 5.39589097e-02 9.98541105e-01 -2.02438792e-03 2.53623247e+01] [ 3.65785849e-02 4.93646111e-05 9.99330778e-01 1.69114921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.739254154 meters Centerline goodness : 0.998940 with order 1 Centerline is valid? [True, True] Translation: X:464.41, Y:25.37, Z:16.91 [[ 9.97827678e-01 -5.48274504e-02 -3.65222672e-02 4.64409472e+02] [ 5.47898770e-02 9.98495844e-01 -2.02960083e-03 2.53655762e+01] [ 3.65786099e-02 2.41413490e-05 9.99330778e-01 1.69141590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.799254154 meters Centerline goodness : 0.998898 with order 1 Centerline is valid? [True, True] Translation: X:464.47, Y:25.37, Z:16.92 [[ 9.97422118e-01 -6.17679954e-02 -3.65216904e-02 4.64467496e+02] [ 6.17346932e-02 9.98090510e-01 -2.03992794e-03 2.53655436e+01] [ 3.65779549e-02 -2.19986106e-04 9.99330778e-01 1.69165621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.859254154 meters Centerline goodness : 0.998796 with order 1 Centerline is valid? [True, True] Translation: X:464.53, Y:25.37, Z:16.92 [[ 9.96613099e-01 -7.36786307e-02 -3.65210834e-02 4.64526257e+02] [ 7.36529193e-02 9.97281827e-01 -2.05073894e-03 2.53666915e+01] [ 3.65729084e-02 -6.46091116e-04 9.99330779e-01 1.69192081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.919254154 meters Centerline goodness : 0.998990 with order 1 Centerline is valid? [True, True] Translation: X:464.59, Y:25.37, Z:16.92 [[ 9.96309420e-01 -7.76774730e-02 -3.65205519e-02 4.64586612e+02] [ 7.76541003e-02 9.96978233e-01 -2.06015943e-03 2.53693900e+01] [ 3.65702233e-02 -7.83414354e-04 9.99330779e-01 1.69212850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.979254154 meters Centerline goodness : 0.998820 with order 1 Centerline is valid? [True, True] Translation: X:464.65, Y:25.37, Z:16.92 [[ 9.95322062e-01 -8.94440694e-02 -3.65205519e-02 4.64646631e+02] [ 8.94286007e-02 9.95991105e-01 -2.06015943e-03 2.53702938e+01] [ 3.65584139e-02 -1.21545972e-03 9.99330779e-01 1.69235087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.039254154 meters Centerline goodness : 0.998697 with order 1 Centerline is valid? [True, True] Translation: X:464.71, Y:25.37, Z:16.93 [[ 9.94542110e-01 -9.77355246e-02 -3.65206673e-02 4.64709137e+02] [ 9.77257070e-02 9.95211259e-01 -2.05811194e-03 2.53701972e+01] [ 3.65469300e-02 -1.52212904e-03 9.99330779e-01 1.69261841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.099254154 meters Centerline goodness : 0.998762 with order 1 Centerline is valid? [True, True] Translation: X:464.77, Y:25.37, Z:16.93 [[ 9.94128907e-01 -1.01852568e-01 -3.65208192e-02 4.64771600e+02] [ 1.01845620e-01 9.94798093e-01 -2.05541314e-03 2.53733458e+01] [ 3.65401904e-02 -1.67613986e-03 9.99330779e-01 1.69302220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.159254154 meters Centerline goodness : 0.998928 with order 1 Centerline is valid? [True, True] Translation: X:464.83, Y:25.38, Z:16.93 [[ 9.93800688e-01 -1.05006721e-01 -3.65209727e-02 4.64833318e+02] [ 1.05001997e-01 9.94469893e-01 -2.05268202e-03 2.53768189e+01] [ 3.65345532e-02 -1.79481827e-03 9.99330779e-01 1.69327781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.219254154 meters Centerline goodness : 0.998782 with order 1 Centerline is valid? [True, True] Translation: X:464.90, Y:25.37, Z:16.92 [[ 9.94662839e-01 -9.64989282e-02 -3.65211255e-02 4.64896027e+02] [ 9.64885775e-02 9.95331981e-01 -2.04996015e-03 2.53699407e+01] [ 3.65484632e-02 -1.48485226e-03 9.99330779e-01 1.69215739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.279254154 meters Centerline goodness : 0.998658 with order 1 Centerline is valid? [True, True] Translation: X:464.96, Y:25.37, Z:16.92 [[ 9.94502744e-01 -9.81350491e-02 -3.65212875e-02 4.64956534e+02] [ 9.81259051e-02 9.95171903e-01 -2.04707069e-03 2.53745643e+01] [ 3.65458485e-02 -1.54786697e-03 9.99330779e-01 1.69245274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.339254154 meters Centerline goodness : 0.998424 with order 1 Centerline is valid? [True, True] Translation: X:465.02, Y:25.38, Z:16.93 [[ 9.94394767e-01 -9.92231549e-02 -3.65214067e-02 4.65018563e+02] [ 9.92148211e-02 9.95063936e-01 -2.04494128e-03 2.53822694e+01] [ 3.65440402e-02 -1.58998593e-03 9.99330779e-01 1.69283329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.399254154 meters Centerline goodness : 0.998507 with order 1 Centerline is valid? [True, True] Translation: X:465.08, Y:25.39, Z:16.93 [[ 9.94571307e-01 -9.74376286e-02 -3.65215610e-02 4.65080971e+02] [ 9.74281946e-02 9.95240462e-01 -2.04218133e-03 2.53888086e+01] [ 3.65467206e-02 -1.52713481e-03 9.99330779e-01 1.69284562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.459254154 meters Centerline goodness : 0.998758 with order 1 Centerline is valid? [True, True] Translation: X:465.14, Y:25.40, Z:16.93 [[ 9.94641381e-01 -9.67196281e-02 -3.65217193e-02 4.65141646e+02] [ 9.67098149e-02 9.95310531e-01 -2.03934617e-03 2.53961542e+01] [ 3.65476967e-02 -1.50359063e-03 9.99330779e-01 1.69309271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.519254154 meters Centerline goodness : 0.998712 with order 1 Centerline is valid? [True, True] Translation: X:465.20, Y:25.41, Z:16.94 [[ 9.95149012e-01 -9.13487766e-02 -3.65218367e-02 4.65203302e+02] [ 9.13354284e-02 9.95818100e-01 -2.03724266e-03 2.54051379e+01] [ 3.65552057e-02 -1.30837758e-03 9.99330779e-01 1.69351791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.579254154 meters Centerline goodness : 0.998631 with order 1 Centerline is valid? [True, True] Translation: X:465.27, Y:25.41, Z:16.94 [[ 9.95610278e-01 -8.61760869e-02 -3.65219925e-02 4.65265139e+02] [ 8.61593644e-02 9.96279291e-01 -2.03444512e-03 2.54137809e+01] [ 3.65614253e-02 -1.12119719e-03 9.99330779e-01 1.69386049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.639254154 meters Centerline goodness : 0.998816 with order 1 Centerline is valid? [True, True] Translation: X:465.32, Y:25.43, Z:16.95 [[ 9.95198972e-01 -9.08027415e-02 -3.65221482e-02 4.65324856e+02] [ 9.07892313e-02 9.95868057e-01 -2.03164725e-03 2.54305591e+01] [ 3.65557199e-02 -1.29392450e-03 9.99330779e-01 1.69540820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.699254154 meters Centerline goodness : 0.998943 with order 1 Centerline is valid? [True, True] Translation: X:465.39, Y:25.44, Z:16.96 [[ 9.95470446e-01 -8.77765064e-02 -3.65222629e-02 4.65386898e+02] [ 8.77610376e-02 9.96139489e-01 -2.02958304e-03 2.54364308e+01] [ 3.65594180e-02 -1.18484175e-03 9.99330779e-01 1.69559961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.759254154 meters Centerline goodness : 0.998986 with order 1 Centerline is valid? [True, True] Translation: X:465.45, Y:25.44, Z:16.96 [[ 9.95794492e-01 -8.40204933e-02 -3.65224120e-02 4.65448496e+02] [ 8.40025991e-02 9.96463474e-01 -2.02689519e-03 2.54416741e+01] [ 3.65635503e-02 -1.04960647e-03 9.99330779e-01 1.69574629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.81925415399996 meters Centerline goodness : 0.998921 with order 1 Centerline is valid? [True, True] Translation: X:465.51, Y:25.45, Z:16.96 [[ 9.96076408e-01 -8.06095040e-02 -3.65225583e-02 4.65510930e+02] [ 8.05894155e-02 9.96745328e-01 -2.02425553e-03 2.54465775e+01] [ 3.65668636e-02 -9.27018449e-04 9.99330779e-01 1.69603462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.87925415399997 meters Centerline goodness : 0.998898 with order 1 Centerline is valid? [True, True] Translation: X:465.57, Y:25.45, Z:16.96 [[ 9.96486464e-01 -7.53712046e-02 -3.65227025e-02 4.65572646e+02] [ 7.53476947e-02 9.97155273e-01 -2.02165069e-03 2.54503915e+01] [ 3.65711796e-02 -7.37353890e-04 9.99330779e-01 1.69636272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.93925415399997 meters Centerline goodness : 0.998621 with order 1 Centerline is valid? [True, True] Translation: X:465.63, Y:25.45, Z:16.97 [[ 9.96793977e-01 -7.11888183e-02 -3.65228534e-02 4.65634291e+02] [ 7.11626020e-02 9.97462685e-01 -2.01892062e-03 2.54543369e+01] [ 3.65739080e-02 -5.86613363e-04 9.99330779e-01 1.69660046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.99925415399997 meters Centerline goodness : 0.998662 with order 1 Centerline is valid? [True, True] Translation: X:465.70, Y:25.46, Z:16.97 [[ 9.97188798e-01 -6.54260748e-02 -3.65230031e-02 4.65695053e+02] [ 6.53960931e-02 9.97857347e-01 -2.01620870e-03 2.54586475e+01] [ 3.65766597e-02 -3.77920980e-04 9.99330779e-01 1.69692004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.059254154 meters Centerline goodness : 0.999044 with order 1 Centerline is valid? [True, True] Translation: X:465.76, Y:25.46, Z:16.97 [[ 9.97302223e-01 -6.36737113e-02 -3.65230778e-02 4.65755797e+02] [ 6.36426043e-02 9.97970721e-01 -2.01485626e-03 2.54610281e+01] [ 3.65772556e-02 -3.15003156e-04 9.99330779e-01 1.69719550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.119254154 meters Centerline goodness : 0.998961 with order 1 Centerline is valid? [True, True] Translation: X:465.82, Y:25.46, Z:16.97 [[ 9.97042830e-01 -6.76140322e-02 -3.65231144e-02 4.65815925e+02] [ 6.75855914e-02 9.97711447e-01 -2.01419107e-03 2.54619085e+01] [ 3.65757169e-02 -4.60201520e-04 9.99330779e-01 1.69734863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.179254154 meters Centerline goodness : 0.998794 with order 1 Centerline is valid? [True, True] Translation: X:465.88, Y:25.45, Z:16.96 [[ 9.97450412e-01 -6.13085462e-02 -3.65231144e-02 4.65877082e+02] [ 6.12758784e-02 9.98118835e-01 -2.01419107e-03 2.54487677e+01] [ 3.65778956e-02 -2.28930203e-04 9.99330779e-01 1.69603833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.239254154 meters Centerline goodness : 0.998965 with order 1 Centerline is valid? [True, True] Translation: X:465.93, Y:25.46, Z:16.98 [[ 9.95851038e-01 -8.33473331e-02 -3.65230365e-02 4.65934220e+02] [ 8.33294006e-02 9.96520019e-01 -2.01560331e-03 2.54610110e+01] [ 3.65639322e-02 -1.03620209e-03 9.99330779e-01 1.69762655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.299254154 meters Centerline goodness : 0.998589 with order 1 Centerline is valid? [True, True] Translation: X:466.00, Y:25.45, Z:16.97 [[ 9.95728869e-01 -8.47944333e-02 -3.65229215e-02 4.65997383e+02] [ 8.47773966e-02 9.96397873e-01 -2.01768590e-03 2.54520027e+01] [ 3.65624498e-02 -1.08725009e-03 9.99330779e-01 1.69686583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.359254154 meters Centerline goodness : 0.998926 with order 1 Centerline is valid? [True, True] Translation: X:466.06, Y:25.46, Z:16.98 [[ 9.94632984e-01 -9.68054319e-02 -3.65230777e-02 4.66057014e+02] [ 9.67965743e-02 9.95302147e-01 -2.01485355e-03 2.54615705e+01] [ 3.65465464e-02 -1.53126900e-03 9.99330779e-01 1.69780327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.419254154 meters Centerline goodness : 0.998777 with order 1 Centerline is valid? [True, True] Translation: X:466.12, Y:25.46, Z:16.98 [[ 9.94166774e-01 -1.01481398e-01 -3.65232886e-02 4.66118993e+02] [ 1.01475828e-01 9.94835973e-01 -2.01102290e-03 2.54638399e+01] [ 3.65387628e-02 -1.70693879e-03 9.99330779e-01 1.69797076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.479254154 meters Centerline goodness : 0.998824 with order 1 Centerline is valid? [True, True] Translation: X:466.18, Y:25.47, Z:16.98 [[ 9.93942993e-01 -1.03650210e-01 -3.65234270e-02 4.66181280e+02] [ 1.03646192e-01 9.94612202e-01 -2.00850604e-03 2.54675025e+01] [ 3.65348283e-02 -1.78917361e-03 9.99330779e-01 1.69832705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.539254154 meters Centerline goodness : 0.998631 with order 1 Centerline is valid? [True, True] Translation: X:466.24, Y:25.46, Z:16.98 [[ 9.94804811e-01 -9.50232454e-02 -3.65235641e-02 4.66244472e+02] [ 9.50135130e-02 9.95473962e-01 -2.00601113e-03 2.54612474e+01] [ 3.65488747e-02 -1.47464260e-03 9.99330779e-01 1.69763348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.599254154 meters Centerline goodness : 0.998734 with order 1 Centerline is valid? [True, True] Translation: X:466.31, Y:25.47, Z:16.98 [[ 9.94845031e-01 -9.46011702e-02 -3.65237204e-02 4.66305082e+02] [ 9.45912584e-02 9.95514179e-01 -2.00316022e-03 2.54664382e+01] [ 3.65493829e-02 -1.46199068e-03 9.99330779e-01 1.69779430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.659254154 meters Centerline goodness : 0.998921 with order 1 Centerline is valid? [True, True] Translation: X:466.37, Y:25.48, Z:16.99 [[ 9.93951114e-01 -1.03572165e-01 -3.65238353e-02 4.66365051e+02] [ 1.03568367e-01 9.94620324e-01 -2.00106275e-03 2.54825123e+01] [ 3.65346033e-02 -1.79375544e-03 9.99330779e-01 1.69932966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.719254154 meters Centerline goodness : 0.999219 with order 1 Centerline is valid? [True, True] Translation: X:466.43, Y:25.49, Z:16.99 [[ 9.93970115e-01 -1.03389611e-01 -3.65239468e-02 4.66425798e+02] [ 1.03385765e-01 9.94639325e-01 -1.99902572e-03 2.54878976e+01] [ 3.65348323e-02 -1.78908437e-03 9.99330779e-01 1.69946733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.779254154 meters Centerline goodness : 0.998796 with order 1 Centerline is valid? [True, True] Translation: X:466.49, Y:25.49, Z:17.00 [[ 9.94041442e-01 -1.02701534e-01 -3.65240543e-02 4.66487967e+02] [ 1.02697296e-01 9.94710650e-01 -1.99706035e-03 2.54927545e+01] [ 3.65359669e-02 -1.76576088e-03 9.99330779e-01 1.69956848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.839254154 meters Centerline goodness : 0.998794 with order 1 Centerline is valid? [True, True] Translation: X:466.55, Y:25.49, Z:16.99 [[ 9.94744384e-01 -9.56535054e-02 -3.65241952e-02 4.66550041e+02] [ 9.56446197e-02 9.95413547e-01 -1.99447999e-03 2.54913816e+01] [ 3.65474577e-02 -1.50934498e-03 9.99330779e-01 1.69911584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.899254154 meters Centerline goodness : 0.998707 with order 1 Centerline is valid? [True, True] Translation: X:466.61, Y:25.51, Z:17.00 [[ 9.94874666e-01 -9.42887475e-02 -3.65243919e-02 4.66609939e+02] [ 9.42790760e-02 9.95543817e-01 -1.99087039e-03 2.55050043e+01] [ 3.65493493e-02 -1.46281942e-03 9.99330779e-01 1.70004212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.959254154 meters Centerline goodness : 0.998092 with order 1 Centerline is valid? [True, True] Translation: X:466.67, Y:25.51, Z:17.00 [[ 9.95677294e-01 -8.53972493e-02 -3.65244656e-02 4.66672093e+02] [ 8.53816499e-02 9.96346333e-01 -1.98951803e-03 2.55126669e+01] [ 3.65609168e-02 -1.13760120e-03 9.99330779e-01 1.70004864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.019254154 meters Centerline goodness : 0.998896 with order 1 Centerline is valid? [True, True] Translation: X:466.73, Y:25.52, Z:17.01 [[ 9.96740614e-01 -7.19311953e-02 -3.65246800e-02 4.66734034e+02] [ 7.19066986e-02 9.97409386e-01 -1.98557481e-03 2.55204191e+01] [ 3.65728834e-02 -6.47266101e-04 9.99330779e-01 1.70102099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.079254154 meters Centerline goodness : 0.998701 with order 1 Centerline is valid? [True, True] Translation: X:466.79, Y:25.53, Z:17.01 [[ 9.97461591e-01 -6.11253530e-02 -3.65248539e-02 4.66794746e+02] [ 6.10937276e-02 9.98130065e-01 -1.98237097e-03 2.55270141e+01] [ 3.65777279e-02 -2.54100565e-04 9.99330779e-01 1.70140942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.139254154 meters Centerline goodness : 0.999018 with order 1 Centerline is valid? [True, True] Translation: X:466.86, Y:25.53, Z:17.02 [[ 9.97696724e-01 -5.71592280e-02 -3.65249268e-02 4.66855322e+02] [ 5.71249944e-02 9.98365069e-01 -1.98102593e-03 2.55313582e+01] [ 3.65784450e-02 -1.10023158e-04 9.99330779e-01 1.70164723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.199254154 meters Centerline goodness : 0.998956 with order 1 Centerline is valid? [True, True] Translation: X:466.92, Y:25.53, Z:17.02 [[ 9.97672891e-01 -5.75737186e-02 -3.65249268e-02 4.66915271e+02] [ 5.75397627e-02 9.98341250e-01 -1.98102593e-03 2.55342333e+01] [ 3.65783961e-02 -1.25219754e-04 9.99330779e-01 1.70170075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.259254154 meters Centerline goodness : 0.998740 with order 1 Centerline is valid? [True, True] Translation: X:466.97, Y:25.54, Z:17.02 [[ 9.97485095e-01 -6.07405921e-02 -3.65248547e-02 4.66974507e+02] [ 6.07087094e-02 9.98153557e-01 -1.98235465e-03 2.55356265e+01] [ 3.65778230e-02 -2.40007575e-04 9.99330779e-01 1.70166772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.31925415399996 meters Centerline goodness : 0.999018 with order 1 Centerline is valid? [True, True] Translation: X:467.03, Y:25.54, Z:17.02 [[ 9.97110875e-01 -6.66021306e-02 -3.65247835e-02 4.67034873e+02] [ 6.65741292e-02 9.97779510e-01 -1.98366627e-03 2.55365002e+01] [ 3.65757969e-02 -4.53670442e-04 9.99330779e-01 1.70183620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.37925415399997 meters Centerline goodness : 0.998829 with order 1 Centerline is valid? [True, True] Translation: X:467.10, Y:25.54, Z:17.02 [[ 9.96842700e-01 -7.05022769e-02 -3.65247835e-02 4.67095132e+02] [ 7.04768914e-02 9.97511440e-01 -1.98366627e-03 2.55375693e+01] [ 3.65737423e-02 -5.96749955e-04 9.99330779e-01 1.70212322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.43925415399997 meters Centerline goodness : 0.998765 with order 1 Centerline is valid? [True, True] Translation: X:467.16, Y:25.54, Z:17.02 [[ 9.96729858e-01 -7.20800325e-02 -3.65247835e-02 4.67156574e+02] [ 7.20557056e-02 9.97398637e-01 -1.98366627e-03 2.55388451e+01] [ 3.65727520e-02 -6.54639642e-04 9.99330779e-01 1.70235031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.49925415399997 meters Centerline goodness : 0.998599 with order 1 Centerline is valid? [True, True] Translation: X:467.22, Y:25.53, Z:17.01 [[ 9.97494038e-01 -6.05935503e-02 -3.65248568e-02 4.67218131e+02] [ 6.05615706e-02 9.98162495e-01 -1.98231554e-03 2.55257568e+01] [ 3.65778577e-02 -2.34654761e-04 9.99330779e-01 1.70102037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.559254154 meters Centerline goodness : 0.999132 with order 1 Centerline is valid? [True, True] Translation: X:467.28, Y:25.54, Z:17.03 [[ 9.96548238e-01 -7.45489346e-02 -3.65248568e-02 4.67275904e+02] [ 7.45263139e-02 9.97217077e-01 -1.98231554e-03 2.55416725e+01] [ 3.65709904e-02 -7.46589887e-04 9.99330779e-01 1.70290335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.619254154 meters Centerline goodness : 0.999048 with order 1 Centerline is valid? [True, True] Translation: X:467.34, Y:25.54, Z:17.03 [[ 9.96401490e-01 -7.64853450e-02 -3.65248297e-02 4.67337378e+02] [ 7.64640059e-02 9.97070371e-01 -1.98281355e-03 2.55431435e+01] [ 3.65694817e-02 -8.17156427e-04 9.99330779e-01 1.70282645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.679254154 meters Centerline goodness : 0.998901 with order 1 Centerline is valid? [True, True] Translation: X:467.40, Y:25.54, Z:17.03 [[ 9.96128513e-01 -7.99619697e-02 -3.65249087e-02 4.67398294e+02] [ 7.99430182e-02 9.96797466e-01 -1.98135801e-03 2.55447899e+01] [ 3.65663697e-02 -9.46224232e-04 9.99330779e-01 1.70335622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.739254154 meters Centerline goodness : 0.998943 with order 1 Centerline is valid? [True, True] Translation: X:467.46, Y:25.55, Z:17.04 [[ 9.95822591e-01 -8.36856743e-02 -3.65249907e-02 4.67460102e+02] [ 8.36692794e-02 9.96491612e-01 -1.97984493e-03 2.55461560e+01] [ 3.65625315e-02 -1.08444535e-03 9.99330779e-01 1.70352679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.799254154 meters Centerline goodness : 0.996170 with order 1 Centerline is valid? [True, True] Translation: X:467.52, Y:25.55, Z:17.03 [[ 9.95908773e-01 -8.26536803e-02 -3.65251366e-02 4.67520994e+02] [ 8.26366909e-02 9.96577778e-01 -1.97714960e-03 2.55486928e+01] [ 3.65635582e-02 -1.04925579e-03 9.99330779e-01 1.70314884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.859254154 meters Centerline goodness : 0.998773 with order 1 Centerline is valid? [True, True] Translation: X:467.58, Y:25.54, Z:17.02 [[ 9.96925926e-01 -6.93152722e-02 -3.65252208e-02 4.67583120e+02] [ 6.92893862e-02 9.97594646e-01 -1.97559296e-03 2.55378303e+01] [ 3.65743035e-02 -5.61290294e-04 9.99330779e-01 1.70202055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.919254154 meters Centerline goodness : 0.998900 with order 1 Centerline is valid? [True, True] Translation: X:467.64, Y:25.56, Z:17.04 [[ 9.96242405e-01 -7.85301182e-02 -3.65252208e-02 4.67641589e+02] [ 7.85104165e-02 9.96911336e-01 -1.97559296e-03 2.55576318e+01] [ 3.65675502e-02 -8.99440820e-04 9.99330779e-01 1.70415313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.979254154 meters Centerline goodness : 0.999088 with order 1 Centerline is valid? [True, True] Translation: X:467.70, Y:25.56, Z:17.04 [[ 9.96453519e-01 -7.58042924e-02 -3.65252573e-02 4.67702833e+02] [ 7.57827854e-02 9.97122394e-01 -1.97491900e-03 2.55619187e+01] [ 3.65698593e-02 -8.00070740e-04 9.99330779e-01 1.70442397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.039254154 meters Centerline goodness : 0.999067 with order 1 Centerline is valid? [True, True] Translation: X:467.77, Y:25.57, Z:17.05 [[ 9.96674382e-01 -7.28427492e-02 -3.65254865e-02 4.67765205e+02] [ 7.28194102e-02 9.97343196e-01 -1.97066958e-03 2.55662730e+01] [ 3.65719944e-02 -6.95648504e-04 9.99330779e-01 1.70479498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.099254154 meters Centerline goodness : 0.998856 with order 1 Centerline is valid? [True, True] Translation: X:467.83, Y:25.57, Z:17.05 [[ 9.96849113e-01 -7.04111064e-02 -3.65256321e-02 4.67826192e+02] [ 7.03862348e-02 9.97517872e-01 -1.96796747e-03 2.55685192e+01] [ 3.65735376e-02 -6.09135090e-04 9.99330779e-01 1.70486337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.159254154 meters Centerline goodness : 0.999111 with order 1 Centerline is valid? [True, True] Translation: X:467.89, Y:25.57, Z:17.05 [[ 9.96797042e-01 -7.11444345e-02 -3.65257046e-02 4.67886853e+02] [ 7.11201043e-02 9.97465821e-01 -1.96662065e-03 2.55726138e+01] [ 3.65730561e-02 -6.37390280e-04 9.99330779e-01 1.70526460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.219254154 meters Centerline goodness : 0.998710 with order 1 Centerline is valid? [True, True] Translation: X:467.95, Y:25.56, Z:17.04 [[ 9.97572521e-01 -5.92868671e-02 -3.65257768e-02 4.67948700e+02] [ 5.92546355e-02 9.98240966e-01 -1.96528006e-03 2.55625605e+01] [ 3.65780420e-02 -2.03812202e-04 9.99330779e-01 1.70389634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.279254154 meters Centerline goodness : 0.998774 with order 1 Centerline is valid? [True, True] Translation: X:468.01, Y:25.58, Z:17.06 [[ 9.96507545e-01 -7.50904834e-02 -3.65257768e-02 4.68007096e+02] [ 7.50688504e-02 9.97176416e-01 -1.96528006e-03 2.55785655e+01] [ 3.65702170e-02 -7.83531660e-04 9.99330779e-01 1.70597811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.339254154 meters Centerline goodness : 0.998818 with order 1 Centerline is valid? [True, True] Translation: X:468.07, Y:25.58, Z:17.06 [[ 9.96079638e-01 -8.05681450e-02 -3.65257396e-02 4.68068071e+02] [ 8.05501644e-02 9.96748617e-01 -1.96597069e-03 2.55814452e+01] [ 3.65653750e-02 -9.83890957e-04 9.99330779e-01 1.70629114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.399254154 meters Centerline goodness : 0.998967 with order 1 Centerline is valid? [True, True] Translation: X:468.13, Y:25.58, Z:17.07 [[ 9.95158043e-01 -9.12487456e-02 -3.65258128e-02 4.68129540e+02] [ 9.12379923e-02 9.95827178e-01 -1.96460898e-03 2.55841402e+01] [ 3.65526652e-02 -1.37744540e-03 9.99330779e-01 1.70657407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.459254154 meters Centerline goodness : 0.998588 with order 1 Centerline is valid? [True, True] Translation: X:468.19, Y:25.57, Z:17.05 [[ 9.95961883e-01 -8.20108767e-02 -3.65259215e-02 4.68192359e+02] [ 8.19939891e-02 9.96630892e-01 -1.96258706e-03 2.55665572e+01] [ 3.65638152e-02 -1.04024410e-03 9.99330779e-01 1.70455385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.519254154 meters Centerline goodness : 0.998694 with order 1 Centerline is valid? [True, True] Translation: X:468.25, Y:25.59, Z:17.07 [[ 9.93420650e-01 -1.08541553e-01 -3.65259293e-02 4.68250272e+02] [ 1.08542518e-01 9.94089871e-01 -1.96244070e-03 2.55877584e+01] [ 3.65230627e-02 -2.01508721e-03 9.99330779e-01 1.70682848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.579254154 meters Centerline goodness : 0.998842 with order 1 Centerline is valid? [True, True] Translation: X:468.31, Y:25.59, Z:17.07 [[ 9.92691281e-01 -1.15021153e-01 -3.65260930e-02 4.68311485e+02] [ 1.15026596e-01 9.93360480e-01 -1.95939012e-03 2.55914546e+01] [ 3.65089486e-02 -2.25640263e-03 9.99330779e-01 1.70689243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.639254154 meters Centerline goodness : 0.998863 with order 1 Centerline is valid? [True, True] Translation: X:468.37, Y:25.60, Z:17.07 [[ 9.92596398e-01 -1.15837077e-01 -3.65261983e-02 4.68373377e+02] [ 1.15843142e-01 9.93265591e-01 -1.95742547e-03 2.55955261e+01] [ 3.65069584e-02 -2.28837609e-03 9.99330779e-01 1.70699684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.699254154 meters Centerline goodness : 0.999094 with order 1 Centerline is valid? [True, True] Translation: X:468.44, Y:25.60, Z:17.07 [[ 9.92934125e-01 -1.12905489e-01 -3.65263362e-02 4.68436387e+02] [ 1.12909672e-01 9.93603334e-01 -1.95484737e-03 2.56008881e+01] [ 3.65134024e-02 -2.18314198e-03 9.99330779e-01 1.70720957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.759254154 meters Centerline goodness : 0.999007 with order 1 Centerline is valid? [True, True] Translation: X:468.50, Y:25.61, Z:17.07 [[ 9.93131437e-01 -1.11156465e-01 -3.65265411e-02 4.68499057e+02] [ 1.11159610e-01 9.93800651e-01 -1.95101210e-03 2.56057701e+01] [ 3.65169679e-02 -2.12266461e-03 9.99330779e-01 1.70748599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.81925415399996 meters Centerline goodness : 0.998732 with order 1 Centerline is valid? [True, True] Translation: X:468.56, Y:25.60, Z:17.06 [[ 9.95022855e-01 -9.27109252e-02 -3.65267460e-02 4.68561102e+02] [ 9.27017944e-02 9.95692014e-01 -1.94716855e-03 2.55966570e+01] [ 3.65499131e-02 -1.44861769e-03 9.99330779e-01 1.70592913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.87925415399997 meters Centerline goodness : 0.998687 with order 1 Centerline is valid? [True, True] Translation: X:468.62, Y:25.62, Z:17.08 [[ 9.94437391e-01 -9.87930691e-02 -3.65267829e-02 4.68620151e+02] [ 9.87880553e-02 9.95106593e-01 -1.94647498e-03 2.56217537e+01] [ 3.65403408e-02 -1.67276236e-03 9.99330779e-01 1.70775902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.93925415399997 meters Centerline goodness : 0.998939 with order 1 Centerline is valid? [True, True] Translation: X:468.68, Y:25.62, Z:17.07 [[ 9.96198860e-01 -7.90798531e-02 -3.65268243e-02 4.68681341e+02] [ 7.90616159e-02 9.96867832e-01 -1.94569812e-03 2.56159807e+01] [ 3.65662817e-02 -9.49567504e-04 9.99330779e-01 1.70654201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.99925415399997 meters Centerline goodness : 0.999275 with order 1 Centerline is valid? [True, True] Translation: X:468.74, Y:25.64, Z:17.09 [[ 9.95467805e-01 -8.78045631e-02 -3.65268243e-02 4.68739329e+02] [ 8.77921875e-02 9.96136911e-01 -1.94569812e-03 2.56391527e+01] [ 3.65565591e-02 -1.26988997e-03 9.99330779e-01 1.70850964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.059254154 meters Centerline goodness : 0.999318 with order 1 Centerline is valid? [True, True] Translation: X:468.80, Y:25.65, Z:17.09 [[ 9.95726174e-01 -8.48244021e-02 -3.65268078e-02 4.68801582e+02] [ 8.48100124e-02 9.96395240e-01 -1.94600751e-03 2.56453957e+01] [ 3.65602064e-02 -1.16014841e-03 9.99330779e-01 1.70866118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.119254154 meters Centerline goodness : 0.999190 with order 1 Centerline is valid? [True, True] Translation: X:468.86, Y:25.65, Z:17.08 [[ 9.96062936e-01 -8.07738210e-02 -3.65269471e-02 4.68863807e+02] [ 8.07568059e-02 9.96731941e-01 -1.94339059e-03 2.56515557e+01] [ 3.65645499e-02 -1.01406024e-03 9.99330779e-01 1.70831830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.179254154 meters Centerline goodness : 0.999251 with order 1 Centerline is valid? [True, True] Translation: X:468.93, Y:25.66, Z:17.09 [[ 9.96456629e-01 -7.57624922e-02 -3.65271393e-02 4.68925771e+02] [ 7.57422448e-02 9.97125544e-01 -1.93977157e-03 2.56572674e+01] [ 3.65691055e-02 -8.33749287e-04 9.99330779e-01 1.70895311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.239254154 meters Centerline goodness : 0.999228 with order 1 Centerline is valid? [True, True] Translation: X:468.99, Y:25.66, Z:17.09 [[ 9.96570262e-01 -7.42527430e-02 -3.65273000e-02 4.68987918e+02] [ 7.42315933e-02 9.97239149e-01 -1.93673970e-03 2.56636783e+01] [ 3.65702618e-02 -7.81382494e-04 9.99330779e-01 1.70946512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.299254154 meters Centerline goodness : 0.999228 with order 1 Centerline is valid? [True, True] Translation: X:469.05, Y:25.66, Z:17.09 [[ 9.96768157e-01 -7.15470601e-02 -3.65275132e-02 4.69048859e+02] [ 7.15242422e-02 9.97436989e-01 -1.93270980e-03 2.56646153e+01] [ 3.65721725e-02 -6.86139116e-04 9.99330779e-01 1.70947845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.359254154 meters Centerline goodness : 0.997746 with order 1 Centerline is valid? [True, True] Translation: X:469.11, Y:25.67, Z:17.10 [[ 9.96549579e-01 -7.45296404e-02 -3.65276415e-02 4.69110739e+02] [ 7.45089130e-02 9.97218480e-01 -1.93028341e-03 2.56696273e+01] [ 3.65699024e-02 -7.98011742e-04 9.99330779e-01 1.70987384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.419254154 meters Centerline goodness : 0.999293 with order 1 Centerline is valid? [True, True] Translation: X:469.17, Y:25.67, Z:17.10 [[ 9.96279045e-01 -7.80626518e-02 -3.65278897e-02 4.69171746e+02] [ 7.80444689e-02 9.96948019e-01 -1.92557411e-03 2.56697296e+01] [ 3.65667227e-02 -9.32390617e-04 9.99330779e-01 1.70981852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.479254154 meters Centerline goodness : 0.999250 with order 1 Centerline is valid? [True, True] Translation: X:469.23, Y:25.67, Z:17.10 [[ 9.96017865e-01 -8.13271384e-02 -3.65281946e-02 4.69234185e+02] [ 8.13113605e-02 9.96686900e-01 -1.91977289e-03 2.56713224e+01] [ 3.65633027e-02 -1.05802910e-03 9.99330779e-01 1.71027237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.539254154 meters Centerline goodness : 0.999208 with order 1 Centerline is valid? [True, True] Translation: X:469.30, Y:25.67, Z:17.10 [[ 9.95754363e-01 -8.44921810e-02 -3.65283466e-02 4.69295065e+02] [ 8.44786355e-02 9.96423447e-01 -1.91687716e-03 2.56737442e+01] [ 3.65596621e-02 -1.17712608e-03 9.99330779e-01 1.71016227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.599254154 meters Centerline goodness : 0.999250 with order 1 Centerline is valid? [True, True] Translation: X:469.36, Y:25.68, Z:17.11 [[ 9.95772775e-01 -8.42748674e-02 -3.65284583e-02 4.69356601e+02] [ 8.42612540e-02 9.96441857e-01 -1.91474611e-03 2.56773178e+01] [ 3.65598498e-02 -1.17128166e-03 9.99330779e-01 1.71051594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.659254154 meters Centerline goodness : 0.999315 with order 1 Centerline is valid? [True, True] Translation: X:469.42, Y:25.68, Z:17.11 [[ 9.96273332e-01 -7.81352026e-02 -3.65285994e-02 4.69418659e+02] [ 7.81175639e-02 9.96942320e-01 -1.91205053e-03 2.56813106e+01] [ 3.65663051e-02 -9.48600242e-04 9.99330779e-01 1.71080766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.719254154 meters Centerline goodness : 0.999185 with order 1 Centerline is valid? [True, True] Translation: X:469.48, Y:25.68, Z:17.11 [[ 9.96700564e-01 -7.24819796e-02 -3.65287433e-02 4.69479667e+02] [ 7.24606468e-02 9.97369445e-01 -1.90929676e-03 2.56848129e+01] [ 3.65710420e-02 -7.43899209e-04 9.99330779e-01 1.71102916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.779254154 meters Centerline goodness : 0.999014 with order 1 Centerline is valid? [True, True] Translation: X:469.54, Y:25.69, Z:17.11 [[ 9.97105174e-01 -6.66851673e-02 -3.65288855e-02 4.69541946e+02] [ 6.66600452e-02 9.97773924e-01 -1.90657282e-03 2.56869419e+01] [ 3.65747095e-02 -5.33963532e-04 9.99330779e-01 1.71110546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.839254154 meters Centerline goodness : 0.999292 with order 1 Centerline is valid? [True, True] Translation: X:469.60, Y:25.69, Z:17.11 [[ 9.97109771e-01 -6.66163319e-02 -3.65290280e-02 4.69602943e+02] [ 6.65912638e-02 9.97778522e-01 -1.90383870e-03 2.56899768e+01] [ 3.65747063e-02 -5.34177968e-04 9.99330779e-01 1.71129406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.899254154 meters Centerline goodness : 0.999335 with order 1 Centerline is valid? [True, True] Translation: X:469.66, Y:25.69, Z:17.11 [[ 9.96919757e-01 -6.94018933e-02 -3.65290964e-02 4.69664837e+02] [ 6.93787418e-02 9.97588578e-01 -1.90252546e-03 2.56906152e+01] [ 3.65730482e-02 -6.37677528e-04 9.99330779e-01 1.71121150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.959254154 meters Centerline goodness : 0.999036 with order 1 Centerline is valid? [True, True] Translation: X:469.73, Y:25.69, Z:17.11 [[ 9.96667144e-01 -7.29398730e-02 -3.65291659e-02 4.69725754e+02] [ 7.29191445e-02 9.97336044e-01 -1.90118907e-03 2.56926109e+01] [ 3.65705263e-02 -7.68822845e-04 9.99330779e-01 1.71135320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.019254154 meters Centerline goodness : 0.999122 with order 1 Centerline is valid? [True, True] Translation: X:469.79, Y:25.70, Z:17.12 [[ 9.96506556e-01 -7.51019183e-02 -3.65292354e-02 4.69786414e+02] [ 7.50826900e-02 9.97175501e-01 -1.89985269e-03 2.56956263e+01] [ 3.65687412e-02 -8.49497601e-04 9.99330779e-01 1.71161566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.079254154 meters Centerline goodness : 0.999273 with order 1 Centerline is valid? [True, True] Translation: X:469.85, Y:25.70, Z:17.12 [[ 9.96279463e-01 -7.80565844e-02 -3.65294452e-02 4.69848179e+02] [ 7.80394879e-02 9.96948466e-01 -1.89581157e-03 2.56990883e+01] [ 3.65659549e-02 -9.61981056e-04 9.99330779e-01 1.71212229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.139254154 meters Centerline goodness : 0.999103 with order 1 Centerline is valid? [True, True] Translation: X:469.91, Y:25.70, Z:17.12 [[ 9.96077033e-01 -8.05985996e-02 -3.65295866e-02 4.69909443e+02] [ 8.05833104e-02 9.96746079e-01 -1.89308131e-03 2.57021011e+01] [ 3.65633020e-02 -1.05802020e-03 9.99330779e-01 1.71234352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.199254154 meters Centerline goodness : 0.999125 with order 1 Centerline is valid? [True, True] Translation: X:469.97, Y:25.70, Z:17.12 [[ 9.95439445e-01 -8.81243089e-02 -3.65296910e-02 4.69970789e+02] [ 8.81141504e-02 9.96108589e-01 -1.89106487e-03 2.57049296e+01] [ 3.65541878e-02 -1.33634213e-03 9.99330779e-01 1.71238888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.259254154 meters Centerline goodness : 0.999189 with order 1 Centerline is valid? [True, True] Translation: X:470.03, Y:25.71, Z:17.13 [[ 9.94814004e-01 -9.49245148e-02 -3.65299021e-02 4.70032955e+02] [ 9.49190789e-02 9.95483203e-01 -1.88697907e-03 2.57060933e+01] [ 3.65440245e-02 -1.59019145e-03 9.99330779e-01 1.71269702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.31925415399996 meters Centerline goodness : 0.999148 with order 1 Centerline is valid? [True, True] Translation: X:470.10, Y:25.71, Z:17.13 [[ 9.93762428e-01 -1.05365050e-01 -3.65300403e-02 4.70095186e+02] [ 1.05366739e-01 9.94431647e-01 -1.88429964e-03 2.57083553e+01] [ 3.65251674e-02 -1.97650504e-03 9.99330779e-01 1.71315179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.37925415399997 meters Centerline goodness : 0.999278 with order 1 Centerline is valid? [True, True] Translation: X:470.16, Y:25.71, Z:17.13 [[ 9.92933100e-01 -1.12913266e-01 -3.65301799e-02 4.70157607e+02] [ 1.12920139e-01 9.93602285e-01 -1.88158985e-03 2.57103567e+01] [ 3.65089267e-02 -2.25670017e-03 9.99330779e-01 1.71336722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.43925415399997 meters Centerline goodness : 0.999340 with order 1 Centerline is valid? [True, True] Translation: X:470.22, Y:25.71, Z:17.13 [[ 9.92403461e-01 -1.17477245e-01 -3.65303524e-02 4.70220233e+02] [ 1.17487319e-01 9.93072607e-01 -1.87823457e-03 2.57125517e+01] [ 3.64979421e-02 -2.42788666e-03 9.99330779e-01 1.71327005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.49925415399997 meters Centerline goodness : 0.999255 with order 1 Centerline is valid? [True, True] Translation: X:470.28, Y:25.71, Z:17.13 [[ 9.92881286e-01 -1.13367873e-01 -3.65304865e-02 4.70283307e+02] [ 1.13375271e-01 9.93550467e-01 -1.87562316e-03 2.57099374e+01] [ 3.65075173e-02 -2.27938269e-03 9.99330779e-01 1.71266909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.559254154 meters Centerline goodness : 0.999361 with order 1 Centerline is valid? [True, True] Translation: X:470.34, Y:25.72, Z:17.14 [[ 9.92566933e-01 -1.16087884e-01 -3.65306332e-02 4.70344193e+02] [ 1.16097221e-01 9.93236089e-01 -1.87276056e-03 2.57203620e+01] [ 3.65009481e-02 -2.38226481e-03 9.99330779e-01 1.71381897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.619254154 meters Centerline goodness : 0.999232 with order 1 Centerline is valid? [True, True] Translation: X:470.40, Y:25.72, Z:17.14 [[ 9.92832594e-01 -1.13793421e-01 -3.65307772e-02 4.70404989e+02] [ 1.13801314e-01 9.93501769e-01 -1.86994843e-03 2.57243511e+01] [ 3.65061796e-02 -2.30070470e-03 9.99330779e-01 1.71386807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.679254154 meters Centerline goodness : 0.999336 with order 1 Centerline is valid? [True, True] Translation: X:470.47, Y:25.73, Z:17.14 [[ 9.93865545e-01 -1.04387614e-01 -3.65308805e-02 4.70466695e+02] [ 1.04389245e-01 9.94534764e-01 -1.86792821e-03 2.57319908e+01] [ 3.65262191e-02 -1.95696153e-03 9.99330779e-01 1.71438720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.739254154 meters Centerline goodness : 0.999593 with order 1 Centerline is valid? [True, True] Translation: X:470.53, Y:25.74, Z:17.15 [[ 9.95128377e-01 -9.15696330e-02 -3.65310153e-02 4.70527757e+02] [ 9.15627356e-02 9.95797563e-01 -1.86528794e-03 2.57378900e+01] [ 3.65482997e-02 -1.48867873e-03 9.99330779e-01 1.71461972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.799254154 meters Centerline goodness : 0.999572 with order 1 Centerline is valid? [True, True] Translation: X:470.59, Y:25.74, Z:17.15 [[ 9.95910238e-01 -8.26333761e-02 -3.65311147e-02 4.70589772e+02] [ 8.26205436e-02 9.96579336e-01 -1.86333903e-03 2.57438693e+01] [ 3.65601280e-02 -1.16250214e-03 9.99330779e-01 1.71500127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.859254154 meters Centerline goodness : 0.999334 with order 1 Centerline is valid? [True, True] Translation: X:470.65, Y:25.75, Z:17.15 [[ 9.96861039e-01 -7.02391350e-02 -3.65312487e-02 4.70652129e+02] [ 7.02180772e-02 9.97529929e-01 -1.86070740e-03 2.57497573e+01] [ 3.65717084e-02 -7.10287325e-04 9.99330779e-01 1.71528277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.919254154 meters Centerline goodness : 0.999137 with order 1 Centerline is valid? [True, True] Translation: X:470.71, Y:25.75, Z:17.15 [[ 9.97477716e-01 -6.08577439e-02 -3.65313841e-02 4.70714245e+02] [ 6.08304916e-02 9.98146382e-01 -1.85804650e-03 2.57537121e+01] [ 3.65767453e-02 -3.68862075e-04 9.99330779e-01 1.71526950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.979254154 meters Centerline goodness : 0.999308 with order 1 Centerline is valid? [True, True] Translation: X:470.78, Y:25.76, Z:17.15 [[ 9.97674852e-01 -5.75355260e-02 -3.65315200e-02 4.70775816e+02] [ 5.75061451e-02 9.98343428e-01 -1.85536956e-03 2.57577119e+01] [ 3.65777526e-02 -2.49731341e-04 9.99330779e-01 1.71542898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.039254154 meters Centerline goodness : 0.999309 with order 1 Centerline is valid? [True, True] Translation: X:470.84, Y:25.76, Z:17.16 [[ 9.97734168e-01 -5.64975477e-02 -3.65315880e-02 4.70836420e+02] [ 5.64675202e-02 9.98402715e-01 -1.85403064e-03 2.57600949e+01] [ 3.65779848e-02 -2.13018468e-04 9.99330779e-01 1.71571527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.099254154 meters Centerline goodness : 0.999288 with order 1 Centerline is valid? [True, True] Translation: X:470.90, Y:25.76, Z:17.16 [[ 9.97564449e-01 -5.94189702e-02 -3.65315880e-02 4.70896302e+02] [ 5.93909005e-02 9.98233081e-01 -1.85403064e-03 2.57604636e+01] [ 3.65772042e-02 -3.20128858e-04 9.99330779e-01 1.71588396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.159254154 meters Centerline goodness : 0.999353 with order 1 Centerline is valid? [True, True] Translation: X:470.96, Y:25.76, Z:17.16 [[ 9.97357325e-01 -6.27997770e-02 -3.65315542e-02 4.70956668e+02] [ 6.27739495e-02 9.98026047e-01 -1.85469610e-03 2.57620087e+01] [ 3.65759171e-02 -4.43435194e-04 9.99330779e-01 1.71613158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.219254154 meters Centerline goodness : 0.999119 with order 1 Centerline is valid? [True, True] Translation: X:471.02, Y:25.76, Z:17.16 [[ 9.96855234e-01 -7.03213191e-02 -3.65315542e-02 4.71017613e+02] [ 7.03005367e-02 9.97524132e-01 -1.85469610e-03 2.57621940e+01] [ 3.65715316e-02 -7.19324348e-04 9.99330779e-01 1.71620250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.279254154 meters Centerline goodness : 0.999294 with order 1 Centerline is valid? [True, True] Translation: X:471.08, Y:25.76, Z:17.17 [[ 9.96001298e-01 -8.15282410e-02 -3.65316232e-02 4.71079123e+02] [ 8.15150326e-02 9.96670389e-01 -1.85333611e-03 2.57612183e+01] [ 3.65610863e-02 -1.13195129e-03 9.99330779e-01 1.71652493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.339254154 meters Centerline goodness : 0.998978 with order 1 Centerline is valid? [True, True] Translation: X:471.14, Y:25.76, Z:17.17 [[ 9.95086406e-01 -9.20243278e-02 -3.65317255e-02 4.71141311e+02] [ 9.20182483e-02 9.95755600e-01 -1.85131672e-03 2.57588377e+01] [ 3.65470364e-02 -1.51936529e-03 9.99330779e-01 1.71657422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.399254154 meters Centerline goodness : 0.999340 with order 1 Centerline is valid? [True, True] Translation: X:471.20, Y:25.76, Z:17.17 [[ 9.94467247e-01 -9.84901917e-02 -3.65318620e-02 4.71204752e+02] [ 9.84885607e-02 9.95136466e-01 -1.84861943e-03 2.57597509e+01] [ 3.65362589e-02 -1.75957904e-03 9.99330779e-01 1.71702846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.459254154 meters Centerline goodness : 0.999342 with order 1 Centerline is valid? [True, True] Translation: X:471.27, Y:25.76, Z:17.17 [[ 9.93853548e-01 -1.04501358e-01 -3.65320711e-02 4.71266601e+02] [ 1.04503925e-01 9.94522764e-01 -1.84447755e-03 2.57592302e+01] [ 3.65247268e-02 -1.98460428e-03 9.99330779e-01 1.71710111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.519254154 meters Centerline goodness : 0.998961 with order 1 Centerline is valid? [True, True] Translation: X:471.33, Y:25.76, Z:17.17 [[ 9.93674884e-01 -1.06186724e-01 -3.65322426e-02 4.71329400e+02] [ 1.06190551e-01 9.94344094e-01 -1.84107590e-03 2.57598757e+01] [ 3.65211175e-02 -2.04994808e-03 9.99330779e-01 1.71709703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.579254154 meters Centerline goodness : 0.998790 with order 1 Centerline is valid? [True, True] Translation: X:471.39, Y:25.76, Z:17.17 [[ 9.93604080e-01 -1.06847145e-01 -3.65324483e-02 4.71390974e+02] [ 1.06851567e-01 9.94273286e-01 -1.83698528e-03 2.57624393e+01] [ 3.65195140e-02 -2.07831326e-03 9.99330779e-01 1.71747820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.639254154 meters Centerline goodness : 0.999084 with order 1 Centerline is valid? [True, True] Translation: X:471.45, Y:25.77, Z:17.18 [[ 9.93782359e-01 -1.05176004e-01 -3.65326166e-02 4.71452873e+02] [ 1.05179423e-01 9.94451571e-01 -1.83363128e-03 2.57667481e+01] [ 3.65227720e-02 -2.02024911e-03 9.99330779e-01 1.71780090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.699254154 meters Centerline goodness : 0.999171 with order 1 Centerline is valid? [True, True] Translation: X:471.51, Y:25.77, Z:17.18 [[ 9.94128217e-01 -1.01855026e-01 -3.65327531e-02 4.71514134e+02] [ 1.01856308e-01 9.94797437e-01 -1.83090855e-03 2.57702524e+01] [ 3.65291763e-02 -1.90093350e-03 9.99330779e-01 1.71761817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.759254154 meters Centerline goodness : 0.999084 with order 1 Centerline is valid? [True, True] Translation: X:471.58, Y:25.77, Z:17.18 [[ 9.94475916e-01 -9.84022489e-02 -3.65328539e-02 4.71575958e+02] [ 9.84012816e-02 9.95145137e-01 -1.82889390e-03 2.57735909e+01] [ 3.65354592e-02 -1.77608871e-03 9.99330779e-01 1.71771534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.81925415399996 meters Centerline goodness : 0.999168 with order 1 Centerline is valid? [True, True] Translation: X:471.64, Y:25.78, Z:17.18 [[ 9.95215133e-01 -9.06210816e-02 -3.65329893e-02 4.71637673e+02] [ 9.06149793e-02 9.95884326e-01 -1.82618625e-03 2.57805308e+01] [ 3.65481224e-02 -1.49298787e-03 9.99330779e-01 1.71817645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.87925415399997 meters Centerline goodness : 0.999018 with order 1 Centerline is valid? [True, True] Translation: X:471.70, Y:25.79, Z:17.19 [[ 9.95899344e-01 -8.27636805e-02 -3.65331248e-02 4.71699515e+02] [ 8.27523965e-02 9.96568470e-01 -1.82347122e-03 2.57871327e+01] [ 3.65586775e-02 -1.20720983e-03 9.99330779e-01 1.71867435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.93925415399997 meters Centerline goodness : 0.999229 with order 1 Centerline is valid? [True, True] Translation: X:471.76, Y:25.79, Z:17.19 [[ 9.96762163e-01 -7.16275875e-02 -3.65332614e-02 4.71761524e+02] [ 7.16089259e-02 9.97431124e-01 -1.82072984e-03 2.57938890e+01] [ 3.65698265e-02 -8.01272997e-04 9.99330779e-01 1.71925397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.99925415399997 meters Centerline goodness : 0.999163 with order 1 Centerline is valid? [True, True] Translation: X:471.82, Y:25.80, Z:17.20 [[ 9.97248835e-01 -6.44986177e-02 -3.65333974e-02 4.71823404e+02] [ 6.44752734e-02 9.97917649e-01 -1.81799779e-03 2.57987580e+01] [ 3.65745803e-02 -5.42504605e-04 9.99330779e-01 1.71957285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.059254154 meters Centerline goodness : 0.999142 with order 1 Centerline is valid? [True, True] Translation: X:471.88, Y:25.80, Z:17.20 [[ 9.97517202e-01 -6.02057482e-02 -3.65335339e-02 4.71884000e+02] [ 6.01796261e-02 9.98185913e-01 -1.81525004e-03 2.58030544e+01] [ 3.65765474e-02 -3.87831269e-04 9.99330779e-01 1.71981208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.119254154 meters Centerline goodness : 0.999142 with order 1 Centerline is valid? [True, True] Translation: X:471.94, Y:25.81, Z:17.20 [[ 9.97657286e-01 -5.78380336e-02 -3.65335673e-02 4.71944141e+02] [ 5.78103490e-02 9.98325934e-01 -1.81457812e-03 2.58065977e+01] [ 3.65773593e-02 -3.01691196e-04 9.99330779e-01 1.72000398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.179254154 meters Centerline goodness : 0.999121 with order 1 Centerline is valid? [True, True] Translation: X:472.00, Y:25.81, Z:17.20 [[ 9.97796730e-01 -5.53803660e-02 -3.65335673e-02 4.72003606e+02] [ 5.53510344e-02 9.98465308e-01 -1.81457812e-03 2.58091883e+01] [ 3.65779915e-02 -2.11590629e-04 9.99330779e-01 1.72002142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.239254154 meters Centerline goodness : 0.999185 with order 1 Centerline is valid? [True, True] Translation: X:472.06, Y:25.81, Z:17.20 [[ 9.97646929e-01 -5.80164305e-02 -3.65335349e-02 4.72063076e+02] [ 5.79888417e-02 9.98315581e-01 -1.81522852e-03 2.58095978e+01] [ 3.65773102e-02 -3.07580218e-04 9.99330779e-01 1.72035737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.299254154 meters Centerline goodness : 0.999358 with order 1 Centerline is valid? [True, True] Translation: X:472.12, Y:25.81, Z:17.21 [[ 9.97430607e-01 -6.16237833e-02 -3.65334707e-02 4.72123797e+02] [ 6.15985654e-02 9.98099352e-01 -1.81652097e-03 2.58096103e+01] [ 3.65759743e-02 -4.38555772e-04 9.99330779e-01 1.72051250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.359254154 meters Centerline goodness : 0.999147 with order 1 Centerline is valid? [True, True] Translation: X:472.18, Y:25.81, Z:17.20 [[ 9.96946562e-01 -6.90134646e-02 -3.65334707e-02 4.72183512e+02] [ 6.89932030e-02 9.97615476e-01 -1.81652097e-03 2.58087027e+01] [ 3.65717202e-02 -7.09586828e-04 9.99330779e-01 1.72026596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.419254154 meters Centerline goodness : 0.999065 with order 1 Centerline is valid? [True, True] Translation: X:472.24, Y:25.81, Z:17.21 [[ 9.96163442e-01 -7.95217731e-02 -3.65333235e-02 4.72244855e+02] [ 7.95084577e-02 9.96832531e-01 -1.81947619e-03 2.58077863e+01] [ 3.65622933e-02 -1.09221254e-03 9.99330779e-01 1.72095748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.479254154 meters Centerline goodness : 0.999005 with order 1 Centerline is valid? [True, True] Translation: X:472.31, Y:25.81, Z:17.21 [[ 9.95184805e-01 -9.09533712e-02 -3.65333950e-02 4.72306418e+02] [ 9.09477910e-02 9.95854002e-01 -1.81803849e-03 2.58058077e+01] [ 3.65472844e-02 -1.51334730e-03 9.99330779e-01 1.72123308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.539254154 meters Centerline goodness : 0.999196 with order 1 Centerline is valid? [True, True] Translation: X:472.37, Y:25.81, Z:17.22 [[ 9.94848593e-01 -9.45599311e-02 -3.65334942e-02 4.72368323e+02] [ 9.45568496e-02 9.95517807e-01 -1.81604448e-03 2.58068738e+01] [ 3.65414690e-02 -1.64780282e-03 9.99330779e-01 1.72157707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.599254154 meters Centerline goodness : 0.998964 with order 1 Centerline is valid? [True, True] Translation: X:472.43, Y:25.81, Z:17.22 [[ 9.94321978e-01 -9.99454793e-02 -3.65336293e-02 4.72430384e+02] [ 9.99461213e-02 9.94991198e-01 -1.81332287e-03 2.58062444e+01] [ 3.65318730e-02 -1.84836776e-03 9.99330779e-01 1.72176813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.659254154 meters Centerline goodness : 0.998837 with order 1 Centerline is valid? [True, True] Translation: X:472.49, Y:25.81, Z:17.22 [[ 9.94366771e-01 -9.94987806e-02 -3.65337960e-02 4.72491527e+02] [ 9.94992452e-02 9.95035991e-01 -1.80995748e-03 2.58054657e+01] [ 3.65325305e-02 -1.83532355e-03 9.99330779e-01 1.72184352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.719254154 meters Centerline goodness : 0.999069 with order 1 Centerline is valid? [True, True] Translation: X:472.55, Y:25.81, Z:17.22 [[ 9.95361323e-01 -8.90006205e-02 -3.65338939e-02 4.72553269e+02] [ 8.89940960e-02 9.96030513e-01 -1.80797887e-03 2.58090338e+01] [ 3.65497843e-02 -1.45170862e-03 9.99330779e-01 1.72231599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.779254154 meters Centerline goodness : 0.998961 with order 1 Centerline is valid? [True, True] Translation: X:472.62, Y:25.81, Z:17.23 [[ 9.96516460e-01 -7.49680623e-02 -3.65340256e-02 4.72615013e+02] [ 7.49522078e-02 9.97185493e-01 -1.80531293e-03 2.58145237e+01] [ 3.65665412e-02 -9.39281833e-04 9.99330779e-01 1.72267268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.839254154 meters Centerline goodness : 0.998855 with order 1 Centerline is valid? [True, True] Translation: X:472.68, Y:25.82, Z:17.23 [[ 9.97023736e-01 -6.78890672e-02 -3.65341551e-02 4.72676344e+02] [ 6.78685579e-02 9.97692643e-01 -1.80268942e-03 2.58183531e+01] [ 3.65722406e-02 -6.82196281e-04 9.99330779e-01 1.72285944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.899254154 meters Centerline goodness : 0.999070 with order 1 Centerline is valid? [True, True] Translation: X:472.74, Y:25.82, Z:17.23 [[ 9.97298408e-01 -6.37270417e-02 -3.65342194e-02 4.72737614e+02] [ 6.37037884e-02 9.97967225e-01 -1.80138507e-03 2.58206839e+01] [ 3.65747505e-02 -5.30849716e-04 9.99330779e-01 1.72321974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.959254154 meters Centerline goodness : 0.999196 with order 1 Centerline is valid? [True, True] Translation: X:472.80, Y:25.82, Z:17.23 [[ 9.97118355e-01 -6.64848324e-02 -3.65342865e-02 4.72797324e+02] [ 6.64634787e-02 9.97787235e-01 -1.80002378e-03 2.58216220e+01] [ 3.65731189e-02 -6.33359015e-04 9.99330779e-01 1.72324155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.019254154 meters Centerline goodness : 0.998943 with order 1 Centerline is valid? [True, True] Translation: X:472.86, Y:25.82, Z:17.24 [[ 9.96801717e-01 -7.10745010e-02 -3.65342535e-02 4.72858118e+02] [ 7.10562023e-02 9.97470688e-01 -1.80069173e-03 2.58232997e+01] [ 3.65698303e-02 -8.01052702e-04 9.99330779e-01 1.72357533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.079254154 meters Centerline goodness : 0.998881 with order 1 Centerline is valid? [True, True] Translation: X:472.92, Y:25.82, Z:17.24 [[ 9.96060735e-01 -8.07976488e-02 -3.65342535e-02 4.72919626e+02] [ 8.07858786e-02 9.96729853e-01 -1.80069173e-03 2.58240457e+01] [ 3.65602728e-02 -1.15785344e-03 9.99330779e-01 1.72374878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.139254154 meters Centerline goodness : 0.998860 with order 1 Centerline is valid? [True, True] Translation: X:472.98, Y:25.82, Z:17.24 [[ 9.95181944e-01 -9.09842921e-02 -3.65343190e-02 4.72982263e+02] [ 9.09794171e-02 9.95851147e-01 -1.79936187e-03 2.58244250e+01] [ 3.65464572e-02 -1.53317860e-03 9.99330779e-01 1.72403133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.199254154 meters Centerline goodness : 0.999051 with order 1 Centerline is valid? [True, True] Translation: X:473.04, Y:25.83, Z:17.24 [[ 9.94581698e-01 -9.73266690e-02 -3.65344492e-02 4.73043793e+02] [ 9.73261572e-02 9.95250919e-01 -1.79671517e-03 2.58263117e+01] [ 3.65358124e-02 -1.76877752e-03 9.99330779e-01 1.72433601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.259254154 meters Centerline goodness : 0.998970 with order 1 Centerline is valid? [True, True] Translation: X:473.11, Y:25.83, Z:17.25 [[ 9.93825639e-01 -1.04765582e-01 -3.65345456e-02 4.73105648e+02] [ 1.04770149e-01 9.94494844e-01 -1.79475358e-03 2.58275516e+01] [ 3.65214456e-02 -2.04405766e-03 9.99330779e-01 1.72459959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.31925415399996 meters Centerline goodness : 0.998716 with order 1 Centerline is valid? [True, True] Translation: X:473.17, Y:25.83, Z:17.25 [[ 9.93131029e-01 -1.11157437e-01 -3.65346747e-02 4.73167964e+02] [ 1.11166407e-01 9.93800190e-01 -1.79212142e-03 2.58312528e+01] [ 3.65073743e-02 -2.28161711e-03 9.99330779e-01 1.72502041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.37925415399997 meters Centerline goodness : 0.998566 with order 1 Centerline is valid? [True, True] Translation: X:473.23, Y:25.83, Z:17.25 [[ 9.92788872e-01 -1.14172944e-01 -3.65348381e-02 4.73229718e+02] [ 1.14184068e-01 9.93458001e-01 -1.78878268e-03 2.58349206e+01] [ 3.65000578e-02 -2.39581289e-03 9.99330779e-01 1.72496826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.43925415399997 meters Centerline goodness : 0.998736 with order 1 Centerline is valid? [True, True] Translation: X:473.29, Y:25.84, Z:17.26 [[ 9.92467112e-01 -1.16936834e-01 -3.65350271e-02 4.73291837e+02] [ 1.16949962e-01 9.93136204e-01 -1.78491485e-03 2.58374645e+01] [ 3.64929804e-02 -2.50130075e-03 9.99330779e-01 1.72551910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.49925415399997 meters Centerline goodness : 0.998947 with order 1 Centerline is valid? [True, True] Translation: X:473.35, Y:25.84, Z:17.26 [[ 9.92530676e-01 -1.16396036e-01 -3.65351824e-02 4.73354173e+02] [ 1.16408917e-01 9.93199773e-01 -1.78172981e-03 2.58406177e+01] [ 3.64941212e-02 -2.48459952e-03 9.99330779e-01 1.72576979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.559254154 meters Centerline goodness : 0.998967 with order 1 Centerline is valid? [True, True] Translation: X:473.42, Y:25.85, Z:17.26 [[ 9.92872399e-01 -1.13444131e-01 -3.65353175e-02 4.73415610e+02] [ 1.13455124e-01 9.93541529e-01 -1.77895558e-03 2.58453972e+01] [ 3.65011673e-02 -2.37884307e-03 9.99330779e-01 1.72573859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.619254154 meters Centerline goodness : 0.999008 with order 1 Centerline is valid? [True, True] Translation: X:473.48, Y:25.85, Z:17.26 [[ 9.93809016e-01 -1.04922819e-01 -3.65354840e-02 4.73477934e+02] [ 1.04928196e-01 9.94478216e-01 -1.77552885e-03 2.58531549e+01] [ 3.65200365e-02 -2.06906586e-03 9.99330779e-01 1.72608630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.679254154 meters Centerline goodness : 0.998837 with order 1 Centerline is valid? [True, True] Translation: X:473.54, Y:25.86, Z:17.26 [[ 9.94984818e-01 -9.31147437e-02 -3.65356909e-02 4.73540023e+02] [ 9.31123312e-02 9.95654035e-01 -1.77126319e-03 2.58613763e+01] [ 3.65418387e-02 -1.63954336e-03 9.99330779e-01 1.72627849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.739254154 meters Centerline goodness : 0.999005 with order 1 Centerline is valid? [True, True] Translation: X:473.60, Y:25.87, Z:17.27 [[ 9.96136540e-01 -7.98569232e-02 -3.65358206e-02 4.73601419e+02] [ 7.98456976e-02 9.96805666e-01 -1.76858333e-03 2.58709561e+01] [ 3.65603466e-02 -1.15547760e-03 9.99330779e-01 1.72661376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.799254154 meters Centerline goodness : 0.998851 with order 1 Centerline is valid? [True, True] Translation: X:473.66, Y:25.88, Z:17.27 [[ 9.96798901e-01 -7.11131210e-02 -3.65359478e-02 4.73663460e+02] [ 7.10961210e-02 9.97467906e-01 -1.76595026e-03 2.58774434e+01] [ 3.65690176e-02 -8.37266889e-04 9.99330779e-01 1.72696526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.859254154 meters Centerline goodness : 0.999060 with order 1 Centerline is valid? [True, True] Translation: X:473.72, Y:25.88, Z:17.27 [[ 9.97524861e-01 -6.00771714e-02 -3.65360796e-02 4.73724055e+02] [ 6.00528684e-02 9.98193641e-01 -1.76322071e-03 2.58843739e+01] [ 3.65760116e-02 -4.35239888e-04 9.99330779e-01 1.72722398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.919254154 meters Centerline goodness : 0.999060 with order 1 Centerline is valid? [True, True] Translation: X:473.78, Y:25.89, Z:17.27 [[ 9.97983727e-01 -5.18998245e-02 -3.65361444e-02 4.73784350e+02] [ 5.18700906e-02 9.98652287e-01 -1.76187539e-03 2.58905201e+01] [ 3.65783452e-02 -1.36810152e-04 9.99330779e-01 1.72743248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.979254154 meters Centerline goodness : 0.998478 with order 1 Centerline is valid? [True, True] Translation: X:473.84, Y:25.90, Z:17.27 [[ 9.98081747e-01 -4.99793436e-02 -3.65361763e-02 4.73842526e+02] [ 4.99483474e-02 9.98750249e-01 -1.76121463e-03 2.58957249e+01] [ 3.65785395e-02 -6.70854556e-05 9.99330779e-01 1.72736807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.039254154 meters Centerline goodness : 0.999084 with order 1 Centerline is valid? [True, True] Translation: X:473.90, Y:25.90, Z:17.28 [[ 9.98047661e-01 -5.06558092e-02 -3.65356690e-02 4.73899908e+02] [ 5.06248831e-02 9.98716167e-01 -1.77167636e-03 2.58961206e+01] [ 3.65785090e-02 -8.13965222e-05 9.99330779e-01 1.72776229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.099254154 meters Centerline goodness : 0.998975 with order 1 Centerline is valid? [True, True] Translation: X:473.96, Y:25.90, Z:17.28 [[ 9.97744832e-01 -5.63063924e-02 -3.65354736e-02 4.73958142e+02] [ 5.62791050e-02 9.98413496e-01 -1.77569717e-03 2.58973715e+01] [ 3.65774930e-02 -2.84491076e-04 9.99330779e-01 1.72796299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.159254154 meters Centerline goodness : 0.999041 with order 1 Centerline is valid? [True, True] Translation: X:474.02, Y:25.90, Z:17.28 [[ 9.97475494e-01 -6.08919748e-02 -3.65350136e-02 4.74017946e+02] [ 6.08674165e-02 9.98144264e-01 -1.78511035e-03 2.58980566e+01] [ 3.65759132e-02 -4.43188067e-04 9.99330779e-01 1.72819638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.219254154 meters Centerline goodness : 0.998978 with order 1 Centerline is valid? [True, True] Translation: X:474.08, Y:25.90, Z:17.28 [[ 9.97127969e-01 -6.63401099e-02 -3.65349476e-02 4.74079289e+02] [ 6.63191558e-02 9.97796862e-01 -1.78646137e-03 2.58975972e+01] [ 3.65729701e-02 -6.41636286e-04 9.99330779e-01 1.72842615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.279254154 meters Centerline goodness : 0.999256 with order 1 Centerline is valid? [True, True] Translation: X:474.14, Y:25.90, Z:17.29 [[ 9.96965490e-01 -6.87386644e-02 -3.65350136e-02 4.74140361e+02] [ 6.87193691e-02 9.97634433e-01 -1.78511040e-03 2.58992273e+01] [ 3.65712937e-02 -7.30969621e-04 9.99330779e-01 1.72879247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.339254154 meters Centerline goodness : 0.999215 with order 1 Centerline is valid? [True, True] Translation: X:474.20, Y:25.90, Z:17.29 [[ 9.96864047e-01 -7.01944381e-02 -3.65350786e-02 4.74200950e+02] [ 7.01761684e-02 9.97533019e-01 -1.78377866e-03 2.58998885e+01] [ 3.65701586e-02 -7.85707013e-04 9.99330779e-01 1.72908735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.399254154 meters Centerline goodness : 0.998746 with order 1 Centerline is valid? [True, True] Translation: X:474.26, Y:25.90, Z:17.29 [[ 9.96921474e-01 -6.93740674e-02 -3.65351106e-02 4.74261698e+02] [ 6.93552712e-02 9.97590430e-01 -1.78312245e-03 2.58989032e+01] [ 3.65707792e-02 -7.56269451e-04 9.99330779e-01 1.72892176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.459254154 meters Centerline goodness : 0.999088 with order 1 Centerline is valid? [True, True] Translation: X:474.32, Y:25.90, Z:17.29 [[ 9.96875382e-01 -7.00332844e-02 -3.65350731e-02 4.74322048e+02] [ 7.00149024e-02 9.97544350e-01 -1.78389116e-03 2.59008694e+01] [ 3.65702875e-02 -7.79682394e-04 9.99330779e-01 1.72949461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.519254154 meters Centerline goodness : 0.998853 with order 1 Centerline is valid? [True, True] Translation: X:474.38, Y:25.90, Z:17.30 [[ 9.96974291e-01 -6.86108767e-02 -3.65350731e-02 4.74383504e+02] [ 6.85915403e-02 9.97643232e-01 -1.78389116e-03 2.59010668e+01] [ 3.65713628e-02 -7.27503312e-04 9.99330779e-01 1.72957604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.579254154 meters Centerline goodness : 0.998895 with order 1 Centerline is valid? [True, True] Translation: X:474.44, Y:25.90, Z:17.30 [[ 9.97203358e-01 -6.51969761e-02 -3.65351378e-02 4.74444664e+02] [ 6.51753980e-02 9.97872231e-01 -1.78256566e-03 2.59021081e+01] [ 3.65736173e-02 -6.03611678e-04 9.99330779e-01 1.72970731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.639254154 meters Centerline goodness : 0.999022 with order 1 Centerline is valid? [True, True] Translation: X:474.51, Y:25.90, Z:17.30 [[ 9.97598512e-01 -5.88420524e-02 -3.65352026e-02 4.74505533e+02] [ 5.88162618e-02 9.98267236e-01 -1.78123521e-03 2.59035675e+01] [ 3.65767073e-02 -3.71906450e-04 9.99330779e-01 1.72986289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.699254154 meters Centerline goodness : 0.999025 with order 1 Centerline is valid? [True, True] Translation: X:474.56, Y:25.91, Z:17.30 [[ 9.97885571e-01 -5.37546801e-02 -3.65352026e-02 4.74563817e+02] [ 5.37254801e-02 9.98554155e-01 -1.78123521e-03 2.59052101e+01] [ 3.65781281e-02 -1.85402391e-04 9.99330779e-01 1.73005397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.759254154 meters Centerline goodness : 0.998919 with order 1 Centerline is valid? [True, True] Translation: X:474.62, Y:25.91, Z:17.30 [[ 9.98177284e-01 -4.80343222e-02 -3.65350909e-02 4.74621875e+02] [ 4.80012068e-02 9.98845685e-01 -1.78352430e-03 2.59068782e+01] [ 3.65785883e-02 2.65449917e-05 9.99330779e-01 1.73035187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.81925415399996 meters Centerline goodness : 0.998837 with order 1 Centerline is valid? [True, True] Translation: X:474.68, Y:25.91, Z:17.31 [[ 9.98334061e-01 -4.46576025e-02 -3.65349348e-02 4.74680991e+02] [ 4.46221096e-02 9.99002340e-01 -1.78671581e-03 2.59072367e+01] [ 3.65782758e-02 1.53473382e-04 9.99330779e-01 1.73070115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.87925415399997 meters Centerline goodness : 0.998839 with order 1 Centerline is valid? [True, True] Translation: X:474.74, Y:25.91, Z:17.31 [[ 9.98358407e-01 -4.41103347e-02 -3.65344929e-02 4.74739380e+02] [ 4.40741463e-02 9.99026649e-01 -1.79570773e-03 2.59066428e+01] [ 3.65781412e-02 1.82533323e-04 9.99330779e-01 1.73112458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.93925415399997 meters Centerline goodness : 0.998861 with order 1 Centerline is valid? [True, True] Translation: X:474.80, Y:25.91, Z:17.31 [[ 9.98222120e-01 -4.70942099e-02 -3.65340212e-02 4.74797755e+02] [ 4.70596697e-02 9.98890449e-01 -1.80525254e-03 2.59057757e+01] [ 3.65785018e-02 8.27640424e-05 9.99330779e-01 1.73147775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.99925415399997 meters Centerline goodness : 0.997573 with order 1 Centerline is valid? [True, True] Translation: X:474.86, Y:25.90, Z:17.31 [[ 9.98157699e-01 -4.84407636e-02 -3.65335535e-02 4.74855735e+02] [ 4.84067804e-02 9.98826056e-01 -1.81466972e-03 2.59049168e+01] [ 3.65785691e-02 4.28548519e-05 9.99330779e-01 1.73125975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.059254154 meters Centerline goodness : 0.998971 with order 1 Centerline is valid? [True, True] Translation: X:474.91, Y:25.90, Z:17.32 [[ 9.97777478e-01 -5.57262851e-02 -3.65333614e-02 4.74914547e+02] [ 5.56970407e-02 9.98446059e-01 -1.81852819e-03 2.59021555e+01] [ 3.65779305e-02 -2.20313643e-04 9.99330779e-01 1.73173014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.119254154 meters Centerline goodness : 0.998842 with order 1 Centerline is valid? [True, True] Translation: X:474.97, Y:25.90, Z:17.32 [[ 9.97633503e-01 -5.82472948e-02 -3.65328139e-02 4.74972988e+02] [ 5.82193395e-02 9.98302139e-01 -1.82946167e-03 2.59014406e+01] [ 3.65773474e-02 -3.01784038e-04 9.99330779e-01 1.73182322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.179254154 meters Centerline goodness : 0.998971 with order 1 Centerline is valid? [True, True] Translation: X:475.03, Y:25.90, Z:17.32 [[ 9.97467379e-01 -6.10263367e-02 -3.65323832e-02 4.75031558e+02] [ 6.09999308e-02 9.98136078e-01 -1.83802219e-03 2.59002859e+01] [ 3.65764574e-02 -3.95105668e-04 9.99330779e-01 1.73232316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.239254154 meters Centerline goodness : 0.999244 with order 1 Centerline is valid? [True, True] Translation: X:475.09, Y:25.90, Z:17.33 [[ 9.97371350e-01 -6.25764427e-02 -3.65318934e-02 4.75090464e+02] [ 6.25507214e-02 9.98040076e-01 -1.84770671e-03 2.58962846e+01] [ 3.65759165e-02 -4.42246546e-04 9.99330779e-01 1.73258008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.299254154 meters Centerline goodness : 0.999182 with order 1 Centerline is valid? [True, True] Translation: X:475.15, Y:25.89, Z:17.33 [[ 9.97377284e-01 -6.24820693e-02 -3.65314210e-02 4.75149082e+02] [ 6.24559444e-02 9.98045994e-01 -1.85699929e-03 2.58945031e+01] [ 3.65760675e-02 -4.29475493e-04 9.99330779e-01 1.73274307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.359254154 meters Centerline goodness : 0.999309 with order 1 Centerline is valid? [True, True] Translation: X:475.21, Y:25.90, Z:17.33 [[ 9.97379019e-01 -6.24546327e-02 -3.65309521e-02 4.75207334e+02] [ 6.24281532e-02 9.98047716e-01 -1.86617716e-03 2.58955019e+01] [ 3.65761848e-02 -4.19273934e-04 9.99330780e-01 1.73295261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.419254154 meters Centerline goodness : 0.999205 with order 1 Centerline is valid? [True, True] Translation: X:475.27, Y:25.89, Z:17.33 [[ 9.97502758e-01 -6.04464546e-02 -3.65304601e-02 4.75265612e+02] [ 6.04182780e-02 9.98171385e-01 -1.87575973e-03 2.58913704e+01] [ 3.65770430e-02 -3.36031987e-04 9.99330780e-01 1.73294918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.479254154 meters Centerline goodness : 0.999268 with order 1 Centerline is valid? [True, True] Translation: X:475.32, Y:25.89, Z:17.33 [[ 9.97627742e-01 -5.83477100e-02 -3.65298906e-02 4.75323917e+02] [ 5.83177231e-02 9.98296290e-01 -1.88678567e-03 2.58893807e+01] [ 3.65777439e-02 -2.48030312e-04 9.99330780e-01 1.73330377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.539254154 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:475.38, Y:25.88, Z:17.33 [[ 9.97744210e-01 -5.63214006e-02 -3.65293252e-02 4.75381115e+02] [ 5.62896574e-02 9.98412677e-01 -1.89767035e-03 2.58830809e+01] [ 3.65782208e-02 -1.62833593e-04 9.99330780e-01 1.73345395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.599254154 meters Centerline goodness : 0.999353 with order 1 Centerline is valid? [True, True] Translation: X:475.44, Y:25.88, Z:17.34 [[ 9.97744234e-01 -5.63211378e-02 -3.65290819e-02 4.75439046e+02] [ 5.62892234e-02 9.98412692e-01 -1.90234113e-03 2.58833820e+01] [ 3.65782411e-02 -1.58143758e-04 9.99330780e-01 1.73367412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.659254154 meters Centerline goodness : 0.999395 with order 1 Centerline is valid? [True, True] Translation: X:475.50, Y:25.88, Z:17.34 [[ 9.97704574e-01 -5.70197406e-02 -3.65285173e-02 4.75497541e+02] [ 5.69878996e-02 9.98373036e-01 -1.91312109e-03 2.58791056e+01] [ 3.65781724e-02 -1.72953820e-04 9.99330780e-01 1.73382971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.719254154 meters Centerline goodness : 0.999227 with order 1 Centerline is valid? [True, True] Translation: X:475.56, Y:25.87, Z:17.34 [[ 9.97521961e-01 -6.01302333e-02 -3.65279541e-02 4.75555612e+02] [ 6.01000851e-02 9.98190502e-01 -1.92381603e-03 2.58735288e+01] [ 3.65775363e-02 -2.76284407e-04 9.99330780e-01 1.73397079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.779254154 meters Centerline goodness : 0.999310 with order 1 Centerline is valid? [True, True] Translation: X:475.61, Y:25.87, Z:17.34 [[ 9.97068656e-01 -6.72297880e-02 -3.65273941e-02 4.75612834e+02] [ 6.72040124e-02 9.97737380e-01 -1.93438992e-03 2.58676574e+01] [ 3.65747951e-02 -5.26067890e-04 9.99330780e-01 1.73427871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.839254154 meters Centerline goodness : 0.999393 with order 1 Centerline is valid? [True, True] Translation: X:475.67, Y:25.86, Z:17.35 [[ 9.96602255e-01 -7.38221721e-02 -3.65271527e-02 4.75671232e+02] [ 7.38006528e-02 9.97271129e-01 -1.93893798e-03 2.58645383e+01] [ 3.65706114e-02 -7.63377748e-04 9.99330780e-01 1.73450640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.899254154 meters Centerline goodness : 0.999770 with order 1 Centerline is valid? [True, True] Translation: X:475.73, Y:25.86, Z:17.35 [[ 9.95816904e-01 -8.37526217e-02 -3.65266073e-02 4.75729535e+02] [ 8.37373963e-02 9.96485950e-01 -1.94915869e-03 2.58590314e+01] [ 3.65614981e-02 -1.11763781e-03 9.99330780e-01 1.73471112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.959254154 meters Centerline goodness : 0.999542 with order 1 Centerline is valid? [True, True] Translation: X:475.79, Y:25.86, Z:17.35 [[ 9.95088876e-01 -9.19998660e-02 -3.65260656e-02 4.75788111e+02] [ 9.19898139e-02 9.95758021e-01 -1.95925789e-03 2.58558772e+01] [ 3.65513742e-02 -1.41039024e-03 9.99330780e-01 1.73493306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.019254154 meters Centerline goodness : 0.999415 with order 1 Centerline is valid? [True, True] Translation: X:475.85, Y:25.86, Z:17.35 [[ 9.94647914e-01 -9.66509917e-02 -3.65255139e-02 4.75846100e+02] [ 9.66436929e-02 9.95317094e-01 -1.96948945e-03 2.58559735e+01] [ 3.65448214e-02 -1.57101197e-03 9.99330780e-01 1.73501212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.079254154 meters Centerline goodness : 0.999499 with order 1 Centerline is valid? [True, True] Translation: X:475.90, Y:25.86, Z:17.35 [[ 9.94112421e-01 -1.02011873e-01 -3.65249645e-02 4.75903727e+02] [ 1.02007810e-01 9.94781628e-01 -1.97962601e-03 2.58568632e+01] [ 3.65363090e-02 -1.75786084e-03 9.99330780e-01 1.73502364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.139254154 meters Centerline goodness : 0.999520 with order 1 Centerline is valid? [True, True] Translation: X:475.96, Y:25.86, Z:17.35 [[ 9.93579911e-01 -1.07074276e-01 -3.65247954e-02 4.75962670e+02] [ 1.07073508e-01 9.94249130e-01 -1.98274027e-03 2.58591897e+01] [ 3.65270466e-02 -1.94082708e-03 9.99330780e-01 1.73544934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.199254154 meters Centerline goodness : 0.999645 with order 1 Centerline is valid? [True, True] Translation: X:476.02, Y:25.86, Z:17.36 [[ 9.93276879e-01 -1.09849979e-01 -3.65242822e-02 4.76021596e+02] [ 1.09850736e-01 9.93946099e-01 -1.99215068e-03 2.58626166e+01] [ 3.65220055e-02 -2.03346207e-03 9.99330780e-01 1.73566683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.259254154 meters Centerline goodness : 0.999561 with order 1 Centerline is valid? [True, True] Translation: X:476.08, Y:25.87, Z:17.36 [[ 9.92951086e-01 -1.12757064e-01 -3.65237528e-02 4.76080226e+02] [ 1.12759425e-01 9.93620302e-01 -2.00180974e-03 2.58680063e+01] [ 3.65164604e-02 -2.13069822e-03 9.99330780e-01 1.73587361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.31925415399996 meters Centerline goodness : 0.999521 with order 1 Centerline is valid? [True, True] Translation: X:476.14, Y:25.87, Z:17.36 [[ 9.92846172e-01 -1.13677187e-01 -3.65236412e-02 4.76139425e+02] [ 1.13680095e-01 9.93515385e-01 -2.00384244e-03 2.58729790e+01] [ 3.65145907e-02 -2.16250370e-03 9.99330780e-01 1.73606438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.37925415399997 meters Centerline goodness : 0.999375 with order 1 Centerline is valid? [True, True] Translation: X:476.20, Y:25.88, Z:17.36 [[ 9.92808984e-01 -1.14001533e-01 -3.65235670e-02 4.76199848e+02] [ 1.14004610e-01 9.93478197e-01 -2.00519481e-03 2.58784815e+01] [ 3.65139628e-02 -2.17307957e-03 9.99330780e-01 1.73634669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.43925415399997 meters Centerline goodness : 0.999104 with order 1 Centerline is valid? [True, True] Translation: X:476.26, Y:25.89, Z:17.36 [[ 9.92830460e-01 -1.13814354e-01 -3.65235670e-02 4.76258151e+02] [ 1.13817305e-01 9.93499673e-01 -2.00519481e-03 2.58866585e+01] [ 3.65143718e-02 -2.16619546e-03 9.99330780e-01 1.73641900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.49925415399997 meters Centerline goodness : 0.999459 with order 1 Centerline is valid? [True, True] Translation: X:476.32, Y:25.89, Z:17.37 [[ 9.92863209e-01 -1.13528350e-01 -3.65234566e-02 4.76317109e+02] [ 1.13531034e-01 9.93532423e-01 -2.00720279e-03 2.58941969e+01] [ 3.65151128e-02 -2.15366798e-03 9.99330780e-01 1.73664822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.559254154 meters Centerline goodness : 0.999291 with order 1 Centerline is valid? [True, True] Translation: X:476.38, Y:25.90, Z:17.37 [[ 9.92971512e-01 -1.12577168e-01 -3.65233830e-02 4.76376554e+02] [ 1.12579162e-01 9.93640729e-01 -2.00854248e-03 2.59036506e+01] [ 3.65172369e-02 -2.11734637e-03 9.99330780e-01 1.73707476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.619254154 meters Centerline goodness : 0.999395 with order 1 Centerline is valid? [True, True] Translation: X:476.44, Y:25.91, Z:17.37 [[ 9.93262719e-01 -1.09978256e-01 -3.65233455e-02 4.76435985e+02] [ 1.09978474e-01 9.93931939e-01 -2.00922324e-03 2.59118858e+01] [ 3.65226905e-02 -2.02109526e-03 9.99330780e-01 1.73729753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.679254154 meters Centerline goodness : 0.999041 with order 1 Centerline is valid? [True, True] Translation: X:476.50, Y:25.92, Z:17.37 [[ 9.94051988e-01 -1.02599676e-01 -3.65233087e-02 4.76495400e+02] [ 1.02594899e-01 9.94721191e-01 -2.00989191e-03 2.59228868e+01] [ 3.65367234e-02 -1.74916813e-03 9.99330780e-01 1.73737450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.739254154 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:476.55, Y:25.93, Z:17.38 [[ 9.95106116e-01 -9.18142488e-02 -3.65234304e-02 4.76554921e+02] [ 9.18022971e-02 9.95775229e-01 -2.00767835e-03 2.59345585e+01] [ 3.65534608e-02 -1.35508181e-03 9.99330780e-01 1.73786257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.799254154 meters Centerline goodness : 0.999415 with order 1 Centerline is valid? [True, True] Translation: X:476.61, Y:25.94, Z:17.38 [[ 9.96017026e-01 -8.13395486e-02 -3.65234304e-02 4.76613007e+02] [ 8.13205578e-02 9.96685977e-01 -2.00767835e-03 2.59449245e+01] [ 3.65656945e-02 -9.70423917e-04 9.99330780e-01 1.73814695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.859254154 meters Centerline goodness : 0.999373 with order 1 Centerline is valid? [True, True] Translation: X:476.67, Y:25.95, Z:17.38 [[ 9.96441932e-01 -7.59573770e-02 -3.65233261e-02 4.76672154e+02] [ 7.59347029e-02 9.97110767e-01 -2.00957410e-03 2.59522869e+01] [ 3.65704437e-02 -7.70964024e-04 9.99330780e-01 1.73830761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.919254154 meters Centerline goodness : 0.999018 with order 1 Centerline is valid? [True, True] Translation: X:476.73, Y:25.96, Z:17.38 [[ 9.96692499e-01 -7.25955456e-02 -3.65232577e-02 4.76729904e+02] [ 7.25705700e-02 9.97361253e-01 -2.01081699e-03 2.59596105e+01] [ 3.65728584e-02 -6.46347418e-04 9.99330780e-01 1.73836205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.979254154 meters Centerline goodness : 0.999063 with order 1 Centerline is valid? [True, True] Translation: X:476.79, Y:25.97, Z:17.39 [[ 9.96692257e-01 -7.25989527e-02 -3.65230892e-02 4.76789044e+02] [ 7.25738674e-02 9.97361007e-01 -2.01387173e-03 2.59661059e+01] [ 3.65729100e-02 -6.43411473e-04 9.99330780e-01 1.73869647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.039254154 meters Centerline goodness : 0.999145 with order 1 Centerline is valid? [True, True] Translation: X:476.85, Y:25.97, Z:17.39 [[ 9.96717872e-01 -7.22464711e-02 -3.65230145e-02 4.76847568e+02] [ 7.22210997e-02 9.97386611e-01 -2.01522658e-03 2.59724207e+01] [ 3.65731586e-02 -6.29119915e-04 9.99330780e-01 1.73886314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.099254154 meters Centerline goodness : 0.999019 with order 1 Centerline is valid? [True, True] Translation: X:476.91, Y:25.98, Z:17.39 [[ 9.96746088e-01 -7.18561997e-02 -3.65229041e-02 4.76905754e+02] [ 7.18304932e-02 9.97414814e-01 -2.01722507e-03 2.59770928e+01] [ 3.65734357e-02 -6.12797012e-04 9.99330780e-01 1.73918065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.159254154 meters Centerline goodness : 0.999061 with order 1 Centerline is valid? [True, True] Translation: X:476.97, Y:25.98, Z:17.39 [[ 9.96755030e-01 -7.17323236e-02 -3.65223884e-02 4.76965182e+02] [ 7.17061936e-02 9.97423739e-01 -2.02651962e-03 2.59823090e+01] [ 3.65736641e-02 -5.98937823e-04 9.99330780e-01 1.73943267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.219254154 meters Centerline goodness : 0.999227 with order 1 Centerline is valid? [True, True] Translation: X:477.03, Y:25.99, Z:17.40 [[ 9.96649392e-01 -7.31854455e-02 -3.65223140e-02 4.77025072e+02] [ 7.31602413e-02 9.97318137e-01 -2.02785941e-03 2.59856997e+01] [ 3.65727759e-02 -6.50916454e-04 9.99330780e-01 1.73964161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.279254154 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:477.08, Y:25.99, Z:17.40 [[ 9.96355792e-01 -7.70795758e-02 -3.65222391e-02 4.77084739e+02] [ 7.70569357e-02 9.97024629e-01 -2.02920660e-03 2.59869493e+01] [ 3.65699823e-02 -7.92480078e-04 9.99330780e-01 1.73971234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.339254154 meters Centerline goodness : 0.999227 with order 1 Centerline is valid? [True, True] Translation: X:477.14, Y:25.99, Z:17.40 [[ 9.96163740e-01 -7.95231745e-02 -3.65221636e-02 4.77144657e+02] [ 7.95021253e-02 9.96832628e-01 -2.03056468e-03 2.59888201e+01] [ 3.65679613e-02 -8.80814723e-04 9.99330780e-01 1.73982317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.399254154 meters Centerline goodness : 0.999101 with order 1 Centerline is valid? [True, True] Translation: X:477.20, Y:25.99, Z:17.40 [[ 9.96212386e-01 -7.89114687e-02 -3.65220874e-02 4.77204737e+02] [ 7.88899586e-02 9.96881260e-01 -2.03193381e-03 2.59909176e+01] [ 3.65685274e-02 -8.56988338e-04 9.99330780e-01 1.73985762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.459254154 meters Centerline goodness : 0.999184 with order 1 Centerline is valid? [True, True] Translation: X:477.26, Y:25.99, Z:17.40 [[ 9.96612543e-01 -7.36856934e-02 -3.65220123e-02 4.77264263e+02] [ 7.36606262e-02 9.97281293e-01 -2.03328304e-03 2.59928902e+01] [ 3.65725436e-02 -6.63838921e-04 9.99330780e-01 1.74014496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.519254154 meters Centerline goodness : 0.999060 with order 1 Centerline is valid? [True, True] Translation: X:477.32, Y:26.00, Z:17.40 [[ 9.97211689e-01 -6.50768472e-02 -3.65219371e-02 4.77323278e+02] [ 6.50459566e-02 9.97880195e-01 -2.03463343e-03 2.59957275e+01] [ 3.65769252e-02 -3.46644093e-04 9.99330780e-01 1.74036707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.579254154 meters Centerline goodness : 0.999143 with order 1 Centerline is valid? [True, True] Translation: X:477.38, Y:26.00, Z:17.41 [[ 9.97653666e-01 -5.79078415e-02 -3.65218263e-02 4.77382259e+02] [ 5.78720741e-02 9.98321930e-01 -2.03662100e-03 2.59975008e+01] [ 3.65784764e-02 -8.17514298e-05 9.99330780e-01 1.74075043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.639254154 meters Centerline goodness : 0.999288 with order 1 Centerline is valid? [True, True] Translation: X:477.44, Y:26.00, Z:17.41 [[ 9.97835510e-01 -5.46853629e-02 -3.65212966e-02 4.77440294e+02] [ 5.46470914e-02 9.98503635e-01 -2.04607489e-03 2.59965823e+01] [ 3.65785378e-02 4.58635469e-05 9.99330780e-01 1.74095277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.699254154 meters Centerline goodness : 0.999185 with order 1 Centerline is valid? [True, True] Translation: X:477.50, Y:26.00, Z:17.41 [[ 9.97784770e-01 -5.56038942e-02 -3.65206807e-02 4.77498720e+02] [ 5.55658375e-02 9.98452906e-01 -2.05700933e-03 2.59962013e+01] [ 3.65785576e-02 2.31503699e-05 9.99330780e-01 1.74111127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.759254154 meters Centerline goodness : 0.999332 with order 1 Centerline is valid? [True, True] Translation: X:477.56, Y:25.99, Z:17.41 [[ 9.97399555e-01 -6.21322106e-02 -3.65200647e-02 4.77555953e+02] [ 6.20981287e-02 9.98067907e-01 -2.06788841e-03 2.59920474e+01] [ 3.65779870e-02 -2.05316695e-04 9.99330780e-01 1.74114644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.81925415399996 meters Centerline goodness : 0.999353 with order 1 Centerline is valid? [True, True] Translation: X:477.61, Y:25.99, Z:17.41 [[ 9.96693271e-01 -7.25866902e-02 -3.65197997e-02 4.77614776e+02] [ 7.25594469e-02 9.97361936e-01 -2.07255849e-03 2.59865697e+01] [ 3.65738983e-02 -5.84151367e-04 9.99330780e-01 1.74121560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.87925415399997 meters Centerline goodness : 0.999247 with order 1 Centerline is valid? [True, True] Translation: X:477.67, Y:25.99, Z:17.42 [[ 9.96127949e-01 -7.99716119e-02 -3.65191852e-02 4.77672883e+02] [ 7.99489304e-02 9.96796784e-01 -2.08333013e-03 2.59859429e+01] [ 3.65688136e-02 -8.44406427e-04 9.99330780e-01 1.74150959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.93925415399997 meters Centerline goodness : 0.999289 with order 1 Centerline is valid? [True, True] Translation: X:477.73, Y:25.98, Z:17.42 [[ 9.95350279e-01 -8.91301598e-02 -3.65189960e-02 4.77730843e+02] [ 8.91135095e-02 9.96019291e-01 -2.08664225e-03 2.59843325e+01] [ 3.65596072e-02 -1.17739594e-03 9.99330781e-01 1.74179392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.99925415399997 meters Centerline goodness : 0.999331 with order 1 Centerline is valid? [True, True] Translation: X:477.79, Y:25.98, Z:17.42 [[ 9.94931407e-01 -9.36904670e-02 -3.65183808e-02 4.77790988e+02] [ 9.36764900e-02 9.95600480e-01 -2.09735335e-03 2.59845892e+01] [ 3.65542195e-02 -1.33419101e-03 9.99330781e-01 1.74209343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.059254154 meters Centerline goodness : 0.999269 with order 1 Centerline is valid? [True, True] Translation: X:477.85, Y:25.98, Z:17.42 [[ 9.94318256e-01 -9.99880999e-02 -3.65183024e-02 4.77850334e+02] [ 9.99783095e-02 9.94987403e-01 -2.09871649e-03 2.59842675e+01] [ 3.65450976e-02 -1.56424602e-03 9.99330781e-01 1.74242726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.119254154 meters Centerline goodness : 0.999269 with order 1 Centerline is valid? [True, True] Translation: X:477.91, Y:25.98, Z:17.42 [[ 9.93824930e-01 -1.04777991e-01 -3.65182241e-02 4.77908881e+02] [ 1.04771375e-01 9.94494117e-01 -2.10007903e-03 2.59848954e+01] [ 3.65372011e-02 -1.73895367e-03 9.99330781e-01 1.74242102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.179254154 meters Centerline goodness : 0.999248 with order 1 Centerline is valid? [True, True] Translation: X:477.97, Y:25.99, Z:17.43 [[ 9.93559443e-01 -1.07266307e-01 -3.65181082e-02 4.77968081e+02] [ 1.07261293e-01 9.94228644e-01 -2.10209235e-03 2.59879608e+01] [ 3.65328329e-02 -1.82842579e-03 9.99330781e-01 1.74258148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.239254154 meters Centerline goodness : 0.999270 with order 1 Centerline is valid? [True, True] Translation: X:478.03, Y:25.99, Z:17.43 [[ 9.93637007e-01 -1.06545445e-01 -3.65180298e-02 4.78027689e+02] [ 1.06539895e-01 9.94306203e-01 -2.10345294e-03 2.59917766e+01] [ 3.65342169e-02 -1.80055839e-03 9.99330781e-01 1.74270891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.299254154 meters Centerline goodness : 0.999165 with order 1 Centerline is valid? [True, True] Translation: X:478.09, Y:26.00, Z:17.43 [[ 9.93948164e-01 -1.03602523e-01 -3.65179913e-02 4.78087409e+02] [ 1.03594968e-01 9.94617341e-01 -2.10412188e-03 2.59969770e+01] [ 3.65394197e-02 -1.69169205e-03 9.99330781e-01 1.74277992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.359254154 meters Centerline goodness : 0.999395 with order 1 Centerline is valid? [True, True] Translation: X:478.15, Y:26.00, Z:17.43 [[ 9.94311919e-01 -1.00051238e-01 -3.65179125e-02 4.78147402e+02] [ 1.00041242e-01 9.94981064e-01 -2.10548815e-03 2.60038939e+01] [ 3.65452881e-02 -1.55978537e-03 9.99330781e-01 1.74317841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.419254154 meters Centerline goodness : 0.999335 with order 1 Centerline is valid? [True, True] Translation: X:478.21, Y:26.01, Z:17.43 [[ 9.95069565e-01 -9.22117305e-02 -3.65179125e-02 4.78206268e+02] [ 9.21964610e-02 9.95738610e-01 -2.10548815e-03 2.60113036e+01] [ 3.65564461e-02 -1.27171512e-03 9.99330781e-01 1.74333865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.479254154 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:478.27, Y:26.02, Z:17.44 [[ 9.95577315e-01 -8.65578331e-02 -3.65178355e-02 4.78265310e+02] [ 8.65387145e-02 9.96246261e-01 -2.10682217e-03 2.60180271e+01] [ 3.65631191e-02 -1.06270219e-03 9.99330781e-01 1.74353682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.539254154 meters Centerline goodness : 0.999313 with order 1 Centerline is valid? [True, True] Translation: X:478.32, Y:26.03, Z:17.44 [[ 9.96099414e-01 -8.03268993e-02 -3.65177567e-02 4.78323775e+02] [ 8.03035455e-02 9.96768226e-01 -2.10818798e-03 2.60262734e+01] [ 3.65690838e-02 -8.32540528e-04 9.99330781e-01 1.74374104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.599254154 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:478.38, Y:26.03, Z:17.44 [[ 9.96245478e-01 -7.84948549e-02 -3.65171984e-02 4.78381039e+02] [ 7.84699184e-02 9.96914232e-01 -2.11781523e-03 2.60329079e+01] [ 3.65707524e-02 -7.55637726e-04 9.99330781e-01 1.74394503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.659254154 meters Centerline goodness : 0.999374 with order 1 Centerline is valid? [True, True] Translation: X:478.44, Y:26.04, Z:17.44 [[ 9.96163416e-01 -7.95296019e-02 -3.65170026e-02 4.78439246e+02] [ 7.95052366e-02 9.96832191e-01 -2.12118496e-03 2.60390808e+01] [ 3.65700208e-02 -7.90246074e-04 9.99330781e-01 1.74420563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.719254154 meters Centerline goodness : 0.999477 with order 1 Centerline is valid? [True, True] Translation: X:478.50, Y:26.04, Z:17.45 [[ 9.96041856e-01 -8.10380772e-02 -3.65164592e-02 4.78497543e+02] [ 8.10143833e-02 9.96710655e-01 -2.13049958e-03 2.60443069e+01] [ 3.65689956e-02 -8.36291671e-04 9.99330781e-01 1.74456764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.779254154 meters Centerline goodness : 0.999184 with order 1 Centerline is valid? [True, True] Translation: X:478.56, Y:26.05, Z:17.45 [[ 9.95855592e-01 -8.32960319e-02 -3.65159031e-02 4.78555181e+02] [ 8.32735067e-02 9.96524432e-01 -2.13998782e-03 2.60503775e+01] [ 3.65672421e-02 -9.09688469e-04 9.99330781e-01 1.74477900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.839254154 meters Centerline goodness : 0.999290 with order 1 Centerline is valid? [True, True] Translation: X:478.61, Y:26.06, Z:17.45 [[ 9.95921233e-01 -8.25075763e-02 -3.65157078e-02 4.78614877e+02] [ 8.24843996e-02 9.96590051e-01 -2.14331523e-03 2.60580039e+01] [ 3.65680309e-02 -8.77403088e-04 9.99330781e-01 1.74509841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.899254154 meters Centerline goodness : 0.999415 with order 1 Centerline is valid? [True, True] Translation: X:478.67, Y:26.06, Z:17.45 [[ 9.96082327e-01 -8.05394728e-02 -3.65156302e-02 4.78674126e+02] [ 8.05149262e-02 9.96751096e-01 -2.14463627e-03 2.60642493e+01] [ 3.65697223e-02 -8.03818982e-04 9.99330781e-01 1.74531275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.959254154 meters Centerline goodness : 0.999374 with order 1 Centerline is valid? [True, True] Translation: X:478.73, Y:26.07, Z:17.45 [[ 9.96367109e-01 -7.69363263e-02 -3.65155520e-02 4.78733847e+02] [ 7.69093122e-02 9.97035783e-01 -2.14596822e-03 2.60714291e+01] [ 3.65724149e-02 -6.70213839e-04 9.99330781e-01 1.74543794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.019254154 meters Centerline goodness : 0.999395 with order 1 Centerline is valid? [True, True] Translation: X:478.79, Y:26.08, Z:17.46 [[ 9.96573254e-01 -7.42183923e-02 -3.65154744e-02 4.78792454e+02] [ 7.41895062e-02 9.97241849e-01 -2.14728674e-03 2.60776532e+01] [ 3.65741274e-02 -5.69136488e-04 9.99330781e-01 1.74564328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.079254154 meters Centerline goodness : 0.999165 with order 1 Centerline is valid? [True, True] Translation: X:478.85, Y:26.08, Z:17.46 [[ 9.96610684e-01 -7.37143454e-02 -3.65149203e-02 4.78852025e+02] [ 7.36847774e-02 9.97279250e-01 -2.15666837e-03 2.60816154e+01] [ 3.65745498e-02 -5.41235038e-04 9.99330781e-01 1.74578744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.139254154 meters Centerline goodness : 0.999163 with order 1 Centerline is valid? [True, True] Translation: X:478.91, Y:26.09, Z:17.46 [[ 9.96511918e-01 -7.50377486e-02 -3.65148395e-02 4.78911639e+02] [ 7.50090185e-02 9.97180520e-01 -2.15803602e-03 2.60871508e+01] [ 3.65738208e-02 -5.88433654e-04 9.99330781e-01 1.74582526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.199254154 meters Centerline goodness : 0.999269 with order 1 Centerline is valid? [True, True] Translation: X:478.97, Y:26.09, Z:17.46 [[ 9.96238996e-01 -7.85782091e-02 -3.65147594e-02 4.78971021e+02] [ 7.85518052e-02 9.96907694e-01 -2.15939012e-03 2.60911991e+01] [ 3.65715256e-02 -7.17031627e-04 9.99330781e-01 1.74590908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.259254154 meters Centerline goodness : 0.999206 with order 1 Centerline is valid? [True, True] Translation: X:479.03, Y:26.09, Z:17.46 [[ 9.95753484e-01 -8.45084427e-02 -3.65146798e-02 4.79030537e+02] [ 8.44859714e-02 9.96422326e-01 -2.16073645e-03 2.60941479e+01] [ 3.65666426e-02 -9.33417344e-04 9.99330781e-01 1.74614971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.31925415399996 meters Centerline goodness : 0.999331 with order 1 Centerline is valid? [True, True] Translation: X:479.09, Y:26.10, Z:17.46 [[ 9.95377748e-01 -8.88246722e-02 -3.65145983e-02 4.79090226e+02] [ 8.88050504e-02 9.96046680e-01 -2.16211242e-03 2.60979041e+01] [ 3.65622933e-02 -1.09056215e-03 9.99330781e-01 1.74634815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.37925415399997 meters Centerline goodness : 0.999416 with order 1 Centerline is valid? [True, True] Translation: X:479.15, Y:26.10, Z:17.47 [[ 9.94717190e-01 -9.59395574e-02 -3.65145582e-02 4.79150383e+02] [ 9.59246944e-02 9.95386244e-01 -2.16278850e-03 2.61011515e+01] [ 3.65535860e-02 -1.35128494e-03 9.99330781e-01 1.74670954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.43925415399997 meters Centerline goodness : 0.999187 with order 1 Centerline is valid? [True, True] Translation: X:479.21, Y:26.11, Z:17.47 [[ 9.94187646e-01 -1.01279866e-01 -3.65145582e-02 4.79211799e+02] [ 1.01268596e-01 9.94856771e-01 -2.16278850e-03 2.61052493e+01] [ 3.65458024e-02 -1.54756042e-03 9.99330781e-01 1.74701342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.49925415399997 meters Centerline goodness : 0.999333 with order 1 Centerline is valid? [True, True] Translation: X:479.27, Y:26.11, Z:17.47 [[ 9.93313352e-01 -1.09522897e-01 -3.65146382e-02 4.79273577e+02] [ 1.09517228e-01 9.93982548e-01 -2.16143755e-03 2.61097720e+01] [ 3.65316400e-02 -1.85199716e-03 9.99330781e-01 1.74731523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.559254154 meters Centerline goodness : 0.999416 with order 1 Centerline is valid? [True, True] Translation: X:479.34, Y:26.11, Z:17.48 [[ 9.92795734e-01 -1.14119673e-01 -3.65147986e-02 4.79335127e+02] [ 1.14117200e-01 9.93464949e-01 -2.15872358e-03 2.61142782e+01] [ 3.65225254e-02 -2.02379502e-03 9.99330781e-01 1.74751119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.619254154 meters Centerline goodness : 0.999250 with order 1 Centerline is valid? [True, True] Translation: X:479.40, Y:26.12, Z:17.48 [[ 9.92215865e-01 -1.19056018e-01 -3.65149591e-02 4.79396334e+02] [ 1.19056974e-01 9.92885083e-01 -2.15600573e-03 2.61210203e+01] [ 3.65118437e-02 -2.20813743e-03 9.99330781e-01 1.74776928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.679254154 meters Centerline goodness : 0.999417 with order 1 Centerline is valid? [True, True] Translation: X:479.46, Y:26.13, Z:17.48 [[ 9.92303275e-01 -1.18325232e-01 -3.65150777e-02 4.79458379e+02] [ 1.18325768e-01 9.92972494e-01 -2.15399597e-03 2.61284794e+01] [ 3.65133398e-02 -2.18325735e-03 9.99330781e-01 1.74795182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.739254154 meters Centerline goodness : 0.999519 with order 1 Centerline is valid? [True, True] Translation: X:479.52, Y:26.14, Z:17.48 [[ 9.92653836e-01 -1.15347300e-01 -3.65152329e-02 4.79520532e+02] [ 1.15345925e-01 9.93323054e-01 -2.15136159e-03 2.61356320e+01] [ 3.65195764e-02 -2.07632598e-03 9.99330781e-01 1.74804479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.799254154 meters Centerline goodness : 0.999351 with order 1 Centerline is valid? [True, True] Translation: X:479.58, Y:26.15, Z:17.48 [[ 9.93595689e-01 -1.06930976e-01 -3.65153858e-02 4.79582571e+02] [ 1.06924025e-01 9.94264872e-01 -2.14876218e-03 2.61467769e+01] [ 3.65357347e-02 -1.76937119e-03 9.99330781e-01 1.74824017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.859254154 meters Centerline goodness : 0.999097 with order 1 Centerline is valid? [True, True] Translation: X:479.64, Y:26.16, Z:17.49 [[ 9.94739866e-01 -9.57037803e-02 -3.65155405e-02 4.79642672e+02] [ 9.56893694e-02 9.95408930e-01 -2.14613058e-03 2.61582338e+01] [ 3.65532879e-02 -1.35930740e-03 9.99330781e-01 1.74850701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.919254154 meters Centerline goodness : 0.999180 with order 1 Centerline is valid? [True, True] Translation: X:479.70, Y:26.17, Z:17.49 [[ 9.95845843e-01 -8.34126109e-02 -3.65156544e-02 4.79704400e+02] [ 8.33900099e-02 9.96514681e-01 -2.14419039e-03 2.61694929e+01] [ 3.65672382e-02 -9.09757701e-04 9.99330781e-01 1.74912054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.979254154 meters Centerline goodness : 0.999347 with order 1 Centerline is valid? [True, True] Translation: X:479.77, Y:26.18, Z:17.49 [[ 9.96415029e-01 -7.63130705e-02 -3.65158125e-02 4.79765888e+02] [ 7.62858020e-02 9.97083693e-01 -2.14149545e-03 2.61772708e+01] [ 3.65727453e-02 -6.51819789e-04 9.99330781e-01 1.74948771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.039254154 meters Centerline goodness : 0.999243 with order 1 Centerline is valid? [True, True] Translation: X:479.83, Y:26.19, Z:17.50 [[ 9.96978676e-01 -6.85572984e-02 -3.65159719e-02 4.79826898e+02] [ 6.85249273e-02 9.97647112e-01 -2.13877397e-03 2.61850252e+01] [ 3.65766825e-02 -3.69942276e-04 9.99330781e-01 1.74969074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.099254154 meters Centerline goodness : 0.999263 with order 1 Centerline is valid? [True, True] Translation: X:479.89, Y:26.19, Z:17.50 [[ 9.97226721e-01 -6.48494048e-02 -3.65160503e-02 4.79886705e+02] [ 6.48145974e-02 9.97895034e-01 -2.13743375e-03 2.61902442e+01] [ 3.65777966e-02 -2.35267054e-04 9.99330781e-01 1.74991069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.159254154 meters Centerline goodness : 0.999136 with order 1 Centerline is valid? [True, True] Translation: X:479.94, Y:26.19, Z:17.50 [[ 9.97255192e-01 -6.44100878e-02 -3.65160503e-02 4.79944955e+02] [ 6.43749859e-02 9.97923490e-01 -2.13743375e-03 2.61933326e+01] [ 3.65778967e-02 -2.19153325e-04 9.99330781e-01 1.75008270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.219254154 meters Centerline goodness : 0.999180 with order 1 Centerline is valid? [True, True] Translation: X:480.01, Y:26.19, Z:17.50 [[ 9.97206636e-01 -6.51575855e-02 -3.65159346e-02 4.80005631e+02] [ 6.51229122e-02 9.97874957e-01 -2.13941004e-03 2.61944973e+01] [ 3.65777354e-02 -2.44590108e-04 9.99330781e-01 1.75037149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.279254154 meters Centerline goodness : 0.999474 with order 1 Centerline is valid? [True, True] Translation: X:480.07, Y:26.20, Z:17.51 [[ 9.97093654e-01 -6.68642796e-02 -3.65159346e-02 4.80065092e+02] [ 6.68307503e-02 9.97762033e-01 -2.13941004e-03 2.61958090e+01] [ 3.65772632e-02 -3.07195126e-04 9.99330781e-01 1.75054576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.339254154 meters Centerline goodness : 0.999201 with order 1 Centerline is valid? [True, True] Translation: X:480.13, Y:26.20, Z:17.51 [[ 9.96866483e-01 -7.01698317e-02 -3.65158955e-02 4.80125973e+02] [ 7.01384941e-02 9.97534968e-01 -2.14007672e-03 2.61959396e+01] [ 3.65760514e-02 -4.27799167e-04 9.99330781e-01 1.75068214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.399254154 meters Centerline goodness : 0.999389 with order 1 Centerline is valid? [True, True] Translation: X:480.19, Y:26.20, Z:17.51 [[ 9.96631258e-01 -7.34351785e-02 -3.65158955e-02 4.80186363e+02] [ 7.34060311e-02 9.97299842e-01 -2.14007672e-03 2.61956632e+01] [ 3.65744537e-02 -5.47619606e-04 9.99330781e-01 1.75077768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.459254154 meters Centerline goodness : 0.999054 with order 1 Centerline is valid? [True, True] Translation: X:480.25, Y:26.19, Z:17.51 [[ 9.96201209e-01 -7.90552998e-02 -3.65158955e-02 4.80245958e+02] [ 7.90299238e-02 9.96869947e-01 -2.14007672e-03 2.61945273e+01] [ 3.65707832e-02 -7.53901421e-04 9.99330781e-01 1.75090989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.519254154 meters Centerline goodness : 0.998821 with order 1 Centerline is valid? [True, True] Translation: X:480.31, Y:26.19, Z:17.51 [[ 9.95806044e-01 -8.38863251e-02 -3.65158566e-02 4.80305941e+02] [ 8.38641688e-02 9.96474896e-01 -2.14073970e-03 2.61940230e+01] [ 3.65667132e-02 -9.30610430e-04 9.99330781e-01 1.75114776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.579254154 meters Centerline goodness : 0.998781 with order 1 Centerline is valid? [True, True] Translation: X:480.37, Y:26.19, Z:17.51 [[ 9.95509139e-01 -8.73392473e-02 -3.65158942e-02 4.80366464e+02] [ 8.73194342e-02 9.96178065e-01 -2.14009758e-03 2.61930925e+01] [ 3.65632474e-02 -1.05806052e-03 9.99330781e-01 1.75126203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.639254154 meters Centerline goodness : 0.998949 with order 1 Centerline is valid? [True, True] Translation: X:480.43, Y:26.19, Z:17.52 [[ 9.95409435e-01 -8.84683235e-02 -3.65159312e-02 4.80428062e+02] [ 8.84492923e-02 9.96078383e-01 -2.13946674e-03 2.61942654e+01] [ 3.65620047e-02 -1.10016290e-03 9.99330781e-01 1.75155332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.699254154 meters Centerline goodness : 0.999097 with order 1 Centerline is valid? [True, True] Translation: X:480.49, Y:26.20, Z:17.52 [[ 9.95393232e-01 -8.86504117e-02 -3.65160105e-02 4.80489341e+02] [ 8.86315525e-02 9.96062185e-01 -2.13811264e-03 2.61958358e+01] [ 3.65617618e-02 -1.10820785e-03 9.99330781e-01 1.75178099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.759254154 meters Centerline goodness : 0.999307 with order 1 Centerline is valid? [True, True] Translation: X:480.55, Y:26.20, Z:17.52 [[ 9.95545741e-01 -8.69209437e-02 -3.65161279e-02 4.80550414e+02] [ 8.69009958e-02 9.96214663e-01 -2.13610564e-03 2.61973273e+01] [ 3.65635743e-02 -1.04669701e-03 9.99330781e-01 1.75210135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.81925415399996 meters Centerline goodness : 0.998850 with order 1 Centerline is valid? [True, True] Translation: X:480.61, Y:26.19, Z:17.51 [[ 9.96642580e-01 -7.32812027e-02 -3.65162075e-02 4.80611096e+02] [ 7.32521473e-02 9.97311168e-01 -2.13474428e-03 2.61866432e+01] [ 3.65744582e-02 -5.47313558e-04 9.99330781e-01 1.75066981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.87925415399997 meters Centerline goodness : 0.999225 with order 1 Centerline is valid? [True, True] Translation: X:480.67, Y:26.20, Z:17.52 [[ 9.95854239e-01 -8.33121063e-02 -3.65161266e-02 4.80669075e+02] [ 8.32897334e-02 9.96523084e-01 -2.13612643e-03 2.62023253e+01] [ 3.65671283e-02 -9.14147893e-04 9.99330781e-01 1.75242384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.93925415399997 meters Centerline goodness : 0.998828 with order 1 Centerline is valid? [True, True] Translation: X:480.73, Y:26.20, Z:17.53 [[ 9.95660701e-01 -8.55940685e-02 -3.65160872e-02 4.80730278e+02] [ 8.55732037e-02 9.96329595e-01 -2.13680092e-03 2.62047431e+01] [ 3.65649558e-02 -9.97269860e-04 9.99330781e-01 1.75261612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.99925415399997 meters Centerline goodness : 0.998685 with order 1 Centerline is valid? [True, True] Translation: X:480.79, Y:26.21, Z:17.53 [[ 9.95339981e-01 -8.92462432e-02 -3.65161665e-02 4.80791975e+02] [ 8.92278822e-02 9.96008948e-01 -2.13544343e-03 2.62072927e+01] [ 3.65610089e-02 -1.13276798e-03 9.99330781e-01 1.75271610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.059254154 meters Centerline goodness : 0.998596 with order 1 Centerline is valid? [True, True] Translation: X:480.85, Y:26.21, Z:17.53 [[ 9.94895628e-01 -9.40704741e-02 -3.65162461e-02 4.80852737e+02] [ 9.40554063e-02 9.95564677e-01 -2.13408222e-03 2.62101609e+01] [ 3.65550389e-02 -1.31136130e-03 9.99330781e-01 1.75281128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.119254154 meters Centerline goodness : 0.999100 with order 1 Centerline is valid? [True, True] Translation: X:480.91, Y:26.21, Z:17.53 [[ 9.94809922e-01 -9.49724914e-02 -3.65163789e-02 4.80913800e+02] [ 9.49581136e-02 9.95478986e-01 -2.13180751e-03 2.62148054e+01] [ 3.65537509e-02 -1.34678320e-03 9.99330781e-01 1.75307587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.179254154 meters Centerline goodness : 0.999206 with order 1 Centerline is valid? [True, True] Translation: X:480.98, Y:26.22, Z:17.53 [[ 9.94984801e-01 -9.31224710e-02 -3.65164562e-02 4.80975192e+02] [ 9.31068977e-02 9.95653839e-01 -2.13048269e-03 2.62205972e+01] [ 3.65561456e-02 -1.28013606e-03 9.99330781e-01 1.75348687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.239254154 meters Centerline goodness : 0.998994 with order 1 Centerline is valid? [True, True] Translation: X:481.04, Y:26.22, Z:17.54 [[ 9.95323127e-01 -8.94338634e-02 -3.65165339e-02 4.81036725e+02] [ 8.94158593e-02 9.95992104e-01 -2.12914978e-03 2.62249519e+01] [ 3.65605975e-02 -1.14596524e-03 9.99330781e-01 1.75375273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.299254154 meters Centerline goodness : 0.999162 with order 1 Centerline is valid? [True, True] Translation: X:481.10, Y:26.23, Z:17.54 [[ 9.95461919e-01 -8.78755115e-02 -3.65166121e-02 4.81097376e+02] [ 8.78565092e-02 9.96130868e-01 -2.12780765e-03 2.62295537e+01] [ 3.65623067e-02 -1.09007058e-03 9.99330781e-01 1.75411256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.359254154 meters Centerline goodness : 0.998929 with order 1 Centerline is valid? [True, True] Translation: X:481.16, Y:26.22, Z:17.53 [[ 9.96651181e-01 -7.31638939e-02 -3.65166916e-02 4.81158476e+02] [ 7.31350640e-02 9.97319779e-01 -2.12644253e-03 2.62202202e+01] [ 3.65743976e-02 -5.51329115e-04 9.99330781e-01 1.75277882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.419254154 meters Centerline goodness : 0.999474 with order 1 Centerline is valid? [True, True] Translation: X:481.22, Y:26.24, Z:17.54 [[ 9.96145444e-01 -7.97545788e-02 -3.65165798e-02 4.81217300e+02] [ 7.97301016e-02 9.96814216e-01 -2.12836074e-03 2.62382020e+01] [ 3.65699924e-02 -7.91313757e-04 9.99330781e-01 1.75445518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.479254154 meters Centerline goodness : 0.999222 with order 1 Centerline is valid? [True, True] Translation: X:481.28, Y:26.24, Z:17.55 [[ 9.96514698e-01 -7.49999887e-02 -3.65165402e-02 4.81278605e+02] [ 7.49722954e-02 9.97183344e-01 -2.12903974e-03 2.62425584e+01] [ 3.65733636e-02 -6.16109448e-04 9.99330781e-01 1.75461345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.539254154 meters Centerline goodness : 0.998905 with order 1 Centerline is valid? [True, True] Translation: X:481.34, Y:26.25, Z:17.55 [[ 9.96994341e-01 -6.83287632e-02 -3.65166190e-02 4.81338894e+02] [ 6.82966449e-02 9.97662789e-01 -2.12768740e-03 2.62473149e+01] [ 3.65766542e-02 -3.72670267e-04 9.99330781e-01 1.75472469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.599254154 meters Centerline goodness : 0.998777 with order 1 Centerline is valid? [True, True] Translation: X:481.40, Y:26.25, Z:17.55 [[ 9.97172551e-01 -6.56767920e-02 -3.65166190e-02 4.81398091e+02] [ 6.56428960e-02 9.97840911e-01 -2.12768740e-03 2.62511129e+01] [ 3.65775161e-02 -2.75385155e-04 9.99330781e-01 1.75484204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.659254154 meters Centerline goodness : 0.999241 with order 1 Centerline is valid? [True, True] Translation: X:481.46, Y:26.25, Z:17.55 [[ 9.97204158e-01 -6.51951608e-02 -3.65165401e-02 4.81456647e+02] [ 6.51608923e-02 9.97872500e-01 -2.12904156e-03 2.62541860e+01] [ 3.65776543e-02 -2.56361239e-04 9.99330781e-01 1.75498261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.719254154 meters Centerline goodness : 0.999560 with order 1 Centerline is valid? [True, True] Translation: X:481.52, Y:26.25, Z:17.55 [[ 9.97162434e-01 -6.58305608e-02 -3.65159897e-02 4.81515625e+02] [ 6.57963741e-02 9.97830779e-01 -2.13843882e-03 2.62538199e+01] [ 3.65775531e-02 -2.70248867e-04 9.99330781e-01 1.75529510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.779254154 meters Centerline goodness : 0.997035 with order 1 Centerline is valid? [True, True] Translation: X:481.57, Y:26.26, Z:17.55 [[ 9.96612060e-01 -7.36954979e-02 -3.65154086e-02 4.81574636e+02] [ 7.36662233e-02 9.97280639e-01 -2.14831652e-03 2.62550985e+01] [ 3.65744313e-02 -5.48914088e-04 9.99330781e-01 1.75526500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.839254154 meters Centerline goodness : 0.999393 with order 1 Centerline is valid? [True, True] Translation: X:481.63, Y:26.25, Z:17.56 [[ 9.95853772e-01 -8.33182835e-02 -3.65147716e-02 4.81632597e+02] [ 8.32950732e-02 9.96522588e-01 -2.15908999e-03 2.62540269e+01] [ 3.65676864e-02 -8.91362662e-04 9.99330781e-01 1.75594081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.899254154 meters Centerline goodness : 0.999412 with order 1 Centerline is valid? [True, True] Translation: X:481.69, Y:26.26, Z:17.56 [[ 9.95201253e-01 -9.07808081e-02 -3.65145265e-02 4.81693148e+02] [ 9.07624602e-02 9.95870221e-01 -2.16322720e-03 2.62556877e+01] [ 3.65601091e-02 -1.16130183e-03 9.99330781e-01 1.75627816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.959254154 meters Centerline goodness : 0.999434 with order 1 Centerline is valid? [True, True] Translation: X:481.75, Y:26.26, Z:17.56 [[ 9.94329952e-01 -9.98731018e-02 -3.65145265e-02 4.81753905e+02] [ 9.98608691e-02 9.94999059e-01 -2.16322720e-03 2.62578626e+01] [ 3.65479677e-02 -1.49541075e-03 9.99330781e-01 1.75646167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.019254154 meters Centerline goodness : 0.999560 with order 1 Centerline is valid? [True, True] Translation: X:481.81, Y:26.27, Z:17.58 [[ 9.93339836e-01 -1.09282463e-01 -3.65145666e-02 4.81813199e+02] [ 1.09276591e-01 9.94009029e-01 -2.16255029e-03 2.62661398e+01] [ 3.65321377e-02 -1.84203999e-03 9.99330781e-01 1.75829011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.079254154 meters Centerline goodness : 0.999248 with order 1 Centerline is valid? [True, True] Translation: X:481.87, Y:26.26, Z:17.57 [[ 9.93768428e-01 -1.05313802e-01 -3.65145841e-02 4.81873897e+02] [ 1.05305267e-01 9.94437592e-01 -2.16225456e-03 2.62625582e+01] [ 3.65391903e-02 -1.69639773e-03 9.99330781e-01 1.75689351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.139254154 meters Centerline goodness : 0.999227 with order 1 Centerline is valid? [True, True] Translation: X:481.94, Y:26.27, Z:17.57 [[ 9.93729639e-01 -1.05679118e-01 -3.65147683e-02 4.81936209e+02] [ 1.05670943e-01 9.94398808e-01 -2.15913962e-03 2.62662298e+01] [ 3.65384180e-02 -1.71294896e-03 9.99330781e-01 1.75711852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.199254154 meters Centerline goodness : 0.999227 with order 1 Centerline is valid? [True, True] Translation: X:482.00, Y:26.28, Z:17.58 [[ 9.93663651e-01 -1.06297739e-01 -3.65149283e-02 4.81995204e+02] [ 1.06290080e-01 9.94332826e-01 -2.15642948e-03 2.62754095e+01] [ 3.65372154e-02 -1.73840907e-03 9.99330781e-01 1.75816838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.259254154 meters Centerline goodness : 0.999165 with order 1 Centerline is valid? [True, True] Translation: X:482.06, Y:26.28, Z:17.57 [[ 9.94400385e-01 -9.91692256e-02 -3.65149283e-02 4.82055766e+02] [ 9.91567684e-02 9.95069488e-01 -2.15642948e-03 2.62762353e+01] [ 3.65487425e-02 -1.47634799e-03 9.99330781e-01 1.75732001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.31925415399996 meters Centerline goodness : 0.999227 with order 1 Centerline is valid? [True, True] Translation: X:482.12, Y:26.28, Z:17.58 [[ 9.94879251e-01 -9.42440197e-02 -3.65149283e-02 4.82116771e+02] [ 9.42282494e-02 9.95548285e-01 -2.15642948e-03 2.62830415e+01] [ 3.65556048e-02 -1.29535083e-03 9.99330781e-01 1.75758756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.37925415399997 meters Centerline goodness : 0.998997 with order 1 Centerline is valid? [True, True] Translation: X:482.18, Y:26.28, Z:17.57 [[ 9.95671051e-01 -8.54740425e-02 -3.65150059e-02 4.82178749e+02] [ 8.54524258e-02 9.96339921e-01 -2.15511563e-03 2.62808090e+01] [ 3.65655645e-02 -9.74509583e-04 9.99330781e-01 1.75703528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.43925415399997 meters Centerline goodness : 0.999080 with order 1 Centerline is valid? [True, True] Translation: X:482.24, Y:26.29, Z:17.58 [[ 9.95223652e-01 -9.05346929e-02 -3.65150897e-02 4.82238211e+02] [ 9.05165290e-02 9.95892625e-01 -2.15369360e-03 2.62919871e+01] [ 3.65600925e-02 -1.16181236e-03 9.99330781e-01 1.75805807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.49925415399997 meters Centerline goodness : 0.998912 with order 1 Centerline is valid? [True, True] Translation: X:482.30, Y:26.28, Z:17.57 [[ 9.96268915e-01 -7.81977880e-02 -3.65151309e-02 4.82299852e+02] [ 7.81713631e-02 9.96937612e-01 -2.15299556e-03 2.62826620e+01] [ 3.65716669e-02 -7.09475009e-04 9.99330781e-01 1.75676391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.559254154 meters Centerline goodness : 0.998975 with order 1 Centerline is valid? [True, True] Translation: X:482.36, Y:26.29, Z:17.58 [[ 9.95731509e-01 -8.47667791e-02 -3.65151309e-02 4.82358310e+02] [ 8.47447650e-02 9.96400366e-01 -2.15299556e-03 2.62916432e+01] [ 3.65661923e-02 -9.50660672e-04 9.99330781e-01 1.75760814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.619254154 meters Centerline goodness : 0.999057 with order 1 Centerline is valid? [True, True] Translation: X:482.42, Y:26.29, Z:17.57 [[ 9.95972125e-01 -8.18912583e-02 -3.65150508e-02 4.82419043e+02] [ 8.18672633e-02 9.96640913e-01 -2.15435289e-03 2.62923951e+01] [ 3.65688163e-02 -8.43711854e-04 9.99330781e-01 1.75729357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.679254154 meters Centerline goodness : 0.999038 with order 1 Centerline is valid? [True, True] Translation: X:482.48, Y:26.31, Z:17.59 [[ 9.94373064e-01 -9.94427487e-02 -3.65150508e-02 4.82477733e+02] [ 9.94305517e-02 9.95042172e-01 -2.15435289e-03 2.63091179e+01] [ 3.65482502e-02 -1.48848116e-03 9.99330781e-01 1.75918387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.739254154 meters Centerline goodness : 0.998916 with order 1 Centerline is valid? [True, True] Translation: X:482.54, Y:26.30, Z:17.58 [[ 9.94544685e-01 -9.77114001e-02 -3.65150921e-02 4.82540197e+02] [ 9.76980638e-02 9.95213771e-01 -2.15365280e-03 2.63017082e+01] [ 3.65507589e-02 -1.42554985e-03 9.99330781e-01 1.75784923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.799254154 meters Centerline goodness : 0.998997 with order 1 Centerline is valid? [True, True] Translation: X:482.60, Y:26.32, Z:17.60 [[ 9.92904455e-01 -1.13169723e-01 -3.65151742e-02 4.82600148e+02] [ 1.13166847e-01 9.93573667e-01 -2.15226023e-03 2.63187290e+01] [ 3.65240862e-02 -1.99531837e-03 9.99330781e-01 1.75968375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.859254154 meters Centerline goodness : 0.998916 with order 1 Centerline is valid? [True, True] Translation: X:482.66, Y:26.31, Z:17.58 [[ 9.93999020e-01 -1.03114406e-01 -3.65152946e-02 4.82662689e+02] [ 1.03104832e-01 9.94668171e-01 -2.15021586e-03 2.63087514e+01] [ 3.65423195e-02 -1.62759084e-03 9.99330781e-01 1.75803614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.919254154 meters Centerline goodness : 0.999122 with order 1 Centerline is valid? [True, True] Translation: X:482.72, Y:26.33, Z:17.60 [[ 9.92645953e-01 -1.15415087e-01 -3.65153345e-02 4.82721005e+02] [ 1.15413824e-01 9.93315171e-01 -2.14953727e-03 2.63315105e+01] [ 3.65193248e-02 -2.08064493e-03 9.99330781e-01 1.76008140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.979254154 meters Centerline goodness : 0.999102 with order 1 Centerline is valid? [True, True] Translation: X:482.78, Y:26.34, Z:17.60 [[ 9.93127698e-01 -1.11193524e-01 -3.65154206e-02 4.82782618e+02] [ 1.11189470e-01 9.93796905e-01 -2.14807391e-03 2.63379008e+01] [ 3.65277639e-02 -1.92681856e-03 9.99330781e-01 1.76011613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.039254154 meters Centerline goodness : 0.998954 with order 1 Centerline is valid? [True, True] Translation: X:482.85, Y:26.33, Z:17.59 [[ 9.94576231e-01 -9.73895964e-02 -3.65155843e-02 4.82845012e+02] [ 9.73763503e-02 9.95245319e-01 -2.14528751e-03 2.63327022e+01] [ 3.65508930e-02 -1.42210237e-03 9.99330781e-01 1.75886966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.099254154 meters Centerline goodness : 0.998951 with order 1 Centerline is valid? [True, True] Translation: X:482.91, Y:26.34, Z:17.59 [[ 9.94907475e-01 -9.39453114e-02 -3.65156791e-02 4.82907214e+02] [ 9.39298079e-02 9.95576514e-01 -2.14367248e-03 2.63398906e+01] [ 3.65555405e-02 -1.29715495e-03 9.99330781e-01 1.75912363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.159254154 meters Centerline goodness : 0.999057 with order 1 Centerline is valid? [True, True] Translation: X:482.97, Y:26.36, Z:17.61 [[ 9.94529234e-01 -9.78682582e-02 -3.65158448e-02 4.82965523e+02] [ 9.78554969e-02 9.95198331e-01 -2.14084649e-03 2.63618300e+01] [ 3.65500287e-02 -1.44414171e-03 9.99330781e-01 1.76107332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.219254154 meters Centerline goodness : 0.998971 with order 1 Centerline is valid? [True, True] Translation: X:483.03, Y:26.37, Z:17.61 [[ 9.95427188e-01 -8.82683593e-02 -3.65158852e-02 4.83027913e+02] [ 8.82491684e-02 9.96096132e-01 -2.14015649e-03 2.63670220e+01] [ 3.65622401e-02 -1.09212655e-03 9.99330781e-01 1.76071072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.279254154 meters Centerline goodness : 0.998844 with order 1 Centerline is valid? [True, True] Translation: X:483.09, Y:26.36, Z:17.60 [[ 9.96623875e-01 -7.35351871e-02 -3.65161210e-02 4.83088311e+02] [ 7.35062515e-02 9.97292469e-01 -2.13612577e-03 2.63618159e+01] [ 3.65743329e-02 -5.55249236e-04 9.99330781e-01 1.75955315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.339254154 meters Centerline goodness : 0.999053 with order 1 Centerline is valid? [True, True] Translation: X:483.15, Y:26.38, Z:17.62 [[ 9.96339848e-01 -7.72883177e-02 -3.65160739e-02 4.83147167e+02] [ 7.72618710e-02 9.97008544e-01 -2.13693041e-03 2.63816420e+01] [ 3.65719975e-02 -6.92191277e-04 9.99330781e-01 1.76157442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.399254154 meters Centerline goodness : 0.999178 with order 1 Centerline is valid? [True, True] Translation: X:483.21, Y:26.39, Z:17.62 [[ 9.96582574e-01 -7.40928240e-02 -3.65161131e-02 4.83207383e+02] [ 7.40642576e-02 9.97251183e-01 -2.13626035e-03 2.63860816e+01] [ 3.65740186e-02 -5.75578966e-04 9.99330781e-01 1.76184359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.459254154 meters Centerline goodness : 0.999157 with order 1 Centerline is valid? [True, True] Translation: X:483.27, Y:26.39, Z:17.62 [[ 9.96890741e-01 -6.98242220e-02 -3.65161524e-02 4.83267445e+02] [ 6.97928170e-02 9.97559222e-01 -2.13558976e-03 2.63886767e+01] [ 3.65761404e-02 -4.19615477e-04 9.99330781e-01 1.76171704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.519254154 meters Centerline goodness : 0.999094 with order 1 Centerline is valid? [True, True] Translation: X:483.33, Y:26.39, Z:17.62 [[ 9.96888002e-01 -6.98633136e-02 -3.65161524e-02 4.83326817e+02] [ 6.98319348e-02 9.97556485e-01 -2.13558976e-03 2.63931523e+01] [ 3.65761240e-02 -4.21049759e-04 9.99330781e-01 1.76224859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.579254154 meters Centerline goodness : 0.998906 with order 1 Centerline is valid? [True, True] Translation: X:483.39, Y:26.39, Z:17.62 [[ 9.97123035e-01 -6.64245931e-02 -3.65161054e-02 4.83387762e+02] [ 6.63908796e-02 9.97791405e-01 -2.13639171e-03 2.63933005e+01] [ 3.65773651e-02 -2.94090974e-04 9.99330781e-01 1.76214128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.639254154 meters Centerline goodness : 0.999094 with order 1 Centerline is valid? [True, True] Translation: X:483.45, Y:26.40, Z:17.63 [[ 9.96616491e-01 -7.36352044e-02 -3.65161054e-02 4.83447108e+02] [ 7.36063262e-02 9.97285087e-01 -2.13639171e-03 2.63987161e+01] [ 3.65742810e-02 -5.58653160e-04 9.99330781e-01 1.76266150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.699254154 meters Centerline goodness : 0.999219 with order 1 Centerline is valid? [True, True] Translation: X:483.51, Y:26.40, Z:17.63 [[ 9.96043213e-01 -8.10215703e-02 -3.65160655e-02 4.83508508e+02] [ 8.09976245e-02 9.96712003e-01 -2.13707390e-03 2.64006556e+01] [ 3.65691499e-02 -8.29096612e-04 9.99330781e-01 1.76287163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.759254154 meters Centerline goodness : 0.999029 with order 1 Centerline is valid? [True, True] Translation: X:483.57, Y:26.40, Z:17.63 [[ 9.95555950e-01 -8.68039299e-02 -3.65161431e-02 4.83569795e+02] [ 8.67839166e-02 9.96224869e-01 -2.13574796e-03 2.64030415e+01] [ 3.65636812e-02 -1.04275733e-03 9.99330781e-01 1.76304260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.81925415399996 meters Centerline goodness : 0.998839 with order 1 Centerline is valid? [True, True] Translation: X:483.63, Y:26.40, Z:17.63 [[ 9.94728172e-01 -9.58249945e-02 -3.65162195e-02 4.83631837e+02] [ 9.58110936e-02 9.95397247e-01 -2.13443946e-03 2.64047115e+01] [ 3.65526770e-02 -1.37547187e-03 9.99330781e-01 1.76312954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.87925415399997 meters Centerline goodness : 0.999220 with order 1 Centerline is valid? [True, True] Translation: X:483.69, Y:26.41, Z:17.63 [[ 9.93885627e-01 -1.04201317e-01 -3.65163707e-02 4.83693437e+02] [ 1.04193148e-01 9.94554796e-01 -2.13185053e-03 2.64060457e+01] [ 3.65396732e-02 -1.68594003e-03 9.99330781e-01 1.76325923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.93925415399997 meters Centerline goodness : 0.998862 with order 1 Centerline is valid? [True, True] Translation: X:483.76, Y:26.41, Z:17.63 [[ 9.93570006e-01 -1.07168975e-01 -3.65164824e-02 4.83755400e+02] [ 1.07162875e-01 9.94239197e-01 -2.12993461e-03 2.64088468e+01] [ 3.65343811e-02 -1.79697209e-03 9.99330781e-01 1.76339865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.99925415399997 meters Centerline goodness : 0.999118 with order 1 Centerline is valid? [True, True] Translation: X:483.82, Y:26.41, Z:17.64 [[ 9.92954895e-01 -1.12725828e-01 -3.65166298e-02 4.83817026e+02] [ 1.12723564e-01 9.93624110e-01 -2.12740491e-03 2.64118038e+01] [ 3.65236173e-02 -2.00386753e-03 9.99330781e-01 1.76365159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.059254154 meters Centerline goodness : 0.999117 with order 1 Centerline is valid? [True, True] Translation: X:483.88, Y:26.41, Z:17.64 [[ 9.92238708e-01 -1.18864925e-01 -3.65167866e-02 4.83880478e+02] [ 1.18866899e-01 9.92907924e-01 -2.12471107e-03 2.64144701e+01] [ 3.65103604e-02 -2.23241661e-03 9.99330781e-01 1.76382276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.119254154 meters Centerline goodness : 0.998886 with order 1 Centerline is valid? [True, True] Translation: X:483.94, Y:26.42, Z:17.64 [[ 9.92106700e-01 -1.19961675e-01 -3.65170192e-02 4.83941684e+02] [ 1.19964536e-01 9.92775913e-01 -2.12070556e-03 2.64185207e+01] [ 3.65076204e-02 -2.27678107e-03 9.99330781e-01 1.76392673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.179254154 meters Centerline goodness : 0.999051 with order 1 Centerline is valid? [True, True] Translation: X:484.00, Y:26.43, Z:17.64 [[ 9.92360810e-01 -1.17841038e-01 -3.65173022e-02 4.84003078e+02] [ 1.17842647e-01 9.93030027e-01 -2.11582130e-03 2.64268540e+01] [ 3.65121081e-02 -2.20363742e-03 9.99330781e-01 1.76429155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.239254154 meters Centerline goodness : 0.998880 with order 1 Centerline is valid? [True, True] Translation: X:484.06, Y:26.44, Z:17.64 [[ 9.93033579e-01 -1.12030291e-01 -3.65174551e-02 4.84064461e+02] [ 1.12028080e-01 9.93702795e-01 -2.11317837e-03 2.64359484e+01] [ 3.65242372e-02 -1.99252330e-03 9.99330781e-01 1.76439230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.299254154 meters Centerline goodness : 0.999007 with order 1 Centerline is valid? [True, True] Translation: X:484.13, Y:26.44, Z:17.64 [[ 9.93526521e-01 -1.07570981e-01 -3.65176118e-02 4.84125429e+02] [ 1.07565865e-01 9.94195721e-01 -2.11046685e-03 2.64439196e+01] [ 3.65326784e-02 -1.83124371e-03 9.99330781e-01 1.76449684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.359254154 meters Centerline goodness : 0.998748 with order 1 Centerline is valid? [True, True] Translation: X:484.19, Y:26.44, Z:17.63 [[ 9.95320146e-01 -8.94665411e-02 -3.65177275e-02 4.84188499e+02] [ 8.94493171e-02 9.95989144e-01 -2.10846341e-03 2.64397820e+01] [ 3.65598971e-02 -1.16788967e-03 9.99330781e-01 1.76328636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.419254154 meters Centerline goodness : 0.998724 with order 1 Centerline is valid? [True, True] Translation: X:484.25, Y:26.45, Z:17.63 [[ 9.95880911e-01 -8.29919001e-02 -3.65178866e-02 4.84249445e+02] [ 8.29704270e-02 9.96549785e-01 -2.10570342e-03 2.64472516e+01] [ 3.65666484e-02 -9.32874805e-04 9.99330781e-01 1.76336007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.479254154 meters Centerline goodness : 0.999042 with order 1 Centerline is valid? [True, True] Translation: X:484.31, Y:26.47, Z:17.66 [[ 9.94973873e-01 -9.32385478e-02 -3.65180032e-02 4.84309191e+02] [ 9.32240351e-02 9.95642935e-01 -2.10367933e-03 2.64728702e+01] [ 3.65550359e-02 -1.31124965e-03 9.99330781e-01 1.76553212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.539254154 meters Centerline goodness : 0.999212 with order 1 Centerline is valid? [True, True] Translation: X:484.37, Y:26.48, Z:17.66 [[ 9.95698776e-01 -8.51491314e-02 -3.65181127e-02 4.84371007e+02] [ 8.51292512e-02 9.96367700e-01 -2.10177767e-03 2.64822703e+01] [ 3.65644325e-02 -1.01602214e-03 9.99330781e-01 1.76573585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.599254154 meters Centerline goodness : 0.998912 with order 1 Centerline is valid? [True, True] Translation: X:484.43, Y:26.47, Z:17.64 [[ 9.97381043e-01 -6.24297105e-02 -3.65183071e-02 4.84433109e+02] [ 6.23947109e-02 9.98049346e-01 -2.09839493e-03 2.64726518e+01] [ 3.65780747e-02 -1.85649891e-04 9.99330781e-01 1.76433550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.659254154 meters Centerline goodness : 0.999423 with order 1 Centerline is valid? [True, True] Translation: X:484.49, Y:26.48, Z:17.65 [[ 9.97488180e-01 -6.06938326e-02 -3.65183522e-02 4.84492093e+02] [ 6.06576987e-02 9.98156422e-01 -2.09761006e-03 2.64811755e+01] [ 3.65783397e-02 -1.22777964e-04 9.99330781e-01 1.76473556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.719254154 meters Centerline goodness : 0.994909 with order 1 Centerline is valid? [True, True] Translation: X:484.55, Y:26.50, Z:17.66 [[ 9.96809336e-01 -7.09757737e-02 -3.65183123e-02 4.84548872e+02] [ 7.09465067e-02 9.97477915e-01 -2.09830386e-03 2.65010635e+01] [ 3.65751387e-02 -4.99237808e-04 9.99330781e-01 1.76632755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.779254154 meters Centerline goodness : 0.999594 with order 1 Centerline is valid? [True, True] Translation: X:484.61, Y:26.50, Z:17.67 [[ 9.97015407e-01 -6.80198384e-02 -3.65182200e-02 4.84609396e+02] [ 6.79885304e-02 9.97683893e-01 -2.09990869e-03 2.65046442e+01] [ 3.65764753e-02 -3.89178789e-04 9.99330781e-01 1.76678380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.839254154 meters Centerline goodness : 0.999125 with order 1 Centerline is valid? [True, True] Translation: X:484.67, Y:26.49, Z:17.65 [[ 9.97698187e-01 -5.71379613e-02 -3.65182200e-02 4.84671132e+02] [ 5.70993617e-02 9.98366292e-01 -2.09990869e-03 2.64929393e+01] [ 3.65785444e-02 9.90804330e-06 9.99330781e-01 1.76534134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.899254154 meters Centerline goodness : 0.995245 with order 1 Centerline is valid? [True, True] Translation: X:484.73, Y:26.51, Z:17.67 [[ 9.96623756e-01 -7.35357637e-02 -3.65182200e-02 4.84728245e+02] [ 7.35081552e-02 9.97292405e-01 -2.09990869e-03 2.65096381e+01] [ 3.65737619e-02 -5.91568095e-04 9.99330781e-01 1.76690586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.959254154 meters Centerline goodness : 0.999404 with order 1 Centerline is valid? [True, True] Translation: X:484.79, Y:26.51, Z:17.67 [[ 9.96297901e-01 -7.78264740e-02 -3.65175577e-02 4.84788593e+02] [ 7.78013252e-02 9.96966647e-01 -2.11136400e-03 2.65105565e+01] [ 3.65711071e-02 -7.37566858e-04 9.99330781e-01 1.76743154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.019254154 meters Centerline goodness : 0.999151 with order 1 Centerline is valid? [True, True] Translation: X:484.85, Y:26.50, Z:17.66 [[ 9.96611666e-01 -7.36997435e-02 -3.65176085e-02 4.84851489e+02] [ 7.36718576e-02 9.97280303e-01 -2.11048402e-03 2.64989367e+01] [ 3.65738339e-02 -5.86987064e-04 9.99330781e-01 1.76629474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.079254154 meters Centerline goodness : 0.999301 with order 1 Centerline is valid? [True, True] Translation: X:484.91, Y:26.50, Z:17.67 [[ 9.96032713e-01 -8.11498029e-02 -3.65177314e-02 4.84912724e+02] [ 8.11269954e-02 9.96701543e-01 -2.10835660e-03 2.64997333e+01] [ 3.65683719e-02 -8.62581681e-04 9.99330781e-01 1.76662780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.139254154 meters Centerline goodness : 0.998835 with order 1 Centerline is valid? [True, True] Translation: X:484.97, Y:26.50, Z:17.67 [[ 9.95787138e-01 -8.41095983e-02 -3.65178145e-02 4.84973990e+02] [ 8.40888315e-02 9.96456035e-01 -2.10691601e-03 2.65018164e+01] [ 3.65656085e-02 -9.72700481e-04 9.99330781e-01 1.76685954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.199254154 meters Centerline goodness : 0.998963 with order 1 Centerline is valid? [True, True] Translation: X:485.04, Y:26.50, Z:17.67 [[ 9.96108661e-01 -8.02120628e-02 -3.65179374e-02 4.85035843e+02] [ 8.01887566e-02 9.96777474e-01 -2.10478338e-03 2.65046606e+01] [ 3.65690864e-02 -8.31735038e-04 9.99330781e-01 1.76722774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.259254154 meters Centerline goodness : 0.998792 with order 1 Centerline is valid? [True, True] Translation: X:485.10, Y:26.51, Z:17.67 [[ 9.96585437e-01 -7.40533276e-02 -3.65180999e-02 4.85096470e+02] [ 7.40259912e-02 9.97254097e-01 -2.10196105e-03 2.65077264e+01] [ 3.65734819e-02 -6.08504761e-04 9.99330781e-01 1.76729642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.31925415399996 meters Centerline goodness : 0.998832 with order 1 Centerline is valid? [True, True] Translation: X:485.16, Y:26.51, Z:17.67 [[ 9.97539949e-01 -5.98369358e-02 -3.65183786e-02 4.85156523e+02] [ 5.98002464e-02 9.98208161e-01 -2.09710774e-03 2.65099700e+01] [ 3.65784280e-02 -9.18592895e-05 9.99330781e-01 1.76732502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.37925415399997 meters Centerline goodness : 0.998894 with order 1 Centerline is valid? [True, True] Translation: X:485.21, Y:26.52, Z:17.69 [[ 9.97535510e-01 -5.99108563e-02 -3.65184153e-02 4.85214619e+02] [ 5.98742398e-02 9.98203727e-01 -2.09646756e-03 2.65226986e+01] [ 3.65784194e-02 -9.52115212e-05 9.99330781e-01 1.76884869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.43925415399997 meters Centerline goodness : 0.994059 with order 1 Centerline is valid? [True, True] Translation: X:485.27, Y:26.52, Z:17.69 [[ 9.97766616e-01 -5.59302361e-02 -3.65183420e-02 4.85273817e+02] [ 5.58909070e-02 9.98434678e-01 -2.09774343e-03 2.65243994e+01] [ 3.65785063e-02 5.20151054e-05 9.99330781e-01 1.76889590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.49925415399997 meters Centerline goodness : 0.998771 with order 1 Centerline is valid? [True, True] Translation: X:485.33, Y:26.52, Z:17.69 [[ 9.97630196e-01 -5.83134226e-02 -3.65176242e-02 4.85332025e+02] [ 5.82752347e-02 9.98298324e-01 -2.11016599e-03 2.65229724e+01] [ 3.65785340e-02 -2.29078102e-05 9.99330781e-01 1.76928794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.559254154 meters Centerline goodness : 0.998834 with order 1 Centerline is valid? [True, True] Translation: X:485.39, Y:26.52, Z:17.69 [[ 9.97293385e-01 -6.38153178e-02 -3.65172448e-02 4.85391707e+02] [ 6.37805762e-02 9.97961701e-01 -2.11671120e-03 2.65222756e+01] [ 3.65778904e-02 -2.18108835e-04 9.99330781e-01 1.76941268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.619254154 meters Centerline goodness : 0.998860 with order 1 Centerline is valid? [True, True] Translation: X:485.45, Y:26.52, Z:17.69 [[ 9.96318899e-01 -7.75573851e-02 -3.65171674e-02 4.85451860e+02] [ 7.75318109e-02 9.96987629e-01 -2.11804506e-03 2.65179829e+01] [ 3.65714342e-02 -7.20993798e-04 9.99330781e-01 1.76941636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.679254154 meters Centerline goodness : 0.998904 with order 1 Centerline is valid? [True, True] Translation: X:485.51, Y:26.51, Z:17.70 [[ 9.94865981e-01 -9.43831299e-02 -3.65171761e-02 4.85512339e+02] [ 9.43688657e-02 9.95535048e-01 -2.11789574e-03 2.65144826e+01] [ 3.65540223e-02 -1.33906206e-03 9.99330781e-01 1.76972552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.739254154 meters Centerline goodness : 0.998674 with order 1 Centerline is valid? [True, True] Translation: X:485.57, Y:26.51, Z:17.70 [[ 9.94267668e-01 -1.00490287e-01 -3.65172136e-02 4.85574309e+02] [ 1.00480155e-01 9.94936810e-01 -2.11724953e-03 2.65141643e+01] [ 3.65450830e-02 -1.56414252e-03 9.99330781e-01 1.76986358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.799254154 meters Centerline goodness : 0.998425 with order 1 Centerline is valid? [True, True] Translation: X:485.64, Y:26.50, Z:17.69 [[ 9.94021536e-01 -1.02896395e-01 -3.65173628e-02 4.85637327e+02] [ 1.02887977e-01 9.94690702e-01 -2.11467206e-03 2.65042903e+01] [ 3.65410734e-02 -1.65516801e-03 9.99330781e-01 1.76902116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.859254154 meters Centerline goodness : 0.998909 with order 1 Centerline is valid? [True, True] Translation: X:485.70, Y:26.52, Z:17.70 [[ 9.92972870e-01 -1.12567096e-01 -3.65175093e-02 4.85697769e+02] [ 1.12565285e-01 9.93642086e-01 -2.11213998e-03 2.65174680e+01] [ 3.65230916e-02 -2.01330613e-03 9.99330781e-01 1.77035668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.919254154 meters Centerline goodness : 0.998866 with order 1 Centerline is valid? [True, True] Translation: X:485.76, Y:26.52, Z:17.71 [[ 9.92614805e-01 -1.15681953e-01 -3.65175887e-02 4.85759316e+02] [ 1.15682291e-01 9.93284024e-01 -2.11076624e-03 2.65190869e+01] [ 3.65165150e-02 -2.12926052e-03 9.99330781e-01 1.77075402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.979254154 meters Centerline goodness : 0.998741 with order 1 Centerline is valid? [True, True] Translation: X:485.82, Y:26.51, Z:17.70 [[ 9.93651979e-01 -1.06405836e-01 -3.65177083e-02 4.85822946e+02] [ 1.06400001e-01 9.94321172e-01 -2.10869518e-03 2.65111728e+01] [ 3.65347080e-02 -1.79017504e-03 9.99330781e-01 1.76976217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.039254154 meters Centerline goodness : 0.998742 with order 1 Centerline is valid? [True, True] Translation: X:485.88, Y:26.53, Z:17.71 [[ 9.92759348e-01 -1.14434778e-01 -3.65179153e-02 4.85882756e+02] [ 1.14434484e-01 9.93428567e-01 -2.10510381e-03 2.65256994e+01] [ 3.65188373e-02 -2.08904730e-03 9.99330781e-01 1.77123509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.099254154 meters Centerline goodness : 0.998824 with order 1 Centerline is valid? [True, True] Translation: X:485.94, Y:26.53, Z:17.71 [[ 9.93204165e-01 -1.10507551e-01 -3.65180370e-02 4.85944976e+02] [ 1.10504687e-01 9.93873378e-01 -2.10299002e-03 2.65306810e+01] [ 3.65267011e-02 -1.94671581e-03 9.99330781e-01 1.77128094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.159254154 meters Centerline goodness : 0.998950 with order 1 Centerline is valid? [True, True] Translation: X:486.01, Y:26.54, Z:17.71 [[ 9.93804838e-01 -1.04968403e-01 -3.65181876e-02 4.86007464e+02] [ 1.04961904e-01 9.94474025e-01 -2.10037125e-03 2.65368903e+01] [ 3.65368617e-02 -1.74565940e-03 9.99330781e-01 1.77121930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.219254154 meters Centerline goodness : 0.998883 with order 1 Centerline is valid? [True, True] Translation: X:486.07, Y:26.54, Z:17.71 [[ 9.94332705e-01 -9.98442763e-02 -3.65183738e-02 4.86069490e+02] [ 9.98344472e-02 9.95001852e-01 -2.09713026e-03 2.65436799e+01] [ 3.65452360e-02 -1.56054646e-03 9.99330781e-01 1.77141493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.279254154 meters Centerline goodness : 0.998753 with order 1 Centerline is valid? [True, True] Translation: X:486.13, Y:26.55, Z:17.72 [[ 9.95255351e-01 -9.01841656e-02 -3.65185200e-02 4.86131332e+02] [ 9.01679328e-02 9.95924373e-01 -2.09457992e-03 2.65530988e+01] [ 3.65585821e-02 -1.20815758e-03 9.99330781e-01 1.77197460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.339254154 meters Centerline goodness : 0.998945 with order 1 Centerline is valid? [True, True] Translation: X:486.19, Y:26.56, Z:17.72 [[ 9.95939203e-01 -8.22890593e-02 -3.65186762e-02 4.86193126e+02] [ 8.22676216e-02 9.96608079e-01 -2.09185406e-03 2.65598742e+01] [ 3.65669444e-02 -9.20945171e-04 9.99330781e-01 1.77232250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.399254154 meters Centerline goodness : 0.999029 with order 1 Centerline is valid? [True, True] Translation: X:486.25, Y:26.57, Z:17.73 [[ 9.96807060e-01 -7.10074658e-02 -3.65188318e-02 4.86254442e+02] [ 7.09785559e-02 9.97475654e-01 -2.08913325e-03 2.65681117e+01] [ 3.65749897e-02 -5.09591179e-04 9.99330781e-01 1.77269436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.459254154 meters Centerline goodness : 0.998643 with order 1 Centerline is valid? [True, True] Translation: X:486.31, Y:26.57, Z:17.73 [[ 9.97396924e-01 -6.21750688e-02 -3.65189884e-02 4.86314111e+02] [ 6.21403381e-02 9.98065241e-01 -2.08639204e-03 2.65736888e+01] [ 3.65780546e-02 -1.88341282e-04 9.99330781e-01 1.77286914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.519254154 meters Centerline goodness : 0.998772 with order 1 Centerline is valid? [True, True] Translation: X:486.37, Y:26.58, Z:17.73 [[ 9.97649070e-01 -5.79887430e-02 -3.65190267e-02 4.86374006e+02] [ 5.79512324e-02 9.98317236e-01 -2.08572140e-03 2.65787631e+01] [ 3.65785222e-02 -3.55045904e-05 9.99330781e-01 1.77316535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.579254154 meters Centerline goodness : 0.998984 with order 1 Centerline is valid? [True, True] Translation: X:486.43, Y:26.58, Z:17.73 [[ 9.97676186e-01 -5.75203546e-02 -3.65189888e-02 4.86433955e+02] [ 5.74825061e-02 9.98344334e-01 -2.08638604e-03 2.65817233e+01] [ 3.65785352e-02 -1.76653232e-05 9.99330781e-01 1.77334747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.639254154 meters Centerline goodness : 0.998730 with order 1 Centerline is valid? [True, True] Translation: X:486.49, Y:26.58, Z:17.73 [[ 9.97562184e-01 -5.94647592e-02 -3.65189107e-02 4.86492561e+02] [ 5.94281629e-02 9.98230402e-01 -2.08775250e-03 2.65828126e+01] [ 3.65784346e-02 -8.75888305e-05 9.99330781e-01 1.77345811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.699254154 meters Centerline goodness : 0.998879 with order 1 Centerline is valid? [True, True] Translation: X:486.55, Y:26.58, Z:17.74 [[ 9.97417727e-01 -6.18405630e-02 -3.65187953e-02 4.86552549e+02] [ 6.18054846e-02 9.98086026e-01 -2.08976760e-03 2.65844360e+01] [ 3.65781317e-02 -1.72690593e-04 9.99330781e-01 1.77371935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.759254154 meters Centerline goodness : 0.998923 with order 1 Centerline is valid? [True, True] Translation: X:486.61, Y:26.59, Z:17.74 [[ 9.97340701e-01 -6.30706681e-02 -3.65187175e-02 4.86611772e+02] [ 6.30363641e-02 9.98009040e-01 -2.09112762e-03 2.65853693e+01] [ 3.65778990e-02 -2.16440486e-04 9.99330781e-01 1.77390546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.81925415399996 meters Centerline goodness : 0.998819 with order 1 Centerline is valid? [True, True] Translation: X:486.67, Y:26.59, Z:17.74 [[ 9.97228311e-01 -6.48234689e-02 -3.65186792e-02 4.86671378e+02] [ 6.47903151e-02 9.97896708e-01 -2.09179657e-03 2.65861916e+01] [ 3.65774672e-02 -2.80057970e-04 9.99330781e-01 1.77413813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.87925415399997 meters Centerline goodness : 0.998924 with order 1 Centerline is valid? [True, True] Translation: X:486.73, Y:26.59, Z:17.74 [[ 9.96919784e-01 -6.94070266e-02 -3.65186015e-02 4.86731333e+02] [ 6.93768962e-02 9.97588324e-01 -2.09315126e-03 2.65853455e+01] [ 3.65758099e-02 -4.46843324e-04 9.99330781e-01 1.77436772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.93925415399997 meters Centerline goodness : 0.998992 with order 1 Centerline is valid? [True, True] Translation: X:486.79, Y:26.58, Z:17.75 [[ 9.96525545e-01 -7.48547419e-02 -3.65185633e-02 4.86790591e+02] [ 7.48282415e-02 9.97194239e-01 -2.09381735e-03 2.65833836e+01] [ 3.65728331e-02 -6.46077403e-04 9.99330781e-01 1.77453697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.99925415399997 meters Centerline goodness : 0.998802 with order 1 Centerline is valid? [True, True] Translation: X:486.85, Y:26.58, Z:17.75 [[ 9.96304050e-01 -7.77472619e-02 -3.65185257e-02 4.86851156e+02] [ 7.77226788e-02 9.96972817e-01 -2.09447310e-03 2.65836482e+01] [ 3.65708170e-02 -7.51585607e-04 9.99330781e-01 1.77471998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.059254154 meters Centerline goodness : 0.998887 with order 1 Centerline is valid? [True, True] Translation: X:486.91, Y:26.58, Z:17.75 [[ 9.96293725e-01 -7.78794680e-02 -3.65185257e-02 4.86912787e+02] [ 7.78549736e-02 9.96962495e-01 -2.09447310e-03 2.65839447e+01] [ 3.65707169e-02 -7.56438445e-04 9.99330781e-01 1.77489312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.119254154 meters Centerline goodness : 0.999036 with order 1 Centerline is valid? [True, True] Translation: X:486.97, Y:26.59, Z:17.75 [[ 9.96464846e-01 -7.56584545e-02 -3.65186023e-02 4.86973627e+02] [ 7.56325184e-02 9.97133562e-01 -2.09313639e-03 2.65858656e+01] [ 3.65722875e-02 -6.76257031e-04 9.99330781e-01 1.77514119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.179254154 meters Centerline goodness : 0.998825 with order 1 Centerline is valid? [True, True] Translation: X:487.03, Y:26.59, Z:17.75 [[ 9.96694766e-01 -7.25667247e-02 -3.65186806e-02 4.87033633e+02] [ 7.25387642e-02 9.97363400e-01 -2.09177060e-03 2.65874188e+01] [ 3.65741883e-02 -5.64163150e-04 9.99330781e-01 1.77528626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.239254154 meters Centerline goodness : 0.999034 with order 1 Centerline is valid? [True, True] Translation: X:487.09, Y:26.58, Z:17.74 [[ 9.97417685e-01 -6.18412928e-02 -3.65187190e-02 4.87093718e+02] [ 6.18061661e-02 9.98085981e-01 -2.09109931e-03 2.65768428e+01] [ 3.65781377e-02 -1.71382577e-04 9.99330781e-01 1.77423490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.299254154 meters Centerline goodness : 0.998993 with order 1 Centerline is valid? [True, True] Translation: X:487.15, Y:26.59, Z:17.76 [[ 9.96702028e-01 -7.24671737e-02 -3.65181687e-02 4.87150794e+02] [ 7.24388206e-02 9.97370645e-01 -2.10066498e-03 2.65905550e+01] [ 3.65743788e-02 -5.51596028e-04 9.99330781e-01 1.77550699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.359254154 meters Centerline goodness : 0.998971 with order 1 Centerline is valid? [True, True] Translation: X:487.21, Y:26.59, Z:17.76 [[ 9.96582181e-01 -7.40973608e-02 -3.65176274e-02 4.87209889e+02] [ 7.40697581e-02 9.97250830e-01 -2.11003418e-03 2.65924818e+01] [ 3.65735822e-02 -6.02029359e-04 9.99330781e-01 1.77600497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.419254154 meters Centerline goodness : 0.998953 with order 1 Centerline is valid? [True, True] Translation: X:487.27, Y:26.60, Z:17.76 [[ 9.96384513e-01 -7.67096533e-02 -3.65175491e-02 4.87269841e+02] [ 7.66837540e-02 9.97053230e-01 -2.11138824e-03 2.65951669e+01] [ 3.65719041e-02 -6.96548209e-04 9.99330781e-01 1.77625202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.479254154 meters Centerline goodness : 0.995536 with order 1 Centerline is valid? [True, True] Translation: X:487.33, Y:26.60, Z:17.76 [[ 9.96291885e-01 -7.79034946e-02 -3.65174705e-02 4.87329241e+02] [ 7.78783468e-02 9.96960631e-01 -2.11274614e-03 2.65972082e+01] [ 3.65710708e-02 -7.39008401e-04 9.99330781e-01 1.77606620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.539254154 meters Centerline goodness : 0.999205 with order 1 Centerline is valid? [True, True] Translation: X:487.39, Y:26.60, Z:17.77 [[ 9.95972838e-01 -8.18815300e-02 -3.65174206e-02 4.87387507e+02] [ 8.18590214e-02 9.96641677e-01 -2.11360857e-03 2.65989495e+01] [ 3.65678488e-02 -8.84183586e-04 9.99330781e-01 1.77675392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.599254154 meters Centerline goodness : 0.998809 with order 1 Centerline is valid? [True, True] Translation: X:487.45, Y:26.60, Z:17.77 [[ 9.95838852e-01 -8.34953335e-02 -3.65172705e-02 4.87447911e+02] [ 8.34738139e-02 9.96507724e-01 -2.11619852e-03 2.66014841e+01] [ 3.65664348e-02 -9.40843140e-04 9.99330781e-01 1.77711205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.659254154 meters Centerline goodness : 0.998974 with order 1 Centerline is valid? [True, True] Translation: X:487.51, Y:26.61, Z:17.78 [[ 9.95759080e-01 -8.44413490e-02 -3.65173081e-02 4.87509472e+02] [ 8.44204886e-02 9.96427973e-01 -2.11554968e-03 2.66050874e+01] [ 3.65655072e-02 -9.76231196e-04 9.99330781e-01 1.77752471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.719254154 meters Centerline goodness : 0.998912 with order 1 Centerline is valid? [True, True] Translation: X:487.57, Y:26.61, Z:17.78 [[ 9.95593347e-01 -8.63734258e-02 -3.65173876e-02 4.87570983e+02] [ 8.63539137e-02 9.96262281e-01 -2.11417655e-03 2.66077323e+01] [ 3.65635045e-02 -1.04855923e-03 9.99330781e-01 1.77761722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.779254154 meters Centerline goodness : 0.998787 with order 1 Centerline is valid? [True, True] Translation: X:487.63, Y:26.60, Z:17.76 [[ 9.96386488e-01 -7.66840338e-02 -3.65174658e-02 4.87633111e+02] [ 7.66580647e-02 9.97055203e-01 -2.11282477e-03 2.65979171e+01] [ 3.65719492e-02 -6.94168207e-04 9.99330781e-01 1.77626233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.839254154 meters Centerline goodness : 0.998934 with order 1 Centerline is valid? [True, True] Translation: X:487.69, Y:26.61, Z:17.78 [[ 9.95016586e-01 -9.27818160e-02 -3.65175056e-02 4.87691183e+02] [ 9.27666861e-02 9.95685634e-01 -2.11213698e-03 2.66141209e+01] [ 3.65559236e-02 -1.28599665e-03 9.99330781e-01 1.77793568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.899254154 meters Centerline goodness : 0.998849 with order 1 Centerline is valid? [True, True] Translation: X:487.75, Y:26.62, Z:17.78 [[ 9.94500563e-01 -9.81585733e-02 -3.65174666e-02 4.87753272e+02] [ 9.81470351e-02 9.95169682e-01 -2.11281055e-03 2.66177378e+01] [ 3.65484661e-02 -1.48288980e-03 9.99330781e-01 1.77810508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.959254154 meters Centerline goodness : 0.998893 with order 1 Centerline is valid? [True, True] Translation: X:487.82, Y:26.62, Z:17.78 [[ 9.94253989e-01 -1.00625388e-01 -3.65176240e-02 4.87815231e+02] [ 1.00615610e-01 9.94923136e-01 -2.11008745e-03 2.66220957e+01] [ 3.65445573e-02 -1.57628014e-03 9.99330781e-01 1.77832611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.019254154 meters Centerline goodness : 0.998871 with order 1 Centerline is valid? [True, True] Translation: X:487.88, Y:26.63, Z:17.79 [[ 9.94230545e-01 -1.00856706e-01 -3.65177817e-02 4.87877479e+02] [ 1.00847183e-01 9.94899696e-01 -2.10735386e-03 2.66277692e+01] [ 3.65440707e-02 -1.58751986e-03 9.99330781e-01 1.77860929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.079254154 meters Centerline goodness : 0.998807 with order 1 Centerline is valid? [True, True] Translation: X:487.94, Y:26.63, Z:17.79 [[ 9.94517154e-01 -9.79901557e-02 -3.65179372e-02 4.87938989e+02] [ 9.79788032e-02 9.95186276e-01 -2.10465643e-03 2.66347376e+01] [ 3.65483855e-02 -1.48486685e-03 9.99330781e-01 1.77910706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.139254154 meters Centerline goodness : 0.999058 with order 1 Centerline is valid? [True, True] Translation: X:488.00, Y:26.64, Z:17.79 [[ 9.94880442e-01 -9.42302182e-02 -3.65180966e-02 4.87999736e+02] [ 9.42164380e-02 9.95549519e-01 -2.10188598e-03 2.66401618e+01] [ 3.65536347e-02 -1.34947974e-03 9.99330781e-01 1.77935185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.199254154 meters Centerline goodness : 0.998257 with order 1 Centerline is valid? [True, True] Translation: X:488.06, Y:26.65, Z:17.79 [[ 9.95518702e-01 -8.72291994e-02 -3.65182141e-02 4.88059649e+02] [ 8.72107877e-02 9.96187668e-01 -2.09984258e-03 2.66451092e+01] [ 3.65621622e-02 -1.09434966e-03 9.99330781e-01 1.77928574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.259254154 meters Centerline goodness : 0.998826 with order 1 Centerline is valid? [True, True] Translation: X:488.12, Y:26.65, Z:17.80 [[ 9.95989807e-01 -8.16744384e-02 -3.65183585e-02 4.88119331e+02] [ 8.16523873e-02 9.96658662e-01 -2.09732949e-03 2.66520331e+01] [ 3.65676365e-02 -8.92892357e-04 9.99330781e-01 1.77962424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.31925415399996 meters Centerline goodness : 0.999119 with order 1 Centerline is valid? [True, True] Translation: X:488.18, Y:26.66, Z:17.80 [[ 9.96613738e-01 -7.36713375e-02 -3.65183585e-02 4.88180752e+02] [ 7.36439144e-02 9.97282395e-01 -2.09732949e-03 2.66586327e+01] [ 3.65736291e-02 -5.99127484e-04 9.99330781e-01 1.77971526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.37925415399997 meters Centerline goodness : 0.999157 with order 1 Centerline is valid? [True, True] Translation: X:488.24, Y:26.67, Z:17.80 [[ 9.97021308e-01 -6.79331638e-02 -3.65184367e-02 4.88241174e+02] [ 6.79019420e-02 9.97689798e-01 -2.09596625e-03 2.66651105e+01] [ 3.65764574e-02 -3.89949756e-04 9.99330781e-01 1.77990380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.43925415399997 meters Centerline goodness : 0.999220 with order 1 Centerline is valid? [True, True] Translation: X:488.30, Y:26.67, Z:17.80 [[ 9.97171271e-01 -6.56951782e-02 -3.65184751e-02 4.88300153e+02] [ 6.56624806e-02 9.97839691e-01 -2.09529778e-03 2.66693034e+01] [ 3.65772348e-02 -3.08522905e-04 9.99330781e-01 1.78014874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.49925415399997 meters Centerline goodness : 0.998968 with order 1 Centerline is valid? [True, True] Translation: X:488.36, Y:26.67, Z:17.80 [[ 9.97139137e-01 -6.61811828e-02 -3.65183981e-02 4.88358165e+02] [ 6.61487619e-02 9.97807569e-01 -2.09663917e-03 2.66735868e+01] [ 3.65770921e-02 -3.25005846e-04 9.99330781e-01 1.78038776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.559254154 meters Centerline goodness : 0.999116 with order 1 Centerline is valid? [True, True] Translation: X:488.42, Y:26.68, Z:17.80 [[ 9.96864443e-01 -7.01975594e-02 -3.65182845e-02 4.88416437e+02] [ 7.01677591e-02 9.97532998e-01 -2.09861559e-03 2.66761202e+01] [ 3.65755115e-02 -4.70370924e-04 9.99330781e-01 1.78025595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.619254154 meters Centerline goodness : 0.999032 with order 1 Centerline is valid? [True, True] Translation: X:488.48, Y:26.68, Z:17.81 [[ 9.96274227e-01 -7.81286401e-02 -3.65182086e-02 4.88477193e+02] [ 7.81041128e-02 9.96942996e-01 -2.09993477e-03 2.66774322e+01] [ 3.65706374e-02 -7.60111394e-04 9.99330781e-01 1.78076578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.679254154 meters Centerline goodness : 0.999079 with order 1 Centerline is valid? [True, True] Translation: X:488.54, Y:26.68, Z:17.81 [[ 9.95540291e-01 -8.69824695e-02 -3.65182086e-02 4.88537426e+02] [ 8.69638886e-02 9.96209251e-01 -2.09993477e-03 2.66789094e+01] [ 3.65624348e-02 -1.08519575e-03 9.99330781e-01 1.78114963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.739254154 meters Centerline goodness : 0.998952 with order 1 Centerline is valid? [True, True] Translation: X:488.60, Y:26.68, Z:17.81 [[ 9.95303076e-01 -8.96560350e-02 -3.65182468e-02 4.88599651e+02] [ 8.96392752e-02 9.95972085e-01 -2.09927002e-03 2.66806300e+01] [ 3.65593667e-02 -1.18405927e-03 9.99330781e-01 1.78145345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.799254154 meters Centerline goodness : 0.998871 with order 1 Centerline is valid? [True, True] Translation: X:488.66, Y:26.68, Z:17.81 [[ 9.95617302e-01 -8.60964275e-02 -3.65184036e-02 4.88661464e+02] [ 8.60773757e-02 9.96286249e-01 -2.09653909e-03 2.66843981e+01] [ 3.65632879e-02 -1.05605775e-03 9.99330781e-01 1.78102004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.859254154 meters Centerline goodness : 0.999098 with order 1 Centerline is valid? [True, True] Translation: X:488.72, Y:26.69, Z:17.82 [[ 9.96368331e-01 -7.69191114e-02 -3.65184895e-02 4.88721039e+02] [ 7.68939516e-02 9.97037076e-01 -2.09504212e-03 2.66882413e+01] [ 3.65714368e-02 -7.20617344e-04 9.99330781e-01 1.78197775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.919254154 meters Centerline goodness : 0.999095 with order 1 Centerline is valid? [True, True] Translation: X:488.78, Y:26.69, Z:17.82 [[ 9.97213106e-01 -6.50570388e-02 -3.65185324e-02 4.88780820e+02] [ 6.50239502e-02 9.97881506e-01 -2.09429340e-03 2.66927427e+01] [ 3.65774167e-02 -2.86122408e-04 9.99330781e-01 1.78218594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.979254154 meters Centerline goodness : 0.999139 with order 1 Centerline is valid? [True, True] Translation: X:488.84, Y:26.70, Z:17.82 [[ 9.97669684e-01 -5.76333011e-02 -3.65185418e-02 4.88839749e+02] [ 5.75952448e-02 9.98337820e-01 -2.09412968e-03 2.66956905e+01] [ 3.65785330e-02 -1.40446597e-05 9.99330781e-01 1.78207873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.039254154 meters Centerline goodness : 0.999095 with order 1 Centerline is valid? [True, True] Translation: X:488.90, Y:26.70, Z:17.83 [[ 9.97835984e-01 -5.46789606e-02 -3.65179571e-02 4.88897862e+02] [ 5.46385547e-02 9.98503981e-01 -2.10427656e-03 2.66973069e+01] [ 3.65783852e-02 1.04434470e-04 9.99330781e-01 1.78253375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.099254154 meters Centerline goodness : 0.999327 with order 1 Centerline is valid? [True, True] Translation: X:488.96, Y:26.70, Z:17.83 [[ 9.97835764e-01 -5.46833819e-02 -3.65173241e-02 4.88955978e+02] [ 5.46425790e-02 9.98503738e-01 -2.11520540e-03 2.66969156e+01] [ 3.65783512e-02 1.15226830e-04 9.99330782e-01 1.78264574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.159254154 meters Centerline goodness : 0.999308 with order 1 Centerline is valid? [True, True] Translation: X:489.02, Y:26.70, Z:17.83 [[ 9.97754311e-01 -5.61501725e-02 -3.65170321e-02 4.89015221e+02] [ 5.61101676e-02 9.98422332e-01 -2.12023413e-03 2.66970932e+01] [ 3.65784719e-02 6.64959547e-05 9.99330782e-01 1.78272598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.219254154 meters Centerline goodness : 0.999224 with order 1 Centerline is valid? [True, True] Translation: X:489.07, Y:26.69, Z:17.83 [[ 9.97574804e-01 -5.92541708e-02 -3.65164948e-02 4.89072872e+02] [ 5.92159072e-02 9.98242927e-01 -2.12944834e-03 2.66946475e+01] [ 3.65785114e-02 -3.80733604e-05 9.99330782e-01 1.78310457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.279254154 meters Centerline goodness : 0.999205 with order 1 Centerline is valid? [True, True] Translation: X:489.13, Y:26.69, Z:17.83 [[ 9.97323066e-01 -6.33503154e-02 -3.65163035e-02 4.89131990e+02] [ 6.33146758e-02 9.97991334e-01 -2.13272426e-03 2.66914354e+01] [ 3.65780632e-02 -1.85002822e-04 9.99330782e-01 1.78341038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.339254154 meters Centerline goodness : 0.999354 with order 1 Centerline is valid? [True, True] Translation: X:489.19, Y:26.69, Z:17.84 [[ 9.96949370e-01 -6.89822587e-02 -3.65157819e-02 4.89190066e+02] [ 6.89500684e-02 9.97617813e-01 -2.14161805e-03 2.66869489e+01] [ 3.65765281e-02 -3.82680890e-04 9.99330782e-01 1.78373121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.399254154 meters Centerline goodness : 0.999395 with order 1 Centerline is valid? [True, True] Translation: X:489.25, Y:26.68, Z:17.84 [[ 9.96638868e-01 -7.33321792e-02 -3.65151863e-02 4.89248048e+02] [ 7.33025360e-02 9.97307429e-01 -2.15172513e-03 2.66825501e+01] [ 3.65746573e-02 -5.32162858e-04 9.99330782e-01 1.78386798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.459254154 meters Centerline goodness : 0.999248 with order 1 Centerline is valid? [True, True] Translation: X:489.31, Y:26.68, Z:17.84 [[ 9.96366695e-01 -7.69421677e-02 -3.65145478e-02 4.89307103e+02] [ 7.69145516e-02 9.97035343e-01 -2.16250653e-03 2.66822163e+01] [ 3.65726826e-02 -6.53850590e-04 9.99330782e-01 1.78417641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.519254154 meters Centerline goodness : 0.997351 with order 1 Centerline is valid? [True, True] Translation: X:489.36, Y:26.68, Z:17.84 [[ 9.96092616e-01 -8.04128675e-02 -3.65139843e-02 4.89364125e+02] [ 8.03872340e-02 9.96761343e-01 -2.17197862e-03 2.66789557e+01] [ 3.65703831e-02 -7.71766335e-04 9.99330782e-01 1.78408407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.579254154 meters Centerline goodness : 0.999063 with order 1 Centerline is valid? [True, True] Translation: X:489.42, Y:26.68, Z:17.85 [[ 9.95877545e-01 -8.30343217e-02 -3.65132418e-02 4.89422352e+02] [ 8.30099935e-02 9.96546321e-01 -2.18439065e-03 2.66792201e+01] [ 3.65685162e-02 -8.55578370e-04 9.99330782e-01 1.78456483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.639254154 meters Centerline goodness : 0.999249 with order 1 Centerline is valid? [True, True] Translation: X:489.48, Y:26.68, Z:17.85 [[ 9.95889266e-01 -8.28939612e-02 -3.65124728e-02 4.89481156e+02] [ 8.28690705e-02 9.96558021e-01 -2.19716999e-03 2.66772873e+01] [ 3.65689298e-02 -8.37616673e-04 9.99330782e-01 1.78523132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.699254154 meters Centerline goodness : 0.999292 with order 1 Centerline is valid? [True, True] Translation: X:489.54, Y:26.68, Z:17.85 [[ 9.95802097e-01 -8.39348856e-02 -3.65119010e-02 4.89539404e+02] [ 8.39103473e-02 9.96470865e-01 -2.20663109e-03 2.66803046e+01] [ 3.65682589e-02 -8.66358427e-04 9.99330782e-01 1.78499013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.759254154 meters Centerline goodness : 0.999456 with order 1 Centerline is valid? [True, True] Translation: X:489.60, Y:26.68, Z:17.85 [[ 9.95981282e-01 -8.17813171e-02 -3.65116810e-02 4.89597187e+02] [ 8.17551995e-02 9.96649990e-01 -2.21026501e-03 2.66795027e+01] [ 3.65701249e-02 -7.83637185e-04 9.99330782e-01 1.78513985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.81925415399996 meters Centerline goodness : 0.999541 with order 1 Centerline is valid? [True, True] Translation: X:489.65, Y:26.68, Z:17.85 [[ 9.96151670e-01 -7.96791182e-02 -3.65114831e-02 4.89653653e+02] [ 7.96514697e-02 9.96820317e-01 -2.21352985e-03 2.66817753e+01] [ 3.65717602e-02 -7.03181838e-04 9.99330782e-01 1.78541245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.87925415399997 meters Centerline goodness : 0.999624 with order 1 Centerline is valid? [True, True] Translation: X:489.71, Y:26.68, Z:17.86 [[ 9.96303156e-01 -7.77621554e-02 -3.65112148e-02 4.89711693e+02] [ 7.77330585e-02 9.96971741e-01 -2.21794584e-03 2.66820925e+01] [ 3.65731217e-02 -6.28381961e-04 9.99330782e-01 1.78579867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.93925415399997 meters Centerline goodness : 0.999331 with order 1 Centerline is valid? [True, True] Translation: X:489.77, Y:26.68, Z:17.86 [[ 9.96288643e-01 -7.79481783e-02 -3.65105647e-02 4.89771089e+02] [ 7.79188160e-02 9.96957216e-01 -2.22859775e-03 2.66817391e+01] [ 3.65731860e-02 -6.24533346e-04 9.99330782e-01 1.78596513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.99925415399997 meters Centerline goodness : 0.996803 with order 1 Centerline is valid? [True, True] Translation: X:489.83, Y:26.69, Z:17.86 [[ 9.96081067e-01 -8.05574918e-02 -3.65102551e-02 4.89828897e+02] [ 8.05296955e-02 9.96749707e-01 -2.23365764e-03 2.66850667e+01] [ 3.65715239e-02 -7.15255645e-04 9.99330782e-01 1.78629305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.059254154 meters Centerline goodness : 0.999352 with order 1 Centerline is valid? [True, True] Translation: X:489.89, Y:26.68, Z:17.86 [[ 9.95877116e-01 -8.30411452e-02 -3.65094363e-02 4.89886481e+02] [ 8.30145289e-02 9.96545804e-01 -2.24696101e-03 2.66842746e+01] [ 3.65699158e-02 -7.93116608e-04 9.99330782e-01 1.78642858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.119254154 meters Centerline goodness : 0.999372 with order 1 Centerline is valid? [True, True] Translation: X:489.94, Y:26.68, Z:17.87 [[ 9.95458819e-01 -8.79139443e-02 -3.65086046e-02 4.89944188e+02] [ 8.78901084e-02 9.96127612e-01 -2.26039568e-03 2.66847995e+01] [ 3.65659494e-02 -9.58614395e-04 9.99330782e-01 1.78654256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.179254154 meters Centerline goodness : 0.999561 with order 1 Centerline is valid? [True, True] Translation: X:490.00, Y:26.69, Z:17.87 [[ 9.94998527e-01 -9.29788981e-02 -3.65082882e-02 4.90002424e+02] [ 9.29582792e-02 9.95667427e-01 -2.26549391e-03 2.66872276e+01] [ 3.65607565e-02 -1.13958455e-03 9.99330782e-01 1.78677983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.239254154 meters Centerline goodness : 0.999436 with order 1 Centerline is valid? [True, True] Translation: X:490.06, Y:26.69, Z:17.87 [[ 9.94123217e-01 -1.01912823e-01 -3.65076227e-02 4.90061590e+02] [ 1.01897823e-01 9.94792266e-01 -2.27616798e-03 2.66895816e+01] [ 3.65494714e-02 -1.45725582e-03 9.99330782e-01 1.78706874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.299254154 meters Centerline goodness : 0.999415 with order 1 Centerline is valid? [True, True] Translation: X:490.12, Y:26.69, Z:17.87 [[ 9.93036444e-01 -1.12008281e-01 -3.65070771e-02 4.90120856e+02] [ 1.11999760e-01 9.93705607e-01 -2.28488496e-03 2.66918109e+01] [ 3.65332133e-02 -1.81980983e-03 9.99330782e-01 1.78727364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.359254154 meters Centerline goodness : 0.999332 with order 1 Centerline is valid? [True, True] Translation: X:490.18, Y:26.70, Z:17.88 [[ 9.92215235e-01 -1.19063709e-01 -3.65069930e-02 4.90181464e+02] [ 1.19059894e-01 9.92884442e-01 -2.28622853e-03 2.66960267e+01] [ 3.65194322e-02 -2.07808796e-03 9.99330782e-01 1.78756868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.419254154 meters Centerline goodness : 0.999498 with order 1 Centerline is valid? [True, True] Translation: X:490.24, Y:26.70, Z:17.87 [[ 9.91612375e-01 -1.23984421e-01 -3.65069930e-02 4.90242241e+02] [ 1.23983926e-01 9.92281593e-01 -2.28622853e-03 2.66970547e+01] [ 3.65086739e-02 -2.25922780e-03 9.99330782e-01 1.78724677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.479254154 meters Centerline goodness : 0.999269 with order 1 Centerline is valid? [True, True] Translation: X:490.30, Y:26.70, Z:17.87 [[ 9.90985147e-01 -1.28901814e-01 -3.65069930e-02 4.90302493e+02] [ 1.28904639e-01 9.91654359e-01 -2.28622853e-03 2.67040039e+01] [ 3.64970177e-02 -2.44030223e-03 9.99330782e-01 1.78742278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.539254154 meters Centerline goodness : 0.999416 with order 1 Centerline is valid? [True, True] Translation: X:490.36, Y:26.72, Z:17.88 [[ 9.90307016e-01 -1.34012137e-01 -3.65069930e-02 4.90362190e+02] [ 1.34018413e-01 9.90976205e-01 -2.28622853e-03 2.67179942e+01] [ 3.64839437e-02 -2.62854113e-03 9.99330782e-01 1.78835406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.599254154 meters Centerline goodness : 0.999249 with order 1 Centerline is valid? [True, True] Translation: X:490.42, Y:26.73, Z:17.89 [[ 9.90583399e-01 -1.31953637e-01 -3.65070786e-02 4.90423320e+02] [ 1.31958573e-01 9.91252599e-01 -2.28486017e-03 2.67284064e+01] [ 3.64892322e-02 -2.55407744e-03 9.99330782e-01 1.78850346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.659254154 meters Centerline goodness : 0.999187 with order 1 Centerline is valid? [True, True] Translation: X:490.49, Y:26.74, Z:17.89 [[ 9.90955319e-01 -1.29130872e-01 -3.65071598e-02 4.90485369e+02] [ 1.29133949e-01 9.91624530e-01 -2.28356155e-03 2.67373166e+01] [ 3.64962735e-02 -2.45140626e-03 9.99330782e-01 1.78888362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.719254154 meters Centerline goodness : 0.999354 with order 1 Centerline is valid? [True, True] Translation: X:490.55, Y:26.75, Z:17.89 [[ 9.91726618e-01 -1.23067175e-01 -3.65073312e-02 4.90547087e+02] [ 1.23066259e-01 9.92395835e-01 -2.28081819e-03 2.67496123e+01] [ 3.65104173e-02 -2.23087258e-03 9.99330782e-01 1.78913085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.779254154 meters Centerline goodness : 0.999167 with order 1 Centerline is valid? [True, True] Translation: X:490.61, Y:26.76, Z:17.89 [[ 9.92733407e-01 -1.14662918e-01 -3.65075027e-02 4.90607310e+02] [ 1.14656436e-01 9.93402593e-01 -2.27806966e-03 2.67618532e+01] [ 3.65278580e-02 -1.92430428e-03 9.99330782e-01 1.78930099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.839254154 meters Centerline goodness : 0.999186 with order 1 Centerline is valid? [True, True] Translation: X:490.67, Y:26.77, Z:17.90 [[ 9.93490753e-01 -1.07904201e-01 -3.65076293e-02 4.90668726e+02] [ 1.07893238e-01 9.94159881e-01 -2.27604042e-03 2.67706506e+01] [ 3.65400147e-02 -1.67770124e-03 9.99330782e-01 1.78959149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.899254154 meters Centerline goodness : 0.999353 with order 1 Centerline is valid? [True, True] Translation: X:490.73, Y:26.78, Z:17.90 [[ 9.94590436e-01 -9.72473383e-02 -3.65077963e-02 4.90729356e+02] [ 9.72293014e-02 9.95259411e-01 -2.27335741e-03 2.67824412e+01] [ 3.65558058e-02 -1.28856800e-03 9.99330782e-01 1.78984303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.959254154 meters Centerline goodness : 0.999289 with order 1 Centerline is valid? [True, True] Translation: X:490.79, Y:26.79, Z:17.90 [[ 9.95267531e-01 -9.00539532e-02 -3.65079194e-02 4.90790548e+02] [ 9.00311526e-02 9.95936360e-01 -2.27137853e-03 2.67903082e+01] [ 3.65641110e-02 -1.02622076e-03 9.99330782e-01 1.79011300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.019254154 meters Centerline goodness : 0.999184 with order 1 Centerline is valid? [True, True] Translation: X:490.85, Y:26.80, Z:17.90 [[ 9.96167751e-01 -7.94794214e-02 -3.65079992e-02 4.90851599e+02] [ 7.94495664e-02 9.96836302e-01 -2.27009544e-03 2.67985716e+01] [ 3.65729248e-02 -6.39148841e-04 9.99330782e-01 1.79048146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.079254154 meters Centerline goodness : 0.999097 with order 1 Centerline is valid? [True, True] Translation: X:490.91, Y:26.81, Z:17.91 [[ 9.96715959e-01 -7.22804085e-02 -3.65080817e-02 4.90910936e+02] [ 7.22457729e-02 9.97384280e-01 -2.26876909e-03 2.68060379e+01] [ 3.65765743e-02 -3.76236218e-04 9.99330782e-01 1.79051524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.139254154 meters Centerline goodness : 0.999306 with order 1 Centerline is valid? [True, True] Translation: X:490.97, Y:26.81, Z:17.91 [[ 9.96797430e-01 -7.11480408e-02 -3.65080772e-02 4.90970652e+02] [ 7.11126433e-02 9.97465711e-01 -2.26884012e-03 2.68114564e+01] [ 3.65769787e-02 -3.34611872e-04 9.99330782e-01 1.79083434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.199254154 meters Centerline goodness : 0.999013 with order 1 Centerline is valid? [True, True] Translation: X:491.03, Y:26.81, Z:17.91 [[ 9.96533250e-01 -7.47572560e-02 -3.65079934e-02 4.91030137e+02] [ 7.47242294e-02 9.97201653e-01 -2.27018869e-03 2.68147901e+01] [ 3.65755444e-02 -4.65713160e-04 9.99330782e-01 1.79096005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.259254154 meters Centerline goodness : 0.999116 with order 1 Centerline is valid? [True, True] Translation: X:491.09, Y:26.82, Z:17.91 [[ 9.96007103e-01 -8.14679283e-02 -3.65079102e-02 4.91090865e+02] [ 8.14393556e-02 9.96675710e-01 -2.27152594e-03 2.68183046e+01] [ 3.65716038e-02 -7.10724711e-04 9.99330782e-01 1.79123017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.31925415399996 meters Centerline goodness : 0.998992 with order 1 Centerline is valid? [True, True] Translation: X:491.15, Y:26.82, Z:17.91 [[ 9.95603794e-01 -8.62569342e-02 -3.65079102e-02 4.91150773e+02] [ 8.62315773e-02 9.96272531e-01 -2.27152594e-03 2.68218751e+01] [ 3.65677629e-02 -8.86594836e-04 9.99330782e-01 1.79143032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.37925415399997 meters Centerline goodness : 0.999139 with order 1 Centerline is valid? [True, True] Translation: X:491.21, Y:26.83, Z:17.92 [[ 9.95040571e-01 -9.25280033e-02 -3.65079519e-02 4.91211216e+02] [ 9.25068848e-02 9.95709455e-01 -2.27085456e-03 2.68251397e+01] [ 3.65614306e-02 -1.11764449e-03 9.99330782e-01 1.79153524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.43925415399997 meters Centerline goodness : 0.998824 with order 1 Centerline is valid? [True, True] Translation: X:491.27, Y:26.83, Z:17.92 [[ 9.94641346e-01 -9.67251698e-02 -3.65079929e-02 4.91273641e+02] [ 9.67068976e-02 9.95310315e-01 -2.27019612e-03 2.68293862e+01] [ 3.65563670e-02 -1.27254381e-03 9.99330782e-01 1.79178223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.49925415399997 meters Centerline goodness : 0.998679 with order 1 Centerline is valid? [True, True] Translation: X:491.34, Y:26.83, Z:17.92 [[ 9.94450107e-01 -9.86718783e-02 -3.65081608e-02 4.91335419e+02] [ 9.86550147e-02 9.95119112e-01 -2.26749296e-03 2.68335690e+01] [ 3.65537063e-02 -1.34680452e-03 9.99330782e-01 1.79195225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.559254154 meters Centerline goodness : 0.998931 with order 1 Centerline is valid? [True, True] Translation: X:491.40, Y:26.84, Z:17.92 [[ 9.94262063e-01 -1.00548954e-01 -3.65083269e-02 4.91397073e+02] [ 1.00533451e-01 9.94931101e-01 -2.26481483e-03 2.68381954e+01] [ 3.65509947e-02 -1.41848865e-03 9.99330782e-01 1.79216691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.619254154 meters Centerline goodness : 0.998744 with order 1 Centerline is valid? [True, True] Translation: X:491.46, Y:26.84, Z:17.92 [[ 9.94073937e-01 -1.02392076e-01 -3.65084960e-02 4.91458431e+02] [ 1.02377914e-01 9.94743005e-01 -2.26208583e-03 2.68427844e+01] [ 3.65481907e-02 -1.48898309e-03 9.99330782e-01 1.79227515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.679254154 meters Centerline goodness : 0.998909 with order 1 Centerline is valid? [True, True] Translation: X:491.52, Y:26.85, Z:17.92 [[ 9.93813429e-01 -1.04890363e-01 -3.65086208e-02 4.91520068e+02] [ 1.04877957e-01 9.94482532e-01 -2.26006969e-03 2.68479719e+01] [ 3.65442452e-02 -1.58286196e-03 9.99330782e-01 1.79236914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.739254154 meters Centerline goodness : 0.999055 with order 1 Centerline is valid? [True, True] Translation: X:491.58, Y:26.86, Z:17.93 [[ 9.93868240e-01 -1.04369679e-01 -3.65087891e-02 4.91580707e+02] [ 1.04357022e-01 9.94537338e-01 -2.25734725e-03 2.68551905e+01] [ 3.65449526e-02 -1.56644279e-03 9.99330782e-01 1.79253561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.799254154 meters Centerline goodness : 0.998845 with order 1 Centerline is valid? [True, True] Translation: X:491.64, Y:26.86, Z:17.93 [[ 9.94127003e-01 -1.01875416e-01 -3.65089133e-02 4.91642766e+02] [ 1.01861154e-01 9.94796069e-01 -2.25533760e-03 2.68615473e+01] [ 3.65486869e-02 -1.47674803e-03 9.99330782e-01 1.79274078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.859254154 meters Centerline goodness : 0.998634 with order 1 Centerline is valid? [True, True] Translation: X:491.70, Y:26.87, Z:17.93 [[ 9.94418697e-01 -9.89875851e-02 -3.65090728e-02 4.91704460e+02] [ 9.89714743e-02 9.95087721e-01 -2.25275268e-03 2.68694708e+01] [ 3.65527246e-02 -1.37317737e-03 9.99330782e-01 1.79297229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.919254154 meters Centerline goodness : 0.998864 with order 1 Centerline is valid? [True, True] Translation: X:491.77, Y:26.88, Z:17.93 [[ 9.94497859e-01 -9.81890244e-02 -3.65092332e-02 4.91766507e+02] [ 9.81724718e-02 9.95166872e-01 -2.25014989e-03 2.68758475e+01] [ 3.65537194e-02 -1.34643242e-03 9.99330782e-01 1.79314534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.979254154 meters Centerline goodness : 0.998884 with order 1 Centerline is valid? [True, True] Translation: X:491.83, Y:26.88, Z:17.93 [[ 9.94486797e-01 -9.83009375e-02 -3.65093914e-02 4.91827356e+02] [ 9.82845543e-02 9.95155814e-01 -2.24758097e-03 2.68835598e+01] [ 3.65534724e-02 -1.35311965e-03 9.99330782e-01 1.79325905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.039254154 meters Centerline goodness : 0.998906 with order 1 Centerline is valid? [True, True] Translation: X:491.89, Y:26.89, Z:17.93 [[ 9.94409199e-01 -9.90827987e-02 -3.65095081e-02 4.91888403e+02] [ 9.90670112e-02 9.95078230e-01 -2.24568219e-03 2.68901506e+01] [ 3.65523252e-02 -1.38376082e-03 9.99330782e-01 1.79348078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.099254154 meters Centerline goodness : 0.998904 with order 1 Centerline is valid? [True, True] Translation: X:491.95, Y:26.90, Z:17.94 [[ 9.94393178e-01 -9.92433652e-02 -3.65097546e-02 4.91950731e+02] [ 9.92278329e-02 9.95062215e-01 -2.24166760e-03 2.68965333e+01] [ 3.65519480e-02 -1.39368487e-03 9.99330782e-01 1.79383212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.159254154 meters Centerline goodness : 0.998608 with order 1 Centerline is valid? [True, True] Translation: X:492.01, Y:26.90, Z:17.94 [[ 9.94485899e-01 -9.83098307e-02 -3.65099203e-02 4.92013285e+02] [ 9.82937694e-02 9.95154924e-01 -2.23896579e-03 2.69044108e+01] [ 3.65531393e-02 -1.36207779e-03 9.99330782e-01 1.79422455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.219254154 meters Centerline goodness : 0.998924 with order 1 Centerline is valid? [True, True] Translation: X:492.07, Y:26.91, Z:17.95 [[ 9.94665060e-01 -9.64801839e-02 -3.65101738e-02 4.92074228e+02] [ 9.64630437e-02 9.95334058e-01 -2.23482406e-03 2.69114171e+01] [ 3.65554357e-02 -1.29898109e-03 9.99330782e-01 1.79460386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.279254154 meters Centerline goodness : 0.999261 with order 1 Centerline is valid? [True, True] Translation: X:492.14, Y:26.92, Z:17.95 [[ 9.95098522e-01 -9.19017423e-02 -3.65102981e-02 4.92135498e+02] [ 9.18815981e-02 9.95767436e-01 -2.23279155e-03 2.69181737e+01] [ 3.65609634e-02 -1.13277697e-03 9.99330782e-01 1.79490253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.339254154 meters Centerline goodness : 0.998902 with order 1 Centerline is valid? [True, True] Translation: X:492.20, Y:26.92, Z:17.95 [[ 9.95521230e-01 -8.72035529e-02 -3.65105678e-02 4.92197905e+02] [ 8.71804133e-02 9.96190047e-01 -2.22837265e-03 2.69241914e+01] [ 3.65657863e-02 -9.64614117e-04 9.99330782e-01 1.79504602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.399254154 meters Centerline goodness : 0.998964 with order 1 Centerline is valid? [True, True] Translation: X:492.26, Y:26.93, Z:17.95 [[ 9.96167612e-01 -7.94798997e-02 -3.65107330e-02 4.92259793e+02] [ 7.94516730e-02 9.96836234e-01 -2.22566282e-03 2.69316201e+01] [ 3.65721171e-02 -6.83705608e-04 9.99330782e-01 1.79517684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.459254154 meters Centerline goodness : 0.998901 with order 1 Centerline is valid? [True, True] Translation: X:492.32, Y:26.94, Z:17.95 [[ 9.96491458e-01 -7.53108724e-02 -3.65108992e-02 4.92321380e+02] [ 7.52799481e-02 9.97159961e-01 -2.22293395e-03 2.69365757e+01] [ 3.65746179e-02 -5.33403900e-04 9.99330782e-01 1.79534815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.519254154 meters Centerline goodness : 0.998983 with order 1 Centerline is valid? [True, True] Translation: X:492.38, Y:26.94, Z:17.95 [[ 9.96747235e-01 -7.18463061e-02 -3.65110627e-02 4.92383628e+02] [ 7.18131566e-02 9.97415631e-01 -2.22024432e-03 2.69411162e+01] [ 3.65762210e-02 -4.08952283e-04 9.99330782e-01 1.79545173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.579254154 meters Centerline goodness : 0.998623 with order 1 Centerline is valid? [True, True] Translation: X:492.44, Y:26.94, Z:17.95 [[ 9.96723760e-01 -7.21711601e-02 -3.65112282e-02 4.92444619e+02] [ 7.21383282e-02 9.97392172e-01 -2.21752020e-03 2.69445979e+01] [ 3.65760542e-02 -4.23603893e-04 9.99330782e-01 1.79549585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.639254154 meters Centerline goodness : 0.998816 with order 1 Centerline is valid? [True, True] Translation: X:492.51, Y:26.95, Z:17.96 [[ 9.96311656e-01 -7.76531268e-02 -3.65113094e-02 4.92506844e+02] [ 7.76240214e-02 9.96980240e-01 -2.21618188e-03 2.69481822e+01] [ 3.65731475e-02 -6.26146823e-04 9.99330782e-01 1.79575125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.699254154 meters Centerline goodness : 0.998841 with order 1 Centerline is valid? [True, True] Translation: X:492.57, Y:26.95, Z:17.96 [[ 9.95649041e-01 -8.57315588e-02 -3.65114705e-02 4.92569225e+02] [ 8.57079746e-02 9.96317843e-01 -2.21352499e-03 2.69502393e+01] [ 3.65667985e-02 -9.25430154e-04 9.99330782e-01 1.79600353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.759254154 meters Centerline goodness : 0.998925 with order 1 Centerline is valid? [True, True] Translation: X:492.63, Y:26.95, Z:17.96 [[ 9.94821192e-01 -9.48561922e-02 -3.65116317e-02 4.92631454e+02] [ 9.48388382e-02 9.95490184e-01 -2.21086296e-03 2.69531116e+01] [ 3.65566850e-02 -1.26330741e-03 9.99330782e-01 1.79629131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.81925415399996 meters Centerline goodness : 0.998695 with order 1 Centerline is valid? [True, True] Translation: X:492.69, Y:26.96, Z:17.97 [[ 9.94351207e-01 -9.96622568e-02 -3.65117906e-02 4.92693149e+02] [ 9.96482320e-02 9.95020278e-01 -2.20823606e-03 2.69558583e+01] [ 3.65500498e-02 -1.44257318e-03 9.99330782e-01 1.79651206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.87925415399997 meters Centerline goodness : 0.998989 with order 1 Centerline is valid? [True, True] Translation: X:492.75, Y:26.96, Z:17.97 [[ 9.93842713e-01 -1.04611373e-01 -3.65119482e-02 4.92754665e+02] [ 1.04600775e-01 9.94511847e-01 -2.20562625e-03 2.69588278e+01] [ 3.65422986e-02 -1.62713251e-03 9.99330783e-01 1.79669649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.93925415399997 meters Centerline goodness : 0.998694 with order 1 Centerline is valid? [True, True] Translation: X:492.82, Y:26.96, Z:17.97 [[ 9.93623288e-01 -1.06675355e-01 -3.65120647e-02 4.92817056e+02] [ 1.06666217e-01 9.94292443e-01 -2.20369590e-03 2.69629440e+01] [ 3.65387501e-02 -1.70496027e-03 9.99330783e-01 1.79676728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.99925415399997 meters Centerline goodness : 0.998903 with order 1 Centerline is valid? [True, True] Translation: X:492.88, Y:26.97, Z:17.97 [[ 9.93548799e-01 -1.07366858e-01 -3.65122180e-02 4.92878102e+02] [ 1.07358280e-01 9.94217961e-01 -2.20115279e-03 2.69670532e+01] [ 3.65374338e-02 -1.73293622e-03 9.99330783e-01 1.79716059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.059254154 meters Centerline goodness : 0.998969 with order 1 Centerline is valid? [True, True] Translation: X:492.94, Y:26.97, Z:17.97 [[ 9.93788227e-01 -1.05127583e-01 -3.65123314e-02 4.92940424e+02] [ 1.05117565e-01 9.94457370e-01 -2.19927054e-03 2.69712364e+01] [ 3.65411611e-02 -1.65247822e-03 9.99330783e-01 1.79738243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.119254154 meters Centerline goodness : 0.999009 with order 1 Centerline is valid? [True, True] Translation: X:493.00, Y:26.98, Z:17.98 [[ 9.94261264e-01 -1.00555345e-01 -3.65124798e-02 4.93001093e+02] [ 1.00542340e-01 9.94930355e-01 -2.19680506e-03 2.69759027e+01] [ 3.65482749e-02 -1.48685199e-03 9.99330783e-01 1.79760785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.179254154 meters Centerline goodness : 0.998923 with order 1 Centerline is valid? [True, True] Translation: X:493.06, Y:26.98, Z:17.98 [[ 9.94661985e-01 -9.65109609e-02 -3.65125894e-02 4.93063396e+02] [ 9.64953020e-02 9.95331020e-01 -2.19498168e-03 2.69813153e+01] [ 3.65539526e-02 -1.34002851e-03 9.99330783e-01 1.79775967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.239254154 meters Centerline goodness : 0.998943 with order 1 Centerline is valid? [True, True] Translation: X:493.13, Y:26.99, Z:17.98 [[ 9.95256720e-01 -9.01713942e-02 -3.65127434e-02 4.93125316e+02] [ 9.01515667e-02 9.95925644e-01 -2.19241702e-03 2.69885970e+01] [ 3.65616707e-02 -1.10966325e-03 9.99330783e-01 1.79776610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.299254154 meters Centerline goodness : 0.999005 with order 1 Centerline is valid? [True, True] Translation: X:493.19, Y:27.00, Z:17.98 [[ 9.95688967e-01 -8.52659871e-02 -3.65128995e-02 4.93187332e+02] [ 8.52429590e-02 9.96357788e-01 -2.18981425e-03 2.69955209e+01] [ 3.65666284e-02 -9.32093702e-04 9.99330783e-01 1.79796537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.359254154 meters Centerline goodness : 0.998939 with order 1 Centerline is valid? [True, True] Translation: X:493.25, Y:27.00, Z:17.98 [[ 9.95889191e-01 -8.28946026e-02 -3.65130555e-02 4.93249613e+02] [ 8.28700773e-02 9.96557959e-01 -2.18720873e-03 2.70009178e+01] [ 3.65686839e-02 -8.47622201e-04 9.99330783e-01 1.79825028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.419254154 meters Centerline goodness : 0.999066 with order 1 Centerline is valid? [True, True] Translation: X:493.31, Y:27.01, Z:17.99 [[ 9.96092112e-01 -8.04194662e-02 -3.65132096e-02 4.93311914e+02] [ 8.03933734e-02 9.96760820e-01 -2.18463396e-03 2.70060970e+01] [ 3.65706238e-02 -7.59323437e-04 9.99330783e-01 1.79861025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.479254154 meters Centerline goodness : 0.998856 with order 1 Centerline is valid? [True, True] Translation: X:493.37, Y:27.01, Z:17.99 [[ 9.96245480e-01 -7.84966063e-02 -3.65133717e-02 4.93373590e+02] [ 7.84693222e-02 9.96914141e-01 -2.18192158e-03 2.70115670e+01] [ 3.65719700e-02 -6.91450016e-04 9.99330783e-01 1.79893247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.539254154 meters Centerline goodness : 0.999021 with order 1 Centerline is valid? [True, True] Translation: X:493.44, Y:27.02, Z:17.99 [[ 9.96310882e-01 -7.76620190e-02 -3.65135343e-02 4.93435190e+02] [ 7.76342746e-02 9.96979524e-01 -2.17919640e-03 2.70157645e+01] [ 3.65724868e-02 -6.63544659e-04 9.99330783e-01 1.79916389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.599254154 meters Centerline goodness : 0.998936 with order 1 Centerline is valid? [True, True] Translation: X:493.50, Y:27.02, Z:17.99 [[ 9.96308372e-01 -7.76941281e-02 -3.65136965e-02 4.93496904e+02] [ 7.76665050e-02 9.96977019e-01 -2.17647479e-03 2.70199519e+01] [ 3.65724157e-02 -6.67451144e-04 9.99330783e-01 1.79941695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.659254154 meters Centerline goodness : 0.999148 with order 1 Centerline is valid? [True, True] Translation: X:493.56, Y:27.02, Z:18.00 [[ 9.96253842e-01 -7.83901813e-02 -3.65138570e-02 4.93558748e+02] [ 7.83631240e-02 9.96922512e-01 -2.17378029e-03 2.70235368e+01] [ 3.65718890e-02 -6.95702932e-04 9.99330783e-01 1.79960747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.719254154 meters Centerline goodness : 0.999191 with order 1 Centerline is valid? [True, True] Translation: X:493.62, Y:27.03, Z:18.00 [[ 9.96203971e-01 -7.90213561e-02 -3.65140153e-02 4.93620376e+02] [ 7.89948201e-02 9.96872662e-01 -2.17111695e-03 2.70268834e+01] [ 3.65713883e-02 -7.21542741e-04 9.99330783e-01 1.79982174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.779254154 meters Centerline goodness : 0.998914 with order 1 Centerline is valid? [True, True] Translation: X:493.68, Y:27.03, Z:18.00 [[ 9.96187221e-01 -7.92321624e-02 -3.65141775e-02 4.93681600e+02] [ 7.92058679e-02 9.96855922e-01 -2.16838634e-03 2.70300034e+01] [ 3.65711800e-02 -7.32018357e-04 9.99330783e-01 1.79996304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.839254154 meters Centerline goodness : 0.999017 with order 1 Centerline is valid? [True, True] Translation: X:493.74, Y:27.03, Z:18.00 [[ 9.96222363e-01 -7.87890250e-02 -3.65142972e-02 4.93743959e+02] [ 7.87625069e-02 9.96891054e-01 -2.16636901e-03 2.70334108e+01] [ 3.65714623e-02 -7.17772330e-04 9.99330783e-01 1.80010022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.899254154 meters Centerline goodness : 0.998931 with order 1 Centerline is valid? [True, True] Translation: X:493.81, Y:27.04, Z:18.00 [[ 9.96233736e-01 -7.86450126e-02 -3.65144549e-02 4.93805578e+02] [ 7.86184955e-02 9.96902428e-01 -2.16370677e-03 2.70370389e+01] [ 3.65715135e-02 -7.15153825e-04 9.99330783e-01 1.80025290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.959254154 meters Centerline goodness : 0.999189 with order 1 Centerline is valid? [True, True] Translation: X:493.87, Y:27.04, Z:18.00 [[ 9.96174578e-01 -7.93907622e-02 -3.65146134e-02 4.93866842e+02] [ 7.93648438e-02 9.96843293e-01 -2.16102818e-03 2.70400801e+01] [ 3.65709132e-02 -7.45215259e-04 9.99330783e-01 1.80039270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.019254154 meters Centerline goodness : 0.999573 with order 1 Centerline is valid? [True, True] Translation: X:493.93, Y:27.04, Z:18.01 [[ 9.96051821e-01 -8.09162756e-02 -3.65147304e-02 4.93928494e+02] [ 8.08914538e-02 9.96720578e-01 -2.15905060e-03 2.70428094e+01] [ 3.65696855e-02 -8.03203338e-04 9.99330783e-01 1.80067953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.079254154 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:493.99, Y:27.04, Z:18.01 [[ 9.95732696e-01 -8.47529409e-02 -3.65148825e-02 4.93989431e+02] [ 8.47307900e-02 9.96401547e-01 -2.15647544e-03 2.70449662e+01] [ 3.65662530e-02 -9.46661730e-04 9.99330783e-01 1.80096522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.139254154 meters Centerline goodness : 0.999383 with order 1 Centerline is valid? [True, True] Translation: X:494.05, Y:27.05, Z:18.01 [[ 9.95440800e-01 -8.81150863e-02 -3.65149948e-02 4.94051999e+02] [ 8.80952640e-02 9.96109724e-01 -2.15457211e-03 2.70463280e+01] [ 3.65627917e-02 -1.07204912e-03 9.99330783e-01 1.80120370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.199254154 meters Centerline goodness : 0.999405 with order 1 Centerline is valid? [True, True] Translation: X:494.11, Y:27.05, Z:18.02 [[ 9.95287717e-01 -8.98276357e-02 -3.65151417e-02 4.94113620e+02] [ 8.98090557e-02 9.95956677e-01 -2.15207852e-03 2.70483432e+01] [ 3.65608153e-02 -1.13745308e-03 9.99330783e-01 1.80152120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.259254154 meters Centerline goodness : 0.999554 with order 1 Centerline is valid? [True, True] Translation: X:494.18, Y:27.05, Z:18.02 [[ 9.95310798e-01 -8.95714742e-02 -3.65152992e-02 4.94176081e+02] [ 8.95528201e-02 9.95979755e-01 -2.14940362e-03 2.70515763e+01] [ 3.65610240e-02 -1.13072339e-03 9.99330783e-01 1.80168242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.31925415399996 meters Centerline goodness : 0.999640 with order 1 Centerline is valid? [True, True] Translation: X:494.24, Y:27.06, Z:18.02 [[ 9.95589993e-01 -8.64128905e-02 -3.65154542e-02 4.94237239e+02] [ 8.63922105e-02 9.96258891e-01 -2.14676699e-03 2.70556339e+01] [ 3.65643542e-02 -1.01735107e-03 9.99330783e-01 1.80179962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.37925415399997 meters Centerline goodness : 0.999426 with order 1 Centerline is valid? [True, True] Translation: X:494.30, Y:27.06, Z:18.02 [[ 9.95979148e-01 -8.18055580e-02 -3.65155686e-02 4.94298666e+02] [ 8.17818548e-02 9.96647946e-01 -2.14481891e-03 2.70601743e+01] [ 3.65686246e-02 -8.50116021e-04 9.99330783e-01 1.80243580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.43925415399997 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:494.36, Y:27.06, Z:18.02 [[ 9.96501255e-01 -7.51787972e-02 -3.65157224e-02 4.94361177e+02] [ 7.51507419e-02 9.97169884e-01 -2.14219782e-03 2.70618700e+01] [ 3.65734265e-02 -6.09480809e-04 9.99330783e-01 1.80219639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.49925415399997 meters Centerline goodness : 0.999489 with order 1 Centerline is valid? [True, True] Translation: X:494.42, Y:27.07, Z:18.02 [[ 9.96690235e-01 -7.26303280e-02 -3.65158867e-02 4.94423254e+02] [ 7.26006657e-02 9.97358795e-01 -2.13939381e-03 2.70655196e+01] [ 3.65748256e-02 -5.18764761e-04 9.99330783e-01 1.80242922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.559254154 meters Centerline goodness : 0.999617 with order 1 Centerline is valid? [True, True] Translation: X:494.48, Y:27.07, Z:18.03 [[ 9.96732273e-01 -7.20510491e-02 -3.65160468e-02 4.94483700e+02] [ 7.20210985e-02 9.97400820e-01 -2.13665644e-03 2.70696938e+01] [ 3.65750834e-02 -5.00251377e-04 9.99330783e-01 1.80319533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.619254154 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:494.55, Y:27.07, Z:18.03 [[ 9.96674961e-01 -7.28395125e-02 -3.65161252e-02 4.94545453e+02] [ 7.28101398e-02 9.97343534e-01 -2.13531679e-03 2.70710041e+01] [ 3.65746567e-02 -5.30527403e-04 9.99330783e-01 1.80341342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.679254154 meters Centerline goodness : 0.999660 with order 1 Centerline is valid? [True, True] Translation: X:494.61, Y:27.07, Z:18.04 [[ 9.96347038e-01 -7.71955080e-02 -3.65162023e-02 4.94606329e+02] [ 7.71691065e-02 9.97015735e-01 -2.13399620e-03 2.70708589e+01] [ 3.65719632e-02 -6.91721915e-04 9.99330783e-01 1.80363364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.739254154 meters Centerline goodness : 0.999362 with order 1 Centerline is valid? [True, True] Translation: X:494.67, Y:27.07, Z:18.04 [[ 9.95777366e-01 -8.42259006e-02 -3.65162403e-02 4.94668426e+02] [ 8.42042433e-02 9.96446232e-01 -2.13334622e-03 2.70700837e+01] [ 3.65661531e-02 -9.50484505e-04 9.99330783e-01 1.80410184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.799254154 meters Centerline goodness : 0.999682 with order 1 Centerline is valid? [True, True] Translation: X:494.73, Y:27.07, Z:18.04 [[ 9.95329771e-01 -8.93599458e-02 -3.65163985e-02 4.94729688e+02] [ 8.93418374e-02 9.95998743e-01 -2.13063597e-03 2.70702873e+01] [ 3.65606805e-02 -1.14175672e-03 9.99330783e-01 1.80428451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.859254154 meters Centerline goodness : 0.999321 with order 1 Centerline is valid? [True, True] Translation: X:494.79, Y:27.07, Z:18.05 [[ 9.94422352e-01 -9.89481194e-02 -3.65165154e-02 4.94792420e+02] [ 9.89365326e-02 9.95091469e-01 -2.12862894e-03 2.70690810e+01] [ 3.65478968e-02 -1.49606122e-03 9.99330783e-01 1.80464007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.919254154 meters Centerline goodness : 0.999239 with order 1 Centerline is valid? [True, True] Translation: X:494.85, Y:27.07, Z:18.05 [[ 9.93371006e-01 -1.08998056e-01 -3.65166742e-02 4.94853543e+02] [ 1.08993335e-01 9.94040207e-01 -2.12590203e-03 2.70681764e+01] [ 3.65307616e-02 -1.86826468e-03 9.99330783e-01 1.80481876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.979254154 meters Centerline goodness : 0.999070 with order 1 Centerline is valid? [True, True] Translation: X:494.92, Y:27.07, Z:18.05 [[ 9.92717127e-01 -1.14800780e-01 -3.65169325e-02 4.94915261e+02] [ 1.14800133e-01 9.93386344e-01 -2.12145631e-03 2.70694762e+01] [ 3.65189669e-02 -2.08614267e-03 9.99330783e-01 1.80505267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.039254154 meters Centerline goodness : 0.999262 with order 1 Centerline is valid? [True, True] Translation: X:494.98, Y:27.07, Z:18.05 [[ 9.92124621e-01 -1.19813348e-01 -3.65170897e-02 4.94977463e+02] [ 1.19816180e-01 9.92793833e-01 -2.11874719e-03 2.70694698e+01] [ 3.65077956e-02 -2.27327694e-03 9.99330783e-01 1.80522540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.099254154 meters Centerline goodness : 0.998736 with order 1 Centerline is valid? [True, True] Translation: X:495.04, Y:27.07, Z:18.05 [[ 9.92109380e-01 -1.19939438e-01 -3.65172468e-02 4.95040330e+02] [ 1.19942455e-01 9.92778591e-01 -2.11603569e-03 2.70711234e+01] [ 3.65073369e-02 -2.28062935e-03 9.99330783e-01 1.80541548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.159254154 meters Centerline goodness : 0.999073 with order 1 Centerline is valid? [True, True] Translation: X:495.10, Y:27.07, Z:18.06 [[ 9.92559512e-01 -1.16155447e-01 -3.65174838e-02 4.95102103e+02] [ 1.16156063e-01 9.93228729e-01 -2.11193685e-03 2.70746564e+01] [ 3.65155270e-02 -2.14550412e-03 9.99330783e-01 1.80553622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.219254154 meters Centerline goodness : 0.999536 with order 1 Centerline is valid? [True, True] Translation: X:495.16, Y:27.08, Z:18.05 [[ 9.93503025e-01 -1.07787761e-01 -3.65176497e-02 4.95162903e+02] [ 1.07782842e-01 9.94172224e-01 -2.10906502e-03 2.70805360e+01] [ 3.65321644e-02 -1.84061360e-03 9.99330783e-01 1.80549369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.279254154 meters Centerline goodness : 0.999304 with order 1 Centerline is valid? [True, True] Translation: X:495.22, Y:27.08, Z:18.05 [[ 9.94868519e-01 -9.43561419e-02 -3.65177708e-02 4.95224188e+02] [ 9.43422602e-02 9.95537593e-01 -2.10696577e-03 2.70810210e+01] [ 3.65536188e-02 -1.34901512e-03 9.99330783e-01 1.80500223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.339254154 meters Centerline goodness : 0.999451 with order 1 Centerline is valid? [True, True] Translation: X:495.28, Y:27.09, Z:18.06 [[ 9.95187616e-01 -9.09288688e-02 -3.65178105e-02 4.95283993e+02] [ 9.09127078e-02 9.95856638e-01 -2.10627778e-03 2.70908816e+01] [ 3.65580254e-02 -1.22379147e-03 9.99330783e-01 1.80610195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.399254154 meters Centerline goodness : 0.999218 with order 1 Centerline is valid? [True, True] Translation: X:495.35, Y:27.09, Z:18.06 [[ 9.95974834e-01 -8.18570347e-02 -3.65178893e-02 4.95345890e+02] [ 8.18348284e-02 9.96643683e-01 -2.10491038e-03 2.70932700e+01] [ 3.65676254e-02 -8.91997442e-04 9.99330783e-01 1.80588156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.459254154 meters Centerline goodness : 0.999492 with order 1 Centerline is valid? [True, True] Translation: X:495.41, Y:27.10, Z:18.07 [[ 9.96319302e-01 -7.75518136e-02 -3.65180161e-02 4.95405447e+02] [ 7.75267975e-02 9.96988051e-01 -2.10270931e-03 2.71023465e+01] [ 3.65710946e-02 -7.36154959e-04 9.99330783e-01 1.80681431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.519254154 meters Centerline goodness : 0.999681 with order 1 Centerline is valid? [True, True] Translation: X:495.47, Y:27.10, Z:18.06 [[ 9.97579237e-01 -5.91785258e-02 -3.65180562e-02 4.95466985e+02] [ 5.91412158e-02 9.98247413e-01 -2.10201262e-03 2.71000712e+01] [ 3.65784491e-02 -6.27980963e-05 9.99330783e-01 1.80560411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.579254154 meters Centerline goodness : 0.999361 with order 1 Centerline is valid? [True, True] Translation: X:495.53, Y:27.10, Z:18.06 [[ 9.98007410e-01 -5.14552377e-02 -3.65180562e-02 4.95525810e+02] [ 5.14127570e-02 9.98675278e-01 -2.10201262e-03 2.71030296e+01] [ 3.65778394e-02 2.20330222e-04 9.99330783e-01 1.80560851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.639254154 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:495.58, Y:27.11, Z:18.07 [[ 9.97661640e-01 -5.77730380e-02 -3.65175065e-02 4.95583351e+02] [ 5.77344386e-02 9.98329743e-01 -2.11151921e-03 2.71137558e+01] [ 3.65785017e-02 -1.73602009e-06 9.99330783e-01 1.80733182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.699254154 meters Centerline goodness : 0.999639 with order 1 Centerline is valid? [True, True] Translation: X:495.64, Y:27.11, Z:18.08 [[ 9.97541276e-01 -5.98156653e-02 -3.65169579e-02 4.95641653e+02] [ 5.97780883e-02 9.98209438e-01 -2.12096314e-03 2.71148290e+01] [ 3.65784389e-02 -6.71656556e-05 9.99330783e-01 1.80757149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.759254154 meters Centerline goodness : 0.999172 with order 1 Centerline is valid? [True, True] Translation: X:495.70, Y:27.11, Z:18.08 [[ 9.97153968e-01 -6.59584448e-02 -3.65164054e-02 4.95700559e+02] [ 6.59246370e-02 9.97822331e-01 -2.13043365e-03 2.71129765e+01] [ 3.65774049e-02 -2.82960405e-04 9.99330783e-01 1.80777301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.81925415399996 meters Centerline goodness : 0.999196 with order 1 Centerline is valid? [True, True] Translation: X:495.76, Y:27.11, Z:18.08 [[ 9.96759294e-01 -7.16763728e-02 -3.65158437e-02 4.95760856e+02] [ 7.16460477e-02 9.97427824e-01 -2.14001920e-03 2.71137155e+01] [ 3.65753073e-02 -4.83131846e-04 9.99330783e-01 1.80798966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.87925415399997 meters Centerline goodness : 0.999471 with order 1 Centerline is valid? [True, True] Translation: X:495.82, Y:27.11, Z:18.08 [[ 9.95885566e-01 -8.29369160e-02 -3.65158437e-02 4.95821641e+02] [ 8.29141484e-02 9.96554396e-01 -2.14001920e-03 2.71117987e+01] [ 3.65675111e-02 -8.96465845e-04 9.99330783e-01 1.80816748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.93925415399997 meters Centerline goodness : 0.999304 with order 1 Centerline is valid? [True, True] Translation: X:495.88, Y:27.11, Z:18.08 [[ 9.94827860e-01 -9.47845919e-02 -3.65158828e-02 4.95882322e+02] [ 9.47698112e-02 9.95496914e-01 -2.13935136e-03 2.71096066e+01] [ 3.65542262e-02 -1.33231698e-03 9.99330783e-01 1.80836526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.99925415399997 meters Centerline goodness : 0.999284 with order 1 Centerline is valid? [True, True] Translation: X:495.94, Y:27.11, Z:18.09 [[ 9.94303459e-01 -1.00136005e-01 -3.65159201e-02 4.95944771e+02] [ 1.00124847e-01 9.94972583e-01 -2.13871496e-03 2.71101272e+01] [ 3.65465017e-02 -1.52961924e-03 9.99330783e-01 1.80851920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.059254154 meters Centerline goodness : 0.999116 with order 1 Centerline is valid? [True, True] Translation: X:496.01, Y:27.11, Z:18.09 [[ 9.93574776e-01 -1.07124888e-01 -3.65160711e-02 4.96007146e+02] [ 1.07118531e-01 9.94243963e-01 -2.13613383e-03 2.71108841e+01] [ 3.65347163e-02 -1.78913918e-03 9.99330783e-01 1.80877031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.119254154 meters Centerline goodness : 0.999159 with order 1 Centerline is valid? [True, True] Translation: X:496.07, Y:27.11, Z:18.08 [[ 9.93583953e-01 -1.07039679e-01 -3.65162311e-02 4.96070111e+02] [ 1.07033364e-01 9.94253141e-01 -2.13339404e-03 2.71086128e+01] [ 3.65347353e-02 -1.78874899e-03 9.99330783e-01 1.80824120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.179254154 meters Centerline goodness : 0.999139 with order 1 Centerline is valid? [True, True] Translation: X:496.13, Y:27.11, Z:18.09 [[ 9.93221704e-01 -1.10350354e-01 -3.65163933e-02 4.96131591e+02] [ 1.10346372e-01 9.93890909e-01 -2.13061443e-03 2.71138796e+01] [ 3.65284254e-02 -1.91327903e-03 9.99330783e-01 1.80868644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.239254154 meters Centerline goodness : 0.999221 with order 1 Centerline is valid? [True, True] Translation: X:496.19, Y:27.12, Z:18.09 [[ 9.92673493e-01 -1.15177593e-01 -3.65165600e-02 4.96192485e+02] [ 1.15176969e-01 9.93342710e-01 -2.12775294e-03 2.71202229e+01] [ 3.65185282e-02 -2.09370274e-03 9.99330783e-01 1.80915050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.299254154 meters Centerline goodness : 0.999241 with order 1 Centerline is valid? [True, True] Translation: X:496.25, Y:27.12, Z:18.09 [[ 9.92164456e-01 -1.19483106e-01 -3.65168491e-02 4.96254434e+02] [ 1.19485568e-01 9.92833668e-01 -2.12277987e-03 2.71248406e+01] [ 3.65087936e-02 -2.25708972e-03 9.99330783e-01 1.80932912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.359254154 meters Centerline goodness : 0.999282 with order 1 Centerline is valid? [True, True] Translation: X:496.32, Y:27.13, Z:18.09 [[ 9.91544466e-01 -1.24523409e-01 -3.65170107e-02 4.96315529e+02] [ 1.24529373e-01 9.92213657e-01 -2.11999741e-03 2.71307470e+01] [ 3.64966660e-02 -2.44536876e-03 9.99330783e-01 1.80939416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.419254154 meters Centerline goodness : 0.999430 with order 1 Centerline is valid? [True, True] Translation: X:496.38, Y:27.13, Z:18.09 [[ 9.91673832e-01 -1.23488909e-01 -3.65171301e-02 4.96377785e+02] [ 1.23494251e-01 9.92343028e-01 -2.11793827e-03 2.71336013e+01] [ 3.64990613e-02 -2.40935166e-03 9.99330783e-01 1.80890035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.479254154 meters Centerline goodness : 0.999259 with order 1 Centerline is valid? [True, True] Translation: X:496.44, Y:27.14, Z:18.09 [[ 9.91279117e-01 -1.26618320e-01 -3.65172910e-02 4.96439896e+02] [ 1.26625876e-01 9.91948292e-01 -2.11516107e-03 2.71414292e+01] [ 3.64910825e-02 -2.52731896e-03 9.99330783e-01 1.80934036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.539254154 meters Centerline goodness : 0.999366 with order 1 Centerline is valid? [True, True] Translation: X:496.50, Y:27.15, Z:18.10 [[ 9.90487277e-01 -1.32670379e-01 -3.65174492e-02 4.96501294e+02] [ 1.32682122e-01 9.91156391e-01 -2.11242631e-03 2.71528675e+01] [ 3.64747595e-02 -2.75288124e-03 9.99330783e-01 1.81039060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.599254154 meters Centerline goodness : 0.999662 with order 1 Centerline is valid? [True, True] Translation: X:496.56, Y:27.16, Z:18.10 [[ 9.90971938e-01 -1.29000319e-01 -3.65176069e-02 4.96563140e+02] [ 1.29009683e-01 9.91641090e-01 -2.10969664e-03 2.71567851e+01] [ 3.64845110e-02 -2.62047472e-03 9.99330783e-01 1.81006968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.659254154 meters Centerline goodness : 0.999535 with order 1 Centerline is valid? [True, True] Translation: X:496.62, Y:27.17, Z:18.11 [[ 9.90393998e-01 -1.33364840e-01 -3.65177683e-02 4.96623713e+02] [ 1.33377254e-01 9.91063100e-01 -2.10689784e-03 2.71683078e+01] [ 3.64723988e-02 -2.78398070e-03 9.99330783e-01 1.81117281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.719254154 meters Centerline goodness : 0.999514 with order 1 Centerline is valid? [True, True] Translation: X:496.69, Y:27.18, Z:18.11 [[ 9.90441812e-01 -1.33009252e-01 -3.65178879e-02 4.96686849e+02] [ 1.33021503e-01 9.91110917e-01 -2.10482286e-03 2.71759994e+01] [ 3.64732383e-02 -2.77295977e-03 9.99330783e-01 1.81142445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.779254154 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:496.75, Y:27.18, Z:18.10 [[ 9.90935317e-01 -1.29281180e-01 -3.65181210e-02 4.96748136e+02] [ 1.29291061e-01 9.91604462e-01 -2.10077200e-03 2.71769726e+01] [ 3.64831220e-02 -2.63973744e-03 9.99330783e-01 1.81049150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.839254154 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:496.81, Y:27.18, Z:18.11 [[ 9.90355788e-01 -1.33648164e-01 -3.65182354e-02 4.96809534e+02] [ 1.33661067e-01 9.91024881e-01 -2.09878158e-03 2.71845278e+01] [ 3.64709781e-02 -2.80252583e-03 9.99330783e-01 1.81097600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.899254154 meters Centerline goodness : 0.999577 with order 1 Centerline is valid? [True, True] Translation: X:496.87, Y:27.19, Z:18.12 [[ 9.89390109e-01 -1.40618699e-01 -3.65184019e-02 4.96870571e+02] [ 1.40636420e-01 9.90059091e-01 -2.09587955e-03 2.71934752e+01] [ 3.64500957e-02 -3.06217483e-03 9.99330783e-01 1.81168699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.959254154 meters Centerline goodness : 0.999514 with order 1 Centerline is valid? [True, True] Translation: X:496.93, Y:27.20, Z:18.12 [[ 9.89338762e-01 -1.40979397e-01 -3.65188092e-02 4.96931539e+02] [ 1.40997623e-01 9.90007731e-01 -2.08875860e-03 2.71995959e+01] [ 3.64483754e-02 -3.08257545e-03 9.99330783e-01 1.81181939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.019254154 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:496.99, Y:27.21, Z:18.12 [[ 9.89949948e-01 -1.36621626e-01 -3.65189204e-02 4.96993897e+02] [ 1.36636978e-01 9.90618989e-01 -2.08681298e-03 2.72065686e+01] [ 3.64614398e-02 -2.92399451e-03 9.99330783e-01 1.81212329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.079254154 meters Centerline goodness : 0.999492 with order 1 Centerline is valid? [True, True] Translation: X:497.05, Y:27.21, Z:18.13 [[ 9.90493548e-01 -1.32623086e-01 -3.65191575e-02 4.97054954e+02] [ 1.32635888e-01 9.91162642e-01 -2.08265456e-03 2.72125824e+01] [ 3.64726328e-02 -2.78089500e-03 9.99330783e-01 1.81260468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.139254154 meters Centerline goodness : 0.999555 with order 1 Centerline is valid? [True, True] Translation: X:497.12, Y:27.22, Z:18.13 [[ 9.91262650e-01 -1.26746605e-01 -3.65192758e-02 4.97116649e+02] [ 1.26755515e-01 9.91931807e-01 -2.08057950e-03 2.72188227e+01] [ 3.64883376e-02 -2.56661887e-03 9.99330783e-01 1.81304049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.199254154 meters Centerline goodness : 0.999407 with order 1 Centerline is valid? [True, True] Translation: X:497.18, Y:27.22, Z:18.13 [[ 9.91899536e-01 -1.21662003e-01 -3.65194239e-02 4.97177210e+02] [ 1.21667577e-01 9.92568729e-01 -2.07797626e-03 2.72240927e+01] [ 3.65008489e-02 -2.38208612e-03 9.99330783e-01 1.81307405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.259254154 meters Centerline goodness : 0.998983 with order 1 Centerline is valid? [True, True] Translation: X:497.24, Y:27.23, Z:18.13 [[ 9.92252060e-01 -1.18752558e-01 -3.65195728e-02 4.97238503e+02] [ 1.18756266e-01 9.92921267e-01 -2.07535629e-03 2.72285935e+01] [ 3.65075143e-02 -2.27765153e-03 9.99330783e-01 1.81326064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.31925415399996 meters Centerline goodness : 0.999217 with order 1 Centerline is valid? [True, True] Translation: X:497.30, Y:27.23, Z:18.13 [[ 9.92523332e-01 -1.16463491e-01 -3.65197175e-02 4.97300170e+02] [ 1.16465748e-01 9.93192546e-01 -2.07280614e-03 2.72336433e+01] [ 3.65125174e-02 -2.19598777e-03 9.99330783e-01 1.81348501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.37925415399997 meters Centerline goodness : 0.998981 with order 1 Centerline is valid? [True, True] Translation: X:497.36, Y:27.23, Z:18.12 [[ 9.94163275e-01 -1.01516900e-01 -3.65198782e-02 4.97363662e+02] [ 1.01509192e-01 9.94832448e-01 -2.06997146e-03 2.72313307e+01] [ 3.65412969e-02 -1.64921373e-03 9.99330783e-01 1.81229417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.43925415399997 meters Centerline goodness : 0.999106 with order 1 Centerline is valid? [True, True] Translation: X:497.42, Y:27.25, Z:18.14 [[ 9.94040856e-01 -1.02708622e-01 -3.65200744e-02 4.97423263e+02] [ 1.02701844e-01 9.94710039e-01 -2.06650328e-03 2.72452380e+01] [ 3.65391324e-02 -1.69649030e-03 9.99330783e-01 1.81379556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.49925415399997 meters Centerline goodness : 0.999510 with order 1 Centerline is valid? [True, True] Translation: X:497.48, Y:27.25, Z:18.14 [[ 9.95290181e-01 -8.97982162e-02 -3.65203445e-02 4.97483821e+02] [ 8.97829282e-02 9.95959224e-01 -2.06172018e-03 2.72506810e+01] [ 3.65579127e-02 -1.22689361e-03 9.99330783e-01 1.81389504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.559254154 meters Centerline goodness : 0.999616 with order 1 Centerline is valid? [True, True] Translation: X:497.55, Y:27.26, Z:18.14 [[ 9.95948788e-01 -8.21721711e-02 -3.65205004e-02 4.97545552e+02] [ 8.21518605e-02 9.96617696e-01 -2.05895355e-03 2.72567904e+01] [ 3.65661657e-02 -9.49614761e-04 9.99330783e-01 1.81436359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.619254154 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:497.61, Y:27.26, Z:18.15 [[ 9.96370943e-01 -7.68842277e-02 -3.65206648e-02 4.97607964e+02] [ 7.68604736e-02 9.97039739e-01 -2.05603362e-03 2.72612795e+01] [ 3.65706307e-02 -7.58423432e-04 9.99330783e-01 1.81452970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.679254154 meters Centerline goodness : 0.999273 with order 1 Centerline is valid? [True, True] Translation: X:497.67, Y:27.26, Z:18.15 [[ 9.96578998e-01 -7.41385931e-02 -3.65208094e-02 4.97669812e+02] [ 7.41130906e-02 9.97247729e-01 -2.05346151e-03 2.72644530e+01] [ 3.65725350e-02 -6.60233447e-04 9.99330783e-01 1.81473456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.739254154 meters Centerline goodness : 0.999530 with order 1 Centerline is valid? [True, True] Translation: X:497.73, Y:27.27, Z:18.15 [[ 9.96438762e-01 -7.60000860e-02 -3.65209579e-02 4.97732170e+02] [ 7.59759295e-02 9.97107543e-01 -2.05081832e-03 2.72665097e+01] [ 3.65711849e-02 -7.31198856e-04 9.99330783e-01 1.81500138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.799254154 meters Centerline goodness : 0.999105 with order 1 Centerline is valid? [True, True] Translation: X:497.79, Y:27.25, Z:18.14 [[ 9.97016610e-01 -6.80006425e-02 -3.65211038e-02 4.97794710e+02] [ 6.79712148e-02 9.97685180e-01 -2.04821577e-03 2.72519434e+01] [ 3.65758440e-02 -4.40278649e-04 9.99330783e-01 1.81356167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.859254154 meters Centerline goodness : 0.998937 with order 1 Centerline is valid? [True, True] Translation: X:497.85, Y:27.25, Z:18.14 [[ 9.96775328e-01 -7.14503168e-02 -3.65211823e-02 4.97854711e+02] [ 7.14232540e-02 9.97443998e-01 -2.04681606e-03 2.72503663e+01] [ 3.65740797e-02 -5.68245930e-04 9.99330783e-01 1.81372112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.919254154 meters Centerline goodness : 0.999149 with order 1 Centerline is valid? [True, True] Translation: X:497.92, Y:27.25, Z:18.14 [[ 9.96703176e-01 -7.24497702e-02 -3.65213725e-02 4.97915772e+02] [ 7.24235025e-02 9.97371877e-01 -2.04341548e-03 2.72524763e+01] [ 3.65734349e-02 -6.08327018e-04 9.99330783e-01 1.81437068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.979254154 meters Centerline goodness : 0.999152 with order 1 Centerline is valid? [True, True] Translation: X:497.97, Y:27.26, Z:18.16 [[ 9.95929576e-01 -8.24042706e-02 -3.65214514e-02 4.97974730e+02] [ 8.23847369e-02 9.96598508e-01 -2.04200578e-03 2.72617478e+01] [ 3.65654939e-02 -9.75116211e-04 9.99330783e-01 1.81618265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.039254154 meters Centerline goodness : 0.999004 with order 1 Centerline is valid? [True, True] Translation: X:498.04, Y:27.26, Z:18.17 [[ 9.95806347e-01 -8.38802893e-02 -3.65214514e-02 4.98035905e+02] [ 8.38617471e-02 9.96475307e-01 -2.04200578e-03 2.72622504e+01] [ 3.65640085e-02 -1.02931040e-03 9.99330783e-01 1.81653413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.099254154 meters Centerline goodness : 0.999047 with order 1 Centerline is valid? [True, True] Translation: X:498.10, Y:27.27, Z:18.17 [[ 9.95489320e-01 -8.75624830e-02 -3.65215647e-02 4.98096208e+02] [ 8.75464892e-02 9.96158346e-01 -2.03997752e-03 2.72667430e+01] [ 3.65598869e-02 -1.16655893e-03 9.99330783e-01 1.81661566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.159254154 meters Centerline goodness : 0.998859 with order 1 Centerline is valid? [True, True] Translation: X:498.16, Y:27.27, Z:18.17 [[ 9.95456107e-01 -8.79392520e-02 -3.65216034e-02 4.98157765e+02] [ 8.79235369e-02 9.96125139e-01 -2.03928347e-03 2.72662013e+01] [ 3.65594203e-02 -1.18109136e-03 9.99330783e-01 1.81695681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.219254154 meters Centerline goodness : 0.998923 with order 1 Centerline is valid? [True, True] Translation: X:498.22, Y:27.27, Z:18.17 [[ 9.95812522e-01 -8.38068529e-02 -3.65216841e-02 4.98219531e+02] [ 8.37884142e-02 9.96481484e-01 -2.03783687e-03 2.72676926e+01] [ 3.65639667e-02 -1.03079052e-03 9.99330783e-01 1.81710030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.279254154 meters Centerline goodness : 0.998963 with order 1 Centerline is valid? [True, True] Translation: X:498.28, Y:27.27, Z:18.18 [[ 9.96529986e-01 -7.47940041e-02 -3.65218294e-02 4.98281618e+02] [ 7.47696092e-02 9.97198758e-01 -2.03523072e-03 2.72660190e+01] [ 3.65717459e-02 -7.02554465e-04 9.99330783e-01 1.81752919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.339254154 meters Centerline goodness : 0.998880 with order 1 Centerline is valid? [True, True] Translation: X:498.34, Y:27.27, Z:18.18 [[ 9.96716859e-01 -7.22609608e-02 -3.65219900e-02 4.98341885e+02] [ 7.22349720e-02 9.97385572e-01 -2.03234457e-03 2.72727875e+01] [ 3.65733650e-02 -6.12492820e-04 9.99330783e-01 1.81754282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.399254154 meters Centerline goodness : 0.999114 with order 1 Centerline is valid? [True, True] Translation: X:498.40, Y:27.27, Z:18.18 [[ 9.97037535e-01 -6.76926479e-02 -3.65220288e-02 4.98401566e+02] [ 6.76636205e-02 9.97706123e-01 -2.03164608e-03 2.72746962e+01] [ 3.65757793e-02 -4.45585299e-04 9.99330783e-01 1.81780064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.459254154 meters Centerline goodness : 0.998967 with order 1 Centerline is valid? [True, True] Translation: X:498.46, Y:27.28, Z:18.18 [[ 9.97181312e-01 -6.55406380e-02 -3.65219945e-02 4.98461975e+02] [ 6.55101452e-02 9.97849834e-01 -2.03226220e-03 2.72751914e+01] [ 3.65766619e-02 -3.66027277e-04 9.99330783e-01 1.81830354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.519254154 meters Centerline goodness : 0.999032 with order 1 Centerline is valid? [True, True] Translation: X:498.52, Y:27.27, Z:18.18 [[ 9.97031002e-01 -6.77888255e-02 -3.65219945e-02 4.98522318e+02] [ 6.77598400e-02 9.97699591e-01 -2.03226220e-03 2.72742502e+01] [ 3.65757437e-02 -4.48496089e-04 9.99330783e-01 1.81835318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.579254154 meters Centerline goodness : 0.996758 with order 1 Centerline is valid? [True, True] Translation: X:498.58, Y:27.27, Z:18.18 [[ 9.96804276e-01 -7.10449078e-02 -3.65219945e-02 4.98581876e+02] [ 7.10181062e-02 9.97472956e-01 -2.03226220e-03 2.72745962e+01] [ 3.65740837e-02 -5.67955234e-04 9.99330783e-01 1.81797466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.639254154 meters Centerline goodness : 0.998885 with order 1 Centerline is valid? [True, True] Translation: X:498.64, Y:27.28, Z:18.20 [[ 9.96055856e-01 -8.08633588e-02 -3.65219086e-02 4.98640977e+02] [ 8.08430908e-02 9.96724766e-01 -2.03380519e-03 2.72752268e+01] [ 3.65667511e-02 -9.26760403e-04 9.99330783e-01 1.81963095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.699254154 meters Centerline goodness : 0.998995 with order 1 Centerline is valid? [True, True] Translation: X:498.70, Y:27.27, Z:18.19 [[ 9.95485312e-01 -8.76079425e-02 -3.65218127e-02 4.98701255e+02] [ 8.75921425e-02 9.96154342e-01 -2.03552540e-03 2.72718712e+01] [ 3.65596905e-02 -1.17268819e-03 9.99330783e-01 1.81942470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.759254154 meters Centerline goodness : 0.998447 with order 1 Centerline is valid? [True, True] Translation: X:498.76, Y:27.27, Z:18.19 [[ 9.94972237e-01 -9.32545111e-02 -3.65218127e-02 4.98761410e+02] [ 9.32425071e-02 9.95641347e-01 -2.03552540e-03 2.72730125e+01] [ 3.65524487e-02 -1.38009412e-03 9.99330783e-01 1.81883658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.81925415399996 meters Centerline goodness : 0.999183 with order 1 Centerline is valid? [True, True] Translation: X:498.82, Y:27.27, Z:18.20 [[ 9.94104045e-01 -1.02094510e-01 -3.65220275e-02 4.98822828e+02] [ 1.02088595e-01 9.94773236e-01 -2.03166422e-03 2.72748916e+01] [ 3.65385573e-02 -1.70879686e-03 9.99330783e-01 1.82015513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.87925415399997 meters Centerline goodness : 0.999038 with order 1 Centerline is valid? [True, True] Translation: X:498.88, Y:27.27, Z:18.19 [[ 9.93699234e-01 -1.05962091e-01 -3.65221618e-02 4.98884466e+02] [ 1.05958869e-01 9.94368443e-01 -2.02924795e-03 2.72692155e+01] [ 3.65315085e-02 -1.85338483e-03 9.99330783e-01 1.81945396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.93925415399997 meters Centerline goodness : 0.998976 with order 1 Centerline is valid? [True, True] Translation: X:498.95, Y:27.27, Z:18.19 [[ 9.92771297e-01 -1.14329675e-01 -3.65222766e-02 4.98945851e+02] [ 1.14332167e-01 9.93440510e-01 -2.02717874e-03 2.72690887e+01] [ 3.65144758e-02 -2.16314616e-03 9.99330783e-01 1.81933452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.99925415399997 meters Centerline goodness : 0.999078 with order 1 Centerline is valid? [True, True] Translation: X:499.01, Y:27.28, Z:18.20 [[ 9.91772184e-01 -1.22694948e-01 -3.65223930e-02 4.99006240e+02] [ 1.22703158e-01 9.92441350e-01 -2.02508016e-03 2.72774922e+01] [ 3.64948001e-02 -2.47299480e-03 9.99330783e-01 1.82012468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.059254154 meters Centerline goodness : 0.999057 with order 1 Centerline is valid? [True, True] Translation: X:499.07, Y:27.28, Z:18.20 [[ 9.91621740e-01 -1.23904932e-01 -3.65225065e-02 4.99067423e+02] [ 1.23914033e-01 9.92290895e-01 -2.02303157e-03 2.72822264e+01] [ 3.64916142e-02 -2.51956900e-03 9.99330783e-01 1.82028940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.119254154 meters Centerline goodness : 0.999099 with order 1 Centerline is valid? [True, True] Translation: X:499.13, Y:27.29, Z:18.21 [[ 9.92192588e-01 -1.19247499e-01 -3.65226179e-02 4.99129401e+02] [ 1.19253532e-01 9.92861778e-01 -2.02101835e-03 2.72881011e+01] [ 3.65029127e-02 -2.35021176e-03 9.99330783e-01 1.82051193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.179254154 meters Centerline goodness : 0.998129 with order 1 Centerline is valid? [True, True] Translation: X:499.19, Y:27.29, Z:18.20 [[ 9.92422515e-01 -1.17318539e-01 -3.65227636e-02 4.99191873e+02] [ 1.17323369e-01 9.93091714e-01 -2.01838120e-03 2.72931860e+01] [ 3.65072475e-02 -2.28188671e-03 9.99330783e-01 1.82039334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.239254154 meters Centerline goodness : 0.999096 with order 1 Centerline is valid? [True, True] Translation: X:499.25, Y:27.30, Z:18.21 [[ 9.93307526e-01 -1.09572959e-01 -3.65229349e-02 4.99252052e+02] [ 1.09572681e-01 9.93976743e-01 -2.01527630e-03 2.73016311e+01] [ 3.65237677e-02 -2.00012680e-03 9.99330783e-01 1.82097291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.299254154 meters Centerline goodness : 0.999075 with order 1 Centerline is valid? [True, True] Translation: X:499.31, Y:27.31, Z:18.21 [[ 9.93848987e-01 -1.04547866e-01 -3.65230635e-02 4.99314123e+02] [ 1.04544289e-01 9.94518195e-01 -2.01294364e-03 2.73085279e+01] [ 3.65333001e-02 -1.81771571e-03 9.99330783e-01 1.82113191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.359254154 meters Centerline goodness : 0.999178 with order 1 Centerline is valid? [True, True] Translation: X:499.38, Y:27.32, Z:18.21 [[ 9.94813230e-01 -9.49352084e-02 -3.65232068e-02 4.99376194e+02] [ 9.49252579e-02 9.95482372e-01 -2.01034013e-03 2.73175470e+01] [ 3.65490606e-02 -1.46706186e-03 9.99330783e-01 1.82133519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.419254154 meters Centerline goodness : 0.996862 with order 1 Centerline is valid? [True, True] Translation: X:499.44, Y:27.33, Z:18.21 [[ 9.96033944e-01 -8.11321541e-02 -3.65233504e-02 4.99437517e+02] [ 8.11130221e-02 9.96702888e-01 -2.00772814e-03 2.73275349e+01] [ 3.65658201e-02 -9.62753950e-04 9.99330783e-01 1.82118515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.479254154 meters Centerline goodness : 0.998798 with order 1 Centerline is valid? [True, True] Translation: X:499.50, Y:27.32, Z:18.20 [[ 9.97737013e-01 -5.64525313e-02 -3.65234758e-02 4.99498166e+02] [ 5.64169305e-02 9.98405283e-01 -2.00544375e-03 2.73221928e+01] [ 3.65784436e-02 -5.96369419e-05 9.99330783e-01 1.82015861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.539254154 meters Centerline goodness : 0.999155 with order 1 Centerline is valid? [True, True] Translation: X:499.56, Y:27.34, Z:18.22 [[ 9.97282834e-01 -6.39764957e-02 -3.65233812e-02 4.99555691e+02] [ 6.39458733e-02 9.97951350e-01 -2.00716640e-03 2.73428375e+01] [ 3.65769690e-02 -3.33806905e-04 9.99330783e-01 1.82248231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.599254154 meters Centerline goodness : 0.998899 with order 1 Centerline is valid? [True, True] Translation: X:499.62, Y:27.33, Z:18.21 [[ 9.98340116e-01 -4.45315631e-02 -3.65233046e-02 4.99617341e+02] [ 4.44878691e-02 9.99007905e-01 -2.00855760e-03 2.73317405e+01] [ 3.65765143e-02 3.80379635e-04 9.99330783e-01 1.82064182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.659254154 meters Centerline goodness : 0.996190 with order 1 Centerline is valid? [True, True] Translation: X:499.67, Y:27.35, Z:18.22 [[ 9.97583900e-01 -5.90966421e-02 -3.65232681e-02 4.99674962e+02] [ 5.90626742e-02 9.98252254e-01 -2.00922111e-03 2.73494982e+01] [ 3.65781730e-02 -1.52795252e-04 9.99330783e-01 1.82248947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.719254154 meters Centerline goodness : 0.998797 with order 1 Centerline is valid? [True, True] Translation: X:499.74, Y:27.34, Z:18.21 [[ 9.97621623e-01 -5.84564423e-02 -3.65231771e-02 4.99735549e+02] [ 5.84219850e-02 9.98289952e-01 -2.01087395e-03 2.73358386e+01] [ 3.65782693e-02 -1.27665176e-04 9.99330783e-01 1.82139625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.779254154 meters Centerline goodness : 0.999048 with order 1 Centerline is valid? [True, True] Translation: X:499.79, Y:27.35, Z:18.23 [[ 9.96420902e-01 -7.62331106e-02 -3.65225749e-02 4.99793023e+02] [ 7.62101754e-02 9.97089726e-01 -2.02175271e-03 2.73485511e+01] [ 3.65704087e-02 -7.68875181e-04 9.99330783e-01 1.82284061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.839254154 meters Centerline goodness : 0.998776 with order 1 Centerline is valid? [True, True] Translation: X:499.85, Y:27.34, Z:18.23 [[ 9.96429187e-01 -7.61247905e-02 -3.65224815e-02 4.99854583e+02] [ 7.61017208e-02 9.97098006e-01 -2.02343861e-03 2.73406546e+01] [ 3.65705274e-02 -7.63210402e-04 9.99330783e-01 1.82268373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.899254154 meters Centerline goodness : 0.998990 with order 1 Centerline is valid? [True, True] Translation: X:499.91, Y:27.35, Z:18.23 [[ 9.96008972e-01 -8.14385026e-02 -3.65225591e-02 4.99914579e+02] [ 8.14190520e-02 9.96677907e-01 -2.02203728e-03 2.73473139e+01] [ 3.65658995e-02 -9.59664865e-04 9.99330783e-01 1.82326108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.959254154 meters Centerline goodness : 0.998863 with order 1 Centerline is valid? [True, True] Translation: X:499.98, Y:27.35, Z:18.24 [[ 9.96252173e-01 -7.84073242e-02 -3.65225968e-02 4.99975650e+02] [ 7.83858631e-02 9.96921045e-01 -2.02135637e-03 2.73468805e+01] [ 3.65686345e-02 -8.49074601e-04 9.99330783e-01 1.82352026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.019254154 meters Centerline goodness : 0.997440 with order 1 Centerline is valid? [True, True] Translation: X:500.03, Y:27.35, Z:18.24 [[ 9.96286225e-01 -7.79734027e-02 -3.65226713e-02 5.00034927e+02] [ 7.79516997e-02 9.96955090e-01 -2.02000893e-03 2.73477384e+01] [ 3.65689701e-02 -8.34497237e-04 9.99330783e-01 1.82379638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.079254154 meters Centerline goodness : 0.999161 with order 1 Centerline is valid? [True, True] Translation: X:500.10, Y:27.35, Z:18.24 [[ 9.96296283e-01 -7.78448102e-02 -3.65226292e-02 5.00095361e+02] [ 7.78229929e-02 9.96965144e-01 -2.02077101e-03 2.73458845e+01] [ 3.65690948e-02 -8.29013668e-04 9.99330783e-01 1.82368644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.139254154 meters Centerline goodness : 0.999099 with order 1 Centerline is valid? [True, True] Translation: X:500.16, Y:27.35, Z:18.25 [[ 9.96119474e-01 -8.00755531e-02 -3.65225857e-02 5.00156050e+02] [ 8.00552048e-02 9.96788382e-01 -2.02155703e-03 2.73455726e+01] [ 3.65671663e-02 -9.10110749e-04 9.99330783e-01 1.82459762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.199254154 meters Centerline goodness : 0.999162 with order 1 Centerline is valid? [True, True] Translation: X:500.22, Y:27.34, Z:18.24 [[ 9.96135352e-01 -7.98777485e-02 -3.65226650e-02 5.00216188e+02] [ 7.98573200e-02 9.96804257e-01 -2.02012247e-03 2.73445100e+01] [ 3.65673108e-02 -9.04286737e-04 9.99330783e-01 1.82383984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.259254154 meters Centerline goodness : 0.999372 with order 1 Centerline is valid? [True, True] Translation: X:500.28, Y:27.34, Z:18.24 [[ 9.96210155e-01 -7.89393586e-02 -3.65226650e-02 5.00276208e+02] [ 7.89182999e-02 9.96879040e-01 -2.02012247e-03 2.73448664e+01] [ 3.65681464e-02 -8.69840112e-04 9.99330783e-01 1.82404619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.31925415399996 meters Centerline goodness : 0.999099 with order 1 Centerline is valid? [True, True] Translation: X:500.34, Y:27.35, Z:18.26 [[ 9.96261353e-01 -7.82905418e-02 -3.65227014e-02 5.00336173e+02] [ 7.82690717e-02 9.96930225e-01 -2.01946405e-03 2.73480214e+01] [ 3.65686899e-02 -8.46683951e-04 9.99330783e-01 1.82561852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.37925415399997 meters Centerline goodness : 0.999204 with order 1 Centerline is valid? [True, True] Translation: X:500.40, Y:27.35, Z:18.24 [[ 9.96574584e-01 -7.41969571e-02 -3.65227420e-02 5.00396121e+02] [ 7.41727661e-02 9.97243363e-01 -2.01873018e-03 2.73457408e+01] [ 3.65718457e-02 -6.97177607e-04 9.99330783e-01 1.82429025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.43925415399997 meters Centerline goodness : 0.999122 with order 1 Centerline is valid? [True, True] Translation: X:500.46, Y:27.35, Z:18.25 [[ 9.96520253e-01 -7.49231473e-02 -3.65226895e-02 5.00455844e+02] [ 7.48994089e-02 9.97189049e-01 -2.01967929e-03 2.73469067e+01] [ 3.65713467e-02 -7.22876539e-04 9.99330783e-01 1.82463632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.49925415399997 meters Centerline goodness : 0.999060 with order 1 Centerline is valid? [True, True] Translation: X:500.52, Y:27.35, Z:18.25 [[ 9.96302514e-01 -7.77650192e-02 -3.65226162e-02 5.00515304e+02] [ 7.77431398e-02 9.96971374e-01 -2.02100298e-03 2.73485934e+01] [ 3.65691662e-02 -8.25852516e-04 9.99330783e-01 1.82489129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.559254154 meters Centerline goodness : 0.999039 with order 1 Centerline is valid? [True, True] Translation: X:500.58, Y:27.35, Z:18.25 [[ 9.95842684e-01 -8.34473015e-02 -3.65225437e-02 5.00575309e+02] [ 8.34291901e-02 9.96511656e-01 -2.02231272e-03 2.73485497e+01] [ 3.65638971e-02 -1.03314091e-03 9.99330783e-01 1.82522185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.619254154 meters Centerline goodness : 0.999103 with order 1 Centerline is valid? [True, True] Translation: X:500.64, Y:27.35, Z:18.26 [[ 9.95416096e-01 -8.83906359e-02 -3.65224703e-02 5.00635303e+02] [ 8.83757976e-02 9.96085149e-01 -2.02363824e-03 2.73497009e+01] [ 3.65583609e-02 -1.21334036e-03 9.99330783e-01 1.82560595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.679254154 meters Centerline goodness : 0.998916 with order 1 Centerline is valid? [True, True] Translation: X:500.70, Y:27.35, Z:18.26 [[ 9.95311967e-01 -8.95555502e-02 -3.65224703e-02 5.00696913e+02] [ 8.95414950e-02 9.95981037e-01 -2.02363824e-03 2.73488619e+01] [ 3.65569158e-02 -1.25612523e-03 9.99330783e-01 1.82604352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.739254154 meters Centerline goodness : 0.998979 with order 1 Centerline is valid? [True, True] Translation: X:500.76, Y:27.35, Z:18.26 [[ 9.95047620e-01 -9.24464030e-02 -3.65225470e-02 5.00758472e+02] [ 9.24343421e-02 9.95716728e-01 -2.02225299e-03 2.73530440e+01] [ 3.65530610e-02 -1.36369957e-03 9.99330783e-01 1.82627939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.799254154 meters Centerline goodness : 0.998915 with order 1 Centerline is valid? [True, True] Translation: X:500.82, Y:27.36, Z:18.26 [[ 9.94618690e-01 -9.69523544e-02 -3.65226231e-02 5.00819025e+02] [ 9.69433746e-02 9.95287847e-01 -2.02087723e-03 2.73605266e+01] [ 3.65464517e-02 -1.53062407e-03 9.99330783e-01 1.82611111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.859254154 meters Centerline goodness : 0.998978 with order 1 Centerline is valid? [True, True] Translation: X:500.88, Y:27.36, Z:18.27 [[ 9.94539415e-01 -9.77621931e-02 -3.65226604e-02 5.00881261e+02] [ 9.77537830e-02 9.95208580e-01 -2.02020238e-03 2.73614824e+01] [ 3.65451644e-02 -1.56105733e-03 9.99330783e-01 1.82661264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.919254154 meters Centerline goodness : 0.999146 with order 1 Centerline is valid? [True, True] Translation: X:500.94, Y:27.37, Z:18.26 [[ 9.94066143e-01 -1.02462617e-01 -3.65228138e-02 5.00942403e+02] [ 1.02457472e-01 9.94735340e-01 -2.01742508e-03 2.73687676e+01] [ 3.65372443e-02 -1.73658122e-03 9.99330783e-01 1.82647642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.979254154 meters Centerline goodness : 0.998956 with order 1 Centerline is valid? [True, True] Translation: X:501.00, Y:27.37, Z:18.27 [[ 9.94044959e-01 -1.02667889e-01 -3.65229259e-02 5.01004445e+02] [ 1.02662956e-01 9.94714158e-01 -2.01539475e-03 2.73736244e+01] [ 3.65367878e-02 -1.74615855e-03 9.99330783e-01 1.82664744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.039254154 meters Centerline goodness : 0.998998 with order 1 Centerline is valid? [True, True] Translation: X:501.07, Y:27.38, Z:18.27 [[ 9.94344230e-01 -9.97277171e-02 -3.65230727e-02 5.01066083e+02] [ 9.97209035e-02 9.95013412e-01 -2.01273075e-03 2.73808573e+01] [ 3.65416722e-02 -1.64076660e-03 9.99330783e-01 1.82694494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.099254154 meters Centerline goodness : 0.998978 with order 1 Centerline is valid? [True, True] Translation: X:501.13, Y:27.39, Z:18.27 [[ 9.94773511e-01 -9.53504867e-02 -3.65232205e-02 5.01127874e+02] [ 9.53408264e-02 9.95442659e-01 -2.01004429e-03 2.73868915e+01] [ 3.65484304e-02 -1.48261521e-03 9.99330783e-01 1.82727215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.159254154 meters Centerline goodness : 0.998913 with order 1 Centerline is valid? [True, True] Translation: X:501.19, Y:27.40, Z:18.28 [[ 9.95651318e-01 -8.57000391e-02 -3.65233692e-02 5.01188265e+02] [ 8.56839899e-02 9.96320342e-01 -2.00734001e-03 2.73958650e+01] [ 3.65610048e-02 -1.13085727e-03 9.99330783e-01 1.82762755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.219254154 meters Centerline goodness : 0.999017 with order 1 Centerline is valid? [True, True] Translation: X:501.25, Y:27.40, Z:18.28 [[ 9.96193779e-01 -7.91453877e-02 -3.65234422e-02 5.01247890e+02] [ 7.91249845e-02 9.96862685e-01 -2.00601069e-03 2.74038648e+01] [ 3.65676231e-02 -8.91541427e-04 9.99330783e-01 1.82790861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.279254154 meters Centerline goodness : 0.997025 with order 1 Centerline is valid? [True, True] Translation: X:501.31, Y:27.41, Z:18.28 [[ 9.96646237e-01 -7.32278449e-02 -3.65234422e-02 5.01306961e+02] [ 7.32034695e-02 9.97315009e-01 -2.00601069e-03 2.74123094e+01] [ 3.65722729e-02 -6.74359682e-04 9.99330783e-01 1.82765713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.339254154 meters Centerline goodness : 0.999076 with order 1 Centerline is valid? [True, True] Translation: X:501.37, Y:27.42, Z:18.28 [[ 9.96707117e-01 -7.23945790e-02 -3.65232584e-02 5.01366200e+02] [ 7.23695221e-02 9.97375864e-01 -2.00935193e-03 2.74192794e+01] [ 3.65728826e-02 -6.40435386e-04 9.99330783e-01 1.82796809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.399254154 meters Centerline goodness : 0.999077 with order 1 Centerline is valid? [True, True] Translation: X:501.43, Y:27.43, Z:18.28 [[ 9.96452573e-01 -7.58177327e-02 -3.65231681e-02 5.01426837e+02] [ 7.57949130e-02 9.97121400e-01 -2.01099168e-03 2.74256448e+01] [ 3.65705013e-02 -7.64412508e-04 9.99330783e-01 1.82809609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.459254154 meters Centerline goodness : 0.998679 with order 1 Centerline is valid? [True, True] Translation: X:501.49, Y:27.43, Z:18.28 [[ 9.96157371e-01 -7.96024468e-02 -3.65231681e-02 5.01487485e+02] [ 7.95821679e-02 9.96826281e-01 -2.01099168e-03 2.74306134e+01] [ 3.65673337e-02 -9.03328703e-04 9.99330783e-01 1.82833310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.519254154 meters Centerline goodness : 0.998846 with order 1 Centerline is valid? [True, True] Translation: X:501.55, Y:27.43, Z:18.29 [[ 9.95967276e-01 -8.19465610e-02 -3.65232416e-02 5.01548589e+02] [ 8.19279053e-02 9.96636232e-01 -2.00965494e-03 2.74349227e+01] [ 3.65650702e-02 -9.90722127e-04 9.99330783e-01 1.82866902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.579254154 meters Centerline goodness : 0.998781 with order 1 Centerline is valid? [True, True] Translation: X:501.61, Y:27.44, Z:18.29 [[ 9.95721647e-01 -8.48790316e-02 -3.65233151e-02 5.01610050e+02] [ 8.48623949e-02 9.96390657e-01 -2.00831934e-03 2.74392499e+01] [ 3.65619541e-02 -1.09972894e-03 9.99330783e-01 1.82887930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.639254154 meters Centerline goodness : 0.998823 with order 1 Centerline is valid? [True, True] Translation: X:501.67, Y:27.44, Z:18.29 [[ 9.95551071e-01 -8.68567997e-02 -3.65234239e-02 5.01671607e+02] [ 8.68415646e-02 9.96220115e-01 -2.00633773e-03 2.74438328e+01] [ 3.65596336e-02 -1.17433960e-03 9.99330783e-01 1.82919475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.699254154 meters Centerline goodness : 0.998928 with order 1 Centerline is valid? [True, True] Translation: X:501.73, Y:27.45, Z:18.29 [[ 9.95760834e-01 -8.44179433e-02 -3.65235733e-02 5.01733864e+02] [ 8.44011692e-02 9.96429841e-01 -2.00361538e-03 2.74501488e+01] [ 3.65623194e-02 -1.08751057e-03 9.99330783e-01 1.82941920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.759254154 meters Centerline goodness : 0.998842 with order 1 Centerline is valid? [True, True] Translation: X:501.80, Y:27.46, Z:18.30 [[ 9.96111020e-01 -8.01801268e-02 -3.65237223e-02 5.01795753e+02] [ 8.01606059e-02 9.96779952e-01 -2.00089451e-03 2.74551958e+01] [ 3.65665462e-02 -9.34650639e-04 9.99330783e-01 1.82960373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.81925415399996 meters Centerline goodness : 0.995591 with order 1 Centerline is valid? [True, True] Translation: X:501.86, Y:27.46, Z:18.29 [[ 9.96905007e-01 -6.96161903e-02 -3.65238704e-02 5.01855702e+02] [ 6.95896784e-02 9.97573698e-01 -1.99818784e-03 2.74616711e+01] [ 3.65743587e-02 -5.49680933e-04 9.99330783e-01 1.82946904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.87925415399997 meters Centerline goodness : 0.998879 with order 1 Centerline is valid? [True, True] Translation: X:501.92, Y:27.47, Z:18.30 [[ 9.97424059e-01 -6.17353522e-02 -3.65238704e-02 5.01915033e+02] [ 6.17035564e-02 9.98092520e-01 -1.99818784e-03 2.74652518e+01] [ 3.65775607e-02 -2.60612071e-04 9.99330783e-01 1.83004025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.93925415399997 meters Centerline goodness : 0.995494 with order 1 Centerline is valid? [True, True] Translation: X:501.97, Y:27.47, Z:18.30 [[ 9.97741032e-01 -5.63812644e-02 -3.65237800e-02 5.01973365e+02] [ 5.63458210e-02 9.98409309e-01 -1.99983807e-03 2.74689069e+01] [ 3.65784354e-02 -6.26418769e-05 9.99330783e-01 1.82979638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.99925415399997 meters Centerline goodness : 0.998880 with order 1 Centerline is valid? [True, True] Translation: X:502.03, Y:27.47, Z:18.30 [[ 9.97574560e-01 -5.92541701e-02 -3.65231577e-02 5.02030713e+02] [ 5.92202375e-02 9.98242916e-01 -2.01114065e-03 2.74715607e+01] [ 3.65781519e-02 -1.56647324e-04 9.99330783e-01 1.83011925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.059254154 meters Centerline goodness : 0.998883 with order 1 Centerline is valid? [True, True] Translation: X:502.09, Y:27.47, Z:18.31 [[ 9.97169737e-01 -6.57162574e-02 -3.65224339e-02 5.02088309e+02] [ 6.56861776e-02 9.97838278e-01 -2.02419900e-03 2.74735685e+01] [ 3.65765054e-02 -3.80549093e-04 9.99330783e-01 1.83061859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.119254154 meters Centerline goodness : 0.998884 with order 1 Centerline is valid? [True, True] Translation: X:502.15, Y:27.47, Z:18.31 [[ 9.96362708e-01 -7.69903544e-02 -3.65217574e-02 5.02148077e+02] [ 7.69673933e-02 9.97031531e-01 -2.03633311e-03 2.74738442e+01] [ 3.65701217e-02 -7.82058092e-04 9.99330783e-01 1.83088110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.179254154 meters Centerline goodness : 0.998633 with order 1 Centerline is valid? [True, True] Translation: X:502.21, Y:27.47, Z:18.31 [[ 9.95688661e-01 -8.52657830e-02 -3.65217207e-02 5.02209402e+02] [ 8.52483554e-02 9.96357651e-01 -2.03698982e-03 2.74704090e+01] [ 3.65623814e-02 -1.08520896e-03 9.99330783e-01 1.83111223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.239254154 meters Centerline goodness : 0.998677 with order 1 Centerline is valid? [True, True] Translation: X:502.27, Y:27.47, Z:18.31 [[ 9.95332896e-01 -8.93229274e-02 -3.65217972e-02 5.02271885e+02] [ 8.93082766e-02 9.96001952e-01 -2.03561865e-03 2.74732828e+01] [ 3.65576087e-02 -1.23558056e-03 9.99330783e-01 1.83145469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.299254154 meters Centerline goodness : 0.998867 with order 1 Centerline is valid? [True, True] Translation: X:502.33, Y:27.48, Z:18.32 [[ 9.94908895e-01 -9.39278297e-02 -3.65219498e-02 5.02332315e+02] [ 9.39163756e-02 9.95578014e-01 -2.03287691e-03 2.74789504e+01] [ 3.65513939e-02 -1.40748183e-03 9.99330783e-01 1.83194087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.359254154 meters Centerline goodness : 0.998763 with order 1 Centerline is valid? [True, True] Translation: X:502.39, Y:27.48, Z:18.32 [[ 9.94920764e-01 -9.38019884e-02 -3.65220627e-02 5.02394415e+02] [ 9.37905241e-02 9.95589882e-01 -2.03084687e-03 2.74818541e+01] [ 3.65514935e-02 -1.40489169e-03 9.99330783e-01 1.83220726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.419254154 meters Centerline goodness : 0.998887 with order 1 Centerline is valid? [True, True] Translation: X:502.46, Y:27.49, Z:18.32 [[ 9.95037040e-01 -9.25603471e-02 -3.65222086e-02 5.02455017e+02] [ 9.25481441e-02 9.95706145e-01 -2.02821922e-03 2.74850107e+01] [ 3.65531202e-02 -1.36190938e-03 9.99330783e-01 1.83236633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.479254154 meters Centerline goodness : 0.998803 with order 1 Centerline is valid? [True, True] Translation: X:502.52, Y:27.49, Z:18.32 [[ 9.95223687e-01 -9.05313967e-02 -3.65223164e-02 5.02516059e+02] [ 9.05179007e-02 9.95892767e-01 -2.02627686e-03 2.74888028e+01] [ 3.65557524e-02 -1.28932468e-03 9.99330783e-01 1.83235340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.539254154 meters Centerline goodness : 0.998571 with order 1 Centerline is valid? [True, True] Translation: X:502.58, Y:27.49, Z:18.32 [[ 9.95713887e-01 -8.49704038e-02 -3.65224069e-02 5.02578037e+02] [ 8.49532302e-02 9.96382883e-01 -2.02464339e-03 2.74850288e+01] [ 3.65623359e-02 -1.08673090e-03 9.99330783e-01 1.83211035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.599254154 meters Centerline goodness : 0.998823 with order 1 Centerline is valid? [True, True] Translation: X:502.64, Y:27.50, Z:18.33 [[ 9.95317431e-01 -8.94948020e-02 -3.65224871e-02 5.02638196e+02] [ 8.94807221e-02 9.95986499e-01 -2.02319524e-03 2.74961791e+01] [ 3.65569696e-02 -1.25433703e-03 9.99330783e-01 1.83254663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.659254154 meters Centerline goodness : 0.998720 with order 1 Centerline is valid? [True, True] Translation: X:502.70, Y:27.50, Z:18.33 [[ 9.95422763e-01 -8.83154714e-02 -3.65225990e-02 5.02700491e+02] [ 8.83006728e-02 9.96091816e-01 -2.02117461e-03 2.75016914e+01] [ 3.65583629e-02 -1.21304684e-03 9.99330783e-01 1.83300131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.719254154 meters Centerline goodness : 0.998990 with order 1 Centerline is valid? [True, True] Translation: X:502.76, Y:27.51, Z:18.33 [[ 9.95539924e-01 -8.69847660e-02 -3.65227471e-02 5.02762466e+02] [ 8.69691714e-02 9.96208958e-01 -2.01849311e-03 2.75071999e+01] [ 3.65598660e-02 -1.16686258e-03 9.99330783e-01 1.83334624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.779254154 meters Centerline goodness : 0.998885 with order 1 Centerline is valid? [True, True] Translation: X:502.82, Y:27.51, Z:18.33 [[ 9.95768218e-01 -8.43311019e-02 -3.65228946e-02 5.02823698e+02] [ 8.43138221e-02 9.96437211e-01 -2.01582139e-03 2.75119251e+01] [ 3.65627677e-02 -1.07209397e-03 9.99330783e-01 1.83337771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.839254154 meters Centerline goodness : 0.998843 with order 1 Centerline is valid? [True, True] Translation: X:502.88, Y:27.52, Z:18.34 [[ 9.95908997e-01 -8.26519060e-02 -3.65230483e-02 5.02884861e+02] [ 8.26336004e-02 9.96577963e-01 -2.01303285e-03 2.75176379e+01] [ 3.65644461e-02 -1.01323345e-03 9.99330783e-01 1.83387095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.899254154 meters Centerline goodness : 0.998717 with order 1 Centerline is valid? [True, True] Translation: X:502.95, Y:27.52, Z:18.34 [[ 9.96023924e-01 -8.12551724e-02 -3.65231277e-02 5.02946982e+02] [ 8.12359814e-02 9.96692866e-01 -2.01159138e-03 2.75229380e+01] [ 3.65657930e-02 -9.63398980e-04 9.99330783e-01 1.83412907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.959254154 meters Centerline goodness : 0.998820 with order 1 Centerline is valid? [True, True] Translation: X:503.01, Y:27.53, Z:18.34 [[ 9.95903869e-01 -8.27135600e-02 -3.65232772e-02 5.03008931e+02] [ 8.26954481e-02 9.96572841e-01 -2.00887410e-03 2.75278234e+01] [ 3.65642672e-02 -1.01966328e-03 9.99330783e-01 1.83448606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.019254154 meters Centerline goodness : 0.999009 with order 1 Centerline is valid? [True, True] Translation: X:503.07, Y:27.53, Z:18.35 [[ 9.95822878e-01 -8.36829400e-02 -3.65234267e-02 5.03071097e+02] [ 8.36655791e-02 9.96491870e-01 -2.00615207e-03 2.75314591e+01] [ 3.65631784e-02 -1.05798152e-03 9.99330783e-01 1.83471634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.079254154 meters Centerline goodness : 0.998947 with order 1 Centerline is valid? [True, True] Translation: X:503.13, Y:27.54, Z:18.35 [[ 9.95512399e-01 -8.72988641e-02 -3.65235747e-02 5.03133224e+02] [ 8.72840318e-02 9.96181451e-01 -2.00345276e-03 2.75352355e+01] [ 3.65590068e-02 -1.19346280e-03 9.99330783e-01 1.83492315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.139254154 meters Centerline goodness : 0.998861 with order 1 Centerline is valid? [True, True] Translation: X:503.20, Y:27.54, Z:18.35 [[ 9.95274259e-01 -8.99731444e-02 -3.65237221e-02 5.03195364e+02] [ 8.99602083e-02 9.95943351e-01 -2.00076249e-03 2.75385815e+01] [ 3.65555731e-02 -1.29437424e-03 9.99330783e-01 1.83510114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.199254154 meters Centerline goodness : 0.998864 with order 1 Centerline is valid? [True, True] Translation: X:503.26, Y:27.54, Z:18.34 [[ 9.95440081e-01 -8.81195372e-02 -3.65238727e-02 5.03258437e+02] [ 8.81054559e-02 9.96109149e-01 -1.99801030e-03 2.75356185e+01] [ 3.65578275e-02 -1.22905292e-03 9.99330783e-01 1.83446437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.259254154 meters Centerline goodness : 0.998921 with order 1 Centerline is valid? [True, True] Translation: X:503.32, Y:27.55, Z:18.35 [[ 9.94410238e-01 -9.90670187e-02 -3.65240237e-02 5.03319543e+02] [ 9.90604014e-02 9.95079422e-01 -1.99524586e-03 2.75468084e+01] [ 3.65419674e-02 -1.63399154e-03 9.99330783e-01 1.83531569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.31925415399996 meters Centerline goodness : 0.999009 with order 1 Centerline is valid? [True, True] Translation: X:503.38, Y:27.55, Z:18.36 [[ 9.94014493e-01 -1.02961994e-01 -3.65241727e-02 5.03380412e+02] [ 1.02958099e-01 9.94683698e-01 -1.99251450e-03 2.75513932e+01] [ 3.65351524e-02 -1.77987108e-03 9.99330783e-01 1.83559393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.37925415399997 meters Centerline goodness : 0.999155 with order 1 Centerline is valid? [True, True] Translation: X:503.44, Y:27.56, Z:18.36 [[ 9.93943191e-01 -1.03648006e-01 -3.65242833e-02 5.03443278e+02] [ 1.03644647e-01 9.94612399e-01 -1.99048521e-03 2.75560224e+01] [ 3.65338149e-02 -1.80711722e-03 9.99330783e-01 1.83593861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.43925415399997 meters Centerline goodness : 0.999090 with order 1 Centerline is valid? [True, True] Translation: X:503.51, Y:27.56, Z:18.36 [[ 9.94162950e-01 -1.01518416e-01 -3.65245059e-02 5.03505630e+02] [ 1.01513773e-01 9.94832151e-01 -1.98639142e-03 2.75623631e+01] [ 3.65374081e-02 -1.73294366e-03 9.99330783e-01 1.83620891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.49925415399997 meters Centerline goodness : 0.998728 with order 1 Centerline is valid? [True, True] Translation: X:503.57, Y:27.57, Z:18.36 [[ 9.94567081e-01 -9.74795627e-02 -3.65247297e-02 5.03567794e+02] [ 9.74723528e-02 9.95236259e-01 -1.98226822e-03 2.75689841e+01] [ 3.65439660e-02 -1.58865262e-03 9.99330783e-01 1.83647624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.559254154 meters Centerline goodness : 0.998792 with order 1 Centerline is valid? [True, True] Translation: X:503.63, Y:27.57, Z:18.37 [[ 9.94863011e-01 -9.44114504e-02 -3.65248759e-02 5.03629927e+02] [ 9.44022755e-02 9.95532165e-01 -1.97957028e-03 2.75743464e+01] [ 3.65485829e-02 -1.47863015e-03 9.99330783e-01 1.83667513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.619254154 meters Centerline goodness : 0.999193 with order 1 Centerline is valid? [True, True] Translation: X:503.69, Y:27.58, Z:18.37 [[ 9.95364296e-01 -8.89710073e-02 -3.65250215e-02 5.03691615e+02] [ 8.89582727e-02 9.96033392e-01 -1.97687992e-03 2.75809184e+01] [ 3.65560261e-02 -1.28148714e-03 9.99330783e-01 1.83690280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.679254154 meters Centerline goodness : 0.999087 with order 1 Centerline is valid? [True, True] Translation: X:503.75, Y:27.59, Z:18.37 [[ 9.95814458e-01 -8.37823256e-02 -3.65251697e-02 5.03752418e+02] [ 8.37662046e-02 9.96483480e-01 -1.97413914e-03 2.75876233e+01] [ 3.65621261e-02 -1.09369853e-03 9.99330783e-01 1.83690258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.739254154 meters Centerline goodness : 0.999129 with order 1 Centerline is valid? [True, True] Translation: X:503.81, Y:27.59, Z:18.37 [[ 9.96228494e-01 -7.87063647e-02 -3.65252790e-02 5.03814051e+02] [ 7.86869087e-02 9.96897428e-01 -1.97211465e-03 2.75936580e+01] [ 3.65671746e-02 -9.09384487e-04 9.99330783e-01 1.83724531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.799254154 meters Centerline goodness : 0.999193 with order 1 Centerline is valid? [True, True] Translation: X:503.88, Y:27.60, Z:18.38 [[ 9.96489984e-01 -7.53233394e-02 -3.65254266e-02 5.03875712e+02] [ 7.53017125e-02 9.97158851e-01 -1.96937657e-03 2.75989264e+01] [ 3.65699924e-02 -7.87963144e-04 9.99330783e-01 1.83753992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.859254154 meters Centerline goodness : 0.999234 with order 1 Centerline is valid? [True, True] Translation: X:503.94, Y:27.61, Z:18.38 [[ 9.96739812e-01 -7.19418507e-02 -3.65255733e-02 5.03937965e+02] [ 7.19180542e-02 9.97408605e-01 -1.96665288e-03 2.76054350e+01] [ 3.65724057e-02 -6.66606937e-04 9.99330783e-01 1.83792687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.919254154 meters Centerline goodness : 0.999299 with order 1 Centerline is valid? [True, True] Translation: X:504.00, Y:27.61, Z:18.38 [[ 9.96761968e-01 -7.16341515e-02 -3.65257180e-02 5.04000491e+02] [ 7.16102472e-02 9.97430757e-01 -1.96396131e-03 2.76086692e+01] [ 3.65725612e-02 -6.58013757e-04 9.99330783e-01 1.83818070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.979254154 meters Centerline goodness : 0.999045 with order 1 Centerline is valid? [True, True] Translation: X:504.06, Y:27.61, Z:18.38 [[ 9.96661666e-01 -7.30163387e-02 -3.65258635e-02 5.04062352e+02] [ 7.29934611e-02 9.97330491e-01 -1.96125066e-03 2.76112294e+01] [ 3.65715608e-02 -7.11445853e-04 9.99330783e-01 1.83849104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.039254154 meters Centerline goodness : 0.999255 with order 1 Centerline is valid? [True, True] Translation: X:504.12, Y:27.61, Z:18.39 [[ 9.96692517e-01 -7.25939185e-02 -3.65260081e-02 5.04123598e+02] [ 7.25708562e-02 9.97361336e-01 -1.95855497e-03 2.76148192e+01] [ 3.65718074e-02 -6.98646600e-04 9.99330783e-01 1.83875141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.099254154 meters Centerline goodness : 0.999087 with order 1 Centerline is valid? [True, True] Translation: X:504.19, Y:27.62, Z:18.39 [[ 9.96969319e-01 -6.86878374e-02 -3.65261147e-02 5.04185747e+02] [ 6.86622274e-02 9.97638046e-01 -1.95656390e-03 2.76169097e+01] [ 3.65742339e-02 -5.57330220e-04 9.99330783e-01 1.83892093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.159254154 meters Centerline goodness : 0.998937 with order 1 Centerline is valid? [True, True] Translation: X:504.25, Y:27.62, Z:18.39 [[ 9.97146832e-01 -6.60607958e-02 -3.65262565e-02 5.04247146e+02] [ 6.60335210e-02 9.97815492e-01 -1.95391413e-03 2.76189855e+01] [ 3.65755417e-02 -4.63618045e-04 9.99330783e-01 1.83905227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.219254154 meters Centerline goodness : 0.999085 with order 1 Centerline is valid? [True, True] Translation: X:504.31, Y:27.62, Z:18.39 [[ 9.97264008e-01 -6.42676099e-02 -3.65263264e-02 5.04308086e+02] [ 6.42391807e-02 9.97932620e-01 -1.95260582e-03 2.76202474e+01] [ 3.65763019e-02 -3.99157782e-04 9.99330783e-01 1.83910475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.279254154 meters Centerline goodness : 0.998765 with order 1 Centerline is valid? [True, True] Translation: X:504.37, Y:27.60, Z:18.37 [[ 9.98016537e-01 -5.12719648e-02 -3.65263955e-02 5.04368696e+02] [ 5.12348761e-02 9.98684725e-01 -1.95131354e-03 2.76015934e+01] [ 3.65784009e-02 7.60178330e-05 9.99330783e-01 1.83698840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.339254154 meters Centerline goodness : 0.998938 with order 1 Centerline is valid? [True, True] Translation: X:504.43, Y:27.62, Z:18.39 [[ 9.96751695e-01 -7.17766554e-02 -3.65262935e-02 5.04426083e+02] [ 7.17532402e-02 9.97420502e-01 -1.95322029e-03 2.76223876e+01] [ 3.65722696e-02 -6.74004273e-04 9.99330783e-01 1.83946117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.399254154 meters Centerline goodness : 0.999004 with order 1 Centerline is valid? [True, True] Translation: X:504.49, Y:27.62, Z:18.40 [[ 9.96199624e-01 -7.90705216e-02 -3.65261881e-02 5.04485984e+02] [ 7.90519302e-02 9.96868582e-01 -1.95518984e-03 2.76238620e+01] [ 3.65664072e-02 -9.39706283e-04 9.99330783e-01 1.83975870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.459254154 meters Centerline goodness : 0.999196 with order 1 Centerline is valid? [True, True] Translation: X:504.55, Y:27.62, Z:18.40 [[ 9.95406893e-01 -8.84926640e-02 -3.65262225e-02 5.04548567e+02] [ 8.84804264e-02 9.96075998e-01 -1.95454641e-03 2.76249527e+01] [ 3.65558565e-02 -1.28628677e-03 9.99330783e-01 1.84008698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.519254154 meters Centerline goodness : 0.998963 with order 1 Centerline is valid? [True, True] Translation: X:504.61, Y:27.63, Z:18.40 [[ 9.94777674e-01 -9.53058463e-02 -3.65263590e-02 5.04610828e+02] [ 9.52982838e-02 9.95446848e-01 -1.95199213e-03 2.76265423e+01] [ 3.65460852e-02 -1.53910114e-03 9.99330783e-01 1.84032916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.579254154 meters Centerline goodness : 0.998923 with order 1 Centerline is valid? [True, True] Translation: X:504.67, Y:27.63, Z:18.41 [[ 9.94048553e-01 -1.02631814e-01 -3.65264960e-02 5.04672928e+02] [ 1.02629276e-01 9.94717765e-01 -1.94942439e-03 2.76274931e+01] [ 3.65336275e-02 -1.81086534e-03 9.99330783e-01 1.84054019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.639254154 meters Centerline goodness : 0.998923 with order 1 Centerline is valid? [True, True] Translation: X:504.74, Y:27.62, Z:18.39 [[ 9.94900059e-01 -9.40195580e-02 -3.65266381e-02 5.04735259e+02] [ 9.40113221e-02 9.95569225e-01 -1.94675870e-03 2.76179654e+01] [ 3.65478302e-02 -1.49708720e-03 9.99330783e-01 1.83933237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.699254154 meters Centerline goodness : 0.998755 with order 1 Centerline is valid? [True, True] Translation: X:504.80, Y:27.62, Z:18.39 [[ 9.95273237e-01 -8.99832352e-02 -3.65267138e-02 5.04797056e+02] [ 8.99723372e-02 9.95942365e-01 -1.94533817e-03 2.76185733e+01] [ 3.65535495e-02 -1.35025079e-03 9.99330783e-01 1.83920754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.759254154 meters Centerline goodness : 0.998775 with order 1 Centerline is valid? [True, True] Translation: X:504.86, Y:27.62, Z:18.39 [[ 9.95713461e-01 -8.49734883e-02 -3.65268266e-02 5.04859460e+02] [ 8.49593008e-02 9.96382528e-01 -1.94321747e-03 2.76237294e+01] [ 3.65598138e-02 -1.16840585e-03 9.99330783e-01 1.83947708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.81925415399996 meters Centerline goodness : 0.998773 with order 1 Centerline is valid? [True, True] Translation: X:504.92, Y:27.63, Z:18.39 [[ 9.96470967e-01 -7.55737554e-02 -3.65269788e-02 5.04920811e+02] [ 7.55533599e-02 9.97139872e-01 -1.94035254e-03 2.76285422e+01] [ 3.65691467e-02 -8.26231006e-04 9.99330784e-01 1.83941663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.87925415399997 meters Centerline goodness : 0.999003 with order 1 Centerline is valid? [True, True] Translation: X:504.98, Y:27.65, Z:18.42 [[ 9.95829498e-01 -8.36025493e-02 -3.65270531e-02 5.04977994e+02] [ 8.35875969e-02 9.96498547e-01 -1.93895308e-03 2.76523691e+01] [ 3.65612567e-02 -1.12234191e-03 9.99330784e-01 1.84159122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.93925415399997 meters Centerline goodness : 0.999001 with order 1 Centerline is valid? [True, True] Translation: X:505.04, Y:27.66, Z:18.42 [[ 9.96440096e-01 -7.59796813e-02 -3.65270223e-02 5.05040072e+02] [ 7.59595884e-02 9.97109011e-01 -1.93953157e-03 2.76595268e+01] [ 3.65687881e-02 -8.41950557e-04 9.99330784e-01 1.84181327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.99925415399997 meters Centerline goodness : 0.999233 with order 1 Centerline is valid? [True, True] Translation: X:505.10, Y:27.67, Z:18.42 [[ 9.97131077e-01 -6.62976782e-02 -3.65271646e-02 5.05100592e+02] [ 6.62711873e-02 9.97799769e-01 -1.93684830e-03 2.76665520e+01] [ 3.65752050e-02 -4.89406942e-04 9.99330784e-01 1.84211921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.059254154 meters Centerline goodness : 0.999169 with order 1 Centerline is valid? [True, True] Translation: X:505.16, Y:27.67, Z:18.42 [[ 9.97570238e-01 -5.93243585e-02 -3.65272695e-02 5.05161767e+02] [ 5.92932655e-02 9.98238731e-01 -1.93486837e-03 2.76748279e+01] [ 3.65777200e-02 -2.35653986e-04 9.99330784e-01 1.84240615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.119254154 meters Centerline goodness : 0.999102 with order 1 Centerline is valid? [True, True] Translation: X:505.22, Y:27.68, Z:18.43 [[ 9.97772740e-01 -5.58149865e-02 -3.65273508e-02 5.05220641e+02] [ 5.57815985e-02 9.98441123e-01 -1.93333182e-03 2.76780284e+01] [ 3.65783181e-02 -1.08528229e-04 9.99330784e-01 1.84262327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.179254154 meters Centerline goodness : 0.999166 with order 1 Centerline is valid? [True, True] Translation: X:505.28, Y:27.68, Z:18.43 [[ 9.97954569e-01 -5.24636507e-02 -3.65273101e-02 5.05279863e+02] [ 5.24279899e-02 9.98622834e-01 -1.93410050e-03 2.76813844e+01] [ 3.65784759e-02 1.50909823e-05 9.99330784e-01 1.84288233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.239254154 meters Centerline goodness : 0.999315 with order 1 Centerline is valid? [True, True] Translation: X:505.34, Y:27.68, Z:18.43 [[ 9.97964996e-01 -5.22649740e-02 -3.65272384e-02 5.05339051e+02] [ 5.22291307e-02 9.98633252e-01 -1.93545432e-03 2.76840449e+01] [ 3.65784713e-02 2.37297600e-05 9.99330784e-01 1.84308652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.299254154 meters Centerline goodness : 0.999145 with order 1 Centerline is valid? [True, True] Translation: X:505.40, Y:27.69, Z:18.43 [[ 9.97744989e-01 -5.63089872e-02 -3.65271675e-02 5.05397853e+02] [ 5.62758034e-02 9.98413383e-01 -1.93679184e-03 2.76850339e+01] [ 3.65782716e-02 -1.23171340e-04 9.99330784e-01 1.84331368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.359254154 meters Centerline goodness : 0.995165 with order 1 Centerline is valid? [True, True] Translation: X:505.46, Y:27.69, Z:18.43 [[ 9.97547468e-01 -5.97063800e-02 -3.65266703e-02 5.05456692e+02] [ 5.96751308e-02 9.98215954e-01 -1.94612419e-03 2.76866837e+01] [ 3.65777010e-02 -2.38382570e-04 9.99330784e-01 1.84341929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.419254154 meters Centerline goodness : 0.999000 with order 1 Centerline is valid? [True, True] Translation: X:505.52, Y:27.69, Z:18.44 [[ 9.97226937e-01 -6.48403037e-02 -3.65263167e-02 5.05515094e+02] [ 6.48122536e-02 9.97895565e-01 -1.95273714e-03 2.76855173e+01] [ 3.65760655e-02 -4.20030823e-04 9.99330784e-01 1.84379721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.479254154 meters Centerline goodness : 0.998960 with order 1 Centerline is valid? [True, True] Translation: X:505.58, Y:27.68, Z:18.44 [[ 9.97177986e-01 -6.55889009e-02 -3.65261596e-02 5.05575549e+02] [ 6.55612454e-02 9.97846631e-01 -1.95567078e-03 2.76846587e+01] [ 3.65757756e-02 -4.44548671e-04 9.99330784e-01 1.84379043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.539254154 meters Centerline goodness : 0.997688 with order 1 Centerline is valid? [True, True] Translation: X:505.64, Y:27.68, Z:18.44 [[ 9.97044792e-01 -6.75834298e-02 -3.65262016e-02 5.05635437e+02] [ 6.75571405e-02 9.97713492e-01 -1.95488751e-03 2.76839095e+01] [ 3.65748021e-02 -5.18495317e-04 9.99330784e-01 1.84373115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.599254154 meters Centerline goodness : 0.998964 with order 1 Centerline is valid? [True, True] Translation: X:505.70, Y:27.68, Z:18.44 [[ 9.96830460e-01 -7.06744023e-02 -3.65262016e-02 5.05695137e+02] [ 7.06501864e-02 9.97499238e-01 -1.95488751e-03 2.76833770e+01] [ 3.65730187e-02 -6.31891532e-04 9.99330784e-01 1.84421887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.659254154 meters Centerline goodness : 0.999049 with order 1 Centerline is valid? [True, True] Translation: X:505.76, Y:27.68, Z:18.44 [[ 9.96743206e-01 -7.18945200e-02 -3.65261578e-02 5.05756098e+02] [ 7.18710927e-02 9.97412012e-01 -1.95570572e-03 2.76839181e+01] [ 3.65722330e-02 -6.75838487e-04 9.99330784e-01 1.84438531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.719254154 meters Centerline goodness : 0.998943 with order 1 Centerline is valid? [True, True] Translation: X:505.82, Y:27.68, Z:18.45 [[ 9.96766797e-01 -7.15666644e-02 -3.65262302e-02 5.05817399e+02] [ 7.15430668e-02 9.97435597e-01 -1.95435125e-03 2.76833255e+01] [ 3.65724287e-02 -6.65166099e-04 9.99330784e-01 1.84458021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.779254154 meters Centerline goodness : 0.998921 with order 1 Centerline is valid? [True, True] Translation: X:505.88, Y:27.68, Z:18.45 [[ 9.97037761e-01 -6.76870116e-02 -3.65263015e-02 5.05878951e+02] [ 6.76608603e-02 9.97706467e-01 -1.95301869e-03 2.76844128e+01] [ 3.65747212e-02 -5.24167601e-04 9.99330784e-01 1.84485256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.839254154 meters Centerline goodness : 0.998942 with order 1 Centerline is valid? [True, True] Translation: X:505.94, Y:27.69, Z:18.45 [[ 9.97352072e-01 -6.28861559e-02 -3.65263733e-02 5.05938991e+02] [ 6.28568347e-02 9.98020646e-01 -1.95167417e-03 2.76857879e+01] [ 3.65768080e-02 -3.49425929e-04 9.99330784e-01 1.84509588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.899254154 meters Centerline goodness : 0.998901 with order 1 Centerline is valid? [True, True] Translation: X:506.00, Y:27.69, Z:18.45 [[ 9.97447523e-01 -6.13535620e-02 -3.65264087e-02 5.05998391e+02] [ 6.13232378e-02 9.98116052e-01 -1.95101260e-03 2.76869653e+01] [ 3.65772964e-02 -2.93884955e-04 9.99330784e-01 1.84530241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.959254154 meters Centerline goodness : 0.998988 with order 1 Centerline is valid? [True, True] Translation: X:506.06, Y:27.69, Z:18.45 [[ 9.97345601e-01 -6.29887276e-02 -3.65263378e-02 5.06057804e+02] [ 6.29594509e-02 9.98014176e-01 -1.95233756e-03 2.76866971e+01] [ 3.65767782e-02 -3.52522897e-04 9.99330784e-01 1.84539320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.019254154 meters Centerline goodness : 0.999030 with order 1 Centerline is valid? [True, True] Translation: X:506.12, Y:27.69, Z:18.46 [[ 9.97107888e-01 -6.66460188e-02 -3.65262680e-02 5.06117190e+02] [ 6.66191465e-02 9.97776564e-01 -1.95364263e-03 2.76857365e+01] [ 3.65752567e-02 -4.85356323e-04 9.99330784e-01 1.84555763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.079254154 meters Centerline goodness : 0.998905 with order 1 Centerline is valid? [True, True] Translation: X:506.18, Y:27.68, Z:18.45 [[ 9.96943206e-01 -6.90657726e-02 -3.65261955e-02 5.06175486e+02] [ 6.90404736e-02 9.97611944e-01 -1.95499760e-03 2.76847197e+01] [ 3.65739923e-02 -5.72764259e-04 9.99330784e-01 1.84534612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.139254154 meters Centerline goodness : 0.999138 with order 1 Centerline is valid? [True, True] Translation: X:506.23, Y:27.69, Z:18.46 [[ 9.96696150e-01 -7.25442183e-02 -3.65256324e-02 5.06234367e+02] [ 7.25208697e-02 9.97364958e-01 -1.96546214e-03 2.76855558e+01] [ 3.65719688e-02 -6.89902082e-04 9.99330784e-01 1.84595471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.199254154 meters Centerline goodness : 0.999034 with order 1 Centerline is valid? [True, True] Translation: X:506.29, Y:27.68, Z:18.46 [[ 9.96421119e-01 -7.62290905e-02 -3.65250576e-02 5.06294730e+02] [ 7.62078257e-02 9.97089997e-01 -1.97608690e-03 2.76848603e+01] [ 3.65694049e-02 -8.14480496e-04 9.99330784e-01 1.84633833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.259254154 meters Centerline goodness : 0.998763 with order 1 Centerline is valid? [True, True] Translation: X:506.36, Y:27.67, Z:18.45 [[ 9.97000860e-01 -6.82290622e-02 -3.65250576e-02 5.06356141e+02] [ 6.82024295e-02 9.97669546e-01 -1.97608691e-03 2.76706959e+01] [ 3.65747642e-02 -5.20937320e-04 9.99330784e-01 1.84501835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.31925415399996 meters Centerline goodness : 0.999206 with order 1 Centerline is valid? [True, True] Translation: X:506.41, Y:27.68, Z:18.47 [[ 9.95878644e-01 -8.30159613e-02 -3.65250191e-02 5.06414314e+02] [ 8.29992280e-02 9.96547651e-01 -1.97679851e-03 2.76839415e+01] [ 3.65630278e-02 -1.06289697e-03 9.99330784e-01 1.84675941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.37925415399997 meters Centerline goodness : 0.999101 with order 1 Centerline is valid? [True, True] Translation: X:506.48, Y:27.68, Z:18.47 [[ 9.95205279e-01 -9.07324566e-02 -3.65249813e-02 5.06475841e+02] [ 9.07208837e-02 9.95874395e-01 -1.97749617e-03 2.76824528e+01] [ 3.65537167e-02 -1.34556395e-03 9.99330784e-01 1.84680955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.43925415399997 meters Centerline goodness : 0.999062 with order 1 Centerline is valid? [True, True] Translation: X:506.54, Y:27.67, Z:18.45 [[ 9.95961081e-01 -8.20210100e-02 -3.65250553e-02 5.06537964e+02] [ 8.20036330e-02 9.96630071e-01 -1.97612804e-03 2.76705781e+01] [ 3.65640525e-02 -1.02704061e-03 9.99330784e-01 1.84546480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.49925415399997 meters Centerline goodness : 0.998746 with order 1 Centerline is valid? [True, True] Translation: X:506.60, Y:27.68, Z:18.47 [[ 9.94786060e-01 -9.52187777e-02 -3.65250578e-02 5.06596839e+02] [ 9.52102736e-02 9.95455222e-01 -1.97608259e-03 2.76846728e+01] [ 3.65472197e-02 -1.51178133e-03 9.99330784e-01 1.84683754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.559254154 meters Centerline goodness : 0.998956 with order 1 Centerline is valid? [True, True] Translation: X:506.66, Y:27.69, Z:18.47 [[ 9.94946595e-01 -9.35263665e-02 -3.65252168e-02 5.06659149e+02] [ 9.35168320e-02 9.95615744e-01 -1.97313869e-03 2.76880221e+01] [ 3.65496214e-02 -1.45255495e-03 9.99330784e-01 1.84722623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.619254154 meters Centerline goodness : 0.999102 with order 1 Centerline is valid? [True, True] Translation: X:506.72, Y:27.69, Z:18.47 [[ 9.95269299e-01 -9.00273255e-02 -3.65253638e-02 5.06720407e+02] [ 9.00155381e-02 9.95938412e-01 -1.97041382e-03 2.76919080e+01] [ 3.65544039e-02 -1.32675789e-03 9.99330784e-01 1.84744179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.679254154 meters Centerline goodness : 0.998972 with order 1 Centerline is valid? [True, True] Translation: X:506.78, Y:27.70, Z:18.48 [[ 9.95819131e-01 -8.37266400e-02 -3.65254362e-02 5.06780663e+02] [ 8.37106673e-02 9.96488157e-01 -1.96907195e-03 2.76967893e+01] [ 3.65620283e-02 -1.09672912e-03 9.99330784e-01 1.84778970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.739254154 meters Centerline goodness : 0.999055 with order 1 Centerline is valid? [True, True] Translation: X:506.84, Y:27.70, Z:18.48 [[ 9.96198261e-01 -7.90879752e-02 -3.65255563e-02 5.06840583e+02] [ 7.90689686e-02 9.96867208e-01 -1.96684150e-03 2.77018308e+01] [ 3.65666828e-02 -9.28673978e-04 9.99330784e-01 1.84812910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.799254154 meters Centerline goodness : 0.999139 with order 1 Centerline is valid? [True, True] Translation: X:506.90, Y:27.71, Z:18.48 [[ 9.96418996e-01 -7.62565930e-02 -3.65255563e-02 5.06900506e+02] [ 7.62356854e-02 9.97087886e-01 -1.96684150e-03 2.77060555e+01] [ 3.65691743e-02 -8.24752581e-04 9.99330784e-01 1.84838568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.859254154 meters Centerline goodness : 0.999056 with order 1 Centerline is valid? [True, True] Translation: X:506.96, Y:27.71, Z:18.49 [[ 9.96654179e-01 -7.31186097e-02 -3.65255563e-02 5.06961056e+02] [ 7.30955960e-02 9.97323000e-01 -1.96684150e-03 2.77102040e+01] [ 3.65715900e-02 -7.09596503e-04 9.99330784e-01 1.84861434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.919254154 meters Centerline goodness : 0.998844 with order 1 Centerline is valid? [True, True] Translation: X:507.02, Y:27.72, Z:18.49 [[ 9.97018062e-01 -6.79769622e-02 -3.65255563e-02 5.07020821e+02] [ 6.79504990e-02 9.97686755e-01 -1.96684150e-03 2.77150748e+01] [ 3.65747636e-02 -5.20953274e-04 9.99330784e-01 1.84891527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.979254154 meters Centerline goodness : 0.998991 with order 1 Centerline is valid? [True, True] Translation: X:507.08, Y:27.71, Z:18.49 [[ 9.97576707e-01 -5.92165810e-02 -3.65254846e-02 5.07079936e+02] [ 5.91841964e-02 9.98245139e-01 -1.96817081e-03 2.77145720e+01] [ 3.65779358e-02 -1.98330099e-04 9.99330784e-01 1.84910736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.039254154 meters Centerline goodness : 0.999181 with order 1 Centerline is valid? [True, True] Translation: X:507.14, Y:27.72, Z:18.49 [[ 9.97437765e-01 -6.15128647e-02 -3.65249528e-02 5.07137709e+02] [ 6.14816593e-02 9.98106253e-01 -1.97799076e-03 2.77227280e+01] [ 3.65774557e-02 -2.72692029e-04 9.99330784e-01 1.84930643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.099254154 meters Centerline goodness : 0.998952 with order 1 Centerline is valid? [True, True] Translation: X:507.20, Y:27.72, Z:18.50 [[ 9.97364622e-01 -6.26877888e-02 -3.65246759e-02 5.07196670e+02] [ 6.26571842e-02 9.98033138e-01 -1.98309234e-03 2.77245051e+01] [ 3.65771525e-02 -3.10667202e-04 9.99330784e-01 1.85029807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.159254154 meters Centerline goodness : 0.999036 with order 1 Centerline is valid? [True, True] Translation: X:507.26, Y:27.73, Z:18.50 [[ 9.97124239e-01 -6.64020873e-02 -3.65241662e-02 5.07255090e+02] [ 6.63736306e-02 9.97792850e-01 -1.99243525e-03 2.77262722e+01] [ 3.65758537e-02 -4.37536034e-04 9.99330784e-01 1.84965682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.219254154 meters Centerline goodness : 0.999058 with order 1 Centerline is valid? [True, True] Translation: X:507.31, Y:27.73, Z:18.50 [[ 9.96678496e-01 -7.27871847e-02 -3.65239700e-02 5.07313742e+02] [ 7.27628795e-02 9.97347271e-01 -1.99602466e-03 2.77271697e+01] [ 3.65723669e-02 -6.68194368e-04 9.99330784e-01 1.84972676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.279254154 meters Centerline goodness : 0.999082 with order 1 Centerline is valid? [True, True] Translation: X:507.37, Y:27.73, Z:18.51 [[ 9.96082557e-01 -8.05329004e-02 -3.65238603e-02 5.07373550e+02] [ 8.05137213e-02 9.96751498e-01 -1.99802986e-03 2.77324979e+01] [ 3.65661196e-02 -9.50469221e-04 9.99330784e-01 1.85140355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.339254154 meters Centerline goodness : 0.999142 with order 1 Centerline is valid? [True, True] Translation: X:507.43, Y:27.73, Z:18.51 [[ 9.95694165e-01 -8.52005936e-02 -3.65238076e-02 5.07434795e+02] [ 8.51845146e-02 9.96363188e-01 -1.99899382e-03 2.77283376e+01] [ 3.65612928e-02 -1.12087634e-03 9.99330784e-01 1.85102207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.399254154 meters Centerline goodness : 0.999017 with order 1 Centerline is valid? [True, True] Translation: X:507.50, Y:27.73, Z:18.50 [[ 9.94919596e-01 -9.38136900e-02 -3.65238148e-02 5.07495112e+02] [ 9.38034059e-02 9.95588733e-01 -1.99886112e-03 2.77307354e+01] [ 3.65502191e-02 -1.43735213e-03 9.99330784e-01 1.85045939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.459254154 meters Centerline goodness : 0.999019 with order 1 Centerline is valid? [True, True] Translation: X:507.56, Y:27.73, Z:18.52 [[ 9.93925661e-01 -1.03816111e-01 -3.65238907e-02 5.07555442e+02] [ 1.03812609e-01 9.94594868e-01 -1.99747396e-03 2.77345535e+01] [ 3.65338442e-02 -1.80629975e-03 9.99330784e-01 1.85179497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.519254154 meters Centerline goodness : 0.998892 with order 1 Centerline is valid? [True, True] Translation: X:507.62, Y:27.74, Z:18.51 [[ 9.93719890e-01 -1.05767582e-01 -3.65239414e-02 5.07616262e+02] [ 1.05765427e-01 9.94389103e-01 -1.99654608e-03 2.77359150e+01] [ 3.65301792e-02 -1.87896272e-03 9.99330784e-01 1.85073753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.579254154 meters Centerline goodness : 0.999040 with order 1 Centerline is valid? [True, True] Translation: X:507.68, Y:27.74, Z:18.51 [[ 9.93214055e-01 -1.10416664e-01 -3.65239802e-02 5.07678216e+02] [ 1.10417667e-01 9.93883271e-01 -1.99583688e-03 2.77405388e+01] [ 3.65209465e-02 -2.05059945e-03 9.99330784e-01 1.85111190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.639254154 meters Centerline goodness : 0.999061 with order 1 Centerline is valid? [True, True] Translation: X:507.74, Y:27.75, Z:18.51 [[ 9.92996892e-01 -1.12352843e-01 -3.65241258e-02 5.07739766e+02] [ 1.12355249e-01 9.93666104e-01 -1.99316794e-03 2.77467685e+01] [ 3.65167239e-02 -2.12446769e-03 9.99330784e-01 1.85134907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.699254154 meters Centerline goodness : 0.998933 with order 1 Centerline is valid? [True, True] Translation: X:507.80, Y:27.75, Z:18.51 [[ 9.93004954e-01 -1.12281513e-01 -3.65242708e-02 5.07800698e+02] [ 1.12283968e-01 9.93674166e-01 -1.99050755e-03 2.77540175e+01] [ 3.65167215e-02 -2.12450620e-03 9.99330784e-01 1.85142901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.759254154 meters Centerline goodness : 0.999120 with order 1 Centerline is valid? [True, True] Translation: X:507.86, Y:27.76, Z:18.52 [[ 9.93143324e-01 -1.11050929e-01 -3.65243779e-02 5.07861433e+02] [ 1.11052627e-01 9.93812538e-01 -1.98854113e-03 2.77605203e+01] [ 3.65192140e-02 -2.08122177e-03 9.99330784e-01 1.85157221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.81925415399996 meters Centerline goodness : 0.999119 with order 1 Centerline is valid? [True, True] Translation: X:507.92, Y:27.77, Z:18.52 [[ 9.93512409e-01 -1.07698906e-01 -3.65244828e-02 5.07923201e+02] [ 1.07698417e-01 9.94181625e-01 -1.98661192e-03 2.77699160e+01] [ 3.65259256e-02 -1.95990539e-03 9.99330784e-01 1.85188508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.87925415399997 meters Centerline goodness : 0.998931 with order 1 Centerline is valid? [True, True] Translation: X:507.98, Y:27.78, Z:18.52 [[ 9.93891967e-01 -1.04137935e-01 -3.65246324e-02 5.07983687e+02] [ 1.04135148e-01 9.94561177e-01 -1.98385846e-03 2.77784293e+01] [ 3.65325763e-02 -1.83175702e-03 9.99330784e-01 1.85192299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.93925415399997 meters Centerline goodness : 0.999075 with order 1 Centerline is valid? [True, True] Translation: X:508.05, Y:27.79, Z:18.52 [[ 9.94718888e-01 -9.59180706e-02 -3.65247425e-02 5.08045434e+02] [ 9.59098263e-02 9.95388054e-01 -1.98182803e-03 2.77905737e+01] [ 3.65463855e-02 -1.53171994e-03 9.99330784e-01 1.85238022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.99925415399997 meters Centerline goodness : 0.998799 with order 1 Centerline is valid? [True, True] Translation: X:508.11, Y:27.80, Z:18.53 [[ 9.95736593e-01 -8.47028358e-02 -3.65248894e-02 5.08106265e+02] [ 8.46871508e-02 9.96405625e-01 -1.97911715e-03 2.78023410e+01] [ 3.65612421e-02 -1.12250945e-03 9.99330784e-01 1.85266069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.059254154 meters Centerline goodness : 0.998922 with order 1 Centerline is valid? [True, True] Translation: X:508.17, Y:27.82, Z:18.55 [[ 9.96280172e-01 -7.80496198e-02 -3.65249977e-02 5.08165244e+02] [ 7.80295394e-02 9.96949087e-01 -1.97711697e-03 2.78201258e+01] [ 3.65678763e-02 -8.80266317e-04 9.99330784e-01 1.85470086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.119254154 meters Centerline goodness : 0.998773 with order 1 Centerline is valid? [True, True] Translation: X:508.23, Y:27.82, Z:18.54 [[ 9.97229276e-01 -6.48050352e-02 -3.65250349e-02 5.08225729e+02] [ 6.47760938e-02 9.97897866e-01 -1.97642976e-03 2.78193762e+01] [ 3.65763370e-02 -3.94995464e-04 9.99330784e-01 1.85354662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.179254154 meters Centerline goodness : 0.999063 with order 1 Centerline is valid? [True, True] Translation: X:508.29, Y:27.83, Z:18.53 [[ 9.97522973e-01 -6.01152350e-02 -3.65250037e-02 5.08285733e+02] [ 6.00831291e-02 9.98191419e-01 -1.97700658e-03 2.78285525e+01] [ 3.65777934e-02 -2.22427030e-04 9.99330784e-01 1.85337839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.239254154 meters Centerline goodness : 0.996607 with order 1 Centerline is valid? [True, True] Translation: X:508.34, Y:27.84, Z:18.54 [[ 9.97426477e-01 -6.16955835e-02 -3.65250395e-02 5.08344026e+02] [ 6.16645609e-02 9.98094973e-01 -1.97634447e-03 2.78381010e+01] [ 3.65773900e-02 -2.81042225e-04 9.99330784e-01 1.85381453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.299254154 meters Centerline goodness : 0.999017 with order 1 Centerline is valid? [True, True] Translation: X:508.40, Y:27.85, Z:18.55 [[ 9.97139714e-01 -6.61689881e-02 -3.65247195e-02 5.08403094e+02] [ 6.61407485e-02 9.97808334e-01 -1.98224025e-03 2.78459259e+01] [ 3.65758324e-02 -4.39201809e-04 9.99330784e-01 1.85496645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.359254154 meters Centerline goodness : 0.999080 with order 1 Centerline is valid? [True, True] Translation: X:508.46, Y:27.85, Z:18.55 [[ 9.97116582e-01 -6.65166988e-02 -3.65246720e-02 5.08464172e+02] [ 6.64886602e-02 9.97785210e-01 -1.98311598e-03 2.78482709e+01] [ 3.65756878e-02 -4.51078679e-04 9.99330784e-01 1.85488517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.419254154 meters Centerline goodness : 0.998868 with order 1 Centerline is valid? [True, True] Translation: X:508.52, Y:27.85, Z:18.55 [[ 9.97057850e-01 -6.73913152e-02 -3.65247148e-02 5.08524817e+02] [ 6.73638921e-02 9.97726504e-01 -1.98232684e-03 2.78515146e+01] [ 3.65752676e-02 -4.83952406e-04 9.99330784e-01 1.85485967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.479254154 meters Centerline goodness : 0.999317 with order 1 Centerline is valid? [True, True] Translation: X:508.58, Y:27.86, Z:18.55 [[ 9.96873778e-01 -7.00614933e-02 -3.65247576e-02 5.08584532e+02] [ 7.00358900e-02 9.97542504e-01 -1.98153771e-03 2.78552499e+01] [ 3.65738277e-02 -5.82700928e-04 9.99330784e-01 1.85538562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.539254154 meters Centerline goodness : 0.999083 with order 1 Centerline is valid? [True, True] Translation: X:508.65, Y:27.85, Z:18.54 [[ 9.96960342e-01 -6.88187392e-02 -3.65247576e-02 5.08645516e+02] [ 6.87923023e-02 9.97629036e-01 -1.98153771e-03 2.78479125e+01] [ 3.65745256e-02 -5.37107658e-04 9.99330784e-01 1.85448726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.599254154 meters Centerline goodness : 0.999083 with order 1 Centerline is valid? [True, True] Translation: X:508.71, Y:27.85, Z:18.55 [[ 9.96765175e-01 -7.15899941e-02 -3.65247646e-02 5.08705859e+02] [ 7.15654210e-02 9.97433940e-01 -1.98140823e-03 2.78501013e+01] [ 3.65728889e-02 -6.38911441e-04 9.99330784e-01 1.85467900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.659254154 meters Centerline goodness : 0.999383 with order 1 Centerline is valid? [True, True] Translation: X:508.77, Y:27.85, Z:18.55 [[ 9.96761636e-01 -7.16392332e-02 -3.65248004e-02 5.08767479e+02] [ 7.16147173e-02 9.97430403e-01 -1.98074914e-03 2.78526273e+01] [ 3.65728457e-02 -6.41378502e-04 9.99330784e-01 1.85485441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.719254154 meters Centerline goodness : 0.999470 with order 1 Centerline is valid? [True, True] Translation: X:508.83, Y:27.86, Z:18.56 [[ 9.96722651e-01 -7.21795433e-02 -3.65249315e-02 5.08827852e+02] [ 7.21554786e-02 9.97391434e-01 -1.97832862e-03 2.78599624e+01] [ 3.65724486e-02 -6.63628970e-04 9.99330784e-01 1.85558443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.779254154 meters Centerline goodness : 0.999594 with order 1 Centerline is valid? [True, True] Translation: X:508.89, Y:27.86, Z:18.56 [[ 9.97015786e-01 -6.80106503e-02 -3.65249759e-02 5.08889140e+02] [ 6.79838190e-02 9.97684464e-01 -1.97750775e-03 2.78640628e+01] [ 3.65748926e-02 -5.11500910e-04 9.99330784e-01 1.85639052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.839254154 meters Centerline goodness : 0.999509 with order 1 Centerline is valid? [True, True] Translation: X:508.95, Y:27.86, Z:18.56 [[ 9.97837155e-01 -5.46528323e-02 -3.65250638e-02 5.08950139e+02] [ 5.46171082e-02 9.98505417e-01 -1.97588256e-03 2.78610772e+01] [ 3.65784617e-02 -2.32843307e-05 9.99330784e-01 1.85570670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.899254154 meters Centerline goodness : 0.999233 with order 1 Centerline is valid? [True, True] Translation: X:509.01, Y:27.87, Z:18.57 [[ 9.97723946e-01 -5.66819623e-02 -3.65251019e-02 5.09008904e+02] [ 5.66476231e-02 9.98392280e-01 -1.97517823e-03 2.78719772e+01] [ 3.65783368e-02 -9.83775867e-05 9.99330784e-01 1.85686519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.959254154 meters Centerline goodness : 0.999190 with order 1 Centerline is valid? [True, True] Translation: X:509.07, Y:27.88, Z:18.56 [[ 9.97692081e-01 -5.72401562e-02 -3.65250141e-02 5.09068982e+02] [ 5.72061314e-02 9.98360431e-01 -1.97680140e-03 2.78757291e+01] [ 3.65782812e-02 -1.17215651e-04 9.99330784e-01 1.85647656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.019254154 meters Centerline goodness : 0.999447 with order 1 Centerline is valid? [True, True] Translation: X:509.13, Y:27.88, Z:18.57 [[ 9.97463349e-01 -6.10965942e-02 -3.65249717e-02 5.09128386e+02] [ 6.10651247e-02 9.98131825e-01 -1.97758441e-03 2.78779703e+01] [ 3.65775603e-02 -2.57833983e-04 9.99330784e-01 1.85681192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.079254154 meters Centerline goodness : 0.998979 with order 1 Centerline is valid? [True, True] Translation: X:509.19, Y:27.87, Z:18.56 [[ 9.97731138e-01 -5.65553664e-02 -3.65248854e-02 5.09188829e+02] [ 5.65207960e-02 9.98399460e-01 -1.97917700e-03 2.78664444e+01] [ 3.65783589e-02 -8.97290736e-05 9.99330784e-01 1.85622453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.139254154 meters Centerline goodness : 0.999067 with order 1 Centerline is valid? [True, True] Translation: X:509.25, Y:27.86, Z:18.57 [[ 9.97236184e-01 -6.46987537e-02 -3.65248444e-02 5.09248024e+02] [ 6.46696128e-02 9.97904766e-01 -1.97993347e-03 2.78646503e+01] [ 3.65764155e-02 -3.87586242e-04 9.99330784e-01 1.85662291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.199254154 meters Centerline goodness : 0.999135 with order 1 Centerline is valid? [True, True] Translation: X:509.31, Y:27.86, Z:18.57 [[ 9.96824837e-01 -7.07546245e-02 -3.65243352e-02 5.09308890e+02] [ 7.07292025e-02 9.97493570e-01 -1.98928257e-03 2.78629044e+01] [ 3.65735404e-02 -6.00370827e-04 9.99330784e-01 1.85707086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.259254154 meters Centerline goodness : 0.999180 with order 1 Centerline is valid? [True, True] Translation: X:509.37, Y:27.86, Z:18.57 [[ 9.96743516e-01 -7.18911401e-02 -3.65243352e-02 5.09369606e+02] [ 7.18664806e-02 9.97412278e-01 -1.98928257e-03 2.78623971e+01] [ 3.65728321e-02 -6.42070925e-04 9.99330784e-01 1.85737490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.31925415399996 meters Centerline goodness : 0.999474 with order 1 Centerline is valid? [True, True] Translation: X:509.43, Y:27.86, Z:18.58 [[ 9.96915595e-01 -6.94641527e-02 -3.65243352e-02 5.09430483e+02] [ 6.94378651e-02 9.97584295e-01 -1.98928257e-03 2.78601679e+01] [ 3.65742870e-02 -5.53025044e-04 9.99330784e-01 1.85774854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.37925415399997 meters Centerline goodness : 0.999432 with order 1 Centerline is valid? [True, True] Translation: X:509.49, Y:27.86, Z:18.58 [[ 9.97210469e-01 -6.50941907e-02 -3.65243352e-02 5.09490183e+02] [ 6.50649725e-02 9.97879047e-01 -1.98928257e-03 2.78584545e+01] [ 3.65763595e-02 -3.92721463e-04 9.99330784e-01 1.85804363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.43925415399997 meters Centerline goodness : 0.999156 with order 1 Centerline is valid? [True, True] Translation: X:509.55, Y:27.86, Z:18.58 [[ 9.97327149e-01 -6.32814107e-02 -3.65242616e-02 5.09550078e+02] [ 6.32509278e-02 9.97995670e-01 -1.99063319e-03 2.78578888e+01] [ 3.65770250e-02 -3.24880909e-04 9.99330784e-01 1.85819833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.49925415399997 meters Centerline goodness : 0.999349 with order 1 Centerline is valid? [True, True] Translation: X:509.61, Y:27.85, Z:18.58 [[ 9.97358228e-01 -6.27897261e-02 -3.65241877e-02 5.09609398e+02] [ 6.27588640e-02 9.98026732e-01 -1.99198764e-03 2.78541182e+01] [ 3.65771920e-02 -3.05491270e-04 9.99330784e-01 1.85815529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.559254154 meters Centerline goodness : 0.999118 with order 1 Centerline is valid? [True, True] Translation: X:509.67, Y:27.85, Z:18.58 [[ 9.97223078e-01 -6.49011056e-02 -3.65236697e-02 5.09667890e+02] [ 6.48713127e-02 9.97891631e-01 -2.00143993e-03 2.78523760e+01] [ 3.65765600e-02 -3.73456310e-04 9.99330784e-01 1.85826246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.619254154 meters Centerline goodness : 0.999559 with order 1 Centerline is valid? [True, True] Translation: X:509.73, Y:27.85, Z:18.58 [[ 9.96980314e-01 -6.85296843e-02 -3.65230766e-02 5.09725905e+02] [ 6.85019302e-02 9.97648955e-01 -2.01220590e-03 2.78524416e+01] [ 3.65751050e-02 -4.95771577e-04 9.99330784e-01 1.85849731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.679254154 meters Centerline goodness : 0.999139 with order 1 Centerline is valid? [True, True] Translation: X:509.79, Y:27.85, Z:18.59 [[ 9.96330541e-01 -7.74049886e-02 -3.65228943e-02 5.09785199e+02] [ 7.73830688e-02 9.96999397e-01 -2.01550923e-03 2.78500806e+01] [ 3.65693141e-02 -8.18140246e-04 9.99330784e-01 1.85887386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.739254154 meters Centerline goodness : 0.999308 with order 1 Centerline is valid? [True, True] Translation: X:509.85, Y:27.85, Z:18.59 [[ 9.95470745e-01 -8.77730737e-02 -3.65223644e-02 5.09845004e+02] [ 8.77577679e-02 9.96139786e-01 -2.02506686e-03 2.78485288e+01] [ 3.65591266e-02 -1.18922636e-03 9.99330784e-01 1.85915906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.799254154 meters Centerline goodness : 0.999434 with order 1 Centerline is valid? [True, True] Translation: X:509.91, Y:27.85, Z:18.59 [[ 9.94798391e-01 -9.50909215e-02 -3.65222891e-02 5.09905494e+02] [ 9.50804862e-02 9.95467526e-01 -2.02642301e-03 2.78490193e+01] [ 3.65494472e-02 -1.45667465e-03 9.99330784e-01 1.85945609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.859254154 meters Centerline goodness : 0.999437 with order 1 Centerline is valid? [True, True] Translation: X:509.97, Y:27.85, Z:18.60 [[ 9.93828114e-01 -1.04746370e-01 -3.65222891e-02 5.09966311e+02] [ 1.04742433e-01 9.94497318e-01 -2.02642301e-03 2.78482526e+01] [ 3.65335790e-02 -1.81151725e-03 9.99330784e-01 1.85958267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.919254154 meters Centerline goodness : 0.999373 with order 1 Centerline is valid? [True, True] Translation: X:510.03, Y:27.85, Z:18.60 [[ 9.92702469e-01 -1.14925749e-01 -3.65223262e-02 5.10027022e+02] [ 1.14928695e-01 9.93371678e-01 -2.02575448e-03 2.78486263e+01] [ 3.65130558e-02 -2.18649182e-03 9.99330784e-01 1.85978949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.979254154 meters Centerline goodness : 0.999353 with order 1 Centerline is valid? [True, True] Translation: X:510.09, Y:27.85, Z:18.60 [[ 9.92372833e-01 -1.17738174e-01 -3.65223626e-02 5.10088318e+02] [ 1.17743040e-01 9.93042031e-01 -2.02509724e-03 2.78523209e+01] [ 3.65066724e-02 -2.29060252e-03 9.99330784e-01 1.85996034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.039254154 meters Centerline goodness : 0.999165 with order 1 Centerline is valid? [True, True] Translation: X:510.15, Y:27.86, Z:18.60 [[ 9.92386045e-01 -1.17626737e-01 -3.65224345e-02 5.10150034e+02] [ 1.17631576e-01 9.93055244e-01 -2.02379985e-03 2.78575379e+01] [ 3.65068481e-02 -2.28780079e-03 9.99330784e-01 1.86020977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.099254154 meters Centerline goodness : 0.998743 with order 1 Centerline is valid? [True, True] Translation: X:510.21, Y:27.86, Z:18.60 [[ 9.93549942e-01 -1.07352755e-01 -3.65225847e-02 5.10212825e+02] [ 1.07350769e-01 9.94219155e-01 -2.02108560e-03 2.78560633e+01] [ 3.65284224e-02 -1.91267808e-03 9.99330784e-01 1.85967024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.159254154 meters Centerline goodness : 0.999016 with order 1 Centerline is valid? [True, True] Translation: X:510.27, Y:27.87, Z:18.61 [[ 9.93330019e-01 -1.09368933e-01 -3.65227381e-02 5.10272082e+02] [ 1.09368407e-01 9.93999234e-01 -2.01831077e-03 2.78699931e+01] [ 3.65243142e-02 -1.98958499e-03 9.99330784e-01 1.86050033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.219254154 meters Centerline goodness : 0.999225 with order 1 Centerline is valid? [True, True] Translation: X:510.33, Y:27.88, Z:18.61 [[ 9.93964002e-01 -1.03448731e-01 -3.65228999e-02 5.10333334e+02] [ 1.03444325e-01 9.94633204e-01 -2.01537833e-03 2.78795006e+01] [ 3.65353773e-02 -1.77487320e-03 9.99330784e-01 1.86083022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.279254154 meters Centerline goodness : 0.998824 with order 1 Centerline is valid? [True, True] Translation: X:510.39, Y:27.89, Z:18.61 [[ 9.94455316e-01 -9.86138536e-02 -3.65230501e-02 5.10394833e+02] [ 9.86062932e-02 9.95124489e-01 -2.01265333e-03 2.78857202e+01] [ 3.65434570e-02 -1.59990878e-03 9.99330784e-01 1.86097545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.339254154 meters Centerline goodness : 0.998868 with order 1 Centerline is valid? [True, True] Translation: X:510.46, Y:27.90, Z:18.62 [[ 9.95022384e-01 -9.27173740e-02 -3.65232004e-02 5.10456864e+02] [ 9.27059473e-02 9.95691502e-01 -2.00992054e-03 2.78952048e+01] [ 3.65521949e-02 -1.38600197e-03 9.99330784e-01 1.86153337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.399254154 meters Centerline goodness : 0.999077 with order 1 Centerline is valid? [True, True] Translation: X:510.52, Y:27.90, Z:18.62 [[ 9.95631653e-01 -8.59282043e-02 -3.65233492e-02 5.10517698e+02] [ 8.59123130e-02 9.96300680e-01 -2.00721360e-03 2.79043375e+01] [ 3.65607139e-02 -1.13936001e-03 9.99330784e-01 1.86181234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.459254154 meters Centerline goodness : 0.998910 with order 1 Centerline is valid? [True, True] Translation: X:510.58, Y:27.91, Z:18.62 [[ 9.95966892e-01 -8.19511231e-02 -3.65234587e-02 5.10578232e+02] [ 8.19326330e-02 9.96635853e-01 -2.00521906e-03 2.79113419e+01] [ 3.65649184e-02 -9.95331341e-04 9.99330784e-01 1.86208334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.519254154 meters Centerline goodness : 0.999119 with order 1 Centerline is valid? [True, True] Translation: X:510.64, Y:27.91, Z:18.62 [[ 9.96681823e-01 -7.27418384e-02 -3.65235306e-02 5.10639074e+02] [ 7.27172138e-02 9.97350586e-01 -2.00390961e-03 2.79141726e+01] [ 3.65725327e-02 -6.58629093e-04 9.99330784e-01 1.86205660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.579254154 meters Centerline goodness : 0.999031 with order 1 Centerline is valid? [True, True] Translation: X:510.70, Y:27.93, Z:18.63 [[ 9.96610647e-01 -7.37105625e-02 -3.65235685e-02 5.10698336e+02] [ 7.36866133e-02 9.97279434e-01 -2.00321854e-03 2.79258060e+01] [ 3.65718621e-02 -6.94869138e-04 9.99330784e-01 1.86260943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.639254154 meters Centerline goodness : 0.998884 with order 1 Centerline is valid? [True, True] Translation: X:510.76, Y:27.93, Z:18.63 [[ 9.96724214e-01 -7.21586435e-02 -3.65235685e-02 5.10758326e+02] [ 7.21336530e-02 9.97392963e-01 -2.00321854e-03 2.79308369e+01] [ 3.65728997e-02 -6.37921988e-04 9.99330784e-01 1.86283303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.699254154 meters Centerline goodness : 0.998946 with order 1 Centerline is valid? [True, True] Translation: X:510.82, Y:27.94, Z:18.63 [[ 9.96977812e-01 -6.85658175e-02 -3.65235685e-02 5.10818651e+02] [ 6.85384169e-02 9.97646467e-01 -2.00321854e-03 2.79373350e+01] [ 3.65749613e-02 -5.06103123e-04 9.99330784e-01 1.86306519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.759254154 meters Centerline goodness : 0.998903 with order 1 Centerline is valid? [True, True] Translation: X:510.88, Y:27.94, Z:18.63 [[ 9.97083127e-01 -6.70169203e-02 -3.65235685e-02 5.10878233e+02] [ 6.69884810e-02 9.97751738e-01 -2.00321854e-03 2.79421503e+01] [ 3.65757034e-02 -4.49282964e-04 9.99330784e-01 1.86310134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.81925415399996 meters Centerline goodness : 0.999006 with order 1 Centerline is valid? [True, True] Translation: X:510.94, Y:27.95, Z:18.63 [[ 9.97049927e-01 -6.75090516e-02 -3.65235762e-02 5.10938041e+02] [ 6.74809475e-02 9.97718552e-01 -2.00307694e-03 2.79468597e+01] [ 3.65754754e-02 -4.67477807e-04 9.99330784e-01 1.86347576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.87925415399997 meters Centerline goodness : 0.998839 with order 1 Centerline is valid? [True, True] Translation: X:511.00, Y:27.95, Z:18.64 [[ 9.96868243e-01 -7.01408581e-02 -3.65235059e-02 5.10997910e+02] [ 7.01144722e-02 9.97536938e-01 -2.00435878e-03 2.79504030e+01] [ 3.65741337e-02 -5.62744720e-04 9.99330784e-01 1.86361726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.93925415399997 meters Centerline goodness : 0.998732 with order 1 Centerline is valid? [True, True] Translation: X:511.06, Y:27.95, Z:18.63 [[ 9.97057585e-01 -6.73959276e-02 -3.65234364e-02 5.11058458e+02] [ 6.73676542e-02 9.97726203e-01 -2.00562406e-03 2.79463594e+01] [ 3.65755604e-02 -4.60775553e-04 9.99330784e-01 1.86323413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.99925415399997 meters Centerline goodness : 0.998989 with order 1 Centerline is valid? [True, True] Translation: X:511.12, Y:27.96, Z:18.64 [[ 9.96574515e-01 -7.41975363e-02 -3.65234364e-02 5.11117428e+02] [ 7.41738258e-02 9.97243311e-01 -2.00562406e-03 2.79564017e+01] [ 3.65715650e-02 -7.10329184e-04 9.99330784e-01 1.86386763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.059254154 meters Centerline goodness : 0.998798 with order 1 Centerline is valid? [True, True] Translation: X:511.18, Y:27.96, Z:18.64 [[ 9.96638146e-01 -7.33378991e-02 -3.65233988e-02 5.11178645e+02] [ 7.33135867e-02 9.97306920e-01 -2.00630804e-03 2.79599348e+01] [ 3.65721768e-02 -6.78098242e-04 9.99330784e-01 1.86411443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.119254154 meters Centerline goodness : 0.998820 with order 1 Centerline is valid? [True, True] Translation: X:511.24, Y:27.96, Z:18.64 [[ 9.96740768e-01 -7.19296754e-02 -3.65234730e-02 5.11239029e+02] [ 7.19044675e-02 9.97409509e-01 -2.00495749e-03 2.79629260e+01] [ 3.65730752e-02 -6.27778004e-04 9.99330784e-01 1.86423661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.179254154 meters Centerline goodness : 0.999032 with order 1 Centerline is valid? [True, True] Translation: X:511.30, Y:27.97, Z:18.65 [[ 9.97023899e-01 -6.78923989e-02 -3.65235094e-02 5.11298941e+02] [ 6.78645073e-02 9.97692534e-01 -2.00429329e-03 2.79666456e+01] [ 3.65753089e-02 -4.80321662e-04 9.99330784e-01 1.86459082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.239254154 meters Centerline goodness : 0.999159 with order 1 Centerline is valid? [True, True] Translation: X:511.36, Y:27.97, Z:18.65 [[ 9.97331000e-01 -6.32211179e-02 -3.65235094e-02 5.11358945e+02] [ 6.31900943e-02 9.97999496e-01 -2.00429329e-03 2.79703169e+01] [ 3.65771577e-02 -3.08980176e-04 9.99330784e-01 1.86489131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.299254154 meters Centerline goodness : 0.999222 with order 1 Centerline is valid? [True, True] Translation: X:511.42, Y:27.97, Z:18.65 [[ 9.97521813e-01 -6.01353912e-02 -3.65235094e-02 5.11417368e+02] [ 6.01022997e-02 9.98190211e-01 -2.00429329e-03 2.79727892e+01] [ 3.65779385e-02 -1.95820634e-04 9.99330784e-01 1.86505039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.359254154 meters Centerline goodness : 0.999286 with order 1 Centerline is valid? [True, True] Translation: X:511.48, Y:27.98, Z:18.65 [[ 9.97678405e-01 -5.74790671e-02 -3.65233687e-02 5.11475916e+02] [ 5.74441022e-02 9.98346707e-01 -2.00685428e-03 2.79751620e+01] [ 3.65783370e-02 -9.58569497e-05 9.99330784e-01 1.86528883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.419254154 meters Centerline goodness : 0.999308 with order 1 Centerline is valid? [True, True] Translation: X:511.53, Y:27.98, Z:18.66 [[ 9.97643968e-01 -5.80740334e-02 -3.65228558e-02 5.11533655e+02] [ 5.80391269e-02 9.98312273e-01 -2.01614467e-03 2.79774666e+01] [ 3.65783009e-02 -1.08360092e-04 9.99330784e-01 1.86552883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.479254154 meters Centerline goodness : 0.998993 with order 1 Centerline is valid? [True, True] Translation: X:511.59, Y:27.98, Z:18.66 [[ 9.97467013e-01 -6.10383671e-02 -3.65222759e-02 5.11593011e+02] [ 6.10050640e-02 9.98135399e-01 -2.02659629e-03 2.79776379e+01] [ 3.65778766e-02 -2.06580828e-04 9.99330784e-01 1.86565092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.539254154 meters Centerline goodness : 0.999015 with order 1 Centerline is valid? [True, True] Translation: X:511.65, Y:27.98, Z:18.66 [[ 9.97195200e-01 -6.53290994e-02 -3.65217933e-02 5.11651695e+02] [ 6.52983551e-02 9.97863709e-01 -2.03525606e-03 2.79773599e+01] [ 3.65767336e-02 -3.55265454e-04 9.99330784e-01 1.86585388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.599254154 meters Centerline goodness : 0.999392 with order 1 Centerline is valid? [True, True] Translation: X:511.71, Y:27.98, Z:18.66 [[ 9.96993195e-01 -6.83430069e-02 -3.65212712e-02 5.11710057e+02] [ 6.83139418e-02 9.97661779e-01 -2.04458272e-03 2.79781080e+01] [ 3.65756093e-02 -4.56476933e-04 9.99330784e-01 1.86599143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.659254154 meters Centerline goodness : 0.999162 with order 1 Centerline is valid? [True, True] Translation: X:511.77, Y:27.98, Z:18.66 [[ 9.96651532e-01 -7.31568785e-02 -3.65211611e-02 5.11768587e+02] [ 7.31309705e-02 9.97320246e-01 -2.04654661e-03 2.79776920e+01] [ 3.65730124e-02 -6.31134140e-04 9.99330784e-01 1.86624820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.719254154 meters Centerline goodness : 0.999079 with order 1 Centerline is valid? [True, True] Translation: X:511.83, Y:27.98, Z:18.67 [[ 9.96130605e-01 -7.99378335e-02 -3.65206783e-02 5.11827404e+02] [ 7.99161627e-02 9.96799470e-01 -2.05512618e-03 2.79772038e+01] [ 3.65680751e-02 -8.71418388e-04 9.99330784e-01 1.86662381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.779254154 meters Centerline goodness : 0.998953 with order 1 Centerline is valid? [True, True] Translation: X:511.89, Y:27.98, Z:18.67 [[ 9.95598873e-01 -8.63083513e-02 -3.65205669e-02 5.11886893e+02] [ 8.62908871e-02 9.96267861e-01 -2.05710441e-03 2.79767622e+01] [ 3.65618124e-02 -1.10334129e-03 9.99330784e-01 1.86693531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.839254154 meters Centerline goodness : 0.998893 with order 1 Centerline is valid? [True, True] Translation: X:511.95, Y:27.98, Z:18.67 [[ 9.95232183e-01 -9.04386556e-02 -3.65205606e-02 5.11948625e+02] [ 9.04239633e-02 9.95901237e-01 -2.05721551e-03 2.79773107e+01] [ 3.65569233e-02 -1.25492675e-03 9.99330784e-01 1.86716365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.899254154 meters Centerline goodness : 0.999121 with order 1 Centerline is valid? [True, True] Translation: X:512.01, Y:27.98, Z:18.67 [[ 9.94761786e-01 -9.54737230e-02 -3.65206319e-02 5.12008751e+02] [ 9.54624629e-02 9.95430907e-01 -2.05595012e-03 2.79773555e+01] [ 3.65500549e-02 -1.44116885e-03 9.99330784e-01 1.86726539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.959254154 meters Centerline goodness : 0.998912 with order 1 Centerline is valid? [True, True] Translation: X:512.07, Y:27.98, Z:18.67 [[ 9.94605774e-01 -9.70854700e-02 -3.65207477e-02 5.12069527e+02] [ 9.70753696e-02 9.95274914e-01 -2.05389074e-03 2.79792607e+01] [ 3.65475870e-02 -1.50245349e-03 9.99330784e-01 1.86745326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.019254154 meters Centerline goodness : 0.998914 with order 1 Centerline is valid? [True, True] Translation: X:512.13, Y:27.98, Z:18.68 [[ 9.94621795e-01 -9.69212074e-02 -3.65207477e-02 5.12129654e+02] [ 9.69109965e-02 9.95290932e-01 -2.05389074e-03 2.79816792e+01] [ 3.65478346e-02 -1.49641756e-03 9.99330784e-01 1.86772898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.079254154 meters Centerline goodness : 0.999039 with order 1 Centerline is valid? [True, True] Translation: X:512.19, Y:27.99, Z:18.68 [[ 9.94759826e-01 -9.54940988e-02 -3.65207477e-02 5.12189825e+02] [ 9.54829279e-02 9.95428949e-01 -2.05389074e-03 2.79855594e+01] [ 3.65499439e-02 -1.44397992e-03 9.99330784e-01 1.86798723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.139254154 meters Centerline goodness : 0.999122 with order 1 Centerline is valid? [True, True] Translation: X:512.25, Y:27.99, Z:18.68 [[ 9.95040421e-01 -9.25245663e-02 -3.65207477e-02 5.12249337e+02] [ 9.25113983e-02 9.95709507e-01 -2.05389074e-03 2.79900980e+01] [ 3.65540910e-02 -1.33488113e-03 9.99330784e-01 1.86808806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.199254154 meters Centerline goodness : 0.999038 with order 1 Centerline is valid? [True, True] Translation: X:512.31, Y:27.99, Z:18.69 [[ 9.95258851e-01 -9.01446465e-02 -3.65207150e-02 5.12310090e+02] [ 9.01298571e-02 9.95927903e-01 -2.05447119e-03 2.79943122e+01] [ 3.65571987e-02 -1.24687620e-03 9.99330784e-01 1.86864742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.259254154 meters Centerline goodness : 0.998997 with order 1 Centerline is valid? [True, True] Translation: X:512.37, Y:28.00, Z:18.69 [[ 9.95424503e-01 -8.82966100e-02 -3.65207904e-02 5.12372197e+02] [ 8.82806276e-02 9.96093527e-01 -2.05313007e-03 2.79980979e+01] [ 3.65594074e-02 -1.18034232e-03 9.99330784e-01 1.86893515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.31925415399996 meters Centerline goodness : 0.999185 with order 1 Centerline is valid? [True, True] Translation: X:512.43, Y:28.00, Z:18.69 [[ 9.95572084e-01 -8.66166587e-02 -3.65209445e-02 5.12432926e+02] [ 8.65996478e-02 9.96241084e-01 -2.05038568e-03 2.80025039e+01] [ 3.65612629e-02 -1.12139419e-03 9.99330784e-01 1.86881002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.37925415399997 meters Centerline goodness : 0.998934 with order 1 Centerline is valid? [True, True] Translation: X:512.49, Y:28.01, Z:18.70 [[ 9.95731322e-01 -8.47664628e-02 -3.65209823e-02 5.12493523e+02] [ 8.47482335e-02 9.96400289e-01 -2.04971246e-03 2.80067107e+01] [ 3.65632642e-02 -1.05412584e-03 9.99330784e-01 1.86950349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.43925415399997 meters Centerline goodness : 0.999185 with order 1 Centerline is valid? [True, True] Translation: X:512.56, Y:28.01, Z:18.70 [[ 9.95915217e-01 -8.25778000e-02 -3.65210569e-02 5.12555044e+02] [ 8.25581492e-02 9.96584144e-01 -2.04838252e-03 2.80107922e+01] [ 3.65654571e-02 -9.75095545e-04 9.99330784e-01 1.86980156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.49925415399997 meters Centerline goodness : 0.999100 with order 1 Centerline is valid? [True, True] Translation: X:512.61, Y:28.01, Z:18.70 [[ 9.95994654e-01 -8.16140654e-02 -3.65211319e-02 5.12614805e+02] [ 8.15938164e-02 9.96663563e-01 -2.04704398e-03 2.80147978e+01] [ 3.65663491e-02 -9.41053671e-04 9.99330784e-01 1.86976450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.559254154 meters Centerline goodness : 0.998832 with order 1 Centerline is valid? [True, True] Translation: X:512.67, Y:28.02, Z:18.70 [[ 9.96054394e-01 -8.08817521e-02 -3.65210495e-02 5.12672831e+02] [ 8.08609574e-02 9.96723286e-01 -2.04851249e-03 2.80184291e+01] [ 3.65670678e-02 -9.12697162e-04 9.99330784e-01 1.86999769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.619254154 meters Centerline goodness : 0.999039 with order 1 Centerline is valid? [True, True] Translation: X:512.73, Y:28.02, Z:18.70 [[ 9.95957118e-01 -8.20709531e-02 -3.65209258e-02 5.12733967e+02] [ 8.20508763e-02 9.96626032e-01 -2.05071547e-03 2.80229559e+01] [ 3.65660096e-02 -9.54149299e-04 9.99330784e-01 1.87040017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.679254154 meters Centerline goodness : 0.999226 with order 1 Centerline is valid? [True, True] Translation: X:512.79, Y:28.03, Z:18.71 [[ 9.96025208e-01 -8.12403866e-02 -3.65210036e-02 5.12794654e+02] [ 8.12198028e-02 9.96694107e-01 -2.04933028e-03 2.80264735e+01] [ 3.65667574e-02 -9.25044086e-04 9.99330784e-01 1.87055250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.739254154 meters Centerline goodness : 0.999100 with order 1 Centerline is valid? [True, True] Translation: X:512.85, Y:28.03, Z:18.71 [[ 9.96375205e-01 -7.68287939e-02 -3.65210406e-02 5.12854594e+02] [ 7.68052724e-02 9.97044008e-01 -2.04866979e-03 2.80296372e+01] [ 3.65704815e-02 -7.63764691e-04 9.99330784e-01 1.87059240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.799254154 meters Centerline goodness : 0.999121 with order 1 Centerline is valid? [True, True] Translation: X:512.91, Y:28.03, Z:18.71 [[ 9.96602548e-01 -7.38212364e-02 -3.65210406e-02 5.12914774e+02] [ 7.37956964e-02 9.97271276e-01 -2.04866979e-03 2.80347800e+01] [ 3.65726201e-02 -6.53386095e-04 9.99330784e-01 1.87106700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.859254154 meters Centerline goodness : 0.999124 with order 1 Centerline is valid? [True, True] Translation: X:512.97, Y:28.04, Z:18.71 [[ 9.96996543e-01 -6.82942617e-02 -3.65210406e-02 5.12974860e+02] [ 6.82650142e-02 9.97665120e-01 -2.04866979e-03 2.80391730e+01] [ 3.65756808e-02 -4.50592659e-04 9.99330784e-01 1.87141462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.919254154 meters Centerline goodness : 0.999246 with order 1 Centerline is valid? [True, True] Translation: X:513.03, Y:28.04, Z:18.72 [[ 9.97123381e-01 -6.64166960e-02 -3.65210406e-02 5.13034626e+02] [ 6.63861896e-02 9.97791901e-01 -2.04866979e-03 2.80411599e+01] [ 3.65764644e-02 -3.81716180e-04 9.99330784e-01 1.87156186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.979254154 meters Centerline goodness : 0.999080 with order 1 Centerline is valid? [True, True] Translation: X:513.09, Y:28.04, Z:18.72 [[ 9.97099827e-01 -6.67694131e-02 -3.65209652e-02 5.13094288e+02] [ 6.67390939e-02 9.97768355e-01 -2.05001315e-03 2.80439868e+01] [ 3.65763416e-02 -3.93308370e-04 9.99330784e-01 1.87185183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.039254154 meters Centerline goodness : 0.999036 with order 1 Centerline is valid? [True, True] Translation: X:513.15, Y:28.05, Z:18.72 [[ 9.97070830e-01 -6.72010801e-02 -3.65208885e-02 5.13153276e+02] [ 6.71710004e-02 9.97739369e-01 -2.05137908e-03 2.80461930e+01] [ 3.65761831e-02 -4.07774377e-04 9.99330784e-01 1.87193990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.099254154 meters Centerline goodness : 0.999077 with order 1 Centerline is valid? [True, True] Translation: X:513.21, Y:28.05, Z:18.72 [[ 9.97017912e-01 -6.79817358e-02 -3.65207749e-02 5.13212571e+02] [ 6.79521055e-02 9.97686471e-01 -2.05339909e-03 2.80481626e+01] [ 3.65758767e-02 -4.34387882e-04 9.99330784e-01 1.87220854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.159254154 meters Centerline goodness : 0.999141 with order 1 Centerline is valid? [True, True] Translation: X:513.27, Y:28.05, Z:18.72 [[ 9.97052632e-01 -6.74706473e-02 -3.65206992e-02 5.13270914e+02] [ 6.74406250e-02 9.97721174e-01 -2.05474433e-03 2.80490837e+01] [ 3.65761098e-02 -4.14290542e-04 9.99330784e-01 1.87240873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.219254154 meters Centerline goodness : 0.999225 with order 1 Centerline is valid? [True, True] Translation: X:513.33, Y:28.05, Z:18.72 [[ 9.97214131e-01 -6.50401889e-02 -3.65205509e-02 5.13329849e+02] [ 6.50084408e-02 9.97882593e-01 -2.05737666e-03 2.80515942e+01] [ 3.65770342e-02 -3.22498994e-04 9.99330784e-01 1.87247133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.279254154 meters Centerline goodness : 0.999183 with order 1 Centerline is valid? [True, True] Translation: X:513.39, Y:28.05, Z:18.73 [[ 9.97539130e-01 -5.98495573e-02 -3.65200705e-02 5.13388542e+02] [ 5.98140198e-02 9.98207401e-01 -2.06587043e-03 2.80541294e+01] [ 3.65782461e-02 -1.23625632e-04 9.99330784e-01 1.87289986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.339254154 meters Centerline goodness : 0.999310 with order 1 Centerline is valid? [True, True] Translation: X:513.45, Y:28.05, Z:18.73 [[ 9.98022765e-01 -5.11554896e-02 -3.65195413e-02 5.13446925e+02] [ 5.11137899e-02 9.98690680e-01 -2.07518368e-03 2.80539617e+01] [ 3.65778825e-02 2.04428394e-04 9.99330784e-01 1.87312916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.399254154 meters Centerline goodness : 0.999268 with order 1 Centerline is valid? [True, True] Translation: X:513.51, Y:28.06, Z:18.73 [[ 9.98066338e-01 -5.02985782e-02 -3.65190177e-02 5.13505468e+02] [ 5.02559694e-02 9.98734195e-01 -2.08435647e-03 2.80557583e+01] [ 3.65776319e-02 2.45027393e-04 9.99330784e-01 1.87343654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.459254154 meters Centerline goodness : 0.999143 with order 1 Centerline is valid? [True, True] Translation: X:513.56, Y:28.05, Z:18.74 [[ 9.98155181e-01 -4.85039743e-02 -3.65184758e-02 5.13563727e+02] [ 4.84598191e-02 9.98822938e-01 -2.09380742e-03 2.80542764e+01] [ 3.65770493e-02 3.20265995e-04 9.99330785e-01 1.87354055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.519254154 meters Centerline goodness : 0.999540 with order 1 Centerline is valid? [True, True] Translation: X:513.62, Y:28.05, Z:18.74 [[ 9.98113344e-01 -4.93578579e-02 -3.65178577e-02 5.13621783e+02] [ 4.93138815e-02 9.98781113e-01 -2.10453338e-03 2.80534346e+01] [ 3.65772218e-02 2.99725542e-04 9.99330785e-01 1.87362224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.579254154 meters Centerline goodness : 0.999373 with order 1 Centerline is valid? [True, True] Translation: X:513.68, Y:28.05, Z:18.74 [[ 9.97944934e-01 -5.26532886e-02 -3.65176678e-02 5.13680190e+02] [ 5.26113970e-02 9.98612837e-01 -2.10782261e-03 2.80500589e+01] [ 3.65779957e-02 1.82245371e-04 9.99330785e-01 1.87362440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.639254154 meters Centerline goodness : 0.999352 with order 1 Centerline is valid? [True, True] Translation: X:513.74, Y:28.05, Z:18.74 [[ 9.97766165e-01 -5.59388368e-02 -3.65174815e-02 5.13737575e+02] [ 5.58990267e-02 9.98434195e-01 -2.11104565e-03 2.80500459e+01] [ 3.65783917e-02 6.50382505e-05 9.99330785e-01 1.87388397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.699254154 meters Centerline goodness : 0.999352 with order 1 Centerline is valid? [True, True] Translation: X:513.80, Y:28.05, Z:18.74 [[ 9.97350984e-01 -6.29086746e-02 -3.65172981e-02 5.13796663e+02] [ 6.28734168e-02 9.98019270e-01 -2.11421287e-03 2.80470408e+01] [ 3.65779696e-02 -1.87355017e-04 9.99330785e-01 1.87433930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.759254154 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:513.86, Y:28.05, Z:18.75 [[ 9.96941969e-01 -6.90885923e-02 -3.65167892e-02 5.13855041e+02] [ 6.90571563e-02 9.97610446e-01 -2.12296738e-03 2.80457097e+01] [ 3.65762032e-02 -4.05270341e-04 9.99330785e-01 1.87466044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.81925415399996 meters Centerline goodness : 0.999561 with order 1 Centerline is valid? [True, True] Translation: X:513.91, Y:28.04, Z:18.75 [[ 9.96282037e-01 -7.80297430e-02 -3.65166099e-02 5.13913184e+02] [ 7.80041926e-02 9.96950764e-01 -2.12604639e-03 2.80418913e+01] [ 3.65711570e-02 -7.30306850e-04 9.99330785e-01 1.87502501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.87925415399997 meters Centerline goodness : 0.999414 with order 1 Centerline is valid? [True, True] Translation: X:513.97, Y:28.04, Z:18.75 [[ 9.95824633e-01 -8.36652748e-02 -3.65160398e-02 5.13970856e+02] [ 8.36431512e-02 9.96493483e-01 -2.13579325e-03 2.80410663e+01] [ 3.65666875e-02 -9.27441115e-04 9.99330785e-01 1.87527432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.93925415399997 meters Centerline goodness : 0.999289 with order 1 Centerline is valid? [True, True] Translation: X:514.03, Y:28.04, Z:18.75 [[ 9.95213365e-01 -9.06475788e-02 -3.65153973e-02 5.14029178e+02] [ 9.06297462e-02 9.95882343e-01 -2.14672324e-03 2.80376768e+01] [ 3.65596347e-02 -1.17293352e-03 9.99330785e-01 1.87528149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.99925415399997 meters Centerline goodness : 0.999394 with order 1 Centerline is valid? [True, True] Translation: X:514.09, Y:28.04, Z:18.76 [[ 9.94821099e-01 -9.48557884e-02 -3.65151997e-02 5.14088200e+02] [ 9.48406622e-02 9.95490144e-01 -2.15007862e-03 2.80373494e+01] [ 3.65544688e-02 -1.32418214e-03 9.99330785e-01 1.87551739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.059254154 meters Centerline goodness : 0.999498 with order 1 Centerline is valid? [True, True] Translation: X:514.15, Y:28.04, Z:18.76 [[ 9.94596856e-01 -9.71790837e-02 -3.65146419e-02 5.14146702e+02] [ 9.71651745e-02 9.95265927e-01 -2.15951086e-03 2.80378426e+01] [ 3.65516382e-02 -1.40010884e-03 9.99330785e-01 1.87573808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.119254154 meters Centerline goodness : 0.999561 with order 1 Centerline is valid? [True, True] Translation: X:514.20, Y:28.04, Z:18.76 [[ 9.94994534e-01 -9.30193450e-02 -3.65140820e-02 5.14204371e+02] [ 9.30022926e-02 9.95663532e-01 -2.16893627e-03 2.80400074e+01] [ 3.65574929e-02 -1.23781361e-03 9.99330785e-01 1.87596356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.179254154 meters Centerline goodness : 0.999624 with order 1 Centerline is valid? [True, True] Translation: X:514.26, Y:28.04, Z:18.76 [[ 9.95442590e-01 -8.80953208e-02 -3.65138852e-02 5.14261862e+02] [ 8.80748375e-02 9.96111492e-01 -2.17224369e-03 2.80436033e+01] [ 3.65632652e-02 -1.05361062e-03 9.99330785e-01 1.87619385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.239254154 meters Centerline goodness : 0.999582 with order 1 Centerline is valid? [True, True] Translation: X:514.32, Y:28.05, Z:18.76 [[ 9.96130756e-01 -7.99393483e-02 -3.65132479e-02 5.14319361e+02] [ 7.99129965e-02 9.96799452e-01 -2.18290454e-03 2.80482022e+01] [ 3.65708855e-02 -7.43424702e-04 9.99330785e-01 1.87635425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.299254154 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:514.38, Y:28.05, Z:18.77 [[ 9.96447024e-01 -7.58957010e-02 -3.65126074e-02 5.14376888e+02] [ 7.58662449e-02 9.97115591e-01 -2.19356528e-03 2.80523278e+01] [ 3.65737723e-02 -5.84302820e-04 9.99330785e-01 1.87662300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.359254154 meters Centerline goodness : 0.999582 with order 1 Centerline is valid? [True, True] Translation: X:514.43, Y:28.06, Z:18.77 [[ 9.96610213e-01 -7.37221763e-02 -3.65119658e-02 5.14434100e+02] [ 7.36908727e-02 9.97278696e-01 -2.20419343e-03 2.80554585e+01] [ 3.65751036e-02 -4.93876944e-04 9.99330785e-01 1.87685725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.419254154 meters Centerline goodness : 0.999478 with order 1 Centerline is valid? [True, True] Translation: X:514.49, Y:28.06, Z:18.77 [[ 9.96660395e-01 -7.30407624e-02 -3.65116899e-02 5.14491856e+02] [ 7.30088348e-02 9.97328848e-01 -2.20875387e-03 2.80575614e+01] [ 3.65754907e-02 -4.64298438e-04 9.99330785e-01 1.87701755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.479254154 meters Centerline goodness : 0.999562 with order 1 Centerline is valid? [True, True] Translation: X:514.55, Y:28.06, Z:18.77 [[ 9.96602868e-01 -7.38218479e-02 -3.65110575e-02 5.14548592e+02] [ 7.37900630e-02 9.97271328e-01 -2.21915965e-03 2.80594781e+01] [ 3.65752533e-02 -4.82532362e-04 9.99330785e-01 1.87728655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.539254154 meters Centerline goodness : 0.999667 with order 1 Centerline is valid? [True, True] Translation: X:514.61, Y:28.06, Z:18.78 [[ 9.96499977e-01 -7.51981992e-02 -3.65106252e-02 5.14606381e+02] [ 7.51670779e-02 9.97168468e-01 -2.22624863e-03 2.80611285e+01] [ 3.65746541e-02 -5.25940301e-04 9.99330785e-01 1.87755763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.599254154 meters Centerline goodness : 0.999604 with order 1 Centerline is valid? [True, True] Translation: X:514.66, Y:28.06, Z:18.78 [[ 9.96500937e-01 -7.51857781e-02 -3.65100105e-02 5.14664706e+02] [ 7.51542808e-02 9.97169410e-01 -2.23628556e-03 2.80633278e+01] [ 3.65748025e-02 -5.15422918e-04 9.99330785e-01 1.87767913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.659254154 meters Centerline goodness : 0.999521 with order 1 Centerline is valid? [True, True] Translation: X:514.72, Y:28.06, Z:18.78 [[ 9.96629401e-01 -7.34636055e-02 -3.65094017e-02 5.14723643e+02] [ 7.34305906e-02 9.97297801e-01 -2.24617956e-03 2.80636740e+01] [ 3.65757585e-02 -4.42298344e-04 9.99330785e-01 1.87780676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.719254154 meters Centerline goodness : 0.999604 with order 1 Centerline is valid? [True, True] Translation: X:514.78, Y:28.06, Z:18.78 [[ 9.96841808e-01 -7.05231537e-02 -3.65088371e-02 5.14781864e+02] [ 7.04878324e-02 9.97510090e-01 -2.25532053e-03 2.80646641e+01] [ 3.65769857e-02 -3.25230995e-04 9.99330785e-01 1.87829422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.779254154 meters Centerline goodness : 0.999562 with order 1 Centerline is valid? [True, True] Translation: X:514.84, Y:28.07, Z:18.79 [[ 9.97031833e-01 -6.77837963e-02 -3.65086372e-02 5.14838859e+02] [ 6.77465205e-02 9.97700009e-01 -2.25855150e-03 2.80671507e+01] [ 3.65777608e-02 -2.21485394e-04 9.99330785e-01 1.87859136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.839254154 meters Centerline goodness : 0.999521 with order 1 Centerline is valid? [True, True] Translation: X:514.90, Y:28.07, Z:18.79 [[ 9.97383941e-01 -6.23892144e-02 -3.65083615e-02 5.14897491e+02] [ 6.23481618e-02 9.98051895e-01 -2.26299873e-03 2.80677248e+01] [ 3.65784261e-02 -1.91506427e-05 9.99330785e-01 1.87870848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.899254154 meters Centerline goodness : 0.999604 with order 1 Centerline is valid? [True, True] Translation: X:514.96, Y:28.07, Z:18.79 [[ 9.97595112e-01 -5.89166717e-02 -3.65077799e-02 5.14955176e+02] [ 5.88729520e-02 9.98262897e-01 -2.27234358e-03 2.80695534e+01] [ 3.65782410e-02 1.17558080e-04 9.99330785e-01 1.87905252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.959254154 meters Centerline goodness : 0.999561 with order 1 Centerline is valid? [True, True] Translation: X:515.01, Y:28.07, Z:18.79 [[ 9.97842621e-01 -5.45649617e-02 -3.65071142e-02 5.15013028e+02] [ 5.45179403e-02 9.98510181e-01 -2.28298781e-03 2.80692663e+01] [ 3.65772964e-02 2.87769866e-04 9.99330785e-01 1.87931231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.019254154 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:515.07, Y:28.07, Z:18.80 [[ 9.97828065e-01 -5.48309261e-02 -3.65064561e-02 5.15072287e+02] [ 5.47836994e-02 9.98495612e-01 -2.29346352e-03 2.80688493e+01] [ 3.65772890e-02 2.88523543e-04 9.99330785e-01 1.87954475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.079254154 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:515.13, Y:28.07, Z:18.80 [[ 9.97645138e-01 -5.80646127e-02 -3.65058874e-02 5.15130096e+02] [ 5.80192199e-02 9.98312811e-01 -2.30248062e-03 2.80684925e+01] [ 3.65779877e-02 1.79015488e-04 9.99330785e-01 1.87977934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.139254154 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:515.19, Y:28.07, Z:18.80 [[ 9.97247695e-01 -6.45321893e-02 -3.65052270e-02 5.15188463e+02] [ 6.44907451e-02 9.97915625e-01 -2.31290411e-03 2.80655552e+01] [ 3.65783932e-02 -4.77109940e-05 9.99330786e-01 1.87990113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.199254154 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:515.25, Y:28.07, Z:18.80 [[ 9.96925064e-01 -6.93382937e-02 -3.65050245e-02 5.15246688e+02] [ 6.92999527e-02 9.97593180e-01 -2.31609563e-03 2.80653865e+01] [ 3.65777576e-02 -2.20822684e-04 9.99330786e-01 1.88027192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.259254154 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:515.30, Y:28.06, Z:18.80 [[ 9.96366507e-01 -7.69494439e-02 -3.65043466e-02 5.15304580e+02] [ 7.69158166e-02 9.97034876e-01 -2.32673092e-03 2.80628156e+01] [ 3.65751474e-02 -4.89484874e-04 9.99330786e-01 1.88045313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.31925415399996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.36, Y:28.06, Z:18.81 [[ 9.95885846e-01 -8.29389205e-02 -3.65036545e-02 5.15363345e+02] [ 8.29089164e-02 9.96554388e-01 -2.33753955e-03 2.80631725e+01] [ 3.65717501e-02 -6.98555883e-04 9.99330786e-01 1.88090991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.37925415399997 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:515.42, Y:28.06, Z:18.81 [[ 9.94979187e-01 -9.31876842e-02 -3.65030547e-02 5.15421455e+02] [ 9.31642227e-02 9.95647990e-01 -2.34686802e-03 2.80622224e+01] [ 3.65628923e-02 -1.06569389e-03 9.99330786e-01 1.88092768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.43925415399997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.48, Y:28.06, Z:18.81 [[ 9.93613781e-01 -1.06767181e-01 -3.65023631e-02 5.15479462e+02] [ 1.06752463e-01 9.94282834e-01 -2.35757717e-03 2.80626041e+01] [ 3.65453849e-02 -1.55419599e-03 9.99330786e-01 1.88134696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.49925415399997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.54, Y:28.06, Z:18.82 [[ 9.92514384e-01 -1.16545386e-01 -3.65016575e-02 5.15537881e+02] [ 1.16536857e-01 9.93183544e-01 -2.36845077e-03 2.80645481e+01] [ 3.65288776e-02 -1.90306699e-03 9.99330786e-01 1.88152887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.559254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.60, Y:28.07, Z:18.82 [[ 9.90973627e-01 -1.28992044e-01 -3.65009950e-02 5.15595737e+02] [ 1.28991541e-01 9.91642841e-01 -2.37861775e-03 2.80693145e+01] [ 3.65027731e-02 -2.35117214e-03 9.99330786e-01 1.88184695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.619254154 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:515.65, Y:28.08, Z:18.82 [[ 9.90123153e-01 -1.35365693e-01 -3.65002748e-02 5.15652604e+02] [ 1.35369093e-01 9.90792359e-01 -2.38961890e-03 2.80767677e+01] [ 3.64876658e-02 -2.57499207e-03 9.99330786e-01 1.88191389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.679254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:515.71, Y:28.09, Z:18.82 [[ 9.90057673e-01 -1.35843867e-01 -3.64999641e-02 5.15710274e+02] [ 1.35847416e-01 9.90726878e-01 -2.39435453e-03 2.80851111e+01] [ 3.64867539e-02 -2.58787673e-03 9.99330786e-01 1.88227697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.739254154 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:515.77, Y:28.10, Z:18.82 [[ 9.90586785e-01 -1.31930384e-01 -3.64992466e-02 5.15767429e+02] [ 1.31930889e-01 9.91255999e-01 -2.40524289e-03 2.80969641e+01] [ 3.64974218e-02 -2.43277621e-03 9.99330786e-01 1.88248524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.799254154 meters Centerline goodness : 0.999728 with order 1 Centerline is valid? [True, True] Translation: X:515.82, Y:28.11, Z:18.83 [[ 9.91116544e-01 -1.27890004e-01 -3.64985263e-02 5.15824379e+02] [ 1.27887381e-01 9.91785753e-01 -2.41612406e-03 2.81071533e+01] [ 3.65077165e-02 -2.27304040e-03 9.99330786e-01 1.88277548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.859254154 meters Centerline goodness : 0.999624 with order 1 Centerline is valid? [True, True] Translation: X:515.88, Y:28.12, Z:18.83 [[ 9.91898474e-01 -1.21677142e-01 -3.64978033e-02 5.15881903e+02] [ 1.21669926e-01 9.92567649e-01 -2.42699652e-03 2.81204082e+01] [ 3.65218488e-02 -2.03335090e-03 9.99330786e-01 1.88289640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.919254154 meters Centerline goodness : 0.999583 with order 1 Centerline is valid? [True, True] Translation: X:515.94, Y:28.13, Z:18.83 [[ 9.92251616e-01 -1.18763063e-01 -3.64974780e-02 5.15940003e+02] [ 1.18753703e-01 9.92920764e-01 -2.43187878e-03 2.81309283e+01] [ 3.65279211e-02 -1.92117500e-03 9.99330786e-01 1.88309655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.979254154 meters Centerline goodness : 0.999582 with order 1 Centerline is valid? [True, True] Translation: X:516.00, Y:28.14, Z:18.83 [[ 9.92624546e-01 -1.15604892e-01 -3.64968544e-02 5.15999434e+02] [ 1.15593061e-01 9.93293655e-01 -2.44120136e-03 2.81435330e+01] [ 3.65343087e-02 -1.79558672e-03 9.99330786e-01 1.88317301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.039254154 meters Centerline goodness : 0.999500 with order 1 Centerline is valid? [True, True] Translation: X:516.06, Y:28.15, Z:18.84 [[ 9.92611882e-01 -1.15713601e-01 -3.64967639e-02 5.16058818e+02] [ 1.15701793e-01 9.93280992e-01 -2.44255405e-03 2.81535841e+01] [ 3.65341786e-02 -1.79823285e-03 9.99330786e-01 1.88352385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.099254154 meters Centerline goodness : 0.999269 with order 1 Centerline is valid? [True, True] Translation: X:516.12, Y:28.17, Z:18.84 [[ 9.92515224e-01 -1.16539789e-01 -3.64966747e-02 5.16118315e+02] [ 1.16528490e-01 9.93184343e-01 -2.44388602e-03 2.81654135e+01] [ 3.65327358e-02 -1.82730830e-03 9.99330786e-01 1.88358151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.159254154 meters Centerline goodness : 0.999396 with order 1 Centerline is valid? [True, True] Translation: X:516.18, Y:28.18, Z:18.84 [[ 9.92331341e-01 -1.18095336e-01 -3.64965860e-02 5.16178033e+02] [ 1.18085037e-01 9.93000476e-01 -2.44520933e-03 2.81750882e+01] [ 3.65298951e-02 -1.88324286e-03 9.99330786e-01 1.88406695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.219254154 meters Centerline goodness : 0.999562 with order 1 Centerline is valid? [True, True] Translation: X:516.24, Y:28.19, Z:18.84 [[ 9.92075597e-01 -1.20224824e-01 -3.64965860e-02 5.16237101e+02] [ 1.20215961e-01 9.92744753e-01 -2.44520933e-03 2.81867841e+01] [ 3.65257691e-02 -1.96163966e-03 9.99330786e-01 1.88405740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.279254154 meters Centerline goodness : 0.999335 with order 1 Centerline is valid? [True, True] Translation: X:516.30, Y:28.19, Z:18.85 [[ 9.91590640e-01 -1.24161210e-01 -3.64965399e-02 5.16297286e+02] [ 1.24154978e-01 9.92259824e-01 -2.44589716e-03 2.81948816e+01] [ 3.65177359e-02 -2.10589837e-03 9.99330786e-01 1.88504143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.339254154 meters Centerline goodness : 0.999312 with order 1 Centerline is valid? [True, True] Translation: X:516.36, Y:28.20, Z:18.85 [[ 9.91080332e-01 -1.28170869e-01 -3.64966406e-02 5.16358549e+02] [ 1.28167398e-01 9.91749536e-01 -2.44439493e-03 2.82034191e+01] [ 3.65088266e-02 -2.25508772e-03 9.99330786e-01 1.88483582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.399254154 meters Centerline goodness : 0.998935 with order 1 Centerline is valid? [True, True] Translation: X:516.42, Y:28.21, Z:18.85 [[ 9.90768675e-01 -1.30558105e-01 -3.64967797e-02 5.16420063e+02] [ 1.30556322e-01 9.91437886e-01 -2.44231630e-03 2.82088467e+01] [ 3.65031543e-02 -2.34511485e-03 9.99330786e-01 1.88497639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.459254154 meters Centerline goodness : 0.999228 with order 1 Centerline is valid? [True, True] Translation: X:516.48, Y:28.22, Z:18.85 [[ 9.90069468e-01 -1.35758711e-01 -3.64968662e-02 5.16481112e+02] [ 1.35760490e-01 9.90738679e-01 -2.44102265e-03 2.82227489e+01] [ 3.64902471e-02 -2.53805044e-03 9.99330786e-01 1.88527319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.519254154 meters Centerline goodness : 0.999229 with order 1 Centerline is valid? [True, True] Translation: X:516.54, Y:28.23, Z:18.85 [[ 9.90433609e-01 -1.33076042e-01 -3.64970358e-02 5.16541936e+02] [ 1.33076102e-01 9.91102823e-01 -2.43848424e-03 2.82287212e+01] [ 3.64968190e-02 -2.44172651e-03 9.99330786e-01 1.88527942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.579254154 meters Centerline goodness : 0.999269 with order 1 Centerline is valid? [True, True] Translation: X:516.60, Y:28.24, Z:18.86 [[ 9.90303726e-01 -1.34039129e-01 -3.64971623e-02 5.16603354e+02] [ 1.34039909e-01 9.90972939e-01 -2.43658937e-03 2.82447529e+01] [ 3.64942985e-02 -2.47911278e-03 9.99330786e-01 1.88575001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.639254154 meters Centerline goodness : 0.999105 with order 1 Centerline is valid? [True, True] Translation: X:516.66, Y:28.25, Z:18.86 [[ 9.90565429e-01 -1.32091162e-01 -3.64973414e-02 5.16664571e+02] [ 1.32090724e-01 9.91234643e-01 -2.43390367e-03 2.82533783e+01] [ 3.64989263e-02 -2.41001941e-03 9.99330786e-01 1.88594305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.699254154 meters Centerline goodness : 0.999228 with order 1 Centerline is valid? [True, True] Translation: X:516.73, Y:28.26, Z:18.86 [[ 9.91149570e-01 -1.27634094e-01 -3.64975185e-02 5.16726193e+02] [ 1.27630744e-01 9.91818775e-01 -2.43124494e-03 2.82635190e+01] [ 3.65092338e-02 -2.24847806e-03 9.99330786e-01 1.88623433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.759254154 meters Centerline goodness : 0.998974 with order 1 Centerline is valid? [True, True] Translation: X:516.79, Y:28.27, Z:18.86 [[ 9.91644612e-01 -1.23729070e-01 -3.64976940e-02 5.16788324e+02] [ 1.23723180e-01 9.92313799e-01 -2.42860707e-03 2.82718052e+01] [ 3.65176547e-02 -2.10729565e-03 9.99330786e-01 1.88646773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.81925415399996 meters Centerline goodness : 0.999017 with order 1 Centerline is valid? [True, True] Translation: X:516.85, Y:28.28, Z:18.87 [[ 9.92476805e-01 -1.16866148e-01 -3.64978677e-02 5.16849432e+02] [ 1.16855725e-01 9.93145938e-01 -2.42599471e-03 2.82821206e+01] [ 3.65312257e-02 -1.85724132e-03 9.99330786e-01 1.88675881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.87925415399997 meters Centerline goodness : 0.998890 with order 1 Centerline is valid? [True, True] Translation: X:516.91, Y:28.29, Z:18.88 [[ 9.93121662e-01 -1.11253118e-01 -3.64980488e-02 5.16909633e+02] [ 1.11239012e-01 9.93790727e-01 -2.42326650e-03 2.82900131e+01] [ 3.65410184e-02 -1.65340843e-03 9.99330786e-01 1.88771645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.93925415399997 meters Centerline goodness : 0.999078 with order 1 Centerline is valid? [True, True] Translation: X:516.97, Y:28.30, Z:18.88 [[ 9.94110088e-01 -1.02044219e-01 -3.64980964e-02 5.16971551e+02] [ 1.02023939e-01 9.94778994e-01 -2.42254986e-03 2.83007639e+01] [ 3.65547468e-02 -1.31539830e-03 9.99330786e-01 1.88817432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.99925415399997 meters Centerline goodness : 0.998951 with order 1 Centerline is valid? [True, True] Translation: X:517.03, Y:28.31, Z:18.87 [[ 9.94940527e-01 -9.36013877e-02 -3.64983235e-02 5.17031871e+02] [ 9.35755557e-02 9.95609242e-01 -2.41912349e-03 2.83068741e+01] [ 3.65645015e-02 -1.00846690e-03 9.99330786e-01 1.88744245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.059254154 meters Centerline goodness : 0.998804 with order 1 Centerline is valid? [True, True] Translation: X:517.09, Y:28.31, Z:18.88 [[ 9.95686323e-01 -8.53031040e-02 -3.64983226e-02 5.17094031e+02] [ 8.52716972e-02 9.96354799e-01 -2.41913723e-03 2.83146076e+01] [ 3.65716387e-02 -7.03572054e-04 9.99330786e-01 1.88781244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.119254154 meters Centerline goodness : 0.998972 with order 1 Centerline is valid? [True, True] Translation: X:517.16, Y:28.32, Z:18.88 [[ 9.96015467e-01 -8.13698300e-02 -3.64984988e-02 5.17155079e+02] [ 8.13358807e-02 9.96683819e-01 -2.41647502e-03 2.83195297e+01] [ 3.65740913e-02 -5.61791046e-04 9.99330786e-01 1.88783726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.179254154 meters Centerline goodness : 0.998951 with order 1 Centerline is valid? [True, True] Translation: X:517.22, Y:28.32, Z:18.88 [[ 9.95974601e-01 -8.18684581e-02 -3.64986286e-02 5.17216793e+02] [ 8.18349154e-02 9.96642974e-01 -2.41451267e-03 2.83245492e+01] [ 3.65737742e-02 -5.82068887e-04 9.99330786e-01 1.88825844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.239254154 meters Centerline goodness : 0.999162 with order 1 Centerline is valid? [True, True] Translation: X:517.28, Y:28.33, Z:18.88 [[ 9.95473315e-01 -8.77537247e-02 -3.64988035e-02 5.17277605e+02] [ 8.77242299e-02 9.96141879e-01 -2.41186631e-03 2.83263678e+01] [ 3.65696369e-02 -8.00880876e-04 9.99330786e-01 1.88848479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.299254154 meters Centerline goodness : 0.998996 with order 1 Centerline is valid? [True, True] Translation: X:517.34, Y:28.33, Z:18.89 [[ 9.94876840e-01 -9.42756830e-02 -3.64988892e-02 5.17339737e+02] [ 9.42506178e-02 9.95545584e-01 -2.41056908e-03 2.83274110e+01] [ 3.65635660e-02 -1.04182351e-03 9.99330786e-01 1.88882775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.359254154 meters Centerline goodness : 0.996889 with order 1 Centerline is valid? [True, True] Translation: X:517.40, Y:28.33, Z:18.89 [[ 9.93704779e-01 -1.05918036e-01 -3.64990702e-02 5.17400004e+02] [ 1.05900903e-01 9.94373773e-01 -2.40782544e-03 2.83276301e+01] [ 3.65487503e-02 -1.47261684e-03 9.99330786e-01 1.88858275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.419254154 meters Centerline goodness : 0.998833 with order 1 Centerline is valid? [True, True] Translation: X:517.46, Y:28.33, Z:18.89 [[ 9.92959545e-01 -1.12690532e-01 -3.64991222e-02 5.17461678e+02] [ 1.12677990e-01 9.93628641e-01 -2.40703636e-03 2.83283774e+01] [ 3.65378234e-02 -1.72255799e-03 9.99330786e-01 1.88920258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.479254154 meters Centerline goodness : 0.998936 with order 1 Centerline is valid? [True, True] Translation: X:517.52, Y:28.33, Z:18.90 [[ 9.92227887e-01 -1.18960611e-01 -3.64992289e-02 5.17524395e+02] [ 1.18952355e-01 9.92897050e-01 -2.40541782e-03 2.83273763e+01] [ 3.65261266e-02 -1.95494660e-03 9.99330786e-01 1.88960655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.539254154 meters Centerline goodness : 0.998643 with order 1 Centerline is valid? [True, True] Translation: X:517.59, Y:28.33, Z:18.90 [[ 9.91840944e-01 -1.22144732e-01 -3.64994100e-02 5.17586064e+02] [ 1.22138724e-01 9.92510131e-01 -2.40266716e-03 2.83299982e+01] [ 3.65195073e-02 -2.07492771e-03 9.99330786e-01 1.88987727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.5992541539999 meters Centerline goodness : 0.998916 with order 1 Centerline is valid? [True, True] Translation: X:517.65, Y:28.33, Z:18.90 [[ 9.91407230e-01 -1.25616419e-01 -3.64995925e-02 5.17647621e+02] [ 1.25612857e-01 9.92076434e-01 -2.39989007e-03 2.83327093e+01] [ 3.65118512e-02 -2.20554973e-03 9.99330786e-01 1.88983311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.659254154 meters Centerline goodness : 0.999125 with order 1 Centerline is valid? [True, True] Translation: X:517.71, Y:28.34, Z:18.90 [[ 9.91051377e-01 -1.28393682e-01 -3.64997274e-02 5.17709951e+02] [ 1.28392069e-01 9.91720589e-01 -2.39783804e-03 2.83352323e+01] [ 3.65053984e-02 -2.30989483e-03 9.99330786e-01 1.88998214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.7192541539999 meters Centerline goodness : 0.998916 with order 1 Centerline is valid? [True, True] Translation: X:517.77, Y:28.34, Z:18.90 [[ 9.90797647e-01 -1.30337177e-01 -3.64998976e-02 5.17771365e+02] [ 1.30336972e-01 9.91466861e-01 -2.39524406e-03 2.83386625e+01] [ 3.65006282e-02 -2.38408395e-03 9.99330786e-01 1.89011396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.779254154 meters Centerline goodness : 0.998855 with order 1 Centerline is valid? [True, True] Translation: X:517.83, Y:28.34, Z:18.90 [[ 9.90486232e-01 -1.32682931e-01 -3.65001821e-02 5.17833954e+02] [ 1.32684470e-01 9.91155444e-01 -2.39090002e-03 2.83420636e+01] [ 3.64945859e-02 -2.47485377e-03 9.99330786e-01 1.89023902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.839254154 meters Centerline goodness : 0.998708 with order 1 Centerline is valid? [True, True] Translation: X:517.90, Y:28.35, Z:18.90 [[ 9.90397513e-01 -1.33343492e-01 -3.65003956e-02 5.17895609e+02] [ 1.33345598e-01 9.91066724e-01 -2.38763715e-03 2.83467914e+01] [ 3.64927033e-02 -2.50245717e-03 9.99330786e-01 1.89038791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.899254154 meters Centerline goodness : 0.998873 with order 1 Centerline is valid? [True, True] Translation: X:517.96, Y:28.35, Z:18.90 [[ 9.90806762e-01 -1.30267686e-01 -3.65005644e-02 5.17957852e+02] [ 1.30267808e-01 9.91475975e-01 -2.38505284e-03 2.83506446e+01] [ 3.65001280e-02 -2.39172205e-03 9.99330786e-01 1.89042885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.959254154 meters Centerline goodness : 0.998812 with order 1 Centerline is valid? [True, True] Translation: X:518.02, Y:28.36, Z:18.91 [[ 9.91048104e-01 -1.28418655e-01 -3.65007380e-02 5.18019350e+02] [ 1.28417626e-01 9.91717317e-01 -2.38239304e-03 2.83609465e+01] [ 3.65043577e-02 -2.32627203e-03 9.99330786e-01 1.89122242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.019254154 meters Centerline goodness : 0.998703 with order 1 Centerline is valid? [True, True] Translation: X:518.08, Y:28.37, Z:18.92 [[ 9.91484587e-01 -1.25003991e-01 -3.65009146e-02 5.18081071e+02] [ 1.25000756e-01 9.92153793e-01 -2.37968424e-03 2.83677573e+01] [ 3.65119909e-02 -2.20322169e-03 9.99330786e-01 1.89165041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.079254154 meters Centerline goodness : 0.998954 with order 1 Centerline is valid? [True, True] Translation: X:518.14, Y:28.37, Z:18.92 [[ 9.91824110e-01 -1.22280848e-01 -3.65010940e-02 5.18142633e+02] [ 1.22275876e-01 9.92493305e-01 -2.37692949e-03 2.83739305e+01] [ 3.65177444e-02 -2.10570728e-03 9.99330786e-01 1.89193814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.139254154 meters Centerline goodness : 0.998893 with order 1 Centerline is valid? [True, True] Translation: X:518.21, Y:28.38, Z:18.92 [[ 9.92180228e-01 -1.19356832e-01 -3.65012701e-02 5.18205221e+02] [ 1.19349987e-01 9.92849406e-01 -2.37422184e-03 2.83809892e+01] [ 3.65236440e-02 -2.00077016e-03 9.99330786e-01 1.89217042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.199254154 meters Centerline goodness : 0.998869 with order 1 Centerline is valid? [True, True] Translation: X:518.27, Y:28.39, Z:18.92 [[ 9.92303984e-01 -1.18323463e-01 -3.65015338e-02 5.18266343e+02] [ 1.18316070e-01 9.92973157e-01 -2.37016136e-03 2.83873361e+01] [ 3.65254889e-02 -1.96679747e-03 9.99330786e-01 1.89219162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.259254154 meters Centerline goodness : 0.999098 with order 1 Centerline is valid? [True, True] Translation: X:518.33, Y:28.39, Z:18.92 [[ 9.92538592e-01 -1.16339039e-01 -3.65016633e-02 5.18328783e+02] [ 1.16330381e-01 9.93207750e-01 -2.36816609e-03 2.83932012e+01] [ 3.65292450e-02 -1.89575618e-03 9.99330786e-01 1.89236881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.319254154 meters Centerline goodness : 0.998931 with order 1 Centerline is valid? [True, True] Translation: X:518.39, Y:28.40, Z:18.93 [[ 9.93252624e-01 -1.10076512e-01 -3.65018701e-02 5.18391377e+02] [ 1.10063752e-01 9.93921716e-01 -2.36497414e-03 2.84003295e+01] [ 3.65403294e-02 -1.66851599e-03 9.99330786e-01 1.89279768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.379254154 meters Centerline goodness : 0.998971 with order 1 Centerline is valid? [True, True] Translation: X:518.45, Y:28.41, Z:18.93 [[ 9.94009231e-01 -1.03020599e-01 -3.65021329e-02 5.18452719e+02] [ 1.03003236e-01 9.94678219e-01 -2.36091008e-03 2.84070347e+01] [ 3.65510989e-02 -1.41307140e-03 9.99330786e-01 1.89312982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.439254154 meters Centerline goodness : 0.999096 with order 1 Centerline is valid? [True, True] Translation: X:518.51, Y:28.41, Z:18.93 [[ 9.95237205e-01 -9.03907437e-02 -3.65023055e-02 5.18513779e+02] [ 9.03649858e-02 9.95905923e-01 -2.35823872e-03 2.84145452e+01] [ 3.65660252e-02 -9.51523405e-04 9.99330786e-01 1.89340383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.499254154 meters Centerline goodness : 0.999119 with order 1 Centerline is valid? [True, True] Translation: X:518.58, Y:28.42, Z:18.94 [[ 9.95913763e-01 -8.26035643e-02 -3.65024329e-02 5.18575909e+02] [ 8.25726489e-02 9.96582262e-01 -2.35626559e-03 2.84194357e+01] [ 3.65723131e-02 -6.67465249e-04 9.99330786e-01 1.89362137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.559254154 meters Centerline goodness : 0.999179 with order 1 Centerline is valid? [True, True] Translation: X:518.64, Y:28.42, Z:18.94 [[ 9.96531955e-01 -7.47771614e-02 -3.65025984e-02 5.18637698e+02] [ 7.47410893e-02 9.97200195e-01 -2.35369847e-03 2.84220570e+01] [ 3.65764012e-02 -3.82708227e-04 9.99330786e-01 1.89396311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.619254154 meters Centerline goodness : 0.999328 with order 1 Centerline is valid? [True, True] Translation: X:518.70, Y:28.42, Z:18.94 [[ 9.96695095e-01 -7.25702043e-02 -3.65027720e-02 5.18698627e+02] [ 7.25327512e-02 9.97363260e-01 -2.35100334e-03 2.84239262e+01] [ 3.65771365e-02 -3.04412986e-04 9.99330786e-01 1.89408930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.679254154 meters Centerline goodness : 0.999308 with order 1 Centerline is valid? [True, True] Translation: X:518.76, Y:28.42, Z:18.94 [[ 9.96792225e-01 -7.12235973e-02 -3.65028570e-02 5.18759727e+02] [ 7.11852899e-02 9.97460342e-01 -2.34968323e-03 2.84234543e+01] [ 3.65775051e-02 -2.56320480e-04 9.99330786e-01 1.89440593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.739254154 meters Centerline goodness : 0.999309 with order 1 Centerline is valid? [True, True] Translation: X:518.82, Y:28.42, Z:18.95 [[ 9.96812447e-01 -7.09399816e-02 -3.65029433e-02 5.18820806e+02] [ 7.09015332e-02 9.97480555e-01 -2.34834088e-03 2.84233932e+01] [ 3.65775674e-02 -2.47259227e-04 9.99330786e-01 1.89464107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.799254154 meters Centerline goodness : 0.999019 with order 1 Centerline is valid? [True, True] Translation: X:518.88, Y:28.42, Z:18.95 [[ 9.96845380e-01 -7.04756504e-02 -3.65030296e-02 5.18881427e+02] [ 7.04369400e-02 9.97513473e-01 -2.34699867e-03 2.84220567e+01] [ 3.65776701e-02 -2.31566923e-04 9.99330786e-01 1.89497656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.859254154 meters Centerline goodness : 0.999288 with order 1 Centerline is valid? [True, True] Translation: X:518.94, Y:28.42, Z:18.95 [[ 9.96885662e-01 -6.99035448e-02 -3.65030296e-02 5.18941477e+02] [ 6.98644510e-02 9.97553733e-01 -2.34699867e-03 2.84223783e+01] [ 3.65777970e-02 -2.10574796e-04 9.99330786e-01 1.89532622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.919254154 meters Centerline goodness : 0.998893 with order 1 Centerline is valid? [True, True] Translation: X:519.00, Y:28.42, Z:18.96 [[ 9.96950571e-01 -6.89716469e-02 -3.65030296e-02 5.19001495e+02] [ 6.89319286e-02 9.97618605e-01 -2.34699867e-03 2.84196915e+01] [ 3.65779778e-02 -1.76382564e-04 9.99330786e-01 1.89555509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.979254154 meters Centerline goodness : 0.999289 with order 1 Centerline is valid? [True, True] Translation: X:519.06, Y:28.42, Z:18.96 [[ 9.97072363e-01 -6.71880771e-02 -3.65029440e-02 5.19060625e+02] [ 6.71471151e-02 9.97740322e-01 -2.34832958e-03 2.84163006e+01] [ 3.65782389e-02 -1.09612855e-04 9.99330786e-01 1.89570003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.039254154 meters Centerline goodness : 0.999372 with order 1 Centerline is valid? [True, True] Translation: X:519.12, Y:28.42, Z:18.96 [[ 9.97140026e-01 -6.61763754e-02 -3.65028176e-02 5.19119533e+02] [ 6.61346638e-02 9.97807939e-01 -2.35029249e-03 2.84156056e+01] [ 3.65783350e-02 -7.05308604e-05 9.99330786e-01 1.89578387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.0992541539999 meters Centerline goodness : 0.999310 with order 1 Centerline is valid? [True, True] Translation: X:519.18, Y:28.41, Z:18.96 [[ 9.97250702e-01 -6.44873869e-02 -3.65022421e-02 5.19178185e+02] [ 6.44442182e-02 9.97918522e-01 -2.35919677e-03 2.84124376e+01] [ 3.65784019e-02 3.52177716e-07 9.99330786e-01 1.89610806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.159254154 meters Centerline goodness : 0.999058 with order 1 Centerline is valid? [True, True] Translation: X:519.24, Y:28.41, Z:18.96 [[ 9.97250967e-01 -6.44836422e-02 -3.65016378e-02 5.19236035e+02] [ 6.44401301e-02 9.97918764e-01 -2.36850975e-03 2.84121789e+01] [ 3.65783994e-02 9.82834431e-06 9.99330786e-01 1.89637234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.2192541539999 meters Centerline goodness : 0.999561 with order 1 Centerline is valid? [True, True] Translation: X:519.29, Y:28.41, Z:18.97 [[ 9.97242827e-01 -6.46098030e-02 -3.65009357e-02 5.19294645e+02] [ 6.45659812e-02 9.97910604e-01 -2.37928156e-03 2.84100643e+01] [ 3.65783957e-02 1.60027426e-05 9.99330786e-01 1.89664227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.279254154 meters Centerline goodness : 0.999415 with order 1 Centerline is valid? [True, True] Translation: X:519.35, Y:28.41, Z:18.97 [[ 9.97216516e-01 -6.50149927e-02 -3.65002831e-02 5.19352798e+02] [ 6.49710773e-02 9.97884287e-01 -2.38925048e-03 2.84078895e+01] [ 3.65783961e-02 1.11373205e-05 9.99330786e-01 1.89691831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.339254154 meters Centerline goodness : 0.999414 with order 1 Centerline is valid? [True, True] Translation: X:519.41, Y:28.41, Z:18.97 [[ 9.97225207e-01 -6.48816758e-02 -3.65000692e-02 5.19410955e+02] [ 6.48375517e-02 9.97892964e-01 -2.39251429e-03 2.84078135e+01] [ 3.65783926e-02 1.93004329e-05 9.99330786e-01 1.89721450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.399254154 meters Centerline goodness : 0.999519 with order 1 Centerline is valid? [True, True] Translation: X:519.47, Y:28.41, Z:18.98 [[ 9.97244509e-01 -6.45844900e-02 -3.64997594e-02 5.19468586e+02] [ 6.45399943e-02 9.97912242e-01 -2.39723075e-03 2.84059876e+01] [ 3.65783807e-02 3.49309384e-05 9.99330787e-01 1.89768997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.459254154 meters Centerline goodness : 0.999624 with order 1 Centerline is valid? [True, True] Translation: X:519.53, Y:28.40, Z:18.98 [[ 9.97281817e-01 -6.40061553e-02 -3.64991753e-02 5.19528024e+02] [ 6.39609481e-02 9.97949502e-01 -2.40609104e-03 2.84048923e+01] [ 3.65783385e-02 6.50289884e-05 9.99330787e-01 1.89782462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.519254154 meters Centerline goodness : 0.999666 with order 1 Centerline is valid? [True, True] Translation: X:519.59, Y:28.40, Z:18.98 [[ 9.97333345e-01 -6.31984819e-02 -3.64986284e-02 5.19587386e+02] [ 6.31524313e-02 9.98000973e-01 -2.41435919e-03 2.84012320e+01] [ 3.65782505e-02 1.02943803e-04 9.99330787e-01 1.89838486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.579254154 meters Centerline goodness : 0.999728 with order 1 Centerline is valid? [True, True] Translation: X:519.65, Y:28.40, Z:18.99 [[ 9.97314827e-01 -6.34904075e-02 -3.64980022e-02 5.19645206e+02] [ 6.34442073e-02 9.97982444e-01 -2.42378933e-03 2.84003891e+01] [ 3.65782528e-02 1.01694219e-04 9.99330787e-01 1.89862415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.639254154 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:519.70, Y:28.40, Z:18.99 [[ 9.97083016e-01 -6.70328776e-02 -3.64972894e-02 5.19704676e+02] [ 6.69886582e-02 9.97750767e-01 -2.43447529e-03 2.83974029e+01] [ 3.65783884e-02 -1.75304749e-05 9.99330787e-01 1.89892078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.699254154 meters Centerline goodness : 0.999519 with order 1 Centerline is valid? [True, True] Translation: X:519.76, Y:28.39, Z:18.99 [[ 9.96530039e-01 -7.48055795e-02 -3.64966582e-02 5.19763078e+02] [ 7.47662230e-02 9.97198094e-01 -2.44390068e-03 2.83935533e+01] [ 3.65772154e-02 -2.93296844e-04 9.99330787e-01 1.89913912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.759254154 meters Centerline goodness : 0.999561 with order 1 Centerline is valid? [True, True] Translation: X:519.82, Y:28.39, Z:18.99 [[ 9.95947614e-01 -8.21971403e-02 -3.64963189e-02 5.19821005e+02] [ 8.21625561e-02 9.96615933e-01 -2.44895777e-03 2.83925676e+01] [ 3.65741102e-02 -5.59597208e-04 9.99330787e-01 1.89933483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.819254154 meters Centerline goodness : 0.999771 with order 1 Centerline is valid? [True, True] Translation: X:519.88, Y:28.39, Z:18.99 [[ 9.95089905e-01 -9.20008183e-02 -3.64956238e-02 5.19879743e+02] [ 9.19724390e-02 9.95758516e-01 -2.45927241e-03 2.83897211e+01] [ 3.65670833e-02 -9.09394390e-04 9.99330787e-01 1.89944180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.879254154 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:519.94, Y:28.39, Z:19.00 [[ 9.94602870e-01 -9.71248946e-02 -3.64950200e-02 5.19937095e+02] [ 9.70996322e-02 9.95271606e-01 -2.46820065e-03 2.83896915e+01] [ 3.65621809e-02 -1.08877357e-03 9.99330787e-01 1.89956025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.939254154 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:520.00, Y:28.39, Z:19.00 [[ 9.94071142e-01 -1.02424183e-01 -3.64945408e-02 5.19996135e+02] [ 1.02402226e-01 9.94739995e-01 -2.47526606e-03 2.83890532e+01] [ 3.65561064e-02 -1.27653164e-03 9.99330787e-01 1.90008936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.999254154 meters Centerline goodness : 0.999625 with order 1 Centerline is valid? [True, True] Translation: X:520.05, Y:28.39, Z:19.00 [[ 9.93744533e-01 -1.05546198e-01 -3.64938893e-02 5.20054485e+02] [ 1.05525991e-01 9.94413441e-01 -2.48483443e-03 2.83911208e+01] [ 3.65522788e-02 -1.38176321e-03 9.99330787e-01 1.90040238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.059254154 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:520.11, Y:28.39, Z:19.01 [[ 9.93520593e-01 -1.07633989e-01 -3.64932328e-02 5.20112348e+02] [ 1.07614836e-01 9.94189532e-01 -2.49443927e-03 2.83921337e+01] [ 3.65496765e-02 -1.44893646e-03 9.99330787e-01 1.90054060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.119254154 meters Centerline goodness : 0.999437 with order 1 Centerline is valid? [True, True] Translation: X:520.17, Y:28.39, Z:19.01 [[ 9.93628580e-01 -1.06632573e-01 -3.64930024e-02 5.20169877e+02] [ 1.06612622e-01 9.94297496e-01 -2.49780532e-03 2.83949884e+01] [ 3.65512483e-02 -1.40872391e-03 9.99330787e-01 1.90066079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.179254154 meters Centerline goodness : 0.999415 with order 1 Centerline is valid? [True, True] Translation: X:520.23, Y:28.40, Z:19.01 [[ 9.93789303e-01 -1.05124386e-01 -3.64922644e-02 5.20227362e+02] [ 1.05103026e-01 9.94458175e-01 -2.50854157e-03 2.83985556e+01] [ 3.65537395e-02 -1.34248563e-03 9.99330787e-01 1.90083252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.239254154 meters Centerline goodness : 0.999561 with order 1 Centerline is valid? [True, True] Translation: X:520.29, Y:28.40, Z:19.01 [[ 9.94507662e-01 -9.80962705e-02 -3.64915282e-02 5.20285739e+02] [ 9.80697913e-02 9.95176351e-01 -2.51920549e-03 2.84022642e+01] [ 3.65626305e-02 -1.07334739e-03 9.99330787e-01 1.90101409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.299254154 meters Centerline goodness : 0.999687 with order 1 Centerline is valid? [True, True] Translation: X:520.34, Y:28.41, Z:19.01 [[ 9.95071469e-01 -9.22018790e-02 -3.64908846e-02 5.20343492e+02] [ 9.21710976e-02 9.95739974e-01 -2.52849415e-03 2.84061903e+01] [ 3.65685643e-02 -8.47372491e-04 9.99330787e-01 1.90121512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.359254154 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:520.40, Y:28.41, Z:19.01 [[ 9.95629832e-01 -8.59631830e-02 -3.64906589e-02 5.20402406e+02] [ 8.59280931e-02 9.96298125e-01 -2.53174687e-03 2.84099717e+01] [ 3.65732120e-02 -6.14890020e-04 9.99330787e-01 1.90143958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.419254154 meters Centerline goodness : 0.999791 with order 1 Centerline is valid? [True, True] Translation: X:520.46, Y:28.41, Z:19.02 [[ 9.95781229e-01 -8.41915773e-02 -3.64900350e-02 5.20460002e+02] [ 8.41549700e-02 9.96449440e-01 -2.54070778e-03 2.84128289e+01] [ 3.65743811e-02 -5.40828684e-04 9.99330787e-01 1.90167841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.479254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.52, Y:28.41, Z:19.02 [[ 9.95528727e-01 -8.71268230e-02 -3.64893283e-02 5.20518404e+02] [ 8.70918155e-02 9.96197023e-01 -2.55081616e-03 2.84145127e+01] [ 3.65728048e-02 -6.38511086e-04 9.99330787e-01 1.90198156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.539254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.58, Y:28.42, Z:19.02 [[ 9.94999315e-01 -9.29781666e-02 -3.64886791e-02 5.20576403e+02] [ 9.29467495e-02 9.95667790e-01 -2.56007006e-03 2.84162500e+01] [ 3.65686331e-02 -8.44236157e-04 9.99330787e-01 1.90205230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.5992541539999 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:520.64, Y:28.42, Z:19.03 [[ 9.94803940e-01 -9.50459001e-02 -3.64883184e-02 5.20635461e+02] [ 9.50156842e-02 9.95472470e-01 -2.56520087e-03 2.84177377e+01] [ 3.65669282e-02 -9.15090600e-04 9.99330787e-01 1.90265483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.659254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.69, Y:28.42, Z:19.03 [[ 9.94142419e-01 -1.01732515e-01 -3.64876279e-02 5.20693258e+02] [ 1.01706436e-01 9.94811123e-01 -2.57498447e-03 2.84211491e+01] [ 3.65602577e-02 -1.15112532e-03 9.99330787e-01 1.90270926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.7192541539999 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:520.75, Y:28.42, Z:19.03 [[ 9.94090766e-01 -1.02236100e-01 -3.64873865e-02 5.20751283e+02] [ 1.02210234e-01 9.94759478e-01 -2.57840109e-03 2.84237090e+01] [ 3.65597792e-02 -1.16621960e-03 9.99330787e-01 1.90301594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.779254154 meters Centerline goodness : 0.999770 with order 1 Centerline is valid? [True, True] Translation: X:520.81, Y:28.43, Z:19.03 [[ 9.93941765e-01 -1.03674951e-01 -3.64866112e-02 5.20809395e+02] [ 1.03649653e-01 9.94610499e-01 -2.58932533e-03 2.84273472e+01] [ 3.65584148e-02 -1.20818599e-03 9.99330787e-01 1.90307041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.839254154 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:520.87, Y:28.43, Z:19.03 [[ 9.94111770e-01 -1.02032026e-01 -3.64863732e-02 5.20868630e+02] [ 1.02005500e-01 9.94780456e-01 -2.59267482e-03 2.84306112e+01] [ 3.65604669e-02 -1.14440218e-03 9.99330787e-01 1.90281488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.899254154 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:520.93, Y:28.44, Z:19.03 [[ 9.94683329e-01 -9.63009422e-02 -3.64856606e-02 5.20925440e+02] [ 9.62701965e-02 9.95351835e-01 -2.60266481e-03 2.84377056e+01] [ 3.65667083e-02 -9.23654413e-04 9.99330787e-01 1.90337354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.959254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:520.98, Y:28.44, Z:19.04 [[ 9.95059642e-01 -9.23316017e-02 -3.64854085e-02 5.20983409e+02] [ 9.22980597e-02 9.95728013e-01 -2.60619382e-03 2.84431108e+01] [ 3.65701774e-02 -7.74214123e-04 9.99330787e-01 1.90359689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.019254154 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:521.04, Y:28.45, Z:19.04 [[ 9.95753273e-01 -8.45239113e-02 -3.64846351e-02 5.21039981e+02] [ 8.44847329e-02 9.96421337e-01 -2.61697601e-03 2.84475803e+01] [ 3.65752660e-02 -4.76532230e-04 9.99330787e-01 1.90384847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.079254154 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:521.10, Y:28.45, Z:19.04 [[ 9.96055989e-01 -8.08786855e-02 -3.64843027e-02 5.21098210e+02] [ 8.08368927e-02 9.96723896e-01 -2.62160235e-03 2.84513001e+01] [ 3.65768081e-02 -3.38014936e-04 9.99330788e-01 1.90395232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.139254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:521.16, Y:28.45, Z:19.04 [[ 9.96101224e-01 -8.03200155e-02 -3.64835216e-02 5.21155366e+02] [ 8.02774517e-02 9.96769081e-01 -2.63242721e-03 2.84538519e+01] [ 3.65770829e-02 -3.06640183e-04 9.99330788e-01 1.90402626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.199254154 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:521.21, Y:28.46, Z:19.05 [[ 9.95464405e-01 -8.78612309e-02 -3.64831860e-02 5.21213468e+02] [ 8.78235559e-02 9.96132556e-01 -2.63707069e-03 2.84570436e+01] [ 3.65737856e-02 -5.78973116e-04 9.99330788e-01 1.90499027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.259254154 meters Centerline goodness : 0.999917 with order 1 Centerline is valid? [True, True] Translation: X:521.27, Y:28.46, Z:19.04 [[ 9.95095935e-01 -9.19407929e-02 -3.64824820e-02 5.21271587e+02] [ 9.19055013e-02 9.95764216e-01 -2.64677482e-03 2.84554618e+01] [ 3.65712966e-02 -7.19145930e-04 9.99330788e-01 1.90449630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.319254154 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:521.33, Y:28.46, Z:19.06 [[ 9.93370184e-01 -1.09017081e-01 -3.64822340e-02 5.21330782e+02] [ 1.08993146e-01 9.94038968e-01 -2.65018795e-03 2.84625248e+01] [ 3.65536780e-02 -1.34369577e-03 9.99330788e-01 1.90618689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.379254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:521.39, Y:28.46, Z:19.06 [[ 9.92920901e-01 -1.13035992e-01 -3.64821850e-02 5.21390257e+02] [ 1.13014739e-01 9.93589775e-01 -2.65086230e-03 2.84614786e+01] [ 3.65479689e-02 -1.49092803e-03 9.99330788e-01 1.90567665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.439254154 meters Centerline goodness : 0.997790 with order 1 Centerline is valid? [True, True] Translation: X:521.45, Y:28.46, Z:19.05 [[ 9.92258578e-01 -1.18709627e-01 -3.64820385e-02 5.21448232e+02] [ 1.18692124e-01 9.92927561e-01 -2.65287820e-03 2.84609127e+01] [ 3.65389437e-02 -1.69778947e-03 9.99330788e-01 1.90483244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.499254154 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:521.51, Y:28.47, Z:19.07 [[ 9.91116206e-01 -1.27897412e-01 -3.64817475e-02 5.21506515e+02] [ 1.27885961e-01 9.91785321e-01 -2.65687346e-03 2.84725615e+01] [ 3.65218689e-02 -2.03223299e-03 9.99330788e-01 1.90686943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.559254154 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:521.57, Y:28.47, Z:19.05 [[ 9.91206699e-01 -1.27194225e-01 -3.64816305e-02 5.21566231e+02] [ 1.27182240e-01 9.91875804e-01 -2.65847938e-03 2.84698889e+01] [ 3.65233898e-02 -2.00471291e-03 9.99330788e-01 1.90535682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.619254154 meters Centerline goodness : 0.997393 with order 1 Centerline is valid? [True, True] Translation: X:521.62, Y:28.48, Z:19.05 [[ 9.90773431e-01 -1.30526267e-01 -3.64815365e-02 5.21623163e+02] [ 1.30516485e-01 9.91442572e-01 -2.65976781e-03 2.84765714e+01] [ 3.65165180e-02 -2.12621461e-03 9.99330788e-01 1.90547290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.679254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:521.68, Y:28.48, Z:19.06 [[ 9.90144443e-01 -1.35215039e-01 -3.64811547e-02 5.21679961e+02] [ 1.35208232e-01 9.90813621e-01 -2.66499425e-03 2.84845699e+01] [ 3.65063723e-02 -2.29382319e-03 9.99330788e-01 1.90619853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.739254154 meters Centerline goodness : 0.999709 with order 1 Centerline is valid? [True, True] Translation: X:521.74, Y:28.50, Z:19.06 [[ 9.89545002e-01 -1.39534509e-01 -3.64802717e-02 5.21737459e+02] [ 1.39530181e-01 9.90214200e-01 -2.67702778e-03 2.84962882e+01] [ 3.64968208e-02 -2.44105945e-03 9.99330788e-01 1.90634888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.799254154 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:521.80, Y:28.50, Z:19.06 [[ 9.89559501e-01 -1.39431812e-01 -3.64796404e-02 5.21796343e+02] [ 1.39427100e-01 9.90228696e-01 -2.68560334e-03 2.85041079e+01] [ 3.64976453e-02 -2.42868617e-03 9.99330788e-01 1.90603630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.859254154 meters Centerline goodness : 0.999709 with order 1 Centerline is valid? [True, True] Translation: X:521.85, Y:28.52, Z:19.07 [[ 9.89559756e-01 -1.39430165e-01 -3.64790169e-02 5.21854406e+02] [ 1.39425142e-01 9.90228949e-01 -2.69404524e-03 2.85193992e+01] [ 3.64982097e-02 -2.42017336e-03 9.99330788e-01 1.90684993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.919254154 meters Centerline goodness : 0.999667 with order 1 Centerline is valid? [True, True] Translation: X:521.91, Y:28.53, Z:19.07 [[ 9.89981516e-01 -1.36403521e-01 -3.64784423e-02 5.21912804e+02] [ 1.36396167e-01 9.90650688e-01 -2.70180307e-03 2.85299796e+01] [ 3.65059294e-02 -2.30078460e-03 9.99330788e-01 1.90667195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.979254154 meters Centerline goodness : 0.999605 with order 1 Centerline is valid? [True, True] Translation: X:521.97, Y:28.55, Z:19.07 [[ 9.90583121e-01 -1.31963814e-01 -3.64778307e-02 5.21969195e+02] [ 1.31953158e-01 9.91252248e-01 -2.71003519e-03 2.85452879e+01] [ 3.65163583e-02 -2.12884985e-03 9.99330788e-01 1.90686766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.039254154 meters Centerline goodness : 0.999502 with order 1 Centerline is valid? [True, True] Translation: X:522.03, Y:28.55, Z:19.08 [[ 9.90628005e-01 -1.31626537e-01 -3.64775279e-02 5.22026966e+02] [ 1.31615504e-01 9.91297126e-01 -2.71410552e-03 2.85541803e+01] [ 3.65173169e-02 -2.11233927e-03 9.99330788e-01 1.90753770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.0992541539999 meters Centerline goodness : 0.999564 with order 1 Centerline is valid? [True, True] Translation: X:522.08, Y:28.57, Z:19.08 [[ 9.90937325e-01 -1.29277421e-01 -3.64769246e-02 5.22084084e+02] [ 1.29264505e-01 9.91606413e-01 -2.72218984e-03 2.85651279e+01] [ 3.65226700e-02 -2.01765207e-03 9.99330788e-01 1.90765815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.159254154 meters Centerline goodness : 0.999275 with order 1 Centerline is valid? [True, True] Translation: X:522.14, Y:28.58, Z:19.08 [[ 9.91375781e-01 -1.25871143e-01 -3.64762441e-02 5.22142059e+02] [ 1.25855594e-01 9.92044812e-01 -2.73127786e-03 2.85783258e+01] [ 3.65298578e-02 -1.88301663e-03 9.99330788e-01 1.90768479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.2192541539999 meters Centerline goodness : 0.999295 with order 1 Centerline is valid? [True, True] Translation: X:522.20, Y:28.59, Z:19.08 [[ 9.91807714e-01 -1.22421339e-01 -3.64756556e-02 5.22200465e+02] [ 1.22403175e-01 9.92476680e-01 -2.73911408e-03 2.85885925e+01] [ 3.65365636e-02 -1.74806157e-03 9.99330788e-01 1.90778293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.279254154 meters Centerline goodness : 0.999129 with order 1 Centerline is valid? [True, True] Translation: X:522.26, Y:28.60, Z:19.08 [[ 9.92640226e-01 -1.15477055e-01 -3.64750710e-02 5.22257699e+02] [ 1.15453925e-01 9.93309038e-01 -2.74687741e-03 2.86030579e+01] [ 3.65482190e-02 -1.48452910e-03 9.99330788e-01 1.90761034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.339254154 meters Centerline goodness : 0.999066 with order 1 Centerline is valid? [True, True] Translation: X:522.32, Y:28.61, Z:19.08 [[ 9.93344682e-01 -1.09251665e-01 -3.64748650e-02 5.22319536e+02] [ 1.09224242e-01 9.94013332e-01 -2.74961025e-03 2.86126704e+01] [ 3.65569016e-02 -1.25262877e-03 9.99330788e-01 1.90832164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.399254154 meters Centerline goodness : 0.999150 with order 1 Centerline is valid? [True, True] Translation: X:522.38, Y:28.63, Z:19.08 [[ 9.93993440e-01 -1.03182411e-01 -3.64750708e-02 5.22380115e+02] [ 1.03151004e-01 9.94661915e-01 -2.74687746e-03 2.86256873e+01] [ 3.65637932e-02 -1.03206200e-03 9.99330788e-01 1.90796653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.459254154 meters Centerline goodness : 0.999356 with order 1 Centerline is valid? [True, True] Translation: X:522.44, Y:28.64, Z:19.08 [[ 9.94277639e-01 -1.00406845e-01 -3.64752216e-02 5.22441238e+02] [ 1.00373646e-01 9.94946027e-01 -2.74487248e-03 2.86351514e+01] [ 3.65664808e-02 -9.31985670e-04 9.99330788e-01 1.90848142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.519254154 meters Centerline goodness : 0.999086 with order 1 Centerline is valid? [True, True] Translation: X:522.50, Y:28.64, Z:19.09 [[ 9.94311426e-01 -1.00071667e-01 -3.64753184e-02 5.22502171e+02] [ 1.00038290e-01 9.94979805e-01 -2.74358602e-03 2.86427961e+01] [ 3.65667604e-02 -9.20949547e-04 9.99330788e-01 1.90874516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.579254154 meters Centerline goodness : 0.999231 with order 1 Centerline is valid? [True, True] Translation: X:522.56, Y:28.65, Z:19.09 [[ 9.94331022e-01 -9.98767411e-02 -3.64754138e-02 5.22562035e+02] [ 9.98432794e-02 9.94999397e-01 -2.74231768e-03 2.86496931e+01] [ 3.65669084e-02 -9.15053384e-04 9.99330788e-01 1.90907070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.639254154 meters Centerline goodness : 0.999002 with order 1 Centerline is valid? [True, True] Translation: X:522.62, Y:28.65, Z:19.09 [[ 9.94343399e-01 -9.97533772e-02 -3.64755836e-02 5.22623509e+02] [ 9.97199154e-02 9.95011774e-01 -2.74005621e-03 2.86546951e+01] [ 3.65669651e-02 -9.12785306e-04 9.99330788e-01 1.90934657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.699254154 meters Centerline goodness : 0.998958 with order 1 Centerline is valid? [True, True] Translation: X:522.68, Y:28.66, Z:19.10 [[ 9.94430008e-01 -9.88862160e-02 -3.64756758e-02 5.22683640e+02] [ 9.88522164e-02 9.95098356e-01 -2.73882861e-03 2.86570239e+01] [ 3.65677174e-02 -8.82128043e-04 9.99330788e-01 1.90957193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.759254154 meters Centerline goodness : 0.999105 with order 1 Centerline is valid? [True, True] Translation: X:522.74, Y:28.66, Z:19.10 [[ 9.94112884e-01 -1.02024996e-01 -3.64756758e-02 5.22742645e+02] [ 1.01993106e-01 9.94781335e-01 -2.73882861e-03 2.86624306e+01] [ 3.65647505e-02 -9.97562671e-04 9.99330788e-01 1.90978820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.819254154 meters Centerline goodness : 0.999145 with order 1 Centerline is valid? [True, True] Translation: X:522.80, Y:28.67, Z:19.10 [[ 9.93631423e-01 -1.06612025e-01 -3.64756306e-02 5.22803186e+02] [ 1.06583199e-01 9.94300014e-01 -2.73943105e-03 2.86677895e+01] [ 3.65597763e-02 -1.16570462e-03 9.99330788e-01 1.91004943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.879254154 meters Centerline goodness : 0.999083 with order 1 Centerline is valid? [True, True] Translation: X:522.86, Y:28.67, Z:19.10 [[ 9.93218079e-01 -1.10396448e-01 -3.64756306e-02 5.22863398e+02] [ 1.10370169e-01 9.93886775e-01 -2.73943105e-03 2.86711372e+01] [ 3.65550703e-02 -1.30496906e-03 9.99330788e-01 1.91023147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.939254154 meters Centerline goodness : 0.999125 with order 1 Centerline is valid? [True, True] Translation: X:522.92, Y:28.67, Z:19.11 [[ 9.92533961e-01 -1.16386688e-01 -3.64756746e-02 5.22924141e+02] [ 1.16364465e-01 9.93202804e-01 -2.73884424e-03 2.86741479e+01] [ 3.65465073e-02 -1.52607645e-03 9.99330788e-01 1.91058162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.999254154 meters Centerline goodness : 0.999166 with order 1 Centerline is valid? [True, True] Translation: X:522.99, Y:28.68, Z:19.11 [[ 9.92151110e-01 -1.19606415e-01 -3.64757634e-02 5.22986359e+02] [ 1.19586406e-01 9.92820022e-01 -2.73766175e-03 2.86772222e+01] [ 3.65413101e-02 -1.64583130e-03 9.99330788e-01 1.91111919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.059254154 meters Centerline goodness : 0.999106 with order 1 Centerline is valid? [True, True] Translation: X:523.05, Y:28.68, Z:19.11 [[ 9.92238034e-01 -1.18883092e-01 -3.64759545e-02 5.23048179e+02] [ 1.18862688e-01 9.92906934e-01 -2.73511334e-03 2.86813723e+01] [ 3.65423869e-02 -1.62174652e-03 9.99330788e-01 1.91136031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.119254154 meters Centerline goodness : 0.999313 with order 1 Centerline is valid? [True, True] Translation: X:523.11, Y:28.69, Z:19.12 [[ 9.92993753e-01 -1.12396164e-01 -3.64761436e-02 5.23108784e+02] [ 1.12371482e-01 9.93662510e-01 -2.73258952e-03 2.86867555e+01] [ 3.65521089e-02 -1.38543399e-03 9.99330788e-01 1.91159370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.179254154 meters Centerline goodness : 0.999354 with order 1 Centerline is valid? [True, True] Translation: X:523.17, Y:28.69, Z:19.12 [[ 9.93665284e-01 -1.06295684e-01 -3.64764561e-02 5.23169394e+02] [ 1.06267049e-01 9.94333883e-01 -2.72841062e-03 2.86919755e+01] [ 3.65597945e-02 -1.16511842e-03 9.99330788e-01 1.91179623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.239254154 meters Centerline goodness : 0.999270 with order 1 Centerline is valid? [True, True] Translation: X:523.23, Y:28.70, Z:19.12 [[ 9.94675337e-01 -9.63869061e-02 -3.64765471e-02 5.23229818e+02] [ 9.63516535e-02 9.95343620e-01 -2.72719405e-03 2.86963378e+01] [ 3.65695642e-02 -8.01902970e-04 9.99330788e-01 1.91207061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.299254154 meters Centerline goodness : 0.999310 with order 1 Centerline is valid? [True, True] Translation: X:523.29, Y:28.70, Z:19.12 [[ 9.95457085e-01 -8.79468576e-02 -3.64765918e-02 5.23290107e+02] [ 8.79059600e-02 9.96125046e-01 -2.72659546e-03 2.87011137e+01] [ 3.65750422e-02 -4.92301056e-04 9.99330788e-01 1.91243017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.359254154 meters Centerline goodness : 0.999332 with order 1 Centerline is valid? [True, True] Translation: X:523.35, Y:28.70, Z:19.12 [[ 9.95906395e-01 -8.27037503e-02 -3.64765918e-02 5.23349929e+02] [ 8.26593359e-02 9.96574132e-01 -2.72659546e-03 2.87043322e+01] [ 3.65771275e-02 -2.99697004e-04 9.99330788e-01 1.91243207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.419254154 meters Centerline goodness : 0.999479 with order 1 Centerline is valid? [True, True] Translation: X:523.41, Y:28.71, Z:19.13 [[ 9.96128895e-01 -7.99792719e-02 -3.64765850e-02 5.23409637e+02] [ 7.99330278e-02 9.96796507e-01 -2.72668753e-03 2.87070321e+01] [ 3.65778109e-02 -1.99551646e-04 9.99330788e-01 1.91279989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.479254154 meters Centerline goodness : 0.999456 with order 1 Centerline is valid? [True, True] Translation: X:523.47, Y:28.71, Z:19.13 [[ 9.96397014e-01 -7.65666731e-02 -3.64764953e-02 5.23468153e+02] [ 7.65180985e-02 9.97064461e-01 -2.72788676e-03 2.87083552e+01] [ 3.65782823e-02 -7.30538300e-05 9.99330788e-01 1.91309773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.539254154 meters Centerline goodness : 0.999540 with order 1 Centerline is valid? [True, True] Translation: X:523.53, Y:28.71, Z:19.14 [[ 9.96534156e-01 -7.47606454e-02 -3.64763191e-02 5.23527501e+02] [ 7.47107750e-02 9.97201507e-01 -2.73024067e-03 2.87085442e+01] [ 3.65783549e-02 -4.39598773e-06 9.99330788e-01 1.91382931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.5992541539999 meters Centerline goodness : 0.999520 with order 1 Centerline is valid? [True, True] Translation: X:523.59, Y:28.71, Z:19.14 [[ 9.96526672e-01 -7.48603825e-02 -3.64762159e-02 5.23586196e+02] [ 7.48105285e-02 9.97194025e-01 -2.73161794e-03 2.87085673e+01] [ 3.65783545e-02 -6.67486053e-06 9.99330788e-01 1.91388923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.659254154 meters Centerline goodness : 0.999416 with order 1 Centerline is valid? [True, True] Translation: X:523.64, Y:28.71, Z:19.14 [[ 9.96344837e-01 -7.72428761e-02 -3.64760638e-02 5.23644909e+02] [ 7.71945436e-02 9.97012302e-01 -2.73364778e-03 2.87059096e+01] [ 3.65782392e-02 -9.20972414e-05 9.99330788e-01 1.91409788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.7192541539999 meters Centerline goodness : 0.999540 with order 1 Centerline is valid? [True, True] Translation: X:523.70, Y:28.71, Z:19.14 [[ 9.96043803e-01 -8.10326318e-02 -3.64754108e-02 5.23703400e+02] [ 8.09865208e-02 9.96711424e-01 -2.74233370e-03 2.87057558e+01] [ 3.65776771e-02 -2.22532122e-04 9.99330788e-01 1.91422092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.779254154 meters Centerline goodness : 0.999666 with order 1 Centerline is valid? [True, True] Translation: X:523.76, Y:28.70, Z:19.14 [[ 9.95574045e-01 -8.66136268e-02 -3.64746684e-02 5.23762214e+02] [ 8.65708977e-02 9.96241891e-01 -2.75217206e-03 2.87023736e+01] [ 3.65759683e-02 -4.17653717e-04 9.99330788e-01 1.91443279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.839254154 meters Centerline goodness : 0.999665 with order 1 Centerline is valid? [True, True] Translation: X:523.82, Y:28.70, Z:19.15 [[ 9.95171922e-01 -9.11180266e-02 -3.64739726e-02 5.23820663e+02] [ 9.10779834e-02 9.95839935e-01 -2.76136289e-03 2.86989758e+01] [ 3.65738485e-02 -5.73945056e-04 9.99330788e-01 1.91464266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.899254154 meters Centerline goodness : 0.999749 with order 1 Centerline is valid? [True, True] Translation: X:523.88, Y:28.70, Z:19.15 [[ 9.94751868e-01 -9.55949163e-02 -3.64737278e-02 5.23879967e+02] [ 9.55577608e-02 9.95420048e-01 -2.76459347e-03 2.86998056e+01] [ 3.65709609e-02 -7.35263233e-04 9.99330788e-01 1.91483507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.959254154 meters Centerline goodness : 0.999498 with order 1 Centerline is valid? [True, True] Translation: X:523.94, Y:28.70, Z:19.15 [[ 9.94676922e-01 -9.63718739e-02 -3.64730485e-02 5.23938895e+02] [ 9.63349130e-02 9.95345112e-01 -2.77352628e-03 2.87019852e+01] [ 3.65705604e-02 -7.54865365e-04 9.99330788e-01 1.91509904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.019254154 meters Centerline goodness : 0.999770 with order 1 Centerline is valid? [True, True] Translation: X:524.00, Y:28.70, Z:19.15 [[ 9.94014449e-01 -1.02980786e-01 -3.64723679e-02 5.23997335e+02] [ 1.02947940e-01 9.94682854e-01 -2.78244701e-03 2.87006863e+01] [ 3.65649776e-02 -9.88962600e-04 9.99330788e-01 1.91514867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.079254154 meters Centerline goodness : 0.999749 with order 1 Centerline is valid? [True, True] Translation: X:524.06, Y:28.70, Z:19.15 [[ 9.93418586e-01 -1.08578532e-01 -3.64721287e-02 5.24055711e+02] [ 1.08549336e-01 9.94087160e-01 -2.78557872e-03 2.86989194e+01] [ 3.65589289e-02 -1.19177969e-03 9.99330788e-01 1.91529999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.139254154 meters Centerline goodness : 0.999749 with order 1 Centerline is valid? [True, True] Translation: X:524.11, Y:28.70, Z:19.15 [[ 9.93027385e-01 -1.12100018e-01 -3.64718942e-02 5.24112660e+02] [ 1.12073081e-01 9.93696054e-01 -2.78864607e-03 2.87002613e+01] [ 3.65545846e-02 -1.31831565e-03 9.99330788e-01 1.91546291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.199254154 meters Centerline goodness : 0.999749 with order 1 Centerline is valid? [True, True] Translation: X:524.17, Y:28.70, Z:19.16 [[ 9.92632015e-01 -1.15548721e-01 -3.64715705e-02 5.24170887e+02] [ 1.15523951e-01 9.93300768e-01 -2.79287324e-03 2.87001966e+01] [ 3.65499519e-02 -1.44104454e-03 9.99330788e-01 1.91562444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.259254154 meters Centerline goodness : 0.999561 with order 1 Centerline is valid? [True, True] Translation: X:524.23, Y:28.70, Z:19.16 [[ 9.92724018e-01 -1.14755834e-01 -3.64708394e-02 5.24228992e+02] [ 1.14730181e-01 9.93392738e-01 -2.80238768e-03 2.87021233e+01] [ 3.65514574e-02 -1.40230845e-03 9.99330788e-01 1.91587142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.319254154 meters Centerline goodness : 0.999688 with order 1 Centerline is valid? [True, True] Translation: X:524.29, Y:28.71, Z:19.16 [[ 9.92858198e-01 -1.13589302e-01 -3.64701093e-02 5.24287318e+02] [ 1.13562516e-01 9.93526874e-01 -2.81185694e-03 2.87059664e+01] [ 3.65534306e-02 -1.34986217e-03 9.99330788e-01 1.91597720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.379254154 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:524.34, Y:28.71, Z:19.16 [[ 9.93375394e-01 -1.08973865e-01 -3.64694771e-02 5.24344624e+02] [ 1.08943672e-01 9.94043924e-01 -2.82003353e-03 2.87096501e+01] [ 3.65595721e-02 -1.17176683e-03 9.99330788e-01 1.91604882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.439254154 meters Centerline goodness : 0.999644 with order 1 Centerline is valid? [True, True] Translation: X:524.40, Y:28.71, Z:19.16 [[ 9.93581692e-01 -1.07076707e-01 -3.64691649e-02 5.24402028e+02] [ 1.07045089e-01 9.94250156e-01 -2.82406518e-03 2.87137969e+01] [ 3.65618645e-02 -1.09790555e-03 9.99330788e-01 1.91626812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.499254154 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:524.46, Y:28.72, Z:19.16 [[ 9.93611088e-01 -1.06803830e-01 -3.64684580e-02 5.24459558e+02] [ 1.06771695e-01 9.94279527e-01 -2.83316406e-03 2.87174416e+01] [ 3.65624340e-02 -1.07873585e-03 9.99330788e-01 1.91648512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.559254154 meters Centerline goodness : 0.999770 with order 1 Centerline is valid? [True, True] Translation: X:524.52, Y:28.72, Z:19.17 [[ 9.93341169e-01 -1.09286017e-01 -3.64676346e-02 5.24516432e+02] [ 1.09255166e-01 9.94009669e-01 -2.84372333e-03 2.87210366e+01] [ 3.65599606e-02 -1.15949000e-03 9.99330789e-01 1.91672937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.619254154 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:524.57, Y:28.72, Z:19.17 [[ 9.93057242e-01 -1.11836716e-01 -3.64672804e-02 5.24573515e+02] [ 1.11807415e-01 9.93725812e-01 -2.84825778e-03 2.87247949e+01] [ 3.65570177e-02 -1.24882933e-03 9.99330789e-01 1.91695118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.679254154 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:524.63, Y:28.73, Z:19.17 [[ 9.92884041e-01 -1.13364271e-01 -3.64667315e-02 5.24631274e+02] [ 1.13335741e-01 9.93552644e-01 -2.85526938e-03 2.87289760e+01] [ 3.65553030e-02 -1.29803262e-03 9.99330789e-01 1.91704684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.739254154 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:524.69, Y:28.73, Z:19.17 [[ 9.92828590e-01 -1.13849099e-01 -3.64660572e-02 5.24687797e+02] [ 1.13820581e-01 9.93497194e-01 -2.86385473e-03 2.87347215e+01] [ 3.65549728e-02 -1.30727098e-03 9.99330789e-01 1.91715124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.799254154 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:524.74, Y:28.74, Z:19.17 [[ 9.93068768e-01 -1.11734872e-01 -3.64655997e-02 5.24744695e+02] [ 1.11704717e-01 9.93737300e-01 -2.86966787e-03 2.87416911e+01] [ 3.65578686e-02 -1.22360197e-03 9.99330789e-01 1.91737411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.859254154 meters Centerline goodness : 0.999624 with order 1 Centerline is valid? [True, True] Translation: X:524.80, Y:28.75, Z:19.17 [[ 9.93505478e-01 -1.07782867e-01 -3.64653134e-02 5.24802628e+02] [ 1.07749919e-01 9.94173878e-01 -2.87330173e-03 2.87476654e+01] [ 3.65625547e-02 -1.07449358e-03 9.99330789e-01 1.91742002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.919254154 meters Centerline goodness : 0.996668 with order 1 Centerline is valid? [True, True] Translation: X:524.86, Y:28.76, Z:19.18 [[ 9.94149549e-01 -1.01671101e-01 -3.64645093e-02 5.24858595e+02] [ 1.01633671e-01 9.94817713e-01 -2.88347044e-03 2.87564608e+01] [ 3.65687054e-02 -8.39421097e-04 9.99330789e-01 1.91801548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.979254154 meters Centerline goodness : 0.996480 with order 1 Centerline is valid? [True, True] Translation: X:524.92, Y:28.76, Z:19.18 [[ 9.94572368e-01 -9.74483300e-02 -3.64640558e-02 5.24915969e+02] [ 9.74078527e-02 9.95240354e-01 -2.88919466e-03 2.87641641e+01] [ 3.65720470e-02 -6.78372197e-04 9.99330789e-01 1.91823600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.039254154 meters Centerline goodness : 0.999375 with order 1 Centerline is valid? [True, True] Translation: X:524.97, Y:28.77, Z:19.18 [[ 9.94848354e-01 -9.45896302e-02 -3.64630488e-02 5.24973953e+02] [ 9.45467697e-02 9.95516192e-01 -2.90184766e-03 2.87728331e+01] [ 3.65740402e-02 -5.60565107e-04 9.99330789e-01 1.91810100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.0992541539999 meters Centerline goodness : 0.998939 with order 1 Centerline is valid? [True, True] Translation: X:525.03, Y:28.78, Z:19.18 [[ 9.95043563e-01 -9.25139840e-02 -3.64619136e-02 5.25032220e+02] [ 9.24692103e-02 9.95711274e-01 -2.91604239e-03 2.87773860e+01] [ 3.65753131e-02 -4.70015146e-04 9.99330789e-01 1.91834851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.159254154 meters Centerline goodness : 0.995436 with order 1 Centerline is valid? [True, True] Translation: X:525.09, Y:28.78, Z:19.19 [[ 9.94895053e-01 -9.40979176e-02 -3.64611563e-02 5.25089014e+02] [ 9.40538610e-02 9.95562812e-01 -2.92548071e-03 2.87846820e+01] [ 3.65746529e-02 -5.18766239e-04 9.99330789e-01 1.91866449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.2192541539999 meters Centerline goodness : 0.997084 with order 1 Centerline is valid? [True, True] Translation: X:525.15, Y:28.79, Z:19.19 [[ 9.94617875e-01 -9.69841232e-02 -3.64604218e-02 5.25146574e+02] [ 9.69416698e-02 9.95285738e-01 -2.93460569e-03 2.87908373e+01] [ 3.65731480e-02 -6.15722905e-04 9.99330789e-01 1.91887238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.279254154 meters Centerline goodness : 0.996712 with order 1 Centerline is valid? [True, True] Translation: X:525.20, Y:28.80, Z:19.19 [[ 9.94186919e-01 -1.01306881e-01 -3.64593854e-02 5.25204527e+02] [ 1.01266861e-01 9.94854932e-01 -2.94742676e-03 2.87959513e+01] [ 3.65703940e-02 -7.61834382e-04 9.99330789e-01 1.91921194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.339254154 meters Centerline goodness : 0.996669 with order 1 Centerline is valid? [True, True] Translation: X:525.26, Y:28.80, Z:19.19 [[ 9.93974911e-01 -1.03366587e-01 -3.64585331e-02 5.25262822e+02] [ 1.03327567e-01 9.94642983e-01 -2.95793219e-03 2.88010446e+01] [ 3.65689754e-02 -8.27061129e-04 9.99330789e-01 1.91915225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.399254154 meters Centerline goodness : 0.999647 with order 1 Centerline is valid? [True, True] Translation: X:525.32, Y:28.81, Z:19.19 [[ 9.93600971e-01 -1.06901606e-01 -3.64576079e-02 5.25320431e+02] [ 1.06864546e-01 9.94269155e-01 -2.96929116e-03 2.88059837e+01] [ 3.65660970e-02 -9.45735136e-04 9.99330789e-01 1.91919112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.459254154 meters Centerline goodness : 0.999231 with order 1 Centerline is valid? [True, True] Translation: X:525.38, Y:28.81, Z:19.19 [[ 9.93451720e-01 -1.08280198e-01 -3.64565249e-02 5.25378602e+02] [ 1.08243579e-01 9.94119928e-01 -2.98252922e-03 2.88106068e+01] [ 3.65651068e-02 -9.83185960e-04 9.99330789e-01 1.91942567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.519254154 meters Centerline goodness : 0.999418 with order 1 Centerline is valid? [True, True] Translation: X:525.44, Y:28.82, Z:19.20 [[ 9.93399503e-01 -1.08758471e-01 -3.64557533e-02 5.25437726e+02] [ 1.08721829e-01 9.94067710e-01 -2.99193081e-03 2.88163822e+01] [ 3.65648850e-02 -9.91353604e-04 9.99330789e-01 1.91970525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.579254154 meters Centerline goodness : 0.999270 with order 1 Centerline is valid? [True, True] Translation: X:525.50, Y:28.82, Z:19.20 [[ 9.93714797e-01 -1.05838974e-01 -3.64556437e-02 5.25496994e+02] [ 1.05800320e-01 9.94382890e-01 -2.99326628e-03 2.88220552e+01] [ 3.65676726e-02 -8.82565779e-04 9.99330789e-01 1.91970889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.639254154 meters Centerline goodness : 0.999582 with order 1 Centerline is valid? [True, True] Translation: X:525.56, Y:28.83, Z:19.19 [[ 9.94390640e-01 -9.92887160e-02 -3.64555329e-02 5.25556549e+02] [ 9.92456110e-02 9.95058461e-01 -2.99461495e-03 2.88273452e+01] [ 3.65727179e-02 -6.40234556e-04 9.99330789e-01 1.91947434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.699254154 meters Centerline goodness : 0.999355 with order 1 Centerline is valid? [True, True] Translation: X:525.61, Y:28.84, Z:19.20 [[ 9.94594968e-01 -9.72206335e-02 -3.64554177e-02 5.25614739e+02] [ 9.71760885e-02 9.95262695e-01 -2.99601645e-03 2.88354578e+01] [ 3.65739919e-02 -5.62772012e-04 9.99330789e-01 1.91992780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.759254154 meters Centerline goodness : 0.999500 with order 1 Centerline is valid? [True, True] Translation: X:525.67, Y:28.84, Z:19.20 [[ 9.94724093e-01 -9.58905485e-02 -3.64551955e-02 5.25672732e+02] [ 9.58450116e-02 9.95391753e-01 -2.99871790e-03 2.88411428e+01] [ 3.65747496e-02 -5.11151695e-04 9.99330789e-01 1.91998279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.819254154 meters Centerline goodness : 0.999290 with order 1 Centerline is valid? [True, True] Translation: X:525.73, Y:28.85, Z:19.20 [[ 9.94477850e-01 -9.84116091e-02 -3.64549232e-02 5.25731565e+02] [ 9.83676436e-02 9.95145615e-01 -3.00202421e-03 2.88456637e+01] [ 3.65733910e-02 -6.00538313e-04 9.99330789e-01 1.92014064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.879254154 meters Centerline goodness : 0.999353 with order 1 Centerline is valid? [True, True] Translation: X:525.79, Y:28.85, Z:19.20 [[ 9.94273420e-01 -1.00456274e-01 -3.64541221e-02 5.25788803e+02] [ 1.00413326e-01 9.94941251e-01 -3.01172079e-03 2.88503069e+01] [ 3.65722561e-02 -6.66005727e-04 9.99330789e-01 1.92042764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.939254154 meters Centerline goodness : 0.999563 with order 1 Centerline is valid? [True, True] Translation: X:525.85, Y:28.85, Z:19.21 [[ 9.93592839e-01 -1.06978449e-01 -3.64538408e-02 5.25847324e+02] [ 1.06939760e-01 9.94260930e-01 -3.01512155e-03 2.88549846e+01] [ 3.65671827e-02 -9.02561801e-04 9.99330789e-01 1.92090800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.999254154 meters Centerline goodness : 0.997688 with order 1 Centerline is valid? [True, True] Translation: X:525.90, Y:28.86, Z:19.21 [[ 9.93110698e-01 -1.11365684e-01 -3.64530630e-02 5.25904617e+02] [ 1.11329602e-01 9.93778935e-01 -3.02449608e-03 2.88586570e+01] [ 3.65631113e-02 -1.05464560e-03 9.99330789e-01 1.92116508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.059254154 meters Centerline goodness : 0.999564 with order 1 Centerline is valid? [True, True] Translation: X:525.96, Y:28.86, Z:19.21 [[ 9.92695946e-01 -1.15004268e-01 -3.64524007e-02 5.25961598e+02] [ 1.14970343e-01 9.93364296e-01 -3.03245815e-03 2.88627438e+01] [ 3.65592590e-02 -1.18063608e-03 9.99330789e-01 1.92136334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.119254154 meters Centerline goodness : 0.999437 with order 1 Centerline is valid? [True, True] Translation: X:526.02, Y:28.87, Z:19.21 [[ 9.92318178e-01 -1.18219749e-01 -3.64516617e-02 5.26019794e+02] [ 1.18187664e-01 9.92986619e-01 -3.04131531e-03 2.88670297e+01] [ 3.65555559e-02 -1.29018428e-03 9.99330789e-01 1.92148734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.179254154 meters Centerline goodness : 0.999542 with order 1 Centerline is valid? [True, True] Translation: X:526.08, Y:28.87, Z:19.22 [[ 9.92389647e-01 -1.17618356e-01 -3.64514929e-02 5.26078867e+02] [ 1.17585792e-01 9.93058065e-01 -3.04333718e-03 2.88729109e+01] [ 3.65564013e-02 -1.26600135e-03 9.99330789e-01 1.92178952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.239254154 meters Centerline goodness : 0.999375 with order 1 Centerline is valid? [True, True] Translation: X:526.14, Y:28.88, Z:19.22 [[ 9.92816240e-01 -1.13961439e-01 -3.64513846e-02 5.26138591e+02] [ 1.13926365e-01 9.93484531e-01 -3.04463318e-03 2.88784509e+01] [ 3.65608576e-02 -1.13001249e-03 9.99330789e-01 1.92188498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.299254154 meters Centerline goodness : 0.999625 with order 1 Centerline is valid? [True, True] Translation: X:526.20, Y:28.89, Z:19.22 [[ 9.93706035e-01 -1.05922714e-01 -3.64512751e-02 5.26196789e+02] [ 1.05882185e-01 9.94374017e-01 -3.04594397e-03 2.88856908e+01] [ 3.65688355e-02 -8.32767756e-04 9.99330789e-01 1.92205568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.359254154 meters Centerline goodness : 0.999563 with order 1 Centerline is valid? [True, True] Translation: X:526.26, Y:28.89, Z:19.23 [[ 9.94382586e-01 -9.93709625e-02 -3.64511134e-02 5.26255255e+02] [ 9.93259607e-02 9.95050282e-01 -3.04787843e-03 2.88934002e+01] [ 3.65735612e-02 -5.89784614e-04 9.99330789e-01 1.92250566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.419254154 meters Centerline goodness : 0.999687 with order 1 Centerline is valid? [True, True] Translation: X:526.31, Y:28.90, Z:19.23 [[ 9.94621109e-01 -9.69547341e-02 -3.64503518e-02 5.26314124e+02] [ 9.69077775e-02 9.95288671e-01 -3.05695934e-03 2.88991375e+01] [ 3.65750088e-02 -4.91806289e-04 9.99330790e-01 1.92271463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.479254154 meters Centerline goodness : 0.999209 with order 1 Centerline is valid? [True, True] Translation: X:526.37, Y:28.90, Z:19.23 [[ 9.94449031e-01 -9.87043775e-02 -3.64495760e-02 5.26371829e+02] [ 9.86582574e-02 9.95116650e-01 -3.06618204e-03 2.89026688e+01] [ 3.65742255e-02 -5.46889887e-04 9.99330790e-01 1.92264299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.539254154 meters Centerline goodness : 0.999521 with order 1 Centerline is valid? [True, True] Translation: X:526.43, Y:28.91, Z:19.23 [[ 9.93849923e-01 -1.04564713e-01 -3.64493036e-02 5.26430044e+02] [ 1.04522411e-01 9.94517795e-01 -3.06941650e-03 2.89075072e+01] [ 3.65704337e-02 -7.59229733e-04 9.99330790e-01 1.92317888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.5992541539999 meters Centerline goodness : 0.999667 with order 1 Centerline is valid? [True, True] Translation: X:526.49, Y:28.91, Z:19.23 [[ 9.92635189e-01 -1.15528727e-01 -3.64485179e-02 5.26489031e+02] [ 1.15493458e-01 9.93303470e-01 -3.07871807e-03 2.89097494e+01] [ 3.65601197e-02 -1.15352148e-03 9.99330790e-01 1.92342565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.659254154 meters Centerline goodness : 0.999290 with order 1 Centerline is valid? [True, True] Translation: X:526.55, Y:28.91, Z:19.23 [[ 9.91430299e-01 -1.25449293e-01 -3.64477400e-02 5.26549009e+02] [ 1.25420371e-01 9.92098884e-01 -3.08790020e-03 2.89121713e+01] [ 3.65471370e-02 -1.50985127e-03 9.99330790e-01 1.92334811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.7192541539999 meters Centerline goodness : 0.999435 with order 1 Centerline is valid? [True, True] Translation: X:526.61, Y:28.92, Z:19.24 [[ 9.90689095e-01 -1.31174260e-01 -3.64476285e-02 5.26607312e+02] [ 1.31149153e-01 9.91357835e-01 -3.08921571e-03 2.89174380e+01] [ 3.65378676e-02 -1.71962330e-03 9.99330790e-01 1.92373196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.779254154 meters Centerline goodness : 0.999478 with order 1 Centerline is valid? [True, True] Translation: X:526.67, Y:28.92, Z:19.24 [[ 9.90020530e-01 -1.36128369e-01 -3.64474635e-02 5.26667007e+02] [ 1.36106536e-01 9.90689384e-01 -3.09116130e-03 2.89226784e+01] [ 3.65289099e-02 -1.90042484e-03 9.99330790e-01 1.92393382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.839254154 meters Centerline goodness : 0.999395 with order 1 Centerline is valid? [True, True] Translation: X:526.73, Y:28.93, Z:19.25 [[ 9.88870406e-01 -1.44246006e-01 -3.64473549e-02 5.26728194e+02] [ 1.44229615e-01 9.89539416e-01 -3.09244034e-03 2.89299620e+01] [ 3.65121665e-02 -2.19876523e-03 9.99330790e-01 1.92487486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.899254154 meters Centerline goodness : 0.999268 with order 1 Centerline is valid? [True, True] Translation: X:526.79, Y:28.94, Z:19.25 [[ 9.88204250e-01 -1.48741176e-01 -3.64475336e-02 5.26789042e+02] [ 1.48727904e-01 9.88873329e-01 -3.09033282e-03 2.89380012e+01] [ 3.65016537e-02 -2.36688525e-03 9.99330790e-01 1.92503182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.959254154 meters Centerline goodness : 0.999063 with order 1 Centerline is valid? [True, True] Translation: X:526.85, Y:28.95, Z:19.26 [[ 9.87249848e-01 -1.54949370e-01 -3.64476501e-02 5.26848193e+02] [ 1.54940354e-01 9.87918997e-01 -3.08895852e-03 2.89510256e+01] [ 3.64859581e-02 -2.59763799e-03 9.99330790e-01 1.92586789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.019254154 meters Centerline goodness : 0.999291 with order 1 Centerline is valid? [True, True] Translation: X:526.91, Y:28.96, Z:19.26 [[ 9.87163675e-01 -1.55497407e-01 -3.64477082e-02 5.26909057e+02] [ 1.55488788e-01 9.87832830e-01 -3.08827293e-03 2.89607066e+01] [ 3.64844612e-02 -2.61857911e-03 9.99330790e-01 1.92616430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.079254154 meters Centerline goodness : 0.999312 with order 1 Centerline is valid? [True, True] Translation: X:526.97, Y:28.97, Z:19.25 [[ 9.88272594e-01 -1.48286329e-01 -3.64478203e-02 5.26969629e+02] [ 1.48272874e-01 9.88941670e-01 -3.08694933e-03 2.89675792e+01] [ 3.65025207e-02 -2.35347563e-03 9.99330790e-01 1.92498365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.139254154 meters Centerline goodness : 0.999249 with order 1 Centerline is valid? [True, True] Translation: X:527.03, Y:28.98, Z:19.25 [[ 9.88657404e-01 -1.45698638e-01 -3.64478301e-02 5.27031466e+02] [ 1.45683435e-01 9.89326442e-01 -3.08683363e-03 2.89788713e+01] [ 3.65085495e-02 -2.25802418e-03 9.99330790e-01 1.92527678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.199254154 meters Centerline goodness : 0.999396 with order 1 Centerline is valid? [True, True] Translation: X:527.09, Y:28.99, Z:19.26 [[ 9.89244837e-01 -1.41655190e-01 -3.64480515e-02 5.27092667e+02] [ 1.41637348e-01 9.89913809e-01 -3.08421768e-03 2.89933249e+01] [ 3.65173249e-02 -2.11135894e-03 9.99330790e-01 1.92561205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.259254154 meters Centerline goodness : 0.999377 with order 1 Centerline is valid? [True, True] Translation: X:527.15, Y:29.01, Z:19.26 [[ 9.89590613e-01 -1.39219042e-01 -3.64482854e-02 5.27153133e+02] [ 1.39199654e-01 9.90259542e-01 -3.08145098e-03 2.90074005e+01] [ 3.65222590e-02 -2.02421374e-03 9.99330790e-01 1.92579088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.319254154 meters Centerline goodness : 0.999167 with order 1 Centerline is valid? [True, True] Translation: X:527.21, Y:29.02, Z:19.26 [[ 9.89552888e-01 -1.39486886e-01 -3.64484574e-02 5.27214686e+02] [ 1.39467754e-01 9.90221825e-01 -3.07941438e-03 2.90190726e+01] [ 3.65215960e-02 -2.03614111e-03 9.99330790e-01 1.92604358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.379254154 meters Centerline goodness : 0.999045 with order 1 Centerline is valid? [True, True] Translation: X:527.28, Y:29.03, Z:19.26 [[ 9.89350954e-01 -1.40911969e-01 -3.64486872e-02 5.27276361e+02] [ 1.40893900e-01 9.90019920e-01 -3.07669255e-03 2.90321050e+01] [ 3.65184692e-02 -2.09146899e-03 9.99330790e-01 1.92625001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.439254154 meters Centerline goodness : 0.999045 with order 1 Centerline is valid? [True, True] Translation: X:527.34, Y:29.04, Z:19.26 [[ 9.89322186e-01 -1.41113748e-01 -3.64489135e-02 5.27337835e+02] [ 1.41095915e-01 9.89991158e-01 -3.07400895e-03 2.90425016e+01] [ 3.65178870e-02 -2.10160754e-03 9.99330790e-01 1.92645058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.499254154 meters Centerline goodness : 0.999044 with order 1 Centerline is valid? [True, True] Translation: X:527.40, Y:29.06, Z:19.27 [[ 9.89814028e-01 -1.37621386e-01 -3.64491929e-02 5.27399956e+02] [ 1.37601313e-01 9.90482937e-01 -3.07069333e-03 2.90564711e+01] [ 3.65248967e-02 -1.97604147e-03 9.99330790e-01 1.92672291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.559254154 meters Centerline goodness : 0.999313 with order 1 Centerline is valid? [True, True] Translation: X:527.46, Y:29.07, Z:19.27 [[ 9.90433252e-01 -1.33091720e-01 -3.64495217e-02 5.27462264e+02] [ 1.33068731e-01 9.91102067e-01 -3.06678463e-03 2.90676891e+01] [ 3.65333600e-02 -1.81284612e-03 9.99330790e-01 1.92702395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.619254154 meters Centerline goodness : 0.999270 with order 1 Centerline is valid? [True, True] Translation: X:527.52, Y:29.08, Z:19.27 [[ 9.91464231e-01 -1.25180214e-01 -3.64498529e-02 5.27523080e+02] [ 1.25152031e-01 9.92132848e-01 -3.06284317e-03 2.90813377e+01] [ 3.65465037e-02 -1.52507367e-03 9.99330790e-01 1.92713819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.679254154 meters Centerline goodness : 0.999186 with order 1 Centerline is valid? [True, True] Translation: X:527.58, Y:29.09, Z:19.27 [[ 9.91996179e-01 -1.20892388e-01 -3.64501243e-02 5.27584630e+02] [ 1.20861433e-01 9.92664673e-01 -3.05960967e-03 2.90916680e+01] [ 3.65526343e-02 -1.37029316e-03 9.99330790e-01 1.92730423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.739254154 meters Centerline goodness : 0.999183 with order 1 Centerline is valid? [True, True] Translation: X:527.65, Y:29.10, Z:19.28 [[ 9.92652910e-01 -1.15375787e-01 -3.64503371e-02 5.27645891e+02] [ 1.15341209e-01 9.93321227e-01 -3.05707320e-03 2.91035285e+01] [ 3.65596058e-02 -1.16961335e-03 9.99330790e-01 1.92754922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.799254154 meters Centerline goodness : 0.998995 with order 1 Centerline is valid? [True, True] Translation: X:527.71, Y:29.11, Z:19.28 [[ 9.92799971e-01 -1.14103349e-01 -3.64505562e-02 5.27707067e+02] [ 1.14068011e-01 9.93468248e-01 -3.05445818e-03 2.91103922e+01] [ 3.65609941e-02 -1.12537645e-03 9.99330790e-01 1.92770083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.859254154 meters Centerline goodness : 0.998931 with order 1 Centerline is valid? [True, True] Translation: X:527.77, Y:29.12, Z:19.28 [[ 9.93219416e-01 -1.10392613e-01 -3.64508264e-02 5.27767213e+02] [ 1.10354896e-01 9.93887563e-01 -3.05123069e-03 2.91197328e+01] [ 3.65648563e-02 -9.91985571e-04 9.99330790e-01 1.92793134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.919254154 meters Centerline goodness : 0.998781 with order 1 Centerline is valid? [True, True] Translation: X:527.83, Y:29.13, Z:19.28 [[ 9.93815124e-01 -1.04894353e-01 -3.64509816e-02 5.27828832e+02] [ 1.04853006e-01 9.94483056e-01 -3.04937520e-03 2.91284155e+01] [ 3.65697458e-02 -7.91479810e-04 9.99330790e-01 1.92794424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.979254154 meters Centerline goodness : 0.998907 with order 1 Centerline is valid? [True, True] Translation: X:527.89, Y:29.14, Z:19.28 [[ 9.94220955e-01 -1.00975263e-01 -3.64511903e-02 5.27891119e+02] [ 1.00931376e-01 9.94888724e-01 -3.04687873e-03 2.91355206e+01] [ 3.65725376e-02 -6.49798101e-04 9.99330790e-01 1.92803586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.039254154 meters Centerline goodness : 0.999054 with order 1 Centerline is valid? [True, True] Translation: X:527.95, Y:29.14, Z:19.28 [[ 9.94793932e-01 -9.51647421e-02 -3.64513969e-02 5.27952071e+02] [ 9.51170442e-02 9.95461440e-01 -3.04440488e-03 2.91418601e+01] [ 3.65756801e-02 -4.38593631e-04 9.99330790e-01 1.92817626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.0992541539999 meters Centerline goodness : 0.999054 with order 1 Centerline is valid? [True, True] Translation: X:528.01, Y:29.15, Z:19.29 [[ 9.94989312e-01 -9.30996928e-02 -3.64515492e-02 5.28014118e+02] [ 9.30506763e-02 9.95656725e-01 -3.04257990e-03 2.91475791e+01] [ 3.65764934e-02 -3.64506825e-04 9.99330790e-01 1.92881428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.159254154 meters Centerline goodness : 0.999053 with order 1 Centerline is valid? [True, True] Translation: X:528.08, Y:29.15, Z:19.29 [[ 9.95303624e-01 -8.96770075e-02 -3.64517484e-02 5.28075270e+02] [ 8.96257833e-02 9.95970871e-01 -3.04019146e-03 2.91508866e+01] [ 3.65775149e-02 -2.41102926e-04 9.99330790e-01 1.92881443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.2192541539999 meters Centerline goodness : 0.999031 with order 1 Centerline is valid? [True, True] Translation: X:528.14, Y:29.15, Z:19.29 [[ 9.95439446e-01 -8.81564991e-02 -3.64518957e-02 5.28137877e+02] [ 8.81043204e-02 9.96106619e-01 -3.03842498e-03 2.91542694e+01] [ 3.65778315e-02 -1.87001410e-04 9.99330790e-01 1.92889555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.279254154 meters Centerline goodness : 0.999220 with order 1 Centerline is valid? [True, True] Translation: X:528.20, Y:29.16, Z:19.29 [[ 9.95453600e-01 -8.79964519e-02 -3.64520890e-02 5.28200376e+02] [ 8.79442510e-02 9.96120771e-01 -3.03610417e-03 2.91559244e+01] [ 3.65778494e-02 -1.83450832e-04 9.99330790e-01 1.92931773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.339254154 meters Centerline goodness : 0.999179 with order 1 Centerline is valid? [True, True] Translation: X:528.26, Y:29.16, Z:19.30 [[ 9.95152163e-01 -9.13422272e-02 -3.64523067e-02 5.28259961e+02] [ 9.12923651e-02 9.95819513e-01 -3.03348792e-03 2.91628158e+01] [ 3.65770038e-02 -3.09035222e-04 9.99330790e-01 1.93019781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.399254154 meters Centerline goodness : 0.999263 with order 1 Centerline is valid? [True, True] Translation: X:528.32, Y:29.16, Z:19.30 [[ 9.95460219e-01 -8.79214323e-02 -3.64523601e-02 5.28322861e+02] [ 8.78693003e-02 9.96127395e-01 -3.03284639e-03 2.91582167e+01] [ 3.65778467e-02 -1.83965445e-04 9.99330790e-01 1.92979161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.459254154 meters Centerline goodness : 0.999537 with order 1 Centerline is valid? [True, True] Translation: X:528.38, Y:29.16, Z:19.31 [[ 9.95277508e-01 -8.99660601e-02 -3.64525811e-02 5.28383678e+02] [ 8.99153961e-02 9.95944797e-01 -3.03018753e-03 2.91638222e+01] [ 3.65773725e-02 -2.61770775e-04 9.99330790e-01 1.93055371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.519254154 meters Centerline goodness : 0.998972 with order 1 Centerline is valid? [True, True] Translation: X:528.44, Y:29.16, Z:19.30 [[ 9.95600452e-01 -8.63187118e-02 -3.64529893e-02 5.28444442e+02] [ 8.62657833e-02 9.96267566e-01 -3.02526867e-03 2.91583865e+01] [ 3.65780682e-02 -1.32686824e-04 9.99330790e-01 1.92987935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.579254154 meters Centerline goodness : 0.999162 with order 1 Centerline is valid? [True, True] Translation: X:528.51, Y:29.16, Z:19.30 [[ 9.95578882e-01 -8.65671556e-02 -3.64529443e-02 5.28506469e+02] [ 8.65143737e-02 9.96246008e-01 -3.02581036e-03 2.91597222e+01] [ 3.65780361e-02 -1.41270752e-04 9.99330790e-01 1.93033804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.639254154 meters Centerline goodness : 0.999247 with order 1 Centerline is valid? [True, True] Translation: X:528.57, Y:29.16, Z:19.31 [[ 9.95255619e-01 -9.02076495e-02 -3.64531681e-02 5.28567798e+02] [ 9.01574066e-02 9.95922940e-01 -3.02311245e-03 2.91584962e+01] [ 3.65772542e-02 -2.77753447e-04 9.99330790e-01 1.93056643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.699254154 meters Centerline goodness : 0.998978 with order 1 Centerline is valid? [True, True] Translation: X:528.63, Y:29.16, Z:19.31 [[ 9.94494741e-01 -9.82413756e-02 -3.64532779e-02 5.28630086e+02] [ 9.81965715e-02 9.95162450e-01 -3.02178738e-03 2.91557220e+01] [ 3.65737979e-02 -5.74435248e-04 9.99330790e-01 1.93061320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.759254154 meters Centerline goodness : 0.996148 with order 1 Centerline is valid? [True, True] Translation: X:528.69, Y:29.16, Z:19.31 [[ 9.93720803e-01 -1.05783350e-01 -3.64533883e-02 5.28688892e+02] [ 1.05743661e-01 9.94388835e-01 -3.02045563e-03 2.91561938e+01] [ 3.65683562e-02 -8.53225156e-04 9.99330790e-01 1.93073726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.819254154 meters Centerline goodness : 0.998982 with order 1 Centerline is valid? [True, True] Translation: X:528.75, Y:29.15, Z:19.31 [[ 9.92676774e-01 -1.15169365e-01 -3.64532577e-02 5.28749043e+02] [ 1.15135933e-01 9.93345149e-01 -3.02203037e-03 2.91531546e+01] [ 3.65587120e-02 -1.19718049e-03 9.99330790e-01 1.93090400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.879254154 meters Centerline goodness : 0.998980 with order 1 Centerline is valid? [True, True] Translation: X:528.81, Y:29.16, Z:19.31 [[ 9.91943977e-01 -1.21319068e-01 -3.64531203e-02 5.28811338e+02] [ 1.21289718e-01 9.92612544e-01 -3.02368686e-03 2.91551960e+01] [ 3.65506553e-02 -1.42206072e-03 9.99330790e-01 1.93121670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.939254154 meters Centerline goodness : 0.999189 with order 1 Centerline is valid? [True, True] Translation: X:528.87, Y:29.16, Z:19.31 [[ 9.91063865e-01 -1.28310442e-01 -3.64533479e-02 5.28872192e+02] [ 1.28285908e-01 9.91732625e-01 -3.02094120e-03 2.91556973e+01] [ 3.65395927e-02 -1.68250519e-03 9.99330790e-01 1.93137954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.999254154 meters Centerline goodness : 0.999146 with order 1 Centerline is valid? [True, True] Translation: X:528.93, Y:29.16, Z:19.33 [[ 9.89841789e-01 -1.37420427e-01 -3.64535160e-02 5.28933229e+02] [ 1.37402120e-01 9.90510749e-01 -3.01891098e-03 2.91628046e+01] [ 3.65224595e-02 -2.02054613e-03 9.99330790e-01 1.93284888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.059254154 meters Centerline goodness : 0.998814 with order 1 Centerline is valid? [True, True] Translation: X:528.99, Y:29.16, Z:19.32 [[ 9.90288331e-01 -1.34164640e-01 -3.64536917e-02 5.28993858e+02] [ 1.34144211e-01 9.90957229e-01 -3.01678729e-03 2.91615151e+01] [ 3.65287955e-02 -1.90256246e-03 9.99330790e-01 1.93164645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.119254154 meters Centerline goodness : 0.999102 with order 1 Centerline is valid? [True, True] Translation: X:529.05, Y:29.17, Z:19.33 [[ 9.89404550e-01 -1.40533857e-01 -3.64536917e-02 5.29053383e+02] [ 1.40517733e-01 9.90073566e-01 -3.01678729e-03 2.91731230e+01] [ 3.65157973e-02 -2.13756704e-03 9.99330790e-01 1.93321374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.179254154 meters Centerline goodness : 0.998771 with order 1 Centerline is valid? [True, True] Translation: X:529.11, Y:29.17, Z:19.32 [[ 9.90373488e-01 -1.33534561e-01 -3.64537500e-02 5.29114278e+02] [ 1.33513733e-01 9.91042374e-01 -3.01608285e-03 2.91735949e+01] [ 3.65299622e-02 -1.88002775e-03 9.99330790e-01 1.93185105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.239254154 meters Centerline goodness : 0.999063 with order 1 Centerline is valid? [True, True] Translation: X:529.18, Y:29.18, Z:19.32 [[ 9.90930206e-01 -1.29338445e-01 -3.64539830e-02 5.29175903e+02] [ 1.29314887e-01 9.91599002e-01 -3.01326476e-03 2.91824826e+01] [ 3.65374641e-02 -1.72810762e-03 9.99330790e-01 1.93211636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.299254154 meters Centerline goodness : 0.998855 with order 1 Centerline is valid? [True, True] Translation: X:529.24, Y:29.19, Z:19.32 [[ 9.91458088e-01 -1.25227595e-01 -3.64541996e-02 5.29237439e+02] [ 1.25201360e-01 9.92126784e-01 -3.01064119e-03 2.91900339e+01] [ 3.65442032e-02 -1.57919080e-03 9.99330790e-01 1.93229130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.359254154 meters Centerline goodness : 0.998687 with order 1 Centerline is valid? [True, True] Translation: X:529.30, Y:29.20, Z:19.33 [[ 9.91909313e-01 -1.21601770e-01 -3.64544242e-02 5.29298666e+02] [ 1.21573190e-01 9.92577912e-01 -3.00792012e-03 2.92008729e+01] [ 3.65496246e-02 -1.44829665e-03 9.99330790e-01 1.93321383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.419254154 meters Centerline goodness : 0.998728 with order 1 Centerline is valid? [True, True] Translation: X:529.36, Y:29.21, Z:19.33 [[ 9.92541849e-01 -1.16325990e-01 -3.64546574e-02 5.29359621e+02] [ 1.16293958e-01 9.93210292e-01 -3.00509050e-03 2.92065202e+01] [ 3.65567111e-02 -1.25677833e-03 9.99330790e-01 1.93261454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.479254154 meters Centerline goodness : 0.998999 with order 1 Centerline is valid? [True, True] Translation: X:529.42, Y:29.22, Z:19.33 [[ 9.93052302e-01 -1.11884630e-01 -3.64548286e-02 5.29420713e+02] [ 1.11849685e-01 9.93720600e-01 -3.00301217e-03 2.92162728e+01] [ 3.65619051e-02 -1.09531294e-03 9.99330790e-01 1.93293405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.539254154 meters Centerline goodness : 0.999144 with order 1 Centerline is valid? [True, True] Translation: X:529.48, Y:29.23, Z:19.34 [[ 9.93024419e-01 -1.12131762e-01 -3.64550542e-02 5.29479601e+02] [ 1.12097083e-01 9.93692730e-01 -3.00027153e-03 2.92289093e+01] [ 3.65615480e-02 -1.10716235e-03 9.99330790e-01 1.93398431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.5992541539999 meters Centerline goodness : 0.998872 with order 1 Centerline is valid? [True, True] Translation: X:529.54, Y:29.23, Z:19.33 [[ 9.93959005e-01 -1.03520614e-01 -3.64551751e-02 5.29541710e+02] [ 1.03480199e-01 9.94626993e-01 -2.99880105e-03 2.92289467e+01] [ 3.65697390e-02 -7.91703465e-04 9.99330790e-01 1.93308372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.659254154 meters Centerline goodness : 0.999084 with order 1 Centerline is valid? [True, True] Translation: X:529.60, Y:29.24, Z:19.33 [[ 9.94067529e-01 -1.02473209e-01 -3.64552989e-02 5.29603644e+02] [ 1.02432145e-01 9.94735478e-01 -2.99729579e-03 2.92352489e+01] [ 3.65705217e-02 -7.54680056e-04 9.99330790e-01 1.93349129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.7192541539999 meters Centerline goodness : 0.999103 with order 1 Centerline is valid? [True, True] Translation: X:529.67, Y:29.24, Z:19.34 [[ 9.94331544e-01 -9.98788040e-02 -3.64555212e-02 5.29665934e+02] [ 9.98360962e-02 9.94999390e-01 -2.99459005e-03 2.92408557e+01] [ 3.65723174e-02 -6.61961566e-04 9.99330790e-01 1.93373036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.779254154 meters Centerline goodness : 0.998895 with order 1 Centerline is valid? [True, True] Translation: X:529.73, Y:29.24, Z:19.34 [[ 9.94618005e-01 -9.69845490e-02 -3.64557425e-02 5.29727702e+02] [ 9.69399966e-02 9.95285731e-01 -2.99189312e-03 2.92447657e+01] [ 3.65740477e-02 -5.58228787e-04 9.99330790e-01 1.93378158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.839254154 meters Centerline goodness : 0.999022 with order 1 Centerline is valid? [True, True] Translation: X:529.79, Y:29.25, Z:19.34 [[ 9.94358462e-01 -9.96102971e-02 -3.64559616e-02 5.29788854e+02] [ 9.95676058e-02 9.95026309e-01 -2.98922027e-03 2.92479404e+01] [ 3.65723981e-02 -6.57476349e-04 9.99330790e-01 1.93406486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.899254154 meters Centerline goodness : 0.998811 with order 1 Centerline is valid? [True, True] Translation: X:529.85, Y:29.25, Z:19.34 [[ 9.93993128e-01 -1.03192048e-01 -3.64563220e-02 5.29850425e+02] [ 1.03151925e-01 9.94661134e-01 -2.98481851e-03 2.92505097e+01] [ 3.65696962e-02 -7.93650695e-04 9.99330790e-01 1.93409758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.959254154 meters Centerline goodness : 0.999000 with order 1 Centerline is valid? [True, True] Translation: X:529.91, Y:29.25, Z:19.34 [[ 9.93256397e-01 -1.10057511e-01 -3.64564805e-02 5.29912253e+02] [ 1.10022075e-01 9.93924668e-01 -2.98288147e-03 2.92521910e+01] [ 3.65632838e-02 -1.04825154e-03 9.99330790e-01 1.93446135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.019254154 meters Centerline goodness : 0.999436 with order 1 Centerline is valid? [True, True] Translation: X:529.97, Y:29.25, Z:19.35 [[ 9.92852543e-01 -1.13643025e-01 -3.64566921e-02 5.29974050e+02] [ 1.13610097e-01 9.93520943e-01 -2.98029299e-03 2.92546110e+01] [ 3.65591767e-02 -1.18285684e-03 9.99330790e-01 1.93467054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.079254154 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:530.04, Y:29.26, Z:19.35 [[ 9.92768856e-01 -1.14371724e-01 -3.64569163e-02 5.30035976e+02] [ 1.14339387e-01 9.93437285e-01 -2.97754858e-03 2.92566961e+01] [ 3.65582073e-02 -1.21244397e-03 9.99330790e-01 1.93482512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.139254154 meters Centerline goodness : 0.999333 with order 1 Centerline is valid? [True, True] Translation: X:530.10, Y:29.26, Z:19.35 [[ 9.93456505e-01 -1.08236085e-01 -3.64571373e-02 5.30098047e+02] [ 1.08199719e-01 9.94124726e-01 -2.97484038e-03 2.92605469e+01] [ 3.65649267e-02 -9.89277485e-04 9.99330790e-01 1.93515135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.199254154 meters Centerline goodness : 0.999124 with order 1 Centerline is valid? [True, True] Translation: X:530.16, Y:29.26, Z:19.35 [[ 9.94155804e-01 -1.01612491e-01 -3.64573551e-02 5.30160011e+02] [ 1.01571769e-01 9.94823774e-01 -2.97216857e-03 2.92649060e+01] [ 3.65706530e-02 -7.48239428e-04 9.99330790e-01 1.93544558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.259254154 meters Centerline goodness : 0.999271 with order 1 Centerline is valid? [True, True] Translation: X:530.22, Y:29.27, Z:19.36 [[ 9.94921602e-01 -9.38181792e-02 -3.64575732e-02 5.30220073e+02] [ 9.37723224e-02 9.95589239e-01 -2.96949041e-03 2.92687297e+01] [ 3.65753598e-02 -4.64301155e-04 9.99330790e-01 1.93569362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.319254154 meters Centerline goodness : 0.999332 with order 1 Centerline is valid? [True, True] Translation: X:530.28, Y:29.27, Z:19.36 [[ 9.95754612e-01 -8.45197874e-02 -3.64576267e-02 5.30280812e+02] [ 8.44677197e-02 9.96421793e-01 -2.96883406e-03 2.92710792e+01] [ 3.65780990e-02 -1.23262382e-04 9.99330790e-01 1.93584557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.379254154 meters Centerline goodness : 0.999353 with order 1 Centerline is valid? [True, True] Translation: X:530.34, Y:29.27, Z:19.36 [[ 9.96015017e-01 -8.13936575e-02 -3.64576267e-02 5.30340528e+02] [ 8.13394958e-02 9.96682032e-01 -2.96883406e-03 2.92728317e+01] [ 3.65783057e-02 -8.44166302e-06 9.99330790e-01 1.93592783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.439254154 meters Centerline goodness : 0.999289 with order 1 Centerline is valid? [True, True] Translation: X:530.40, Y:29.27, Z:19.36 [[ 9.95941169e-01 -8.22923908e-02 -3.64575163e-02 5.30400358e+02] [ 8.22387815e-02 9.96608228e-01 -2.97018840e-03 2.92710661e+01] [ 3.65782847e-02 -4.00888084e-05 9.99330790e-01 1.93598612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.499254154 meters Centerline goodness : 0.999458 with order 1 Centerline is valid? [True, True] Translation: X:530.46, Y:29.27, Z:19.36 [[ 9.95681758e-01 -8.53738508e-02 -3.64574044e-02 5.30458971e+02] [ 8.53222556e-02 9.96348976e-01 -2.97156161e-03 2.92705376e+01] [ 3.65779912e-02 -1.51898286e-04 9.99330790e-01 1.93609341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.559254154 meters Centerline goodness : 0.999456 with order 1 Centerline is valid? [True, True] Translation: X:530.52, Y:29.27, Z:19.36 [[ 9.95095099e-01 -9.19598677e-02 -3.64571910e-02 5.30517851e+02] [ 9.19125924e-02 9.95762637e-01 -2.97417797e-03 2.92671096e+01] [ 3.65762136e-02 -3.91285009e-04 9.99330790e-01 1.93629836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.619254154 meters Centerline goodness : 0.999584 with order 1 Centerline is valid? [True, True] Translation: X:530.58, Y:29.27, Z:19.37 [[ 9.94644669e-01 -9.67104518e-02 -3.64564264e-02 5.30576745e+02] [ 9.66660222e-02 9.95312403e-01 -2.98352056e-03 2.92664073e+01] [ 3.65740710e-02 -5.56554897e-04 9.99330790e-01 1.93652898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.679254154 meters Centerline goodness : 0.999436 with order 1 Centerline is valid? [True, True] Translation: X:530.64, Y:29.26, Z:19.37 [[ 9.93843746e-01 -1.04621187e-01 -3.64556705e-02 5.30635559e+02] [ 1.04581734e-01 9.94511792e-01 -2.99272789e-03 2.92635118e+01] [ 3.65686970e-02 -8.38293352e-04 9.99330790e-01 1.93693807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.739254154 meters Centerline goodness : 0.999354 with order 1 Centerline is valid? [True, True] Translation: X:530.69, Y:29.26, Z:19.37 [[ 9.93111382e-01 -1.11358983e-01 -3.64549144e-02 5.30694650e+02] [ 1.11323724e-01 9.93779662e-01 -3.00190974e-03 2.92633905e+01] [ 3.65624422e-02 -1.07706612e-03 9.99330790e-01 1.93721494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.799254154 meters Centerline goodness : 0.999562 with order 1 Centerline is valid? [True, True] Translation: X:530.75, Y:29.26, Z:19.37 [[ 9.91605255e-01 -1.24056899e-01 -3.64541465e-02 5.30753079e+02] [ 1.24029853e-01 9.92273918e-01 -3.01120631e-03 2.92605053e+01] [ 3.65460597e-02 -1.53547445e-03 9.99330790e-01 1.93733809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.859254154 meters Centerline goodness : 0.999582 with order 1 Centerline is valid? [True, True] Translation: X:530.81, Y:29.26, Z:19.37 [[ 9.89795718e-01 -1.37751773e-01 -3.64538765e-02 5.30813059e+02] [ 1.37733853e-01 9.90464688e-01 -3.01447183e-03 2.92591950e+01] [ 3.65215263e-02 -2.03722156e-03 9.99330790e-01 1.93747982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.919254154 meters Centerline goodness : 0.999708 with order 1 Centerline is valid? [True, True] Translation: X:530.87, Y:29.26, Z:19.38 [[ 9.88713253e-01 -1.45317676e-01 -3.64537648e-02 5.30873382e+02] [ 1.45304822e-01 9.89382339e-01 -3.01582175e-03 2.92613231e+01] [ 3.65049633e-02 -2.31512489e-03 9.99330790e-01 1.93765875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.979254154 meters Centerline goodness : 0.999750 with order 1 Centerline is valid? [True, True] Translation: X:530.93, Y:29.27, Z:19.38 [[ 9.87767003e-01 -1.51616197e-01 -3.64537648e-02 5.30932965e+02] [ 1.51607609e-01 9.88436158e-01 -3.01582175e-03 2.92654136e+01] [ 3.64894667e-02 -2.54773890e-03 9.99330790e-01 1.93780372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.039254154 meters Centerline goodness : 0.999645 with order 1 Centerline is valid? [True, True] Translation: X:530.99, Y:29.27, Z:19.38 [[ 9.87693028e-01 -1.52097383e-01 -3.64536540e-02 5.30993410e+02] [ 1.52089072e-01 9.88362186e-01 -3.01716032e-03 2.92719541e+01] [ 3.64883154e-02 -2.56417419e-03 9.99330790e-01 1.93797365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.0992541539999 meters Centerline goodness : 0.999519 with order 1 Centerline is valid? [True, True] Translation: X:531.05, Y:29.28, Z:19.38 [[ 9.88107582e-01 -1.49380515e-01 -3.64536540e-02 5.31052256e+02] [ 1.49370364e-01 9.88776715e-01 -3.01716032e-03 2.92820663e+01] [ 3.64952292e-02 -2.46381657e-03 9.99330790e-01 1.93811975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.159254154 meters Centerline goodness : 0.999749 with order 1 Centerline is valid? [True, True] Translation: X:531.11, Y:29.29, Z:19.38 [[ 9.88692187e-01 -1.45460972e-01 -3.64535997e-02 5.31111871e+02] [ 1.45448143e-01 9.89361274e-01 -3.01781699e-03 2.92911657e+01] [ 3.65047544e-02 -2.31841630e-03 9.99330790e-01 1.93835770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.2192541539999 meters Centerline goodness : 0.999415 with order 1 Centerline is valid? [True, True] Translation: X:531.17, Y:29.30, Z:19.39 [[ 9.89495816e-01 -1.39889834e-01 -3.64535997e-02 5.31171957e+02] [ 1.39873237e-01 9.90164820e-01 -3.01781699e-03 2.93034400e+01] [ 3.65172339e-02 -2.11276569e-03 9.99330790e-01 1.93917316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.279254154 meters Centerline goodness : 0.999583 with order 1 Centerline is valid? [True, True] Translation: X:531.23, Y:29.31, Z:19.39 [[ 9.90088581e-01 -1.35630857e-01 -3.64537155e-02 5.31231508e+02] [ 1.35611432e-01 9.90757509e-01 -3.01641688e-03 2.93130827e+01] [ 3.65259116e-02 -1.95702065e-03 9.99330790e-01 1.93895481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.339254154 meters Centerline goodness : 0.999457 with order 1 Centerline is valid? [True, True] Translation: X:531.29, Y:29.33, Z:19.39 [[ 9.90731036e-01 -1.30855402e-01 -3.64537720e-02 5.31292384e+02] [ 1.30832777e-01 9.91399864e-01 -3.01573396e-03 2.93253819e+01] [ 3.65348897e-02 -1.78156700e-03 9.99330790e-01 1.93911808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.399254154 meters Centerline goodness : 0.999352 with order 1 Centerline is valid? [True, True] Translation: X:531.35, Y:29.34, Z:19.39 [[ 9.91068521e-01 -1.28274320e-01 -3.64538835e-02 5.31353216e+02] [ 1.28250003e-01 9.91737289e-01 -3.01438526e-03 2.93351081e+01] [ 3.65393439e-02 -1.68774831e-03 9.99330790e-01 1.93931709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.459254154 meters Centerline goodness : 0.999269 with order 1 Centerline is valid? [True, True] Translation: X:531.41, Y:29.35, Z:19.40 [[ 9.91801617e-01 -1.22477180e-01 -3.64539946e-02 5.31413079e+02] [ 1.22449001e-01 9.92470233e-01 -3.01304152e-03 2.93472557e+01] [ 3.65485333e-02 -1.47541578e-03 9.99330790e-01 1.93951372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.519254154 meters Centerline goodness : 0.999186 with order 1 Centerline is valid? [True, True] Translation: X:531.47, Y:29.36, Z:19.40 [[ 9.92666901e-01 -1.15254177e-01 -3.64540492e-02 5.31474632e+02] [ 1.15221157e-01 9.93335296e-01 -3.01238098e-03 2.93596176e+01] [ 3.65582832e-02 -1.20998683e-03 9.99330790e-01 1.93985911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.579254154 meters Centerline goodness : 0.999249 with order 1 Centerline is valid? [True, True] Translation: X:531.54, Y:29.37, Z:19.40 [[ 9.92933337e-01 -1.12935710e-01 -3.64542762e-02 5.31536565e+02] [ 1.12901229e-01 9.93601658e-01 -3.00963130e-03 2.93674460e+01] [ 3.65609241e-02 -1.12736935e-03 9.99330790e-01 1.94011219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.639254154 meters Centerline goodness : 0.999211 with order 1 Centerline is valid? [True, True] Translation: X:531.60, Y:29.38, Z:19.40 [[ 9.93411534e-01 -1.08648946e-01 -3.64545038e-02 5.31597181e+02] [ 1.08611683e-01 9.94079706e-01 -3.00687212e-03 2.93769512e+01] [ 3.65653759e-02 -9.72323565e-04 9.99330790e-01 1.94024490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.699254154 meters Centerline goodness : 0.999290 with order 1 Centerline is valid? [True, True] Translation: X:531.66, Y:29.39, Z:19.40 [[ 9.93760276e-01 -1.05411374e-01 -3.64548597e-02 5.31658372e+02] [ 1.05372092e-01 9.94428332e-01 -3.00255098e-03 2.93854653e+01] [ 3.65682483e-02 -8.57508937e-04 9.99330790e-01 1.94042752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.759254154 meters Centerline goodness : 0.999081 with order 1 Centerline is valid? [True, True] Translation: X:531.72, Y:29.39, Z:19.41 [[ 9.94000510e-01 -1.03121355e-01 -3.64550829e-02 5.31719765e+02] [ 1.03080633e-01 9.94668480e-01 -2.99983877e-03 2.93946492e+01] [ 3.65700693e-02 -7.75971744e-04 9.99330790e-01 1.94068880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.819254154 meters Centerline goodness : 0.999165 with order 1 Centerline is valid? [True, True] Translation: X:531.78, Y:29.40, Z:19.41 [[ 9.94021909e-01 -1.02914801e-01 -3.64553034e-02 5.31780489e+02] [ 1.02874038e-01 9.94689876e-01 -2.99715586e-03 2.94018103e+01] [ 3.65701730e-02 -7.71065698e-04 9.99330790e-01 1.94092424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.879254154 meters Centerline goodness : 0.998873 with order 1 Centerline is valid? [True, True] Translation: X:531.84, Y:29.41, Z:19.41 [[ 9.93919815e-01 -1.03896100e-01 -3.64554660e-02 5.31842148e+02] [ 1.03856070e-01 9.94587827e-01 -2.99517710e-03 2.94084085e+01] [ 3.65693500e-02 -8.09155556e-04 9.99330790e-01 1.94102991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.939254154 meters Centerline goodness : 0.999229 with order 1 Centerline is valid? [True, True] Translation: X:531.90, Y:29.41, Z:19.41 [[ 9.93792239e-01 -1.05109319e-01 -3.64556887e-02 5.31904374e+02] [ 1.05070203e-01 9.94460305e-01 -2.99246485e-03 2.94143948e+01] [ 3.65682712e-02 -8.56518280e-04 9.99330790e-01 1.94120741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.999254154 meters Centerline goodness : 0.999103 with order 1 Centerline is valid? [True, True] Translation: X:531.97, Y:29.42, Z:19.41 [[ 9.93499336e-01 -1.07842642e-01 -3.64559087e-02 5.31966215e+02] [ 1.07805463e-01 9.94167513e-01 -2.98978189e-03 2.94203526e+01] [ 3.65657060e-02 -9.59799801e-04 9.99330790e-01 1.94126461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.059254154 meters Centerline goodness : 0.999290 with order 1 Centerline is valid? [True, True] Translation: X:532.03, Y:29.43, Z:19.41 [[ 9.93265376e-01 -1.09976563e-01 -3.64561284e-02 5.32028408e+02] [ 1.09940918e-01 9.93933635e-01 -2.98710007e-03 2.94259352e+01] [ 3.65634833e-02 -1.04103716e-03 9.99330790e-01 1.94143481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.119254154 meters Centerline goodness : 0.999165 with order 1 Centerline is valid? [True, True] Translation: X:532.09, Y:29.43, Z:19.42 [[ 9.92935040e-01 -1.12920063e-01 -3.64563526e-02 5.32089339e+02] [ 1.12886499e-01 9.93603408e-01 -2.98436206e-03 2.94316807e+01] [ 3.65601505e-02 -1.15215234e-03 9.99330790e-01 1.94157641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.179254154 meters Centerline goodness : 0.999374 with order 1 Centerline is valid? [True, True] Translation: X:532.15, Y:29.44, Z:19.42 [[ 9.92692231e-01 -1.15035024e-01 -3.64565181e-02 5.32151002e+02] [ 1.15002958e-01 9.93360672e-01 -2.98233852e-03 2.94383280e+01] [ 3.65575447e-02 -1.23206314e-03 9.99330790e-01 1.94175411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.239254154 meters Centerline goodness : 0.999143 with order 1 Centerline is valid? [True, True] Translation: X:532.21, Y:29.44, Z:19.42 [[ 9.92586697e-01 -1.15942030e-01 -3.64567382e-02 5.32212645e+02] [ 1.15910674e-01 9.93255172e-01 -2.97964531e-03 2.94437840e+01] [ 3.65563099e-02 -1.26816879e-03 9.99330790e-01 1.94190153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.299254154 meters Centerline goodness : 0.999080 with order 1 Centerline is valid? [True, True] Translation: X:532.27, Y:29.45, Z:19.42 [[ 9.92553120e-01 -1.16229059e-01 -3.64569579e-02 5.32274188e+02] [ 1.16197995e-01 9.93221609e-01 -2.97695502e-03 2.94497472e+01] [ 3.65558471e-02 -1.28143942e-03 9.99330790e-01 1.94202996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.359254154 meters Centerline goodness : 0.999143 with order 1 Centerline is valid? [True, True] Translation: X:532.34, Y:29.46, Z:19.42 [[ 9.92581976e-01 -1.15982306e-01 -3.64571787e-02 5.32336457e+02] [ 1.15951175e-01 9.93250461e-01 -2.97424798e-03 2.94559950e+01] [ 3.65560697e-02 -1.27506778e-03 9.99330790e-01 1.94218248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.419254154 meters Centerline goodness : 0.999247 with order 1 Centerline is valid? [True, True] Translation: X:532.40, Y:29.46, Z:19.42 [[ 9.92718309e-01 -1.14809481e-01 -3.64573974e-02 5.32396713e+02] [ 1.14777658e-01 9.93386762e-01 -2.97156492e-03 2.94637227e+01] [ 3.65574598e-02 -1.23456781e-03 9.99330790e-01 1.94237357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.479254154 meters Centerline goodness : 0.999269 with order 1 Centerline is valid? [True, True] Translation: X:532.46, Y:29.47, Z:19.43 [[ 9.93006661e-01 -1.12288099e-01 -3.64575589e-02 5.32457943e+02] [ 1.12254652e-01 9.93675035e-01 -2.96958224e-03 2.94701504e+01] [ 3.65604149e-02 -1.14371564e-03 9.99330790e-01 1.94257559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.539254154 meters Centerline goodness : 0.999249 with order 1 Centerline is valid? [True, True] Translation: X:532.52, Y:29.48, Z:19.43 [[ 9.93533815e-01 -1.07523865e-01 -3.64578894e-02 5.32519975e+02] [ 1.07487361e-01 9.94202028e-01 -2.96551932e-03 2.94771543e+01] [ 3.65653717e-02 -9.72418613e-04 9.99330790e-01 1.94277072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.5992541539999 meters Centerline goodness : 0.999332 with order 1 Centerline is valid? [True, True] Translation: X:532.58, Y:29.49, Z:19.43 [[ 9.94184606e-01 -1.01330042e-01 -3.64580950e-02 5.32581857e+02] [ 1.01289467e-01 9.94852584e-01 -2.96298930e-03 2.94850394e+01] [ 3.65706699e-02 -7.47062674e-04 9.99330790e-01 1.94300773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.659254154 meters Centerline goodness : 0.999270 with order 1 Centerline is valid? [True, True] Translation: X:532.64, Y:29.49, Z:19.43 [[ 9.94606054e-01 -9.71060757e-02 -3.64582977e-02 5.32644121e+02] [ 9.70627556e-02 9.95273860e-01 -2.96049334e-03 2.94914500e+01] [ 3.65734726e-02 -5.94218236e-04 9.99330790e-01 1.94323875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.7192541539999 meters Centerline goodness : 0.999081 with order 1 Centerline is valid? [True, True] Translation: X:532.71, Y:29.50, Z:19.43 [[ 9.94952269e-01 -9.34920289e-02 -3.64585181e-02 5.32705852e+02] [ 9.34463824e-02 9.95619920e-01 -2.95777615e-03 2.94971056e+01] [ 3.65753554e-02 -4.64070541e-04 9.99330790e-01 1.94344777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.779254154 meters Centerline goodness : 0.999310 with order 1 Centerline is valid? [True, True] Translation: X:532.77, Y:29.50, Z:19.44 [[ 9.95159389e-01 -9.12608930e-02 -3.64587347e-02 5.32767756e+02] [ 9.12138475e-02 9.95826943e-01 -2.95510424e-03 2.95024134e+01] [ 3.65762758e-02 -3.84741737e-04 9.99330790e-01 1.94371314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.839254154 meters Centerline goodness : 0.999205 with order 1 Centerline is valid? [True, True] Translation: X:532.83, Y:29.51, Z:19.44 [[ 9.94986013e-01 -9.31320452e-02 -3.64589529e-02 5.32828468e+02] [ 9.30863537e-02 9.95653662e-01 -2.95240971e-03 2.95064557e+01] [ 3.65754539e-02 -4.56224626e-04 9.99330790e-01 1.94395460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.899254154 meters Centerline goodness : 0.999330 with order 1 Centerline is valid? [True, True] Translation: X:532.89, Y:29.51, Z:19.44 [[ 9.94617787e-01 -9.69855169e-02 -3.64591139e-02 5.32890566e+02] [ 9.69424849e-02 9.95285612e-01 -2.95042060e-03 2.95097894e+01] [ 3.65733795e-02 -5.99896293e-04 9.99330790e-01 1.94418322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.959254154 meters Centerline goodness : 0.999416 with order 1 Centerline is valid? [True, True] Translation: X:532.95, Y:29.51, Z:19.44 [[ 9.93705048e-01 -1.05929197e-01 -3.64593250e-02 5.32952380e+02] [ 1.05892270e-01 9.94373239e-01 -2.94780961e-03 2.95118309e+01] [ 3.65664362e-02 -9.31507382e-04 9.99330790e-01 1.94431197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.019254154 meters Centerline goodness : 0.999478 with order 1 Centerline is valid? [True, True] Translation: X:533.01, Y:29.51, Z:19.45 [[ 9.92953388e-01 -1.12757575e-01 -3.64595432e-02 5.33013775e+02] [ 1.12725342e-01 9.93621821e-01 -2.94510858e-03 2.95148456e+01] [ 3.65590810e-02 -1.18555891e-03 9.99330790e-01 1.94451567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.079254154 meters Centerline goodness : 0.999396 with order 1 Centerline is valid? [True, True] Translation: X:533.08, Y:29.52, Z:19.45 [[ 9.91679682e-01 -1.23458895e-01 -3.64597046e-02 5.33075096e+02] [ 1.23433945e-01 9.92348426e-01 -2.94310919e-03 2.95177100e+01] [ 3.65440835e-02 -1.58174357e-03 9.99330790e-01 1.94451265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.139254154 meters Centerline goodness : 0.999374 with order 1 Centerline is valid? [True, True] Translation: X:533.14, Y:29.52, Z:19.45 [[ 9.90822780e-01 -1.30157145e-01 -3.64600582e-02 5.33137599e+02] [ 1.30136875e-01 9.91491683e-01 -2.93872161e-03 2.95220446e+01] [ 3.65323401e-02 -1.83304573e-03 9.99330790e-01 1.94471527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.199254154 meters Centerline goodness : 0.999374 with order 1 Centerline is valid? [True, True] Translation: X:533.20, Y:29.53, Z:19.45 [[ 9.89729454e-01 -1.38225383e-01 -3.64602715e-02 5.33199719e+02] [ 1.38210661e-01 9.90398502e-01 -2.93607296e-03 2.95281519e+01] [ 3.65160381e-02 -2.13328034e-03 9.99330790e-01 1.94490816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.259254154 meters Centerline goodness : 0.999624 with order 1 Centerline is valid? [True, True] Translation: X:533.26, Y:29.54, Z:19.45 [[ 9.89270119e-01 -1.41475316e-01 -3.64604823e-02 5.33261029e+02] [ 1.41462887e-01 9.89939213e-01 -2.93345335e-03 2.95352711e+01] [ 3.65086724e-02 -2.25582735e-03 9.99330790e-01 1.94511931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.319254154 meters Centerline goodness : 0.999226 with order 1 Centerline is valid? [True, True] Translation: X:533.32, Y:29.53, Z:19.44 [[ 9.90347597e-01 -1.33724546e-01 -3.64606915e-02 5.33322424e+02] [ 1.33706975e-01 9.91016577e-01 -2.93085048e-03 2.95346281e+01] [ 3.65250763e-02 -1.97248802e-03 9.99330790e-01 1.94407516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.379254154 meters Centerline goodness : 0.999080 with order 1 Centerline is valid? [True, True] Translation: X:533.38, Y:29.55, Z:19.46 [[ 9.89215143e-01 -1.41859134e-01 -3.64607473e-02 5.33380664e+02] [ 1.41847087e-01 9.89884245e-01 -2.93015615e-03 2.95543137e+01] [ 3.65075887e-02 -2.27329596e-03 9.99330790e-01 1.94578221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.439254154 meters Centerline goodness : 0.999119 with order 1 Centerline is valid? [True, True] Translation: X:533.44, Y:29.55, Z:19.44 [[ 9.91106111e-01 -1.27981531e-01 -3.64609981e-02 5.33442112e+02] [ 1.27960222e-01 9.91774982e-01 -2.92703210e-03 2.95527928e+01] [ 3.65357118e-02 -1.76455800e-03 9.99330790e-01 1.94435833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.499254154 meters Centerline goodness : 0.999413 with order 1 Centerline is valid? [True, True] Translation: X:533.50, Y:29.57, Z:19.46 [[ 9.89704622e-01 -1.38402879e-01 -3.64610028e-02 5.33499989e+02] [ 1.38388611e-01 9.90373680e-01 -2.92697335e-03 2.95729703e+01] [ 3.65151190e-02 -2.14894850e-03 9.99330790e-01 1.94625978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.559254154 meters Centerline goodness : 0.999138 with order 1 Centerline is valid? [True, True] Translation: X:533.56, Y:29.57, Z:19.45 [[ 9.91243339e-01 -1.26914310e-01 -3.64609572e-02 5.33561610e+02] [ 1.26892262e-01 9.91912185e-01 -2.92754183e-03 2.95721694e+01] [ 3.65376146e-02 -1.72470700e-03 9.99330790e-01 1.94489102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.619254154 meters Centerline goodness : 0.999305 with order 1 Centerline is valid? [True, True] Translation: X:533.62, Y:29.60, Z:19.46 [[ 9.90864922e-01 -1.29835666e-01 -3.64610143e-02 5.33619009e+02] [ 1.29815616e-01 9.91533832e-01 -2.92682992e-03 2.95953677e+01] [ 3.65323361e-02 -1.83311592e-03 9.99330790e-01 1.94648685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.679254154 meters Centerline goodness : 0.999453 with order 1 Centerline is valid? [True, True] Translation: X:533.68, Y:29.61, Z:19.47 [[ 9.92138713e-01 -1.19713691e-01 -3.64610143e-02 5.33680457e+02] [ 1.19686814e-01 9.92807383e-01 -2.92682993e-03 2.96095129e+01] [ 3.65491458e-02 -1.46008135e-03 9.99330790e-01 1.94682691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.739254154 meters Centerline goodness : 0.999431 with order 1 Centerline is valid? [True, True] Translation: X:533.74, Y:29.62, Z:19.47 [[ 9.93159451e-01 -1.10927368e-01 -3.64612717e-02 5.33742995e+02] [ 1.10894691e-01 9.93827862e-01 -2.92362019e-03 2.96208429e+01] [ 3.65605372e-02 -1.13974042e-03 9.99330790e-01 1.94719294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.799254154 meters Centerline goodness : 0.999409 with order 1 Centerline is valid? [True, True] Translation: X:533.81, Y:29.63, Z:19.48 [[ 9.94501574e-01 -9.81691035e-02 -3.64615835e-02 5.33805366e+02] [ 9.81279913e-02 9.95169519e-01 -2.91972570e-03 2.96333952e+01] [ 3.65720834e-02 -6.74230151e-04 9.99330790e-01 1.94762631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.859254154 meters Centerline goodness : 0.998813 with order 1 Centerline is valid? [True, True] Translation: X:533.87, Y:29.64, Z:19.48 [[ 9.95214859e-01 -9.06527189e-02 -3.64618904e-02 5.33867220e+02] [ 9.06067020e-02 9.95882485e-01 -2.91588853e-03 2.96426592e+01] [ 3.65760912e-02 -4.01756042e-04 9.99330790e-01 1.94774953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.919254154 meters Centerline goodness : 0.999237 with order 1 Centerline is valid? [True, True] Translation: X:533.93, Y:29.65, Z:19.48 [[ 9.95290387e-01 -8.98196008e-02 -3.64621051e-02 5.33929508e+02] [ 8.97731235e-02 9.95957981e-01 -2.91320165e-03 2.96486235e+01] [ 3.65763871e-02 -3.73835468e-04 9.99330790e-01 1.94780581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.979254154 meters Centerline goodness : 0.999575 with order 1 Centerline is valid? [True, True] Translation: X:533.99, Y:29.65, Z:19.48 [[ 9.94831005e-01 -9.47721654e-02 -3.64624291e-02 5.33991583e+02] [ 9.47291602e-02 9.95498831e-01 -2.90914025e-03 2.96530346e+01] [ 3.65740111e-02 -5.59952370e-04 9.99330790e-01 1.94782231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.039254154 meters Centerline goodness : 0.999449 with order 1 Centerline is valid? [True, True] Translation: X:534.05, Y:29.66, Z:19.48 [[ 9.94371166e-01 -9.94809512e-02 -3.64626442e-02 5.34054354e+02] [ 9.94412071e-02 9.95039195e-01 -2.90644163e-03 2.96562854e+01] [ 3.65708957e-02 -7.35807597e-04 9.99330790e-01 1.94798879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.0992541539999 meters Centerline goodness : 0.999174 with order 1 Centerline is valid? [True, True] Translation: X:534.12, Y:29.66, Z:19.48 [[ 9.93947101e-01 -1.03632105e-01 -3.64629641e-02 5.34117028e+02] [ 1.03595298e-01 9.94615298e-01 -2.90242352e-03 2.96590417e+01] [ 3.65674061e-02 -8.92536185e-04 9.99330790e-01 1.94831658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.159254154 meters Centerline goodness : 0.999323 with order 1 Centerline is valid? [True, True] Translation: X:534.18, Y:29.66, Z:19.49 [[ 9.94043063e-01 -1.02707442e-01 -3.64632808e-02 5.34179645e+02] [ 1.02670160e-01 9.94711233e-01 -2.89843889e-03 2.96608978e+01] [ 3.65681262e-02 -8.62517791e-04 9.99330790e-01 1.94859340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.2192541539999 meters Centerline goodness : 0.998943 with order 1 Centerline is valid? [True, True] Translation: X:534.24, Y:29.66, Z:19.49 [[ 9.94194451e-01 -1.01231413e-01 -3.64635955e-02 5.34241360e+02] [ 1.01193284e-01 9.94862574e-01 -2.89447413e-03 2.96631494e+01] [ 3.65692782e-02 -8.12200868e-04 9.99330790e-01 1.94879734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.279254154 meters Centerline goodness : 0.999028 with order 1 Centerline is valid? [True, True] Translation: X:534.30, Y:29.66, Z:19.49 [[ 9.94340774e-01 -9.97838468e-02 -3.64638044e-02 5.34303451e+02] [ 9.97448414e-02 9.95008846e-01 -2.89184012e-03 2.96647310e+01] [ 3.65703669e-02 -7.61601848e-04 9.99330790e-01 1.94900832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.339254154 meters Centerline goodness : 0.999050 with order 1 Centerline is valid? [True, True] Translation: X:534.36, Y:29.66, Z:19.49 [[ 9.94513711e-01 -9.80451676e-02 -3.64640148e-02 5.34364497e+02] [ 9.80050915e-02 9.95181719e-01 -2.88918412e-03 2.96646723e+01] [ 3.65715915e-02 -7.00325892e-04 9.99330790e-01 1.94914402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.399254154 meters Centerline goodness : 0.998965 with order 1 Centerline is valid? [True, True] Translation: X:534.43, Y:29.67, Z:19.49 [[ 9.94733529e-01 -9.57892009e-02 -3.64641702e-02 5.34426856e+02] [ 9.57476816e-02 9.95401449e-01 -2.88722198e-03 2.96661265e+01] [ 3.65730526e-02 -6.19343255e-04 9.99330790e-01 1.94928180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.459254154 meters Centerline goodness : 0.998965 with order 1 Centerline is valid? [True, True] Translation: X:534.49, Y:29.67, Z:19.49 [[ 9.95204027e-01 -9.07705482e-02 -3.64643839e-02 5.34488152e+02] [ 9.07257595e-02 9.95871737e-01 -2.88452089e-03 2.96666346e+01] [ 3.65756788e-02 -4.37572115e-04 9.99330790e-01 1.94933947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.519254154 meters Centerline goodness : 0.998983 with order 1 Centerline is valid? [True, True] Translation: X:534.55, Y:29.67, Z:19.50 [[ 9.95749457e-01 -8.45775108e-02 -3.64645416e-02 5.34550373e+02] [ 8.45286421e-02 9.96416880e-01 -2.88252595e-03 2.96676261e+01] [ 3.65776816e-02 -2.12024537e-04 9.99330790e-01 1.94961871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.579254154 meters Centerline goodness : 0.998922 with order 1 Centerline is valid? [True, True] Translation: X:534.61, Y:29.67, Z:19.50 [[ 9.96000206e-01 -8.15715100e-02 -3.64647551e-02 5.34612740e+02] [ 8.15207259e-02 9.96667486e-01 -2.87982218e-03 2.96699854e+01] [ 3.65781473e-02 -1.04329818e-04 9.99330790e-01 1.94984306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.639254154 meters Centerline goodness : 0.999346 with order 1 Centerline is valid? [True, True] Translation: X:534.67, Y:29.67, Z:19.50 [[ 9.95990769e-01 -8.16865574e-02 -3.64649675e-02 5.34673375e+02] [ 8.16359490e-02 9.96658063e-01 -2.87712983e-03 2.96690571e+01] [ 3.65781267e-02 -1.11257475e-04 9.99330790e-01 1.95000417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.699254154 meters Centerline goodness : 0.999010 with order 1 Centerline is valid? [True, True] Translation: X:534.73, Y:29.67, Z:19.50 [[ 9.95740674e-01 -8.46805915e-02 -3.64651439e-02 5.34734899e+02] [ 8.46320714e-02 9.96408123e-01 -2.87489329e-03 2.96692057e+01] [ 3.65776132e-02 -2.23472478e-04 9.99330790e-01 1.95022743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.759254154 meters Centerline goodness : 0.999327 with order 1 Centerline is valid? [True, True] Translation: X:534.80, Y:29.67, Z:19.50 [[ 9.95071048e-01 -9.22165668e-02 -3.64652515e-02 5.34796433e+02] [ 9.21731511e-02 9.95738848e-01 -2.87352755e-03 2.96669043e+01] [ 3.65748544e-02 -5.01753072e-04 9.99330790e-01 1.95044783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.819254154 meters Centerline goodness : 0.999267 with order 1 Centerline is valid? [True, True] Translation: X:534.86, Y:29.66, Z:19.51 [[ 9.94316493e-01 -1.00024942e-01 -3.64653582e-02 5.34858473e+02] [ 9.99868192e-02 9.94984616e-01 -2.87217327e-03 2.96646800e+01] [ 3.65697594e-02 -7.90205918e-04 9.99330790e-01 1.95078428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.879254154 meters Centerline goodness : 0.999226 with order 1 Centerline is valid? [True, True] Translation: X:534.92, Y:29.67, Z:19.51 [[ 9.93975136e-01 -1.03361981e-01 -3.64654643e-02 5.34921159e+02] [ 1.03326151e-01 9.94643386e-01 -2.87082487e-03 2.96661751e+01] [ 3.65668670e-02 -9.14307526e-04 9.99330790e-01 1.95107761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.939254154 meters Centerline goodness : 0.999291 with order 1 Centerline is valid? [True, True] Translation: X:534.98, Y:29.67, Z:19.51 [[ 9.93897395e-01 -1.04106786e-01 -3.64656798e-02 5.34983469e+02] [ 1.04071557e-01 9.94565677e-01 -2.86808495e-03 2.96668439e+01] [ 3.65661006e-02 -9.44457924e-04 9.99330790e-01 1.95138327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.999254154 meters Centerline goodness : 0.999080 with order 1 Centerline is valid? [True, True] Translation: X:535.05, Y:29.67, Z:19.52 [[ 9.94159735e-01 -1.01570964e-01 -3.64658920e-02 5.35045981e+02] [ 1.01534129e-01 9.94827930e-01 -2.86538493e-03 2.96693173e+01] [ 3.65683277e-02 -8.53882267e-04 9.99330790e-01 1.95162730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.059254154 meters Centerline goodness : 0.999143 with order 1 Centerline is valid? [True, True] Translation: X:535.11, Y:29.67, Z:19.52 [[ 9.94870370e-01 -9.43566122e-02 -3.64661030e-02 5.35106555e+02] [ 9.43150299e-02 9.95538287e-01 -2.86269628e-03 2.96721886e+01] [ 3.65735161e-02 -5.91289889e-04 9.99330790e-01 1.95196159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.119254154 meters Centerline goodness : 0.999165 with order 1 Centerline is valid? [True, True] Translation: X:535.17, Y:29.68, Z:19.52 [[ 9.95706874e-01 -8.50766695e-02 -3.64661548e-02 5.35167338e+02] [ 8.50288857e-02 9.96374376e-01 -2.86203706e-03 2.96751759e+01] [ 3.65774348e-02 -2.50926528e-04 9.99330790e-01 1.95222868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.179254154 meters Centerline goodness : 0.999141 with order 1 Centerline is valid? [True, True] Translation: X:535.23, Y:29.68, Z:19.52 [[ 9.96094835e-01 -8.04070829e-02 -3.64661548e-02 5.35227374e+02] [ 8.03561699e-02 9.96762105e-01 -2.86203706e-03 2.96787815e+01] [ 3.65782093e-02 -7.94201925e-05 9.99330790e-01 1.95234273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.239254154 meters Centerline goodness : 0.999414 with order 1 Centerline is valid? [True, True] Translation: X:535.29, Y:29.68, Z:19.52 [[ 9.96345267e-01 -7.72420089e-02 -3.64661548e-02 5.35286836e+02] [ 7.71889762e-02 9.97012372e-01 -2.86203706e-03 2.96807685e+01] [ 3.65782770e-02 3.67919302e-05 9.99330790e-01 1.95235086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.299254154 meters Centerline goodness : 0.999270 with order 1 Centerline is valid? [True, True] Translation: X:535.35, Y:29.68, Z:19.52 [[ 9.96272027e-01 -7.81810449e-02 -3.64660491e-02 5.35345200e+02] [ 7.81285916e-02 9.96939178e-01 -2.86338349e-03 2.96831043e+01] [ 3.65782953e-02 3.66782145e-06 9.99330790e-01 1.95244294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.359254154 meters Centerline goodness : 0.999312 with order 1 Centerline is valid? [True, True] Translation: X:535.40, Y:29.68, Z:19.53 [[ 9.95872060e-01 -8.31208715e-02 -3.64658931e-02 5.35404238e+02] [ 8.30716548e-02 9.96539457e-01 -2.86536802e-03 2.96836091e+01] [ 3.65778732e-02 -1.75742139e-04 9.99330790e-01 1.95268407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.419254154 meters Centerline goodness : 0.999395 with order 1 Centerline is valid? [True, True] Translation: X:535.46, Y:29.69, Z:19.53 [[ 9.95616024e-01 -8.61337541e-02 -3.64651860e-02 5.35463642e+02] [ 8.60862284e-02 9.96283544e-01 -2.87433882e-03 2.96872358e+01] [ 3.65772423e-02 -2.77412549e-04 9.99330790e-01 1.95298024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.479254154 meters Centerline goodness : 0.999375 with order 1 Centerline is valid? [True, True] Translation: X:535.52, Y:29.69, Z:19.53 [[ 9.94463708e-01 -9.85506567e-02 -3.64650810e-02 5.35521990e+02] [ 9.85114155e-02 9.95131766e-01 -2.87567077e-03 2.96869327e+01] [ 3.65709597e-02 -7.32476524e-04 9.99330790e-01 1.95325990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.539254154 meters Centerline goodness : 0.999478 with order 1 Centerline is valid? [True, True] Translation: X:535.58, Y:29.69, Z:19.54 [[ 9.93429075e-01 -1.08484958e-01 -3.64648841e-02 5.35582197e+02] [ 1.08452304e-01 9.94097487e-01 -2.87816456e-03 2.96881928e+01] [ 3.65618872e-02 -1.09544836e-03 9.99330790e-01 1.95359688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.5992541539999 meters Centerline goodness : 0.999499 with order 1 Centerline is valid? [True, True] Translation: X:535.64, Y:29.69, Z:19.54 [[ 9.91709212e-01 -1.23219931e-01 -3.64648841e-02 5.35643646e+02] [ 1.23197203e-01 9.92378035e-01 -2.87816456e-03 2.96884214e+01] [ 3.65415973e-02 -1.63806944e-03 9.99330790e-01 1.95395526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.659254154 meters Centerline goodness : 0.999582 with order 1 Centerline is valid? [True, True] Translation: X:535.71, Y:29.69, Z:19.54 [[ 9.90724979e-01 -1.30898127e-01 -3.64649921e-02 5.35705878e+02] [ 1.30880630e-01 9.91393960e-01 -2.87679551e-03 2.96898481e+01] [ 3.65277401e-02 -1.92244798e-03 9.99330790e-01 1.95433540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.7192541539999 meters Centerline goodness : 0.999520 with order 1 Centerline is valid? [True, True] Translation: X:535.77, Y:29.69, Z:19.54 [[ 9.89371920e-01 -1.40760409e-01 -3.64652152e-02 5.35767216e+02] [ 1.40749681e-01 9.90041043e-01 -2.87396475e-03 2.96925333e+01] [ 3.65066002e-02 -2.28904740e-03 9.99330790e-01 1.95433194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.779254154 meters Centerline goodness : 0.999290 with order 1 Centerline is valid? [True, True] Translation: X:535.83, Y:29.70, Z:19.55 [[ 9.88367579e-01 -1.47647573e-01 -3.64653799e-02 5.35829293e+02] [ 1.47641582e-01 9.89036761e-01 -2.87187462e-03 2.97007862e+01] [ 3.64896265e-02 -2.54533861e-03 9.99330790e-01 1.95457553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.839254154 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:535.89, Y:29.71, Z:19.55 [[ 9.88349719e-01 -1.47767027e-01 -3.64655937e-02 5.35891024e+02] [ 1.47761217e-01 9.89018903e-01 -2.86915689e-03 2.97073712e+01] [ 3.64891283e-02 -2.55247009e-03 9.99330790e-01 1.95478177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.899254154 meters Centerline goodness : 0.999478 with order 1 Centerline is valid? [True, True] Translation: X:535.95, Y:29.72, Z:19.55 [[ 9.88928076e-01 -1.43845419e-01 -3.64658081e-02 5.35952527e+02] [ 1.43837055e-01 9.89597234e-01 -2.86642870e-03 2.97161794e+01] [ 3.64987855e-02 -2.41044264e-03 9.99330790e-01 1.95489459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.959254154 meters Centerline goodness : 0.999498 with order 1 Centerline is valid? [True, True] Translation: X:536.01, Y:29.72, Z:19.55 [[ 9.89592343e-01 -1.39202098e-01 -3.64660200e-02 5.36014034e+02] [ 1.39190692e-01 9.90261455e-01 -2.86373100e-03 2.97244785e+01] [ 3.65095314e-02 -2.24180430e-03 9.99330790e-01 1.95500813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.019254154 meters Centerline goodness : 0.999269 with order 1 Centerline is valid? [True, True] Translation: X:536.07, Y:29.74, Z:19.55 [[ 9.90734736e-01 -1.30823913e-01 -3.64662320e-02 5.36074284e+02] [ 1.30806946e-01 9.91403731e-01 -2.86102830e-03 2.97357722e+01] [ 3.65270494e-02 -1.93551631e-03 9.99330790e-01 1.95514095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.079254154 meters Centerline goodness : 0.999080 with order 1 Centerline is valid? [True, True] Translation: X:536.14, Y:29.75, Z:19.56 [[ 9.92000288e-01 -1.20853701e-01 -3.64665865e-02 5.36135502e+02] [ 1.20830172e-01 9.92669084e-01 -2.85650334e-03 2.97479750e+01] [ 3.65444720e-02 -1.57261178e-03 9.99330790e-01 1.95561980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.139254154 meters Centerline goodness : 0.999101 with order 1 Centerline is valid? [True, True] Translation: X:536.20, Y:29.76, Z:19.56 [[ 9.92956737e-01 -1.12725730e-01 -3.64668013e-02 5.36197199e+02] [ 1.12696825e-01 9.93625323e-01 -2.85375788e-03 2.97578198e+01] [ 3.65560292e-02 -1.27603463e-03 9.99330790e-01 1.95587102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.199254154 meters Centerline goodness : 0.999184 with order 1 Centerline is valid? [True, True] Translation: X:536.26, Y:29.76, Z:19.55 [[ 9.95150370e-01 -9.13558841e-02 -3.64670137e-02 5.36259118e+02] [ 9.13127147e-02 9.95818186e-01 -2.85104124e-03 2.97608298e+01] [ 3.65749749e-02 -4.92687281e-04 9.99330790e-01 1.95488163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.259254154 meters Centerline goodness : 0.999141 with order 1 Centerline is valid? [True, True] Translation: X:536.32, Y:29.78, Z:19.57 [[ 9.94979537e-01 -9.31980110e-02 -3.64671222e-02 5.36317895e+02] [ 9.31561288e-02 9.95647435e-01 -2.84965330e-03 2.97796072e+01] [ 3.65739787e-02 -5.61789207e-04 9.99330790e-01 1.95664412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.319254154 meters Centerline goodness : 0.999602 with order 1 Centerline is valid? [True, True] Translation: X:536.38, Y:29.79, Z:19.57 [[ 9.95341912e-01 -8.92447335e-02 -3.64671748e-02 5.36379131e+02] [ 8.92002231e-02 9.96009640e-01 -2.84897977e-03 2.97880292e+01] [ 3.65759141e-02 -4.17171160e-04 9.99330790e-01 1.95684755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.379254154 meters Centerline goodness : 0.999267 with order 1 Centerline is valid? [True, True] Translation: X:536.44, Y:29.79, Z:19.57 [[ 9.95233539e-01 -9.04451958e-02 -3.64673847e-02 5.36440958e+02] [ 9.04015893e-02 9.95901326e-01 -2.84629103e-03 2.97949129e+01] [ 3.65753501e-02 -4.63985239e-04 9.99330790e-01 1.95703221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.439254154 meters Centerline goodness : 0.998912 with order 1 Centerline is valid? [True, True] Translation: X:536.50, Y:29.79, Z:19.55 [[ 9.95930847e-01 -8.24127541e-02 -3.64675908e-02 5.36503377e+02] [ 8.23638581e-02 9.96598268e-01 -2.84364805e-03 2.97865482e+01] [ 3.65778907e-02 -1.71534661e-04 9.99330790e-01 1.95542838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.499254154 meters Centerline goodness : 0.999329 with order 1 Centerline is valid? [True, True] Translation: X:536.56, Y:29.81, Z:19.57 [[ 9.94467230e-01 -9.85141653e-02 -3.64676139e-02 5.36561047e+02] [ 9.84760842e-02 9.95135356e-01 -2.84335078e-03 2.98056593e+01] [ 3.65703223e-02 -7.63568649e-04 9.99330790e-01 1.95737484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.559254154 meters Centerline goodness : 0.999056 with order 1 Centerline is valid? [True, True] Translation: X:536.62, Y:29.81, Z:19.58 [[ 9.94334377e-01 -9.98461813e-02 -3.64676139e-02 5.36622757e+02] [ 9.98089952e-02 9.95002553e-01 -2.84335078e-03 2.98110620e+01] [ 3.65692667e-02 -8.12554484e-04 9.99330790e-01 1.95753955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.619254154 meters Centerline goodness : 0.999097 with order 1 Centerline is valid? [True, True] Translation: X:536.69, Y:29.82, Z:19.58 [[ 9.94353694e-01 -9.96535250e-02 -3.64678748e-02 5.36685098e+02] [ 9.96163322e-02 9.95021869e-01 -2.84000077e-03 2.98160227e+01] [ 3.65693491e-02 -8.08830677e-04 9.99330790e-01 1.95783608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.679254154 meters Centerline goodness : 0.999098 with order 1 Centerline is valid? [True, True] Translation: X:536.75, Y:29.82, Z:19.58 [[ 9.94555351e-01 -9.76203466e-02 -3.64680890e-02 5.36745748e+02] [ 9.75818887e-02 9.95223455e-01 -2.83724730e-03 2.98212015e+01] [ 3.65708706e-02 -7.36825526e-04 9.99330790e-01 1.95804188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.739254154 meters Centerline goodness : 0.998867 with order 1 Centerline is valid? [True, True] Translation: X:536.81, Y:29.83, Z:19.58 [[ 9.94589398e-01 -9.72727276e-02 -3.64684255e-02 5.36807868e+02] [ 9.72341950e-02 9.95257497e-01 -2.83291581e-03 2.98255909e+01] [ 3.65710394e-02 -7.28389971e-04 9.99330790e-01 1.95821436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.799254154 meters Centerline goodness : 0.998869 with order 1 Centerline is valid? [True, True] Translation: X:536.87, Y:29.82, Z:19.58 [[ 9.95200616e-01 -9.08062384e-02 -3.64686334e-02 5.36870840e+02] [ 9.07634624e-02 9.95868457e-01 -2.83023683e-03 2.98227554e+01] [ 3.65749649e-02 -4.93366000e-04 9.99330790e-01 1.95765218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.859254154 meters Centerline goodness : 0.998869 with order 1 Centerline is valid? [True, True] Translation: X:536.93, Y:29.83, Z:19.59 [[ 9.94902525e-01 -9.40158975e-02 -3.64688468e-02 5.36931237e+02] [ 9.39753767e-02 9.95570507e-01 -2.82748452e-03 2.98345416e+01] [ 3.65731368e-02 -6.14102131e-04 9.99330790e-01 1.95855137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.919254154 meters Centerline goodness : 0.999018 with order 1 Centerline is valid? [True, True] Translation: X:536.99, Y:29.84, Z:19.59 [[ 9.95310651e-01 -8.95918797e-02 -3.64691978e-02 5.36993608e+02] [ 8.95485558e-02 9.95978457e-01 -2.82295056e-03 2.98393679e+01] [ 3.65754488e-02 -4.56051228e-04 9.99330790e-01 1.95873136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.979254154 meters Centerline goodness : 0.998974 with order 1 Centerline is valid? [True, True] Translation: X:537.06, Y:29.85, Z:19.59 [[ 9.95898398e-01 -8.28031606e-02 -3.64694059e-02 5.37055094e+02] [ 8.27553827e-02 9.96565900e-01 -2.82025905e-03 2.98451664e+01] [ 3.65776927e-02 -2.09348175e-04 9.99330790e-01 1.95892211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.039254154 meters Centerline goodness : 0.999076 with order 1 Centerline is valid? [True, True] Translation: X:537.12, Y:29.85, Z:19.59 [[ 9.96132584e-01 -7.99365326e-02 -3.64695092e-02 5.37115753e+02] [ 7.98868827e-02 9.96799950e-01 -2.81892240e-03 2.98496190e+01] [ 3.65781399e-02 -1.05414947e-04 9.99330790e-01 1.95902490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.0992541539999 meters Centerline goodness : 0.999097 with order 1 Centerline is valid? [True, True] Translation: X:537.18, Y:29.85, Z:19.59 [[ 9.96137856e-01 -7.98707885e-02 -3.64695599e-02 5.37175732e+02] [ 7.98211186e-02 9.96805220e-01 -2.81826647e-03 2.98520156e+01] [ 3.65781449e-02 -1.03659152e-04 9.99330790e-01 1.95927991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.159254154 meters Centerline goodness : 0.998992 with order 1 Centerline is valid? [True, True] Translation: X:537.24, Y:29.85, Z:19.59 [[ 9.95898467e-01 -8.28022652e-02 -3.64695599e-02 5.37236395e+02] [ 8.27545597e-02 9.96565974e-01 -2.81826647e-03 2.98546962e+01] [ 3.65776814e-02 -2.11315123e-04 9.99330790e-01 1.95943273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.2192541539999 meters Centerline goodness : 0.999265 with order 1 Centerline is valid? [True, True] Translation: X:537.30, Y:29.86, Z:19.60 [[ 9.95501504e-01 -8.74455613e-02 -3.64695599e-02 5.37296941e+02] [ 8.74009691e-02 9.96169227e-01 -2.81826647e-03 2.98572546e+01] [ 3.65762982e-02 -3.81886375e-04 9.99330790e-01 1.95961406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.279254154 meters Centerline goodness : 0.998950 with order 1 Centerline is valid? [True, True] Translation: X:537.36, Y:29.86, Z:19.60 [[ 9.94922274e-01 -9.38063999e-02 -3.64695599e-02 5.37357569e+02] [ 9.37660763e-02 9.95590267e-01 -2.81826647e-03 2.98596328e+01] [ 3.65731103e-02 -6.15651459e-04 9.99330790e-01 1.95972150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.339254154 meters Centerline goodness : 0.999139 with order 1 Centerline is valid? [True, True] Translation: X:537.42, Y:29.86, Z:19.60 [[ 9.93961739e-01 -1.03489268e-01 -3.64696091e-02 5.37419031e+02] [ 1.03455474e-01 9.94630095e-01 -2.81763061e-03 2.98600155e+01] [ 3.65653652e-02 -9.72363660e-04 9.99330790e-01 1.96012077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.399254154 meters Centerline goodness : 0.999037 with order 1 Centerline is valid? [True, True] Translation: X:537.48, Y:29.86, Z:19.60 [[ 9.93318911e-01 -1.09487447e-01 -3.64697121e-02 5.37480260e+02] [ 1.09457737e-01 9.93987461e-01 -2.81629640e-03 2.98626965e+01] [ 3.65587856e-02 -1.19441169e-03 9.99330790e-01 1.96027443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.459254154 meters Centerline goodness : 0.999079 with order 1 Centerline is valid? [True, True] Translation: X:537.54, Y:29.87, Z:19.61 [[ 9.92388543e-01 -1.17621917e-01 -3.64700465e-02 5.37540910e+02] [ 1.17597844e-01 9.93057320e-01 -2.81195963e-03 2.98651462e+01] [ 3.65475947e-02 -1.49824233e-03 9.99330790e-01 1.96055914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.519254154 meters Centerline goodness : 0.999144 with order 1 Centerline is valid? [True, True] Translation: X:537.60, Y:29.87, Z:19.61 [[ 9.91659399e-01 -1.23618572e-01 -3.64703433e-02 5.37601697e+02] [ 1.23598684e-01 9.92328313e-01 -2.80810468e-03 2.98691229e+01] [ 3.65376881e-02 -1.72300304e-03 9.99330790e-01 1.96077199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.579254154 meters Centerline goodness : 0.999081 with order 1 Centerline is valid? [True, True] Translation: X:537.66, Y:29.87, Z:19.61 [[ 9.90527862e-01 -1.32379994e-01 -3.64704357e-02 5.37664029e+02] [ 1.32366064e-01 9.91196926e-01 -2.80690349e-03 2.98738857e+01] [ 3.65209617e-02 -2.04713193e-03 9.99330790e-01 1.96121525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.639254154 meters Centerline goodness : 0.998997 with order 1 Centerline is valid? [True, True] Translation: X:537.73, Y:29.88, Z:19.62 [[ 9.89825953e-01 -1.37529907e-01 -3.64706350e-02 5.37726008e+02] [ 1.37519552e-01 9.90495083e-01 -2.80431159e-03 2.98791813e+01] [ 3.65096614e-02 -2.23964500e-03 9.99330790e-01 1.96151233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.699254154 meters Centerline goodness : 0.999205 with order 1 Centerline is valid? [True, True] Translation: X:537.79, Y:29.88, Z:19.62 [[ 9.89290337e-01 -1.41331195e-01 -3.64708363e-02 5.37788813e+02] [ 1.41323506e-01 9.89959503e-01 -2.80169124e-03 2.98844404e+01] [ 3.65006174e-02 -2.38250040e-03 9.99330790e-01 1.96172365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.759254154 meters Centerline goodness : 0.998897 with order 1 Centerline is valid? [True, True] Translation: X:537.85, Y:29.89, Z:19.62 [[ 9.88904621e-01 -1.44005224e-01 -3.64711552e-02 5.37851048e+02] [ 1.43999498e-01 9.89573807e-01 -2.79753461e-03 2.98922823e+01] [ 3.64937594e-02 -2.48533311e-03 9.99330790e-01 1.96198817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.819254154 meters Centerline goodness : 0.998914 with order 1 Centerline is valid? [True, True] Translation: X:537.91, Y:29.90, Z:19.62 [[ 9.89021326e-01 -1.43201437e-01 -3.64714192e-02 5.37912132e+02] [ 1.43195293e-01 9.89690508e-01 -2.79408758e-03 2.99019195e+01] [ 3.64955348e-02 -2.45912336e-03 9.99330790e-01 1.96210759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.879254154 meters Centerline goodness : 0.998933 with order 1 Centerline is valid? [True, True] Translation: X:537.97, Y:29.91, Z:19.62 [[ 9.89504914e-01 -1.39820760e-01 -3.64716272e-02 5.37973780e+02] [ 1.39812429e-01 9.90174072e-01 -2.79137028e-03 2.99105340e+01] [ 3.65035511e-02 -2.33711219e-03 9.99330790e-01 1.96233510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.939254154 meters Centerline goodness : 0.999036 with order 1 Centerline is valid? [True, True] Translation: X:538.04, Y:29.92, Z:19.63 [[ 9.90695434e-01 -1.31119649e-01 -3.64718267e-02 5.38035188e+02] [ 1.31105533e-01 9.91364495e-01 -2.78876197e-03 2.99213644e+01] [ 3.65225355e-02 -2.01884453e-03 9.99330790e-01 1.96260359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.999254154 meters Centerline goodness : 0.999184 with order 1 Centerline is valid? [True, True] Translation: X:538.10, Y:29.93, Z:19.63 [[ 9.92061954e-01 -1.20344801e-01 -3.64720225e-02 5.38096224e+02] [ 1.20323509e-01 9.92730825e-01 -2.78619807e-03 2.99333603e+01] [ 3.65422054e-02 -1.62436062e-03 9.99330790e-01 1.96298242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.059254154 meters Centerline goodness : 0.999056 with order 1 Centerline is valid? [True, True] Translation: X:538.16, Y:29.94, Z:19.63 [[ 9.92882984e-01 -1.13371767e-01 -3.64722156e-02 5.38156385e+02] [ 1.13345869e-01 9.93551692e-01 -2.78366810e-03 2.99425365e+01] [ 3.65526209e-02 -1.37011828e-03 9.99330790e-01 1.96323434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.119254154 meters Centerline goodness : 0.998675 with order 1 Centerline is valid? [True, True] Translation: X:538.22, Y:29.95, Z:19.64 [[ 9.93973688e-01 -1.03373474e-01 -3.64723581e-02 5.38217410e+02] [ 1.03340916e-01 9.94642105e-01 -2.78179941e-03 2.99526474e+01] [ 3.65645073e-02 -1.00405147e-03 9.99330790e-01 1.96371217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.179254154 meters Centerline goodness : 0.999326 with order 1 Centerline is valid? [True, True] Translation: X:538.28, Y:29.96, Z:19.64 [[ 9.94638827e-01 -9.67644376e-02 -3.64725651e-02 5.38279624e+02] [ 9.67275366e-02 9.95307018e-01 -2.77908354e-03 2.99601859e+01] [ 3.65703164e-02 -7.63716983e-04 9.99330790e-01 1.96399815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.239254154 meters Centerline goodness : 0.999050 with order 1 Centerline is valid? [True, True] Translation: X:538.34, Y:29.97, Z:19.64 [[ 9.95470836e-01 -8.77926684e-02 -3.64727714e-02 5.38341651e+02] [ 8.77498437e-02 9.96138673e-01 -2.77637269e-03 2.99694429e+01] [ 3.65756833e-02 -4.36681956e-04 9.99330790e-01 1.96418420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.299254154 meters Centerline goodness : 0.999239 with order 1 Centerline is valid? [True, True] Translation: X:538.40, Y:29.98, Z:19.64 [[ 9.96022698e-01 -8.12927307e-02 -3.64729748e-02 5.38403846e+02] [ 8.12456454e-02 9.96690249e-01 -2.77369859e-03 2.99760891e+01] [ 3.65777398e-02 -2.00603628e-04 9.99330790e-01 1.96428513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.359254154 meters Centerline goodness : 0.998788 with order 1 Centerline is valid? [True, True] Translation: X:538.47, Y:29.98, Z:19.65 [[ 9.96717353e-01 -7.22788083e-02 -3.64731742e-02 5.38465621e+02] [ 7.22257819e-02 9.97384458e-01 -2.77107447e-03 2.99823470e+01] [ 3.65780670e-02 1.27674488e-04 9.99330790e-01 1.96462700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.419254154 meters Centerline goodness : 0.998958 with order 1 Centerline is valid? [True, True] Translation: X:538.53, Y:29.99, Z:19.65 [[ 9.97013097e-01 -6.80777314e-02 -3.64733807e-02 5.38525255e+02] [ 6.80219937e-02 9.97679981e-01 -2.76835317e-03 2.99872129e+01] [ 3.65772250e-02 2.79092298e-04 9.99330790e-01 1.96485153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.479254154 meters Centerline goodness : 0.998918 with order 1 Centerline is valid? [True, True] Translation: X:538.59, Y:29.99, Z:19.65 [[ 9.97025392e-01 -6.78972957e-02 -3.64736300e-02 5.38585216e+02] [ 6.78415576e-02 9.97692276e-01 -2.76506458e-03 2.99902865e+01] [ 3.65771994e-02 2.82411727e-04 9.99330790e-01 1.96516960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.539254154 meters Centerline goodness : 0.999004 with order 1 Centerline is valid? [True, True] Translation: X:538.65, Y:29.99, Z:19.65 [[ 9.96472551e-01 -7.55786327e-02 -3.64736300e-02 5.38646109e+02] [ 7.55280355e-02 9.97139845e-01 -2.76506458e-03 2.99915773e+01] [ 3.65782896e-02 5.29337462e-07 9.99330790e-01 1.96534653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.5992541539999 meters Centerline goodness : 0.998794 with order 1 Centerline is valid? [True, True] Translation: X:538.71, Y:29.99, Z:19.66 [[ 9.95828298e-01 -8.36401552e-02 -3.64736300e-02 5.38707159e+02] [ 8.35949597e-02 9.96495979e-01 -2.76506458e-03 2.99926483e+01] [ 3.65770961e-02 -2.95482074e-04 9.99330790e-01 1.96556508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.659254154 meters Centerline goodness : 0.999241 with order 1 Centerline is valid? [True, True] Translation: X:538.77, Y:29.99, Z:19.66 [[ 9.95190102e-01 -9.09193521e-02 -3.64737305e-02 5.38769227e+02] [ 9.08790884e-02 9.95858099e-01 -2.76373891e-03 2.99926969e+01] [ 3.65739372e-02 -5.64253768e-04 9.99330790e-01 1.96585689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.7192541539999 meters Centerline goodness : 0.999200 with order 1 Centerline is valid? [True, True] Translation: X:538.83, Y:29.99, Z:19.66 [[ 9.94476503e-01 -9.84181732e-02 -3.64739307e-02 5.38830751e+02] [ 9.83830427e-02 9.95144790e-01 -2.76109435e-03 2.99923301e+01] [ 3.65685839e-02 -8.42572823e-04 9.99330790e-01 1.96613253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.779254154 meters Centerline goodness : 0.998822 with order 1 Centerline is valid? [True, True] Translation: X:538.89, Y:29.99, Z:19.66 [[ 9.94171188e-01 -1.01455856e-01 -3.64740786e-02 5.38892844e+02] [ 1.01422839e-01 9.94839582e-01 -2.75913867e-03 2.99920205e+01] [ 3.65657879e-02 -9.56248428e-04 9.99330790e-01 1.96642116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.839254154 meters Centerline goodness : 0.999096 with order 1 Centerline is valid? [True, True] Translation: X:538.96, Y:29.99, Z:19.67 [[ 9.94082744e-01 -1.02318740e-01 -3.64742826e-02 5.38955526e+02] [ 1.02286402e-01 9.94751172e-01 -2.75643950e-03 2.99937057e+01] [ 3.65648708e-02 -9.90694190e-04 9.99330790e-01 1.96664570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.899254154 meters Centerline goodness : 0.998930 with order 1 Centerline is valid? [True, True] Translation: X:539.02, Y:29.99, Z:19.67 [[ 9.94192412e-01 -1.01247515e-01 -3.64744851e-02 5.39017295e+02] [ 1.01214555e-01 9.94860810e-01 -2.75375663e-03 2.99947922e+01] [ 3.65658468e-02 -9.53984849e-04 9.99330790e-01 1.96689191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.959254154 meters Centerline goodness : 0.999101 with order 1 Centerline is valid? [True, True] Translation: X:539.08, Y:30.00, Z:19.67 [[ 9.94255733e-01 -1.00623732e-01 -3.64746846e-02 5.39078910e+02] [ 1.00590450e-01 9.94924114e-01 -2.75111201e-03 3.00026067e+01] [ 3.65663704e-02 -9.33696058e-04 9.99330790e-01 1.96746195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.019254154 meters Centerline goodness : 0.999018 with order 1 Centerline is valid? [True, True] Translation: X:539.14, Y:30.00, Z:19.68 [[ 9.94631030e-01 -9.68436691e-02 -3.64748912e-02 5.39141574e+02] [ 9.68079471e-02 9.95299286e-01 -2.74837020e-03 3.00046848e+01] [ 3.65695954e-02 -7.97445058e-04 9.99330790e-01 1.96757755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.079254154 meters Centerline goodness : 0.999016 with order 1 Centerline is valid? [True, True] Translation: X:539.20, Y:30.00, Z:19.67 [[ 9.94863330e-01 -9.44273022e-02 -3.64751775e-02 5.39203648e+02] [ 9.43900965e-02 9.95531505e-01 -2.74456556e-03 3.00029151e+01] [ 3.65713502e-02 -7.12427891e-04 9.99330790e-01 1.96737000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.139254154 meters Centerline goodness : 0.999559 with order 1 Centerline is valid? [True, True] Translation: X:539.26, Y:30.00, Z:19.67 [[ 9.94745176e-01 -9.56639165e-02 -3.64753325e-02 5.39264807e+02] [ 9.56276170e-02 9.95413400e-01 -2.74250401e-03 3.00043729e+01] [ 3.65703934e-02 -7.59956493e-04 9.99330790e-01 1.96741843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.199254154 meters Centerline goodness : 0.999143 with order 1 Centerline is valid? [True, True] Translation: X:539.33, Y:30.01, Z:19.68 [[ 9.94650233e-01 -9.66460179e-02 -3.64754836e-02 5.39325774e+02] [ 9.66104519e-02 9.95318497e-01 -2.74049252e-03 3.00084838e+01] [ 3.65695812e-02 -7.98081432e-04 9.99330790e-01 1.96770167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.259254154 meters Centerline goodness : 0.999456 with order 1 Centerline is valid? [True, True] Translation: X:539.39, Y:30.01, Z:19.68 [[ 9.94373333e-01 -9.94545464e-02 -3.64755828e-02 5.39387400e+02] [ 9.94209161e-02 9.95041697e-01 -2.73917227e-03 3.00116567e+01] [ 3.65671489e-02 -9.02675988e-04 9.99330790e-01 1.96812519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.319254154 meters Centerline goodness : 0.999561 with order 1 Centerline is valid? [True, True] Translation: X:539.45, Y:30.02, Z:19.68 [[ 9.94210501e-01 -1.01069272e-01 -3.64757846e-02 5.39449203e+02] [ 1.01036826e-01 9.94878923e-01 -2.73648176e-03 3.00151177e+01] [ 3.65655635e-02 -9.64758614e-04 9.99330790e-01 1.96845067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.379254154 meters Centerline goodness : 0.999396 with order 1 Centerline is valid? [True, True] Translation: X:539.51, Y:30.02, Z:19.69 [[ 9.94016585e-01 -1.02958880e-01 -3.64759843e-02 5.39511192e+02] [ 1.02927802e-01 9.94685073e-01 -2.73381718e-03 3.00180156e+01] [ 3.65635879e-02 -1.03693326e-03 9.99330790e-01 1.96886308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.439254154 meters Centerline goodness : 0.999539 with order 1 Centerline is valid? [True, True] Translation: X:539.57, Y:30.02, Z:19.69 [[ 9.93927987e-01 -1.03810615e-01 -3.64761852e-02 5.39573168e+02] [ 1.03780208e-01 9.94596506e-01 -2.73113419e-03 3.00213200e+01] [ 3.65626071e-02 -1.07095539e-03 9.99330790e-01 1.96919936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.499254154 meters Centerline goodness : 0.999519 with order 1 Centerline is valid? [True, True] Translation: X:539.63, Y:30.02, Z:19.69 [[ 9.94058258e-01 -1.02555607e-01 -3.64763891e-02 5.39634861e+02] [ 1.02524457e-01 9.94726742e-01 -2.72840760e-03 3.00237275e+01] [ 3.65638532e-02 -1.02752587e-03 9.99330790e-01 1.96941782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.559254154 meters Centerline goodness : 0.999122 with order 1 Centerline is valid? [True, True] Translation: X:539.70, Y:30.03, Z:19.70 [[ 9.94374275e-01 -9.94447588e-02 -3.64765901e-02 5.39695541e+02] [ 9.94116152e-02 9.95042663e-01 -2.72571818e-03 3.00274337e+01] [ 3.65668218e-02 -9.15812702e-04 9.99330790e-01 1.96960112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.619254154 meters Centerline goodness : 0.999436 with order 1 Centerline is valid? [True, True] Translation: X:539.76, Y:30.03, Z:19.70 [[ 9.95067182e-01 -9.22537267e-02 -3.64767384e-02 5.39756283e+02] [ 9.22158248e-02 9.95735318e-01 -2.72373255e-03 3.00313110e+01] [ 3.65724512e-02 -6.53435637e-04 9.99330790e-01 1.96987998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.679254154 meters Centerline goodness : 0.999308 with order 1 Centerline is valid? [True, True] Translation: X:539.82, Y:30.04, Z:19.70 [[ 9.95602526e-01 -8.62847117e-02 -3.64768364e-02 5.39817430e+02] [ 8.62428518e-02 9.96270425e-01 -2.72241952e-03 3.00354887e+01] [ 3.65756965e-02 -4.35418643e-04 9.99330791e-01 1.97020890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.739254154 meters Centerline goodness : 0.999394 with order 1 Centerline is valid? [True, True] Translation: X:539.88, Y:30.04, Z:19.70 [[ 9.96294793e-01 -7.78852942e-02 -3.64769377e-02 5.39877214e+02] [ 7.78378528e-02 9.96962318e-01 -2.72106111e-03 3.00382412e+01] [ 3.65780630e-02 -1.28307494e-04 9.99330791e-01 1.97025690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.799254154 meters Centerline goodness : 0.999728 with order 1 Centerline is valid? [True, True] Translation: X:539.94, Y:30.04, Z:19.71 [[ 9.96520212e-01 -7.49459901e-02 -3.64769313e-02 5.39936786e+02] [ 7.48965767e-02 9.97187594e-01 -2.72114685e-03 3.00412306e+01] [ 3.65782824e-02 -2.03194472e-05 9.99330791e-01 1.97052653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.859254154 meters Centerline goodness : 0.999248 with order 1 Centerline is valid? [True, True] Translation: X:540.00, Y:30.04, Z:19.71 [[ 9.96411829e-01 -7.63734735e-02 -3.64768335e-02 5.39996337e+02] [ 7.63249682e-02 9.97079278e-01 -2.72245744e-03 3.00426127e+01] [ 3.65782184e-02 -7.14043577e-05 9.99330791e-01 1.97076920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.919254154 meters Centerline goodness : 0.999251 with order 1 Centerline is valid? [True, True] Translation: X:540.06, Y:30.04, Z:19.71 [[ 9.95805514e-01 -8.39096353e-02 -3.64767322e-02 5.40056456e+02] [ 8.38661314e-02 9.96473308e-01 -2.72381397e-03 3.00426622e+01] [ 3.65766442e-02 -3.46773445e-04 9.99330791e-01 1.97099487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.979254154 meters Centerline goodness : 0.999147 with order 1 Centerline is valid? [True, True] Translation: X:540.12, Y:30.04, Z:19.71 [[ 9.95095354e-01 -9.19493991e-02 -3.64766314e-02 5.40115596e+02] [ 9.19112405e-02 9.95763475e-01 -2.72516342e-03 3.00436429e+01] [ 3.65726744e-02 -6.40814981e-04 9.99330791e-01 1.97101559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.039254154 meters Centerline goodness : 0.999251 with order 1 Centerline is valid? [True, True] Translation: X:540.18, Y:30.04, Z:19.71 [[ 9.93855331e-01 -1.04503784e-01 -3.64765817e-02 5.40176204e+02] [ 1.04474038e-01 9.94523879e-01 -2.72582782e-03 3.00426397e+01] [ 3.65616909e-02 -1.10177729e-03 9.99330791e-01 1.97149238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.0992541539999 meters Centerline goodness : 0.999313 with order 1 Centerline is valid? [True, True] Translation: X:540.24, Y:30.04, Z:19.72 [[ 9.93062914e-01 -1.11783305e-01 -3.64765817e-02 5.40237890e+02] [ 1.11758458e-01 9.93731662e-01 -2.72582782e-03 3.00439493e+01] [ 3.65526363e-02 -1.36964803e-03 9.99330791e-01 1.97172434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.159254154 meters Centerline goodness : 0.998834 with order 1 Centerline is valid? [True, True] Translation: X:540.30, Y:30.03, Z:19.70 [[ 9.93292917e-01 -1.09720699e-01 -3.64766839e-02 5.40299686e+02] [ 1.09694514e-01 9.93961614e-01 -2.72446015e-03 3.00327702e+01] [ 3.65553533e-02 -1.29510516e-03 9.99330791e-01 1.97042273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.2192541539999 meters Centerline goodness : 0.999085 with order 1 Centerline is valid? [True, True] Translation: X:540.36, Y:30.05, Z:19.72 [[ 9.91636334e-01 -1.23801587e-01 -3.64766839e-02 5.40358809e+02] [ 1.23784891e-01 9.92305335e-01 -2.72446015e-03 3.00489286e+01] [ 3.65333005e-02 -1.81358867e-03 9.99330791e-01 1.97198975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.279254154 meters Centerline goodness : 0.998917 with order 1 Centerline is valid? [True, True] Translation: X:540.42, Y:30.04, Z:19.71 [[ 9.92231424e-01 -1.18937915e-01 -3.64770371e-02 5.40421429e+02] [ 1.18918113e-01 9.92900340e-01 -2.71972332e-03 3.00401687e+01] [ 3.65415407e-02 -1.63918547e-03 9.99330791e-01 1.97085570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.339254154 meters Centerline goodness : 0.999271 with order 1 Centerline is valid? [True, True] Translation: X:540.48, Y:30.06, Z:19.72 [[ 9.90693937e-01 -1.31129485e-01 -3.64771364e-02 5.40480838e+02] [ 1.31117958e-01 9.91363047e-01 -2.71839070e-03 3.00572034e+01] [ 3.65185462e-02 -2.08971446e-03 9.99330791e-01 1.97231763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.399254154 meters Centerline goodness : 0.999269 with order 1 Centerline is valid? [True, True] Translation: X:540.54, Y:30.06, Z:19.73 [[ 9.90334510e-01 -1.33816911e-01 -3.64772834e-02 5.40542254e+02] [ 1.33807273e-01 9.91003650e-01 -2.71641599e-03 3.00636925e+01] [ 3.65126234e-02 -2.19076532e-03 9.99330791e-01 1.97259904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.459254154 meters Centerline goodness : 0.998934 with order 1 Centerline is valid? [True, True] Translation: X:540.60, Y:30.06, Z:19.72 [[ 9.91171372e-01 -1.27470410e-01 -3.64774790e-02 5.40603644e+02] [ 1.27456582e-01 9.91840438e-01 -2.71378713e-03 3.00603069e+01] [ 3.65257663e-02 -1.95946669e-03 9.99330791e-01 1.97179386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.519254154 meters Centerline goodness : 0.999164 with order 1 Centerline is valid? [True, True] Translation: X:540.66, Y:30.08, Z:19.73 [[ 9.90291435e-01 -1.34135244e-01 -3.64775270e-02 5.40663709e+02] [ 1.34125941e-01 9.90960580e-01 -2.71314256e-03 3.00793192e+01] [ 3.65117193e-02 -2.20578078e-03 9.99330791e-01 1.97291091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.579254154 meters Centerline goodness : 0.998682 with order 1 Centerline is valid? [True, True] Translation: X:540.73, Y:30.08, Z:19.72 [[ 9.91636228e-01 -1.23802142e-01 -3.64776743e-02 5.40726921e+02] [ 1.23785935e-01 9.92305241e-01 -2.71115963e-03 3.00780761e+01] [ 3.65326348e-02 -1.82693891e-03 9.99330791e-01 1.97201373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.639254154 meters Centerline goodness : 0.999103 with order 1 Centerline is valid? [True, True] Translation: X:540.79, Y:30.09, Z:19.72 [[ 9.92055300e-01 -1.20397861e-01 -3.64778889e-02 5.40787408e+02] [ 1.20379464e-01 9.92724257e-01 -2.70826923e-03 3.00870138e+01] [ 3.65385550e-02 -1.70443588e-03 9.99330791e-01 1.97232909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.699254154 meters Centerline goodness : 0.999082 with order 1 Centerline is valid? [True, True] Translation: X:540.85, Y:30.09, Z:19.72 [[ 9.92860186e-01 -1.13569375e-01 -3.64780461e-02 5.40848512e+02] [ 1.13546454e-01 9.93529003e-01 -2.70615056e-03 3.00938244e+01] [ 3.65493326e-02 -1.45512362e-03 9.99330791e-01 1.97229065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.759254154 meters Centerline goodness : 0.998812 with order 1 Centerline is valid? [True, True] Translation: X:540.91, Y:30.10, Z:19.73 [[ 9.93134031e-01 -1.11149186e-01 -3.64781495e-02 5.40910009e+02] [ 1.11124685e-01 9.93802792e-01 -2.70475613e-03 3.01026215e+01] [ 3.65527182e-02 -1.36743752e-03 9.99330791e-01 1.97257341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.819254154 meters Centerline goodness : 0.998976 with order 1 Centerline is valid? [True, True] Translation: X:540.97, Y:30.12, Z:19.74 [[ 9.92356867e-01 -1.17886292e-01 -3.64783561e-02 5.40969468e+02] [ 1.17866433e-01 9.93025782e-01 -2.70196694e-03 3.01242665e+01] [ 3.65424729e-02 -1.61825827e-03 9.99330791e-01 1.97414965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.879254154 meters Centerline goodness : 0.998893 with order 1 Centerline is valid? [True, True] Translation: X:541.03, Y:30.12, Z:19.73 [[ 9.93926436e-01 -1.03824657e-01 -3.64785056e-02 5.41032471e+02] [ 1.03795403e-01 9.94595005e-01 -2.69994755e-03 3.01189886e+01] [ 3.65616606e-02 -1.10275195e-03 9.99330791e-01 1.97288378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.939254154 meters Centerline goodness : 0.998848 with order 1 Centerline is valid? [True, True] Translation: X:541.09, Y:30.13, Z:19.73 [[ 9.94216838e-01 -1.01005867e-01 -3.64786884e-02 5.41093033e+02] [ 1.00974808e-01 9.94885326e-01 -2.69747453e-03 3.01287385e+01] [ 3.65645726e-02 -1.00155397e-03 9.99330791e-01 1.97342025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.999254154 meters Centerline goodness : 0.998889 with order 1 Centerline is valid? [True, True] Translation: X:541.15, Y:30.13, Z:19.73 [[ 9.94682406e-01 -9.63129989e-02 -3.64790024e-02 5.41154185e+02] [ 9.62789418e-02 9.95350748e-01 -2.69322174e-03 3.01331963e+01] [ 3.65687946e-02 -8.33259466e-04 9.99330791e-01 1.97344644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.059254154 meters Centerline goodness : 0.998974 with order 1 Centerline is valid? [True, True] Translation: X:541.21, Y:30.15, Z:19.75 [[ 9.94110322e-01 -1.02048728e-01 -3.64791029e-02 5.41213145e+02] [ 1.02018577e-01 9.94778852e-01 -2.69185938e-03 3.01532554e+01] [ 3.65633410e-02 -1.04554096e-03 9.99330791e-01 1.97512751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.119254154 meters Centerline goodness : 0.998620 with order 1 Centerline is valid? [True, True] Translation: X:541.27, Y:30.16, Z:19.75 [[ 9.94370664e-01 -9.94799127e-02 -3.64791531e-02 5.41274688e+02] [ 9.94480589e-02 9.95039115e-01 -2.69117957e-03 3.01578883e+01] [ 3.65659025e-02 -9.51750946e-04 9.99330791e-01 1.97523852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.179254154 meters Centerline goodness : 0.998957 with order 1 Centerline is valid? [True, True] Translation: X:541.34, Y:30.16, Z:19.76 [[ 9.94966875e-01 -9.33283118e-02 -3.64793509e-02 5.41336915e+02] [ 9.32924229e-02 9.95635122e-01 -2.68849519e-03 3.01638716e+01] [ 3.65710357e-02 -7.28283375e-04 9.99330791e-01 1.97554096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.239254154 meters Centerline goodness : 0.998810 with order 1 Centerline is valid? [True, True] Translation: X:541.40, Y:30.17, Z:19.75 [[ 9.95555833e-01 -8.68206512e-02 -3.64795484e-02 5.41398255e+02] [ 8.67804920e-02 9.96223837e-01 -2.68581310e-03 3.01654377e+01] [ 3.65749797e-02 -4.91836255e-04 9.99330791e-01 1.97541572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.299254154 meters Centerline goodness : 0.998957 with order 1 Centerline is valid? [True, True] Translation: X:541.46, Y:30.17, Z:19.76 [[ 9.95704536e-01 -8.50982261e-02 -3.64796962e-02 5.41460040e+02] [ 8.50569849e-02 9.96372474e-01 -2.68380424e-03 3.01694684e+01] [ 3.65757521e-02 -4.30576911e-04 9.99330791e-01 1.97586371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.359254154 meters Centerline goodness : 0.998853 with order 1 Centerline is valid? [True, True] Translation: X:541.52, Y:30.17, Z:19.76 [[ 9.95470108e-01 -8.77979494e-02 -3.64799134e-02 5.41520566e+02] [ 8.77586278e-02 9.96138161e-01 -2.68084836e-03 3.01733695e+01] [ 3.65744069e-02 -5.32722743e-04 9.99330791e-01 1.97603722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.419254154 meters Centerline goodness : 0.998999 with order 1 Centerline is valid? [True, True] Translation: X:541.58, Y:30.17, Z:19.76 [[ 9.94978578e-01 -9.32032217e-02 -3.64799667e-02 5.41581714e+02] [ 9.31675556e-02 9.95646837e-01 -2.68012347e-03 3.01749142e+01] [ 3.65709596e-02 -7.32083883e-04 9.99330791e-01 1.97629581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.479254154 meters Centerline goodness : 0.999021 with order 1 Centerline is valid? [True, True] Translation: X:541.64, Y:30.18, Z:19.77 [[ 9.94420581e-01 -9.89793346e-02 -3.64801147e-02 5.41643429e+02] [ 9.89476235e-02 9.95089039e-01 -2.67810719e-03 3.01752311e+01] [ 3.65660395e-02 -9.46455746e-04 9.99330791e-01 1.97659399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.539254154 meters Centerline goodness : 0.999021 with order 1 Centerline is valid? [True, True] Translation: X:541.71, Y:30.18, Z:19.77 [[ 9.94056086e-01 -1.02575299e-01 -3.64802141e-02 5.41705950e+02] [ 1.02546055e-01 9.94724656e-01 -2.67675296e-03 3.01771320e+01] [ 3.65623371e-02 -1.08005947e-03 9.99330791e-01 1.97690847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.5992541539999 meters Centerline goodness : 0.998727 with order 1 Centerline is valid? [True, True] Translation: X:541.77, Y:30.17, Z:19.76 [[ 9.94539785e-01 -9.77742024e-02 -3.64804124e-02 5.41767310e+02] [ 9.77418301e-02 9.95208211e-01 -2.67404686e-03 3.01691326e+01] [ 3.65670588e-02 -9.06216287e-04 9.99330791e-01 1.97598769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.659254154 meters Centerline goodness : 0.998936 with order 1 Centerline is valid? [True, True] Translation: X:541.83, Y:30.17, Z:19.76 [[ 9.94468583e-01 -9.84957527e-02 -3.64804611e-02 5.41827873e+02] [ 9.84638897e-02 9.95137034e-01 -2.67338251e-03 3.01693814e+01] [ 3.65663747e-02 -9.33413181e-04 9.99330791e-01 1.97610242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.7192541539999 meters Centerline goodness : 0.998830 with order 1 Centerline is valid? [True, True] Translation: X:541.89, Y:30.18, Z:19.77 [[ 9.93537303e-01 -1.07483965e-01 -3.64804611e-02 5.41888241e+02] [ 1.07458148e-01 9.94206015e-01 -2.67338251e-03 3.01806669e+01] [ 3.65564396e-02 -1.26401754e-03 9.99330791e-01 1.97745074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.779254154 meters Centerline goodness : 0.998996 with order 1 Centerline is valid? [True, True] Translation: X:541.95, Y:30.18, Z:19.78 [[ 9.93667793e-01 -1.06270813e-01 -3.64805558e-02 5.41948444e+02] [ 1.06244227e-01 9.94336474e-01 -2.67209011e-03 3.01824828e+01] [ 3.65579124e-02 -1.22067855e-03 9.99330791e-01 1.97750549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.839254154 meters Centerline goodness : 0.999144 with order 1 Centerline is valid? [True, True] Translation: X:542.01, Y:30.19, Z:19.78 [[ 9.94057044e-01 -1.02565880e-01 -3.64806025e-02 5.42010634e+02] [ 1.02536824e-01 9.94725622e-01 -2.67145204e-03 3.01851141e+01] [ 3.65621898e-02 -1.08502942e-03 9.99330791e-01 1.97796377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.899254154 meters Centerline goodness : 0.999269 with order 1 Centerline is valid? [True, True] Translation: X:542.07, Y:30.19, Z:19.78 [[ 9.94539550e-01 -9.77764508e-02 -3.64807989e-02 5.42071642e+02] [ 9.77442736e-02 9.95207986e-01 -2.66876725e-03 3.01880608e+01] [ 3.65669250e-02 -9.11594612e-04 9.99330791e-01 1.97819841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.959254154 meters Centerline goodness : 0.996345 with order 1 Centerline is valid? [True, True] Translation: X:542.13, Y:30.19, Z:19.78 [[ 9.95461550e-01 -8.78945221e-02 -3.64808971e-02 5.42129141e+02] [ 8.78557573e-02 9.96129636e-01 -2.66742397e-03 3.01888148e+01] [ 3.65741547e-02 -5.49738847e-04 9.99330791e-01 1.97838280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.019254154 meters Centerline goodness : 0.999165 with order 1 Centerline is valid? [True, True] Translation: X:542.19, Y:30.19, Z:19.79 [[ 9.95851780e-01 -8.33572787e-02 -3.64800892e-02 5.42187943e+02] [ 8.33150667e-02 9.96519656e-01 -2.67842849e-03 3.01946243e+01] [ 3.65763924e-02 -3.72023278e-04 9.99330791e-01 1.97928256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.079254154 meters Centerline goodness : 0.999310 with order 1 Centerline is valid? [True, True] Translation: X:542.25, Y:30.20, Z:19.79 [[ 9.96278312e-01 -7.80945691e-02 -3.64796314e-02 5.42247223e+02] [ 7.80486013e-02 9.96945941e-01 -2.68464839e-03 3.01952931e+01] [ 3.65778769e-02 -1.72527244e-04 9.99330791e-01 1.97890966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.139254154 meters Centerline goodness : 0.999351 with order 1 Centerline is valid? [True, True] Translation: X:542.31, Y:30.20, Z:19.79 [[ 9.96483143e-01 -7.54360646e-02 -3.64793977e-02 5.42306270e+02] [ 7.53881994e-02 9.97150638e-01 -2.68782035e-03 3.01970263e+01] [ 3.65782133e-02 -7.17484366e-05 9.99330791e-01 1.97914561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.199254154 meters Centerline goodness : 0.999122 with order 1 Centerline is valid? [True, True] Translation: X:542.37, Y:30.20, Z:19.79 [[ 9.96500782e-01 -7.52030231e-02 -3.64787198e-02 5.42365223e+02] [ 7.51546662e-02 9.97168242e-01 -2.69698926e-03 3.01999311e+01] [ 3.65782426e-02 -5.39941018e-05 9.99330791e-01 1.97948421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.259254154 meters Centerline goodness : 0.999186 with order 1 Centerline is valid? [True, True] Translation: X:542.42, Y:30.20, Z:19.80 [[ 9.96205688e-01 -7.90163040e-02 -3.64780861e-02 5.42423190e+02] [ 7.89701891e-02 9.96873307e-01 -2.70553342e-03 3.02012514e+01] [ 3.65778116e-02 -1.85413574e-04 9.99330791e-01 1.97978105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.319254154 meters Centerline goodness : 0.999478 with order 1 Centerline is valid? [True, True] Translation: X:542.48, Y:30.20, Z:19.80 [[ 9.95858549e-01 -8.32773497e-02 -3.64778423e-02 5.42481339e+02] [ 8.32339711e-02 9.96526351e-01 -2.70881627e-03 3.02012687e+01] [ 3.65767141e-02 -3.38597827e-04 9.99330791e-01 1.97991483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.379254154 meters Centerline goodness : 0.999436 with order 1 Centerline is valid? [True, True] Translation: X:542.54, Y:30.20, Z:19.80 [[ 9.95570803e-01 -8.66496434e-02 -3.64776087e-02 5.42539833e+02] [ 8.66084115e-02 9.96238741e-01 -2.71195924e-03 3.02029936e+01] [ 3.65753972e-02 -4.59320304e-04 9.99330791e-01 1.97998711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.439254154 meters Centerline goodness : 0.999374 with order 1 Centerline is valid? [True, True] Translation: X:542.60, Y:30.20, Z:19.80 [[ 9.95224971e-01 -9.05355682e-02 -3.64769573e-02 5.42597899e+02] [ 9.04966242e-02 9.95893046e-01 -2.72069278e-03 3.02046209e+01] [ 3.65734675e-02 -5.93340105e-04 9.99330791e-01 1.98009317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.499254154 meters Centerline goodness : 0.999354 with order 1 Centerline is valid? [True, True] Translation: X:542.66, Y:30.21, Z:19.80 [[ 9.94763729e-01 -9.54704598e-02 -3.64762194e-02 5.42655556e+02] [ 9.54344684e-02 9.95431970e-01 -2.73054995e-03 3.02058309e+01] [ 3.65702817e-02 -7.64836553e-04 9.99330791e-01 1.98032336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.559254154 meters Centerline goodness : 0.999416 with order 1 Centerline is valid? [True, True] Translation: X:542.71, Y:30.21, Z:19.81 [[ 9.94779980e-01 -9.53011147e-02 -3.64758761e-02 5.42714742e+02] [ 9.52648418e-02 9.95448205e-01 -2.73512801e-03 3.02088503e+01] [ 3.65705061e-02 -7.54017977e-04 9.99330791e-01 1.98078385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.619254154 meters Centerline goodness : 0.999457 with order 1 Centerline is valid? [True, True] Translation: X:542.77, Y:30.21, Z:19.81 [[ 9.95052883e-01 -9.24082074e-02 -3.64757787e-02 5.42773812e+02] [ 9.23699441e-02 9.95720998e-01 -2.73642543e-03 3.02129448e+01] [ 3.65725670e-02 -6.46377633e-04 9.99330791e-01 1.98108241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.679254154 meters Centerline goodness : 0.999374 with order 1 Centerline is valid? [True, True] Translation: X:542.83, Y:30.22, Z:19.81 [[ 9.95720941e-01 -8.49077869e-02 -3.64756797e-02 5.42832996e+02] [ 8.48644421e-02 9.96388745e-01 -2.73774446e-03 3.02168029e+01] [ 3.65764126e-02 -3.69458720e-04 9.99330791e-01 1.98130669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.739254154 meters Centerline goodness : 0.999394 with order 1 Centerline is valid? [True, True] Translation: X:542.89, Y:30.22, Z:19.82 [[ 9.96159684e-01 -7.95953263e-02 -3.64755801e-02 5.42890289e+02] [ 7.95483714e-02 9.96827244e-01 -2.73907125e-03 3.02209901e+01] [ 3.65778693e-02 -1.73020642e-04 9.99330791e-01 1.98151814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.799254154 meters Centerline goodness : 0.999374 with order 1 Centerline is valid? [True, True] Translation: X:542.95, Y:30.22, Z:19.82 [[ 9.96457163e-01 -7.57804244e-02 -3.64753351e-02 5.42948023e+02] [ 7.57307945e-02 9.97124529e-01 -2.74232977e-03 3.02248926e+01] [ 3.65782663e-02 -2.96919623e-05 9.99330791e-01 1.98172052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.859254154 meters Centerline goodness : 0.999332 with order 1 Centerline is valid? [True, True] Translation: X:543.01, Y:30.23, Z:19.82 [[ 9.96408308e-01 -7.64204828e-02 -3.64745511e-02 5.43006080e+02] [ 7.63709013e-02 9.97075678e-01 -2.75271879e-03 3.02276866e+01] [ 3.65782518e-02 -4.27624678e-05 9.99330791e-01 1.98183469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.919254154 meters Centerline goodness : 0.999540 with order 1 Centerline is valid? [True, True] Translation: X:543.06, Y:30.23, Z:19.82 [[ 9.95951831e-01 -8.21557975e-02 -3.64743103e-02 5.43064300e+02] [ 8.21099423e-02 9.96619467e-01 -2.75590500e-03 3.02283477e+01] [ 3.65774213e-02 -2.50154889e-04 9.99330791e-01 1.98217229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.979254154 meters Centerline goodness : 0.999415 with order 1 Centerline is valid? [True, True] Translation: X:543.12, Y:30.23, Z:19.83 [[ 9.95255944e-01 -9.01958221e-02 -3.64735337e-02 5.43121860e+02] [ 9.01549846e-02 9.95923906e-01 -2.76614524e-03 3.02285641e+01] [ 3.65743589e-02 -5.35248375e-04 9.99330791e-01 1.98250827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.039254154 meters Centerline goodness : 0.999353 with order 1 Centerline is valid? [True, True] Translation: X:543.18, Y:30.23, Z:19.83 [[ 9.94986335e-01 -9.31232260e-02 -3.64727015e-02 5.43180283e+02] [ 9.30839532e-02 9.95654391e-01 -2.77707521e-03 3.02317150e+01] [ 3.65728156e-02 -6.31871353e-04 9.99330791e-01 1.98276880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.0992541539999 meters Centerline goodness : 0.999582 with order 1 Centerline is valid? [True, True] Translation: X:543.24, Y:30.23, Z:19.83 [[ 9.94359439e-01 -9.95946852e-02 -3.64719766e-02 5.43239342e+02] [ 9.95594118e-02 9.95027718e-01 -2.78656326e-03 3.02312674e+01] [ 3.65681545e-02 -8.60283060e-04 9.99330791e-01 1.98276828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.159254154 meters Centerline goodness : 0.999624 with order 1 Centerline is valid? [True, True] Translation: X:543.30, Y:30.23, Z:19.83 [[ 9.93944923e-01 -1.03650071e-01 -3.64712554e-02 5.43297833e+02] [ 1.03617179e-01 9.94613323e-01 -2.79597103e-03 3.02328552e+01] [ 3.65645991e-02 -1.00000740e-03 9.99330791e-01 1.98294362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.2192541539999 meters Centerline goodness : 0.999708 with order 1 Centerline is valid? [True, True] Translation: X:543.36, Y:30.23, Z:19.83 [[ 9.93380974e-01 -1.08922633e-01 -3.64705396e-02 5.43356262e+02] [ 1.08892947e-01 9.94049524e-01 -2.80527607e-03 3.02337587e+01] [ 3.65590806e-02 -1.18467665e-03 9.99330791e-01 1.98338763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.279254154 meters Centerline goodness : 0.999582 with order 1 Centerline is valid? [True, True] Translation: X:543.41, Y:30.24, Z:19.84 [[ 9.93063531e-01 -1.11780031e-01 -3.64698295e-02 5.43414594e+02] [ 1.11751931e-01 9.93732149e-01 -2.81447850e-03 3.02359824e+01] [ 3.65558445e-02 -1.28061789e-03 9.99330791e-01 1.98351081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.339254154 meters Centerline goodness : 0.999666 with order 1 Centerline is valid? [True, True] Translation: X:543.47, Y:30.24, Z:19.84 [[ 9.92799846e-01 -1.14098500e-01 -3.64691263e-02 5.43472791e+02] [ 1.14071628e-01 9.93468515e-01 -2.82355993e-03 3.02388149e+01] [ 3.65530928e-02 -1.35686276e-03 9.99330791e-01 1.98394392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.399254154 meters Centerline goodness : 0.999728 with order 1 Centerline is valid? [True, True] Translation: X:543.53, Y:30.24, Z:19.84 [[ 9.92802312e-01 -1.14077264e-01 -3.64684315e-02 5.43531094e+02] [ 1.14050049e-01 9.93470967e-01 -2.83250554e-03 3.02424948e+01] [ 3.65534524e-02 -1.34710836e-03 9.99330791e-01 1.98413945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.459254154 meters Centerline goodness : 0.999728 with order 1 Centerline is valid? [True, True] Translation: X:543.59, Y:30.25, Z:19.84 [[ 9.92823116e-01 -1.13896291e-01 -3.64677298e-02 5.43589020e+02] [ 1.13868624e-01 9.93491753e-01 -2.84151121e-03 3.02468660e+01] [ 3.65540264e-02 -1.33141220e-03 9.99330791e-01 1.98423440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.519254154 meters Centerline goodness : 0.999582 with order 1 Centerline is valid? [True, True] Translation: X:543.65, Y:30.25, Z:19.85 [[ 9.92769496e-01 -1.14362835e-01 -3.64673708e-02 5.43647966e+02] [ 1.14335314e-01 9.93438139e-01 -2.84611190e-03 3.02513975e+01] [ 3.65535664e-02 -1.34397519e-03 9.99330791e-01 1.98455120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.579254154 meters Centerline goodness : 0.999686 with order 1 Centerline is valid? [True, True] Translation: X:543.71, Y:30.26, Z:19.85 [[ 9.92585848e-01 -1.15945994e-01 -3.64672653e-02 5.43707036e+02] [ 1.15919490e-01 9.93254531e-01 -2.84746278e-03 3.02561918e+01] [ 3.65514284e-02 -1.40091553e-03 9.99330791e-01 1.98483323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.639254154 meters Centerline goodness : 0.999686 with order 1 Centerline is valid? [True, True] Translation: X:543.77, Y:30.26, Z:19.85 [[ 9.92441401e-01 -1.17175991e-01 -3.64671601e-02 5.43766058e+02] [ 1.17150266e-01 9.93110115e-01 -2.84880925e-03 3.02613817e+01] [ 3.65497176e-02 -1.44486125e-03 9.99330791e-01 1.98514270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.699254154 meters Centerline goodness : 0.999624 with order 1 Centerline is valid? [True, True] Translation: X:543.83, Y:30.27, Z:19.85 [[ 9.92484489e-01 -1.16810499e-01 -3.64670559e-02 5.43825599e+02] [ 1.16784478e-01 9.93153192e-01 -2.85014270e-03 3.02666126e+01] [ 3.65502995e-02 -1.43006368e-03 9.99330791e-01 1.98532570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.759254154 meters Centerline goodness : 0.999540 with order 1 Centerline is valid? [True, True] Translation: X:543.88, Y:30.27, Z:19.85 [[ 9.92472361e-01 -1.16913529e-01 -3.64669528e-02 5.43883359e+02] [ 1.16887529e-01 9.93141065e-01 -2.85146072e-03 3.02730879e+01] [ 3.65502027e-02 -1.43253606e-03 9.99330791e-01 1.98548788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.819254154 meters Centerline goodness : 0.999520 with order 1 Centerline is valid? [True, True] Translation: X:543.94, Y:30.28, Z:19.86 [[ 9.92304118e-01 -1.18333078e-01 -3.64666991e-02 5.43940611e+02] [ 1.18307916e-01 9.92972853e-01 -2.85470248e-03 3.02808081e+01] [ 3.65482479e-02 -1.48156614e-03 9.99330791e-01 1.98573723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.879254154 meters Centerline goodness : 0.999561 with order 1 Centerline is valid? [True, True] Translation: X:544.00, Y:30.29, Z:19.86 [[ 9.92127192e-01 -1.19807486e-01 -3.64664495e-02 5.43999567e+02] [ 1.19783202e-01 9.92795959e-01 -2.85788637e-03 3.02872710e+01] [ 3.65461399e-02 -1.53268129e-03 9.99330791e-01 1.98583029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.939254154 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:544.06, Y:30.30, Z:19.86 [[ 9.91938381e-01 -1.21361001e-01 -3.64658047e-02 5.44059634e+02] [ 1.21337463e-01 9.92607176e-01 -2.86609082e-03 3.02953673e+01] [ 3.65440511e-02 -1.58168273e-03 9.99330791e-01 1.98627792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.999254154 meters Centerline goodness : 0.999394 with order 1 Centerline is valid? [True, True] Translation: X:544.12, Y:30.30, Z:19.87 [[ 9.92041713e-01 -1.20513421e-01 -3.64658047e-02 5.44119458e+02] [ 1.20489311e-01 9.92710487e-01 -2.86609082e-03 3.03029806e+01] [ 3.65453892e-02 -1.55045804e-03 9.99330791e-01 1.98661979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.059254154 meters Centerline goodness : 0.999270 with order 1 Centerline is valid? [True, True] Translation: X:544.18, Y:30.31, Z:19.87 [[ 9.92513310e-01 -1.16565752e-01 -3.64658047e-02 5.44178931e+02] [ 1.16538981e-01 9.93181983e-01 -2.86609082e-03 3.03113031e+01] [ 3.65512682e-02 -1.40505445e-03 9.99330791e-01 1.98679009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.119254154 meters Centerline goodness : 0.999165 with order 1 Centerline is valid? [True, True] Translation: X:544.24, Y:30.32, Z:19.87 [[ 9.92991587e-01 -1.12418665e-01 -3.64657522e-02 5.44238419e+02] [ 1.12389077e-01 9.93660142e-01 -2.86675880e-03 3.03205721e+01] [ 3.65568417e-02 -1.25168486e-03 9.99330791e-01 1.98710248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.179254154 meters Centerline goodness : 0.999226 with order 1 Centerline is valid? [True, True] Translation: X:544.30, Y:30.33, Z:19.87 [[ 9.93317090e-01 -1.09505284e-01 -3.64657522e-02 5.44297201e+02] [ 1.09473735e-01 9.93985555e-01 -2.86675880e-03 3.03282611e+01] [ 3.65603561e-02 -1.14444158e-03 9.99330791e-01 1.98730782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.239254154 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:544.36, Y:30.34, Z:19.88 [[ 9.93698596e-01 -1.05987533e-01 -3.64656512e-02 5.44355629e+02] [ 1.05953570e-01 9.94366942e-01 -2.86804258e-03 3.03358116e+01] [ 3.65642148e-02 -1.01369606e-03 9.99330791e-01 1.98758458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.299254154 meters Centerline goodness : 0.999394 with order 1 Centerline is valid? [True, True] Translation: X:544.42, Y:30.34, Z:19.88 [[ 9.93836204e-01 -1.04689382e-01 -3.64655020e-02 5.44415256e+02] [ 1.04654477e-01 9.94504502e-01 -2.86993860e-03 3.03416928e+01] [ 3.65655580e-02 -9.64029155e-04 9.99330791e-01 1.98786485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.359254154 meters Centerline goodness : 0.999353 with order 1 Centerline is valid? [True, True] Translation: X:544.48, Y:30.35, Z:19.88 [[ 9.94046236e-01 -1.02675969e-01 -3.64654037e-02 5.44475076e+02] [ 1.02639664e-01 9.94714459e-01 -2.87118701e-03 3.03482424e+01] [ 3.65674662e-02 -8.88704146e-04 9.99330791e-01 1.98829572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.419254154 meters Centerline goodness : 0.999393 with order 1 Centerline is valid? [True, True] Translation: X:544.53, Y:30.35, Z:19.88 [[ 9.94135256e-01 -1.01810449e-01 -3.64654037e-02 5.44534848e+02] [ 1.01773563e-01 9.94803447e-01 -2.87118701e-03 3.03540065e+01] [ 3.65682261e-02 -8.56865811e-04 9.99330791e-01 1.98849811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.479254154 meters Centerline goodness : 0.999290 with order 1 Centerline is valid? [True, True] Translation: X:544.59, Y:30.36, Z:19.88 [[ 9.94236638e-01 -1.00815587e-01 -3.64654037e-02 5.44594985e+02] [ 1.00778032e-01 9.94904792e-01 -2.87118701e-03 3.03576167e+01] [ 3.65690653e-02 -8.20272300e-04 9.99330791e-01 1.98844347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.539254154 meters Centerline goodness : 0.999272 with order 1 Centerline is valid? [True, True] Translation: X:544.66, Y:30.36, Z:19.89 [[ 9.94097048e-01 -1.02182844e-01 -3.64654037e-02 5.44655126e+02] [ 1.02146207e-01 9.94765253e-01 -2.87118701e-03 3.03622150e+01] [ 3.65679026e-02 -8.70564157e-04 9.99330791e-01 1.98891383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.5992541539999 meters Centerline goodness : 0.999499 with order 1 Centerline is valid? [True, True] Translation: X:544.72, Y:30.37, Z:19.89 [[ 9.93973089e-01 -1.03381664e-01 -3.64654567e-02 5.44715872e+02] [ 1.03345858e-01 9.94641339e-01 -2.87051387e-03 3.03664805e+01] [ 3.65668092e-02 -9.15340381e-04 9.99330791e-01 1.98918171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.659254154 meters Centerline goodness : 0.999415 with order 1 Centerline is valid? [True, True] Translation: X:544.78, Y:30.37, Z:19.89 [[ 9.93846288e-01 -1.04593584e-01 -3.64655645e-02 5.44777016e+02] [ 1.04558643e-01 9.94514584e-01 -2.86914405e-03 3.03689296e+01] [ 3.65656297e-02 -9.61301782e-04 9.99330791e-01 1.98925629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.7192541539999 meters Centerline goodness : 0.999394 with order 1 Centerline is valid? [True, True] Translation: X:544.84, Y:30.37, Z:19.90 [[ 9.93808264e-01 -1.04954229e-01 -3.64656725e-02 5.44836614e+02] [ 1.04919581e-01 9.94476575e-01 -2.86777029e-03 3.03727410e+01] [ 3.65652417e-02 -9.75949265e-04 9.99330791e-01 1.98955033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.779254154 meters Centerline goodness : 0.999332 with order 1 Centerline is valid? [True, True] Translation: X:544.90, Y:30.38, Z:19.90 [[ 9.93978885e-01 -1.03325866e-01 -3.64656193e-02 5.44896822e+02] [ 1.03290099e-01 9.94647137e-01 -2.86844642e-03 3.03768559e+01] [ 3.65668086e-02 -9.15362238e-04 9.99330791e-01 1.98982116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.839254154 meters Centerline goodness : 0.999415 with order 1 Centerline is valid? [True, True] Translation: X:544.96, Y:30.38, Z:19.90 [[ 9.94194128e-01 -1.01233856e-01 -3.64656193e-02 5.44957571e+02] [ 1.01196682e-01 9.94862304e-01 -2.86844642e-03 3.03809986e+01] [ 3.65686539e-02 -8.38407099e-04 9.99330791e-01 1.99005855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.899254154 meters Centerline goodness : 0.999478 with order 1 Centerline is valid? [True, True] Translation: X:545.02, Y:30.39, Z:19.90 [[ 9.94383813e-01 -9.93533656e-02 -3.64656193e-02 5.45017558e+02] [ 9.93149284e-02 9.95051917e-01 -2.86844642e-03 3.03852072e+01] [ 3.65701742e-02 -7.69243681e-04 9.99330791e-01 1.99023021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.959254154 meters Centerline goodness : 0.999540 with order 1 Centerline is valid? [True, True] Translation: X:545.08, Y:30.39, Z:19.90 [[ 9.94490004e-01 -9.82847383e-02 -3.64656193e-02 5.45078368e+02] [ 9.82455832e-02 9.95158067e-01 -2.86844642e-03 3.03882353e+01] [ 3.65709797e-02 -7.29944740e-04 9.99330791e-01 1.99042299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.019254154 meters Centerline goodness : 0.999520 with order 1 Centerline is valid? [True, True] Translation: X:545.14, Y:30.39, Z:19.91 [[ 9.94387859e-01 -9.93128666e-02 -3.64656193e-02 5.45137305e+02] [ 9.92744022e-02 9.95055961e-01 -2.86844642e-03 3.03912449e+01] [ 3.65702055e-02 -7.67754261e-04 9.99330791e-01 1.99057055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.079254154 meters Centerline goodness : 0.999437 with order 1 Centerline is valid? [True, True] Translation: X:545.20, Y:30.39, Z:19.91 [[ 9.93955626e-01 -1.03549372e-01 -3.64656262e-02 5.45196751e+02] [ 1.03513759e-01 9.94623886e-01 -2.86835889e-03 3.03935543e+01] [ 3.65665996e-02 -9.23672564e-04 9.99330791e-01 1.99082219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.139254154 meters Centerline goodness : 0.999458 with order 1 Centerline is valid? [True, True] Translation: X:545.26, Y:30.40, Z:19.91 [[ 9.93260175e-01 -1.10020412e-01 -3.64655199e-02 5.45256059e+02] [ 1.09989102e-01 9.93928651e-01 -2.86970925e-03 3.03960449e+01] [ 3.65598516e-02 -1.16044186e-03 9.99330791e-01 1.99103286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.199254154 meters Centerline goodness : 0.999395 with order 1 Centerline is valid? [True, True] Translation: X:545.32, Y:30.40, Z:19.91 [[ 9.92714301e-01 -1.14841590e-01 -3.64654143e-02 5.45316517e+02] [ 1.14813476e-01 9.93382919e-01 -2.87105071e-03 3.03993185e+01] [ 3.65538357e-02 -1.33658787e-03 9.99330791e-01 1.99125361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.259254154 meters Centerline goodness : 0.999604 with order 1 Centerline is valid? [True, True] Translation: X:545.38, Y:30.40, Z:19.91 [[ 9.91975928e-01 -1.21053840e-01 -3.64654143e-02 5.45377105e+02] [ 1.21029913e-01 9.92644709e-01 -2.87105071e-03 3.04014285e+01] [ 3.65447523e-02 -1.56539271e-03 9.99330791e-01 1.99134753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.319254154 meters Centerline goodness : 0.999353 with order 1 Centerline is valid? [True, True] Translation: X:545.44, Y:30.41, Z:19.92 [[ 9.91503127e-01 -1.24867203e-01 -3.64654674e-02 5.45437300e+02] [ 1.24845872e-01 9.92171996e-01 -2.87037596e-03 3.04070640e+01] [ 3.65384314e-02 -1.70657632e-03 9.99330791e-01 1.99173237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.379254154 meters Centerline goodness : 0.999415 with order 1 Centerline is valid? [True, True] Translation: X:545.50, Y:30.41, Z:19.92 [[ 9.91321034e-01 -1.26304699e-01 -3.64654674e-02 5.45498362e+02] [ 1.26284338e-01 9.91989933e-01 -2.87037596e-03 3.04103207e+01] [ 3.65359185e-02 -1.75955335e-03 9.99330791e-01 1.99209934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.439254154 meters Centerline goodness : 0.999271 with order 1 Centerline is valid? [True, True] Translation: X:545.56, Y:30.42, Z:19.93 [[ 9.90272211e-01 -1.34280342e-01 -3.64655773e-02 5.45557701e+02] [ 1.34265417e-01 9.90941253e-01 -2.86897886e-03 3.04226889e+01] [ 3.65204924e-02 -2.05499589e-03 9.99330791e-01 1.99295641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.499254154 meters Centerline goodness : 0.999249 with order 1 Centerline is valid? [True, True] Translation: X:545.62, Y:30.43, Z:19.92 [[ 9.90471097e-01 -1.32805377e-01 -3.64655773e-02 5.45617750e+02] [ 1.32789456e-01 9.91140116e-01 -2.86897886e-03 3.04256674e+01] [ 3.65235124e-02 -2.00060352e-03 9.99330791e-01 1.99209302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.559254154 meters Centerline goodness : 0.999313 with order 1 Centerline is valid? [True, True] Translation: X:545.68, Y:30.43, Z:19.92 [[ 9.90408672e-01 -1.33270115e-01 -3.64655773e-02 5.45677791e+02] [ 1.33254508e-01 9.91077699e-01 -2.86897886e-03 3.04345744e+01] [ 3.65225696e-02 -2.01774101e-03 9.99330791e-01 1.99247258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.619254154 meters Centerline goodness : 0.999333 with order 1 Centerline is valid? [True, True] Translation: X:545.74, Y:30.45, Z:19.94 [[ 9.90013139e-01 -1.36177244e-01 -3.64656294e-02 5.45737685e+02] [ 1.36163625e-01 9.90682209e-01 -2.86831691e-03 3.04464311e+01] [ 3.65164498e-02 -2.12562084e-03 9.99330791e-01 1.99403414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.679254154 meters Centerline goodness : 0.999355 with order 1 Centerline is valid? [True, True] Translation: X:545.80, Y:30.45, Z:19.93 [[ 9.90883244e-01 -1.29694448e-01 -3.64656840e-02 5.45797315e+02] [ 1.29676475e-01 9.91552212e-01 -2.86762225e-03 3.04523088e+01] [ 3.65295443e-02 -1.88726254e-03 9.99330791e-01 1.99292666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.739254154 meters Centerline goodness : 0.999271 with order 1 Centerline is valid? [True, True] Translation: X:545.86, Y:30.46, Z:19.93 [[ 9.91218923e-01 -1.27103512e-01 -3.64656504e-02 5.45858370e+02] [ 1.27083775e-01 9.91887841e-01 -2.86804935e-03 3.04607813e+01] [ 3.65343744e-02 -1.79132773e-03 9.99330791e-01 1.99317217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.799254154 meters Centerline goodness : 0.999208 with order 1 Centerline is valid? [True, True] Translation: X:545.92, Y:30.47, Z:19.93 [[ 9.91739174e-01 -1.22978288e-01 -3.64657552e-02 5.45920151e+02] [ 1.22955817e-01 9.92408005e-01 -2.86671714e-03 3.04715739e+01] [ 3.65414513e-02 -1.64064102e-03 9.99330791e-01 1.99341580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.859254154 meters Centerline goodness : 0.999188 with order 1 Centerline is valid? [True, True] Translation: X:545.98, Y:30.48, Z:19.94 [[ 9.92127589e-01 -1.19804343e-01 -3.64659701e-02 5.45980603e+02] [ 1.19779833e-01 9.92796348e-01 -2.86398081e-03 3.04814552e+01] [ 3.65463993e-02 -1.52645342e-03 9.99330791e-01 1.99379569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.919254154 meters Centerline goodness : 0.999186 with order 1 Centerline is valid? [True, True] Translation: X:546.04, Y:30.49, Z:19.94 [[ 9.92858275e-01 -1.13589905e-01 -3.64661286e-02 5.46041916e+02] [ 1.13561282e-01 9.93526872e-01 -2.86196046e-03 3.04938171e+01] [ 3.65551685e-02 -1.29961917e-03 9.99330791e-01 1.99404249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.979254154 meters Centerline goodness : 0.999191 with order 1 Centerline is valid? [True, True] Translation: X:546.10, Y:30.50, Z:19.94 [[ 9.93384475e-01 -1.08892109e-01 -3.64663411e-02 5.46103002e+02] [ 1.08860423e-01 9.94052933e-01 -2.85925039e-03 3.05034177e+01] [ 3.65608232e-02 -1.12940637e-03 9.99330791e-01 1.99420451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.039254154 meters Centerline goodness : 0.998936 with order 1 Centerline is valid? [True, True] Translation: X:546.16, Y:30.51, Z:19.94 [[ 9.94176900e-01 -1.01402591e-01 -3.64664976e-02 5.46164613e+02] [ 1.01365941e-01 9.94845105e-01 -2.85725341e-03 3.05148258e+01] [ 3.65682495e-02 -8.55845492e-04 9.99330791e-01 1.99439178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.0992541539999 meters Centerline goodness : 0.999123 with order 1 Centerline is valid? [True, True] Translation: X:546.23, Y:30.53, Z:19.95 [[ 9.94779967e-01 -9.53047600e-02 -3.64667039e-02 5.46225846e+02] [ 9.52641103e-02 9.95447940e-01 -2.85461779e-03 3.05265663e+01] [ 3.65727639e-02 -6.34251512e-04 9.99330791e-01 1.99484959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.159254154 meters Centerline goodness : 0.998914 with order 1 Centerline is valid? [True, True] Translation: X:546.29, Y:30.53, Z:19.95 [[ 9.95003193e-01 -9.29451983e-02 -3.64669160e-02 5.46288094e+02] [ 9.29030639e-02 9.95671074e-01 -2.85190619e-03 3.05344724e+01] [ 3.65741244e-02 -5.50232458e-04 9.99330791e-01 1.99501320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.2192541539999 meters Centerline goodness : 0.998811 with order 1 Centerline is valid? [True, True] Translation: X:546.35, Y:30.54, Z:19.95 [[ 9.95025916e-01 -9.27015189e-02 -3.64671795e-02 5.46348577e+02] [ 9.26593445e-02 9.95693794e-01 -2.84853296e-03 3.05424984e+01] [ 3.65742076e-02 -5.44660826e-04 9.99330791e-01 1.99512340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.279254154 meters Centerline goodness : 0.998810 with order 1 Centerline is valid? [True, True] Translation: X:546.41, Y:30.55, Z:19.95 [[ 9.94667997e-01 -9.64661007e-02 -3.64673352e-02 5.46410247e+02] [ 9.64265270e-02 9.95336035e-01 -2.84653787e-03 3.05491339e+01] [ 3.65718472e-02 -6.85058367e-04 9.99330791e-01 1.99537596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.339254154 meters Centerline goodness : 0.998832 with order 1 Centerline is valid? [True, True] Translation: X:546.47, Y:30.55, Z:19.96 [[ 9.94266534e-01 -1.00519543e-01 -3.64675453e-02 5.46471881e+02] [ 1.00482791e-01 9.94934732e-01 -2.84384386e-03 3.05544697e+01] [ 3.65686893e-02 -8.36821959e-04 9.99330791e-01 1.99559505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.399254154 meters Centerline goodness : 0.998874 with order 1 Centerline is valid? [True, True] Translation: X:546.53, Y:30.56, Z:19.96 [[ 9.93594777e-01 -1.06955705e-01 -3.64677582e-02 5.46533101e+02] [ 1.06923381e-01 9.94263204e-01 -2.84111131e-03 3.05588325e+01] [ 3.65624231e-02 -1.07634263e-03 9.99330791e-01 1.99564265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.459254154 meters Centerline goodness : 0.998831 with order 1 Centerline is valid? [True, True] Translation: X:546.59, Y:30.56, Z:19.96 [[ 9.93179089e-01 -1.10749218e-01 -3.64679154e-02 5.46594587e+02] [ 1.10719521e-01 9.93847638e-01 -2.83909174e-03 3.05642156e+01] [ 3.65579788e-02 -1.21798357e-03 9.99330791e-01 1.99603983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.519254154 meters Centerline goodness : 0.998811 with order 1 Centerline is valid? [True, True] Translation: X:546.65, Y:30.57, Z:19.96 [[ 9.93188698e-01 -1.10662940e-01 -3.64681280e-02 5.46654987e+02] [ 1.10633285e-01 9.93857249e-01 -2.83635796e-03 3.05701642e+01] [ 3.65579931e-02 -1.21755014e-03 9.99330791e-01 1.99619929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.579254154 meters Centerline goodness : 0.998811 with order 1 Centerline is valid? [True, True] Translation: X:546.72, Y:30.58, Z:19.96 [[ 9.93739511e-01 -1.05602313e-01 -3.64682853e-02 5.46717399e+02] [ 1.05569327e-01 9.94407906e-01 -2.83433376e-03 3.05755115e+01] [ 3.65636635e-02 -1.03334290e-03 9.99330791e-01 1.99639013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.639254154 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:546.78, Y:30.58, Z:19.97 [[ 9.94205907e-01 -1.01117079e-01 -3.64684991e-02 5.46779458e+02] [ 1.01081178e-01 9.94874152e-01 -2.83158026e-03 3.05823669e+01] [ 3.65678883e-02 -8.71105042e-04 9.99330791e-01 1.99679533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.699254154 meters Centerline goodness : 0.998829 with order 1 Centerline is valid? [True, True] Translation: X:546.84, Y:30.59, Z:19.97 [[ 9.94846769e-01 -9.46041241e-02 -3.64687098e-02 5.46841110e+02] [ 9.45639477e-02 9.95514770e-01 -2.82886467e-03 3.05893796e+01] [ 3.65727615e-02 -6.34338287e-04 9.99330791e-01 1.99692414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.759254154 meters Centerline goodness : 0.998639 with order 1 Centerline is valid? [True, True] Translation: X:546.90, Y:30.59, Z:19.97 [[ 9.95132585e-01 -9.15486566e-02 -3.64689190e-02 5.46903589e+02] [ 9.15065281e-02 9.95800466e-01 -2.82616442e-03 3.05949784e+01] [ 3.65744981e-02 -5.24735858e-04 9.99330791e-01 1.99694359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.819254154 meters Centerline goodness : 0.998974 with order 1 Centerline is valid? [True, True] Translation: X:546.96, Y:30.60, Z:19.97 [[ 9.95285305e-01 -8.98730310e-02 -3.64691772e-02 5.46964640e+02] [ 8.98299001e-02 9.95953122e-01 -2.82282870e-03 3.06003030e+01] [ 3.65752871e-02 -4.66502629e-04 9.99330791e-01 1.99721628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.879254154 meters Centerline goodness : 0.998911 with order 1 Centerline is valid? [True, True] Translation: X:547.03, Y:30.61, Z:19.97 [[ 9.95480400e-01 -8.76855835e-02 -3.64693299e-02 5.47027102e+02] [ 8.76410574e-02 9.96148125e-01 -2.82085547e-03 3.06050066e+01] [ 3.65762029e-02 -3.88104301e-04 9.99330791e-01 1.99738535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.939254154 meters Centerline goodness : 0.999035 with order 1 Centerline is valid? [True, True] Translation: X:547.09, Y:30.61, Z:19.98 [[ 9.95900492e-01 -8.27779183e-02 -3.64695301e-02 5.47089246e+02] [ 8.27301966e-02 9.96567997e-01 -2.81826393e-03 3.06103266e+01] [ 3.65776566e-02 -2.10420969e-04 9.99330791e-01 1.99764138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.999254154 meters Centerline goodness : 0.999099 with order 1 Centerline is valid? [True, True] Translation: X:547.15, Y:30.61, Z:19.98 [[ 9.96182870e-01 -7.93073072e-02 -3.64697331e-02 5.47151078e+02] [ 7.92573561e-02 9.96850211e-01 -2.81563562e-03 3.06148190e+01] [ 3.65781616e-02 -8.56066445e-05 9.99330791e-01 1.99804146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.059254154 meters Centerline goodness : 0.999059 with order 1 Centerline is valid? [True, True] Translation: X:547.21, Y:30.62, Z:19.98 [[ 9.96431399e-01 -7.61210251e-02 -3.64699412e-02 5.47212588e+02] [ 7.60690388e-02 9.97098585e-01 -2.81293647e-03 3.06172367e+01] [ 3.65782504e-02 2.86648427e-05 9.99330791e-01 1.99832155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.119254154 meters Centerline goodness : 0.999056 with order 1 Centerline is valid? [True, True] Translation: X:547.27, Y:30.62, Z:19.99 [[ 9.96271325e-01 -7.81881271e-02 -3.64700432e-02 5.47273491e+02] [ 7.81375736e-02 9.96938621e-01 -2.81161333e-03 3.06180231e+01] [ 3.65782294e-02 -4.85509492e-05 9.99330791e-01 1.99867362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.179254154 meters Centerline goodness : 0.998911 with order 1 Centerline is valid? [True, True] Translation: X:547.33, Y:30.62, Z:19.99 [[ 9.95938421e-01 -8.23200957e-02 -3.64700432e-02 5.47334391e+02] [ 8.22723106e-02 9.96605921e-01 -2.81161333e-03 3.06185393e+01] [ 3.65777133e-02 -2.00280987e-04 9.99330791e-01 1.99886599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.239254154 meters Centerline goodness : 0.999164 with order 1 Centerline is valid? [True, True] Translation: X:547.40, Y:30.62, Z:19.99 [[ 9.95462225e-01 -8.78913751e-02 -3.64700432e-02 5.47396013e+02] [ 8.78473257e-02 9.96129983e-01 -2.81161333e-03 3.06173908e+01] [ 3.65760201e-02 -4.04940902e-04 9.99330791e-01 1.99887398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.299254154 meters Centerline goodness : 0.999374 with order 1 Centerline is valid? [True, True] Translation: X:547.46, Y:30.62, Z:19.99 [[ 9.94443940e-01 -9.87480601e-02 -3.64701462e-02 5.47457583e+02] [ 9.87113484e-02 9.95112140e-01 -2.81027782e-03 3.06156790e+01] [ 3.65693947e-02 -8.05353561e-04 9.99330791e-01 1.99907830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.359254154 meters Centerline goodness : 0.999228 with order 1 Centerline is valid? [True, True] Translation: X:547.52, Y:30.61, Z:19.99 [[ 9.93473921e-01 -1.08071682e-01 -3.64702492e-02 5.47518704e+02] [ 1.08041289e-01 9.94142439e-01 -2.80893985e-03 3.06131971e+01] [ 3.65601894e-02 -1.14968426e-03 9.99330791e-01 1.99915842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.419254154 meters Centerline goodness : 0.999333 with order 1 Centerline is valid? [True, True] Translation: X:547.58, Y:30.61, Z:19.99 [[ 9.92942686e-01 -1.12848270e-01 -3.64704023e-02 5.47580014e+02] [ 1.12821165e-01 9.93611345e-01 -2.80695097e-03 3.06140167e+01] [ 3.65541650e-02 -1.32749183e-03 9.99330791e-01 1.99943425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.479254154 meters Centerline goodness : 0.999416 with order 1 Centerline is valid? [True, True] Translation: X:547.64, Y:30.61, Z:20.00 [[ 9.92253470e-01 -1.18755862e-01 -3.64705008e-02 5.47642537e+02] [ 1.18732784e-01 9.92922280e-01 -2.80566973e-03 3.06137246e+01] [ 3.65455626e-02 -1.54630857e-03 9.99330791e-01 1.99962742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.539254154 meters Centerline goodness : 0.999145 with order 1 Centerline is valid? [True, True] Translation: X:547.70, Y:30.61, Z:20.00 [[ 9.91583018e-01 -1.24229648e-01 -3.64706992e-02 5.47704524e+02] [ 1.24210356e-01 9.92251949e-01 -2.80308832e-03 3.06140462e+01] [ 3.65363491e-02 -1.75054377e-03 9.99330791e-01 1.99972234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.5992541539999 meters Centerline goodness : 0.999375 with order 1 Centerline is valid? [True, True] Translation: X:547.77, Y:30.62, Z:20.00 [[ 9.90970090e-01 -1.29027727e-01 -3.64709125e-02 5.47765388e+02] [ 1.29011774e-01 9.91639108e-01 -2.80031094e-03 3.06180470e+01] [ 3.65273009e-02 -1.93015276e-03 9.99330791e-01 2.00002444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.659254154 meters Centerline goodness : 0.999332 with order 1 Centerline is valid? [True, True] Translation: X:547.83, Y:30.62, Z:20.00 [[ 9.90059180e-01 -1.35840648e-01 -3.64710701e-02 5.47827227e+02] [ 1.35829373e-01 9.90728293e-01 -2.79825645e-03 3.06217505e+01] [ 3.65130380e-02 -2.18340312e-03 9.99330791e-01 2.00041319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.7192541539999 meters Centerline goodness : 0.999123 with order 1 Centerline is valid? [True, True] Translation: X:547.89, Y:30.63, Z:20.01 [[ 9.89594395e-01 -1.39186134e-01 -3.64712810e-02 5.47889355e+02] [ 1.39177222e-01 9.90263544e-01 -2.79550548e-03 3.06265277e+01] [ 3.65052756e-02 -2.30955501e-03 9.99330791e-01 2.00079048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.779254154 meters Centerline goodness : 0.998958 with order 1 Centerline is valid? [True, True] Translation: X:547.95, Y:30.63, Z:20.01 [[ 9.89424038e-01 -1.40391959e-01 -3.64714965e-02 5.47950678e+02] [ 1.40383966e-01 9.90093199e-01 -2.79269090e-03 3.06319474e+01] [ 3.65022520e-02 -2.35685781e-03 9.99330791e-01 2.00061142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.839254154 meters Centerline goodness : 0.999250 with order 1 Centerline is valid? [True, True] Translation: X:548.01, Y:30.64, Z:20.01 [[ 9.89464014e-01 -1.40109850e-01 -3.64718257e-02 5.48010787e+02] [ 1.40101824e-01 9.90133175e-01 -2.78838562e-03 3.06401637e+01] [ 3.65026448e-02 -2.35076206e-03 9.99330792e-01 2.00104470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.899254154 meters Centerline goodness : 0.999103 with order 1 Centerline is valid? [True, True] Translation: X:548.07, Y:30.65, Z:20.01 [[ 9.90118531e-01 -1.35407137e-01 -3.64719285e-02 5.48071195e+02] [ 1.35395981e-01 9.90787647e-01 -2.78704001e-03 3.06500685e+01] [ 3.65133213e-02 -2.17865257e-03 9.99330792e-01 2.00121899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.959254154 meters Centerline goodness : 0.999102 with order 1 Centerline is valid? [True, True] Translation: X:548.13, Y:30.66, Z:20.02 [[ 9.91094364e-01 -1.28069311e-01 -3.64720791e-02 5.48132964e+02] [ 1.28053271e-01 9.91763381e-01 -2.78506746e-03 3.06602666e+01] [ 3.65283542e-02 -1.91010438e-03 9.99330792e-01 2.00167165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.019254154 meters Centerline goodness : 0.999021 with order 1 Centerline is valid? [True, True] Translation: X:548.19, Y:30.67, Z:20.02 [[ 9.91849120e-01 -1.22086429e-01 -3.64722871e-02 5.48194902e+02] [ 1.22066453e-01 9.92518030e-01 -2.78234117e-03 3.06689537e+01] [ 3.65390886e-02 -1.69238007e-03 9.99330792e-01 2.00203473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.079254154 meters Centerline goodness : 0.998892 with order 1 Centerline is valid? [True, True] Translation: X:548.26, Y:30.68, Z:20.02 [[ 9.92908794e-01 -1.13145409e-01 -3.64724946e-02 5.48255974e+02] [ 1.13119507e-01 9.93577501e-01 -2.77961906e-03 3.06790610e+01] [ 3.65527511e-02 -1.36584239e-03 9.99330792e-01 2.00236466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.139254154 meters Centerline goodness : 0.999123 with order 1 Centerline is valid? [True, True] Translation: X:548.32, Y:30.69, Z:20.03 [[ 9.93590216e-01 -1.06996376e-01 -3.64727023e-02 5.48317998e+02] [ 1.06966435e-01 9.94258754e-01 -2.77689005e-03 3.06863071e+01] [ 3.65604208e-02 -1.14226415e-03 9.99330792e-01 2.00257552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.199254154 meters Centerline goodness : 0.999226 with order 1 Centerline is valid? [True, True] Translation: X:548.38, Y:30.69, Z:20.03 [[ 9.94319261e-01 -9.99946722e-02 -3.64729084e-02 5.48379735e+02] [ 9.99601215e-02 9.94987577e-01 -2.77418067e-03 3.06943764e+01] [ 3.65674940e-02 -8.87415087e-04 9.99330792e-01 2.00275324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.259254154 meters Centerline goodness : 0.999394 with order 1 Centerline is valid? [True, True] Translation: X:548.44, Y:30.70, Z:20.03 [[ 9.94601421e-01 -9.71479533e-02 -3.64731137e-02 5.48441384e+02] [ 9.71115887e-02 9.95269641e-01 -2.77147863e-03 3.07004203e+01] [ 3.65698263e-02 -7.85445436e-04 9.99330792e-01 2.00304356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.319254154 meters Centerline goodness : 0.999185 with order 1 Centerline is valid? [True, True] Translation: X:548.50, Y:30.71, Z:20.03 [[ 9.94875276e-01 -9.43020829e-02 -3.64733201e-02 5.48502519e+02] [ 9.42639064e-02 9.95543394e-01 -2.76876033e-03 3.07054165e+01] [ 3.65718727e-02 -6.83546433e-04 9.99330792e-01 2.00331957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.379254154 meters Centerline goodness : 0.999375 with order 1 Centerline is valid? [True, True] Translation: X:548.56, Y:30.71, Z:20.04 [[ 9.94930280e-01 -9.37199197e-02 -3.64734721e-02 5.48564745e+02] [ 9.36814256e-02 9.95598381e-01 -2.76675653e-03 3.07099145e+01] [ 3.65722299e-02 -6.64157015e-04 9.99330792e-01 2.00356489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.439254154 meters Centerline goodness : 0.999331 with order 1 Centerline is valid? [True, True] Translation: X:548.63, Y:30.71, Z:20.04 [[ 9.94914232e-01 -9.38900554e-02 -3.64736721e-02 5.48626707e+02] [ 9.38517723e-02 9.95582344e-01 -2.76411705e-03 3.07139735e+01] [ 3.65720671e-02 -6.73059380e-04 9.99330792e-01 2.00384768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.499254154 meters Centerline goodness : 0.999228 with order 1 Centerline is valid? [True, True] Translation: X:548.69, Y:30.72, Z:20.04 [[ 9.94795665e-01 -9.51380099e-02 -3.64738768e-02 5.48687708e+02] [ 9.51006640e-02 9.95463831e-01 -2.76141409e-03 3.07170453e+01] [ 3.65711405e-02 -7.21647136e-04 9.99330792e-01 2.00396855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.559254154 meters Centerline goodness : 0.999125 with order 1 Centerline is valid? [True, True] Translation: X:548.75, Y:30.72, Z:20.04 [[ 9.94755370e-01 -9.55583570e-02 -3.64740275e-02 5.48749268e+02] [ 9.55213665e-02 9.95423555e-01 -2.75942140e-03 3.07196732e+01] [ 3.65707919e-02 -7.39099697e-04 9.99330792e-01 2.00418605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.619254154 meters Centerline goodness : 0.999312 with order 1 Centerline is valid? [True, True] Translation: X:548.81, Y:30.72, Z:20.04 [[ 9.94619083e-01 -9.69665793e-02 -3.64741280e-02 5.48811013e+02] [ 9.69305836e-02 9.95287323e-01 -2.75809202e-03 3.07228007e+01] [ 3.65696800e-02 -7.92207557e-04 9.99330792e-01 2.00437370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.679254154 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:548.87, Y:30.73, Z:20.05 [[ 9.94602431e-01 -9.71371623e-02 -3.64743300e-02 5.48872765e+02] [ 9.71013791e-02 9.95270682e-01 -2.75541897e-03 3.07253926e+01] [ 3.65694848e-02 -8.01161333e-04 9.99330792e-01 2.00455650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.739254154 meters Centerline goodness : 0.999082 with order 1 Centerline is valid? [True, True] Translation: X:548.93, Y:30.73, Z:20.05 [[ 9.94631241e-01 -9.68416429e-02 -3.64745330e-02 5.48934230e+02] [ 9.68057598e-02 9.95299486e-01 -2.75272855e-03 3.07276602e+01] [ 3.65696627e-02 -7.92995070e-04 9.99330792e-01 2.00464028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.799254154 meters Centerline goodness : 0.999165 with order 1 Centerline is valid? [True, True] Translation: X:549.00, Y:30.73, Z:20.05 [[ 9.94767641e-01 -9.54302798e-02 -3.64746827e-02 5.48995444e+02] [ 9.53935213e-02 9.95435839e-01 -2.75074410e-03 3.07302674e+01] [ 3.65707106e-02 -7.43097200e-04 9.99330792e-01 2.00489069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.859254154 meters Centerline goodness : 0.999227 with order 1 Centerline is valid? [True, True] Translation: X:549.06, Y:30.73, Z:20.05 [[ 9.95114818e-01 -9.17392514e-02 -3.64747817e-02 5.49056342e+02] [ 9.17000624e-02 9.95782878e-01 -2.74943058e-03 3.07335524e+01] [ 3.65731938e-02 -6.08740643e-04 9.99330792e-01 2.00511464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.919254154 meters Centerline goodness : 0.999247 with order 1 Centerline is valid? [True, True] Translation: X:549.12, Y:30.74, Z:20.05 [[ 9.95347857e-01 -8.91752543e-02 -3.64748802e-02 5.49117100e+02] [ 8.91343922e-02 9.96015817e-01 -2.74812288e-03 3.07370056e+01] [ 3.65746222e-02 -5.15828058e-04 9.99330792e-01 2.00530930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.979254154 meters Centerline goodness : 0.999290 with order 1 Centerline is valid? [True, True] Translation: X:549.18, Y:30.74, Z:20.06 [[ 9.95384805e-01 -8.87618492e-02 -3.64749782e-02 5.49176911e+02] [ 8.87207574e-02 9.96052751e-01 -2.74682188e-03 3.07381869e+01] [ 3.65748153e-02 -5.01942932e-04 9.99330792e-01 2.00551383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.039254154 meters Centerline goodness : 0.999330 with order 1 Centerline is valid? [True, True] Translation: X:549.24, Y:30.74, Z:20.06 [[ 9.95151488e-01 -9.13405495e-02 -3.64749300e-02 5.49238311e+02] [ 9.13011650e-02 9.95819536e-01 -2.74746108e-03 3.07397286e+01] [ 3.65734025e-02 -5.96063624e-04 9.99330792e-01 2.00582481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.0992541539999 meters Centerline goodness : 0.999248 with order 1 Centerline is valid? [True, True] Translation: X:549.30, Y:30.74, Z:20.06 [[ 9.94561799e-01 -9.75520382e-02 -3.64750299e-02 5.49298423e+02] [ 9.75168741e-02 9.95230083e-01 -2.74613479e-03 3.07409810e+01] [ 3.65689381e-02 -8.25730138e-04 9.99330792e-01 2.00585470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.159254154 meters Centerline goodness : 0.999374 with order 1 Centerline is valid? [True, True] Translation: X:549.36, Y:30.74, Z:20.06 [[ 9.94198768e-01 -1.01184869e-01 -3.64750790e-02 5.49360029e+02] [ 1.01152171e-01 9.94867177e-01 -2.74548234e-03 3.07435130e+01] [ 3.65656602e-02 -9.59978269e-04 9.99330792e-01 2.00618192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.2192541539999 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:549.42, Y:30.75, Z:20.06 [[ 9.93824946e-01 -1.04792837e-01 -3.64751800e-02 5.49421420e+02] [ 1.04762614e-01 9.94493471e-01 -2.74413985e-03 3.07453817e+01] [ 3.65618946e-02 -1.09404057e-03 9.99330792e-01 2.00645228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.279254154 meters Centerline goodness : 0.999499 with order 1 Centerline is valid? [True, True] Translation: X:549.48, Y:30.75, Z:20.07 [[ 9.93648199e-01 -1.06455671e-01 -3.64752807e-02 5.49482129e+02] [ 1.06426616e-01 9.94316777e-01 -2.74280112e-03 3.07482147e+01] [ 3.65599702e-02 -1.15656128e-03 9.99330792e-01 2.00688065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.339254154 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:549.54, Y:30.75, Z:20.07 [[ 9.93599945e-01 -1.06905060e-01 -3.64754317e-02 5.49543028e+02] [ 1.06876380e-01 9.94268539e-01 -2.74079075e-03 3.07519432e+01] [ 3.65593786e-02 -1.17511259e-03 9.99330792e-01 2.00716358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.399254154 meters Centerline goodness : 0.999333 with order 1 Centerline is valid? [True, True] Translation: X:549.60, Y:30.75, Z:20.07 [[ 9.93637509e-01 -1.06555317e-01 -3.64755340e-02 5.49603910e+02] [ 1.06526452e-01 9.94306095e-01 -2.73942851e-03 3.07548462e+01] [ 3.65597465e-02 -1.16361031e-03 9.99330792e-01 2.00730459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.459254154 meters Centerline goodness : 0.999103 with order 1 Centerline is valid? [True, True] Translation: X:549.67, Y:30.76, Z:20.08 [[ 9.93639117e-01 -1.06540275e-01 -3.64756855e-02 5.49665467e+02] [ 1.06511475e-01 9.94307705e-01 -2.73741048e-03 3.07594949e+01] [ 3.65596996e-02 -1.16508092e-03 9.99330792e-01 2.00754204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.519254154 meters Centerline goodness : 0.999333 with order 1 Centerline is valid? [True, True] Translation: X:549.73, Y:30.76, Z:20.08 [[ 9.93673406e-01 -1.06219954e-01 -3.64757868e-02 5.49725228e+02] [ 1.06190987e-01 9.94341988e-01 -2.73606038e-03 3.07641197e+01] [ 3.65600305e-02 -1.15464936e-03 9.99330792e-01 2.00764143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.579254154 meters Centerline goodness : 0.999125 with order 1 Centerline is valid? [True, True] Translation: X:549.79, Y:30.77, Z:20.08 [[ 9.93696380e-01 -1.06004754e-01 -3.64759637e-02 5.49785536e+02] [ 1.05975729e-01 9.94364959e-01 -2.73369978e-03 3.07683807e+01] [ 3.65602053e-02 -1.14909927e-03 9.99330792e-01 2.00777188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.639254154 meters Centerline goodness : 0.999479 with order 1 Centerline is valid? [True, True] Translation: X:549.85, Y:30.77, Z:20.08 [[ 9.93797442e-01 -1.05053057e-01 -3.64760125e-02 5.49846558e+02] [ 1.05023416e-01 9.94465994e-01 -2.73304820e-03 3.07731744e+01] [ 3.65612691e-02 -1.11473914e-03 9.99330792e-01 2.00810842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.699254154 meters Centerline goodness : 0.999333 with order 1 Centerline is valid? [True, True] Translation: X:549.91, Y:30.78, Z:20.08 [[ 9.93988533e-01 -1.03229305e-01 -3.64761126e-02 5.49908012e+02] [ 1.03198486e-01 9.94657031e-01 -2.73171131e-03 3.07787514e+01] [ 3.65632145e-02 -1.04898990e-03 9.99330792e-01 2.00836070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.759254154 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:549.97, Y:30.78, Z:20.09 [[ 9.94161829e-01 -1.01546756e-01 -3.64762144e-02 5.49968659e+02] [ 1.01514855e-01 9.94830277e-01 -2.73035145e-03 3.07836048e+01] [ 3.65649008e-02 -9.88466446e-04 9.99330792e-01 2.00858932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.819254154 meters Centerline goodness : 0.999666 with order 1 Centerline is valid? [True, True] Translation: X:550.03, Y:30.79, Z:20.09 [[ 9.94340263e-01 -9.97843655e-02 -3.64763149e-02 5.50028319e+02] [ 9.97513295e-02 9.95008656e-01 -2.72900833e-03 3.07883486e+01] [ 3.65665614e-02 -9.24998041e-04 9.99330792e-01 2.00885473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.879254154 meters Centerline goodness : 0.999624 with order 1 Centerline is valid? [True, True] Translation: X:550.09, Y:30.79, Z:20.09 [[ 9.94405955e-01 -9.91275511e-02 -3.64763643e-02 5.50089325e+02] [ 9.90940978e-02 9.95074327e-01 -2.72834802e-03 3.07935840e+01] [ 3.65671481e-02 -9.01506891e-04 9.99330792e-01 2.00916360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.939254154 meters Centerline goodness : 0.999271 with order 1 Centerline is valid? [True, True] Translation: X:550.15, Y:30.80, Z:20.09 [[ 9.94307031e-01 -1.00114909e-01 -3.64764633e-02 5.50150901e+02] [ 1.00082168e-01 9.94975438e-01 -2.72702408e-03 3.07980044e+01] [ 3.65662008e-02 -9.39144317e-04 9.99330792e-01 2.00941485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.999254154 meters Centerline goodness : 0.999270 with order 1 Centerline is valid? [True, True] Translation: X:550.21, Y:30.80, Z:20.10 [[ 9.94149226e-01 -1.01669944e-01 -3.64765607e-02 5.50212011e+02] [ 1.01638296e-01 9.94817685e-01 -2.72572002e-03 3.08024566e+01] [ 3.65646515e-02 -9.97643039e-04 9.99330792e-01 2.00964472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.059254154 meters Centerline goodness : 0.999374 with order 1 Centerline is valid? [True, True] Translation: X:550.27, Y:30.81, Z:20.10 [[ 9.93809528e-01 -1.04938436e-01 -3.64766586e-02 5.50271827e+02] [ 1.04909035e-01 9.94478090e-01 -2.72440935e-03 3.08077214e+01] [ 3.65611330e-02 -1.11918708e-03 9.99330792e-01 2.00974464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.119254154 meters Centerline goodness : 0.999186 with order 1 Centerline is valid? [True, True] Translation: X:550.33, Y:30.81, Z:20.10 [[ 9.93499583e-01 -1.07833341e-01 -3.64767068e-02 5.50333964e+02] [ 1.07805911e-01 9.94168229e-01 -2.72376386e-03 3.08134383e+01] [ 3.65576955e-02 -1.22634635e-03 9.99330792e-01 2.01001283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.179254154 meters Centerline goodness : 0.999436 with order 1 Centerline is valid? [True, True] Translation: X:550.40, Y:30.82, Z:20.10 [[ 9.93094892e-01 -1.11498744e-01 -3.64769115e-02 5.50395453e+02] [ 1.11473882e-01 9.93763639e-01 -2.72101916e-03 3.08180624e+01] [ 3.65528186e-02 -1.36399271e-03 9.99330792e-01 2.01018806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.239254154 meters Centerline goodness : 0.999103 with order 1 Centerline is valid? [True, True] Translation: X:550.46, Y:30.82, Z:20.10 [[ 9.92351812e-01 -1.17929177e-01 -3.64772466e-02 5.50456885e+02] [ 1.17908813e-01 9.93020711e-01 -2.71652000e-03 3.08236443e+01] [ 3.65430183e-02 -1.60524529e-03 9.99330792e-01 2.01045259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.299254154 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:550.52, Y:30.83, Z:20.11 [[ 9.91781089e-01 -1.22636323e-01 -3.64774446e-02 5.50518643e+02] [ 1.22619231e-01 9.92450079e-01 -2.71385819e-03 3.08303954e+01] [ 3.65348604e-02 -1.78128297e-03 9.99330792e-01 2.01067245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.359254154 meters Centerline goodness : 0.999165 with order 1 Centerline is valid? [True, True] Translation: X:550.58, Y:30.84, Z:20.11 [[ 9.91519343e-01 -1.24734817e-01 -3.64776418e-02 5.50580411e+02] [ 1.24719238e-01 9.92188370e-01 -2.71120602e-03 3.08372040e+01] [ 3.65308737e-02 -1.86125046e-03 9.99330792e-01 2.01087898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.419254154 meters Centerline goodness : 0.999145 with order 1 Centerline is valid? [True, True] Translation: X:550.64, Y:30.85, Z:20.11 [[ 9.91268721e-01 -1.26711047e-01 -3.64778374e-02 5.50642395e+02] [ 1.26696898e-01 9.91937780e-01 -2.70857071e-03 3.08461288e+01] [ 3.65269509e-02 -1.93670742e-03 9.99330792e-01 2.01107529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.479254154 meters Centerline goodness : 0.999143 with order 1 Centerline is valid? [True, True] Translation: X:550.70, Y:30.85, Z:20.11 [[ 9.91200366e-01 -1.27244594e-01 -3.64780363e-02 5.50704238e+02] [ 1.27230903e-01 9.91869435e-01 -2.70589018e-03 3.08540268e+01] [ 3.65257591e-02 -1.95905416e-03 9.99330792e-01 2.01134053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.539254154 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:550.76, Y:30.86, Z:20.12 [[ 9.91198867e-01 -1.27256219e-01 -3.64782353e-02 5.50764870e+02] [ 1.27242635e-01 9.91867937e-01 -2.70320443e-03 3.08639812e+01] [ 3.65255916e-02 -1.96217360e-03 9.99330792e-01 2.01155537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.5992541539999 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:550.83, Y:30.87, Z:20.12 [[ 9.91375706e-01 -1.25871115e-01 -3.64783823e-02 5.50826196e+02] [ 1.25856669e-01 9.92044758e-01 -2.70121978e-03 3.08728376e+01] [ 3.65281935e-02 -1.91312401e-03 9.99330792e-01 2.01178620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.659254154 meters Centerline goodness : 0.999187 with order 1 Centerline is valid? [True, True] Translation: X:550.89, Y:30.88, Z:20.12 [[ 9.91777192e-01 -1.22667493e-01 -3.64785783e-02 5.50888377e+02] [ 1.22650983e-01 9.92446197e-01 -2.69857009e-03 3.08826264e+01] [ 3.65340531e-02 -1.79775321e-03 9.99330792e-01 2.01201896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.7192541539999 meters Centerline goodness : 0.999062 with order 1 Centerline is valid? [True, True] Translation: X:550.95, Y:30.89, Z:20.12 [[ 9.92408023e-01 -1.17454697e-01 -3.64788842e-02 5.50950696e+02] [ 1.17434824e-01 9.93076937e-01 -2.69442826e-03 3.08925207e+01] [ 3.65428118e-02 -1.60991912e-03 9.99330792e-01 2.01225894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.779254154 meters Centerline goodness : 0.998936 with order 1 Centerline is valid? [True, True] Translation: X:551.01, Y:30.91, Z:20.13 [[ 9.93363374e-01 -1.09080136e-01 -3.64791913e-02 5.51011705e+02] [ 1.09054774e-01 9.94032101e-01 -2.69026468e-03 3.09057001e+01] [ 3.65549416e-02 -1.30581957e-03 9.99330792e-01 2.01250152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.839254154 meters Centerline goodness : 0.998848 with order 1 Centerline is valid? [True, True] Translation: X:551.07, Y:30.92, Z:20.13 [[ 9.94148405e-01 -1.01676950e-01 -3.64793925e-02 5.51071884e+02] [ 1.01646707e-01 9.94816930e-01 -2.68753277e-03 3.09179912e+01] [ 3.65635774e-02 -1.03620370e-03 9.99330792e-01 2.01280062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.899254154 meters Centerline goodness : 0.999015 with order 1 Centerline is valid? [True, True] Translation: X:551.13, Y:30.93, Z:20.13 [[ 9.94605838e-01 -9.71003113e-02 -3.64795407e-02 5.51134009e+02] [ 9.70670655e-02 9.95274220e-01 -2.68552019e-03 3.09266408e+01] [ 3.65679112e-02 -8.69927906e-04 9.99330792e-01 2.01307968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.959254154 meters Centerline goodness : 0.998885 with order 1 Centerline is valid? [True, True] Translation: X:551.19, Y:30.94, Z:20.15 [[ 9.94610658e-01 -9.70508557e-02 -3.64797351e-02 5.51194669e+02] [ 9.70176736e-02 9.95279043e-01 -2.68287633e-03 3.09406989e+01] [ 3.65678913e-02 -8.70761641e-04 9.99330792e-01 2.01458799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.019254154 meters Centerline goodness : 0.998692 with order 1 Centerline is valid? [True, True] Translation: X:551.25, Y:30.94, Z:20.14 [[ 9.95439080e-01 -8.81490377e-02 -3.64799418e-02 5.51254939e+02] [ 8.81099805e-02 9.96107147e-01 -2.68006384e-03 3.09442713e+01] [ 3.65741758e-02 -5.46406671e-04 9.99330792e-01 2.01352078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.079254154 meters Centerline goodness : 0.998838 with order 1 Centerline is valid? [True, True] Translation: X:551.32, Y:30.95, Z:20.14 [[ 9.95476453e-01 -8.77259695e-02 -3.64799418e-02 5.51315642e+02] [ 8.76866284e-02 9.96144504e-01 -2.68006384e-03 3.09513836e+01] [ 3.65744047e-02 -5.30862649e-04 9.99330792e-01 2.01361195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.139254154 meters Centerline goodness : 0.998816 with order 1 Centerline is valid? [True, True] Translation: X:551.38, Y:30.96, Z:20.14 [[ 9.95312171e-01 -8.95705596e-02 -3.64800867e-02 5.51377192e+02] [ 8.95325289e-02 9.95980298e-01 -2.67808898e-03 3.09561590e+01] [ 3.65733256e-02 -6.00619863e-04 9.99330792e-01 2.01381130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.199254154 meters Centerline goodness : 0.998838 with order 1 Centerline is valid? [True, True] Translation: X:551.44, Y:30.96, Z:20.14 [[ 9.94831597e-01 -9.47590831e-02 -3.64802795e-02 5.51439619e+02] [ 9.47246330e-02 9.95499918e-01 -2.67546074e-03 3.09607554e+01] [ 3.65696394e-02 -7.93948205e-04 9.99330792e-01 2.01409526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.259254154 meters Centerline goodness : 0.998713 with order 1 Centerline is valid? [True, True] Translation: X:551.50, Y:30.96, Z:20.14 [[ 9.94420086e-01 -9.89841746e-02 -3.64804752e-02 5.51501533e+02] [ 9.89526617e-02 9.95088552e-01 -2.67278983e-03 3.09644551e+01] [ 3.65658671e-02 -9.51964223e-04 9.99330792e-01 2.01436925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.319254154 meters Centerline goodness : 0.998777 with order 1 Centerline is valid? [True, True] Translation: X:551.56, Y:30.97, Z:20.15 [[ 9.93740662e-01 -1.05587208e-01 -3.64806678e-02 5.51563864e+02] [ 1.05560233e-01 9.94409326e-01 -2.67015823e-03 3.09675660e+01] [ 3.65586508e-02 -1.19746297e-03 9.99330792e-01 2.01455975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.379254154 meters Centerline goodness : 0.998902 with order 1 Centerline is valid? [True, True] Translation: X:551.63, Y:30.97, Z:20.15 [[ 9.93247400e-01 -1.10130585e-01 -3.64809059e-02 5.51625626e+02] [ 1.10106787e-01 9.93916185e-01 -2.66690167e-03 3.09708678e+01] [ 3.65526702e-02 -1.36790217e-03 9.99330792e-01 2.01473776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.439254154 meters Centerline goodness : 0.999052 with order 1 Centerline is valid? [True, True] Translation: X:551.69, Y:30.97, Z:20.15 [[ 9.92599777e-01 -1.15822334e-01 -3.64810912e-02 5.51688848e+02] [ 1.15802464e-01 9.93268690e-01 -2.66436333e-03 3.09736554e+01] [ 3.65441185e-02 -1.57995380e-03 9.99330792e-01 2.01499728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.499254154 meters Centerline goodness : 0.998884 with order 1 Centerline is valid? [True, True] Translation: X:551.75, Y:30.98, Z:20.15 [[ 9.92284993e-01 -1.18488822e-01 -3.64813942e-02 5.51750740e+02] [ 1.18470901e-01 9.92953961e-01 -2.66020921e-03 3.09780706e+01] [ 3.65395499e-02 -1.68229795e-03 9.99330792e-01 2.01523644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.559254154 meters Centerline goodness : 0.998887 with order 1 Centerline is valid? [True, True] Translation: X:551.81, Y:30.99, Z:20.16 [[ 9.92058733e-01 -1.20368436e-01 -3.64816429e-02 5.51812644e+02] [ 1.20351907e-01 9.92727737e-01 -2.65679433e-03 3.09855015e+01] [ 3.65361329e-02 -1.75493927e-03 9.99330792e-01 2.01604359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.619254154 meters Centerline goodness : 0.998800 with order 1 Centerline is valid? [True, True] Translation: X:551.87, Y:30.99, Z:20.16 [[ 9.92477199e-01 -1.16867811e-01 -3.64818421e-02 5.51874682e+02] [ 1.16849023e-01 9.93146143e-01 -2.65405561e-03 3.09891684e+01] [ 3.65419744e-02 -1.62877791e-03 9.99330792e-01 2.01560093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.679254154 meters Centerline goodness : 0.998927 with order 1 Centerline is valid? [True, True] Translation: X:551.94, Y:30.99, Z:20.16 [[ 9.92757331e-01 -1.14463720e-01 -3.64820377e-02 5.51936865e+02] [ 1.14443410e-01 9.93426231e-01 -2.65136433e-03 3.09946566e+01] [ 3.65456982e-02 -1.54296744e-03 9.99330792e-01 2.01576344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.739254154 meters Centerline goodness : 0.999096 with order 1 Centerline is valid? [True, True] Translation: X:552.00, Y:31.00, Z:20.16 [[ 9.93362799e-01 -1.09084335e-01 -3.64822797e-02 5.51999182e+02] [ 1.09060524e-01 9.94031584e-01 -2.64803039e-03 3.10012394e+01] [ 3.65533969e-02 -1.34832167e-03 9.99330792e-01 2.01603514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.799254154 meters Centerline goodness : 0.999094 with order 1 Centerline is valid? [True, True] Translation: X:552.06, Y:31.01, Z:20.16 [[ 9.93952540e-01 -1.03573016e-01 -3.64825720e-02 5.52061527e+02] [ 1.03545645e-01 9.94621189e-01 -2.64399708e-03 3.10074745e+01] [ 3.65601859e-02 -1.14960382e-03 9.99330792e-01 2.01623233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.859254154 meters Centerline goodness : 0.999241 with order 1 Centerline is valid? [True, True] Translation: X:552.12, Y:31.02, Z:20.16 [[ 9.94818974e-01 -9.48905538e-02 -3.64827686e-02 5.52123331e+02] [ 9.48574448e-02 9.95487362e-01 -2.64128163e-03 3.10151399e+01] [ 3.65687677e-02 -8.33065129e-04 9.99330792e-01 2.01631378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.919254154 meters Centerline goodness : 0.998902 with order 1 Centerline is valid? [True, True] Translation: X:552.19, Y:31.02, Z:20.17 [[ 9.95308279e-01 -8.96125195e-02 -3.64832294e-02 5.52185597e+02] [ 8.95760995e-02 9.95976496e-01 -2.63490082e-03 3.10213167e+01] [ 3.65725591e-02 -6.45486791e-04 9.99330792e-01 2.01653657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.979254154 meters Centerline goodness : 0.998860 with order 1 Centerline is valid? [True, True] Translation: X:552.25, Y:31.03, Z:20.17 [[ 9.95840360e-01 -8.34921465e-02 -3.64834176e-02 5.52247661e+02] [ 8.34517149e-02 9.96508345e-01 -2.63229277e-03 3.10269421e+01] [ 3.65758059e-02 -4.23260386e-04 9.99330792e-01 2.01685124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.039254154 meters Centerline goodness : 0.998775 with order 1 Centerline is valid? [True, True] Translation: X:552.31, Y:31.04, Z:20.18 [[ 9.95634394e-01 -8.59133322e-02 -3.64836073e-02 5.52306791e+02] [ 8.58746214e-02 9.96302481e-01 -2.62966067e-03 3.10408235e+01] [ 3.65746314e-02 -5.14835357e-04 9.99330792e-01 2.01809619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.0992541539999 meters Centerline goodness : 0.999112 with order 1 Centerline is valid? [True, True] Translation: X:552.37, Y:31.04, Z:20.17 [[ 9.96320047e-01 -7.75584329e-02 -3.64836073e-02 5.52367886e+02] [ 7.75141191e-02 9.96987786e-01 -2.62966067e-03 3.10355615e+01] [ 3.65776632e-02 -2.08011041e-04 9.99330792e-01 2.01730559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.159254154 meters Centerline goodness : 0.999005 with order 1 Centerline is valid? [True, True] Translation: X:552.43, Y:31.04, Z:20.18 [[ 9.96376143e-01 -7.68344182e-02 -3.64836073e-02 5.52429746e+02] [ 7.67896192e-02 9.97043850e-01 -2.62966067e-03 3.10391931e+01] [ 3.65778047e-02 -1.81431158e-04 9.99330792e-01 2.01750580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.2192541539999 meters Centerline goodness : 0.998857 with order 1 Centerline is valid? [True, True] Translation: X:552.49, Y:31.04, Z:20.17 [[ 9.96385803e-01 -7.67089608e-02 -3.64837992e-02 5.52491347e+02] [ 7.66641753e-02 9.97053511e-01 -2.62699582e-03 3.10407355e+01] [ 3.65778142e-02 -1.79499037e-04 9.99330792e-01 2.01749653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.279254154 meters Centerline goodness : 0.999089 with order 1 Centerline is valid? [True, True] Translation: X:552.55, Y:31.04, Z:20.18 [[ 9.96330800e-01 -7.74200063e-02 -3.64839526e-02 5.52552349e+02] [ 7.73757755e-02 9.96998545e-01 -2.62486326e-03 3.10437236e+01] [ 3.65776646e-02 -2.07742009e-04 9.99330792e-01 2.01788661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.339254154 meters Centerline goodness : 0.998708 with order 1 Centerline is valid? [True, True] Translation: X:552.61, Y:31.06, Z:20.19 [[ 9.95584677e-01 -8.64873623e-02 -3.64840584e-02 5.52611887e+02] [ 8.64492662e-02 9.96252800e-01 -2.62339231e-03 3.10555219e+01] [ 3.65742356e-02 -5.42210891e-04 9.99330792e-01 2.01917141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.399254154 meters Centerline goodness : 0.998796 with order 1 Centerline is valid? [True, True] Translation: X:552.67, Y:31.05, Z:20.18 [[ 9.96092894e-01 -8.04229759e-02 -3.64841233e-02 5.52672935e+02] [ 8.03808451e-02 9.96760775e-01 -2.62248873e-03 3.10462689e+01] [ 3.65768514e-02 -3.20382275e-04 9.99330792e-01 2.01805157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.459254154 meters Centerline goodness : 0.994915 with order 1 Centerline is valid? [True, True] Translation: X:552.73, Y:31.05, Z:20.18 [[ 9.96228996e-01 -7.87191215e-02 -3.64840779e-02 5.52732156e+02] [ 7.86758252e-02 9.96896802e-01 -2.62312058e-03 3.10471380e+01] [ 3.65773503e-02 -2.57186157e-04 9.99330792e-01 2.01791581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.519254154 meters Centerline goodness : 0.998668 with order 1 Centerline is valid? [True, True] Translation: X:552.79, Y:31.05, Z:20.19 [[ 9.96154423e-01 -7.96572546e-02 -3.64840779e-02 5.52791576e+02] [ 7.96145872e-02 9.96822269e-01 -2.62312058e-03 3.10507963e+01] [ 3.65770919e-02 -2.91631639e-04 9.99330792e-01 2.01852404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.579254154 meters Centerline goodness : 0.995303 with order 1 Centerline is valid? [True, True] Translation: X:552.85, Y:31.06, Z:20.19 [[ 9.96297024e-01 -7.78534604e-02 -3.64839614e-02 5.52852055e+02] [ 7.78095246e-02 9.96964788e-01 -2.62474000e-03 3.10558723e+01] [ 3.65775699e-02 -2.23779040e-04 9.99330792e-01 2.01896039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.639254154 meters Centerline goodness : 0.995247 with order 1 Centerline is valid? [True, True] Translation: X:552.91, Y:31.06, Z:20.19 [[ 9.96640852e-01 -7.33207212e-02 -3.64840181e-02 5.52911932e+02] [ 7.32737771e-02 9.97308412e-01 -2.62395199e-03 3.10573104e+01] [ 3.65782082e-02 -5.81840630e-05 9.99330792e-01 2.01892798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.699254154 meters Centerline goodness : 0.998819 with order 1 Centerline is valid? [True, True] Translation: X:552.97, Y:31.06, Z:20.19 [[ 9.96828156e-01 -7.07287165e-02 -3.64839045e-02 5.52971271e+02] [ 7.06799788e-02 9.97495588e-01 -2.62553047e-03 3.10563809e+01] [ 3.65782341e-02 3.85210975e-05 9.99330792e-01 2.01904158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.759254154 meters Centerline goodness : 0.999028 with order 1 Centerline is valid? [True, True] Translation: X:553.03, Y:31.06, Z:20.19 [[ 9.97104720e-01 -6.67166700e-02 -3.64837318e-02 5.53030882e+02] [ 6.66651591e-02 9.97771943e-01 -2.62792765e-03 3.10570371e+01] [ 3.65777706e-02 1.88125279e-04 9.99330792e-01 2.01928731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.819254154 meters Centerline goodness : 0.998776 with order 1 Centerline is valid? [True, True] Translation: X:553.09, Y:31.06, Z:20.19 [[ 9.97498335e-01 -6.05475970e-02 -3.64836859e-02 5.53091225e+02] [ 6.04919365e-02 9.98165225e-01 -2.62856530e-03 3.10557329e+01] [ 3.65758998e-02 4.15020700e-04 9.99330792e-01 2.01921901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.879254154 meters Centerline goodness : 0.998903 with order 1 Centerline is valid? [True, True] Translation: X:553.15, Y:31.06, Z:20.20 [[ 9.97321676e-01 -6.33910248e-02 -3.64835827e-02 5.53149276e+02] [ 6.33372134e-02 9.97988718e-01 -2.62999714e-03 3.10602618e+01] [ 3.65769221e-02 3.12184697e-04 9.99330792e-01 2.01962906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.939254154 meters Centerline goodness : 0.999052 with order 1 Centerline is valid? [True, True] Translation: X:553.21, Y:31.06, Z:20.20 [[ 9.97237299e-01 -6.47049338e-02 -3.64834308e-02 5.53208899e+02] [ 6.46519243e-02 9.97904405e-01 -2.63210192e-03 3.10613205e+01] [ 3.65772863e-02 2.66106204e-04 9.99330792e-01 2.01981326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.999254154 meters Centerline goodness : 0.998758 with order 1 Centerline is valid? [True, True] Translation: X:553.27, Y:31.06, Z:20.21 [[ 9.96885700e-01 -6.99132844e-02 -3.64833340e-02 5.53268434e+02] [ 6.98637112e-02 9.97553070e-01 -2.63344332e-03 3.10606955e+01] [ 3.65781745e-02 7.63808763e-05 9.99330792e-01 2.02093344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.059254154 meters Centerline goodness : 0.999119 with order 1 Centerline is valid? [True, True] Translation: X:553.33, Y:31.07, Z:20.22 [[ 9.96308625e-01 -7.77051982e-02 -3.64832320e-02 5.53327534e+02] [ 7.76607926e-02 9.96976358e-01 -2.63485465e-03 3.10664558e+01] [ 3.65776617e-02 -2.08188302e-04 9.99330792e-01 2.02177393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.119254154 meters Centerline goodness : 0.999017 with order 1 Centerline is valid? [True, True] Translation: X:553.39, Y:31.06, Z:20.20 [[ 9.95828582e-01 -8.36325797e-02 -3.64832320e-02 5.53388997e+02] [ 8.35921484e-02 9.96496568e-01 -2.63485465e-03 3.10580624e+01] [ 3.65757752e-02 -4.25848172e-04 9.99330792e-01 2.02046376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.179254154 meters Centerline goodness : 0.999144 with order 1 Centerline is valid? [True, True] Translation: X:553.45, Y:31.06, Z:20.21 [[ 9.95051859e-01 -9.24162993e-02 -3.64832307e-02 5.53449615e+02] [ 9.23817630e-02 9.95720175e-01 -2.63487346e-03 3.10559402e+01] [ 3.65705941e-02 -7.48549436e-04 9.99330792e-01 2.02064963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.239254154 meters Centerline goodness : 0.998854 with order 1 Centerline is valid? [True, True] Translation: X:553.51, Y:31.06, Z:20.22 [[ 9.94496531e-01 -9.82121315e-02 -3.64832307e-02 5.53511240e+02] [ 9.81814896e-02 9.95165038e-01 -2.63487346e-03 3.10562640e+01] [ 3.65656122e-02 -9.61605418e-04 9.99330792e-01 2.02170474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.299254154 meters Centerline goodness : 0.999104 with order 1 Centerline is valid? [True, True] Translation: X:553.57, Y:31.05, Z:20.22 [[ 9.93908956e-01 -1.03990146e-01 -3.64833812e-02 5.53574001e+02] [ 1.03963466e-01 9.94577632e-01 -2.63278799e-03 3.10543073e+01] [ 3.65593389e-02 -1.17618721e-03 9.99330792e-01 2.02190051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.359254154 meters Centerline goodness : 0.999044 with order 1 Centerline is valid? [True, True] Translation: X:553.63, Y:31.06, Z:20.21 [[ 9.93374455e-01 -1.08977707e-01 -3.64835835e-02 5.53634849e+02] [ 1.08954487e-01 9.94043260e-01 -2.62998108e-03 3.10570736e+01] [ 3.65528696e-02 -1.36249411e-03 9.99330792e-01 2.02130965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.419254154 meters Centerline goodness : 0.999252 with order 1 Centerline is valid? [True, True] Translation: X:553.70, Y:31.06, Z:20.21 [[ 9.93163035e-01 -1.10887821e-01 -3.64839304e-02 5.53696687e+02] [ 1.10866064e-01 9.93831889e-01 -2.62516030e-03 3.10586098e+01] [ 3.65499918e-02 -1.43761759e-03 9.99330792e-01 2.02147902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.479254154 meters Centerline goodness : 0.999231 with order 1 Centerline is valid? [True, True] Translation: X:553.76, Y:31.06, Z:20.22 [[ 9.93317519e-01 -1.09495308e-01 -3.64840257e-02 5.53756508e+02] [ 1.09472662e-01 9.93986344e-01 -2.62383552e-03 3.10624568e+01] [ 3.65519210e-02 -1.38770160e-03 9.99330792e-01 2.02163589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.539254154 meters Centerline goodness : 0.999167 with order 1 Centerline is valid? [True, True] Translation: X:553.82, Y:31.07, Z:20.22 [[ 9.93742474e-01 -1.05568968e-01 -3.64840726e-02 5.53817227e+02] [ 1.05543703e-01 9.94411206e-01 -2.62318284e-03 3.10673563e+01] [ 3.65570973e-02 -1.24389590e-03 9.99330792e-01 2.02187204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.5992541539999 meters Centerline goodness : 0.999187 with order 1 Centerline is valid? [True, True] Translation: X:553.88, Y:31.07, Z:20.23 [[ 9.94249367e-01 -1.00683172e-01 -3.64841686e-02 5.53877865e+02] [ 1.00654669e-01 9.94917968e-01 -2.62184739e-03 3.10704505e+01] [ 3.65627308e-02 -1.06553181e-03 9.99330792e-01 2.02268804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.659254154 meters Centerline goodness : 0.999084 with order 1 Centerline is valid? [True, True] Translation: X:553.94, Y:31.08, Z:20.23 [[ 9.94441692e-01 -9.87654733e-02 -3.64842659e-02 5.53937289e+02] [ 9.87357305e-02 9.95110239e-01 -2.62049300e-03 3.10794062e+01] [ 3.65646808e-02 -9.96373144e-04 9.99330792e-01 2.02344891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.7192541539999 meters Centerline goodness : 0.999291 with order 1 Centerline is valid? [True, True] Translation: X:554.00, Y:31.08, Z:20.22 [[ 9.94363800e-01 -9.95466177e-02 -3.64843134e-02 5.53997025e+02] [ 9.95174245e-02 9.95032371e-01 -2.61983036e-03 3.10826353e+01] [ 3.65638681e-02 -1.02576043e-03 9.99330792e-01 2.02245972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.779254154 meters Centerline goodness : 0.999145 with order 1 Centerline is valid? [True, True] Translation: X:554.06, Y:31.09, Z:20.23 [[ 9.94310739e-01 -1.00075237e-01 -3.64842667e-02 5.54057071e+02] [ 1.00046375e-01 9.94979324e-01 -2.62048077e-03 3.10870299e+01] [ 3.65633363e-02 -1.04454647e-03 9.99330792e-01 2.02269157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.839254154 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:554.12, Y:31.09, Z:20.24 [[ 9.93949119e-01 -1.03605248e-01 -3.64842667e-02 5.54116996e+02] [ 1.03578760e-01 9.94617803e-01 -2.62048077e-03 3.10924744e+01] [ 3.65593968e-02 -1.17437056e-03 9.99330792e-01 2.02412112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.899254154 meters Centerline goodness : 0.999292 with order 1 Centerline is valid? [True, True] Translation: X:554.18, Y:31.10, Z:20.23 [[ 9.94251321e-01 -1.00663826e-01 -3.64843164e-02 5.54177625e+02] [ 1.00635386e-01 9.94919924e-01 -2.61978901e-03 3.10959344e+01] [ 3.65626913e-02 -1.06688456e-03 9.99330792e-01 2.02347162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.959254154 meters Centerline goodness : 0.999396 with order 1 Centerline is valid? [True, True] Translation: X:554.24, Y:31.10, Z:20.23 [[ 9.93129245e-01 -1.11189897e-01 -3.64843655e-02 5.54239149e+02] [ 1.11168566e-01 9.93798113e-01 -2.61910552e-03 3.10998406e+01] [ 3.65493116e-02 -1.45480428e-03 9.99330792e-01 2.02339746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.019254154 meters Centerline goodness : 0.999249 with order 1 Centerline is valid? [True, True] Translation: X:554.30, Y:31.10, Z:20.24 [[ 9.92585931e-01 -1.15939867e-01 -3.64844624e-02 5.54300003e+02] [ 1.15921786e-01 9.93254895e-01 -2.61775378e-03 3.11043035e+01] [ 3.65418730e-02 -1.63099846e-03 9.99330792e-01 2.02362314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.079254154 meters Centerline goodness : 0.999186 with order 1 Centerline is valid? [True, True] Translation: X:554.36, Y:31.11, Z:20.24 [[ 9.91938987e-01 -1.21350348e-01 -3.64847752e-02 5.54360817e+02] [ 1.21336074e-01 9.92608043e-01 -2.61338812e-03 3.11097182e+01] [ 3.65322168e-02 -1.83459781e-03 9.99330792e-01 2.02390165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.139254154 meters Centerline goodness : 0.999040 with order 1 Centerline is valid? [True, True] Translation: X:554.42, Y:31.12, Z:20.24 [[ 9.91490649e-01 -1.24960573e-01 -3.64849122e-02 5.54422121e+02] [ 1.24948805e-01 9.92159753e-01 -2.61147366e-03 3.11158584e+01] [ 3.65251927e-02 -1.96949447e-03 9.99330792e-01 2.02427791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.199254154 meters Centerline goodness : 0.999062 with order 1 Centerline is valid? [True, True] Translation: X:554.48, Y:31.12, Z:20.26 [[ 9.91030182e-01 -1.28561342e-01 -3.64850588e-02 5.54481621e+02] [ 1.28552080e-01 9.91699326e-01 -2.60942426e-03 3.11235154e+01] [ 3.65176793e-02 -2.10421199e-03 9.99330792e-01 2.02571973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.259254154 meters Centerline goodness : 0.999104 with order 1 Centerline is valid? [True, True] Translation: X:554.54, Y:31.13, Z:20.26 [[ 9.90632394e-01 -1.31591416e-01 -3.64850588e-02 5.54543531e+02] [ 1.31584200e-01 9.91301563e-01 -2.60942426e-03 3.11316995e+01] [ 3.65110736e-02 -2.21587707e-03 9.99330792e-01 2.02600663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.319254154 meters Centerline goodness : 0.999064 with order 1 Centerline is valid? [True, True] Translation: X:554.61, Y:31.14, Z:20.26 [[ 9.90561941e-01 -1.32120650e-01 -3.64852626e-02 5.54605235e+02] [ 1.32113896e-01 9.91231115e-01 -2.60657113e-03 3.11383368e+01] [ 3.65097094e-02 -2.23824003e-03 9.99330792e-01 2.02621344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.379254154 meters Centerline goodness : 0.998938 with order 1 Centerline is valid? [True, True] Translation: X:554.67, Y:31.15, Z:20.25 [[ 9.90758238e-01 -1.30640442e-01 -3.64854681e-02 5.54665662e+02] [ 1.30632794e-01 9.91427402e-01 -2.60369186e-03 3.11451375e+01] [ 3.65128403e-02 -2.18656947e-03 9.99330792e-01 2.02522040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.439254154 meters Centerline goodness : 0.999145 with order 1 Centerline is valid? [True, True] Translation: X:554.73, Y:31.15, Z:20.25 [[ 9.90774253e-01 -1.30518896e-01 -3.64855859e-02 5.54727144e+02] [ 1.30511227e-01 9.91443417e-01 -2.60203996e-03 3.11510217e+01] [ 3.65130093e-02 -2.18374439e-03 9.99330792e-01 2.02538513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.499254154 meters Centerline goodness : 0.999165 with order 1 Centerline is valid? [True, True] Translation: X:554.79, Y:31.16, Z:20.25 [[ 9.90814766e-01 -1.30210935e-01 -3.64857798e-02 5.54787521e+02] [ 1.30203158e-01 9.91483929e-01 -2.59931805e-03 3.11614878e+01] [ 3.65135239e-02 -2.17512106e-03 9.99330792e-01 2.02549329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.559254154 meters Centerline goodness : 0.998853 with order 1 Centerline is valid? [True, True] Translation: X:554.85, Y:31.17, Z:20.26 [[ 9.90858292e-01 -1.29879264e-01 -3.64859230e-02 5.54849350e+02] [ 1.29871336e-01 9.91527453e-01 -2.59730685e-03 3.11699831e+01] [ 3.65141306e-02 -2.16491255e-03 9.99330792e-01 2.02573095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.619254154 meters Centerline goodness : 0.999017 with order 1 Centerline is valid? [True, True] Translation: X:554.91, Y:31.18, Z:20.26 [[ 9.91162168e-01 -1.27539486e-01 -3.64861097e-02 5.54909807e+02] [ 1.27530075e-01 9.91831310e-01 -2.59468069e-03 3.11814019e+01] [ 3.65189902e-02 -2.08132698e-03 9.99330792e-01 2.02606906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.679254154 meters Centerline goodness : 0.998912 with order 1 Centerline is valid? [True, True] Translation: X:554.97, Y:31.19, Z:20.26 [[ 9.91652394e-01 -1.23670001e-01 -3.64864358e-02 5.54971668e+02] [ 1.23658147e-01 9.92321497e-01 -2.59008694e-03 3.11910630e+01] [ 3.65265907e-02 -1.94337914e-03 9.99330792e-01 2.02645048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.739254154 meters Centerline goodness : 0.998719 with order 1 Centerline is valid? [True, True] Translation: X:555.03, Y:31.20, Z:20.27 [[ 9.92674639e-01 -1.15177202e-01 -3.64866164e-02 5.55032876e+02] [ 1.15159714e-01 9.93343619e-01 -2.58754015e-03 3.12032869e+01] [ 3.65417732e-02 -1.63320284e-03 9.99330792e-01 2.02688166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.799254154 meters Centerline goodness : 0.998738 with order 1 Centerline is valid? [True, True] Translation: X:555.10, Y:31.21, Z:20.27 [[ 9.93392342e-01 -1.08813455e-01 -3.64868079e-02 5.55095876e+02] [ 1.08791780e-01 9.94061199e-01 -2.58483740e-03 3.12122365e+01] [ 3.65513851e-02 -1.40170710e-03 9.99330792e-01 2.02707893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.859254154 meters Centerline goodness : 0.998632 with order 1 Centerline is valid? [True, True] Translation: X:555.16, Y:31.22, Z:20.27 [[ 9.94646681e-01 -9.66781911e-02 -3.64870965e-02 5.55158096e+02] [ 9.66485020e-02 9.95315230e-01 -2.58075718e-03 3.12169396e+01] [ 3.65656658e-02 -9.59481653e-04 9.99330792e-01 2.02671042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.919254154 meters Centerline goodness : 0.998799 with order 1 Centerline is valid? [True, True] Translation: X:555.22, Y:31.23, Z:20.27 [[ 9.94460816e-01 -9.85716128e-02 -3.64873001e-02 5.55217981e+02] [ 9.85433021e-02 9.95129425e-01 -2.57787511e-03 3.12298776e+01] [ 3.65636913e-02 -1.03198326e-03 9.99330792e-01 2.02739450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.979254154 meters Centerline goodness : 0.998860 with order 1 Centerline is valid? [True, True] Translation: X:555.28, Y:31.24, Z:20.27 [[ 9.94526417e-01 -9.79073826e-02 -3.64876714e-02 5.55279535e+02] [ 9.78788184e-02 9.95195015e-01 -2.57260852e-03 3.12375231e+01] [ 3.65642261e-02 -1.01284303e-03 9.99330792e-01 2.02731165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.039254154 meters Centerline goodness : 0.998775 with order 1 Centerline is valid? [True, True] Translation: X:555.34, Y:31.24, Z:20.28 [[ 9.94561288e-01 -9.75524401e-02 -3.64878812e-02 5.55341376e+02] [ 9.75237466e-02 9.95229881e-01 -2.56963038e-03 3.12434038e+01] [ 3.65645034e-02 -1.00277998e-03 9.99330792e-01 2.02767125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.0992541539999 meters Centerline goodness : 0.999012 with order 1 Centerline is valid? [True, True] Translation: X:555.40, Y:31.25, Z:20.28 [[ 9.94513926e-01 -9.80340288e-02 -3.64880967e-02 5.55404106e+02] [ 9.80057713e-02 9.95182537e-01 -2.56656629e-03 3.12501401e+01] [ 3.65639275e-02 -1.02355814e-03 9.99330792e-01 2.02793858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.159254154 meters Centerline goodness : 0.998842 with order 1 Centerline is valid? [True, True] Translation: X:555.47, Y:31.25, Z:20.28 [[ 9.94908363e-01 -9.39465137e-02 -3.64883846e-02 5.55466601e+02] [ 9.39156592e-02 9.95576859e-01 -2.56246665e-03 3.12502668e+01] [ 3.65677262e-02 -8.77411197e-04 9.99330792e-01 2.02776094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.2192541539999 meters Centerline goodness : 0.995069 with order 1 Centerline is valid? [True, True] Translation: X:555.53, Y:31.26, Z:20.28 [[ 9.94108462e-01 -1.02063457e-01 -3.64885825e-02 5.55527295e+02] [ 1.02038163e-01 9.94777192e-01 -2.55964533e-03 3.12614496e+01] [ 3.65592559e-02 -1.17866285e-03 9.99330792e-01 2.02794300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.279254154 meters Centerline goodness : 0.998948 with order 1 Centerline is valid? [True, True] Translation: X:555.59, Y:31.27, Z:20.29 [[ 9.93812130e-01 -1.04909585e-01 -3.64887583e-02 5.55589316e+02] [ 1.04886298e-01 9.94480933e-01 -2.55713670e-03 3.12653958e+01] [ 3.65556426e-02 -1.28585730e-03 9.99330792e-01 2.02862204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.339254154 meters Centerline goodness : 0.998882 with order 1 Centerline is valid? [True, True] Translation: X:555.65, Y:31.27, Z:20.29 [[ 9.93752085e-01 -1.05476759e-01 -3.64889855e-02 5.55651834e+02] [ 1.05453973e-01 9.94420906e-01 -2.55389043e-03 3.12675493e+01] [ 3.65547861e-02 -1.30997454e-03 9.99330792e-01 2.02902128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.399254154 meters Centerline goodness : 0.999009 with order 1 Centerline is valid? [True, True] Translation: X:555.71, Y:31.27, Z:20.29 [[ 9.93583249e-01 -1.07055436e-01 -3.64891800e-02 5.55713116e+02] [ 1.07033814e-01 9.94252108e-01 -2.55110885e-03 3.12738469e+01] [ 3.65525542e-02 -1.37083710e-03 9.99330792e-01 2.02892610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.459254154 meters Centerline goodness : 0.998968 with order 1 Centerline is valid? [True, True] Translation: X:555.77, Y:31.28, Z:20.29 [[ 9.93896397e-01 -1.04108004e-01 -3.64893788e-02 5.55774127e+02] [ 1.04084503e-01 9.94565193e-01 -2.54826226e-03 3.12782764e+01] [ 3.65563606e-02 -1.26527017e-03 9.99330792e-01 2.02909398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.519254154 meters Centerline goodness : 0.998816 with order 1 Centerline is valid? [True, True] Translation: X:555.84, Y:31.28, Z:20.29 [[ 9.94769815e-01 -9.54019373e-02 -3.64895239e-02 5.55836481e+02] [ 9.53726578e-02 9.95438382e-01 -2.54618288e-03 3.12795059e+01] [ 3.65659834e-02 -9.47237004e-04 9.99330792e-01 2.02925496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.579254154 meters Centerline goodness : 0.998944 with order 1 Centerline is valid? [True, True] Translation: X:555.90, Y:31.29, Z:20.30 [[ 9.94812763e-01 -9.49529570e-02 -3.64897508e-02 5.55897133e+02] [ 9.49234950e-02 9.95481323e-01 -2.54292762e-03 3.12883649e+01] [ 3.65663238e-02 -9.33997818e-04 9.99330792e-01 2.02986792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.639254154 meters Centerline goodness : 0.998985 with order 1 Centerline is valid? [True, True] Translation: X:555.96, Y:31.29, Z:20.30 [[ 9.95275909e-01 -8.99686208e-02 -3.64898976e-02 5.55957670e+02] [ 8.99358876e-02 9.95944316e-01 -2.54081857e-03 3.12934570e+01] [ 3.65705001e-02 -7.52935817e-04 9.99330792e-01 2.03002525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.699254154 meters Centerline goodness : 0.998879 with order 1 Centerline is valid? [True, True] Translation: X:556.02, Y:31.30, Z:20.30 [[ 9.95426959e-01 -8.82816360e-02 -3.64900364e-02 5.56019165e+02] [ 8.82478431e-02 9.96095313e-01 -2.53882393e-03 3.12981148e+01] [ 3.65716857e-02 -6.92953219e-04 9.99330792e-01 2.03029443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.759254154 meters Centerline goodness : 0.999006 with order 1 Centerline is valid? [True, True] Translation: X:556.08, Y:31.30, Z:20.30 [[ 9.95384340e-01 -8.87608006e-02 -3.64902235e-02 5.56080597e+02] [ 8.87274281e-02 9.96052715e-01 -2.53613119e-03 3.13016820e+01] [ 3.65712953e-02 -7.13258418e-04 9.99330792e-01 2.03046517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.819254154 meters Centerline goodness : 0.999070 with order 1 Centerline is valid? [True, True] Translation: X:556.14, Y:31.30, Z:20.31 [[ 9.95210640e-01 -9.06875741e-02 -3.64903615e-02 5.56142572e+02] [ 9.06555684e-02 9.95879082e-01 -2.53414398e-03 3.13047274e+01] [ 3.65698031e-02 -7.86047417e-04 9.99330792e-01 2.03082182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.879254154 meters Centerline goodness : 0.998967 with order 1 Centerline is valid? [True, True] Translation: X:556.20, Y:31.31, Z:20.31 [[ 9.94810534e-01 -9.49760009e-02 -3.64905507e-02 5.56204456e+02] [ 9.49469764e-02 9.95479113e-01 -2.53141752e-03 3.13072261e+01] [ 3.65660049e-02 -9.46386640e-04 9.99330792e-01 2.03111286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.939254154 meters Centerline goodness : 0.998862 with order 1 Centerline is valid? [True, True] Translation: X:556.27, Y:31.31, Z:20.31 [[ 9.94513000e-01 -9.80424325e-02 -3.64907392e-02 5.56266405e+02] [ 9.80155690e-02 9.95181669e-01 -2.52869642e-03 3.13107444e+01] [ 3.65628343e-02 -1.06183911e-03 9.99330792e-01 2.03138440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.999254154 meters Centerline goodness : 0.998610 with order 1 Centerline is valid? [True, True] Translation: X:556.33, Y:31.31, Z:20.32 [[ 9.94134253e-01 -1.01811100e-01 -3.64909280e-02 5.56327878e+02] [ 1.01786871e-01 9.94803022e-01 -2.52596994e-03 3.13137966e+01] [ 3.65584572e-02 -1.20314413e-03 9.99330792e-01 2.03170111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.059254154 meters Centerline goodness : 0.998907 with order 1 Centerline is valid? [True, True] Translation: X:556.39, Y:31.32, Z:20.32 [[ 9.93988303e-01 -1.03226201e-01 -3.64911612e-02 5.56391006e+02] [ 1.03203048e-01 9.94657110e-01 -2.52259568e-03 3.13169868e+01] [ 3.65565910e-02 -1.25856846e-03 9.99330792e-01 2.03207175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.119254154 meters Centerline goodness : 0.998673 with order 1 Centerline is valid? [True, True] Translation: X:556.45, Y:31.32, Z:20.32 [[ 9.94615763e-01 -9.69941185e-02 -3.64914427e-02 5.56453117e+02] [ 9.69669234e-02 9.95284418e-01 -2.51851724e-03 3.13150578e+01] [ 3.65636457e-02 -1.03350599e-03 9.99330792e-01 2.03170013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.179254154 meters Centerline goodness : 0.998824 with order 1 Centerline is valid? [True, True] Translation: X:556.51, Y:31.33, Z:20.33 [[ 9.94227617e-01 -1.00895039e-01 -3.64915869e-02 5.56513233e+02] [ 1.00870544e-01 9.94896377e-01 -2.51642654e-03 3.13253244e+01] [ 3.65592425e-02 -1.17902544e-03 9.99330792e-01 2.03273921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.239254154 meters Centerline goodness : 0.999030 with order 1 Centerline is valid? [True, True] Translation: X:556.58, Y:31.33, Z:20.33 [[ 9.94634011e-01 -9.68067208e-02 -3.64916810e-02 5.56575759e+02] [ 9.67795264e-02 9.95302666e-01 -2.51506131e-03 3.13291872e+01] [ 3.65637422e-02 -1.03008209e-03 9.99330792e-01 2.03294539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.299254154 meters Centerline goodness : 0.999092 with order 1 Centerline is valid? [True, True] Translation: X:556.64, Y:31.33, Z:20.33 [[ 9.94954911e-01 -9.34508695e-02 -3.64919150e-02 5.56637858e+02] [ 9.34215443e-02 9.95623476e-01 -2.51166140e-03 3.13337383e+01] [ 3.65669242e-02 -9.10141203e-04 9.99330792e-01 2.03314454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.359254154 meters Centerline goodness : 0.998734 with order 1 Centerline is valid? [True, True] Translation: X:556.70, Y:31.34, Z:20.33 [[ 9.95090677e-01 -9.19938623e-02 -3.64921017e-02 5.56700370e+02] [ 9.19636576e-02 9.95759203e-01 -2.50894526e-03 3.13383518e+01] [ 3.65681537e-02 -8.59319112e-04 9.99330792e-01 2.03338413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.419254154 meters Centerline goodness : 0.998987 with order 1 Centerline is valid? [True, True] Translation: X:556.76, Y:31.34, Z:20.34 [[ 9.95388181e-01 -8.87168229e-02 -3.64923804e-02 5.56761650e+02] [ 8.86845659e-02 9.96056612e-01 -2.50488579e-03 3.13422858e+01] [ 3.65707023e-02 -7.42977198e-04 9.99330792e-01 2.03355367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.479254154 meters Centerline goodness : 0.999070 with order 1 Centerline is valid? [True, True] Translation: X:556.82, Y:31.35, Z:20.34 [[ 9.95417284e-01 -8.83896283e-02 -3.64925173e-02 5.56823682e+02] [ 8.83572247e-02 9.96085707e-01 -2.50289017e-03 3.13455870e+01] [ 3.65709044e-02 -7.32957410e-04 9.99330792e-01 2.03380299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.539254154 meters Centerline goodness : 0.999093 with order 1 Centerline is valid? [True, True] Translation: X:556.89, Y:31.35, Z:20.34 [[ 9.95225309e-01 -9.05255080e-02 -3.64926983e-02 5.56885156e+02] [ 9.04946357e-02 9.95893804e-01 -2.50024791e-03 3.13482742e+01] [ 3.65691883e-02 -8.14083443e-04 9.99330792e-01 2.03403751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.5992541539999 meters Centerline goodness : 0.999114 with order 1 Centerline is valid? [True, True] Translation: X:556.95, Y:31.35, Z:20.34 [[ 9.94998077e-01 -9.29897187e-02 -3.64929910e-02 5.56947450e+02] [ 9.29606587e-02 9.95666654e-01 -2.49596835e-03 3.13520539e+01] [ 3.65669536e-02 -9.08928774e-04 9.99330792e-01 2.03431884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.659254154 meters Centerline goodness : 0.998966 with order 1 Centerline is valid? [True, True] Translation: X:557.01, Y:31.35, Z:20.34 [[ 9.94545592e-01 -9.77103541e-02 -3.64931660e-02 5.57008568e+02] [ 9.76845611e-02 9.95214303e-01 -2.49340745e-03 3.13541741e+01] [ 3.65621525e-02 -1.08501151e-03 9.99330792e-01 2.03447399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.7192541539999 meters Centerline goodness : 0.998819 with order 1 Centerline is valid? [True, True] Translation: X:557.07, Y:31.36, Z:20.35 [[ 9.93901230e-01 -1.04060487e-01 -3.64932954e-02 5.57071008e+02] [ 1.04039035e-01 9.94570094e-01 -2.49151202e-03 3.13571699e+01] [ 3.65544082e-02 -1.32041039e-03 9.99330792e-01 2.03501478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.779254154 meters Centerline goodness : 0.998904 with order 1 Centerline is valid? [True, True] Translation: X:557.13, Y:31.36, Z:20.35 [[ 9.93565151e-01 -1.07221813e-01 -3.64934834e-02 5.57133147e+02] [ 1.07202590e-01 9.94234082e-01 -2.48875541e-03 3.13607824e+01] [ 3.65499138e-02 -1.43945530e-03 9.99330792e-01 2.03523868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.839254154 meters Centerline goodness : 0.998966 with order 1 Centerline is valid? [True, True] Translation: X:557.20, Y:31.36, Z:20.36 [[ 9.93254340e-01 -1.10063746e-01 -3.64936691e-02 5.57195437e+02] [ 1.10046537e-01 9.93923327e-01 -2.48602872e-03 3.13647766e+01] [ 3.65455306e-02 -1.54674309e-03 9.99330792e-01 2.03554485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.899254154 meters Centerline goodness : 0.999009 with order 1 Centerline is valid? [True, True] Translation: X:557.26, Y:31.37, Z:20.36 [[ 9.93309242e-01 -1.09567096e-01 -3.64938526e-02 5.57257809e+02] [ 1.09549651e-01 9.93978223e-01 -2.48333191e-03 3.13687518e+01] [ 3.65461862e-02 -1.53117228e-03 9.99330792e-01 2.03566870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.959254154 meters Centerline goodness : 0.999134 with order 1 Centerline is valid? [True, True] Translation: X:557.32, Y:31.37, Z:20.36 [[ 9.93454613e-01 -1.08240923e-01 -3.64943027e-02 5.57320032e+02] [ 1.08222828e-01 9.94123577e-01 -2.47669955e-03 3.13744110e+01] [ 3.65479270e-02 -1.48902807e-03 9.99330792e-01 2.03574844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.019254154 meters Centerline goodness : 0.999048 with order 1 Centerline is valid? [True, True] Translation: X:557.38, Y:31.38, Z:20.36 [[ 9.93705924e-01 -1.05908876e-01 -3.64944794e-02 5.57382056e+02] [ 1.05889306e-01 9.94374846e-01 -2.47409426e-03 3.13796936e+01] [ 3.65512208e-02 -1.40585298e-03 9.99330792e-01 2.03591984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.079254154 meters Centerline goodness : 0.999195 with order 1 Centerline is valid? [True, True] Translation: X:557.44, Y:31.39, Z:20.36 [[ 9.94181742e-01 -1.01344974e-01 -3.64946557e-02 5.57444028e+02] [ 1.01322429e-01 9.94850570e-01 -2.47149006e-03 3.13863016e+01] [ 3.65572022e-02 -1.24061686e-03 9.99330792e-01 2.03625072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.139254154 meters Centerline goodness : 0.998918 with order 1 Centerline is valid? [True, True] Translation: X:557.51, Y:31.39, Z:20.37 [[ 9.94790243e-01 -9.51866504e-02 -3.64948386e-02 5.57506724e+02] [ 9.51600633e-02 9.95458923e-01 -2.46878671e-03 3.13940823e+01] [ 3.65641083e-02 -1.01692622e-03 9.99330792e-01 2.03658627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.199254154 meters Centerline goodness : 0.998940 with order 1 Centerline is valid? [True, True] Translation: X:557.57, Y:31.40, Z:20.37 [[ 9.95191413e-01 -9.08964119e-02 -3.64951151e-02 5.57568435e+02] [ 9.08670919e-02 9.95859979e-01 -2.46469217e-03 3.14011073e+01] [ 3.65680562e-02 -8.63364496e-04 9.99330792e-01 2.03685327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.259254154 meters Centerline goodness : 0.999110 with order 1 Centerline is valid? [True, True] Translation: X:557.63, Y:31.41, Z:20.37 [[ 9.95650031e-01 -8.57269489e-02 -3.64952980e-02 5.57629742e+02] [ 8.56942566e-02 9.96318440e-01 -2.46198082e-03 3.14088341e+01] [ 3.65719965e-02 -6.76166151e-04 9.99330792e-01 2.03715775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.319254154 meters Centerline goodness : 0.999044 with order 1 Centerline is valid? [True, True] Translation: X:557.69, Y:31.42, Z:20.37 [[ 9.96010899e-01 -8.14270734e-02 -3.64954782e-02 5.57690514e+02] [ 8.13915933e-02 9.96679166e-01 -2.45930737e-03 3.14155465e+01] [ 3.65745370e-02 -5.20928170e-04 9.99330792e-01 2.03738587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.379254154 meters Centerline goodness : 0.998895 with order 1 Centerline is valid? [True, True] Translation: X:557.75, Y:31.42, Z:20.38 [[ 9.96216600e-01 -7.88705004e-02 -3.64956112e-02 5.57752391e+02] [ 7.88333777e-02 9.96884778e-01 -2.45733189e-03 3.14215698e+01] [ 3.65757303e-02 -4.29037479e-04 9.99330792e-01 2.03763109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.439254154 meters Centerline goodness : 0.999128 with order 1 Centerline is valid? [True, True] Translation: X:557.81, Y:31.43, Z:20.38 [[ 9.96506884e-01 -7.51138322e-02 -3.64957859e-02 5.57813969e+02] [ 7.50742855e-02 9.97174922e-01 -2.45473496e-03 3.14263999e+01] [ 3.65770670e-02 -2.93734766e-04 9.99330792e-01 2.03803424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.499254154 meters Centerline goodness : 0.999044 with order 1 Centerline is valid? [True, True] Translation: X:557.88, Y:31.43, Z:20.38 [[ 9.96655369e-01 -7.31171676e-02 -3.64959692e-02 5.57875241e+02] [ 7.30763825e-02 9.97323333e-01 -2.45200570e-03 3.14295337e+01] [ 3.65775654e-02 -2.23188761e-04 9.99330792e-01 2.03815882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.559254154 meters Centerline goodness : 0.998770 with order 1 Centerline is valid? [True, True] Translation: X:557.94, Y:31.43, Z:20.38 [[ 9.96677117e-01 -7.28200478e-02 -3.64961044e-02 5.57937731e+02] [ 7.27791373e-02 9.97345073e-01 -2.44999221e-03 3.14330809e+01] [ 3.65776185e-02 -2.14303821e-04 9.99330792e-01 2.03839214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.619254154 meters Centerline goodness : 0.999067 with order 1 Centerline is valid? [True, True] Translation: X:558.00, Y:31.44, Z:20.38 [[ 9.96554061e-01 -7.44850696e-02 -3.64962804e-02 5.57998885e+02] [ 7.44453712e-02 9.97222090e-01 -2.44736782e-03 3.14354750e+01] [ 3.65771894e-02 -2.78044800e-04 9.99330792e-01 2.03844443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.679254154 meters Centerline goodness : 0.999005 with order 1 Centerline is valid? [True, True] Translation: X:558.06, Y:31.44, Z:20.39 [[ 9.96346654e-01 -7.72098279e-02 -3.64964102e-02 5.58060821e+02] [ 7.71720273e-02 9.97014793e-01 -2.44543047e-03 3.14380213e+01] [ 3.65762721e-02 -3.80005495e-04 9.99330792e-01 2.03885213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.739254154 meters Centerline goodness : 0.999132 with order 1 Centerline is valid? [True, True] Translation: X:558.12, Y:31.44, Z:20.39 [[ 9.95837230e-01 -8.35237122e-02 -3.64965895e-02 5.58123031e+02] [ 8.34902456e-02 9.96505601e-01 -2.44275205e-03 3.14397614e+01] [ 3.65730835e-02 -6.14525785e-04 9.99330792e-01 2.03912385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.799254154 meters Centerline goodness : 0.998965 with order 1 Centerline is valid? [True, True] Translation: X:558.19, Y:31.44, Z:20.39 [[ 9.95471128e-01 -8.77793736e-02 -3.64967706e-02 5.58185371e+02] [ 8.77488633e-02 9.96139640e-01 -2.44004356e-03 3.14417969e+01] [ 3.65700654e-02 -7.73557215e-04 9.99330792e-01 2.03930102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.859254154 meters Centerline goodness : 0.998754 with order 1 Centerline is valid? [True, True] Translation: X:558.25, Y:31.44, Z:20.39 [[ 9.94819791e-01 -9.48765330e-02 -3.64969499e-02 5.58247035e+02] [ 9.48508895e-02 9.95488507e-01 -2.43735758e-03 3.14423240e+01] [ 3.65635422e-02 -1.03703661e-03 9.99330792e-01 2.03949184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.919254154 meters Centerline goodness : 0.998964 with order 1 Centerline is valid? [True, True] Translation: X:558.31, Y:31.45, Z:20.40 [[ 9.94234469e-01 -1.00825509e-01 -3.64970825e-02 5.58308825e+02] [ 1.00803938e-01 9.94903329e-01 -2.43537107e-03 3.14450252e+01] [ 3.65566164e-02 -1.25771979e-03 9.99330792e-01 2.03980950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.979254154 meters Centerline goodness : 0.998986 with order 1 Centerline is valid? [True, True] Translation: X:558.37, Y:31.45, Z:20.40 [[ 9.93193333e-01 -1.10611720e-01 -3.64972585e-02 5.58372154e+02] [ 1.10596835e-01 9.93862376e-01 -2.43273072e-03 3.14461427e+01] [ 3.65423406e-02 -1.62030934e-03 9.99330792e-01 2.03995119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.039254154 meters Centerline goodness : 0.998967 with order 1 Centerline is valid? [True, True] Translation: X:558.43, Y:31.45, Z:20.40 [[ 9.92155714e-01 -1.19561572e-01 -3.64975216e-02 5.58433116e+02] [ 1.19552864e-01 9.92824866e-01 -2.42877701e-03 3.14483464e+01] [ 3.65260354e-02 -1.95365823e-03 9.99330792e-01 2.04010686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.0992541539999 meters Centerline goodness : 0.998736 with order 1 Centerline is valid? [True, True] Translation: X:558.50, Y:31.45, Z:20.40 [[ 9.91657546e-01 -1.23625370e-01 -3.64976511e-02 5.58495079e+02] [ 1.23619476e-01 9.92326728e-01 -2.42682988e-03 3.14516867e+01] [ 3.65176124e-02 -2.10523632e-03 9.99330792e-01 2.04031935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.159254154 meters Centerline goodness : 0.998989 with order 1 Centerline is valid? [True, True] Translation: X:558.56, Y:31.46, Z:20.40 [[ 9.91308269e-01 -1.26395512e-01 -3.64978193e-02 5.58557289e+02] [ 1.26391580e-01 9.91977465e-01 -2.42429684e-03 3.14552341e+01] [ 3.65114345e-02 -2.20979155e-03 9.99330792e-01 2.04047410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.2192541539999 meters Centerline goodness : 0.999115 with order 1 Centerline is valid? [True, True] Translation: X:558.62, Y:31.46, Z:20.41 [[ 9.91319963e-01 -1.26303701e-01 -3.64980274e-02 5.58620463e+02] [ 1.26299822e-01 9.91989160e-01 -2.42116040e-03 3.14597397e+01] [ 3.65114490e-02 -2.20954972e-03 9.99330792e-01 2.04061411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.279254154 meters Centerline goodness : 0.999032 with order 1 Centerline is valid? [True, True] Translation: X:558.68, Y:31.47, Z:20.40 [[ 9.91916320e-01 -1.21531430e-01 -3.64982976e-02 5.58681354e+02] [ 1.21524480e-01 9.92585492e-01 -2.41707943e-03 3.14650397e+01] [ 3.65214318e-02 -2.03789609e-03 9.99330792e-01 2.04015441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.339254154 meters Centerline goodness : 0.998904 with order 1 Centerline is valid? [True, True] Translation: X:558.74, Y:31.47, Z:20.41 [[ 9.92185068e-01 -1.19317439e-01 -3.64984853e-02 5.58743196e+02] [ 1.19309099e-01 9.92854224e-01 -2.41424187e-03 3.14708394e+01] [ 3.65257365e-02 -1.95922667e-03 9.99330792e-01 2.04079778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.399254154 meters Centerline goodness : 0.998968 with order 1 Centerline is valid? [True, True] Translation: X:558.81, Y:31.48, Z:20.41 [[ 9.93627725e-01 -1.06638594e-01 -3.64986809e-02 5.58805618e+02] [ 1.06621820e-01 9.94296723e-01 -2.41128166e-03 3.14795754e+01] [ 3.65476545e-02 -1.49563947e-03 9.99330792e-01 2.04094646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.459254154 meters Centerline goodness : 0.999072 with order 1 Centerline is valid? [True, True] Translation: X:558.87, Y:31.49, Z:20.41 [[ 9.94558791e-01 -9.75737480e-02 -3.64989812e-02 5.58866880e+02] [ 9.75510409e-02 9.95227613e-01 -2.40672702e-03 3.14874818e+01] [ 3.65596273e-02 -1.16688209e-03 9.99330792e-01 2.04135403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.519254154 meters Centerline goodness : 0.998756 with order 1 Centerline is valid? [True, True] Translation: X:558.93, Y:31.50, Z:20.42 [[ 9.96050309e-01 -8.09419035e-02 -3.64991823e-02 5.58928323e+02] [ 8.09081360e-02 9.96718664e-01 -2.40367329e-03 3.14969863e+01] [ 3.65739741e-02 -5.58901281e-04 9.99330792e-01 2.04164750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.579254154 meters Centerline goodness : 0.999025 with order 1 Centerline is valid? [True, True] Translation: X:558.99, Y:31.50, Z:20.42 [[ 9.96800343e-01 -7.11116996e-02 -3.64993601e-02 5.58990294e+02] [ 7.10714392e-02 9.97468338e-01 -2.40097079e-03 3.15038510e+01] [ 3.65776932e-02 -2.00773545e-04 9.99330792e-01 2.04184731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.639254154 meters Centerline goodness : 0.999003 with order 1 Centerline is valid? [True, True] Translation: X:559.05, Y:31.51, Z:20.42 [[ 9.97471523e-01 -6.09782293e-02 -3.64995345e-02 5.59052144e+02] [ 6.09312797e-02 9.98139082e-01 -2.39831590e-03 3.15107770e+01] [ 3.65778570e-02 1.68288462e-04 9.99330792e-01 2.04195200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.699254154 meters Centerline goodness : 0.999000 with order 1 Centerline is valid? [True, True] Translation: X:559.11, Y:31.52, Z:20.42 [[ 9.97647547e-01 -5.80270836e-02 -3.64997098e-02 5.59112280e+02] [ 5.79782571e-02 9.98314972e-01 -2.39564616e-03 3.15152947e+01] [ 3.65772191e-02 2.73820964e-04 9.99330792e-01 2.04204905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.759254154 meters Centerline goodness : 0.998959 with order 1 Centerline is valid? [True, True] Translation: X:559.17, Y:31.52, Z:20.42 [[ 9.97662563e-01 -5.77683383e-02 -3.64997098e-02 5.59172513e+02] [ 5.77193386e-02 9.98329975e-01 -2.39564616e-03 3.15181047e+01] [ 3.65771468e-02 2.83307385e-04 9.99330792e-01 2.04212414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.819254154 meters Centerline goodness : 0.999216 with order 1 Centerline is valid? [True, True] Translation: X:559.23, Y:31.52, Z:20.42 [[ 9.97556585e-01 -5.95703862e-02 -3.64997098e-02 5.59233077e+02] [ 5.95225922e-02 9.98224084e-01 -2.39564616e-03 3.15208707e+01] [ 3.65775989e-02 2.17235265e-04 9.99330792e-01 2.04235738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.879254154 meters Centerline goodness : 0.999023 with order 1 Centerline is valid? [True, True] Translation: X:559.29, Y:31.52, Z:20.43 [[ 9.97353535e-01 -6.28784383e-02 -3.64997098e-02 5.59292932e+02] [ 6.28328583e-02 9.98021189e-01 -2.39564616e-03 3.15212669e+01] [ 3.65781182e-02 9.59250765e-05 9.99330792e-01 2.04260030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.939254154 meters Centerline goodness : 0.999067 with order 1 Centerline is valid? [True, True] Translation: X:559.35, Y:31.52, Z:20.43 [[ 9.97140846e-01 -6.61657376e-02 -3.64997139e-02 5.59353863e+02] [ 6.61223610e-02 9.97808646e-01 -2.39558394e-03 3.15210633e+01] [ 3.65782357e-02 -2.47126551e-05 9.99330792e-01 2.04279213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.999254154 meters Centerline goodness : 0.998922 with order 1 Centerline is valid? [True, True] Translation: X:559.42, Y:31.52, Z:20.43 [[ 9.97004952e-01 -6.81828232e-02 -3.64997139e-02 5.59415137e+02] [ 6.81407976e-02 9.97672839e-01 -2.39558394e-03 3.15222536e+01] [ 3.65781108e-02 -9.87105595e-05 9.99330792e-01 2.04287004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.059254154 meters Centerline goodness : 0.999048 with order 1 Centerline is valid? [True, True] Translation: X:559.48, Y:31.52, Z:20.43 [[ 9.96805934e-01 -7.10330560e-02 -3.64998033e-02 5.59475859e+02] [ 7.09929901e-02 9.97473941e-01 -2.39422006e-03 3.15196488e+01] [ 3.65776714e-02 -2.04657412e-04 9.99330792e-01 2.04316913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.119254154 meters Centerline goodness : 0.998923 with order 1 Centerline is valid? [True, True] Translation: X:559.54, Y:31.52, Z:20.43 [[ 9.96777881e-01 -7.14256032e-02 -3.64998476e-02 5.59537118e+02] [ 7.13858251e-02 9.97445906e-01 -2.39354467e-03 3.15196242e+01] [ 3.65775839e-02 -2.19739348e-04 9.99330792e-01 2.04329609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.179254154 meters Centerline goodness : 0.998776 with order 1 Centerline is valid? [True, True] Translation: X:559.60, Y:31.52, Z:20.43 [[ 9.96888890e-01 -6.98591085e-02 -3.64999345e-02 5.59598839e+02] [ 6.98183292e-02 9.97556855e-01 -2.39221966e-03 3.15162052e+01] [ 3.65778781e-02 -1.63587231e-04 9.99330792e-01 2.04330853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.239254154 meters Centerline goodness : 0.998718 with order 1 Centerline is valid? [True, True] Translation: X:559.66, Y:31.51, Z:20.43 [[ 9.97164028e-01 -6.58152747e-02 -3.65000247e-02 5.59659434e+02] [ 6.57718369e-02 9.97831824e-01 -2.39084202e-03 3.15134476e+01] [ 3.65782401e-02 -1.66120180e-05 9.99330792e-01 2.04340954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.299254154 meters Centerline goodness : 0.998996 with order 1 Centerline is valid? [True, True] Translation: X:559.72, Y:31.51, Z:20.44 [[ 9.97324438e-01 -6.33380903e-02 -3.65000247e-02 5.59718496e+02] [ 6.32929939e-02 9.97992125e-01 -2.39084202e-03 3.15129585e+01] [ 3.65781686e-02 7.42493306e-05 9.99330792e-01 2.04359612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.359254154 meters Centerline goodness : 0.998870 with order 1 Centerline is valid? [True, True] Translation: X:559.78, Y:31.51, Z:20.44 [[ 9.97364701e-01 -6.27009700e-02 -3.64998957e-02 5.59777936e+02] [ 6.26553750e-02 9.98032353e-01 -2.39281015e-03 3.15086463e+01] [ 3.65781083e-02 9.95897250e-05 9.99330792e-01 2.04370492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.419254154 meters Centerline goodness : 0.998828 with order 1 Centerline is valid? [True, True] Translation: X:559.84, Y:31.50, Z:20.44 [[ 9.97562348e-01 -5.94737895e-02 -3.64997305e-02 5.59836283e+02] [ 5.94259426e-02 9.98229843e-01 -2.39532771e-03 3.14999174e+01] [ 3.65775794e-02 2.20457847e-04 9.99330792e-01 2.04373337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.4792541539999 meters Centerline goodness : 0.998852 with order 1 Centerline is valid? [True, True] Translation: X:559.89, Y:31.50, Z:20.44 [[ 9.97159742e-01 -6.58807070e-02 -3.64990557e-02 5.59894099e+02] [ 6.58367742e-02 9.97827506e-01 -2.40556554e-03 3.14958294e+01] [ 3.65782421e-02 -4.24697164e-06 9.99330792e-01 2.04394282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.539254154 meters Centerline goodness : 0.999020 with order 1 Centerline is valid? [True, True] Translation: X:559.95, Y:31.50, Z:20.45 [[ 9.96661319e-01 -7.30345814e-02 -3.64988501e-02 5.59952871e+02] [ 7.29953274e-02 9.97329374e-01 -2.40868164e-03 3.14957526e+01] [ 3.65772923e-02 -2.63605688e-04 9.99330792e-01 2.04462390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.5992541539999 meters Centerline goodness : 0.999147 with order 1 Centerline is valid? [True, True] Translation: X:560.01, Y:31.49, Z:20.44 [[ 9.95806223e-01 -8.38918784e-02 -3.64982128e-02 5.60011978e+02] [ 8.38595548e-02 9.96474649e-01 -2.41829931e-03 3.14923070e+01] [ 3.65724195e-02 -6.52566375e-04 9.99330792e-01 2.04421199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.659254154 meters Centerline goodness : 0.999064 with order 1 Centerline is valid? [True, True] Translation: X:560.07, Y:31.49, Z:20.44 [[ 9.95447842e-01 -8.80425348e-02 -3.64980315e-02 5.60070810e+02] [ 8.80128979e-02 9.96116393e-01 -2.42103336e-03 3.14906134e+01] [ 3.65694414e-02 -8.02285082e-04 9.99330792e-01 2.04447664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.7192541539999 meters Centerline goodness : 0.999148 with order 1 Centerline is valid? [True, True] Translation: X:560.13, Y:31.49, Z:20.45 [[ 9.95250403e-01 -9.02471009e-02 -3.64979022e-02 5.60130312e+02] [ 9.02188734e-02 9.95919015e-01 -2.42298001e-03 3.14876979e+01] [ 3.65676217e-02 -8.81327787e-04 9.99330792e-01 2.04463619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.779254154 meters Centerline goodness : 0.999084 with order 1 Centerline is valid? [True, True] Translation: X:560.19, Y:31.49, Z:20.45 [[ 9.95508653e-01 -8.73523385e-02 -3.64978146e-02 5.60190339e+02] [ 8.73221183e-02 9.96177178e-01 -2.42429972e-03 3.14857217e+01] [ 3.65700582e-02 -7.73655136e-04 9.99330792e-01 2.04497680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.839254154 meters Centerline goodness : 0.999189 with order 1 Centerline is valid? [True, True] Translation: X:560.25, Y:31.49, Z:20.45 [[ 9.95820931e-01 -8.37173168e-02 -3.64977253e-02 5.60248577e+02] [ 8.36846070e-02 9.96489339e-01 -2.42564295e-03 3.14866304e+01] [ 3.65726625e-02 -6.38791779e-04 9.99330792e-01 2.04517151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.899254154 meters Centerline goodness : 0.999459 with order 1 Centerline is valid? [True, True] Translation: X:560.31, Y:31.49, Z:20.46 [[ 9.96380448e-01 -7.67719418e-02 -3.64975577e-02 5.60307867e+02] [ 7.67344800e-02 9.97048606e-01 -2.42816267e-03 3.14863562e+01] [ 3.65762538e-02 -3.81247303e-04 9.99330792e-01 2.04568164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.959254154 meters Centerline goodness : 0.999396 with order 1 Centerline is valid? [True, True] Translation: X:560.37, Y:31.49, Z:20.45 [[ 9.96644114e-01 -7.32697911e-02 -3.64972221e-02 5.60366952e+02] [ 7.32297970e-02 9.97312126e-01 -2.43319582e-03 3.14870109e+01] [ 3.65774019e-02 -2.47653876e-04 9.99330792e-01 2.04519426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.019254154 meters Centerline goodness : 0.999437 with order 1 Centerline is valid? [True, True] Translation: X:560.43, Y:31.49, Z:20.45 [[ 9.96863442e-01 -7.02230544e-02 -3.64965953e-02 5.60425359e+02] [ 7.01806758e-02 9.97531306e-01 -2.44256180e-03 3.14852024e+01] [ 3.65780205e-02 -1.26455163e-04 9.99330792e-01 2.04521950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.079254154 meters Centerline goodness : 0.999666 with order 1 Centerline is valid? [True, True] Translation: X:560.48, Y:31.48, Z:20.45 [[ 9.96699979e-01 -7.25065621e-02 -3.64958822e-02 5.60483282e+02] [ 7.24653252e-02 9.97367915e-01 -2.45317052e-03 3.14840755e+01] [ 3.65776929e-02 -1.99610959e-04 9.99330792e-01 2.04544404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.139254154 meters Centerline goodness : 0.999708 with order 1 Centerline is valid? [True, True] Translation: X:560.54, Y:31.49, Z:20.46 [[ 9.96553314e-01 -7.44956019e-02 -3.64951735e-02 5.60541278e+02] [ 7.44553136e-02 9.97221308e-01 -2.46366910e-03 3.14862082e+01] [ 3.65772971e-02 -2.62081976e-04 9.99330792e-01 2.04565861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.199254154 meters Centerline goodness : 0.999562 with order 1 Centerline is valid? [True, True] Translation: X:560.60, Y:31.49, Z:20.46 [[ 9.96217471e-01 -7.88600371e-02 -3.64944630e-02 5.60597951e+02] [ 7.88222913e-02 9.96885613e-01 -2.47414926e-03 3.14855925e+01] [ 3.65759166e-02 -4.11786477e-04 9.99330792e-01 2.04579272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.259254154 meters Centerline goodness : 0.999770 with order 1 Centerline is valid? [True, True] Translation: X:560.66, Y:31.48, Z:20.46 [[ 9.95466820e-01 -8.78293792e-02 -3.64939764e-02 5.60655579e+02] [ 8.77973904e-02 9.96135263e-01 -2.48130508e-03 3.14842766e+01] [ 3.65708683e-02 -7.34019018e-04 9.99330792e-01 2.04622552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.319254154 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:560.71, Y:31.48, Z:20.47 [[ 9.94986133e-01 -9.31173331e-02 -3.64932462e-02 5.60713484e+02] [ 9.30885044e-02 9.95654719e-01 -2.49199933e-03 3.14845620e+01] [ 3.65667211e-02 -9.17596929e-04 9.99330793e-01 2.04652243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.379254154 meters Centerline goodness : 0.999750 with order 1 Centerline is valid? [True, True] Translation: X:560.77, Y:31.48, Z:20.47 [[ 9.94268333e-01 -1.00492498e-01 -3.64930214e-02 5.60770297e+02] [ 1.00468507e-01 9.94937110e-01 -2.49528667e-03 3.14842460e+01] [ 3.65590188e-02 -1.18541487e-03 9.99330793e-01 2.04680519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.439254154 meters Centerline goodness : 0.999666 with order 1 Centerline is valid? [True, True] Translation: X:560.83, Y:31.48, Z:20.47 [[ 9.93446537e-01 -1.08315558e-01 -3.64927146e-02 5.60827554e+02] [ 1.08296668e-01 9.94115478e-01 -2.49976542e-03 3.14847349e+01] [ 3.65487359e-02 -1.46865609e-03 9.99330793e-01 2.04688069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.499254154 meters Centerline goodness : 0.999645 with order 1 Centerline is valid? [True, True] Translation: X:560.89, Y:31.49, Z:20.47 [[ 9.92922863e-01 -1.13015454e-01 -3.64924121e-02 5.60885394e+02] [ 1.12999567e-01 9.93591881e-01 -2.50417332e-03 3.14869417e+01] [ 3.65415747e-02 -1.63717584e-03 9.99330793e-01 2.04700838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.559254154 meters Centerline goodness : 0.999770 with order 1 Centerline is valid? [True, True] Translation: X:560.94, Y:31.49, Z:20.47 [[ 9.92341831e-01 -1.18008678e-01 -3.64916739e-02 5.60943374e+02] [ 1.17995765e-01 9.93010914e-01 -2.51488483e-03 3.14918496e+01] [ 3.65334087e-02 -1.81023755e-03 9.99330793e-01 2.04726616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.619254154 meters Centerline goodness : 0.999686 with order 1 Centerline is valid? [True, True] Translation: X:561.00, Y:31.50, Z:20.47 [[ 9.92230468e-01 -1.18941627e-01 -3.64909256e-02 5.61002288e+02] [ 1.18928946e-01 9.92899555e-01 -2.52569657e-03 3.14970108e+01] [ 3.65322342e-02 -1.83375422e-03 9.99330793e-01 2.04739143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.679254154 meters Centerline goodness : 0.999750 with order 1 Centerline is valid? [True, True] Translation: X:561.06, Y:31.51, Z:20.48 [[ 9.92552192e-01 -1.16226529e-01 -3.64902779e-02 5.61059385e+02] [ 1.16211675e-01 9.93221234e-01 -2.53501962e-03 3.15059847e+01] [ 3.65375554e-02 -1.72445704e-03 9.99330793e-01 2.04763363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.739254154 meters Centerline goodness : 0.999541 with order 1 Centerline is valid? [True, True] Translation: X:561.12, Y:31.51, Z:20.48 [[ 9.92854351e-01 -1.13616520e-01 -3.64900504e-02 5.61117495e+02] [ 1.13599787e-01 9.93523349e-01 -2.53829009e-03 3.15137475e+01] [ 3.65421088e-02 -1.62510959e-03 9.99330793e-01 2.04786733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.799254154 meters Centerline goodness : 0.999541 with order 1 Centerline is valid? [True, True] Translation: X:561.18, Y:31.52, Z:20.48 [[ 9.93307918e-01 -1.09580581e-01 -3.64894013e-02 5.61175728e+02] [ 1.09560789e-01 9.93976832e-01 -2.54758701e-03 3.15234649e+01] [ 3.65487856e-02 -1.46726925e-03 9.99330793e-01 2.04808355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.859254154 meters Centerline goodness : 0.999416 with order 1 Centerline is valid? [True, True] Translation: X:561.23, Y:31.53, Z:20.48 [[ 9.93692517e-01 -1.06036404e-01 -3.64892237e-02 5.61233486e+02] [ 1.06014133e-01 9.94361353e-01 -2.55012813e-03 3.15336841e+01] [ 3.65538803e-02 -1.33433016e-03 9.99330793e-01 2.04835619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.919254154 meters Centerline goodness : 0.999436 with order 1 Centerline is valid? [True, True] Translation: X:561.29, Y:31.55, Z:20.50 [[ 9.93603270e-01 -1.06869665e-01 -3.64885885e-02 5.61293094e+02] [ 1.06847622e-01 9.94272114e-01 -2.55918572e-03 3.15467155e+01] [ 3.65530853e-02 -1.35590360e-03 9.99330793e-01 2.04993305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.9792541539999 meters Centerline goodness : 0.997725 with order 1 Centerline is valid? [True, True] Translation: X:561.35, Y:31.55, Z:20.49 [[ 9.94781911e-01 -9.52760760e-02 -3.64886104e-02 5.61352087e+02] [ 9.52462467e-02 9.95450453e-01 -2.55887244e-03 3.15534671e+01] [ 3.65664031e-02 -9.29883170e-04 9.99330793e-01 2.04863324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.039254154 meters Centerline goodness : 0.999123 with order 1 Centerline is valid? [True, True] Translation: X:561.41, Y:31.56, Z:20.49 [[ 9.95157625e-01 -9.12682087e-02 -3.64885538e-02 5.61410483e+02] [ 9.12356571e-02 9.95826040e-01 -2.55968014e-03 3.15611210e+01] [ 3.65698694e-02 -7.81771976e-04 9.99330793e-01 2.04906061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.0992541539999 meters Centerline goodness : 0.999248 with order 1 Centerline is valid? [True, True] Translation: X:561.47, Y:31.57, Z:20.49 [[ 9.95831838e-01 -8.35918274e-02 -3.64877511e-02 5.61469518e+02] [ 8.35537053e-02 9.96499959e-01 -2.57107106e-03 3.15723955e+01] [ 3.65749630e-02 -4.88332385e-04 9.99330793e-01 2.04938741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.159254154 meters Centerline goodness : 0.999330 with order 1 Centerline is valid? [True, True] Translation: X:561.53, Y:31.58, Z:20.50 [[ 9.96264314e-01 -7.82691737e-02 -3.64877039e-02 5.61527696e+02] [ 7.82274573e-02 9.96932220e-01 -2.57174125e-03 3.15808632e+01] [ 3.65770557e-02 -2.92206266e-04 9.99330793e-01 2.04963291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.2192541539999 meters Centerline goodness : 0.999289 with order 1 Centerline is valid? [True, True] Translation: X:561.59, Y:31.59, Z:20.50 [[ 9.96340134e-01 -7.72983396e-02 -3.64870427e-02 5.61586073e+02] [ 7.72556302e-02 9.97007977e-01 -2.58108736e-03 3.15861824e+01] [ 3.65773864e-02 -2.47188552e-04 9.99330793e-01 2.04987514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.279254154 meters Centerline goodness : 0.999270 with order 1 Centerline is valid? [True, True] Translation: X:561.64, Y:31.59, Z:20.50 [[ 9.96299649e-01 -7.78187269e-02 -3.64863637e-02 5.61644186e+02] [ 7.77760161e-02 9.96967492e-01 -2.59065149e-03 3.15907471e+01] [ 3.65773197e-02 -2.56698840e-04 9.99330793e-01 2.05005339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.339254154 meters Centerline goodness : 0.999165 with order 1 Centerline is valid? [True, True] Translation: X:561.70, Y:31.60, Z:20.50 [[ 9.96155094e-01 -7.96481233e-02 -3.64856898e-02 5.61702803e+02] [ 7.96062926e-02 9.96822992e-01 -2.60010730e-03 3.15951929e+01] [ 3.65768682e-02 -3.14380368e-04 9.99330793e-01 2.05019813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.399254154 meters Centerline goodness : 0.999228 with order 1 Centerline is valid? [True, True] Translation: X:561.76, Y:31.60, Z:20.50 [[ 9.96017831e-01 -8.13466928e-02 -3.64855478e-02 5.61762729e+02] [ 8.13059282e-02 9.96685796e-01 -2.60209840e-03 3.15991982e+01] [ 3.65762993e-02 -3.74754919e-04 9.99330793e-01 2.05041999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.459254154 meters Centerline goodness : 0.999332 with order 1 Centerline is valid? [True, True] Translation: X:561.82, Y:31.60, Z:20.50 [[ 9.95717712e-01 -8.49414477e-02 -3.64854506e-02 5.61821623e+02] [ 8.49030445e-02 9.96385816e-01 -2.60346032e-03 3.16014673e+01] [ 3.65747272e-02 -5.05414290e-04 9.99330793e-01 2.05042843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.519254154 meters Centerline goodness : 0.999375 with order 1 Centerline is valid? [True, True] Translation: X:561.88, Y:31.60, Z:20.51 [[ 9.95211185e-01 -9.06836187e-02 -3.64853071e-02 5.61881482e+02] [ 9.06489963e-02 9.95879496e-01 -2.60547075e-03 3.16049476e+01] [ 3.65712427e-02 -7.14362834e-04 9.99330793e-01 2.05067209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.579254154 meters Centerline goodness : 0.999436 with order 1 Centerline is valid? [True, True] Translation: X:561.94, Y:31.61, Z:20.51 [[ 9.94880524e-01 -9.42420930e-02 -3.64852103e-02 5.61940594e+02] [ 9.42098112e-02 9.95548952e-01 -2.60682567e-03 3.16084796e+01] [ 3.65684855e-02 -8.43784686e-04 9.99330793e-01 2.05088647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.639254154 meters Centerline goodness : 0.999625 with order 1 Centerline is valid? [True, True] Translation: X:562.00, Y:31.61, Z:20.51 [[ 9.94596702e-01 -9.71917509e-02 -3.64851136e-02 5.62000005e+02] [ 9.71614018e-02 9.95265221e-01 -2.60817793e-03 3.16115759e+01] [ 3.65658580e-02 -9.50859612e-04 9.99330793e-01 2.05106188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.699254154 meters Centerline goodness : 0.999519 with order 1 Centerline is valid? [True, True] Translation: X:562.06, Y:31.62, Z:20.51 [[ 9.94528479e-01 -9.78873814e-02 -3.64851245e-02 5.62060063e+02] [ 9.78575054e-02 9.95197019e-01 -2.60802456e-03 3.16161592e+01] [ 3.65651799e-02 -9.76588567e-04 9.99330793e-01 2.05140960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.759254154 meters Centerline goodness : 0.999520 with order 1 Centerline is valid? [True, True] Translation: X:562.12, Y:31.62, Z:20.52 [[ 9.94582729e-01 -9.73346352e-02 -3.64851245e-02 5.62118929e+02] [ 9.73043877e-02 9.95251252e-01 -2.60802457e-03 3.16218215e+01] [ 3.65657170e-02 -9.56266514e-04 9.99330793e-01 2.05179480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.819254154 meters Centerline goodness : 0.999687 with order 1 Centerline is valid? [True, True] Translation: X:562.18, Y:31.63, Z:20.52 [[ 9.94543584e-01 -9.77338185e-02 -3.64850766e-02 5.62178690e+02] [ 9.77038147e-02 9.95212118e-01 -2.60869507e-03 3.16276317e+01] [ 3.65653481e-02 -9.70270223e-04 9.99330793e-01 2.05207570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.879254154 meters Centerline goodness : 0.999457 with order 1 Centerline is valid? [True, True] Translation: X:562.24, Y:31.63, Z:20.52 [[ 9.94466110e-01 -9.85190063e-02 -3.64850766e-02 5.62239300e+02] [ 9.84895304e-02 9.95134668e-01 -2.60869507e-03 3.16332750e+01] [ 3.65645706e-02 -9.99139226e-04 9.99330793e-01 2.05230945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.939254154 meters Centerline goodness : 0.999582 with order 1 Centerline is valid? [True, True] Translation: X:562.30, Y:31.64, Z:20.53 [[ 9.94326543e-01 -9.99177937e-02 -3.64850766e-02 5.62300742e+02] [ 9.98892583e-02 9.94995141e-01 -2.60869507e-03 3.16401019e+01] [ 3.65631290e-02 -1.05057249e-03 9.99330793e-01 2.05259150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.999254154 meters Centerline goodness : 0.999584 with order 1 Centerline is valid? [True, True] Translation: X:562.36, Y:31.65, Z:20.53 [[ 9.94178577e-01 -1.01379436e-01 -3.64851719e-02 5.62361178e+02] [ 1.01351932e-01 9.94847218e-01 -2.60736100e-03 3.16464675e+01] [ 3.65615046e-02 -1.10566023e-03 9.99330793e-01 2.05275013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.059254154 meters Centerline goodness : 0.999645 with order 1 Centerline is valid? [True, True] Translation: X:562.42, Y:31.66, Z:20.53 [[ 9.93696368e-01 -1.06001696e-01 -3.64851719e-02 5.62421372e+02] [ 1.05977302e-01 9.94365131e-01 -2.60736100e-03 3.16556899e+01] [ 3.65559675e-02 -1.27567493e-03 9.99330793e-01 2.05271038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.119254154 meters Centerline goodness : 0.999479 with order 1 Centerline is valid? [True, True] Translation: X:562.48, Y:31.66, Z:20.53 [[ 9.93667012e-01 -1.06276513e-01 -3.64852278e-02 5.62481553e+02] [ 1.06252333e-01 9.94335782e-01 -2.60657901e-03 3.16588045e+01] [ 3.65555857e-02 -1.28656898e-03 9.99330793e-01 2.05310055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.179254154 meters Centerline goodness : 0.999582 with order 1 Centerline is valid? [True, True] Translation: X:562.54, Y:31.67, Z:20.54 [[ 9.93163711e-01 -1.10881323e-01 -3.64852837e-02 5.62541539e+02] [ 1.10860272e-01 9.93832587e-01 -2.60579629e-03 3.16670931e+01] [ 3.65491980e-02 -1.45678614e-03 9.99330793e-01 2.05365406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.239254154 meters Centerline goodness : 0.999625 with order 1 Centerline is valid? [True, True] Translation: X:562.60, Y:31.68, Z:20.54 [[ 9.92556039e-01 -1.16195240e-01 -3.64852837e-02 5.62603222e+02] [ 1.16177768e-01 9.93225018e-01 -2.60579629e-03 3.16759360e+01] [ 3.65408777e-02 -1.65237999e-03 9.99330793e-01 2.05397743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.299254154 meters Centerline goodness : 0.999208 with order 1 Centerline is valid? [True, True] Translation: X:562.67, Y:31.68, Z:20.54 [[ 9.92030811e-01 -1.20597183e-01 -3.64854711e-02 5.62665377e+02] [ 1.20582776e-01 9.92699863e-01 -2.60317018e-03 3.16832468e+01] [ 3.65330571e-02 -1.81709437e-03 9.99330793e-01 2.05415231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.359254154 meters Centerline goodness : 0.999105 with order 1 Centerline is valid? [True, True] Translation: X:562.73, Y:31.69, Z:20.55 [[ 9.91227038e-01 -1.27034469e-01 -3.64856668e-02 5.62726669e+02] [ 1.27024506e-01 9.91896170e-01 -2.60042361e-03 3.16937872e+01] [ 3.65203366e-02 -2.05696361e-03 9.99330793e-01 2.05455395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.419254154 meters Centerline goodness : 0.999125 with order 1 Centerline is valid? [True, True] Translation: X:562.79, Y:31.70, Z:20.55 [[ 9.90957321e-01 -1.29121534e-01 -3.64858618e-02 5.62788749e+02] [ 1.29113081e-01 9.91626474e-01 -2.59768459e-03 3.17023213e+01] [ 3.65157636e-02 -2.13660749e-03 9.99330793e-01 2.05481219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.4792541539999 meters Centerline goodness : 0.999290 with order 1 Centerline is valid? [True, True] Translation: X:562.85, Y:31.71, Z:20.55 [[ 9.90990669e-01 -1.28865285e-01 -3.64860552e-02 5.62848921e+02] [ 1.28856759e-01 9.91659822e-01 -2.59496622e-03 3.17129653e+01] [ 3.65161560e-02 -2.12988751e-03 9.99330793e-01 2.05499942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.539254154 meters Centerline goodness : 0.999372 with order 1 Centerline is valid? [True, True] Translation: X:562.91, Y:31.72, Z:20.55 [[ 9.91423260e-01 -1.25493736e-01 -3.64861976e-02 5.62910119e+02] [ 1.25483007e-01 9.92092380e-01 -2.59296172e-03 3.17237518e+01] [ 3.65230791e-02 -2.00767525e-03 9.99330793e-01 2.05513700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.5992541539999 meters Centerline goodness : 0.999266 with order 1 Centerline is valid? [True, True] Translation: X:562.97, Y:31.73, Z:20.55 [[ 9.91861526e-01 -1.21981294e-01 -3.64866625e-02 5.62972029e+02] [ 1.21968436e-01 9.92530610e-01 -2.58640354e-03 3.17333454e+01] [ 3.65296222e-02 -1.88486700e-03 9.99330793e-01 2.05528316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.659254154 meters Centerline goodness : 0.999242 with order 1 Centerline is valid? [True, True] Translation: X:563.03, Y:31.75, Z:20.55 [[ 9.92669633e-01 -1.15220269e-01 -3.64868506e-02 5.63033896e+02] [ 1.15202949e-01 9.93338615e-01 -2.58374815e-03 3.17454029e+01] [ 3.65414978e-02 -1.63858448e-03 9.99330793e-01 2.05549206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.7192541539999 meters Centerline goodness : 0.999411 with order 1 Centerline is valid? [True, True] Translation: X:563.10, Y:31.75, Z:20.56 [[ 9.93221328e-01 -1.10363445e-01 -3.64870453e-02 5.63096549e+02] [ 1.10342955e-01 9.93890221e-01 -2.58099478e-03 3.17541310e+01] [ 3.65489650e-02 -1.46258934e-03 9.99330793e-01 2.05569071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.779254154 meters Centerline goodness : 0.998926 with order 1 Centerline is valid? [True, True] Translation: X:563.16, Y:31.76, Z:20.56 [[ 9.93893224e-01 -1.04139009e-01 -3.64873343e-02 5.63158751e+02] [ 1.04114479e-01 9.94561981e-01 -2.57690338e-03 3.17639960e+01] [ 3.65572716e-02 -1.23769297e-03 9.99330793e-01 2.05588711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.839254154 meters Centerline goodness : 0.999264 with order 1 Centerline is valid? [True, True] Translation: X:563.22, Y:31.77, Z:20.56 [[ 9.94336682e-01 -9.98159130e-02 -3.64876229e-02 5.63220387e+02] [ 9.97886246e-02 9.95005332e-01 -2.57280968e-03 3.17717524e+01] [ 3.65621867e-02 -1.08281067e-03 9.99330793e-01 2.05604609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.899254154 meters Centerline goodness : 0.999620 with order 1 Centerline is valid? [True, True] Translation: X:563.28, Y:31.78, Z:20.57 [[ 9.94842174e-01 -9.46450648e-02 -3.64878133e-02 5.63282413e+02] [ 9.46143996e-02 9.95510678e-01 -2.57010655e-03 3.17802154e+01] [ 3.65672557e-02 -8.95422162e-04 9.99330793e-01 2.05675562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.959254154 meters Centerline goodness : 0.999725 with order 1 Centerline is valid? [True, True] Translation: X:563.34, Y:31.78, Z:20.56 [[ 9.95376611e-01 -8.88483220e-02 -3.64880616e-02 5.63343881e+02] [ 8.88138926e-02 9.96044931e-01 -2.56657684e-03 3.17825098e+01] [ 3.65717849e-02 -6.85936228e-04 9.99330793e-01 2.05642083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.019254154 meters Centerline goodness : 0.999535 with order 1 Centerline is valid? [True, True] Translation: X:563.41, Y:31.79, Z:20.57 [[ 9.95811570e-01 -8.38327414e-02 -3.64882082e-02 5.63405486e+02] [ 8.37950220e-02 9.96479713e-01 -2.56449056e-03 3.17852640e+01] [ 3.65747475e-02 -5.03780846e-04 9.99330793e-01 2.05654335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.079254154 meters Centerline goodness : 0.999324 with order 1 Centerline is valid? [True, True] Translation: X:563.47, Y:31.78, Z:20.56 [[ 9.96053142e-01 -8.09119153e-02 -3.64883507e-02 5.63467742e+02] [ 8.08723109e-02 9.96721176e-01 -2.56246215e-03 3.17846160e+01] [ 3.65760455e-02 -3.98548764e-04 9.99330793e-01 2.05647639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.139254154 meters Centerline goodness : 0.999663 with order 1 Centerline is valid? [True, True] Translation: X:563.53, Y:31.78, Z:20.57 [[ 9.96115906e-01 -8.01354302e-02 -3.64885423e-02 5.63530328e+02] [ 8.00954051e-02 9.96783915e-01 -2.55973106e-03 3.17841397e+01] [ 3.65763172e-02 -3.72775748e-04 9.99330793e-01 2.05661607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.199254154 meters Centerline goodness : 0.999201 with order 1 Centerline is valid? [True, True] Translation: X:563.59, Y:31.78, Z:20.57 [[ 9.96020726e-01 -8.13098084e-02 -3.64887327e-02 5.63590892e+02] [ 8.12706704e-02 9.96688788e-01 -2.55701398e-03 3.17808355e+01] [ 3.65758211e-02 -4.18624842e-04 9.99330793e-01 2.05671107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.259254154 meters Centerline goodness : 0.998953 with order 1 Centerline is valid? [True, True] Translation: X:563.65, Y:31.78, Z:20.57 [[ 9.95685408e-01 -8.53178617e-02 -3.64887793e-02 5.63652638e+02] [ 8.52814372e-02 9.96353623e-01 -2.55634792e-03 3.17766728e+01] [ 3.65738296e-02 -5.66497221e-04 9.99330793e-01 2.05666091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.319254154 meters Centerline goodness : 0.998974 with order 1 Centerline is valid? [True, True] Translation: X:563.71, Y:31.77, Z:20.57 [[ 9.95321899e-01 -8.94588174e-02 -3.64888713e-02 5.63714681e+02] [ 8.94252209e-02 9.95990262e-01 -2.55503432e-03 3.17743234e+01] [ 3.65711309e-02 -7.19943765e-04 9.99330793e-01 2.05677749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.379254154 meters Centerline goodness : 0.999310 with order 1 Centerline is valid? [True, True] Translation: X:563.78, Y:31.77, Z:20.57 [[ 9.94768501e-01 -9.54158582e-02 -3.64889620e-02 5.63775986e+02] [ 9.53863110e-02 9.95437055e-01 -2.55373920e-03 3.17693894e+01] [ 3.65661321e-02 -9.40168161e-04 9.99330793e-01 2.05691450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.439254154 meters Centerline goodness : 0.999269 with order 1 Centerline is valid? [True, True] Translation: X:563.84, Y:31.77, Z:20.57 [[ 9.94397815e-01 -9.92045245e-02 -3.64890083e-02 5.63836983e+02] [ 9.91775485e-02 9.95066478e-01 -2.55307700e-03 3.17656810e+01] [ 3.65622658e-02 -1.08011621e-03 9.99330793e-01 2.05719002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.499254154 meters Centerline goodness : 0.999290 with order 1 Centerline is valid? [True, True] Translation: X:563.90, Y:31.76, Z:20.57 [[ 9.94232697e-01 -1.00845892e-01 -3.64890547e-02 5.63897246e+02] [ 1.00820044e-01 9.94901404e-01 -2.55241427e-03 3.17645718e+01] [ 3.65604122e-02 -1.14113438e-03 9.99330793e-01 2.05738850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.559254154 meters Centerline goodness : 0.999165 with order 1 Centerline is valid? [True, True] Translation: X:563.96, Y:31.76, Z:20.58 [[ 9.94198240e-01 -1.01185023e-01 -3.64890547e-02 5.63959316e+02] [ 1.01159403e-01 9.94866956e-01 -2.55241427e-03 3.17626305e+01] [ 3.65600208e-02 -1.15360522e-03 9.99330793e-01 2.05766924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.619254154 meters Centerline goodness : 0.999249 with order 1 Centerline is valid? [True, True] Translation: X:564.02, Y:31.76, Z:20.58 [[ 9.94256062e-01 -1.00615219e-01 -3.64891974e-02 5.64020260e+02] [ 1.00589291e-01 9.94924766e-01 -2.55037141e-03 3.17643016e+01] [ 3.65606124e-02 -1.13470027e-03 9.99330793e-01 2.05791223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.679254154 meters Centerline goodness : 0.999123 with order 1 Centerline is valid? [True, True] Translation: X:564.08, Y:31.76, Z:20.58 [[ 9.94405275e-01 -9.91296167e-02 -3.64892914e-02 5.64081234e+02] [ 9.91027389e-02 9.95073942e-01 -2.54902593e-03 3.17647457e+01] [ 3.65622270e-02 -1.08142389e-03 9.99330793e-01 2.05813523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.739254154 meters Centerline goodness : 0.999247 with order 1 Centerline is valid? [True, True] Translation: X:564.14, Y:31.77, Z:20.58 [[ 9.94456644e-01 -9.86129521e-02 -3.64892914e-02 5.64141605e+02] [ 9.85857269e-02 9.95125297e-01 -2.54902593e-03 3.17664080e+01] [ 3.65627840e-02 -1.06242755e-03 9.99330793e-01 2.05827691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.799254154 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:564.20, Y:31.76, Z:20.58 [[ 9.94754733e-01 -9.55591619e-02 -3.64892914e-02 5.64202363e+02] [ 9.55298838e-02 9.95423299e-01 -2.54902593e-03 3.17641197e+01] [ 3.65658736e-02 -9.50162164e-04 9.99330793e-01 2.05824306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.859254154 meters Centerline goodness : 0.999313 with order 1 Centerline is valid? [True, True] Translation: X:564.26, Y:31.77, Z:20.59 [[ 9.94348404e-01 -9.96984559e-02 -3.64892914e-02 5.64261267e+02] [ 9.96719606e-02 9.95017087e-01 -2.54902593e-03 3.17698405e+01] [ 3.65616024e-02 -1.10233935e-03 9.99330793e-01 2.05865030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.919254154 meters Centerline goodness : 0.999291 with order 1 Centerline is valid? [True, True] Translation: X:564.32, Y:31.77, Z:20.59 [[ 9.94671647e-01 -9.64201958e-02 -3.64891971e-02 5.64321564e+02] [ 9.63914470e-02 9.95340236e-01 -2.55037526e-03 3.17686203e+01] [ 3.65650737e-02 -9.80460555e-04 9.99330793e-01 2.05896028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.9792541539999 meters Centerline goodness : 0.999458 with order 1 Centerline is valid? [True, True] Translation: X:564.38, Y:31.78, Z:20.59 [[ 9.94391725e-01 -9.92654771e-02 -3.64891971e-02 5.64381014e+02] [ 9.92386412e-02 9.95060394e-01 -2.55037526e-03 3.17757888e+01] [ 3.65621191e-02 -1.08506629e-03 9.99330793e-01 2.05928357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.039254154 meters Centerline goodness : 0.999187 with order 1 Centerline is valid? [True, True] Translation: X:564.44, Y:31.78, Z:20.60 [[ 9.94388983e-01 -9.92929620e-02 -3.64891503e-02 5.64441049e+02] [ 9.92661200e-02 9.95057651e-01 -2.55104453e-03 3.17797525e+01] [ 3.65621090e-02 -1.08540580e-03 9.99330793e-01 2.05967286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.0992541539999 meters Centerline goodness : 0.999270 with order 1 Centerline is valid? [True, True] Translation: X:564.50, Y:31.78, Z:20.60 [[ 9.94237970e-01 -1.00793849e-01 -3.64891503e-02 5.64501549e+02] [ 1.00768016e-01 9.94906679e-01 -2.55104453e-03 3.17827158e+01] [ 3.65604290e-02 -1.14059395e-03 9.99330793e-01 2.06003429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.159254154 meters Centerline goodness : 0.999290 with order 1 Centerline is valid? [True, True] Translation: X:564.56, Y:31.79, Z:20.60 [[ 9.93934470e-01 -1.03743972e-01 -3.64891503e-02 5.64561917e+02] [ 1.03720124e-01 9.94603252e-01 -2.55104453e-03 3.17851146e+01] [ 3.65568831e-02 -1.24908810e-03 9.99330793e-01 2.06026381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.2192541539999 meters Centerline goodness : 0.999499 with order 1 Centerline is valid? [True, True] Translation: X:564.62, Y:31.79, Z:20.60 [[ 9.93169357e-01 -1.10829465e-01 -3.64891503e-02 5.64621745e+02] [ 1.10810387e-01 9.93838292e-01 -2.55104453e-03 3.17889611e+01] [ 3.65470457e-02 -1.50975761e-03 9.99330793e-01 2.06039023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.279254154 meters Centerline goodness : 0.999563 with order 1 Centerline is valid? [True, True] Translation: X:564.68, Y:31.79, Z:20.61 [[ 9.92497218e-01 -1.16695402e-01 -3.64891036e-02 5.64680806e+02] [ 1.16680252e-01 9.93166254e-01 -2.55171259e-03 3.17936995e+01] [ 3.65375195e-02 -1.72499017e-03 9.99330793e-01 2.06055280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.339254154 meters Centerline goodness : 0.999562 with order 1 Centerline is valid? [True, True] Translation: X:564.74, Y:31.80, Z:20.61 [[ 9.91540925e-01 -1.24559793e-01 -3.64890588e-02 5.64741452e+02] [ 1.24549924e-01 9.92210059e-01 -2.55235316e-03 3.17996085e+01] [ 3.65227318e-02 -2.01394688e-03 9.99330793e-01 2.06082300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.399254154 meters Centerline goodness : 0.999249 with order 1 Centerline is valid? [True, True] Translation: X:564.80, Y:31.81, Z:20.61 [[ 9.91178840e-01 -1.27408985e-01 -3.64891519e-02 5.64801833e+02] [ 1.27401088e-01 9.91848000e-01 -2.55102124e-03 3.18050121e+01] [ 3.65167154e-02 -2.12023936e-03 9.99330793e-01 2.06088111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.459254154 meters Centerline goodness : 0.999105 with order 1 Centerline is valid? [True, True] Translation: X:564.86, Y:31.82, Z:20.61 [[ 9.90973376e-01 -1.28997315e-01 -3.64891978e-02 5.64863617e+02] [ 1.28990514e-01 9.91642548e-01 -2.55036495e-03 3.18153940e+01] [ 3.65132313e-02 -2.17941661e-03 9.99330793e-01 2.06145403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.519254154 meters Centerline goodness : 0.999396 with order 1 Centerline is valid? [True, True] Translation: X:564.92, Y:31.82, Z:20.62 [[ 9.90999363e-01 -1.28797464e-01 -3.64893895e-02 5.64923915e+02] [ 1.28790629e-01 9.91668535e-01 -2.54761931e-03 3.18235111e+01] [ 3.65135063e-02 -2.17480229e-03 9.99330793e-01 2.06161499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.579254154 meters Centerline goodness : 0.998854 with order 1 Centerline is valid? [True, True] Translation: X:564.99, Y:31.83, Z:20.62 [[ 9.90818248e-01 -1.30183382e-01 -3.64895309e-02 5.64985667e+02] [ 1.30177557e-01 9.91487430e-01 -2.54559283e-03 3.18327403e+01] [ 3.65103051e-02 -2.22789815e-03 9.99330793e-01 2.06166144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.639254154 meters Centerline goodness : 0.999250 with order 1 Centerline is valid? [True, True] Translation: X:565.05, Y:31.84, Z:20.62 [[ 9.90448460e-01 -1.32967474e-01 -3.64897194e-02 5.65047012e+02] [ 1.32963629e-01 9.91117656e-01 -2.54288721e-03 3.18413265e+01] [ 3.65037264e-02 -2.33320679e-03 9.99330793e-01 2.06230827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.699254154 meters Centerline goodness : 0.999230 with order 1 Centerline is valid? [True, True] Translation: X:565.11, Y:31.85, Z:20.63 [[ 9.89762294e-01 -1.37982197e-01 -3.64899134e-02 5.65108151e+02] [ 1.37981844e-01 9.90431501e-01 -2.54010028e-03 3.18537971e+01] [ 3.64912483e-02 -2.52085005e-03 9.99330793e-01 2.06293354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.759254154 meters Centerline goodness : 0.998937 with order 1 Centerline is valid? [True, True] Translation: X:565.17, Y:31.87, Z:20.64 [[ 9.89212238e-01 -1.41871843e-01 -3.64901072e-02 5.65168637e+02] [ 1.41874223e-01 9.89881441e-01 -2.53731301e-03 3.18664836e+01] [ 3.64808532e-02 -2.66706454e-03 9.99330793e-01 2.06361922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.819254154 meters Centerline goodness : 0.998998 with order 1 Centerline is valid? [True, True] Translation: X:565.23, Y:31.88, Z:20.64 [[ 9.89405908e-01 -1.40514819e-01 -3.64902057e-02 5.65230544e+02] [ 1.40516333e-01 9.90075113e-01 -2.53589601e-03 3.18768651e+01] [ 3.64843755e-02 -2.61843941e-03 9.99330793e-01 2.06396922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.879254154 meters Centerline goodness : 0.999039 with order 1 Centerline is valid? [True, True] Translation: X:565.29, Y:31.88, Z:20.63 [[ 9.91081765e-01 -1.28161560e-01 -3.64903994e-02 5.65289666e+02] [ 1.28154828e-01 9.91750938e-01 -2.53310622e-03 3.18849309e+01] [ 3.65140347e-02 -2.16590546e-03 9.99330793e-01 2.06293646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.939254154 meters Centerline goodness : 0.999018 with order 1 Centerline is valid? [True, True] Translation: X:565.35, Y:31.90, Z:20.63 [[ 9.91888294e-01 -1.21762333e-01 -3.64903601e-02 5.65351267e+02] [ 1.21751261e-01 9.92557409e-01 -2.53367173e-03 3.18955369e+01] [ 3.65272831e-02 -1.92962804e-03 9.99330793e-01 2.06327324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.999254154 meters Centerline goodness : 0.998951 with order 1 Centerline is valid? [True, True] Translation: X:565.41, Y:31.91, Z:20.64 [[ 9.92748589e-01 -1.14536800e-01 -3.64905429e-02 5.65412374e+02] [ 1.14520953e-01 9.93417609e-01 -2.53103579e-03 3.19083403e+01] [ 3.65402446e-02 -1.66624955e-03 9.99330793e-01 2.06351881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.059254154 meters Centerline goodness : 0.998763 with order 1 Centerline is valid? [True, True] Translation: X:565.47, Y:31.92, Z:20.64 [[ 9.93068350e-01 -1.11730389e-01 -3.64907229e-02 5.65474070e+02] [ 1.11712747e-01 9.93737324e-01 -2.52843894e-03 3.19173428e+01] [ 3.65446968e-02 -1.56556621e-03 9.99330793e-01 2.06360015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.119254154 meters Centerline goodness : 0.998971 with order 1 Centerline is valid? [True, True] Translation: X:565.54, Y:31.93, Z:20.64 [[ 9.93263740e-01 -1.09979794e-01 -3.64909182e-02 5.65535067e+02] [ 1.09961076e-01 9.93932685e-01 -2.52561616e-03 3.19276345e+01] [ 3.65472831e-02 -1.50397769e-03 9.99330793e-01 2.06380809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.179254154 meters Centerline goodness : 0.999076 with order 1 Centerline is valid? [True, True] Translation: X:565.60, Y:31.94, Z:20.64 [[ 9.93440740e-01 -1.08369270e-01 -3.64910649e-02 5.65596260e+02] [ 1.08349546e-01 9.94109656e-01 -2.52349577e-03 3.19357244e+01] [ 3.65495893e-02 -1.44684681e-03 9.99330793e-01 2.06396256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.239254154 meters Centerline goodness : 0.999158 with order 1 Centerline is valid? [True, True] Translation: X:565.66, Y:31.95, Z:20.64 [[ 9.93602323e-01 -1.06877573e-01 -3.64911964e-02 5.65658028e+02] [ 1.06856914e-01 9.94271211e-01 -2.52159291e-03 3.19455574e+01] [ 3.65516477e-02 -1.39387606e-03 9.99330793e-01 2.06417985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.299254154 meters Centerline goodness : 0.998817 with order 1 Centerline is valid? [True, True] Translation: X:565.72, Y:31.96, Z:20.64 [[ 9.93434464e-01 -1.08426680e-01 -3.64913684e-02 5.65718655e+02] [ 1.08407156e-01 9.94103386e-01 -2.51910020e-03 3.19551049e+01] [ 3.65493306e-02 -1.45336450e-03 9.99330793e-01 2.06448251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.359254154 meters Centerline goodness : 0.999028 with order 1 Centerline is valid? [True, True] Translation: X:565.78, Y:31.96, Z:20.65 [[ 9.93230656e-01 -1.10277988e-01 -3.64914955e-02 5.65781098e+02] [ 1.10259778e-01 9.93899615e-01 -2.51725842e-03 3.19622339e+01] [ 3.65464815e-02 -1.52332596e-03 9.99330793e-01 2.06487567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.419254154 meters Centerline goodness : 0.999260 with order 1 Centerline is valid? [True, True] Translation: X:565.84, Y:31.97, Z:20.65 [[ 9.92968186e-01 -1.12616750e-01 -3.64917749e-02 5.65842428e+02] [ 1.12600263e-01 9.93637190e-01 -2.51320078e-03 3.19701001e+01] [ 3.65426132e-02 -1.61345506e-03 9.99330793e-01 2.06496490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.4792541539999 meters Centerline goodness : 0.999111 with order 1 Centerline is valid? [True, True] Translation: X:565.90, Y:31.98, Z:20.65 [[ 9.92478640e-01 -1.16852391e-01 -3.64920125e-02 5.65904024e+02] [ 1.16838887e-01 9.93147711e-01 -2.50974681e-03 3.19777859e+01] [ 3.65352286e-02 -1.77281601e-03 9.99330793e-01 2.06529644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.539254154 meters Centerline goodness : 0.998983 with order 1 Centerline is valid? [True, True] Translation: X:565.97, Y:31.98, Z:20.65 [[ 9.92186622e-01 -1.19306426e-01 -3.64922513e-02 5.65965190e+02] [ 1.19294703e-01 9.92855726e-01 -2.50626936e-03 3.19840000e+01] [ 3.65305547e-02 -1.86664536e-03 9.99330793e-01 2.06525799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.5992541539999 meters Centerline goodness : 0.999132 with order 1 Centerline is valid? [True, True] Translation: X:566.03, Y:31.99, Z:20.65 [[ 9.92205170e-01 -1.19152033e-01 -3.64923830e-02 5.66027481e+02] [ 1.19140277e-01 9.92874273e-01 -2.50435116e-03 3.19873422e+01] [ 3.65307467e-02 -1.86288244e-03 9.99330793e-01 2.06546184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.659254154 meters Centerline goodness : 0.999005 with order 1 Centerline is valid? [True, True] Translation: X:566.09, Y:32.00, Z:20.66 [[ 9.91951330e-01 -1.21247072e-01 -3.64925560e-02 5.66088602e+02] [ 1.21236821e-01 9.92620458e-01 -2.50182748e-03 3.19963737e+01] [ 3.65265969e-02 -1.94255040e-03 9.99330793e-01 2.06590875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.7192541539999 meters Centerline goodness : 0.999343 with order 1 Centerline is valid? [True, True] Translation: X:566.15, Y:32.00, Z:20.66 [[ 9.92593789e-01 -1.15869976e-01 -3.64927259e-02 5.66149928e+02] [ 1.15856191e-01 9.93262854e-01 -2.49934637e-03 3.20034813e+01] [ 3.65364683e-02 -1.74707252e-03 9.99330793e-01 2.06630457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.779254154 meters Centerline goodness : 0.999193 with order 1 Centerline is valid? [True, True] Translation: X:566.21, Y:32.01, Z:20.67 [[ 9.93169717e-01 -1.10825002e-01 -3.64929033e-02 5.66213018e+02] [ 1.10807912e-01 9.93838706e-01 -2.49675317e-03 3.20102544e+01] [ 3.65447625e-02 -1.56400277e-03 9.99330793e-01 2.06652801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.839254154 meters Centerline goodness : 0.999127 with order 1 Centerline is valid? [True, True] Translation: X:566.28, Y:32.01, Z:20.66 [[ 9.94371594e-01 -9.94654774e-02 -3.64931719e-02 5.66275190e+02] [ 9.94408860e-02 9.95040349e-01 -2.49282206e-03 3.20130752e+01] [ 3.65601282e-02 -1.15012190e-03 9.99330793e-01 2.06638983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.899254154 meters Centerline goodness : 0.999361 with order 1 Centerline is valid? [True, True] Translation: X:566.34, Y:32.02, Z:20.67 [[ 9.94193239e-01 -1.01232591e-01 -3.64933625e-02 5.66335429e+02] [ 1.01209291e-01 9.94862040e-01 -2.49002764e-03 3.20224853e+01] [ 3.65579331e-02 -1.21789869e-03 9.99330793e-01 2.06680287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.959254154 meters Centerline goodness : 0.999573 with order 1 Centerline is valid? [True, True] Translation: X:566.40, Y:32.03, Z:20.67 [[ 9.94868989e-01 -9.43605817e-02 -3.64935019e-02 5.66396741e+02] [ 9.43327356e-02 9.95537616e-01 -2.48798271e-03 3.20294532e+01] [ 3.65654214e-02 -9.67315026e-04 9.99330793e-01 2.06698062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.019254154 meters Centerline goodness : 0.999315 with order 1 Centerline is valid? [True, True] Translation: X:566.46, Y:32.04, Z:20.67 [[ 9.95411391e-01 -8.84555079e-02 -3.64936349e-02 5.66458173e+02] [ 8.84237663e-02 9.96079845e-01 -2.48603131e-03 3.20357693e+01] [ 3.65704773e-02 -7.52280756e-04 9.99330793e-01 2.06720541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.079254154 meters Centerline goodness : 0.999464 with order 1 Centerline is valid? [True, True] Translation: X:566.52, Y:32.04, Z:20.68 [[ 9.96172800e-01 -7.94226264e-02 -3.64938084e-02 5.66520348e+02] [ 7.93849160e-02 9.96840944e-01 -2.48348193e-03 3.20424718e+01] [ 3.65757670e-02 -4.23080764e-04 9.99330793e-01 2.06769104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.139254154 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:566.58, Y:32.05, Z:20.68 [[ 9.96581998e-01 -7.41114609e-02 -3.64939953e-02 5.66581021e+02] [ 7.40702903e-02 9.97249938e-01 -2.48073199e-03 3.20465839e+01] [ 3.65774852e-02 -2.30867977e-04 9.99330793e-01 2.06789368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.199254154 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:566.64, Y:32.05, Z:20.68 [[ 9.96517601e-01 -7.49723189e-02 -3.64941330e-02 5.66642633e+02] [ 7.49317995e-02 9.97185580e-01 -2.47870438e-03 3.20493617e+01] [ 3.65772574e-02 -2.64498518e-04 9.99330793e-01 2.06817079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.259254154 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:566.70, Y:32.05, Z:20.68 [[ 9.95980182e-01 -8.18024607e-02 -3.64943160e-02 5.66704148e+02] [ 8.17666206e-02 9.96648428e-01 -2.47600753e-03 3.20499634e+01] [ 3.65745462e-02 -5.17962460e-04 9.99330793e-01 2.06820543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.319254154 meters Centerline goodness : 0.999700 with order 1 Centerline is valid? [True, True] Translation: X:566.77, Y:32.05, Z:20.69 [[ 9.95354224e-01 -8.90961527e-02 -3.64944511e-02 5.66766782e+02] [ 8.90652817e-02 9.96022718e-01 -2.47401457e-03 3.20509947e+01] [ 3.65697276e-02 -7.87867712e-04 9.99330793e-01 2.06851361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.379254154 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:566.83, Y:32.05, Z:20.69 [[ 9.94244605e-01 -1.00726395e-01 -3.64946321e-02 5.66827776e+02] [ 1.00703440e-01 9.94913418e-01 -2.47134119e-03 3.20505762e+01] [ 3.65579285e-02 -1.21801734e-03 9.99330793e-01 2.06851587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.439254154 meters Centerline goodness : 0.999000 with order 1 Centerline is valid? [True, True] Translation: X:566.89, Y:32.05, Z:20.68 [[ 9.93482373e-01 -1.07985605e-01 -3.64949748e-02 5.66890077e+02] [ 1.07967721e-01 9.94151341e-01 -2.46627075e-03 3.20521105e+01] [ 3.65478499e-02 -1.49008273e-03 9.99330793e-01 2.06820039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.499254154 meters Centerline goodness : 0.999617 with order 1 Centerline is valid? [True, True] Translation: X:566.95, Y:32.05, Z:20.69 [[ 9.92459934e-01 -1.17010183e-01 -3.64951680e-02 5.66952138e+02] [ 1.16998484e-01 9.93129038e-01 -2.46340831e-03 3.20525289e+01] [ 3.65326549e-02 -1.82504528e-03 9.99330793e-01 2.06893921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.559254154 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:567.02, Y:32.06, Z:20.69 [[ 9.92095705e-01 -1.20059155e-01 -3.64953657e-02 5.67015415e+02] [ 1.20049620e-01 9.92764844e-01 -2.46047561e-03 3.20552883e+01] [ 3.65267187e-02 -1.94022751e-03 9.99330793e-01 2.06915991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.619254154 meters Centerline goodness : 0.999554 with order 1 Centerline is valid? [True, True] Translation: X:567.08, Y:32.06, Z:20.70 [[ 9.92027000e-01 -1.20625458e-01 -3.64956199e-02 5.67077448e+02] [ 1.20616444e-01 9.92696146e-01 -2.45669951e-03 3.20600670e+01] [ 3.65254017e-02 -1.96485964e-03 9.99330793e-01 2.06955467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.679254154 meters Centerline goodness : 0.999449 with order 1 Centerline is valid? [True, True] Translation: X:567.14, Y:32.07, Z:20.70 [[ 9.92517402e-01 -1.16521520e-01 -3.64957948e-02 5.67139944e+02] [ 1.16509833e-01 9.93186506e-01 -2.45409904e-03 3.20660474e+01] [ 3.65330862e-02 -1.81638295e-03 9.99330793e-01 2.06982950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.739254154 meters Centerline goodness : 0.999192 with order 1 Centerline is valid? [True, True] Translation: X:567.20, Y:32.07, Z:20.70 [[ 9.92957147e-01 -1.12712648e-01 -3.64960575e-02 5.67201418e+02] [ 1.12698538e-01 9.93626205e-01 -2.45018490e-03 3.20724753e+01] [ 3.65396060e-02 -1.68012373e-03 9.99330793e-01 2.07004791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.799254154 meters Centerline goodness : 0.999212 with order 1 Centerline is valid? [True, True] Translation: X:567.26, Y:32.08, Z:20.70 [[ 9.93594263e-01 -1.06950676e-01 -3.64964862e-02 5.67262980e+02] [ 1.06932919e-01 9.94263234e-01 -2.44378309e-03 3.20792719e+01] [ 3.65484787e-02 -1.47454695e-03 9.99330793e-01 2.07006962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.859254154 meters Centerline goodness : 0.999190 with order 1 Centerline is valid? [True, True] Translation: X:567.33, Y:32.09, Z:20.70 [[ 9.93785459e-01 -1.05159196e-01 -3.64966564e-02 5.67325055e+02] [ 1.05140327e-01 9.94454399e-01 -2.44123899e-03 3.20863701e+01] [ 3.65509792e-02 -1.41120256e-03 9.99330793e-01 2.07034625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.919254154 meters Centerline goodness : 0.999317 with order 1 Centerline is valid? [True, True] Translation: X:567.39, Y:32.09, Z:20.70 [[ 9.94436997e-01 -9.88081011e-02 -3.64968294e-02 5.67386529e+02] [ 9.87850538e-02 9.95105807e-01 -2.43864901e-03 3.20936753e+01] [ 3.65591652e-02 -1.18025846e-03 9.99330793e-01 2.07027328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.9792541539999 meters Centerline goodness : 0.999251 with order 1 Centerline is valid? [True, True] Translation: X:567.45, Y:32.10, Z:20.71 [[ 9.94983336e-01 -9.31457411e-02 -3.64970147e-02 5.67447441e+02] [ 9.31189887e-02 9.95652008e-01 -2.43587336e-03 3.21033248e+01] [ 3.65652172e-02 -9.74911702e-04 9.99330793e-01 2.07085229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.039254154 meters Centerline goodness : 0.999206 with order 1 Centerline is valid? [True, True] Translation: X:567.51, Y:32.11, Z:20.71 [[ 9.95702518e-01 -8.51143409e-02 -3.64971965e-02 5.67509092e+02] [ 8.50822939e-02 9.96370957e-01 -2.43314671e-03 3.21079818e+01] [ 3.65718422e-02 -6.82574893e-04 9.99330793e-01 2.07089351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.0992541539999 meters Centerline goodness : 0.999398 with order 1 Centerline is valid? [True, True] Translation: X:567.57, Y:32.12, Z:20.72 [[ 9.96431923e-01 -7.61010321e-02 -3.64973335e-02 5.67569913e+02] [ 7.60630133e-02 9.97100049e-01 -2.43108893e-03 3.21173031e+01] [ 3.65765014e-02 -3.53682550e-04 9.99330793e-01 2.07178100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.159254154 meters Centerline goodness : 0.999224 with order 1 Centerline is valid? [True, True] Translation: X:567.63, Y:32.12, Z:20.72 [[ 9.97145128e-01 -6.61023861e-02 -3.64975121e-02 5.67630667e+02] [ 6.60577657e-02 9.97812845e-01 -2.42840552e-03 3.21229754e+01] [ 3.65782098e-02 1.05286346e-05 9.99330793e-01 2.07215831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.2192541539999 meters Centerline goodness : 0.999204 with order 1 Centerline is valid? [True, True] Translation: X:567.69, Y:32.13, Z:20.72 [[ 9.97362986e-01 -6.27294657e-02 -3.64977805e-02 5.67692816e+02] [ 6.26827350e-02 9.98030559e-01 -2.42436469e-03 3.21256042e+01] [ 3.65779794e-02 1.30190901e-04 9.99330793e-01 2.07237253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.279254154 meters Centerline goodness : 0.999246 with order 1 Centerline is valid? [True, True] Translation: X:567.75, Y:32.13, Z:20.72 [[ 9.97268535e-01 -6.42134709e-02 -3.64979446e-02 5.67753838e+02] [ 6.41678242e-02 9.97936183e-01 -2.42189088e-03 3.21255823e+01] [ 3.65781376e-02 7.32818764e-05 9.99330793e-01 2.07225028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.339254154 meters Centerline goodness : 0.999356 with order 1 Centerline is valid? [True, True] Translation: X:567.81, Y:32.12, Z:20.73 [[ 9.96851140e-01 -7.03967486e-02 -3.64979904e-02 5.67814704e+02] [ 7.03552684e-02 9.97519059e-01 -2.42120178e-03 3.21236405e+01] [ 3.65778858e-02 -1.54248152e-04 9.99330793e-01 2.07277584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.399254154 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:567.88, Y:32.12, Z:20.73 [[ 9.96576474e-01 -7.41837431e-02 -3.64979904e-02 5.67876110e+02] [ 7.41448009e-02 9.97244547e-01 -2.42120178e-03 3.21221988e+01] [ 3.65770357e-02 -2.93223495e-04 9.99330793e-01 2.07267248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.459254154 meters Centerline goodness : 0.999064 with order 1 Centerline is valid? [True, True] Translation: X:567.94, Y:32.12, Z:20.73 [[ 9.95944913e-01 -8.22290491e-02 -3.64981226e-02 5.67936585e+02] [ 8.21955762e-02 9.96613282e-01 -2.41920695e-03 3.21183089e+01] [ 3.65734428e-02 -5.90587360e-04 9.99330793e-01 2.07318384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.519254154 meters Centerline goodness : 0.999001 with order 1 Centerline is valid? [True, True] Translation: X:568.00, Y:32.12, Z:20.73 [[ 9.95621963e-01 -8.60510954e-02 -3.64981667e-02 5.67997724e+02] [ 8.60202125e-02 9.96290457e-01 -2.41854136e-03 3.21164830e+01] [ 3.65708933e-02 -7.31627161e-04 9.99330793e-01 2.07333703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.579254154 meters Centerline goodness : 0.999067 with order 1 Centerline is valid? [True, True] Translation: X:568.06, Y:32.11, Z:20.74 [[ 9.95431278e-01 -8.82294474e-02 -3.64984262e-02 5.68060048e+02] [ 8.82001711e-02 9.96099844e-01 -2.41461852e-03 3.21125240e+01] [ 3.65691171e-02 -8.15580637e-04 9.99330793e-01 2.07382224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.639254154 meters Centerline goodness : 0.999259 with order 1 Centerline is valid? [True, True] Translation: X:568.12, Y:32.11, Z:20.74 [[ 9.95562406e-01 -8.67372470e-02 -3.64985844e-02 5.68121339e+02] [ 8.67070562e-02 9.96230931e-01 -2.41222494e-03 3.21118474e+01] [ 3.65702485e-02 -7.63164349e-04 9.99330793e-01 2.07399309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.699254154 meters Centerline goodness : 0.998884 with order 1 Centerline is valid? [True, True] Translation: X:568.18, Y:32.11, Z:20.74 [[ 9.96010112e-01 -8.14352660e-02 -3.64987014e-02 5.68183350e+02] [ 8.14015812e-02 9.96678470e-01 -2.41045334e-03 3.21083080e+01] [ 3.65737658e-02 -5.70216106e-04 9.99330793e-01 2.07414613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.759254154 meters Centerline goodness : 0.998882 with order 1 Centerline is valid? [True, True] Translation: X:568.25, Y:32.11, Z:20.75 [[ 9.96179638e-01 -7.93345325e-02 -3.64987777e-02 5.68245020e+02] [ 7.92994805e-02 9.96847926e-01 -2.40929728e-03 3.21099697e+01] [ 3.65748713e-02 -4.94241221e-04 9.99330793e-01 2.07479221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.819254154 meters Centerline goodness : 0.998988 with order 1 Centerline is valid? [True, True] Translation: X:568.31, Y:32.11, Z:20.75 [[ 9.96708252e-01 -7.23912043e-02 -3.64989583e-02 5.68307017e+02] [ 7.23515968e-02 9.97376286e-01 -2.40655878e-03 3.21067054e+01] [ 3.65774091e-02 -2.42120913e-04 9.99330793e-01 2.07498686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.879254154 meters Centerline goodness : 0.999032 with order 1 Centerline is valid? [True, True] Translation: X:568.37, Y:32.11, Z:20.75 [[ 9.97088421e-01 -6.69514760e-02 -3.64990480e-02 5.68367835e+02] [ 6.69082737e-02 9.97756232e-01 -2.40519747e-03 3.21064509e+01] [ 3.65781841e-02 -4.38937435e-05 9.99330793e-01 2.07515032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.939254154 meters Centerline goodness : 0.999097 with order 1 Centerline is valid? [True, True] Translation: X:568.43, Y:32.10, Z:20.75 [[ 9.97677651e-01 -5.75075698e-02 -3.64990921e-02 5.68427834e+02] [ 5.74580708e-02 9.98345025e-01 -2.40452806e-03 3.21040155e+01] [ 3.65769656e-02 3.01776493e-04 9.99330793e-01 2.07522050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.999254154 meters Centerline goodness : 0.998784 with order 1 Centerline is valid? [True, True] Translation: X:568.49, Y:32.10, Z:20.75 [[ 9.97904310e-01 -5.34304314e-02 -3.64990041e-02 5.68485480e+02] [ 5.33781570e-02 9.98571472e-01 -2.40586254e-03 3.21034802e+01] [ 3.65754105e-02 4.52571028e-04 9.99330793e-01 2.07532468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.059254154 meters Centerline goodness : 0.999225 with order 1 Centerline is valid? [True, True] Translation: X:568.54, Y:32.10, Z:20.75 [[ 9.97853441e-01 -5.43726417e-02 -3.64983067e-02 5.68543299e+02] [ 5.43206120e-02 9.98520622e-01 -2.41639625e-03 3.20979579e+01] [ 3.65756978e-02 4.28598949e-04 9.99330793e-01 2.07541307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.119254154 meters Centerline goodness : 0.999038 with order 1 Centerline is valid? [True, True] Translation: X:568.60, Y:32.09, Z:20.76 [[ 9.97283625e-01 -6.39786449e-02 -3.64980068e-02 5.68602865e+02] [ 6.39328765e-02 9.97951265e-01 -2.42091801e-03 3.20917401e+01] [ 3.65781191e-02 8.09193273e-05 9.99330793e-01 2.07561789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.179254154 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:568.66, Y:32.09, Z:20.76 [[ 9.96712231e-01 -7.23371848e-02 -3.64974141e-02 5.68661739e+02] [ 7.22966893e-02 9.97380211e-01 -2.42982112e-03 3.20886411e+01] [ 3.65775650e-02 -2.16809780e-04 9.99330793e-01 2.07589135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.239254154 meters Centerline goodness : 0.999042 with order 1 Centerline is valid? [True, True] Translation: X:568.72, Y:32.08, Z:20.76 [[ 9.95822952e-01 -8.36936706e-02 -3.64968237e-02 5.68720465e+02] [ 8.36604680e-02 9.96491334e-01 -2.43865744e-03 3.20824068e+01] [ 3.65728687e-02 -6.24870295e-04 9.99330793e-01 2.07632606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.299254154 meters Centerline goodness : 0.999002 with order 1 Centerline is valid? [True, True] Translation: X:568.78, Y:32.08, Z:20.77 [[ 9.95249278e-01 -9.02600233e-02 -3.64966134e-02 5.68778105e+02] [ 9.02311147e-02 9.95917860e-01 -2.44180077e-03 3.20776650e+01] [ 3.65680261e-02 -8.62929651e-04 9.99330793e-01 2.07665642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.359254154 meters Centerline goodness : 0.999291 with order 1 Centerline is valid? [True, True] Translation: X:568.84, Y:32.08, Z:20.77 [[ 9.95145094e-01 -9.14016685e-02 -3.64962536e-02 5.68838052e+02] [ 9.13733303e-02 9.95813700e-01 -2.44716564e-03 3.20757202e+01] [ 3.65671444e-02 -8.99499350e-04 9.99330794e-01 2.07701186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.419254154 meters Centerline goodness : 0.999397 with order 1 Centerline is valid? [True, True] Translation: X:568.90, Y:32.08, Z:20.77 [[ 9.95195692e-01 -9.08491293e-02 -3.64961674e-02 5.68896684e+02] [ 9.08203727e-02 9.95864280e-01 -2.44845037e-03 3.20759006e+01] [ 3.65676691e-02 -8.77908272e-04 9.99330794e-01 2.07714884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.4792541539999 meters Centerline goodness : 0.999477 with order 1 Centerline is valid? [True, True] Translation: X:568.95, Y:32.08, Z:20.77 [[ 9.95304335e-01 -8.96512916e-02 -3.64955705e-02 5.68954508e+02] [ 8.96214054e-02 9.95972874e-01 -2.45731569e-03 3.20764442e+01] [ 3.65688998e-02 -8.25007364e-04 9.99330794e-01 2.07729841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.539254154 meters Centerline goodness : 0.999602 with order 1 Centerline is valid? [True, True] Translation: X:569.01, Y:32.08, Z:20.77 [[ 9.95580738e-01 -8.65279336e-02 -3.64953606e-02 5.69012412e+02] [ 8.64958359e-02 9.96249174e-01 -2.46042898e-03 3.20763206e+01] [ 3.65713687e-02 -7.07141019e-04 9.99330794e-01 2.07747248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.5992541539999 meters Centerline goodness : 0.999413 with order 1 Centerline is valid? [True, True] Translation: X:569.07, Y:32.08, Z:20.77 [[ 9.96064444e-01 -8.07698065e-02 -3.64946926e-02 5.69070294e+02] [ 8.07334827e-02 9.96732663e-01 -2.47029815e-03 3.20769993e+01] [ 3.65749777e-02 -4.85767481e-04 9.99330794e-01 2.07745000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.659254154 meters Centerline goodness : 0.999455 with order 1 Centerline is valid? [True, True] Translation: X:569.13, Y:32.08, Z:20.78 [[ 9.96478201e-01 -7.54940249e-02 -3.64944875e-02 5.69128746e+02] [ 7.54540523e-02 9.97146212e-01 -2.47332464e-03 3.20788834e+01] [ 3.65770612e-02 -2.89042878e-04 9.99330794e-01 2.07784782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.7192541539999 meters Centerline goodness : 0.999685 with order 1 Centerline is valid? [True, True] Translation: X:569.19, Y:32.08, Z:20.78 [[ 9.97014537e-01 -6.80456454e-02 -3.64938651e-02 5.69187291e+02] [ 6.80003472e-02 9.97682209e-01 -2.48247435e-03 3.20804078e+01] [ 3.65782015e-02 -6.53247731e-06 9.99330794e-01 2.07811426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.779254154 meters Centerline goodness : 0.999664 with order 1 Centerline is valid? [True, True] Translation: X:569.25, Y:32.08, Z:20.78 [[ 9.97216987e-01 -6.50117243e-02 -3.64932517e-02 5.69246052e+02] [ 6.49640661e-02 9.97884494e-01 -2.49145812e-03 3.20822812e+01] [ 3.65780240e-02 1.13774342e-04 9.99330794e-01 2.07849910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.839254154 meters Centerline goodness : 0.999601 with order 1 Centerline is valid? [True, True] Translation: X:569.31, Y:32.08, Z:20.79 [[ 9.97223528e-01 -6.49116667e-02 -3.64926231e-02 5.69305055e+02] [ 6.48636057e-02 9.97891006e-01 -2.50063261e-03 3.20822654e+01] [ 3.65779806e-02 1.26646558e-04 9.99330794e-01 2.07877250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.899254154 meters Centerline goodness : 0.999602 with order 1 Centerline is valid? [True, True] Translation: X:569.36, Y:32.08, Z:20.79 [[ 9.96873093e-01 -7.00882980e-02 -3.64920018e-02 5.69362025e+02] [ 7.00433725e-02 9.97540790e-01 -2.50966659e-03 3.20803837e+01] [ 3.65781585e-02 -5.42037742e-05 9.99330794e-01 2.07888582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.959254154 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:569.42, Y:32.08, Z:20.79 [[ 9.96334383e-01 -7.73702329e-02 -3.64916959e-02 5.69420214e+02] [ 7.73300246e-02 9.97002380e-01 -2.51410589e-03 3.20802322e+01] [ 3.65768247e-02 -3.17013602e-04 9.99330794e-01 2.07911744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.019254154 meters Centerline goodness : 0.999665 with order 1 Centerline is valid? [True, True] Translation: X:569.48, Y:32.08, Z:20.79 [[ 9.95164722e-01 -9.11898158e-02 -3.64909951e-02 5.69477538e+02] [ 9.11585105e-02 9.95833196e-01 -2.52423795e-03 3.20781297e+01] [ 3.65691290e-02 -8.14432201e-04 9.99330794e-01 2.07927583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.079254154 meters Centerline goodness : 0.999686 with order 1 Centerline is valid? [True, True] Translation: X:569.54, Y:32.08, Z:20.80 [[ 9.94179039e-01 -1.01372987e-01 -3.64904945e-02 5.69535905e+02] [ 1.01348262e-01 9.94847788e-01 -2.53145377e-03 3.20777617e+01] [ 3.65591087e-02 -1.18152992e-03 9.99330794e-01 2.07968567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.139254154 meters Centerline goodness : 0.999729 with order 1 Centerline is valid? [True, True] Translation: X:569.59, Y:32.08, Z:20.80 [[ 9.92707965e-01 -1.14888594e-01 -3.64898353e-02 5.69594634e+02] [ 1.14872622e-01 9.93376980e-01 -2.54091960e-03 3.20766295e+01] [ 3.65400851e-02 -1.66929192e-03 9.99330794e-01 2.08003104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.199254154 meters Centerline goodness : 0.999666 with order 1 Centerline is valid? [True, True] Translation: X:569.65, Y:32.08, Z:20.80 [[ 9.91675067e-01 -1.23487257e-01 -3.64891736e-02 5.69653664e+02] [ 1.23476736e-01 9.92344190e-01 -2.55038748e-03 3.20785954e+01] [ 3.65247598e-02 -1.97640837e-03 9.99330794e-01 2.08027522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.259254154 meters Centerline goodness : 0.999582 with order 1 Centerline is valid? [True, True] Translation: X:569.71, Y:32.08, Z:20.80 [[ 9.91273262e-01 -1.26672441e-01 -3.64885139e-02 5.69712275e+02] [ 1.26663725e-01 9.91942412e-01 -2.55979086e-03 3.20828529e+01] [ 3.65187594e-02 -2.08431886e-03 9.99330794e-01 2.08042036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.319254154 meters Centerline goodness : 0.999624 with order 1 Centerline is valid? [True, True] Translation: X:569.77, Y:32.09, Z:20.81 [[ 9.91026365e-01 -1.28589974e-01 -3.64878414e-02 5.69770775e+02] [ 1.28582202e-01 9.91695526e-01 -2.56934172e-03 3.20895816e+01] [ 3.65152206e-02 -2.14540160e-03 9.99330794e-01 2.08056214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.379254154 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:569.83, Y:32.10, Z:20.81 [[ 9.91014441e-01 -1.28681879e-01 -3.64876996e-02 5.69828623e+02] [ 1.28674095e-01 9.91683601e-01 -2.57135337e-03 3.20973621e+01] [ 3.65151399e-02 -2.14677341e-03 9.99330794e-01 2.08079297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.439254154 meters Centerline goodness : 0.999750 with order 1 Centerline is valid? [True, True] Translation: X:569.89, Y:32.10, Z:20.81 [[ 9.90890652e-01 -1.29631746e-01 -3.64873547e-02 5.69887456e+02] [ 1.29624424e-01 9.91559818e-01 -2.57623860e-03 3.21047281e+01] [ 3.65133571e-02 -2.17688159e-03 9.99330794e-01 2.08095780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.499254154 meters Centerline goodness : 0.999584 with order 1 Centerline is valid? [True, True] Translation: X:569.95, Y:32.11, Z:20.81 [[ 9.90692648e-01 -1.31136560e-01 -3.64866961e-02 5.69945229e+02] [ 1.31129913e-01 9.91361821e-01 -2.58553269e-03 3.21145684e+01] [ 3.65105753e-02 -2.22302906e-03 9.99330794e-01 2.08093834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.559254154 meters Centerline goodness : 0.999583 with order 1 Centerline is valid? [True, True] Translation: X:570.00, Y:32.12, Z:20.81 [[ 9.90531829e-01 -1.32345862e-01 -3.64865575e-02 5.70004841e+02] [ 1.32339961e-01 9.91201009e-01 -2.58748669e-03 3.21232118e+01] [ 3.65079558e-02 -2.26564167e-03 9.99330794e-01 2.08115990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.619254154 meters Centerline goodness : 0.999521 with order 1 Centerline is valid? [True, True] Translation: X:570.06, Y:32.14, Z:20.81 [[ 9.90382489e-01 -1.33458822e-01 -3.64865575e-02 5.70063714e+02] [ 1.33453673e-01 9.91051675e-01 -2.58748669e-03 3.21352246e+01] [ 3.65053869e-02 -2.30666358e-03 9.99330794e-01 2.08128237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.679254154 meters Centerline goodness : 0.999374 with order 1 Centerline is valid? [True, True] Translation: X:570.12, Y:32.14, Z:20.82 [[ 9.90402677e-01 -1.33308932e-01 -3.64865096e-02 5.70124000e+02] [ 1.33303657e-01 9.91071862e-01 -2.58816225e-03 3.21420370e+01] [ 3.65057782e-02 -2.30046233e-03 9.99330794e-01 2.08162205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.739254154 meters Centerline goodness : 0.999437 with order 1 Centerline is valid? [True, True] Translation: X:570.18, Y:32.15, Z:20.82 [[ 9.90696172e-01 -1.31109989e-01 -3.64865096e-02 5.70184701e+02] [ 1.31103228e-01 9.91365344e-01 -2.58816225e-03 3.21544592e+01] [ 3.65107950e-02 -2.21941675e-03 9.99330794e-01 2.08205097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.799254154 meters Centerline goodness : 0.999523 with order 1 Centerline is valid? [True, True] Translation: X:570.24, Y:32.16, Z:20.82 [[ 9.91174695e-01 -1.27441953e-01 -3.64866070e-02 5.70244801e+02] [ 1.27432766e-01 9.91843838e-01 -2.58678832e-03 3.21640862e+01] [ 3.65186817e-02 -2.08563013e-03 9.99330794e-01 2.08218638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.859254154 meters Centerline goodness : 0.999291 with order 1 Centerline is valid? [True, True] Translation: X:570.31, Y:32.18, Z:20.83 [[ 9.92170352e-01 -1.19443358e-01 -3.64866549e-02 5.70305034e+02] [ 1.19428798e-01 9.92839400e-01 -2.58611288e-03 3.21771900e+01] [ 3.65342825e-02 -1.79169282e-03 9.99330794e-01 2.08253072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.919254154 meters Centerline goodness : 0.999249 with order 1 Centerline is valid? [True, True] Translation: X:570.37, Y:32.19, Z:20.83 [[ 9.92809665e-01 -1.14007398e-01 -3.64867499e-02 5.70365589e+02] [ 1.13989224e-01 9.93478624e-01 -2.58477113e-03 3.21866772e+01] [ 3.65434891e-02 -1.59291055e-03 9.99330794e-01 2.08275920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.9792541539999 meters Centerline goodness : 0.999164 with order 1 Centerline is valid? [True, True] Translation: X:570.43, Y:32.20, Z:20.83 [[ 9.93499831e-01 -1.07827624e-01 -3.64868441e-02 5.70426255e+02] [ 1.07805337e-01 9.94168665e-01 -2.58344072e-03 3.21979983e+01] [ 3.65526434e-02 -1.36682860e-03 9.99330794e-01 2.08299215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.039254154 meters Centerline goodness : 0.999457 with order 1 Centerline is valid? [True, True] Translation: X:570.49, Y:32.21, Z:20.83 [[ 9.93927139e-01 -1.03814964e-01 -3.64869378e-02 5.70486430e+02] [ 1.03790024e-01 9.94595880e-01 -2.58211627e-03 3.22070381e+01] [ 3.65578203e-02 -1.22054473e-03 9.99330794e-01 2.08303867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.0992541539999 meters Centerline goodness : 0.999372 with order 1 Centerline is valid? [True, True] Translation: X:570.55, Y:32.21, Z:20.83 [[ 9.94042839e-01 -1.02701149e-01 -3.64870987e-02 5.70547219e+02] [ 1.02675544e-01 9.94711555e-01 -2.57984063e-03 3.22132118e+01] [ 3.65590913e-02 -1.18186059e-03 9.99330794e-01 2.08324537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.159254154 meters Centerline goodness : 0.999018 with order 1 Centerline is valid? [True, True] Translation: X:570.61, Y:32.22, Z:20.83 [[ 9.94181210e-01 -1.01352879e-01 -3.64871947e-02 5.70608424e+02] [ 1.01326416e-01 9.94849893e-01 -2.57848303e-03 3.22209546e+01] [ 3.65606184e-02 -1.13363728e-03 9.99330794e-01 2.08347249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.2192541539999 meters Centerline goodness : 0.999060 with order 1 Centerline is valid? [True, True] Translation: X:570.67, Y:32.23, Z:20.84 [[ 9.94278365e-01 -1.00395198e-01 -3.64875061e-02 5.70668298e+02] [ 1.00368253e-01 9.94947028e-01 -2.57406879e-03 3.22272361e+01] [ 3.65615599e-02 -1.10284634e-03 9.99330794e-01 2.08365950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.279254154 meters Centerline goodness : 0.999081 with order 1 Centerline is valid? [True, True] Translation: X:570.73, Y:32.23, Z:20.84 [[ 9.94324452e-01 -9.99376958e-02 -3.64875522e-02 5.70728965e+02] [ 9.99104672e-02 9.94993104e-01 -2.57341488e-03 3.22323245e+01] [ 3.65620440e-02 -1.08667905e-03 9.99330794e-01 2.08389646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.339254154 meters Centerline goodness : 0.998811 with order 1 Centerline is valid? [True, True] Translation: X:570.79, Y:32.24, Z:20.84 [[ 9.94167335e-01 -1.01488731e-01 -3.64876429e-02 5.70789288e+02] [ 1.01462592e-01 9.94836030e-01 -2.57212918e-03 3.22365721e+01] [ 3.65602639e-02 -1.14500402e-03 9.99330794e-01 2.08420300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.399254154 meters Centerline goodness : 0.999019 with order 1 Centerline is valid? [True, True] Translation: X:570.85, Y:32.24, Z:20.84 [[ 9.93877624e-01 -1.04287663e-01 -3.64876874e-02 5.70850991e+02] [ 1.04263431e-01 9.94546391e-01 -2.57149715e-03 3.22395619e+01] [ 3.65568733e-02 -1.24857801e-03 9.99330794e-01 2.08438779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.459254154 meters Centerline goodness : 0.998998 with order 1 Centerline is valid? [True, True] Translation: X:570.91, Y:32.24, Z:20.84 [[ 9.93709509e-01 -1.05877543e-01 -3.64877816e-02 5.70911838e+02] [ 1.05854430e-01 9.94378315e-01 -2.57016041e-03 3.22426380e+01] [ 3.65547810e-02 -1.30840046e-03 9.99330794e-01 2.08444527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.519254154 meters Centerline goodness : 0.998916 with order 1 Centerline is valid? [True, True] Translation: X:570.97, Y:32.25, Z:20.85 [[ 9.93565330e-01 -1.07222044e-01 -3.64879209e-02 5.70973627e+02] [ 1.07199909e-01 9.94234170e-01 -2.56817989e-03 3.22469802e+01] [ 3.65529033e-02 -1.35984729e-03 9.99330794e-01 2.08455843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.579254154 meters Centerline goodness : 0.999124 with order 1 Centerline is valid? [True, True] Translation: X:571.04, Y:32.25, Z:20.85 [[ 9.93595369e-01 -1.06943254e-01 -3.64881132e-02 5.71036066e+02] [ 1.06921031e-01 9.94264206e-01 -2.56544612e-03 3.22513963e+01] [ 3.65531820e-02 -1.35233128e-03 9.99330794e-01 2.08471706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.639254154 meters Centerline goodness : 0.999082 with order 1 Centerline is valid? [True, True] Translation: X:571.10, Y:32.26, Z:20.85 [[ 9.93628222e-01 -1.06637521e-01 -3.64883056e-02 5.71098498e+02] [ 1.06615192e-01 9.94297055e-01 -2.56270571e-03 3.22563455e+01] [ 3.65534954e-02 -1.34383101e-03 9.99330794e-01 2.08492604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.699254154 meters Centerline goodness : 0.998981 with order 1 Centerline is valid? [True, True] Translation: X:571.16, Y:32.26, Z:20.85 [[ 9.93674695e-01 -1.06203528e-01 -3.64884961e-02 5.71160930e+02] [ 1.06181007e-01 9.94343522e-01 -2.55999132e-03 3.22616063e+01] [ 3.65539798e-02 -1.33058667e-03 9.99330794e-01 2.08509431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.759254154 meters Centerline goodness : 0.999062 with order 1 Centerline is valid? [True, True] Translation: X:571.22, Y:32.27, Z:20.85 [[ 9.93628379e-01 -1.06635921e-01 -3.64886880e-02 5.71221965e+02] [ 1.06613792e-01 9.94297219e-01 -2.55725208e-03 3.22656804e+01] [ 3.65532960e-02 -1.34923916e-03 9.99330794e-01 2.08524346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.819254154 meters Centerline goodness : 0.999001 with order 1 Centerline is valid? [True, True] Translation: X:571.28, Y:32.27, Z:20.85 [[ 9.93504479e-01 -1.07784059e-01 -3.64890002e-02 5.71283827e+02] [ 1.07762866e-01 9.94173349e-01 -2.55278986e-03 3.22701533e+01] [ 3.65515416e-02 -1.39595108e-03 9.99330794e-01 2.08542943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.879254154 meters Centerline goodness : 0.999043 with order 1 Centerline is valid? [True, True] Translation: X:571.35, Y:32.28, Z:20.86 [[ 9.93483732e-01 -1.07975062e-01 -3.64891874e-02 5.71345873e+02] [ 1.07954096e-01 9.94152609e-01 -2.55011198e-03 3.22751374e+01] [ 3.65511693e-02 -1.40566247e-03 9.99330794e-01 2.08560950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.939254154 meters Centerline goodness : 0.999270 with order 1 Centerline is valid? [True, True] Translation: X:571.41, Y:32.28, Z:20.86 [[ 9.93569361e-01 -1.07184191e-01 -3.64893742e-02 5.71406966e+02] [ 1.07162791e-01 9.94238224e-01 -2.54743553e-03 3.22795025e+01] [ 3.65521755e-02 -1.37924929e-03 9.99330794e-01 2.08585930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.999254154 meters Centerline goodness : 0.999126 with order 1 Centerline is valid? [True, True] Translation: X:571.47, Y:32.29, Z:20.86 [[ 9.93983821e-01 -1.03269930e-01 -3.64895120e-02 5.71468968e+02] [ 1.03245968e-01 9.94652598e-01 -2.54546016e-03 3.22850405e+01] [ 3.65572574e-02 -1.23724876e-03 9.99330794e-01 2.08621004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.059254154 meters Centerline goodness : 0.997369 with order 1 Centerline is valid? [True, True] Translation: X:571.53, Y:32.29, Z:20.86 [[ 9.94917615e-01 -9.38479670e-02 -3.64897014e-02 5.71527900e+02] [ 9.38177692e-02 9.95586139e-01 -2.54274301e-03 3.22899154e+01] [ 3.65672722e-02 -8.93562574e-04 9.99330794e-01 2.08618677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.119254154 meters Centerline goodness : 0.999143 with order 1 Centerline is valid? [True, True] Translation: X:571.59, Y:32.29, Z:20.86 [[ 9.95363835e-01 -8.89906792e-02 -3.64896477e-02 5.71587516e+02] [ 8.89571905e-02 9.96032203e-01 -2.54351298e-03 3.22949337e+01] [ 3.65712131e-02 -7.14295702e-04 9.99330794e-01 2.08648306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.179254154 meters Centerline goodness : 0.999269 with order 1 Centerline is valid? [True, True] Translation: X:571.65, Y:32.30, Z:20.87 [[ 9.95875617e-01 -8.30678632e-02 -3.64895390e-02 5.71647201e+02] [ 8.30303420e-02 9.96543770e-01 -2.54507112e-03 3.22990015e+01] [ 3.65748364e-02 -4.95164636e-04 9.99330794e-01 2.08667882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.239254154 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:571.71, Y:32.30, Z:20.87 [[ 9.95915667e-01 -8.25863230e-02 -3.64894937e-02 5.71707464e+02] [ 8.25484550e-02 9.96583801e-01 -2.54572013e-03 3.23021727e+01] [ 3.65750800e-02 -4.76828772e-04 9.99330794e-01 2.08685248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.299254154 meters Centerline goodness : 0.999291 with order 1 Centerline is valid? [True, True] Translation: X:571.77, Y:32.30, Z:20.87 [[ 9.95587249e-01 -8.64554602e-02 -3.64894937e-02 5.71767211e+02] [ 8.64201886e-02 9.96255525e-01 -2.54572013e-03 3.23030869e+01] [ 3.65729511e-02 -6.18942433e-04 9.99330794e-01 2.08677272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.359254154 meters Centerline goodness : 0.999249 with order 1 Centerline is valid? [True, True] Translation: X:571.83, Y:32.30, Z:20.87 [[ 9.94861074e-01 -9.44455808e-02 -3.64893993e-02 5.71827774e+02] [ 9.44156258e-02 9.95529609e-01 -2.54707328e-03 3.23034292e+01] [ 3.65668372e-02 -9.11185409e-04 9.99330794e-01 2.08673702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.419254154 meters Centerline goodness : 0.999248 with order 1 Centerline is valid? [True, True] Translation: X:571.89, Y:32.31, Z:20.87 [[ 9.94348999e-01 -9.96924836e-02 -3.64893993e-02 5.71888228e+02] [ 9.96660558e-02 9.95017683e-01 -2.54707328e-03 3.23057440e+01] [ 3.65615216e-02 -1.10407474e-03 9.99330794e-01 2.08685987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.4792541539999 meters Centerline goodness : 0.999270 with order 1 Centerline is valid? [True, True] Translation: X:571.95, Y:32.31, Z:20.87 [[ 9.93858492e-01 -1.04469220e-01 -3.64894455e-02 5.71949281e+02] [ 1.04446030e-01 9.94527296e-01 -2.54641090e-03 3.23079921e+01] [ 3.65557711e-02 -1.28040561e-03 9.99330794e-01 2.08718439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.539254154 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:572.01, Y:32.31, Z:20.88 [[ 9.93732866e-01 -1.05657469e-01 -3.64895872e-02 5.72008198e+02] [ 1.05635153e-01 9.94401700e-01 -2.54437871e-03 3.23123259e+01] [ 3.65541402e-02 -1.32615038e-03 9.99330794e-01 2.08751576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.5992541539999 meters Centerline goodness : 0.999082 with order 1 Centerline is valid? [True, True] Translation: X:572.07, Y:32.32, Z:20.88 [[ 9.93748670e-01 -1.05508726e-01 -3.64895872e-02 5.72067327e+02] [ 1.05486310e-01 9.94417500e-01 -2.54437871e-03 3.23164469e+01] [ 3.65543382e-02 -1.32067896e-03 9.99330794e-01 2.08780882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.659254154 meters Centerline goodness : 0.999166 with order 1 Centerline is valid? [True, True] Translation: X:572.13, Y:32.32, Z:20.88 [[ 9.94013646e-01 -1.02982465e-01 -3.64894897e-02 5.72127739e+02] [ 1.02958297e-01 9.94682416e-01 -2.54577662e-03 3.23214968e+01] [ 3.65576241e-02 -1.22635902e-03 9.99330794e-01 2.08798615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.7192541539999 meters Centerline goodness : 0.999083 with order 1 Centerline is valid? [True, True] Translation: X:572.19, Y:32.33, Z:20.88 [[ 9.94352586e-01 -9.96566718e-02 -3.64894897e-02 5.72188167e+02] [ 9.96302675e-02 9.95021271e-01 -2.54577662e-03 3.23261754e+01] [ 3.65615220e-02 -1.10405805e-03 9.99330794e-01 2.08824952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.779254154 meters Centerline goodness : 0.998789 with order 1 Centerline is valid? [True, True] Translation: X:572.25, Y:32.33, Z:20.88 [[ 9.95489417e-01 -8.75747586e-02 -3.64894897e-02 5.72247903e+02] [ 8.75402363e-02 9.96157732e-01 -2.54577662e-03 3.23250340e+01] [ 3.65722330e-02 -6.60004862e-04 9.99330794e-01 2.08768466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.839254154 meters Centerline goodness : 0.999081 with order 1 Centerline is valid? [True, True] Translation: X:572.31, Y:32.34, Z:20.88 [[ 9.95356492e-01 -8.90728576e-02 -3.64894431e-02 5.72306399e+02] [ 8.90393167e-02 9.96024857e-01 -2.54644411e-03 3.23358423e+01] [ 3.65712114e-02 -7.14375407e-04 9.99330794e-01 2.08839633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.899254154 meters Centerline goodness : 0.999396 with order 1 Centerline is valid? [True, True] Translation: X:572.37, Y:32.34, Z:20.88 [[ 9.95601242e-01 -8.62942064e-02 -3.64893974e-02 5.72365498e+02] [ 8.62587760e-02 9.96269510e-01 -2.54709911e-03 3.23387223e+01] [ 3.65730739e-02 -6.11635720e-04 9.99330794e-01 2.08842660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.959254154 meters Centerline goodness : 0.999374 with order 1 Centerline is valid? [True, True] Translation: X:572.42, Y:32.34, Z:20.89 [[ 9.95565674e-01 -8.67036305e-02 -3.64893044e-02 5.72424224e+02] [ 8.66684262e-02 9.96233953e-01 -2.54843023e-03 3.23412281e+01] [ 3.65728421e-02 -6.25340926e-04 9.99330794e-01 2.08858092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.019254154 meters Centerline goodness : 0.999290 with order 1 Centerline is valid? [True, True] Translation: X:572.48, Y:32.34, Z:20.89 [[ 9.95423563e-01 -8.83202880e-02 -3.64891296e-02 5.72482670e+02] [ 8.82860774e-02 9.96091894e-01 -2.55093091e-03 3.23436662e+01] [ 3.65718252e-02 -6.82225380e-04 9.99330794e-01 2.08874066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.079254154 meters Centerline goodness : 0.999457 with order 1 Centerline is valid? [True, True] Translation: X:572.54, Y:32.35, Z:20.89 [[ 9.95003677e-01 -9.29315411e-02 -3.64885038e-02 5.72542640e+02] [ 9.29001005e-02 9.95672144e-01 -2.55985165e-03 3.23453080e+01] [ 3.65684777e-02 -8.42723862e-04 9.99330794e-01 2.08907929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.139254154 meters Centerline goodness : 0.999353 with order 1 Centerline is valid? [True, True] Translation: X:572.60, Y:32.35, Z:20.89 [[ 9.94127773e-01 -1.01875249e-01 -3.64884082e-02 5.72603279e+02] [ 1.01849771e-01 9.94796494e-01 -2.56121247e-03 3.23455774e+01] [ 3.65594647e-02 -1.17016358e-03 9.99330794e-01 2.08945126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.199254154 meters Centerline goodness : 0.999499 with order 1 Centerline is valid? [True, True] Translation: X:572.66, Y:32.35, Z:20.90 [[ 9.93317175e-01 -1.09496971e-01 -3.64884082e-02 5.72663111e+02] [ 1.09476622e-01 9.93986071e-01 -2.56121247e-03 3.23471972e+01] [ 3.65494145e-02 -1.45053134e-03 9.99330794e-01 2.08974295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.259254154 meters Centerline goodness : 0.999397 with order 1 Centerline is valid? [True, True] Translation: X:572.72, Y:32.35, Z:20.90 [[ 9.92060246e-01 -1.20353843e-01 -3.64886431e-02 5.72723996e+02] [ 1.20340934e-01 9.92729327e-01 -2.55786257e-03 3.23490094e+01] [ 3.65311947e-02 -1.85352360e-03 9.99330794e-01 2.09015607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.319254154 meters Centerline goodness : 0.999541 with order 1 Centerline is valid? [True, True] Translation: X:572.79, Y:32.35, Z:20.90 [[ 9.91344656e-01 -1.26112433e-01 -3.64887363e-02 5.72785242e+02] [ 1.26103459e-01 9.92013801e-01 -2.55653139e-03 3.23527065e+01] [ 3.65197404e-02 -2.06695213e-03 9.99330794e-01 2.09046250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.379254154 meters Centerline goodness : 0.999291 with order 1 Centerline is valid? [True, True] Translation: X:572.85, Y:32.36, Z:20.91 [[ 9.90742173e-01 -1.30761282e-01 -3.64888296e-02 5.72846719e+02] [ 1.30755495e-01 9.91411353e-01 -2.55519948e-03 3.23568386e+01] [ 3.65095611e-02 -2.23957109e-03 9.99330794e-01 2.09062884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.439254154 meters Centerline goodness : 0.999168 with order 1 Centerline is valid? [True, True] Translation: X:572.91, Y:32.36, Z:20.91 [[ 9.90557862e-01 -1.32150221e-01 -3.64889217e-02 5.72908459e+02] [ 1.32145421e-01 9.91227050e-01 -2.55388365e-03 3.23635617e+01] [ 3.65063025e-02 -2.29207439e-03 9.99330794e-01 2.09100090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.499254154 meters Centerline goodness : 0.999229 with order 1 Centerline is valid? [True, True] Translation: X:572.97, Y:32.37, Z:20.91 [[ 9.90829654e-01 -1.30096661e-01 -3.64891102e-02 5.72970683e+02] [ 1.30090573e-01 9.91498832e-01 -2.55118689e-03 3.23700334e+01] [ 3.65108111e-02 -2.21909762e-03 9.99330794e-01 2.09124337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.559254154 meters Centerline goodness : 0.999376 with order 1 Centerline is valid? [True, True] Translation: X:573.03, Y:32.38, Z:20.91 [[ 9.91500910e-01 -1.24877845e-01 -3.64892991e-02 5.73031432e+02] [ 1.24868332e-01 9.92170048e-01 -2.54848278e-03 3.23783643e+01] [ 3.65218387e-02 -2.02953493e-03 9.99330794e-01 2.09132071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.619254154 meters Centerline goodness : 0.999166 with order 1 Centerline is valid? [True, True] Translation: X:573.09, Y:32.39, Z:20.92 [[ 9.91955236e-01 -1.21216052e-01 -3.64894383e-02 5.73093443e+02] [ 1.21204142e-01 9.92624335e-01 -2.54648818e-03 3.23853803e+01] [ 3.65289797e-02 -1.89666878e-03 9.99330794e-01 2.09161638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.679254154 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:573.15, Y:32.39, Z:20.92 [[ 9.92504369e-01 -1.16634407e-01 -3.64896276e-02 5.73154801e+02] [ 1.16619507e-01 9.93173409e-01 -2.54377340e-03 3.23932419e+01] [ 3.65372193e-02 -1.73069617e-03 9.99330794e-01 2.09183880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.739254154 meters Centerline goodness : 0.999103 with order 1 Centerline is valid? [True, True] Translation: X:573.22, Y:32.40, Z:20.92 [[ 9.92956357e-01 -1.12721635e-01 -3.64898147e-02 5.73215451e+02] [ 1.12704196e-01 9.93625335e-01 -2.54108563e-03 3.24010033e+01] [ 3.65436397e-02 -1.58936812e-03 9.99330794e-01 2.09211774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.799254154 meters Centerline goodness : 0.999270 with order 1 Centerline is valid? [True, True] Translation: X:573.28, Y:32.41, Z:20.92 [[ 9.93331683e-01 -1.09364764e-01 -3.64899526e-02 5.73277051e+02] [ 1.09345137e-01 9.94000601e-01 -2.53910394e-03 3.24071395e+01] [ 3.65487233e-02 -1.46782648e-03 9.99330794e-01 2.09246562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.859254154 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:573.34, Y:32.41, Z:20.93 [[ 9.94021959e-01 -1.02901970e-01 -3.64901367e-02 5.73337976e+02] [ 1.02878090e-01 9.94690738e-01 -2.53645566e-03 3.24138447e+01] [ 3.65574073e-02 -1.23274295e-03 9.99330794e-01 2.09274796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.919254154 meters Centerline goodness : 0.999143 with order 1 Centerline is valid? [True, True] Translation: X:573.40, Y:32.42, Z:20.93 [[ 9.94804511e-01 -9.50391942e-02 -3.64902288e-02 5.73398355e+02] [ 9.50100759e-02 9.95473083e-01 -2.53513066e-03 3.24209325e+01] [ 3.65659773e-02 -9.44979991e-04 9.99330794e-01 2.09282349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.9792541539999 meters Centerline goodness : 0.999144 with order 1 Centerline is valid? [True, True] Translation: X:573.46, Y:32.43, Z:20.93 [[ 9.95243342e-01 -9.03280185e-02 -3.64902740e-02 5.73458283e+02] [ 9.02957589e-02 9.95911769e-01 -2.53447937e-03 3.24261667e+01] [ 3.65700278e-02 -7.72493265e-04 9.99330794e-01 2.09309326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.039254154 meters Centerline goodness : 0.999185 with order 1 Centerline is valid? [True, True] Translation: X:573.52, Y:32.43, Z:20.93 [[ 9.95466689e-01 -8.78324008e-02 -3.64902740e-02 5.73518572e+02] [ 8.77984654e-02 9.96135034e-01 -2.53447937e-03 3.24307615e+01] [ 3.65718497e-02 -6.80800271e-04 9.99330794e-01 2.09331456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.0992541539999 meters Centerline goodness : 0.999228 with order 1 Centerline is valid? [True, True] Translation: X:573.58, Y:32.43, Z:20.94 [[ 9.95365293e-01 -8.89741211e-02 -3.64902740e-02 5.73579579e+02] [ 8.89409523e-02 9.96033676e-01 -2.53447937e-03 3.24341654e+01] [ 3.65710448e-02 -7.22746919e-04 9.99330794e-01 2.09351567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.159254154 meters Centerline goodness : 0.999289 with order 1 Centerline is valid? [True, True] Translation: X:573.64, Y:32.44, Z:20.94 [[ 9.94907080e-01 -9.39593231e-02 -3.64903663e-02 5.73640844e+02] [ 9.39295518e-02 9.95575624e-01 -2.53314927e-03 3.24366284e+01] [ 3.65669322e-02 -9.07275612e-04 9.99330794e-01 2.09377332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.2192541539999 meters Centerline goodness : 0.999268 with order 1 Centerline is valid? [True, True] Translation: X:573.70, Y:32.44, Z:20.94 [[ 9.94126995e-01 -1.01882108e-01 -3.64904608e-02 5.73701477e+02] [ 1.01857713e-01 9.94795756e-01 -2.53178827e-03 3.24378385e+01] [ 3.65584994e-02 -1.19991581e-03 9.99330794e-01 2.09393282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.279254154 meters Centerline goodness : 0.999104 with order 1 Centerline is valid? [True, True] Translation: X:573.76, Y:32.44, Z:20.94 [[ 9.93518363e-01 -1.07655495e-01 -3.64905072e-02 5.73762607e+02] [ 1.07635010e-01 9.94187255e-01 -2.53111809e-03 3.24398513e+01] [ 3.65508860e-02 -1.41294382e-03 9.99330794e-01 2.09413170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.339254154 meters Centerline goodness : 0.998870 with order 1 Centerline is valid? [True, True] Translation: X:573.82, Y:32.44, Z:20.94 [[ 9.92562179e-01 -1.16141105e-01 -3.64906008e-02 5.73824695e+02] [ 1.16126386e-01 9.93231223e-01 -2.52976934e-03 3.24420287e+01] [ 3.65374142e-02 -1.72656823e-03 9.99330794e-01 2.09434674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.399254154 meters Centerline goodness : 0.999229 with order 1 Centerline is valid? [True, True] Translation: X:573.89, Y:32.44, Z:20.95 [[ 9.91848215e-01 -1.22088248e-01 -3.64907894e-02 5.73885302e+02] [ 1.22077640e-01 9.92517337e-01 -2.52704587e-03 3.24444994e+01] [ 3.65262637e-02 -1.94826351e-03 9.99330794e-01 2.09459609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.459254154 meters Centerline goodness : 0.999269 with order 1 Centerline is valid? [True, True] Translation: X:573.95, Y:32.45, Z:20.95 [[ 9.91728463e-01 -1.23057186e-01 -3.64908825e-02 5.73946986e+02] [ 1.23047281e-01 9.92397595e-01 -2.52569956e-03 3.24481248e+01] [ 3.65242696e-02 -1.98529574e-03 9.99330794e-01 2.09493379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.519254154 meters Centerline goodness : 0.999227 with order 1 Centerline is valid? [True, True] Translation: X:574.01, Y:32.45, Z:20.95 [[ 9.91751478e-01 -1.22871506e-01 -3.64910721e-02 5.74009438e+02] [ 1.22861576e-01 9.92420610e-01 -2.52295773e-03 3.24527112e+01] [ 3.65244917e-02 -1.98120358e-03 9.99330794e-01 2.09517016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.579254154 meters Centerline goodness : 0.999164 with order 1 Centerline is valid? [True, True] Translation: X:574.07, Y:32.46, Z:20.95 [[ 9.92108238e-01 -1.19956791e-01 -3.64912586e-02 5.74071511e+02] [ 1.19944994e-01 9.92777340e-01 -2.52025700e-03 3.24591691e+01] [ 3.65300166e-02 -1.87657606e-03 9.99330794e-01 2.09544109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.639254154 meters Centerline goodness : 0.999123 with order 1 Centerline is valid? [True, True] Translation: X:574.13, Y:32.47, Z:20.96 [[ 9.92587187e-01 -1.15926923e-01 -3.64914434e-02 5.74133624e+02] [ 1.15912507e-01 9.93256237e-01 -2.51757925e-03 3.24650440e+01] [ 3.65372089e-02 -1.73089780e-03 9.99330794e-01 2.09559380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.699254154 meters Centerline goodness : 0.999082 with order 1 Centerline is valid? [True, True] Translation: X:574.19, Y:32.47, Z:20.96 [[ 9.92869349e-01 -1.13484879e-01 -3.64916297e-02 5.74194193e+02] [ 1.13468916e-01 9.93538364e-01 -2.51487497e-03 3.24701232e+01] [ 3.65412344e-02 -1.64372341e-03 9.99330794e-01 2.09567516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.759254154 meters Centerline goodness : 0.999228 with order 1 Centerline is valid? [True, True] Translation: X:574.25, Y:32.48, Z:20.96 [[ 9.93112754e-01 -1.11334618e-01 -3.64919277e-02 5.74254172e+02] [ 1.11317366e-01 9.93781737e-01 -2.51054415e-03 3.24782781e+01] [ 3.65445218e-02 -1.56893184e-03 9.99330794e-01 2.09593712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.819254154 meters Centerline goodness : 0.999125 with order 1 Centerline is valid? [True, True] Translation: X:574.32, Y:32.48, Z:20.96 [[ 9.93323630e-01 -1.09437209e-01 -3.64919714e-02 5.74315629e+02] [ 1.09418702e-01 9.93992579e-01 -2.50990901e-03 3.24840308e+01] [ 3.65474262e-02 -1.49975221e-03 9.99330794e-01 2.09614496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.879254154 meters Centerline goodness : 0.999312 with order 1 Centerline is valid? [True, True] Translation: X:574.38, Y:32.49, Z:20.96 [[ 9.93575682e-01 -1.07124629e-01 -3.64921509e-02 5.74377938e+02] [ 1.07104661e-01 9.94244590e-01 -2.50729677e-03 3.24906995e+01] [ 3.65507168e-02 -1.41729033e-03 9.99330794e-01 2.09638259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.939254154 meters Centerline goodness : 0.999123 with order 1 Centerline is valid? [True, True] Translation: X:574.44, Y:32.50, Z:20.97 [[ 9.93937389e-01 -1.03714878e-01 -3.64923371e-02 5.74439834e+02] [ 1.03692714e-01 9.94606228e-01 -2.50458329e-03 3.24974256e+01] [ 3.65552683e-02 -1.29459049e-03 9.99330794e-01 2.09676670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.999254154 meters Centerline goodness : 0.999143 with order 1 Centerline is valid? [True, True] Translation: X:574.50, Y:32.50, Z:20.97 [[ 9.94217773e-01 -1.00991663e-01 -3.64925246e-02 5.74501754e+02] [ 1.00967767e-01 9.94886552e-01 -2.50184888e-03 3.25026224e+01] [ 3.65585878e-02 -1.19718610e-03 9.99330794e-01 2.09707044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.059254154 meters Centerline goodness : 0.999205 with order 1 Centerline is valid? [True, True] Translation: X:574.56, Y:32.51, Z:20.97 [[ 9.94331479e-01 -9.98658680e-02 -3.64927091e-02 5.74563917e+02] [ 9.98413137e-02 9.95000234e-01 -2.49915448e-03 3.25077426e+01] [ 3.65598343e-02 -1.15849204e-03 9.99330794e-01 2.09731923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.119254154 meters Centerline goodness : 0.998955 with order 1 Centerline is valid? [True, True] Translation: X:574.62, Y:32.51, Z:20.97 [[ 9.94295805e-01 -1.00220367e-01 -3.64928914e-02 5.74624853e+02] [ 1.00196149e-01 9.94964572e-01 -2.49649011e-03 3.25111274e+01] [ 3.65593332e-02 -1.17419752e-03 9.99330794e-01 2.09744911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.179254154 meters Centerline goodness : 0.999186 with order 1 Centerline is valid? [True, True] Translation: X:574.69, Y:32.52, Z:20.98 [[ 9.93984153e-01 -1.03265494e-01 -3.64930259e-02 5.74686363e+02] [ 1.03243397e-01 9.94652994e-01 -2.49452185e-03 3.25152373e+01] [ 3.65554955e-02 -1.28814876e-03 9.99330794e-01 2.09772530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.239254154 meters Centerline goodness : 0.998974 with order 1 Centerline is valid? [True, True] Translation: X:574.75, Y:32.52, Z:20.98 [[ 9.93814791e-01 -1.04882861e-01 -3.64931138e-02 5.74747431e+02] [ 1.04861899e-01 9.94483668e-01 -2.49323530e-03 3.25192912e+01] [ 3.65533033e-02 -1.34892309e-03 9.99330794e-01 2.09791617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.299254154 meters Centerline goodness : 0.999059 with order 1 Centerline is valid? [True, True] Translation: X:574.81, Y:32.52, Z:20.98 [[ 9.93692145e-01 -1.06038504e-01 -3.64932443e-02 5.74809825e+02] [ 1.06018390e-01 9.94361048e-01 -2.49132394e-03 3.25232071e+01] [ 3.65516369e-02 -1.39334599e-03 9.99330794e-01 2.09809544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.359254154 meters Centerline goodness : 0.999017 with order 1 Centerline is valid? [True, True] Translation: X:574.87, Y:32.53, Z:20.98 [[ 9.93753680e-01 -1.05460201e-01 -3.64934217e-02 5.74870934e+02] [ 1.05439794e-01 9.94422574e-01 -2.48872256e-03 3.25278440e+01] [ 3.65523435e-02 -1.37468165e-03 9.99330794e-01 2.09824249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.419254154 meters Centerline goodness : 0.999163 with order 1 Centerline is valid? [True, True] Translation: X:574.93, Y:32.53, Z:20.98 [[ 9.93915441e-01 -1.03924589e-01 -3.64935097e-02 5.74931782e+02] [ 1.03903195e-01 9.94584304e-01 -2.48743185e-03 3.25337380e+01] [ 3.65543773e-02 -1.31949533e-03 9.99330794e-01 2.09840545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.4792541539999 meters Centerline goodness : 0.999268 with order 1 Centerline is valid? [True, True] Translation: X:574.99, Y:32.54, Z:20.99 [[ 9.94151925e-01 -1.01637434e-01 -3.64935968e-02 5.74992887e+02] [ 1.01614548e-01 9.94820739e-01 -2.48615270e-03 3.25391223e+01] [ 3.65572731e-02 -1.23666685e-03 9.99330794e-01 2.09866142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.539254154 meters Centerline goodness : 0.999227 with order 1 Centerline is valid? [True, True] Translation: X:575.05, Y:32.54, Z:20.99 [[ 9.94300109e-01 -1.00177363e-01 -3.64936847e-02 5.75054058e+02] [ 1.00153542e-01 9.94968891e-01 -2.48486144e-03 3.25440669e+01] [ 3.65590079e-02 -1.18427379e-03 9.99330794e-01 2.09890862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.5992541539999 meters Centerline goodness : 0.999226 with order 1 Centerline is valid? [True, True] Translation: X:575.11, Y:32.55, Z:20.99 [[ 9.94370487e-01 -9.94763249e-02 -3.64937715e-02 5.75114922e+02] [ 9.94520793e-02 9.95039253e-01 -2.48358687e-03 3.25509630e+01] [ 3.65597932e-02 -1.15977596e-03 9.99330794e-01 2.09915306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.659254154 meters Centerline goodness : 0.999101 with order 1 Centerline is valid? [True, True] Translation: X:575.18, Y:32.56, Z:20.99 [[ 9.94272647e-01 -1.00449480e-01 -3.64938994e-02 5.75176073e+02] [ 1.00425958e-01 9.94941440e-01 -2.48170484e-03 3.25554514e+01] [ 3.65585788e-02 -1.19744356e-03 9.99330794e-01 2.09938707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.7192541539999 meters Centerline goodness : 0.999436 with order 1 Centerline is valid? [True, True] Translation: X:575.24, Y:32.56, Z:21.00 [[ 9.94014715e-01 -1.02970552e-01 -3.64939848e-02 5.75238375e+02] [ 1.02948773e-01 9.94683567e-01 -2.48044932e-03 3.25601301e+01] [ 3.65553802e-02 -1.29140782e-03 9.99330794e-01 2.09972957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.779254154 meters Centerline goodness : 0.999185 with order 1 Centerline is valid? [True, True] Translation: X:575.30, Y:32.57, Z:21.00 [[ 9.93742600e-01 -1.05564298e-01 -3.64941658e-02 5.75300693e+02] [ 1.05544361e-01 9.94411509e-01 -2.47778342e-03 3.25656602e+01] [ 3.65517839e-02 -1.38947447e-03 9.99330794e-01 2.09993672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.839254154 meters Centerline goodness : 0.999037 with order 1 Centerline is valid? [True, True] Translation: X:575.36, Y:32.57, Z:21.00 [[ 9.93800735e-01 -1.05015532e-01 -3.64943444e-02 5.75362767e+02] [ 1.04995323e-01 9.94469635e-01 -2.47514943e-03 3.25716025e+01] [ 3.65524465e-02 -1.37193016e-03 9.99330794e-01 2.10020195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.899254154 meters Centerline goodness : 0.999120 with order 1 Centerline is valid? [True, True] Translation: X:575.42, Y:32.58, Z:21.01 [[ 9.94379561e-01 -9.93853036e-02 -3.64945231e-02 5.75424929e+02] [ 9.93614029e-02 9.95048340e-01 -2.47251209e-03 3.25787333e+01] [ 3.65595460e-02 -1.16753153e-03 9.99330794e-01 2.10065696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.959254154 meters Centerline goodness : 0.999204 with order 1 Centerline is valid? [True, True] Translation: X:575.49, Y:32.59, Z:21.01 [[ 9.95143864e-01 -9.14156789e-02 -3.64947044e-02 5.75486532e+02] [ 9.13865192e-02 9.95812434e-01 -2.46983380e-03 3.25858091e+01] [ 3.65676619e-02 -8.77284050e-04 9.99330794e-01 2.10117773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.019254154 meters Centerline goodness : 0.999644 with order 1 Centerline is valid? [True, True] Translation: X:575.55, Y:32.59, Z:21.02 [[ 9.95510585e-01 -8.73315400e-02 -3.64948874e-02 5.75548085e+02] [ 8.72997364e-02 9.96179035e-01 -2.46712632e-03 3.25912966e+01] [ 3.65708996e-02 -7.29943681e-04 9.99330794e-01 2.10151359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.079254154 meters Centerline goodness : 0.999581 with order 1 Centerline is valid? [True, True] Translation: X:575.61, Y:32.59, Z:21.02 [[ 9.95665445e-01 -8.55478270e-02 -3.64950690e-02 5.75610384e+02] [ 8.55149244e-02 9.96333842e-01 -2.46443671e-03 3.25941171e+01] [ 3.65720995e-02 -6.67118599e-04 9.99330794e-01 2.10161977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.139254154 meters Centerline goodness : 0.999498 with order 1 Centerline is valid? [True, True] Translation: X:575.67, Y:32.60, Z:21.02 [[ 9.95481192e-01 -8.76658000e-02 -3.64952491e-02 5.75670920e+02] [ 8.76344173e-02 9.96149662e-01 -2.46176700e-03 3.25969333e+01] [ 3.65705428e-02 -7.47597137e-04 9.99330794e-01 2.10165584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.199254154 meters Centerline goodness : 0.999268 with order 1 Centerline is valid? [True, True] Translation: X:575.73, Y:32.60, Z:21.02 [[ 9.94929580e-01 -9.37188626e-02 -3.64952932e-02 5.75732665e+02] [ 9.36915702e-02 9.95598229e-01 -2.46111295e-03 3.25985931e+01] [ 3.65653020e-02 -9.70667250e-04 9.99330794e-01 2.10177858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.259254154 meters Centerline goodness : 0.999561 with order 1 Centerline is valid? [True, True] Translation: X:575.79, Y:32.60, Z:21.02 [[ 9.94252455e-01 -1.00648607e-01 -3.64953814e-02 5.75794994e+02] [ 1.00626022e-01 9.94921280e-01 -2.45980396e-03 3.25995448e+01] [ 3.65576075e-02 -1.22671892e-03 9.99330794e-01 2.10213192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.319254154 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:575.86, Y:32.60, Z:21.02 [[ 9.93765872e-01 -1.05344508e-01 -3.64955641e-02 5.75856055e+02] [ 1.05325182e-01 9.94434799e-01 -2.45709141e-03 3.26017182e+01] [ 3.65513000e-02 -1.40212834e-03 9.99330794e-01 2.10229479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.379254154 meters Centerline goodness : 0.999562 with order 1 Centerline is valid? [True, True] Translation: X:575.92, Y:32.60, Z:21.03 [[ 9.93246753e-01 -1.10131517e-01 -3.64956992e-02 5.75917795e+02] [ 1.10115488e-01 9.93915767e-01 -2.45508272e-03 3.26043283e+01] [ 3.65440328e-02 -1.58023880e-03 9.99330794e-01 2.10257373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.439254154 meters Centerline goodness : 0.999123 with order 1 Centerline is valid? [True, True] Translation: X:575.98, Y:32.61, Z:21.03 [[ 9.92691227e-01 -1.15031212e-01 -3.64958716e-02 5.75979693e+02] [ 1.15018579e-01 9.93360313e-01 -2.45251687e-03 3.26076462e+01] [ 3.65356664e-02 -1.76311131e-03 9.99330794e-01 2.10294055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.499254154 meters Centerline goodness : 0.999105 with order 1 Centerline is valid? [True, True] Translation: X:576.04, Y:32.61, Z:21.03 [[ 9.91757862e-01 -1.22818487e-01 -3.64960471e-02 5.76041965e+02] [ 1.22811201e-01 9.92427028e-01 -2.44990216e-03 3.26107213e+01] [ 3.65205569e-02 -2.05241365e-03 9.99330794e-01 2.10332458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.559254154 meters Centerline goodness : 0.999309 with order 1 Centerline is valid? [True, True] Translation: X:576.10, Y:32.61, Z:21.04 [[ 9.91207612e-01 -1.27182923e-01 -3.64962220e-02 5.76103752e+02] [ 1.27178679e-01 9.91876804e-01 -2.44729457e-03 3.26134597e+01] [ 3.65110101e-02 -2.21576428e-03 9.99330794e-01 2.10356774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.619254154 meters Centerline goodness : 0.998996 with order 1 Centerline is valid? [True, True] Translation: X:576.16, Y:32.62, Z:21.04 [[ 9.90469279e-01 -1.32810466e-01 -3.64963959e-02 5.76164493e+02] [ 1.32810117e-01 9.91138485e-01 -2.44469759e-03 3.26187475e+01] [ 3.64976640e-02 -2.42569276e-03 9.99330794e-01 2.10386574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.679254154 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:576.23, Y:32.62, Z:21.04 [[ 9.90231332e-01 -1.34573080e-01 -3.64965245e-02 5.76226882e+02] [ 1.34573993e-01 9.90900537e-01 -2.44277739e-03 3.26230526e+01] [ 3.64931578e-02 -2.49256830e-03 9.99330794e-01 2.10400619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.739254154 meters Centerline goodness : 0.999248 with order 1 Centerline is valid? [True, True] Translation: X:576.29, Y:32.63, Z:21.04 [[ 9.90478660e-01 -1.32740405e-01 -3.64966931e-02 5.76288895e+02] [ 1.32740172e-01 9.91147866e-01 -2.44025574e-03 3.26283159e+01] [ 3.64975400e-02 -2.42755609e-03 9.99330794e-01 2.10399852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.799254154 meters Centerline goodness : 0.999185 with order 1 Centerline is valid? [True, True] Translation: X:576.35, Y:32.64, Z:21.04 [[ 9.91235219e-01 -1.26967398e-01 -3.64968590e-02 5.76349373e+02] [ 1.26963357e-01 9.91904412e-01 -2.43777113e-03 3.26384127e+01] [ 3.65109130e-02 -2.21735915e-03 9.99330794e-01 2.10406891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.859254154 meters Centerline goodness : 0.999268 with order 1 Centerline is valid? [True, True] Translation: X:576.41, Y:32.65, Z:21.05 [[ 9.91949259e-01 -1.21262633e-01 -3.64971385e-02 5.76411184e+02] [ 1.21254896e-01 9.92618420e-01 -2.43358016e-03 3.26472617e+01] [ 3.65228343e-02 -2.01146869e-03 9.99330794e-01 2.10456368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.919254154 meters Centerline goodness : 0.999206 with order 1 Centerline is valid? [True, True] Translation: X:576.47, Y:32.66, Z:21.05 [[ 9.92961127e-01 -1.12677171e-01 -3.64973207e-02 5.76472976e+02] [ 1.12663747e-01 9.93630198e-01 -2.43084451e-03 3.26574046e+01] [ 3.65387407e-02 -1.69819079e-03 9.99330794e-01 2.10486598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.9792541539999 meters Centerline goodness : 0.999664 with order 1 Centerline is valid? [True, True] Translation: X:576.53, Y:32.67, Z:21.05 [[ 9.93907465e-01 -1.03999440e-01 -3.64975006e-02 5.76534927e+02] [ 1.03980270e-01 9.94576396e-01 -2.42813949e-03 3.26679575e+01] [ 3.65520778e-02 -1.38167402e-03 9.99330794e-01 2.10528342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.039254154 meters Centerline goodness : 0.999349 with order 1 Centerline is valid? [True, True] Translation: X:576.60, Y:32.68, Z:21.06 [[ 9.94550096e-01 -9.76628172e-02 -3.64976816e-02 5.76596510e+02] [ 9.76394847e-02 9.95218895e-01 -2.42541638e-03 3.26764788e+01] [ 3.65600553e-02 -1.15141673e-03 9.99330794e-01 2.10556580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.0992541539999 meters Centerline goodness : 0.999347 with order 1 Centerline is valid? [True, True] Translation: X:576.66, Y:32.68, Z:21.06 [[ 9.95297051e-01 -8.97311867e-02 -3.64978618e-02 5.76658315e+02] [ 8.97026229e-02 9.95965647e-01 -2.42270130e-03 3.26834572e+01] [ 3.65680084e-02 -8.62646476e-04 9.99330794e-01 2.10568847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.159254154 meters Centerline goodness : 0.999305 with order 1 Centerline is valid? [True, True] Translation: X:576.72, Y:32.69, Z:21.06 [[ 9.95639103e-01 -8.58526083e-02 -3.64980413e-02 5.76720525e+02] [ 8.58215389e-02 9.96307587e-01 -2.41999507e-03 3.26890564e+01] [ 3.65710383e-02 -7.22876349e-04 9.99330794e-01 2.10578344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.2192541539999 meters Centerline goodness : 0.999515 with order 1 Centerline is valid? [True, True] Translation: X:576.78, Y:32.69, Z:21.06 [[ 9.95730193e-01 -8.47895239e-02 -3.64982176e-02 5.76782595e+02] [ 8.47578383e-02 9.96398648e-01 -2.41733288e-03 3.26933305e+01] [ 3.65717392e-02 -6.86498691e-04 9.99330794e-01 2.10597647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.279254154 meters Centerline goodness : 0.999240 with order 1 Centerline is valid? [True, True] Translation: X:576.84, Y:32.70, Z:21.06 [[ 9.95689203e-01 -8.52694470e-02 -3.64983946e-02 5.76843631e+02] [ 8.52381815e-02 9.96357678e-01 -2.41465807e-03 3.26970192e+01] [ 3.65713522e-02 -7.06807815e-04 9.99330794e-01 2.10619424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.339254154 meters Centerline goodness : 0.998859 with order 1 Centerline is valid? [True, True] Translation: X:576.91, Y:32.70, Z:21.06 [[ 9.95569864e-01 -8.66516271e-02 -3.64985252e-02 5.76905722e+02] [ 8.66213621e-02 9.96238384e-01 -2.41268220e-03 3.26997627e+01] [ 3.65702946e-02 -7.59558272e-04 9.99330794e-01 2.10632402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.399254154 meters Centerline goodness : 0.998923 with order 1 Centerline is valid? [True, True] Translation: X:576.97, Y:32.70, Z:21.07 [[ 9.95438361e-01 -8.81493923e-02 -3.64986967e-02 5.76968010e+02] [ 8.81202283e-02 9.96106930e-01 -2.41008478e-03 3.27026920e+01] [ 3.65690522e-02 -8.17182637e-04 9.99330794e-01 2.10653130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.459254154 meters Centerline goodness : 0.999094 with order 1 Centerline is valid? [True, True] Translation: X:577.03, Y:32.71, Z:21.07 [[ 9.95248487e-01 -9.02678340e-02 -3.64988653e-02 5.77029809e+02] [ 9.02401867e-02 9.95917121e-01 -2.40752901e-03 3.27055007e+01] [ 3.65671673e-02 -8.97574811e-04 9.99330794e-01 2.10685203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.519254154 meters Centerline goodness : 0.999011 with order 1 Centerline is valid? [True, True] Translation: X:577.09, Y:32.71, Z:21.07 [[ 9.95078121e-01 -9.21268304e-02 -3.64990334e-02 5.77091820e+02] [ 9.21005257e-02 9.95746810e-01 -2.40497795e-03 3.27076307e+01] [ 3.65653590e-02 -9.68439219e-04 9.99330794e-01 2.10708211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.579254154 meters Centerline goodness : 0.999034 with order 1 Centerline is valid? [True, True] Translation: X:577.15, Y:32.71, Z:21.07 [[ 9.94713930e-01 -9.59791989e-02 -3.64991999e-02 5.77153669e+02] [ 9.59555763e-02 9.95382718e-01 -2.40244817e-03 3.27077665e+01] [ 3.65612578e-02 -1.11255310e-03 9.99330794e-01 2.10722399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.639254154 meters Centerline goodness : 0.999098 with order 1 Centerline is valid? [True, True] Translation: X:577.22, Y:32.71, Z:21.07 [[ 9.94304183e-01 -1.00134845e-01 -3.64993797e-02 5.77215093e+02] [ 1.00114118e-01 9.94973067e-01 -2.39971325e-03 3.27077321e+01] [ 3.65561947e-02 -1.26805828e-03 9.99330794e-01 2.10739618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.699254154 meters Centerline goodness : 0.999100 with order 1 Centerline is valid? [True, True] Translation: X:577.28, Y:32.71, Z:21.08 [[ 9.94186347e-01 -1.01298042e-01 -3.64995125e-02 5.77276815e+02] [ 1.01278171e-01 9.94855257e-01 -2.39769105e-03 3.27093030e+01] [ 3.65546133e-02 -1.31285218e-03 9.99330794e-01 2.10763521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.759254154 meters Centerline goodness : 0.998974 with order 1 Centerline is valid? [True, True] Translation: X:577.34, Y:32.71, Z:21.08 [[ 9.94247463e-01 -1.00696354e-01 -3.64996896e-02 5.77338428e+02] [ 1.00676177e-01 9.94916364e-01 -2.39499233e-03 3.27097370e+01] [ 3.65553055e-02 -1.29343416e-03 9.99330794e-01 2.10783372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.819254154 meters Centerline goodness : 0.999373 with order 1 Centerline is valid? [True, True] Translation: X:577.40, Y:32.71, Z:21.08 [[ 9.94393407e-01 -9.92446636e-02 -3.64999796e-02 5.77400639e+02] [ 9.92236727e-02 9.95062283e-01 -2.39056486e-03 3.27127267e+01] [ 3.65570038e-02 -1.24450009e-03 9.99330794e-01 2.10809431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.879254154 meters Centerline goodness : 0.999081 with order 1 Centerline is valid? [True, True] Translation: X:577.46, Y:32.71, Z:21.08 [[ 9.94649715e-01 -9.66420371e-02 -3.65001630e-02 5.77462224e+02] [ 9.66193986e-02 9.95318537e-01 -2.38776173e-03 3.27139689e+01] [ 3.65600470e-02 -1.15163727e-03 9.99330794e-01 2.10800923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.939254154 meters Centerline goodness : 0.999268 with order 1 Centerline is valid? [True, True] Translation: X:577.52, Y:32.72, Z:21.08 [[ 9.94770361e-01 -9.53921226e-02 -3.65002980e-02 5.77523564e+02] [ 9.53687195e-02 9.95439157e-01 -2.38569489e-03 3.27164571e+01] [ 3.65614024e-02 -1.10776812e-03 9.99330794e-01 2.10831036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.999254154 meters Centerline goodness : 0.999267 with order 1 Centerline is valid? [True, True] Translation: X:577.59, Y:32.72, Z:21.09 [[ 9.95156619e-01 -9.12744298e-02 -3.65004280e-02 5.77585225e+02] [ 9.12483320e-02 9.95825316e-01 -2.38370521e-03 3.27184014e+01] [ 3.65656216e-02 -9.58443148e-04 9.99330794e-01 2.10851739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.059254154 meters Centerline goodness : 0.999161 with order 1 Centerline is valid? [True, True] Translation: X:577.65, Y:32.72, Z:21.09 [[ 9.95465916e-01 -8.78368695e-02 -3.65005984e-02 5.77646613e+02] [ 8.78085581e-02 9.96134523e-01 -2.38109237e-03 3.27212587e+01] [ 3.65686539e-02 -8.34768616e-04 9.99330794e-01 2.10874705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.119254154 meters Centerline goodness : 0.999059 with order 1 Centerline is valid? [True, True] Translation: X:577.71, Y:32.72, Z:21.09 [[ 9.95521011e-01 -8.72101827e-02 -3.65006873e-02 5.77706887e+02] [ 8.71815003e-02 9.96189602e-01 -2.37972980e-03 3.27220626e+01] [ 3.65691418e-02 -8.13113661e-04 9.99330794e-01 2.10897701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.179254154 meters Centerline goodness : 0.999018 with order 1 Centerline is valid? [True, True] Translation: X:577.77, Y:32.72, Z:21.09 [[ 9.95279437e-01 -8.99251864e-02 -3.65007310e-02 5.77768679e+02] [ 8.98983523e-02 9.95948104e-01 -2.37905950e-03 3.27227864e+01] [ 3.65667712e-02 -9.13526576e-04 9.99330794e-01 2.10915413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.239254154 meters Centerline goodness : 0.999227 with order 1 Centerline is valid? [True, True] Translation: X:577.83, Y:32.72, Z:21.09 [[ 9.94408916e-01 -9.90888434e-02 -3.65008187e-02 5.77830012e+02] [ 9.90682190e-02 9.95077803e-01 -2.37771214e-03 3.27214513e+01] [ 3.65567593e-02 -1.25165295e-03 9.99330794e-01 2.10948735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.299254154 meters Centerline goodness : 0.999103 with order 1 Centerline is valid? [True, True] Translation: X:577.89, Y:32.72, Z:21.10 [[ 9.94020069e-01 -1.02916402e-01 -3.65009064e-02 5.77890736e+02] [ 1.02898402e-01 9.94689033e-01 -2.37636492e-03 3.27232827e+01] [ 3.65516182e-02 -1.39373053e-03 9.99330794e-01 2.10972272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.359254154 meters Centerline goodness : 0.998897 with order 1 Centerline is valid? [True, True] Translation: X:577.95, Y:32.72, Z:21.10 [[ 9.92694765e-01 -1.14999031e-01 -3.65010366e-02 5.77952808e+02] [ 1.14989242e-01 9.93363899e-01 -2.37436411e-03 3.27216896e+01] [ 3.65318616e-02 -1.84020772e-03 9.99330794e-01 2.10982193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.419254154 meters Centerline goodness : 0.999084 with order 1 Centerline is valid? [True, True] Translation: X:578.01, Y:32.72, Z:21.10 [[ 9.91987252e-01 -1.20950236e-01 -3.65011215e-02 5.78014861e+02] [ 1.20944508e-01 9.92656433e-01 -2.37305725e-03 3.27226003e+01] [ 3.65200950e-02 -2.06056766e-03 9.99330794e-01 2.11004038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.4792541539999 meters Centerline goodness : 0.998898 with order 1 Centerline is valid? [True, True] Translation: X:578.08, Y:32.72, Z:21.10 [[ 9.91563248e-01 -1.24378376e-01 -3.65012976e-02 5.78076620e+02] [ 1.24375061e-01 9.92232445e-01 -2.37034694e-03 3.27242267e+01] [ 3.65125916e-02 -2.18950220e-03 9.99330794e-01 2.11032198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.539254154 meters Centerline goodness : 0.998938 with order 1 Centerline is valid? [True, True] Translation: X:578.14, Y:32.73, Z:21.10 [[ 9.91742500e-01 -1.22940866e-01 -3.65014710e-02 5.78138811e+02] [ 1.22936679e-01 9.92411692e-01 -2.36767335e-03 3.27270500e+01] [ 3.65155704e-02 -2.13924733e-03 9.99330794e-01 2.11046228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.5992541539999 meters Centerline goodness : 0.999085 with order 1 Centerline is valid? [True, True] Translation: X:578.20, Y:32.73, Z:21.11 [[ 9.92338934e-01 -1.18029952e-01 -3.65016443e-02 5.78199556e+02] [ 1.18022550e-01 9.93008099e-01 -2.36499830e-03 3.27312608e+01] [ 3.65255690e-02 -1.96113726e-03 9.99330794e-01 2.11062613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.659254154 meters Centerline goodness : 0.999064 with order 1 Centerline is valid? [True, True] Translation: X:578.26, Y:32.74, Z:21.11 [[ 9.93197423e-01 -1.10573499e-01 -3.65017721e-02 5.78261860e+02] [ 1.10561144e-01 9.93866515e-01 -2.36302415e-03 3.27379389e+01] [ 3.65391769e-02 -1.68872819e-03 9.99330794e-01 2.11078322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.7192541539999 meters Centerline goodness : 0.999335 with order 1 Centerline is valid? [True, True] Translation: X:578.32, Y:32.75, Z:21.11 [[ 9.94039458e-01 -1.02728588e-01 -3.65019489e-02 5.78322483e+02] [ 1.02711051e-01 9.94708434e-01 -2.36029055e-03 3.27455371e+01] [ 3.65512657e-02 -1.40293160e-03 9.99330794e-01 2.11096782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.779254154 meters Centerline goodness : 0.999103 with order 1 Centerline is valid? [True, True] Translation: X:578.38, Y:32.75, Z:21.11 [[ 9.94466893e-01 -9.85047537e-02 -3.65022240e-02 5.78384725e+02] [ 9.84845313e-02 9.95135793e-01 -2.35602824e-03 3.27513833e+01] [ 3.65567496e-02 -1.25191234e-03 9.99330794e-01 2.11120230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.839254154 meters Centerline goodness : 0.998935 with order 1 Centerline is valid? [True, True] Translation: X:578.45, Y:32.76, Z:21.11 [[ 9.95093534e-01 -9.19588664e-02 -3.65023968e-02 5.78445178e+02] [ 9.19343413e-02 9.95762290e-01 -2.35334678e-03 3.27602224e+01] [ 3.65641214e-02 -1.01402364e-03 9.99330794e-01 2.11137837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.899254154 meters Centerline goodness : 0.998978 with order 1 Centerline is valid? [True, True] Translation: X:578.51, Y:32.77, Z:21.12 [[ 9.95627011e-01 -8.59908322e-02 -3.65024825e-02 5.78505522e+02] [ 8.59623465e-02 9.96295610e-01 -2.35201694e-03 3.27682842e+01] [ 3.65695150e-02 -7.96107451e-04 9.99330794e-01 2.11158244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.959254154 meters Centerline goodness : 0.998935 with order 1 Centerline is valid? [True, True] Translation: X:578.57, Y:32.77, Z:21.12 [[ 9.95907989e-01 -8.26731336e-02 -3.65024825e-02 5.78565117e+02] [ 8.26424205e-02 9.96576489e-01 -2.35201694e-03 3.27743164e+01] [ 3.65719645e-02 -6.74261046e-04 9.99330794e-01 2.11169887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.019254154 meters Centerline goodness : 0.996069 with order 1 Centerline is valid? [True, True] Translation: X:578.62, Y:32.78, Z:21.12 [[ 9.95922703e-01 -8.24956631e-02 -3.65025245e-02 5.78624439e+02] [ 8.24648547e-02 9.96591199e-01 -2.35136571e-03 3.27835228e+01] [ 3.65720721e-02 -6.68396882e-04 9.99330794e-01 2.11234478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.079254154 meters Centerline goodness : 0.998894 with order 1 Centerline is valid? [True, True] Translation: X:578.68, Y:32.79, Z:21.12 [[ 9.96042331e-01 -8.10385412e-02 -3.65024709e-02 5.78683189e+02] [ 8.10067244e-02 9.96710779e-01 -2.35219679e-03 3.27852810e+01] [ 3.65730248e-02 -6.14058034e-04 9.99330794e-01 2.11212480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.139254154 meters Centerline goodness : 0.999059 with order 1 Centerline is valid? [True, True] Translation: X:578.74, Y:32.79, Z:21.13 [[ 9.95747851e-01 -8.45801318e-02 -3.65023099e-02 5.78743143e+02] [ 8.45506009e-02 9.96416405e-01 -2.35469246e-03 3.27882828e+01] [ 3.65706606e-02 -7.41612279e-04 9.99330794e-01 2.11262767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.199254154 meters Centerline goodness : 0.998955 with order 1 Centerline is valid? [True, True] Translation: X:578.80, Y:32.79, Z:21.13 [[ 9.95166521e-01 -9.11656562e-02 -3.65023099e-02 5.78804599e+02] [ 9.11405488e-02 9.95835255e-01 -2.35469246e-03 3.27905880e+01] [ 3.65649542e-02 -9.83529451e-04 9.99330794e-01 2.11292414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.259254154 meters Centerline goodness : 0.999144 with order 1 Centerline is valid? [True, True] Translation: X:578.87, Y:32.79, Z:21.13 [[ 9.94649899e-01 -9.66393001e-02 -3.65023970e-02 5.78865372e+02] [ 9.66179216e-02 9.95318763e-01 -2.35334138e-03 3.27931657e+01] [ 3.65589459e-02 -1.18603497e-03 9.99330794e-01 2.11303327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.319254154 meters Centerline goodness : 0.998998 with order 1 Centerline is valid? [True, True] Translation: X:578.93, Y:32.80, Z:21.13 [[ 9.93859440e-01 -1.04455664e-01 -3.65024399e-02 5.78926688e+02] [ 1.04439569e-01 9.94528452e-01 -2.35267657e-03 3.27952561e+01] [ 3.65484654e-02 -1.47406928e-03 9.99330794e-01 2.11317188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.379254154 meters Centerline goodness : 0.998873 with order 1 Centerline is valid? [True, True] Translation: X:578.99, Y:32.80, Z:21.13 [[ 9.93147337e-01 -1.11022221e-01 -3.65025236e-02 5.78989225e+02] [ 1.11010596e-01 9.93816441e-01 -2.35137690e-03 3.27978289e+01] [ 3.65378632e-02 -1.71690319e-03 9.99330794e-01 2.11344641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.439254154 meters Centerline goodness : 0.998852 with order 1 Centerline is valid? [True, True] Translation: X:579.05, Y:32.80, Z:21.14 [[ 9.92678124e-01 -1.15142062e-01 -3.65026959e-02 5.79051612e+02] [ 1.15133312e-01 9.93347273e-01 -2.34869917e-03 3.28012247e+01] [ 3.65302875e-02 -1.87117397e-03 9.99330794e-01 2.11371365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.499254154 meters Centerline goodness : 0.998873 with order 1 Centerline is valid? [True, True] Translation: X:579.11, Y:32.81, Z:21.14 [[ 9.92025622e-01 -1.20634598e-01 -3.65028725e-02 5.79113074e+02] [ 1.20629652e-01 9.92694809e-01 -2.34595131e-03 3.28051065e+01] [ 3.65192149e-02 -2.07608500e-03 9.99330794e-01 2.11378851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.559254154 meters Centerline goodness : 0.999000 with order 1 Centerline is valid? [True, True] Translation: X:579.18, Y:32.81, Z:21.14 [[ 9.91511774e-01 -1.24787551e-01 -3.65030030e-02 5.79175065e+02] [ 1.24785481e-01 9.92180976e-01 -2.34391833e-03 3.28101886e+01] [ 3.65100770e-02 -2.23102217e-03 9.99330794e-01 2.11405701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.619254154 meters Centerline goodness : 0.998997 with order 1 Centerline is valid? [True, True] Translation: X:579.24, Y:32.82, Z:21.14 [[ 9.91248254e-01 -1.26863777e-01 -3.65031717e-02 5.79237119e+02] [ 1.26863206e-01 9.91917459e-01 -2.34128873e-03 3.28154206e+01] [ 3.65051581e-02 -2.31011102e-03 9.99330794e-01 2.11430401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.679254154 meters Centerline goodness : 0.998977 with order 1 Centerline is valid? [True, True] Translation: X:579.30, Y:32.82, Z:21.14 [[ 9.91123352e-01 -1.27835862e-01 -3.65033421e-02 5.79297644e+02] [ 1.27836044e-01 9.91792557e-01 -2.33862957e-03 3.28223384e+01] [ 3.65027037e-02 -2.34857246e-03 9.99330794e-01 2.11447474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.739254154 meters Centerline goodness : 0.998855 with order 1 Centerline is valid? [True, True] Translation: X:579.36, Y:32.83, Z:21.15 [[ 9.91496273e-01 -1.24910519e-01 -3.65034678e-02 5.79359158e+02] [ 1.24908799e-01 9.92165476e-01 -2.33666532e-03 3.28295957e+01] [ 3.65093546e-02 -2.24280936e-03 9.99330795e-01 2.11496326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.799254154 meters Centerline goodness : 0.998806 with order 1 Centerline is valid? [True, True] Translation: X:579.42, Y:32.84, Z:21.15 [[ 9.91976537e-01 -1.21037326e-01 -3.65036447e-02 5.79420035e+02] [ 1.21033093e-01 9.92645729e-01 -2.33389874e-03 3.28386896e+01] [ 3.65176759e-02 -2.10297624e-03 9.99330795e-01 2.11512114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.859254154 meters Centerline goodness : 0.998785 with order 1 Centerline is valid? [True, True] Translation: X:579.48, Y:32.85, Z:21.15 [[ 9.92661228e-01 -1.15287301e-01 -3.65037747e-02 5.79481150e+02] [ 1.15279266e-01 9.93330385e-01 -2.33186395e-03 3.28462122e+01] [ 3.65291428e-02 -1.89337741e-03 9.99330795e-01 2.11515194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.919254154 meters Centerline goodness : 0.998676 with order 1 Centerline is valid? [True, True] Translation: X:579.54, Y:32.86, Z:21.16 [[ 9.93990213e-01 -1.03203301e-01 -3.65039023e-02 5.79542640e+02] [ 1.03187199e-01 9.94659225e-01 -2.32986492e-03 3.28567167e+01] [ 3.65493929e-02 -1.45087250e-03 9.99330795e-01 2.11568014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.9792541539999 meters Centerline goodness : 0.998801 with order 1 Centerline is valid? [True, True] Translation: X:579.60, Y:32.87, Z:21.16 [[ 9.95326297e-01 -8.94036673e-02 -3.65040753e-02 5.79602842e+02] [ 8.93783854e-02 9.95995024e-01 -2.32715056e-03 3.28671769e+01] [ 3.65659332e-02 -9.46401161e-04 9.99330795e-01 2.11605202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.039254154 meters Centerline goodness : 0.998863 with order 1 Centerline is valid? [True, True] Translation: X:579.66, Y:32.87, Z:21.16 [[ 9.96038230e-01 -8.10881502e-02 -3.65042026e-02 5.79664282e+02] [ 8.10573575e-02 9.96706726e-01 -2.32515152e-03 3.28740598e+01] [ 3.65725265e-02 -6.42994405e-04 9.99330795e-01 2.11634984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.0992541539999 meters Centerline goodness : 0.998923 with order 1 Centerline is valid? [True, True] Translation: X:579.73, Y:32.88, Z:21.17 [[ 9.96647643e-01 -7.32182159e-02 -3.65043696e-02 5.79725622e+02] [ 7.31822400e-02 9.97315881e-01 -2.32252765e-03 3.28800231e+01] [ 3.65764388e-02 -3.56729830e-04 9.99330795e-01 2.11657305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.159254154 meters Centerline goodness : 0.998946 with order 1 Centerline is valid? [True, True] Translation: X:579.79, Y:32.88, Z:21.17 [[ 9.96795187e-01 -7.11813157e-02 -3.65044533e-02 5.79787239e+02] [ 7.11440226e-02 9.97463353e-01 -2.32121056e-03 3.28844362e+01] [ 3.65770812e-02 -2.83302135e-04 9.99330795e-01 2.11680953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.2192541539999 meters Centerline goodness : 0.999050 with order 1 Centerline is valid? [True, True] Translation: X:579.85, Y:32.89, Z:21.17 [[ 9.96780661e-01 -7.13843954e-02 -3.65045401e-02 5.79847358e+02] [ 7.13472884e-02 9.97448837e-01 -2.31984516e-03 3.28873651e+01] [ 3.65770118e-02 -2.92123161e-04 9.99330795e-01 2.11691078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.279254154 meters Centerline goodness : 0.999114 with order 1 Centerline is valid? [True, True] Translation: X:579.91, Y:32.89, Z:21.17 [[ 9.96479638e-01 -7.54701915e-02 -3.65045401e-02 5.79907646e+02] [ 7.54358241e-02 9.97147960e-01 -2.31984516e-03 3.28888122e+01] [ 3.65755069e-02 -4.42071603e-04 9.99330795e-01 2.11726240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.339254154 meters Centerline goodness : 0.999243 with order 1 Centerline is valid? [True, True] Translation: X:579.97, Y:32.89, Z:21.18 [[ 9.96228756e-01 -7.87126750e-02 -3.65045401e-02 5.79969352e+02] [ 7.86804827e-02 9.96897186e-01 -2.31984516e-03 3.28898639e+01] [ 3.65738745e-02 -5.61098382e-04 9.99330795e-01 2.11750427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.399254154 meters Centerline goodness : 0.998990 with order 1 Centerline is valid? [True, True] Translation: X:580.03, Y:32.89, Z:21.18 [[ 9.95924174e-01 -8.24769791e-02 -3.65046261e-02 5.80030446e+02] [ 8.24473627e-02 9.96592724e-01 -2.31849075e-03 3.28900073e+01] [ 3.65714669e-02 -7.00669163e-04 9.99330795e-01 2.11769457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.459254154 meters Centerline goodness : 0.998991 with order 1 Centerline is valid? [True, True] Translation: X:580.09, Y:32.89, Z:21.18 [[ 9.95808605e-01 -8.38607620e-02 -3.65047108e-02 5.80092215e+02] [ 8.38321235e-02 9.96477198e-01 -2.31715597e-03 3.28900512e+01] [ 3.65704304e-02 -7.52823569e-04 9.99330795e-01 2.11786687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.519254154 meters Centerline goodness : 0.998952 with order 1 Centerline is valid? [True, True] Translation: X:580.15, Y:32.89, Z:21.18 [[ 9.95728203e-01 -8.48100563e-02 -3.65047952e-02 5.80153521e+02] [ 8.47821040e-02 9.96396824e-01 -2.31582548e-03 3.28889059e+01] [ 3.65696673e-02 -7.89020602e-04 9.99330795e-01 2.11814151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.579254154 meters Centerline goodness : 0.999306 with order 1 Centerline is valid? [True, True] Translation: X:580.22, Y:32.89, Z:21.18 [[ 9.95537658e-01 -8.70181840e-02 -3.65048809e-02 5.80215216e+02] [ 8.69917641e-02 9.96206342e-01 -2.31447489e-03 3.28882800e+01] [ 3.65677952e-02 -8.71477067e-04 9.99330795e-01 2.11843987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.639254154 meters Centerline goodness : 0.999349 with order 1 Centerline is valid? [True, True] Translation: X:580.28, Y:32.89, Z:21.19 [[ 9.95419944e-01 -8.83545243e-02 -3.65049658e-02 5.80276193e+02] [ 8.83290512e-02 9.96088665e-01 -2.31313450e-03 3.28870838e+01] [ 3.65665585e-02 -9.21908783e-04 9.99330795e-01 2.11855530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.699254154 meters Centerline goodness : 0.999329 with order 1 Centerline is valid? [True, True] Translation: X:580.34, Y:32.89, Z:21.19 [[ 9.95504136e-01 -8.74007956e-02 -3.65050076e-02 5.80337813e+02] [ 8.73747060e-02 9.96172833e-01 -2.31247514e-03 3.28872809e+01] [ 3.65674090e-02 -8.87535742e-04 9.99330795e-01 2.11878342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.759254154 meters Centerline goodness : 0.999202 with order 1 Centerline is valid? [True, True] Translation: X:580.40, Y:32.89, Z:21.19 [[ 9.96001562e-01 -8.15369021e-02 -3.65050918e-02 5.80397293e+02] [ 8.15069239e-02 9.96670096e-01 -2.31114463e-03 3.28864997e+01] [ 3.65719769e-02 -6.73514076e-04 9.99330795e-01 2.11895274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.819254154 meters Centerline goodness : 0.998970 with order 1 Centerline is valid? [True, True] Translation: X:580.46, Y:32.89, Z:21.19 [[ 9.96418992e-01 -7.62664594e-02 -3.65050504e-02 5.80458180e+02] [ 7.62329208e-02 9.97087357e-01 -2.31179870e-03 3.28878275e+01] [ 3.65750369e-02 -4.79366486e-04 9.99330795e-01 2.11915870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.879254154 meters Centerline goodness : 0.999224 with order 1 Centerline is valid? [True, True] Translation: X:580.52, Y:32.89, Z:21.19 [[ 9.96896107e-01 -6.97533669e-02 -3.65050504e-02 5.80517504e+02] [ 6.97154613e-02 9.97564239e-01 -2.31179870e-03 3.28870890e+01] [ 3.65773885e-02 -2.40343304e-04 9.99330795e-01 2.11931183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.939254154 meters Centerline goodness : 0.998953 with order 1 Centerline is valid? [True, True] Translation: X:580.58, Y:32.88, Z:21.19 [[ 9.97101289e-01 -6.67563242e-02 -3.65049683e-02 5.80576916e+02] [ 6.67163629e-02 9.97769300e-01 -2.31309363e-03 3.28849122e+01] [ 3.65779503e-02 -1.29090072e-04 9.99330795e-01 2.11949546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.999254154 meters Centerline goodness : 0.999268 with order 1 Centerline is valid? [True, True] Translation: X:580.63, Y:32.88, Z:21.20 [[ 9.96901469e-01 -6.96770568e-02 -3.65043683e-02 5.80634311e+02] [ 6.96387073e-02 9.97569575e-01 -2.32252542e-03 3.28821379e+01] [ 3.65774739e-02 -2.26788017e-04 9.99330795e-01 2.11969761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.059254154 meters Centerline goodness : 0.999331 with order 1 Centerline is valid? [True, True] Translation: X:580.69, Y:32.88, Z:21.20 [[ 9.96499416e-01 -7.52088219e-02 -3.65040736e-02 5.80693108e+02] [ 7.51740117e-02 9.97167715e-01 -2.32714788e-03 3.28804505e+01] [ 3.65757057e-02 -4.25156155e-04 9.99330795e-01 2.12007801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.119254154 meters Centerline goodness : 0.999290 with order 1 Centerline is valid? [True, True] Translation: X:580.75, Y:32.88, Z:21.20 [[ 9.95522384e-01 -8.71933517e-02 -3.65034630e-02 5.80751180e+02] [ 8.71662355e-02 9.96191040e-01 -2.33668695e-03 3.28759353e+01] [ 3.65681663e-02 -8.55645284e-04 9.99330795e-01 2.12035908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.179254154 meters Centerline goodness : 0.999312 with order 1 Centerline is valid? [True, True] Translation: X:580.81, Y:32.87, Z:21.21 [[ 9.94194782e-01 -1.01214053e-01 -3.65027568e-02 5.80809800e+02] [ 1.01195960e-01 9.94863743e-01 -2.34766596e-03 3.28722760e+01] [ 3.65528861e-02 -1.35989428e-03 9.99330795e-01 2.12055790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.239254154 meters Centerline goodness : 0.999478 with order 1 Centerline is valid? [True, True] Translation: X:580.87, Y:32.87, Z:21.21 [[ 9.93243983e-01 -1.10154364e-01 -3.65021407e-02 5.80868951e+02] [ 1.10141940e-01 9.93913073e-01 -2.35720694e-03 3.28712544e+01] [ 3.65396115e-02 -1.67913498e-03 9.99330795e-01 2.12079074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.299254154 meters Centerline goodness : 0.999395 with order 1 Centerline is valid? [True, True] Translation: X:580.93, Y:32.87, Z:21.21 [[ 9.91960754e-01 -1.21167022e-01 -3.65022706e-02 5.80929974e+02] [ 1.21162096e-01 9.92629941e-01 -2.35519343e-03 3.28695395e+01] [ 3.65186185e-02 -2.08643216e-03 9.99330795e-01 2.12109958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.359254154 meters Centerline goodness : 0.999397 with order 1 Centerline is valid? [True, True] Translation: X:580.99, Y:32.87, Z:21.21 [[ 9.91088755e-01 -1.28104112e-01 -3.65022706e-02 5.80989505e+02] [ 1.28103868e-01 9.91757960e-01 -2.35519343e-03 3.28689360e+01] [ 3.65031274e-02 -2.34187634e-03 9.99330795e-01 2.12127480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.419254154 meters Centerline goodness : 0.999479 with order 1 Centerline is valid? [True, True] Translation: X:581.05, Y:32.87, Z:21.22 [[ 9.90777445e-01 -1.30490005e-01 -3.65022282e-02 5.81050204e+02] [ 1.30491348e-01 9.91446649e-01 -2.35585161e-03 3.28714379e+01] [ 3.64974269e-02 -2.42910031e-03 9.99330795e-01 2.12153809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.4792541539999 meters Centerline goodness : 0.999415 with order 1 Centerline is valid? [True, True] Translation: X:581.11, Y:32.87, Z:21.22 [[ 9.90688030e-01 -1.31167124e-01 -3.65022282e-02 5.81110131e+02] [ 1.31168925e-01 9.91357233e-01 -2.35585161e-03 3.28747292e+01] [ 3.64957582e-02 -2.45404403e-03 9.99330795e-01 2.12168450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.539254154 meters Centerline goodness : 0.999312 with order 1 Centerline is valid? [True, True] Translation: X:581.17, Y:32.88, Z:21.22 [[ 9.91002024e-01 -1.28773353e-01 -3.65022282e-02 5.81170714e+02] [ 1.28773536e-01 9.91671229e-01 -2.35585161e-03 3.28804531e+01] [ 3.65015804e-02 -2.36586729e-03 9.99330795e-01 2.12184974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.5992541539999 meters Centerline goodness : 0.999332 with order 1 Centerline is valid? [True, True] Translation: X:581.23, Y:32.89, Z:21.22 [[ 9.91312921e-01 -1.26357743e-01 -3.65022282e-02 5.81232085e+02] [ 1.26356296e-01 9.91982125e-01 -2.35585161e-03 3.28864328e+01] [ 3.65072379e-02 -2.27690021e-03 9.99330795e-01 2.12213182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.659254154 meters Centerline goodness : 0.999396 with order 1 Centerline is valid? [True, True] Translation: X:581.29, Y:32.89, Z:21.22 [[ 9.91550831e-01 -1.24477029e-01 -3.65023177e-02 5.81293227e+02] [ 1.24474363e-01 9.92220031e-01 -2.35446325e-03 3.28944802e+01] [ 3.65114074e-02 -2.20903274e-03 9.99330795e-01 2.12230428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.7192541539999 meters Centerline goodness : 0.999479 with order 1 Centerline is valid? [True, True] Translation: X:581.35, Y:32.90, Z:21.23 [[ 9.91649684e-01 -1.23687016e-01 -3.65024061e-02 5.81353866e+02] [ 1.23683868e-01 9.92318882e-01 -2.35309220e-03 3.29028516e+01] [ 3.65130738e-02 -2.18131563e-03 9.99330795e-01 2.12252557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.779254154 meters Centerline goodness : 0.999313 with order 1 Centerline is valid? [True, True] Translation: X:581.41, Y:32.91, Z:21.23 [[ 9.91655533e-01 -1.23640086e-01 -3.65024936e-02 5.81413416e+02] [ 1.23636956e-01 9.92324731e-01 -2.35173462e-03 3.29097433e+01] [ 3.65130958e-02 -2.18094653e-03 9.99330795e-01 2.12279132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.839254154 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:581.48, Y:32.92, Z:21.23 [[ 9.91695685e-01 -1.23317610e-01 -3.65025366e-02 5.81475236e+02] [ 1.23314286e-01 9.92364882e-01 -2.35106702e-03 3.29186855e+01] [ 3.65137633e-02 -2.16974121e-03 9.99330795e-01 2.12306711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.899254154 meters Centerline goodness : 0.999250 with order 1 Centerline is valid? [True, True] Translation: X:581.54, Y:32.93, Z:21.23 [[ 9.91937728e-01 -1.21355247e-01 -3.65027153e-02 5.81536862e+02] [ 1.21350701e-01 9.92606918e-01 -2.34828813e-03 3.29271449e+01] [ 3.65178248e-02 -2.10027449e-03 9.99330795e-01 2.12318585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.959254154 meters Centerline goodness : 0.999334 with order 1 Centerline is valid? [True, True] Translation: X:581.60, Y:32.93, Z:21.23 [[ 9.92217975e-01 -1.19042131e-01 -3.65028906e-02 5.81596949e+02] [ 1.19036125e-01 9.92887153e-01 -2.34555987e-03 3.29348781e+01] [ 3.65224716e-02 -2.01785598e-03 9.99330795e-01 2.12337462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.019254154 meters Centerline goodness : 0.999103 with order 1 Centerline is valid? [True, True] Translation: X:581.66, Y:32.94, Z:21.23 [[ 9.93636259e-01 -1.06557596e-01 -3.65029336e-02 5.81658312e+02] [ 1.06543201e-01 9.94305309e-01 -2.34489075e-03 3.29356731e+01] [ 3.65449266e-02 -1.55917093e-03 9.99330795e-01 2.12303705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.079254154 meters Centerline goodness : 0.999249 with order 1 Centerline is valid? [True, True] Translation: X:581.72, Y:32.95, Z:21.24 [[ 9.93405498e-01 -1.08687836e-01 -3.65030229e-02 5.81718125e+02] [ 1.08674927e-01 9.94074579e-01 -2.34350020e-03 3.29512314e+01] [ 3.65414371e-02 -1.63891737e-03 9.99330795e-01 2.12385302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.139254154 meters Centerline goodness : 0.999208 with order 1 Centerline is valid? [True, True] Translation: X:581.78, Y:32.96, Z:21.24 [[ 9.93871875e-01 -1.04336972e-01 -3.65033185e-02 5.81779364e+02] [ 1.04321302e-01 9.94540897e-01 -2.33888584e-03 3.29583483e+01] [ 3.65480754e-02 -1.48352087e-03 9.99330795e-01 2.12407512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.199254154 meters Centerline goodness : 0.999165 with order 1 Centerline is valid? [True, True] Translation: X:581.84, Y:32.97, Z:21.24 [[ 9.94475503e-01 -9.84173549e-02 -3.65034039e-02 5.81841211e+02] [ 9.83977511e-02 9.95144421e-01 -2.33755297e-03 3.29682517e+01] [ 3.65562145e-02 -1.26721368e-03 9.99330795e-01 2.12439818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.259254154 meters Centerline goodness : 0.999269 with order 1 Centerline is valid? [True, True] Translation: X:581.90, Y:32.98, Z:21.25 [[ 9.94776005e-01 -9.53319896e-02 -3.65035809e-02 5.81902368e+02] [ 9.53104124e-02 9.95444862e-01 -2.33478517e-03 3.29753908e+01] [ 3.65598818e-02 -1.15658309e-03 9.99330795e-01 2.12456649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.319254154 meters Centerline goodness : 0.999250 with order 1 Centerline is valid? [True, True] Translation: X:581.96, Y:32.98, Z:21.25 [[ 9.95023693e-01 -9.27110200e-02 -3.65036680e-02 5.81963418e+02] [ 9.26877307e-02 9.95692493e-01 -2.33342368e-03 3.29827602e+01] [ 3.65627622e-02 -1.06163030e-03 9.99330795e-01 2.12470786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.379254154 meters Centerline goodness : 0.999230 with order 1 Centerline is valid? [True, True] Translation: X:582.02, Y:32.99, Z:21.25 [[ 9.95097186e-01 -9.19188007e-02 -3.65037543e-02 5.82023896e+02] [ 9.18950285e-02 9.95765969e-01 -2.33207241e-03 3.29880844e+01] [ 3.65635576e-02 -1.03387485e-03 9.99330795e-01 2.12481762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.439254154 meters Centerline goodness : 0.999123 with order 1 Centerline is valid? [True, True] Translation: X:582.09, Y:33.00, Z:21.25 [[ 9.95285967e-01 -8.98515956e-02 -3.65038915e-02 5.82085335e+02] [ 8.98265131e-02 9.95954702e-01 -2.32992223e-03 3.29953102e+01] [ 3.65655696e-02 -9.60078388e-04 9.99330795e-01 2.12503039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.499254154 meters Centerline goodness : 0.999375 with order 1 Centerline is valid? [True, True] Translation: X:582.14, Y:33.00, Z:21.25 [[ 9.95526728e-01 -8.71435287e-02 -3.65039748e-02 5.82144920e+02] [ 8.71166747e-02 9.96195394e-01 -2.32861706e-03 3.30000506e+01] [ 3.65680154e-02 -8.61904379e-04 9.99330795e-01 2.12515010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.559254154 meters Centerline goodness : 0.999144 with order 1 Centerline is valid? [True, True] Translation: X:582.21, Y:33.00, Z:21.25 [[ 9.95693272e-01 -8.52195233e-02 -3.65039863e-02 5.82205265e+02] [ 8.51913838e-02 9.96361885e-01 -2.32843621e-03 3.30047275e+01] [ 3.65696089e-02 -7.91416840e-04 9.99330795e-01 2.12540237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.619254154 meters Centerline goodness : 0.999249 with order 1 Centerline is valid? [True, True] Translation: X:582.27, Y:33.01, Z:21.26 [[ 9.95779759e-01 -8.42029112e-02 -3.65039863e-02 5.82266785e+02] [ 8.41740891e-02 9.96448343e-01 -2.32843621e-03 3.30094424e+01] [ 3.65703978e-02 -7.54080147e-04 9.99330795e-01 2.12574973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.679254154 meters Centerline goodness : 0.999249 with order 1 Centerline is valid? [True, True] Translation: X:582.33, Y:33.01, Z:21.26 [[ 9.95977422e-01 -8.18316993e-02 -3.65040706e-02 5.82326232e+02] [ 8.18013338e-02 9.96645938e-01 -2.32711424e-03 3.30134206e+01] [ 3.65720654e-02 -6.68328425e-04 9.99330795e-01 2.12582540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.739254154 meters Centerline goodness : 0.999124 with order 1 Centerline is valid? [True, True] Translation: X:582.39, Y:33.02, Z:21.26 [[ 9.96268456e-01 -7.82088240e-02 -3.65040291e-02 5.82386760e+02] [ 7.81760035e-02 9.96936856e-01 -2.32776500e-03 3.30176411e+01] [ 3.65742637e-02 -5.34660267e-04 9.99330795e-01 2.12611130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.799254154 meters Centerline goodness : 0.999373 with order 1 Centerline is valid? [True, True] Translation: X:582.45, Y:33.02, Z:21.26 [[ 9.96489931e-01 -7.53344104e-02 -3.65040291e-02 5.82446767e+02] [ 7.52996618e-02 9.97158233e-01 -2.32776500e-03 3.30216081e+01] [ 3.65756540e-02 -4.29146660e-04 9.99330795e-01 2.12644428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.859254154 meters Centerline goodness : 0.999226 with order 1 Centerline is valid? [True, True] Translation: X:582.51, Y:33.02, Z:21.27 [[ 9.96518170e-01 -7.49599414e-02 -3.65040291e-02 5.82506607e+02] [ 7.49249417e-02 9.97186459e-01 -2.32776500e-03 3.30248896e+01] [ 3.65758127e-02 -4.15402135e-04 9.99330795e-01 2.12666734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.919254154 meters Centerline goodness : 0.999080 with order 1 Centerline is valid? [True, True] Translation: X:582.57, Y:33.03, Z:21.27 [[ 9.96310709e-01 -7.76687386e-02 -3.65039451e-02 5.82565869e+02] [ 7.76355075e-02 9.96979089e-01 -2.32908142e-03 3.30264403e+01] [ 3.65745667e-02 -5.13513541e-04 9.99330795e-01 2.12677429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.9792541539999 meters Centerline goodness : 0.998994 with order 1 Centerline is valid? [True, True] Translation: X:582.63, Y:33.03, Z:21.27 [[ 9.95987320e-01 -8.17112441e-02 -3.65038617e-02 5.82625663e+02] [ 8.16806778e-02 9.96655826e-01 -2.33038761e-03 3.30283412e+01] [ 3.65722053e-02 -6.60623659e-04 9.99330795e-01 2.12706103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.039254154 meters Centerline goodness : 0.999038 with order 1 Centerline is valid? [True, True] Translation: X:582.69, Y:33.03, Z:21.27 [[ 9.95398433e-01 -8.85970291e-02 -3.65037789e-02 5.82685060e+02] [ 8.85710390e-02 9.96067133e-01 -2.33168480e-03 3.30285832e+01] [ 3.65667947e-02 -9.12222223e-04 9.99330795e-01 2.12716676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.0992541539999 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:582.75, Y:33.03, Z:21.28 [[ 9.94650154e-01 -9.66361490e-02 -3.65037883e-02 5.82745068e+02] [ 9.66155678e-02 9.95319042e-01 -2.33153737e-03 3.30291889e+01] [ 3.65582264e-02 -1.20777022e-03 9.99330795e-01 2.12754998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.159254154 meters Centerline goodness : 0.999123 with order 1 Centerline is valid? [True, True] Translation: X:582.81, Y:33.03, Z:21.28 [[ 9.93977659e-01 -1.03324184e-01 -3.65037883e-02 5.82806855e+02] [ 1.03308102e-01 9.94646671e-01 -2.33153738e-03 3.30302230e+01] [ 3.65492757e-02 -1.45364102e-03 9.99330795e-01 2.12783055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.2192541539999 meters Centerline goodness : 0.999148 with order 1 Centerline is valid? [True, True] Translation: X:582.87, Y:33.03, Z:21.28 [[ 9.93568477e-01 -1.07187449e-01 -3.65038742e-02 5.82867588e+02] [ 1.07174018e-01 9.94237547e-01 -2.33019063e-03 3.30329947e+01] [ 3.65432896e-02 -1.59706292e-03 9.99330795e-01 2.12807289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.279254154 meters Centerline goodness : 0.999232 with order 1 Centerline is valid? [True, True] Translation: X:582.93, Y:33.03, Z:21.28 [[ 9.92886230e-01 -1.13333097e-01 -3.65040090e-02 5.82929854e+02] [ 1.13323884e-01 9.93555372e-01 -2.32807770e-03 3.30348680e+01] [ 3.65326025e-02 -1.82525978e-03 9.99330795e-01 2.12837784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.339254154 meters Centerline goodness : 0.999188 with order 1 Centerline is valid? [True, True] Translation: X:582.99, Y:33.04, Z:21.29 [[ 9.92332614e-01 -1.18082290e-01 -3.65041843e-02 5.82991183e+02] [ 1.18076379e-01 9.93001793e-01 -2.32532578e-03 3.30375410e+01] [ 3.65233003e-02 -2.00278528e-03 9.99330795e-01 2.12855866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.399254154 meters Centerline goodness : 0.999147 with order 1 Centerline is valid? [True, True] Translation: X:583.05, Y:33.04, Z:21.29 [[ 9.91502439e-01 -1.24861314e-01 -3.65043138e-02 5.83052787e+02] [ 1.24860051e-01 9.92171643e-01 -2.32329073e-03 3.30419141e+01] [ 3.65086342e-02 -2.25438206e-03 9.99330795e-01 2.12878428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.459254154 meters Centerline goodness : 0.999083 with order 1 Centerline is valid? [True, True] Translation: X:583.11, Y:33.05, Z:21.29 [[ 9.90989119e-01 -1.28871988e-01 -3.65044843e-02 5.83114936e+02] [ 1.28873531e-01 9.91658322e-01 -2.32060912e-03 3.30463638e+01] [ 3.64990371e-02 -2.40476342e-03 9.99330795e-01 2.12901726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.519254154 meters Centerline goodness : 0.999127 with order 1 Centerline is valid? [True, True] Translation: X:583.18, Y:33.05, Z:21.29 [[ 9.90937661e-01 -1.29267020e-01 -3.65046573e-02 5.83176281e+02] [ 1.29268930e-01 9.91606863e-01 -2.31788430e-03 3.30530089e+01] [ 3.64978947e-02 -2.42203913e-03 9.99330795e-01 2.12923512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.579254154 meters Centerline goodness : 0.999292 with order 1 Centerline is valid? [True, True] Translation: X:583.24, Y:33.06, Z:21.30 [[ 9.91036824e-01 -1.28504518e-01 -3.65048271e-02 5.83238144e+02] [ 1.28506011e-01 9.91706027e-01 -2.31520642e-03 3.30597323e+01] [ 3.64995716e-02 -2.39663491e-03 9.99330795e-01 2.12951667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.639254154 meters Centerline goodness : 0.999082 with order 1 Centerline is valid? [True, True] Translation: X:583.30, Y:33.07, Z:21.30 [[ 9.91333851e-01 -1.26192634e-01 -3.65049928e-02 5.83300092e+02] [ 1.26192662e-01 9.92003056e-01 -2.31259216e-03 3.30689167e+01] [ 3.65048965e-02 -2.31411130e-03 9.99330795e-01 2.12979716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.699254154 meters Centerline goodness : 0.998957 with order 1 Centerline is valid? [True, True] Translation: X:583.36, Y:33.08, Z:21.30 [[ 9.91712643e-01 -1.23180383e-01 -3.65051618e-02 5.83361687e+02] [ 1.23178476e-01 9.92381846e-01 -2.30992089e-03 3.30763598e+01] [ 3.65115968e-02 -2.20587244e-03 9.99330795e-01 2.13010491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.759254154 meters Centerline goodness : 0.998895 with order 1 Centerline is valid? [True, True] Translation: X:583.42, Y:33.09, Z:21.31 [[ 9.92379787e-01 -1.17684828e-01 -3.65053334e-02 5.83422894e+02] [ 1.17679314e-01 9.93048970e-01 -2.30720495e-03 3.30884064e+01] [ 3.65231068e-02 -2.00629902e-03 9.99330795e-01 2.13060245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.819254154 meters Centerline goodness : 0.998704 with order 1 Centerline is valid? [True, True] Translation: X:583.48, Y:33.10, Z:21.31 [[ 9.93183456e-01 -1.10697652e-01 -3.65055033e-02 5.83483833e+02] [ 1.10687527e-01 9.93852585e-01 -2.30451456e-03 3.31005643e+01] [ 3.65361931e-02 -1.75189814e-03 9.99330795e-01 2.13088349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.879254154 meters Centerline goodness : 0.999017 with order 1 Centerline is valid? [True, True] Translation: X:583.55, Y:33.11, Z:21.31 [[ 9.93937218e-01 -1.03711787e-01 -3.65057836e-02 5.83545305e+02] [ 1.03697120e-01 9.94606262e-01 -2.30006494e-03 3.31121818e+01] [ 3.65474248e-02 -1.49942447e-03 9.99330795e-01 2.13103468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.939254154 meters Centerline goodness : 0.998851 with order 1 Centerline is valid? [True, True] Translation: X:583.61, Y:33.12, Z:21.31 [[ 9.94464390e-01 -9.85286399e-02 -3.65059476e-02 5.83607474e+02] [ 9.85105808e-02 9.95133351e-01 -2.29745884e-03 3.31210678e+01] [ 3.65546515e-02 -1.31148110e-03 9.99330795e-01 2.13122086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.999254154 meters Centerline goodness : 0.998780 with order 1 Centerline is valid? [True, True] Translation: X:583.67, Y:33.13, Z:21.32 [[ 9.94981601e-01 -9.31607053e-02 -3.65061099e-02 5.83669138e+02] [ 9.31391313e-02 9.95650459e-01 -2.29487735e-03 3.31291381e+01] [ 3.65611175e-02 -1.11678663e-03 9.99330795e-01 2.13160498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.059254154 meters Centerline goodness : 0.998674 with order 1 Centerline is valid? [True, True] Translation: X:583.73, Y:33.14, Z:21.32 [[ 9.95610894e-01 -8.61756327e-02 -3.65062818e-02 5.83730545e+02] [ 8.61494654e-02 9.96279587e-01 -2.29213951e-03 3.31388427e+01] [ 3.65679899e-02 -8.62917601e-04 9.99330795e-01 2.13190343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.119254154 meters Centerline goodness : 0.998990 with order 1 Centerline is valid? [True, True] Translation: X:583.79, Y:33.15, Z:21.32 [[ 9.95922686e-01 -8.24941310e-02 -3.65064510e-02 5.83792803e+02] [ 8.24655905e-02 9.96591283e-01 -2.28944146e-03 3.31451074e+01] [ 3.65708763e-02 -7.30419351e-04 9.99330795e-01 2.13209050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.179254154 meters Centerline goodness : 0.998715 with order 1 Centerline is valid? [True, True] Translation: X:583.85, Y:33.15, Z:21.32 [[ 9.96046352e-01 -8.09872293e-02 -3.65066198e-02 5.83854037e+02] [ 8.09577760e-02 9.96714909e-01 -2.28674750e-03 3.31516239e+01] [ 3.65718895e-02 -6.77788238e-04 9.99330795e-01 2.13221676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.239254154 meters Centerline goodness : 0.998671 with order 1 Centerline is valid? [True, True] Translation: X:583.92, Y:33.16, Z:21.33 [[ 9.95844990e-01 -8.34267008e-02 -3.65067442e-02 5.83915841e+02] [ 8.33989580e-02 9.96513619e-01 -2.28475856e-03 3.31574239e+01] [ 3.65700777e-02 -7.69359071e-04 9.99330795e-01 2.13252097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.299254154 meters Centerline goodness : 0.998926 with order 1 Centerline is valid? [True, True] Translation: X:583.98, Y:33.16, Z:21.33 [[ 9.95422316e-01 -8.83269981e-02 -3.65069158e-02 5.83977276e+02] [ 8.83026470e-02 9.96091078e-01 -2.28201402e-03 3.31619726e+01] [ 3.65657766e-02 -9.52089624e-04 9.99330795e-01 2.13270158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.359254154 meters Centerline goodness : 0.998928 with order 1 Centerline is valid? [True, True] Translation: X:584.04, Y:33.17, Z:21.33 [[ 9.95100212e-01 -9.18846741e-02 -3.65071829e-02 5.84038210e+02] [ 9.18628707e-02 9.95769062e-01 -2.27773328e-03 3.31660444e+01] [ 3.65620120e-02 -1.08708175e-03 9.99330795e-01 2.13281653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.419254154 meters Centerline goodness : 0.998674 with order 1 Centerline is valid? [True, True] Translation: X:584.10, Y:33.17, Z:21.33 [[ 9.95024187e-01 -9.27042865e-02 -3.65073068e-02 5.84100267e+02] [ 9.26831069e-02 9.95693056e-01 -2.27574515e-03 3.31703599e+01] [ 3.65610432e-02 -1.11918916e-03 9.99330795e-01 2.13322453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.4792541539999 meters Centerline goodness : 0.998754 with order 1 Centerline is valid? [True, True] Translation: X:584.16, Y:33.17, Z:21.34 [[ 9.95208282e-01 -9.07065582e-02 -3.65074731e-02 5.84162229e+02] [ 9.06841338e-02 9.95877111e-01 -2.27307485e-03 3.31744799e+01] [ 3.65631396e-02 -1.04846566e-03 9.99330795e-01 2.13355378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.539254154 meters Centerline goodness : 0.998924 with order 1 Centerline is valid? [True, True] Translation: X:584.22, Y:33.18, Z:21.34 [[ 9.95741729e-01 -8.46498712e-02 -3.65076418e-02 5.84224275e+02] [ 8.46234773e-02 9.96410414e-01 -2.27036171e-03 3.31794436e+01] [ 3.65687803e-02 -8.28709701e-04 9.99330795e-01 2.13390032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.5992541539999 meters Centerline goodness : 0.998818 with order 1 Centerline is valid? [True, True] Translation: X:584.29, Y:33.18, Z:21.34 [[ 9.96295482e-01 -7.78620060e-02 -3.65078097e-02 5.84286378e+02] [ 7.78311547e-02 9.96963976e-01 -2.26765858e-03 3.31846599e+01] [ 3.65735356e-02 -5.82186988e-04 9.99330795e-01 2.13395079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.659254154 meters Centerline goodness : 0.998966 with order 1 Centerline is valid? [True, True] Translation: X:584.35, Y:33.19, Z:21.34 [[ 9.96483368e-01 -7.54192549e-02 -3.65079885e-02 5.84347555e+02] [ 7.53868704e-02 9.97151789e-01 -2.26477620e-03 3.31876707e+01] [ 3.65748138e-02 -4.95411182e-04 9.99330795e-01 2.13436441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.7192541539999 meters Centerline goodness : 0.998966 with order 1 Centerline is valid? [True, True] Translation: X:584.41, Y:33.19, Z:21.34 [[ 9.96471950e-01 -7.55699263e-02 -3.65080818e-02 5.84409966e+02] [ 7.55376981e-02 9.97140378e-01 -2.26327096e-03 3.31884375e+01] [ 3.65747177e-02 -5.02450436e-04 9.99330795e-01 2.13443025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.779254154 meters Centerline goodness : 0.998862 with order 1 Centerline is valid? [True, True] Translation: X:584.47, Y:33.19, Z:21.35 [[ 9.96156990e-01 -7.96140686e-02 -3.65082496e-02 5.84471319e+02] [ 7.95846531e-02 9.96825548e-01 -2.26056162e-03 3.31894408e+01] [ 3.65723284e-02 -6.53622122e-04 9.99330795e-01 2.13450586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.839254154 meters Centerline goodness : 0.998863 with order 1 Centerline is valid? [True, True] Translation: X:584.53, Y:33.19, Z:21.35 [[ 9.95874602e-01 -8.30716934e-02 -3.65085162e-02 5.84533339e+02] [ 8.30447570e-02 9.96543264e-01 -2.25624708e-03 3.31917453e+01] [ 3.65697462e-02 -7.84901693e-04 9.99330795e-01 2.13470076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.899254154 meters Centerline goodness : 0.998925 with order 1 Centerline is valid? [True, True] Translation: X:584.59, Y:33.19, Z:21.35 [[ 9.95382892e-01 -8.87694459e-02 -3.65086835e-02 5.84594326e+02] [ 8.87464358e-02 9.96051701e-01 -2.25353771e-03 3.31933458e+01] [ 3.65645816e-02 -9.96882649e-04 9.99330795e-01 2.13481556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.959254154 meters Centerline goodness : 0.998780 with order 1 Centerline is valid? [True, True] Translation: X:584.66, Y:33.20, Z:21.35 [[ 9.94668722e-01 -9.64429405e-02 -3.65088069e-02 5.84656734e+02] [ 9.64251621e-02 9.95337691e-01 -2.25153562e-03 3.31959432e+01] [ 3.65557363e-02 -1.28083557e-03 9.99330795e-01 2.13524934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.019254154 meters Centerline goodness : 0.998676 with order 1 Centerline is valid? [True, True] Translation: X:584.72, Y:33.20, Z:21.36 [[ 9.93701392e-01 -1.05946397e-01 -3.65089641e-02 5.84719174e+02] [ 1.05935108e-01 9.94370502e-01 -2.24898492e-03 3.31980716e+01] [ 3.65417088e-02 -1.63276159e-03 9.99330795e-01 2.13561487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.079254154 meters Centerline goodness : 0.998740 with order 1 Centerline is valid? [True, True] Translation: X:584.78, Y:33.20, Z:21.36 [[ 9.92761075e-01 -1.14422602e-01 -3.65091313e-02 5.84781204e+02] [ 1.14417123e-01 9.93430257e-01 -2.24626750e-03 3.31992664e+01] [ 3.65262994e-02 -1.94726280e-03 9.99330795e-01 2.13565964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.139254154 meters Centerline goodness : 0.998887 with order 1 Centerline is valid? [True, True] Translation: X:584.84, Y:33.21, Z:21.36 [[ 9.91927041e-01 -1.21440585e-01 -3.65093016e-02 5.84842436e+02] [ 1.21439940e-01 9.92596246e-01 -2.24349526e-03 3.32065106e+01] [ 3.65114471e-02 -2.20830378e-03 9.99330795e-01 2.13611530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.199254154 meters Centerline goodness : 0.999033 with order 1 Centerline is valid? [True, True] Translation: X:584.91, Y:33.21, Z:21.36 [[ 9.91445868e-01 -1.25308146e-01 -3.65097203e-02 5.84905016e+02] [ 1.25310362e-01 9.92115069e-01 -2.23666096e-03 3.32126910e+01] [ 3.65021155e-02 -2.35751798e-03 9.99330795e-01 2.13628982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.259254154 meters Centerline goodness : 0.998905 with order 1 Centerline is valid? [True, True] Translation: X:584.97, Y:33.22, Z:21.36 [[ 9.91566338e-01 -1.24351195e-01 -3.65099703e-02 5.84967671e+02] [ 1.24352914e-01 9.92235541e-01 -2.23257237e-03 3.32198626e+01] [ 3.65041132e-02 -2.32637761e-03 9.99330795e-01 2.13636078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.319254154 meters Centerline goodness : 0.998798 with order 1 Centerline is valid? [True, True] Translation: X:585.03, Y:33.23, Z:21.37 [[ 9.92415429e-01 -1.17382368e-01 -3.65102181e-02 5.85029288e+02] [ 1.17379535e-01 9.93084628e-01 -2.22851316e-03 3.32308362e+01] [ 3.65193245e-02 -2.07394159e-03 9.99330795e-01 2.13653732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.379254154 meters Centerline goodness : 0.999301 with order 1 Centerline is valid? [True, True] Translation: X:585.09, Y:33.24, Z:21.37 [[ 9.93771311e-01 -1.05287962e-01 -3.65106213e-02 5.85091425e+02] [ 1.05277223e-01 9.94440430e-01 -2.22188703e-03 3.32442221e+01] [ 3.65415759e-02 -1.63568925e-03 9.99330795e-01 2.13687070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.439254154 meters Centerline goodness : 0.999362 with order 1 Centerline is valid? [True, True] Translation: X:585.15, Y:33.26, Z:21.37 [[ 9.95030784e-01 -9.26320395e-02 -3.65108639e-02 5.85153917e+02] [ 9.26129319e-02 9.95699717e-01 -2.21789334e-03 3.32565804e+01] [ 3.65593049e-02 -1.17450601e-03 9.99330795e-01 2.13718761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.499254154 meters Centerline goodness : 0.999021 with order 1 Centerline is valid? [True, True] Translation: X:585.22, Y:33.27, Z:21.37 [[ 9.95735788e-01 -8.47182330e-02 -3.65111102e-02 5.85215863e+02] [ 8.46939565e-02 9.96404553e-01 -2.21383179e-03 3.32655297e+01] [ 3.65673883e-02 -8.87878840e-04 9.99330795e-01 2.13747975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.559254154 meters Centerline goodness : 0.999166 with order 1 Centerline is valid? [True, True] Translation: X:585.28, Y:33.28, Z:21.38 [[ 9.96502429e-01 -7.51653870e-02 -3.65112711e-02 5.85277347e+02] [ 7.51347956e-02 9.97170935e-01 -2.21117575e-03 3.32761169e+01] [ 3.65741822e-02 -5.39824881e-04 9.99330795e-01 2.13781467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.619254154 meters Centerline goodness : 0.999270 with order 1 Centerline is valid? [True, True] Translation: X:585.34, Y:33.28, Z:21.38 [[ 9.96985900e-01 -6.84545880e-02 -3.65114307e-02 5.85339197e+02] [ 6.84195931e-02 9.97654189e-01 -2.20853718e-03 3.32838638e+01] [ 3.65769663e-02 -2.96216798e-04 9.99330795e-01 2.13796298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.679254154 meters Centerline goodness : 0.999076 with order 1 Centerline is valid? [True, True] Translation: X:585.40, Y:33.29, Z:21.38 [[ 9.97201032e-01 -6.52457357e-02 -3.65115875e-02 5.85400656e+02] [ 6.52086854e-02 9.97869210e-01 -2.20594129e-03 3.32897425e+01] [ 3.65777172e-02 -1.81105693e-04 9.99330795e-01 2.13814509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.739254154 meters Centerline goodness : 0.999222 with order 1 Centerline is valid? [True, True] Translation: X:585.46, Y:33.30, Z:21.38 [[ 9.97320992e-01 -6.33855759e-02 -3.65117503e-02 5.85462604e+02] [ 6.33473781e-02 9.97989106e-01 -2.20324402e-03 3.32954825e+01] [ 3.65779829e-02 -1.15582138e-04 9.99330795e-01 2.13835726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.799254154 meters Centerline goodness : 0.999245 with order 1 Centerline is valid? [True, True] Translation: X:585.52, Y:33.30, Z:21.39 [[ 9.97163755e-01 -6.58128089e-02 -3.65119110e-02 5.85523520e+02] [ 6.57763350e-02 9.97831965e-01 -2.20057682e-03 3.32996010e+01] [ 3.65775781e-02 -2.07284240e-04 9.99330795e-01 2.13860073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.859254154 meters Centerline goodness : 0.999225 with order 1 Centerline is valid? [True, True] Translation: X:585.59, Y:33.30, Z:21.39 [[ 9.96814596e-01 -7.09051209e-02 -3.65119900e-02 5.85585061e+02] [ 7.08721084e-02 9.97482986e-01 -2.19926557e-03 3.33029628e+01] [ 3.65760280e-02 -3.95421690e-04 9.99330795e-01 2.13890629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.919254154 meters Centerline goodness : 0.999334 with order 1 Centerline is valid? [True, True] Translation: X:585.65, Y:33.31, Z:21.39 [[ 9.96620378e-01 -7.35845860e-02 -3.65120742e-02 5.85646719e+02] [ 7.35534218e-02 9.97288857e-01 -2.19786643e-03 3.33060577e+01] [ 3.65748138e-02 -4.95149520e-04 9.99330795e-01 2.13918765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.9792541539999 meters Centerline goodness : 0.999379 with order 1 Centerline is valid? [True, True] Translation: X:585.71, Y:33.31, Z:21.40 [[ 9.95887102e-01 -8.29200569e-02 -3.65122400e-02 5.85709364e+02] [ 8.28952589e-02 9.96555848e-01 -2.19510841e-03 3.33090505e+01] [ 3.65685048e-02 -8.40611441e-04 9.99330795e-01 2.13963386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.039254154 meters Centerline goodness : 0.999444 with order 1 Centerline is valid? [True, True] Translation: X:585.77, Y:33.31, Z:21.40 [[ 9.95092823e-01 -9.19625512e-02 -3.65124968e-02 5.85771939e+02] [ 9.19439856e-02 9.95761771e-01 -2.19082862e-03 3.33101156e+01] [ 3.65592227e-02 -1.17702664e-03 9.99330795e-01 2.13992178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.0992541539999 meters Centerline goodness : 0.999318 with order 1 Centerline is valid? [True, True] Translation: X:585.83, Y:33.31, Z:21.40 [[ 9.94344110e-01 -9.97326927e-02 -3.65127531e-02 5.85834419e+02] [ 9.97195099e-02 9.95013185e-01 -2.18654881e-03 3.33104860e+01] [ 3.65487412e-02 -1.46685192e-03 9.99330795e-01 2.14014012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.159254154 meters Centerline goodness : 0.999211 with order 1 Centerline is valid? [True, True] Translation: X:585.90, Y:33.31, Z:21.40 [[ 9.93926889e-01 -1.03808132e-01 -3.65131725e-02 5.85897189e+02] [ 1.03797950e-01 9.94596016e-01 -2.17952309e-03 3.33130350e+01] [ 3.65421081e-02 -1.62370585e-03 9.99330795e-01 2.14024151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.2192541539999 meters Centerline goodness : 0.999382 with order 1 Centerline is valid? [True, True] Translation: X:585.96, Y:33.31, Z:21.40 [[ 9.93960455e-01 -1.03486158e-01 -3.65134185e-02 5.85959844e+02] [ 1.03475910e-01 9.94629581e-01 -2.17539342e-03 3.33143178e+01] [ 3.65424493e-02 -1.61600418e-03 9.99330795e-01 2.14010796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.279254154 meters Centerline goodness : 0.999168 with order 1 Centerline is valid? [True, True] Translation: X:586.02, Y:33.32, Z:21.40 [[ 9.94085549e-01 -1.02277466e-01 -3.65135874e-02 5.86021394e+02] [ 1.02266508e-01 9.94754664e-01 -2.17255599e-03 3.33200593e+01] [ 3.65442648e-02 -1.57441058e-03 9.99330795e-01 2.14047720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.339254154 meters Centerline goodness : 0.999167 with order 1 Centerline is valid? [True, True] Translation: X:586.08, Y:33.33, Z:21.41 [[ 9.94277323e-01 -1.00395972e-01 -3.65137538e-02 5.86082350e+02] [ 1.00383852e-01 9.94946418e-01 -2.16975466e-03 3.33281308e+01] [ 3.65470632e-02 -1.50805340e-03 9.99330795e-01 2.14100813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.399254154 meters Centerline goodness : 0.999252 with order 1 Centerline is valid? [True, True] Translation: X:586.15, Y:33.33, Z:21.41 [[ 9.94787391e-01 -9.52091556e-02 -3.65138765e-02 5.86145538e+02] [ 9.51936212e-02 9.95456416e-01 -2.16768887e-03 3.33345295e+01] [ 3.65543564e-02 -1.31949857e-03 9.99330795e-01 2.14123230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.459254154 meters Centerline goodness : 0.999294 with order 1 Centerline is valid? [True, True] Translation: X:586.21, Y:33.34, Z:21.41 [[ 9.95167519e-01 -9.11500288e-02 -3.65141197e-02 5.86207430e+02] [ 9.11319155e-02 9.95836479e-01 -2.16358454e-03 3.33402573e+01] [ 3.65593031e-02 -1.17447261e-03 9.99330795e-01 2.14145161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.519254154 meters Centerline goodness : 0.999442 with order 1 Centerline is valid? [True, True] Translation: X:586.27, Y:33.35, Z:21.41 [[ 9.95807936e-01 -8.38645233e-02 -3.65143183e-02 5.86269609e+02] [ 8.38416378e-02 9.96476750e-01 -2.16022752e-03 3.33467419e+01] [ 3.65668356e-02 -9.10248541e-04 9.99330795e-01 2.14149624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.579254154 meters Centerline goodness : 0.999162 with order 1 Centerline is valid? [True, True] Translation: X:586.33, Y:33.35, Z:21.41 [[ 9.96565193e-01 -7.43270496e-02 -3.65144737e-02 5.86331856e+02] [ 7.42978585e-02 9.97233760e-01 -2.15759710e-03 3.33531604e+01] [ 3.65738337e-02 -5.62761029e-04 9.99330795e-01 2.14115883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.639254154 meters Centerline goodness : 0.999330 with order 1 Centerline is valid? [True, True] Translation: X:586.39, Y:33.36, Z:21.42 [[ 9.97060781e-01 -6.73533914e-02 -3.65146384e-02 5.86392886e+02] [ 6.73196260e-02 9.97729134e-01 -2.15480514e-03 3.33601464e+01] [ 3.65768520e-02 -3.09680112e-04 9.99330795e-01 2.14159858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.699254154 meters Centerline goodness : 0.999437 with order 1 Centerline is valid? [True, True] Translation: X:586.46, Y:33.36, Z:21.42 [[ 9.97366565e-01 -6.26626517e-02 -3.65147602e-02 5.86455349e+02] [ 6.26258185e-02 9.98034755e-01 -2.15274021e-03 3.33649392e+01] [ 3.65778962e-02 -1.39695642e-04 9.99330795e-01 2.14177130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.759254154 meters Centerline goodness : 0.999436 with order 1 Centerline is valid? [True, True] Translation: X:586.52, Y:33.37, Z:21.42 [[ 9.97722782e-01 -5.67090120e-02 -3.65149135e-02 5.86517605e+02] [ 5.66682868e-02 9.98390746e-01 -2.15013729e-03 3.33686555e+01] [ 3.65780839e-02 7.60033703e-05 9.99330795e-01 2.14168782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.819254154 meters Centerline goodness : 0.999545 with order 1 Centerline is valid? [True, True] Translation: X:586.58, Y:33.37, Z:21.42 [[ 9.97856252e-01 -5.43097607e-02 -3.65150640e-02 5.86579004e+02] [ 5.42675232e-02 9.98524123e-01 -2.14757696e-03 3.33706532e+01] [ 3.65778067e-02 1.61391014e-04 9.99330795e-01 2.14179120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.879254154 meters Centerline goodness : 0.999697 with order 1 Centerline is valid? [True, True] Translation: X:586.64, Y:33.37, Z:21.42 [[ 9.97738683e-01 -5.64284106e-02 -3.65151406e-02 5.86639091e+02] [ 5.63876389e-02 9.98406644e-01 -2.14627439e-03 3.33705918e+01] [ 3.65780699e-02 8.24184253e-05 9.99330795e-01 2.14203685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.939254154 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:586.70, Y:33.37, Z:21.42 [[ 9.97604700e-01 -5.87495349e-02 -3.65151406e-02 5.86699165e+02] [ 5.87103174e-02 9.98272754e-01 -2.14627439e-03 3.33687432e+01] [ 3.65781626e-02 -2.68207077e-06 9.99330795e-01 2.14195908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.999254154 meters Centerline goodness : 0.999655 with order 1 Centerline is valid? [True, True] Translation: X:586.76, Y:33.37, Z:21.42 [[ 9.97594657e-01 -5.89198004e-02 -3.65151637e-02 5.86760096e+02] [ 5.88807113e-02 9.98262719e-01 -2.14588194e-03 3.33675303e+01] [ 3.65781615e-02 -9.31844777e-06 9.99330795e-01 2.14198859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.059254154 meters Centerline goodness : 0.999570 with order 1 Centerline is valid? [True, True] Translation: X:586.82, Y:33.36, Z:21.42 [[ 9.97582556e-01 -5.91243288e-02 -3.65151637e-02 5.86820917e+02] [ 5.90853766e-02 9.98250627e-01 -2.14588194e-03 3.33633297e+01] [ 3.65781588e-02 -1.68178017e-05 9.99330795e-01 2.14220217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.119254154 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:586.88, Y:33.36, Z:21.42 [[ 9.97582443e-01 -5.91262421e-02 -3.65151637e-02 5.86881388e+02] [ 5.90872912e-02 9.98250513e-01 -2.14588194e-03 3.33583678e+01] [ 3.65781588e-02 -1.68879569e-05 9.99330795e-01 2.14239523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.179254154 meters Centerline goodness : 0.999466 with order 1 Centerline is valid? [True, True] Translation: X:586.94, Y:33.35, Z:21.43 [[ 9.97478353e-01 -6.08570292e-02 -3.65151637e-02 5.86942561e+02] [ 6.08192375e-02 9.98146490e-01 -2.14588194e-03 3.33523575e+01] [ 3.65780744e-02 -8.03536264e-05 9.99330795e-01 2.14256095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.239254154 meters Centerline goodness : 0.999595 with order 1 Centerline is valid? [True, True] Translation: X:587.00, Y:33.35, Z:21.43 [[ 9.97365298e-01 -6.26825802e-02 -3.65151637e-02 5.87002647e+02] [ 6.26460114e-02 9.98033503e-01 -2.14588194e-03 3.33483221e+01] [ 3.65778661e-02 -1.47301176e-04 9.99330795e-01 2.14255291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.299254154 meters Centerline goodness : 0.999661 with order 1 Centerline is valid? [True, True] Translation: X:587.06, Y:33.34, Z:21.43 [[ 9.97050145e-01 -6.75104035e-02 -3.65151253e-02 5.87062568e+02] [ 6.74770463e-02 9.97718518e-01 -2.14653434e-03 3.33408606e+01] [ 3.65767301e-02 -3.23730427e-04 9.99330795e-01 2.14266841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.359254154 meters Centerline goodness : 0.999072 with order 1 Centerline is valid? [True, True] Translation: X:587.12, Y:33.33, Z:21.43 [[ 9.96759306e-01 -7.16766217e-02 -3.65150490e-02 5.87123679e+02] [ 7.16460105e-02 9.97427810e-01 -2.14783152e-03 3.33340960e+01] [ 3.65750747e-02 -4.75286532e-04 9.99330795e-01 2.14289956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.419254154 meters Centerline goodness : 0.999600 with order 1 Centerline is valid? [True, True] Translation: X:587.18, Y:33.33, Z:21.43 [[ 9.96699856e-01 -7.24986155e-02 -3.65150490e-02 5.87183716e+02] [ 7.24685555e-02 9.97368385e-01 -2.14783152e-03 3.33279732e+01] [ 3.65746703e-02 -5.05449493e-04 9.99330795e-01 2.14322123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.4792541539999 meters Centerline goodness : 0.999496 with order 1 Centerline is valid? [True, True] Translation: X:587.24, Y:33.33, Z:21.43 [[ 9.97012775e-01 -6.80601451e-02 -3.65149708e-02 5.87242952e+02] [ 6.80270602e-02 9.97681162e-01 -2.14916045e-03 3.33251661e+01] [ 3.65765707e-02 -3.41265696e-04 9.99330795e-01 2.14346288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.539254154 meters Centerline goodness : 0.999369 with order 1 Centerline is valid? [True, True] Translation: X:587.30, Y:33.32, Z:21.44 [[ 9.97444695e-01 -6.14063358e-02 -3.65149740e-02 5.87301637e+02] [ 6.13687940e-02 9.98112846e-01 -2.14910540e-03 3.33238404e+01] [ 3.65780333e-02 -9.72661416e-05 9.99330795e-01 2.14394906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.5992541539999 meters Centerline goodness : 0.999202 with order 1 Centerline is valid? [True, True] Translation: X:587.36, Y:33.32, Z:21.44 [[ 9.97640607e-01 -5.81370326e-02 -3.65144355e-02 5.87360090e+02] [ 5.80969678e-02 9.98308612e-01 -2.15821670e-03 3.33238887e+01] [ 3.65781477e-02 3.17466408e-05 9.99330795e-01 2.14441439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.659254154 meters Centerline goodness : 0.999496 with order 1 Centerline is valid? [True, True] Translation: X:587.42, Y:33.32, Z:21.45 [[ 9.97647292e-01 -5.80225654e-02 -3.65138715e-02 5.87418002e+02] [ 5.79820762e-02 9.98315271e-01 -2.16771788e-03 3.33237145e+01] [ 3.65781320e-02 4.54677951e-05 9.99330795e-01 2.14464187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.7192541539999 meters Centerline goodness : 0.999077 with order 1 Centerline is valid? [True, True] Translation: X:587.48, Y:33.32, Z:21.45 [[ 9.97455421e-01 -6.12327043e-02 -3.65135595e-02 5.87477326e+02] [ 6.11941731e-02 9.98123515e-01 -2.17295912e-03 3.33223845e+01] [ 3.65780986e-02 -6.69872245e-05 9.99330795e-01 2.14474068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.779254154 meters Centerline goodness : 0.999287 with order 1 Centerline is valid? [True, True] Translation: X:587.54, Y:33.32, Z:21.46 [[ 9.97034249e-01 -6.77458758e-02 -3.65130349e-02 5.87536291e+02] [ 6.77113872e-02 9.97702565e-01 -2.18173949e-03 3.33233076e+01] [ 3.65769524e-02 -2.97079249e-04 9.99330795e-01 2.14551163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.839254154 meters Centerline goodness : 0.998933 with order 1 Centerline is valid? [True, True] Translation: X:587.60, Y:33.33, Z:21.46 [[ 9.96949794e-01 -6.89778756e-02 -3.65124861e-02 5.87595049e+02] [ 6.89438780e-02 9.97618134e-01 -2.19088558e-03 3.33261666e+01] [ 3.65766409e-02 -3.33109455e-04 9.99330795e-01 2.14575471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.899254154 meters Centerline goodness : 0.999539 with order 1 Centerline is valid? [True, True] Translation: X:587.65, Y:33.33, Z:21.46 [[ 9.96465106e-01 -7.56582582e-02 -3.65119193e-02 5.87653205e+02] [ 7.56283962e-02 9.97133644e-01 -2.20029062e-03 3.33286656e+01] [ 3.65737333e-02 -5.68825078e-04 9.99330795e-01 2.14624227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.959254154 meters Centerline goodness : 0.999330 with order 1 Centerline is valid? [True, True] Translation: X:587.71, Y:33.33, Z:21.46 [[ 9.95891383e-01 -8.28688193e-02 -3.65117999e-02 5.87712367e+02] [ 8.28437245e-02 9.96560117e-01 -2.20227110e-03 3.33301591e+01] [ 3.65687032e-02 -8.31550677e-04 9.99330795e-01 2.14628665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.019254154 meters Centerline goodness : 0.998789 with order 1 Centerline is valid? [True, True] Translation: X:587.77, Y:33.33, Z:21.47 [[ 9.95112802e-01 -9.17465923e-02 -3.65112896e-02 5.87772076e+02] [ 9.17271532e-02 9.95781724e-01 -2.21069909e-03 3.33335488e+01] [ 3.65600990e-02 -1.14918168e-03 9.99330795e-01 2.14669726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.079254154 meters Centerline goodness : 0.999290 with order 1 Centerline is valid? [True, True] Translation: X:587.83, Y:33.34, Z:21.47 [[ 9.94710195e-01 -9.60133324e-02 -3.65112088e-02 5.87833007e+02] [ 9.59967133e-02 9.95379193e-01 -2.21203230e-03 3.33366092e+01] [ 3.65548821e-02 -1.30462496e-03 9.99330795e-01 2.14698295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.139254154 meters Centerline goodness : 0.998916 with order 1 Centerline is valid? [True, True] Translation: X:587.89, Y:33.34, Z:21.47 [[ 9.94393626e-01 -9.92383106e-02 -3.65112884e-02 5.87892900e+02] [ 9.92239091e-02 9.95062676e-01 -2.21071803e-03 3.33409716e+01] [ 3.65504082e-02 -1.42446884e-03 9.99330795e-01 2.14730166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.199254154 meters Centerline goodness : 0.998874 with order 1 Centerline is valid? [True, True] Translation: X:587.95, Y:33.35, Z:21.48 [[ 9.94727690e-01 -9.58318586e-02 -3.65113275e-02 5.87954280e+02] [ 9.58151894e-02 9.95396687e-01 -2.21007104e-03 3.33473465e+01] [ 3.65550497e-02 -1.29992090e-03 9.99330795e-01 2.14764998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.259254154 meters Centerline goodness : 0.999039 with order 1 Centerline is valid? [True, True] Translation: X:588.02, Y:33.35, Z:21.48 [[ 9.95186286e-01 -9.09459870e-02 -3.65114054e-02 5.88015233e+02] [ 9.09260799e-02 9.95855195e-01 -2.20878451e-03 3.33540965e+01] [ 3.65609528e-02 -1.12168691e-03 9.99330795e-01 2.14780067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.319254154 meters Centerline goodness : 0.999288 with order 1 Centerline is valid? [True, True] Translation: X:588.08, Y:33.36, Z:21.48 [[ 9.95805852e-01 -8.38905014e-02 -3.65114827e-02 5.88076368e+02] [ 8.38659009e-02 9.96474605e-01 -2.20750485e-03 3.33598069e+01] [ 3.65679540e-02 -8.63822141e-04 9.99330795e-01 2.14807232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.379254154 meters Centerline goodness : 0.999163 with order 1 Centerline is valid? [True, True] Translation: X:588.14, Y:33.37, Z:21.48 [[ 9.96025263e-01 -8.12439642e-02 -3.65115643e-02 5.88137015e+02] [ 8.12176361e-02 9.96693949e-01 -2.20615461e-03 3.33655262e+01] [ 3.65700920e-02 -7.67997221e-04 9.99330795e-01 2.14830697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.439254154 meters Centerline goodness : 0.998851 with order 1 Centerline is valid? [True, True] Translation: X:588.20, Y:33.37, Z:21.48 [[ 9.95853582e-01 -8.33219236e-02 -3.65116464e-02 5.88197315e+02] [ 8.32970406e-02 9.96522324e-01 -2.20479610e-03 3.33707182e+01] [ 3.65683785e-02 -8.45657998e-04 9.99330795e-01 2.14830756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.499254154 meters Centerline goodness : 0.998724 with order 1 Centerline is valid? [True, True] Translation: X:588.26, Y:33.37, Z:21.48 [[ 9.95657710e-01 -8.56307272e-02 -3.65116867e-02 5.88259041e+02] [ 8.56074193e-02 9.96326509e-01 -2.20412746e-03 3.33736123e+01] [ 3.65663024e-02 -9.31114771e-04 9.99330795e-01 2.14836958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.559254154 meters Centerline goodness : 0.999162 with order 1 Centerline is valid? [True, True] Translation: X:588.32, Y:33.38, Z:21.49 [[ 9.95533142e-01 -8.70669532e-02 -3.65117648e-02 5.88320515e+02] [ 8.70446576e-02 9.96201975e-01 -2.20283396e-03 3.33764538e+01] [ 3.65648862e-02 -9.85159852e-04 9.99330795e-01 2.14860297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.619254154 meters Centerline goodness : 0.999077 with order 1 Centerline is valid? [True, True] Translation: X:588.38, Y:33.38, Z:21.49 [[ 9.95666992e-01 -8.55226616e-02 -3.65118457e-02 5.88381417e+02] [ 8.54993777e-02 9.96335792e-01 -2.20149128e-03 3.33807512e+01] [ 3.65663361e-02 -9.29787886e-04 9.99330795e-01 2.14880889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.679254154 meters Centerline goodness : 0.999600 with order 1 Centerline is valid? [True, True] Translation: X:588.44, Y:33.38, Z:21.49 [[ 9.95903245e-01 -8.27260913e-02 -3.65119279e-02 5.88441719e+02] [ 8.27009792e-02 9.96571978e-01 -2.20012755e-03 3.33842367e+01] [ 3.65687722e-02 -8.28458029e-04 9.99330795e-01 2.14894888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.739254154 meters Centerline goodness : 0.999013 with order 1 Centerline is valid? [True, True] Translation: X:588.50, Y:33.39, Z:21.49 [[ 9.96129643e-01 -7.99538070e-02 -3.65119683e-02 5.88502625e+02] [ 7.99268582e-02 9.96798304e-01 -2.19945667e-03 3.33873789e+01] [ 3.65709230e-02 -7.27342925e-04 9.99330795e-01 2.14912898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.799254154 meters Centerline goodness : 0.999269 with order 1 Centerline is valid? [True, True] Translation: X:588.56, Y:33.39, Z:21.49 [[ 9.96493926e-01 -7.52776571e-02 -3.65120492e-02 5.88561714e+02] [ 7.52476195e-02 9.97162456e-01 -2.19811341e-03 3.33904169e+01] [ 3.65739135e-02 -5.57038122e-04 9.99330795e-01 2.14935727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.859254154 meters Centerline goodness : 0.999246 with order 1 Centerline is valid? [True, True] Translation: X:588.62, Y:33.39, Z:21.49 [[ 9.96918878e-01 -6.94235064e-02 -3.65120094e-02 5.88621586e+02] [ 6.93895186e-02 9.97587219e-01 -2.19877393e-03 3.33942577e+01] [ 3.65765605e-02 -3.41551522e-04 9.99330795e-01 2.14928896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.919254154 meters Centerline goodness : 0.998913 with order 1 Centerline is valid? [True, True] Translation: X:588.68, Y:33.40, Z:21.49 [[ 9.97031259e-01 -6.77904520e-02 -3.65119684e-02 5.88680147e+02] [ 6.77553446e-02 9.97699542e-01 -2.19945422e-03 3.33974140e+01] [ 3.65770762e-02 -2.80956395e-04 9.99330795e-01 2.14946296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.9792541539999 meters Centerline goodness : 0.999101 with order 1 Centerline is valid? [True, True] Translation: X:588.74, Y:33.40, Z:21.49 [[ 9.97073733e-01 -6.71631600e-02 -3.65113870e-02 5.88738790e+02] [ 6.71272803e-02 9.97741975e-01 -2.20906384e-03 3.33998315e+01] [ 3.65773111e-02 -2.48310582e-04 9.99330795e-01 2.14938969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.039254154 meters Centerline goodness : 0.999041 with order 1 Centerline is valid? [True, True] Translation: X:588.80, Y:33.40, Z:21.50 [[ 9.96853858e-01 -7.03513571e-02 -3.65112669e-02 5.88797236e+02] [ 7.03175419e-02 9.97522208e-01 -2.21104703e-03 3.34018286e+01] [ 3.65763497e-02 -3.63291781e-04 9.99330795e-01 2.14951803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.0992541539999 meters Centerline goodness : 0.999018 with order 1 Centerline is valid? [True, True] Translation: X:588.86, Y:33.40, Z:21.50 [[ 9.96445333e-01 -7.59188212e-02 -3.65107081e-02 5.88856403e+02] [ 7.58884034e-02 9.97113845e-01 -2.22023658e-03 3.34032081e+01] [ 3.65738903e-02 -5.58394971e-04 9.99330795e-01 2.14968937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.159254154 meters Centerline goodness : 0.999082 with order 1 Centerline is valid? [True, True] Translation: X:588.92, Y:33.41, Z:21.50 [[ 9.96107024e-01 -8.02359408e-02 -3.65101354e-02 5.88915968e+02] [ 8.02080764e-02 9.96775648e-01 -2.22961480e-03 3.34054033e+01] [ 3.65713091e-02 -7.07472762e-04 9.99330796e-01 2.14992725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.2192541539999 meters Centerline goodness : 0.994695 with order 1 Centerline is valid? [True, True] Translation: X:588.97, Y:33.41, Z:21.50 [[ 9.95410171e-01 -8.84624478e-02 -3.65100938e-02 5.88972913e+02] [ 8.84400832e-02 9.96079002e-01 -2.23029573e-03 3.34067851e+01] [ 3.65642352e-02 -1.00889668e-03 9.99330796e-01 2.15018672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.279254154 meters Centerline goodness : 0.999185 with order 1 Centerline is valid? [True, True] Translation: X:589.03, Y:33.41, Z:21.51 [[ 9.94308316e-01 -1.00090178e-01 -3.65092931e-02 5.89032235e+02] [ 1.00075155e-01 9.94977352e-01 -2.24332715e-03 3.34125218e+01] [ 3.65504548e-02 -1.42311430e-03 9.99330796e-01 2.15141220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.339254154 meters Centerline goodness : 0.999002 with order 1 Centerline is valid? [True, True] Translation: X:589.09, Y:33.41, Z:21.51 [[ 9.94083310e-01 -1.02300794e-01 -3.65091820e-02 5.89093421e+02] [ 1.02287192e-01 9.94752376e-01 -2.24513371e-03 3.34111244e+01] [ 3.65472745e-02 -1.50257174e-03 9.99330796e-01 2.15081003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.399254154 meters Centerline goodness : 0.998831 with order 1 Centerline is valid? [True, True] Translation: X:589.16, Y:33.41, Z:21.52 [[ 9.93132653e-01 -1.11151292e-01 -3.65092262e-02 5.89155344e+02] [ 1.11143676e-01 9.93801814e-01 -2.24441446e-03 3.34116425e+01] [ 3.65324048e-02 -1.82876831e-03 9.99330796e-01 2.15154559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.459254154 meters Centerline goodness : 0.999059 with order 1 Centerline is valid? [True, True] Translation: X:589.22, Y:33.41, Z:21.51 [[ 9.92590587e-01 -1.15892144e-01 -3.65094091e-02 5.89216272e+02] [ 1.15887833e-01 9.93259778e-01 -2.24143492e-03 3.34128313e+01] [ 3.65230923e-02 -2.00616910e-03 9.99330796e-01 2.15131616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.519254154 meters Centerline goodness : 0.998998 with order 1 Centerline is valid? [True, True] Translation: X:589.28, Y:33.42, Z:21.52 [[ 9.92100879e-01 -1.20012081e-01 -3.65095393e-02 5.89277667e+02] [ 1.20010626e-01 9.92770082e-01 -2.23931225e-03 3.34199782e+01] [ 3.65143228e-02 -2.15990901e-03 9.99330796e-01 2.15178999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.579254154 meters Centerline goodness : 0.999184 with order 1 Centerline is valid? [True, True] Translation: X:589.34, Y:33.43, Z:21.52 [[ 9.92100028e-01 -1.20019060e-01 -3.65097157e-02 5.89337950e+02] [ 1.20017715e-01 9.92769231e-01 -2.23643240e-03 3.34302473e+01] [ 3.65141369e-02 -2.16304801e-03 9.99330796e-01 2.15167961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.639254154 meters Centerline goodness : 0.999102 with order 1 Centerline is valid? [True, True] Translation: X:589.40, Y:33.44, Z:21.52 [[ 9.93055901e-01 -1.11834736e-01 -3.65098457e-02 5.89399438e+02] [ 1.11827951e-01 9.93725071e-01 -2.23430874e-03 3.34387367e+01] [ 3.65306223e-02 -1.86402774e-03 9.99330796e-01 2.15207920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.699254154 meters Centerline goodness : 0.999038 with order 1 Centerline is valid? [True, True] Translation: X:589.46, Y:33.45, Z:21.52 [[ 9.93342331e-01 -1.09261302e-01 -3.65100163e-02 5.89460069e+02] [ 1.09252885e-01 9.94011483e-01 -2.23151745e-03 3.34494134e+01] [ 3.65351939e-02 -1.77216387e-03 9.99330796e-01 2.15208711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.759254154 meters Centerline goodness : 0.998975 with order 1 Centerline is valid? [True, True] Translation: X:589.52, Y:33.46, Z:21.52 [[ 9.93665150e-01 -1.06285368e-01 -3.65101413e-02 5.89521560e+02] [ 1.06275023e-01 9.94334274e-01 -2.22946956e-03 3.34568113e+01] [ 3.65402449e-02 -1.66476989e-03 9.99330796e-01 2.15232929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.819254154 meters Centerline goodness : 0.998995 with order 1 Centerline is valid? [True, True] Translation: X:589.58, Y:33.47, Z:21.52 [[ 9.93898920e-01 -1.04076579e-01 -3.65103072e-02 5.89583479e+02] [ 1.04064846e-01 9.94568022e-01 -2.22674939e-03 3.34656355e+01] [ 3.65437365e-02 -1.58627568e-03 9.99330796e-01 2.15243827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.879254154 meters Centerline goodness : 0.998892 with order 1 Centerline is valid? [True, True] Translation: X:589.65, Y:33.47, Z:21.53 [[ 9.94111566e-01 -1.02025393e-01 -3.65104714e-02 5.89645437e+02] [ 1.02012378e-01 9.94780643e-01 -2.22405484e-03 3.34730536e+01] [ 3.65468203e-02 -1.51356136e-03 9.99330796e-01 2.15271642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.939254154 meters Centerline goodness : 0.999076 with order 1 Centerline is valid? [True, True] Translation: X:589.71, Y:33.48, Z:21.53 [[ 9.94486171e-01 -9.83068116e-02 -3.65106383e-02 5.89707003e+02] [ 9.82913950e-02 9.95155198e-01 -2.22131154e-03 3.34829034e+01] [ 3.65521215e-02 -1.37961796e-03 9.99330796e-01 2.15307563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.999254154 meters Centerline goodness : 0.999096 with order 1 Centerline is valid? [True, True] Translation: X:589.77, Y:33.49, Z:21.53 [[ 9.95006692e-01 -9.28904934e-02 -3.65108051e-02 5.89767389e+02] [ 9.28715348e-02 9.95675628e-01 -2.21856671e-03 3.34912123e+01] [ 3.65590025e-02 -1.18332578e-03 9.99330796e-01 2.15325490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.059254154 meters Centerline goodness : 0.998989 with order 1 Centerline is valid? [True, True] Translation: X:589.83, Y:33.50, Z:21.54 [[ 9.95397102e-01 -8.86090349e-02 -3.65109279e-02 5.89829519e+02] [ 8.85872729e-02 9.96065953e-01 -2.21654278e-03 3.34980141e+01] [ 3.65636979e-02 -1.02806328e-03 9.99330796e-01 2.15353241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.119254154 meters Centerline goodness : 0.998629 with order 1 Centerline is valid? [True, True] Translation: X:589.89, Y:33.51, Z:21.54 [[ 9.95943676e-01 -8.22382729e-02 -3.65110913e-02 5.89890527e+02] [ 8.22123304e-02 9.96612378e-01 -2.21384849e-03 3.35059140e+01] [ 3.65694686e-02 -7.96793498e-04 9.99330796e-01 2.15365590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.179254154 meters Centerline goodness : 0.998207 with order 1 Centerline is valid? [True, True] Translation: X:589.95, Y:33.51, Z:21.54 [[ 9.96326309e-01 -7.74649484e-02 -3.65112118e-02 5.89951436e+02] [ 7.74358748e-02 9.96994881e-01 -2.21186015e-03 3.35124418e+01] [ 3.65728329e-02 -6.23543169e-04 9.99330796e-01 2.15383988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.239254154 meters Centerline goodness : 0.998142 with order 1 Centerline is valid? [True, True] Translation: X:590.01, Y:33.52, Z:21.54 [[ 9.96492520e-01 -7.52966376e-02 -3.65112905e-02 5.90012808e+02] [ 7.52661568e-02 9.97161030e-01 -2.21055962e-03 3.35176878e+01] [ 3.65740837e-02 -5.45258392e-04 9.99330796e-01 2.15404172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.299254154 meters Centerline goodness : 0.998524 with order 1 Centerline is valid? [True, True] Translation: X:590.07, Y:33.52, Z:21.54 [[ 9.96433550e-01 -7.60729981e-02 -3.65113698e-02 5.90073793e+02] [ 7.60430862e-02 9.97102085e-01 -2.20924950e-03 3.35214391e+01] [ 3.65736272e-02 -5.75066917e-04 9.99330796e-01 2.15426776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.359254154 meters Centerline goodness : 0.998696 with order 1 Centerline is valid? [True, True] Translation: X:590.13, Y:33.52, Z:21.55 [[ 9.96094217e-01 -8.03941880e-02 -3.65114481e-02 5.90134585e+02] [ 8.03672236e-02 9.96762878e-01 -2.20795358e-03 3.35236087e+01] [ 3.65707628e-02 -7.34993925e-04 9.99330796e-01 2.15457028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.419254154 meters Centerline goodness : 0.998404 with order 1 Centerline is valid? [True, True] Translation: X:590.20, Y:33.53, Z:21.55 [[ 9.95486232e-01 -8.76017556e-02 -3.65115751e-02 5.90195505e+02] [ 8.75797086e-02 9.96155073e-01 -2.20585250e-03 3.35250955e+01] [ 3.65644273e-02 -1.00177731e-03 9.99330796e-01 2.15474656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.4792541539999 meters Centerline goodness : 0.998806 with order 1 Centerline is valid? [True, True] Translation: X:590.26, Y:33.53, Z:21.55 [[ 9.95026344e-01 -9.26794112e-02 -3.65116531e-02 5.90257153e+02] [ 9.26608242e-02 9.95695291e-01 -2.20456075e-03 3.35277380e+01] [ 3.65587984e-02 -1.18960384e-03 9.99330796e-01 2.15501106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.539254154 meters Centerline goodness : 0.998578 with order 1 Centerline is valid? [True, True] Translation: X:590.32, Y:33.53, Z:21.55 [[ 9.94343822e-01 -9.97359098e-02 -3.65118151e-02 5.90318944e+02] [ 9.97221672e-02 9.95012885e-01 -2.20187397e-03 3.35285125e+01] [ 3.65493324e-02 -1.45161755e-03 9.99330796e-01 2.15525786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.5992541539999 meters Centerline goodness : 0.998767 with order 1 Centerline is valid? [True, True] Translation: X:590.38, Y:33.53, Z:21.55 [[ 9.93663775e-01 -1.06297588e-01 -3.65119782e-02 5.90380978e+02] [ 1.06288362e-01 9.94332916e-01 -2.19916553e-03 3.35300401e+01] [ 3.65388278e-02 -1.69556722e-03 9.99330796e-01 2.15547898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.659254154 meters Centerline goodness : 0.999016 with order 1 Centerline is valid? [True, True] Translation: X:590.44, Y:33.53, Z:21.56 [[ 9.93306848e-01 -1.09582706e-01 -3.65121402e-02 5.90442938e+02] [ 1.09575791e-01 9.93976017e-01 -2.19647350e-03 3.35318029e+01] [ 3.65328872e-02 -1.81907446e-03 9.99330796e-01 2.15574520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.7192541539999 meters Centerline goodness : 0.999057 with order 1 Centerline is valid? [True, True] Translation: X:590.50, Y:33.54, Z:21.56 [[ 9.93416826e-01 -1.08581131e-01 -3.65123037e-02 5.90503572e+02] [ 1.08573642e-01 9.94085988e-01 -2.19375198e-03 3.35352850e+01] [ 3.65345696e-02 -1.78496365e-03 9.99330796e-01 2.15596700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.779254154 meters Centerline goodness : 0.999266 with order 1 Centerline is valid? [True, True] Translation: X:590.56, Y:33.54, Z:21.56 [[ 9.93961327e-01 -1.03478127e-01 -3.65124245e-02 5.90564977e+02] [ 1.03467274e-01 9.94630444e-01 -2.19173932e-03 3.35399001e+01] [ 3.65431661e-02 -1.59933691e-03 9.99330796e-01 2.15638036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.839254154 meters Centerline goodness : 0.999285 with order 1 Centerline is valid? [True, True] Translation: X:590.63, Y:33.55, Z:21.57 [[ 9.94880662e-01 -9.42300466e-02 -3.65125435e-02 5.90627315e+02] [ 9.42130448e-02 9.95549651e-01 -2.18975472e-03 3.35457353e+01] [ 3.65563907e-02 -1.26141327e-03 9.99330796e-01 2.15668259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.899254154 meters Centerline goodness : 0.999327 with order 1 Centerline is valid? [True, True] Translation: X:590.69, Y:33.55, Z:21.57 [[ 9.95790445e-01 -8.40726586e-02 -3.65127147e-02 5.90689155e+02] [ 8.40489357e-02 9.96459228e-01 -2.18689649e-03 3.35512714e+01] [ 3.65672897e-02 -8.91164180e-04 9.99330796e-01 2.15697134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.959254154 meters Centerline goodness : 0.999325 with order 1 Centerline is valid? [True, True] Translation: X:590.75, Y:33.56, Z:21.57 [[ 9.96110819e-01 -8.01875645e-02 -3.65128873e-02 5.90750581e+02] [ 8.01613386e-02 9.96779509e-01 -2.18401106e-03 3.35559214e+01] [ 3.65704284e-02 -7.51404877e-04 9.99330796e-01 2.15713015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.019254154 meters Centerline goodness : 0.999536 with order 1 Centerline is valid? [True, True] Translation: X:590.81, Y:33.56, Z:21.57 [[ 9.96598411e-01 -7.38810333e-02 -3.65130068e-02 5.90811217e+02] [ 7.38506487e-02 9.97266925e-01 -2.18201239e-03 3.35592108e+01] [ 3.65744233e-02 -5.21919155e-04 9.99330796e-01 2.15723781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.079254154 meters Centerline goodness : 0.999281 with order 1 Centerline is valid? [True, True] Translation: X:590.87, Y:33.56, Z:21.57 [[ 9.96879934e-01 -6.99799749e-02 -3.65130068e-02 5.90872122e+02] [ 6.99469740e-02 9.97548324e-01 -2.18201239e-03 3.35615072e+01] [ 3.65761859e-02 -3.78769969e-04 9.99330796e-01 2.15742485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.139254154 meters Centerline goodness : 0.999492 with order 1 Centerline is valid? [True, True] Translation: X:590.93, Y:33.56, Z:21.58 [[ 9.96979282e-01 -6.85500636e-02 -3.65130068e-02 5.90932796e+02] [ 6.85161040e-02 9.97647624e-01 -2.18201239e-03 3.35641134e+01] [ 3.65766915e-02 -3.26307826e-04 9.99330796e-01 2.15786194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.199254154 meters Centerline goodness : 0.999472 with order 1 Centerline is valid? [True, True] Translation: X:590.99, Y:33.56, Z:21.58 [[ 9.96914899e-01 -6.94800412e-02 -3.65131319e-02 5.90993335e+02] [ 6.94467819e-02 9.97583276e-01 -2.17991677e-03 3.35649521e+01] [ 3.65763504e-02 -3.62528002e-04 9.99330796e-01 2.15824043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.259254154 meters Centerline goodness : 0.999389 with order 1 Centerline is valid? [True, True] Translation: X:591.05, Y:33.56, Z:21.58 [[ 9.96557852e-01 -7.44260593e-02 -3.65131319e-02 5.91054347e+02] [ 7.43961170e-02 9.97226386e-01 -2.17991677e-03 3.35642940e+01] [ 3.65741012e-02 -5.44022060e-04 9.99330796e-01 2.15844541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.319254154 meters Centerline goodness : 0.999410 with order 1 Centerline is valid? [True, True] Translation: X:591.12, Y:33.56, Z:21.59 [[ 9.96143696e-01 -7.97779983e-02 -3.65131319e-02 5.91115252e+02] [ 7.97516475e-02 9.96812381e-01 -2.17991677e-03 3.35648662e+01] [ 3.65706513e-02 -7.40472078e-04 9.99330796e-01 2.15866588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.379254154 meters Centerline goodness : 0.999158 with order 1 Centerline is valid? [True, True] Translation: X:591.18, Y:33.56, Z:21.59 [[ 9.95492051e-01 -8.75349473e-02 -3.65131319e-02 5.91177264e+02] [ 8.75138060e-02 9.96160922e-01 -2.17991677e-03 3.35633929e+01] [ 3.65637740e-02 -1.02531332e-03 9.99330796e-01 2.15885080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.439254154 meters Centerline goodness : 0.999412 with order 1 Centerline is valid? [True, True] Translation: X:591.24, Y:33.56, Z:21.59 [[ 9.94809006e-01 -9.49832951e-02 -3.65132129e-02 5.91239107e+02] [ 9.49672103e-02 9.95478017e-01 -2.17855939e-03 3.35648937e+01] [ 3.65550275e-02 -1.30030746e-03 9.99330796e-01 2.15885712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.499254154 meters Centerline goodness : 0.999349 with order 1 Centerline is valid? [True, True] Translation: X:591.30, Y:33.57, Z:21.59 [[ 9.94446140e-01 -9.87099167e-02 -3.65133743e-02 5.91300723e+02] [ 9.86964379e-02 9.95115209e-01 -2.17584967e-03 3.35670456e+01] [ 3.65497921e-02 -1.43997468e-03 9.99330796e-01 2.15902386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.559254154 meters Centerline goodness : 0.999371 with order 1 Centerline is valid? [True, True] Translation: X:591.36, Y:33.57, Z:21.59 [[ 9.94469520e-01 -9.84740488e-02 -3.65134935e-02 5.91362551e+02] [ 9.84604847e-02 9.95138587e-01 -2.17384840e-03 3.35711579e+01] [ 3.65500540e-02 -1.43331029e-03 9.99330796e-01 2.15929593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.619254154 meters Centerline goodness : 0.999162 with order 1 Centerline is valid? [True, True] Translation: X:591.42, Y:33.58, Z:21.59 [[ 9.94554162e-01 -9.76154283e-02 -3.65136532e-02 5.91423275e+02] [ 9.76013850e-02 9.95223219e-01 -2.17116265e-03 3.35751261e+01] [ 3.65511744e-02 -1.40444427e-03 9.99330796e-01 2.15948765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.679254154 meters Centerline goodness : 0.998993 with order 1 Centerline is valid? [True, True] Translation: X:591.48, Y:33.58, Z:21.60 [[ 9.95023739e-01 -9.27065404e-02 -3.65137710e-02 5.91484656e+02] [ 9.26892685e-02 9.95692721e-01 -2.16917883e-03 3.35814194e+01] [ 3.65575931e-02 -1.22605030e-03 9.99330796e-01 2.15975295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.739254154 meters Centerline goodness : 0.998949 with order 1 Centerline is valid? [True, True] Translation: X:591.55, Y:33.59, Z:21.60 [[ 9.95390308e-01 -8.86840886e-02 -3.65139267e-02 5.91546161e+02] [ 8.86642091e-02 9.96059217e-01 -2.16655566e-03 3.35887848e+01] [ 3.65621722e-02 -1.08090992e-03 9.99330796e-01 2.15997086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.799254154 meters Centerline goodness : 0.998824 with order 1 Centerline is valid? [True, True] Translation: X:591.61, Y:33.59, Z:21.60 [[ 9.95476197e-01 -8.77146712e-02 -3.65140799e-02 5.91607597e+02] [ 8.76942350e-02 9.96145089e-01 -2.16397039e-03 3.35946319e+01] [ 3.65631333e-02 -1.04789329e-03 9.99330796e-01 2.16000943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.859254154 meters Centerline goodness : 0.998929 with order 1 Centerline is valid? [True, True] Translation: X:591.67, Y:33.60, Z:21.60 [[ 9.95454339e-01 -8.79623318e-02 -3.65141930e-02 5.91669187e+02] [ 8.79421321e-02 9.96123239e-01 -2.16206048e-03 3.35996653e+01] [ 3.65628161e-02 -1.05890349e-03 9.99330796e-01 2.16014916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.919254154 meters Centerline goodness : 0.999035 with order 1 Centerline is valid? [True, True] Translation: X:591.73, Y:33.61, Z:21.60 [[ 9.95510928e-01 -8.73195267e-02 -3.65142670e-02 5.91729807e+02] [ 8.72989408e-02 9.96179816e-01 -2.16081020e-03 3.36064594e+01] [ 3.65634567e-02 -1.03654666e-03 9.99330796e-01 2.16034217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.9792541539999 meters Centerline goodness : 0.998929 with order 1 Centerline is valid? [True, True] Translation: X:591.79, Y:33.61, Z:21.61 [[ 9.95730289e-01 -8.47814468e-02 -3.65143404e-02 5.91790995e+02] [ 8.47592013e-02 9.96399124e-01 -2.15956854e-03 3.36124263e+01] [ 3.65659481e-02 -9.44578526e-04 9.99330796e-01 2.16059590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.039254154 meters Centerline goodness : 0.999034 with order 1 Centerline is valid? [True, True] Translation: X:591.85, Y:33.62, Z:21.61 [[ 9.96310483e-01 -7.76667137e-02 -3.65144129e-02 5.91851732e+02] [ 7.76397362e-02 9.96979144e-01 -2.15834289e-03 3.36198751e+01] [ 3.65717395e-02 -6.84589729e-04 9.99330796e-01 2.16089168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.0992541539999 meters Centerline goodness : 0.998989 with order 1 Centerline is valid? [True, True] Translation: X:591.91, Y:33.63, Z:21.61 [[ 9.96854183e-01 -7.03450753e-02 -3.65144843e-02 5.91911545e+02] [ 7.03132305e-02 9.97522630e-01 -2.15713264e-03 3.36266416e+01] [ 3.65757681e-02 -4.17104654e-04 9.99330796e-01 2.16120435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.159254154 meters Centerline goodness : 0.998988 with order 1 Centerline is valid? [True, True] Translation: X:591.97, Y:33.63, Z:21.61 [[ 9.97047596e-01 -6.75483864e-02 -3.65144843e-02 5.91971298e+02] [ 6.75146665e-02 9.97715950e-01 -2.15713264e-03 3.36320478e+01] [ 3.65767943e-02 -3.14499320e-04 9.99330796e-01 2.16145196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.2192541539999 meters Centerline goodness : 0.998797 with order 1 Centerline is valid? [True, True] Translation: X:592.03, Y:33.64, Z:21.62 [[ 9.97027805e-01 -6.78398736e-02 -3.65144843e-02 5.92030505e+02] [ 6.78063491e-02 9.97696169e-01 -2.15713264e-03 3.36362649e+01] [ 3.65767008e-02 -3.25192651e-04 9.99330796e-01 2.16158359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.279254154 meters Centerline goodness : 0.999051 with order 1 Centerline is valid? [True, True] Translation: X:592.09, Y:33.64, Z:21.62 [[ 9.96737498e-01 -7.19795433e-02 -3.65144477e-02 5.92090296e+02] [ 7.19487719e-02 9.97405995e-01 -2.15775288e-03 3.36390965e+01] [ 3.65750431e-02 -4.76456464e-04 9.99330796e-01 2.16171526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.339254154 meters Centerline goodness : 0.999391 with order 1 Centerline is valid? [True, True] Translation: X:592.15, Y:33.64, Z:21.62 [[ 9.96426659e-01 -7.61617539e-02 -3.65143758e-02 5.92150893e+02] [ 7.61337435e-02 9.97095277e-01 -2.15896921e-03 3.36422073e+01] [ 3.65727425e-02 -6.28721645e-04 9.99330796e-01 2.16185868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.399254154 meters Centerline goodness : 0.999285 with order 1 Centerline is valid? [True, True] Translation: X:592.21, Y:33.65, Z:21.62 [[ 9.95916952e-01 -8.25598288e-02 -3.65143758e-02 5.92211996e+02] [ 8.25361132e-02 9.96585736e-01 -2.15896921e-03 3.36450009e+01] [ 3.65679502e-02 -8.63600622e-04 9.99330796e-01 2.16206632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.459254154 meters Centerline goodness : 0.999244 with order 1 Centerline is valid? [True, True] Translation: X:592.27, Y:33.65, Z:21.62 [[ 9.95499993e-01 -8.74440291e-02 -3.65144459e-02 5.92272760e+02] [ 8.74236379e-02 9.96168887e-01 -2.15778297e-03 3.36484590e+01] [ 3.65632401e-02 -1.04415276e-03 9.99330796e-01 2.16232953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.519254154 meters Centerline goodness : 0.999204 with order 1 Centerline is valid? [True, True] Translation: X:592.33, Y:33.65, Z:21.63 [[ 9.95096900e-01 -9.19176292e-02 -3.65145152e-02 5.92333812e+02] [ 9.19002876e-02 9.95765879e-01 -2.15660993e-03 3.36520719e+01] [ 3.65581388e-02 -1.20965859e-03 9.99330796e-01 2.16253731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.579254154 meters Centerline goodness : 0.999161 with order 1 Centerline is valid? [True, True] Translation: X:592.39, Y:33.66, Z:21.63 [[ 9.94614100e-01 -9.70023998e-02 -3.65147326e-02 5.92394543e+02] [ 9.69886128e-02 9.95283163e-01 -2.15292215e-03 3.36556543e+01] [ 3.65513372e-02 -1.40018653e-03 9.99330796e-01 2.16271673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.639254154 meters Centerline goodness : 0.998847 with order 1 Centerline is valid? [True, True] Translation: X:592.46, Y:33.66, Z:21.63 [[ 9.93631221e-01 -1.06600498e-01 -3.65147999e-02 5.92456304e+02] [ 1.06593213e-01 9.94300386e-01 -2.15178024e-03 3.36586220e+01] [ 3.65360605e-02 -1.75415382e-03 9.99330796e-01 2.16304492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.699254154 meters Centerline goodness : 0.998891 with order 1 Centerline is valid? [True, True] Translation: X:592.52, Y:33.66, Z:21.63 [[ 9.92966017e-01 -1.12628361e-01 -3.65149577e-02 5.92518309e+02] [ 1.12625235e-01 9.93635214e-01 -2.14909932e-03 3.36623979e+01] [ 3.65245973e-02 -1.97852309e-03 9.99330796e-01 2.16304760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.759254154 meters Centerline goodness : 0.998869 with order 1 Centerline is valid? [True, True] Translation: X:592.58, Y:33.67, Z:21.63 [[ 9.92357598e-01 -1.17868748e-01 -3.65151529e-02 5.92579227e+02] [ 1.17869276e-01 9.93026802e-01 -2.14577769e-03 3.36688029e+01] [ 3.65134456e-02 -2.17463585e-03 9.99330796e-01 2.16318667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.819254154 meters Centerline goodness : 0.999163 with order 1 Centerline is valid? [True, True] Translation: X:592.64, Y:33.68, Z:21.63 [[ 9.92533853e-01 -1.16375204e-01 -3.65152502e-02 5.92641063e+02] [ 1.16374786e-01 9.93203057e-01 -2.14412055e-03 3.36765025e+01] [ 3.65165806e-02 -2.12134221e-03 9.99330796e-01 2.16347271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.879254154 meters Centerline goodness : 0.998949 with order 1 Centerline is valid? [True, True] Translation: X:592.70, Y:33.69, Z:21.64 [[ 9.93138154e-01 -1.11100110e-01 -3.65153779e-02 5.92703157e+02] [ 1.11096217e-01 9.93807347e-01 -2.14194308e-03 3.36861642e+01] [ 3.65272209e-02 -1.92947495e-03 9.99330796e-01 2.16398641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.939254154 meters Centerline goodness : 0.998928 with order 1 Centerline is valid? [True, True] Translation: X:592.77, Y:33.69, Z:21.64 [[ 9.93649837e-01 -1.06426558e-01 -3.65156091e-02 5.92765616e+02] [ 1.06419661e-01 9.94319005e-01 -2.13799451e-03 3.36941184e+01] [ 3.65357035e-02 -1.76156086e-03 9.99330796e-01 2.16425926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.999254154 meters Centerline goodness : 0.998608 with order 1 Centerline is valid? [True, True] Translation: X:592.83, Y:33.69, Z:21.63 [[ 9.95545829e-01 -8.69200486e-02 -3.65158408e-02 5.92827198e+02] [ 8.69001758e-02 9.96214739e-01 -2.13402956e-03 3.36889849e+01] [ 3.65631088e-02 -1.04870876e-03 9.99330796e-01 2.16274389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.059254154 meters Centerline goodness : 0.999051 with order 1 Centerline is valid? [True, True] Translation: X:592.89, Y:33.71, Z:21.65 [[ 9.95114201e-01 -9.17296064e-02 -3.65158408e-02 5.92885365e+02] [ 9.17129661e-02 9.95783198e-01 -2.13402956e-03 3.37137825e+01] [ 3.65576144e-02 -1.22537295e-03 9.99330796e-01 2.16486522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.119254154 meters Centerline goodness : 0.999026 with order 1 Centerline is valid? [True, True] Translation: X:592.95, Y:33.72, Z:21.65 [[ 9.95622172e-01 -8.60411096e-02 -3.65159948e-02 5.92946768e+02] [ 8.60207430e-02 9.96291066e-01 -2.13139125e-03 3.37212473e+01] [ 3.65639467e-02 -1.01907262e-03 9.99330796e-01 2.16516356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.179254154 meters Centerline goodness : 0.998895 with order 1 Centerline is valid? [True, True] Translation: X:593.01, Y:33.71, Z:21.64 [[ 9.97070229e-01 -6.72125721e-02 -3.65161414e-02 5.93008768e+02] [ 6.71796618e-02 9.97738624e-01 -2.12887692e-03 3.37114906e+01] [ 3.65766519e-02 -3.30502231e-04 9.99330796e-01 2.16375451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.239254154 meters Centerline goodness : 0.999320 with order 1 Centerline is valid? [True, True] Translation: X:593.07, Y:33.73, Z:21.66 [[ 9.96597472e-01 -7.38921343e-02 -3.65161775e-02 5.93067839e+02] [ 7.38637261e-02 9.97266073e-01 -2.12825796e-03 3.37315490e+01] [ 3.65736064e-02 -5.76204424e-04 9.99330796e-01 2.16560848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.299254154 meters Centerline goodness : 0.999299 with order 1 Centerline is valid? [True, True] Translation: X:593.13, Y:33.73, Z:21.66 [[ 9.96692654e-01 -7.25969432e-02 -3.65162548e-02 5.93130440e+02] [ 7.25677148e-02 9.97361220e-01 -2.12693044e-03 3.37345656e+01] [ 3.65743051e-02 -5.30005218e-04 9.99330796e-01 2.16569492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.359254154 meters Centerline goodness : 0.999104 with order 1 Centerline is valid? [True, True] Translation: X:593.19, Y:33.72, Z:21.64 [[ 9.97745238e-01 -5.63115696e-02 -3.65164094e-02 5.93192993e+02] [ 5.62715249e-02 9.98413243e-01 -2.12427289e-03 3.37193461e+01] [ 3.65780878e-02 6.46491251e-05 9.99330796e-01 2.16387099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.419254154 meters Centerline goodness : 0.999106 with order 1 Centerline is valid? [True, True] Translation: X:593.25, Y:33.74, Z:21.66 [[ 9.96710212e-01 -7.23553908e-02 -3.65164502e-02 5.93250141e+02] [ 7.23261235e-02 9.97378776e-01 -2.12357036e-03 3.37382153e+01] [ 3.65743842e-02 -5.24509031e-04 9.99330796e-01 2.16605432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.4792541539999 meters Centerline goodness : 0.998788 with order 1 Centerline is valid? [True, True] Translation: X:593.31, Y:33.72, Z:21.65 [[ 9.97348995e-01 -6.29407435e-02 -3.65163706e-02 5.93311474e+02] [ 6.29051145e-02 9.98017250e-01 -2.12493804e-03 3.37213056e+01] [ 3.65777130e-02 -1.77761656e-04 9.99330796e-01 2.16471409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.539254154 meters Centerline goodness : 0.998764 with order 1 Centerline is valid? [True, True] Translation: X:593.37, Y:33.74, Z:21.67 [[ 9.96409861e-01 -7.63802689e-02 -3.65163334e-02 5.93370785e+02] [ 7.63536284e-02 9.97078535e-01 -2.12557711e-03 3.37400935e+01] [ 3.65720044e-02 -6.70208559e-04 9.99330796e-01 2.16656193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.5992541539999 meters Centerline goodness : 0.999065 with order 1 Centerline is valid? [True, True] Translation: X:593.43, Y:33.74, Z:21.67 [[ 9.96183178e-01 -7.92819745e-02 -3.65163702e-02 5.93433375e+02] [ 7.92573048e-02 9.96851927e-01 -2.12494574e-03 3.37421326e+01] [ 3.65698839e-02 -7.77353880e-04 9.99330796e-01 2.16682568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.659254154 meters Centerline goodness : 0.998940 with order 1 Centerline is valid? [True, True] Translation: X:593.50, Y:33.74, Z:21.67 [[ 9.95761204e-01 -8.44166301e-02 -3.65165197e-02 5.93495638e+02] [ 8.43955027e-02 9.96430075e-01 -2.12237287e-03 3.37421796e+01] [ 3.65653221e-02 -9.68453478e-04 9.99330796e-01 2.16703937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.7192541539999 meters Centerline goodness : 0.999178 with order 1 Centerline is valid? [True, True] Translation: X:593.56, Y:33.74, Z:21.67 [[ 9.95184878e-01 -9.09592776e-02 -3.65166768e-02 5.93557761e+02] [ 9.09426459e-02 9.95853876e-01 -2.11966673e-03 3.37423514e+01] [ 3.65580775e-02 -1.21146293e-03 9.99330796e-01 2.16716818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.779254154 meters Centerline goodness : 0.999071 with order 1 Centerline is valid? [True, True] Translation: X:593.62, Y:33.74, Z:21.67 [[ 9.94535876e-01 -9.78003695e-02 -3.65168321e-02 5.93619967e+02] [ 9.77884366e-02 9.95204974e-01 -2.11698827e-03 3.37432655e+01] [ 3.65487752e-02 -1.46550314e-03 9.99330796e-01 2.16727520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.839254154 meters Centerline goodness : 0.996333 with order 1 Centerline is valid? [True, True] Translation: X:593.68, Y:33.74, Z:21.67 [[ 9.94025332e-01 -1.02859849e-01 -3.65169905e-02 5.93682736e+02] [ 1.02851421e-01 9.94694483e-01 -2.11425234e-03 3.37440987e+01] [ 3.65407207e-02 -1.65420397e-03 9.99330796e-01 2.16696992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.899254154 meters Centerline goodness : 0.998926 with order 1 Centerline is valid? [True, True] Translation: X:593.74, Y:33.75, Z:21.67 [[ 9.93492950e-01 -1.07880722e-01 -3.65172396e-02 5.93743293e+02] [ 1.07875833e-01 9.94162136e-01 -2.10994028e-03 3.37469801e+01] [ 3.65316788e-02 -1.84311687e-03 9.99330796e-01 2.16744204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.959254154 meters Centerline goodness : 0.998947 with order 1 Centerline is valid? [True, True] Translation: X:593.81, Y:33.75, Z:21.68 [[ 9.92992108e-01 -1.12397299e-01 -3.65173895e-02 5.93805100e+02] [ 1.12395549e-01 9.93661310e-01 -2.10734336e-03 3.37504204e+01] [ 3.65227768e-02 -2.01181670e-03 9.99330796e-01 2.16758333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.019254154 meters Centerline goodness : 0.999008 with order 1 Centerline is valid? [True, True] Translation: X:593.87, Y:33.76, Z:21.67 [[ 9.92673738e-01 -1.15175151e-01 -3.65175847e-02 5.93867382e+02] [ 1.15175397e-01 9.93342942e-01 -2.10395564e-03 3.37556415e+01] [ 3.65168084e-02 -2.11738580e-03 9.99330796e-01 2.16734877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.079254154 meters Centerline goodness : 0.999260 with order 1 Centerline is valid? [True, True] Translation: X:593.93, Y:33.76, Z:21.68 [[ 9.92455888e-01 -1.17037432e-01 -3.65178113e-02 5.93928275e+02] [ 1.17039078e-01 9.93125090e-01 -2.10001567e-03 3.37590752e+01] [ 3.65125350e-02 -2.18983806e-03 9.99330796e-01 2.16782217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.139254154 meters Centerline goodness : 0.999010 with order 1 Centerline is valid? [True, True] Translation: X:593.99, Y:33.76, Z:21.68 [[ 9.92547887e-01 -1.16254594e-01 -3.65179475e-02 5.93989678e+02] [ 1.16255799e-01 9.93217091e-01 -2.09764360e-03 3.37643602e+01] [ 3.65141103e-02 -2.16341144e-03 9.99330796e-01 2.16801005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.199254154 meters Centerline goodness : 0.998964 with order 1 Centerline is valid? [True, True] Translation: X:594.05, Y:33.76, Z:21.66 [[ 9.94886951e-01 -9.41614615e-02 -3.65181390e-02 5.94051677e+02] [ 9.41479124e-02 9.95556018e-01 -2.09430457e-03 3.37563170e+01] [ 3.65530558e-02 -1.35451027e-03 9.99330796e-01 2.16639721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.259254154 meters Centerline goodness : 0.999259 with order 1 Centerline is valid? [True, True] Translation: X:594.11, Y:33.78, Z:21.69 [[ 9.94132281e-01 -1.01820581e-01 -3.65181799e-02 5.94110111e+02] [ 1.01812211e-01 9.94801433e-01 -2.09359152e-03 3.37796541e+01] [ 3.65415084e-02 -1.63668972e-03 9.99330796e-01 2.16870144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.319254154 meters Centerline goodness : 0.999195 with order 1 Centerline is valid? [True, True] Translation: X:594.17, Y:33.79, Z:21.69 [[ 9.95472836e-01 -8.77510681e-02 -3.65182577e-02 5.94172643e+02] [ 8.77332855e-02 9.96141804e-01 -2.09223417e-03 3.37882255e+01] [ 3.65609588e-02 -1.12110444e-03 9.99330796e-01 2.16915091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.379254154 meters Centerline goodness : 0.998530 with order 1 Centerline is valid? [True, True] Translation: X:594.23, Y:33.80, Z:21.69 [[ 9.96654856e-01 -7.31129123e-02 -3.65184864e-02 5.94234760e+02] [ 7.30854475e-02 9.97323496e-01 -2.08823408e-03 3.37959291e+01] [ 3.65734214e-02 -5.87721279e-04 9.99330796e-01 2.16918966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.439254154 meters Centerline goodness : 0.998232 with order 1 Centerline is valid? [True, True] Translation: X:594.30, Y:33.80, Z:21.69 [[ 9.97201210e-01 -6.52390548e-02 -3.65186581e-02 5.94296093e+02] [ 6.52064200e-02 9.97869618e-01 -2.08522713e-03 3.38015967e+01] [ 3.65768976e-02 -3.01859940e-04 9.99330796e-01 2.16946341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.499254154 meters Centerline goodness : 0.999210 with order 1 Centerline is valid? [True, True] Translation: X:594.36, Y:33.81, Z:21.70 [[ 9.97631918e-01 -5.82832418e-02 -3.65187516e-02 5.94355310e+02] [ 5.82460066e-02 9.98300086e-01 -2.08358831e-03 3.38074873e+01] [ 3.65781111e-02 -4.84172463e-05 9.99330796e-01 2.16992630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.559254154 meters Centerline goodness : 0.999186 with order 1 Centerline is valid? [True, True] Translation: X:594.42, Y:33.81, Z:21.70 [[ 9.97892012e-01 -5.36462099e-02 -3.65187055e-02 5.94415397e+02] [ 5.36058402e-02 9.98559998e-01 -2.08439666e-03 3.38113881e+01] [ 3.65779384e-02 1.22386893e-04 9.99330796e-01 2.16995525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.619254154 meters Centerline goodness : 0.999035 with order 1 Centerline is valid? [True, True] Translation: X:594.48, Y:33.82, Z:21.70 [[ 9.98007990e-01 -5.14435141e-02 -3.65187055e-02 5.94475066e+02] [ 5.14016701e-02 9.98675885e-01 -2.08439666e-03 3.38150338e+01] [ 3.65775792e-02 2.03122075e-04 9.99330796e-01 2.16993457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.679254154 meters Centerline goodness : 0.999078 with order 1 Centerline is valid? [True, True] Translation: X:594.53, Y:33.82, Z:21.70 [[ 9.97905628e-01 -5.33923672e-02 -3.65186628e-02 5.94533540e+02] [ 5.33518002e-02 9.98573601e-01 -2.08514451e-03 3.38178975e+01] [ 3.65779034e-02 1.32441041e-04 9.99330796e-01 2.17032946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.739254154 meters Centerline goodness : 0.999272 with order 1 Centerline is valid? [True, True] Translation: X:594.59, Y:33.82, Z:21.70 [[ 9.97858580e-01 -5.42646306e-02 -3.65185344e-02 5.94592325e+02] [ 5.42245653e-02 9.98526584e-01 -2.08739003e-03 3.38197341e+01] [ 3.65779989e-02 1.02718395e-04 9.99330796e-01 2.17028984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.799254154 meters Centerline goodness : 0.999209 with order 1 Centerline is valid? [True, True] Translation: X:594.65, Y:33.82, Z:21.71 [[ 9.97533342e-01 -5.99469316e-02 -3.65184568e-02 5.94652009e+02] [ 5.99106219e-02 9.98201560e-01 -2.08874663e-03 3.38198012e+01] [ 3.65779945e-02 -1.04249051e-04 9.99330796e-01 2.17076480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.859254154 meters Centerline goodness : 0.999295 with order 1 Centerline is valid? [True, True] Translation: X:594.71, Y:33.82, Z:21.71 [[ 9.97251600e-01 -6.44643598e-02 -3.65183758e-02 5.94712278e+02] [ 6.44310251e-02 9.97919974e-01 -2.09016142e-03 3.38200068e+01] [ 3.65771576e-02 -2.68499571e-04 9.99330796e-01 2.17090116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.919254154 meters Centerline goodness : 0.999022 with order 1 Centerline is valid? [True, True] Translation: X:594.77, Y:33.82, Z:21.71 [[ 9.96644682e-01 -7.32515284e-02 -3.65183758e-02 5.94773858e+02] [ 7.32240860e-02 9.97313323e-01 -2.09016142e-03 3.38180079e+01] [ 3.65733703e-02 -5.90876433e-04 9.99330796e-01 2.17099033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.9792541539999 meters Centerline goodness : 0.999170 with order 1 Centerline is valid? [True, True] Translation: X:594.84, Y:33.81, Z:21.71 [[ 9.96264679e-01 -7.82501856e-02 -3.65184518e-02 5.94835373e+02] [ 7.82261464e-02 9.96933452e-01 -2.08883398e-03 3.38141796e+01] [ 3.65699178e-02 -7.75666235e-04 9.99330796e-01 2.17060926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.039254154 meters Centerline goodness : 0.999343 with order 1 Centerline is valid? [True, True] Translation: X:594.90, Y:33.82, Z:21.71 [[ 9.95599057e-01 -8.63070994e-02 -3.65185282e-02 5.94896514e+02] [ 8.62885202e-02 9.96268003e-01 -2.08749683e-03 3.38174829e+01] [ 3.65624069e-02 -1.07281988e-03 9.99330796e-01 2.17122031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.0992541539999 meters Centerline goodness : 0.999110 with order 1 Centerline is valid? [True, True] Translation: X:594.96, Y:33.80, Z:21.70 [[ 9.96327145e-01 -7.74506910e-02 -3.65186412e-02 5.94959267e+02] [ 7.74262367e-02 9.96995902e-01 -2.08551738e-03 3.38048520e+01] [ 3.65704604e-02 -7.49643384e-04 9.99330796e-01 2.16976413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.159254154 meters Centerline goodness : 0.998899 with order 1 Centerline is valid? [True, True] Translation: X:595.02, Y:33.82, Z:21.72 [[ 9.95268856e-01 -9.00349236e-02 -3.65187222e-02 5.95017516e+02] [ 9.00189742e-02 9.95937870e-01 -2.08409899e-03 3.38211489e+01] [ 3.65580201e-02 -1.21313909e-03 9.99330796e-01 2.17161998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.2192541539999 meters Centerline goodness : 0.998773 with order 1 Centerline is valid? [True, True] Translation: X:595.08, Y:33.82, Z:21.72 [[ 9.95468214e-01 -8.78032882e-02 -3.65187222e-02 5.95079087e+02] [ 8.77858388e-02 9.96137191e-01 -2.08409899e-03 3.38249826e+01] [ 3.65606481e-02 -1.13117236e-03 9.99330796e-01 2.17187805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.279254154 meters Centerline goodness : 0.998901 with order 1 Centerline is valid? [True, True] Translation: X:595.14, Y:33.83, Z:21.72 [[ 9.95568802e-01 -8.66552459e-02 -3.65188742e-02 5.95140899e+02] [ 8.66371228e-02 9.96237761e-01 -2.08143158e-03 3.38290469e+01] [ 3.65618484e-02 -1.09168184e-03 9.99330796e-01 2.17208408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.339254154 meters Centerline goodness : 0.998940 with order 1 Centerline is valid? [True, True] Translation: X:595.20, Y:33.82, Z:21.71 [[ 9.96467938e-01 -7.56175169e-02 -3.65190244e-02 5.95203554e+02] [ 7.55920786e-02 9.97136659e-01 -2.07879247e-03 3.38221052e+01] [ 3.65716511e-02 -6.89098923e-04 9.99330796e-01 2.17072034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.399254154 meters Centerline goodness : 0.999047 with order 1 Centerline is valid? [True, True] Translation: X:595.26, Y:33.84, Z:21.72 [[ 9.95290988e-01 -8.97897730e-02 -3.65191047e-02 5.95263280e+02] [ 8.97739050e-02 9.95960004e-01 -2.07738125e-03 3.38372686e+01] [ 3.65580953e-02 -1.21086380e-03 9.99330796e-01 2.17222325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.459254154 meters Centerline goodness : 0.999067 with order 1 Centerline is valid? [True, True] Translation: X:595.33, Y:33.84, Z:21.72 [[ 9.95201318e-01 -9.07781695e-02 -3.65193278e-02 5.95325634e+02] [ 9.07631100e-02 9.95870352e-01 -2.07345146e-03 3.38408902e+01] [ 3.65567400e-02 -1.25110614e-03 9.99330796e-01 2.17242547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.519254154 meters Centerline goodness : 0.999152 with order 1 Centerline is valid? [True, True] Translation: X:595.39, Y:33.85, Z:21.73 [[ 9.94945604e-01 -9.35391510e-02 -3.65194772e-02 5.95386488e+02] [ 9.35260444e-02 9.95614680e-01 -2.07081706e-03 3.38463876e+01] [ 3.65530301e-02 -1.35517191e-03 9.99330796e-01 2.17273001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.579254154 meters Centerline goodness : 0.999110 with order 1 Centerline is valid? [True, True] Translation: X:595.45, Y:33.85, Z:21.73 [[ 9.94805988e-01 -9.50124487e-02 -3.65195875e-02 5.95447959e+02] [ 9.50004043e-02 9.95475084e-01 -2.06886957e-03 3.38516598e+01] [ 3.65509078e-02 -1.41125174e-03 9.99330796e-01 2.17303041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.639254154 meters Centerline goodness : 0.999023 with order 1 Centerline is valid? [True, True] Translation: X:595.51, Y:33.86, Z:21.73 [[ 9.94641649e-01 -9.67176236e-02 -3.65197320e-02 5.95510162e+02] [ 9.67068198e-02 9.95310766e-01 -2.06631707e-03 3.38576549e+01] [ 3.65483317e-02 -1.47646212e-03 9.99330796e-01 2.17332437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.699254154 meters Centerline goodness : 0.998981 with order 1 Centerline is valid? [True, True] Translation: X:595.57, Y:33.86, Z:21.73 [[ 9.94519420e-01 -9.79664292e-02 -3.65198764e-02 5.95570996e+02] [ 9.79565592e-02 9.95188552e-01 -2.06376114e-03 3.38633576e+01] [ 3.65463422e-02 -1.52491090e-03 9.99330796e-01 2.17345338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.759254154 meters Centerline goodness : 0.999065 with order 1 Centerline is valid? [True, True] Translation: X:595.63, Y:33.87, Z:21.74 [[ 9.94471393e-01 -9.84527274e-02 -3.65199832e-02 5.95631333e+02] [ 9.84432539e-02 9.95140530e-01 -2.06186933e-03 3.38706473e+01] [ 3.65455121e-02 -1.54467592e-03 9.99330796e-01 2.17374140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.819254154 meters Centerline goodness : 0.999191 with order 1 Centerline is valid? [True, True] Translation: X:595.69, Y:33.88, Z:21.74 [[ 9.94544019e-01 -9.77163110e-02 -3.65200882e-02 5.95692893e+02] [ 9.77064103e-02 9.95213150e-01 -2.06000771e-03 3.38766168e+01] [ 3.65465684e-02 -1.51947837e-03 9.99330796e-01 2.17407497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.879254154 meters Centerline goodness : 0.999104 with order 1 Centerline is valid? [True, True] Translation: X:595.75, Y:33.88, Z:21.74 [[ 9.95244716e-01 -9.03007696e-02 -3.65202259e-02 5.95754259e+02] [ 9.02859714e-02 9.95913756e-01 -2.05756497e-03 3.38781920e+01] [ 3.65567950e-02 -1.24948340e-03 9.99330796e-01 2.17371615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.939254154 meters Centerline goodness : 0.998997 with order 1 Centerline is valid? [True, True] Translation: X:595.82, Y:33.89, Z:21.75 [[ 9.95013537e-01 -9.28133990e-02 -3.65203276e-02 5.95815627e+02] [ 9.28003563e-02 9.95682614e-01 -2.05575816e-03 3.38919504e+01] [ 3.65534571e-02 -1.34359221e-03 9.99330796e-01 2.17456615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.999254154 meters Centerline goodness : 0.999144 with order 1 Centerline is valid? [True, True] Translation: X:595.88, Y:33.90, Z:21.75 [[ 9.95270374e-01 -9.00174245e-02 -3.65204733e-02 5.95877038e+02] [ 9.00025970e-02 9.95939414e-01 -2.05316651e-03 3.38995228e+01] [ 3.65569995e-02 -1.24348164e-03 9.99330796e-01 2.17472575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.059254154 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:595.94, Y:33.91, Z:21.75 [[ 9.95393317e-01 -8.86475590e-02 -3.65206175e-02 5.95939271e+02] [ 8.86319049e-02 9.96062338e-01 -2.05059813e-03 3.39053644e+01] [ 3.65585921e-02 -1.19574022e-03 9.99330796e-01 2.17496021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.119254154 meters Centerline goodness : 0.999292 with order 1 Centerline is valid? [True, True] Translation: X:596.00, Y:33.91, Z:21.75 [[ 9.95529860e-01 -8.71007016e-02 -3.65207608e-02 5.96001209e+02] [ 8.70841015e-02 9.96198858e-01 -2.04804319e-03 3.39132926e+01] [ 3.65603262e-02 -1.14148949e-03 9.99330796e-01 2.17524531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.179254154 meters Centerline goodness : 0.999332 with order 1 Centerline is valid? [True, True] Translation: X:596.06, Y:33.92, Z:21.75 [[ 9.95736817e-01 -8.47019145e-02 -3.65209038e-02 5.96062588e+02] [ 8.46837962e-02 9.96405776e-01 -2.04548956e-03 3.39211278e+01] [ 3.65628964e-02 -1.05595951e-03 9.99330796e-01 2.17549287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.239254154 meters Centerline goodness : 0.999374 with order 1 Centerline is valid? [True, True] Translation: X:596.12, Y:33.93, Z:21.76 [[ 9.95949619e-01 -8.21618525e-02 -3.65210536e-02 5.96124559e+02] [ 8.21421261e-02 9.96618532e-01 -2.04281193e-03 3.39268554e+01] [ 3.65654000e-02 -9.65379220e-04 9.99330796e-01 2.17567703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.299254154 meters Centerline goodness : 0.999632 with order 1 Centerline is valid? [True, True] Translation: X:596.19, Y:33.94, Z:21.76 [[ 9.96365208e-01 -7.69582586e-02 -3.65212042e-02 5.96186674e+02] [ 7.69351371e-02 9.97034013e-01 -2.04011543e-03 3.39351666e+01] [ 3.65698865e-02 -7.77063814e-04 9.99330796e-01 2.17574471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.359254154 meters Centerline goodness : 0.999630 with order 1 Centerline is valid? [True, True] Translation: X:596.25, Y:33.94, Z:21.76 [[ 9.96903140e-01 -6.96442138e-02 -3.65214001e-02 5.96247433e+02] [ 6.96163135e-02 9.97571762e-01 -2.03660284e-03 3.39431319e+01] [ 3.65745550e-02 -5.12189465e-04 9.99330796e-01 2.17616349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.419254154 meters Centerline goodness : 0.999498 with order 1 Centerline is valid? [True, True] Translation: X:596.31, Y:33.95, Z:21.77 [[ 9.97246864e-01 -6.45358092e-02 -3.65215178e-02 5.96309529e+02] [ 6.45045611e-02 9.97915338e-01 -2.03448885e-03 3.39502926e+01] [ 3.65766802e-02 -3.26916848e-04 9.99330796e-01 2.17652306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.4792541539999 meters Centerline goodness : 0.999540 with order 1 Centerline is valid? [True, True] Translation: X:596.37, Y:33.95, Z:21.77 [[ 9.97281049e-01 -6.40052967e-02 -3.65216665e-02 5.96371678e+02] [ 6.39737908e-02 9.97949511e-01 -2.03181722e-03 3.39540252e+01] [ 3.65768262e-02 -3.10136640e-04 9.99330796e-01 2.17667777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.539254154 meters Centerline goodness : 0.999520 with order 1 Centerline is valid? [True, True] Translation: X:596.43, Y:33.96, Z:21.77 [[ 9.97058218e-01 -6.73874360e-02 -3.65218141e-02 5.96433604e+02] [ 6.73582949e-02 9.97726788e-01 -2.02916042e-03 3.39577746e+01] [ 3.65755321e-02 -4.36856053e-04 9.99330796e-01 2.17686068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.5992541539999 meters Centerline goodness : 0.999499 with order 1 Centerline is valid? [True, True] Translation: X:596.50, Y:33.96, Z:21.77 [[ 9.96562974e-01 -7.43531086e-02 -3.65219643e-02 5.96495399e+02] [ 7.43287392e-02 9.97231734e-01 -2.02645358e-03 3.39606336e+01] [ 3.65715349e-02 -6.95142945e-04 9.99330796e-01 2.17696411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.659254154 meters Centerline goodness : 0.999499 with order 1 Centerline is valid? [True, True] Translation: X:596.56, Y:33.96, Z:21.77 [[ 9.95986063e-01 -8.17184011e-02 -3.65221119e-02 5.96557757e+02] [ 8.16990740e-02 9.96654988e-01 -2.02378936e-03 3.39629842e+01] [ 3.65653258e-02 -9.68156724e-04 9.99330796e-01 2.17715987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.7192541539999 meters Centerline goodness : 0.999543 with order 1 Centerline is valid? [True, True] Translation: X:596.62, Y:33.97, Z:21.77 [[ 9.95539892e-01 -8.69853342e-02 -3.65222612e-02 5.96620205e+02] [ 8.69696444e-02 9.96208912e-01 -2.02109131e-03 3.39659939e+01] [ 3.65596074e-02 -1.16425104e-03 9.99330796e-01 2.17744097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.779254154 meters Centerline goodness : 0.999565 with order 1 Centerline is valid? [True, True] Translation: X:596.68, Y:33.97, Z:21.78 [[ 9.94808204e-01 -9.49881314e-02 -3.65224840e-02 5.96681903e+02] [ 9.49779698e-02 9.95477331e-01 -2.01705753e-03 3.39688538e+01] [ 3.65489014e-02 -1.46224600e-03 9.99330796e-01 2.17768215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.839254154 meters Centerline goodness : 0.999566 with order 1 Centerline is valid? [True, True] Translation: X:596.75, Y:33.97, Z:21.78 [[ 9.94284103e-01 -1.00325571e-01 -3.65226328e-02 5.96745014e+02] [ 1.00319099e-01 9.94953276e-01 -2.01435976e-03 3.39727422e+01] [ 3.65404049e-02 -1.66107174e-03 9.99330796e-01 2.17801019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.899254154 meters Centerline goodness : 0.999631 with order 1 Centerline is valid? [True, True] Translation: X:596.81, Y:33.98, Z:21.78 [[ 9.94282695e-01 -1.00339438e-01 -3.65228557e-02 5.96806631e+02] [ 1.00333124e-01 9.94951870e-01 -2.01030885e-03 3.39767849e+01] [ 3.65401969e-02 -1.66563691e-03 9.99330796e-01 2.17832758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.959254154 meters Centerline goodness : 0.999631 with order 1 Centerline is valid? [True, True] Translation: X:596.87, Y:33.98, Z:21.79 [[ 9.94617559e-01 -9.69638174e-02 -3.65230024e-02 5.96869773e+02] [ 9.69553300e-02 9.95286709e-01 -2.00764085e-03 3.39837364e+01] [ 3.65455274e-02 -1.54426491e-03 9.99330796e-01 2.17873304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.019254154 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:596.93, Y:33.99, Z:21.79 [[ 9.95103372e-01 -9.18440689e-02 -3.65232218e-02 5.96931757e+02] [ 9.18322846e-02 9.95772472e-01 -2.00364194e-03 3.39907756e+01] [ 3.65528415e-02 -1.36018005e-03 9.99330796e-01 2.17902222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.079254154 meters Centerline goodness : 0.999650 with order 1 Centerline is valid? [True, True] Translation: X:596.99, Y:34.00, Z:21.79 [[ 9.95520753e-01 -8.72036327e-02 -3.65233661e-02 5.96993234e+02] [ 8.71888256e-02 9.96189793e-01 -2.00100697e-03 3.39973108e+01] [ 3.65586996e-02 -1.19238543e-03 9.99330796e-01 2.17939418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.139254154 meters Centerline goodness : 0.999694 with order 1 Centerline is valid? [True, True] Translation: X:597.06, Y:34.00, Z:21.80 [[ 9.95825272e-01 -8.36544107e-02 -3.65235128e-02 5.97056201e+02] [ 8.36373171e-02 9.96494258e-01 -1.99832687e-03 3.40036903e+01] [ 3.65626396e-02 -1.06474422e-03 9.99330796e-01 2.17963529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.199254154 meters Centerline goodness : 0.999628 with order 1 Centerline is valid? [True, True] Translation: X:597.12, Y:34.01, Z:21.80 [[ 9.95972282e-01 -8.18854692e-02 -3.65237330e-02 5.97117242e+02] [ 8.18673351e-02 9.96641240e-01 -1.99429295e-03 3.40079955e+01] [ 3.65643622e-02 -1.00384019e-03 9.99330796e-01 2.17968535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.259254154 meters Centerline goodness : 0.999671 with order 1 Centerline is valid? [True, True] Translation: X:597.18, Y:34.01, Z:21.80 [[ 9.96028514e-01 -8.11985783e-02 -3.65238411e-02 5.97179193e+02] [ 8.11800554e-02 9.96697461e-01 -1.99231215e-03 3.40138099e+01] [ 3.65649926e-02 -9.80607733e-04 9.99330796e-01 2.17992477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.319254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:597.24, Y:34.02, Z:21.80 [[ 9.96058297e-01 -8.08323378e-02 -3.65239842e-02 5.97241778e+02] [ 8.08136652e-02 9.96727241e-01 -1.98968577e-03 3.40183908e+01] [ 3.65652809e-02 -9.69794009e-04 9.99330796e-01 2.17990536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.379254154 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:597.30, Y:34.02, Z:21.80 [[ 9.95941053e-01 -8.22642546e-02 -3.65241198e-02 5.97303386e+02] [ 8.22466351e-02 9.96610025e-01 -1.98719211e-03 3.40222751e+01] [ 3.65637789e-02 -1.02485976e-03 9.99330796e-01 2.18047328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.439254154 meters Centerline goodness : 0.999649 with order 1 Centerline is valid? [True, True] Translation: X:597.37, Y:34.03, Z:21.81 [[ 9.95858935e-01 -8.32523765e-02 -3.65242764e-02 5.97365770e+02] [ 8.32355264e-02 9.96527927e-01 -1.98430978e-03 3.40257973e+01] [ 3.65626600e-02 -1.06402475e-03 9.99330796e-01 2.18090806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.499254154 meters Centerline goodness : 0.999670 with order 1 Centerline is valid? [True, True] Translation: X:597.43, Y:34.03, Z:21.81 [[ 9.95860005e-01 -8.32395195e-02 -3.65244227e-02 5.97427232e+02] [ 8.32227596e-02 9.96528999e-01 -1.98161304e-03 3.40300922e+01] [ 3.65625949e-02 -1.06625408e-03 9.99330796e-01 2.18124674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.559254154 meters Centerline goodness : 0.999780 with order 1 Centerline is valid? [True, True] Translation: X:597.49, Y:34.03, Z:21.82 [[ 9.95945410e-01 -8.22113062e-02 -3.65245322e-02 5.97489995e+02] [ 8.21939296e-02 9.96614388e-01 -1.97959405e-03 3.40342667e+01] [ 3.65636193e-02 -1.03052722e-03 9.99330796e-01 2.18163961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.619254154 meters Centerline goodness : 0.999714 with order 1 Centerline is valid? [True, True] Translation: X:597.55, Y:34.04, Z:21.82 [[ 9.95987298e-01 -8.17021721e-02 -3.65247528e-02 5.97550729e+02] [ 8.16846030e-02 9.96656271e-01 -1.97551414e-03 3.40370352e+01] [ 3.65640278e-02 -1.01592294e-03 9.99330796e-01 2.18173740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.679254154 meters Centerline goodness : 0.999714 with order 1 Centerline is valid? [True, True] Translation: X:597.61, Y:34.04, Z:21.82 [[ 9.96015982e-01 -8.13516887e-02 -3.65248609e-02 5.97612956e+02] [ 8.13339575e-02 9.96684952e-01 -1.97351482e-03 3.40393054e+01] [ 3.65643279e-02 -1.00505918e-03 9.99330796e-01 2.18180556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.739254154 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:597.67, Y:34.04, Z:21.82 [[ 9.96020044e-01 -8.13018838e-02 -3.65250025e-02 5.97674903e+02] [ 8.12842153e-02 9.96689015e-01 -1.97089058e-03 3.40415272e+01] [ 3.65643058e-02 -1.00585964e-03 9.99330796e-01 2.18194747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.799254154 meters Centerline goodness : 0.999561 with order 1 Centerline is valid? [True, True] Translation: X:597.74, Y:34.03, Z:21.81 [[ 9.96572787e-01 -7.42199086e-02 -3.65251417e-02 5.97736809e+02] [ 7.41975800e-02 9.97241618e-01 -1.96830667e-03 3.40334272e+01] [ 3.65704790e-02 -7.48516261e-04 9.99330796e-01 2.18109542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.859254154 meters Centerline goodness : 0.999606 with order 1 Centerline is valid? [True, True] Translation: X:597.80, Y:34.03, Z:21.81 [[ 9.96537586e-01 -7.46909523e-02 -3.65253571e-02 5.97798289e+02] [ 7.46690866e-02 9.97206433e-01 -1.96430138e-03 3.40347853e+01] [ 3.65700366e-02 -7.69814893e-04 9.99330796e-01 2.18138650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.919254154 meters Centerline goodness : 0.999496 with order 1 Centerline is valid? [True, True] Translation: X:597.86, Y:34.04, Z:21.82 [[ 9.96349169e-01 -7.71636179e-02 -3.65254582e-02 5.97858876e+02] [ 7.71434809e-02 9.97018070e-01 -1.96242017e-03 3.40397866e+01] [ 3.65679693e-02 -8.62445281e-04 9.99330796e-01 2.18213885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.9792541539999 meters Centerline goodness : 0.999519 with order 1 Centerline is valid? [True, True] Translation: X:597.92, Y:34.05, Z:21.83 [[ 9.96184001e-01 -7.92673513e-02 -3.65256520e-02 5.97920728e+02] [ 7.92487592e-02 9.96852947e-01 -1.95880614e-03 3.40471236e+01] [ 3.65659732e-02 -9.43281263e-04 9.99330796e-01 2.18301278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.039254154 meters Centerline goodness : 0.999629 with order 1 Centerline is valid? [True, True] Translation: X:597.98, Y:34.05, Z:21.83 [[ 9.96330174e-01 -7.74083421e-02 -3.65257819e-02 5.97981709e+02] [ 7.73885907e-02 9.96999087e-01 -1.95638041e-03 3.40484186e+01] [ 3.65676114e-02 -8.77477953e-04 9.99330796e-01 2.18329392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.0992541539999 meters Centerline goodness : 0.999520 with order 1 Centerline is valid? [True, True] Translation: X:598.04, Y:34.04, Z:21.83 [[ 9.96640375e-01 -7.33063670e-02 -3.65258782e-02 5.98044196e+02] [ 7.32839281e-02 9.97309203e-01 -1.95458151e-03 3.40449606e+01] [ 3.65708777e-02 -7.28744985e-04 9.99330796e-01 2.18294312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.159254154 meters Centerline goodness : 0.999608 with order 1 Centerline is valid? [True, True] Translation: X:598.11, Y:34.05, Z:21.84 [[ 9.96499426e-01 -7.51980409e-02 -3.65260040e-02 5.98105538e+02] [ 7.51769579e-02 9.97168298e-01 -1.95222850e-03 3.40505374e+01] [ 3.65693769e-02 -8.00519281e-04 9.99330796e-01 2.18370802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.2192541539999 meters Centerline goodness : 0.999457 with order 1 Centerline is valid? [True, True] Translation: X:598.17, Y:34.05, Z:21.84 [[ 9.96588644e-01 -7.40061558e-02 -3.65261908e-02 5.98167377e+02] [ 7.39844011e-02 9.97257495e-01 -1.94872614e-03 3.40517897e+01] [ 3.65702353e-02 -7.60290008e-04 9.99330796e-01 2.18398054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.279254154 meters Centerline goodness : 0.999522 with order 1 Centerline is valid? [True, True] Translation: X:598.23, Y:34.05, Z:21.84 [[ 9.96597355e-01 -7.38886833e-02 -3.65263423e-02 5.98229090e+02] [ 7.38669539e-02 9.97266207e-01 -1.94588254e-03 3.40528388e+01] [ 3.65702655e-02 -7.58828253e-04 9.99330796e-01 2.18406386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.339254154 meters Centerline goodness : 0.999457 with order 1 Centerline is valid? [True, True] Translation: X:598.29, Y:34.05, Z:21.84 [[ 9.96475192e-01 -7.55182561e-02 -3.65264801e-02 5.98290787e+02] [ 7.54977154e-02 9.97144081e-01 -1.94329261e-03 3.40539841e+01] [ 3.65689175e-02 -8.21222917e-04 9.99330796e-01 2.18433086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.399254154 meters Centerline goodness : 0.999566 with order 1 Centerline is valid? [True, True] Translation: X:598.35, Y:34.06, Z:21.84 [[ 9.96379554e-01 -7.67697242e-02 -3.65266229e-02 5.98353348e+02] [ 7.67501220e-02 9.97048471e-01 -1.94060475e-03 3.40562798e+01] [ 3.65677932e-02 -8.69843869e-04 9.99330796e-01 2.18443538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.459254154 meters Centerline goodness : 0.999456 with order 1 Centerline is valid? [True, True] Translation: X:598.42, Y:34.06, Z:21.85 [[ 9.96180961e-01 -7.93050086e-02 -3.65268073e-02 5.98415811e+02] [ 7.92872362e-02 9.96849929e-01 -1.93712739e-03 3.40600983e+01] [ 3.65653692e-02 -9.66380171e-04 9.99330796e-01 2.18469068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.519254154 meters Centerline goodness : 0.999542 with order 1 Centerline is valid? [True, True] Translation: X:598.48, Y:34.06, Z:21.85 [[ 9.95840255e-01 -8.34743515e-02 -3.65269572e-02 5.98477797e+02] [ 8.34594833e-02 9.96509294e-01 -1.93429636e-03 3.40638106e+01] [ 3.65609165e-02 -1.12227080e-03 9.99330796e-01 2.18514709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.579254154 meters Centerline goodness : 0.999434 with order 1 Centerline is valid? [True, True] Translation: X:598.54, Y:34.07, Z:21.86 [[ 9.95519865e-01 -8.72122046e-02 -3.65271015e-02 5.98539368e+02] [ 8.71999481e-02 9.96188957e-01 -1.93156717e-03 3.40676303e+01] [ 3.65563514e-02 -1.26224787e-03 9.99330796e-01 2.18555028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.639254154 meters Centerline goodness : 0.999651 with order 1 Centerline is valid? [True, True] Translation: X:598.60, Y:34.07, Z:21.86 [[ 9.95255584e-01 -9.01780594e-02 -3.65272415e-02 5.98601370e+02] [ 9.01678937e-02 9.95924711e-01 -1.92891649e-03 3.40720711e+01] [ 3.65523284e-02 -1.37381952e-03 9.99330796e-01 2.18597084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.699254154 meters Centerline goodness : 0.999498 with order 1 Centerline is valid? [True, True] Translation: X:598.66, Y:34.07, Z:21.86 [[ 9.95475365e-01 -8.77185774e-02 -3.65273815e-02 5.98663305e+02] [ 8.77068556e-02 9.96144466e-01 -1.92626296e-03 3.40748825e+01] [ 3.65555179e-02 -1.28615444e-03 9.99330796e-01 2.18616811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.759254154 meters Centerline goodness : 0.999543 with order 1 Centerline is valid? [True, True] Translation: X:598.72, Y:34.08, Z:21.87 [[ 9.95977896e-01 -8.18154577e-02 -3.65275543e-02 5.98724562e+02] [ 8.17998898e-02 9.96646919e-01 -1.92297986e-03 3.40799642e+01] [ 3.65624039e-02 -1.07270448e-03 9.99330796e-01 2.18668281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.819254154 meters Centerline goodness : 0.999477 with order 1 Centerline is valid? [True, True] Translation: X:598.79, Y:34.09, Z:21.87 [[ 9.96502576e-01 -7.51554860e-02 -3.65276536e-02 5.98785996e+02] [ 7.51355151e-02 9.97171482e-01 -1.92109187e-03 3.40853314e+01] [ 3.65687150e-02 -8.30151073e-04 9.99330796e-01 2.18723593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.879254154 meters Centerline goodness : 0.999477 with order 1 Centerline is valid? [True, True] Translation: X:598.85, Y:34.09, Z:21.88 [[ 9.96945240e-01 -6.90355617e-02 -3.65277960e-02 5.98847013e+02] [ 6.90115835e-02 9.97614014e-01 -1.91837959e-03 3.40903461e+01] [ 3.65730776e-02 -6.08321643e-04 9.99330796e-01 2.18778524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.939254154 meters Centerline goodness : 0.999476 with order 1 Centerline is valid? [True, True] Translation: X:598.91, Y:34.09, Z:21.88 [[ 9.97200630e-01 -6.52427397e-02 -3.65279012e-02 5.98908816e+02] [ 6.52162911e-02 9.97869312e-01 -1.91637474e-03 3.40945654e+01] [ 3.65751012e-02 -4.71204137e-04 9.99330796e-01 2.18815995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.999254154 meters Centerline goodness : 0.999520 with order 1 Centerline is valid? [True, True] Translation: X:598.97, Y:34.10, Z:21.88 [[ 9.97660500e-01 -5.77860679e-02 -3.65280384e-02 5.98971094e+02] [ 5.77547170e-02 9.98328969e-01 -1.91375636e-03 3.40993291e+01] [ 3.65775874e-02 -2.00387393e-04 9.99330796e-01 2.18830531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.059254154 meters Centerline goodness : 0.999541 with order 1 Centerline is valid? [True, True] Translation: X:599.03, Y:34.10, Z:21.88 [[ 9.98087552e-01 -4.98691305e-02 -3.65281808e-02 5.99032930e+02] [ 4.98325768e-02 9.98755757e-01 -1.91103397e-03 3.41020504e+01] [ 3.65780325e-02 8.70858414e-05 9.99330796e-01 2.18841124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.119254154 meters Centerline goodness : 0.999584 with order 1 Centerline is valid? [True, True] Translation: X:599.09, Y:34.10, Z:21.89 [[ 9.98288209e-01 -4.56764015e-02 -3.65283214e-02 5.99093018e+02] [ 4.56371399e-02 9.98956260e-01 -1.90834336e-03 3.41040649e+01] [ 3.65773616e-02 2.38028566e-04 9.99330796e-01 2.18861123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.179254154 meters Centerline goodness : 0.999474 with order 1 Centerline is valid? [True, True] Translation: X:599.15, Y:34.10, Z:21.89 [[ 9.98470516e-01 -4.15007361e-02 -3.65283214e-02 5.99152909e+02] [ 4.14586808e-02 9.99138397e-01 -1.90834336e-03 3.41048246e+01] [ 3.65760461e-02 3.91008568e-04 9.99330796e-01 2.18876696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.239254154 meters Centerline goodness : 0.999452 with order 1 Centerline is valid? [True, True] Translation: X:599.21, Y:34.10, Z:21.89 [[ 9.98512302e-01 -4.04829628e-02 -3.65282519e-02 5.99211331e+02] [ 4.04401781e-02 9.99180136e-01 -1.90967221e-03 3.41048270e+01] [ 3.65756129e-02 4.29622178e-04 9.99330796e-01 2.18883842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.299254154 meters Centerline goodness : 0.999542 with order 1 Centerline is valid? [True, True] Translation: X:599.27, Y:34.10, Z:21.89 [[ 9.98451605e-01 -4.19537916e-02 -3.65276926e-02 5.99270880e+02] [ 4.19116015e-02 9.99119477e-01 -1.92031158e-03 3.41012149e+01] [ 3.65760935e-02 3.86404086e-04 9.99330796e-01 2.18869273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.359254154 meters Centerline goodness : 0.999260 with order 1 Centerline is valid? [True, True] Translation: X:599.33, Y:34.10, Z:21.88 [[ 9.98278867e-01 -4.58810215e-02 -3.65272002e-02 5.99329664e+02] [ 4.58411179e-02 9.98946880e-01 -1.92963323e-03 3.40986755e+01] [ 3.65772662e-02 2.51864387e-04 9.99330796e-01 2.18849878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.419254154 meters Centerline goodness : 0.999134 with order 1 Centerline is valid? [True, True] Translation: X:599.39, Y:34.09, Z:21.88 [[ 9.97772111e-01 -5.58266476e-02 -3.65266964e-02 5.99388833e+02] [ 5.57930553e-02 9.98440471e-01 -1.93912205e-03 3.40928149e+01] [ 3.65779867e-02 -1.03134095e-04 9.99330796e-01 2.18805183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.4792541539999 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:599.45, Y:34.08, Z:21.87 [[ 9.97037090e-01 -6.76969653e-02 -3.65261950e-02 5.99449532e+02] [ 6.76709852e-02 9.97705789e-01 -1.94852193e-03 3.40844195e+01] [ 3.65743052e-02 -5.29014964e-04 9.99330796e-01 2.18735384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.539254154 meters Centerline goodness : 0.999254 with order 1 Centerline is valid? [True, True] Translation: X:599.51, Y:34.08, Z:21.87 [[ 9.96280883e-01 -7.80400005e-02 -3.65261598e-02 5.99511054e+02] [ 7.80209369e-02 9.96949815e-01 -1.94918179e-03 3.40750627e+01] [ 3.65668624e-02 -9.07872650e-04 9.99330796e-01 2.18682697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.5992541539999 meters Centerline goodness : 0.999382 with order 1 Centerline is valid? [True, True] Translation: X:599.57, Y:34.07, Z:21.87 [[ 9.95874926e-01 -8.30600314e-02 -3.65261940e-02 5.99573581e+02] [ 8.30443628e-02 9.96543946e-01 -1.94853976e-03 3.40703566e+01] [ 3.65618033e-02 -1.09279262e-03 9.99330796e-01 2.18669203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.659254154 meters Centerline goodness : 0.998979 with order 1 Centerline is valid? [True, True] Translation: X:599.64, Y:34.06, Z:21.86 [[ 9.95425200e-01 -8.82864526e-02 -3.65263352e-02 5.99635866e+02] [ 8.82743932e-02 9.96094295e-01 -1.94588998e-03 3.40608665e+01] [ 3.65554698e-02 -1.28735215e-03 9.99330796e-01 2.18628342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.7192541539999 meters Centerline goodness : 0.998961 with order 1 Centerline is valid? [True, True] Translation: X:599.70, Y:34.05, Z:21.86 [[ 9.95179804e-01 -9.10108723e-02 -3.65264063e-02 5.99697967e+02] [ 9.10006934e-02 9.95848931e-01 -1.94455441e-03 3.40494867e+01] [ 3.65517582e-02 -1.38874702e-03 9.99330796e-01 2.18596917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.779254154 meters Centerline goodness : 0.998884 with order 1 Centerline is valid? [True, True] Translation: X:599.76, Y:34.04, Z:21.86 [[ 9.95106479e-01 -9.18091059e-02 -3.65264770e-02 5.99760184e+02] [ 9.17995125e-02 9.95775614e-01 -1.94322427e-03 3.40390716e+01] [ 3.65505808e-02 -1.41939773e-03 9.99330796e-01 2.18569190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.839254154 meters Centerline goodness : 0.999158 with order 1 Centerline is valid? [True, True] Translation: X:599.82, Y:34.03, Z:21.85 [[ 9.95044300e-01 -9.24805480e-02 -3.65265481e-02 5.99821333e+02] [ 9.24714552e-02 9.95713442e-01 -1.94188696e-03 3.40279172e+01] [ 3.65495617e-02 -1.44539951e-03 9.99330796e-01 2.18537607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.899254154 meters Centerline goodness : 0.999033 with order 1 Centerline is valid? [True, True] Translation: X:599.88, Y:34.02, Z:21.85 [[ 9.95017682e-01 -9.27665018e-02 -3.65265481e-02 5.99881747e+02] [ 9.27576012e-02 9.95686827e-01 -1.94188696e-03 3.40213858e+01] [ 3.65491449e-02 -1.45590312e-03 9.99330796e-01 2.18523944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.959254154 meters Centerline goodness : 0.999203 with order 1 Centerline is valid? [True, True] Translation: X:599.94, Y:34.01, Z:21.85 [[ 9.95131330e-01 -9.15393334e-02 -3.65265133e-02 5.99942317e+02] [ 9.15295836e-02 9.95800463e-01 -1.94254224e-03 3.40126412e+01] [ 3.65509379e-02 -1.41017191e-03 9.99330796e-01 2.18542681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.019254154 meters Centerline goodness : 0.999182 with order 1 Centerline is valid? [True, True] Translation: X:600.00, Y:34.01, Z:21.86 [[ 9.95515123e-01 -8.72665996e-02 -3.65264439e-02 6.00001041e+02] [ 8.72539297e-02 9.96184206e-01 -1.94384554e-03 3.40061776e+01] [ 3.65566994e-02 -1.25194814e-03 9.99330796e-01 2.18562384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.079254154 meters Centerline goodness : 0.999160 with order 1 Centerline is valid? [True, True] Translation: X:600.06, Y:34.00, Z:21.86 [[ 9.96070501e-01 -8.06809159e-02 -3.65259622e-02 6.00060077e+02] [ 8.06634912e-02 9.96739478e-01 -1.95285547e-03 3.40022627e+01] [ 3.65644267e-02 -1.00112990e-03 9.99330796e-01 2.18600281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.139254154 meters Centerline goodness : 0.999580 with order 1 Centerline is valid? [True, True] Translation: X:600.12, Y:34.00, Z:21.87 [[ 9.96480168e-01 -7.54530624e-02 -3.65254776e-02 6.00118479e+02] [ 7.54317970e-02 9.97149034e-01 -1.96187742e-03 3.40020293e+01] [ 3.65693744e-02 -8.00210474e-04 9.99330796e-01 2.18658178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.199254154 meters Centerline goodness : 0.999350 with order 1 Centerline is valid? [True, True] Translation: X:600.18, Y:34.00, Z:21.87 [[ 9.97007300e-01 -6.81349359e-02 -3.65249862e-02 6.00178151e+02] [ 6.81084267e-02 9.97675978e-01 -1.97098512e-03 3.40025625e+01] [ 3.65743942e-02 -5.22572790e-04 9.99330796e-01 2.18746322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.259254154 meters Centerline goodness : 0.999225 with order 1 Centerline is valid? [True, True] Translation: X:600.24, Y:34.01, Z:21.88 [[ 9.97236500e-01 -6.46938424e-02 -3.65249169e-02 6.00236801e+02] [ 6.46649788e-02 9.97905081e-01 -1.97226807e-03 3.40072347e+01] [ 3.65759937e-02 -3.95065271e-04 9.99330796e-01 2.18826723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.319254154 meters Centerline goodness : 0.999414 with order 1 Centerline is valid? [True, True] Translation: X:600.29, Y:34.01, Z:21.89 [[ 9.97215639e-01 -6.50148898e-02 -3.65244185e-02 6.00294929e+02] [ 6.49859050e-02 9.97884215e-01 -1.98145480e-03 3.40093523e+01] [ 3.65759647e-02 -3.97634676e-04 9.99330796e-01 2.18869624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.379254154 meters Centerline goodness : 0.999435 with order 1 Centerline is valid? [True, True] Translation: X:600.35, Y:34.01, Z:21.89 [[ 9.96924806e-01 -6.93318835e-02 -3.65242414e-02 6.00352976e+02] [ 6.93056743e-02 9.97593497e-01 -1.98471325e-03 3.40128763e+01] [ 3.65739496e-02 -5.52727313e-04 9.99330796e-01 2.18934673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.439254154 meters Centerline goodness : 0.999331 with order 1 Centerline is valid? [True, True] Translation: X:600.41, Y:34.02, Z:21.89 [[ 9.96783307e-01 -7.13376178e-02 -3.65237310e-02 6.00411399e+02] [ 7.13124116e-02 9.97452036e-01 -1.99406219e-03 3.40153701e+01] [ 3.65729215e-02 -6.16947440e-04 9.99330796e-01 2.18935319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.499254154 meters Centerline goodness : 0.999499 with order 1 Centerline is valid? [True, True] Translation: X:600.47, Y:34.02, Z:21.90 [[ 9.96300971e-01 -7.77845222e-02 -3.65231891e-02 6.00468427e+02] [ 7.77632808e-02 9.96969837e-01 -2.00393958e-03 3.40214229e+01] [ 3.65683933e-02 -8.43636056e-04 9.99330797e-01 2.19018565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.559254154 meters Centerline goodness : 0.999332 with order 1 Centerline is valid? [True, True] Translation: X:600.53, Y:34.03, Z:21.91 [[ 9.95932568e-01 -8.23674596e-02 -3.65229028e-02 6.00526130e+02] [ 8.23491050e-02 9.96601519e-01 -2.00914429e-03 3.40272608e+01] [ 3.65642685e-02 -1.00665612e-03 9.99330797e-01 2.19057414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.619254154 meters Centerline goodness : 0.999187 with order 1 Centerline is valid? [True, True] Translation: X:600.58, Y:34.03, Z:21.91 [[ 9.95503453e-01 -8.74013430e-02 -3.65223147e-02 6.00584723e+02] [ 8.73859808e-02 9.96172480e-01 -2.01977816e-03 3.40320425e+01] [ 3.65590561e-02 -1.18084216e-03 9.99330797e-01 2.19100617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.679254154 meters Centerline goodness : 0.999061 with order 1 Centerline is valid? [True, True] Translation: X:600.64, Y:34.04, Z:21.91 [[ 9.95192598e-01 -9.08727185e-02 -3.65217950e-02 6.00642880e+02] [ 9.08593469e-02 9.95861668e-01 -2.02913101e-03 3.40354089e+01] [ 3.65550484e-02 -1.29897029e-03 9.99330797e-01 2.19123567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.739254154 meters Centerline goodness : 0.999230 with order 1 Centerline is valid? [True, True] Translation: X:600.70, Y:34.04, Z:21.92 [[ 9.94742669e-01 -9.56723324e-02 -3.65216124e-02 6.00701284e+02] [ 9.56620681e-02 9.95411793e-01 -2.03241329e-03 3.40410635e+01] [ 3.65484894e-02 -1.47200475e-03 9.99330797e-01 2.19175472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.799254154 meters Centerline goodness : 0.999146 with order 1 Centerline is valid? [True, True] Translation: X:600.76, Y:34.05, Z:21.92 [[ 9.94414780e-01 -9.90224898e-02 -3.65211023e-02 6.00761740e+02] [ 9.90141450e-02 9.95083932e-01 -2.04153867e-03 3.40464725e+01] [ 3.65437203e-02 -1.58596949e-03 9.99330797e-01 2.19225492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.859254154 meters Centerline goodness : 0.999167 with order 1 Centerline is valid? [True, True] Translation: X:600.82, Y:34.05, Z:21.93 [[ 9.94260424e-01 -1.00560519e-01 -3.65211023e-02 6.00822153e+02] [ 1.00553209e-01 9.94929588e-01 -2.04153867e-03 3.40517603e+01] [ 3.65412234e-02 -1.64249294e-03 9.99330797e-01 2.19257490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.919254154 meters Centerline goodness : 0.999270 with order 1 Centerline is valid? [True, True] Translation: X:600.88, Y:34.06, Z:21.93 [[ 9.94185800e-01 -1.01295630e-01 -3.65211023e-02 6.00882651e+02] [ 1.01288815e-01 9.94854968e-01 -2.04153867e-03 3.40602836e+01] [ 3.65399990e-02 -1.66951040e-03 9.99330797e-01 2.19283509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.9792541539999 meters Centerline goodness : 0.999104 with order 1 Centerline is valid? [True, True] Translation: X:600.94, Y:34.07, Z:21.93 [[ 9.94049841e-01 -1.02621254e-01 -3.65211023e-02 6.00942973e+02] [ 1.02615332e-01 9.94719019e-01 -2.04153867e-03 3.40667845e+01] [ 3.65377403e-02 -1.71823383e-03 9.99330797e-01 2.19298820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.039254154 meters Centerline goodness : 0.999170 with order 1 Centerline is valid? [True, True] Translation: X:601.00, Y:34.07, Z:21.93 [[ 9.93550346e-01 -1.07349517e-01 -3.65211023e-02 6.01003947e+02] [ 1.07346778e-01 9.94219544e-01 -2.04153867e-03 3.40729876e+01] [ 3.65291518e-02 -1.89205121e-03 9.99330797e-01 2.19323017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.0992541539999 meters Centerline goodness : 0.999022 with order 1 Centerline is valid? [True, True] Translation: X:601.06, Y:34.08, Z:21.94 [[ 9.92958583e-01 -1.12691862e-01 -3.65211773e-02 6.01064901e+02] [ 1.12692772e-01 9.93627786e-01 -2.04019624e-03 3.40820173e+01] [ 3.65183700e-02 -2.08984234e-03 9.99330797e-01 2.19358298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.159254154 meters Centerline goodness : 0.999105 with order 1 Centerline is valid? [True, True] Translation: X:601.13, Y:34.09, Z:21.94 [[ 9.92880913e-01 -1.13374117e-01 -3.65212515e-02 6.01126935e+02] [ 1.13375535e-01 9.93550115e-01 -2.03886642e-03 3.40868346e+01] [ 3.65168483e-02 -2.11626487e-03 9.99330797e-01 2.19387519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.2192541539999 meters Centerline goodness : 0.999084 with order 1 Centerline is valid? [True, True] Translation: X:601.19, Y:34.09, Z:21.94 [[ 9.92740525e-01 -1.14596849e-01 -3.65214024e-02 6.01188260e+02] [ 1.14599190e-01 9.93409724e-01 -2.03615994e-03 3.40947097e+01] [ 3.65140538e-02 -2.16394466e-03 9.99330797e-01 2.19412620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.279254154 meters Centerline goodness : 0.999063 with order 1 Centerline is valid? [True, True] Translation: X:601.25, Y:34.10, Z:21.94 [[ 9.92824543e-01 -1.13866603e-01 -3.65215524e-02 6.01248904e+02] [ 1.13868551e-01 9.93493743e-01 -2.03346574e-03 3.41021439e+01] [ 3.65154777e-02 -2.13978155e-03 9.99330797e-01 2.19437657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.339254154 meters Centerline goodness : 0.999185 with order 1 Centerline is valid? [True, True] Translation: X:601.31, Y:34.11, Z:21.95 [[ 9.93023435e-01 -1.12118801e-01 -3.65216632e-02 6.01309212e+02] [ 1.12119644e-01 9.93692638e-01 -2.03147322e-03 3.41100235e+01] [ 3.65190742e-02 -2.07749537e-03 9.99330797e-01 2.19467071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.399254154 meters Centerline goodness : 0.998784 with order 1 Centerline is valid? [True, True] Translation: X:601.37, Y:34.12, Z:21.95 [[ 9.93367452e-01 -1.09028700e-01 -3.65218889e-02 6.01370554e+02] [ 1.09027610e-01 9.94036654e-01 -2.02740778e-03 3.41173558e+01] [ 3.65251419e-02 -1.96793336e-03 9.99330797e-01 2.19498055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.459254154 meters Centerline goodness : 0.999034 with order 1 Centerline is valid? [True, True] Translation: X:601.43, Y:34.12, Z:21.95 [[ 9.93708844e-01 -1.05871966e-01 -3.65220408e-02 6.01432859e+02] [ 1.05868851e-01 9.94378040e-01 -2.02466724e-03 3.41232641e+01] [ 3.65310709e-02 -1.85461675e-03 9.99330797e-01 2.19510558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.519254154 meters Centerline goodness : 0.999033 with order 1 Centerline is valid? [True, True] Translation: X:601.49, Y:34.13, Z:21.95 [[ 9.94472907e-01 -9.84366098e-02 -3.65221918e-02 6.01493279e+02] [ 9.84285891e-02 9.95142063e-01 -2.02194111e-03 3.41324130e+01] [ 3.65438023e-02 -1.58406215e-03 9.99330797e-01 2.19524934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.579254154 meters Centerline goodness : 0.998843 with order 1 Centerline is valid? [True, True] Translation: X:601.55, Y:34.14, Z:21.96 [[ 9.95262288e-01 -9.01060418e-02 -3.65223031e-02 6.01554813e+02] [ 9.00924920e-02 9.95931354e-01 -2.01992900e-03 3.41402759e+01] [ 3.65557146e-02 -1.28002613e-03 9.99330797e-01 2.19565454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.639254154 meters Centerline goodness : 0.998882 with order 1 Centerline is valid? [True, True] Translation: X:601.62, Y:34.15, Z:21.96 [[ 9.96044736e-01 -8.09999629e-02 -3.65224486e-02 6.01616142e+02] [ 8.09803912e-02 9.96713653e-01 -2.01729439e-03 3.41500712e+01] [ 3.65658239e-02 -9.48286717e-04 9.99330797e-01 2.19601431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.699254154 meters Centerline goodness : 0.998881 with order 1 Centerline is valid? [True, True] Translation: X:601.68, Y:34.16, Z:21.96 [[ 9.96697592e-01 -7.25259385e-02 -3.65225600e-02 6.01675755e+02] [ 7.25007525e-02 9.97366322e-01 -2.01527576e-03 3.41584263e+01] [ 3.65725311e-02 -6.39292585e-04 9.99330797e-01 2.19608611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.759254154 meters Centerline goodness : 0.999134 with order 1 Centerline is valid? [True, True] Translation: X:601.74, Y:34.16, Z:21.96 [[ 9.96996769e-01 -6.82901311e-02 -3.65225964e-02 6.01736436e+02] [ 6.82621279e-02 9.97665386e-01 -2.01461489e-03 3.41646337e+01] [ 3.65749086e-02 -4.84545613e-04 9.99330797e-01 2.19640603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.819254154 meters Centerline goodness : 0.998988 with order 1 Centerline is valid? [True, True] Translation: X:601.80, Y:34.17, Z:21.97 [[ 9.96967300e-01 -6.87189797e-02 -3.65226682e-02 6.01796304e+02] [ 6.86913119e-02 9.97635931e-01 -2.01331219e-03 3.41695755e+01] [ 3.65746789e-02 -5.01583582e-04 9.99330797e-01 2.19658436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.879254154 meters Centerline goodness : 0.999283 with order 1 Centerline is valid? [True, True] Translation: X:601.86, Y:34.17, Z:21.97 [[ 9.96554893e-01 -7.44610325e-02 -3.65225975e-02 6.01855511e+02] [ 7.44371699e-02 9.97223671e-01 -2.01459505e-03 3.41726346e+01] [ 3.65712075e-02 -7.10984237e-04 9.99330797e-01 2.19652014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.939254154 meters Centerline goodness : 0.999032 with order 1 Centerline is valid? [True, True] Translation: X:601.92, Y:34.17, Z:21.97 [[ 9.95806142e-01 -8.38822359e-02 -3.65225626e-02 6.01917135e+02] [ 8.38646760e-02 9.96475115e-01 -2.01522689e-03 3.41744505e+01] [ 3.65628665e-02 -1.05617756e-03 9.99330797e-01 2.19686305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.999254154 meters Centerline goodness : 0.998926 with order 1 Centerline is valid? [True, True] Translation: X:601.98, Y:34.18, Z:21.97 [[ 9.95210933e-01 -9.06713618e-02 -3.65226370e-02 6.01977947e+02] [ 9.06584139e-02 9.95880011e-01 -2.01387756e-03 3.41778198e+01] [ 3.65547652e-02 -1.30685138e-03 9.99330797e-01 2.19724530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.059254154 meters Centerline goodness : 0.998946 with order 1 Centerline is valid? [True, True] Translation: X:602.04, Y:34.18, Z:21.98 [[ 9.95301436e-01 -8.96724047e-02 -3.65227473e-02 6.02040183e+02] [ 8.96588586e-02 9.95970502e-01 -2.01187470e-03 3.41817590e+01] [ 3.65559886e-02 -1.27216606e-03 9.99330797e-01 2.19760776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.119254154 meters Centerline goodness : 0.999089 with order 1 Centerline is valid? [True, True] Translation: X:602.10, Y:34.19, Z:21.98 [[ 9.95944928e-01 -8.22178690e-02 -3.65228909e-02 6.02101786e+02] [ 8.21994095e-02 9.96613877e-01 -2.00926521e-03 3.41874684e+01] [ 3.65644174e-02 -1.00104257e-03 9.99330797e-01 2.19777178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.179254154 meters Centerline goodness : 0.999279 with order 1 Centerline is valid? [True, True] Translation: X:602.16, Y:34.19, Z:21.98 [[ 9.96314338e-01 -7.76131914e-02 -3.65230320e-02 6.02163265e+02] [ 7.75917340e-02 9.96983197e-01 -2.00669639e-03 3.41926196e+01] [ 3.65685954e-02 -8.34585000e-04 9.99330797e-01 2.19798338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.239254154 meters Centerline goodness : 0.999258 with order 1 Centerline is valid? [True, True] Translation: X:602.22, Y:34.19, Z:21.98 [[ 9.96735500e-01 -7.20028213e-02 -3.65231015e-02 6.02224584e+02] [ 7.19776449e-02 9.97404229e-01 -2.00543144e-03 3.41948363e+01] [ 3.65726926e-02 -6.29962126e-04 9.99330797e-01 2.19837138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.299254154 meters Centerline goodness : 0.999172 with order 1 Centerline is valid? [True, True] Translation: X:602.29, Y:34.20, Z:21.99 [[ 9.96831620e-01 -7.06595954e-02 -3.65231757e-02 6.02285483e+02] [ 7.06335675e-02 9.97500317e-01 -2.00407885e-03 3.41979141e+01] [ 3.65734868e-02 -5.82033028e-04 9.99330797e-01 2.19850777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.359254154 meters Centerline goodness : 0.999575 with order 1 Centerline is valid? [True, True] Translation: X:602.35, Y:34.20, Z:21.98 [[ 9.96997043e-01 -6.82858115e-02 -3.65232126e-02 6.02346306e+02] [ 6.82582160e-02 9.97665677e-01 -2.00340671e-03 3.41992249e+01] [ 3.65747598e-02 -4.95618765e-04 9.99330797e-01 2.19841091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.419254154 meters Centerline goodness : 0.999364 with order 1 Centerline is valid? [True, True] Translation: X:602.41, Y:34.20, Z:21.99 [[ 9.97256248e-01 -6.43896554e-02 -3.65232488e-02 6.02406296e+02] [ 6.43594717e-02 9.97924770e-01 -2.00274555e-03 3.42011324e+01] [ 3.65764108e-02 -3.53366484e-04 9.99330797e-01 2.19868134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.4792541539999 meters Centerline goodness : 0.999385 with order 1 Centerline is valid? [True, True] Translation: X:602.47, Y:34.20, Z:21.99 [[ 9.97530242e-01 -5.99955753e-02 -3.65232488e-02 6.02465667e+02] [ 5.99624467e-02 9.98198625e-01 -2.00274555e-03 3.42045912e+01] [ 3.65776126e-02 -1.92224108e-04 9.99330797e-01 2.19901300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.539254154 meters Centerline goodness : 0.999343 with order 1 Centerline is valid? [True, True] Translation: X:602.52, Y:34.21, Z:21.99 [[ 9.97847380e-01 -5.44670965e-02 -3.65231733e-02 6.02523141e+02] [ 5.44302144e-02 9.98515566e-01 -2.00412138e-03 3.42057606e+01] [ 3.65781158e-02 1.18431157e-05 9.99330797e-01 2.19921086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.5992541539999 meters Centerline goodness : 0.999493 with order 1 Centerline is valid? [True, True] Translation: X:602.58, Y:34.21, Z:21.99 [[ 9.97997025e-01 -5.16527809e-02 -3.65229871e-02 6.02581380e+02] [ 5.16138906e-02 9.98665097e-01 -2.00750929e-03 3.42075596e+01] [ 3.65779259e-02 1.18394836e-04 9.99330797e-01 2.19949549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.659254154 meters Centerline goodness : 0.999387 with order 1 Centerline is valid? [True, True] Translation: X:602.64, Y:34.21, Z:22.00 [[ 9.97946653e-01 -5.26171347e-02 -3.65228105e-02 6.02639841e+02] [ 5.25787725e-02 9.98614755e-01 -2.01071685e-03 3.42089008e+01] [ 3.65780157e-02 8.62635994e-05 9.99330797e-01 2.19990071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.7192541539999 meters Centerline goodness : 0.999199 with order 1 Centerline is valid? [True, True] Translation: X:602.70, Y:34.21, Z:22.00 [[ 9.97683361e-01 -5.73936685e-02 -3.65222903e-02 6.02698243e+02] [ 5.73581607e-02 9.98351622e-01 -2.02012236e-03 3.42072866e+01] [ 3.65780300e-02 -7.94089244e-05 9.99330797e-01 2.19990853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.779254154 meters Centerline goodness : 0.999179 with order 1 Centerline is valid? [True, True] Translation: X:602.76, Y:34.21, Z:22.00 [[ 9.97400587e-01 -6.21144410e-02 -3.65221075e-02 6.02756624e+02] [ 6.20819753e-02 9.98069003e-01 -2.02342107e-03 3.42071290e+01] [ 3.65772671e-02 -2.49203217e-04 9.99330797e-01 2.20014524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.839254154 meters Centerline goodness : 0.999055 with order 1 Centerline is valid? [True, True] Translation: X:602.82, Y:34.21, Z:22.00 [[ 9.96931028e-01 -6.92437780e-02 -3.65215561e-02 6.02815806e+02] [ 6.92157292e-02 9.97599643e-01 -2.03332540e-03 3.42058982e+01] [ 3.65746865e-02 -5.00780956e-04 9.99330797e-01 2.20046078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.899254154 meters Centerline goodness : 0.999225 with order 1 Centerline is valid? [True, True] Translation: X:602.88, Y:34.20, Z:22.01 [[ 9.96384130e-01 -7.67129630e-02 -3.65210367e-02 6.02876033e+02] [ 7.66895854e-02 9.97052925e-01 -2.04261320e-03 3.42034365e+01] [ 3.65701013e-02 -7.65555782e-04 9.99330797e-01 2.20062345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.959254154 meters Centerline goodness : 0.999120 with order 1 Centerline is valid? [True, True] Translation: X:602.94, Y:34.20, Z:22.01 [[ 9.95985326e-01 -8.17279044e-02 -3.65209629e-02 6.02936527e+02] [ 8.17078456e-02 9.96654228e-01 -2.04393024e-03 3.42021557e+01] [ 3.65658183e-02 -9.48324679e-04 9.99330797e-01 2.20090466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.019254154 meters Centerline goodness : 0.999330 with order 1 Centerline is valid? [True, True] Translation: X:603.00, Y:34.20, Z:22.01 [[ 9.95839023e-01 -8.34916724e-02 -3.65209629e-02 6.02997298e+02] [ 8.34727982e-02 9.96507960e-01 -2.04393024e-03 3.42030398e+01] [ 3.65640814e-02 -1.01308148e-03 9.99330797e-01 2.20116391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.079254154 meters Centerline goodness : 0.999351 with order 1 Centerline is valid? [True, True] Translation: X:603.06, Y:34.21, Z:22.01 [[ 9.95849359e-01 -8.33683050e-02 -3.65209629e-02 6.03058546e+02] [ 8.33493479e-02 9.96518293e-01 -2.04393024e-03 3.42054804e+01] [ 3.65642067e-02 -1.00855183e-03 9.99330797e-01 2.20136269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.139254154 meters Centerline goodness : 0.999309 with order 1 Centerline is valid? [True, True] Translation: X:603.12, Y:34.21, Z:22.02 [[ 9.95968347e-01 -8.19345214e-02 -3.65210377e-02 6.03118895e+02] [ 8.19146503e-02 9.96637255e-01 -2.04259343e-03 3.42062114e+01] [ 3.65655857e-02 -9.57249626e-04 9.99330797e-01 2.20160075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.199254154 meters Centerline goodness : 0.999245 with order 1 Centerline is valid? [True, True] Translation: X:603.18, Y:34.21, Z:22.02 [[ 9.96114091e-01 -8.01431934e-02 -3.65210377e-02 6.03178574e+02] [ 8.01221193e-02 9.96782962e-01 -2.04259343e-03 3.42082206e+01] [ 3.65672481e-02 -8.91486840e-04 9.99330797e-01 2.20203129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.259254154 meters Centerline goodness : 0.999518 with order 1 Centerline is valid? [True, True] Translation: X:603.24, Y:34.21, Z:22.02 [[ 9.96187882e-01 -7.92207084e-02 -3.65210012e-02 6.03238857e+02] [ 7.91989910e-02 9.96856732e-01 -2.04324628e-03 3.42114696e+01] [ 3.65680733e-02 -8.56969264e-04 9.99330797e-01 2.20241623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.319254154 meters Centerline goodness : 0.999412 with order 1 Centerline is valid? [True, True] Translation: X:603.30, Y:34.21, Z:22.02 [[ 9.96094967e-01 -8.03805581e-02 -3.65210012e-02 6.03298060e+02] [ 8.03596195e-02 9.96763842e-01 -2.04324628e-03 3.42130871e+01] [ 3.65670507e-02 -8.99546429e-04 9.99330797e-01 2.20233313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.379254154 meters Centerline goodness : 0.999119 with order 1 Centerline is valid? [True, True] Translation: X:603.36, Y:34.22, Z:22.03 [[ 9.95974213e-01 -8.18632379e-02 -3.65209262e-02 6.03358010e+02] [ 8.18432460e-02 9.96643117e-01 -2.04458543e-03 3.42153509e+01] [ 3.65657061e-02 -9.52636779e-04 9.99330797e-01 2.20271214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.439254154 meters Centerline goodness : 0.999244 with order 1 Centerline is valid? [True, True] Translation: X:603.42, Y:34.22, Z:22.03 [[ 9.95745849e-01 -8.45956653e-02 -3.65209262e-02 6.03418369e+02] [ 8.45775088e-02 9.96414806e-01 -2.04458544e-03 3.42183251e+01] [ 3.65629547e-02 -1.05296150e-03 9.99330797e-01 2.20303031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.499254154 meters Centerline goodness : 0.999038 with order 1 Centerline is valid? [True, True] Translation: X:603.48, Y:34.22, Z:22.03 [[ 9.95821343e-01 -8.37022929e-02 -3.65209262e-02 6.03479325e+02] [ 8.36835362e-02 9.96490284e-01 -2.04458544e-03 3.42162374e+01] [ 3.65638846e-02 -1.02015844e-03 9.99330797e-01 2.20311838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.559254154 meters Centerline goodness : 0.999225 with order 1 Centerline is valid? [True, True] Translation: X:603.54, Y:34.22, Z:22.04 [[ 9.95449289e-01 -8.80166735e-02 -3.65209262e-02 6.03539065e+02] [ 8.80008157e-02 9.96118304e-01 -2.04458543e-03 3.42197029e+01] [ 3.65591207e-02 -1.17859018e-03 9.99330797e-01 2.20370714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.619254154 meters Centerline goodness : 0.999770 with order 1 Centerline is valid? [True, True] Translation: X:603.60, Y:34.22, Z:22.04 [[ 9.95349158e-01 -8.91418118e-02 -3.65211040e-02 6.03599779e+02] [ 8.91268267e-02 9.96018193e-01 -2.04140433e-03 3.42249862e+01] [ 3.65576585e-02 -1.22310003e-03 9.99330797e-01 2.20376537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.679254154 meters Centerline goodness : 0.999268 with order 1 Centerline is valid? [True, True] Translation: X:603.66, Y:34.23, Z:22.04 [[ 9.95693116e-01 -8.52139838e-02 -3.65211795e-02 6.03659961e+02] [ 8.51964087e-02 9.96362088e-01 -2.04005255e-03 3.42283763e+01] [ 3.65621597e-02 -1.08020706e-03 9.99330797e-01 2.20412296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.739254154 meters Centerline goodness : 0.998952 with order 1 Centerline is valid? [True, True] Translation: X:603.72, Y:34.23, Z:22.05 [[ 9.96086386e-01 -8.04867361e-02 -3.65211795e-02 6.03720595e+02] [ 8.04659858e-02 9.96755268e-01 -2.04005255e-03 3.42324846e+01] [ 3.65668752e-02 -9.06644139e-04 9.99330797e-01 2.20454830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.799254154 meters Centerline goodness : 0.999455 with order 1 Centerline is valid? [True, True] Translation: X:603.78, Y:34.24, Z:22.05 [[ 9.96648219e-01 -7.32019528e-02 -3.65212555e-02 6.03780493e+02] [ 7.31763626e-02 9.97316932e-01 -2.03869175e-03 3.42369618e+01] [ 3.65725027e-02 -6.40634132e-04 9.99330797e-01 2.20484147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.859254154 meters Centerline goodness : 0.999434 with order 1 Centerline is valid? [True, True] Translation: X:603.84, Y:34.24, Z:22.05 [[ 9.96858764e-01 -7.02766121e-02 -3.65212555e-02 6.03838429e+02] [ 7.02490594e-02 9.97527400e-01 -2.03869175e-03 3.42394379e+01] [ 3.65742254e-02 -5.33296107e-04 9.99330797e-01 2.20472633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.919254154 meters Centerline goodness : 0.999413 with order 1 Centerline is valid? [True, True] Translation: X:603.90, Y:34.24, Z:22.05 [[ 9.96754705e-01 -7.17375078e-02 -3.65210704e-02 6.03897050e+02] [ 7.17108138e-02 9.97423375e-01 -2.04200265e-03 3.42396433e+01] [ 3.65734575e-02 -5.83579930e-04 9.99330797e-01 2.20494779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.9792541539999 meters Centerline goodness : 0.999351 with order 1 Centerline is valid? [True, True] Translation: X:603.96, Y:34.24, Z:22.05 [[ 9.96422821e-01 -7.62089882e-02 -3.65205572e-02 6.03956206e+02] [ 7.61849599e-02 9.97091593e-01 -2.05114035e-03 3.42418259e+01] [ 3.65706559e-02 -7.38514129e-04 9.99330797e-01 2.20515473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.039254154 meters Centerline goodness : 0.999310 with order 1 Centerline is valid? [True, True] Translation: X:604.01, Y:34.24, Z:22.05 [[ 9.95903979e-01 -8.27136691e-02 -3.65200491e-02 6.04014853e+02] [ 8.26936780e-02 9.96572883e-01 -2.06014681e-03 3.42421537e+01] [ 3.65652929e-02 -9.68268776e-04 9.99330797e-01 2.20531693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.0992541539999 meters Centerline goodness : 0.999395 with order 1 Centerline is valid? [True, True] Translation: X:604.07, Y:34.24, Z:22.06 [[ 9.95330009e-01 -8.93560043e-02 -3.65195445e-02 6.04074221e+02] [ 8.93401499e-02 9.95999024e-01 -2.06905335e-03 3.42412148e+01] [ 3.65583130e-02 -1.20327069e-03 9.99330797e-01 2.20575264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.159254154 meters Centerline goodness : 0.999166 with order 1 Centerline is valid? [True, True] Translation: X:604.13, Y:34.24, Z:22.06 [[ 9.95087010e-01 -9.20226604e-02 -3.65194697e-02 6.04134907e+02] [ 9.20085503e-02 9.95756065e-01 -2.07037202e-03 3.42437519e+01] [ 3.65550046e-02 -1.29990317e-03 9.99330797e-01 2.20614254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.2192541539999 meters Centerline goodness : 0.999333 with order 1 Centerline is valid? [True, True] Translation: X:604.20, Y:34.25, Z:22.06 [[ 9.95124948e-01 -9.16114832e-02 -3.65195085e-02 6.04195391e+02] [ 9.15971218e-02 9.95793997e-01 -2.06968854e-03 3.42453010e+01] [ 3.65555145e-02 -1.28548316e-03 9.99330797e-01 2.20623028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.279254154 meters Centerline goodness : 0.999208 with order 1 Centerline is valid? [True, True] Translation: X:604.25, Y:34.25, Z:22.06 [[ 9.95342013e-01 -8.92221581e-02 -3.65196304e-02 6.04254625e+02] [ 8.92062694e-02 9.96011027e-01 -2.06753413e-03 3.42462632e+01] [ 3.65584245e-02 -1.19987641e-03 9.99330797e-01 2.20629976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.339254154 meters Centerline goodness : 0.999205 with order 1 Centerline is valid? [True, True] Translation: X:604.31, Y:34.25, Z:22.07 [[ 9.95840219e-01 -8.34780053e-02 -3.65195931e-02 6.04313828e+02] [ 8.34582328e-02 9.96509130e-01 -2.06819415e-03 3.42495432e+01] [ 3.65647566e-02 -9.88269781e-04 9.99330797e-01 2.20659520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.399254154 meters Centerline goodness : 0.999206 with order 1 Centerline is valid? [True, True] Translation: X:604.37, Y:34.25, Z:22.07 [[ 9.96208456e-01 -7.89622468e-02 -3.65195179e-02 6.04373753e+02] [ 7.89393933e-02 9.96877269e-01 -2.06952013e-03 3.42533571e+01] [ 3.65688912e-02 -8.21155134e-04 9.99330797e-01 2.20672474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.459254154 meters Centerline goodness : 0.999373 with order 1 Centerline is valid? [True, True] Translation: X:604.43, Y:34.25, Z:22.07 [[ 9.96686454e-01 -7.26804119e-02 -3.65194450e-02 6.04432421e+02] [ 7.26532954e-02 9.97355107e-01 -2.07080567e-03 3.42546994e+01] [ 3.65733620e-02 -5.89314064e-04 9.99330797e-01 2.20687679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.519254154 meters Centerline goodness : 0.999227 with order 1 Centerline is valid? [True, True] Translation: X:604.49, Y:34.26, Z:22.07 [[ 9.96929320e-01 -6.92697606e-02 -3.65189168e-02 6.04491217e+02] [ 6.92400167e-02 9.97597862e-01 -2.08008007e-03 3.42582849e+01] [ 3.65752799e-02 -4.54877598e-04 9.99330797e-01 2.20718913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.579254154 meters Centerline goodness : 0.999248 with order 1 Centerline is valid? [True, True] Translation: X:604.55, Y:34.26, Z:22.08 [[ 9.96889248e-01 -6.98443647e-02 -3.65183886e-02 6.04549257e+02] [ 6.98146680e-02 9.97557791e-01 -2.08931166e-03 3.42612886e+01] [ 3.65751297e-02 -4.66706845e-04 9.99330797e-01 2.20804382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.639254154 meters Centerline goodness : 0.999269 with order 1 Centerline is valid? [True, True] Translation: X:604.61, Y:34.26, Z:22.08 [[ 9.96511990e-01 -7.50353412e-02 -3.65178254e-02 6.04607631e+02] [ 7.50087678e-02 9.97180665e-01 -2.09911047e-03 3.42623175e+01] [ 3.65723768e-02 -6.47368327e-04 9.99330797e-01 2.20765198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.699254154 meters Centerline goodness : 0.999562 with order 1 Centerline is valid? [True, True] Translation: X:604.67, Y:34.26, Z:22.08 [[ 9.95848195e-01 -8.33836606e-02 -3.65176278e-02 6.04665254e+02] [ 8.33625661e-02 9.96517066e-01 -2.10254126e-03 3.42635975e+01] [ 3.65657569e-02 -9.50391246e-04 9.99330797e-01 2.20782506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.759254154 meters Centerline goodness : 0.999499 with order 1 Centerline is valid? [True, True] Translation: X:604.73, Y:34.27, Z:22.08 [[ 9.95418559e-01 -8.83649766e-02 -3.65174402e-02 6.04725114e+02] [ 8.83471095e-02 9.96087523e-01 -2.10579499e-03 3.42662718e+01] [ 3.65606451e-02 -1.13006287e-03 9.99330797e-01 2.20816669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.819254154 meters Centerline goodness : 0.999290 with order 1 Centerline is valid? [True, True] Translation: X:604.78, Y:34.27, Z:22.08 [[ 9.94990521e-01 -9.30609821e-02 -3.65173620e-02 6.04784524e+02] [ 9.30462221e-02 9.95659561e-01 -2.10715037e-03 3.42690249e+01] [ 3.65549541e-02 -1.30120793e-03 9.99330797e-01 2.20840459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.879254154 meters Centerline goodness : 0.999206 with order 1 Centerline is valid? [True, True] Translation: X:604.84, Y:34.27, Z:22.08 [[ 9.95223867e-01 -9.05314424e-02 -3.65172847e-02 6.04843669e+02] [ 9.05149327e-02 9.95892866e-01 -2.10848926e-03 3.42652972e+01] [ 3.65581879e-02 -1.20694073e-03 9.99330797e-01 2.20790091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.939254154 meters Centerline goodness : 0.999394 with order 1 Centerline is valid? [True, True] Translation: X:604.90, Y:34.28, Z:22.09 [[ 9.94694044e-01 -9.61782497e-02 -3.65171706e-02 6.04902897e+02] [ 9.61654647e-02 9.95363124e-01 -2.11046290e-03 3.42761716e+01] [ 3.65508257e-02 -1.41242580e-03 9.99330797e-01 2.20892905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.999254154 meters Centerline goodness : 0.999374 with order 1 Centerline is valid? [True, True] Translation: X:604.96, Y:34.28, Z:22.09 [[ 9.94701612e-01 -9.60999705e-02 -3.65170967e-02 6.04963701e+02] [ 9.60870860e-02 9.95370691e-01 -2.11174043e-03 3.42800125e+01] [ 3.65509860e-02 -1.40826980e-03 9.99330797e-01 2.20923946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.059254154 meters Centerline goodness : 0.999123 with order 1 Centerline is valid? [True, True] Translation: X:605.03, Y:34.28, Z:22.09 [[ 9.95387909e-01 -8.87097030e-02 -3.65170967e-02 6.05025058e+02] [ 8.86918497e-02 9.96056874e-01 -2.11174043e-03 3.42762865e+01] [ 3.65604371e-02 -1.13676796e-03 9.99330797e-01 2.20852392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.119254154 meters Centerline goodness : 0.999541 with order 1 Centerline is valid? [True, True] Translation: X:605.08, Y:34.29, Z:22.09 [[ 9.94634313e-01 -9.67940345e-02 -3.65170967e-02 6.05083883e+02] [ 9.67816169e-02 9.95303401e-01 -2.11174043e-03 3.42900017e+01] [ 3.65499944e-02 -1.43377417e-03 9.99330797e-01 2.20929921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.179254154 meters Centerline goodness : 0.999376 with order 1 Centerline is valid? [True, True] Translation: X:605.14, Y:34.30, Z:22.10 [[ 9.94362898e-01 -9.95436207e-02 -3.65170575e-02 6.05143069e+02] [ 9.95330282e-02 9.95032017e-01 -2.11241788e-03 3.42955394e+01] [ 3.65459191e-02 -1.53414335e-03 9.99330797e-01 2.20952869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.239254154 meters Centerline goodness : 0.999353 with order 1 Centerline is valid? [True, True] Translation: X:605.20, Y:34.30, Z:22.10 [[ 9.94044084e-01 -1.02678465e-01 -3.65170207e-02 6.05203948e+02] [ 1.02669959e-01 9.94713232e-01 -2.11305389e-03 3.43013361e+01] [ 3.65409289e-02 -1.64873231e-03 9.99330797e-01 2.20993919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.299254154 meters Centerline goodness : 0.999082 with order 1 Centerline is valid? [True, True] Translation: X:605.27, Y:34.30, Z:22.09 [[ 9.94609462e-01 -9.70490628e-02 -3.65170988e-02 6.05265908e+02] [ 9.70368181e-02 9.95278552e-01 -2.11170403e-03 3.42984331e+01] [ 3.65496241e-02 -1.44318226e-03 9.99330797e-01 2.20930309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.359254154 meters Centerline goodness : 0.999082 with order 1 Centerline is valid? [True, True] Translation: X:605.33, Y:34.30, Z:22.09 [[ 9.94990527e-01 -9.30609802e-02 -3.65171813e-02 6.05325106e+02] [ 9.30461056e-02 9.95659565e-01 -2.11027637e-03 3.43018343e+01] [ 3.65550652e-02 -1.29807651e-03 9.99330797e-01 2.20930642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.419254154 meters Centerline goodness : 0.999332 with order 1 Centerline is valid? [True, True] Translation: X:605.38, Y:34.32, Z:22.11 [[ 9.94824601e-01 -9.48183075e-02 -3.65171411e-02 6.05384664e+02] [ 9.48045891e-02 9.95493663e-01 -2.11097256e-03 3.43184585e+01] [ 3.65527414e-02 -1.36194513e-03 9.99330797e-01 2.21099212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.4792541539999 meters Centerline goodness : 0.999084 with order 1 Centerline is valid? [True, True] Translation: X:605.44, Y:34.32, Z:22.11 [[ 9.95638426e-01 -8.58522952e-02 -3.65172173e-02 6.05444492e+02] [ 8.58325984e-02 9.96307339e-01 -2.10965249e-03 3.43247569e+01] [ 3.65634901e-02 -1.03391656e-03 9.99330797e-01 2.21105830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.539254154 meters Centerline goodness : 0.999084 with order 1 Centerline is valid? [True, True] Translation: X:605.51, Y:34.33, Z:22.11 [[ 9.96161838e-01 -7.95492641e-02 -3.65172173e-02 6.05505220e+02] [ 7.95253342e-02 9.96830613e-01 -2.10965249e-03 3.43304257e+01] [ 3.65693014e-02 -8.02488607e-04 9.99330797e-01 2.21117993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.5992541539999 meters Centerline goodness : 0.999166 with order 1 Centerline is valid? [True, True] Translation: X:605.56, Y:34.33, Z:22.11 [[ 9.96568579e-01 -7.42802824e-02 -3.65172173e-02 6.05564909e+02] [ 7.42528162e-02 9.97237218e-01 -2.10965249e-03 3.43307310e+01] [ 3.65730338e-02 -6.09092837e-04 9.99330797e-01 2.21109649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.659254154 meters Centerline goodness : 0.999103 with order 1 Centerline is valid? [True, True] Translation: X:605.62, Y:34.34, Z:22.12 [[ 9.96357472e-01 -7.70602809e-02 -3.65171388e-02 6.05622863e+02] [ 7.70346305e-02 9.97026183e-01 -2.11101098e-03 3.43392170e+01] [ 3.65712186e-02 -7.09762734e-04 9.99330797e-01 2.21153011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.7192541539999 meters Centerline goodness : 0.999396 with order 1 Centerline is valid? [True, True] Translation: X:605.68, Y:34.34, Z:22.12 [[ 9.96314262e-01 -7.76170027e-02 -3.65170222e-02 6.05681859e+02] [ 7.75916521e-02 9.96982984e-01 -2.11302619e-03 3.43418017e+01] [ 3.65708565e-02 -7.28177952e-04 9.99330797e-01 2.21162595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.779254154 meters Centerline goodness : 0.999146 with order 1 Centerline is valid? [True, True] Translation: X:605.74, Y:34.34, Z:22.12 [[ 9.96166139e-01 -7.94955294e-02 -3.65169094e-02 6.05740682e+02] [ 7.94713685e-02 9.96834905e-01 -2.11497304e-03 3.43440292e+01] [ 3.65694609e-02 -7.95184238e-04 9.99330797e-01 2.21188670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.839254154 meters Centerline goodness : 0.999167 with order 1 Centerline is valid? [True, True] Translation: X:605.80, Y:34.34, Z:22.12 [[ 9.95770805e-01 -8.43033656e-02 -3.65163860e-02 6.05799463e+02] [ 8.42821035e-02 9.96439670e-01 -2.12397259e-03 3.43442429e+01] [ 3.65654336e-02 -9.62687929e-04 9.99330797e-01 2.21218944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.899254154 meters Centerline goodness : 0.999147 with order 1 Centerline is valid? [True, True] Translation: X:605.86, Y:34.34, Z:22.12 [[ 9.95170742e-01 -9.11141309e-02 -3.65158670e-02 6.05858351e+02] [ 9.10971197e-02 9.95839729e-01 -2.13285851e-03 3.43438433e+01] [ 3.65582846e-02 -1.20393192e-03 9.99330797e-01 2.21239232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.959254154 meters Centerline goodness : 0.999146 with order 1 Centerline is valid? [True, True] Translation: X:605.92, Y:34.34, Z:22.12 [[ 9.94593517e-01 -9.72129872e-02 -3.65153509e-02 6.05917569e+02] [ 9.71997548e-02 9.95262589e-01 -2.14165677e-03 3.43444587e+01] [ 3.65505596e-02 -1.41920522e-03 9.99330797e-01 2.21247101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.019254154 meters Centerline goodness : 0.999252 with order 1 Centerline is valid? [True, True] Translation: X:605.98, Y:34.35, Z:22.13 [[ 9.94427386e-01 -9.88979601e-02 -3.65153146e-02 6.05977254e+02] [ 9.88858386e-02 9.95096479e-01 -2.14227517e-03 3.43459507e+01] [ 3.65481277e-02 -1.48051041e-03 9.99330797e-01 2.21259671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.079254154 meters Centerline goodness : 0.999166 with order 1 Centerline is valid? [True, True] Translation: X:606.04, Y:34.35, Z:22.13 [[ 9.94694408e-01 -9.61752190e-02 -3.65152426e-02 6.06038108e+02] [ 9.61612208e-02 9.95363464e-01 -2.14350185e-03 3.43480930e+01] [ 3.65520902e-02 -1.37922101e-03 9.99330797e-01 2.21290241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.139254154 meters Centerline goodness : 0.999479 with order 1 Centerline is valid? [True, True] Translation: X:606.10, Y:34.35, Z:22.13 [[ 9.95088980e-01 -9.20030363e-02 -3.65152426e-02 6.06098896e+02] [ 9.19862326e-02 9.95757972e-01 -2.14350185e-03 3.43522535e+01] [ 3.65575526e-02 -1.22592453e-03 9.99330797e-01 2.21303498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.199254154 meters Centerline goodness : 0.999313 with order 1 Centerline is valid? [True, True] Translation: X:606.16, Y:34.36, Z:22.13 [[ 9.95544712e-01 -8.69331030e-02 -3.65152426e-02 6.06157965e+02] [ 8.69128918e-02 9.96213609e-01 -2.14350185e-03 3.43591354e+01] [ 3.65633229e-02 -1.03969340e-03 9.99330797e-01 2.21325851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.259254154 meters Centerline goodness : 0.999396 with order 1 Centerline is valid? [True, True] Translation: X:606.22, Y:34.37, Z:22.15 [[ 9.95407987e-01 -8.84849058e-02 -3.65152042e-02 6.06217397e+02] [ 8.84657134e-02 9.96076915e-01 -2.14415732e-03 3.43657209e+01] [ 3.65616775e-02 -1.09603226e-03 9.99330797e-01 2.21458790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.319254154 meters Centerline goodness : 0.999333 with order 1 Centerline is valid? [True, True] Translation: X:606.28, Y:34.37, Z:22.14 [[ 9.95247892e-01 -9.02678013e-02 -3.65151649e-02 6.06277130e+02] [ 9.02497826e-02 9.95916852e-01 -2.14482503e-03 3.43706279e+01] [ 3.65596768e-02 -1.16085311e-03 9.99330797e-01 2.21366053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.379254154 meters Centerline goodness : 0.999249 with order 1 Centerline is valid? [True, True] Translation: X:606.34, Y:34.38, Z:22.14 [[ 9.94837523e-01 -9.46834164e-02 -3.65151257e-02 6.06337363e+02] [ 9.46683420e-02 9.95506555e-01 -2.14549262e-03 3.43773005e+01] [ 3.65541896e-02 -1.32240984e-03 9.99330797e-01 2.21408138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.439254154 meters Centerline goodness : 0.999375 with order 1 Centerline is valid? [True, True] Translation: X:606.40, Y:34.38, Z:22.14 [[ 9.94697377e-01 -9.61445430e-02 -3.65151257e-02 6.06396429e+02] [ 9.61304513e-02 9.95366432e-01 -2.14549262e-03 3.43822833e+01] [ 3.65522078e-02 -1.37609963e-03 9.99330797e-01 2.21415205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.499254154 meters Centerline goodness : 0.999187 with order 1 Centerline is valid? [True, True] Translation: X:606.46, Y:34.39, Z:22.14 [[ 9.94369875e-01 -9.94746213e-02 -3.65150888e-02 6.06457469e+02] [ 9.94627468e-02 9.95038972e-01 -2.14612133e-03 3.43886824e+01] [ 3.65474210e-02 -1.49785263e-03 9.99330797e-01 2.21446325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.559254154 meters Centerline goodness : 0.999166 with order 1 Centerline is valid? [True, True] Translation: X:606.52, Y:34.40, Z:22.15 [[ 9.94510992e-01 -9.80537035e-02 -3.65151673e-02 6.06518444e+02] [ 9.80409220e-02 9.95180073e-01 -2.14478488e-03 3.43973829e+01] [ 3.65494709e-02 -1.44696852e-03 9.99330797e-01 2.21479333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.619254154 meters Centerline goodness : 0.998937 with order 1 Centerline is valid? [True, True] Translation: X:606.58, Y:34.41, Z:22.15 [[ 9.94968965e-01 -9.32919254e-02 -3.65154181e-02 6.06578050e+02] [ 9.32760981e-02 9.95637980e-01 -2.14050608e-03 3.44064119e+01] [ 3.65558290e-02 -1.27627860e-03 9.99330797e-01 2.21505657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.679254154 meters Centerline goodness : 0.999059 with order 1 Centerline is valid? [True, True] Translation: X:606.64, Y:34.41, Z:22.15 [[ 9.95508701e-01 -8.73444185e-02 -3.65154559e-02 6.06638604e+02] [ 8.73246170e-02 9.96177611e-01 -2.13986137e-03 3.44137457e+01] [ 3.65627845e-02 -1.05844758e-03 9.99330797e-01 2.21529202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.739254154 meters Centerline goodness : 0.998955 with order 1 Centerline is valid? [True, True] Translation: X:606.70, Y:34.42, Z:22.16 [[ 9.95821464e-01 -8.37032335e-02 -3.65154949e-02 6.06698767e+02] [ 8.36810104e-02 9.96490297e-01 -2.13919564e-03 3.44202077e+01] [ 3.65663939e-02 -9.25396572e-04 9.99330797e-01 2.21565199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.799254154 meters Centerline goodness : 0.999288 with order 1 Centerline is valid? [True, True] Translation: X:606.76, Y:34.43, Z:22.16 [[ 9.96015157e-01 -8.13659999e-02 -3.65154949e-02 6.06759229e+02] [ 8.13422072e-02 9.96683936e-01 -2.13919564e-03 3.44263605e+01] [ 3.65684649e-02 -8.39579668e-04 9.99330797e-01 2.21565845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.859254154 meters Centerline goodness : 0.998911 with order 1 Centerline is valid? [True, True] Translation: X:606.82, Y:34.43, Z:22.16 [[ 9.95981981e-01 -8.17710737e-02 -3.65155340e-02 6.06820663e+02] [ 8.17475774e-02 9.96650771e-01 -2.13852780e-03 3.44304019e+01] [ 3.65681048e-02 -8.55121285e-04 9.99330797e-01 2.21601669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.919254154 meters Centerline goodness : 0.998953 with order 1 Centerline is valid? [True, True] Translation: X:606.88, Y:34.43, Z:22.16 [[ 9.95929024e-01 -8.24135280e-02 -3.65156140e-02 6.06881158e+02] [ 8.23905133e-02 9.96597831e-01 -2.13716003e-03 3.44348969e+01] [ 3.65675126e-02 -8.80080484e-04 9.99330797e-01 2.21623690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.9792541539999 meters Centerline goodness : 0.999123 with order 1 Centerline is valid? [True, True] Translation: X:606.94, Y:34.44, Z:22.17 [[ 9.95712485e-01 -8.49897328e-02 -3.65156534e-02 6.06942446e+02] [ 8.49684731e-02 9.96381350e-01 -2.13648625e-03 3.44415638e+01] [ 3.65650955e-02 -9.75353283e-04 9.99330797e-01 2.21651624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.039254154 meters Centerline goodness : 0.999248 with order 1 Centerline is valid? [True, True] Translation: X:607.00, Y:34.44, Z:22.17 [[ 9.95383138e-01 -8.87637891e-02 -3.65157314e-02 6.07003046e+02] [ 8.87451140e-02 9.96052080e-01 -2.13515337e-03 3.44447919e+01] [ 3.65610945e-02 -1.11529709e-03 9.99330797e-01 2.21672046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.0992541539999 meters Centerline goodness : 0.998746 with order 1 Centerline is valid? [True, True] Translation: X:607.07, Y:34.44, Z:22.16 [[ 9.95569826e-01 -8.66447961e-02 -3.65157697e-02 6.07065887e+02] [ 8.66247212e-02 9.96238727e-01 -2.13449743e-03 3.44432070e+01] [ 3.65633670e-02 -1.03812713e-03 9.99330797e-01 2.21635325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.159254154 meters Centerline goodness : 0.998786 with order 1 Centerline is valid? [True, True] Translation: X:607.13, Y:34.45, Z:22.17 [[ 9.95043568e-01 -9.24926112e-02 -3.65159374e-02 6.07126447e+02] [ 9.24765720e-02 9.95712579e-01 -2.13162476e-03 3.44538439e+01] [ 3.65565378e-02 -1.25580921e-03 9.99330797e-01 2.21716590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.2192541539999 meters Centerline goodness : 0.998934 with order 1 Centerline is valid? [True, True] Translation: X:607.19, Y:34.46, Z:22.17 [[ 9.95329223e-01 -8.93661903e-02 -3.65160611e-02 6.07187005e+02] [ 8.93481271e-02 9.95998181e-01 -2.12950388e-03 3.44594290e+01] [ 3.65602361e-02 -1.14308423e-03 9.99330797e-01 2.21744098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.279254154 meters Centerline goodness : 0.998829 with order 1 Centerline is valid? [True, True] Translation: X:607.25, Y:34.46, Z:22.18 [[ 9.95693267e-01 -8.52143541e-02 -3.65161736e-02 6.07248470e+02] [ 8.51935719e-02 9.96362147e-01 -2.12757331e-03 3.44637638e+01] [ 3.65646329e-02 -9.92532841e-04 9.99330797e-01 2.21764263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.339254154 meters Centerline goodness : 0.998936 with order 1 Centerline is valid? [True, True] Translation: X:607.31, Y:34.47, Z:22.18 [[ 9.96400698e-01 -7.64997523e-02 -3.65162468e-02 6.07310329e+02] [ 7.64731649e-02 9.97069373e-01 -2.12631524e-03 3.44710444e+01] [ 3.65718939e-02 -6.73850973e-04 9.99330797e-01 2.21815769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.399254154 meters Centerline goodness : 0.998803 with order 1 Centerline is valid? [True, True] Translation: X:607.37, Y:34.48, Z:22.18 [[ 9.97012186e-01 -6.80680093e-02 -3.65164054e-02 6.07370414e+02] [ 6.80358661e-02 9.97680616e-01 -2.12358836e-03 3.44770616e+01] [ 3.65762583e-02 -3.67181803e-04 9.99330797e-01 2.21828470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.459254154 meters Centerline goodness : 0.998968 with order 1 Centerline is valid? [True, True] Translation: X:607.43, Y:34.48, Z:22.18 [[ 9.97331581e-01 -6.32160313e-02 -3.65164442e-02 6.07429541e+02] [ 6.31806606e-02 9.97999848e-01 -2.12292086e-03 3.44815275e+01] [ 3.65776084e-02 -1.89877052e-04 9.99330797e-01 2.21841496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.519254154 meters Centerline goodness : 0.998905 with order 1 Centerline is valid? [True, True] Translation: X:607.49, Y:34.48, Z:22.19 [[ 9.97312590e-01 -6.35149862e-02 -3.65163670e-02 6.07487805e+02] [ 6.34797672e-02 9.97980865e-01 -2.12424870e-03 3.44844328e+01] [ 3.65775571e-02 -1.99510505e-04 9.99330797e-01 2.21852160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.579254154 meters Centerline goodness : 0.998987 with order 1 Centerline is valid? [True, True] Translation: X:607.55, Y:34.49, Z:22.19 [[ 9.97124641e-01 -6.64003977e-02 -3.65162530e-02 6.07547262e+02] [ 6.63670408e-02 9.97793012e-01 -2.12620594e-03 3.44855738e+01] [ 3.65768430e-02 -3.03383319e-04 9.99330797e-01 2.21896586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.639254154 meters Centerline goodness : 0.999157 with order 1 Centerline is valid? [True, True] Translation: X:607.61, Y:34.49, Z:22.19 [[ 9.96929275e-01 -6.92718598e-02 -3.65161754e-02 6.07606475e+02] [ 6.92403791e-02 9.97597736e-01 -2.12753861e-03 3.44858164e+01] [ 3.65758324e-02 -4.07388301e-04 9.99330797e-01 2.21917808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.699254154 meters Centerline goodness : 0.999052 with order 1 Centerline is valid? [True, True] Translation: X:607.67, Y:34.48, Z:22.19 [[ 9.96599111e-01 -7.38700676e-02 -3.65160982e-02 6.07666840e+02] [ 7.38416225e-02 9.97267709e-01 -2.12886207e-03 3.44827756e+01] [ 3.65735848e-02 -5.74785898e-04 9.99330797e-01 2.21938168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.759254154 meters Centerline goodness : 0.999052 with order 1 Centerline is valid? [True, True] Translation: X:607.73, Y:34.48, Z:22.20 [[ 9.96396785e-01 -7.65508181e-02 -3.65160214e-02 6.07727084e+02] [ 7.65241235e-02 9.97065455e-01 -2.13017879e-03 3.44808324e+01] [ 3.65719304e-02 -6.71853233e-04 9.99330797e-01 2.21958592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.819254154 meters Centerline goodness : 0.999055 with order 1 Centerline is valid? [True, True] Translation: X:607.79, Y:34.48, Z:22.20 [[ 9.96198615e-01 -7.90879612e-02 -3.65159448e-02 6.07786516e+02] [ 7.90629214e-02 9.96867349e-01 -2.13149079e-03 3.44789421e+01] [ 3.65701284e-02 -7.63669105e-04 9.99330797e-01 2.21968828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.879254154 meters Centerline goodness : 0.999057 with order 1 Centerline is valid? [True, True] Translation: X:607.85, Y:34.48, Z:22.20 [[ 9.95922746e-01 -8.24892223e-02 -3.65159071e-02 6.07846302e+02] [ 8.24664425e-02 9.96591561e-01 -2.13213703e-03 3.44755353e+01] [ 3.65673232e-02 -8.87893191e-04 9.99330797e-01 2.21984388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.939254154 meters Centerline goodness : 0.999163 with order 1 Centerline is valid? [True, True] Translation: X:607.91, Y:34.47, Z:22.20 [[ 9.95820773e-01 -8.37113078e-02 -3.65158286e-02 6.07907186e+02] [ 8.36892995e-02 9.96489613e-01 -2.13347976e-03 3.44744285e+01] [ 3.65662403e-02 -9.31420661e-04 9.99330797e-01 2.22007731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.999254154 meters Centerline goodness : 0.999101 with order 1 Centerline is valid? [True, True] Translation: X:607.97, Y:34.47, Z:22.20 [[ 9.95882099e-01 -8.29785498e-02 -3.65158286e-02 6.07968216e+02] [ 8.29560495e-02 9.96550923e-01 -2.13347976e-03 3.44725139e+01] [ 3.65669158e-02 -9.04514589e-04 9.99330797e-01 2.22032899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.059254154 meters Centerline goodness : 0.999226 with order 1 Centerline is valid? [True, True] Translation: X:608.03, Y:34.47, Z:22.20 [[ 9.96059721e-01 -8.08184823e-02 -3.65158286e-02 6.08027503e+02] [ 8.07945314e-02 9.96728495e-01 -2.13347976e-03 3.44715909e+01] [ 3.65687915e-02 -8.25206013e-04 9.99330797e-01 2.22043825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.119254154 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:608.09, Y:34.47, Z:22.21 [[ 9.96161289e-01 -7.95567916e-02 -3.65157888e-02 6.08086095e+02] [ 7.95319687e-02 9.96830031e-01 -2.13416201e-03 3.44712226e+01] [ 3.65698219e-02 -7.78202985e-04 9.99330797e-01 2.22053874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.179254154 meters Centerline goodness : 0.999290 with order 1 Centerline is valid? [True, True] Translation: X:608.14, Y:34.47, Z:22.21 [[ 9.95947171e-01 -8.21940977e-02 -3.65152379e-02 6.08144989e+02] [ 8.21707017e-02 9.96615965e-01 -2.14354591e-03 3.44697877e+01] [ 3.65678559e-02 -8.65624238e-04 9.99330797e-01 2.22078345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.239254154 meters Centerline goodness : 0.999247 with order 1 Centerline is valid? [True, True] Translation: X:608.20, Y:34.47, Z:22.21 [[ 9.95625097e-01 -8.60078149e-02 -3.65146941e-02 6.08204077e+02] [ 8.59866424e-02 9.96293964e-01 -2.15277025e-03 3.44686750e+01] [ 3.65645244e-02 -9.96423854e-04 9.99330797e-01 2.22095617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.299254154 meters Centerline goodness : 0.999352 with order 1 Centerline is valid? [True, True] Translation: X:608.26, Y:34.47, Z:22.21 [[ 9.95436249e-01 -8.81668328e-02 -3.65141503e-02 6.08263013e+02] [ 8.81467743e-02 9.96105151e-01 -2.16195440e-03 3.44698679e+01] [ 3.65625459e-02 -1.06651679e-03 9.99330797e-01 2.22116304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.359254154 meters Centerline goodness : 0.999123 with order 1 Centerline is valid? [True, True] Translation: X:608.32, Y:34.47, Z:22.21 [[ 9.95174516e-01 -9.10738051e-02 -3.65136105e-02 6.08321893e+02] [ 9.10553676e-02 9.95843465e-01 -2.17103253e-03 3.44700848e+01] [ 3.65595646e-02 -1.16420398e-03 9.99330798e-01 2.22128492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.419254154 meters Centerline goodness : 0.999375 with order 1 Centerline is valid? [True, True] Translation: X:608.38, Y:34.47, Z:22.22 [[ 9.94819593e-01 -9.48723982e-02 -3.65130764e-02 6.08381600e+02] [ 9.48561867e-02 9.95488599e-01 -2.17997910e-03 3.44724500e+01] [ 3.65551711e-02 -1.29480526e-03 9.99330798e-01 2.22155560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.4792541539999 meters Centerline goodness : 0.999354 with order 1 Centerline is valid? [True, True] Translation: X:608.44, Y:34.47, Z:22.21 [[ 9.94340131e-01 -9.97722685e-02 -3.65129956e-02 6.08440103e+02] [ 9.97593035e-02 9.95009208e-01 -2.18133181e-03 3.44749999e+01] [ 3.65484032e-02 -1.47352525e-03 9.99330798e-01 2.22139441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.539254154 meters Centerline goodness : 0.999188 with order 1 Centerline is valid? [True, True] Translation: X:608.50, Y:34.48, Z:22.22 [[ 9.93942682e-01 -1.03656905e-01 -3.65128761e-02 6.08500260e+02] [ 1.03646482e-01 9.94611804e-01 -2.18332889e-03 3.44783746e+01] [ 3.65424547e-02 -1.61432737e-03 9.99330798e-01 2.22191269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.5992541539999 meters Centerline goodness : 0.999273 with order 1 Centerline is valid? [True, True] Translation: X:608.56, Y:34.48, Z:22.23 [[ 9.93674534e-01 -1.06196663e-01 -3.65128761e-02 6.08560874e+02] [ 1.06187949e-01 9.94343679e-01 -2.18332889e-03 3.44797597e+01] [ 3.65382099e-02 -1.70770911e-03 9.99330798e-01 2.22277586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.659254154 meters Centerline goodness : 0.999354 with order 1 Centerline is valid? [True, True] Translation: X:608.62, Y:34.49, Z:22.22 [[ 9.93558293e-01 -1.07278737e-01 -3.65128761e-02 6.08620760e+02] [ 1.07270752e-01 9.94227448e-01 -2.18332889e-03 3.44876735e+01] [ 3.65363284e-02 -1.74749915e-03 9.99330798e-01 2.22243307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.7192541539999 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:608.68, Y:34.49, Z:22.23 [[ 9.93886682e-01 -1.04192470e-01 -3.65129164e-02 6.08681207e+02] [ 1.04182432e-01 9.94555809e-01 -2.18265487e-03 3.44943407e+01] [ 3.65415493e-02 -1.63469281e-03 9.99330798e-01 2.22257109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.779254154 meters Centerline goodness : 0.999354 with order 1 Centerline is valid? [True, True] Translation: X:608.74, Y:34.50, Z:22.23 [[ 9.93990738e-01 -1.03195056e-01 -3.65129164e-02 6.08741909e+02] [ 1.03184346e-01 9.94659855e-01 -2.18265487e-03 3.44989704e+01] [ 3.65431714e-02 -1.59802266e-03 9.99330798e-01 2.22283113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.839254154 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:608.80, Y:34.50, Z:22.23 [[ 9.94229012e-01 -1.00873574e-01 -3.65129164e-02 6.08802784e+02] [ 1.00861302e-01 9.94898102e-01 -2.18265487e-03 3.45045138e+01] [ 3.65468035e-02 -1.51268149e-03 9.99330798e-01 2.22315708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.899254154 meters Centerline goodness : 0.999417 with order 1 Centerline is valid? [True, True] Translation: X:608.86, Y:34.51, Z:22.24 [[ 9.94592258e-01 -9.72267494e-02 -3.65129988e-02 6.08861961e+02] [ 9.72120738e-02 9.95261300e-01 -2.18127612e-03 3.45112587e+01] [ 3.65520530e-02 -1.38002399e-03 9.99330798e-01 2.22351261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.959254154 meters Centerline goodness : 0.999273 with order 1 Centerline is valid? [True, True] Translation: X:608.92, Y:34.52, Z:22.24 [[ 9.94843927e-01 -9.46169336e-02 -3.65129583e-02 6.08921428e+02] [ 9.46004779e-02 9.95512927e-01 -2.18195409e-03 3.45181886e+01] [ 3.65555718e-02 -1.28343953e-03 9.99330798e-01 2.22359605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.019254154 meters Centerline goodness : 0.999270 with order 1 Centerline is valid? [True, True] Translation: X:608.98, Y:34.52, Z:22.24 [[ 9.94855008e-01 -9.45003707e-02 -3.65129188e-02 6.08982153e+02] [ 9.44838124e-02 9.95524005e-01 -2.18261519e-03 3.45238112e+01] [ 3.65557451e-02 -1.27849412e-03 9.99330798e-01 2.22373535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.079254154 meters Centerline goodness : 0.999145 with order 1 Centerline is valid? [True, True] Translation: X:609.04, Y:34.53, Z:22.25 [[ 9.94968670e-01 -9.32960571e-02 -3.65128910e-02 6.09041870e+02] [ 9.32786720e-02 9.95637647e-01 -2.18307913e-03 3.45285382e+01] [ 3.65572816e-02 -1.23377865e-03 9.99330798e-01 2.22456689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.139254154 meters Centerline goodness : 0.998956 with order 1 Centerline is valid? [True, True] Translation: X:609.10, Y:34.54, Z:22.24 [[ 9.95548333e-01 -8.68926136e-02 -3.65128910e-02 6.09101320e+02] [ 8.68709247e-02 9.96217183e-01 -2.18307913e-03 3.45369927e+01] [ 3.65644629e-02 -9.98547824e-04 9.99330798e-01 2.22449564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.199254154 meters Centerline goodness : 0.999206 with order 1 Centerline is valid? [True, True] Translation: X:609.16, Y:34.54, Z:22.25 [[ 9.96167183e-01 -7.94843016e-02 -3.65128678e-02 6.09161729e+02] [ 7.94576235e-02 9.96835853e-01 -2.18346764e-03 3.45442883e+01] [ 3.65708871e-02 -7.26126896e-04 9.99330798e-01 2.22472365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.259254154 meters Centerline goodness : 0.999102 with order 1 Centerline is valid? [True, True] Translation: X:609.22, Y:34.55, Z:22.25 [[ 9.97000261e-01 -6.82443477e-02 -3.65128678e-02 6.09221282e+02] [ 6.82101299e-02 9.97668588e-01 -2.18346764e-03 3.45526793e+01] [ 3.65767506e-02 -3.13629652e-04 9.99330798e-01 2.22479994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.319254154 meters Centerline goodness : 0.999122 with order 1 Centerline is valid? [True, True] Translation: X:609.28, Y:34.57, Z:22.27 [[ 9.97056703e-01 -6.74147420e-02 -3.65127900e-02 6.09280348e+02] [ 6.73799205e-02 9.97724999e-01 -2.18476759e-03 3.45661240e+01] [ 3.65770089e-02 -2.81891719e-04 9.99330798e-01 2.22666873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.379254154 meters Centerline goodness : 0.999101 with order 1 Centerline is valid? [True, True] Translation: X:609.34, Y:34.56, Z:22.25 [[ 9.97314672e-01 -6.34843468e-02 -3.65127832e-02 6.09341130e+02] [ 6.34468874e-02 9.97982825e-01 -2.18488118e-03 3.45628028e+01] [ 3.65778363e-02 -1.37608384e-04 9.99330798e-01 2.22522818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.439254154 meters Centerline goodness : 0.999059 with order 1 Centerline is valid? [True, True] Translation: X:609.40, Y:34.57, Z:22.25 [[ 9.96990103e-01 -6.83926544e-02 -3.65127421e-02 6.09398996e+02] [ 6.83584591e-02 9.97658431e-01 -2.18556871e-03 3.45677738e+01] [ 3.65767218e-02 -3.16964411e-04 9.99330798e-01 2.22549779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.499254154 meters Centerline goodness : 0.999145 with order 1 Centerline is valid? [True, True] Translation: X:609.46, Y:34.57, Z:22.25 [[ 9.96465885e-01 -7.56479055e-02 -3.65121235e-02 6.09456402e+02] [ 7.56181991e-02 9.97134427e-01 -2.19585403e-03 3.45698422e+01] [ 3.65736071e-02 -5.72887393e-04 9.99330798e-01 2.22539880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.559254154 meters Centerline goodness : 0.999187 with order 1 Centerline is valid? [True, True] Translation: X:609.52, Y:34.57, Z:22.26 [[ 9.95911244e-01 -8.26297380e-02 -3.65119329e-02 6.09515931e+02] [ 8.26046017e-02 9.96579974e-01 -2.19901950e-03 3.45725694e+01] [ 3.65687655e-02 -8.26025431e-04 9.99330798e-01 2.22560153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.619254154 meters Centerline goodness : 0.999313 with order 1 Centerline is valid? [True, True] Translation: X:609.58, Y:34.58, Z:22.26 [[ 9.95432390e-01 -8.82113456e-02 -3.65118574e-02 6.09576311e+02] [ 8.81899127e-02 9.96101249e-01 -2.20027176e-03 3.45770572e+01] [ 3.65635957e-02 -1.02975574e-03 9.99330798e-01 2.22614031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.679254154 meters Centerline goodness : 0.999229 with order 1 Centerline is valid? [True, True] Translation: X:609.64, Y:34.58, Z:22.26 [[ 9.95056957e-01 -9.23500746e-02 -3.65118574e-02 6.09637061e+02] [ 9.23314233e-02 9.95725900e-01 -2.20027176e-03 3.45806298e+01] [ 3.65589973e-02 -1.18179604e-03 9.99330798e-01 2.22637069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.739254154 meters Centerline goodness : 0.999042 with order 1 Centerline is valid? [True, True] Translation: X:609.70, Y:34.58, Z:22.27 [[ 9.94210345e-01 -1.01057749e-01 -3.65119401e-02 6.09697659e+02] [ 1.01045005e-01 9.94879426e-01 -2.19889838e-03 3.45843303e+01] [ 3.65471937e-02 -1.50318166e-03 9.99330798e-01 2.22670408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.799254154 meters Centerline goodness : 0.999167 with order 1 Centerline is valid? [True, True] Translation: X:609.76, Y:34.59, Z:22.27 [[ 9.93795774e-01 -1.05056341e-01 -3.65119808e-02 6.09758932e+02] [ 1.05046314e-01 9.94464901e-01 -2.19822306e-03 3.45893236e+01] [ 3.65408206e-02 -1.65086420e-03 9.99330798e-01 2.22688471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.859254154 meters Centerline goodness : 0.998791 with order 1 Centerline is valid? [True, True] Translation: X:609.82, Y:34.59, Z:22.27 [[ 9.93496352e-01 -1.07851126e-01 -3.65121013e-02 6.09821090e+02] [ 1.07843054e-01 9.94165506e-01 -2.19621908e-03 3.45908558e+01] [ 3.65359364e-02 -1.75564087e-03 9.99330798e-01 2.22664575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.919254154 meters Centerline goodness : 0.998979 with order 1 Centerline is valid? [True, True] Translation: X:609.88, Y:34.60, Z:22.27 [[ 9.92652523e-01 -1.15359540e-01 -3.65122728e-02 6.09881701e+02] [ 1.15356632e-01 9.93321719e-01 -2.19336481e-03 3.45994030e+01] [ 3.65214591e-02 -2.03468370e-03 9.99330798e-01 2.22715369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.9792541539999 meters Centerline goodness : 0.999019 with order 1 Centerline is valid? [True, True] Translation: X:609.94, Y:34.61, Z:22.28 [[ 9.92295828e-01 -1.18388441e-01 -3.65125538e-02 6.09943401e+02] [ 1.18387747e-01 9.92965030e-01 -2.18867694e-03 3.46062154e+01] [ 3.65148031e-02 -2.15082398e-03 9.99330798e-01 2.22755994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.039254154 meters Centerline goodness : 0.998871 with order 1 Centerline is valid? [True, True] Translation: X:610.01, Y:34.61, Z:22.28 [[ 9.92614229e-01 -1.15688432e-01 -3.65127155e-02 6.10005231e+02] [ 1.15686017e-01 9.93283427e-01 -2.18597579e-03 3.46138476e+01] [ 3.65203673e-02 -2.05417996e-03 9.99330798e-01 2.22794356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.0992541539999 meters Centerline goodness : 0.999081 with order 1 Centerline is valid? [True, True] Translation: X:610.07, Y:34.62, Z:22.28 [[ 9.93421429e-01 -1.08538810e-01 -3.65128794e-02 6.10065947e+02] [ 1.08531678e-01 9.94090594e-01 -2.18323505e-03 3.46233889e+01] [ 3.65340757e-02 -1.79393157e-03 9.99330798e-01 2.22823721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.159254154 meters Centerline goodness : 0.998976 with order 1 Centerline is valid? [True, True] Translation: X:610.13, Y:34.64, Z:22.28 [[ 9.94393270e-01 -9.92412501e-02 -3.65129995e-02 6.10126305e+02] [ 9.92279318e-02 9.95062340e-01 -2.18122345e-03 3.46359881e+01] [ 3.65491781e-02 -1.45411551e-03 9.99330798e-01 2.22847488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.2192541539999 meters Centerline goodness : 0.998994 with order 1 Centerline is valid? [True, True] Translation: X:610.19, Y:34.65, Z:22.29 [[ 9.95151697e-01 -9.13230154e-02 -3.65131168e-02 6.10187502e+02] [ 9.13044439e-02 9.95820641e-01 -2.17925867e-03 3.46461858e+01] [ 3.65595319e-02 -1.16511686e-03 9.99330798e-01 2.22872389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.279254154 meters Centerline goodness : 0.998908 with order 1 Centerline is valid? [True, True] Translation: X:610.25, Y:34.66, Z:22.29 [[ 9.96105169e-01 -8.02575460e-02 -3.65132702e-02 6.10248842e+02] [ 8.02316355e-02 9.96773869e-01 -2.17668469e-03 3.46573409e+01] [ 3.65701690e-02 -7.61312519e-04 9.99330798e-01 2.22906200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.339254154 meters Centerline goodness : 0.998969 with order 1 Centerline is valid? [True, True] Translation: X:610.31, Y:34.66, Z:22.29 [[ 9.97102324e-01 -6.67362337e-02 -3.65134219e-02 6.10310466e+02] [ 6.67013468e-02 9.97770617e-01 -2.17413733e-03 3.46587232e+01] [ 3.65771132e-02 -2.67657028e-04 9.99330798e-01 2.22871316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.399254154 meters Centerline goodness : 0.998967 with order 1 Centerline is valid? [True, True] Translation: X:610.37, Y:34.68, Z:22.29 [[ 9.97074622e-01 -6.71488079e-02 -3.65135040e-02 6.10369440e+02] [ 6.71142480e-02 9.97742931e-01 -2.17275780e-03 3.46759850e+01] [ 3.65769886e-02 -2.84174697e-04 9.99330798e-01 2.22936166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.459254154 meters Centerline goodness : 0.998668 with order 1 Centerline is valid? [True, True] Translation: X:610.43, Y:34.68, Z:22.30 [[ 9.97378756e-01 -6.24690244e-02 -3.65135441e-02 6.10430131e+02] [ 6.24313533e-02 9.98046897e-01 -2.17208472e-03 3.46802145e+01] [ 3.65779173e-02 -1.13198810e-04 9.99330798e-01 2.22991759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.519254154 meters Centerline goodness : 0.998877 with order 1 Centerline is valid? [True, True] Translation: X:610.49, Y:34.68, Z:22.30 [[ 9.97291284e-01 -6.38502073e-02 -3.65136290e-02 6.10489714e+02] [ 6.38135138e-02 9.97959480e-01 -2.17065572e-03 3.46846238e+01] [ 3.65777190e-02 -1.65286935e-04 9.99330798e-01 2.23013780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.579254154 meters Centerline goodness : 0.998727 with order 1 Centerline is valid? [True, True] Translation: X:610.55, Y:34.69, Z:22.30 [[ 9.96842461e-01 -7.05114634e-02 -3.65135874e-02 6.10550008e+02] [ 7.04792092e-02 9.97510885e-01 -2.17135489e-03 3.46909145e+01] [ 3.65758063e-02 -4.08950012e-04 9.99330798e-01 2.23042519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.639254154 meters Centerline goodness : 0.998797 with order 1 Centerline is valid? [True, True] Translation: X:610.61, Y:34.69, Z:22.30 [[ 9.96799509e-01 -7.11160634e-02 -3.65136283e-02 6.10612141e+02] [ 7.10842398e-02 9.97467954e-01 -2.17066798e-03 3.46851777e+01] [ 3.65755434e-02 -4.31822733e-04 9.99330798e-01 2.23024242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.699254154 meters Centerline goodness : 0.998924 with order 1 Centerline is valid? [True, True] Translation: X:610.67, Y:34.69, Z:22.31 [[ 9.96149583e-01 -7.97041849e-02 -3.65137091e-02 6.10673661e+02] [ 7.96781732e-02 9.96818280e-01 -2.16930746e-03 3.46935538e+01] [ 3.65704356e-02 -7.48390918e-04 9.99330798e-01 2.23088359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.759254154 meters Centerline goodness : 0.998732 with order 1 Centerline is valid? [True, True] Translation: X:610.74, Y:34.69, Z:22.31 [[ 9.95565735e-01 -8.66925837e-02 -3.65138703e-02 6.10735844e+02] [ 8.66713647e-02 9.96234601e-01 -2.16659000e-03 3.46931691e+01] [ 3.65642083e-02 -1.00772421e-03 9.99330798e-01 2.23106584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.819254154 meters Centerline goodness : 0.998503 with order 1 Centerline is valid? [True, True] Translation: X:610.80, Y:34.69, Z:22.31 [[ 9.95425632e-01 -8.82866750e-02 -3.65140327e-02 6.10798181e+02] [ 8.82666275e-02 9.96094534e-01 -2.16385038e-03 3.46932076e+01] [ 3.65624675e-02 -1.06901840e-03 9.99330798e-01 2.23107355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.879254154 meters Centerline goodness : 0.998589 with order 1 Centerline is valid? [True, True] Translation: X:610.86, Y:34.69, Z:22.31 [[ 9.95556192e-01 -8.68019738e-02 -3.65141962e-02 6.10860645e+02] [ 8.67810299e-02 9.96225066e-01 -2.16108822e-03 3.46933013e+01] [ 3.65639442e-02 -1.01725479e-03 9.99330798e-01 2.23117285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.939254154 meters Centerline goodness : 0.998819 with order 1 Centerline is valid? [True, True] Translation: X:610.92, Y:34.70, Z:22.31 [[ 9.96122612e-01 -8.00402610e-02 -3.65143577e-02 6.10921847e+02] [ 8.00148762e-02 9.96791333e-01 -2.15835489e-03 3.46972051e+01] [ 3.65699506e-02 -7.71705708e-04 9.99330798e-01 2.23136099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.999254154 meters Centerline goodness : 0.999033 with order 1 Centerline is valid? [True, True] Translation: X:610.98, Y:34.70, Z:22.32 [[ 9.96914114e-01 -6.94905126e-02 -3.65146200e-02 6.10983408e+02] [ 6.94582128e-02 9.97582537e-01 -2.15390887e-03 3.47019917e+01] [ 3.65760235e-02 -3.88978095e-04 9.99330798e-01 2.23163717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.059254154 meters Centerline goodness : 0.998674 with order 1 Centerline is valid? [True, True] Translation: X:611.04, Y:34.71, Z:22.32 [[ 9.97370082e-01 -6.26066249e-02 -3.65147803e-02 6.11043209e+02] [ 6.25698110e-02 9.98038271e-01 -2.15118836e-03 3.47051396e+01] [ 3.65778268e-02 -1.39191992e-04 9.99330798e-01 2.23171236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.119254154 meters Centerline goodness : 0.998844 with order 1 Centerline is valid? [True, True] Translation: X:611.10, Y:34.71, Z:22.32 [[ 9.97842802e-01 -5.45564837e-02 -3.65148195e-02 6.11101712e+02] [ 5.45143035e-02 9.98510674e-01 -2.15052246e-03 3.47078257e+01] [ 3.65777620e-02 1.55303405e-04 9.99330798e-01 2.23220508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.179254154 meters Centerline goodness : 0.999031 with order 1 Centerline is valid? [True, True] Translation: X:611.16, Y:34.71, Z:22.32 [[ 9.98073142e-01 -5.01665269e-02 -3.65147040e-02 6.11160672e+02] [ 5.01213375e-02 9.98740816e-01 -2.15248229e-03 3.47085456e+01] [ 3.65767078e-02 3.18168961e-04 9.99330798e-01 2.23227350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.239254154 meters Centerline goodness : 0.999032 with order 1 Centerline is valid? [True, True] Translation: X:611.22, Y:34.71, Z:22.34 [[ 9.97796044e-01 -5.54054897e-02 -3.65142047e-02 6.11220548e+02] [ 5.53634973e-02 9.98463927e-01 -2.16091886e-03 3.47102102e+01] [ 3.65778430e-02 1.34602214e-04 9.99330798e-01 2.23387284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.299254154 meters Centerline goodness : 0.999161 with order 1 Centerline is valid? [True, True] Translation: X:611.28, Y:34.71, Z:22.34 [[ 9.97512006e-01 -6.03034919e-02 -3.65142032e-02 6.11279403e+02] [ 6.02647781e-02 9.98180087e-01 -2.16094391e-03 3.47093666e+01] [ 3.65780630e-02 -4.49528570e-05 9.99330798e-01 2.23433717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.359254154 meters Centerline goodness : 0.998932 with order 1 Centerline is valid? [True, True] Translation: X:611.34, Y:34.70, Z:22.33 [[ 9.97607163e-01 -5.87083736e-02 -3.65140358e-02 6.11339954e+02] [ 5.86684881e-02 9.98275176e-01 -2.16376941e-03 3.47048264e+01] [ 3.65780869e-02 1.63685879e-05 9.99330798e-01 2.23295632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.419254154 meters Centerline goodness : 0.995610 with order 1 Centerline is valid? [True, True] Translation: X:611.40, Y:34.71, Z:22.33 [[ 9.97306977e-01 -6.36044189e-02 -3.65139979e-02 6.11398900e+02] [ 6.35677894e-02 9.97975176e-01 -2.16440815e-03 3.47057542e+01] [ 3.65777294e-02 -1.62534780e-04 9.99330798e-01 2.23342642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.4792541539999 meters Centerline goodness : 0.998995 with order 1 Centerline is valid? [True, True] Translation: X:611.46, Y:34.71, Z:22.34 [[ 9.97158215e-01 -6.58958993e-02 -3.65133580e-02 6.11457765e+02] [ 6.58604120e-02 9.97826475e-01 -2.17514973e-03 3.47069178e+01] [ 3.65773288e-02 -2.35816383e-04 9.99330798e-01 2.23361849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.539254154 meters Centerline goodness : 0.998913 with order 1 Centerline is valid? [True, True] Translation: X:611.52, Y:34.71, Z:22.34 [[ 9.96511106e-01 -7.50495914e-02 -3.65126601e-02 6.11516696e+02] [ 7.50198152e-02 9.97179645e-01 -2.18680306e-03 3.47087979e+01] [ 3.65738001e-02 -5.59999474e-04 9.99330798e-01 2.23383376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.5992541539999 meters Centerline goodness : 0.998809 with order 1 Centerline is valid? [True, True] Translation: X:611.58, Y:34.71, Z:22.34 [[ 9.96075503e-01 -8.06252460e-02 -3.65125029e-02 6.11576889e+02] [ 8.05991155e-02 9.96744194e-01 -2.18942489e-03 3.47114410e+01] [ 3.65701482e-02 -7.62042937e-04 9.99330798e-01 2.23383884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.659254154 meters Centerline goodness : 0.998807 with order 1 Centerline is valid? [True, True] Translation: X:611.64, Y:34.72, Z:22.34 [[ 9.95170013e-01 -9.11234478e-02 -3.65125029e-02 6.11637442e+02] [ 9.11043695e-02 9.95838943e-01 -2.18942489e-03 3.47151101e+01] [ 3.65600802e-02 -1.14759856e-03 9.99330798e-01 2.23388040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.7192541539999 meters Centerline goodness : 0.998913 with order 1 Centerline is valid? [True, True] Translation: X:611.70, Y:34.72, Z:22.34 [[ 9.94077990e-01 -1.02351236e-01 -3.65126494e-02 6.11699417e+02] [ 1.02339799e-01 9.94747095e-01 -2.18697759e-03 3.47202141e+01] [ 3.65446918e-02 -1.56267093e-03 9.99330798e-01 2.23431932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.779254154 meters Centerline goodness : 0.997012 with order 1 Centerline is valid? [True, True] Translation: X:611.76, Y:34.73, Z:22.34 [[ 9.93407031e-01 -1.08670533e-01 -3.65128103e-02 6.11761224e+02] [ 1.08663450e-01 9.94076196e-01 -2.18428812e-03 3.47252361e+01] [ 3.65338834e-02 -1.79772075e-03 9.99330798e-01 2.23401954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.839254154 meters Centerline goodness : 0.998745 with order 1 Centerline is valid? [True, True] Translation: X:611.82, Y:34.73, Z:22.35 [[ 9.93170584e-01 -1.10810629e-01 -3.65129477e-02 6.11823081e+02] [ 1.10805072e-01 9.93839763e-01 -2.18198976e-03 3.47348703e+01] [ 3.65298069e-02 -1.87873176e-03 9.99330798e-01 2.23516521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.899254154 meters Centerline goodness : 0.998511 with order 1 Centerline is valid? [True, True] Translation: X:611.88, Y:34.75, Z:22.35 [[ 9.93361581e-01 -1.09085091e-01 -3.65131936e-02 6.11884815e+02] [ 1.09078523e-01 9.94030750e-01 -2.17786633e-03 3.47451341e+01] [ 3.65328100e-02 -1.81939650e-03 9.99330798e-01 2.23507590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.959254154 meters Centerline goodness : 0.998845 with order 1 Centerline is valid? [True, True] Translation: X:611.95, Y:34.76, Z:22.35 [[ 9.93559551e-01 -1.07266926e-01 -3.65133574e-02 6.11945452e+02] [ 1.07259234e-01 9.94228709e-01 -2.17511767e-03 3.47550087e+01] [ 3.65359463e-02 -1.75528582e-03 9.99330798e-01 2.23530524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.019254154 meters Centerline goodness : 0.998653 with order 1 Centerline is valid? [True, True] Translation: X:612.01, Y:34.76, Z:22.36 [[ 9.93753964e-01 -1.05450536e-01 -3.65136119e-02 6.12007478e+02] [ 1.05441778e-01 9.94423109e-01 -2.17083729e-03 3.47648506e+01] [ 3.65388954e-02 -1.69278199e-03 9.99330798e-01 2.23560141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.079254154 meters Centerline goodness : 0.998822 with order 1 Centerline is valid? [True, True] Translation: X:612.07, Y:34.77, Z:22.36 [[ 9.93965058e-01 -1.03441810e-01 -3.65137696e-02 6.12070377e+02] [ 1.03431797e-01 9.94634185e-01 -2.16818107e-03 3.47735004e+01] [ 3.65421240e-02 -1.62158856e-03 9.99330798e-01 2.23587184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.139254154 meters Centerline goodness : 0.998858 with order 1 Centerline is valid? [True, True] Translation: X:612.13, Y:34.78, Z:22.36 [[ 9.94506943e-01 -9.80951984e-02 -3.65140134e-02 6.12132357e+02] [ 9.80817379e-02 9.95176009e-01 -2.16406728e-03 3.47847781e+01] [ 3.65501547e-02 -1.42917795e-03 9.99330798e-01 2.23611652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.199254154 meters Centerline goodness : 0.998704 with order 1 Centerline is valid? [True, True] Translation: X:612.19, Y:34.79, Z:22.36 [[ 9.95283192e-01 -8.98781217e-02 -3.65142542e-02 6.12193129e+02] [ 8.98592850e-02 9.95952129e-01 -2.15999611e-03 3.47944196e+01] [ 3.65605856e-02 -1.13133696e-03 9.99330798e-01 2.23637392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.259254154 meters Centerline goodness : 0.998979 with order 1 Centerline is valid? [True, True] Translation: X:612.26, Y:34.81, Z:22.36 [[ 9.96031222e-01 -8.11696071e-02 -3.65143722e-02 6.12255258e+02] [ 8.11449935e-02 9.96699971e-01 -2.15800036e-03 3.48055284e+01] [ 3.65690377e-02 -8.13522754e-04 9.99330798e-01 2.23648958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.319254154 meters Centerline goodness : 0.998913 with order 1 Centerline is valid? [True, True] Translation: X:612.32, Y:34.81, Z:22.37 [[ 9.96546764e-01 -7.45736957e-02 -3.65145260e-02 6.12317146e+02] [ 7.45447507e-02 9.97215340e-01 -2.15539393e-03 3.48135441e+01] [ 3.65735812e-02 -5.74015393e-04 9.99330798e-01 2.23672240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.379254154 meters Centerline goodness : 0.999185 with order 1 Centerline is valid? [True, True] Translation: X:612.38, Y:34.82, Z:22.37 [[ 9.97270891e-01 -6.41673450e-02 -3.65146796e-02 6.12378549e+02] [ 6.41315182e-02 9.97939133e-01 -2.15278857e-03 3.48226176e+01] [ 3.65775665e-02 -1.94828462e-04 9.99330798e-01 2.23707443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.439254154 meters Centerline goodness : 0.998819 with order 1 Centerline is valid? [True, True] Translation: X:612.44, Y:34.82, Z:22.36 [[ 9.98178266e-01 -4.80293155e-02 -3.65148348e-02 6.12438989e+02] [ 4.79827818e-02 9.98845849e-01 -2.15015311e-03 3.48182706e+01] [ 3.65759616e-02 3.94152751e-04 9.99330798e-01 2.23557169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.499254154 meters Centerline goodness : 0.998968 with order 1 Centerline is valid? [True, True] Translation: X:612.50, Y:34.84, Z:22.37 [[ 9.97687814e-01 -5.73209794e-02 -3.65147969e-02 6.12496157e+02] [ 5.72806397e-02 9.98355800e-01 -2.15079759e-03 3.48356828e+01] [ 3.65780450e-02 5.42336191e-05 9.99330798e-01 2.23731445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.559254154 meters Centerline goodness : 0.999184 with order 1 Centerline is valid? [True, True] Translation: X:612.55, Y:34.84, Z:22.38 [[ 9.97365950e-01 -6.26727317e-02 -3.65142480e-02 6.12554802e+02] [ 6.26356367e-02 9.98034123e-01 -2.16007574e-03 3.48393853e+01] [ 3.65778433e-02 -1.32707180e-04 9.99330798e-01 2.23761838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.619254154 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:612.62, Y:34.84, Z:22.38 [[ 9.97202570e-01 -6.52208084e-02 -3.65141214e-02 6.12616199e+02] [ 6.51853424e-02 9.97870831e-01 -2.16221391e-03 3.48422514e+01] [ 3.65773980e-02 -2.24020235e-04 9.99330798e-01 2.23775044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.679254154 meters Centerline goodness : 0.999125 with order 1 Centerline is valid? [True, True] Translation: X:612.68, Y:34.84, Z:22.38 [[ 9.96594487e-01 -7.39333644e-02 -3.65141959e-02 6.12677852e+02] [ 7.39037862e-02 9.97263035e-01 -2.16095478e-03 3.48432771e+01] [ 3.65740245e-02 -5.44941711e-04 9.99330798e-01 2.23802199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.739254154 meters Centerline goodness : 0.999256 with order 1 Centerline is valid? [True, True] Translation: X:612.74, Y:34.84, Z:22.38 [[ 9.96019488e-01 -8.13135167e-02 -3.65142708e-02 6.12738751e+02] [ 8.12889379e-02 9.96688238e-01 -2.15968793e-03 3.48435911e+01] [ 3.65689561e-02 -8.17115022e-04 9.99330798e-01 2.23815776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.799254154 meters Centerline goodness : 0.999213 with order 1 Centerline is valid? [True, True] Translation: X:612.80, Y:34.85, Z:22.38 [[ 9.95775085e-01 -8.42536607e-02 -3.65143821e-02 6.12800927e+02] [ 8.42311253e-02 9.96443908e-01 -2.15780462e-03 3.48463301e+01] [ 3.65663365e-02 -9.26959414e-04 9.99330798e-01 2.23831503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.859254154 meters Centerline goodness : 0.999192 with order 1 Centerline is valid? [True, True] Translation: X:612.86, Y:34.85, Z:22.39 [[ 9.95680280e-01 -8.53666778e-02 -3.65145261e-02 6.12862990e+02] [ 8.53449794e-02 9.96349130e-01 -2.15536537e-03 3.48475289e+01] [ 3.65652127e-02 -9.70276680e-04 9.99330798e-01 2.23855248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.919254154 meters Centerline goodness : 0.998852 with order 1 Centerline is valid? [True, True] Translation: X:612.92, Y:34.85, Z:22.39 [[ 9.95852575e-01 -8.33326237e-02 -3.65146888e-02 6.12924986e+02] [ 8.33096603e-02 9.96521383e-01 -2.15260594e-03 3.48514518e+01] [ 3.65670505e-02 -8.98348148e-04 9.99330798e-01 2.23916863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.9792541539999 meters Centerline goodness : 0.998980 with order 1 Centerline is valid? [True, True] Translation: X:612.99, Y:34.85, Z:22.39 [[ 9.96008889e-01 -8.14429789e-02 -3.65148496e-02 6.12986692e+02] [ 8.14188466e-02 9.96677656e-01 -2.14987408e-03 3.48536784e+01] [ 3.65686269e-02 -8.31703246e-04 9.99330798e-01 2.23876910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.039254154 meters Centerline goodness : 0.998998 with order 1 Centerline is valid? [True, True] Translation: X:613.05, Y:34.86, Z:22.39 [[ 9.96287601e-01 -7.79594389e-02 -3.65149675e-02 6.13048297e+02] [ 7.79330415e-02 9.96956282e-01 -2.14786994e-03 3.48571154e+01] [ 3.65712730e-02 -7.05826290e-04 9.99330798e-01 2.23909817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.0992541539999 meters Centerline goodness : 0.998998 with order 1 Centerline is valid? [True, True] Translation: X:613.11, Y:34.86, Z:22.39 [[ 9.96804710e-01 -7.10423576e-02 -3.65151235e-02 6.13110514e+02] [ 7.10114168e-02 9.97473196e-01 -2.14521391e-03 3.48610715e+01] [ 3.65752580e-02 -4.54631327e-04 9.99330798e-01 2.23926002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.159254154 meters Centerline goodness : 0.998914 with order 1 Centerline is valid? [True, True] Translation: X:613.17, Y:34.86, Z:22.39 [[ 9.97341348e-01 -6.30624365e-02 -3.65152786e-02 6.13171859e+02] [ 6.30262434e-02 9.98009570e-01 -2.14257142e-03 3.48643594e+01] [ 3.65777133e-02 -1.64545765e-04 9.99330798e-01 2.23944199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.2192541539999 meters Centerline goodness : 0.999102 with order 1 Centerline is valid? [True, True] Translation: X:613.23, Y:34.87, Z:22.40 [[ 9.97807864e-01 -5.51914424e-02 -3.65153547e-02 6.13231915e+02] [ 5.51500256e-02 9.98475783e-01 -2.14127361e-03 3.48683061e+01] [ 3.65778774e-02 1.22756896e-04 9.99330798e-01 2.23952546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.279254154 meters Centerline goodness : 0.999146 with order 1 Centerline is valid? [True, True] Translation: X:613.29, Y:34.87, Z:22.40 [[ 9.97966933e-01 -5.22362636e-02 -3.65153950e-02 6.13290414e+02] [ 5.21928942e-02 9.98634728e-01 -2.14058654e-03 3.48696161e+01] [ 3.65773578e-02 2.30390434e-04 9.99330798e-01 2.23958222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.339254154 meters Centerline goodness : 0.999081 with order 1 Centerline is valid? [True, True] Translation: X:613.35, Y:34.87, Z:22.40 [[ 9.97864504e-01 -5.41580894e-02 -3.65148408e-02 6.13348770e+02] [ 5.41156618e-02 9.98532359e-01 -2.14999775e-03 3.48709770e+01] [ 3.65776899e-02 1.69381665e-04 9.99330798e-01 2.23999452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.399254154 meters Centerline goodness : 0.995116 with order 1 Centerline is valid? [True, True] Translation: X:613.41, Y:34.87, Z:22.40 [[ 9.97312275e-01 -6.35211574e-02 -3.65142396e-02 6.13406939e+02] [ 6.34846277e-02 9.97980479e-01 -2.16015998e-03 3.48738126e+01] [ 3.65777142e-02 -1.63738848e-04 9.99330798e-01 2.24043764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.459254154 meters Centerline goodness : 0.999107 with order 1 Centerline is valid? [True, True] Translation: X:613.47, Y:34.87, Z:22.41 [[ 9.96900130e-01 -6.96914214e-02 -3.65135031e-02 6.13466801e+02] [ 6.96585740e-02 9.97568526e-01 -2.17253901e-03 3.48738588e+01] [ 3.65761288e-02 -3.77674137e-04 9.99330798e-01 2.24101881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.519254154 meters Centerline goodness : 0.998812 with order 1 Centerline is valid? [True, True] Translation: X:613.53, Y:34.87, Z:22.41 [[ 9.96061182e-01 -8.08015486e-02 -3.65134506e-02 6.13527972e+02] [ 8.07761228e-02 9.96729900e-01 -2.17342135e-03 3.48700845e+01] [ 3.65696638e-02 -7.84554333e-04 9.99330798e-01 2.24078570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.579254154 meters Centerline goodness : 0.998964 with order 1 Centerline is valid? [True, True] Translation: X:613.59, Y:34.87, Z:22.41 [[ 9.95322896e-01 -8.94375714e-02 -3.65137474e-02 6.13589136e+02] [ 8.94181297e-02 9.95991815e-01 -2.16842376e-03 3.48717237e+01] [ 3.65613321e-02 -1.10670918e-03 9.99330798e-01 2.24104139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.639254154 meters Centerline goodness : 0.998858 with order 1 Centerline is valid? [True, True] Translation: X:613.65, Y:34.87, Z:22.41 [[ 9.94261223e-01 -1.00555244e-01 -3.65138656e-02 6.13651643e+02] [ 1.00543352e-01 9.94930320e-01 -2.16643082e-03 3.48720025e+01] [ 3.65465980e-02 -1.51722830e-03 9.99330798e-01 2.24128023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.699254154 meters Centerline goodness : 0.998859 with order 1 Centerline is valid? [True, True] Translation: X:613.71, Y:34.87, Z:22.41 [[ 9.93571068e-01 -1.07159965e-01 -3.65140287e-02 6.13713329e+02] [ 1.07152621e-01 9.94240230e-01 -2.16367937e-03 3.48746415e+01] [ 3.65355760e-02 -1.76280464e-03 9.99330798e-01 2.24139500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.759254154 meters Centerline goodness : 0.998925 with order 1 Centerline is valid? [True, True] Translation: X:613.78, Y:34.88, Z:22.42 [[ 9.93485003e-01 -1.07954900e-01 -3.65142301e-02 6.13775971e+02] [ 1.07948216e-01 9.94154171e-01 -2.16027414e-03 3.48797946e+01] [ 3.65339864e-02 -1.79544602e-03 9.99330798e-01 2.24173143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.819254154 meters Centerline goodness : 0.998900 with order 1 Centerline is valid? [True, True] Translation: X:613.84, Y:34.89, Z:22.42 [[ 9.93977945e-01 -1.03317656e-01 -3.65144720e-02 6.13837721e+02] [ 1.03308000e-01 9.94647077e-01 -2.15617792e-03 3.48862471e+01] [ 3.65417841e-02 -1.62904376e-03 9.99330798e-01 2.24197980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.879254154 meters Centerline goodness : 0.998857 with order 1 Centerline is valid? [True, True] Translation: X:613.90, Y:34.89, Z:22.42 [[ 9.94598651e-01 -9.71606416e-02 -3.65148463e-02 6.13900091e+02] [ 9.71470747e-02 9.95267715e-01 -2.14982017e-03 3.48896417e+01] [ 3.65509256e-02 -1.40910226e-03 9.99330798e-01 2.24241873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.939254154 meters Centerline goodness : 0.999111 with order 1 Centerline is valid? [True, True] Translation: X:613.96, Y:34.90, Z:22.42 [[ 9.95193254e-01 -9.08682693e-02 -3.65150084e-02 6.13961057e+02] [ 9.08505721e-02 9.95862221e-01 -2.14706438e-03 3.49012658e+01] [ 3.65590174e-02 -1.18066542e-03 9.99330798e-01 2.24230396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.999254154 meters Centerline goodness : 0.999002 with order 1 Centerline is valid? [True, True] Translation: X:614.02, Y:34.91, Z:22.43 [[ 9.95922328e-01 -8.24946188e-02 -3.65151266e-02 6.14022853e+02] [ 8.24713694e-02 9.96591126e-01 -2.14505157e-03 3.49093060e+01] [ 3.65676063e-02 -8.75147745e-04 9.99330798e-01 2.24251621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.059254154 meters Centerline goodness : 0.999062 with order 1 Centerline is valid? [True, True] Translation: X:614.08, Y:34.92, Z:22.43 [[ 9.96565158e-01 -7.43271131e-02 -3.65152799e-02 6.14083463e+02] [ 7.42984772e-02 9.97233747e-01 -2.14243877e-03 3.49188507e+01] [ 3.65735107e-02 -5.77949861e-04 9.99330798e-01 2.24278021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.119254154 meters Centerline goodness : 0.999273 with order 1 Centerline is valid? [True, True] Translation: X:614.15, Y:34.93, Z:22.43 [[ 9.96936347e-01 -6.91704100e-02 -3.65153930e-02 6.14145348e+02] [ 6.91383863e-02 9.97604782e-01 -2.14050903e-03 3.49252341e+01] [ 3.65759906e-02 -3.90664089e-04 9.99330798e-01 2.24307836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.179254154 meters Centerline goodness : 0.999229 with order 1 Centerline is valid? [True, True] Translation: X:614.21, Y:34.94, Z:22.44 [[ 9.97350973e-01 -6.29098728e-02 -3.65155452e-02 6.14206253e+02] [ 6.28737481e-02 9.98019199e-01 -2.13791042e-03 3.49361261e+01] [ 3.65777108e-02 -1.63622157e-04 9.99330798e-01 2.24396331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.239254154 meters Centerline goodness : 0.999143 with order 1 Centerline is valid? [True, True] Translation: X:614.27, Y:34.94, Z:22.44 [[ 9.97667104e-01 -5.76797979e-02 -3.65156246e-02 6.14266744e+02] [ 5.76402199e-02 9.98335134e-01 -2.13655309e-03 3.49443408e+01] [ 3.65780669e-02 2.68001018e-05 9.99330798e-01 2.24375276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.299254154 meters Centerline goodness : 0.999205 with order 1 Centerline is valid? [True, True] Translation: X:614.33, Y:34.95, Z:22.44 [[ 9.97957861e-01 -5.24090991e-02 -3.65156696e-02 6.14327360e+02] [ 5.23660211e-02 9.98625675e-01 -2.13578267e-03 3.49471752e+01] [ 3.65774197e-02 2.19240774e-04 9.99330798e-01 2.24421740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.359254154 meters Centerline goodness : 0.997187 with order 1 Centerline is valid? [True, True] Translation: X:614.39, Y:34.95, Z:22.44 [[ 9.97887751e-01 -5.37274560e-02 -3.65157147e-02 6.14386584e+02] [ 5.36852886e-02 9.98555623e-01 -2.13501153e-03 3.49513955e+01] [ 3.65776810e-02 1.70145174e-04 9.99330798e-01 2.24418740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.419254154 meters Centerline goodness : 0.999228 with order 1 Centerline is valid? [True, True] Translation: X:614.45, Y:34.95, Z:22.44 [[ 9.97675525e-01 -5.75339527e-02 -3.65156151e-02 6.14445837e+02] [ 5.74942711e-02 9.98343550e-01 -2.13671332e-03 3.49503491e+01] [ 3.65780624e-02 3.23079049e-05 9.99330798e-01 2.24424385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.4792541539999 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:614.51, Y:34.95, Z:22.44 [[ 9.97536388e-01 -5.98980443e-02 -3.65154656e-02 6.14506559e+02] [ 5.98598524e-02 9.98204499e-01 -2.13926627e-03 3.49526113e+01] [ 3.65780399e-02 -5.18144319e-05 9.99330798e-01 2.24448037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.539254154 meters Centerline goodness : 0.999017 with order 1 Centerline is valid? [True, True] Translation: X:614.57, Y:34.95, Z:22.45 [[ 9.97174248e-01 -6.56516618e-02 -3.65154656e-02 6.14567726e+02] [ 6.56173248e-02 9.97842568e-01 -2.13926627e-03 3.49538707e+01] [ 3.65771323e-02 -2.62825930e-04 9.99330798e-01 2.24461618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.5992541539999 meters Centerline goodness : 0.998914 with order 1 Centerline is valid? [True, True] Translation: X:614.63, Y:34.95, Z:22.45 [[ 9.96630147e-01 -7.34504330e-02 -3.65155445e-02 6.14629530e+02] [ 7.34213746e-02 9.97298717e-01 -2.13791778e-03 3.49533506e+01] [ 3.65739367e-02 -5.50308162e-04 9.99330798e-01 2.24473198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.659254154 meters Centerline goodness : 0.999191 with order 1 Centerline is valid? [True, True] Translation: X:614.69, Y:34.96, Z:22.45 [[ 9.96232900e-01 -7.86550453e-02 -3.65156617e-02 6.14691328e+02] [ 7.86295528e-02 9.96901616e-01 -2.13591532e-03 3.49559499e+01] [ 3.65705226e-02 -7.43341035e-04 9.99330798e-01 2.24515007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.7192541539999 meters Centerline goodness : 0.998937 with order 1 Centerline is valid? [True, True] Translation: X:614.75, Y:34.96, Z:22.45 [[ 9.95694846e-01 -8.51960556e-02 -3.65158184e-02 6.14753617e+02] [ 8.51750537e-02 9.96363719e-01 -2.13323318e-03 3.49551461e+01] [ 3.65647796e-02 -9.86187511e-04 9.99330798e-01 2.24518828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.779254154 meters Centerline goodness : 0.999067 with order 1 Centerline is valid? [True, True] Translation: X:614.82, Y:34.96, Z:22.45 [[ 9.95113050e-01 -9.17420397e-02 -3.65159726e-02 6.14816063e+02] [ 9.17255337e-02 9.95782048e-01 -2.13059035e-03 3.49558245e+01] [ 3.65574146e-02 -1.22926881e-03 9.99330798e-01 2.24541211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.839254154 meters Centerline goodness : 0.998984 with order 1 Centerline is valid? [True, True] Translation: X:614.88, Y:34.96, Z:22.46 [[ 9.94502077e-01 -9.81437295e-02 -3.65161283e-02 6.14878340e+02] [ 9.81316269e-02 9.95171169e-01 -2.12791797e-03 3.49577393e+01] [ 3.65486399e-02 -1.46716823e-03 9.99330798e-01 2.24560383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.899254154 meters Centerline goodness : 0.999132 with order 1 Centerline is valid? [True, True] Translation: X:614.94, Y:34.96, Z:22.46 [[ 9.93914296e-01 -1.03927461e-01 -3.65165028e-02 6.14940844e+02] [ 1.03919487e-01 9.94583450e-01 -2.12147103e-03 3.49592921e+01] [ 3.65391885e-02 -1.68621586e-03 9.99330798e-01 2.24564547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.959254154 meters Centerline goodness : 0.998876 with order 1 Centerline is valid? [True, True] Translation: X:615.00, Y:34.96, Z:22.46 [[ 9.93471172e-01 -1.08081282e-01 -3.65166575e-02 6.15003678e+02] [ 1.08076203e-01 9.94140355e-01 -2.11880606e-03 3.49629140e+01] [ 3.65316861e-02 -1.84160896e-03 9.99330798e-01 2.24580632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.019254154 meters Centerline goodness : 0.999045 with order 1 Centerline is valid? [True, True] Translation: X:615.07, Y:34.97, Z:22.46 [[ 9.92913732e-01 -1.13087742e-01 -3.65168891e-02 6.15065136e+02] [ 1.13086183e-01 9.93582932e-01 -2.11480615e-03 3.49666632e+01] [ 3.65217164e-02 -2.02973555e-03 9.99330798e-01 2.24598612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.079254154 meters Centerline goodness : 0.999109 with order 1 Centerline is valid? [True, True] Translation: X:615.13, Y:34.97, Z:22.46 [[ 9.92541864e-01 -1.16306222e-01 -3.65172664e-02 6.15127594e+02] [ 1.16307073e-01 9.93211065e-01 -2.10827184e-03 3.49709224e+01] [ 3.65145581e-02 -2.15466829e-03 9.99330798e-01 2.24616144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.139254154 meters Centerline goodness : 0.999129 with order 1 Centerline is valid? [True, True] Translation: X:615.19, Y:34.98, Z:22.46 [[ 9.92578729e-01 -1.15991119e-01 -3.65174893e-02 6.15189478e+02] [ 1.15991899e-01 9.93247930e-01 -2.10440336e-03 3.49781835e+01] [ 3.65150127e-02 -2.14694691e-03 9.99330798e-01 2.24643276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.199254154 meters Centerline goodness : 0.999149 with order 1 Centerline is valid? [True, True] Translation: X:615.25, Y:34.99, Z:22.47 [[ 9.92982104e-01 -1.12485564e-01 -3.65176456e-02 6.15251971e+02] [ 1.12484080e-01 9.93651304e-01 -2.10168799e-03 3.49859573e+01] [ 3.65222157e-02 -2.02071520e-03 9.99330798e-01 2.24673188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.259254154 meters Centerline goodness : 0.999107 with order 1 Centerline is valid? [True, True] Translation: X:615.31, Y:34.99, Z:22.47 [[ 9.93272895e-01 -1.09888132e-01 -3.65178779e-02 6.15313122e+02] [ 1.09885046e-01 9.93942089e-01 -2.09764335e-03 3.49924480e+01] [ 3.65271620e-02 -1.92923642e-03 9.99330798e-01 2.24701069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.319254154 meters Centerline goodness : 0.999149 with order 1 Centerline is valid? [True, True] Translation: X:615.37, Y:35.00, Z:22.47 [[ 9.93709488e-01 -1.05867322e-01 -3.65179918e-02 6.15374463e+02] [ 1.05861601e-01 9.94378665e-01 -2.09565823e-03 3.50001092e+01] [ 3.65345737e-02 -1.78337761e-03 9.99330798e-01 2.24745037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.379254154 meters Centerline goodness : 0.999064 with order 1 Centerline is valid? [True, True] Translation: X:615.44, Y:35.01, Z:22.48 [[ 9.94239702e-01 -1.00766268e-01 -3.65181439e-02 6.15436297e+02] [ 1.00757210e-01 9.94908842e-01 -2.09300453e-03 3.50076359e+01] [ 3.65431285e-02 -1.59851810e-03 9.99330798e-01 2.24763054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.439254154 meters Centerline goodness : 0.999079 with order 1 Centerline is valid? [True, True] Translation: X:615.50, Y:35.01, Z:22.48 [[ 9.94723422e-01 -9.58734806e-02 -3.65183315e-02 6.15499273e+02] [ 9.58612507e-02 9.95392512e-01 -2.08972676e-03 3.50147819e+01] [ 3.65504231e-02 -1.42199278e-03 9.99330798e-01 2.24782547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.499254154 meters Centerline goodness : 0.999230 with order 1 Centerline is valid? [True, True] Translation: X:615.56, Y:35.02, Z:22.48 [[ 9.95126648e-01 -9.15933914e-02 -3.65185627e-02 6.15561135e+02] [ 9.15784317e-02 9.95795682e-01 -2.08567807e-03 3.50206328e+01] [ 3.65560614e-02 -1.26879887e-03 9.99330798e-01 2.24804392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.559254154 meters Centerline goodness : 0.999164 with order 1 Centerline is valid? [True, True] Translation: X:615.62, Y:35.03, Z:22.48 [[ 9.95601604e-01 -8.62775304e-02 -3.65189390e-02 6.15624258e+02] [ 8.62592401e-02 9.96270556e-01 -2.07906875e-03 3.50269434e+01] [ 3.65621206e-02 -1.08017174e-03 9.99330798e-01 2.24814488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.619254154 meters Centerline goodness : 0.999463 with order 1 Centerline is valid? [True, True] Translation: X:615.69, Y:35.03, Z:22.48 [[ 9.95860758e-01 -8.32328110e-02 -3.65191709e-02 6.15687039e+02] [ 8.32126248e-02 9.96529655e-01 -2.07498721e-03 3.50324155e+01] [ 3.65651438e-02 -9.72457731e-04 9.99330798e-01 2.24846333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.679254154 meters Centerline goodness : 0.999356 with order 1 Centerline is valid? [True, True] Translation: X:615.75, Y:35.04, Z:22.49 [[ 9.96322678e-01 -7.75077692e-02 -3.65193992e-02 6.15747899e+02] [ 7.74838864e-02 9.96991454e-01 -2.07096067e-03 3.50353191e+01] [ 3.65700445e-02 -7.66319896e-04 9.99330798e-01 2.24857971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.739254154 meters Centerline goodness : 0.999353 with order 1 Centerline is valid? [True, True] Translation: X:615.81, Y:35.04, Z:22.49 [[ 9.96914052e-01 -6.94888325e-02 -3.65195111e-02 6.15809947e+02] [ 6.94596418e-02 9.97582617e-01 -2.06898640e-03 3.50405955e+01] [ 3.65750009e-02 -4.74030547e-04 9.99330798e-01 2.24886108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.799254154 meters Centerline goodness : 0.999416 with order 1 Centerline is valid? [True, True] Translation: X:615.87, Y:35.04, Z:22.49 [[ 9.97351838e-01 -6.28937575e-02 -3.65196634e-02 6.15872127e+02] [ 6.28602442e-02 9.98020200e-01 -2.06629380e-03 3.50449188e+01] [ 3.65773188e-02 -2.34813038e-04 9.99330798e-01 2.24912980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.859254154 meters Centerline goodness : 0.999223 with order 1 Centerline is valid? [True, True] Translation: X:615.93, Y:35.05, Z:22.49 [[ 9.97438967e-01 -6.14964278e-02 -3.65198188e-02 6.15933180e+02] [ 6.14620788e-02 9.98107286e-01 -2.06354435e-03 3.50470385e+01] [ 3.65775978e-02 -1.86324437e-04 9.99330798e-01 2.24930896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.919254154 meters Centerline goodness : 0.999504 with order 1 Centerline is valid? [True, True] Translation: X:615.99, Y:35.05, Z:22.50 [[ 9.97345162e-01 -6.29993788e-02 -3.65199332e-02 6.15994266e+02] [ 6.29661112e-02 9.98013536e-01 -2.06151729e-03 3.50484040e+01] [ 3.65772620e-02 -2.43473882e-04 9.99330798e-01 2.24951928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.9792541539999 meters Centerline goodness : 0.999118 with order 1 Centerline is valid? [True, True] Translation: X:616.05, Y:35.05, Z:22.50 [[ 9.97158979e-01 -6.58806528e-02 -3.65200074e-02 6.16054358e+02] [ 6.58493646e-02 9.97827448e-01 -2.06020201e-03 3.50481379e+01] [ 3.65763933e-02 -3.50470351e-04 9.99330798e-01 2.24960277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.039254154 meters Centerline goodness : 0.999444 with order 1 Centerline is valid? [True, True] Translation: X:616.12, Y:35.05, Z:22.50 [[ 9.96936398e-01 -6.91672238e-02 -3.65200439e-02 6.16116298e+02] [ 6.91381629e-02 9.97604968e-01 -2.05955433e-03 3.50481482e+01] [ 3.65750309e-02 -4.71684070e-04 9.99330798e-01 2.24963085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.0992541539999 meters Centerline goodness : 0.999335 with order 1 Centerline is valid? [True, True] Translation: X:616.18, Y:35.05, Z:22.50 [[ 9.96620900e-01 -7.35735252e-02 -3.65201165e-02 6.16178030e+02] [ 7.35474672e-02 9.97289594e-01 -2.05826683e-03 3.50491461e+01] [ 3.65725661e-02 -6.34650334e-04 9.99330798e-01 2.24983388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.159254154 meters Centerline goodness : 0.999272 with order 1 Centerline is valid? [True, True] Translation: X:616.24, Y:35.05, Z:22.50 [[ 9.96338963e-01 -7.72977475e-02 -3.65202654e-02 6.16240252e+02] [ 7.72742858e-02 9.97007753e-01 -2.05562115e-03 3.50505239e+01] [ 3.65698826e-02 -7.73981979e-04 9.99330798e-01 2.25003364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.2192541539999 meters Centerline goodness : 0.999230 with order 1 Centerline is valid? [True, True] Translation: X:616.30, Y:35.05, Z:22.50 [[ 9.95796023e-01 -8.40032089e-02 -3.65204200e-02 6.16301165e+02] [ 8.39843506e-02 9.96464959e-01 -2.05287197e-03 3.50503517e+01] [ 3.65637666e-02 -1.02290201e-03 9.99330798e-01 2.25007416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.279254154 meters Centerline goodness : 0.999209 with order 1 Centerline is valid? [True, True] Translation: X:616.36, Y:35.05, Z:22.50 [[ 9.95463780e-01 -8.78527923e-02 -3.65205341e-02 6.16363293e+02] [ 8.78365950e-02 9.96132786e-01 -2.05084001e-03 3.50523923e+01] [ 3.65594734e-02 -1.16630241e-03 9.99330798e-01 2.25031341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.339254154 meters Centerline goodness : 0.999166 with order 1 Centerline is valid? [True, True] Translation: X:616.43, Y:35.05, Z:22.50 [[ 9.95044766e-01 -9.24778576e-02 -3.65206859e-02 6.16426732e+02] [ 9.24648687e-02 9.95713841e-01 -2.04813328e-03 3.50543334e+01] [ 3.65535594e-02 -1.33889613e-03 9.99330798e-01 2.25047552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.399254154 meters Centerline goodness : 0.999230 with order 1 Centerline is valid? [True, True] Translation: X:616.49, Y:35.06, Z:22.51 [[ 9.94770371e-01 -9.53841305e-02 -3.65209106e-02 6.16489836e+02] [ 9.53732433e-02 9.95439484e-01 -2.04411831e-03 3.50572176e+01] [ 3.65493328e-02 -1.44968936e-03 9.99330798e-01 2.25056528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.459254154 meters Centerline goodness : 0.999275 with order 1 Centerline is valid? [True, True] Translation: X:616.55, Y:35.06, Z:22.51 [[ 9.94558608e-01 -9.75673218e-02 -3.65211316e-02 6.16552415e+02] [ 9.75580482e-02 9.95227745e-01 -2.04016251e-03 3.50604833e+01] [ 3.65458966e-02 -1.53386913e-03 9.99330798e-01 2.25069176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.519254154 meters Centerline goodness : 0.999423 with order 1 Centerline is valid? [True, True] Translation: X:616.61, Y:35.07, Z:22.51 [[ 9.94262977e-01 -1.00535214e-01 -3.65212764e-02 6.16614172e+02] [ 1.00528032e-01 9.94932140e-01 -2.03756592e-03 3.50656951e+01] [ 3.65410388e-02 -1.64553570e-03 9.99330798e-01 2.25082981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.579254154 meters Centerline goodness : 0.999318 with order 1 Centerline is valid? [True, True] Translation: X:616.68, Y:35.07, Z:22.51 [[ 9.94184194e-01 -1.01311272e-01 -3.65214203e-02 6.16676228e+02] [ 1.01304708e-01 9.94853364e-01 -2.03498363e-03 3.50702412e+01] [ 3.65396246e-02 -1.67664325e-03 9.99330798e-01 2.25109360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.639254154 meters Centerline goodness : 0.999340 with order 1 Centerline is valid? [True, True] Translation: X:616.74, Y:35.08, Z:22.51 [[ 9.94293552e-01 -1.00232270e-01 -3.65215737e-02 6.16737326e+02] [ 1.00225081e-01 9.94962715e-01 -2.03222765e-03 3.50751396e+01] [ 3.65412989e-02 -1.63974682e-03 9.99330798e-01 2.25128400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.699254154 meters Centerline goodness : 0.999359 with order 1 Centerline is valid? [True, True] Translation: X:616.80, Y:35.08, Z:22.52 [[ 9.94763393e-01 -9.54565819e-02 -3.65216869e-02 6.16799969e+02] [ 9.54462539e-02 9.95432515e-01 -2.03019163e-03 3.50827928e+01] [ 3.65486697e-02 -1.46629788e-03 9.99330798e-01 2.25167772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.759254154 meters Centerline goodness : 0.999401 with order 1 Centerline is valid? [True, True] Translation: X:616.86, Y:35.09, Z:22.52 [[ 9.95144253e-01 -9.14005794e-02 -3.65219154e-02 6.16862715e+02] [ 9.13876748e-02 9.95813330e-01 -2.02607105e-03 3.50894990e+01] [ 3.65541943e-02 -1.32141997e-03 9.99330798e-01 2.25199286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.819254154 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:616.93, Y:35.10, Z:22.52 [[ 9.95608100e-01 -8.62011802e-02 -3.65221416e-02 6.16925786e+02] [ 8.61849305e-02 9.96277105e-01 -2.02198563e-03 3.50958856e+01] [ 3.65604711e-02 -1.13455297e-03 9.99330798e-01 2.25215113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.879254154 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:616.99, Y:35.10, Z:22.52 [[ 9.96135211e-01 -7.98796492e-02 -3.65223658e-02 6.16987077e+02] [ 7.98593019e-02 9.96804103e-01 -2.01792906e-03 3.51029130e+01] [ 3.65668355e-02 -9.06520447e-04 9.99330798e-01 2.25230980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.939254154 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:617.05, Y:35.11, Z:22.53 [[ 9.96699815e-01 -7.24954364e-02 -3.65224754e-02 6.17048988e+02] [ 7.24702055e-02 9.97368540e-01 -2.01594285e-03 3.51098115e+01] [ 3.65725146e-02 -6.37501430e-04 9.99330798e-01 2.25252528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.999254154 meters Centerline goodness : 0.999718 with order 1 Centerline is valid? [True, True] Translation: X:617.11, Y:35.12, Z:22.53 [[ 9.97107281e-01 -6.66570982e-02 -3.65226250e-02 6.17111127e+02] [ 6.66280508e-02 9.97775851e-01 -2.01322860e-03 3.51155394e+01] [ 3.65755892e-02 -4.26026420e-04 9.99330798e-01 2.25275244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.059254154 meters Centerline goodness : 0.999739 with order 1 Centerline is valid? [True, True] Translation: X:617.17, Y:35.12, Z:22.53 [[ 9.97735420e-01 -5.64811377e-02 -3.65227719e-02 6.17173121e+02] [ 5.64453687e-02 9.98403665e-01 -2.01055947e-03 3.51236793e+01] [ 3.65780280e-02 -5.55349337e-05 9.99330798e-01 2.25301720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.119254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:617.23, Y:35.13, Z:22.53 [[ 9.98001344e-01 -5.15693029e-02 -3.65229201e-02 6.17233685e+02] [ 5.15303437e-02 9.98669411e-01 -2.00786431e-03 3.51294765e+01] [ 3.65778673e-02 1.21812653e-04 9.99330798e-01 2.25337753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.179254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:617.29, Y:35.13, Z:22.54 [[ 9.98059310e-01 -5.04349470e-02 -3.65229937e-02 6.17293567e+02] [ 5.03952775e-02 9.98727335e-01 -2.00652512e-03 3.51337338e+01] [ 3.65777111e-02 1.62044679e-04 9.99330798e-01 2.25365628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.239254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:617.35, Y:35.14, Z:22.54 [[ 9.98027138e-01 -5.10676340e-02 -3.65229937e-02 6.17353231e+02] [ 5.10283879e-02 9.98695187e-01 -2.00652512e-03 3.51393336e+01] [ 3.65778065e-02 1.38857035e-04 9.99330798e-01 2.25388705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.299254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:617.41, Y:35.14, Z:22.54 [[ 9.97954361e-01 -5.24706257e-02 -3.65229573e-02 6.17413817e+02] [ 5.24322947e-02 9.98622464e-01 -2.00718640e-03 3.51421591e+01] [ 3.65779640e-02 8.80979610e-05 9.99330798e-01 2.25409880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.359254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:617.47, Y:35.15, Z:22.54 [[ 9.97875509e-01 -5.39494339e-02 -3.65229573e-02 6.17474461e+02] [ 5.39120929e-02 9.98543668e-01 -2.00718640e-03 3.51453173e+01] [ 3.65780544e-02 3.38930812e-05 9.99330798e-01 2.25430842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.419254154 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:617.53, Y:35.15, Z:22.55 [[ 9.97804431e-01 -5.52484441e-02 -3.65229573e-02 6.17534973e+02] [ 5.52119731e-02 9.98472638e-01 -2.00718640e-03 3.51485652e+01] [ 3.65780675e-02 -1.37250529e-05 9.99330798e-01 2.25470405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.4792541539999 meters Centerline goodness : 0.999608 with order 1 Centerline is valid? [True, True] Translation: X:617.60, Y:35.15, Z:22.55 [[ 9.97798292e-01 -5.53592156e-02 -3.65229573e-02 6.17595418e+02] [ 5.53228187e-02 9.98466503e-01 -2.00718640e-03 3.51511912e+01] [ 3.65780658e-02 -1.77857864e-05 9.99330798e-01 2.25493675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.539254154 meters Centerline goodness : 0.999587 with order 1 Centerline is valid? [True, True] Translation: X:617.66, Y:35.15, Z:22.55 [[ 9.97933419e-01 -5.28674028e-02 -3.65229928e-02 6.17655597e+02] [ 5.28293610e-02 9.98601538e-01 -2.00654156e-03 3.51522952e+01] [ 3.65779974e-02 7.29085079e-05 9.99330798e-01 2.25518260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.5992541539999 meters Centerline goodness : 0.999609 with order 1 Centerline is valid? [True, True] Translation: X:617.72, Y:35.15, Z:22.55 [[ 9.98078906e-01 -5.00456684e-02 -3.65229928e-02 6.17715478e+02] [ 5.00057377e-02 9.98746915e-01 -2.00654156e-03 3.51539501e+01] [ 3.65776451e-02 1.76327605e-04 9.99330798e-01 2.25532537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.659254154 meters Centerline goodness : 0.999631 with order 1 Centerline is valid? [True, True] Translation: X:617.77, Y:35.16, Z:22.56 [[ 9.98149679e-01 -4.86137017e-02 -3.65229572e-02 6.17774518e+02] [ 4.85727891e-02 9.98817629e-01 -2.00718853e-03 3.51564631e+01] [ 3.65773504e-02 2.29452686e-04 9.99330798e-01 2.25579840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.7192541539999 meters Centerline goodness : 0.999502 with order 1 Centerline is valid? [True, True] Translation: X:617.83, Y:35.16, Z:22.56 [[ 9.98144538e-01 -4.87192012e-02 -3.65228867e-02 6.17833207e+02] [ 4.86783122e-02 9.98812489e-01 -2.00847034e-03 3.51559007e+01] [ 3.65773665e-02 2.26871217e-04 9.99330798e-01 2.25585266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.779254154 meters Centerline goodness : 0.999178 with order 1 Centerline is valid? [True, True] Translation: X:617.89, Y:35.15, Z:22.56 [[ 9.97907913e-01 -5.33470827e-02 -3.65223979e-02 6.17891895e+02] [ 5.33089676e-02 9.98576028e-01 -2.01732067e-03 3.51547475e+01] [ 3.65780092e-02 6.61289400e-05 9.99330799e-01 2.25596991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.839254154 meters Centerline goodness : 0.998985 with order 1 Centerline is valid? [True, True] Translation: X:617.95, Y:35.16, Z:22.56 [[ 9.97692241e-01 -5.72393393e-02 -3.65219116e-02 6.17951351e+02] [ 5.72035098e-02 9.98360483e-01 -2.02608597e-03 3.51557460e+01] [ 3.65780051e-02 -6.77712801e-05 9.99330799e-01 2.25624176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.899254154 meters Centerline goodness : 0.999248 with order 1 Centerline is valid? [True, True] Translation: X:618.01, Y:35.15, Z:22.57 [[ 9.97338805e-01 -6.30988351e-02 -3.65218429e-02 6.18012869e+02] [ 6.30668861e-02 9.98007243e-01 -2.02732337e-03 3.51538001e+01] [ 3.65769855e-02 -2.81390642e-04 9.99330799e-01 2.25670405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.959254154 meters Centerline goodness : 0.999164 with order 1 Centerline is valid? [True, True] Translation: X:618.07, Y:35.15, Z:22.57 [[ 9.96969831e-01 -6.86826390e-02 -3.65219165e-02 6.18073953e+02] [ 6.86544822e-02 9.97638440e-01 -2.02599722e-03 3.51525224e+01] [ 3.65748186e-02 -4.87535159e-04 9.99330799e-01 2.25700662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.019254154 meters Centerline goodness : 0.999125 with order 1 Centerline is valid? [True, True] Translation: X:618.14, Y:35.15, Z:22.57 [[ 9.96694599e-01 -7.25673526e-02 -3.65219902e-02 6.18135431e+02] [ 7.25418503e-02 9.97363314e-01 -2.02466795e-03 3.51507534e+01] [ 3.65726180e-02 -6.31397135e-04 9.99330799e-01 2.25724599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.079254154 meters Centerline goodness : 0.999253 with order 1 Centerline is valid? [True, True] Translation: X:618.20, Y:35.15, Z:22.58 [[ 9.96705102e-01 -7.24228988e-02 -3.65220994e-02 6.18197969e+02] [ 7.23973718e-02 9.97373816e-01 -2.02269541e-03 3.51507399e+01] [ 3.65726752e-02 -6.28073175e-04 9.99330799e-01 2.25753822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.139254154 meters Centerline goodness : 0.998846 with order 1 Centerline is valid? [True, True] Translation: X:618.26, Y:35.15, Z:22.58 [[ 9.96889279e-01 -6.98419059e-02 -3.65222428e-02 6.18260148e+02] [ 6.98147425e-02 9.97557929e-01 -2.02010256e-03 3.51529723e+01] [ 3.65741407e-02 -5.35972398e-04 9.99330799e-01 2.25793193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.199254154 meters Centerline goodness : 0.998998 with order 1 Centerline is valid? [True, True] Translation: X:618.32, Y:35.15, Z:22.58 [[ 9.97273879e-01 -6.41164969e-02 -3.65223929e-02 6.18321481e+02] [ 6.40855939e-02 9.97942366e-01 -2.01738684e-03 3.51538242e+01] [ 3.65765909e-02 -3.28672043e-04 9.99330799e-01 2.25805722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.259254154 meters Centerline goodness : 0.998978 with order 1 Centerline is valid? [True, True] Translation: X:618.38, Y:35.16, Z:22.58 [[ 9.97546783e-01 -5.97203914e-02 -3.65224672e-02 6.18382209e+02] [ 5.96865917e-02 9.98215130e-01 -2.01603999e-03 3.51567102e+01] [ 3.65776781e-02 -1.68807381e-04 9.99330799e-01 2.25820477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.319254154 meters Centerline goodness : 0.998954 with order 1 Centerline is valid? [True, True] Translation: X:618.44, Y:35.16, Z:22.59 [[ 9.97771914e-01 -5.58328977e-02 -3.65225402e-02 6.18442619e+02] [ 5.57965424e-02 9.98440127e-01 -2.01471622e-03 3.51591067e+01] [ 3.65780571e-02 -2.76042087e-05 9.99330799e-01 2.25854453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.379254154 meters Centerline goodness : 0.999210 with order 1 Centerline is valid? [True, True] Translation: X:618.50, Y:35.16, Z:22.59 [[ 9.98040438e-01 -5.08073636e-02 -3.65225402e-02 6.18502144e+02] [ 5.07676437e-02 9.98708460e-01 -2.01471622e-03 3.51621010e+01] [ 3.65777323e-02 1.56604948e-04 9.99330799e-01 2.25890923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.439254154 meters Centerline goodness : 0.998914 with order 1 Centerline is valid? [True, True] Translation: X:618.56, Y:35.16, Z:22.59 [[ 9.98071197e-01 -5.01995584e-02 -3.65224669e-02 6.18561287e+02] [ 5.01593830e-02 9.98739191e-01 -2.01604485e-03 3.51623129e+01] [ 3.65776236e-02 1.80211888e-04 9.99330799e-01 2.25926961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.499254154 meters Centerline goodness : 0.999000 with order 1 Centerline is valid? [True, True] Translation: X:618.62, Y:35.16, Z:22.60 [[ 9.97942244e-01 -5.27012822e-02 -3.65219488e-02 6.18620190e+02] [ 5.26624395e-02 9.98610317e-01 -2.02538685e-03 3.51628532e+01] [ 3.65779354e-02 9.78841792e-05 9.99330799e-01 2.25954866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.559254154 meters Centerline goodness : 0.998962 with order 1 Centerline is valid? [True, True] Translation: X:618.68, Y:35.16, Z:22.60 [[ 9.97625896e-01 -5.83845625e-02 -3.65214290e-02 6.18678205e+02] [ 5.83491841e-02 9.98294161e-01 -2.03471786e-03 3.51611888e+01] [ 3.65779254e-02 -1.01108352e-04 9.99330799e-01 2.25976022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.619254154 meters Centerline goodness : 0.998929 with order 1 Centerline is valid? [True, True] Translation: X:618.74, Y:35.16, Z:22.60 [[ 9.97198948e-01 -6.52721814e-02 -3.65212465e-02 6.18738338e+02] [ 6.52412987e-02 9.97867436e-01 -2.03798803e-03 3.51579704e+01] [ 3.65763865e-02 -3.50414031e-04 9.99330799e-01 2.25998585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.679254154 meters Centerline goodness : 0.998904 with order 1 Centerline is valid? [True, True] Translation: X:618.80, Y:35.16, Z:22.60 [[ 9.96684691e-01 -7.27037217e-02 -3.65211722e-02 6.18799710e+02] [ 7.26777742e-02 9.97353389e-01 -2.03931832e-03 3.51556617e+01] [ 3.65727809e-02 -6.21720152e-04 9.99330799e-01 2.26025104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.739254154 meters Centerline goodness : 0.998905 with order 1 Centerline is valid? [True, True] Translation: X:618.86, Y:35.16, Z:22.61 [[ 9.96424952e-01 -7.61807925e-02 -3.65212474e-02 6.18861251e+02] [ 7.61572277e-02 9.97093739e-01 -2.03797021e-03 3.51553738e+01] [ 3.65703613e-02 -7.50672585e-04 9.99330799e-01 2.26054718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.799254154 meters Centerline goodness : 0.994396 with order 1 Centerline is valid? [True, True] Translation: X:618.92, Y:35.15, Z:22.60 [[ 9.96379256e-01 -7.67761091e-02 -3.65213227e-02 6.18922130e+02] [ 7.67529934e-02 9.97048058e-01 -2.03662019e-03 3.51528224e+01] [ 3.65698777e-02 -7.73874726e-04 9.99330799e-01 2.26007428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.859254154 meters Centerline goodness : 0.998828 with order 1 Centerline is valid? [True, True] Translation: X:618.98, Y:35.15, Z:22.61 [[ 9.96325600e-01 -7.74692934e-02 -3.65213227e-02 6.18982462e+02] [ 7.74466430e-02 9.96994418e-01 -2.03662019e-03 3.51529949e+01] [ 3.65693304e-02 -7.99317004e-04 9.99330799e-01 2.26100054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.919254154 meters Centerline goodness : 0.998893 with order 1 Centerline is valid? [True, True] Translation: X:619.04, Y:35.15, Z:22.61 [[ 9.96386382e-01 -7.66835805e-02 -3.65213227e-02 6.19044049e+02] [ 7.66604027e-02 9.97055181e-01 -2.03662019e-03 3.51526380e+01] [ 3.65699494e-02 -7.70478678e-04 9.99330799e-01 2.26131306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.9792541539999 meters Centerline goodness : 0.998849 with order 1 Centerline is valid? [True, True] Translation: X:619.11, Y:35.15, Z:22.62 [[ 9.96341109e-01 -7.72695351e-02 -3.65213982e-02 6.19105298e+02] [ 7.72468001e-02 9.97009925e-01 -2.03526576e-03 3.51521371e+01] [ 3.65694605e-02 -7.93342200e-04 9.99330799e-01 2.26158330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.039254154 meters Centerline goodness : 0.999081 with order 1 Centerline is valid? [True, True] Translation: X:619.17, Y:35.15, Z:22.62 [[ 9.96245342e-01 -7.84945908e-02 -3.65214744e-02 6.19165476e+02] [ 7.84727284e-02 9.96914186e-01 -2.03389716e-03 3.51517554e+01] [ 3.65684258e-02 -8.39679167e-04 9.99330799e-01 2.26166724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.0992541539999 meters Centerline goodness : 0.998913 with order 1 Centerline is valid? [True, True] Translation: X:619.23, Y:35.15, Z:22.62 [[ 9.96106561e-01 -8.02364722e-02 -3.65216011e-02 6.19226896e+02] [ 8.02158628e-02 9.96775445e-01 -2.03161917e-03 3.51507212e+01] [ 3.65668452e-02 -9.05902557e-04 9.99330799e-01 2.26191819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.159254154 meters Centerline goodness : 0.999017 with order 1 Centerline is valid? [True, True] Translation: X:619.29, Y:35.15, Z:22.62 [[ 9.95928992e-01 -8.24112298e-02 -3.65216767e-02 6.19287090e+02] [ 8.23921308e-02 9.96597920e-01 -2.03026029e-03 3.51507154e+01] [ 3.65647433e-02 -9.87103678e-04 9.99330799e-01 2.26213592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.2192541539999 meters Centerline goodness : 0.998997 with order 1 Centerline is valid? [True, True] Translation: X:619.35, Y:35.15, Z:22.63 [[ 9.95796198e-01 -8.40005716e-02 -3.65217138e-02 6.19348296e+02] [ 8.39825646e-02 9.96465157e-01 -2.02959234e-03 3.51509078e+01] [ 3.65631022e-02 -1.04612686e-03 9.99330799e-01 2.26255819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.279254154 meters Centerline goodness : 0.999081 with order 1 Centerline is valid? [True, True] Translation: X:619.41, Y:35.15, Z:22.63 [[ 9.95839631e-01 -8.34840637e-02 -3.65217885e-02 6.19409013e+02] [ 8.34657591e-02 9.96508582e-01 -2.02824755e-03 3.51516581e+01] [ 3.65636020e-02 -1.02850951e-03 9.99330799e-01 2.26280836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.339254154 meters Centerline goodness : 0.999227 with order 1 Centerline is valid? [True, True] Translation: X:619.47, Y:35.15, Z:22.63 [[ 9.95864788e-01 -8.31834164e-02 -3.65218251e-02 6.19470179e+02] [ 8.31649340e-02 9.96533734e-01 -2.02758669e-03 3.51526752e+01] [ 3.65638924e-02 -1.01813299e-03 9.99330799e-01 2.26302769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.399254154 meters Centerline goodness : 0.999206 with order 1 Centerline is valid? [True, True] Translation: X:619.53, Y:35.15, Z:22.63 [[ 9.95759801e-01 -8.44308599e-02 -3.65218995e-02 6.19530962e+02] [ 8.44132647e-02 9.96428771e-01 -2.02624611e-03 3.51543516e+01] [ 3.65625491e-02 -1.06527835e-03 9.99330799e-01 2.26312768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.459254154 meters Centerline goodness : 0.999144 with order 1 Centerline is valid? [True, True] Translation: X:619.59, Y:35.16, Z:22.63 [[ 9.95618939e-01 -8.60759543e-02 -3.65220292e-02 6.19591308e+02] [ 8.60595501e-02 9.96287939e-01 -2.02390691e-03 3.51565229e+01] [ 3.65606669e-02 -1.12802934e-03 9.99330799e-01 2.26334074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.519254154 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:619.65, Y:35.16, Z:22.64 [[ 9.95466294e-01 -8.78236624e-02 -3.65220651e-02 6.19652519e+02] [ 8.78084564e-02 9.96135323e-01 -2.02325805e-03 3.51584717e+01] [ 3.65586090e-02 -1.19286097e-03 9.99330799e-01 2.26365132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.579254154 meters Centerline goodness : 0.999039 with order 1 Centerline is valid? [True, True] Translation: X:619.71, Y:35.16, Z:22.64 [[ 9.95392954e-01 -8.86510043e-02 -3.65221397e-02 6.19713181e+02] [ 8.86364038e-02 9.96061996e-01 -2.02191005e-03 3.51621815e+01] [ 3.65575597e-02 -1.22459611e-03 9.99330799e-01 2.26382173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.639254154 meters Centerline goodness : 0.999080 with order 1 Centerline is valid? [True, True] Translation: X:619.77, Y:35.17, Z:22.64 [[ 9.95296017e-01 -8.97327631e-02 -3.65221764e-02 6.19773630e+02] [ 8.97189140e-02 9.95965075e-01 -2.02124764e-03 3.51652990e+01] [ 3.65561843e-02 -1.26499028e-03 9.99330799e-01 2.26400367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.699254154 meters Centerline goodness : 0.999246 with order 1 Centerline is valid? [True, True] Translation: X:619.83, Y:35.17, Z:22.65 [[ 9.95251647e-01 -9.02235443e-02 -3.65222116e-02 6.19834382e+02] [ 9.02100485e-02 9.95920712e-01 -2.02061028e-03 3.51676102e+01] [ 3.65555336e-02 -1.28365478e-03 9.99330799e-01 2.26456115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.759254154 meters Centerline goodness : 0.999352 with order 1 Centerline is valid? [True, True] Translation: X:619.90, Y:35.17, Z:22.65 [[ 9.95150394e-01 -9.13335433e-02 -3.65222849e-02 6.19895523e+02] [ 9.13208423e-02 9.95819475e-01 -2.01928454e-03 3.51712458e+01] [ 3.65540310e-02 -1.32575402e-03 9.99330799e-01 2.26499536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.819254154 meters Centerline goodness : 0.999540 with order 1 Centerline is valid? [True, True] Translation: X:619.96, Y:35.17, Z:22.65 [[ 9.95002153e-01 -9.29345659e-02 -3.65223577e-02 6.19956585e+02] [ 9.29229898e-02 9.95671254e-01 -2.01796793e-03 3.51731120e+01] [ 3.65518007e-02 -1.38588424e-03 9.99330799e-01 2.26521366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.879254154 meters Centerline goodness : 0.999184 with order 1 Centerline is valid? [True, True] Translation: X:620.02, Y:35.17, Z:22.65 [[ 9.94738818e-01 -9.57120368e-02 -3.65224673e-02 6.20017994e+02] [ 9.57024014e-02 9.95407950e-01 -2.01598261e-03 3.51746444e+01] [ 3.65477081e-02 -1.48991167e-03 9.99330799e-01 2.26549743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.939254154 meters Centerline goodness : 0.999395 with order 1 Centerline is valid? [True, True] Translation: X:620.08, Y:35.18, Z:22.66 [[ 9.94669469e-01 -9.64300378e-02 -3.65225406e-02 6.20078802e+02] [ 9.64209342e-02 9.95338608e-01 -2.01465275e-03 3.51770640e+01] [ 3.65465678e-02 -1.51762391e-03 9.99330799e-01 2.26583637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.999254154 meters Centerline goodness : 0.999123 with order 1 Centerline is valid? [True, True] Translation: X:620.14, Y:35.18, Z:22.66 [[ 9.94722574e-01 -9.58806510e-02 -3.65226133e-02 6.20139522e+02] [ 9.58712261e-02 9.95391709e-01 -2.01333444e-03 3.51787888e+01] [ 3.65473463e-02 -1.49875850e-03 9.99330799e-01 2.26590347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.059254154 meters Centerline goodness : 0.999060 with order 1 Centerline is valid? [True, True] Translation: X:620.20, Y:35.18, Z:22.66 [[ 9.94826844e-01 -9.47926484e-02 -3.65226490e-02 6.20199904e+02] [ 9.47825154e-02 9.95495969e-01 -2.01268611e-03 3.51818426e+01] [ 3.65489377e-02 -1.45943437e-03 9.99330799e-01 2.26621607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.119254154 meters Centerline goodness : 0.999041 with order 1 Centerline is valid? [True, True] Translation: X:620.26, Y:35.18, Z:22.67 [[ 9.94933305e-01 -9.36686295e-02 -3.65226840e-02 6.20261342e+02] [ 9.36577638e-02 9.95602418e-01 -2.01205212e-03 3.51839303e+01] [ 3.65505386e-02 -1.41877524e-03 9.99330799e-01 2.26655542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.179254154 meters Centerline goodness : 0.998979 with order 1 Centerline is valid? [True, True] Translation: X:620.32, Y:35.19, Z:22.67 [[ 9.95193268e-01 -9.08649978e-02 -3.65227559e-02 6.20322876e+02] [ 9.08522948e-02 9.95862349e-01 -2.01074462e-03 3.51869002e+01] [ 3.65543438e-02 -1.31709668e-03 9.99330799e-01 2.26699247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.239254154 meters Centerline goodness : 0.999208 with order 1 Centerline is valid? [True, True] Translation: X:620.38, Y:35.19, Z:22.67 [[ 9.95422526e-01 -8.83180434e-02 -3.65228303e-02 6.20384281e+02] [ 8.83036779e-02 9.96091574e-01 -2.00939337e-03 3.51904543e+01] [ 3.65575492e-02 -1.22490481e-03 9.99330799e-01 2.26738922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.299254154 meters Centerline goodness : 0.998875 with order 1 Centerline is valid? [True, True] Translation: X:620.45, Y:35.19, Z:22.68 [[ 9.95740244e-01 -8.46607531e-02 -3.65229049e-02 6.20445416e+02] [ 8.46439796e-02 9.96409235e-01 -2.00803711e-03 3.51939721e+01] [ 3.65617616e-02 -1.09196065e-03 9.99330799e-01 2.26767637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.359254154 meters Centerline goodness : 0.998878 with order 1 Centerline is valid? [True, True] Translation: X:620.51, Y:35.20, Z:22.68 [[ 9.96339642e-01 -7.72877116e-02 -3.65229792e-02 6.20505218e+02] [ 7.72660361e-02 9.97008492e-01 -2.00668467e-03 3.51972118e+01] [ 3.65688124e-02 -8.22646340e-04 9.99330799e-01 2.26776524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.419254154 meters Centerline goodness : 0.999187 with order 1 Centerline is valid? [True, True] Translation: X:620.56, Y:35.20, Z:22.68 [[ 9.96964465e-01 -6.87599505e-02 -3.65229427e-02 6.20564432e+02] [ 6.87325286e-02 9.97633104e-01 -2.00734906e-03 3.52032241e+01] [ 3.65745219e-02 -5.09058522e-04 9.99330799e-01 2.26830699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.4792541539999 meters Centerline goodness : 0.998958 with order 1 Centerline is valid? [True, True] Translation: X:620.62, Y:35.21, Z:22.69 [[ 9.97302951e-01 -6.36623937e-02 -3.65229069e-02 6.20622436e+02] [ 6.36315301e-02 9.97971441e-01 -2.00799954e-03 3.52067541e+01] [ 3.65766521e-02 -3.21424578e-04 9.99330799e-01 2.26860429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.539254154 meters Centerline goodness : 0.999562 with order 1 Centerline is valid? [True, True] Translation: X:620.68, Y:35.21, Z:22.69 [[ 9.97717295e-01 -5.68003899e-02 -3.65228116e-02 6.20680865e+02] [ 5.67648651e-02 9.98385552e-01 -2.00973139e-03 3.52094346e+01] [ 3.65780009e-02 -6.80687039e-05 9.99330799e-01 2.26899017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.5992541539999 meters Centerline goodness : 0.999144 with order 1 Centerline is valid? [True, True] Translation: X:620.74, Y:35.21, Z:22.69 [[ 9.97707933e-01 -5.69649029e-02 -3.65223160e-02 6.20738199e+02] [ 5.69291600e-02 9.98376179e-01 -2.01869824e-03 3.52122121e+01] [ 3.65780052e-02 -6.51135191e-05 9.99330799e-01 2.26905739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.659254154 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:620.80, Y:35.21, Z:22.70 [[ 9.97495517e-01 -6.05709689e-02 -3.65219288e-02 6.20796863e+02] [ 6.05373863e-02 9.98163875e-01 -2.02567823e-03 3.52129531e+01] [ 3.65775673e-02 -1.90337159e-04 9.99330799e-01 2.26955587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.7192541539999 meters Centerline goodness : 0.999064 with order 1 Centerline is valid? [True, True] Translation: X:620.86, Y:35.21, Z:22.70 [[ 9.97256200e-01 -6.43914476e-02 -3.65213994e-02 6.20855006e+02] [ 6.43600774e-02 9.97924666e-01 -2.03517913e-03 3.52134025e+01] [ 3.65766534e-02 -3.20925084e-04 9.99330799e-01 2.26975875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.779254154 meters Centerline goodness : 0.999291 with order 1 Centerline is valid? [True, True] Translation: X:620.91, Y:35.21, Z:22.70 [[ 9.96882185e-01 -6.99438457e-02 -3.65207950e-02 6.20912465e+02] [ 6.99158033e-02 9.97550798e-01 -2.04596714e-03 3.52131032e+01] [ 3.65744510e-02 -5.13792529e-04 9.99330799e-01 2.26998655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.839254154 meters Centerline goodness : 0.999270 with order 1 Centerline is valid? [True, True] Translation: X:620.97, Y:35.21, Z:22.70 [[ 9.96587920e-01 -7.40186699e-02 -3.65206092e-02 6.20971052e+02] [ 7.39932398e-02 9.97256637e-01 -2.04927941e-03 3.52123195e+01] [ 3.65721048e-02 -6.59991089e-04 9.99330799e-01 2.27003096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.899254154 meters Centerline goodness : 0.999060 with order 1 Centerline is valid? [True, True] Translation: X:621.03, Y:35.21, Z:22.70 [[ 9.96458239e-01 -7.57446930e-02 -3.65201135e-02 6.21030894e+02] [ 7.57200990e-02 9.97126988e-01 -2.05807492e-03 3.52131628e+01] [ 3.65710790e-02 -7.14520897e-04 9.99330799e-01 2.27046239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.959254154 meters Centerline goodness : 0.999395 with order 1 Centerline is valid? [True, True] Translation: X:621.09, Y:35.21, Z:22.71 [[ 9.96633586e-01 -7.34015072e-02 -3.65200385e-02 6.21089093e+02] [ 7.33752921e-02 9.97302274e-01 -2.05940403e-03 3.52140914e+01] [ 3.65726808e-02 -6.27197268e-04 9.99330799e-01 2.27063044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.019254154 meters Centerline goodness : 0.999249 with order 1 Centerline is valid? [True, True] Translation: X:621.15, Y:35.22, Z:22.71 [[ 9.96995726e-01 -6.83067917e-02 -3.65199279e-02 6.21147208e+02] [ 6.82770875e-02 9.97664267e-01 -2.06136434e-03 3.52160747e+01] [ 3.65754323e-02 -4.38302873e-04 9.99330799e-01 2.27098218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.079254154 meters Centerline goodness : 0.999269 with order 1 Centerline is valid? [True, True] Translation: X:621.21, Y:35.22, Z:22.71 [[ 9.97270942e-01 -6.41637204e-02 -3.65196556e-02 6.21206168e+02] [ 6.41310625e-02 9.97939346e-01 -2.06617704e-03 3.52179004e+01] [ 3.65769748e-02 -2.81505995e-04 9.99330799e-01 2.27117553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.139254154 meters Centerline goodness : 0.999078 with order 1 Centerline is valid? [True, True] Translation: X:621.26, Y:35.22, Z:22.72 [[ 9.97698758e-01 -5.71273980e-02 -3.65191555e-02 6.21264699e+02] [ 5.70897038e-02 9.98366897e-01 -2.07497813e-03 3.52193286e+01] [ 3.65780541e-02 -1.46646662e-05 9.99330799e-01 2.27162385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.199254154 meters Centerline goodness : 0.999539 with order 1 Centerline is valid? [True, True] Translation: X:621.32, Y:35.22, Z:22.72 [[ 9.98065817e-01 -5.03091921e-02 -3.65186259e-02 6.21323239e+02] [ 5.02665941e-02 9.98733661e-01 -2.08425884e-03 3.52203916e+01] [ 3.65772383e-02 2.44560564e-04 9.99330799e-01 2.27211882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.259254154 meters Centerline goodness : 0.999351 with order 1 Centerline is valid? [True, True] Translation: X:621.38, Y:35.22, Z:22.72 [[ 9.98205005e-01 -4.74678530e-02 -3.65180905e-02 6.21381967e+02] [ 4.74230125e-02 9.98872702e-01 -2.09359770e-03 3.52212193e+01] [ 3.65763023e-02 3.58041846e-04 9.99330799e-01 2.27233478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.319254154 meters Centerline goodness : 0.999540 with order 1 Centerline is valid? [True, True] Translation: X:621.44, Y:35.22, Z:22.72 [[ 9.98301452e-01 -4.53947093e-02 -3.65175489e-02 6.21441008e+02] [ 4.53481382e-02 9.98969030e-01 -2.10300200e-03 3.52199751e+01] [ 3.65753656e-02 4.43427097e-04 9.99330799e-01 2.27247322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.379254154 meters Centerline goodness : 0.999476 with order 1 Centerline is valid? [True, True] Translation: X:621.50, Y:35.22, Z:22.73 [[ 9.98311632e-01 -4.51707045e-02 -3.65170093e-02 6.21499610e+02] [ 4.51236425e-02 9.98979176e-01 -2.11232973e-03 3.52181236e+01] [ 3.65751473e-02 4.60982866e-04 9.99330799e-01 2.27276602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.439254154 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:621.56, Y:35.21, Z:22.73 [[ 9.98317102e-01 -4.50501181e-02 -3.65164575e-02 6.21558764e+02] [ 4.50026282e-02 9.98984615e-01 -2.12182711e-03 3.52147019e+01] [ 3.65749678e-02 4.74919736e-04 9.99330799e-01 2.27319621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.499254154 meters Centerline goodness : 0.999624 with order 1 Centerline is valid? [True, True] Translation: X:621.62, Y:35.21, Z:22.73 [[ 9.98363370e-01 -4.40133051e-02 -3.65159059e-02 6.21617555e+02] [ 4.39647763e-02 9.99030808e-01 -2.13127740e-03 3.52133031e+01] [ 3.65743195e-02 5.22375651e-04 9.99330799e-01 2.27332538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.559254154 meters Centerline goodness : 0.999728 with order 1 Centerline is valid? [True, True] Translation: X:621.68, Y:35.21, Z:22.74 [[ 9.98473328e-01 -4.14444462e-02 -3.65153590e-02 6.21676141e+02] [ 4.13938592e-02 9.99140614e-01 -2.14060686e-03 3.52110600e+01] [ 3.65726944e-02 6.25827224e-04 9.99330799e-01 2.27369188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.619254154 meters Centerline goodness : 0.999538 with order 1 Centerline is valid? [True, True] Translation: X:621.73, Y:35.21, Z:22.74 [[ 9.98491472e-01 -4.10054887e-02 -3.65147988e-02 6.21733917e+02] [ 4.09542607e-02 9.99158709e-01 -2.15011954e-03 3.52092381e+01] [ 3.65722460e-02 6.51439432e-04 9.99330799e-01 2.27383358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.679254154 meters Centerline goodness : 0.999791 with order 1 Centerline is valid? [True, True] Translation: X:621.79, Y:35.20, Z:22.74 [[ 9.98447172e-01 -4.20709015e-02 -3.65141542e-02 6.21791610e+02] [ 4.20199871e-02 9.99114433e-01 -2.16101234e-03 3.52039996e+01] [ 3.65727342e-02 6.23332375e-04 9.99330799e-01 2.27415349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.739254154 meters Centerline goodness : 0.999749 with order 1 Centerline is valid? [True, True] Translation: X:621.85, Y:35.20, Z:22.74 [[ 9.98306162e-01 -4.52939006e-02 -3.65139562e-02 6.21849656e+02] [ 4.52450185e-02 9.98973575e-01 -2.16435210e-03 3.51998409e+01] [ 3.65745093e-02 5.08611418e-04 9.99330799e-01 2.27437346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.799254154 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:621.91, Y:35.19, Z:22.74 [[ 9.98037755e-01 -5.08666635e-02 -3.65133269e-02 6.21907531e+02] [ 5.08211218e-02 9.98705404e-01 -2.17491657e-03 3.51943788e+01] [ 3.65766877e-02 3.15000617e-04 9.99330799e-01 2.27441570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.859254154 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:621.97, Y:35.19, Z:22.75 [[ 9.97700749e-01 -5.70965128e-02 -3.65130557e-02 6.21966348e+02] [ 5.70549739e-02 9.98368659e-01 -2.17946098e-03 3.51896459e+01] [ 3.65779301e-02 9.11984102e-05 9.99330799e-01 2.27487100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.919254154 meters Centerline goodness : 0.999834 with order 1 Centerline is valid? [True, True] Translation: X:622.02, Y:35.19, Z:22.75 [[ 9.97431894e-01 -6.16153605e-02 -3.65125108e-02 6.22024195e+02] [ 6.15765148e-02 9.98099966e-01 -2.18855116e-03 3.51884806e+01] [ 3.65779842e-02 -6.53824351e-05 9.99330799e-01 2.27500947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.9792541539999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:622.08, Y:35.19, Z:22.75 [[ 9.96956596e-01 -6.88798092e-02 -3.65118867e-02 6.22082665e+02] [ 6.88454517e-02 9.97624914e-01 -2.19891489e-03 3.51854170e+01] [ 3.65766286e-02 -3.21454626e-04 9.99330800e-01 2.27531892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.039254154 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:622.14, Y:35.18, Z:22.76 [[ 9.96626016e-01 -7.35083709e-02 -3.65116945e-02 6.22141565e+02] [ 7.34770003e-02 9.97294481e-01 -2.20210143e-03 3.51824914e+01] [ 3.65747843e-02 -4.88098217e-04 9.99330800e-01 2.27550510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.0992541539999 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:622.20, Y:35.18, Z:22.76 [[ 9.96494679e-01 -7.52681227e-02 -3.65111615e-02 6.22198981e+02] [ 7.52376102e-02 9.97163183e-01 -2.21090251e-03 3.51846997e+01] [ 3.65739965e-02 -5.43859953e-04 9.99330800e-01 2.27583916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.159254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:622.26, Y:35.18, Z:22.76 [[ 9.96267964e-01 -7.82120381e-02 -3.65105518e-02 6.22256829e+02] [ 7.81831337e-02 9.96936540e-01 -2.22092644e-03 3.51842692e+01] [ 3.65724064e-02 -6.41871484e-04 9.99330800e-01 2.27642800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.2192541539999 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:622.31, Y:35.18, Z:22.77 [[ 9.96203610e-01 -7.90278170e-02 -3.65098913e-02 6.22314120e+02] [ 7.89990642e-02 9.96872192e-01 -2.23173133e-03 3.51842848e+01] [ 3.65720643e-02 -6.60988441e-04 9.99330800e-01 2.27662428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.279254154 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:622.37, Y:35.19, Z:22.77 [[ 9.96133724e-01 -7.99040202e-02 -3.65096089e-02 6.22371781e+02] [ 7.98756865e-02 9.96802324e-01 -2.23634223e-03 3.51864617e+01] [ 3.65715557e-02 -6.88534165e-04 9.99330800e-01 2.27697056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.339254154 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:622.43, Y:35.19, Z:22.77 [[ 9.96016608e-01 -8.13511766e-02 -3.65089459e-02 6.22428351e+02] [ 8.13234196e-02 9.96685232e-01 -2.24711362e-03 3.51882088e+01] [ 3.65707326e-02 -7.30869841e-04 9.99330800e-01 2.27719003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.399254154 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:622.49, Y:35.19, Z:22.77 [[ 9.95702970e-01 -8.51041273e-02 -3.65086608e-02 6.22487019e+02] [ 8.50787209e-02 9.96371688e-01 -2.25173713e-03 3.51890369e+01] [ 3.65678281e-02 -8.64048806e-04 9.99330800e-01 2.27741721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.459254154 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:622.55, Y:35.19, Z:22.78 [[ 9.95205175e-01 -9.07403912e-02 -3.65080854e-02 6.22545152e+02] [ 9.07184309e-02 9.95874015e-01 -2.26102804e-03 3.51908609e+01] [ 3.65626201e-02 -1.06176941e-03 9.99330800e-01 2.27779996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.519254154 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:622.60, Y:35.19, Z:22.78 [[ 9.94747529e-01 -9.56272090e-02 -3.65074055e-02 6.22602286e+02] [ 9.56081334e-02 9.95416457e-01 -2.27195279e-03 3.51929838e+01] [ 3.65573327e-02 -1.23038547e-03 9.99330800e-01 2.27807455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.579254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:622.66, Y:35.19, Z:22.78 [[ 9.94078604e-01 -1.02347253e-01 -3.65071125e-02 6.22659900e+02] [ 1.02332526e-01 9.94747642e-01 -2.27665150e-03 3.51941451e+01] [ 3.65483731e-02 -1.47269449e-03 9.99330800e-01 2.27842206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.639254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:622.72, Y:35.20, Z:22.79 [[ 9.93660984e-01 -1.06325580e-01 -3.65064440e-02 6.22717604e+02] [ 1.06313140e-01 9.94330068e-01 -2.28731978e-03 3.51969352e+01] [ 3.65426556e-02 -1.60829426e-03 9.99330800e-01 2.27862984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.699254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:622.78, Y:35.20, Z:22.79 [[ 9.92928925e-01 -1.12957857e-01 -3.65057803e-02 6.22775241e+02] [ 1.12949498e-01 9.93598073e-01 -2.29786484e-03 3.51996635e+01] [ 3.65316348e-02 -1.84169309e-03 9.99330800e-01 2.27904761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.759254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:622.83, Y:35.20, Z:22.79 [[ 9.92726484e-01 -1.14723601e-01 -3.65051120e-02 6.22833356e+02] [ 1.14716044e-01 9.93395641e-01 -2.30843228e-03 3.52031549e+01] [ 3.65288509e-02 -1.89608020e-03 9.99330800e-01 2.27912822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.819254154 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:622.89, Y:35.21, Z:22.79 [[ 9.92739657e-01 -1.14609655e-01 -3.65048049e-02 6.22892068e+02] [ 1.14601844e-01 9.93408811e-01 -2.31327833e-03 3.52089007e+01] [ 3.65293189e-02 -1.88703483e-03 9.99330800e-01 2.27926654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.879254154 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:622.95, Y:35.21, Z:22.80 [[ 9.92878482e-01 -1.13400893e-01 -3.65042181e-02 6.22949423e+02] [ 1.13391929e-01 9.93547622e-01 -2.32250213e-03 3.52147095e+01] [ 3.65320529e-02 -1.83332131e-03 9.99330800e-01 2.27959139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.939254154 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:623.01, Y:35.22, Z:22.80 [[ 9.93434602e-01 -1.08421324e-01 -3.65035431e-02 6.23006911e+02] [ 1.08408618e-01 9.94103681e-01 -2.33306377e-03 3.52218562e+01] [ 3.65412604e-02 -1.63955238e-03 9.99330800e-01 2.27967264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.999254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:623.06, Y:35.23, Z:22.80 [[ 9.94083667e-01 -1.02299572e-01 -3.65028765e-02 6.23064526e+02] [ 1.02282364e-01 9.94752646e-01 -2.34344674e-03 3.52302377e+01] [ 3.65510666e-02 -1.40401837e-03 9.99330800e-01 2.28006685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.059254154 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:623.12, Y:35.24, Z:22.80 [[ 9.94782527e-01 -9.52643024e-02 -3.65025537e-02 6.23122058e+02] [ 9.52421780e-02 9.95451361e-01 -2.34846490e-03 3.52389470e+01] [ 3.65602416e-02 -1.14037086e-03 9.99330800e-01 2.28011842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.119254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:623.18, Y:35.24, Z:22.81 [[ 9.94935951e-01 -9.36484503e-02 -3.65023530e-02 6.23180467e+02] [ 9.36251254e-02 9.95604744e-01 -2.35157880e-03 3.52449008e+01] [ 3.65621376e-02 -1.07786710e-03 9.99330800e-01 2.28050639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.179254154 meters Centerline goodness : 0.999771 with order 1 Centerline is valid? [True, True] Translation: X:623.24, Y:35.25, Z:22.80 [[ 9.95106642e-01 -9.18171524e-02 -3.65017964e-02 6.23238407e+02] [ 9.17922812e-02 9.95775380e-01 -2.36018712e-03 3.52534743e+01] [ 3.65642959e-02 -1.00194528e-03 9.99330800e-01 2.28046153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.239254154 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:623.30, Y:35.26, Z:22.81 [[ 9.95002415e-01 -9.29400559e-02 -3.65012464e-02 6.23297021e+02] [ 9.29156287e-02 9.95671168e-01 -2.36866271e-03 3.52590415e+01] [ 3.65633823e-02 -1.03471114e-03 9.99330800e-01 2.28098975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.299254154 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:623.35, Y:35.27, Z:22.81 [[ 9.94888254e-01 -9.41544731e-02 -3.65006450e-02 6.23353869e+02] [ 9.41305238e-02 9.95557025e-01 -2.37789411e-03 3.52650248e+01] [ 3.65623630e-02 -1.07008592e-03 9.99330800e-01 2.28112600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.359254154 meters Centerline goodness : 0.999917 with order 1 Centerline is valid? [True, True] Translation: X:623.41, Y:35.27, Z:22.82 [[ 9.94653141e-01 -9.66066986e-02 -3.65003482e-02 6.23412236e+02] [ 9.65842313e-02 9.95321963e-01 -2.38244120e-03 3.52703273e+01] [ 3.65597581e-02 -1.15565545e-03 9.99330800e-01 2.28150651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.419254154 meters Centerline goodness : 0.999770 with order 1 Centerline is valid? [True, True] Translation: X:623.47, Y:35.28, Z:22.82 [[ 9.94213482e-01 -1.01031290e-01 -3.64997374e-02 6.23469058e+02] [ 1.01011457e-01 9.94882388e-01 -2.39176237e-03 3.52764576e+01] [ 3.65545888e-02 -1.30896928e-03 9.99330800e-01 2.28166400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.4792541539999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:623.53, Y:35.28, Z:22.82 [[ 9.93438193e-01 -1.08389798e-01 -3.64994369e-02 6.23526879e+02] [ 1.08374750e-01 9.94107223e-01 -2.39633998e-03 3.52820224e+01] [ 3.65440927e-02 -1.57500169e-03 9.99330800e-01 2.28173913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.539254154 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:623.59, Y:35.29, Z:22.82 [[ 9.92800496e-01 -1.14083370e-01 -3.64987547e-02 6.23585024e+02] [ 1.14071778e-01 9.93469596e-01 -2.40668597e-03 3.52872072e+01] [ 3.65349659e-02 -1.77411883e-03 9.99330800e-01 2.28218032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.5992541539999 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:623.64, Y:35.30, Z:22.82 [[ 9.91732982e-01 -1.23018615e-01 -3.64981297e-02 6.23641999e+02] [ 1.23012702e-01 9.92402155e-01 -2.41612724e-03 3.52951232e+01] [ 3.65180512e-02 -2.09358049e-03 9.99330801e-01 2.28223847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.659254154 meters Centerline goodness : 0.999708 with order 1 Centerline is valid? [True, True] Translation: X:623.70, Y:35.30, Z:22.83 [[ 9.91293434e-01 -1.26511780e-01 -3.64979119e-02 6.23699905e+02] [ 1.26508105e-01 9.91962623e-01 -2.41941330e-03 3.53023571e+01] [ 3.65106487e-02 -2.21893316e-03 9.99330801e-01 2.28259921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.7192541539999 meters Centerline goodness : 0.999687 with order 1 Centerline is valid? [True, True] Translation: X:623.76, Y:35.31, Z:22.83 [[ 9.91006651e-01 -1.28739145e-01 -3.64972713e-02 6.23757963e+02] [ 1.28736620e-01 9.91675845e-01 -2.42903759e-03 3.53121249e+01] [ 3.65061746e-02 -2.29134296e-03 9.99330801e-01 2.28268927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.779254154 meters Centerline goodness : 0.999792 with order 1 Centerline is valid? [True, True] Translation: X:623.82, Y:35.32, Z:22.83 [[ 9.90872018e-01 -1.29771353e-01 -3.64971364e-02 6.23817368e+02] [ 1.29769451e-01 9.91541214e-01 -2.43106309e-03 3.53230360e+01] [ 3.65038973e-02 -2.32734097e-03 9.99330801e-01 2.28302703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.839254154 meters Centerline goodness : 0.999687 with order 1 Centerline is valid? [True, True] Translation: X:623.88, Y:35.33, Z:22.83 [[ 9.90677680e-01 -1.31246711e-01 -3.64970464e-02 6.23876911e+02] [ 1.31245756e-01 9.91346879e-01 -2.43241461e-03 3.53328512e+01] [ 3.65004794e-02 -2.38034357e-03 9.99330801e-01 2.28334550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.899254154 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:623.94, Y:35.34, Z:22.83 [[ 9.90655713e-01 -1.31412423e-01 -3.64970464e-02 6.23936762e+02] [ 1.31411580e-01 9.91324911e-01 -2.43241461e-03 3.53442419e+01] [ 3.65000807e-02 -2.38644909e-03 9.99330801e-01 2.28333330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.959254154 meters Centerline goodness : 0.999583 with order 1 Centerline is valid? [True, True] Translation: X:624.00, Y:35.36, Z:22.84 [[ 9.90526357e-01 -1.32383915e-01 -3.64970464e-02 6.23996921e+02] [ 1.32383728e-01 9.91195557e-01 -2.43241461e-03 3.53575979e+01] [ 3.64977228e-02 -2.42224429e-03 9.99330801e-01 2.28375136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.019254154 meters Centerline goodness : 0.999228 with order 1 Centerline is valid? [True, True] Translation: X:624.06, Y:35.36, Z:22.84 [[ 9.90567153e-01 -1.32078288e-01 -3.64971355e-02 6.24057704e+02] [ 1.32077944e-01 9.91236353e-01 -2.43107624e-03 3.53646668e+01] [ 3.64983799e-02 -2.41232234e-03 9.99330801e-01 2.28390280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.079254154 meters Centerline goodness : 0.999042 with order 1 Centerline is valid? [True, True] Translation: X:624.12, Y:35.38, Z:22.84 [[ 9.90611625e-01 -1.31744306e-01 -3.64972234e-02 6.24117208e+02] [ 1.31743784e-01 9.91280824e-01 -2.42975634e-03 3.53774131e+01] [ 3.64991042e-02 -2.40133746e-03 9.99330801e-01 2.28395263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.139254154 meters Centerline goodness : 0.998916 with order 1 Centerline is valid? [True, True] Translation: X:624.18, Y:35.39, Z:22.84 [[ 9.90796676e-01 -1.30345300e-01 -3.64972667e-02 6.24178515e+02] [ 1.30343858e-01 9.91465873e-01 -2.42910615e-03 3.53915002e+01] [ 3.65024169e-02 -2.35044423e-03 9.99330801e-01 2.28430561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.199254154 meters Centerline goodness : 0.999083 with order 1 Centerline is valid? [True, True] Translation: X:624.24, Y:35.41, Z:22.85 [[ 9.91039657e-01 -1.28484765e-01 -3.64974378e-02 6.24239553e+02] [ 1.28482161e-01 9.91708852e-01 -2.42653222e-03 3.54060532e+01] [ 3.65066045e-02 -2.28448002e-03 9.99330801e-01 2.28455395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.259254154 meters Centerline goodness : 0.998939 with order 1 Centerline is valid? [True, True] Translation: X:624.30, Y:35.42, Z:22.85 [[ 9.91546842e-01 -1.24510179e-01 -3.64976139e-02 6.24300913e+02] [ 1.24504989e-01 9.92216021e-01 -2.42388086e-03 3.54212091e+01] [ 3.65153150e-02 -2.14074359e-03 9.99330801e-01 2.28469175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.319254154 meters Centerline goodness : 0.998834 with order 1 Centerline is valid? [True, True] Translation: X:624.36, Y:35.43, Z:22.85 [[ 9.92151196e-01 -1.19598980e-01 -3.64977873e-02 6.24362352e+02] [ 1.19590572e-01 9.92820343e-01 -2.42126602e-03 3.54318376e+01] [ 3.65253267e-02 -1.96252928e-03 9.99330801e-01 2.28475789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.379254154 meters Centerline goodness : 0.998851 with order 1 Centerline is valid? [True, True] Translation: X:624.42, Y:35.44, Z:22.85 [[ 9.93123359e-01 -1.11238001e-01 -3.64979662e-02 6.24423283e+02] [ 1.11224056e-01 9.93792413e-01 -2.41856743e-03 3.54444205e+01] [ 3.65404385e-02 -1.65751602e-03 9.99330801e-01 2.28510299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.439254154 meters Centerline goodness : 0.999037 with order 1 Centerline is valid? [True, True] Translation: X:624.49, Y:35.46, Z:22.85 [[ 9.93603579e-01 -1.06863530e-01 -3.64981419e-02 6.24485087e+02] [ 1.06846737e-01 9.94272567e-01 -2.41591235e-03 3.54552707e+01] [ 3.65472742e-02 -1.49924821e-03 9.99330801e-01 2.28538770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.499254154 meters Centerline goodness : 0.998955 with order 1 Centerline is valid? [True, True] Translation: X:624.55, Y:35.47, Z:22.86 [[ 9.93948677e-01 -1.03604543e-01 -3.64983133e-02 6.24545234e+02] [ 1.03585651e-01 9.94617609e-01 -2.41332092e-03 3.54713136e+01] [ 3.65518961e-02 -1.38198439e-03 9.99330801e-01 2.28571906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.559254154 meters Centerline goodness : 0.998472 with order 1 Centerline is valid? [True, True] Translation: X:624.61, Y:35.48, Z:22.86 [[ 9.94590937e-01 -9.72456784e-02 -3.64985852e-02 6.24606423e+02] [ 9.72226597e-02 9.95259740e-01 -2.40920112e-03 3.54837391e+01] [ 3.65598568e-02 -1.15231993e-03 9.99330801e-01 2.28570129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.619254154 meters Centerline goodness : 0.998933 with order 1 Centerline is valid? [True, True] Translation: X:624.67, Y:35.50, Z:22.87 [[ 9.94610562e-01 -9.70446910e-02 -3.64987519e-02 6.24666741e+02] [ 9.70216298e-02 9.95279363e-01 -2.40667265e-03 3.54953060e+01] [ 3.65600094e-02 -1.14746636e-03 9.99330801e-01 2.28709722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.679254154 meters Centerline goodness : 0.998726 with order 1 Centerline is valid? [True, True] Translation: X:624.73, Y:35.50, Z:22.86 [[ 9.95139178e-01 -9.14650331e-02 -3.64988343e-02 6.24726811e+02] [ 9.14382672e-02 9.95807842e-01 -2.40542214e-03 3.55025878e+01] [ 3.65658374e-02 -9.43660354e-04 9.99330801e-01 2.28614518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.739254154 meters Centerline goodness : 0.996930 with order 1 Centerline is valid? [True, True] Translation: X:624.79, Y:35.51, Z:22.87 [[ 9.95067900e-01 -9.22372493e-02 -3.64988343e-02 6.24788349e+02] [ 9.22110024e-02 9.95736584e-01 -2.40542214e-03 3.55123888e+01] [ 3.65650941e-02 -9.72035740e-04 9.99330801e-01 2.28665048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.799254154 meters Centerline goodness : 0.998622 with order 1 Centerline is valid? [True, True] Translation: X:624.85, Y:35.52, Z:22.86 [[ 9.95646779e-01 -8.57631184e-02 -3.64990176e-02 6.24849673e+02] [ 8.57326248e-02 9.96315284e-01 -2.40263825e-03 3.55186888e+01] [ 3.65705868e-02 -7.36977543e-04 9.99330801e-01 2.28649849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.859254154 meters Centerline goodness : 0.998891 with order 1 Centerline is valid? [True, True] Translation: X:624.91, Y:35.52, Z:22.87 [[ 9.95847484e-01 -8.34002563e-02 -3.64991093e-02 6.24911864e+02] [ 8.33682274e-02 9.96515917e-01 -2.40124379e-03 3.55232042e+01] [ 3.65722077e-02 -6.51593455e-04 9.99330801e-01 2.28665050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.919254154 meters Centerline goodness : 0.998804 with order 1 Centerline is valid? [True, True] Translation: X:624.97, Y:35.53, Z:22.87 [[ 9.96098418e-01 -8.03476382e-02 -3.64992847e-02 6.24973631e+02] [ 8.03136586e-02 9.96766755e-01 -2.39857524e-03 3.55289034e+01] [ 3.65739934e-02 -5.42174088e-04 9.99330801e-01 2.28685076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.9792541539999 meters Centerline goodness : 0.998742 with order 1 Centerline is valid? [True, True] Translation: X:625.04, Y:35.53, Z:22.87 [[ 9.96377141e-01 -7.68139527e-02 -3.64994587e-02 6.25035091e+02] [ 7.67776998e-02 9.97045357e-01 -2.39592403e-03 3.55345646e+01] [ 3.65756563e-02 -4.15100550e-04 9.99330801e-01 2.28717922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.039254154 meters Centerline goodness : 0.998951 with order 1 Centerline is valid? [True, True] Translation: X:625.10, Y:35.54, Z:22.88 [[ 9.96688134e-01 -7.26673194e-02 -3.64996393e-02 6.25097190e+02] [ 7.26283872e-02 9.97356200e-01 -2.39316971e-03 3.55380938e+01] [ 3.65770468e-02 -2.65666087e-04 9.99330801e-01 2.28751194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.0992541539999 meters Centerline goodness : 0.998745 with order 1 Centerline is valid? [True, True] Translation: X:625.16, Y:35.54, Z:22.88 [[ 9.96890947e-01 -6.98298179e-02 -3.64998174e-02 6.25159505e+02] [ 6.97890837e-02 9.97558905e-01 -2.39045031e-03 3.55413996e+01] [ 3.65776426e-02 -1.64270538e-04 9.99330801e-01 2.28770871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.159254154 meters Centerline goodness : 0.998811 with order 1 Centerline is valid? [True, True] Translation: X:625.22, Y:35.54, Z:22.88 [[ 9.97027998e-01 -6.78448355e-02 -3.64999948e-02 6.25220665e+02] [ 6.78028707e-02 9.97695880e-01 -2.38773892e-03 3.55432129e+01] [ 3.65778902e-02 -9.41618702e-05 9.99330801e-01 2.28788625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.2192541539999 meters Centerline goodness : 0.998709 with order 1 Centerline is valid? [True, True] Translation: X:625.28, Y:35.54, Z:22.88 [[ 9.96867662e-01 -7.01612014e-02 -3.65002855e-02 6.25282199e+02] [ 7.01209515e-02 9.97535650e-01 -2.38328736e-03 3.55429838e+01] [ 3.65775503e-02 -1.83612646e-04 9.99330801e-01 2.28809651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.279254154 meters Centerline goodness : 0.998835 with order 1 Centerline is valid? [True, True] Translation: X:625.34, Y:35.54, Z:22.88 [[ 9.96540171e-01 -7.46686717e-02 -3.65003711e-02 6.25343486e+02] [ 7.46314911e-02 9.97208337e-01 -2.38197473e-03 3.55410508e+01] [ 3.65763333e-02 -3.50343616e-04 9.99330801e-01 2.28831129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.339254154 meters Centerline goodness : 0.998897 with order 1 Centerline is valid? [True, True] Translation: X:625.41, Y:35.54, Z:22.89 [[ 9.96274072e-01 -7.81389111e-02 -3.65004566e-02 6.25405217e+02] [ 7.81041058e-02 9.96942366e-01 -2.38066432e-03 3.55413702e+01] [ 3.65748741e-02 -4.79041388e-04 9.99330801e-01 2.28865645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.399254154 meters Centerline goodness : 0.998875 with order 1 Centerline is valid? [True, True] Translation: X:625.47, Y:35.54, Z:22.89 [[ 9.95985631e-01 -8.17333086e-02 -3.65005425e-02 6.25468061e+02] [ 8.17009632e-02 9.96654048e-01 -2.37934681e-03 3.55395775e+01] [ 3.65728853e-02 -6.12334243e-04 9.99330801e-01 2.28893435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.459254154 meters Centerline goodness : 0.998502 with order 1 Centerline is valid? [True, True] Translation: X:625.53, Y:35.54, Z:22.89 [[ 9.95911124e-01 -8.26361289e-02 -3.65007181e-02 6.25530157e+02] [ 8.26044883e-02 9.96579575e-01 -2.37664919e-03 3.55378306e+01] [ 3.65722672e-02 -6.48191778e-04 9.99330801e-01 2.28904135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.519254154 meters Centerline goodness : 0.996672 with order 1 Centerline is valid? [True, True] Translation: X:625.59, Y:35.54, Z:22.89 [[ 9.95894166e-01 -8.28401831e-02 -3.65008927e-02 6.25591016e+02] [ 8.28087779e-02 9.96562628e-01 -2.37396438e-03 3.55392741e+01] [ 3.65720852e-02 -6.58377048e-04 9.99330801e-01 2.28924017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.579254154 meters Centerline goodness : 0.999044 with order 1 Centerline is valid? [True, True] Translation: X:625.65, Y:35.54, Z:22.89 [[ 9.95963180e-01 -8.20062536e-02 -3.65009443e-02 6.25650661e+02] [ 8.19743176e-02 9.96631617e-01 -2.37317167e-03 3.55371138e+01] [ 3.65726100e-02 -6.28548394e-04 9.99330801e-01 2.28948703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.639254154 meters Centerline goodness : 0.998926 with order 1 Centerline is valid? [True, True] Translation: X:625.71, Y:35.54, Z:22.89 [[ 9.96093840e-01 -8.04036542e-02 -3.65008927e-02 6.25710020e+02] [ 8.03706138e-02 9.96762223e-01 -2.37396530e-03 3.55372744e+01] [ 3.65735864e-02 -5.68906938e-04 9.99330801e-01 2.28931165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.699254154 meters Centerline goodness : 0.998920 with order 1 Centerline is valid? [True, True] Translation: X:625.77, Y:35.54, Z:22.90 [[ 9.96118647e-01 -8.00957317e-02 -3.65008927e-02 6.25769952e+02] [ 8.00624846e-02 9.96787020e-01 -2.37396530e-03 3.55390543e+01] [ 3.65737605e-02 -5.57601056e-04 9.99330801e-01 2.28982584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.759254154 meters Centerline goodness : 0.998982 with order 1 Centerline is valid? [True, True] Translation: X:625.83, Y:35.54, Z:22.90 [[ 9.96127583e-01 -7.99845145e-02 -3.65008927e-02 6.25830796e+02] [ 7.99511928e-02 9.96795953e-01 -2.37396530e-03 3.55408872e+01] [ 3.65738225e-02 -5.53517592e-04 9.99330801e-01 2.29006770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.819254154 meters Centerline goodness : 0.999021 with order 1 Centerline is valid? [True, True] Translation: X:625.89, Y:35.54, Z:22.90 [[ 9.95976475e-01 -8.18446086e-02 -3.65009756e-02 6.25891706e+02] [ 8.18125819e-02 9.96644908e-01 -2.37268983e-03 3.55415677e+01] [ 3.65727033e-02 -6.23095803e-04 9.99330801e-01 2.29034075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.879254154 meters Centerline goodness : 0.998917 with order 1 Centerline is valid? [True, True] Translation: X:625.95, Y:35.54, Z:22.91 [[ 9.95672499e-01 -8.54631393e-02 -3.65010586e-02 6.25952490e+02] [ 8.54335885e-02 9.96341045e-01 -2.37141225e-03 3.55440924e+01] [ 3.65701712e-02 -7.57266459e-04 9.99330801e-01 2.29060181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.939254154 meters Centerline goodness : 0.999065 with order 1 Centerline is valid? [True, True] Translation: X:626.01, Y:35.54, Z:22.90 [[ 9.96183282e-01 -7.92876722e-02 -3.65011424e-02 6.26014225e+02] [ 7.92540238e-02 9.96851635e-01 -2.37012140e-03 3.55383073e+01] [ 3.65741449e-02 -5.31787092e-04 9.99330801e-01 2.28972136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.999254154 meters Centerline goodness : 0.998999 with order 1 Centerline is valid? [True, True] Translation: X:626.07, Y:35.55, Z:22.91 [[ 9.95133208e-01 -9.15290079e-02 -3.65012308e-02 6.26073292e+02] [ 9.15036289e-02 9.95801926e-01 -2.36875881e-03 3.55480697e+01] [ 3.65648061e-02 -9.82764528e-04 9.99330801e-01 2.29097941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.059254154 meters Centerline goodness : 0.998958 with order 1 Centerline is valid? [True, True] Translation: X:626.14, Y:35.55, Z:22.91 [[ 9.94597774e-01 -9.71747170e-02 -3.65012740e-02 6.26135798e+02] [ 9.71531577e-02 9.95266626e-01 -2.36809280e-03 3.55508948e+01] [ 3.65586186e-02 -1.19091420e-03 9.99330801e-01 2.29123661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.119254154 meters Centerline goodness : 0.998792 with order 1 Centerline is valid? [True, True] Translation: X:626.20, Y:35.55, Z:22.91 [[ 9.94226914e-01 -1.00898400e-01 -3.65014449e-02 6.26197961e+02] [ 1.00879442e-01 9.94895845e-01 -2.36545607e-03 3.55545434e+01] [ 3.65538066e-02 -1.33044530e-03 9.99330801e-01 2.29137364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.179254154 meters Centerline goodness : 0.999063 with order 1 Centerline is valid? [True, True] Translation: X:626.26, Y:35.56, Z:22.92 [[ 9.93335167e-01 -1.09329217e-01 -3.65016138e-02 6.26259321e+02] [ 1.09316030e-01 9.94004237e-01 -2.36284701e-03 3.55587476e+01] [ 3.65410870e-02 -1.64311250e-03 9.99330801e-01 2.29177364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.239254154 meters Centerline goodness : 0.999065 with order 1 Centerline is valid? [True, True] Translation: X:626.32, Y:35.56, Z:22.92 [[ 9.92273757e-01 -1.18576617e-01 -3.65017387e-02 6.26320620e+02] [ 1.18569734e-01 9.92942921e-01 -2.36091539e-03 3.55637747e+01] [ 3.65240924e-02 -1.98532705e-03 9.99330801e-01 2.29205011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.299254154 meters Centerline goodness : 0.998878 with order 1 Centerline is valid? [True, True] Translation: X:626.38, Y:35.57, Z:22.92 [[ 9.91689417e-01 -1.23368165e-01 -3.65020103e-02 6.26382629e+02] [ 1.23364669e-01 9.92358607e-01 -2.35670849e-03 3.55688293e+01] [ 3.65138269e-02 -2.16593554e-03 9.99330801e-01 2.29226033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.359254154 meters Centerline goodness : 0.999004 with order 1 Centerline is valid? [True, True] Translation: X:626.44, Y:35.58, Z:22.93 [[ 9.91225832e-01 -1.27039131e-01 -3.65021709e-02 6.26443968e+02] [ 1.27038203e-01 9.91895031e-01 -2.35421903e-03 3.55759909e+01] [ 3.65053999e-02 -2.30360749e-03 9.99330801e-01 2.29253603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.419254154 meters Centerline goodness : 0.998899 with order 1 Centerline is valid? [True, True] Translation: X:626.50, Y:35.58, Z:22.93 [[ 9.91315102e-01 -1.26340607e-01 -3.65023293e-02 6.26504598e+02] [ 1.26339298e-01 9.91984300e-01 -2.35176058e-03 3.55849187e+01] [ 3.65068604e-02 -2.28034287e-03 9.99330801e-01 2.29296585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.4792541539999 meters Centerline goodness : 0.998775 with order 1 Centerline is valid? [True, True] Translation: X:626.57, Y:35.59, Z:22.93 [[ 9.91686829e-01 -1.23388789e-01 -3.65025898e-02 6.26566271e+02] [ 1.23385636e-01 9.92356021e-01 -2.34771031e-03 3.55922013e+01] [ 3.65132459e-02 -2.17570187e-03 9.99330801e-01 2.29325827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.539254154 meters Centerline goodness : 0.998567 with order 1 Centerline is valid? [True, True] Translation: X:626.63, Y:35.60, Z:22.93 [[ 9.92367734e-01 -1.17787227e-01 -3.65027436e-02 6.26627893e+02] [ 1.17780383e-01 9.93036898e-01 -2.34531554e-03 3.56020810e+01] [ 3.65248195e-02 -1.97189168e-03 9.99330801e-01 2.29345868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.5992541539999 meters Centerline goodness : 0.998628 with order 1 Centerline is valid? [True, True] Translation: X:626.69, Y:35.61, Z:22.94 [[ 9.93017959e-01 -1.12173404e-01 -3.65028953e-02 6.26688220e+02] [ 1.12162863e-01 9.93687075e-01 -2.34295217e-03 3.56133534e+01] [ 3.65352722e-02 -1.76767568e-03 9.99330801e-01 2.29366721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.659254154 meters Centerline goodness : 0.998816 with order 1 Centerline is valid? [True, True] Translation: X:626.75, Y:35.62, Z:22.94 [[ 9.93345253e-01 -1.09237078e-01 -3.65030075e-02 6.26750200e+02] [ 1.09224623e-01 9.94014336e-01 -2.34120346e-03 3.56205126e+01] [ 3.65402590e-02 -1.66140388e-03 9.99330801e-01 2.29374743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.7192541539999 meters Centerline goodness : 0.998898 with order 1 Centerline is valid? [True, True] Translation: X:626.81, Y:35.63, Z:22.94 [[ 9.93859485e-01 -1.04454980e-01 -3.65031550e-02 6.26813109e+02] [ 1.04439389e-01 9.94528503e-01 -2.33890177e-03 3.56300541e+01] [ 3.65477380e-02 -1.48782750e-03 9.99330801e-01 2.29389495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.779254154 meters Centerline goodness : 0.998464 with order 1 Centerline is valid? [True, True] Translation: X:626.88, Y:35.64, Z:22.94 [[ 9.94342248e-01 -9.97546732e-02 -3.65034099e-02 6.26875115e+02] [ 9.97360655e-02 9.95011189e-01 -2.33491661e-03 3.56391482e+01] [ 3.65542201e-02 -1.31900025e-03 9.99330801e-01 2.29407417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.839254154 meters Centerline goodness : 0.998541 with order 1 Centerline is valid? [True, True] Translation: X:626.94, Y:35.65, Z:22.94 [[ 9.94867712e-01 -9.43701446e-02 -3.65035788e-02 6.26937078e+02] [ 9.43480126e-02 9.95536545e-01 -2.33227214e-03 3.56492962e+01] [ 3.65607436e-02 -1.12373787e-03 9.99330801e-01 2.29439992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.899254154 meters Centerline goodness : 0.998496 with order 1 Centerline is valid? [True, True] Translation: X:627.00, Y:35.66, Z:22.95 [[ 9.95271807e-01 -9.00083701e-02 -3.65037469e-02 6.26997996e+02] [ 8.99834031e-02 9.95940540e-01 -2.32963859e-03 3.56555653e+01] [ 3.65652484e-02 -9.66107764e-04 9.99330801e-01 2.29456078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.959254154 meters Centerline goodness : 0.998616 with order 1 Centerline is valid? [True, True] Translation: X:627.06, Y:35.66, Z:22.95 [[ 9.95794464e-01 -8.40288802e-02 -3.65038707e-02 6.27060231e+02] [ 8.39999682e-02 9.96463039e-01 -2.32769721e-03 3.56628288e+01] [ 3.65703517e-02 -7.48415986e-04 9.99330801e-01 2.29455677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.019254154 meters Centerline goodness : 0.998617 with order 1 Centerline is valid? [True, True] Translation: X:627.12, Y:35.67, Z:22.95 [[ 9.96059316e-01 -8.08288024e-02 -3.65040341e-02 6.27121107e+02] [ 8.07978363e-02 9.96727798e-01 -2.32513211e-03 3.56695322e+01] [ 3.65725232e-02 -6.33477470e-04 9.99330801e-01 2.29474850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.079254154 meters Centerline goodness : 0.998553 with order 1 Centerline is valid? [True, True] Translation: X:627.18, Y:35.67, Z:22.95 [[ 9.96153418e-01 -7.96606217e-02 -3.65041547e-02 6.27183083e+02] [ 7.96289411e-02 9.96821867e-01 -2.32323786e-03 3.56724817e+01] [ 3.65732102e-02 -5.92485849e-04 9.99330801e-01 2.29470357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.139254154 meters Centerline goodness : 0.998908 with order 1 Centerline is valid? [True, True] Translation: X:627.25, Y:35.68, Z:22.95 [[ 9.96019680e-01 -8.13156330e-02 -3.65043192e-02 6.27245185e+02] [ 8.12851579e-02 9.96688185e-01 -2.32064950e-03 3.56766406e+01] [ 3.65721287e-02 -6.55846774e-04 9.99330801e-01 2.29506304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.199254154 meters Centerline goodness : 0.998638 with order 1 Centerline is valid? [True, True] Translation: X:627.31, Y:35.68, Z:22.95 [[ 9.95807476e-01 -8.38742701e-02 -3.65044819e-02 6.27307134e+02] [ 8.38456065e-02 9.96476061e-01 -2.31808676e-03 3.56786219e+01] [ 3.65702702e-02 -7.52372304e-04 9.99330801e-01 2.29504246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.259254154 meters Centerline goodness : 0.998531 with order 1 Centerline is valid? [True, True] Translation: X:627.37, Y:35.68, Z:22.95 [[ 9.95574604e-01 -8.65945619e-02 -3.65046462e-02 6.27368733e+02] [ 8.65678199e-02 9.96243269e-01 -2.31549731e-03 3.56795036e+01] [ 3.65680175e-02 -8.54877322e-04 9.99330801e-01 2.29508573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.319254154 meters Centerline goodness : 0.998636 with order 1 Centerline is valid? [True, True] Translation: X:627.43, Y:35.67, Z:22.95 [[ 9.95483956e-01 -8.76304436e-02 -3.65047677e-02 6.27431747e+02] [ 8.76044677e-02 9.96152651e-01 -2.31357945e-03 3.56746281e+01] [ 3.65670612e-02 -8.94849521e-04 9.99330801e-01 2.29471900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.379254154 meters Centerline goodness : 0.998660 with order 1 Centerline is valid? [True, True] Translation: X:627.49, Y:35.68, Z:22.95 [[ 9.94852410e-01 -9.45307917e-02 -3.65049474e-02 6.27492765e+02] [ 9.45095569e-02 9.95521273e-01 -2.31074173e-03 3.56809316e+01] [ 3.65598879e-02 -1.15121942e-03 9.99330801e-01 2.29537863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.439254154 meters Centerline goodness : 0.998431 with order 1 Centerline is valid? [True, True] Translation: X:627.55, Y:35.68, Z:22.95 [[ 9.94319748e-01 -9.99780850e-02 -3.65050790e-02 6.27554276e+02] [ 9.99605902e-02 9.94988719e-01 -2.30866054e-03 3.56799802e+01] [ 3.65529572e-02 -1.35352248e-03 9.99330801e-01 2.29524131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.499254154 meters Centerline goodness : 0.998869 with order 1 Centerline is valid? [True, True] Translation: X:627.62, Y:35.68, Z:22.96 [[ 9.93790362e-01 -1.05109827e-01 -3.65053492e-02 6.27617654e+02] [ 1.05095943e-01 9.94459417e-01 -2.30437957e-03 3.56821664e+01] [ 3.65453012e-02 -1.54649388e-03 9.99330801e-01 2.29565213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.559254154 meters Centerline goodness : 0.998623 with order 1 Centerline is valid? [True, True] Translation: X:627.68, Y:35.68, Z:22.96 [[ 9.93301780e-01 -1.09630810e-01 -3.65056083e-02 6.27679389e+02] [ 1.09620121e-01 9.93970894e-01 -2.30026853e-03 3.56845660e+01] [ 3.65376924e-02 -1.71688836e-03 9.99330801e-01 2.29580301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.619254154 meters Centerline goodness : 0.998600 with order 1 Centerline is valid? [True, True] Translation: X:627.74, Y:35.69, Z:22.96 [[ 9.92718469e-01 -1.14792724e-01 -3.65057807e-02 6.27742087e+02] [ 1.14785614e-01 9.93387630e-01 -2.29752922e-03 3.56871116e+01] [ 3.65281306e-02 -1.90953876e-03 9.99330801e-01 2.29607450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.679254154 meters Centerline goodness : 0.998831 with order 1 Centerline is valid? [True, True] Translation: X:627.80, Y:35.69, Z:22.96 [[ 9.92180382e-01 -1.19354094e-01 -3.65060360e-02 6.27803673e+02] [ 1.19350209e-01 9.92849570e-01 -2.29346423e-03 3.56906131e+01] [ 3.65187365e-02 -2.08147279e-03 9.99330801e-01 2.29643893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.739254154 meters Centerline goodness : 0.998770 with order 1 Centerline is valid? [True, True] Translation: X:627.87, Y:35.70, Z:22.97 [[ 9.91732675e-01 -1.23018689e-01 -3.65062057e-02 6.27866793e+02] [ 1.23017375e-01 9.92401873e-01 -2.29075975e-03 3.56961637e+01] [ 3.65106332e-02 -2.21907631e-03 9.99330801e-01 2.29679132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.799254154 meters Centerline goodness : 0.998688 with order 1 Centerline is valid? [True, True] Translation: X:627.93, Y:35.70, Z:22.97 [[ 9.91680888e-01 -1.23435384e-01 -3.65064596e-02 6.27929173e+02] [ 1.23434500e-01 9.92350087e-01 -2.28670669e-03 3.57006378e+01] [ 3.65094489e-02 -2.23847327e-03 9.99330801e-01 2.29703470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.859254154 meters Centerline goodness : 0.998291 with order 1 Centerline is valid? [True, True] Translation: X:627.99, Y:35.71, Z:22.97 [[ 9.91846960e-01 -1.22093687e-01 -3.65067124e-02 6.27992096e+02] [ 1.22092046e-01 9.92516157e-01 -2.28266328e-03 3.57058084e+01] [ 3.65122007e-02 -2.19312657e-03 9.99330801e-01 2.29706418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.919254154 meters Centerline goodness : 0.998707 with order 1 Centerline is valid? [True, True] Translation: X:628.05, Y:35.71, Z:22.97 [[ 9.92290369e-01 -1.18435908e-01 -3.65069630e-02 6.28054276e+02] [ 1.18431947e-01 9.92959557e-01 -2.27864985e-03 3.57143991e+01] [ 3.65198117e-02 -2.06250839e-03 9.99330801e-01 2.29740156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.9792541539999 meters Centerline goodness : 0.998602 with order 1 Centerline is valid? [True, True] Translation: X:628.12, Y:35.72, Z:22.98 [[ 9.92786454e-01 -1.14202801e-01 -3.65072130e-02 6.28117194e+02] [ 1.14196133e-01 9.93455620e-01 -2.27463592e-03 3.57220297e+01] [ 3.65280658e-02 -1.91075484e-03 9.99330801e-01 2.29765272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.039254154 meters Centerline goodness : 0.998764 with order 1 Centerline is valid? [True, True] Translation: X:628.18, Y:35.73, Z:22.98 [[ 9.93552798e-01 -1.07331459e-01 -3.65074593e-02 6.28179890e+02] [ 1.07320307e-01 9.94221905e-01 -2.27067614e-03 3.57316170e+01] [ 3.65402307e-02 -1.66195511e-03 9.99330801e-01 2.29792550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.0992541539999 meters Centerline goodness : 0.998761 with order 1 Centerline is valid? [True, True] Translation: X:628.24, Y:35.74, Z:22.98 [[ 9.94446929e-01 -9.87040709e-02 -3.65077015e-02 6.28240878e+02] [ 9.86872546e-02 9.95115917e-01 -2.26677555e-03 3.57421589e+01] [ 3.65531348e-02 -1.34865685e-03 9.99330801e-01 2.29821242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.159254154 meters Centerline goodness : 0.998695 with order 1 Centerline is valid? [True, True] Translation: X:628.30, Y:35.75, Z:22.99 [[ 9.95042013e-01 -9.25125190e-02 -3.65079003e-02 6.28303870e+02] [ 9.24916566e-02 9.95710887e-01 -2.26357032e-03 3.57501819e+01] [ 3.65607223e-02 -1.12432860e-03 9.99330801e-01 2.29852032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.2192541539999 meters Centerline goodness : 0.998607 with order 1 Centerline is valid? [True, True] Translation: X:628.37, Y:35.76, Z:22.99 [[ 9.96017231e-01 -8.13439003e-02 -3.65081563e-02 6.28365839e+02] [ 8.13156871e-02 9.96685835e-01 -2.25943348e-03 3.57589025e+01] [ 3.65709534e-02 -7.18251132e-04 9.99330801e-01 2.29867453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.279254154 meters Centerline goodness : 0.998880 with order 1 Centerline is valid? [True, True] Translation: X:628.43, Y:35.77, Z:22.99 [[ 9.96746208e-01 -7.18619280e-02 -3.65083658e-02 6.28427251e+02] [ 7.18274776e-02 9.97414520e-01 -2.25604369e-03 3.57675447e+01] [ 3.65760977e-02 -3.73600828e-04 9.99330801e-01 2.29898487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.339254154 meters Centerline goodness : 0.998814 with order 1 Centerline is valid? [True, True] Translation: X:628.49, Y:35.77, Z:22.99 [[ 9.97275085e-01 -6.41056411e-02 -3.65085282e-02 6.28488711e+02] [ 6.40660890e-02 9.97943114e-01 -2.25341231e-03 3.57736987e+01] [ 3.65778907e-02 -9.16866635e-05 9.99330801e-01 2.29905043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.399254154 meters Centerline goodness : 0.998982 with order 1 Centerline is valid? [True, True] Translation: X:628.55, Y:35.78, Z:22.99 [[ 9.97314022e-01 -6.34969021e-02 -3.65086975e-02 6.28549483e+02] [ 6.34570429e-02 9.97982033e-01 -2.25066522e-03 3.57775360e+01] [ 3.65779344e-02 -7.21140041e-05 9.99330801e-01 2.29915511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.459254154 meters Centerline goodness : 0.998835 with order 1 Centerline is valid? [True, True] Translation: X:628.61, Y:35.78, Z:22.99 [[ 9.97063096e-01 -6.73222800e-02 -3.65088222e-02 6.28612067e+02] [ 6.72850577e-02 9.97731259e-01 -2.24864140e-03 3.57797991e+01] [ 3.65773768e-02 -2.14460851e-04 9.99330801e-01 2.29922027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.519254154 meters Centerline goodness : 0.998944 with order 1 Centerline is valid? [True, True] Translation: X:628.67, Y:35.78, Z:22.99 [[ 9.95967187e-01 -8.19539844e-02 -3.65089860e-02 6.28674886e+02] [ 8.19266737e-02 9.96635829e-01 -2.24597813e-03 3.57787858e+01] [ 3.65702304e-02 -7.54139265e-04 9.99330801e-01 2.29936475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.579254154 meters Centerline goodness : 0.998648 with order 1 Centerline is valid? [True, True] Translation: X:628.74, Y:35.78, Z:23.00 [[ 9.95312589e-01 -8.95540705e-02 -3.65091498e-02 6.28735870e+02] [ 8.95319622e-02 9.95981423e-01 -2.24331257e-03 3.57793947e+01] [ 3.65633327e-02 -1.03593858e-03 9.99330801e-01 2.29959619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.639254154 meters Centerline goodness : 0.998842 with order 1 Centerline is valid? [True, True] Translation: X:628.80, Y:35.78, Z:23.00 [[ 9.94261969e-01 -1.00549544e-01 -3.65092710e-02 6.28798058e+02] [ 1.00534901e-01 9.94931008e-01 -2.24133885e-03 3.57787114e+01] [ 3.65495713e-02 -1.44197798e-03 9.99330801e-01 2.29973492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.699254154 meters Centerline goodness : 0.998990 with order 1 Centerline is valid? [True, True] Translation: X:628.86, Y:35.78, Z:23.00 [[ 9.93707966e-01 -1.05884557e-01 -3.65094392e-02 6.28861155e+02] [ 1.05873607e-01 9.94377075e-01 -2.23859443e-03 3.57797243e+01] [ 3.65411820e-02 -1.64087690e-03 9.99330801e-01 2.29985627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.759254154 meters Centerline goodness : 0.998716 with order 1 Centerline is valid? [True, True] Translation: X:628.92, Y:35.78, Z:23.00 [[ 9.93262383e-01 -1.09985818e-01 -3.65096907e-02 6.28922478e+02] [ 1.09977780e-01 9.93931534e-01 -2.23448652e-03 3.57815178e+01] [ 3.65338947e-02 -1.79582332e-03 9.99330801e-01 2.29977681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.819254154 meters Centerline goodness : 0.998611 with order 1 Centerline is valid? [True, True] Translation: X:628.98, Y:35.78, Z:22.99 [[ 9.93706148e-01 -1.05901489e-01 -3.65098142e-02 6.28984784e+02] [ 1.05890775e-01 9.94375261e-01 -2.23246660e-03 3.57774387e+01] [ 3.65408775e-02 -1.64763672e-03 9.99330801e-01 2.29913743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.879254154 meters Centerline goodness : 0.998779 with order 1 Centerline is valid? [True, True] Translation: X:629.05, Y:35.79, Z:23.00 [[ 9.93043351e-01 -1.11946089e-01 -3.65099359e-02 6.29045815e+02] [ 1.11939520e-01 9.93712518e-01 -2.23047436e-03 3.57900774e+01] [ 3.65300732e-02 -1.87194694e-03 9.99330801e-01 2.30001083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.939254154 meters Centerline goodness : 0.998653 with order 1 Centerline is valid? [True, True] Translation: X:629.11, Y:35.80, Z:23.00 [[ 9.93114092e-01 -1.11316726e-01 -3.65100944e-02 6.29107748e+02] [ 1.11309828e-01 9.93783255e-01 -2.22787613e-03 3.57959855e+01] [ 3.65311204e-02 -1.85139714e-03 9.99330801e-01 2.30020075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.999254154 meters Centerline goodness : 0.998715 with order 1 Centerline is valid? [True, True] Translation: X:629.17, Y:35.80, Z:23.00 [[ 9.93293802e-01 -1.09701509e-01 -3.65102917e-02 6.29169013e+02] [ 1.09693641e-01 9.93962955e-01 -2.22463767e-03 3.58030508e+01] [ 3.65339236e-02 -1.79522802e-03 9.99330801e-01 2.30031610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.059254154 meters Centerline goodness : 0.998757 with order 1 Centerline is valid? [True, True] Translation: X:629.23, Y:35.81, Z:23.01 [[ 9.93290497e-01 -1.09731395e-01 -3.65104074e-02 6.29231765e+02] [ 1.09723617e-01 9.93959651e-01 -2.22273730e-03 3.58095242e+01] [ 3.65337759e-02 -1.79823012e-03 9.99330801e-01 2.30070311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.119254154 meters Centerline goodness : 0.998864 with order 1 Centerline is valid? [True, True] Translation: X:629.29, Y:35.82, Z:23.01 [[ 9.93402491e-01 -1.08712764e-01 -3.65106356e-02 6.29293213e+02] [ 1.08704437e-01 9.94071638e-01 -2.21898394e-03 3.58170706e+01] [ 3.65354192e-02 -1.76452391e-03 9.99330801e-01 2.30067047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.179254154 meters Centerline goodness : 0.998687 with order 1 Centerline is valid? [True, True] Translation: X:629.35, Y:35.82, Z:23.01 [[ 9.93212448e-01 -1.10435482e-01 -3.65107848e-02 6.29354429e+02] [ 1.10428406e-01 9.93881610e-01 -2.21652492e-03 3.58238390e+01] [ 3.65321806e-02 -1.83034763e-03 9.99330801e-01 2.30081076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.239254154 meters Centerline goodness : 0.998942 with order 1 Centerline is valid? [True, True] Translation: X:629.42, Y:35.83, Z:23.01 [[ 9.93304244e-01 -1.09606719e-01 -3.65108952e-02 6.29417456e+02] [ 1.09599152e-01 9.93973401e-01 -2.21470483e-03 3.58313356e+01] [ 3.65336052e-02 -1.80168744e-03 9.99330801e-01 2.30116044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.299254154 meters Centerline goodness : 0.998919 with order 1 Centerline is valid? [True, True] Translation: X:629.48, Y:35.84, Z:23.02 [[ 9.93986080e-01 -1.03240552e-01 -3.65111122e-02 6.29479334e+02] [ 1.03228829e-01 9.94655176e-01 -2.21112159e-03 3.58413317e+01] [ 3.65442442e-02 -1.57117527e-03 9.99330801e-01 2.30167762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.359254154 meters Centerline goodness : 0.999107 with order 1 Centerline is valid? [True, True] Translation: X:629.54, Y:35.85, Z:23.02 [[ 9.94708640e-01 -9.60294172e-02 -3.65112544e-02 6.29540911e+02] [ 9.60129282e-02 9.95377636e-01 -2.20877219e-03 3.58489700e+01] [ 3.65545932e-02 -1.30846766e-03 9.99330801e-01 2.30196123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.419254154 meters Centerline goodness : 0.999317 with order 1 Centerline is valid? [True, True] Translation: X:629.60, Y:35.86, Z:23.02 [[ 9.96103872e-01 -8.02744926e-02 -3.65113951e-02 6.29601677e+02] [ 8.02475030e-02 9.96772527e-01 -2.20644303e-03 3.58599014e+01] [ 3.65706767e-02 -7.32101844e-04 9.99330801e-01 2.30229989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.4792541539999 meters Centerline goodness : 0.999230 with order 1 Centerline is valid? [True, True] Translation: X:629.66, Y:35.87, Z:23.03 [[ 9.96620159e-01 -7.35878348e-02 -3.65114989e-02 6.29663911e+02] [ 7.35564215e-02 9.97288620e-01 -2.20472470e-03 3.58667769e+01] [ 3.65747433e-02 -4.88382124e-04 9.99330801e-01 2.30255087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.539254154 meters Centerline goodness : 0.999186 with order 1 Centerline is valid? [True, True] Translation: X:629.73, Y:35.87, Z:23.03 [[ 9.97028309e-01 -6.78340043e-02 -3.65116339e-02 6.29725363e+02] [ 6.77988150e-02 9.97696582e-01 -2.20248630e-03 3.58724490e+01] [ 3.65769358e-02 -2.79504319e-04 9.99330801e-01 2.30250170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.5992541539999 meters Centerline goodness : 0.999208 with order 1 Centerline is valid? [True, True] Translation: X:629.79, Y:35.88, Z:23.02 [[ 9.97137744e-01 -6.62057883e-02 -3.65118342e-02 6.29787659e+02] [ 6.61696295e-02 9.97805965e-01 -2.19916147e-03 3.58760899e+01] [ 3.65773232e-02 -2.23107634e-04 9.99330801e-01 2.30209170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.659254154 meters Centerline goodness : 0.999122 with order 1 Centerline is valid? [True, True] Translation: X:629.85, Y:35.88, Z:23.02 [[ 9.97105041e-01 -6.66964167e-02 -3.65119990e-02 6.29850064e+02] [ 6.66606870e-02 9.97773285e-01 -2.19642169e-03 3.58791921e+01] [ 3.65771906e-02 -2.43851802e-04 9.99330801e-01 2.30205063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.7192541539999 meters Centerline goodness : 0.999038 with order 1 Centerline is valid? [True, True] Translation: X:629.91, Y:35.88, Z:23.02 [[ 9.96962701e-01 -6.87912446e-02 -3.65121627e-02 6.29910973e+02] [ 6.87570189e-02 9.97631024e-01 -2.19369662e-03 3.58826099e+01] [ 3.65765734e-02 -3.23433759e-04 9.99330801e-01 2.30248566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.779254154 meters Centerline goodness : 0.999124 with order 1 Centerline is valid? [True, True] Translation: X:629.97, Y:35.88, Z:23.03 [[ 9.96683740e-01 -7.27212133e-02 -3.65122835e-02 6.29973254e+02] [ 7.26896963e-02 9.97352197e-01 -2.19168419e-03 3.58838661e+01] [ 3.65749881e-02 -4.69650802e-04 9.99330801e-01 2.30263573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.839254154 meters Centerline goodness : 0.999041 with order 1 Centerline is valid? [True, True] Translation: X:630.04, Y:35.89, Z:23.03 [[ 9.96399498e-01 -7.65172066e-02 -3.65124413e-02 6.30035379e+02] [ 7.64883326e-02 9.97068073e-01 -2.18905252e-03 3.58856479e+01] [ 3.65728897e-02 -6.11604917e-04 9.99330801e-01 2.30301403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.899254154 meters Centerline goodness : 0.999255 with order 1 Centerline is valid? [True, True] Translation: X:630.10, Y:35.88, Z:23.03 [[ 9.96002490e-01 -8.15222022e-02 -3.65126020e-02 6.30097802e+02] [ 8.14967858e-02 9.96671206e-01 -2.18636916e-03 3.58849731e+01] [ 3.65692967e-02 -7.98030569e-04 9.99330801e-01 2.30326823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.959254154 meters Centerline goodness : 0.999174 with order 1 Centerline is valid? [True, True] Translation: X:630.16, Y:35.88, Z:23.03 [[ 9.95652558e-01 -8.56901472e-02 -3.65127659e-02 6.30160253e+02] [ 8.56676303e-02 9.96321378e-01 -2.18362812e-03 3.58846302e+01] [ 3.65655647e-02 -9.53827210e-04 9.99330801e-01 2.30344551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.019254154 meters Centerline goodness : 0.999151 with order 1 Centerline is valid? [True, True] Translation: X:630.22, Y:35.88, Z:23.03 [[ 9.95401614e-01 -8.85574959e-02 -3.65129681e-02 6.30221283e+02] [ 8.85370295e-02 9.96070500e-01 -2.18024229e-03 3.58833836e+01] [ 3.65625672e-02 -1.06253304e-03 9.99330801e-01 2.30345322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.079254154 meters Centerline goodness : 0.999008 with order 1 Centerline is valid? [True, True] Translation: X:630.28, Y:35.88, Z:23.04 [[ 9.95595272e-01 -8.63530426e-02 -3.65130862e-02 6.30283173e+02] [ 8.63311677e-02 9.96264114e-01 -2.17826207e-03 3.58845828e+01] [ 3.65647770e-02 -9.83549946e-04 9.99330801e-01 2.30351454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.139254154 meters Centerline goodness : 0.998859 with order 1 Centerline is valid? [True, True] Translation: X:630.34, Y:35.89, Z:23.04 [[ 9.96358078e-01 -7.70542898e-02 -3.65132437e-02 6.30344215e+02] [ 7.70262683e-02 9.97026690e-01 -2.17561944e-03 3.58877551e+01] [ 3.65723193e-02 -6.44782897e-04 9.99330801e-01 2.30362350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.199254154 meters Centerline goodness : 0.998728 with order 1 Centerline is valid? [True, True] Translation: X:630.41, Y:35.89, Z:23.04 [[ 9.97308170e-01 -6.35860688e-02 -3.65133599e-02 6.30406642e+02] [ 6.35490881e-02 9.97976347e-01 -2.17366720e-03 3.58918361e+01] [ 3.65776845e-02 -1.52574665e-04 9.99330801e-01 2.30372461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.259254154 meters Centerline goodness : 0.998768 with order 1 Centerline is valid? [True, True] Translation: X:630.47, Y:35.90, Z:23.04 [[ 9.97754814e-01 -5.61435208e-02 -3.65135111e-02 6.30467168e+02] [ 5.61016491e-02 9.98422702e-01 -2.17112400e-03 3.58956786e+01] [ 3.65778130e-02 1.17781236e-04 9.99330801e-01 2.30402640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.319254154 meters Centerline goodness : 0.998808 with order 1 Centerline is valid? [True, True] Translation: X:630.53, Y:35.90, Z:23.04 [[ 9.98041576e-01 -5.07914881e-02 -3.65135111e-02 6.30526602e+02] [ 5.07460348e-02 9.98709230e-01 -2.17112400e-03 3.58972947e+01] [ 3.65766552e-02 3.13956113e-04 9.99330801e-01 2.30407699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.379254154 meters Centerline goodness : 0.998980 with order 1 Centerline is valid? [True, True] Translation: X:630.59, Y:35.90, Z:23.04 [[ 9.97912141e-01 -5.32740813e-02 -3.65134308e-02 6.30585283e+02] [ 5.32302397e-02 9.98579903e-01 -2.17247408e-03 3.58958326e+01] [ 3.65773147e-02 2.24319592e-04 9.99330801e-01 2.30418686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.439254154 meters Centerline goodness : 0.999005 with order 1 Centerline is valid? [True, True] Translation: X:630.64, Y:35.89, Z:23.04 [[ 9.97606402e-01 -5.87220365e-02 -3.65128733e-02 6.30643810e+02] [ 5.86815001e-02 9.98274372e-01 -2.18180291e-03 3.58934746e+01] [ 3.65779856e-02 3.39503651e-05 9.99330801e-01 2.30427432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.499254154 meters Centerline goodness : 0.998797 with order 1 Centerline is valid? [True, True] Translation: X:630.70, Y:35.89, Z:23.04 [[ 9.97362032e-01 -6.27361691e-02 -3.65123214e-02 6.30703639e+02] [ 6.26979844e-02 9.98030141e-01 -2.19100130e-03 3.58932230e+01] [ 3.65778523e-02 -1.04027444e-04 9.99330801e-01 2.30447098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.559254154 meters Centerline goodness : 0.998988 with order 1 Centerline is valid? [True, True] Translation: X:630.76, Y:35.89, Z:23.05 [[ 9.96968745e-01 -6.87035334e-02 -3.65122826e-02 6.30764213e+02] [ 6.86693239e-02 9.97637069e-01 -2.19164748e-03 3.58904139e+01] [ 3.65765805e-02 -3.22269725e-04 9.99330801e-01 2.30466639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.619254154 meters Centerline goodness : 0.998801 with order 1 Centerline is valid? [True, True] Translation: X:630.82, Y:35.89, Z:23.05 [[ 9.96553004e-01 -7.44913660e-02 -3.65122826e-02 6.30824300e+02] [ 7.44610378e-02 9.97221515e-01 -2.19164748e-03 3.58882629e+01] [ 3.65740926e-02 -5.34649576e-04 9.99330801e-01 2.30488569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.679254154 meters Centerline goodness : 0.998758 with order 1 Centerline is valid? [True, True] Translation: X:630.89, Y:35.89, Z:23.05 [[ 9.96165343e-01 -7.95076046e-02 -3.65123215e-02 6.30885757e+02] [ 7.94806661e-02 9.96834000e-01 -2.19099960e-03 3.58863536e+01] [ 3.65709246e-02 -7.19425762e-04 9.99330801e-01 2.30506377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.739254154 meters Centerline goodness : 0.998906 with order 1 Centerline is valid? [True, True] Translation: X:630.95, Y:35.89, Z:23.05 [[ 9.95967854e-01 -8.19443634e-02 -3.65124015e-02 6.30947809e+02] [ 8.19191096e-02 9.96636576e-01 -2.18966498e-03 3.58868787e+01] [ 3.65690255e-02 -8.10227493e-04 9.99330801e-01 2.30522816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.799254154 meters Centerline goodness : 0.998785 with order 1 Centerline is valid? [True, True] Translation: X:631.01, Y:35.89, Z:23.05 [[ 9.95821086e-01 -8.37090050e-02 -3.65125630e-02 6.31010594e+02] [ 8.36850350e-02 9.96489855e-01 -2.18696912e-03 3.58868049e+01] [ 3.65674676e-02 -8.77725151e-04 9.99330801e-01 2.30532368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.859254154 meters Centerline goodness : 0.998762 with order 1 Centerline is valid? [True, True] Translation: X:631.07, Y:35.89, Z:23.05 [[ 9.95733834e-01 -8.47405016e-02 -3.65127243e-02 6.31073002e+02] [ 8.47173232e-02 9.96402632e-01 -2.18427324e-03 3.58876773e+01] [ 3.65664709e-02 -9.18305492e-04 9.99330801e-01 2.30526310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.919254154 meters Centerline goodness : 0.999036 with order 1 Centerline is valid? [True, True] Translation: X:631.14, Y:35.89, Z:23.05 [[ 9.95697978e-01 -8.51607016e-02 -3.65128834e-02 6.31135017e+02] [ 8.51379031e-02 9.96366789e-01 -2.18160969e-03 3.58886448e+01] [ 3.65660118e-02 -9.36405971e-04 9.99330801e-01 2.30539981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.9792541539999 meters Centerline goodness : 0.998847 with order 1 Centerline is valid? [True, True] Translation: X:631.20, Y:35.89, Z:23.06 [[ 9.95744586e-01 -8.46139349e-02 -3.65130450e-02 6.31196721e+02] [ 8.45908683e-02 9.96413387e-01 -2.17890234e-03 3.58907394e+01] [ 3.65664523e-02 -9.19039966e-04 9.99330801e-01 2.30555087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.039254154 meters Centerline goodness : 0.999162 with order 1 Centerline is valid? [True, True] Translation: X:631.26, Y:35.89, Z:23.06 [[ 9.95882856e-01 -8.29706161e-02 -3.65132094e-02 6.31258050e+02] [ 8.29465470e-02 9.96551622e-01 -2.17614271e-03 3.58936362e+01] [ 3.65678540e-02 -8.61461427e-04 9.99330801e-01 2.30574298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.0992541539999 meters Centerline goodness : 0.999186 with order 1 Centerline is valid? [True, True] Translation: X:631.32, Y:35.90, Z:23.06 [[ 9.96070170e-01 -8.06907249e-02 -3.65133308e-02 6.31319698e+02] [ 8.06651996e-02 9.96738882e-01 -2.17410426e-03 3.58965846e+01] [ 3.65696866e-02 -7.79794718e-04 9.99330801e-01 2.30585141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.159254154 meters Centerline goodness : 0.999204 with order 1 Centerline is valid? [True, True] Translation: X:631.38, Y:35.90, Z:23.06 [[ 9.96081010e-01 -8.05567255e-02 -3.65134904e-02 6.31381148e+02] [ 8.05312086e-02 9.96749723e-01 -2.17142084e-03 3.58988751e+01] [ 3.65697340e-02 -7.77564453e-04 9.99330801e-01 2.30596831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.2192541539999 meters Centerline goodness : 0.999036 with order 1 Centerline is valid? [True, True] Translation: X:631.44, Y:35.90, Z:23.06 [[ 9.95702704e-01 -8.51051413e-02 -3.65135719e-02 6.31442422e+02] [ 8.50827290e-02 9.96371527e-01 -2.17004982e-03 3.59004414e+01] [ 3.65657658e-02 -9.45949865e-04 9.99330801e-01 2.30611267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.279254154 meters Centerline goodness : 0.999643 with order 1 Centerline is valid? [True, True] Translation: X:631.50, Y:35.90, Z:23.06 [[ 9.95371333e-01 -8.88969209e-02 -3.65136520e-02 6.31504170e+02] [ 8.88771056e-02 9.96040239e-01 -2.16870023e-03 3.59027153e+01] [ 3.65618574e-02 -1.08656567e-03 9.99330801e-01 2.30633349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.339254154 meters Centerline goodness : 0.999371 with order 1 Centerline is valid? [True, True] Translation: X:631.57, Y:35.90, Z:23.06 [[ 9.94695273e-01 -9.61668426e-02 -3.65137309e-02 6.31565498e+02] [ 9.61519637e-02 9.95364306e-01 -2.16737126e-03 3.59042585e+01] [ 3.65528937e-02 -1.35499298e-03 9.99330801e-01 2.30647809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.399254154 meters Centerline goodness : 0.999391 with order 1 Centerline is valid? [True, True] Translation: X:631.63, Y:35.91, Z:23.07 [[ 9.94277342e-01 -1.00395747e-01 -3.65138478e-02 6.31627626e+02] [ 1.00383786e-01 9.94946434e-01 -2.16540000e-03 3.59066325e+01] [ 3.65467196e-02 -1.51239012e-03 9.99330801e-01 2.30661028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.459254154 meters Centerline goodness : 0.999202 with order 1 Centerline is valid? [True, True] Translation: X:631.69, Y:35.91, Z:23.07 [[ 9.93837859e-01 -1.04656765e-01 -3.65140025e-02 6.31689295e+02] [ 1.04647767e-01 9.94506997e-01 -2.16278867e-03 3.59115977e+01] [ 3.65397814e-02 -1.67164756e-03 9.99330801e-01 2.30687658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.519254154 meters Centerline goodness : 0.999496 with order 1 Centerline is valid? [True, True] Translation: X:631.75, Y:35.92, Z:23.07 [[ 9.93840512e-01 -1.04631505e-01 -3.65141648e-02 6.31749795e+02] [ 1.04622591e-01 9.94509652e-01 -2.16004511e-03 3.59167042e+01] [ 3.65396981e-02 -1.67346617e-03 9.99330801e-01 2.30718471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.579254154 meters Centerline goodness : 0.998888 with order 1 Centerline is valid? [True, True] Translation: X:631.81, Y:35.92, Z:23.07 [[ 9.93954322e-01 -1.03544740e-01 -3.65142847e-02 6.31811881e+02] [ 1.03535169e-01 9.94623452e-01 -2.15801637e-03 3.59222770e+01] [ 3.65414151e-02 -1.63554292e-03 9.99330801e-01 2.30735947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.639254154 meters Centerline goodness : 0.998953 with order 1 Centerline is valid? [True, True] Translation: X:631.87, Y:35.93, Z:23.07 [[ 9.94211190e-01 -1.01048529e-01 -3.65144457e-02 6.31872923e+02] [ 1.01037378e-01 9.94880296e-01 -2.15528813e-03 3.59272231e+01] [ 3.65452913e-02 -1.54651227e-03 9.99330801e-01 2.30742668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.699254154 meters Centerline goodness : 0.998826 with order 1 Centerline is valid? [True, True] Translation: X:631.93, Y:35.93, Z:23.08 [[ 9.94325149e-01 -9.99208924e-02 -3.65145646e-02 6.31933642e+02] [ 9.99090559e-02 9.94994243e-01 -2.15327275e-03 3.59343214e+01] [ 3.65469385e-02 -1.50708242e-03 9.99330801e-01 2.30765040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.759254154 meters Centerline goodness : 0.999497 with order 1 Centerline is valid? [True, True] Translation: X:632.00, Y:35.94, Z:23.08 [[ 9.94522455e-01 -9.79375541e-02 -3.65146810e-02 6.31995794e+02] [ 9.79244556e-02 9.95191526e-01 -2.15129707e-03 3.59417695e+01] [ 3.65497938e-02 -1.43616701e-03 9.99330801e-01 2.30786903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.819254154 meters Centerline goodness : 0.998887 with order 1 Centerline is valid? [True, True] Translation: X:632.06, Y:35.95, Z:23.08 [[ 9.94647997e-01 -9.66541723e-02 -3.65148408e-02 6.32057441e+02] [ 9.66403100e-02 9.95317052e-01 -2.14858072e-03 3.59507008e+01] [ 3.65515130e-02 -1.39172402e-03 9.99330801e-01 2.30812510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.879254154 meters Centerline goodness : 0.998907 with order 1 Centerline is valid? [True, True] Translation: X:632.12, Y:35.96, Z:23.08 [[ 9.94717812e-01 -9.59329377e-02 -3.65150035e-02 6.32119647e+02] [ 9.59186918e-02 9.95386860e-01 -2.14581206e-03 3.59582701e+01] [ 3.65524087e-02 -1.36799389e-03 9.99330801e-01 2.30827719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.939254154 meters Centerline goodness : 0.998970 with order 1 Centerline is valid? [True, True] Translation: X:632.18, Y:35.96, Z:23.08 [[ 9.94817643e-01 -9.48920432e-02 -3.65151654e-02 6.32181951e+02] [ 9.48771984e-02 9.95486677e-01 -2.14305381e-03 3.59637847e+01] [ 3.65537194e-02 -1.33250885e-03 9.99330801e-01 2.30848555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.999254154 meters Centerline goodness : 0.999011 with order 1 Centerline is valid? [True, True] Translation: X:632.24, Y:35.97, Z:23.09 [[ 9.95171403e-01 -9.11071308e-02 -3.65153274e-02 6.32243120e+02] [ 9.10898424e-02 9.95840379e-01 -2.14028912e-03 3.59718639e+01] [ 3.65584331e-02 -1.19622090e-03 9.99330801e-01 2.30878539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.059254154 meters Centerline goodness : 0.998968 with order 1 Centerline is valid? [True, True] Translation: X:632.30, Y:35.98, Z:23.09 [[ 9.95558557e-01 -8.67743194e-02 -3.65154470e-02 6.32304861e+02] [ 8.67541940e-02 9.96227453e-01 -2.13824789e-03 3.59785065e+01] [ 3.65632357e-02 -1.03911719e-03 9.99330801e-01 2.30888159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.119254154 meters Centerline goodness : 0.999092 with order 1 Centerline is valid? [True, True] Translation: X:632.37, Y:35.99, Z:23.09 [[ 9.95977063e-01 -8.18309228e-02 -3.65156061e-02 6.32367074e+02] [ 8.18075767e-02 9.96645855e-01 -2.13552613e-03 3.59855898e+01] [ 3.65678796e-02 -8.60318209e-04 9.99330801e-01 2.30922837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.179254154 meters Centerline goodness : 0.999028 with order 1 Centerline is valid? [True, True] Translation: X:632.43, Y:35.99, Z:23.09 [[ 9.96213222e-01 -7.89038358e-02 -3.65157641e-02 6.32428546e+02] [ 7.88786236e-02 9.96881946e-01 -2.13282241e-03 3.59909213e+01] [ 3.65701938e-02 -7.55567325e-04 9.99330801e-01 2.30940518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.239254154 meters Centerline goodness : 0.998963 with order 1 Centerline is valid? [True, True] Translation: X:632.49, Y:36.00, Z:23.10 [[ 9.96203390e-01 -7.90277977e-02 -3.65159194e-02 6.32490893e+02] [ 7.90027663e-02 9.96872121e-01 -2.13015863e-03 3.59963956e+01] [ 3.65700438e-02 -7.62787396e-04 9.99330801e-01 2.30963734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.299254154 meters Centerline goodness : 0.998877 with order 1 Centerline is valid? [True, True] Translation: X:632.55, Y:35.99, Z:23.08 [[ 9.96836035e-01 -7.06009562e-02 -3.65160762e-02 6.32553047e+02] [ 7.05703693e-02 9.97504535e-01 -2.12746893e-03 3.59914324e+01] [ 3.65751529e-02 -4.56215287e-04 9.99330801e-01 2.30832634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.359254154 meters Centerline goodness : 0.999342 with order 1 Centerline is valid? [True, True] Translation: X:632.61, Y:36.01, Z:23.10 [[ 9.95879120e-01 -8.30141566e-02 -3.65161459e-02 6.32611996e+02] [ 8.29919442e-02 9.96547950e-01 -2.12627109e-03 3.60052390e+01] [ 3.65666009e-02 -9.13036965e-04 9.99330801e-01 2.30998162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.419254154 meters Centerline goodness : 0.999534 with order 1 Centerline is valid? [True, True] Translation: X:632.67, Y:36.01, Z:23.10 [[ 9.95415917e-01 -8.83952489e-02 -3.65161848e-02 6.32673382e+02] [ 8.83766761e-02 9.96084858e-01 -2.12560295e-03 3.60083131e+01] [ 3.65611120e-02 -1.11132003e-03 9.99330801e-01 2.31004691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.4792541539999 meters Centerline goodness : 0.999576 with order 1 Centerline is valid? [True, True] Translation: X:632.73, Y:36.01, Z:23.10 [[ 9.95018881e-01 -9.27576714e-02 -3.65162985e-02 6.32734977e+02] [ 9.27421027e-02 9.95687899e-01 -2.12364686e-03 3.60110636e+01] [ 3.65558211e-02 -1.27352959e-03 9.99330801e-01 2.31029513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.539254154 meters Centerline goodness : 0.999407 with order 1 Centerline is valid? [True, True] Translation: X:632.80, Y:36.02, Z:23.11 [[ 9.94652155e-01 -9.66107616e-02 -3.65164546e-02 6.32796769e+02] [ 9.65978827e-02 9.95321230e-01 -2.12095974e-03 3.60150539e+01] [ 3.65505101e-02 -1.41779502e-03 9.99330801e-01 2.31059794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.5992541539999 meters Centerline goodness : 0.999301 with order 1 Centerline is valid? [True, True] Translation: X:632.86, Y:36.02, Z:23.11 [[ 9.94712367e-01 -9.59887669e-02 -3.65166098e-02 6.32858110e+02] [ 9.59755676e-02 9.95381436e-01 -2.11828475e-03 3.60198932e+01] [ 3.65512870e-02 -1.39761832e-03 9.99330801e-01 2.31080667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.659254154 meters Centerline goodness : 0.999024 with order 1 Centerline is valid? [True, True] Translation: X:632.92, Y:36.02, Z:23.11 [[ 9.94889386e-01 -9.41362791e-02 -3.65167244e-02 6.32920861e+02] [ 9.41219064e-02 9.95558430e-01 -2.11630790e-03 3.60245087e+01] [ 3.65537541e-02 -1.33153144e-03 9.99330801e-01 2.31101108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.7192541539999 meters Centerline goodness : 0.999301 with order 1 Centerline is valid? [True, True] Translation: X:632.98, Y:36.03, Z:23.11 [[ 9.95063105e-01 -9.22817872e-02 -3.65169629e-02 6.32982151e+02] [ 9.22663186e-02 9.95732125e-01 -2.11218326e-03 3.60303752e+01] [ 3.65560292e-02 -1.26753010e-03 9.99330801e-01 2.31119602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.779254154 meters Centerline goodness : 0.999322 with order 1 Centerline is valid? [True, True] Translation: X:633.04, Y:36.04, Z:23.11 [[ 9.94978094e-01 -9.31938321e-02 -3.65171588e-02 6.33043949e+02] [ 9.31791012e-02 9.95647130e-01 -2.10879078e-03 3.60359735e+01] [ 3.65547307e-02 -1.30443541e-03 9.99330801e-01 2.31122132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.839254154 meters Centerline goodness : 0.999406 with order 1 Centerline is valid? [True, True] Translation: X:633.11, Y:36.04, Z:23.11 [[ 9.94925608e-01 -9.37524368e-02 -3.65173149e-02 6.33105671e+02] [ 9.37381806e-02 9.95594655e-01 -2.10608547e-03 3.60411266e+01] [ 3.65538942e-02 -1.32766829e-03 9.99330801e-01 2.31138936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.899254154 meters Centerline goodness : 0.999110 with order 1 Centerline is valid? [True, True] Translation: X:633.17, Y:36.05, Z:23.12 [[ 9.95099384e-01 -9.18895509e-02 -3.65174722e-02 6.33167226e+02] [ 9.18741423e-02 9.95768406e-01 -2.10335341e-03 3.60467162e+01] [ 3.65562213e-02 -1.26196576e-03 9.99330801e-01 2.31160540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.959254154 meters Centerline goodness : 0.999255 with order 1 Centerline is valid? [True, True] Translation: X:633.23, Y:36.05, Z:23.12 [[ 9.95540826e-01 -8.69765701e-02 -3.65176664e-02 6.33229151e+02] [ 8.69579831e-02 9.96209767e-01 -2.09997670e-03 3.60539479e+01] [ 3.65619047e-02 -1.08489008e-03 9.99330801e-01 2.31189019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.019254154 meters Centerline goodness : 0.999212 with order 1 Centerline is valid? [True, True] Translation: X:633.29, Y:36.06, Z:23.12 [[ 9.96033699e-01 -8.11376598e-02 -3.65178201e-02 6.33291290e+02] [ 8.11152488e-02 9.96702522e-01 -2.09730076e-03 3.60607448e+01] [ 3.65675735e-02 -8.73169826e-04 9.99330801e-01 2.31218759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.079254154 meters Centerline goodness : 0.999020 with order 1 Centerline is valid? [True, True] Translation: X:633.35, Y:36.07, Z:23.12 [[ 9.96279045e-01 -7.80672968e-02 -3.65179735e-02 6.33352771e+02] [ 7.80429224e-02 9.96947799e-01 -2.09462596e-03 3.60663294e+01] [ 3.65700351e-02 -7.63137423e-04 9.99330801e-01 2.31247190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.139254154 meters Centerline goodness : 0.999019 with order 1 Centerline is valid? [True, True] Translation: X:633.41, Y:36.07, Z:23.13 [[ 9.96523004e-01 -7.48887768e-02 -3.65181294e-02 6.33413575e+02] [ 7.48623689e-02 9.97191682e-01 -2.09190520e-03 3.60714043e+01] [ 3.65722351e-02 -6.49202017e-04 9.99330801e-01 2.31272253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.199254154 meters Centerline goodness : 0.999148 with order 1 Centerline is valid? [True, True] Translation: X:633.48, Y:36.07, Z:23.13 [[ 9.96550635e-01 -7.45201295e-02 -3.65182444e-02 6.33475630e+02] [ 7.44935480e-02 9.97219306e-01 -2.08989527e-03 3.60748604e+01] [ 3.65724376e-02 -6.37687133e-04 9.99330801e-01 2.31310303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.259254154 meters Centerline goodness : 0.998914 with order 1 Centerline is valid? [True, True] Translation: X:633.54, Y:36.07, Z:23.12 [[ 9.96954900e-01 -6.89008933e-02 -3.65183998e-02 6.33538170e+02] [ 6.88706421e-02 9.97623415e-01 -2.08717598e-03 3.60695060e+01] [ 3.65754190e-02 -4.34225320e-04 9.99330801e-01 2.31245958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.319254154 meters Centerline goodness : 0.999231 with order 1 Centerline is valid? [True, True] Translation: X:633.60, Y:36.08, Z:23.13 [[ 9.96224442e-01 -7.87607534e-02 -3.65185631e-02 6.33598364e+02] [ 7.87372224e-02 9.96893227e-01 -2.08431565e-03 3.60777441e+01] [ 3.65692705e-02 -7.98924031e-04 9.99330801e-01 2.31329388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.379254154 meters Centerline goodness : 0.999274 with order 1 Centerline is valid? [True, True] Translation: X:633.66, Y:36.08, Z:23.13 [[ 9.96017625e-01 -8.13342994e-02 -3.65187922e-02 6.33660938e+02] [ 8.13126436e-02 9.96686473e-01 -2.08029345e-03 3.60794015e+01] [ 3.65669854e-02 -8.97430593e-04 9.99330801e-01 2.31349748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.439254154 meters Centerline goodness : 0.998786 with order 1 Centerline is valid? [True, True] Translation: X:633.72, Y:36.07, Z:23.13 [[ 9.96305173e-01 -7.77326806e-02 -3.65189466e-02 6.33723636e+02] [ 7.77087063e-02 9.96973942e-01 -2.07757917e-03 3.60719582e+01] [ 3.65699340e-02 -7.67937226e-04 9.99330801e-01 2.31267227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.499254154 meters Centerline goodness : 0.999191 with order 1 Centerline is valid? [True, True] Translation: X:633.78, Y:36.08, Z:23.14 [[ 9.95351423e-01 -8.91173486e-02 -3.65190852e-02 6.33783968e+02] [ 8.91011105e-02 9.96020424e-01 -2.07514129e-03 3.60824543e+01] [ 3.65586858e-02 -1.18839620e-03 9.99330801e-01 2.31384884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.559254154 meters Centerline goodness : 0.999190 with order 1 Centerline is valid? [True, True] Translation: X:633.85, Y:36.09, Z:23.14 [[ 9.95060629e-01 -9.23075936e-02 -3.65192036e-02 6.33846021e+02] [ 9.22935767e-02 9.95729681e-01 -2.07305534e-03 3.60850010e+01] [ 3.65546137e-02 -1.30767216e-03 9.99330801e-01 2.31400099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.619254154 meters Centerline goodness : 0.999256 with order 1 Centerline is valid? [True, True] Translation: X:633.91, Y:36.09, Z:23.14 [[ 9.94661300e-01 -9.65154544e-02 -3.65193942e-02 6.33908720e+02] [ 9.65043906e-02 9.95330407e-01 -2.06969128e-03 3.60880238e+01] [ 3.65486207e-02 -1.46564007e-03 9.99330801e-01 2.31416306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.679254154 meters Centerline goodness : 0.999087 with order 1 Centerline is valid? [True, True] Translation: X:633.97, Y:36.09, Z:23.14 [[ 9.94172920e-01 -1.01422493e-01 -3.65196189e-02 6.33971919e+02] [ 1.01414877e-01 9.94842076e-01 -2.06571921e-03 3.60911828e+01] [ 3.65407639e-02 -1.64995056e-03 9.99330801e-01 2.31435095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.739254154 meters Centerline goodness : 0.999067 with order 1 Centerline is valid? [True, True] Translation: X:634.03, Y:36.09, Z:23.14 [[ 9.93532425e-01 -1.07515677e-01 -3.65198482e-02 6.34034216e+02] [ 1.07512312e-01 9.94201616e-01 -2.06165669e-03 3.60937901e+01] [ 3.65297525e-02 -1.87801056e-03 9.99330801e-01 2.31447146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.799254154 meters Centerline goodness : 0.999237 with order 1 Centerline is valid? [True, True] Translation: X:634.10, Y:36.10, Z:23.15 [[ 9.93084245e-01 -1.11579434e-01 -3.65200364e-02 6.34096649e+02] [ 1.11578929e-01 9.93753443e-01 -2.05831748e-03 3.60980061e+01] [ 3.65215779e-02 -2.03078390e-03 9.99330801e-01 2.31463833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.859254154 meters Centerline goodness : 0.999172 with order 1 Centerline is valid? [True, True] Translation: X:634.16, Y:36.10, Z:23.15 [[ 9.93261742e-01 -1.09988105e-01 -3.65202579e-02 6.34159168e+02] [ 1.09986672e-01 9.93930939e-01 -2.05438136e-03 3.61025821e+01] [ 3.65245717e-02 -1.97620323e-03 9.99330801e-01 2.31482341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.919254154 meters Centerline goodness : 0.999086 with order 1 Centerline is valid? [True, True] Translation: X:634.22, Y:36.11, Z:23.15 [[ 9.93793375e-01 -1.05076094e-01 -3.65204446e-02 6.34222243e+02] [ 1.05071475e-01 9.94462558e-01 -2.05105631e-03 3.61073444e+01] [ 3.65337317e-02 -1.79893081e-03 9.99330801e-01 2.31503251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.9792541539999 meters Centerline goodness : 0.999125 with order 1 Centerline is valid? [True, True] Translation: X:634.28, Y:36.12, Z:23.15 [[ 9.94951861e-01 -9.34721100e-02 -3.65206707e-02 6.34284184e+02] [ 9.34598303e-02 9.95620947e-01 -2.04702224e-03 3.61164171e+01] [ 3.65520842e-02 -1.37652710e-03 9.99330801e-01 2.31525420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.039254154 meters Centerline goodness : 0.999186 with order 1 Centerline is valid? [True, True] Translation: X:634.35, Y:36.13, Z:23.15 [[ 9.96152044e-01 -7.96701682e-02 -3.65208207e-02 6.34346019e+02] [ 7.96487123e-02 9.96820898e-01 -2.04434234e-03 3.61254502e+01] [ 3.65675904e-02 -8.72360548e-04 9.99330801e-01 2.31527811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.0992541539999 meters Centerline goodness : 0.999162 with order 1 Centerline is valid? [True, True] Translation: X:634.41, Y:36.13, Z:23.16 [[ 9.96818824e-01 -7.08410033e-02 -3.65210178e-02 6.34407966e+02] [ 7.08137513e-02 9.97487467e-01 -2.04081624e-03 3.61318422e+01] [ 3.65738310e-02 -5.51866221e-04 9.99330801e-01 2.31553028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.159254154 meters Centerline goodness : 0.999287 with order 1 Centerline is valid? [True, True] Translation: X:634.47, Y:36.14, Z:23.16 [[ 9.97654309e-01 -5.78971827e-02 -3.65211790e-02 6.34468207e+02] [ 5.78613604e-02 9.98322548e-01 -2.03792714e-03 3.61430371e+01] [ 3.65779067e-02 -8.00183101e-05 9.99330801e-01 2.31586773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.2192541539999 meters Centerline goodness : 0.999330 with order 1 Centerline is valid? [True, True] Translation: X:634.53, Y:36.15, Z:23.16 [[ 9.97850705e-01 -5.44074029e-02 -3.65212890e-02 6.34528872e+02] [ 5.43693157e-02 9.98518819e-01 -2.03595298e-03 3.61477854e+01] [ 3.65779653e-02 4.59396249e-05 9.99330801e-01 2.31601435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.279254154 meters Centerline goodness : 0.999330 with order 1 Centerline is valid? [True, True] Translation: X:634.59, Y:36.15, Z:23.16 [[ 9.97897720e-01 -5.35381777e-02 -3.65212890e-02 6.34589264e+02] [ 5.34995086e-02 9.98565800e-01 -2.03595298e-03 3.61519836e+01] [ 3.65779114e-02 7.78018206e-05 9.99330801e-01 2.31634263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.339254154 meters Centerline goodness : 0.999460 with order 1 Centerline is valid? [True, True] Translation: X:634.65, Y:36.15, Z:23.17 [[ 9.97747712e-01 -5.62645401e-02 -3.65212890e-02 6.34648359e+02] [ 5.62276965e-02 9.98415896e-01 -2.03595298e-03 3.61545399e+01] [ 3.65779875e-02 -2.21405253e-05 9.99330801e-01 2.31664301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.399254154 meters Centerline goodness : 0.999164 with order 1 Centerline is valid? [True, True] Translation: X:634.71, Y:36.16, Z:23.17 [[ 9.97573125e-01 -5.92794875e-02 -3.65212520e-02 6.34708390e+02] [ 5.92446390e-02 9.98241416e-01 -2.03661670e-03 3.61559752e+01] [ 3.65777559e-02 -1.32014307e-04 9.99330801e-01 2.31688902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.459254154 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:634.77, Y:36.15, Z:23.17 [[ 9.97227589e-01 -6.48331179e-02 -3.65212520e-02 6.34770051e+02] [ 6.48019911e-02 9.97896064e-01 -2.03661670e-03 3.61548184e+01] [ 3.65764539e-02 -3.35679488e-04 9.99330801e-01 2.31716873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.519254154 meters Centerline goodness : 0.999166 with order 1 Centerline is valid? [True, True] Translation: X:634.83, Y:36.15, Z:23.17 [[ 9.96919424e-01 -6.94107701e-02 -3.65213265e-02 6.34831860e+02] [ 6.93827616e-02 9.97588036e-01 -2.03528118e-03 3.61532163e+01] [ 3.65745088e-02 -5.04939147e-04 9.99330801e-01 2.31742541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.579254154 meters Centerline goodness : 0.999126 with order 1 Centerline is valid? [True, True] Translation: X:634.89, Y:36.15, Z:23.18 [[ 9.96834093e-01 -7.06256205e-02 -3.65214007e-02 6.34893238e+02] [ 7.05984756e-02 9.97502741e-01 -2.03394822e-03 3.61518549e+01] [ 3.65738461e-02 -5.50846285e-04 9.99330801e-01 2.31751356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.639254154 meters Centerline goodness : 0.999061 with order 1 Centerline is valid? [True, True] Translation: X:634.95, Y:36.15, Z:23.18 [[ 9.96903873e-01 -6.96336672e-02 -3.65215107e-02 6.34954199e+02] [ 6.96059293e-02 9.97572496e-01 -2.03197134e-03 3.61527000e+01] [ 3.65743482e-02 -5.16433595e-04 9.99330801e-01 2.31762362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.699254154 meters Centerline goodness : 0.999039 with order 1 Centerline is valid? [True, True] Translation: X:635.02, Y:36.15, Z:23.18 [[ 9.97128937e-01 -6.63329313e-02 -3.65215835e-02 6.35015787e+02] [ 6.63030280e-02 9.97797467e-01 -2.03066196e-03 3.61518326e+01] [ 3.65758432e-02 -3.96659771e-04 9.99330801e-01 2.31772810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.759254154 meters Centerline goodness : 0.998933 with order 1 Centerline is valid? [True, True] Translation: X:635.08, Y:36.15, Z:23.18 [[ 9.97384779e-01 -6.23680246e-02 -3.65216585e-02 6.35076579e+02] [ 6.23355131e-02 9.98053188e-01 -2.02931134e-03 3.61516160e+01] [ 3.65771219e-02 -2.52592078e-04 9.99330801e-01 2.31779417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.819254154 meters Centerline goodness : 0.998677 with order 1 Centerline is valid? [True, True] Translation: X:635.14, Y:36.15, Z:23.18 [[ 9.97464165e-01 -6.10852318e-02 -3.65216954e-02 6.35136042e+02] [ 6.10518850e-02 9.98132532e-01 -2.02864717e-03 3.61524076e+01] [ 3.65774127e-02 -2.06215496e-04 9.99330801e-01 2.31797869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.879254154 meters Centerline goodness : 0.998849 with order 1 Centerline is valid? [True, True] Translation: X:635.20, Y:36.15, Z:23.18 [[ 9.97352503e-01 -6.28820870e-02 -3.65216215e-02 6.35197029e+02] [ 6.28498956e-02 9.98020927e-01 -2.02997634e-03 3.61507617e+01] [ 3.65769917e-02 -2.70778120e-04 9.99330801e-01 2.31809609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.939254154 meters Centerline goodness : 0.998832 with order 1 Centerline is valid? [True, True] Translation: X:635.26, Y:36.15, Z:23.18 [[ 9.97050938e-01 -6.74951686e-02 -3.65216215e-02 6.35257798e+02] [ 6.74660698e-02 9.97719504e-01 -2.02997634e-03 3.61484823e+01] [ 3.65753477e-02 -4.39980453e-04 9.99330801e-01 2.31828808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.999254154 meters Centerline goodness : 0.997582 with order 1 Centerline is valid? [True, True] Translation: X:635.32, Y:36.15, Z:23.18 [[ 9.96719945e-01 -7.22185718e-02 -3.65216215e-02 6.35316734e+02] [ 7.21926410e-02 9.97388641e-01 -2.02997634e-03 3.61482593e+01] [ 3.65728525e-02 -6.13274406e-04 9.99330801e-01 2.31818310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.059254154 meters Centerline goodness : 0.998920 with order 1 Centerline is valid? [True, True] Translation: X:635.38, Y:36.15, Z:23.19 [[ 9.96425590e-01 -7.61723068e-02 -3.65215352e-02 6.35376868e+02] [ 7.61489723e-02 9.97094382e-01 -2.03152825e-03 3.61477984e+01] [ 3.65701638e-02 -7.56810637e-04 9.99330801e-01 2.31860080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.119254154 meters Centerline goodness : 0.998943 with order 1 Centerline is valid? [True, True] Translation: X:635.44, Y:36.15, Z:23.19 [[ 9.96250060e-01 -7.84346920e-02 -3.65214498e-02 6.35437874e+02] [ 7.84128199e-02 9.96918902e-01 -2.03306273e-03 3.61498437e+01] [ 3.65683863e-02 -8.38310996e-04 9.99330801e-01 2.31882151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.179254154 meters Centerline goodness : 0.998984 with order 1 Centerline is valid? [True, True] Translation: X:635.50, Y:36.15, Z:23.19 [[ 9.96108410e-01 -8.02135499e-02 -3.65215237e-02 6.35498446e+02] [ 8.01929209e-02 9.96777291e-01 -2.03173348e-03 3.61517353e+01] [ 3.65667980e-02 -9.04940860e-04 9.99330801e-01 2.31899796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.239254154 meters Centerline goodness : 0.998921 with order 1 Centerline is valid? [True, True] Translation: X:635.56, Y:36.15, Z:23.19 [[ 9.96040675e-01 -8.10502949e-02 -3.65215601e-02 6.35559793e+02] [ 8.10302517e-02 9.96709573e-01 -2.03107985e-03 3.61530772e+01] [ 3.65660082e-02 -9.36313062e-04 9.99330801e-01 2.31913191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.299254154 meters Centerline goodness : 0.998880 with order 1 Centerline is valid? [True, True] Translation: X:635.62, Y:36.16, Z:23.19 [[ 9.95929692e-01 -8.24027805e-02 -3.65216348e-02 6.35620996e+02] [ 8.23836950e-02 9.96598619e-01 -2.02973507e-03 3.61556370e+01] [ 3.65646666e-02 -9.87313801e-04 9.99330801e-01 2.31942470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.359254154 meters Centerline goodness : 0.998819 with order 1 Centerline is valid? [True, True] Translation: X:635.68, Y:36.16, Z:23.20 [[ 9.95835483e-01 -8.35335606e-02 -3.65217090e-02 6.35683407e+02] [ 8.35152835e-02 9.96504432e-01 -2.02839953e-03 3.61580675e+01] [ 3.65634843e-02 -1.03016866e-03 9.99330801e-01 2.31968214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.419254154 meters Centerline goodness : 0.998775 with order 1 Centerline is valid? [True, True] Translation: X:635.75, Y:36.16, Z:23.20 [[ 9.95473163e-01 -8.77458637e-02 -3.65218562e-02 6.35745716e+02] [ 8.77305141e-02 9.96142185e-01 -2.02574641e-03 3.61609922e+01] [ 3.65587125e-02 -1.18750504e-03 9.99330801e-01 2.31993180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.4792541539999 meters Centerline goodness : 0.999028 with order 1 Centerline is valid? [True, True] Translation: X:635.81, Y:36.16, Z:23.20 [[ 9.95256789e-01 -9.01668790e-02 -3.65220064e-02 6.35806814e+02] [ 9.01532561e-02 9.95925850e-01 -2.02303456e-03 3.61644277e+01] [ 3.65556209e-02 -1.27913891e-03 9.99330801e-01 2.32011663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.539254154 meters Centerline goodness : 0.999156 with order 1 Centerline is valid? [True, True] Translation: X:635.87, Y:36.17, Z:23.20 [[ 9.94374398e-01 -9.94268149e-02 -3.65221173e-02 6.35869144e+02] [ 9.94194937e-02 9.95043557e-01 -2.02103089e-03 3.61666680e+01] [ 3.65420421e-02 -1.62134903e-03 9.99330801e-01 2.32033636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.5992541539999 meters Centerline goodness : 0.998713 with order 1 Centerline is valid? [True, True] Translation: X:635.93, Y:36.17, Z:23.21 [[ 9.93270808e-01 -1.09905533e-01 -3.65222670e-02 6.35930957e+02] [ 1.09905366e-01 9.93940007e-01 -2.01832051e-03 3.61708597e+01] [ 3.65227669e-02 -2.00925430e-03 9.99330801e-01 2.32052590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.659254154 meters Centerline goodness : 0.998776 with order 1 Centerline is valid? [True, True] Translation: X:635.99, Y:36.17, Z:23.21 [[ 9.92684167e-01 -1.15083702e-01 -3.65224151e-02 6.35993168e+02] [ 1.15087124e-01 9.93353357e-01 -2.01563788e-03 3.61749419e+01] [ 3.65116307e-02 -2.20236792e-03 9.99330801e-01 2.32067035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.7192541539999 meters Centerline goodness : 0.998756 with order 1 Centerline is valid? [True, True] Translation: X:636.06, Y:36.18, Z:23.21 [[ 9.92731162e-01 -1.14677551e-01 -3.65225983e-02 6.36055612e+02] [ 1.14680821e-01 9.93400352e-01 -2.01231276e-03 3.61798775e+01] [ 3.65123291e-02 -2.19075596e-03 9.99330801e-01 2.32085931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.779254154 meters Centerline goodness : 0.999029 with order 1 Centerline is valid? [True, True] Translation: X:636.12, Y:36.19, Z:23.21 [[ 9.93288329e-01 -1.09746882e-01 -3.65228219e-02 6.36118257e+02] [ 1.09746979e-01 9.93957528e-01 -2.00824640e-03 3.61864972e+01] [ 3.65225326e-02 -2.01350164e-03 9.99330801e-01 2.32104993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.839254154 meters Centerline goodness : 0.998861 with order 1 Centerline is valid? [True, True] Translation: X:636.18, Y:36.19, Z:23.21 [[ 9.94241194e-01 -1.00749769e-01 -3.65230470e-02 6.36179801e+02] [ 1.00743958e-01 9.94910367e-01 -2.00414465e-03 3.61942768e+01] [ 3.65390752e-02 -1.68687312e-03 9.99330801e-01 2.32123569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.899254154 meters Centerline goodness : 0.998834 with order 1 Centerline is valid? [True, True] Translation: X:636.24, Y:36.20, Z:23.21 [[ 9.95402525e-01 -8.85430363e-02 -3.65231957e-02 6.36241210e+02] [ 8.85291137e-02 9.96071579e-01 -2.00143123e-03 3.62015159e+01] [ 3.65569300e-02 -1.24113644e-03 9.99330801e-01 2.32143693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.959254154 meters Centerline goodness : 0.999043 with order 1 Centerline is valid? [True, True] Translation: X:636.30, Y:36.21, Z:23.22 [[ 9.96270291e-01 -7.81764192e-02 -3.65233423e-02 6.36302095e+02] [ 7.81556309e-02 9.96939167e-01 -1.99875199e-03 3.62111426e+01] [ 3.65678057e-02 -8.63207627e-04 9.99330801e-01 2.32168185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.019254154 meters Centerline goodness : 0.999234 with order 1 Centerline is valid? [True, True] Translation: X:636.36, Y:36.22, Z:23.22 [[ 9.96799366e-01 -7.11130231e-02 -3.65234504e-02 6.36364047e+02] [ 7.10875668e-02 9.97468080e-01 -1.99677500e-03 3.62173734e+01] [ 3.65729726e-02 -6.05979159e-04 9.99330801e-01 2.32190002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.079254154 meters Centerline goodness : 0.999189 with order 1 Centerline is valid? [True, True] Translation: X:636.42, Y:36.22, Z:23.22 [[ 9.97361016e-01 -6.27457664e-02 -3.65235927e-02 6.36424867e+02] [ 6.27147949e-02 9.98029497e-01 -1.99416792e-03 3.62234019e+01] [ 3.65767485e-02 -3.01664279e-04 9.99330801e-01 2.32202428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.139254154 meters Centerline goodness : 0.999083 with order 1 Centerline is valid? [True, True] Translation: X:636.48, Y:36.23, Z:23.22 [[ 9.97652878e-01 -5.79202590e-02 -3.65236632e-02 6.36484138e+02] [ 5.78861013e-02 9.98321205e-01 -1.99287615e-03 3.62283033e+01] [ 3.65777753e-02 -1.26013840e-04 9.99330801e-01 2.32209268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.199254154 meters Centerline goodness : 0.999102 with order 1 Centerline is valid? [True, True] Translation: X:636.54, Y:36.22, Z:23.22 [[ 9.98000831e-01 -5.15787693e-02 -3.65235936e-02 6.36543810e+02] [ 5.15403183e-02 9.98668924e-01 -1.99415156e-03 3.62249674e+01] [ 3.65778338e-02 1.07727272e-04 9.99330801e-01 2.32175900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.259254154 meters Centerline goodness : 0.999018 with order 1 Centerline is valid? [True, True] Translation: X:636.60, Y:36.23, Z:23.23 [[ 9.97592106e-01 -5.89578055e-02 -3.65235158e-02 6.36601475e+02] [ 5.89242441e-02 9.98260463e-01 -1.99557446e-03 3.62309843e+01] [ 3.65776365e-02 -1.61351229e-04 9.99330801e-01 2.32270884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.319254154 meters Centerline goodness : 0.998979 with order 1 Centerline is valid? [True, True] Translation: X:636.66, Y:36.23, Z:23.23 [[ 9.97176538e-01 -6.56126785e-02 -3.65229796e-02 6.36660488e+02] [ 6.55832196e-02 9.97845088e-01 -2.00534134e-03 3.62324102e+01] [ 3.65758516e-02 -3.95615253e-04 9.99330801e-01 2.32279995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.379254154 meters Centerline goodness : 0.998959 with order 1 Centerline is valid? [True, True] Translation: X:636.72, Y:36.23, Z:23.23 [[ 9.96893832e-01 -6.97765343e-02 -3.65229050e-02 6.36719624e+02] [ 6.97498180e-02 9.97562497e-01 -2.00669897e-03 3.62307344e+01] [ 3.65739008e-02 -5.47000150e-04 9.99330801e-01 2.32308650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.439254154 meters Centerline goodness : 0.999110 with order 1 Centerline is valid? [True, True] Translation: X:636.78, Y:36.23, Z:23.23 [[ 9.96664044e-01 -7.29853590e-02 -3.65228686e-02 6.36779827e+02] [ 7.29607711e-02 9.97332791e-01 -2.00736087e-03 3.62295363e+01] [ 3.65719624e-02 -6.64072248e-04 9.99330801e-01 2.32325053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.499254154 meters Centerline goodness : 0.998984 with order 1 Centerline is valid? [True, True] Translation: X:636.84, Y:36.23, Z:23.23 [[ 9.96198419e-01 -7.90872253e-02 -3.65228686e-02 6.36840672e+02] [ 7.90667331e-02 9.96867304e-01 -2.00736087e-03 3.62257216e+01] [ 3.65672102e-02 -8.88014170e-04 9.99330801e-01 2.32321389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.559254154 meters Centerline goodness : 0.998817 with order 1 Centerline is valid? [True, True] Translation: X:636.90, Y:36.23, Z:23.24 [[ 9.95722889e-01 -8.48646533e-02 -3.65228686e-02 6.36901374e+02] [ 8.48480415e-02 9.96391881e-01 -2.00736087e-03 3.62273126e+01] [ 3.65614437e-02 -1.10011870e-03 9.99330801e-01 2.32422138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.619254154 meters Centerline goodness : 0.999071 with order 1 Centerline is valid? [True, True] Translation: X:636.96, Y:36.23, Z:23.23 [[ 9.96016416e-01 -8.13472447e-02 -3.65229491e-02 6.36961921e+02] [ 8.13283238e-02 9.96685347e-01 -2.00589485e-03 3.62256008e+01] [ 3.65650622e-02 -9.72446033e-04 9.99330801e-01 2.32336982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.679254154 meters Centerline goodness : 0.998881 with order 1 Centerline is valid? [True, True] Translation: X:637.02, Y:36.23, Z:23.23 [[ 9.96334631e-01 -7.73522991e-02 -3.65229491e-02 6.37022432e+02] [ 7.73306958e-02 9.97003480e-01 -2.00589485e-03 3.62269899e+01] [ 3.65686679e-02 -8.25802562e-04 9.99330801e-01 2.32339149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.739254154 meters Centerline goodness : 0.999240 with order 1 Centerline is valid? [True, True] Translation: X:637.08, Y:36.23, Z:23.24 [[ 9.96493535e-01 -7.52774892e-02 -3.65230648e-02 6.37083649e+02] [ 7.52545705e-02 9.97162341e-01 -2.00378576e-03 3.62287751e+01] [ 3.65702648e-02 -7.51767999e-04 9.99330801e-01 2.32365965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.799254154 meters Centerline goodness : 0.998798 with order 1 Centerline is valid? [True, True] Translation: X:637.14, Y:36.23, Z:23.24 [[ 9.96414850e-01 -7.63119006e-02 -3.65231394e-02 6.37144181e+02] [ 7.62897259e-02 9.97083682e-01 -2.00242622e-03 3.62288923e+01] [ 3.65694352e-02 -7.91093065e-04 9.99330801e-01 2.32368424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.859254154 meters Centerline goodness : 0.998989 with order 1 Centerline is valid? [True, True] Translation: X:637.20, Y:36.23, Z:23.24 [[ 9.96237985e-01 -7.85871362e-02 -3.65231394e-02 6.37204479e+02] [ 7.85664890e-02 9.96906865e-01 -2.00242622e-03 3.62310378e+01] [ 3.65675333e-02 -8.74601759e-04 9.99330801e-01 2.32383292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.919254154 meters Centerline goodness : 0.998969 with order 1 Centerline is valid? [True, True] Translation: X:637.26, Y:36.23, Z:23.24 [[ 9.95799759e-01 -8.39577262e-02 -3.65231394e-02 6.37264630e+02] [ 8.39406859e-02 9.96468741e-01 -2.00242622e-03 3.62316889e+01] [ 3.65622858e-02 -1.07176182e-03 9.99330801e-01 2.32393223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.9792541539999 meters Centerline goodness : 0.998613 with order 1 Centerline is valid? [True, True] Translation: X:637.33, Y:36.23, Z:23.24 [[ 9.95441575e-01 -8.81029616e-02 -3.65231394e-02 6.37325471e+02] [ 8.80887067e-02 9.96110621e-01 -2.00242622e-03 3.62326341e+01] [ 3.65575067e-02 -1.22397780e-03 9.99330801e-01 2.32370510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.039254154 meters Centerline goodness : 0.999034 with order 1 Centerline is valid? [True, True] Translation: X:637.38, Y:36.23, Z:23.24 [[ 9.94886736e-01 -9.41617905e-02 -3.65231394e-02 6.37384594e+02] [ 9.41516092e-02 9.95555857e-01 -2.00242622e-03 3.62337318e+01] [ 3.65493773e-02 -1.44652505e-03 9.99330801e-01 2.32405082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.0992541539999 meters Centerline goodness : 0.998863 with order 1 Centerline is valid? [True, True] Translation: X:637.45, Y:36.24, Z:23.24 [[ 9.94679485e-01 -9.63264329e-02 -3.65231593e-02 6.37446922e+02] [ 9.63177209e-02 9.95348627e-01 -2.00206308e-03 3.62369621e+01] [ 3.65461280e-02 -1.52641639e-03 9.99330801e-01 2.32431313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.159254154 meters Centerline goodness : 0.999010 with order 1 Centerline is valid? [True, True] Translation: X:637.51, Y:36.24, Z:23.25 [[ 9.94853306e-01 -9.45142675e-02 -3.65233067e-02 6.37508831e+02] [ 9.45044353e-02 9.95522433e-01 -1.99936906e-03 3.62422650e+01] [ 3.65487401e-02 -1.46253556e-03 9.99330801e-01 2.32474093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.2192541539999 meters Centerline goodness : 0.998859 with order 1 Centerline is valid? [True, True] Translation: X:637.57, Y:36.25, Z:23.25 [[ 9.95138132e-01 -9.14665769e-02 -3.65234534e-02 6.37570609e+02] [ 9.14547935e-02 9.95807227e-01 -1.99668635e-03 3.62468346e+01] [ 3.65529489e-02 -1.35326616e-03 9.99330801e-01 2.32515024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.279254154 meters Centerline goodness : 0.998902 with order 1 Centerline is valid? [True, True] Translation: X:637.63, Y:36.25, Z:23.26 [[ 9.95547352e-01 -8.68993507e-02 -3.65236011e-02 6.37631562e+02] [ 8.68845964e-02 9.96216388e-01 -1.99398088e-03 3.62521546e+01] [ 3.65586856e-02 -1.18823596e-03 9.99330801e-01 2.32561016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.339254154 meters Centerline goodness : 0.999053 with order 1 Centerline is valid? [True, True] Translation: X:637.69, Y:36.26, Z:23.26 [[ 9.95654386e-01 -8.56642589e-02 -3.65236753e-02 6.37692351e+02] [ 8.56487245e-02 9.96323404e-01 -1.99262118e-03 3.62558048e+01] [ 3.65600889e-02 -1.14424418e-03 9.99330801e-01 2.32559631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.399254154 meters Centerline goodness : 0.999091 with order 1 Centerline is valid? [True, True] Translation: X:637.75, Y:36.26, Z:23.26 [[ 9.95762936e-01 -8.43930649e-02 -3.65237851e-02 6.37753750e+02] [ 8.43767503e-02 9.96431935e-01 -1.99060530e-03 3.62606696e+01] [ 3.65614592e-02 -1.09958733e-03 9.99330801e-01 2.32610730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.459254154 meters Centerline goodness : 0.998709 with order 1 Centerline is valid? [True, True] Translation: X:637.82, Y:36.26, Z:23.26 [[ 9.96121927e-01 -8.00444534e-02 -3.65238571e-02 6.37815622e+02] [ 8.00252663e-02 9.96790850e-01 -1.98928387e-03 3.62607560e+01] [ 3.65658777e-02 -9.41262113e-04 9.99330801e-01 2.32582242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.519254154 meters Centerline goodness : 0.999132 with order 1 Centerline is valid? [True, True] Translation: X:637.88, Y:36.27, Z:23.26 [[ 9.95560918e-01 -8.67436548e-02 -3.65239319e-02 6.37875237e+02] [ 8.67290184e-02 9.96229956e-01 -1.98791003e-03 3.62676708e+01] [ 3.65586737e-02 -1.18859922e-03 9.99330801e-01 2.32634835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.579254154 meters Centerline goodness : 0.999048 with order 1 Centerline is valid? [True, True] Translation: X:637.94, Y:36.27, Z:23.27 [[ 9.95219805e-01 -9.05733357e-02 -3.65241008e-02 6.37936817e+02] [ 9.05613874e-02 9.95888897e-01 -1.98480139e-03 3.62722597e+01] [ 3.65537166e-02 -1.33235959e-03 9.99330801e-01 2.32665303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.639254154 meters Centerline goodness : 0.999006 with order 1 Centerline is valid? [True, True] Translation: X:638.00, Y:36.28, Z:23.27 [[ 9.95172407e-01 -9.10925849e-02 -3.65242479e-02 6.37997750e+02] [ 9.10810850e-02 9.95841507e-01 -1.98209087e-03 3.62766621e+01] [ 3.65529159e-02 -1.35414599e-03 9.99330801e-01 2.32675858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.699254154 meters Centerline goodness : 0.998899 with order 1 Centerline is valid? [True, True] Translation: X:638.06, Y:36.28, Z:23.27 [[ 9.95370017e-01 -8.89072542e-02 -3.65243565e-02 6.38059641e+02] [ 8.88943586e-02 9.96039092e-01 -1.98008793e-03 3.62817731e+01] [ 3.65557311e-02 -1.27588909e-03 9.99330801e-01 2.32694427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.759254154 meters Centerline goodness : 0.999155 with order 1 Centerline is valid? [True, True] Translation: X:638.12, Y:36.29, Z:23.27 [[ 9.95636851e-01 -8.58674605e-02 -3.65245026e-02 6.38121747e+02] [ 8.58526209e-02 9.96305885e-01 -1.97738971e-03 3.62874376e+01] [ 3.65593703e-02 -1.16696220e-03 9.99330801e-01 2.32738292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.819254154 meters Centerline goodness : 0.999091 with order 1 Centerline is valid? [True, True] Translation: X:638.18, Y:36.29, Z:23.28 [[ 9.95807636e-01 -8.38635899e-02 -3.65246482e-02 6.38182230e+02] [ 8.38475025e-02 9.96476641e-01 -1.97469675e-03 3.62922679e+01] [ 3.65615639e-02 -1.09608243e-03 9.99330801e-01 2.32770703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.879254154 meters Centerline goodness : 0.999198 with order 1 Centerline is valid? [True, True] Translation: X:638.24, Y:36.30, Z:23.28 [[ 9.95815448e-01 -8.37707388e-02 -3.65247557e-02 6.38244226e+02] [ 8.37546620e-02 9.96484453e-01 -1.97270683e-03 3.62955592e+01] [ 3.65616063e-02 -1.09466663e-03 9.99330801e-01 2.32800893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.939254154 meters Centerline goodness : 0.998924 with order 1 Centerline is valid? [True, True] Translation: X:638.31, Y:36.30, Z:23.28 [[ 9.95785119e-01 -8.41304205e-02 -3.65249017e-02 6.38305785e+02] [ 8.41146845e-02 9.96454133e-01 -1.96999860e-03 3.62987410e+01] [ 3.65611261e-02 -1.11058529e-03 9.99330801e-01 2.32814598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.999254154 meters Centerline goodness : 0.998901 with order 1 Centerline is valid? [True, True] Translation: X:638.37, Y:36.30, Z:23.28 [[ 9.95844953e-01 -8.34191395e-02 -3.65250095e-02 6.38366327e+02] [ 8.34029990e-02 9.96513957e-01 -1.96799842e-03 3.63019253e+01] [ 3.65618505e-02 -1.08647404e-03 9.99330801e-01 2.32847575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.059254154 meters Centerline goodness : 0.999176 with order 1 Centerline is valid? [True, True] Translation: X:638.43, Y:36.31, Z:23.29 [[ 9.95800409e-01 -8.39491728e-02 -3.65250796e-02 6.38428343e+02] [ 8.39334360e-02 9.96469423e-01 -1.96669722e-03 3.63054858e+01] [ 3.65612275e-02 -1.10723753e-03 9.99330801e-01 2.32889530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.119254154 meters Centerline goodness : 0.998964 with order 1 Centerline is valid? [True, True] Translation: X:638.49, Y:36.31, Z:23.29 [[ 9.95763671e-01 -8.43837621e-02 -3.65252269e-02 6.38489222e+02] [ 8.43684177e-02 9.96432694e-01 -1.96395796e-03 3.63097087e+01] [ 3.65606563e-02 -1.12593761e-03 9.99330801e-01 2.32894095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.179254154 meters Centerline goodness : 0.999156 with order 1 Centerline is valid? [True, True] Translation: X:638.55, Y:36.31, Z:23.29 [[ 9.95854056e-01 -8.33102621e-02 -3.65253354e-02 6.38551625e+02] [ 8.32942706e-02 9.96523063e-01 -1.96193631e-03 3.63141867e+01] [ 3.65617886e-02 -1.08854894e-03 9.99330801e-01 2.32917570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.239254154 meters Centerline goodness : 0.999109 with order 1 Centerline is valid? [True, True] Translation: X:638.61, Y:36.32, Z:23.30 [[ 9.96334561e-01 -7.73520036e-02 -3.65254788e-02 6.38613295e+02] [ 7.73321086e-02 9.97003464e-01 -1.95926440e-03 3.63213704e+01] [ 3.65675819e-02 -8.72509458e-04 9.99330801e-01 2.32968524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.299254154 meters Centerline goodness : 0.998959 with order 1 Centerline is valid? [True, True] Translation: X:638.67, Y:36.33, Z:23.30 [[ 9.96503977e-01 -7.51378903e-02 -3.65256254e-02 6.38674595e+02] [ 7.51166092e-02 9.97172837e-01 -1.95652631e-03 3.63257016e+01] [ 3.65693708e-02 -7.93994885e-04 9.99330801e-01 2.32988156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.359254154 meters Centerline goodness : 0.998881 with order 1 Centerline is valid? [True, True] Translation: X:638.74, Y:36.33, Z:23.30 [[ 9.96620206e-01 -7.35801473e-02 -3.65256975e-02 6.38735472e+02] [ 7.35578701e-02 9.97289034e-01 -1.95517948e-03 3.63293679e+01] [ 3.65705400e-02 -7.38181135e-04 9.99330801e-01 2.33014253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.419254154 meters Centerline goodness : 0.999109 with order 1 Centerline is valid? [True, True] Translation: X:638.80, Y:36.33, Z:23.30 [[ 9.96603797e-01 -7.38020379e-02 -3.65257694e-02 6.38795977e+02] [ 7.37799589e-02 9.97272631e-01 -1.95383644e-03 3.63326804e+01] [ 3.65703472e-02 -7.47668950e-04 9.99330801e-01 2.33023162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.4792541539999 meters Centerline goodness : 0.999153 with order 1 Centerline is valid? [True, True] Translation: X:638.86, Y:36.34, Z:23.31 [[ 9.96448302e-01 -7.58725762e-02 -3.65258047e-02 6.38856848e+02] [ 7.58519111e-02 9.97117181e-01 -1.95317614e-03 3.63361478e+01] [ 3.65686999e-02 -8.24313039e-04 9.99330801e-01 2.33054497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.539254154 meters Centerline goodness : 0.999236 with order 1 Centerline is valid? [True, True] Translation: X:638.92, Y:36.34, Z:23.31 [[ 9.95947625e-01 -8.21838753e-02 -3.65258760e-02 6.38917899e+02] [ 8.21674970e-02 9.96616623e-01 -1.95184174e-03 3.63378438e+01] [ 3.65627051e-02 -1.05730766e-03 9.99330801e-01 2.33059833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.5992541539999 meters Centerline goodness : 0.999153 with order 1 Centerline is valid? [True, True] Translation: X:638.98, Y:36.34, Z:23.31 [[ 9.95480316e-01 -8.76629708e-02 -3.65259464e-02 6.38980240e+02] [ 8.76503223e-02 9.96149395e-01 -1.95052318e-03 3.63404664e+01] [ 3.65562881e-02 -1.25980354e-03 9.99330801e-01 2.33086160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.659254154 meters Centerline goodness : 0.998944 with order 1 Centerline is valid? [True, True] Translation: X:639.04, Y:36.34, Z:23.31 [[ 9.94814420e-01 -9.49216197e-02 -3.65260903e-02 6.39042576e+02] [ 9.49139508e-02 9.95483575e-01 -1.94782399e-03 3.63439816e+01] [ 3.65460136e-02 -1.52911215e-03 9.99330801e-01 2.33105144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.7192541539999 meters Centerline goodness : 0.999068 with order 1 Centerline is valid? [True, True] Translation: X:639.10, Y:36.35, Z:23.31 [[ 9.94439522e-01 -9.87718123e-02 -3.65262333e-02 6.39104418e+02] [ 9.87668321e-02 9.95108702e-01 -1.94513962e-03 3.63495842e+01] [ 3.65396976e-02 -1.67325663e-03 9.99330801e-01 2.33145311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.779254154 meters Centerline goodness : 0.999173 with order 1 Centerline is valid? [True, True] Translation: X:639.17, Y:36.36, Z:23.32 [[ 9.94452430e-01 -9.86417139e-02 -3.65263793e-02 6.39166681e+02] [ 9.86367468e-02 9.95121610e-01 -1.94239362e-03 3.63556912e+01] [ 3.65397904e-02 -1.67122517e-03 9.99330801e-01 2.33188590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.839254154 meters Centerline goodness : 0.999256 with order 1 Centerline is valid? [True, True] Translation: X:639.23, Y:36.36, Z:23.32 [[ 9.94555875e-01 -9.75931634e-02 -3.65265236e-02 6.39227862e+02] [ 9.75875903e-02 9.95225050e-01 -1.93967610e-03 3.63616663e+01] [ 3.65414104e-02 -1.63541916e-03 9.99330801e-01 2.33223394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.899254154 meters Centerline goodness : 0.999217 with order 1 Centerline is valid? [True, True] Translation: X:639.29, Y:36.37, Z:23.32 [[ 9.94621116e-01 -9.69259586e-02 -3.65266302e-02 6.39289834e+02] [ 9.69200103e-02 9.95290288e-01 -1.93766657e-03 3.63664397e+01] [ 3.65424105e-02 -1.61291729e-03 9.99330801e-01 2.33244554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.959254154 meters Centerline goodness : 0.999128 with order 1 Centerline is valid? [True, True] Translation: X:639.35, Y:36.37, Z:23.33 [[ 9.94583013e-01 -9.73161087e-02 -3.65267705e-02 6.39351670e+02] [ 9.73105200e-02 9.95252188e-01 -1.93501959e-03 3.63712081e+01] [ 3.65416568e-02 -1.62990141e-03 9.99330801e-01 2.33250639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.019254154 meters Centerline goodness : 0.999193 with order 1 Centerline is valid? [True, True] Translation: X:639.41, Y:36.37, Z:23.32 [[ 9.95050666e-01 -9.24118908e-02 -3.65269090e-02 6.39414331e+02] [ 9.24030993e-02 9.95719807e-01 -1.93240019e-03 3.63705814e+01] [ 3.65491435e-02 -1.45236351e-03 9.99330801e-01 2.33241363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.079254154 meters Centerline goodness : 0.999254 with order 1 Centerline is valid? [True, True] Translation: X:639.48, Y:36.38, Z:23.33 [[ 9.95108352e-01 -9.17885714e-02 -3.65270570e-02 6.39475254e+02] [ 9.17794634e-02 9.95777489e-01 -1.92959910e-03 3.63811020e+01] [ 3.65499362e-02 -1.43227351e-03 9.99330801e-01 2.33266384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.139254154 meters Centerline goodness : 0.999061 with order 1 Centerline is valid? [True, True] Translation: X:639.54, Y:36.38, Z:23.33 [[ 9.95838015e-01 -8.35009822e-02 -3.65271651e-02 6.39537729e+02] [ 8.34863789e-02 9.96507054e-01 -1.92755139e-03 3.63830435e+01] [ 3.65605301e-02 -1.12999179e-03 9.99330801e-01 2.33284890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.199254154 meters Centerline goodness : 0.999210 with order 1 Centerline is valid? [True, True] Translation: X:639.60, Y:36.39, Z:23.33 [[ 9.96371233e-01 -7.68773174e-02 -3.65273085e-02 6.39598712e+02] [ 7.68583653e-02 9.97040163e-01 -1.92482876e-03 3.63947807e+01] [ 3.65671693e-02 -8.89585222e-04 9.99330801e-01 2.33294303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.259254154 meters Centerline goodness : 0.999316 with order 1 Centerline is valid? [True, True] Translation: X:639.66, Y:36.40, Z:23.33 [[ 9.96700350e-01 -7.24855942e-02 -3.65274129e-02 6.39660883e+02] [ 7.24637670e-02 9.97369192e-01 -1.92284693e-03 3.63992601e+01] [ 3.65706949e-02 -7.30411728e-04 9.99330801e-01 2.33342596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.319254154 meters Centerline goodness : 0.999228 with order 1 Centerline is valid? [True, True] Translation: X:639.72, Y:36.41, Z:23.34 [[ 9.97597526e-01 -5.88635184e-02 -3.65275546e-02 6.39721057e+02] [ 5.88326553e-02 9.98266012e-01 -1.92015112e-03 3.64079977e+01] [ 3.65772431e-02 -2.33475017e-04 9.99330801e-01 2.33392801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.379254154 meters Centerline goodness : 0.999036 with order 1 Centerline is valid? [True, True] Translation: X:639.78, Y:36.41, Z:23.34 [[ 9.98151555e-01 -4.85716764e-02 -3.65275892e-02 6.39780697e+02] [ 4.85339447e-02 9.98819689e-01 -1.91949136e-03 3.64146748e+01] [ 3.65777082e-02 1.43115288e-04 9.99330801e-01 2.33424348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.439254154 meters Centerline goodness : 0.999270 with order 1 Centerline is valid? [True, True] Translation: X:639.84, Y:36.42, Z:23.34 [[ 9.98170624e-01 -4.81782681e-02 -3.65275205e-02 6.39838019e+02] [ 4.81402252e-02 9.98838740e-01 -1.92079771e-03 3.64185387e+01] [ 3.65776433e-02 1.58840780e-04 9.99330801e-01 2.33445963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.499254154 meters Centerline goodness : 0.999313 with order 1 Centerline is valid? [True, True] Translation: X:639.90, Y:36.42, Z:23.35 [[ 9.97911136e-01 -5.32836432e-02 -3.65269552e-02 6.39895443e+02] [ 5.32486271e-02 9.98579418e-01 -1.93148962e-03 3.64197508e+01] [ 3.65779824e-02 -1.75552144e-05 9.99330802e-01 2.33461500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.559254154 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:639.95, Y:36.42, Z:23.35 [[ 9.97154479e-01 -6.59451814e-02 -3.65263914e-02 6.39954079e+02] [ 6.59182618e-02 9.97823136e-01 -1.94209251e-03 3.64196589e+01] [ 3.65749501e-02 -4.71189986e-04 9.99330802e-01 2.33481241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.619254154 meters Centerline goodness : 0.999083 with order 1 Centerline is valid? [True, True] Translation: X:640.01, Y:36.42, Z:23.35 [[ 9.95997016e-01 -8.15831125e-02 -3.65258898e-02 6.40014062e+02] [ 8.15663439e-02 9.96666004e-01 -1.95148132e-03 3.64248853e+01] [ 3.65633206e-02 -1.03561372e-03 9.99330802e-01 2.33538241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.679254154 meters Centerline goodness : 0.998528 with order 1 Centerline is valid? [True, True] Translation: X:640.08, Y:36.43, Z:23.35 [[ 9.95530560e-01 -8.70905348e-02 -3.65259322e-02 6.40075351e+02] [ 8.70774956e-02 9.96199631e-01 -1.95068808e-03 3.64253999e+01] [ 3.65570066e-02 -1.23861711e-03 9.99330802e-01 2.33518126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.739254154 meters Centerline goodness : 0.999125 with order 1 Centerline is valid? [True, True] Translation: X:640.14, Y:36.43, Z:23.36 [[ 9.94818270e-01 -9.48812628e-02 -3.65261037e-02 6.40135327e+02] [ 9.48735797e-02 9.95487424e-01 -1.94747171e-03 3.64295110e+01] [ 3.65460554e-02 -1.52798177e-03 9.99330802e-01 2.33552968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.799254154 meters Centerline goodness : 0.999040 with order 1 Centerline is valid? [True, True] Translation: X:640.20, Y:36.43, Z:23.35 [[ 9.94840059e-01 -9.46525099e-02 -3.65261446e-02 6.40195998e+02] [ 9.46447010e-02 9.95509212e-01 -1.94670360e-03 3.64279539e+01] [ 3.65463738e-02 -1.52034731e-03 9.99330802e-01 2.33517398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.859254154 meters Centerline goodness : 0.999061 with order 1 Centerline is valid? [True, True] Translation: X:640.26, Y:36.43, Z:23.35 [[ 9.94488711e-01 -9.82753310e-02 -3.65261835e-02 6.40256616e+02] [ 9.82699862e-02 9.95157888e-01 -1.94597268e-03 3.64320994e+01] [ 3.65405608e-02 -1.65417969e-03 9.99330802e-01 2.33535294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.919254154 meters Centerline goodness : 0.998616 with order 1 Centerline is valid? [True, True] Translation: X:640.32, Y:36.43, Z:23.36 [[ 9.94314959e-01 -1.00017955e-01 -3.65262967e-02 6.40318325e+02] [ 1.00013861e-01 9.94984145e-01 -1.94384710e-03 3.64344318e+01] [ 3.65375057e-02 -1.72033970e-03 9.99330802e-01 2.33574073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.9792541539999 meters Centerline goodness : 0.999211 with order 1 Centerline is valid? [True, True] Translation: X:640.38, Y:36.44, Z:23.36 [[ 9.93920858e-01 -1.03861180e-01 -3.65264608e-02 6.40378903e+02] [ 1.03859787e-01 9.94590055e-01 -1.94075695e-03 3.64387450e+01] [ 3.65304240e-02 -1.86467162e-03 9.99330802e-01 2.33610177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.039254154 meters Centerline goodness : 0.999232 with order 1 Centerline is valid? [True, True] Translation: X:640.44, Y:36.44, Z:23.36 [[ 9.93664013e-01 -1.06290347e-01 -3.65265832e-02 6.40441098e+02] [ 1.06290674e-01 9.94333211e-01 -1.93845144e-03 3.64423630e+01] [ 3.65256334e-02 -1.95626570e-03 9.99330802e-01 2.33620327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.0992541539999 meters Centerline goodness : 0.999209 with order 1 Centerline is valid? [True, True] Translation: X:640.50, Y:36.45, Z:23.36 [[ 9.93476743e-01 -1.08026663e-01 -3.65267246e-02 6.40502882e+02] [ 1.08028256e-01 9.94145939e-01 -1.93578346e-03 3.64463009e+01] [ 3.65220112e-02 -2.02276253e-03 9.99330802e-01 2.33614788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.159254154 meters Centerline goodness : 0.999294 with order 1 Centerline is valid? [True, True] Translation: X:640.57, Y:36.44, Z:23.35 [[ 9.94723363e-01 -9.58708515e-02 -3.65268643e-02 6.40565972e+02] [ 9.58643591e-02 9.95392529e-01 -1.93314377e-03 3.64388018e+01] [ 3.65439000e-02 -1.57868116e-03 9.99330802e-01 2.33491473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.2192541539999 meters Centerline goodness : 0.999313 with order 1 Centerline is valid? [True, True] Translation: X:640.63, Y:36.46, Z:23.36 [[ 9.93529992e-01 -1.07535730e-01 -3.65270135e-02 6.40625688e+02] [ 1.07537193e-01 9.94199188e-01 -1.93032076e-03 3.64589132e+01] [ 3.65227056e-02 -2.01018094e-03 9.99330802e-01 2.33643521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.279254154 meters Centerline goodness : 0.999313 with order 1 Centerline is valid? [True, True] Translation: X:640.69, Y:36.47, Z:23.37 [[ 9.93784666e-01 -1.05156043e-01 -3.65273071e-02 6.40687623e+02] [ 1.05156108e-01 9.94453864e-01 -1.92474813e-03 3.64663248e+01] [ 3.65271206e-02 -1.92828425e-03 9.99330802e-01 2.33687666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.339254154 meters Centerline goodness : 0.999505 with order 1 Centerline is valid? [True, True] Translation: X:640.75, Y:36.47, Z:23.37 [[ 9.94101795e-01 -1.02114482e-01 -3.65274468e-02 6.40748037e+02] [ 1.02112596e-01 9.94770990e-01 -1.92209376e-03 3.64731392e+01] [ 3.65327180e-02 -1.81915557e-03 9.99330802e-01 2.33739777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.399254154 meters Centerline goodness : 0.999376 with order 1 Centerline is valid? [True, True] Translation: X:640.81, Y:36.48, Z:23.38 [[ 9.94221262e-01 -1.00944643e-01 -3.65275496e-02 6.40810423e+02] [ 1.00942042e-01 9.94890455e-01 -1.92013707e-03 3.64773093e+01] [ 3.65347380e-02 -1.77812435e-03 9.99330802e-01 2.33776612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.459254154 meters Centerline goodness : 0.999397 with order 1 Centerline is valid? [True, True] Translation: X:640.87, Y:36.48, Z:23.38 [[ 9.94381952e-01 -9.93491901e-02 -3.65276875e-02 6.40872662e+02] [ 9.93456111e-02 9.95051141e-01 -1.91751181e-03 3.64808077e+01] [ 3.65374203e-02 -1.72212629e-03 9.99330802e-01 2.33809189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.519254154 meters Centerline goodness : 0.999418 with order 1 Centerline is valid? [True, True] Translation: X:640.93, Y:36.48, Z:23.38 [[ 9.94116075e-01 -1.01975228e-01 -3.65278355e-02 6.40934586e+02] [ 1.01973520e-01 9.94785271e-01 -1.91468746e-03 3.64846924e+01] [ 3.65326034e-02 -1.82145037e-03 9.99330802e-01 2.33786537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.579254154 meters Centerline goodness : 0.999355 with order 1 Centerline is valid? [True, True] Translation: X:641.00, Y:36.49, Z:23.38 [[ 9.93723935e-01 -1.05728171e-01 -3.65280160e-02 6.40995751e+02] [ 1.05729116e-01 9.94393132e-01 -1.91123715e-03 3.64882925e+01] [ 3.65252799e-02 -1.96283274e-03 9.99330802e-01 2.33798275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.639254154 meters Centerline goodness : 0.999464 with order 1 Centerline is valid? [True, True] Translation: X:641.06, Y:36.49, Z:23.38 [[ 9.93641053e-01 -1.06504247e-01 -3.65281170e-02 6.41058692e+02] [ 1.06505786e-01 9.94310249e-01 -1.90930595e-03 3.64921543e+01] [ 3.65236303e-02 -1.99329103e-03 9.99330802e-01 2.33821918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.699254154 meters Centerline goodness : 0.999591 with order 1 Centerline is valid? [True, True] Translation: X:641.12, Y:36.50, Z:23.39 [[ 9.93876272e-01 -1.04286331e-01 -3.65283159e-02 6.41120975e+02] [ 1.04286516e-01 9.94545470e-01 -1.90549243e-03 3.64980196e+01] [ 3.65277879e-02 -1.91558709e-03 9.99330802e-01 2.33854943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.759254154 meters Centerline goodness : 0.999438 with order 1 Centerline is valid? [True, True] Translation: X:641.18, Y:36.51, Z:23.41 [[ 9.93808329e-01 -1.04931751e-01 -3.65285130e-02 6.41180154e+02] [ 1.04932509e-01 9.94477527e-01 -1.90170753e-03 3.65142293e+01] [ 3.65263347e-02 -1.94309574e-03 9.99330802e-01 2.34086215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.819254154 meters Centerline goodness : 0.999437 with order 1 Centerline is valid? [True, True] Translation: X:641.24, Y:36.51, Z:23.39 [[ 9.95084713e-01 -9.20438940e-02 -3.65285464e-02 6.41241584e+02] [ 9.20360034e-02 9.95753865e-01 -1.90106569e-03 3.65108793e+01] [ 3.65484227e-02 -1.47022001e-03 9.99330802e-01 2.33905752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.879254154 meters Centerline goodness : 0.999523 with order 1 Centerline is valid? [True, True] Translation: X:641.30, Y:36.52, Z:23.40 [[ 9.95282017e-01 -8.98852934e-02 -3.65286283e-02 6.41302076e+02] [ 8.98760091e-02 9.95951151e-01 -1.89949054e-03 3.65166539e+01] [ 3.65514656e-02 -1.39251855e-03 9.99330802e-01 2.33951915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.939254154 meters Centerline goodness : 0.999523 with order 1 Centerline is valid? [True, True] Translation: X:641.36, Y:36.52, Z:23.40 [[ 9.95399598e-01 -8.85736461e-02 -3.65287393e-02 6.41364626e+02] [ 8.85635584e-02 9.96068721e-01 -1.89735216e-03 3.65214145e+01] [ 3.65531901e-02 -1.34649157e-03 9.99330802e-01 2.33962303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.999254154 meters Centerline goodness : 0.999479 with order 1 Centerline is valid? [True, True] Translation: X:641.43, Y:36.53, Z:23.40 [[ 9.95449123e-01 -8.80152451e-02 -3.65289074e-02 6.41426144e+02] [ 8.80049009e-02 9.96118241e-01 -1.89411057e-03 3.65261284e+01] [ 3.65538216e-02 -1.32923217e-03 9.99330802e-01 2.33979466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.059254154 meters Centerline goodness : 0.999392 with order 1 Centerline is valid? [True, True] Translation: X:641.49, Y:36.53, Z:23.40 [[ 9.95579348e-01 -8.65297173e-02 -3.65290399e-02 6.41487777e+02] [ 8.65184683e-02 9.96248451e-01 -1.89155269e-03 3.65300959e+01] [ 3.65556749e-02 -1.27724579e-03 9.99330802e-01 2.34023352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.119254154 meters Centerline goodness : 0.999369 with order 1 Centerline is valid? [True, True] Translation: X:641.55, Y:36.53, Z:23.41 [[ 9.95949673e-01 -8.21575794e-02 -3.65291727e-02 6.41549812e+02] [ 8.21434868e-02 9.96618723e-01 -1.88898449e-03 3.65327627e+01] [ 3.65608518e-02 -1.11930012e-03 9.99330802e-01 2.34074327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.179254154 meters Centerline goodness : 0.999456 with order 1 Centerline is valid? [True, True] Translation: X:641.61, Y:36.54, Z:23.41 [[ 9.96064170e-01 -8.07575358e-02 -3.65293104e-02 6.41610691e+02] [ 8.07426004e-02 9.96733201e-01 -1.88631746e-03 3.65359305e+01] [ 3.65623108e-02 -1.07057828e-03 9.99330802e-01 2.34082251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.239254154 meters Centerline goodness : 0.999435 with order 1 Centerline is valid? [True, True] Translation: X:641.67, Y:36.54, Z:23.41 [[ 9.96389876e-01 -7.66343038e-02 -3.65294119e-02 6.41671447e+02] [ 7.66166717e-02 9.97058842e-01 -1.88435077e-03 3.65407961e+01] [ 3.65663790e-02 -9.21213928e-04 9.99330802e-01 2.34122843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.299254154 meters Centerline goodness : 0.999651 with order 1 Centerline is valid? [True, True] Translation: X:641.73, Y:36.55, Z:23.42 [[ 9.96428122e-01 -7.61353650e-02 -3.65295065e-02 6.41732821e+02] [ 7.61174652e-02 9.97097080e-01 -1.88251343e-03 3.65482138e+01] [ 3.65667902e-02 -9.04744125e-04 9.99330802e-01 2.34186378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.359254154 meters Centerline goodness : 0.999521 with order 1 Centerline is valid? [True, True] Translation: X:641.79, Y:36.55, Z:23.42 [[ 9.96489033e-01 -7.53339198e-02 -3.65295407e-02 6.41792976e+02] [ 7.53155062e-02 9.97157978e-01 -1.88185118e-03 3.65505319e+01] [ 3.65674901e-02 -8.75996780e-04 9.99330802e-01 2.34169786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.419254154 meters Centerline goodness : 0.999499 with order 1 Centerline is valid? [True, True] Translation: X:641.85, Y:36.55, Z:23.42 [[ 9.96662362e-01 -7.30049561e-02 -3.65296140e-02 6.41854997e+02] [ 7.29850315e-02 9.97331264e-01 -1.88042567e-03 3.65485616e+01] [ 3.65694065e-02 -7.91965547e-04 9.99330802e-01 2.34186575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.4792541539999 meters Centerline goodness : 0.999433 with order 1 Centerline is valid? [True, True] Translation: X:641.92, Y:36.55, Z:23.42 [[ 9.96506951e-01 -7.50964274e-02 -3.65297611e-02 6.41917515e+02] [ 7.50780114e-02 9.97175896e-01 -1.87756479e-03 3.65501327e+01] [ 3.65675956e-02 -8.71575454e-04 9.99330802e-01 2.34219282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.539254154 meters Centerline goodness : 0.999413 with order 1 Centerline is valid? [True, True] Translation: X:641.98, Y:36.55, Z:23.43 [[ 9.96251284e-01 -7.84152124e-02 -3.65298930e-02 6.41979384e+02] [ 7.83991189e-02 9.96920289e-01 -1.87499443e-03 3.65516273e+01] [ 3.65644196e-02 -9.95945816e-04 9.99330802e-01 2.34273585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.5992541539999 meters Centerline goodness : 0.999589 with order 1 Centerline is valid? [True, True] Translation: X:642.04, Y:36.55, Z:23.43 [[ 9.96000234e-01 -8.15419601e-02 -3.65300256e-02 6.42040207e+02] [ 8.15280613e-02 9.96669288e-01 -1.87240803e-03 3.65519131e+01] [ 3.65610344e-02 -1.11330333e-03 9.99330802e-01 2.34320227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.659254154 meters Centerline goodness : 0.999438 with order 1 Centerline is valid? [True, True] Translation: X:642.10, Y:36.55, Z:23.44 [[ 9.95838100e-01 -8.34986732e-02 -3.65301236e-02 6.42102616e+02] [ 8.34861591e-02 9.96507181e-01 -1.87049376e-03 3.65536218e+01] [ 3.65587143e-02 -1.18705076e-03 9.99330802e-01 2.34381634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.7192541539999 meters Centerline goodness : 0.999438 with order 1 Centerline is valid? [True, True] Translation: X:642.16, Y:36.55, Z:23.44 [[ 9.95578946e-01 -8.65338227e-02 -3.65302601e-02 6.42163638e+02] [ 8.65234461e-02 9.96248064e-01 -1.86782437e-03 3.65535410e+01] [ 3.65548309e-02 -1.30115737e-03 9.99330802e-01 2.34393793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.779254154 meters Centerline goodness : 0.999396 with order 1 Centerline is valid? [True, True] Translation: X:642.23, Y:36.55, Z:23.44 [[ 9.95407839e-01 -8.84803178e-02 -3.65303608e-02 6.42226057e+02] [ 8.84713218e-02 9.96076977e-01 -1.86585222e-03 3.65526339e+01] [ 3.65521426e-02 -1.37460538e-03 9.99330802e-01 2.34395049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.839254154 meters Centerline goodness : 0.999376 with order 1 Centerline is valid? [True, True] Translation: X:642.29, Y:36.55, Z:23.44 [[ 9.95488917e-01 -8.75633397e-02 -3.65304927e-02 6.42288508e+02] [ 8.75538220e-02 9.96158048e-01 -1.86326686e-03 3.65521835e+01] [ 3.65532982e-02 -1.34352274e-03 9.99330802e-01 2.34426497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.899254154 meters Centerline goodness : 0.999162 with order 1 Centerline is valid? [True, True] Translation: X:642.35, Y:36.55, Z:23.45 [[ 9.95766143e-01 -8.43522425e-02 -3.65306270e-02 6.42350286e+02] [ 8.43406634e-02 9.96435242e-01 -1.86062914e-03 3.65539996e+01] [ 3.65573524e-02 -1.22826581e-03 9.99330802e-01 2.34467585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.959254154 meters Centerline goodness : 0.999246 with order 1 Centerline is valid? [True, True] Translation: X:642.41, Y:36.56, Z:23.45 [[ 9.96580456e-01 -7.41140837e-02 -3.65307639e-02 6.42412588e+02] [ 7.40957274e-02 9.97249403e-01 -1.85793836e-03 3.65560030e+01] [ 3.65679819e-02 -8.55188469e-04 9.99330802e-01 2.34518821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.019254154 meters Centerline goodness : 0.999095 with order 1 Centerline is valid? [True, True] Translation: X:642.47, Y:36.56, Z:23.45 [[ 9.97442799e-01 -6.14276447e-02 -3.65309018e-02 6.42474712e+02] [ 6.14008777e-02 9.98111462e-01 -1.85522200e-03 3.65577191e+01] [ 3.65758738e-02 -3.92551611e-04 9.99330802e-01 2.34545076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.079254154 meters Centerline goodness : 0.999203 with order 1 Centerline is valid? [True, True] Translation: X:642.54, Y:36.56, Z:23.46 [[ 9.97924987e-01 -5.30207789e-02 -3.65310372e-02 6.42535368e+02] [ 5.29884762e-02 9.98593405e-01 -1.85255226e-03 3.65585174e+01] [ 3.65778766e-02 -8.70158033e-05 9.99330802e-01 2.34563156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.139254154 meters Centerline goodness : 0.999096 with order 1 Centerline is valid? [True, True] Translation: X:642.60, Y:36.56, Z:23.46 [[ 9.98024299e-01 -5.11173397e-02 -3.65310372e-02 6.42595418e+02] [ 5.10837622e-02 9.98692654e-01 -1.85255226e-03 3.65581801e+01] [ 3.65779761e-02 -1.72506457e-05 9.99330802e-01 2.34590465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.199254154 meters Centerline goodness : 0.999014 with order 1 Centerline is valid? [True, True] Translation: X:642.65, Y:36.55, Z:23.46 [[ 9.97891268e-01 -5.36516991e-02 -3.65309702e-02 6.42653417e+02] [ 5.36197707e-02 9.98559704e-01 -1.85387373e-03 3.65540974e+01] [ 3.65778182e-02 -1.08817840e-04 9.99330802e-01 2.34596653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.259254154 meters Centerline goodness : 0.999210 with order 1 Centerline is valid? [True, True] Translation: X:642.71, Y:36.55, Z:23.46 [[ 9.97468684e-01 -6.10059388e-02 -3.65308051e-02 6.42712311e+02] [ 6.09788196e-02 9.98137333e-01 -1.85712118e-03 3.65504455e+01] [ 3.65760558e-02 -3.75185149e-04 9.99330802e-01 2.34643896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.319254154 meters Centerline goodness : 0.998916 with order 1 Centerline is valid? [True, True] Translation: X:642.77, Y:36.55, Z:23.47 [[ 9.96903370e-01 -6.96362456e-02 -3.65303242e-02 6.42772442e+02] [ 6.96145694e-02 9.97572217e-01 -1.86653315e-03 3.65454877e+01] [ 3.65716148e-02 -6.82289601e-04 9.99330802e-01 2.34660174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.379254154 meters Centerline goodness : 0.998962 with order 1 Centerline is valid? [True, True] Translation: X:642.83, Y:36.54, Z:23.47 [[ 9.96445134e-01 -7.59120095e-02 -3.65302903e-02 6.42832855e+02] [ 7.58945209e-02 9.97114103e-01 -1.86719519e-03 3.65439913e+01] [ 3.65666102e-02 -9.11891322e-04 9.99330802e-01 2.34684785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.439254154 meters Centerline goodness : 0.999090 with order 1 Centerline is valid? [True, True] Translation: X:642.89, Y:36.54, Z:23.47 [[ 9.95573914e-01 -8.65916887e-02 -3.65302903e-02 6.42893801e+02] [ 8.65813740e-02 9.96243032e-01 -1.86719519e-03 3.65412221e+01] [ 3.65547308e-02 -1.30391191e-03 9.99330802e-01 2.34716571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.499254154 meters Centerline goodness : 0.998969 with order 1 Centerline is valid? [True, True] Translation: X:642.96, Y:36.54, Z:23.48 [[ 9.94565902e-01 -9.74895012e-02 -3.65303230e-02 6.42956371e+02] [ 9.74865384e-02 9.95235093e-01 -1.86655625e-03 3.65379259e+01] [ 3.65382290e-02 -1.70480153e-03 9.99330802e-01 2.34769537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.559254154 meters Centerline goodness : 0.998843 with order 1 Centerline is valid? [True, True] Translation: X:643.02, Y:36.53, Z:23.48 [[ 9.93728047e-01 -1.05688664e-01 -3.65304598e-02 6.43018774e+02] [ 1.05691318e-01 9.94397240e-01 -1.86387418e-03 3.65346385e+01] [ 3.65227788e-02 -2.00876840e-03 9.99330802e-01 2.34804996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.619254154 meters Centerline goodness : 0.998907 with order 1 Centerline is valid? [True, True] Translation: X:643.08, Y:36.53, Z:23.48 [[ 9.93172314e-01 -1.10789305e-01 -3.65305981e-02 6.43081151e+02] [ 1.10795495e-01 9.93841484e-01 -1.86116021e-03 3.65328537e+01] [ 3.65118204e-02 -2.19897291e-03 9.99330802e-01 2.34826787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.679254154 meters Centerline goodness : 0.998927 with order 1 Centerline is valid? [True, True] Translation: X:643.14, Y:36.53, Z:23.48 [[ 9.93021275e-01 -1.12134979e-01 -3.65307355e-02 6.43142854e+02] [ 1.12142174e-01 9.93690434e-01 -1.85845920e-03 3.65330020e+01] [ 3.65086407e-02 -2.25114658e-03 9.99330802e-01 2.34833516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.739254154 meters Centerline goodness : 0.999074 with order 1 Centerline is valid? [True, True] Translation: X:643.21, Y:36.53, Z:23.48 [[ 9.93243545e-01 -1.10148800e-01 -3.65308370e-02 6.43205575e+02] [ 1.10154730e-01 9.93912717e-01 -1.85646234e-03 3.65340686e+01] [ 3.65129505e-02 -2.18012526e-03 9.99330802e-01 2.34849522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.799254154 meters Centerline goodness : 0.998823 with order 1 Centerline is valid? [True, True] Translation: X:643.27, Y:36.54, Z:23.49 [[ 9.93954933e-01 -1.03532972e-01 -3.65310084e-02 6.43267515e+02] [ 1.03534571e-01 9.94624129e-01 -1.85308283e-03 3.65363181e+01] [ 3.65264776e-02 -1.94034146e-03 9.99330802e-01 2.34861276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.859254154 meters Centerline goodness : 0.998841 with order 1 Centerline is valid? [True, True] Translation: X:643.33, Y:36.54, Z:23.49 [[ 9.95166560e-01 -9.11536794e-02 -3.65311434e-02 6.43329378e+02] [ 9.11470464e-02 9.95835725e-01 -1.85041710e-03 3.65411765e+01] [ 3.65476901e-02 -1.48823261e-03 9.99330802e-01 2.34893392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.919254154 meters Centerline goodness : 0.999136 with order 1 Centerline is valid? [True, True] Translation: X:643.39, Y:36.55, Z:23.49 [[ 9.96109727e-01 -8.01927557e-02 -3.65312807e-02 6.43390909e+02] [ 8.01788560e-02 9.96778780e-01 -1.84770338e-03 3.65474529e+01] [ 3.65617778e-02 -1.08852098e-03 9.99330802e-01 2.34927174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.9792541539999 meters Centerline goodness : 0.999323 with order 1 Centerline is valid? [True, True] Translation: X:643.45, Y:36.55, Z:23.50 [[ 9.97357176e-01 -6.28022150e-02 -3.65314170e-02 6.43451006e+02] [ 6.27767438e-02 9.98025890e-01 -1.84500379e-03 3.65534433e+01] [ 3.65751703e-02 -4.53195632e-04 9.99330802e-01 2.34960197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.039254154 meters Centerline goodness : 0.999198 with order 1 Centerline is valid? [True, True] Translation: X:643.51, Y:36.56, Z:23.50 [[ 9.98149116e-01 -4.86188762e-02 -3.65314503e-02 6.43509395e+02] [ 4.85839262e-02 9.98817401e-01 -1.84434402e-03 3.65575628e+01] [ 3.65779182e-02 6.60890716e-05 9.99330802e-01 2.34992331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.0992541539999 meters Centerline goodness : 0.999303 with order 1 Centerline is valid? [True, True] Translation: X:643.57, Y:36.56, Z:23.50 [[ 9.98293566e-01 -4.55570383e-02 -3.65309763e-02 6.43566728e+02] [ 4.55196968e-02 9.98961722e-01 -1.85368618e-03 3.65606241e+01] [ 3.65774954e-02 1.87644022e-04 9.99330802e-01 2.35014494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.159254154 meters Centerline goodness : 0.999302 with order 1 Centerline is valid? [True, True] Translation: X:643.62, Y:36.56, Z:23.50 [[ 9.98470539e-01 -4.14983210e-02 -3.65304339e-02 6.43624966e+02] [ 4.14578747e-02 9.99138513e-01 -1.86431429e-03 3.65630384e+01] [ 3.65763293e-02 3.46988741e-04 9.99330802e-01 2.35037915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.2192541539999 meters Centerline goodness : 0.999492 with order 1 Centerline is valid? [True, True] Translation: X:643.68, Y:36.56, Z:23.50 [[ 9.98462868e-01 -4.16829092e-02 -3.65299436e-02 6.43684286e+02] [ 4.16422368e-02 9.99130829e-01 -1.87387165e-03 3.65617977e+01] [ 3.65763013e-02 3.49802697e-04 9.99330802e-01 2.35034639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.279254154 meters Centerline goodness : 0.999410 with order 1 Centerline is valid? [True, True] Translation: X:643.74, Y:36.56, Z:23.50 [[ 9.98220010e-01 -4.71424535e-02 -3.65294516e-02 6.43742162e+02] [ 4.71050853e-02 9.98888164e-01 -1.88341526e-03 3.65578348e+01] [ 3.65776256e-02 1.59339872e-04 9.99330802e-01 2.35041862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.339254154 meters Centerline goodness : 0.999286 with order 1 Centerline is valid? [True, True] Translation: X:643.80, Y:36.55, Z:23.51 [[ 9.97730481e-01 -5.65641114e-02 -3.65292787e-02 6.43800082e+02] [ 5.65329300e-02 9.98398952e-01 -1.88676254e-03 3.65539950e+01] [ 3.65775166e-02 -1.82626654e-04 9.99330802e-01 2.35057467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.399254154 meters Centerline goodness : 0.999392 with order 1 Centerline is valid? [True, True] Translation: X:643.86, Y:36.55, Z:23.51 [[ 9.97035246e-01 -6.77227418e-02 -3.65287270e-02 6.43856919e+02] [ 6.76986519e-02 9.97704010e-01 -1.89738352e-03 3.65490059e+01] [ 3.65733535e-02 -5.81187328e-04 9.99330802e-01 2.35066385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.459254154 meters Centerline goodness : 0.999270 with order 1 Centerline is valid? [True, True] Translation: X:643.92, Y:36.55, Z:23.51 [[ 9.96481141e-01 -7.54388145e-02 -3.65283549e-02 6.43915365e+02] [ 7.54196408e-02 9.97150064e-01 -1.90452021e-03 3.65458046e+01] [ 3.65679262e-02 -8.57136940e-04 9.99330802e-01 2.35070578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.519254154 meters Centerline goodness : 0.999457 with order 1 Centerline is valid? [True, True] Translation: X:643.97, Y:36.54, Z:23.51 [[ 9.95673851e-01 -8.54359577e-02 -3.65277910e-02 6.43974191e+02] [ 8.54231044e-02 9.96342925e-01 -1.91527521e-03 3.65423305e+01] [ 3.65578395e-02 -1.21332786e-03 9.99330802e-01 2.35085247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.579254154 meters Centerline goodness : 0.999249 with order 1 Centerline is valid? [True, True] Translation: X:644.03, Y:36.54, Z:23.51 [[ 9.95193889e-01 -9.08563754e-02 -3.65272928e-02 6.44034534e+02] [ 9.08468189e-02 9.95863018e-01 -1.92473065e-03 3.65389031e+01] [ 3.65510541e-02 -1.40290817e-03 9.99330802e-01 2.35124581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.639254154 meters Centerline goodness : 0.999522 with order 1 Centerline is valid? [True, True] Translation: X:644.09, Y:36.54, Z:23.51 [[ 9.94456040e-01 -9.86049734e-02 -3.65272928e-02 6.44094209e+02] [ 9.86006289e-02 9.95125224e-01 -1.92473065e-03 3.65402733e+01] [ 3.65390184e-02 -1.68755402e-03 9.99330802e-01 2.35129334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.699254154 meters Centerline goodness : 0.999376 with order 1 Centerline is valid? [True, True] Translation: X:644.16, Y:36.54, Z:23.51 [[ 9.94254385e-01 -1.00617982e-01 -3.65272565e-02 6.44155974e+02] [ 1.00614967e-01 9.94923576e-01 -1.92541833e-03 3.65431371e+01] [ 3.65355604e-02 -1.76083309e-03 9.99330802e-01 2.35139646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.759254154 meters Centerline goodness : 0.999459 with order 1 Centerline is valid? [True, True] Translation: X:644.22, Y:36.55, Z:23.52 [[ 9.94246475e-01 -1.00696084e-01 -3.65273290e-02 6.44215855e+02] [ 1.00693172e-01 9.94915666e-01 -1.92404225e-03 3.65471263e+01] [ 3.65353554e-02 -1.76508040e-03 9.99330802e-01 2.35155722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.819254154 meters Centerline goodness : 0.999541 with order 1 Centerline is valid? [True, True] Translation: X:644.28, Y:36.55, Z:23.51 [[ 9.94240410e-01 -1.00755910e-01 -3.65274415e-02 6.44275829e+02] [ 1.00753117e-01 9.94909602e-01 -1.92190466e-03 3.65515301e+01] [ 3.65351455e-02 -1.76941830e-03 9.99330802e-01 2.35139525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.879254154 meters Centerline goodness : 0.999290 with order 1 Centerline is valid? [True, True] Translation: X:644.34, Y:36.56, Z:23.52 [[ 9.94214278e-01 -1.01013443e-01 -3.65274415e-02 6.44336782e+02] [ 1.01010823e-01 9.94883471e-01 -1.92190466e-03 3.65566630e+01] [ 3.65346860e-02 -1.77888186e-03 9.99330802e-01 2.35169048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.939254154 meters Centerline goodness : 0.999415 with order 1 Centerline is valid? [True, True] Translation: X:644.40, Y:36.56, Z:23.52 [[ 9.94106725e-01 -1.02066451e-01 -3.65275213e-02 6.44397596e+02] [ 1.02064595e-01 9.94775920e-01 -1.92038592e-03 3.65637889e+01] [ 3.65327056e-02 -1.81909811e-03 9.99330802e-01 2.35154297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.999254154 meters Centerline goodness : 0.998977 with order 1 Centerline is valid? [True, True] Translation: X:644.46, Y:36.57, Z:23.52 [[ 9.94131534e-01 -1.01824477e-01 -3.65276325e-02 6.44458699e+02] [ 1.01822537e-01 9.94800729e-01 -1.91826872e-03 3.65720464e+01] [ 3.65330422e-02 -1.81232478e-03 9.99330802e-01 2.35195145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.059254154 meters Centerline goodness : 0.999019 with order 1 Centerline is valid? [True, True] Translation: X:644.52, Y:36.58, Z:23.52 [[ 9.94973088e-01 -9.32431260e-02 -3.65277028e-02 6.44520967e+02] [ 9.32354604e-02 9.95642242e-01 -1.91692994e-03 3.65789055e+01] [ 3.65472644e-02 -1.49838348e-03 9.99330802e-01 2.35235086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.119254154 meters Centerline goodness : 0.999310 with order 1 Centerline is valid? [True, True] Translation: X:644.58, Y:36.59, Z:23.53 [[ 9.95365301e-01 -8.89586063e-02 -3.65278485e-02 6.44581124e+02] [ 8.89481618e-02 9.96034417e-01 -1.91414822e-03 3.65906678e+01] [ 3.65532743e-02 -1.34380826e-03 9.99330802e-01 2.35284899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.179254154 meters Centerline goodness : 0.998786 with order 1 Centerline is valid? [True, True] Translation: X:644.64, Y:36.60, Z:23.53 [[ 9.96251782e-01 -7.84098226e-02 -3.65278842e-02 6.44641527e+02] [ 7.83923158e-02 9.96920751e-01 -1.91346817e-03 3.66009428e+01] [ 3.65654404e-02 -9.57209352e-04 9.99330802e-01 2.35336552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.239254154 meters Centerline goodness : 0.998932 with order 1 Centerline is valid? [True, True] Translation: X:644.70, Y:36.61, Z:23.54 [[ 9.96746601e-01 -7.18465210e-02 -3.65279553e-02 6.44701262e+02] [ 7.18246583e-02 9.97415441e-01 -1.91210832e-03 3.66085159e+01] [ 3.65709250e-02 -7.17720448e-04 9.99330802e-01 2.35360270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.299254154 meters Centerline goodness : 0.998742 with order 1 Centerline is valid? [True, True] Translation: X:644.76, Y:36.61, Z:23.54 [[ 9.96657066e-01 -7.30780468e-02 -3.65279553e-02 6.44759341e+02] [ 7.30570105e-02 9.97325933e-01 -1.91210832e-03 3.66131352e+01] [ 3.65700103e-02 -7.62906955e-04 9.99330802e-01 2.35360959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.359254154 meters Centerline goodness : 0.999034 with order 1 Centerline is valid? [True, True] Translation: X:644.82, Y:36.62, Z:23.54 [[ 9.96240094e-01 -7.85582013e-02 -3.65278507e-02 6.44818687e+02] [ 7.85407707e-02 9.96909065e-01 -1.91410536e-03 3.66179967e+01] [ 3.65653142e-02 -9.62017044e-04 9.99330802e-01 2.35362134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.419254154 meters Centerline goodness : 0.998760 with order 1 Centerline is valid? [True, True] Translation: X:644.88, Y:36.61, Z:23.53 [[ 9.96252611e-01 -7.83993384e-02 -3.65277827e-02 6.44879494e+02] [ 7.83817537e-02 9.96921578e-01 -1.91540165e-03 3.66145626e+01] [ 3.65655010e-02 -9.54887777e-04 9.99330802e-01 2.35328264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.4792541539999 meters Centerline goodness : 0.998634 with order 1 Centerline is valid? [True, True] Translation: X:644.94, Y:36.63, Z:23.54 [[ 9.95450698e-01 -8.79978964e-02 -3.65277827e-02 6.44939839e+02] [ 8.79867602e-02 9.96119803e-01 -1.91540165e-03 3.66262490e+01] [ 3.65545990e-02 -1.30727335e-03 9.99330802e-01 2.35420198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.539254154 meters Centerline goodness : 0.998760 with order 1 Centerline is valid? [True, True] Translation: X:645.00, Y:36.63, Z:23.54 [[ 9.95163845e-01 -9.11846327e-02 -3.65278545e-02 6.45000439e+02] [ 9.11756890e-02 9.95832983e-01 -1.91403206e-03 3.66305250e+01] [ 3.65501726e-02 -1.42567680e-03 9.99330802e-01 2.35445003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.5992541539999 meters Centerline goodness : 0.998553 with order 1 Centerline is valid? [True, True] Translation: X:645.06, Y:36.63, Z:23.55 [[ 9.95121831e-01 -9.16419632e-02 -3.65279612e-02 6.45062297e+02] [ 9.16334018e-02 9.95790974e-01 -1.91199303e-03 3.66296112e+01] [ 3.65494329e-02 -1.44451534e-03 9.99330802e-01 2.35451230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.659254154 meters Centerline goodness : 0.998912 with order 1 Centerline is valid? [True, True] Translation: X:645.12, Y:36.64, Z:23.55 [[ 9.94728768e-01 -9.58142896e-02 -3.65280752e-02 6.45123313e+02] [ 9.58086143e-02 9.95397942e-01 -1.90981347e-03 3.66378112e+01] [ 3.65429583e-02 -1.59995787e-03 9.99330802e-01 2.35499923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.7192541539999 meters Centerline goodness : 0.999100 with order 1 Centerline is valid? [True, True] Translation: X:645.18, Y:36.64, Z:23.55 [[ 9.95033954e-01 -9.25911522e-02 -3.65281862e-02 6.45184664e+02] [ 9.25833869e-02 9.95703107e-01 -1.90768682e-03 3.66429748e+01] [ 3.65478635e-02 -1.48369004e-03 9.99330802e-01 2.35525080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.779254154 meters Centerline goodness : 0.999101 with order 1 Centerline is valid? [True, True] Translation: X:645.25, Y:36.65, Z:23.55 [[ 9.95468373e-01 -8.77975088e-02 -3.65282919e-02 6.45246713e+02] [ 8.77865948e-02 9.96137482e-01 -1.90566215e-03 3.66485837e+01] [ 3.65545131e-02 -1.30966796e-03 9.99330802e-01 2.35538782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.839254154 meters Centerline goodness : 0.998870 with order 1 Centerline is valid? [True, True] Translation: X:645.31, Y:36.65, Z:23.56 [[ 9.95913566e-01 -8.25944435e-02 -3.65284290e-02 6.45308836e+02] [ 8.25801297e-02 9.96582611e-01 -1.90302933e-03 3.66539170e+01] [ 3.65607768e-02 -1.12126968e-03 9.99330802e-01 2.35554223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.899254154 meters Centerline goodness : 0.998953 with order 1 Centerline is valid? [True, True] Translation: X:645.37, Y:36.66, Z:23.56 [[ 9.96164732e-01 -7.95077973e-02 -3.65285712e-02 6.45371294e+02] [ 7.94915104e-02 9.96833732e-01 -1.90029645e-03 3.66587957e+01] [ 3.65640003e-02 -1.01070300e-03 9.99330802e-01 2.35568231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.959254154 meters Centerline goodness : 0.998952 with order 1 Centerline is valid? [True, True] Translation: X:645.43, Y:36.66, Z:23.56 [[ 9.96331985e-01 -7.73836441e-02 -3.65287120e-02 6.45432346e+02] [ 7.73660301e-02 9.97000951e-01 -1.89758676e-03 3.66639624e+01] [ 3.65660027e-02 -9.35455044e-04 9.99330802e-01 2.35580808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.019254154 meters Centerline goodness : 0.999054 with order 1 Centerline is valid? [True, True] Translation: X:645.49, Y:36.67, Z:23.56 [[ 9.96418064e-01 -7.62672209e-02 -3.65287810e-02 6.45493812e+02] [ 7.62489061e-02 9.97087012e-01 -1.89625654e-03 3.66694215e+01] [ 3.65669953e-02 -8.95815325e-04 9.99330802e-01 2.35605331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.079254154 meters Centerline goodness : 0.999032 with order 1 Centerline is valid? [True, True] Translation: X:645.56, Y:36.67, Z:23.56 [[ 9.96469202e-01 -7.55961174e-02 -3.65288495e-02 6.45555060e+02] [ 7.55774004e-02 9.97138138e-01 -1.89493563e-03 3.66737280e+01] [ 3.65675588e-02 -8.72510495e-04 9.99330802e-01 2.35628163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.139254154 meters Centerline goodness : 0.998715 with order 1 Centerline is valid? [True, True] Translation: X:645.62, Y:36.68, Z:23.57 [[ 9.96494835e-01 -7.52574347e-02 -3.65289172e-02 6.45616439e+02] [ 7.52385383e-02 9.97163766e-01 -1.89362969e-03 3.66781305e+01] [ 3.65678224e-02 -8.61390128e-04 9.99330802e-01 2.35657546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.199254154 meters Centerline goodness : 0.998840 with order 1 Centerline is valid? [True, True] Translation: X:645.68, Y:36.68, Z:23.57 [[ 9.96690839e-01 -7.26154593e-02 -3.65289837e-02 6.45677782e+02] [ 7.25948366e-02 9.97359719e-01 -1.89234652e-03 3.66815828e+01] [ 3.65699505e-02 -7.65731160e-04 9.99330802e-01 2.35704314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.259254154 meters Centerline goodness : 0.998712 with order 1 Centerline is valid? [True, True] Translation: X:645.74, Y:36.69, Z:23.57 [[ 9.97059526e-01 -6.73641596e-02 -3.65290518e-02 6.45737767e+02] [ 6.73400619e-02 9.97728290e-01 -1.89103036e-03 3.66855258e+01] [ 3.65734561e-02 -5.74398776e-04 9.99330802e-01 2.35740364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.319254154 meters Centerline goodness : 0.998736 with order 1 Centerline is valid? [True, True] Translation: X:645.80, Y:36.69, Z:23.58 [[ 9.97209731e-01 -6.51028314e-02 -3.65290854e-02 6.45797190e+02] [ 6.50772408e-02 9.97878439e-01 -1.89038279e-03 3.66888753e+01] [ 3.65746559e-02 -4.92103968e-04 9.99330802e-01 2.35763235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.379254154 meters Centerline goodness : 0.998883 with order 1 Centerline is valid? [True, True] Translation: X:645.86, Y:36.69, Z:23.58 [[ 9.97023617e-01 -6.78935704e-02 -3.65290213e-02 6.45857400e+02] [ 6.78698062e-02 9.97692393e-01 -1.89162044e-03 3.66899213e+01] [ 3.65731555e-02 -5.93227337e-04 9.99330802e-01 2.35772544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.439254154 meters Centerline goodness : 0.999075 with order 1 Centerline is valid? [True, True] Translation: X:645.92, Y:36.69, Z:23.58 [[ 9.96719874e-01 -7.22158337e-02 -3.65289864e-02 6.45916725e+02] [ 7.21949448e-02 9.97388745e-01 -1.89229274e-03 3.66901815e+01] [ 3.65702534e-02 -7.51122382e-04 9.99330802e-01 2.35760802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.499254154 meters Centerline goodness : 0.998929 with order 1 Centerline is valid? [True, True] Translation: X:645.98, Y:36.69, Z:23.58 [[ 9.96134948e-01 -7.98798902e-02 -3.65289981e-02 6.45977073e+02] [ 7.98641547e-02 9.96803961e-01 -1.89206823e-03 3.66905315e+01] [ 3.65633882e-02 -1.03260226e-03 9.99330802e-01 2.35786632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.559254154 meters Centerline goodness : 0.998844 with order 1 Centerline is valid? [True, True] Translation: X:646.04, Y:36.69, Z:23.58 [[ 9.95759254e-01 -8.44342394e-02 -3.65289981e-02 6.46038228e+02] [ 8.44215634e-02 9.96428331e-01 -1.89206823e-03 3.66926553e+01] [ 3.65582839e-02 -1.19979067e-03 9.99330802e-01 2.35814760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.619254154 meters Centerline goodness : 0.998929 with order 1 Centerline is valid? [True, True] Translation: X:646.10, Y:36.69, Z:23.58 [[ 9.95316926e-01 -8.94977363e-02 -3.65290696e-02 6.46099007e+02] [ 8.94885141e-02 9.95986060e-01 -1.89068627e-03 3.66930095e+01] [ 3.65516562e-02 -1.38710012e-03 9.99330802e-01 2.35830213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.679254154 meters Centerline goodness : 0.998909 with order 1 Centerline is valid? [True, True] Translation: X:646.16, Y:36.70, Z:23.59 [[ 9.94945572e-01 -9.35357046e-02 -3.65291755e-02 6.46160626e+02] [ 9.35292727e-02 9.95614739e-01 -1.88863731e-03 3.66953617e+01] [ 3.65456406e-02 -1.53745589e-03 9.99330802e-01 2.35864707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.739254154 meters Centerline goodness : 0.998788 with order 1 Centerline is valid? [True, True] Translation: X:646.22, Y:36.70, Z:23.59 [[ 9.94691823e-01 -9.61966090e-02 -3.65293097e-02 6.46222419e+02] [ 9.61920622e-02 9.95361005e-01 -1.88603799e-03 3.66982655e+01] [ 3.65412809e-02 -1.63780307e-03 9.99330802e-01 2.35901912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.799254154 meters Centerline goodness : 0.998784 with order 1 Centerline is valid? [True, True] Translation: X:646.28, Y:36.70, Z:23.59 [[ 9.94322610e-01 -9.99407133e-02 -3.65294483e-02 6.46284460e+02] [ 9.99387845e-02 9.94991805e-01 -1.88334962e-03 3.66995806e+01] [ 3.65347251e-02 -1.77805155e-03 9.99330802e-01 2.35915957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.859254154 meters Centerline goodness : 0.998866 with order 1 Centerline is valid? [True, True] Translation: X:646.35, Y:36.70, Z:23.59 [[ 9.94042945e-01 -1.02685022e-01 -3.65295846e-02 6.46346084e+02] [ 1.02685037e-01 9.94712142e-01 -1.88070357e-03 3.67026344e+01] [ 3.65295414e-02 -1.88154163e-03 9.99330802e-01 2.35936089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.919254154 meters Centerline goodness : 0.998820 with order 1 Centerline is valid? [True, True] Translation: X:646.41, Y:36.71, Z:23.59 [[ 9.93998810e-01 -1.03111325e-01 -3.65297198e-02 6.46407799e+02] [ 1.03111724e-01 9.94668008e-01 -1.87807427e-03 3.67064078e+01] [ 3.65285943e-02 -1.89983878e-03 9.99330802e-01 2.35947534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.9792541539999 meters Centerline goodness : 0.999034 with order 1 Centerline is valid? [True, True] Translation: X:646.47, Y:36.71, Z:23.60 [[ 9.94411798e-01 -9.90492113e-02 -3.65298558e-02 6.46468840e+02] [ 9.90469729e-02 9.95080992e-01 -1.87542424e-03 3.67109469e+01] [ 3.65359244e-02 -1.75322765e-03 9.99330802e-01 2.35967763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.039254154 meters Centerline goodness : 0.998715 with order 1 Centerline is valid? [True, True] Translation: X:646.53, Y:36.72, Z:23.60 [[ 9.95226867e-01 -9.04932999e-02 -3.65300701e-02 6.46530426e+02] [ 9.04854596e-02 9.95896019e-01 -1.87124149e-03 3.67167365e+01] [ 3.65494862e-02 -1.44313037e-03 9.99330802e-01 2.35999521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.0992541539999 meters Centerline goodness : 0.998756 with order 1 Centerline is valid? [True, True] Translation: X:646.59, Y:36.72, Z:23.60 [[ 9.95858283e-01 -8.32575787e-02 -3.65302056e-02 6.46592003e+02] [ 8.32449723e-02 9.96527362e-01 -1.86859172e-03 3.67219442e+01] [ 3.65589238e-02 -1.18010341e-03 9.99330802e-01 2.36032210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.159254154 meters Centerline goodness : 0.998863 with order 1 Centerline is valid? [True, True] Translation: X:646.65, Y:36.73, Z:23.60 [[ 9.96701203e-01 -7.24723734e-02 -3.65303452e-02 6.46652823e+02] [ 7.24526250e-02 9.97370110e-01 -1.86585870e-03 3.67272933e+01] [ 3.65694976e-02 -7.87015788e-04 9.99330802e-01 2.36043225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.2192541539999 meters Centerline goodness : 0.998923 with order 1 Centerline is valid? [True, True] Translation: X:646.71, Y:36.73, Z:23.61 [[ 9.97394370e-01 -6.22092261e-02 -3.65305654e-02 6.46712944e+02] [ 6.21827518e-02 9.98063044e-01 -1.86153707e-03 3.67323015e+01] [ 3.65756121e-02 -4.14884492e-04 9.99330802e-01 2.36064798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.279254154 meters Centerline goodness : 0.999028 with order 1 Centerline is valid? [True, True] Translation: X:646.77, Y:36.74, Z:23.61 [[ 9.97765678e-01 -5.59389874e-02 -3.65305654e-02 6.46771030e+02] [ 5.59083107e-02 9.98434172e-01 -1.86153707e-03 3.67351711e+01] [ 3.65774973e-02 -1.84984411e-04 9.99330802e-01 2.36096092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.339254154 meters Centerline goodness : 0.998671 with order 1 Centerline is valid? [True, True] Translation: X:646.83, Y:36.73, Z:23.61 [[ 9.97768579e-01 -5.58873158e-02 -3.65304005e-02 6.46829387e+02] [ 5.58564863e-02 9.98437066e-01 -1.86476829e-03 3.67345404e+01] [ 3.65775228e-02 -1.79852601e-04 9.99330802e-01 2.36113947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.399254154 meters Centerline goodness : 0.999009 with order 1 Centerline is valid? [True, True] Translation: X:646.89, Y:36.73, Z:23.61 [[ 9.97462728e-01 -6.11037968e-02 -3.65298830e-02 6.46887005e+02] [ 6.10760939e-02 9.98131352e-01 -1.87485037e-03 3.67337403e+01] [ 3.65761820e-02 -3.61009202e-04 9.99330802e-01 2.36130811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.459254154 meters Centerline goodness : 0.999263 with order 1 Centerline is valid? [True, True] Translation: X:646.95, Y:36.73, Z:23.62 [[ 9.97127658e-01 -6.63478686e-02 -3.65293477e-02 6.46946146e+02] [ 6.63233019e-02 9.97796405e-01 -1.88522421e-03 3.67345231e+01] [ 3.65739324e-02 -5.42937755e-04 9.99330802e-01 2.36162234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.519254154 meters Centerline goodness : 0.999056 with order 1 Centerline is valid? [True, True] Translation: X:647.01, Y:36.73, Z:23.62 [[ 9.96723146e-01 -7.21707140e-02 -3.65288586e-02 6.47006098e+02] [ 7.21497083e-02 9.97392014e-01 -1.89465343e-03 3.67343478e+01] [ 3.65703303e-02 -7.47101559e-04 9.99330802e-01 2.36181815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.579254154 meters Centerline goodness : 0.998720 with order 1 Centerline is valid? [True, True] Translation: X:647.07, Y:36.73, Z:23.62 [[ 9.95955701e-01 -8.20846447e-02 -3.65287879e-02 6.47065912e+02] [ 8.20702455e-02 9.96624744e-01 -1.89601622e-03 3.67325692e+01] [ 3.65611277e-02 -1.10957842e-03 9.99330802e-01 2.36191046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.639254154 meters Centerline goodness : 0.998804 with order 1 Centerline is valid? [True, True] Translation: X:647.13, Y:36.73, Z:23.62 [[ 9.95152195e-01 -9.13113301e-02 -3.65287531e-02 6.47127188e+02] [ 9.13031074e-02 9.95821342e-01 -1.89668629e-03 3.67319401e+01] [ 3.65493008e-02 -1.44769713e-03 9.99330802e-01 2.36218454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.699254154 meters Centerline goodness : 0.999144 with order 1 Centerline is valid? [True, True] Translation: X:647.19, Y:36.73, Z:23.62 [[ 9.94430361e-01 -9.88630485e-02 -3.65288239e-02 6.47189134e+02] [ 9.88599556e-02 9.95099551e-01 -1.89532012e-03 3.67317327e+01] [ 3.65371934e-02 -1.72647404e-03 9.99330802e-01 2.36239175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.759254154 meters Centerline goodness : 0.999017 with order 1 Centerline is valid? [True, True] Translation: X:647.25, Y:36.73, Z:23.62 [[ 9.93836790e-01 -1.04661689e-01 -3.65289650e-02 6.47251009e+02] [ 1.04662600e-01 9.94505987e-01 -1.89259737e-03 3.67322962e+01] [ 3.65263568e-02 -1.94228355e-03 9.99330802e-01 2.36249152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.819254154 meters Centerline goodness : 0.998828 with order 1 Centerline is valid? [True, True] Translation: X:647.31, Y:36.74, Z:23.63 [[ 9.93373355e-01 -1.08972481e-01 -3.65291050e-02 6.47313009e+02] [ 1.08976394e-01 9.94042541e-01 -1.88989118e-03 3.67350483e+01] [ 3.65174305e-02 -2.10344259e-03 9.99330802e-01 2.36267524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.879254154 meters Centerline goodness : 0.998768 with order 1 Centerline is valid? [True, True] Translation: X:647.38, Y:36.74, Z:23.63 [[ 9.93264587e-01 -1.09959427e-01 -3.65292447e-02 6.47375291e+02] [ 1.09964103e-01 9.93933768e-01 -1.88718794e-03 3.67382964e+01] [ 3.65151639e-02 -2.14242869e-03 9.99330802e-01 2.36294166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.939254154 meters Centerline goodness : 0.998868 with order 1 Centerline is valid? [True, True] Translation: X:647.44, Y:36.74, Z:23.63 [[ 9.93660828e-01 -1.06319155e-01 -3.65293849e-02 6.47438032e+02] [ 1.06321479e-01 9.94330022e-01 -1.88446902e-03 3.67373672e+01] [ 3.65226193e-02 -2.01133519e-03 9.99330802e-01 2.36256029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.999254154 meters Centerline goodness : 0.998724 with order 1 Centerline is valid? [True, True] Translation: X:647.50, Y:36.75, Z:23.63 [[ 9.93377548e-01 -1.08934109e-01 -3.65295274e-02 6.47497659e+02] [ 1.08938296e-01 9.94046733e-01 -1.88170416e-03 3.67498560e+01] [ 3.65170391e-02 -2.11022178e-03 9.99330802e-01 2.36324195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.059254154 meters Centerline goodness : 0.998722 with order 1 Centerline is valid? [True, True] Translation: X:647.56, Y:36.76, Z:23.63 [[ 9.93649838e-01 -1.06421758e-01 -3.65295625e-02 6.47560016e+02] [ 1.06424278e-01 9.94319031e-01 -1.88102215e-03 3.67557472e+01] [ 3.65222208e-02 -2.01855496e-03 9.99330802e-01 2.36338683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.119254154 meters Centerline goodness : 0.998763 with order 1 Centerline is valid? [True, True] Translation: X:647.62, Y:36.76, Z:23.64 [[ 9.94018917e-01 -1.02917315e-01 -3.65296971e-02 6.47622312e+02] [ 1.02917571e-01 9.94688115e-01 -1.87840503e-03 3.67633448e+01] [ 3.65289759e-02 -1.89237755e-03 9.99330803e-01 2.36350712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.179254154 meters Centerline goodness : 0.998637 with order 1 Centerline is valid? [True, True] Translation: X:647.68, Y:36.77, Z:23.64 [[ 9.94317673e-01 -9.99896877e-02 -3.65298297e-02 6.47683980e+02] [ 9.99880677e-02 9.94986868e-01 -1.87582214e-03 3.67730938e+01] [ 3.65342637e-02 -1.78738398e-03 9.99330803e-01 2.36366645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.239254154 meters Centerline goodness : 0.998806 with order 1 Centerline is valid? [True, True] Translation: X:647.75, Y:36.78, Z:23.64 [[ 9.94819424e-01 -9.48676763e-02 -3.65299600e-02 6.47745763e+02] [ 9.48627032e-02 9.95488603e-01 -1.87328040e-03 3.67811013e+01] [ 3.65428726e-02 -1.60175503e-03 9.99330803e-01 2.36390203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.299254154 meters Centerline goodness : 0.998718 with order 1 Centerline is valid? [True, True] Translation: X:647.81, Y:36.79, Z:23.64 [[ 9.95216267e-01 -9.06097924e-02 -3.65300890e-02 6.47806980e+02] [ 9.06020480e-02 9.95885420e-01 -1.87076206e-03 3.67889056e+01] [ 3.65492924e-02 -1.44788804e-03 9.99330803e-01 2.36447522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.359254154 meters Centerline goodness : 0.998925 with order 1 Centerline is valid? [True, True] Translation: X:647.87, Y:36.80, Z:23.65 [[ 9.95977415e-01 -8.18201364e-02 -3.65301933e-02 6.47868737e+02] [ 8.18065596e-02 9.96646474e-01 -1.86872291e-03 3.67989792e+01] [ 3.65605875e-02 -1.12720362e-03 9.99330803e-01 2.36483645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.419254154 meters Centerline goodness : 0.999029 with order 1 Centerline is valid? [True, True] Translation: X:647.93, Y:36.81, Z:23.65 [[ 9.96812624e-01 -7.09233958e-02 -3.65303295e-02 6.47929757e+02] [ 7.09026007e-02 9.97481498e-01 -1.86605694e-03 3.68072819e+01] [ 3.65706749e-02 -7.29986248e-04 9.99330803e-01 2.36488510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.4792541539999 meters Centerline goodness : 0.998897 with order 1 Centerline is valid? [True, True] Translation: X:647.99, Y:36.82, Z:23.65 [[ 9.97412260e-01 -6.19218206e-02 -3.65304299e-02 6.47990793e+02] [ 6.18950602e-02 9.98080922e-01 -1.86408937e-03 3.68165837e+01] [ 3.65757530e-02 -4.01787569e-04 9.99330803e-01 2.36542345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.539254154 meters Centerline goodness : 0.998917 with order 1 Centerline is valid? [True, True] Translation: X:648.05, Y:36.82, Z:23.66 [[ 9.97586693e-01 -5.90450045e-02 -3.65304970e-02 6.48050646e+02] [ 5.90163638e-02 9.98255277e-01 -1.86277385e-03 3.68220169e+01] [ 3.65767489e-02 -2.97618701e-04 9.99330803e-01 2.36555943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.5992541539999 meters Centerline goodness : 0.999024 with order 1 Centerline is valid? [True, True] Translation: X:648.11, Y:36.82, Z:23.66 [[ 9.97492293e-01 -6.06189253e-02 -3.65304298e-02 6.48110238e+02] [ 6.05912914e-02 9.98160919e-01 -1.86409053e-03 3.68246963e+01] [ 3.65762465e-02 -3.54009978e-04 9.99330803e-01 2.36570772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.659254154 meters Centerline goodness : 0.999044 with order 1 Centerline is valid? [True, True] Translation: X:648.17, Y:36.83, Z:23.66 [[ 9.97171889e-01 -6.56791963e-02 -3.65303635e-02 6.48170176e+02] [ 6.56549077e-02 9.97840645e-01 -1.86538813e-03 3.68278557e+01] [ 3.65739987e-02 -5.38285046e-04 9.99330803e-01 2.36589985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.7192541539999 meters Centerline goodness : 0.999044 with order 1 Centerline is valid? [True, True] Translation: X:648.23, Y:36.83, Z:23.66 [[ 9.96753068e-01 -7.17555485e-02 -3.65302977e-02 6.48230914e+02] [ 7.17352891e-02 9.97421959e-01 -1.86667578e-03 3.68298678e+01] [ 3.65700655e-02 -7.59896658e-04 9.99330803e-01 2.36613109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.779254154 meters Centerline goodness : 0.999002 with order 1 Centerline is valid? [True, True] Translation: X:648.29, Y:36.83, Z:23.66 [[ 9.96492440e-01 -7.52884808e-02 -3.65302977e-02 6.48291759e+02] [ 7.52705927e-02 9.97161398e-01 -1.86667578e-03 3.68319689e+01] [ 3.65671419e-02 -8.89528861e-04 9.99330803e-01 2.36632604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.839254154 meters Centerline goodness : 0.999003 with order 1 Centerline is valid? [True, True] Translation: X:648.35, Y:36.83, Z:23.67 [[ 9.96239173e-01 -7.85687088e-02 -3.65303662e-02 6.48352803e+02] [ 7.85530723e-02 9.96908188e-01 -1.86533431e-03 3.68339011e+01] [ 3.65639781e-02 -1.01125339e-03 9.99330803e-01 2.36651769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.899254154 meters Centerline goodness : 0.998769 with order 1 Centerline is valid? [True, True] Translation: X:648.42, Y:36.84, Z:23.67 [[ 9.96248217e-01 -7.84539094e-02 -3.65304677e-02 6.48415226e+02] [ 7.84382686e-02 9.96917231e-01 -1.86334598e-03 3.68358631e+01] [ 3.65640394e-02 -1.00903152e-03 9.99330803e-01 2.36676530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.959254154 meters Centerline goodness : 0.998770 with order 1 Centerline is valid? [True, True] Translation: X:648.48, Y:36.83, Z:23.66 [[ 9.97200832e-01 -6.52381493e-02 -3.65305996e-02 6.48477071e+02] [ 6.52137346e-02 9.97869584e-01 -1.86075469e-03 3.68273596e+01] [ 3.65741665e-02 -5.26750706e-04 9.99330803e-01 2.36579835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.019254154 meters Centerline goodness : 0.999192 with order 1 Centerline is valid? [True, True] Translation: X:648.54, Y:36.84, Z:23.67 [[ 9.96968003e-01 -6.87045252e-02 -3.65306683e-02 6.48536759e+02] [ 6.86824850e-02 9.97636837e-01 -1.85940637e-03 3.68430879e+01] [ 3.65720900e-02 -6.55248421e-04 9.99330803e-01 2.36718122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.079254154 meters Centerline goodness : 0.998957 with order 1 Centerline is valid? [True, True] Translation: X:648.60, Y:36.85, Z:23.67 [[ 9.97435308e-01 -6.15493039e-02 -3.65306683e-02 6.48598186e+02] [ 6.15224652e-02 9.98103967e-01 -1.85940637e-03 3.68473238e+01] [ 3.65758501e-02 -3.92819202e-04 9.99330803e-01 2.36746002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.139254154 meters Centerline goodness : 0.998764 with order 1 Centerline is valid? [True, True] Translation: X:648.66, Y:36.85, Z:23.68 [[ 9.97823497e-01 -5.48978507e-02 -3.65307367e-02 6.48656904e+02] [ 5.48666037e-02 9.98491965e-01 -1.85806111e-03 3.68506226e+01] [ 3.65776506e-02 -1.50300417e-04 9.99330803e-01 2.36766485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.199254154 meters Centerline goodness : 0.998889 with order 1 Centerline is valid? [True, True] Translation: X:648.72, Y:36.85, Z:23.68 [[ 9.97991556e-01 -5.17529377e-02 -3.65306359e-02 6.48715836e+02] [ 5.17195118e-02 9.98659918e-01 -1.86004093e-03 3.68532098e+01] [ 3.65779444e-02 -3.30415108e-05 9.99330803e-01 2.36780036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.259254154 meters Centerline goodness : 0.998846 with order 1 Centerline is valid? [True, True] Translation: X:648.77, Y:36.85, Z:23.68 [[ 9.98098429e-01 -4.96494891e-02 -3.65301709e-02 6.48773816e+02] [ 4.96143220e-02 9.98766702e-01 -1.86912938e-03 3.68539599e+01] [ 3.65779196e-02 5.31554370e-05 9.99330803e-01 2.36799395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.319254154 meters Centerline goodness : 0.998810 with order 1 Centerline is valid? [True, True] Translation: X:648.83, Y:36.85, Z:23.68 [[ 9.98065242e-01 -5.03126057e-02 -3.65296305e-02 6.48833127e+02] [ 5.02774983e-02 9.98733518e-01 -1.87963138e-03 3.68536541e+01] [ 3.65779355e-02 3.93763161e-05 9.99330803e-01 2.36821036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.379254154 meters Centerline goodness : 0.998897 with order 1 Centerline is valid? [True, True] Translation: X:648.89, Y:36.85, Z:23.68 [[ 9.97985681e-01 -5.18671220e-02 -3.65291954e-02 6.48892407e+02] [ 5.18327473e-02 9.98653995e-01 -1.88805033e-03 3.68526330e+01] [ 3.65779546e-02 -9.16135739e-06 9.99330803e-01 2.36816994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.439254154 meters Centerline goodness : 0.999002 with order 1 Centerline is valid? [True, True] Translation: X:648.95, Y:36.85, Z:23.69 [[ 9.97859548e-01 -5.42399906e-02 -3.65286928e-02 6.48949760e+02] [ 5.42068510e-02 9.98527924e-01 -1.89772416e-03 3.68523049e+01] [ 3.65778523e-02 -8.64432314e-05 9.99330803e-01 2.36892607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.499254154 meters Centerline goodness : 0.998836 with order 1 Centerline is valid? [True, True] Translation: X:649.01, Y:36.85, Z:23.69 [[ 9.97646649e-01 -5.80244142e-02 -3.65284993e-02 6.49008128e+02] [ 5.79936739e-02 9.98315140e-01 -1.90144057e-03 3.68510203e+01] [ 3.65772839e-02 -2.21456061e-04 9.99330803e-01 2.36923630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.559254154 meters Centerline goodness : 0.999134 with order 1 Centerline is valid? [True, True] Translation: X:649.07, Y:36.85, Z:23.69 [[ 9.97389770e-01 -6.22844814e-02 -3.65279342e-02 6.49066566e+02] [ 6.22562009e-02 9.98058369e-01 -1.91223556e-03 3.68494301e+01] [ 3.65761131e-02 -3.66846230e-04 9.99330803e-01 2.36944028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.619254154 meters Centerline goodness : 0.999138 with order 1 Centerline is valid? [True, True] Translation: X:649.13, Y:36.85, Z:23.70 [[ 9.97112413e-01 -6.65776449e-02 -3.65274335e-02 6.49125566e+02] [ 6.65518944e-02 9.97781114e-01 -1.92175377e-03 3.68478677e+01] [ 3.65743291e-02 -5.14765358e-04 9.99330803e-01 2.36969625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.679254154 meters Centerline goodness : 0.999137 with order 1 Centerline is valid? [True, True] Translation: X:649.19, Y:36.84, Z:23.70 [[ 9.96897264e-01 -6.97253808e-02 -3.65269359e-02 6.49185356e+02] [ 6.97013969e-02 9.97566031e-01 -1.93116486e-03 3.68449029e+01] [ 3.65726817e-02 -6.20805491e-04 9.99330803e-01 2.36996418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.739254154 meters Centerline goodness : 0.999076 with order 1 Centerline is valid? [True, True] Translation: X:649.24, Y:36.84, Z:23.70 [[ 9.96975386e-01 -6.85993225e-02 -3.65268657e-02 6.49244733e+02] [ 6.85745347e-02 9.97644124e-01 -1.93249110e-03 3.68418556e+01] [ 3.65733805e-02 -5.78166755e-04 9.99330803e-01 2.36967032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.799254154 meters Centerline goodness : 0.999055 with order 1 Centerline is valid? [True, True] Translation: X:649.30, Y:36.84, Z:23.70 [[ 9.96867243e-01 -7.01534856e-02 -3.65265483e-02 6.49302795e+02] [ 7.01295212e-02 9.97536011e-01 -1.93847257e-03 3.68421087e+01] [ 3.65725379e-02 -6.29189541e-04 9.99330803e-01 2.37034560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.859254154 meters Centerline goodness : 0.999245 with order 1 Centerline is valid? [True, True] Translation: X:649.36, Y:36.84, Z:23.71 [[ 9.97019874e-01 -6.79501552e-02 -3.65259885e-02 6.49361553e+02] [ 6.79243285e-02 9.97688572e-01 -1.94896445e-03 3.68395307e+01] [ 3.65739937e-02 -5.37846946e-04 9.99330803e-01 2.37059746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.919254154 meters Centerline goodness : 0.999020 with order 1 Centerline is valid? [True, True] Translation: X:649.42, Y:36.84, Z:23.71 [[ 9.97125788e-01 -6.63780916e-02 -3.65254962e-02 6.49420593e+02] [ 6.63508743e-02 9.97794431e-01 -1.95814721e-03 3.68389440e+01] [ 3.65749148e-02 -4.70979529e-04 9.99330803e-01 2.37076373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.9792541539999 meters Centerline goodness : 0.999414 with order 1 Centerline is valid? [True, True] Translation: X:649.48, Y:36.84, Z:23.71 [[ 9.97145828e-01 -6.60766419e-02 -3.65249913e-02 6.49479958e+02] [ 6.60488792e-02 9.97814449e-01 -1.96752047e-03 3.68375555e+01] [ 3.65751712e-02 -4.50529907e-04 9.99330803e-01 2.37092525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.039254154 meters Centerline goodness : 0.999102 with order 1 Centerline is valid? [True, True] Translation: X:649.54, Y:36.84, Z:23.71 [[ 9.96963445e-01 -6.87739189e-02 -3.65244842e-02 6.49538275e+02] [ 6.87476220e-02 9.97632125e-01 -1.97688926e-03 3.68356622e+01] [ 3.65739572e-02 -5.40085105e-04 9.99330803e-01 2.37107078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.0992541539999 meters Centerline goodness : 0.999082 with order 1 Centerline is valid? [True, True] Translation: X:649.60, Y:36.84, Z:23.71 [[ 9.96534295e-01 -7.47355632e-02 -3.65238916e-02 6.49596660e+02] [ 7.47128672e-02 9.97203107e-01 -1.98777799e-03 3.68361947e+01] [ 3.65702958e-02 -7.47915720e-04 9.99330803e-01 2.37149207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.159254154 meters Centerline goodness : 0.999041 with order 1 Centerline is valid? [True, True] Translation: X:649.66, Y:36.84, Z:23.72 [[ 9.96229310e-01 -7.86969155e-02 -3.65233725e-02 6.49656225e+02] [ 7.86765309e-02 9.96898197e-01 -1.99727040e-03 3.68376435e+01] [ 3.65672632e-02 -8.83792929e-04 9.99330803e-01 2.37181215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.2192541539999 meters Centerline goodness : 0.998976 with order 1 Centerline is valid? [True, True] Translation: X:649.72, Y:36.84, Z:23.72 [[ 9.95633432e-01 -8.59076090e-02 -3.65232983e-02 6.49716271e+02] [ 8.58920180e-02 9.96302447e-01 -1.99862541e-03 3.68387795e+01] [ 3.65599486e-02 -1.14716153e-03 9.99330803e-01 2.37206202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.279254154 meters Centerline goodness : 0.999018 with order 1 Centerline is valid? [True, True] Translation: X:649.78, Y:36.83, Z:23.71 [[ 9.95790741e-01 -8.40645863e-02 -3.65232236e-02 6.49776680e+02] [ 8.40477070e-02 9.96459725e-01 -1.99999007e-03 3.68284412e+01] [ 3.65620497e-02 -1.07812160e-03 9.99330803e-01 2.37098998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.339254154 meters Centerline goodness : 0.999082 with order 1 Centerline is valid? [True, True] Translation: X:649.83, Y:36.84, Z:23.72 [[ 9.93701537e-01 -1.05940147e-01 -3.65231454e-02 6.49834976e+02] [ 1.05937930e-01 9.94370730e-01 -2.00141721e-03 3.68393130e+01] [ 3.65295772e-02 -1.88037505e-03 9.99330803e-01 2.37237233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.399254154 meters Centerline goodness : 0.999146 with order 1 Centerline is valid? [True, True] Translation: X:649.90, Y:36.84, Z:23.73 [[ 9.92553329e-01 -1.16206506e-01 -3.65231071e-02 6.49895870e+02] [ 1.16211180e-01 9.93222509e-01 -2.00211554e-03 3.68427752e+01] [ 3.65082309e-02 -2.25718694e-03 9.99330803e-01 2.37267824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.459254154 meters Centerline goodness : 0.999084 with order 1 Centerline is valid? [True, True] Translation: X:649.96, Y:36.85, Z:23.73 [[ 9.91979845e-01 -1.21004312e-01 -3.65231802e-02 6.49957163e+02] [ 1.21012271e-01 9.92648995e-01 -2.00078181e-03 3.68472008e+01] [ 3.64968013e-02 -2.43501774e-03 9.99330803e-01 2.37275644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.519254154 meters Centerline goodness : 0.998792 with order 1 Centerline is valid? [True, True] Translation: X:650.02, Y:36.84, Z:23.72 [[ 9.93026915e-01 -1.12087446e-01 -3.65232887e-02 6.50019293e+02] [ 1.12089466e-01 9.93696109e-01 -1.99879937e-03 3.68435223e+01] [ 3.65170901e-02 -2.10901434e-03 9.99330803e-01 2.37185145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.579254154 meters Centerline goodness : 0.999147 with order 1 Centerline is valid? [True, True] Translation: X:650.08, Y:36.86, Z:23.73 [[ 9.92248213e-01 -1.18783529e-01 -3.65233647e-02 6.50079182e+02] [ 1.18790114e-01 9.92917378e-01 -1.99740959e-03 3.68608656e+01] [ 3.65019428e-02 -2.35668853e-03 9.99330803e-01 2.37320316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.639254154 meters Centerline goodness : 0.999021 with order 1 Centerline is valid? [True, True] Translation: X:650.14, Y:36.86, Z:23.72 [[ 9.93609004e-01 -1.06804411e-01 -3.65234771e-02 6.50141661e+02] [ 1.06802998e-01 9.94278200e-01 -1.99535124e-03 3.68611382e+01] [ 3.65276094e-02 -1.91821787e-03 9.99330803e-01 2.37238846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.699254154 meters Centerline goodness : 0.998936 with order 1 Centerline is valid? [True, True] Translation: X:650.20, Y:36.88, Z:23.74 [[ 9.93154717e-01 -1.10949231e-01 -3.65236334e-02 6.50201651e+02] [ 1.10950715e-01 9.93823912e-01 -1.99248623e-03 3.68801282e+01] [ 3.65191251e-02 -2.07347614e-03 9.99330803e-01 2.37386292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.759254154 meters Centerline goodness : 0.999061 with order 1 Centerline is valid? [True, True] Translation: X:650.26, Y:36.89, Z:23.74 [[ 9.93756406e-01 -1.05424008e-01 -3.65237484e-02 6.50261972e+02] [ 1.05421848e-01 9.94425599e-01 -1.99037547e-03 3.68900247e+01] [ 3.65299838e-02 -1.87245268e-03 9.99330803e-01 2.37422305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.819254154 meters Centerline goodness : 0.998998 with order 1 Centerline is valid? [True, True] Translation: X:650.32, Y:36.90, Z:23.75 [[ 9.94313091e-01 -1.00037419e-01 -3.65238598e-02 6.50323321e+02] [ 1.00031707e-01 9.94982263e-01 -1.98833086e-03 3.68974341e+01] [ 3.65395001e-02 -1.67652063e-03 9.99330803e-01 2.37450784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.879254154 meters Centerline goodness : 0.998954 with order 1 Centerline is valid? [True, True] Translation: X:650.38, Y:36.91, Z:23.75 [[ 9.95172366e-01 -9.10931311e-02 -3.65240055e-02 6.50384634e+02] [ 9.10815011e-02 9.95841462e-01 -1.98564927e-03 3.69060665e+01] [ 3.65529981e-02 -1.35059797e-03 9.99330803e-01 2.37476132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.939254154 meters Centerline goodness : 0.997499 with order 1 Centerline is valid? [True, True] Translation: X:650.45, Y:36.92, Z:23.74 [[ 9.95983416e-01 -8.17497488e-02 -3.65241502e-02 6.50445485e+02] [ 8.17319377e-02 9.96652376e-01 -1.98298405e-03 3.69155164e+01] [ 3.65639896e-02 -1.01017034e-03 9.99330803e-01 2.37444128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.999254154 meters Centerline goodness : 0.999180 with order 1 Centerline is valid? [True, True] Translation: X:650.51, Y:36.92, Z:23.75 [[ 9.96402293e-01 -7.64751589e-02 -3.65242351e-02 6.50505100e+02] [ 7.64538635e-02 9.97071151e-01 -1.98141903e-03 3.69219837e+01] [ 3.65687905e-02 -8.18128427e-04 9.99330803e-01 2.37514551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.059254154 meters Centerline goodness : 0.998717 with order 1 Centerline is valid? [True, True] Translation: X:650.57, Y:36.92, Z:23.74 [[ 9.97133847e-01 -6.62576341e-02 -3.65241922e-02 6.50566720e+02] [ 6.62294548e-02 9.97802450e-01 -1.98220978e-03 3.69177236e+01] [ 3.65752650e-02 -4.42448870e-04 9.99330803e-01 2.37423412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.119254154 meters Centerline goodness : 0.998800 with order 1 Centerline is valid? [True, True] Translation: X:650.63, Y:36.93, Z:23.76 [[ 9.96464818e-01 -7.56561304e-02 -3.65241922e-02 6.50625096e+02] [ 7.56342562e-02 9.97133657e-01 -1.98220978e-03 3.69320620e+01] [ 3.65694677e-02 -7.87277803e-04 9.99330803e-01 2.37553516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.179254154 meters Centerline goodness : 0.998843 with order 1 Centerline is valid? [True, True] Translation: X:650.69, Y:36.94, Z:23.76 [[ 9.96118330e-01 -8.00890711e-02 -3.65241551e-02 6.50686059e+02] [ 8.00701481e-02 9.96787259e-01 -1.98289317e-03 3.69375895e+01] [ 3.65656205e-02 -9.49298275e-04 9.99330803e-01 2.37588353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.239254154 meters Centerline goodness : 0.998715 with order 1 Centerline is valid? [True, True] Translation: X:650.75, Y:36.94, Z:23.76 [[ 9.95527843e-01 -8.71222973e-02 -3.65242289e-02 6.50747547e+02] [ 8.71081490e-02 9.96196890e-01 -1.98153345e-03 3.69396808e+01] [ 3.65579590e-02 -1.20888625e-03 9.99330803e-01 2.37599214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.299254154 meters Centerline goodness : 0.998758 with order 1 Centerline is valid? [True, True] Translation: X:650.81, Y:36.94, Z:23.76 [[ 9.94703776e-01 -9.60748363e-02 -3.65243024e-02 6.50809045e+02] [ 9.60667572e-02 9.95372924e-01 -1.98017699e-03 3.69409420e+01] [ 3.65455469e-02 -1.53908177e-03 9.99330803e-01 2.37614446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.359254154 meters Centerline goodness : 0.998928 with order 1 Centerline is valid? [True, True] Translation: X:650.87, Y:36.94, Z:23.76 [[ 9.94224882e-01 -1.00910112e-01 -3.65244115e-02 6.50871288e+02] [ 1.00905361e-01 9.94894062e-01 -1.97816390e-03 3.69431025e+01] [ 3.65375368e-02 -1.71876914e-03 9.99330803e-01 2.37639346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.419254154 meters Centerline goodness : 0.998781 with order 1 Centerline is valid? [True, True] Translation: X:650.93, Y:36.95, Z:23.77 [[ 9.93864743e-01 -1.04397455e-01 -3.65245560e-02 6.50932170e+02] [ 1.04395149e-01 9.94533936e-01 -1.97549235e-03 3.69462414e+01] [ 3.65311468e-02 -1.84961425e-03 9.99330803e-01 2.37652971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.4792541539999 meters Centerline goodness : 0.998866 with order 1 Centerline is valid? [True, True] Translation: X:650.99, Y:36.95, Z:23.77 [[ 9.93893047e-01 -1.04127571e-01 -3.65247942e-02 6.50994474e+02] [ 1.04125245e-01 9.94562240e-01 -1.97107826e-03 3.69509568e+01] [ 3.65314247e-02 -1.84411215e-03 9.99330803e-01 2.37671819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.539254154 meters Centerline goodness : 0.998909 with order 1 Centerline is valid? [True, True] Translation: X:651.06, Y:36.96, Z:23.77 [[ 9.93939614e-01 -1.03682079e-01 -3.65249401e-02 6.51055895e+02] [ 1.03679552e-01 9.94608806e-01 -1.96837121e-03 3.69578077e+01] [ 3.65321118e-02 -1.83044730e-03 9.99330803e-01 2.37705460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.5992541539999 meters Centerline goodness : 0.998781 with order 1 Centerline is valid? [True, True] Translation: X:651.12, Y:36.96, Z:23.76 [[ 9.94645814e-01 -9.66727631e-02 -3.65250877e-02 6.51118417e+02] [ 9.66656195e-02 9.95314972e-01 -1.96562683e-03 3.69565162e+01] [ 3.65439893e-02 -1.57561774e-03 9.99330803e-01 2.37632291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.659254154 meters Centerline goodness : 0.998990 with order 1 Centerline is valid? [True, True] Translation: X:651.18, Y:36.97, Z:23.77 [[ 9.93836869e-01 -1.04662243e-01 -3.65252368e-02 6.51179565e+02] [ 1.04660578e-01 9.94506064e-01 -1.96285305e-03 3.69711400e+01] [ 3.65300061e-02 -1.87199668e-03 9.99330803e-01 2.37749356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.7192541539999 meters Centerline goodness : 0.998861 with order 1 Centerline is valid? [True, True] Translation: X:651.24, Y:36.98, Z:23.78 [[ 9.93749464e-01 -1.05488859e-01 -3.65253831e-02 6.51241675e+02] [ 1.05487851e-01 9.94418660e-01 -1.96012668e-03 3.69771311e+01] [ 3.65282941e-02 -1.90510933e-03 9.99330803e-01 2.37768269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.779254154 meters Centerline goodness : 0.998861 with order 1 Centerline is valid? [True, True] Translation: X:651.30, Y:36.97, Z:23.76 [[ 9.94949995e-01 -9.34900704e-02 -3.65255290e-02 6.51304534e+02] [ 9.34810875e-02 9.95619131e-01 -1.95740418e-03 3.69715372e+01] [ 3.65485133e-02 -1.46692689e-03 9.99330803e-01 2.37626022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.839254154 meters Centerline goodness : 0.998924 with order 1 Centerline is valid? [True, True] Translation: X:651.37, Y:36.99, Z:23.78 [[ 9.93954892e-01 -1.03535252e-01 -3.65256723e-02 6.51365393e+02] [ 1.03533127e-01 9.94624085e-01 -1.95472767e-03 3.69932165e+01] [ 3.65316966e-02 -1.83870592e-03 9.99330803e-01 2.37825013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.899254154 meters Centerline goodness : 0.999132 with order 1 Centerline is valid? [True, True] Translation: X:651.43, Y:37.01, Z:23.79 [[ 9.94705234e-01 -9.60591622e-02 -3.65258129e-02 6.51427587e+02] [ 9.60521018e-02 9.95374393e-01 -1.95209615e-03 3.70058692e+01] [ 3.65443756e-02 -1.56662084e-03 9.99330803e-01 2.37860755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.959254154 meters Centerline goodness : 0.999152 with order 1 Centerline is valid? [True, True] Translation: X:651.49, Y:37.01, Z:23.79 [[ 9.95178198e-01 -9.10285895e-02 -3.65260235e-02 6.51488855e+02] [ 9.10182906e-02 9.95847315e-01 -1.94814692e-03 3.70139333e+01] [ 3.65516795e-02 -1.38578289e-03 9.99330803e-01 2.37892953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.019254154 meters Centerline goodness : 0.999212 with order 1 Centerline is valid? [True, True] Translation: X:651.55, Y:37.03, Z:23.79 [[ 9.95982426e-01 -8.17609255e-02 -3.65261271e-02 6.51550591e+02] [ 8.17444697e-02 9.96651420e-01 -1.94620355e-03 3.70251292e+01] [ 3.65629398e-02 -1.04742436e-03 9.99330803e-01 2.37902507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.079254154 meters Centerline goodness : 0.996983 with order 1 Centerline is valid? [True, True] Translation: X:651.61, Y:37.04, Z:23.79 [[ 9.96672971e-01 -7.28616478e-02 -3.65262857e-02 6.51612465e+02] [ 7.28393264e-02 9.97341795e-01 -1.94322264e-03 3.70351476e+01] [ 3.65707777e-02 -7.23792565e-04 9.99330803e-01 2.37903821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.139254154 meters Centerline goodness : 0.995559 with order 1 Centerline is valid? [True, True] Translation: X:651.67, Y:37.04, Z:23.79 [[ 9.97064683e-01 -6.72891875e-02 -3.65264634e-02 6.51672991e+02] [ 6.72632504e-02 9.97733377e-01 -1.93987644e-03 3.70426624e+01] [ 3.65742044e-02 -5.22706369e-04 9.99330803e-01 2.37921617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.199254154 meters Centerline goodness : 0.999204 with order 1 Centerline is valid? [True, True] Translation: X:651.73, Y:37.05, Z:23.80 [[ 9.97362730e-01 -6.27167980e-02 -3.65265525e-02 6.51733240e+02] [ 6.26878566e-02 9.98031300e-01 -1.93819631e-03 3.70515639e+01] [ 3.65762002e-02 -3.56686526e-04 9.99330803e-01 2.38005551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.259254154 meters Centerline goodness : 0.999245 with order 1 Centerline is valid? [True, True] Translation: X:651.79, Y:37.04, Z:23.79 [[ 9.98433465e-01 -4.23842841e-02 -3.65265525e-02 6.51794598e+02] [ 4.23417278e-02 9.99101307e-01 -1.93819631e-03 3.70431664e+01] [ 3.65758754e-02 3.88562714e-04 9.99330803e-01 2.37866965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.319254154 meters Centerline goodness : 0.999157 with order 1 Centerline is valid? [True, True] Translation: X:651.85, Y:37.05, Z:23.79 [[ 9.98656809e-01 -3.67476376e-02 -3.65265525e-02 6.51853658e+02] [ 3.67013122e-02 9.99324400e-01 -1.93819631e-03 3.70450338e+01] [ 3.65730993e-02 5.95020537e-04 9.99330803e-01 2.37866256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.379254154 meters Centerline goodness : 0.999113 with order 1 Centerline is valid? [True, True] Translation: X:651.91, Y:37.05, Z:23.79 [[ 9.98600782e-01 -3.82400350e-02 -3.65264032e-02 6.51911895e+02] [ 3.81946045e-02 9.99268435e-01 -1.94100744e-03 3.70455590e+01] [ 3.65739059e-02 5.43180022e-04 9.99330803e-01 2.37857529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.439254154 meters Centerline goodness : 0.999266 with order 1 Centerline is valid? [True, True] Translation: X:651.97, Y:37.06, Z:23.81 [[ 9.97663284e-01 -5.77391297e-02 -3.65262189e-02 6.51968129e+02] [ 5.77066228e-02 9.98331691e-01 -1.94446882e-03 3.70644352e+01] [ 3.65775538e-02 -1.67879588e-04 9.99330803e-01 2.38086073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.499254154 meters Centerline goodness : 0.999313 with order 1 Centerline is valid? [True, True] Translation: X:652.03, Y:37.06, Z:23.81 [[ 9.97165894e-01 -6.57725236e-02 -3.65260797e-02 6.52028814e+02] [ 6.57453056e-02 9.97834537e-01 -1.94708065e-03 3.70624759e+01] [ 3.65750482e-02 -4.59855854e-04 9.99330803e-01 2.38095842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.559254154 meters Centerline goodness : 0.997345 with order 1 Centerline is valid? [True, True] Translation: X:652.09, Y:37.06, Z:23.81 [[ 9.96663392e-01 -7.29926543e-02 -3.65260797e-02 6.52089866e+02] [ 7.29702796e-02 9.97332215e-01 -1.94708065e-03 3.70603776e+01] [ 3.65707585e-02 -7.24734240e-04 9.99330803e-01 2.38100883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.619254154 meters Centerline goodness : 0.999296 with order 1 Centerline is valid? [True, True] Translation: X:652.15, Y:37.06, Z:23.82 [[ 9.96239911e-01 -7.85613068e-02 -3.65261693e-02 6.52151391e+02] [ 7.85427317e-02 9.96908850e-01 -1.94539804e-03 3.70580214e+01] [ 3.65660944e-02 -9.30781946e-04 9.99330803e-01 2.38150818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.679254154 meters Centerline goodness : 0.999191 with order 1 Centerline is valid? [True, True] Translation: X:652.21, Y:37.06, Z:23.82 [[ 9.96073859e-01 -8.06392986e-02 -3.65263044e-02 6.52212900e+02] [ 8.06222121e-02 9.96742838e-01 -1.94285707e-03 3.70581738e+01] [ 3.65640030e-02 -1.00960232e-03 9.99330803e-01 2.38163508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.739254154 meters Centerline goodness : 0.999126 with order 1 Centerline is valid? [True, True] Translation: X:652.28, Y:37.06, Z:23.82 [[ 9.95910063e-01 -8.26375714e-02 -3.65264104e-02 6.52275790e+02] [ 8.26219002e-02 9.96579076e-01 -1.94086322e-03 3.70574661e+01] [ 3.65618445e-02 -1.08495622e-03 9.99330803e-01 2.38164333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.799254154 meters Centerline goodness : 0.999170 with order 1 Centerline is valid? [True, True] Translation: X:652.34, Y:37.06, Z:23.82 [[ 9.95527117e-01 -8.71295940e-02 -3.65266204e-02 6.52338296e+02] [ 8.71170862e-02 9.96196196e-01 -1.93690298e-03 3.70563330e+01] [ 3.65564419e-02 -1.25385330e-03 9.99330803e-01 2.38207536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.859254154 meters Centerline goodness : 0.998769 with order 1 Centerline is valid? [True, True] Translation: X:652.40, Y:37.04, Z:23.81 [[ 9.95826130e-01 -8.36427769e-02 -3.65267649e-02 6.52400928e+02] [ 8.36280261e-02 9.96495164e-01 -1.93417293e-03 3.70411459e+01] [ 3.65605242e-02 -1.12856131e-03 9.99330803e-01 2.38081438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.919254154 meters Centerline goodness : 0.998921 with order 1 Centerline is valid? [True, True] Translation: X:652.46, Y:37.05, Z:23.82 [[ 9.94527997e-01 -9.78767120e-02 -3.65268688e-02 6.52462387e+02] [ 9.78716033e-02 9.95197174e-01 -1.93220928e-03 3.70548235e+01] [ 3.65405549e-02 -1.65330699e-03 9.99330803e-01 2.38244625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.9792541539999 meters Centerline goodness : 0.999048 with order 1 Centerline is valid? [True, True] Translation: X:652.52, Y:37.06, Z:23.83 [[ 9.94328992e-01 -9.98780919e-02 -3.65270117e-02 6.52524073e+02] [ 9.98744293e-02 9.94998179e-01 -1.92950355e-03 3.70565564e+01] [ 3.65370253e-02 -1.72955313e-03 9.99330803e-01 2.38256604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.039254154 meters Centerline goodness : 0.999028 with order 1 Centerline is valid? [True, True] Translation: X:652.59, Y:37.06, Z:23.83 [[ 9.94079373e-01 -1.02332620e-01 -3.65271888e-02 6.52586665e+02] [ 1.02330733e-01 9.94748567e-01 -1.92614534e-03 3.70578160e+01] [ 3.65324762e-02 -1.82311264e-03 9.99330803e-01 2.38268982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.0992541539999 meters Centerline goodness : 0.999047 with order 1 Centerline is valid? [True, True] Translation: X:652.65, Y:37.06, Z:23.83 [[ 9.94049418e-01 -1.02623135e-01 -3.65273295e-02 6.52648725e+02] [ 1.02621541e-01 9.94718613e-01 -1.92347474e-03 3.70611293e+01] [ 3.65318075e-02 -1.83646190e-03 9.99330803e-01 2.38284919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.159254154 meters Centerline goodness : 0.998708 with order 1 Centerline is valid? [True, True] Translation: X:652.71, Y:37.07, Z:23.83 [[ 9.94266035e-01 -1.00502716e-01 -3.65274708e-02 6.52710263e+02] [ 1.00499793e-01 9.94935225e-01 -1.92078767e-03 3.70655536e+01] [ 3.65355117e-02 -1.76122932e-03 9.99330803e-01 2.38264334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.2192541539999 meters Centerline goodness : 0.999154 with order 1 Centerline is valid? [True, True] Translation: X:652.77, Y:37.07, Z:23.84 [[ 9.94597988e-01 -9.71626323e-02 -3.65275884e-02 6.52772063e+02] [ 9.71575439e-02 9.95267166e-01 -1.91854825e-03 3.70720285e+01] [ 3.65411205e-02 -1.64074654e-03 9.99330803e-01 2.38354412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.279254154 meters Centerline goodness : 0.998962 with order 1 Centerline is valid? [True, True] Translation: X:652.83, Y:37.08, Z:23.84 [[ 9.95282771e-01 -8.98773052e-02 -3.65277429e-02 6.52834070e+02] [ 8.98674251e-02 9.95951895e-01 -1.91560076e-03 3.70789093e+01] [ 3.65520438e-02 -1.37608976e-03 9.99330803e-01 2.38399239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.339254154 meters Centerline goodness : 0.999085 with order 1 Centerline is valid? [True, True] Translation: X:652.90, Y:37.08, Z:23.84 [[ 9.96178607e-01 -7.93340842e-02 -3.65278806e-02 6.52896430e+02] [ 7.93172162e-02 9.96847591e-01 -1.91297160e-03 3.70846873e+01] [ 3.65644937e-02 -9.91628419e-04 9.99330803e-01 2.38436633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.399254154 meters Centerline goodness : 0.999149 with order 1 Centerline is valid? [True, True] Translation: X:652.96, Y:37.09, Z:23.84 [[ 9.96365282e-01 -7.69540602e-02 -3.65280258e-02 6.52956970e+02] [ 7.69356958e-02 9.97034227e-01 -1.91019514e-03 3.70920755e+01] [ 3.65666893e-02 -9.07056962e-04 9.99330803e-01 2.38437459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.459254154 meters Centerline goodness : 0.999061 with order 1 Centerline is valid? [True, True] Translation: X:653.02, Y:37.10, Z:23.85 [[ 9.96619475e-01 -7.35887764e-02 -3.65282662e-02 6.53018743e+02] [ 7.35683218e-02 9.97288359e-01 -1.90558690e-03 3.70984041e+01] [ 3.65694445e-02 -7.88178231e-04 9.99330803e-01 2.38466331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.519254154 meters Centerline goodness : 0.999146 with order 1 Centerline is valid? [True, True] Translation: X:653.08, Y:37.10, Z:23.85 [[ 9.96604137e-01 -7.37961301e-02 -3.65284070e-02 6.53081298e+02] [ 7.37759137e-02 9.97273029e-01 -1.90288372e-03 3.71028837e+01] [ 3.65692206e-02 -7.98494820e-04 9.99330803e-01 2.38480447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.579254154 meters Centerline goodness : 0.999231 with order 1 Centerline is valid? [True, True] Translation: X:653.14, Y:37.11, Z:23.85 [[ 9.96567066e-01 -7.42949866e-02 -3.65285964e-02 6.53143567e+02] [ 7.42752385e-02 9.97235971e-01 -1.89924112e-03 3.71067005e+01] [ 3.65687344e-02 -8.20449061e-04 9.99330803e-01 2.38510591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.639254154 meters Centerline goodness : 0.999295 with order 1 Centerline is valid? [True, True] Translation: X:653.21, Y:37.11, Z:23.85 [[ 9.96485917e-01 -7.53755139e-02 -3.65287370e-02 6.53206058e+02] [ 7.53565903e-02 9.97154846e-01 -1.89653379e-03 3.71097565e+01] [ 3.65677593e-02 -8.62811853e-04 9.99330803e-01 2.38531755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.699254154 meters Centerline goodness : 0.999081 with order 1 Centerline is valid? [True, True] Translation: X:653.27, Y:37.11, Z:23.86 [[ 9.96380221e-01 -7.67599922e-02 -3.65288785e-02 6.53268194e+02] [ 7.67420980e-02 9.97049178e-01 -1.89380478e-03 3.71131998e+01] [ 3.65664567e-02 -9.16353150e-04 9.99330803e-01 2.38557370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.759254154 meters Centerline goodness : 0.998845 with order 1 Centerline is valid? [True, True] Translation: X:653.33, Y:37.10, Z:23.84 [[ 9.97065597e-01 -6.72742668e-02 -3.65290195e-02 6.53330521e+02] [ 6.72501069e-02 9.97734357e-01 -1.89108083e-03 3.71030331e+01] [ 3.65734789e-02 -5.71048834e-04 9.99330803e-01 2.38428808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.819254154 meters Centerline goodness : 0.999125 with order 1 Centerline is valid? [True, True] Translation: X:653.39, Y:37.12, Z:23.86 [[ 9.95878725e-01 -8.30131974e-02 -3.65290948e-02 6.53389116e+02] [ 8.29996560e-02 9.96547784e-01 -1.88962546e-03 3.71169212e+01] [ 3.65598523e-02 -1.15006451e-03 9.99330803e-01 2.38606327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.879254154 meters Centerline goodness : 0.999126 with order 1 Centerline is valid? [True, True] Translation: X:653.45, Y:37.12, Z:23.86 [[ 9.95699212e-01 -8.51393216e-02 -3.65290948e-02 6.53450523e+02] [ 8.51272088e-02 9.96368299e-01 -1.88962546e-03 3.71193458e+01] [ 3.65573135e-02 -1.22812130e-03 9.99330803e-01 2.38622712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.939254154 meters Centerline goodness : 0.999084 with order 1 Centerline is valid? [True, True] Translation: X:653.51, Y:37.12, Z:23.86 [[ 9.95468466e-01 -8.77960741e-02 -3.65291964e-02 6.53512928e+02] [ 8.77858189e-02 9.96137584e-01 -1.88765899e-03 3.71216833e+01] [ 3.65538345e-02 -1.32764042e-03 9.99330803e-01 2.38633436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.999254154 meters Centerline goodness : 0.999021 with order 1 Centerline is valid? [True, True] Translation: X:653.57, Y:37.12, Z:23.87 [[ 9.95333658e-01 -8.93113508e-02 -3.65293293e-02 6.53574669e+02] [ 8.93022085e-02 9.96002792e-01 -1.88508415e-03 3.71244977e+01] [ 3.65516734e-02 -1.38586208e-03 9.99330803e-01 2.38653572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.059254154 meters Centerline goodness : 0.998786 with order 1 Centerline is valid? [True, True] Translation: X:653.64, Y:37.11, Z:23.85 [[ 9.96308546e-01 -7.76844855e-02 -3.65294640e-02 6.53636359e+02] [ 7.76676273e-02 9.96977530e-01 -1.88247034e-03 3.71145876e+01] [ 3.65652935e-02 -9.61635511e-04 9.99330803e-01 2.38507828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.119254154 meters Centerline goodness : 0.999255 with order 1 Centerline is valid? [True, True] Translation: X:653.69, Y:37.13, Z:23.87 [[ 9.95125417e-01 -9.16024176e-02 -3.65294640e-02 6.53694779e+02] [ 9.15949116e-02 9.95794571e-01 -1.88247034e-03 3.71318147e+01] [ 3.65482808e-02 -1.47261894e-03 9.99330803e-01 2.38694578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.179254154 meters Centerline goodness : 0.999213 with order 1 Centerline is valid? [True, True] Translation: X:653.76, Y:37.12, Z:23.86 [[ 9.96015283e-01 -8.13581090e-02 -3.65296272e-02 6.53756829e+02] [ 8.13438343e-02 9.96684328e-01 -1.87929735e-03 3.71233056e+01] [ 3.65614030e-02 -1.09965106e-03 9.99330803e-01 2.38555498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.239254154 meters Centerline goodness : 0.998744 with order 1 Centerline is valid? [True, True] Translation: X:653.82, Y:37.13, Z:23.86 [[ 9.95804159e-01 -8.39026657e-02 -3.65297021e-02 6.53817462e+02] [ 8.38901538e-02 9.96473239e-01 -1.87783973e-03 3.71270969e+01] [ 3.65584264e-02 -1.19452171e-03 9.99330803e-01 2.38571964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.299254154 meters Centerline goodness : 0.999277 with order 1 Centerline is valid? [True, True] Translation: X:653.88, Y:37.14, Z:23.87 [[ 9.95059985e-01 -9.23102888e-02 -3.65299581e-02 6.53877778e+02] [ 9.23036114e-02 9.95729148e-01 -1.87284738e-03 3.71425554e+01] [ 3.65468271e-02 -1.50825157e-03 9.99330803e-01 2.38745833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.359254154 meters Centerline goodness : 0.999106 with order 1 Centerline is valid? [True, True] Translation: X:653.94, Y:37.15, Z:23.88 [[ 9.95438286e-01 -8.81372455e-02 -3.65300628e-02 6.53940002e+02] [ 8.81278374e-02 9.96107416e-01 -1.87080219e-03 3.71472661e+01] [ 3.65527539e-02 -1.35704731e-03 9.99330803e-01 2.38761987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.419254154 meters Centerline goodness : 0.999232 with order 1 Centerline is valid? [True, True] Translation: X:654.00, Y:37.15, Z:23.88 [[ 9.95817925e-01 -8.37389061e-02 -3.65302029e-02 6.54000667e+02] [ 8.37266424e-02 9.96487009e-01 -1.86806376e-03 3.71520324e+01] [ 3.65583022e-02 -1.19829986e-03 9.99330803e-01 2.38786150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.4792541539999 meters Centerline goodness : 0.999337 with order 1 Centerline is valid? [True, True] Translation: X:654.06, Y:37.16, Z:23.88 [[ 9.96439433e-01 -7.59867930e-02 -3.65303060e-02 6.54062956e+02] [ 7.59693968e-02 9.97108404e-01 -1.86604468e-03 3.71580361e+01] [ 3.65664699e-02 -9.15784809e-04 9.99330803e-01 2.38821258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.539254154 meters Centerline goodness : 0.998948 with order 1 Centerline is valid? [True, True] Translation: X:654.13, Y:37.16, Z:23.88 [[ 9.97026020e-01 -6.78575079e-02 -3.65304436e-02 6.54125148e+02] [ 6.78347551e-02 9.97694830e-01 -1.86334633e-03 3.71630146e+01] [ 3.65726768e-02 -6.20228922e-04 9.99330803e-01 2.38840341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.5992541539999 meters Centerline goodness : 0.999184 with order 1 Centerline is valid? [True, True] Translation: X:654.19, Y:37.17, Z:23.89 [[ 9.97566886e-01 -5.93786509e-02 -3.65305810e-02 6.54185201e+02] [ 5.93503116e-02 9.98235482e-01 -1.86065030e-03 3.71684984e+01] [ 3.65766050e-02 -3.11978233e-04 9.99330803e-01 2.38874269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.659254154 meters Centerline goodness : 0.999204 with order 1 Centerline is valid? [True, True] Translation: X:654.25, Y:37.17, Z:23.89 [[ 9.97948615e-01 -5.25744772e-02 -3.65306146e-02 6.54245091e+02] [ 5.25416034e-02 9.98617004e-01 -1.85999055e-03 3.71722547e+01] [ 3.65778809e-02 -6.32020671e-05 9.99330803e-01 2.38897545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.7192541539999 meters Centerline goodness : 0.999248 with order 1 Centerline is valid? [True, True] Translation: X:654.31, Y:37.17, Z:23.89 [[ 9.98027050e-01 -5.10638958e-02 -3.65306146e-02 6.54305080e+02] [ 5.10300103e-02 9.98695388e-01 -1.85999055e-03 3.71747370e+01] [ 3.65779347e-02 -7.83675471e-06 9.99330803e-01 2.38920986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.779254154 meters Centerline goodness : 0.999248 with order 1 Centerline is valid? [True, True] Translation: X:654.36, Y:37.17, Z:23.89 [[ 9.97889863e-01 -5.36781214e-02 -3.65305466e-02 6.54363752e+02] [ 5.36459379e-02 9.98558285e-01 -1.86132446e-03 3.71741281e+01] [ 3.65777924e-02 -1.02318625e-04 9.99330803e-01 2.38926957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.839254154 meters Centerline goodness : 0.999142 with order 1 Centerline is valid? [True, True] Translation: X:654.42, Y:37.17, Z:23.89 [[ 9.97486162e-01 -6.07199378e-02 -3.65300738e-02 6.54423610e+02] [ 6.06921348e-02 9.98154780e-01 -1.87055690e-03 3.71726635e+01] [ 3.65762479e-02 -3.51233545e-04 9.99330803e-01 2.38928028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.899254154 meters Centerline goodness : 0.998951 with order 1 Centerline is valid? [True, True] Translation: X:654.48, Y:37.17, Z:23.89 [[ 9.96977541e-01 -6.85663366e-02 -3.65300044e-02 6.54483585e+02] [ 6.85437456e-02 9.97646356e-01 -1.87191142e-03 3.71730159e+01] [ 3.65723759e-02 -6.37649690e-04 9.99330803e-01 2.38942117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.959254154 meters Centerline goodness : 0.999041 with order 1 Centerline is valid? [True, True] Translation: X:654.55, Y:37.17, Z:23.90 [[ 9.96393604e-01 -7.65855164e-02 -3.65300386e-02 6.54545589e+02] [ 7.65683317e-02 9.97062580e-01 -1.87124432e-03 3.71725258e+01] [ 3.65660448e-02 -9.32548244e-04 9.99330803e-01 2.38971890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.019254154 meters Centerline goodness : 0.999217 with order 1 Centerline is valid? [True, True] Translation: X:654.61, Y:37.17, Z:23.90 [[ 9.95836321e-01 -8.35198636e-02 -3.65301771e-02 6.54606603e+02] [ 8.35074355e-02 9.96505402e-01 -1.86853718e-03 3.71721849e+01] [ 3.65585788e-02 -1.18978421e-03 9.99330803e-01 2.39001279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.079254154 meters Centerline goodness : 0.999045 with order 1 Centerline is valid? [True, True] Translation: X:654.67, Y:37.17, Z:23.90 [[ 9.95579208e-01 -8.65307968e-02 -3.65302794e-02 6.54667290e+02] [ 8.65204653e-02 9.96248325e-01 -1.86653500e-03 3.71732260e+01] [ 3.65547424e-02 -1.30233333e-03 9.99330803e-01 2.39029053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.139254154 meters Centerline goodness : 0.996691 with order 1 Centerline is valid? [True, True] Translation: X:654.73, Y:37.17, Z:23.90 [[ 9.95620759e-01 -8.60513518e-02 -3.65303800e-02 6.54728978e+02] [ 8.60407703e-02 9.96289872e-01 -1.86456307e-03 3.71742739e+01] [ 3.65552958e-02 -1.28670434e-03 9.99330803e-01 2.39020515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.199254154 meters Centerline goodness : 0.998620 with order 1 Centerline is valid? [True, True] Translation: X:654.79, Y:37.16, Z:23.89 [[ 9.96849257e-01 -7.04065650e-02 -3.65304612e-02 6.54791591e+02] [ 7.03855361e-02 9.97518123e-01 -1.86297093e-03 3.71636235e+01] [ 3.65709625e-02 -7.14114914e-04 9.99330803e-01 2.38918492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.259254154 meters Centerline goodness : 0.999066 with order 1 Centerline is valid? [True, True] Translation: X:654.85, Y:37.18, Z:23.91 [[ 9.96365692e-01 -7.69475579e-02 -3.65305510e-02 6.54850298e+02] [ 7.69309839e-02 9.97034683e-01 -1.86120926e-03 3.71802008e+01] [ 3.65654418e-02 -9.55886180e-04 9.99330803e-01 2.39096001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.319254154 meters Centerline goodness : 0.999022 with order 1 Centerline is valid? [True, True] Translation: X:654.91, Y:37.17, Z:23.90 [[ 9.97587858e-01 -5.90251854e-02 -3.65307196e-02 6.54912701e+02] [ 5.89967102e-02 9.98256448e-01 -1.85789363e-03 3.71719837e+01] [ 3.65766889e-02 -3.01780155e-04 9.99330803e-01 2.38993302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.379254154 meters Centerline goodness : 0.998979 with order 1 Centerline is valid? [True, True] Translation: X:654.97, Y:37.19, Z:23.91 [[ 9.97368746e-01 -6.26185675e-02 -3.65307896e-02 6.54971620e+02] [ 6.25925515e-02 9.98037437e-01 -1.85651543e-03 3.71856802e+01] [ 3.65753480e-02 -4.34924862e-04 9.99330803e-01 2.39129876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.439254154 meters Centerline goodness : 0.998833 with order 1 Centerline is valid? [True, True] Translation: X:655.03, Y:37.19, Z:23.91 [[ 9.97468722e-01 -6.10053430e-02 -3.65307554e-02 6.55030616e+02] [ 6.09782209e-02 9.98137369e-01 -1.85718932e-03 3.71888584e+01] [ 3.65760105e-02 -3.75092214e-04 9.99330803e-01 2.39126201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.499254154 meters Centerline goodness : 0.998977 with order 1 Centerline is valid? [True, True] Translation: X:655.09, Y:37.19, Z:23.91 [[ 9.97426561e-01 -6.16908633e-02 -3.65307216e-02 6.55090743e+02] [ 6.16641764e-02 9.98095225e-01 -1.85785349e-03 3.71917403e+01] [ 3.65757514e-02 -3.99564443e-04 9.99330803e-01 2.39148911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.559254154 meters Centerline goodness : 0.999022 with order 1 Centerline is valid? [True, True] Translation: X:655.15, Y:37.19, Z:23.92 [[ 9.97098177e-01 -6.67887070e-02 -3.65307216e-02 6.55150603e+02] [ 6.67654385e-02 9.97766969e-01 -1.85785349e-03 3.71940756e+01] [ 3.65732310e-02 -5.86527318e-04 9.99330803e-01 2.39162447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.619254154 meters Centerline goodness : 0.999066 with order 1 Centerline is valid? [True, True] Translation: X:655.21, Y:37.20, Z:23.92 [[ 9.96504009e-01 -7.51350083e-02 -3.65306884e-02 6.55211656e+02] [ 7.51173164e-02 9.97172971e-01 -1.85850534e-03 3.71961019e+01] [ 3.65670540e-02 -8.92079261e-04 9.99330803e-01 2.39198516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.679254154 meters Centerline goodness : 0.999025 with order 1 Centerline is valid? [True, True] Translation: X:655.27, Y:37.20, Z:23.92 [[ 9.95834183e-01 -8.35450955e-02 -3.65307550e-02 6.55274018e+02] [ 8.35330999e-02 9.96503272e-01 -1.85719563e-03 3.71981685e+01] [ 3.65581765e-02 -1.20206831e-03 9.99330803e-01 2.39235366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.739254154 meters Centerline goodness : 0.999004 with order 1 Centerline is valid? [True, True] Translation: X:655.34, Y:37.20, Z:23.93 [[ 9.95219149e-01 -9.05778095e-02 -3.65308911e-02 6.55335967e+02] [ 9.05706390e-02 9.95888307e-01 -1.85451499e-03 3.71994198e+01] [ 3.65486652e-02 -1.46297732e-03 9.99330803e-01 2.39264431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.799254154 meters Centerline goodness : 0.998961 with order 1 Centerline is valid? [True, True] Translation: X:655.40, Y:37.20, Z:23.93 [[ 9.94810189e-01 -9.49640519e-02 -3.65310253e-02 6.55397250e+02] [ 9.49599283e-02 9.95479373e-01 -1.85186741e-03 3.72020795e+01] [ 3.65417430e-02 -1.62672697e-03 9.99330803e-01 2.39272899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.859254154 meters Centerline goodness : 0.999217 with order 1 Centerline is valid? [True, True] Translation: X:655.46, Y:37.20, Z:23.93 [[ 9.94245047e-01 -1.00708796e-01 -3.65311635e-02 6.55459623e+02] [ 1.00708638e-01 9.94914243e-01 -1.84913823e-03 3.72049047e+01] [ 3.65315993e-02 -1.84050719e-03 9.99330803e-01 2.39315498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.919254154 meters Centerline goodness : 0.999029 with order 1 Centerline is valid? [True, True] Translation: X:655.52, Y:37.21, Z:23.93 [[ 9.93834479e-01 -1.04682820e-01 -3.65313070e-02 6.55522085e+02] [ 1.04685441e-01 9.94503670e-01 -1.84629846e-03 3.72076262e+01] [ 3.65237946e-02 -1.98938091e-03 9.99330803e-01 2.39319048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.9792541539999 meters Centerline goodness : 0.998899 with order 1 Centerline is valid? [True, True] Translation: X:655.58, Y:37.21, Z:23.93 [[ 9.93791660e-01 -1.05088485e-01 -3.65314399e-02 6.55584348e+02] [ 1.05091476e-01 9.94460850e-01 -1.84366571e-03 3.72117584e+01] [ 3.65228348e-02 -2.00692334e-03 9.99330803e-01 2.39341480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.039254154 meters Centerline goodness : 0.999087 with order 1 Centerline is valid? [True, True] Translation: X:655.65, Y:37.22, Z:23.94 [[ 9.94358416e-01 -9.95830518e-02 -3.65315779e-02 6.55646592e+02] [ 9.95824369e-02 9.95027612e-01 -1.84092717e-03 3.72199362e+01] [ 3.65332538e-02 -1.80736212e-03 9.99330803e-01 2.39362704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.0992541539999 meters Centerline goodness : 0.998980 with order 1 Centerline is valid? [True, True] Translation: X:655.71, Y:37.23, Z:23.94 [[ 9.95135884e-01 -9.14877409e-02 -3.65317149e-02 6.55708143e+02] [ 9.14817800e-02 9.95805054e-01 -1.83820421e-03 3.72275686e+01] [ 3.65466395e-02 -1.51272333e-03 9.99330803e-01 2.39379904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.159254154 meters Centerline goodness : 0.999107 with order 1 Centerline is valid? [True, True] Translation: X:655.77, Y:37.23, Z:23.94 [[ 9.95670188e-01 -8.54769030e-02 -3.65318500e-02 6.55770326e+02] [ 8.54670000e-02 9.96339311e-01 -1.83551567e-03 3.72335172e+01] [ 3.65550124e-02 -1.29469939e-03 9.99330804e-01 2.39394653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.2192541539999 meters Centerline goodness : 0.999275 with order 1 Centerline is valid? [True, True] Translation: X:655.83, Y:37.24, Z:23.94 [[ 9.96255686e-01 -7.83582967e-02 -3.65319838e-02 6.55832410e+02] [ 7.83437091e-02 9.96924723e-01 -1.83284730e-03 3.72417032e+01] [ 3.65632567e-02 -1.03606657e-03 9.99330804e-01 2.39424021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.279254154 meters Centerline goodness : 0.999103 with order 1 Centerline is valid? [True, True] Translation: X:655.89, Y:37.25, Z:23.95 [[ 9.96791787e-01 -7.12147326e-02 -3.65321180e-02 6.55894086e+02] [ 7.11954475e-02 9.97460705e-01 -1.83017031e-03 3.72485106e+01] [ 3.65696872e-02 -7.76621750e-04 9.99330804e-01 2.39475405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.339254154 meters Centerline goodness : 0.999250 with order 1 Centerline is valid? [True, True] Translation: X:655.96, Y:37.26, Z:23.95 [[ 9.97384346e-01 -6.23687450e-02 -3.65322551e-02 6.55956179e+02] [ 6.23436268e-02 9.98053071e-01 -1.82742781e-03 3.72556404e+01] [ 3.65751038e-02 -4.54905395e-04 9.99330804e-01 2.39501825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.399254154 meters Centerline goodness : 0.999269 with order 1 Centerline is valid? [True, True] Translation: X:656.02, Y:37.26, Z:23.95 [[ 9.98005847e-01 -5.14753779e-02 -3.65323912e-02 6.56015790e+02] [ 5.14430596e-02 9.98674262e-01 -1.82470360e-03 3.72619580e+01] [ 3.65778861e-02 -5.82731133e-05 9.99330804e-01 2.39522716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.459254154 meters Centerline goodness : 0.997674 with order 1 Centerline is valid? [True, True] Translation: X:656.07, Y:37.27, Z:23.95 [[ 9.98262806e-01 -4.62250073e-02 -3.65324245e-02 6.56074308e+02] [ 4.61891979e-02 9.98931044e-01 -1.82403703e-03 3.72663130e+01] [ 3.65776891e-02 1.33464942e-04 9.99330804e-01 2.39520637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.519254154 meters Centerline goodness : 0.999246 with order 1 Centerline is valid? [True, True] Translation: X:656.13, Y:37.27, Z:23.96 [[ 9.98479040e-01 -4.12917731e-02 -3.65321222e-02 6.56132179e+02] [ 4.12524415e-02 9.99147080e-01 -1.83007160e-03 3.72691035e+01] [ 3.65765301e-02 3.20248906e-04 9.99330804e-01 2.39559445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.579254154 meters Centerline goodness : 0.993906 with order 1 Centerline is valid? [True, True] Translation: X:656.19, Y:37.27, Z:23.95 [[ 9.98478047e-01 -4.13163595e-02 -3.65314796e-02 6.56190556e+02] [ 4.12765782e-02 9.99146059e-01 -1.84281115e-03 3.72720956e+01] [ 3.65764221e-02 3.32112002e-04 9.99330804e-01 2.39549137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.639254154 meters Centerline goodness : 0.999183 with order 1 Centerline is valid? [True, True] Translation: X:656.25, Y:37.27, Z:23.96 [[ 9.98255372e-01 -4.63865285e-02 -3.65308524e-02 6.56248039e+02] [ 4.63496882e-02 9.98923553e-01 -1.85516173e-03 3.72718903e+01] [ 3.65775833e-02 1.58731542e-04 9.99330804e-01 2.39583247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.699254154 meters Centerline goodness : 0.999270 with order 1 Centerline is valid? [True, True] Translation: X:656.30, Y:37.27, Z:23.96 [[ 9.97892404e-01 -5.36308043e-02 -3.65306281e-02 6.56304710e+02] [ 5.35986534e-02 9.98560828e-01 -1.85956695e-03 3.72699701e+01] [ 3.65777843e-02 -1.02344740e-04 9.99330804e-01 2.39602898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.759254154 meters Centerline goodness : 0.999378 with order 1 Centerline is valid? [True, True] Translation: X:656.36, Y:37.27, Z:23.96 [[ 9.97655745e-01 -5.78666076e-02 -3.65303933e-02 6.56364637e+02] [ 5.78371262e-02 9.98324292e-01 -1.86416779e-03 3.72697441e+01] [ 3.65770521e-02 -2.53015259e-04 9.99330804e-01 2.39639875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.819254154 meters Centerline goodness : 0.999037 with order 1 Centerline is valid? [True, True] Translation: X:656.42, Y:37.27, Z:23.97 [[ 9.97431641e-01 -6.16089005e-02 -3.65303262e-02 6.56424866e+02] [ 6.15818792e-02 9.98100292e-01 -1.86548142e-03 3.72666770e+01] [ 3.65758595e-02 -3.88915945e-04 9.99330804e-01 2.39677398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.879254154 meters Centerline goodness : 0.998847 with order 1 Centerline is valid? [True, True] Translation: X:656.49, Y:37.27, Z:23.97 [[ 9.97448116e-01 -6.13415877e-02 -3.65303262e-02 6.56485660e+02] [ 6.13143873e-02 9.98116760e-01 -1.86548142e-03 3.72666277e+01] [ 3.65759624e-02 -3.79113643e-04 9.99330804e-01 2.39686957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.939254154 meters Centerline goodness : 0.998849 with order 1 Centerline is valid? [True, True] Translation: X:656.55, Y:37.27, Z:23.97 [[ 9.97548937e-01 -5.96795947e-02 -3.65303262e-02 6.56545002e+02] [ 5.96512803e-02 9.98217534e-01 -1.86548142e-03 3.72655212e+01] [ 3.65765433e-02 -3.18171722e-04 9.99330804e-01 2.39706505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.999254154 meters Centerline goodness : 0.999063 with order 1 Centerline is valid? [True, True] Translation: X:656.60, Y:37.27, Z:23.97 [[ 9.97807526e-01 -5.51876997e-02 -3.65302579e-02 6.56604528e+02] [ 5.51563263e-02 9.98475986e-01 -1.86681949e-03 3.72654746e+01] [ 3.65776107e-02 -1.52148288e-04 9.99330804e-01 2.39729550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.059254154 meters Centerline goodness : 0.998850 with order 1 Centerline is valid? [True, True] Translation: X:656.66, Y:37.27, Z:23.97 [[ 9.98119232e-01 -4.92295100e-02 -3.65301889e-02 6.56663293e+02] [ 4.91940969e-02 9.98787490e-01 -1.86816829e-03 3.72662964e+01] [ 3.65778647e-02 6.75850439e-05 9.99330804e-01 2.39745677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.119254154 meters Centerline goodness : 0.998935 with order 1 Centerline is valid? [True, True] Translation: X:656.72, Y:37.27, Z:23.98 [[ 9.98301181e-01 -4.53908931e-02 -3.65297050e-02 6.56721085e+02] [ 4.53525660e-02 9.98969279e-01 -1.87758228e-03 3.72670599e+01] [ 3.65772782e-02 2.17676754e-04 9.99330804e-01 2.39768465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.179254154 meters Centerline goodness : 0.998681 with order 1 Centerline is valid? [True, True] Translation: X:656.78, Y:37.27, Z:23.98 [[ 9.98414109e-01 -4.28356024e-02 -3.65291399e-02 6.56778991e+02] [ 4.27951655e-02 9.99082082e-01 -1.88851353e-03 3.72653241e+01] [ 3.65765048e-02 3.22247969e-04 9.99330804e-01 2.39788309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.239254154 meters Centerline goodness : 0.998708 with order 1 Centerline is valid? [True, True] Translation: X:656.84, Y:37.26, Z:23.98 [[ 9.98230476e-01 -4.69206982e-02 -3.65289662e-02 6.56836528e+02] [ 4.68828723e-02 9.98898602e-01 -1.89186692e-03 3.72634234e+01] [ 3.65775010e-02 1.75936362e-04 9.99330804e-01 2.39810308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.299254154 meters Centerline goodness : 0.998776 with order 1 Centerline is valid? [True, True] Translation: X:656.89, Y:37.26, Z:23.98 [[ 9.97764484e-01 -5.59616855e-02 -3.65284062e-02 6.56894303e+02] [ 5.59295200e-02 9.98432907e-01 -1.90261934e-03 3.72590707e+01] [ 3.65776365e-02 -1.44650223e-04 9.99330804e-01 2.39818075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.359254154 meters Centerline goodness : 0.998947 with order 1 Centerline is valid? [True, True] Translation: X:656.95, Y:37.26, Z:23.98 [[ 9.97281731e-01 -6.39909678e-02 -3.65281442e-02 6.56953743e+02] [ 6.39639999e-02 9.97950383e-01 -1.90763479e-03 3.72562345e+01] [ 3.65753469e-02 -4.34036885e-04 9.99330804e-01 2.39841091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.419254154 meters Centerline goodness : 0.998716 with order 1 Centerline is valid? [True, True] Translation: X:657.01, Y:37.25, Z:23.99 [[ 9.96723447e-01 -7.21671593e-02 -3.65276922e-02 6.57012776e+02] [ 7.21453600e-02 9.97392287e-01 -1.91625167e-03 3.72537015e+01] [ 3.65707289e-02 -7.25330533e-04 9.99330804e-01 2.39859688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.4792541539999 meters Centerline goodness : 0.998972 with order 1 Centerline is valid? [True, True] Translation: X:657.07, Y:37.25, Z:23.99 [[ 9.96251091e-01 -7.84187558e-02 -3.65275642e-02 6.57073700e+02] [ 7.84010637e-02 9.96920053e-01 -1.91868881e-03 3.72519873e+01] [ 3.65655224e-02 -9.52304068e-04 9.99330804e-01 2.39886466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.539254154 meters Centerline goodness : 0.998721 with order 1 Centerline is valid? [True, True] Translation: X:657.13, Y:37.25, Z:23.99 [[ 9.95766259e-01 -8.43522010e-02 -3.65275642e-02 6.57134236e+02] [ 8.43384942e-02 9.96435315e-01 -1.91868881e-03 3.72498577e+01] [ 3.65592005e-02 -1.17011418e-03 9.99330804e-01 2.39916589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.5992541539999 meters Centerline goodness : 0.998742 with order 1 Centerline is valid? [True, True] Translation: X:657.20, Y:37.25, Z:23.99 [[ 9.95671536e-01 -8.54630299e-02 -3.65275642e-02 6.57195240e+02] [ 8.54500696e-02 9.96340607e-01 -1.91868881e-03 3.72498197e+01] [ 3.65578724e-02 -1.21089907e-03 9.99330804e-01 2.39939522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.659254154 meters Centerline goodness : 0.999287 with order 1 Centerline is valid? [True, True] Translation: X:657.26, Y:37.25, Z:24.00 [[ 9.95780494e-01 -8.41839724e-02 -3.65276019e-02 6.57255367e+02] [ 8.41701790e-02 9.96449548e-01 -1.91796981e-03 3.72514829e+01] [ 3.65593748e-02 -1.16465787e-03 9.99330804e-01 2.39980717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.7192541539999 meters Centerline goodness : 0.998909 with order 1 Centerline is valid? [True, True] Translation: X:657.32, Y:37.25, Z:24.00 [[ 9.95966227e-01 -8.19573555e-02 -3.65276019e-02 6.57315399e+02] [ 8.19420662e-02 9.96635249e-01 -1.91796981e-03 3.72543081e+01] [ 3.65618874e-02 -1.08291402e-03 9.99330804e-01 2.40006553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.779254154 meters Centerline goodness : 0.998973 with order 1 Centerline is valid? [True, True] Translation: X:657.38, Y:37.26, Z:24.00 [[ 9.96031910e-01 -8.11552018e-02 -3.65276366e-02 6.57375461e+02] [ 8.11393978e-02 9.96700919e-01 -1.91731004e-03 3.72574541e+01] [ 3.65627286e-02 -1.05412846e-03 9.99330804e-01 2.40027280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.839254154 meters Centerline goodness : 0.998909 with order 1 Centerline is valid? [True, True] Translation: X:657.44, Y:37.26, Z:24.00 [[ 9.96013472e-01 -8.13811793e-02 -3.65276366e-02 6.57436253e+02] [ 8.13655272e-02 9.96682485e-01 -1.91731004e-03 3.72600680e+01] [ 3.65624885e-02 -1.06242378e-03 9.99330804e-01 2.40035149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.899254154 meters Centerline goodness : 0.999181 with order 1 Centerline is valid? [True, True] Translation: X:657.50, Y:37.27, Z:24.01 [[ 9.95810943e-01 -8.38230169e-02 -3.65276366e-02 6.57495905e+02] [ 8.38090051e-02 9.96479992e-01 -1.91731004e-03 3.72679629e+01] [ 3.65597737e-02 -1.15206656e-03 9.99330804e-01 2.40063324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.959254154 meters Centerline goodness : 0.999159 with order 1 Centerline is valid? [True, True] Translation: X:657.56, Y:37.27, Z:24.01 [[ 9.96187163e-01 -7.92267851e-02 -3.65274367e-02 6.57556343e+02] [ 7.92095468e-02 9.96856137e-01 -1.92110969e-03 3.72670335e+01] [ 3.65648028e-02 -9.79536897e-04 9.99330804e-01 2.40072762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.019254154 meters Centerline goodness : 0.999182 with order 1 Centerline is valid? [True, True] Translation: X:657.62, Y:37.27, Z:24.01 [[ 9.96719441e-01 -7.22225955e-02 -3.65274367e-02 6.57615122e+02] [ 7.22006554e-02 9.97388277e-01 -1.92110969e-03 3.72724348e+01] [ 3.65707847e-02 -7.22497493e-04 9.99330804e-01 2.40108748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.079254154 meters Centerline goodness : 0.999077 with order 1 Centerline is valid? [True, True] Translation: X:657.67, Y:37.28, Z:24.02 [[ 9.97173810e-01 -6.56516733e-02 -3.65274012e-02 6.57674597e+02] [ 6.56253006e-02 9.97842486e-01 -1.92178535e-03 3.72773343e+01] [ 3.65747612e-02 -4.80767667e-04 9.99330804e-01 2.40152936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.139254154 meters Centerline goodness : 0.999433 with order 1 Centerline is valid? [True, True] Translation: X:657.73, Y:37.28, Z:24.02 [[ 9.97395293e-01 -6.21963279e-02 -3.65273307e-02 6.57733252e+02] [ 6.21675895e-02 9.98063872e-01 -1.92312460e-03 3.72807377e+01] [ 3.65762204e-02 -3.52700672e-04 9.99330804e-01 2.40180056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.199254154 meters Centerline goodness : 0.999307 with order 1 Centerline is valid? [True, True] Translation: X:657.79, Y:37.28, Z:24.02 [[ 9.97603784e-01 -5.87578144e-02 -3.65268383e-02 6.57790939e+02] [ 5.87264308e-02 9.98272243e-01 -1.93243106e-03 3.72842835e+01] [ 3.65772743e-02 -2.17290303e-04 9.99330804e-01 2.40196899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.259254154 meters Centerline goodness : 0.998969 with order 1 Centerline is valid? [True, True] Translation: X:657.85, Y:37.29, Z:24.02 [[ 9.97590919e-01 -5.89759384e-02 -3.65266654e-02 6.57849159e+02] [ 5.89445815e-02 9.98259380e-01 -1.93569450e-03 3.72862520e+01] [ 3.65772457e-02 -2.22017748e-04 9.99330804e-01 2.40215444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.319254154 meters Centerline goodness : 0.999056 with order 1 Centerline is valid? [True, True] Translation: X:657.91, Y:37.28, Z:24.02 [[ 9.97364814e-01 -6.26839104e-02 -3.65260956e-02 6.57907492e+02] [ 6.26546471e-02 9.98033370e-01 -1.94638616e-03 3.72849528e+01] [ 3.65762694e-02 -3.47272562e-04 9.99330804e-01 2.40234032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.379254154 meters Centerline goodness : 0.999035 with order 1 Centerline is valid? [True, True] Translation: X:657.97, Y:37.29, Z:24.02 [[ 9.97122617e-01 -6.64256965e-02 -3.65255239e-02 6.57965436e+02] [ 6.63985511e-02 9.97791262e-01 -1.95705729e-03 3.72852108e+01] [ 3.65748475e-02 -4.73815779e-04 9.99330804e-01 2.40241945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.439254154 meters Centerline goodness : 0.999119 with order 1 Centerline is valid? [True, True] Translation: X:658.02, Y:37.28, Z:24.02 [[ 9.96780349e-01 -7.13783070e-02 -3.65249549e-02 6.58024957e+02] [ 7.13540967e-02 9.97449107e-01 -1.96761856e-03 3.72835663e+01] [ 3.65722290e-02 -6.44921655e-04 9.99330804e-01 2.40242976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.499254154 meters Centerline goodness : 0.999078 with order 1 Centerline is valid? [True, True] Translation: X:658.08, Y:37.28, Z:24.03 [[ 9.96325963e-01 -7.74630349e-02 -3.65247070e-02 6.58083321e+02] [ 7.74427400e-02 9.96994851e-01 -1.97221122e-03 3.72842407e+01] [ 3.65677182e-02 -8.63608142e-04 9.99330804e-01 2.40264536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.559254154 meters Centerline goodness : 0.998993 with order 1 Centerline is valid? [True, True] Translation: X:658.14, Y:37.28, Z:24.03 [[ 9.95904186e-01 -8.27093464e-02 -3.65241860e-02 6.58142467e+02] [ 8.26922227e-02 9.96573163e-01 -1.98181271e-03 3.72849333e+01] [ 3.65629380e-02 -1.04657055e-03 9.99330804e-01 2.40282558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.619254154 meters Centerline goodness : 0.999057 with order 1 Centerline is valid? [True, True] Translation: X:658.20, Y:37.29, Z:24.03 [[ 9.95534770e-01 -8.70431652e-02 -3.65240788e-02 6.58201425e+02] [ 8.70288811e-02 9.96203814e-01 -1.98378653e-03 3.72867130e+01] [ 3.65581016e-02 -1.20372125e-03 9.99330804e-01 2.40316153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.679254154 meters Centerline goodness : 0.999016 with order 1 Centerline is valid? [True, True] Translation: X:658.26, Y:37.29, Z:24.03 [[ 9.94981626e-01 -9.31534430e-02 -3.65239776e-02 6.58261354e+02] [ 9.31431985e-02 9.95650743e-01 -1.98564789e-03 3.72882229e+01] [ 3.65500953e-02 -1.42627693e-03 9.99330804e-01 2.40338818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.739254154 meters Centerline goodness : 0.998808 with order 1 Centerline is valid? [True, True] Translation: X:658.32, Y:37.29, Z:24.04 [[ 9.94443584e-01 -9.87317689e-02 -3.65239109e-02 6.58322499e+02] [ 9.87252319e-02 9.95112748e-01 -1.98687389e-03 3.72910666e+01] [ 3.65415769e-02 -1.62999758e-03 9.99330804e-01 2.40363631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.799254154 meters Centerline goodness : 0.998935 with order 1 Centerline is valid? [True, True] Translation: X:658.38, Y:37.30, Z:24.04 [[ 9.94166629e-01 -1.01482571e-01 -3.65239841e-02 6.58384591e+02] [ 1.01477934e-01 9.94835809e-01 -1.98552757e-03 3.72956372e+01] [ 3.65368637e-02 -1.73243321e-03 9.99330804e-01 2.40387055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.859254154 meters Centerline goodness : 0.999022 with order 1 Centerline is valid? [True, True] Translation: X:658.44, Y:37.30, Z:24.04 [[ 9.94088426e-01 -1.02245731e-01 -3.65241300e-02 6.58444590e+02] [ 1.02241707e-01 9.94757610e-01 -1.98283959e-03 3.73000981e+01] [ 3.65353931e-02 -1.76317151e-03 9.99330804e-01 2.40368635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.919254154 meters Centerline goodness : 0.998727 with order 1 Centerline is valid? [True, True] Translation: X:658.50, Y:37.31, Z:24.04 [[ 9.93873149e-01 -1.04317542e-01 -3.65241687e-02 6.58504849e+02] [ 1.04314939e-01 9.94542339e-01 -1.98212689e-03 3.73054941e+01] [ 3.65316028e-02 -1.84003374e-03 9.99330804e-01 2.40418341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.9792541539999 meters Centerline goodness : 0.998769 with order 1 Centerline is valid? [True, True] Translation: X:658.57, Y:37.31, Z:24.04 [[ 9.94071496e-01 -1.02410182e-01 -3.65241687e-02 6.58566456e+02] [ 1.02406294e-01 9.94740681e-01 -1.98212689e-03 3.73132087e+01] [ 3.65350664e-02 -1.76992892e-03 9.99330804e-01 2.40447725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.039254154 meters Centerline goodness : 0.998954 with order 1 Centerline is valid? [True, True] Translation: X:658.63, Y:37.32, Z:24.05 [[ 9.94554323e-01 -9.76098040e-02 -3.65243117e-02 6.58627924e+02] [ 9.76027827e-02 9.95223482e-01 -1.97948851e-03 3.73203771e+01] [ 3.65430701e-02 -1.59616561e-03 9.99330804e-01 2.40458438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.0992541539999 meters Centerline goodness : 0.999122 with order 1 Centerline is valid? [True, True] Translation: X:658.69, Y:37.33, Z:24.05 [[ 9.94872631e-01 -9.43101955e-02 -3.65244575e-02 6.58688762e+02] [ 9.43010534e-02 9.95541764e-01 -1.97679410e-03 3.73272869e+01] [ 3.65480547e-02 -1.47763647e-03 9.99330804e-01 2.40474792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.159254154 meters Centerline goodness : 0.999056 with order 1 Centerline is valid? [True, True] Translation: X:658.75, Y:37.34, Z:24.05 [[ 9.95474879e-01 -8.77252098e-02 -3.65246903e-02 6.58749214e+02] [ 8.77117983e-02 9.96143940e-01 -1.97248244e-03 3.73368143e+01] [ 3.65568854e-02 -1.24008956e-03 9.99330804e-01 2.40514650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.2192541539999 meters Centerline goodness : 0.999054 with order 1 Centerline is valid? [True, True] Translation: X:658.81, Y:37.35, Z:24.06 [[ 9.96128321e-01 -7.99644262e-02 -3.65247607e-02 6.58809395e+02] [ 7.99458487e-02 9.96797259e-01 -1.97117830e-03 3.73496934e+01] [ 3.65654055e-02 -9.56456466e-04 9.99330804e-01 2.40591964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.279254154 meters Centerline goodness : 0.999138 with order 1 Centerline is valid? [True, True] Translation: X:658.87, Y:37.36, Z:24.06 [[ 9.97034519e-01 -6.77355379e-02 -3.65248439e-02 6.58868812e+02] [ 6.77088102e-02 9.97703181e-01 -1.96963614e-03 3.73550533e+01] [ 3.65743673e-02 -5.09258505e-04 9.99330804e-01 2.40575677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.339254154 meters Centerline goodness : 0.999050 with order 1 Centerline is valid? [True, True] Translation: X:658.93, Y:37.36, Z:24.06 [[ 9.97197914e-01 -6.52859796e-02 -3.65248023e-02 6.58928054e+02] [ 6.52575810e-02 9.97866507e-01 -1.97040762e-03 3.73598887e+01] [ 3.65755168e-02 -4.18633873e-04 9.99330804e-01 2.40597010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.399254154 meters Centerline goodness : 0.999024 with order 1 Centerline is valid? [True, True] Translation: X:658.99, Y:37.37, Z:24.06 [[ 9.97326832e-01 -6.32861266e-02 -3.65247337e-02 6.58986120e+02] [ 6.32563408e-02 9.97995365e-01 -1.97167799e-03 3.73667188e+01] [ 3.65762948e-02 -3.44013643e-04 9.99330804e-01 2.40605450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.459254154 meters Centerline goodness : 0.999130 with order 1 Centerline is valid? [True, True] Translation: X:659.04, Y:37.37, Z:24.06 [[ 9.97094776e-01 -6.68429960e-02 -3.65242612e-02 6.59044875e+02] [ 6.68152758e-02 9.97763397e-01 -1.98039251e-03 3.73712229e+01] [ 3.65749463e-02 -4.65739559e-04 9.99330804e-01 2.40600279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.519254154 meters Centerline goodness : 0.998985 with order 1 Centerline is valid? [True, True] Translation: X:659.10, Y:37.37, Z:24.06 [[ 9.96577843e-01 -7.41524752e-02 -3.65241521e-02 6.59104183e+02] [ 7.41295848e-02 9.97246647e-01 -1.98240226e-03 3.73739773e+01] [ 3.65705882e-02 -7.31902061e-04 9.99330804e-01 2.40629317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.579254154 meters Centerline goodness : 0.998902 with order 1 Centerline is valid? [True, True] Translation: X:659.16, Y:37.38, Z:24.07 [[ 9.96121742e-01 -8.00466467e-02 -3.65240826e-02 6.59164818e+02] [ 8.00276663e-02 9.96790669e-01 -1.98368122e-03 3.73775610e+01] [ 3.65656518e-02 -9.46949102e-04 9.99330804e-01 2.40663274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.639254154 meters Centerline goodness : 0.999009 with order 1 Centerline is valid? [True, True] Translation: X:659.23, Y:37.38, Z:24.07 [[ 9.95756931e-01 -8.44637397e-02 -3.65241175e-02 6.59225509e+02] [ 8.44477497e-02 9.96425936e-01 -1.98303869e-03 3.73800083e+01] [ 3.65610728e-02 -1.10975502e-03 9.99330804e-01 2.40685234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.699254154 meters Centerline goodness : 0.998779 with order 1 Centerline is valid? [True, True] Translation: X:659.29, Y:37.38, Z:24.07 [[ 9.95557104e-01 -8.67873234e-02 -3.65241519e-02 6.59286462e+02] [ 8.67729179e-02 9.96226144e-01 -1.98240577e-03 3.73825762e+01] [ 3.65583627e-02 -1.19570908e-03 9.99330804e-01 2.40703613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.759254154 meters Centerline goodness : 0.998825 with order 1 Centerline is valid? [True, True] Translation: X:659.35, Y:37.39, Z:24.07 [[ 9.95310969e-01 -8.95659290e-02 -3.65242196e-02 6.59346420e+02] [ 8.95534369e-02 9.95980048e-01 -1.98115678e-03 3.73853181e+01] [ 3.65548382e-02 -1.29900232e-03 9.99330804e-01 2.40712429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.819254154 meters Centerline goodness : 0.998993 with order 1 Centerline is valid? [True, True] Translation: X:659.41, Y:37.39, Z:24.07 [[ 9.95318112e-01 -8.94865055e-02 -3.65242530e-02 6.59407948e+02] [ 8.94739826e-02 9.95987191e-01 -1.98054073e-03 3.73878485e+01] [ 3.65549198e-02 -1.29670232e-03 9.99330804e-01 2.40723942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.879254154 meters Centerline goodness : 0.999076 with order 1 Centerline is valid? [True, True] Translation: X:659.47, Y:37.39, Z:24.07 [[ 9.95906384e-01 -8.26828183e-02 -3.65243189e-02 6.59469420e+02] [ 8.26657681e-02 9.96575362e-01 -1.97932458e-03 3.73913173e+01] [ 3.65628925e-02 -1.04808889e-03 9.99330804e-01 2.40748097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.939254154 meters Centerline goodness : 0.999037 with order 1 Centerline is valid? [True, True] Translation: X:659.53, Y:37.40, Z:24.08 [[ 9.96829120e-01 -7.06942327e-02 -3.65243882e-02 6.59529937e+02] [ 7.06691815e-02 9.97497847e-01 -1.97804553e-03 3.73978620e+01] [ 3.65728350e-02 -6.09375228e-04 9.99330804e-01 2.40782214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.999254154 meters Centerline goodness : 0.999092 with order 1 Centerline is valid? [True, True] Translation: X:659.59, Y:37.40, Z:24.08 [[ 9.97546738e-01 -5.97199230e-02 -3.65244589e-02 6.59590019e+02] [ 5.96875619e-02 9.98215151e-01 -1.97673853e-03 3.74032940e+01] [ 3.65773190e-02 -2.08166833e-04 9.99330804e-01 2.40806554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.059254154 meters Centerline goodness : 0.998904 with order 1 Centerline is valid? [True, True] Translation: X:659.65, Y:37.41, Z:24.08 [[ 9.97653251e-01 -5.79133347e-02 -3.65244589e-02 6.59648930e+02] [ 5.78797632e-02 9.98321604e-01 -1.97673853e-03 3.74069893e+01] [ 3.65776360e-02 -1.41927417e-04 9.99330804e-01 2.40821129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.119254154 meters Centerline goodness : 0.998904 with order 1 Centerline is valid? [True, True] Translation: X:659.71, Y:37.41, Z:24.08 [[ 9.97364483e-01 -6.26904313e-02 -3.65239444e-02 6.59706439e+02] [ 6.26597144e-02 9.98032973e-01 -1.98619982e-03 3.74082205e+01] [ 3.65766166e-02 -3.07614770e-04 9.99330804e-01 2.40822969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.179254154 meters Centerline goodness : 0.998993 with order 1 Centerline is valid? [True, True] Translation: X:659.76, Y:37.41, Z:24.08 [[ 9.96475443e-01 -7.55162629e-02 -3.65237639e-02 6.59764922e+02] [ 7.54940272e-02 9.97144269e-01 -1.98951414e-03 3.74059442e+01] [ 3.65697025e-02 -7.74824045e-04 9.99330804e-01 2.40829600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.239254154 meters Centerline goodness : 0.999181 with order 1 Centerline is valid? [True, True] Translation: X:659.83, Y:37.40, Z:24.09 [[ 9.95528924e-01 -8.71102524e-02 -3.65234955e-02 6.59825925e+02] [ 8.70956233e-02 9.96197960e-01 -1.99442890e-03 3.74043016e+01] [ 3.65583669e-02 -1.19552495e-03 9.99330804e-01 2.40861724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.299254154 meters Centerline goodness : 0.998849 with order 1 Centerline is valid? [True, True] Translation: X:659.89, Y:37.40, Z:24.09 [[ 9.94892898e-01 -9.40964964e-02 -3.65235676e-02 6.59887150e+02] [ 9.40866125e-02 9.95562021e-01 -1.99310874e-03 3.74047379e+01] [ 3.65490213e-02 -1.45344902e-03 9.99330804e-01 2.40896283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.359254154 meters Centerline goodness : 0.998786 with order 1 Centerline is valid? [True, True] Translation: X:659.95, Y:37.40, Z:24.09 [[ 9.94548464e-01 -9.76697282e-02 -3.65236405e-02 6.59948367e+02] [ 9.76622970e-02 9.95217619e-01 -1.99177198e-03 3.74047430e+01] [ 3.65435063e-02 -1.58606886e-03 9.99330804e-01 2.40929357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.419254154 meters Centerline goodness : 0.998787 with order 1 Centerline is valid? [True, True] Translation: X:660.01, Y:37.40, Z:24.09 [[ 9.94588553e-01 -9.72605563e-02 -3.65238755e-02 6.60010974e+02] [ 9.72530083e-02 9.95257707e-01 -1.98745157e-03 3.74028154e+01] [ 3.65439693e-02 -1.57536019e-03 9.99330804e-01 2.40916464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.4792541539999 meters Centerline goodness : 0.999057 with order 1 Centerline is valid? [True, True] Translation: X:660.07, Y:37.41, Z:24.09 [[ 9.94211605e-01 -1.01040983e-01 -3.65240269e-02 6.60073568e+02] [ 1.01036081e-01 9.94880783e-01 -1.98466610e-03 3.74058090e+01] [ 3.65375851e-02 -1.71706648e-03 9.99330804e-01 2.40919692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.539254154 meters Centerline goodness : 0.999036 with order 1 Centerline is valid? [True, True] Translation: X:660.13, Y:37.41, Z:24.10 [[ 9.93517353e-01 -1.07653401e-01 -3.65241770e-02 6.60134142e+02] [ 1.07653052e-01 9.94186548e-01 -1.98190073e-03 3.74143635e+01] [ 3.65252038e-02 -1.96288636e-03 9.99330804e-01 2.40972112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.5992541539999 meters Centerline goodness : 0.998888 with order 1 Centerline is valid? [True, True] Translation: X:660.20, Y:37.42, Z:24.10 [[ 9.93742146e-01 -1.05558156e-01 -3.65242878e-02 6.60196570e+02] [ 1.05556471e-01 9.94411339e-01 -1.97985587e-03 3.74206851e+01] [ 3.65291559e-02 -1.88790873e-03 9.99330804e-01 2.40987592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.659254154 meters Centerline goodness : 0.998867 with order 1 Centerline is valid? [True, True] Translation: X:660.26, Y:37.43, Z:24.10 [[ 9.94178289e-01 -1.01368107e-01 -3.65244717e-02 6.60257605e+02] [ 1.01363726e-01 9.94847470e-01 -1.97645776e-03 3.74269168e+01] [ 3.65366280e-02 -1.73730515e-03 9.99330804e-01 2.40995667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.7192541539999 meters Centerline goodness : 0.998946 with order 1 Centerline is valid? [True, True] Translation: X:660.32, Y:37.44, Z:24.10 [[ 9.95123284e-01 -9.16275283e-02 -3.65245804e-02 6.60319678e+02] [ 9.16166682e-02 9.95792392e-01 -1.97444639e-03 3.74365394e+01] [ 3.65518129e-02 -1.38144279e-03 9.99330804e-01 2.41019578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.779254154 meters Centerline goodness : 0.998585 with order 1 Centerline is valid? [True, True] Translation: X:660.38, Y:37.45, Z:24.10 [[ 9.96210465e-01 -7.89344960e-02 -3.65247233e-02 6.60380257e+02] [ 7.89152041e-02 9.96879382e-01 -1.97180068e-03 3.74459794e+01] [ 3.65663866e-02 -9.18027516e-04 9.99330804e-01 2.41027056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.839254154 meters Centerline goodness : 0.998921 with order 1 Centerline is valid? [True, True] Translation: X:660.44, Y:37.45, Z:24.11 [[ 9.96771807e-01 -7.14975609e-02 -3.65248284e-02 6.60441269e+02] [ 7.14733488e-02 9.97440565e-01 -1.96985027e-03 3.74546329e+01] [ 3.65721850e-02 -6.47060591e-04 9.99330804e-01 2.41083092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.899254154 meters Centerline goodness : 0.998601 with order 1 Centerline is valid? [True, True] Translation: X:660.50, Y:37.46, Z:24.11 [[ 9.97272319e-01 -6.41393326e-02 -3.65249015e-02 6.60501579e+02] [ 6.41102353e-02 9.97940881e-01 -1.96849511e-03 3.74627230e+01] [ 3.65759503e-02 -3.78494341e-04 9.99330804e-01 2.41112894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.959254154 meters Centerline goodness : 0.998960 with order 1 Centerline is valid? [True, True] Translation: X:660.56, Y:37.47, Z:24.12 [[ 9.97540217e-01 -5.98284848e-02 -3.65249015e-02 6.60561874e+02] [ 5.97964982e-02 9.98208647e-01 -1.96849511e-03 3.74682590e+01] [ 3.65772446e-02 -2.20408163e-04 9.99330804e-01 2.41165913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.019254154 meters Centerline goodness : 0.998876 with order 1 Centerline is valid? [True, True] Translation: X:660.62, Y:37.47, Z:24.12 [[ 9.97473129e-01 -6.09367524e-02 -3.65249015e-02 6.60620347e+02] [ 6.09055085e-02 9.98141595e-01 -1.96849511e-03 3.74725926e+01] [ 3.65769771e-02 -2.61046716e-04 9.99330804e-01 2.41156866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.079254154 meters Centerline goodness : 0.999172 with order 1 Centerline is valid? [True, True] Translation: X:660.68, Y:37.48, Z:24.12 [[ 9.97262928e-01 -6.42852396e-02 -3.65247906e-02 6.60679282e+02] [ 6.42561649e-02 9.97931492e-01 -1.97055118e-03 3.74758298e+01] [ 3.65759161e-02 -3.81785321e-04 9.99330804e-01 2.41173608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.139254154 meters Centerline goodness : 0.999001 with order 1 Centerline is valid? [True, True] Translation: X:660.74, Y:37.48, Z:24.12 [[ 9.96888432e-01 -6.98526792e-02 -3.65247548e-02 6.60740219e+02] [ 6.98273136e-02 9.97557147e-01 -1.97121433e-03 3.74780045e+01] [ 3.65732247e-02 -5.85344748e-04 9.99330804e-01 2.41192553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.199254154 meters Centerline goodness : 0.998960 with order 1 Centerline is valid? [True, True] Translation: X:660.80, Y:37.48, Z:24.12 [[ 9.96802014e-01 -7.10752238e-02 -3.65247548e-02 6.60800114e+02] [ 7.10506784e-02 9.97470759e-01 -1.97121433e-03 3.74799725e+01] [ 3.65724794e-02 -6.30198193e-04 9.99330804e-01 2.41194874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.259254154 meters Centerline goodness : 0.999301 with order 1 Centerline is valid? [True, True] Translation: X:660.86, Y:37.48, Z:24.12 [[ 9.96370981e-01 -7.68817726e-02 -3.65247909e-02 6.60860562e+02] [ 7.68611485e-02 9.97039859e-01 -1.97054538e-03 3.74805757e+01] [ 3.65681713e-02 -8.43943134e-04 9.99330804e-01 2.41234794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.319254154 meters Centerline goodness : 0.999513 with order 1 Centerline is valid? [True, True] Translation: X:660.92, Y:37.48, Z:24.12 [[ 9.96061514e-01 -8.07923216e-02 -3.65247909e-02 6.60921984e+02] [ 8.07743233e-02 9.96730468e-01 -1.97054538e-03 3.74820945e+01] [ 3.65645768e-02 -9.87480845e-04 9.99330804e-01 2.41249066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.379254154 meters Centerline goodness : 0.999448 with order 1 Centerline is valid? [True, True] Translation: X:660.98, Y:37.48, Z:24.13 [[ 9.95899674e-01 -8.27633591e-02 -3.65248630e-02 6.60983916e+02] [ 8.27467337e-02 9.96568663e-01 -1.96920729e-03 3.74840388e+01] [ 3.65625121e-02 -1.06118022e-03 9.99330804e-01 2.41272177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.439254154 meters Centerline goodness : 0.999682 with order 1 Centerline is valid? [True, True] Translation: X:661.05, Y:37.49, Z:24.13 [[ 9.95861431e-01 -8.32221952e-02 -3.65250055e-02 6.61045797e+02] [ 8.32059750e-02 9.96530430e-01 -1.96656127e-03 3.74868435e+01] [ 3.65619410e-02 -1.08067617e-03 9.99330804e-01 2.41295747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.499254154 meters Centerline goodness : 0.999534 with order 1 Centerline is valid? [True, True] Translation: X:661.11, Y:37.49, Z:24.13 [[ 9.95952360e-01 -8.21267967e-02 -3.65251509e-02 6.61107358e+02] [ 8.21099398e-02 9.96621343e-01 -1.96385538e-03 3.74896779e+01] [ 3.65630301e-02 -1.04317155e-03 9.99330804e-01 2.41297184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.559254154 meters Centerline goodness : 0.999724 with order 1 Centerline is valid? [True, True] Translation: X:661.17, Y:37.49, Z:24.13 [[ 9.96049404e-01 -8.09412131e-02 -3.65253896e-02 6.61168936e+02] [ 8.09237229e-02 9.96718371e-01 -1.95940575e-03 3.74938567e+01] [ 3.65641236e-02 -1.00410558e-03 9.99330804e-01 2.41318811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.619254154 meters Centerline goodness : 0.999512 with order 1 Centerline is valid? [True, True] Translation: X:661.23, Y:37.50, Z:24.13 [[ 9.96320371e-01 -7.75345357e-02 -3.65255316e-02 6.61230522e+02] [ 7.75148550e-02 9.96989277e-01 -1.95675520e-03 3.74983044e+01] [ 3.65672795e-02 -8.81716228e-04 9.99330804e-01 2.41339635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.679254154 meters Centerline goodness : 0.999406 with order 1 Centerline is valid? [True, True] Translation: X:661.29, Y:37.50, Z:24.14 [[ 9.96629137e-01 -7.34590901e-02 -3.65256751e-02 6.61291904e+02] [ 7.34367721e-02 9.97297961e-01 -1.95407348e-03 3.75029960e+01] [ 3.65705258e-02 -7.34841112e-04 9.99330804e-01 2.41368779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.739254154 meters Centerline goodness : 0.999469 with order 1 Centerline is valid? [True, True] Translation: X:661.35, Y:37.51, Z:24.14 [[ 9.97131423e-01 -6.62932516e-02 -3.65257471e-02 6.61352571e+02] [ 6.62661759e-02 9.97800071e-01 -1.95272783e-03 3.75089524e+01] [ 3.65748457e-02 -4.73295305e-04 9.99330804e-01 2.41405460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.799254154 meters Centerline goodness : 0.999429 with order 1 Centerline is valid? [True, True] Translation: X:661.41, Y:37.51, Z:24.14 [[ 9.97549451e-01 -5.96737583e-02 -3.65258186e-02 6.61412823e+02] [ 5.96422944e-02 9.98217906e-01 -1.95138898e-03 3.75132279e+01] [ 3.65771729e-02 -2.31876622e-04 9.99330804e-01 2.41433949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.859254154 meters Centerline goodness : 0.999576 with order 1 Centerline is valid? [True, True] Translation: X:661.47, Y:37.52, Z:24.15 [[ 9.97701336e-01 -5.70780880e-02 -3.65258186e-02 6.61472071e+02] [ 5.70448850e-02 9.98369708e-01 -1.95138898e-03 3.75160486e+01] [ 3.65776524e-02 -1.36707731e-04 9.99330804e-01 2.41459856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.919254154 meters Centerline goodness : 0.999259 with order 1 Centerline is valid? [True, True] Translation: X:661.53, Y:37.52, Z:24.15 [[ 9.97756571e-01 -5.61043240e-02 -3.65257484e-02 6.61529990e+02] [ 5.60704207e-02 9.98424907e-01 -1.95270119e-03 3.75180047e+01] [ 3.65777720e-02 -9.96936350e-05 9.99330804e-01 2.41483085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.9792541539999 meters Centerline goodness : 0.999535 with order 1 Centerline is valid? [True, True] Translation: X:661.59, Y:37.52, Z:24.15 [[ 9.97555495e-01 -5.95727857e-02 -3.65255756e-02 6.61588448e+02] [ 5.95410879e-02 9.98223939e-01 -1.95592898e-03 3.75171287e+01] [ 3.65772241e-02 -2.23624806e-04 9.99330804e-01 2.41509545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.039254154 meters Centerline goodness : 0.999367 with order 1 Centerline is valid? [True, True] Translation: X:661.65, Y:37.52, Z:24.15 [[ 9.97027806e-01 -6.78341788e-02 -3.65250425e-02 6.61647378e+02] [ 6.78076565e-02 9.97696476e-01 -1.96583340e-03 3.75153601e+01] [ 3.65742569e-02 -5.16686970e-04 9.99330804e-01 2.41546856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.0992541539999 meters Centerline goodness : 0.999157 with order 1 Centerline is valid? [True, True] Translation: X:661.71, Y:37.52, Z:24.16 [[ 9.96537098e-01 -7.46978608e-02 -3.65245316e-02 6.61706857e+02] [ 7.46755972e-02 9.97205923e-01 -1.97528150e-03 3.75152598e+01] [ 3.65700285e-02 -7.59049908e-04 9.99330805e-01 2.41564414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.159254154 meters Centerline goodness : 0.999390 with order 1 Centerline is valid? [True, True] Translation: X:661.77, Y:37.51, Z:24.16 [[ 9.95721127e-01 -8.48846214e-02 -3.65244956e-02 6.61767377e+02] [ 8.48691742e-02 9.96390144e-01 -1.97594585e-03 3.75138418e+01] [ 3.65603749e-02 -1.13231275e-03 9.99330805e-01 2.41603063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.2192541539999 meters Centerline goodness : 0.999304 with order 1 Centerline is valid? [True, True] Translation: X:661.83, Y:37.51, Z:24.17 [[ 9.94803021e-01 -9.50416263e-02 -3.65244956e-02 6.61829450e+02] [ 9.50330072e-02 9.95472161e-01 -1.97594585e-03 3.75120381e+01] [ 3.65469157e-02 -1.50535576e-03 9.99330805e-01 2.41650665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.279254154 meters Centerline goodness : 0.999159 with order 1 Centerline is valid? [True, True] Translation: X:661.89, Y:37.51, Z:24.16 [[ 9.93920445e-01 -1.03865776e-01 -3.65246412e-02 6.61890851e+02] [ 1.03863194e-01 9.94589636e-01 -1.97325056e-03 3.75113069e+01] [ 3.65319828e-02 -1.83231183e-03 9.99330805e-01 2.41645584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.339254154 meters Centerline goodness : 0.999432 with order 1 Centerline is valid? [True, True] Translation: X:661.95, Y:37.51, Z:24.17 [[ 9.93176892e-01 -1.10750186e-01 -3.65247490e-02 6.61952755e+02] [ 1.10752314e-01 9.93846084e-01 -1.97125317e-03 3.75131512e+01] [ 3.65182955e-02 -2.08739739e-03 9.99330805e-01 2.41695275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.399254154 meters Centerline goodness : 0.999558 with order 1 Centerline is valid? [True, True] Translation: X:662.01, Y:37.52, Z:24.17 [[ 9.92915750e-01 -1.13067433e-01 -3.65248976e-02 6.62013699e+02] [ 1.13071224e-01 9.93584935e-01 -1.96849695e-03 3.75151406e+01] [ 3.65131609e-02 -2.17536326e-03 9.99330805e-01 2.41703569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.459254154 meters Centerline goodness : 0.998379 with order 1 Centerline is valid? [True, True] Translation: X:662.07, Y:37.52, Z:24.17 [[ 9.92962103e-01 -1.12659604e-01 -3.65250067e-02 6.62074771e+02] [ 1.12663195e-01 9.93631289e-01 -1.96646937e-03 3.75205679e+01] [ 3.65139312e-02 -2.16239438e-03 9.99330805e-01 2.41673178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.519254154 meters Centerline goodness : 0.999262 with order 1 Centerline is valid? [True, True] Translation: X:662.14, Y:37.52, Z:24.17 [[ 9.93345686e-01 -1.09225759e-01 -3.65250909e-02 6.62136122e+02] [ 1.09227093e-01 9.94014880e-01 -1.96490450e-03 3.75236234e+01] [ 3.65211020e-02 -2.03770008e-03 9.99330805e-01 2.41703205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.579254154 meters Centerline goodness : 0.999009 with order 1 Centerline is valid? [True, True] Translation: X:662.20, Y:37.53, Z:24.18 [[ 9.93517492e-01 -1.07651776e-01 -3.65251781e-02 6.62197723e+02] [ 1.07652109e-01 9.94186687e-01 -1.96328291e-03 3.75342017e+01] [ 3.65241967e-02 -1.98145655e-03 9.99330805e-01 2.41753331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.639254154 meters Centerline goodness : 0.999536 with order 1 Centerline is valid? [True, True] Translation: X:662.26, Y:37.54, Z:24.18 [[ 9.94038597e-01 -1.02728615e-01 -3.65253262e-02 6.62258769e+02] [ 1.02725734e-01 9.94707786e-01 -1.96052389e-03 3.75414296e+01] [ 3.65334282e-02 -1.80325451e-03 9.99330805e-01 2.41775428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.699254154 meters Centerline goodness : 0.999152 with order 1 Centerline is valid? [True, True] Translation: X:662.32, Y:37.55, Z:24.18 [[ 9.94598940e-01 -9.71536374e-02 -3.65255895e-02 6.62320090e+02] [ 9.71471846e-02 9.95268105e-01 -1.95560573e-03 3.75537791e+01] [ 3.65427484e-02 -1.60331480e-03 9.99330805e-01 2.41795587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.759254154 meters Centerline goodness : 0.999724 with order 1 Centerline is valid? [True, True] Translation: X:662.38, Y:37.56, Z:24.18 [[ 9.95167459e-01 -9.11460370e-02 -3.65257361e-02 6.62380718e+02] [ 9.11356442e-02 9.95836573e-01 -1.95286402e-03 3.75614381e+01] [ 3.65516597e-02 -1.38536976e-03 9.99330805e-01 2.41836319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.819254154 meters Centerline goodness : 0.999575 with order 1 Centerline is valid? [True, True] Translation: X:662.44, Y:37.57, Z:24.19 [[ 9.95330834e-01 -8.93442454e-02 -3.65258448e-02 6.62441507e+02] [ 8.93327158e-02 9.95999930e-01 -1.95082777e-03 3.75708782e+01] [ 3.65540341e-02 -1.32123389e-03 9.99330805e-01 2.41877504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.879254154 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:662.50, Y:37.58, Z:24.19 [[ 9.95265654e-01 -9.00673842e-02 -3.65259500e-02 6.62503126e+02] [ 9.00564130e-02 9.95934759e-01 -1.94885608e-03 3.75777277e+01] [ 3.65529916e-02 -1.34976653e-03 9.99330805e-01 2.41897443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.939254154 meters Centerline goodness : 0.999575 with order 1 Centerline is valid? [True, True] Translation: X:662.56, Y:37.59, Z:24.19 [[ 9.94884745e-01 -9.41816798e-02 -3.65260874e-02 6.62563690e+02] [ 9.41735697e-02 9.95553891e-01 -1.94627772e-03 3.75852516e+01] [ 3.65469922e-02 -1.50347003e-03 9.99330805e-01 2.41900474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.999254154 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:662.63, Y:37.59, Z:24.19 [[ 9.94352390e-01 -9.96451814e-02 -3.65261889e-02 6.62626708e+02] [ 9.96408170e-02 9.95021571e-01 -1.94437128e-03 3.75927284e+01] [ 3.65380931e-02 -1.70610908e-03 9.99330805e-01 2.41941980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.059254154 meters Centerline goodness : 0.999510 with order 1 Centerline is valid? [True, True] Translation: X:662.69, Y:37.60, Z:24.19 [[ 9.93827937e-01 -1.04746612e-01 -3.65264073e-02 6.62687344e+02] [ 1.04745833e-01 9.94497132e-01 -1.94025969e-03 3.75989518e+01] [ 3.65286430e-02 -1.89770466e-03 9.99330805e-01 2.41932194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.119254154 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:662.75, Y:37.60, Z:24.20 [[ 9.93606023e-01 -1.06831105e-01 -3.65265145e-02 6.62748740e+02] [ 1.06831803e-01 9.94275218e-01 -1.93823885e-03 3.76030635e+01] [ 3.65244724e-02 -1.97634763e-03 9.99330805e-01 2.41997317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.179254154 meters Centerline goodness : 0.999638 with order 1 Centerline is valid? [True, True] Translation: X:662.81, Y:37.61, Z:24.20 [[ 9.93124158e-01 -1.11221455e-01 -3.65266220e-02 6.62810283e+02] [ 1.11225185e-01 9.93793343e-01 -1.93621118e-03 3.76086577e+01] [ 3.65152621e-02 -2.13978220e-03 9.99330805e-01 2.42036214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.239254154 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:662.87, Y:37.61, Z:24.21 [[ 9.92975582e-01 -1.12540168e-01 -3.65267631e-02 6.62872144e+02] [ 1.12544885e-01 9.93644761e-01 -1.93354577e-03 3.76130713e+01] [ 3.65122284e-02 -2.19093660e-03 9.99330805e-01 2.42063164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.299254154 meters Centerline goodness : 0.999403 with order 1 Centerline is valid? [True, True] Translation: X:662.93, Y:37.62, Z:24.21 [[ 9.92967294e-01 -1.12613226e-01 -3.65269028e-02 6.62934714e+02] [ 1.12618088e-01 9.93636472e-01 -1.93090356e-03 3.76182754e+01] [ 3.65119081e-02 -2.19626587e-03 9.99330805e-01 2.42079494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.359254154 meters Centerline goodness : 0.999574 with order 1 Centerline is valid? [True, True] Translation: X:663.00, Y:37.62, Z:24.20 [[ 9.93484616e-01 -1.07954100e-01 -3.65271135e-02 6.62996643e+02] [ 1.07955970e-01 9.94153809e-01 -1.92690979e-03 3.76202615e+01] [ 3.65215868e-02 -2.02896474e-03 9.99330805e-01 2.42031939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.419254154 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:663.06, Y:37.63, Z:24.21 [[ 9.93304413e-01 -1.09599748e-01 -3.65272233e-02 6.63057598e+02] [ 1.09602803e-01 9.93973602e-01 -1.92482641e-03 3.76288287e+01] [ 3.65180562e-02 -2.09154747e-03 9.99330805e-01 2.42121920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.4792541539999 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:663.12, Y:37.64, Z:24.21 [[ 9.93640700e-01 -1.06507799e-01 -3.65273663e-02 6.63119420e+02] [ 1.06508871e-01 9.94309894e-01 -1.92210914e-03 3.76350039e+01] [ 3.65242413e-02 -1.98060266e-03 9.99330805e-01 2.42132924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.539254154 meters Centerline goodness : 0.999486 with order 1 Centerline is valid? [True, True] Translation: X:663.18, Y:37.64, Z:24.21 [[ 9.94149106e-01 -1.01652820e-01 -3.65275078e-02 6.63181279e+02] [ 1.01650721e-01 9.94818298e-01 -1.91941450e-03 3.76409255e+01] [ 3.65333471e-02 -1.80486332e-03 9.99330805e-01 2.42145075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.5992541539999 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:663.24, Y:37.65, Z:24.21 [[ 9.94677746e-01 -9.63426775e-02 -3.65276494e-02 6.63243533e+02] [ 9.63371046e-02 9.95346919e-01 -1.91671606e-03 3.76455610e+01] [ 3.65423449e-02 -1.61245318e-03 9.99330805e-01 2.42140535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.659254154 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:663.30, Y:37.65, Z:24.22 [[ 9.95035378e-01 -9.25760088e-02 -3.65277959e-02 6.63303772e+02] [ 9.25680048e-02 9.95704525e-01 -1.91392058e-03 3.76542171e+01] [ 3.65480748e-02 -1.47688650e-03 9.99330805e-01 2.42225558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.7192541539999 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:663.37, Y:37.66, Z:24.22 [[ 9.95334782e-01 -8.92994017e-02 -3.65279042e-02 6.63365967e+02] [ 8.92892703e-02 9.96003901e-01 -1.91185217e-03 3.76597478e+01] [ 3.65526623e-02 -1.35861694e-03 9.99330805e-01 2.42239385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.779254154 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:663.43, Y:37.66, Z:24.23 [[ 9.95401274e-01 -8.85550876e-02 -3.65280800e-02 6.63428230e+02] [ 8.85445792e-02 9.96070387e-01 -1.90848731e-03 3.76638665e+01] [ 3.65535450e-02 -1.33465277e-03 9.99330805e-01 2.42251423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.839254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:663.49, Y:37.67, Z:24.23 [[ 9.95596599e-01 -8.63313436e-02 -3.65282184e-02 6.63490665e+02] [ 8.63194378e-02 9.96265689e-01 -1.90583514e-03 3.76695485e+01] [ 3.65563439e-02 -1.25565229e-03 9.99330805e-01 2.42279189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.899254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:663.55, Y:37.68, Z:24.23 [[ 9.96128712e-01 -7.99578987e-02 -3.65283921e-02 6.63551931e+02] [ 7.99418333e-02 9.96797715e-01 -1.90249866e-03 3.76757297e+01] [ 3.65635376e-02 -1.02501309e-03 9.99330805e-01 2.42332773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.959254154 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:663.61, Y:37.68, Z:24.24 [[ 9.96514481e-01 -7.49970474e-02 -3.65284979e-02 6.63614144e+02] [ 7.49777256e-02 9.97183398e-01 -1.90046515e-03 3.76813448e+01] [ 3.65681410e-02 -8.44982652e-04 9.99330805e-01 2.42377213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.019254154 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:663.68, Y:37.69, Z:24.24 [[ 9.96946110e-01 -6.90225557e-02 -3.65286389e-02 6.63675258e+02] [ 6.89993242e-02 9.97614902e-01 -1.89775133e-03 3.76860141e+01] [ 3.65725022e-02 -6.28495599e-04 9.99330805e-01 2.42401961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.079254154 meters Centerline goodness : 0.999388 with order 1 Centerline is valid? [True, True] Translation: X:663.74, Y:37.69, Z:24.24 [[ 9.97011077e-01 -6.80776219e-02 -3.65287431e-02 6.63737840e+02] [ 6.80538301e-02 9.97679850e-01 -1.89574363e-03 3.76881906e+01] [ 3.65730487e-02 -5.95843482e-04 9.99330805e-01 2.42398405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.139254154 meters Centerline goodness : 0.999738 with order 1 Centerline is valid? [True, True] Translation: X:663.80, Y:37.69, Z:24.24 [[ 9.96843044e-01 -7.04952993e-02 -3.65288776e-02 6.63799931e+02] [ 7.04732244e-02 9.97511875e-01 -1.89314894e-03 3.76910509e+01] [ 3.65714473e-02 -6.87135432e-04 9.99330805e-01 2.42421378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.199254154 meters Centerline goodness : 0.999609 with order 1 Centerline is valid? [True, True] Translation: X:663.86, Y:37.69, Z:24.24 [[ 9.96450321e-01 -7.58445056e-02 -3.65290130e-02 6.63862632e+02] [ 7.58261167e-02 9.97119264e-01 -1.89053187e-03 3.76925067e+01] [ 3.65671690e-02 -8.86032114e-04 9.99330805e-01 2.42423985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.259254154 meters Centerline goodness : 0.999480 with order 1 Centerline is valid? [True, True] Translation: X:663.93, Y:37.69, Z:24.24 [[ 9.96106662e-01 -8.02317840e-02 -3.65291496e-02 6.63925266e+02] [ 8.02164379e-02 9.96775681e-01 -1.88788838e-03 3.76939236e+01] [ 3.65628367e-02 -1.04970007e-03 9.99330805e-01 2.42439391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.319254154 meters Centerline goodness : 0.999417 with order 1 Centerline is valid? [True, True] Translation: X:663.99, Y:37.70, Z:24.25 [[ 9.95601359e-01 -8.62759886e-02 -3.65292844e-02 6.63987492e+02] [ 8.62647989e-02 9.96270460e-01 -1.88527815e-03 3.76958996e+01] [ 3.65557012e-02 -1.27420589e-03 9.99330805e-01 2.42455788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.379254154 meters Centerline goodness : 0.999374 with order 1 Centerline is valid? [True, True] Translation: X:664.05, Y:37.70, Z:24.25 [[ 9.95272381e-01 -8.99916058e-02 -3.65294182e-02 6.64049784e+02] [ 8.99830089e-02 9.95941521e-01 -1.88268126e-03 3.76992494e+01] [ 3.65505898e-02 -1.41324630e-03 9.99330805e-01 2.42485861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.439254154 meters Centerline goodness : 0.999504 with order 1 Centerline is valid? [True, True] Translation: X:664.11, Y:37.70, Z:24.25 [[ 9.95137988e-01 -9.14657175e-02 -3.65295497e-02 6.64111354e+02] [ 9.14582054e-02 9.95807141e-01 -1.88012676e-03 3.77030711e+01] [ 3.65483536e-02 -1.46994150e-03 9.99330805e-01 2.42527268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.499254154 meters Centerline goodness : 0.999504 with order 1 Centerline is valid? [True, True] Translation: X:664.17, Y:37.71, Z:24.26 [[ 9.94951034e-01 -9.34773884e-02 -3.65296865e-02 6.64172540e+02] [ 9.34713266e-02 9.95620202e-01 -1.87746484e-03 3.77068984e+01] [ 3.65451943e-02 -1.54649267e-03 9.99330805e-01 2.42559065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.559254154 meters Centerline goodness : 0.999547 with order 1 Centerline is valid? [True, True] Translation: X:664.24, Y:37.71, Z:24.26 [[ 9.94684966e-01 -9.62672408e-02 -3.65299395e-02 6.64235032e+02] [ 9.62632366e-02 9.95354150e-01 -1.87252926e-03 3.77106298e+01] [ 3.65404901e-02 -1.65391351e-03 9.99330805e-01 2.42576077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.619254154 meters Centerline goodness : 0.999289 with order 1 Centerline is valid? [True, True] Translation: X:664.30, Y:37.71, Z:24.26 [[ 9.94536693e-01 -9.77870871e-02 -3.65301389e-02 6.64297033e+02] [ 9.77842483e-02 9.95205883e-01 -1.86863112e-03 3.77140276e+01] [ 3.65377371e-02 -1.71364996e-03 9.99330805e-01 2.42585840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.679254154 meters Centerline goodness : 0.999482 with order 1 Centerline is valid? [True, True] Translation: X:664.36, Y:37.72, Z:24.26 [[ 9.94510419e-01 -9.80538192e-02 -3.65304651e-02 6.64358306e+02] [ 9.80513944e-02 9.95179610e-01 -1.86223192e-03 3.77175747e+01] [ 3.65369730e-02 -1.72985399e-03 9.99330805e-01 2.42590721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.739254154 meters Centerline goodness : 0.999395 with order 1 Centerline is valid? [True, True] Translation: X:664.42, Y:37.72, Z:24.26 [[ 9.94669501e-01 -9.64266666e-02 -3.65305615e-02 6.64420414e+02] [ 9.64232164e-02 9.95338687e-01 -1.86033956e-03 3.77215028e+01] [ 3.65396675e-02 -1.67197121e-03 9.99330805e-01 2.42601763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.799254154 meters Centerline goodness : 0.999330 with order 1 Centerline is valid? [True, True] Translation: X:664.48, Y:37.73, Z:24.26 [[ 9.95197525e-01 -9.08151679e-02 -3.65306880e-02 6.64482246e+02] [ 9.08080347e-02 9.95866682e-01 -1.85785165e-03 3.77279312e+01] [ 3.65484162e-02 -1.46835062e-03 9.99330805e-01 2.42616193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.859254154 meters Centerline goodness : 0.999327 with order 1 Centerline is valid? [True, True] Translation: X:664.54, Y:37.74, Z:24.27 [[ 9.95968030e-01 -8.19340172e-02 -3.65308126e-02 6.64544855e+02] [ 8.19210050e-02 9.96637099e-01 -1.85539880e-03 3.77359378e+01] [ 3.65599833e-02 -1.14472299e-03 9.99330805e-01 2.42652713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.919254154 meters Centerline goodness : 0.999586 with order 1 Centerline is valid? [True, True] Translation: X:664.61, Y:37.74, Z:24.27 [[ 9.96448559e-01 -7.58666956e-02 -3.65310009e-02 6.64606585e+02] [ 7.58497449e-02 9.97117539e-01 -1.85168371e-03 3.77415192e+01] [ 3.65661829e-02 -9.25759534e-04 9.99330805e-01 2.42685997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.9792541539999 meters Centerline goodness : 0.999542 with order 1 Centerline is valid? [True, True] Translation: X:664.67, Y:37.75, Z:24.27 [[ 9.97049113e-01 -6.75169832e-02 -3.65311241e-02 6.64668356e+02] [ 6.74945183e-02 9.97717931e-01 -1.84924956e-03 3.77482226e+01] [ 3.65726133e-02 -6.21857992e-04 9.99330805e-01 2.42725516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.039254154 meters Centerline goodness : 0.999564 with order 1 Centerline is valid? [True, True] Translation: X:664.73, Y:37.75, Z:24.28 [[ 9.97222103e-01 -6.49118286e-02 -3.65312454e-02 6.64730295e+02] [ 6.48877043e-02 9.97890863e-01 -1.84685107e-03 3.77526325e+01] [ 3.65740785e-02 -5.28707938e-04 9.99330805e-01 2.42752520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.0992541539999 meters Centerline goodness : 0.999495 with order 1 Centerline is valid? [True, True] Translation: X:664.79, Y:37.76, Z:24.28 [[ 9.97678685e-01 -5.74691375e-02 -3.65313662e-02 6.64791659e+02] [ 5.74401114e-02 9.98347250e-01 -1.84445742e-03 3.77586922e+01] [ 3.65769884e-02 -2.58189900e-04 9.99330805e-01 2.42775171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.159254154 meters Centerline goodness : 0.999539 with order 1 Centerline is valid? [True, True] Translation: X:664.85, Y:37.76, Z:24.28 [[ 9.97926952e-01 -5.29835295e-02 -3.65314259e-02 6.64852368e+02] [ 5.29515415e-02 9.98595382e-01 -1.84327402e-03 3.77632068e+01] [ 3.65777764e-02 -9.49424970e-05 9.99330805e-01 2.42792551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.2192541539999 meters Centerline goodness : 0.999493 with order 1 Centerline is valid? [True, True] Translation: X:664.91, Y:37.77, Z:24.28 [[ 9.98054347e-01 -5.05270014e-02 -3.65313871e-02 6.64912698e+02] [ 5.04933401e-02 9.98722695e-01 -1.84404366e-03 3.77666130e+01] [ 3.65778994e-02 -4.13596256e-06 9.99330805e-01 2.42835887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.279254154 meters Centerline goodness : 0.999407 with order 1 Centerline is valid? [True, True] Translation: X:664.97, Y:37.77, Z:24.29 [[ 9.98040838e-01 -5.07931496e-02 -3.65313871e-02 6.64972798e+02] [ 5.07596665e-02 9.98709195e-01 -1.84404366e-03 3.77677494e+01] [ 3.65778970e-02 -1.38901477e-05 9.99330805e-01 2.42854875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.339254154 meters Centerline goodness : 0.999539 with order 1 Centerline is valid? [True, True] Translation: X:665.03, Y:37.77, Z:24.29 [[ 9.97928888e-01 -5.29470632e-02 -3.65313871e-02 6.65032944e+02] [ 5.29150227e-02 9.98597316e-01 -1.84404366e-03 3.77689628e+01] [ 3.65777818e-02 -9.28347386e-05 9.99330805e-01 2.42867641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.399254154 meters Centerline goodness : 0.999476 with order 1 Centerline is valid? [True, True] Translation: X:665.09, Y:37.77, Z:24.29 [[ 9.97697257e-01 -5.71457885e-02 -3.65313871e-02 6.65093233e+02] [ 5.71165610e-02 9.98365814e-01 -1.84404366e-03 3.77684296e+01] [ 3.65770673e-02 -2.46749898e-04 9.99330805e-01 2.42886808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.459254154 meters Centerline goodness : 0.999455 with order 1 Centerline is valid? [True, True] Translation: X:665.15, Y:37.77, Z:24.29 [[ 9.97487892e-01 -6.06907230e-02 -3.65313871e-02 6.65154897e+02] [ 6.06638713e-02 9.98156548e-01 -1.84404366e-03 3.77689841e+01] [ 3.65759596e-02 -3.76724146e-04 9.99330805e-01 2.42919348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.519254154 meters Centerline goodness : 0.999328 with order 1 Centerline is valid? [True, True] Translation: X:665.22, Y:37.77, Z:24.29 [[ 9.97085775e-01 -6.69732011e-02 -3.65314519e-02 6.65216815e+02] [ 6.69506092e-02 9.97754589e-01 -1.84275868e-03 3.77675095e+01] [ 3.65728392e-02 -6.08414496e-04 9.99330805e-01 2.42945934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.579254154 meters Centerline goodness : 0.999372 with order 1 Centerline is valid? [True, True] Translation: X:665.28, Y:37.77, Z:24.30 [[ 9.96723315e-01 -7.21670054e-02 -3.65315849e-02 6.65278635e+02] [ 7.21479950e-02 9.97392240e-01 -1.84011865e-03 3.77667609e+01] [ 3.65691151e-02 -8.01591438e-04 9.99330805e-01 2.42960799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.639254154 meters Centerline goodness : 0.999247 with order 1 Centerline is valid? [True, True] Translation: X:665.34, Y:37.76, Z:24.30 [[ 9.96141064e-01 -7.98023514e-02 -3.65317165e-02 6.65340250e+02] [ 7.97885631e-02 9.96810117e-01 -1.83750111e-03 3.77631270e+01] [ 3.65618215e-02 -1.08440286e-03 9.99330805e-01 2.42956523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.699254154 meters Centerline goodness : 0.999313 with order 1 Centerline is valid? [True, True] Translation: X:665.40, Y:37.76, Z:24.30 [[ 9.95836192e-01 -8.35206377e-02 -3.65319297e-02 6.65402408e+02] [ 8.35095030e-02 9.96505295e-01 -1.83325296e-03 3.77622211e+01] [ 3.65573759e-02 -1.22514365e-03 9.99330805e-01 2.42972637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.759254154 meters Centerline goodness : 0.999270 with order 1 Centerline is valid? [True, True] Translation: X:665.47, Y:37.76, Z:24.30 [[ 9.95624643e-01 -8.60056934e-02 -3.65320518e-02 6.65465172e+02] [ 8.59963178e-02 9.96293773e-01 -1.83081755e-03 3.77604345e+01] [ 3.65541164e-02 -1.31881486e-03 9.99330805e-01 2.42998861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.819254154 meters Centerline goodness : 0.999167 with order 1 Centerline is valid? [True, True] Translation: X:665.53, Y:37.76, Z:24.30 [[ 9.95424166e-01 -8.82956940e-02 -3.65321805e-02 6.65527877e+02] [ 8.82879519e-02 9.96093316e-01 -1.82824463e-03 3.77579657e+01] [ 3.65508870e-02 -1.40547251e-03 9.99330805e-01 2.43029889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.879254154 meters Centerline goodness : 0.999081 with order 1 Centerline is valid? [True, True] Translation: X:665.59, Y:37.76, Z:24.30 [[ 9.95349832e-01 -8.91296645e-02 -3.65323770e-02 6.65589320e+02] [ 8.91226272e-02 9.96018990e-01 -1.82431050e-03 3.77580997e+01] [ 3.65495414e-02 -1.44003427e-03 9.99330805e-01 2.43033874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.939254154 meters Centerline goodness : 0.999403 with order 1 Centerline is valid? [True, True] Translation: X:665.65, Y:37.76, Z:24.31 [[ 9.95317458e-01 -8.94904220e-02 -3.65324735e-02 6.65651788e+02] [ 8.94836981e-02 9.95986620e-01 -1.82237566e-03 3.77571367e+01] [ 3.65489400e-02 -1.45521852e-03 9.99330805e-01 2.43052193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.999254154 meters Centerline goodness : 0.998998 with order 1 Centerline is valid? [True, True] Translation: X:665.71, Y:37.76, Z:24.31 [[ 9.95311391e-01 -8.95578234e-02 -3.65325995e-02 6.65713003e+02] [ 8.95512376e-02 9.95980554e-01 -1.81984588e-03 3.77568382e+01] [ 3.65487402e-02 -1.46022617e-03 9.99330805e-01 2.43066156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.059254154 meters Centerline goodness : 0.999020 with order 1 Centerline is valid? [True, True] Translation: X:665.78, Y:37.76, Z:24.31 [[ 9.95403252e-01 -8.85309030e-02 -3.65328078e-02 6.65775581e+02] [ 8.85237804e-02 9.96072409e-01 -1.81565529e-03 3.77572413e+01] [ 3.65500635e-02 -1.42671307e-03 9.99330805e-01 2.43075024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.119254154 meters Centerline goodness : 0.999083 with order 1 Centerline is valid? [True, True] Translation: X:665.84, Y:37.76, Z:24.31 [[ 9.95387977e-01 -8.87024221e-02 -3.65329303e-02 6.65837479e+02] [ 8.86955053e-02 9.96057137e-01 -1.81318648e-03 3.77593362e+01] [ 3.65497200e-02 -1.43548269e-03 9.99330805e-01 2.43113548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.179254154 meters Centerline goodness : 0.998917 with order 1 Centerline is valid? [True, True] Translation: X:665.90, Y:37.76, Z:24.31 [[ 9.95581117e-01 -8.65076586e-02 -3.65330556e-02 6.65898869e+02] [ 8.64993591e-02 9.96250261e-01 -1.81066001e-03 3.77610319e+01] [ 3.65527021e-02 -1.35742697e-03 9.99330805e-01 2.43145232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.239254154 meters Centerline goodness : 0.998811 with order 1 Centerline is valid? [True, True] Translation: X:665.96, Y:37.76, Z:24.32 [[ 9.95902864e-01 -8.27213026e-02 -3.65331481e-02 6.65960448e+02] [ 8.27105272e-02 9.96571973e-01 -1.80879139e-03 3.77642441e+01] [ 3.65575370e-02 -1.22029541e-03 9.99330805e-01 2.43189874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.299254154 meters Centerline goodness : 0.998789 with order 1 Centerline is valid? [True, True] Translation: X:666.02, Y:37.77, Z:24.32 [[ 9.96620031e-01 -7.35787601e-02 -3.65332705e-02 6.66022452e+02] [ 7.35619356e-02 9.97289015e-01 -1.80631618e-03 3.77681447e+01] [ 3.65671358e-02 -8.87247202e-04 9.99330805e-01 2.43240480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.359254154 meters Centerline goodness : 0.999256 with order 1 Centerline is valid? [True, True] Translation: X:666.08, Y:37.77, Z:24.33 [[ 9.97221728e-01 -6.49163749e-02 -3.65333938e-02 6.66084043e+02] [ 6.48938298e-02 9.97890544e-01 -1.80381734e-03 3.77710603e+01] [ 3.65734255e-02 -5.71985995e-04 9.99330805e-01 2.43271315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.419254154 meters Centerline goodness : 0.999085 with order 1 Centerline is valid? [True, True] Translation: X:666.14, Y:37.77, Z:24.33 [[ 9.97514811e-01 -6.02454086e-02 -3.65334561e-02 6.66143418e+02] [ 6.02197777e-02 9.98183515e-01 -1.80255485e-03 3.77731958e+01] [ 3.65756893e-02 -4.01961446e-04 9.99330805e-01 2.43282592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.4792541539999 meters Centerline goodness : 0.999065 with order 1 Centerline is valid? [True, True] Translation: X:666.20, Y:37.78, Z:24.33 [[ 9.97651344e-01 -5.79405092e-02 -3.65334606e-02 6.66203504e+02] [ 5.79133367e-02 9.98319987e-01 -1.80246319e-03 3.77793293e+01] [ 3.65765196e-02 -3.17544782e-04 9.99330805e-01 2.43339623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.539254154 meters Centerline goodness : 0.998852 with order 1 Centerline is valid? [True, True] Translation: X:666.26, Y:37.77, Z:24.33 [[ 9.97951143e-01 -5.25244707e-02 -3.65334966e-02 6.66261554e+02] [ 5.24936959e-02 9.98619630e-01 -1.80173456e-03 3.77721516e+01] [ 3.65777020e-02 -1.19735198e-04 9.99330805e-01 2.43283758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.5992541539999 meters Centerline goodness : 0.998918 with order 1 Centerline is valid? [True, True] Translation: X:666.32, Y:37.77, Z:24.33 [[ 9.97919064e-01 -5.31308187e-02 -3.65329566e-02 6.66319776e+02] [ 5.31000516e-02 9.98587552e-01 -1.81261773e-03 3.77715848e+01] [ 3.65776616e-02 -1.31056091e-04 9.99330805e-01 2.43344558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.659254154 meters Centerline goodness : 0.998897 with order 1 Centerline is valid? [True, True] Translation: X:666.38, Y:37.77, Z:24.34 [[ 9.97837882e-01 -5.46346185e-02 -3.65324509e-02 6.66378119e+02] [ 5.46044878e-02 9.98506398e-01 -1.82275426e-03 3.77682671e+01] [ 3.65774714e-02 -1.76022520e-04 9.99330805e-01 2.43362654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.7192541539999 meters Centerline goodness : 0.998646 with order 1 Centerline is valid? [True, True] Translation: X:666.44, Y:37.76, Z:24.34 [[ 9.97547456e-01 -5.97031379e-02 -3.65322937e-02 6.66435208e+02] [ 5.96762887e-02 9.98216112e-01 -1.82589780e-03 3.77633057e+01] [ 3.65761361e-02 -3.58692003e-04 9.99330805e-01 2.43374790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.779254154 meters Centerline goodness : 0.998671 with order 1 Centerline is valid? [True, True] Translation: X:666.49, Y:37.76, Z:24.34 [[ 9.96973936e-01 -6.86176177e-02 -3.65320769e-02 6.66493158e+02] [ 6.85965881e-02 9.97642801e-01 -1.83022540e-03 3.77569449e+01] [ 3.65715493e-02 -6.81288814e-04 9.99330805e-01 2.43387469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.839254154 meters Centerline goodness : 0.998948 with order 1 Centerline is valid? [True, True] Translation: X:666.55, Y:37.75, Z:24.34 [[ 9.96453561e-01 -7.58005194e-02 -3.65319244e-02 6.66552979e+02] [ 7.57841991e-02 9.97122557e-01 -1.83326535e-03 3.77542497e+01] [ 3.65657683e-02 -9.41778842e-04 9.99330805e-01 2.43404710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.899254154 meters Centerline goodness : 0.998759 with order 1 Centerline is valid? [True, True] Translation: X:666.61, Y:37.75, Z:24.34 [[ 9.95662411e-01 -8.55674394e-02 -3.65318643e-02 6.66614121e+02] [ 8.55576358e-02 9.96331534e-01 -1.83446247e-03 3.77493660e+01] [ 3.65548186e-02 -1.29907461e-03 9.99330805e-01 2.43417920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.959254154 meters Centerline goodness : 0.998760 with order 1 Centerline is valid? [True, True] Translation: X:666.67, Y:37.75, Z:24.34 [[ 9.95432555e-01 -8.82011943e-02 -3.65318643e-02 6.66674776e+02] [ 8.81931609e-02 9.96101702e-01 -1.83446247e-03 3.77495052e+01] [ 3.65512540e-02 -1.39577691e-03 9.99330805e-01 2.43430630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.019254154 meters Centerline goodness : 0.998972 with order 1 Centerline is valid? [True, True] Translation: X:666.74, Y:37.75, Z:24.35 [[ 9.94991825e-01 -9.30413295e-02 -3.65318974e-02 6.66736017e+02] [ 9.30365746e-02 9.95661003e-01 -1.83380263e-03 3.77484565e+01] [ 3.65440050e-02 -1.57418397e-03 9.99330805e-01 2.43463316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.079254154 meters Centerline goodness : 0.999205 with order 1 Centerline is valid? [True, True] Translation: X:666.80, Y:37.75, Z:24.35 [[ 9.94637821e-01 -9.67523698e-02 -3.65319638e-02 6.66796871e+02] [ 9.67501598e-02 9.95307012e-01 -1.83247838e-03 3.77475921e+01] [ 3.65378164e-02 -1.71182103e-03 9.99330805e-01 2.43478995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.139254154 meters Centerline goodness : 0.999100 with order 1 Centerline is valid? [True, True] Translation: X:666.86, Y:37.75, Z:24.35 [[ 9.94298145e-01 -1.00182864e-01 -3.65320624e-02 6.66857602e+02] [ 1.00183035e-01 9.94967341e-01 -1.83051072e-03 3.77487149e+01] [ 3.65315948e-02 -1.83981947e-03 9.99330805e-01 2.43499372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.199254154 meters Centerline goodness : 0.998913 with order 1 Centerline is valid? [True, True] Translation: X:666.92, Y:37.75, Z:24.35 [[ 9.94110845e-01 -1.02024652e-01 -3.65321593e-02 6.66918823e+02] [ 1.02026133e-01 9.94780038e-01 -1.82857590e-03 3.77504059e+01] [ 3.65280226e-02 -1.90942781e-03 9.99330805e-01 2.43492543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.259254154 meters Centerline goodness : 0.999018 with order 1 Centerline is valid? [True, True] Translation: X:666.98, Y:37.75, Z:24.35 [[ 9.93819183e-01 -1.04827610e-01 -3.65322223e-02 6.66980617e+02] [ 1.04831025e-01 9.94488370e-01 -1.82731614e-03 3.77532543e+01] [ 3.65224233e-02 -2.01368846e-03 9.99330805e-01 2.43489227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.319254154 meters Centerline goodness : 0.998934 with order 1 Centerline is valid? [True, True] Translation: X:667.04, Y:37.76, Z:24.35 [[ 9.93661682e-01 -1.06310179e-01 -3.65322845e-02 6.67041683e+02] [ 1.06314637e-01 9.94330862e-01 -1.82607075e-03 3.77569047e+01] [ 3.65193079e-02 -2.06942005e-03 9.99330805e-01 2.43519496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.379254154 meters Centerline goodness : 0.999039 with order 1 Centerline is valid? [True, True] Translation: X:667.10, Y:37.76, Z:24.35 [[ 9.93771255e-01 -1.05280958e-01 -3.65323458e-02 6.67101548e+02] [ 1.05284768e-01 9.94440439e-01 -1.82484450e-03 3.77602219e+01] [ 3.65213634e-02 -2.03282153e-03 9.99330805e-01 2.43539069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.439254154 meters Centerline goodness : 0.999079 with order 1 Centerline is valid? [True, True] Translation: X:667.16, Y:37.77, Z:24.36 [[ 9.94384523e-01 -9.93217313e-02 -3.65323759e-02 6.67162919e+02] [ 9.93215520e-02 9.95053718e-01 -1.82424022e-03 3.77659551e+01] [ 3.65328632e-02 -1.81445603e-03 9.99330805e-01 2.43565185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.499254154 meters Centerline goodness : 0.999287 with order 1 Centerline is valid? [True, True] Translation: X:667.22, Y:37.77, Z:24.36 [[ 9.95065096e-01 -9.22541919e-02 -3.65324353e-02 6.67224132e+02] [ 9.22493017e-02 9.95734273e-01 -1.82305045e-03 3.77716326e+01] [ 3.65447820e-02 -1.55603777e-03 9.99330805e-01 2.43596423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.559254154 meters Centerline goodness : 0.999117 with order 1 Centerline is valid? [True, True] Translation: X:667.28, Y:37.78, Z:24.36 [[ 9.96197728e-01 -7.90914915e-02 -3.65324940e-02 6.67284561e+02] [ 7.90777984e-02 9.96866783e-01 -1.82187429e-03 3.77782424e+01] [ 3.65621245e-02 -1.07396216e-03 9.99330805e-01 2.43625587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.619254154 meters Centerline goodness : 0.999283 with order 1 Centerline is valid? [True, True] Translation: X:667.34, Y:37.79, Z:24.36 [[ 9.97149096e-01 -6.60231615e-02 -3.65324940e-02 6.67343012e+02] [ 6.60006974e-02 9.97817914e-01 -1.82187429e-03 3.77860892e+01] [ 3.65730628e-02 -5.94489775e-04 9.99330805e-01 2.43649287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.679254154 meters Centerline goodness : 0.999157 with order 1 Centerline is valid? [True, True] Translation: X:667.40, Y:37.79, Z:24.37 [[ 9.97577015e-01 -5.92071097e-02 -3.65324084e-02 6.67400945e+02] [ 5.91800126e-02 9.98245661e-01 -1.82358786e-03 3.77919475e+01] [ 3.65762876e-02 -3.42819053e-04 9.99330805e-01 2.43669930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.739254154 meters Centerline goodness : 0.999220 with order 1 Centerline is valid? [True, True] Translation: X:667.46, Y:37.80, Z:24.37 [[ 9.97958319e-01 -5.23890213e-02 -3.65319582e-02 6.67457931e+02] [ 5.23570272e-02 9.98626749e-01 -1.83256367e-03 3.77964302e+01] [ 3.65777968e-02 -8.38825703e-05 9.99330805e-01 2.43684244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.799254154 meters Centerline goodness : 0.999347 with order 1 Centerline is valid? [True, True] Translation: X:667.52, Y:37.80, Z:24.37 [[ 9.98052950e-01 -5.05543182e-02 -3.65317640e-02 6.67515250e+02] [ 5.05209540e-02 9.98721313e-01 -1.83642668e-03 3.77997555e+01] [ 3.65778906e-02 -1.27685004e-05 9.99330805e-01 2.43742910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.859254154 meters Centerline goodness : 0.999137 with order 1 Centerline is valid? [True, True] Translation: X:667.57, Y:37.80, Z:24.38 [[ 9.98073864e-01 -5.01401176e-02 -3.65312352e-02 6.67573201e+02] [ 5.01060931e-02 9.98742193e-01 -1.84688610e-03 3.78025374e+01] [ 3.65778890e-02 1.28912715e-05 9.99330805e-01 2.43766162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.919254154 meters Centerline goodness : 0.999221 with order 1 Centerline is valid? [True, True] Translation: X:667.63, Y:37.80, Z:24.38 [[ 9.98033479e-01 -5.09380367e-02 -3.65306981e-02 6.67631151e+02] [ 5.09041599e-02 9.98701816e-01 -1.85744903e-03 3.78026191e+01] [ 3.65778893e-02 -5.76818419e-06 9.99330805e-01 2.43791550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.9792541539999 meters Centerline goodness : 0.999160 with order 1 Centerline is valid? [True, True] Translation: X:667.69, Y:37.80, Z:24.38 [[ 9.97966928e-01 -5.22260463e-02 -3.65301443e-02 6.67688724e+02] [ 5.21926357e-02 9.98635288e-01 -1.86827800e-03 3.78028565e+01] [ 3.65778639e-02 -4.21248543e-05 9.99330805e-01 2.43813779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.039254154 meters Centerline goodness : 0.999142 with order 1 Centerline is valid? [True, True] Translation: X:667.75, Y:37.80, Z:24.38 [[ 9.97745980e-01 -5.62898664e-02 -3.65295952e-02 6.67746975e+02] [ 5.62587872e-02 9.98414452e-01 -1.87895305e-03 3.78010590e+01] [ 3.65774418e-02 -1.80392874e-04 9.99330805e-01 2.43845724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.0992541539999 meters Centerline goodness : 0.999227 with order 1 Centerline is valid? [True, True] Translation: X:667.80, Y:37.80, Z:24.39 [[ 9.97520975e-01 -6.01459252e-02 -3.65290521e-02 6.67804499e+02] [ 6.01170455e-02 9.98189547e-01 -1.88945224e-03 3.77994403e+01] [ 3.65765608e-02 -3.11250446e-04 9.99330805e-01 2.43873221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.159254154 meters Centerline goodness : 0.999457 with order 1 Centerline is valid? [True, True] Translation: X:667.86, Y:37.80, Z:24.39 [[ 9.97155273e-01 -6.59318348e-02 -3.65288179e-02 6.67863680e+02] [ 6.59066688e-02 9.97823994e-01 -1.89396984e-03 3.77955950e+01] [ 3.65742039e-02 -5.18910691e-04 9.99330805e-01 2.43879487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.2192541539999 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:667.92, Y:37.79, Z:24.39 [[ 9.96767635e-01 -7.15539012e-02 -3.65283554e-02 6.67922038e+02] [ 7.15321813e-02 9.97436477e-01 -1.90284897e-03 3.77922147e+01] [ 3.65708704e-02 -7.16254672e-04 9.99330805e-01 2.43898229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.279254154 meters Centerline goodness : 0.999248 with order 1 Centerline is valid? [True, True] Translation: X:667.98, Y:37.79, Z:24.39 [[ 9.96563821e-01 -7.43388857e-02 -3.65278106e-02 6.67980586e+02] [ 7.43186537e-02 9.97232710e-01 -1.91325056e-03 3.77908124e+01] [ 3.65689564e-02 -8.08021413e-04 9.99330805e-01 2.43896657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.339254154 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:668.04, Y:37.79, Z:24.39 [[ 9.96203398e-01 -7.90224237e-02 -3.65273307e-02 6.68039380e+02] [ 7.90050020e-02 9.96872366e-01 -1.92236920e-03 3.77888836e+01] [ 3.65649968e-02 -9.70771105e-04 9.99330805e-01 2.43947871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.399254154 meters Centerline goodness : 0.999393 with order 1 Centerline is valid? [True, True] Translation: X:668.10, Y:37.79, Z:24.40 [[ 9.96047763e-01 -8.09607585e-02 -3.65268256e-02 6.68099517e+02] [ 8.09442887e-02 9.96716755e-01 -1.93191889e-03 3.77891806e+01] [ 3.65633087e-02 -1.03235443e-03 9.99330805e-01 2.43962012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.459254154 meters Centerline goodness : 0.999394 with order 1 Centerline is valid? [True, True] Translation: X:668.16, Y:37.79, Z:24.40 [[ 9.95740436e-01 -8.46568441e-02 -3.65267542e-02 6.68159048e+02] [ 8.46428077e-02 9.96409483e-01 -1.93326829e-03 3.77885981e+01] [ 3.65592686e-02 -1.16669362e-03 9.99330805e-01 2.43973150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.519254154 meters Centerline goodness : 0.999290 with order 1 Centerline is valid? [True, True] Translation: X:668.22, Y:37.79, Z:24.40 [[ 9.95380061e-01 -8.87937854e-02 -3.65266835e-02 6.68218183e+02] [ 8.87824804e-02 9.96049160e-01 -1.93460263e-03 3.77892549e+01] [ 3.65541531e-02 -1.31726468e-03 9.99330805e-01 2.43997042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.579254154 meters Centerline goodness : 0.999374 with order 1 Centerline is valid? [True, True] Translation: X:668.28, Y:37.79, Z:24.40 [[ 9.94658264e-01 -9.65441653e-02 -3.65261889e-02 6.68277080e+02] [ 9.65377316e-02 9.95327427e-01 -1.94389601e-03 3.77900614e+01] [ 3.65431894e-02 -1.59264319e-03 9.99330805e-01 2.44023060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.639254154 meters Centerline goodness : 0.999230 with order 1 Centerline is valid? [True, True] Translation: X:668.34, Y:37.79, Z:24.40 [[ 9.94235696e-01 -1.00802908e-01 -3.65260846e-02 6.68338047e+02] [ 1.00799269e-01 9.94904880e-01 -1.94585295e-03 3.77923336e+01] [ 3.65361275e-02 -1.74716616e-03 9.99330805e-01 2.44023984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.699254154 meters Centerline goodness : 0.999124 with order 1 Centerline is valid? [True, True] Translation: X:668.40, Y:37.80, Z:24.41 [[ 9.93496990e-01 -1.07840512e-01 -3.65260846e-02 6.68398704e+02] [ 1.07841611e-01 9.94166184e-01 -1.94585295e-03 3.77951005e+01] [ 3.65228400e-02 -2.00583274e-03 9.99330805e-01 2.44078485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.759254154 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:668.46, Y:37.80, Z:24.41 [[ 9.93165168e-01 -1.10854832e-01 -3.65260846e-02 6.68459665e+02] [ 1.10857961e-01 9.93834355e-01 -1.94585295e-03 3.77994129e+01] [ 3.65165850e-02 -2.11665391e-03 9.99330805e-01 2.44091624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.819254154 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:668.52, Y:37.80, Z:24.41 [[ 9.93088653e-01 -1.11538191e-01 -3.65261557e-02 6.68520746e+02] [ 1.11541830e-01 9.93757837e-01 -1.94451783e-03 3.78034779e+01] [ 3.65150415e-02 -2.14311567e-03 9.99330805e-01 2.44117302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.879254154 meters Centerline goodness : 0.999021 with order 1 Centerline is valid? [True, True] Translation: X:668.58, Y:37.81, Z:24.41 [[ 9.93051304e-01 -1.11870200e-01 -3.65262265e-02 6.68582126e+02] [ 1.11874112e-01 9.93720487e-01 -1.94318784e-03 3.78097038e+01] [ 3.65142444e-02 -2.15665394e-03 9.99330805e-01 2.44143200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.939254154 meters Centerline goodness : 0.999289 with order 1 Centerline is valid? [True, True] Translation: X:668.64, Y:37.82, Z:24.42 [[ 9.93193867e-01 -1.10597339e-01 -3.65262970e-02 6.68644399e+02] [ 1.10600441e-01 9.93863055e-01 -1.94186082e-03 3.78150566e+01] [ 3.65169018e-02 -2.11118031e-03 9.99330805e-01 2.44172256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.999254154 meters Centerline goodness : 0.999042 with order 1 Centerline is valid? [True, True] Translation: X:668.71, Y:37.82, Z:24.42 [[ 9.93643335e-01 -1.06483528e-01 -3.65264391e-02 6.68705740e+02] [ 1.06483957e-01 9.94312530e-01 -1.93918395e-03 3.78241162e+01] [ 3.65251873e-02 -1.96262258e-03 9.99330805e-01 2.44207276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.059254154 meters Centerline goodness : 0.999017 with order 1 Centerline is valid? [True, True] Translation: X:668.77, Y:37.83, Z:24.42 [[ 9.94227488e-01 -1.00883650e-01 -3.65265817e-02 6.68766505e+02] [ 1.00880407e-01 9.94896675e-01 -1.93649580e-03 3.78332005e+01] [ 3.65355354e-02 -1.75949909e-03 9.99330805e-01 2.44235766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.119254154 meters Centerline goodness : 0.999290 with order 1 Centerline is valid? [True, True] Translation: X:668.83, Y:37.84, Z:24.43 [[ 9.94662138e-01 -9.65040684e-02 -3.65266521e-02 6.68827768e+02] [ 9.64979277e-02 9.95331304e-01 -1.93516565e-03 3.78406760e+01] [ 3.65428717e-02 -1.59991024e-03 9.99330806e-01 2.44259782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.179254154 meters Centerline goodness : 0.999121 with order 1 Centerline is valid? [True, True] Translation: X:668.89, Y:37.85, Z:24.43 [[ 9.95415605e-01 -8.83944097e-02 -3.65267216e-02 6.68888701e+02] [ 8.83828637e-02 9.96084700e-01 -1.93385387e-03 3.78514804e+01] [ 3.65546504e-02 -1.30334794e-03 9.99330806e-01 2.44284382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.239254154 meters Centerline goodness : 0.998998 with order 1 Centerline is valid? [True, True] Translation: X:668.95, Y:37.86, Z:24.43 [[ 9.95947464e-01 -8.21854113e-02 -3.65267930e-02 6.68948474e+02] [ 8.21697426e-02 9.96616475e-01 -1.93250320e-03 3.78592277e+01] [ 3.65620273e-02 -1.07672552e-03 9.99330806e-01 2.44294187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.299254154 meters Centerline goodness : 0.998952 with order 1 Centerline is valid? [True, True] Translation: X:669.01, Y:37.87, Z:24.43 [[ 9.96619515e-01 -7.35889474e-02 -3.65268281e-02 6.69008520e+02] [ 7.35675311e-02 9.97288367e-01 -1.93183986e-03 3.78692865e+01] [ 3.65699428e-02 -7.61879262e-04 9.99330806e-01 2.44316107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.359254154 meters Centerline goodness : 0.998971 with order 1 Centerline is valid? [True, True] Translation: X:669.07, Y:37.88, Z:24.43 [[ 9.96894122e-01 -6.97703391e-02 -3.65268281e-02 6.69068375e+02] [ 6.97463606e-02 9.97562887e-01 -1.93183986e-03 3.78766687e+01] [ 3.65725932e-02 -6.21773529e-04 9.99330806e-01 2.44344706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.419254154 meters Centerline goodness : 0.998929 with order 1 Centerline is valid? [True, True] Translation: X:669.13, Y:37.88, Z:24.44 [[ 9.96845847e-01 -7.04567102e-02 -3.65268281e-02 6.69127873e+02] [ 7.04331922e-02 9.97514628e-01 -1.93183986e-03 3.78846564e+01] [ 3.65721565e-02 -6.46954566e-04 9.99330806e-01 2.44384290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.4792541539999 meters Centerline goodness : 0.998950 with order 1 Centerline is valid? [True, True] Translation: X:669.19, Y:37.89, Z:24.44 [[ 9.96374177e-01 -7.68394137e-02 -3.65267570e-02 6.69188088e+02] [ 7.68201301e-02 9.97043094e-01 -1.93318343e-03 3.78901040e+01] [ 3.65672955e-02 -8.79816173e-04 9.99330806e-01 2.44413834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.539254154 meters Centerline goodness : 0.998948 with order 1 Centerline is valid? [True, True] Translation: X:669.25, Y:37.89, Z:24.44 [[ 9.95540554e-01 -8.69758704e-02 -3.65267570e-02 6.69249432e+02] [ 8.69633955e-02 9.96209632e-01 -1.93318343e-03 3.78942538e+01] [ 3.65564475e-02 -1.25192831e-03 9.99330806e-01 2.44437785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.5992541539999 meters Centerline goodness : 0.998738 with order 1 Centerline is valid? [True, True] Translation: X:669.31, Y:37.90, Z:24.45 [[ 9.94908741e-01 -9.39275645e-02 -3.65268283e-02 6.69311599e+02] [ 9.39198128e-02 9.95577891e-01 -1.93183584e-03 3.78976887e+01] [ 3.65467553e-02 -1.50859251e-03 9.99330806e-01 2.44451444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.659254154 meters Centerline goodness : 0.998740 with order 1 Centerline is valid? [True, True] Translation: X:669.37, Y:37.90, Z:24.45 [[ 9.94374217e-01 -9.94268416e-02 -3.65269718e-02 6.69372815e+02] [ 9.94228893e-02 9.95043400e-01 -1.92911829e-03 3.79010341e+01] [ 3.65377284e-02 -1.71335159e-03 9.99330806e-01 2.44454964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.7192541539999 meters Centerline goodness : 0.998823 with order 1 Centerline is valid? [True, True] Translation: X:669.43, Y:37.91, Z:24.45 [[ 9.93782135e-01 -1.05180039e-01 -3.65270778e-02 6.69434946e+02] [ 1.05180033e-01 9.94451330e-01 -1.92710959e-03 3.79069368e+01] [ 3.65270945e-02 -1.92679216e-03 9.99330806e-01 2.44491139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.779254154 meters Centerline goodness : 0.998863 with order 1 Centerline is valid? [True, True] Translation: X:669.50, Y:37.91, Z:24.45 [[ 9.93478546e-01 -1.08009912e-01 -3.65272210e-02 6.69496370e+02] [ 1.08011911e-01 9.94147737e-01 -1.92439114e-03 3.79119063e+01] [ 3.65213074e-02 -2.03353365e-03 9.99330806e-01 2.44495652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.839254154 meters Centerline goodness : 0.998990 with order 1 Centerline is valid? [True, True] Translation: X:669.56, Y:37.92, Z:24.45 [[ 9.93239107e-01 -1.10189975e-01 -3.65273267e-02 6.69558323e+02] [ 1.10193516e-01 9.93908292e-01 -1.92238352e-03 3.79169930e+01] [ 3.65166403e-02 -2.11568808e-03 9.99330806e-01 2.44531736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.899254154 meters Centerline goodness : 0.998864 with order 1 Centerline is valid? [True, True] Translation: X:669.62, Y:37.92, Z:24.45 [[ 9.92910482e-01 -1.13112857e-01 -3.65274672e-02 6.69621571e+02] [ 1.13118466e-01 9.93579653e-01 -1.91970917e-03 3.79235708e+01] [ 3.65100920e-02 -2.22583171e-03 9.99330806e-01 2.44546516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.959254154 meters Centerline goodness : 0.998861 with order 1 Centerline is valid? [True, True] Translation: X:669.68, Y:37.93, Z:24.46 [[ 9.92722248e-01 -1.14753070e-01 -3.65276767e-02 6.69684070e+02] [ 1.14759931e-01 9.93391407e-01 -1.91571534e-03 3.79289062e+01] [ 3.65061144e-02 -2.29014042e-03 9.99330806e-01 2.44551095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.019254154 meters Centerline goodness : 0.998838 with order 1 Centerline is valid? [True, True] Translation: X:669.75, Y:37.94, Z:24.46 [[ 9.92473880e-01 -1.16881636e-01 -3.65278136e-02 6.69745450e+02] [ 1.16890028e-01 9.93143022e-01 -1.91310083e-03 3.79361697e+01] [ 3.65009495e-02 -2.37103457e-03 9.99330806e-01 2.44572355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.079254154 meters Centerline goodness : 0.998942 with order 1 Centerline is valid? [True, True] Translation: X:669.81, Y:37.94, Z:24.46 [[ 9.92393649e-01 -1.17560850e-01 -3.65279501e-02 6.69807849e+02] [ 1.17569796e-01 9.93062784e-01 -1.91049069e-03 3.79422368e+01] [ 3.64991468e-02 -2.39862480e-03 9.99330806e-01 2.44582948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.139254154 meters Centerline goodness : 0.998876 with order 1 Centerline is valid? [True, True] Translation: X:669.87, Y:37.94, Z:24.45 [[ 9.92949345e-01 -1.12770995e-01 -3.65280849e-02 6.69870462e+02] [ 1.12776806e-01 9.93618514e-01 -1.90791006e-03 3.79430701e+01] [ 3.65101384e-02 -2.22506270e-03 9.99330806e-01 2.44502152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.199254154 meters Centerline goodness : 0.998790 with order 1 Centerline is valid? [True, True] Translation: X:669.93, Y:37.96, Z:24.46 [[ 9.92388876e-01 -1.17601055e-01 -3.65282191e-02 6.69932092e+02] [ 1.17610216e-01 9.93058008e-01 -1.90533770e-03 3.79567956e+01] [ 3.64987102e-02 -2.40525581e-03 9.99330806e-01 2.44611720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.259254154 meters Centerline goodness : 0.998981 with order 1 Centerline is valid? [True, True] Translation: X:669.99, Y:37.97, Z:24.47 [[ 9.92487353e-01 -1.16766990e-01 -3.65283960e-02 6.69992426e+02] [ 1.16775714e-01 9.93156491e-01 -1.90193961e-03 3.79662863e+01] [ 3.65004974e-02 -2.37797853e-03 9.99330806e-01 2.44653736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.319254154 meters Centerline goodness : 0.998913 with order 1 Centerline is valid? [True, True] Translation: X:670.05, Y:37.97, Z:24.47 [[ 9.92699269e-01 -1.14951421e-01 -3.65285006e-02 6.70053725e+02] [ 1.14958995e-01 9.93368421e-01 -1.89992888e-03 3.79746131e+01] [ 3.65046585e-02 -2.31322171e-03 9.99330806e-01 2.44716651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.379254154 meters Centerline goodness : 0.999189 with order 1 Centerline is valid? [True, True] Translation: X:670.12, Y:37.98, Z:24.48 [[ 9.92965596e-01 -1.12627637e-01 -3.65286392e-02 6.70115369e+02] [ 1.12633742e-01 9.93634762e-01 -1.89726046e-03 3.79831438e+01] [ 3.65098097e-02 -2.23044296e-03 9.99330806e-01 2.44759583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.439254154 meters Centerline goodness : 0.998998 with order 1 Centerline is valid? [True, True] Translation: X:670.18, Y:37.99, Z:24.48 [[ 9.93104827e-01 -1.11393225e-01 -3.65287779e-02 6.70178276e+02] [ 1.11398596e-01 9.93774000e-01 -1.89458602e-03 3.79891228e+01] [ 3.65123938e-02 -2.18773207e-03 9.99330806e-01 2.44790405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.499254154 meters Centerline goodness : 0.999296 with order 1 Centerline is valid? [True, True] Translation: X:670.24, Y:37.99, Z:24.48 [[ 9.93130971e-01 -1.11159831e-01 -3.65289867e-02 6.70240158e+02] [ 1.11165193e-01 9.93800144e-01 -1.89055152e-03 3.79930919e+01] [ 3.65126656e-02 -2.18318660e-03 9.99330806e-01 2.44794680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.559254154 meters Centerline goodness : 0.999209 with order 1 Centerline is valid? [True, True] Translation: X:670.30, Y:38.00, Z:24.48 [[ 9.93192857e-01 -1.10605479e-01 -3.65291264e-02 6.70302604e+02] [ 1.10610567e-01 9.93862032e-01 -1.88784828e-03 3.79976505e+01] [ 3.65137182e-02 -2.16550995e-03 9.99330806e-01 2.44808949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.619254154 meters Centerline goodness : 0.999443 with order 1 Centerline is valid? [True, True] Translation: X:670.36, Y:38.00, Z:24.48 [[ 9.93566263e-01 -1.07199315e-01 -3.65292677e-02 6.70363222e+02] [ 1.07202208e-01 9.94235451e-01 -1.88511023e-03 3.80035191e+01] [ 3.65207755e-02 -2.04303624e-03 9.99330806e-01 2.44818337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.679254154 meters Centerline goodness : 0.999144 with order 1 Centerline is valid? [True, True] Translation: X:670.43, Y:38.01, Z:24.48 [[ 9.94280560e-01 -1.00358159e-01 -3.65295446e-02 6.70426455e+02] [ 1.00356643e-01 9.94949753e-01 -1.87972979e-03 3.80093516e+01] [ 3.65337076e-02 -1.79700369e-03 9.99330806e-01 2.44844803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.739254154 meters Centerline goodness : 0.999293 with order 1 Centerline is valid? [True, True] Translation: X:670.49, Y:38.01, Z:24.49 [[ 9.94537972e-01 -9.77742310e-02 -3.65297519e-02 6.70487262e+02] [ 9.77711247e-02 9.95207159e-01 -1.87569312e-03 3.80134693e+01] [ 3.65380650e-02 -1.70610689e-03 9.99330806e-01 2.44868243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.799254154 meters Centerline goodness : 0.999164 with order 1 Centerline is valid? [True, True] Translation: X:670.55, Y:38.02, Z:24.49 [[ 9.95220019e-01 -9.05686032e-02 -3.65300126e-02 6.70548418e+02] [ 9.05608369e-02 9.95889168e-01 -1.87060208e-03 3.80204040e+01] [ 3.65492616e-02 -1.44652787e-03 9.99330806e-01 2.44896248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.859254154 meters Centerline goodness : 0.999141 with order 1 Centerline is valid? [True, True] Translation: X:670.61, Y:38.03, Z:24.49 [[ 9.95502459e-01 -8.74094090e-02 -3.65301113e-02 6.70610078e+02] [ 8.73995896e-02 9.96171582e-01 -1.86867236e-03 3.80257236e+01] [ 3.65535983e-02 -1.33244880e-03 9.99330806e-01 2.44945725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.919254154 meters Centerline goodness : 0.999182 with order 1 Centerline is valid? [True, True] Translation: X:670.67, Y:38.03, Z:24.50 [[ 9.95697242e-01 -8.51618648e-02 -3.65302494e-02 6.70672275e+02] [ 8.51506340e-02 9.96366342e-01 -1.86596757e-03 3.80303811e+01] [ 3.65564203e-02 -1.25263513e-03 9.99330806e-01 2.44953402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.9792541539999 meters Centerline goodness : 0.999397 with order 1 Centerline is valid? [True, True] Translation: X:670.73, Y:38.04, Z:24.50 [[ 9.95777492e-01 -8.42182536e-02 -3.65304195e-02 6.70734554e+02] [ 8.42065109e-02 9.96446584e-01 -1.86263207e-03 3.80351411e+01] [ 3.65574793e-02 -1.22133208e-03 9.99330806e-01 2.44969357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.039254154 meters Centerline goodness : 0.999395 with order 1 Centerline is valid? [True, True] Translation: X:670.80, Y:38.04, Z:24.50 [[ 9.95644336e-01 -8.57780583e-02 -3.65305508e-02 6.70796948e+02] [ 8.57674584e-02 9.96313446e-01 -1.86005340e-03 3.80394435e+01] [ 3.65554307e-02 -1.28118086e-03 9.99330806e-01 2.44988393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.0992541539999 meters Centerline goodness : 0.999330 with order 1 Centerline is valid? [True, True] Translation: X:670.86, Y:38.04, Z:24.50 [[ 9.95598520e-01 -8.63081422e-02 -3.65306880e-02 6.70858220e+02] [ 8.62979974e-02 9.96267638e-01 -1.85735503e-03 3.80435731e+01] [ 3.65546471e-02 -1.30334530e-03 9.99330806e-01 2.45002488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.159254154 meters Centerline goodness : 0.999351 with order 1 Centerline is valid? [True, True] Translation: X:670.92, Y:38.05, Z:24.50 [[ 9.95704177e-01 -8.50804606e-02 -3.65309155e-02 6.70920034e+02] [ 8.50696551e-02 9.96373284e-01 -1.85287009e-03 3.80486430e+01] [ 3.65560713e-02 -1.26276189e-03 9.99330806e-01 2.45036980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.2192541539999 meters Centerline goodness : 0.999567 with order 1 Centerline is valid? [True, True] Translation: X:670.98, Y:38.05, Z:24.51 [[ 9.95899552e-01 -8.27620950e-02 -3.65310486e-02 6.70982463e+02] [ 8.27498281e-02 9.96568634e-01 -1.85024099e-03 3.80528814e+01] [ 3.65588271e-02 -1.18028382e-03 9.99330806e-01 2.45069306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.279254154 meters Centerline goodness : 0.999437 with order 1 Centerline is valid? [True, True] Translation: X:671.04, Y:38.06, Z:24.51 [[ 9.96168161e-01 -7.94636218e-02 -3.65311841e-02 6.71044502e+02] [ 7.94492374e-02 9.96837201e-01 -1.84756263e-03 3.80576170e+01] [ 3.65624573e-02 -1.06189165e-03 9.99330806e-01 2.45104534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.339254154 meters Centerline goodness : 0.999459 with order 1 Centerline is valid? [True, True] Translation: X:671.11, Y:38.06, Z:24.51 [[ 9.96281579e-01 -7.80287048e-02 -3.65313219e-02 6.71105990e+02] [ 7.80134566e-02 9.96950599e-01 -1.84483462e-03 3.80613675e+01] [ 3.65638733e-02 -1.01195994e-03 9.99330806e-01 2.45124612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.399254154 meters Centerline goodness : 0.999523 with order 1 Centerline is valid? [True, True] Translation: X:671.17, Y:38.06, Z:24.51 [[ 9.96298397e-01 -7.78135871e-02 -3.65314918e-02 6.71168660e+02] [ 7.77983181e-02 9.96967417e-01 -1.84146326e-03 3.80645407e+01] [ 3.65639979e-02 -1.00744172e-03 9.99330806e-01 2.45127598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.459254154 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:671.23, Y:38.07, Z:24.51 [[ 9.96191107e-01 -7.91752197e-02 -3.65316576e-02 6.71230902e+02] [ 7.91609858e-02 9.96860150e-01 -1.83816749e-03 3.80679389e+01] [ 3.65624910e-02 -1.06071592e-03 9.99330806e-01 2.45132511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.519254154 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:671.29, Y:38.07, Z:24.51 [[ 9.96148732e-01 -7.97065399e-02 -3.65317902e-02 6.71291495e+02] [ 7.96927596e-02 9.96817784e-01 -1.83552857e-03 3.80714511e+01] [ 3.65618418e-02 -1.08285971e-03 9.99330806e-01 2.45146358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.579254154 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:671.35, Y:38.08, Z:24.52 [[ 9.96204964e-01 -7.90005764e-02 -3.65318882e-02 6.71354308e+02] [ 7.89863935e-02 9.96874008e-01 -1.83357616e-03 3.80761066e+01] [ 3.65625434e-02 -1.05890443e-03 9.99330806e-01 2.45185557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.639254154 meters Centerline goodness : 0.999696 with order 1 Centerline is valid? [True, True] Translation: X:671.42, Y:38.08, Z:24.52 [[ 9.96334432e-01 -7.73505346e-02 -3.65320922e-02 6.71415587e+02] [ 7.73353927e-02 9.97003455e-01 -1.82950336e-03 3.80813162e+01] [ 3.65641352e-02 -1.00242651e-03 9.99330806e-01 2.45220040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.699254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:671.48, Y:38.09, Z:24.53 [[ 9.96450309e-01 -7.58430738e-02 -3.65323111e-02 6.71476012e+02] [ 7.58270803e-02 9.97119312e-01 -1.82512156e-03 3.80859649e+01] [ 3.65654957e-02 -9.51495550e-04 9.99330806e-01 2.45257198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.759254154 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:671.54, Y:38.09, Z:24.53 [[ 9.96452524e-01 -7.58139402e-02 -3.65323760e-02 6.71538560e+02] [ 7.57979749e-02 9.97121528e-01 -1.82382133e-03 3.80884862e+01] [ 3.65654896e-02 -9.51728754e-04 9.99330806e-01 2.45274637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.819254154 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:671.60, Y:38.09, Z:24.53 [[ 9.96187515e-01 -7.92199967e-02 -3.65325478e-02 6.71600921e+02] [ 7.92064448e-02 9.96856572e-01 -1.82037388e-03 3.80899341e+01] [ 3.65619204e-02 -1.08017950e-03 9.99330806e-01 2.45320937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.879254154 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:671.66, Y:38.09, Z:24.53 [[ 9.96036303e-01 -8.10989851e-02 -3.65326895e-02 6.71661950e+02] [ 8.10867997e-02 9.96705387e-01 -1.81752521e-03 3.80920554e+01] [ 3.65597279e-02 -1.15199778e-03 9.99330806e-01 2.45335603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.939254154 meters Centerline goodness : 0.999566 with order 1 Centerline is valid? [True, True] Translation: X:671.72, Y:38.09, Z:24.54 [[ 9.95987831e-01 -8.16920214e-02 -3.65329227e-02 6.71724478e+02] [ 8.16804066e-02 9.96656924e-01 -1.81282677e-03 3.80938863e+01] [ 3.65588838e-02 -1.17847057e-03 9.99330806e-01 2.45351252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.999254154 meters Centerline goodness : 0.999416 with order 1 Centerline is valid? [True, True] Translation: X:671.79, Y:38.09, Z:24.54 [[ 9.95903933e-01 -8.27084850e-02 -3.65330501e-02 6.71786947e+02] [ 8.26976473e-02 9.96573039e-01 -1.81025407e-03 3.80943015e+01] [ 3.65575762e-02 -1.21835815e-03 9.99330806e-01 2.45372056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.059254154 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:671.85, Y:38.10, Z:24.54 [[ 9.95694507e-01 -8.51925786e-02 -3.65331801e-02 6.71849133e+02] [ 8.51835064e-02 9.96363640e-01 -1.80762702e-03 3.80987151e+01] [ 3.65543287e-02 -1.31218008e-03 9.99330806e-01 2.45435556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.119254154 meters Centerline goodness : 0.999697 with order 1 Centerline is valid? [True, True] Translation: X:671.91, Y:38.10, Z:24.54 [[ 9.96140915e-01 -7.98034668e-02 -3.65333200e-02 6.71910865e+02] [ 7.97908776e-02 9.96809991e-01 -1.80479516e-03 3.80982993e+01] [ 3.65608073e-02 -1.11719536e-03 9.99330806e-01 2.45428029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.179254154 meters Centerline goodness : 0.999697 with order 1 Centerline is valid? [True, True] Translation: X:671.97, Y:38.10, Z:24.55 [[ 9.96752914e-01 -7.17560947e-02 -3.65334231e-02 6.71972520e+02] [ 7.17381791e-02 9.97421869e-01 -1.80270629e-03 3.81011827e+01] [ 3.65685903e-02 -8.23988495e-04 9.99330806e-01 2.45462075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.239254154 meters Centerline goodness : 0.999264 with order 1 Centerline is valid? [True, True] Translation: X:672.03, Y:38.10, Z:24.55 [[ 9.97304304e-01 -6.36350870e-02 -3.65335537e-02 6.72034967e+02] [ 6.36118204e-02 9.97973094e-01 -1.80005516e-03 3.81034279e+01] [ 3.65740503e-02 -5.28763098e-04 9.99330806e-01 2.45482178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.299254154 meters Centerline goodness : 0.999113 with order 1 Centerline is valid? [True, True] Translation: X:672.10, Y:38.10, Z:24.55 [[ 9.97542241e-01 -5.97893546e-02 -3.65336818e-02 6.72096976e+02] [ 5.97636048e-02 9.98210940e-01 -1.79745171e-03 3.81048862e+01] [ 3.65757893e-02 -3.90350511e-04 9.99330806e-01 2.45507050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.359254154 meters Centerline goodness : 0.999331 with order 1 Centerline is valid? [True, True] Translation: X:672.16, Y:38.10, Z:24.54 [[ 9.97903732e-01 -5.34174379e-02 -3.65338158e-02 6.72158963e+02] [ 5.33875179e-02 9.98572257e-01 -1.79472503e-03 3.80997468e+01] [ 3.65775245e-02 -1.59486943e-04 9.99330806e-01 2.45434425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.419254154 meters Centerline goodness : 0.999332 with order 1 Centerline is valid? [True, True] Translation: X:672.22, Y:38.10, Z:24.55 [[ 9.97586882e-01 -5.90397156e-02 -3.65338837e-02 6.72217989e+02] [ 5.90136139e-02 9.98255567e-01 -1.79334011e-03 3.81045646e+01] [ 3.65760311e-02 -3.66983937e-04 9.99330806e-01 2.45540515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.4792541539999 meters Centerline goodness : 0.998971 with order 1 Centerline is valid? [True, True] Translation: X:672.28, Y:38.10, Z:24.55 [[ 9.97440627e-01 -6.14611535e-02 -3.65338503e-02 6.72278294e+02] [ 6.14366501e-02 9.98109373e-01 -1.79402166e-03 3.81029523e+01] [ 3.65750410e-02 -4.55087282e-04 9.99330806e-01 2.45544515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.539254154 meters Centerline goodness : 0.999079 with order 1 Centerline is valid? [True, True] Translation: X:672.34, Y:38.10, Z:24.56 [[ 9.97190566e-01 -6.53930661e-02 -3.65338503e-02 6.72339600e+02] [ 6.53711995e-02 9.97859403e-01 -1.79402166e-03 3.81040143e+01] [ 3.65729626e-02 -5.99280134e-04 9.99330806e-01 2.45590579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.5992541539999 meters Centerline goodness : 0.999317 with order 1 Centerline is valid? [True, True] Translation: X:672.40, Y:38.10, Z:24.56 [[ 9.96840191e-01 -7.05330195e-02 -3.65339173e-02 6.72400948e+02] [ 7.05146513e-02 9.97509133e-01 -1.79265576e-03 3.81023855e+01] [ 3.65693576e-02 -7.89185126e-04 9.99330806e-01 2.45575290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.659254154 meters Centerline goodness : 0.999168 with order 1 Centerline is valid? [True, True] Translation: X:672.46, Y:38.10, Z:24.56 [[ 9.96577849e-01 -7.41475458e-02 -3.65339895e-02 6.72463198e+02] [ 7.41316574e-02 9.97246855e-01 -1.79118349e-03 3.81034908e+01] [ 3.65662179e-02 -9.23271399e-04 9.99330806e-01 2.45626634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.7192541539999 meters Centerline goodness : 0.999063 with order 1 Centerline is valid? [True, True] Translation: X:672.52, Y:38.10, Z:24.57 [[ 9.96186192e-01 -7.92359031e-02 -3.65341381e-02 6.72524685e+02] [ 7.92235427e-02 9.96855272e-01 -1.78814663e-03 3.81027988e+01] [ 3.65609336e-02 -1.11303687e-03 9.99330806e-01 2.45653184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.779254154 meters Centerline goodness : 0.999129 with order 1 Centerline is valid? [True, True] Translation: X:672.59, Y:38.10, Z:24.57 [[ 9.95611231e-01 -8.61598912e-02 -3.65342364e-02 6.72587245e+02] [ 8.61522565e-02 9.96280381e-01 -1.78613559e-03 3.81012438e+01] [ 3.65522363e-02 -1.36921026e-03 9.99330806e-01 2.45681585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.839254154 meters Centerline goodness : 0.998874 with order 1 Centerline is valid? [True, True] Translation: X:672.65, Y:38.10, Z:24.57 [[ 9.95300819e-01 -8.96745269e-02 -3.65343653e-02 6.72649073e+02] [ 8.96693516e-02 9.95969993e-01 -1.78349648e-03 3.81008608e+01] [ 3.65470657e-02 -1.50089734e-03 9.99330806e-01 2.45694937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.899254154 meters Centerline goodness : 0.999173 with order 1 Centerline is valid? [True, True] Translation: X:672.71, Y:38.10, Z:24.57 [[ 9.94859154e-01 -9.44483683e-02 -3.65344920e-02 6.72711815e+02] [ 9.44464986e-02 9.95528346e-01 -1.78089679e-03 3.80994607e+01] [ 3.65393252e-02 -1.67881337e-03 9.99330806e-01 2.45720179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.959254154 meters Centerline goodness : 0.998793 with order 1 Centerline is valid? [True, True] Translation: X:672.77, Y:38.10, Z:24.57 [[ 9.94623098e-01 -9.69026078e-02 -3.65346182e-02 6.72774369e+02] [ 9.69024842e-02 9.95292292e-01 -1.77830278e-03 3.80994665e+01] [ 3.65349461e-02 -1.77155425e-03 9.99330806e-01 2.45735438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.019254154 meters Centerline goodness : 0.999092 with order 1 Centerline is valid? [True, True] Translation: X:672.84, Y:38.10, Z:24.57 [[ 9.94408832e-01 -9.90771756e-02 -3.65347448e-02 6.72835753e+02] [ 9.90786107e-02 9.95078025e-01 -1.77569845e-03 3.80989216e+01] [ 3.65308529e-02 -1.85404153e-03 9.99330806e-01 2.45742695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.079254154 meters Centerline goodness : 0.998732 with order 1 Centerline is valid? [True, True] Translation: X:672.90, Y:38.10, Z:24.58 [[ 9.94431849e-01 -9.88458550e-02 -3.65348382e-02 6.72897778e+02] [ 9.88472049e-02 9.95101042e-01 -1.77377545e-03 3.81003662e+01] [ 3.65311859e-02 -1.84746784e-03 9.99330806e-01 2.45759588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.139254154 meters Centerline goodness : 0.998964 with order 1 Centerline is valid? [True, True] Translation: X:672.96, Y:38.10, Z:24.58 [[ 9.94653508e-01 -9.65898344e-02 -3.65349601e-02 6.72959654e+02] [ 9.65897585e-02 9.95322702e-01 -1.77126084e-03 3.81031968e+01] [ 3.65351610e-02 -1.76711216e-03 9.99330806e-01 2.45795559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.199254154 meters Centerline goodness : 0.998919 with order 1 Centerline is valid? [True, True] Translation: X:673.02, Y:38.11, Z:24.58 [[ 9.95310786e-01 -8.95635304e-02 -3.65350899e-02 6.73022092e+02] [ 8.95588270e-02 9.95979964e-01 -1.76857989e-03 3.81074697e+01] [ 3.65466178e-02 -1.51175316e-03 9.99330806e-01 2.45834950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.259254154 meters Centerline goodness : 0.998941 with order 1 Centerline is valid? [True, True] Translation: X:673.08, Y:38.11, Z:24.59 [[ 9.95873477e-01 -8.30734351e-02 -3.65352215e-02 6.73083982e+02] [ 8.30644694e-02 9.96542611e-01 -1.76585697e-03 3.81121253e+01] [ 3.65556008e-02 -1.27620867e-03 9.99330806e-01 2.45873478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.319254154 meters Centerline goodness : 0.998773 with order 1 Centerline is valid? [True, True] Translation: X:673.14, Y:38.12, Z:24.59 [[ 9.96618609e-01 -7.35969810e-02 -3.65353547e-02 6.73144654e+02] [ 7.35817521e-02 9.97287630e-01 -1.76309598e-03 3.81155387e+01] [ 3.65660159e-02 -9.31201152e-04 9.99330806e-01 2.45891102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.379254154 meters Centerline goodness : 0.998792 with order 1 Centerline is valid? [True, True] Translation: X:673.21, Y:38.12, Z:24.59 [[ 9.97048987e-01 -6.75164971e-02 -3.65354529e-02 6.73206931e+02] [ 6.74972623e-02 9.97717905e-01 -1.76105830e-03 3.81184973e+01] [ 3.65709761e-02 -7.10181651e-04 9.99330806e-01 2.45905220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.439254154 meters Centerline goodness : 0.998895 with order 1 Centerline is valid? [True, True] Translation: X:673.27, Y:38.12, Z:24.59 [[ 9.97571233e-01 -5.93025047e-02 -3.65355845e-02 6.73267681e+02] [ 5.92778614e-02 9.98239973e-01 -1.75832458e-03 3.81212499e+01] [ 3.65755539e-02 -4.11697293e-04 9.99330806e-01 2.45939335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.499254154 meters Centerline goodness : 0.998790 with order 1 Centerline is valid? [True, True] Translation: X:673.33, Y:38.12, Z:24.60 [[ 9.97866567e-01 -5.41060105e-02 -3.65356494e-02 6.73326001e+02] [ 5.40779339e-02 9.98535172e-01 -1.75697594e-03 3.81240893e+01] [ 3.65771939e-02 -2.22544883e-04 9.99330806e-01 2.45957705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.559254154 meters Centerline goodness : 0.998918 with order 1 Centerline is valid? [True, True] Translation: X:673.38, Y:38.12, Z:24.60 [[ 9.98101419e-01 -4.95853854e-02 -3.65355536e-02 6.73384313e+02] [ 4.95542077e-02 9.98769887e-01 -1.75896595e-03 3.81243464e+01] [ 3.65778297e-02 -5.48639972e-05 9.99330806e-01 2.45969598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.619254154 meters Centerline goodness : 0.998879 with order 1 Centerline is valid? [True, True] Translation: X:673.44, Y:38.12, Z:24.60 [[ 9.98051239e-01 -5.05854142e-02 -3.65354596e-02 6.73441889e+02] [ 5.05548349e-02 9.98719734e-01 -1.76091542e-03 3.81220913e+01] [ 3.65777611e-02 -8.95603074e-05 9.99330806e-01 2.45989791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.679254154 meters Centerline goodness : 0.998901 with order 1 Centerline is valid? [True, True] Translation: X:673.50, Y:38.12, Z:24.60 [[ 9.97868798e-01 -5.40653248e-02 -3.65349545e-02 6.73499816e+02] [ 5.40366953e-02 9.98537379e-01 -1.77133321e-03 3.81212562e+01] [ 3.65772854e-02 -2.06670067e-04 9.99330806e-01 2.46008199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.739254154 meters Centerline goodness : 0.999010 with order 1 Centerline is valid? [True, True] Translation: X:673.56, Y:38.12, Z:24.60 [[ 9.97374345e-01 -6.25272001e-02 -3.65344478e-02 6.73557844e+02] [ 6.25038619e-02 9.98043132e-01 -1.78172257e-03 3.81173651e+01] [ 3.65743609e-02 -5.06499699e-04 9.99330806e-01 2.46022363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.799254154 meters Centerline goodness : 0.999055 with order 1 Centerline is valid? [True, True] Translation: X:673.62, Y:38.12, Z:24.60 [[ 9.96890131e-01 -6.98236227e-02 -3.65339303e-02 6.73617197e+02] [ 6.98047925e-02 9.97559060e-01 -1.79227188e-03 3.81155691e+01] [ 3.65698961e-02 -7.63545271e-04 9.99330806e-01 2.46044390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.859254154 meters Centerline goodness : 0.999118 with order 1 Centerline is valid? [True, True] Translation: X:673.68, Y:38.11, Z:24.61 [[ 9.96084582e-01 -8.05033094e-02 -3.65338637e-02 6.73676978e+02] [ 8.04915994e-02 9.96753673e-01 -1.79362920e-03 3.81116742e+01] [ 3.65596559e-02 -1.15406273e-03 9.99330806e-01 2.46066561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.919254154 meters Centerline goodness : 0.998743 with order 1 Centerline is valid? [True, True] Translation: X:673.74, Y:38.10, Z:24.60 [[ 9.95970774e-01 -8.18993126e-02 -3.65338308e-02 6.73737994e+02] [ 8.18885160e-02 9.96639881e-01 -1.79429779e-03 3.80987405e+01] [ 3.65580246e-02 -1.20463304e-03 9.99330806e-01 2.45978463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.9792541539999 meters Centerline goodness : 0.998723 with order 1 Centerline is valid? [True, True] Translation: X:673.80, Y:38.11, Z:24.61 [[ 9.94941283e-01 -9.35794827e-02 -3.65338632e-02 6.73798775e+02] [ 9.35765616e-02 9.95610471e-01 -1.79363888e-03 3.81081733e+01] [ 3.65413445e-02 -1.63414793e-03 9.99330806e-01 2.46097162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.039254154 meters Centerline goodness : 0.999056 with order 1 Centerline is valid? [True, True] Translation: X:673.86, Y:38.11, Z:24.61 [[ 9.94583234e-01 -9.73111603e-02 -3.65339269e-02 6.73859942e+02] [ 9.73107972e-02 9.95252428e-01 -1.79233931e-03 3.81088027e+01] [ 3.65348941e-02 -1.77251492e-03 9.99330806e-01 2.46109815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.0992541539999 meters Centerline goodness : 0.998994 with order 1 Centerline is valid? [True, True] Translation: X:673.92, Y:38.11, Z:24.61 [[ 9.94462128e-01 -9.85410652e-02 -3.65340216e-02 6.73922350e+02] [ 9.85416004e-02 9.95131322e-01 -1.79040780e-03 3.81113810e+01] [ 3.65325779e-02 -1.81962821e-03 9.99330806e-01 2.46144115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.159254154 meters Centerline goodness : 0.999014 with order 1 Centerline is valid? [True, True] Translation: X:673.98, Y:38.11, Z:24.62 [[ 9.94443800e-01 -9.87258081e-02 -3.65341504e-02 6.73984608e+02] [ 9.87265641e-02 9.95112993e-01 -1.78777485e-03 3.81147180e+01] [ 3.65321073e-02 -1.82904953e-03 9.99330806e-01 2.46174253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.2192541539999 meters Centerline goodness : 0.999098 with order 1 Centerline is valid? [True, True] Translation: X:674.05, Y:38.12, Z:24.62 [[ 9.94478914e-01 -9.83714163e-02 -3.65342861e-02 6.74045986e+02] [ 9.83720356e-02 9.95148108e-01 -1.78499915e-03 3.81191832e+01] [ 3.65326185e-02 -1.81880807e-03 9.99330806e-01 2.46197877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.279254154 meters Centerline goodness : 0.998742 with order 1 Centerline is valid? [True, True] Translation: X:674.11, Y:38.12, Z:24.62 [[ 9.94892906e-01 -9.40922131e-02 -3.65343861e-02 6.74108516e+02] [ 9.40900286e-02 9.95562096e-01 -1.78294901e-03 3.81223169e+01] [ 3.65400116e-02 -1.66367811e-03 9.99330806e-01 2.46171605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.339254154 meters Centerline goodness : 0.998910 with order 1 Centerline is valid? [True, True] Translation: X:674.17, Y:38.13, Z:24.62 [[ 9.94849451e-01 -9.45504914e-02 -3.65345598e-02 6.74168887e+02] [ 9.45487458e-02 9.95518643e-01 -1.77938320e-03 3.81299293e+01] [ 3.65390769e-02 -1.68407841e-03 9.99330806e-01 2.46218333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.399254154 meters Centerline goodness : 0.998801 with order 1 Centerline is valid? [True, True] Translation: X:674.23, Y:38.14, Z:24.63 [[ 9.95314646e-01 -8.95208016e-02 -3.65346642e-02 6.74230678e+02] [ 8.95157523e-02 9.95983821e-01 -1.77723709e-03 3.81376325e+01] [ 3.65470341e-02 -1.50151784e-03 9.99330806e-01 2.46250338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.459254154 meters Centerline goodness : 0.998886 with order 1 Centerline is valid? [True, True] Translation: X:674.29, Y:38.15, Z:24.63 [[ 9.95810210e-01 -8.38285988e-02 -3.65347979e-02 6.74291317e+02] [ 8.38198244e-02 9.96479347e-01 -1.77448377e-03 3.81468686e+01] [ 3.65549240e-02 -1.29529129e-03 9.99330806e-01 2.46293626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.519254154 meters Centerline goodness : 0.998886 with order 1 Centerline is valid? [True, True] Translation: X:674.35, Y:38.15, Z:24.63 [[ 9.96178619e-01 -7.93307017e-02 -3.65348964e-02 6.74351951e+02] [ 7.93189800e-02 9.96847710e-01 -1.77245277e-03 3.81528878e+01] [ 3.65603378e-02 -1.13223116e-03 9.99330806e-01 2.46297633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.579254154 meters Centerline goodness : 0.998674 with order 1 Centerline is valid? [True, True] Translation: X:674.41, Y:38.16, Z:24.63 [[ 9.96272969e-01 -7.81368325e-02 -3.65349991e-02 6.74412491e+02] [ 7.81243866e-02 9.96942048e-01 -1.77033423e-03 3.81573287e+01] [ 3.65616051e-02 -1.09053826e-03 9.99330806e-01 2.46336789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.639254154 meters Centerline goodness : 0.998778 with order 1 Centerline is valid? [True, True] Translation: X:674.47, Y:38.16, Z:24.64 [[ 9.96481733e-01 -7.54277096e-02 -3.65351473e-02 6.74474632e+02] [ 7.54135568e-02 9.97150777e-01 -1.76727069e-03 3.81648173e+01] [ 3.65643517e-02 -9.94192448e-04 9.99330806e-01 2.46381176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.699254154 meters Centerline goodness : 0.998819 with order 1 Centerline is valid? [True, True] Translation: X:674.54, Y:38.17, Z:24.64 [[ 9.96713911e-01 -7.22949075e-02 -3.65352781e-02 6.74535680e+02] [ 7.22787508e-02 9.97382910e-01 -1.76456287e-03 3.81711856e+01] [ 3.65672309e-02 -8.81959901e-04 9.99330806e-01 2.46379999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.759254154 meters Centerline goodness : 0.999010 with order 1 Centerline is valid? [True, True] Translation: X:674.60, Y:38.18, Z:24.64 [[ 9.96760031e-01 -7.16561791e-02 -3.65353560e-02 6.74595635e+02] [ 7.16396530e-02 9.97429021e-01 -1.76294715e-03 3.81754056e+01] [ 3.65677505e-02 -8.60144969e-04 9.99330806e-01 2.46413532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.819254154 meters Centerline goodness : 0.998860 with order 1 Centerline is valid? [True, True] Translation: X:674.66, Y:38.18, Z:24.64 [[ 9.96965192e-01 -6.87427813e-02 -3.65353950e-02 6.74655774e+02] [ 6.87243296e-02 9.97634132e-01 -1.76213902e-03 3.81793036e+01] [ 3.65700914e-02 -7.54079257e-04 9.99330806e-01 2.46427372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.879254154 meters Centerline goodness : 0.998923 with order 1 Centerline is valid? [True, True] Translation: X:674.72, Y:38.18, Z:24.65 [[ 9.97115850e-01 -6.65217771e-02 -3.65353950e-02 6.74716374e+02] [ 6.65018354e-02 9.97784747e-01 -1.76213902e-03 3.81825112e+01] [ 3.65716805e-02 -6.72614074e-04 9.99330806e-01 2.46467815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.939254154 meters Centerline goodness : 0.998881 with order 1 Centerline is valid? [True, True] Translation: X:674.78, Y:38.19, Z:24.65 [[ 9.97144217e-01 -6.60952061e-02 -3.65353950e-02 6.74775291e+02] [ 6.60749782e-02 9.97813105e-01 -1.76213902e-03 3.81859286e+01] [ 3.65719649e-02 -6.56968692e-04 9.99330806e-01 2.46494819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.999254154 meters Centerline goodness : 0.998925 with order 1 Centerline is valid? [True, True] Translation: X:674.84, Y:38.19, Z:24.65 [[ 9.97435942e-01 -6.15362401e-02 -3.65353562e-02 6.74836180e+02] [ 6.15129252e-02 9.98104730e-01 -1.76294232e-03 3.81853410e+01] [ 3.65745967e-02 -4.88974603e-04 9.99330806e-01 2.46507674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.059254154 meters Centerline goodness : 0.998799 with order 1 Centerline is valid? [True, True] Translation: X:674.90, Y:38.19, Z:24.65 [[ 9.97513146e-01 -6.02718192e-02 -3.65353562e-02 6.74896223e+02] [ 6.02476566e-02 9.98181903e-01 -1.76294232e-03 3.81857441e+01] [ 3.65751872e-02 -4.42611458e-04 9.99330806e-01 2.46518731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.119254154 meters Centerline goodness : 0.999010 with order 1 Centerline is valid? [True, True] Translation: X:674.96, Y:38.19, Z:24.65 [[ 9.97459311e-01 -6.11563124e-02 -3.65352912e-02 6.74955621e+02] [ 6.11326935e-02 9.98128089e-01 -1.76428941e-03 3.81856461e+01] [ 3.65747978e-02 -4.73693861e-04 9.99330806e-01 2.46533189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.179254154 meters Centerline goodness : 0.998715 with order 1 Centerline is valid? [True, True] Translation: X:675.01, Y:38.18, Z:24.65 [[ 9.97230118e-01 -6.47863268e-02 -3.65352261e-02 6.75014945e+02] [ 6.47650928e-02 9.97898975e-01 -1.76563650e-03 3.81841176e+01] [ 3.65728538e-02 -6.05461418e-04 9.99330806e-01 2.46547762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.239254154 meters Centerline goodness : 0.999033 with order 1 Centerline is valid? [True, True] Translation: X:675.08, Y:38.18, Z:24.66 [[ 9.97104613e-01 -6.66901282e-02 -3.65351610e-02 6.75075716e+02] [ 6.66701220e-02 9.97773508e-01 -1.76698241e-03 3.81843858e+01] [ 3.65716560e-02 -6.73937330e-04 9.99330806e-01 2.46571505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.299254154 meters Centerline goodness : 0.998781 with order 1 Centerline is valid? [True, True] Translation: X:675.13, Y:38.19, Z:24.66 [[ 9.97120080e-01 -6.64584673e-02 -3.65351610e-02 6.75134074e+02] [ 6.64383057e-02 9.97788970e-01 -1.76698241e-03 3.81852944e+01] [ 3.65718116e-02 -6.65440553e-04 9.99330806e-01 2.46587232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.359254154 meters Centerline goodness : 0.999223 with order 1 Centerline is valid? [True, True] Translation: X:675.19, Y:38.19, Z:24.66 [[ 9.97315765e-01 -6.34543379e-02 -3.65350648e-02 6.75193441e+02] [ 6.34320885e-02 9.97984590e-01 -1.76896964e-03 3.81858854e+01] [ 3.65736804e-02 -5.53274151e-04 9.99330806e-01 2.46608148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.419254154 meters Centerline goodness : 0.999031 with order 1 Centerline is valid? [True, True] Translation: X:675.25, Y:38.19, Z:24.66 [[ 9.97453892e-01 -6.12448141e-02 -3.65349992e-02 6.75252908e+02] [ 6.12210336e-02 9.98122663e-01 -1.77032257e-03 3.81881435e+01] [ 3.65748338e-02 -4.70895273e-04 9.99330806e-01 2.46632047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.4792541539999 meters Centerline goodness : 0.999117 with order 1 Centerline is valid? [True, True] Translation: X:675.31, Y:38.19, Z:24.67 [[ 9.97696364e-01 -5.71591086e-02 -3.65349345e-02 6.75310632e+02] [ 5.71325404e-02 9.98365030e-01 -1.77165664e-03 3.81895609e+01] [ 3.65764673e-02 -3.19758232e-04 9.99330806e-01 2.46662841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.539254154 meters Centerline goodness : 0.999179 with order 1 Centerline is valid? [True, True] Translation: X:675.37, Y:38.20, Z:24.67 [[ 9.97602611e-01 -5.87727815e-02 -3.65347752e-02 6.75369547e+02] [ 5.87471748e-02 9.98271315e-01 -1.77493561e-03 3.81963191e+01] [ 3.65759360e-02 -3.75634430e-04 9.99330806e-01 2.46708627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.5992541539999 meters Centerline goodness : 0.998971 with order 1 Centerline is valid? [True, True] Translation: X:675.43, Y:38.19, Z:24.67 [[ 9.97954019e-01 -5.24689652e-02 -3.65347021e-02 6.75427929e+02] [ 5.24390793e-02 9.98622545e-01 -1.77643885e-03 3.81895714e+01] [ 3.65775851e-02 -1.43041853e-04 9.99330806e-01 2.46705810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.659254154 meters Centerline goodness : 0.999201 with order 1 Centerline is valid? [True, True] Translation: X:675.49, Y:38.19, Z:24.67 [[ 9.97933629e-01 -5.28554646e-02 -3.65345188e-02 6.75485699e+02] [ 5.28256999e-02 9.98602161e-01 -1.78020083e-03 3.81877506e+01] [ 3.65775428e-02 -1.53439256e-04 9.99330806e-01 2.46726481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.7192541539999 meters Centerline goodness : 0.998991 with order 1 Centerline is valid? [True, True] Translation: X:675.54, Y:38.19, Z:24.67 [[ 9.97846377e-01 -5.44782192e-02 -3.65339783e-02 6.75543410e+02] [ 5.44491381e-02 9.98514939e-01 -1.79122509e-03 3.81863840e+01] [ 3.65773059e-02 -2.01876162e-04 9.99330806e-01 2.46714829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.779254154 meters Centerline goodness : 0.999245 with order 1 Centerline is valid? [True, True] Translation: X:675.60, Y:38.18, Z:24.67 [[ 9.97556570e-01 -5.95497811e-02 -3.65337352e-02 6.75600190e+02] [ 5.95239177e-02 9.98225264e-01 -1.79617042e-03 3.81848453e+01] [ 3.65758590e-02 -3.82849440e-04 9.99330806e-01 2.46729522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.839254154 meters Centerline goodness : 0.999225 with order 1 Centerline is valid? [True, True] Translation: X:675.66, Y:38.19, Z:24.69 [[ 9.97109175e-01 -6.66229381e-02 -3.65332299e-02 6.75659337e+02] [ 6.66014434e-02 9.97778024e-01 -1.80639049e-03 3.81901030e+01] [ 3.65724009e-02 -6.31997312e-04 9.99330806e-01 2.46853987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.899254154 meters Centerline goodness : 0.999037 with order 1 Centerline is valid? [True, True] Translation: X:675.72, Y:38.19, Z:24.69 [[ 9.96718238e-01 -7.22362945e-02 -3.65331606e-02 6.75718701e+02] [ 7.22185149e-02 9.97387196e-01 -1.80778929e-03 3.81854388e+01] [ 3.65682946e-02 -8.36514046e-04 9.99330806e-01 2.46883582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.959254154 meters Centerline goodness : 0.998978 with order 1 Centerline is valid? [True, True] Translation: X:675.78, Y:38.18, Z:24.69 [[ 9.96304722e-01 -7.77318272e-02 -3.65330558e-02 6.75777284e+02] [ 7.77176594e-02 9.96973766e-01 -1.80990626e-03 3.81805263e+01] [ 3.65631855e-02 -1.03604543e-03 9.99330806e-01 2.46850112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.019254154 meters Centerline goodness : 0.999353 with order 1 Centerline is valid? [True, True] Translation: X:675.84, Y:38.18, Z:24.69 [[ 9.96031737e-01 -8.11549488e-02 -3.65329180e-02 6.75837384e+02] [ 8.11429785e-02 9.96700823e-01 -1.81268269e-03 3.81805468e+01] [ 3.65594976e-02 -1.15890029e-03 9.99330806e-01 2.46875448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.079254154 meters Centerline goodness : 0.998957 with order 1 Centerline is valid? [True, True] Translation: X:675.90, Y:38.18, Z:24.69 [[ 9.95548296e-01 -8.68846468e-02 -3.65328514e-02 6.75896808e+02] [ 8.68764773e-02 9.96217440e-01 -1.81402460e-03 3.81788212e+01] [ 3.65522745e-02 -1.36789633e-03 9.99330806e-01 2.46879272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.139254154 meters Centerline goodness : 0.997202 with order 1 Centerline is valid? [True, True] Translation: X:675.96, Y:38.18, Z:24.69 [[ 9.95430615e-01 -8.82227038e-02 -3.65327848e-02 6.75956242e+02] [ 8.82153846e-02 9.96099769e-01 -1.81536464e-03 3.81786696e+01] [ 3.65504549e-02 -1.41568412e-03 9.99330806e-01 2.46886046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.199254154 meters Centerline goodness : 0.999228 with order 1 Centerline is valid? [True, True] Translation: X:676.02, Y:38.18, Z:24.69 [[ 9.94866914e-01 -9.43672826e-02 -3.65327081e-02 6.76015846e+02] [ 9.43640387e-02 9.95536100e-01 -1.81690560e-03 3.81790864e+01] [ 3.65410862e-02 -1.63979462e-03 9.99330806e-01 2.46930029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.259254154 meters Centerline goodness : 0.997436 with order 1 Centerline is valid? [True, True] Translation: X:676.07, Y:38.18, Z:24.69 [[ 9.94698490e-01 -9.61263866e-02 -3.65326217e-02 6.76074763e+02] [ 9.61242624e-02 9.95367680e-01 -1.81864216e-03 3.81820253e+01] [ 3.65382104e-02 -1.70267070e-03 9.99330806e-01 2.46918865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.319254154 meters Centerline goodness : 0.999188 with order 1 Centerline is valid? [True, True] Translation: X:676.13, Y:38.19, Z:24.70 [[ 9.94870917e-01 -9.43251565e-02 -3.65324978e-02 6.76133980e+02] [ 9.43217296e-02 9.95540102e-01 -1.82112826e-03 3.81853515e+01] [ 3.65413448e-02 -1.63402083e-03 9.99330806e-01 2.46967521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.379254154 meters Centerline goodness : 0.999124 with order 1 Centerline is valid? [True, True] Translation: X:676.19, Y:38.19, Z:24.70 [[ 9.95097136e-01 -9.19079519e-02 -3.65324153e-02 6.76193961e+02] [ 9.19028387e-02 9.95766311e-01 -1.82278064e-03 3.81927213e+01] [ 3.65452765e-02 -1.54358888e-03 9.99330806e-01 2.46958690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.439254154 meters Centerline goodness : 0.997207 with order 1 Centerline is valid? [True, True] Translation: X:676.25, Y:38.20, Z:24.70 [[ 9.95261839e-01 -9.01068913e-02 -3.65324501e-02 6.76252439e+02] [ 9.01005927e-02 9.95931003e-01 -1.82208265e-03 3.81965111e+01] [ 3.65479819e-02 -1.47814608e-03 9.99330806e-01 2.46962268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.499254154 meters Centerline goodness : 0.999313 with order 1 Centerline is valid? [True, True] Translation: X:676.31, Y:38.20, Z:24.70 [[ 9.95592296e-01 -8.63793926e-02 -3.65319220e-02 6.76310521e+02] [ 8.63702024e-02 9.96261426e-01 -1.83261140e-03 3.82022759e+01] [ 3.65536445e-02 -1.33073570e-03 9.99330806e-01 2.47011636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.559254154 meters Centerline goodness : 0.998999 with order 1 Centerline is valid? [True, True] Translation: X:676.37, Y:38.21, Z:24.70 [[ 9.96220125e-01 -7.88091971e-02 -3.65318000e-02 6.76369795e+02] [ 7.87948320e-02 9.96889165e-01 -1.83503860e-03 3.82095764e+01] [ 3.65627736e-02 -1.05041467e-03 9.99330806e-01 2.47037158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.619254154 meters Centerline goodness : 0.999122 with order 1 Centerline is valid? [True, True] Translation: X:676.43, Y:38.21, Z:24.71 [[ 9.96626024e-01 -7.34982900e-02 -3.65317669e-02 6.76429186e+02] [ 7.34803350e-02 9.97294977e-01 -1.83569884e-03 3.82147519e+01] [ 3.65678683e-02 -8.54861231e-04 9.99330806e-01 2.47068484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.679254154 meters Centerline goodness : 0.999185 with order 1 Centerline is valid? [True, True] Translation: X:676.49, Y:38.22, Z:24.71 [[ 9.97057913e-01 -6.73865914e-02 -3.65316988e-02 6.76487549e+02] [ 6.73644858e-02 9.97726742e-01 -1.83705210e-03 3.82191701e+01] [ 3.65724455e-02 -6.29291774e-04 9.99330806e-01 2.47087817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.739254154 meters Centerline goodness : 0.999414 with order 1 Centerline is valid? [True, True] Translation: X:676.55, Y:38.22, Z:24.71 [[ 9.97254235e-01 -6.44163032e-02 -3.65312242e-02 6.76546535e+02] [ 6.43918616e-02 9.97922982e-01 -1.84644228e-03 3.82226659e+01] [ 3.65742892e-02 -5.10941148e-04 9.99330806e-01 2.47097475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.799254154 meters Centerline goodness : 0.999121 with order 1 Centerline is valid? [True, True] Translation: X:676.60, Y:38.22, Z:24.71 [[ 9.97237536e-01 -6.46745859e-02 -3.65307487e-02 6.76604811e+02] [ 6.46499746e-02 9.97906277e-01 -1.85580175e-03 3.82249754e+01] [ 3.65742867e-02 -5.11036812e-04 9.99330806e-01 2.47107067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.859254154 meters Centerline goodness : 0.998979 with order 1 Centerline is valid? [True, True] Translation: X:676.66, Y:38.23, Z:24.71 [[ 9.97247838e-01 -6.45158463e-02 -3.65301955e-02 6.76663112e+02] [ 6.44907321e-02 9.97916560e-01 -1.86662794e-03 3.82272422e+01] [ 3.65745142e-02 -4.94368378e-04 9.99330806e-01 2.47109386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.919254154 meters Centerline goodness : 0.999039 with order 1 Centerline is valid? [True, True] Translation: X:676.72, Y:38.23, Z:24.71 [[ 9.97269895e-01 -6.41743104e-02 -3.65296429e-02 6.76720777e+02] [ 6.41485733e-02 9.97938593e-01 -1.87738071e-03 3.82294509e+01] [ 3.65748201e-02 -4.71069211e-04 9.99330806e-01 2.47127255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.9792541539999 meters Centerline goodness : 0.999188 with order 1 Centerline is valid? [True, True] Translation: X:676.78, Y:38.23, Z:24.71 [[ 9.97242035e-01 -6.46061110e-02 -3.65290726e-02 6.76778360e+02] [ 6.45802595e-02 9.97910729e-01 -1.88841223e-03 3.82306607e+01] [ 3.65747565e-02 -4.75852935e-04 9.99330806e-01 2.47145674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.039254154 meters Centerline goodness : 0.999310 with order 1 Centerline is valid? [True, True] Translation: X:676.84, Y:38.23, Z:24.72 [[ 9.97112927e-01 -6.65693544e-02 -3.65285043e-02 6.76836576e+02] [ 6.65444190e-02 9.97781656e-01 -1.89934329e-03 3.82313186e+01] [ 3.65739095e-02 -5.36908350e-04 9.99330807e-01 2.47168606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.0992541539999 meters Centerline goodness : 0.999353 with order 1 Centerline is valid? [True, True] Translation: X:676.89, Y:38.23, Z:24.72 [[ 9.96758401e-01 -7.16826314e-02 -3.65279427e-02 6.76894308e+02] [ 7.16607328e-02 9.97427236e-01 -1.91008324e-03 3.82299180e+01] [ 3.65708847e-02 -7.13727622e-04 9.99330807e-01 2.47185801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.159254154 meters Centerline goodness : 0.999128 with order 1 Centerline is valid? [True, True] Translation: X:676.95, Y:38.23, Z:24.72 [[ 9.96536624e-01 -7.47027993e-02 -3.65273845e-02 6.76952160e+02] [ 7.46825388e-02 9.97205510e-01 -1.92069843e-03 3.82304327e+01] [ 3.65687906e-02 -8.13911480e-04 9.99330807e-01 2.47201169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.2192541539999 meters Centerline goodness : 0.999041 with order 1 Centerline is valid? [True, True] Translation: X:677.01, Y:38.23, Z:24.72 [[ 9.96386833e-01 -7.66749094e-02 -3.65272127e-02 6.77011448e+02] [ 7.66558532e-02 9.97055755e-01 -1.92396021e-03 3.82293436e+01] [ 3.65671871e-02 -8.83016028e-04 9.99330807e-01 2.47220449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.279254154 meters Centerline goodness : 0.999269 with order 1 Centerline is valid? [True, True] Translation: X:677.07, Y:38.23, Z:24.72 [[ 9.96444125e-01 -7.59269699e-02 -3.65267261e-02 6.77069249e+02] [ 7.59070747e-02 9.97113022e-01 -1.93315379e-03 3.82295432e+01] [ 3.65680528e-02 -8.46357189e-04 9.99330807e-01 2.47233759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.339254154 meters Centerline goodness : 0.999270 with order 1 Centerline is valid? [True, True] Translation: X:677.13, Y:38.23, Z:24.72 [[ 9.96492501e-01 -7.52894858e-02 -3.65265550e-02 6.77126201e+02] [ 7.52690444e-02 9.97161382e-01 -1.93638199e-03 3.82317400e+01] [ 3.65686592e-02 -8.19728759e-04 9.99330807e-01 2.47238968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.399254154 meters Centerline goodness : 0.999333 with order 1 Centerline is valid? [True, True] Translation: X:677.18, Y:38.23, Z:24.72 [[ 9.96608180e-01 -7.37425540e-02 -3.65263211e-02 6.77184063e+02] [ 7.37209131e-02 9.97277023e-01 -1.94078461e-03 3.82331275e+01] [ 3.65699791e-02 -7.58551926e-04 9.99330807e-01 2.47245270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.459254154 meters Centerline goodness : 0.999289 with order 1 Centerline is valid? [True, True] Translation: X:677.24, Y:38.24, Z:24.73 [[ 9.96709851e-01 -7.23556406e-02 -3.65257907e-02 6.77241416e+02] [ 7.23327052e-02 9.97378652e-01 -1.95071579e-03 3.82354735e+01] [ 3.65711891e-02 -6.97711598e-04 9.99330807e-01 2.47262253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.519254154 meters Centerline goodness : 0.999185 with order 1 Centerline is valid? [True, True] Translation: X:677.30, Y:38.24, Z:24.73 [[ 9.96802893e-01 -7.10626571e-02 -3.65252099e-02 6.77299238e+02] [ 7.10384579e-02 9.97471649e-01 -1.96153081e-03 3.82392997e+01] [ 3.65722529e-02 -6.39434994e-04 9.99330807e-01 2.47278404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.579254154 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:677.36, Y:38.24, Z:24.73 [[ 9.96717174e-01 -7.22552868e-02 -3.65246334e-02 6.77356903e+02] [ 7.22314968e-02 9.97385944e-01 -1.97220713e-03 3.82422147e+01] [ 3.65716583e-02 -6.72496217e-04 9.99330807e-01 2.47300274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.639254154 meters Centerline goodness : 0.999270 with order 1 Centerline is valid? [True, True] Translation: X:677.41, Y:38.24, Z:24.73 [[ 9.96263620e-01 -7.82610626e-02 -3.65240534e-02 6.77413725e+02] [ 7.82409121e-02 9.96932509e-01 -1.98289000e-03 3.82433460e+01] [ 3.65671993e-02 -8.82194089e-04 9.99330807e-01 2.47323019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.699254154 meters Centerline goodness : 0.999060 with order 1 Centerline is valid? [True, True] Translation: X:677.47, Y:38.25, Z:24.74 [[ 9.95343199e-01 -8.92072169e-02 -3.65238038e-02 6.77472093e+02] [ 8.91942519e-02 9.96012267e-01 -1.98747741e-03 3.82464499e+01] [ 3.65554539e-02 -1.27949124e-03 9.99330807e-01 2.47400646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.759254154 meters Centerline goodness : 0.999102 with order 1 Centerline is valid? [True, True] Translation: X:677.53, Y:38.25, Z:24.74 [[ 9.94745970e-01 -9.56373656e-02 -3.65232745e-02 6.77531131e+02] [ 9.56283697e-02 9.95415103e-01 -1.99715732e-03 3.82460737e+01] [ 3.65468219e-02 -1.50599700e-03 9.99330807e-01 2.47351875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.819254154 meters Centerline goodness : 0.999167 with order 1 Centerline is valid? [True, True] Translation: X:677.59, Y:38.25, Z:24.74 [[ 9.93678190e-01 -1.06158905e-01 -3.65231611e-02 6.77590209e+02] [ 1.06156915e-01 9.94347380e-01 -1.99922791e-03 3.82479994e+01] [ 3.65289454e-02 -1.89059694e-03 9.99330807e-01 2.47387327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.879254154 meters Centerline goodness : 0.999312 with order 1 Centerline is valid? [True, True] Translation: X:677.65, Y:38.25, Z:24.74 [[ 9.93162034e-01 -1.10883892e-01 -3.65230907e-02 6.77650929e+02] [ 1.10885037e-01 9.93831226e-01 -2.00051305e-03 3.82512388e+01] [ 3.65196127e-02 -2.06303067e-03 9.99330807e-01 2.47409372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.939254154 meters Centerline goodness : 0.999103 with order 1 Centerline is valid? [True, True] Translation: X:677.71, Y:38.26, Z:24.74 [[ 9.92846068e-01 -1.13678270e-01 -3.65230907e-02 6.77712434e+02] [ 1.13681299e-01 9.93515254e-01 -2.00051305e-03 3.82557866e+01] [ 3.65136626e-02 -2.16579089e-03 9.99330807e-01 2.47426055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.999254154 meters Centerline goodness : 0.999123 with order 1 Centerline is valid? [True, True] Translation: X:677.77, Y:38.26, Z:24.75 [[ 9.92926204e-01 -1.12976159e-01 -3.65231652e-02 6.77772003e+02] [ 1.12978764e-01 9.93595392e-01 -1.99915292e-03 3.82624546e+01] [ 3.65151052e-02 -2.14133076e-03 9.99330807e-01 2.47458592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.059254154 meters Centerline goodness : 0.999395 with order 1 Centerline is valid? [True, True] Translation: X:677.83, Y:38.27, Z:24.75 [[ 9.93160601e-01 -1.10896667e-01 -3.65232895e-02 6.77831649e+02] [ 1.10897954e-01 9.93829792e-01 -1.99687853e-03 3.82688278e+01] [ 3.65193804e-02 -2.06713700e-03 9.99330807e-01 2.47475826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.119254154 meters Centerline goodness : 0.999144 with order 1 Centerline is valid? [True, True] Translation: X:677.89, Y:38.28, Z:24.75 [[ 9.93619513e-01 -1.06706653e-01 -3.65233252e-02 6.77892601e+02] [ 1.06705142e-01 9.94288704e-01 -1.99622603e-03 3.82779353e+01] [ 3.65277403e-02 -1.91373747e-03 9.99330807e-01 2.47499876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.179254154 meters Centerline goodness : 0.999187 with order 1 Centerline is valid? [True, True] Translation: X:677.95, Y:38.29, Z:24.75 [[ 9.93973826e-01 -1.03354125e-01 -3.65233978e-02 6.77954032e+02] [ 1.03350405e-01 9.94643008e-01 -1.99489601e-03 3.82852773e+01] [ 3.65339230e-02 -1.79183353e-03 9.99330807e-01 2.47530720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.239254154 meters Centerline goodness : 0.999022 with order 1 Centerline is valid? [True, True] Translation: X:678.01, Y:38.29, Z:24.76 [[ 9.94422301e-01 -9.89460635e-02 -3.65234697e-02 6.78014980e+02] [ 9.89394248e-02 9.95091461e-01 -1.99358004e-03 3.82945574e+01] [ 3.65414497e-02 -1.63115063e-03 9.99330807e-01 2.47562270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.299254154 meters Centerline goodness : 0.999062 with order 1 Centerline is valid? [True, True] Translation: X:678.08, Y:38.30, Z:24.76 [[ 9.94771045e-01 -9.53760899e-02 -3.65235418e-02 6.78075426e+02] [ 9.53670978e-02 9.95440178e-01 -1.99225737e-03 3.83027040e+01] [ 3.65470147e-02 -1.50130424e-03 9.99330807e-01 2.47578305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.359254154 meters Centerline goodness : 0.999122 with order 1 Centerline is valid? [True, True] Translation: X:678.14, Y:38.31, Z:24.76 [[ 9.95432118e-01 -8.82095215e-02 -3.65236648e-02 6.78135954e+02] [ 8.81957935e-02 9.96101171e-01 -1.98999973e-03 3.83129025e+01] [ 3.65568022e-02 -1.24032396e-03 9.99330807e-01 2.47594112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.419254154 meters Centerline goodness : 0.999037 with order 1 Centerline is valid? [True, True] Translation: X:678.20, Y:38.32, Z:24.76 [[ 9.95634613e-01 -8.58937492e-02 -3.65237009e-02 6.78196455e+02] [ 8.58784892e-02 9.96303632e-01 -1.98933724e-03 3.83187296e+01] [ 3.65595675e-02 -1.15594724e-03 9.99330807e-01 2.47611864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.4792541539999 meters Centerline goodness : 0.999183 with order 1 Centerline is valid? [True, True] Translation: X:678.26, Y:38.33, Z:24.76 [[ 9.96057221e-01 -8.08457317e-02 -3.65237009e-02 6.78257379e+02] [ 8.08270806e-02 9.96726154e-01 -1.98933724e-03 3.83286505e+01] [ 3.65649574e-02 -9.70610391e-04 9.99330807e-01 2.47645330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.539254154 meters Centerline goodness : 0.999059 with order 1 Centerline is valid? [True, True] Translation: X:678.32, Y:38.34, Z:24.77 [[ 9.96190502e-01 -7.91864745e-02 -3.65237736e-02 6.78317460e+02] [ 7.91667581e-02 9.96859404e-01 -1.98800163e-03 3.83360823e+01] [ 3.65664901e-02 -9.11040409e-04 9.99330807e-01 2.47660770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.5992541539999 meters Centerline goodness : 0.999162 with order 1 Centerline is valid? [True, True] Translation: X:678.38, Y:38.34, Z:24.77 [[ 9.96203559e-01 -7.90220234e-02 -3.65238093e-02 6.78378080e+02] [ 7.90022206e-02 9.96872459e-01 -1.98734499e-03 3.83434216e+01] [ 3.65666237e-02 -9.05661886e-04 9.99330807e-01 2.47683342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.659254154 meters Centerline goodness : 0.999057 with order 1 Centerline is valid? [True, True] Translation: X:678.44, Y:38.35, Z:24.77 [[ 9.96141831e-01 -7.97963936e-02 -3.65238093e-02 6.78438690e+02] [ 7.97771108e-02 9.96810746e-01 -1.98734499e-03 3.83490121e+01] [ 3.65659086e-02 -9.34086502e-04 9.99330807e-01 2.47705730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.7192541539999 meters Centerline goodness : 0.998996 with order 1 Centerline is valid? [True, True] Translation: X:678.50, Y:38.35, Z:24.77 [[ 9.95992544e-01 -8.16386182e-02 -3.65238093e-02 6.78500057e+02] [ 8.16205726e-02 9.96661493e-01 -1.98734500e-03 3.83545806e+01] [ 3.65641185e-02 -1.00171344e-03 9.99330807e-01 2.47733108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.779254154 meters Centerline goodness : 0.998993 with order 1 Centerline is valid? [True, True] Translation: X:678.56, Y:38.36, Z:24.78 [[ 9.95843763e-01 -8.34338425e-02 -3.65238780e-02 6.78560189e+02] [ 8.34170490e-02 9.96512745e-01 -1.98608284e-03 3.83590165e+01] [ 3.65622164e-02 -1.06888591e-03 9.99330807e-01 2.47752898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.839254154 meters Centerline goodness : 0.999267 with order 1 Centerline is valid? [True, True] Translation: X:678.62, Y:38.36, Z:24.78 [[ 9.95724897e-01 -8.48406333e-02 -3.65239118e-02 6.78620055e+02] [ 8.48248077e-02 9.96393903e-01 -1.98546087e-03 3.83631697e+01] [ 3.65606508e-02 -1.12116097e-03 9.99330807e-01 2.47775743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.899254154 meters Centerline goodness : 0.998995 with order 1 Centerline is valid? [True, True] Translation: X:678.68, Y:38.37, Z:24.78 [[ 9.95531203e-01 -8.70840228e-02 -3.65239118e-02 6.78681115e+02] [ 8.70697047e-02 9.96200243e-01 -1.98546087e-03 3.83672843e+01] [ 3.65580317e-02 -1.20353796e-03 9.99330807e-01 2.47802661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.959254154 meters Centerline goodness : 0.999056 with order 1 Centerline is valid? [True, True] Translation: X:678.74, Y:38.37, Z:24.78 [[ 9.95491894e-01 -8.75322093e-02 -3.65239839e-02 6.78741996e+02] [ 8.75182411e-02 9.96160941e-01 -1.98413338e-03 3.83712945e+01] [ 3.65574418e-02 -1.22132614e-03 9.99330807e-01 2.47816157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.019254154 meters Centerline goodness : 0.998697 with order 1 Centerline is valid? [True, True] Translation: X:678.80, Y:38.38, Z:24.78 [[ 9.95819284e-01 -8.37254102e-02 -3.65240909e-02 6.78803710e+02] [ 8.37089562e-02 9.96488275e-01 -1.98216261e-03 3.83766588e+01] [ 3.65617857e-02 -1.08351777e-03 9.99330807e-01 2.47836365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.079254154 meters Centerline goodness : 0.998948 with order 1 Centerline is valid? [True, True] Translation: X:678.86, Y:38.38, Z:24.79 [[ 9.96245937e-01 -7.84857473e-02 -3.65242379e-02 6.78864452e+02] [ 7.84658738e-02 9.96914835e-01 -1.97944911e-03 3.83824474e+01] [ 3.65669132e-02 -8.93888105e-04 9.99330807e-01 2.47873757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.139254154 meters Centerline goodness : 0.998675 with order 1 Centerline is valid? [True, True] Translation: X:678.92, Y:38.39, Z:24.79 [[ 9.96943353e-01 -6.90646538e-02 -3.65243115e-02 6.78924512e+02] [ 6.90385077e-02 9.97612035e-01 -1.97809132e-03 3.83894187e+01] [ 3.65737089e-02 -5.49538963e-04 9.99330807e-01 2.47901652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.199254154 meters Centerline goodness : 0.998965 with order 1 Centerline is valid? [True, True] Translation: X:678.99, Y:38.39, Z:24.79 [[ 9.97288723e-01 -6.38840317e-02 -3.65244183e-02 6.78985267e+02] [ 6.38544842e-02 9.97957264e-01 -1.97611554e-03 3.83935801e+01] [ 3.65760508e-02 -3.61490146e-04 9.99330807e-01 2.47939303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.259254154 meters Centerline goodness : 0.998778 with order 1 Centerline is valid? [True, True] Translation: X:679.04, Y:38.40, Z:24.79 [[ 9.97546775e-01 -5.97193342e-02 -3.65244183e-02 6.79044116e+02] [ 5.96869954e-02 9.98215186e-01 -1.97611554e-03 3.83961948e+01] [ 3.65772414e-02 -2.08765103e-04 9.99330807e-01 2.47949922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.319254154 meters Centerline goodness : 0.998714 with order 1 Centerline is valid? [True, True] Translation: X:679.10, Y:38.40, Z:24.80 [[ 9.97600931e-01 -5.88078040e-02 -3.65243132e-02 6.79103048e+02] [ 5.87747834e-02 9.98269308e-01 -1.97805733e-03 3.83972779e+01] [ 3.65774261e-02 -1.73396768e-04 9.99330807e-01 2.47951805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.379254154 meters Centerline goodness : 0.998632 with order 1 Centerline is valid? [True, True] Translation: X:679.16, Y:38.40, Z:24.79 [[ 9.97170947e-01 -6.56971289e-02 -3.65238154e-02 6.79160976e+02] [ 6.56683908e-02 9.97839523e-01 -1.98720561e-03 3.83973681e+01] [ 3.65754603e-02 -4.16876484e-04 9.99330807e-01 2.47943040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.439254154 meters Centerline goodness : 0.998885 with order 1 Centerline is valid? [True, True] Translation: X:679.22, Y:38.40, Z:24.80 [[ 9.96514619e-01 -7.49975905e-02 -3.65236238e-02 6.79221091e+02] [ 7.49749624e-02 9.97183429e-01 -1.99072113e-03 3.83968826e+01] [ 3.65700518e-02 -7.54574611e-04 9.99330807e-01 2.47985146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.499254154 meters Centerline goodness : 0.998926 with order 1 Centerline is valid? [True, True] Translation: X:679.28, Y:38.40, Z:24.80 [[ 9.95822006e-01 -8.36932682e-02 -3.65235503e-02 6.79280401e+02] [ 8.36764296e-02 9.96490987e-01 -1.99206838e-03 3.83963396e+01] [ 3.65621114e-02 -1.07241476e-03 9.99330807e-01 2.48020229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.559254154 meters Centerline goodness : 0.998823 with order 1 Centerline is valid? [True, True] Translation: X:679.34, Y:38.40, Z:24.80 [[ 9.95491513e-01 -8.75367436e-02 -3.65235141e-02 6.79341328e+02] [ 8.75224632e-02 9.96160553e-01 -1.99273277e-03 3.83966710e+01] [ 3.65577213e-02 -1.21287936e-03 9.99330807e-01 2.48046253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.619254154 meters Centerline goodness : 0.998824 with order 1 Centerline is valid? [True, True] Translation: X:679.40, Y:38.40, Z:24.81 [[ 9.94962546e-01 -9.33571647e-02 -3.65235871e-02 6.79402870e+02] [ 9.33468464e-02 9.95631659e-01 -1.99139472e-03 3.83975547e+01] [ 3.65499505e-02 -1.42799851e-03 9.99330807e-01 2.48085384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.679254154 meters Centerline goodness : 0.998742 with order 1 Centerline is valid? [True, True] Translation: X:679.47, Y:38.40, Z:24.81 [[ 9.94429259e-01 -9.88759829e-02 -3.65238229e-02 6.79465190e+02] [ 9.88695360e-02 9.95098420e-01 -1.98706061e-03 3.83994729e+01] [ 3.65412710e-02 -1.63510221e-03 9.99330807e-01 2.48117871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.739254154 meters Centerline goodness : 0.998932 with order 1 Centerline is valid? [True, True] Translation: X:679.53, Y:38.40, Z:24.81 [[ 9.94099700e-01 -1.02136113e-01 -3.65239732e-02 6.79526760e+02] [ 1.02131962e-01 9.94768880e-01 -1.98429372e-03 3.84012762e+01] [ 3.65355799e-02 -1.75767925e-03 9.99330807e-01 2.48137563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.799254154 meters Centerline goodness : 0.998871 with order 1 Centerline is valid? [True, True] Translation: X:679.59, Y:38.40, Z:24.82 [[ 9.93842713e-01 -1.04607140e-01 -3.65240841e-02 6.79588431e+02] [ 1.04604727e-01 9.94511901e-01 -1.98224999e-03 3.84036176e+01] [ 3.65309938e-02 -1.85054713e-03 9.99330807e-01 2.48157828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.859254154 meters Centerline goodness : 0.998663 with order 1 Centerline is valid? [True, True] Translation: X:679.65, Y:38.41, Z:24.82 [[ 9.93962781e-01 -1.03459998e-01 -3.65242337e-02 6.79650551e+02] [ 1.03456914e-01 9.94631966e-01 -1.97948984e-03 3.84077730e+01] [ 3.65329684e-02 -1.81114527e-03 9.99330807e-01 2.48175725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.919254154 meters Centerline goodness : 0.998743 with order 1 Centerline is valid? [True, True] Translation: X:679.71, Y:38.41, Z:24.82 [[ 9.94636977e-01 -9.67639066e-02 -3.65243810e-02 6.79712479e+02] [ 9.67564158e-02 9.95306128e-01 -1.97676773e-03 3.84142793e+01] [ 3.65442200e-02 -1.56780192e-03 9.99330807e-01 2.48179092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.9792541539999 meters Centerline goodness : 0.998784 with order 1 Centerline is valid? [True, True] Translation: X:679.77, Y:38.42, Z:24.82 [[ 9.95156694e-01 -9.12639740e-02 -3.65245283e-02 6.79774382e+02] [ 9.12528842e-02 9.95825795e-01 -1.97404173e-03 3.84214501e+01] [ 3.65522264e-02 -1.36848771e-03 9.99330807e-01 2.48189537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.039254154 meters Centerline goodness : 0.998969 with order 1 Centerline is valid? [True, True] Translation: X:679.83, Y:38.43, Z:24.82 [[ 9.95733912e-01 -8.47344340e-02 -3.65246735e-02 6.79834957e+02] [ 8.47190542e-02 9.96402928e-01 -1.97135140e-03 3.84303922e+01] [ 3.65603330e-02 -1.13139436e-03 9.99330807e-01 2.48218765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.0992541539999 meters Centerline goodness : 0.999115 with order 1 Centerline is valid? [True, True] Translation: X:679.89, Y:38.44, Z:24.82 [[ 9.96144834e-01 -7.97584443e-02 -3.65247806e-02 6.79894858e+02] [ 7.97397948e-02 9.96813767e-01 -1.96936591e-03 3.84373980e+01] [ 3.65654777e-02 -9.50704834e-04 9.99330807e-01 2.48245603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.159254154 meters Centerline goodness : 0.998696 with order 1 Centerline is valid? [True, True] Translation: X:679.96, Y:38.44, Z:24.83 [[ 9.96277149e-01 -7.80882818e-02 -3.65248154e-02 6.79955534e+02] [ 7.80685345e-02 9.96946051e-01 -1.96872103e-03 3.84431563e+01] [ 3.65670045e-02 -8.90047028e-04 9.99330807e-01 2.48289680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.2192541539999 meters Centerline goodness : 0.998715 with order 1 Centerline is valid? [True, True] Translation: X:680.02, Y:38.45, Z:24.83 [[ 9.96647566e-01 -7.32090293e-02 -3.65248844e-02 6.80016973e+02] [ 7.31860539e-02 9.97316364e-01 -1.96743854e-03 3.84498207e+01] [ 3.65708992e-02 -7.12269329e-04 9.99330807e-01 2.48321009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.279254154 meters Centerline goodness : 0.998547 with order 1 Centerline is valid? [True, True] Translation: X:680.08, Y:38.45, Z:24.83 [[ 9.96761177e-01 -7.16455395e-02 -3.65249572e-02 6.80078206e+02] [ 7.16215645e-02 9.97429940e-01 -1.96608603e-03 3.84539571e+01] [ 3.65719472e-02 -6.56256357e-04 9.99330807e-01 2.48341665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.339254154 meters Centerline goodness : 0.998926 with order 1 Centerline is valid? [True, True] Translation: X:680.14, Y:38.46, Z:24.83 [[ 9.96975137e-01 -6.86039297e-02 -3.65250294e-02 6.80138414e+02] [ 6.85779634e-02 9.97643826e-01 -1.96474547e-03 3.84586013e+01] [ 3.65737593e-02 -5.46009740e-04 9.99330807e-01 2.48348095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.399254154 meters Centerline goodness : 0.998755 with order 1 Centerline is valid? [True, True] Translation: X:680.20, Y:38.46, Z:24.84 [[ 9.97026525e-01 -6.78529836e-02 -3.65250648e-02 6.80199010e+02] [ 6.78265378e-02 9.97695196e-01 -1.96408638e-03 3.84631661e+01] [ 3.65741508e-02 -5.19122471e-04 9.99330807e-01 2.48373371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.459254154 meters Centerline goodness : 0.998905 with order 1 Centerline is valid? [True, True] Translation: X:680.26, Y:38.47, Z:24.84 [[ 9.96991546e-01 -6.83650194e-02 -3.65250648e-02 6.80258658e+02] [ 6.83389170e-02 9.97660230e-01 -1.96408638e-03 3.84675982e+01] [ 3.65738794e-02 -5.37905856e-04 9.99330807e-01 2.48395856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.519254154 meters Centerline goodness : 0.998673 with order 1 Centerline is valid? [True, True] Translation: X:680.32, Y:38.47, Z:24.84 [[ 9.96908077e-01 -6.95715873e-02 -3.65250648e-02 6.80319286e+02] [ 6.95462943e-02 9.97576792e-01 -1.96408638e-03 3.84709092e+01] [ 3.65732016e-02 -5.82169329e-04 9.99330807e-01 2.48419787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.579254154 meters Centerline goodness : 0.999075 with order 1 Centerline is valid? [True, True] Translation: X:680.38, Y:38.47, Z:24.84 [[ 9.96679723e-01 -7.27698396e-02 -3.65250648e-02 6.80380010e+02] [ 7.27466922e-02 9.97348515e-01 -1.96408638e-03 3.84746226e+01] [ 3.65711454e-02 -6.99512579e-04 9.99330807e-01 2.48437545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.639254154 meters Centerline goodness : 0.999410 with order 1 Centerline is valid? [True, True] Translation: X:680.44, Y:38.48, Z:24.85 [[ 9.96401511e-01 -7.64849560e-02 -3.65250648e-02 6.80440173e+02] [ 7.64643021e-02 9.97070385e-01 -1.96408638e-03 3.84789742e+01] [ 3.65682835e-02 -8.35844953e-04 9.99330807e-01 2.48456894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.699254154 meters Centerline goodness : 0.999557 with order 1 Centerline is valid? [True, True] Translation: X:680.50, Y:38.48, Z:24.85 [[ 9.96165971e-01 -7.94938684e-02 -3.65250999e-02 6.80501382e+02] [ 7.94752586e-02 9.96834905e-01 -1.96343269e-03 3.84823188e+01] [ 3.65655754e-02 -9.46936930e-04 9.99330807e-01 2.48482294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.759254154 meters Centerline goodness : 0.999704 with order 1 Centerline is valid? [True, True] Translation: X:680.56, Y:38.49, Z:24.85 [[ 9.95809284e-01 -8.38437994e-02 -3.65251708e-02 6.80562892e+02] [ 8.38281596e-02 9.96478294e-01 -1.96211360e-03 3.84858030e+01] [ 3.65610509e-02 -1.10794691e-03 9.99330807e-01 2.48488293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.819254154 meters Centerline goodness : 0.999534 with order 1 Centerline is valid? [True, True] Translation: X:680.63, Y:38.49, Z:24.85 [[ 9.95634419e-01 -8.58953347e-02 -3.65252759e-02 6.80625135e+02] [ 8.58811452e-02 9.96303461e-01 -1.96015539e-03 3.84907512e+01] [ 3.65586270e-02 -1.18523435e-03 9.99330807e-01 2.48529363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.879254154 meters Centerline goodness : 0.999259 with order 1 Centerline is valid? [True, True] Translation: X:680.69, Y:38.50, Z:24.85 [[ 9.95825219e-01 -8.36542066e-02 -3.65254198e-02 6.80686691e+02] [ 8.36386097e-02 9.96494230e-01 -1.95746993e-03 3.84952581e+01] [ 3.65611207e-02 -1.10563740e-03 9.99330807e-01 2.48529205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.939254154 meters Centerline goodness : 0.999660 with order 1 Centerline is valid? [True, True] Translation: X:680.75, Y:38.50, Z:24.86 [[ 9.96311046e-01 -7.76542721e-02 -3.65255246e-02 6.80748816e+02] [ 7.76347173e-02 9.96979953e-01 -1.95551253e-03 3.85027268e+01] [ 3.65670697e-02 -8.87350043e-04 9.99330807e-01 2.48585657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.999254154 meters Centerline goodness : 0.999470 with order 1 Centerline is valid? [True, True] Translation: X:680.81, Y:38.51, Z:24.86 [[ 9.96621215e-01 -7.35664897e-02 -3.65256688e-02 6.80809796e+02] [ 7.35442899e-02 9.97290040e-01 -1.95281570e-03 3.85084175e+01] [ 3.65703475e-02 -7.40036815e-04 9.99330807e-01 2.48585677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.059254154 meters Centerline goodness : 0.999533 with order 1 Centerline is valid? [True, True] Translation: X:680.87, Y:38.51, Z:24.86 [[ 9.96793156e-01 -7.11988190e-02 -3.65257750e-02 6.80871251e+02] [ 7.11751033e-02 9.97461929e-01 -1.95082656e-03 3.85142682e+01] [ 3.65719665e-02 -6.55155244e-04 9.99330807e-01 2.48639255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.119254154 meters Centerline goodness : 0.999511 with order 1 Centerline is valid? [True, True] Translation: X:680.93, Y:38.52, Z:24.86 [[ 9.96738009e-01 -7.19666934e-02 -3.65258450e-02 6.80932115e+02] [ 7.19435410e-02 9.97406801e-01 -1.94951537e-03 3.85190352e+01] [ 3.65714264e-02 -6.84642559e-04 9.99330807e-01 2.48645503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.179254154 meters Centerline goodness : 0.999467 with order 1 Centerline is valid? [True, True] Translation: X:680.99, Y:38.52, Z:24.87 [[ 9.96624130e-01 -7.35268749e-02 -3.65259141e-02 6.80993305e+02] [ 7.35048169e-02 9.97292959e-01 -1.94822015e-03 3.85242533e+01] [ 3.65702835e-02 -7.43187414e-04 9.99330807e-01 2.48658922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.239254154 meters Centerline goodness : 0.998914 with order 1 Centerline is valid? [True, True] Translation: X:681.05, Y:38.53, Z:24.87 [[ 9.96432826e-01 -7.60754623e-02 -3.65259824e-02 6.81054432e+02] [ 7.60551618e-02 9.97101711e-01 -1.94693880e-03 3.85295540e+01] [ 3.65682338e-02 -8.37995766e-04 9.99330807e-01 2.48679230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.299254154 meters Centerline goodness : 0.997914 with order 1 Centerline is valid? [True, True] Translation: X:681.12, Y:38.53, Z:24.87 [[ 9.96151387e-01 -7.96759801e-02 -3.65260499e-02 6.81116166e+02] [ 7.96581434e-02 9.96820342e-01 -1.94567220e-03 3.85336623e+01] [ 3.65649329e-02 -9.71413260e-04 9.99330807e-01 2.48719586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.359254154 meters Centerline goodness : 0.998726 with order 1 Centerline is valid? [True, True] Translation: X:681.18, Y:38.54, Z:24.88 [[ 9.95948391e-01 -8.21744486e-02 -3.65261902e-02 6.81177626e+02] [ 8.21583866e-02 9.96617391e-01 -1.94303368e-03 3.85383589e+01] [ 3.65623041e-02 -1.06577159e-03 9.99330807e-01 2.48758251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.419254154 meters Centerline goodness : 0.998724 with order 1 Centerline is valid? [True, True] Translation: X:681.24, Y:38.54, Z:24.88 [[ 9.95696681e-01 -8.51701051e-02 -3.65263293e-02 6.81238804e+02] [ 8.51561517e-02 9.96365728e-01 -1.94041542e-03 3.85419205e+01] [ 3.65588481e-02 -1.17837645e-03 9.99330807e-01 2.48790611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.4792541539999 meters Centerline goodness : 0.999109 with order 1 Centerline is valid? [True, True] Translation: X:681.30, Y:38.54, Z:24.88 [[ 9.95296533e-01 -8.97253094e-02 -3.65264321e-02 6.81301307e+02] [ 8.97144885e-02 9.95965638e-01 -1.93847829e-03 3.85440526e+01] [ 3.65530018e-02 -1.34758945e-03 9.99330807e-01 2.48798373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.539254154 meters Centerline goodness : 0.999300 with order 1 Centerline is valid? [True, True] Translation: X:681.36, Y:38.55, Z:24.88 [[ 9.94856338e-01 -9.44810917e-02 -3.65265756e-02 6.81363257e+02] [ 9.44735680e-02 9.95525488e-01 -1.93576995e-03 3.85480278e+01] [ 3.65460307e-02 -1.52498293e-03 9.99330807e-01 2.48835856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.5992541539999 meters Centerline goodness : 0.999259 with order 1 Centerline is valid? [True, True] Translation: X:681.43, Y:38.55, Z:24.88 [[ 9.94306997e-01 -1.00096925e-01 -3.65267180e-02 6.81425777e+02] [ 1.00093278e-01 9.94976180e-01 -1.93308062e-03 3.85504517e+01] [ 3.65367097e-02 -1.73400336e-03 9.99330807e-01 2.48845643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.659254154 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:681.49, Y:38.55, Z:24.89 [[ 9.93997540e-01 -1.03124510e-01 -3.65270571e-02 6.81489000e+02] [ 1.03123136e-01 9.94666732e-01 -1.92665179e-03 3.85539657e+01] [ 3.65309335e-02 -1.85169755e-03 9.99330807e-01 2.48880303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.7192541539999 meters Centerline goodness : 0.999597 with order 1 Centerline is valid? [True, True] Translation: X:681.55, Y:38.56, Z:24.89 [[ 9.94020886e-01 -1.02899160e-01 -3.65272644e-02 6.81551475e+02] [ 1.02897780e-01 9.94690077e-01 -1.92271326e-03 3.85578621e+01] [ 3.65311530e-02 -1.84735727e-03 9.99330807e-01 2.48894810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.779254154 meters Centerline goodness : 0.999597 with order 1 Centerline is valid? [True, True] Translation: X:681.61, Y:38.56, Z:24.89 [[ 9.94630102e-01 -9.68334082e-02 -3.65273999e-02 6.81612997e+02] [ 9.68280400e-02 9.95299273e-01 -1.92013509e-03 3.85642003e+01] [ 3.65416278e-02 -1.62705238e-03 9.99330807e-01 2.48913677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.839254154 meters Centerline goodness : 0.999256 with order 1 Centerline is valid? [True, True] Translation: X:681.67, Y:38.57, Z:24.89 [[ 9.95200261e-01 -9.07864461e-02 -3.65275353e-02 6.81674735e+02] [ 9.07771054e-02 9.95869389e-01 -1.91755663e-03 3.85697783e+01] [ 3.65507424e-02 -1.40751106e-03 9.99330807e-01 2.48940957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.899254154 meters Centerline goodness : 0.999596 with order 1 Centerline is valid? [True, True] Translation: X:681.74, Y:38.58, Z:24.90 [[ 9.95762495e-01 -8.43965746e-02 -3.65276752e-02 6.81736409e+02] [ 8.43830368e-02 9.96431551e-01 -1.91488828e-03 3.85752772e+01] [ 3.65589380e-02 -1.17554222e-03 9.99330807e-01 2.48972797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.959254154 meters Centerline goodness : 0.999296 with order 1 Centerline is valid? [True, True] Translation: X:681.80, Y:38.58, Z:24.90 [[ 9.96392549e-01 -7.66003120e-02 -3.65278152e-02 6.81798011e+02] [ 7.65816361e-02 9.97061481e-01 -1.91221246e-03 3.85813704e+01] [ 3.65669536e-02 -8.92045602e-04 9.99330807e-01 2.49009536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.019254154 meters Centerline goodness : 0.999423 with order 1 Centerline is valid? [True, True] Translation: X:681.86, Y:38.59, Z:24.90 [[ 9.96919799e-01 -6.94018914e-02 -3.65279550e-02 6.81858594e+02] [ 6.93784825e-02 9.97588582e-01 -1.90953952e-03 3.85865701e+01] [ 3.65723965e-02 -6.30596329e-04 9.99330807e-01 2.49041081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.079254154 meters Centerline goodness : 0.999423 with order 1 Centerline is valid? [True, True] Translation: X:681.92, Y:38.59, Z:24.91 [[ 9.97234054e-01 -6.47297581e-02 -3.65280579e-02 6.81920326e+02] [ 6.47032880e-02 9.97902724e-01 -1.90756749e-03 3.85907420e+01] [ 3.65749249e-02 -4.61194186e-04 9.99330807e-01 2.49063897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.139254154 meters Centerline goodness : 0.999144 with order 1 Centerline is valid? [True, True] Translation: X:681.98, Y:38.59, Z:24.91 [[ 9.97569679e-01 -5.93331741e-02 -3.65282002e-02 6.81980135e+02] [ 5.93031863e-02 9.98238200e-01 -1.90483972e-03 3.85948924e+01] [ 3.65768650e-02 -2.66028310e-04 9.99330807e-01 2.49068093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.199254154 meters Centerline goodness : 0.999271 with order 1 Centerline is valid? [True, True] Translation: X:682.04, Y:38.60, Z:24.91 [[ 9.97679295e-01 -5.74605245e-02 -3.65282351e-02 6.82039788e+02] [ 5.74293063e-02 9.98347760e-01 -1.90417079e-03 3.85979485e+01] [ 3.65772963e-02 -1.98039431e-04 9.99330807e-01 2.49081966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.259254154 meters Centerline goodness : 0.999120 with order 1 Centerline is valid? [True, True] Translation: X:682.10, Y:38.60, Z:24.91 [[ 9.97698006e-01 -5.71347464e-02 -3.65282017e-02 6.82099039e+02] [ 5.71032866e-02 9.98366459e-01 -1.90481033e-03 3.86000346e+01] [ 3.65773623e-02 -1.85454901e-04 9.99330807e-01 2.49103202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.319254154 meters Centerline goodness : 0.999037 with order 1 Centerline is valid? [True, True] Translation: X:682.16, Y:38.60, Z:24.91 [[ 9.97621929e-01 -5.84481196e-02 -3.65281340e-02 6.82159574e+02] [ 5.84174923e-02 9.98290420e-01 -1.90610798e-03 3.85996506e+01] [ 3.65770947e-02 -2.32306870e-04 9.99330807e-01 2.49126199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.379254154 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:682.22, Y:38.60, Z:24.91 [[ 9.97489598e-01 -6.06646261e-02 -3.65281340e-02 6.82220471e+02] [ 6.06354842e-02 9.98158156e-01 -1.90610798e-03 3.86001415e+01] [ 3.65764882e-02 -3.13578209e-04 9.99330807e-01 2.49148749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.439254154 meters Centerline goodness : 0.999230 with order 1 Centerline is valid? [True, True] Translation: X:682.28, Y:38.60, Z:24.92 [[ 9.97304137e-01 -6.36408260e-02 -3.65281340e-02 6.82280649e+02] [ 6.36136791e-02 9.97972778e-01 -1.90610798e-03 3.85996551e+01] [ 3.65753897e-02 -4.22719624e-04 9.99330807e-01 2.49169994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.499254154 meters Centerline goodness : 0.998955 with order 1 Centerline is valid? [True, True] Translation: X:682.34, Y:38.60, Z:24.92 [[ 9.97128404e-01 -6.63373370e-02 -3.65281340e-02 6.82341710e+02] [ 6.63119983e-02 9.97797116e-01 -1.90610798e-03 3.85979936e+01] [ 3.65741129e-02 -5.21619156e-04 9.99330807e-01 2.49190118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.559254154 meters Centerline goodness : 0.998978 with order 1 Centerline is valid? [True, True] Translation: X:682.40, Y:38.60, Z:24.92 [[ 9.96947051e-01 -6.90092209e-02 -3.65281340e-02 6.82403455e+02] [ 6.89856743e-02 9.97615830e-01 -1.90610798e-03 3.85971005e+01] [ 3.65725837e-02 -6.19629228e-04 9.99330807e-01 2.49210869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.619254154 meters Centerline goodness : 0.998832 with order 1 Centerline is valid? [True, True] Translation: X:682.46, Y:38.59, Z:24.92 [[ 9.96623189e-01 -7.35384857e-02 -3.65282050e-02 6.82464447e+02] [ 7.35180281e-02 9.97292069e-01 -1.90474692e-03 3.85944755e+01] [ 3.65693613e-02 -7.87166653e-04 9.99330807e-01 2.49205329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.679254154 meters Centerline goodness : 0.998875 with order 1 Centerline is valid? [True, True] Translation: X:682.53, Y:38.58, Z:24.91 [[ 9.97009131e-01 -6.81063960e-02 -3.65282399e-02 6.82525514e+02] [ 6.80823182e-02 9.97677890e-01 -1.90407704e-03 3.85847467e+01] [ 3.65730971e-02 -5.88545054e-04 9.99330807e-01 2.49101720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.739254154 meters Centerline goodness : 0.998963 with order 1 Centerline is valid? [True, True] Translation: X:682.58, Y:38.59, Z:24.92 [[ 9.96544254e-01 -7.46005191e-02 -3.65282399e-02 6.82584072e+02] [ 7.45807988e-02 9.97213156e-01 -1.90407704e-03 3.85934777e+01] [ 3.65684865e-02 -8.26808272e-04 9.99330807e-01 2.49238477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.799254154 meters Centerline goodness : 0.998880 with order 1 Centerline is valid? [True, True] Translation: X:682.64, Y:38.59, Z:24.93 [[ 9.96660414e-01 -7.30322493e-02 -3.65282069e-02 6.82644947e+02] [ 7.30114533e-02 9.97329284e-01 -1.90470899e-03 3.85947336e+01] [ 3.65697556e-02 -7.68629430e-04 9.99330807e-01 2.49259559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.8592541539999 meters Centerline goodness : 0.998987 with order 1 Centerline is valid? [True, True] Translation: X:682.71, Y:38.60, Z:24.93 [[ 9.96714178e-01 -7.22947812e-02 -3.65282460e-02 6.82705023e+02] [ 7.22735178e-02 9.97383033e-01 -1.90395993e-03 3.85954768e+01] [ 3.65702991e-02 -7.42320983e-04 9.99330807e-01 2.49295254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.919254154 meters Centerline goodness : 0.999007 with order 1 Centerline is valid? [True, True] Translation: X:682.77, Y:38.60, Z:24.93 [[ 9.96634852e-01 -7.33802328e-02 -3.65282460e-02 6.82766598e+02] [ 7.33596977e-02 9.97303730e-01 -1.90395993e-03 3.85965592e+01] [ 3.65694690e-02 -7.82148264e-04 9.99330807e-01 2.49310271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.9792541539999 meters Centerline goodness : 0.998947 with order 1 Centerline is valid? [True, True] Translation: X:682.83, Y:38.60, Z:24.93 [[ 9.96295148e-01 -7.78566661e-02 -3.65283158e-02 6.82827433e+02] [ 7.78391852e-02 9.96964112e-01 -1.90261911e-03 3.85958408e+01] [ 3.65655515e-02 -9.47764152e-04 9.99330807e-01 2.49306954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.039254154 meters Centerline goodness : 0.998822 with order 1 Centerline is valid? [True, True] Translation: X:682.89, Y:38.60, Z:24.93 [[ 9.95820390e-01 -8.37104002e-02 -3.65283502e-02 6.82888537e+02] [ 8.36968752e-02 9.96489446e-01 -1.90195933e-03 3.85967752e+01] [ 3.65593292e-02 -1.16329889e-03 9.99330807e-01 2.49330593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.0992541539999 meters Centerline goodness : 0.998927 with order 1 Centerline is valid? [True, True] Translation: X:682.95, Y:38.60, Z:24.93 [[ 9.95577629e-01 -8.65497451e-02 -3.65284206e-02 6.82950517e+02] [ 8.65381776e-02 9.96246722e-01 -1.90060669e-03 3.85986124e+01] [ 3.65558163e-02 -1.26890144e-03 9.99330807e-01 2.49347152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.159254154 meters Centerline goodness : 0.999011 with order 1 Centerline is valid? [True, True] Translation: X:683.01, Y:38.60, Z:24.94 [[ 9.95438696e-01 -8.81332320e-02 -3.65285593e-02 6.83012235e+02] [ 8.81228266e-02 9.96107808e-01 -1.89793714e-03 3.86016279e+01] [ 3.65536544e-02 -1.32971982e-03 9.99330807e-01 2.49383815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.2192541539999 meters Centerline goodness : 0.998968 with order 1 Centerline is valid? [True, True] Translation: X:683.07, Y:38.61, Z:24.94 [[ 9.95519941e-01 -8.72106699e-02 -3.65287007e-02 6.83073912e+02] [ 8.71997443e-02 9.96189045e-01 -1.89521052e-03 3.86052449e+01] [ 3.65547741e-02 -1.29857349e-03 9.99330807e-01 2.49414597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.279254154 meters Centerline goodness : 0.998989 with order 1 Centerline is valid? [True, True] Translation: X:683.14, Y:38.61, Z:24.95 [[ 9.96003097e-01 -8.15075161e-02 -3.65288419e-02 6.83135508e+02] [ 8.14928584e-02 9.96672129e-01 -1.89248540e-03 3.86091780e+01] [ 3.65615304e-02 -1.09191842e-03 9.99330807e-01 2.49450009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.339254154 meters Centerline goodness : 0.999075 with order 1 Centerline is valid? [True, True] Translation: X:683.20, Y:38.61, Z:24.95 [[ 9.96772887e-01 -7.14803884e-02 -3.65289842e-02 6.83196702e+02] [ 7.14590996e-02 9.97441741e-01 -1.88973525e-03 3.86149075e+01] [ 3.65706126e-02 -7.26691454e-04 9.99330807e-01 2.49485898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.399254154 meters Centerline goodness : 0.999134 with order 1 Centerline is valid? [True, True] Translation: X:683.26, Y:38.62, Z:24.95 [[ 9.97203397e-01 -6.51997754e-02 -3.65290890e-02 6.83257484e+02] [ 6.51743478e-02 9.97872107e-01 -1.88770657e-03 3.86195091e+01] [ 3.65744370e-02 -4.98332144e-04 9.99330807e-01 2.49498171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.459254154 meters Centerline goodness : 0.999136 with order 1 Centerline is valid? [True, True] Translation: X:683.32, Y:38.62, Z:24.95 [[ 9.97353372e-01 -6.28639352e-02 -3.65291266e-02 6.83316244e+02] [ 6.28369680e-02 9.98022021e-01 -1.88697956e-03 3.86224378e+01] [ 3.65754957e-02 -4.13394133e-04 9.99330807e-01 2.49511720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.519254154 meters Centerline goodness : 0.999198 with order 1 Centerline is valid? [True, True] Translation: X:683.38, Y:38.62, Z:24.95 [[ 9.97118280e-01 -6.64890833e-02 -3.65285880e-02 6.83375004e+02] [ 6.64641673e-02 9.97787009e-01 -1.89734774e-03 3.86241528e+01] [ 3.65739035e-02 -5.35962066e-04 9.99330807e-01 2.49513752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.579254154 meters Centerline goodness : 0.998967 with order 1 Centerline is valid? [True, True] Translation: X:683.43, Y:38.62, Z:24.95 [[ 9.96806485e-01 -7.10107920e-02 -3.65280691e-02 6.83432716e+02] [ 7.09885451e-02 9.97475307e-01 -1.90728659e-03 3.86247919e+01] [ 3.65712849e-02 -6.91878840e-04 9.99330807e-01 2.49520909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.639254154 meters Centerline goodness : 0.999199 with order 1 Centerline is valid? [True, True] Translation: X:683.49, Y:38.63, Z:24.95 [[ 9.96228163e-01 -7.87093508e-02 -3.65278693e-02 6.83493592e+02] [ 7.86921315e-02 9.96897134e-01 -1.91110563e-03 3.86261046e+01] [ 3.65649501e-02 -9.70558642e-04 9.99330807e-01 2.49548931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.699254154 meters Centerline goodness : 0.998948 with order 1 Centerline is valid? [True, True] Translation: X:683.56, Y:38.63, Z:24.96 [[ 9.95816688e-01 -8.37546391e-02 -3.65278693e-02 6.83555354e+02] [ 8.37408086e-02 9.96485737e-01 -1.91110563e-03 3.86275167e+01] [ 3.65595647e-02 -1.15576243e-03 9.99330807e-01 2.49580383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.759254154 meters Centerline goodness : 0.998968 with order 1 Centerline is valid? [True, True] Translation: X:683.62, Y:38.63, Z:24.96 [[ 9.95047894e-01 -9.24413260e-02 -3.65279395e-02 6.83615331e+02] [ 9.24333836e-02 9.95717039e-01 -1.90976295e-03 3.86284263e+01] [ 3.65480328e-02 -1.47609544e-03 9.99330807e-01 2.49603278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.819254154 meters Centerline goodness : 0.998908 with order 1 Centerline is valid? [True, True] Translation: X:683.68, Y:38.63, Z:24.96 [[ 9.94201992e-01 -1.01134102e-01 -3.65279740e-02 6.83676707e+02] [ 1.01132032e-01 9.94871181e-01 -1.90910261e-03 3.86291528e+01] [ 3.65337040e-02 -1.79611462e-03 9.99330807e-01 2.49630279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.879254154 meters Centerline goodness : 0.998823 with order 1 Centerline is valid? [True, True] Translation: X:683.74, Y:38.63, Z:24.97 [[ 9.93599213e-01 -1.06893888e-01 -3.65280764e-02 6.83738414e+02] [ 1.06895768e-01 9.94268403e-01 -1.90714136e-03 3.86307063e+01] [ 3.65225739e-02 -2.00976261e-03 9.99330807e-01 2.49655677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.939254154 meters Centerline goodness : 0.998931 with order 1 Centerline is valid? [True, True] Translation: X:683.80, Y:38.63, Z:24.97 [[ 9.92821173e-01 -1.13893844e-01 -3.65282110e-02 6.83800665e+02] [ 1.13900535e-01 9.93490333e-01 -1.90455965e-03 3.86335199e+01] [ 3.65073421e-02 -2.26969562e-03 9.99330807e-01 2.49682110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.999254154 meters Centerline goodness : 0.998885 with order 1 Centerline is valid? [True, True] Translation: X:683.86, Y:38.64, Z:24.97 [[ 9.92484415e-01 -1.16791980e-01 -3.65283458e-02 6.83863003e+02] [ 1.16800720e-01 9.93153550e-01 -1.90197067e-03 3.86377258e+01] [ 3.65003912e-02 -2.37886084e-03 9.99330807e-01 2.49708450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.059254154 meters Centerline goodness : 0.999243 with order 1 Centerline is valid? [True, True] Translation: X:683.92, Y:38.64, Z:24.97 [[ 9.92408754e-01 -1.17433111e-01 -3.65284842e-02 6.83924296e+02] [ 1.17442381e-01 9.93077882e-01 -1.89930884e-03 3.86420928e+01] [ 3.64986715e-02 -2.40510143e-03 9.99330807e-01 2.49718930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.119254154 meters Centerline goodness : 0.998675 with order 1 Centerline is valid? [True, True] Translation: X:683.99, Y:38.65, Z:24.97 [[ 9.92528683e-01 -1.16415105e-01 -3.65285863e-02 6.83986235e+02] [ 1.16423760e-01 9.93197819e-01 -1.89734323e-03 3.86467679e+01] [ 3.65009917e-02 -2.36962779e-03 9.99330807e-01 2.49743922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.179254154 meters Centerline goodness : 0.998991 with order 1 Centerline is valid? [True, True] Translation: X:684.05, Y:38.65, Z:24.98 [[ 9.92929229e-01 -1.12947774e-01 -3.65287209e-02 6.84047941e+02] [ 1.12954187e-01 9.93598390e-01 -1.89474720e-03 3.86533542e+01] [ 3.65088858e-02 -2.24472210e-03 9.99330807e-01 2.49754746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.239254154 meters Centerline goodness : 0.999094 with order 1 Centerline is valid? [True, True] Translation: X:684.11, Y:38.66, Z:24.98 [[ 9.93342761e-01 -1.09251094e-01 -3.65288538e-02 6.84109734e+02] [ 1.09255111e-01 9.94011942e-01 -1.89218275e-03 3.86597367e+01] [ 3.65168399e-02 -2.11137793e-03 9.99330807e-01 2.49771344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.299254154 meters Centerline goodness : 0.998861 with order 1 Centerline is valid? [True, True] Translation: X:684.17, Y:38.67, Z:24.98 [[ 9.94096179e-01 -1.02168589e-01 -3.65289852e-02 6.84170247e+02] [ 1.02167929e-01 9.94765371e-01 -1.88964184e-03 3.86687400e+01] [ 3.65308316e-02 -1.85360502e-03 9.99330807e-01 2.49789276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.3592541539999 meters Centerline goodness : 0.998943 with order 1 Centerline is valid? [True, True] Translation: X:684.23, Y:38.68, Z:24.98 [[ 9.94661358e-01 -9.65111332e-02 -3.65292095e-02 6.84231476e+02] [ 9.65068250e-02 9.95330537e-01 -1.88529674e-03 3.86764405e+01] [ 3.65405898e-02 -1.65008621e-03 9.99330807e-01 2.49845149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.419254154 meters Centerline goodness : 0.998964 with order 1 Centerline is valid? [True, True] Translation: X:684.29, Y:38.69, Z:24.99 [[ 9.95537437e-01 -8.70104541e-02 -3.65293498e-02 6.84293559e+02] [ 8.69998570e-02 9.96206545e-01 -1.88257426e-03 3.86862946e+01] [ 3.65545810e-02 -1.30387506e-03 9.99330807e-01 2.49892613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.4792541539999 meters Centerline goodness : 0.998963 with order 1 Centerline is valid? [True, True] Translation: X:684.36, Y:38.69, Z:24.99 [[ 9.96110316e-01 -8.01862543e-02 -3.65294892e-02 6.84355394e+02] [ 8.01711716e-02 9.96779338e-01 -1.87986452e-03 3.86940039e+01] [ 3.65625794e-02 -1.05605951e-03 9.99330807e-01 2.49932057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.539254154 meters Centerline goodness : 0.998746 with order 1 Centerline is valid? [True, True] Translation: X:684.42, Y:38.70, Z:25.00 [[ 9.96903766e-01 -6.96309399e-02 -3.65296276e-02 6.84417256e+02] [ 6.96088703e-02 9.97572595e-01 -1.87717236e-03 3.87022890e+01] [ 3.65716646e-02 -6.71425918e-04 9.99330807e-01 2.49960599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.5992541539999 meters Centerline goodness : 0.998850 with order 1 Centerline is valid? [True, True] Translation: X:684.48, Y:38.71, Z:25.00 [[ 9.97537011e-01 -5.98789345e-02 -3.65297685e-02 6.84477910e+02] [ 5.98504261e-02 9.98205597e-01 -1.87442641e-03 3.87099124e+01] [ 3.65764580e-02 -3.16512488e-04 9.99330807e-01 2.49977720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.659254154 meters Centerline goodness : 0.998826 with order 1 Centerline is valid? [True, True] Translation: X:684.54, Y:38.71, Z:25.00 [[ 9.97772253e-01 -5.58220603e-02 -3.65298384e-02 6.84536858e+02] [ 5.57908832e-02 9.98440719e-01 -1.87306335e-03 3.87148823e+01] [ 3.65774363e-02 -1.69141309e-04 9.99330807e-01 2.49994110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.7192541539999 meters Centerline goodness : 0.998846 with order 1 Centerline is valid? [True, True] Translation: X:684.60, Y:38.72, Z:25.00 [[ 9.97892697e-01 -5.36259184e-02 -3.65298040e-02 6.84595222e+02] [ 5.35932457e-02 9.98561091e-01 -1.87373280e-03 3.87196188e+01] [ 3.65777216e-02 -8.79664911e-05 9.99330807e-01 2.50001248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.779254154 meters Centerline goodness : 0.998994 with order 1 Centerline is valid? [True, True] Translation: X:684.65, Y:38.72, Z:25.00 [[ 9.97804287e-01 -5.52466055e-02 -3.65296734e-02 6.84653403e+02] [ 5.52149253e-02 9.98472730e-01 -1.87627635e-03 3.87228732e+01] [ 3.65775406e-02 -1.44826597e-04 9.99330807e-01 2.50017489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.839254154 meters Centerline goodness : 0.998886 with order 1 Centerline is valid? [True, True] Translation: X:684.71, Y:38.73, Z:25.00 [[ 9.97570909e-01 -5.93118921e-02 -3.65291849e-02 6.84712020e+02] [ 5.92825894e-02 9.98239460e-01 -1.88573901e-03 3.87253793e+01] [ 3.65767205e-02 -2.84386296e-04 9.99330807e-01 2.50029318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.899254154 meters Centerline goodness : 0.998908 with order 1 Centerline is valid? [True, True] Translation: X:684.77, Y:38.73, Z:25.01 [[ 9.97281805e-01 -6.39892799e-02 -3.65290819e-02 6.84772336e+02] [ 6.39630397e-02 9.97950483e-01 -1.88773143e-03 3.87279616e+01] [ 3.65750095e-02 -4.53910911e-04 9.99330807e-01 2.50054545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.959254154 meters Centerline goodness : 0.999144 with order 1 Centerline is valid? [True, True] Translation: X:684.83, Y:38.73, Z:25.01 [[ 9.97036699e-01 -6.77011568e-02 -3.65290819e-02 6.84832947e+02] [ 6.76774059e-02 9.97705470e-01 -1.88773143e-03 3.87309500e+01] [ 3.65730665e-02 -5.90055990e-04 9.99330807e-01 2.50082233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.019254154 meters Centerline goodness : 0.998762 with order 1 Centerline is valid? [True, True] Translation: X:684.89, Y:38.73, Z:25.01 [[ 9.96641517e-01 -7.32892436e-02 -3.65290819e-02 6.84894363e+02] [ 7.32692420e-02 9.97310410e-01 -1.88773143e-03 3.87328080e+01] [ 3.65691841e-02 -7.95066630e-04 9.99330807e-01 2.50102141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.079254154 meters Centerline goodness : 0.998977 with order 1 Centerline is valid? [True, True] Translation: X:684.96, Y:38.73, Z:25.01 [[ 9.96440600e-01 -7.59720505e-02 -3.65291516e-02 6.84957015e+02] [ 7.59538991e-02 9.97109546e-01 -1.88638258e-03 3.87343792e+01] [ 3.65668781e-02 -8.94863307e-04 9.99330807e-01 2.50119468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.139254154 meters Centerline goodness : 0.999063 with order 1 Centerline is valid? [True, True] Translation: X:685.02, Y:38.74, Z:25.01 [[ 9.96376639e-01 -7.68062785e-02 -3.65292897e-02 6.85019583e+02] [ 7.67887854e-02 9.97045603e-01 -1.88370435e-03 3.87358104e+01] [ 3.65660480e-02 -9.28160774e-04 9.99330807e-01 2.50133331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.199254154 meters Centerline goodness : 0.998829 with order 1 Centerline is valid? [True, True] Translation: X:685.08, Y:38.74, Z:25.01 [[ 9.96733721e-01 -7.20242360e-02 -3.65294265e-02 6.85081022e+02] [ 7.20036304e-02 9.97402596e-01 -1.88104699e-03 3.87368201e+01] [ 3.65700258e-02 -7.55348356e-04 9.99330807e-01 2.50096449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.259254154 meters Centerline goodness : 0.999020 with order 1 Centerline is valid? [True, True] Translation: X:685.14, Y:38.74, Z:25.02 [[ 9.96993231e-01 -6.83380623e-02 -3.65295397e-02 6.85140859e+02] [ 6.83150641e-02 9.97662028e-01 -1.87884630e-03 3.87430373e+01] [ 3.65725314e-02 -6.22320809e-04 9.99330807e-01 2.50167173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.319254154 meters Centerline goodness : 0.998890 with order 1 Centerline is valid? [True, True] Translation: X:685.20, Y:38.75, Z:25.02 [[ 9.97287533e-01 -6.38996582e-02 -3.65295775e-02 6.85201316e+02] [ 6.38737102e-02 9.97956222e-01 -1.87811194e-03 3.87463771e+01] [ 3.65749299e-02 -4.60262020e-04 9.99330807e-01 2.50178260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.379254154 meters Centerline goodness : 0.998742 with order 1 Centerline is valid? [True, True] Translation: X:685.26, Y:38.75, Z:25.02 [[ 9.97498578e-01 -6.05158522e-02 -3.65296906e-02 6.85261542e+02] [ 6.04877164e-02 9.98167179e-01 -1.87590974e-03 3.87502455e+01] [ 3.65762605e-02 -3.38380266e-04 9.99330807e-01 2.50201141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.439254154 meters Centerline goodness : 0.998808 with order 1 Centerline is valid? [True, True] Translation: X:685.32, Y:38.75, Z:25.02 [[ 9.97511034e-01 -6.03101809e-02 -3.65296906e-02 6.85321221e+02] [ 6.02819072e-02 9.98179629e-01 -1.87590974e-03 3.87539752e+01] [ 3.65763295e-02 -3.30838754e-04 9.99330807e-01 2.50211833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.499254154 meters Centerline goodness : 0.998999 with order 1 Centerline is valid? [True, True] Translation: X:685.38, Y:38.76, Z:25.02 [[ 9.97309372e-01 -6.35578698e-02 -3.65296218e-02 6.85381832e+02] [ 6.35317243e-02 9.97978054e-01 -1.87724792e-03 3.87567295e+01] [ 3.65750748e-02 -4.48592915e-04 9.99330807e-01 2.50216706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.559254154 meters Centerline goodness : 0.998850 with order 1 Centerline is valid? [True, True] Translation: X:685.44, Y:38.76, Z:25.02 [[ 9.97001077e-01 -6.82234486e-02 -3.65296218e-02 6.85442243e+02] [ 6.82004320e-02 9.97669874e-01 -1.87724792e-03 3.87588965e+01] [ 3.65725755e-02 -6.19717788e-04 9.99330807e-01 2.50225343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.619254154 meters Centerline goodness : 0.999085 with order 1 Centerline is valid? [True, True] Translation: X:685.50, Y:38.76, Z:25.03 [[ 9.96642151e-01 -7.32803498e-02 -3.65296218e-02 6.85502855e+02] [ 7.32607264e-02 9.97311056e-01 -1.87724792e-03 3.87629729e+01] [ 3.65689611e-02 -8.05242220e-04 9.99330807e-01 2.50264379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.679254154 meters Centerline goodness : 0.998981 with order 1 Centerline is valid? [True, True] Translation: X:685.56, Y:38.77, Z:25.03 [[ 9.96175634e-01 -7.93705857e-02 -3.65296555e-02 6.85563851e+02] [ 7.93550751e-02 9.96844647e-01 -1.87659264e-03 3.87664780e+01] [ 3.65633378e-02 -1.02939769e-03 9.99330807e-01 2.50300389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.739254154 meters Centerline goodness : 0.999022 with order 1 Centerline is valid? [True, True] Translation: X:685.63, Y:38.77, Z:25.03 [[ 9.95742900e-01 -8.46265621e-02 -3.65297553e-02 6.85626054e+02] [ 8.46146535e-02 9.96411986e-01 -1.87464725e-03 3.87696031e+01] [ 3.65573310e-02 -1.22428591e-03 9.99330807e-01 2.50339702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.799254154 meters Centerline goodness : 0.999235 with order 1 Centerline is valid? [True, True] Translation: X:685.69, Y:38.77, Z:25.04 [[ 9.95525812e-01 -8.71431331e-02 -3.65298886e-02 6.85688516e+02] [ 8.71330110e-02 9.96194928e-01 -1.87204544e-03 3.87739976e+01] [ 3.65540257e-02 -1.31928964e-03 9.99330807e-01 2.50369797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.8592541539999 meters Centerline goodness : 0.999235 with order 1 Centerline is valid? [True, True] Translation: X:685.75, Y:38.78, Z:25.04 [[ 9.95295691e-01 -8.97331828e-02 -3.65300262e-02 6.85750852e+02] [ 8.97249004e-02 9.95964833e-01 -1.86935702e-03 3.87801207e+01] [ 3.65503648e-02 -1.41708997e-03 9.99330807e-01 2.50399125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.919254154 meters Centerline goodness : 0.999107 with order 1 Centerline is valid? [True, True] Translation: X:685.81, Y:38.78, Z:25.04 [[ 9.95231868e-01 -9.04382438e-02 -3.65301622e-02 6.85813002e+02] [ 9.04305329e-02 9.95901016e-01 -1.86669621e-03 3.87848906e+01] [ 3.65492464e-02 -1.44564648e-03 9.99330807e-01 2.50419042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.9792541539999 meters Centerline goodness : 0.999147 with order 1 Centerline is valid? [True, True] Translation: X:685.87, Y:38.79, Z:25.04 [[ 9.95231897e-01 -9.04377921e-02 -3.65304956e-02 6.85874970e+02] [ 9.04303209e-02 9.95901048e-01 -1.86014813e-03 3.87893552e+01] [ 3.65489865e-02 -1.45218569e-03 9.99330807e-01 2.50430300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.039254154 meters Centerline goodness : 0.999146 with order 1 Centerline is valid? [True, True] Translation: X:685.94, Y:38.79, Z:25.04 [[ 9.95418241e-01 -8.83631084e-02 -3.65306275e-02 6.85937110e+02] [ 8.83543374e-02 9.96087376e-01 -1.85755468e-03 3.87945564e+01] [ 3.65518362e-02 -1.37859558e-03 9.99330807e-01 2.50449385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.0992541539999 meters Centerline goodness : 0.999017 with order 1 Centerline is valid? [True, True] Translation: X:686.00, Y:38.80, Z:25.04 [[ 9.96135484e-01 -7.98724026e-02 -3.65307574e-02 6.85998441e+02] [ 7.98580203e-02 9.96804522e-01 -1.85499667e-03 3.88015130e+01] [ 3.65621872e-02 -1.06944596e-03 9.99330807e-01 2.50448562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.159254154 meters Centerline goodness : 0.999505 with order 1 Centerline is valid? [True, True] Translation: X:686.06, Y:38.81, Z:25.05 [[ 9.96899500e-01 -6.96913429e-02 -3.65308532e-02 6.86060723e+02] [ 6.96701953e-02 9.97568359e-01 -1.85310755e-03 3.88095576e+01] [ 3.65711688e-02 -6.97749690e-04 9.99330807e-01 2.50475088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.2192541539999 meters Centerline goodness : 0.999376 with order 1 Centerline is valid? [True, True] Translation: X:686.12, Y:38.81, Z:25.05 [[ 9.97389174e-01 -6.22922212e-02 -3.65310130e-02 6.86121144e+02] [ 6.22662268e-02 9.98057861e-01 -1.84995259e-03 3.88149368e+01] [ 3.65753023e-02 -4.29525648e-04 9.99330807e-01 2.50499824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.279254154 meters Centerline goodness : 0.999353 with order 1 Centerline is valid? [True, True] Translation: X:686.18, Y:38.82, Z:25.05 [[ 9.97699439e-01 -5.71078981e-02 -3.65310449e-02 6.86180330e+02] [ 5.70784518e-02 9.98367983e-01 -1.84932263e-03 3.88198789e+01] [ 3.65770365e-02 -2.40067331e-04 9.99330807e-01 2.50526292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.339254154 meters Centerline goodness : 0.999288 with order 1 Centerline is valid? [True, True] Translation: X:686.24, Y:38.82, Z:25.05 [[ 9.97731081e-01 -5.65524075e-02 -3.65310146e-02 6.86239348e+02] [ 5.65225671e-02 9.98399608e-01 -1.84992118e-03 3.88233076e+01] [ 3.65771681e-02 -2.19102867e-04 9.99330807e-01 2.50547055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.399254154 meters Centerline goodness : 0.999375 with order 1 Centerline is valid? [True, True] Translation: X:686.30, Y:38.82, Z:25.06 [[ 9.97495666e-01 -6.05630752e-02 -3.65309427e-02 6.86298206e+02] [ 6.05358708e-02 9.98164306e-01 -1.85133870e-03 3.88242157e+01] [ 3.65760058e-02 -3.64730100e-04 9.99330807e-01 2.50563978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.459254154 meters Centerline goodness : 0.999244 with order 1 Centerline is valid? [True, True] Translation: X:686.36, Y:38.83, Z:25.06 [[ 9.97270083e-01 -6.41707138e-02 -3.65308348e-02 6.86358845e+02] [ 6.41458501e-02 9.97938813e-01 -1.85346615e-03 3.88275704e+01] [ 3.65744761e-02 -4.94895112e-04 9.99330807e-01 2.50580790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.519254154 meters Centerline goodness : 0.999074 with order 1 Centerline is valid? [True, True] Translation: X:686.42, Y:38.83, Z:25.06 [[ 9.97072627e-01 -6.71689943e-02 -3.65308348e-02 6.86419261e+02] [ 6.71461415e-02 9.97741430e-01 -1.85346615e-03 3.88272978e+01] [ 3.65728228e-02 -6.04864236e-04 9.99330807e-01 2.50600018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.579254154 meters Centerline goodness : 0.999077 with order 1 Centerline is valid? [True, True] Translation: X:686.48, Y:38.83, Z:25.06 [[ 9.96862495e-01 -7.02186256e-02 -3.65309647e-02 6.86481414e+02] [ 7.01979126e-02 9.97531367e-01 -1.85090195e-03 3.88296274e+01] [ 3.65707509e-02 -7.19302732e-04 9.99330807e-01 2.50634092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.639254154 meters Centerline goodness : 0.999142 with order 1 Centerline is valid? [True, True] Translation: X:686.54, Y:38.83, Z:25.07 [[ 9.96744821e-01 -7.18696083e-02 -3.65311014e-02 6.86543304e+02] [ 7.18501022e-02 9.97413729e-01 -1.84820091e-03 3.88316398e+01] [ 3.65694515e-02 -7.82578678e-04 9.99330807e-01 2.50655225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.699254154 meters Centerline goodness : 0.999080 with order 1 Centerline is valid? [True, True] Translation: X:686.60, Y:38.83, Z:25.07 [[ 9.96526230e-01 -7.48394415e-02 -3.65312371e-02 6.86604634e+02] [ 7.48220272e-02 9.97195196e-01 -1.84551357e-03 3.88327773e+01] [ 3.65668914e-02 -8.94238536e-04 9.99330807e-01 2.50667871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.759254154 meters Centerline goodness : 0.999166 with order 1 Centerline is valid? [True, True] Translation: X:686.67, Y:38.84, Z:25.07 [[ 9.96352411e-01 -7.71189676e-02 -3.65313373e-02 6.86666690e+02] [ 7.71031564e-02 9.97021416e-01 -1.84352772e-03 3.88350531e+01] [ 3.65646966e-02 -9.79878125e-04 9.99330807e-01 2.50676199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.819254154 meters Centerline goodness : 0.999122 with order 1 Centerline is valid? [True, True] Translation: X:686.73, Y:38.84, Z:25.07 [[ 9.96115876e-01 -8.01162551e-02 -3.65314687e-02 6.86728934e+02] [ 8.01025523e-02 9.96784928e-01 -1.84092008e-03 3.88363195e+01] [ 3.65615050e-02 -1.09249417e-03 9.99330807e-01 2.50672879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.879254154 meters Centerline goodness : 0.999231 with order 1 Centerline is valid? [True, True] Translation: X:686.79, Y:38.84, Z:25.07 [[ 9.96000779e-01 -8.15346022e-02 -3.65315989e-02 6.86790771e+02] [ 8.15219470e-02 9.96669851e-01 -1.83833330e-03 3.88383153e+01] [ 3.65598310e-02 -1.14714567e-03 9.99330807e-01 2.50691107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.939254154 meters Centerline goodness : 0.999337 with order 1 Centerline is valid? [True, True] Translation: X:686.85, Y:38.84, Z:25.07 [[ 9.95940514e-01 -8.22674028e-02 -3.65317303e-02 6.86852574e+02] [ 8.22553356e-02 9.96609598e-01 -1.83571851e-03 3.88408172e+01] [ 3.65588928e-02 -1.17666330e-03 9.99330808e-01 2.50717615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.999254154 meters Centerline goodness : 0.999121 with order 1 Centerline is valid? [True, True] Translation: X:686.91, Y:38.85, Z:25.07 [[ 9.96439422e-01 -7.59861959e-02 -3.65318635e-02 6.86913272e+02] [ 7.59700075e-02 9.97108418e-01 -1.83306382e-03 3.88451242e+01] [ 3.65655162e-02 -9.48788892e-04 9.99330808e-01 2.50724651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.059254154 meters Centerline goodness : 0.999357 with order 1 Centerline is valid? [True, True] Translation: X:686.98, Y:38.85, Z:25.08 [[ 9.96790335e-01 -7.12351116e-02 -3.65320010e-02 6.86975295e+02] [ 7.12158347e-02 9.97459250e-01 -1.83031892e-03 3.88499587e+01] [ 3.65695653e-02 -7.77212741e-04 9.99330808e-01 2.50761919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.119254154 meters Centerline goodness : 0.999160 with order 1 Centerline is valid? [True, True] Translation: X:687.04, Y:38.86, Z:25.08 [[ 9.97391853e-01 -6.22486528e-02 -3.65321431e-02 6.87036098e+02] [ 6.22234522e-02 9.98060570e-01 -1.82747874e-03 3.88566616e+01] [ 3.65750497e-02 -4.50443648e-04 9.99330808e-01 2.50793897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.179254154 meters Centerline goodness : 0.999267 with order 1 Centerline is valid? [True, True] Translation: X:687.10, Y:38.86, Z:25.08 [[ 9.97636552e-01 -5.81954207e-02 -3.65322087e-02 6.87096798e+02] [ 5.81675511e-02 9.98305164e-01 -1.82616664e-03 3.88613965e+01] [ 3.65765671e-02 -3.03138531e-04 9.99330808e-01 2.50810105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.239254154 meters Centerline goodness : 0.999201 with order 1 Centerline is valid? [True, True] Translation: X:687.16, Y:38.87, Z:25.08 [[ 9.97780094e-01 -5.56801358e-02 -3.65322731e-02 6.87156320e+02] [ 5.56506279e-02 9.98448635e-01 -1.82487697e-03 3.88654142e+01] [ 3.65772076e-02 -2.12218028e-04 9.99330808e-01 2.50808652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.299254154 meters Centerline goodness : 0.999308 with order 1 Centerline is valid? [True, True] Translation: X:687.22, Y:38.87, Z:25.08 [[ 9.97585045e-01 -5.90717894e-02 -3.65322078e-02 6.87215666e+02] [ 5.90445065e-02 9.98253681e-01 -1.82618293e-03 3.88677872e+01] [ 3.65762868e-02 -3.35253401e-04 9.99330808e-01 2.50838227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.3592541539999 meters Centerline goodness : 0.999116 with order 1 Centerline is valid? [True, True] Translation: X:687.28, Y:38.87, Z:25.09 [[ 9.97401408e-01 -6.20953668e-02 -3.65321417e-02 6.87275846e+02] [ 6.20700624e-02 9.98070122e-01 -1.82750570e-03 3.88705851e+01] [ 3.65751187e-02 -4.44795551e-04 9.99330808e-01 2.50863355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.419254154 meters Centerline goodness : 0.998922 with order 1 Centerline is valid? [True, True] Translation: X:687.34, Y:38.87, Z:25.09 [[ 9.97082744e-01 -6.70179419e-02 -3.65321417e-02 6.87336645e+02] [ 6.69959387e-02 9.97751575e-01 -1.82750570e-03 3.88726936e+01] [ 3.65724775e-02 -6.25330723e-04 9.99330808e-01 2.50886492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.4792541539999 meters Centerline goodness : 0.999333 with order 1 Centerline is valid? [True, True] Translation: X:687.40, Y:38.87, Z:25.09 [[ 9.96620662e-01 -7.35707705e-02 -3.65321417e-02 6.87398358e+02] [ 7.35531643e-02 9.97289623e-01 -1.82750570e-03 3.88746413e+01] [ 3.65675768e-02 -8.65724675e-04 9.99330808e-01 2.50920300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.539254154 meters Centerline goodness : 0.999332 with order 1 Centerline is valid? [True, True] Translation: X:687.46, Y:38.88, Z:25.09 [[ 9.96299313e-01 -7.78015217e-02 -3.65322052e-02 6.87460654e+02] [ 7.77868024e-02 9.96968344e-01 -1.82623423e-03 3.88765659e+01] [ 3.65635359e-02 -1.02224753e-03 9.99330808e-01 2.50946236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.5992541539999 meters Centerline goodness : 0.999100 with order 1 Centerline is valid? [True, True] Translation: X:687.52, Y:38.88, Z:25.10 [[ 9.95913639e-01 -8.25918366e-02 -3.65323359e-02 6.87522869e+02] [ 8.25804308e-02 9.96582735e-01 -1.82361582e-03 3.88787482e+01] [ 3.65581110e-02 -1.20069217e-03 9.99330808e-01 2.50973671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.659254154 meters Centerline goodness : 0.999012 with order 1 Centerline is valid? [True, True] Translation: X:687.59, Y:38.87, Z:25.09 [[ 9.96488175e-01 -7.53438540e-02 -3.65324670e-02 6.87585625e+02] [ 7.53276769e-02 9.97157172e-01 -1.82098661e-03 3.88721788e+01] [ 3.65658116e-02 -9.37314242e-04 9.99330808e-01 2.50886879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.7192541539999 meters Centerline goodness : 0.999162 with order 1 Centerline is valid? [True, True] Translation: X:687.65, Y:38.89, Z:25.10 [[ 9.95971390e-01 -8.18923577e-02 -3.65326042e-02 6.87646097e+02] [ 8.18806794e-02 9.96640481e-01 -1.81822949e-03 3.88851277e+01] [ 3.65587713e-02 -1.18040990e-03 9.99330808e-01 2.51024218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.779254154 meters Centerline goodness : 0.999334 with order 1 Centerline is valid? [True, True] Translation: X:687.71, Y:38.89, Z:25.11 [[ 9.96345094e-01 -7.72127951e-02 -3.65327052e-02 6.87707948e+02] [ 7.71980483e-02 9.97014124e-01 -1.81619885e-03 3.88888014e+01] [ 3.65638568e-02 -1.01069272e-03 9.99330808e-01 2.51051547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.839254154 meters Centerline goodness : 0.999205 with order 1 Centerline is valid? [True, True] Translation: X:687.77, Y:38.89, Z:25.11 [[ 9.96648581e-01 -7.31912400e-02 -3.65328376e-02 6.87770331e+02] [ 7.31738910e-02 9.97317549e-01 -1.81353042e-03 3.88911736e+01] [ 3.65675746e-02 -8.65797358e-04 9.99330808e-01 2.51079006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.899254154 meters Centerline goodness : 0.999397 with order 1 Centerline is valid? [True, True] Translation: X:687.83, Y:38.89, Z:25.11 [[ 9.96801053e-01 -7.10844735e-02 -3.65329712e-02 6.87832808e+02] [ 7.10658093e-02 9.97469985e-01 -1.81083538e-03 3.88937963e+01] [ 3.65692645e-02 -7.91202549e-04 9.99330808e-01 2.51098045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.959254154 meters Centerline goodness : 0.999224 with order 1 Centerline is valid? [True, True] Translation: X:687.89, Y:38.90, Z:25.11 [[ 9.97244164e-01 -6.45709668e-02 -3.65331026e-02 6.87893872e+02] [ 6.45480301e-02 9.97912963e-01 -1.80818144e-03 3.88959301e+01] [ 3.65736127e-02 -5.54941417e-04 9.99330808e-01 2.51111126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.019254154 meters Centerline goodness : 0.999246 with order 1 Centerline is valid? [True, True] Translation: X:687.95, Y:38.90, Z:25.11 [[ 9.97645381e-01 -5.80432692e-02 -3.65331679e-02 6.87954840e+02] [ 5.80160045e-02 9.98314018e-01 -1.80686080e-03 3.88981492e+01] [ 3.65764497e-02 -3.16902099e-04 9.99330808e-01 2.51118223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.079254154 meters Centerline goodness : 0.999095 with order 1 Centerline is valid? [True, True] Translation: X:688.01, Y:38.90, Z:25.11 [[ 9.97811355e-01 -5.51164428e-02 -3.65332322e-02 6.88014502e+02] [ 5.50872645e-02 9.98479911e-01 -1.80555991e-03 3.89001159e+01] [ 3.65772145e-02 -2.10907644e-04 9.99330808e-01 2.51136814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.139254154 meters Centerline goodness : 0.999289 with order 1 Centerline is valid? [True, True] Translation: X:688.07, Y:38.90, Z:25.12 [[ 9.97826102e-01 -5.48488620e-02 -3.65331688e-02 6.88073928e+02] [ 5.48194574e-02 9.98494648e-01 -1.80684143e-03 3.89006546e+01] [ 3.65772767e-02 -1.99814954e-04 9.99330808e-01 2.51168602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.199254154 meters Centerline goodness : 0.999334 with order 1 Centerline is valid? [True, True] Translation: X:688.13, Y:38.90, Z:25.12 [[ 9.97626136e-01 -5.83731504e-02 -3.65331022e-02 6.88132447e+02] [ 5.83460582e-02 9.98294780e-01 -1.80818654e-03 3.89011699e+01] [ 3.65763548e-02 -3.27668357e-04 9.99330808e-01 2.51190538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.259254154 meters Centerline goodness : 0.999229 with order 1 Centerline is valid? [True, True] Translation: X:688.19, Y:38.90, Z:25.12 [[ 9.96979151e-01 -6.85413110e-02 -3.65330037e-02 6.88192484e+02] [ 6.85209645e-02 9.97648034e-01 -1.81017471e-03 3.89003699e+01] [ 3.65711511e-02 -6.98570201e-04 9.99330808e-01 2.51217869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.319254154 meters Centerline goodness : 0.998998 with order 1 Centerline is valid? [True, True] Translation: X:688.25, Y:38.90, Z:25.12 [[ 9.96033471e-01 -8.11336287e-02 -3.65329712e-02 6.88253748e+02] [ 8.11217118e-02 9.96702558e-01 -1.81083045e-03 3.88988641e+01] [ 3.65594251e-02 -1.15996942e-03 9.99330808e-01 2.51242402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.379254154 meters Centerline goodness : 0.998934 with order 1 Centerline is valid? [True, True] Translation: X:688.32, Y:38.90, Z:25.13 [[ 9.95404449e-01 -8.85173470e-02 -3.65330366e-02 6.88316276e+02] [ 8.85104404e-02 9.96073606e-01 -1.80950939e-03 3.88992606e+01] [ 3.65497665e-02 -1.43236146e-03 9.99330808e-01 2.51274327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.439254154 meters Centerline goodness : 0.999107 with order 1 Centerline is valid? [True, True] Translation: X:688.38, Y:38.90, Z:25.13 [[ 9.94765524e-01 -9.54299764e-02 -3.65331705e-02 6.88379091e+02] [ 9.54278176e-02 9.95434713e-01 -1.80680204e-03 3.88955581e+01] [ 3.65388092e-02 -1.68893636e-03 9.99330808e-01 2.51304857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.499254154 meters Centerline goodness : 0.998961 with order 1 Centerline is valid? [True, True] Translation: X:688.44, Y:38.90, Z:25.13 [[ 9.94126717e-01 -1.01869469e-01 -3.65333095e-02 6.88440562e+02] [ 1.01871747e-01 9.94795905e-01 -1.80398811e-03 3.88953021e+01] [ 3.65269580e-02 -1.92831927e-03 9.99330808e-01 2.51317149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.559254154 meters Centerline goodness : 0.998901 with order 1 Centerline is valid? [True, True] Translation: X:688.50, Y:38.90, Z:25.13 [[ 9.94120008e-01 -1.01934878e-01 -3.65334112e-02 6.88502782e+02] [ 1.01937275e-01 9.94789196e-01 -1.80192534e-03 3.88958000e+01] [ 3.65267218e-02 -1.93278635e-03 9.99330808e-01 2.51323181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.619254154 meters Centerline goodness : 0.998878 with order 1 Centerline is valid? [True, True] Translation: X:688.57, Y:38.90, Z:25.13 [[ 9.94610422e-01 -9.70330288e-02 -3.65335390e-02 6.88565023e+02] [ 9.70322223e-02 9.95279614e-01 -1.79933032e-03 3.88977792e+01] [ 3.65356811e-02 -1.75529779e-03 9.99330808e-01 2.51340203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.679254154 meters Centerline goodness : 0.998941 with order 1 Centerline is valid? [True, True] Translation: X:688.63, Y:38.90, Z:25.14 [[ 9.95307302e-01 -8.96028165e-02 -3.65336690e-02 6.88626189e+02] [ 8.95971095e-02 9.95976471e-01 -1.79668733e-03 3.89014460e+01] [ 3.65476630e-02 -1.48505512e-03 9.99330808e-01 2.51359949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.739254154 meters Centerline goodness : 0.998959 with order 1 Centerline is valid? [True, True] Translation: X:688.69, Y:38.91, Z:25.14 [[ 9.96622679e-01 -7.35426416e-02 -3.65337650e-02 6.88687682e+02] [ 7.35262171e-02 9.97291670e-01 -1.79473400e-03 3.89082623e+01] [ 3.65668089e-02 -8.97516927e-04 9.99330808e-01 2.51391595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.799254154 meters Centerline goodness : 0.998722 with order 1 Centerline is valid? [True, True] Translation: X:688.75, Y:38.91, Z:25.14 [[ 9.97696618e-01 -5.71553348e-02 -3.65338960e-02 6.88747375e+02] [ 5.71280169e-02 9.98365253e-01 -1.79206177e-03 3.89147578e+01] [ 3.65765983e-02 -2.99175063e-04 9.99330808e-01 2.51417894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.8592541539999 meters Centerline goodness : 0.998720 with order 1 Centerline is valid? [True, True] Translation: X:688.81, Y:38.92, Z:25.14 [[ 9.98151209e-01 -4.85740237e-02 -3.65339280e-02 6.88805395e+02] [ 4.85409811e-02 9.98819585e-01 -1.79140915e-03 3.89183889e+01] [ 3.65778188e-02 1.47045016e-05 9.99330808e-01 2.51437525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.919254154 meters Centerline goodness : 0.999060 with order 1 Centerline is valid? [True, True] Translation: X:688.86, Y:38.92, Z:25.15 [[ 9.98518367e-01 -4.03281510e-02 -3.65336911e-02 6.88863525e+02] [ 4.02894128e-02 9.99186437e-01 -1.79622853e-03 3.89218866e+01] [ 3.65764072e-02 3.21646218e-04 9.99330808e-01 2.51470044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.9792541539999 meters Centerline goodness : 0.999062 with order 1 Centerline is valid? [True, True] Translation: X:688.92, Y:38.92, Z:25.15 [[ 9.98569040e-01 -3.90538045e-02 -3.65331701e-02 6.88921330e+02] [ 3.90138283e-02 9.99237037e-01 -1.80676310e-03 3.89233610e+01] [ 3.65758576e-02 3.78878872e-04 9.99330808e-01 2.51496668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.039254154 meters Centerline goodness : 0.999148 with order 1 Centerline is valid? [True, True] Translation: X:688.98, Y:38.92, Z:25.15 [[ 9.98449784e-01 -4.19928142e-02 -3.65326322e-02 6.88978657e+02] [ 4.19544088e-02 9.99117873e-01 -1.81757472e-03 3.89238141e+01] [ 3.65767309e-02 2.82052101e-04 9.99330808e-01 2.51513984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.0992541539999 meters Centerline goodness : 0.998916 with order 1 Centerline is valid? [True, True] Translation: X:689.04, Y:38.92, Z:25.15 [[ 9.98025203e-01 -5.10987073e-02 -3.65324003e-02 6.89036351e+02] [ 5.10662275e-02 9.98693607e-01 -1.82222447e-03 3.89209951e+01] [ 3.65777879e-02 -4.69459177e-05 9.99330808e-01 2.51548780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.159254154 meters Centerline goodness : 0.998757 with order 1 Centerline is valid? [True, True] Translation: X:689.09, Y:38.92, Z:25.16 [[ 9.97312978e-01 -6.34999840e-02 -3.65318476e-02 6.89093972e+02] [ 6.34754114e-02 9.97981719e-01 -1.83323805e-03 3.89176488e+01] [ 3.65745267e-02 -4.90561961e-04 9.99330808e-01 2.51555366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.2192541539999 meters Centerline goodness : 0.998735 with order 1 Centerline is valid? [True, True] Translation: X:689.15, Y:38.92, Z:25.16 [[ 9.96718399e-01 -7.22348616e-02 -3.65316089e-02 6.89153428e+02] [ 7.22159750e-02 9.97387324e-01 -1.83798192e-03 3.89169472e+01] [ 3.65689301e-02 -8.06215355e-04 9.99330808e-01 2.51571396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.279254154 meters Centerline goodness : 0.998527 with order 1 Centerline is valid? [True, True] Translation: X:689.21, Y:38.91, Z:25.16 [[ 9.95834425e-01 -8.35418679e-02 -3.65315425e-02 6.89214070e+02] [ 8.35305256e-02 9.96503521e-01 -1.83930172e-03 3.89146660e+01] [ 3.65574694e-02 -1.21985897e-03 9.99330808e-01 2.51578133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.339254154 meters Centerline goodness : 0.998864 with order 1 Centerline is valid? [True, True] Translation: X:689.28, Y:38.92, Z:25.16 [[ 9.95292345e-01 -8.97696757e-02 -3.65315425e-02 6.89275395e+02] [ 8.97625192e-02 9.95961499e-01 -1.83930172e-03 3.89153823e+01] [ 3.65491233e-02 -1.44852036e-03 9.99330808e-01 2.51598814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.399254154 meters Centerline goodness : 0.998508 with order 1 Centerline is valid? [True, True] Translation: X:689.34, Y:38.92, Z:25.16 [[ 9.94528031e-01 -9.78745960e-02 -3.65316099e-02 6.89335971e+02] [ 9.78729400e-02 9.95197221e-01 -1.83796092e-03 3.89165742e+01] [ 3.65360464e-02 -1.74755241e-03 9.99330808e-01 2.51637401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.459254154 meters Centerline goodness : 0.998888 with order 1 Centerline is valid? [True, True] Translation: X:689.40, Y:38.92, Z:25.17 [[ 9.94019768e-01 -1.02908394e-01 -3.65316768e-02 6.89397195e+02] [ 1.02910175e-01 9.94688958e-01 -1.83663054e-03 3.89176294e+01] [ 3.65266602e-02 -1.93383419e-03 9.99330808e-01 2.51661428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.519254154 meters Centerline goodness : 0.998763 with order 1 Centerline is valid? [True, True] Translation: X:689.46, Y:38.92, Z:25.17 [[ 9.93752544e-01 -1.05457582e-01 -3.65318898e-02 6.89459333e+02] [ 1.05461234e-01 9.94421727e-01 -1.83238374e-03 3.89197759e+01] [ 3.65213437e-02 -2.03176220e-03 9.99330808e-01 2.51671497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.579254154 meters Centerline goodness : 0.998761 with order 1 Centerline is valid? [True, True] Translation: X:689.52, Y:38.92, Z:25.17 [[ 9.93338786e-01 -1.09286174e-01 -3.65320165e-02 6.89521994e+02] [ 1.09292498e-01 9.94007948e-01 -1.82985529e-03 3.89224841e+01] [ 3.65130926e-02 -2.17500910e-03 9.99330808e-01 2.51680578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.639254154 meters Centerline goodness : 0.998885 with order 1 Centerline is valid? [True, True] Translation: X:689.58, Y:38.93, Z:25.17 [[ 9.92989208e-01 -1.12418105e-01 -3.65322016e-02 6.89584283e+02] [ 1.12426675e-01 9.93658346e-01 -1.82615186e-03 3.89267353e+01] [ 3.65058195e-02 -2.29384487e-03 9.99330808e-01 2.51685127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.699254154 meters Centerline goodness : 0.998864 with order 1 Centerline is valid? [True, True] Translation: X:689.65, Y:38.93, Z:25.17 [[ 9.92986150e-01 -1.12445073e-01 -3.65323326e-02 6.89646088e+02] [ 1.12453757e-01 9.93655286e-01 -1.82352738e-03 3.89300419e+01] [ 3.65055921e-02 -2.29746063e-03 9.99330808e-01 2.51696870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.759254154 meters Centerline goodness : 0.998861 with order 1 Centerline is valid? [True, True] Translation: X:689.71, Y:38.94, Z:25.17 [[ 9.93529938e-01 -1.07534370e-01 -3.65324675e-02 6.89706808e+02] [ 1.07539846e-01 9.94199108e-01 -1.82082007e-03 3.89370028e+01] [ 3.65163474e-02 -2.11965666e-03 9.99330808e-01 2.51698530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.819254154 meters Centerline goodness : 0.998820 with order 1 Centerline is valid? [True, True] Translation: X:689.77, Y:38.94, Z:25.17 [[ 9.93820337e-01 -1.04816553e-01 -3.65325672e-02 6.89768420e+02] [ 1.04820271e-01 9.94489519e-01 -1.81881862e-03 3.89421387e+01] [ 3.65218975e-02 -2.02177466e-03 9.99330808e-01 2.51743145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.879254154 meters Centerline goodness : 0.998773 with order 1 Centerline is valid? [True, True] Translation: X:689.83, Y:38.95, Z:25.18 [[ 9.95126289e-01 -9.15916484e-02 -3.65326990e-02 6.89830247e+02] [ 9.15865648e-02 9.95795462e-01 -1.81616726e-03 3.89504409e+01] [ 3.65454416e-02 -1.53858862e-03 9.99330808e-01 2.51776437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.939254154 meters Centerline goodness : 0.998644 with order 1 Centerline is valid? [True, True] Translation: X:689.89, Y:38.96, Z:25.18 [[ 9.96337501e-01 -7.73106542e-02 -3.65328325e-02 6.89892305e+02] [ 7.72960727e-02 9.97006534e-01 -1.81347748e-03 3.89595004e+01] [ 3.65636739e-02 -1.01700886e-03 9.99330808e-01 2.51830583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.999254154 meters Centerline goodness : 0.998853 with order 1 Centerline is valid? [True, True] Translation: X:689.95, Y:38.97, Z:25.19 [[ 9.96961272e-01 -6.88009105e-02 -3.65329650e-02 6.89952969e+02] [ 6.87807151e-02 9.97630159e-01 -1.81080531e-03 3.89661477e+01] [ 3.65709727e-02 -7.07460688e-04 9.99330808e-01 2.51867907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.059254154 meters Centerline goodness : 0.998769 with order 1 Centerline is valid? [True, True] Translation: X:690.01, Y:38.97, Z:25.19 [[ 9.97484670e-01 -6.07426589e-02 -3.65330325e-02 6.90012760e+02] [ 6.07171091e-02 9.98153374e-01 -1.80944093e-03 3.89716596e+01] [ 3.65754800e-02 -4.13290531e-04 9.99330808e-01 2.51884826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.119254154 meters Centerline goodness : 0.998917 with order 1 Centerline is valid? [True, True] Translation: X:690.07, Y:38.98, Z:25.19 [[ 9.97687194e-01 -5.73201384e-02 -3.65330657e-02 6.90072517e+02] [ 5.72923191e-02 9.98355808e-01 -1.80877126e-03 3.89757289e+01] [ 3.65766773e-02 -2.88476134e-04 9.99330808e-01 2.51896787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.179254154 meters Centerline goodness : 0.998939 with order 1 Centerline is valid? [True, True] Translation: X:690.13, Y:38.98, Z:25.19 [[ 9.97763202e-01 -5.59815371e-02 -3.65330000e-02 6.90131373e+02] [ 5.59527723e-02 9.98431776e-01 -1.81009773e-03 3.89781696e+01] [ 3.65770401e-02 -2.38073721e-04 9.99330808e-01 2.51909733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.239254154 meters Centerline goodness : 0.998874 with order 1 Centerline is valid? [True, True] Translation: X:690.19, Y:38.98, Z:25.19 [[ 9.97909264e-01 -5.33148647e-02 -3.65325345e-02 6.90189608e+02] [ 5.32839711e-02 9.98577743e-01 -1.81944460e-03 3.89814700e+01] [ 3.65775793e-02 -1.30957889e-04 9.99330808e-01 2.51932688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.299254154 meters Centerline goodness : 0.999002 with order 1 Centerline is valid? [True, True] Translation: X:690.25, Y:38.98, Z:25.19 [[ 9.97970059e-01 -5.21648395e-02 -3.65320590e-02 6.90246442e+02] [ 5.21328278e-02 9.98638485e-01 -1.82894150e-03 3.89837169e+01] [ 3.65777265e-02 -7.92906907e-05 9.99330808e-01 2.51934802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.3592541539999 meters Centerline goodness : 0.998979 with order 1 Centerline is valid? [True, True] Translation: X:690.31, Y:38.99, Z:25.20 [[ 9.97736966e-01 -5.64479821e-02 -3.65318037e-02 6.90305178e+02] [ 5.64186537e-02 9.98405515e-01 -1.83402667e-03 3.89875462e+01] [ 3.65770814e-02 -2.31198978e-04 9.99330808e-01 2.52042472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.419254154 meters Centerline goodness : 0.998940 with order 1 Centerline is valid? [True, True] Translation: X:690.36, Y:38.98, Z:25.20 [[ 9.97525915e-01 -6.00625799e-02 -3.65312856e-02 6.90363869e+02] [ 6.00352981e-02 9.98194551e-01 -1.84428930e-03 3.89824170e+01] [ 3.65761030e-02 -3.53440247e-04 9.99330808e-01 2.51995334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.4792541539999 meters Centerline goodness : 0.998878 with order 1 Centerline is valid? [True, True] Translation: X:690.42, Y:38.98, Z:25.20 [[ 9.97055742e-01 -6.74191006e-02 -3.65309844e-02 6.90422913e+02] [ 6.73965338e-02 9.97724553e-01 -1.85023723e-03 3.89815241e+01] [ 3.65726014e-02 -6.17272074e-04 9.99330808e-01 2.52018740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.539254154 meters Centerline goodness : 0.998749 with order 1 Centerline is valid? [True, True] Translation: X:690.48, Y:38.98, Z:25.20 [[ 9.96784940e-01 -7.13113178e-02 -3.65305265e-02 6.90483755e+02] [ 7.12910328e-02 9.97453824e-01 -1.85923417e-03 3.89810774e+01] [ 3.65700978e-02 -7.51042335e-04 9.99330808e-01 2.52043535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.5992541539999 meters Centerline goodness : 0.999135 with order 1 Centerline is valid? [True, True] Translation: X:690.54, Y:38.98, Z:25.21 [[ 9.96559871e-01 -7.43904870e-02 -3.65305265e-02 6.90543732e+02] [ 7.43722686e-02 9.97228815e-01 -1.85923417e-03 3.89788481e+01] [ 3.65676029e-02 -8.64019959e-04 9.99330808e-01 2.52051401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.659254154 meters Centerline goodness : 0.998882 with order 1 Centerline is valid? [True, True] Translation: X:690.60, Y:38.98, Z:25.21 [[ 9.96588836e-01 -7.40014480e-02 -3.65304927e-02 6.90604153e+02] [ 7.39829441e-02 9.97257772e-01 -1.85989679e-03 3.89796078e+01] [ 3.65679529e-02 -8.49081029e-04 9.99330808e-01 2.52089619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.7192541539999 meters Centerline goodness : 0.999368 with order 1 Centerline is valid? [True, True] Translation: X:690.66, Y:38.98, Z:25.21 [[ 9.96831616e-01 -7.06558752e-02 -3.65304927e-02 6.90663992e+02] [ 7.06351261e-02 9.97500486e-01 -1.85989679e-03 3.89802364e+01] [ 3.65705969e-02 -7.26332041e-04 9.99330808e-01 2.52090853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.779254154 meters Centerline goodness : 0.999074 with order 1 Centerline is valid? [True, True] Translation: X:690.72, Y:38.98, Z:25.21 [[ 9.97237612e-01 -6.46735657e-02 -3.65304597e-02 6.90724033e+02] [ 6.46487799e-02 9.97906345e-01 -1.86054564e-03 3.89806234e+01] [ 3.65743056e-02 -5.06243555e-04 9.99330808e-01 2.52130096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.839254154 meters Centerline goodness : 0.999199 with order 1 Centerline is valid? [True, True] Translation: X:690.78, Y:38.98, Z:25.22 [[ 9.97689566e-01 -5.72805418e-02 -3.65303911e-02 6.90782274e+02] [ 5.72507510e-02 9.98358095e-01 -1.86189138e-03 3.89817145e+01] [ 3.65770618e-02 -2.33802722e-04 9.99330808e-01 2.52153713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.899254154 meters Centerline goodness : 0.999244 with order 1 Centerline is valid? [True, True] Translation: X:690.84, Y:38.98, Z:25.22 [[ 9.97931018e-01 -5.29077085e-02 -3.65302224e-02 6.90839152e+02] [ 5.28748673e-02 9.98599404e-01 -1.86519571e-03 3.89841954e+01] [ 3.65777415e-02 -7.01940080e-05 9.99330808e-01 2.52174670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.959254154 meters Centerline goodness : 0.999113 with order 1 Centerline is valid? [True, True] Translation: X:690.90, Y:38.98, Z:25.22 [[ 9.98058106e-01 -5.04538156e-02 -3.65298529e-02 6.90897385e+02] [ 5.04190672e-02 9.98726395e-01 -1.87240324e-03 3.89848274e+01] [ 3.65777982e-02 2.69661236e-05 9.99330808e-01 2.52200747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.019254154 meters Centerline goodness : 0.999135 with order 1 Centerline is valid? [True, True] Translation: X:690.96, Y:38.98, Z:25.22 [[ 9.97930922e-01 -5.29101632e-02 -3.65292921e-02 6.90955045e+02] [ 5.28766616e-02 9.98599275e-01 -1.88328095e-03 3.89835912e+01] [ 3.65777694e-02 -5.21627283e-05 9.99330808e-01 2.52211171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.079254154 meters Centerline goodness : 0.999158 with order 1 Centerline is valid? [True, True] Translation: X:691.01, Y:38.98, Z:25.22 [[ 9.97715382e-01 -5.68299142e-02 -3.65291200e-02 6.91012862e+02] [ 5.67989164e-02 9.98383856e-01 -1.88661422e-03 3.89833322e+01] [ 3.65772998e-02 -1.92510402e-04 9.99330808e-01 2.52233353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.139254154 meters Centerline goodness : 0.999244 with order 1 Centerline is valid? [True, True] Translation: X:691.07, Y:38.98, Z:25.22 [[ 9.97274519e-01 -6.41030237e-02 -3.65285658e-02 6.91069534e+02] [ 6.40765099e-02 9.97943185e-01 -1.89728351e-03 3.89817107e+01] [ 3.65750550e-02 -4.48510510e-04 9.99330808e-01 2.52245708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.199254154 meters Centerline goodness : 0.999183 with order 1 Centerline is valid? [True, True] Translation: X:691.13, Y:38.97, Z:25.22 [[ 9.97052507e-01 -6.74683634e-02 -3.65283273e-02 6.91129327e+02] [ 6.74439386e-02 9.97721253e-01 -1.90186475e-03 3.89721486e+01] [ 3.65734042e-02 -5.67355252e-04 9.99330808e-01 2.52219515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.259254154 meters Centerline goodness : 0.999268 with order 1 Centerline is valid? [True, True] Translation: X:691.19, Y:38.98, Z:25.23 [[ 9.96092723e-01 -8.04050805e-02 -3.65282160e-02 6.91186917e+02] [ 8.03892604e-02 9.96761728e-01 -1.90399935e-03 3.89778872e+01] [ 3.65630190e-02 -1.03991638e-03 9.99330808e-01 2.52313888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.319254154 meters Centerline goodness : 0.999395 with order 1 Centerline is valid? [True, True] Translation: X:691.25, Y:38.98, Z:25.23 [[ 9.95275175e-01 -8.99612611e-02 -3.65280334e-02 6.91246937e+02] [ 8.99517342e-02 9.95944299e-01 -1.90749670e-03 3.89752688e+01] [ 3.65514874e-02 -1.38727584e-03 9.99330808e-01 2.52341652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.379254154 meters Centerline goodness : 0.999271 with order 1 Centerline is valid? [True, True] Translation: X:691.31, Y:38.98, Z:25.23 [[ 9.94825865e-01 -9.48008722e-02 -3.65279619e-02 6.91306761e+02] [ 9.47945497e-02 9.95495027e-01 -1.90886545e-03 3.89753875e+01] [ 3.65443665e-02 -1.56366297e-03 9.99330808e-01 2.52335048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.439254154 meters Centerline goodness : 0.999146 with order 1 Centerline is valid? [True, True] Translation: X:691.37, Y:38.97, Z:25.24 [[ 9.93967811e-01 -1.03410354e-01 -3.65279266e-02 6.91367370e+02] [ 1.03409800e-01 9.94637003e-01 -1.90954017e-03 3.89748461e+01] [ 3.65294937e-02 -1.87932413e-03 9.99330808e-01 2.52364901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.499254154 meters Centerline goodness : 0.999353 with order 1 Centerline is valid? [True, True] Translation: X:691.43, Y:38.98, Z:25.24 [[ 9.93639075e-01 -1.06522762e-01 -3.65279266e-02 6.91427525e+02] [ 1.06524304e-01 9.94308265e-01 -1.90954017e-03 3.89769984e+01] [ 3.65234288e-02 -1.99371824e-03 9.99330808e-01 2.52379429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.559254154 meters Centerline goodness : 0.999040 with order 1 Centerline is valid? [True, True] Translation: X:691.49, Y:38.98, Z:25.24 [[ 9.93488078e-01 -1.07921952e-01 -3.65279611e-02 6.91488402e+02] [ 1.07924461e-01 9.94157265e-01 -1.90888039e-03 3.89792758e+01] [ 3.65205480e-02 -2.04581061e-03 9.99330808e-01 2.52415435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.619254154 meters Centerline goodness : 0.999084 with order 1 Centerline is valid? [True, True] Translation: X:691.55, Y:38.98, Z:25.24 [[ 9.93702225e-01 -1.05932009e-01 -3.65280321e-02 6.91548486e+02] [ 1.05933227e-01 9.94371416e-01 -1.90752008e-03 3.89832112e+01] [ 3.65244985e-02 -1.97402538e-03 9.99330808e-01 2.52419438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.679254154 meters Centerline goodness : 0.999188 with order 1 Centerline is valid? [True, True] Translation: X:691.61, Y:38.99, Z:25.24 [[ 9.93840428e-01 -1.04627456e-01 -3.65280671e-02 6.91609495e+02] [ 1.04627821e-01 9.94509619e-01 -1.90685108e-03 3.89874832e+01] [ 3.65270230e-02 -1.92674636e-03 9.99330808e-01 2.52447066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.739254154 meters Centerline goodness : 0.999081 with order 1 Centerline is valid? [True, True] Translation: X:691.67, Y:38.99, Z:25.25 [[ 9.94468463e-01 -9.84792915e-02 -3.65281363e-02 6.91670882e+02] [ 9.84755662e-02 9.95137645e-01 -1.90552399e-03 3.89949130e+01] [ 3.65381782e-02 -1.70214538e-03 9.99330808e-01 2.52480238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.799254154 meters Centerline goodness : 0.999080 with order 1 Centerline is valid? [True, True] Translation: X:691.73, Y:39.00, Z:25.25 [[ 9.95315636e-01 -8.95124299e-02 -3.65282076e-02 6.91731917e+02] [ 8.95027237e-02 9.95984757e-01 -1.90415575e-03 3.90032110e+01] [ 3.65519836e-02 -1.37413808e-03 9.99330808e-01 2.52514995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.8592541539999 meters Centerline goodness : 0.999310 with order 1 Centerline is valid? [True, True] Translation: X:691.79, Y:39.01, Z:25.25 [[ 9.95900759e-01 -8.27487924e-02 -3.65282789e-02 6.91792246e+02] [ 8.27345910e-02 9.96569800e-01 -1.90278629e-03 3.90107208e+01] [ 3.65604329e-02 -1.12716591e-03 9.99330808e-01 2.52549287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.919254154 meters Centerline goodness : 0.999164 with order 1 Centerline is valid? [True, True] Translation: X:691.85, Y:39.03, Z:25.27 [[ 9.96485339e-01 -7.53833798e-02 -3.65282789e-02 6.91851895e+02] [ 7.53642323e-02 9.97154257e-01 -1.90278629e-03 3.90259454e+01] [ 3.65677673e-02 -8.56827056e-04 9.99330808e-01 2.52706441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.9792541539999 meters Centerline goodness : 0.999288 with order 1 Centerline is valid? [True, True] Translation: X:691.91, Y:39.03, Z:25.27 [[ 9.97223161e-01 -6.48972230e-02 -3.65283228e-02 6.91911170e+02] [ 6.48710711e-02 9.97891841e-01 -1.90194349e-03 3.90311629e+01] [ 3.65747462e-02 -4.72969334e-04 9.99330808e-01 2.52707829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.039254154 meters Centerline goodness : 0.999202 with order 1 Centerline is valid? [True, True] Translation: X:691.97, Y:39.03, Z:25.26 [[ 9.97897430e-01 -5.35388077e-02 -3.65282862e-02 6.91971776e+02] [ 5.35050183e-02 9.98565768e-01 -1.90264602e-03 3.90314410e+01] [ 3.65777616e-02 -5.58010501e-05 9.99330808e-01 2.52634082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.0992541539999 meters Centerline goodness : 0.999306 with order 1 Centerline is valid? [True, True] Translation: X:692.03, Y:39.03, Z:25.26 [[ 9.97979424e-01 -5.19880327e-02 -3.65282510e-02 6.92030742e+02] [ 5.19531799e-02 9.98647708e-01 -1.90332311e-03 3.90349549e+01] [ 3.65778041e-02 1.71851064e-06 9.99330808e-01 2.52649893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.159254154 meters Centerline goodness : 0.999157 with order 1 Centerline is valid? [True, True] Translation: X:692.09, Y:39.04, Z:25.27 [[ 9.97713597e-01 -5.68621305e-02 -3.65277579e-02 6.92089443e+02] [ 5.68301978e-02 9.98382026e-01 -1.91273880e-03 3.90361794e+01] [ 3.65774194e-02 -1.67514198e-04 9.99330808e-01 2.52660555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.2192541539999 meters Centerline goodness : 0.999033 with order 1 Centerline is valid? [True, True] Translation: X:692.15, Y:39.04, Z:25.27 [[ 9.97203804e-01 -6.51945733e-02 -3.65272687e-02 6.92146910e+02] [ 6.51678849e-02 9.97872463e-01 -1.92203673e-03 3.90363149e+01] [ 3.65748619e-02 -4.63742504e-04 9.99330808e-01 2.52688484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.279254154 meters Centerline goodness : 0.999162 with order 1 Centerline is valid? [True, True] Translation: X:692.21, Y:39.04, Z:25.27 [[ 9.96828826e-01 -7.06969790e-02 -3.65270966e-02 6.92205072e+02] [ 7.06738617e-02 9.97497618e-01 -1.92530021e-03 3.90371780e+01] [ 3.65718048e-02 -6.62316231e-04 9.99330808e-01 2.52729143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.339254154 meters Centerline goodness : 0.999121 with order 1 Centerline is valid? [True, True] Translation: X:692.26, Y:39.04, Z:25.28 [[ 9.96299013e-01 -7.78078475e-02 -3.65269261e-02 6.92263840e+02] [ 7.77893845e-02 9.96967950e-01 -1.92852978e-03 3.90371271e+01] [ 3.65662294e-02 -9.20014784e-04 9.99330808e-01 2.52758595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.399254154 meters Centerline goodness : 0.999309 with order 1 Centerline is valid? [True, True] Translation: X:692.32, Y:39.04, Z:25.28 [[ 9.95713556e-01 -8.49725392e-02 -3.65264510e-02 6.92323657e+02] [ 8.49585602e-02 9.96382602e-01 -1.93748764e-03 3.90364134e+01] [ 3.65589535e-02 -1.17405198e-03 9.99330808e-01 2.52775218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.459254154 meters Centerline goodness : 0.999162 with order 1 Centerline is valid? [True, True] Translation: X:692.38, Y:39.04, Z:25.28 [[ 9.95272485e-01 -8.99916928e-02 -3.65263817e-02 6.92383633e+02] [ 8.99810394e-02 9.95941591e-01 -1.93879230e-03 3.90377893e+01] [ 3.65526180e-02 -1.35705517e-03 9.99330808e-01 2.52800475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.519254154 meters Centerline goodness : 0.999185 with order 1 Centerline is valid? [True, True] Translation: X:692.44, Y:39.04, Z:25.28 [[ 9.94724919e-01 -9.58548843e-02 -3.65263817e-02 6.92444311e+02] [ 9.58481739e-02 9.95394077e-01 -1.93879230e-03 3.90382511e+01] [ 3.65439867e-02 -1.57242198e-03 9.99330808e-01 2.52820128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.579254154 meters Centerline goodness : 0.999101 with order 1 Centerline is valid? [True, True] Translation: X:692.50, Y:39.04, Z:25.28 [[ 9.94672615e-01 -9.63961212e-02 -3.65263817e-02 6.92503515e+02] [ 9.63897749e-02 9.95341777e-01 -1.93879230e-03 3.90410849e+01] [ 3.65431257e-02 -1.59230611e-03 9.99330808e-01 2.52831404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.639254154 meters Centerline goodness : 0.999143 with order 1 Centerline is valid? [True, True] Translation: X:692.56, Y:39.05, Z:25.29 [[ 9.94935549e-01 -9.36433650e-02 -3.65263438e-02 6.92563247e+02] [ 9.36351410e-02 9.95604690e-01 -1.93950592e-03 3.90450918e+01] [ 3.65474211e-02 -1.49046597e-03 9.99330808e-01 2.52858388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.699254154 meters Centerline goodness : 0.999122 with order 1 Centerline is valid? [True, True] Translation: X:692.62, Y:39.05, Z:25.29 [[ 9.95744093e-01 -8.46140221e-02 -3.65262660e-02 6.92623805e+02] [ 8.45996746e-02 9.96413131e-01 -1.94097084e-03 3.90482492e+01] [ 3.65594844e-02 -1.15739997e-03 9.99330808e-01 2.52867123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.759254154 meters Centerline goodness : 0.999082 with order 1 Centerline is valid? [True, True] Translation: X:692.68, Y:39.06, Z:25.29 [[ 9.95780684e-01 -8.41823144e-02 -3.65262660e-02 6.92683338e+02] [ 8.41676768e-02 9.96449715e-01 -1.94097084e-03 3.90557182e+01] [ 3.65599828e-02 -1.14154968e-03 9.99330808e-01 2.52889285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.819254154 meters Centerline goodness : 0.998954 with order 1 Centerline is valid? [True, True] Translation: X:692.74, Y:39.06, Z:25.29 [[ 9.95824087e-01 -8.36672985e-02 -3.65263021e-02 6.92743520e+02] [ 8.36523399e-02 9.96493112e-01 -1.94029053e-03 3.90599438e+01] [ 3.65605473e-02 -1.12332260e-03 9.99330808e-01 2.52900432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.879254154 meters Centerline goodness : 0.999122 with order 1 Centerline is valid? [True, True] Translation: X:692.80, Y:39.06, Z:25.29 [[ 9.95681202e-01 -8.53508833e-02 -3.65263021e-02 6.92804177e+02] [ 8.53370558e-02 9.96350251e-01 -1.94029053e-03 3.90632938e+01] [ 3.65585958e-02 -1.18513628e-03 9.99330808e-01 2.52910986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.939254154 meters Centerline goodness : 0.999037 with order 1 Centerline is valid? [True, True] Translation: X:692.86, Y:39.07, Z:25.29 [[ 9.95465613e-01 -8.78296171e-02 -3.65263021e-02 6.92864461e+02] [ 8.78174554e-02 9.96134695e-01 -1.94029053e-03 3.90675899e+01] [ 3.65555318e-02 -1.27615441e-03 9.99330808e-01 2.52926014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.999254154 meters Centerline goodness : 0.999100 with order 1 Centerline is valid? [True, True] Translation: X:692.93, Y:39.07, Z:25.29 [[ 9.95443716e-01 -8.80774466e-02 -3.65263021e-02 6.92925729e+02] [ 8.80654515e-02 9.96112801e-01 -1.94029053e-03 3.90729692e+01] [ 3.65552129e-02 -1.28525528e-03 9.99330808e-01 2.52949582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.059254154 meters Centerline goodness : 0.999184 with order 1 Centerline is valid? [True, True] Translation: X:692.99, Y:39.08, Z:25.30 [[ 9.95530500e-01 -8.70910324e-02 -3.65263733e-02 6.92987266e+02] [ 8.70784235e-02 9.96199573e-01 -1.93894978e-03 3.90776609e+01] [ 3.65564226e-02 -1.25037536e-03 9.99330808e-01 2.52985609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.119254154 meters Centerline goodness : 0.999016 with order 1 Centerline is valid? [True, True] Translation: X:693.05, Y:39.08, Z:25.30 [[ 9.95775251e-01 -8.42464690e-02 -3.65264447e-02 6.93047453e+02] [ 8.42319979e-02 9.96444287e-01 -1.93760468e-03 3.90846182e+01] [ 3.65598034e-02 -1.14727662e-03 9.99330808e-01 2.53030444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.179254154 meters Centerline goodness : 0.999019 with order 1 Centerline is valid? [True, True] Translation: X:693.11, Y:39.09, Z:25.31 [[ 9.96136557e-01 -7.98609940e-02 -3.65264447e-02 6.93106464e+02] [ 7.98435771e-02 9.96805522e-01 -1.93760468e-03 3.90918730e+01] [ 3.65645008e-02 -9.86283141e-04 9.99330808e-01 2.53067846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.239254154 meters Centerline goodness : 0.999060 with order 1 Centerline is valid? [True, True] Translation: X:693.17, Y:39.10, Z:25.31 [[ 9.96255946e-01 -7.83575880e-02 -3.65264101e-02 6.93166501e+02] [ 7.83391377e-02 9.96924883e-01 -1.93825639e-03 3.90969681e+01] [ 3.65659642e-02 -9.30448015e-04 9.99330808e-01 2.53090972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.299254154 meters Centerline goodness : 0.999185 with order 1 Centerline is valid? [True, True] Translation: X:693.23, Y:39.10, Z:25.31 [[ 9.96124394e-01 -8.00125836e-02 -3.65264101e-02 6.93227157e+02] [ 7.99952446e-02 9.96793361e-01 -1.93825639e-03 3.91013748e+01] [ 3.65643680e-02 -9.91194637e-04 9.99330808e-01 2.53099584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.3592541539999 meters Centerline goodness : 0.999037 with order 1 Centerline is valid? [True, True] Translation: X:693.29, Y:39.10, Z:25.31 [[ 9.95883622e-01 -8.29556061e-02 -3.65264101e-02 6.93287266e+02] [ 8.29402439e-02 9.96552637e-01 -1.93825639e-03 3.91042683e+01] [ 3.65612795e-02 -1.09923157e-03 9.99330808e-01 2.53100416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.419254154 meters Centerline goodness : 0.999098 with order 1 Centerline is valid? [True, True] Translation: X:693.35, Y:39.11, Z:25.31 [[ 9.95517558e-01 -8.72388331e-02 -3.65264101e-02 6.93348824e+02] [ 8.72263489e-02 9.96186633e-01 -1.93825639e-03 3.91079711e+01] [ 3.65562127e-02 -1.25649712e-03 9.99330808e-01 2.53107609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.4792541539999 meters Centerline goodness : 0.999224 with order 1 Centerline is valid? [True, True] Translation: X:693.41, Y:39.11, Z:25.31 [[ 9.95437539e-01 -8.81471619e-02 -3.65264802e-02 6.93410409e+02] [ 8.81353367e-02 9.96106626e-01 -1.93693487e-03 3.91116000e+01] [ 3.65550042e-02 -1.29117595e-03 9.99330808e-01 2.53130268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.539254154 meters Centerline goodness : 0.999181 with order 1 Centerline is valid? [True, True] Translation: X:693.47, Y:39.12, Z:25.32 [[ 9.95646890e-01 -8.57501130e-02 -3.65265516e-02 6.93470925e+02] [ 8.57367261e-02 9.96315948e-01 -1.93558729e-03 3.91159609e+01] [ 3.65579627e-02 -1.20450549e-03 9.99330808e-01 2.53156084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.5992541539999 meters Centerline goodness : 0.999033 with order 1 Centerline is valid? [True, True] Translation: X:693.53, Y:39.12, Z:25.32 [[ 9.95801672e-01 -8.39335025e-02 -3.65266610e-02 6.93531460e+02] [ 8.39189708e-02 9.96470706e-01 -1.93351952e-03 3.91192755e+01] [ 3.65600348e-02 -1.13987783e-03 9.99330808e-01 2.53185271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.659254154 meters Centerline goodness : 0.999329 with order 1 Centerline is valid? [True, True] Translation: X:693.59, Y:39.12, Z:25.32 [[ 9.96315409e-01 -7.75977327e-02 -3.65266610e-02 6.93591832e+02] [ 7.75789457e-02 9.96984337e-01 -1.93351952e-03 3.91244599e+01] [ 3.65665457e-02 -9.07304559e-04 9.99330808e-01 2.53224762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.7192541539999 meters Centerline goodness : 0.998868 with order 1 Centerline is valid? [True, True] Translation: X:693.65, Y:39.13, Z:25.33 [[ 9.96767526e-01 -7.15562862e-02 -3.65266610e-02 6.93651668e+02] [ 7.15334444e-02 9.97436328e-01 -1.93351952e-03 3.91287805e+01] [ 3.65713741e-02 -6.85608405e-04 9.99330808e-01 2.53256547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.779254154 meters Centerline goodness : 0.999077 with order 1 Centerline is valid? [True, True] Translation: X:693.71, Y:39.13, Z:25.33 [[ 9.96996323e-01 -6.82944783e-02 -3.65266610e-02 6.93710545e+02] [ 6.82694482e-02 9.97665046e-01 -1.93351952e-03 3.91314802e+01] [ 3.65734217e-02 -5.65943141e-04 9.99330808e-01 2.53275999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.839254154 meters Centerline goodness : 0.999160 with order 1 Centerline is valid? [True, True] Translation: X:693.77, Y:39.13, Z:25.33 [[ 9.97354842e-01 -6.28420952e-02 -3.65265564e-02 6.93768638e+02] [ 6.28133367e-02 9.98023416e-01 -1.93549451e-03 3.91336608e+01] [ 3.65759891e-02 -3.63980063e-04 9.99330808e-01 2.53294478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.899254154 meters Centerline goodness : 0.999036 with order 1 Centerline is valid? [True, True] Translation: X:693.83, Y:39.14, Z:25.33 [[ 9.97540678e-01 -5.98199342e-02 -3.65263075e-02 6.93826561e+02] [ 5.97889787e-02 9.98209153e-01 -1.94017882e-03 3.91350880e+01] [ 3.65769559e-02 -2.48463332e-04 9.99330808e-01 2.53314651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.959254154 meters Centerline goodness : 0.999056 with order 1 Centerline is valid? [True, True] Translation: X:693.88, Y:39.13, Z:25.33 [[ 9.97618779e-01 -5.85033454e-02 -3.65257615e-02 6.93884113e+02] [ 5.84711332e-02 9.98287194e-01 -1.95040544e-03 3.91347521e+01] [ 3.65773052e-02 -1.89941575e-04 9.99330808e-01 2.53335205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.019254154 meters Centerline goodness : 0.999017 with order 1 Centerline is valid? [True, True] Translation: X:693.94, Y:39.13, Z:25.33 [[ 9.97497290e-01 -6.05397936e-02 -3.65251819e-02 6.93942075e+02] [ 6.05085507e-02 9.98165752e-01 -1.96119960e-03 3.91333426e+01] [ 3.65769163e-02 -2.53794530e-04 9.99330808e-01 2.53342998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.079254154 meters Centerline goodness : 0.999373 with order 1 Centerline is valid? [True, True] Translation: X:694.00, Y:39.13, Z:25.34 [[ 9.96833077e-01 -7.06383129e-02 -3.65245951e-02 6.93999737e+02] [ 7.06134430e-02 9.97501806e-01 -1.97206742e-03 3.91304321e+01] [ 3.65726531e-02 -6.13305384e-04 9.99330809e-01 2.53354282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.139254154 meters Centerline goodness : 0.999041 with order 1 Centerline is valid? [True, True] Translation: X:694.06, Y:39.13, Z:25.34 [[ 9.95645301e-01 -8.57696348e-02 -3.65240121e-02 6.94058487e+02] [ 8.57545307e-02 9.96314322e-01 -1.98280622e-03 3.91261871e+01] [ 3.65594609e-02 -1.15792782e-03 9.99330809e-01 2.53359552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.199254154 meters Centerline goodness : 0.999042 with order 1 Centerline is valid? [True, True] Translation: X:694.12, Y:39.12, Z:25.34 [[ 9.94755344e-01 -9.55397357e-02 -3.65234665e-02 6.94118659e+02] [ 9.55308335e-02 9.95424477e-01 -1.99280684e-03 3.91244394e+01] [ 3.65467447e-02 -1.50676194e-03 9.99330809e-01 2.53379429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.259254154 meters Centerline goodness : 0.999229 with order 1 Centerline is valid? [True, True] Translation: X:694.18, Y:39.12, Z:25.34 [[ 9.93459443e-01 -1.08186748e-01 -3.65234665e-02 6.94179331e+02] [ 1.08186359e-01 9.94128634e-01 -1.99280684e-03 3.91227865e+01] [ 3.65246191e-02 -1.97156807e-03 9.99330809e-01 2.53426448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.319254154 meters Centerline goodness : 0.999145 with order 1 Centerline is valid? [True, True] Translation: X:694.24, Y:39.12, Z:25.35 [[ 9.92820804e-01 -1.13898582e-01 -3.65234665e-02 6.94241067e+02] [ 1.13902041e-01 9.93489987e-01 -1.99280684e-03 3.91238519e+01] [ 3.65126761e-02 -2.18159730e-03 9.99330809e-01 2.53454602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.379254154 meters Centerline goodness : 0.998916 with order 1 Centerline is valid? [True, True] Translation: X:694.30, Y:39.12, Z:25.34 [[ 9.93137449e-01 -1.11103702e-01 -3.65236158e-02 6.94303433e+02] [ 1.11105379e-01 9.93806638e-01 -1.99006529e-03 3.91168114e+01] [ 3.65185155e-02 -2.08156180e-03 9.99330809e-01 2.53406502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.439254154 meters Centerline goodness : 0.998937 with order 1 Centerline is valid? [True, True] Translation: X:694.37, Y:39.12, Z:25.35 [[ 9.92451628e-01 -1.17071716e-01 -3.65236916e-02 6.94365083e+02] [ 1.17077466e-01 9.93120794e-01 -1.98867410e-03 3.91247539e+01] [ 3.65052551e-02 -2.30243843e-03 9.99330809e-01 2.53480446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.499254154 meters Centerline goodness : 0.999144 with order 1 Centerline is valid? [True, True] Translation: X:694.43, Y:39.13, Z:25.35 [[ 9.92341495e-01 -1.18001553e-01 -3.65238417e-02 6.94426149e+02] [ 1.18008032e-01 9.93010655e-01 -1.98591366e-03 3.91304796e+01] [ 3.65029048e-02 -2.33940213e-03 9.99330809e-01 2.53503420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.559254154 meters Centerline goodness : 0.998998 with order 1 Centerline is valid? [True, True] Translation: X:694.49, Y:39.14, Z:25.35 [[ 9.92118401e-01 -1.19862750e-01 -3.65239525e-02 6.94487948e+02] [ 1.19870558e-01 9.92787547e-01 -1.98387285e-03 3.91371823e+01] [ 3.64983177e-02 -2.40990983e-03 9.99330809e-01 2.53512596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.619254154 meters Centerline goodness : 0.998935 with order 1 Centerline is valid? [True, True] Translation: X:694.55, Y:39.14, Z:25.35 [[ 9.92250604e-01 -1.18763326e-01 -3.65241072e-02 6.94548651e+02] [ 1.18770497e-01 9.92919757e-01 -1.98102191e-03 3.91431111e+01] [ 3.65007804e-02 -2.37231618e-03 9.99330809e-01 2.53514789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.679254154 meters Centerline goodness : 0.999081 with order 1 Centerline is valid? [True, True] Translation: X:694.61, Y:39.16, Z:25.35 [[ 9.92541881e-01 -1.16303891e-01 -3.65242218e-02 6.94609421e+02] [ 1.16309481e-01 9.93211049e-01 -1.97890681e-03 3.91569469e+01] [ 3.65064152e-02 -2.28396540e-03 9.99330809e-01 2.53512794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.739254154 meters Centerline goodness : 0.999204 with order 1 Centerline is valid? [True, True] Translation: X:694.67, Y:39.17, Z:25.35 [[ 9.93553480e-01 -1.07319406e-01 -3.65243327e-02 6.94671433e+02] [ 1.07319017e-01 9.94222672e-01 -1.97685723e-03 3.91697856e+01] [ 3.65254748e-02 -1.95564211e-03 9.99330809e-01 2.53537889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.799254154 meters Centerline goodness : 0.999143 with order 1 Centerline is valid? [True, True] Translation: X:694.73, Y:39.18, Z:25.36 [[ 9.94300367e-01 -1.00163572e-01 -3.65245049e-02 6.94732657e+02] [ 1.00158482e-01 9.94969539e-01 -1.97367051e-03 3.91791058e+01] [ 3.65384597e-02 -1.69581767e-03 9.99330809e-01 2.53567448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.8592541539999 meters Centerline goodness : 0.999204 with order 1 Centerline is valid? [True, True] Translation: X:694.79, Y:39.19, Z:25.36 [[ 9.95271595e-01 -9.00022333e-02 -3.65246479e-02 6.94793850e+02] [ 8.99904058e-02 9.95940682e-01 -1.97102002e-03 3.91933086e+01] [ 3.65537790e-02 -1.32516765e-03 9.99330809e-01 2.53616612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.919254154 meters Centerline goodness : 0.999308 with order 1 Centerline is valid? [True, True] Translation: X:694.86, Y:39.20, Z:25.36 [[ 9.95813816e-01 -8.37901108e-02 -3.65247950e-02 6.94855874e+02] [ 8.37742085e-02 9.96482819e-01 -1.96829131e-03 3.92022883e+01] [ 3.65612540e-02 -1.09978411e-03 9.99330809e-01 2.53647559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.9792541539999 meters Centerline goodness : 0.999411 with order 1 Centerline is valid? [True, True] Translation: X:694.92, Y:39.21, Z:25.37 [[ 9.96475095e-01 -7.55202893e-02 -3.65249422e-02 6.94916122e+02] [ 7.54989340e-02 9.97143945e-01 -1.96555598e-03 3.92135555e+01] [ 3.65690643e-02 -7.98966614e-04 9.99330809e-01 2.53680124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.039254154 meters Centerline goodness : 0.999010 with order 1 Centerline is valid? [True, True] Translation: X:694.98, Y:39.21, Z:25.36 [[ 9.97391061e-01 -6.22654287e-02 -3.65251769e-02 6.94977487e+02] [ 6.22353430e-02 9.98059575e-01 -1.96118357e-03 3.92109550e+01] [ 3.65764165e-02 -3.17089955e-04 9.99330809e-01 2.53602891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.0992541539999 meters Centerline goodness : 0.999009 with order 1 Centerline is valid? [True, True] Translation: X:695.04, Y:39.23, Z:25.37 [[ 9.97141742e-01 -6.61381667e-02 -3.65251769e-02 6.95035801e+02] [ 6.61106773e-02 9.97810369e-01 -1.96118357e-03 3.92296196e+01] [ 3.65749094e-02 -4.59126184e-04 9.99330809e-01 2.53740961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.159254154 meters Centerline goodness : 0.998880 with order 1 Centerline is valid? [True, True] Translation: X:695.10, Y:39.23, Z:25.38 [[ 9.97242687e-01 -6.45983007e-02 -3.65251039e-02 6.95095347e+02] [ 6.45697290e-02 9.97911268e-01 -1.96254309e-03 3.92349238e+01] [ 3.65755897e-02 -4.01284320e-04 9.99330809e-01 2.53759818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.2192541539999 meters Centerline goodness : 0.998922 with order 1 Centerline is valid? [True, True] Translation: X:695.16, Y:39.24, Z:25.38 [[ 9.97133305e-01 -6.62653122e-02 -3.65250678e-02 6.95155345e+02] [ 6.62378337e-02 9.97801932e-01 -1.96321396e-03 3.92386881e+01] [ 3.65748762e-02 -4.61755340e-04 9.99330809e-01 2.53782449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.279254154 meters Centerline goodness : 0.999028 with order 1 Centerline is valid? [True, True] Translation: X:695.21, Y:39.24, Z:25.38 [[ 9.96767051e-01 -7.15637329e-02 -3.65250316e-02 6.95214590e+02] [ 7.15397835e-02 9.97435814e-01 -1.96388779e-03 3.92398909e+01] [ 3.65719178e-02 -6.55454215e-04 9.99330809e-01 2.53794919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.339254154 meters Centerline goodness : 0.998695 with order 1 Centerline is valid? [True, True] Translation: X:695.28, Y:39.23, Z:25.38 [[ 9.96922160e-01 -6.93695224e-02 -3.65249960e-02 6.95275266e+02] [ 6.93440768e-02 9.97590868e-01 -1.96455065e-03 3.92335951e+01] [ 3.65732824e-02 -5.74288044e-04 9.99330809e-01 2.53751650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.399254154 meters Centerline goodness : 0.998906 with order 1 Centerline is valid? [True, True] Translation: X:695.34, Y:39.24, Z:25.39 [[ 9.96093514e-01 -8.03967591e-02 -3.65249588e-02 6.95335052e+02] [ 8.03786894e-02 9.96762461e-01 -1.96524096e-03 3.92383610e+01] [ 3.65647068e-02 -9.78264547e-04 9.99330809e-01 2.53874203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.459254154 meters Centerline goodness : 0.998846 with order 1 Centerline is valid? [True, True] Translation: X:695.40, Y:39.24, Z:25.39 [[ 9.95452719e-01 -8.79761996e-02 -3.65249588e-02 6.95396023e+02] [ 8.79632221e-02 9.96121784e-01 -1.96524096e-03 3.92403585e+01] [ 3.65562016e-02 -1.25654861e-03 9.99330809e-01 2.53874491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.519254154 meters Centerline goodness : 0.999098 with order 1 Centerline is valid? [True, True] Translation: X:695.46, Y:39.24, Z:25.39 [[ 9.95057367e-01 -9.23403778e-02 -3.65252178e-02 6.95458705e+02] [ 9.23305111e-02 9.95726485e-01 -1.96041590e-03 3.92405731e+01] [ 3.65501523e-02 -1.42166575e-03 9.99330809e-01 2.53908759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.579254154 meters Centerline goodness : 0.999327 with order 1 Centerline is valid? [True, True] Translation: X:695.52, Y:39.24, Z:25.39 [[ 9.94767339e-01 -9.54140399e-02 -3.65253593e-02 6.95521211e+02] [ 9.54063371e-02 9.95436486e-01 -1.95777604e-03 3.92397737e+01] [ 3.65454746e-02 -1.53721909e-03 9.99330809e-01 2.53923004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.639254154 meters Centerline goodness : 0.999391 with order 1 Centerline is valid? [True, True] Translation: X:695.58, Y:39.24, Z:25.40 [[ 9.94705423e-01 -9.60573225e-02 -3.65254999e-02 6.95583512e+02] [ 9.60501488e-02 9.95374576e-01 -1.95514844e-03 3.92383935e+01] [ 3.65443603e-02 -1.56348295e-03 9.99330809e-01 2.53951397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.699254154 meters Centerline goodness : 0.999307 with order 1 Centerline is valid? [True, True] Translation: X:695.64, Y:39.24, Z:25.40 [[ 9.94981220e-01 -9.31571196e-02 -3.65256428e-02 6.95644444e+02] [ 9.31480931e-02 9.95650351e-01 -1.95247651e-03 3.92402851e+01] [ 3.65486561e-02 -1.45961651e-03 9.99330809e-01 2.53970535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.759254154 meters Centerline goodness : 0.999202 with order 1 Centerline is valid? [True, True] Translation: X:695.71, Y:39.23, Z:25.39 [[ 9.96402073e-01 -7.64773101e-02 -3.65257483e-02 6.95707007e+02] [ 7.64571488e-02 9.97070960e-01 -1.95050023e-03 3.92333139e+01] [ 3.65679319e-02 -8.49172100e-04 9.99330809e-01 2.53880302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.819254154 meters Centerline goodness : 0.999432 with order 1 Centerline is valid? [True, True] Translation: X:695.77, Y:39.24, Z:25.40 [[ 9.96545604e-01 -7.45836738e-02 -3.65258215e-02 6.95765829e+02] [ 7.45622917e-02 9.97214453e-01 -1.94912876e-03 3.92422969e+01] [ 3.65694503e-02 -7.81053260e-04 9.99330809e-01 2.53995784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.879254154 meters Centerline goodness : 0.999495 with order 1 Centerline is valid? [True, True] Translation: X:695.83, Y:39.25, Z:25.41 [[ 9.96933605e-01 -6.92044121e-02 -3.65258215e-02 6.95825625e+02] [ 6.91794206e-02 9.97602330e-01 -1.94912876e-03 3.92450726e+01] [ 3.65731329e-02 -5.83683206e-04 9.99330809e-01 2.54061639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.939254154 meters Centerline goodness : 0.999411 with order 1 Centerline is valid? [True, True] Translation: X:695.88, Y:39.25, Z:25.41 [[ 9.97443789e-01 -6.14146380e-02 -3.65257464e-02 6.95884105e+02] [ 6.13843720e-02 9.98112295e-01 -1.95053423e-03 3.92451322e+01] [ 3.65765880e-02 -2.96561751e-04 9.99330809e-01 2.54074138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.999254154 meters Centerline goodness : 0.999159 with order 1 Centerline is valid? [True, True] Translation: X:695.94, Y:39.24, Z:25.41 [[ 9.97654438e-01 -5.78921460e-02 -3.65256415e-02 6.95942341e+02] [ 5.78594478e-02 9.98322830e-01 -1.95249651e-03 3.92449080e+01] [ 3.65774160e-02 -1.65436646e-04 9.99330809e-01 2.54100691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.059254154 meters Centerline goodness : 0.999244 with order 1 Centerline is valid? [True, True] Translation: X:696.00, Y:39.24, Z:25.41 [[ 9.97882431e-01 -5.38198216e-02 -3.65250573e-02 6.95999083e+02] [ 5.37839979e-02 9.98550663e-01 -1.96336446e-03 3.92418527e+01] [ 3.65777882e-02 -5.25670775e-06 9.99330809e-01 2.54105661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.119254154 meters Centerline goodness : 0.999118 with order 1 Centerline is valid? [True, True] Translation: X:696.06, Y:39.24, Z:25.41 [[ 9.97987105e-01 -5.18429167e-02 -3.65246576e-02 6.96057143e+02] [ 5.18054981e-02 9.98655249e-01 -1.97077388e-03 3.92387299e+01] [ 3.65777117e-02 7.46288464e-05 9.99330809e-01 2.54136099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.179254154 meters Centerline goodness : 0.999350 with order 1 Centerline is valid? [True, True] Translation: X:696.12, Y:39.24, Z:25.42 [[ 9.98053321e-01 -5.05525369e-02 -3.65240890e-02 6.96115303e+02] [ 5.05138710e-02 9.98721394e-01 -1.98125465e-03 3.92364022e+01] [ 3.65775466e-02 1.32424660e-04 9.99330809e-01 2.54165913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.239254154 meters Centerline goodness : 0.998996 with order 1 Centerline is valid? [True, True] Translation: X:696.17, Y:39.23, Z:25.42 [[ 9.98205998e-01 -4.74427989e-02 -3.65234944e-02 6.96173945e+02] [ 4.74016528e-02 9.98873923e-01 -1.99215565e-03 3.92308725e+01] [ 3.65768796e-02 2.57307714e-04 9.99330809e-01 2.54175977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.299254154 meters Centerline goodness : 0.999203 with order 1 Centerline is valid? [True, True] Translation: X:696.23, Y:39.23, Z:25.42 [[ 9.98319954e-01 -4.49812929e-02 -3.65233118e-02 6.96232847e+02] [ 4.49383777e-02 9.98987768e-01 -1.99549915e-03 3.92296824e+01] [ 3.65761018e-02 3.50848236e-04 9.99330809e-01 2.54215175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.3592541539999 meters Centerline goodness : 0.999143 with order 1 Centerline is valid? [True, True] Translation: X:696.29, Y:39.22, Z:25.42 [[ 9.98428384e-01 -4.25070315e-02 -3.65227982e-02 6.96291615e+02] [ 4.24621192e-02 9.99096066e-01 -2.00485442e-03 3.92238773e+01] [ 3.65750044e-02 4.50868142e-04 9.99330809e-01 2.54235217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.419254154 meters Centerline goodness : 0.999205 with order 1 Centerline is valid? [True, True] Translation: X:696.35, Y:39.22, Z:25.43 [[ 9.98345097e-01 -4.44206804e-02 -3.65221986e-02 6.96349632e+02] [ 4.43766505e-02 9.99012838e-01 -2.01571869e-03 3.92166925e+01] [ 3.65756849e-02 3.91650028e-04 9.99330809e-01 2.54254951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.4792541539999 meters Centerline goodness : 0.999247 with order 1 Centerline is valid? [True, True] Translation: X:696.41, Y:39.21, Z:25.43 [[ 9.98157059e-01 -4.84626459e-02 -3.65220147e-02 6.96407387e+02] [ 4.84211984e-02 9.98824965e-01 -2.01904525e-03 3.92126402e+01] [ 3.65769483e-02 2.46884549e-04 9.99330809e-01 2.54272219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.539254154 meters Centerline goodness : 0.999560 with order 1 Centerline is valid? [True, True] Translation: X:696.47, Y:39.20, Z:25.43 [[ 9.97835980e-01 -5.46764814e-02 -3.65217588e-02 6.96465484e+02] [ 5.46390243e-02 9.98504122e-01 -2.02366357e-03 3.92039906e+01] [ 3.65777735e-02 2.37710552e-05 9.99330809e-01 2.54288690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.5992541539999 meters Centerline goodness : 0.999581 with order 1 Centerline is valid? [True, True] Translation: X:696.52, Y:39.20, Z:25.43 [[ 9.97666861e-01 -5.76805079e-02 -3.65211496e-02 6.96523482e+02] [ 5.76446622e-02 9.98335091e-01 -2.03459815e-03 3.91988683e+01] [ 3.65777019e-02 -7.53981857e-05 9.99330809e-01 2.54277868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.659254154 meters Centerline goodness : 0.999645 with order 1 Centerline is valid? [True, True] Translation: X:696.58, Y:39.19, Z:25.43 [[ 9.97478785e-01 -6.08464752e-02 -3.65209626e-02 6.96581839e+02] [ 6.08126277e-02 9.98147119e-01 -2.03795081e-03 3.91927563e+01] [ 3.65772957e-02 -1.88123005e-04 9.99330809e-01 2.54301022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.7192541539999 meters Centerline goodness : 0.999560 with order 1 Centerline is valid? [True, True] Translation: X:696.64, Y:39.19, Z:25.43 [[ 9.97365803e-01 -6.26715036e-02 -3.65203681e-02 6.96639849e+02] [ 6.26384910e-02 9.98034179e-01 -2.04854926e-03 3.91903095e+01] [ 3.65769612e-02 -2.44427770e-04 9.99330809e-01 2.54318068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.779254154 meters Centerline goodness : 0.999623 with order 1 Centerline is valid? [True, True] Translation: X:696.70, Y:39.18, Z:25.43 [[ 9.97163718e-01 -6.58090088e-02 -3.65197703e-02 6.96697940e+02] [ 6.57777109e-02 9.97832177e-01 -2.05915023e-03 3.91843974e+01] [ 3.65761126e-02 -3.48876999e-04 9.99330809e-01 2.54338331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.839254154 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:696.76, Y:39.18, Z:25.44 [[ 9.96845317e-01 -7.04680181e-02 -3.65194911e-02 6.96755834e+02] [ 7.04396633e-02 9.97513906e-01 -2.06409097e-03 3.91793803e+01] [ 3.65741526e-02 -5.14841240e-04 9.99330809e-01 2.54365505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.899254154 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:696.81, Y:39.18, Z:25.44 [[ 9.96646041e-01 -7.32326183e-02 -3.65192155e-02 6.96813707e+02] [ 7.32059398e-02 9.97314699e-01 -2.06895581e-03 3.91785525e+01] [ 3.65726654e-02 -6.11406873e-04 9.99330809e-01 2.54402361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.959254154 meters Centerline goodness : 0.999770 with order 1 Centerline is valid? [True, True] Translation: X:696.87, Y:39.18, Z:25.44 [[ 9.96447735e-01 -7.58834758e-02 -3.65186316e-02 6.96871668e+02] [ 7.58582004e-02 9.97116448e-01 -2.07921034e-03 3.91774125e+01] [ 3.65711059e-02 -6.98413240e-04 9.99330809e-01 2.54429298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.019254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:696.93, Y:39.18, Z:25.45 [[ 9.96411087e-01 -7.63634604e-02 -3.65180325e-02 6.96929344e+02] [ 7.63381235e-02 9.97079798e-01 -2.08968028e-03 3.91774669e+01] [ 3.65709677e-02 -7.05537471e-04 9.99330809e-01 2.54452486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.079254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:696.99, Y:39.18, Z:25.45 [[ 9.96444436e-01 -7.59273554e-02 -3.65174369e-02 6.96985934e+02] [ 7.59013464e-02 9.97113121e-01 -2.10003671e-03 3.91776196e+01] [ 3.65714657e-02 -6.79152738e-04 9.99330809e-01 2.54485298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.139254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:697.04, Y:39.18, Z:25.45 [[ 9.96503143e-01 -7.51531285e-02 -3.65170298e-02 6.97043883e+02] [ 7.51263416e-02 9.97171797e-01 -2.10709229e-03 3.91783233e+01] [ 3.65721068e-02 -6.43666762e-04 9.99330809e-01 2.54514373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.199254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:697.10, Y:39.18, Z:25.45 [[ 9.96453504e-01 -7.58087503e-02 -3.65164130e-02 6.97101769e+02] [ 7.57820136e-02 9.97122160e-01 -2.11772838e-03 3.91802927e+01] [ 3.65718669e-02 -6.57069438e-04 9.99330809e-01 2.54535290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.259254154 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:697.16, Y:39.18, Z:25.45 [[ 9.96212564e-01 -7.89121359e-02 -3.65157861e-02 6.97159370e+02] [ 7.88870880e-02 9.96881285e-01 -2.12848388e-03 3.91804321e+01] [ 3.65698669e-02 -7.60201643e-04 9.99330810e-01 2.54534035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.319254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:697.22, Y:39.18, Z:25.45 [[ 9.95954145e-01 -8.21095839e-02 -3.65151632e-02 6.97218892e+02] [ 8.20862932e-02 9.96622930e-01 -2.13911567e-03 3.91774635e+01] [ 3.65674909e-02 -8.66933279e-04 9.99330810e-01 2.54516693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.379254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:697.28, Y:39.18, Z:25.46 [[ 9.95009162e-01 -9.28625441e-02 -3.65145982e-02 6.97276441e+02] [ 9.28461267e-02 9.95678151e-01 -2.14871692e-03 3.91846988e+01] [ 3.65563230e-02 -1.25224600e-03 9.99330810e-01 2.54606482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.439254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:697.33, Y:39.19, Z:25.46 [[ 9.94618547e-01 -9.69569180e-02 -3.65143994e-02 6.97334744e+02] [ 9.69431304e-02 9.95287596e-01 -2.15209116e-03 3.91874906e+01] [ 3.65509889e-02 -1.39931039e-03 9.99330810e-01 2.54628867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.499254154 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:697.39, Y:39.19, Z:25.46 [[ 9.93302046e-01 -1.09625674e-01 -3.65137911e-02 6.97391735e+02] [ 1.09620038e-01 9.93971213e-01 -2.16236314e-03 3.91899166e+01] [ 3.65307077e-02 -1.85476344e-03 9.99330810e-01 2.54626257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.559254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:697.45, Y:39.19, Z:25.47 [[ 9.92553574e-01 -1.16207472e-01 -3.65133744e-02 6.97449730e+02] [ 1.16206014e-01 9.93222763e-01 -2.16937519e-03 3.91926340e+01] [ 3.65180122e-02 -2.08985261e-03 9.99330810e-01 2.54658565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.619254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:697.51, Y:39.20, Z:25.47 [[ 9.91568476e-01 -1.24333349e-01 -3.65126916e-02 6.97506048e+02] [ 1.24336954e-01 9.92237656e-01 -2.18080759e-03 3.92002949e+01] [ 3.65004147e-02 -2.37745680e-03 9.99330810e-01 2.54687750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.679254154 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:697.56, Y:39.21, Z:25.47 [[ 9.91317332e-01 -1.26320193e-01 -3.65123986e-02 6.97563486e+02] [ 1.26324959e-01 9.91986506e-01 -2.18570199e-03 3.92082306e+01] [ 3.64959050e-02 -2.44570298e-03 9.99330810e-01 2.54690609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.739254154 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:697.62, Y:39.22, Z:25.47 [[ 9.91388291e-01 -1.25762268e-01 -3.65117469e-02 6.97620471e+02] [ 1.25766260e-01 9.92057470e-01 -2.19653522e-03 3.92162906e+01] [ 3.64979925e-02 -2.41432657e-03 9.99330810e-01 2.54729522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.799254154 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:697.68, Y:39.23, Z:25.47 [[ 9.91638706e-01 -1.23772328e-01 -3.65114666e-02 6.97678390e+02] [ 1.23774807e-01 9.92307892e-01 -2.20118430e-03 3.92264690e+01] [ 3.65030622e-02 -2.33642019e-03 9.99330810e-01 2.54723526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.8592541539999 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:697.74, Y:39.23, Z:25.47 [[ 9.92376623e-01 -1.17709799e-01 -3.65108274e-02 6.97737431e+02] [ 1.17707801e-01 9.93045811e-01 -2.21173615e-03 3.92305111e+01] [ 3.65172672e-02 -2.10273397e-03 9.99330810e-01 2.54701839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.919254154 meters Centerline goodness : 0.999645 with order 1 Centerline is valid? [True, True] Translation: X:697.79, Y:39.25, Z:25.48 [[ 9.91908178e-01 -1.21594290e-01 -3.65102173e-02 6.97794010e+02] [ 1.21594545e-01 9.92577367e-01 -2.22176281e-03 3.92482947e+01] [ 3.65093690e-02 -2.23565855e-03 9.99330810e-01 2.54754849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.9792541539999 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:697.85, Y:39.26, Z:25.48 [[ 9.92141301e-01 -1.19677313e-01 -3.65100041e-02 6.97850741e+02] [ 1.19676147e-01 9.92810490e-01 -2.22526002e-03 3.92607205e+01] [ 3.65138282e-02 -2.16160423e-03 9.99330810e-01 2.54797797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.039254154 meters Centerline goodness : 0.999666 with order 1 Centerline is valid? [True, True] Translation: X:697.91, Y:39.27, Z:25.48 [[ 9.92531390e-01 -1.16398058e-01 -3.65093377e-02 6.97908704e+02] [ 1.16394281e-01 9.93200569e-01 -2.23614158e-03 3.92707392e+01] [ 3.65213775e-02 -2.03003739e-03 9.99330810e-01 2.54838786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.0992541539999 meters Centerline goodness : 0.999625 with order 1 Centerline is valid? [True, True] Translation: X:697.97, Y:39.28, Z:25.49 [[ 9.93793326e-01 -1.05080618e-01 -3.65087576e-02 6.97966155e+02] [ 1.05068870e-01 9.94462413e-01 -2.24557229e-03 3.92844861e+01] [ 3.65425533e-02 -1.60429916e-03 9.99330810e-01 2.54882679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.159254154 meters Centerline goodness : 0.999625 with order 1 Centerline is valid? [True, True] Translation: X:698.02, Y:39.29, Z:25.49 [[ 9.94804101e-01 -9.50365863e-02 -3.65081805e-02 6.98024395e+02] [ 9.50177378e-02 9.95473026e-01 -2.25491509e-03 3.92947229e+01] [ 3.65572084e-02 -1.22572594e-03 9.99330810e-01 2.54908794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.2192541539999 meters Centerline goodness : 0.999624 with order 1 Centerline is valid? [True, True] Translation: X:698.08, Y:39.31, Z:25.49 [[ 9.95925625e-01 -8.24581321e-02 -3.65076043e-02 6.98081790e+02] [ 8.24304918e-02 9.96594244e-01 -2.26420588e-03 3.93074273e+01] [ 3.65699705e-02 -7.54359125e-04 9.99330810e-01 2.54925628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.279254154 meters Centerline goodness : 0.998118 with order 1 Centerline is valid? [True, True] Translation: X:698.14, Y:39.32, Z:25.49 [[ 9.96422226e-01 -7.62232881e-02 -3.65069475e-02 6.98140527e+02] [ 7.61910775e-02 9.97090640e-01 -2.27474739e-03 3.93158824e+01] [ 3.65741244e-02 -5.14894802e-04 9.99330810e-01 2.54883876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.339254154 meters Centerline goodness : 0.999561 with order 1 Centerline is valid? [True, True] Translation: X:698.20, Y:39.32, Z:25.49 [[ 9.96300302e-01 -7.78010033e-02 -3.65063374e-02 6.98198295e+02] [ 7.77694940e-02 9.96968749e-01 -2.28449580e-03 3.93212941e+01] [ 3.65734136e-02 -5.63035533e-04 9.99330810e-01 2.54934150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.399254154 meters Centerline goodness : 0.999665 with order 1 Centerline is valid? [True, True] Translation: X:698.26, Y:39.33, Z:25.50 [[ 9.95806320e-01 -8.38872853e-02 -3.65061026e-02 6.98255675e+02] [ 8.38597237e-02 9.96474942e-01 -2.28824263e-03 3.93265344e+01] [ 3.65693709e-02 -7.82745199e-04 9.99330810e-01 2.54955154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.459254154 meters Centerline goodness : 0.999498 with order 1 Centerline is valid? [True, True] Translation: X:698.31, Y:39.33, Z:25.50 [[ 9.95353962e-01 -8.90943783e-02 -3.65059102e-02 6.98313926e+02] [ 8.90702019e-02 9.96022715e-01 -2.29130740e-03 3.93305432e+01] [ 3.65648584e-02 -9.70926898e-04 9.99330810e-01 2.54977785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.519254154 meters Centerline goodness : 0.999561 with order 1 Centerline is valid? [True, True] Translation: X:698.37, Y:39.33, Z:25.50 [[ 9.94424380e-01 -9.89318698e-02 -3.65053202e-02 6.98371131e+02] [ 9.89139638e-02 9.95093330e-01 -2.30066910e-03 3.93342512e+01] [ 3.65538102e-02 -1.32304448e-03 9.99330810e-01 2.55007378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.579254154 meters Centerline goodness : 0.999331 with order 1 Centerline is valid? [True, True] Translation: X:698.43, Y:39.34, Z:25.50 [[ 9.93978235e-01 -1.03318178e-01 -3.65051118e-02 6.98430173e+02] [ 1.03303102e-01 9.94647254e-01 -2.30397116e-03 3.93387159e+01] [ 3.65477514e-02 -1.48099410e-03 9.99330810e-01 2.55002105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.639254154 meters Centerline goodness : 0.999270 with order 1 Centerline is valid? [True, True] Translation: X:698.49, Y:39.35, Z:25.51 [[ 9.93346080e-01 -1.09228893e-01 -3.65049897e-02 6.98490173e+02] [ 1.09217727e-01 9.94015176e-01 -2.30590407e-03 3.93461592e+01] [ 3.65383852e-02 -1.69643123e-03 9.99330810e-01 2.55079457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.699254154 meters Centerline goodness : 0.999270 with order 1 Centerline is valid? [True, True] Translation: X:698.55, Y:39.35, Z:25.51 [[ 9.93027201e-01 -1.12090873e-01 -3.65049897e-02 6.98551682e+02] [ 1.12081635e-01 9.93696327e-01 -2.30590407e-03 3.93510562e+01] [ 3.65333450e-02 -1.80171347e-03 9.99330810e-01 2.55087097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.759254154 meters Centerline goodness : 0.999354 with order 1 Centerline is valid? [True, True] Translation: X:698.61, Y:39.36, Z:25.51 [[ 9.92655742e-01 -1.15334114e-01 -3.65050764e-02 6.98611511e+02] [ 1.15327111e-01 9.93324895e-01 -2.30453094e-03 3.93585140e+01] [ 3.65271922e-02 -1.92241914e-03 9.99330810e-01 2.55127794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.819254154 meters Centerline goodness : 0.999063 with order 1 Centerline is valid? [True, True] Translation: X:698.67, Y:39.36, Z:25.51 [[ 9.93206591e-01 -1.10490019e-01 -3.65051190e-02 6.98672909e+02] [ 1.10479777e-01 9.93875702e-01 -2.30385575e-03 3.93629732e+01] [ 3.65361039e-02 -1.74487268e-03 9.99330810e-01 2.55095032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.879254154 meters Centerline goodness : 0.999210 with order 1 Centerline is valid? [True, True] Translation: X:698.73, Y:39.38, Z:25.52 [[ 9.92978620e-01 -1.12520350e-01 -3.65052084e-02 6.98732819e+02] [ 1.12511528e-01 9.93647752e-01 -2.30243913e-03 3.93754886e+01] [ 3.65323895e-02 -1.82098394e-03 9.99330810e-01 2.55180238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.939254154 meters Centerline goodness : 0.999146 with order 1 Centerline is valid? [True, True] Translation: X:698.79, Y:39.38, Z:25.52 [[ 9.93587080e-01 -1.07014377e-01 -3.65052959e-02 6.98794172e+02] [ 1.07001897e-01 9.94256154e-01 -2.30105128e-03 3.93844980e+01] [ 3.65418606e-02 -1.61984107e-03 9.99330810e-01 2.55183603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.999254154 meters Centerline goodness : 0.999185 with order 1 Centerline is valid? [True, True] Translation: X:698.85, Y:39.40, Z:25.52 [[ 9.94360696e-01 -9.95698913e-02 -3.65053814e-02 6.98854991e+02] [ 9.95524502e-02 9.95029658e-01 -2.29969300e-03 3.93952305e+01] [ 3.65529174e-02 -1.34747583e-03 9.99330810e-01 2.55204676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.059254154 meters Centerline goodness : 0.999122 with order 1 Centerline is valid? [True, True] Translation: X:698.92, Y:39.40, Z:25.52 [[ 9.94825642e-01 -9.48118824e-02 -3.65054660e-02 6.98916051e+02] [ 9.47912906e-02 9.95494515e-01 -2.29834940e-03 3.94033605e+01] [ 3.65589020e-02 -1.17394332e-03 9.99330810e-01 2.55218520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.119254154 meters Centerline goodness : 0.999226 with order 1 Centerline is valid? [True, True] Translation: X:698.98, Y:39.41, Z:25.52 [[ 9.95347222e-01 -8.91697999e-02 -3.65055495e-02 6.98975654e+02] [ 8.91454646e-02 9.96015969e-01 -2.29702314e-03 3.94125807e+01] [ 3.65649353e-02 -9.67968566e-04 9.99330810e-01 2.55228981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.179254154 meters Centerline goodness : 0.999183 with order 1 Centerline is valid? [True, True] Translation: X:699.04, Y:39.42, Z:25.53 [[ 9.95528333e-01 -8.71245260e-02 -3.65055495e-02 6.99036208e+02] [ 8.70988167e-02 9.96197029e-01 -2.29702314e-03 3.94190609e+01] [ 3.65668470e-02 -8.92838546e-04 9.99330810e-01 2.55254749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.239254154 meters Centerline goodness : 0.999372 with order 1 Centerline is valid? [True, True] Translation: X:699.10, Y:39.43, Z:25.53 [[ 9.95542130e-01 -8.69667311e-02 -3.65055495e-02 6.99096837e+02] [ 8.69409158e-02 9.96210821e-01 -2.29702314e-03 3.94274989e+01] [ 3.65669880e-02 -8.87042594e-04 9.99330810e-01 2.55280979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.299254154 meters Centerline goodness : 0.999183 with order 1 Centerline is valid? [True, True] Translation: X:699.16, Y:39.43, Z:25.53 [[ 9.95446666e-01 -8.80526764e-02 -3.65056323e-02 6.99156729e+02] [ 8.80276389e-02 9.96115387e-01 -2.29570601e-03 3.94331778e+01] [ 3.65659651e-02 -9.28251723e-04 9.99330810e-01 2.55321631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.3592541539999 meters Centerline goodness : 0.999434 with order 1 Centerline is valid? [True, True] Translation: X:699.22, Y:39.44, Z:25.54 [[ 9.95217923e-01 -9.06014422e-02 -3.65056730e-02 6.99217524e+02] [ 9.05781409e-02 9.95886707e-01 -2.29505825e-03 3.94400273e+01] [ 3.65634501e-02 -1.02253289e-03 9.99330810e-01 2.55357079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.419254154 meters Centerline goodness : 0.999287 with order 1 Centerline is valid? [True, True] Translation: X:699.28, Y:39.44, Z:25.54 [[ 9.94952231e-01 -9.34739978e-02 -3.65057547e-02 6.99278348e+02] [ 9.34526749e-02 9.95621081e-01 -2.29375792e-03 3.94446424e+01] [ 3.65603057e-02 -1.12938087e-03 9.99330810e-01 2.55365635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.4792541539999 meters Centerline goodness : 0.999455 with order 1 Centerline is valid? [True, True] Translation: X:699.34, Y:39.45, Z:25.54 [[ 9.94336898e-01 -9.98070963e-02 -3.65058356e-02 6.99340478e+02] [ 9.97900796e-02 9.95005872e-01 -2.29247026e-03 3.94512857e+01] [ 3.65523256e-02 -1.36343248e-03 9.99330810e-01 2.55427872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.539254154 meters Centerline goodness : 0.999559 with order 1 Centerline is valid? [True, True] Translation: X:699.40, Y:39.46, Z:25.54 [[ 9.93660553e-01 -1.06329759e-01 -3.65060027e-02 6.99401800e+02] [ 1.06317230e-01 9.94329625e-01 -2.28980636e-03 3.94570260e+01] [ 3.65424745e-02 -1.60592683e-03 9.99330810e-01 2.55445382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.5992541539999 meters Centerline goodness : 0.999643 with order 1 Centerline is valid? [True, True] Translation: X:699.46, Y:39.46, Z:25.55 [[ 9.93257101e-01 -1.10034698e-01 -3.65061260e-02 6.99464015e+02] [ 1.10024737e-01 9.93926216e-01 -2.28783822e-03 3.94608601e+01] [ 3.65361373e-02 -1.74416534e-03 9.99330810e-01 2.55455423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.659254154 meters Centerline goodness : 0.999580 with order 1 Centerline is valid? [True, True] Translation: X:699.52, Y:39.47, Z:25.55 [[ 9.92919571e-01 -1.13039886e-01 -3.65062930e-02 6.99524632e+02] [ 1.13032047e-01 9.93588715e-01 -2.28517059e-03 3.94673288e+01] [ 3.65305562e-02 -1.85739044e-03 9.99330810e-01 2.55465465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.7192541539999 meters Centerline goodness : 0.999642 with order 1 Centerline is valid? [True, True] Translation: X:699.59, Y:39.47, Z:25.55 [[ 9.92880514e-01 -1.13382340e-01 -3.65065711e-02 6.99586596e+02] [ 1.13374895e-01 9.93549662e-01 -2.28071898e-03 3.94733370e+01] [ 3.65296847e-02 -1.87444724e-03 9.99330810e-01 2.55477886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.779254154 meters Centerline goodness : 0.999453 with order 1 Centerline is valid? [True, True] Translation: X:699.65, Y:39.48, Z:25.55 [[ 9.93063854e-01 -1.11765106e-01 -3.65067385e-02 6.99647881e+02] [ 1.11756670e-01 9.93732991e-01 -2.27803720e-03 3.94804064e+01] [ 3.65325555e-02 -1.81763512e-03 9.99330810e-01 2.55479633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.839254154 meters Centerline goodness : 0.999494 with order 1 Centerline is valid? [True, True] Translation: X:699.71, Y:39.49, Z:25.55 [[ 9.93520139e-01 -1.07633508e-01 -3.65070142e-02 6.99709848e+02] [ 1.07622451e-01 9.94189237e-01 -2.27361048e-03 3.94885346e+01] [ 3.65395972e-02 -1.67009655e-03 9.99330810e-01 2.55520619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.899254154 meters Centerline goodness : 0.999514 with order 1 Centerline is valid? [True, True] Translation: X:699.77, Y:39.50, Z:25.56 [[ 9.94032706e-01 -1.02792048e-01 -3.65071782e-02 6.99771253e+02] [ 1.02777828e-01 9.94701745e-01 -2.27097305e-03 3.94959347e+01] [ 3.65471918e-02 -1.49470701e-03 9.99330810e-01 2.55554498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.959254154 meters Centerline goodness : 0.999429 with order 1 Centerline is valid? [True, True] Translation: X:699.83, Y:39.51, Z:25.56 [[ 9.94923486e-01 -9.37788352e-02 -3.65073512e-02 6.99832856e+02] [ 9.37586545e-02 9.95592371e-01 -2.26818885e-03 3.95054816e+01] [ 3.65591485e-02 -1.16620577e-03 9.99330810e-01 2.55593249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.019254154 meters Centerline goodness : 0.999303 with order 1 Centerline is valid? [True, True] Translation: X:699.89, Y:39.52, Z:25.56 [[ 9.95531298e-01 -8.70898158e-02 -3.65075228e-02 6.99893983e+02] [ 8.70652413e-02 9.96200036e-01 -2.26542320e-03 3.95150824e+01] [ 3.65660908e-02 -9.23236582e-04 9.99330810e-01 2.55608354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.079254154 meters Centerline goodness : 0.999429 with order 1 Centerline is valid? [True, True] Translation: X:699.96, Y:39.52, Z:25.56 [[ 9.95800480e-01 -8.39559093e-02 -3.65076493e-02 6.99956241e+02] [ 8.39293048e-02 9.96469141e-01 -2.26338330e-03 3.95227796e+01] [ 3.65687703e-02 -8.10183446e-04 9.99330810e-01 2.55628992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.139254154 meters Centerline goodness : 0.999003 with order 1 Centerline is valid? [True, True] Translation: X:700.02, Y:39.53, Z:25.56 [[ 9.96049877e-01 -8.09433199e-02 -3.65078156e-02 7.00016938e+02] [ 8.09147913e-02 9.96718459e-01 -2.26069798e-03 3.95315559e+01] [ 3.65710021e-02 -7.02254332e-04 9.99330810e-01 2.55635137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.199254154 meters Centerline goodness : 0.998768 with order 1 Centerline is valid? [True, True] Translation: X:700.08, Y:39.54, Z:25.57 [[ 9.96155029e-01 -7.96386699e-02 -3.65080973e-02 7.00078706e+02] [ 7.96094326e-02 9.96823579e-01 -2.25613947e-03 3.95394384e+01] [ 3.65718081e-02 -6.58924228e-04 9.99330810e-01 2.55658770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.259254154 meters Centerline goodness : 0.998914 with order 1 Centerline is valid? [True, True] Translation: X:700.14, Y:39.55, Z:25.57 [[ 9.96218209e-01 -7.88443272e-02 -3.65082601e-02 7.00140536e+02] [ 7.88146535e-02 9.96886740e-01 -2.25350196e-03 3.95463418e+01] [ 3.65722762e-02 -6.32406179e-04 9.99330810e-01 2.55688941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.319254154 meters Centerline goodness : 0.998893 with order 1 Centerline is valid? [True, True] Translation: X:700.20, Y:39.55, Z:25.57 [[ 9.96241193e-01 -7.85532993e-02 -3.65084222e-02 7.00201013e+02] [ 7.85235266e-02 9.96909720e-01 -2.25087198e-03 3.95530326e+01] [ 3.65724144e-02 -6.24358673e-04 9.99330810e-01 2.55716109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.379254154 meters Centerline goodness : 0.998956 with order 1 Centerline is valid? [True, True] Translation: X:700.26, Y:39.56, Z:25.57 [[ 9.96046744e-01 -8.09815372e-02 -3.65085419e-02 7.00263003e+02] [ 8.09534655e-02 9.96715345e-01 -2.24892874e-03 3.95599707e+01] [ 3.65707457e-02 -7.15454837e-04 9.99330810e-01 2.55746772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.439254154 meters Centerline goodness : 0.999107 with order 1 Centerline is valid? [True, True] Translation: X:700.33, Y:39.57, Z:25.58 [[ 9.95542426e-01 -8.69620187e-02 -3.65086995e-02 7.00325120e+02] [ 8.69380567e-02 9.96211187e-01 -2.24636781e-03 3.95651003e+01] [ 3.65657235e-02 -9.37640931e-04 9.99330810e-01 2.55775458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.499254154 meters Centerline goodness : 0.999297 with order 1 Centerline is valid? [True, True] Translation: X:700.39, Y:39.57, Z:25.58 [[ 9.95083844e-01 -9.20611042e-02 -3.65088607e-02 7.00387412e+02] [ 9.20406647e-02 9.95752721e-01 -2.24374501e-03 3.95697421e+01] [ 3.65603590e-02 -1.12758540e-03 9.99330810e-01 2.55807294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.559254154 meters Centerline goodness : 0.998979 with order 1 Centerline is valid? [True, True] Translation: X:700.45, Y:39.57, Z:25.58 [[ 9.95051210e-01 -9.24130974e-02 -3.65090224e-02 7.00449594e+02] [ 9.23929911e-02 9.95720098e-01 -2.24111136e-03 3.95743515e+01] [ 3.65598754e-02 -1.14315721e-03 9.99330810e-01 2.55823756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.619254154 meters Centerline goodness : 0.999084 with order 1 Centerline is valid? [True, True] Translation: X:700.51, Y:39.58, Z:25.59 [[ 9.95359449e-01 -8.90317146e-02 -3.65091825e-02 7.00511317e+02] [ 8.90094314e-02 9.96028268e-01 -2.23850038e-03 3.95798597e+01] [ 3.65634753e-02 -1.02154907e-03 9.99330810e-01 2.55871929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.679254154 meters Centerline goodness : 0.999081 with order 1 Centerline is valid? [True, True] Translation: X:700.57, Y:39.58, Z:25.59 [[ 9.95924184e-01 -8.24747677e-02 -3.65093465e-02 7.00573699e+02] [ 8.24481786e-02 9.96592845e-01 -2.23582101e-03 3.95843052e+01] [ 3.65693524e-02 -7.83420903e-04 9.99330810e-01 2.55886348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.739254154 meters Centerline goodness : 0.998993 with order 1 Centerline is valid? [True, True] Translation: X:700.64, Y:39.59, Z:25.59 [[ 9.96258115e-01 -7.83378804e-02 -3.65095123e-02 7.00635226e+02] [ 7.83086138e-02 9.96926664e-01 -2.23311158e-03 3.95878668e+01] [ 3.65722435e-02 -6.34253762e-04 9.99330810e-01 2.55891963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.799254154 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:700.70, Y:39.59, Z:25.59 [[ 9.96484027e-01 -7.54097500e-02 -3.65096343e-02 7.00697120e+02] [ 7.53785919e-02 9.97152491e-01 -2.23111502e-03 3.95920659e+01] [ 3.65739206e-02 -5.28774342e-04 9.99330810e-01 2.55915413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.8592541539999 meters Centerline goodness : 0.999101 with order 1 Centerline is valid? [True, True] Translation: X:700.76, Y:39.60, Z:25.59 [[ 9.96493028e-01 -7.52906363e-02 -3.65097992e-02 7.00759746e+02] [ 7.52594973e-02 9.97161493e-01 -2.22841291e-03 3.95953658e+01] [ 3.65739445e-02 -5.27111202e-04 9.99330810e-01 2.55925557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.919254154 meters Centerline goodness : 0.999079 with order 1 Centerline is valid? [True, True] Translation: X:700.82, Y:39.60, Z:25.59 [[ 9.96068954e-01 -8.07072389e-02 -3.65100026e-02 7.00821848e+02] [ 8.06798570e-02 9.96737583e-01 -2.22507489e-03 3.95967627e+01] [ 3.65704714e-02 -7.29293773e-04 9.99330810e-01 2.55943492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.9792541539999 meters Centerline goodness : 0.998954 with order 1 Centerline is valid? [True, True] Translation: X:700.88, Y:39.60, Z:25.60 [[ 9.95586632e-01 -8.64538383e-02 -3.65101653e-02 7.00883133e+02] [ 8.64304132e-02 9.96255411e-01 -2.22240295e-03 3.95988097e+01] [ 3.65655850e-02 -9.42993999e-04 9.99330810e-01 2.55967529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.039254154 meters Centerline goodness : 0.998870 with order 1 Centerline is valid? [True, True] Translation: X:700.94, Y:39.60, Z:25.60 [[ 9.94832017e-01 -9.47431138e-02 -3.65102855e-02 7.00944651e+02] [ 9.47253323e-02 9.95500970e-01 -2.22042668e-03 3.95989690e+01] [ 3.65563947e-02 -1.24949737e-03 9.99330810e-01 2.55975188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.0992541539999 meters Centerline goodness : 0.999001 with order 1 Centerline is valid? [True, True] Translation: X:701.01, Y:39.60, Z:25.60 [[ 9.93182124e-01 -1.10707973e-01 -3.65104504e-02 7.01005549e+02] [ 1.10701037e-01 9.93851278e-01 -2.21771184e-03 3.95995014e+01] [ 3.65314761e-02 -1.83915295e-03 9.99330810e-01 2.56022054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.159254154 meters Centerline goodness : 0.999001 with order 1 Centerline is valid? [True, True] Translation: X:701.07, Y:39.60, Z:25.61 [[ 9.91827114e-01 -1.22253644e-01 -3.65105736e-02 7.01067783e+02] [ 1.22254566e-01 9.92496303e-01 -2.21568132e-03 3.95998211e+01] [ 3.65074844e-02 -2.26601153e-03 9.99330810e-01 2.56068011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.2192541539999 meters Centerline goodness : 0.998854 with order 1 Centerline is valid? [True, True] Translation: X:701.13, Y:39.59, Z:25.60 [[ 9.92355116e-01 -1.17891012e-01 -3.65107381e-02 7.01131002e+02] [ 1.17889092e-01 9.93024302e-01 -2.21296646e-03 3.95945007e+01] [ 3.65169391e-02 -2.10816917e-03 9.99330810e-01 2.55973557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.279254154 meters Centerline goodness : 0.998940 with order 1 Centerline is valid? [True, True] Translation: X:701.19, Y:39.61, Z:25.61 [[ 9.90916192e-01 -1.29429727e-01 -3.65109070e-02 7.01190900e+02] [ 1.29435695e-01 9.91585355e-01 -2.21017760e-03 3.96053232e+01] [ 3.64897433e-02 -2.53571386e-03 9.99330810e-01 2.56115361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.339254154 meters Centerline goodness : 0.999025 with order 1 Centerline is valid? [True, True] Translation: X:701.25, Y:39.61, Z:25.61 [[ 9.90993259e-01 -1.28838289e-01 -3.65110318e-02 7.01254231e+02] [ 1.28843934e-01 9.91662425e-01 -2.20811403e-03 3.96086044e+01] [ 3.64911079e-02 -2.51599883e-03 9.99330810e-01 2.56136082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.399254154 meters Centerline goodness : 0.999003 with order 1 Centerline is valid? [True, True] Translation: X:701.32, Y:39.61, Z:25.61 [[ 9.91741160e-01 -1.22948760e-01 -3.65112779e-02 7.01315891e+02] [ 1.22950579e-01 9.92410347e-01 -2.20403740e-03 3.96128003e+01] [ 3.65051536e-02 -2.30324812e-03 9.99330810e-01 2.56137263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.459254154 meters Centerline goodness : 0.998959 with order 1 Centerline is valid? [True, True] Translation: X:701.38, Y:39.62, Z:25.61 [[ 9.92618980e-01 -1.15648063e-01 -3.65114391e-02 7.01377313e+02] [ 1.15645056e-01 9.93288163e-01 -2.20136278e-03 3.96189100e+01] [ 3.65209636e-02 -2.03725294e-03 9.99330811e-01 2.56147644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.519254154 meters Centerline goodness : 0.998916 with order 1 Centerline is valid? [True, True] Translation: X:701.44, Y:39.63, Z:25.62 [[ 9.94248014e-01 -1.00686593e-01 -3.65115966e-02 7.01439051e+02] [ 1.00673604e-01 9.94917077e-01 -2.19874806e-03 3.96276516e+01] [ 3.65473954e-02 -1.48965312e-03 9.99330811e-01 2.56167267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.579254154 meters Centerline goodness : 0.999106 with order 1 Centerline is valid? [True, True] Translation: X:701.50, Y:39.64, Z:25.62 [[ 9.95280379e-01 -8.99102780e-02 -3.65117534e-02 7.01500593e+02] [ 8.98901377e-02 9.95949266e-01 -2.19614154e-03 3.96350502e+01] [ 3.65613096e-02 -1.09626995e-03 9.99330811e-01 2.56198542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.639254154 meters Centerline goodness : 0.999189 with order 1 Centerline is valid? [True, True] Translation: X:701.56, Y:39.64, Z:25.62 [[ 9.96569831e-01 -7.42660887e-02 -3.65119089e-02 7.01562169e+02] [ 7.42355394e-02 9.97238323e-01 -2.19355265e-03 3.96421821e+01] [ 3.65739814e-02 -5.24452857e-04 9.99330811e-01 2.56208842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.699254154 meters Centerline goodness : 0.999189 with order 1 Centerline is valid? [True, True] Translation: X:701.62, Y:39.65, Z:25.62 [[ 9.97444550e-01 -6.14103726e-02 -3.65121265e-02 7.01623043e+02] [ 6.13713393e-02 9.98112600e-01 -2.18992370e-03 3.96463302e+01] [ 3.65776976e-02 -5.64706423e-05 9.99330811e-01 2.56215179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.759254154 meters Centerline goodness : 0.998844 with order 1 Centerline is valid? [True, True] Translation: X:701.68, Y:39.65, Z:25.62 [[ 9.97866500e-01 -5.41230558e-02 -3.65122218e-02 7.01683741e+02] [ 5.40792020e-02 9.98534251e-01 -2.18833500e-03 3.96498913e+01] [ 3.65771434e-02 2.09114374e-04 9.99330811e-01 2.56227920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.819254154 meters Centerline goodness : 0.999249 with order 1 Centerline is valid? [True, True] Translation: X:701.74, Y:39.66, Z:25.63 [[ 9.98126848e-01 -4.90882240e-02 -3.65122218e-02 7.01741521e+02] [ 4.90410020e-02 9.98794369e-01 -2.18833500e-03 3.96551140e+01] [ 3.65756230e-02 3.93639975e-04 9.99330811e-01 2.56285378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.879254154 meters Centerline goodness : 0.999079 with order 1 Centerline is valid? [True, True] Translation: X:701.80, Y:39.66, Z:25.63 [[ 9.98212206e-01 -4.73208926e-02 -3.65119906e-02 7.01800067e+02] [ 4.72723479e-02 9.98879632e-01 -2.19218501e-03 3.96573384e+01] [ 3.65748199e-02 4.62258311e-04 9.99330811e-01 2.56315438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.939254154 meters Centerline goodness : 0.999124 with order 1 Centerline is valid? [True, True] Translation: X:701.86, Y:39.66, Z:25.63 [[ 9.98081204e-01 -5.00082647e-02 -3.65114259e-02 7.01858024e+02] [ 4.99611747e-02 9.98748734e-01 -2.20155045e-03 3.96573307e+01] [ 3.65758361e-02 3.73172397e-04 9.99330811e-01 2.56339294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.999254154 meters Centerline goodness : 0.998978 with order 1 Centerline is valid? [True, True] Translation: X:701.92, Y:39.65, Z:25.64 [[ 9.97575627e-01 -5.92436219e-02 -3.65111134e-02 7.01916226e+02] [ 5.92025228e-02 9.98243553e-01 -2.20672053e-03 3.96549706e+01] [ 3.65777177e-02 3.98205960e-05 9.99330811e-01 2.56361590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.059254154 meters Centerline goodness : 0.999069 with order 1 Centerline is valid? [True, True] Translation: X:701.98, Y:39.65, Z:25.64 [[ 9.96783550e-01 -7.13410217e-02 -3.65104633e-02 7.01976384e+02] [ 7.13076363e-02 9.97451906e-01 -2.21742531e-03 3.96515394e+01] [ 3.65756246e-02 -3.93181764e-04 9.99330811e-01 2.56381859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.119254154 meters Centerline goodness : 0.999133 with order 1 Centerline is valid? [True, True] Translation: X:702.04, Y:39.65, Z:25.64 [[ 9.96220120e-01 -7.88191935e-02 -3.65103828e-02 7.02037851e+02] [ 7.87907761e-02 9.96888705e-01 -2.21874926e-03 3.96505726e+01] [ 3.65716683e-02 -6.66318748e-04 9.99330811e-01 2.56408587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.179254154 meters Centerline goodness : 0.998964 with order 1 Centerline is valid? [True, True] Translation: X:702.10, Y:39.65, Z:25.64 [[ 9.95788286e-01 -8.40992022e-02 -3.65104641e-02 7.02099444e+02] [ 8.40743786e-02 9.96457015e-01 -2.21741053e-03 3.96498716e+01] [ 3.65675905e-02 -8.61523149e-04 9.99330811e-01 2.56428969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.239254154 meters Centerline goodness : 0.999156 with order 1 Centerline is valid? [True, True] Translation: X:702.16, Y:39.65, Z:25.65 [[ 9.95375915e-01 -8.88468798e-02 -3.65105442e-02 7.02160347e+02] [ 8.88252938e-02 9.96044756e-01 -2.21609071e-03 3.96474323e+01] [ 3.65630289e-02 -1.03721650e-03 9.99330811e-01 2.56461187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.299254154 meters Centerline goodness : 0.999136 with order 1 Centerline is valid? [True, True] Translation: X:702.22, Y:39.65, Z:25.65 [[ 9.95271751e-01 -9.00061838e-02 -3.65106631e-02 7.02222978e+02] [ 8.99854486e-02 9.95940619e-01 -2.21413062e-03 3.96454919e+01] [ 3.65617379e-02 -1.08176674e-03 9.99330811e-01 2.56496040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.3592541539999 meters Centerline goodness : 0.998989 with order 1 Centerline is valid? [True, True] Translation: X:702.28, Y:39.65, Z:25.65 [[ 9.95310075e-01 -8.95813265e-02 -3.65108269e-02 7.02284267e+02] [ 8.95604050e-02 9.95978937e-01 -2.21142579e-03 3.96459664e+01] [ 3.65621171e-02 -1.06887008e-03 9.99330811e-01 2.56499950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.419254154 meters Centerline goodness : 0.999136 with order 1 Centerline is valid? [True, True] Translation: X:702.35, Y:39.65, Z:25.65 [[ 9.95316068e-01 -8.95146713e-02 -3.65109479e-02 7.02346736e+02] [ 8.94937782e-02 9.95984931e-01 -2.20942745e-03 3.96461490e+01] [ 3.65621300e-02 -1.06842403e-03 9.99330811e-01 2.56523383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.4792541539999 meters Centerline goodness : 0.998948 with order 1 Centerline is valid? [True, True] Translation: X:702.41, Y:39.65, Z:25.65 [[ 9.94998188e-01 -9.29814187e-02 -3.65111090e-02 7.02408550e+02] [ 9.29629535e-02 9.95667123e-01 -2.20676175e-03 3.96461337e+01] [ 3.65580987e-02 -1.19845658e-03 9.99330811e-01 2.56513170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.539254154 meters Centerline goodness : 0.998946 with order 1 Centerline is valid? [True, True] Translation: X:702.47, Y:39.65, Z:25.65 [[ 9.94338019e-01 -9.97939621e-02 -3.65112279e-02 7.02470429e+02] [ 9.97801511e-02 9.95007065e-01 -2.20479251e-03 3.96464387e+01] [ 3.65489547e-02 -1.45078682e-03 9.99330811e-01 2.56542037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.5992541539999 meters Centerline goodness : 0.998718 with order 1 Centerline is valid? [True, True] Translation: X:702.53, Y:39.65, Z:25.66 [[ 9.93779568e-01 -1.05209733e-01 -3.65113895e-02 7.02532297e+02] [ 1.05199665e-01 9.94448682e-01 -2.20211299e-03 3.96476413e+01] [ 3.65403869e-02 -1.65257105e-03 9.99330811e-01 2.56566998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.659254154 meters Centerline goodness : 0.998843 with order 1 Centerline is valid? [True, True] Translation: X:702.59, Y:39.65, Z:25.66 [[ 9.93017356e-01 -1.12175918e-01 -3.65115525e-02 7.02594886e+02] [ 1.12170642e-01 9.93686525e-01 -2.19940694e-03 3.96487507e+01] [ 3.65277582e-02 -1.91147504e-03 9.99330811e-01 2.56593852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.7192541539999 meters Centerline goodness : 0.998888 with order 1 Centerline is valid? [True, True] Translation: X:702.66, Y:39.65, Z:25.66 [[ 9.92732346e-01 -1.14670760e-01 -3.65117138e-02 7.02656258e+02] [ 1.14667264e-01 9.93401527e-01 -2.19672625e-03 3.96506349e+01] [ 3.65226925e-02 -2.00593711e-03 9.99330811e-01 2.56595573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.779254154 meters Centerline goodness : 0.998868 with order 1 Centerline is valid? [True, True] Translation: X:702.72, Y:39.65, Z:25.66 [[ 9.92401005e-01 -1.17503753e-01 -3.65118330e-02 7.02718173e+02] [ 1.17502239e-01 9.93070192e-01 -2.19474252e-03 3.96534108e+01] [ 3.65167035e-02 -2.11215745e-03 9.99330811e-01 2.56638634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.839254154 meters Centerline goodness : 0.998973 with order 1 Centerline is valid? [True, True] Translation: X:702.78, Y:39.66, Z:25.67 [[ 9.92325436e-01 -1.18140183e-01 -3.65119953e-02 7.02779862e+02] [ 1.18139198e-01 9.92994625e-01 -2.19204026e-03 3.96560489e+01] [ 3.65151831e-02 -2.13828052e-03 9.99330811e-01 2.56663602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.899254154 meters Centerline goodness : 0.998932 with order 1 Centerline is valid? [True, True] Translation: X:702.84, Y:39.65, Z:25.66 [[ 9.93367926e-01 -1.09027637e-01 -3.65121578e-02 7.02842554e+02] [ 1.09020609e-01 9.94037079e-01 -2.18933032e-03 3.96510439e+01] [ 3.65331361e-02 -1.80576717e-03 9.99330811e-01 2.56604436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.959254154 meters Centerline goodness : 0.998931 with order 1 Centerline is valid? [True, True] Translation: X:702.90, Y:39.66, Z:25.67 [[ 9.93193813e-01 -1.10602438e-01 -3.65123238e-02 7.02903861e+02] [ 1.10596573e-01 9.93862977e-01 -2.18655784e-03 3.96625267e+01] [ 3.65300855e-02 -1.86646217e-03 9.99330811e-01 2.56731195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.019254154 meters Centerline goodness : 0.999139 with order 1 Centerline is valid? [True, True] Translation: X:702.96, Y:39.67, Z:25.67 [[ 9.93442218e-01 -1.08348499e-01 -3.65124884e-02 7.02964208e+02] [ 1.08341217e-01 9.94111368e-01 -2.18380651e-03 3.96719198e+01] [ 3.65340919e-02 -1.78632183e-03 9.99330811e-01 2.56749695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.079254154 meters Centerline goodness : 0.999097 with order 1 Centerline is valid? [True, True] Translation: X:703.03, Y:39.68, Z:25.68 [[ 9.94305127e-01 -1.00120649e-01 -3.65126100e-02 7.03025455e+02] [ 1.00107902e-01 9.94974195e-01 -2.18177011e-03 3.96793495e+01] [ 3.65475450e-02 -1.48585557e-03 9.99330811e-01 2.56750338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.139254154 meters Centerline goodness : 0.999035 with order 1 Centerline is valid? [True, True] Translation: X:703.09, Y:39.68, Z:25.68 [[ 9.94591172e-01 -9.72379650e-02 -3.65127278e-02 7.03087162e+02] [ 9.72233507e-02 9.95260201e-01 -2.17979725e-03 3.96845282e+01] [ 3.65516239e-02 -1.38188264e-03 9.99330811e-01 2.56774716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.199254154 meters Centerline goodness : 0.998992 with order 1 Centerline is valid? [True, True] Translation: X:703.15, Y:39.69, Z:25.68 [[ 9.95227171e-01 -9.04968964e-02 -3.65128833e-02 7.03148758e+02] [ 9.04778450e-02 9.95896089e-01 -2.17718957e-03 3.96922430e+01] [ 3.65600666e-02 -1.13680879e-03 9.99330811e-01 2.56822859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.259254154 meters Centerline goodness : 0.998970 with order 1 Centerline is valid? [True, True] Translation: X:703.21, Y:39.70, Z:25.68 [[ 9.95680255e-01 -8.53676019e-02 -3.65130405e-02 7.03210477e+02] [ 8.53452008e-02 9.96349069e-01 -2.17455059e-03 3.96984797e+01] [ 3.65653701e-02 -9.51055678e-04 9.99330811e-01 2.56841189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.319254154 meters Centerline goodness : 0.998906 with order 1 Centerline is valid? [True, True] Translation: X:703.27, Y:39.70, Z:25.68 [[ 9.95947704e-01 -8.21885440e-02 -3.65131978e-02 7.03271182e+02] [ 8.21641047e-02 9.96616447e-01 -2.17190572e-03 3.97030325e+01] [ 3.65681592e-02 -8.36969688e-04 9.99330811e-01 2.56829995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.379254154 meters Centerline goodness : 0.998865 with order 1 Centerline is valid? [True, True] Translation: X:703.33, Y:39.71, Z:25.69 [[ 9.96096169e-01 -8.03691848e-02 -3.65132363e-02 7.03332019e+02] [ 8.03435478e-02 9.96764867e-01 -2.17125877e-03 3.97089228e+01] [ 3.65696134e-02 -7.70820398e-04 9.99330811e-01 2.56884508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.439254154 meters Centerline goodness : 0.999202 with order 1 Centerline is valid? [True, True] Translation: X:703.39, Y:39.71, Z:25.69 [[ 9.96136981e-01 -7.98617126e-02 -3.65133149e-02 7.03393288e+02] [ 7.98357834e-02 9.96805668e-01 -2.16993520e-03 3.97129952e+01] [ 3.65699740e-02 -7.53516405e-04 9.99330811e-01 2.56932092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.499254154 meters Centerline goodness : 0.999054 with order 1 Centerline is valid? [True, True] Translation: X:703.45, Y:39.72, Z:25.70 [[ 9.96107283e-01 -8.02312435e-02 -3.65133926e-02 7.03454295e+02] [ 8.02056103e-02 9.96775981e-01 -2.16862680e-03 3.97160656e+01] [ 3.65696644e-02 -7.68393992e-04 9.99330811e-01 2.56965298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.559254154 meters Centerline goodness : 0.999118 with order 1 Centerline is valid? [True, True] Translation: X:703.51, Y:39.72, Z:25.69 [[ 9.96013324e-01 -8.13893367e-02 -3.65134726e-02 7.03514157e+02] [ 8.13645304e-02 9.96682054e-01 -2.16727911e-03 3.97179954e+01] [ 3.65687163e-02 -8.12262678e-04 9.99330811e-01 2.56946916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.619254154 meters Centerline goodness : 0.998971 with order 1 Centerline is valid? [True, True] Translation: X:703.58, Y:39.72, Z:25.70 [[ 9.95707018e-01 -8.50546929e-02 -3.65134726e-02 7.03575020e+02] [ 8.50323480e-02 9.96375834e-01 -2.16727911e-03 3.97192565e+01] [ 3.65654790e-02 -9.46851288e-04 9.99330811e-01 2.56971374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.679254154 meters Centerline goodness : 0.999013 with order 1 Centerline is valid? [True, True] Translation: X:703.64, Y:39.72, Z:25.70 [[ 9.95309531e-01 -8.95862876e-02 -3.65134726e-02 7.03636650e+02] [ 8.95669874e-02 9.95978442e-01 -2.16727911e-03 3.97207085e+01] [ 3.65607901e-02 -1.11328818e-03 9.99330811e-01 2.56989983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.739254154 meters Centerline goodness : 0.998969 with order 1 Centerline is valid? [True, True] Translation: X:703.70, Y:39.72, Z:25.70 [[ 9.95161820e-01 -9.12124560e-02 -3.65135506e-02 7.03698820e+02] [ 9.11942970e-02 9.95830763e-01 -2.16596463e-03 3.97232675e+01] [ 3.65588799e-02 -1.17434228e-03 9.99330811e-01 2.57017414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.799254154 meters Centerline goodness : 0.999201 with order 1 Centerline is valid? [True, True] Translation: X:703.76, Y:39.72, Z:25.70 [[ 9.95175653e-01 -9.10613410e-02 -3.65137121e-02 7.03760726e+02] [ 9.10431803e-02 9.95844596e-01 -2.16323944e-03 3.97248405e+01] [ 3.65589703e-02 -1.17152125e-03 9.99330811e-01 2.57039227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.8592541539999 meters Centerline goodness : 0.999246 with order 1 Centerline is valid? [True, True] Translation: X:703.82, Y:39.73, Z:25.70 [[ 9.95274185e-01 -8.99779587e-02 -3.65138729e-02 7.03822199e+02] [ 8.99591694e-02 9.95943111e-01 -2.16052167e-03 3.97269259e+01] [ 3.65601395e-02 -1.13444622e-03 9.99330811e-01 2.57049376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.919254154 meters Centerline goodness : 0.999287 with order 1 Centerline is valid? [True, True] Translation: X:703.88, Y:39.73, Z:25.71 [[ 9.95275380e-01 -8.99646935e-02 -3.65139915e-02 7.03883772e+02] [ 8.99459689e-02 9.95944307e-01 -2.15851456e-03 3.97284935e+01] [ 3.65600921e-02 -1.13596995e-03 9.99330811e-01 2.57085710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.9792541539999 meters Centerline goodness : 0.999518 with order 1 Centerline is valid? [True, True] Translation: X:703.95, Y:39.73, Z:25.71 [[ 9.95147671e-01 -9.13664930e-02 -3.65140689e-02 7.03946416e+02] [ 9.13487586e-02 9.95816625e-01 -2.15720545e-03 3.97292671e+01] [ 3.65584131e-02 -1.18877688e-03 9.99330811e-01 2.57106016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.039254154 meters Centerline goodness : 0.999035 with order 1 Centerline is valid? [True, True] Translation: X:704.01, Y:39.73, Z:25.71 [[ 9.94867273e-01 -9.43706550e-02 -3.65142297e-02 7.04007263e+02] [ 9.43550403e-02 9.95536280e-01 -2.15448022e-03 3.97307052e+01] [ 3.65545601e-02 -1.30187975e-03 9.99330811e-01 2.57100038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.0992541539999 meters Centerline goodness : 0.999037 with order 1 Centerline is valid? [True, True] Translation: X:704.07, Y:39.72, Z:25.70 [[ 9.95440836e-01 -8.81149516e-02 -3.65143482e-02 7.04069557e+02] [ 8.80952055e-02 9.96109734e-01 -2.15246941e-03 3.97227140e+01] [ 3.65619624e-02 -1.07408305e-03 9.99330811e-01 2.56999837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.159254154 meters Centerline goodness : 0.998972 with order 1 Centerline is valid? [True, True] Translation: X:704.13, Y:39.73, Z:25.70 [[ 9.94658168e-01 -9.65496004e-02 -3.65144341e-02 7.04130921e+02] [ 9.65355783e-02 9.95327210e-01 -2.15101173e-03 3.97271018e+01] [ 3.65514891e-02 -1.38542062e-03 9.99330811e-01 2.57044855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.2192541539999 meters Centerline goodness : 0.999289 with order 1 Centerline is valid? [True, True] Translation: X:704.19, Y:39.74, Z:25.72 [[ 9.93627673e-01 -1.06633657e-01 -3.65145179e-02 7.04190518e+02] [ 1.06626474e-01 9.94296824e-01 -2.14958777e-03 3.97392291e+01] [ 3.65354876e-02 -1.75752441e-03 9.99330811e-01 2.57186651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.279254154 meters Centerline goodness : 0.998869 with order 1 Centerline is valid? [True, True] Translation: X:704.25, Y:39.74, Z:25.72 [[ 9.93639980e-01 -1.06518892e-01 -3.65146011e-02 7.04250989e+02] [ 1.06511684e-01 9.94309130e-01 -2.14817411e-03 3.97444234e+01] [ 3.65356223e-02 -1.75471996e-03 9.99330811e-01 2.57214597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.339254154 meters Centerline goodness : 0.999037 with order 1 Centerline is valid? [True, True] Translation: X:704.31, Y:39.75, Z:25.72 [[ 9.94015120e-01 -1.02959246e-01 -3.65148558e-02 7.04312422e+02] [ 1.02949800e-01 9.94684243e-01 -2.14383590e-03 3.97516124e+01] [ 3.65414794e-02 -1.62819178e-03 9.99330811e-01 2.57233635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.399254154 meters Centerline goodness : 0.998702 with order 1 Centerline is valid? [True, True] Translation: X:704.37, Y:39.76, Z:25.72 [[ 9.94329493e-01 -9.98774945e-02 -3.65150122e-02 7.04373960e+02] [ 9.98660722e-02 9.94998584e-01 -2.14116877e-03 3.97570444e+01] [ 3.65462400e-02 -1.51758358e-03 9.99330811e-01 2.57241332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.459254154 meters Centerline goodness : 0.999057 with order 1 Centerline is valid? [True, True] Translation: X:704.44, Y:39.76, Z:25.73 [[ 9.94591432e-01 -9.72343871e-02 -3.65151678e-02 7.04435475e+02] [ 9.72212839e-02 9.95260493e-01 -2.13851132e-03 3.97641257e+01] [ 3.65500407e-02 -1.42310646e-03 9.99330811e-01 2.57296380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.519254154 meters Centerline goodness : 0.999119 with order 1 Centerline is valid? [True, True] Translation: X:704.50, Y:39.77, Z:25.73 [[ 9.94741149e-01 -9.56905271e-02 -3.65153217e-02 7.04497681e+02] [ 9.56764819e-02 9.95410191e-01 -2.13588055e-03 3.97713701e+01] [ 3.65521069e-02 -1.36900924e-03 9.99330811e-01 2.57316438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.579254154 meters Centerline goodness : 0.998929 with order 1 Centerline is valid? [True, True] Translation: X:704.56, Y:39.78, Z:25.73 [[ 9.94777517e-01 -9.53116522e-02 -3.65154764e-02 7.04559909e+02] [ 9.52974492e-02 9.95446556e-01 -2.13323156e-03 3.97766136e+01] [ 3.65525271e-02 -1.35774096e-03 9.99330811e-01 2.57317338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.639254154 meters Centerline goodness : 0.999052 with order 1 Centerline is valid? [True, True] Translation: X:704.62, Y:39.77, Z:25.72 [[ 9.95410325e-01 -8.84584265e-02 -3.65156342e-02 7.04622484e+02] [ 8.84397153e-02 9.96079253e-01 -2.13052668e-03 3.97746304e+01] [ 3.65609287e-02 -1.10868404e-03 9.99330811e-01 2.57216565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.699254154 meters Centerline goodness : 0.999031 with order 1 Centerline is valid? [True, True] Translation: X:704.68, Y:39.79, Z:25.74 [[ 9.94711144e-01 -9.60017581e-02 -3.65157949e-02 7.04682704e+02] [ 9.59882195e-02 9.95380196e-01 -2.12776992e-03 3.97895960e+01] [ 3.65513687e-02 -1.38856968e-03 9.99330811e-01 2.57358787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.759254154 meters Centerline goodness : 0.998799 with order 1 Centerline is valid? [True, True] Translation: X:704.74, Y:39.80, Z:25.74 [[ 9.94702217e-01 -9.60941601e-02 -3.65159127e-02 7.04743761e+02] [ 9.60807578e-02 9.95371272e-01 -2.12574571e-03 3.97963250e+01] [ 3.65511622e-02 -1.39399260e-03 9.99330811e-01 2.57385814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.819254154 meters Centerline goodness : 0.998628 with order 1 Centerline is valid? [True, True] Translation: X:704.80, Y:39.80, Z:25.74 [[ 9.94662624e-01 -9.65030817e-02 -3.65160275e-02 7.04804735e+02] [ 9.64900268e-02 9.95331686e-01 -2.12377162e-03 3.98021028e+01] [ 3.65505097e-02 -1.41099622e-03 9.99330811e-01 2.57402918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.879254154 meters Centerline goodness : 0.998946 with order 1 Centerline is valid? [True, True] Translation: X:704.87, Y:39.81, Z:25.74 [[ 9.94506664e-01 -9.80972306e-02 -3.65161404e-02 7.04867036e+02] [ 9.80853194e-02 9.95175747e-01 -2.12182878e-03 3.98075341e+01] [ 3.65481229e-02 -1.47152443e-03 9.99330811e-01 2.57447195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.939254154 meters Centerline goodness : 0.998819 with order 1 Centerline is valid? [True, True] Translation: X:704.93, Y:39.81, Z:25.75 [[ 9.94364521e-01 -9.95276801e-02 -3.65162885e-02 7.04929376e+02] [ 9.95168249e-02 9.95033623e-01 -2.11927756e-03 3.98131076e+01] [ 3.65458616e-02 -1.52665067e-03 9.99330811e-01 2.57464389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.999254154 meters Centerline goodness : 0.998883 with order 1 Centerline is valid? [True, True] Translation: X:704.99, Y:39.82, Z:25.75 [[ 9.94371953e-01 -9.94533484e-02 -3.65164421e-02 7.04990990e+02] [ 9.94425403e-02 9.95041055e-01 -2.11662738e-03 3.98180645e+01] [ 3.65458647e-02 -1.52657287e-03 9.99330811e-01 2.57476196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.059254154 meters Centerline goodness : 0.999071 with order 1 Centerline is valid? [True, True] Translation: X:705.05, Y:39.82, Z:25.75 [[ 9.94416532e-01 -9.90065574e-02 -3.65165934e-02 7.05053247e+02] [ 9.89955445e-02 9.95085631e-01 -2.11401367e-03 3.98229680e+01] [ 3.65464386e-02 -1.51276990e-03 9.99330811e-01 2.57500504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.119254154 meters Centerline goodness : 0.999050 with order 1 Centerline is valid? [True, True] Translation: X:705.12, Y:39.83, Z:25.75 [[ 9.94584132e-01 -9.73084324e-02 -3.65167443e-02 7.05115277e+02] [ 9.72963726e-02 9.95253213e-01 -2.11140434e-03 3.98278755e+01] [ 3.65488645e-02 -1.45297751e-03 9.99330811e-01 2.57522570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.179254154 meters Centerline goodness : 0.999006 with order 1 Centerline is valid? [True, True] Translation: X:705.18, Y:39.83, Z:25.75 [[ 9.95091055e-01 -9.19799398e-02 -3.65168959e-02 7.05176305e+02] [ 9.19643928e-02 9.95760063e-01 -2.10877846e-03 3.98349480e+01] [ 3.65560319e-02 -1.25982758e-03 9.99330811e-01 2.57549556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.239254154 meters Centerline goodness : 0.998897 with order 1 Centerline is valid? [True, True] Translation: X:705.24, Y:39.84, Z:25.76 [[ 9.95806236e-01 -8.38835463e-02 -3.65170081e-02 7.05236858e+02] [ 8.38626298e-02 9.96475098e-01 -2.10683477e-03 3.98421366e+01] [ 3.65650180e-02 -9.64413127e-04 9.99330811e-01 2.57565799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.299254154 meters Centerline goodness : 0.998877 with order 1 Centerline is valid? [True, True] Translation: X:705.30, Y:39.85, Z:25.76 [[ 9.96239442e-01 -7.85714553e-02 -3.65171174e-02 7.05298784e+02] [ 7.85470414e-02 9.96908186e-01 -2.10493811e-03 3.98483149e+01] [ 3.65696013e-02 -7.71289166e-04 9.99330811e-01 2.57587007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.3592541539999 meters Centerline goodness : 0.999172 with order 1 Centerline is valid? [True, True] Translation: X:705.36, Y:39.86, Z:25.76 [[ 9.96640159e-01 -7.33136004e-02 -3.65172606e-02 7.05359679e+02] [ 7.32857492e-02 9.97308768e-01 -2.10245012e-03 3.98561089e+01] [ 3.65731224e-02 -5.80808588e-04 9.99330811e-01 2.57600749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.419254154 meters Centerline goodness : 0.998875 with order 1 Centerline is valid? [True, True] Translation: X:705.42, Y:39.86, Z:25.76 [[ 9.96531579e-01 -7.47749476e-02 -3.65173815e-02 7.05420611e+02] [ 7.47481539e-02 9.97200232e-01 -2.10034879e-03 3.98583846e+01] [ 3.65721948e-02 -6.36542953e-04 9.99330811e-01 2.57643870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.4792541539999 meters Centerline goodness : 0.998812 with order 1 Centerline is valid? [True, True] Translation: X:705.48, Y:39.86, Z:25.76 [[ 9.96335328e-01 -7.73459085e-02 -3.65174663e-02 7.05481847e+02] [ 7.73208941e-02 9.97004049e-01 -2.09887335e-03 3.98605244e+01] [ 3.65704010e-02 -7.32381476e-04 9.99330811e-01 2.57621688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.539254154 meters Centerline goodness : 0.998876 with order 1 Centerline is valid? [True, True] Translation: X:705.54, Y:39.86, Z:25.77 [[ 9.95784641e-01 -8.41392620e-02 -3.65175820e-02 7.05543613e+02] [ 8.41188829e-02 9.96453520e-01 -2.09685758e-03 3.98640551e+01] [ 3.65645012e-02 -9.83799634e-04 9.99330811e-01 2.57672966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.5992541539999 meters Centerline goodness : 0.998876 with order 1 Centerline is valid? [True, True] Translation: X:705.61, Y:39.87, Z:25.77 [[ 9.95453787e-01 -8.79671159e-02 -3.65177337e-02 7.05606063e+02] [ 8.79494055e-02 9.96122742e-01 -2.09421238e-03 3.98667226e+01] [ 3.65603669e-02 -1.12702133e-03 9.99330811e-01 2.57700528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.659254154 meters Centerline goodness : 0.999175 with order 1 Centerline is valid? [True, True] Translation: X:705.67, Y:39.87, Z:25.77 [[ 9.94955784e-01 -9.34314287e-02 -3.65178849e-02 7.05667658e+02] [ 9.34174883e-02 9.95624828e-01 -2.09157335e-03 3.98684511e+01] [ 3.65535316e-02 -1.33038608e-03 9.99330811e-01 2.57738312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.7192541539999 meters Centerline goodness : 0.999047 with order 1 Centerline is valid? [True, True] Translation: X:705.73, Y:39.87, Z:25.78 [[ 9.94513885e-01 -9.80233049e-02 -3.65180033e-02 7.05730083e+02] [ 9.80125289e-02 9.95182987e-01 -2.08950343e-03 3.98709774e+01] [ 3.65469157e-02 -1.50118168e-03 9.99330811e-01 2.57769716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.779254154 meters Centerline goodness : 0.998986 with order 1 Centerline is valid? [True, True] Translation: X:705.79, Y:39.87, Z:25.78 [[ 9.93871162e-01 -1.04338575e-01 -3.65181593e-02 7.05793347e+02] [ 1.04332149e-01 9.94540320e-01 -2.08677371e-03 3.98714697e+01] [ 3.65365128e-02 -1.73603384e-03 9.99330811e-01 2.57790180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.839254154 meters Centerline goodness : 0.998904 with order 1 Centerline is valid? [True, True] Translation: X:705.86, Y:39.87, Z:25.78 [[ 9.93431983e-01 -1.08440311e-01 -3.65183967e-02 7.05855965e+02] [ 1.08436800e-01 9.94101163e-01 -2.08261119e-03 3.98699970e+01] [ 3.65288196e-02 -1.89100553e-03 9.99330811e-01 2.57803379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.899254154 meters Centerline goodness : 0.998755 with order 1 Centerline is valid? [True, True] Translation: X:705.92, Y:39.87, Z:25.78 [[ 9.93369294e-01 -1.09012962e-01 -3.65187668e-02 7.05917296e+02] [ 1.09010076e-01 9.94038477e-01 -2.07610194e-03 3.98719024e+01] [ 3.65273813e-02 -1.91857763e-03 9.99330811e-01 2.57816762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.959254154 meters Centerline goodness : 0.998905 with order 1 Centerline is valid? [True, True] Translation: X:705.98, Y:39.87, Z:25.78 [[ 9.93711496e-01 -1.05848170e-01 -3.65188807e-02 7.05979954e+02] [ 1.05843226e-01 9.94380666e-01 -2.07409564e-03 3.98726686e+01] [ 3.65332082e-02 -1.80422345e-03 9.99330811e-01 2.57810717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.019254154 meters Centerline goodness : 0.998907 with order 1 Centerline is valid? [True, True] Translation: X:706.04, Y:39.87, Z:25.79 [[ 9.94182023e-01 -1.01333440e-01 -3.65190353e-02 7.06041860e+02] [ 1.01325556e-01 9.94851165e-01 -2.07136975e-03 3.98748531e+01] [ 3.65409039e-02 -1.64099300e-03 9.99330811e-01 2.57852155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.079254154 meters Centerline goodness : 0.998799 with order 1 Centerline is valid? [True, True] Translation: X:706.10, Y:39.88, Z:25.79 [[ 9.94946144e-01 -9.35335232e-02 -3.65191903e-02 7.06103578e+02] [ 9.35204923e-02 9.95615206e-01 -2.06863366e-03 3.98773123e+01] [ 3.65525478e-02 -1.35711358e-03 9.99330811e-01 2.57878041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.139254154 meters Centerline goodness : 0.998882 with order 1 Centerline is valid? [True, True] Translation: X:706.17, Y:39.88, Z:25.79 [[ 9.95589768e-01 -8.64138387e-02 -3.65193452e-02 7.06165252e+02] [ 8.63961223e-02 9.96258722e-01 -2.06589604e-03 3.98809144e+01] [ 3.65612382e-02 -1.09834485e-03 9.99330811e-01 2.57908903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.199254154 meters Centerline goodness : 0.998861 with order 1 Centerline is valid? [True, True] Translation: X:706.23, Y:39.89, Z:25.79 [[ 9.96580553e-01 -7.41183312e-02 -3.65195006e-02 7.06226670e+02] [ 7.40924598e-02 9.97249242e-01 -2.06314387e-03 3.98860571e+01] [ 3.65719611e-02 -6.49730579e-04 9.99330811e-01 2.57933465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.259254154 meters Centerline goodness : 0.998883 with order 1 Centerline is valid? [True, True] Translation: X:706.29, Y:39.89, Z:25.79 [[ 9.97004515e-01 -6.81785639e-02 -3.65195861e-02 7.06286355e+02] [ 6.81487638e-02 9.97673040e-01 -2.06163101e-03 3.98893814e+01] [ 3.65751655e-02 -4.33309224e-04 9.99330811e-01 2.57940599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.319254154 meters Centerline goodness : 0.998776 with order 1 Centerline is valid? [True, True] Translation: X:706.35, Y:39.89, Z:25.79 [[ 9.97261208e-01 -6.43148956e-02 -3.65195433e-02 7.06346916e+02] [ 6.42824777e-02 9.97929612e-01 -2.06238783e-03 3.98917365e+01] [ 3.65765759e-02 -2.90827352e-04 9.99330811e-01 2.57948908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.379254154 meters Centerline goodness : 0.998987 with order 1 Centerline is valid? [True, True] Translation: X:706.41, Y:39.89, Z:25.80 [[ 9.97037010e-01 -6.77017266e-02 -3.65195433e-02 7.06406062e+02] [ 6.76715790e-02 9.97705520e-01 -2.06238783e-03 3.98929012e+01] [ 3.65753772e-02 -4.15058171e-04 9.99330811e-01 2.57957047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.439254154 meters Centerline goodness : 0.999010 with order 1 Centerline is valid? [True, True] Translation: X:706.47, Y:39.89, Z:25.80 [[ 9.96702935e-01 -7.24540189e-02 -3.65195060e-02 7.06465963e+02] [ 7.24270344e-02 9.97371580e-01 -2.06304813e-03 3.98946840e+01] [ 3.65729935e-02 -5.88753394e-04 9.99330811e-01 2.57986206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.499254154 meters Centerline goodness : 0.998844 with order 1 Centerline is valid? [True, True] Translation: X:706.53, Y:39.90, Z:25.80 [[ 9.96086193e-01 -8.04899223e-02 -3.65194345e-02 7.06526474e+02] [ 8.04682848e-02 9.96755032e-01 -2.06431339e-03 3.98958738e+01] [ 3.65670865e-02 -8.82422188e-04 9.99330811e-01 2.58021172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.559254154 meters Centerline goodness : 0.998759 with order 1 Centerline is valid? [True, True] Translation: X:706.59, Y:39.90, Z:25.80 [[ 9.95608016e-01 -8.62033068e-02 -3.65194345e-02 7.06588112e+02] [ 8.61855070e-02 9.96276968e-01 -2.06431339e-03 3.98966658e+01] [ 3.65614221e-02 -1.09219902e-03 9.99330811e-01 2.58022372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.619254154 meters Centerline goodness : 0.998781 with order 1 Centerline is valid? [True, True] Translation: X:706.65, Y:39.90, Z:25.81 [[ 9.95233041e-01 -9.04296380e-02 -3.65195069e-02 7.06649719e+02] [ 9.04147255e-02 9.95902064e-01 -2.06303109e-03 3.98992013e+01] [ 3.65564115e-02 -1.24870449e-03 9.99330811e-01 2.58071252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.679254154 meters Centerline goodness : 0.998866 with order 1 Centerline is valid? [True, True] Translation: X:706.71, Y:39.90, Z:25.81 [[ 9.94930344e-01 -9.37012515e-02 -3.65196620e-02 7.06711607e+02] [ 9.36886394e-02 9.95599414e-01 -2.06028317e-03 3.99004739e+01] [ 3.65520052e-02 -1.37163920e-03 9.99330811e-01 2.58099805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.739254154 meters Centerline goodness : 0.998993 with order 1 Centerline is valid? [True, True] Translation: X:706.77, Y:39.90, Z:25.81 [[ 9.94994063e-01 -9.30221361e-02 -3.65198146e-02 7.06774089e+02] [ 9.30091667e-02 9.95663126e-01 -2.05757415e-03 3.99033243e+01] [ 3.65528327e-02 -1.34940346e-03 9.99330811e-01 2.58118621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.799254154 meters Centerline goodness : 0.998991 with order 1 Centerline is valid? [True, True] Translation: X:706.84, Y:39.91, Z:25.81 [[ 9.95525463e-01 -8.71512730e-02 -3.65199650e-02 7.06835563e+02] [ 8.71344551e-02 9.96194441e-01 -2.05490035e-03 3.99075335e+01] [ 3.65600733e-02 -1.13644164e-03 9.99330811e-01 2.58100813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.8592541539999 meters Centerline goodness : 0.998866 with order 1 Centerline is valid? [True, True] Translation: X:706.90, Y:39.91, Z:25.81 [[ 9.95938931e-01 -8.22917415e-02 -3.65200633e-02 7.06895614e+02] [ 8.22717230e-02 9.96607821e-01 -2.05315188e-03 3.99120868e+01] [ 3.65651382e-02 -9.59754647e-04 9.99330811e-01 2.58146315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.919254154 meters Centerline goodness : 0.998885 with order 1 Centerline is valid? [True, True] Translation: X:706.96, Y:39.92, Z:25.82 [[ 9.96447070e-01 -7.58914519e-02 -3.65201935e-02 7.06956479e+02] [ 7.58672213e-02 9.97115820e-01 -2.05083433e-03 3.99164016e+01] [ 3.65705035e-02 -7.27137739e-04 9.99330811e-01 2.58182952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.9792541539999 meters Centerline goodness : 0.999201 with order 1 Centerline is valid? [True, True] Translation: X:707.02, Y:39.92, Z:25.82 [[ 9.96851415e-01 -7.03812962e-02 -3.65202687e-02 7.07017033e+02] [ 7.03534178e-02 9.97520023e-01 -2.04949395e-03 3.99198518e+01] [ 3.65739453e-02 -5.26284778e-04 9.99330811e-01 2.58202914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.039254154 meters Centerline goodness : 0.999263 with order 1 Centerline is valid? [True, True] Translation: X:707.08, Y:39.92, Z:25.82 [[ 9.97118698e-01 -6.64873795e-02 -3.65202687e-02 7.07076227e+02] [ 6.64568900e-02 9.97787192e-01 -2.04949395e-03 3.99235351e+01] [ 3.65757219e-02 -3.83434739e-04 9.99330811e-01 2.58215764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.0992541539999 meters Centerline goodness : 0.999073 with order 1 Centerline is valid? [True, True] Translation: X:707.13, Y:39.93, Z:25.82 [[ 9.97053453e-01 -6.74587561e-02 -3.65202322e-02 7.07134965e+02] [ 6.74288941e-02 9.97721976e-01 -2.05014500e-03 3.99254672e+01] [ 3.65753384e-02 -4.18414710e-04 9.99330811e-01 2.58212572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.159254154 meters Centerline goodness : 0.999072 with order 1 Centerline is valid? [True, True] Translation: X:707.20, Y:39.93, Z:25.82 [[ 9.96900873e-01 -6.96773216e-02 -3.65201248e-02 7.07195421e+02] [ 6.96488773e-02 9.97569458e-01 -2.05205554e-03 3.99270524e+01] [ 3.65743428e-02 -4.97889730e-04 9.99330811e-01 2.58237402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.2192541539999 meters Centerline goodness : 0.999094 with order 1 Centerline is valid? [True, True] Translation: X:707.26, Y:39.93, Z:25.83 [[ 9.96620756e-01 -7.35754682e-02 -3.65201248e-02 7.07255616e+02] [ 7.35496388e-02 9.97289446e-01 -2.05205554e-03 3.99293079e+01] [ 3.65721160e-02 -6.40920844e-04 9.99330811e-01 2.58274073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.279254154 meters Centerline goodness : 0.999180 with order 1 Centerline is valid? [True, True] Translation: X:707.32, Y:39.93, Z:25.83 [[ 9.96310468e-01 -7.76642269e-02 -3.65201248e-02 7.07316409e+02] [ 7.76411415e-02 9.96979259e-01 -2.05205554e-03 3.99311581e+01] [ 3.65691783e-02 -7.90979759e-04 9.99330811e-01 2.58314483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.339254154 meters Centerline goodness : 0.999075 with order 1 Centerline is valid? [True, True] Translation: X:707.38, Y:39.93, Z:25.83 [[ 9.96109380e-01 -8.02021373e-02 -3.65201248e-02 7.07377179e+02] [ 8.01807558e-02 9.96778228e-01 -2.05205554e-03 3.99332371e+01] [ 3.65670445e-02 -8.84139434e-04 9.99330811e-01 2.58340557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.399254154 meters Centerline goodness : 0.999055 with order 1 Centerline is valid? [True, True] Translation: X:707.44, Y:39.94, Z:25.84 [[ 9.95976259e-01 -8.18386813e-02 -3.65201630e-02 7.07437943e+02] [ 8.18184237e-02 9.96645141e-01 -2.05137624e-03 3.99352800e+01] [ 3.65655249e-02 -9.44900135e-04 9.99330811e-01 2.58369705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.459254154 meters Centerline goodness : 0.999096 with order 1 Centerline is valid? [True, True] Translation: X:707.50, Y:39.94, Z:25.84 [[ 9.96145742e-01 -7.97492073e-02 -3.65202009e-02 7.07499146e+02] [ 7.97275713e-02 9.96814581e-01 -2.05070018e-03 3.99385704e+01] [ 3.65674105e-02 -8.68870674e-04 9.99330811e-01 2.58393256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.519254154 meters Centerline goodness : 0.999264 with order 1 Centerline is valid? [True, True] Translation: X:707.56, Y:39.94, Z:25.84 [[ 9.96369540e-01 -7.69025956e-02 -3.65202774e-02 7.07560805e+02] [ 7.68790986e-02 9.97038316e-01 -2.04933673e-03 3.99421194e+01] [ 3.65697152e-02 -7.65749314e-04 9.99330811e-01 2.58412647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.579254154 meters Centerline goodness : 0.999244 with order 1 Centerline is valid? [True, True] Translation: X:707.62, Y:39.94, Z:25.84 [[ 9.96659829e-01 -7.30441643e-02 -3.65203527e-02 7.07621668e+02] [ 7.30181272e-02 9.97328511e-01 -2.04799505e-03 3.99448054e+01] [ 3.65723830e-02 -6.25493366e-04 9.99330811e-01 2.58432796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.639254154 meters Centerline goodness : 0.999453 with order 1 Centerline is valid? [True, True] Translation: X:707.68, Y:39.95, Z:25.84 [[ 9.96767315e-01 -7.15624087e-02 -3.65204286e-02 7.07681792e+02] [ 7.15354271e-02 9.97435960e-01 -2.04664079e-03 3.99471898e+01] [ 3.65732513e-02 -5.72479809e-04 9.99330811e-01 2.58446637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.699254154 meters Centerline goodness : 0.999264 with order 1 Centerline is valid? [True, True] Translation: X:707.74, Y:39.95, Z:25.85 [[ 9.96726522e-01 -7.21283430e-02 -3.65204286e-02 7.07741275e+02] [ 7.21017411e-02 9.97395183e-01 -2.04664079e-03 3.99496053e+01] [ 3.65729203e-02 -5.93245328e-04 9.99330811e-01 2.58456200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.759254154 meters Centerline goodness : 0.999118 with order 1 Centerline is valid? [True, True] Translation: X:707.80, Y:39.95, Z:25.85 [[ 9.96536937e-01 -7.47020540e-02 -3.65203521e-02 7.07801664e+02] [ 7.46771290e-02 9.97205662e-01 -2.04800341e-03 3.99522647e+01] [ 3.65712920e-02 -6.86324006e-04 9.99330811e-01 2.58468112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.819254154 meters Centerline goodness : 0.999433 with order 1 Centerline is valid? [True, True] Translation: X:707.86, Y:39.95, Z:25.85 [[ 9.96167257e-01 -7.94799399e-02 -3.65203521e-02 7.07862143e+02] [ 7.94582220e-02 9.96836093e-01 -2.04800341e-03 3.99545209e+01] [ 3.65675803e-02 -8.61688313e-04 9.99330811e-01 2.58502872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.879254154 meters Centerline goodness : 0.999413 with order 1 Centerline is valid? [True, True] Translation: X:707.92, Y:39.95, Z:25.84 [[ 9.96076407e-01 -8.06105128e-02 -3.65203521e-02 7.07922426e+02] [ 8.05895540e-02 9.96745268e-01 -2.04800341e-03 3.99531760e+01] [ 3.65665788e-02 -9.03191015e-04 9.99330811e-01 2.58448936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.939254154 meters Centerline goodness : 0.999580 with order 1 Centerline is valid? [True, True] Translation: X:707.98, Y:39.96, Z:25.86 [[ 9.95149795e-01 -9.13408446e-02 -3.65203521e-02 7.07981887e+02] [ 9.13270955e-02 9.95818843e-01 -2.04800341e-03 3.99574867e+01] [ 3.65547212e-02 -1.29722752e-03 9.99330811e-01 2.58567327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.999254154 meters Centerline goodness : 0.999349 with order 1 Centerline is valid? [True, True] Translation: X:708.04, Y:39.96, Z:25.86 [[ 9.94650772e-01 -9.66235256e-02 -3.65203521e-02 7.08042805e+02] [ 9.66133292e-02 9.95319883e-01 -2.04800341e-03 3.99591730e+01] [ 3.65473180e-02 -1.49130464e-03 9.99330811e-01 2.58596690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.059254154 meters Centerline goodness : 0.999517 with order 1 Centerline is valid? [True, True] Translation: X:708.10, Y:39.96, Z:25.86 [[ 9.94151474e-01 -1.01632189e-01 -3.65204627e-02 7.08103656e+02] [ 1.01625435e-01 9.94820629e-01 -2.04603013e-03 3.99605948e+01] [ 3.65392522e-02 -1.67734406e-03 9.99330811e-01 2.58573094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.119254154 meters Centerline goodness : 0.999372 with order 1 Centerline is valid? [True, True] Translation: X:708.16, Y:39.96, Z:25.86 [[ 9.93420274e-01 -1.08546819e-01 -3.65205012e-02 7.08164688e+02] [ 1.08544746e-01 9.94089460e-01 -2.04534259e-03 3.99638346e+01] [ 3.65266608e-02 -1.93222374e-03 9.99330811e-01 2.58642757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.179254154 meters Centerline goodness : 0.999475 with order 1 Centerline is valid? [True, True] Translation: X:708.23, Y:39.97, Z:25.87 [[ 9.93181205e-01 -1.10712880e-01 -3.65205782e-02 7.08226415e+02] [ 1.10712318e-01 9.93850394e-01 -2.04396676e-03 3.99664371e+01] [ 3.65222845e-02 -2.01324849e-03 9.99330811e-01 2.58659191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.239254154 meters Centerline goodness : 0.999644 with order 1 Centerline is valid? [True, True] Translation: X:708.29, Y:39.97, Z:25.87 [[ 9.93059370e-01 -1.11800381e-01 -3.65207261e-02 7.08288179e+02] [ 1.11800648e-01 9.93728559e-01 -2.04132134e-03 3.99692453e+01] [ 3.65199090e-02 -2.05588754e-03 9.99330811e-01 2.58656862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.299254154 meters Centerline goodness : 0.999162 with order 1 Centerline is valid? [True, True] Translation: X:708.35, Y:39.98, Z:25.87 [[ 9.93306929e-01 -1.09579061e-01 -3.65208744e-02 7.08350424e+02] [ 1.09577929e-01 9.93976117e-01 -2.03866347e-03 3.99751837e+01] [ 3.65242718e-02 -1.97686324e-03 9.99330811e-01 2.58696899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.3592541539999 meters Centerline goodness : 0.999581 with order 1 Centerline is valid? [True, True] Translation: X:708.41, Y:39.98, Z:25.87 [[ 9.93683936e-01 -1.06105844e-01 -3.65210255e-02 7.08412606e+02] [ 1.06102472e-01 9.94353117e-01 -2.03595288e-03 3.99812540e+01] [ 3.65308221e-02 -1.85187741e-03 9.99330811e-01 2.58742335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.419254154 meters Centerline goodness : 0.998677 with order 1 Centerline is valid? [True, True] Translation: X:708.47, Y:39.99, Z:25.88 [[ 9.94538780e-01 -9.77692134e-02 -3.65211765e-02 7.08474189e+02] [ 9.77603288e-02 9.95207910e-01 -2.03324227e-03 3.99882866e+01] [ 3.65449522e-02 -1.54818393e-03 9.99330811e-01 2.58769853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.4792541539999 meters Centerline goodness : 0.999580 with order 1 Centerline is valid? [True, True] Translation: X:708.54, Y:40.00, Z:25.88 [[ 9.95047467e-01 -9.24485283e-02 -3.65213304e-02 7.08535733e+02] [ 9.24361665e-02 9.95716542e-01 -2.03047280e-03 3.99953057e+01] [ 3.65526071e-02 -1.35547496e-03 9.99330811e-01 2.58824653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.539254154 meters Centerline goodness : 0.999180 with order 1 Centerline is valid? [True, True] Translation: X:708.60, Y:40.00, Z:25.89 [[ 9.95793475e-01 -8.40329458e-02 -3.65214827e-02 7.08597738e+02] [ 8.40150285e-02 9.96462424e-01 -2.02773110e-03 4.00014579e+01] [ 3.65626814e-02 -1.04915201e-03 9.99330811e-01 2.58862138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.5992541539999 meters Centerline goodness : 0.998928 with order 1 Centerline is valid? [True, True] Translation: X:708.66, Y:40.01, Z:25.89 [[ 9.96440365e-01 -7.59787371e-02 -3.65216348e-02 7.08659367e+02] [ 7.59555121e-02 9.97109151e-01 -2.02498666e-03 4.00060250e+01] [ 3.65699122e-02 -7.56241026e-04 9.99330811e-01 2.58873892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.659254154 meters Centerline goodness : 0.998970 with order 1 Centerline is valid? [True, True] Translation: X:708.72, Y:40.01, Z:25.89 [[ 9.96699264e-01 -7.25033922e-02 -3.65217095e-02 7.08719428e+02] [ 7.24778845e-02 9.97367967e-01 -2.02363926e-03 4.00128537e+01] [ 3.65723038e-02 -6.30056478e-04 9.99330811e-01 2.58904674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.7192541539999 meters Centerline goodness : 0.998970 with order 1 Centerline is valid? [True, True] Translation: X:708.78, Y:40.01, Z:25.89 [[ 9.97167819e-01 -6.57457801e-02 -3.65216892e-02 7.08778240e+02] [ 6.57157269e-02 9.97836333e-01 -2.02400561e-03 4.00138110e+01] [ 3.65757382e-02 -3.81776096e-04 9.99330811e-01 2.58931992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.779254154 meters Centerline goodness : 0.998990 with order 1 Centerline is valid? [True, True] Translation: X:708.84, Y:40.01, Z:25.89 [[ 9.97448184e-01 -6.13457364e-02 -3.65215218e-02 7.08837923e+02] [ 6.13126236e-02 9.98116553e-01 -2.02702086e-03 4.00148486e+01] [ 3.65770846e-02 -2.17382042e-04 9.99330811e-01 2.58946817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.839254154 meters Centerline goodness : 0.999160 with order 1 Centerline is valid? [True, True] Translation: X:708.90, Y:40.02, Z:25.90 [[ 9.97475945e-01 -6.08927245e-02 -3.65214466e-02 7.08896639e+02] [ 6.08592586e-02 9.98144296e-01 -2.02837521e-03 4.00171880e+01] [ 3.65771869e-02 -1.99412687e-04 9.99330811e-01 2.58972080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.899254154 meters Centerline goodness : 0.999118 with order 1 Centerline is valid? [True, True] Translation: X:708.96, Y:40.02, Z:25.90 [[ 9.97403102e-01 -6.20747444e-02 -3.65209191e-02 7.08955270e+02] [ 6.20417244e-02 9.98071476e-01 -2.03782900e-03 4.00167624e+01] [ 3.65769854e-02 -2.33283831e-04 9.99330811e-01 2.58988766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.959254154 meters Centerline goodness : 0.998951 with order 1 Centerline is valid? [True, True] Translation: X:709.01, Y:40.02, Z:25.90 [[ 9.97161986e-01 -6.58349076e-02 -3.65203850e-02 7.09013779e+02] [ 6.58040589e-02 9.97830464e-01 -2.04735667e-03 4.00159558e+01] [ 3.65759402e-02 -3.61643318e-04 9.99330811e-01 2.59000886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.019254154 meters Centerline goodness : 0.998931 with order 1 Centerline is valid? [True, True] Translation: X:709.07, Y:40.01, Z:25.90 [[ 9.96491085e-01 -7.53114781e-02 -3.65198514e-02 7.09072279e+02] [ 7.52866387e-02 9.97159812e-01 -2.05683029e-03 4.00141085e+01] [ 3.65710311e-02 -6.99843812e-04 9.99330811e-01 2.59021177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.079254154 meters Centerline goodness : 0.999163 with order 1 Centerline is valid? [True, True] Translation: X:709.13, Y:40.01, Z:25.90 [[ 9.95897398e-01 -8.27931966e-02 -3.65193100e-02 7.09131532e+02] [ 8.27730296e-02 9.96566283e-01 -2.06639852e-03 4.00139510e+01] [ 3.65649968e-02 -9.64893017e-04 9.99330811e-01 2.59046043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.139254154 meters Centerline goodness : 0.998996 with order 1 Centerline is valid? [True, True] Translation: X:709.19, Y:40.01, Z:25.91 [[ 9.95031984e-01 -9.26158399e-02 -3.65192719e-02 7.09192385e+02] [ 9.26022491e-02 9.95701035e-01 -2.06707089e-03 4.00110937e+01] [ 3.65537204e-02 -1.32496507e-03 9.99330811e-01 2.59069910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.199254154 meters Centerline goodness : 0.999226 with order 1 Centerline is valid? [True, True] Translation: X:709.25, Y:40.01, Z:25.91 [[ 9.94580040e-01 -9.73493072e-02 -3.65192719e-02 7.09253992e+02] [ 9.73389001e-02 9.95249148e-01 -2.06707089e-03 4.00096307e+01] [ 3.65470022e-02 -1.49887832e-03 9.99330811e-01 2.59094970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.259254154 meters Centerline goodness : 0.999039 with order 1 Centerline is valid? [True, True] Translation: X:709.32, Y:40.01, Z:25.91 [[ 9.94581663e-01 -9.73326951e-02 -3.65193482e-02 7.09315510e+02] [ 9.73223262e-02 9.95250771e-01 -2.06572298e-03 4.00114798e+01] [ 3.65469718e-02 -1.49961772e-03 9.99330811e-01 2.59102406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.319254154 meters Centerline goodness : 0.999309 with order 1 Centerline is valid? [True, True] Translation: X:709.38, Y:40.01, Z:25.91 [[ 9.95092771e-01 -9.19603694e-02 -3.65194241e-02 7.09376883e+02] [ 9.19464365e-02 9.95761814e-01 -2.06438061e-03 4.00130274e+01] [ 3.65544892e-02 -1.30358068e-03 9.99330811e-01 2.59124600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.379254154 meters Centerline goodness : 0.999290 with order 1 Centerline is valid? [True, True] Translation: X:709.44, Y:40.02, Z:25.91 [[ 9.95699659e-01 -8.51382072e-02 -3.65194988e-02 7.09436311e+02] [ 8.51197377e-02 9.96368593e-01 -2.06305864e-03 4.00161510e+01] [ 3.65625267e-02 -1.05434337e-03 9.99330811e-01 2.59135644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.439254154 meters Centerline goodness : 0.999206 with order 1 Centerline is valid? [True, True] Translation: X:709.50, Y:40.02, Z:25.92 [[ 9.96491124e-01 -7.53111303e-02 -3.65194988e-02 7.09495643e+02] [ 7.52860624e-02 9.97159843e-01 -2.06305864e-03 4.00198695e+01] [ 3.65711489e-02 -6.93589636e-04 9.99330811e-01 2.59181868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.499254154 meters Centerline goodness : 0.998935 with order 1 Centerline is valid? [True, True] Translation: X:709.55, Y:40.02, Z:25.92 [[ 9.96910703e-01 -6.95369058e-02 -3.65194218e-02 7.09554674e+02] [ 6.95079144e-02 9.97579264e-01 -2.06441988e-03 4.00200802e+01] [ 3.65745713e-02 -4.80346567e-04 9.99330811e-01 2.59180710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.559254154 meters Centerline goodness : 0.999353 with order 1 Centerline is valid? [True, True] Translation: X:709.61, Y:40.02, Z:25.92 [[ 9.96946435e-01 -6.90230097e-02 -3.65188897e-02 7.09612805e+02] [ 6.89933306e-02 9.97614966e-01 -2.07378941e-03 4.00211655e+01] [ 3.65749301e-02 -4.52102874e-04 9.99330811e-01 2.59203215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.619254154 meters Centerline goodness : 0.999165 with order 1 Centerline is valid? [True, True] Translation: X:709.67, Y:40.02, Z:25.92 [[ 9.96754774e-01 -7.17377568e-02 -3.65187027e-02 7.09672168e+02] [ 7.17097780e-02 9.97423377e-01 -2.07707733e-03 4.00221991e+01] [ 3.65736127e-02 -5.48411318e-04 9.99330811e-01 2.59206534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.679254154 meters Centerline goodness : 0.999146 with order 1 Centerline is valid? [True, True] Translation: X:709.73, Y:40.02, Z:25.92 [[ 9.96163199e-01 -7.95317586e-02 -3.65182108e-02 7.09731433e+02] [ 7.95086946e-02 9.96831991e-01 -2.08569013e-03 4.00218826e+01] [ 3.65683994e-02 -8.25827519e-04 9.99330811e-01 2.59241970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.739254154 meters Centerline goodness : 0.999061 with order 1 Centerline is valid? [True, True] Translation: X:709.79, Y:40.02, Z:25.93 [[ 9.95701986e-01 -8.51117838e-02 -3.65176678e-02 7.09790049e+02] [ 8.50921204e-02 9.96370885e-01 -2.09515423e-03 4.00226011e+01] [ 3.65634634e-02 -1.02121656e-03 9.99330811e-01 2.59250684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.799254154 meters Centerline goodness : 0.999208 with order 1 Centerline is valid? [True, True] Translation: X:709.85, Y:40.02, Z:25.93 [[ 9.94923364e-01 -9.37763269e-02 -3.65171286e-02 7.09849596e+02] [ 9.37621441e-02 9.95592402e-01 -2.10451021e-03 4.00240899e+01] [ 3.65535291e-02 -1.33009790e-03 9.99330811e-01 2.59305279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.8592541539999 meters Centerline goodness : 0.999542 with order 1 Centerline is valid? [True, True] Translation: X:709.91, Y:40.03, Z:25.93 [[ 9.94446057e-01 -9.87093928e-02 -3.65170517e-02 7.09909975e+02] [ 9.86984794e-02 9.95115157e-01 -2.10584478e-03 4.00269204e+01] [ 3.65465383e-02 -1.51002844e-03 9.99330811e-01 2.59348226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.919254154 meters Centerline goodness : 0.999292 with order 1 Centerline is valid? [True, True] Translation: X:709.97, Y:40.03, Z:25.94 [[ 9.93744171e-01 -1.05541589e-01 -3.65170517e-02 7.09971429e+02] [ 1.05535274e-01 9.94413330e-01 -2.10584478e-03 4.00293536e+01] [ 3.65352972e-02 -1.76116609e-03 9.99330811e-01 2.59370093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.9792541539999 meters Centerline goodness : 0.999250 with order 1 Centerline is valid? [True, True] Translation: X:710.03, Y:40.03, Z:25.94 [[ 9.92973028e-01 -1.12565823e-01 -3.65171294e-02 7.10031963e+02] [ 1.12564290e-01 9.93642215e-01 -2.10449637e-03 4.00338972e+01] [ 3.65218557e-02 -2.02081661e-03 9.99330811e-01 2.59367973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.039254154 meters Centerline goodness : 0.999375 with order 1 Centerline is valid? [True, True] Translation: X:710.09, Y:40.04, Z:25.94 [[ 9.92469408e-01 -1.16922927e-01 -3.65171676e-02 7.10092410e+02] [ 1.16924355e-01 9.93138595e-01 -2.10383377e-03 4.00390928e+01] [ 3.65125949e-02 -2.18175561e-03 9.99330811e-01 2.59384156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.0992541539999 meters Centerline goodness : 0.999459 with order 1 Centerline is valid? [True, True] Translation: X:710.15, Y:40.05, Z:25.94 [[ 9.92183189e-01 -1.19327334e-01 -3.65172047e-02 7.10153868e+02] [ 1.19330407e-01 9.92852371e-01 -2.10318876e-03 4.00453084e+01] [ 3.65071612e-02 -2.27086437e-03 9.99330811e-01 2.59391642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.159254154 meters Centerline goodness : 0.999208 with order 1 Centerline is valid? [True, True] Translation: X:710.22, Y:40.05, Z:25.94 [[ 9.92639379e-01 -1.15471000e-01 -3.65172782e-02 7.10215262e+02] [ 1.15471520e-01 9.93308567e-01 -2.10191167e-03 4.00547461e+01] [ 3.65156352e-02 -2.13026532e-03 9.99330811e-01 2.59423794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.2192541539999 meters Centerline goodness : 0.999125 with order 1 Centerline is valid? [True, True] Translation: X:710.28, Y:40.06, Z:25.95 [[ 9.93171128e-01 -1.10804279e-01 -3.65174316e-02 7.10277102e+02] [ 1.10801751e-01 9.93840312e-01 -2.09924322e-03 4.00643595e+01] [ 3.65251008e-02 -1.96128761e-03 9.99330811e-01 2.59460660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.279254154 meters Centerline goodness : 0.999104 with order 1 Centerline is valid? [True, True] Translation: X:710.34, Y:40.08, Z:25.95 [[ 9.94074179e-01 -1.02386485e-01 -3.65175865e-02 7.10339025e+02] [ 1.02378388e-01 9.94743319e-01 -2.09654582e-03 4.00757477e+01] [ 3.65402831e-02 -1.65448955e-03 9.99330811e-01 2.59484057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.339254154 meters Centerline goodness : 0.999061 with order 1 Centerline is valid? [True, True] Translation: X:710.40, Y:40.08, Z:25.95 [[ 9.94876290e-01 -9.42741827e-02 -3.65177397e-02 7.10400868e+02] [ 9.42607247e-02 9.95545344e-01 -2.09387363e-03 4.00797822e+01] [ 3.65524640e-02 -1.35904338e-03 9.99330811e-01 2.59497410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.399254154 meters Centerline goodness : 0.999185 with order 1 Centerline is valid? [True, True] Translation: X:710.46, Y:40.09, Z:25.96 [[ 9.95051549e-01 -9.24059347e-02 -3.65179022e-02 7.10461301e+02] [ 9.23913244e-02 9.95720579e-01 -2.09103585e-03 4.00949649e+01] [ 3.65548508e-02 -1.29324888e-03 9.99330811e-01 2.59556598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.459254154 meters Centerline goodness : 0.999225 with order 1 Centerline is valid? [True, True] Translation: X:710.52, Y:40.10, Z:25.96 [[ 9.95473599e-01 -8.77424430e-02 -3.65181782e-02 7.10522737e+02] [ 8.77248751e-02 9.96142557e-01 -2.08620492e-03 4.01047931e+01] [ 3.65603601e-02 -1.12679070e-03 9.99330811e-01 2.59568056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.519254154 meters Centerline goodness : 0.999096 with order 1 Centerline is valid? [True, True] Translation: X:710.58, Y:40.11, Z:25.96 [[ 9.95710134e-01 -8.50161190e-02 -3.65183302e-02 7.10583373e+02] [ 8.49968170e-02 9.96379044e-01 -2.08353983e-03 4.01114514e+01] [ 3.65632335e-02 -1.02934011e-03 9.99330811e-01 2.59586646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.579254154 meters Centerline goodness : 0.998991 with order 1 Centerline is valid? [True, True] Translation: X:710.64, Y:40.12, Z:25.96 [[ 9.96057198e-01 -8.08483985e-02 -3.65184051e-02 7.10643983e+02] [ 8.08263454e-02 9.96726024e-01 -2.08222655e-03 4.01178848e+01] [ 3.65671894e-02 -8.77632482e-04 9.99330811e-01 2.59566065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.639254154 meters Centerline goodness : 0.999159 with order 1 Centerline is valid? [True, True] Translation: X:710.70, Y:40.13, Z:25.96 [[ 9.95855813e-01 -8.32922949e-02 -3.65184051e-02 7.10704159e+02] [ 8.32718831e-02 9.96524690e-01 -2.08222655e-03 4.01254373e+01] [ 3.65649258e-02 -9.67358948e-04 9.99330811e-01 2.59646760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.699254154 meters Centerline goodness : 0.999010 with order 1 Centerline is valid? [True, True] Translation: X:710.77, Y:40.13, Z:25.97 [[ 9.95793150e-01 -8.40381253e-02 -3.65184462e-02 7.10766450e+02] [ 8.40182408e-02 9.96462043e-01 -2.08150569e-03 4.01315889e+01] [ 3.65641713e-02 -9.95466495e-04 9.99330811e-01 2.59675612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.759254154 meters Centerline goodness : 0.998801 with order 1 Centerline is valid? [True, True] Translation: X:710.83, Y:40.14, Z:25.97 [[ 9.95846535e-01 -8.34030587e-02 -3.65185941e-02 7.10827823e+02] [ 8.33828429e-02 9.96515419e-01 -2.07890822e-03 4.01352382e+01] [ 3.65647294e-02 -9.74750642e-04 9.99330811e-01 2.59692770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.819254154 meters Centerline goodness : 0.998736 with order 1 Centerline is valid? [True, True] Translation: X:710.89, Y:40.14, Z:25.97 [[ 9.95888340e-01 -8.29023624e-02 -3.65186672e-02 7.10888816e+02] [ 8.28818574e-02 9.96557214e-01 -2.07762316e-03 4.01403958e+01] [ 3.65651811e-02 -9.57654288e-04 9.99330811e-01 2.59721870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.879254154 meters Centerline goodness : 0.998843 with order 1 Centerline is valid? [True, True] Translation: X:710.95, Y:40.14, Z:25.97 [[ 9.96027351e-01 -8.12151262e-02 -3.65187400e-02 7.10951243e+02] [ 8.11935350e-02 9.96696192e-01 -2.07634325e-03 4.01430722e+01] [ 3.65667195e-02 -8.96990922e-04 9.99330811e-01 2.59730640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.939254154 meters Centerline goodness : 0.999013 with order 1 Centerline is valid? [True, True] Translation: X:711.01, Y:40.15, Z:25.98 [[ 9.95927924e-01 -8.24253599e-02 -3.65188911e-02 7.11013217e+02] [ 8.24046789e-02 9.96596793e-01 -2.07368183e-03 4.01464887e+01] [ 3.65655337e-02 -9.44089856e-04 9.99330811e-01 2.59762699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.999254154 meters Centerline goodness : 0.998927 with order 1 Centerline is valid? [True, True] Translation: X:711.08, Y:40.14, Z:25.96 [[ 9.96700730e-01 -7.24845738e-02 -3.65190454e-02 7.11075696e+02] [ 7.24573201e-02 9.97369364e-01 -2.07095981e-03 4.01366946e+01] [ 3.65730898e-02 -5.81945008e-04 9.99330811e-01 2.59629410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.059254154 meters Centerline goodness : 0.998888 with order 1 Centerline is valid? [True, True] Translation: X:711.13, Y:40.15, Z:25.98 [[ 9.95896879e-01 -8.27995196e-02 -3.65191269e-02 7.11133729e+02] [ 8.27792423e-02 9.96565760e-01 -2.06952232e-03 4.01474819e+01] [ 3.65650669e-02 -9.61994831e-04 9.99330811e-01 2.59757328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.119254154 meters Centerline goodness : 0.998806 with order 1 Centerline is valid? [True, True] Translation: X:711.19, Y:40.15, Z:25.98 [[ 9.96025008e-01 -8.12437120e-02 -3.65190848e-02 7.11194574e+02] [ 8.12223627e-02 9.96693856e-01 -2.07026459e-03 4.01488923e+01] [ 3.65665434e-02 -9.04131045e-04 9.99330811e-01 2.59789510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.179254154 meters Centerline goodness : 0.998956 with order 1 Centerline is valid? [True, True] Translation: X:711.26, Y:40.15, Z:25.98 [[ 9.96251660e-01 -7.84154330e-02 -3.65191710e-02 7.11255283e+02] [ 7.83922405e-02 9.96920447e-01 -2.06874287e-03 4.01490059e+01] [ 3.65689297e-02 -8.01831124e-04 9.99330811e-01 2.59797789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.239254154 meters Centerline goodness : 0.998789 with order 1 Centerline is valid? [True, True] Translation: X:711.32, Y:40.14, Z:25.97 [[ 9.96835613e-01 -7.06052439e-02 -3.65193052e-02 7.11316854e+02] [ 7.05768976e-02 9.97504201e-01 -2.06637139e-03 4.01418025e+01] [ 3.65740570e-02 -5.17586668e-04 9.99330811e-01 2.59694634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.299254154 meters Centerline goodness : 0.999037 with order 1 Centerline is valid? [True, True] Translation: X:711.38, Y:40.16, Z:25.99 [[ 9.96018856e-01 -8.13189948e-02 -3.65193052e-02 7.11375037e+02] [ 8.12978387e-02 9.96687710e-01 -2.06637140e-03 4.01572978e+01] [ 3.65663779e-02 -9.10795712e-04 9.99330811e-01 2.59873891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.3592541539999 meters Centerline goodness : 0.998994 with order 1 Centerline is valid? [True, True] Translation: X:711.44, Y:40.16, Z:25.99 [[ 9.96417109e-01 -7.62842523e-02 -3.65192672e-02 7.11436511e+02] [ 7.62596916e-02 9.97085847e-01 -2.06704376e-03 4.01604754e+01] [ 3.65705273e-02 -7.25310282e-04 9.99330811e-01 2.59896473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.419254154 meters Centerline goodness : 0.999123 with order 1 Centerline is valid? [True, True] Translation: X:711.50, Y:40.16, Z:25.99 [[ 9.96852057e-01 -7.03726867e-02 -3.65193429e-02 7.11497021e+02] [ 7.03442088e-02 9.97520639e-01 -2.06570529e-03 4.01631440e+01] [ 3.65741675e-02 -5.09721716e-04 9.99330811e-01 2.59898300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.4792541539999 meters Centerline goodness : 0.999267 with order 1 Centerline is valid? [True, True] Translation: X:711.56, Y:40.17, Z:25.99 [[ 9.97160759e-01 -6.58540447e-02 -3.65193847e-02 7.11555875e+02] [ 6.58225641e-02 9.97829207e-01 -2.06496497e-03 4.01665268e+01] [ 3.65760950e-02 -3.44697508e-04 9.99330811e-01 2.59947076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.539254154 meters Centerline goodness : 0.999119 with order 1 Centerline is valid? [True, True] Translation: X:711.61, Y:40.17, Z:25.99 [[ 9.97380168e-01 -6.24430784e-02 -3.65193428e-02 7.11614829e+02] [ 6.24092845e-02 9.98048503e-01 -2.06570609e-03 4.01675488e+01] [ 3.65770645e-02 -2.18851769e-04 9.99330811e-01 2.59949074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.5992541539999 meters Centerline goodness : 0.999139 with order 1 Centerline is valid? [True, True] Translation: X:711.67, Y:40.17, Z:26.00 [[ 9.97367602e-01 -6.26435287e-02 -3.65192300e-02 7.11673115e+02] [ 6.26097961e-02 9.98035940e-01 -2.06769903e-03 4.01701672e+01] [ 3.65770320e-02 -2.24205516e-04 9.99330811e-01 2.59975707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.659254154 meters Centerline goodness : 0.999163 with order 1 Centerline is valid? [True, True] Translation: X:711.73, Y:40.17, Z:26.00 [[ 9.97184247e-01 -6.54978009e-02 -3.65186968e-02 7.11732374e+02] [ 6.54656381e-02 9.97852662e-01 -2.07707285e-03 4.01701583e+01] [ 3.65763226e-02 -3.19495460e-04 9.99330811e-01 2.59996849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.7192541539999 meters Centerline goodness : 0.998954 with order 1 Centerline is valid? [True, True] Translation: X:711.79, Y:40.17, Z:26.00 [[ 9.96897277e-01 -6.97297925e-02 -3.65181562e-02 7.11791364e+02] [ 6.97001205e-02 9.97565807e-01 -2.08653486e-03 4.01708727e+01] [ 3.65747576e-02 -4.65258962e-04 9.99330811e-01 2.60007386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.779254154 meters Centerline goodness : 0.999059 with order 1 Centerline is valid? [True, True] Translation: X:711.85, Y:40.17, Z:26.00 [[ 9.96299696e-01 -7.78032647e-02 -3.65180423e-02 7.11850628e+02] [ 7.77789364e-02 9.96968442e-01 -2.08852583e-03 4.01701484e+01] [ 3.65698299e-02 -7.59536841e-04 9.99330811e-01 2.60030228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.839254154 meters Centerline goodness : 0.999039 with order 1 Centerline is valid? [True, True] Translation: X:711.91, Y:40.17, Z:26.01 [[ 9.95369000e-01 -8.89212638e-02 -3.65179672e-02 7.11911163e+02] [ 8.89043549e-02 9.96037975e-01 -2.08983790e-03 4.01702946e+01] [ 3.65591132e-02 -1.16644646e-03 9.99330811e-01 2.60062150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.899254154 meters Centerline goodness : 0.998810 with order 1 Centerline is valid? [True, True] Translation: X:711.97, Y:40.16, Z:26.00 [[ 9.95157900e-01 -9.12534458e-02 -3.65179672e-02 7.11973480e+02] [ 9.12381046e-02 9.95826913e-01 -2.08983790e-03 4.01644558e+01] [ 3.65562795e-02 -1.25211142e-03 9.99330811e-01 2.60043189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.959254154 meters Centerline goodness : 0.999124 with order 1 Centerline is valid? [True, True] Translation: X:712.03, Y:40.17, Z:26.01 [[ 9.93310622e-01 -1.09546518e-01 -3.65180465e-02 7.12034167e+02] [ 1.09543538e-01 9.93979804e-01 -2.08845220e-03 4.01726776e+01] [ 3.65269834e-02 -1.92583427e-03 9.99330811e-01 2.60121882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.019254154 meters Centerline goodness : 0.998978 with order 1 Centerline is valid? [True, True] Translation: X:712.10, Y:40.18, Z:26.01 [[ 9.92076424e-01 -1.20211453e-01 -3.65181635e-02 7.12095264e+02] [ 1.20215738e-01 9.92745598e-01 -2.08640386e-03 4.01750198e+01] [ 3.65040557e-02 -2.32018590e-03 9.99330811e-01 2.60136513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.079254154 meters Centerline goodness : 0.998851 with order 1 Centerline is valid? [True, True] Translation: X:712.16, Y:40.18, Z:26.02 [[ 9.91307072e-01 -1.26398954e-01 -3.65184102e-02 7.12157456e+02] [ 1.26407572e-01 9.91976205e-01 -2.08207734e-03 4.01786638e+01] [ 3.64885663e-02 -2.55222559e-03 9.99330811e-01 2.60151854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.139254154 meters Centerline goodness : 0.998977 with order 1 Centerline is valid? [True, True] Translation: X:712.22, Y:40.18, Z:26.02 [[ 9.91446510e-01 -1.25300493e-01 -3.65185576e-02 7.12219887e+02] [ 1.25308465e-01 9.92115651e-01 -2.07948798e-03 4.01818651e+01] [ 3.64911934e-02 -2.51438330e-03 9.99330811e-01 2.60185504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.199254154 meters Centerline goodness : 0.998999 with order 1 Centerline is valid? [True, True] Translation: X:712.28, Y:40.19, Z:26.02 [[ 9.91726036e-01 -1.23068487e-01 -3.65187172e-02 7.12280810e+02] [ 1.23075056e-01 9.92395192e-01 -2.07668216e-03 4.01915991e+01] [ 3.64965735e-02 -2.43504340e-03 9.99330811e-01 2.60185165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.259254154 meters Centerline goodness : 0.998975 with order 1 Centerline is valid? [True, True] Translation: X:712.34, Y:40.20, Z:26.02 [[ 9.92506119e-01 -1.16610331e-01 -3.65189655e-02 7.12342589e+02] [ 1.16612704e-01 9.93175303e-01 -2.07230663e-03 4.01985103e+01] [ 3.65113870e-02 -2.20179831e-03 9.99330811e-01 2.60211080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.319254154 meters Centerline goodness : 0.998910 with order 1 Centerline is valid? [True, True] Translation: X:712.40, Y:40.21, Z:26.02 [[ 9.93922969e-01 -1.03843567e-01 -3.65191169e-02 7.12403505e+02] [ 1.03837437e-01 9.94592129e-01 -2.06963518e-03 4.02089587e+01] [ 3.65365445e-02 -1.73499354e-03 9.99330811e-01 2.60235521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.379254154 meters Centerline goodness : 0.999098 with order 1 Centerline is valid? [True, True] Translation: X:712.47, Y:40.22, Z:26.03 [[ 9.95261215e-01 -9.01190885e-02 -3.65193672e-02 7.12465562e+02] [ 9.01038875e-02 9.95930231e-01 -2.06520880e-03 4.02190609e+01] [ 3.65568565e-02 -1.23511473e-03 9.99330811e-01 2.60261300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.439254154 meters Centerline goodness : 0.999119 with order 1 Centerline is valid? [True, True] Translation: X:712.53, Y:40.23, Z:26.03 [[ 9.95943222e-01 -8.22400363e-02 -3.65195171e-02 7.12526980e+02] [ 8.22196386e-02 9.96612100e-01 -2.06255471e-03 4.02260890e+01] [ 3.65654172e-02 -9.48434109e-04 9.99330811e-01 2.60290524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.499254154 meters Centerline goodness : 0.998972 with order 1 Centerline is valid? [True, True] Translation: X:712.59, Y:40.24, Z:26.03 [[ 9.96619822e-01 -7.35883450e-02 -3.65196702e-02 7.12587363e+02] [ 7.35622391e-02 9.97288501e-01 -2.05984068e-03 4.02357492e+01] [ 3.65722274e-02 -6.33590655e-04 9.99330811e-01 2.60323983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.559254154 meters Centerline goodness : 0.999055 with order 1 Centerline is valid? [True, True] Translation: X:712.65, Y:40.24, Z:26.03 [[ 9.96919641e-01 -6.94084829e-02 -3.65197459e-02 7.12647951e+02] [ 6.93796223e-02 9.97588207e-01 -2.05849713e-03 4.02422348e+01] [ 3.65745450e-02 -4.81569954e-04 9.99330811e-01 2.60335418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.619254154 meters Centerline goodness : 0.998928 with order 1 Centerline is valid? [True, True] Translation: X:712.71, Y:40.25, Z:26.03 [[ 9.96887545e-01 -6.98679167e-02 -3.65198223e-02 7.12708241e+02] [ 6.98394139e-02 9.97556126e-01 -2.05714084e-03 4.02467364e+01] [ 3.65743006e-02 -4.99784907e-04 9.99330811e-01 2.60340742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.679254154 meters Centerline goodness : 0.999201 with order 1 Centerline is valid? [True, True] Translation: X:712.77, Y:40.25, Z:26.04 [[ 9.96837059e-01 -7.05845628e-02 -3.65198223e-02 7.12768973e+02] [ 7.05565407e-02 9.97505661e-01 -2.05714084e-03 4.02505841e+01] [ 3.65739319e-02 -5.26078107e-04 9.99330811e-01 2.60364674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.739254154 meters Centerline goodness : 0.998885 with order 1 Centerline is valid? [True, True] Translation: X:712.83, Y:40.26, Z:26.04 [[ 9.96605096e-01 -7.37874286e-02 -3.65198223e-02 7.12829140e+02] [ 7.37615552e-02 9.97273784e-01 -2.05714084e-03 4.02554359e+01] [ 3.65720525e-02 -6.43601844e-04 9.99330811e-01 2.60395182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.799254154 meters Centerline goodness : 0.998969 with order 1 Centerline is valid? [True, True] Translation: X:712.89, Y:40.26, Z:26.04 [[ 9.96484675e-01 -7.53962548e-02 -3.65198223e-02 7.12889071e+02] [ 7.53714609e-02 9.97153404e-01 -2.05714084e-03 4.02584817e+01] [ 3.65709658e-02 -7.02643038e-04 9.99330811e-01 2.60419525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.8592541539999 meters Centerline goodness : 0.998906 with order 1 Centerline is valid? [True, True] Translation: X:712.95, Y:40.26, Z:26.04 [[ 9.96473737e-01 -7.55406576e-02 -3.65198602e-02 7.12950474e+02] [ 7.55159853e-02 9.97142471e-01 -2.05646823e-03 4.02602690e+01] [ 3.65708506e-02 -7.08616646e-04 9.99330811e-01 2.60439691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.919254154 meters Centerline goodness : 0.999075 with order 1 Centerline is valid? [True, True] Translation: X:713.01, Y:40.26, Z:26.05 [[ 9.96557805e-01 -7.44233547e-02 -3.65199367e-02 7.13010993e+02] [ 7.43979824e-02 9.97226512e-01 -2.05510807e-03 4.02632552e+01] [ 3.65715972e-02 -6.68975624e-04 9.99330811e-01 2.60474998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.9792541539999 meters Centerline goodness : 0.998991 with order 1 Centerline is valid? [True, True] Translation: X:713.07, Y:40.26, Z:26.05 [[ 9.96726500e-01 -7.21288629e-02 -3.65200126e-02 7.13071079e+02] [ 7.21020006e-02 9.97395149e-01 -2.05375937e-03 4.02645871e+01] [ 3.65730187e-02 -5.86129581e-04 9.99330811e-01 2.60466383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.039254154 meters Centerline goodness : 0.999013 with order 1 Centerline is valid? [True, True] Translation: X:713.13, Y:40.26, Z:26.05 [[ 9.96532698e-01 -7.47587068e-02 -3.65200877e-02 7.13131498e+02] [ 7.47336579e-02 9.97201418e-01 -2.05242260e-03 4.02649358e+01] [ 3.65713197e-02 -6.83973510e-04 9.99330811e-01 2.60497218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.0992541539999 meters Centerline goodness : 0.999015 with order 1 Centerline is valid? [True, True] Translation: X:713.19, Y:40.27, Z:26.05 [[ 9.96299609e-01 -7.78034165e-02 -3.65200877e-02 7.13191709e+02] [ 7.77804111e-02 9.96968402e-01 -2.05242260e-03 4.02664239e+01] [ 3.65690590e-02 -7.95719600e-04 9.99330811e-01 2.60496126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.159254154 meters Centerline goodness : 0.998971 with order 1 Centerline is valid? [True, True] Translation: X:713.25, Y:40.27, Z:26.05 [[ 9.95755310e-01 -8.44845773e-02 -3.65201256e-02 7.13253478e+02] [ 8.44660832e-02 9.96424243e-01 -2.05174779e-03 4.02669202e+01] [ 3.65628795e-02 -1.04167321e-03 9.99330811e-01 2.60500599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.2192541539999 meters Centerline goodness : 0.999160 with order 1 Centerline is valid? [True, True] Translation: X:713.31, Y:40.27, Z:26.05 [[ 9.95337444e-01 -8.92728810e-02 -3.65201998e-02 7.13313808e+02] [ 8.92576530e-02 9.96006459e-01 -2.05042706e-03 4.02677984e+01] [ 3.65574024e-02 -1.21884049e-03 9.99330811e-01 2.60507979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.279254154 meters Centerline goodness : 0.998888 with order 1 Centerline is valid? [True, True] Translation: X:713.38, Y:40.27, Z:26.05 [[ 9.94739461e-01 -9.57061729e-02 -3.65203215e-02 7.13375663e+02] [ 9.56953501e-02 9.95408562e-01 -2.04825654e-03 4.02689629e+01] [ 3.65486715e-02 -1.45734335e-03 9.99330811e-01 2.60545737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.339254154 meters Centerline goodness : 0.998910 with order 1 Centerline is valid? [True, True] Translation: X:713.44, Y:40.27, Z:26.06 [[ 9.94212439e-01 -1.01034060e-01 -3.65204701e-02 7.13437740e+02] [ 1.01026920e-01 9.94881589e-01 -2.04560380e-03 4.02714164e+01] [ 3.65402190e-02 -1.65578584e-03 9.99330811e-01 2.60576300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.399254154 meters Centerline goodness : 0.998869 with order 1 Centerline is valid? [True, True] Translation: X:713.50, Y:40.27, Z:26.06 [[ 9.93945609e-01 -1.03626107e-01 -3.65206198e-02 7.13499841e+02] [ 1.03620809e-01 9.94614777e-01 -2.04292766e-03 4.02730887e+01] [ 3.65356487e-02 -1.75373721e-03 9.99330811e-01 2.60599018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.459254154 meters Centerline goodness : 0.998848 with order 1 Centerline is valid? [True, True] Translation: X:713.56, Y:40.27, Z:26.06 [[ 9.93727111e-01 -1.05700818e-01 -3.65207692e-02 7.13561105e+02] [ 1.05697015e-01 9.94396288e-01 -2.04025380e-03 4.02741190e+01] [ 3.65317738e-02 -1.83268079e-03 9.99330811e-01 2.60617663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.519254154 meters Centerline goodness : 0.998914 with order 1 Centerline is valid? [True, True] Translation: X:713.62, Y:40.28, Z:26.06 [[ 9.93800070e-01 -1.05012604e-01 -3.65208794e-02 7.13622728e+02] [ 1.05008410e-01 9.94469245e-01 -2.03827778e-03 4.02771377e+01] [ 3.65329363e-02 -1.80935889e-03 9.99330811e-01 2.60646594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.579254154 meters Centerline goodness : 0.998850 with order 1 Centerline is valid? [True, True] Translation: X:713.69, Y:40.28, Z:26.07 [[ 9.94026715e-01 -1.02845057e-01 -3.65210234e-02 7.13685186e+02] [ 1.02839498e-01 9.94695880e-01 -2.03569524e-03 4.02795010e+01] [ 3.65366727e-02 -1.73226827e-03 9.99330811e-01 2.60661248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.639254154 meters Centerline goodness : 0.998954 with order 1 Centerline is valid? [True, True] Translation: X:713.75, Y:40.28, Z:26.07 [[ 9.94345828e-01 -9.97124809e-02 -3.65211760e-02 7.13746160e+02] [ 9.97049145e-02 9.95014973e-01 -2.03295387e-03 4.02830219e+01] [ 3.65418278e-02 -1.61988153e-03 9.99330811e-01 2.60687059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.699254154 meters Centerline goodness : 0.998870 with order 1 Centerline is valid? [True, True] Translation: X:713.81, Y:40.29, Z:26.07 [[ 9.94617790e-01 -9.69620910e-02 -3.65212886e-02 7.13808410e+02] [ 9.69527481e-02 9.95286913e-01 -2.03092936e-03 4.02871832e+01] [ 3.65460837e-02 -1.52084082e-03 9.99330811e-01 2.60706848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.759254154 meters Centerline goodness : 0.998659 with order 1 Centerline is valid? [True, True] Translation: X:713.87, Y:40.29, Z:26.07 [[ 9.94995988e-01 -9.30009060e-02 -3.65214412e-02 7.13870869e+02] [ 9.29889996e-02 9.95665070e-01 -2.02818131e-03 4.02921789e+01] [ 3.65517460e-02 -1.37806001e-03 9.99330812e-01 2.60718738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.819254154 meters Centerline goodness : 0.998973 with order 1 Centerline is valid? [True, True] Translation: X:713.93, Y:40.30, Z:26.07 [[ 9.95226214e-01 -9.05039006e-02 -3.65215948e-02 7.13932005e+02] [ 9.04904169e-02 9.95895267e-01 -2.02541214e-03 4.02970959e+01] [ 3.65549911e-02 -1.28911108e-03 9.99330812e-01 2.60749470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.879254154 meters Centerline goodness : 0.999033 with order 1 Centerline is valid? [True, True] Translation: X:713.99, Y:40.30, Z:26.08 [[ 9.95346208e-01 -8.91744417e-02 -3.65218446e-02 7.13994004e+02] [ 8.91602297e-02 9.96015246e-01 -2.02089657e-03 4.03023010e+01] [ 3.65565264e-02 -1.24480432e-03 9.99330812e-01 2.60777028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.939254154 meters Centerline goodness : 0.999035 with order 1 Centerline is valid? [True, True] Translation: X:714.06, Y:40.31, Z:26.08 [[ 9.95473800e-01 -8.77385767e-02 -3.65219967e-02 7.14056331e+02] [ 8.77235006e-02 9.96142818e-01 -2.01814452e-03 4.03068498e+01] [ 3.65581939e-02 -1.19482740e-03 9.99330812e-01 2.60800672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.999254154 meters Centerline goodness : 0.998932 with order 1 Centerline is valid? [True, True] Translation: X:714.12, Y:40.31, Z:26.08 [[ 9.95853464e-01 -8.33187318e-02 -3.65221479e-02 7.14117237e+02] [ 8.33007864e-02 9.96522412e-01 -2.01540398e-03 4.03119500e+01] [ 3.65630598e-02 -1.03527661e-03 9.99330812e-01 2.60833182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.059254154 meters Centerline goodness : 0.998950 with order 1 Centerline is valid? [True, True] Translation: X:714.18, Y:40.32, Z:26.09 [[ 9.96239119e-01 -7.85731596e-02 -3.65222597e-02 7.14177965e+02] [ 7.85521015e-02 9.96907977e-01 -2.01337679e-03 4.03168153e+01] [ 3.65675294e-02 -8.63095530e-04 9.99330812e-01 2.60859894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.119254154 meters Centerline goodness : 0.999223 with order 1 Centerline is valid? [True, True] Translation: X:714.24, Y:40.32, Z:26.09 [[ 9.96923847e-01 -6.93466854e-02 -3.65223320e-02 7.14238699e+02] [ 6.93194841e-02 9.97592482e-01 -2.01206448e-03 4.03222096e+01] [ 3.65739338e-02 -5.25834150e-04 9.99330812e-01 2.60878648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.179254154 meters Centerline goodness : 0.999095 with order 1 Centerline is valid? [True, True] Translation: X:714.30, Y:40.33, Z:26.09 [[ 9.97552737e-01 -5.96209352e-02 -3.65223320e-02 7.14298445e+02] [ 5.95872143e-02 9.98221075e-01 -2.01206448e-03 4.03250353e+01] [ 3.65773227e-02 -1.69123594e-04 9.99330812e-01 2.60863517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.239254154 meters Centerline goodness : 0.998863 with order 1 Centerline is valid? [True, True] Translation: X:714.36, Y:40.33, Z:26.09 [[ 9.97589859e-01 -5.89966614e-02 -3.65221541e-02 7.14355652e+02] [ 5.89624043e-02 9.98258170e-01 -2.01528765e-03 4.03300203e+01] [ 3.65774340e-02 -1.43003492e-04 9.99330812e-01 2.60900931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.299254154 meters Centerline goodness : 0.999095 with order 1 Centerline is valid? [True, True] Translation: X:714.41, Y:40.33, Z:26.09 [[ 9.97520713e-01 -6.01546385e-02 -3.65218743e-02 7.14414053e+02] [ 6.01209720e-02 9.98189054e-01 -2.02034661e-03 4.03332783e+01] [ 3.65772683e-02 -1.80392984e-04 9.99330812e-01 2.60924552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.3592541539999 meters Centerline goodness : 0.999055 with order 1 Centerline is valid? [True, True] Translation: X:714.47, Y:40.33, Z:26.09 [[ 9.97121966e-01 -6.64377543e-02 -3.65213536e-02 7.14471411e+02] [ 6.64079559e-02 9.97790491e-01 -2.02971460e-03 4.03339332e+01] [ 3.65755091e-02 -4.01435430e-04 9.99330812e-01 2.60937410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.419254154 meters Centerline goodness : 0.999307 with order 1 Centerline is valid? [True, True] Translation: X:714.53, Y:40.34, Z:26.10 [[ 9.96688786e-01 -7.26475617e-02 -3.65211705e-02 7.14531231e+02] [ 7.26218076e-02 9.97357479e-01 -2.03300414e-03 4.03351548e+01] [ 3.65723553e-02 -6.25960989e-04 9.99330812e-01 2.60970402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.4792541539999 meters Centerline goodness : 0.999287 with order 1 Centerline is valid? [True, True] Translation: X:714.59, Y:40.34, Z:26.10 [[ 9.95955945e-01 -8.20851126e-02 -3.65210959e-02 7.14591231e+02] [ 8.20656446e-02 9.96624850e-01 -2.03434331e-03 4.03367362e+01] [ 3.65648210e-02 -9.71010966e-04 9.99330812e-01 2.61006893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.539254154 meters Centerline goodness : 0.999096 with order 1 Centerline is valid? [True, True] Translation: X:714.65, Y:40.34, Z:26.10 [[ 9.95724039e-01 -8.48519158e-02 -3.65210959e-02 7.14652137e+02] [ 8.48343063e-02 9.96392996e-01 -2.03434331e-03 4.03392469e+01] [ 3.65619821e-02 -1.07259730e-03 9.99330812e-01 2.61028283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.5992541539999 meters Centerline goodness : 0.999308 with order 1 Centerline is valid? [True, True] Translation: X:714.71, Y:40.34, Z:26.11 [[ 9.95100967e-01 -9.18709416e-02 -3.65211708e-02 7.14713904e+02] [ 9.18580988e-02 9.95770032e-01 -2.03299913e-03 4.03390167e+01] [ 3.65534609e-02 -1.33172592e-03 9.99330812e-01 2.61056749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.659254154 meters Centerline goodness : 0.999226 with order 1 Centerline is valid? [True, True] Translation: X:714.78, Y:40.34, Z:26.11 [[ 9.94580712e-01 -9.73416923e-02 -3.65212451e-02 7.14775682e+02] [ 9.73325779e-02 9.95249839e-01 -2.03166303e-03 4.03403997e+01] [ 3.65455288e-02 -1.53405407e-03 9.99330812e-01 2.61083837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.7192541539999 meters Centerline goodness : 0.999164 with order 1 Centerline is valid? [True, True] Translation: X:714.84, Y:40.34, Z:26.11 [[ 9.94279175e-01 -1.00374845e-01 -3.65213948e-02 7.14837405e+02] [ 1.00367871e-01 9.94948327e-01 -2.02896885e-03 4.03427119e+01] [ 3.65405581e-02 -1.64821315e-03 9.99330812e-01 2.61104228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.779254154 meters Centerline goodness : 0.998851 with order 1 Centerline is valid? [True, True] Translation: X:714.90, Y:40.34, Z:26.11 [[ 9.93925771e-01 -1.03815890e-01 -3.65215426e-02 7.14899933e+02] [ 1.03811330e-01 9.94594944e-01 -2.02630382e-03 4.03444778e+01] [ 3.65345042e-02 -1.77735432e-03 9.99330812e-01 2.61120073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.839254154 meters Centerline goodness : 0.998850 with order 1 Centerline is valid? [True, True] Translation: X:714.96, Y:40.35, Z:26.11 [[ 9.93748332e-01 -1.05500794e-01 -3.65216961e-02 7.14960815e+02] [ 1.05497470e-01 9.94417513e-01 -2.02353432e-03 4.03481484e+01] [ 3.65312986e-02 -1.84206266e-03 9.99330812e-01 2.61133445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.899254154 meters Centerline goodness : 0.998956 with order 1 Centerline is valid? [True, True] Translation: X:715.02, Y:40.35, Z:26.12 [[ 9.93868510e-01 -1.04362507e-01 -3.65219518e-02 7.15022444e+02] [ 1.04358585e-01 9.94537686e-01 -2.01890801e-03 4.03525966e+01] [ 3.65331558e-02 -1.80485013e-03 9.99330812e-01 2.61153290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.959254154 meters Centerline goodness : 0.998913 with order 1 Centerline is valid? [True, True] Translation: X:715.08, Y:40.36, Z:26.12 [[ 9.94389540e-01 -9.92752724e-02 -3.65220992e-02 7.15084739e+02] [ 9.92680244e-02 9.95058689e-01 -2.01623778e-03 4.03577395e+01] [ 3.65417947e-02 -1.62055088e-03 9.99330812e-01 2.61182648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.019254154 meters Centerline goodness : 0.998847 with order 1 Centerline is valid? [True, True] Translation: X:715.15, Y:40.36, Z:26.12 [[ 9.95265081e-01 -9.00752131e-02 -3.65222501e-02 7.15146142e+02] [ 9.00618777e-02 9.95934136e-01 -2.01350115e-03 4.03642499e+01] [ 3.65551221e-02 -1.28529504e-03 9.99330812e-01 2.61204579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.079254154 meters Centerline goodness : 0.999014 with order 1 Centerline is valid? [True, True] Translation: X:715.21, Y:40.37, Z:26.12 [[ 9.95905318e-01 -8.26965090e-02 -3.65223993e-02 7.15207818e+02] [ 8.26783146e-02 9.96574259e-01 -2.01079193e-03 4.03704421e+01] [ 3.65635684e-02 -1.01705204e-03 9.99330812e-01 2.61244652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.139254154 meters Centerline goodness : 0.999119 with order 1 Centerline is valid? [True, True] Translation: X:715.27, Y:40.38, Z:26.13 [[ 9.96735560e-01 -7.20022660e-02 -3.65225481e-02 7.15268636e+02] [ 7.19769918e-02 9.97404271e-01 -2.00808536e-03 4.03765119e+01] [ 3.65723321e-02 -6.27253051e-04 9.99330812e-01 2.61283819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.199254154 meters Centerline goodness : 0.998907 with order 1 Centerline is valid? [True, True] Translation: X:715.33, Y:40.38, Z:26.13 [[ 9.97367615e-01 -6.26413521e-02 -3.65226222e-02 7.15329212e+02] [ 6.26098503e-02 9.98036061e-01 -2.00673675e-03 4.03799840e+01] [ 3.65765987e-02 -2.85221654e-04 9.99330812e-01 2.61289817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.259254154 meters Centerline goodness : 0.998972 with order 1 Centerline is valid? [True, True] Translation: X:715.39, Y:40.38, Z:26.13 [[ 9.97556129e-01 -5.95639710e-02 -3.65226222e-02 7.15388539e+02] [ 5.95304071e-02 9.98224476e-01 -2.00673675e-03 4.03839145e+01] [ 3.65773046e-02 -1.72374014e-04 9.99330812e-01 2.61329689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.319254154 meters Centerline goodness : 0.999055 with order 1 Centerline is valid? [True, True] Translation: X:715.45, Y:40.38, Z:26.13 [[ 9.97897239e-01 -5.35462822e-02 -3.65225481e-02 7.15448180e+02] [ 5.35086385e-02 9.98565368e-01 -2.00808469e-03 4.03797115e+01] [ 3.65776771e-02 4.95903420e-05 9.99330812e-01 2.61292053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.379254154 meters Centerline goodness : 0.999038 with order 1 Centerline is valid? [True, True] Translation: X:715.51, Y:40.38, Z:26.14 [[ 9.97602563e-01 -5.87815217e-02 -3.65220480e-02 7.15505463e+02] [ 5.87470527e-02 9.98270863e-01 -2.01713929e-03 4.03836828e+01] [ 3.65774668e-02 -1.33259352e-04 9.99330812e-01 2.61354707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.439254154 meters Centerline goodness : 0.998955 with order 1 Centerline is valid? [True, True] Translation: X:715.56, Y:40.38, Z:26.14 [[ 9.97272349e-01 -6.41406001e-02 -3.65218554e-02 7.15563860e+02] [ 6.41095948e-02 9.97940818e-01 -2.02061885e-03 4.03809873e+01] [ 3.65762540e-02 -3.26294052e-04 9.99330812e-01 2.61384052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.499254154 meters Centerline goodness : 0.999187 with order 1 Centerline is valid? [True, True] Translation: X:715.62, Y:40.38, Z:26.14 [[ 9.96730766e-01 -7.20692666e-02 -3.65212491e-02 7.15621986e+02] [ 7.20431789e-02 9.97399445e-01 -2.03151946e-03 4.03762005e+01] [ 3.65726837e-02 -6.06228940e-04 9.99330812e-01 2.61400388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.559254154 meters Centerline goodness : 0.999312 with order 1 Centerline is valid? [True, True] Translation: X:715.68, Y:40.37, Z:26.14 [[ 9.96136513e-01 -7.98640091e-02 -3.65210628e-02 7.15681465e+02] [ 7.98430305e-02 9.96805372e-01 -2.03486275e-03 4.03706696e+01] [ 3.65669039e-02 -8.88951249e-04 9.99330812e-01 2.61424034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.619254154 meters Centerline goodness : 0.999354 with order 1 Centerline is valid? [True, True] Translation: X:715.74, Y:40.37, Z:26.14 [[ 9.95815556e-01 -8.37712913e-02 -3.65205370e-02 7.15741551e+02] [ 8.37525925e-02 9.96484483e-01 -2.04425681e-03 4.03688936e+01] [ 3.65633984e-02 -1.02298692e-03 9.99330812e-01 2.61448412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.679254154 meters Centerline goodness : 0.999061 with order 1 Centerline is valid? [True, True] Translation: X:715.80, Y:40.36, Z:26.15 [[ 9.95487499e-01 -8.75836495e-02 -3.65204619e-02 7.15800332e+02] [ 8.75674631e-02 9.96156491e-01 -2.04559711e-03 4.03641574e+01] [ 3.65592561e-02 -1.16163785e-03 9.99330812e-01 2.61465671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.739254154 meters Centerline goodness : 0.997077 with order 1 Centerline is valid? [True, True] Translation: X:715.86, Y:40.36, Z:26.15 [[ 9.95374534e-01 -8.88583302e-02 -3.65203163e-02 7.15859479e+02] [ 8.88429054e-02 9.96043545e-01 -2.04819314e-03 4.03588972e+01] [ 3.65578243e-02 -1.20585172e-03 9.99330812e-01 2.61475449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.799254154 meters Centerline goodness : 0.999437 with order 1 Centerline is valid? [True, True] Translation: X:715.92, Y:40.36, Z:26.15 [[ 9.95248168e-01 -9.02629296e-02 -3.65196783e-02 7.15917483e+02] [ 9.02480342e-02 9.95917191e-01 -2.05950741e-03 4.03573795e+01] [ 3.65564725e-02 -1.24610819e-03 9.99330812e-01 2.61496508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.8592541539999 meters Centerline goodness : 0.999352 with order 1 Centerline is valid? [True, True] Translation: X:715.98, Y:40.36, Z:26.15 [[ 9.95171582e-01 -9.11035242e-02 -3.65194504e-02 7.15977241e+02] [ 9.10890461e-02 9.95840614e-01 -2.06354052e-03 4.03573601e+01] [ 3.65555477e-02 -1.27294502e-03 9.99330812e-01 2.61512623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.919254154 meters Centerline goodness : 0.999374 with order 1 Centerline is valid? [True, True] Translation: X:716.04, Y:40.36, Z:26.15 [[ 9.95055561e-01 -9.23621399e-02 -3.65193745e-02 7.16036557e+02] [ 9.23484588e-02 9.95724610e-01 -2.06488266e-03 4.03554249e+01] [ 3.65539569e-02 -1.31783498e-03 9.99330812e-01 2.61516657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.9792541539999 meters Centerline goodness : 0.999416 with order 1 Centerline is valid? [True, True] Translation: X:716.09, Y:40.35, Z:26.15 [[ 9.95003328e-01 -9.29233657e-02 -3.65188458e-02 7.16094422e+02] [ 9.29097207e-02 9.95672377e-01 -2.07419136e-03 4.03546397e+01] [ 3.65535468e-02 -1.32912845e-03 9.99330812e-01 2.61516902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.039254154 meters Centerline goodness : 0.999416 with order 1 Centerline is valid? [True, True] Translation: X:716.15, Y:40.36, Z:26.16 [[ 9.95005622e-01 -9.28988639e-02 -3.65186598e-02 7.16154249e+02] [ 9.28850826e-02 9.95674669e-01 -2.07745992e-03 4.03554526e+01] [ 3.65536982e-02 -1.32495443e-03 9.99330812e-01 2.61641701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.0992541539999 meters Centerline goodness : 0.999562 with order 1 Centerline is valid? [True, True] Translation: X:716.21, Y:40.36, Z:26.16 [[ 9.95172081e-01 -9.10984037e-02 -3.65186207e-02 7.16213586e+02] [ 9.10833868e-02 9.95841101e-01 -2.07814756e-03 4.03566438e+01] [ 3.65560594e-02 -1.25812522e-03 9.99330812e-01 2.61564038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.159254154 meters Centerline goodness : 0.997246 with order 1 Centerline is valid? [True, True] Translation: X:716.27, Y:40.36, Z:26.16 [[ 9.95450997e-01 -8.79983406e-02 -3.65185430e-02 7.16272239e+02] [ 8.79811899e-02 9.96119966e-01 -2.07951143e-03 4.03601193e+01] [ 3.65598434e-02 -1.14289315e-03 9.99330812e-01 2.61622215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.2192541539999 meters Centerline goodness : 0.997475 with order 1 Centerline is valid? [True, True] Translation: X:716.33, Y:40.36, Z:26.16 [[ 9.95758979e-01 -8.44422967e-02 -3.65178591e-02 7.16330257e+02] [ 8.44223192e-02 9.96427869e-01 -2.09145398e-03 4.03635170e+01] [ 3.65640197e-02 -1.00033827e-03 9.99330812e-01 2.61647521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.279254154 meters Centerline goodness : 0.999520 with order 1 Centerline is valid? [True, True] Translation: X:716.39, Y:40.36, Z:26.16 [[ 9.96237778e-01 -7.85923245e-02 -3.65176147e-02 7.16388057e+02] [ 7.85682626e-02 9.96906533e-01 -2.09571168e-03 4.03642107e+01] [ 3.65693555e-02 -7.81298397e-04 9.99330812e-01 2.61645125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.339254154 meters Centerline goodness : 0.999541 with order 1 Centerline is valid? [True, True] Translation: X:716.45, Y:40.37, Z:26.16 [[ 9.96282890e-01 -7.80184876e-02 -3.65173790e-02 7.16445896e+02] [ 7.79938903e-02 9.96951626e-01 -2.09981104e-03 4.03664582e+01] [ 3.65698844e-02 -7.56126643e-04 9.99330812e-01 2.61642228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.399254154 meters Centerline goodness : 0.999665 with order 1 Centerline is valid? [True, True] Translation: X:716.50, Y:40.37, Z:26.17 [[ 9.96114044e-01 -8.01457281e-02 -3.65167510e-02 7.16504797e+02] [ 8.01221608e-02 9.96782817e-01 -2.11067554e-03 4.03685475e+01] [ 3.65684316e-02 -8.23327449e-04 9.99330812e-01 2.61681892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.459254154 meters Centerline goodness : 0.999290 with order 1 Centerline is valid? [True, True] Translation: X:716.56, Y:40.37, Z:26.17 [[ 9.95985009e-01 -8.17339091e-02 -3.65161541e-02 7.16564039e+02] [ 8.17110316e-02 9.96653806e-01 -2.12095265e-03 4.03716827e+01] [ 3.65673177e-02 -8.71335576e-04 9.99330812e-01 2.61688016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.519254154 meters Centerline goodness : 0.999498 with order 1 Centerline is valid? [True, True] Translation: X:716.62, Y:40.38, Z:26.17 [[ 9.95634122e-01 -8.59028679e-02 -3.65156432e-02 7.16623109e+02] [ 8.58824695e-02 9.96302999e-01 -2.12971232e-03 4.03750379e+01] [ 3.65635932e-02 -1.01563936e-03 9.99330812e-01 2.61710037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.579254154 meters Centerline goodness : 0.999332 with order 1 Centerline is valid? [True, True] Translation: X:716.68, Y:40.38, Z:26.17 [[ 9.95193672e-01 -9.08636475e-02 -3.65150930e-02 7.16682354e+02] [ 9.08462385e-02 9.95862634e-01 -2.13910498e-03 4.03777595e+01] [ 3.65583835e-02 -1.18843511e-03 9.99330812e-01 2.61721560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.639254154 meters Centerline goodness : 0.999416 with order 1 Centerline is valid? [True, True] Translation: X:716.74, Y:40.38, Z:26.18 [[ 9.94975666e-01 -9.32206740e-02 -3.65147959e-02 7.16740599e+02] [ 9.32046641e-02 9.95644662e-01 -2.14416397e-03 4.03819285e+01] [ 3.65556420e-02 -1.26995832e-03 9.99330812e-01 2.61754961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.699254154 meters Centerline goodness : 0.999374 with order 1 Centerline is valid? [True, True] Translation: X:716.80, Y:40.39, Z:26.18 [[ 9.94792108e-01 -9.51597191e-02 -3.65142495e-02 7.16798207e+02] [ 9.51446735e-02 9.95461126e-01 -2.15342860e-03 4.03859480e+01] [ 3.65534356e-02 -1.33192257e-03 9.99330812e-01 2.61781602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.759254154 meters Centerline goodness : 0.999478 with order 1 Centerline is valid? [True, True] Translation: X:716.86, Y:40.39, Z:26.18 [[ 9.94797299e-01 -9.51055509e-02 -3.65139528e-02 7.16856679e+02] [ 9.50902849e-02 9.95466312e-01 -2.15844813e-03 4.03901376e+01] [ 3.65536904e-02 -1.32490381e-03 9.99330812e-01 2.61804170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.819254154 meters Centerline goodness : 0.999289 with order 1 Centerline is valid? [True, True] Translation: X:716.92, Y:40.40, Z:26.18 [[ 9.95009352e-01 -9.28609700e-02 -3.65134235e-02 7.16915531e+02] [ 9.28438679e-02 9.95678321e-01 -2.16736504e-03 4.03959961e+01] [ 3.65568878e-02 -1.23349899e-03 9.99330812e-01 2.61823509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.879254154 meters Centerline goodness : 0.999165 with order 1 Centerline is valid? [True, True] Translation: X:716.97, Y:40.40, Z:26.18 [[ 9.95168295e-01 -9.11420595e-02 -3.65128718e-02 7.16974024e+02] [ 9.11234625e-02 9.95837224e-01 -2.17662076e-03 4.04008014e+01] [ 3.65592586e-02 -1.16107533e-03 9.99330812e-01 2.61836798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.939254154 meters Centerline goodness : 0.999395 with order 1 Centerline is valid? [True, True] Translation: X:717.03, Y:40.41, Z:26.19 [[ 9.95326738e-01 -8.93953936e-02 -3.65123156e-02 7.17032735e+02] [ 8.93752823e-02 9.95995623e-01 -2.18591061e-03 4.04059538e+01] [ 3.65615169e-02 -1.08760324e-03 9.99330812e-01 2.61868883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.999254154 meters Centerline goodness : 0.999397 with order 1 Centerline is valid? [True, True] Translation: X:717.09, Y:40.41, Z:26.19 [[ 9.95582584e-01 -8.64997712e-02 -3.65117581e-02 7.17090559e+02] [ 8.64773744e-02 9.96251396e-01 -2.19518319e-03 4.04129107e+01] [ 3.65647729e-02 -9.71954827e-04 9.99330812e-01 2.61876873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.059254154 meters Centerline goodness : 0.999458 with order 1 Centerline is valid? [True, True] Translation: X:717.15, Y:40.42, Z:26.19 [[ 9.95845072e-01 -8.34236053e-02 -3.65115626e-02 7.17148511e+02] [ 8.33990234e-02 9.96513808e-01 -2.19843029e-03 4.04204569e+01] [ 3.65676773e-02 -8.55732693e-04 9.99330812e-01 2.61882068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.119254154 meters Centerline goodness : 0.999352 with order 1 Centerline is valid? [True, True] Translation: X:717.21, Y:40.43, Z:26.19 [[ 9.95887894e-01 -8.29109273e-02 -3.65113715e-02 7.17207083e+02] [ 8.28858850e-02 9.96556613e-01 -2.20159990e-03 4.04267205e+01] [ 3.65681854e-02 -8.33730648e-04 9.99330812e-01 2.61907506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.179254154 meters Centerline goodness : 0.999331 with order 1 Centerline is valid? [True, True] Translation: X:717.27, Y:40.43, Z:26.19 [[ 9.95835902e-01 -8.35333301e-02 -3.65108097e-02 7.17265963e+02] [ 8.35083658e-02 9.96504624e-01 -2.21087650e-03 4.04330915e+01] [ 3.65678726e-02 -8.47287866e-04 9.99330812e-01 2.61939723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.239254154 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:717.32, Y:40.44, Z:26.19 [[ 9.95748976e-01 -8.45634578e-02 -3.65102394e-02 7.17323182e+02] [ 8.45388416e-02 9.96417711e-01 -2.22025475e-03 4.04386589e+01] [ 3.65672016e-02 -8.75716954e-04 9.99330813e-01 2.61935780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.299254154 meters Centerline goodness : 0.997161 with order 1 Centerline is valid? [True, True] Translation: X:717.38, Y:40.45, Z:26.20 [[ 9.95302336e-01 -8.96677965e-02 -3.65095361e-02 7.17381737e+02] [ 8.96461877e-02 9.95971174e-01 -2.23176122e-03 4.04451832e+01] [ 3.65625626e-02 -1.05166356e-03 9.99330813e-01 2.61988578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.3592541539999 meters Centerline goodness : 0.999248 with order 1 Centerline is valid? [True, True] Translation: X:717.44, Y:40.45, Z:26.20 [[ 9.94782919e-01 -9.52576860e-02 -3.65091302e-02 7.17438922e+02] [ 9.52395922e-02 9.95451862e-01 -2.23838074e-03 4.04485033e+01] [ 3.65563046e-02 -1.25041175e-03 9.99330813e-01 2.62006352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.419254154 meters Centerline goodness : 0.999228 with order 1 Centerline is valid? [True, True] Translation: X:717.50, Y:40.45, Z:26.20 [[ 9.94489000e-01 -9.82788869e-02 -3.65087429e-02 7.17498653e+02] [ 9.82625941e-02 9.95157989e-01 -2.24468015e-03 4.04542484e+01] [ 3.65525719e-02 -1.35513407e-03 9.99330813e-01 2.62029158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.4792541539999 meters Centerline goodness : 0.999248 with order 1 Centerline is valid? [True, True] Translation: X:717.56, Y:40.46, Z:26.21 [[ 9.94331842e-01 -9.98563974e-02 -3.65087429e-02 7.17558267e+02] [ 9.98411659e-02 9.95000856e-01 -2.24468015e-03 4.04632854e+01] [ 3.65503761e-02 -1.41311851e-03 9.99330813e-01 2.62096980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.539254154 meters Centerline goodness : 0.999061 with order 1 Centerline is valid? [True, True] Translation: X:717.62, Y:40.47, Z:26.21 [[ 9.94543916e-01 -9.77215844e-02 -3.65087868e-02 7.17619179e+02] [ 9.77049429e-02 9.95212896e-01 -2.24396623e-03 4.04660270e+01] [ 3.65532994e-02 -1.33536597e-03 9.99330813e-01 2.62079522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.5992541539999 meters Centerline goodness : 0.999271 with order 1 Centerline is valid? [True, True] Translation: X:717.68, Y:40.47, Z:26.21 [[ 9.94596330e-01 -9.71866715e-02 -3.65087868e-02 7.17679047e+02] [ 9.71696702e-02 9.95265301e-01 -2.24396623e-03 4.04709233e+01] [ 3.65540123e-02 -1.31570620e-03 9.99330813e-01 2.62098030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.659254154 meters Centerline goodness : 0.999209 with order 1 Centerline is valid? [True, True] Translation: X:717.74, Y:40.47, Z:26.21 [[ 9.94826148e-01 -9.48052732e-02 -3.65088285e-02 7.17739838e+02] [ 9.47866953e-02 9.95495078e-01 -2.24328750e-03 4.04744088e+01] [ 3.65570346e-02 -1.22887014e-03 9.99330813e-01 2.62131651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.7192541539999 meters Centerline goodness : 0.999353 with order 1 Centerline is valid? [True, True] Translation: X:717.80, Y:40.48, Z:26.21 [[ 9.94560963e-01 -9.75478830e-02 -3.65089152e-02 7.17800063e+02] [ 9.75312013e-02 9.95229943e-01 -2.24187620e-03 4.04814172e+01] [ 3.65534558e-02 -1.33107580e-03 9.99330813e-01 2.62120078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.779254154 meters Centerline goodness : 0.999437 with order 1 Centerline is valid? [True, True] Translation: X:717.86, Y:40.49, Z:26.21 [[ 9.94487188e-01 -9.82971459e-02 -3.65089575e-02 7.17860845e+02] [ 9.82809935e-02 9.95156180e-01 -2.24118732e-03 4.04857683e+01] [ 3.65524170e-02 -1.35930453e-03 9.99330813e-01 2.62141579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.839254154 meters Centerline goodness : 0.999166 with order 1 Centerline is valid? [True, True] Translation: X:717.92, Y:40.48, Z:26.21 [[ 9.95049981e-01 -9.24263255e-02 -3.65090411e-02 7.17922043e+02] [ 9.24062752e-02 9.95718868e-01 -2.23982384e-03 4.04828786e+01] [ 3.65597598e-02 -1.14492783e-03 9.99330813e-01 2.62092122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.899254154 meters Centerline goodness : 0.999291 with order 1 Centerline is valid? [True, True] Translation: X:717.98, Y:40.50, Z:26.22 [[ 9.94345068e-01 -9.97245004e-02 -3.65090411e-02 7.17981695e+02] [ 9.97093582e-02 9.95014084e-01 -2.23982384e-03 4.04952810e+01] [ 3.65503754e-02 -1.41313527e-03 9.99330813e-01 2.62190514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.959254154 meters Centerline goodness : 0.999123 with order 1 Centerline is valid? [True, True] Translation: X:718.04, Y:40.50, Z:26.22 [[ 9.94309100e-01 -1.00082465e-01 -3.65090824e-02 7.18042538e+02] [ 1.00067589e-01 9.94978122e-01 -2.23915055e-03 4.04993240e+01] [ 3.65498380e-02 -1.42696807e-03 9.99330813e-01 2.62208624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.019254154 meters Centerline goodness : 0.999228 with order 1 Centerline is valid? [True, True] Translation: X:718.10, Y:40.51, Z:26.22 [[ 9.94528965e-01 -9.78734807e-02 -3.65091646e-02 7.18102481e+02] [ 9.78571671e-02 9.95197954e-01 -2.23780869e-03 4.05056797e+01] [ 3.65528681e-02 -1.34711786e-03 9.99330813e-01 2.62232146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.079254154 meters Centerline goodness : 0.999060 with order 1 Centerline is valid? [True, True] Translation: X:718.16, Y:40.51, Z:26.23 [[ 9.95139271e-01 -9.14598434e-02 -3.65093040e-02 7.18162168e+02] [ 9.14393007e-02 9.95808143e-01 -2.23553303e-03 4.05122909e+01] [ 3.65607237e-02 -1.11371852e-03 9.99330813e-01 2.62267659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.139254154 meters Centerline goodness : 0.999122 with order 1 Centerline is valid? [True, True] Translation: X:718.22, Y:40.52, Z:26.23 [[ 9.95680178e-01 -8.53700968e-02 -3.65093040e-02 7.18222216e+02] [ 8.53454625e-02 9.96348912e-01 -2.23553303e-03 4.05171761e+01] [ 3.65668530e-02 -8.90027506e-04 9.99330813e-01 2.62291243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.199254154 meters Centerline goodness : 0.999208 with order 1 Centerline is valid? [True, True] Translation: X:718.28, Y:40.52, Z:26.23 [[ 9.96299533e-01 -7.78094547e-02 -3.65093040e-02 7.18280842e+02] [ 7.77797447e-02 9.96968061e-01 -2.23553303e-03 4.05222665e+01] [ 3.65725556e-02 -6.12423829e-04 9.99330813e-01 2.62316732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.259254154 meters Centerline goodness : 0.999248 with order 1 Centerline is valid? [True, True] Translation: X:718.34, Y:40.53, Z:26.23 [[ 9.96429226e-01 -7.61306729e-02 -3.65091581e-02 7.18338679e+02] [ 7.60997494e-02 9.97097698e-01 -2.23791344e-03 4.05266455e+01] [ 3.65735713e-02 -5.48415420e-04 9.99330813e-01 2.62333710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.319254154 meters Centerline goodness : 0.999228 with order 1 Centerline is valid? [True, True] Translation: X:718.40, Y:40.53, Z:26.23 [[ 9.96327786e-01 -7.74470031e-02 -3.65089699e-02 7.18396695e+02] [ 7.74168505e-02 9.96996294e-01 -2.24097875e-03 4.05284273e+01] [ 3.65728648e-02 -5.93660068e-04 9.99330813e-01 2.62329000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.379254154 meters Centerline goodness : 0.999103 with order 1 Centerline is valid? [True, True] Translation: X:718.46, Y:40.53, Z:26.24 [[ 9.95958317e-01 -8.20617987e-02 -3.65087844e-02 7.18455855e+02] [ 8.20346327e-02 9.96626953e-01 -2.24399732e-03 4.05306012e+01] [ 3.65697850e-02 -7.60056926e-04 9.99330813e-01 2.62355022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.439254154 meters Centerline goodness : 0.999082 with order 1 Centerline is valid? [True, True] Translation: X:718.52, Y:40.53, Z:26.23 [[ 9.95821621e-01 -8.37043178e-02 -3.65087026e-02 7.18516215e+02] [ 8.36782059e-02 9.96490299e-01 -2.24532672e-03 4.05263454e+01] [ 3.65685115e-02 -8.19037836e-04 9.99330813e-01 2.62349874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.499254154 meters Centerline goodness : 0.999229 with order 1 Centerline is valid? [True, True] Translation: X:718.58, Y:40.53, Z:26.24 [[ 9.94466520e-01 -9.85061523e-02 -3.65086182e-02 7.18575149e+02] [ 9.84899384e-02 9.95135511e-01 -2.24669792e-03 4.05325801e+01] [ 3.65523360e-02 -1.36146570e-03 9.99330813e-01 2.62408985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.559254154 meters Centerline goodness : 0.999187 with order 1 Centerline is valid? [True, True] Translation: X:718.64, Y:40.53, Z:26.24 [[ 9.93998799e-01 -1.03118938e-01 -3.65085356e-02 7.18637365e+02] [ 1.03105779e-01 9.94667856e-01 -2.24804024e-03 4.05276820e+01] [ 3.65456824e-02 -1.52969170e-03 9.99330813e-01 2.62409168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.619254154 meters Centerline goodness : 0.999104 with order 1 Centerline is valid? [True, True] Translation: X:718.70, Y:40.53, Z:26.24 [[ 9.93599107e-01 -1.06901517e-01 -3.65086206e-02 7.18697962e+02] [ 1.06890955e-01 9.94268211e-01 -2.24665967e-03 4.05293670e+01] [ 3.65395322e-02 -1.67016228e-03 9.99330813e-01 2.62420577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.679254154 meters Centerline goodness : 0.999084 with order 1 Centerline is valid? [True, True] Translation: X:718.76, Y:40.54, Z:26.25 [[ 9.92460275e-01 -1.17003075e-01 -3.65086622e-02 7.18757662e+02] [ 1.16999345e-01 9.93129452e-01 -2.24598257e-03 4.05358578e+01] [ 3.65206146e-02 -2.04244109e-03 9.99330813e-01 2.62481108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.739254154 meters Centerline goodness : 0.999062 with order 1 Centerline is valid? [True, True] Translation: X:718.82, Y:40.54, Z:26.25 [[ 9.92281194e-01 -1.18512223e-01 -3.65087022e-02 7.18820123e+02] [ 1.18509534e-01 9.92950376e-01 -2.24533184e-03 4.05371099e+01] [ 3.65174289e-02 -2.09862873e-03 9.99330813e-01 2.62519173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.799254154 meters Centerline goodness : 0.999188 with order 1 Centerline is valid? [True, True] Translation: X:718.88, Y:40.54, Z:26.25 [[ 9.91727392e-01 -1.23060478e-01 -3.65088733e-02 7.18881181e+02] [ 1.23060960e-01 9.92396580e-01 -2.24254720e-03 4.05439878e+01] [ 3.65072499e-02 -2.26882151e-03 9.99330813e-01 2.62527296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.8592541539999 meters Centerline goodness : 0.999145 with order 1 Centerline is valid? [True, True] Translation: X:718.94, Y:40.55, Z:26.25 [[ 9.91940341e-01 -1.21331946e-01 -3.65091514e-02 7.18941834e+02] [ 1.21331428e-01 9.92609528e-01 -2.23800967e-03 4.05496600e+01] [ 3.65108736e-02 -2.20973539e-03 9.99330813e-01 2.62525130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.919254154 meters Centerline goodness : 0.999270 with order 1 Centerline is valid? [True, True] Translation: X:719.00, Y:40.56, Z:26.25 [[ 9.92170944e-01 -1.19431542e-01 -3.65092325e-02 7.19002547e+02] [ 1.19429791e-01 9.92840129e-01 -2.23668638e-03 4.05561303e+01] [ 3.65149620e-02 -2.14111475e-03 9.99330813e-01 2.62545824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.9792541539999 meters Centerline goodness : 0.999061 with order 1 Centerline is valid? [True, True] Translation: X:719.06, Y:40.56, Z:26.26 [[ 9.92497682e-01 -1.16685136e-01 -3.65093125e-02 7.19064015e+02] [ 1.16681580e-01 9.93166860e-01 -2.23537937e-03 4.05641273e+01] [ 3.65206748e-02 -2.04135543e-03 9.99330813e-01 2.62557192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.039254154 meters Centerline goodness : 0.999040 with order 1 Centerline is valid? [True, True] Translation: X:719.13, Y:40.57, Z:26.26 [[ 9.93076944e-01 -1.11647848e-01 -3.65094795e-02 7.19125135e+02] [ 1.11640997e-01 9.93746096e-01 -2.23264910e-03 4.05731373e+01] [ 3.65304232e-02 -1.85876233e-03 9.99330813e-01 2.62566371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.0992541539999 meters Centerline goodness : 0.999143 with order 1 Centerline is valid? [True, True] Translation: X:719.19, Y:40.57, Z:26.25 [[ 9.94326716e-01 -9.99070644e-02 -3.65097420e-02 7.19186819e+02] [ 9.98924657e-02 9.94995744e-01 -2.22834859e-03 4.05740662e+01] [ 3.65496656e-02 -1.43134161e-03 9.99330813e-01 2.62538954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.159254154 meters Centerline goodness : 0.999038 with order 1 Centerline is valid? [True, True] Translation: X:719.25, Y:40.59, Z:26.26 [[ 9.95315838e-01 -8.95176804e-02 -3.65098272e-02 7.19248010e+02] [ 8.94961470e-02 9.95984679e-01 -2.22695169e-03 4.05868100e+01] [ 3.65625800e-02 -1.05096857e-03 9.99330813e-01 2.62594908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.2192541539999 meters Centerline goodness : 0.998952 with order 1 Centerline is valid? [True, True] Translation: X:719.31, Y:40.60, Z:26.27 [[ 9.96017055e-01 -8.13452294e-02 -3.65100012e-02 7.19307131e+02] [ 8.13183116e-02 9.96685701e-01 -2.22409498e-03 4.05997520e+01] [ 3.65699156e-02 -7.53695120e-04 9.99330813e-01 2.62686742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.279254154 meters Centerline goodness : 0.999015 with order 1 Centerline is valid? [True, True] Translation: X:719.37, Y:40.61, Z:26.27 [[ 9.96482399e-01 -7.54310607e-02 -3.65100436e-02 7.19368010e+02] [ 7.54001996e-02 9.97150874e-01 -2.22339813e-03 4.06072438e+01] [ 3.65737352e-02 -5.37287478e-04 9.99330813e-01 2.62723696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.339254154 meters Centerline goodness : 0.999036 with order 1 Centerline is valid? [True, True] Translation: X:719.43, Y:40.61, Z:26.27 [[ 9.96731708e-01 -7.20618495e-02 -3.65101725e-02 7.19427173e+02] [ 7.20288063e-02 9.97400079e-01 -2.22127979e-03 4.06116692e+01] [ 3.65753185e-02 -4.15764143e-04 9.99330813e-01 2.62715648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.399254154 meters Centerline goodness : 0.998972 with order 1 Centerline is valid? [True, True] Translation: X:719.49, Y:40.62, Z:26.27 [[ 9.96503824e-01 -7.51474518e-02 -3.65101295e-02 7.19487005e+02] [ 7.51164522e-02 9.97172293e-01 -2.22198677e-03 4.06157212e+01] [ 3.65738662e-02 -5.28293083e-04 9.99330813e-01 2.62724970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.459254154 meters Centerline goodness : 0.999162 with order 1 Centerline is valid? [True, True] Translation: X:719.55, Y:40.62, Z:26.27 [[ 9.96288959e-01 -7.79443767e-02 -3.65100489e-02 7.19546059e+02] [ 7.79152051e-02 9.96957510e-01 -2.22331057e-03 4.06191911e+01] [ 3.65722620e-02 -6.29628174e-04 9.99330813e-01 2.62747008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.519254154 meters Centerline goodness : 0.999039 with order 1 Centerline is valid? [True, True] Translation: X:719.61, Y:40.62, Z:26.28 [[ 9.96009098e-01 -8.14426140e-02 -3.65099672e-02 7.19606925e+02] [ 8.14157412e-02 9.96677745e-01 -2.22465106e-03 4.06226189e+01] [ 3.65698532e-02 -7.56713341e-04 9.99330813e-01 2.62761096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.579254154 meters Centerline goodness : 0.999290 with order 1 Centerline is valid? [True, True] Translation: X:719.67, Y:40.63, Z:26.28 [[ 9.95789338e-01 -8.40869558e-02 -3.65099672e-02 7.19666985e+02] [ 8.40618585e-02 9.96458055e-01 -2.22465106e-03 4.06256338e+01] [ 3.65677150e-02 -8.53811887e-04 9.99330813e-01 2.62779739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.639254154 meters Centerline goodness : 0.999186 with order 1 Centerline is valid? [True, True] Translation: X:719.73, Y:40.63, Z:26.28 [[ 9.95392774e-01 -8.86580406e-02 -3.65099672e-02 7.19728114e+02] [ 8.86360139e-02 9.96061598e-01 -2.22465106e-03 4.06279829e+01] [ 3.65634095e-02 -1.02169637e-03 9.99330813e-01 2.62806613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.699254154 meters Centerline goodness : 0.998954 with order 1 Centerline is valid? [True, True] Translation: X:719.79, Y:40.63, Z:26.28 [[ 9.94981630e-01 -9.31588534e-02 -3.65100480e-02 7.19789877e+02] [ 9.31399003e-02 9.95650549e-01 -2.22332407e-03 4.06299741e+01] [ 3.65583717e-02 -1.18837562e-03 9.99330813e-01 2.62821300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.759254154 meters Centerline goodness : 0.999122 with order 1 Centerline is valid? [True, True] Translation: X:719.85, Y:40.63, Z:26.29 [[ 9.94633687e-01 -9.68030929e-02 -3.65101300e-02 7.19851098e+02] [ 9.67866398e-02 9.95302672e-01 -2.22197637e-03 4.06324373e+01] [ 3.65537242e-02 -1.32364025e-03 9.99330813e-01 2.62859803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.819254154 meters Centerline goodness : 0.999144 with order 1 Centerline is valid? [True, True] Translation: X:719.91, Y:40.64, Z:26.29 [[ 9.94603563e-01 -9.71120646e-02 -3.65102517e-02 7.19912820e+02] [ 9.70958927e-02 9.95272555e-01 -2.21997506e-03 4.06350986e+01] [ 3.65532379e-02 -1.33700038e-03 9.99330813e-01 2.62869982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.879254154 meters Centerline goodness : 0.999143 with order 1 Centerline is valid? [True, True] Translation: X:719.97, Y:40.64, Z:26.29 [[ 9.94840883e-01 -9.46499484e-02 -3.65103312e-02 7.19973615e+02] [ 9.46321686e-02 9.95509834e-01 -2.21866621e-03 4.06397438e+01] [ 3.65563904e-02 -1.24783197e-03 9.99330813e-01 2.62883959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.939254154 meters Centerline goodness : 0.999144 with order 1 Centerline is valid? [True, True] Translation: X:720.04, Y:40.64, Z:26.29 [[ 9.95158741e-01 -9.12472973e-02 -3.65104120e-02 7.20035079e+02] [ 9.12272787e-02 9.95827629e-01 -2.21733609e-03 4.06436208e+01] [ 3.65604030e-02 -1.12414414e-03 9.99330813e-01 2.62899704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.999254154 meters Centerline goodness : 0.998955 with order 1 Centerline is valid? [True, True] Translation: X:720.10, Y:40.65, Z:26.29 [[ 9.95598504e-01 -8.63168743e-02 -3.65104933e-02 7.20095698e+02] [ 8.62935918e-02 9.96267286e-01 -2.21599736e-03 4.06490970e+01] [ 3.65654880e-02 -9.44377947e-04 9.99330813e-01 2.62915129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.059254154 meters Centerline goodness : 0.999057 with order 1 Centerline is valid? [True, True] Translation: X:720.16, Y:40.65, Z:26.29 [[ 9.95840779e-01 -8.34753097e-02 -3.65104933e-02 7.20157217e+02] [ 8.34501188e-02 9.96509492e-01 -2.21599736e-03 4.06546937e+01] [ 3.65680342e-02 -8.40024463e-04 9.99330813e-01 2.62935669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.119254154 meters Centerline goodness : 0.998996 with order 1 Centerline is valid? [True, True] Translation: X:720.22, Y:40.66, Z:26.30 [[ 9.95748996e-01 -8.45630779e-02 -3.65105752e-02 7.20217469e+02] [ 8.45386669e-02 9.96417738e-01 -2.21464715e-03 4.06590841e+01] [ 3.65670621e-02 -8.81322675e-04 9.99330813e-01 2.62951772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.179254154 meters Centerline goodness : 0.998555 with order 1 Centerline is valid? [True, True] Translation: X:720.28, Y:40.65, Z:26.29 [[ 9.96189324e-01 -7.92073616e-02 -3.65106154e-02 7.20279240e+02] [ 7.91793793e-02 9.96857926e-01 -2.21398318e-03 4.06524989e+01] [ 3.65712601e-02 -6.85341459e-04 9.99330813e-01 2.62875999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.239254154 meters Centerline goodness : 0.998386 with order 1 Centerline is valid? [True, True] Translation: X:720.34, Y:40.67, Z:26.30 [[ 9.94699251e-01 -9.61268676e-02 -3.65106154e-02 7.20338805e+02] [ 9.61102527e-02 9.95368232e-01 -2.21398318e-03 4.06653245e+01] [ 3.65543300e-02 -1.30679706e-03 9.99330813e-01 2.63023877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.299254154 meters Centerline goodness : 0.998427 with order 1 Centerline is valid? [True, True] Translation: X:720.40, Y:40.66, Z:26.30 [[ 9.95226293e-01 -9.05074585e-02 -3.65106154e-02 7.20400731e+02] [ 9.04870655e-02 9.95895170e-01 -2.21398318e-03 4.06594066e+01] [ 3.65611276e-02 -1.10032418e-03 9.99330813e-01 2.62955330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.3592541539999 meters Centerline goodness : 0.998638 with order 1 Centerline is valid? [True, True] Translation: X:720.46, Y:40.67, Z:26.31 [[ 9.93905446e-01 -1.04014105e-01 -3.65106988e-02 7.20461931e+02] [ 1.04002848e-01 9.94574538e-01 -2.21260787e-03 4.06716124e+01] [ 3.65427538e-02 -1.59809364e-03 9.99330813e-01 2.63080233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.419254154 meters Centerline goodness : 0.998354 with order 1 Centerline is valid? [True, True] Translation: X:720.52, Y:40.67, Z:26.31 [[ 9.93731358e-01 -1.05664301e-01 -3.65108650e-02 7.20523184e+02] [ 1.05654256e-01 9.94400470e-01 -2.20986183e-03 4.06749713e+01] [ 3.65399248e-02 -1.66151927e-03 9.99330813e-01 2.63112617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.4792541539999 meters Centerline goodness : 0.998684 with order 1 Centerline is valid? [True, True] Translation: X:720.59, Y:40.68, Z:26.31 [[ 9.93788159e-01 -1.05128647e-01 -3.65111371e-02 7.20585039e+02] [ 1.05118406e-01 9.94457268e-01 -2.20535715e-03 4.06793222e+01] [ 3.65406118e-02 -1.64633471e-03 9.99330813e-01 2.63146650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.539254154 meters Centerline goodness : 0.998876 with order 1 Centerline is valid? [True, True] Translation: X:720.65, Y:40.68, Z:26.32 [[ 9.94049438e-01 -1.02628645e-01 -3.65113037e-02 7.20646184e+02] [ 1.02616822e-01 9.94718521e-01 -2.20259521e-03 4.06835293e+01] [ 3.65445194e-02 -1.55718541e-03 9.99330813e-01 2.63164123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.5992541539999 meters Centerline goodness : 0.998770 with order 1 Centerline is valid? [True, True] Translation: X:720.71, Y:40.69, Z:26.32 [[ 9.94205943e-01 -1.01101232e-01 -3.65114265e-02 7.20708482e+02] [ 1.01088456e-01 9.94875008e-01 -2.20055710e-03 4.06872856e+01] [ 3.65467848e-02 -1.50307678e-03 9.99330813e-01 2.63186667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.659254154 meters Centerline goodness : 0.998663 with order 1 Centerline is valid? [True, True] Translation: X:720.77, Y:40.69, Z:26.32 [[ 9.94401895e-01 -9.91553099e-02 -3.65115900e-02 7.20770195e+02] [ 9.91413239e-02 9.95070936e-01 -2.19784100e-03 4.06923772e+01] [ 3.65495497e-02 -1.43427012e-03 9.99330813e-01 2.63197210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.7192541539999 meters Centerline goodness : 0.998767 with order 1 Centerline is valid? [True, True] Translation: X:720.83, Y:40.70, Z:26.32 [[ 9.94606728e-01 -9.70790817e-02 -3.65117554e-02 7.20831148e+02] [ 9.70637999e-02 9.95275741e-01 -2.19508973e-03 4.06968732e+01] [ 3.65523617e-02 -1.36071871e-03 9.99330813e-01 2.63210246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.779254154 meters Centerline goodness : 0.998660 with order 1 Centerline is valid? [True, True] Translation: X:720.89, Y:40.69, Z:26.32 [[ 9.95215108e-01 -9.06298559e-02 -3.65118773e-02 7.20892419e+02] [ 9.06103121e-02 9.95884010e-01 -2.19306025e-03 4.06948055e+01] [ 3.65603516e-02 -1.12578591e-03 9.99330813e-01 2.63179752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.839254154 meters Centerline goodness : 0.998639 with order 1 Centerline is valid? [True, True] Translation: X:720.95, Y:40.71, Z:26.33 [[ 9.94702384e-01 -9.60939523e-02 -3.65119174e-02 7.20953273e+02] [ 9.60781067e-02 9.95371383e-01 -2.19239283e-03 4.07067976e+01] [ 3.65535934e-02 -1.32721753e-03 9.99330813e-01 2.63265843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.899254154 meters Centerline goodness : 0.998721 with order 1 Centerline is valid? [True, True] Translation: X:721.01, Y:40.71, Z:26.33 [[ 9.95084192e-01 -9.20560641e-02 -3.65120806e-02 7.21014105e+02] [ 9.20376032e-02 9.95753125e-01 -2.18967133e-03 4.07130761e+01] [ 3.65585909e-02 -1.18157706e-03 9.99330813e-01 2.63293726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.959254154 meters Centerline goodness : 0.998635 with order 1 Centerline is valid? [True, True] Translation: X:721.07, Y:40.72, Z:26.33 [[ 9.95619748e-01 -8.60707024e-02 -3.65123450e-02 7.21074789e+02] [ 8.60483813e-02 9.96288563e-01 -2.18525331e-03 4.07185557e+01] [ 3.65649181e-02 -9.66146838e-04 9.99330813e-01 2.63329271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.019254154 meters Centerline goodness : 0.998697 with order 1 Centerline is valid? [True, True] Translation: X:721.14, Y:40.72, Z:26.34 [[ 9.95925604e-01 -8.24562367e-02 -3.65124633e-02 7.21136192e+02] [ 8.24315605e-02 9.96594336e-01 -2.18327586e-03 4.07235466e+01] [ 3.65681388e-02 -8.35398997e-04 9.99330813e-01 2.63369419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.079254154 meters Centerline goodness : 0.998926 with order 1 Centerline is valid? [True, True] Translation: X:721.20, Y:40.73, Z:26.34 [[ 9.96237062e-01 -7.86037136e-02 -3.65126275e-02 7.21197241e+02] [ 7.85765520e-02 9.96905698e-01 -2.18052573e-03 4.07287491e+01] [ 3.65710439e-02 -6.96715824e-04 9.99330813e-01 2.63385170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.139254154 meters Centerline goodness : 0.999032 with order 1 Centerline is valid? [True, True] Translation: X:721.26, Y:40.73, Z:26.34 [[ 9.96261666e-01 -7.82912198e-02 -3.65127082e-02 7.21257155e+02] [ 7.82638979e-02 9.96930295e-01 -2.17917486e-03 4.07315556e+01] [ 3.65712352e-02 -6.86598489e-04 9.99330813e-01 2.63385591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.199254154 meters Centerline goodness : 0.998697 with order 1 Centerline is valid? [True, True] Translation: X:721.32, Y:40.73, Z:26.34 [[ 9.96107289e-01 -8.02314609e-02 -3.65127478e-02 7.21318038e+02] [ 8.02054656e-02 9.96775972e-01 -2.17851113e-03 4.07323805e+01] [ 3.65698147e-02 -7.58491118e-04 9.99330813e-01 2.63393092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.259254154 meters Centerline goodness : 0.998909 with order 1 Centerline is valid? [True, True] Translation: X:721.38, Y:40.73, Z:26.34 [[ 9.95849288e-01 -8.33727456e-02 -3.65127478e-02 7.21379703e+02] [ 8.33488594e-02 9.96518049e-01 -2.17851113e-03 4.07344025e+01] [ 3.65672406e-02 -8.73827120e-04 9.99330813e-01 2.63415300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.319254154 meters Centerline goodness : 0.998983 with order 1 Centerline is valid? [True, True] Translation: X:721.44, Y:40.74, Z:26.34 [[ 9.95540814e-01 -8.69787349e-02 -3.65128274e-02 7.21440251e+02] [ 8.69573198e-02 9.96209659e-01 -2.17717592e-03 4.07364117e+01] [ 3.65637993e-02 -1.00759012e-03 9.99330813e-01 2.63443647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.379254154 meters Centerline goodness : 0.997171 with order 1 Centerline is valid? [True, True] Translation: X:721.50, Y:40.74, Z:26.34 [[ 9.95458372e-01 -8.79171956e-02 -3.65129558e-02 7.21500416e+02] [ 8.78964900e-02 9.96127239e-01 -2.17502038e-03 4.07385357e+01] [ 3.65627715e-02 -1.04421841e-03 9.99330813e-01 2.63436263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.439254154 meters Centerline goodness : 0.999014 with order 1 Centerline is valid? [True, True] Translation: X:721.56, Y:40.74, Z:26.35 [[ 9.95444822e-01 -8.80705225e-02 -3.65128644e-02 7.21559689e+02] [ 8.80498638e-02 9.96113690e-01 -2.17655280e-03 4.07417828e+01] [ 3.65626543e-02 -1.04831453e-03 9.99330813e-01 2.63501992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.499254154 meters Centerline goodness : 0.998930 with order 1 Centerline is valid? [True, True] Translation: X:721.62, Y:40.74, Z:26.35 [[ 9.95708267e-01 -8.50403726e-02 -3.65127716e-02 7.21620518e+02] [ 8.50176212e-02 9.96377067e-01 -2.17810957e-03 4.07444977e+01] [ 3.65657155e-02 -9.35467270e-04 9.99330813e-01 2.63530007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.559254154 meters Centerline goodness : 0.998867 with order 1 Centerline is valid? [True, True] Translation: X:721.68, Y:40.75, Z:26.36 [[ 9.95867325e-01 -8.31569817e-02 -3.65128521e-02 7.21681612e+02] [ 8.31330149e-02 9.96536082e-01 -2.17675869e-03 4.07475872e+01] [ 3.65673873e-02 -8.67660619e-04 9.99330813e-01 2.63573865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.619254154 meters Centerline goodness : 0.998995 with order 1 Centerline is valid? [True, True] Translation: X:721.74, Y:40.75, Z:26.36 [[ 9.95963983e-01 -8.19911586e-02 -3.65129324e-02 7.21743169e+02] [ 8.19664583e-02 9.96632714e-01 -2.17541089e-03 4.07488270e+01] [ 3.65683474e-02 -8.26204859e-04 9.99330813e-01 2.63603959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.679254154 meters Centerline goodness : 0.998974 with order 1 Centerline is valid? [True, True] Translation: X:721.80, Y:40.75, Z:26.36 [[ 9.95908852e-01 -8.26580777e-02 -3.65130136e-02 7.21803476e+02] [ 8.26338753e-02 9.96577602e-01 -2.17404651e-03 4.07500283e+01] [ 3.65677541e-02 -8.52059649e-04 9.99330813e-01 2.63620650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.739254154 meters Centerline goodness : 0.998807 with order 1 Centerline is valid? [True, True] Translation: X:721.86, Y:40.75, Z:26.36 [[ 9.95851522e-01 -8.33459224e-02 -3.65130535e-02 7.21863437e+02] [ 8.33222064e-02 9.96520289e-01 -2.17337591e-03 4.07513523e+01] [ 3.65671407e-02 -8.77988478e-04 9.99330813e-01 2.63628582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.799254154 meters Centerline goodness : 0.999142 with order 1 Centerline is valid? [True, True] Translation: X:721.92, Y:40.75, Z:26.36 [[ 9.95871200e-01 -8.31104459e-02 -3.65130923e-02 7.21924232e+02] [ 8.30865956e-02 9.96539963e-01 -2.17272455e-03 4.07524638e+01] [ 3.65673317e-02 -8.69994725e-04 9.99330813e-01 2.63648608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.8592541539999 meters Centerline goodness : 0.999120 with order 1 Centerline is valid? [True, True] Translation: X:721.98, Y:40.75, Z:26.36 [[ 9.95832357e-01 -8.35745845e-02 -3.65130923e-02 7.21984383e+02] [ 8.35510460e-02 9.96501130e-01 -2.17272455e-03 4.07547244e+01] [ 3.65669223e-02 -8.87037640e-04 9.99330813e-01 2.63616153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.919254154 meters Centerline goodness : 0.999036 with order 1 Centerline is valid? [True, True] Translation: X:722.04, Y:40.76, Z:26.37 [[ 9.95664763e-01 -8.55480955e-02 -3.65130495e-02 7.22044085e+02] [ 8.55258561e-02 9.96333581e-01 -2.17344341e-03 4.07560966e+01] [ 3.65651113e-02 -9.58788802e-04 9.99330813e-01 2.63706934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.9792541539999 meters Centerline goodness : 0.998850 with order 1 Centerline is valid? [True, True] Translation: X:722.10, Y:40.76, Z:26.38 [[ 9.95471616e-01 -8.77671059e-02 -3.65129581e-02 7.22104921e+02] [ 8.77463011e-02 9.96140480e-01 -2.17497772e-03 4.07571752e+01] [ 3.65629271e-02 -1.03874843e-03 9.99330813e-01 2.63754558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.039254154 meters Centerline goodness : 0.998997 with order 1 Centerline is valid? [True, True] Translation: X:722.17, Y:40.76, Z:26.38 [[ 9.95643381e-01 -8.57966272e-02 -3.65129581e-02 7.22165231e+02] [ 8.57744985e-02 9.96312203e-01 -2.17497772e-03 4.07594954e+01] [ 3.65649115e-02 -9.66378504e-04 9.99330813e-01 2.63790240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.0992541539999 meters Centerline goodness : 0.999060 with order 1 Centerline is valid? [True, True] Translation: X:722.23, Y:40.76, Z:26.38 [[ 9.95864440e-01 -8.31914608e-02 -3.65129978e-02 7.22226020e+02] [ 8.31676068e-02 9.96533201e-01 -2.17431092e-03 4.07620655e+01] [ 3.65672987e-02 -8.71379718e-04 9.99330813e-01 2.63814890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.159254154 meters Centerline goodness : 0.999331 with order 1 Centerline is valid? [True, True] Translation: X:722.29, Y:40.76, Z:26.38 [[ 9.96004060e-01 -8.15028380e-02 -3.65129978e-02 7.22285429e+02] [ 8.14778501e-02 9.96672781e-01 -2.17431092e-03 4.07633956e+01] [ 3.65687236e-02 -8.09378055e-04 9.99330813e-01 2.63822720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.2192541539999 meters Centerline goodness : 0.999145 with order 1 Centerline is valid? [True, True] Translation: X:722.34, Y:40.76, Z:26.39 [[ 9.95942532e-01 -8.22513048e-02 -3.65129596e-02 7.22344887e+02] [ 8.22267960e-02 9.96611270e-01 -2.17495224e-03 4.07645625e+01] [ 3.65681197e-02 -8.36216239e-04 9.99330813e-01 2.63856801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.279254154 meters Centerline goodness : 0.999228 with order 1 Centerline is valid? [True, True] Translation: X:722.40, Y:40.76, Z:26.39 [[ 9.95499198e-01 -8.74537413e-02 -3.65128821e-02 7.22404453e+02] [ 8.74326792e-02 9.96168053e-01 -2.17625274e-03 4.07636881e+01] [ 3.65632881e-02 -1.02596125e-03 9.99330813e-01 2.63866250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.339254154 meters Centerline goodness : 0.999458 with order 1 Centerline is valid? [True, True] Translation: X:722.46, Y:40.76, Z:26.39 [[ 9.94881867e-01 -9.42172231e-02 -3.65128036e-02 7.22464815e+02] [ 9.42006588e-02 9.95550850e-01 -2.17756935e-03 4.07622810e+01] [ 3.65555172e-02 -1.27310589e-03 9.99330813e-01 2.63870994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.399254154 meters Centerline goodness : 0.999436 with order 1 Centerline is valid? [True, True] Translation: X:722.52, Y:40.76, Z:26.39 [[ 9.94564853e-01 -9.75067755e-02 -3.65127635e-02 7.22524894e+02] [ 9.74923990e-02 9.95233886e-01 -2.17824077e-03 4.07635776e+01] [ 3.65511328e-02 -1.39331520e-03 9.99330813e-01 2.63879915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.459254154 meters Centerline goodness : 0.999645 with order 1 Centerline is valid? [True, True] Translation: X:722.59, Y:40.76, Z:26.39 [[ 9.94493707e-01 -9.82297522e-02 -3.65127635e-02 7.22586025e+02] [ 9.82158621e-02 9.95162750e-01 -2.17824077e-03 4.07645733e+01] [ 3.65501102e-02 -1.41988581e-03 9.99330813e-01 2.63913490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.519254154 meters Centerline goodness : 0.999334 with order 1 Centerline is valid? [True, True] Translation: X:722.65, Y:40.77, Z:26.39 [[ 9.94843713e-01 -9.46192280e-02 -3.65128437e-02 7.22645855e+02] [ 9.46029587e-02 9.95512703e-01 -2.17689617e-03 4.07662141e+01] [ 3.65549760e-02 -1.28855157e-03 9.99330813e-01 2.63944858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.579254154 meters Centerline goodness : 0.999189 with order 1 Centerline is valid? [True, True] Translation: X:722.71, Y:40.77, Z:26.40 [[ 9.95221067e-01 -9.05640281e-02 -3.65128042e-02 7.22706585e+02] [ 9.05450082e-02 9.95889984e-01 -2.17755846e-03 4.07684189e+01] [ 3.65599445e-02 -1.13890010e-03 9.99330813e-01 2.63982086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.639254154 meters Centerline goodness : 0.999355 with order 1 Centerline is valid? [True, True] Translation: X:722.77, Y:40.77, Z:26.40 [[ 9.95801861e-01 -8.39372920e-02 -3.65128042e-02 7.22765672e+02] [ 8.39138199e-02 9.96470636e-01 -2.17755846e-03 4.07712032e+01] [ 3.65667156e-02 -8.95512108e-04 9.99330813e-01 2.64009533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.699254154 meters Centerline goodness : 0.999395 with order 1 Centerline is valid? [True, True] Translation: X:722.82, Y:40.77, Z:26.40 [[ 9.96432720e-01 -7.60831997e-02 -3.65127649e-02 7.22824437e+02] [ 7.60544312e-02 9.97101288e-01 -2.17821711e-03 4.07736533e+01] [ 3.65726507e-02 -6.06510773e-04 9.99330813e-01 2.64015352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.759254154 meters Centerline goodness : 0.999561 with order 1 Centerline is valid? [True, True] Translation: X:722.88, Y:40.78, Z:26.40 [[ 9.96756736e-01 -7.17137876e-02 -3.65122206e-02 7.22882360e+02] [ 7.16817554e-02 9.97425156e-01 -2.18730313e-03 4.07759063e+01] [ 3.65750671e-02 -4.37050938e-04 9.99330813e-01 2.64033699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.819254154 meters Centerline goodness : 0.999393 with order 1 Centerline is valid? [True, True] Translation: X:722.94, Y:40.78, Z:26.40 [[ 9.97015554e-01 -6.80212377e-02 -3.65115995e-02 7.22940518e+02] [ 6.79863519e-02 9.97683831e-01 -2.19762229e-03 4.07779177e+01] [ 3.65765175e-02 -2.91226849e-04 9.99330813e-01 2.64033398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.879254154 meters Centerline goodness : 0.999477 with order 1 Centerline is valid? [True, True] Translation: X:723.00, Y:40.78, Z:26.40 [[ 9.96980892e-01 -6.85274968e-02 -3.65114087e-02 7.22997432e+02] [ 6.84928345e-02 9.97649181e-01 -2.20078771e-03 4.07790211e+01] [ 3.65763915e-02 -3.06626583e-04 9.99330813e-01 2.64035035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.939254154 meters Centerline goodness : 0.999499 with order 1 Centerline is valid? [True, True] Translation: X:723.06, Y:40.78, Z:26.41 [[ 9.96897953e-01 -6.97237994e-02 -3.65111471e-02 7.23055451e+02] [ 6.96897804e-02 9.97566274e-01 -2.20511842e-03 4.07811123e+01] [ 3.65760383e-02 -3.46175792e-04 9.99330813e-01 2.64052166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.999254154 meters Centerline goodness : 0.999331 with order 1 Centerline is valid? [True, True] Translation: X:723.11, Y:40.78, Z:26.41 [[ 9.96725487e-01 -7.21474386e-02 -3.65109635e-02 7.23113592e+02] [ 7.21149334e-02 9.97393884e-01 -2.20815515e-03 4.07833141e+01] [ 3.65751244e-02 -4.32061181e-04 9.99330813e-01 2.64073482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.059254154 meters Centerline goodness : 0.999393 with order 1 Centerline is valid? [True, True] Translation: X:723.17, Y:40.79, Z:26.41 [[ 9.96364827e-01 -7.69683348e-02 -3.65103715e-02 7.23172328e+02] [ 7.69387065e-02 9.97033358e-01 -2.21790050e-03 4.07856787e+01] [ 3.65727664e-02 -5.99222710e-04 9.99330813e-01 2.64105328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.119254154 meters Centerline goodness : 0.999374 with order 1 Centerline is valid? [True, True] Translation: X:723.23, Y:40.79, Z:26.41 [[ 9.95871651e-01 -8.31064792e-02 -3.65098424e-02 7.23229809e+02] [ 8.30806530e-02 9.96540339e-01 -2.22657582e-03 4.07866934e+01] [ 3.65685736e-02 -8.15877814e-04 9.99330813e-01 2.64141234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.179254154 meters Centerline goodness : 0.999332 with order 1 Centerline is valid? [True, True] Translation: X:723.29, Y:40.79, Z:26.42 [[ 9.95507075e-01 -8.73653691e-02 -3.65096562e-02 7.23287993e+02] [ 8.73422916e-02 9.96175864e-01 -2.22962526e-03 4.07884338e+01] [ 3.65648303e-02 -9.69229317e-04 9.99330813e-01 2.64171134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.239254154 meters Centerline goodness : 0.999435 with order 1 Centerline is valid? [True, True] Translation: X:723.35, Y:40.79, Z:26.42 [[ 9.95138193e-01 -9.14716596e-02 -3.65090624e-02 7.23345849e+02] [ 9.14509865e-02 9.95807061e-01 -2.23930634e-03 4.07889887e+01] [ 3.65608152e-02 -1.11037051e-03 9.99330813e-01 2.64196914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.299254154 meters Centerline goodness : 0.999352 with order 1 Centerline is valid? [True, True] Translation: X:723.40, Y:40.79, Z:26.43 [[ 9.95112173e-01 -9.17543732e-02 -3.65088795e-02 7.23403830e+02] [ 9.17337810e-02 9.95781043e-01 -2.24228357e-03 4.07907370e+01] [ 3.65605895e-02 -1.11777389e-03 9.99330813e-01 2.64287762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.3592541539999 meters Centerline goodness : 0.999582 with order 1 Centerline is valid? [True, True] Translation: X:723.46, Y:40.79, Z:26.42 [[ 9.95223349e-01 -9.05407296e-02 -3.65083747e-02 7.23462722e+02] [ 9.05190216e-02 9.95892184e-01 -2.25047341e-03 4.07940803e+01] [ 3.65621645e-02 -1.06497867e-03 9.99330813e-01 2.64201000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.419254154 meters Centerline goodness : 0.999478 with order 1 Centerline is valid? [True, True] Translation: X:723.52, Y:40.80, Z:26.42 [[ 9.95544469e-01 -8.69389744e-02 -3.65078757e-02 7.23521771e+02] [ 8.69145508e-02 9.96213210e-01 -2.25854024e-03 4.07976246e+01] [ 3.65659832e-02 -9.24588365e-04 9.99330813e-01 2.64237308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.4792541539999 meters Centerline goodness : 0.999561 with order 1 Centerline is valid? [True, True] Translation: X:723.58, Y:40.80, Z:26.43 [[ 9.95814669e-01 -8.37876142e-02 -3.65072815e-02 7.23579657e+02] [ 8.37607236e-02 9.96483315e-01 -2.26810306e-03 4.08017620e+01] [ 3.65689359e-02 -7.99266024e-04 9.99330813e-01 2.64268474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.539254154 meters Centerline goodness : 0.999331 with order 1 Centerline is valid? [True, True] Translation: X:723.64, Y:40.81, Z:26.43 [[ 9.95937342e-01 -8.23169411e-02 -3.65066039e-02 7.23637044e+02] [ 8.22886654e-02 9.96605931e-01 -2.27895858e-03 4.08057762e+01] [ 3.65702948e-02 -7.34379760e-04 9.99330813e-01 2.64289954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.5992541539999 meters Centerline goodness : 0.999457 with order 1 Centerline is valid? [True, True] Translation: X:723.69, Y:40.81, Z:26.43 [[ 9.95856276e-01 -8.32922274e-02 -3.65059275e-02 7.23694642e+02] [ 8.32642113e-02 9.96524876e-01 -2.28974149e-03 4.08099673e+01] [ 3.65697826e-02 -7.59383837e-04 9.99330813e-01 2.64309526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.659254154 meters Centerline goodness : 0.999499 with order 1 Centerline is valid? [True, True] Translation: X:723.75, Y:40.82, Z:26.45 [[ 9.95241394e-01 -9.03434261e-02 -3.65052531e-02 7.23754767e+02] [ 9.03197539e-02 9.95910162e-01 -2.30044474e-03 4.08159045e+01] [ 3.65637825e-02 -1.00764765e-03 9.99330813e-01 2.64470863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.7192541539999 meters Centerline goodness : 0.999562 with order 1 Centerline is valid? [True, True] Translation: X:723.81, Y:40.82, Z:26.43 [[ 9.95055639e-01 -9.23668776e-02 -3.65052889e-02 7.23814512e+02] [ 9.23445861e-02 9.95724454e-01 -2.29987532e-03 4.08155172e+01] [ 3.65616412e-02 -1.08256189e-03 9.99330813e-01 2.64347210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.779254154 meters Centerline goodness : 0.999499 with order 1 Centerline is valid? [True, True] Translation: X:723.87, Y:40.82, Z:26.44 [[ 9.94261815e-01 -1.00552525e-01 -3.65052403e-02 7.23872559e+02] [ 1.00535710e-01 9.94930791e-01 -2.30064787e-03 4.08188018e+01] [ 3.65515235e-02 -1.38263391e-03 9.99330813e-01 2.64374693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.839254154 meters Centerline goodness : 0.999645 with order 1 Centerline is valid? [True, True] Translation: X:723.93, Y:40.82, Z:26.44 [[ 9.93424351e-01 -1.08514852e-01 -3.65045947e-02 7.23931169e+02] [ 1.08503023e-01 9.94093433e-01 -2.31084631e-03 4.08216084e+01] [ 3.65397390e-02 -1.66520789e-03 9.99330813e-01 2.64394732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.899254154 meters Centerline goodness : 0.999478 with order 1 Centerline is valid? [True, True] Translation: X:723.99, Y:40.83, Z:26.44 [[ 9.92763883e-01 -1.14399871e-01 -3.65039983e-02 7.23990420e+02] [ 1.14391664e-01 9.93433019e-01 -2.32022949e-03 4.08269801e+01] [ 3.65297112e-02 -1.87231305e-03 9.99330813e-01 2.64407431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.959254154 meters Centerline goodness : 0.999332 with order 1 Centerline is valid? [True, True] Translation: X:724.05, Y:40.83, Z:26.44 [[ 9.92431547e-01 -1.17247978e-01 -3.65039124e-02 7.24051092e+02] [ 1.17241640e-01 9.93100704e-01 -2.32157981e-03 4.08315066e+01] [ 3.65242616e-02 -1.97576953e-03 9.99330813e-01 2.64427334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.019254154 meters Centerline goodness : 0.999418 with order 1 Centerline is valid? [True, True] Translation: X:724.11, Y:40.84, Z:26.45 [[ 9.91928585e-01 -1.21429599e-01 -3.65039124e-02 7.24110268e+02] [ 1.21426081e-01 9.92597762e-01 -2.32157981e-03 4.08389681e+01] [ 3.65156102e-02 -2.12968566e-03 9.99330813e-01 2.64451509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.079254154 meters Centerline goodness : 0.999395 with order 1 Centerline is valid? [True, True] Translation: X:724.17, Y:40.84, Z:26.45 [[ 9.92132806e-01 -1.19749584e-01 -3.65038704e-02 7.24171606e+02] [ 1.19744909e-01 9.92801976e-01 -2.32224018e-03 4.08420697e+01] [ 3.65192019e-02 -2.06718197e-03 9.99330813e-01 2.64477739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.139254154 meters Centerline goodness : 0.999354 with order 1 Centerline is valid? [True, True] Translation: X:724.23, Y:40.85, Z:26.45 [[ 9.91809939e-01 -1.22394874e-01 -3.65039612e-02 7.24232141e+02] [ 1.22392037e-01 9.92479120e-01 -2.32081156e-03 4.08541770e+01] [ 3.65134747e-02 -2.16599019e-03 9.99330813e-01 2.64491246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.199254154 meters Centerline goodness : 0.999145 with order 1 Centerline is valid? [True, True] Translation: X:724.29, Y:40.86, Z:26.45 [[ 9.92205941e-01 -1.19142024e-01 -3.65040946e-02 7.24291477e+02] [ 1.19137069e-01 9.92875109e-01 -2.31871214e-03 4.08644298e+01] [ 3.65202629e-02 -2.04835086e-03 9.99330813e-01 2.64492569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.259254154 meters Centerline goodness : 0.999292 with order 1 Centerline is valid? [True, True] Translation: X:724.35, Y:40.86, Z:26.44 [[ 9.93292453e-01 -1.09715801e-01 -3.65040476e-02 7.24351048e+02] [ 1.09704465e-01 9.93961544e-01 -2.31945081e-03 4.08634600e+01] [ 3.65380999e-02 -1.70076404e-03 9.99330813e-01 2.64424079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.319254154 meters Centerline goodness : 0.999396 with order 1 Centerline is valid? [True, True] Translation: X:724.41, Y:40.89, Z:26.45 [[ 9.93044155e-01 -1.11941098e-01 -3.65033839e-02 7.24410921e+02] [ 1.11930881e-01 9.93713263e-01 -2.32984936e-03 4.08863456e+01] [ 3.65347027e-02 -1.77221262e-03 9.99330813e-01 2.64549398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.379254154 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:724.47, Y:40.90, Z:26.46 [[ 9.93724721e-01 -1.05729261e-01 -3.65034651e-02 7.24472790e+02] [ 1.05714906e-01 9.94393753e-01 -2.32857680e-03 4.08988381e+01] [ 3.65450164e-02 -1.54499605e-03 9.99330813e-01 2.64594882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.439254154 meters Centerline goodness : 0.999125 with order 1 Centerline is valid? [True, True] Translation: X:724.53, Y:40.91, Z:26.46 [[ 9.94212501e-01 -1.01039538e-01 -3.65036377e-02 7.24533137e+02] [ 1.01022126e-01 9.94881460e-01 -2.32586749e-03 4.09078472e+01] [ 3.65517970e-02 -1.37526856e-03 9.99330813e-01 2.64614991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.499254154 meters Centerline goodness : 0.999021 with order 1 Centerline is valid? [True, True] Translation: X:724.59, Y:40.92, Z:26.47 [[ 9.95008229e-01 -9.28767979e-02 -3.65037651e-02 7.24594504e+02] [ 9.28539698e-02 9.95677026e-01 -2.32386654e-03 4.09191137e+01] [ 3.65617936e-02 -1.07725317e-03 9.99330813e-01 2.64651998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.559254154 meters Centerline goodness : 0.998894 with order 1 Centerline is valid? [True, True] Translation: X:724.66, Y:40.93, Z:26.47 [[ 9.95930182e-01 -8.24046988e-02 -3.65039396e-02 7.24655364e+02] [ 8.23749371e-02 9.96598707e-01 -2.32112254e-03 4.09296551e+01] [ 3.65710504e-02 -6.95333736e-04 9.99330813e-01 2.64656335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.619254154 meters Centerline goodness : 0.999143 with order 1 Centerline is valid? [True, True] Translation: X:724.72, Y:40.94, Z:26.47 [[ 9.96416539e-01 -7.62989664e-02 -3.65040781e-02 7.24715525e+02] [ 7.62651876e-02 9.97084873e-01 -2.31894240e-03 4.09378951e+01] [ 3.65745970e-02 -4.73357807e-04 9.99330813e-01 2.64703067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.679254154 meters Centerline goodness : 0.999227 with order 1 Centerline is valid? [True, True] Translation: X:724.78, Y:40.94, Z:26.47 [[ 9.96558553e-01 -7.44211164e-02 -3.65040781e-02 7.24776221e+02] [ 7.43860783e-02 9.97226822e-01 -2.31894240e-03 4.09428882e+01] [ 3.65754241e-02 -4.04433331e-04 9.99330813e-01 2.64722710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.739254154 meters Centerline goodness : 0.999059 with order 1 Centerline is valid? [True, True] Translation: X:724.84, Y:40.95, Z:26.47 [[ 9.96517537e-01 -7.49683267e-02 -3.65040781e-02 7.24835562e+02] [ 7.49336555e-02 9.97185825e-01 -2.31894240e-03 4.09473463e+01] [ 3.65751965e-02 -4.24517245e-04 9.99330813e-01 2.64741346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.799254154 meters Centerline goodness : 0.999206 with order 1 Centerline is valid? [True, True] Translation: X:724.89, Y:40.95, Z:26.47 [[ 9.96213904e-01 -7.89006551e-02 -3.65040365e-02 7.24894386e+02] [ 7.88685977e-02 9.96882322e-01 -2.31959727e-03 4.09487613e+01] [ 3.65732464e-02 -5.68207110e-04 9.99330813e-01 2.64735100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.8592541539999 meters Centerline goodness : 0.999144 with order 1 Centerline is valid? [True, True] Translation: X:724.95, Y:40.95, Z:26.48 [[ 9.95868025e-01 -8.31527312e-02 -3.65034356e-02 7.24953597e+02] [ 8.31231825e-02 9.96536558e-01 -2.32901540e-03 4.09511208e+01] [ 3.65706720e-02 -7.14889773e-04 9.99330814e-01 2.64764968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.919254154 meters Centerline goodness : 0.999100 with order 1 Centerline is valid? [True, True] Translation: X:725.01, Y:40.96, Z:26.49 [[ 9.94866644e-01 -9.43814782e-02 -3.65033894e-02 7.25014067e+02] [ 9.43594463e-02 9.95535468e-01 -2.32973903e-03 4.09569408e+01] [ 3.65603030e-02 -1.12665996e-03 9.99330814e-01 2.64933461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.9792541539999 meters Centerline goodness : 0.999120 with order 1 Centerline is valid? [True, True] Translation: X:725.07, Y:40.95, Z:26.48 [[ 9.94588269e-01 -9.72711425e-02 -3.65034333e-02 7.25074164e+02] [ 9.72510788e-02 9.95257154e-01 -2.32905120e-03 4.09518658e+01] [ 3.65568526e-02 -1.23355126e-03 9.99330814e-01 2.64814587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.039254154 meters Centerline goodness : 0.999226 with order 1 Centerline is valid? [True, True] Translation: X:725.14, Y:40.95, Z:26.48 [[ 9.94071639e-01 -1.02416198e-01 -3.65033990e-02 7.25136854e+02] [ 1.02399576e-01 9.94740619e-01 -2.32958813e-03 4.09530392e+01] [ 3.65500013e-02 -1.42215510e-03 9.99330814e-01 2.64830648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.0992541539999 meters Centerline goodness : 0.999056 with order 1 Centerline is valid? [True, True] Translation: X:725.20, Y:40.95, Z:26.48 [[ 9.93258700e-01 -1.10021106e-01 -3.65035677e-02 7.25199233e+02] [ 1.10009701e-01 9.93927790e-01 -2.32694255e-03 4.09536776e+01] [ 3.65379231e-02 -1.70449065e-03 9.99330814e-01 2.64842721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.159254154 meters Centerline goodness : 0.999185 with order 1 Centerline is valid? [True, True] Translation: X:725.26, Y:40.96, Z:26.48 [[ 9.92426438e-01 -1.17291275e-01 -3.65037357e-02 7.25260628e+02] [ 1.17284867e-01 9.93095593e-01 -2.32430313e-03 4.09555029e+01] [ 3.65243196e-02 -1.97463592e-03 9.99330814e-01 2.64848978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.2192541539999 meters Centerline goodness : 0.999037 with order 1 Centerline is valid? [True, True] Translation: X:725.32, Y:40.96, Z:26.49 [[ 9.91933615e-01 -1.21388519e-01 -3.65038601e-02 7.25322724e+02] [ 1.21384946e-01 9.92602791e-01 -2.32234874e-03 4.09583348e+01] [ 3.65157399e-02 -2.12740329e-03 9.99330814e-01 2.64862971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.279254154 meters Centerline goodness : 0.999121 with order 1 Centerline is valid? [True, True] Translation: X:725.38, Y:40.96, Z:26.49 [[ 9.91423095e-01 -1.25489855e-01 -3.65040231e-02 7.25384056e+02] [ 1.25489144e-01 9.92092281e-01 -2.31978364e-03 4.09627579e+01] [ 3.65064688e-02 -2.28097153e-03 9.99330814e-01 2.64889593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.339254154 meters Centerline goodness : 0.999102 with order 1 Centerline is valid? [True, True] Translation: X:725.45, Y:40.97, Z:26.49 [[ 9.91241179e-01 -1.26918760e-01 -3.65041437e-02 7.25445890e+02] [ 1.26919083e-01 9.91910366e-01 -2.31788437e-03 4.09675485e+01] [ 3.65030215e-02 -2.33548999e-03 9.99330814e-01 2.64915889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.399254154 meters Centerline goodness : 0.998932 with order 1 Centerline is valid? [True, True] Translation: X:725.51, Y:40.97, Z:26.49 [[ 9.92042164e-01 -1.20498048e-01 -3.65043151e-02 7.25508795e+02] [ 1.20494137e-01 9.92711339e-01 -2.31518150e-03 4.09681683e+01] [ 3.65172224e-02 -2.10179828e-03 9.99330814e-01 2.64884626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.459254154 meters Centerline goodness : 0.999036 with order 1 Centerline is valid? [True, True] Translation: X:725.57, Y:40.98, Z:26.49 [[ 9.91518017e-01 -1.24737496e-01 -3.65044969e-02 7.25569618e+02] [ 1.24736551e-01 9.92187203e-01 -2.31231070e-03 4.09805370e+01] [ 3.65077266e-02 -2.26074733e-03 9.99330814e-01 2.64946553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.519254154 meters Centerline goodness : 0.998351 with order 1 Centerline is valid? [True, True] Translation: X:725.63, Y:40.99, Z:26.49 [[ 9.91587599e-01 -1.24183097e-01 -3.65046736e-02 7.25630199e+02] [ 1.24181880e-01 9.92256785e-01 -2.30951825e-03 4.09891944e+01] [ 3.65088132e-02 -2.24312935e-03 9.99330814e-01 2.64928248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.579254154 meters Centerline goodness : 0.999079 with order 1 Centerline is valid? [True, True] Translation: X:725.69, Y:41.00, Z:26.50 [[ 9.92231209e-01 -1.18931173e-01 -3.65048593e-02 7.25691345e+02] [ 1.18926520e-01 9.92900379e-01 -2.30657853e-03 4.09969477e+01] [ 3.65200128e-02 -2.05273669e-03 9.99330814e-01 2.64990846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.639254154 meters Centerline goodness : 0.998931 with order 1 Centerline is valid? [True, True] Translation: X:725.75, Y:41.01, Z:26.50 [[ 9.93135284e-01 -1.11129190e-01 -3.65049527e-02 7.25753429e+02] [ 1.11119333e-01 9.93804397e-01 -2.30510061e-03 4.10071071e+01] [ 3.65349464e-02 -1.76712924e-03 9.99330814e-01 2.65024897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.699254154 meters Centerline goodness : 0.997417 with order 1 Centerline is valid? [True, True] Translation: X:725.81, Y:41.01, Z:26.50 [[ 9.93999876e-01 -1.03109761e-01 -3.65051131e-02 7.25814153e+02] [ 1.03094597e-01 9.94668891e-01 -2.30255722e-03 4.10149182e+01] [ 3.65479165e-02 -1.47473834e-03 9.99330814e-01 2.65010560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.759254154 meters Centerline goodness : 0.998907 with order 1 Centerline is valid? [True, True] Translation: X:725.87, Y:41.02, Z:26.51 [[ 9.95052949e-01 -9.23958843e-02 -3.65052049e-02 7.25874686e+02] [ 9.23735674e-02 9.95721763e-01 -2.30110042e-03 4.10241448e+01] [ 3.65616392e-02 -1.08239925e-03 9.99330814e-01 2.65075991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.819254154 meters Centerline goodness : 0.998820 with order 1 Centerline is valid? [True, True] Translation: X:725.94, Y:41.03, Z:26.51 [[ 9.95804849e-01 -8.39051003e-02 -3.65053032e-02 7.25936707e+02] [ 8.38771367e-02 9.96473451e-01 -2.29953974e-03 4.10328998e+01] [ 3.65695086e-02 -7.72067490e-04 9.99330814e-01 2.65099421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.879254154 meters Centerline goodness : 0.998944 with order 1 Centerline is valid? [True, True] Translation: X:726.00, Y:41.04, Z:26.51 [[ 9.96143405e-01 -7.97851309e-02 -3.65054691e-02 7.25998616e+02] [ 7.97544984e-02 9.96811890e-01 -2.29690383e-03 4.10387122e+01] [ 3.65723444e-02 -6.23429769e-04 9.99330814e-01 2.65120059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.939254154 meters Centerline goodness : 0.999261 with order 1 Centerline is valid? [True, True] Translation: X:726.06, Y:41.04, Z:26.51 [[ 9.96437726e-01 -7.60210226e-02 -3.65056393e-02 7.26059190e+02] [ 7.59879639e-02 9.97106096e-01 -2.29419556e-03 4.10448389e+01] [ 3.65744025e-02 -4.87966197e-04 9.99330814e-01 2.65127790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.999254154 meters Centerline goodness : 0.998923 with order 1 Centerline is valid? [True, True] Translation: X:726.12, Y:41.05, Z:26.52 [[ 9.96477948e-01 -7.54918246e-02 -3.65059254e-02 7.26120365e+02] [ 7.54585781e-02 9.97146309e-01 -2.28963290e-03 4.10491111e+01] [ 3.65745974e-02 -4.73116534e-04 9.99330814e-01 2.65161310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.059254154 meters Centerline goodness : 0.999239 with order 1 Centerline is valid? [True, True] Translation: X:726.18, Y:41.05, Z:26.52 [[ 9.96441947e-01 -7.59654995e-02 -3.65060099e-02 7.26181907e+02] [ 7.59326200e-02 9.97110325e-01 -2.28828607e-03 4.10541388e+01] [ 3.65743502e-02 -4.91852744e-04 9.99330814e-01 2.65196254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.119254154 meters Centerline goodness : 0.999009 with order 1 Centerline is valid? [True, True] Translation: X:726.24, Y:41.06, Z:26.52 [[ 9.96088813e-01 -8.04635477e-02 -3.65060936e-02 7.26243481e+02] [ 8.04337351e-02 9.96757335e-01 -2.28694924e-03 4.10563125e+01] [ 3.65717326e-02 -6.58316912e-04 9.99330814e-01 2.65219811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.179254154 meters Centerline goodness : 0.999051 with order 1 Centerline is valid? [True, True] Translation: X:726.31, Y:41.06, Z:26.52 [[ 9.95419544e-01 -8.83585297e-02 -3.65061773e-02 7.26305325e+02] [ 8.83340675e-02 9.96088283e-01 -2.28561298e-03 4.10580586e+01] [ 3.65653289e-02 -9.49595295e-04 9.99330814e-01 2.65240267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.239254154 meters Centerline goodness : 0.998882 with order 1 Centerline is valid? [True, True] Translation: X:726.37, Y:41.06, Z:26.53 [[ 9.94814683e-01 -9.49264617e-02 -3.65063457e-02 7.26366970e+02] [ 9.49065124e-02 9.95483572e-01 -2.28291991e-03 4.10603066e+01] [ 3.65581769e-02 -1.19360771e-03 9.99330814e-01 2.65262412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.299254154 meters Centerline goodness : 0.999074 with order 1 Centerline is valid? [True, True] Translation: X:726.43, Y:41.06, Z:26.53 [[ 9.93860147e-01 -1.04447508e-01 -3.65065159e-02 7.26428690e+02] [ 1.04434064e-01 9.94529199e-01 -2.28019526e-03 4.10605656e+01] [ 3.65449567e-02 -1.54632861e-03 9.99330814e-01 2.65275255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.3592541539999 meters Centerline goodness : 0.999012 with order 1 Centerline is valid? [True, True] Translation: X:726.49, Y:41.06, Z:26.53 [[ 9.93094755e-01 -1.11490186e-01 -3.65067799e-02 7.26491410e+02] [ 1.11481641e-01 9.93763887e-01 -2.27596041e-03 4.10618697e+01] [ 3.65328667e-02 -1.80959139e-03 9.99330814e-01 2.65286056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.419254154 meters Centerline goodness : 0.998870 with order 1 Centerline is valid? [True, True] Translation: X:726.55, Y:41.06, Z:26.53 [[ 9.92666987e-01 -1.15236698e-01 -3.65069428e-02 7.26553514e+02] [ 1.15230773e-01 9.93336147e-01 -2.27334463e-03 4.10645252e+01] [ 3.65256386e-02 -1.95004908e-03 9.99330814e-01 2.65299089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.4792541539999 meters Centerline goodness : 0.998929 with order 1 Centerline is valid? [True, True] Translation: X:726.62, Y:41.07, Z:26.53 [[ 9.92688666e-01 -1.15049746e-01 -3.65071053e-02 7.26615412e+02] [ 1.15043791e-01 9.93357826e-01 -2.27073161e-03 4.10690662e+01] [ 3.65258658e-02 -1.94578625e-03 9.99330814e-01 2.65321428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.539254154 meters Centerline goodness : 0.998868 with order 1 Centerline is valid? [True, True] Translation: X:726.68, Y:41.07, Z:26.53 [[ 9.92898276e-01 -1.13226469e-01 -3.65072727e-02 7.26677676e+02] [ 1.13219384e-01 9.93567424e-01 -2.26803730e-03 4.10737707e+01] [ 3.65292388e-02 -1.88140061e-03 9.99330814e-01 2.65347591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.5992541539999 meters Centerline goodness : 0.998845 with order 1 Centerline is valid? [True, True] Translation: X:726.74, Y:41.08, Z:26.54 [[ 9.93314623e-01 -1.09513770e-01 -3.65074437e-02 7.26739437e+02] [ 1.09504285e-01 9.93983742e-01 -2.26528086e-03 4.10794732e+01] [ 3.65358850e-02 -1.74758491e-03 9.99330814e-01 2.65356777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.659254154 meters Centerline goodness : 0.998929 with order 1 Centerline is valid? [True, True] Translation: X:726.80, Y:41.09, Z:26.54 [[ 9.93465115e-01 -1.08139997e-01 -3.65076150e-02 7.26800104e+02] [ 1.08129688e-01 9.94134222e-01 -2.26251798e-03 4.10863562e+01] [ 3.65381381e-02 -1.69982433e-03 9.99330814e-01 2.65374733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.7192541539999 meters Centerline goodness : 0.999010 with order 1 Centerline is valid? [True, True] Translation: X:726.86, Y:41.09, Z:26.54 [[ 9.93609683e-01 -1.06803476e-01 -3.65077412e-02 7.26861701e+02] [ 1.06792342e-01 9.94278777e-01 -2.26047895e-03 4.10930488e+01] [ 3.65402993e-02 -1.65271340e-03 9.99330814e-01 2.65390903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.779254154 meters Centerline goodness : 0.998882 with order 1 Centerline is valid? [True, True] Translation: X:726.92, Y:41.10, Z:26.54 [[ 9.93765306e-01 -1.05345571e-01 -3.65079073e-02 7.26923363e+02] [ 1.05333554e-01 9.94434384e-01 -2.25779247e-03 4.10988938e+01] [ 3.65425668e-02 -1.60179179e-03 9.99330814e-01 2.65408765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.839254154 meters Centerline goodness : 0.998773 with order 1 Centerline is valid? [True, True] Translation: X:726.98, Y:41.11, Z:26.54 [[ 9.94235789e-01 -1.00808519e-01 -3.65080707e-02 7.26984771e+02] [ 1.00793545e-01 9.94904807e-01 -2.25514797e-03 4.11061816e+01] [ 3.65493932e-02 -1.43762903e-03 9.99330814e-01 2.65446512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.899254154 meters Centerline goodness : 0.998922 with order 1 Centerline is valid? [True, True] Translation: X:727.05, Y:41.11, Z:26.55 [[ 9.94866165e-01 -9.43846515e-02 -3.65082380e-02 7.27045387e+02] [ 9.43654554e-02 9.95535076e-01 -2.25243597e-03 4.11140887e+01] [ 3.65578269e-02 -1.20424418e-03 9.99330814e-01 2.65487564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.959254154 meters Centerline goodness : 0.998941 with order 1 Centerline is valid? [True, True] Translation: X:727.11, Y:41.12, Z:26.55 [[ 9.95434356e-01 -8.81906061e-02 -3.65083614e-02 7.27107511e+02] [ 8.81673203e-02 9.96103137e-01 -2.25043476e-03 4.11201673e+01] [ 3.65645605e-02 -9.78684318e-04 9.99330814e-01 2.65534786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.019254154 meters Centerline goodness : 0.998984 with order 1 Centerline is valid? [True, True] Translation: X:727.17, Y:41.13, Z:26.56 [[ 9.95837014e-01 -8.35210759e-02 -3.65085244e-02 7.27169246e+02] [ 8.34947508e-02 9.96505682e-01 -2.24778628e-03 4.11250783e+01] [ 3.65686896e-02 -8.09841381e-04 9.99330814e-01 2.65565405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.079254154 meters Centerline goodness : 0.998794 with order 1 Centerline is valid? [True, True] Translation: X:727.23, Y:41.13, Z:26.56 [[ 9.96289925e-01 -7.79326677e-02 -3.65086868e-02 7.27231674e+02] [ 7.79026883e-02 9.96958440e-01 -2.24514650e-03 4.11301770e+01] [ 3.65726137e-02 -6.07308007e-04 9.99330814e-01 2.65589096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.139254154 meters Centerline goodness : 0.999048 with order 1 Centerline is valid? [True, True] Translation: X:727.29, Y:41.13, Z:26.56 [[ 9.96376080e-01 -7.68232441e-02 -3.65088540e-02 7.27292975e+02] [ 7.67926200e-02 9.97044565e-01 -2.24242406e-03 4.11329679e+01] [ 3.65732248e-02 -5.69312862e-04 9.99330814e-01 2.65590823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.199254154 meters Centerline goodness : 0.998920 with order 1 Centerline is valid? [True, True] Translation: X:727.35, Y:41.13, Z:26.56 [[ 9.96125107e-01 -8.00115890e-02 -3.65091349e-02 7.27353090e+02] [ 7.99832723e-02 9.96793694e-01 -2.23784112e-03 4.11341431e+01] [ 3.65711287e-02 -6.90950353e-04 9.99330814e-01 2.65589661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.259254154 meters Centerline goodness : 0.998878 with order 1 Centerline is valid? [True, True] Translation: X:727.41, Y:41.14, Z:26.56 [[ 9.95850483e-01 -8.33600365e-02 -3.65091737e-02 7.27414465e+02] [ 8.33339909e-02 9.96519162e-01 -2.23720878e-03 4.11361428e+01] [ 3.65685850e-02 -8.14529698e-04 9.99330814e-01 2.65615829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.319254154 meters Centerline goodness : 0.998838 with order 1 Centerline is valid? [True, True] Translation: X:727.48, Y:41.14, Z:26.56 [[ 9.95499687e-01 -8.74496893e-02 -3.65092522e-02 7.27476356e+02] [ 8.74264374e-02 9.96168469e-01 -2.23592618e-03 4.11369015e+01] [ 3.65648969e-02 -9.66010045e-04 9.99330814e-01 2.65645731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.379254154 meters Centerline goodness : 0.998861 with order 1 Centerline is valid? [True, True] Translation: X:727.54, Y:41.14, Z:26.57 [[ 9.95201417e-01 -9.07810657e-02 -3.65094159e-02 7.27538011e+02] [ 9.07601504e-02 9.95870277e-01 -2.23325056e-03 4.11386294e+01] [ 3.65613790e-02 -1.09106596e-03 9.99330814e-01 2.65675787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.439254154 meters Centerline goodness : 0.998904 with order 1 Centerline is valid? [True, True] Translation: X:727.60, Y:41.14, Z:26.57 [[ 9.94911357e-01 -9.39065578e-02 -3.65095808e-02 7.27600598e+02] [ 9.38878425e-02 9.95580282e-01 -2.23055111e-03 4.11408991e+01] [ 3.65576821e-02 -1.20860514e-03 9.99330814e-01 2.65706218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.499254154 meters Centerline goodness : 0.998988 with order 1 Centerline is valid? [True, True] Translation: X:727.66, Y:41.14, Z:26.57 [[ 9.94751462e-01 -9.55853903e-02 -3.65097441e-02 7.27662977e+02] [ 9.55679020e-02 9.95420420e-01 -2.22787547e-03 4.11433921e+01] [ 3.65554971e-02 -1.27297726e-03 9.99330814e-01 2.65732805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.559254154 meters Centerline goodness : 0.999094 with order 1 Centerline is valid? [True, True] Translation: X:727.73, Y:41.15, Z:26.58 [[ 9.94768203e-01 -9.54109439e-02 -3.65099053e-02 7.27725501e+02] [ 9.53934352e-02 9.95437161e-01 -2.22522971e-03 4.11462006e+01] [ 3.65556278e-02 -1.26921752e-03 9.99330814e-01 2.65768349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.619254154 meters Centerline goodness : 0.999304 with order 1 Centerline is valid? [True, True] Translation: X:727.79, Y:41.15, Z:26.58 [[ 9.95295676e-01 -8.97414683e-02 -3.65100726e-02 7.27787486e+02] [ 8.97202491e-02 9.95964526e-01 -2.22248131e-03 4.11502247e+01] [ 3.65621859e-02 -1.06366677e-03 9.99330814e-01 2.65779762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.679254154 meters Centerline goodness : 0.999029 with order 1 Centerline is valid? [True, True] Translation: X:727.85, Y:41.15, Z:26.58 [[ 9.96126719e-01 -7.99910099e-02 -3.65102390e-02 7.27849185e+02] [ 7.99633424e-02 9.96795333e-01 -2.21974468e-03 4.11547456e+01] [ 3.65707955e-02 -7.08333756e-04 9.99330814e-01 2.65785494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.739254154 meters Centerline goodness : 0.999175 with order 1 Centerline is valid? [True, True] Translation: X:727.91, Y:41.16, Z:26.58 [[ 9.96774729e-01 -7.14641811e-02 -3.65104042e-02 7.27910364e+02] [ 7.14308929e-02 9.97443087e-01 -2.21702450e-03 4.11589649e+01] [ 3.65754881e-02 -3.98096778e-04 9.99330814e-01 2.65824650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.799254154 meters Centerline goodness : 0.999175 with order 1 Centerline is valid? [True, True] Translation: X:727.97, Y:41.16, Z:26.59 [[ 9.97099176e-01 -6.67848560e-02 -3.65104850e-02 7.27971704e+02] [ 6.67484799e-02 9.97767373e-01 -2.21569252e-03 4.11630287e+01] [ 3.65769454e-02 -2.27754191e-04 9.99330814e-01 2.65858997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.8592541539999 meters Centerline goodness : 0.999302 with order 1 Centerline is valid? [True, True] Translation: X:728.03, Y:41.17, Z:26.59 [[ 9.97278850e-01 -6.40458725e-02 -3.65105660e-02 7.28031081e+02] [ 6.40077100e-02 9.97946947e-01 -2.21435810e-03 4.11659362e+01] [ 3.65774283e-02 -1.28625220e-04 9.99330814e-01 2.65877803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.919254154 meters Centerline goodness : 0.999047 with order 1 Centerline is valid? [True, True] Translation: X:728.09, Y:41.17, Z:26.59 [[ 9.97165676e-01 -6.57844857e-02 -3.65104857e-02 7.28090591e+02] [ 6.57474397e-02 9.97833836e-01 -2.21568078e-03 4.11683588e+01] [ 3.65771554e-02 -1.91070127e-04 9.99330814e-01 2.65889332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.9792541539999 meters Centerline goodness : 0.998986 with order 1 Centerline is valid? [True, True] Translation: X:728.15, Y:41.17, Z:26.59 [[ 9.96849291e-01 -7.04164916e-02 -3.65104053e-02 7.28150097e+02] [ 7.03825017e-02 9.97517613e-01 -2.21700530e-03 4.11701108e+01] [ 3.65758860e-02 -3.59673501e-04 9.99330814e-01 2.65899772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.039254154 meters Centerline goodness : 0.999048 with order 1 Centerline is valid? [True, True] Translation: X:728.21, Y:41.17, Z:26.59 [[ 9.96016616e-01 -8.13504570e-02 -3.65103257e-02 7.28210578e+02] [ 8.13237545e-02 9.96685269e-01 -2.21831461e-03 4.11720426e+01] [ 3.65697647e-02 -7.59678555e-04 9.99330814e-01 2.65923826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.0992541539999 meters Centerline goodness : 0.999345 with order 1 Centerline is valid? [True, True] Translation: X:728.27, Y:41.17, Z:26.60 [[ 9.94901128e-01 -9.40145866e-02 -3.65103257e-02 7.28271974e+02] [ 9.39963924e-02 9.95570067e-01 -2.21831461e-03 4.11742896e+01] [ 3.65571413e-02 -1.22483520e-03 9.99330814e-01 2.65950745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.159254154 meters Centerline goodness : 0.999429 with order 1 Centerline is valid? [True, True] Translation: X:728.33, Y:41.18, Z:26.60 [[ 9.94115282e-01 -1.01989184e-01 -3.65104437e-02 7.28333817e+02] [ 1.01976425e-01 9.94784347e-01 -2.21637127e-03 4.11768587e+01] [ 3.65460638e-02 -1.51987599e-03 9.99330814e-01 2.65985792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.2192541539999 meters Centerline goodness : 0.998946 with order 1 Centerline is valid? [True, True] Translation: X:728.40, Y:41.18, Z:26.60 [[ 9.93009591e-01 -1.12244943e-01 -3.65106017e-02 7.28395608e+02] [ 1.12239187e-01 9.93678753e-01 -2.21376483e-03 4.11795811e+01] [ 3.65282931e-02 -1.89963054e-03 9.99330814e-01 2.66017845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.279254154 meters Centerline goodness : 0.998990 with order 1 Centerline is valid? [True, True] Translation: X:728.46, Y:41.18, Z:26.61 [[ 9.92111606e-01 -1.19922998e-01 -3.65107589e-02 7.28457889e+02] [ 1.19922513e-01 9.92780792e-01 -2.21116928e-03 4.11835276e+01] [ 3.65123502e-02 -2.18473527e-03 9.99330814e-01 2.66054578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.339254154 meters Centerline goodness : 0.998865 with order 1 Centerline is valid? [True, True] Translation: X:728.52, Y:41.19, Z:26.61 [[ 9.91457199e-01 -1.25218113e-01 -3.65109181e-02 7.28519697e+02] [ 1.25221298e-01 9.92126378e-01 -2.20853772e-03 4.11879830e+01] [ 3.64999938e-02 -2.38227392e-03 9.99330814e-01 2.66069656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.399254154 meters Centerline goodness : 0.998734 with order 1 Centerline is valid? [True, True] Translation: X:728.58, Y:41.19, Z:26.60 [[ 9.91836559e-01 -1.22176846e-01 -3.65110760e-02 7.28582517e+02] [ 1.22178074e-01 9.92505744e-01 -2.20592441e-03 4.11867674e+01] [ 3.65069655e-02 -2.27293648e-03 9.99330814e-01 2.66020226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.459254154 meters Centerline goodness : 0.998904 with order 1 Centerline is valid? [True, True] Translation: X:728.65, Y:41.19, Z:26.60 [[ 9.91950402e-01 -1.21249034e-01 -3.65112444e-02 7.28645491e+02] [ 1.21249738e-01 9.92619588e-01 -2.20313303e-03 4.11914400e+01] [ 3.65089042e-02 -2.24158015e-03 9.99330814e-01 2.66017605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.519254154 meters Centerline goodness : 0.998816 with order 1 Centerline is valid? [True, True] Translation: X:728.71, Y:41.19, Z:26.60 [[ 9.92906741e-01 -1.13150846e-01 -3.65114962e-02 7.28707796e+02] [ 1.13146243e-01 9.93575912e-01 -2.19895311e-03 4.11925482e+01] [ 3.65257565e-02 -1.94778326e-03 9.99330814e-01 2.65955759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.579254154 meters Centerline goodness : 0.998394 with order 1 Centerline is valid? [True, True] Translation: X:728.77, Y:41.21, Z:26.61 [[ 9.92624774e-01 -1.15598252e-01 -3.65116621e-02 7.28767845e+02] [ 1.15595400e-01 9.93293955e-01 -2.19619512e-03 4.12134329e+01] [ 3.65206895e-02 -2.04058249e-03 9.99330814e-01 2.66110522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.639254154 meters Centerline goodness : 0.996593 with order 1 Centerline is valid? [True, True] Translation: X:728.83, Y:41.21, Z:26.60 [[ 9.94992375e-01 -9.30433280e-02 -3.65118251e-02 7.28831816e+02] [ 9.30253911e-02 9.95661321e-01 -2.19348137e-03 4.12109295e+01] [ 3.65575008e-02 -1.21402957e-03 9.99330814e-01 2.65992436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.699254154 meters Centerline goodness : 0.997517 with order 1 Centerline is valid? [True, True] Translation: X:728.89, Y:41.23, Z:26.62 [[ 9.94730248e-01 -9.58050153e-02 -3.65120810e-02 7.28891597e+02] [ 9.57890920e-02 9.95399245e-01 -2.18921242e-03 4.12307139e+01] [ 3.65538354e-02 -1.31978327e-03 9.99330814e-01 2.66179516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.759254154 meters Centerline goodness : 0.997323 with order 1 Centerline is valid? [True, True] Translation: X:728.95, Y:41.24, Z:26.62 [[ 9.95932007e-01 -8.23789108e-02 -3.65123636e-02 7.28952970e+02] [ 8.23541382e-02 9.96600734e-01 -2.18448887e-03 4.12394270e+01] [ 3.65682042e-02 -8.31341858e-04 9.99330814e-01 2.66236843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.819254154 meters Centerline goodness : 0.996850 with order 1 Centerline is valid? [True, True] Translation: X:729.01, Y:41.25, Z:26.63 [[ 9.96884572e-01 -6.99141329e-02 -3.65125191e-02 7.29014481e+02] [ 6.98810923e-02 9.97552942e-01 -2.18188693e-03 4.12452070e+01] [ 3.65757156e-02 -3.76445299e-04 9.99330814e-01 2.66257254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.879254154 meters Centerline goodness : 0.997105 with order 1 Centerline is valid? [True, True] Translation: X:729.08, Y:41.25, Z:26.63 [[ 9.97304519e-01 -6.36437055e-02 -3.65126782e-02 7.29075307e+02] [ 6.36065600e-02 9.97972673e-01 -2.17922255e-03 4.12501242e+01] [ 3.65773488e-02 -1.49097358e-04 9.99330814e-01 2.66274368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.939254154 meters Centerline goodness : 0.997104 with order 1 Centerline is valid? [True, True] Translation: X:729.13, Y:41.25, Z:26.63 [[ 9.97413412e-01 -6.19136836e-02 -3.65127593e-02 7.29134749e+02] [ 6.18754289e-02 9.98081504e-01 -2.17786266e-03 4.12534849e+01] [ 3.65775492e-02 -8.70132145e-05 9.99330814e-01 2.66282434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.999254154 meters Centerline goodness : 0.997022 with order 1 Centerline is valid? [True, True] Translation: X:729.20, Y:41.25, Z:26.63 [[ 9.97286104e-01 -6.39315520e-02 -3.65127714e-02 7.29195028e+02] [ 6.38946565e-02 9.97954273e-01 -2.17765992e-03 4.12531144e+01] [ 3.65772974e-02 -1.61221010e-04 9.99330814e-01 2.66279889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.059254154 meters Centerline goodness : 0.997171 with order 1 Centerline is valid? [True, True] Translation: X:729.26, Y:41.26, Z:26.63 [[ 9.96997764e-01 -6.82808587e-02 -3.65127714e-02 7.29255610e+02] [ 6.82468779e-02 9.97666087e-01 -2.17765992e-03 4.12553871e+01] [ 3.65762462e-02 -3.20760583e-04 9.99330814e-01 2.66313667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.119254154 meters Centerline goodness : 0.997434 with order 1 Centerline is valid? [True, True] Translation: X:729.32, Y:41.26, Z:26.63 [[ 9.96491282e-01 -7.53122943e-02 -3.65127714e-02 7.29316288e+02] [ 7.52830290e-02 9.97159828e-01 -2.17765992e-03 4.12551220e+01] [ 3.65730734e-02 -5.78772903e-04 9.99330814e-01 2.66330532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.179254154 meters Centerline goodness : 0.997437 with order 1 Centerline is valid? [True, True] Translation: X:729.38, Y:41.25, Z:26.64 [[ 9.96131518e-01 -7.99300527e-02 -3.65128111e-02 7.29378198e+02] [ 7.99039107e-02 9.96800194e-01 -2.17699306e-03 4.12549441e+01] [ 3.65699844e-02 -7.48944999e-04 9.99330814e-01 2.66353652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.239254154 meters Centerline goodness : 0.997530 with order 1 Centerline is valid? [True, True] Translation: X:729.44, Y:41.26, Z:26.64 [[ 9.96018057e-01 -8.13316605e-02 -3.65128902e-02 7.29440313e+02] [ 8.13065081e-02 9.96686770e-01 -2.17566583e-03 4.12573886e+01] [ 3.65688651e-02 -8.01733154e-04 9.99330814e-01 2.66379669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.299254154 meters Centerline goodness : 0.997718 with order 1 Centerline is valid? [True, True] Translation: X:729.50, Y:41.26, Z:26.64 [[ 9.95956752e-01 -8.20788964e-02 -3.65130467e-02 7.29502119e+02] [ 8.20543420e-02 9.96625488e-01 -2.17303551e-03 4.12577802e+01] [ 3.65681934e-02 -8.31804634e-04 9.99330814e-01 2.66396366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.3592541539999 meters Centerline goodness : 0.997910 with order 1 Centerline is valid? [True, True] Translation: X:729.56, Y:41.26, Z:26.64 [[ 9.95801251e-01 -8.39443520e-02 -3.65132057e-02 7.29564459e+02] [ 8.39211483e-02 9.96470035e-01 -2.17036106e-03 4.12572422e+01] [ 3.65665049e-02 -9.02981894e-04 9.99330814e-01 2.66412833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.419254154 meters Centerline goodness : 0.997594 with order 1 Centerline is valid? [True, True] Translation: X:729.63, Y:41.24, Z:26.63 [[ 9.96626624e-01 -7.34993005e-02 -3.65133627e-02 7.29626762e+02] [ 7.34691832e-02 9.97295132e-01 -2.16771618e-03 4.12443575e+01] [ 3.65739245e-02 -5.22203281e-04 9.99330814e-01 2.66264106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.4792541539999 meters Centerline goodness : 0.997994 with order 1 Centerline is valid? [True, True] Translation: X:729.69, Y:41.26, Z:26.64 [[ 9.95983120e-01 -8.17581580e-02 -3.65134014e-02 7.29685386e+02] [ 8.17336071e-02 9.96651856e-01 -2.16706526e-03 4.12599888e+01] [ 3.65683245e-02 -8.26011585e-04 9.99330814e-01 2.66437641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.539254154 meters Centerline goodness : 0.997867 with order 1 Centerline is valid? [True, True] Translation: X:729.75, Y:41.26, Z:26.65 [[ 9.96115750e-01 -8.01260571e-02 -3.65134014e-02 7.29747073e+02] [ 8.01004105e-02 9.96784444e-01 -2.16706526e-03 4.12626039e+01] [ 3.65696289e-02 -7.66090604e-04 9.99330814e-01 2.66458345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.5992541539999 meters Centerline goodness : 0.998161 with order 1 Centerline is valid? [True, True] Translation: X:729.81, Y:41.26, Z:26.65 [[ 9.96106079e-01 -8.02461587e-02 -3.65134766e-02 7.29807277e+02] [ 8.02206391e-02 9.96774778e-01 -2.16579741e-03 4.12644356e+01] [ 3.65695094e-02 -7.71770463e-04 9.99330814e-01 2.66469402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.659254154 meters Centerline goodness : 0.998163 with order 1 Centerline is valid? [True, True] Translation: X:729.87, Y:41.27, Z:26.65 [[ 9.95797053e-01 -8.39939686e-02 -3.65135971e-02 7.29867438e+02] [ 8.39710401e-02 9.96465846e-01 -2.16376277e-03 4.12653518e+01] [ 3.65662955e-02 -9.11416145e-04 9.99330814e-01 2.66472353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.7192541539999 meters Centerline goodness : 0.997974 with order 1 Centerline is valid? [True, True] Translation: X:729.93, Y:41.27, Z:26.65 [[ 9.95359423e-01 -8.90301846e-02 -3.65136334e-02 7.29928327e+02] [ 8.90106619e-02 9.96028324e-01 -2.16315107e-03 4.12658435e+01] [ 3.65611988e-02 -1.09698987e-03 9.99330814e-01 2.66475588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.779254154 meters Centerline goodness : 0.998015 with order 1 Centerline is valid? [True, True] Translation: X:729.99, Y:41.27, Z:26.65 [[ 9.95199372e-01 -9.08017407e-02 -3.65137490e-02 7.29988202e+02] [ 9.07834803e-02 9.95868309e-01 -2.16119743e-03 4.12693974e+01] [ 3.65591260e-02 -1.16402289e-03 9.99330814e-01 2.66512706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.839254154 meters Centerline goodness : 0.998106 with order 1 Centerline is valid? [True, True] Translation: X:730.05, Y:41.27, Z:26.65 [[ 9.95123716e-01 -9.16271580e-02 -3.65137490e-02 7.30048942e+02] [ 9.16094524e-02 9.95792668e-01 -2.16119743e-03 4.12715716e+01] [ 3.65581479e-02 -1.19434573e-03 9.99330814e-01 2.66534761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.899254154 meters Centerline goodness : 0.998444 with order 1 Centerline is valid? [True, True] Translation: X:730.11, Y:41.28, Z:26.66 [[ 9.95155159e-01 -9.12850092e-02 -3.65137841e-02 7.30111075e+02] [ 9.12670953e-02 9.95824106e-01 -2.16060497e-03 4.12759418e+01] [ 3.65585372e-02 -1.18236983e-03 9.99330814e-01 2.66615369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.959254154 meters Centerline goodness : 0.998189 with order 1 Centerline is valid? [True, True] Translation: X:730.17, Y:41.28, Z:26.66 [[ 9.95382869e-01 -8.87675357e-02 -3.65139444e-02 7.30173252e+02] [ 8.87480292e-02 9.96051771e-01 -2.15789254e-03 4.12804575e+01] [ 3.65613298e-02 -1.09261133e-03 9.99330814e-01 2.66647148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.019254154 meters Centerline goodness : 0.998758 with order 1 Centerline is valid? [True, True] Translation: X:730.24, Y:41.29, Z:26.67 [[ 9.95802188e-01 -8.39328448e-02 -3.65141023e-02 7.30235243e+02] [ 8.39101884e-02 9.96470991e-01 -2.15521688e-03 4.12854737e+01] [ 3.65661372e-02 -9.17735522e-04 9.99330814e-01 2.66671001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.079254154 meters Centerline goodness : 0.998610 with order 1 Centerline is valid? [True, True] Translation: X:730.30, Y:41.29, Z:26.67 [[ 9.96128393e-01 -7.99683271e-02 -3.65142582e-02 7.30296171e+02] [ 7.99431056e-02 9.96797104e-01 -2.15257193e-03 4.12907577e+01] [ 3.65694444e-02 -7.74825185e-04 9.99330814e-01 2.66694971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.139254154 meters Centerline goodness : 0.998882 with order 1 Centerline is valid? [True, True] Translation: X:730.36, Y:41.30, Z:26.67 [[ 9.96456033e-01 -7.57764984e-02 -3.65143363e-02 7.30357346e+02] [ 7.57485120e-02 9.97124634e-01 -2.15124718e-03 4.12955497e+01] [ 3.65723582e-02 -6.22283404e-04 9.99330814e-01 2.66712302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.199254154 meters Centerline goodness : 0.998671 with order 1 Centerline is valid? [True, True] Translation: X:730.42, Y:41.30, Z:26.67 [[ 9.96464639e-01 -7.56632025e-02 -3.65144146e-02 7.30418569e+02] [ 7.56351889e-02 9.97133239e-01 -2.14991748e-03 4.12982772e+01] [ 3.65724061e-02 -6.19457893e-04 9.99330814e-01 2.66728373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.259254154 meters Centerline goodness : 0.998548 with order 1 Centerline is valid? [True, True] Translation: X:730.48, Y:41.30, Z:26.67 [[ 9.96245912e-01 -7.84906050e-02 -3.65144925e-02 7.30478713e+02] [ 7.84645373e-02 9.96914590e-01 -2.14859274e-03 4.12998913e+01] [ 3.65704747e-02 -7.24566031e-04 9.99330814e-01 2.66739693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.319254154 meters Centerline goodness : 0.998802 with order 1 Centerline is valid? [True, True] Translation: X:730.54, Y:41.30, Z:26.68 [[ 9.95892471e-01 -8.28545583e-02 -3.65144925e-02 7.30538741e+02] [ 8.28314204e-02 9.96561257e-01 -2.14859274e-03 4.13006977e+01] [ 3.65669493e-02 -8.84779953e-04 9.99330814e-01 2.66760277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.379254154 meters Centerline goodness : 0.998511 with order 1 Centerline is valid? [True, True] Translation: X:730.60, Y:41.30, Z:26.68 [[ 9.95679359e-01 -8.53774138e-02 -3.65145303e-02 7.30600508e+02] [ 8.53559939e-02 9.96348203e-01 -2.14795011e-03 4.13016836e+01] [ 3.65645731e-02 -9.78064442e-04 9.99330814e-01 2.66781098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.439254154 meters Centerline goodness : 0.998993 with order 1 Centerline is valid? [True, True] Translation: X:730.66, Y:41.30, Z:26.68 [[ 9.95415192e-01 -8.84040697e-02 -3.65146051e-02 7.30662188e+02] [ 8.83847300e-02 9.96084099e-01 -2.14667820e-03 4.13023119e+01] [ 3.65613926e-02 -1.09049742e-03 9.99330814e-01 2.66814257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.499254154 meters Centerline goodness : 0.998763 with order 1 Centerline is valid? [True, True] Translation: X:730.72, Y:41.30, Z:26.68 [[ 9.95329791e-01 -8.93604193e-02 -3.65146845e-02 7.30723560e+02] [ 8.93417718e-02 9.95998718e-01 -2.14532725e-03 4.13021910e+01] [ 3.65602862e-02 -1.12697848e-03 9.99330814e-01 2.66827216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.559254154 meters Centerline goodness : 0.998848 with order 1 Centerline is valid? [True, True] Translation: X:730.78, Y:41.30, Z:26.69 [[ 9.95566527e-01 -8.66830996e-02 -3.65148021e-02 7.30784608e+02] [ 8.66627265e-02 9.96235403e-01 -2.14332312e-03 4.13033916e+01] [ 3.65631285e-02 -1.03065155e-03 9.99330814e-01 2.66859197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.619254154 meters Centerline goodness : 0.998657 with order 1 Centerline is valid? [True, True] Translation: X:730.85, Y:41.31, Z:26.69 [[ 9.95982138e-01 -8.17694548e-02 -3.65148820e-02 7.30845784e+02] [ 8.17458313e-02 9.96650907e-01 -2.14196182e-03 4.13063403e+01] [ 3.65677373e-02 -8.51583669e-04 9.99330814e-01 2.66881271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.679254154 meters Centerline goodness : 0.998909 with order 1 Centerline is valid? [True, True] Translation: X:730.91, Y:41.31, Z:26.69 [[ 9.96797502e-01 -7.11435010e-02 -3.65149613e-02 7.30905215e+02] [ 7.11127965e-02 9.97465983e-01 -2.14060836e-03 4.13087822e+01] [ 3.65747221e-02 -4.62927951e-04 9.99330814e-01 2.66890796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.739254154 meters Centerline goodness : 0.994862 with order 1 Centerline is valid? [True, True] Translation: X:730.96, Y:41.31, Z:26.69 [[ 9.97370626e-01 -6.25978797e-02 -3.65149223e-02 7.30963412e+02] [ 6.25614229e-02 9.98038819e-01 -2.14127345e-03 4.13124378e+01] [ 3.65773491e-02 -1.48782254e-04 9.99330814e-01 2.66923783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.799254154 meters Centerline goodness : 0.998973 with order 1 Centerline is valid? [True, True] Translation: X:731.02, Y:41.31, Z:26.69 [[ 9.97729047e-01 -5.65991073e-02 -3.65142386e-02 7.31021838e+02] [ 5.65582085e-02 9.98396982e-01 -2.15287007e-03 4.13095048e+01] [ 3.65775561e-02 8.28010882e-05 9.99330814e-01 2.66944769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.8592541539999 meters Centerline goodness : 0.998952 with order 1 Centerline is valid? [True, True] Translation: X:731.08, Y:41.31, Z:26.70 [[ 9.97655440e-01 -5.78822268e-02 -3.65139942e-02 7.31080321e+02] [ 5.78420357e-02 9.98323418e-01 -2.15700669e-03 4.13076841e+01] [ 3.65776278e-02 3.99057034e-05 9.99330814e-01 2.66950154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.919254154 meters Centerline goodness : 0.998973 with order 1 Centerline is valid? [True, True] Translation: X:731.14, Y:41.31, Z:26.70 [[ 9.97420178e-01 -6.18039641e-02 -3.65138005e-02 7.31139517e+02] [ 6.17662796e-02 9.98088303e-01 -2.16028067e-03 4.13072094e+01] [ 3.65775111e-02 -1.00614075e-04 9.99330814e-01 2.66967198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.9792541539999 meters Centerline goodness : 0.999268 with order 1 Centerline is valid? [True, True] Translation: X:731.20, Y:41.30, Z:26.70 [[ 9.96852858e-01 -7.03645005e-02 -3.65132437e-02 7.31197298e+02] [ 7.03322100e-02 9.97521264e-01 -2.16965092e-03 4.13042844e+01] [ 3.65754034e-02 -4.05234401e-04 9.99330814e-01 2.66959364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.039254154 meters Centerline goodness : 0.998999 with order 1 Centerline is valid? [True, True] Translation: X:731.26, Y:41.30, Z:26.70 [[ 9.96034715e-01 -8.11273811e-02 -3.65129500e-02 7.31255440e+02] [ 8.11021313e-02 9.96703424e-01 -2.17458257e-03 4.13008782e+01] [ 3.65690005e-02 -7.95318329e-04 9.99330814e-01 2.67000479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.0992541539999 meters Centerline goodness : 0.999289 with order 1 Centerline is valid? [True, True] Translation: X:731.31, Y:41.30, Z:26.70 [[ 9.95013224e-01 -9.28198975e-02 -3.65123278e-02 7.31314307e+02] [ 9.28021221e-02 9.95682174e-01 -2.18497976e-03 4.12981917e+01] [ 3.65574835e-02 -1.21433775e-03 9.99330814e-01 2.67045267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.159254154 meters Centerline goodness : 0.999125 with order 1 Centerline is valid? [True, True] Translation: X:731.37, Y:41.30, Z:26.71 [[ 9.93896340e-01 -1.04100699e-01 -3.65117711e-02 7.31373741e+02] [ 1.04090173e-01 9.94565443e-01 -2.19424376e-03 4.12975730e+01] [ 3.65417681e-02 -1.61966573e-03 9.99330814e-01 2.67146314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.2192541539999 meters Centerline goodness : 0.999416 with order 1 Centerline is valid? [True, True] Translation: X:731.43, Y:41.29, Z:26.71 [[ 9.93021347e-01 -1.12140536e-01 -3.65116925e-02 7.31433089e+02] [ 1.12135377e-01 9.93690514e-01 -2.19555023e-03 4.12947154e+01] [ 3.65275327e-02 -1.91402418e-03 9.99330814e-01 2.67103486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.279254154 meters Centerline goodness : 0.999145 with order 1 Centerline is valid? [True, True] Translation: X:731.49, Y:41.30, Z:26.71 [[ 9.92437684e-01 -1.17193599e-01 -3.65116961e-02 7.31493461e+02] [ 1.17191849e-01 9.93106868e-01 -2.19549014e-03 4.12959448e+01] [ 3.65173136e-02 -2.09998604e-03 9.99330814e-01 2.67132287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.339254154 meters Centerline goodness : 0.999354 with order 1 Centerline is valid? [True, True] Translation: X:731.55, Y:41.30, Z:26.72 [[ 9.91851194e-01 -1.22057793e-01 -3.65116961e-02 7.31552714e+02] [ 1.22059324e-01 9.92520378e-01 -2.19549014e-03 4.12978584e+01] [ 3.65065791e-02 -2.27899342e-03 9.99330814e-01 2.67150540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.399254154 meters Centerline goodness : 0.999166 with order 1 Centerline is valid? [True, True] Translation: X:731.61, Y:41.29, Z:26.71 [[ 9.92411292e-01 -1.17416872e-01 -3.65117068e-02 7.31614617e+02] [ 1.17415279e-01 9.93080477e-01 -2.19531284e-03 4.12947108e+01] [ 3.65168299e-02 -2.10837898e-03 9.99330814e-01 2.67118975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.459254154 meters Centerline goodness : 0.999165 with order 1 Centerline is valid? [True, True] Translation: X:731.67, Y:41.30, Z:26.71 [[ 9.92878173e-01 -1.13401162e-01 -3.65117901e-02 7.31674894e+02] [ 1.13396912e-01 9.93547345e-01 -2.19392676e-03 4.12981658e+01] [ 3.65249859e-02 -1.96202226e-03 9.99330814e-01 2.67100924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.519254154 meters Centerline goodness : 0.999103 with order 1 Centerline is valid? [True, True] Translation: X:731.74, Y:41.31, Z:26.71 [[ 9.93475293e-01 -1.08045039e-01 -3.65117901e-02 7.31735311e+02] [ 1.08037181e-01 9.94144433e-01 -2.19392676e-03 4.13052103e+01] [ 3.65350358e-02 -1.76501883e-03 9.99330814e-01 2.67113301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.579254154 meters Centerline goodness : 0.999270 with order 1 Centerline is valid? [True, True] Translation: X:731.80, Y:41.32, Z:26.72 [[ 9.93278405e-01 -1.09840333e-01 -3.65117901e-02 7.31795494e+02] [ 1.09833684e-01 9.93947558e-01 -2.19392676e-03 4.13199940e+01] [ 3.65317862e-02 -1.83104435e-03 9.99330814e-01 2.67231450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.639254154 meters Centerline goodness : 0.999061 with order 1 Centerline is valid? [True, True] Translation: X:731.86, Y:41.33, Z:26.73 [[ 9.94584330e-01 -9.73082402e-02 -3.65118716e-02 7.31856412e+02] [ 9.72932049e-02 9.95253347e-01 -2.19256853e-03 4.13306692e+01] [ 3.65519174e-02 -1.37166271e-03 9.99330814e-01 2.67292129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.699254154 meters Centerline goodness : 0.999310 with order 1 Centerline is valid? [True, True] Translation: X:731.92, Y:41.34, Z:26.73 [[ 9.94903407e-01 -9.39898342e-02 -3.65119536e-02 7.31915300e+02] [ 9.39726172e-02 9.95572371e-01 -2.19120285e-03 4.13356894e+01] [ 3.65562430e-02 -1.25108866e-03 9.99330814e-01 2.67311072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.759254154 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:731.98, Y:41.34, Z:26.73 [[ 9.95403644e-01 -8.85351088e-02 -3.65119134e-02 7.31975873e+02] [ 8.85142007e-02 9.96072503e-01 -2.19187261e-03 4.13422140e+01] [ 3.65625707e-02 -1.05002485e-03 9.99330814e-01 2.67341051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.819254154 meters Centerline goodness : 0.999310 with order 1 Centerline is valid? [True, True] Translation: X:732.04, Y:41.35, Z:26.73 [[ 9.96133021e-01 -7.99117274e-02 -3.65119134e-02 7.32035062e+02] [ 7.98850279e-02 9.96801674e-01 -2.19187261e-03 4.13494626e+01] [ 3.65702927e-02 -7.33358533e-04 9.99330814e-01 2.67344843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.879254154 meters Centerline goodness : 0.998976 with order 1 Centerline is valid? [True, True] Translation: X:732.09, Y:41.35, Z:26.74 [[ 9.96085514e-01 -8.05017546e-02 -3.65118740e-02 7.32093948e+02] [ 8.04754272e-02 9.96754182e-01 -2.19252915e-03 4.13535687e+01] [ 3.65698655e-02 -7.54362130e-04 9.99330814e-01 2.67378812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.939254154 meters Centerline goodness : 0.999227 with order 1 Centerline is valid? [True, True] Translation: X:732.15, Y:41.36, Z:26.74 [[ 9.96126774e-01 -7.99898450e-02 -3.65112949e-02 7.32152384e+02] [ 7.99628222e-02 9.96795414e-01 -2.20212953e-03 4.13574231e+01] [ 3.65704394e-02 -7.25945999e-04 9.99330814e-01 2.67399122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.999254154 meters Centerline goodness : 0.999392 with order 1 Centerline is valid? [True, True] Translation: X:732.21, Y:41.36, Z:26.74 [[ 9.96042792e-01 -8.10289471e-02 -3.65111751e-02 7.32211810e+02] [ 8.10025491e-02 9.96711457e-01 -2.20411377e-03 4.13605878e+01] [ 3.65697036e-02 -7.62106626e-04 9.99330814e-01 2.67426829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.059254154 meters Centerline goodness : 0.999247 with order 1 Centerline is valid? [True, True] Translation: X:732.27, Y:41.36, Z:26.74 [[ 9.95778626e-01 -8.42132359e-02 -3.65110922e-02 7.32270442e+02] [ 8.41889256e-02 9.96447370e-01 -2.20548702e-03 4.13619178e+01] [ 3.65671130e-02 -8.77652787e-04 9.99330814e-01 2.67435642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.119254154 meters Centerline goodness : 0.999249 with order 1 Centerline is valid? [True, True] Translation: X:732.33, Y:41.36, Z:26.75 [[ 9.95342264e-01 -8.92229058e-02 -3.65109696e-02 7.32330109e+02] [ 8.92018867e-02 9.96011120e-01 -2.20751417e-03 4.13631330e+01] [ 3.65622926e-02 -1.05961522e-03 9.99330814e-01 2.67457555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.179254154 meters Centerline goodness : 0.999229 with order 1 Centerline is valid? [True, True] Translation: X:732.39, Y:41.36, Z:26.75 [[ 9.94920739e-01 -9.38066004e-02 -3.65108903e-02 7.32389670e+02] [ 9.37886143e-02 9.95589683e-01 -2.20882543e-03 4.13642227e+01] [ 3.65570681e-02 -1.22669958e-03 9.99330814e-01 2.67478401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.239254154 meters Centerline goodness : 0.999249 with order 1 Centerline is valid? [True, True] Translation: X:732.45, Y:41.36, Z:26.75 [[ 9.94230012e-01 -1.00864482e-01 -3.65108113e-02 7.32450178e+02] [ 1.00851196e-01 9.94899066e-01 -2.21013008e-03 4.13633780e+01] [ 3.65474957e-02 -1.48478132e-03 9.99330814e-01 2.67512235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.299254154 meters Centerline goodness : 0.999185 with order 1 Centerline is valid? [True, True] Translation: X:732.51, Y:41.36, Z:26.75 [[ 9.93617799e-01 -1.06726898e-01 -3.65108113e-02 7.32511822e+02] [ 1.06717558e-01 9.94286919e-01 -2.21013008e-03 4.13641211e+01] [ 3.65381024e-02 -1.70032005e-03 9.99330814e-01 2.67537506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.3592541539999 meters Centerline goodness : 0.999416 with order 1 Centerline is valid? [True, True] Translation: X:732.57, Y:41.37, Z:26.76 [[ 9.93181160e-01 -1.10716481e-01 -3.65108934e-02 7.32572953e+02] [ 1.10709878e-01 9.93850313e-01 -2.20877293e-03 4.13656626e+01] [ 3.65309104e-02 -1.84840488e-03 9.99330814e-01 2.67556391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.419254154 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:732.63, Y:41.37, Z:26.76 [[ 9.92979182e-01 -1.12513519e-01 -3.65109768e-02 7.32634196e+02] [ 1.12508178e-01 9.93648347e-01 -2.20739411e-03 4.13666592e+01] [ 3.65274334e-02 -1.91588707e-03 9.99330814e-01 2.67575425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.4792541539999 meters Centerline goodness : 0.999248 with order 1 Centerline is valid? [True, True] Translation: X:732.69, Y:41.37, Z:26.76 [[ 9.92319288e-01 -1.18192105e-01 -3.65110610e-02 7.32694534e+02] [ 1.18190643e-01 9.92988472e-01 -2.20600075e-03 4.13745489e+01] [ 3.65157945e-02 -2.12620867e-03 9.99330814e-01 2.67596455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.539254154 meters Centerline goodness : 0.999101 with order 1 Centerline is valid? [True, True] Translation: X:732.76, Y:41.38, Z:26.76 [[ 9.92139213e-01 -1.19694259e-01 -3.65111854e-02 7.32756300e+02] [ 1.19693885e-01 9.92808399e-01 -2.20393899e-03 4.13801403e+01] [ 3.65124104e-02 -2.18355133e-03 9.99330814e-01 2.67632632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.5992541539999 meters Centerline goodness : 0.999101 with order 1 Centerline is valid? [True, True] Translation: X:732.82, Y:41.39, Z:26.76 [[ 9.92148125e-01 -1.19620313e-01 -3.65113492e-02 7.32818464e+02] [ 1.19619989e-01 9.92817311e-01 -2.20122260e-03 4.13891132e+01] [ 3.65124105e-02 -2.18354832e-03 9.99330814e-01 2.67649479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.659254154 meters Centerline goodness : 0.999121 with order 1 Centerline is valid? [True, True] Translation: X:732.88, Y:41.40, Z:26.77 [[ 9.92304161e-01 -1.18318897e-01 -3.65115116e-02 7.32880383e+02] [ 1.18317795e-01 9.92973346e-01 -2.19852565e-03 4.13960982e+01] [ 3.65150850e-02 -2.13835538e-03 9.99330814e-01 2.67658596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.7192541539999 meters Centerline goodness : 0.998809 with order 1 Centerline is valid? [True, True] Translation: X:732.94, Y:41.40, Z:26.77 [[ 9.92826592e-01 -1.13851908e-01 -3.65116715e-02 7.32942528e+02] [ 1.13847891e-01 9.93495765e-01 -2.19586618e-03 4.14031519e+01] [ 3.65241946e-02 -1.97666247e-03 9.99330814e-01 2.67675218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.779254154 meters Centerline goodness : 0.999083 with order 1 Centerline is valid? [True, True] Translation: X:733.00, Y:41.41, Z:26.77 [[ 9.93296127e-01 -1.09679942e-01 -3.65118373e-02 7.33002682e+02] [ 1.09673215e-01 9.93965279e-01 -2.19310697e-03 4.14140852e+01] [ 3.65320384e-02 -1.82596591e-03 9.99330814e-01 2.67715234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.839254154 meters Centerline goodness : 0.998999 with order 1 Centerline is valid? [True, True] Translation: X:733.06, Y:41.42, Z:26.77 [[ 9.94187791e-01 -1.01279336e-01 -3.65120846e-02 7.33064583e+02] [ 1.01267104e-01 9.94856865e-01 -2.18898205e-03 4.14183979e+01] [ 3.65459966e-02 -1.52121384e-03 9.99330814e-01 2.67718044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.899254154 meters Centerline goodness : 0.999102 with order 1 Centerline is valid? [True, True] Translation: X:733.13, Y:41.44, Z:26.78 [[ 9.95313444e-01 -8.95433122e-02 -3.65122498e-02 7.33125178e+02] [ 8.95232887e-02 9.95982330e-01 -2.18622280e-03 4.14353533e+01] [ 3.65613172e-02 -1.09271973e-03 9.99330814e-01 2.67794003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.959254154 meters Centerline goodness : 0.999017 with order 1 Centerline is valid? [True, True] Translation: X:733.19, Y:41.44, Z:26.78 [[ 9.95964464e-01 -8.19855439e-02 -3.65124142e-02 7.33185712e+02] [ 8.19605444e-02 9.96633183e-01 -2.18347422e-03 4.14430837e+01] [ 3.65684969e-02 -8.17914610e-04 9.99330814e-01 2.67817794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.019254154 meters Centerline goodness : 0.998724 with order 1 Centerline is valid? [True, True] Translation: X:733.25, Y:41.45, Z:26.79 [[ 9.96586789e-01 -7.40378879e-02 -3.65124949e-02 7.33246182e+02] [ 7.40076041e-02 9.97255290e-01 -2.18212276e-03 4.14511716e+01] [ 3.65738385e-02 -5.27527553e-04 9.99330814e-01 2.67851508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.079254154 meters Centerline goodness : 0.998637 with order 1 Centerline is valid? [True, True] Translation: X:733.31, Y:41.46, Z:26.79 [[ 9.96684930e-01 -7.27047601e-02 -3.65125753e-02 7.33306274e+02] [ 7.26736315e-02 9.97353391e-01 -2.18077628e-03 4.14564954e+01] [ 3.65744937e-02 -4.79954590e-04 9.99330814e-01 2.67865954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.139254154 meters Centerline goodness : 0.998995 with order 1 Centerline is valid? [True, True] Translation: X:733.37, Y:41.46, Z:26.79 [[ 9.96299529e-01 -7.78079757e-02 -3.65125753e-02 7.33365951e+02] [ 7.77802708e-02 9.96968141e-01 -2.18077628e-03 4.14589236e+01] [ 3.65715561e-02 -6.67251616e-04 9.99330814e-01 2.67861239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.199254154 meters Centerline goodness : 0.998849 with order 1 Centerline is valid? [True, True] Translation: X:733.43, Y:41.46, Z:26.79 [[ 9.95672278e-01 -8.54608038e-02 -3.65125355e-02 7.33426121e+02] [ 8.54382126e-02 9.96341083e-01 -2.18144319e-03 4.14600965e+01] [ 3.65653670e-02 -9.47563262e-04 9.99330814e-01 2.67878663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.259254154 meters Centerline goodness : 0.998660 with order 1 Centerline is valid? [True, True] Translation: X:733.49, Y:41.46, Z:26.79 [[ 9.95080920e-01 -9.20912502e-02 -3.65125355e-02 7.33487658e+02] [ 9.20731145e-02 9.95749860e-01 -2.18144319e-03 4.14611606e+01] [ 3.65582439e-02 -1.19111037e-03 9.99330814e-01 2.67910898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.319254154 meters Centerline goodness : 0.998808 with order 1 Centerline is valid? [True, True] Translation: X:733.55, Y:41.46, Z:26.79 [[ 9.94787769e-01 -9.52056911e-02 -3.65126160e-02 7.33549997e+02] [ 9.51896989e-02 9.95456764e-01 -2.18009495e-03 4.14627106e+01] [ 3.65542880e-02 -1.30689313e-03 9.99330814e-01 2.67935301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.379254154 meters Centerline goodness : 0.998641 with order 1 Centerline is valid? [True, True] Translation: X:733.61, Y:41.46, Z:26.80 [[ 9.94832426e-01 -9.47378519e-02 -3.65127785e-02 7.33611358e+02] [ 9.47216450e-02 9.95501416e-01 -2.17737071e-03 4.14647103e+01] [ 3.65548021e-02 -1.29243145e-03 9.99330814e-01 2.67953107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.439254154 meters Centerline goodness : 0.998870 with order 1 Centerline is valid? [True, True] Translation: X:733.67, Y:41.47, Z:26.80 [[ 9.95195800e-01 -9.08411670e-02 -3.65130444e-02 7.33672301e+02] [ 9.08225041e-02 9.95864725e-01 -2.17290183e-03 4.14685031e+01] [ 3.65594419e-02 -1.15374334e-03 9.99330814e-01 2.67982136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.499254154 meters Centerline goodness : 0.998787 with order 1 Centerline is valid? [True, True] Translation: X:733.73, Y:41.47, Z:26.80 [[ 9.95748426e-01 -8.45686980e-02 -3.65131241e-02 7.33733577e+02] [ 8.45458697e-02 9.96417222e-01 -2.17156100e-03 4.14724909e+01] [ 3.65659518e-02 -9.24705394e-04 9.99330814e-01 2.68000362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.559254154 meters Centerline goodness : 0.999099 with order 1 Centerline is valid? [True, True] Translation: X:733.79, Y:41.48, Z:26.80 [[ 9.96254919e-01 -7.83767940e-02 -3.65132033e-02 7.33793882e+02] [ 7.83498573e-02 9.96923563e-01 -2.17022962e-03 4.14759619e+01] [ 3.65709683e-02 -6.98702326e-04 9.99330814e-01 2.68002789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.619254154 meters Centerline goodness : 0.998994 with order 1 Centerline is valid? [True, True] Translation: X:733.85, Y:41.48, Z:26.80 [[ 9.96418391e-01 -7.62704171e-02 -3.65132033e-02 7.33853044e+02] [ 7.62420668e-02 9.97086976e-01 -2.17022962e-03 4.14795748e+01] [ 3.65723638e-02 -6.21385374e-04 9.99330814e-01 2.68020030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.679254154 meters Centerline goodness : 0.999141 with order 1 Centerline is valid? [True, True] Translation: X:733.91, Y:41.48, Z:26.80 [[ 9.96996569e-01 -6.82981255e-02 -3.65131261e-02 7.33913138e+02] [ 6.82643809e-02 9.97664903e-01 -2.17152782e-03 4.14835504e+01] [ 3.65761757e-02 -3.27540157e-04 9.99330814e-01 2.68044225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.739254154 meters Centerline goodness : 0.999057 with order 1 Centerline is valid? [True, True] Translation: X:733.97, Y:41.49, Z:26.80 [[ 9.97169033e-01 -6.57321141e-02 -3.65131261e-02 7.33971796e+02] [ 6.56966496e-02 9.97837279e-01 -2.17152782e-03 4.14855787e+01] [ 3.65768975e-02 -2.33409748e-04 9.99330814e-01 2.68048394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.799254154 meters Centerline goodness : 0.999225 with order 1 Centerline is valid? [True, True] Translation: X:734.03, Y:41.49, Z:26.81 [[ 9.97098449e-01 -6.67945873e-02 -3.65125595e-02 7.34029218e+02] [ 6.67594876e-02 9.97766713e-01 -2.18101297e-03 4.14869638e+01] [ 3.65766963e-02 -2.62875114e-04 9.99330814e-01 2.68071329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.8592541539999 meters Centerline goodness : 0.999246 with order 1 Centerline is valid? [True, True] Translation: X:734.09, Y:41.49, Z:26.81 [[ 9.96672023e-01 -7.28815953e-02 -3.65123606e-02 7.34087995e+02] [ 7.28504548e-02 9.97340483e-01 -2.18433688e-03 4.14865397e+01] [ 3.65744534e-02 -4.82874623e-04 9.99330814e-01 2.68081998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.919254154 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:734.15, Y:41.48, Z:26.81 [[ 9.96005410e-01 -8.14868763e-02 -3.65117994e-02 7.34146414e+02] [ 8.14611680e-02 9.96674102e-01 -2.19367845e-03 4.14837616e+01] [ 3.65691209e-02 -7.89378224e-04 9.99330814e-01 2.68099965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.9792541539999 meters Centerline goodness : 0.998914 with order 1 Centerline is valid? [True, True] Translation: X:734.21, Y:41.48, Z:26.81 [[ 9.95310926e-01 -8.95715551e-02 -3.65116018e-02 7.34205950e+02] [ 8.95511569e-02 9.95979801e-01 -2.19696261e-03 4.14826187e+01] [ 3.65616032e-02 -1.08299529e-03 9.99330814e-01 2.68127570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.039254154 meters Centerline goodness : 0.999249 with order 1 Centerline is valid? [True, True] Translation: X:734.27, Y:41.48, Z:26.82 [[ 9.94902180e-01 -9.40029865e-02 -3.65115228e-02 7.34266630e+02] [ 9.39855191e-02 9.95571137e-01 -2.19827500e-03 4.14836345e+01] [ 3.65564627e-02 -1.24448583e-03 9.99330814e-01 2.68169352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.0992541539999 meters Centerline goodness : 0.999456 with order 1 Centerline is valid? [True, True] Translation: X:734.33, Y:41.48, Z:26.82 [[ 9.94812128e-01 -9.49512445e-02 -3.65115228e-02 7.34326712e+02] [ 9.49344148e-02 9.95481102e-01 -2.19827500e-03 4.14849189e+01] [ 3.65552599e-02 -1.27932941e-03 9.99330814e-01 2.68196070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.159254154 meters Centerline goodness : 0.999039 with order 1 Centerline is valid? [True, True] Translation: X:734.39, Y:41.49, Z:26.82 [[ 9.94796912e-01 -9.51105269e-02 -3.65115228e-02 7.34386446e+02] [ 9.50938043e-02 9.95465889e-01 -2.19827500e-03 4.14864292e+01] [ 3.65550546e-02 -1.28518242e-03 9.99330814e-01 2.68227335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.2192541539999 meters Centerline goodness : 0.999101 with order 1 Centerline is valid? [True, True] Translation: X:734.45, Y:41.49, Z:26.82 [[ 9.94826825e-01 -9.47971501e-02 -3.65114844e-02 7.34447045e+02] [ 9.47801933e-02 9.95495796e-01 -2.19891202e-03 4.14896947e+01] [ 3.65554798e-02 -1.27302888e-03 9.99330814e-01 2.68248313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.279254154 meters Centerline goodness : 0.998997 with order 1 Centerline is valid? [True, True] Translation: X:734.51, Y:41.49, Z:26.83 [[ 9.94733483e-01 -9.57716511e-02 -3.65114844e-02 7.34507505e+02] [ 9.57553497e-02 9.95402470e-01 -2.19891202e-03 4.14925142e+01] [ 3.65542152e-02 -1.30883854e-03 9.99330814e-01 2.68256735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.339254154 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:734.57, Y:41.50, Z:26.83 [[ 9.94541965e-01 -9.77404297e-02 -3.65114844e-02 7.34568288e+02] [ 9.77254525e-02 9.95210983e-01 -2.19891202e-03 4.14972528e+01] [ 3.65515529e-02 -1.38119105e-03 9.99330814e-01 2.68273868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.399254154 meters Centerline goodness : 0.999102 with order 1 Centerline is valid? [True, True] Translation: X:734.63, Y:41.50, Z:26.83 [[ 9.94243838e-01 -1.00727835e-01 -3.65115652e-02 7.34629468e+02] [ 1.00714917e-01 9.94912899e-01 -2.19757008e-03 4.15026367e+01] [ 3.65471836e-02 -1.49233873e-03 9.99330814e-01 2.68292721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.459254154 meters Centerline goodness : 0.999043 with order 1 Centerline is valid? [True, True] Translation: X:734.69, Y:41.51, Z:26.83 [[ 9.94015487e-01 -1.02956842e-01 -3.65116468e-02 7.34691021e+02] [ 1.02945474e-01 9.94684576e-01 -2.19621350e-03 4.15079499e+01] [ 3.65436871e-02 -1.57563856e-03 9.99330814e-01 2.68313885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.519254154 meters Centerline goodness : 0.999063 with order 1 Centerline is valid? [True, True] Translation: X:734.75, Y:41.51, Z:26.83 [[ 9.94174718e-01 -1.01407715e-01 -3.65117285e-02 7.34752420e+02] [ 1.01395354e-01 9.94843789e-01 -2.19485424e-03 4.15149535e+01] [ 3.65460415e-02 -1.52005103e-03 9.99330814e-01 2.68341807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.579254154 meters Centerline goodness : 0.999165 with order 1 Centerline is valid? [True, True] Translation: X:734.81, Y:41.52, Z:26.84 [[ 9.94699247e-01 -9.61264623e-02 -3.65118088e-02 7.34813677e+02] [ 9.61105973e-02 9.95368244e-01 -2.19351792e-03 4.15232598e+01] [ 3.65535501e-02 -1.32728113e-03 9.99330814e-01 2.68372411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.639254154 meters Centerline goodness : 0.999415 with order 1 Centerline is valid? [True, True] Translation: X:734.87, Y:41.53, Z:26.84 [[ 9.95433237e-01 -8.82017749e-02 -3.65118878e-02 7.34874037e+02] [ 8.81806308e-02 9.96102088e-01 -2.19220181e-03 4.15312718e+01] [ 3.65629238e-02 -1.03745075e-03 9.99330814e-01 2.68412857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.699254154 meters Centerline goodness : 0.999228 with order 1 Centerline is valid? [True, True] Translation: X:734.94, Y:41.54, Z:26.84 [[ 9.95868753e-01 -8.31402840e-02 -3.65119285e-02 7.34935427e+02] [ 8.31157649e-02 9.96537489e-01 -2.19152303e-03 4.15383054e+01] [ 3.65677094e-02 -8.52247561e-04 9.99330814e-01 2.68445434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.759254154 meters Centerline goodness : 0.999415 with order 1 Centerline is valid? [True, True] Translation: X:734.99, Y:41.55, Z:26.85 [[ 9.96376623e-01 -7.68146970e-02 -3.65120091e-02 7.34994171e+02] [ 7.67859810e-02 9.97045193e-01 -2.19017977e-03 4.15461631e+01] [ 3.65723611e-02 -6.21366517e-04 9.99330814e-01 2.68470637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.819254154 meters Centerline goodness : 0.999121 with order 1 Centerline is valid? [True, True] Translation: X:735.05, Y:41.55, Z:26.85 [[ 9.96476538e-01 -7.55074999e-02 -3.65120091e-02 7.35053390e+02] [ 7.54779069e-02 9.97145069e-01 -2.19017995e-03 4.15505201e+01] [ 3.65731448e-02 -5.73387087e-04 9.99330814e-01 2.68491826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.879254154 meters Centerline goodness : 0.999204 with order 1 Centerline is valid? [True, True] Translation: X:735.11, Y:41.56, Z:26.85 [[ 9.96534393e-01 -7.47401060e-02 -3.65119279e-02 7.35111873e+02] [ 7.47099486e-02 9.97202899e-01 -2.19153248e-03 4.15551226e+01] [ 3.65735957e-02 -5.43866774e-04 9.99330814e-01 2.68494793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.939254154 meters Centerline goodness : 0.999141 with order 1 Centerline is valid? [True, True] Translation: X:735.17, Y:41.56, Z:26.85 [[ 9.96335346e-01 -7.73483453e-02 -3.65117925e-02 7.35171616e+02] [ 7.73198553e-02 9.97003925e-01 -2.19378543e-03 4.15585846e+01] [ 3.65720862e-02 -6.37340547e-04 9.99330814e-01 2.68517627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.999254154 meters Centerline goodness : 0.999081 with order 1 Centerline is valid? [True, True] Translation: X:735.23, Y:41.56, Z:26.85 [[ 9.96103222e-01 -8.02824177e-02 -3.65117128e-02 7.35231528e+02] [ 8.02558483e-02 9.96771880e-01 -2.19511240e-03 4.15603902e+01] [ 3.65700775e-02 -7.43719948e-04 9.99330814e-01 2.68548854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.059254154 meters Centerline goodness : 0.999164 with order 1 Centerline is valid? [True, True] Translation: X:735.29, Y:41.56, Z:26.86 [[ 9.95974940e-01 -8.18585373e-02 -3.65116308e-02 7.35292071e+02] [ 8.18329761e-02 9.96643637e-01 -2.19647469e-03 4.15627818e+01] [ 3.65688847e-02 -8.00221667e-04 9.99330814e-01 2.68580456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.119254154 meters Centerline goodness : 0.999163 with order 1 Centerline is valid? [True, True] Translation: X:735.35, Y:41.56, Z:26.86 [[ 9.95828155e-01 -8.36252751e-02 -3.65116308e-02 7.35352312e+02] [ 8.36009002e-02 9.96496897e-01 -2.19647469e-03 4.15640052e+01] [ 3.65674076e-02 -8.65093868e-04 9.99330814e-01 2.68598514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.179254154 meters Centerline goodness : 0.999582 with order 1 Centerline is valid? [True, True] Translation: X:735.41, Y:41.56, Z:26.86 [[ 9.95510573e-01 -8.73246756e-02 -3.65116308e-02 7.35412329e+02] [ 8.73027856e-02 9.96179401e-01 -2.19647469e-03 4.15638473e+01] [ 3.65639409e-02 -1.00095330e-03 9.99330814e-01 2.68612450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.239254154 meters Centerline goodness : 0.999435 with order 1 Centerline is valid? [True, True] Translation: X:735.47, Y:41.56, Z:26.86 [[ 9.95196098e-01 -9.08384846e-02 -3.65115906e-02 7.35473135e+02] [ 9.08189313e-02 9.95864998e-01 -2.19714315e-03 4.15642905e+01] [ 3.65602002e-02 -1.12935535e-03 9.99330814e-01 2.68634567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.299254154 meters Centerline goodness : 0.999270 with order 1 Centerline is valid? [True, True] Translation: X:735.53, Y:41.57, Z:26.87 [[ 9.95212324e-01 -9.06605427e-02 -3.65115906e-02 7.35534893e+02] [ 9.06408698e-02 9.95881220e-01 -2.19714315e-03 4.15652305e+01] [ 3.65604016e-02 -1.12281838e-03 9.99330814e-01 2.68667347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.3592541539999 meters Centerline goodness : 0.999332 with order 1 Centerline is valid? [True, True] Translation: X:735.60, Y:41.57, Z:26.87 [[ 9.95300835e-01 -8.96835903e-02 -3.65116723e-02 7.35596078e+02] [ 8.96633107e-02 9.95969713e-01 -2.19578345e-03 4.15668419e+01] [ 3.65614456e-02 -1.08829232e-03 9.99330814e-01 2.68690743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.419254154 meters Centerline goodness : 0.999479 with order 1 Centerline is valid? [True, True] Translation: X:735.66, Y:41.57, Z:26.87 [[ 9.95277981e-01 -8.99368289e-02 -3.65117538e-02 7.35657794e+02] [ 8.99167691e-02 9.95946866e-01 -2.19442878e-03 4.15693611e+01] [ 3.65611267e-02 -1.09895229e-03 9.99330814e-01 2.68709569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.4792541539999 meters Centerline goodness : 0.999436 with order 1 Centerline is valid? [True, True] Translation: X:735.72, Y:41.57, Z:26.87 [[ 9.95000811e-01 -9.29530609e-02 -3.65118355e-02 7.35717416e+02] [ 9.29350785e-02 9.95669755e-01 -2.19306833e-03 4.15690089e+01] [ 3.65575827e-02 -1.21112553e-03 9.99330814e-01 2.68720658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.539254154 meters Centerline goodness : 0.999333 with order 1 Centerline is valid? [True, True] Translation: X:735.78, Y:41.57, Z:26.87 [[ 9.94878451e-01 -9.42536798e-02 -3.65117952e-02 7.35777653e+02] [ 9.42365472e-02 9.95547418e-01 -2.19373932e-03 4.15716131e+01] [ 3.65559914e-02 -1.25824153e-03 9.99330814e-01 2.68739308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.5992541539999 meters Centerline goodness : 0.999416 with order 1 Centerline is valid? [True, True] Translation: X:735.84, Y:41.57, Z:26.88 [[ 9.94461341e-01 -9.85572401e-02 -3.65117952e-02 7.35838600e+02] [ 9.85430021e-02 9.95130376e-01 -2.19373932e-03 4.15733370e+01] [ 3.65502053e-02 -1.41639296e-03 9.99330814e-01 2.68750440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.659254154 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:735.90, Y:41.58, Z:26.88 [[ 9.94208989e-01 -1.01071135e-01 -3.65117952e-02 7.35899860e+02] [ 1.01058589e-01 9.94878057e-01 -2.19373932e-03 4.15756971e+01] [ 3.65465076e-02 -1.50879515e-03 9.99330814e-01 2.68771206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.7192541539999 meters Centerline goodness : 0.999188 with order 1 Centerline is valid? [True, True] Translation: X:735.96, Y:41.56, Z:26.86 [[ 9.95037956e-01 -9.25545681e-02 -3.65118762e-02 7.35961343e+02] [ 9.25363427e-02 9.95706894e-01 -2.19238979e-03 4.15644789e+01] [ 3.65580425e-02 -1.19716443e-03 9.99330814e-01 2.68635384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.779254154 meters Centerline goodness : 0.999332 with order 1 Centerline is valid? [True, True] Translation: X:736.02, Y:41.58, Z:26.88 [[ 9.93502716e-01 -1.07792559e-01 -3.65118762e-02 7.36020065e+02] [ 1.07784587e-01 9.94171855e-01 -2.19238979e-03 4.15804582e+01] [ 3.65354030e-02 -1.75727227e-03 9.99330814e-01 2.68833605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.839254154 meters Centerline goodness : 0.999165 with order 1 Centerline is valid? [True, True] Translation: X:736.08, Y:41.58, Z:26.89 [[ 9.93359124e-01 -1.09107886e-01 -3.65119181e-02 7.36081622e+02] [ 1.09100826e-01 9.94028272e-01 -2.19169181e-03 4.15843108e+01] [ 3.65330097e-02 -1.80634336e-03 9.99330814e-01 2.68857855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.899254154 meters Centerline goodness : 0.999081 with order 1 Centerline is valid? [True, True] Translation: X:736.14, Y:41.59, Z:26.89 [[ 9.93160559e-01 -1.10900761e-01 -3.65119999e-02 7.36142377e+02] [ 1.10894959e-01 9.93829719e-01 -2.19032747e-03 4.15887967e+01] [ 3.65296196e-02 -1.87364987e-03 9.99330814e-01 2.68879687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.959254154 meters Centerline goodness : 0.999164 with order 1 Centerline is valid? [True, True] Translation: X:736.20, Y:41.59, Z:26.89 [[ 9.93213897e-01 -1.10422021e-01 -3.65120809e-02 7.36202915e+02] [ 1.10415946e-01 9.93883055e-01 -2.18897662e-03 4.15934267e+01] [ 3.65304498e-02 -1.85739395e-03 9.99330814e-01 2.68878616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.019254154 meters Centerline goodness : 0.999290 with order 1 Centerline is valid? [True, True] Translation: X:736.26, Y:41.60, Z:26.89 [[ 9.93200868e-01 -1.10539138e-01 -3.65121286e-02 7.36262895e+02] [ 1.10533170e-01 9.93870027e-01 -2.18818103e-03 4.15993147e+01] [ 3.65301899e-02 -1.86249802e-03 9.99330814e-01 2.68916439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.079254154 meters Centerline goodness : 0.999249 with order 1 Centerline is valid? [True, True] Translation: X:736.32, Y:41.60, Z:26.89 [[ 9.93535464e-01 -1.07490200e-01 -3.65121763e-02 7.36324461e+02] [ 1.07482208e-01 9.94204602e-01 -2.18738469e-03 4.16040108e+01] [ 3.65356961e-02 -1.75116505e-03 9.99330814e-01 2.68933121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.139254154 meters Centerline goodness : 0.999270 with order 1 Centerline is valid? [True, True] Translation: X:736.39, Y:41.61, Z:26.90 [[ 9.93912652e-01 -1.03944677e-01 -3.65122546e-02 7.36385955e+02] [ 1.03934345e-01 9.94581758e-01 -2.18607757e-03 4.16101596e+01] [ 3.65416535e-02 -1.62210712e-03 9.99330814e-01 2.68957343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.199254154 meters Centerline goodness : 0.998954 with order 1 Centerline is valid? [True, True] Translation: X:736.45, Y:41.62, Z:26.90 [[ 9.94835706e-01 -9.47035771e-02 -3.65123320e-02 7.36447001e+02] [ 9.46870753e-02 9.95504688e-01 -2.18478391e-03 4.16183897e+01] [ 3.65551045e-02 -1.28374489e-03 9.99330814e-01 2.69001426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.259254154 meters Centerline goodness : 0.999185 with order 1 Centerline is valid? [True, True] Translation: X:736.51, Y:41.62, Z:26.90 [[ 9.95229556e-01 -9.04708504e-02 -3.65124142e-02 7.36507577e+02] [ 9.04515534e-02 9.95898463e-01 -2.18340976e-03 4.16239605e+01] [ 3.65601921e-02 -1.12961066e-03 9.99330814e-01 2.69022225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.319254154 meters Centerline goodness : 0.999122 with order 1 Centerline is valid? [True, True] Translation: X:736.57, Y:41.63, Z:26.91 [[ 9.95652275e-01 -8.56935322e-02 -3.65125384e-02 7.36567545e+02] [ 8.56711014e-02 9.96321085e-01 -2.18133093e-03 4.16313960e+01] [ 3.65651378e-02 -9.56222274e-04 9.99330814e-01 2.69052101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.379254154 meters Centerline goodness : 0.999018 with order 1 Centerline is valid? [True, True] Translation: X:736.63, Y:41.64, Z:26.91 [[ 9.95966221e-01 -8.19641397e-02 -3.65125384e-02 7.36629010e+02] [ 8.19392044e-02 9.96634942e-01 -2.18133093e-03 4.16377985e+01] [ 3.65684625e-02 -8.19276419e-04 9.99330814e-01 2.69070508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.439254154 meters Centerline goodness : 0.998996 with order 1 Centerline is valid? [True, True] Translation: X:736.69, Y:41.64, Z:26.91 [[ 9.96230293e-01 -7.86894631e-02 -3.65126189e-02 7.36689544e+02] [ 7.86623789e-02 9.96898931e-01 -2.17998123e-03 4.16426077e+01] [ 3.65709323e-02 -7.00406122e-04 9.99330814e-01 2.69095239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.499254154 meters Centerline goodness : 0.999122 with order 1 Centerline is valid? [True, True] Translation: X:736.75, Y:41.65, Z:26.91 [[ 9.96321895e-01 -7.75210282e-02 -3.65126189e-02 7.36748978e+02] [ 7.74931598e-02 9.96990500e-01 -2.17998123e-03 4.16476155e+01] [ 3.65717286e-02 -6.57515181e-04 9.99330814e-01 2.69117515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.559254154 meters Centerline goodness : 0.999059 with order 1 Centerline is valid? [True, True] Translation: X:736.81, Y:41.65, Z:26.91 [[ 9.96303455e-01 -7.77577026e-02 -3.65125387e-02 7.36807825e+02] [ 7.77299438e-02 9.96972065e-01 -2.18132501e-03 4.16501705e+01] [ 3.65715959e-02 -6.64855937e-04 9.99330814e-01 2.69116118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.619254154 meters Centerline goodness : 0.999123 with order 1 Centerline is valid? [True, True] Translation: X:736.87, Y:41.65, Z:26.91 [[ 9.96009994e-01 -8.14307403e-02 -3.65120171e-02 7.36866606e+02] [ 8.14051284e-02 9.96678689e-01 -2.19002066e-03 4.16495832e+01] [ 3.65690843e-02 -7.90982979e-04 9.99330814e-01 2.69136338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.679254154 meters Centerline goodness : 0.999205 with order 1 Centerline is valid? [True, True] Translation: X:736.93, Y:41.65, Z:26.92 [[ 9.95731952e-01 -8.47629730e-02 -3.65118967e-02 7.36925552e+02] [ 8.47395253e-02 9.96400727e-01 -2.19202519e-03 4.16511196e+01] [ 3.65662830e-02 -9.11331273e-04 9.99330814e-01 2.69150138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.739254154 meters Centerline goodness : 0.999141 with order 1 Centerline is valid? [True, True] Translation: X:736.99, Y:41.65, Z:26.92 [[ 9.95631697e-01 -8.59326090e-02 -3.65117814e-02 7.36986197e+02] [ 8.59098765e-02 9.96300497e-01 -2.19394473e-03 4.16532508e+01] [ 3.65652373e-02 -9.52361716e-04 9.99330814e-01 2.69173216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.799254154 meters Centerline goodness : 0.999373 with order 1 Centerline is valid? [True, True] Translation: X:737.05, Y:41.65, Z:26.92 [[ 9.95756213e-01 -8.44775391e-02 -3.65117814e-02 7.37046621e+02] [ 8.44538293e-02 9.96424978e-01 -2.19394473e-03 4.16541920e+01] [ 3.65665900e-02 -8.98925659e-04 9.99330814e-01 2.69184555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.8592541539999 meters Centerline goodness : 0.999143 with order 1 Centerline is valid? [True, True] Translation: X:737.11, Y:41.66, Z:26.92 [[ 9.95956326e-01 -8.20846335e-02 -3.65117814e-02 7.37106816e+02] [ 8.20593169e-02 9.96625032e-01 -2.19394473e-03 4.16580199e+01] [ 3.65686445e-02 -8.11058706e-04 9.99330814e-01 2.69213901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.919254154 meters Centerline goodness : 0.999291 with order 1 Centerline is valid? [True, True] Translation: X:737.17, Y:41.66, Z:26.93 [[ 9.96395672e-01 -7.65673201e-02 -3.65117814e-02 7.37166694e+02] [ 7.65383002e-02 9.97064228e-01 -2.19394473e-03 4.16613006e+01] [ 3.65725756e-02 -6.08512651e-04 9.99330814e-01 2.69253894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.9792541539999 meters Centerline goodness : 0.999270 with order 1 Centerline is valid? [True, True] Translation: X:737.22, Y:41.66, Z:26.93 [[ 9.96936841e-01 -6.91652486e-02 -3.65116997e-02 7.37224816e+02] [ 6.91312146e-02 9.97605160e-01 -2.19530315e-03 4.16625375e+01] [ 3.65760987e-02 -3.35519560e-04 9.99330814e-01 2.69278838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.039254154 meters Centerline goodness : 0.999331 with order 1 Centerline is valid? [True, True] Translation: X:737.28, Y:41.66, Z:26.93 [[ 9.97269859e-01 -6.41851721e-02 -3.65115390e-02 7.37282592e+02] [ 6.41477028e-02 9.97937995e-01 -2.19797338e-03 4.16648980e+01] [ 3.65773293e-02 -1.50158753e-04 9.99330814e-01 2.69307805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.0992541539999 meters Centerline goodness : 0.999268 with order 1 Centerline is valid? [True, True] Translation: X:737.34, Y:41.66, Z:26.93 [[ 9.97177424e-01 -6.56059426e-02 -3.65108977e-02 7.37341650e+02] [ 6.55690371e-02 9.97845591e-01 -2.20857446e-03 4.16645903e+01] [ 3.65771339e-02 -1.91643815e-04 9.99330814e-01 2.69331138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.159254154 meters Centerline goodness : 0.999352 with order 1 Centerline is valid? [True, True] Translation: X:737.40, Y:41.66, Z:26.93 [[ 9.96860108e-01 -7.02632311e-02 -3.65103272e-02 7.37400174e+02] [ 7.02291033e-02 9.97528423e-01 -2.21796589e-03 4.16642293e+01] [ 3.65759305e-02 -3.53085819e-04 9.99330814e-01 2.69344994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.2192541539999 meters Centerline goodness : 0.999457 with order 1 Centerline is valid? [True, True] Translation: X:737.46, Y:41.66, Z:26.94 [[ 9.96069999e-01 -8.06944849e-02 -3.65096785e-02 7.37458267e+02] [ 8.06669654e-02 9.96738619e-01 -2.22859337e-03 4.16627092e+01] [ 3.65704417e-02 -7.25289970e-04 9.99330814e-01 2.69352312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.279254154 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:737.52, Y:41.66, Z:26.94 [[ 9.95007221e-01 -9.28855263e-02 -3.65090355e-02 7.37517711e+02] [ 9.28658119e-02 9.95676116e-01 -2.23907771e-03 4.16614044e+01] [ 3.65591526e-02 -1.16254273e-03 9.99330815e-01 2.69364511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.339254154 meters Centerline goodness : 0.999395 with order 1 Centerline is valid? [True, True] Translation: X:737.58, Y:41.66, Z:26.93 [[ 9.94564573e-01 -9.75112286e-02 -3.65085051e-02 7.37578507e+02] [ 9.74943090e-02 9.95233544e-01 -2.24769191e-03 4.16553457e+01] [ 3.65536642e-02 -1.32389674e-03 9.99330815e-01 2.69298438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.399254154 meters Centerline goodness : 0.999143 with order 1 Centerline is valid? [True, True] Translation: X:737.64, Y:41.66, Z:26.93 [[ 9.94162932e-01 -1.01524378e-01 -3.65084208e-02 7.37638093e+02] [ 1.01510108e-01 9.94831966e-01 -2.24906174e-03 4.16565457e+01] [ 3.65480786e-02 -1.47003993e-03 9.99330815e-01 2.69337453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.459254154 meters Centerline goodness : 0.999332 with order 1 Centerline is valid? [True, True] Translation: X:737.70, Y:41.67, Z:26.95 [[ 9.93138781e-01 -1.11096821e-01 -3.65083334e-02 7.37697176e+02] [ 1.11088945e-01 9.93807920e-01 -2.25047823e-03 4.16654017e+01] [ 3.65322919e-02 -1.82063505e-03 9.99330815e-01 2.69452827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.519254154 meters Centerline goodness : 0.999019 with order 1 Centerline is valid? [True, True] Translation: X:737.76, Y:41.67, Z:26.95 [[ 9.92932481e-01 -1.12925768e-01 -3.65083334e-02 7.37757823e+02] [ 1.12919125e-01 9.93601634e-01 -2.25047823e-03 4.16669166e+01] [ 3.65288767e-02 -1.88791612e-03 9.99330815e-01 2.69482125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.579254154 meters Centerline goodness : 0.999103 with order 1 Centerline is valid? [True, True] Translation: X:737.82, Y:41.67, Z:26.95 [[ 9.92875519e-01 -1.13425504e-01 -3.65083334e-02 7.37818016e+02] [ 1.13419198e-01 9.93544675e-01 -2.25047823e-03 4.16711649e+01] [ 3.65279219e-02 -1.90630114e-03 9.99330815e-01 2.69508228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.639254154 meters Centerline goodness : 0.999061 with order 1 Centerline is valid? [True, True] Translation: X:737.88, Y:41.68, Z:26.95 [[ 9.92865759e-01 -1.13510912e-01 -3.65083334e-02 7.37876887e+02] [ 1.13504662e-01 9.93534915e-01 -2.25047823e-03 4.16779848e+01] [ 3.65277578e-02 -1.90944329e-03 9.99330815e-01 2.69529626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.699254154 meters Centerline goodness : 0.999290 with order 1 Centerline is valid? [True, True] Translation: X:737.94, Y:41.68, Z:26.95 [[ 9.93044838e-01 -1.11933440e-01 -3.65082926e-02 7.37938350e+02] [ 1.11926103e-01 9.93713983e-01 -2.25114107e-03 4.16844883e+01] [ 3.65307788e-02 -1.85074690e-03 9.99330815e-01 2.69547470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.759254154 meters Centerline goodness : 0.999062 with order 1 Centerline is valid? [True, True] Translation: X:738.00, Y:41.69, Z:26.96 [[ 9.93296551e-01 -1.09677252e-01 -3.65083764e-02 7.37998983e+02] [ 1.09668445e-01 9.93965679e-01 -2.24978001e-03 4.16909494e+01] [ 3.65348229e-02 -1.76911816e-03 9.99330815e-01 2.69561334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.819254154 meters Centerline goodness : 0.999270 with order 1 Centerline is valid? [True, True] Translation: X:738.06, Y:41.70, Z:26.96 [[ 9.93757867e-01 -1.05415531e-01 -3.65084609e-02 7.38058935e+02] [ 1.05403904e-01 9.94426951e-01 -2.24840873e-03 4.17007709e+01] [ 3.65420147e-02 -1.61376046e-03 9.99330815e-01 2.69593673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.879254154 meters Centerline goodness : 0.999187 with order 1 Centerline is valid? [True, True] Translation: X:738.12, Y:41.71, Z:26.96 [[ 9.94528890e-01 -9.78744943e-02 -3.65085024e-02 7.38119798e+02] [ 9.78578175e-02 9.95197867e-01 -2.24773450e-03 4.17089258e+01] [ 3.65531796e-02 -1.33720547e-03 9.99330815e-01 2.69614482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.939254154 meters Centerline goodness : 0.998977 with order 1 Centerline is valid? [True, True] Translation: X:738.18, Y:41.72, Z:26.97 [[ 9.95243402e-01 -9.03199582e-02 -3.65085860e-02 7.38179333e+02] [ 9.02982519e-02 9.95912235e-01 -2.24637536e-03 4.17180776e+01] [ 3.65622400e-02 -1.06097124e-03 9.99330815e-01 2.69657176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.999254154 meters Centerline goodness : 0.998895 with order 1 Centerline is valid? [True, True] Translation: X:738.24, Y:41.72, Z:26.97 [[ 9.95665608e-01 -8.55401531e-02 -3.65086271e-02 7.38239722e+02] [ 8.55152601e-02 9.96334330e-01 -2.24570829e-03 4.17244378e+01] [ 3.65668967e-02 -8.86070226e-04 9.99330815e-01 2.69694560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.059254154 meters Centerline goodness : 0.999020 with order 1 Centerline is valid? [True, True] Translation: X:738.30, Y:41.73, Z:26.97 [[ 9.95680773e-01 -8.53634521e-02 -3.65086271e-02 7.38300067e+02] [ 8.53384404e-02 9.96349491e-01 -2.24570829e-03 4.17284903e+01] [ 3.65670534e-02 -8.79580725e-04 9.99330815e-01 2.69722984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.119254154 meters Centerline goodness : 0.999021 with order 1 Centerline is valid? [True, True] Translation: X:738.36, Y:41.73, Z:26.97 [[ 9.95486176e-01 -8.76036129e-02 -3.65086271e-02 7.38359243e+02] [ 8.75801059e-02 9.96154949e-01 -2.24570829e-03 4.17321639e+01] [ 3.65649817e-02 -9.61857864e-04 9.99330815e-01 2.69731117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.179254154 meters Centerline goodness : 0.999062 with order 1 Centerline is valid? [True, True] Translation: X:738.42, Y:41.74, Z:26.97 [[ 9.95187139e-01 -9.09377898e-02 -3.65085858e-02 7.38419689e+02] [ 9.09164986e-02 9.95855986e-01 -2.24637858e-03 4.17357714e+01] [ 3.65615744e-02 -1.08366572e-03 9.99330815e-01 2.69739868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.239254154 meters Centerline goodness : 0.999186 with order 1 Centerline is valid? [True, True] Translation: X:738.48, Y:41.74, Z:26.98 [[ 9.94911090e-01 -9.39097756e-02 -3.65085858e-02 7.38479865e+02] [ 9.38904822e-02 9.95579997e-01 -2.24637858e-03 4.17382221e+01] [ 3.65581747e-02 -1.19286177e-03 9.99330815e-01 2.69751990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.299254154 meters Centerline goodness : 0.999144 with order 1 Centerline is valid? [True, True] Translation: X:738.54, Y:41.74, Z:26.98 [[ 9.94662196e-01 -9.65102502e-02 -3.65087205e-02 7.38540829e+02] [ 9.64927858e-02 9.95331154e-01 -2.24418789e-03 4.17418600e+01] [ 3.65548540e-02 -1.29061929e-03 9.99330815e-01 2.69783947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.3592541539999 meters Centerline goodness : 0.999100 with order 1 Centerline is valid? [True, True] Translation: X:738.60, Y:41.74, Z:26.98 [[ 9.94468594e-01 -9.84851377e-02 -3.65088008e-02 7.38600562e+02] [ 9.84690496e-02 9.95137586e-01 -2.24288021e-03 4.17439328e+01] [ 3.65521703e-02 -1.36451299e-03 9.99330815e-01 2.69800263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.419254154 meters Centerline goodness : 0.999037 with order 1 Centerline is valid? [True, True] Translation: X:738.66, Y:41.75, Z:26.98 [[ 9.94285595e-01 -1.00315827e-01 -3.65087613e-02 7.38661961e+02] [ 1.00300947e-01 9.94954615e-01 -2.24352404e-03 4.17471085e+01] [ 3.65496215e-02 -1.43115970e-03 9.99330815e-01 2.69818318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.4792541539999 meters Centerline goodness : 0.999165 with order 1 Centerline is valid? [True, True] Translation: X:738.72, Y:41.75, Z:26.98 [[ 9.93857541e-01 -1.04471494e-01 -3.65088439e-02 7.38723014e+02] [ 1.04459460e-01 9.94526618e-01 -2.24217770e-03 4.17513505e+01] [ 3.65432607e-02 -1.58528891e-03 9.99330815e-01 2.69837446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.539254154 meters Centerline goodness : 0.999229 with order 1 Centerline is valid? [True, True] Translation: X:738.78, Y:41.75, Z:26.98 [[ 9.93408594e-01 -1.08657554e-01 -3.65089278e-02 7.38784034e+02] [ 1.08648389e-01 9.94077716e-01 -2.24081092e-03 4.17546866e+01] [ 3.65361926e-02 -1.74059537e-03 9.99330815e-01 2.69844247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.5992541539999 meters Centerline goodness : 0.998958 with order 1 Centerline is valid? [True, True] Translation: X:738.84, Y:41.76, Z:26.99 [[ 9.93145645e-01 -1.11035203e-01 -3.65090521e-02 7.38844969e+02] [ 1.11027715e-01 9.93814789e-01 -2.23878447e-03 4.17592701e+01] [ 3.65318198e-02 -1.83007757e-03 9.99330815e-01 2.69860464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.659254154 meters Centerline goodness : 0.999060 with order 1 Centerline is valid? [True, True] Translation: X:738.91, Y:41.77, Z:26.99 [[ 9.93227525e-01 -1.10300349e-01 -3.65091330e-02 7.38907136e+02] [ 1.10292413e-01 9.93896663e-01 -2.23746357e-03 4.17656058e+01] [ 3.65330985e-02 -1.80436999e-03 9.99330815e-01 2.69890635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.7192541539999 meters Centerline goodness : 0.999019 with order 1 Centerline is valid? [True, True] Translation: X:738.97, Y:41.77, Z:26.99 [[ 9.93689536e-01 -1.06057423e-01 -3.65093010e-02 7.38968887e+02] [ 1.06046731e-01 9.94358636e-01 -2.23471917e-03 4.17725684e+01] [ 3.65403473e-02 -1.65107496e-03 9.99330815e-01 2.69914664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.779254154 meters Centerline goodness : 0.998999 with order 1 Centerline is valid? [True, True] Translation: X:739.03, Y:41.78, Z:26.99 [[ 9.94112672e-01 -1.02014973e-01 -3.65094689e-02 7.39031082e+02] [ 1.02001659e-01 9.94781725e-01 -2.23197323e-03 4.17797524e+01] [ 3.65466471e-02 -1.50519354e-03 9.99330815e-01 2.69946651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.839254154 meters Centerline goodness : 0.998810 with order 1 Centerline is valid? [True, True] Translation: X:739.09, Y:41.78, Z:26.98 [[ 9.95913017e-01 -8.26093750e-02 -3.65096357e-02 7.39092161e+02] [ 8.25831173e-02 9.96581687e-01 -2.22924144e-03 4.17765003e+01] [ 3.65689906e-02 -7.94948955e-04 9.99330815e-01 2.69834179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.899254154 meters Centerline goodness : 0.998936 with order 1 Centerline is valid? [True, True] Translation: X:739.15, Y:41.80, Z:27.00 [[ 9.95768765e-01 -8.43303757e-02 -3.65096357e-02 7.39150535e+02] [ 8.43052737e-02 9.96437480e-01 -2.22924144e-03 4.17956593e+01] [ 3.65675622e-02 -8.58145829e-04 9.99330815e-01 2.70008998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.959254154 meters Centerline goodness : 0.998935 with order 1 Centerline is valid? [True, True] Translation: X:739.21, Y:41.80, Z:27.00 [[ 9.96034180e-01 -8.11354131e-02 -3.65096779e-02 7.39210365e+02] [ 8.11081912e-02 9.96702812e-01 -2.22854956e-03 4.18025318e+01] [ 3.65701129e-02 -7.41522403e-04 9.99330815e-01 2.70038631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.019254154 meters Centerline goodness : 0.999017 with order 1 Centerline is valid? [True, True] Translation: X:739.27, Y:41.81, Z:27.00 [[ 9.95834606e-01 -8.35492153e-02 -3.65098109e-02 7.39270234e+02] [ 8.35236939e-02 9.96503304e-01 -2.22636983e-03 4.18077227e+01] [ 3.65681586e-02 -8.32338144e-04 9.99330815e-01 2.70045151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.079254154 meters Centerline goodness : 0.998871 with order 1 Centerline is valid? [True, True] Translation: X:739.33, Y:41.81, Z:27.01 [[ 9.95267875e-01 -9.00493817e-02 -3.65098109e-02 7.39331191e+02] [ 9.00282268e-02 9.95936726e-01 -2.22636983e-03 4.18127240e+01] [ 3.65619447e-02 -1.07107916e-03 9.99330815e-01 2.70064320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.139254154 meters Centerline goodness : 0.998724 with order 1 Centerline is valid? [True, True] Translation: X:739.39, Y:41.81, Z:27.00 [[ 9.95211498e-01 -9.06702875e-02 -3.65098932e-02 7.39392846e+02] [ 9.06495995e-02 9.95880364e-01 -2.22501906e-03 4.18084110e+01] [ 3.65612288e-02 -1.09524264e-03 9.99330815e-01 2.70026973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.199254154 meters Centerline goodness : 0.998851 with order 1 Centerline is valid? [True, True] Translation: X:739.45, Y:41.82, Z:27.01 [[ 9.93946822e-01 -1.03618223e-01 -3.65099796e-02 7.39453045e+02] [ 1.03606296e-01 9.94615901e-01 -2.22360015e-03 4.18206000e+01] [ 3.65438117e-02 -1.57252345e-03 9.99330815e-01 2.70107977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.259254154 meters Centerline goodness : 0.998832 with order 1 Centerline is valid? [True, True] Translation: X:739.52, Y:41.82, Z:27.01 [[ 9.93954062e-01 -1.03548706e-01 -3.65101063e-02 7.39515511e+02] [ 1.03536809e-01 9.94623142e-01 -2.22151750e-03 4.18169353e+01] [ 3.65438319e-02 -1.57205356e-03 9.99330815e-01 2.70055347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.319254154 meters Centerline goodness : 0.998748 with order 1 Centerline is valid? [True, True] Translation: X:739.58, Y:41.82, Z:27.00 [[ 9.93708671e-01 -1.05877656e-01 -3.65102742e-02 7.39578051e+02] [ 1.05867428e-01 9.94377778e-01 -2.21875563e-03 4.18193852e+01] [ 3.65399219e-02 -1.66045211e-03 9.99330815e-01 2.70047331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.379254154 meters Centerline goodness : 0.998747 with order 1 Centerline is valid? [True, True] Translation: X:739.64, Y:41.83, Z:27.01 [[ 9.93419703e-01 -1.08555428e-01 -3.65104410e-02 7.39640096e+02] [ 1.08547104e-01 9.94088837e-01 -2.21600720e-03 4.18253802e+01] [ 3.65351814e-02 -1.76167742e-03 9.99330815e-01 2.70069248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.439254154 meters Centerline goodness : 0.999101 with order 1 Centerline is valid? [True, True] Translation: X:739.70, Y:41.85, Z:27.02 [[ 9.92220365e-01 -1.19019843e-01 -3.65106146e-02 7.39699342e+02] [ 1.19018677e-01 9.92889549e-01 -2.21314355e-03 4.18466663e+01] [ 3.65144156e-02 -2.14951893e-03 9.99330815e-01 2.70221930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.499254154 meters Centerline goodness : 0.998891 with order 1 Centerline is valid? [True, True] Translation: X:739.76, Y:41.85, Z:27.02 [[ 9.92532820e-01 -1.16385428e-01 -3.65107420e-02 7.39760582e+02] [ 1.16382562e-01 9.93201999e-01 -2.21103973e-03 4.18542758e+01] [ 3.65198747e-02 -2.05468421e-03 9.99330815e-01 2.70235913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.559254154 meters Centerline goodness : 0.998931 with order 1 Centerline is valid? [True, True] Translation: X:739.82, Y:41.86, Z:27.03 [[ 9.93349396e-01 -1.09196742e-01 -3.65109433e-02 7.39822630e+02] [ 1.09189155e-01 9.94018538e-01 -2.20771065e-03 4.18642367e+01] [ 3.65336293e-02 -1.79357099e-03 9.99330815e-01 2.70266695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.619254154 meters Centerline goodness : 0.998950 with order 1 Centerline is valid? [True, True] Translation: X:739.88, Y:41.88, Z:27.03 [[ 9.94280938e-01 -1.00361127e-01 -3.65111099e-02 7.39883649e+02] [ 1.00347692e-01 9.94949988e-01 -2.20495117e-03 4.18767272e+01] [ 3.65480198e-02 -1.47146469e-03 9.99330815e-01 2.70287406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.679254154 meters Centerline goodness : 0.998777 with order 1 Centerline is valid? [True, True] Translation: X:739.95, Y:41.89, Z:27.03 [[ 9.95121602e-01 -9.16510810e-02 -3.65113149e-02 7.39945095e+02] [ 9.16319124e-02 9.95790513e-01 -2.20155147e-03 4.18875740e+01] [ 3.65593956e-02 -1.15479018e-03 9.99330815e-01 2.70320082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.739254154 meters Centerline goodness : 0.998820 with order 1 Centerline is valid? [True, True] Translation: X:740.01, Y:41.90, Z:27.03 [[ 9.95719348e-01 -8.49110859e-02 -3.65114753e-02 7.40007023e+02] [ 8.48874861e-02 9.96388117e-01 -2.19888802e-03 4.18984117e+01] [ 3.65663101e-02 -9.09892006e-04 9.99330815e-01 2.70347808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.799254154 meters Centerline goodness : 0.998786 with order 1 Centerline is valid? [True, True] Translation: X:740.07, Y:41.91, Z:27.03 [[ 9.96219357e-01 -7.88282526e-02 -3.65116330e-02 7.40069371e+02] [ 7.88006648e-02 9.96887973e-01 -2.19626723e-03 4.19055960e+01] [ 3.65711357e-02 -6.89177024e-04 9.99330815e-01 2.70333014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.8592541539999 meters Centerline goodness : 0.998961 with order 1 Centerline is valid? [True, True] Translation: X:740.13, Y:41.91, Z:27.04 [[ 9.96249750e-01 -7.84430955e-02 -3.65118602e-02 7.40129645e+02] [ 7.84153879e-02 9.96918362e-01 -2.19248325e-03 4.19139257e+01] [ 3.65713290e-02 -6.78830787e-04 9.99330815e-01 2.70368641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.919254154 meters Centerline goodness : 0.998934 with order 1 Centerline is valid? [True, True] Translation: X:740.19, Y:41.92, Z:27.04 [[ 9.96192469e-01 -7.91671729e-02 -3.65119508e-02 7.40190638e+02] [ 7.91400065e-02 9.96861103e-01 -2.19097383e-03 4.19209178e+01] [ 3.65707967e-02 -7.06924388e-04 9.99330815e-01 2.70442805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.9792541539999 meters Centerline goodness : 0.999085 with order 1 Centerline is valid? [True, True] Translation: X:740.25, Y:41.93, Z:27.05 [[ 9.96135510e-01 -7.98806406e-02 -3.65120422e-02 7.40251841e+02] [ 7.98540090e-02 9.96804165e-01 -2.18944923e-03 4.19266729e+01] [ 3.65702503e-02 -7.34644821e-04 9.99330815e-01 2.70456709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.039254154 meters Centerline goodness : 0.995990 with order 1 Centerline is valid? [True, True] Translation: X:740.31, Y:41.93, Z:27.04 [[ 9.96194813e-01 -7.91375744e-02 -3.65121625e-02 7.40313580e+02] [ 7.91105177e-02 9.96863452e-01 -2.18744135e-03 4.19297874e+01] [ 3.65707491e-02 -7.09378342e-04 9.99330815e-01 2.70443263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.0992541539999 meters Centerline goodness : 0.998914 with order 1 Centerline is valid? [True, True] Translation: X:740.37, Y:41.93, Z:27.05 [[ 9.96195505e-01 -7.91288269e-02 -3.65122555e-02 7.40374712e+02] [ 7.91018212e-02 9.96864145e-01 -2.18588701e-03 4.19323301e+01] [ 3.65707251e-02 -7.10615094e-04 9.99330815e-01 2.70483165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.159254154 meters Centerline goodness : 0.998998 with order 1 Centerline is valid? [True, True] Translation: X:740.44, Y:41.94, Z:27.05 [[ 9.96177993e-01 -7.93489369e-02 -3.65123524e-02 7.40436404e+02] [ 7.93221383e-02 9.96846642e-01 -2.18426769e-03 4.19350929e+01] [ 3.65705352e-02 -7.20318467e-04 9.99330815e-01 2.70489729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.2192541539999 meters Centerline goodness : 0.998959 with order 1 Centerline is valid? [True, True] Translation: X:740.50, Y:41.93, Z:27.05 [[ 9.96014444e-01 -8.13760423e-02 -3.65125565e-02 7.40498361e+02] [ 8.13507297e-02 9.96683151e-01 -2.18084978e-03 4.19339015e+01] [ 3.65689188e-02 -7.98165239e-04 9.99330815e-01 2.70495619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.279254154 meters Centerline goodness : 0.998834 with order 1 Centerline is valid? [True, True] Translation: X:740.56, Y:41.94, Z:27.05 [[ 9.95900088e-01 -8.27637741e-02 -3.65126383e-02 7.40561043e+02] [ 8.27394435e-02 9.96568831e-01 -2.17947955e-03 4.19355524e+01] [ 3.65677392e-02 -8.50491500e-04 9.99330815e-01 2.70508524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.339254154 meters Centerline goodness : 0.998855 with order 1 Centerline is valid? [True, True] Translation: X:740.62, Y:41.94, Z:27.05 [[ 9.95811380e-01 -8.38242925e-02 -3.65127952e-02 7.40622810e+02] [ 8.38007705e-02 9.96480151e-01 -2.17684786e-03 4.19362896e+01] [ 3.65667485e-02 -8.92070505e-04 9.99330815e-01 2.70532078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.399254154 meters Centerline goodness : 0.999005 with order 1 Centerline is valid? [True, True] Translation: X:740.68, Y:41.94, Z:27.06 [[ 9.95868601e-01 -8.31416450e-02 -3.65129560e-02 7.40684986e+02] [ 8.31177635e-02 9.96537360e-01 -2.17414816e-03 4.19374474e+01] [ 3.65672870e-02 -8.69709350e-04 9.99330815e-01 2.70564676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.459254154 meters Centerline goodness : 0.998686 with order 1 Centerline is valid? [True, True] Translation: X:740.75, Y:41.94, Z:27.06 [[ 9.96242289e-01 -7.85372131e-02 -3.65131182e-02 7.40747372e+02] [ 7.85103403e-02 9.96910935e-01 -2.17142032e-03 4.19402591e+01] [ 3.65708641e-02 -7.03396583e-04 9.99330815e-01 2.70594466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.519254154 meters Centerline goodness : 0.998961 with order 1 Centerline is valid? [True, True] Translation: X:740.81, Y:41.94, Z:27.06 [[ 9.96793797e-01 -7.11962540e-02 -3.65132808e-02 7.40808454e+02] [ 7.11645567e-02 9.97462231e-01 -2.16868196e-03 4.19430385e+01] [ 3.65750206e-02 -4.36722722e-04 9.99330815e-01 2.70609768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.579254154 meters Centerline goodness : 0.998685 with order 1 Centerline is valid? [True, True] Translation: X:740.87, Y:41.93, Z:27.05 [[ 9.97779835e-01 -5.56971810e-02 -3.65133632e-02 7.40869245e+02] [ 5.56551506e-02 9.98447699e-01 -2.16729511e-03 4.19323193e+01] [ 3.65773957e-02 1.30326631e-04 9.99330815e-01 2.70495313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.639254154 meters Centerline goodness : 0.998834 with order 1 Centerline is valid? [True, True] Translation: X:740.93, Y:41.94, Z:27.07 [[ 9.97201980e-01 -6.52303054e-02 -3.65132762e-02 7.40926697e+02] [ 6.51946061e-02 9.97870212e-01 -2.16875898e-03 4.19439046e+01] [ 3.65769795e-02 -2.17777906e-04 9.99330815e-01 2.70669169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.699254154 meters Centerline goodness : 0.998964 with order 1 Centerline is valid? [True, True] Translation: X:740.99, Y:41.94, Z:27.07 [[ 9.97070968e-01 -6.72032563e-02 -3.65130971e-02 7.40986083e+02] [ 6.71687688e-02 9.97739264e-01 -2.17177106e-03 4.19414849e+01] [ 3.65765007e-02 -2.87129897e-04 9.99330815e-01 2.70674815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.759254154 meters Centerline goodness : 0.998947 with order 1 Centerline is valid? [True, True] Translation: X:741.05, Y:41.94, Z:27.07 [[ 9.96860679e-01 -7.02537521e-02 -3.65129804e-02 7.41046077e+02] [ 7.02212380e-02 9.97529074e-01 -2.17372998e-03 4.19406276e+01] [ 3.65754722e-02 -3.97080746e-04 9.99330815e-01 2.70691007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.819254154 meters Centerline goodness : 0.998655 with order 1 Centerline is valid? [True, True] Translation: X:741.11, Y:41.92, Z:27.05 [[ 9.97005527e-01 -6.81673420e-02 -3.65129036e-02 7.41107110e+02] [ 6.81333818e-02 9.97673850e-01 -2.17502049e-03 4.19198527e+01] [ 3.65762345e-02 -3.19240145e-04 9.99330815e-01 2.70530167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.879254154 meters Centerline goodness : 0.999118 with order 1 Centerline is valid? [True, True] Translation: X:741.17, Y:41.93, Z:27.07 [[ 9.95629208e-01 -8.59611863e-02 -3.65124024e-02 7.41165532e+02] [ 8.59388594e-02 9.96298020e-01 -2.18340154e-03 4.19337922e+01] [ 3.65649220e-02 -9.63975875e-04 9.99330815e-01 2.70725548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.939254154 meters Centerline goodness : 0.998931 with order 1 Centerline is valid? [True, True] Translation: X:741.23, Y:41.93, Z:27.08 [[ 9.94607290e-01 -9.70731147e-02 -3.65123263e-02 7.41226512e+02] [ 9.70582106e-02 9.95276309e-01 -2.18467316e-03 4.19311229e+01] [ 3.65519264e-02 -1.37092921e-03 9.99330815e-01 2.70755714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.999254154 meters Centerline goodness : 0.998994 with order 1 Centerline is valid? [True, True] Translation: X:741.29, Y:41.93, Z:27.08 [[ 9.93499021e-01 -1.07826450e-01 -3.65123639e-02 7.41287395e+02] [ 1.07818807e-01 9.94168162e-01 -2.18404486e-03 4.19286890e+01] [ 3.65349275e-02 -1.76687308e-03 9.99330815e-01 2.70791621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.059254154 meters Centerline goodness : 0.998850 with order 1 Centerline is valid? [True, True] Translation: X:741.35, Y:41.93, Z:27.08 [[ 9.92811302e-01 -1.13984900e-01 -3.65124755e-02 7.41349713e+02] [ 1.13981475e-01 9.93480479e-01 -2.18217730e-03 4.19297074e+01] [ 3.65231669e-02 -1.99525552e-03 9.99330815e-01 2.70822536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.119254154 meters Centerline goodness : 0.999102 with order 1 Centerline is valid? [True, True] Translation: X:741.41, Y:41.93, Z:27.08 [[ 9.92159242e-01 -1.19527681e-01 -3.65126215e-02 7.41410147e+02] [ 1.19528083e-01 9.92828427e-01 -2.17973098e-03 4.19277169e+01] [ 3.65113068e-02 -2.20164341e-03 9.99330815e-01 2.70829001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.179254154 meters Centerline goodness : 0.999081 with order 1 Centerline is valid? [True, True] Translation: X:741.47, Y:41.93, Z:27.09 [[ 9.91812038e-01 -1.22375275e-01 -3.65126574e-02 7.41472196e+02] [ 1.22377619e-01 9.92481219e-01 -2.17912954e-03 4.19330022e+01] [ 3.65047983e-02 -2.30704518e-03 9.99330815e-01 2.70851967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.239254154 meters Centerline goodness : 0.998892 with order 1 Centerline is valid? [True, True] Translation: X:741.53, Y:41.94, Z:27.09 [[ 9.91804712e-01 -1.22434589e-01 -3.65127985e-02 7.41533469e+02] [ 1.22437060e-01 9.92473893e-01 -2.17676260e-03 4.19363235e+01] [ 3.65045103e-02 -2.31159631e-03 9.99330815e-01 2.70871202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.299254154 meters Centerline goodness : 0.998913 with order 1 Centerline is valid? [True, True] Translation: X:741.60, Y:41.94, Z:27.09 [[ 9.92387943e-01 -1.17613691e-01 -3.65128690e-02 7.41595644e+02] [ 1.17612954e-01 9.93057128e-01 -2.17557991e-03 4.19384217e+01] [ 3.65152428e-02 -2.13536710e-03 9.99330815e-01 2.70900395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.3592541539999 meters Centerline goodness : 0.998954 with order 1 Centerline is valid? [True, True] Translation: X:741.66, Y:41.95, Z:27.09 [[ 9.93053062e-01 -1.11858905e-01 -3.65130349e-02 7.41656464e+02] [ 1.11854391e-01 9.93722232e-01 -2.17279214e-03 4.19473655e+01] [ 3.65268607e-02 -1.92644540e-03 9.99330815e-01 2.70888284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.419254154 meters Centerline goodness : 0.998849 with order 1 Centerline is valid? [True, True] Translation: X:741.72, Y:41.96, Z:27.09 [[ 9.94289077e-01 -1.00279715e-01 -3.65131563e-02 7.41717592e+02] [ 1.00267479e-01 9.94958150e-01 -2.17075080e-03 4.19554619e+01] [ 3.65467447e-02 -1.50272831e-03 9.99330815e-01 2.70907086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.4792541539999 meters Centerline goodness : 0.999224 with order 1 Centerline is valid? [True, True] Translation: X:741.78, Y:41.96, Z:27.09 [[ 9.95657956e-01 -8.56272076e-02 -3.65132236e-02 7.41777351e+02] [ 8.56051615e-02 9.96326778e-01 -2.16961799e-03 4.19646937e+01] [ 3.65648807e-02 -9.65522987e-04 9.99330815e-01 2.70936220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.539254154 meters Centerline goodness : 0.999120 with order 1 Centerline is valid? [True, True] Translation: X:741.84, Y:41.97, Z:27.09 [[ 9.96384848e-01 -7.67073593e-02 -3.65132236e-02 7.41835526e+02] [ 7.66793246e-02 9.97053446e-01 -2.16961799e-03 4.19721147e+01] [ 3.65720611e-02 -6.38034831e-04 9.99330815e-01 2.70910028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.5992541539999 meters Centerline goodness : 0.998821 with order 1 Centerline is valid? [True, True] Translation: X:741.89, Y:41.98, Z:27.10 [[ 9.97252756e-01 -6.44496953e-02 -3.65127155e-02 7.41894562e+02] [ 6.44131296e-02 9.97920941e-01 -2.17813581e-03 4.19775761e+01] [ 3.65771836e-02 -1.79746332e-04 9.99330815e-01 2.71021977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.659254154 meters Centerline goodness : 0.999115 with order 1 Centerline is valid? [True, True] Translation: X:741.95, Y:41.98, Z:27.10 [[ 9.97660634e-01 -5.77934879e-02 -3.65126215e-02 7.41952056e+02] [ 5.77524065e-02 9.98328557e-01 -2.17970953e-03 4.19814042e+01] [ 3.65775658e-02 6.59186342e-05 9.99330815e-01 2.71040603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.7192541539999 meters Centerline goodness : 0.999243 with order 1 Centerline is valid? [True, True] Translation: X:742.01, Y:41.98, Z:27.10 [[ 9.97669622e-01 -5.76384833e-02 -3.65120494e-02 7.42010359e+02] [ 5.75969490e-02 9.98337517e-01 -2.18925085e-03 4.19826011e+01] [ 3.65775339e-02 8.11664220e-05 9.99330815e-01 2.71032753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.779254154 meters Centerline goodness : 0.999223 with order 1 Centerline is valid? [True, True] Translation: X:742.07, Y:41.98, Z:27.11 [[ 9.97425689e-01 -6.17163901e-02 -3.65113908e-02 7.42067102e+02] [ 6.16771863e-02 9.98093725e-01 -2.20017996e-03 4.19826670e+01] [ 3.65775772e-02 -5.74038447e-05 9.99330815e-01 2.71072527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.839254154 meters Centerline goodness : 0.999330 with order 1 Centerline is valid? [True, True] Translation: X:742.13, Y:41.98, Z:27.11 [[ 9.96966736e-01 -6.87333096e-02 -3.65110834e-02 7.42125000e+02] [ 6.86986210e-02 9.97635022e-01 -2.20526997e-03 4.19813426e+01] [ 3.65763110e-02 -3.09680273e-04 9.99330815e-01 2.71100561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.899254154 meters Centerline goodness : 0.999185 with order 1 Centerline is valid? [True, True] Translation: X:742.18, Y:41.98, Z:27.11 [[ 9.96377566e-01 -7.68030115e-02 -3.65108755e-02 7.42184245e+02] [ 7.67736090e-02 9.97046105e-01 -2.20870694e-03 4.19786212e+01] [ 3.65726615e-02 -6.02365634e-04 9.99330815e-01 2.71114981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.959254154 meters Centerline goodness : 0.999227 with order 1 Centerline is valid? [True, True] Translation: X:742.24, Y:41.98, Z:27.11 [[ 9.95716656e-01 -8.49431436e-02 -3.65103242e-02 7.42243159e+02] [ 8.49188730e-02 9.96385401e-01 -2.21778222e-03 4.19753734e+01] [ 3.65667394e-02 -8.92132895e-04 9.99330815e-01 2.71127899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.019254154 meters Centerline goodness : 0.999415 with order 1 Centerline is valid? [True, True] Translation: X:742.30, Y:41.97, Z:27.12 [[ 9.95280596e-01 -8.99085097e-02 -3.65102078e-02 7.42304105e+02] [ 8.98875048e-02 9.95949451e-01 -2.21969734e-03 4.19732313e+01] [ 3.65618911e-02 -1.07258979e-03 9.99330815e-01 2.71154103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.079254154 meters Centerline goodness : 0.999165 with order 1 Centerline is valid? [True, True] Translation: X:742.37, Y:41.97, Z:27.12 [[ 9.95243835e-01 -9.03145275e-02 -3.65102078e-02 7.42365066e+02] [ 9.02937954e-02 9.95912699e-01 -2.21969734e-03 4.19734947e+01] [ 3.65614505e-02 -1.08750514e-03 9.99330815e-01 2.71179437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.139254154 meters Centerline goodness : 0.999269 with order 1 Centerline is valid? [True, True] Translation: X:742.42, Y:41.97, Z:27.12 [[ 9.95611444e-01 -8.61675775e-02 -3.65102912e-02 7.42424766e+02] [ 8.61441094e-02 9.96280217e-01 -2.21832402e-03 4.19723412e+01] [ 3.65656285e-02 -9.36557746e-04 9.99330815e-01 2.71195750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.199254154 meters Centerline goodness : 0.999332 with order 1 Centerline is valid? [True, True] Translation: X:742.48, Y:41.96, Z:27.11 [[ 9.96621429e-01 -7.35712563e-02 -3.65102502e-02 7.42484809e+02] [ 7.35393088e-02 9.97289851e-01 -2.21899943e-03 4.19646261e+01] [ 3.65745565e-02 -4.73436183e-04 9.99330815e-01 2.71141483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.259254154 meters Centerline goodness : 0.999247 with order 1 Centerline is valid? [True, True] Translation: X:742.54, Y:41.97, Z:27.12 [[ 9.96745894e-01 -7.18653618e-02 -3.65101672e-02 7.42542487e+02] [ 7.18322203e-02 9.97414258e-01 -2.22036420e-03 4.19743274e+01] [ 3.65753286e-02 -4.09467466e-04 9.99330815e-01 2.71232792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.319254154 meters Centerline goodness : 0.999225 with order 1 Centerline is valid? [True, True] Translation: X:742.60, Y:41.97, Z:27.12 [[ 9.97136470e-01 -6.62262023e-02 -3.65095935e-02 7.42600583e+02] [ 6.61889369e-02 9.97804617e-01 -2.22975763e-03 4.19738444e+01] [ 3.65771093e-02 -1.93158526e-04 9.99330815e-01 2.71246596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.379254154 meters Centerline goodness : 0.999394 with order 1 Centerline is valid? [True, True] Translation: X:742.66, Y:41.97, Z:27.13 [[ 9.97070224e-01 -6.72165649e-02 -3.65089413e-02 7.42658252e+02] [ 6.71795740e-02 9.97738385e-01 -2.24038490e-03 4.19722846e+01] [ 3.65769632e-02 -2.18834058e-04 9.99330815e-01 2.71254197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.439254154 meters Centerline goodness : 0.999436 with order 1 Centerline is valid? [True, True] Translation: X:742.72, Y:41.97, Z:27.13 [[ 9.96546679e-01 -7.45778942e-02 -3.65082892e-02 7.42716445e+02] [ 7.45454511e-02 9.97215077e-01 -2.25096251e-03 4.19700106e+01] [ 3.65744884e-02 -4.78337671e-04 9.99330815e-01 2.71263891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.499254154 meters Centerline goodness : 0.999330 with order 1 Centerline is valid? [True, True] Translation: X:742.78, Y:41.97, Z:27.13 [[ 9.95878974e-01 -8.30196565e-02 -3.65076176e-02 7.42775532e+02] [ 8.29924812e-02 9.96547607e-01 -2.26180295e-03 4.19699561e+01] [ 3.65693530e-02 -7.77375759e-04 9.99330815e-01 2.71295470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.559254154 meters Centerline goodness : 0.999040 with order 1 Centerline is valid? [True, True] Translation: X:742.84, Y:41.96, Z:27.12 [[ 9.95167100e-01 -9.11574434e-02 -3.65070366e-02 7.42835462e+02] [ 9.11353922e-02 9.95835921e-01 -2.27114114e-03 4.19602535e+01] [ 3.65620499e-02 -1.06691816e-03 9.99330815e-01 2.71221212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.619254154 meters Centerline goodness : 0.999373 with order 1 Centerline is valid? [True, True] Translation: X:742.89, Y:41.97, Z:27.14 [[ 9.93126001e-01 -1.11211628e-01 -3.65064362e-02 7.42892918e+02] [ 1.11202720e-01 9.93795126e-01 -2.28075174e-03 4.19669010e+01] [ 3.65335645e-02 -1.79454113e-03 9.99330815e-01 2.71365847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.679254154 meters Centerline goodness : 0.999018 with order 1 Centerline is valid? [True, True] Translation: X:742.95, Y:41.96, Z:27.13 [[ 9.92487949e-01 -1.16768863e-01 -3.65062253e-02 7.42952816e+02] [ 1.16763576e-01 9.93157112e-01 -2.28412194e-03 4.19608346e+01] [ 3.65231317e-02 -1.99563393e-03 9.99330815e-01 2.71329037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.739254154 meters Centerline goodness : 0.999166 with order 1 Centerline is valid? [True, True] Translation: X:743.01, Y:41.97, Z:27.14 [[ 9.90848776e-01 -1.29946298e-01 -3.65056571e-02 7.43012599e+02] [ 1.29949571e-01 9.91517953e-01 -2.29316841e-03 4.19692498e+01] [ 3.64940031e-02 -2.47171138e-03 9.99330815e-01 2.71410389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.799254154 meters Centerline goodness : 0.999125 with order 1 Centerline is valid? [True, True] Translation: X:743.07, Y:41.97, Z:27.14 [[ 9.90322394e-01 -1.33898816e-01 -3.65056571e-02 7.43072831e+02] [ 1.33904759e-01 9.90991552e-01 -2.29316841e-03 4.19743489e+01] [ 3.64838503e-02 -2.61730519e-03 9.99330815e-01 2.71427869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.8592541539999 meters Centerline goodness : 0.999292 with order 1 Centerline is valid? [True, True] Translation: X:743.13, Y:41.98, Z:27.14 [[ 9.90386582e-01 -1.33423210e-01 -3.65057000e-02 7.43134011e+02] [ 1.33428857e-01 9.91055742e-01 -2.29248489e-03 4.19813073e+01] [ 3.64850543e-02 -2.60046755e-03 9.99330815e-01 2.71436755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.919254154 meters Centerline goodness : 0.999228 with order 1 Centerline is valid? [True, True] Translation: X:743.19, Y:41.99, Z:27.15 [[ 9.90781761e-01 -1.30456239e-01 -3.65057863e-02 7.43194656e+02] [ 1.30459932e-01 9.91450935e-01 -2.29110962e-03 4.19881334e+01] [ 3.64925855e-02 -2.49255277e-03 9.99330815e-01 2.71452258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.9792541539999 meters Centerline goodness : 0.999208 with order 1 Centerline is valid? [True, True] Translation: X:743.26, Y:42.00, Z:27.15 [[ 9.91750525e-01 -1.22874807e-01 -3.65058724e-02 7.43255086e+02] [ 1.22873433e-01 9.92419708e-01 -2.28973768e-03 4.19989207e+01] [ 3.65104983e-02 -2.21475330e-03 9.99330815e-01 2.71476143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.039254154 meters Centerline goodness : 0.999229 with order 1 Centerline is valid? [True, True] Translation: X:743.32, Y:42.01, Z:27.15 [[ 9.93009525e-01 -1.12247045e-01 -3.65059586e-02 7.43315200e+02] [ 1.12238554e-01 9.93678655e-01 -2.28836118e-03 4.20108198e+01] [ 3.65320537e-02 -1.82501157e-03 9.99330815e-01 2.71509090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.0992541539999 meters Centerline goodness : 0.999145 with order 1 Centerline is valid? [True, True] Translation: X:743.38, Y:42.02, Z:27.15 [[ 9.94274435e-01 -1.00427389e-01 -3.65060010e-02 7.43375814e+02] [ 1.00410965e-01 9.94943418e-01 -2.28768568e-03 4.20222383e+01] [ 3.65511517e-02 -1.39101540e-03 9.99330815e-01 2.71547071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.159254154 meters Centerline goodness : 0.998977 with order 1 Centerline is valid? [True, True] Translation: X:743.44, Y:42.03, Z:27.16 [[ 9.95020722e-01 -9.27419457e-02 -3.65060870e-02 7.43435254e+02] [ 9.27204034e-02 9.95689560e-01 -2.28631237e-03 4.20316849e+01] [ 3.65607667e-02 -1.10993092e-03 9.99330815e-01 2.71573895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.2192541539999 meters Centerline goodness : 0.998873 with order 1 Centerline is valid? [True, True] Translation: X:743.50, Y:42.03, Z:27.14 [[ 9.96522026e-01 -7.49075933e-02 -3.65062313e-02 7.43495812e+02] [ 7.48741610e-02 9.97190375e-01 -2.28400534e-03 4.20283684e+01] [ 3.65747518e-02 -4.57311811e-04 9.99330815e-01 2.71449164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.279254154 meters Centerline goodness : 0.999205 with order 1 Centerline is valid? [True, True] Translation: X:743.55, Y:42.05, Z:27.16 [[ 9.96164406e-01 -7.95221883e-02 -3.65061455e-02 7.43553259e+02] [ 7.94918016e-02 9.96832900e-01 -2.28537659e-03 4.20488816e+01] [ 3.65722650e-02 -6.25328458e-04 9.99330815e-01 2.71606310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.339254154 meters Centerline goodness : 0.999018 with order 1 Centerline is valid? [True, True] Translation: X:743.61, Y:42.06, Z:27.16 [[ 9.96473665e-01 -7.55482490e-02 -3.65061266e-02 7.43612261e+02] [ 7.55151851e-02 9.97142032e-01 -2.28567720e-03 4.20563563e+01] [ 3.65744722e-02 -4.79149777e-04 9.99330815e-01 2.71633453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.399254154 meters Centerline goodness : 0.999162 with order 1 Centerline is valid? [True, True] Translation: X:743.67, Y:42.06, Z:27.17 [[ 9.96783638e-01 -7.13420470e-02 -3.65060429e-02 7.43671019e+02] [ 7.13061137e-02 9.97451857e-01 -2.28701394e-03 4.20642046e+01] [ 3.65761806e-02 -3.23445971e-04 9.99330815e-01 2.71654171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.459254154 meters Centerline goodness : 0.999307 with order 1 Centerline is valid? [True, True] Translation: X:743.73, Y:42.07, Z:27.17 [[ 9.97064503e-01 -6.73029788e-02 -3.65059594e-02 7.43729875e+02] [ 6.72642898e-02 9.97732569e-01 -2.28834624e-03 4.20701029e+01] [ 3.65771972e-02 -1.73918621e-04 9.99330815e-01 2.71681889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.519254154 meters Centerline goodness : 0.999120 with order 1 Centerline is valid? [True, True] Translation: X:743.79, Y:42.07, Z:27.17 [[ 9.97151626e-01 -6.59999461e-02 -3.65053555e-02 7.43787464e+02] [ 6.59600328e-02 9.97819620e-01 -2.29794050e-03 4.20745172e+01] [ 3.65774238e-02 -1.16499333e-04 9.99330815e-01 2.71702346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.579254154 meters Centerline goodness : 0.999205 with order 1 Centerline is valid? [True, True] Translation: X:743.85, Y:42.08, Z:27.17 [[ 9.97005230e-01 -6.81758485e-02 -3.65051435e-02 7.43845967e+02] [ 6.81372699e-02 9.97673301e-01 -2.30130259e-03 4.20784527e+01] [ 3.65771003e-02 -1.92950099e-04 9.99330815e-01 2.71736446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.639254154 meters Centerline goodness : 0.998956 with order 1 Centerline is valid? [True, True] Translation: X:743.90, Y:42.08, Z:27.18 [[ 9.96519139e-01 -7.49468050e-02 -3.65045487e-02 7.43904670e+02] [ 7.49124213e-02 9.97187440e-01 -2.31069909e-03 4.20798405e+01] [ 3.65750570e-02 -4.31988269e-04 9.99330815e-01 2.71757773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.699254154 meters Centerline goodness : 0.999102 with order 1 Centerline is valid? [True, True] Translation: X:743.96, Y:42.08, Z:27.18 [[ 9.95882340e-01 -8.29808796e-02 -3.65039467e-02 7.43963253e+02] [ 8.29515395e-02 9.96550881e-01 -2.32017080e-03 4.20794660e+01] [ 3.65705701e-02 -7.17441453e-04 9.99330815e-01 2.71752552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.759254154 meters Centerline goodness : 0.999040 with order 1 Centerline is valid? [True, True] Translation: X:744.02, Y:42.08, Z:27.18 [[ 9.95293067e-01 -8.97729465e-02 -3.65038197e-02 7.44023111e+02] [ 8.97480947e-02 9.95961790e-01 -2.32216739e-03 4.20815277e+01] [ 3.65648774e-02 -9.64911169e-04 9.99330815e-01 2.71762436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.819254154 meters Centerline goodness : 0.998999 with order 1 Centerline is valid? [True, True] Translation: X:744.08, Y:42.08, Z:27.18 [[ 9.94873342e-01 -9.43107136e-02 -3.65037387e-02 7.44083460e+02] [ 9.42888650e-02 9.95542170e-01 -2.32344040e-03 4.20840014e+01] [ 3.65601365e-02 -1.13036717e-03 9.99330815e-01 2.71783082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.879254154 meters Centerline goodness : 0.999186 with order 1 Centerline is valid? [True, True] Translation: X:744.14, Y:42.09, Z:27.18 [[ 9.94677888e-01 -9.63502774e-02 -3.65037387e-02 7.44144732e+02] [ 9.63298001e-02 9.95346759e-01 -2.32344040e-03 4.20872347e+01] [ 3.65577421e-02 -1.20532306e-03 9.99330815e-01 2.71822300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.939254154 meters Centerline goodness : 0.999290 with order 1 Centerline is valid? [True, True] Translation: X:744.21, Y:42.09, Z:27.19 [[ 9.94321781e-01 -9.99583284e-02 -3.65038245e-02 7.44205882e+02] [ 9.99403274e-02 9.94990723e-01 -2.32209103e-03 4.20914496e+01] [ 3.65530791e-02 -1.33929849e-03 9.99330815e-01 2.71853400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.999254154 meters Centerline goodness : 0.999208 with order 1 Centerline is valid? [True, True] Translation: X:744.27, Y:42.10, Z:27.19 [[ 9.93669046e-01 -1.06251074e-01 -3.65039096e-02 7.44267334e+02] [ 1.06237358e-01 9.94338090e-01 -2.32075183e-03 4.20951451e+01] [ 3.65438102e-02 -1.57201965e-03 9.99330815e-01 2.71867208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.059254154 meters Centerline goodness : 0.998812 with order 1 Centerline is valid? [True, True] Translation: X:744.33, Y:42.10, Z:27.19 [[ 9.92903812e-01 -1.13178955e-01 -3.65040360e-02 7.44329377e+02] [ 1.13169978e-01 9.93572936e-01 -2.31876303e-03 4.20956887e+01] [ 3.65318574e-02 -1.82885230e-03 9.99330815e-01 2.71892330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.119254154 meters Centerline goodness : 0.998893 with order 1 Centerline is valid? [True, True] Translation: X:744.39, Y:42.10, Z:27.19 [[ 9.91421336e-01 -1.25503690e-01 -3.65042131e-02 7.44390641e+02] [ 1.25503128e-01 9.92090521e-01 -2.31597061e-03 4.21041402e+01] [ 3.65061467e-02 -2.28529024e-03 9.99330815e-01 2.71901263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.179254154 meters Centerline goodness : 0.998767 with order 1 Centerline is valid? [True, True] Translation: X:744.45, Y:42.11, Z:27.19 [[ 9.90878384e-01 -1.29720693e-01 -3.65043856e-02 7.44452702e+02] [ 1.29723077e-01 9.91547564e-01 -2.31324850e-03 4.21107103e+01] [ 3.64959109e-02 -2.44331330e-03 9.99330815e-01 2.71918189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.239254154 meters Centerline goodness : 0.999080 with order 1 Centerline is valid? [True, True] Translation: X:744.51, Y:42.12, Z:27.20 [[ 9.90867558e-01 -1.29803309e-01 -3.65045575e-02 7.44514378e+02] [ 1.29805849e-01 9.91536738e-01 -2.31053292e-03 4.21174213e+01] [ 3.64955247e-02 -2.44907295e-03 9.99330815e-01 2.71963491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.299254154 meters Centerline goodness : 0.998850 with order 1 Centerline is valid? [True, True] Translation: X:744.58, Y:42.13, Z:27.20 [[ 9.91445595e-01 -1.25311763e-01 -3.65047281e-02 7.44575974e+02] [ 1.25311369e-01 9.92114779e-01 -2.30783500e-03 4.21263535e+01] [ 3.65060791e-02 -2.28636461e-03 9.99330815e-01 2.72011720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.3592541539999 meters Centerline goodness : 0.998973 with order 1 Centerline is valid? [True, True] Translation: X:744.64, Y:42.14, Z:27.20 [[ 9.92325854e-01 -1.18138866e-01 -3.65049014e-02 7.44636226e+02] [ 1.18133734e-01 9.92995019e-01 -2.30509061e-03 4.21356951e+01] [ 3.65215060e-02 -2.02505931e-03 9.99330815e-01 2.72029531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.419254154 meters Centerline goodness : 0.998846 with order 1 Centerline is valid? [True, True] Translation: X:744.70, Y:42.15, Z:27.20 [[ 9.93264973e-01 -1.09963924e-01 -3.65051830e-02 7.44697510e+02] [ 1.09953446e-01 9.93934076e-01 -2.30062141e-03 4.21460646e+01] [ 3.65367307e-02 -1.72874403e-03 9.99330815e-01 2.72049464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.4792541539999 meters Centerline goodness : 0.998676 with order 1 Centerline is valid? [True, True] Translation: X:744.76, Y:42.16, Z:27.21 [[ 9.94207537e-01 -1.01087745e-01 -3.65053497e-02 7.44758880e+02] [ 1.01071388e-01 9.94876522e-01 -2.29797315e-03 4.21559801e+01] [ 3.65506123e-02 -1.40498413e-03 9.99330815e-01 2.72080532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.539254154 meters Centerline goodness : 0.998884 with order 1 Centerline is valid? [True, True] Translation: X:744.82, Y:42.17, Z:27.21 [[ 9.94790289e-01 -9.51820737e-02 -3.65055211e-02 7.44818387e+02] [ 9.51618443e-02 9.95459168e-01 -2.29524827e-03 4.21654858e+01] [ 3.65582221e-02 -1.19064202e-03 9.99330815e-01 2.72108783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.5992541539999 meters Centerline goodness : 0.998969 with order 1 Centerline is valid? [True, True] Translation: X:744.88, Y:42.16, Z:27.20 [[ 9.96706743e-01 -7.24086224e-02 -3.65056141e-02 7.44880068e+02] [ 7.23731569e-02 9.97374987e-01 -2.29376716e-03 4.21605638e+01] [ 3.65758749e-02 -3.55813345e-04 9.99330815e-01 2.71964906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.659254154 meters Centerline goodness : 0.998988 with order 1 Centerline is valid? [True, True] Translation: X:744.94, Y:42.18, Z:27.21 [[ 9.96883468e-01 -6.99334797e-02 -3.65056141e-02 7.44938320e+02] [ 6.98963549e-02 9.97551622e-01 -2.29376716e-03 4.21836771e+01] [ 3.65766457e-02 -2.64990802e-04 9.99330815e-01 2.72149690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.7192541539999 meters Centerline goodness : 0.998924 with order 1 Centerline is valid? [True, True] Translation: X:745.00, Y:42.19, Z:27.22 [[ 9.97642256e-01 -5.81142498e-02 -3.65056627e-02 7.44997774e+02] [ 5.80692374e-02 9.98309925e-01 -2.29299436e-03 4.21894435e+01] [ 3.65772210e-02 1.67732078e-04 9.99330815e-01 2.72190980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.779254154 meters Centerline goodness : 0.999220 with order 1 Centerline is valid? [True, True] Translation: X:745.06, Y:42.19, Z:27.22 [[ 9.97947779e-01 -5.26077067e-02 -3.65056140e-02 7.45055753e+02] [ 5.25589821e-02 9.98615187e-01 -2.29376803e-03 4.21932761e+01] [ 3.65757305e-02 3.70362799e-04 9.99330815e-01 2.72228130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.839254154 meters Centerline goodness : 0.999051 with order 1 Centerline is valid? [True, True] Translation: X:745.11, Y:42.19, Z:27.23 [[ 9.97739202e-01 -5.64254701e-02 -3.65054884e-02 7.45114122e+02] [ 5.63792263e-02 9.98406787e-01 -2.29576578e-03 4.21927186e+01] [ 3.65768671e-02 2.32424323e-04 9.99330815e-01 2.72257773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.899254154 meters Centerline goodness : 0.999076 with order 1 Centerline is valid? [True, True] Translation: X:745.17, Y:42.19, Z:27.23 [[ 9.97033882e-01 -6.77557159e-02 -3.65048135e-02 7.45172101e+02] [ 6.77166674e-02 9.97701926e-01 -2.30644847e-03 4.21885780e+01] [ 3.65771978e-02 -1.72377036e-04 9.99330816e-01 2.72254509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.959254154 meters Centerline goodness : 0.999036 with order 1 Centerline is valid? [True, True] Translation: X:745.23, Y:42.18, Z:27.23 [[ 9.95956595e-01 -8.20845632e-02 -3.65046061e-02 7.45231288e+02] [ 8.20550041e-02 9.96625126e-01 -2.30972612e-03 4.21845839e+01] [ 3.65710005e-02 -6.94998646e-04 9.99330816e-01 2.72264131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.019254154 meters Centerline goodness : 0.999162 with order 1 Centerline is valid? [True, True] Translation: X:745.29, Y:42.19, Z:27.23 [[ 9.95588213e-01 -8.64380309e-02 -3.65044835e-02 7.45292393e+02] [ 8.64113239e-02 9.96256864e-01 -2.31166261e-03 4.21856311e+01] [ 3.65676578e-02 -8.52936700e-04 9.99330816e-01 2.72282781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.079254154 meters Centerline goodness : 0.999037 with order 1 Centerline is valid? [True, True] Translation: X:745.35, Y:42.18, Z:27.23 [[ 9.94773844e-01 -9.53541591e-02 -3.65045637e-02 7.45353654e+02] [ 9.53334902e-02 9.95442709e-01 -2.31039390e-03 4.21814625e+01] [ 3.65585075e-02 -1.18178805e-03 9.99330816e-01 2.72287839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.139254154 meters Centerline goodness : 0.998849 with order 1 Centerline is valid? [True, True] Translation: X:745.41, Y:42.18, Z:27.23 [[ 9.94345924e-01 -9.97175848e-02 -3.65046110e-02 7.45414479e+02] [ 9.96998780e-02 9.95014874e-01 -2.30964767e-03 4.21799808e+01] [ 3.65529434e-02 -1.34291652e-03 9.99330816e-01 2.72345049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.199254154 meters Centerline goodness : 0.998872 with order 1 Centerline is valid? [True, True] Translation: X:745.48, Y:42.17, Z:27.22 [[ 9.95419646e-01 -8.83580284e-02 -3.65046110e-02 7.45477190e+02] [ 8.83326849e-02 9.96088351e-01 -2.30964767e-03 4.21684455e+01] [ 3.65658936e-02 -9.25481634e-04 9.99330816e-01 2.72203796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.259254154 meters Centerline goodness : 0.999144 with order 1 Centerline is valid? [True, True] Translation: X:745.54, Y:42.18, Z:27.24 [[ 9.94227874e-01 -1.00887762e-01 -3.65047009e-02 7.45536288e+02] [ 1.00870894e-01 9.94896846e-01 -2.30822539e-03 4.21811968e+01] [ 3.65512835e-02 -1.38735980e-03 9.99330816e-01 2.72384948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.319254154 meters Centerline goodness : 0.998997 with order 1 Centerline is valid? [True, True] Translation: X:745.60, Y:42.18, Z:27.24 [[ 9.93936682e-01 -1.03717289e-01 -3.65047450e-02 7.45598358e+02] [ 1.03702351e-01 9.94605700e-01 -2.30752825e-03 4.21824817e+01] [ 3.65471580e-02 -1.49209091e-03 9.99330816e-01 2.72395647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.379254154 meters Centerline goodness : 0.999081 with order 1 Centerline is valid? [True, True] Translation: X:745.66, Y:42.18, Z:27.24 [[ 9.93751325e-01 -1.05478414e-01 -3.65049170e-02 7.45659173e+02] [ 1.05464762e-01 9.94420370e-01 -2.30480372e-03 4.21847081e+01] [ 3.65443401e-02 -1.55958062e-03 9.99330816e-01 2.72398980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.439254154 meters Centerline goodness : 0.999142 with order 1 Centerline is valid? [True, True] Translation: X:745.72, Y:42.19, Z:27.24 [[ 9.93888973e-01 -1.04173316e-01 -3.65052111e-02 7.45721511e+02] [ 1.04158957e-01 9.94558003e-01 -2.30013612e-03 4.21881024e+01] [ 3.65461626e-02 -1.51626477e-03 9.99330816e-01 2.72413886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.499254154 meters Centerline goodness : 0.999142 with order 1 Centerline is valid? [True, True] Translation: X:745.78, Y:42.19, Z:27.24 [[ 9.94948668e-01 -9.35120614e-02 -3.65053806e-02 7.45783267e+02] [ 9.34906289e-02 9.95617509e-01 -2.29744226e-03 4.21915395e+01] [ 3.65602347e-02 -1.12707388e-03 9.99330816e-01 2.72408473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.559254154 meters Centerline goodness : 0.999163 with order 1 Centerline is valid? [True, True] Translation: X:745.84, Y:42.20, Z:27.25 [[ 9.95784868e-01 -8.41417863e-02 -3.65055620e-02 7.45842937e+02] [ 8.41141642e-02 9.96453482e-01 -2.29455572e-03 4.22019137e+01] [ 3.65691624e-02 -7.85750975e-04 9.99330816e-01 2.72467943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.619254154 meters Centerline goodness : 0.998973 with order 1 Centerline is valid? [True, True] Translation: X:745.90, Y:42.21, Z:27.25 [[ 9.96648385e-01 -7.32074921e-02 -3.65056073e-02 7.45902656e+02] [ 7.31725597e-02 9.97316657e-01 -2.29383621e-03 4.22089127e+01] [ 3.65755762e-02 -3.85060575e-04 9.99330816e-01 2.72504265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.679254154 meters Centerline goodness : 0.999183 with order 1 Centerline is valid? [True, True] Translation: X:745.96, Y:42.21, Z:27.25 [[ 9.96990631e-01 -6.83887552e-02 -3.65056073e-02 7.45961050e+02] [ 6.83505927e-02 9.97658727e-01 -2.29383621e-03 4.22135251e+01] [ 3.65770103e-02 -2.08246685e-04 9.99330816e-01 2.72540562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.739254154 meters Centerline goodness : 0.998828 with order 1 Centerline is valid? [True, True] Translation: X:746.02, Y:42.22, Z:27.26 [[ 9.96929064e-01 -6.92805255e-02 -3.65054852e-02 7.46020104e+02] [ 6.92428896e-02 9.97597189e-01 -2.29577718e-03 4.22167137e+01] [ 3.65768221e-02 -2.39018285e-04 9.99330816e-01 2.72561628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.799254154 meters Centerline goodness : 0.998871 with order 1 Centerline is valid? [True, True] Translation: X:746.08, Y:42.22, Z:27.26 [[ 9.96690047e-01 -7.26384286e-02 -3.65049216e-02 7.46078680e+02] [ 7.26027166e-02 9.97358278e-01 -2.30470390e-03 4.22169619e+01] [ 3.65758958e-02 -3.53281041e-04 9.99330816e-01 2.72576921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.8592541539999 meters Centerline goodness : 0.998685 with order 1 Centerline is valid? [True, True] Translation: X:746.14, Y:42.21, Z:27.25 [[ 9.96802633e-01 -7.10770380e-02 -3.65043323e-02 7.46137240e+02] [ 7.10399388e-02 9.97470788e-01 -2.31400035e-03 4.22064023e+01] [ 3.65764774e-02 -2.86663898e-04 9.99330816e-01 2.72470241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.919254154 meters Centerline goodness : 0.998747 with order 1 Centerline is valid? [True, True] Translation: X:746.20, Y:42.21, Z:27.25 [[ 9.96873802e-01 -7.00719326e-02 -3.65040835e-02 7.46195916e+02] [ 7.00340162e-02 9.97541911e-01 -2.31791919e-03 4.22065725e+01] [ 3.65767743e-02 -2.45854656e-04 9.99330816e-01 2.72486847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.9792541539999 meters Centerline goodness : 0.999019 with order 1 Centerline is valid? [True, True] Translation: X:746.25, Y:42.22, Z:27.26 [[ 9.96099572e-01 -8.03314394e-02 -3.65034570e-02 7.46252066e+02] [ 8.03000436e-02 9.96768019e-01 -2.32774290e-03 4.22198088e+01] [ 3.65724695e-02 -6.12565484e-04 9.99330816e-01 2.72645645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.039254154 meters Centerline goodness : 0.998998 with order 1 Centerline is valid? [True, True] Translation: X:746.31, Y:42.22, Z:27.27 [[ 9.96294173e-01 -7.78808984e-02 -3.65032371e-02 7.46310491e+02] [ 7.78477322e-02 9.96962535e-01 -2.33118752e-03 4.22225735e+01] [ 3.65739147e-02 -5.19145679e-04 9.99330816e-01 2.72667761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.0992541539999 meters Centerline goodness : 0.998956 with order 1 Centerline is valid? [True, True] Translation: X:746.37, Y:42.22, Z:27.27 [[ 9.96858362e-01 -7.02917434e-02 -3.65031117e-02 7.46369521e+02] [ 7.02534167e-02 9.97526448e-01 -2.33314858e-03 4.22199420e+01] [ 3.65768204e-02 -2.38649642e-04 9.99330816e-01 2.72696895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.159254154 meters Centerline goodness : 0.999167 with order 1 Centerline is valid? [True, True] Translation: X:746.43, Y:42.22, Z:27.27 [[ 9.97033116e-01 -6.77682321e-02 -3.65024941e-02 7.46427454e+02] [ 6.77278622e-02 9.97701082e-01 -2.34277196e-03 4.22187165e+01] [ 3.65773433e-02 -1.36414656e-04 9.99330816e-01 2.72715580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.2192541539999 meters Centerline goodness : 0.999143 with order 1 Centerline is valid? [True, True] Translation: X:746.48, Y:42.22, Z:27.27 [[ 9.96817282e-01 -7.08726125e-02 -3.65017586e-02 7.46484999e+02] [ 7.08339051e-02 9.97485346e-01 -2.35417622e-03 4.22187210e+01] [ 3.65768159e-02 -2.38878558e-04 9.99330816e-01 2.72740124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.279254154 meters Centerline goodness : 0.999246 with order 1 Centerline is valid? [True, True] Translation: X:746.54, Y:42.21, Z:27.27 [[ 9.96909665e-01 -6.95611751e-02 -3.65015348e-02 7.46544490e+02] [ 6.95214621e-02 9.97577670e-01 -2.35764065e-03 4.22103077e+01] [ 3.65771163e-02 -1.87285315e-04 9.99330816e-01 2.72683207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.339254154 meters Centerline goodness : 0.999373 with order 1 Centerline is valid? [True, True] Translation: X:746.60, Y:42.22, Z:27.28 [[ 9.96130575e-01 -7.99472451e-02 -3.65008896e-02 7.46601857e+02] [ 7.99141318e-02 9.96798940e-01 -2.36758780e-03 4.22188620e+01] [ 3.65733302e-02 -5.58510305e-04 9.99330816e-01 2.72775021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.399254154 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:746.66, Y:42.22, Z:27.28 [[ 9.95972665e-01 -8.18910945e-02 -3.65006654e-02 7.46659797e+02] [ 8.18591592e-02 9.96641087e-01 -2.37103869e-03 4.22169048e+01] [ 3.65722298e-02 -6.26424061e-04 9.99330816e-01 2.72773582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.459254154 meters Centerline goodness : 0.999414 with order 1 Centerline is valid? [True, True] Translation: X:746.72, Y:42.22, Z:27.28 [[ 9.95840880e-01 -8.34784982e-02 -3.65004461e-02 7.46718396e+02] [ 8.34475048e-02 9.96509346e-01 -2.37441017e-03 4.22167241e+01] [ 3.65712479e-02 -6.81336436e-04 9.99330816e-01 2.72808208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.519254154 meters Centerline goodness : 0.999415 with order 1 Centerline is valid? [True, True] Translation: X:746.78, Y:42.22, Z:27.28 [[ 9.95797258e-01 -8.39975237e-02 -3.64998248e-02 7.46775974e+02] [ 8.39665301e-02 9.96465724e-01 -2.38392343e-03 4.22163586e+01] [ 3.65710680e-02 -6.90859222e-04 9.99330816e-01 2.72830845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.579254154 meters Centerline goodness : 0.999478 with order 1 Centerline is valid? [True, True] Translation: X:746.83, Y:42.22, Z:27.29 [[ 9.95619507e-01 -8.60788991e-02 -3.64996063e-02 7.46834169e+02] [ 8.60491805e-02 9.96288030e-01 -2.38726332e-03 4.22163145e+01] [ 3.65696139e-02 -7.63955286e-04 9.99330816e-01 2.72856497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.639254154 meters Centerline goodness : 0.999414 with order 1 Centerline is valid? [True, True] Translation: X:746.89, Y:42.22, Z:27.29 [[ 9.95504902e-01 -8.73946177e-02 -3.64989067e-02 7.46891714e+02] [ 8.73653925e-02 9.96173448e-01 -2.39791182e-03 4.22181635e+01] [ 3.65688064e-02 -8.01608338e-04 9.99330816e-01 2.72868907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.699254154 meters Centerline goodness : 0.999498 with order 1 Centerline is valid? [True, True] Translation: X:746.95, Y:42.22, Z:27.29 [[ 9.95289320e-01 -8.98167586e-02 -3.64982007e-02 7.46949404e+02] [ 8.97887681e-02 9.95957919e-01 -2.40861026e-03 4.22187778e+01] [ 3.65670056e-02 -8.79864411e-04 9.99330816e-01 2.72883901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.759254154 meters Centerline goodness : 0.998124 with order 1 Centerline is valid? [True, True] Translation: X:747.01, Y:42.22, Z:27.29 [[ 9.95431402e-01 -8.82284378e-02 -3.64974899e-02 7.47007600e+02] [ 8.81989875e-02 9.96099937e-01 -2.41933299e-03 4.22205221e+01] [ 3.65686014e-02 -8.10761626e-04 9.99330816e-01 2.72892406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.819254154 meters Centerline goodness : 0.997826 with order 1 Centerline is valid? [True, True] Translation: X:747.07, Y:42.22, Z:27.29 [[ 9.95773928e-01 -8.42747671e-02 -3.64972354e-02 7.47066435e+02] [ 8.42425217e-02 9.96442334e-01 -2.42316719e-03 4.22241312e+01] [ 3.65716023e-02 -6.61692428e-04 9.99330816e-01 2.72911083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.879254154 meters Centerline goodness : 0.999478 with order 1 Centerline is valid? [True, True] Translation: X:747.12, Y:42.23, Z:27.29 [[ 9.96463603e-01 -7.56854839e-02 -3.64965021e-02 7.47124960e+02] [ 7.56470737e-02 9.97131684e-01 -2.43416158e-03 4.22269766e+01] [ 3.65760493e-02 -3.35300164e-04 9.99330816e-01 2.72949147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.939254154 meters Centerline goodness : 0.999771 with order 1 Centerline is valid? [True, True] Translation: X:747.18, Y:42.23, Z:27.30 [[ 9.96627159e-01 -7.35007831e-02 -3.64957531e-02 7.47182276e+02] [ 7.34604990e-02 9.97295130e-01 -2.44533937e-03 4.22305701e+01] [ 3.65767712e-02 -2.43904607e-04 9.99330816e-01 2.72982755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.999254154 meters Centerline goodness : 0.999583 with order 1 Centerline is valid? [True, True] Translation: X:747.24, Y:42.23, Z:27.30 [[ 9.97022742e-01 -6.79246919e-02 -3.64950440e-02 7.47239629e+02] [ 6.78802863e-02 9.97690451e-01 -2.45587745e-03 4.22340202e+01] [ 3.65775716e-02 -2.87283656e-05 9.99330816e-01 2.72991483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.059254154 meters Centerline goodness : 0.999645 with order 1 Centerline is valid? [True, True] Translation: X:747.30, Y:42.24, Z:27.30 [[ 9.97045936e-01 -6.75837659e-02 -3.64943421e-02 7.47297054e+02] [ 6.75387517e-02 9.97713603e-01 -2.46626434e-03 4.22357871e+01] [ 3.65775810e-02 -5.80347021e-06 9.99330816e-01 2.73026690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.119254154 meters Centerline goodness : 0.999437 with order 1 Centerline is valid? [True, True] Translation: X:747.36, Y:42.24, Z:27.30 [[ 9.96713447e-01 -7.23223400e-02 -3.64936169e-02 7.47355060e+02] [ 7.22801089e-02 9.97381297e-01 -2.47694923e-03 4.22366766e+01] [ 3.65771897e-02 -1.68953993e-04 9.99330816e-01 2.73036829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.179254154 meters Centerline goodness : 0.999562 with order 1 Centerline is valid? [True, True] Translation: X:747.41, Y:42.24, Z:27.31 [[ 9.95976148e-01 -8.18522030e-02 -3.64928817e-02 7.47413203e+02] [ 8.18159664e-02 9.96644349e-01 -2.48773385e-03 4.22371983e+01] [ 3.65740508e-02 -5.07976798e-04 9.99330816e-01 2.73073015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.239254154 meters Centerline goodness : 0.999708 with order 1 Centerline is valid? [True, True] Translation: X:747.47, Y:42.24, Z:27.31 [[ 9.95426982e-01 -8.82805040e-02 -3.64921514e-02 7.47470534e+02] [ 8.82481911e-02 9.96095384e-01 -2.49840068e-03 4.22397307e+01] [ 3.65702236e-02 -7.33390900e-04 9.99330817e-01 2.73112795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.299254154 meters Centerline goodness : 0.999645 with order 1 Centerline is valid? [True, True] Translation: X:747.53, Y:42.24, Z:27.31 [[ 9.94940559e-01 -9.36037456e-02 -3.64914208e-02 7.47528436e+02] [ 9.35746190e-02 9.95609108e-01 -2.50902555e-03 4.22413769e+01] [ 3.65660451e-02 -9.18339519e-04 9.99330817e-01 2.73127099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.3592541539999 meters Centerline goodness : 0.999522 with order 1 Centerline is valid? [True, True] Translation: X:747.59, Y:42.24, Z:27.32 [[ 9.94974647e-01 -9.32409917e-02 -3.64906789e-02 7.47586043e+02] [ 9.32112276e-02 9.95643168e-01 -2.51976962e-03 4.22419201e+01] [ 3.65666410e-02 -8.94234089e-04 9.99330817e-01 2.73175549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.419254154 meters Centerline goodness : 0.999583 with order 1 Centerline is valid? [True, True] Translation: X:747.64, Y:42.25, Z:27.32 [[ 9.95114159e-01 -9.17403722e-02 -3.64899223e-02 7.47642404e+02] [ 9.17092000e-02 9.95782616e-01 -2.53067927e-03 4.22473082e+01] [ 3.65681958e-02 -8.28146814e-04 9.99330817e-01 2.73165926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.4792541539999 meters Centerline goodness : 0.999645 with order 1 Centerline is valid? [True, True] Translation: X:747.70, Y:42.25, Z:27.32 [[ 9.95118571e-01 -9.16928068e-02 -3.64891716e-02 7.47700183e+02] [ 9.16612077e-02 9.95787007e-01 -2.54145722e-03 4.22513507e+01] [ 3.65684764e-02 -8.15590262e-04 9.99330817e-01 2.73201777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.539254154 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:747.76, Y:42.26, Z:27.32 [[ 9.95333136e-01 -8.93339027e-02 -3.64883958e-02 7.47757032e+02] [ 8.93003129e-02 9.96001475e-01 -2.55254758e-03 4.22554497e+01] [ 3.65705251e-02 -7.17789980e-04 9.99330817e-01 2.73210313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.5992541539999 meters Centerline goodness : 0.999477 with order 1 Centerline is valid? [True, True] Translation: X:747.81, Y:42.26, Z:27.32 [[ 9.95513705e-01 -8.72988231e-02 -3.64880696e-02 7.47814490e+02] [ 8.72636964e-02 9.96181965e-01 -2.55720262e-03 4.22586627e+01] [ 3.65719976e-02 -6.38353577e-04 9.99330817e-01 2.73210779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.659254154 meters Centerline goodness : 0.999520 with order 1 Centerline is valid? [True, True] Translation: X:747.87, Y:42.26, Z:27.32 [[ 9.95384455e-01 -8.87607029e-02 -3.64873214e-02 7.47872501e+02] [ 8.87261682e-02 9.96052746e-01 -2.56783332e-03 4.22632117e+01] [ 3.65712194e-02 -6.81398845e-04 9.99330817e-01 2.73233684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.7192541539999 meters Centerline goodness : 0.999457 with order 1 Centerline is valid? [True, True] Translation: X:747.93, Y:42.27, Z:27.32 [[ 9.95035293e-01 -9.25931776e-02 -3.64865594e-02 7.47929119e+02] [ 9.25608215e-02 9.95703693e-01 -2.57861608e-03 4.22665924e+01] [ 3.65685642e-02 -8.11411906e-04 9.99330817e-01 2.73246420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.779254154 meters Centerline goodness : 0.999624 with order 1 Centerline is valid? [True, True] Translation: X:747.99, Y:42.27, Z:27.33 [[ 9.94669558e-01 -9.64428599e-02 -3.64862315e-02 7.47986419e+02] [ 9.64129207e-02 9.95338071e-01 -2.58324709e-03 4.22705669e+01] [ 3.65652710e-02 -9.48266898e-04 9.99330817e-01 2.73278978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.839254154 meters Centerline goodness : 0.999582 with order 1 Centerline is valid? [True, True] Translation: X:748.04, Y:42.27, Z:27.33 [[ 9.94151699e-01 -1.01642566e-01 -3.64854640e-02 7.48043320e+02] [ 1.01615727e-01 9.94820343e-01 -2.59404196e-03 4.22747242e+01] [ 3.65601469e-02 -1.12862574e-03 9.99330817e-01 2.73305372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.899254154 meters Centerline goodness : 0.999689 with order 1 Centerline is valid? [True, True] Translation: X:748.10, Y:42.28, Z:27.33 [[ 9.93879043e-01 -1.04275106e-01 -3.64849383e-02 7.48101961e+02] [ 1.04249768e-01 9.94547746e-01 -2.60141496e-03 4.22786176e+01] [ 3.65572760e-02 -1.21805455e-03 9.99330817e-01 2.73347798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.959254154 meters Centerline goodness : 0.999667 with order 1 Centerline is valid? [True, True] Translation: X:748.16, Y:42.28, Z:27.34 [[ 9.93910842e-01 -1.03971804e-01 -3.64842770e-02 7.48159551e+02] [ 1.03945923e-01 9.94579524e-01 -2.61065708e-03 4.22831940e+01] [ 3.65579496e-02 -1.19763146e-03 9.99330817e-01 2.73375470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.019254154 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:748.22, Y:42.29, Z:27.34 [[ 9.94039966e-01 -1.02730231e-01 -3.64834927e-02 7.48216836e+02] [ 1.02703114e-01 9.94708599e-01 -2.62157181e-03 4.22881445e+01] [ 3.65597586e-02 -1.14102115e-03 9.99330817e-01 2.73393400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.079254154 meters Centerline goodness : 0.999709 with order 1 Centerline is valid? [True, True] Translation: X:748.27, Y:42.29, Z:27.34 [[ 9.94205427e-01 -1.01116674e-01 -3.64827090e-02 7.48273154e+02] [ 1.01088074e-01 9.94873998e-01 -2.63243282e-03 4.22930724e+01] [ 3.65618814e-02 -1.07078779e-03 9.99330817e-01 2.73403743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.139254154 meters Centerline goodness : 0.999624 with order 1 Centerline is valid? [True, True] Translation: X:748.33, Y:42.30, Z:27.34 [[ 9.94190479e-01 -1.01263657e-01 -3.64823721e-02 7.48330565e+02] [ 1.01234984e-01 9.94859047e-01 -2.63709361e-03 4.22985785e+01] [ 3.65618597e-02 -1.07151900e-03 9.99330817e-01 2.73422375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.199254154 meters Centerline goodness : 0.999666 with order 1 Centerline is valid? [True, True] Translation: X:748.39, Y:42.31, Z:27.34 [[ 9.94243426e-01 -1.00742759e-01 -3.64815958e-02 7.48386979e+02] [ 1.00713344e-01 9.94911962e-01 -2.64778993e-03 4.23056094e+01] [ 3.65627217e-02 -1.04163579e-03 9.99330817e-01 2.73436644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.259254154 meters Centerline goodness : 0.999687 with order 1 Centerline is valid? [True, True] Translation: X:748.44, Y:42.31, Z:27.35 [[ 9.94287411e-01 -1.00307839e-01 -3.64812619e-02 7.48444186e+02] [ 1.00277963e-01 9.94955926e-01 -2.65238217e-03 4.23115647e+01] [ 3.65633025e-02 -1.02103645e-03 9.99330817e-01 2.73451977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.319254154 meters Centerline goodness : 0.999688 with order 1 Centerline is valid? [True, True] Translation: X:748.50, Y:42.32, Z:27.35 [[ 9.94334612e-01 -9.98391397e-02 -3.64804946e-02 7.48500637e+02] [ 9.98085637e-02 9.95003095e-01 -2.66289360e-03 4.23183645e+01] [ 3.65640661e-02 -9.93258499e-04 9.99330817e-01 2.73469917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.379254154 meters Centerline goodness : 0.999624 with order 1 Centerline is valid? [True, True] Translation: X:748.56, Y:42.33, Z:27.35 [[ 9.94239791e-01 -1.00779210e-01 -3.64799768e-02 7.48557958e+02] [ 1.00749006e-01 9.94908292e-01 -2.66996867e-03 4.23256813e+01] [ 3.65633088e-02 -1.02073232e-03 9.99330817e-01 2.73489714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.439254154 meters Centerline goodness : 0.999373 with order 1 Centerline is valid? [True, True] Translation: X:748.62, Y:42.33, Z:27.35 [[ 9.94098683e-01 -1.02162003e-01 -3.64792344e-02 7.48615910e+02] [ 1.02132358e-01 9.94767208e-01 -2.68007426e-03 4.23311964e+01] [ 3.65621479e-02 -1.06145195e-03 9.99330817e-01 2.73507848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.499254154 meters Centerline goodness : 0.999520 with order 1 Centerline is valid? [True, True] Translation: X:748.67, Y:42.34, Z:27.35 [[ 9.94144639e-01 -1.01713941e-01 -3.64789020e-02 7.48674357e+02] [ 1.01683830e-01 9.94813144e-01 -2.68459116e-03 4.23363643e+01] [ 3.65627515e-02 -1.04044256e-03 9.99330817e-01 2.73547191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.559254154 meters Centerline goodness : 0.999477 with order 1 Centerline is valid? [True, True] Translation: X:748.73, Y:42.34, Z:27.36 [[ 9.94591937e-01 -9.72430912e-02 -3.64782031e-02 7.48732552e+02] [ 9.72096279e-02 9.95260283e-01 -2.69405397e-03 4.23429124e+01] [ 3.65672849e-02 -8.66548190e-04 9.99330817e-01 2.73576201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.619254154 meters Centerline goodness : 0.999624 with order 1 Centerline is valid? [True, True] Translation: X:748.79, Y:42.35, Z:27.36 [[ 9.95203632e-01 -9.07696119e-02 -3.64774988e-02 7.48790565e+02] [ 9.07314524e-02 9.95871726e-01 -2.70355694e-03 4.23491757e+01] [ 3.65723105e-02 -6.19066762e-04 9.99330818e-01 2.73573063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.679254154 meters Centerline goodness : 0.999708 with order 1 Centerline is valid? [True, True] Translation: X:748.85, Y:42.36, Z:27.36 [[ 9.95691418e-01 -8.52528190e-02 -3.64768040e-02 7.48847697e+02] [ 8.52106155e-02 9.96359268e-01 -2.71289826e-03 4.23552500e+01] [ 3.65752840e-02 -4.07001403e-04 9.99330818e-01 2.73591234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.739254154 meters Centerline goodness : 0.999540 with order 1 Centerline is valid? [True, True] Translation: X:748.91, Y:42.36, Z:27.36 [[ 9.95883388e-01 -8.29803410e-02 -3.64765879e-02 7.48906465e+02] [ 8.29365070e-02 9.96551133e-01 -2.71580193e-03 4.23610033e+01] [ 3.65761431e-02 -3.20618760e-04 9.99330818e-01 2.73639923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.799254154 meters Centerline goodness : 0.999666 with order 1 Centerline is valid? [True, True] Translation: X:748.96, Y:42.36, Z:27.37 [[ 9.95837416e-01 -8.35305265e-02 -3.64759186e-02 7.48964355e+02] [ 8.34867334e-02 9.96505164e-01 -2.72476136e-03 4.23649310e+01] [ 3.65760420e-02 -3.31835979e-04 9.99330818e-01 2.73664957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.8592541539999 meters Centerline goodness : 0.999770 with order 1 Centerline is valid? [True, True] Translation: X:749.02, Y:42.37, Z:27.37 [[ 9.95696738e-01 -8.51913777e-02 -3.64751233e-02 7.49021784e+02] [ 8.51483099e-02 9.96364533e-01 -2.73536675e-03 4.23686246e+01] [ 3.65755488e-02 -3.82199346e-04 9.99330818e-01 2.73685237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.919254154 meters Centerline goodness : 0.999519 with order 1 Centerline is valid? [True, True] Translation: X:749.08, Y:42.37, Z:27.37 [[ 9.95472832e-01 -8.77693826e-02 -3.64743113e-02 7.49078767e+02] [ 8.77276491e-02 9.96140712e-01 -2.74615146e-03 4.23721316e+01] [ 3.65745744e-02 -4.66086408e-04 9.99330818e-01 2.73691255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.9792541539999 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:749.14, Y:42.37, Z:27.37 [[ 9.94737598e-01 -9.57432802e-02 -3.64737556e-02 7.49137182e+02] [ 9.57066299e-02 9.95405776e-01 -2.75351279e-03 4.23740719e+01] [ 3.65698173e-02 -7.51757518e-04 9.99330818e-01 2.73732469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.039254154 meters Centerline goodness : 0.999646 with order 1 Centerline is valid? [True, True] Translation: X:749.20, Y:42.38, Z:27.38 [[ 9.93582076e-01 -1.07071824e-01 -3.64730400e-02 7.49195951e+02] [ 1.07042444e-01 9.94250613e-01 -2.76295869e-03 4.23756098e+01] [ 3.65591774e-02 -1.15893709e-03 9.99330818e-01 2.73752587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.0992541539999 meters Centerline goodness : 0.999665 with order 1 Centerline is valid? [True, True] Translation: X:749.25, Y:42.38, Z:27.38 [[ 9.92749896e-01 -1.14531277e-01 -3.64723172e-02 7.49254210e+02] [ 1.14506570e-01 9.93418622e-01 -2.77246702e-03 4.23789620e+01] [ 3.65498133e-02 -1.42395359e-03 9.99330818e-01 2.73769854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.159254154 meters Centerline goodness : 0.999478 with order 1 Centerline is valid? [True, True] Translation: X:749.31, Y:42.38, Z:27.38 [[ 9.91193919e-01 -1.27296655e-01 -3.64715935e-02 7.49312530e+02] [ 1.27280207e-01 9.91862899e-01 -2.78195496e-03 4.23822802e+01] [ 3.65289540e-02 -1.88465512e-03 9.99330818e-01 2.73779703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.2192541539999 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:749.37, Y:42.39, Z:27.38 [[ 9.90590770e-01 -1.31908155e-01 -3.64714409e-02 7.49373124e+02] [ 1.31894746e-01 9.91259817e-01 -2.78395363e-03 4.23875342e+01] [ 3.65199001e-02 -2.05263269e-03 9.99330818e-01 2.73807537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.279254154 meters Centerline goodness : 0.999540 with order 1 Centerline is valid? [True, True] Translation: X:749.43, Y:42.40, Z:27.38 [[ 9.90038151e-01 -1.35993724e-01 -3.64714409e-02 7.49433154e+02] [ 1.35983077e-01 9.90707249e-01 -2.78395363e-03 4.23959420e+01] [ 3.65111211e-02 -2.20327844e-03 9.99330818e-01 2.73829139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.339254154 meters Centerline goodness : 0.999394 with order 1 Centerline is valid? [True, True] Translation: X:749.49, Y:42.40, Z:27.39 [[ 9.89949845e-01 -1.36635056e-01 -3.64714409e-02 7.49494306e+02] [ 1.36624841e-01 9.90618949e-01 -2.78395363e-03 4.24039727e+01] [ 3.65096862e-02 -2.22693036e-03 9.99330818e-01 2.73850162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.399254154 meters Centerline goodness : 0.999457 with order 1 Centerline is valid? [True, True] Translation: X:749.55, Y:42.41, Z:27.39 [[ 9.90207501e-01 -1.34755080e-01 -3.64715434e-02 7.49554153e+02] [ 1.34743644e-01 9.90876585e-01 -2.78261113e-03 4.24141346e+01] [ 3.65137693e-02 -2.15894624e-03 9.99330818e-01 2.73876539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.459254154 meters Centerline goodness : 0.999440 with order 1 Centerline is valid? [True, True] Translation: X:749.61, Y:42.43, Z:27.39 [[ 9.90548514e-01 -1.32225052e-01 -3.64715938e-02 7.49613953e+02] [ 1.32211932e-01 9.91217567e-01 -2.78195055e-03 4.24259603e+01] [ 3.65191280e-02 -2.06632288e-03 9.99330818e-01 2.73906150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.519254154 meters Centerline goodness : 0.999332 with order 1 Centerline is valid? [True, True] Translation: X:749.67, Y:42.44, Z:27.39 [[ 9.90846289e-01 -1.29974809e-01 -3.64716420e-02 7.49674241e+02] [ 1.29960192e-01 9.91515311e-01 -2.78131797e-03 4.24362938e+01] [ 3.65236927e-02 -1.98400300e-03 9.99330818e-01 2.73927288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.579254154 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:749.73, Y:42.45, Z:27.39 [[ 9.91063580e-01 -1.28307416e-01 -3.64717460e-02 7.49734931e+02] [ 1.28291724e-01 9.91732578e-01 -2.77995393e-03 4.24468710e+01] [ 3.65269073e-02 -1.92391207e-03 9.99330818e-01 2.73947289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.639254154 meters Centerline goodness : 0.999020 with order 1 Centerline is valid? [True, True] Translation: X:749.80, Y:42.46, Z:27.40 [[ 9.91361450e-01 -1.25985221e-01 -3.64718997e-02 7.49796600e+02] [ 1.25968035e-01 9.92030411e-01 -2.77793501e-03 4.24557940e+01] [ 3.65312125e-02 -1.84035586e-03 9.99330818e-01 2.73980974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.699254154 meters Centerline goodness : 0.999270 with order 1 Centerline is valid? [True, True] Translation: X:749.86, Y:42.47, Z:27.40 [[ 9.92120098e-01 -1.19864493e-01 -3.64721087e-02 7.49857509e+02] [ 1.19843279e-01 9.92788944e-01 -2.77518915e-03 4.24660809e+01] [ 3.65417529e-02 -1.61761618e-03 9.99330818e-01 2.74004922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.759254154 meters Centerline goodness : 0.999020 with order 1 Centerline is valid? [True, True] Translation: X:749.92, Y:42.48, Z:27.40 [[ 9.93445699e-01 -1.08330130e-01 -3.64722631e-02 7.49918939e+02] [ 1.08301222e-01 9.94114256e-01 -2.77315876e-03 4.24785358e+01] [ 3.65580133e-02 -1.19500802e-03 9.99330818e-01 2.74037790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.819254154 meters Centerline goodness : 0.999103 with order 1 Centerline is valid? [True, True] Translation: X:749.98, Y:42.49, Z:27.41 [[ 9.94440055e-01 -9.87863163e-02 -3.64724700e-02 7.49980863e+02] [ 9.87510902e-02 9.95108309e-01 -2.77043396e-03 4.24881275e+01] [ 3.65677389e-02 -8.46665677e-04 9.99330818e-01 2.74061254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.879254154 meters Centerline goodness : 0.999228 with order 1 Centerline is valid? [True, True] Translation: X:750.04, Y:42.50, Z:27.41 [[ 9.94828938e-01 -9.47899131e-02 -3.64726769e-02 7.50041632e+02] [ 9.47521022e-02 9.95497051e-01 -2.76770795e-03 4.24952294e+01] [ 3.65707931e-02 -7.02466843e-04 9.99330818e-01 2.74092198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.939254154 meters Centerline goodness : 0.999291 with order 1 Centerline is valid? [True, True] Translation: X:750.10, Y:42.50, Z:27.41 [[ 9.95010448e-01 -9.28651923e-02 -3.64727787e-02 7.50102926e+02] [ 9.28261382e-02 9.95678490e-01 -2.76636541e-03 4.25007986e+01] [ 3.65720603e-02 -6.33064707e-04 9.99330818e-01 2.74098856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.999254154 meters Centerline goodness : 0.999125 with order 1 Centerline is valid? [True, True] Translation: X:750.16, Y:42.51, Z:27.41 [[ 9.94755404e-01 -9.55584378e-02 -3.64728801e-02 7.50164066e+02] [ 9.55212413e-02 9.95423552e-01 -2.76502865e-03 4.25059666e+01] [ 3.65701856e-02 -7.33407589e-04 9.99330818e-01 2.74104779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.059254154 meters Centerline goodness : 0.999104 with order 1 Centerline is valid? [True, True] Translation: X:750.22, Y:42.51, Z:27.41 [[ 9.94398404e-01 -9.92045132e-02 -3.64729797e-02 7.50224875e+02] [ 9.91698145e-02 9.95066686e-01 -2.76371339e-03 4.25088773e+01] [ 3.65672199e-02 -8.68786452e-04 9.99330818e-01 2.74114694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.119254154 meters Centerline goodness : 0.999145 with order 1 Centerline is valid? [True, True] Translation: X:750.29, Y:42.51, Z:27.41 [[ 9.94155811e-01 -1.01606786e-01 -3.64730779e-02 7.50286202e+02] [ 1.01573750e-01 9.94824177e-01 -2.76241761e-03 4.25127984e+01] [ 3.65649800e-02 -9.58433773e-04 9.99330818e-01 2.74133625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.179254154 meters Centerline goodness : 0.998997 with order 1 Centerline is valid? [True, True] Translation: X:750.35, Y:42.52, Z:27.42 [[ 9.93932418e-01 -1.03769239e-01 -3.64731752e-02 7.50348156e+02] [ 1.03737704e-01 9.94600857e-01 -2.76113243e-03 4.25171044e+01] [ 3.65627719e-02 -1.03926443e-03 9.99330818e-01 2.74161510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.239254154 meters Centerline goodness : 0.999185 with order 1 Centerline is valid? [True, True] Translation: X:750.41, Y:42.52, Z:27.42 [[ 9.94166908e-01 -1.01498037e-01 -3.64733804e-02 7.50410207e+02] [ 1.01465074e-01 9.94835278e-01 -2.75841798e-03 4.25157451e+01] [ 3.65649796e-02 -9.58446376e-04 9.99330818e-01 2.74151262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.299254154 meters Centerline goodness : 0.999060 with order 1 Centerline is valid? [True, True] Translation: X:750.47, Y:42.53, Z:27.42 [[ 9.93789937e-01 -1.05124908e-01 -3.64734846e-02 7.50471077e+02] [ 1.05094435e-01 9.94458425e-01 -2.75704058e-03 4.25250026e+01] [ 3.65611976e-02 -1.09324106e-03 9.99330818e-01 2.74201053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.3592541539999 meters Centerline goodness : 0.999059 with order 1 Centerline is valid? [True, True] Translation: X:750.53, Y:42.53, Z:27.42 [[ 9.94127740e-01 -1.01880861e-01 -3.64736376e-02 7.50532442e+02] [ 1.01848280e-01 9.94796129e-01 -2.75501410e-03 4.25300948e+01] [ 3.65645167e-02 -9.75941318e-04 9.99330818e-01 2.74224815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.419254154 meters Centerline goodness : 0.999186 with order 1 Centerline is valid? [True, True] Translation: X:750.59, Y:42.53, Z:27.42 [[ 9.94569006e-01 -9.74790207e-02 -3.64737381e-02 7.50594783e+02] [ 9.74435303e-02 9.95237246e-01 -2.75368275e-03 4.25342295e+01] [ 3.65684490e-02 -8.15402294e-04 9.99330818e-01 2.74246512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.4792541539999 meters Centerline goodness : 0.999290 with order 1 Centerline is valid? [True, True] Translation: X:750.66, Y:42.54, Z:27.43 [[ 9.94823975e-01 -9.48415024e-02 -3.64739452e-02 7.50655573e+02] [ 9.48043408e-02 9.95492124e-01 -2.75093796e-03 4.25383062e+01] [ 3.65704282e-02 -7.21189294e-04 9.99330818e-01 2.74265298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.539254154 meters Centerline goodness : 0.999206 with order 1 Centerline is valid? [True, True] Translation: X:750.72, Y:42.54, Z:27.43 [[ 9.95193688e-01 -9.08799595e-02 -3.64740468e-02 7.50717063e+02] [ 9.08401875e-02 9.95861687e-01 -2.74958910e-03 4.25433974e+01] [ 3.65729884e-02 -5.76935536e-04 9.99330818e-01 2.74293070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.5992541539999 meters Centerline goodness : 0.999312 with order 1 Centerline is valid? [True, True] Translation: X:750.78, Y:42.55, Z:27.43 [[ 9.95530090e-01 -8.71175989e-02 -3.64741488e-02 7.50776918e+02] [ 8.70753517e-02 9.96197937e-01 -2.74823642e-03 4.25474004e+01] [ 3.65748915e-02 -4.40047281e-04 9.99330818e-01 2.74311726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.659254154 meters Centerline goodness : 0.999395 with order 1 Centerline is valid? [True, True] Translation: X:750.84, Y:42.55, Z:27.44 [[ 9.95531808e-01 -8.70979714e-02 -3.64741488e-02 7.50836397e+02] [ 8.70557111e-02 9.96199654e-01 -2.74823642e-03 4.25537665e+01] [ 3.65749002e-02 -4.39326187e-04 9.99330818e-01 2.74441584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.7192541539999 meters Centerline goodness : 0.999500 with order 1 Centerline is valid? [True, True] Translation: X:750.90, Y:42.55, Z:27.44 [[ 9.95609675e-01 -8.62033104e-02 -3.64741598e-02 7.50897226e+02] [ 8.61604553e-02 9.96277483e-01 -2.74808938e-03 4.25531446e+01] [ 3.65752786e-02 -4.06605844e-04 9.99330818e-01 2.74351555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.779254154 meters Centerline goodness : 0.999104 with order 1 Centerline is valid? [True, True] Translation: X:750.96, Y:42.56, Z:27.44 [[ 9.95536110e-01 -8.70487818e-02 -3.64741416e-02 7.50957764e+02] [ 8.70064850e-02 9.96203954e-01 -2.74833159e-03 4.25570129e+01] [ 3.65749230e-02 -4.37423514e-04 9.99330818e-01 2.74372143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.839254154 meters Centerline goodness : 0.999212 with order 1 Centerline is valid? [True, True] Translation: X:751.02, Y:42.56, Z:27.44 [[ 9.95155524e-01 -9.12968800e-02 -3.64741416e-02 7.51017130e+02] [ 9.12574338e-02 9.95823542e-01 -2.74833159e-03 4.25574978e+01] [ 3.65727230e-02 -5.93519202e-04 9.99330818e-01 2.74391045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.899254154 meters Centerline goodness : 0.999250 with order 1 Centerline is valid? [True, True] Translation: X:751.08, Y:42.56, Z:27.44 [[ 9.94660729e-01 -9.65384636e-02 -3.64740925e-02 7.51076642e+02] [ 9.65025136e-02 9.95328945e-01 -2.74898236e-03 4.25581788e+01] [ 3.65691026e-02 -7.85536810e-04 9.99330818e-01 2.74413574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.959254154 meters Centerline goodness : 0.999312 with order 1 Centerline is valid? [True, True] Translation: X:751.14, Y:42.56, Z:27.45 [[ 9.93910065e-01 -1.03982818e-01 -3.64740443e-02 7.51137743e+02] [ 1.03951849e-01 9.94578530e-01 -2.74962241e-03 4.25595587e+01] [ 3.65622149e-02 -1.05866695e-03 9.99330818e-01 2.74464069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.019254154 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:751.20, Y:42.56, Z:27.45 [[ 9.92968012e-01 -1.12623996e-01 -3.64741464e-02 7.51198620e+02] [ 1.12598892e-01 9.93636723e-01 -2.74826795e-03 4.25596682e+01] [ 3.65515722e-02 -1.37800630e-03 9.99330818e-01 2.74478524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.079254154 meters Centerline goodness : 0.999437 with order 1 Centerline is valid? [True, True] Translation: X:751.26, Y:42.56, Z:27.45 [[ 9.91786379e-01 -1.22594498e-01 -3.64741966e-02 7.51260331e+02] [ 1.22576138e-01 9.92455309e-01 -2.74760058e-03 4.25606564e+01] [ 3.65358508e-02 -1.74583333e-03 9.99330818e-01 2.74494501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.139254154 meters Centerline goodness : 0.999332 with order 1 Centerline is valid? [True, True] Translation: X:751.32, Y:42.56, Z:27.45 [[ 9.91021425e-01 -1.28631880e-01 -3.64742970e-02 7.51321790e+02] [ 1.28617642e-01 9.91690456e-01 -2.74626691e-03 4.25640618e+01] [ 3.65244697e-02 -1.96962874e-03 9.99330818e-01 2.74512334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.199254154 meters Centerline goodness : 0.999332 with order 1 Centerline is valid? [True, True] Translation: X:751.38, Y:42.57, Z:27.45 [[ 9.90162282e-01 -1.35086173e-01 -3.64743977e-02 7.51383392e+02] [ 1.35076344e-01 9.90831392e-01 -2.74492879e-03 4.25684131e+01] [ 3.65107802e-02 -2.20890335e-03 9.99330818e-01 2.74532823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.259254154 meters Centerline goodness : 0.999186 with order 1 Centerline is valid? [True, True] Translation: X:751.44, Y:42.58, Z:27.46 [[ 9.89884069e-01 -1.37109933e-01 -3.64746003e-02 7.51444683e+02] [ 1.37101571e-01 9.90553199e-01 -2.74223427e-03 4.25756834e+01] [ 3.65060196e-02 -2.28623098e-03 9.99330818e-01 2.74555562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.319254154 meters Centerline goodness : 0.999040 with order 1 Centerline is valid? [True, True] Translation: X:751.51, Y:42.58, Z:27.45 [[ 9.90890413e-01 -1.29637106e-01 -3.64748001e-02 7.51507348e+02] [ 1.29623793e-01 9.91559462e-01 -2.73957379e-03 4.25792013e+01] [ 3.65220836e-02 -2.01338455e-03 9.99330818e-01 2.74514292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.379254154 meters Centerline goodness : 0.999166 with order 1 Centerline is valid? [True, True] Translation: X:751.57, Y:42.60, Z:27.46 [[ 9.90949474e-01 -1.29184804e-01 -3.64750098e-02 7.51568287e+02] [ 1.29171288e-01 9.91618520e-01 -2.73677985e-03 4.25962329e+01] [ 3.65228456e-02 -1.99951344e-03 9.99330818e-01 2.74601020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.439254154 meters Centerline goodness : 0.999102 with order 1 Centerline is valid? [True, True] Translation: X:751.63, Y:42.61, Z:27.46 [[ 9.91415506e-01 -1.25558168e-01 -3.64752164e-02 7.51629809e+02] [ 1.25542306e-01 9.92084500e-01 -2.73402308e-03 4.26056997e+01] [ 3.65297758e-02 -1.86862990e-03 9.99330818e-01 2.74619434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.499254154 meters Centerline goodness : 0.999060 with order 1 Centerline is valid? [True, True] Translation: X:751.69, Y:42.61, Z:27.46 [[ 9.92506614e-01 -1.16619747e-01 -3.64754226e-02 7.51692270e+02] [ 1.16597958e-01 9.93175441e-01 -2.73126937e-03 4.26108473e+01] [ 3.65450139e-02 -1.54215688e-03 9.99330818e-01 2.74588529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.559254154 meters Centerline goodness : 0.999146 with order 1 Centerline is valid? [True, True] Translation: X:751.75, Y:42.63, Z:27.47 [[ 9.92121913e-01 -1.19848396e-01 -3.64756377e-02 7.51751849e+02] [ 1.19828888e-01 9.92790810e-01 -2.72839388e-03 4.26267347e+01] [ 3.65396715e-02 -1.66393577e-03 9.99330818e-01 2.74658502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.619254154 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:751.81, Y:42.63, Z:27.47 [[ 9.92350470e-01 -1.17940926e-01 -3.64757944e-02 7.51813136e+02] [ 1.17920210e-01 9.93019331e-01 -2.72629798e-03 4.26349390e+01] [ 3.65427110e-02 -1.59579024e-03 9.99330818e-01 2.74679934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.679254154 meters Centerline goodness : 0.999123 with order 1 Centerline is valid? [True, True] Translation: X:751.87, Y:42.65, Z:27.47 [[ 9.92848010e-01 -1.13676430e-01 -3.64759970e-02 7.51873526e+02] [ 1.13652940e-01 9.93516780e-01 -2.72358452e-03 4.26452610e+01] [ 3.65491224e-02 -1.44149881e-03 9.99330818e-01 2.74705085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.739254154 meters Centerline goodness : 0.999081 with order 1 Centerline is valid? [True, True] Translation: X:751.93, Y:42.66, Z:27.47 [[ 9.93414787e-01 -1.08611880e-01 -3.64763121e-02 7.51933681e+02] [ 1.08585135e-01 9.94083434e-01 -2.71935701e-03 4.26552968e+01] [ 3.65558521e-02 -1.25933582e-03 9.99330818e-01 2.74731087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.799254154 meters Centerline goodness : 0.998993 with order 1 Centerline is valid? [True, True] Translation: X:751.99, Y:42.66, Z:27.48 [[ 9.93996345e-01 -1.03153882e-01 -3.64766184e-02 7.51994838e+02] [ 1.03123616e-01 9.94664842e-01 -2.71524319e-03 4.26649237e+01] [ 3.65620977e-02 -1.06265896e-03 9.99330818e-01 2.74766399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.8592541539999 meters Centerline goodness : 0.999055 with order 1 Centerline is valid? [True, True] Translation: X:752.06, Y:42.67, Z:27.48 [[ 9.94636674e-01 -9.67849669e-02 -3.64768133e-02 7.52055772e+02] [ 9.67505152e-02 9.95304968e-01 -2.71262159e-03 4.26737110e+01] [ 3.65680945e-02 -8.31077566e-04 9.99330818e-01 2.74791159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.919254154 meters Centerline goodness : 0.998888 with order 1 Centerline is valid? [True, True] Translation: X:752.12, Y:42.68, Z:27.48 [[ 9.95037835e-01 -9.25696380e-02 -3.64769571e-02 7.52117960e+02] [ 9.25324258e-02 9.95705982e-01 -2.71068608e-03 4.26814879e+01] [ 3.65712517e-02 -6.78066125e-04 9.99330818e-01 2.74810187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.9792541539999 meters Centerline goodness : 0.998845 with order 1 Centerline is valid? [True, True] Translation: X:752.18, Y:42.69, Z:27.48 [[ 9.95220342e-01 -9.05863540e-02 -3.64771607e-02 7.52178843e+02] [ 9.05479108e-02 9.95888419e-01 -2.70794409e-03 4.26871647e+01] [ 3.65724847e-02 -6.07929652e-04 9.99330818e-01 2.74814429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.039254154 meters Centerline goodness : 0.998951 with order 1 Centerline is valid? [True, True] Translation: X:752.24, Y:42.69, Z:27.48 [[ 9.95161360e-01 -9.12319800e-02 -3.64773108e-02 7.52240551e+02] [ 9.11940444e-02 9.95829465e-01 -2.70592027e-03 4.26928164e+01] [ 3.65720474e-02 -6.33686212e-04 9.99330818e-01 2.74832658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.0992541539999 meters Centerline goodness : 0.999160 with order 1 Centerline is valid? [True, True] Translation: X:752.30, Y:42.70, Z:27.49 [[ 9.94827471e-01 -9.48034481e-02 -3.64775103e-02 7.52302301e+02] [ 9.47680095e-02 9.95495714e-01 -2.70322816e-03 4.26980385e+01] [ 3.65694806e-02 -7.67655416e-04 9.99330818e-01 2.74851432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.159254154 meters Centerline goodness : 0.998803 with order 1 Centerline is valid? [True, True] Translation: X:752.36, Y:42.70, Z:27.49 [[ 9.94275887e-01 -1.00423286e-01 -3.64777097e-02 7.52364374e+02] [ 1.00391723e-01 9.94944325e-01 -2.70053487e-03 4.27023866e+01] [ 3.65644869e-02 -9.76983426e-04 9.99330818e-01 2.74865629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.2192541539999 meters Centerline goodness : 0.998760 with order 1 Centerline is valid? [True, True] Translation: X:752.43, Y:42.71, Z:27.49 [[ 9.93579487e-01 -1.07094183e-01 -3.64779115e-02 7.52425382e+02] [ 1.07067207e-01 9.94248125e-01 -2.69780696e-03 4.27059534e+01] [ 3.65570145e-02 -1.22510244e-03 9.99330818e-01 2.74890374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.279254154 meters Centerline goodness : 0.998947 with order 1 Centerline is valid? [True, True] Translation: X:752.49, Y:42.71, Z:27.49 [[ 9.93249866e-01 -1.10109281e-01 -3.64780606e-02 7.52486945e+02] [ 1.10084409e-01 9.93918586e-01 -2.69578967e-03 4.27109243e+01] [ 3.65530538e-02 -1.33807299e-03 9.99330818e-01 2.74920737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.339254154 meters Centerline goodness : 0.998778 with order 1 Centerline is valid? [True, True] Translation: X:752.55, Y:42.72, Z:27.49 [[ 9.93107468e-01 -1.11386237e-01 -3.64782565e-02 7.52548781e+02] [ 1.11362321e-01 9.93776223e-01 -2.69313603e-03 4.27168394e+01] [ 3.65512022e-02 -1.38772979e-03 9.99330818e-01 2.74945817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.399254154 meters Centerline goodness : 0.998504 with order 1 Centerline is valid? [True, True] Translation: X:752.61, Y:42.72, Z:27.50 [[ 9.93516386e-01 -1.07677819e-01 -3.64784567e-02 7.52610926e+02] [ 1.07651506e-01 9.94185051e-01 -2.69042121e-03 4.27205610e+01] [ 3.65560350e-02 -1.25398325e-03 9.99330818e-01 2.74958754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.459254154 meters Centerline goodness : 0.998631 with order 1 Centerline is valid? [True, True] Translation: X:752.67, Y:42.73, Z:27.50 [[ 9.93549504e-01 -1.07371742e-01 -3.64786610e-02 7.52672658e+02] [ 1.07345325e-01 9.94218164e-01 -2.68764851e-03 4.27287928e+01] [ 3.65563249e-02 -1.24550186e-03 9.99330818e-01 2.74980461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.519254154 meters Centerline goodness : 0.998758 with order 1 Centerline is valid? [True, True] Translation: X:752.73, Y:42.74, Z:27.50 [[ 9.93915826e-01 -1.03926046e-01 -3.64788599e-02 7.52733226e+02] [ 1.03897410e-01 9.94584395e-01 -2.68494635e-03 4.27356260e+01] [ 3.65603406e-02 -1.12144838e-03 9.99330818e-01 2.75003663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.579254154 meters Centerline goodness : 0.998822 with order 1 Centerline is valid? [True, True] Translation: X:752.79, Y:42.74, Z:27.50 [[ 9.94514899e-01 -9.80274679e-02 -3.64791862e-02 7.52794865e+02] [ 9.79950285e-02 9.95183294e-01 -2.68050522e-03 4.27427410e+01] [ 3.65662398e-02 -9.08976513e-04 9.99330818e-01 2.75030019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.639254154 meters Centerline goodness : 0.998717 with order 1 Centerline is valid? [True, True] Translation: X:752.86, Y:42.75, Z:27.51 [[ 9.94751320e-01 -9.55984615e-02 -3.64793818e-02 7.52856907e+02] [ 9.55644874e-02 9.95419639e-01 -2.67784069e-03 4.27478156e+01] [ 3.65682905e-02 -8.22347858e-04 9.99330818e-01 2.75053580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.699254154 meters Centerline goodness : 0.998758 with order 1 Centerline is valid? [True, True] Translation: X:752.92, Y:42.75, Z:27.51 [[ 9.95384219e-01 -8.87665298e-02 -3.64795756e-02 7.52918436e+02] [ 8.87280649e-02 9.96052295e-01 -2.67519826e-03 4.27533553e+01] [ 3.65730330e-02 -5.73912019e-04 9.99330818e-01 2.75070332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.759254154 meters Centerline goodness : 0.998528 with order 1 Centerline is valid? [True, True] Translation: X:752.98, Y:42.76, Z:27.51 [[ 9.95613521e-01 -8.61565073e-02 -3.64797661e-02 7.52979966e+02] [ 8.61163863e-02 9.96281499e-01 -2.67259757e-03 4.27577870e+01] [ 3.65743777e-02 -4.80631355e-04 9.99330818e-01 2.75093671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.819254154 meters Centerline goodness : 0.999012 with order 1 Centerline is valid? [True, True] Translation: X:753.04, Y:42.76, Z:27.51 [[ 9.95671215e-01 -8.54870999e-02 -3.64799647e-02 7.53042376e+02] [ 8.54466291e-02 9.96339172e-01 -2.66988382e-03 4.27604854e+01] [ 3.65746585e-02 -4.58763554e-04 9.99330818e-01 2.75110480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.879254154 meters Centerline goodness : 0.998697 with order 1 Centerline is valid? [True, True] Translation: X:753.10, Y:42.76, Z:27.51 [[ 9.95594902e-01 -8.63712239e-02 -3.64801615e-02 7.53104490e+02] [ 8.63314448e-02 9.96262901e-01 -2.66719298e-03 4.27618549e+01] [ 3.65742002e-02 -4.93941318e-04 9.99330818e-01 2.75129274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.939254154 meters Centerline goodness : 0.998864 with order 1 Centerline is valid? [True, True] Translation: X:753.17, Y:42.76, Z:27.52 [[ 9.95285652e-01 -8.98646485e-02 -3.64803559e-02 7.53166106e+02] [ 8.98273115e-02 9.95953791e-01 -2.66453066e-03 4.27633507e+01] [ 3.65721959e-02 -6.24963164e-04 9.99330818e-01 2.75160089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.999254154 meters Centerline goodness : 0.998654 with order 1 Centerline is valid? [True, True] Translation: X:753.23, Y:42.76, Z:27.52 [[ 9.94597902e-01 -9.71811999e-02 -3.64804995e-02 7.53227870e+02] [ 9.71488494e-02 9.95266302e-01 -2.66256307e-03 4.27639448e+01] [ 3.65665629e-02 -8.95858907e-04 9.99330818e-01 2.75176123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.059254154 meters Centerline goodness : 0.998928 with order 1 Centerline is valid? [True, True] Translation: X:753.29, Y:42.76, Z:27.52 [[ 9.93426263e-01 -1.08505402e-01 -3.64806388e-02 7.53290338e+02] [ 1.08480738e-01 9.94094991e-01 -2.66065393e-03 4.27643412e+01] [ 3.65539156e-02 -1.31428312e-03 9.99330818e-01 2.75190386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.119254154 meters Centerline goodness : 0.998719 with order 1 Centerline is valid? [True, True] Translation: X:753.35, Y:42.76, Z:27.52 [[ 9.92392872e-01 -1.17582045e-01 -3.64808224e-02 7.53352644e+02] [ 1.17563587e-01 9.93061799e-01 -2.65813338e-03 4.27608890e+01] [ 3.65402599e-02 -1.65090373e-03 9.99330818e-01 2.75159613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.179254154 meters Centerline goodness : 0.998615 with order 1 Centerline is valid? [True, True] Translation: X:753.41, Y:42.77, Z:27.52 [[ 9.90872095e-01 -1.29775290e-01 -3.64810176e-02 7.53414495e+02] [ 1.29765158e-01 9.91541201e-01 -2.65545234e-03 4.27688121e+01] [ 3.65170441e-02 -2.10275137e-03 9.99330818e-01 2.75216691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.239254154 meters Centerline goodness : 0.998741 with order 1 Centerline is valid? [True, True] Translation: X:753.48, Y:42.77, Z:27.52 [[ 9.90860598e-01 -1.29862993e-01 -3.64812113e-02 7.53476567e+02] [ 1.29853017e-01 9.91529705e-01 -2.65278882e-03 4.27708856e+01] [ 3.65167037e-02 -2.10865144e-03 9.99330818e-01 2.75238760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.299254154 meters Centerline goodness : 0.998784 with order 1 Centerline is valid? [True, True] Translation: X:753.54, Y:42.78, Z:27.53 [[ 9.90672922e-01 -1.31286971e-01 -3.64814134e-02 7.53537147e+02] [ 1.31278059e-01 9.91342044e-01 -2.65000659e-03 4.27812440e+01] [ 3.65134702e-02 -2.16391937e-03 9.99330818e-01 2.75285235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.3592541539999 meters Centerline goodness : 0.998487 with order 1 Centerline is valid? [True, True] Translation: X:753.60, Y:42.79, Z:27.53 [[ 9.91682999e-01 -1.23425788e-01 -3.64815620e-02 7.53599023e+02] [ 1.23411644e-01 9.92352032e-01 -2.64795941e-03 4.27874275e+01] [ 3.65293786e-02 -1.87631320e-03 9.99330818e-01 2.75281173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.419254154 meters Centerline goodness : 0.998843 with order 1 Centerline is valid? [True, True] Translation: X:753.66, Y:42.80, Z:27.53 [[ 9.92512791e-01 -1.16565174e-01 -3.64817629e-02 7.53659104e+02] [ 1.16546506e-01 9.93181713e-01 -2.64518770e-03 4.27993637e+01] [ 3.65413566e-02 -1.62643937e-03 9.99330818e-01 2.75314825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.4792541539999 meters Centerline goodness : 0.998757 with order 1 Centerline is valid? [True, True] Translation: X:753.72, Y:42.81, Z:27.53 [[ 9.93229933e-01 -1.10287600e-01 -3.64821352e-02 7.53720383e+02] [ 1.10264892e-01 9.93898729e-01 -2.64004323e-03 4.28083958e+01] [ 3.65507118e-02 -1.40052874e-03 9.99330818e-01 2.75333155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.539254154 meters Centerline goodness : 0.998797 with order 1 Centerline is valid? [True, True] Translation: X:753.78, Y:42.82, Z:27.54 [[ 9.94359274e-01 -9.95925226e-02 -3.64823751e-02 7.53781822e+02] [ 9.95627401e-02 9.95027793e-01 -2.63672458e-03 4.28193647e+01] [ 3.65635752e-02 -1.01043368e-03 9.99330818e-01 2.75369073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.5992541539999 meters Centerline goodness : 0.998902 with order 1 Centerline is valid? [True, True] Translation: X:753.84, Y:42.83, Z:27.54 [[ 9.95422772e-01 -8.83319140e-02 -3.64825712e-02 7.53842007e+02] [ 8.82946666e-02 9.96090916e-01 -2.63400796e-03 4.28303564e+01] [ 3.65726247e-02 -5.99264950e-04 9.99330818e-01 2.75408248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.659254154 meters Centerline goodness : 0.998854 with order 1 Centerline is valid? [True, True] Translation: X:753.90, Y:42.84, Z:27.54 [[ 9.96206063e-01 -7.90093659e-02 -3.64828733e-02 7.53902756e+02] [ 7.89660187e-02 9.96873840e-01 -2.62981668e-03 4.28392951e+01] [ 3.65766021e-02 -2.61067932e-04 9.99330818e-01 2.75425349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.7192541539999 meters Centerline goodness : 0.998897 with order 1 Centerline is valid? [True, True] Translation: X:753.96, Y:42.85, Z:27.54 [[ 9.96495065e-01 -7.52766517e-02 -3.64830139e-02 7.53964371e+02] [ 7.52308746e-02 9.97162680e-01 -2.62786504e-03 4.28451810e+01] [ 3.65773168e-02 -1.25994502e-04 9.99330818e-01 2.75449287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.779254154 meters Centerline goodness : 0.999192 with order 1 Centerline is valid? [True, True] Translation: X:754.03, Y:42.85, Z:27.55 [[ 9.96501714e-01 -7.51884924e-02 -3.64832073e-02 7.54025841e+02] [ 7.51427547e-02 9.97169331e-01 -2.62517745e-03 4.28508642e+01] [ 3.65773185e-02 -1.25454861e-04 9.99330818e-01 2.75477078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.839254154 meters Centerline goodness : 0.999489 with order 1 Centerline is valid? [True, True] Translation: X:754.09, Y:42.85, Z:27.55 [[ 9.96083907e-01 -8.05345350e-02 -3.64834030e-02 7.54087084e+02] [ 8.04924800e-02 9.96751766e-01 -2.62245453e-03 4.28541602e+01] [ 3.65760945e-02 -3.24454832e-04 9.99330818e-01 2.75503339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.899254154 meters Centerline goodness : 0.999278 with order 1 Centerline is valid? [True, True] Translation: X:754.15, Y:42.86, Z:27.55 [[ 9.95716157e-01 -8.49604959e-02 -3.64835472e-02 7.54149433e+02] [ 8.49214829e-02 9.96384201e-01 -2.62044651e-03 4.28562330e+01] [ 3.65742645e-02 -4.89016008e-04 9.99330818e-01 2.75511035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.959254154 meters Centerline goodness : 0.999172 with order 1 Centerline is valid? [True, True] Translation: X:754.21, Y:42.86, Z:27.55 [[ 9.94555291e-01 -9.76151144e-02 -3.64837409e-02 7.54210930e+02] [ 9.75846983e-02 9.95223781e-01 -2.61774780e-03 4.28573104e+01] [ 3.65650183e-02 -9.56759921e-04 9.99330818e-01 2.75539976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.019254154 meters Centerline goodness : 0.999470 with order 1 Centerline is valid? [True, True] Translation: X:754.27, Y:42.86, Z:27.56 [[ 9.94009281e-01 -1.03026581e-01 -3.64838839e-02 7.54274164e+02] [ 1.02999877e-01 9.94677929e-01 -2.61575350e-03 4.28602797e+01] [ 3.65592062e-02 -1.15775228e-03 9.99330818e-01 2.75571796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.079254154 meters Centerline goodness : 0.999619 with order 1 Centerline is valid? [True, True] Translation: X:754.34, Y:42.86, Z:27.56 [[ 9.93338930e-01 -1.09300849e-01 -3.64841807e-02 7.54336245e+02] [ 1.09278520e-01 9.94007739e-01 -2.61160691e-03 4.28626955e+01] [ 3.65510088e-02 -1.39272645e-03 9.99330818e-01 2.75594921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.139254154 meters Centerline goodness : 0.999598 with order 1 Centerline is valid? [True, True] Translation: X:754.40, Y:42.87, Z:27.56 [[ 9.92979125e-01 -1.12522565e-01 -3.64846567e-02 7.54399034e+02] [ 1.12502650e-01 9.93648010e-01 -2.60494019e-03 4.28660440e+01] [ 3.65460210e-02 -1.51796933e-03 9.99330818e-01 2.75616075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.199254154 meters Centerline goodness : 0.999262 with order 1 Centerline is valid? [True, True] Translation: X:754.46, Y:42.87, Z:27.56 [[ 9.92855543e-01 -1.13607741e-01 -3.64849444e-02 7.54461736e+02] [ 1.13588704e-01 9.93524454e-01 -2.60090440e-03 4.28701466e+01] [ 3.65441673e-02 -1.56195521e-03 9.99330818e-01 2.75632804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.259254154 meters Centerline goodness : 0.999177 with order 1 Centerline is valid? [True, True] Translation: X:754.52, Y:42.88, Z:27.57 [[ 9.93030629e-01 -1.12066932e-01 -3.64852283e-02 7.54524965e+02] [ 1.12047004e-01 9.93699514e-01 -2.59691521e-03 4.28750917e+01] [ 3.65463820e-02 -1.50924417e-03 9.99330818e-01 2.75650759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.319254154 meters Centerline goodness : 0.999114 with order 1 Centerline is valid? [True, True] Translation: X:754.59, Y:42.88, Z:27.57 [[ 9.93185605e-01 -1.10684962e-01 -3.64855143e-02 7.54587373e+02] [ 1.10664250e-01 9.93854467e-01 -2.59289116e-03 4.28803106e+01] [ 3.65482854e-02 -1.46241991e-03 9.99330818e-01 2.75669309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.379254154 meters Centerline goodness : 0.999220 with order 1 Centerline is valid? [True, True] Translation: X:754.65, Y:42.89, Z:27.57 [[ 9.93249366e-01 -1.10111232e-01 -3.64858069e-02 7.54649957e+02] [ 1.10090285e-01 9.93918220e-01 -2.58876642e-03 4.28870146e+01] [ 3.65489605e-02 -1.44544229e-03 9.99330818e-01 2.75696272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.439254154 meters Centerline goodness : 0.998735 with order 1 Centerline is valid? [True, True] Translation: X:754.71, Y:42.89, Z:27.57 [[ 9.93150230e-01 -1.11001737e-01 -3.64860969e-02 7.54710918e+02] [ 1.10981541e-01 9.93819107e-01 -2.58467339e-03 4.28929651e+01] [ 3.65474835e-02 -1.48231429e-03 9.99330818e-01 2.75706793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.499254154 meters Centerline goodness : 0.999006 with order 1 Centerline is valid? [True, True] Translation: X:754.77, Y:42.90, Z:27.57 [[ 9.93112245e-01 -1.11341022e-01 -3.64862390e-02 7.54772340e+02] [ 1.11321127e-01 9.93781131e-01 -2.58266522e-03 4.28995355e+01] [ 3.65468925e-02 -1.49681281e-03 9.99330818e-01 2.75723648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.559254154 meters Centerline goodness : 0.999303 with order 1 Centerline is valid? [True, True] Translation: X:754.83, Y:42.91, Z:27.57 [[ 9.93200999e-01 -1.10546440e-01 -3.64864308e-02 7.54832776e+02] [ 1.10526110e-01 9.93869872e-01 -2.57995335e-03 4.29056739e+01] [ 3.65479690e-02 -1.47029103e-03 9.99330818e-01 2.75738944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.619254154 meters Centerline goodness : 0.999280 with order 1 Centerline is valid? [True, True] Translation: X:754.89, Y:42.91, Z:27.58 [[ 9.93398191e-01 -1.08760126e-01 -3.64865722e-02 7.54894089e+02] [ 1.08738667e-01 9.94067028e-01 -2.57795248e-03 4.29118903e+01] [ 3.65504768e-02 -1.40656787e-03 9.99330818e-01 2.75784871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.679254154 meters Centerline goodness : 0.999385 with order 1 Centerline is valid? [True, True] Translation: X:754.96, Y:42.92, Z:27.58 [[ 9.93908563e-01 -1.03992714e-01 -3.64867649e-02 7.54955920e+02] [ 1.03968146e-01 9.94577294e-01 -2.57522152e-03 4.29188033e+01] [ 3.65567122e-02 -1.23392659e-03 9.99330818e-01 2.75831475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.739254154 meters Centerline goodness : 0.999618 with order 1 Centerline is valid? [True, True] Translation: X:755.02, Y:42.93, Z:27.59 [[ 9.94397588e-01 -9.92075566e-02 -3.64869572e-02 7.55018890e+02] [ 9.91798700e-02 9.95066197e-01 -2.57249414e-03 4.29250062e+01] [ 3.65621486e-02 -1.06068971e-03 9.99330818e-01 2.75872104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.799254154 meters Centerline goodness : 0.999596 with order 1 Centerline is valid? [True, True] Translation: X:755.08, Y:42.93, Z:27.59 [[ 9.94498430e-01 -9.81914180e-02 -3.64872424e-02 7.55082122e+02] [ 9.81631968e-02 9.95167016e-01 -2.56844273e-03 4.29289536e+01] [ 3.65630992e-02 -1.02739209e-03 9.99330818e-01 2.75894380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.8592541539999 meters Centerline goodness : 0.999468 with order 1 Centerline is valid? [True, True] Translation: X:755.14, Y:42.93, Z:27.59 [[ 9.94356032e-01 -9.96230006e-02 -3.64875230e-02 7.55144472e+02] [ 9.95958883e-02 9.95024664e-01 -2.56444990e-03 4.29315178e+01] [ 3.65614635e-02 -1.08403104e-03 9.99330818e-01 2.75911031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.919254154 meters Centerline goodness : 0.999533 with order 1 Centerline is valid? [True, True] Translation: X:755.21, Y:42.93, Z:27.59 [[ 9.94031079e-01 -1.02814695e-01 -3.64877071e-02 7.55207168e+02] [ 1.02789826e-01 9.94699798e-01 -2.56182751e-03 4.29338691e+01] [ 3.65577085e-02 -1.20402889e-03 9.99330818e-01 2.75914269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.9792541539999 meters Centerline goodness : 0.999511 with order 1 Centerline is valid? [True, True] Translation: X:755.27, Y:42.94, Z:27.59 [[ 9.93817833e-01 -1.04855850e-01 -3.64878910e-02 7.55268047e+02] [ 1.04832450e-01 9.94486605e-01 -2.55920622e-03 4.29361855e+01] [ 3.65550666e-02 -1.28173023e-03 9.99330818e-01 2.75915417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.039254154 meters Centerline goodness : 0.999533 with order 1 Centerline is valid? [True, True] Translation: X:755.33, Y:42.94, Z:27.59 [[ 9.93895721e-01 -1.04114877e-01 -3.64881863e-02 7.55329701e+02] [ 1.04091133e-01 9.94564482e-01 -2.55498907e-03 4.29397172e+01] [ 3.65558665e-02 -1.25870394e-03 9.99330818e-01 2.75939386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.0992541539999 meters Centerline goodness : 0.999576 with order 1 Centerline is valid? [True, True] Translation: X:755.39, Y:42.94, Z:27.60 [[ 9.94045428e-01 -1.02675632e-01 -3.64883683e-02 7.55390773e+02] [ 1.02651015e-01 9.94714157e-01 -2.55238777e-03 4.29442723e+01] [ 3.65575645e-02 -1.20837867e-03 9.99330818e-01 2.75965055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.159254154 meters Centerline goodness : 0.999490 with order 1 Centerline is valid? [True, True] Translation: X:755.45, Y:42.95, Z:27.60 [[ 9.94258901e-01 -1.00587411e-01 -3.64885026e-02 7.55452501e+02] [ 1.00561460e-01 9.94927579e-01 -2.55046641e-03 4.29484660e+01] [ 3.65599623e-02 -1.13351317e-03 9.99330818e-01 2.76001895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.2192541539999 meters Centerline goodness : 0.999469 with order 1 Centerline is valid? [True, True] Translation: X:755.51, Y:42.95, Z:27.60 [[ 9.94425935e-01 -9.89223776e-02 -3.64886742e-02 7.55514646e+02] [ 9.88953970e-02 9.95094572e-01 -2.54800791e-03 4.29525055e+01] [ 3.65617367e-02 -1.07475678e-03 9.99330818e-01 2.76023986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.279254154 meters Centerline goodness : 0.999491 with order 1 Centerline is valid? [True, True] Translation: X:755.58, Y:42.96, Z:27.61 [[ 9.94431709e-01 -9.88642523e-02 -3.64888434e-02 7.55576500e+02] [ 9.88373215e-02 9.95100349e-01 -2.54558275e-03 4.29565151e+01] [ 3.65617279e-02 -1.07505135e-03 9.99330818e-01 2.76050060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.339254154 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:755.64, Y:42.96, Z:27.61 [[ 9.94436486e-01 -9.88161238e-02 -3.64890277e-02 7.55639628e+02] [ 9.87892576e-02 9.95105128e-01 -2.54293822e-03 4.29599655e+01] [ 3.65617019e-02 -1.07593342e-03 9.99330818e-01 2.76071408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.399254154 meters Centerline goodness : 0.999426 with order 1 Centerline is valid? [True, True] Translation: X:755.70, Y:42.96, Z:27.61 [[ 9.94438729e-01 -9.87934421e-02 -3.64893099e-02 7.55702467e+02] [ 9.87667093e-02 9.95107377e-01 -2.53888308e-03 4.29635878e+01] [ 3.65616064e-02 -1.07916540e-03 9.99330818e-01 2.76091141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.459254154 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:755.76, Y:42.97, Z:27.61 [[ 9.94546351e-01 -9.77039679e-02 -3.64895894e-02 7.55764609e+02] [ 9.76766502e-02 9.95214975e-01 -2.53485983e-03 4.29680881e+01] [ 3.65626516e-02 -1.04314526e-03 9.99330818e-01 2.76114665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.519254154 meters Centerline goodness : 0.999596 with order 1 Centerline is valid? [True, True] Translation: X:755.83, Y:42.97, Z:27.61 [[ 9.94805557e-01 -9.50284193e-02 -3.64897788e-02 7.55825202e+02] [ 9.49994032e-02 9.95474109e-01 -2.53212984e-03 4.29732923e+01] [ 3.65652543e-02 -9.47530369e-04 9.99330818e-01 2.76128956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.579254154 meters Centerline goodness : 0.999468 with order 1 Centerline is valid? [True, True] Translation: X:755.89, Y:42.98, Z:27.62 [[ 9.95309431e-01 -8.95969953e-02 -3.64899185e-02 7.55886952e+02] [ 8.95644043e-02 9.95977819e-01 -2.53011473e-03 4.29780284e+01] [ 3.65698401e-02 -7.49950762e-04 9.99330818e-01 2.76156530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.639254154 meters Centerline goodness : 0.999383 with order 1 Centerline is valid? [True, True] Translation: X:755.95, Y:42.98, Z:27.62 [[ 9.95701143e-01 -8.51334588e-02 -3.64901006e-02 7.55949342e+02] [ 8.50979675e-02 9.96369383e-01 -2.52748578e-03 4.29823896e+01] [ 3.65727927e-02 -5.88612913e-04 9.99330818e-01 2.76199697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.699254154 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:756.01, Y:42.99, Z:27.62 [[ 9.95872603e-01 -8.31036595e-02 -3.64902808e-02 7.56010978e+02] [ 8.30669016e-02 9.96540774e-01 -2.52488108e-03 4.29853761e+01] [ 3.65738796e-02 -5.16674675e-04 9.99330818e-01 2.76232239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.759254154 meters Centerline goodness : 0.999638 with order 1 Centerline is valid? [True, True] Translation: X:756.07, Y:42.99, Z:27.62 [[ 9.95915360e-01 -8.25895990e-02 -3.64904659e-02 7.56073059e+02] [ 8.25525943e-02 9.96583518e-01 -2.52220340e-03 4.29863456e+01] [ 3.65741047e-02 -5.00481521e-04 9.99330818e-01 2.76249591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.819254154 meters Centerline goodness : 0.999702 with order 1 Centerline is valid? [True, True] Translation: X:756.13, Y:42.99, Z:27.62 [[ 9.95809813e-01 -8.38525372e-02 -3.64906508e-02 7.56134117e+02] [ 8.38164781e-02 9.96478023e-01 -2.51952541e-03 4.29875225e+01] [ 3.65734002e-02 -5.49549705e-04 9.99330818e-01 2.76244905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.879254154 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:756.20, Y:42.99, Z:27.63 [[ 9.95400436e-01 -8.85798854e-02 -3.64907684e-02 7.56196655e+02] [ 8.85470619e-02 9.96068812e-01 -2.51782149e-03 4.29892996e+01] [ 3.65703447e-02 -7.24909714e-04 9.99330818e-01 2.76289735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.939254154 meters Centerline goodness : 0.999471 with order 1 Centerline is valid? [True, True] Translation: X:756.26, Y:42.99, Z:27.63 [[ 9.95002881e-01 -9.29391023e-02 -3.64909726e-02 7.56257944e+02] [ 9.29093153e-02 9.95671399e-01 -2.51485873e-03 4.29907191e+01] [ 3.65667464e-02 -8.88059602e-04 9.99330818e-01 2.76304942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.999254154 meters Centerline goodness : 0.999492 with order 1 Centerline is valid? [True, True] Translation: X:756.32, Y:42.99, Z:27.63 [[ 9.94876516e-01 -9.42821160e-02 -3.64911123e-02 7.56320146e+02] [ 9.42533058e-02 9.95545077e-01 -2.51283017e-03 4.29937831e+01] [ 3.65654621e-02 -9.39452244e-04 9.99330818e-01 2.76315338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.059254154 meters Centerline goodness : 0.999324 with order 1 Centerline is valid? [True, True] Translation: X:756.38, Y:43.00, Z:27.63 [[ 9.94883666e-01 -9.42065641e-02 -3.64912876e-02 7.56381873e+02] [ 9.41777965e-02 9.95552229e-01 -2.51028200e-03 4.29967285e+01] [ 3.65654677e-02 -9.39230492e-04 9.99330818e-01 2.76334417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.119254154 meters Centerline goodness : 0.999642 with order 1 Centerline is valid? [True, True] Translation: X:756.44, Y:43.00, Z:27.64 [[ 9.95127738e-01 -9.15923453e-02 -3.64914624e-02 7.56442680e+02] [ 9.15619146e-02 9.95796228e-01 -2.50773722e-03 4.29991230e+01] [ 3.65677502e-02 -8.45709298e-04 9.99330818e-01 2.76382407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.179254154 meters Centerline goodness : 0.999579 with order 1 Centerline is valid? [True, True] Translation: X:756.51, Y:43.00, Z:27.63 [[ 9.95963191e-01 -8.20102777e-02 -3.64915917e-02 7.56505307e+02] [ 8.19734833e-02 9.96631361e-01 -2.50585528e-03 4.29992133e+01] [ 3.65741706e-02 -4.95603257e-04 9.99330818e-01 2.76330743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.239254154 meters Centerline goodness : 0.999621 with order 1 Centerline is valid? [True, True] Translation: X:756.57, Y:43.01, Z:27.64 [[ 9.96165399e-01 -7.95163386e-02 -3.64917718e-02 7.56566489e+02] [ 7.94779675e-02 9.96833480e-01 -2.50322983e-03 4.30052962e+01] [ 3.65752675e-02 -4.06660911e-04 9.99330818e-01 2.76438315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.299254154 meters Centerline goodness : 0.999219 with order 1 Centerline is valid? [True, True] Translation: X:756.63, Y:43.01, Z:27.65 [[ 9.96600878e-01 -7.38581596e-02 -3.64919542e-02 7.56627443e+02] [ 7.38160928e-02 9.97268736e-01 -2.50056780e-03 4.30062354e+01] [ 3.65769724e-02 -2.01625413e-04 9.99330818e-01 2.76450025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.3592541539999 meters Centerline goodness : 0.999156 with order 1 Centerline is valid? [True, True] Translation: X:756.69, Y:43.01, Z:27.64 [[ 9.96822840e-01 -7.07994079e-02 -3.64920462e-02 7.56688206e+02] [ 7.07553409e-02 9.97490569e-01 -2.49922411e-03 4.30074275e+01] [ 3.65774155e-02 -9.07234969e-05 9.99330818e-01 2.76434858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.419254154 meters Centerline goodness : 0.999367 with order 1 Centerline is valid? [True, True] Translation: X:756.75, Y:43.01, Z:27.65 [[ 9.96705105e-01 -7.24379283e-02 -3.64922068e-02 7.56748128e+02] [ 7.23950449e-02 9.97372911e-01 -2.49687673e-03 4.30094691e+01] [ 3.65772071e-02 -1.53205173e-04 9.99330818e-01 2.76472505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.4792541539999 meters Centerline goodness : 0.999263 with order 1 Centerline is valid? [True, True] Translation: X:756.81, Y:43.01, Z:27.65 [[ 9.96608613e-01 -7.37536231e-02 -3.64921171e-02 7.56808288e+02] [ 7.37115734e-02 9.97276473e-01 -2.49818718e-03 4.30119811e+01] [ 3.65769802e-02 -2.00176509e-04 9.99330818e-01 2.76475858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.539254154 meters Centerline goodness : 0.999306 with order 1 Centerline is valid? [True, True] Translation: X:756.87, Y:43.01, Z:27.65 [[ 9.95962275e-01 -8.20211717e-02 -3.64921171e-02 7.56868567e+02] [ 8.19846655e-02 9.96630460e-01 -2.49818718e-03 4.30117723e+01] [ 3.65740597e-02 -5.03693829e-04 9.99330818e-01 2.76515410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.5992541539999 meters Centerline goodness : 0.999078 with order 1 Centerline is valid? [True, True] Translation: X:756.93, Y:43.01, Z:27.65 [[ 9.95154257e-01 -9.13035103e-02 -3.64921171e-02 7.56930297e+02] [ 9.12732355e-02 9.95822753e-01 -2.49818718e-03 4.30122105e+01] [ 3.65677738e-02 -8.44671995e-04 9.99330818e-01 2.76545107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.659254154 meters Centerline goodness : 0.999163 with order 1 Centerline is valid? [True, True] Translation: X:756.99, Y:43.01, Z:27.66 [[ 9.94061787e-01 -1.02515766e-01 -3.64922081e-02 7.56991129e+02] [ 1.02493078e-01 9.94730584e-01 -2.49685772e-03 4.30111427e+01] [ 3.65558827e-02 -1.25816787e-03 9.99330818e-01 2.76572425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.7192541539999 meters Centerline goodness : 0.999182 with order 1 Centerline is valid? [True, True] Translation: X:757.05, Y:43.01, Z:27.66 [[ 9.93201203e-01 -1.10542671e-01 -3.64922985e-02 7.57053221e+02] [ 1.10525434e-01 9.93870163e-01 -2.49553612e-03 4.30128022e+01] [ 3.65444698e-02 -1.55475766e-03 9.99330818e-01 2.76622957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.779254154 meters Centerline goodness : 0.998970 with order 1 Centerline is valid? [True, True] Translation: X:757.12, Y:43.01, Z:27.66 [[ 9.91514962e-01 -1.24765297e-01 -3.64924790e-02 7.57115307e+02] [ 1.24757747e-01 9.92184101e-01 -2.49289275e-03 4.30139151e+01] [ 3.65182840e-02 -2.08097900e-03 9.99330818e-01 2.76632720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.839254154 meters Centerline goodness : 0.999034 with order 1 Centerline is valid? [True, True] Translation: X:757.18, Y:43.02, Z:27.66 [[ 9.90817034e-01 -1.30191749e-01 -3.64926618e-02 7.57177617e+02] [ 1.30187960e-01 9.91486205e-01 -2.49021461e-03 4.30169514e+01] [ 3.65061761e-02 -2.28355815e-03 9.99330818e-01 2.76640634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.899254154 meters Centerline goodness : 0.999097 with order 1 Centerline is valid? [True, True] Translation: X:757.24, Y:43.02, Z:27.67 [[ 9.90060610e-01 -1.35824378e-01 -3.64928441e-02 7.57239432e+02] [ 1.35824492e-01 9.90729791e-01 -2.48754050e-03 4.30215132e+01] [ 3.64924164e-02 -2.49380616e-03 9.99330818e-01 2.76661435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.959254154 meters Centerline goodness : 0.998868 with order 1 Centerline is valid? [True, True] Translation: X:757.30, Y:43.03, Z:27.67 [[ 9.89953973e-01 -1.36599379e-01 -3.64930280e-02 7.57301051e+02] [ 1.36600117e-01 9.90623154e-01 -2.48483964e-03 4.30274640e+01] [ 3.64902660e-02 -2.52507503e-03 9.99330818e-01 2.76673395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.019254154 meters Centerline goodness : 0.999055 with order 1 Centerline is valid? [True, True] Translation: X:757.36, Y:43.03, Z:27.67 [[ 9.90355222e-01 -1.33659190e-01 -3.64932108e-02 7.57362992e+02] [ 1.33658039e-01 9.91024403e-01 -2.48215132e-03 4.30342205e+01] [ 3.64974248e-02 -2.41939948e-03 9.99330818e-01 2.76693234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.079254154 meters Centerline goodness : 0.998805 with order 1 Centerline is valid? [True, True] Translation: X:757.42, Y:43.04, Z:27.67 [[ 9.91629616e-01 -1.23850465e-01 -3.64933909e-02 7.57423447e+02] [ 1.23842789e-01 9.92298753e-01 -2.47950026e-03 4.30449681e+01] [ 3.65194336e-02 -2.06069741e-03 9.99330818e-01 2.76723778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.139254154 meters Centerline goodness : 0.999139 with order 1 Centerline is valid? [True, True] Translation: X:757.49, Y:43.06, Z:27.68 [[ 9.93296088e-01 -1.09686388e-01 -3.64935240e-02 7.57485011e+02] [ 1.09669235e-01 9.93965050e-01 -2.47754108e-03 4.30573289e+01] [ 3.65450399e-02 -1.54128499e-03 9.99330818e-01 2.76780347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.199254154 meters Centerline goodness : 0.999139 with order 1 Centerline is valid? [True, True] Translation: X:757.55, Y:43.07, Z:27.68 [[ 9.94376993e-01 -9.94112972e-02 -3.64937091e-02 7.57545698e+02] [ 9.93873289e-02 9.95045745e-01 -2.47481080e-03 4.30665540e+01] [ 3.65589341e-02 -1.16611734e-03 9.99330818e-01 2.76824415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.259254154 meters Centerline goodness : 0.999093 with order 1 Centerline is valid? [True, True] Translation: X:757.61, Y:43.08, Z:27.69 [[ 9.96085218e-01 -8.05135842e-02 -3.64938454e-02 7.57606558e+02] [ 8.04769967e-02 9.96753399e-01 -2.47279917e-03 4.30787758e+01] [ 3.65744584e-02 -4.73796376e-04 9.99330818e-01 2.76876810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.319254154 meters Centerline goodness : 0.998943 with order 1 Centerline is valid? [True, True] Translation: X:757.67, Y:43.09, Z:27.69 [[ 9.96641504e-01 -7.33069037e-02 -3.64939800e-02 7.57668544e+02] [ 7.32655570e-02 9.97309407e-01 -2.47081176e-03 4.30856364e+01] [ 3.65769171e-02 -2.11238219e-04 9.99330818e-01 2.76900091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.379254154 meters Centerline goodness : 0.999661 with order 1 Centerline is valid? [True, True] Translation: X:757.73, Y:43.09, Z:27.69 [[ 9.97265999e-01 -6.42549935e-02 -3.64941588e-02 7.57729134e+02] [ 6.42076811e-02 9.97933506e-01 -2.46816827e-03 4.30896168e+01] [ 3.65773359e-02 1.18214988e-04 9.99330818e-01 2.76857566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.439254154 meters Centerline goodness : 0.999301 with order 1 Centerline is valid? [True, True] Translation: X:757.79, Y:43.09, Z:27.69 [[ 9.97395287e-01 -6.22158664e-02 -3.64942054e-02 7.57787291e+02] [ 6.21672146e-02 9.98062698e-01 -2.46747893e-03 4.30933942e+01] [ 3.65770214e-02 1.92308765e-04 9.99330818e-01 2.76877360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.499254154 meters Centerline goodness : 0.999131 with order 1 Centerline is valid? [True, True] Translation: X:757.85, Y:43.10, Z:27.70 [[ 9.97239845e-01 -6.46596816e-02 -3.64940653e-02 7.57845552e+02] [ 6.46125895e-02 9.97907368e-01 -2.46954902e-03 4.30971135e+01] [ 3.65773769e-02 1.04756622e-04 9.99330818e-01 2.76953804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.559254154 meters Centerline goodness : 0.999407 with order 1 Centerline is valid? [True, True] Translation: X:757.91, Y:43.10, Z:27.70 [[ 9.97174484e-01 -6.56600508e-02 -3.64939302e-02 7.57905309e+02] [ 6.56135554e-02 9.97842048e-01 -2.47154409e-03 4.30994922e+01] [ 3.65774597e-02 7.00641896e-05 9.99330818e-01 2.76994063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.619254154 meters Centerline goodness : 0.999514 with order 1 Centerline is valid? [True, True] Translation: X:757.97, Y:43.10, Z:27.70 [[ 9.96955061e-01 -6.89115834e-02 -3.64938428e-02 7.57965471e+02] [ 6.88672180e-02 9.97622770e-01 -2.47283406e-03 4.30989197e+01] [ 3.65774954e-02 -4.79249967e-05 9.99330818e-01 2.77028272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.679254154 meters Centerline goodness : 0.999156 with order 1 Centerline is valid? [True, True] Translation: X:758.03, Y:43.10, Z:27.70 [[ 9.96433896e-01 -7.60768714e-02 -3.64938428e-02 7.58025685e+02] [ 7.60373073e-02 9.97101907e-01 -2.47283406e-03 4.30966857e+01] [ 3.65762057e-02 -3.10877864e-04 9.99330818e-01 2.77029520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.739254154 meters Centerline goodness : 0.999495 with order 1 Centerline is valid? [True, True] Translation: X:758.09, Y:43.09, Z:27.70 [[ 9.95569213e-01 -8.66610899e-02 -3.64937981e-02 7.58086062e+02] [ 8.66286024e-02 9.96237606e-01 -2.47349361e-03 4.30921918e+01] [ 3.65708497e-02 -6.98872632e-04 9.99330818e-01 2.77034980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.799254154 meters Centerline goodness : 0.999412 with order 1 Centerline is valid? [True, True] Translation: X:758.15, Y:43.09, Z:27.71 [[ 9.94990904e-01 -9.30661424e-02 -3.64937551e-02 7.58147444e+02] [ 9.30379337e-02 9.95659491e-01 -2.47412721e-03 4.30904234e+01] [ 3.65656111e-02 -9.33569499e-04 9.99330818e-01 2.77064396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.8592541539999 meters Centerline goodness : 0.999496 with order 1 Centerline is valid? [True, True] Translation: X:758.21, Y:43.09, Z:27.71 [[ 9.94242460e-01 -1.00747856e-01 -3.64938462e-02 7.58209657e+02] [ 1.00724861e-01 9.94911246e-01 -2.47278273e-03 4.30851236e+01] [ 3.65572656e-02 -1.21729199e-03 9.99330818e-01 2.77064123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.919254154 meters Centerline goodness : 0.999160 with order 1 Centerline is valid? [True, True] Translation: X:758.27, Y:43.09, Z:27.71 [[ 9.94097757e-01 -1.02165684e-01 -3.64941453e-02 7.58272390e+02] [ 1.02143805e-01 9.94766581e-01 -2.46836017e-03 4.30862849e+01] [ 3.65553379e-02 -1.27385954e-03 9.99330818e-01 2.77080639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.9792541539999 meters Centerline goodness : 0.999497 with order 1 Centerline is valid? [True, True] Translation: X:758.33, Y:43.08, Z:27.71 [[ 9.94145233e-01 -1.01702603e-01 -3.64943198e-02 7.58334797e+02] [ 1.01680507e-01 9.94814050e-01 -2.46577845e-03 4.30840008e+01] [ 3.65558381e-02 -1.25941906e-03 9.99330818e-01 2.77058118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.039254154 meters Centerline goodness : 0.999540 with order 1 Centerline is valid? [True, True] Translation: X:758.40, Y:43.09, Z:27.71 [[ 9.93612624e-01 -1.06780632e-01 -3.64945124e-02 7.58396061e+02] [ 1.06762059e-01 9.94281548e-01 -2.46292426e-03 4.30881153e+01] [ 3.65488129e-02 -1.44903663e-03 9.99330818e-01 2.77113638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.0992541539999 meters Centerline goodness : 0.999288 with order 1 Centerline is valid? [True, True] Translation: X:758.46, Y:43.09, Z:27.71 [[ 9.92838792e-01 -1.13750924e-01 -3.64946553e-02 7.58458316e+02] [ 1.13737123e-01 9.93507832e-01 -2.46080462e-03 4.30894917e+01] [ 3.65376447e-02 -1.70761481e-03 9.99330818e-01 2.77121447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.159254154 meters Centerline goodness : 0.999477 with order 1 Centerline is valid? [True, True] Translation: X:758.52, Y:43.09, Z:27.71 [[ 9.91887283e-01 -1.21769229e-01 -3.64948351e-02 7.58520083e+02] [ 1.21760932e-01 9.92556413e-01 -2.45813495e-03 4.30911732e+01] [ 3.65225079e-02 -2.00545233e-03 9.99330818e-01 2.77129192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.2192541539999 meters Centerline goodness : 0.999435 with order 1 Centerline is valid? [True, True] Translation: X:758.58, Y:43.09, Z:27.71 [[ 9.91340946e-01 -1.26139777e-01 -3.64950195e-02 7.58580805e+02] [ 1.26134529e-01 9.92010107e-01 -2.45539403e-03 4.30940145e+01] [ 3.65131511e-02 -2.16914947e-03 9.99330818e-01 2.77145993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.279254154 meters Centerline goodness : 0.999436 with order 1 Centerline is valid? [True, True] Translation: X:758.64, Y:43.10, Z:27.72 [[ 9.91241722e-01 -1.26917105e-01 -3.64951561e-02 7.58643248e+02] [ 1.26912457e-01 9.91910888e-01 -2.45336238e-03 4.30987984e+01] [ 3.65113164e-02 -2.19981478e-03 9.99330818e-01 2.77169751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.339254154 meters Centerline goodness : 0.999560 with order 1 Centerline is valid? [True, True] Translation: X:758.71, Y:43.10, Z:27.72 [[ 9.91507725e-01 -1.24821965e-01 -3.64953314e-02 7.58705463e+02] [ 1.24815999e-01 9.92176880e-01 -2.45075238e-03 4.31044314e+01] [ 3.65157317e-02 -2.12526131e-03 9.99330818e-01 2.77196903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.399254154 meters Centerline goodness : 0.999350 with order 1 Centerline is valid? [True, True] Translation: X:758.77, Y:43.11, Z:27.72 [[ 9.91972756e-01 -1.21070761e-01 -3.64955086e-02 7.58767823e+02] [ 1.21062360e-01 9.92641885e-01 -2.44811103e-03 4.31103777e+01] [ 3.65233651e-02 -1.98977295e-03 9.99330818e-01 2.77205646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.459254154 meters Centerline goodness : 0.999370 with order 1 Centerline is valid? [True, True] Translation: X:758.83, Y:43.12, Z:27.73 [[ 9.92345108e-01 -1.17979880e-01 -3.64956863e-02 7.58828755e+02] [ 1.17969492e-01 9.93014209e-01 -2.44545897e-03 4.31175187e+01] [ 3.65292500e-02 -1.87863833e-03 9.99330818e-01 2.77250417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.519254154 meters Centerline goodness : 0.999477 with order 1 Centerline is valid? [True, True] Translation: X:758.89, Y:43.13, Z:27.73 [[ 9.93124771e-01 -1.11226099e-01 -3.64958173e-02 7.58890059e+02] [ 1.11211231e-01 9.93793787e-01 -2.44350235e-03 4.31278594e+01] [ 3.65410977e-02 -1.63204207e-03 9.99330818e-01 2.77278912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.579254154 meters Centerline goodness : 0.999035 with order 1 Centerline is valid? [True, True] Translation: X:758.95, Y:43.14, Z:27.73 [[ 9.94071031e-01 -1.02424746e-01 -3.64959888e-02 7.58951380e+02] [ 1.02404047e-01 9.94739892e-01 -2.44093781e-03 4.31390716e+01] [ 3.65540284e-02 -1.31087139e-03 9.99330818e-01 2.77295485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.639254154 meters Centerline goodness : 0.999159 with order 1 Centerline is valid? [True, True] Translation: X:759.01, Y:43.15, Z:27.73 [[ 9.95010344e-01 -9.28571280e-02 -3.64961578e-02 7.59012472e+02] [ 9.28300881e-02 9.95678979e-01 -2.43840850e-03 4.31496998e+01] [ 3.65648807e-02 -9.61699859e-04 9.99330818e-01 2.77330132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.699254154 meters Centerline goodness : 0.999242 with order 1 Centerline is valid? [True, True] Translation: X:759.07, Y:43.16, Z:27.74 [[ 9.95791808e-01 -8.40636180e-02 -3.64963354e-02 7.59074538e+02] [ 8.40307699e-02 9.96460183e-01 -2.43574759e-03 4.31596361e+01] [ 3.65719028e-02 -6.41317664e-04 9.99330818e-01 2.77364583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.759254154 meters Centerline goodness : 0.999453 with order 1 Centerline is valid? [True, True] Translation: X:759.14, Y:43.17, Z:27.74 [[ 9.96163286e-01 -7.95406304e-02 -3.64965121e-02 7.59135673e+02] [ 7.95048445e-02 9.96831510e-01 -2.43309631e-03 4.31672786e+01] [ 3.65744033e-02 -4.77888310e-04 9.99330818e-01 2.77383734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.819254154 meters Centerline goodness : 0.999114 with order 1 Centerline is valid? [True, True] Translation: X:759.20, Y:43.18, Z:27.74 [[ 9.96439582e-01 -7.60010418e-02 -3.64965988e-02 7.59196242e+02] [ 7.59629298e-02 9.97107677e-01 -2.43179495e-03 4.31752082e+01] [ 3.65758578e-02 -3.49251836e-04 9.99330818e-01 2.77392957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.879254154 meters Centerline goodness : 0.999430 with order 1 Centerline is valid? [True, True] Translation: X:759.26, Y:43.18, Z:27.74 [[ 9.96300398e-01 -7.78043011e-02 -3.64966872e-02 7.59257610e+02] [ 7.77674469e-02 9.96968564e-01 -2.43046787e-03 4.31818425e+01] [ 3.65751507e-02 -4.16778076e-04 9.99330818e-01 2.77414186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.939254154 meters Centerline goodness : 0.999386 with order 1 Centerline is valid? [True, True] Translation: X:759.32, Y:43.19, Z:27.74 [[ 9.96039862e-01 -8.10714414e-02 -3.64967759e-02 7.59319129e+02] [ 8.10368276e-02 9.96708148e-01 -2.42913525e-03 4.31871002e+01] [ 3.65735674e-02 -5.38067404e-04 9.99330818e-01 2.77424540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.999254154 meters Centerline goodness : 0.999491 with order 1 Centerline is valid? [True, True] Translation: X:759.38, Y:43.19, Z:27.75 [[ 9.95929528e-01 -8.24157364e-02 -3.64968648e-02 7.59380435e+02] [ 8.23820736e-02 9.96597863e-01 -2.42779889e-03 4.31915216e+01] [ 3.65727863e-02 -5.88770800e-04 9.99330818e-01 2.77450115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.059254154 meters Centerline goodness : 0.999237 with order 1 Centerline is valid? [True, True] Translation: X:759.44, Y:43.20, Z:27.75 [[ 9.96054462e-01 -8.08917874e-02 -3.64969523e-02 7.59440646e+02] [ 8.08571502e-02 9.96722747e-01 -2.42648319e-03 4.31958780e+01] [ 3.65736251e-02 -5.34130143e-04 9.99330818e-01 2.77471283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.119254154 meters Centerline goodness : 0.999511 with order 1 Centerline is valid? [True, True] Translation: X:759.50, Y:43.20, Z:27.75 [[ 9.96466776e-01 -7.56434672e-02 -3.64969953e-02 7.59501930e+02] [ 7.56053337e-02 9.97134870e-01 -2.42583592e-03 4.32007773e+01] [ 3.65759253e-02 -3.42102608e-04 9.99330818e-01 2.77494839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.179254154 meters Centerline goodness : 0.999235 with order 1 Centerline is valid? [True, True] Translation: X:759.56, Y:43.20, Z:27.75 [[ 9.96780552e-01 -7.13897420e-02 -3.64970800e-02 7.59562052e+02] [ 7.13488041e-02 9.97448480e-01 -2.42456124e-03 4.32044246e+01] [ 3.65770457e-02 -1.87267521e-04 9.99330818e-01 2.77515482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.239254154 meters Centerline goodness : 0.999618 with order 1 Centerline is valid? [True, True] Translation: X:759.62, Y:43.21, Z:27.75 [[ 9.96996291e-01 -6.83107474e-02 -3.64970800e-02 7.59622645e+02] [ 6.82677466e-02 9.97664090e-01 -2.42456124e-03 4.32071677e+01] [ 3.65774497e-02 -7.42948476e-05 9.99330818e-01 2.77543074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.299254154 meters Centerline goodness : 0.999492 with order 1 Centerline is valid? [True, True] Translation: X:759.68, Y:43.21, Z:27.76 [[ 9.97099555e-01 -6.67865335e-02 -3.64970800e-02 7.59681925e+02] [ 6.67425119e-02 9.97767287e-01 -2.42456124e-03 4.32096429e+01] [ 3.65775205e-02 -1.83778658e-05 9.99330818e-01 2.77565128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.3592541539999 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:759.74, Y:43.21, Z:27.76 [[ 9.97004372e-01 -6.81927485e-02 -3.64969969e-02 7.59741442e+02] [ 6.81496230e-02 9.97672163e-01 -2.42581135e-03 4.32092848e+01] [ 3.65774606e-02 -6.87120515e-05 9.99330818e-01 2.77566137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.419254154 meters Centerline goodness : 0.999054 with order 1 Centerline is valid? [True, True] Translation: X:759.80, Y:43.20, Z:27.75 [[ 9.96883603e-01 -6.99360990e-02 -3.64969090e-02 7.59802099e+02] [ 6.98940929e-02 9.97551465e-01 -2.42713228e-03 4.32043261e+01] [ 3.65772892e-02 -1.31349977e-04 9.99330818e-01 2.77533830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.4792541539999 meters Centerline goodness : 0.999266 with order 1 Centerline is valid? [True, True] Translation: X:759.86, Y:43.21, Z:27.76 [[ 9.96124502e-01 -8.00247425e-02 -3.64968147e-02 7.59861943e+02] [ 7.99894479e-02 9.96792752e-01 -2.42855043e-03 4.32066930e+01] [ 3.65741045e-02 -5.00221471e-04 9.99330818e-01 2.77579333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.539254154 meters Centerline goodness : 0.999352 with order 1 Centerline is valid? [True, True] Translation: X:759.92, Y:43.21, Z:27.76 [[ 9.95732423e-01 -8.47639263e-02 -3.64968242e-02 7.59922728e+02] [ 8.47318173e-02 9.96400834e-01 -2.42840713e-03 4.32051508e+01] [ 3.65713074e-02 -6.74398528e-04 9.99330818e-01 2.77608849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.5992541539999 meters Centerline goodness : 0.999142 with order 1 Centerline is valid? [True, True] Translation: X:759.98, Y:43.20, Z:27.76 [[ 9.95650914e-01 -8.57160242e-02 -3.64968679e-02 7.59984651e+02] [ 8.56845784e-02 9.96319356e-01 -2.42774979e-03 4.32046093e+01] [ 3.65706330e-02 -7.10027441e-04 9.99330818e-01 2.77637932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.659254154 meters Centerline goodness : 0.999226 with order 1 Centerline is valid? [True, True] Translation: X:760.05, Y:43.21, Z:27.77 [[ 9.95716126e-01 -8.49550942e-02 -3.64969558e-02 7.60045613e+02] [ 8.49231860e-02 9.96384547e-01 -2.42642821e-03 4.32053268e+01] [ 3.65711402e-02 -6.83404063e-04 9.99330818e-01 2.77681262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.7192541539999 meters Centerline goodness : 0.999246 with order 1 Centerline is valid? [True, True] Translation: X:760.11, Y:43.21, Z:27.77 [[ 9.95790078e-01 -8.40838101e-02 -3.64970449e-02 7.60107120e+02] [ 8.40513661e-02 9.96458472e-01 -2.42508811e-03 4.32071524e+01] [ 3.65717002e-02 -6.52747807e-04 9.99330818e-01 2.77700121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.779254154 meters Centerline goodness : 0.998783 with order 1 Centerline is valid? [True, True] Translation: X:760.17, Y:43.21, Z:27.77 [[ 9.95950344e-01 -8.21636836e-02 -3.64971330e-02 7.60166513e+02] [ 8.21299996e-02 9.96618678e-01 -2.42376031e-03 4.32083512e+01] [ 3.65728695e-02 -5.83564609e-04 9.99330818e-01 2.77695658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.839254154 meters Centerline goodness : 0.999145 with order 1 Centerline is valid? [True, True] Translation: X:760.23, Y:43.21, Z:27.77 [[ 9.95955398e-01 -8.21024020e-02 -3.64971388e-02 7.60225773e+02] [ 8.20686800e-02 9.96623729e-01 -2.42367300e-03 4.32102473e+01] [ 3.65729040e-02 -5.81401801e-04 9.99330818e-01 2.77735767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.899254154 meters Centerline goodness : 0.999247 with order 1 Centerline is valid? [True, True] Translation: X:760.29, Y:43.21, Z:27.77 [[ 9.95956805e-01 -8.20853688e-02 -3.64970530e-02 7.60285118e+02] [ 8.20515882e-02 9.96625133e-01 -2.42496483e-03 4.32127878e+01] [ 3.65729344e-02 -5.79480941e-04 9.99330818e-01 2.77749382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.959254154 meters Centerline goodness : 0.999497 with order 1 Centerline is valid? [True, True] Translation: X:760.34, Y:43.22, Z:27.78 [[ 9.95841895e-01 -8.34679134e-02 -3.64969643e-02 7.60344317e+02] [ 8.34350117e-02 9.96510267e-01 -2.42629866e-03 4.32150426e+01] [ 3.65721177e-02 -6.28914790e-04 9.99330818e-01 2.77769463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.019254154 meters Centerline goodness : 0.999331 with order 1 Centerline is valid? [True, True] Translation: X:760.40, Y:43.22, Z:27.78 [[ 9.95765727e-01 -8.43717617e-02 -3.64968767e-02 7.60403545e+02] [ 8.43394183e-02 9.96434127e-01 -2.42761651e-03 4.32182291e+01] [ 3.65715557e-02 -6.60788032e-04 9.99330818e-01 2.77776280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.079254154 meters Centerline goodness : 0.999603 with order 1 Centerline is valid? [True, True] Translation: X:760.46, Y:43.22, Z:27.78 [[ 9.95620557e-01 -8.60679473e-02 -3.64967898e-02 7.60464308e+02] [ 8.60366948e-02 9.96289008e-01 -2.42892231e-03 4.32207801e+01] [ 3.65704028e-02 -7.21778182e-04 9.99330818e-01 2.77795559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.139254154 meters Centerline goodness : 0.999415 with order 1 Centerline is valid? [True, True] Translation: X:760.52, Y:43.22, Z:27.78 [[ 9.95483759e-01 -8.76360112e-02 -3.64967898e-02 7.60524077e+02] [ 8.76058116e-02 9.96152259e-01 -2.42892231e-03 4.32236288e+01] [ 3.65692206e-02 -7.79378178e-04 9.99330818e-01 2.77816213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.199254154 meters Centerline goodness : 0.999561 with order 1 Centerline is valid? [True, True] Translation: X:760.58, Y:43.23, Z:27.79 [[ 9.95154667e-01 -9.12970771e-02 -3.64970112e-02 7.60584419e+02] [ 9.12694587e-02 9.95823279e-01 -2.42559033e-03 4.32255552e+01] [ 3.65660227e-02 -9.17224925e-04 9.99330818e-01 2.77867853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.259254154 meters Centerline goodness : 0.999540 with order 1 Centerline is valid? [True, True] Translation: X:760.64, Y:43.23, Z:27.79 [[ 9.94879789e-01 -9.42452882e-02 -3.64970112e-02 7.60644951e+02] [ 9.42196511e-02 9.95548479e-01 -2.42559033e-03 4.32280108e+01] [ 3.65631444e-02 -1.02556487e-03 9.99330818e-01 2.77898344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.319254154 meters Centerline goodness : 0.999331 with order 1 Centerline is valid? [True, True] Translation: X:760.71, Y:43.23, Z:27.79 [[ 9.94601492e-01 -9.71382514e-02 -3.64970112e-02 7.60706358e+02] [ 9.71145591e-02 9.95270254e-01 -2.42559032e-03 4.32298323e+01] [ 3.65600072e-02 -1.13189539e-03 9.99330818e-01 2.77901473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.379254154 meters Centerline goodness : 0.999416 with order 1 Centerline is valid? [True, True] Translation: X:760.77, Y:43.23, Z:27.79 [[ 9.93544083e-01 -1.07415626e-01 -3.64971002e-02 7.60766576e+02] [ 1.07398898e-01 9.94213056e-01 -2.42425021e-03 4.32304608e+01] [ 3.65462959e-02 -1.51114887e-03 9.99330818e-01 2.77930347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.439254154 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:760.83, Y:43.23, Z:27.79 [[ 9.92581835e-01 -1.15970911e-01 -3.64972463e-02 7.60827407e+02] [ 1.15960028e-01 9.93250928e-01 -2.42204871e-03 4.32336288e+01] [ 3.65318110e-02 -1.82814014e-03 9.99330818e-01 2.77944949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.499254154 meters Centerline goodness : 0.999149 with order 1 Centerline is valid? [True, True] Translation: X:760.89, Y:43.24, Z:27.79 [[ 9.92077560e-01 -1.20208402e-01 -3.64973329e-02 7.60888700e+02] [ 1.20200424e-01 9.92746694e-01 -2.42074323e-03 4.32371433e+01] [ 3.65236003e-02 -1.98542985e-03 9.99330818e-01 2.77949854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.559254154 meters Centerline goodness : 0.999146 with order 1 Centerline is valid? [True, True] Translation: X:760.95, Y:43.24, Z:27.80 [[ 9.91665351e-01 -1.23562816e-01 -3.64974188e-02 7.60949718e+02] [ 1.23557149e-01 9.92334509e-01 -2.41944713e-03 4.32420167e+01] [ 3.65166019e-02 -2.11023511e-03 9.99330818e-01 2.77968233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.619254154 meters Centerline goodness : 0.999562 with order 1 Centerline is valid? [True, True] Translation: X:761.01, Y:43.25, Z:27.80 [[ 9.91777486e-01 -1.22659493e-01 -3.64975036e-02 7.61010170e+02] [ 1.22653263e-01 9.92446638e-01 -2.41816784e-03 4.32484463e+01] [ 3.65184360e-02 -2.07825347e-03 9.99330818e-01 2.78020271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.679254154 meters Centerline goodness : 0.999291 with order 1 Centerline is valid? [True, True] Translation: X:761.07, Y:43.26, Z:27.80 [[ 9.92055288e-01 -1.20391974e-01 -3.64976406e-02 7.61072130e+02] [ 1.20384290e-01 9.92724426e-01 -2.41609797e-03 4.32553261e+01] [ 3.65229781e-02 -1.99683979e-03 9.99330818e-01 2.78042840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.739254154 meters Centerline goodness : 0.999645 with order 1 Centerline is valid? [True, True] Translation: X:761.13, Y:43.26, Z:27.81 [[ 9.92247842e-01 -1.18794479e-01 -3.64978290e-02 7.61133194e+02] [ 1.18785822e-01 9.92916968e-01 -2.41324812e-03 4.32611578e+01] [ 3.65259943e-02 -1.94088440e-03 9.99330818e-01 2.78061820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.799254154 meters Centerline goodness : 0.999062 with order 1 Centerline is valid? [True, True] Translation: X:761.20, Y:43.27, Z:27.81 [[ 9.92365342e-01 -1.17808854e-01 -3.64979623e-02 7.61195305e+02] [ 1.17799607e-01 9.93034460e-01 -2.41123082e-03 4.32696090e+01] [ 3.65277986e-02 -1.90662371e-03 9.99330818e-01 2.78089680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.8592541539999 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:761.26, Y:43.28, Z:27.81 [[ 9.92541982e-01 -1.16311224e-01 -3.64981371e-02 7.61257243e+02] [ 1.16301063e-01 9.93211086e-01 -2.40858197e-03 4.32780157e+01] [ 3.65304995e-02 -1.85415344e-03 9.99330818e-01 2.78126994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.919254154 meters Centerline goodness : 0.998895 with order 1 Centerline is valid? [True, True] Translation: X:761.32, Y:43.29, Z:27.82 [[ 9.93094788e-01 -1.11492666e-01 -3.64983104e-02 7.61319129e+02] [ 1.11479354e-01 9.93763838e-01 -2.40595271e-03 4.32873469e+01] [ 3.65389471e-02 -1.67946899e-03 9.99330818e-01 2.78152495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.9792541539999 meters Centerline goodness : 0.999185 with order 1 Centerline is valid? [True, True] Translation: X:761.38, Y:43.30, Z:27.82 [[ 9.93688943e-01 -1.06066700e-01 -3.64984844e-02 7.61380933e+02] [ 1.06049831e-01 9.94357912e-01 -2.40331144e-03 4.32958013e+01] [ 3.65474680e-02 -1.48251411e-03 9.99330818e-01 2.78180728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.039254154 meters Centerline goodness : 0.998892 with order 1 Centerline is valid? [True, True] Translation: X:761.44, Y:43.31, Z:27.82 [[ 9.94573228e-01 -9.74266029e-02 -3.64986567e-02 7.61442216e+02] [ 9.74040173e-02 9.95242028e-01 -2.40069186e-03 4.33058105e+01] [ 3.65588883e-02 -1.16745193e-03 9.99330818e-01 2.78203487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.0992541539999 meters Centerline goodness : 0.999078 with order 1 Centerline is valid? [True, True] Translation: X:761.50, Y:43.31, Z:27.82 [[ 9.95164046e-01 -9.11940592e-02 -3.64988259e-02 7.61504015e+02] [ 9.11673786e-02 9.95832696e-01 -2.39811571e-03 4.33133673e+01] [ 3.65654181e-02 -9.40983752e-04 9.99330818e-01 2.78226104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.159254154 meters Centerline goodness : 0.998996 with order 1 Centerline is valid? [True, True] Translation: X:761.56, Y:43.32, Z:27.82 [[ 9.95366384e-01 -8.89583303e-02 -3.64990032e-02 7.61564710e+02] [ 8.89302468e-02 9.96034976e-01 -2.39541470e-03 4.33192974e+01] [ 3.65673759e-02 -8.61550092e-04 9.99330818e-01 2.78242806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.2192541539999 meters Centerline goodness : 0.998908 with order 1 Centerline is valid? [True, True] Translation: X:761.63, Y:43.33, Z:27.83 [[ 9.95390495e-01 -8.86880947e-02 -3.64990900e-02 7.61625716e+02] [ 8.86598781e-02 9.96059082e-01 -2.39409178e-03 4.33252954e+01] [ 3.65675775e-02 -8.52948665e-04 9.99330818e-01 2.78258360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.279254154 meters Centerline goodness : 0.999033 with order 1 Centerline is valid? [True, True] Translation: X:761.69, Y:43.33, Z:27.83 [[ 9.95247587e-01 -9.02776313e-02 -3.64991755e-02 7.61686495e+02] [ 9.02505304e-02 9.95916220e-01 -2.39278636e-03 4.33300973e+01] [ 3.65661360e-02 -9.12655102e-04 9.99330818e-01 2.78274008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.339254154 meters Centerline goodness : 0.998973 with order 1 Centerline is valid? [True, True] Translation: X:761.75, Y:43.34, Z:27.83 [[ 9.94924193e-01 -9.37744712e-02 -3.64993024e-02 7.61746413e+02] [ 9.37497910e-02 9.95592919e-01 -2.39085046e-03 4.33351445e+01] [ 3.65626477e-02 -1.04308700e-03 9.99330818e-01 2.78300420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.399254154 meters Centerline goodness : 0.998929 with order 1 Centerline is valid? [True, True] Translation: X:761.81, Y:43.34, Z:27.83 [[ 9.94521952e-01 -9.79483798e-02 -3.64993436e-02 7.61807227e+02] [ 9.79265289e-02 9.95190777e-01 -2.39021996e-03 4.33396809e+01] [ 3.65579283e-02 -1.19712781e-03 9.99330818e-01 2.78306410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.459254154 meters Centerline goodness : 0.999054 with order 1 Centerline is valid? [True, True] Translation: X:761.87, Y:43.34, Z:27.83 [[ 9.94281769e-01 -1.00357137e-01 -3.64994248e-02 7.61869599e+02] [ 1.00336951e-01 9.94950647e-01 -2.38897930e-03 4.33434876e+01] [ 3.65548775e-02 -1.28692246e-03 9.99330818e-01 2.78325803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.519254154 meters Centerline goodness : 0.999391 with order 1 Centerline is valid? [True, True] Translation: X:761.93, Y:43.35, Z:27.84 [[ 9.93968901e-01 -1.03409882e-01 -3.64995860e-02 7.61930873e+02] [ 1.03391841e-01 9.94637839e-01 -2.38651495e-03 4.33484613e+01] [ 3.65506586e-02 -1.40163776e-03 9.99330818e-01 2.78372864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.579254154 meters Centerline goodness : 0.999349 with order 1 Centerline is valid? [True, True] Translation: X:761.99, Y:43.35, Z:27.84 [[ 9.93888805e-01 -1.04176843e-01 -3.64997052e-02 7.61992241e+02] [ 1.04159385e-01 9.94557759e-01 -2.38469078e-03 4.33535123e+01] [ 3.65494945e-02 -1.43166939e-03 9.99330818e-01 2.78397230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.639254154 meters Centerline goodness : 0.999243 with order 1 Centerline is valid? [True, True] Translation: X:762.05, Y:43.36, Z:27.84 [[ 9.94067237e-01 -1.02460205e-01 -3.64997827e-02 7.62053250e+02] [ 1.02441636e-01 9.94736161e-01 -2.38350309e-03 4.33573081e+01] [ 3.65518680e-02 -1.36973512e-03 9.99330818e-01 2.78384564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.699254154 meters Centerline goodness : 0.999348 with order 1 Centerline is valid? [True, True] Translation: X:762.11, Y:43.36, Z:27.85 [[ 9.94254478e-01 -1.00626990e-01 -3.64998979e-02 7.62114731e+02] [ 1.00607252e-01 9.94923368e-01 -2.38173864e-03 4.33629216e+01] [ 3.65542685e-02 -1.30410012e-03 9.99330818e-01 2.78461343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.759254154 meters Centerline goodness : 0.999537 with order 1 Centerline is valid? [True, True] Translation: X:762.18, Y:43.37, Z:27.85 [[ 9.94534852e-01 -9.78170410e-02 -3.65000641e-02 7.62176241e+02] [ 9.77955063e-02 9.95203687e-01 -2.37918883e-03 4.33676985e+01] [ 3.65577235e-02 -1.20335604e-03 9.99330818e-01 2.78489399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.819254154 meters Centerline goodness : 0.998988 with order 1 Centerline is valid? [True, True] Translation: X:762.24, Y:43.37, Z:27.85 [[ 9.94674774e-01 -9.63837467e-02 -3.65002368e-02 7.62238154e+02] [ 9.63613453e-02 9.95343580e-01 -2.37653643e-03 4.33727225e+01] [ 3.65593358e-02 -1.15333108e-03 9.99330818e-01 2.78513986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.879254154 meters Centerline goodness : 0.999367 with order 1 Centerline is valid? [True, True] Translation: X:762.30, Y:43.38, Z:27.85 [[ 9.94835099e-01 -9.47145500e-02 -3.65004094e-02 7.62299729e+02] [ 9.46911238e-02 9.95503870e-01 -2.37388148e-03 4.33783188e+01] [ 3.65611400e-02 -1.09464417e-03 9.99330818e-01 2.78539949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.939254154 meters Centerline goodness : 0.999662 with order 1 Centerline is valid? [True, True] Translation: X:762.36, Y:43.38, Z:27.85 [[ 9.94957065e-01 -9.34245535e-02 -3.65005792e-02 7.62360780e+02] [ 9.34003558e-02 9.95625809e-01 -2.37126892e-03 4.33833701e+01] [ 3.65624534e-02 -1.04985632e-03 9.99330819e-01 2.78540696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.999254154 meters Centerline goodness : 0.999283 with order 1 Centerline is valid? [True, True] Translation: X:762.42, Y:43.39, Z:27.86 [[ 9.94613237e-01 -9.70165242e-02 -3.65007141e-02 7.62421737e+02] [ 9.69948177e-02 9.95282067e-01 -2.36919009e-03 4.33877163e+01] [ 3.65583567e-02 -1.18395228e-03 9.99330819e-01 2.78599436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.059254154 meters Centerline goodness : 0.999304 with order 1 Centerline is valid? [True, True] Translation: X:762.48, Y:43.39, Z:27.86 [[ 9.94155552e-01 -1.01599356e-01 -3.65008045e-02 7.62484094e+02] [ 1.01580783e-01 9.94824476e-01 -2.36779557e-03 4.33915710e+01] [ 3.65524603e-02 -1.35382320e-03 9.99330819e-01 2.78633475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.119254154 meters Centerline goodness : 0.999600 with order 1 Centerline is valid? [True, True] Translation: X:762.55, Y:43.40, Z:27.87 [[ 9.93754401e-01 -1.05450793e-01 -3.65009725e-02 7.62546036e+02] [ 1.05434907e-01 9.94423394e-01 -2.36520395e-03 4.33956685e+01] [ 3.65468336e-02 -1.49804482e-03 9.99330819e-01 2.78659572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.179254154 meters Centerline goodness : 0.999410 with order 1 Centerline is valid? [True, True] Translation: X:762.61, Y:43.40, Z:27.87 [[ 9.93375861e-01 -1.08959008e-01 -3.65011416e-02 7.62607955e+02] [ 1.08945581e-01 9.94044908e-01 -2.36259135e-03 4.33996296e+01] [ 3.65411995e-02 -1.62969684e-03 9.99330819e-01 2.78678748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.239254154 meters Centerline goodness : 0.999328 with order 1 Centerline is valid? [True, True] Translation: X:762.67, Y:43.40, Z:27.87 [[ 9.92855917e-01 -1.13599220e-01 -3.65013128e-02 7.62671086e+02] [ 1.13589015e-01 9.93525020e-01 -2.35994339e-03 4.34035732e+01] [ 3.65330553e-02 -1.80306442e-03 9.99330819e-01 2.78710292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.299254154 meters Centerline goodness : 0.999496 with order 1 Centerline is valid? [True, True] Translation: X:762.73, Y:43.41, Z:27.87 [[ 9.92685064e-01 -1.15082577e-01 -3.65015770e-02 7.62732699e+02] [ 1.15073522e-01 9.93354184e-01 -2.35584991e-03 4.34082491e+01] [ 3.65301115e-02 -1.86174802e-03 9.99330819e-01 2.78744639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.3592541539999 meters Centerline goodness : 0.999076 with order 1 Centerline is valid? [True, True] Translation: X:762.80, Y:43.41, Z:27.88 [[ 9.92719599e-01 -1.14784231e-01 -3.65017552e-02 7.62795329e+02] [ 1.14775077e-01 9.93388718e-01 -2.35308592e-03 4.34139227e+01] [ 3.65305289e-02 -1.85353725e-03 9.99330819e-01 2.78759582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.419254154 meters Centerline goodness : 0.999014 with order 1 Centerline is valid? [True, True] Translation: X:762.86, Y:43.42, Z:27.88 [[ 9.93046656e-01 -1.11919355e-01 -3.65020193e-02 7.62856523e+02] [ 1.11908420e-01 9.93715748e-01 -2.34898117e-03 4.34196727e+01] [ 3.65355279e-02 -1.75223542e-03 9.99330819e-01 2.78761652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.4792541539999 meters Centerline goodness : 0.998675 with order 1 Centerline is valid? [True, True] Translation: X:762.92, Y:43.43, Z:27.88 [[ 9.93821249e-01 -1.04818499e-01 -3.65021488e-02 7.62917834e+02] [ 1.04802856e-01 9.94490248e-01 -2.34696734e-03 4.34269771e+01] [ 3.65470366e-02 -1.49306343e-03 9.99330819e-01 2.78787097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.539254154 meters Centerline goodness : 0.998928 with order 1 Centerline is valid? [True, True] Translation: X:762.98, Y:43.43, Z:27.88 [[ 9.94472653e-01 -9.84465476e-02 -3.65023231e-02 7.62978345e+02] [ 9.84267169e-02 9.95141541e-01 -2.34425311e-03 4.34335706e+01] [ 3.65557617e-02 -1.26150821e-03 9.99330819e-01 2.78814043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.5992541539999 meters Centerline goodness : 0.998650 with order 1 Centerline is valid? [True, True] Translation: X:763.04, Y:43.44, Z:27.89 [[ 9.95375195e-01 -8.88582655e-02 -3.65024516e-02 7.63040375e+02] [ 8.88320632e-02 9.96043864e-01 -2.34225052e-03 4.34402265e+01] [ 3.65661713e-02 -9.11170019e-04 9.99330819e-01 2.78851826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.659254154 meters Centerline goodness : 0.998711 with order 1 Centerline is valid? [True, True] Translation: X:763.10, Y:43.45, Z:27.89 [[ 9.95976270e-01 -8.18463649e-02 -3.65026236e-02 7.63101779e+02] [ 8.18155526e-02 9.96644742e-01 -2.33956674e-03 4.34460457e+01] [ 3.65716329e-02 -6.56329369e-04 9.99330819e-01 2.78882845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.7192541539999 meters Centerline goodness : 0.999026 with order 1 Centerline is valid? [True, True] Translation: X:763.16, Y:43.45, Z:27.89 [[ 9.96338021e-01 -7.73181317e-02 -3.65027935e-02 7.63163946e+02] [ 7.72843783e-02 9.97006351e-01 -2.33691274e-03 4.34511446e+01] [ 3.65742027e-02 -4.92740691e-04 9.99330819e-01 2.78902558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.779254154 meters Centerline goodness : 0.998792 with order 1 Centerline is valid? [True, True] Translation: X:763.23, Y:43.46, Z:27.89 [[ 9.96552122e-01 -7.45077338e-02 -3.65029604e-02 7.63225194e+02] [ 7.44721911e-02 9.97220359e-01 -2.33430329e-03 4.34551589e+01] [ 3.65754189e-02 -3.92200544e-04 9.99330819e-01 2.78909158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.839254154 meters Centerline goodness : 0.998814 with order 1 Centerline is valid? [True, True] Translation: X:763.29, Y:43.46, Z:27.89 [[ 9.96645219e-01 -7.32518676e-02 -3.65030421e-02 7.63286046e+02] [ 7.32155297e-02 9.97313413e-01 -2.33302434e-03 4.34587060e+01] [ 3.65758719e-02 -3.47392015e-04 9.99330819e-01 2.78940470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.899254154 meters Centerline goodness : 0.998731 with order 1 Centerline is valid? [True, True] Translation: X:763.35, Y:43.46, Z:27.90 [[ 9.96674440e-01 -7.28531581e-02 -3.65031264e-02 7.63347564e+02] [ 7.28166011e-02 9.97342622e-01 -2.33170548e-03 4.34609935e+01] [ 3.65759959e-02 -3.34082342e-04 9.99330819e-01 2.78965025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.959254154 meters Centerline goodness : 0.998943 with order 1 Centerline is valid? [True, True] Translation: X:763.41, Y:43.46, Z:27.90 [[ 9.96624338e-01 -7.35353330e-02 -3.65032106e-02 7.63408882e+02] [ 7.34992817e-02 9.97292547e-01 -2.33038606e-03 4.34624900e+01] [ 3.65757456e-02 -3.60440298e-04 9.99330819e-01 2.78998084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.019254154 meters Centerline goodness : 0.998858 with order 1 Centerline is valid? [True, True] Translation: X:763.47, Y:43.46, Z:27.90 [[ 9.96412913e-01 -7.63466860e-02 -3.65032960e-02 7.63468937e+02] [ 7.63125690e-02 9.97081224e-01 -2.32904746e-03 4.34637148e+01] [ 3.65745661e-02 -4.64967336e-04 9.99330819e-01 2.79003054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.079254154 meters Centerline goodness : 0.998926 with order 1 Centerline is valid? [True, True] Translation: X:763.53, Y:43.46, Z:27.90 [[ 9.96018867e-01 -8.13260328e-02 -3.65033381e-02 7.63530168e+02] [ 8.12952808e-02 9.96687341e-01 -2.32838757e-03 4.34633501e+01] [ 3.65717735e-02 -6.48431179e-04 9.99330819e-01 2.79021247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.139254154 meters Centerline goodness : 0.998735 with order 1 Centerline is valid? [True, True] Translation: X:763.59, Y:43.46, Z:27.90 [[ 9.95449015e-01 -8.80270306e-02 -3.65034238e-02 7.63591178e+02] [ 8.80008272e-02 9.96117683e-01 -2.32704332e-03 4.34634385e+01] [ 3.65665487e-02 -8.95878514e-04 9.99330819e-01 2.79029058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.199254154 meters Centerline goodness : 0.998841 with order 1 Centerline is valid? [True, True] Translation: X:763.65, Y:43.46, Z:27.91 [[ 9.94707833e-01 -9.60407283e-02 -3.65035110e-02 7.63653020e+02] [ 9.60199608e-02 9.95376692e-01 -2.32567539e-03 4.34634500e+01] [ 3.65581035e-02 -1.19169816e-03 9.99330819e-01 2.79057954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.259254154 meters Centerline goodness : 0.998926 with order 1 Centerline is valid? [True, True] Translation: X:763.72, Y:43.47, Z:27.91 [[ 9.94371075e-01 -9.94668099e-02 -3.65036845e-02 7.63715379e+02] [ 9.94484466e-02 9.95040004e-01 -2.32294795e-03 4.34651796e+01] [ 3.65536826e-02 -1.32036247e-03 9.99330819e-01 2.79074580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.319254154 meters Centerline goodness : 0.998948 with order 1 Centerline is valid? [True, True] Translation: X:763.78, Y:43.47, Z:27.91 [[ 9.94160178e-01 -1.01552987e-01 -3.65038582e-02 7.63776059e+02] [ 1.01536128e-01 9.94829147e-01 -2.32021571e-03 4.34673529e+01] [ 3.65507269e-02 -1.39979434e-03 9.99330819e-01 2.79089633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.379254154 meters Centerline goodness : 0.999120 with order 1 Centerline is valid? [True, True] Translation: X:763.84, Y:43.47, Z:27.91 [[ 9.94148422e-01 -1.01667964e-01 -3.65039863e-02 7.63838200e+02] [ 1.01651255e-01 9.94817394e-01 -2.31819786e-03 4.34710737e+01] [ 3.65504870e-02 -1.40604330e-03 9.99330819e-01 2.79116671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.439254154 meters Centerline goodness : 0.998929 with order 1 Centerline is valid? [True, True] Translation: X:763.90, Y:43.47, Z:27.91 [[ 9.94118430e-01 -1.01960746e-01 -3.65041577e-02 7.63900151e+02] [ 1.01944334e-01 9.94787410e-01 -2.31549647e-03 4.34747700e+01] [ 3.65499662e-02 -1.41951432e-03 9.99330819e-01 2.79120836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.499254154 meters Centerline goodness : 0.998886 with order 1 Centerline is valid? [True, True] Translation: X:763.96, Y:43.48, Z:27.92 [[ 9.93943235e-01 -1.03654619e-01 -3.65043269e-02 7.63961066e+02] [ 1.03639445e-01 9.94612244e-01 -2.31282526e-03 4.34793083e+01] [ 3.65473856e-02 -1.48447117e-03 9.99330819e-01 2.79163064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.559254154 meters Centerline goodness : 0.998992 with order 1 Centerline is valid? [True, True] Translation: X:764.02, Y:43.48, Z:27.92 [[ 9.93918998e-01 -1.03886722e-01 -3.65044518e-02 7.64023512e+02] [ 1.03871776e-01 9.94588012e-01 -2.31085285e-03 4.34835063e+01] [ 3.65469571e-02 -1.49498170e-03 9.99330819e-01 2.79184116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.619254154 meters Centerline goodness : 0.998931 with order 1 Centerline is valid? [True, True] Translation: X:764.09, Y:43.49, Z:27.92 [[ 9.94123210e-01 -1.01913968e-01 -3.65046160e-02 7.64085679e+02] [ 1.01897790e-01 9.94792196e-01 -2.30825528e-03 4.34885252e+01] [ 3.65497506e-02 -1.42504954e-03 9.99330819e-01 2.79197632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.679254154 meters Centerline goodness : 0.999034 with order 1 Centerline is valid? [True, True] Translation: X:764.15, Y:43.50, Z:27.92 [[ 9.94604152e-01 -9.71080988e-02 -3.65047784e-02 7.64146245e+02] [ 9.70887819e-02 9.95273054e-01 -2.30568430e-03 4.34951964e+01] [ 3.65561229e-02 -1.25096130e-03 9.99330819e-01 2.79227176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.739254154 meters Centerline goodness : 0.998866 with order 1 Centerline is valid? [True, True] Translation: X:764.21, Y:43.50, Z:27.93 [[ 9.95208571e-01 -9.07044259e-02 -3.65048982e-02 7.64207784e+02] [ 9.06808736e-02 9.95877338e-01 -2.30378576e-03 4.35010344e+01] [ 3.65633644e-02 -1.01754873e-03 9.99330819e-01 2.79279532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.799254154 meters Centerline goodness : 0.998781 with order 1 Centerline is valid? [True, True] Translation: X:764.27, Y:43.51, Z:27.93 [[ 9.95743513e-01 -8.46299939e-02 -3.65050690e-02 7.64268512e+02] [ 8.46024606e-02 9.96412128e-01 -2.30107752e-03 4.35066124e+01] [ 3.65688336e-02 -7.97135639e-04 9.99330819e-01 2.79274708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.8592541539999 meters Centerline goodness : 0.998802 with order 1 Centerline is valid? [True, True] Translation: X:764.33, Y:43.51, Z:27.93 [[ 9.96006086e-01 -8.14815714e-02 -3.65051947e-02 7.64329946e+02] [ 8.14519976e-02 9.96674614e-01 -2.29908121e-03 4.35120660e+01] [ 3.65711336e-02 -6.83522153e-04 9.99330819e-01 2.79326598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.919254154 meters Centerline goodness : 0.998739 with order 1 Centerline is valid? [True, True] Translation: X:764.39, Y:43.52, Z:27.94 [[ 9.96317989e-01 -7.75746341e-02 -3.65053622e-02 7.64390397e+02] [ 7.75425361e-02 9.96986400e-01 -2.29641820e-03 4.35185858e+01] [ 3.65734934e-02 -5.42755600e-04 9.99330819e-01 2.79357980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.9792541539999 meters Centerline goodness : 0.998781 with order 1 Centerline is valid? [True, True] Translation: X:764.45, Y:43.52, Z:27.94 [[ 9.96271786e-01 -7.81657043e-02 -3.65054858e-02 7.64451960e+02] [ 7.81340749e-02 9.96940220e-01 -2.29445114e-03 4.35219851e+01] [ 3.65731345e-02 -5.66425426e-04 9.99330819e-01 2.79363178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.039254154 meters Centerline goodness : 0.998802 with order 1 Centerline is valid? [True, True] Translation: X:764.51, Y:43.53, Z:27.94 [[ 9.95818131e-01 -8.37472025e-02 -3.65055666e-02 7.64513035e+02] [ 8.37193664e-02 9.96486733e-01 -2.29316522e-03 4.35256278e+01] [ 3.65693590e-02 -7.72647403e-04 9.99330819e-01 2.79413853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.0992541539999 meters Centerline goodness : 0.998655 with order 1 Centerline is valid? [True, True] Translation: X:764.57, Y:43.53, Z:27.94 [[ 9.95429163e-01 -8.82503153e-02 -3.65056495e-02 7.64574067e+02] [ 8.82255518e-02 9.96097886e-01 -2.29184571e-03 4.35282215e+01] [ 3.65654564e-02 -9.39361008e-04 9.99330819e-01 2.79425421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.159254154 meters Centerline goodness : 0.998780 with order 1 Centerline is valid? [True, True] Translation: X:764.64, Y:43.53, Z:27.94 [[ 9.95031519e-01 -9.26261559e-02 -3.65057723e-02 7.64636113e+02] [ 9.26044047e-02 9.95700347e-01 -2.28988751e-03 4.35304874e+01] [ 3.65609136e-02 -1.10208506e-03 9.99330819e-01 2.79427665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.2192541539999 meters Centerline goodness : 0.998908 with order 1 Centerline is valid? [True, True] Translation: X:764.70, Y:43.53, Z:27.95 [[ 9.94401822e-01 -9.91581268e-02 -3.65059336e-02 7.64696890e+02] [ 9.91408623e-02 9.95070780e-01 -2.28731326e-03 4.35331402e+01] [ 3.65527935e-02 -1.34472126e-03 9.99330819e-01 2.79460559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.279254154 meters Centerline goodness : 0.998971 with order 1 Centerline is valid? [True, True] Translation: X:764.76, Y:43.54, Z:27.95 [[ 9.93589076e-01 -1.06995590e-01 -3.65060528e-02 7.64758796e+02] [ 1.06983670e-01 9.94258151e-01 -2.28540807e-03 4.35361680e+01] [ 3.65409692e-02 -1.63479503e-03 9.99330819e-01 2.79485754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.339254154 meters Centerline goodness : 0.998950 with order 1 Centerline is valid? [True, True] Translation: X:764.82, Y:43.54, Z:27.95 [[ 9.93445975e-01 -1.08316164e-01 -3.65062160e-02 7.64820611e+02] [ 1.08305229e-01 9.94115067e-01 -2.28279868e-03 4.35395439e+01] [ 3.65386434e-02 -1.68597694e-03 9.99330819e-01 2.79500529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.399254154 meters Centerline goodness : 0.998655 with order 1 Centerline is valid? [True, True] Translation: X:764.88, Y:43.54, Z:27.95 [[ 9.92853499e-01 -1.13618720e-01 -3.65063864e-02 7.64881410e+02] [ 1.13611458e-01 9.93522641e-01 -2.28007134e-03 4.35441897e+01] [ 3.65289802e-02 -1.88376697e-03 9.99330819e-01 2.79511539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.459254154 meters Centerline goodness : 0.998846 with order 1 Centerline is valid? [True, True] Translation: X:764.94, Y:43.55, Z:27.95 [[ 9.92784925e-01 -1.14216316e-01 -3.65065122e-02 7.64944701e+02] [ 1.14209530e-01 9.93454072e-01 -2.27805531e-03 4.35494004e+01] [ 3.65277343e-02 -1.90777263e-03 9.99330819e-01 2.79531616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.519254154 meters Centerline goodness : 0.998844 with order 1 Centerline is valid? [True, True] Translation: X:765.01, Y:43.56, Z:27.96 [[ 9.92953860e-01 -1.12738140e-01 -3.65067676e-02 7.65005571e+02] [ 1.12730509e-01 9.93622998e-01 -2.27395361e-03 4.35582348e+01] [ 3.65303252e-02 -1.85749550e-03 9.99330819e-01 2.79550664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.579254154 meters Centerline goodness : 0.998838 with order 1 Centerline is valid? [True, True] Translation: X:765.07, Y:43.57, Z:27.96 [[ 9.93182297e-01 -1.10707594e-01 -3.65068930e-02 7.65067663e+02] [ 1.10698669e-01 9.93851419e-01 -2.27193865e-03 4.35667764e+01] [ 3.65339483e-02 -1.78481522e-03 9.99330819e-01 2.79589698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.639254154 meters Centerline goodness : 0.998731 with order 1 Centerline is valid? [True, True] Translation: X:765.13, Y:43.57, Z:27.96 [[ 9.93283153e-01 -1.09798968e-01 -3.65070560e-02 7.65129260e+02] [ 1.09789527e-01 9.93952267e-01 -2.26931709e-03 4.35736728e+01] [ 3.65354398e-02 -1.75401797e-03 9.99330819e-01 2.79622905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.699254154 meters Centerline goodness : 0.998729 with order 1 Centerline is valid? [True, True] Translation: X:765.19, Y:43.58, Z:27.97 [[ 9.93293968e-01 -1.09701031e-01 -3.65072204e-02 7.65190622e+02] [ 1.09691620e-01 9.93963083e-01 -2.26666899e-03 4.35816393e+01] [ 3.65354853e-02 -1.75306753e-03 9.99330819e-01 2.79652875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.759254154 meters Centerline goodness : 0.998728 with order 1 Centerline is valid? [True, True] Translation: X:765.25, Y:43.59, Z:27.97 [[ 9.93340540e-01 -1.09278467e-01 -3.65073873e-02 7.65252572e+02] [ 1.09268870e-01 9.94009652e-01 -2.26397846e-03 4.35880180e+01] [ 3.65360994e-02 -1.74021938e-03 9.99330819e-01 2.79664987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.819254154 meters Centerline goodness : 0.998938 with order 1 Centerline is valid? [True, True] Translation: X:765.31, Y:43.60, Z:27.97 [[ 9.93339615e-01 -1.09286812e-01 -3.65075528e-02 7.65313113e+02] [ 1.09277320e-01 9.94008729e-01 -2.26130672e-03 4.35962024e+01] [ 3.65359571e-02 -1.74320198e-03 9.99330819e-01 2.79680980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.879254154 meters Centerline goodness : 0.998873 with order 1 Centerline is valid? [True, True] Translation: X:765.37, Y:43.60, Z:27.97 [[ 9.93529118e-01 -1.07550370e-01 -3.65076750e-02 7.65374587e+02] [ 1.07539780e-01 9.94198215e-01 -2.25933225e-03 4.36048762e+01] [ 3.65388573e-02 -1.68131497e-03 9.99330819e-01 2.79690219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.939254154 meters Centerline goodness : 0.999044 with order 1 Centerline is valid? [True, True] Translation: X:765.44, Y:43.61, Z:27.97 [[ 9.93440968e-01 -1.08361525e-01 -3.65078391e-02 7.65436643e+02] [ 1.08351579e-01 9.94110076e-01 -2.25667675e-03 4.36134239e+01] [ 3.65373476e-02 -1.71380688e-03 9.99330819e-01 2.79733918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.999254154 meters Centerline goodness : 0.999147 with order 1 Centerline is valid? [True, True] Translation: X:765.50, Y:43.62, Z:27.98 [[ 9.93718468e-01 -1.05786444e-01 -3.65080068e-02 7.65498188e+02] [ 1.05774863e-01 9.94387549e-01 -2.25396061e-03 4.36215720e+01] [ 3.65415459e-02 -1.62182715e-03 9.99330819e-01 2.79758405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.059254154 meters Centerline goodness : 0.999166 with order 1 Centerline is valid? [True, True] Translation: X:765.56, Y:43.63, Z:27.98 [[ 9.94220347e-01 -1.00960659e-01 -3.65081724e-02 7.65559428e+02] [ 1.00945928e-01 9.94889366e-01 -2.25127526e-03 4.36296217e+01] [ 3.65488827e-02 -1.44708768e-03 9.99330819e-01 2.79788324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.119254154 meters Centerline goodness : 0.999550 with order 1 Centerline is valid? [True, True] Translation: X:765.62, Y:43.64, Z:27.98 [[ 9.94766336e-01 -9.54310317e-02 -3.65082983e-02 7.65621205e+02] [ 9.54126565e-02 9.95435265e-01 -2.24923152e-03 4.36367565e+01] [ 3.65562941e-02 -1.24589393e-03 9.99330819e-01 2.79806496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.179254154 meters Centerline goodness : 0.999423 with order 1 Centerline is valid? [True, True] Translation: X:765.68, Y:43.64, Z:27.98 [[ 9.95018956e-01 -9.27599385e-02 -3.65085044e-02 7.65683461e+02] [ 9.27398903e-02 9.95687837e-01 -2.24588117e-03 4.36416650e+01] [ 3.65594016e-02 -1.15110036e-03 9.99330819e-01 2.79809767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.239254154 meters Centerline goodness : 0.999270 with order 1 Centerline is valid? [True, True] Translation: X:765.75, Y:43.65, Z:27.99 [[ 9.95485132e-01 -8.76154576e-02 -3.65086671e-02 7.65745518e+02] [ 8.75920492e-02 9.96153904e-01 -2.24323267e-03 4.36490871e+01] [ 3.65647932e-02 -9.64764194e-04 9.99330819e-01 2.79852753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.299254154 meters Centerline goodness : 0.999248 with order 1 Centerline is valid? [True, True] Translation: X:765.81, Y:43.66, Z:27.99 [[ 9.95953188e-01 -8.21240103e-02 -3.65088319e-02 7.65806641e+02] [ 8.20970124e-02 9.96621824e-01 -2.24054728e-03 4.36550730e+01] [ 3.65695014e-02 -7.65785824e-04 9.99330819e-01 2.79866561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.3592541539999 meters Centerline goodness : 0.999374 with order 1 Centerline is valid? [True, True] Translation: X:765.87, Y:43.66, Z:27.99 [[ 9.96663445e-01 -7.30005080e-02 -3.65089535e-02 7.65868758e+02] [ 7.29674611e-02 9.97331810e-01 -2.23856539e-03 4.36624782e+01] [ 3.65749570e-02 -4.32869347e-04 9.99330819e-01 2.79909692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.419254154 meters Centerline goodness : 0.999309 with order 1 Centerline is valid? [True, True] Translation: X:765.93, Y:43.67, Z:27.99 [[ 9.97084060e-01 -6.70109147e-02 -3.65091160e-02 7.65929263e+02] [ 6.69739497e-02 9.97752219e-01 -2.23591206e-03 4.36668678e+01] [ 3.65768820e-02 -2.15767421e-04 9.99330819e-01 2.79927386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.4792541539999 meters Centerline goodness : 0.999246 with order 1 Centerline is valid? [True, True] Translation: X:765.99, Y:43.67, Z:28.00 [[ 9.97128052e-01 -6.63530510e-02 -3.65091961e-02 7.65991773e+02] [ 6.63156931e-02 9.97796189e-01 -2.23460253e-03 4.36688967e+01] [ 3.65770094e-02 -1.92947782e-04 9.99330819e-01 2.79952314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.539254154 meters Centerline goodness : 0.999268 with order 1 Centerline is valid? [True, True] Translation: X:766.05, Y:43.67, Z:28.00 [[ 9.96960107e-01 -6.88303174e-02 -3.65093599e-02 7.66053097e+02] [ 6.87947179e-02 9.97628340e-01 -2.23192346e-03 4.36698106e+01] [ 3.65763961e-02 -2.86512462e-04 9.99330819e-01 2.79973104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.5992541539999 meters Centerline goodness : 0.999291 with order 1 Centerline is valid? [True, True] Translation: X:766.12, Y:43.67, Z:28.00 [[ 9.96655648e-01 -7.31066156e-02 -3.65094808e-02 7.66115251e+02] [ 7.30739556e-02 9.97324032e-01 -2.22994344e-03 4.36698333e+01] [ 3.65748062e-02 -4.45406455e-04 9.99330819e-01 2.79998119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.659254154 meters Centerline goodness : 0.999186 with order 1 Centerline is valid? [True, True] Translation: X:766.18, Y:43.67, Z:28.00 [[ 9.96308056e-01 -7.77000863e-02 -3.65096470e-02 7.66176156e+02] [ 7.76706074e-02 9.96976588e-01 -2.22721944e-03 4.36705366e+01] [ 3.65723184e-02 -6.16729789e-04 9.99330819e-01 2.80010856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.7192541539999 meters Centerline goodness : 0.999530 with order 1 Centerline is valid? [True, True] Translation: X:766.24, Y:43.67, Z:28.00 [[ 9.95540803e-01 -8.69801468e-02 -3.65097698e-02 7.66238803e+02] [ 8.69569723e-02 9.96209583e-01 -2.22520520e-03 4.36692828e+01] [ 3.65649312e-02 -9.59496471e-04 9.99330819e-01 2.80021358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.779254154 meters Centerline goodness : 0.999063 with order 1 Centerline is valid? [True, True] Translation: X:766.30, Y:43.67, Z:28.00 [[ 9.94721574e-01 -9.58958603e-02 -3.65099314e-02 7.66300549e+02] [ 9.58787758e-02 9.95390537e-01 -2.22254955e-03 4.36677568e+01] [ 3.65547735e-02 -1.28970955e-03 9.99330819e-01 2.80026577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.839254154 meters Centerline goodness : 0.998958 with order 1 Centerline is valid? [True, True] Translation: X:766.36, Y:43.67, Z:28.00 [[ 9.94136148e-01 -1.01785737e-01 -3.65100509e-02 7.66363905e+02] [ 1.01772687e-01 9.94805202e-01 -2.22058576e-03 4.36670656e+01] [ 3.65464125e-02 -1.50816140e-03 9.99330819e-01 2.80036738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.899254154 meters Centerline goodness : 0.998748 with order 1 Centerline is valid? [True, True] Translation: X:766.43, Y:43.67, Z:28.01 [[ 9.93432498e-01 -1.08438322e-01 -3.65102987e-02 7.66425643e+02] [ 1.08429900e-01 9.94101627e-01 -2.21650344e-03 4.36677792e+01] [ 3.65353012e-02 -1.75686150e-03 9.99330819e-01 2.80071791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.959254154 meters Centerline goodness : 0.998877 with order 1 Centerline is valid? [True, True] Translation: X:766.49, Y:43.67, Z:28.01 [[ 9.92601687e-01 -1.15796708e-01 -3.65104621e-02 7.66488744e+02] [ 1.15793344e-01 9.93270860e-01 -2.21380920e-03 4.36682804e+01] [ 3.65211299e-02 -2.03023776e-03 9.99330819e-01 2.80094881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.019254154 meters Centerline goodness : 0.998813 with order 1 Centerline is valid? [True, True] Translation: X:766.55, Y:43.67, Z:28.01 [[ 9.92322292e-01 -1.18166989e-01 -3.65107034e-02 7.66550335e+02] [ 1.18165369e-01 9.92991471e-01 -2.20982108e-03 4.36709125e+01] [ 3.65159450e-02 -2.12144604e-03 9.99330819e-01 2.80099383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.079254154 meters Centerline goodness : 0.998940 with order 1 Centerline is valid? [True, True] Translation: X:766.61, Y:43.67, Z:28.01 [[ 9.91461950e-01 -1.25180496e-01 -3.65109018e-02 7.66613190e+02] [ 1.25183729e-01 9.92131123e-01 -2.20653947e-03 4.36723450e+01] [ 3.64998177e-02 -2.38287089e-03 9.99330819e-01 2.80143716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.139254154 meters Centerline goodness : 0.999004 with order 1 Centerline is valid? [True, True] Translation: X:766.68, Y:43.68, Z:28.02 [[ 9.90949843e-01 -1.29171767e-01 -3.65111416e-02 7.66675826e+02] [ 1.29177839e-01 9.91618997e-01 -2.20256451e-03 4.36751276e+01] [ 3.64896507e-02 -2.53379943e-03 9.99330819e-01 2.80170446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.199254154 meters Centerline goodness : 0.999046 with order 1 Centerline is valid? [True, True] Translation: X:766.74, Y:43.68, Z:28.02 [[ 9.90866040e-01 -1.29812977e-01 -3.65113871e-02 7.66736718e+02] [ 1.29819632e-01 9.91535188e-01 -2.19848610e-03 4.36789423e+01] [ 3.64877172e-02 -2.56148963e-03 9.99330819e-01 2.80176625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.259254154 meters Centerline goodness : 0.999110 with order 1 Centerline is valid? [True, True] Translation: X:766.80, Y:43.68, Z:28.02 [[ 9.91049537e-01 -1.28404538e-01 -3.65115076e-02 7.66798022e+02] [ 1.28410315e-01 9.91718693e-01 -2.19648386e-03 4.36834546e+01] [ 3.64911831e-02 -2.51162989e-03 9.99330819e-01 2.80186589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.319254154 meters Centerline goodness : 0.998961 with order 1 Centerline is valid? [True, True] Translation: X:766.86, Y:43.69, Z:28.02 [[ 9.91567672e-01 -1.24340074e-01 -3.65116209e-02 7.66860409e+02] [ 1.24343177e-01 9.92236846e-01 -2.19459917e-03 4.36892239e+01] [ 3.65010522e-02 -2.36387734e-03 9.99330819e-01 2.80208313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.379254154 meters Centerline goodness : 0.999046 with order 1 Centerline is valid? [True, True] Translation: X:766.92, Y:43.70, Z:28.03 [[ 9.92354861e-01 -1.17892836e-01 -3.65117783e-02 7.66922068e+02] [ 1.17891686e-01 9.93024041e-01 -2.19197617e-03 4.36960955e+01] [ 3.65154920e-02 -2.12921690e-03 9.99330819e-01 2.80252050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.439254154 meters Centerline goodness : 0.998854 with order 1 Centerline is valid? [True, True] Translation: X:766.98, Y:43.70, Z:28.03 [[ 9.93266803e-01 -1.09945148e-01 -3.65119367e-02 7.66983327e+02] [ 1.09938738e-01 9.93935954e-01 -2.18933475e-03 4.37035267e+01] [ 3.65312334e-02 -1.83948272e-03 9.99330819e-01 2.80313329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.499254154 meters Centerline goodness : 0.999021 with order 1 Centerline is valid? [True, True] Translation: X:767.04, Y:43.71, Z:28.03 [[ 9.94316783e-01 -1.00005008e-01 -3.65120997e-02 7.67044031e+02] [ 9.99920054e-02 9.94985838e-01 -2.18661325e-03 4.37094291e+01] [ 3.65476944e-02 -1.47673182e-03 9.99330819e-01 2.80315167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.559254154 meters Centerline goodness : 0.999019 with order 1 Centerline is valid? [True, True] Translation: X:767.11, Y:43.72, Z:28.03 [[ 9.95240422e-01 -9.03513194e-02 -3.65122199e-02 7.67105459e+02] [ 9.03318982e-02 9.95909321e-01 -2.18460537e-03 4.37154193e+01] [ 3.65602421e-02 -1.12401055e-03 9.99330819e-01 2.80344576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.619254154 meters Centerline goodness : 0.999019 with order 1 Centerline is valid? [True, True] Translation: X:767.17, Y:43.72, Z:28.04 [[ 9.96260481e-01 -7.83064544e-02 -3.65123806e-02 7.67167728e+02] [ 7.82790422e-02 9.96929100e-01 -2.18191564e-03 4.37211036e+01] [ 3.65711128e-02 -6.84397855e-04 9.99330819e-01 2.80373992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.679254154 meters Centerline goodness : 0.998932 with order 1 Centerline is valid? [True, True] Translation: X:767.23, Y:43.73, Z:28.04 [[ 9.97271750e-01 -6.41552058e-02 -3.65125423e-02 7.67229073e+02] [ 6.41184035e-02 9.97939919e-01 -2.17920598e-03 4.37266867e+01] [ 3.65771309e-02 -1.67865359e-04 9.99330819e-01 2.80420589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.739254154 meters Centerline goodness : 0.998845 with order 1 Centerline is valid? [True, True] Translation: X:767.29, Y:43.73, Z:28.05 [[ 9.98012124e-01 -5.13675560e-02 -3.65126630e-02 7.67290447e+02] [ 5.13222667e-02 9.98679771e-01 -2.17718107e-03 4.37310398e+01] [ 3.65762944e-02 2.98940477e-04 9.99330819e-01 2.80458191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.799254154 meters Centerline goodness : 0.998995 with order 1 Centerline is valid? [True, True] Translation: X:767.35, Y:43.73, Z:28.05 [[ 9.98296648e-01 -4.55040864e-02 -3.65127448e-02 7.67348576e+02] [ 4.54549261e-02 9.98964021e-01 -2.17580888e-03 4.37332921e+01] [ 3.65739266e-02 5.12418593e-04 9.99330819e-01 2.80467664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.8592541539999 meters Centerline goodness : 0.998954 with order 1 Centerline is valid? [True, True] Translation: X:767.41, Y:43.73, Z:28.05 [[ 9.98263563e-01 -4.62243048e-02 -3.65126243e-02 7.67406262e+02] [ 4.61755522e-02 9.98930966e-01 -2.17782931e-03 4.37337538e+01] [ 3.65742597e-02 4.88057063e-04 9.99330819e-01 2.80501697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.919254154 meters Centerline goodness : 0.998895 with order 1 Centerline is valid? [True, True] Translation: X:767.46, Y:43.73, Z:28.05 [[ 9.97789347e-01 -5.55274318e-02 -3.65119699e-02 7.67464680e+02] [ 5.54845029e-02 9.98457149e-01 -2.18874555e-03 4.37302222e+01] [ 3.65771728e-02 1.58058491e-04 9.99330819e-01 2.80501571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.9792541539999 meters Centerline goodness : 0.998858 with order 1 Centerline is valid? [True, True] Translation: X:767.52, Y:43.73, Z:28.05 [[ 9.96853019e-01 -7.03630320e-02 -3.65116644e-02 7.67523642e+02] [ 7.03298549e-02 9.97521378e-01 -2.19382999e-03 4.37254803e+01] [ 3.65755303e-02 -3.80934015e-04 9.99330819e-01 2.80521244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.039254154 meters Centerline goodness : 0.998649 with order 1 Centerline is valid? [True, True] Translation: X:767.59, Y:43.72, Z:28.05 [[ 9.95865584e-01 -8.31784063e-02 -3.65115193e-02 7.67585835e+02] [ 8.31537397e-02 9.96534311e-01 -2.19624316e-03 4.37199940e+01] [ 3.65676617e-02 -8.48906389e-04 9.99330819e-01 2.80523699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.0992541539999 meters Centerline goodness : 0.998862 with order 1 Centerline is valid? [True, True] Translation: X:767.65, Y:43.72, Z:28.06 [[ 9.95215938e-01 -9.06208561e-02 -3.65115978e-02 7.67647757e+02] [ 9.06012373e-02 9.95884832e-01 -2.19493662e-03 4.37185447e+01] [ 3.65602535e-02 -1.12356004e-03 9.99330819e-01 2.80562034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.159254154 meters Centerline goodness : 0.999077 with order 1 Centerline is valid? [True, True] Translation: X:767.71, Y:43.71, Z:28.06 [[ 9.94331506e-01 -9.98586387e-02 -3.65117587e-02 7.67709045e+02] [ 9.98453303e-02 9.95000555e-01 -2.19225737e-03 4.37148810e+01] [ 3.65481360e-02 -1.46569803e-03 9.99330819e-01 2.80594670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.2192541539999 meters Centerline goodness : 0.998933 with order 1 Centerline is valid? [True, True] Translation: X:767.77, Y:43.71, Z:28.06 [[ 9.93430770e-01 -1.08453619e-01 -3.65118775e-02 7.67770325e+02] [ 1.08446169e-01 9.94099910e-01 -2.19027639e-03 4.37120436e+01] [ 3.65339976e-02 -1.78368530e-03 9.99330819e-01 2.80613809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.279254154 meters Centerline goodness : 0.998703 with order 1 Centerline is valid? [True, True] Translation: X:767.83, Y:43.71, Z:28.06 [[ 9.92577227e-01 -1.16005706e-01 -3.65119899e-02 7.67833188e+02] [ 1.16003415e-01 9.93246404e-01 -2.18840153e-03 4.37100389e+01] [ 3.65192697e-02 -2.06335798e-03 9.99330819e-01 2.80612852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.339254154 meters Centerline goodness : 0.998703 with order 1 Centerline is valid? [True, True] Translation: X:767.90, Y:43.71, Z:28.06 [[ 9.92137476e-01 -1.19708363e-01 -3.65121483e-02 7.67895274e+02] [ 1.19708665e-01 9.92806657e-01 -2.18575562e-03 4.37100517e+01] [ 3.65111571e-02 -2.20225047e-03 9.99330819e-01 2.80618655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.399254154 meters Centerline goodness : 0.998933 with order 1 Centerline is valid? [True, True] Translation: X:767.96, Y:43.71, Z:28.07 [[ 9.92141604e-01 -1.19674096e-01 -3.65123051e-02 7.67957516e+02] [ 1.19674471e-01 9.92810785e-01 -2.18313257e-03 4.37137120e+01] [ 3.65110747e-02 -2.20361415e-03 9.99330819e-01 2.80668501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.459254154 meters Centerline goodness : 0.998995 with order 1 Centerline is valid? [True, True] Translation: X:768.02, Y:43.72, Z:28.07 [[ 9.92651973e-01 -1.15364204e-01 -3.65124692e-02 7.68019379e+02] [ 1.15361774e-01 9.93321150e-01 -2.18038519e-03 4.37181292e+01] [ 3.65201463e-02 -2.04777957e-03 9.99330819e-01 2.80692629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.519254154 meters Centerline goodness : 0.999184 with order 1 Centerline is valid? [True, True] Translation: X:768.08, Y:43.72, Z:28.07 [[ 9.93315286e-01 -1.09506012e-01 -3.65126713e-02 7.68081671e+02] [ 1.09499759e-01 9.93984438e-01 -2.17699501e-03 4.37234034e+01] [ 3.65314211e-02 -1.83568627e-03 9.99330819e-01 2.80727636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.579254154 meters Centerline goodness : 0.999392 with order 1 Centerline is valid? [True, True] Translation: X:768.14, Y:43.73, Z:28.08 [[ 9.94033777e-01 -1.02779681e-01 -3.65128316e-02 7.68143283e+02] [ 1.02768997e-01 9.94702873e-01 -2.17430292e-03 4.37293023e+01] [ 3.65428927e-02 -1.59105653e-03 9.99330819e-01 2.80755324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.639254154 meters Centerline goodness : 0.999287 with order 1 Centerline is valid? [True, True] Translation: X:768.21, Y:43.73, Z:28.08 [[ 9.94535822e-01 -9.78023491e-02 -3.65129890e-02 7.68205007e+02] [ 9.77884125e-02 9.95204858e-01 -2.17165694e-03 4.37338104e+01] [ 3.65502972e-02 -1.41075661e-03 9.99330819e-01 2.80763788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.699254154 meters Centerline goodness : 0.999475 with order 1 Centerline is valid? [True, True] Translation: X:768.27, Y:43.74, Z:28.08 [[ 9.95122732e-01 -9.16380772e-02 -3.65131497e-02 7.68265678e+02] [ 9.16200946e-02 9.95791672e-01 -2.16895107e-03 4.37398301e+01] [ 3.65582489e-02 -1.18696572e-03 9.99330819e-01 2.80792277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.759254154 meters Centerline goodness : 0.999307 with order 1 Centerline is valid? [True, True] Translation: X:768.33, Y:43.75, Z:28.08 [[ 9.95615944e-01 -8.61143039e-02 -3.65132683e-02 7.68327518e+02] [ 8.60926826e-02 9.96284776e-01 -2.16695346e-03 4.37465211e+01] [ 3.65642190e-02 -9.86071804e-04 9.99330819e-01 2.80826426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.819254154 meters Centerline goodness : 0.999453 with order 1 Centerline is valid? [True, True] Translation: X:768.39, Y:43.75, Z:28.08 [[ 9.96116959e-01 -8.01110034e-02 -3.65134246e-02 7.68389535e+02] [ 8.00854472e-02 9.96785652e-01 -2.16431698e-03 4.37529084e+01] [ 3.65694433e-02 -7.68281086e-04 9.99330819e-01 2.80844714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.879254154 meters Centerline goodness : 0.999621 with order 1 Centerline is valid? [True, True] Translation: X:768.45, Y:43.76, Z:28.09 [[ 9.96252839e-01 -7.84030554e-02 -3.65135839e-02 7.68451075e+02] [ 7.83764514e-02 9.96921491e-01 -2.16162600e-03 4.37578549e+01] [ 3.65706546e-02 -7.08279095e-04 9.99330819e-01 2.80886875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.939254154 meters Centerline goodness : 0.999579 with order 1 Centerline is valid? [True, True] Translation: X:768.51, Y:43.76, Z:28.09 [[ 9.96610744e-01 -7.37141200e-02 -3.65137424e-02 7.68513271e+02] [ 7.36844680e-02 9.97279268e-01 -2.15894516e-03 4.37636235e+01] [ 3.65735430e-02 -5.38867740e-04 9.99330819e-01 2.80907695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.999254154 meters Centerline goodness : 0.999452 with order 1 Centerline is valid? [True, True] Translation: X:768.57, Y:43.77, Z:28.09 [[ 9.96706802e-01 -7.24036248e-02 -3.65139045e-02 7.68574829e+02] [ 7.23731943e-02 9.97375291e-01 -2.15620041e-03 4.37676696e+01] [ 3.65741828e-02 -4.93528290e-04 9.99330819e-01 2.80933496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.059254154 meters Centerline goodness : 0.999452 with order 1 Centerline is valid? [True, True] Translation: X:768.63, Y:43.77, Z:28.10 [[ 9.96638229e-01 -7.33414613e-02 -3.65139842e-02 7.68634994e+02] [ 7.33117093e-02 9.97306748e-01 -2.15484875e-03 4.37706671e+01] [ 3.65736826e-02 -5.29297953e-04 9.99330819e-01 2.80969193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.119254154 meters Centerline goodness : 0.999642 with order 1 Centerline is valid? [True, True] Translation: X:768.70, Y:43.77, Z:28.10 [[ 9.96468762e-01 -7.56090826e-02 -3.65140234e-02 7.68696849e+02] [ 7.55808763e-02 9.97137348e-01 -2.15418408e-03 4.37720801e+01] [ 3.65723724e-02 -6.13184743e-04 9.99330819e-01 2.80978092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.179254154 meters Centerline goodness : 0.999412 with order 1 Centerline is valid? [True, True] Translation: X:768.76, Y:43.77, Z:28.10 [[ 9.96267298e-01 -7.82188632e-02 -3.65141023e-02 7.68757584e+02] [ 7.81924572e-02 9.96935958e-01 -2.15284580e-03 4.37747355e+01] [ 3.65706148e-02 -7.10317513e-04 9.99330819e-01 2.80999650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.239254154 meters Centerline goodness : 0.999411 with order 1 Centerline is valid? [True, True] Translation: X:768.82, Y:43.78, Z:28.10 [[ 9.95991144e-01 -8.16600123e-02 -3.65141411e-02 7.68819139e+02] [ 8.16359405e-02 9.96659893e-01 -2.15218781e-03 4.37765505e+01] [ 3.65679277e-02 -8.37306249e-04 9.99330819e-01 2.81016029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.299254154 meters Centerline goodness : 0.999537 with order 1 Centerline is valid? [True, True] Translation: X:768.88, Y:43.78, Z:28.10 [[ 9.95700610e-01 -8.51293577e-02 -3.65142180e-02 7.68881256e+02] [ 8.51076636e-02 9.96369439e-01 -2.15088227e-03 4.37793643e+01] [ 3.65647542e-02 -9.66004996e-04 9.99330819e-01 2.81038719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.3592541539999 meters Centerline goodness : 0.999390 with order 1 Centerline is valid? [True, True] Translation: X:768.94, Y:43.78, Z:28.11 [[ 9.95404083e-01 -8.85291553e-02 -3.65143747e-02 7.68943205e+02] [ 8.85098431e-02 9.96072986e-01 -2.14821861e-03 4.37819227e+01] [ 3.65611622e-02 -1.09353600e-03 9.99330819e-01 2.81062358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.419254154 meters Centerline goodness : 0.999600 with order 1 Centerline is valid? [True, True] Translation: X:769.00, Y:43.78, Z:28.11 [[ 9.95060369e-01 -9.23122488e-02 -3.65145331e-02 7.69004569e+02] [ 9.22955781e-02 9.95729342e-01 -2.14552407e-03 4.37848966e+01] [ 3.65566501e-02 -1.23520397e-03 9.99330819e-01 2.81082531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.4792541539999 meters Centerline goodness : 0.999243 with order 1 Centerline is valid? [True, True] Translation: X:769.07, Y:43.79, Z:28.11 [[ 9.94829935e-01 -9.47632840e-02 -3.65146500e-02 7.69067153e+02] [ 9.47483344e-02 9.95498949e-01 -2.14353278e-03 4.37879436e+01] [ 3.65534239e-02 -1.32725169e-03 9.99330819e-01 2.81087437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.539254154 meters Centerline goodness : 0.999369 with order 1 Centerline is valid? [True, True] Translation: X:769.13, Y:43.79, Z:28.11 [[ 9.94702454e-01 -9.60921259e-02 -3.65148029e-02 7.69128215e+02] [ 9.60781656e-02 9.95371490e-01 -2.14092386e-03 4.37924016e+01] [ 3.65515197e-02 -1.37869306e-03 9.99330819e-01 2.81133791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.5992541539999 meters Centerline goodness : 0.999009 with order 1 Centerline is valid? [True, True] Translation: X:769.19, Y:43.80, Z:28.11 [[ 9.94790918e-01 -9.51718468e-02 -3.65150528e-02 7.69190709e+02] [ 9.51574241e-02 9.95459944e-01 -2.13665286e-03 4.37967831e+01] [ 3.65526216e-02 -1.34915551e-03 9.99330819e-01 2.81125745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.659254154 meters Centerline goodness : 0.999537 with order 1 Centerline is valid? [True, True] Translation: X:769.25, Y:43.80, Z:28.12 [[ 9.94998923e-01 -9.29719448e-02 -3.65152041e-02 7.69252175e+02] [ 9.29561377e-02 9.95667918e-01 -2.13406481e-03 4.38032909e+01] [ 3.65554254e-02 -1.27092015e-03 9.99330819e-01 2.81185158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.7192541539999 meters Centerline goodness : 0.999663 with order 1 Centerline is valid? [True, True] Translation: X:769.31, Y:43.81, Z:28.12 [[ 9.95488503e-01 -8.75743620e-02 -3.65153570e-02 7.69313701e+02] [ 8.75550229e-02 9.96157405e-01 -2.13144485e-03 4.38116114e+01] [ 3.65617032e-02 -1.07527408e-03 9.99330819e-01 2.81217260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.779254154 meters Centerline goodness : 0.999114 with order 1 Centerline is valid? [True, True] Translation: X:769.37, Y:43.82, Z:28.12 [[ 9.96000060e-01 -8.15505782e-02 -3.65155144e-02 7.69374648e+02] [ 8.15272919e-02 9.96668836e-01 -2.12874496e-03 4.38198508e+01] [ 3.65674756e-02 -8.56780889e-04 9.99330819e-01 2.81227601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.839254154 meters Centerline goodness : 0.999069 with order 1 Centerline is valid? [True, True] Translation: X:769.44, Y:43.83, Z:28.13 [[ 9.96233308e-01 -7.86498858e-02 -3.65156304e-02 7.69436609e+02] [ 7.86247251e-02 9.96902016e-01 -2.12675447e-03 4.38266782e+01] [ 3.65697745e-02 -7.52287761e-04 9.99330819e-01 2.81268171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.899254154 meters Centerline goodness : 0.998921 with order 1 Centerline is valid? [True, True] Translation: X:769.50, Y:43.83, Z:28.13 [[ 9.96354247e-01 -7.71026094e-02 -3.65157872e-02 7.69497860e+02] [ 7.70765090e-02 9.97022919e-01 -2.12405720e-03 4.38345727e+01] [ 3.65708471e-02 -6.98195994e-04 9.99330819e-01 2.81304720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.959254154 meters Centerline goodness : 0.998706 with order 1 Centerline is valid? [True, True] Translation: X:769.56, Y:43.84, Z:28.13 [[ 9.96126294e-01 -7.99936595e-02 -3.65160433e-02 7.69559588e+02] [ 7.99696612e-02 9.96795044e-01 -2.11964603e-03 4.38397510e+01] [ 3.65685692e-02 -8.08740465e-04 9.99330819e-01 2.81334114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.019254154 meters Centerline goodness : 0.998581 with order 1 Centerline is valid? [True, True] Translation: X:769.62, Y:43.84, Z:28.14 [[ 9.95508678e-01 -8.73443766e-02 -3.65161981e-02 7.69622050e+02] [ 8.73254133e-02 9.96177590e-01 -2.11697510e-03 4.38431637e+01] [ 3.65615241e-02 -1.08132502e-03 9.99330819e-01 2.81373023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.079254154 meters Centerline goodness : 0.998838 with order 1 Centerline is valid? [True, True] Translation: X:769.68, Y:43.85, Z:28.14 [[ 9.94759975e-01 -9.54942290e-02 -3.65163523e-02 7.69684727e+02] [ 9.54808420e-02 9.95429022e-01 -2.11431272e-03 4.38458318e+01] [ 3.65513415e-02 -1.38337840e-03 9.99330819e-01 2.81368063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.139254154 meters Centerline goodness : 0.998862 with order 1 Centerline is valid? [True, True] Translation: X:769.75, Y:43.85, Z:28.14 [[ 9.93947217e-01 -1.03612133e-01 -3.65165124e-02 7.69747466e+02] [ 1.03604310e-01 9.94616352e-01 -2.11154394e-03 4.38484050e+01] [ 3.65387019e-02 -1.68450484e-03 9.99330819e-01 2.81408406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.199254154 meters Centerline goodness : 0.998565 with order 1 Centerline is valid? [True, True] Translation: X:769.81, Y:43.85, Z:28.14 [[ 9.93264542e-01 -1.09963977e-01 -3.65167516e-02 7.69810675e+02] [ 1.09960583e-01 9.93933715e-01 -2.10739964e-03 4.38511180e+01] [ 3.65269686e-02 -1.92219796e-03 9.99330819e-01 2.81424627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.259254154 meters Centerline goodness : 0.998647 with order 1 Centerline is valid? [True, True] Translation: X:769.87, Y:43.86, Z:28.14 [[ 9.92931335e-01 -1.12933046e-01 -3.65169897e-02 7.69873205e+02] [ 1.12931805e-01 9.93600515e-01 -2.10326543e-03 4.38556055e+01] [ 3.65208279e-02 -2.03553140e-03 9.99330819e-01 2.81446367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.319254154 meters Centerline goodness : 0.998986 with order 1 Centerline is valid? [True, True] Translation: X:769.94, Y:43.86, Z:28.15 [[ 9.93102595e-01 -1.11416911e-01 -3.65172244e-02 7.69935547e+02] [ 1.11414798e-01 9.93771773e-01 -2.09918184e-03 4.38612177e+01] [ 3.65236712e-02 -1.98385626e-03 9.99330819e-01 2.81466186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.379254154 meters Centerline goodness : 0.998773 with order 1 Centerline is valid? [True, True] Translation: X:770.00, Y:43.87, Z:28.15 [[ 9.93342142e-01 -1.09260531e-01 -3.65174558e-02 7.69997411e+02] [ 1.09257112e-01 9.94011315e-01 -2.09514861e-03 4.38669703e+01] [ 3.65276813e-02 -1.90859237e-03 9.99330819e-01 2.81484918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.439254154 meters Centerline goodness : 0.998624 with order 1 Centerline is valid? [True, True] Translation: X:770.06, Y:43.87, Z:28.15 [[ 9.93887358e-01 -1.04184362e-01 -3.65176455e-02 7.70059945e+02] [ 1.04177647e-01 9.94556505e-01 -2.09183736e-03 4.38740690e+01] [ 3.65367986e-02 -1.72527167e-03 9.99330819e-01 2.81510245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.499254154 meters Centerline goodness : 0.998751 with order 1 Centerline is valid? [True, True] Translation: X:770.12, Y:43.88, Z:28.15 [[ 9.94416287e-01 -9.90085547e-02 -3.65178650e-02 7.70122281e+02] [ 9.89984965e-02 9.95085392e-01 -2.08799831e-03 4.38811630e+01] [ 3.65451237e-02 -1.53887421e-03 9.99330819e-01 2.81539254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.559254154 meters Centerline goodness : 0.998894 with order 1 Centerline is valid? [True, True] Translation: X:770.18, Y:43.89, Z:28.15 [[ 9.94903981e-01 -9.39813662e-02 -3.65180881e-02 7.70183329e+02] [ 9.39680697e-02 9.95573030e-01 -2.08408922e-03 4.38876986e+01] [ 3.65522892e-02 -1.35806559e-03 9.99330819e-01 2.81545474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.619254154 meters Centerline goodness : 0.998871 with order 1 Centerline is valid? [True, True] Translation: X:770.24, Y:43.90, Z:28.16 [[ 9.95408550e-01 -8.84773359e-02 -3.65181977e-02 7.70244822e+02] [ 8.84604096e-02 9.96077517e-01 -2.08216788e-03 4.38950308e+01] [ 3.65591803e-02 -1.15780701e-03 9.99330819e-01 2.81566498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.679254154 meters Centerline goodness : 0.998784 with order 1 Centerline is valid? [True, True] Translation: X:770.31, Y:43.90, Z:28.16 [[ 9.95823951e-01 -8.36723939e-02 -3.65183519e-02 7.70306241e+02] [ 8.36523385e-02 9.96492831e-01 -2.07945897e-03 4.39010828e+01] [ 3.65642692e-02 -9.84070494e-04 9.99330819e-01 2.81590098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.739254154 meters Centerline goodness : 0.998759 with order 1 Centerline is valid? [True, True] Translation: X:770.37, Y:43.91, Z:28.16 [[ 9.96433464e-01 -7.60706955e-02 -3.65185042e-02 7.70368002e+02] [ 7.60456346e-02 9.97102176e-01 -2.07678038e-03 4.39079529e+01] [ 3.65706622e-02 -7.07699360e-04 9.99330819e-01 2.81613440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.799254154 meters Centerline goodness : 0.998951 with order 1 Centerline is valid? [True, True] Translation: X:770.43, Y:43.91, Z:28.16 [[ 9.96793511e-01 -7.11975033e-02 -3.65186565e-02 7.70429822e+02] [ 7.11692710e-02 9.97462096e-01 -2.07410034e-03 4.39133637e+01] [ 3.65736464e-02 -5.31556405e-04 9.99330819e-01 2.81639776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.8592541539999 meters Centerline goodness : 0.998927 with order 1 Centerline is valid? [True, True] Translation: X:770.49, Y:43.92, Z:28.17 [[ 9.97121182e-01 -6.64509163e-02 -3.65188093e-02 7.70492133e+02] [ 6.64195998e-02 9.97789630e-01 -2.07140664e-03 4.39176270e+01] [ 3.65757361e-02 -3.60121256e-04 9.99330819e-01 2.81650145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.919254154 meters Centerline goodness : 0.998860 with order 1 Centerline is valid? [True, True] Translation: X:770.55, Y:43.92, Z:28.17 [[ 9.97410480e-01 -6.19572359e-02 -3.65189648e-02 7.70553586e+02] [ 6.19230083e-02 9.98078785e-01 -2.06866151e-03 4.39209647e+01] [ 3.65769725e-02 -1.98059485e-04 9.99330819e-01 2.81677794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.9792541539999 meters Centerline goodness : 0.998970 with order 1 Centerline is valid? [True, True] Translation: X:770.61, Y:43.92, Z:28.17 [[ 9.97542093e-01 -5.98007548e-02 -3.65190793e-02 7.70614925e+02] [ 5.97651564e-02 9.98210326e-01 -2.06663712e-03 4.39228402e+01] [ 3.65773085e-02 -1.21010967e-04 9.99330819e-01 2.81699585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.039254154 meters Centerline goodness : 0.998866 with order 1 Centerline is valid? [True, True] Translation: X:770.67, Y:43.92, Z:28.17 [[ 9.97427875e-01 -6.16764573e-02 -3.65191549e-02 7.70674753e+02] [ 6.16421645e-02 9.98096177e-01 -2.06530039e-03 4.39221599e+01] [ 3.65770093e-02 -1.91131577e-04 9.99330819e-01 2.81704839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.0992541539999 meters Centerline goodness : 0.998572 with order 1 Centerline is valid? [True, True] Translation: X:770.73, Y:43.92, Z:28.17 [[ 9.97067631e-01 -6.72494872e-02 -3.65191178e-02 7.70734853e+02] [ 6.72189057e-02 9.97736113e-01 -2.06595734e-03 4.39195237e+01] [ 3.65753772e-02 -3.94875943e-04 9.99330819e-01 2.81692175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.159254154 meters Centerline goodness : 0.998853 with order 1 Centerline is valid? [True, True] Translation: X:770.79, Y:43.92, Z:28.17 [[ 9.96575809e-01 -7.41823262e-02 -3.65190344e-02 7.70794756e+02] [ 7.41563407e-02 9.97244485e-01 -2.06742959e-03 4.39171044e+01] [ 3.65717724e-02 -6.47767636e-04 9.99330819e-01 2.81722130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.2192541539999 meters Centerline goodness : 0.998648 with order 1 Centerline is valid? [True, True] Translation: X:770.86, Y:43.92, Z:28.17 [[ 9.96235509e-01 -7.86204401e-02 -3.65189927e-02 7.70855827e+02] [ 7.85974062e-02 9.96904294e-01 -2.06816580e-03 4.39162572e+01] [ 3.65685407e-02 -8.09917899e-04 9.99330819e-01 2.81738302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.279254154 meters Centerline goodness : 0.998668 with order 1 Centerline is valid? [True, True] Translation: X:770.92, Y:43.91, Z:28.18 [[ 9.95750937e-01 -8.45365525e-02 -3.65190662e-02 7.70918123e+02] [ 8.45175391e-02 9.96419848e-01 -2.06686730e-03 4.39145918e+01] [ 3.65630482e-02 -1.02841655e-03 9.99330819e-01 2.81758634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.339254154 meters Centerline goodness : 0.998737 with order 1 Centerline is valid? [True, True] Translation: X:770.98, Y:43.91, Z:28.18 [[ 9.95305886e-01 -8.96244405e-02 -3.65192130e-02 7.70980757e+02] [ 8.96089410e-02 9.95974887e-01 -2.06427115e-03 4.39138418e+01] [ 3.65572282e-02 -1.21786678e-03 9.99330819e-01 2.81785517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.399254154 meters Centerline goodness : 0.998761 with order 1 Centerline is valid? [True, True] Translation: X:771.04, Y:43.91, Z:28.18 [[ 9.95008544e-01 -9.28672886e-02 -3.65193619e-02 7.71043032e+02] [ 9.28540660e-02 9.95677594e-01 -2.06163201e-03 4.39148634e+01] [ 3.65529686e-02 -1.33962978e-03 9.99330819e-01 2.81811571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.459254154 meters Centerline goodness : 0.998802 with order 1 Centerline is valid? [True, True] Translation: X:771.11, Y:43.92, Z:28.18 [[ 9.94461131e-01 -9.85564982e-02 -3.65195143e-02 7.71105396e+02] [ 9.85472013e-02 9.95130248e-01 -2.05893035e-03 4.39151099e+01] [ 3.65445942e-02 -1.55136972e-03 9.99330819e-01 2.81827313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.519254154 meters Centerline goodness : 0.998823 with order 1 Centerline is valid? [True, True] Translation: X:771.17, Y:43.92, Z:28.18 [[ 9.93792245e-01 -1.05087044e-01 -3.65196653e-02 7.71167908e+02] [ 1.05082241e-01 9.94461409e-01 -2.05624793e-03 4.39168181e+01] [ 3.65334828e-02 -1.79408504e-03 9.99330819e-01 2.81840561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.579254154 meters Centerline goodness : 0.998612 with order 1 Centerline is valid? [True, True] Translation: X:771.23, Y:43.92, Z:28.18 [[ 9.93116848e-01 -1.11288945e-01 -3.65198151e-02 7.71229326e+02] [ 1.11288417e-01 9.93786029e-01 -2.05358302e-03 4.39198865e+01] [ 3.65214232e-02 -2.02478451e-03 9.99330819e-01 2.81832226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.639254154 meters Centerline goodness : 0.998903 with order 1 Centerline is valid? [True, True] Translation: X:771.29, Y:43.92, Z:28.19 [[ 9.92437745e-01 -1.17190518e-01 -3.65199259e-02 7.71291933e+02] [ 1.17194040e-01 9.93106917e-01 -2.05161166e-03 4.39246585e+01] [ 3.65086204e-02 -2.24382082e-03 9.99330819e-01 2.81876462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.699254154 meters Centerline goodness : 0.998609 with order 1 Centerline is valid? [True, True] Translation: X:771.35, Y:43.93, Z:28.19 [[ 9.92251548e-01 -1.18756663e-01 -3.65201474e-02 7.71354796e+02] [ 1.18761387e-01 9.92920712e-01 -2.04766094e-03 4.39290204e+01] [ 3.65047841e-02 -2.30538861e-03 9.99330819e-01 2.81886193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.759254154 meters Centerline goodness : 0.998903 with order 1 Centerline is valid? [True, True] Translation: X:771.42, Y:43.94, Z:28.19 [[ 9.92460134e-01 -1.17000618e-01 -3.65203676e-02 7.71416396e+02] [ 1.17004302e-01 9.93129305e-01 -2.04372690e-03 4.39381265e+01] [ 3.65085646e-02 -2.24472262e-03 9.99330819e-01 2.81928858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.819254154 meters Centerline goodness : 0.998712 with order 1 Centerline is valid? [True, True] Translation: X:771.48, Y:43.94, Z:28.19 [[ 9.93009592e-01 -1.12241712e-01 -3.65205155e-02 7.71477813e+02] [ 1.12242285e-01 9.93678773e-01 -2.04108038e-03 4.39446275e+01] [ 3.65187553e-02 -2.07233371e-03 9.99330819e-01 2.81944034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.879254154 meters Centerline goodness : 0.998707 with order 1 Centerline is valid? [True, True] Translation: X:771.54, Y:43.95, Z:28.20 [[ 9.94219538e-01 -1.00964097e-01 -3.65206980e-02 7.71540744e+02] [ 1.00957195e-01 9.94888683e-01 -2.03780961e-03 4.39549093e+01] [ 3.65397747e-02 -1.66099710e-03 9.99330819e-01 2.81973098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.939254154 meters Centerline goodness : 0.998684 with order 1 Centerline is valid? [True, True] Translation: X:771.60, Y:43.97, Z:28.20 [[ 9.95636831e-01 -8.58692164e-02 -3.65209238e-02 7.71602601e+02] [ 8.58523117e-02 9.96305799e-01 -2.03375446e-03 4.39653517e+01] [ 3.65606451e-02 -1.11052489e-03 9.99330819e-01 2.81996894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.999254154 meters Centerline goodness : 0.998808 with order 1 Centerline is valid? [True, True] Translation: X:771.66, Y:43.97, Z:28.20 [[ 9.96929016e-01 -6.92729835e-02 -3.65211085e-02 7.71664331e+02] [ 6.92450599e-02 9.97597614e-01 -2.03043229e-03 4.39747023e+01] [ 3.65740248e-02 -5.04709481e-04 9.99330819e-01 2.82020718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.059254154 meters Centerline goodness : 0.999402 with order 1 Centerline is valid? [True, True] Translation: X:771.72, Y:43.98, Z:28.21 [[ 9.97858237e-01 -5.42691213e-02 -3.65212586e-02 7.71724714e+02] [ 5.42312426e-02 9.98526345e-01 -2.02772964e-03 4.39833003e+01] [ 3.65774819e-02 4.27934892e-05 9.99330819e-01 2.82057100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.119254154 meters Centerline goodness : 0.999336 with order 1 Centerline is valid? [True, True] Translation: X:771.78, Y:43.99, Z:28.21 [[ 9.98212825e-01 -4.73006107e-02 -3.65213329e-02 7.71782841e+02] [ 4.72581171e-02 9.98880656e-01 -2.02638908e-03 4.39886879e+01] [ 3.65763024e-02 2.96838140e-04 9.99330819e-01 2.82068645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.179254154 meters Centerline goodness : 0.999162 with order 1 Centerline is valid? [True, True] Translation: X:771.84, Y:43.99, Z:28.21 [[ 9.98353801e-01 -4.42254562e-02 -3.65211887e-02 7.71840824e+02] [ 4.41808106e-02 9.99021491e-01 -2.02898537e-03 4.39915780e+01] [ 3.65751852e-02 4.12109539e-04 9.99330819e-01 2.82070151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.239254154 meters Centerline goodness : 0.998884 with order 1 Centerline is valid? [True, True] Translation: X:771.90, Y:43.99, Z:28.21 [[ 9.98150600e-01 -4.85965529e-02 -3.65205957e-02 7.71898854e+02] [ 4.85544429e-02 9.98818455e-01 -2.03960399e-03 4.39927068e+01] [ 3.65765627e-02 2.62594765e-04 9.99330819e-01 2.82073301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.299254154 meters Centerline goodness : 0.999059 with order 1 Centerline is valid? [True, True] Translation: X:771.96, Y:43.99, Z:28.21 [[ 9.97834093e-01 -5.47120860e-02 -3.65199972e-02 7.71956747e+02] [ 5.46736791e-02 9.98502171e-01 -2.05026408e-03 4.39926521e+01] [ 3.65774707e-02 4.91407937e-05 9.99330819e-01 2.82106305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.3592541539999 meters Centerline goodness : 0.999166 with order 1 Centerline is valid? [True, True] Translation: X:772.02, Y:43.99, Z:28.21 [[ 9.97637938e-01 -5.81794403e-02 -3.65198132e-02 7.72016362e+02] [ 5.81432356e-02 9.98306139e-01 -2.05353551e-03 4.39928897e+01] [ 3.65774273e-02 -7.46951778e-05 9.99330819e-01 2.82142350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.419254154 meters Centerline goodness : 0.998808 with order 1 Centerline is valid? [True, True] Translation: X:772.08, Y:43.99, Z:28.21 [[ 9.97468150e-01 -6.10212903e-02 -3.65197377e-02 7.72076457e+02] [ 6.09869401e-02 9.98136449e-01 -2.05487824e-03 4.39897668e+01] [ 3.65770726e-02 -1.77551459e-04 9.99330819e-01 2.82124464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.4792541539999 meters Centerline goodness : 0.999151 with order 1 Centerline is valid? [True, True] Translation: X:772.14, Y:43.99, Z:28.22 [[ 9.97146468e-01 -6.60699171e-02 -3.65196986e-02 7.72137332e+02] [ 6.60389250e-02 9.97814930e-01 -2.05557320e-03 4.39877592e+01] [ 3.65757120e-02 -3.62014082e-04 9.99330819e-01 2.82182613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.539254154 meters Centerline goodness : 0.998856 with order 1 Centerline is valid? [True, True] Translation: X:772.20, Y:43.98, Z:28.22 [[ 9.96990022e-01 -6.83901128e-02 -3.65196986e-02 7.72197914e+02] [ 6.83606763e-02 9.97658555e-01 -2.05557320e-03 4.39841490e+01] [ 3.65747706e-02 -4.47125323e-04 9.99330819e-01 2.82171395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.5992541539999 meters Centerline goodness : 0.999197 with order 1 Centerline is valid? [True, True] Translation: X:772.26, Y:43.98, Z:28.22 [[ 9.96960180e-01 -6.88237621e-02 -3.65196986e-02 7.72258522e+02] [ 6.87946165e-02 9.97628726e-01 -2.05557320e-03 4.39814770e+01] [ 3.65745727e-02 -4.63034029e-04 9.99330819e-01 2.82191906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.659254154 meters Centerline goodness : 0.998861 with order 1 Centerline is valid? [True, True] Translation: X:772.32, Y:43.98, Z:28.22 [[ 9.97111672e-01 -6.65929887e-02 -3.65196986e-02 7.72318784e+02] [ 6.65623473e-02 9.97780150e-01 -2.05557320e-03 4.39806998e+01] [ 3.65755171e-02 -3.81200832e-04 9.99330819e-01 2.82204598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.7192541539999 meters Centerline goodness : 0.998774 with order 1 Centerline is valid? [True, True] Translation: X:772.38, Y:43.98, Z:28.22 [[ 9.97219052e-01 -6.49651805e-02 -3.65196986e-02 7.72378340e+02] [ 6.49334479e-02 9.97887480e-01 -2.05557320e-03 4.39820613e+01] [ 3.65760907e-02 -3.21493188e-04 9.99330819e-01 2.82203855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.779254154 meters Centerline goodness : 0.998988 with order 1 Centerline is valid? [True, True] Translation: X:772.44, Y:43.98, Z:28.22 [[ 9.97353464e-01 -6.28679989e-02 -3.65196209e-02 7.72437072e+02] [ 6.28348103e-02 9.98021821e-01 -2.05695211e-03 4.39804913e+01] [ 3.65766950e-02 -2.43195143e-04 9.99330819e-01 2.82219332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.839254154 meters Centerline goodness : 0.998886 with order 1 Centerline is valid? [True, True] Translation: X:772.50, Y:43.98, Z:28.22 [[ 9.97331066e-01 -6.32223924e-02 -3.65195062e-02 7.72497130e+02] [ 6.31893667e-02 9.97999431e-01 -2.05898636e-03 4.39796872e+01] [ 3.65766205e-02 -2.54153409e-04 9.99330819e-01 2.82248619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.899254154 meters Centerline goodness : 0.998824 with order 1 Centerline is valid? [True, True] Translation: X:772.56, Y:43.98, Z:28.23 [[ 9.97189963e-01 -6.54103098e-02 -3.65194303e-02 7.72555787e+02] [ 6.53787013e-02 9.97858397e-01 -2.06033156e-03 4.39782682e+01] [ 3.65759871e-02 -3.33050976e-04 9.99330819e-01 2.82265756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.959254154 meters Centerline goodness : 0.999078 with order 1 Centerline is valid? [True, True] Translation: X:772.61, Y:43.98, Z:28.23 [[ 9.97006411e-01 -6.81512000e-02 -3.65188949e-02 7.72614411e+02] [ 6.81210831e-02 9.97674914e-01 -2.06977820e-03 4.39776825e+01] [ 3.65750432e-02 -4.24124541e-04 9.99330819e-01 2.82286405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.019254154 meters Centerline goodness : 0.998975 with order 1 Centerline is valid? [True, True] Translation: X:772.67, Y:43.98, Z:28.23 [[ 9.96621552e-01 -7.35655639e-02 -3.65183635e-02 7.72674373e+02] [ 7.35387365e-02 9.97290194e-01 -2.07911273e-03 4.39755616e+01] [ 3.65723569e-02 -6.13425751e-04 9.99330819e-01 2.82312951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.079254154 meters Centerline goodness : 0.998644 with order 1 Centerline is valid? [True, True] Translation: X:772.73, Y:43.97, Z:28.23 [[ 9.96251067e-01 -7.84233839e-02 -3.65182874e-02 7.72733914e+02] [ 7.83997677e-02 9.96919830e-01 -2.08044792e-03 4.39741868e+01] [ 3.65689607e-02 -7.90376789e-04 9.99330819e-01 2.82337626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.139254154 meters Centerline goodness : 0.998894 with order 1 Centerline is valid? [True, True] Translation: X:772.79, Y:43.97, Z:28.24 [[ 9.95865734e-01 -8.31736710e-02 -3.65182125e-02 7.72793080e+02] [ 8.31531962e-02 9.96534602e-01 -2.08176167e-03 4.39746890e+01] [ 3.65648101e-02 -9.63450983e-04 9.99330819e-01 2.82377300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.199254154 meters Centerline goodness : 0.998935 with order 1 Centerline is valid? [True, True] Translation: X:772.85, Y:43.97, Z:28.24 [[ 9.95587921e-01 -8.64356117e-02 -3.65181756e-02 7.72852418e+02] [ 8.64173045e-02 9.96256851e-01 -2.08240888e-03 4.39749679e+01] [ 3.65614769e-02 -1.08258117e-03 9.99330819e-01 2.82380396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.259254154 meters Centerline goodness : 0.999061 with order 1 Centerline is valid? [True, True] Translation: X:772.91, Y:43.98, Z:28.24 [[ 9.95437985e-01 -8.81455640e-02 -3.65181818e-02 7.72911657e+02] [ 8.81284098e-02 9.96106946e-01 -2.08230072e-03 4.39778259e+01] [ 3.65595601e-02 -1.14548806e-03 9.99330819e-01 2.82417043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.319254154 meters Centerline goodness : 0.998998 with order 1 Centerline is valid? [True, True] Translation: X:772.97, Y:43.98, Z:28.24 [[ 9.95364121e-01 -8.89757886e-02 -3.65181461e-02 7.72972338e+02] [ 8.89591695e-02 9.96033096e-01 -2.08292594e-03 4.39809423e+01] [ 3.65586121e-02 -1.17535420e-03 9.99330819e-01 2.82424089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.379254154 meters Centerline goodness : 0.998936 with order 1 Centerline is valid? [True, True] Translation: X:773.03, Y:43.98, Z:28.24 [[ 9.95184080e-01 -9.09674214e-02 -3.65181461e-02 7.73031684e+02] [ 9.09521410e-02 9.95853086e-01 -2.08292594e-03 4.39846656e+01] [ 3.65561869e-02 -1.24850884e-03 9.99330819e-01 2.82430266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.439254154 meters Centerline goodness : 0.999019 with order 1 Centerline is valid? [True, True] Translation: X:773.09, Y:43.99, Z:28.24 [[ 9.95107451e-01 -9.18018995e-02 -3.65181114e-02 7.73092235e+02] [ 9.17871578e-02 9.95776469e-01 -2.08353440e-03 4.39892325e+01] [ 3.65551484e-02 -1.27855304e-03 9.99330819e-01 2.82439716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.499254154 meters Centerline goodness : 0.999121 with order 1 Centerline is valid? [True, True] Translation: X:773.15, Y:44.00, Z:28.25 [[ 9.95179969e-01 -9.10123974e-02 -3.65181114e-02 7.73153255e+02] [ 9.09971250e-02 9.95848976e-01 -2.08353440e-03 4.39951077e+01] [ 3.65561513e-02 -1.24955144e-03 9.99330819e-01 2.82466732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.559254154 meters Centerline goodness : 0.998953 with order 1 Centerline is valid? [True, True] Translation: X:773.21, Y:44.00, Z:28.25 [[ 9.95309268e-01 -8.95872887e-02 -3.65181848e-02 7.73214182e+02] [ 8.95711055e-02 9.95978253e-01 -2.08224643e-03 4.40013192e+01] [ 3.65578608e-02 -1.19849501e-03 9.99330819e-01 2.82476228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.619254154 meters Centerline goodness : 0.999058 with order 1 Centerline is valid? [True, True] Translation: X:773.27, Y:44.01, Z:28.25 [[ 9.95336783e-01 -8.92810485e-02 -3.65182614e-02 7.73274969e+02] [ 8.92647087e-02 9.96005764e-01 -2.08090236e-03 4.40072370e+01] [ 3.65581840e-02 -1.18859331e-03 9.99330819e-01 2.82516148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.679254154 meters Centerline goodness : 0.999183 with order 1 Centerline is valid? [True, True] Translation: X:773.34, Y:44.02, Z:28.25 [[ 9.95839954e-01 -8.34817137e-02 -3.65183372e-02 7.73335711e+02] [ 8.34615261e-02 9.96508830e-01 -2.07957265e-03 4.40172387e+01] [ 3.65644517e-02 -9.76954616e-04 9.99330819e-01 2.82546217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.739254154 meters Centerline goodness : 0.999098 with order 1 Centerline is valid? [True, True] Translation: X:773.40, Y:44.03, Z:28.26 [[ 9.96419871e-01 -7.62485873e-02 -3.65184131e-02 7.73396759e+02] [ 7.62235923e-02 9.97088584e-01 -2.07823795e-03 4.40266034e+01] [ 3.65705555e-02 -7.12767049e-04 9.99330819e-01 2.82585044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.799254154 meters Centerline goodness : 0.999076 with order 1 Centerline is valid? [True, True] Translation: X:773.46, Y:44.03, Z:28.26 [[ 9.96826325e-01 -7.07366823e-02 -3.65184895e-02 7.73456252e+02] [ 7.07080386e-02 9.97494892e-01 -2.07689561e-03 4.40341129e+01] [ 3.65739194e-02 -5.11846544e-04 9.99330819e-01 2.82600606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.8592541539999 meters Centerline goodness : 0.998906 with order 1 Centerline is valid? [True, True] Translation: X:773.52, Y:44.04, Z:28.26 [[ 9.96959166e-01 -6.88391179e-02 -3.65184519e-02 7.73516102e+02] [ 6.88091774e-02 9.97627676e-01 -2.07755526e-03 4.40398569e+01] [ 3.65748354e-02 -4.41566874e-04 9.99330819e-01 2.82607556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.919254154 meters Centerline goodness : 0.998739 with order 1 Centerline is valid? [True, True] Translation: X:773.57, Y:44.05, Z:28.26 [[ 9.96853614e-01 -7.03510870e-02 -3.65184519e-02 7.73574998e+02] [ 7.03221605e-02 9.97522169e-01 -2.07755526e-03 4.40452612e+01] [ 3.65741236e-02 -4.97037964e-04 9.99330819e-01 2.82601432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.9792541539999 meters Centerline goodness : 0.998906 with order 1 Centerline is valid? [True, True] Translation: X:773.64, Y:44.05, Z:28.26 [[ 9.96525121e-01 -7.48604631e-02 -3.65184142e-02 7.73635739e+02] [ 7.48345373e-02 9.97193799e-01 -2.07821864e-03 4.40493665e+01] [ 3.65715126e-02 -6.61841543e-04 9.99330819e-01 2.82611865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.039254154 meters Centerline goodness : 0.998676 with order 1 Centerline is valid? [True, True] Translation: X:773.70, Y:44.05, Z:28.27 [[ 9.96138911e-01 -7.98353056e-02 -3.65184142e-02 7.73697184e+02] [ 7.98127189e-02 9.96807710e-01 -2.07821864e-03 4.40546732e+01] [ 3.65677520e-02 -8.44439470e-04 9.99330819e-01 2.82650025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.0992541539999 meters Centerline goodness : 0.998655 with order 1 Centerline is valid? [True, True] Translation: X:773.76, Y:44.06, Z:28.27 [[ 9.95945187e-01 -8.22166969e-02 -3.65184904e-02 7.73758721e+02] [ 8.21957584e-02 9.96614040e-01 -2.07687833e-03 4.40596903e+01] [ 3.65655943e-02 -9.33208041e-04 9.99330819e-01 2.82678605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.159254154 meters Centerline goodness : 0.998741 with order 1 Centerline is valid? [True, True] Translation: X:773.82, Y:44.06, Z:28.27 [[ 9.95903529e-01 -8.27197395e-02 -3.65185671e-02 7.73820971e+02] [ 8.26991883e-02 9.96572394e-01 -2.07552796e-03 4.40633782e+01] [ 3.65650830e-02 -9.53030239e-04 9.99330819e-01 2.82690551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.2192541539999 meters Centerline goodness : 0.998740 with order 1 Centerline is valid? [True, True] Translation: X:773.88, Y:44.07, Z:28.27 [[ 9.95895854e-01 -8.28120197e-02 -3.65187216e-02 7.73882278e+02] [ 8.27916302e-02 9.96564724e-01 -2.07280716e-03 4.40680489e+01] [ 3.65649230e-02 -9.59144435e-04 9.99330819e-01 2.82724390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.279254154 meters Centerline goodness : 0.999053 with order 1 Centerline is valid? [True, True] Translation: X:773.94, Y:44.07, Z:28.28 [[ 9.96084144e-01 -8.05155465e-02 -3.65188356e-02 7.73944556e+02] [ 8.04936885e-02 9.96752967e-01 -2.07079697e-03 4.40718216e+01] [ 3.65669891e-02 -8.76847751e-04 9.99330819e-01 2.82752123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.339254154 meters Centerline goodness : 0.999011 with order 1 Centerline is valid? [True, True] Translation: X:774.01, Y:44.07, Z:28.28 [[ 9.96414331e-01 -7.63206701e-02 -3.65189863e-02 7.74006110e+02] [ 7.62960936e-02 9.97083060e-01 -2.06813554e-03 4.40741356e+01] [ 3.65703041e-02 -7.25536110e-04 9.99330819e-01 2.82767116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.399254154 meters Centerline goodness : 0.999073 with order 1 Centerline is valid? [True, True] Translation: X:774.07, Y:44.08, Z:28.28 [[ 9.96735786e-01 -7.20009170e-02 -3.65190615e-02 7.74067196e+02] [ 7.19734908e-02 9.97404404e-01 -2.06680624e-03 4.40766566e+01] [ 3.65730847e-02 -5.68344601e-04 9.99330819e-01 2.82785110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.459254154 meters Centerline goodness : 0.999326 with order 1 Centerline is valid? [True, True] Translation: X:774.13, Y:44.08, Z:28.28 [[ 9.96960064e-01 -6.88257486e-02 -3.65191369e-02 7.74127980e+02] [ 6.87962417e-02 9.97628594e-01 -2.06547337e-03 4.40782586e+01] [ 3.65746929e-02 -4.53184910e-04 9.99330819e-01 2.82809497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.519254154 meters Centerline goodness : 0.999114 with order 1 Centerline is valid? [True, True] Translation: X:774.19, Y:44.08, Z:28.28 [[ 9.97001354e-01 -6.82249903e-02 -3.65191739e-02 7.74187802e+02] [ 6.81951045e-02 9.97669867e-01 -2.06481889e-03 4.40794762e+01] [ 3.65749516e-02 -4.31801654e-04 9.99330819e-01 2.82825187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.579254154 meters Centerline goodness : 0.999305 with order 1 Centerline is valid? [True, True] Translation: X:774.25, Y:44.08, Z:28.28 [[ 9.96779931e-01 -7.13871460e-02 -3.65191005e-02 7.74247889e+02] [ 7.13593333e-02 9.97448533e-01 -2.06611730e-03 4.40790534e+01] [ 3.65734174e-02 -5.46514405e-04 9.99330819e-01 2.82840608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.639254154 meters Centerline goodness : 0.998988 with order 1 Centerline is valid? [True, True] Translation: X:774.31, Y:44.08, Z:28.28 [[ 9.96470973e-01 -7.55775201e-02 -3.65190260e-02 7.74307405e+02] [ 7.55524706e-02 9.97139684e-01 -2.06743301e-03 4.40789830e+01] [ 3.65708215e-02 -6.98965651e-04 9.99330819e-01 2.82841641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.699254154 meters Centerline goodness : 0.999097 with order 1 Centerline is valid? [True, True] Translation: X:774.37, Y:44.08, Z:28.29 [[ 9.96048815e-01 -8.09513712e-02 -3.65189517e-02 7.74366461e+02] [ 8.09298811e-02 9.96717650e-01 -2.06874319e-03 4.40789516e+01] [ 3.65665514e-02 -8.94905221e-04 9.99330819e-01 2.82862264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.759254154 meters Centerline goodness : 0.999119 with order 1 Centerline is valid? [True, True] Translation: X:774.43, Y:44.08, Z:28.29 [[ 9.95425436e-01 -8.82868675e-02 -3.65189152e-02 7.74427038e+02] [ 8.82702816e-02 9.96094411e-01 -2.06938807e-03 4.40784070e+01] [ 3.65589871e-02 -1.16361341e-03 9.99330819e-01 2.82906246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.819254154 meters Centerline goodness : 0.999205 with order 1 Centerline is valid? [True, True] Translation: X:774.49, Y:44.08, Z:28.29 [[ 9.94895114e-01 -9.40748672e-02 -3.65189152e-02 7.74488037e+02] [ 9.40621723e-02 9.95564174e-01 -2.06938807e-03 4.40786591e+01] [ 3.65516011e-02 -1.37622441e-03 9.99330819e-01 2.82940392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.879254154 meters Centerline goodness : 0.998895 with order 1 Centerline is valid? [True, True] Translation: X:774.55, Y:44.08, Z:28.29 [[ 9.94571993e-01 -9.74315850e-02 -3.65189924e-02 7.74549607e+02] [ 9.74211979e-02 9.95241093e-01 -2.06802407e-03 4.40789653e+01] [ 3.65466928e-02 -1.50092517e-03 9.99330819e-01 2.82939819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.939254154 meters Centerline goodness : 0.999163 with order 1 Centerline is valid? [True, True] Translation: X:774.61, Y:44.08, Z:28.30 [[ 9.94385910e-01 -9.93127219e-02 -3.65191071e-02 7.74611257e+02] [ 9.93036748e-02 9.95055030e-01 -2.06599793e-03 4.40815782e+01] [ 3.65437010e-02 -1.57208230e-03 9.99330819e-01 2.82984808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.999254154 meters Centerline goodness : 0.999204 with order 1 Centerline is valid? [True, True] Translation: X:774.67, Y:44.09, Z:28.30 [[ 9.94609935e-01 -9.70433942e-02 -3.65192593e-02 7.74673285e+02] [ 9.70329190e-02 9.95279034e-01 -2.06330274e-03 4.40860785e+01] [ 3.65470831e-02 -1.49138893e-03 9.99330819e-01 2.83005111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.059254154 meters Centerline goodness : 0.999162 with order 1 Centerline is valid? [True, True] Translation: X:774.73, Y:44.09, Z:28.30 [[ 9.95064623e-01 -9.22644503e-02 -3.65194142e-02 7.74733888e+02] [ 9.22508618e-02 9.95733666e-01 -2.06055757e-03 4.40910875e+01] [ 3.65537264e-02 -1.31855949e-03 9.99330819e-01 2.83017346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.119254154 meters Centerline goodness : 0.999163 with order 1 Centerline is valid? [True, True] Translation: X:774.79, Y:44.10, Z:28.30 [[ 9.95517090e-01 -8.72470537e-02 -3.65195283e-02 7.74794903e+02] [ 8.72301668e-02 9.96186057e-01 -2.05853316e-03 4.40963024e+01] [ 3.65598459e-02 -1.13629960e-03 9.99330819e-01 2.83029525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.179254154 meters Centerline goodness : 0.999077 with order 1 Centerline is valid? [True, True] Translation: X:774.86, Y:44.10, Z:28.31 [[ 9.95821591e-01 -8.36999201e-02 -3.65196032e-02 7.74855623e+02] [ 8.36806987e-02 9.96490496e-01 -2.05720512e-03 4.41016134e+01] [ 3.65636254e-02 -1.00737664e-03 9.99330819e-01 2.83050721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.239254154 meters Centerline goodness : 0.999223 with order 1 Centerline is valid? [True, True] Translation: X:774.91, Y:44.11, Z:28.31 [[ 9.96366669e-01 -7.69400633e-02 -3.65196782e-02 7.74914281e+02] [ 7.69163518e-02 9.97035430e-01 -2.05587166e-03 4.41086571e+01] [ 3.65695920e-02 -7.60558425e-04 9.99330819e-01 2.83075526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.299254154 meters Centerline goodness : 0.999326 with order 1 Centerline is valid? [True, True] Translation: X:774.97, Y:44.11, Z:28.31 [[ 9.96616201e-01 -7.36373772e-02 -3.65196413e-02 7.74974231e+02] [ 7.36114254e-02 9.97284878e-01 -2.05652681e-03 4.41138929e+01] [ 3.65719233e-02 -6.38694913e-04 9.99330819e-01 2.83102257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.3592541539999 meters Centerline goodness : 0.999117 with order 1 Centerline is valid? [True, True] Translation: X:775.03, Y:44.12, Z:28.31 [[ 9.96913442e-01 -6.94975230e-02 -3.65196413e-02 7.75034912e+02] [ 6.94687943e-02 9.97582005e-01 -2.05652681e-03 4.41193909e+01] [ 3.65742606e-02 -4.86796227e-04 9.99330819e-01 2.83140324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.419254154 meters Centerline goodness : 0.999075 with order 1 Centerline is valid? [True, True] Translation: X:775.09, Y:44.12, Z:28.32 [[ 9.97121600e-01 -6.64441932e-02 -3.65196413e-02 7.75094251e+02] [ 6.64134171e-02 9.97790072e-01 -2.05652681e-03 4.41242079e+01] [ 3.65755798e-02 -3.74786867e-04 9.99330819e-01 2.83168590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.4792541539999 meters Centerline goodness : 0.998992 with order 1 Centerline is valid? [True, True] Translation: X:775.15, Y:44.13, Z:28.32 [[ 9.97324150e-01 -6.33313541e-02 -3.65195648e-02 7.75154004e+02] [ 6.32984418e-02 9.97992521e-01 -2.05788479e-03 4.41278056e+01] [ 3.65765812e-02 -2.59253347e-04 9.99330819e-01 2.83199218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.539254154 meters Centerline goodness : 0.998991 with order 1 Centerline is valid? [True, True] Translation: X:775.21, Y:44.13, Z:28.32 [[ 9.97456327e-01 -6.12143931e-02 -3.65194886e-02 7.75213884e+02] [ 6.11800128e-02 9.98124624e-01 -2.05923569e-03 4.41301677e+01] [ 3.65770557e-02 -1.80265120e-04 9.99330819e-01 2.83224954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.5992541539999 meters Centerline goodness : 0.999286 with order 1 Centerline is valid? [True, True] Translation: X:775.27, Y:44.13, Z:28.32 [[ 9.97440406e-01 -6.14733166e-02 -3.65194122e-02 7.75272776e+02] [ 6.14390602e-02 9.98108709e-01 -2.06059114e-03 4.41317200e+01] [ 3.65770147e-02 -1.88401498e-04 9.99330819e-01 2.83242094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.659254154 meters Centerline goodness : 0.998970 with order 1 Centerline is valid? [True, True] Translation: X:775.33, Y:44.13, Z:28.32 [[ 9.97224629e-01 -6.48799791e-02 -3.65188773e-02 7.75330731e+02] [ 6.48476601e-02 9.97893028e-01 -2.07002667e-03 4.41305740e+01] [ 3.65762364e-02 -3.03882164e-04 9.99330819e-01 2.83237821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.7192541539999 meters Centerline goodness : 0.998953 with order 1 Centerline is valid? [True, True] Translation: X:775.39, Y:44.13, Z:28.32 [[ 9.96780273e-01 -7.13827931e-02 -3.65182718e-02 7.75388607e+02] [ 7.13544451e-02 9.97448853e-01 -2.08065395e-03 4.41302014e+01] [ 3.65736312e-02 -5.31786212e-04 9.99330819e-01 2.83247489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.779254154 meters Centerline goodness : 0.999014 with order 1 Centerline is valid? [True, True] Translation: X:775.45, Y:44.13, Z:28.33 [[ 9.96221777e-01 -7.87946757e-02 -3.65180857e-02 7.75448766e+02] [ 7.87711817e-02 9.96890545e-01 -2.08391492e-03 4.41304861e+01] [ 3.65687358e-02 -8.00531345e-04 9.99330819e-01 2.83272131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.839254154 meters Centerline goodness : 0.999142 with order 1 Centerline is valid? [True, True] Translation: X:775.51, Y:44.13, Z:28.33 [[ 9.95506491e-01 -8.73685375e-02 -3.65180090e-02 7.75508989e+02] [ 8.73507528e-02 9.96175435e-01 -2.08525831e-03 4.41312060e+01] [ 3.65605295e-02 -1.11398740e-03 9.99330819e-01 2.83293805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.899254154 meters Centerline goodness : 0.999602 with order 1 Centerline is valid? [True, True] Translation: X:775.57, Y:44.13, Z:28.33 [[ 9.94743189e-01 -9.56682923e-02 -3.65180090e-02 7.75569065e+02] [ 9.56560874e-02 9.95412259e-01 -2.08525831e-03 4.41333473e+01] [ 3.65499669e-02 -1.41887336e-03 9.99330819e-01 2.83314469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.959254154 meters Centerline goodness : 0.999393 with order 1 Centerline is valid? [True, True] Translation: X:775.63, Y:44.14, Z:28.33 [[ 9.93901936e-01 -1.04045055e-01 -3.65180464e-02 7.75630745e+02] [ 1.04038511e-01 9.94571085e-01 -2.08460413e-03 4.41362524e+01] [ 3.65366857e-02 -1.72739109e-03 9.99330819e-01 2.83337279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.019254154 meters Centerline goodness : 0.999373 with order 1 Centerline is valid? [True, True] Translation: X:775.69, Y:44.14, Z:28.34 [[ 9.93299115e-01 -1.09650758e-01 -3.65181994e-02 7.75691474e+02] [ 1.09648087e-01 9.93968291e-01 -2.08192066e-03 4.41394919e+01] [ 3.65262164e-02 -1.93618076e-03 9.99330819e-01 2.83356064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.079254154 meters Centerline goodness : 0.998699 with order 1 Centerline is valid? [True, True] Translation: X:775.75, Y:44.14, Z:28.34 [[ 9.92447903e-01 -1.17104968e-01 -3.65183124e-02 7.75753199e+02] [ 1.17107394e-01 9.93117079e-01 -2.07993552e-03 4.41441307e+01] [ 3.65105305e-02 -2.21233676e-03 9.99330819e-01 2.83377090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.139254154 meters Centerline goodness : 0.998804 with order 1 Centerline is valid? [True, True] Translation: X:775.81, Y:44.15, Z:28.34 [[ 9.92048317e-01 -1.20443092e-01 -3.65184595e-02 7.75814590e+02] [ 1.20447865e-01 9.92717481e-01 -2.07735074e-03 4.41504244e+01] [ 3.65027156e-02 -2.33773816e-03 9.99330819e-01 2.83408767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.199254154 meters Centerline goodness : 0.998863 with order 1 Centerline is valid? [True, True] Translation: X:775.88, Y:44.16, Z:28.34 [[ 9.92183815e-01 -1.19321703e-01 -3.65186068e-02 7.75876449e+02] [ 1.19325814e-01 9.92852983e-01 -2.07475786e-03 4.41582279e+01] [ 3.65051713e-02 -2.29907131e-03 9.99330819e-01 2.83437485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.259254154 meters Centerline goodness : 0.999013 with order 1 Centerline is valid? [True, True] Translation: X:775.94, Y:44.16, Z:28.34 [[ 9.92486032e-01 -1.16781234e-01 -3.65187627e-02 7.75937187e+02] [ 1.16783732e-01 9.93155208e-01 -2.07201001e-03 4.41647707e+01] [ 3.65107712e-02 -2.20835641e-03 9.99330819e-01 2.83448639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.319254154 meters Centerline goodness : 0.999241 with order 1 Centerline is valid? [True, True] Translation: X:776.00, Y:44.17, Z:28.35 [[ 9.93201781e-01 -1.10528698e-01 -3.65188775e-02 7.75998964e+02] [ 1.10527057e-01 9.93870960e-01 -2.06998389e-03 4.41745930e+01] [ 3.65238445e-02 -1.98041237e-03 9.99330819e-01 2.83466219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.379254154 meters Centerline goodness : 0.999239 with order 1 Centerline is valid? [True, True] Translation: X:776.06, Y:44.18, Z:28.35 [[ 9.94179888e-01 -1.01354385e-01 -3.65190155e-02 7.76060751e+02] [ 1.01346655e-01 9.94849024e-01 -2.06754625e-03 4.41848321e+01] [ 3.65404618e-02 -1.64556716e-03 9.99330819e-01 2.83491329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.439254154 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:776.12, Y:44.20, Z:28.35 [[ 9.95325564e-01 -8.94056554e-02 -3.65191717e-02 7.76122666e+02] [ 8.93899901e-02 9.95994561e-01 -2.06478371e-03 4.41967427e+01] [ 3.65574998e-02 -1.20931638e-03 9.99330819e-01 2.83543277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.499254154 meters Centerline goodness : 0.999404 with order 1 Centerline is valid? [True, True] Translation: X:776.18, Y:44.21, Z:28.36 [[ 9.96077305e-01 -8.05998837e-02 -3.65193265e-02 7.76184785e+02] [ 8.05784031e-02 9.96746141e-01 -2.06204249e-03 4.42053944e+01] [ 3.65666981e-02 -8.88715291e-04 9.99330819e-01 2.83576549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.559254154 meters Centerline goodness : 0.999361 with order 1 Centerline is valid? [True, True] Translation: X:776.25, Y:44.21, Z:28.36 [[ 9.96757634e-01 -7.16976064e-02 -3.65194784e-02 7.76247013e+02] [ 7.16702499e-02 9.97426255e-01 -2.05934874e-03 4.42131814e+01] [ 3.65731370e-02 -5.64688562e-04 9.99330819e-01 2.83580845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.619254154 meters Centerline goodness : 0.999424 with order 1 Centerline is valid? [True, True] Translation: X:776.31, Y:44.22, Z:28.36 [[ 9.97418727e-01 -6.18239465e-02 -3.65196298e-02 7.76307609e+02] [ 6.17900689e-02 9.98087049e-01 -2.05666110e-03 4.42220558e+01] [ 3.65769204e-02 -2.05198147e-04 9.99330819e-01 2.83603410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.679254154 meters Centerline goodness : 0.999170 with order 1 Centerline is valid? [True, True] Translation: X:776.37, Y:44.23, Z:28.36 [[ 9.97590817e-01 -5.89819788e-02 -3.65197061e-02 7.76366902e+02] [ 5.89462468e-02 9.98259042e-01 -2.05530554e-03 4.42287616e+01] [ 3.65773528e-02 -1.02345673e-04 9.99330819e-01 2.83623338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.739254154 meters Centerline goodness : 0.999339 with order 1 Centerline is valid? [True, True] Translation: X:776.43, Y:44.23, Z:28.36 [[ 9.97514081e-01 -6.02658730e-02 -3.65196310e-02 7.76426121e+02] [ 6.02309523e-02 9.98182349e-01 -2.05663905e-03 4.42334218e+01] [ 3.65771962e-02 -1.48085735e-04 9.99330819e-01 2.83644141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.799254154 meters Centerline goodness : 0.999447 with order 1 Centerline is valid? [True, True] Translation: X:776.49, Y:44.24, Z:28.37 [[ 9.97296715e-01 -6.37619274e-02 -3.65195551e-02 7.76486294e+02] [ 6.37293000e-02 9.97965100e-01 -2.05798556e-03 4.42373460e+01] [ 3.65764626e-02 -2.74943439e-04 9.99330819e-01 2.83664970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.8592541539999 meters Centerline goodness : 0.999384 with order 1 Centerline is valid? [True, True] Translation: X:776.55, Y:44.24, Z:28.37 [[ 9.97084696e-01 -6.69957477e-02 -3.65195551e-02 7.76546873e+02] [ 6.69652879e-02 9.97753183e-01 -2.05798556e-03 4.42395292e+01] [ 3.65753786e-02 -3.93556611e-04 9.99330819e-01 2.83689821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.919254154 meters Centerline goodness : 0.999384 with order 1 Centerline is valid? [True, True] Translation: X:776.61, Y:44.24, Z:28.37 [[ 9.97026517e-01 -6.78560794e-02 -3.65195551e-02 7.76607033e+02] [ 6.78261965e-02 9.97695029e-01 -2.05798556e-03 4.42423603e+01] [ 3.65750254e-02 -4.25116344e-04 9.99330819e-01 2.83689649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.9792541539999 meters Centerline goodness : 0.999300 with order 1 Centerline is valid? [True, True] Translation: X:776.67, Y:44.24, Z:28.37 [[ 9.96937096e-01 -6.91573467e-02 -3.65196820e-02 7.76666779e+02] [ 6.91284190e-02 9.97605651e-01 -2.05573007e-03 4.42446472e+01] [ 3.65744100e-02 -4.75114318e-04 9.99330819e-01 2.83728889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.039254154 meters Centerline goodness : 0.999618 with order 1 Centerline is valid? [True, True] Translation: X:776.73, Y:44.25, Z:28.38 [[ 9.96917241e-01 -6.94429645e-02 -3.65197190e-02 7.76728537e+02] [ 6.94142523e-02 9.97585805e-01 -2.05507288e-03 4.42465497e+01] [ 3.65742637e-02 -4.86251406e-04 9.99330819e-01 2.83750801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.0992541539999 meters Centerline goodness : 0.999255 with order 1 Centerline is valid? [True, True] Translation: X:776.79, Y:44.25, Z:28.38 [[ 9.97121921e-01 -6.64392882e-02 -3.65197921e-02 7.76789899e+02] [ 6.64086096e-02 9.97790398e-01 -2.05377314e-03 4.42473115e+01] [ 3.65755491e-02 -3.77366398e-04 9.99330820e-01 2.83770627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.159254154 meters Centerline goodness : 0.999213 with order 1 Centerline is valid? [True, True] Translation: X:776.85, Y:44.25, Z:28.38 [[ 9.97311025e-01 -6.35375427e-02 -3.65198654e-02 7.76850343e+02] [ 6.35049669e-02 9.97979412e-01 -2.05246918e-03 4.42492110e+01] [ 3.65764826e-02 -2.72242703e-04 9.99330820e-01 2.83791106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.2192541539999 meters Centerline goodness : 0.999424 with order 1 Centerline is valid? [True, True] Translation: X:776.91, Y:44.25, Z:28.38 [[ 9.97608356e-01 -5.86844698e-02 -3.65198654e-02 7.76910532e+02] [ 5.86486424e-02 9.98276577e-01 -2.05246918e-03 4.42500206e+01] [ 3.65773743e-02 -9.42801224e-05 9.99330820e-01 2.83808541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.279254154 meters Centerline goodness : 0.999192 with order 1 Centerline is valid? [True, True] Translation: X:776.97, Y:44.25, Z:28.38 [[ 9.97784004e-01 -5.56181934e-02 -3.65198270e-02 7.76969169e+02] [ 5.55802875e-02 9.98452110e-01 -2.05315186e-03 4.42512623e+01] [ 3.65774909e-02 1.88195990e-05 9.99330820e-01 2.83811058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.339254154 meters Centerline goodness : 0.999128 with order 1 Centerline is valid? [True, True] Translation: X:777.03, Y:44.25, Z:28.38 [[ 9.97776176e-01 -5.57585537e-02 -3.65196800e-02 7.77027565e+02] [ 5.57206461e-02 9.98444282e-01 -2.05576431e-03 4.42513956e+01] [ 3.65774921e-02 1.62924871e-05 9.99330820e-01 2.83821170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.399254154 meters Centerline goodness : 0.999086 with order 1 Centerline is valid? [True, True] Translation: X:777.09, Y:44.25, Z:28.39 [[ 9.97580769e-01 -5.91520628e-02 -3.65190725e-02 7.77085549e+02] [ 5.91160350e-02 9.98248979e-01 -2.06649890e-03 4.42521467e+01] [ 3.65773645e-02 -9.73632118e-05 9.99330820e-01 2.83854532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.459254154 meters Centerline goodness : 0.999405 with order 1 Centerline is valid? [True, True] Translation: X:777.14, Y:44.25, Z:28.39 [[ 9.97368671e-01 -6.26269689e-02 -3.65184574e-02 7.77143232e+02] [ 6.25928732e-02 9.98036982e-01 -2.07731191e-03 4.42527039e+01] [ 3.65768668e-02 -2.13949354e-04 9.99330820e-01 2.83865046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.519254154 meters Centerline goodness : 0.999365 with order 1 Centerline is valid? [True, True] Translation: X:777.20, Y:44.25, Z:28.39 [[ 9.96843899e-01 -7.04889018e-02 -3.65178728e-02 7.77201633e+02] [ 7.04597020e-02 9.97512442e-01 -2.08753906e-03 4.42513380e+01] [ 3.65741808e-02 -4.92087864e-04 9.99330820e-01 2.83879193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.579254154 meters Centerline goodness : 0.999494 with order 1 Centerline is valid? [True, True] Translation: X:777.26, Y:44.25, Z:28.39 [[ 9.96241906e-01 -7.85399178e-02 -3.65177560e-02 7.77261747e+02] [ 7.85160453e-02 9.96910660e-01 -2.08958011e-03 4.42512173e+01] [ 3.65690557e-02 -7.85502515e-04 9.99330820e-01 2.83925694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.639254154 meters Centerline goodness : 0.999305 with order 1 Centerline is valid? [True, True] Translation: X:777.32, Y:44.25, Z:28.39 [[ 9.95732013e-01 -8.47597308e-02 -3.65177560e-02 7.77322935e+02] [ 8.47400350e-02 9.96400903e-01 -2.08958011e-03 4.42509728e+01] [ 3.65634373e-02 -1.01385411e-03 9.99330820e-01 2.83947824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.699254154 meters Centerline goodness : 0.999621 with order 1 Centerline is valid? [True, True] Translation: X:777.38, Y:44.25, Z:28.40 [[ 9.95229570e-01 -9.04685034e-02 -3.65178321e-02 7.77383863e+02] [ 9.04526924e-02 9.95898564e-01 -2.08825042e-03 4.42512873e+01] [ 3.65569774e-02 -1.22484766e-03 9.99330820e-01 2.83985431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.759254154 meters Centerline goodness : 0.999454 with order 1 Centerline is valid? [True, True] Translation: X:777.45, Y:44.25, Z:28.40 [[ 9.94929339e-01 -9.37126093e-02 -3.65179089e-02 7.77445026e+02] [ 9.36990287e-02 9.95598381e-01 -2.08690578e-03 4.42526772e+01] [ 3.65527404e-02 -1.34536881e-03 9.99330820e-01 2.84006397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.819254154 meters Centerline goodness : 0.999222 with order 1 Centerline is valid? [True, True] Translation: X:777.51, Y:44.26, Z:28.40 [[ 9.94872309e-01 -9.43160218e-02 -3.65181610e-02 7.77506804e+02] [ 9.43030090e-02 9.95541363e-01 -2.08248523e-03 4.42552227e+01] [ 3.65517515e-02 -1.37196558e-03 9.99330820e-01 2.84009338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.879254154 meters Centerline goodness : 0.999118 with order 1 Centerline is valid? [True, True] Translation: X:777.57, Y:44.26, Z:28.40 [[ 9.94874400e-01 -9.42939034e-02 -3.65183128e-02 7.77568514e+02] [ 9.42809734e-02 9.95543456e-01 -2.07982014e-03 4.42579586e+01] [ 3.65516817e-02 -1.37382226e-03 9.99330820e-01 2.84031544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.939254154 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:777.63, Y:44.26, Z:28.41 [[ 9.94988977e-01 -9.30770540e-02 -3.65184643e-02 7.77629960e+02] [ 9.30634035e-02 9.95658018e-01 -2.07715618e-03 4.42618287e+01] [ 3.65532374e-02 -1.33178508e-03 9.99330820e-01 2.84059903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.999254154 meters Centerline goodness : 0.999518 with order 1 Centerline is valid? [True, True] Translation: X:777.69, Y:44.27, Z:28.41 [[ 9.95258349e-01 -9.01510580e-02 -3.65185762e-02 7.77690997e+02] [ 9.01355125e-02 9.95927348e-01 -2.07518654e-03 4.42659749e+01] [ 3.65569290e-02 -1.22627385e-03 9.99330820e-01 2.84075327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.059254154 meters Centerline goodness : 0.999474 with order 1 Centerline is valid? [True, True] Translation: X:777.75, Y:44.27, Z:28.41 [[ 9.95485379e-01 -8.76084922e-02 -3.65186487e-02 7.77752146e+02] [ 8.75912846e-02 9.96154338e-01 -2.07391045e-03 4.42708349e+01] [ 3.65599025e-02 -1.13416782e-03 9.99330820e-01 2.84117942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.119254154 meters Centerline goodness : 0.998948 with order 1 Centerline is valid? [True, True] Translation: X:777.81, Y:44.28, Z:28.42 [[ 9.95782511e-01 -8.41639687e-02 -3.65187222e-02 7.77812966e+02] [ 8.41444943e-02 9.96451408e-01 -2.07261603e-03 4.42758012e+01] [ 3.65635717e-02 -1.00897462e-03 9.99330820e-01 2.84160846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.179254154 meters Centerline goodness : 0.999010 with order 1 Centerline is valid? [True, True] Translation: X:777.88, Y:44.28, Z:28.42 [[ 9.96014867e-01 -8.13680632e-02 -3.65187992e-02 7.77875228e+02] [ 8.13467607e-02 9.96683708e-01 -2.07125799e-03 4.42807034e+01] [ 3.65662264e-02 -9.07682271e-04 9.99330820e-01 2.84192457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.239254154 meters Centerline goodness : 0.999033 with order 1 Centerline is valid? [True, True] Translation: X:777.94, Y:44.28, Z:28.42 [[ 9.95933345e-01 -8.23598061e-02 -3.65189535e-02 7.77936452e+02] [ 8.23392695e-02 9.96602210e-01 -2.06853360e-03 4.42844766e+01] [ 3.65652338e-02 -9.46822369e-04 9.99330820e-01 2.84204570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.299254154 meters Centerline goodness : 0.999054 with order 1 Centerline is valid? [True, True] Translation: X:778.00, Y:44.29, Z:28.42 [[ 9.95622127e-01 -8.60403384e-02 -3.65190291e-02 7.77997781e+02] [ 8.60223231e-02 9.96291065e-01 -2.06719758e-03 4.42880189e+01] [ 3.65614448e-02 -1.08330407e-03 9.99330820e-01 2.84204419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.3592541539999 meters Centerline goodness : 0.999117 with order 1 Centerline is valid? [True, True] Translation: X:778.06, Y:44.29, Z:28.42 [[ 9.95207535e-01 -9.07100755e-02 -3.65191051e-02 7.78059646e+02] [ 9.06952477e-02 9.95876551e-01 -2.06585522e-03 4.42922828e+01] [ 3.65559143e-02 -1.25615459e-03 9.99330820e-01 2.84240118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.419254154 meters Centerline goodness : 0.999074 with order 1 Centerline is valid? [True, True] Translation: X:778.12, Y:44.30, Z:28.43 [[ 9.95121829e-01 -9.16454525e-02 -3.65192591e-02 7.78121592e+02] [ 9.16313535e-02 9.95790861e-01 -2.06312931e-03 4.42961132e+01] [ 3.65546208e-02 -1.29324412e-03 9.99330820e-01 2.84260767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.4792541539999 meters Centerline goodness : 0.999032 with order 1 Centerline is valid? [True, True] Translation: X:778.18, Y:44.30, Z:28.43 [[ 9.94878793e-01 -9.42471223e-02 -3.65194116e-02 7.78183887e+02] [ 9.42348718e-02 9.95547861e-01 -2.06042650e-03 4.43011834e+01] [ 3.65510113e-02 -1.39152744e-03 9.99330820e-01 2.84273675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.539254154 meters Centerline goodness : 0.999158 with order 1 Centerline is valid? [True, True] Translation: X:778.25, Y:44.31, Z:28.43 [[ 9.94609286e-01 -9.70499331e-02 -3.65195642e-02 7.78245687e+02] [ 9.70396671e-02 9.95278388e-01 -2.05771719e-03 4.43062744e+01] [ 3.65468343e-02 -1.49722173e-03 9.99330820e-01 2.84293537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.5992541539999 meters Centerline goodness : 0.999411 with order 1 Centerline is valid? [True, True] Translation: X:778.31, Y:44.31, Z:28.43 [[ 9.94278502e-01 -1.00382121e-01 -3.65197171e-02 7.78306599e+02] [ 1.00374197e-01 9.94947636e-01 -2.05500048e-03 4.43105156e+01] [ 3.65414915e-02 -1.62239446e-03 9.99330820e-01 2.84318914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.659254154 meters Centerline goodness : 0.998968 with order 1 Centerline is valid? [True, True] Translation: X:778.37, Y:44.32, Z:28.43 [[ 9.93935847e-01 -1.03719984e-01 -3.65198301e-02 7.78367312e+02] [ 1.03714380e-01 9.94605003e-01 -2.05298937e-03 4.43162208e+01] [ 3.65357418e-02 -1.74709181e-03 9.99330820e-01 2.84349485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.7192541539999 meters Centerline goodness : 0.999242 with order 1 Centerline is valid? [True, True] Translation: X:778.43, Y:44.32, Z:28.44 [[ 9.93818295e-01 -1.04840314e-01 -3.65199396e-02 7.78429239e+02] [ 1.04835536e-01 9.94487458e-01 -2.05104105e-03 4.43211191e+01] [ 3.65336536e-02 -1.79022532e-03 9.99330820e-01 2.84351958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.779254154 meters Centerline goodness : 0.998861 with order 1 Centerline is valid? [True, True] Translation: X:778.49, Y:44.33, Z:28.44 [[ 9.93819644e-01 -1.04827475e-01 -3.65200824e-02 7.78490819e+02] [ 1.04822782e-01 9.94488807e-01 -2.04849401e-03 4.43291656e+01] [ 3.65335517e-02 -1.79230305e-03 9.99330820e-01 2.84376303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.839254154 meters Centerline goodness : 0.999303 with order 1 Centerline is valid? [True, True] Translation: X:778.55, Y:44.34, Z:28.44 [[ 9.94039068e-01 -1.02725868e-01 -3.65202312e-02 7.78552106e+02] [ 1.02719857e-01 9.94708221e-01 -2.04583874e-03 4.43358787e+01] [ 3.65371348e-02 -1.71770928e-03 9.99330820e-01 2.84403201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.899254154 meters Centerline goodness : 0.999238 with order 1 Centerline is valid? [True, True] Translation: X:778.61, Y:44.34, Z:28.44 [[ 9.94578622e-01 -9.73633889e-02 -3.65203409e-02 7.78613475e+02] [ 9.73538411e-02 9.95247734e-01 -2.04387790e-03 4.43445680e+01] [ 3.65457854e-02 -1.52259820e-03 9.99330820e-01 2.84411327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.959254154 meters Centerline goodness : 0.999195 with order 1 Centerline is valid? [True, True] Translation: X:778.67, Y:44.35, Z:28.44 [[ 9.95254702e-01 -9.01905257e-02 -3.65204924e-02 7.78674571e+02] [ 9.01762535e-02 9.95923730e-01 -2.04116765e-03 4.43527184e+01] [ 3.65557190e-02 -1.26179947e-03 9.99330820e-01 2.84433606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.019254154 meters Centerline goodness : 0.999065 with order 1 Centerline is valid? [True, True] Translation: X:778.74, Y:44.36, Z:28.45 [[ 9.96059189e-01 -8.08228138e-02 -3.65207339e-02 7.78736331e+02] [ 8.08024064e-02 9.96728058e-01 -2.03683792e-03 4.43630299e+01] [ 3.65658631e-02 -9.22152049e-04 9.99330820e-01 2.84452188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.079254154 meters Centerline goodness : 0.999040 with order 1 Centerline is valid? [True, True] Translation: X:778.80, Y:44.37, Z:28.45 [[ 9.96808107e-01 -7.09917113e-02 -3.65208773e-02 7.78798187e+02] [ 7.09648001e-02 9.97476746e-01 -2.03426340e-03 4.43723195e+01] [ 3.65731417e-02 -5.63926502e-04 9.99330820e-01 2.84484273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.139254154 meters Centerline goodness : 0.998911 with order 1 Centerline is valid? [True, True] Translation: X:778.86, Y:44.38, Z:28.45 [[ 9.97309550e-01 -6.35600258e-02 -3.65210259e-02 7.78857903e+02] [ 6.35282296e-02 9.97977974e-01 -2.03159182e-03 4.43796400e+01] [ 3.65763075e-02 -2.93990196e-04 9.99330820e-01 2.84503218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.199254154 meters Centerline goodness : 0.998994 with order 1 Centerline is valid? [True, True] Translation: X:778.92, Y:44.39, Z:28.45 [[ 9.97524069e-01 -6.00994516e-02 -3.65210623e-02 7.78918070e+02] [ 6.00653604e-02 9.98192380e-01 -2.03093675e-03 4.43856479e+01] [ 3.65771043e-02 -1.67742479e-04 9.99330820e-01 2.84526422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.259254154 meters Centerline goodness : 0.999123 with order 1 Centerline is valid? [True, True] Translation: X:778.98, Y:44.39, Z:28.46 [[ 9.97685023e-01 -5.73655517e-02 -3.65210623e-02 7.78977851e+02] [ 5.73296291e-02 9.98353239e-01 -2.03093675e-03 4.43914873e+01] [ 3.65774267e-02 -6.75037761e-05 9.99330820e-01 2.84564639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.319254154 meters Centerline goodness : 0.999187 with order 1 Centerline is valid? [True, True] Translation: X:779.04, Y:44.39, Z:28.46 [[ 9.97690669e-01 -5.72672692e-02 -3.65210623e-02 7.79037950e+02] [ 5.72312808e-02 9.98358881e-01 -2.03093675e-03 4.43944143e+01] [ 3.65774331e-02 -6.39005233e-05 9.99330820e-01 2.84588119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.379254154 meters Centerline goodness : 0.999037 with order 1 Centerline is valid? [True, True] Translation: X:779.10, Y:44.40, Z:28.46 [[ 9.97591716e-01 -5.89659226e-02 -3.65210623e-02 7.79097632e+02] [ 5.89310720e-02 9.98259988e-01 -2.03093675e-03 4.43963447e+01] [ 3.65772713e-02 -1.26179673e-04 9.99330820e-01 2.84612027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.439254154 meters Centerline goodness : 0.998441 with order 1 Centerline is valid? [True, True] Translation: X:779.16, Y:44.40, Z:28.46 [[ 9.97473769e-01 -6.09286206e-02 -3.65209879e-02 7.79156151e+02] [ 6.08950360e-02 9.98142106e-01 -2.03227404e-03 4.43957365e+01] [ 3.65769594e-02 -1.96806824e-04 9.99330820e-01 2.84579749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.499254154 meters Centerline goodness : 0.998996 with order 1 Centerline is valid? [True, True] Translation: X:779.22, Y:44.39, Z:28.46 [[ 9.96924972e-01 -6.93313236e-02 -3.65207799e-02 7.79215385e+02] [ 6.93032350e-02 9.97593563e-01 -2.03600527e-03 4.43942489e+01] [ 3.65740539e-02 -5.01263695e-04 9.99330820e-01 2.84631096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.559254154 meters Centerline goodness : 0.998828 with order 1 Centerline is valid? [True, True] Translation: X:779.28, Y:44.39, Z:28.46 [[ 9.96446592e-01 -7.58974881e-02 -3.65206938e-02 7.79275706e+02] [ 7.58737482e-02 9.97115351e-01 -2.03754886e-03 4.43925856e+01] [ 3.65699892e-02 -7.40653306e-04 9.99330820e-01 2.84624335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.619254154 meters Centerline goodness : 0.998873 with order 1 Centerline is valid? [True, True] Translation: X:779.34, Y:44.39, Z:28.46 [[ 9.96118836e-01 -8.00843330e-02 -3.65207304e-02 7.79337187e+02] [ 8.00634278e-02 9.96787690e-01 -2.03689228e-03 4.43927193e+01] [ 3.65665376e-02 -8.94988095e-04 9.99330820e-01 2.84637323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.679254154 meters Centerline goodness : 0.998703 with order 1 Centerline is valid? [True, True] Translation: X:779.40, Y:44.39, Z:28.46 [[ 9.96093522e-01 -8.03985413e-02 -3.65208040e-02 7.79399279e+02] [ 8.03778954e-02 9.96762384e-01 -2.03557222e-03 4.43936144e+01] [ 3.65662207e-02 -9.07845059e-04 9.99330820e-01 2.84643295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.739254154 meters Centerline goodness : 0.998917 with order 1 Centerline is valid? [True, True] Translation: X:779.46, Y:44.40, Z:28.47 [[ 9.96309802e-01 -7.76723853e-02 -3.65209512e-02 7.79460676e+02] [ 7.76500061e-02 9.96978607e-01 -2.03292791e-03 4.43951397e+01] [ 3.65685094e-02 -8.10426075e-04 9.99330820e-01 2.84681264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.799254154 meters Centerline goodness : 0.998957 with order 1 Centerline is valid? [True, True] Translation: X:779.52, Y:44.40, Z:28.47 [[ 9.96906618e-01 -6.95945870e-02 -3.65210598e-02 7.79521893e+02] [ 6.95668592e-02 9.97575224e-01 -2.03097504e-03 4.43988517e+01] [ 3.65738492e-02 -5.15962959e-04 9.99330820e-01 2.84724609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.8592541539999 meters Centerline goodness : 0.998830 with order 1 Centerline is valid? [True, True] Translation: X:779.58, Y:44.40, Z:28.48 [[ 9.97470493e-01 -6.09821547e-02 -3.65211348e-02 7.79580987e+02] [ 6.09487029e-02 9.98138836e-01 -2.02962576e-03 4.44017830e+01] [ 3.65769339e-02 -2.01423985e-04 9.99330820e-01 2.84752470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.919254154 meters Centerline goodness : 0.998999 with order 1 Centerline is valid? [True, True] Translation: X:779.64, Y:44.40, Z:28.48 [[ 9.97684965e-01 -5.73665467e-02 -3.65210979e-02 7.79639938e+02] [ 5.73306485e-02 9.98353181e-01 -2.03028912e-03 4.44045204e+01] [ 3.65774249e-02 -6.81892947e-05 9.99330820e-01 2.84772780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.9792541539999 meters Centerline goodness : 0.998703 with order 1 Centerline is valid? [True, True] Translation: X:779.70, Y:44.41, Z:28.48 [[ 9.97670526e-01 -5.76174287e-02 -3.65205895e-02 7.79698248e+02] [ 5.75813652e-02 9.98338734e-01 -2.03939368e-03 4.44059496e+01] [ 3.65774237e-02 -6.82624365e-05 9.99330820e-01 2.84764869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.039254154 meters Centerline goodness : 0.998750 with order 1 Centerline is valid? [True, True] Translation: X:779.76, Y:44.40, Z:28.47 [[ 9.97410286e-01 -6.19597446e-02 -3.65200247e-02 7.79757341e+02] [ 6.19262218e-02 9.98078626e-01 -2.04945681e-03 4.44020557e+01] [ 3.65768399e-02 -2.17397845e-04 9.99330820e-01 2.84737003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.0992541539999 meters Centerline goodness : 0.999175 with order 1 Centerline is valid? [True, True] Translation: X:779.82, Y:44.40, Z:28.48 [[ 9.96327986e-01 -7.74394853e-02 -3.65194628e-02 7.79815920e+02] [ 7.74159790e-02 9.96996753e-01 -2.05942138e-03 4.44039248e+01] [ 3.65692664e-02 -7.75330809e-04 9.99330820e-01 2.84790394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.159254154 meters Centerline goodness : 0.999112 with order 1 Centerline is valid? [True, True] Translation: X:779.88, Y:44.40, Z:28.48 [[ 9.95159974e-01 -9.12302836e-02 -3.65193306e-02 7.79876962e+02] [ 9.12159555e-02 9.95829001e-01 -2.06176318e-03 4.44036500e+01] [ 3.65551037e-02 -1.27936144e-03 9.99330820e-01 2.84813502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.2192541539999 meters Centerline goodness : 0.998925 with order 1 Centerline is valid? [True, True] Translation: X:779.94, Y:44.41, Z:28.48 [[ 9.94355101e-01 -9.96206138e-02 -3.65194050e-02 7.79938243e+02] [ 9.96119775e-02 9.95024225e-01 -2.06044373e-03 4.44055620e+01] [ 3.65429554e-02 -1.58895741e-03 9.99330820e-01 2.84836637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.279254154 meters Centerline goodness : 0.999095 with order 1 Centerline is valid? [True, True] Translation: X:780.00, Y:44.41, Z:28.49 [[ 9.93313605e-01 -1.09518976e-01 -3.65195156e-02 7.80000473e+02] [ 1.09517076e-01 9.93982783e-01 -2.05848294e-03 4.44076885e+01] [ 3.65252127e-02 -1.95479146e-03 9.99330820e-01 2.84860232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.339254154 meters Centerline goodness : 0.998904 with order 1 Centerline is valid? [True, True] Translation: X:780.06, Y:44.41, Z:28.49 [[ 9.92781637e-01 -1.14240690e-01 -3.65196664e-02 7.80062575e+02] [ 1.14242070e-01 9.93450816e-01 -2.05580398e-03 4.44121661e+01] [ 3.65153488e-02 -2.13111783e-03 9.99330820e-01 2.84907439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.399254154 meters Centerline goodness : 0.998841 with order 1 Centerline is valid? [True, True] Translation: X:780.12, Y:44.42, Z:28.49 [[ 9.92583501e-01 -1.15949540e-01 -3.65198152e-02 7.80124282e+02] [ 1.15952169e-01 9.93252676e-01 -2.05315721e-03 4.44166172e+01] [ 3.65114668e-02 -2.19662180e-03 9.99330820e-01 2.84938007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.459254154 meters Centerline goodness : 0.998630 with order 1 Centerline is valid? [True, True] Translation: X:780.19, Y:44.42, Z:28.50 [[ 9.92718577e-01 -1.14787281e-01 -3.65199633e-02 7.80186012e+02] [ 1.14789224e-01 9.93387754e-01 -2.05051915e-03 4.44221528e+01] [ 3.65138578e-02 -2.15650978e-03 9.99330820e-01 2.84957123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.519254154 meters Centerline goodness : 0.998799 with order 1 Centerline is valid? [True, True] Translation: X:780.25, Y:44.43, Z:28.49 [[ 9.93528254e-01 -1.07554124e-01 -3.65201106e-02 7.80248189e+02] [ 1.07551289e-01 9.94197428e-01 -2.04789165e-03 4.44265828e+01] [ 3.65284593e-02 -1.89314674e-03 9.99330820e-01 2.84937592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.579254154 meters Centerline goodness : 0.998777 with order 1 Centerline is valid? [True, True] Translation: X:780.31, Y:44.44, Z:28.50 [[ 9.94060001e-01 -1.02523094e-01 -3.65202659e-02 7.80309133e+02] [ 1.02516973e-01 9.94729153e-01 -2.04511980e-03 4.44386067e+01] [ 3.65374451e-02 -1.71097532e-03 9.99330820e-01 2.84966344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.639254154 meters Centerline goodness : 0.998710 with order 1 Centerline is valid? [True, True] Translation: X:780.37, Y:44.45, Z:28.50 [[ 9.94696272e-01 -9.61539095e-02 -3.65205626e-02 7.80370828e+02] [ 9.61436972e-02 9.95365374e-01 -2.03980762e-03 4.44469463e+01] [ 3.65474389e-02 -1.48223287e-03 9.99330820e-01 2.84981308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.699254154 meters Centerline goodness : 0.998834 with order 1 Centerline is valid? [True, True] Translation: X:780.43, Y:44.46, Z:28.50 [[ 9.95476159e-01 -8.77123406e-02 -3.65207052e-02 7.80432908e+02] [ 8.76965464e-02 9.96145153e-01 -2.03725059e-03 4.44576621e+01] [ 3.65586155e-02 -1.17470533e-03 9.99330820e-01 2.85010842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.759254154 meters Centerline goodness : 0.999085 with order 1 Centerline is valid? [True, True] Translation: X:780.49, Y:44.47, Z:28.50 [[ 9.96299352e-01 -7.78063617e-02 -3.65208457e-02 7.80494548e+02] [ 7.77840063e-02 9.96968158e-01 -2.03472829e-03 4.44681163e+01] [ 3.65684351e-02 -8.13539224e-04 9.99330820e-01 2.85043521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.819254154 meters Centerline goodness : 0.999019 with order 1 Centerline is valid? [True, True] Translation: X:780.56, Y:44.48, Z:28.51 [[ 9.97096382e-01 -6.68208201e-02 -3.65209849e-02 7.80555907e+02] [ 6.67911864e-02 9.97764906e-01 -2.03222703e-03 4.44781338e+01] [ 3.65751521e-02 -4.12953688e-04 9.99330820e-01 2.85097237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.879254154 meters Centerline goodness : 0.998927 with order 1 Centerline is valid? [True, True] Translation: X:780.62, Y:44.49, Z:28.51 [[ 9.97707982e-01 -5.69648076e-02 -3.65211322e-02 7.80616243e+02] [ 5.69286664e-02 9.98376186e-01 -2.02957651e-03 4.44856332e+01] [ 3.65774431e-02 -5.41746690e-05 9.99330820e-01 2.85121413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.939254154 meters Centerline goodness : 0.999034 with order 1 Centerline is valid? [True, True] Translation: X:780.68, Y:44.49, Z:28.52 [[ 9.97837371e-01 -5.46514922e-02 -3.65211683e-02 7.80675198e+02] [ 5.46138256e-02 9.98505490e-01 -2.02892759e-03 4.44911265e+01] [ 3.65774709e-02 2.99790606e-05 9.99330820e-01 2.85173444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.999254154 meters Centerline goodness : 0.999012 with order 1 Centerline is valid? [True, True] Translation: X:780.73, Y:44.49, Z:28.52 [[ 9.97624372e-01 -5.84108031e-02 -3.65210935e-02 7.80733567e+02] [ 5.83756050e-02 9.98292626e-01 -2.03027241e-03 4.44934962e+01] [ 3.65773282e-02 -1.06491693e-04 9.99330820e-01 2.85188582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.059254154 meters Centerline goodness : 0.998907 with order 1 Centerline is valid? [True, True] Translation: X:780.79, Y:44.49, Z:28.52 [[ 9.97317930e-01 -6.34284201e-02 -3.65209831e-02 7.80793648e+02] [ 6.33965112e-02 9.97986349e-01 -2.03225697e-03 4.44947723e+01] [ 3.65763454e-02 -2.88496596e-04 9.99330820e-01 2.85194118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.119254154 meters Centerline goodness : 0.998888 with order 1 Centerline is valid? [True, True] Translation: X:780.86, Y:44.50, Z:28.52 [[ 9.96549424e-01 -7.45349779e-02 -3.65209831e-02 7.80855157e+02] [ 7.45105174e-02 9.97218157e-01 -2.03225697e-03 4.44952615e+01] [ 3.65708617e-02 -6.95952829e-04 9.99330820e-01 2.85220091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.179254154 meters Centerline goodness : 0.998803 with order 1 Centerline is valid? [True, True] Translation: X:780.92, Y:44.50, Z:28.52 [[ 9.96016553e-01 -8.13464154e-02 -3.65210558e-02 7.80917650e+02] [ 8.13265754e-02 9.96685439e-01 -2.03094898e-03 4.44965147e+01] [ 3.65652149e-02 -9.47273595e-04 9.99330820e-01 2.85237672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.239254154 meters Centerline goodness : 0.999017 with order 1 Centerline is valid? [True, True] Translation: X:780.98, Y:44.50, Z:28.53 [[ 9.95301162e-01 -8.96760819e-02 -3.65212004e-02 7.80978799e+02] [ 8.96619338e-02 9.95970192e-01 -2.02834562e-03 4.44969064e+01] [ 3.65559211e-02 -1.25574670e-03 9.99330820e-01 2.85254789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.299254154 meters Centerline goodness : 0.998891 with order 1 Centerline is valid? [True, True] Translation: X:781.04, Y:44.50, Z:28.53 [[ 9.94912298e-01 -9.38920326e-02 -3.65213072e-02 7.81041273e+02] [ 9.38807897e-02 9.95581383e-01 -2.02642075e-03 4.44979329e+01] [ 3.65501983e-02 -1.41253824e-03 9.99330820e-01 2.85269995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.3592541539999 meters Centerline goodness : 0.998976 with order 1 Centerline is valid? [True, True] Translation: X:781.10, Y:44.50, Z:28.53 [[ 9.94956662e-01 -9.34206870e-02 -3.65214561e-02 7.81104341e+02] [ 9.34092256e-02 9.95625743e-01 -2.02373297e-03 4.45005174e+01] [ 3.65507604e-02 -1.39791434e-03 9.99330820e-01 2.85296263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.419254154 meters Centerline goodness : 0.998826 with order 1 Centerline is valid? [True, True] Translation: X:781.17, Y:44.50, Z:28.53 [[ 9.95436399e-01 -8.81620210e-02 -3.65216855e-02 7.81165700e+02] [ 8.81471764e-02 9.96105414e-01 -2.01958445e-03 4.45049937e+01] [ 3.65574994e-02 -1.20891558e-03 9.99330820e-01 2.85313323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.4792541539999 meters Centerline goodness : 0.998786 with order 1 Centerline is valid? [True, True] Translation: X:781.23, Y:44.51, Z:28.53 [[ 9.96026249e-01 -8.12272707e-02 -3.65217979e-02 7.81227717e+02] [ 8.12078417e-02 9.96695147e-01 -2.01754955e-03 4.45099466e+01] [ 3.65649788e-02 -9.56324079e-04 9.99330820e-01 2.85333518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.539254154 meters Centerline goodness : 0.999083 with order 1 Centerline is valid? [True, True] Translation: X:781.29, Y:44.52, Z:28.54 [[ 9.96291731e-01 -7.79033622e-02 -3.65219469e-02 7.81289495e+02] [ 7.78818004e-02 9.96960564e-01 -2.01484918e-03 4.45150201e+01] [ 3.65679043e-02 -8.37017396e-04 9.99330820e-01 2.85365300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.5992541539999 meters Centerline goodness : 0.998909 with order 1 Centerline is valid? [True, True] Translation: X:781.35, Y:44.52, Z:28.54 [[ 9.96679180e-01 -7.27787606e-02 -3.65220938e-02 7.81351607e+02] [ 7.27538571e-02 9.97347897e-01 -2.01218382e-03 4.45197031e+01] [ 3.65716777e-02 -6.51621471e-04 9.99330820e-01 2.85353246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.659254154 meters Centerline goodness : 0.999100 with order 1 Centerline is valid? [True, True] Translation: X:781.41, Y:44.52, Z:28.54 [[ 9.96719894e-01 -7.22189722e-02 -3.65222392e-02 7.81412624e+02] [ 7.21937900e-02 9.97388600e-01 -2.00954083e-03 4.45241059e+01] [ 3.65719920e-02 -6.33729546e-04 9.99330820e-01 2.85377033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.7192541539999 meters Centerline goodness : 0.999016 with order 1 Centerline is valid? [True, True] Translation: X:781.48, Y:44.53, Z:28.54 [[ 9.96665674e-01 -7.29633640e-02 -3.65223465e-02 7.81475029e+02] [ 7.29387527e-02 9.97334401e-01 -2.00758789e-03 4.45282315e+01] [ 3.65714730e-02 -6.63000462e-04 9.99330820e-01 2.85383766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.779254154 meters Centerline goodness : 0.999230 with order 1 Centerline is valid? [True, True] Translation: X:781.54, Y:44.53, Z:28.54 [[ 9.96396321e-01 -7.65537645e-02 -3.65224930e-02 7.81537436e+02] [ 7.65316604e-02 9.97065136e-01 -2.00492022e-03 4.45326047e+01] [ 3.65687886e-02 -7.97431903e-04 9.99330820e-01 2.85424385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.839254154 meters Centerline goodness : 0.999166 with order 1 Centerline is valid? [True, True] Translation: X:781.60, Y:44.54, Z:28.55 [[ 9.96171891e-01 -7.94207828e-02 -3.65226391e-02 7.81598150e+02] [ 7.94007012e-02 9.96840769e-01 -2.00225511e-03 4.45362948e+01] [ 3.65662763e-02 -9.05332896e-04 9.99330820e-01 2.85460156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.899254154 meters Centerline goodness : 0.999018 with order 1 Centerline is valid? [True, True] Translation: X:781.66, Y:44.54, Z:28.55 [[ 9.95620712e-01 -8.60550825e-02 -3.65228730e-02 7.81659701e+02] [ 8.60396137e-02 9.96289713e-01 -1.99798013e-03 4.45391288e+01] [ 3.65592990e-02 -1.15318348e-03 9.99330820e-01 2.85505928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.959254154 meters Centerline goodness : 0.998804 with order 1 Centerline is valid? [True, True] Translation: X:781.72, Y:44.54, Z:28.55 [[ 9.94900549e-01 -9.40157970e-02 -3.65229799e-02 7.81721578e+02] [ 9.40057514e-02 9.95569653e-01 -1.99602286e-03 4.45427075e+01] [ 3.65488281e-02 -1.44752593e-03 9.99330820e-01 2.85515412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.019254154 meters Centerline goodness : 0.999103 with order 1 Centerline is valid? [True, True] Translation: X:781.78, Y:44.55, Z:28.55 [[ 9.94328345e-01 -9.98859552e-02 -3.65231218e-02 7.81784763e+02] [ 9.98799541e-02 9.94997498e-01 -1.99342398e-03 4.45456808e+01] [ 3.65395298e-02 -1.66580976e-03 9.99330820e-01 2.85535528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.079254154 meters Centerline goodness : 0.999315 with order 1 Centerline is valid? [True, True] Translation: X:781.85, Y:44.55, Z:28.56 [[ 9.93320911e-01 -1.09451422e-01 -3.65233331e-02 7.81847700e+02] [ 1.09452004e-01 9.93990091e-01 -1.98954442e-03 4.45492782e+01] [ 3.65215897e-02 -2.02129590e-03 9.99330820e-01 2.85580509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.139254154 meters Centerline goodness : 0.999080 with order 1 Centerline is valid? [True, True] Translation: X:781.91, Y:44.55, Z:28.56 [[ 9.92615519e-01 -1.15673943e-01 -3.65235484e-02 7.81910006e+02] [ 1.15678864e-01 9.93284681e-01 -1.98558410e-03 4.45531251e+01] [ 3.65079615e-02 -2.25408099e-03 9.99330820e-01 2.85594684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.199254154 meters Centerline goodness : 0.999229 with order 1 Centerline is valid? [True, True] Translation: X:781.97, Y:44.56, Z:28.56 [[ 9.92406724e-01 -1.17451751e-01 -3.65236977e-02 7.81971269e+02] [ 1.17457971e-01 9.93075875e-01 -1.98283467e-03 4.45576929e+01] [ 3.65036904e-02 -2.32222096e-03 9.99330820e-01 2.85599146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.259254154 meters Centerline goodness : 0.999272 with order 1 Centerline is valid? [True, True] Translation: X:782.03, Y:44.56, Z:28.56 [[ 9.92393375e-01 -1.17564455e-01 -3.65238079e-02 7.82034497e+02] [ 1.17570825e-01 9.93062524e-01 -1.98080165e-03 4.45619510e+01] [ 3.65032968e-02 -2.32839980e-03 9.99330820e-01 2.85636661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.319254154 meters Centerline goodness : 0.999250 with order 1 Centerline is valid? [True, True] Translation: X:782.10, Y:44.57, Z:28.57 [[ 9.92761407e-01 -1.14414964e-01 -3.65240226e-02 7.82096721e+02] [ 1.14419357e-01 9.93430573e-01 -1.97683581e-03 4.45675575e+01] [ 3.65102603e-02 -2.21652887e-03 9.99330820e-01 2.85660210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.379254154 meters Centerline goodness : 0.999335 with order 1 Centerline is valid? [True, True] Translation: X:782.16, Y:44.57, Z:28.57 [[ 9.93147719e-01 -1.11011684e-01 -3.65241675e-02 7.82159957e+02] [ 1.11013881e-01 9.93816895e-01 -1.97415420e-03 4.45729631e+01] [ 3.65174889e-02 -2.09406283e-03 9.99330820e-01 2.85681855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.439254154 meters Centerline goodness : 0.999377 with order 1 Centerline is valid? [True, True] Translation: X:782.22, Y:44.58, Z:28.57 [[ 9.93739681e-01 -1.05581323e-01 -3.65243869e-02 7.82221785e+02] [ 1.05580012e-01 9.94408860e-01 -1.97008766e-03 4.45809254e+01] [ 3.65281783e-02 -1.89849091e-03 9.99330820e-01 2.85708593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.499254154 meters Centerline goodness : 0.999290 with order 1 Centerline is valid? [True, True] Translation: X:782.28, Y:44.59, Z:28.57 [[ 9.94444211e-01 -9.87252260e-02 -3.65245301e-02 7.82284818e+02] [ 9.87193967e-02 9.95113365e-01 -1.96742839e-03 4.45876511e+01] [ 3.65402829e-02 -1.64918180e-03 9.99330820e-01 2.85726049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.559254154 meters Centerline goodness : 0.999333 with order 1 Centerline is valid? [True, True] Translation: X:782.35, Y:44.59, Z:28.58 [[ 9.94912028e-01 -9.38935590e-02 -3.65247419e-02 7.82347864e+02] [ 9.38846238e-02 9.95581148e-01 -1.96348849e-03 4.45940067e+01] [ 3.65477034e-02 -1.47561334e-03 9.99330820e-01 2.85761370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.619254154 meters Centerline goodness : 0.999286 with order 1 Centerline is valid? [True, True] Translation: X:782.41, Y:44.60, Z:28.58 [[ 9.95854170e-01 -8.33090598e-02 -3.65249542e-02 7.82409979e+02] [ 8.32931551e-02 9.96523161e-01 -1.95953181e-03 4.46020411e+01] [ 3.65612096e-02 -1.09087075e-03 9.99330820e-01 2.85795065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.679254154 meters Centerline goodness : 0.999414 with order 1 Centerline is valid? [True, True] Translation: X:782.47, Y:44.61, Z:28.58 [[ 9.96613077e-01 -7.36769410e-02 -3.65250967e-02 7.82472270e+02] [ 7.36546664e-02 9.97281886e-01 -1.95687249e-03 4.46085570e+01] [ 3.65699937e-02 -7.39999091e-04 9.99330820e-01 2.85815520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.739254154 meters Centerline goodness : 0.999281 with order 1 Centerline is valid? [True, True] Translation: X:782.53, Y:44.62, Z:28.59 [[ 9.97577523e-01 -5.92029850e-02 -3.65252382e-02 7.82533780e+02] [ 5.91711017e-02 9.98245943e-01 -1.95422675e-03 4.46169780e+01] [ 3.65768669e-02 -2.11745902e-04 9.99330820e-01 2.85858044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.799254154 meters Centerline goodness : 0.999300 with order 1 Centerline is valid? [True, True] Translation: X:782.59, Y:44.62, Z:28.59 [[ 9.98264811e-01 -4.61872725e-02 -3.65253779e-02 7.82594266e+02] [ 4.61467697e-02 9.98932764e-01 -1.95161242e-03 4.46227745e+01] [ 3.65765364e-02 2.62697799e-04 9.99330820e-01 2.85877518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.8592541539999 meters Centerline goodness : 0.999563 with order 1 Centerline is valid? [True, True] Translation: X:782.65, Y:44.63, Z:28.59 [[ 9.98525221e-01 -4.01656430e-02 -3.65253779e-02 7.82651996e+02] [ 4.01211124e-02 9.99192918e-01 -1.95161242e-03 4.46265504e+01] [ 3.65742867e-02 4.83295432e-04 9.99330820e-01 2.85907431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.919254154 meters Centerline goodness : 0.999323 with order 1 Centerline is valid? [True, True] Translation: X:782.71, Y:44.63, Z:28.59 [[ 9.98513895e-01 -4.04463961e-02 -3.65252017e-02 7.82710104e+02] [ 4.04019328e-02 9.99181596e-01 -1.95490546e-03 4.46283497e+01] [ 3.65743782e-02 4.76311521e-04 9.99330820e-01 2.85924348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.9792541539999 meters Centerline goodness : 0.996035 with order 1 Centerline is valid? [True, True] Translation: X:782.77, Y:44.63, Z:28.59 [[ 9.98328476e-01 -4.47906783e-02 -3.65246453e-02 7.82768635e+02] [ 4.47487424e-02 9.98996340e-01 -1.96524480e-03 4.46275144e+01] [ 3.65760117e-02 3.27527903e-04 9.99330820e-01 2.85887763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.039254154 meters Centerline goodness : 0.999371 with order 1 Centerline is valid? [True, True] Translation: X:782.83, Y:44.63, Z:28.60 [[ 9.97975936e-01 -5.20578536e-02 -3.65241129e-02 7.82827072e+02] [ 5.20204209e-02 9.98644068e-01 -1.97509061e-03 4.46274134e+01] [ 3.65774077e-02 7.10931694e-05 9.99330820e-01 2.85975138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.0992541539999 meters Centerline goodness : 0.999416 with order 1 Centerline is valid? [True, True] Translation: X:782.89, Y:44.62, Z:28.60 [[ 9.97326013e-01 -6.32997595e-02 -3.65234786e-02 7.82885788e+02] [ 6.32694308e-02 9.97994505e-01 -1.98675075e-03 4.46231449e+01] [ 3.65759918e-02 -3.29381500e-04 9.99330820e-01 2.85997183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.159254154 meters Centerline goodness : 0.999269 with order 1 Centerline is valid? [True, True] Translation: X:782.95, Y:44.62, Z:28.60 [[ 9.96537335e-01 -7.46952758e-02 -3.65233698e-02 7.82947521e+02] [ 7.46725168e-02 9.97206127e-01 -1.98875033e-03 4.46176412e+01] [ 3.65698784e-02 -7.45427989e-04 9.99330820e-01 2.86010269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.2192541539999 meters Centerline goodness : 0.999058 with order 1 Centerline is valid? [True, True] Translation: X:783.01, Y:44.61, Z:28.60 [[ 9.95764769e-01 -8.43715766e-02 -3.65234428e-02 7.83009351e+02] [ 8.43553641e-02 9.96433752e-01 -1.98740853e-03 4.46128981e+01] [ 3.65608719e-02 -1.10195692e-03 9.99330820e-01 2.86020008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.279254154 meters Centerline goodness : 0.999018 with order 1 Centerline is valid? [True, True] Translation: X:783.07, Y:44.61, Z:28.60 [[ 9.95394813e-01 -8.86295416e-02 -3.65235511e-02 7.83071389e+02] [ 8.86162634e-02 9.96063861e-01 -1.98541591e-03 4.46112260e+01] [ 3.65557558e-02 -1.26030793e-03 9.99330820e-01 2.86031953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.339254154 meters Centerline goodness : 0.999022 with order 1 Centerline is valid? [True, True] Translation: X:783.13, Y:44.61, Z:28.61 [[ 9.94973286e-01 -9.32425877e-02 -3.65236980e-02 7.83132751e+02] [ 9.32325102e-02 9.95642390e-01 -1.98270895e-03 4.46091441e+01] [ 3.65494149e-02 -1.43245361e-03 9.99330820e-01 2.86055454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.399254154 meters Centerline goodness : 0.999087 with order 1 Centerline is valid? [True, True] Translation: X:783.20, Y:44.61, Z:28.61 [[ 9.94914705e-01 -9.38655443e-02 -3.65238063e-02 7.83195547e+02] [ 9.38559589e-02 9.95583817e-01 -1.98071247e-03 4.46093301e+01] [ 3.65484311e-02 -1.45733691e-03 9.99330820e-01 2.86067085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.459254154 meters Centerline goodness : 0.999215 with order 1 Centerline is valid? [True, True] Translation: X:783.26, Y:44.61, Z:28.61 [[ 9.95191382e-01 -9.08851561e-02 -3.65239835e-02 7.83257895e+02] [ 9.08736866e-02 9.95860464e-01 -1.97743993e-03 4.46101259e+01] [ 3.65525111e-02 -1.35113785e-03 9.99330820e-01 2.86080841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.519254154 meters Centerline goodness : 0.999257 with order 1 Centerline is valid? [True, True] Translation: X:783.32, Y:44.61, Z:28.61 [[ 9.95989369e-01 -8.16771981e-02 -3.65241248e-02 7.83320428e+02] [ 8.16596368e-02 9.96658318e-01 -1.97482569e-03 4.46128579e+01] [ 3.65633711e-02 -1.01564137e-03 9.99330820e-01 2.86100743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.579254154 meters Centerline goodness : 0.999342 with order 1 Centerline is valid? [True, True] Translation: X:783.38, Y:44.62, Z:28.61 [[ 9.97058303e-01 -6.73848612e-02 -3.65242640e-02 7.83382161e+02] [ 6.73578024e-02 9.97726935e-01 -1.97224774e-03 4.46177115e+01] [ 3.65741417e-02 -4.93748179e-04 9.99330820e-01 2.86145017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.639254154 meters Centerline goodness : 0.999169 with order 1 Centerline is valid? [True, True] Translation: X:783.44, Y:44.62, Z:28.62 [[ 9.97709774e-01 -5.69313137e-02 -3.65244105e-02 7.83442332e+02] [ 5.68973481e-02 9.98378091e-01 -1.96953186e-03 4.46218575e+01] [ 3.65772993e-02 -1.13120908e-04 9.99330820e-01 2.86174668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.699254154 meters Centerline goodness : 0.999189 with order 1 Centerline is valid? [True, True] Translation: X:783.50, Y:44.63, Z:28.62 [[ 9.98336232e-01 -4.46176643e-02 -3.65244105e-02 7.83500604e+02] [ 4.45754559e-02 9.99004079e-01 -1.96953186e-03 4.46254031e+01] [ 3.65759110e-02 3.38162770e-04 9.99330820e-01 2.86211207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.759254154 meters Centerline goodness : 0.999061 with order 1 Centerline is valid? [True, True] Translation: X:783.56, Y:44.63, Z:28.62 [[ 9.98532869e-01 -3.99764052e-02 -3.65239051e-02 7.83559481e+02] [ 3.99307516e-02 9.99200490e-01 -1.97885920e-03 4.46270085e+01] [ 3.65738116e-02 5.17528972e-04 9.99330820e-01 2.86243678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.819254154 meters Centerline goodness : 0.999297 with order 1 Centerline is valid? [True, True] Translation: X:783.62, Y:44.63, Z:28.62 [[ 9.98527034e-01 -4.01223720e-02 -3.65233897e-02 7.83617677e+02] [ 4.00764698e-02 9.99194637e-01 -1.98832700e-03 4.46262587e+01] [ 3.65737515e-02 5.21669738e-04 9.99330820e-01 2.86249393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.879254154 meters Centerline goodness : 0.999299 with order 1 Centerline is valid? [True, True] Translation: X:783.68, Y:44.62, Z:28.63 [[ 9.98116325e-01 -4.92935872e-02 -3.65232086e-02 7.83675986e+02] [ 4.92536983e-02 9.98784314e-01 -1.99164871e-03 4.46231734e+01] [ 3.65769834e-02 1.88993989e-04 9.99330820e-01 2.86276423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.939254154 meters Centerline goodness : 0.999068 with order 1 Centerline is valid? [True, True] Translation: X:783.73, Y:44.62, Z:28.63 [[ 9.97158137e-01 -6.58919422e-02 -3.65226161e-02 7.83734505e+02] [ 6.58627761e-02 9.97826681e-01 -2.00245456e-03 4.46180098e+01] [ 3.65751864e-02 -4.08717028e-04 9.99330820e-01 2.86288683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.999254154 meters Centerline goodness : 0.999156 with order 1 Centerline is valid? [True, True] Translation: X:783.79, Y:44.61, Z:28.63 [[ 9.96253369e-01 -7.83922158e-02 -3.65223947e-02 7.83794734e+02] [ 7.83712886e-02 9.96922221e-01 -2.00648558e-03 4.46149551e+01] [ 3.65672797e-02 -8.63339113e-04 9.99330820e-01 2.86295154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.059254154 meters Centerline goodness : 0.999264 with order 1 Centerline is valid? [True, True] Translation: X:783.86, Y:44.61, Z:28.63 [[ 9.94624628e-01 -9.68915340e-02 -3.65223199e-02 7.83855658e+02] [ 9.68829895e-02 9.95293753e-01 -2.00784559e-03 4.46119797e+01] [ 3.65449801e-02 -1.54133886e-03 9.99330820e-01 2.86339831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.119254154 meters Centerline goodness : 0.999264 with order 1 Centerline is valid? [True, True] Translation: X:783.92, Y:44.61, Z:28.64 [[ 9.94122311e-01 -1.01916305e-01 -3.65225559e-02 7.83917767e+02] [ 1.01911299e-01 9.94791472e-01 -2.00354384e-03 4.46134881e+01] [ 3.65365209e-02 -1.73029350e-03 9.99330820e-01 2.86372002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.179254154 meters Centerline goodness : 0.999224 with order 1 Centerline is valid? [True, True] Translation: X:783.98, Y:44.61, Z:28.64 [[ 9.92910685e-01 -1.13112619e-01 -3.65227054e-02 7.83980177e+02] [ 1.13115254e-01 9.93579859e-01 -2.00081528e-03 4.46112777e+01] [ 3.65145419e-02 -2.14464423e-03 9.99330820e-01 2.86386587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.239254154 meters Centerline goodness : 0.999076 with order 1 Centerline is valid? [True, True] Translation: X:784.04, Y:44.61, Z:28.64 [[ 9.92138262e-01 -1.19698578e-01 -3.65228556e-02 7.84042215e+02] [ 1.19705755e-01 9.92807403e-01 -1.99806954e-03 4.46113793e+01] [ 3.64993275e-02 -2.38963474e-03 9.99330820e-01 2.86421524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.299254154 meters Centerline goodness : 0.998804 with order 1 Centerline is valid? [True, True] Translation: X:784.11, Y:44.61, Z:28.64 [[ 9.92322179e-01 -1.18164135e-01 -3.65230044e-02 7.84105362e+02] [ 1.18170377e-01 9.92991330e-01 -1.99534455e-03 4.46090864e+01] [ 3.65028049e-02 -2.33591254e-03 9.99330820e-01 2.86359127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.3592541539999 meters Centerline goodness : 0.998467 with order 1 Centerline is valid? [True, True] Translation: X:784.17, Y:44.61, Z:28.64 [[ 9.92448227e-01 -1.17100710e-01 -3.65231562e-02 7.84167929e+02] [ 1.17106337e-01 9.93117383e-01 -1.99256318e-03 4.46108549e+01] [ 3.65051118e-02 -2.29957723e-03 9.99330820e-01 2.86367110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.419254154 meters Centerline goodness : 0.998761 with order 1 Centerline is valid? [True, True] Translation: X:784.23, Y:44.62, Z:28.64 [[ 9.92161937e-01 -1.19502046e-01 -3.65233077e-02 7.84228149e+02] [ 1.19509393e-01 9.92831076e-01 -1.98978149e-03 4.46189014e+01] [ 3.64992579e-02 -2.39069289e-03 9.99330820e-01 2.86445948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.4792541539999 meters Centerline goodness : 0.998759 with order 1 Centerline is valid? [True, True] Translation: X:784.29, Y:44.62, Z:28.64 [[ 9.93275505e-01 -1.09862694e-01 -3.65234194e-02 7.84291272e+02] [ 1.09863619e-01 9.93944684e-01 -1.98772993e-03 4.46176248e+01] [ 3.65206359e-02 -2.03823160e-03 9.99330820e-01 2.86352805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.539254154 meters Centerline goodness : 0.998675 with order 1 Centerline is valid? [True, True] Translation: X:784.35, Y:44.63, Z:28.64 [[ 9.93610981e-01 -1.06785991e-01 -3.65235654e-02 7.84352860e+02] [ 1.06784942e-01 9.94280160e-01 -1.98504315e-03 4.46254023e+01] [ 3.65266312e-02 -1.92780616e-03 9.99330820e-01 2.86411063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.5992541539999 meters Centerline goodness : 0.998652 with order 1 Centerline is valid? [True, True] Translation: X:784.41, Y:44.64, Z:28.65 [[ 9.93725906e-01 -1.05711121e-01 -3.65237216e-02 7.84412421e+02] [ 1.05709454e-01 9.94395084e-01 -1.98216520e-03 4.46384626e+01] [ 3.65285461e-02 -1.89117375e-03 9.99330820e-01 2.86489736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.659254154 meters Centerline goodness : 0.998606 with order 1 Centerline is valid? [True, True] Translation: X:784.47, Y:44.64, Z:28.65 [[ 9.94720441e-01 -9.59023464e-02 -3.65237598e-02 7.84474933e+02] [ 9.58941035e-02 9.95389569e-01 -1.98146050e-03 4.46407002e+01] [ 3.65453963e-02 -1.53141395e-03 9.99330820e-01 2.86474059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.7192541539999 meters Centerline goodness : 0.998688 with order 1 Centerline is valid? [True, True] Translation: X:784.54, Y:44.65, Z:28.66 [[ 9.94624545e-01 -9.68917929e-02 -3.65239087e-02 7.84535040e+02] [ 9.68843163e-02 9.95293682e-01 -1.97871347e-03 4.46522756e+01] [ 3.65437366e-02 -1.57051694e-03 9.99330820e-01 2.86559355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.779254154 meters Centerline goodness : 0.999005 with order 1 Centerline is valid? [True, True] Translation: X:784.60, Y:44.66, Z:28.66 [[ 9.95088222e-01 -9.20076820e-02 -3.65241944e-02 7.84595654e+02] [ 9.19971143e-02 9.95757318e-01 -1.97342513e-03 4.46601057e+01] [ 3.65508041e-02 -1.39638839e-03 9.99330821e-01 2.86609671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.839254154 meters Centerline goodness : 0.998920 with order 1 Centerline is valid? [True, True] Translation: X:784.66, Y:44.67, Z:28.66 [[ 9.95388571e-01 -8.86993113e-02 -3.65242985e-02 7.84657920e+02] [ 8.86865902e-02 9.96057630e-01 -1.97149593e-03 4.46652098e+01] [ 3.65551765e-02 -1.27681098e-03 9.99330821e-01 2.86636907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.899254154 meters Centerline goodness : 0.998921 with order 1 Centerline is valid? [True, True] Translation: X:784.72, Y:44.67, Z:28.67 [[ 9.95839492e-01 -8.34845662e-02 -3.65244350e-02 7.84718540e+02] [ 8.34684337e-02 9.96508477e-01 -1.96896466e-03 4.46706710e+01] [ 3.65612872e-02 -1.08786462e-03 9.99330821e-01 2.86656402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.959254154 meters Centerline goodness : 0.998857 with order 1 Centerline is valid? [True, True] Translation: X:784.78, Y:44.68, Z:28.67 [[ 9.96493950e-01 -7.52712763e-02 -3.65245358e-02 7.84778325e+02] [ 7.52496973e-02 9.97162782e-01 -1.96709330e-03 4.46758733e+01] [ 3.65689733e-02 -7.88263688e-04 9.99330821e-01 2.86661518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.019254154 meters Centerline goodness : 0.998939 with order 1 Centerline is valid? [True, True] Translation: X:784.84, Y:44.68, Z:28.67 [[ 9.97286832e-01 -6.39134548e-02 -3.65245686e-02 7.84838779e+02] [ 6.38842796e-02 9.97955376e-01 -1.96648352e-03 4.46816583e+01] [ 3.65755743e-02 -3.72197633e-04 9.99330821e-01 2.86706941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.079254154 meters Centerline goodness : 0.999215 with order 1 Centerline is valid? [True, True] Translation: X:784.90, Y:44.69, Z:28.67 [[ 9.97759954e-01 -5.60448966e-02 -3.65245686e-02 7.84898491e+02] [ 5.60104489e-02 9.98428246e-01 -1.96648352e-03 4.46869676e+01] [ 3.65773723e-02 -8.36789762e-05 9.99330821e-01 2.86741972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.139254154 meters Centerline goodness : 0.998958 with order 1 Centerline is valid? [True, True] Translation: X:784.96, Y:44.69, Z:28.68 [[ 9.98410438e-01 -4.29250280e-02 -3.65244955e-02 7.84957592e+02] [ 4.28817492e-02 9.99078217e-01 -1.96783976e-03 4.46868705e+01] [ 3.65752974e-02 3.98477495e-04 9.99330821e-01 2.86755377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.199254154 meters Centerline goodness : 0.999024 with order 1 Centerline is valid? [True, True] Translation: X:785.02, Y:44.69, Z:28.68 [[ 9.98246439e-01 -4.65837554e-02 -3.65239781e-02 7.85015649e+02] [ 4.65425746e-02 9.98914350e-01 -1.97739781e-03 4.46915207e+01] [ 3.65764404e-02 2.74010354e-04 9.99330821e-01 2.86784879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.259254154 meters Centerline goodness : 0.999001 with order 1 Centerline is valid? [True, True] Translation: X:785.07, Y:44.69, Z:28.68 [[ 9.98146389e-01 -4.86808223e-02 -3.65234699e-02 7.85073919e+02] [ 4.86407029e-02 9.98814365e-01 -1.98674021e-03 4.46922765e+01] [ 3.65768825e-02 2.06530314e-04 9.99330821e-01 2.86813610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.319254154 meters Centerline goodness : 0.998835 with order 1 Centerline is valid? [True, True] Translation: X:785.13, Y:44.69, Z:28.68 [[ 9.97895209e-01 -5.35835877e-02 -3.65232889e-02 7.85132077e+02] [ 5.35466286e-02 9.98563367e-01 -1.99006192e-03 4.46911115e+01] [ 3.65774530e-02 3.01742707e-05 9.99330821e-01 2.86840374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.379254154 meters Centerline goodness : 0.999009 with order 1 Centerline is valid? [True, True] Translation: X:785.19, Y:44.69, Z:28.69 [[ 9.97528116e-01 -6.00312411e-02 -3.65226999e-02 7.85189925e+02] [ 5.99982071e-02 9.98196480e-01 -2.00081265e-03 4.46877172e+01] [ 3.65769418e-02 -1.95429638e-04 9.99330821e-01 2.86861932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.439254154 meters Centerline goodness : 0.998883 with order 1 Centerline is valid? [True, True] Translation: X:785.25, Y:44.69, Z:28.69 [[ 9.97242393e-01 -6.46045262e-02 -3.65221085e-02 7.85248904e+02] [ 6.45741638e-02 9.97910883e-01 -2.01155089e-03 4.46865140e+01] [ 3.65757648e-02 -3.52380794e-04 9.99330821e-01 2.86864647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.499254154 meters Centerline goodness : 0.999031 with order 1 Centerline is valid? [True, True] Translation: X:785.31, Y:44.68, Z:28.69 [[ 9.96878269e-01 -6.99992207e-02 -3.65215953e-02 7.85307464e+02] [ 6.99721360e-02 9.97546899e-01 -2.02082597e-03 4.46835314e+01] [ 3.65734604e-02 -5.40976538e-04 9.99330821e-01 2.86897225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.559254154 meters Centerline goodness : 0.998971 with order 1 Centerline is valid? [True, True] Translation: X:785.37, Y:44.68, Z:28.69 [[ 9.96800610e-01 -7.10967972e-02 -3.65210861e-02 7.85366724e+02] [ 7.10701132e-02 9.97469257e-01 -2.02998673e-03 4.46829202e+01] [ 3.65729862e-02 -5.72065712e-04 9.99330821e-01 2.86917703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.619254154 meters Centerline goodness : 0.999391 with order 1 Centerline is valid? [True, True] Translation: X:785.43, Y:44.68, Z:28.70 [[ 9.96861422e-01 -7.02390235e-02 -3.65210137e-02 7.85426843e+02] [ 7.02117165e-02 9.97530044e-01 -2.03128765e-03 4.46807054e+01] [ 3.65734841e-02 -5.39290764e-04 9.99330821e-01 2.86953552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.679254154 meters Centerline goodness : 0.999033 with order 1 Centerline is valid? [True, True] Translation: X:785.49, Y:44.68, Z:28.70 [[ 9.97054492e-01 -6.74430272e-02 -3.65209393e-02 7.85486087e+02] [ 6.74137961e-02 9.97723032e-01 -2.03262480e-03 4.46791120e+01] [ 3.65748687e-02 -4.35377469e-04 9.99330821e-01 2.86963387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.739254154 meters Centerline goodness : 0.999266 with order 1 Centerline is valid? [True, True] Translation: X:785.54, Y:44.68, Z:28.70 [[ 9.97209126e-01 -6.51169638e-02 -3.65204133e-02 7.85544453e+02] [ 6.50858288e-02 9.97877580e-01 -2.04203202e-03 4.46777758e+01] [ 3.65758726e-02 -3.40628400e-04 9.99330821e-01 2.86993706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.799254154 meters Centerline goodness : 0.998974 with order 1 Centerline is valid? [True, True] Translation: X:785.60, Y:44.68, Z:28.70 [[ 9.97262173e-01 -6.42995502e-02 -3.65202286e-02 7.85602133e+02] [ 6.42677465e-02 9.97930595e-01 -2.04533089e-03 4.46776775e+01] [ 3.65761673e-02 -3.07341661e-04 9.99330821e-01 2.87019198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.8592541539999 meters Centerline goodness : 0.998995 with order 1 Centerline is valid? [True, True] Translation: X:785.66, Y:44.68, Z:28.70 [[ 9.97251215e-01 -6.44696094e-02 -3.65196393e-02 7.85661085e+02] [ 6.44375363e-02 9.97919625e-01 -2.05579867e-03 4.46758265e+01] [ 3.65762013e-02 -3.03087863e-04 9.99330821e-01 2.87049246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.919254154 meters Centerline goodness : 0.998996 with order 1 Centerline is valid? [True, True] Translation: X:785.72, Y:44.68, Z:28.71 [[ 9.97143568e-01 -6.61139823e-02 -3.65191138e-02 7.85720075e+02] [ 6.60826711e-02 9.97812014e-01 -2.06509238e-03 4.46763089e+01] [ 3.65757419e-02 -3.54086995e-04 9.99330821e-01 2.87104340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.9792541539999 meters Centerline goodness : 0.999080 with order 1 Centerline is valid? [True, True] Translation: X:785.78, Y:44.67, Z:28.71 [[ 9.96983835e-01 -6.84808405e-02 -3.65185877e-02 7.85779266e+02] [ 6.84507770e-02 9.97652338e-01 -2.07435387e-03 4.46744717e+01] [ 3.65749079e-02 -4.31628423e-04 9.99330821e-01 2.87100181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.039254154 meters Centerline goodness : 0.999058 with order 1 Centerline is valid? [True, True] Translation: X:785.84, Y:44.68, Z:28.71 [[ 9.96869232e-01 -7.01296271e-02 -3.65180625e-02 7.85838538e+02] [ 7.01003322e-02 9.97537770e-01 -2.08355790e-03 4.46760830e+01] [ 3.65742658e-02 -4.82893548e-04 9.99330821e-01 2.87111268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.0992541539999 meters Centerline goodness : 0.999269 with order 1 Centerline is valid? [True, True] Translation: X:785.90, Y:44.68, Z:28.72 [[ 9.96359461e-01 -7.70343569e-02 -3.65175726e-02 7.85896282e+02] [ 7.70093811e-02 9.97028173e-01 -2.09210949e-03 4.46753884e+01] [ 3.65702130e-02 -7.27702583e-04 9.99330821e-01 2.87156244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.159254154 meters Centerline goodness : 0.999057 with order 1 Centerline is valid? [True, True] Translation: X:785.95, Y:44.68, Z:28.72 [[ 9.95944735e-01 -8.22226615e-02 -3.65173872e-02 7.85954991e+02] [ 8.22010504e-02 9.96613564e-01 -2.09534124e-03 4.46754941e+01] [ 3.65660079e-02 -9.14923512e-04 9.99330821e-01 2.87192980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.2192541539999 meters Centerline goodness : 0.999394 with order 1 Centerline is valid? [True, True] Translation: X:786.01, Y:44.68, Z:28.72 [[ 9.95262952e-01 -9.01009251e-02 -3.65168426e-02 7.86013302e+02] [ 9.00842609e-02 9.95931923e-01 -2.10478956e-03 4.46750798e+01] [ 3.65579328e-02 -1.19477371e-03 9.99330821e-01 2.87227135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.279254154 meters Centerline goodness : 0.999102 with order 1 Centerline is valid? [True, True] Translation: X:786.07, Y:44.67, Z:28.72 [[ 9.94710587e-01 -9.60071692e-02 -3.65167278e-02 7.86073165e+02] [ 9.59944032e-02 9.95379644e-01 -2.10677960e-03 4.46749838e+01] [ 3.65502734e-02 -1.40976552e-03 9.99330821e-01 2.87236524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.339254154 meters Centerline goodness : 0.999247 with order 1 Centerline is valid? [True, True] Translation: X:786.13, Y:44.68, Z:28.73 [[ 9.94115993e-01 -1.01980036e-01 -3.65166502e-02 7.86132409e+02] [ 1.01971239e-01 9.94785114e-01 -2.10812280e-03 4.46760109e+01] [ 3.65412065e-02 -1.62792948e-03 9.99330821e-01 2.87277683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.399254154 meters Centerline goodness : 0.999122 with order 1 Centerline is valid? [True, True] Translation: X:786.19, Y:44.68, Z:28.73 [[ 9.93751136e-01 -1.05476156e-01 -3.65165734e-02 7.86191790e+02] [ 1.05469664e-01 9.94420283e-01 -2.10945250e-03 4.46773751e+01] [ 3.65353182e-02 -1.75511993e-03 9.99330821e-01 2.87288623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.459254154 meters Centerline goodness : 0.999059 with order 1 Centerline is valid? [True, True] Translation: X:786.25, Y:44.68, Z:28.73 [[ 9.93084027e-01 -1.11582506e-01 -3.65165776e-02 7.86252742e+02] [ 1.11580130e-01 9.93753201e-01 -2.10938083e-03 4.46800411e+01] [ 3.65238359e-02 -1.97973206e-03 9.99330821e-01 2.87348623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.519254154 meters Centerline goodness : 0.999081 with order 1 Centerline is valid? [True, True] Translation: X:786.31, Y:44.68, Z:28.73 [[ 9.92735427e-01 -1.14642511e-01 -3.65166569e-02 7.86313036e+02] [ 1.14642248e-01 9.93404606e-01 -2.10800712e-03 4.46816189e+01] [ 3.65174824e-02 -2.09365830e-03 9.99330821e-01 2.87310218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.579254154 meters Centerline goodness : 0.999268 with order 1 Centerline is valid? [True, True] Translation: X:786.37, Y:44.69, Z:28.74 [[ 9.92550642e-01 -1.16231471e-01 -3.65166959e-02 7.86372095e+02] [ 1.16232304e-01 9.93219820e-01 -2.10733017e-03 4.46861639e+01] [ 3.65140442e-02 -2.15278779e-03 9.99330821e-01 2.87354400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.639254154 meters Centerline goodness : 0.999061 with order 1 Centerline is valid? [True, True] Translation: X:786.43, Y:44.69, Z:28.74 [[ 9.92796499e-01 -1.14112439e-01 -3.65166234e-02 7.86433529e+02] [ 1.14111798e-01 9.93465677e-01 -2.10858640e-03 4.46897655e+01] [ 3.65186279e-02 -2.07358035e-03 9.99330821e-01 2.87380794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.699254154 meters Centerline goodness : 0.999126 with order 1 Centerline is valid? [True, True] Translation: X:786.49, Y:44.70, Z:28.74 [[ 9.93321288e-01 -1.09450215e-01 -3.65167008e-02 7.86493696e+02] [ 1.09446481e-01 9.93990456e-01 -2.10724485e-03 4.46965405e+01] [ 3.65278905e-02 -1.90345322e-03 9.99330821e-01 2.87389448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.759254154 meters Centerline goodness : 0.999458 with order 1 Centerline is valid? [True, True] Translation: X:786.55, Y:44.70, Z:28.75 [[ 9.93820023e-01 -1.04825042e-01 -3.65167389e-02 7.86554371e+02] [ 1.04818217e-01 9.94489167e-01 -2.10658499e-03 4.47028278e+01] [ 3.65363241e-02 -1.73405311e-03 9.99330821e-01 2.87481336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.819254154 meters Centerline goodness : 0.998938 with order 1 Centerline is valid? [True, True] Translation: X:786.61, Y:44.71, Z:28.75 [[ 9.94638944e-01 -9.67465419e-02 -3.65168183e-02 7.86614450e+02] [ 9.67343309e-02 9.95308011e-01 -2.10520733e-03 4.47093013e+01] [ 3.65491533e-02 -1.43850879e-03 9.99330821e-01 2.87471522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.879254154 meters Centerline goodness : 0.999104 with order 1 Centerline is valid? [True, True] Translation: X:786.67, Y:44.72, Z:28.75 [[ 9.94909672e-01 -9.39215854e-02 -3.65168573e-02 7.86674802e+02] [ 9.39074993e-02 9.95578702e-01 -2.10453037e-03 4.47154151e+01] [ 3.65530662e-02 -1.33538913e-03 9.99330821e-01 2.87526193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.939254154 meters Centerline goodness : 0.999187 with order 1 Centerline is valid? [True, True] Translation: X:786.73, Y:44.72, Z:28.76 [[ 9.95159044e-01 -9.12414227e-02 -3.65168573e-02 7.86734871e+02] [ 9.12255346e-02 9.95828034e-01 -2.10453037e-03 4.47216674e+01] [ 3.65565306e-02 -1.23692740e-03 9.99330821e-01 2.87562784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.999254154 meters Centerline goodness : 0.999081 with order 1 Centerline is valid? [True, True] Translation: X:786.79, Y:44.73, Z:28.76 [[ 9.95363002e-01 -8.89888333e-02 -3.65168573e-02 7.86794000e+02] [ 8.89714311e-02 9.96031955e-01 -2.10453037e-03 4.47267245e+01] [ 3.65592365e-02 -1.15418538e-03 9.99330821e-01 2.87556453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.059254154 meters Centerline goodness : 0.999102 with order 1 Centerline is valid? [True, True] Translation: X:786.85, Y:44.73, Z:28.76 [[ 9.95572420e-01 -8.66145421e-02 -3.65168190e-02 7.86854092e+02] [ 8.65955201e-02 9.96241328e-01 -2.10519401e-03 4.47315268e+01] [ 3.65619047e-02 -1.06631985e-03 9.99330821e-01 2.87574974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.119254154 meters Centerline goodness : 0.999352 with order 1 Centerline is valid? [True, True] Translation: X:786.91, Y:44.74, Z:28.76 [[ 9.95982231e-01 -8.17674558e-02 -3.65168190e-02 7.86913297e+02] [ 8.17451780e-02 9.96651039e-01 -2.10519401e-03 4.47383529e+01] [ 3.65666620e-02 -8.88338049e-04 9.99330821e-01 2.87629115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.179254154 meters Centerline goodness : 0.999143 with order 1 Centerline is valid? [True, True] Translation: X:786.97, Y:44.74, Z:28.77 [[ 9.96322239e-01 -7.75146447e-02 -3.65167814e-02 7.86971953e+02] [ 7.74894879e-02 9.96990945e-01 -2.10584732e-03 4.47429741e+01] [ 3.65701344e-02 -7.31564166e-04 9.99330821e-01 2.87651283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.239254154 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:787.03, Y:44.75, Z:28.77 [[ 9.96767361e-01 -7.15636943e-02 -3.65166389e-02 7.87030010e+02] [ 7.15344544e-02 9.97435901e-01 -2.10831458e-03 4.47457676e+01] [ 3.65738854e-02 -5.10698680e-04 9.99330821e-01 2.87662269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.299254154 meters Centerline goodness : 0.999353 with order 1 Centerline is valid? [True, True] Translation: X:787.09, Y:44.75, Z:28.77 [[ 9.96908108e-01 -6.95757126e-02 -3.65163670e-02 7.87088942e+02] [ 6.95449673e-02 9.97576580e-01 -2.11301393e-03 4.47479011e+01] [ 3.65748869e-02 -4.33048832e-04 9.99330821e-01 2.87717336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.3592541539999 meters Centerline goodness : 0.999373 with order 1 Centerline is valid? [True, True] Translation: X:787.15, Y:44.75, Z:28.78 [[ 9.96834718e-01 -7.06196841e-02 -3.65158270e-02 7.87147022e+02] [ 7.05892987e-02 9.97503206e-01 -2.12230467e-03 4.47501451e+01] [ 3.65745310e-02 -4.62039641e-04 9.99330821e-01 2.87750649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.419254154 meters Centerline goodness : 0.999395 with order 1 Centerline is valid? [True, True] Translation: X:787.21, Y:44.75, Z:28.78 [[ 9.96509013e-01 -7.50759272e-02 -3.65156374e-02 7.87205466e+02] [ 7.50484116e-02 9.97177626e-01 -2.12556235e-03 4.47497032e+01] [ 3.65721552e-02 -6.22298542e-04 9.99330821e-01 2.87787113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.4792541539999 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:787.26, Y:44.75, Z:28.78 [[ 9.95975763e-01 -8.18469815e-02 -3.65150778e-02 7.87263123e+02] [ 8.18236602e-02 9.96644535e-01 -2.13513174e-03 4.47481906e+01] [ 3.65673069e-02 -8.61257857e-04 9.99330821e-01 2.87789258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.539254154 meters Centerline goodness : 0.998853 with order 1 Centerline is valid? [True, True] Translation: X:787.32, Y:44.75, Z:28.78 [[ 9.95680731e-01 -8.53613022e-02 -3.65147826e-02 7.87322361e+02] [ 8.53401565e-02 9.96349576e-01 -2.14016985e-03 4.47485363e+01] [ 3.65641758e-02 -9.85251373e-04 9.99330821e-01 2.87753523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.5992541539999 meters Centerline goodness : 0.999145 with order 1 Centerline is valid? [True, True] Translation: X:787.38, Y:44.75, Z:28.78 [[ 9.95279941e-01 -8.99139455e-02 -3.65146665e-02 7.87381542e+02] [ 8.98957863e-02 9.95948874e-01 -2.14214776e-03 4.47494324e+01] [ 3.65593500e-02 -1.15047796e-03 9.99330821e-01 2.87846824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.659254154 meters Centerline goodness : 0.998958 with order 1 Centerline is valid? [True, True] Translation: X:787.44, Y:44.75, Z:28.78 [[ 9.95135562e-01 -9.14980806e-02 -3.65145882e-02 7.87441393e+02] [ 9.14809373e-02 9.95804521e-01 -2.14348224e-03 4.47505659e+01] [ 3.65575165e-02 -1.20733335e-03 9.99330821e-01 2.87846961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.7192541539999 meters Centerline goodness : 0.999125 with order 1 Centerline is valid? [True, True] Translation: X:787.50, Y:44.75, Z:28.79 [[ 9.94758235e-01 -9.55130639e-02 -3.65145104e-02 7.87501387e+02] [ 9.54985717e-02 9.95427256e-01 -2.14480690e-03 4.47507484e+01] [ 3.65523960e-02 -1.35351927e-03 9.99330821e-01 2.87890375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.779254154 meters Centerline goodness : 0.999354 with order 1 Centerline is valid? [True, True] Translation: X:787.56, Y:44.75, Z:28.79 [[ 9.94154992e-01 -1.01599945e-01 -3.65144301e-02 7.87560664e+02] [ 1.01589498e-01 9.94824089e-01 -2.14617304e-03 4.47506350e+01] [ 3.65434857e-02 -1.57585397e-03 9.99330821e-01 2.87896649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.839254154 meters Centerline goodness : 0.999332 with order 1 Centerline is valid? [True, True] Translation: X:787.62, Y:44.75, Z:28.79 [[ 9.93296804e-01 -1.09672971e-01 -3.65143510e-02 7.87620151e+02] [ 1.09667910e-01 9.93965964e-01 -2.14751688e-03 4.47513160e+01] [ 3.65295467e-02 -1.87133093e-03 9.99330821e-01 2.87932899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.899254154 meters Centerline goodness : 0.999186 with order 1 Centerline is valid? [True, True] Translation: X:787.68, Y:44.75, Z:28.80 [[ 9.92775524e-01 -1.14295521e-01 -3.65142729e-02 7.87680530e+02] [ 1.14293527e-01 9.93444700e-01 -2.14884451e-03 4.47528810e+01] [ 3.65205142e-02 -2.04002480e-03 9.99330821e-01 2.87956924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.959254154 meters Centerline goodness : 0.999165 with order 1 Centerline is valid? [True, True] Translation: X:787.74, Y:44.76, Z:28.80 [[ 9.92409778e-01 -1.17428875e-01 -3.65142729e-02 7.87741040e+02] [ 1.17428994e-01 9.93078957e-01 -2.14884451e-03 4.47550788e+01] [ 3.65138924e-02 -2.15530002e-03 9.99330821e-01 2.87961870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.019254154 meters Centerline goodness : 0.999373 with order 1 Centerline is valid? [True, True] Translation: X:787.80, Y:44.76, Z:28.80 [[ 9.92140165e-01 -1.19685422e-01 -3.65142729e-02 7.87800969e+02] [ 1.19687063e-01 9.92809342e-01 -2.14884451e-03 4.47589105e+01] [ 3.65088966e-02 -2.23833112e-03 9.99330821e-01 2.88009731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.079254154 meters Centerline goodness : 0.999186 with order 1 Centerline is valid? [True, True] Translation: X:787.86, Y:44.76, Z:28.80 [[ 9.92191908e-01 -1.19255716e-01 -3.65142729e-02 7.87861223e+02] [ 1.19257066e-01 9.92861085e-01 -2.14884451e-03 4.47636380e+01] [ 3.65098626e-02 -2.22251892e-03 9.99330821e-01 2.88024078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.139254154 meters Centerline goodness : 0.999395 with order 1 Centerline is valid? [True, True] Translation: X:787.92, Y:44.77, Z:28.81 [[ 9.92427135e-01 -1.17282079e-01 -3.65143122e-02 7.87921960e+02] [ 1.17282123e-01 9.93096314e-01 -2.14817669e-03 4.47681458e+01] [ 3.65141715e-02 -2.15056721e-03 9.99330821e-01 2.88082410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.199254154 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:787.98, Y:44.77, Z:28.81 [[ 9.92894329e-01 -1.13258780e-01 -3.65143910e-02 7.87982540e+02] [ 1.13256161e-01 9.93563502e-01 -2.14683653e-03 4.47739545e+01] [ 3.65225143e-02 -2.00389794e-03 9.99330821e-01 2.88100159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.259254154 meters Centerline goodness : 0.999332 with order 1 Centerline is valid? [True, True] Translation: X:788.04, Y:44.78, Z:28.81 [[ 9.93317658e-01 -1.09483885e-01 -3.65145152e-02 7.88042288e+02] [ 1.09478800e-01 9.93986817e-01 -2.14472231e-03 4.47795262e+01] [ 3.65297593e-02 -1.86717477e-03 9.99330821e-01 2.88124382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.319254154 meters Centerline goodness : 0.999356 with order 1 Centerline is valid? [True, True] Translation: X:788.10, Y:44.79, Z:28.81 [[ 9.93719628e-01 -1.05773284e-01 -3.65145536e-02 7.88101421e+02] [ 1.05765723e-01 9.94388764e-01 -2.14406881e-03 4.47853999e+01] [ 3.65364470e-02 -1.73138491e-03 9.99330821e-01 2.88136180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.379254154 meters Centerline goodness : 0.999166 with order 1 Centerline is valid? [True, True] Translation: X:788.16, Y:44.79, Z:28.82 [[ 9.94066654e-01 -1.02460626e-01 -3.65144793e-02 7.88160456e+02] [ 1.02450789e-01 9.94735761e-01 -2.14533339e-03 4.47908089e+01] [ 3.65420705e-02 -1.60833283e-03 9.99330821e-01 2.88162666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.439254154 meters Centerline goodness : 0.999437 with order 1 Centerline is valid? [True, True] Translation: X:788.22, Y:44.80, Z:28.82 [[ 9.94605399e-01 -9.70916983e-02 -3.65144060e-02 7.88220067e+02] [ 9.70782030e-02 9.95274442e-01 -2.14657922e-03 4.47975368e+01] [ 3.65502701e-02 -1.40975364e-03 9.99330821e-01 2.88232438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.499254154 meters Centerline goodness : 0.999249 with order 1 Centerline is valid? [True, True] Translation: X:788.28, Y:44.80, Z:28.82 [[ 9.95043551e-01 -9.24934058e-02 -3.65144060e-02 7.88280833e+02] [ 9.24768181e-02 9.95712524e-01 -2.14657921e-03 4.48026455e+01] [ 3.65563958e-02 -1.24079628e-03 9.99330821e-01 2.88242928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.559254154 meters Centerline goodness : 0.999187 with order 1 Centerline is valid? [True, True] Translation: X:788.34, Y:44.81, Z:28.83 [[ 9.95612807e-01 -8.61500882e-02 -3.65144060e-02 7.88339670e+02] [ 8.61292374e-02 9.96281660e-01 -2.14657921e-03 4.48096384e+01] [ 3.65635610e-02 -1.00779619e-03 9.99330821e-01 2.88255626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.619254154 meters Centerline goodness : 0.999353 with order 1 Centerline is valid? [True, True] Translation: X:788.40, Y:44.82, Z:28.83 [[ 9.96042158e-01 -8.10353061e-02 -3.65143670e-02 7.88400116e+02] [ 8.10109960e-02 9.96710895e-01 -2.14724252e-03 4.48155007e+01] [ 3.65682699e-02 -8.19321166e-04 9.99330821e-01 2.88311041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.679254154 meters Centerline goodness : 0.999165 with order 1 Centerline is valid? [True, True] Translation: X:788.46, Y:44.82, Z:28.83 [[ 9.96467851e-01 -7.56209108e-02 -3.65143670e-02 7.88458208e+02] [ 7.55929667e-02 9.97136446e-01 -2.14724252e-03 4.48189369e+01] [ 3.65721826e-02 -6.20571186e-04 9.99330821e-01 2.88322070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.739254154 meters Centerline goodness : 0.998914 with order 1 Centerline is valid? [True, True] Translation: X:788.52, Y:44.82, Z:28.83 [[ 9.96669330e-01 -7.29174556e-02 -3.65142518e-02 7.88516795e+02] [ 7.28876261e-02 9.97337844e-01 -2.14919985e-03 4.48219837e+01] [ 3.65737594e-02 -5.19395554e-04 9.99330821e-01 2.88340588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.799254154 meters Centerline goodness : 0.999291 with order 1 Centerline is valid? [True, True] Translation: X:788.58, Y:44.82, Z:28.84 [[ 9.96843233e-01 -7.05004926e-02 -3.65136939e-02 7.88575444e+02] [ 7.04686966e-02 9.97511656e-01 -2.15863625e-03 4.48247532e+01] [ 3.65750202e-02 -4.21250484e-04 9.99330821e-01 2.88384478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.8592541539999 meters Centerline goodness : 0.999041 with order 1 Centerline is valid? [True, True] Translation: X:788.63, Y:44.83, Z:28.84 [[ 9.97032763e-01 -6.77676943e-02 -3.65131255e-02 7.88633311e+02] [ 6.77337155e-02 9.97701079e-01 -2.16820966e-03 4.48251799e+01] [ 3.65761192e-02 -3.11393589e-04 9.99330821e-01 2.88388061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.919254154 meters Centerline goodness : 0.999165 with order 1 Centerline is valid? [True, True] Translation: X:788.69, Y:44.83, Z:28.84 [[ 9.97136024e-01 -6.62310805e-02 -3.65129261e-02 7.88690682e+02] [ 6.61959491e-02 9.97804280e-01 -2.17156158e-03 4.48272070e+01] [ 3.65765788e-02 -2.51665523e-04 9.99330821e-01 2.88423651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.9792541539999 meters Centerline goodness : 0.999063 with order 1 Centerline is valid? [True, True] Translation: X:788.75, Y:44.83, Z:28.84 [[ 9.97351930e-01 -6.28965847e-02 -3.65122850e-02 7.88748227e+02] [ 6.28588263e-02 9.98020043e-01 -2.18228865e-03 4.48270964e+01] [ 3.65772507e-02 -1.18609581e-04 9.99330821e-01 2.88449387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.039254154 meters Centerline goodness : 0.999269 with order 1 Centerline is valid? [True, True] Translation: X:788.81, Y:44.83, Z:28.85 [[ 9.97451018e-01 -6.13055166e-02 -3.65116396e-02 7.88806553e+02] [ 6.12662992e-02 9.98119047e-01 -2.19303336e-03 4.48274160e+01] [ 3.65774079e-02 -4.94896770e-05 9.99330821e-01 2.88486525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.0992541539999 meters Centerline goodness : 0.999290 with order 1 Centerline is valid? [True, True] Translation: X:788.86, Y:44.82, Z:28.85 [[ 9.97537695e-01 -5.98789499e-02 -3.65110716e-02 7.88864229e+02] [ 5.98384325e-02 9.98205646e-01 -2.20244921e-03 4.48247466e+01] [ 3.65774382e-02 1.22608186e-05 9.99330822e-01 2.88514998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.159254154 meters Centerline goodness : 0.999478 with order 1 Centerline is valid? [True, True] Translation: X:788.92, Y:44.82, Z:28.85 [[ 9.97486504e-01 -6.07261490e-02 -3.65104118e-02 7.88921883e+02] [ 6.06858006e-02 9.98154464e-01 -2.21333393e-03 4.48217250e+01] [ 3.65774377e-02 -7.89284510e-06 9.99330822e-01 2.88543029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.2192541539999 meters Centerline goodness : 0.999418 with order 1 Centerline is valid? [True, True] Translation: X:788.98, Y:44.82, Z:28.85 [[ 9.97330694e-01 -6.32336301e-02 -3.65102093e-02 7.88980215e+02] [ 6.31948389e-02 9.97998747e-01 -2.21666869e-03 4.48172518e+01] [ 3.65773111e-02 -9.65050731e-05 9.99330822e-01 2.88538649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.279254154 meters Centerline goodness : 0.999582 with order 1 Centerline is valid? [True, True] Translation: X:789.04, Y:44.82, Z:28.86 [[ 9.97165813e-01 -6.57826689e-02 -3.65100157e-02 7.89038379e+02] [ 6.57454689e-02 9.97833957e-01 -2.21985246e-03 4.48156985e+01] [ 3.65769613e-02 -1.86807121e-04 9.99330822e-01 2.88581158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.339254154 meters Centerline goodness : 0.999520 with order 1 Centerline is valid? [True, True] Translation: X:789.10, Y:44.81, Z:28.86 [[ 9.96922942e-01 -6.93665213e-02 -3.65093617e-02 7.89097089e+02] [ 6.93313312e-02 9.97591194e-01 -2.23055691e-03 4.48115388e+01] [ 3.65761437e-02 -3.07549291e-04 9.99330822e-01 2.88599962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.399254154 meters Centerline goodness : 0.999665 with order 1 Centerline is valid? [True, True] Translation: X:789.15, Y:44.81, Z:28.86 [[ 9.96625263e-01 -7.35200194e-02 -3.65087959e-02 7.89154815e+02] [ 7.34872763e-02 9.97293640e-01 -2.23977976e-03 4.48074602e+01] [ 3.65746586e-02 -4.50710880e-04 9.99330822e-01 2.88621174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.459254154 meters Centerline goodness : 0.999477 with order 1 Centerline is valid? [True, True] Translation: X:789.21, Y:44.81, Z:28.86 [[ 9.96447090e-01 -7.58967665e-02 -3.65085969e-02 7.89212650e+02] [ 7.58654989e-02 9.97115537e-01 -2.24301916e-03 4.48060465e+01] [ 3.65735271e-02 -5.34693001e-04 9.99330822e-01 2.88637677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.519254154 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:789.27, Y:44.80, Z:28.87 [[ 9.96252875e-01 -7.84052365e-02 -3.65079249e-02 7.89269702e+02] [ 7.83752532e-02 9.96921381e-01 -2.25390313e-03 4.48027627e+01] [ 3.65722488e-02 -6.15860387e-04 9.99330822e-01 2.88674367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.579254154 meters Centerline goodness : 0.999791 with order 1 Centerline is valid? [True, True] Translation: X:789.33, Y:44.80, Z:28.87 [[ 9.96197397e-01 -7.91071366e-02 -3.65076357e-02 7.89327461e+02] [ 7.90774531e-02 9.96865916e-01 -2.25857769e-03 4.48020272e+01] [ 3.65718874e-02 -6.36941636e-04 9.99330822e-01 2.88681045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.639254154 meters Centerline goodness : 0.999749 with order 1 Centerline is valid? [True, True] Translation: X:789.39, Y:44.80, Z:28.87 [[ 9.96175601e-01 -7.93814308e-02 -3.65069796e-02 7.89386665e+02] [ 7.93515446e-02 9.96844112e-01 -2.26913376e-03 4.48001067e+01] [ 3.65718948e-02 -6.36429533e-04 9.99330822e-01 2.88724401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.699254154 meters Centerline goodness : 0.999645 with order 1 Centerline is valid? [True, True] Translation: X:789.45, Y:44.80, Z:28.88 [[ 9.96172382e-01 -7.94220857e-02 -3.65063984e-02 7.89445068e+02] [ 7.93918856e-02 9.96840879e-01 -2.27844581e-03 4.47989303e+01] [ 3.65720292e-02 -6.28587023e-04 9.99330822e-01 2.88758140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.759254154 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:789.50, Y:44.80, Z:28.88 [[ 9.96138070e-01 -7.98515932e-02 -3.65057267e-02 7.89503113e+02] [ 7.98212888e-02 9.96806562e-01 -2.28915869e-03 4.48001001e+01] [ 3.65719409e-02 -6.33616033e-04 9.99330822e-01 2.88787573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.819254154 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:789.56, Y:44.80, Z:28.88 [[ 9.96033570e-01 -8.11449759e-02 -3.65050610e-02 7.89561239e+02] [ 8.11151525e-02 9.96702084e-01 -2.29972611e-03 4.47997884e+01] [ 3.65712815e-02 -6.70509173e-04 9.99330822e-01 2.88790368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.879254154 meters Centerline goodness : 0.999771 with order 1 Centerline is valid? [True, True] Translation: X:789.62, Y:44.80, Z:28.88 [[ 9.95966329e-01 -8.19662517e-02 -3.65048564e-02 7.89618836e+02] [ 8.19368607e-02 9.96634862e-01 -2.30296822e-03 4.48021092e+01] [ 3.65707782e-02 -6.97414530e-04 9.99330822e-01 2.88806226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.939254154 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:789.68, Y:44.80, Z:28.89 [[ 9.95661648e-01 -8.55881190e-02 -3.65042005e-02 7.89677443e+02] [ 8.55607805e-02 9.96330267e-01 -2.31331832e-03 4.48019625e+01] [ 3.65682324e-02 -8.20045554e-04 9.99330822e-01 2.88862715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.999254154 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:789.74, Y:44.80, Z:28.89 [[ 9.95225189e-01 -9.05224148e-02 -3.65036279e-02 7.89735160e+02] [ 9.04980609e-02 9.95893924e-01 -2.32231873e-03 4.48020684e+01] [ 3.65639632e-02 -9.92277447e-04 9.99330822e-01 2.88858796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.059254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:789.79, Y:44.80, Z:28.89 [[ 9.94859844e-01 -9.44532830e-02 -3.65029775e-02 7.89793433e+02] [ 9.44311980e-02 9.95528658e-01 -2.33249817e-03 4.48037702e+01] [ 3.65600723e-02 -1.12651113e-03 9.99330822e-01 2.88911429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.119254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:789.85, Y:44.80, Z:28.89 [[ 9.94178260e-01 -1.01376375e-01 -3.65022958e-02 7.89850942e+02] [ 1.01358556e-01 9.94847201e-01 -2.34311809e-03 4.48045270e+01] [ 3.65517436e-02 -1.37034294e-03 9.99330822e-01 2.88922174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.179254154 meters Centerline goodness : 0.999791 with order 1 Centerline is valid? [True, True] Translation: X:789.91, Y:44.81, Z:28.89 [[ 9.93711357e-01 -1.05855358e-01 -3.65018194e-02 7.89909324e+02] [ 1.05840283e-01 9.94380365e-01 -2.35051613e-03 4.48072360e+01] [ 3.65455072e-02 -1.52762834e-03 9.99330822e-01 2.88914151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.239254154 meters Centerline goodness : 0.999917 with order 1 Centerline is valid? [True, True] Translation: X:789.97, Y:44.81, Z:28.90 [[ 9.93350868e-01 -1.09186603e-01 -3.65012248e-02 7.89967711e+02] [ 1.09173434e-01 9.94019916e-01 -2.35971382e-03 4.48106489e+01] [ 3.65405935e-02 -1.64094029e-03 9.99330822e-01 2.88971810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.299254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:790.03, Y:44.82, Z:28.90 [[ 9.93668138e-01 -1.06260702e-01 -3.65006223e-02 7.90025390e+02] [ 1.06245222e-01 9.94337136e-01 -2.36899643e-03 4.48154785e+01] [ 3.65456555e-02 -1.52402046e-03 9.99330822e-01 2.89018811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.3592541539999 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:790.08, Y:44.82, Z:28.90 [[ 9.94121233e-01 -1.01934758e-01 -3.65004104e-02 7.90083819e+02] [ 1.01916247e-01 9.94790154e-01 -2.37225719e-03 4.48206512e+01] [ 3.65520643e-02 -1.36167359e-03 9.99330822e-01 2.89014464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.419254154 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:790.14, Y:44.83, Z:28.91 [[ 9.94837493e-01 -9.46896304e-02 -3.64998242e-02 7.90141222e+02] [ 9.46659174e-02 9.95506250e-01 -2.38124258e-03 4.48268077e+01] [ 3.65612821e-02 -1.08633995e-03 9.99330822e-01 2.89050163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.4792541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:790.20, Y:44.83, Z:28.91 [[ 9.95350343e-01 -8.91375909e-02 -3.64991102e-02 7.90199162e+02] [ 8.91097478e-02 9.96018941e-01 -2.39213658e-03 4.48323852e+01] [ 3.65670344e-02 -8.71412539e-04 9.99330822e-01 2.89103939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.539254154 meters Centerline goodness : 0.999917 with order 1 Centerline is valid? [True, True] Translation: X:790.26, Y:44.84, Z:28.91 [[ 9.95554565e-01 -8.68272310e-02 -3.64984930e-02 7.90256689e+02] [ 8.67974925e-02 9.96223081e-01 -2.40151617e-03 4.48371352e+01] [ 3.65691582e-02 -7.77137291e-04 9.99330822e-01 2.89094918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.5992541539999 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:790.31, Y:44.84, Z:28.91 [[ 9.95551449e-01 -8.68630395e-02 -3.64982763e-02 7.90314317e+02] [ 8.68332045e-02 9.96219961e-01 -2.40480538e-03 4.48426091e+01] [ 3.65692001e-02 -7.75154812e-04 9.99330822e-01 2.89109239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.659254154 meters Centerline goodness : 0.999791 with order 1 Centerline is valid? [True, True] Translation: X:790.37, Y:44.85, Z:28.91 [[ 9.95360635e-01 -8.90231894e-02 -3.64976384e-02 7.90372525e+02] [ 8.89944517e-02 9.96029195e-01 -2.41444906e-03 4.48475317e+01] [ 3.65676553e-02 -8.44839762e-04 9.99330823e-01 2.89118012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.7192541539999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:790.43, Y:44.85, Z:28.92 [[ 9.94801003e-01 -9.50733077e-02 -3.64970073e-02 7.90431141e+02] [ 9.50482870e-02 9.95469712e-01 -2.42395101e-03 4.48516977e+01] [ 3.65621184e-02 -1.05762913e-03 9.99330823e-01 2.89187655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.779254154 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:790.49, Y:44.86, Z:28.92 [[ 9.94196162e-01 -1.01202791e-01 -3.64964032e-02 7.90488472e+02] [ 1.01181560e-01 9.94865002e-01 -2.43301258e-03 4.48553559e+01] [ 3.65552219e-02 -1.27387125e-03 9.99330823e-01 2.89205154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.839254154 meters Centerline goodness : 0.999770 with order 1 Centerline is valid? [True, True] Translation: X:790.55, Y:44.86, Z:28.92 [[ 9.93889007e-01 -1.04176330e-01 -3.64956736e-02 7.90546763e+02] [ 1.04156700e-01 9.94557896e-01 -2.44390840e-03 4.48601265e+01] [ 3.65516577e-02 -1.37229524e-03 9.99330823e-01 2.89231581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.899254154 meters Centerline goodness : 0.999771 with order 1 Centerline is valid? [True, True] Translation: X:790.60, Y:44.87, Z:28.93 [[ 9.93809410e-01 -1.04933168e-01 -3.64950373e-02 7.90604229e+02] [ 1.04913701e-01 9.94478304e-01 -2.45337336e-03 4.48659195e+01] [ 3.65509630e-02 -1.39064388e-03 9.99330823e-01 2.89262586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.959254154 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:790.66, Y:44.87, Z:28.93 [[ 9.93967969e-01 -1.03420707e-01 -3.64942956e-02 7.90662086e+02] [ 1.03399819e-01 9.94636820e-01 -2.46435692e-03 4.48712559e+01] [ 3.65534357e-02 -1.32401171e-03 9.99330823e-01 2.89284392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.019254154 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:790.72, Y:44.88, Z:28.93 [[ 9.94497200e-01 -9.82013361e-02 -3.64940678e-02 7.90719385e+02] [ 9.81768137e-02 9.95165928e-01 -2.46772600e-03 4.48780032e+01] [ 3.65599868e-02 -1.12872470e-03 9.99330823e-01 2.89336008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.079254154 meters Centerline goodness : 0.999749 with order 1 Centerline is valid? [True, True] Translation: X:790.78, Y:44.88, Z:28.93 [[ 9.94934437e-01 -9.36680367e-02 -3.64933519e-02 7.90776596e+02] [ 9.36400806e-02 9.95603030e-01 -2.47826746e-03 4.48845243e+01] [ 3.65650262e-02 -9.51526773e-04 9.99330823e-01 2.89338994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.139254154 meters Centerline goodness : 0.999665 with order 1 Centerline is valid? [True, True] Translation: X:790.83, Y:44.89, Z:28.94 [[ 9.95457888e-01 -8.79311122e-02 -3.64926436e-02 7.90834933e+02] [ 8.78989217e-02 9.96126290e-01 -2.48865472e-03 4.48914830e+01] [ 3.65701118e-02 -7.30313051e-04 9.99330823e-01 2.89388309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.199254154 meters Centerline goodness : 0.999770 with order 1 Centerline is valid? [True, True] Translation: X:790.89, Y:44.90, Z:28.94 [[ 9.95880797e-01 -8.30046512e-02 -3.64920020e-02 7.90892637e+02] [ 8.29688107e-02 9.96549014e-01 -2.49802611e-03 4.48978579e+01] [ 3.65734164e-02 -5.39961774e-04 9.99330823e-01 2.89413423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.259254154 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:790.95, Y:44.90, Z:28.94 [[ 9.96049059e-01 -8.09608609e-02 -3.64912491e-02 7.90949938e+02] [ 8.09232480e-02 9.96717178e-01 -2.50897730e-03 4.49025746e+01] [ 3.65745838e-02 -4.53925924e-04 9.99330823e-01 2.89436118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.319254154 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:791.01, Y:44.91, Z:28.95 [[ 9.96056892e-01 -8.08647639e-02 -3.64905064e-02 7.91008400e+02] [ 8.08266926e-02 9.96724986e-01 -2.51973366e-03 4.49064099e+01] [ 3.65747571e-02 -4.39608859e-04 9.99330823e-01 2.89477497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.379254154 meters Centerline goodness : 0.999749 with order 1 Centerline is valid? [True, True] Translation: X:791.07, Y:44.91, Z:28.95 [[ 9.95919170e-01 -8.25439151e-02 -3.64898498e-02 7.91065911e+02] [ 8.25066232e-02 9.96587307e-01 -2.52920616e-03 4.49098400e+01] [ 3.65740917e-02 -4.91769390e-04 9.99330823e-01 2.89485246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.439254154 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:791.12, Y:44.91, Z:28.95 [[ 9.95557904e-01 -8.67928935e-02 -3.64890960e-02 7.91123628e+02] [ 8.67580562e-02 9.96226173e-01 -2.54003548e-03 4.49116623e+01] [ 3.65718495e-02 -6.36970643e-04 9.99330823e-01 2.89517667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.499254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:791.18, Y:44.91, Z:28.96 [[ 9.95203447e-01 -9.07672862e-02 -3.64883350e-02 7.91181732e+02] [ 9.07347185e-02 9.95871831e-01 -2.55092058e-03 4.49125854e+01] [ 3.65692451e-02 -7.72073850e-04 9.99330823e-01 2.89550220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.559254154 meters Centerline goodness : 0.999708 with order 1 Centerline is valid? [True, True] Translation: X:791.24, Y:44.91, Z:28.95 [[ 9.95156634e-01 -9.12794073e-02 -3.64875777e-02 7.91239607e+02] [ 9.12467883e-02 9.95825015e-01 -2.56170642e-03 4.49145554e+01] [ 3.65690737e-02 -7.80075139e-04 9.99330823e-01 2.89524174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.619254154 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:791.30, Y:44.92, Z:28.96 [[ 9.95092584e-01 -9.19751197e-02 -3.64873450e-02 7.91297553e+02] [ 9.19428467e-02 9.95760982e-01 -2.56501743e-03 4.49169718e+01] [ 3.65685922e-02 -8.02320541e-04 9.99330823e-01 2.89564510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.679254154 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:791.36, Y:44.92, Z:28.96 [[ 9.95097966e-01 -9.19171779e-02 -3.64865878e-02 7.91355773e+02] [ 9.18844728e-02 9.95766343e-01 -2.57574247e-03 4.49197848e+01] [ 3.65688711e-02 -7.89434799e-04 9.99330823e-01 2.89585028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.739254154 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:791.41, Y:44.92, Z:28.96 [[ 9.95110128e-01 -9.17856799e-02 -3.64859304e-02 7.91414437e+02] [ 9.17525464e-02 9.95778483e-01 -2.58502134e-03 4.49224925e+01] [ 3.65691724e-02 -7.75296112e-04 9.99330823e-01 2.89635557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.799254154 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:791.47, Y:44.93, Z:28.96 [[ 9.95259853e-01 -9.01479374e-02 -3.64852609e-02 7.91472663e+02] [ 9.01133591e-02 9.95928136e-01 -2.59443712e-03 4.49252122e+01] [ 3.65705810e-02 -7.05670314e-04 9.99330823e-01 2.89625178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.8592541539999 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:791.53, Y:44.93, Z:28.97 [[ 9.95611522e-01 -8.61773728e-02 -3.64850256e-02 7.91531428e+02] [ 8.61400081e-02 9.96279655e-01 -2.59774158e-03 4.49274349e+01] [ 3.65731553e-02 -5.56478950e-04 9.99330823e-01 2.89654486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.919254154 meters Centerline goodness : 0.999728 with order 1 Centerline is valid? [True, True] Translation: X:791.59, Y:44.93, Z:28.97 [[ 9.95874445e-01 -8.30841816e-02 -3.64843708e-02 7.91590307e+02] [ 8.30444059e-02 9.96542438e-01 -2.60690567e-03 4.49303876e+01] [ 3.65748165e-02 -4.33672161e-04 9.99330823e-01 2.89668053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.9792541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:791.65, Y:44.93, Z:28.97 [[ 9.96133915e-01 -7.99134669e-02 -3.64837021e-02 7.91648214e+02] [ 7.98712233e-02 9.96801757e-01 -2.61623135e-03 4.49320501e+01] [ 3.65760905e-02 -3.07881141e-04 9.99330824e-01 2.89716846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.039254154 meters Centerline goodness : 0.999791 with order 1 Centerline is valid? [True, True] Translation: X:791.71, Y:44.93, Z:28.97 [[ 9.96392188e-01 -7.66261282e-02 -3.64834675e-02 7.91707156e+02] [ 7.65815616e-02 9.97059879e-01 -2.61949813e-03 4.49321747e+01] [ 3.65769237e-02 -1.83913437e-04 9.99330824e-01 2.89720722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.0992541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:791.77, Y:44.93, Z:28.98 [[ 9.96406831e-01 -7.64357918e-02 -3.64828167e-02 7.91766259e+02] [ 7.63907669e-02 9.97074491e-01 -2.62853186e-03 4.49335177e+01] [ 3.65769998e-02 -1.67863239e-04 9.99330824e-01 2.89764480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.159254154 meters Centerline goodness : 0.999771 with order 1 Centerline is valid? [True, True] Translation: X:791.83, Y:44.93, Z:28.98 [[ 9.96319326e-01 -7.75683722e-02 -3.64821749e-02 7.91825352e+02] [ 7.75237812e-02 9.96987015e-01 -2.63740959e-03 4.49322112e+01] [ 3.65768342e-02 -2.00534001e-04 9.99330824e-01 2.89751353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.2192541539999 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:791.88, Y:44.93, Z:28.98 [[ 9.95884809e-01 -8.29611081e-02 -3.64815377e-02 7.91883446e+02] [ 8.29198107e-02 9.96552709e-01 -2.64619390e-03 4.49293192e+01] [ 3.65753064e-02 -3.89737896e-04 9.99330824e-01 2.89768937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.279254154 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:791.94, Y:44.93, Z:28.98 [[ 9.95150229e-01 -9.13517106e-02 -3.64813134e-02 7.91942098e+02] [ 9.13159307e-02 9.95818448e-01 -2.64928186e-03 4.49267408e+01] [ 3.65707814e-02 -6.94891640e-04 9.99330824e-01 2.89833785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.339254154 meters Centerline goodness : 0.999770 with order 1 Centerline is valid? [True, True] Translation: X:792.00, Y:44.93, Z:28.98 [[ 9.94625563e-01 -9.68976432e-02 -3.64806254e-02 7.91999270e+02] [ 9.68652427e-02 9.95293955e-01 -2.65872302e-03 4.49260123e+01] [ 3.65665699e-02 -8.89270755e-04 9.99330824e-01 2.89825348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.399254154 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:792.06, Y:44.92, Z:28.99 [[ 9.93922962e-01 -1.03857282e-01 -3.64802861e-02 7.92057816e+02] [ 1.03829390e-01 9.94591556e-01 -2.66337059e-03 4.49228223e+01] [ 3.65595949e-02 -1.14054067e-03 9.99330824e-01 2.89886314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.459254154 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:792.12, Y:44.92, Z:28.99 [[ 9.93553461e-01 -1.07334651e-01 -3.64800439e-02 7.92117307e+02] [ 1.07308978e-01 9.94222144e-01 -2.66668377e-03 4.49210073e+01] [ 3.65554950e-02 -1.26514333e-03 9.99330824e-01 2.89914263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.519254154 meters Centerline goodness : 0.999791 with order 1 Centerline is valid? [True, True] Translation: X:792.18, Y:44.92, Z:28.99 [[ 9.93425840e-01 -1.08509719e-01 -3.64793227e-02 7.92175075e+02] [ 1.08484476e-01 9.94094540e-01 -2.67651302e-03 4.49217742e+01] [ 3.65543232e-02 -1.29852300e-03 9.99330824e-01 2.89926232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.579254154 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:792.23, Y:44.92, Z:29.00 [[ 9.93567642e-01 -1.07203673e-01 -3.64789398e-02 7.92233945e+02] [ 1.07177360e-01 9.94236301e-01 -2.68172130e-03 4.49197973e+01] [ 3.65561765e-02 -1.24524495e-03 9.99330824e-01 2.89970978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.639254154 meters Centerline goodness : 0.999771 with order 1 Centerline is valid? [True, True] Translation: X:792.29, Y:44.92, Z:29.00 [[ 9.93782868e-01 -1.05190067e-01 -3.64782158e-02 7.92291601e+02] [ 1.05162039e-01 9.94451457e-01 -2.69153344e-03 4.49228858e+01] [ 3.65589375e-02 -1.16132374e-03 9.99330824e-01 2.89988620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.699254154 meters Centerline goodness : 0.999688 with order 1 Centerline is valid? [True, True] Translation: X:792.35, Y:44.93, Z:29.00 [[ 9.94182692e-01 -1.01341666e-01 -3.64779624e-02 7.92348438e+02] [ 1.01310924e-01 9.94851162e-01 -2.69496390e-03 4.49262624e+01] [ 3.65632554e-02 -1.01632962e-03 9.99330824e-01 2.89993266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.759254154 meters Centerline goodness : 0.999728 with order 1 Centerline is valid? [True, True] Translation: X:792.41, Y:44.93, Z:29.00 [[ 9.94842555e-01 -9.46449883e-02 -3.64776310e-02 7.92406552e+02] [ 9.46095819e-02 9.95510794e-01 -2.69944124e-03 4.49296809e+01] [ 3.65693640e-02 -7.65614405e-04 9.99330824e-01 2.90037515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.819254154 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:792.46, Y:44.93, Z:29.01 [[ 9.95137590e-01 -9.14910775e-02 -3.64768502e-02 7.92464686e+02] [ 9.14531680e-02 9.95805691e-01 -2.70995162e-03 4.49333905e+01] [ 3.65717914e-02 -6.39148788e-04 9.99330824e-01 2.90077853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.879254154 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:792.52, Y:44.94, Z:29.01 [[ 9.95370595e-01 -8.89205724e-02 -3.64761682e-02 7.92522388e+02] [ 8.88806023e-02 9.96038576e-01 -2.71910111e-03 4.49364824e+01] [ 3.65734546e-02 -5.35510502e-04 9.99330824e-01 2.90108871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.939254154 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:792.58, Y:44.94, Z:29.01 [[ 9.95310430e-01 -8.95918281e-02 -3.64753705e-02 7.92580451e+02] [ 8.95519179e-02 9.95978415e-01 -2.72976031e-03 4.49391843e+01] [ 3.65732459e-02 -5.49480473e-04 9.99330824e-01 2.90147545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.999254154 meters Centerline goodness : 0.999834 with order 1 Centerline is valid? [True, True] Translation: X:792.64, Y:44.94, Z:29.01 [[ 9.95295320e-01 -8.97598687e-02 -3.64745499e-02 7.92639870e+02] [ 8.97196712e-02 9.95963287e-01 -2.74068094e-03 4.49383584e+01] [ 3.65733158e-02 -5.44697710e-04 9.99330824e-01 2.90112869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.059254154 meters Centerline goodness : 0.999708 with order 1 Centerline is valid? [True, True] Translation: X:792.70, Y:44.94, Z:29.02 [[ 9.94742578e-01 -9.56913871e-02 -3.64741235e-02 7.92697467e+02] [ 9.56549646e-02 9.95410762e-01 -2.74634405e-03 4.49446921e+01] [ 3.65695365e-02 -7.57025628e-04 9.99330824e-01 2.90182966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.119254154 meters Centerline goodness : 0.998789 with order 1 Centerline is valid? [True, True] Translation: X:792.76, Y:44.95, Z:29.02 [[ 9.94202259e-01 -1.01151050e-01 -3.64737315e-02 7.92756240e+02] [ 1.01118106e-01 9.94870624e-01 -2.75153953e-03 4.49468367e+01] [ 3.65649651e-02 -9.52567832e-04 9.99330824e-01 2.90177544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.179254154 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:792.81, Y:44.95, Z:29.02 [[ 9.93708144e-01 -1.05895505e-01 -3.64728326e-02 7.92814336e+02] [ 1.05865316e-01 9.94376638e-01 -2.76340389e-03 4.49501505e+01] [ 3.65603647e-02 -1.11519102e-03 9.99330824e-01 2.90227962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.239254154 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:792.87, Y:44.95, Z:29.03 [[ 9.93544060e-01 -1.07424388e-01 -3.64719301e-02 7.92873056e+02] [ 1.07394794e-01 9.94212581e-01 -2.77526446e-03 4.49543769e+01] [ 3.65589829e-02 -1.15954789e-03 9.99330824e-01 2.90262208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.299254154 meters Centerline goodness : 0.999729 with order 1 Centerline is valid? [True, True] Translation: X:792.93, Y:44.96, Z:29.03 [[ 9.93648756e-01 -1.06451867e-01 -3.64712106e-02 7.92929815e+02] [ 1.06421272e-01 9.94317232e-01 -2.78468768e-03 4.49588491e+01] [ 3.65603884e-02 -1.11431119e-03 9.99330824e-01 2.90268098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.3592541539999 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:792.99, Y:44.96, Z:29.03 [[ 9.93889627e-01 -1.04179178e-01 -3.64706549e-02 7.92987279e+02] [ 1.04146788e-01 9.94558018e-01 -2.79194752e-03 4.49643574e+01] [ 3.65630450e-02 -1.02341389e-03 9.99330824e-01 2.90288282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.419254154 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:793.04, Y:44.97, Z:29.03 [[ 9.94085035e-01 -1.02298058e-01 -3.64698527e-02 7.93044482e+02] [ 1.02264021e-01 9.94753345e-01 -2.80238674e-03 4.49696537e+01] [ 3.65651867e-02 -9.43743050e-04 9.99330824e-01 2.90280260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.4792541539999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:793.10, Y:44.98, Z:29.03 [[ 9.94223480e-01 -1.00943748e-01 -3.64696062e-02 7.93103055e+02] [ 1.00908683e-01 9.94891736e-01 -2.80559096e-03 4.49771320e+01] [ 3.65665167e-02 -8.90715539e-04 9.99330824e-01 2.90342920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.539254154 meters Centerline goodness : 0.999791 with order 1 Centerline is valid? [True, True] Translation: X:793.16, Y:44.98, Z:29.04 [[ 9.94286819e-01 -1.00318195e-01 -3.64689056e-02 7.93160706e+02] [ 1.00282376e-01 9.94955036e-01 -2.81466824e-03 4.49831485e+01] [ 3.65672837e-02 -8.58600982e-04 9.99330824e-01 2.90365571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.5992541539999 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:793.22, Y:44.99, Z:29.04 [[ 9.94430242e-01 -9.88866624e-02 -3.64680802e-02 7.93218446e+02] [ 9.88494916e-02 9.95098385e-01 -2.82532259e-03 4.49893697e+01] [ 3.65687144e-02 -7.95264963e-04 9.99330824e-01 2.90399086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.659254154 meters Centerline goodness : 0.999770 with order 1 Centerline is valid? [True, True] Translation: X:793.28, Y:44.99, Z:29.04 [[ 9.94482041e-01 -9.83644689e-02 -3.64678267e-02 7.93275815e+02] [ 9.83268275e-02 9.95150157e-01 -2.82859106e-03 4.49945538e+01] [ 3.65691963e-02 -7.72782693e-04 9.99330824e-01 2.90413819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.7192541539999 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:793.33, Y:45.00, Z:29.04 [[ 9.94697111e-01 -9.61655715e-02 -3.64669857e-02 7.93334022e+02] [ 9.61260572e-02 9.95365118e-01 -2.83939134e-03 4.50023763e+01] [ 3.65710173e-02 -6.81093195e-04 9.99330825e-01 2.90449051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.779254154 meters Centerline goodness : 0.999687 with order 1 Centerline is valid? [True, True] Translation: X:793.39, Y:45.01, Z:29.05 [[ 9.94896820e-01 -9.40772498e-02 -3.64662603e-02 7.93392239e+02] [ 9.40359930e-02 9.95564723e-01 -2.84867809e-03 4.50079503e+01] [ 3.65725181e-02 -5.95000222e-04 9.99330825e-01 2.90453149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.839254154 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:793.45, Y:45.01, Z:29.05 [[ 9.95147370e-01 -9.13891538e-02 -3.64655146e-02 7.93449696e+02] [ 9.13457443e-02 9.95815136e-01 -2.85819145e-03 4.50139123e+01] [ 3.65741191e-02 -4.86647872e-04 9.99330825e-01 2.90496018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.899254154 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:793.51, Y:45.02, Z:29.05 [[ 9.95288516e-01 -8.98390529e-02 -3.64652528e-02 7.93508281e+02] [ 8.97944812e-02 9.95956205e-01 -2.86152819e-03 4.50189753e+01] [ 3.65748718e-02 -4.26332306e-04 9.99330825e-01 2.90532734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.959254154 meters Centerline goodness : 0.999792 with order 1 Centerline is valid? [True, True] Translation: X:793.57, Y:45.02, Z:29.05 [[ 9.95223963e-01 -9.05516541e-02 -3.64645200e-02 7.93565778e+02] [ 9.05072194e-02 9.95891662e-01 -2.87083599e-03 4.50231359e+01] [ 3.65746703e-02 -4.43177541e-04 9.99330825e-01 2.90534340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.019254154 meters Centerline goodness : 0.999750 with order 1 Centerline is valid? [True, True] Translation: X:793.62, Y:45.03, Z:29.05 [[ 9.95054939e-01 -9.23908457e-02 -3.64636756e-02 7.93623927e+02] [ 9.23472536e-02 9.95722693e-01 -2.88152157e-03 4.50274422e+01] [ 3.65739354e-02 -5.00048026e-04 9.99330825e-01 2.90545502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.079254154 meters Centerline goodness : 0.999750 with order 1 Centerline is valid? [True, True] Translation: X:793.68, Y:45.03, Z:29.06 [[ 9.94705331e-01 -9.60820781e-02 -3.64628276e-02 7.93682425e+02] [ 9.60405720e-02 9.95373218e-01 -2.89221238e-03 4.50313680e+01] [ 3.65720118e-02 -6.25011743e-04 9.99330825e-01 2.90584561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.139254154 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:793.74, Y:45.03, Z:29.06 [[ 9.94440689e-01 -9.87837661e-02 -3.64620934e-02 7.93741065e+02] [ 9.87437363e-02 9.95108666e-01 -2.90143825e-03 4.50349174e+01] [ 3.65703601e-02 -7.15095090e-04 9.99330825e-01 2.90634314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.199254154 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:793.80, Y:45.04, Z:29.06 [[ 9.94090376e-01 -1.02249176e-01 -3.64613627e-02 7.93798993e+02] [ 1.02211139e-01 9.94758469e-01 -2.91059233e-03 4.50384180e+01] [ 3.65678550e-02 -8.33365587e-04 9.99330825e-01 2.90648880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.259254154 meters Centerline goodness : 0.999834 with order 1 Centerline is valid? [True, True] Translation: X:793.86, Y:45.04, Z:29.07 [[ 9.93787665e-01 -1.05150675e-01 -3.64611058e-02 7.93856823e+02] [ 1.05114470e-01 9.94455860e-01 -2.91380740e-03 4.50433111e+01] [ 3.65653491e-02 -9.36883968e-04 9.99330825e-01 2.90658717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.319254154 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:793.91, Y:45.05, Z:29.07 [[ 9.93395565e-01 -1.08792919e-01 -3.64602838e-02 7.93913765e+02] [ 1.08758788e-01 9.94063869e-01 -2.92405677e-03 4.50475039e+01] [ 3.65619674e-02 -1.06063125e-03 9.99330825e-01 2.90660896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.379254154 meters Centerline goodness : 0.999791 with order 1 Centerline is valid? [True, True] Translation: X:793.97, Y:45.05, Z:29.07 [[ 9.93400604e-01 -1.08747019e-01 -3.64599301e-02 7.93970957e+02] [ 1.08712696e-01 9.94068898e-01 -2.92846075e-03 4.50526582e+01] [ 3.65621439e-02 -1.05452261e-03 9.99330825e-01 2.90693281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.439254154 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:794.03, Y:45.06, Z:29.07 [[ 9.93587132e-01 -1.07029657e-01 -3.64590563e-02 7.94028419e+02] [ 1.06993782e-01 9.94255345e-01 -2.93929931e-03 4.50590050e+01] [ 3.65642038e-02 -9.80442341e-04 9.99330825e-01 2.90733118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.499254154 meters Centerline goodness : 0.999729 with order 1 Centerline is valid? [True, True] Translation: X:794.09, Y:45.07, Z:29.07 [[ 9.94006215e-01 -1.03065250e-01 -3.64581732e-02 7.94085196e+02] [ 1.03026309e-01 9.94674256e-01 -2.95021218e-03 4.50652516e+01] [ 3.65680707e-02 -8.23621779e-04 9.99330825e-01 2.90727215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.559254154 meters Centerline goodness : 0.999772 with order 1 Centerline is valid? [True, True] Translation: X:794.14, Y:45.07, Z:29.07 [[ 9.94181127e-01 -1.01364271e-01 -3.64577934e-02 7.94142862e+02] [ 1.01324015e-01 9.94849090e-01 -2.95489797e-03 4.50715893e+01] [ 3.65695237e-02 -7.56346231e-04 9.99330825e-01 2.90724263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.619254154 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:794.20, Y:45.08, Z:29.07 [[ 9.93992035e-01 -1.03202356e-01 -3.64569368e-02 7.94200646e+02] [ 1.03162950e-01 9.94660049e-01 -2.96542892e-03 4.50773076e+01] [ 3.65682978e-02 -8.13392410e-04 9.99330825e-01 2.90747616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.679254154 meters Centerline goodness : 0.999730 with order 1 Centerline is valid? [True, True] Translation: X:794.26, Y:45.08, Z:29.08 [[ 9.93604286e-01 -1.06871316e-01 -3.64560654e-02 7.94258642e+02] [ 1.06833984e-01 9.94272419e-01 -2.97610281e-03 4.50830472e+01] [ 3.65653204e-02 -9.37678209e-04 9.99330825e-01 2.90779234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.739254154 meters Centerline goodness : 0.999834 with order 1 Centerline is valid? [True, True] Translation: X:794.32, Y:45.09, Z:29.08 [[ 9.93365889e-01 -1.09065256e-01 -3.64551924e-02 7.94315705e+02] [ 1.09029009e-01 9.94034081e-01 -2.98675883e-03 4.50889040e+01] [ 3.65634553e-02 -1.00772916e-03 9.99330825e-01 2.90815579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.799254154 meters Centerline goodness : 0.999750 with order 1 Centerline is valid? [True, True] Translation: X:794.37, Y:45.10, Z:29.08 [[ 9.93049154e-01 -1.11912570e-01 -3.64548167e-02 7.94372184e+02] [ 1.11878071e-01 9.93717439e-01 -2.99133758e-03 4.50950297e+01] [ 3.65605554e-02 -1.10794932e-03 9.99330825e-01 2.90819033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.8592541539999 meters Centerline goodness : 0.999791 with order 1 Centerline is valid? [True, True] Translation: X:794.43, Y:45.10, Z:29.08 [[ 9.92775357e-01 -1.14316071e-01 -3.64544483e-02 7.94429389e+02] [ 1.14283025e-01 9.93443715e-01 -2.99581993e-03 4.51013242e+01] [ 3.65579130e-02 -1.19194844e-03 9.99330825e-01 2.90825294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.919254154 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:794.49, Y:45.11, Z:29.08 [[ 9.92179128e-01 -1.19380530e-01 -3.64536192e-02 7.94487245e+02] [ 1.19350527e-01 9.92847630e-01 -3.00587499e-03 4.51085216e+01] [ 3.65517324e-02 -1.36839223e-03 9.99330825e-01 2.90842378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.9792541539999 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:794.54, Y:45.12, Z:29.09 [[ 9.91781391e-01 -1.22641225e-01 -3.64527477e-02 7.94544732e+02] [ 1.22613033e-01 9.92449971e-01 -3.01640739e-03 4.51154005e+01] [ 3.65474643e-02 -1.47796522e-03 9.99330825e-01 2.90874904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.039254154 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:794.60, Y:45.12, Z:29.09 [[ 9.91470641e-01 -1.25128852e-01 -3.64518676e-02 7.94601779e+02] [ 1.25101948e-01 9.92139274e-01 -3.02700602e-03 4.51242647e+01] [ 3.65440952e-02 -1.55901205e-03 9.99330825e-01 2.90915654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.0992541539999 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:794.66, Y:45.13, Z:29.09 [[ 9.91720655e-01 -1.23131908e-01 -3.64509895e-02 7.94658794e+02] [ 1.23103271e-01 9.92389217e-01 -3.03754323e-03 4.51340200e+01] [ 3.65475874e-02 -1.47484167e-03 9.99330825e-01 2.90910655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.159254154 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:794.72, Y:45.14, Z:29.09 [[ 9.92095178e-01 -1.20077264e-01 -3.64500916e-02 7.94716546e+02] [ 1.20046174e-01 9.92763630e-01 -3.04827938e-03 4.51425370e+01] [ 3.65523543e-02 -1.35151075e-03 9.99330826e-01 2.90932234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.2192541539999 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:794.77, Y:45.15, Z:29.09 [[ 9.92923653e-01 -1.13022453e-01 -3.64492037e-02 7.94773501e+02] [ 1.12986225e-01 9.93591846e-01 -3.05885987e-03 4.51536713e+01] [ 3.65613514e-02 -1.08104360e-03 9.99330826e-01 2.90940415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.279254154 meters Centerline goodness : 0.999770 with order 1 Centerline is valid? [True, True] Translation: X:794.83, Y:45.16, Z:29.10 [[ 9.93782000e-01 -1.05208629e-01 -3.64483275e-02 7.94829507e+02] [ 1.05166764e-01 9.94449864e-01 -3.06926451e-03 4.51639674e+01] [ 3.65689475e-02 -7.82972847e-04 9.99330826e-01 2.90967437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.339254154 meters Centerline goodness : 0.999813 with order 1 Centerline is valid? [True, True] Translation: X:794.89, Y:45.17, Z:29.10 [[ 9.94430324e-01 -9.88932632e-02 -3.64479513e-02 7.94885465e+02] [ 9.88469929e-02 9.95097897e-01 -3.07372626e-03 4.51731218e+01] [ 3.65732505e-02 -5.46163777e-04 9.99330826e-01 2.90990286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.399254154 meters Centerline goodness : 0.999855 with order 1 Centerline is valid? [True, True] Translation: X:794.94, Y:45.18, Z:29.10 [[ 9.94768828e-01 -9.54282613e-02 -3.64475834e-02 7.94942958e+02] [ 9.53795060e-02 9.95436224e-01 -3.07808284e-03 4.51805098e+01] [ 3.65749808e-02 -4.14371642e-04 9.99330826e-01 2.91000722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.459254154 meters Centerline goodness : 0.999813 with order 1 Centerline is valid? [True, True] Translation: X:795.00, Y:45.19, Z:29.10 [[ 9.95365349e-01 -8.89913344e-02 -3.64467398e-02 7.95000529e+02] [ 8.89378983e-02 9.96032386e-01 -3.08803946e-03 4.51882491e+01] [ 3.65769419e-02 -1.67768955e-04 9.99330826e-01 2.90987441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.519254154 meters Centerline goodness : 0.999855 with order 1 Centerline is valid? [True, True] Translation: X:795.06, Y:45.19, Z:29.10 [[ 9.95814760e-01 -8.38132811e-02 -3.64458203e-02 7.95057461e+02] [ 8.37559807e-02 9.96481476e-01 -3.09885313e-03 4.51941707e+01] [ 3.65773099e-02 3.33282645e-05 9.99330826e-01 2.91011047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.579254154 meters Centerline goodness : 0.999813 with order 1 Centerline is valid? [True, True] Translation: X:795.11, Y:45.20, Z:29.10 [[ 9.96020070e-01 -8.13372696e-02 -3.64454257e-02 7.95114862e+02] [ 8.12781423e-02 9.96686627e-01 -3.10348736e-03 4.51994337e+01] [ 3.65770976e-02 1.28919206e-04 9.99330826e-01 2.91032942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.639254154 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:795.17, Y:45.20, Z:29.11 [[ 9.96626590e-01 -7.35339245e-02 -3.64445133e-02 7.95172353e+02] [ 7.34691881e-02 9.97292625e-01 -3.11416459e-03 4.52041116e+01] [ 3.65748411e-02 4.26110435e-04 9.99330826e-01 2.91073754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.699254154 meters Centerline goodness : 0.999813 with order 1 Centerline is valid? [True, True] Translation: X:795.23, Y:45.21, Z:29.11 [[ 9.96963441e-01 -6.88168699e-02 -3.64435968e-02 7.95230607e+02] [ 6.87485918e-02 9.97629123e-01 -3.12485376e-03 4.52053477e+01] [ 3.65722361e-02 6.09918997e-04 9.99330826e-01 2.91096133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.759254154 meters Centerline goodness : 0.999731 with order 1 Centerline is valid? [True, True] Translation: X:795.29, Y:45.21, Z:29.11 [[ 9.96976430e-01 -6.86289257e-02 -3.64426861e-02 7.95288542e+02] [ 6.85601353e-02 9.97642059e-01 -3.13543895e-03 4.52056336e+01] [ 3.65719381e-02 6.27443244e-04 9.99330826e-01 2.91093852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.819254154 meters Centerline goodness : 0.999730 with order 1 Centerline is valid? [True, True] Translation: X:795.35, Y:45.20, Z:29.11 [[ 9.96787691e-01 -7.13182748e-02 -3.64417821e-02 7.95346623e+02] [ 7.12508976e-02 9.97453464e-01 -3.14591043e-03 4.52014564e+01] [ 3.65733427e-02 5.39295110e-04 9.99330826e-01 2.91104328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.879254154 meters Centerline goodness : 0.999834 with order 1 Centerline is valid? [True, True] Translation: X:795.40, Y:45.20, Z:29.11 [[ 9.96554376e-01 -7.45079815e-02 -3.64408732e-02 7.95404755e+02] [ 7.44423516e-02 9.97220323e-01 -3.15640395e-03 4.51969411e+01] [ 3.65747566e-02 4.32783874e-04 9.99330826e-01 2.91128578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.939254154 meters Centerline goodness : 0.999813 with order 1 Centerline is valid? [True, True] Translation: X:795.46, Y:45.19, Z:29.11 [[ 9.96448263e-01 -7.59143401e-02 -3.64399765e-02 7.95463105e+02] [ 7.58492730e-02 9.97114266e-01 -3.16672189e-03 4.51916592e+01] [ 3.65752201e-02 3.91528797e-04 9.99330826e-01 2.91142678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.999254154 meters Centerline goodness : 0.999917 with order 1 Centerline is valid? [True, True] Translation: X:795.52, Y:45.19, Z:29.12 [[ 9.96488110e-01 -7.53899224e-02 -3.64390818e-02 7.95521503e+02] [ 7.53241295e-02 9.97154041e-01 -3.17698410e-03 4.51893036e+01] [ 3.65748903e-02 4.21084766e-04 9.99330826e-01 2.91169703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.059254154 meters Centerline goodness : 0.999729 with order 1 Centerline is valid? [True, True] Translation: X:795.58, Y:45.18, Z:29.12 [[ 9.96684286e-01 -7.27508924e-02 -3.64381769e-02 7.95579426e+02] [ 7.26829581e-02 9.97350003e-01 -3.18732948e-03 4.51841422e+01] [ 3.65734969e-02 5.28326726e-04 9.99330826e-01 2.91164636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.119254154 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:795.64, Y:45.18, Z:29.12 [[ 9.96782103e-01 -7.13983723e-02 -3.64377879e-02 7.95637441e+02] [ 7.13293725e-02 9.97447710e-01 -3.19176993e-03 4.51822852e+01] [ 3.65726753e-02 5.82414599e-04 9.99330826e-01 2.91194867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.179254154 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:795.70, Y:45.18, Z:29.12 [[ 9.96928553e-01 -6.93239743e-02 -3.64369003e-02 7.95696449e+02] [ 6.92532204e-02 9.97593975e-01 -3.20187113e-03 4.51756600e+01] [ 3.65711986e-02 6.68664065e-04 9.99330826e-01 2.91213167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.239254154 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:795.75, Y:45.17, Z:29.12 [[ 9.97161159e-01 -6.58941839e-02 -3.64359682e-02 7.95754765e+02] [ 6.58207554e-02 9.97826292e-01 -3.21244241e-03 4.51694083e+01] [ 3.65684483e-02 8.05079840e-04 9.99330826e-01 2.91244895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.299254154 meters Centerline goodness : 0.999771 with order 1 Centerline is valid? [True, True] Translation: X:795.81, Y:45.17, Z:29.13 [[ 9.97371801e-01 -6.26257099e-02 -3.64350368e-02 7.95813388e+02] [ 6.25497174e-02 9.98036645e-01 -3.22297235e-03 4.51661052e+01] [ 3.65653428e-02 9.35500480e-04 9.99330826e-01 2.91269950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.3592541539999 meters Centerline goodness : 0.999855 with order 1 Centerline is valid? [True, True] Translation: X:795.87, Y:45.16, Z:29.13 [[ 9.97575992e-01 -5.92848796e-02 -3.64340827e-02 7.95871472e+02] [ 5.92062686e-02 9.98240533e-01 -3.23372166e-03 4.51585377e+01] [ 3.65616889e-02 1.06875700e-03 9.99330826e-01 2.91308583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.419254154 meters Centerline goodness : 0.999752 with order 1 Centerline is valid? [True, True] Translation: X:795.93, Y:45.15, Z:29.13 [[ 9.97666221e-01 -5.77468602e-02 -3.64336711e-02 7.95930381e+02] [ 5.76670558e-02 9.98330618e-01 -3.23835241e-03 4.51508927e+01] [ 3.65598541e-02 1.12977227e-03 9.99330826e-01 2.91344760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.4792541539999 meters Centerline goodness : 0.999773 with order 1 Centerline is valid? [True, True] Translation: X:795.99, Y:45.14, Z:29.14 [[ 9.97509035e-01 -6.04018197e-02 -3.64327386e-02 7.95989304e+02] [ 6.03234021e-02 9.98173598e-01 -3.24880959e-03 4.51377589e+01] [ 3.65624318e-02 1.04297017e-03 9.99330827e-01 2.91353297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.539254154 meters Centerline goodness : 0.999792 with order 1 Centerline is valid? [True, True] Translation: X:796.05, Y:45.13, Z:29.14 [[ 9.97089659e-01 -6.69696657e-02 -3.64317930e-02 7.96047133e+02] [ 6.68952403e-02 9.97754681e-01 -3.25937965e-03 4.51251533e+01] [ 3.65682716e-02 8.12780197e-04 9.99330827e-01 2.91376144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.5992541539999 meters Centerline goodness : 0.999813 with order 1 Centerline is valid? [True, True] Translation: X:796.11, Y:45.11, Z:29.14 [[ 9.95980888e-01 -8.18219106e-02 -3.64313864e-02 7.96107073e+02] [ 8.17572384e-02 9.96646929e-01 -3.26391769e-03 4.51056093e+01] [ 3.65762894e-02 2.72270096e-04 9.99330827e-01 2.91377671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.659254154 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:796.16, Y:45.11, Z:29.14 [[ 9.95696382e-01 -8.52143728e-02 -3.64310969e-02 7.96164740e+02] [ 8.51518518e-02 9.96362629e-01 -3.26714584e-03 4.51072439e+01] [ 3.65769913e-02 1.50909929e-04 9.99330827e-01 2.91384436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.7192541539999 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:796.22, Y:45.11, Z:29.14 [[ 9.95672832e-01 -8.54894934e-02 -3.64301926e-02 7.96222956e+02] [ 8.54267887e-02 9.96339061e-01 -3.27719797e-03 4.51125833e+01] [ 3.65769899e-02 1.50902615e-04 9.99330827e-01 2.91405828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.779254154 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:796.28, Y:45.11, Z:29.15 [[ 9.94963674e-01 -9.33819817e-02 -3.64292849e-02 7.96282241e+02] [ 9.33241935e-02 9.95630348e-01 -3.28725714e-03 4.51111584e+01] [ 3.65770722e-02 -1.29032197e-04 9.99330827e-01 2.91468185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.839254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:796.34, Y:45.10, Z:29.15 [[ 9.91158435e-01 -1.27584959e-01 -3.64284897e-02 7.96341295e+02] [ 1.27549838e-01 9.91826686e-01 -3.29604602e-03 4.50990613e+01] [ 3.65512741e-02 -1.37954413e-03 9.99330827e-01 2.91517717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.899254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:796.40, Y:45.10, Z:29.15 [[ 9.90801207e-01 -1.30330170e-01 -3.64282111e-02 7.96398965e+02] [ 1.30296787e-01 9.91469547e-01 -3.29912276e-03 4.51041242e+01] [ 3.65474372e-02 -1.47770405e-03 9.99330827e-01 2.91549566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.959254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:796.46, Y:45.11, Z:29.16 [[ 9.90764083e-01 -1.30612351e-01 -3.64272755e-02 7.96457186e+02] [ 1.30578780e-01 9.91432413e-01 -3.30942064e-03 4.51094998e+01] [ 3.65474329e-02 -1.47777410e-03 9.99330827e-01 2.91570958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.019254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:796.52, Y:45.11, Z:29.16 [[ 9.90726878e-01 -1.30894524e-01 -3.64263307e-02 7.96515406e+02] [ 1.30860763e-01 9.91395199e-01 -3.31978817e-03 4.51148919e+01] [ 3.65474314e-02 -1.47777404e-03 9.99330827e-01 2.91592350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.079254154 meters Centerline goodness : 0.999917 with order 1 Centerline is valid? [True, True] Translation: X:796.57, Y:45.12, Z:29.16 [[ 9.90321356e-01 -1.33928350e-01 -3.64253828e-02 7.96572985e+02] [ 1.33896256e-01 9.90989759e-01 -3.33015543e-03 4.51207232e+01] [ 3.65431836e-02 -1.57929833e-03 9.99330827e-01 2.91590483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.139254154 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:796.63, Y:45.13, Z:29.16 [[ 9.89679643e-01 -1.38591002e-01 -3.64244284e-02 7.96630348e+02] [ 1.38561673e-01 9.90348173e-01 -3.34056224e-03 4.51282831e+01] [ 3.65358380e-02 -1.74094331e-03 9.99330827e-01 2.91604329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.199254154 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:796.69, Y:45.14, Z:29.16 [[ 9.89181749e-01 -1.42101431e-01 -3.64232286e-02 7.96686194e+02] [ 1.42073996e-01 9.89850359e-01 -3.35359326e-03 4.51412823e+01] [ 3.65300963e-02 -1.85748040e-03 9.99330827e-01 2.91636077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.259254154 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:796.74, Y:45.15, Z:29.17 [[ 9.89433601e-01 -1.40337223e-01 -3.64227040e-02 7.96743686e+02] [ 1.40308387e-01 9.90102152e-01 -3.35928177e-03 4.51525367e+01] [ 3.65336299e-02 -1.78662458e-03 9.99330827e-01 2.91656489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.319254154 meters Centerline goodness : 0.999771 with order 1 Centerline is valid? [True, True] Translation: X:796.80, Y:45.17, Z:29.17 [[ 9.90304169e-01 -1.34056376e-01 -3.64217148e-02 7.96799375e+02] [ 1.34022906e-01 9.90972504e-01 -3.36997274e-03 4.51698133e+01] [ 3.65446842e-02 -1.54404601e-03 9.99330827e-01 2.91650334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.379254154 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:796.86, Y:45.18, Z:29.17 [[ 9.90873097e-01 -1.29784489e-01 -3.64210475e-02 7.96856196e+02] [ 1.29747873e-01 9.91541267e-01 -3.37716849e-03 4.51835775e+01] [ 3.65512757e-02 -1.37920806e-03 9.99330827e-01 2.91690101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.439254154 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:796.91, Y:45.20, Z:29.17 [[ 9.91661777e-01 -1.23614320e-01 -3.64200600e-02 7.96912795e+02] [ 1.23573156e-01 9.92329682e-01 -3.38778463e-03 4.52010551e+01] [ 3.65594853e-02 -1.14100523e-03 9.99330827e-01 2.91717969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.499254154 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:796.97, Y:45.21, Z:29.18 [[ 9.91881392e-01 -1.21839872e-01 -3.64190801e-02 7.96969550e+02] [ 1.21797128e-01 9.92549198e-01 -3.39828631e-03 4.52107678e+01] [ 3.65617755e-02 -1.06504240e-03 9.99330827e-01 2.91767055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.559254154 meters Centerline goodness : 0.999917 with order 1 Centerline is valid? [True, True] Translation: X:797.03, Y:45.23, Z:29.18 [[ 9.92628824e-01 -1.15592986e-01 -3.64181102e-02 7.97025926e+02] [ 1.15545659e-01 9.93296321e-01 -3.40864892e-03 4.52285135e+01] [ 3.65679908e-02 -8.24431375e-04 9.99330827e-01 2.91798945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.619254154 meters Centerline goodness : 0.999813 with order 1 Centerline is valid? [True, True] Translation: X:797.08, Y:45.25, Z:29.18 [[ 9.93275684e-01 -1.09896352e-01 -3.64171299e-02 7.97081478e+02] [ 1.09844813e-01 9.93942869e-01 -3.41908993e-03 4.52467597e+01] [ 3.65722921e-02 -6.04133950e-04 9.99330827e-01 2.91770315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.679254154 meters Centerline goodness : 0.999665 with order 1 Centerline is valid? [True, True] Translation: X:797.14, Y:45.26, Z:29.18 [[ 9.93732986e-01 -1.05681565e-01 -3.64164687e-02 7.97138665e+02] [ 1.05626939e-01 9.94399925e-01 -3.42611829e-03 4.52572641e+01] [ 3.65746113e-02 -4.41913345e-04 9.99330827e-01 2.91783279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.739254154 meters Centerline goodness : 0.999917 with order 1 Centerline is valid? [True, True] Translation: X:797.20, Y:45.27, Z:29.18 [[ 9.94362367e-01 -9.95861406e-02 -3.64154443e-02 7.97195224e+02] [ 9.95270283e-02 9.95028923e-01 -3.43697187e-03 4.52713592e+01] [ 3.65766951e-02 -2.06725476e-04 9.99330827e-01 2.91814075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.799254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:797.25, Y:45.28, Z:29.19 [[ 9.94764423e-01 -9.54868144e-02 -3.64144300e-02 7.97252021e+02] [ 9.54245630e-02 9.95430694e-01 -3.44768521e-03 4.52815569e+01] [ 3.65772498e-02 -4.51964767e-05 9.99330827e-01 2.91862739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.8592541539999 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:797.31, Y:45.29, Z:29.18 [[ 9.95419131e-01 -8.84014474e-02 -3.64134194e-02 7.97308141e+02] [ 8.83340644e-02 9.96084903e-01 -3.45832631e-03 4.52919283e+01] [ 3.65765783e-02 2.25938837e-04 9.99330828e-01 2.91844145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.919254154 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:797.37, Y:45.30, Z:29.19 [[ 9.96045317e-01 -8.10420986e-02 -3.64129856e-02 7.97366038e+02] [ 8.09696301e-02 9.96710553e-01 -3.46288730e-03 4.52996451e+01] [ 3.65738467e-02 5.00846702e-04 9.99330828e-01 2.91856636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.9792541539999 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:797.42, Y:45.31, Z:29.19 [[ 9.96417001e-01 -7.63369309e-02 -3.64119950e-02 7.97423961e+02] [ 7.62609420e-02 9.97081845e-01 -3.47327261e-03 4.53057376e+01] [ 3.65708781e-02 6.84014846e-04 9.99330828e-01 2.91864979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.039254154 meters Centerline goodness : 0.999834 with order 1 Centerline is valid? [True, True] Translation: X:797.48, Y:45.31, Z:29.19 [[ 9.96961184e-01 -6.88667976e-02 -3.64110008e-02 7.97481908e+02] [ 6.87854487e-02 9.97625394e-01 -3.48366401e-03 4.53102841e+01] [ 3.65644478e-02 9.68530773e-04 9.99330828e-01 2.91891342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.0992541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:797.54, Y:45.31, Z:29.19 [[ 9.97399867e-01 -6.21918000e-02 -3.64099712e-02 7.97540287e+02] [ 6.21056157e-02 9.98063466e-01 -3.49439110e-03 4.53121063e+01] [ 3.65567846e-02 1.22404154e-03 9.99330828e-01 2.91937930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.159254154 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:797.60, Y:45.31, Z:29.19 [[ 9.97655432e-01 -5.79484991e-02 -3.64089409e-02 7.97597940e+02] [ 5.78591027e-02 9.98318606e-01 -3.50509332e-03 4.53132491e+01] [ 3.65508381e-02 1.39028673e-03 9.99330828e-01 2.91921115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.2192541539999 meters Centerline goodness : 0.999855 with order 1 Centerline is valid? [True, True] Translation: X:797.66, Y:45.31, Z:29.19 [[ 9.97937298e-01 -5.28731466e-02 -3.64084971e-02 7.97656591e+02] [ 5.27802105e-02 9.98599986e-01 -3.50969778e-03 4.53103170e+01] [ 3.65430934e-02 1.58081018e-03 9.99330828e-01 2.91928324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.279254154 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:797.71, Y:45.31, Z:29.20 [[ 9.98097090e-01 -4.97663890e-02 -3.64074823e-02 7.97714776e+02] [ 4.96710084e-02 9.98759430e-01 -3.52019347e-03 4.53054131e+01] [ 3.65375036e-02 1.70509850e-03 9.99330828e-01 2.91952573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.339254154 meters Centerline goodness : 0.999793 with order 1 Centerline is valid? [True, True] Translation: X:797.77, Y:45.30, Z:29.20 [[ 9.98130406e-01 -4.90941830e-02 -3.64067819e-02 7.97773515e+02] [ 4.89980933e-02 9.98792643e-01 -3.52742244e-03 4.52989657e+01] [ 3.65360018e-02 1.73696469e-03 9.99330828e-01 2.91977360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.399254154 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:797.83, Y:45.30, Z:29.20 [[ 9.98091488e-01 -4.98798803e-02 -3.64057568e-02 7.97831601e+02] [ 4.97839280e-02 9.98753745e-01 -3.53797034e-03 4.52954894e+01] [ 3.65368595e-02 1.71879651e-03 9.99330828e-01 2.92004757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.459254154 meters Centerline goodness : 0.999750 with order 1 Centerline is valid? [True, True] Translation: X:797.89, Y:45.29, Z:29.20 [[ 9.97936526e-01 -5.28903207e-02 -3.64047186e-02 7.97890422e+02] [ 5.27959787e-02 9.98599015e-01 -3.54862102e-03 4.52867235e+01] [ 3.65414038e-02 1.61927579e-03 9.99330828e-01 2.91994384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.519254154 meters Centerline goodness : 0.999791 with order 1 Centerline is valid? [True, True] Translation: X:797.95, Y:45.28, Z:29.20 [[ 9.97786848e-01 -5.56432974e-02 -3.64036881e-02 7.97949212e+02] [ 5.55503996e-02 9.98449541e-01 -3.55916177e-03 4.52776126e+01] [ 3.65452891e-02 1.52904539e-03 9.99330828e-01 2.92016742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.579254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:798.01, Y:45.27, Z:29.21 [[ 9.97767772e-01 -5.59850101e-02 -3.64026258e-02 7.98007271e+02] [ 5.58919447e-02 9.98430441e-01 -3.56999329e-03 4.52729137e+01] [ 3.65453559e-02 1.52741071e-03 9.99330828e-01 2.92087518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.639254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:798.07, Y:45.26, Z:29.21 [[ 9.97821575e-01 -5.50184620e-02 -3.64015688e-02 7.98065368e+02] [ 5.49243635e-02 9.98484097e-01 -3.58073855e-03 4.52632619e+01] [ 3.65433943e-02 1.57360519e-03 9.99330828e-01 2.92101306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.699254154 meters Centerline goodness : 0.999772 with order 1 Centerline is valid? [True, True] Translation: X:798.12, Y:45.26, Z:29.21 [[ 9.97961241e-01 -5.24244283e-02 -3.64011141e-02 7.98124207e+02] [ 5.23284399e-02 9.98623492e-01 -3.58535482e-03 4.52550381e+01] [ 3.65389679e-02 1.67323163e-03 9.99330828e-01 2.92057406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.759254154 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:798.18, Y:45.25, Z:29.21 [[ 9.98069107e-01 -5.03298265e-02 -3.64000747e-02 7.98182393e+02] [ 5.02320655e-02 9.98731100e-01 -3.59587732e-03 4.52510094e+01] [ 3.65348665e-02 1.76048313e-03 9.99330828e-01 2.92079865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.819254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:798.24, Y:45.24, Z:29.21 [[ 9.98306449e-01 -4.53799941e-02 -3.63990452e-02 7.98242299e+02] [ 4.52785738e-02 9.98967890e-01 -3.60626790e-03 4.52415004e+01] [ 3.65251298e-02 1.95206364e-03 9.99330828e-01 2.92112521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.879254154 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:798.30, Y:45.24, Z:29.21 [[ 9.98400609e-01 -4.32593498e-02 -3.63985387e-02 7.98300367e+02] [ 4.31563393e-02 9.99061804e-01 -3.61137284e-03 4.52378016e+01] [ 3.65206154e-02 2.03476916e-03 9.99330828e-01 2.92121825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.939254154 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:798.36, Y:45.23, Z:29.22 [[ 9.98487664e-01 -4.12015380e-02 -3.63980439e-02 7.98358575e+02] [ 4.10969840e-02 9.99148618e-01 -3.61635258e-03 4.52289367e+01] [ 3.65160546e-02 2.11503361e-03 9.99330828e-01 2.92164352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.999254154 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:798.42, Y:45.23, Z:29.22 [[ 9.98448540e-01 -4.21395823e-02 -3.63973653e-02 7.98417042e+02] [ 4.20354016e-02 9.99109552e-01 -3.62316972e-03 4.52251681e+01] [ 3.65176342e-02 2.08757064e-03 9.99330828e-01 2.92167144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.059254154 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:798.47, Y:45.22, Z:29.22 [[ 9.98256098e-01 -4.64765438e-02 -3.63963365e-02 7.98474954e+02] [ 4.63748609e-02 9.98917499e-01 -3.63347529e-03 4.52157265e+01] [ 3.65258088e-02 1.93926382e-03 9.99330828e-01 2.92180788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.119254154 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:798.53, Y:45.21, Z:29.22 [[ 9.97841561e-01 -5.46585526e-02 -3.63958941e-02 7.98534341e+02] [ 5.45621341e-02 9.98503750e-01 -3.63790112e-03 4.52061515e+01] [ 3.65402792e-02 1.64421128e-03 9.99330828e-01 2.92230673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.179254154 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:798.59, Y:45.20, Z:29.22 [[ 9.97505679e-01 -6.04800232e-02 -3.63948658e-02 7.98591827e+02] [ 6.03870965e-02 9.98168367e-01 -3.64815962e-03 4.52019670e+01] [ 3.65488446e-02 1.44127967e-03 9.99330828e-01 2.92223948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.239254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:798.65, Y:45.19, Z:29.23 [[ 9.96982652e-01 -6.85641149e-02 -3.63944246e-02 7.98651324e+02] [ 6.84764028e-02 9.97646050e-01 -3.65255612e-03 4.51921424e+01] [ 3.65591882e-02 1.14937580e-03 9.99330828e-01 2.92270406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.299254154 meters Centerline goodness : 0.999917 with order 1 Centerline is valid? [True, True] Translation: X:798.71, Y:45.18, Z:29.23 [[ 9.96496451e-01 -7.53016763e-02 -3.63934236e-02 7.98709942e+02] [ 7.52180875e-02 9.97160381e-01 -3.66250293e-03 4.51839131e+01] [ 3.65658728e-02 9.12227455e-04 9.99330829e-01 2.92257383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.3592541539999 meters Centerline goodness : 0.999772 with order 1 Centerline is valid? [True, True] Translation: X:798.77, Y:45.19, Z:29.23 [[ 9.96371798e-01 -7.69336757e-02 -3.63929937e-02 7.98768071e+02] [ 7.68510186e-02 9.97035845e-01 -3.66676995e-03 4.51853414e+01] [ 3.65672173e-02 8.56627532e-04 9.99330829e-01 2.92256524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.419254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:798.83, Y:45.18, Z:29.23 [[ 9.96387328e-01 -7.67327839e-02 -3.63919205e-02 7.98827234e+02] [ 7.66496053e-02 9.97051310e-01 -3.67738995e-03 4.51783882e+01] [ 3.65667884e-02 8.74678404e-04 9.99330829e-01 2.92323881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.4792541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:798.89, Y:45.18, Z:29.23 [[ 9.96519498e-01 -7.49973185e-02 -3.63908293e-02 7.98885600e+02] [ 7.49125906e-02 9.97183284e-01 -3.68815681e-03 4.51771854e+01] [ 3.65649286e-02 9.49188877e-04 9.99330829e-01 2.92349772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.539254154 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:798.94, Y:45.17, Z:29.23 [[ 9.96739679e-01 -7.20124878e-02 -3.63897448e-02 7.98944488e+02] [ 7.19253832e-02 9.97403157e-01 -3.69882620e-03 4.51734942e+01] [ 3.65616081e-02 1.06942050e-03 9.99330829e-01 2.92342614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.5992541539999 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:799.00, Y:45.17, Z:29.24 [[ 9.96896078e-01 -6.98145871e-02 -3.63886457e-02 7.99001900e+02] [ 6.97256267e-02 9.97559309e-01 -3.70960764e-03 4.51723444e+01] [ 3.65588170e-02 1.16087218e-03 9.99330829e-01 2.92356882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.659254154 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:799.06, Y:45.17, Z:29.24 [[ 9.97021552e-01 -6.79994495e-02 -3.63881728e-02 7.99061127e+02] [ 6.79091127e-02 9.97684598e-01 -3.71424102e-03 4.51681591e+01] [ 3.65564859e-02 1.23208982e-03 9.99330829e-01 2.92360058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.7192541539999 meters Centerline goodness : 0.999917 with order 1 Centerline is valid? [True, True] Translation: X:799.12, Y:45.16, Z:29.24 [[ 9.97121431e-01 -6.65194011e-02 -3.63870933e-02 7.99119510e+02] [ 6.64276959e-02 9.97784289e-01 -3.72478619e-03 4.51642012e+01] [ 3.65542406e-02 1.29695336e-03 9.99330829e-01 2.92384572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.779254154 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:799.18, Y:45.16, Z:29.24 [[ 9.97145731e-01 -6.61547359e-02 -3.63860163e-02 7.99176498e+02] [ 6.60624058e-02 9.97808502e-01 -3.73527833e-03 4.51630977e+01] [ 3.65533827e-02 1.32086907e-03 9.99330829e-01 2.92384233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.839254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:799.24, Y:45.16, Z:29.24 [[ 9.97112433e-01 -6.66549870e-02 -3.63855529e-02 7.99235122e+02] [ 6.65628252e-02 9.97775227e-01 -3.73978661e-03 4.51581662e+01] [ 3.65538787e-02 1.30706253e-03 9.99330829e-01 2.92435872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.899254154 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:799.29, Y:45.15, Z:29.25 [[ 9.96911602e-01 -6.95947354e-02 -3.63844905e-02 7.99293223e+02] [ 6.95041525e-02 9.97574614e-01 -3.75009394e-03 4.51535692e+01] [ 3.65572309e-02 1.20963898e-03 9.99330829e-01 2.92460894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.959254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:799.35, Y:45.15, Z:29.25 [[ 9.96759701e-01 -7.17377224e-02 -3.63840336e-02 7.99351360e+02] [ 7.16484036e-02 9.97422884e-01 -3.75452196e-03 4.51525286e+01] [ 3.65596086e-02 1.13549826e-03 9.99330829e-01 2.92474786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.019254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:799.41, Y:45.15, Z:29.25 [[ 9.96601686e-01 -7.39010196e-02 -3.63829559e-02 7.99409380e+02] [ 7.38127605e-02 9.97265011e-01 -3.76493631e-03 4.51490108e+01] [ 3.65616815e-02 1.06661546e-03 9.99330829e-01 2.92496108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.079254154 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:799.47, Y:45.15, Z:29.25 [[ 9.96481394e-01 -7.55060593e-02 -3.63822279e-02 7.99467957e+02] [ 7.54186126e-02 9.97144827e-01 -3.77195807e-03 4.51469409e+01] [ 3.65631560e-02 1.01478888e-03 9.99330829e-01 2.92497330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.139254154 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:799.53, Y:45.15, Z:29.25 [[ 9.96450129e-01 -7.59180416e-02 -3.63811907e-02 7.99526302e+02] [ 7.58305051e-02 9.97113550e-01 -3.78193581e-03 4.51480916e+01] [ 3.65632954e-02 1.00970636e-03 9.99330829e-01 2.92519289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.199254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:799.59, Y:45.15, Z:29.25 [[ 9.96421386e-01 -7.62948965e-02 -3.63800780e-02 7.99585012e+02] [ 7.62072215e-02 9.97084789e-01 -3.79260908e-03 4.51464648e+01] [ 3.65633791e-02 1.00661213e-03 9.99330829e-01 2.92546300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.259254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:799.64, Y:45.15, Z:29.26 [[ 9.96468172e-01 -7.56819143e-02 -3.63789728e-02 7.99642176e+02] [ 7.55934456e-02 9.97131469e-01 -3.80318114e-03 4.51456140e+01] [ 3.65624506e-02 1.03973705e-03 9.99330829e-01 2.92560032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.319254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:799.70, Y:45.15, Z:29.26 [[ 9.96547147e-01 -7.46350433e-02 -3.63784959e-02 7.99700143e+02] [ 7.45457117e-02 9.97210328e-01 -3.80773735e-03 4.51472699e+01] [ 3.65612025e-02 1.08272893e-03 9.99330829e-01 2.92577660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.379254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:799.76, Y:45.15, Z:29.26 [[ 9.96741130e-01 -7.19985961e-02 -3.63774963e-02 7.99758909e+02] [ 7.19071631e-02 9.97404025e-01 -3.81726301e-03 4.51473704e+01] [ 3.65578988e-02 1.18902049e-03 9.99330829e-01 2.92599039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.439254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:799.82, Y:45.15, Z:29.26 [[ 9.96797177e-01 -7.12189935e-02 -3.63763944e-02 7.99817291e+02] [ 7.11266604e-02 9.97459947e-01 -3.82773533e-03 4.51480070e+01] [ 3.65566039e-02 1.22814433e-03 9.99330829e-01 2.92616174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.499254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:799.88, Y:45.15, Z:29.26 [[ 9.96746484e-01 -7.19255421e-02 -3.63752997e-02 7.99875693e+02] [ 7.18333006e-02 9.97409267e-01 -3.83811018e-03 4.51500124e+01] [ 3.65571191e-02 1.21266499e-03 9.99330829e-01 2.92641689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.559254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:799.93, Y:45.15, Z:29.27 [[ 9.96626575e-01 -7.35689388e-02 -3.63741902e-02 7.99934246e+02] [ 7.34774079e-02 9.97289456e-01 -3.84859626e-03 4.51476015e+01] [ 3.65587335e-02 1.16293210e-03 9.99330829e-01 2.92655374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.619254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:799.99, Y:45.15, Z:29.27 [[ 9.96362526e-01 -7.70630704e-02 -3.63730658e-02 7.99990762e+02] [ 7.69734779e-02 9.97025672e-01 -3.85919335e-03 4.51520132e+01] [ 3.65622817e-02 1.04539425e-03 9.99330829e-01 2.92683110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.679254154 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:800.05, Y:45.15, Z:29.27 [[ 9.95945529e-01 -8.22772241e-02 -3.63725415e-02 8.00049008e+02] [ 8.21909237e-02 9.96609111e-01 -3.86412896e-03 4.51520161e+01] [ 3.65671360e-02 8.58969181e-04 9.99330829e-01 2.92677486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.739254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:800.11, Y:45.15, Z:29.27 [[ 9.95580388e-01 -8.65841283e-02 -3.63714196e-02 8.00106672e+02] [ 8.65003142e-02 9.96244289e-01 -3.87466037e-03 4.51518641e+01] [ 3.65703031e-02 7.11396647e-04 9.99330830e-01 2.92728024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.799254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:800.16, Y:45.15, Z:29.27 [[ 9.95144198e-01 -9.14613558e-02 -3.63709366e-02 8.00164777e+02] [ 9.13806303e-02 9.95808482e-01 -3.87918898e-03 4.51535051e+01] [ 3.65732830e-02 5.36753296e-04 9.99330830e-01 2.92748694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.8592541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:800.22, Y:45.16, Z:29.28 [[ 9.94832762e-01 -9.47893007e-02 -3.63698229e-02 8.00222987e+02] [ 9.47104169e-02 9.95497267e-01 -3.88960218e-03 4.51587215e+01] [ 3.65747520e-02 4.24902592e-04 9.99330830e-01 2.92762967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.919254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:800.28, Y:45.16, Z:29.28 [[ 9.94975760e-01 -9.32767588e-02 -3.63687017e-02 8.00282272e+02] [ 9.31964827e-02 9.95640098e-01 -3.90005792e-03 4.51610828e+01] [ 3.65739225e-02 4.91028014e-04 9.99330830e-01 2.92811875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.9792541539999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:800.34, Y:45.17, Z:29.28 [[ 9.94903344e-01 -9.40464212e-02 -3.63676518e-02 8.00339374e+02] [ 9.39663021e-02 9.95567701e-01 -3.90982362e-03 4.51741298e+01] [ 3.65741644e-02 4.72562844e-04 9.99330830e-01 2.92792464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.039254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:800.40, Y:45.18, Z:29.28 [[ 9.95450029e-01 -8.80719074e-02 -3.63672834e-02 8.00396367e+02] [ 8.79876763e-02 9.96113877e-01 -3.91324707e-03 4.51843537e+01] [ 3.65706028e-02 6.95569148e-04 9.99330830e-01 2.92802476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.0992541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:800.46, Y:45.19, Z:29.29 [[ 9.96195105e-01 -7.92011061e-02 -3.63661513e-02 8.00455315e+02] [ 7.91105822e-02 9.96858124e-01 -3.92373998e-03 4.51899026e+01] [ 3.65626579e-02 1.03186317e-03 9.99330830e-01 2.92854755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.159254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:800.51, Y:45.20, Z:29.28 [[ 9.96065397e-01 -8.08164525e-02 -3.63651689e-02 8.00512561e+02] [ 8.07266725e-02 9.96728517e-01 -3.93282387e-03 4.52018195e+01] [ 3.65640377e-02 9.81710696e-04 9.99330830e-01 2.92805185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.2192541539999 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:800.57, Y:45.21, Z:29.28 [[ 9.95998899e-01 -8.16321565e-02 -3.63646109e-02 8.00568881e+02] [ 8.15427316e-02 9.96662067e-01 -3.93797624e-03 4.52095936e+01] [ 3.65646938e-02 9.56950294e-04 9.99330830e-01 2.92809625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.279254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:800.63, Y:45.21, Z:29.29 [[ 9.96074783e-01 -8.07011738e-02 -3.63641060e-02 8.00626998e+02] [ 8.06109591e-02 9.96737844e-01 -3.94263290e-03 4.52136282e+01] [ 3.65636557e-02 9.95811746e-04 9.99330830e-01 2.92912378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.339254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:800.68, Y:45.22, Z:29.29 [[ 9.95871914e-01 -8.31676574e-02 -3.63630586e-02 8.00684287e+02] [ 8.30787334e-02 9.96535149e-01 -3.95227036e-03 4.52222766e+01] [ 3.65657671e-02 9.14958198e-04 9.99330830e-01 2.92906293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.399254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:800.74, Y:45.23, Z:29.29 [[ 9.95820719e-01 -8.37785777e-02 -3.63626888e-02 8.00741681e+02] [ 8.36899365e-02 9.96483992e-01 -3.95566895e-03 4.52292408e+01] [ 3.65662377e-02 8.95945974e-04 9.99330830e-01 2.92926042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.459254154 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:800.80, Y:45.24, Z:29.29 [[ 9.95835950e-01 -8.35978293e-02 -3.63615573e-02 8.00799029e+02] [ 8.35086892e-02 9.96499157e-01 -3.96604364e-03 4.52362163e+01] [ 3.65658138e-02 9.13022858e-04 9.99330830e-01 2.92910545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.519254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:800.86, Y:45.24, Z:29.30 [[ 9.96103605e-01 -8.03463088e-02 -3.63604051e-02 8.00856378e+02] [ 8.02546198e-02 9.96766464e-01 -3.97657841e-03 4.52445282e+01] [ 3.65623358e-02 1.04299360e-03 9.99330830e-01 2.92955010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.579254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:800.91, Y:45.25, Z:29.30 [[ 9.96295165e-01 -7.79355362e-02 -3.63592642e-02 8.00914265e+02] [ 7.78418640e-02 9.96957746e-01 -3.98698338e-03 4.52527695e+01] [ 3.65593777e-02 1.14193937e-03 9.99330830e-01 2.92972856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.639254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:800.97, Y:45.26, Z:29.30 [[ 9.96388442e-01 -7.67343412e-02 -3.63581215e-02 8.00972656e+02] [ 7.66394914e-02 9.97050856e-01 -3.99737643e-03 4.52620754e+01] [ 3.65576322e-02 1.19647173e-03 9.99330830e-01 2.92952008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.699254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:801.03, Y:45.27, Z:29.30 [[ 9.96449731e-01 -7.59348143e-02 -3.63570875e-02 8.01030403e+02] [ 7.58390911e-02 9.97112019e-01 -4.00675913e-03 4.52698508e+01] [ 3.65563414e-02 1.23524559e-03 9.99330830e-01 2.92984575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.759254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:801.09, Y:45.28, Z:29.30 [[ 9.96607149e-01 -7.38402222e-02 -3.63567243e-02 8.01087806e+02] [ 7.37429872e-02 9.97269217e-01 -4.01005198e-03 4.52782241e+01] [ 3.65535451e-02 1.31539301e-03 9.99330830e-01 2.93009362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.819254154 meters Centerline goodness : 0.999737 with order 1 Centerline is valid? [True, True] Translation: X:801.15, Y:45.29, Z:29.30 [[ 9.96656314e-01 -7.31742097e-02 -3.63555693e-02 8.01145186e+02] [ 7.30761518e-02 9.97318260e-01 -4.02049606e-03 4.52866398e+01] [ 3.65522697e-02 1.35032768e-03 9.99330830e-01 2.93013218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.879254154 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:801.20, Y:45.30, Z:29.30 [[ 9.96796082e-01 -7.12455556e-02 -3.63543989e-02 8.01202907e+02] [ 7.11458327e-02 9.97457779e-01 -4.03105170e-03 4.52958072e+01] [ 3.65491725e-02 1.43167256e-03 9.99330830e-01 2.93042144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.939254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:801.26, Y:45.31, Z:29.30 [[ 9.96710536e-01 -7.24330565e-02 -3.63532548e-02 8.01261274e+02] [ 7.23337471e-02 9.97372296e-01 -4.04134253e-03 4.53089352e+01] [ 3.65504560e-02 1.39848154e-03 9.99330830e-01 2.93015013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.999254154 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:801.32, Y:45.32, Z:29.31 [[ 9.97242817e-01 -6.46937768e-02 -3.63521617e-02 8.01317432e+02] [ 6.45889767e-02 9.97903729e-01 -4.05115193e-03 4.53162450e+01] [ 3.65380420e-02 1.69203324e-03 9.99330830e-01 2.93090384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.059254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:801.38, Y:45.33, Z:29.30 [[ 9.97019319e-01 -6.80517286e-02 -3.63516235e-02 8.01375543e+02] [ 6.79489791e-02 9.97680553e-01 -4.05597542e-03 4.53339908e+01] [ 3.65433239e-02 1.57383014e-03 9.99330830e-01 2.93018542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.119254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:801.43, Y:45.34, Z:29.31 [[ 9.97534204e-01 -6.00345452e-02 -3.63506010e-02 8.01432384e+02] [ 5.99261511e-02 9.98194536e-01 -4.06511859e-03 4.53384527e+01] [ 3.65290188e-02 1.87674322e-03 9.99330830e-01 2.93141183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.179254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:801.49, Y:45.35, Z:29.32 [[ 9.97703964e-01 -5.71442708e-02 -3.63501360e-02 8.01488361e+02] [ 5.70338132e-02 9.98363954e-01 -4.06927278e-03 4.53500999e+01] [ 3.65232011e-02 1.98674272e-03 9.99330830e-01 2.93152256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.239254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:801.55, Y:45.36, Z:29.31 [[ 9.97584346e-01 -5.91960695e-02 -3.63496626e-02 8.01545662e+02] [ 5.90868160e-02 9.98244537e-01 -4.07349650e-03 4.53634041e+01] [ 3.65269871e-02 1.91587052e-03 9.99330830e-01 2.93102726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.299254154 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:801.60, Y:45.37, Z:29.32 [[ 9.97748144e-01 -5.63687359e-02 -3.63484000e-02 8.01602802e+02] [ 5.62572039e-02 9.98407954e-01 -4.08473252e-03 4.53703452e+01] [ 3.65207828e-02 2.03067495e-03 9.99330830e-01 2.93157483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.3592541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:801.66, Y:45.39, Z:29.31 [[ 9.97510634e-01 -6.04264644e-02 -3.63480095e-02 8.01660898e+02] [ 6.03174908e-02 9.98170871e-01 -4.08820405e-03 4.53854485e+01] [ 3.65285600e-02 1.88560629e-03 9.99330831e-01 2.93132023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.419254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:801.72, Y:45.39, Z:29.32 [[ 9.97483184e-01 -6.08785724e-02 -3.63468902e-02 8.01717086e+02] [ 6.07695373e-02 9.98143411e-01 -4.09813132e-03 4.53934228e+01] [ 3.65288973e-02 1.87903338e-03 9.99330831e-01 2.93211435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.4792541539999 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:801.77, Y:45.40, Z:29.32 [[ 9.97136725e-01 -6.63120956e-02 -3.63463443e-02 8.01774987e+02] [ 6.62064833e-02 9.97797508e-01 -4.10296759e-03 4.54042002e+01] [ 3.65383681e-02 1.68485603e-03 9.99330831e-01 2.93179677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.539254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:801.83, Y:45.41, Z:29.32 [[ 9.96929537e-01 -6.93579217e-02 -3.63452605e-02 8.01832102e+02] [ 6.92539798e-02 9.97590584e-01 -4.11254585e-03 4.54146707e+01] [ 3.65429272e-02 1.58286449e-03 9.99330831e-01 2.93240337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.5992541539999 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:801.89, Y:45.43, Z:29.33 [[ 9.96720953e-01 -7.22942868e-02 -3.63438944e-02 8.01888664e+02] [ 7.21918545e-02 9.97382236e-01 -4.12458269e-03 4.54252802e+01] [ 3.65469384e-02 1.48732485e-03 9.99330831e-01 2.93255177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.659254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:801.95, Y:45.43, Z:29.33 [[ 9.96551538e-01 -7.45934484e-02 -3.63435041e-02 8.01946237e+02] [ 7.44924168e-02 9.97213036e-01 -4.12801872e-03 4.54344283e+01] [ 3.65501393e-02 1.40646795e-03 9.99330831e-01 2.93285053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.7192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:802.00, Y:45.44, Z:29.33 [[ 9.96365933e-01 -7.70335396e-02 -3.63422859e-02 8.02003799e+02] [ 7.69337384e-02 9.97027618e-01 -4.13871635e-03 4.54444288e+01] [ 3.65530827e-02 1.32772806e-03 9.99330831e-01 2.93296547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.779254154 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:802.06, Y:45.45, Z:29.33 [[ 9.96387257e-01 -7.67578018e-02 -3.63410716e-02 8.02062409e+02] [ 7.66574302e-02 9.97048856e-01 -4.14935113e-03 4.54538448e+01] [ 3.65523190e-02 1.34854743e-03 9.99330831e-01 2.93292372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.839254154 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:802.12, Y:45.46, Z:29.33 [[ 9.96286671e-01 -7.80530101e-02 -3.63400247e-02 8.02119662e+02] [ 7.79531654e-02 9.96948349e-01 -4.15849979e-03 4.54645859e+01] [ 3.65537111e-02 1.31023796e-03 9.99330831e-01 2.93294407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.899254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:802.18, Y:45.47, Z:29.33 [[ 9.96437487e-01 -7.61040529e-02 -3.63387783e-02 8.02176042e+02] [ 7.60025185e-02 9.97098909e-01 -4.16936358e-03 4.54741574e+01] [ 3.65506616e-02 1.39267150e-03 9.99330831e-01 2.93344208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.959254154 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:802.23, Y:45.48, Z:29.34 [[ 9.96472008e-01 -7.56509944e-02 -3.63381969e-02 8.02233241e+02] [ 7.55489750e-02 9.97133354e-01 -4.17442417e-03 4.54834060e+01] [ 3.65498275e-02 1.41438331e-03 9.99330831e-01 2.93355734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.019254154 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:802.29, Y:45.49, Z:29.34 [[ 9.96516205e-01 -7.50671439e-02 -3.63369835e-02 8.02290688e+02] [ 7.49643534e-02 9.97177432e-01 -4.18496016e-03 4.54914660e+01] [ 3.65485729e-02 1.44640215e-03 9.99330831e-01 2.93364350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.079254154 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:802.35, Y:45.50, Z:29.34 [[ 9.96653266e-01 -7.32255317e-02 -3.63357803e-02 8.02347923e+02] [ 7.31211403e-02 9.97314242e-01 -4.19538046e-03 4.54996322e+01] [ 3.65454002e-02 1.52442595e-03 9.99330831e-01 2.93387084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.139254154 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:802.41, Y:45.51, Z:29.34 [[ 9.96743711e-01 -7.19845379e-02 -3.63345762e-02 8.02405495e+02] [ 7.18789450e-02 9.97404496e-01 -4.20578357e-03 4.55086277e+01] [ 3.65430210e-02 1.58039732e-03 9.99330831e-01 2.93386150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.199254154 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:802.46, Y:45.51, Z:29.34 [[ 9.96778404e-01 -7.15030660e-02 -3.63335136e-02 8.02463598e+02] [ 7.13968207e-02 9.97439085e-01 -4.21494318e-03 4.55147784e+01] [ 3.65418479e-02 1.60726698e-03 9.99330831e-01 2.93418481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.259254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:802.52, Y:45.52, Z:29.35 [[ 9.96837899e-01 -7.06694252e-02 -3.63322924e-02 8.02520779e+02] [ 7.05622455e-02 9.97498429e-01 -4.22544343e-03 4.55215441e+01] [ 3.65400142e-02 1.64839401e-03 9.99330831e-01 2.93461062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.319254154 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:802.58, Y:45.53, Z:29.35 [[ 9.96790643e-01 -7.13334719e-02 -3.63311065e-02 8.02577295e+02] [ 7.12263623e-02 9.97451184e-01 -4.23561554e-03 4.55273852e+01] [ 3.65406464e-02 1.63428939e-03 9.99330831e-01 2.93475637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.379254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:802.64, Y:45.53, Z:29.35 [[ 9.96709146e-01 -7.24635439e-02 -3.63305964e-02 8.02635002e+02] [ 7.23570241e-02 9.97369783e-01 -4.23998663e-03 4.55337129e+01] [ 3.65422835e-02 1.59725961e-03 9.99330831e-01 2.93503905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.439254154 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:802.69, Y:45.54, Z:29.35 [[ 9.96571941e-01 -7.43272714e-02 -3.63293614e-02 8.02692675e+02] [ 7.42216032e-02 9.97232714e-01 -4.25054158e-03 4.55391419e+01] [ 3.65447589e-02 1.53954703e-03 9.99330831e-01 2.93514962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.499254154 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:802.75, Y:45.54, Z:29.35 [[ 9.96439106e-01 -7.60879436e-02 -3.63281156e-02 8.02750613e+02] [ 7.59830564e-02 9.97100004e-01 -4.26116318e-03 4.55449046e+01] [ 3.65469873e-02 1.48566837e-03 9.99330831e-01 2.93507070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.559254154 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:802.81, Y:45.55, Z:29.35 [[ 9.96328723e-01 -7.75205494e-02 -3.63268602e-02 8.02807793e+02] [ 7.74162240e-02 9.96989709e-01 -4.27183852e-03 4.55487009e+01] [ 3.65486611e-02 1.44386707e-03 9.99330831e-01 2.93519678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.619254154 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:802.87, Y:45.55, Z:29.35 [[ 9.96099121e-01 -8.04172824e-02 -3.63263202e-02 8.02865977e+02] [ 8.03147123e-02 9.96760382e-01 -4.27642580e-03 4.55516374e+01] [ 3.65525353e-02 1.34220602e-03 9.99330831e-01 2.93541166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.679254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:802.92, Y:45.56, Z:29.36 [[ 9.95857449e-01 -8.33572415e-02 -3.63250830e-02 8.02923667e+02] [ 8.32562417e-02 9.96518951e-01 -4.28690950e-03 4.55562462e+01] [ 3.65559785e-02 1.24486088e-03 9.99330831e-01 2.93553283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.739254154 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:802.98, Y:45.56, Z:29.36 [[ 9.95713347e-01 -8.50618264e-02 -3.63237628e-02 8.02980839e+02] [ 8.49615526e-02 9.96374960e-01 -4.29806605e-03 4.55559808e+01] [ 3.65576891e-02 1.19351845e-03 9.99330832e-01 2.93599170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.799254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:803.04, Y:45.56, Z:29.36 [[ 9.95553821e-01 -8.69092287e-02 -3.63231966e-02 8.03039327e+02] [ 8.68100084e-02 9.96215593e-01 -4.30284639e-03 4.55593304e+01] [ 3.65596919e-02 1.13049817e-03 9.99330832e-01 2.93624748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.8592541539999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:803.10, Y:45.56, Z:29.36 [[ 9.95360003e-01 -8.91020552e-02 -3.63220057e-02 8.03096616e+02] [ 8.90039273e-02 9.96021938e-01 -4.31287594e-03 4.55601592e+01] [ 3.65618006e-02 1.06006305e-03 9.99330832e-01 2.93631488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.919254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:803.15, Y:45.56, Z:29.37 [[ 9.95352247e-01 -8.91888643e-02 -3.63214932e-02 8.03153461e+02] [ 8.90906369e-02 9.96014167e-01 -4.31718760e-03 4.55611287e+01] [ 3.65617668e-02 1.06121741e-03 9.99330832e-01 2.93670622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.9792541539999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:803.21, Y:45.56, Z:29.37 [[ 9.95307019e-01 -8.96925042e-02 -3.63207039e-02 8.03211391e+02] [ 8.95943700e-02 9.95968952e-01 -4.32381796e-03 4.55639004e+01] [ 3.65621074e-02 1.04939578e-03 9.99330832e-01 2.93674556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.039254154 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:803.27, Y:45.57, Z:29.37 [[ 9.95390880e-01 -8.87575135e-02 -3.63194192e-02 8.03268224e+02] [ 8.86583652e-02 9.96052662e-01 -4.33458168e-03 4.55659571e+01] [ 3.65607809e-02 1.09458273e-03 9.99330832e-01 2.93691258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.0992541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:803.33, Y:45.57, Z:29.37 [[ 9.95384580e-01 -8.88284955e-02 -3.63185517e-02 8.03326288e+02] [ 8.87291298e-02 9.96046329e-01 -4.34183860e-03 4.55670196e+01] [ 3.65606391e-02 1.09928570e-03 9.99330832e-01 2.93698724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.159254154 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:803.38, Y:45.57, Z:29.37 [[ 9.95009266e-01 -9.29387553e-02 -3.63173214e-02 8.03384375e+02] [ 9.28417491e-02 9.95671366e-01 -4.35210539e-03 4.55714935e+01] [ 3.65645962e-02 9.58621549e-04 9.99330832e-01 2.93667365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.2192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:803.44, Y:45.57, Z:29.37 [[ 9.94722514e-01 -9.59597031e-02 -3.63160440e-02 8.03443230e+02] [ 9.58643198e-02 9.95384850e-01 -4.36273868e-03 4.55718227e+01] [ 3.65670871e-02 8.58301534e-04 9.99330832e-01 2.93707683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.279254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:803.50, Y:45.57, Z:29.38 [[ 9.94428304e-01 -9.89625935e-02 -3.63146511e-02 8.03500265e+02] [ 9.88687883e-02 9.95090864e-01 -4.37430227e-03 4.55701553e+01] [ 3.65692698e-02 7.59544443e-04 9.99330832e-01 2.93761688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.339254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:803.56, Y:45.57, Z:29.38 [[ 9.94047245e-01 -1.02719824e-01 -3.63140784e-02 8.03557986e+02] [ 1.02628350e-01 9.94710131e-01 -4.37905154e-03 4.55728405e+01] [ 3.65717971e-02 6.26130166e-04 9.99330832e-01 2.93784233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.399254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:803.61, Y:45.57, Z:29.38 [[ 9.93564203e-01 -1.07291932e-01 -3.63127561e-02 8.03614833e+02] [ 1.07203109e-01 9.94227450e-01 -4.38998909e-03 4.55742706e+01] [ 3.65741493e-02 4.68895679e-04 9.99330832e-01 2.93796425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.459254154 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:803.67, Y:45.58, Z:29.38 [[ 9.93274974e-01 -1.09937485e-01 -3.63121886e-02 8.03673276e+02] [ 1.09850257e-01 9.93938433e-01 -4.39467841e-03 4.55781157e+01] [ 3.65752197e-02 3.76220820e-04 9.99330832e-01 2.93795319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.519254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:803.73, Y:45.58, Z:29.38 [[ 9.93174325e-01 -1.10843493e-01 -3.63108900e-02 8.03729908e+02] [ 1.10756479e-01 9.93837811e-01 -4.40538182e-03 4.55813499e+01] [ 3.65754433e-02 3.53645796e-04 9.99330832e-01 2.93823499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.579254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:803.79, Y:45.59, Z:29.39 [[ 9.93514489e-01 -1.07752124e-01 -3.63103323e-02 8.03787765e+02] [ 1.07662878e-01 9.94177679e-01 -4.40997341e-03 4.55885040e+01] [ 3.65741059e-02 4.72097602e-04 9.99330832e-01 2.93855999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.639254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:803.85, Y:45.60, Z:29.39 [[ 9.93785478e-01 -1.05223935e-01 -3.63090562e-02 8.03846056e+02] [ 1.05132619e-01 9.94448386e-01 -4.42045513e-03 4.55972573e+01] [ 3.65726200e-02 5.75717951e-04 9.99330832e-01 2.93890871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.699254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:803.90, Y:45.60, Z:29.39 [[ 9.94097769e-01 -1.02231907e-01 -3.63078790e-02 8.03903646e+02] [ 1.02138244e-01 9.94760350e-01 -4.43010354e-03 4.56038299e+01] [ 3.65705363e-02 6.95533064e-04 9.99330832e-01 2.93875985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.759254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:803.96, Y:45.61, Z:29.39 [[ 9.94341360e-01 -9.98350046e-02 -3.63074687e-02 8.03961381e+02] [ 9.97396212e-02 9.95003695e-01 -4.43346341e-03 4.56126715e+01] [ 3.65686803e-02 7.87082856e-04 9.99330832e-01 2.93889287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.819254154 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:804.02, Y:45.62, Z:29.39 [[ 9.94626136e-01 -9.69572660e-02 -3.63061758e-02 8.04019305e+02] [ 9.68595811e-02 9.95288135e-01 -4.44402627e-03 4.56224824e+01] [ 3.65659866e-02 9.03543701e-04 9.99330832e-01 2.93907893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.879254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:804.08, Y:45.63, Z:29.39 [[ 9.94827267e-01 -9.48717728e-02 -3.63050367e-02 8.04076765e+02] [ 9.47723615e-02 9.95489009e-01 -4.45331279e-03 4.56312791e+01] [ 3.65637586e-02 9.89562934e-04 9.99330832e-01 2.93914530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.939254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:804.13, Y:45.64, Z:29.39 [[ 9.95044004e-01 -9.25710760e-02 -3.63046379e-02 8.04133991e+02] [ 9.24700164e-02 9.95705496e-01 -4.45656082e-03 4.56404869e+01] [ 3.65612762e-02 1.07738366e-03 9.99330832e-01 2.93940018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.999254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:804.19, Y:45.65, Z:29.39 [[ 9.95059498e-01 -9.24048870e-02 -3.63033416e-02 8.04191384e+02] [ 9.23033329e-02 9.95720915e-01 -4.46709629e-03 4.56485510e+01] [ 3.65607780e-02 1.09410717e-03 9.99330832e-01 2.93940120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.059254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:804.25, Y:45.66, Z:29.40 [[ 9.95020368e-01 -9.28254463e-02 -3.63029427e-02 8.04248748e+02] [ 9.27240536e-02 9.95681810e-01 -4.47033533e-03 4.56563204e+01] [ 3.65611406e-02 1.08191869e-03 9.99330832e-01 2.93977100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.119254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:804.31, Y:45.66, Z:29.40 [[ 9.94987422e-01 -9.31784424e-02 -3.63016116e-02 8.04306224e+02] [ 9.30768913e-02 9.95648840e-01 -4.48111867e-03 4.56638023e+01] [ 3.65612011e-02 1.07981556e-03 9.99330832e-01 2.94004766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.179254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:804.36, Y:45.67, Z:29.40 [[ 9.94794462e-01 -9.52169506e-02 -3.63002788e-02 8.04363002e+02] [ 9.51163623e-02 9.95456026e-01 -4.49188916e-03 4.56707677e+01] [ 3.65630353e-02 1.01575599e-03 9.99330832e-01 2.94032271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.239254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:804.42, Y:45.68, Z:29.41 [[ 9.94392097e-01 -9.93312111e-02 -3.62997060e-02 8.04420882e+02] [ 9.92331915e-02 9.95054046e-01 -4.49651373e-03 4.56774150e+01] [ 3.65668135e-02 8.69162042e-04 9.99330832e-01 2.94060411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.299254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:804.48, Y:45.68, Z:29.41 [[ 9.94191706e-01 -1.01317712e-01 -3.62983959e-02 8.04478317e+02] [ 1.01220630e-01 9.94853793e-01 -4.50706506e-03 4.56848503e+01] [ 3.65682423e-02 8.06740183e-04 9.99330833e-01 2.94080152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.3592541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:804.54, Y:45.69, Z:29.41 [[ 9.94171636e-01 -1.01514912e-01 -3.62971060e-02 8.04535567e+02] [ 1.01417583e-01 9.94833688e-01 -4.51742912e-03 4.56922528e+01] [ 3.65681702e-02 8.09935135e-04 9.99330833e-01 2.94093787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.419254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:804.59, Y:45.70, Z:29.41 [[ 9.94212308e-01 -1.01116266e-01 -3.62958243e-02 8.04592860e+02] [ 1.01018297e-01 9.94874265e-01 -4.52770369e-03 4.56999334e+01] [ 3.65676060e-02 8.34956377e-04 9.99330833e-01 2.94114921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.4792541539999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:804.65, Y:45.71, Z:29.41 [[ 9.94448227e-01 -9.87695898e-02 -3.62945043e-02 8.04649022e+02] [ 9.86696736e-02 9.95109893e-01 -4.53826048e-03 4.57074994e+01] [ 3.65652624e-02 9.31898196e-04 9.99330833e-01 2.94121431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.539254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:804.71, Y:45.72, Z:29.42 [[ 9.94749246e-01 -9.56905813e-02 -3.62939363e-02 8.04706970e+02] [ 9.55884519e-02 9.95410574e-01 -4.54279799e-03 4.57160599e+01] [ 3.65620710e-02 1.04966369e-03 9.99330833e-01 2.94160555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.5992541539999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:804.76, Y:45.73, Z:29.42 [[ 9.95103827e-01 -9.19304498e-02 -3.62927714e-02 8.04764557e+02] [ 9.18254834e-02 9.95764711e-01 -4.55208566e-03 4.57258450e+01] [ 3.65575363e-02 1.19719659e-03 9.99330833e-01 2.94174111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.659254154 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:804.82, Y:45.73, Z:29.42 [[ 9.95201756e-01 -9.08647069e-02 -3.62914528e-02 8.04822129e+02] [ 9.07586507e-02 9.95862466e-01 -4.56257411e-03 4.57349340e+01] [ 3.65558726e-02 1.24691848e-03 9.99330833e-01 2.94183628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.7192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:804.88, Y:45.74, Z:29.42 [[ 9.95337191e-01 -8.93694775e-02 -3.62901275e-02 8.04879533e+02] [ 8.92620459e-02 9.95997678e-01 -4.57309118e-03 4.57441147e+01] [ 3.65535775e-02 1.31243670e-03 9.99330833e-01 2.94202316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.779254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:804.94, Y:45.75, Z:29.42 [[ 9.95469831e-01 -8.78802611e-02 -3.62887865e-02 8.04937065e+02] [ 8.77714550e-02 9.96130093e-01 -4.58370794e-03 4.57537759e+01] [ 3.65511697e-02 1.37782338e-03 9.99330833e-01 2.94222867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.839254154 meters Centerline goodness : 0.999716 with order 1 Centerline is valid? [True, True] Translation: X:805.00, Y:45.76, Z:29.42 [[ 9.95595908e-01 -8.64403988e-02 -3.62883739e-02 8.04995005e+02] [ 8.63305190e-02 9.96255992e-01 -4.58697202e-03 4.57627597e+01] [ 3.65490096e-02 1.43397642e-03 9.99330833e-01 2.94203670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.899254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:805.05, Y:45.77, Z:29.43 [[ 9.95732328e-01 -8.48550487e-02 -3.62870803e-02 8.05052340e+02] [ 8.47437466e-02 9.96392173e-01 -4.59718290e-03 4.57721886e+01] [ 3.65462570e-02 1.50246049e-03 9.99330833e-01 2.94259311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.959254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:805.11, Y:45.78, Z:29.43 [[ 9.95702101e-01 -8.52092175e-02 -3.62865830e-02 8.05110102e+02] [ 8.50980074e-02 9.96361962e-01 -4.60110432e-03 4.57808201e+01] [ 3.65466276e-02 1.49341332e-03 9.99330833e-01 2.94283192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.019254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:805.17, Y:45.79, Z:29.43 [[ 9.95667081e-01 -8.56180093e-02 -3.62852731e-02 8.05168728e+02] [ 8.55066952e-02 9.96326924e-01 -4.61141141e-03 4.57900914e+01] [ 3.65468144e-02 1.48879674e-03 9.99330833e-01 2.94310278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.079254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:805.23, Y:45.80, Z:29.43 [[ 9.95630545e-01 -8.60423186e-02 -3.62841327e-02 8.05226404e+02] [ 8.59309598e-02 9.96290381e-01 -4.62036774e-03 4.57990868e+01] [ 3.65470795e-02 1.48224891e-03 9.99330833e-01 2.94336154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.139254154 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:805.28, Y:45.81, Z:29.43 [[ 9.95558416e-01 -8.68734779e-02 -3.62827609e-02 8.05283052e+02] [ 8.67622789e-02 9.96218279e-01 -4.63111503e-03 4.58091324e+01] [ 3.65478707e-02 1.46257052e-03 9.99330833e-01 2.94325799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.199254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:805.34, Y:45.82, Z:29.44 [[ 9.95567130e-01 -8.67737350e-02 -3.62823380e-02 8.05340362e+02] [ 8.66623495e-02 9.96226962e-01 -4.63442578e-03 4.58188964e+01] [ 3.65475898e-02 1.46956932e-03 9.99330833e-01 2.94371260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.259254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:805.40, Y:45.83, Z:29.44 [[ 9.95556944e-01 -8.68910916e-02 -3.62809903e-02 8.05397097e+02] [ 8.67794009e-02 9.96216723e-01 -4.64495209e-03 4.58280128e+01] [ 3.65473343e-02 1.47587170e-03 9.99330833e-01 2.94381467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.319254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:805.45, Y:45.84, Z:29.44 [[ 9.95422077e-01 -8.84229001e-02 -3.62805733e-02 8.05454290e+02] [ 8.83121063e-02 9.96082008e-01 -4.64820687e-03 4.58386619e+01] [ 3.65494343e-02 1.42291388e-03 9.99330833e-01 2.94401137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.379254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:805.51, Y:45.85, Z:29.44 [[ 9.95354657e-01 -8.91791731e-02 -3.62792239e-02 8.05511173e+02] [ 8.90684982e-02 9.96014608e-01 -4.65871545e-03 4.58484678e+01] [ 3.65500974e-02 1.40573813e-03 9.99330833e-01 2.94417236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.439254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:805.57, Y:45.86, Z:29.44 [[ 9.95390454e-01 -8.87792839e-02 -3.62778543e-02 8.05567537e+02] [ 8.86679567e-02 9.96050295e-01 -4.66935600e-03 4.58581387e+01] [ 3.65491096e-02 1.43114917e-03 9.99330833e-01 2.94434917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.499254154 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:805.62, Y:45.87, Z:29.44 [[ 9.95421955e-01 -8.84256277e-02 -3.62772657e-02 8.05624947e+02] [ 8.83138999e-02 9.96081728e-01 -4.67392496e-03 4.58703784e+01] [ 3.65484163e-02 1.44874071e-03 9.99330833e-01 2.94437190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.559254154 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:805.68, Y:45.88, Z:29.45 [[ 9.95318065e-01 -8.95879768e-02 -3.62759340e-02 8.05682364e+02] [ 8.94766442e-02 9.95977905e-01 -4.68423825e-03 4.58811275e+01] [ 3.65496801e-02 1.41645812e-03 9.99330833e-01 2.94450792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.619254154 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:805.74, Y:45.89, Z:29.45 [[ 9.95203495e-01 -9.08523996e-02 -3.62745749e-02 8.05740742e+02] [ 9.07415232e-02 9.95863412e-01 -4.69473896e-03 4.58904533e+01] [ 3.65510503e-02 1.38061044e-03 9.99330833e-01 2.94485343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.679254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:805.80, Y:45.90, Z:29.45 [[ 9.95063685e-01 -9.23715546e-02 -3.62734012e-02 8.05797480e+02] [ 9.22613562e-02 9.95723715e-01 -4.70379011e-03 4.59010708e+01] [ 3.65527822e-02 1.33393753e-03 9.99330833e-01 2.94524548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.739254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:805.85, Y:45.91, Z:29.45 [[ 9.94978540e-01 -9.32847328e-02 -3.62720700e-02 8.05854936e+02] [ 9.31747672e-02 9.95638609e-01 -4.71403283e-03 4.59116290e+01] [ 3.65536207e-02 1.31071982e-03 9.99330834e-01 2.94544211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.799254154 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:805.91, Y:45.92, Z:29.45 [[ 9.94803232e-01 -9.51365417e-02 -3.62707506e-02 8.05912285e+02] [ 9.50274360e-02 9.95463444e-01 -4.72416346e-03 4.59221519e+01] [ 3.65556468e-02 1.25289665e-03 9.99330834e-01 2.94542505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.8592541539999 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:805.97, Y:45.93, Z:29.46 [[ 9.94611614e-01 -9.71198086e-02 -3.62695440e-02 8.05970461e+02] [ 9.70116826e-02 9.95271987e-01 -4.73340862e-03 4.59315505e+01] [ 3.65577689e-02 1.18933369e-03 9.99330834e-01 2.94557097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.919254154 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:806.03, Y:45.94, Z:29.46 [[ 9.94345924e-01 -9.98037740e-02 -3.62683111e-02 8.06028130e+02] [ 9.96970871e-02 9.95006531e-01 -4.74283695e-03 4.59405154e+01] [ 3.65605594e-02 1.10017562e-03 9.99330834e-01 2.94582844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.9792541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:806.09, Y:45.95, Z:29.46 [[ 9.94151108e-01 -1.01726214e-01 -3.62677868e-02 8.06085402e+02] [ 1.01620658e-01 9.94811896e-01 -4.74684226e-03 4.59481751e+01] [ 3.65625041e-02 1.03352212e-03 9.99330834e-01 2.94627465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.039254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:806.14, Y:45.96, Z:29.47 [[ 9.93893615e-01 -1.04212130e-01 -3.62672622e-02 8.06142935e+02] [ 1.04108081e-01 9.94554643e-01 -4.75084751e-03 4.59558890e+01] [ 3.65648699e-02 9.46121940e-04 9.99330834e-01 2.94652222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.0992541539999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:806.20, Y:45.96, Z:29.47 [[ 9.93544266e-01 -1.07492218e-01 -3.62658772e-02 8.06200552e+02] [ 1.07389968e-01 9.94205574e-01 -4.76139597e-03 4.59622802e+01] [ 3.65675503e-02 8.36066285e-04 9.99330834e-01 2.94659881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.159254154 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:806.26, Y:45.97, Z:29.46 [[ 9.92979039e-01 -1.12594473e-01 -3.62644950e-02 8.06258594e+02] [ 1.12495237e-01 9.93640806e-01 -4.77190029e-03 4.59725008e+01] [ 3.65711716e-02 6.58814015e-04 9.99330834e-01 2.94632595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.2192541539999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:806.32, Y:45.98, Z:29.46 [[ 9.92906902e-01 -1.13229246e-01 -3.62632332e-02 8.06316247e+02] [ 1.13130083e-01 9.93568680e-01 -4.78146979e-03 4.59804536e+01] [ 3.65714150e-02 6.45091754e-04 9.99330834e-01 2.94640676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.279254154 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:806.37, Y:45.98, Z:29.47 [[ 9.93590718e-01 -1.07063378e-01 -3.62617898e-02 8.06373681e+02] [ 1.06959711e-01 9.94251806e-01 -4.79239200e-03 4.59829718e+01] [ 3.65664396e-02 8.83125664e-04 9.99330834e-01 2.94701950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.339254154 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:806.43, Y:45.99, Z:29.47 [[ 9.94126334e-01 -1.01970405e-01 -3.62611248e-02 8.06431566e+02] [ 1.01863168e-01 9.94786851e-01 -4.79741815e-03 4.59906048e+01] [ 3.65612848e-02 1.07556666e-03 9.99330834e-01 2.94725506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.399254154 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:806.49, Y:46.00, Z:29.47 [[ 9.94569818e-01 -9.75505416e-02 -3.62597433e-02 8.06488927e+02] [ 9.74399909e-02 9.95229789e-01 -4.80783732e-03 4.59979165e+01] [ 3.65557838e-02 1.24858084e-03 9.99330834e-01 2.94736894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.459254154 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:806.55, Y:46.00, Z:29.48 [[ 9.94634872e-01 -9.68851599e-02 -3.62593189e-02 8.06546238e+02] [ 9.67740512e-02 9.95294749e-01 -4.81103593e-03 4.60041130e+01] [ 3.65548276e-02 1.27626293e-03 9.99330834e-01 2.94762533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.519254154 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:806.60, Y:46.01, Z:29.48 [[ 9.94538173e-01 -9.78733255e-02 -3.62579019e-02 8.06603532e+02] [ 9.77624845e-02 9.95198095e-01 -4.82169101e-03 4.60093771e+01] [ 3.65557098e-02 1.25069319e-03 9.99330834e-01 2.94779710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.579254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:806.66, Y:46.01, Z:29.48 [[ 9.93453030e-01 -1.08335066e-01 -3.62572927e-02 8.06662712e+02] [ 1.08231010e-01 9.94114056e-01 -4.82626763e-03 4.60141817e+01] [ 3.65667383e-02 8.70506797e-04 9.99330834e-01 2.94798693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.639254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:806.72, Y:46.02, Z:29.48 [[ 9.93006127e-01 -1.12358072e-01 -3.62559748e-02 8.06720142e+02] [ 1.12256334e-01 9.93667513e-01 -4.83614803e-03 4.60171711e+01] [ 3.65697646e-02 7.32361824e-04 9.99330834e-01 2.94838164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.699254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:806.78, Y:46.02, Z:29.49 [[ 9.92441404e-01 -1.17241678e-01 -3.62553291e-02 8.06778909e+02] [ 1.17143017e-01 9.93103257e-01 -4.84098406e-03 4.60174386e+01] [ 3.65728504e-02 5.57334377e-04 9.99330834e-01 2.94881504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.759254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:806.84, Y:46.02, Z:29.49 [[ 9.91879674e-01 -1.21903056e-01 -3.62540645e-02 8.06837333e+02] [ 1.21807161e-01 9.92541933e-01 -4.85043549e-03 4.60213301e+01] [ 3.65749622e-02 3.95043693e-04 9.99330834e-01 2.94902046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.819254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:806.90, Y:46.03, Z:29.49 [[ 9.91929103e-01 -1.21500638e-01 -3.62525869e-02 8.06895666e+02] [ 1.21404071e-01 9.92591264e-01 -4.86145417e-03 4.60259650e+01] [ 3.65746709e-02 4.21006224e-04 9.99330834e-01 2.94907265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.879254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:806.95, Y:46.03, Z:29.49 [[ 9.92140393e-01 -1.19763502e-01 -3.62511188e-02 8.06953662e+02] [ 1.19665377e-01 9.92802326e-01 -4.87237735e-03 4.60322310e+01] [ 3.65737280e-02 4.96078590e-04 9.99330834e-01 2.94909338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.939254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:807.01, Y:46.03, Z:29.49 [[ 9.92948401e-01 -1.12869107e-01 -3.62496504e-02 8.07011548e+02] [ 1.12765989e-01 9.93609574e-01 -4.88327736e-03 4.60332382e+01] [ 3.65691709e-02 7.61114772e-04 9.99330834e-01 2.94948506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.999254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:807.07, Y:46.04, Z:29.50 [[ 9.92928099e-01 -1.13047784e-01 -3.62489811e-02 8.07069895e+02] [ 1.12944603e-01 9.93589262e-01 -4.88824118e-03 4.60405378e+01] [ 3.65692032e-02 7.59545241e-04 9.99330834e-01 2.94959825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.059254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:807.13, Y:46.05, Z:29.50 [[ 9.93049549e-01 -1.11976327e-01 -3.62476833e-02 8.07128427e+02] [ 1.11872083e-01 9.93710545e-01 -4.89784576e-03 4.60470686e+01] [ 3.65681479e-02 8.08699701e-04 9.99330834e-01 2.94978771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.119254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:807.19, Y:46.05, Z:29.50 [[ 9.93759561e-01 -1.05489981e-01 -3.62463638e-02 8.07187065e+02] [ 1.05381068e-01 9.94419804e-01 -4.90759080e-03 4.60467198e+01] [ 3.65618037e-02 1.05728473e-03 9.99330834e-01 2.95039949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.179254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:807.25, Y:46.06, Z:29.50 [[ 9.93181720e-01 -1.10798494e-01 -3.62459057e-02 8.07245694e+02] [ 1.10692987e-01 9.93842515e-01 -4.91097216e-03 4.60562826e+01] [ 3.65668504e-02 8.65320208e-04 9.99330834e-01 2.95022107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.2392541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:807.30, Y:46.06, Z:29.50 [[ 9.93144240e-01 -1.11134370e-01 -3.62445815e-02 8.07304208e+02] [ 1.11028731e-01 9.93805015e-01 -4.92072620e-03 4.60578712e+01] [ 3.65669086e-02 8.62801013e-04 9.99330834e-01 2.95039113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.299254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:807.36, Y:46.06, Z:29.51 [[ 9.92868783e-01 -1.13569116e-01 -3.62441208e-02 8.07361907e+02] [ 1.13464974e-01 9.93529795e-01 -4.92411670e-03 4.60634812e+01] [ 3.65688415e-02 7.76563529e-04 9.99330835e-01 2.95077055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.3592541539999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:807.42, Y:46.07, Z:29.51 [[ 9.92490841e-01 -1.16826358e-01 -3.62426851e-02 8.07419741e+02] [ 1.16724000e-01 9.93152132e-01 -4.93466109e-03 4.60703411e+01] [ 3.65709985e-02 6.67214754e-04 9.99330835e-01 2.95120295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.419254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:807.48, Y:46.08, Z:29.51 [[ 9.92203903e-01 -1.19238900e-01 -3.62422426e-02 8.07477909e+02] [ 1.19138032e-01 9.92865422e-01 -4.93790935e-03 4.60782918e+01] [ 3.65724604e-02 5.81583469e-04 9.99330835e-01 2.95141969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.4792541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:807.54, Y:46.09, Z:29.52 [[ 9.92275387e-01 -1.18642930e-01 -3.62410135e-02 8.07535096e+02] [ 1.18541336e-01 9.92936795e-01 -4.94691364e-03 4.60865688e+01] [ 3.65719521e-02 6.12642501e-04 9.99330835e-01 2.95176617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.539254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:807.59, Y:46.10, Z:29.52 [[ 9.92766972e-01 -1.14457104e-01 -3.62396246e-02 8.07592771e+02] [ 1.14352350e-01 9.93427887e-01 -4.95706760e-03 4.60972090e+01] [ 3.65688253e-02 7.77126761e-04 9.99330835e-01 2.95185706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.5992541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:807.65, Y:46.11, Z:29.52 [[ 9.93273681e-01 -1.09973536e-01 -3.62383201e-02 8.07650329e+02] [ 1.09865453e-01 9.93934060e-01 -4.96658588e-03 4.61081156e+01] [ 3.65646936e-02 9.51839603e-04 9.99330835e-01 2.95202571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.659254154 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:807.71, Y:46.12, Z:29.52 [[ 9.94324223e-01 -1.00031143e-01 -3.62368582e-02 8.07707627e+02] [ 9.99160713e-02 9.94983420e-01 -4.97722930e-03 4.61212489e+01] [ 3.65529510e-02 1.32833516e-03 9.99330835e-01 2.95192785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.7192541539999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:807.76, Y:46.13, Z:29.52 [[ 9.94778246e-01 -9.54108187e-02 -3.62355704e-02 8.07764598e+02] [ 9.52923452e-02 9.95436840e-01 -4.98658727e-03 4.61313238e+01] [ 3.65459960e-02 1.50757606e-03 9.99330835e-01 2.95229489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.779254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:807.82, Y:46.14, Z:29.52 [[ 9.94984575e-01 -9.32347135e-02 -3.62351176e-02 8.07822159e+02] [ 9.31146803e-02 9.95642887e-01 -4.98987539e-03 4.61411580e+01] [ 3.65424666e-02 1.59082766e-03 9.99330835e-01 2.95232902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.839254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:807.88, Y:46.15, Z:29.53 [[ 9.94923872e-01 -9.38804442e-02 -3.62346739e-02 8.07879520e+02] [ 9.37607211e-02 9.95582240e-01 -4.99309517e-03 4.61495369e+01] [ 3.65433518e-02 1.57036042e-03 9.99330835e-01 2.95278948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.899254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:807.94, Y:46.16, Z:29.53 [[ 9.94685628e-01 -9.63724807e-02 -3.62332265e-02 8.07937209e+02] [ 9.62540261e-02 9.95344225e-01 -5.00357594e-03 4.61566607e+01] [ 3.65467398e-02 1.48939114e-03 9.99330835e-01 2.95305983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.959254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:808.00, Y:46.16, Z:29.53 [[ 9.94364330e-01 -9.96335210e-02 -3.62317758e-02 8.07995276e+02] [ 9.95168452e-02 9.95023244e-01 -5.01405895e-03 4.61630179e+01] [ 3.65510275e-02 1.38012934e-03 9.99330835e-01 2.95341591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.019254154 meters Centerline goodness : 0.999714 with order 1 Centerline is valid? [True, True] Translation: X:808.05, Y:46.17, Z:29.53 [[ 9.93682755e-01 -1.06216504e-01 -3.62303193e-02 8.08054470e+02] [ 1.06103812e-01 9.94342363e-01 -5.02456135e-03 4.61685359e+01] [ 3.65590327e-02 1.14864499e-03 9.99330835e-01 2.95347246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.079254154 meters Centerline goodness : 0.999649 with order 1 Centerline is valid? [True, True] Translation: X:808.11, Y:46.17, Z:29.54 [[ 9.92936544e-01 -1.12979979e-01 -3.62290509e-02 8.08112779e+02] [ 1.12871447e-01 9.93596849e-01 -5.03369046e-03 4.61732191e+01] [ 3.65657771e-02 9.08909792e-04 9.99330835e-01 2.95363949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.139254154 meters Centerline goodness : 0.999648 with order 1 Centerline is valid? [True, True] Translation: X:808.17, Y:46.18, Z:29.54 [[ 9.92520942e-01 -1.16575054e-01 -3.62275699e-02 8.08170309e+02] [ 1.16468526e-01 9.93181573e-01 -5.04432717e-03 4.61783159e+01] [ 3.65685975e-02 7.87228681e-04 9.99330835e-01 2.95388547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.199254154 meters Centerline goodness : 0.999757 with order 1 Centerline is valid? [True, True] Translation: X:808.23, Y:46.18, Z:29.54 [[ 9.91777237e-01 -1.22741929e-01 -3.62261090e-02 8.08228176e+02] [ 1.22639128e-01 9.92438458e-01 -5.05479673e-03 4.61826611e+01] [ 3.65726193e-02 5.70493938e-04 9.99330835e-01 2.95398889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.259254154 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:808.29, Y:46.19, Z:29.54 [[ 9.91780845e-01 -1.22713205e-01 -3.62246316e-02 8.08286625e+02] [ 1.22609999e-01 9.92442003e-01 -5.06536252e-03 4.61902431e+01] [ 3.65724328e-02 5.82227485e-04 9.99330835e-01 2.95435268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.319254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:808.34, Y:46.20, Z:29.55 [[ 9.92372622e-01 -1.17832287e-01 -3.62233422e-02 8.08343866e+02] [ 1.17725493e-01 9.93033210e-01 -5.07456608e-03 4.61989410e+01] [ 3.65689295e-02 7.71449625e-04 9.99330835e-01 2.95468195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.379254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:808.40, Y:46.21, Z:29.55 [[ 9.93079736e-01 -1.11716668e-01 -3.62218583e-02 8.08402107e+02] [ 1.11605422e-01 9.93739589e-01 -5.08513645e-03 4.62103869e+01] [ 3.65631891e-02 1.00739020e-03 9.99330835e-01 2.95477502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.439254154 meters Centerline goodness : 0.999736 with order 1 Centerline is valid? [True, True] Translation: X:808.46, Y:46.22, Z:29.55 [[ 9.93345034e-01 -1.09333035e-01 -3.62205749e-02 8.08460082e+02] [ 1.09219873e-01 9.94004561e-01 -5.09426135e-03 4.62218442e+01] [ 3.65603877e-02 1.10435262e-03 9.99330835e-01 2.95472496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.499254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:808.52, Y:46.23, Z:29.55 [[ 9.93683027e-01 -1.06217727e-01 -3.62192854e-02 8.08516957e+02] [ 1.06102165e-01 9.94342137e-01 -5.10341315e-03 4.62336066e+01] [ 3.65564346e-02 1.22823045e-03 9.99330835e-01 2.95493446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.559254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:808.57, Y:46.24, Z:29.55 [[ 9.93724167e-01 -1.05832300e-01 -3.62188326e-02 8.08574194e+02] [ 1.05716365e-01 9.94383212e-01 -5.10662416e-03 4.62446594e+01] [ 3.65558449e-02 1.24565251e-03 9.99330835e-01 2.95518811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.619254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:808.63, Y:46.25, Z:29.56 [[ 9.93729687e-01 -1.05780945e-01 -3.62174035e-02 8.08631676e+02] [ 1.05664607e-01 9.94388661e-01 -5.11673989e-03 4.62537750e+01] [ 3.65554290e-02 1.25775862e-03 9.99330835e-01 2.95569446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.679254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:808.69, Y:46.26, Z:29.56 [[ 9.93328260e-01 -1.09486533e-01 -3.62169449e-02 8.08688835e+02] [ 1.09372536e-01 9.93987643e-01 -5.11998418e-03 4.62630467e+01] [ 3.65597650e-02 1.12468588e-03 9.99330835e-01 2.95591382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.7392541539999 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:808.75, Y:46.27, Z:29.56 [[ 9.92690611e-01 -1.15125114e-01 -3.62154655e-02 8.08747448e+02] [ 1.15014482e-01 9.93350566e-01 -5.13042714e-03 4.62706275e+01] [ 3.65652942e-02 9.27623856e-04 9.99330836e-01 2.95635892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.799254154 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:808.80, Y:46.28, Z:29.57 [[ 9.92174878e-01 -1.19488692e-01 -3.62141449e-02 8.08804388e+02] [ 1.19380624e-01 9.92835258e-01 -5.13973150e-03 4.62780164e+01] [ 3.65688197e-02 7.76245254e-04 9.99330836e-01 2.95658365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.8592541539999 meters Centerline goodness : 0.999738 with order 1 Centerline is valid? [True, True] Translation: X:808.86, Y:46.29, Z:29.57 [[ 9.91332510e-01 -1.26287073e-01 -3.62136811e-02 8.08861403e+02] [ 1.26183414e-01 9.91993597e-01 -5.14299783e-03 4.62850100e+01] [ 3.65732339e-02 5.28855031e-04 9.99330836e-01 2.95678668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.919254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:808.92, Y:46.29, Z:29.57 [[ 9.90739709e-01 -1.30856578e-01 -3.62130456e-02 8.08918957e+02] [ 1.30755805e-01 9.91401242e-01 -5.14746848e-03 4.62910959e+01] [ 3.65752385e-02 3.64735499e-04 9.99330836e-01 2.95734426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.9792541539999 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:808.98, Y:46.30, Z:29.57 [[ 9.90193368e-01 -1.34928938e-01 -3.62115500e-02 8.08977303e+02] [ 1.34830502e-01 9.90855252e-01 -5.15796811e-03 4.62989070e+01] [ 3.65763637e-02 2.24964329e-04 9.99330836e-01 2.95722512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.039254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:809.03, Y:46.30, Z:29.57 [[ 9.89683281e-01 -1.38621144e-01 -3.62102465e-02 8.09033871e+02] [ 1.38524843e-01 9.90345480e-01 -5.16710295e-03 4.63048621e+01] [ 3.65769237e-02 9.77766956e-05 9.99330836e-01 2.95742916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.0992541539999 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:809.09, Y:46.31, Z:29.58 [[ 9.89150645e-01 -1.42372278e-01 -3.62096063e-02 8.09092426e+02] [ 1.42278324e-01 9.89813181e-01 -5.17158525e-03 4.63112518e+01] [ 3.65770360e-02 -3.63652165e-05 9.99330836e-01 2.95767008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.159254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:809.15, Y:46.32, Z:29.58 [[ 9.89166013e-01 -1.42265793e-01 -3.62083163e-02 8.09150934e+02] [ 1.42171438e-01 9.89828492e-01 -5.18060173e-03 4.63150145e+01] [ 3.65770455e-02 -2.33132513e-05 9.99330836e-01 2.95772359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.2192541539999 meters Centerline goodness : 0.999780 with order 1 Centerline is valid? [True, True] Translation: X:809.21, Y:46.33, Z:29.58 [[ 9.88908553e-01 -1.44044889e-01 -3.62069483e-02 8.09208224e+02] [ 1.43951377e-01 9.89571151e-01 -5.19014492e-03 4.63256336e+01] [ 3.65769654e-02 -7.94613538e-05 9.99330836e-01 2.95815293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.279254154 meters Centerline goodness : 0.999779 with order 1 Centerline is valid? [True, True] Translation: X:809.27, Y:46.33, Z:29.58 [[ 9.89337911e-01 -1.41065908e-01 -3.62064599e-02 8.09267090e+02] [ 1.40970276e-01 9.90000206e-01 -5.19354984e-03 4.63298386e+01] [ 3.65770356e-02 3.41411243e-05 9.99330836e-01 2.95819324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.339254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:809.32, Y:46.34, Z:29.59 [[ 9.89402252e-01 -1.40614297e-01 -3.62050302e-02 8.09324787e+02] [ 1.40517998e-01 9.90064450e-01 -5.20349763e-03 4.63394299e+01] [ 3.65769994e-02 6.08939150e-05 9.99330836e-01 2.95888761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.399254154 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:809.38, Y:46.35, Z:29.59 [[ 9.89280783e-01 -1.41466762e-01 -3.62034118e-02 8.09381369e+02] [ 1.41370623e-01 9.89943005e-01 -5.21473291e-03 4.63514035e+01] [ 3.65770257e-02 4.07361761e-05 9.99330836e-01 2.95889454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.459254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:809.44, Y:46.36, Z:29.59 [[ 9.89502918e-01 -1.39904784e-01 -3.62025738e-02 8.09438224e+02] [ 1.39807387e-01 9.90164956e-01 -5.22054415e-03 4.63611107e+01] [ 3.65768990e-02 1.04356436e-04 9.99330836e-01 2.95909552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.519254154 meters Centerline goodness : 0.998211 with order 1 Centerline is valid? [True, True] Translation: X:809.50, Y:46.37, Z:29.59 [[ 9.89895805e-01 -1.37097691e-01 -3.62010874e-02 8.09496904e+02] [ 1.36998040e-01 9.90557507e-01 -5.23083104e-03 4.63693705e+01] [ 3.65763938e-02 2.18499670e-04 9.99330836e-01 2.95916384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.579254154 meters Centerline goodness : 0.998920 with order 1 Centerline is valid? [True, True] Translation: X:809.55, Y:46.38, Z:29.60 [[ 9.90034786e-01 -1.36090857e-01 -3.61994680e-02 8.09554677e+02] [ 1.35990124e-01 9.90696325e-01 -5.24201458e-03 4.63780824e+01] [ 3.65760701e-02 2.67006633e-04 9.99330836e-01 2.95959851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.639254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:809.61, Y:46.39, Z:29.60 [[ 9.89727805e-01 -1.38306203e-01 -3.61976007e-02 8.09612055e+02] [ 1.38206481e-01 9.90389497e-01 -5.25487705e-03 4.63912256e+01] [ 3.65765056e-02 1.98154908e-04 9.99330836e-01 2.95989630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.699254154 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:809.67, Y:46.40, Z:29.60 [[ 9.89958100e-01 -1.36648187e-01 -3.61971432e-02 8.09668868e+02] [ 1.36547241e-01 9.90619606e-01 -5.25802683e-03 4.64019156e+01] [ 3.65760995e-02 2.62606207e-04 9.99330836e-01 2.96000138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.759254154 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:809.73, Y:46.41, Z:29.60 [[ 9.90325981e-01 -1.33956445e-01 -3.61956177e-02 8.09726438e+02] [ 1.33853318e-01 9.90987150e-01 -5.26850733e-03 4.64130714e+01] [ 3.65751425e-02 3.72636160e-04 9.99330836e-01 2.96013499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.819254154 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:809.78, Y:46.42, Z:29.60 [[ 9.90733987e-01 -1.30905106e-01 -3.61941912e-02 8.09784452e+02] [ 1.30799586e-01 9.91394779e-01 -5.27828894e-03 4.64248155e+01] [ 3.65736871e-02 4.95195019e-04 9.99330836e-01 2.96010603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.879254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:809.84, Y:46.44, Z:29.60 [[ 9.91068462e-01 -1.28348665e-01 -3.61928628e-02 8.09841938e+02] [ 1.28241109e-01 9.91728925e-01 -5.28738187e-03 4.64364119e+01] [ 3.65721374e-02 5.98744561e-04 9.99330836e-01 2.96031626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.939254154 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:809.90, Y:46.45, Z:29.61 [[ 9.91357468e-01 -1.26097358e-01 -3.61915318e-02 8.09899448e+02] [ 1.25987969e-01 9.92017630e-01 -5.29647653e-03 4.64469812e+01] [ 3.65705094e-02 6.91003950e-04 9.99330836e-01 2.96055334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.999254154 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:809.96, Y:46.46, Z:29.61 [[ 9.91391390e-01 -1.25830774e-01 -3.61901635e-02 8.09956776e+02] [ 1.25720868e-01 9.92051466e-01 -5.30580962e-03 4.64568570e+01] [ 3.65701389e-02 7.10275212e-04 9.99330836e-01 2.96077499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.059254154 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:810.01, Y:46.47, Z:29.61 [[ 9.91389439e-01 -1.25846283e-01 -3.61896829e-02 8.10013286e+02] [ 1.25736268e-01 9.92049497e-01 -5.30908594e-03 4.64672614e+01] [ 3.65700854e-02 7.13016076e-04 9.99330836e-01 2.96101810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.119254154 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:810.07, Y:46.48, Z:29.61 [[ 9.91478755e-01 -1.25140851e-01 -3.61890287e-02 8.10070739e+02] [ 1.25030203e-01 9.92138707e-01 -5.31354163e-03 4.64785515e+01] [ 3.65694772e-02 7.43542022e-04 9.99330836e-01 2.96131247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.179254154 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:810.13, Y:46.49, Z:29.61 [[ 9.91617779e-01 -1.24034854e-01 -3.61874956e-02 8.10128964e+02] [ 1.23923090e-01 9.92277543e-01 -5.32396218e-03 4.64891627e+01] [ 3.65683961e-02 7.94869282e-04 9.99330836e-01 2.96147574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.2392541539999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:810.19, Y:46.50, Z:29.62 [[ 9.91758077e-01 -1.22908413e-01 -3.61861615e-02 8.10185741e+02] [ 1.22795570e-01 9.92417658e-01 -5.33301417e-03 4.65018256e+01] [ 3.65672580e-02 8.45559556e-04 9.99330836e-01 2.96167469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.299254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:810.24, Y:46.51, Z:29.62 [[ 9.91794403e-01 -1.22615391e-01 -3.61846345e-02 8.10243827e+02] [ 1.22501975e-01 9.92453885e-01 -5.34335504e-03 4.65124449e+01] [ 3.65667587e-02 8.66820427e-04 9.99330837e-01 2.96190537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.3592541539999 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:810.30, Y:46.52, Z:29.62 [[ 9.91710826e-01 -1.23289935e-01 -3.61832898e-02 8.10301591e+02] [ 1.23176636e-01 9.92370328e-01 -5.35244557e-03 4.65232227e+01] [ 3.65671258e-02 8.51142287e-04 9.99330837e-01 2.96201581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.419254154 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:810.36, Y:46.53, Z:29.62 [[ 9.92114424e-01 -1.19999316e-01 -3.61819483e-02 8.10360108e+02] [ 1.19883500e-01 9.92773489e-01 -5.36149855e-03 4.65302041e+01] [ 3.65638552e-02 9.81601438e-04 9.99330837e-01 2.96245081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.4792541539999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:810.42, Y:46.54, Z:29.63 [[ 9.92268709e-01 -1.18717218e-01 -3.61805313e-02 8.10418374e+02] [ 1.18600203e-01 9.92927562e-01 -5.37104395e-03 4.65410632e+01] [ 3.65622821e-02 1.03850050e-03 9.99330837e-01 2.96273818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.539254154 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:810.48, Y:46.55, Z:29.63 [[ 9.92273795e-01 -1.18675141e-01 -3.61790993e-02 8.10475693e+02] [ 1.18557748e-01 9.92932580e-01 -5.38067209e-03 4.65545167e+01] [ 3.65619585e-02 1.04978739e-03 9.99330837e-01 2.96263914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.5992541539999 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:810.53, Y:46.57, Z:29.62 [[ 9.91862091e-01 -1.22068723e-01 -3.61776186e-02 8.10532516e+02] [ 1.21953222e-01 9.92521210e-01 -5.39060988e-03 4.65670362e+01] [ 3.65650786e-02 9.34764451e-04 9.99330837e-01 2.96226710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.659254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:810.59, Y:46.58, Z:29.62 [[ 9.90906722e-01 -1.29595859e-01 -3.61770999e-02 8.10590164e+02] [ 1.29485238e-01 9.91566678e-01 -5.39408852e-03 4.65828976e+01] [ 3.65710583e-02 6.60638175e-04 9.99330837e-01 2.96185518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.7192541539999 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:810.65, Y:46.59, Z:29.63 [[ 9.90934789e-01 -1.29381479e-01 -3.61756396e-02 8.10647893e+02] [ 1.29270359e-01 9.91594661e-01 -5.40386467e-03 4.65856515e+01] [ 3.65707311e-02 6.78439580e-04 9.99330837e-01 2.96344101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.779254154 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:810.71, Y:46.59, Z:29.64 [[ 9.90401548e-01 -1.33402154e-01 -3.61751289e-02 8.10705474e+02] [ 1.33293588e-01 9.91061845e-01 -5.40728137e-03 4.65942308e+01] [ 3.65731329e-02 5.33467108e-04 9.99330837e-01 2.96367412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.839254154 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:810.76, Y:46.60, Z:29.63 [[ 9.89401509e-01 -1.40627337e-01 -3.61746520e-02 8.10763122e+02] [ 1.40523477e-01 9.90062563e-01 -5.41046954e-03 4.66049640e+01] [ 3.65760286e-02 2.69738845e-04 9.99330837e-01 2.96299255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.899254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:810.82, Y:46.61, Z:29.63 [[ 9.89291944e-01 -1.41396179e-01 -3.61741630e-02 8.10820909e+02] [ 1.41292713e-01 9.89953060e-01 -5.41373715e-03 4.66104087e+01] [ 3.65762051e-02 2.44620933e-04 9.99330837e-01 2.96334484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.959254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:810.88, Y:46.62, Z:29.64 [[ 9.89448434e-01 -1.40297047e-01 -3.61736806e-02 8.10877727e+02] [ 1.40192729e-01 9.90109416e-01 -5.41695858e-03 4.66180875e+01] [ 3.65758850e-02 2.88514194e-04 9.99330837e-01 2.96365099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.019254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:810.94, Y:46.63, Z:29.64 [[ 9.89574848e-01 -1.39402871e-01 -3.61726439e-02 8.10935400e+02] [ 1.39297702e-01 9.90235695e-01 -5.42387252e-03 4.66257018e+01] [ 3.65755466e-02 3.28561640e-04 9.99330837e-01 2.96357952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.079254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:810.99, Y:46.63, Z:29.64 [[ 9.90152053e-01 -1.35242320e-01 -3.61721811e-02 8.10993902e+02] [ 1.35134262e-01 9.90812434e-01 -5.42695701e-03 4.66336171e+01] [ 3.65738011e-02 4.85411620e-04 9.99330837e-01 2.96392912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.139254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:811.05, Y:46.64, Z:29.64 [[ 9.90824616e-01 -1.30223659e-01 -3.61715084e-02 8.11051815e+02] [ 1.30112093e-01 9.91484414e-01 -5.43143717e-03 4.66411435e+01] [ 3.65707884e-02 6.75250976e-04 9.99330837e-01 2.96433940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.199254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:811.11, Y:46.65, Z:29.65 [[ 9.91692811e-01 -1.23438429e-01 -3.61707329e-02 8.11110199e+02] [ 1.23322161e-01 9.92351796e-01 -5.43659665e-03 4.66502652e+01] [ 3.65651767e-02 9.30780852e-04 9.99330837e-01 2.96500301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.259254154 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:811.17, Y:46.66, Z:29.65 [[ 9.92633112e-01 -1.15634294e-01 -3.61692530e-02 8.11168363e+02] [ 1.15512489e-01 9.93291096e-01 -5.44642421e-03 4.66576030e+01] [ 3.65563904e-02 1.22830058e-03 9.99330837e-01 2.96533428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.319254154 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:811.23, Y:46.67, Z:29.65 [[ 9.92989665e-01 -1.12531819e-01 -3.61678709e-02 8.11225587e+02] [ 1.12407625e-01 9.93647202e-01 -5.45558700e-03 4.66657798e+01] [ 3.65520309e-02 1.35179703e-03 9.99330837e-01 2.96549922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.379254154 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:811.28, Y:46.67, Z:29.66 [[ 9.93254162e-01 -1.10173017e-01 -3.61673397e-02 8.11283489e+02] [ 1.10047134e-01 9.93911378e-01 -5.45910642e-03 4.66738471e+01] [ 3.65485767e-02 1.44216810e-03 9.99330837e-01 2.96569410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.439254154 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:811.34, Y:46.68, Z:29.66 [[ 9.93266712e-01 -1.10060356e-01 -3.61656910e-02 8.11341254e+02] [ 1.09934002e-01 9.93923837e-01 -5.47000673e-03 4.66825028e+01] [ 3.65479733e-02 1.45733643e-03 9.99330837e-01 2.96590621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.499254154 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:811.40, Y:46.69, Z:29.66 [[ 9.92908853e-01 -1.13243497e-01 -3.61651788e-02 8.11398292e+02] [ 1.13119127e-01 9.93566357e-01 -5.47339169e-03 4.66906019e+01] [ 3.65523309e-02 1.34360563e-03 9.99330837e-01 2.96597071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.559254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:811.46, Y:46.70, Z:29.66 [[ 9.92232154e-01 -1.19027251e-01 -3.61644208e-02 8.11455632e+02] [ 1.18906532e-01 9.92890338e-01 -5.47839550e-03 4.66960254e+01] [ 3.65593823e-02 1.13565430e-03 9.99330837e-01 2.96629403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.619254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:811.51, Y:46.70, Z:29.66 [[ 9.91731206e-01 -1.23131877e-01 -3.61629135e-02 8.11513336e+02] [ 1.23013520e-01 9.92389819e-01 -5.48832679e-03 4.67002660e+01] [ 3.65634952e-02 9.94417650e-04 9.99330837e-01 2.96646765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.679254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:811.57, Y:46.71, Z:29.66 [[ 9.91139539e-01 -1.27807267e-01 -3.61623776e-02 8.11572607e+02] [ 1.27691890e-01 9.91798680e-01 -5.49185582e-03 4.67052209e+01] [ 3.65676974e-02 8.25553120e-04 9.99330837e-01 2.96647524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.7392541539999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:811.63, Y:46.71, Z:29.67 [[ 9.90919616e-01 -1.29501687e-01 -3.61611480e-02 8.11631265e+02] [ 1.29387141e-01 9.91578902e-01 -5.49993996e-03 4.67127881e+01] [ 3.65688829e-02 7.71210826e-04 9.99330837e-01 2.96668246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.799254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:811.69, Y:46.72, Z:29.67 [[ 9.89621344e-01 -1.39075826e-01 -3.61595113e-02 8.11688578e+02] [ 1.38967267e-01 9.90281642e-01 -5.51067988e-03 4.67179784e+01] [ 3.65745026e-02 4.28497969e-04 9.99330837e-01 2.96678657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.8592541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:811.75, Y:46.72, Z:29.67 [[ 9.88112952e-01 -1.49416617e-01 -3.61589270e-02 8.11746966e+02] [ 1.49314829e-01 9.88774328e-01 -5.51451117e-03 4.67234218e+01] [ 3.65769783e-02 4.98959302e-05 9.99330837e-01 2.96700310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.919254154 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:811.80, Y:46.73, Z:29.67 [[ 9.87635261e-01 -1.52542557e-01 -3.61574278e-02 8.11804427e+02] [ 1.52442503e-01 9.88296901e-01 -5.52432339e-03 4.67267360e+01] [ 3.65769683e-02 -5.59122321e-05 9.99330837e-01 2.96743812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.9792541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:811.86, Y:46.73, Z:29.68 [[ 9.86927328e-01 -1.57057721e-01 -3.61569062e-02 8.11862734e+02] [ 1.56960569e-01 9.87589401e-01 -5.52773533e-03 4.67309309e+01] [ 3.65763508e-02 -2.19735504e-04 9.99330837e-01 2.96816086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.039254154 meters Centerline goodness : 0.999779 with order 1 Centerline is valid? [True, True] Translation: X:811.92, Y:46.74, Z:29.68 [[ 9.86787797e-01 -1.57932348e-01 -3.61554505e-02 8.11919900e+02] [ 1.57835435e-01 9.87449905e-01 -5.53723988e-03 4.67383881e+01] [ 3.65762055e-02 -2.42530503e-04 9.99330837e-01 2.96771332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.0992541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:811.98, Y:46.75, Z:29.68 [[ 9.87538955e-01 -1.53165401e-01 -3.61548314e-02 8.11977062e+02] [ 1.53065144e-01 9.88200565e-01 -5.54127957e-03 4.67486586e+01] [ 3.65769571e-02 -6.18150313e-05 9.99330837e-01 2.96790431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.159254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:812.03, Y:46.76, Z:29.68 [[ 9.88063658e-01 -1.49743622e-01 -3.61532198e-02 8.12034424e+02] [ 1.49640689e-01 9.88724857e-01 -5.55177414e-03 4.67576911e+01] [ 3.65769299e-02 7.55135457e-05 9.99330837e-01 2.96805815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.2192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:812.09, Y:46.77, Z:29.68 [[ 9.88529640e-01 -1.46636052e-01 -3.61527249e-02 8.12091706e+02] [ 1.46530923e-01 9.89190493e-01 -5.55499505e-03 4.67671814e+01] [ 3.65764943e-02 1.93785097e-04 9.99330837e-01 2.96833407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.279254154 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:812.15, Y:46.78, Z:29.69 [[ 9.88513729e-01 -1.46743666e-01 -3.61511327e-02 8.12148367e+02] [ 1.46638231e-01 9.89174533e-01 -5.56533787e-03 4.67760575e+01] [ 3.65764579e-02 2.00274748e-04 9.99330837e-01 2.96851960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.339254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:812.21, Y:46.79, Z:29.69 [[ 9.88536561e-01 -1.46590046e-01 -3.61500585e-02 8.12206733e+02] [ 1.46484253e-01 9.89197307e-01 -5.57230633e-03 4.67856221e+01] [ 3.65763852e-02 2.13014206e-04 9.99330837e-01 2.96902517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.399254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:812.26, Y:46.79, Z:29.69 [[ 9.88480479e-01 -1.46968072e-01 -3.61486913e-02 8.12263707e+02] [ 1.46862208e-01 9.89141215e-01 -5.58116166e-03 4.67949667e+01] [ 3.65764130e-02 2.07992730e-04 9.99330837e-01 2.96923920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.459254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:812.32, Y:46.80, Z:29.69 [[ 9.88538656e-01 -1.46576641e-01 -3.61471013e-02 8.12321137e+02] [ 1.46470140e-01 9.89199289e-01 -5.59144088e-03 4.68047255e+01] [ 3.65762615e-02 2.32884488e-04 9.99330838e-01 2.96929076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.519254154 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:812.38, Y:46.81, Z:29.69 [[ 9.88619586e-01 -1.46030198e-01 -3.61454809e-02 8.12378680e+02] [ 1.45922949e-01 9.89280098e-01 -5.60189627e-03 4.68143481e+01] [ 3.65760509e-02 2.63689227e-04 9.99330838e-01 2.96908030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.579254154 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:812.44, Y:46.82, Z:29.69 [[ 9.88578453e-01 -1.46308515e-01 -3.61449840e-02 8.12436236e+02] [ 1.46201335e-01 9.89238976e-01 -5.60510073e-03 4.68239027e+01] [ 3.65761009e-02 2.56636898e-04 9.99330838e-01 2.96928388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.639254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:812.49, Y:46.84, Z:29.69 [[ 9.88067109e-01 -1.49723229e-01 -3.61433625e-02 8.12493747e+02] [ 1.49617950e-01 9.88727938e-01 -5.61553726e-03 4.68367090e+01] [ 3.65767286e-02 1.40831863e-04 9.99330838e-01 2.96910863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.699254154 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:812.55, Y:46.84, Z:29.69 [[ 9.87553353e-01 -1.53075569e-01 -3.61420024e-02 8.12551246e+02] [ 1.52972213e-01 9.88214486e-01 -5.62427737e-03 4.68447889e+01] [ 3.65769897e-02 2.55518805e-05 9.99330838e-01 2.96943484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.759254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:812.61, Y:46.85, Z:29.70 [[ 9.87888763e-01 -1.50896238e-01 -3.61402452e-02 8.12608876e+02] [ 1.50791011e-01 9.88549600e-01 -5.63554572e-03 4.68494879e+01] [ 3.65768076e-02 1.17668175e-04 9.99330838e-01 2.97014457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.819254154 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:812.67, Y:46.86, Z:29.70 [[ 9.87943988e-01 -1.50534370e-01 -3.61397252e-02 8.12666283e+02] [ 1.50428780e-01 9.88604767e-01 -5.63887884e-03 4.68578746e+01] [ 3.65767497e-02 1.34441695e-04 9.99330838e-01 2.97018497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.879254154 meters Centerline goodness : 0.999759 with order 1 Centerline is valid? [True, True] Translation: X:812.72, Y:46.87, Z:29.70 [[ 9.88329965e-01 -1.47979436e-01 -3.61381575e-02 8.12723295e+02] [ 1.47871770e-01 9.88990409e-01 -5.64890805e-03 4.68688854e+01] [ 3.65762134e-02 2.39171781e-04 9.99330838e-01 2.97040380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.939254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:812.78, Y:46.88, Z:29.70 [[ 9.89205577e-01 -1.42008733e-01 -3.61364888e-02 8.12779631e+02] [ 1.41896692e-01 9.89865293e-01 -5.65956281e-03 4.68806847e+01] [ 3.65739634e-02 4.70822889e-04 9.99330838e-01 2.97044447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.999254154 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:812.84, Y:46.89, Z:29.71 [[ 9.89639562e-01 -1.38952410e-01 -3.61353621e-02 8.12838169e+02] [ 1.38838069e-01 9.90298883e-01 -5.66674688e-03 4.68908777e+01] [ 3.65722169e-02 5.91072992e-04 9.99330838e-01 2.97051486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.059254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:812.90, Y:46.90, Z:29.71 [[ 9.90051520e-01 -1.35986317e-01 -3.61346101e-02 8.12896025e+02] [ 1.35869827e-01 9.90710464e-01 -5.67153831e-03 4.69024454e+01] [ 3.65701880e-02 7.05511911e-04 9.99330838e-01 2.97082052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.119254154 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:812.95, Y:46.91, Z:29.71 [[ 9.89953399e-01 -1.36699159e-01 -3.61331994e-02 8.12953461e+02] [ 1.36582816e-01 9.90612369e-01 -5.68051171e-03 4.69109516e+01] [ 3.65705154e-02 6.88267751e-04 9.99330838e-01 2.97104011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.179254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:813.01, Y:46.92, Z:29.71 [[ 9.89757415e-01 -1.38111438e-01 -3.61315538e-02 8.13010383e+02] [ 1.37995654e-01 9.90416484e-01 -5.69095922e-03 4.69188524e+01] [ 3.65712731e-02 6.46671688e-04 9.99330838e-01 2.97109978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.2392541539999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:813.07, Y:46.93, Z:29.72 [[ 9.89760890e-01 -1.38086827e-01 -3.61304447e-02 8.13069169e+02] [ 1.37970770e-01 9.90419911e-01 -5.69799232e-03 4.69257322e+01] [ 3.65711295e-02 6.54704679e-04 9.99330838e-01 2.97187757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.299254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:813.13, Y:46.94, Z:29.72 [[ 9.89558188e-01 -1.39532211e-01 -3.61297055e-02 8.13127551e+02] [ 1.39416945e-01 9.90217347e-01 -5.70267555e-03 4.69353833e+01] [ 3.65719681e-02 6.06036108e-04 9.99330838e-01 2.97154816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.3592541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:813.18, Y:46.94, Z:29.72 [[ 9.89567141e-01 -1.39469095e-01 -3.61281779e-02 8.13184498e+02] [ 1.39353435e-01 9.90226231e-01 -5.71233685e-03 4.69448664e+01] [ 3.65717639e-02 6.18155150e-04 9.99330838e-01 2.97167296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.419254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:813.24, Y:46.95, Z:29.72 [[ 9.89828813e-01 -1.37600128e-01 -3.61265171e-02 8.13242193e+02] [ 1.37482841e-01 9.90487616e-01 -5.72282100e-03 4.69542926e+01] [ 3.65703287e-02 6.97836920e-04 9.99330838e-01 2.97210056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.4792541539999 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:813.30, Y:46.96, Z:29.72 [[ 9.90083716e-01 -1.35754249e-01 -3.61250519e-02 8.13299299e+02] [ 1.35635397e-01 9.90742238e-01 -5.73205500e-03 4.69642479e+01] [ 3.65687656e-02 7.75378546e-04 9.99330838e-01 2.97227448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.539254154 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:813.36, Y:46.98, Z:29.72 [[ 9.90667053e-01 -1.31429862e-01 -3.61245379e-02 8.13356072e+02] [ 1.31308018e-01 9.91325028e-01 -5.73529271e-03 4.69757222e+01] [ 3.65649473e-02 9.38324049e-04 9.99330838e-01 2.97247641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.5992541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:813.41, Y:46.99, Z:29.73 [[ 9.90878247e-01 -1.29828503e-01 -3.61228474e-02 8.13412542e+02] [ 1.29705208e-01 9.91535952e-01 -5.74592027e-03 4.69858614e+01] [ 3.65630861e-02 1.00818596e-03 9.99330838e-01 2.97268995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.659254154 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:813.47, Y:47.00, Z:29.73 [[ 9.91217988e-01 -1.27208974e-01 -3.61217036e-02 8.13470840e+02] [ 1.27083680e-01 9.91875315e-01 -5.75310163e-03 4.69973512e+01] [ 3.65600723e-02 1.11209879e-03 9.99330838e-01 2.97266025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.7192541539999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:813.53, Y:47.01, Z:29.73 [[ 9.91376968e-01 -1.25964422e-01 -3.61202530e-02 8.13528006e+02] [ 1.25837971e-01 9.92034073e-01 -5.76219497e-03 4.70079968e+01] [ 3.65583533e-02 1.16720801e-03 9.99330838e-01 2.97284304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.779254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:813.59, Y:47.02, Z:29.73 [[ 9.91539199e-01 -1.24681460e-01 -3.61185682e-02 8.13585911e+02] [ 1.24553775e-01 9.92196066e-01 -5.77273644e-03 4.70181755e+01] [ 3.65564545e-02 1.22519044e-03 9.99330838e-01 2.97323642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.839254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:813.64, Y:47.03, Z:29.73 [[ 9.90929581e-01 -1.29437715e-01 -3.61170665e-02 8.13642784e+02] [ 1.29312843e-01 9.91586989e-01 -5.78211665e-03 4.70325903e+01] [ 3.65616372e-02 1.05926989e-03 9.99330838e-01 2.97294847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.899254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:813.70, Y:47.04, Z:29.74 [[ 9.91160916e-01 -1.27654359e-01 -3.61165214e-02 8.13700277e+02] [ 1.27528179e-01 9.91818074e-01 -5.78551951e-03 4.70386943e+01] [ 3.65595654e-02 1.12850660e-03 9.99330838e-01 2.97364643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.959254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:813.76, Y:47.05, Z:29.74 [[ 9.90991031e-01 -1.28966776e-01 -3.61157361e-02 8.13756942e+02] [ 1.28841289e-01 9.91648321e-01 -5.79041768e-03 4.70485363e+01] [ 3.65608805e-02 1.08505402e-03 9.99330838e-01 2.97379999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.019254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:813.81, Y:47.06, Z:29.74 [[ 9.90483050e-01 -1.32811968e-01 -3.61152295e-02 8.13813982e+02] [ 1.32688918e-01 9.91140800e-01 -5.79357543e-03 4.70616646e+01] [ 3.65647336e-02 9.46347547e-04 9.99330838e-01 2.97386248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.079254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:813.87, Y:47.07, Z:29.74 [[ 9.90867413e-01 -1.29913431e-01 -3.61146843e-02 8.13870948e+02] [ 1.29788333e-01 9.91524777e-01 -5.79697173e-03 4.70688872e+01] [ 3.65617088e-02 1.05676568e-03 9.99330838e-01 2.97438719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.139254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:813.93, Y:47.08, Z:29.75 [[ 9.91029319e-01 -1.28672678e-01 -3.61141483e-02 8.13927942e+02] [ 1.28546635e-01 9.91686502e-01 -5.80030898e-03 4.70794705e+01] [ 3.65602547e-02 1.10592400e-03 9.99330838e-01 2.97462463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.199254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:813.98, Y:47.09, Z:29.75 [[ 9.91389110e-01 -1.25871051e-01 -3.61124705e-02 8.13984637e+02] [ 1.25742772e-01 9.92045861e-01 -5.81073659e-03 4.70913479e+01] [ 3.65566304e-02 1.21981884e-03 9.99330839e-01 2.97470380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.259254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:814.04, Y:47.10, Z:29.75 [[ 9.91591499e-01 -1.24266755e-01 -3.61119552e-02 8.14041566e+02] [ 1.24137297e-01 9.92248018e-01 -5.81393678e-03 4.71027759e+01] [ 3.65544951e-02 1.28220978e-03 9.99330839e-01 2.97500431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.319254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:814.10, Y:47.12, Z:29.75 [[ 9.91191697e-01 -1.27416907e-01 -3.61102781e-02 8.14098487e+02] [ 1.27289157e-01 9.91848551e-01 -5.82433511e-03 4.71164188e+01] [ 3.65580457e-02 1.17658573e-03 9.99330839e-01 2.97497233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.379254154 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:814.16, Y:47.12, Z:29.76 [[ 9.91452633e-01 -1.25370504e-01 -3.61097451e-02 8.14157041e+02] [ 1.25241279e-01 9.92109198e-01 -5.82763755e-03 4.71243311e+01] [ 3.65554241e-02 1.25539593e-03 9.99330839e-01 2.97552901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.439254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:814.21, Y:47.14, Z:29.76 [[ 9.90923955e-01 -1.29483237e-01 -3.61082750e-02 8.14214195e+02] [ 1.29356406e-01 9.91580986e-01 -5.83673209e-03 4.71395024e+01] [ 3.65600379e-02 1.11292095e-03 9.99330839e-01 2.97558076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.499254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:814.27, Y:47.15, Z:29.76 [[ 9.91179874e-01 -1.27509848e-01 -3.61067451e-02 8.14271252e+02] [ 1.27381365e-01 9.91836584e-01 -5.84618096e-03 4.71468544e+01] [ 3.65574364e-02 1.19529043e-03 9.99330839e-01 2.97609448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.559254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:814.33, Y:47.16, Z:29.76 [[ 9.90838224e-01 -1.30138213e-01 -3.61062106e-02 8.14329423e+02] [ 1.30011353e-01 9.91495251e-01 -5.84948024e-03 4.71585120e+01] [ 3.65603772e-02 1.10167134e-03 9.99330839e-01 2.97629330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.619254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:814.39, Y:47.17, Z:29.76 [[ 9.90295540e-01 -1.34205786e-01 -3.61047172e-02 8.14385233e+02] [ 1.34081290e-01 9.90953018e-01 -5.85868339e-03 4.71701508e+01] [ 3.65643477e-02 9.60860987e-04 9.99330839e-01 2.97636359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.679254154 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:814.44, Y:47.18, Z:29.77 [[ 9.89834990e-01 -1.37561602e-01 -3.61039838e-02 8.14443604e+02] [ 1.37439170e-01 9.90492856e-01 -5.86319951e-03 4.71802667e+01] [ 3.65672891e-02 8.41498478e-04 9.99330839e-01 2.97656316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.7392541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:814.50, Y:47.19, Z:29.77 [[ 9.89500732e-01 -1.39946097e-01 -3.61025202e-02 8.14500947e+02] [ 1.39824922e-01 9.90158830e-01 -5.87219781e-03 4.71908226e+01] [ 3.65690203e-02 7.62511960e-04 9.99330839e-01 2.97686783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.799254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:814.56, Y:47.20, Z:29.77 [[ 9.89287869e-01 -1.41443426e-01 -3.61008349e-02 8.14559145e+02] [ 1.41322870e-01 9.89946080e-01 -5.88254036e-03 4.72028066e+01] [ 3.65699267e-02 7.17652225e-04 9.99330839e-01 2.97697501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.8592541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:814.62, Y:47.21, Z:29.77 [[ 9.89326272e-01 -1.41174937e-01 -3.60993631e-02 8.14616181e+02] [ 1.41053873e-01 9.89984391e-01 -5.89155833e-03 4.72148497e+01] [ 3.65695464e-02 7.36718451e-04 9.99330839e-01 2.97717176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.919254154 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:814.67, Y:47.23, Z:29.77 [[ 9.89088696e-01 -1.42830357e-01 -3.60976566e-02 8.14672877e+02] [ 1.42710014e-01 9.89746947e-01 -5.90199605e-03 4.72283025e+01] [ 3.65705296e-02 6.86100495e-04 9.99330839e-01 2.97727407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.9792541539999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:814.73, Y:47.24, Z:29.77 [[ 9.89682268e-01 -1.38658197e-01 -3.60958892e-02 8.14729495e+02] [ 1.38534685e-01 9.90339931e-01 -5.91278506e-03 4.72376743e+01] [ 3.65670566e-02 8.51245866e-04 9.99330839e-01 2.97747164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.039254154 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:814.79, Y:47.25, Z:29.78 [[ 9.89781316e-01 -1.37949531e-01 -3.60953454e-02 8.14786268e+02] [ 1.37825428e-01 9.90438868e-01 -5.91610330e-03 4.72492473e+01] [ 3.65663567e-02 8.80792070e-04 9.99330839e-01 2.97761130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.0992541539999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:814.84, Y:47.26, Z:29.78 [[ 9.89695174e-01 -1.38566324e-01 -3.60948206e-02 8.14843857e+02] [ 1.38442515e-01 9.90352782e-01 -5.91930331e-03 4.72594656e+01] [ 3.65668221e-02 8.61248193e-04 9.99330839e-01 2.97786541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.159254154 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:814.90, Y:47.27, Z:29.78 [[ 9.89251180e-01 -1.41701749e-01 -3.60931769e-02 8.14901310e+02] [ 1.41579659e-01 9.89909109e-01 -5.92930922e-03 4.72689659e+01] [ 3.65691580e-02 7.55516460e-04 9.99330839e-01 2.97830202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.2192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:814.96, Y:47.28, Z:29.78 [[ 9.88522353e-01 -1.46700259e-01 -3.60914426e-02 8.14958630e+02] [ 1.46581112e-01 9.89180821e-01 -5.93984691e-03 4.72771323e+01] [ 3.65723399e-02 5.81347665e-04 9.99330839e-01 2.97846739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.279254154 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:815.02, Y:47.28, Z:29.79 [[ 9.87767911e-01 -1.51697348e-01 -3.60897238e-02 8.15016003e+02] [ 1.51581151e-01 9.88426906e-01 -5.95027179e-03 4.72845733e+01] [ 3.65746945e-02 4.06965675e-04 9.99330839e-01 2.97867892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.339254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:815.07, Y:47.29, Z:29.79 [[ 9.86417356e-01 -1.60244985e-01 -3.60880185e-02 8.15074395e+02] [ 1.60134121e-01 9.87077269e-01 -5.96059655e-03 4.72914589e+01] [ 3.65768184e-02 1.00712772e-04 9.99330839e-01 2.97916538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.399254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:815.13, Y:47.30, Z:29.80 [[ 9.85400253e-01 -1.66385421e-01 -3.60864577e-02 8.15131661e+02] [ 1.66278323e-01 9.86060788e-01 -5.97003111e-03 4.72972100e+01] [ 3.65767670e-02 -1.17525500e-04 9.99330839e-01 2.97951732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.459254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:815.19, Y:47.30, Z:29.80 [[ 9.84813592e-01 -1.69823486e-01 -3.60856379e-02 8.15188560e+02] [ 1.69718513e-01 9.85474467e-01 -5.97498218e-03 4.73047031e+01] [ 3.65761671e-02 -2.40157125e-04 9.99330839e-01 2.97968330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.519254154 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:815.25, Y:47.31, Z:29.80 [[ 9.84374321e-01 -1.72351587e-01 -3.60849928e-02 8.15245658e+02] [ 1.72248168e-01 9.85035442e-01 -5.97887567e-03 4.73121895e+01] [ 3.65754655e-02 -3.30122215e-04 9.99330839e-01 2.97993322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.579254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:815.30, Y:47.32, Z:29.80 [[ 9.84192704e-01 -1.73386045e-01 -3.60832513e-02 8.15302476e+02] [ 1.73282937e-01 9.84853873e-01 -5.98936712e-03 4.73198025e+01] [ 3.65752025e-02 -3.57920326e-04 9.99330839e-01 2.98004028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.639254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:815.36, Y:47.33, Z:29.80 [[ 9.84214842e-01 -1.73260489e-01 -3.60825033e-02 8.15359985e+02] [ 1.73157131e-01 9.84875973e-01 -5.99387017e-03 4.73281734e+01] [ 3.65752914e-02 -3.48686762e-04 9.99330839e-01 2.98038395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.699254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:815.42, Y:47.34, Z:29.81 [[ 9.84171644e-01 -1.73506063e-01 -3.60807676e-02 8.15417569e+02] [ 1.73402488e-01 9.84832740e-01 -6.00430036e-03 4.73380605e+01] [ 3.65753037e-02 -3.47232707e-04 9.99330839e-01 2.98064839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.759254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:815.48, Y:47.35, Z:29.81 [[ 9.84269615e-01 -1.72949762e-01 -3.60791586e-02 8.15475283e+02] [ 1.72845460e-01 9.84930596e-01 -6.01395321e-03 4.73463323e+01] [ 3.65755789e-02 -3.16767337e-04 9.99330839e-01 2.98074602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.819254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:815.53, Y:47.35, Z:29.81 [[ 9.84358123e-01 -1.72445473e-01 -3.60783114e-02 8.15533390e+02] [ 1.72340646e-01 9.85019022e-01 -6.01903093e-03 4.73531422e+01] [ 3.65757777e-02 -2.92877512e-04 9.99330839e-01 2.98097211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.879254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:815.59, Y:47.36, Z:29.81 [[ 9.84630585e-01 -1.70883232e-01 -3.60767413e-02 8.15591405e+02] [ 1.70777012e-01 9.85291262e-01 -6.02842728e-03 4.73587235e+01] [ 3.65762551e-02 -2.25304209e-04 9.99330840e-01 2.98137836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.939254154 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:815.65, Y:47.37, Z:29.81 [[ 9.84480125e-01 -1.71748046e-01 -3.60761899e-02 8.15649278e+02] [ 1.71642285e-01 9.85140875e-01 -6.03172523e-03 4.73687170e+01] [ 3.65760663e-02 -2.54086058e-04 9.99330840e-01 2.98142598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.999254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:815.71, Y:47.37, Z:29.82 [[ 9.85512451e-01 -1.65722149e-01 -3.60746097e-02 8.15706607e+02] [ 1.65612003e-01 9.86172484e-01 -6.04116123e-03 4.73747818e+01] [ 3.65769417e-02 -2.07487504e-05 9.99330840e-01 2.98172315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.059254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:815.76, Y:47.38, Z:29.82 [[ 9.86049672e-01 -1.62495250e-01 -3.60740561e-02 8.15763789e+02] [ 1.62382823e-01 9.86709321e-01 -6.04446537e-03 4.73826950e+01] [ 3.65768043e-02 1.02336036e-04 9.99330840e-01 2.98182218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.119254154 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:815.82, Y:47.39, Z:29.82 [[ 9.86056226e-01 -1.62455865e-01 -3.60723022e-02 8.15821622e+02] [ 1.62343030e-01 9.86715804e-01 -6.05491402e-03 4.73911218e+01] [ 3.65767670e-02 1.14398838e-04 9.99330840e-01 2.98193932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.179254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:815.88, Y:47.40, Z:29.82 [[ 9.85734929e-01 -1.64394539e-01 -3.60705522e-02 8.15879208e+02] [ 1.64282620e-01 9.86394664e-01 -6.06532164e-03 4.73972482e+01] [ 3.65769059e-02 5.30345991e-05 9.99330840e-01 2.98219763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.2392541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:815.94, Y:47.40, Z:29.82 [[ 9.84527655e-01 -1.71476675e-01 -3.60700151e-02 8.15936724e+02] [ 1.71369385e-01 9.85188158e-01 -6.06851380e-03 4.74025418e+01] [ 3.65763603e-02 -2.06676642e-04 9.99330840e-01 2.98241333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.299254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:815.99, Y:47.41, Z:29.83 [[ 9.83394099e-01 -1.77862656e-01 -3.60683041e-02 8.15994854e+02] [ 1.77759282e-01 9.84055226e-01 -6.07866659e-03 4.74095347e+01] [ 3.65743709e-02 -4.33750986e-04 9.99330840e-01 2.98255364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.3592541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:816.05, Y:47.42, Z:29.83 [[ 9.81829975e-01 -1.86303785e-01 -3.60666180e-02 8.16053184e+02] [ 1.86205727e-01 9.82491911e-01 -6.08865435e-03 4.74151305e+01] [ 3.65694998e-02 -7.37787479e-04 9.99330840e-01 2.98278393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.419254154 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:816.11, Y:47.42, Z:29.83 [[ 9.80991369e-01 -1.90670497e-01 -3.60651622e-02 8.16111865e+02] [ 1.90575069e-01 9.81653690e-01 -6.09726494e-03 4.74223816e+01] [ 3.65660681e-02 -8.91756501e-04 9.99330840e-01 2.98313282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.4792541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:816.17, Y:47.43, Z:29.83 [[ 9.81477876e-01 -1.88150455e-01 -3.60636281e-02 8.16167931e+02] [ 1.88052994e-01 9.82139901e-01 -6.10632540e-03 4.74307865e+01] [ 3.65684360e-02 -7.88649963e-04 9.99330840e-01 2.98332199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.539254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:816.23, Y:47.44, Z:29.84 [[ 9.82043166e-01 -1.85177453e-01 -3.60628734e-02 8.16225156e+02] [ 1.85077824e-01 9.82704868e-01 -6.11077937e-03 4.74404254e+01] [ 3.65707398e-02 -6.73389003e-04 9.99330840e-01 2.98352099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.5992541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:816.28, Y:47.45, Z:29.84 [[ 9.83174171e-01 -1.79075804e-01 -3.60611347e-02 8.16282734e+02] [ 1.78971693e-01 9.83835182e-01 -6.12102278e-03 4.74506195e+01] [ 3.65743401e-02 -4.35890812e-04 9.99330840e-01 2.98358088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.659254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:816.34, Y:47.46, Z:29.84 [[ 9.83742380e-01 -1.75927964e-01 -3.60594118e-02 8.16340136e+02] [ 1.75821366e-01 9.84402995e-01 -6.13115583e-03 4.74610579e+01] [ 3.65756347e-02 -3.08537190e-04 9.99330840e-01 2.98369901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.7192541539999 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:816.40, Y:47.47, Z:29.84 [[ 9.84294951e-01 -1.72809984e-01 -3.60577115e-02 8.16397750e+02] [ 1.72700928e-01 9.84955164e-01 -6.14113870e-03 4.74708144e+01] [ 3.65764793e-02 -1.82508411e-04 9.99330840e-01 2.98386452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.779254154 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:816.46, Y:47.48, Z:29.84 [[ 9.84645477e-01 -1.70801789e-01 -3.60559717e-02 8.16455404e+02] [ 1.70691012e-01 9.85305404e-01 -6.15133665e-03 4.74797064e+01] [ 3.65768031e-02 -9.75444798e-05 9.99330840e-01 2.98408744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.839254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:816.51, Y:47.49, Z:29.84 [[ 9.84829167e-01 -1.69739559e-01 -3.60554216e-02 8.16512682e+02] [ 1.69627953e-01 9.85488954e-01 -6.15455935e-03 4.74883890e+01] [ 3.65768919e-02 -5.48178004e-05 9.99330840e-01 2.98436620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.899254154 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:816.57, Y:47.50, Z:29.84 [[ 9.84489613e-01 -1.71698384e-01 -3.60536642e-02 8.16569984e+02] [ 1.71587713e-01 9.85149558e-01 -6.16483733e-03 4.74981758e+01] [ 3.65767439e-02 -1.17147479e-04 9.99330840e-01 2.98437271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.959254154 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:816.63, Y:47.51, Z:29.85 [[ 9.83802059e-01 -1.75595477e-01 -3.60518687e-02 8.16626954e+02] [ 1.75487037e-01 9.84462374e-01 -6.17531966e-03 4.75058887e+01] [ 3.65760664e-02 -2.51343427e-04 9.99330840e-01 2.98455043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.019254154 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:816.68, Y:47.51, Z:29.85 [[ 9.82621399e-01 -1.82086531e-01 -3.60510968e-02 8.16684016e+02] [ 1.81982287e-01 9.83282389e-01 -6.17982256e-03 4.75137772e+01] [ 3.65736710e-02 -4.88235147e-04 9.99330840e-01 2.98488780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.079254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:816.74, Y:47.52, Z:29.85 [[ 9.81682572e-01 -1.87082268e-01 -3.60493131e-02 8.16741775e+02] [ 1.86981007e-01 9.82344026e-01 -6.19020975e-03 4.75220340e+01] [ 3.65709059e-02 -6.63715833e-04 9.99330840e-01 2.98529327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.139254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:816.80, Y:47.53, Z:29.85 [[ 9.81136167e-01 -1.89927352e-01 -3.60475166e-02 8.16798543e+02] [ 1.89827625e-01 9.81797853e-01 -6.20065387e-03 4.75328878e+01] [ 3.65690482e-02 -7.59128703e-04 9.99330840e-01 2.98546959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.199254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:816.86, Y:47.54, Z:29.86 [[ 9.80628462e-01 -1.92531882e-01 -3.60457323e-02 8.16855558e+02] [ 1.92433531e-01 9.81290354e-01 -6.21100894e-03 4.75436358e+01] [ 3.65671467e-02 -8.45715427e-04 9.99330840e-01 2.98581826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.259254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:816.91, Y:47.55, Z:29.86 [[ 9.80282591e-01 -1.94285555e-01 -3.60439284e-02 8.16912570e+02] [ 1.94188005e-01 9.80944602e-01 -6.22145996e-03 4.75548715e+01] [ 3.65658368e-02 -9.00509658e-04 9.99330840e-01 2.98595113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.319254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:816.97, Y:47.57, Z:29.86 [[ 9.80089439e-01 -1.95257923e-01 -3.60421406e-02 8.16969564e+02] [ 1.95160650e-01 9.80751490e-01 -6.23179983e-03 4.75681129e+01] [ 3.65651914e-02 -9.26286386e-04 9.99330840e-01 2.98597905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.379254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:817.03, Y:47.58, Z:29.86 [[ 9.79968774e-01 -1.95862944e-01 -3.60403781e-02 8.17026948e+02] [ 1.95765705e-01 9.80630831e-01 -6.24197665e-03 4.75849736e+01] [ 3.65648778e-02 -9.38527833e-04 9.99330841e-01 2.98568938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.439254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:817.08, Y:47.60, Z:29.86 [[ 9.80028102e-01 -1.95566171e-01 -3.60387606e-02 8.17084061e+02] [ 1.95468389e-01 9.80690079e-01 -6.25130127e-03 4.75971239e+01] [ 3.65653980e-02 -9.17987554e-04 9.99330841e-01 2.98572521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.499254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:817.14, Y:47.61, Z:29.86 [[ 9.80996419e-01 -1.90649858e-01 -3.60368889e-02 8.17140048e+02] [ 1.90548362e-01 9.81657837e-01 -6.26207265e-03 4.76125882e+01] [ 3.65697576e-02 -7.23699313e-04 9.99330841e-01 2.98595223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.559254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:817.20, Y:47.62, Z:29.87 [[ 9.82900122e-01 -1.80579141e-01 -3.60350316e-02 8.17196490e+02] [ 1.80470477e-01 9.83560400e-01 -6.27274253e-03 4.76248398e+01] [ 3.65753565e-02 -3.37779939e-04 9.99330841e-01 2.98689356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.619254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:817.25, Y:47.64, Z:29.86 [[ 9.83027011e-01 -1.79887225e-01 -3.60344608e-02 8.17252673e+02] [ 1.79777975e-01 9.83687192e-01 -6.27601978e-03 4.76418208e+01] [ 3.65756133e-02 -3.08705433e-04 9.99330841e-01 2.98641121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.679254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:817.31, Y:47.66, Z:29.87 [[ 9.84288974e-01 -1.72849265e-01 -3.60325736e-02 8.17308634e+02] [ 1.72734899e-01 9.84948288e-01 -6.28683616e-03 4.76566988e+01] [ 3.65768967e-02 -3.60194554e-05 9.99330841e-01 2.98655663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.7392541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:817.37, Y:47.67, Z:29.88 [[ 9.85695597e-01 -1.64638935e-01 -3.60306907e-02 8.17366115e+02] [ 1.64518684e-01 9.86353863e-01 -6.29760850e-03 4.76657333e+01] [ 3.65758425e-02 2.79803161e-04 9.99330841e-01 2.98752866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.799254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:817.42, Y:47.68, Z:29.88 [[ 9.86530708e-01 -1.59559042e-01 -3.60288035e-02 8.17422138e+02] [ 1.59435008e-01 9.87188271e-01 -6.30838721e-03 4.76786957e+01] [ 3.65737724e-02 4.79165129e-04 9.99330841e-01 2.98765107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.8592541539999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:817.48, Y:47.69, Z:29.88 [[ 9.86831528e-01 -1.57688042e-01 -3.60279917e-02 8.17479229e+02] [ 1.57562592e-01 9.87488823e-01 -6.31301976e-03 4.76913446e+01] [ 3.65727269e-02 5.53223159e-04 9.99330841e-01 2.98770411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.919254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:817.54, Y:47.70, Z:29.88 [[ 9.87024178e-01 -1.56478091e-01 -3.60260759e-02 8.17535284e+02] [ 1.56351437e-01 9.87681242e-01 -6.32393371e-03 4.77009509e+01] [ 3.65718365e-02 6.09146731e-04 9.99330841e-01 2.98796268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.9792541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:817.59, Y:47.71, Z:29.88 [[ 9.86917864e-01 -1.57147415e-01 -3.60252528e-02 8.17592659e+02] [ 1.57021036e-01 9.87574981e-01 -6.32861896e-03 4.77102282e+01] [ 3.65721645e-02 5.89104596e-04 9.99330841e-01 2.98816168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.039254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:817.65, Y:47.72, Z:29.88 [[ 9.86660862e-01 -1.58753456e-01 -3.60233837e-02 8.17650635e+02] [ 1.58627759e-01 9.87318109e-01 -6.33924037e-03 4.77184844e+01] [ 3.65729154e-02 5.40371734e-04 9.99330841e-01 2.98830290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.0992541539999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:817.71, Y:47.73, Z:29.88 [[ 9.86277978e-01 -1.61115487e-01 -3.60215246e-02 8.17707710e+02] [ 1.60990979e-01 9.86935451e-01 -6.34978704e-03 4.77255421e+01] [ 3.65739687e-02 4.63514618e-04 9.99330841e-01 2.98832649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.159254154 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:817.77, Y:47.73, Z:29.88 [[ 9.85964475e-01 -1.63023143e-01 -3.60209547e-02 8.17766524e+02] [ 1.62899788e-01 9.86622166e-01 -6.35301819e-03 4.77341015e+01] [ 3.65747613e-02 3.96044341e-04 9.99330841e-01 2.98826720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.2192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:817.82, Y:47.74, Z:29.89 [[ 9.85750370e-01 -1.64312994e-01 -3.60200962e-02 8.17824707e+02] [ 1.64190323e-01 9.86408189e-01 -6.35788185e-03 4.77402189e+01] [ 3.65752005e-02 3.53133173e-04 9.99330841e-01 2.98880283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.279254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:817.88, Y:47.75, Z:29.89 [[ 9.85189986e-01 -1.67640558e-01 -3.60185218e-02 8.17883026e+02] [ 1.67519783e-01 9.85848156e-01 -6.36678859e-03 4.77470797e+01] [ 3.65761253e-02 2.38681397e-04 9.99330841e-01 2.98915218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.339254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:817.94, Y:47.75, Z:29.89 [[ 9.84805015e-01 -1.69887802e-01 -3.60169041e-02 8.17941145e+02] [ 1.69768195e-01 9.85463397e-01 -6.37592703e-03 4.77546615e+01] [ 3.65765329e-02 1.64520128e-04 9.99330841e-01 2.98934244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.399254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:818.00, Y:47.76, Z:29.90 [[ 9.84464571e-01 -1.71849979e-01 -3.60151664e-02 8.17999223e+02] [ 1.71731326e-01 9.85123126e-01 -6.38572735e-03 4.77613313e+01] [ 3.65767605e-02 1.01590055e-04 9.99330841e-01 2.98969373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.459254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:818.06, Y:47.77, Z:29.90 [[ 9.84120645e-01 -1.73809079e-01 -3.60133290e-02 8.18057237e+02] [ 1.73691358e-01 9.84779367e-01 -6.39607311e-03 4.77687226e+01] [ 3.65768789e-02 3.93035809e-05 9.99330841e-01 2.98989622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.519254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:818.11, Y:47.78, Z:29.90 [[ 9.83567143e-01 -1.76914760e-01 -3.60117035e-02 8.18114522e+02] [ 1.76798784e-01 9.84226175e-01 -6.40521233e-03 4.77757758e+01] [ 3.65768378e-02 -6.68689796e-05 9.99330841e-01 2.99014698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.579254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:818.17, Y:47.78, Z:29.90 [[ 9.83076050e-01 -1.79623963e-01 -3.60098712e-02 8.18171720e+02] [ 1.79509427e-01 9.83735334e-01 -6.41549695e-03 4.77836447e+01] [ 3.65765596e-02 -1.57189932e-04 9.99330841e-01 2.99042582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.639254154 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:818.23, Y:47.79, Z:29.91 [[ 9.82631997e-01 -1.82037851e-01 -3.60080551e-02 8.18229547e+02] [ 1.81924561e-01 9.83291495e-01 -6.42567379e-03 4.77917880e+01] [ 3.65761302e-02 -2.36676944e-04 9.99330841e-01 2.99072771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.699254154 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:818.29, Y:47.80, Z:29.91 [[ 9.82671680e-01 -1.81823876e-01 -3.60062174e-02 8.18286626e+02] [ 1.81710066e-01 9.83331089e-01 -6.43595480e-03 4.78007631e+01] [ 3.65762432e-02 -2.18261635e-04 9.99330842e-01 2.99095045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.759254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:818.34, Y:47.81, Z:29.91 [[ 9.83224512e-01 -1.78810638e-01 -3.60043731e-02 8.18344853e+02] [ 1.78694430e-01 9.83883503e-01 -6.44625563e-03 4.78085417e+01] [ 3.65767678e-02 -9.56643827e-05 9.99330842e-01 2.99120838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.819254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:818.40, Y:47.82, Z:29.91 [[ 9.83888162e-01 -1.75122483e-01 -3.60027744e-02 8.18402429e+02] [ 1.75003478e-01 9.84546654e-01 -6.45517249e-03 4.78174446e+01] [ 3.65768569e-02 5.05570677e-05 9.99330842e-01 2.99139278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.879254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:818.46, Y:47.83, Z:29.92 [[ 9.84784238e-01 -1.70011583e-01 -3.60009246e-02 8.18459555e+02] [ 1.69888784e-01 9.85442032e-01 -6.46547233e-03 4.78278996e+01] [ 3.65760295e-02 2.50941946e-04 9.99330842e-01 2.99155096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.939254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:818.52, Y:47.84, Z:29.92 [[ 9.85347248e-01 -1.66717933e-01 -3.59990582e-02 8.18516738e+02] [ 1.66592557e-01 9.86004556e-01 -6.47584766e-03 4.78381211e+01] [ 3.65748753e-02 3.83783526e-04 9.99330842e-01 2.99173483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.999254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:818.57, Y:47.85, Z:29.92 [[ 9.85855448e-01 -1.63686402e-01 -3.59971801e-02 8.18574781e+02] [ 1.63558623e-01 9.86512293e-01 -6.48627070e-03 4.78486107e+01] [ 3.65733750e-02 5.06876084e-04 9.99330842e-01 2.99188708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.059254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:818.63, Y:47.86, Z:29.92 [[ 9.86166743e-01 -1.61800738e-01 -3.59955151e-02 8.18632478e+02] [ 1.61671367e-01 9.86823276e-01 -6.49549731e-03 4.78586690e+01] [ 3.65721884e-02 5.86199272e-04 9.99330842e-01 2.99225831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.119254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:818.69, Y:47.87, Z:29.92 [[ 9.86676721e-01 -1.58661558e-01 -3.59938625e-02 8.18689725e+02] [ 1.58529765e-01 9.87332772e-01 -6.50464256e-03 4.78702014e+01] [ 3.65699567e-02 7.11880836e-04 9.99330842e-01 2.99242147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.179254154 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:818.75, Y:47.88, Z:29.92 [[ 9.87278599e-01 -1.54872671e-01 -3.59919883e-02 8.18747438e+02] [ 1.54737983e-01 9.87934062e-01 -6.51499639e-03 4.78823891e+01] [ 3.65667061e-02 8.62788835e-04 9.99330842e-01 2.99230596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.2392541539999 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:818.81, Y:47.89, Z:29.92 [[ 9.87765252e-01 -1.51738264e-01 -3.59903692e-02 8.18805293e+02] [ 1.51601171e-01 9.88420216e-01 -6.52392831e-03 4.78940468e+01] [ 3.65635381e-02 9.87927563e-04 9.99330842e-01 2.99234444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.299254154 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:818.86, Y:47.90, Z:29.92 [[ 9.87816662e-01 -1.51403622e-01 -3.59886914e-02 8.18863476e+02] [ 1.51265971e-01 9.88471509e-01 -6.53317045e-03 4.79048837e+01] [ 3.65629418e-02 1.00971027e-03 9.99330842e-01 2.99245101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.3592541539999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:818.92, Y:47.91, Z:29.93 [[ 9.87787554e-01 -1.51593805e-01 -3.59870296e-02 8.18921417e+02] [ 1.51455948e-01 9.88442358e-01 -6.54231187e-03 4.79147054e+01] [ 3.65628783e-02 1.01196458e-03 9.99330842e-01 2.99277855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.419254154 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:818.98, Y:47.92, Z:29.93 [[ 9.87177867e-01 -1.55514997e-01 -3.59853435e-02 8.18979346e+02] [ 1.55379403e-01 9.87833143e-01 -6.55157256e-03 4.79228280e+01] [ 3.65663828e-02 8.76186214e-04 9.99330842e-01 2.99306862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.4792541539999 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:819.04, Y:47.93, Z:29.93 [[ 9.86329968e-01 -1.60805436e-01 -3.59834141e-02 8.19037869e+02] [ 1.60672972e-01 9.86985884e-01 -6.56215242e-03 4.79309902e+01] [ 3.65703516e-02 6.90885496e-04 9.99330842e-01 2.99349968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.539254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:819.10, Y:47.94, Z:29.94 [[ 9.85718614e-01 -1.64511791e-01 -3.59817262e-02 8.19095680e+02] [ 1.64381456e-01 9.86374956e-01 -6.57139491e-03 4.79393170e+01] [ 3.65725455e-02 5.62817750e-04 9.99330842e-01 2.99406803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.5992541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:819.15, Y:47.95, Z:29.94 [[ 9.85572820e-01 -1.65383346e-01 -3.59800585e-02 8.19152222e+02] [ 1.65253259e-01 9.86229211e-01 -6.58051348e-03 4.79490785e+01] [ 3.65728920e-02 5.39753326e-04 9.99330842e-01 2.99424731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.659254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:819.21, Y:47.96, Z:29.95 [[ 9.85901197e-01 -1.63414526e-01 -3.59794729e-02 8.19210569e+02] [ 1.63283011e-01 9.86557304e-01 -6.58371326e-03 4.79594741e+01] [ 3.65716862e-02 6.16054124e-04 9.99330842e-01 2.99457476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.7192541539999 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:819.27, Y:47.97, Z:29.95 [[ 9.86634714e-01 -1.58926216e-01 -3.59777651e-02 8.19267164e+02] [ 1.58791376e-01 9.87290145e-01 -6.59303307e-03 4.79719734e+01] [ 3.65682987e-02 7.91956469e-04 9.99330842e-01 2.99456799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.779254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:819.32, Y:47.98, Z:29.95 [[ 9.87229370e-01 -1.55189674e-01 -3.59768748e-02 8.19324775e+02] [ 1.55052177e-01 9.87884249e-01 -6.59788761e-03 4.79843294e+01] [ 3.65649120e-02 9.35335672e-04 9.99330842e-01 2.99482363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.839254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:819.38, Y:48.00, Z:29.95 [[ 9.87920808e-01 -1.50725789e-01 -3.59751780e-02 8.19381952e+02] [ 1.50584997e-01 9.88574987e-01 -6.60712628e-03 4.79992468e+01] [ 3.65600255e-02 1.10999544e-03 9.99330842e-01 2.99507915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.899254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:819.44, Y:48.01, Z:29.95 [[ 9.88118917e-01 -1.49421938e-01 -3.59734653e-02 8.19439007e+02] [ 1.49279944e-01 9.88772836e-01 -6.61643836e-03 4.80148686e+01] [ 3.65582263e-02 1.16771101e-03 9.99330842e-01 2.99509679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.959254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:819.50, Y:48.02, Z:29.95 [[ 9.88385012e-01 -1.47651981e-01 -3.59716724e-02 8.19496151e+02] [ 1.47508463e-01 9.89038597e-01 -6.62617136e-03 4.80243584e+01] [ 3.65557398e-02 1.24308235e-03 9.99330842e-01 2.99549547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.019254154 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:819.55, Y:48.04, Z:29.96 [[ 9.88286548e-01 -1.48309751e-01 -3.59710426e-02 8.19553197e+02] [ 1.48166543e-01 9.88940202e-01 -6.62958849e-03 4.80367806e+01] [ 3.65564428e-02 1.22222808e-03 9.99330842e-01 2.99570078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.079254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:819.61, Y:48.05, Z:29.95 [[ 9.87443253e-01 -1.53824722e-01 -3.59690973e-02 8.19610012e+02] [ 1.53684783e-01 9.88097615e-01 -6.64012644e-03 4.80537651e+01] [ 3.65623948e-02 1.02884515e-03 9.99330842e-01 2.99539559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.139254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:819.67, Y:48.06, Z:29.96 [[ 9.87441188e-01 -1.53838388e-01 -3.59673513e-02 8.19668882e+02] [ 1.53698113e-01 9.88095478e-01 -6.64957025e-03 4.80601509e+01] [ 3.65621363e-02 1.03794551e-03 9.99330843e-01 2.99616482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.199254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:819.73, Y:48.07, Z:29.97 [[ 9.86870908e-01 -1.57455630e-01 -3.59657515e-02 8.19726495e+02] [ 1.57317439e-01 9.87525641e-01 -6.65821206e-03 4.80696204e+01] [ 3.65654748e-02 9.12755872e-04 9.99330843e-01 2.99656376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.259254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:819.78, Y:48.08, Z:29.96 [[ 9.85391679e-01 -1.66462691e-01 -3.59640440e-02 8.19784279e+02] [ 1.66330150e-01 9.86047578e-01 -6.66742208e-03 4.80835348e+01] [ 3.65721355e-02 5.88117405e-04 9.99330843e-01 2.99644311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.319254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:819.84, Y:48.09, Z:29.97 [[ 9.85275690e-01 -1.67148233e-01 -3.59622298e-02 8.19841891e+02] [ 1.67015792e-01 9.85931610e-01 -6.67719339e-03 4.80886253e+01] [ 3.65723802e-02 5.72616031e-04 9.99330843e-01 2.99721845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.379254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:819.90, Y:48.10, Z:29.97 [[ 9.84861754e-01 -1.69570309e-01 -3.59615951e-02 8.19899002e+02] [ 1.69439357e-01 9.85517972e-01 -6.68060963e-03 4.80989058e+01] [ 3.65736314e-02 4.86167365e-04 9.99330843e-01 2.99737271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.439254154 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:819.96, Y:48.11, Z:29.97 [[ 9.83999063e-01 -1.74507154e-01 -3.59596538e-02 8.19956242e+02] [ 1.74379113e-01 9.84655856e-01 -6.69104271e-03 4.81128084e+01] [ 3.65755186e-02 3.13367210e-04 9.99330843e-01 2.99708254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.499254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:820.01, Y:48.12, Z:29.98 [[ 9.84413032e-01 -1.72156939e-01 -3.59578928e-02 8.20013806e+02] [ 1.72026984e-01 9.85069449e-01 -6.70049309e-03 4.81196043e+01] [ 3.65745581e-02 4.10324862e-04 9.99330843e-01 2.99769216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.559254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:820.07, Y:48.13, Z:29.98 [[ 9.84453727e-01 -1.71924209e-01 -3.59572751e-02 8.20070149e+02] [ 1.71793978e-01 9.85110089e-01 -6.70380650e-03 4.81304381e+01] [ 3.65744211e-02 4.22343961e-04 9.99330843e-01 2.99776984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.619254154 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:820.13, Y:48.14, Z:29.98 [[ 9.84215236e-01 -1.73284562e-01 -3.59559426e-02 8.20126885e+02] [ 1.73154977e-01 9.84871726e-01 -6.71094595e-03 4.81449485e+01] [ 3.65748945e-02 3.79064827e-04 9.99330843e-01 2.99765937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.679254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:820.18, Y:48.15, Z:29.98 [[ 9.84593730e-01 -1.71121316e-01 -3.59538995e-02 8.20184342e+02] [ 1.70989890e-01 9.85249853e-01 -6.72187385e-03 4.81526418e+01] [ 3.65738301e-02 4.70561504e-04 9.99330843e-01 2.99786053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.7392541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:820.24, Y:48.16, Z:29.98 [[ 9.83821936e-01 -1.75504302e-01 -3.59532748e-02 8.20242319e+02] [ 1.75375678e-01 9.84478615e-01 -6.72521363e-03 4.81642085e+01] [ 3.65755341e-02 3.11082774e-04 9.99330843e-01 2.99806541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.799254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:820.30, Y:48.17, Z:29.98 [[ 9.83479267e-01 -1.77414818e-01 -3.59515582e-02 8.20300206e+02] [ 1.77287134e-01 9.84136129e-01 -6.73437774e-03 4.81726992e+01] [ 3.65760057e-02 2.49372159e-04 9.99330843e-01 2.99824534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.8592541539999 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:820.36, Y:48.18, Z:29.99 [[ 9.82581008e-01 -1.82324354e-01 -3.59498659e-02 8.20358359e+02] [ 1.82199622e-01 9.83238437e-01 -6.74339931e-03 4.81817683e+01] [ 3.65767759e-02 7.58841059e-05 9.99330843e-01 2.99869366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.919254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:820.42, Y:48.19, Z:29.99 [[ 9.81852774e-01 -1.86206494e-01 -3.59481761e-02 8.20415425e+02] [ 1.86084032e-01 9.82510630e-01 -6.75239583e-03 4.81911004e+01] [ 3.65768051e-02 -5.95229852e-05 9.99330843e-01 2.99913825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.9792541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:820.47, Y:48.20, Z:29.99 [[ 9.81493617e-01 -1.88090540e-01 -3.59475836e-02 8.20473017e+02] [ 1.87969226e-01 9.82151685e-01 -6.75554864e-03 4.82012385e+01] [ 3.65766346e-02 -1.26511583e-04 9.99330843e-01 2.99940089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.039254154 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:820.53, Y:48.21, Z:30.00 [[ 9.81323030e-01 -1.88978831e-01 -3.59459573e-02 8.20530395e+02] [ 1.88857796e-01 9.81981150e-01 -6.76419076e-03 4.82125519e+01] [ 3.65765414e-02 -1.50818109e-04 9.99330843e-01 2.99952759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.0992541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:820.59, Y:48.22, Z:30.00 [[ 9.81268475e-01 -1.89262272e-01 -3.59440235e-02 8.20586302e+02] [ 1.89141051e-01 9.81926560e-01 -6.77445144e-03 4.82223899e+01] [ 3.65765394e-02 -1.50934723e-04 9.99330843e-01 2.99974456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.159254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:820.64, Y:48.23, Z:30.00 [[ 9.80900404e-01 -1.91160886e-01 -3.59431933e-02 8.20643993e+02] [ 1.91040778e-01 9.81558693e-01 -6.77885322e-03 4.82324518e+01] [ 3.65762054e-02 -2.17235739e-04 9.99330843e-01 2.99985658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.2192541539999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:820.70, Y:48.24, Z:30.00 [[ 9.80817562e-01 -1.91585839e-01 -3.59412900e-02 8.20700433e+02] [ 1.91465647e-01 9.81475836e-01 -6.78892966e-03 4.82433201e+01] [ 3.65761704e-02 -2.22820898e-04 9.99330843e-01 2.99997193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.279254154 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:820.76, Y:48.26, Z:30.00 [[ 9.80948496e-01 -1.90914458e-01 -3.59404719e-02 8.20758147e+02] [ 1.90793656e-01 9.81606659e-01 -6.79325773e-03 4.82565010e+01] [ 3.65763376e-02 -1.93378093e-04 9.99330843e-01 3.00019953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.339254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:820.82, Y:48.27, Z:30.01 [[ 9.80980488e-01 -1.90750322e-01 -3.59387807e-02 8.20815738e+02] [ 1.90629083e-01 9.81638570e-01 -6.80219294e-03 4.82683320e+01] [ 3.65764138e-02 -1.78158270e-04 9.99330843e-01 3.00055781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.399254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:820.87, Y:48.28, Z:30.01 [[ 9.80476627e-01 -1.93323850e-01 -3.59370640e-02 8.20872130e+02] [ 1.93204006e-01 9.81134965e-01 -6.81125054e-03 4.82793301e+01] [ 3.65758872e-02 -2.64912782e-04 9.99330843e-01 3.00082802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.459254154 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:820.93, Y:48.29, Z:30.01 [[ 9.79951770e-01 -1.95967088e-01 -3.59364602e-02 8.20928280e+02] [ 1.95848903e-01 9.80610407e-01 -6.81443486e-03 4.82913948e+01] [ 3.65750718e-02 -3.60298792e-04 9.99330843e-01 3.00103735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.519254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:820.98, Y:48.31, Z:30.01 [[ 9.80130251e-01 -1.95072607e-01 -3.59356369e-02 8.20984241e+02] [ 1.94953662e-01 9.80788751e-01 -6.81877375e-03 4.83064890e+01] [ 3.65754244e-02 -3.22497582e-04 9.99330843e-01 3.00132263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.579254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:821.04, Y:48.32, Z:30.02 [[ 9.80456038e-01 -1.93428878e-01 -3.59336560e-02 8.21040440e+02] [ 1.93308447e-01 9.81114268e-01 -6.82919664e-03 4.83196941e+01] [ 3.65759864e-02 -2.50552156e-04 9.99330843e-01 3.00152190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.639254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:821.10, Y:48.33, Z:30.02 [[ 9.80659836e-01 -1.92393350e-01 -3.59316666e-02 8.21097234e+02] [ 1.92271841e-01 9.81317868e-01 -6.83964789e-03 4.83322937e+01] [ 3.65762892e-02 -2.01279711e-04 9.99330843e-01 3.00183394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.699254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:821.15, Y:48.35, Z:30.02 [[ 9.80189885e-01 -1.94773584e-01 -3.59310561e-02 8.21153394e+02] [ 1.94653556e-01 9.80848188e-01 -6.84285342e-03 4.83453372e+01] [ 3.65757184e-02 -2.86812138e-04 9.99330843e-01 3.00214129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.759254154 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:821.21, Y:48.36, Z:30.02 [[ 9.80219734e-01 -1.94623672e-01 -3.59290842e-02 8.21210366e+02] [ 1.94503164e-01 9.80877950e-01 -6.85319175e-03 4.83599328e+01] [ 3.65758398e-02 -2.70686743e-04 9.99330843e-01 3.00241728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.819254154 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:821.27, Y:48.37, Z:30.03 [[ 9.80368954e-01 -1.93870931e-01 -3.59273804e-02 8.21266965e+02] [ 1.93749591e-01 9.81027017e-01 -6.86211204e-03 4.83735037e+01] [ 3.65760949e-02 -2.33513653e-04 9.99330843e-01 3.00253689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.879254154 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:821.32, Y:48.39, Z:30.02 [[ 9.80844901e-01 -1.91448807e-01 -3.59254068e-02 8.21322845e+02] [ 1.91325463e-01 9.81502591e-01 -6.87242877e-03 4.83881927e+01] [ 3.65765982e-02 -1.32658387e-04 9.99330844e-01 3.00248830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.939254154 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:821.38, Y:48.40, Z:30.03 [[ 9.80889732e-01 -1.91219347e-01 -3.59234616e-02 8.21379504e+02] [ 1.91095478e-01 9.81547324e-01 -6.88258171e-03 4.84049156e+01] [ 3.65766604e-02 -1.13757352e-04 9.99330844e-01 3.00250591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.999254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:821.44, Y:48.42, Z:30.02 [[ 9.80121346e-01 -1.95119895e-01 -3.59217625e-02 8.21435862e+02] [ 1.94998318e-01 9.80779366e-01 -6.89143865e-03 4.84228500e+01] [ 3.65759802e-02 -2.50237138e-04 9.99330844e-01 3.00163847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.059254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:821.49, Y:48.44, Z:30.02 [[ 9.80134536e-01 -1.95053743e-01 -3.59211565e-02 8.21493282e+02] [ 1.94932006e-01 9.80792525e-01 -6.89459598e-03 4.84361290e+01] [ 3.65760185e-02 -2.44551459e-04 9.99330844e-01 3.00206445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.119254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:821.55, Y:48.45, Z:30.02 [[ 9.80423481e-01 -1.93596495e-01 -3.59192874e-02 8.21549091e+02] [ 1.93473424e-01 9.81081222e-01 -6.90431956e-03 4.84502582e+01] [ 3.65763905e-02 -1.80270506e-04 9.99330844e-01 3.00189794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.179254154 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:821.61, Y:48.46, Z:30.02 [[ 9.80666870e-01 -1.92359935e-01 -3.59185893e-02 8.21605963e+02] [ 1.92235902e-01 9.81324431e-01 -6.90794962e-03 4.84614798e+01] [ 3.65766019e-02 -1.30445059e-04 9.99330844e-01 3.00224495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.2392541539999 meters Centerline goodness : 0.999616 with order 1 Centerline is valid? [True, True] Translation: X:821.66, Y:48.47, Z:30.03 [[ 9.80862622e-01 -1.91359703e-01 -3.59162981e-02 8.21663343e+02] [ 1.91234563e-01 9.81519973e-01 -6.91984141e-03 4.84726898e+01] [ 3.65767428e-02 -8.10238033e-05 9.99330844e-01 3.00265142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.299254154 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:821.72, Y:48.48, Z:30.03 [[ 9.80889839e-01 -1.91220562e-01 -3.59140839e-02 8.21720581e+02] [ 1.91094909e-01 9.81547091e-01 -6.93131452e-03 4.84841779e+01] [ 3.65767744e-02 -6.41426102e-05 9.99330844e-01 3.00299543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.3592541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:821.78, Y:48.50, Z:30.03 [[ 9.80535265e-01 -1.93030945e-01 -3.59116638e-02 8.21776948e+02] [ 1.92906048e-01 9.81192662e-01 -6.94383028e-03 4.84982163e+01] [ 3.65766352e-02 -1.18906669e-04 9.99330844e-01 3.00310558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.419254154 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:821.83, Y:48.51, Z:30.03 [[ 9.80745632e-01 -1.91959715e-01 -3.59092387e-02 8.21834147e+02] [ 1.91833641e-01 9.81402804e-01 -6.95634902e-03 4.85086025e+01] [ 3.65767663e-02 -6.61911031e-05 9.99330844e-01 3.00346815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.4792541539999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:821.89, Y:48.52, Z:30.04 [[ 9.81029922e-01 -1.90501934e-01 -3.59068876e-02 8.21889360e+02] [ 1.90374440e-01 9.81686820e-01 -6.96846387e-03 4.85211755e+01] [ 3.65768241e-02 5.17947931e-07 9.99330844e-01 3.00446640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.539254154 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:821.95, Y:48.54, Z:30.04 [[ 9.81537032e-01 -1.87871831e-01 -3.59058607e-02 8.21945374e+02] [ 1.87742383e-01 9.82193547e-01 -6.97375088e-03 4.85353573e+01] [ 3.65766761e-02 1.03942874e-04 9.99330844e-01 3.00449002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.5992541539999 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:822.00, Y:48.55, Z:30.05 [[ 9.82343814e-01 -1.83607035e-01 -3.59038762e-02 8.22002548e+02] [ 1.83474365e-01 9.82999686e-01 -6.98395332e-03 4.85479556e+01] [ 3.65758019e-02 2.73202476e-04 9.99330844e-01 3.00450470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.659254154 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:822.06, Y:48.56, Z:30.05 [[ 9.82554596e-01 -1.82476084e-01 -3.59018626e-02 8.22058971e+02] [ 1.82342281e-01 9.83210238e-01 -6.99428902e-03 4.85592195e+01] [ 3.65753693e-02 3.25843308e-04 9.99330844e-01 3.00458084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.7192541539999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:822.12, Y:48.57, Z:30.05 [[ 9.82250714e-01 -1.84105100e-01 -3.59005047e-02 8.22115816e+02] [ 1.83972130e-01 9.82906526e-01 -7.00125171e-03 4.85704900e+01] [ 3.65758065e-02 2.72292183e-04 9.99330844e-01 3.00472135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.779254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:822.17, Y:48.58, Z:30.04 [[ 9.80913887e-01 -1.91100085e-01 -3.58985064e-02 8.22172903e+02] [ 1.90971417e-01 9.81570556e-01 -7.01148291e-03 4.85808255e+01] [ 3.65768119e-02 2.20723104e-05 9.99330844e-01 3.00444793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.839254154 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:822.23, Y:48.59, Z:30.05 [[ 9.80246302e-01 -1.94495845e-01 -3.58964324e-02 8.22230505e+02] [ 1.94369064e-01 9.80903337e-01 -7.02208538e-03 4.85892687e+01] [ 3.65766968e-02 -9.37827203e-05 9.99330844e-01 3.00509560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.899254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:822.29, Y:48.60, Z:30.05 [[ 9.79715040e-01 -1.97154598e-01 -3.58957419e-02 8.22288088e+02] [ 1.97029471e-01 9.80372393e-01 -7.02561306e-03 4.85999159e+01] [ 3.65763263e-02 -1.89420251e-04 9.99330844e-01 3.00526014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.959254154 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:822.34, Y:48.61, Z:30.06 [[ 9.80558591e-01 -1.92915756e-01 -3.58937357e-02 8.22344770e+02] [ 1.92787411e-01 9.81215323e-01 -7.03584801e-03 4.86098571e+01] [ 3.65768094e-02 -2.07991819e-05 9.99330844e-01 3.00591870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.019254154 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:822.40, Y:48.62, Z:30.06 [[ 9.81754468e-01 -1.86734770e-01 -3.58927476e-02 8.22401326e+02] [ 1.86602107e-01 9.82410342e-01 -7.04088513e-03 4.86219274e+01] [ 3.65761845e-02 2.14758090e-04 9.99330844e-01 3.00558984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.079254154 meters Centerline goodness : 0.997327 with order 1 Centerline is valid? [True, True] Translation: X:822.46, Y:48.63, Z:30.05 [[ 9.82676906e-01 -1.81818470e-01 -3.58906966e-02 8.22458925e+02] [ 1.81682145e-01 9.83332028e-01 -7.05132446e-03 4.86331344e+01] [ 3.65745325e-02 4.08474948e-04 9.99330844e-01 3.00535526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.139254154 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:822.52, Y:48.64, Z:30.06 [[ 9.83399258e-01 -1.77870577e-01 -3.58881270e-02 8.22515755e+02] [ 1.77731146e-01 9.84053725e-01 -7.06437874e-03 4.86448480e+01] [ 3.65723902e-02 5.68666883e-04 9.99330845e-01 3.00556464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.199254154 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:822.57, Y:48.66, Z:30.06 [[ 9.83769699e-01 -1.75810349e-01 -3.58873257e-02 8.22572884e+02] [ 1.75669398e-01 9.84423841e-01 -7.06844706e-03 4.86552595e+01] [ 3.65710451e-02 6.49419129e-04 9.99330845e-01 3.00579879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.259254154 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:822.63, Y:48.66, Z:30.06 [[ 9.83753839e-01 -1.75899482e-01 -3.58853191e-02 8.22629806e+02] [ 1.75758220e-01 9.84407914e-01 -7.07861917e-03 4.86635917e+01] [ 3.65709176e-02 6.56478960e-04 9.99330845e-01 3.00619291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.319254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:822.69, Y:48.67, Z:30.06 [[ 9.83467677e-01 -1.77492749e-01 -3.58838667e-02 8.22686674e+02] [ 1.77352278e-01 9.84121923e-01 -7.08597469e-03 4.86710956e+01] [ 3.65718090e-02 6.04741565e-04 9.99330845e-01 3.00643590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.379254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:822.74, Y:48.68, Z:30.07 [[ 9.83424236e-01 -1.77733576e-01 -3.58824349e-02 8.22744441e+02] [ 1.77593001e-01 9.84078458e-01 -7.09321750e-03 4.86800250e+01] [ 3.65718341e-02 6.03172709e-04 9.99330845e-01 3.00662006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.439254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:822.80, Y:48.69, Z:30.07 [[ 9.83694341e-01 -1.76232929e-01 -3.58803355e-02 8.22801239e+02] [ 1.76090970e-01 9.84348265e-01 -7.10382110e-03 4.86871546e+01] [ 3.65706732e-02 6.69785542e-04 9.99330845e-01 3.00673290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.499254154 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:822.86, Y:48.69, Z:30.07 [[ 9.84265497e-01 -1.73014734e-01 -3.58794342e-02 8.22859430e+02] [ 1.72870471e-01 9.84918916e-01 -7.10837075e-03 4.86935760e+01] [ 3.65681863e-02 7.94029368e-04 9.99330845e-01 3.00681152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.559254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:822.92, Y:48.70, Z:30.07 [[ 9.84761087e-01 -1.70171421e-01 -3.58788074e-02 8.22916601e+02] [ 1.70025157e-01 9.85414061e-01 -7.11153284e-03 4.87018860e+01] [ 3.65656610e-02 9.02860960e-04 9.99330845e-01 3.00707331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.619254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:822.97, Y:48.71, Z:30.07 [[ 9.85109973e-01 -1.68140407e-01 -3.58767892e-02 8.22974879e+02] [ 1.67992426e-01 9.85762561e-01 -7.12170001e-03 4.87075289e+01] [ 3.65634411e-02 9.88628842e-04 9.99330845e-01 3.00727627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.679254154 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:823.03, Y:48.71, Z:30.07 [[ 9.85059959e-01 -1.68433614e-01 -3.58747026e-02 8.23032193e+02] [ 1.68285445e-01 9.85712504e-01 -7.13219563e-03 4.87148230e+01] [ 3.65634444e-02 9.88450041e-04 9.99330845e-01 3.00732782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.7392541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:823.09, Y:48.72, Z:30.08 [[ 9.85337650e-01 -1.66801889e-01 -3.58726250e-02 8.23091156e+02] [ 1.66652260e-01 9.85989862e-01 -7.14262970e-03 4.87203931e+01] [ 3.65614487e-02 1.05964794e-03 9.99330845e-01 3.00800261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.799254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:823.15, Y:48.73, Z:30.08 [[ 9.85916038e-01 -1.63348867e-01 -3.58707824e-02 8.23148695e+02] [ 1.63196618e-01 9.86567643e-01 -7.15187174e-03 4.87280356e+01] [ 3.65572034e-02 1.19715468e-03 9.99330845e-01 3.00817049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.8592541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:823.21, Y:48.74, Z:30.08 [[ 9.86204570e-01 -1.61597896e-01 -3.58701346e-02 8.23206726e+02] [ 1.61444373e-01 9.86855875e-01 -7.15511913e-03 4.87381298e+01] [ 3.65549053e-02 1.26537980e-03 9.99330845e-01 3.00843053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.919254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:823.26, Y:48.75, Z:30.09 [[ 9.86306735e-01 -1.60973568e-01 -3.58683046e-02 8.23264412e+02] [ 1.60819300e-01 9.86957864e-01 -7.16428115e-03 4.87509354e+01] [ 3.65537652e-02 1.29786313e-03 9.99330845e-01 3.00852698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.9792541539999 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:823.32, Y:48.77, Z:30.08 [[ 9.86480083e-01 -1.59908237e-01 -3.58664357e-02 8.23320947e+02] [ 1.59752927e-01 9.87130965e-01 -7.17362493e-03 4.87651617e+01] [ 3.65519910e-02 1.34687004e-03 9.99330845e-01 3.00833086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.039254154 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:823.38, Y:48.78, Z:30.09 [[ 9.86384990e-01 -1.60493916e-01 -3.58657809e-02 8.23377505e+02] [ 1.60338873e-01 9.87035935e-01 -7.17689767e-03 4.87765097e+01] [ 3.65526630e-02 1.32850524e-03 9.99330845e-01 3.00861432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.0992541539999 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:823.43, Y:48.79, Z:30.09 [[ 9.86260140e-01 -1.61259836e-01 -3.58636477e-02 8.23434816e+02] [ 1.61104912e-01 9.86911114e-01 -7.18754137e-03 4.87879678e+01] [ 3.65532943e-02 1.31097574e-03 9.99330845e-01 3.00891529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.159254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:823.49, Y:48.80, Z:30.09 [[ 9.86212731e-01 -1.61549992e-01 -3.58615150e-02 8.23492129e+02] [ 1.61394874e-01 9.86863659e-01 -7.19816663e-03 4.88002798e+01] [ 3.65532897e-02 1.31105888e-03 9.99330845e-01 3.00944436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.2192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:823.55, Y:48.81, Z:30.10 [[ 9.85990071e-01 -1.62903848e-01 -3.58596706e-02 8.23548330e+02] [ 1.62749290e-01 9.86641132e-01 -7.20734346e-03 4.88127391e+01] [ 3.65547300e-02 1.27023317e-03 9.99330845e-01 3.00965649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.279254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:823.61, Y:48.83, Z:30.10 [[ 9.85653829e-01 -1.64926297e-01 -3.58586947e-02 8.23605909e+02] [ 1.64772899e-01 9.86305164e-01 -7.21219552e-03 4.88257822e+01] [ 3.65570964e-02 1.20018706e-03 9.99330845e-01 3.00993408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.339254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:823.66, Y:48.84, Z:30.10 [[ 9.85656505e-01 -1.64910702e-01 -3.58568667e-02 8.23662533e+02] [ 1.64756964e-01 9.86307759e-01 -7.22127240e-03 4.88387607e+01] [ 3.65567709e-02 1.21002564e-03 9.99330845e-01 3.01008932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.399254154 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:823.72, Y:48.85, Z:30.10 [[ 9.85783592e-01 -1.64149758e-01 -3.58548001e-02 8.23719505e+02] [ 1.63995145e-01 9.86434639e-01 -7.23151901e-03 4.88525883e+01] [ 3.65554689e-02 1.24869967e-03 9.99330845e-01 3.00999745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.459254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:823.78, Y:48.87, Z:30.10 [[ 9.86532079e-01 -1.59590228e-01 -3.58527129e-02 8.23775395e+02] [ 1.59432231e-01 9.87182313e-01 -7.24185216e-03 4.88679543e+01] [ 3.65488929e-02 1.42824147e-03 9.99330845e-01 3.01032909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.519254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:823.83, Y:48.88, Z:30.10 [[ 9.87133662e-01 -1.55826389e-01 -3.58506544e-02 8.23831267e+02] [ 1.55665545e-01 9.87783198e-01 -7.25202821e-03 4.88827875e+01] [ 3.65427315e-02 1.57800951e-03 9.99330845e-01 3.01043111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.579254154 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:823.89, Y:48.90, Z:30.10 [[ 9.87400022e-01 -1.54130054e-01 -3.58486125e-02 8.23888033e+02] [ 1.53967729e-01 9.88049189e-01 -7.26210810e-03 4.88992258e+01] [ 3.65395016e-02 1.65107627e-03 9.99330846e-01 3.01012819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.639254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:823.94, Y:48.91, Z:30.11 [[ 9.87616193e-01 -1.52739186e-01 -3.58468412e-02 8.23944516e+02] [ 1.52575630e-01 9.88265052e-01 -7.27084089e-03 4.89124959e+01] [ 3.65367227e-02 1.71144583e-03 9.99330846e-01 3.01060123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.699254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:824.00, Y:48.93, Z:30.11 [[ 9.87782132e-01 -1.51662822e-01 -3.58447650e-02 8.24001566e+02] [ 1.51498189e-01 9.88430718e-01 -7.28106187e-03 4.89260059e+01] [ 3.65343332e-02 1.76168584e-03 9.99330846e-01 3.01089104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.759254154 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:824.06, Y:48.94, Z:30.11 [[ 9.87798673e-01 -1.51555498e-01 -3.58429003e-02 8.24058450e+02] [ 1.51390462e-01 9.88447156e-01 -7.29023018e-03 4.89395104e+01] [ 3.65336873e-02 1.77500646e-03 9.99330846e-01 3.01116379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.819254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:824.12, Y:48.95, Z:30.11 [[ 9.87796168e-01 -1.51572333e-01 -3.58407463e-02 8.24115220e+02] [ 1.51406926e-01 9.88444556e-01 -7.30080444e-03 4.89534170e+01] [ 3.65331905e-02 1.78516941e-03 9.99330846e-01 3.01142991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.879254154 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:824.17, Y:48.96, Z:30.12 [[ 9.87036579e-01 -1.56442913e-01 -3.58386285e-02 8.24171759e+02] [ 1.56280330e-01 9.87685681e-01 -7.31118540e-03 4.89648018e+01] [ 3.65410834e-02 1.61553471e-03 9.99330846e-01 3.01154146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.939254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:824.23, Y:48.98, Z:30.12 [[ 9.86081463e-01 -1.62354515e-01 -3.58379774e-02 8.24228947e+02] [ 1.62195709e-01 9.86731499e-01 -7.31437559e-03 4.89758436e+01] [ 3.65499831e-02 1.39980403e-03 9.99330846e-01 3.01160226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.999254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:824.29, Y:48.98, Z:30.12 [[ 9.84661009e-01 -1.70758555e-01 -3.58359164e-02 8.24286007e+02] [ 1.70604932e-01 9.85312290e-01 -7.32445936e-03 4.89843312e+01] [ 3.65602830e-02 1.09832548e-03 9.99330846e-01 3.01215318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.059254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:824.34, Y:48.99, Z:30.12 [[ 9.83582738e-01 -1.76863875e-01 -3.58352848e-02 8.24342684e+02] [ 1.76714183e-01 9.84234934e-01 -7.32754854e-03 4.89946408e+01] [ 3.65663177e-02 8.74647200e-04 9.99330846e-01 3.01235546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.119254154 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:824.40, Y:49.00, Z:30.13 [[ 9.82659076e-01 -1.81926157e-01 -3.58331482e-02 8.24399947e+02] [ 1.81779444e-01 9.83311948e-01 -7.33798175e-03 4.90043606e+01] [ 3.65701336e-02 6.97004596e-04 9.99330846e-01 3.01253152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.179254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:824.46, Y:49.01, Z:30.13 [[ 9.82192253e-01 -1.84430243e-01 -3.58310333e-02 8.24456820e+02] [ 1.84284819e-01 9.82845414e-01 -7.34829446e-03 4.90132488e+01] [ 3.65716145e-02 6.14322403e-04 9.99330846e-01 3.01263453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.2392541539999 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:824.52, Y:49.02, Z:30.13 [[ 9.82186096e-01 -1.84463157e-01 -3.58303845e-02 8.24515175e+02] [ 1.84317639e-01 9.82839236e-01 -7.35145655e-03 4.90240281e+01] [ 3.65715806e-02 6.16326520e-04 9.99330846e-01 3.01278010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.299254154 meters Centerline goodness : 0.999738 with order 1 Centerline is valid? [True, True] Translation: X:824.57, Y:49.03, Z:30.13 [[ 9.82762029e-01 -1.81370088e-01 -3.58285545e-02 8.24571829e+02] [ 1.81222190e-01 9.83414634e-01 -7.36036436e-03 4.90343752e+01] [ 3.65692748e-02 7.40557491e-04 9.99330846e-01 3.01265974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.3592541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:824.63, Y:49.04, Z:30.13 [[ 9.83527243e-01 -1.77173709e-01 -3.58279116e-02 8.24629808e+02] [ 1.77022913e-01 9.84179184e-01 -7.36349250e-03 4.90438375e+01] [ 3.65657021e-02 8.99834178e-04 9.99330846e-01 3.01317991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.419254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:824.69, Y:49.05, Z:30.13 [[ 9.83496669e-01 -1.77343710e-01 -3.58261228e-02 8.24687396e+02] [ 1.77192711e-01 9.84148563e-01 -7.37218560e-03 4.90521075e+01] [ 3.65656380e-02 9.02392151e-04 9.99330846e-01 3.01328563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.4792541539999 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:824.74, Y:49.06, Z:30.13 [[ 9.82821111e-01 -1.81050261e-01 -3.58254939e-02 8.24744545e+02] [ 1.80901609e-01 9.83473545e-01 -7.37524052e-03 4.90613913e+01] [ 3.65687147e-02 7.67652590e-04 9.99330846e-01 3.01341871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.539254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:824.80, Y:49.07, Z:30.14 [[ 9.80593724e-01 -1.92750172e-01 -3.58234529e-02 8.24802830e+02] [ 1.92608944e-01 9.81247805e-01 -7.38514066e-03 4.90725784e+01] [ 3.65751717e-02 3.41905121e-04 9.99330846e-01 3.01362256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.5992541539999 meters Centerline goodness : 0.998065 with order 1 Centerline is valid? [True, True] Translation: X:824.86, Y:49.08, Z:30.14 [[ 9.80215501e-01 -1.94664541e-01 -3.58230255e-02 8.24860779e+02] [ 1.94524514e-01 9.80869840e-01 -7.38721342e-03 4.90778181e+01] [ 3.65757538e-02 2.72604461e-04 9.99330846e-01 3.01353942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.659254154 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:824.92, Y:49.08, Z:30.15 [[ 9.79047216e-01 -2.00457771e-01 -3.58222074e-02 8.24919085e+02] [ 2.00321472e-01 9.79702342e-01 -7.39117828e-03 4.90841677e+01] [ 3.65767196e-02 6.03551802e-05 9.99330846e-01 3.01489172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.7192541539999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:824.98, Y:49.09, Z:30.15 [[ 9.78738163e-01 -2.01961721e-01 -3.58199807e-02 8.24976825e+02] [ 2.01826034e-01 9.79393416e-01 -7.40195409e-03 4.90940962e+01] [ 3.65767646e-02 1.51703121e-05 9.99330846e-01 3.01525117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.779254154 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:825.03, Y:49.11, Z:30.15 [[ 9.78877455e-01 -2.01285843e-01 -3.58181277e-02 8.25034287e+02] [ 2.01149376e-01 9.79532545e-01 -7.41090989e-03 4.91070163e+01] [ 3.65767330e-02 4.95785763e-05 9.99330846e-01 3.01529165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.839254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:825.09, Y:49.12, Z:30.16 [[ 9.79206587e-01 -1.99678881e-01 -3.58162511e-02 8.25091480e+02] [ 1.99541007e-01 9.79861383e-01 -7.41996820e-03 4.91194645e+01] [ 3.65765723e-02 1.18870918e-04 9.99330846e-01 3.01565880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.899254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:825.15, Y:49.13, Z:30.16 [[ 9.79133469e-01 -2.00037447e-01 -3.58143919e-02 8.25147710e+02] [ 1.99899485e-01 9.79788246e-01 -7.42893124e-03 4.91323176e+01] [ 3.65765847e-02 1.14636704e-04 9.99330846e-01 3.01590703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.959254154 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:825.20, Y:49.15, Z:30.16 [[ 9.78669728e-01 -2.02294451e-01 -3.58122625e-02 8.25204883e+02] [ 2.02157624e-01 9.79324744e-01 -7.43918224e-03 4.91457846e+01] [ 3.65767401e-02 4.07805480e-05 9.99330846e-01 3.01613418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.019254154 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:825.26, Y:49.16, Z:30.16 [[ 9.78590116e-01 -2.02679545e-01 -3.58104183e-02 8.25261237e+02] [ 2.02542652e-01 9.79245118e-01 -7.44804947e-03 4.91599075e+01] [ 3.65767445e-02 3.54505331e-05 9.99330846e-01 3.01631499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.079254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:825.32, Y:49.17, Z:30.16 [[ 9.78878186e-01 -2.01284035e-01 -3.58082939e-02 8.25317255e+02] [ 2.01145835e-01 9.79532913e-01 -7.45824872e-03 4.91733411e+01] [ 3.65766289e-02 9.80278018e-05 9.99330846e-01 3.01649092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.139254154 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:825.37, Y:49.19, Z:30.16 [[ 9.79350185e-01 -1.98974943e-01 -3.58076424e-02 8.25373807e+02] [ 1.98835085e-01 9.80004560e-01 -7.46137540e-03 4.91895415e+01] [ 3.65762796e-02 1.87483751e-04 9.99330846e-01 3.01634005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.199254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:825.43, Y:49.20, Z:30.16 [[ 9.79782041e-01 -1.96837746e-01 -3.58057813e-02 8.25430557e+02] [ 1.96696134e-01 9.80436038e-01 -7.47029573e-03 4.92040423e+01] [ 3.65757146e-02 2.76402832e-04 9.99330846e-01 3.01648095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.259254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:825.49, Y:49.22, Z:30.16 [[ 9.79187863e-01 -1.99772933e-01 -3.58036882e-02 8.25487057e+02] [ 1.99632916e-01 9.79842204e-01 -7.48031416e-03 4.92249528e+01] [ 3.65763291e-02 1.77038159e-04 9.99330847e-01 3.01609639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.319254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:825.54, Y:49.23, Z:30.17 [[ 9.80516530e-01 -1.93146189e-01 -3.58034011e-02 8.25543807e+02] [ 1.93001700e-01 9.81169898e-01 -7.48168842e-03 4.92334907e+01] [ 3.65742790e-02 4.25801912e-04 9.99330847e-01 3.01711203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.379254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:825.60, Y:49.25, Z:30.18 [[ 9.80745689e-01 -1.91979325e-01 -3.58026961e-02 8.25600515e+02] [ 1.91833935e-01 9.81398856e-01 -7.48506022e-03 4.92466435e+01] [ 3.65737019e-02 4.72768470e-04 9.99330847e-01 3.01762563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.439254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:825.66, Y:49.27, Z:30.17 [[ 9.79832166e-01 -1.96588760e-01 -3.58020347e-02 8.25656739e+02] [ 1.96446327e-01 9.80485985e-01 -7.48822275e-03 4.92661763e+01] [ 3.65754937e-02 3.04023294e-04 9.99330847e-01 3.01697229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.499254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:825.71, Y:49.27, Z:30.18 [[ 9.81400878e-01 -1.88601885e-01 -3.58000670e-02 8.25714485e+02] [ 1.88453789e-01 9.82053438e-01 -7.49761818e-03 4.92732107e+01] [ 3.65716438e-02 6.11510783e-04 9.99330847e-01 3.01775231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.559254154 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:825.77, Y:49.29, Z:30.18 [[ 9.81519475e-01 -1.87984093e-01 -3.57980629e-02 8.25771013e+02] [ 1.87835238e-01 9.82171862e-01 -7.50717496e-03 4.92858235e+01] [ 3.65710795e-02 6.44300776e-04 9.99330847e-01 3.01788287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.619254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:825.83, Y:49.30, Z:30.18 [[ 9.81661327e-01 -1.87242355e-01 -3.57957931e-02 8.25828470e+02] [ 1.87092613e-01 9.82313511e-01 -7.51798217e-03 4.92975634e+01] [ 3.65703759e-02 6.82983908e-04 9.99330847e-01 3.01817335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.679254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:825.88, Y:49.31, Z:30.18 [[ 9.81532084e-01 -1.87919045e-01 -3.57938623e-02 8.25884981e+02] [ 1.87769418e-01 9.82184294e-01 -7.52716355e-03 4.93085903e+01] [ 3.65706668e-02 6.67159838e-04 9.99330847e-01 3.01847337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.7392541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:825.94, Y:49.32, Z:30.19 [[ 9.81292075e-01 -1.89168771e-01 -3.57916189e-02 8.25942027e+02] [ 1.89019586e-01 9.81944386e-01 -7.53781604e-03 4.93191258e+01] [ 3.65712986e-02 6.31482160e-04 9.99330847e-01 3.01879678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.799254154 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:826.00, Y:49.33, Z:30.19 [[ 9.81065113e-01 -1.90342461e-01 -3.57909310e-02 8.25999752e+02] [ 1.90193938e-01 9.81717576e-01 -7.54108055e-03 4.93300009e+01] [ 3.65719739e-02 5.91072926e-04 9.99330847e-01 3.01911483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.8592541539999 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:826.06, Y:49.34, Z:30.19 [[ 9.80870301e-01 -1.91344192e-01 -3.57889943e-02 8.26056932e+02] [ 1.91196001e-01 9.81522839e-01 -7.55026068e-03 4.93409173e+01] [ 3.65724139e-02 5.63113888e-04 9.99330847e-01 3.01916565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.919254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:826.11, Y:49.35, Z:30.19 [[ 9.81235772e-01 -1.89461520e-01 -3.57867713e-02 8.26112687e+02] [ 1.89311692e-01 9.81887935e-01 -7.56078272e-03 4.93518399e+01] [ 3.65710764e-02 6.44056227e-04 9.99330847e-01 3.01937917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.9792541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:826.17, Y:49.37, Z:30.19 [[ 9.80570809e-01 -1.92873701e-01 -3.57858168e-02 8.26169576e+02] [ 1.92725978e-01 9.81223452e-01 -7.56529790e-03 4.93689912e+01] [ 3.65730297e-02 5.21453732e-04 9.99330847e-01 3.01895319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.039254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:826.23, Y:49.38, Z:30.19 [[ 9.81065705e-01 -1.90340742e-01 -3.57838657e-02 8.26226098e+02] [ 1.90190998e-01 9.81717888e-01 -7.57451540e-03 4.93817275e+01] [ 3.65713999e-02 6.25328170e-04 9.99330847e-01 3.01897160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.0992541539999 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:826.28, Y:49.39, Z:30.20 [[ 9.82283674e-01 -1.83952335e-01 -3.57815973e-02 8.26283813e+02] [ 1.83797961e-01 9.82934776e-01 -7.58521607e-03 4.93881996e+01] [ 3.65662945e-02 8.74249283e-04 9.99330847e-01 3.01971577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.159254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:826.34, Y:49.40, Z:30.20 [[ 9.82733097e-01 -1.81536240e-01 -3.57806397e-02 8.26341997e+02] [ 1.81380101e-01 9.83383778e-01 -7.58973071e-03 4.93988120e+01] [ 3.65639118e-02 9.68783540e-04 9.99330847e-01 3.02031383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.2192541539999 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:826.40, Y:49.41, Z:30.20 [[ 9.83047626e-01 -1.79825617e-01 -3.57786726e-02 8.26399027e+02] [ 1.79668009e-01 9.83697953e-01 -7.59899237e-03 4.94111946e+01] [ 3.65619005e-02 1.04188854e-03 9.99330847e-01 3.02044551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.279254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:826.46, Y:49.42, Z:30.21 [[ 9.83626179e-01 -1.76633734e-01 -3.57779793e-02 8.26455176e+02] [ 1.76473897e-01 9.84275962e-01 -7.60225536e-03 4.94249554e+01] [ 3.65582197e-02 1.16389797e-03 9.99330847e-01 3.02063822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.339254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:826.51, Y:49.44, Z:30.21 [[ 9.84017626e-01 -1.74439949e-01 -3.57772970e-02 8.26511192e+02] [ 1.74278547e-01 9.84667022e-01 -7.60546498e-03 4.94389685e+01] [ 3.65554214e-02 1.24869627e-03 9.99330847e-01 3.02054842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.399254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:826.57, Y:49.45, Z:30.21 [[ 9.84668152e-01 -1.70730189e-01 -3.57747548e-02 8.26568255e+02] [ 1.70565907e-01 9.85316825e-01 -7.61740422e-03 4.94519297e+01] [ 3.65499887e-02 1.39866182e-03 9.99330847e-01 3.02120249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.459254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:826.62, Y:49.47, Z:30.21 [[ 9.85187811e-01 -1.67706031e-01 -3.57723974e-02 8.26624047e+02] [ 1.67539358e-01 9.85835874e-01 -7.62845890e-03 4.94666774e+01] [ 3.65450512e-02 1.52218023e-03 9.99330847e-01 3.02113480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.519254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:826.68, Y:49.48, Z:30.21 [[ 9.85502367e-01 -1.65847736e-01 -3.57716720e-02 8.26679826e+02] [ 1.65679718e-01 9.86150083e-01 -7.63185862e-03 4.94814043e+01] [ 3.65419638e-02 1.59457419e-03 9.99330847e-01 3.02128491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.579254154 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:826.74, Y:49.49, Z:30.21 [[ 9.85464377e-01 -1.66073467e-01 -3.57710018e-02 8.26736789e+02] [ 1.65905483e-01 9.86112102e-01 -7.63499885e-03 4.94947328e+01] [ 3.65421885e-02 1.58941405e-03 9.99330847e-01 3.02143769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.639254154 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:826.79, Y:49.51, Z:30.22 [[ 9.85438045e-01 -1.66230111e-01 -3.57688440e-02 8.26794342e+02] [ 1.66061865e-01 9.86085701e-01 -7.64509447e-03 4.95082663e+01] [ 3.65419905e-02 1.59392600e-03 9.99330847e-01 3.02203030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.699254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:826.85, Y:49.52, Z:30.22 [[ 9.85320960e-01 -1.66923142e-01 -3.57668861e-02 8.26851059e+02] [ 1.66755020e-01 9.85968649e-01 -7.65424333e-03 4.95220444e+01] [ 3.65426987e-02 1.57757858e-03 9.99330847e-01 3.02223530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.759254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:826.91, Y:49.54, Z:30.22 [[ 9.85177942e-01 -1.67765640e-01 -3.57646760e-02 8.26907398e+02] [ 1.67597698e-01 9.85825677e-01 -7.66455631e-03 4.95370158e+01] [ 3.65435851e-02 1.55687443e-03 9.99330847e-01 3.02243386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.819254154 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:826.96, Y:49.55, Z:30.22 [[ 9.84974231e-01 -1.68958028e-01 -3.57623916e-02 8.26963698e+02] [ 1.68790484e-01 9.85622069e-01 -7.67520010e-03 4.95509649e+01] [ 3.65449891e-02 1.52352290e-03 9.99330847e-01 3.02234414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.879254154 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:827.02, Y:49.57, Z:30.22 [[ 9.84879775e-01 -1.69507903e-01 -3.57616920e-02 8.27019210e+02] [ 1.69340603e-01 9.85527677e-01 -7.67845880e-03 4.95652720e+01] [ 3.65456966e-02 1.50645229e-03 9.99330847e-01 3.02248965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.939254154 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:827.08, Y:49.58, Z:30.23 [[ 9.84674213e-01 -1.70698171e-01 -3.57607288e-02 8.27075062e+02] [ 1.70531491e-01 9.85322274e-01 -7.68294188e-03 4.95797440e+01] [ 3.65473067e-02 1.46686433e-03 9.99330847e-01 3.02258517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.999254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:827.13, Y:49.59, Z:30.23 [[ 9.84344511e-01 -1.72589713e-01 -3.57585516e-02 8.27132735e+02] [ 1.72423912e-01 9.84992798e-01 -7.69306186e-03 4.95936426e+01] [ 3.65496591e-02 1.40699386e-03 9.99330848e-01 3.02277957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.059254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:827.19, Y:49.61, Z:30.23 [[ 9.84024927e-01 -1.74403002e-01 -3.57566153e-02 8.27189485e+02] [ 1.74238070e-01 9.84673435e-01 -7.70205131e-03 4.96072537e+01] [ 3.65518500e-02 1.34884685e-03 9.99330848e-01 3.02294036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.119254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:827.25, Y:49.62, Z:30.23 [[ 9.83656609e-01 -1.76468968e-01 -3.57544251e-02 8.27246505e+02] [ 1.76305029e-01 9.84305369e-01 -7.71220508e-03 4.96218401e+01] [ 3.65542375e-02 1.28247654e-03 9.99330848e-01 3.02327841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.179254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:827.30, Y:49.64, Z:30.24 [[ 9.83291047e-01 -1.78495028e-01 -3.57525063e-02 8.27303207e+02] [ 1.78332103e-01 9.83940062e-01 -7.72108999e-03 4.96350505e+01] [ 3.65564995e-02 1.21625902e-03 9.99330848e-01 3.02361094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.2392541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:827.36, Y:49.65, Z:30.24 [[ 9.82852696e-01 -1.80893610e-01 -3.57502426e-02 8.27359524e+02] [ 1.80731889e-01 9.83502012e-01 -7.73155723e-03 4.96479718e+01] [ 3.65590248e-02 1.13777299e-03 9.99330848e-01 3.02391822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.299254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:827.42, Y:49.66, Z:30.24 [[ 9.82773509e-01 -1.81323782e-01 -3.57479590e-02 8.27415782e+02] [ 1.81161962e-01 9.83422800e-01 -7.74210139e-03 4.96626180e+01] [ 3.65591851e-02 1.13256175e-03 9.99330848e-01 3.02412686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.3592541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:827.47, Y:49.68, Z:30.24 [[ 9.82204251e-01 -1.84382900e-01 -3.57456987e-02 8.27472478e+02] [ 1.84222724e-01 9.82853950e-01 -7.75252362e-03 4.96799453e+01] [ 3.65622339e-02 1.02939168e-03 9.99330848e-01 3.02389538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.419254154 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:827.53, Y:49.69, Z:30.24 [[ 9.83012673e-01 -1.80023554e-01 -3.57435885e-02 8.27528743e+02] [ 1.79860144e-01 9.83661566e-01 -7.76224029e-03 4.96916099e+01] [ 3.65569804e-02 1.20153360e-03 9.99330848e-01 3.02429051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.4792541539999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:827.58, Y:49.71, Z:30.24 [[ 9.82713104e-01 -1.81651942e-01 -3.57424988e-02 8.27584925e+02] [ 1.81489425e-01 9.83362221e-01 -7.76725504e-03 4.97083467e+01] [ 3.65587600e-02 1.14609776e-03 9.99330848e-01 3.02424344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.539254154 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:827.64, Y:49.72, Z:30.25 [[ 9.83247097e-01 -1.78739122e-01 -3.57417430e-02 8.27641475e+02] [ 1.78574556e-01 9.83895698e-01 -7.77073107e-03 4.97207436e+01] [ 3.65550809e-02 1.25798287e-03 9.99330848e-01 3.02468361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.5992541539999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:827.70, Y:49.73, Z:30.25 [[ 9.83458432e-01 -1.77572785e-01 -3.57410030e-02 8.27698706e+02] [ 1.77407327e-01 9.84106805e-01 -7.77413317e-03 4.97346188e+01] [ 3.65534388e-02 1.30482102e-03 9.99330848e-01 3.02514460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.659254154 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:827.75, Y:49.75, Z:30.25 [[ 9.83804349e-01 -1.75646593e-01 -3.57390177e-02 8.27753767e+02] [ 1.75479534e-01 9.84452312e-01 -7.78324948e-03 4.97488490e+01] [ 3.65504598e-02 1.38572851e-03 9.99330848e-01 3.02513278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.7192541539999 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:827.81, Y:49.76, Z:30.25 [[ 9.84437506e-01 -1.72062745e-01 -3.57380422e-02 8.27809958e+02] [ 1.71893165e-01 9.85084814e-01 -7.78772593e-03 4.97647205e+01] [ 3.65449802e-02 1.52340430e-03 9.99330848e-01 3.02529680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.779254154 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:827.87, Y:49.78, Z:30.26 [[ 9.85162041e-01 -1.67865158e-01 -3.57357185e-02 8.27866160e+02] [ 1.67692436e-01 9.85808517e-01 -7.79837413e-03 4.97794597e+01] [ 3.65376510e-02 1.69005249e-03 9.99330848e-01 3.02565824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.839254154 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:827.92, Y:49.79, Z:30.26 [[ 9.85268679e-01 -1.67238269e-01 -3.57350050e-02 8.27921931e+02] [ 1.67065017e-01 9.85915014e-01 -7.80164231e-03 4.97925833e+01] [ 3.65364111e-02 1.71664460e-03 9.99330848e-01 3.02581897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.899254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:827.98, Y:49.81, Z:30.26 [[ 9.85462456e-01 -1.66092948e-01 -3.57334718e-02 8.27978404e+02] [ 1.65918691e-01 9.86108520e-01 -7.80865847e-03 4.98070028e+01] [ 3.65340441e-02 1.76628887e-03 9.99330848e-01 3.02617939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.959254154 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:828.04, Y:49.82, Z:30.26 [[ 9.85445403e-01 -1.66194570e-01 -3.57312410e-02 8.28035261e+02] [ 1.66020011e-01 9.86091386e-01 -7.81885332e-03 4.98205734e+01] [ 3.65337199e-02 1.77295205e-03 9.99330848e-01 3.02631912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.019254154 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:828.09, Y:49.83, Z:30.26 [[ 9.85140580e-01 -1.67992505e-01 -3.57289218e-02 8.28091165e+02] [ 1.67818742e-01 9.85786777e-01 -7.82943655e-03 4.98341633e+01] [ 3.65363853e-02 1.71711296e-03 9.99330848e-01 3.02624959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.079254154 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:828.15, Y:49.85, Z:30.27 [[ 9.84525685e-01 -1.71559581e-01 -3.57279269e-02 8.28148975e+02] [ 1.71387995e-01 9.85172464e-01 -7.83397372e-03 4.98467444e+01] [ 3.65421631e-02 1.58941057e-03 9.99330848e-01 3.02669908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.139254154 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:828.21, Y:49.86, Z:30.27 [[ 9.83146878e-01 -1.79292695e-01 -3.57259722e-02 8.28205172e+02] [ 1.79125875e-01 9.83794903e-01 -7.84287818e-03 4.98633302e+01] [ 3.65532001e-02 1.31125519e-03 9.99330848e-01 3.02655990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.199254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:828.26, Y:49.87, Z:30.27 [[ 9.81961108e-01 -1.85677384e-01 -3.57252340e-02 8.28262579e+02] [ 1.85514656e-01 9.82610171e-01 -7.84623933e-03 4.98743727e+01] [ 3.65608475e-02 1.07714737e-03 9.99330848e-01 3.02687031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.259254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:828.32, Y:49.89, Z:30.27 [[ 9.80641688e-01 -1.92524690e-01 -3.57228733e-02 8.28319231e+02] [ 1.92366104e-01 9.81291776e-01 -7.85697248e-03 4.98861453e+01] [ 3.65672230e-02 8.33004790e-04 9.99330848e-01 3.02698777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.319254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:828.38, Y:49.90, Z:30.27 [[ 9.80227911e-01 -1.94620888e-01 -3.57204807e-02 8.28376972e+02] [ 1.94463297e-01 9.80878241e-01 -7.86783521e-03 4.98964211e+01] [ 3.65686873e-02 7.65949233e-04 9.99330848e-01 3.02747719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.379254154 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:828.43, Y:49.91, Z:30.28 [[ 9.80681034e-01 -1.92324998e-01 -3.57184153e-02 8.28434241e+02] [ 1.92165544e-01 9.81330909e-01 -7.87720025e-03 4.99051056e+01] [ 3.65665675e-02 8.61172165e-04 9.99330848e-01 3.02794425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.439254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:828.49, Y:49.92, Z:30.28 [[ 9.81021559e-01 -1.90580552e-01 -3.57176902e-02 8.28491160e+02] [ 1.90419822e-01 9.81671121e-01 -7.88048696e-03 4.99172028e+01] [ 3.65648925e-02 9.29571383e-04 9.99330848e-01 3.02817320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.499254154 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:828.55, Y:49.93, Z:30.28 [[ 9.81275093e-01 -1.89270942e-01 -3.57169820e-02 8.28548556e+02] [ 1.89109229e-01 9.81924410e-01 -7.88369524e-03 4.99309462e+01] [ 3.65635309e-02 9.81662838e-04 9.99330848e-01 3.02809610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.559254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:828.60, Y:49.94, Z:30.29 [[ 9.81587353e-01 -1.87645168e-01 -3.57149850e-02 8.28604964e+02] [ 1.87482051e-01 9.82236319e-01 -7.89273207e-03 4.99426605e+01] [ 3.65615884e-02 1.05148735e-03 9.99330848e-01 3.02856566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.619254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:828.66, Y:49.95, Z:30.29 [[ 9.81315585e-01 -1.89061695e-01 -3.57127041e-02 8.28662425e+02] [ 1.88899140e-01 9.81964692e-01 -7.90303904e-03 4.99544572e+01] [ 3.65627764e-02 1.00927628e-03 9.99330848e-01 3.02895666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.679254154 meters Centerline goodness : 0.999680 with order 1 Centerline is valid? [True, True] Translation: X:828.72, Y:49.97, Z:30.29 [[ 9.80225960e-01 -1.94632520e-01 -3.57106403e-02 8.28719236e+02] [ 1.94473316e-01 9.80875896e-01 -7.91235326e-03 4.99658938e+01] [ 3.65677076e-02 8.11127442e-04 9.99330849e-01 3.02868476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.7392541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:828.78, Y:49.98, Z:30.29 [[ 9.78532375e-01 -2.02975907e-01 -3.57095591e-02 8.28776557e+02] [ 2.02822067e-01 9.79183602e-01 -7.91722992e-03 4.99803401e+01] [ 3.65732217e-02 5.04579194e-04 9.99330849e-01 3.02912887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.799254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:828.83, Y:49.99, Z:30.30 [[ 9.77508764e-01 -2.07849671e-01 -3.57089700e-02 8.28834380e+02] [ 2.07698982e-01 9.78160727e-01 -7.91988599e-03 4.99891127e+01] [ 3.65752578e-02 3.25041250e-04 9.99330849e-01 3.02959045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.8592541539999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:828.89, Y:50.00, Z:30.30 [[ 9.76973358e-01 -2.10352314e-01 -3.57065975e-02 8.28890946e+02] [ 2.10202904e-01 9.77625616e-01 -7.93056830e-03 4.99999588e+01] [ 3.65758977e-02 2.42323453e-04 9.99330849e-01 3.02984127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.919254154 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:828.95, Y:50.01, Z:30.30 [[ 9.77140493e-01 -2.09574964e-01 -3.57042245e-02 8.28948843e+02] [ 2.09424645e-01 9.77792542e-01 -7.94123746e-03 5.00081102e+01] [ 3.65756089e-02 2.82360150e-04 9.99330849e-01 3.03012199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.9792541539999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:829.01, Y:50.02, Z:30.30 [[ 9.77319335e-01 -2.08739722e-01 -3.57021856e-02 8.29007097e+02] [ 2.08588512e-01 9.77971178e-01 -7.95039320e-03 5.00196524e+01] [ 3.65752714e-02 3.23007240e-04 9.99330849e-01 3.03024184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.039254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:829.06, Y:50.03, Z:30.31 [[ 9.77844654e-01 -2.06265035e-01 -3.57010909e-02 8.29064419e+02] [ 2.06111996e-01 9.78496070e-01 -7.95530601e-03 5.00315108e+01] [ 3.65742786e-02 4.20630364e-04 9.99330849e-01 3.03066494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.0992541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:829.12, Y:50.04, Z:30.31 [[ 9.78126464e-01 -2.04924857e-01 -3.56990678e-02 8.29121044e+02] [ 2.04770594e-01 9.78777591e-01 -7.96437428e-03 5.00434781e+01] [ 3.65735458e-02 4.80045942e-04 9.99330849e-01 3.03072156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.159254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:829.18, Y:50.05, Z:30.31 [[ 9.78207213e-01 -2.04539180e-01 -3.56983563e-02 8.29177942e+02] [ 2.04384544e-01 9.78858251e-01 -7.96756205e-03 5.00548607e+01] [ 3.65733092e-02 4.97734399e-04 9.99330849e-01 3.03110746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.2192541539999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:829.23, Y:50.07, Z:30.31 [[ 9.77943963e-01 -2.05794547e-01 -3.56960820e-02 8.29234952e+02] [ 2.05640376e-01 9.78595111e-01 -7.97773809e-03 5.00668537e+01] [ 3.65737864e-02 4.61225078e-04 9.99330849e-01 3.03119736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.279254154 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:829.29, Y:50.08, Z:30.31 [[ 9.77450736e-01 -2.08124994e-01 -3.56937893e-02 8.29291466e+02] [ 2.07972000e-01 9.78102162e-01 -7.98798317e-03 5.00780446e+01] [ 3.65746714e-02 3.84551264e-04 9.99330849e-01 3.03146522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.339254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:829.35, Y:50.09, Z:30.32 [[ 9.77135625e-01 -2.09599823e-01 -3.56915112e-02 8.29348255e+02] [ 2.09447442e-01 9.77787195e-01 -7.99814915e-03 5.00885211e+01] [ 3.65751132e-02 3.39780771e-04 9.99330849e-01 3.03178059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.399254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:829.41, Y:50.10, Z:30.32 [[ 9.76752261e-01 -2.11379521e-01 -3.56892010e-02 8.29405544e+02] [ 2.11227951e-01 9.77404020e-01 -8.00844414e-03 5.01020931e+01] [ 3.65755896e-02 2.83709102e-04 9.99330849e-01 3.03171788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.459254154 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:829.46, Y:50.11, Z:30.32 [[ 9.76996376e-01 -2.10248668e-01 -3.56872253e-02 8.29462873e+02] [ 2.10096022e-01 9.77647884e-01 -8.01723857e-03 5.01124302e+01] [ 3.65751541e-02 3.35068941e-04 9.99330849e-01 3.03206595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.519254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:829.52, Y:50.12, Z:30.33 [[ 9.77025820e-01 -2.10112153e-01 -3.56851586e-02 8.29520983e+02] [ 2.09959081e-01 9.77677227e-01 -8.02642718e-03 5.01233212e+01] [ 3.65750168e-02 3.49603488e-04 9.99330849e-01 3.03263943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.579254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:829.58, Y:50.14, Z:30.33 [[ 9.77002976e-01 -2.10218698e-01 -3.56831122e-02 8.29578526e+02] [ 2.10065365e-01 9.77654322e-01 -8.03551449e-03 5.01352439e+01] [ 3.65749643e-02 3.54935563e-04 9.99330849e-01 3.03284835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.639254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:829.64, Y:50.15, Z:30.33 [[ 9.77363342e-01 -2.08537189e-01 -3.56810645e-02 8.29635889e+02] [ 2.08382404e-01 9.78014345e-01 -8.04459702e-03 5.01469765e+01] [ 3.65741906e-02 4.27188221e-04 9.99330849e-01 3.03315846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.699254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:829.69, Y:50.16, Z:30.33 [[ 9.78290954e-01 -2.04141660e-01 -3.56790126e-02 8.29692268e+02] [ 2.03983618e-01 9.78941174e-01 -8.05368746e-03 5.01593040e+01] [ 3.65717476e-02 6.00915518e-04 9.99330849e-01 3.03335303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.759254154 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:829.75, Y:50.17, Z:30.33 [[ 9.78523959e-01 -2.03022257e-01 -3.56766717e-02 8.29749524e+02] [ 2.02863094e-01 9.79173905e-01 -8.06404369e-03 5.01727617e+01] [ 3.65708463e-02 6.53379962e-04 9.99330849e-01 3.03339160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.819254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:829.81, Y:50.19, Z:30.34 [[ 9.79787736e-01 -1.96833210e-01 -3.56746375e-02 8.29806299e+02] [ 1.96669615e-01 9.80436581e-01 -8.07303310e-03 5.01862938e+01] [ 3.65657606e-02 8.93741598e-04 9.99330849e-01 3.03357115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.879254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:829.86, Y:50.20, Z:30.34 [[ 9.80611428e-01 -1.92688126e-01 -3.56723025e-02 8.29863928e+02] [ 1.92521414e-01 9.81259479e-01 -8.08333740e-03 5.01995689e+01] [ 3.65613481e-02 1.05893091e-03 9.99330849e-01 3.03368591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.939254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:829.92, Y:50.21, Z:30.34 [[ 9.80736609e-01 -1.92050358e-01 -3.56702111e-02 8.29920637e+02] [ 1.91882890e-01 9.81384465e-01 -8.09255581e-03 5.02118741e+01] [ 3.65603693e-02 1.09216256e-03 9.99330849e-01 3.03361170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.999254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:829.98, Y:50.23, Z:30.34 [[ 9.79731590e-01 -1.97113418e-01 -3.56694748e-02 8.29978248e+02] [ 1.96949180e-01 9.80380272e-01 -8.09579987e-03 5.02257657e+01] [ 3.65654402e-02 9.06637055e-04 9.99330849e-01 3.03383640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.059254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:830.04, Y:50.23, Z:30.34 [[ 9.79344764e-01 -1.99026827e-01 -3.56672785e-02 8.30035949e+02] [ 1.98863505e-01 9.79993677e-01 -8.10546477e-03 5.02343284e+01] [ 3.65669123e-02 8.45124479e-04 9.99330849e-01 3.03443959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.119254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:830.09, Y:50.25, Z:30.34 [[ 9.77688915e-01 -2.07008177e-01 -3.56651210e-02 8.30092905e+02] [ 2.06849807e-01 9.78339054e-01 -8.11494693e-03 5.02475871e+01] [ 3.65724411e-02 5.56570261e-04 9.99330850e-01 3.03416302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.179254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:830.15, Y:50.26, Z:30.34 [[ 9.77050090e-01 -2.10002801e-01 -3.56643333e-02 8.30149622e+02] [ 2.09846297e-01 9.77700682e-01 -8.11840712e-03 5.02575775e+01] [ 3.65739312e-02 4.48062119e-04 9.99330850e-01 3.03416930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.2392541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:830.21, Y:50.27, Z:30.35 [[ 9.77023831e-01 -2.10125373e-01 -3.56617687e-02 8.30208129e+02] [ 2.09968541e-01 9.77674343e-01 -8.12965712e-03 5.02671125e+01] [ 3.65738435e-02 4.55019215e-04 9.99330850e-01 3.03455829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.299254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:830.27, Y:50.28, Z:30.35 [[ 9.75961895e-01 -2.15003983e-01 -3.56604482e-02 8.30265093e+02] [ 2.14850192e-01 9.76613132e-01 -8.13544540e-03 5.02783207e+01] [ 3.65756152e-02 2.78230585e-04 9.99330850e-01 3.03464358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.3592541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:830.32, Y:50.29, Z:30.36 [[ 9.75640174e-01 -2.16459654e-01 -3.56576662e-02 8.30322139e+02] [ 2.16306389e-01 9.76291536e-01 -8.14762056e-03 5.02866350e+01] [ 3.65759088e-02 2.36164920e-04 9.99330850e-01 3.03572953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.419254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:830.38, Y:50.30, Z:30.35 [[ 9.74651230e-01 -2.20870028e-01 -3.56568579e-02 8.30379659e+02] [ 2.20719581e-01 9.75303248e-01 -8.15115660e-03 5.02990074e+01] [ 3.65765955e-02 7.43680706e-05 9.99330850e-01 3.03544951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.4792541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:830.44, Y:50.31, Z:30.36 [[ 9.75109450e-01 -2.18838404e-01 -3.56554922e-02 8.30436916e+02] [ 2.18686380e-01 9.75761102e-01 -8.15712603e-03 5.03090916e+01] [ 3.65763348e-02 1.56720150e-04 9.99330850e-01 3.03642122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.539254154 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:830.49, Y:50.32, Z:30.36 [[ 9.75159714e-01 -2.18614704e-01 -3.56530935e-02 8.30494116e+02] [ 2.18462148e-01 9.75811242e-01 -8.16759681e-03 5.03212965e+01] [ 3.65762462e-02 1.75859992e-04 9.99330850e-01 3.03635288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.5992541539999 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:830.55, Y:50.33, Z:30.36 [[ 9.75721473e-01 -2.16094033e-01 -3.56507463e-02 8.30551923e+02] [ 2.15939420e-01 9.76372516e-01 -8.17782953e-03 5.03347170e+01] [ 3.65755890e-02 2.80882403e-04 9.99330850e-01 3.03641234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.659254154 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:830.61, Y:50.35, Z:30.36 [[ 9.76115497e-01 -2.14307504e-01 -3.56487049e-02 8.30609116e+02] [ 2.14151375e-01 9.76766178e-01 -8.18671873e-03 5.03484083e+01] [ 3.65749244e-02 3.56963867e-04 9.99330850e-01 3.03646300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.7192541539999 meters Centerline goodness : 0.999760 with order 1 Centerline is valid? [True, True] Translation: X:830.67, Y:50.36, Z:30.37 [[ 9.76043070e-01 -2.14637470e-01 -3.56466402e-02 8.30666052e+02] [ 2.14481232e-01 9.76693725e-01 -8.19569903e-03 5.03612921e+01] [ 3.65749538e-02 3.53819936e-04 9.99330850e-01 3.03680027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.779254154 meters Centerline goodness : 0.999760 with order 1 Centerline is valid? [True, True] Translation: X:830.72, Y:50.37, Z:30.37 [[ 9.75381806e-01 -2.17623108e-01 -3.56442860e-02 8.30722593e+02] [ 2.17468489e-01 9.76032847e-01 -8.20592477e-03 5.03735704e+01] [ 3.65757928e-02 2.52400713e-04 9.99330850e-01 3.03716138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.839254154 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:830.78, Y:50.39, Z:30.37 [[ 9.74376325e-01 -2.22081771e-01 -3.56435631e-02 8.30779752e+02] [ 2.21930016e-01 9.75028040e-01 -8.20906353e-03 5.03852156e+01] [ 3.65765569e-02 8.83406069e-05 9.99330850e-01 3.03735691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.899254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:830.84, Y:50.40, Z:30.38 [[ 9.73975241e-01 -2.23834611e-01 -3.56412189e-02 8.30836246e+02] [ 2.23683657e-01 9.74627142e-01 -8.21922900e-03 5.03976930e+01] [ 3.65766472e-02 3.29673554e-05 9.99330850e-01 3.03786163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.959254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:830.89, Y:50.41, Z:30.38 [[ 9.73809024e-01 -2.24557023e-01 -3.56388568e-02 8.30892600e+02] [ 2.24406178e-01 9.74460950e-01 -8.22945831e-03 5.04098458e+01] [ 3.65766569e-02 1.63411249e-05 9.99330850e-01 3.03811650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.019254154 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:830.95, Y:50.42, Z:30.38 [[ 9.74490959e-01 -2.21579353e-01 -3.56365067e-02 8.30948923e+02] [ 2.21426145e-01 9.75142334e-01 -8.23962244e-03 5.04225314e+01] [ 3.65763965e-02 1.38583266e-04 9.99330850e-01 3.03805763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.079254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:831.01, Y:50.44, Z:30.38 [[ 9.75779343e-01 -2.15835041e-01 -3.56357854e-02 8.31005287e+02] [ 2.15677884e-01 9.76429776e-01 -8.24274084e-03 5.04355962e+01] [ 3.65749143e-02 3.57245436e-04 9.99330850e-01 3.03825370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.139254154 meters Centerline goodness : 0.999715 with order 1 Centerline is valid? [True, True] Translation: X:831.06, Y:50.45, Z:30.39 [[ 9.76655178e-01 -2.11836741e-01 -3.56350767e-02 8.31061988e+02] [ 2.11676810e-01 9.77304934e-01 -8.24580345e-03 5.04490714e+01] [ 3.65731005e-02 5.10187273e-04 9.99330850e-01 3.03851241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.199254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:831.12, Y:50.46, Z:30.39 [[ 9.78034993e-01 -2.05372504e-01 -3.56326628e-02 8.31117671e+02] [ 2.05207900e-01 9.78683582e-01 -8.25622171e-03 5.04622884e+01] [ 3.65687030e-02 7.62769849e-04 9.99330850e-01 3.03875500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.259254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:831.17, Y:50.48, Z:30.38 [[ 9.78497927e-01 -2.03155590e-01 -3.56316248e-02 8.31173206e+02] [ 2.02989353e-01 9.79146099e-01 -8.26069895e-03 5.04787435e+01] [ 3.65667736e-02 8.50236319e-04 9.99330850e-01 3.03829254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.319254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:831.23, Y:50.49, Z:30.39 [[ 9.79609128e-01 -1.97728152e-01 -3.56305325e-02 8.31231953e+02] [ 1.97558154e-01 9.80256323e-01 -8.26540783e-03 5.04856531e+01] [ 3.65613586e-02 1.05776675e-03 9.99330850e-01 3.03894616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.379254154 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:831.29, Y:50.50, Z:30.39 [[ 9.79421724e-01 -1.98654695e-01 -3.56286210e-02 8.31288831e+02] [ 1.98485009e-01 9.80069002e-01 -8.27363910e-03 5.04996466e+01] [ 3.65621043e-02 1.03163471e-03 9.99330850e-01 3.03882891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.439254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:831.35, Y:50.51, Z:30.40 [[ 9.79859876e-01 -1.96482565e-01 -3.56261776e-02 8.31346230e+02] [ 1.96311063e-01 9.80506675e-01 -8.28414689e-03 5.05080370e+01] [ 3.65593954e-02 1.12349034e-03 9.99330850e-01 3.03966210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.499254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:831.40, Y:50.52, Z:30.40 [[ 9.79749762e-01 -1.97031066e-01 -3.56253056e-02 8.31402723e+02] [ 1.96859790e-01 9.80396621e-01 -8.28789551e-03 5.05196555e+01] [ 3.65599021e-02 1.10687348e-03 9.99330850e-01 3.03981566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.559254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:831.46, Y:50.53, Z:30.40 [[ 9.79545730e-01 -1.98043061e-01 -3.56245639e-02 8.31459435e+02] [ 1.97872337e-01 9.80192734e-01 -8.29108237e-03 5.05312875e+01] [ 3.65609300e-02 1.07237862e-03 9.99330850e-01 3.03992319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.619254154 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:831.52, Y:50.54, Z:30.40 [[ 9.79380625e-01 -1.98858363e-01 -3.56222223e-02 8.31516152e+02] [ 1.98687813e-01 9.80027675e-01 -8.30113052e-03 5.05437350e+01] [ 3.65615130e-02 1.05226496e-03 9.99330850e-01 3.04011435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.679254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:831.57, Y:50.56, Z:30.41 [[ 9.79368260e-01 -1.98919680e-01 -3.56198275e-02 8.31573680e+02] [ 1.98748797e-01 9.80015223e-01 -8.31139396e-03 5.05570497e+01] [ 3.65612730e-02 1.06051757e-03 9.99330850e-01 3.04054658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.7392541539999 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:831.63, Y:50.57, Z:30.40 [[ 9.79118610e-01 -2.00145259e-01 -3.56177357e-02 8.31630061e+02] [ 1.99974861e-01 9.79765700e-01 -8.32034850e-03 5.05703710e+01] [ 3.65623141e-02 1.02395631e-03 9.99330850e-01 3.04049782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.799254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:831.69, Y:50.58, Z:30.41 [[ 9.79233554e-01 -1.99582545e-01 -3.56153673e-02 8.31687601e+02] [ 1.99411407e-01 9.79880449e-01 -8.33047398e-03 5.05833753e+01] [ 3.65614193e-02 1.05536913e-03 9.99330851e-01 3.04096187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.8592541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:831.74, Y:50.60, Z:30.41 [[ 9.78664835e-01 -2.02353244e-01 -3.56132698e-02 8.31744370e+02] [ 2.02183611e-01 9.79312127e-01 -8.33943154e-03 5.05989550e+01] [ 3.65640180e-02 9.61088894e-04 9.99330851e-01 3.04069209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.919254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:831.80, Y:50.61, Z:30.41 [[ 9.78822336e-01 -2.01590392e-01 -3.56110792e-02 8.31801364e+02] [ 2.01419915e-01 9.79469405e-01 -8.34877516e-03 5.06093658e+01] [ 3.65629954e-02 9.99187040e-04 9.99330851e-01 3.04125602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.9792541539999 meters Centerline goodness : 0.999780 with order 1 Centerline is valid? [True, True] Translation: X:831.86, Y:50.62, Z:30.41 [[ 9.77801678e-01 -2.06484407e-01 -3.56099525e-02 8.31858621e+02] [ 2.06316995e-01 9.78449547e-01 -8.35357822e-03 5.06216877e+01] [ 3.65674255e-02 8.21204404e-04 9.99330851e-01 3.04125981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.039254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:831.92, Y:50.63, Z:30.42 [[ 9.76833969e-01 -2.11015405e-01 -3.56075206e-02 8.31916295e+02] [ 2.10850621e-01 9.77482512e-01 -8.36393135e-03 5.06336698e+01] [ 3.65706471e-02 6.62304428e-04 9.99330851e-01 3.04174531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.0992541539999 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:831.97, Y:50.65, Z:30.41 [[ 9.74980485e-01 -2.19420389e-01 -3.56054276e-02 8.31972574e+02] [ 2.19260872e-01 9.75630343e-01 -8.37283196e-03 5.06503939e+01] [ 3.65749056e-02 3.56470679e-04 9.99330851e-01 3.04148688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.159254154 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:832.03, Y:50.66, Z:30.42 [[ 9.75173020e-01 -2.18563241e-01 -3.56046451e-02 8.32029976e+02] [ 2.18403031e-01 9.75822707e-01 -8.37615823e-03 5.06591491e+01] [ 3.65745415e-02 3.92041109e-04 9.99330851e-01 3.04208161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.2192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:832.09, Y:50.67, Z:30.42 [[ 9.74267986e-01 -2.22562926e-01 -3.56038726e-02 8.32087062e+02] [ 2.22405264e-01 9.74918296e-01 -8.37944050e-03 5.06739836e+01] [ 3.65758196e-02 2.45331953e-04 9.99330851e-01 3.04225682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.279254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:832.14, Y:50.69, Z:30.43 [[ 9.74825446e-01 -2.20108622e-01 -3.56025990e-02 8.32143054e+02] [ 2.19949124e-01 9.75475308e-01 -8.38484811e-03 5.06866279e+01] [ 3.65750336e-02 3.43002812e-04 9.99330851e-01 3.04283794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.339254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:832.20, Y:50.70, Z:30.43 [[ 9.75253692e-01 -2.18203521e-01 -3.56014045e-02 8.32199910e+02] [ 2.18042569e-01 9.75903196e-01 -8.38991683e-03 5.07020735e+01] [ 3.65742338e-02 4.19675652e-04 9.99330851e-01 3.04281462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.399254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:832.26, Y:50.72, Z:30.43 [[ 9.75855870e-01 -2.15494795e-01 -3.55993685e-02 8.32256734e+02] [ 2.15331725e-01 9.76504845e-01 -8.39854726e-03 5.07171569e+01] [ 3.65727990e-02 5.30098215e-04 9.99330851e-01 3.04287601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.459254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:832.31, Y:50.73, Z:30.43 [[ 9.76198505e-01 -2.13937623e-01 -3.55973530e-02 8.32313771e+02] [ 2.13773208e-01 9.76847141e-01 -8.40708134e-03 5.07319829e+01] [ 3.65717635e-02 5.97219907e-04 9.99330851e-01 3.04300994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.519254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:832.37, Y:50.75, Z:30.44 [[ 9.76687855e-01 -2.11692711e-01 -3.55953541e-02 8.32369917e+02] [ 2.11526497e-01 9.77336032e-01 -8.41553573e-03 5.07482602e+01] [ 3.65701298e-02 6.89990980e-04 9.99330851e-01 3.04366929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.579254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:832.43, Y:50.76, Z:30.44 [[ 9.76943809e-01 -2.10508707e-01 -3.55932391e-02 8.32425945e+02] [ 2.10341382e-01 9.77591700e-01 -8.42447186e-03 5.07633634e+01] [ 3.65690798e-02 7.43504538e-04 9.99330851e-01 3.04387130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.639254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:832.48, Y:50.78, Z:30.44 [[ 9.77823482e-01 -2.06384424e-01 -3.55908340e-02 8.32482617e+02] [ 2.06213997e-01 9.78470564e-01 -8.43462043e-03 5.07798231e+01] [ 3.65653577e-02 9.08241772e-04 9.99330851e-01 3.04391820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.699254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:832.54, Y:50.80, Z:30.44 [[ 9.78553047e-01 -2.02897454e-01 -3.55887131e-02 8.32539389e+02] [ 2.02724397e-01 9.79199431e-01 -8.44355955e-03 5.07973258e+01] [ 3.65616244e-02 1.04777051e-03 9.99330851e-01 3.04403538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.759254154 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:832.60, Y:50.81, Z:30.44 [[ 9.78453489e-01 -2.03377396e-01 -3.55865690e-02 8.32595809e+02] [ 2.03204327e-01 9.79099870e-01 -8.45258673e-03 5.08142855e+01] [ 3.65618702e-02 1.03911817e-03 9.99330851e-01 3.04400249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.819254154 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:832.65, Y:50.83, Z:30.45 [[ 9.77371072e-01 -2.08517469e-01 -3.55844533e-02 8.32652373e+02] [ 2.08347476e-01 9.78018268e-01 -8.46148411e-03 5.08279204e+01] [ 3.65666127e-02 8.56078745e-04 9.99330851e-01 3.04450870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.879254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:832.71, Y:50.84, Z:30.45 [[ 9.76243563e-01 -2.13734198e-01 -3.55836752e-02 8.32709074e+02] [ 2.13567545e-01 9.76891627e-01 -8.46475531e-03 5.08408954e+01] [ 3.65706020e-02 6.64144723e-04 9.99330851e-01 3.04514238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.939254154 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:832.77, Y:50.85, Z:30.45 [[ 9.74025606e-01 -2.23624629e-01 -3.55829050e-02 8.32765445e+02] [ 2.23464440e-01 9.74675298e-01 -8.46799149e-03 5.08541126e+01] [ 3.65754300e-02 2.96526611e-04 9.99330851e-01 3.04518053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.999254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:832.82, Y:50.87, Z:30.46 [[ 9.72562499e-01 -2.29904538e-01 -3.55821472e-02 8.32823322e+02] [ 2.29748427e-01 9.73213183e-01 -8.47117457e-03 5.08654069e+01] [ 3.65765762e-02 6.38043464e-05 9.99330851e-01 3.04557779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.059254154 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:832.88, Y:50.88, Z:30.46 [[ 9.70782393e-01 -2.37309076e-01 -3.55801688e-02 8.32879745e+02] [ 2.37157624e-01 9.71434177e-01 -8.47947592e-03 5.08814953e+01] [ 3.65760486e-02 -2.06382390e-04 9.99330851e-01 3.04563469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.119254154 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:832.94, Y:50.90, Z:30.46 [[ 9.69646860e-01 -2.41907375e-01 -3.55779405e-02 8.32937058e+02] [ 2.41758671e-01 9.70299276e-01 -8.48881527e-03 5.08969365e+01] [ 3.65747569e-02 -3.70122545e-04 9.99330851e-01 3.04573979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.179254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:832.99, Y:50.91, Z:30.46 [[ 9.69483758e-01 -2.42560525e-01 -3.55757607e-02 8.32992234e+02] [ 2.42411926e-01 9.70136198e-01 -8.49794070e-03 5.09141861e+01] [ 3.65745982e-02 -3.85373190e-04 9.99330851e-01 3.04622223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.2392541539999 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:833.05, Y:50.93, Z:30.47 [[ 9.69463801e-01 -2.42640387e-01 -3.55749977e-02 8.33047799e+02] [ 2.42491725e-01 9.70116227e-01 -8.50113353e-03 5.09323995e+01] [ 3.65746009e-02 -3.85101330e-04 9.99330851e-01 3.04656276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.299254154 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:833.10, Y:50.95, Z:30.47 [[ 9.69847543e-01 -2.41102089e-01 -3.55742210e-02 8.33103683e+02] [ 2.40952273e-01 9.70499705e-01 -8.50438246e-03 5.09489974e+01] [ 3.65751954e-02 -3.23734973e-04 9.99330851e-01 3.04698148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.3592541539999 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:833.16, Y:50.97, Z:30.47 [[ 9.70961425e-01 -2.36576557e-01 -3.55730728e-02 8.33158536e+02] [ 2.36423525e-01 9.71612840e-01 -8.50918271e-03 5.09691017e+01] [ 3.65763275e-02 -1.48223108e-04 9.99330851e-01 3.04720710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.419254154 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:833.21, Y:50.99, Z:30.47 [[ 9.72722952e-01 -2.29226507e-01 -3.55705838e-02 8.33212665e+02] [ 2.29068173e-01 9.73373099e-01 -8.51957484e-03 5.09905948e+01] [ 3.65763617e-02 1.39097360e-04 9.99330851e-01 3.04713715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.4792541539999 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:833.27, Y:51.01, Z:30.47 [[ 9.74214958e-01 -2.22800367e-01 -3.55698178e-02 8.33268684e+02] [ 2.22637628e-01 9.74864016e-01 -8.52277158e-03 5.10122074e+01] [ 3.65746121e-02 3.83831704e-04 9.99330851e-01 3.04708415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.539254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:833.32, Y:51.03, Z:30.47 [[ 9.75176984e-01 -2.18551553e-01 -3.55677889e-02 8.33323567e+02] [ 2.18385678e-01 9.75825248e-01 -8.53123052e-03 5.10329714e+01] [ 3.65724601e-02 5.51963977e-04 9.99330851e-01 3.04745726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.5992541539999 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:833.38, Y:51.05, Z:30.47 [[ 9.75200964e-01 -2.18444933e-01 -3.55653147e-02 8.33380668e+02] [ 2.18278611e-01 9.75849112e-01 -8.54153232e-03 5.10484912e+01] [ 3.65722353e-02 5.66563029e-04 9.99330851e-01 3.04733098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.659254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:833.44, Y:51.07, Z:30.48 [[ 9.75375394e-01 -2.17665117e-01 -3.55631462e-02 8.33435928e+02] [ 2.17497948e-01 9.76023325e-01 -8.55055149e-03 5.10659083e+01] [ 3.65716170e-02 6.05086199e-04 9.99330851e-01 3.04794841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.7192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:833.49, Y:51.08, Z:30.48 [[ 9.75353506e-01 -2.17763299e-01 -3.55623848e-02 8.33491952e+02] [ 2.17596080e-01 9.76001424e-01 -8.55371716e-03 5.10829107e+01] [ 3.65716239e-02 6.04662490e-04 9.99330851e-01 3.04826193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.779254154 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:833.55, Y:51.10, Z:30.48 [[ 9.75434556e-01 -2.17400307e-01 -3.55602784e-02 8.33548142e+02] [ 2.17232528e-01 9.76082329e-01 -8.56246534e-03 5.10987659e+01] [ 3.65712419e-02 6.27275412e-04 9.99330852e-01 3.04822107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.839254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:833.60, Y:51.12, Z:30.49 [[ 9.75580956e-01 -2.16742792e-01 -3.55578472e-02 8.33603842e+02] [ 2.16574208e-01 9.76228520e-01 -8.57254962e-03 5.11179733e+01] [ 3.65706229e-02 6.62303551e-04 9.99330852e-01 3.04855428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.899254154 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:833.66, Y:51.13, Z:30.49 [[ 9.76468198e-01 -2.12710242e-01 -3.55557437e-02 8.33659963e+02] [ 2.12538667e-01 9.77114976e-01 -8.58126510e-03 5.11316653e+01] [ 3.65673727e-02 8.22362093e-04 9.99330852e-01 3.04853637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.959254154 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:833.72, Y:51.15, Z:30.49 [[ 9.76468717e-01 -2.12707995e-01 -3.55549349e-02 8.33716177e+02] [ 2.12536297e-01 9.77115462e-01 -8.58461505e-03 5.11481579e+01] [ 3.65672929e-02 8.25893836e-04 9.99330852e-01 3.04885493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.019254154 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:833.77, Y:51.16, Z:30.49 [[ 9.76356176e-01 -2.13224330e-01 -3.55528189e-02 8.33772756e+02] [ 2.13052656e-01 9.77002927e-01 -8.59336926e-03 5.11629103e+01] [ 3.65675236e-02 8.15566644e-04 9.99330852e-01 3.04931848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.079254154 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:833.83, Y:51.18, Z:30.49 [[ 9.75968250e-01 -2.14993321e-01 -3.55506302e-02 8.33829547e+02] [ 2.14822490e-01 9.76615224e-01 -8.60241442e-03 5.11777665e+01] [ 3.65687484e-02 7.58608442e-04 9.99330852e-01 3.04935490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.139254154 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:833.88, Y:51.19, Z:30.49 [[ 9.75710131e-01 -2.16162095e-01 -3.55484021e-02 8.33884792e+02] [ 2.15991703e-01 9.76357222e-01 -8.61161217e-03 5.11909317e+01] [ 3.65694432e-02 7.24277329e-04 9.99330852e-01 3.04943303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.199254154 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:833.94, Y:51.21, Z:30.49 [[ 9.75579968e-01 -2.16748968e-01 -3.55473074e-02 8.33941126e+02] [ 2.16578801e-01 9.76227118e-01 -8.61612833e-03 5.12075506e+01] [ 3.65697824e-02 7.06928978e-04 9.99330852e-01 3.04930262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.259254154 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:834.00, Y:51.22, Z:30.49 [[ 9.75919126e-01 -2.15217105e-01 -3.55451539e-02 8.33996927e+02] [ 2.15045600e-01 9.76565922e-01 -8.62500336e-03 5.12217045e+01] [ 3.65684342e-02 7.73476796e-04 9.99330852e-01 3.04947211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.319254154 meters Centerline goodness : 0.999746 with order 1 Centerline is valid? [True, True] Translation: X:834.05, Y:51.23, Z:30.50 [[ 9.77168353e-01 -2.09472540e-01 -3.55424295e-02 8.34054348e+02] [ 2.09296825e-01 9.77814018e-01 -8.63621572e-03 5.12323826e+01] [ 3.65629358e-02 1.00011903e-03 9.99330852e-01 3.04983367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.379254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:834.11, Y:51.25, Z:30.51 [[ 9.77767610e-01 -2.06657681e-01 -3.55401692e-02 8.34111682e+02] [ 2.06479770e-01 9.78412674e-01 -8.64550745e-03 5.12458548e+01] [ 3.65596125e-02 1.11497121e-03 9.99330852e-01 3.05051707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.439254154 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:834.17, Y:51.26, Z:30.50 [[ 9.78029785e-01 -2.05413711e-01 -3.55379692e-02 8.34168310e+02] [ 2.05234652e-01 9.78674530e-01 -8.65454102e-03 5.12590716e+01] [ 3.65578668e-02 1.17077614e-03 9.99330852e-01 3.05049587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.499254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:834.23, Y:51.27, Z:30.51 [[ 9.79249073e-01 -1.99520636e-01 -3.55354464e-02 8.34225374e+02] [ 1.99337323e-01 9.79892622e-01 -8.66488754e-03 5.12745546e+01] [ 3.65497456e-02 1.40154236e-03 9.99330852e-01 3.05120542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.559254154 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:834.28, Y:51.29, Z:30.51 [[ 9.79720918e-01 -1.97191054e-01 -3.55332292e-02 8.34281433e+02] [ 1.97005882e-01 9.80363935e-01 -8.67397027e-03 5.12898281e+01] [ 3.65459257e-02 1.49781495e-03 9.99330852e-01 3.05100757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.619254154 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:834.34, Y:51.31, Z:30.51 [[ 9.80670711e-01 -1.92412383e-01 -3.55307188e-02 8.34336978e+02] [ 1.92223707e-01 9.81312708e-01 -8.68424145e-03 5.13055537e+01] [ 3.65377014e-02 1.68653478e-03 9.99330852e-01 3.05124662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.679254154 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:834.39, Y:51.32, Z:30.51 [[ 9.81568766e-01 -1.87777800e-01 -3.55282402e-02 8.34393151e+02] [ 1.87585728e-01 9.82209755e-01 -8.69436965e-03 5.13221286e+01] [ 3.65287937e-02 1.86953087e-03 9.99330852e-01 3.05148689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.7392541539999 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:834.45, Y:51.34, Z:30.52 [[ 9.82088021e-01 -1.85043338e-01 -3.55257810e-02 8.34449350e+02] [ 1.84849119e-01 9.82728363e-01 -8.70440658e-03 5.13379836e+01] [ 3.65228851e-02 1.98158410e-03 9.99330852e-01 3.05159589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.799254154 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:834.51, Y:51.35, Z:30.52 [[ 9.82169398e-01 -1.84611392e-01 -3.55233408e-02 8.34505437e+02] [ 1.84416533e-01 9.82809545e-01 -8.71435412e-03 5.13521918e+01] [ 3.65214474e-02 2.00788059e-03 9.99330852e-01 3.05170457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.8592541539999 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:834.56, Y:51.37, Z:30.52 [[ 9.81949333e-01 -1.85778831e-01 -3.55208963e-02 8.34560985e+02] [ 1.85584374e-01 9.82589602e-01 -8.72430671e-03 5.13664990e+01] [ 3.65232549e-02 1.97470384e-03 9.99330852e-01 3.05213031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.919254154 meters Centerline goodness : 0.999748 with order 1 Centerline is valid? [True, True] Translation: X:834.62, Y:51.38, Z:30.52 [[ 9.80961169e-01 -1.90928078e-01 -3.55197720e-02 8.34618055e+02] [ 1.90736818e-01 9.81602401e-01 -8.72888191e-03 5.13794583e+01] [ 3.65328821e-02 1.78776594e-03 9.99330852e-01 3.05189532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.9792541539999 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:834.68, Y:51.39, Z:30.52 [[ 9.79964291e-01 -1.95980816e-01 -3.55177224e-02 8.34676244e+02] [ 1.95792562e-01 9.80606411e-01 -8.73721353e-03 5.13907762e+01] [ 3.65412325e-02 1.60805140e-03 9.99330852e-01 3.05193531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.039254154 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:834.73, Y:51.40, Z:30.52 [[ 9.78523881e-01 -2.03050691e-01 -3.55166320e-02 8.34733649e+02] [ 2.02866916e-01 9.79167298e-01 -8.74164380e-03 5.14018408e+01] [ 3.65517214e-02 1.34875760e-03 9.99330852e-01 3.05247694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.0992541539999 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:834.79, Y:51.41, Z:30.53 [[ 9.77925814e-01 -2.05912170e-01 -3.55145181e-02 8.34791059e+02] [ 2.05729967e-01 9.78569678e-01 -8.75022346e-03 5.14142234e+01] [ 3.65552080e-02 1.25066875e-03 9.99330852e-01 3.05273235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.159254154 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:834.85, Y:51.43, Z:30.53 [[ 9.76958682e-01 -2.10453335e-01 -3.55123565e-02 8.34848208e+02] [ 2.10273808e-01 9.77603297e-01 -8.75898734e-03 5.14256738e+01] [ 3.65603549e-02 1.08985029e-03 9.99330852e-01 3.05329397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.2192541539999 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:834.91, Y:51.44, Z:30.53 [[ 9.76307053e-01 -2.13456072e-01 -3.55111761e-02 8.34905217e+02] [ 2.13278354e-01 9.76952169e-01 -8.76377053e-03 5.14383890e+01] [ 3.65634005e-02 9.82365810e-04 9.99330852e-01 3.05332437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.279254154 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:834.96, Y:51.45, Z:30.54 [[ 9.75939362e-01 -2.15131345e-01 -3.55086878e-02 8.34963042e+02] [ 2.14954368e-01 9.76584681e-01 -8.77384087e-03 5.14499279e+01] [ 3.65647688e-02 9.29989110e-04 9.99330853e-01 3.05359991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.339254154 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:835.02, Y:51.46, Z:30.54 [[ 9.76071488e-01 -2.14531443e-01 -3.55064918e-02 8.35018861e+02] [ 2.14353746e-01 9.76716609e-01 -8.78271875e-03 5.14629582e+01] [ 3.65639496e-02 9.61611814e-04 9.99330853e-01 3.05383724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.399254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:835.08, Y:51.48, Z:30.54 [[ 9.76547248e-01 -2.12355554e-01 -3.55047996e-02 8.35076117e+02] [ 2.12176171e-01 9.77191903e-01 -8.78955452e-03 5.14765843e+01] [ 3.65615134e-02 1.05014285e-03 9.99330853e-01 3.05445446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.459254154 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:835.13, Y:51.49, Z:30.55 [[ 9.76573444e-01 -2.12235417e-01 -3.55026155e-02 8.35132885e+02] [ 2.12055635e-01 9.77217988e-01 -8.79836737e-03 5.14907444e+01] [ 3.65611197e-02 1.06372224e-03 9.99330853e-01 3.05457239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.519254154 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:835.19, Y:51.50, Z:30.54 [[ 9.76892121e-01 -2.10764147e-01 -3.55001079e-02 8.35190509e+02] [ 2.10583028e-01 9.77536290e-01 -8.80847380e-03 5.15040340e+01] [ 3.65591542e-02 1.12920844e-03 9.99330853e-01 3.05448296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.579254154 meters Centerline goodness : 0.999745 with order 1 Centerline is valid? [True, True] Translation: X:835.25, Y:51.51, Z:30.55 [[ 9.76882266e-01 -2.10810203e-01 -3.54978371e-02 8.35246270e+02] [ 2.10628782e-01 9.77526351e-01 -8.81761549e-03 5.15148355e+01] [ 3.65589145e-02 1.13690602e-03 9.99330853e-01 3.05467033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.639254154 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:835.30, Y:51.52, Z:30.55 [[ 9.76461525e-01 -2.12750730e-01 -3.54967229e-02 8.35304749e+02] [ 2.12570427e-01 9.77105923e-01 -8.82209846e-03 5.15247479e+01] [ 3.65609661e-02 1.06888618e-03 9.99330853e-01 3.05525628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.699254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:835.36, Y:51.53, Z:30.56 [[ 9.76328459e-01 -2.13360907e-01 -3.54945577e-02 8.35362533e+02] [ 2.13180690e-01 9.76972881e-01 -8.83080132e-03 5.15348548e+01] [ 3.65613681e-02 1.05500834e-03 9.99330853e-01 3.05587679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.759254154 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:835.42, Y:51.55, Z:30.56 [[ 9.76353702e-01 -2.13245735e-01 -3.54923241e-02 8.35419789e+02] [ 2.13065117e-01 9.76998012e-01 -8.83976944e-03 5.15453740e+01] [ 3.65609732e-02 1.06856544e-03 9.99330853e-01 3.05551748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.819254154 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:835.48, Y:51.56, Z:30.55 [[ 9.76640615e-01 -2.11928021e-01 -3.54911595e-02 8.35478353e+02] [ 2.11746364e-01 9.77284633e-01 -8.84444279e-03 5.15550721e+01] [ 3.65593500e-02 1.12271808e-03 9.99330853e-01 3.05543131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.879254154 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:835.54, Y:51.56, Z:30.56 [[ 9.77106544e-01 -2.09769714e-01 -3.54889835e-02 8.35535937e+02] [ 2.09586318e-01 9.77750069e-01 -8.85316568e-03 5.15635425e+01] [ 3.65564821e-02 1.21248075e-03 9.99330853e-01 3.05576916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.939254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:835.59, Y:51.57, Z:30.56 [[ 9.77396242e-01 -2.08416158e-01 -3.54864846e-02 8.35592687e+02] [ 2.08231508e-01 9.78039408e-01 -8.86317060e-03 5.15739102e+01] [ 3.65544084e-02 1.27342544e-03 9.99330853e-01 3.05606677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.999254154 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:835.65, Y:51.58, Z:30.56 [[ 9.77858739e-01 -2.06235740e-01 -3.54838965e-02 8.35649938e+02] [ 2.06049281e-01 9.78501382e-01 -8.87352034e-03 5.15829323e+01] [ 3.65510788e-02 1.36561807e-03 9.99330853e-01 3.05601943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.059254154 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:835.71, Y:51.59, Z:30.57 [[ 9.78225548e-01 -2.04488941e-01 -3.54831020e-02 8.35708769e+02] [ 2.04301219e-01 9.78867824e-01 -8.87669621e-03 5.15916962e+01] [ 3.65484530e-02 1.43417002e-03 9.99330853e-01 3.05650102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.119254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:835.77, Y:51.60, Z:30.57 [[ 9.78518956e-01 -2.03080662e-01 -3.54809436e-02 8.35767482e+02] [ 2.02891704e-01 9.79160869e-01 -8.88531506e-03 5.16002423e+01] [ 3.65459872e-02 1.49566012e-03 9.99330853e-01 3.05706004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.179254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:835.83, Y:51.61, Z:30.57 [[ 9.78667656e-01 -2.02363231e-01 -3.54787511e-02 8.35825878e+02] [ 2.02173486e-01 9.79309337e-01 -8.89406083e-03 5.16107070e+01] [ 3.65445031e-02 1.53146689e-03 9.99330853e-01 3.05732036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.2392541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:835.88, Y:51.62, Z:30.58 [[ 9.79622982e-01 -1.97687222e-01 -3.54764078e-02 8.35882915e+02] [ 1.97494077e-01 9.80263648e-01 -8.90339805e-03 5.16192566e+01] [ 3.65363209e-02 1.71559294e-03 9.99330853e-01 3.05761681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.299254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:835.94, Y:51.63, Z:30.58 [[ 9.79945447e-01 -1.96082646e-01 -3.54755867e-02 8.35940250e+02] [ 1.95888334e-01 9.80585760e-01 -8.90666849e-03 5.16326116e+01] [ 3.65332983e-02 1.77879565e-03 9.99330853e-01 3.05771095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.3592541539999 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:836.00, Y:51.64, Z:30.58 [[ 9.80279898e-01 -1.94404149e-01 -3.54732162e-02 8.35997329e+02] [ 1.94208400e-01 9.80919773e-01 -8.91609963e-03 5.16425236e+01] [ 3.65297059e-02 1.85107666e-03 9.99330853e-01 3.05757106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.419254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:836.06, Y:51.65, Z:30.58 [[ 9.79417308e-01 -1.98704422e-01 -3.54723846e-02 8.36055234e+02] [ 1.98511364e-01 9.80058000e-01 -8.91940702e-03 5.16535377e+01] [ 3.65373199e-02 1.69415018e-03 9.99330853e-01 3.05798280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.4792541539999 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:836.11, Y:51.67, Z:30.58 [[ 9.78713072e-01 -2.02144985e-01 -3.54700879e-02 8.36111821e+02] [ 2.01953850e-01 9.79354340e-01 -8.92853088e-03 5.16658655e+01] [ 3.65426423e-02 1.57514909e-03 9.99330853e-01 3.05833612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.539254154 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:836.17, Y:51.68, Z:30.59 [[ 9.78594367e-01 -2.02719017e-01 -3.54692052e-02 8.36168599e+02] [ 2.02528131e-01 9.79235709e-01 -8.93203606e-03 5.16796734e+01] [ 3.65434059e-02 1.55732832e-03 9.99330853e-01 3.05863391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.5992541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:836.22, Y:51.69, Z:30.59 [[ 9.78886248e-01 -2.01305324e-01 -3.54666131e-02 8.36224235e+02] [ 2.01113140e-01 9.79527202e-01 -8.94231708e-03 5.16947169e+01] [ 3.65406483e-02 1.62070931e-03 9.99330853e-01 3.05884600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.659254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:836.28, Y:51.71, Z:30.59 [[ 9.78883056e-01 -2.01321303e-01 -3.54639955e-02 8.36281411e+02] [ 2.01128755e-01 9.79523901e-01 -8.95268602e-03 5.17094444e+01] [ 3.65401976e-02 1.63080339e-03 9.99330853e-01 3.05893741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.7192541539999 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:836.34, Y:51.72, Z:30.59 [[ 9.78948384e-01 -2.01003803e-01 -3.54617143e-02 8.36337671e+02] [ 2.00810720e-01 9.79589068e-01 -8.96171271e-03 5.17245902e+01] [ 3.65392460e-02 1.65196179e-03 9.99330853e-01 3.05914224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.779254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:836.39, Y:51.74, Z:30.60 [[ 9.79132267e-01 -2.00106605e-01 -3.54591385e-02 8.36392996e+02] [ 1.99912568e-01 9.79772663e-01 -8.97189299e-03 5.17399740e+01] [ 3.65372296e-02 1.69594250e-03 9.99330853e-01 3.05956021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.839254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:836.45, Y:51.76, Z:30.60 [[ 9.79093498e-01 -2.00296351e-01 -3.54583474e-02 8.36448899e+02] [ 2.00102324e-01 9.79733897e-01 -8.97501835e-03 5.17553774e+01] [ 3.65374083e-02 1.69208437e-03 9.99330853e-01 3.05967522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.899254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:836.51, Y:51.77, Z:30.60 [[ 9.79289251e-01 -1.99337522e-01 -3.54558333e-02 8.36505793e+02] [ 1.99142511e-01 9.79929350e-01 -8.98493943e-03 5.17723495e+01] [ 3.65352472e-02 1.73809095e-03 9.99330853e-01 3.05992185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.959254154 meters Centerline goodness : 0.999739 with order 1 Centerline is valid? [True, True] Translation: X:836.56, Y:51.79, Z:30.60 [[ 9.79682351e-01 -1.97396883e-01 -3.54536577e-02 8.36561072e+02] [ 1.97200294e-01 9.80321968e-01 -8.99351569e-03 5.17899594e+01] [ 3.65312915e-02 1.81931686e-03 9.99330854e-01 3.05997349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.019254154 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:836.62, Y:51.81, Z:30.60 [[ 9.80329552e-01 -1.94157618e-01 -3.54512090e-02 8.36616801e+02] [ 1.93958569e-01 9.80968408e-01 -9.00315804e-03 5.18086545e+01] [ 3.65245477e-02 1.94999614e-03 9.99330854e-01 3.06020235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.079254154 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:836.67, Y:51.83, Z:30.60 [[ 9.80996882e-01 -1.90757646e-01 -3.54490870e-02 8.36672532e+02] [ 1.90556082e-01 9.81634949e-01 -9.01150559e-03 5.18277795e+01] [ 3.65170762e-02 2.08521976e-03 9.99330854e-01 3.06016663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.139254154 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:836.73, Y:51.85, Z:30.60 [[ 9.81103798e-01 -1.90207383e-01 -3.54469904e-02 8.36728255e+02] [ 1.90005164e-01 9.81741657e-01 -9.01974509e-03 5.18470409e+01] [ 3.65154092e-02 2.11419494e-03 9.99330854e-01 3.06037376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.199254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:836.78, Y:51.86, Z:30.61 [[ 9.80946863e-01 -1.91015510e-01 -3.54446900e-02 8.36783059e+02] [ 1.90813492e-01 9.81584786e-01 -9.02877583e-03 5.18638997e+01] [ 3.65166046e-02 2.09342426e-03 9.99330854e-01 3.06076135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.259254154 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:836.84, Y:51.88, Z:30.61 [[ 9.80625664e-01 -1.92657857e-01 -3.54437237e-02 8.36838328e+02] [ 1.92456771e-01 9.81263881e-01 -9.03256729e-03 5.18799742e+01] [ 3.65198410e-02 2.03618267e-03 9.99330854e-01 3.06087584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.319254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:836.89, Y:51.90, Z:30.61 [[ 9.80396463e-01 -1.93820985e-01 -3.54429355e-02 8.36892982e+02] [ 1.93620544e-01 9.81034883e-01 -9.03565928e-03 5.18986111e+01] [ 3.65220565e-02 1.99604793e-03 9.99330854e-01 3.06137413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.379254154 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:836.95, Y:51.92, Z:30.61 [[ 9.79977015e-01 -1.95931189e-01 -3.54403568e-02 8.36948790e+02] [ 1.95731759e-01 9.80615752e-01 -9.04576242e-03 5.19168042e+01] [ 3.65257191e-02 1.92783587e-03 9.99330854e-01 3.06137840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.439254154 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:837.00, Y:51.93, Z:30.62 [[ 9.79781989e-01 -1.96904604e-01 -3.54376972e-02 8.37004478e+02] [ 1.96705434e-01 9.80420807e-01 -9.05616968e-03 5.19342023e+01] [ 3.65270572e-02 1.90228434e-03 9.99330854e-01 3.06163947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.499254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:837.06, Y:51.95, Z:30.62 [[ 9.79532169e-01 -1.98144110e-01 -3.54350342e-02 8.37059606e+02] [ 1.97945373e-01 9.80171121e-01 -9.06657759e-03 5.19536553e+01] [ 3.65288861e-02 1.86680337e-03 9.99330854e-01 3.06200237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.559254154 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:837.12, Y:51.97, Z:30.62 [[ 9.78992002e-01 -2.00796105e-01 -3.54342176e-02 8.37115878e+02] [ 2.00598983e-01 9.79631455e-01 -9.06976787e-03 5.19732450e+01] [ 3.65336482e-02 1.77116221e-03 9.99330854e-01 3.06202129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.619254154 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:837.17, Y:51.99, Z:30.62 [[ 9.78550320e-01 -2.02938046e-01 -3.54319109e-02 8.37171323e+02] [ 2.02741999e-01 9.79190103e-01 -9.07877034e-03 5.19917466e+01] [ 3.65370044e-02 1.70049721e-03 9.99330854e-01 3.06243449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.679254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:837.23, Y:52.01, Z:30.63 [[ 9.78189514e-01 -2.04670575e-01 -3.54292272e-02 8.37225782e+02] [ 2.04475284e-01 9.78829528e-01 -9.08923128e-03 5.20108610e+01] [ 3.65394719e-02 1.64658947e-03 9.99330854e-01 3.06274159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.7392541539999 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:837.28, Y:52.03, Z:30.63 [[ 9.77336952e-01 -2.08703882e-01 -3.54284036e-02 8.37281787e+02] [ 2.08511116e-01 9.77977731e-01 -9.09244005e-03 5.20307379e+01] [ 3.65458173e-02 1.49916167e-03 9.99330854e-01 3.06264266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.799254154 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:837.34, Y:52.05, Z:30.63 [[ 9.76819870e-01 -2.11111193e-01 -3.54260680e-02 8.37337573e+02] [ 2.10919677e-01 9.77461023e-01 -9.10153130e-03 5.20464643e+01] [ 3.65490358e-02 1.41850180e-03 9.99330854e-01 3.06295877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.8592541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:837.39, Y:52.06, Z:30.63 [[ 9.76051585e-01 -2.14635701e-01 -3.54234133e-02 8.37392484e+02] [ 2.14446127e-01 9.76693316e-01 -9.11185167e-03 5.20629832e+01] [ 3.65535397e-02 1.29722349e-03 9.99330854e-01 3.06336861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.919254154 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:837.45, Y:52.08, Z:30.63 [[ 9.75405424e-01 -2.17553464e-01 -3.54224374e-02 8.37448725e+02] [ 2.17365671e-01 9.76047678e-01 -9.11564404e-03 5.20786736e+01] [ 3.65571277e-02 1.19182677e-03 9.99330854e-01 3.06335303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.9792541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:837.51, Y:52.09, Z:30.64 [[ 9.75103984e-01 -2.18901017e-01 -3.54198403e-02 8.37505051e+02] [ 2.18713746e-01 9.75746390e-01 -9.12572423e-03 5.20934326e+01] [ 3.65584116e-02 1.15172411e-03 9.99330854e-01 3.06393357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.039254154 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:837.56, Y:52.11, Z:30.64 [[ 9.74829963e-01 -2.20118233e-01 -3.54190287e-02 8.37561665e+02] [ 2.19931650e-01 9.75472569e-01 -9.12887285e-03 5.21081226e+01] [ 3.65597223e-02 1.10933335e-03 9.99330854e-01 3.06361690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.0992541539999 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:837.62, Y:52.12, Z:30.64 [[ 9.74692792e-01 -2.20725198e-01 -3.54167878e-02 8.37617969e+02] [ 2.20538700e-01 9.75335423e-01 -9.13755857e-03 5.21216629e+01] [ 3.65601371e-02 1.09554014e-03 9.99330854e-01 3.06393409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.159254154 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:837.68, Y:52.13, Z:30.64 [[ 9.74577368e-01 -2.21234676e-01 -3.54142779e-02 8.37675782e+02] [ 2.21048161e-01 9.75219995e-01 -9.14727579e-03 5.21344463e+01] [ 3.65604065e-02 1.08646695e-03 9.99330854e-01 3.06427767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.2192541539999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:837.73, Y:52.15, Z:30.65 [[ 9.74320881e-01 -2.22361887e-01 -3.54120305e-02 8.37732028e+02] [ 2.22175800e-01 9.74963631e-01 -9.15596812e-03 5.21468334e+01] [ 3.65613802e-02 1.05315474e-03 9.99330854e-01 3.06456730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.279254154 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:837.79, Y:52.16, Z:30.65 [[ 9.73689438e-01 -2.25110911e-01 -3.54112409e-02 8.37789016e+02] [ 2.24926528e-01 9.74332679e-01 -9.15902074e-03 5.21587555e+01] [ 3.65641247e-02 9.53114301e-04 9.99330854e-01 3.06474470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.339254154 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:837.85, Y:52.17, Z:30.65 [[ 9.72520177e-01 -2.30110262e-01 -3.54086609e-02 8.37846554e+02] [ 2.29928823e-01 9.73164254e-01 -9.16898429e-03 5.21702176e+01] [ 3.65683204e-02 7.75550497e-04 9.99330854e-01 3.06491341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.399254154 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:837.90, Y:52.18, Z:30.65 [[ 9.72102963e-01 -2.31866832e-01 -3.54062283e-02 8.37903408e+02] [ 2.31686216e-01 9.72747272e-01 -9.17836815e-03 5.21818036e+01] [ 3.65694711e-02 7.19183821e-04 9.99330854e-01 3.06537469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.459254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:837.96, Y:52.20, Z:30.65 [[ 9.70506967e-01 -2.38458984e-01 -3.54053754e-02 8.37960665e+02] [ 2.38282625e-01 9.71152453e-01 -9.18165704e-03 5.21954675e+01] [ 3.65734658e-02 4.74376337e-04 9.99330854e-01 3.06543451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.519254154 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:838.02, Y:52.20, Z:30.66 [[ 9.69994622e-01 -2.40534953e-01 -3.54029782e-02 8.38017800e+02] [ 2.40359638e-01 9.70640393e-01 -9.19089102e-03 5.22049654e+01] [ 3.65742912e-02 4.05667842e-04 9.99330854e-01 3.06572244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.579254154 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:838.08, Y:52.22, Z:30.66 [[ 9.68536823e-01 -2.46339481e-01 -3.54017353e-02 8.38075132e+02] [ 2.46167861e-01 9.69183586e-01 -9.19567604e-03 5.22186001e+01] [ 3.65760388e-02 1.91581399e-04 9.99330854e-01 3.06567381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.639254154 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:838.13, Y:52.23, Z:30.66 [[ 9.67996517e-01 -2.48454488e-01 -3.53993009e-02 8.38131953e+02] [ 2.48283940e-01 9.68643563e-01 -9.20503773e-03 5.22278985e+01] [ 3.65763379e-02 1.21366574e-04 9.99330855e-01 3.06620776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.699254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:838.19, Y:52.24, Z:30.67 [[ 9.67662560e-01 -2.49752117e-01 -3.53984399e-02 8.38188929e+02] [ 2.49582315e-01 9.68309803e-01 -9.20834765e-03 5.22401722e+01] [ 3.65764607e-02 7.57487027e-05 9.99330855e-01 3.06652579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.759254154 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:838.25, Y:52.25, Z:30.67 [[ 9.68113255e-01 -2.47999456e-01 -3.53976675e-02 8.38245003e+02] [ 2.47828374e-01 9.68760161e-01 -9.21131585e-03 5.22540918e+01] [ 3.65762514e-02 1.45050591e-04 9.99330855e-01 3.06662349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.819254154 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:838.30, Y:52.27, Z:30.67 [[ 9.68476206e-01 -2.46578651e-01 -3.53950256e-02 8.38301198e+02] [ 2.46406249e-01 9.69122761e-01 -9.22145619e-03 5.22680999e+01] [ 3.65759392e-02 2.09205408e-04 9.99330855e-01 3.06678681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.879254154 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:838.36, Y:52.28, Z:30.67 [[ 9.68725975e-01 -2.45595948e-01 -3.53923005e-02 8.38357013e+02] [ 2.45422509e-01 9.69372253e-01 -9.23190353e-03 5.22803057e+01] [ 3.65756322e-02 2.57117566e-04 9.99330855e-01 3.06701450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.939254154 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:838.41, Y:52.29, Z:30.67 [[ 9.68440378e-01 -2.46719983e-01 -3.53904660e-02 8.38413389e+02] [ 2.46547036e-01 9.69086787e-01 -9.23893070e-03 5.22933012e+01] [ 3.65758618e-02 2.21939026e-04 9.99330855e-01 3.06734665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.999254154 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:838.47, Y:52.31, Z:30.67 [[ 9.68303021e-01 -2.47258896e-01 -3.53878192e-02 8.38468313e+02] [ 2.47085940e-01 9.68949428e-01 -9.24905767e-03 5.23073118e+01] [ 3.65759189e-02 2.12057919e-04 9.99330855e-01 3.06732491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.059254154 meters Centerline goodness : 0.999655 with order 1 Centerline is valid? [True, True] Translation: X:838.52, Y:52.32, Z:30.68 [[ 9.67991335e-01 -2.48476472e-01 -3.53866814e-02 8.38524741e+02] [ 2.48304170e-01 9.68637917e-01 -9.25340873e-03 5.23212014e+01] [ 3.65761357e-02 1.70558921e-04 9.99330855e-01 3.06753541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.119254154 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:838.58, Y:52.34, Z:30.68 [[ 9.67588475e-01 -2.50041029e-01 -3.53839825e-02 8.38582017e+02] [ 2.49869395e-01 9.68235234e-01 -9.26371760e-03 5.23353845e+01] [ 3.65763281e-02 1.22092085e-04 9.99330855e-01 3.06792329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.179254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:838.64, Y:52.35, Z:30.68 [[ 9.67303292e-01 -2.51142355e-01 -3.53816090e-02 8.38638271e+02] [ 2.50971127e-01 9.67950158e-01 -9.27277420e-03 5.23507048e+01] [ 3.65764204e-02 8.98227429e-05 9.99330855e-01 3.06818621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.2392541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:838.69, Y:52.36, Z:30.69 [[ 9.68080431e-01 -2.48130036e-01 -3.53802982e-02 8.38694356e+02] [ 2.47956611e-01 9.68726712e-01 -9.27777280e-03 5.23638464e+01] [ 3.65759340e-02 2.08851436e-04 9.99330855e-01 3.06855464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.299254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:838.75, Y:52.38, Z:30.69 [[ 9.68257150e-01 -2.47439661e-01 -3.53794389e-02 8.38750465e+02] [ 2.47265657e-01 9.68903275e-01 -9.28104821e-03 5.23787187e+01] [ 3.65757537e-02 2.38321087e-04 9.99330855e-01 3.06878742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.3592541539999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:838.81, Y:52.39, Z:30.69 [[ 9.68675586e-01 -2.45796858e-01 -3.53767357e-02 8.38806050e+02] [ 2.45621381e-01 9.69321313e-01 -9.29134066e-03 5.23927998e+01] [ 3.65752063e-02 3.11012167e-04 9.99330855e-01 3.06885413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.419254154 meters Centerline goodness : 0.999654 with order 1 Centerline is valid? [True, True] Translation: X:838.86, Y:52.41, Z:30.69 [[ 9.68751993e-01 -2.45495714e-01 -3.53755745e-02 8.38862227e+02] [ 2.45319875e-01 9.69397621e-01 -9.29575964e-03 5.24066623e+01] [ 3.65750670e-02 3.26954132e-04 9.99330855e-01 3.06883493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.4792541539999 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:838.92, Y:52.42, Z:30.69 [[ 9.68734382e-01 -2.45565580e-01 -3.53729187e-02 8.38919018e+02] [ 2.45389419e-01 9.69379922e-01 -9.30585478e-03 5.24208421e+01] [ 3.65749948e-02 3.34761481e-04 9.99330855e-01 3.06897486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.539254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:838.98, Y:52.43, Z:30.69 [[ 9.69068627e-01 -2.44243575e-01 -3.53705044e-02 8.38975244e+02] [ 2.44066199e-01 9.69713834e-01 -9.31502227e-03 5.24329159e+01] [ 3.65744018e-02 3.94151256e-04 9.99330855e-01 3.06931362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.5992541539999 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:839.03, Y:52.45, Z:30.69 [[ 9.68475844e-01 -2.46584026e-01 -3.53674795e-02 8.39031417e+02] [ 2.46407791e-01 9.69121364e-01 -9.32649342e-03 5.24456682e+01] [ 3.65751442e-02 3.17661112e-04 9.99330855e-01 3.06941913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.659254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:839.09, Y:52.46, Z:30.70 [[ 9.68087467e-01 -2.48104541e-01 -3.53665481e-02 8.39088837e+02] [ 2.47929191e-01 9.68733228e-01 -9.33002370e-03 5.24556120e+01] [ 3.65755716e-02 2.63879349e-04 9.99330855e-01 3.06980869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.7192541539999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:839.15, Y:52.47, Z:30.70 [[ 9.68004202e-01 -2.48429389e-01 -3.53652863e-02 8.39146293e+02] [ 2.48254081e-01 9.68649974e-01 -9.33480441e-03 5.24666814e+01] [ 3.65756234e-02 2.56553248e-04 9.99330855e-01 3.07015397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.779254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:839.20, Y:52.48, Z:30.70 [[ 9.68213498e-01 -2.47612819e-01 -3.53626150e-02 8.39203723e+02] [ 2.47436597e-01 9.68859021e-01 -9.34491289e-03 5.24797122e+01] [ 3.65753088e-02 2.97865693e-04 9.99330855e-01 3.07045831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.839254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:839.26, Y:52.49, Z:30.71 [[ 9.68629298e-01 -2.45981571e-01 -3.53602921e-02 8.39260204e+02] [ 2.45803941e-01 9.69274435e-01 -9.35369435e-03 5.24929995e+01] [ 3.65746636e-02 3.68563222e-04 9.99330855e-01 3.07086962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.899254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:839.32, Y:52.51, Z:30.71 [[ 9.69080426e-01 -2.44198615e-01 -3.53576627e-02 8.39316169e+02] [ 2.44019436e-01 9.69725135e-01 -9.36362288e-03 5.25069287e+01] [ 3.65737980e-02 4.46146718e-04 9.99330855e-01 3.07108163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.959254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:839.37, Y:52.52, Z:30.71 [[ 9.69100549e-01 -2.44119141e-01 -3.53549158e-02 8.39372655e+02] [ 2.43939531e-01 9.69745138e-01 -9.37398317e-03 5.25202999e+01] [ 3.65736265e-02 4.59870644e-04 9.99330855e-01 3.07094275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.019254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:839.43, Y:52.53, Z:30.71 [[ 9.68756558e-01 -2.45480795e-01 -3.53540712e-02 8.39429048e+02] [ 2.45301975e-01 9.69401367e-01 -9.37716759e-03 5.25328215e+01] [ 3.65741995e-02 4.11769117e-04 9.99330855e-01 3.07110454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.079254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:839.49, Y:52.55, Z:30.71 [[ 9.68079103e-01 -2.48139325e-01 -3.53514458e-02 8.39485432e+02] [ 2.47961915e-01 9.68724301e-01 -9.38705463e-03 5.25464160e+01] [ 3.65751021e-02 3.21599211e-04 9.99330855e-01 3.07127225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.139254154 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:839.54, Y:52.56, Z:30.71 [[ 9.67066114e-01 -2.52058715e-01 -3.53487567e-02 8.39542049e+02] [ 2.51883550e-01 9.67711925e-01 -9.39717043e-03 5.25593802e+01] [ 3.65760521e-02 1.83914783e-04 9.99330855e-01 3.07129422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.199254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:839.60, Y:52.57, Z:30.72 [[ 9.65827926e-01 -2.56762677e-01 -3.53460894e-02 8.39599362e+02] [ 2.56590291e-01 9.66474484e-01 -9.40719217e-03 5.25711762e+01] [ 3.65765094e-02 1.62655388e-05 9.99330855e-01 3.07185554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.259254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:839.66, Y:52.58, Z:30.72 [[ 9.64298470e-01 -2.62448678e-01 -3.53433512e-02 8.39655831e+02] [ 2.62279727e-01 9.64945934e-01 -9.41746849e-03 5.25828905e+01] [ 3.65760252e-02 -1.88594060e-04 9.99330856e-01 3.07227640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.319254154 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:839.71, Y:52.60, Z:30.72 [[ 9.63159747e-01 -2.66597718e-01 -3.53406183e-02 8.39712716e+02] [ 2.66431180e-01 9.63807836e-01 -9.42771298e-03 5.25956923e+01] [ 3.65749716e-02 -3.35449007e-04 9.99330856e-01 3.07239730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.379254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:839.77, Y:52.61, Z:30.73 [[ 9.62984173e-01 -2.67231327e-01 -3.53397804e-02 8.39768761e+02] [ 2.67065101e-01 9.63632342e-01 -9.43085293e-03 5.26104377e+01] [ 3.65747747e-02 -3.56259920e-04 9.99330856e-01 3.07280075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.439254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:839.83, Y:52.62, Z:30.73 [[ 9.63453666e-01 -2.65534044e-01 -3.53370151e-02 8.39825697e+02] [ 2.65366296e-01 9.64101443e-01 -9.44120304e-03 5.26245604e+01] [ 3.65754281e-02 -2.81091123e-04 9.99330856e-01 3.07265172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.499254154 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:839.88, Y:52.64, Z:30.73 [[ 9.63850029e-01 -2.64092069e-01 -3.53341233e-02 8.39880708e+02] [ 2.63922956e-01 9.64497451e-01 -9.45201321e-03 5.26414532e+01] [ 3.65758736e-02 -2.15163082e-04 9.99330856e-01 3.07328526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.559254154 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:839.94, Y:52.66, Z:30.73 [[ 9.64109566e-01 -2.63143142e-01 -3.53331609e-02 8.39937018e+02] [ 2.62973260e-01 9.64756786e-01 -9.45560973e-03 5.26581714e+01] [ 3.65760856e-02 -1.75432693e-04 9.99330856e-01 3.07301589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.619254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:839.99, Y:52.67, Z:30.73 [[ 9.63942333e-01 -2.63755399e-01 -3.53308294e-02 8.39992681e+02] [ 2.63585609e-01 9.64589578e-01 -9.46431315e-03 5.26747849e+01] [ 3.65760135e-02 -1.89646108e-04 9.99330856e-01 3.07347965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.679254154 meters Centerline goodness : 0.999780 with order 1 Centerline is valid? [True, True] Translation: X:840.05, Y:52.69, Z:30.73 [[ 9.62660693e-01 -2.68395808e-01 -3.53281868e-02 8.40048842e+02] [ 2.68228776e-01 9.63308654e-01 -9.47416738e-03 5.26913402e+01] [ 3.65747749e-02 -3.55627765e-04 9.99330856e-01 3.07332504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.7392541539999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:840.11, Y:52.71, Z:30.74 [[ 9.61073983e-01 -2.74023515e-01 -3.53258048e-02 8.40105037e+02] [ 2.73859951e-01 9.61722829e-01 -9.48304046e-03 5.27077601e+01] [ 3.65722090e-02 -5.60419714e-04 9.99330856e-01 3.07382527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.799254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:840.16, Y:52.73, Z:30.74 [[ 9.59328570e-01 -2.80073113e-01 -3.53234550e-02 8.40161380e+02] [ 2.79913318e-01 9.59978354e-01 -9.49178516e-03 5.27259986e+01] [ 3.65681460e-02 -7.81764832e-04 9.99330856e-01 3.07418334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.8592541539999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:840.22, Y:52.75, Z:30.75 [[ 9.58699528e-01 -2.82219147e-01 -3.53209393e-02 8.40215590e+02] [ 2.82060462e-01 9.59349584e-01 -9.50113738e-03 5.27455974e+01] [ 3.65665313e-02 -8.53904551e-04 9.99330856e-01 3.07460372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.919254154 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:840.27, Y:52.77, Z:30.74 [[ 9.58470160e-01 -2.82997255e-01 -3.53200569e-02 8.40269926e+02] [ 2.82838977e-01 9.59120315e-01 -9.50441656e-03 5.27690829e+01] [ 3.65659079e-02 -8.80189115e-04 9.99330856e-01 3.07415272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.9792541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:840.32, Y:52.79, Z:30.74 [[ 9.58965987e-01 -2.81312871e-01 -3.53172081e-02 8.40323743e+02] [ 2.81153062e-01 9.59615767e-01 -9.51499068e-03 5.27931649e+01] [ 3.65676391e-02 -8.04988770e-04 9.99330856e-01 3.07435195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.039254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:840.38, Y:52.81, Z:30.75 [[ 9.59364687e-01 -2.79950526e-01 -3.53143170e-02 8.40379269e+02] [ 2.79789400e-01 9.60014142e-01 -9.52570864e-03 5.28143763e+01] [ 3.65689709e-02 -7.41943100e-04 9.99330856e-01 3.07472365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.0992541539999 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:840.43, Y:52.84, Z:30.75 [[ 9.59778912e-01 -2.78527385e-01 -3.53119815e-02 8.40433606e+02] [ 2.78364978e-01 9.60428048e-01 -9.53435859e-03 5.28355272e+01] [ 3.65701974e-02 -6.78742647e-04 9.99330856e-01 3.07480893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.159254154 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:840.49, Y:52.86, Z:30.75 [[ 9.60321981e-01 -2.76649273e-01 -3.53110841e-02 8.40488469e+02] [ 2.76485474e-01 9.60970767e-01 -9.53768113e-03 5.28582288e+01] [ 3.65715121e-02 -6.03756968e-04 9.99330856e-01 3.07522146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.2192541539999 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:840.54, Y:52.88, Z:30.75 [[ 9.62405054e-01 -2.69313602e-01 -3.53085905e-02 8.40542913e+02] [ 2.69144519e-01 9.63052483e-01 -9.54690361e-03 5.28765767e+01] [ 3.65751367e-02 -3.15125332e-04 9.99330856e-01 3.07526980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.279254154 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:840.60, Y:52.89, Z:30.76 [[ 9.63882498e-01 -2.63977123e-01 -3.53073454e-02 8.40598375e+02] [ 2.63804286e-01 9.64528935e-01 -9.55150606e-03 5.28946307e+01] [ 3.65763354e-02 -1.07699540e-04 9.99330856e-01 3.07550766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.339254154 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:840.65, Y:52.91, Z:30.76 [[ 9.64565890e-01 -2.61469370e-01 -3.53045691e-02 8.40654830e+02] [ 2.61294478e-01 9.65211774e-01 -9.56175688e-03 5.29116165e+01] [ 3.65764923e-02 -1.94443792e-06 9.99330856e-01 3.07561974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.399254154 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:840.71, Y:52.93, Z:30.76 [[ 9.66430038e-01 -2.54493108e-01 -3.53021301e-02 8.40709779e+02] [ 2.54313225e-01 9.67074550e-01 -9.57075337e-03 5.29297391e+01] [ 3.65754823e-02 2.71664996e-04 9.99330856e-01 3.07582015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.459254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:840.77, Y:52.94, Z:30.77 [[ 9.67593263e-01 -2.50034470e-01 -3.52993058e-02 8.40766803e+02] [ 2.49851238e-01 9.68236831e-01 -9.58115860e-03 5.29425291e+01] [ 3.65737079e-02 4.51089255e-04 9.99330856e-01 3.07654253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.519254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:840.82, Y:52.96, Z:30.76 [[ 9.66168741e-01 -2.55483910e-01 -3.52978188e-02 8.40822442e+02] [ 2.55304108e-01 9.66813275e-01 -9.58663376e-03 5.29571743e+01] [ 3.65756305e-02 2.50627726e-04 9.99330856e-01 3.07643638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.579254154 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:840.88, Y:52.97, Z:30.76 [[ 9.63995253e-01 -2.63566537e-01 -3.52963480e-02 8.40879110e+02] [ 2.63391941e-01 9.64641217e-01 -9.59204602e-03 5.29692167e+01] [ 3.65764544e-02 -5.00867667e-05 9.99330856e-01 3.07629901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.639254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:840.94, Y:52.98, Z:30.77 [[ 9.62516583e-01 -2.68916457e-01 -3.52954148e-02 8.40937564e+02] [ 2.68745326e-01 9.63163473e-01 -9.59547864e-03 5.29784485e+01] [ 3.65756364e-02 -2.49670435e-04 9.99330856e-01 3.07707929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.699254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:840.99, Y:52.99, Z:30.77 [[ 9.60646769e-01 -2.75521673e-01 -3.52929701e-02 8.40994176e+02] [ 2.75354659e-01 9.61294734e-01 -9.60446194e-03 5.29934904e+01] [ 3.65731838e-02 -4.91588404e-04 9.99330856e-01 3.07718301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.759254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:841.05, Y:53.01, Z:30.77 [[ 9.59307981e-01 -2.80147803e-01 -3.52903192e-02 8.41051265e+02] [ 2.79983556e-01 9.59956653e-01 -9.61419249e-03 5.30060483e+01] [ 3.65705716e-02 -6.57737480e-04 9.99330856e-01 3.07731699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.819254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:841.11, Y:53.02, Z:30.78 [[ 9.57773935e-01 -2.85348703e-01 -3.52874988e-02 8.41108512e+02] [ 2.85187596e-01 9.58423395e-01 -9.62453339e-03 5.30201059e+01] [ 3.65667125e-02 -8.45429740e-04 9.99330857e-01 3.07764884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.879254154 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:841.17, Y:53.03, Z:30.78 [[ 9.57639067e-01 -2.85801303e-01 -3.52850108e-02 8.41165939e+02] [ 2.85640169e-01 9.58288520e-01 -9.63364587e-03 5.30332433e+01] [ 3.65665294e-02 -8.53260802e-04 9.99330857e-01 3.07823594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.939254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:841.22, Y:53.05, Z:30.78 [[ 9.58873547e-01 -2.81631919e-01 -3.52843049e-02 8.41221605e+02] [ 2.81467865e-01 9.59522269e-01 -9.63623084e-03 5.30503124e+01] [ 3.65699465e-02 -6.91471120e-04 9.99330857e-01 3.07848541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.999254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:841.28, Y:53.07, Z:30.78 [[ 9.58844331e-01 -2.81731481e-01 -3.52834366e-02 8.41277938e+02] [ 2.81567377e-01 9.59493040e-01 -9.63940890e-03 5.30691850e+01] [ 3.65699368e-02 -6.91972142e-04 9.99330857e-01 3.07820517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.059254154 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:841.33, Y:53.09, Z:30.78 [[ 9.58871613e-01 -2.81638903e-01 -3.52811265e-02 8.41333230e+02] [ 2.81474427e-01 9.59520227e-01 -9.64785684e-03 5.30867238e+01] [ 3.65701663e-02 -6.79678802e-04 9.99330857e-01 3.07837103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.119254154 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:841.39, Y:53.10, Z:30.79 [[ 9.58184869e-01 -2.83966655e-01 -3.52802388e-02 8.41389005e+02] [ 2.83803634e-01 9.58833851e-01 -9.65110188e-03 5.31033790e+01] [ 3.65684783e-02 -7.65120201e-04 9.99330857e-01 3.07866585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.179254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:841.44, Y:53.12, Z:30.79 [[ 9.56433502e-01 -2.89811066e-01 -3.52775040e-02 8.41444940e+02] [ 2.89651643e-01 9.57083376e-01 -9.66108819e-03 5.31235585e+01] [ 3.65634029e-02 -9.77998558e-04 9.99330857e-01 3.07853328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.2392541539999 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:841.50, Y:53.14, Z:30.79 [[ 9.55588632e-01 -2.92585113e-01 -3.52748899e-02 8.41500986e+02] [ 2.92427224e-01 9.56238881e-01 -9.67062325e-03 5.31396967e+01] [ 3.65607017e-02 -1.07420051e-03 9.99330857e-01 3.07865122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.299254154 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:841.56, Y:53.16, Z:30.79 [[ 9.55322994e-01 -2.93451452e-01 -3.52735332e-02 8.41556272e+02] [ 2.93293970e-01 9.55973342e-01 -9.67556920e-03 5.31567767e+01] [ 3.65598673e-02 -1.10222088e-03 9.99330857e-01 3.07893329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.3592541539999 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:841.61, Y:53.18, Z:30.80 [[ 9.55331491e-01 -2.93423902e-01 -3.52725979e-02 8.41612279e+02] [ 2.93266276e-01 9.55981804e-01 -9.67897779e-03 5.31753631e+01] [ 3.65600052e-02 -1.09763114e-03 9.99330857e-01 3.07958485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.419254154 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:841.67, Y:53.20, Z:30.80 [[ 9.55987326e-01 -2.91280358e-01 -3.52701860e-02 8.41667510e+02] [ 2.91120949e-01 9.56637204e-01 -9.68775868e-03 5.31950982e+01] [ 3.65626260e-02 -1.00651553e-03 9.99330857e-01 3.08015471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.4792541539999 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:841.72, Y:53.22, Z:30.80 [[ 9.57079718e-01 -2.87670994e-01 -3.52677297e-02 8.41722751e+02] [ 2.87508806e-01 9.57728908e-01 -9.69669263e-03 5.32153283e+01] [ 3.65663814e-02 -8.59275003e-04 9.99330857e-01 3.07996664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.539254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:841.78, Y:53.23, Z:30.80 [[ 9.58928743e-01 -2.81446314e-01 -3.52652614e-02 8.41777860e+02] [ 2.81279581e-01 9.59576780e-01 -9.70566107e-03 5.32346011e+01] [ 3.65713485e-02 -6.12360579e-04 9.99330857e-01 3.08036166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.5992541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:841.83, Y:53.25, Z:30.80 [[ 9.59999084e-01 -2.77773858e-01 -3.52624713e-02 8.41833335e+02] [ 2.77604274e-01 9.60646382e-01 -9.71578743e-03 5.32541848e+01] [ 3.65735572e-02 -4.61865703e-04 9.99330857e-01 3.08028277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.659254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:841.89, Y:53.27, Z:30.81 [[ 9.61755287e-01 -2.71631192e-01 -3.52599444e-02 8.41889352e+02] [ 2.71457138e-01 9.62401396e-01 -9.72494932e-03 5.32703157e+01] [ 3.65758193e-02 -2.18542159e-04 9.99330857e-01 3.08059811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.7192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:841.94, Y:53.29, Z:30.81 [[ 9.62493498e-01 -2.69004048e-01 -3.52574580e-02 8.41944676e+02] [ 2.68827901e-01 9.63139040e-01 -9.73395532e-03 5.32895200e+01] [ 3.65763076e-02 -1.09319716e-04 9.99330857e-01 3.08056711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.779254154 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:842.00, Y:53.30, Z:30.81 [[ 9.64974345e-01 -2.59964405e-01 -3.52565170e-02 8.42001405e+02] [ 2.59782085e-01 9.65618171e-01 -9.73736235e-03 5.33019678e+01] [ 3.65757011e-02 2.37293354e-04 9.99330857e-01 3.08097800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.839254154 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:842.06, Y:53.32, Z:30.81 [[ 9.65048318e-01 -2.59689791e-01 -3.52555930e-02 8.42057439e+02] [ 2.59507166e-01 9.65692057e-01 -9.74070667e-03 5.33217403e+01] [ 3.65756082e-02 2.51173550e-04 9.99330857e-01 3.08102296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.899254154 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:842.12, Y:53.33, Z:30.81 [[ 9.66061298e-01 -2.55896058e-01 -3.52530226e-02 8.42115646e+02] [ 2.55710566e-01 9.66704217e-01 -9.75000065e-03 5.33335694e+01] [ 3.65742323e-02 4.04527921e-04 9.99330857e-01 3.08122785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.959254154 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:842.17, Y:53.35, Z:30.82 [[ 9.67276361e-01 -2.51264496e-01 -3.52504565e-02 8.42171797e+02] [ 2.51075588e-01 9.67918285e-01 -9.75926950e-03 5.33455952e+01] [ 3.65717193e-02 5.89381602e-04 9.99330857e-01 3.08178748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.019254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:842.23, Y:53.36, Z:30.82 [[ 9.67519279e-01 -2.50327677e-01 -3.52491105e-02 8.42227990e+02] [ 2.50137971e-01 9.68160967e-01 -9.76412835e-03 5.33592881e+01] [ 3.65710445e-02 6.29841434e-04 9.99330857e-01 3.08212081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.079254154 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:842.29, Y:53.37, Z:30.82 [[ 9.67238141e-01 -2.51412174e-01 -3.52462300e-02 8.42285550e+02] [ 2.51222809e-01 9.67879930e-01 -9.77451526e-03 5.33728575e+01] [ 3.65715508e-02 5.99627056e-04 9.99330857e-01 3.08198648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.139254154 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:842.34, Y:53.38, Z:30.82 [[ 9.66780419e-01 -2.53166943e-01 -3.52437316e-02 8.42343147e+02] [ 2.52978415e-01 9.67422454e-01 -9.78351567e-03 5.33838624e+01] [ 3.65724400e-02 5.42608026e-04 9.99330857e-01 3.08190168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.199254154 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:842.40, Y:53.39, Z:30.82 [[ 9.66568944e-01 -2.53973482e-01 -3.52412686e-02 8.42400334e+02] [ 2.53785167e-01 9.67211041e-01 -9.79237966e-03 5.33935724e+01] [ 3.65727488e-02 5.21298857e-04 9.99330857e-01 3.08198758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.259254154 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:842.46, Y:53.40, Z:30.82 [[ 9.66963029e-01 -2.52469037e-01 -3.52404063e-02 8.42458436e+02] [ 2.52279609e-01 9.67604799e-01 -9.79548163e-03 5.34029115e+01] [ 3.65718421e-02 5.81432640e-04 9.99330857e-01 3.08249788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.319254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:842.52, Y:53.42, Z:30.82 [[ 9.67000372e-01 -2.52326304e-01 -3.52379960e-02 8.42515755e+02] [ 2.52136466e-01 9.67642021e-01 -9.80414475e-03 5.34160098e+01] [ 3.65716093e-02 5.95827847e-04 9.99330857e-01 3.08245642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.379254154 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:842.57, Y:53.42, Z:30.83 [[ 9.68903413e-01 -2.44917634e-01 -3.52353295e-02 8.42574153e+02] [ 2.44722542e-01 9.69543485e-01 -9.81371856e-03 5.34211435e+01] [ 3.65657369e-02 8.85665998e-04 9.99330857e-01 3.08258556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.439254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:842.63, Y:53.43, Z:30.83 [[ 9.69678568e-01 -2.41830527e-01 -3.52345094e-02 8.42631235e+02] [ 2.41633291e-01 9.70317982e-01 -9.81666210e-03 5.34292097e+01] [ 3.65626467e-02 1.00517637e-03 9.99330857e-01 3.08323626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.499254154 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:842.69, Y:53.44, Z:30.83 [[ 9.70279251e-01 -2.39409241e-01 -3.52333632e-02 8.42690057e+02] [ 2.39210260e-01 9.70918124e-01 -9.82077423e-03 5.34392120e+01] [ 3.65598950e-02 1.10071148e-03 9.99330857e-01 3.08335198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.559254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:842.75, Y:53.45, Z:30.84 [[ 9.70897845e-01 -2.36888464e-01 -3.52310953e-02 8.42746620e+02] [ 2.36687530e-01 9.71536106e-01 -9.82890341e-03 5.34505638e+01] [ 3.65566350e-02 1.20410019e-03 9.99330857e-01 3.08382837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.619254154 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:842.81, Y:53.46, Z:30.84 [[ 9.71596221e-01 -2.34008018e-01 -3.52282550e-02 8.42805259e+02] [ 2.33804824e-01 9.72233767e-01 -9.83907313e-03 5.34578205e+01] [ 3.65525210e-02 1.32307031e-03 9.99330857e-01 3.08350587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.679254154 meters Centerline goodness : 0.999476 with order 1 Centerline is valid? [True, True] Translation: X:842.86, Y:53.47, Z:30.84 [[ 9.70735930e-01 -2.37551648e-01 -3.52273820e-02 8.42863053e+02] [ 2.37350668e-01 9.71374177e-01 -9.84219754e-03 5.34690847e+01] [ 3.65569995e-02 1.19293212e-03 9.99330857e-01 3.08350284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.7392541539999 meters Centerline goodness : 0.998233 with order 1 Centerline is valid? [True, True] Translation: X:842.92, Y:53.48, Z:30.84 [[ 9.69296378e-01 -2.43359290e-01 -3.52248248e-02 8.42921015e+02] [ 2.43161803e-01 9.69935714e-01 -9.85134120e-03 5.34756303e+01] [ 3.65632310e-02 9.83537425e-04 9.99330858e-01 3.08427702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.799254154 meters Centerline goodness : 0.997790 with order 1 Centerline is valid? [True, True] Translation: X:842.98, Y:53.49, Z:30.84 [[ 9.67640230e-01 -2.49863294e-01 -3.52238421e-02 8.42978108e+02] [ 2.49669977e-01 9.68280840e-01 -9.85485393e-03 5.34877550e+01] [ 3.65689376e-02 7.41617277e-04 9.99330858e-01 3.08434270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.8592541539999 meters Centerline goodness : 0.998057 with order 1 Centerline is valid? [True, True] Translation: X:843.03, Y:53.50, Z:30.85 [[ 9.67038963e-01 -2.52180738e-01 -3.52210059e-02 8.43034852e+02] [ 2.51988588e-01 9.67679923e-01 -9.86497971e-03 5.35039293e+01] [ 3.65704182e-02 6.64528203e-04 9.99330858e-01 3.08481984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.919254154 meters Centerline goodness : 0.998460 with order 1 Centerline is valid? [True, True] Translation: X:843.09, Y:53.53, Z:30.85 [[ 9.68365838e-01 -2.47036956e-01 -3.52185411e-02 8.43089654e+02] [ 2.46841082e-01 9.69005670e-01 -9.87377162e-03 5.35267099e+01] [ 3.65661525e-02 8.68040353e-04 9.99330858e-01 3.08500550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.9792541539999 meters Centerline goodness : 0.998115 with order 1 Centerline is valid? [True, True] Translation: X:843.14, Y:53.55, Z:30.84 [[ 9.68240397e-01 -2.47528508e-01 -3.52160807e-02 8.43144965e+02] [ 2.47332640e-01 9.68880230e-01 -9.88253905e-03 5.35483051e+01] [ 3.65663745e-02 8.58587316e-04 9.99330858e-01 3.08448266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.039254154 meters Centerline goodness : 0.998530 with order 1 Centerline is valid? [True, True] Translation: X:843.20, Y:53.56, Z:30.85 [[ 9.69988936e-01 -2.40585692e-01 -3.52134685e-02 8.43201249e+02] [ 2.40384908e-01 9.70627244e-01 -9.89183817e-03 5.35612705e+01] [ 3.65589866e-02 1.13018721e-03 9.99330858e-01 3.08509325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.0992541539999 meters Centerline goodness : 0.998449 with order 1 Centerline is valid? [True, True] Translation: X:843.26, Y:53.58, Z:30.85 [[ 9.70475872e-01 -2.38614099e-01 -3.52121238e-02 8.43256044e+02] [ 2.38411845e-01 9.71113716e-01 -9.89662239e-03 5.35799910e+01] [ 3.65564501e-02 1.20944582e-03 9.99330858e-01 3.08511221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.159254154 meters Centerline goodness : 0.998843 with order 1 Centerline is valid? [True, True] Translation: X:843.31, Y:53.60, Z:30.85 [[ 9.70583999e-01 -2.38174305e-01 -3.52093897e-02 8.43311853e+02] [ 2.37971410e-01 9.71221639e-01 -9.90634002e-03 5.35959727e+01] [ 3.65555569e-02 1.23610700e-03 9.99330858e-01 3.08549167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.2192541539999 meters Centerline goodness : 0.999233 with order 1 Centerline is valid? [True, True] Translation: X:843.37, Y:53.61, Z:30.86 [[ 9.69629606e-01 -2.42030813e-01 -3.52067060e-02 8.43369007e+02] [ 2.41830109e-01 9.70267939e-01 -9.91586866e-03 5.36112693e+01] [ 3.65598839e-02 1.10067828e-03 9.99330858e-01 3.08609245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.279254154 meters Centerline goodness : 0.999562 with order 1 Centerline is valid? [True, True] Translation: X:843.43, Y:53.63, Z:30.86 [[ 9.67559717e-01 -2.50177655e-01 -3.52041902e-02 8.43426009e+02] [ 2.49982002e-01 9.68199616e-01 -9.92479264e-03 5.36264115e+01] [ 3.65676448e-02 8.02415628e-04 9.99330858e-01 3.08638184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.339254154 meters Centerline goodness : 0.999562 with order 1 Centerline is valid? [True, True] Translation: X:843.48, Y:53.64, Z:30.86 [[ 9.64937724e-01 -2.60107731e-01 -3.52016651e-02 8.43482221e+02] [ 2.59918338e-01 9.65579504e-01 -9.93374072e-03 5.36438454e+01] [ 3.65738491e-02 4.35882862e-04 9.99330858e-01 3.08631316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.399254154 meters Centerline goodness : 0.999539 with order 1 Centerline is valid? [True, True] Translation: X:843.54, Y:53.66, Z:30.87 [[ 9.63828042e-01 -2.64190325e-01 -3.51991153e-02 8.43538603e+02] [ 2.64003321e-01 9.64470522e-01 -9.94276745e-03 5.36563189e+01] [ 3.65752921e-02 2.90434752e-04 9.99330858e-01 3.08692533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.459254154 meters Centerline goodness : 0.999737 with order 1 Centerline is valid? [True, True] Translation: X:843.59, Y:53.67, Z:30.87 [[ 9.62231432e-01 -2.69947692e-01 -3.51982219e-02 8.43594333e+02] [ 2.69764416e-01 9.62874986e-01 -9.94592913e-03 5.36719564e+01] [ 3.65763680e-02 7.50578540e-05 9.99330858e-01 3.08697228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.519254154 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:843.65, Y:53.69, Z:30.87 [[ 9.60935019e-01 -2.74526933e-01 -3.51973462e-02 8.43650364e+02] [ 2.74346611e-01 9.61579406e-01 -9.94902700e-03 5.36864650e+01] [ 3.65763191e-02 -9.59041932e-05 9.99330858e-01 3.08711500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.579254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:843.71, Y:53.70, Z:30.87 [[ 9.60339738e-01 -2.76602473e-01 -3.51945920e-02 8.43705853e+02] [ 2.76423187e-01 9.60984414e-01 -9.95876041e-03 5.37016947e+01] [ 3.65760722e-02 -1.64807942e-04 9.99330858e-01 3.08742111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.639254154 meters Centerline goodness : 0.999758 with order 1 Centerline is valid? [True, True] Translation: X:843.76, Y:53.72, Z:30.87 [[ 9.59311173e-01 -2.80149257e-01 -3.51918666e-02 8.43761339e+02] [ 2.79972001e-01 9.59956410e-01 -9.96838217e-03 5.37177328e+01] [ 3.65752928e-02 -2.89956927e-04 9.99330858e-01 3.08738755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.699254154 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:843.82, Y:53.73, Z:30.88 [[ 9.59356842e-01 -2.79993189e-01 -3.51889795e-02 8.43817829e+02] [ 2.79815455e-01 9.60001948e-01 -9.97856347e-03 5.37331192e+01] [ 3.65754186e-02 -2.73417162e-04 9.99330858e-01 3.08783808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.759254154 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:843.87, Y:53.75, Z:30.88 [[ 9.59901016e-01 -2.78122187e-01 -3.51864891e-02 8.43873426e+02] [ 2.77942874e-01 9.60545684e-01 -9.98733741e-03 5.37495290e+01] [ 3.65759304e-02 -1.92978598e-04 9.99330858e-01 3.08805559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.819254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:843.93, Y:53.77, Z:30.88 [[ 9.60863485e-01 -2.74778957e-01 -3.51836320e-02 8.43929051e+02] [ 2.74597033e-01 9.61507422e-01 -9.99739221e-03 5.37718117e+01] [ 3.65763963e-02 -5.51918287e-05 9.99330858e-01 3.08752494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.879254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:843.99, Y:53.79, Z:30.87 [[ 9.61899747e-01 -2.71129441e-01 -3.51810128e-02 8.43985568e+02] [ 2.70944737e-01 9.62542891e-01 -1.00066010e-02 5.37882315e+01] [ 3.65763179e-02 9.32367174e-05 9.99330858e-01 3.08747638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.939254154 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:844.04, Y:53.80, Z:30.88 [[ 9.63884591e-01 -2.63986678e-01 -3.51785364e-02 8.44041586e+02] [ 2.63796891e-01 9.64526254e-01 -1.00152992e-02 5.38018989e+01] [ 3.65745275e-02 3.73604003e-04 9.99330858e-01 3.08823626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.999254154 meters Centerline goodness : 0.999715 with order 1 Centerline is valid? [True, True] Translation: X:844.10, Y:53.82, Z:30.89 [[ 9.64284725e-01 -2.62521440e-01 -3.51775842e-02 8.44098000e+02] [ 2.62330556e-01 9.64926063e-01 -1.00186424e-02 5.38177433e+01] [ 3.65738763e-02 4.32668624e-04 9.99330858e-01 3.08855864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.059254154 meters Centerline goodness : 0.999693 with order 1 Centerline is valid? [True, True] Translation: X:844.15, Y:53.83, Z:30.89 [[ 9.64553470e-01 -2.61532635e-01 -3.51750464e-02 8.44154479e+02] [ 2.61340769e-01 9.65194515e-01 -1.00275447e-02 5.38329950e+01] [ 3.65732920e-02 4.79429318e-04 9.99330858e-01 3.08904380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.119254154 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:844.21, Y:53.85, Z:30.90 [[ 9.65082185e-01 -2.59575173e-01 -3.51725255e-02 8.44209931e+02] [ 2.59381684e-01 9.65722741e-01 -1.00363792e-02 5.38474311e+01] [ 3.65721026e-02 5.62821900e-04 9.99330858e-01 3.08958978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.179254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:844.27, Y:53.87, Z:30.89 [[ 9.64804765e-01 -2.60604529e-01 -3.51716391e-02 8.44265312e+02] [ 2.60411610e-01 9.65445494e-01 -1.00394848e-02 5.38691988e+01] [ 3.65726356e-02 5.27039600e-04 9.99330858e-01 3.08917937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.2392541539999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:844.32, Y:53.88, Z:30.90 [[ 9.66759586e-01 -2.53256857e-01 -3.51691222e-02 8.44321837e+02] [ 2.53058750e-01 9.67398729e-01 -1.00482938e-02 5.38816920e+01] [ 3.65673634e-02 8.14430221e-04 9.99330858e-01 3.08974327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.299254154 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:844.38, Y:53.90, Z:30.90 [[ 9.67479231e-01 -2.50493788e-01 -3.51681547e-02 8.44378636e+02] [ 2.50293732e-01 9.68117767e-01 -1.00516788e-02 5.38992062e+01] [ 3.65647985e-02 9.22421804e-04 9.99330858e-01 3.08976403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.3592541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:844.43, Y:53.92, Z:30.90 [[ 9.67838449e-01 -2.49102459e-01 -3.51667755e-02 8.44434293e+02] [ 2.48901310e-01 9.68476641e-01 -1.00565016e-02 5.39150784e+01] [ 3.65632999e-02 9.80012426e-04 9.99330858e-01 3.09028449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.419254154 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:844.49, Y:53.93, Z:30.90 [[ 9.66904100e-01 -2.52705286e-01 -3.51638987e-02 8.44491456e+02] [ 2.52506151e-01 9.67542923e-01 -1.00665508e-02 5.39307180e+01] [ 3.65664520e-02 8.54288529e-04 9.99330859e-01 3.09039507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.4792541539999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:844.55, Y:53.94, Z:30.91 [[ 9.65888333e-01 -2.56560731e-01 -3.51613275e-02 8.44547964e+02] [ 2.56363819e-01 9.66527846e-01 -1.00755239e-02 5.39445762e+01] [ 3.65693859e-02 7.17738780e-04 9.99330859e-01 3.09095661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.539254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:844.60, Y:53.96, Z:30.91 [[ 9.64815061e-01 -2.60567924e-01 -3.51604259e-02 8.44604718e+02] [ 2.60373554e-01 9.65455350e-01 -1.00786692e-02 5.39589446e+01] [ 3.65719992e-02 5.69206831e-04 9.99330859e-01 3.09125140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.5992541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:844.66, Y:53.97, Z:30.92 [[ 9.64523294e-01 -2.61646264e-01 -3.51574644e-02 8.44661829e+02] [ 2.61452233e-01 9.65163687e-01 -1.00889891e-02 5.39748473e+01] [ 3.65724543e-02 5.39067416e-04 9.99330859e-01 3.09160418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.659254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:844.72, Y:53.99, Z:30.92 [[ 9.64729043e-01 -2.60886811e-01 -3.51560118e-02 8.44717022e+02] [ 2.60692092e-01 9.65369226e-01 -1.00940483e-02 5.39918717e+01] [ 3.65719360e-02 5.73127294e-04 9.99330859e-01 3.09157672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.7192541539999 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:844.77, Y:54.01, Z:30.91 [[ 9.64584282e-01 -2.61421655e-01 -3.51550879e-02 8.44772498e+02] [ 2.61227174e-01 9.65224538e-01 -1.00972652e-02 5.40089606e+01] [ 3.65721972e-02 5.56199016e-04 9.99330859e-01 3.09118736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.779254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:844.83, Y:54.03, Z:30.92 [[ 9.64346318e-01 -2.62298290e-01 -3.51537564e-02 8.44829027e+02] [ 2.62104221e-01 9.64986699e-01 -1.01018986e-02 5.40250906e+01] [ 3.65726180e-02 5.27780724e-04 9.99330859e-01 3.09170295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.839254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:844.89, Y:54.04, Z:30.92 [[ 9.63626036e-01 -2.64932552e-01 -3.51511773e-02 8.44885086e+02] [ 2.64739908e-01 9.64266847e-01 -1.01108649e-02 5.40397948e+01] [ 3.65738122e-02 4.37173243e-04 9.99330859e-01 3.09225309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.899254154 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:844.94, Y:54.06, Z:30.92 [[ 9.62471697e-01 -2.69096062e-01 -3.51502725e-02 8.44941499e+02] [ 2.68906075e-01 9.63113300e-01 -1.01140094e-02 5.40554151e+01] [ 3.65753351e-02 2.82325904e-04 9.99330859e-01 3.09224848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.959254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:845.00, Y:54.07, Z:30.93 [[ 9.62359075e-01 -2.69498924e-01 -3.51474014e-02 8.44997621e+02] [ 2.69308841e-01 9.63000651e-01 -1.01239772e-02 5.40706688e+01] [ 3.65753714e-02 2.77395424e-04 9.99330859e-01 3.09259965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.019254154 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:845.05, Y:54.09, Z:30.93 [[ 9.63121230e-01 -2.66762740e-01 -3.51445099e-02 8.45053986e+02] [ 2.66570469e-01 9.63762153e-01 -1.01340047e-02 5.40879376e+01] [ 3.65743234e-02 3.91786572e-04 9.99330859e-01 3.09256106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.079254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:845.11, Y:54.10, Z:30.93 [[ 9.64065491e-01 -2.63330155e-01 -3.51419710e-02 8.45109451e+02] [ 2.63135282e-01 9.64705627e-01 -1.01428014e-02 5.41040230e+01] [ 3.65725626e-02 5.31232396e-04 9.99330859e-01 3.09299341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.139254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:845.16, Y:54.12, Z:30.93 [[ 9.65178355e-01 -2.59221891e-01 -3.51390695e-02 8.45164622e+02] [ 2.59023927e-01 9.65817542e-01 -1.01528435e-02 5.41214170e+01] [ 3.65697690e-02 6.97445001e-04 9.99330859e-01 3.09295399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.199254154 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:845.22, Y:54.14, Z:30.93 [[ 9.66295459e-01 -2.55026537e-01 -3.51361770e-02 8.45219752e+02] [ 2.54825435e-01 9.66933666e-01 -1.01628438e-02 5.41391481e+01] [ 3.65661473e-02 8.66718240e-04 9.99330859e-01 3.09300511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.259254154 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:845.28, Y:54.16, Z:30.93 [[ 9.66670442e-01 -2.53601865e-01 -3.51333173e-02 8.45275382e+02] [ 2.53399464e-01 9.67308238e-01 -1.01727202e-02 5.41560880e+01] [ 3.65645681e-02 9.30904138e-04 9.99330859e-01 3.09324596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.319254154 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:845.33, Y:54.17, Z:30.93 [[ 9.67078044e-01 -2.52043470e-01 -3.51304209e-02 8.45331395e+02] [ 2.51839679e-01 9.67715396e-01 -1.01827128e-02 5.41724032e+01] [ 3.65627355e-02 1.00024400e-03 9.99330859e-01 3.09342603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.379254154 meters Centerline goodness : 0.999758 with order 1 Centerline is valid? [True, True] Translation: X:845.39, Y:54.19, Z:30.94 [[ 9.67093935e-01 -2.51982891e-01 -3.51275264e-02 8.45387655e+02] [ 2.51778697e-01 9.67731159e-01 -1.01926885e-02 5.41898277e+01] [ 3.65623849e-02 1.01292440e-03 9.99330859e-01 3.09358092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.439254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:845.44, Y:54.21, Z:30.94 [[ 9.67513908e-01 -2.50365907e-01 -3.51247928e-02 8.45443403e+02] [ 2.50160308e-01 9.68150679e-01 -1.02020997e-02 5.42053239e+01] [ 3.65603500e-02 1.08384441e-03 9.99330859e-01 3.09384792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.499254154 meters Centerline goodness : 0.999737 with order 1 Centerline is valid? [True, True] Translation: X:845.50, Y:54.22, Z:30.94 [[ 9.67122939e-01 -2.51872064e-01 -3.51238354e-02 8.45498458e+02] [ 2.51667336e-01 9.67759992e-01 -1.02053949e-02 5.42214750e+01] [ 3.65618965e-02 1.03034936e-03 9.99330859e-01 3.09375855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.559254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:845.55, Y:54.24, Z:30.94 [[ 9.66683398e-01 -2.53553961e-01 -3.51225929e-02 8.45554652e+02] [ 2.53350186e-01 9.67320756e-01 -1.02096694e-02 5.42376983e+01] [ 3.65635152e-02 9.71202418e-04 9.99330859e-01 3.09430401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.619254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:845.61, Y:54.26, Z:30.94 [[ 9.65397800e-01 -2.58406000e-01 -3.51201780e-02 8.45609859e+02] [ 2.58205128e-01 9.66036079e-01 -1.02179697e-02 5.42576008e+01] [ 3.65677437e-02 7.96195392e-04 9.99330859e-01 3.09437245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.679254154 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:845.67, Y:54.27, Z:30.95 [[ 9.65707388e-01 -2.57246956e-01 -3.51175717e-02 8.45666493e+02] [ 2.57044993e-01 9.66345322e-01 -1.02269191e-02 5.42726702e+01] [ 3.65665450e-02 8.49415389e-04 9.99330859e-01 3.09473350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.7392541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:845.72, Y:54.29, Z:30.95 [[ 9.65277355e-01 -2.58856263e-01 -3.51149865e-02 8.45721587e+02] [ 2.58655040e-01 9.65915524e-01 -1.02357878e-02 5.42934274e+01] [ 3.65677084e-02 7.97705951e-04 9.99330859e-01 3.09480793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.799254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:845.78, Y:54.31, Z:30.95 [[ 9.65326924e-01 -2.58671716e-01 -3.51123074e-02 8.45776512e+02] [ 2.58470037e-01 9.65964948e-01 -1.02449701e-02 5.43106152e+01] [ 3.65673422e-02 8.14266092e-04 9.99330859e-01 3.09508723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.8592541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:845.83, Y:54.33, Z:30.96 [[ 9.64842500e-01 -2.60473076e-01 -3.51102114e-02 8.45830774e+02] [ 2.60272327e-01 9.65480818e-01 -1.02521482e-02 5.43290853e+01] [ 3.65686442e-02 7.53491910e-04 9.99330859e-01 3.09565197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.919254154 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:845.89, Y:54.35, Z:30.96 [[ 9.64335686e-01 -2.62343414e-01 -3.51086467e-02 8.45886129e+02] [ 2.62143709e-01 9.64974331e-01 -1.02575037e-02 5.43470320e+01] [ 3.65699314e-02 6.88166029e-04 9.99330859e-01 3.09556135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.9792541539999 meters Centerline goodness : 0.999717 with order 1 Centerline is valid? [True, True] Translation: X:845.94, Y:54.37, Z:30.96 [[ 9.63253155e-01 -2.66291109e-01 -3.51056235e-02 8.45940185e+02] [ 2.66093644e-01 9.63892496e-01 -1.02678400e-02 5.43659103e+01] [ 3.65722815e-02 5.49145961e-04 9.99330859e-01 3.09564487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.039254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:846.00, Y:54.38, Z:30.96 [[ 9.61877631e-01 -2.71217827e-01 -3.51043262e-02 8.45996101e+02] [ 2.71023476e-01 9.62517925e-01 -1.02722734e-02 5.43835351e+01] [ 3.65745669e-02 3.66573479e-04 9.99330859e-01 3.09640808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.0992541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:846.05, Y:54.40, Z:30.97 [[ 9.60331186e-01 -2.76643962e-01 -3.51017212e-02 8.46050634e+02] [ 2.76452904e-01 9.60972471e-01 -1.02811673e-02 5.44022504e+01] [ 3.65760106e-02 1.69352858e-04 9.99330860e-01 3.09659762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.159254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:846.11, Y:54.42, Z:30.97 [[ 9.59113148e-01 -2.80838111e-01 -3.50987728e-02 8.46105304e+02] [ 2.80649489e-01 9.59755154e-01 -1.02912228e-02 5.44210087e+01] [ 3.65763957e-02 1.99944123e-05 9.99330860e-01 3.09661578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.2192541539999 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:846.16, Y:54.44, Z:30.97 [[ 9.58546236e-01 -2.82767386e-01 -3.50958442e-02 8.46160394e+02] [ 2.82579691e-01 9.59188513e-01 -1.03012006e-02 5.44398200e+01] [ 3.65763742e-02 -4.31957547e-05 9.99330860e-01 3.09691888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.279254154 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:846.21, Y:54.46, Z:30.97 [[ 9.58872367e-01 -2.81659849e-01 -3.50929339e-02 8.46214948e+02] [ 2.81471049e-01 9.59514320e-01 -1.03111054e-02 5.44596011e+01] [ 3.65763970e-02 9.38912415e-06 9.99330860e-01 3.09716323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.339254154 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:846.27, Y:54.48, Z:30.97 [[ 9.59471084e-01 -2.79613885e-01 -3.50900734e-02 8.46270695e+02] [ 2.79423361e-01 9.60112528e-01 -1.03208309e-02 5.44793002e+01] [ 3.65762667e-02 9.75525368e-05 9.99330860e-01 3.09708603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.399254154 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:846.33, Y:54.50, Z:30.97 [[ 9.61607297e-01 -2.72176903e-01 -3.50875971e-02 8.46325657e+02] [ 2.71981111e-01 9.62247152e-01 -1.03292428e-02 5.45010991e+01] [ 3.65743217e-02 3.89511560e-04 9.99330860e-01 3.09733805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.459254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:846.38, Y:54.52, Z:30.98 [[ 9.62942601e-01 -2.67414646e-01 -3.50849552e-02 8.46380267e+02] [ 2.67215364e-01 9.63581377e-01 -1.03382088e-02 5.45214727e+01] [ 3.65717979e-02 5.79862644e-04 9.99330860e-01 3.09767564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.519254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:846.44, Y:54.54, Z:30.98 [[ 9.63470246e-01 -2.65507704e-01 -3.50819512e-02 8.46435443e+02] [ 2.65306787e-01 9.64108510e-01 -1.03483924e-02 5.45395836e+01] [ 3.65703857e-02 6.62888449e-04 9.99330860e-01 3.09794853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.579254154 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:846.49, Y:54.56, Z:30.98 [[ 9.63735376e-01 -2.64544122e-01 -3.50789485e-02 8.46490674e+02] [ 2.64342197e-01 9.64373322e-01 -1.03585611e-02 5.45591789e+01] [ 3.65694985e-02 7.10065444e-04 9.99330860e-01 3.09799727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.639254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:846.55, Y:54.58, Z:30.98 [[ 9.63725150e-01 -2.64581778e-01 -3.50758956e-02 8.46546328e+02] [ 2.64379502e-01 9.64362984e-01 -1.03688886e-02 5.45780509e+01] [ 3.65693143e-02 7.19410918e-04 9.99330860e-01 3.09849613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.699254154 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:846.60, Y:54.60, Z:30.99 [[ 9.63302661e-01 -2.66116237e-01 -3.50732248e-02 8.46601531e+02] [ 2.65914649e-01 9.63940713e-01 -1.03779145e-02 5.45956856e+01] [ 3.65702409e-02 6.70588441e-04 9.99330860e-01 3.09860716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.759254154 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:846.66, Y:54.61, Z:30.99 [[ 9.63019037e-01 -2.67141191e-01 -3.50701960e-02 8.46657211e+02] [ 2.66939909e-01 9.63657186e-01 -1.03881398e-02 5.46131353e+01] [ 3.65707464e-02 6.42341452e-04 9.99330860e-01 3.09853474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.819254154 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:846.71, Y:54.63, Z:30.99 [[ 9.63105070e-01 -2.66831249e-01 -3.50671958e-02 8.46712209e+02] [ 2.66629393e-01 9.63743038e-01 -1.03982579e-02 5.46303468e+01] [ 3.65703459e-02 6.64669808e-04 9.99330860e-01 3.09875082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.879254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:846.77, Y:54.65, Z:30.99 [[ 9.63374812e-01 -2.65856112e-01 -3.50642238e-02 8.46768093e+02] [ 2.65653246e-01 9.64012459e-01 -1.04082700e-02 5.46473632e+01] [ 3.65694508e-02 7.12140224e-04 9.99330860e-01 3.09902012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.939254154 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:846.82, Y:54.66, Z:30.99 [[ 9.63523313e-01 -2.65317796e-01 -3.50612732e-02 8.46823888e+02] [ 2.65114213e-01 9.64160731e-01 -1.04182000e-02 5.46640779e+01] [ 3.65688367e-02 7.42936693e-04 9.99330860e-01 3.09905648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.999254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:846.88, Y:54.68, Z:31.00 [[ 9.63734417e-01 -2.64550355e-01 -3.50582949e-02 8.46879803e+02] [ 2.64345900e-01 9.64371556e-01 -1.04282128e-02 5.46801662e+01] [ 3.65680098e-02 7.82511098e-04 9.99330860e-01 3.09951758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.059254154 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:846.94, Y:54.70, Z:30.99 [[ 9.63326158e-01 -2.66033533e-01 -3.50552849e-02 8.46935329e+02] [ 2.65829691e-01 9.63963493e-01 -1.04383212e-02 5.46997826e+01] [ 3.65689584e-02 7.36772335e-04 9.99330860e-01 3.09881549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.119254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:846.99, Y:54.71, Z:30.99 [[ 9.64218023e-01 -2.62783031e-01 -3.50525619e-02 8.46991263e+02] [ 2.62576709e-01 9.64854560e-01 -1.04474573e-02 5.47147063e+01] [ 3.65660387e-02 8.69640250e-04 9.99330860e-01 3.09900653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.179254154 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:847.05, Y:54.73, Z:31.00 [[ 9.65561552e-01 -2.57803085e-01 -3.50493723e-02 8.47047550e+02] [ 2.57593094e-01 9.66196887e-01 -1.04581469e-02 5.47278524e+01] [ 3.65607370e-02 1.06950837e-03 9.99330860e-01 3.09999650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.2392541539999 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:847.10, Y:54.74, Z:30.99 [[ 9.65762258e-01 -2.57050329e-01 -3.50483917e-02 8.47104086e+02] [ 2.56839723e-01 9.66397390e-01 -1.04614321e-02 5.47449464e+01] [ 3.65597888e-02 1.10143704e-03 9.99330860e-01 3.09943973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.299254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:847.16, Y:54.76, Z:31.01 [[ 9.67084971e-01 -2.52028681e-01 -3.50457334e-02 8.47160625e+02] [ 2.51814456e-01 9.67718891e-01 -1.04703300e-02 5.47567181e+01] [ 3.65532417e-02 1.30067647e-03 9.99330861e-01 3.10070950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.3592541539999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:847.22, Y:54.77, Z:31.01 [[ 9.67302420e-01 -2.51192948e-01 -3.50447113e-02 8.47216944e+02] [ 2.50978051e-01 9.67936113e-01 -1.04737499e-02 5.47716519e+01] [ 3.65519737e-02 1.33583033e-03 9.99330861e-01 3.10069283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.419254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:847.27, Y:54.79, Z:31.01 [[ 9.67568760e-01 -2.50165202e-01 -3.50437883e-02 8.47273763e+02] [ 2.49949520e-01 9.68202186e-01 -1.04768372e-02 5.47858964e+01] [ 3.65504125e-02 1.37788226e-03 9.99330861e-01 3.10113490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.4792541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:847.33, Y:54.80, Z:31.01 [[ 9.67980921e-01 -2.48566004e-01 -3.50411011e-02 8.47329422e+02] [ 2.48348951e-01 9.68613879e-01 -1.04858170e-02 5.47999026e+01] [ 3.65477145e-02 1.44765013e-03 9.99330861e-01 3.10146897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.539254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:847.39, Y:54.82, Z:31.02 [[ 9.68359298e-01 -2.47087956e-01 -3.50401563e-02 8.47385782e+02] [ 2.46869823e-01 9.68991884e-01 -1.04889735e-02 5.48153927e+01] [ 3.65453261e-02 1.50673784e-03 9.99330861e-01 3.10172121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.5992541539999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:847.44, Y:54.83, Z:31.02 [[ 9.69496153e-01 -2.42589372e-01 -3.50372099e-02 8.47441362e+02] [ 2.42367950e-01 9.70127596e-01 -1.04988061e-02 5.48321136e+01] [ 3.65374630e-02 1.68665540e-03 9.99330861e-01 3.10190743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.659254154 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:847.50, Y:54.85, Z:31.02 [[ 9.70088514e-01 -2.40210070e-01 -3.50342296e-02 8.47496709e+02] [ 2.39986742e-01 9.70719285e-01 -1.05087419e-02 5.48492204e+01] [ 3.65327080e-02 1.78665918e-03 9.99330861e-01 3.10183612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.7192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:847.55, Y:54.87, Z:31.02 [[ 9.71308966e-01 -2.35226915e-01 -3.50312767e-02 8.47552052e+02] [ 2.34999998e-01 9.71938455e-01 -1.05185764e-02 5.48657519e+01] [ 3.65224973e-02 1.98443759e-03 9.99330861e-01 3.10222013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.779254154 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:847.61, Y:54.88, Z:31.02 [[ 9.71663407e-01 -2.33758932e-01 -3.50283626e-02 8.47608479e+02] [ 2.33530716e-01 9.72292425e-01 -1.05282719e-02 5.48840516e+01] [ 3.65188892e-02 2.04973796e-03 9.99330861e-01 3.10198799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.839254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:847.66, Y:54.90, Z:31.02 [[ 9.71732915e-01 -2.33470194e-01 -3.50258524e-02 8.47664443e+02] [ 2.33241491e-01 9.72361757e-01 -1.05366162e-02 5.48997991e+01] [ 3.65177852e-02 2.06929476e-03 9.99330861e-01 3.10247079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.899254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:847.72, Y:54.91, Z:31.03 [[ 9.71273596e-01 -2.35374152e-01 -3.50229870e-02 8.47720483e+02] [ 2.35146340e-01 9.71902762e-01 -1.05461320e-02 5.49141855e+01] [ 3.65212247e-02 2.00765237e-03 9.99330861e-01 3.10278480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.959254154 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:847.78, Y:54.93, Z:31.03 [[ 9.70849579e-01 -2.37117456e-01 -3.50201041e-02 8.47775501e+02] [ 2.36890430e-01 9.71479028e-01 -1.05556966e-02 5.49314659e+01] [ 3.65242366e-02 1.95206613e-03 9.99330861e-01 3.10281922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.019254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:847.83, Y:54.95, Z:31.03 [[ 9.70752438e-01 -2.37515256e-01 -3.50172291e-02 8.47831423e+02] [ 2.37288146e-01 9.71381857e-01 -1.05652255e-02 5.49481616e+01] [ 3.65245033e-02 1.94704505e-03 9.99330861e-01 3.10333758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.079254154 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:847.89, Y:54.97, Z:31.03 [[ 9.70731086e-01 -2.37602875e-01 -3.50147478e-02 8.47887411e+02] [ 2.37375525e-01 9.71360418e-01 -1.05734426e-02 5.49669762e+01] [ 3.65242204e-02 1.95232528e-03 9.99330861e-01 3.10321834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.139254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:847.94, Y:54.99, Z:31.04 [[ 9.71325752e-01 -2.35160456e-01 -3.50120478e-02 8.47942433e+02] [ 2.34931204e-01 9.71954393e-01 -1.05823755e-02 5.49855301e+01] [ 3.65186699e-02 2.05351133e-03 9.99330861e-01 3.10366288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.199254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:848.00, Y:55.00, Z:31.04 [[ 9.71822103e-01 -2.33101203e-01 -3.50090041e-02 8.47997170e+02] [ 2.32870257e-01 9.72450124e-01 -1.05924353e-02 5.50040186e+01] [ 3.65136198e-02 2.14140696e-03 9.99330861e-01 3.10379124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.259254154 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:848.05, Y:55.02, Z:31.04 [[ 9.71751626e-01 -2.33394970e-01 -3.50080689e-02 8.48051817e+02] [ 2.33164103e-01 9.72379677e-01 -1.05955251e-02 5.50232255e+01] [ 3.65140770e-02 2.13359377e-03 9.99330861e-01 3.10372824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.319254154 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:848.11, Y:55.04, Z:31.04 [[ 9.71591611e-01 -2.34060661e-01 -3.50049731e-02 8.48106332e+02] [ 2.33829858e-01 9.72219685e-01 -1.06057430e-02 5.50419220e+01] [ 3.65149112e-02 2.11924301e-03 9.99330861e-01 3.10409716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.379254154 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:848.16, Y:55.06, Z:31.04 [[ 9.71278652e-01 -2.35356427e-01 -3.50018795e-02 8.48161115e+02] [ 2.35126096e-01 9.71906899e-01 -1.06159431e-02 5.50599505e+01] [ 3.65170986e-02 2.08118368e-03 9.99330861e-01 3.10431308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.439254154 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:848.22, Y:55.08, Z:31.04 [[ 9.70324480e-01 -2.39260294e-01 -3.49987812e-02 8.48216037e+02] [ 2.39032123e-01 9.70953515e-01 -1.06261476e-02 5.50779773e+01] [ 3.65246049e-02 1.94497814e-03 9.99330861e-01 3.10434885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.499254154 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:848.27, Y:55.09, Z:31.05 [[ 9.68867879e-01 -2.45092195e-01 -3.49978321e-02 8.48272068e+02] [ 2.44867700e-01 9.69498235e-01 -1.06292728e-02 5.50946705e+01] [ 3.65354882e-02 1.72852235e-03 9.99330861e-01 3.10459964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.559254154 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:848.33, Y:55.11, Z:31.05 [[ 9.66754693e-01 -2.53299692e-01 -3.49947106e-02 8.48327859e+02] [ 2.53080179e-01 9.67386801e-01 -1.06395396e-02 5.51103261e+01] [ 3.65484133e-02 1.42935723e-03 9.99330861e-01 3.10477140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.619254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:848.38, Y:55.13, Z:31.05 [[ 9.63409300e-01 -2.65740673e-01 -3.49916386e-02 8.48384520e+02] [ 2.65528961e-01 9.64044063e-01 -1.06496334e-02 5.51276656e+01] [ 3.65635222e-02 9.68662428e-04 9.99330861e-01 3.10472630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.679254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:848.44, Y:55.14, Z:31.05 [[ 9.61667228e-01 -2.71977801e-01 -3.49888299e-02 8.48442323e+02] [ 2.71769871e-01 9.62303240e-01 -1.06588533e-02 5.51367061e+01] [ 3.65688359e-02 7.41360166e-04 9.99330861e-01 3.10533460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.7392541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:848.50, Y:55.16, Z:31.05 [[ 9.58943148e-01 -2.81431857e-01 -3.49878460e-02 8.48498641e+02] [ 2.81230081e-01 9.59581139e-01 -1.06620820e-02 5.51554559e+01] [ 3.65743266e-02 3.84695678e-04 9.99330861e-01 3.10506611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.799254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:848.56, Y:55.17, Z:31.06 [[ 9.58266155e-01 -2.83728788e-01 -3.49850143e-02 8.48555839e+02] [ 2.83528201e-01 9.58904521e-01 -1.06713654e-02 5.51653967e+01] [ 3.65750620e-02 3.06770085e-04 9.99330861e-01 3.10579448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.8592541539999 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:848.61, Y:55.18, Z:31.06 [[ 9.57386214e-01 -2.86684125e-01 -3.49835595e-02 8.48613009e+02] [ 2.86485335e-01 9.58025142e-01 -1.06761326e-02 5.51805767e+01] [ 3.65758073e-02 1.98905377e-04 9.99330862e-01 3.10591737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.919254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:848.67, Y:55.20, Z:31.05 [[ 9.56276361e-01 -2.90365054e-01 -3.49808020e-02 8.48668814e+02] [ 2.90168393e-01 9.56915948e-01 -1.06851601e-02 5.52008784e+01] [ 3.65762843e-02 6.76429052e-05 9.99330862e-01 3.10547094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.9792541539999 meters Centerline goodness : 0.999502 with order 1 Centerline is valid? [True, True] Translation: X:848.73, Y:55.21, Z:31.06 [[ 9.57522814e-01 -2.86228231e-01 -3.49779873e-02 8.48726101e+02] [ 2.86028471e-01 9.58161440e-01 -1.06943661e-02 5.52146521e+01] [ 3.65755881e-02 2.35399340e-04 9.99330862e-01 3.10587514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.039254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:848.78, Y:55.23, Z:31.07 [[ 9.59107307e-01 -2.80873527e-01 -3.49747940e-02 8.48782651e+02] [ 2.80669821e-01 9.59744684e-01 -1.07047993e-02 5.52286136e+01] [ 3.65735673e-02 4.50682016e-04 9.99330862e-01 3.10678945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.0992541539999 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:848.84, Y:55.25, Z:31.07 [[ 9.59938825e-01 -2.78018775e-01 -3.49715984e-02 8.48839473e+02] [ 2.77812794e-01 9.60575471e-01 -1.07152286e-02 5.52451881e+01] [ 3.65718944e-02 5.70406538e-04 9.99330862e-01 3.10680720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.159254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:848.90, Y:55.26, Z:31.07 [[ 9.60170090e-01 -2.77219376e-01 -3.49687893e-02 8.48895036e+02] [ 2.77012531e-01 9.60806456e-01 -1.07243885e-02 5.52596760e+01] [ 3.65712467e-02 6.10444219e-04 9.99330862e-01 3.10708166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.2192541539999 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:848.95, Y:55.27, Z:31.07 [[ 9.59000391e-01 -2.81239227e-01 -3.49678026e-02 8.48951703e+02] [ 2.81034933e-01 9.59637580e-01 -1.07276044e-02 5.52741174e+01] [ 3.65734407e-02 4.60602792e-04 9.99330862e-01 3.10728599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.279254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:849.01, Y:55.29, Z:31.08 [[ 9.57071821e-01 -2.87734204e-01 -3.49650835e-02 8.49008156e+02] [ 2.87533911e-01 9.57710279e-01 -1.07364597e-02 5.52876369e+01] [ 3.65756666e-02 2.21915832e-04 9.99330862e-01 3.10760703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.339254154 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:849.06, Y:55.30, Z:31.08 [[ 9.55682029e-01 -2.92317496e-01 -3.49620005e-02 8.49064265e+02] [ 2.92119898e-01 9.56321326e-01 -1.07464897e-02 5.53027555e+01] [ 3.65762937e-02 5.71310219e-05 9.99330862e-01 3.10771108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.399254154 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:849.12, Y:55.32, Z:31.07 [[ 9.52450139e-01 -3.02682349e-01 -3.49589598e-02 8.49120446e+02] [ 3.02491345e-01 9.53091437e-01 -1.07563725e-02 5.53228006e+01] [ 3.65748493e-02 -3.29874289e-04 9.99330862e-01 3.10701589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.459254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:849.18, Y:55.33, Z:31.08 [[ 9.53211010e-01 -3.00277919e-01 -3.49562725e-02 8.49177539e+02] [ 3.00084977e-01 9.53851728e-01 -1.07650985e-02 5.53311730e+01] [ 3.65756223e-02 -2.28441838e-04 9.99330862e-01 3.10828616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.519254154 meters Centerline goodness : 0.997909 with order 1 Centerline is valid? [True, True] Translation: X:849.23, Y:55.35, Z:31.08 [[ 9.51731051e-01 -3.04936284e-01 -3.49552400e-02 8.49234314e+02] [ 3.04746354e-01 9.52372669e-01 -1.07684502e-02 5.53487949e+01] [ 3.65741063e-02 -4.03813565e-04 9.99330862e-01 3.10774124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.579254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:849.29, Y:55.37, Z:31.08 [[ 9.50517421e-01 -3.08698899e-01 -3.49517251e-02 8.49288623e+02] [ 3.08511091e-01 9.51159662e-01 -1.07798466e-02 5.53653619e+01] [ 3.65723978e-02 -5.36562826e-04 9.99330862e-01 3.10779018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.639254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:849.35, Y:55.38, Z:31.09 [[ 9.51594344e-01 -3.05363233e-01 -3.49499688e-02 8.49346365e+02] [ 3.05172964e-01 9.52235861e-01 -1.07855378e-02 5.53770684e+01] [ 3.65741203e-02 -4.02328822e-04 9.99330862e-01 3.10892895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.699254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:849.40, Y:55.39, Z:31.09 [[ 9.51624131e-01 -3.05270703e-01 -3.49472575e-02 8.49401058e+02] [ 3.05080050e-01 9.52265533e-01 -1.07943158e-02 5.53944915e+01] [ 3.65742572e-02 -3.89579679e-04 9.99330862e-01 3.10904292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.759254154 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:849.46, Y:55.41, Z:31.09 [[ 9.52659347e-01 -3.02024752e-01 -3.49459249e-02 8.49456697e+02] [ 3.01831755e-01 9.53300048e-01 -1.07986282e-02 5.54127354e+01] [ 3.65754049e-02 -2.60375735e-04 9.99330862e-01 3.10933458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.819254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:849.51, Y:55.43, Z:31.09 [[ 9.54245923e-01 -2.96974228e-01 -3.49431802e-02 8.49512015e+02] [ 2.96777514e-01 9.54885493e-01 -1.08075024e-02 5.54306385e+01] [ 3.65762856e-02 -5.73350361e-05 9.99330862e-01 3.10945830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.879254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:849.57, Y:55.45, Z:31.09 [[ 9.55095226e-01 -2.94231717e-01 -3.49400242e-02 8.49566329e+02] [ 2.94032795e-01 9.55734112e-01 -1.08176961e-02 5.54526833e+01] [ 3.65762823e-02 5.84169794e-05 9.99330862e-01 3.10896086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.939254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:849.62, Y:55.47, Z:31.10 [[ 9.57959330e-01 -2.84768956e-01 -3.49365568e-02 8.49622044e+02] [ 2.84563315e-01 9.58596085e-01 -1.08288827e-02 5.54682430e+01] [ 3.65737762e-02 4.31966753e-04 9.99330862e-01 3.10959773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.999254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:849.68, Y:55.49, Z:31.10 [[ 9.59589927e-01 -2.79225219e-01 -3.49349377e-02 8.49677366e+02] [ 2.79015710e-01 9.60225419e-01 -1.08341037e-02 5.54860476e+01] [ 3.65705701e-02 6.48900335e-04 9.99330862e-01 3.10981789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.059254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:849.73, Y:55.50, Z:31.10 [[ 9.60233311e-01 -2.77004966e-01 -3.49318934e-02 8.49732427e+02] [ 2.76793631e-01 9.60868199e-01 -1.08439102e-02 5.55028964e+01] [ 3.65687625e-02 7.43758228e-04 9.99330862e-01 3.11010609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.119254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:849.79, Y:55.52, Z:31.10 [[ 9.60208420e-01 -2.77091633e-01 -3.49287419e-02 8.49787719e+02] [ 2.76879986e-01 9.60843204e-01 -1.08540519e-02 5.55169023e+01] [ 3.65686112e-02 7.51082511e-04 9.99330862e-01 3.11022568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.179254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:849.84, Y:55.53, Z:31.10 [[ 9.58878028e-01 -2.81661153e-01 -3.49273862e-02 8.49843995e+02] [ 2.81452373e-01 9.59513761e-01 -1.08584127e-02 5.55306661e+01] [ 3.65717007e-02 5.81497588e-04 9.99330862e-01 3.11045805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.2392541539999 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:849.90, Y:55.55, Z:31.10 [[ 9.56687478e-01 -2.89014205e-01 -3.49264743e-02 8.49900784e+02] [ 2.88810204e-01 9.57324761e-01 -1.08613451e-02 5.55451691e+01] [ 3.65750616e-02 3.03790693e-04 9.99330862e-01 3.11045694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.299254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:849.96, Y:55.56, Z:31.11 [[ 9.55406464e-01 -2.93221474e-01 -3.49235824e-02 8.49956817e+02] [ 2.93019940e-01 9.56044530e-01 -1.08706357e-02 5.55593311e+01] [ 3.65760038e-02 1.52569629e-04 9.99330862e-01 3.11091805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.3592541539999 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:850.01, Y:55.57, Z:31.11 [[ 9.53608850e-01 -2.99016249e-01 -3.49205297e-02 8.50013753e+02] [ 2.98818234e-01 9.54248018e-01 -1.08804332e-02 5.55733992e+01] [ 3.65762726e-02 -5.92136228e-05 9.99330863e-01 3.11111504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.419254154 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:850.07, Y:55.59, Z:31.11 [[ 9.52159136e-01 -3.03601298e-01 -3.49175009e-02 8.50069590e+02] [ 3.03406004e-01 9.52799140e-01 -1.08901447e-02 5.55887568e+01] [ 3.65756269e-02 -2.25028701e-04 9.99330863e-01 3.11122417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.4792541539999 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:850.13, Y:55.61, Z:31.11 [[ 9.51697900e-01 -3.05044414e-01 -3.49143586e-02 8.50125090e+02] [ 3.04849721e-01 9.52338087e-01 -1.09002099e-02 5.56057562e+01] [ 3.65753216e-02 -2.69925598e-04 9.99330863e-01 3.11134668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.539254154 meters Centerline goodness : 0.999800 with order 1 Centerline is valid? [True, True] Translation: X:850.18, Y:55.62, Z:31.11 [[ 9.51468213e-01 -3.05760447e-01 -3.49111425e-02 8.50179832e+02] [ 3.05565859e-01 9.52108432e-01 -1.09105007e-02 5.56237442e+01] [ 3.65751927e-02 -2.86658600e-04 9.99330863e-01 3.11128401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.5992541539999 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:850.24, Y:55.64, Z:31.12 [[ 9.51083234e-01 -3.06955962e-01 -3.49101554e-02 8.50235364e+02] [ 3.06762063e-01 9.51723662e-01 -1.09136582e-02 5.56421176e+01] [ 3.65748333e-02 -3.29313957e-04 9.99330863e-01 3.11161655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.659254154 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:850.29, Y:55.66, Z:31.12 [[ 9.50443292e-01 -3.08932111e-01 -3.49070054e-02 8.50290393e+02] [ 3.08739173e-01 9.51084011e-01 -1.09237238e-02 5.56608070e+01] [ 3.65741838e-02 -3.94779947e-04 9.99330863e-01 3.11191507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.7192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:850.34, Y:55.68, Z:31.12 [[ 9.50146168e-01 -3.09845090e-01 -3.49038593e-02 8.50344728e+02] [ 3.09652400e-01 9.50786960e-01 -1.09337672e-02 5.56832192e+01] [ 3.65739084e-02 -4.19386816e-04 9.99330863e-01 3.11205232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.779254154 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:850.40, Y:55.70, Z:31.12 [[ 9.51018875e-01 -3.07156342e-01 -3.49010112e-02 8.50399327e+02] [ 3.06961506e-01 9.51659019e-01 -1.09428508e-02 5.57048092e+01] [ 3.65750281e-02 -3.06409302e-04 9.99330863e-01 3.11194038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.839254154 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:850.45, Y:55.72, Z:31.12 [[ 9.53058643e-01 -3.00767834e-01 -3.48989135e-02 8.50453548e+02] [ 3.00568462e-01 9.53697388e-01 -1.09495370e-02 5.57236754e+01] [ 3.65762711e-02 -5.39619173e-05 9.99330863e-01 3.11230605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.899254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:850.51, Y:55.74, Z:31.13 [[ 9.54748163e-01 -2.95360999e-01 -3.48973540e-02 8.50508088e+02] [ 2.95157828e-01 9.55385710e-01 -1.09545050e-02 5.57445081e+01] [ 3.65759668e-02 1.58566328e-04 9.99330863e-01 3.11276777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.959254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:850.56, Y:55.76, Z:31.13 [[ 9.55755177e-01 -2.92086353e-01 -3.48941791e-02 8.50562270e+02] [ 2.91880629e-01 9.56391905e-01 -1.09646087e-02 5.57643494e+01] [ 3.65751230e-02 2.94546548e-04 9.99330863e-01 3.11297876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.019254154 meters Centerline goodness : 0.999737 with order 1 Centerline is valid? [True, True] Translation: X:850.62, Y:55.78, Z:31.13 [[ 9.56813377e-01 -2.88601416e-01 -3.48910240e-02 8.50615741e+02] [ 2.88393007e-01 9.57449231e-01 -1.09746396e-02 5.57834601e+01] [ 3.65736807e-02 4.38354635e-04 9.99330863e-01 3.11289556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.079254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:850.67, Y:55.80, Z:31.13 [[ 9.57953192e-01 -2.84795355e-01 -3.48896650e-02 8.50670900e+02] [ 2.84584263e-01 9.58588160e-01 -1.09789585e-02 5.58016070e+01] [ 3.65715761e-02 5.88278749e-04 9.99330863e-01 3.11343096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.139254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:850.73, Y:55.82, Z:31.13 [[ 9.57201117e-01 -2.87313070e-01 -3.48887162e-02 8.50725745e+02] [ 2.87103538e-01 9.57836601e-01 -1.09819728e-02 5.58227943e+01] [ 3.65729536e-02 4.95282772e-04 9.99330863e-01 3.11321636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.199254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:850.78, Y:55.84, Z:31.13 [[ 9.56820174e-01 -2.88579509e-01 -3.48858289e-02 8.50781034e+02] [ 2.88370485e-01 9.57455826e-01 -1.09911371e-02 5.58421813e+01] [ 3.65734570e-02 4.56498296e-04 9.99330863e-01 3.11333309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.259254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:850.84, Y:55.85, Z:31.14 [[ 9.58638523e-01 -2.82480734e-01 -3.48829085e-02 8.50837768e+02] [ 2.82267329e-01 9.59272717e-01 -1.10003978e-02 5.58543099e+01] [ 3.65696228e-02 6.99099718e-04 9.99330863e-01 3.11412039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.319254154 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:850.89, Y:55.87, Z:31.14 [[ 9.58413455e-01 -2.83243541e-01 -3.48818790e-02 8.50894305e+02] [ 2.83030522e-01 9.59047779e-01 -1.10036612e-02 5.58718757e+01] [ 3.65701046e-02 6.73420567e-04 9.99330863e-01 3.11381035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.379254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:850.95, Y:55.89, Z:31.14 [[ 9.58016210e-01 -2.84584592e-01 -3.48791085e-02 8.50951381e+02] [ 2.84372142e-01 9.58650724e-01 -1.10124361e-02 5.58869968e+01] [ 3.65708523e-02 6.31445528e-04 9.99330863e-01 3.11438035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.439254154 meters Centerline goodness : 0.999779 with order 1 Centerline is valid? [True, True] Translation: X:851.01, Y:55.90, Z:31.14 [[ 9.57117673e-01 -2.87592420e-01 -3.48763453e-02 8.51007224e+02] [ 2.87381645e-01 9.57752747e-01 -1.10211803e-02 5.59022895e+01] [ 3.65725234e-02 5.25744969e-04 9.99330863e-01 3.11437145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.499254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:851.06, Y:55.92, Z:31.15 [[ 9.56829183e-01 -2.88551173e-01 -3.48731171e-02 8.51063251e+02] [ 2.88340663e-01 9.57464344e-01 -1.10313855e-02 5.59180616e+01] [ 3.65728854e-02 4.99813869e-04 9.99330863e-01 3.11467353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.559254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:851.12, Y:55.93, Z:31.15 [[ 9.56993829e-01 -2.88004767e-01 -3.48721259e-02 8.51118731e+02] [ 2.87793780e-01 9.57628832e-01 -1.10345179e-02 5.59337082e+01] [ 3.65725469e-02 5.23984608e-04 9.99330863e-01 3.11492320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.619254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:851.17, Y:55.95, Z:31.15 [[ 9.57673808e-01 -2.85735954e-01 -3.48689207e-02 8.51174462e+02] [ 2.85523094e-01 9.58308186e-01 -1.10446371e-02 5.59513016e+01] [ 3.65710220e-02 6.21277537e-04 9.99330863e-01 3.11518798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.679254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:851.23, Y:55.97, Z:31.15 [[ 9.57753175e-01 -2.85470202e-01 -3.48657338e-02 8.51229352e+02] [ 2.85256800e-01 9.58387370e-01 -1.10546883e-02 5.59721512e+01] [ 3.65706630e-02 6.41975154e-04 9.99330863e-01 3.11484052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.7392541539999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:851.29, Y:55.99, Z:31.16 [[ 9.60000246e-01 -2.77820299e-01 -3.48627283e-02 8.51285258e+02] [ 2.77601501e-01 9.60632599e-01 -1.10641585e-02 5.59879381e+01] [ 3.65641211e-02 9.43649201e-04 9.99330863e-01 3.11554045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.799254154 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:851.34, Y:56.01, Z:31.15 [[ 9.60229450e-01 -2.77027199e-01 -3.48616561e-02 8.51340828e+02] [ 2.76807756e-01 9.60861580e-01 -1.10675358e-02 5.60073210e+01] [ 3.65632344e-02 9.77397053e-04 9.99330863e-01 3.11549672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.8592541539999 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:851.39, Y:56.02, Z:31.16 [[ 9.59862653e-01 -2.78295798e-01 -3.48588155e-02 8.51394710e+02] [ 2.78076866e-01 9.60494960e-01 -1.10764753e-02 5.60246332e+01] [ 3.65642532e-02 9.38464788e-04 9.99330863e-01 3.11554485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.919254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:851.45, Y:56.04, Z:31.16 [[ 9.59124748e-01 -2.80828558e-01 -3.48574149e-02 8.51449966e+02] [ 2.80611136e-01 9.59757576e-01 -1.10808813e-02 5.60411165e+01] [ 3.65664960e-02 8.46568676e-04 9.99330863e-01 3.11586549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.9792541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:851.51, Y:56.06, Z:31.16 [[ 9.58421544e-01 -2.83219570e-01 -3.48542696e-02 8.51505913e+02] [ 2.83003367e-01 9.59054789e-01 -1.10907660e-02 5.60570723e+01] [ 3.65682761e-02 7.65753447e-04 9.99330864e-01 3.11624074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.039254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:851.56, Y:56.07, Z:31.17 [[ 9.58131398e-01 -2.84199703e-01 -3.48533052e-02 8.51562196e+02] [ 2.83984039e-01 9.58764827e-01 -1.10937957e-02 5.60741020e+01] [ 3.65689766e-02 7.31531626e-04 9.99330864e-01 3.11657903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.0992541539999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:851.62, Y:56.09, Z:31.17 [[ 9.58051896e-01 -2.84467920e-01 -3.48506401e-02 8.51617076e+02] [ 2.84252128e-01 9.58685282e-01 -1.11021617e-02 5.60921358e+01] [ 3.65690046e-02 7.30078473e-04 9.99330864e-01 3.11673174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.159254154 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:851.67, Y:56.11, Z:31.17 [[ 9.58173978e-01 -2.84056554e-01 -3.48497030e-02 8.51672396e+02] [ 2.83840384e-01 9.58807235e-01 -1.11051025e-02 5.61102142e+01] [ 3.65686245e-02 7.48867183e-04 9.99330864e-01 3.11702219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.2192541539999 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:851.73, Y:56.13, Z:31.17 [[ 9.58402167e-01 -2.83286105e-01 -3.48463741e-02 8.51726238e+02] [ 2.83069047e-01 9.59035119e-01 -1.11155384e-02 5.61279172e+01] [ 3.65677741e-02 7.89226193e-04 9.99330864e-01 3.11708150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.279254154 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:851.78, Y:56.15, Z:31.17 [[ 9.59018250e-01 -2.81193574e-01 -3.48449415e-02 8.51781086e+02] [ 2.80974971e-01 9.59650671e-01 -1.11200275e-02 5.61460723e+01] [ 3.65658518e-02 8.73752918e-04 9.99330864e-01 3.11734643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.339254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:851.84, Y:56.17, Z:31.18 [[ 9.59980297e-01 -2.77891859e-01 -3.48416951e-02 8.51836362e+02] [ 2.77670712e-01 9.60611833e-01 -1.11301900e-02 5.61666934e+01] [ 3.65623338e-02 1.01024477e-03 9.99330864e-01 3.11759499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.399254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:851.89, Y:56.19, Z:31.18 [[ 9.60686428e-01 -2.75441177e-01 -3.48388583e-02 8.51891872e+02] [ 2.75218098e-01 9.61317284e-01 -1.11390623e-02 5.61874095e+01] [ 3.65593531e-02 1.11286160e-03 9.99330864e-01 3.11758203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.459254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:851.95, Y:56.21, Z:31.18 [[ 9.61001680e-01 -2.74339614e-01 -3.48360068e-02 8.51948065e+02] [ 2.74115490e-01 9.61632165e-01 -1.11479730e-02 5.62066830e+01] [ 3.65577552e-02 1.16413173e-03 9.99330864e-01 3.11773334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.519254154 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:852.00, Y:56.23, Z:31.18 [[ 9.60800906e-01 -2.75042285e-01 -3.48333159e-02 8.52003957e+02] [ 2.74818318e-01 9.61431447e-01 -1.11563746e-02 5.62255012e+01] [ 3.65583201e-02 1.14622157e-03 9.99330864e-01 3.11786069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.579254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:852.06, Y:56.24, Z:31.18 [[ 9.60452746e-01 -2.76255977e-01 -3.48304277e-02 8.52059173e+02] [ 2.76032480e-01 9.61083453e-01 -1.11653845e-02 5.62432328e+01] [ 3.65594519e-02 1.10949487e-03 9.99330864e-01 3.11828820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.639254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:852.11, Y:56.26, Z:31.19 [[ 9.59999494e-01 -2.77827073e-01 -3.48294156e-02 8.52114904e+02] [ 2.77604494e-01 9.60630527e-01 -1.11685407e-02 5.62605567e+01] [ 3.65611228e-02 1.05299112e-03 9.99330864e-01 3.11882457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.699254154 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:852.17, Y:56.28, Z:31.19 [[ 9.58845000e-01 -2.81786044e-01 -3.48265803e-02 8.52171094e+02] [ 2.81565750e-01 9.59476834e-01 -1.11773751e-02 5.62785757e+01] [ 3.65649253e-02 9.11398036e-04 9.99330864e-01 3.11917027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.759254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:852.23, Y:56.30, Z:31.19 [[ 9.58521575e-01 -2.82884611e-01 -3.48236640e-02 8.52225508e+02] [ 2.82664711e-01 9.59153546e-01 -1.11864536e-02 5.62961934e+01] [ 3.65657163e-02 8.79036217e-04 9.99330864e-01 3.11933328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.819254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:852.28, Y:56.31, Z:31.20 [[ 9.58389229e-01 -2.83332839e-01 -3.48222329e-02 8.52281274e+02] [ 2.83113074e-01 9.59021247e-01 -1.11909066e-02 5.63136665e+01] [ 3.65660125e-02 8.66614973e-04 9.99330864e-01 3.11969406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.879254154 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:852.34, Y:56.33, Z:31.20 [[ 9.58552289e-01 -2.82781098e-01 -3.48189596e-02 8.52337217e+02] [ 2.82560599e-01 9.59184051e-01 -1.12010818e-02 5.63323753e+01] [ 3.65652449e-02 8.98356464e-04 9.99330864e-01 3.11964689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.939254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:852.39, Y:56.35, Z:31.20 [[ 9.59291937e-01 -2.80262053e-01 -3.48161002e-02 8.52393359e+02] [ 2.80039573e-01 9.59923004e-01 -1.12099626e-02 5.63518727e+01] [ 3.65625026e-02 1.00374093e-03 9.99330864e-01 3.11968499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.999254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:852.45, Y:56.38, Z:31.19 [[ 9.58667573e-01 -2.82390704e-01 -3.48134310e-02 8.52447214e+02] [ 2.82169325e-01 9.59299027e-01 -1.12182457e-02 5.63759629e+01] [ 3.65644188e-02 9.31286090e-04 9.99330864e-01 3.11911517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.059254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:852.50, Y:56.39, Z:31.20 [[ 9.59878392e-01 -2.78247315e-01 -3.48124206e-02 8.52503358e+02] [ 2.78023097e-01 9.60508843e-01 -1.12213805e-02 5.63887385e+01] [ 3.65599568e-02 1.09250372e-03 9.99330864e-01 3.12012303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.119254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:852.56, Y:56.41, Z:31.21 [[ 9.59785539e-01 -2.78567557e-01 -3.48114200e-02 8.52559688e+02] [ 2.78343437e-01 9.60416026e-01 -1.12244836e-02 5.64071222e+01] [ 3.65602226e-02 1.08356673e-03 9.99330864e-01 3.12057057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.179254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:852.61, Y:56.43, Z:31.20 [[ 9.58506999e-01 -2.82935843e-01 -3.48086492e-02 8.52613740e+02] [ 2.82714285e-01 9.59138390e-01 -1.12330699e-02 5.64308477e+01] [ 3.65645498e-02 9.26073740e-04 9.99330864e-01 3.12037969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.2392541539999 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:852.67, Y:56.45, Z:31.21 [[ 9.60104156e-01 -2.77468151e-01 -3.48056689e-02 8.52668756e+02] [ 2.77242664e-01 9.60734155e-01 -1.12422968e-02 5.64472311e+01] [ 3.65583742e-02 1.14415951e-03 9.99330864e-01 3.12093160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.299254154 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:852.72, Y:56.47, Z:31.21 [[ 9.60229654e-01 -2.77033662e-01 -3.48046233e-02 8.52723939e+02] [ 2.76807773e-01 9.60859508e-01 -1.12455327e-02 5.64659251e+01] [ 3.65577444e-02 1.16410371e-03 9.99330864e-01 3.12083987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.3592541539999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:852.78, Y:56.49, Z:31.21 [[ 9.60356468e-01 -2.76593860e-01 -3.48036096e-02 8.52778333e+02] [ 2.76367568e-01 9.60986178e-01 -1.12486692e-02 5.64855001e+01] [ 3.65571006e-02 1.18414328e-03 9.99330864e-01 3.12115021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.419254154 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:852.83, Y:56.50, Z:31.21 [[ 9.58827062e-01 -2.81850086e-01 -3.48022091e-02 8.52834701e+02] [ 2.81627091e-01 9.59457947e-01 -1.12530005e-02 5.65028154e+01] [ 3.65629153e-02 9.88436501e-04 9.99330864e-01 3.12126611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.4792541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:852.89, Y:56.52, Z:31.21 [[ 9.55969120e-01 -2.91396721e-01 -3.47993170e-02 8.52890332e+02] [ 2.91179702e-01 9.56602085e-01 -1.12619372e-02 5.65207835e+01] [ 3.65707908e-02 6.33209434e-04 9.99330864e-01 3.12139422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.539254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:852.95, Y:56.54, Z:31.22 [[ 9.55239487e-01 -2.93779856e-01 -3.47982545e-02 8.52945775e+02] [ 2.93564297e-01 9.55872951e-01 -1.12652191e-02 5.65369088e+01] [ 3.65722047e-02 5.45457008e-04 9.99330864e-01 3.12169909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.5992541539999 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:853.00, Y:56.55, Z:31.22 [[ 9.53350613e-01 -2.99853177e-01 -3.47948511e-02 8.53001464e+02] [ 2.99641270e-01 9.53985308e-01 -1.12757214e-02 5.65520554e+01] [ 3.65748376e-02 3.23742488e-04 9.99330864e-01 3.12204782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.659254154 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:853.06, Y:56.57, Z:31.22 [[ 9.51883885e-01 -3.04477355e-01 -3.47938065e-02 8.53057182e+02] [ 3.04268414e-01 9.52519563e-01 -1.12789440e-02 5.65693026e+01] [ 3.65759644e-02 1.49588690e-04 9.99330864e-01 3.12224208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.7192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:853.11, Y:56.59, Z:31.22 [[ 9.51123360e-01 -3.06845197e-01 -3.47905129e-02 8.53113259e+02] [ 3.06637467e-01 9.51759434e-01 -1.12890940e-02 5.65854304e+01] [ 3.65762031e-02 6.92463145e-05 9.99330864e-01 3.12243607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.779254154 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:853.17, Y:56.61, Z:31.22 [[ 9.50011444e-01 -3.10271020e-01 -3.47872315e-02 8.53167761e+02] [ 3.10065213e-01 9.50648143e-01 -1.12991965e-02 5.66050549e+01] [ 3.65762303e-02 -5.19443755e-05 9.99330864e-01 3.12241169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.839254154 meters Centerline goodness : 0.999714 with order 1 Centerline is valid? [True, True] Translation: X:853.22, Y:56.62, Z:31.23 [[ 9.48817654e-01 -3.13902827e-01 -3.47861398e-02 8.53222890e+02] [ 3.13699334e-01 9.49455096e-01 -1.13025566e-02 5.66233615e+01] [ 3.65757822e-02 -1.88323692e-04 9.99330864e-01 3.12270517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.899254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:853.28, Y:56.64, Z:31.23 [[ 9.47768420e-01 -3.17057049e-01 -3.47828928e-02 8.53278752e+02] [ 3.16855312e-01 9.48406420e-01 -1.13125402e-02 5.66428412e+01] [ 3.65750394e-02 -2.99475999e-04 9.99330865e-01 3.12317232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.959254154 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:853.33, Y:56.66, Z:31.24 [[ 9.47275873e-01 -3.18525945e-01 -3.47799222e-02 8.53334007e+02] [ 3.18324862e-01 9.47914080e-01 -1.13216657e-02 5.66595200e+01] [ 3.65746222e-02 -3.46573152e-04 9.99330865e-01 3.12351571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.019254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:853.39, Y:56.68, Z:31.24 [[ 9.47366582e-01 -3.18256169e-01 -3.47788835e-02 8.53388445e+02] [ 3.18054786e-01 9.48004694e-01 -1.13248557e-02 5.66784346e+01] [ 3.65747500e-02 -3.32800522e-04 9.99330865e-01 3.12381200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.079254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:853.44, Y:56.70, Z:31.24 [[ 9.48479646e-01 -3.14923843e-01 -3.47754768e-02 8.53443051e+02] [ 3.14719835e-01 9.49116924e-01 -1.13353069e-02 5.67001589e+01] [ 3.65757520e-02 -1.93224423e-04 9.99330865e-01 3.12391479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.139254154 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:853.50, Y:56.72, Z:31.24 [[ 9.50822744e-01 -3.07777491e-01 -3.47724882e-02 8.53496650e+02] [ 3.07568358e-01 9.51458358e-01 -1.13444677e-02 5.67225423e+01] [ 3.65761463e-02 9.16607955e-05 9.99330865e-01 3.12403184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.199254154 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:853.55, Y:56.75, Z:31.24 [[ 9.52622839e-01 -3.02160014e-01 -3.47714395e-02 8.53550560e+02] [ 3.01947017e-01 9.53257168e-01 -1.13476809e-02 5.67453304e+01] [ 3.65749394e-02 3.10927522e-04 9.99330865e-01 3.12410483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.259254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:853.61, Y:56.77, Z:31.24 [[ 9.53032824e-01 -3.00864779e-01 -3.47681111e-02 8.53606237e+02] [ 3.00650547e-01 9.53666738e-01 -1.13578696e-02 5.67660026e+01] [ 3.65743741e-02 3.71370860e-04 9.99330865e-01 3.12409239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.319254154 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:853.66, Y:56.78, Z:31.25 [[ 9.53108504e-01 -3.00625293e-01 -3.47651194e-02 8.53661234e+02] [ 3.00410569e-01 9.53742251e-01 -1.13670196e-02 5.67845204e+01] [ 3.65741768e-02 3.90193738e-04 9.99330865e-01 3.12465215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.379254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:853.72, Y:56.80, Z:31.24 [[ 9.51541325e-01 -3.05549615e-01 -3.47640678e-02 8.53716176e+02] [ 3.05338053e-01 9.52176134e-01 -1.13702349e-02 5.68046801e+01] [ 3.65756866e-02 2.04455585e-04 9.99330865e-01 3.12445560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.439254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:853.77, Y:56.82, Z:31.25 [[ 9.50143562e-01 -3.09868915e-01 -3.47629997e-02 8.53772120e+02] [ 3.09660120e-01 9.50779288e-01 -1.13734994e-02 5.68216184e+01] [ 3.65762340e-02 4.17425398e-05 9.99330865e-01 3.12473830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.499254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:853.83, Y:56.84, Z:31.25 [[ 9.49260944e-01 -3.12562684e-01 -3.47595708e-02 8.53826549e+02] [ 3.12355310e-01 9.49897134e-01 -1.13839691e-02 5.68375792e+01] [ 3.65762207e-02 -5.09792474e-05 9.99330865e-01 3.12543393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.559254154 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:853.88, Y:56.85, Z:31.25 [[ 9.48293666e-01 -3.15485338e-01 -3.47580974e-02 8.53881664e+02] [ 3.15279760e-01 9.48930438e-01 -1.13884660e-02 5.68546431e+01] [ 3.65759107e-02 -1.58914422e-04 9.99330865e-01 3.12537965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.619254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:853.94, Y:56.87, Z:31.26 [[ 9.47852342e-01 -3.16809154e-01 -3.47548241e-02 8.53936514e+02] [ 3.16604099e-01 9.48489283e-01 -1.13984466e-02 5.68725456e+01] [ 3.65757104e-02 -1.99475487e-04 9.99330865e-01 3.12581983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.679254154 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:853.99, Y:56.89, Z:31.26 [[ 9.46885867e-01 -3.19686544e-01 -3.47515377e-02 8.53991584e+02] [ 3.19483056e-01 9.47523310e-01 -1.14084573e-02 5.68905024e+01] [ 3.65750224e-02 -3.00020497e-04 9.99330865e-01 3.12586104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.7392541539999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:854.05, Y:56.91, Z:31.26 [[ 9.46540400e-01 -3.20708320e-01 -3.47482987e-02 8.54046911e+02] [ 3.20505159e-01 9.47177948e-01 -1.14183145e-02 5.69084831e+01] [ 3.65747707e-02 -3.29113068e-04 9.99330865e-01 3.12610406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.799254154 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:854.10, Y:56.93, Z:31.26 [[ 9.45652575e-01 -3.23317184e-01 -3.47448777e-02 8.54100681e+02] [ 3.23115400e-01 9.46290559e-01 -1.14287148e-02 5.69283745e+01] [ 3.65738496e-02 -4.19011496e-04 9.99330865e-01 3.12621140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.8592541539999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:854.15, Y:56.95, Z:31.26 [[ 9.44843752e-01 -3.25673437e-01 -3.47432837e-02 8.54154764e+02] [ 3.25473066e-01 9.45482182e-01 -1.14335583e-02 5.69468688e+01] [ 3.65727620e-02 -5.05076901e-04 9.99330865e-01 3.12642692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.919254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:854.21, Y:56.97, Z:31.27 [[ 9.43773000e-01 -3.28763634e-01 -3.47418760e-02 8.54209788e+02] [ 3.28565196e-01 9.44412033e-01 -1.14378341e-02 5.69657158e+01] [ 3.65709897e-02 -6.20252329e-04 9.99330865e-01 3.12661121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.9792541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:854.26, Y:56.98, Z:31.27 [[ 9.43015760e-01 -3.30929760e-01 -3.47385955e-02 8.54264803e+02] [ 3.30732422e-01 9.43655135e-01 -1.14477889e-02 5.69849329e+01] [ 3.65696681e-02 -6.93734539e-04 9.99330865e-01 3.12693910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.039254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:854.32, Y:57.00, Z:31.27 [[ 9.42899607e-01 -3.31260908e-01 -3.47353264e-02 8.54319131e+02] [ 3.31063430e-01 9.43538937e-01 -1.14576996e-02 5.70049336e+01] [ 3.65696209e-02 -6.96135914e-04 9.99330865e-01 3.12686983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.0992541539999 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:854.37, Y:57.03, Z:31.27 [[ 9.43577491e-01 -3.29325371e-01 -3.47321012e-02 8.54373617e+02] [ 3.29126223e-01 9.44216303e-01 -1.14674679e-02 5.70253527e+01] [ 3.65711443e-02 -6.10800676e-04 9.99330865e-01 3.12710834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.159254154 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:854.43, Y:57.05, Z:31.27 [[ 9.44656242e-01 -3.26218472e-01 -3.47288382e-02 8.54427688e+02] [ 3.26016860e-01 9.45294281e-01 -1.14773414e-02 5.70465119e+01] [ 3.65730929e-02 -4.80044612e-04 9.99330865e-01 3.12723231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.2192541539999 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:854.48, Y:57.07, Z:31.28 [[ 9.45414066e-01 -3.24016011e-01 -3.47256189e-02 8.54482300e+02] [ 3.23812554e-01 9.46051519e-01 -1.14870735e-02 5.70668377e+01] [ 3.65742202e-02 -3.84550470e-04 9.99330865e-01 3.12755499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.279254154 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:854.54, Y:57.09, Z:31.28 [[ 9.46420040e-01 -3.21066150e-01 -3.47222675e-02 8.54535666e+02] [ 3.20860336e-01 9.47056735e-01 -1.14971948e-02 5.70871704e+01] [ 3.65753174e-02 -2.59822897e-04 9.99330865e-01 3.12767166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.339254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:854.59, Y:57.11, Z:31.28 [[ 9.47013001e-01 -3.19313076e-01 -3.47208282e-02 8.54590079e+02] [ 3.19105923e-01 9.47649262e-01 -1.15015397e-02 5.71072392e+01] [ 3.65757593e-02 -1.87514317e-04 9.99330865e-01 3.12798045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.399254154 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:854.64, Y:57.13, Z:31.28 [[ 9.47009481e-01 -3.19323889e-01 -3.47173806e-02 8.54644282e+02] [ 3.19116362e-01 9.47645621e-01 -1.15119369e-02 5.71269026e+01] [ 3.65758102e-02 -1.76970782e-04 9.99330866e-01 3.12798502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.459254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:854.70, Y:57.15, Z:31.28 [[ 9.46944104e-01 -3.19517883e-01 -3.47157856e-02 8.54700426e+02] [ 3.19310310e-01 9.47580229e-01 -1.15167448e-02 5.71455273e+01] [ 3.65757980e-02 -1.79394652e-04 9.99330866e-01 3.12845971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.519254154 meters Centerline goodness : 0.999569 with order 1 Centerline is valid? [True, True] Translation: X:854.75, Y:57.16, Z:31.28 [[ 9.46154982e-01 -3.21847428e-01 -3.47128761e-02 8.54754350e+02] [ 3.21641100e-01 9.46791511e-01 -1.15255079e-02 5.71637567e+01] [ 3.65753115e-02 -2.60170885e-04 9.99330866e-01 3.12841964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.579254154 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:854.81, Y:57.18, Z:31.29 [[ 9.45956749e-01 -3.22429750e-01 -3.47114463e-02 8.54809358e+02] [ 3.22223656e-01 9.46593355e-01 -1.15298124e-02 5.71826529e+01] [ 3.65751789e-02 -2.78145288e-04 9.99330866e-01 3.12864343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.639254154 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:854.86, Y:57.20, Z:31.29 [[ 9.45954860e-01 -3.22435643e-01 -3.47082067e-02 8.54864153e+02] [ 3.22229196e-01 9.46591350e-01 -1.15395562e-02 5.72015080e+01] [ 3.65752525e-02 -2.68098324e-04 9.99330866e-01 3.12870307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.699254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:854.92, Y:57.22, Z:31.29 [[ 9.45686208e-01 -3.23223081e-01 -3.47049829e-02 8.54918526e+02] [ 3.23016808e-01 9.46322755e-01 -1.15492436e-02 5.72201092e+01] [ 3.65750972e-02 -2.88332369e-04 9.99330866e-01 3.12928614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.759254154 meters Centerline goodness : 0.999679 with order 1 Centerline is valid? [True, True] Translation: X:854.97, Y:57.24, Z:31.29 [[ 9.44608741e-01 -3.26358884e-01 -3.47016468e-02 8.54974381e+02] [ 3.26154356e-01 9.45245851e-01 -1.15592588e-02 5.72389037e+01] [ 3.65740545e-02 -3.99116370e-04 9.99330866e-01 3.12907740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.819254154 meters Centerline goodness : 0.999742 with order 1 Centerline is valid? [True, True] Translation: X:855.03, Y:57.26, Z:31.29 [[ 9.42653679e-01 -3.31963910e-01 -3.46987557e-02 8.55030041e+02] [ 3.31762850e-01 9.43291892e-01 -1.15679308e-02 5.72566740e+01] [ 3.65711905e-02 -6.07205569e-04 9.99330866e-01 3.12927720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.879254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:855.09, Y:57.27, Z:31.30 [[ 9.40642788e-01 -3.37620157e-01 -3.46954589e-02 8.55086764e+02] [ 3.37422571e-01 9.41282085e-01 -1.15778106e-02 5.72736952e+01] [ 3.65671161e-02 -8.16446846e-04 9.99330866e-01 3.12983422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.939254154 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:855.14, Y:57.29, Z:31.30 [[ 9.39361313e-01 -3.41169678e-01 -3.46925644e-02 8.55142374e+02] [ 3.40974187e-01 9.40001254e-01 -1.15864772e-02 5.72917010e+01] [ 3.65640088e-02 -9.45380556e-04 9.99330866e-01 3.12987099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.999254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:855.20, Y:57.31, Z:31.30 [[ 9.38623797e-01 -3.43193864e-01 -3.46891708e-02 8.55198560e+02] [ 3.42999379e-01 9.39264044e-01 -1.15966285e-02 5.73090892e+01] [ 3.65621826e-02 -1.01349253e-03 9.99330866e-01 3.13047259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.059254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:855.25, Y:57.33, Z:31.30 [[ 9.37425936e-01 -3.46452708e-01 -3.46862451e-02 8.55253705e+02] [ 3.46260125e-01 9.38066757e-01 -1.16053729e-02 5.73313206e+01] [ 3.65587264e-02 -1.13128604e-03 9.99330866e-01 3.13017088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.119254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:855.31, Y:57.35, Z:31.31 [[ 9.38416432e-01 -3.43761069e-01 -3.46832569e-02 8.55308473e+02] [ 3.43566318e-01 9.39056597e-01 -1.16142964e-02 5.73492647e+01] [ 3.65620842e-02 -1.01695230e-03 9.99330866e-01 3.13083127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.179254154 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:855.36, Y:57.37, Z:31.31 [[ 9.38980174e-01 -3.42218318e-01 -3.46821944e-02 8.55361699e+02] [ 3.42022398e-01 9.39619984e-01 -1.16174686e-02 5.73716659e+01] [ 3.65637935e-02 -9.53514579e-04 9.99330866e-01 3.13089934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.2392541539999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:855.41, Y:57.39, Z:31.31 [[ 9.40742335e-01 -3.37344147e-01 -3.46811970e-02 8.55414850e+02] [ 3.37144801e-01 9.41381085e-01 -1.16204453e-02 5.73945921e+01] [ 3.65683121e-02 -7.60740368e-04 9.99330866e-01 3.13118011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.299254154 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:855.47, Y:57.42, Z:31.31 [[ 9.43600881e-01 -3.29264046e-01 -3.46780232e-02 8.55468106e+02] [ 3.29058883e-01 9.44237786e-01 -1.16299087e-02 5.74182583e+01] [ 3.65736107e-02 -4.37119479e-04 9.99330866e-01 3.13106048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.3592541539999 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:855.52, Y:57.44, Z:31.31 [[ 9.45746331e-01 -3.23050353e-01 -3.46748779e-02 8.55522062e+02] [ 3.22840662e-01 9.46381759e-01 -1.16392791e-02 5.74400068e+01] [ 3.65757452e-02 -1.86655019e-04 9.99330866e-01 3.13132869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.419254154 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:855.57, Y:57.46, Z:31.32 [[ 9.48451547e-01 -3.15019914e-01 -3.46715517e-02 8.55574597e+02] [ 3.14804480e-01 9.49085052e-01 -1.16491790e-02 5.74615781e+01] [ 3.65759748e-02 1.33922058e-04 9.99330866e-01 3.13155228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.4792541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:855.63, Y:57.48, Z:31.32 [[ 9.50143514e-01 -3.09879471e-01 -3.46701207e-02 8.55628717e+02] [ 3.09660454e-01 9.50775789e-01 -1.16534363e-02 5.74816751e+01] [ 3.65746720e-02 3.36471544e-04 9.99330866e-01 3.13196488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.539254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:855.68, Y:57.50, Z:31.32 [[ 9.51148804e-01 -3.06780327e-01 -3.46667508e-02 8.55683632e+02] [ 3.06558886e-01 9.51780234e-01 -1.16634526e-02 5.75009470e+01] [ 3.65732459e-02 4.66278529e-04 9.99330866e-01 3.13207214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.5992541539999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:855.74, Y:57.52, Z:31.32 [[ 9.51620635e-01 -3.05313969e-01 -3.46633489e-02 8.55738639e+02] [ 3.05091186e-01 9.52251593e-01 -1.16735541e-02 5.75191210e+01] [ 3.65723283e-02 5.33312759e-04 9.99330866e-01 3.13209375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.659254154 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:855.79, Y:57.54, Z:31.32 [[ 9.51467486e-01 -3.05791285e-01 -3.46599705e-02 8.55794250e+02] [ 3.05568455e-01 9.52098426e-01 -1.16835761e-02 5.75378004e+01] [ 3.65724392e-02 5.25549163e-04 9.99330866e-01 3.13220347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.7192541539999 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:855.85, Y:57.55, Z:31.32 [[ 9.52808704e-01 -3.01586594e-01 -3.46568790e-02 8.55850564e+02] [ 3.01360646e-01 9.53438535e-01 -1.16927393e-02 5.75521028e+01] [ 3.65695774e-02 6.96724305e-04 9.99330866e-01 3.13247169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.779254154 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:855.91, Y:57.57, Z:31.33 [[ 9.53554302e-01 -2.99220936e-01 -3.46557910e-02 8.55906298e+02] [ 2.98993309e-01 9.54183528e-01 -1.16959631e-02 5.75684610e+01] [ 3.65676620e-02 7.90886330e-04 9.99330866e-01 3.13258893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.839254154 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:855.96, Y:57.58, Z:31.33 [[ 9.55134349e-01 -2.94138719e-01 -3.46524210e-02 8.55963264e+02] [ 2.93907382e-01 9.55762220e-01 -1.17059391e-02 5.75841959e+01] [ 3.65626448e-02 9.96142185e-04 9.99330866e-01 3.13253027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.899254154 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:856.02, Y:57.60, Z:31.33 [[ 9.56392411e-01 -2.90022361e-01 -3.46494866e-02 8.56018700e+02] [ 2.89788008e-01 9.57019163e-01 -1.17146186e-02 5.75969565e+01] [ 3.65577240e-02 1.16276659e-03 9.99330867e-01 3.13278564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.959254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:856.08, Y:57.61, Z:31.34 [[ 9.56772478e-01 -2.88766236e-01 -3.46480432e-02 8.56076387e+02] [ 2.88530906e-01 9.57398864e-01 -1.17188863e-02 5.76089313e+01] [ 3.65560158e-02 1.21527657e-03 9.99330867e-01 3.13359795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.019254154 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:856.13, Y:57.62, Z:31.34 [[ 9.56268321e-01 -2.90431786e-01 -3.46449958e-02 8.56134312e+02] [ 2.90197221e-01 9.56894994e-01 -1.17278884e-02 5.76191517e+01] [ 3.65577746e-02 1.16112664e-03 9.99330867e-01 3.13354908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.079254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:856.19, Y:57.63, Z:31.34 [[ 9.56267585e-01 -2.90434400e-01 -3.46433935e-02 8.56191127e+02] [ 2.90199666e-01 9.56894195e-01 -1.17326196e-02 5.76335178e+01] [ 3.65576184e-02 1.16602256e-03 9.99330867e-01 3.13416532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.139254154 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:856.25, Y:57.65, Z:31.34 [[ 9.56419253e-01 -2.89934909e-01 -3.46404470e-02 8.56246945e+02] [ 2.89699533e-01 9.57045622e-01 -1.17413125e-02 5.76487449e+01] [ 3.65567046e-02 1.19429604e-03 9.99330867e-01 3.13398217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.199254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:856.30, Y:57.66, Z:31.34 [[ 9.57293860e-01 -2.87034103e-01 -3.46394119e-02 8.56303257e+02] [ 2.86796719e-01 9.57919470e-01 -1.17443657e-02 5.76626626e+01] [ 3.65528005e-02 1.30833952e-03 9.99330867e-01 3.13417943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.259254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:856.36, Y:57.68, Z:31.34 [[ 9.58156296e-01 -2.84142314e-01 -3.46360808e-02 8.56360399e+02] [ 2.83902688e-01 9.58781051e-01 -1.17541813e-02 5.76771445e+01] [ 3.65482782e-02 1.42906634e-03 9.99330867e-01 3.13420365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.319254154 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:856.42, Y:57.69, Z:31.34 [[ 9.58320917e-01 -2.83586959e-01 -3.46331773e-02 8.56416810e+02] [ 2.83346662e-01 9.58945414e-01 -1.17627301e-02 5.76929741e+01] [ 3.65470834e-02 1.45927508e-03 9.99330867e-01 3.13429408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.379254154 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:856.47, Y:57.71, Z:31.34 [[ 9.57461696e-01 -2.86474868e-01 -3.46302118e-02 8.56472365e+02] [ 2.86236140e-01 9.58086794e-01 -1.17714543e-02 5.77053128e+01] [ 3.65509744e-02 1.35829846e-03 9.99330867e-01 3.13438405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.439254154 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:856.53, Y:57.72, Z:31.35 [[ 9.55555926e-01 -2.92769057e-01 -3.46287541e-02 8.56530230e+02] [ 2.92534292e-01 9.56182524e-01 -1.17757409e-02 5.77175632e+01] [ 3.65589821e-02 1.12228096e-03 9.99330867e-01 3.13478219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.499254154 meters Centerline goodness : 0.999800 with order 1 Centerline is valid? [True, True] Translation: X:856.59, Y:57.73, Z:31.35 [[ 9.53073697e-01 -3.00751702e-01 -3.46257523e-02 8.56588013e+02] [ 3.00521866e-01 9.53702119e-01 -1.17845610e-02 5.77313738e+01] [ 3.65668801e-02 8.25759422e-04 9.99330867e-01 3.13509026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.559254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:856.64, Y:57.75, Z:31.36 [[ 9.51574546e-01 -3.05462185e-01 -3.46227853e-02 8.56644062e+02] [ 3.05235144e-01 9.52203983e-01 -1.17932714e-02 5.77471558e+01] [ 3.65703526e-02 6.54086023e-04 9.99330867e-01 3.13577778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.619254154 meters Centerline goodness : 0.999800 with order 1 Centerline is valid? [True, True] Translation: X:856.70, Y:57.76, Z:31.36 [[ 9.49471495e-01 -3.11937843e-01 -3.46217104e-02 8.56699829e+02] [ 3.11714980e-01 9.50102424e-01 -1.17964262e-02 5.77644321e+01] [ 3.65739227e-02 4.08264662e-04 9.99330867e-01 3.13574018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.679254154 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:856.75, Y:57.78, Z:31.36 [[ 9.48454889e-01 -3.15015708e-01 -3.46182983e-02 8.56753714e+02] [ 3.14794528e-01 9.49086410e-01 -1.18064311e-02 5.77849054e+01] [ 3.65749677e-02 3.00216465e-04 9.99330867e-01 3.13594219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.7392541539999 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:856.81, Y:57.81, Z:31.36 [[ 9.47448030e-01 -3.18031510e-01 -3.46148747e-02 8.56807599e+02] [ 3.17811974e-01 9.48080124e-01 -1.18164602e-02 5.78055046e+01] [ 3.65756813e-02 1.94460254e-04 9.99330867e-01 3.13615257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.799254154 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:856.86, Y:57.83, Z:31.36 [[ 9.46174185e-01 -3.21801891e-01 -3.46114831e-02 8.56861466e+02] [ 3.21584510e-01 9.46807023e-01 -1.18263860e-02 5.78255143e+01] [ 3.65761487e-02 5.93042396e-05 9.99330867e-01 3.13628720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.8592541539999 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:856.92, Y:57.85, Z:31.36 [[ 9.45225399e-01 -3.24578285e-01 -3.46104420e-02 8.56915922e+02] [ 3.24362652e-01 9.45858834e-01 -1.18294322e-02 5.78461014e+01] [ 3.65761691e-02 -4.48549933e-05 9.99330867e-01 3.13645604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.919254154 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:856.97, Y:57.87, Z:31.37 [[ 9.43862426e-01 -3.28521037e-01 -3.46070669e-02 8.56970329e+02] [ 3.28307687e-01 9.44496635e-01 -1.18392978e-02 5.78678785e+01] [ 3.65757166e-02 -1.87097769e-04 9.99330867e-01 3.13660479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.9792541539999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:857.02, Y:57.89, Z:31.37 [[ 9.42879390e-01 -3.31332228e-01 -3.46036329e-02 8.57024407e+02] [ 3.31120401e-01 9.43514109e-01 -1.18493261e-02 5.78880583e+01] [ 3.65750795e-02 -2.85483464e-04 9.99330867e-01 3.13692083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.039254154 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:857.08, Y:57.91, Z:31.37 [[ 9.42374770e-01 -3.32765107e-01 -3.46002273e-02 8.57078350e+02] [ 3.32553881e-01 9.43009689e-01 -1.18592623e-02 5.79085865e+01] [ 3.65746983e-02 -3.30570294e-04 9.99330867e-01 3.13702367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.0992541539999 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:857.13, Y:57.93, Z:31.37 [[ 9.43053805e-01 -3.30836187e-01 -3.45967953e-02 8.57130875e+02] [ 3.30623295e-01 9.43688168e-01 -1.18692660e-02 5.79301603e+01] [ 3.65753690e-02 -2.45149957e-04 9.99330867e-01 3.13719734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.159254154 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:857.18, Y:57.95, Z:31.37 [[ 9.44245121e-01 -3.27420789e-01 -3.45944920e-02 8.57184770e+02] [ 3.27205356e-01 9.44878625e-01 -1.18759754e-02 5.79511908e+01] [ 3.65760372e-02 -1.05671245e-04 9.99330867e-01 3.13749194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.2192541539999 meters Centerline goodness : 0.999780 with order 1 Centerline is valid? [True, True] Translation: X:857.24, Y:57.97, Z:31.38 [[ 9.45015612e-01 -3.25190638e-01 -3.45910740e-02 8.57238949e+02] [ 3.24973346e-01 9.45648481e-01 -1.18859226e-02 5.79716612e+01] [ 3.65761873e-02 -8.79466288e-06 9.99330867e-01 3.13767074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.279254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:857.29, Y:57.99, Z:31.38 [[ 9.46507859e-01 -3.20821709e-01 -3.45876256e-02 8.57293048e+02] [ 3.20601130e-01 9.47139589e-01 -1.18959488e-02 5.79926281e+01] [ 3.65757882e-02 1.70777182e-04 9.99330867e-01 3.13837879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.339254154 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:857.35, Y:58.01, Z:31.38 [[ 9.47404276e-01 -3.18164906e-01 -3.45865669e-02 8.57346833e+02] [ 3.17942443e-01 9.48035345e-01 -1.18990263e-02 5.80147570e+01] [ 3.65751404e-02 2.76650833e-04 9.99330867e-01 3.13806701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.399254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:857.40, Y:58.03, Z:31.39 [[ 9.48326367e-01 -3.15406259e-01 -3.45831448e-02 8.57400901e+02] [ 3.15181598e-01 9.48956657e-01 -1.19089637e-02 5.80344455e+01] [ 3.65740672e-02 3.93613439e-04 9.99330867e-01 3.13876122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.459254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:857.46, Y:58.06, Z:31.39 [[ 9.47912162e-01 -3.16649291e-01 -3.45797546e-02 8.57455762e+02] [ 3.16425097e-01 9.48542619e-01 -1.19187997e-02 5.80555588e+01] [ 3.65744505e-02 3.56072949e-04 9.99330868e-01 3.13861488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.519254154 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:857.51, Y:58.07, Z:31.39 [[ 9.46545330e-01 -3.20712316e-01 -3.45767171e-02 8.57510264e+02] [ 3.20490507e-01 9.47176629e-01 -1.19276052e-02 5.80748522e+01] [ 3.65755882e-02 2.08509435e-04 9.99330868e-01 3.13850579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.579254154 meters Centerline goodness : 0.997299 with order 1 Centerline is valid? [True, True] Translation: X:857.57, Y:58.09, Z:31.39 [[ 9.44138403e-01 -3.27730379e-01 -3.45756502e-02 8.57566007e+02] [ 3.27513150e-01 9.44771292e-01 -1.19306969e-02 5.80906028e+01] [ 3.65761336e-02 -5.97509601e-05 9.99330868e-01 3.13872181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.639254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:857.62, Y:58.11, Z:31.39 [[ 9.40747973e-01 -3.37339661e-01 -3.45717199e-02 8.57621953e+02] [ 3.37128478e-01 9.41382906e-01 -1.19420749e-02 5.81097141e+01] [ 3.65737617e-02 -4.20628535e-04 9.99330868e-01 3.13918549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.699254154 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:857.68, Y:58.13, Z:31.39 [[ 9.38792159e-01 -3.42745275e-01 -3.45681890e-02 8.57676737e+02] [ 3.42537372e-01 9.39428173e-01 -1.19522871e-02 5.81274261e+01] [ 3.65709205e-02 -6.20183183e-04 9.99330868e-01 3.13943707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.759254154 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:857.73, Y:58.15, Z:31.40 [[ 9.36589076e-01 -3.48720538e-01 -3.45671620e-02 8.57732017e+02] [ 3.48516582e-01 9.37226367e-01 -1.19552564e-02 5.81450416e+01] [ 3.65662992e-02 -8.50066569e-04 9.99330868e-01 3.13966534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.819254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:857.79, Y:58.16, Z:31.40 [[ 9.35666553e-01 -3.51188605e-01 -3.45639204e-02 8.57787282e+02] [ 3.50985984e-01 9.36304270e-01 -1.19646210e-02 5.81633060e+01] [ 3.65641848e-02 -9.36555925e-04 9.99330868e-01 3.14002718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.879254154 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:857.84, Y:58.18, Z:31.40 [[ 9.36039075e-01 -3.50194812e-01 -3.45607228e-02 8.57841508e+02] [ 3.49991174e-01 9.36676468e-01 -1.19738503e-02 5.81828612e+01] [ 3.65653960e-02 -8.87956243e-04 9.99330868e-01 3.14008255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.939254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:857.90, Y:58.20, Z:31.40 [[ 9.37701266e-01 -3.45719698e-01 -3.45575693e-02 8.57895199e+02] [ 3.45512683e-01 9.38337570e-01 -1.19829448e-02 5.82036345e+01] [ 3.65694056e-02 -7.03655949e-04 9.99330868e-01 3.14025054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.999254154 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:857.95, Y:58.23, Z:31.40 [[ 9.40342216e-01 -3.38470665e-01 -3.45561143e-02 8.57949410e+02] [ 3.38258589e-01 9.40976852e-01 -1.19871392e-02 5.82255718e+01] [ 3.65737986e-02 -4.16889376e-04 9.99330868e-01 3.14048198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.059254154 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:858.00, Y:58.25, Z:31.41 [[ 9.43388343e-01 -3.29885651e-01 -3.45527340e-02 8.58003599e+02] [ 3.29667444e-01 9.44020896e-01 -1.19968750e-02 5.82474553e+01] [ 3.65760998e-02 -7.31994348e-05 9.99330868e-01 3.14073217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.119254154 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:858.06, Y:58.27, Z:31.41 [[ 9.45668771e-01 -3.23290765e-01 -3.45493526e-02 8.58057770e+02] [ 3.23067790e-01 9.46299659e-01 -1.20066050e-02 5.82696117e+01] [ 3.65756651e-02 1.92488440e-04 9.99330868e-01 3.14099070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.179254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:858.11, Y:58.29, Z:31.42 [[ 9.47260522e-01 -3.18597003e-01 -3.45463821e-02 8.58112485e+02] [ 3.18370591e-01 9.47890185e-01 -1.20151458e-02 5.82907325e+01] [ 3.65741660e-02 3.82921232e-04 9.99330868e-01 3.14164719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.2392541539999 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:858.17, Y:58.31, Z:31.41 [[ 9.47745292e-01 -3.17152358e-01 -3.45433530e-02 8.58168139e+02] [ 3.16924669e-01 9.48374494e-01 -1.20238482e-02 5.83116651e+01] [ 3.65734267e-02 4.47904781e-04 9.99330868e-01 3.14143403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.299254154 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:858.22, Y:58.33, Z:31.42 [[ 9.48074099e-01 -3.16168418e-01 -3.45403252e-02 8.58222695e+02] [ 3.15939760e-01 9.48702949e-01 -1.20325398e-02 5.83312110e+01] [ 3.65728175e-02 4.95077322e-04 9.99330868e-01 3.14164672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.3592541539999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:858.28, Y:58.35, Z:31.42 [[ 9.47939421e-01 -3.16572362e-01 -3.45368418e-02 8.58277918e+02] [ 3.16343608e-01 9.48568236e-01 -1.20425299e-02 5.83501357e+01] [ 3.65728832e-02 4.90079695e-04 9.99330868e-01 3.14207704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.419254154 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:858.33, Y:58.37, Z:31.42 [[ 9.46328302e-01 -3.21356795e-01 -3.45333889e-02 8.58333985e+02] [ 3.21130859e-01 9.46958136e-01 -1.20524234e-02 5.83684068e+01] [ 3.65748017e-02 3.15812552e-04 9.99330868e-01 3.14211734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.4792541539999 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:858.39, Y:58.38, Z:31.42 [[ 9.42658590e-01 -3.31967526e-01 -3.45303406e-02 8.58390169e+02] [ 3.31748360e-01 9.43290811e-01 -1.20611504e-02 5.83847214e+01] [ 3.65760633e-02 -8.58367970e-05 9.99330868e-01 3.14230522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.539254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:858.44, Y:58.40, Z:31.43 [[ 9.40613240e-01 -3.37719745e-01 -3.45269071e-02 8.58444726e+02] [ 3.37504085e-01 9.41246665e-01 -1.20709714e-02 5.84021412e+01] [ 3.65749415e-02 -2.98856712e-04 9.99330868e-01 3.14272314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.5992541539999 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:858.50, Y:58.42, Z:31.43 [[ 9.38362846e-01 -3.43923233e-01 -3.45250502e-02 8.58499656e+02] [ 3.43711564e-01 9.38997617e-01 -1.20762801e-02 5.84201462e+01] [ 3.65722531e-02 -5.34726400e-04 9.99330868e-01 3.14291374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.659254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:858.55, Y:58.44, Z:31.43 [[ 9.36189753e-01 -3.49795663e-01 -3.45215906e-02 8.58554827e+02] [ 3.49587612e-01 9.36825718e-01 -1.20861617e-02 5.84388583e+01] [ 3.65684009e-02 -7.53379667e-04 9.99330868e-01 3.14324547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.7192541539999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:858.61, Y:58.46, Z:31.44 [[ 9.35007206e-01 -3.52944554e-01 -3.45205293e-02 8.58608245e+02] [ 3.52738532e-01 9.35643831e-01 -1.20891922e-02 5.84574663e+01] [ 3.65657349e-02 -8.73239077e-04 9.99330868e-01 3.14359371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.779254154 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:858.66, Y:58.48, Z:31.43 [[ 9.33801192e-01 -3.56123249e-01 -3.45190724e-02 8.58663357e+02] [ 3.55919240e-01 9.34438465e-01 -1.20933507e-02 5.84783353e+01] [ 3.65626724e-02 -9.93216693e-04 9.99330868e-01 3.14341572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.839254154 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:858.72, Y:58.50, Z:31.44 [[ 9.33059407e-01 -3.58062531e-01 -3.45161969e-02 8.58717989e+02] [ 3.57859544e-01 9.33697006e-01 -1.21015523e-02 5.84987521e+01] [ 3.65607822e-02 -1.06048323e-03 9.99330868e-01 3.14351229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.899254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:858.77, Y:58.52, Z:31.44 [[ 9.32265670e-01 -3.60124392e-01 -3.45129394e-02 8.58772190e+02] [ 3.59922472e-01 9.32903608e-01 -1.21108355e-02 5.85197212e+01] [ 3.65586529e-02 -1.13146630e-03 9.99330868e-01 3.14400080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.959254154 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:858.83, Y:58.54, Z:31.44 [[ 9.32516890e-01 -3.59473703e-01 -3.45095028e-02 8.58825639e+02] [ 3.59270976e-01 9.33154573e-01 -1.21206200e-02 5.85413589e+01] [ 3.65597445e-02 -1.09557986e-03 9.99330869e-01 3.14409583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.019254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:858.88, Y:58.57, Z:31.44 [[ 9.32460357e-01 -3.59620424e-01 -3.45084489e-02 8.58878263e+02] [ 3.59417686e-01 9.33098036e-01 -1.21236197e-02 5.85695986e+01] [ 3.65596672e-02 -1.09815207e-03 9.99330869e-01 3.14392273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.079254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:858.93, Y:58.59, Z:31.45 [[ 9.37281175e-01 -3.46862194e-01 -3.45053149e-02 8.58933037e+02] [ 3.46650445e-01 9.37915919e-01 -1.21325329e-02 5.85877953e+01] [ 3.65714011e-02 -5.89688057e-04 9.99330869e-01 3.14471435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.139254154 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:858.99, Y:58.61, Z:31.45 [[ 9.40703692e-01 -3.37470033e-01 -3.45042034e-02 8.58987229e+02] [ 3.37251829e-01 9.41336246e-01 -1.21356933e-02 5.86128259e+01] [ 3.65754901e-02 -2.20514239e-04 9.99330869e-01 3.14458372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.199254154 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:859.04, Y:58.64, Z:31.45 [[ 9.43633959e-01 -3.29187784e-01 -3.45015134e-02 8.59041557e+02] [ 3.28963749e-01 9.44264471e-01 -1.21433362e-02 5.86372681e+01] [ 3.65759912e-02 1.09117189e-04 9.99330869e-01 3.14470196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.259254154 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:859.09, Y:58.66, Z:31.45 [[ 9.44854231e-01 -3.25669042e-01 -3.44986581e-02 8.59094622e+02] [ 3.25442364e-01 9.45483797e-01 -1.21514424e-02 5.86588567e+01] [ 3.65752709e-02 2.54016960e-04 9.99330869e-01 3.14492243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.319254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:859.15, Y:58.68, Z:31.45 [[ 9.44408569e-01 -3.26959326e-01 -3.44971425e-02 8.59150218e+02] [ 3.26733351e-01 9.45038388e-01 -1.21557436e-02 5.86786831e+01] [ 3.65755577e-02 2.08621435e-04 9.99330869e-01 3.14543207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.379254154 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:859.20, Y:58.70, Z:31.45 [[ 9.41027848e-01 -3.36566109e-01 -3.44941141e-02 8.59204729e+02] [ 3.36346249e-01 9.41659827e-01 -1.21643313e-02 5.86974687e+01] [ 3.65758231e-02 -1.54991409e-04 9.99330869e-01 3.14545371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.439254154 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:859.26, Y:58.72, Z:31.46 [[ 9.38979913e-01 -3.42238397e-01 -3.44906053e-02 8.59260098e+02] [ 3.42021989e-01 9.39613083e-01 -1.21742718e-02 5.87158077e+01] [ 3.65743273e-02 -3.65148726e-04 9.99330869e-01 3.14576180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.499254154 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:859.32, Y:58.73, Z:31.46 [[ 9.36281911e-01 -3.49552313e-01 -3.44871537e-02 8.59316200e+02] [ 3.49340491e-01 9.36916630e-01 -1.21840417e-02 5.87342116e+01] [ 3.65705478e-02 -6.40061388e-04 9.99330869e-01 3.14601956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.559254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:859.37, Y:58.75, Z:31.46 [[ 9.34819840e-01 -3.53444083e-01 -3.44840174e-02 8.59371860e+02] [ 3.53234576e-01 9.35455326e-01 -1.21929119e-02 5.87539373e+01] [ 3.65677703e-02 -7.82771321e-04 9.99330869e-01 3.14639167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.619254154 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:859.43, Y:58.77, Z:31.46 [[ 9.34180265e-01 -3.55131386e-01 -3.44808905e-02 8.59425760e+02] [ 3.54922700e-01 9.34816022e-01 -1.22017482e-02 5.87739709e+01] [ 3.65665126e-02 -8.39418385e-04 9.99330869e-01 3.14636599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.679254154 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:859.48, Y:58.79, Z:31.47 [[ 9.34004715e-01 -3.55592937e-01 -3.44797936e-02 8.59479932e+02] [ 3.55384451e-01 9.34640537e-01 -1.22048470e-02 5.87938469e+01] [ 3.65661702e-02 -8.54197913e-04 9.99330869e-01 3.14660086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.7392541539999 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:859.53, Y:58.81, Z:31.47 [[ 9.33740662e-01 -3.56285830e-01 -3.44787328e-02 8.59533905e+02] [ 3.56077706e-01 9.34376603e-01 -1.22078429e-02 5.88145781e+01] [ 3.65656027e-02 -8.78148791e-04 9.99330869e-01 3.14689597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.799254154 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:859.59, Y:58.84, Z:31.48 [[ 9.34049688e-01 -3.55475223e-01 -3.44752929e-02 8.59588478e+02] [ 3.55266189e-01 9.34685330e-01 -1.22175496e-02 5.88359231e+01] [ 3.65665867e-02 -8.36107473e-04 9.99330869e-01 3.14753139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.8592541539999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:859.64, Y:58.86, Z:31.47 [[ 9.33406871e-01 -3.57160015e-01 -3.44722539e-02 8.59641344e+02] [ 3.56951812e-01 9.34042786e-01 -1.22261183e-02 5.88628702e+01] [ 3.65652406e-02 -8.92990635e-04 9.99330869e-01 3.14730530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.919254154 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:859.70, Y:58.88, Z:31.48 [[ 9.36490307e-01 -3.48995401e-01 -3.44690505e-02 8.59696519e+02] [ 3.48781320e-01 9.37124267e-01 -1.22351429e-02 5.88813284e+01] [ 3.65717923e-02 -5.64068227e-04 9.99330869e-01 3.14780391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.9792541539999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:859.75, Y:58.91, Z:31.47 [[ 9.36687084e-01 -3.48467003e-01 -3.44681543e-02 8.59749014e+02] [ 3.48252472e-01 9.37320892e-01 -1.22376672e-02 5.89087463e+01] [ 3.65721443e-02 -5.40755089e-04 9.99330869e-01 3.14743545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.039254154 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:859.80, Y:58.93, Z:31.48 [[ 9.38397873e-01 -3.43833470e-01 -3.44670332e-02 8.59803417e+02] [ 3.43615693e-01 9.39030574e-01 -1.22408239e-02 5.89266965e+01] [ 3.65744029e-02 -3.56650410e-04 9.99330869e-01 3.14816325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.0992541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:859.86, Y:58.95, Z:31.49 [[ 9.36542796e-01 -3.48854828e-01 -3.44659287e-02 8.59857866e+02] [ 3.48640329e-01 9.37176615e-01 -1.22439329e-02 5.89458372e+01] [ 3.65720175e-02 -5.49245610e-04 9.99330869e-01 3.14865859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.159254154 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:859.91, Y:58.97, Z:31.49 [[ 9.35502010e-01 -3.51636408e-01 -3.44648430e-02 8.59913590e+02] [ 3.51423680e-01 9.36136426e-01 -1.22469884e-02 5.89663727e+01] [ 3.65702819e-02 -6.54679706e-04 9.99330869e-01 3.14859793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.2192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:859.97, Y:58.99, Z:31.49 [[ 9.34883606e-01 -3.53277543e-01 -3.44618587e-02 8.59968640e+02] [ 3.53065621e-01 9.35518291e-01 -1.22553801e-02 5.89854043e+01] [ 3.65692497e-02 -7.09943607e-04 9.99330869e-01 3.14906208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.279254154 meters Centerline goodness : 0.999723 with order 1 Centerline is valid? [True, True] Translation: X:860.02, Y:59.01, Z:31.49 [[ 9.31691935e-01 -3.61611160e-01 -3.44602371e-02 8.60024363e+02] [ 3.61404744e-01 9.32328432e-01 -1.22599381e-02 5.90051586e+01] [ 3.65615892e-02 -1.03160773e-03 9.99330869e-01 3.14896079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.339254154 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:860.08, Y:59.02, Z:31.49 [[ 9.29167264e-01 -3.68050133e-01 -3.44571428e-02 8.60078235e+02] [ 3.67847805e-01 9.29805073e-01 -1.22686287e-02 5.90236239e+01] [ 3.65538965e-02 -1.27537619e-03 9.99330869e-01 3.14925301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.399254154 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:860.13, Y:59.04, Z:31.49 [[ 9.27635188e-01 -3.71894914e-01 -3.44547620e-02 8.60132754e+02] [ 3.71694981e-01 9.28273752e-01 -1.22753110e-02 5.90439063e+01] [ 3.65485769e-02 -1.41965171e-03 9.99330869e-01 3.14948892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.459254154 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:860.19, Y:59.06, Z:31.50 [[ 9.27316129e-01 -3.72690095e-01 -3.44512780e-02 8.60188117e+02] [ 3.72490347e-01 9.27954750e-01 -1.22850814e-02 5.90648282e+01] [ 3.65477552e-02 -1.44061433e-03 9.99330869e-01 3.14980441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.519254154 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:860.24, Y:59.09, Z:31.50 [[ 9.27746822e-01 -3.71616948e-01 -3.44481879e-02 8.60242656e+02] [ 3.71416140e-01 9.28385111e-01 -1.22937400e-02 5.90860273e+01] [ 3.65497469e-02 -1.38913482e-03 9.99330869e-01 3.15022156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.579254154 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:860.30, Y:59.11, Z:31.50 [[ 9.29388150e-01 -3.67493132e-01 -3.44450872e-02 8.60296094e+02] [ 3.67289171e-01 9.30025438e-01 -1.23024215e-02 5.91090960e+01] [ 3.65558628e-02 -1.21758273e-03 9.99330869e-01 3.15040588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.639254154 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:860.35, Y:59.13, Z:31.51 [[ 9.32291955e-01 -3.60063181e-01 -3.44414910e-02 8.60349497e+02] [ 3.59853768e-01 9.32927472e-01 -1.23124812e-02 5.91328323e+01] [ 3.65646843e-02 -9.15073136e-04 9.99330869e-01 3.15054219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.699254154 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:860.40, Y:59.16, Z:31.51 [[ 9.35766387e-01 -3.50934891e-01 -3.44379444e-02 8.60402159e+02] [ 3.50718912e-01 9.36399703e-01 -1.23223930e-02 5.91569743e+01] [ 3.65720386e-02 -5.47157254e-04 9.99330869e-01 3.15081132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.759254154 meters Centerline goodness : 0.999725 with order 1 Centerline is valid? [True, True] Translation: X:860.46, Y:59.18, Z:31.51 [[ 9.38125769e-01 -3.44578453e-01 -3.44344401e-02 8.60456470e+02] [ 3.44357824e-01 9.38757480e-01 -1.23321779e-02 5.91806908e+01] [ 3.65749910e-02 -2.88635016e-04 9.99330869e-01 3.15081402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.819254154 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:860.51, Y:59.20, Z:31.51 [[ 9.38991575e-01 -3.42212367e-01 -3.44313650e-02 8.60511098e+02] [ 3.41989831e-01 9.39622616e-01 -1.23407577e-02 5.92015226e+01] [ 3.65756491e-02 -1.87309170e-04 9.99330870e-01 3.15108650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.879254154 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:860.56, Y:59.22, Z:31.51 [[ 9.39075452e-01 -3.41982489e-01 -3.44277807e-02 8.60564985e+02] [ 3.41759433e-01 9.39706310e-01 -1.23507489e-02 5.92220173e+01] [ 3.65757426e-02 -1.67733724e-04 9.99330870e-01 3.15145226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.939254154 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:860.62, Y:59.24, Z:31.52 [[ 9.37515733e-01 -3.46235801e-01 -3.44241131e-02 8.60619368e+02] [ 3.46015232e-01 9.38147465e-01 -1.23609627e-02 5.92434822e+01] [ 3.65747023e-02 -3.22670470e-04 9.99330870e-01 3.15154074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.999254154 meters Centerline goodness : 0.999768 with order 1 Centerline is valid? [True, True] Translation: X:860.67, Y:59.26, Z:31.52 [[ 9.36837981e-01 -3.48065593e-01 -3.44229613e-02 8.60674524e+02] [ 3.47846140e-01 9.37470101e-01 -1.23641694e-02 5.92612913e+01] [ 3.65740390e-02 -3.90670692e-04 9.99330870e-01 3.15192646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.059254154 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:860.73, Y:59.28, Z:31.52 [[ 9.35215363e-01 -3.52402328e-01 -3.44212832e-02 8.60728157e+02] [ 3.52185634e-01 9.35848434e-01 -1.23688395e-02 5.92825004e+01] [ 3.65719118e-02 -5.55152732e-04 9.99330870e-01 3.15193028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.119254154 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:860.78, Y:59.30, Z:31.52 [[ 9.34927908e-01 -3.53164604e-01 -3.44175788e-02 8.60783201e+02] [ 3.52948047e-01 9.35561026e-01 -1.23791389e-02 5.93004445e+01] [ 3.65716190e-02 -5.74014803e-04 9.99330870e-01 3.15231552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.179254154 meters Centerline goodness : 0.999684 with order 1 Centerline is valid? [True, True] Translation: X:860.84, Y:59.32, Z:31.52 [[ 9.33524068e-01 -3.56858969e-01 -3.44164448e-02 8.60839072e+02] [ 3.56644801e-01 9.34157998e-01 -1.23822909e-02 5.93204501e+01] [ 3.65691287e-02 -7.15279567e-04 9.99330870e-01 3.15235581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.2392541539999 meters Centerline goodness : 0.999747 with order 1 Centerline is valid? [True, True] Translation: X:860.89, Y:59.34, Z:31.53 [[ 9.32464777e-01 -3.59618075e-01 -3.44133620e-02 8.60893216e+02] [ 3.59405467e-01 9.33099232e-01 -1.23908527e-02 5.93398406e+01] [ 3.65670563e-02 -8.14316809e-04 9.99330870e-01 3.15266845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.299254154 meters Centerline goodness : 0.999746 with order 1 Centerline is valid? [True, True] Translation: X:860.95, Y:59.36, Z:31.53 [[ 9.30639985e-01 -3.64314442e-01 -3.44122808e-02 8.60948804e+02] [ 3.64104924e-01 9.31275468e-01 -1.23938547e-02 5.93600872e+01] [ 3.65625732e-02 -9.95464104e-04 9.99330870e-01 3.15323194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.3592541539999 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:861.00, Y:59.38, Z:31.53 [[ 9.29154367e-01 -3.68087188e-01 -3.44090763e-02 8.61003590e+02] [ 3.67879922e-01 9.29790587e-01 -1.24027451e-02 5.93811573e+01] [ 3.65585268e-02 -1.13434347e-03 9.99330870e-01 3.15347722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.419254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:861.06, Y:59.40, Z:31.54 [[ 9.29368956e-01 -3.67545340e-01 -3.44058956e-02 8.61058316e+02] [ 3.67337377e-01 9.30004949e-01 -1.24115622e-02 5.94035642e+01] [ 3.65594650e-02 -1.10365077e-03 9.99330870e-01 3.15404668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.4792541539999 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:861.11, Y:59.43, Z:31.54 [[ 9.31434972e-01 -3.62277995e-01 -3.44027193e-02 8.61112270e+02] [ 3.62066110e-01 9.32069668e-01 -1.24203601e-02 5.94270640e+01] [ 3.65653543e-02 -8.87300948e-04 9.99330870e-01 3.15391921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.539254154 meters Centerline goodness : 0.999769 with order 1 Centerline is valid? [True, True] Translation: X:861.17, Y:59.45, Z:31.54 [[ 9.34697360e-01 -3.53776083e-01 -3.43995540e-02 8.61165742e+02] [ 3.53558101e-01 9.35329988e-01 -1.24291206e-02 5.94513229e+01] [ 3.65720600e-02 -5.44774806e-04 9.99330870e-01 3.15405390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.5992541539999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:861.22, Y:59.48, Z:31.54 [[ 9.37704319e-01 -3.45727536e-01 -3.43959382e-02 8.61218411e+02] [ 3.45503757e-01 9.38334920e-01 -1.24391189e-02 5.94753833e+01] [ 3.65754558e-02 -2.19710348e-04 9.99330870e-01 3.15440332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.659254154 meters Centerline goodness : 0.999748 with order 1 Centerline is valid? [True, True] Translation: X:861.27, Y:59.50, Z:31.54 [[ 9.38489646e-01 -3.43590135e-01 -3.43948266e-02 8.61273373e+02] [ 3.43364807e-01 9.39119695e-01 -1.24421915e-02 5.94969799e+01] [ 3.65758734e-02 -1.33105078e-04 9.99330870e-01 3.15448385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.7192541539999 meters Centerline goodness : 0.999769 with order 1 Centerline is valid? [True, True] Translation: X:861.33, Y:59.52, Z:31.55 [[ 9.38830953e-01 -3.42656759e-01 -3.43916668e-02 8.61327845e+02] [ 3.42430484e-01 9.39460663e-01 -1.24509196e-02 5.95182635e+01] [ 3.65760099e-02 -8.74463866e-05 9.99330870e-01 3.15480293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.779254154 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:861.38, Y:59.54, Z:31.55 [[ 9.38672521e-01 -3.43090842e-01 -3.43885536e-02 8.61382202e+02] [ 3.42864544e-01 9.39302223e-01 -1.24595121e-02 5.95394908e+01] [ 3.65759893e-02 -9.52140597e-05 9.99330870e-01 3.15503642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.839254154 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:861.44, Y:59.56, Z:31.55 [[ 9.38387010e-01 -3.43871339e-01 -3.43849077e-02 8.61436014e+02] [ 3.43645197e-01 9.39016767e-01 -1.24695656e-02 5.95600585e+01] [ 3.65759311e-02 -1.14930021e-04 9.99330870e-01 3.15521264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.899254154 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:861.49, Y:59.58, Z:31.55 [[ 9.37993477e-01 -3.44943712e-01 -3.43813011e-02 8.61489192e+02] [ 3.44717925e-01 9.38623361e-01 -1.24795020e-02 5.95793875e+01] [ 3.65758181e-02 -1.46159308e-04 9.99330870e-01 3.15535320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.959254154 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:861.54, Y:59.60, Z:31.56 [[ 9.37305423e-01 -3.46809134e-01 -3.43797530e-02 8.61544555e+02] [ 3.46584445e-01 9.37935701e-01 -1.24837653e-02 5.95984876e+01] [ 3.65754816e-02 -2.14386684e-04 9.99330870e-01 3.15554613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.019254154 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:861.60, Y:59.62, Z:31.56 [[ 9.36803692e-01 -3.48162446e-01 -3.43766569e-02 8.61599988e+02] [ 3.47938354e-01 9.37434182e-01 -1.24922852e-02 5.96168371e+01] [ 3.65751978e-02 -2.58138531e-04 9.99330870e-01 3.15573576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.079254154 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:861.65, Y:59.64, Z:31.56 [[ 9.36537595e-01 -3.48877900e-01 -3.43736048e-02 8.61654435e+02] [ 3.48653981e-01 9.37168146e-01 -1.25006777e-02 5.96351036e+01] [ 3.65750577e-02 -2.77139550e-04 9.99330870e-01 3.15580250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.139254154 meters Centerline goodness : 0.999749 with order 1 Centerline is valid? [True, True] Translation: X:861.71, Y:59.65, Z:31.56 [[ 9.36432667e-01 -3.49159600e-01 -3.43719899e-02 8.61709883e+02] [ 3.48935708e-01 9.37063228e-01 -1.25051165e-02 5.96537450e+01] [ 3.65750093e-02 -2.83415008e-04 9.99330870e-01 3.15599626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.199254154 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:861.77, Y:59.67, Z:31.56 [[ 9.36353866e-01 -3.49371205e-01 -3.43685756e-02 8.61765063e+02] [ 3.49147112e-01 9.36984355e-01 -1.25144932e-02 5.96725872e+01] [ 3.65750212e-02 -2.81694810e-04 9.99330870e-01 3.15619628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.259254154 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:861.82, Y:59.69, Z:31.57 [[ 9.36808973e-01 -3.48149367e-01 -3.43652035e-02 8.61820206e+02] [ 3.47924112e-01 9.37439048e-01 -1.25237463e-02 5.96887468e+01] [ 3.65754180e-02 -2.24124974e-04 9.99330870e-01 3.15661133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.319254154 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:861.88, Y:59.71, Z:31.57 [[ 9.37341580e-01 -3.46712944e-01 -3.43641665e-02 8.61875140e+02] [ 3.46486619e-01 9.37971272e-01 -1.25265912e-02 5.97077588e+01] [ 3.65757323e-02 -1.65029106e-04 9.99330870e-01 3.15678928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.379254154 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:861.93, Y:59.73, Z:31.57 [[ 9.38601439e-01 -3.43288022e-01 -3.43609051e-02 8.61930082e+02] [ 3.43059072e-01 9.39230181e-01 -1.25355309e-02 5.97261718e+01] [ 3.65760967e-02 -2.19529135e-05 9.99330870e-01 3.15698009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.439254154 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:861.99, Y:59.74, Z:31.58 [[ 9.38849540e-01 -3.42609016e-01 -3.43599009e-02 8.61985159e+02] [ 3.42379511e-01 9.39478080e-01 -1.25382828e-02 5.97447642e+01] [ 3.65761025e-02 7.43495377e-06 9.99330870e-01 3.15752771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.499254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:862.04, Y:59.76, Z:31.58 [[ 9.38836346e-01 -3.42645541e-01 -3.43562063e-02 8.62040526e+02] [ 3.42415690e-01 9.39464759e-01 -1.25483984e-02 5.97635574e+01] [ 3.65760978e-02 1.67884007e-05 9.99330871e-01 3.15790493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.559254154 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:862.10, Y:59.78, Z:31.58 [[ 9.38973654e-01 -3.42269418e-01 -3.43529020e-02 8.62096150e+02] [ 3.42038984e-01 9.39601854e-01 -1.25574378e-02 5.97818261e+01] [ 3.65760773e-02 4.10715113e-05 9.99330871e-01 3.15782699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.619254154 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:862.15, Y:59.80, Z:31.58 [[ 9.38746547e-01 -3.42892150e-01 -3.43495866e-02 8.62152206e+02] [ 3.42661802e-01 9.39374777e-01 -1.25665001e-02 5.98010041e+01] [ 3.65760895e-02 2.64673272e-05 9.99330871e-01 3.15798106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.679254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:862.21, Y:59.82, Z:31.59 [[ 9.40370813e-01 -3.38412572e-01 -3.43462472e-02 8.62208386e+02] [ 3.38178898e-01 9.40997815e-01 -1.25756206e-02 5.98152530e+01] [ 3.65754917e-02 2.10570537e-04 9.99330871e-01 3.15864436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.7392541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:862.26, Y:59.83, Z:31.59 [[ 9.39998392e-01 -3.39445781e-01 -3.43450897e-02 8.62264310e+02] [ 3.39212680e-01 9.40625607e-01 -1.25787810e-02 5.98338683e+01] [ 3.65756850e-02 1.73743951e-04 9.99330871e-01 3.15881962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.799254154 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:862.32, Y:59.85, Z:31.59 [[ 9.40276090e-01 -3.38676137e-01 -3.43416575e-02 8.62319413e+02] [ 3.38442181e-01 9.40902986e-01 -1.25881443e-02 5.98506376e+01] [ 3.65754722e-02 2.13665626e-04 9.99330871e-01 3.15887054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.8592541539999 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:862.38, Y:59.87, Z:31.59 [[ 9.40475924e-01 -3.38120939e-01 -3.43404574e-02 8.62376114e+02] [ 3.37886494e-01 9.41102637e-01 -1.25914175e-02 5.98652845e+01] [ 3.65753169e-02 2.38748276e-04 9.99330871e-01 3.15899243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.919254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:862.43, Y:59.88, Z:31.60 [[ 9.39840545e-01 -3.39883161e-01 -3.43392947e-02 8.62432042e+02] [ 3.39649775e-01 9.40467653e-01 -1.25945877e-02 5.98831855e+01] [ 3.65756841e-02 1.73570426e-04 9.99330871e-01 3.15961437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.9792541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:862.49, Y:59.90, Z:31.60 [[ 9.38863836e-01 -3.42572231e-01 -3.43360467e-02 8.62487635e+02] [ 3.42340317e-01 9.39491490e-01 -1.26034363e-02 5.98988167e+01] [ 3.65760109e-02 7.82974774e-05 9.99330871e-01 3.15980461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.039254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:862.54, Y:59.91, Z:31.60 [[ 9.38112199e-01 -3.44625326e-01 -3.43349065e-02 8.62543648e+02] [ 3.44394673e-01 9.38740318e-01 -1.26065418e-02 5.99145227e+01] [ 3.65760946e-02 1.59175437e-06 9.99330871e-01 3.15988954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.0992541539999 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:862.60, Y:59.93, Z:31.60 [[ 9.37781134e-01 -3.45525556e-01 -3.43312611e-02 8.62599781e+02] [ 3.45295143e-01 9.38409340e-01 -1.26164612e-02 5.99305464e+01] [ 3.65760859e-02 -2.29384296e-05 9.99330871e-01 3.15997687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.159254154 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:862.66, Y:59.95, Z:31.60 [[ 9.37267925e-01 -3.46915622e-01 -3.43276452e-02 8.62655808e+02] [ 3.46685780e-01 9.37896341e-01 -1.26262922e-02 5.99478407e+01] [ 3.65760308e-02 -6.66877651e-05 9.99330871e-01 3.16043304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.2192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:862.71, Y:59.96, Z:31.61 [[ 9.36255874e-01 -3.49638069e-01 -3.43243212e-02 8.62711316e+02] [ 3.49409723e-01 9.36884835e-01 -1.26353219e-02 5.99634089e+01] [ 3.65757255e-02 -1.63357241e-04 9.99330871e-01 3.16067042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.279254154 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:862.77, Y:59.98, Z:31.61 [[ 9.34122253e-01 -3.55299222e-01 -3.43231539e-02 8.62767754e+02] [ 3.55074571e-01 9.34752544e-01 -1.26384919e-02 5.99790776e+01] [ 3.65741018e-02 -3.81382610e-04 9.99330871e-01 3.16072467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.339254154 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:862.82, Y:60.00, Z:31.61 [[ 9.32641439e-01 -3.59168654e-01 -3.43194576e-02 8.62823193e+02] [ 3.58946249e-01 9.33272525e-01 -1.26485211e-02 5.99953308e+01] [ 3.65723592e-02 -5.22305692e-04 9.99330871e-01 3.16094971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.399254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:862.88, Y:60.01, Z:31.61 [[ 9.31937272e-01 -3.60991929e-01 -3.43183248e-02 8.62878235e+02] [ 3.60770646e-01 9.32568753e-01 -1.26515940e-02 6.00129927e+01] [ 3.65713207e-02 -5.90552190e-04 9.99330871e-01 3.16136234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.459254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:862.93, Y:60.03, Z:31.62 [[ 9.32478159e-01 -3.59592822e-01 -3.43145095e-02 8.62933296e+02] [ 3.59370211e-01 9.33109172e-01 -1.26619336e-02 6.00303505e+01] [ 3.65723240e-02 -5.24635937e-04 9.99330871e-01 3.16165893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.519254154 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:862.99, Y:60.05, Z:31.61 [[ 9.32359503e-01 -3.59900475e-01 -3.43133342e-02 8.62988739e+02] [ 3.59677954e-01 9.32990549e-01 -1.26651180e-02 6.00486387e+01] [ 3.65721984e-02 -5.33306734e-04 9.99330871e-01 3.16113420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.579254154 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:863.04, Y:60.07, Z:31.61 [[ 9.32366666e-01 -3.59882027e-01 -3.43121878e-02 8.63043893e+02] [ 3.59659380e-01 9.32997667e-01 -1.26682230e-02 6.00669887e+01] [ 3.65722569e-02 -5.29271350e-04 9.99330871e-01 3.16138916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.639254154 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:863.10, Y:60.08, Z:31.62 [[ 9.32366141e-01 -3.59883727e-01 -3.43086299e-02 8.63098865e+02] [ 3.59660727e-01 9.32997017e-01 -1.26778511e-02 6.00844724e+01] [ 3.65724017e-02 -5.19067644e-04 9.99330871e-01 3.16159995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.699254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:863.15, Y:60.10, Z:31.62 [[ 9.32301602e-01 -3.60051223e-01 -3.43051051e-02 8.63153449e+02] [ 3.59827985e-01 9.32932394e-01 -1.26873819e-02 6.01033978e+01] [ 3.65724512e-02 -5.15470324e-04 9.99330871e-01 3.16216170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.759254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:863.21, Y:60.12, Z:31.62 [[ 9.33230638e-01 -3.57636694e-01 -3.43011871e-02 8.63208062e+02] [ 3.57411435e-01 9.33860711e-01 -1.26979657e-02 6.01222669e+01] [ 3.65737894e-02 -4.09505902e-04 9.99330871e-01 3.16236480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.819254154 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:863.26, Y:60.14, Z:31.62 [[ 9.34686674e-01 -3.53814038e-01 -3.42993872e-02 8.63261781e+02] [ 3.53586024e-01 9.35315755e-01 -1.27028255e-02 6.01405345e+01] [ 3.65751953e-02 -2.54622225e-04 9.99330871e-01 3.16229708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.879254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:863.32, Y:60.16, Z:31.63 [[ 9.37056020e-01 -3.47490542e-01 -3.42977816e-02 8.63316129e+02] [ 3.47258124e-01 9.37683488e-01 -1.27071594e-02 6.01595278e+01] [ 3.65760811e-02 -2.86307476e-06 9.99330871e-01 3.16273930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.939254154 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:863.37, Y:60.18, Z:31.63 [[ 9.37277615e-01 -3.46892772e-01 -3.42939902e-02 8.63371940e+02] [ 3.46659580e-01 9.37904795e-01 -1.27173833e-02 6.01798087e+01] [ 3.65760662e-02 3.13784866e-05 9.99330871e-01 3.16271345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.999254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:863.43, Y:60.20, Z:31.63 [[ 9.38505113e-01 -3.43558294e-01 -3.42906865e-02 8.63426096e+02] [ 3.43322548e-01 9.39131338e-01 -1.27262849e-02 6.01982126e+01] [ 3.65756790e-02 1.70917613e-04 9.99330871e-01 3.16284101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.059254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:863.48, Y:60.22, Z:31.63 [[ 9.38207786e-01 -3.44369584e-01 -3.42890655e-02 8.63481321e+02] [ 3.44134221e-01 9.38834154e-01 -1.27306510e-02 6.02156956e+01] [ 3.65757948e-02 1.43955090e-04 9.99330871e-01 3.16317178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.119254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:863.54, Y:60.23, Z:31.64 [[ 9.36870014e-01 -3.47992942e-01 -3.42854146e-02 8.63536975e+02] [ 3.47759641e-01 9.37497153e-01 -1.27404760e-02 6.02315838e+01] [ 3.65760743e-02 1.30864233e-05 9.99330871e-01 3.16357209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.179254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:863.59, Y:60.25, Z:31.64 [[ 9.35269511e-01 -3.52272217e-01 -3.42815835e-02 8.63591868e+02] [ 3.52041408e-01 9.35897572e-01 -1.27507761e-02 6.02499085e+01] [ 3.65757949e-02 -1.43124844e-04 9.99330872e-01 3.16358691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.2392541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:863.65, Y:60.27, Z:31.64 [[ 9.33314311e-01 -3.57420272e-01 -3.42804066e-02 8.63647164e+02] [ 3.57192811e-01 9.33943592e-01 -1.27539394e-02 6.02691422e+01] [ 3.65744826e-02 -3.41280647e-04 9.99330872e-01 3.16355405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.299254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:863.70, Y:60.29, Z:31.64 [[ 9.33183843e-01 -3.57761093e-01 -3.42770507e-02 8.63703311e+02] [ 3.57533531e-01 9.33813087e-01 -1.27629523e-02 6.02854917e+01] [ 3.65744463e-02 -3.45014095e-04 9.99330872e-01 3.16396663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.3592541539999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:863.76, Y:60.30, Z:31.64 [[ 9.32348457e-01 -3.59932862e-01 -3.42737469e-02 8.63758660e+02] [ 3.59706440e-01 9.32978112e-01 -1.27718182e-02 6.03042832e+01] [ 3.65736527e-02 -4.20702514e-04 9.99330872e-01 3.16419787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.419254154 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:863.81, Y:60.32, Z:31.64 [[ 9.30578133e-01 -3.64485779e-01 -3.42703171e-02 8.63814505e+02] [ 3.64262099e-01 9.31208768e-01 -1.27810146e-02 6.03216720e+01] [ 3.65713178e-02 -5.89644938e-04 9.99330872e-01 3.16446207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.4792541539999 meters Centerline goodness : 0.999779 with order 1 Centerline is valid? [True, True] Translation: X:863.87, Y:60.34, Z:31.65 [[ 9.28541840e-01 -3.69642862e-01 -3.42667021e-02 8.63870605e+02] [ 3.69422326e-01 9.29173581e-01 -1.27906993e-02 6.03393825e+01] [ 3.65677050e-02 -7.82185356e-04 9.99330872e-01 3.16480618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.539254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:863.93, Y:60.36, Z:31.65 [[ 9.27409253e-01 -3.72475615e-01 -3.42635827e-02 8.63926054e+02] [ 3.72256701e-01 9.28041558e-01 -1.27990500e-02 6.03598620e+01] [ 3.65653627e-02 -8.84890808e-04 9.99330872e-01 3.16537533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.5992541539999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:863.98, Y:60.38, Z:31.66 [[ 9.26890401e-01 -3.73765177e-01 -3.42604305e-02 8.63978975e+02] [ 3.73546831e-01 9.27522902e-01 -1.28074823e-02 6.03802713e+01] [ 3.65643248e-02 -9.26742856e-04 9.99330872e-01 3.16560281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.659254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:864.03, Y:60.40, Z:31.66 [[ 9.27772289e-01 -3.71570866e-01 -3.42588769e-02 8.64031876e+02] [ 3.71350870e-01 9.28404219e-01 -1.28116368e-02 6.04033166e+01] [ 3.65665168e-02 -8.35782128e-04 9.99330872e-01 3.16582569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.7192541539999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:864.09, Y:60.43, Z:31.66 [[ 9.29310532e-01 -3.67707107e-01 -3.42551885e-02 8.64085502e+02] [ 3.67484121e-01 9.29941412e-01 -1.28214910e-02 6.04296572e+01] [ 3.65698718e-02 -6.73091195e-04 9.99330872e-01 3.16561343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.779254154 meters Centerline goodness : 0.999736 with order 1 Centerline is valid? [True, True] Translation: X:864.14, Y:60.45, Z:31.66 [[ 9.31391262e-01 -3.62404648e-01 -3.42518484e-02 8.64138660e+02] [ 3.62177742e-01 9.32020742e-01 -1.28304078e-02 6.04515455e+01] [ 3.65732326e-02 -4.55127402e-04 9.99330872e-01 3.16599242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.839254154 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:864.19, Y:60.48, Z:31.66 [[ 9.34923309e-01 -3.53193003e-01 -3.42506752e-02 8.64190982e+02] [ 3.52959779e-01 9.35550477e-01 -1.28335389e-02 6.04760271e+01] [ 3.65759516e-02 -9.07361351e-05 9.99330872e-01 3.16624545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.899254154 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:864.24, Y:60.50, Z:31.66 [[ 9.36397428e-01 -3.49266374e-01 -3.42470057e-02 8.64244696e+02] [ 3.49030163e-01 9.37023476e-01 -1.28433236e-02 6.04993027e+01] [ 3.65759894e-02 7.32171531e-05 9.99330872e-01 3.16644316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.959254154 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:864.30, Y:60.52, Z:31.67 [[ 9.38157351e-01 -3.44511513e-01 -3.42432766e-02 8.64297081e+02] [ 3.44271766e-01 9.38782054e-01 -1.28532587e-02 6.05228064e+01] [ 3.65750691e-02 2.69385782e-04 9.99330872e-01 3.16680121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.019254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:864.35, Y:60.55, Z:31.67 [[ 9.38834990e-01 -3.42660761e-01 -3.42412603e-02 8.64350613e+02] [ 3.42419587e-01 9.39459143e-01 -1.28586278e-02 6.05457149e+01] [ 3.65744123e-02 3.47251525e-04 9.99330872e-01 3.16706538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.079254154 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:864.40, Y:60.57, Z:31.67 [[ 9.39049218e-01 -3.42073620e-01 -3.42374626e-02 8.64403742e+02] [ 3.41831687e-01 9.39673078e-01 -1.28687317e-02 6.05691724e+01] [ 3.65740755e-02 3.80922815e-04 9.99330872e-01 3.16687536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.139254154 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:864.46, Y:60.59, Z:31.67 [[ 9.39045334e-01 -3.42084401e-01 -3.42362945e-02 8.64458683e+02] [ 3.41842362e-01 9.39669152e-01 -1.28718384e-02 6.05894710e+01] [ 3.65740450e-02 3.83824017e-04 9.99330872e-01 3.16662728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.199254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:864.51, Y:60.61, Z:31.67 [[ 9.38367045e-01 -3.43940992e-01 -3.42327716e-02 8.64512506e+02] [ 3.43699846e-01 9.38991209e-01 -1.28812010e-02 6.06100066e+01] [ 3.65746446e-02 3.21496251e-04 9.99330872e-01 3.16741642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.259254154 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:864.57, Y:60.63, Z:31.67 [[ 9.36978589e-01 -3.47706097e-01 -3.42285574e-02 8.64566889e+02] [ 3.47467050e-01 9.37603560e-01 -1.28923894e-02 6.06296140e+01] [ 3.65755797e-02 1.86596930e-04 9.99330872e-01 3.16749852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.319254154 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:864.62, Y:60.65, Z:31.68 [[ 9.35510516e-01 -3.51636975e-01 -3.42273629e-02 8.64620768e+02] [ 3.51400438e-01 9.36136441e-01 -1.28955598e-02 6.06482650e+01] [ 3.65760373e-02 3.64215238e-05 9.99330872e-01 3.16765924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.379254154 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:864.68, Y:60.67, Z:31.68 [[ 9.33789117e-01 -3.56183216e-01 -3.42257574e-02 8.64675758e+02] [ 3.55949571e-01 9.34416127e-01 -1.28998196e-02 6.06664866e+01] [ 3.65757989e-02 -1.36932525e-04 9.99330872e-01 3.16782254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.439254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:864.73, Y:60.69, Z:31.68 [[ 9.32141122e-01 -3.60474377e-01 -3.42220989e-02 8.64731144e+02] [ 3.60243262e-01 9.32769069e-01 -1.29095178e-02 6.06852632e+01] [ 3.65748658e-02 -2.94788125e-04 9.99330872e-01 3.16828994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.499254154 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:864.79, Y:60.70, Z:31.69 [[ 9.30137404e-01 -3.65613833e-01 -3.42189132e-02 8.64785491e+02] [ 3.65385877e-01 9.30766505e-01 -1.29179568e-02 6.07042849e+01] [ 3.65728019e-02 -4.87632820e-04 9.99330872e-01 3.16866017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.559254154 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:864.84, Y:60.72, Z:31.69 [[ 9.27869130e-01 -3.71333005e-01 -3.42151581e-02 8.64840290e+02] [ 3.71108560e-01 9.28499492e-01 -1.29278950e-02 6.07243203e+01] [ 3.65693110e-02 -7.02143406e-04 9.99330872e-01 3.16886082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.619254154 meters Centerline goodness : 0.999780 with order 1 Centerline is valid? [True, True] Translation: X:864.89, Y:60.74, Z:31.69 [[ 9.25538609e-01 -3.77104575e-01 -3.42114479e-02 8.64894843e+02] [ 3.76883697e-01 9.26170230e-01 -1.29377061e-02 6.07444571e+01] [ 3.65644927e-02 -9.19390493e-04 9.99330872e-01 3.16901098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.679254154 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:864.95, Y:60.77, Z:31.69 [[ 9.24262181e-01 -3.80222631e-01 -3.42077787e-02 8.64948519e+02] [ 3.80003525e-01 9.24894419e-01 -1.29474002e-02 6.07656847e+01] [ 3.65614782e-02 -1.03228411e-03 9.99330872e-01 3.16922047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.7392541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:865.00, Y:60.79, Z:31.70 [[ 9.23949390e-01 -3.80982415e-01 -3.42041571e-02 8.65001737e+02] [ 3.80763476e-01 9.24581685e-01 -1.29569607e-02 6.07879235e+01] [ 3.65609114e-02 -1.05211785e-03 9.99330873e-01 3.16970014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.799254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:865.05, Y:60.81, Z:31.70 [[ 9.25336952e-01 -3.77599891e-01 -3.42030457e-02 8.65054548e+02] [ 3.77378532e-01 9.25968404e-01 -1.29598937e-02 6.08115651e+01] [ 3.65645941e-02 -9.15226657e-04 9.99330873e-01 3.16998225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.8592541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:865.11, Y:60.84, Z:31.70 [[ 9.26835218e-01 -3.73907586e-01 -3.41993415e-02 8.65108134e+02] [ 3.73683351e-01 9.27465655e-01 -1.29696612e-02 6.08366561e+01] [ 3.65681694e-02 -7.58985769e-04 9.99330873e-01 3.16979580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.919254154 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:865.16, Y:60.86, Z:31.70 [[ 9.30026257e-01 -3.65898613e-01 -3.41959882e-02 8.65161485e+02] [ 3.65668623e-01 9.30654617e-01 -1.29784966e-02 6.08590530e+01] [ 3.65734682e-02 -4.34057340e-04 9.99330873e-01 3.17004623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.9792541539999 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:865.21, Y:60.89, Z:31.70 [[ 9.34614174e-01 -3.54015622e-01 -3.41948113e-02 8.65213649e+02] [ 3.53777529e-01 9.35239508e-01 -1.29815966e-02 6.08854383e+01] [ 3.65760265e-02 3.54282957e-05 9.99330873e-01 3.17008625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.039254154 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:865.27, Y:60.91, Z:31.70 [[ 9.35938934e-01 -3.50498616e-01 -3.41911129e-02 8.65267413e+02] [ 3.50257818e-01 9.36563231e-01 -1.29913304e-02 6.09083387e+01] [ 3.65755825e-02 1.83387289e-04 9.99330873e-01 3.17032171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.0992541539999 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:865.32, Y:60.93, Z:31.70 [[ 9.35353762e-01 -3.52057609e-01 -3.41874167e-02 8.65321259e+02] [ 3.51817496e-01 9.35978324e-01 -1.30010499e-02 6.09337089e+01] [ 3.65757995e-02 1.32849603e-04 9.99330873e-01 3.17002955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.159254154 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:865.38, Y:60.95, Z:31.71 [[ 9.34049726e-01 -3.55503237e-01 -3.41841815e-02 8.65375310e+02] [ 3.55265117e-01 9.34675050e-01 -1.30095508e-02 6.09536984e+01] [ 3.65760389e-02 7.12011222e-06 9.99330873e-01 3.17088333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.2192541539999 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:865.43, Y:60.97, Z:31.71 [[ 9.30755620e-01 -3.64040513e-01 -3.41830371e-02 8.65428163e+02] [ 3.63808018e-01 9.31383057e-01 -1.30125569e-02 6.09743622e+01] [ 3.65745995e-02 -3.24552536e-04 9.99330873e-01 3.17101012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.279254154 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:865.48, Y:61.00, Z:31.71 [[ 9.27268401e-01 -3.72833662e-01 -3.41814791e-02 8.65482056e+02] [ 3.72606965e-01 9.27897956e-01 -1.30166483e-02 6.09960425e+01] [ 3.65699692e-02 -6.66330539e-04 9.99330873e-01 3.17107467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.339254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:865.54, Y:61.02, Z:31.71 [[ 9.25424783e-01 -3.77386685e-01 -3.41798419e-02 8.65535338e+02] [ 3.77162927e-01 9.26055388e-01 -1.30209457e-02 6.10181697e+01] [ 3.65663583e-02 -8.41463333e-04 9.99330873e-01 3.17149028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.399254154 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:865.59, Y:61.04, Z:31.71 [[ 9.22750619e-01 -3.83879269e-01 -3.41760507e-02 8.65589936e+02] [ 3.83659578e-01 9.23382653e-01 -1.30308889e-02 6.10418247e+01] [ 3.65598605e-02 -1.08770846e-03 9.99330873e-01 3.17133325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.459254154 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:865.64, Y:61.06, Z:31.72 [[ 9.20497197e-01 -3.89251884e-01 -3.41742672e-02 8.65643796e+02] [ 3.89035708e-01 9.21130442e-01 -1.30355646e-02 6.10647687e+01] [ 3.65530760e-02 -1.29580952e-03 9.99330873e-01 3.17170216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.519254154 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:865.70, Y:61.09, Z:31.72 [[ 9.17894556e-01 -3.95350384e-01 -3.41710027e-02 8.65697886e+02] [ 3.95138097e-01 9.18529115e-01 -1.30441164e-02 6.10879486e+01] [ 3.65440573e-02 -1.52914155e-03 9.99330873e-01 3.17201846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.579254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:865.75, Y:61.11, Z:31.73 [[ 9.16587847e-01 -3.98370786e-01 -3.41677627e-02 8.65751758e+02] [ 3.98160274e-01 9.17222997e-01 -1.30525979e-02 6.11116058e+01] [ 3.65392314e-02 -1.64039316e-03 9.99330873e-01 3.17282297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.639254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:865.80, Y:61.14, Z:31.73 [[ 9.17630463e-01 -3.95963549e-01 -3.41643167e-02 8.65804018e+02] [ 3.95751036e-01 9.18264946e-01 -1.30616114e-02 6.11367418e+01] [ 3.65438164e-02 -1.53483122e-03 9.99330873e-01 3.17289793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.699254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:865.86, Y:61.16, Z:31.73 [[ 9.20322729e-01 -3.89665186e-01 -3.41631100e-02 8.65856500e+02] [ 3.89448212e-01 9.20955700e-01 -1.30647666e-02 6.11634755e+01] [ 3.65535956e-02 -1.28096045e-03 9.99330873e-01 3.17317368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.759254154 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:865.91, Y:61.19, Z:31.73 [[ 9.24199163e-01 -3.80380099e-01 -3.41597479e-02 8.65907500e+02] [ 3.80156439e-01 9.24829803e-01 -1.30735514e-02 6.11905801e+01] [ 3.65648717e-02 -9.03482893e-04 9.99330873e-01 3.17297044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.819254154 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:865.96, Y:61.22, Z:31.73 [[ 9.26335739e-01 -3.75147155e-01 -3.41571540e-02 8.65960165e+02] [ 3.74919682e-01 9.26965014e-01 -1.30803252e-02 6.12159901e+01] [ 3.65695335e-02 -6.89416602e-04 9.99330873e-01 3.17313725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.879254154 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:866.01, Y:61.24, Z:31.73 [[ 9.28442300e-01 -3.69903293e-01 -3.41533276e-02 8.66013495e+02] [ 3.69671898e-01 9.29070143e-01 -1.30903084e-02 6.12421504e+01] [ 3.65729851e-02 -4.71929444e-04 9.99330873e-01 3.17337289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.939254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:866.07, Y:61.27, Z:31.74 [[ 9.29086080e-01 -3.68283639e-01 -3.41499102e-02 8.66065764e+02] [ 3.68050823e-01 9.29713398e-01 -1.30992176e-02 6.12672223e+01] [ 3.65738566e-02 -3.98601808e-04 9.99330873e-01 3.17404919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.999254154 meters Centerline goodness : 0.999747 with order 1 Centerline is valid? [True, True] Translation: X:866.12, Y:61.29, Z:31.74 [[ 9.27023727e-01 -3.73444858e-01 -3.41459657e-02 8.66118401e+02] [ 3.73215156e-01 9.27652192e-01 -1.31094917e-02 6.12935498e+01] [ 3.65712522e-02 -5.90982054e-04 9.99330873e-01 3.17361001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.059254154 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:866.17, Y:61.32, Z:31.74 [[ 9.26009247e-01 -3.75953469e-01 -3.41447372e-02 8.66171660e+02] [ 3.75725351e-01 9.26638289e-01 -1.31126907e-02 6.13173277e+01] [ 3.65695824e-02 -6.86570505e-04 9.99330873e-01 3.17371699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.119254154 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:866.23, Y:61.34, Z:31.74 [[ 9.24777322e-01 -3.78973779e-01 -3.41435119e-02 8.66225009e+02] [ 3.78747598e-01 9.25407062e-01 -1.31158805e-02 6.13396283e+01] [ 3.65672218e-02 -8.02504285e-04 9.99330873e-01 3.17391432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.179254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:866.28, Y:61.36, Z:31.74 [[ 9.22960215e-01 -3.83378289e-01 -3.41398596e-02 8.66279369e+02] [ 3.83154761e-01 9.23590901e-01 -1.31253803e-02 6.13625310e+01] [ 3.65632495e-02 -9.66645957e-04 9.99330873e-01 3.17438263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.2392541539999 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:866.33, Y:61.38, Z:31.75 [[ 9.21229495e-01 -3.87518913e-01 -3.41366220e-02 8.66334319e+02] [ 3.87297909e-01 9.21861071e-01 -1.31337952e-02 6.13831109e+01] [ 3.65588170e-02 -1.12180279e-03 9.99330873e-01 3.17490805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.299254154 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:866.39, Y:61.40, Z:31.75 [[ 9.20049860e-01 -3.90311431e-01 -3.41356431e-02 8.66389165e+02] [ 3.90092249e-01 9.20682070e-01 -1.31363390e-02 6.14045242e+01] [ 3.65553378e-02 -1.22996294e-03 9.99330873e-01 3.17518375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.3592541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:866.44, Y:61.43, Z:31.75 [[ 9.20269810e-01 -3.89792852e-01 -3.41322403e-02 8.66442230e+02] [ 3.89572986e-01 9.20901783e-01 -1.31451744e-02 6.14269548e+01] [ 3.65563360e-02 -1.19989161e-03 9.99330873e-01 3.17507208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.419254154 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:866.50, Y:61.45, Z:31.75 [[ 9.22526929e-01 -3.84420522e-01 -3.41310472e-02 8.66495512e+02] [ 3.84196861e-01 9.23157568e-01 -1.31482716e-02 6.14481019e+01] [ 3.65628000e-02 -9.83406563e-04 9.99330873e-01 3.17514524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.4792541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:866.55, Y:61.47, Z:31.75 [[ 9.25010748e-01 -3.78404941e-01 -3.41294257e-02 8.66549825e+02] [ 3.78177022e-01 9.25639861e-01 -1.31524794e-02 6.14705963e+01] [ 3.65685200e-02 -7.40779799e-04 9.99330873e-01 3.17547510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.539254154 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:866.60, Y:61.49, Z:31.76 [[ 9.28644106e-01 -3.69398872e-01 -3.41261966e-02 8.66603146e+02] [ 3.69164544e-01 9.29270860e-01 -1.31608523e-02 6.14935049e+01] [ 3.65740841e-02 -3.76433913e-04 9.99330873e-01 3.17574121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.5992541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:866.66, Y:61.52, Z:31.76 [[ 9.31305793e-01 -3.62636441e-01 -3.41223207e-02 8.66656154e+02] [ 3.62397193e-01 9.31930685e-01 -1.31708939e-02 6.15158814e+01] [ 3.65758838e-02 -9.97034860e-05 9.99330874e-01 3.17576791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.659254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:866.71, Y:61.54, Z:31.76 [[ 9.31204302e-01 -3.62897087e-01 -3.41211307e-02 8.66710134e+02] [ 3.62657902e-01 9.31829219e-01 -1.31739760e-02 6.15357624e+01] [ 3.65758641e-02 -1.06634504e-04 9.99330874e-01 3.17603426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.7192541539999 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:866.76, Y:61.56, Z:31.76 [[ 9.29992751e-01 -3.65991109e-01 -3.41173046e-02 8.66763726e+02] [ 3.65753639e-01 9.30618322e-01 -1.31838771e-02 6.15551133e+01] [ 3.65753706e-02 -2.17618211e-04 9.99330874e-01 3.17595742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.779254154 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:866.82, Y:61.57, Z:31.76 [[ 9.28875970e-01 -3.68816422e-01 -3.41156603e-02 8.66817797e+02] [ 3.68580699e-01 9.29502201e-01 -1.31881307e-02 6.15749795e+01] [ 3.65745805e-02 -3.24236259e-04 9.99330874e-01 3.17628932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.839254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:866.87, Y:61.60, Z:31.77 [[ 9.27913396e-01 -3.71231878e-01 -3.41118947e-02 8.66872662e+02] [ 3.70997427e-01 9.28540104e-01 -1.31978635e-02 6.15951475e+01] [ 3.65737299e-02 -4.08950838e-04 9.99330874e-01 3.17664919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.899254154 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:866.93, Y:61.61, Z:31.77 [[ 9.26100649e-01 -3.75731537e-01 -3.41086429e-02 8.66927674e+02] [ 3.75499822e-01 9.26728374e-01 -1.32062621e-02 6.16130365e+01] [ 3.65714563e-02 -5.77461436e-04 9.99330874e-01 3.17676047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.959254154 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:866.98, Y:61.63, Z:31.77 [[ 9.24729533e-01 -3.79093857e-01 -3.41048224e-02 8.66982206e+02] [ 3.78864060e-01 9.25357962e-01 -1.32161211e-02 6.16315791e+01] [ 3.65693193e-02 -6.99754006e-04 9.99330874e-01 3.17672376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.019254154 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:867.04, Y:61.65, Z:31.77 [[ 9.23566216e-01 -3.81919397e-01 -3.41030721e-02 8.67037851e+02] [ 3.81691356e-01 9.24195284e-01 -1.32206362e-02 6.16515476e+01] [ 3.65671158e-02 -8.06714914e-04 9.99330874e-01 3.17698535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.079254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:867.09, Y:61.67, Z:31.77 [[ 9.22489706e-01 -3.84512605e-01 -3.40998315e-02 8.67092932e+02] [ 3.84286024e-01 9.23119302e-01 -1.32289892e-02 6.16703116e+01] [ 3.65649258e-02 -9.00482351e-04 9.99330874e-01 3.17734709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.139254154 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:867.15, Y:61.69, Z:31.78 [[ 9.20663395e-01 -3.88865271e-01 -3.40985865e-02 8.67148437e+02] [ 3.88641547e-01 9.21294012e-01 -1.32321976e-02 6.16888087e+01] [ 3.65603657e-02 -1.06972740e-03 9.99330874e-01 3.17754796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.199254154 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:867.20, Y:61.71, Z:31.77 [[ 9.18248296e-01 -3.94534677e-01 -3.40947951e-02 8.67202916e+02] [ 3.94314484e-01 9.18880154e-01 -1.32419595e-02 6.17125330e+01] [ 3.65534428e-02 -1.28466483e-03 9.99330874e-01 3.17748869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.259254154 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:867.26, Y:61.73, Z:31.78 [[ 9.19683993e-01 -3.91176602e-01 -3.40913266e-02 8.67258102e+02] [ 3.90953771e-01 9.20314926e-01 -1.32508830e-02 6.17296804e+01] [ 3.65581921e-02 -1.14150768e-03 9.99330874e-01 3.17797786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.319254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:867.31, Y:61.75, Z:31.78 [[ 9.21281234e-01 -3.87399990e-01 -3.40901053e-02 8.67311816e+02] [ 3.87174456e-01 9.21911206e-01 -1.32540244e-02 6.17519718e+01] [ 3.65626590e-02 -9.88134022e-04 9.99330874e-01 3.17827889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.379254154 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:867.37, Y:61.77, Z:31.78 [[ 9.23371498e-01 -3.82391189e-01 -3.40889432e-02 8.67365441e+02] [ 3.82162127e-01 9.24000195e-01 -1.32570126e-02 6.17739238e+01] [ 3.65675550e-02 -7.86355400e-04 9.99330874e-01 3.17841287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.439254154 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:867.42, Y:61.79, Z:31.78 [[ 9.24469803e-01 -3.79728559e-01 -3.40852449e-02 8.67420201e+02] [ 3.79497336e-01 9.25097709e-01 -1.32665145e-02 6.17948209e+01] [ 3.65698564e-02 -6.70767613e-04 9.99330874e-01 3.17842679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.499254154 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:867.47, Y:61.81, Z:31.79 [[ 9.24489327e-01 -3.79681311e-01 -3.40820464e-02 8.67473395e+02] [ 3.79449754e-01 9.25117109e-01 -1.32747265e-02 6.18144518e+01] [ 3.65700498e-02 -6.60081180e-04 9.99330874e-01 3.17859519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.559254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:867.53, Y:61.83, Z:31.79 [[ 9.24427560e-01 -3.79831896e-01 -3.40795793e-02 8.67528934e+02] [ 3.79600207e-01 9.25055294e-01 -1.32810571e-02 6.18340907e+01] [ 3.65700643e-02 -6.59240156e-04 9.99330874e-01 3.17907325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.619254154 meters Centerline goodness : 0.999746 with order 1 Centerline is valid? [True, True] Translation: X:867.58, Y:61.85, Z:31.79 [[ 9.24005400e-01 -3.80858013e-01 -3.40763085e-02 8.67583884e+02] [ 3.80626712e-01 9.24633277e-01 -1.32894440e-02 6.18540294e+01] [ 3.65694800e-02 -6.90835241e-04 9.99330874e-01 3.17913045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.679254154 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:867.64, Y:61.87, Z:31.80 [[ 9.24748923e-01 -3.79049419e-01 -3.40729660e-02 8.67638476e+02] [ 3.78816575e-01 9.25376229e-01 -1.32980082e-02 6.18749455e+01] [ 3.65709151e-02 -6.10085491e-04 9.99330874e-01 3.17951959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.7392541539999 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:867.69, Y:61.90, Z:31.80 [[ 9.26340200e-01 -3.75144096e-01 -3.40696442e-02 8.67693115e+02] [ 3.74908294e-01 9.26966400e-01 -1.33065133e-02 6.18954308e+01] [ 3.65732754e-02 -4.46633987e-04 9.99330874e-01 3.17990935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.799254154 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:867.75, Y:61.92, Z:31.80 [[ 9.28758858e-01 -3.69115799e-01 -3.40662810e-02 8.67748878e+02] [ 3.68875617e-01 9.29383391e-01 -1.33151181e-02 6.19155121e+01] [ 3.65754562e-02 -1.99686533e-04 9.99330874e-01 3.18006773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.8592541539999 meters Centerline goodness : 0.997135 with order 1 Centerline is valid? [True, True] Translation: X:867.80, Y:61.94, Z:31.80 [[ 9.30511828e-01 -3.64674250e-01 -3.40650850e-02 8.67804208e+02] [ 3.64430974e-01 9.31135163e-01 -1.33181771e-02 6.19360535e+01] [ 3.65759947e-02 -2.16508183e-05 9.99330874e-01 3.17987102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.919254154 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:867.86, Y:61.96, Z:31.80 [[ 9.30654976e-01 -3.64309173e-01 -3.40608665e-02 8.67858952e+02] [ 3.64065259e-01 9.31278061e-01 -1.33289572e-02 6.19556095e+01] [ 3.65759991e-02 4.28216636e-06 9.99330874e-01 3.18000621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.9792541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:867.92, Y:61.97, Z:31.81 [[ 9.30951550e-01 -3.63550783e-01 -3.40593612e-02 8.67915427e+02] [ 3.63306220e-01 9.31574381e-01 -1.33328024e-02 6.19716111e+01] [ 3.65759791e-02 3.82153176e-05 9.99330874e-01 3.18105040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.039254154 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:867.97, Y:61.99, Z:31.81 [[ 9.29406916e-01 -3.67481717e-01 -3.40583633e-02 8.67970686e+02] [ 3.67239695e-01 9.30030739e-01 -1.33353511e-02 6.19918294e+01] [ 3.65758225e-02 -1.13615453e-04 9.99330874e-01 3.18061198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.0992541539999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:868.03, Y:62.01, Z:31.81 [[ 9.27301939e-01 -3.72761575e-01 -3.40576207e-02 8.68027142e+02] [ 3.72523036e-01 9.27927102e-01 -1.33372473e-02 6.20078892e+01] [ 3.65746026e-02 -3.19592936e-04 9.99330874e-01 3.18094667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.159254154 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:868.08, Y:62.02, Z:31.81 [[ 9.24485342e-01 -3.79693547e-01 -3.40538116e-02 8.68083826e+02] [ 3.79459337e-01 9.25112139e-01 -1.33469660e-02 6.20231855e+01] [ 3.65713514e-02 -5.82962325e-04 9.99330874e-01 3.18123930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.2192541539999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:868.14, Y:62.04, Z:31.81 [[ 9.21991480e-01 -3.85710130e-01 -3.40500441e-02 8.68139816e+02] [ 3.85479655e-01 9.22619660e-01 -1.33565707e-02 6.20388069e+01] [ 3.65670047e-02 -8.10954852e-04 9.99330874e-01 3.18141502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.279254154 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:868.20, Y:62.06, Z:31.82 [[ 9.20186835e-01 -3.89995978e-01 -3.40488858e-02 8.68196570e+02] [ 3.89768319e-01 9.20816041e-01 -1.33595226e-02 6.20558176e+01] [ 3.65629203e-02 -9.77920170e-04 9.99330874e-01 3.18167858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.339254154 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:868.25, Y:62.07, Z:31.82 [[ 9.19477548e-01 -3.91665602e-01 -3.40454751e-02 8.68252559e+02] [ 3.91438764e-01 9.20107051e-01 -1.33682089e-02 6.20728360e+01] [ 3.65613493e-02 -1.03495071e-03 9.99330874e-01 3.18205029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.399254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:868.31, Y:62.09, Z:31.82 [[ 9.20064027e-01 -3.90286207e-01 -3.40420661e-02 8.68308341e+02] [ 3.90058104e-01 9.20693073e-01 -1.33768843e-02 6.20918761e+01] [ 3.65631079e-02 -9.70793715e-04 9.99330874e-01 3.18239935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.459254154 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:868.36, Y:62.11, Z:31.82 [[ 9.21717173e-01 -3.86366175e-01 -3.40386808e-02 8.68362962e+02] [ 3.86135078e-01 9.22345125e-01 -1.33854930e-02 6.21128429e+01] [ 3.65671130e-02 -8.05889852e-04 9.99330875e-01 3.18248379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.519254154 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:868.42, Y:62.13, Z:31.83 [[ 9.24633250e-01 -3.79334879e-01 -3.40353226e-02 8.68416863e+02] [ 3.79098693e-01 9.25259305e-01 -1.33940264e-02 6.21347580e+01] [ 3.65723203e-02 -5.18184193e-04 9.99330875e-01 3.18261218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.579254154 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:868.47, Y:62.16, Z:31.83 [[ 9.27460453e-01 -3.72369390e-01 -3.40315325e-02 8.68470831e+02] [ 3.72128149e-01 9.28084578e-01 -1.34036493e-02 6.21569542e+01] [ 3.65752492e-02 -2.32736504e-04 9.99330875e-01 3.18269988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.639254154 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:868.53, Y:62.18, Z:31.83 [[ 9.28834388e-01 -3.68929249e-01 -3.40277642e-02 8.68525600e+02] [ 3.68685345e-01 9.29457477e-01 -1.34132091e-02 6.21786181e+01] [ 3.65758850e-02 -8.68881044e-05 9.99330875e-01 3.18284987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.699254154 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:868.58, Y:62.20, Z:31.83 [[ 9.29928638e-01 -3.66162616e-01 -3.40244989e-02 8.68580745e+02] [ 3.65916556e-01 9.30550878e-01 -1.34214870e-02 6.21999194e+01] [ 3.65759741e-02 3.08976313e-05 9.99330875e-01 3.18320357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.759254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:868.64, Y:62.22, Z:31.84 [[ 9.30533227e-01 -3.64623746e-01 -3.40211371e-02 8.68636001e+02] [ 3.64376346e-01 9.31154935e-01 -1.34300031e-02 6.22204091e+01] [ 3.65758478e-02 1.00566552e-04 9.99330875e-01 3.18353505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.819254154 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:868.69, Y:62.25, Z:31.83 [[ 9.27531642e-01 -3.72193288e-01 -3.40177846e-02 8.68689747e+02] [ 3.71950650e-01 9.28155224e-01 -1.34384896e-02 6.22476278e+01] [ 3.65755001e-02 -1.88312821e-04 9.99330875e-01 3.18281233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.879254154 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:868.75, Y:62.26, Z:31.83 [[ 9.27104950e-01 -3.73255113e-01 -3.40151873e-02 8.68747158e+02] [ 3.73012948e-01 9.27728716e-01 -1.34450606e-02 6.22632653e+01] [ 3.65753036e-02 -2.23123043e-04 9.99330875e-01 3.18335405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.939254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:868.80, Y:62.28, Z:31.84 [[ 9.25648810e-01 -3.76852061e-01 -3.40118436e-02 8.68802996e+02] [ 3.76612009e-01 9.26273393e-01 -1.34535137e-02 6.22809427e+01] [ 3.65742501e-02 -3.56039805e-04 9.99330875e-01 3.18376987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.999254154 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:868.86, Y:62.29, Z:31.84 [[ 9.26591189e-01 -3.74529383e-01 -3.40075113e-02 8.68860099e+02] [ 3.74287364e-01 9.27215012e-01 -1.34644560e-02 6.22943869e+01] [ 3.65751094e-02 -2.52535480e-04 9.99330875e-01 3.18417805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.059254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:868.92, Y:62.31, Z:31.84 [[ 9.26145305e-01 -3.75630736e-01 -3.40062386e-02 8.68915434e+02] [ 3.75389341e-01 9.26769370e-01 -1.34676696e-02 6.23141640e+01] [ 3.65748109e-02 -2.92560513e-04 9.99330875e-01 3.18445437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.119254154 meters Centerline goodness : 0.999759 with order 1 Centerline is valid? [True, True] Translation: X:868.97, Y:62.33, Z:31.85 [[ 9.25498147e-01 -3.77222739e-01 -3.40027219e-02 8.68972302e+02] [ 3.76982092e-01 9.26122500e-01 -1.34765425e-02 6.23317765e+01] [ 3.65743441e-02 -3.45902075e-04 9.99330875e-01 3.18457114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.179254154 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:869.03, Y:62.35, Z:31.85 [[ 9.24219214e-01 -3.80345737e-01 -3.39994680e-02 8.69028888e+02] [ 3.80106898e-01 9.24844261e-01 -1.34847466e-02 6.23490450e+01] [ 3.65730788e-02 -4.60570385e-04 9.99330875e-01 3.18477978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.2392541539999 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:869.09, Y:62.36, Z:31.85 [[ 9.23798456e-01 -3.81366867e-01 -3.39959561e-02 8.69085252e+02] [ 3.81128393e-01 9.24423643e-01 -1.34935947e-02 6.23638528e+01] [ 3.65726755e-02 -4.91462145e-04 9.99330875e-01 3.18515056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.299254154 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:869.14, Y:62.38, Z:31.85 [[ 9.22513510e-01 -3.84464801e-01 -3.39947233e-02 8.69140170e+02] [ 3.84228312e-01 9.23139450e-01 -1.34966997e-02 6.23837190e+01] [ 3.65708761e-02 -6.10847344e-04 9.99330875e-01 3.18534328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.3592541539999 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:869.19, Y:62.40, Z:31.86 [[ 9.23427736e-01 -3.82264110e-01 -3.39906908e-02 8.69194806e+02] [ 3.82025755e-01 9.24052968e-01 -1.35068477e-02 6.24035065e+01] [ 3.65723819e-02 -5.12721582e-04 9.99330875e-01 3.18578195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.419254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:869.25, Y:62.42, Z:31.86 [[ 9.24984687e-01 -3.78481485e-01 -3.39866689e-02 8.69248764e+02] [ 3.78240202e-01 9.25608795e-01 -1.35169603e-02 6.24248306e+01] [ 3.65742789e-02 -3.52143197e-04 9.99330875e-01 3.18586964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.4792541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:869.30, Y:62.45, Z:31.86 [[ 9.25593316e-01 -3.76990722e-01 -3.39854335e-02 8.69302576e+02] [ 3.76748320e-01 9.26216989e-01 -1.35200658e-02 6.24468487e+01] [ 3.65748253e-02 -2.89872416e-04 9.99330875e-01 3.18603925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.539254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:869.36, Y:62.47, Z:31.86 [[ 9.25343846e-01 -3.77602991e-01 -3.39815722e-02 8.69355893e+02] [ 3.77360645e-01 9.25967542e-01 -1.35297639e-02 6.24689727e+01] [ 3.65747122e-02 -3.03624282e-04 9.99330875e-01 3.18627443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.5992541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:869.41, Y:62.49, Z:31.87 [[ 9.24898462e-01 -3.78692950e-01 -3.39777019e-02 8.69410278e+02] [ 3.78450983e-01 9.25522305e-01 -1.35394765e-02 6.24903212e+01] [ 3.65744253e-02 -3.36253710e-04 9.99330875e-01 3.18693613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.659254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:869.46, Y:62.51, Z:31.87 [[ 9.24498026e-01 -3.79669799e-01 -3.39741530e-02 8.69463978e+02] [ 3.79428163e-01 9.25121998e-01 -1.35483758e-02 6.25129767e+01] [ 3.65741454e-02 -3.65303837e-04 9.99330875e-01 3.18731749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.7192541539999 meters Centerline goodness : 0.999780 with order 1 Centerline is valid? [True, True] Translation: X:869.52, Y:62.54, Z:31.87 [[ 9.23417900e-01 -3.82289712e-01 -3.39699555e-02 8.69516987e+02] [ 3.82049460e-01 9.24042405e-01 -1.35588921e-02 6.25366880e+01] [ 3.65731043e-02 -4.57679514e-04 9.99330875e-01 3.18729275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.779254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:869.57, Y:62.56, Z:31.87 [[ 9.22434276e-01 -3.84657167e-01 -3.39686740e-02 8.69570390e+02] [ 3.84418399e-01 9.23059350e-01 -1.35621018e-02 6.25607469e+01] [ 3.65718618e-02 -5.48035741e-04 9.99330875e-01 3.18746735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.839254154 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:869.62, Y:62.58, Z:31.88 [[ 9.20339212e-01 -3.89643560e-01 -3.39651427e-02 8.69624804e+02] [ 3.89407853e-01 9.20965447e-01 -1.35709398e-02 6.25833704e+01] [ 3.65685521e-02 -7.36425299e-04 9.99330875e-01 3.18761106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.899254154 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:869.68, Y:62.61, Z:31.88 [[ 9.18207775e-01 -3.94640458e-01 -3.39615949e-02 8.69678301e+02] [ 3.94407831e-01 9.18835160e-01 -1.35798125e-02 6.26062504e+01] [ 3.65642509e-02 -9.25629542e-04 9.99330876e-01 3.18765333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.959254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:869.73, Y:62.63, Z:31.88 [[ 9.16471548e-01 -3.98655988e-01 -3.39603509e-02 8.69731730e+02] [ 3.98425993e-01 9.17099903e-01 -1.35829227e-02 6.26289024e+01] [ 3.65599480e-02 -1.08232434e-03 9.99330876e-01 3.18777863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.019254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:869.79, Y:62.65, Z:31.88 [[ 9.14892909e-01 -4.02265811e-01 -3.39585406e-02 8.69785513e+02] [ 4.02038128e-01 9.15522105e-01 -1.35874472e-02 6.26535764e+01] [ 3.65555601e-02 -1.22156905e-03 9.99330876e-01 3.18814506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.079254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:869.84, Y:62.68, Z:31.88 [[ 9.15794200e-01 -4.00210008e-01 -3.39548744e-02 8.69837603e+02] [ 3.99980573e-01 9.16422759e-01 -1.35966030e-02 6.26758473e+01] [ 3.65585162e-02 -1.12959996e-03 9.99330876e-01 3.18828684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.139254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:869.89, Y:62.70, Z:31.88 [[ 9.16402177e-01 -3.98816046e-01 -3.39530784e-02 8.69890502e+02] [ 3.98585489e-01 9.17030326e-01 -1.36010862e-02 6.27022157e+01] [ 3.65603340e-02 -1.06913932e-03 9.99330876e-01 3.18826332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.199254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:869.94, Y:62.72, Z:31.89 [[ 9.17768781e-01 -3.95661338e-01 -3.39495337e-02 8.69944163e+02] [ 3.95428295e-01 9.18396011e-01 -1.36099285e-02 6.27241623e+01] [ 3.65640388e-02 -9.33838678e-04 9.99330876e-01 3.18860967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.259254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:870.00, Y:62.75, Z:31.89 [[ 9.19209731e-01 -3.92302402e-01 -3.39454951e-02 8.69996887e+02] [ 3.92066695e-01 9.19835965e-01 -1.36199939e-02 6.27483327e+01] [ 3.65674436e-02 -7.89267107e-04 9.99330876e-01 3.18881068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.319254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:870.05, Y:62.77, Z:31.90 [[ 9.21680589e-01 -3.86461993e-01 -3.39414105e-02 8.70050675e+02] [ 3.86221943e-01 9.22305172e-01 -1.36301653e-02 6.27695347e+01] [ 3.65718793e-02 -5.46258666e-04 9.99330876e-01 3.18950591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.379254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:870.10, Y:62.80, Z:31.89 [[ 9.20126379e-01 -3.90148065e-01 -3.39401565e-02 8.70103081e+02] [ 3.89910401e-01 9.20751874e-01 -1.36332871e-02 6.27982242e+01] [ 3.65694633e-02 -6.89272912e-04 9.99330876e-01 3.18932066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.439254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:870.16, Y:62.82, Z:31.90 [[ 9.19669084e-01 -3.91225109e-01 -3.39365642e-02 8.70157608e+02] [ 3.90987848e-01 9.20294731e-01 -1.36422233e-02 6.28209345e+01] [ 3.65688216e-02 -7.22453201e-04 9.99330876e-01 3.18982912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.499254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:870.21, Y:62.84, Z:31.90 [[ 9.18731435e-01 -3.93422295e-01 -3.39330012e-02 8.70210838e+02] [ 3.93186204e-01 9.19357524e-01 -1.36510802e-02 6.28436996e+01] [ 3.65671992e-02 -8.00311456e-04 9.99330876e-01 3.19007808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.559254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:870.26, Y:62.87, Z:31.90 [[ 9.17371105e-01 -3.96584281e-01 -3.39287928e-02 8.70263125e+02] [ 3.96349961e-01 9.17997860e-01 -1.36615317e-02 6.28690257e+01] [ 3.65645079e-02 -9.14981244e-04 9.99330876e-01 3.19003181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.619254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:870.32, Y:62.89, Z:31.90 [[ 9.15884129e-01 -4.00006483e-01 -3.39275034e-02 8.70316683e+02] [ 3.99774387e-01 9.16511710e-01 -1.36647333e-02 6.28944722e+01] [ 3.65609360e-02 -1.04803449e-03 9.99330876e-01 3.19017934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.679254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:870.37, Y:62.92, Z:31.91 [[ 9.15842753e-01 -4.00101491e-01 -3.39241725e-02 8.70369917e+02] [ 3.99869153e-01 9.16470245e-01 -1.36729976e-02 6.29159784e+01] [ 3.65610814e-02 -1.04291438e-03 9.99330876e-01 3.19090826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.7392541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:870.42, Y:62.94, Z:31.91 [[ 9.14302194e-01 -4.03609631e-01 -3.39228924e-02 8.70421699e+02] [ 4.03379584e-01 9.14930530e-01 -1.36761727e-02 6.29447221e+01] [ 3.65569249e-02 -1.17964754e-03 9.99330876e-01 3.19050331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.799254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:870.47, Y:62.97, Z:31.91 [[ 9.15161106e-01 -4.01658598e-01 -3.39193162e-02 8.70474409e+02] [ 4.01426883e-01 9.15788828e-01 -1.36850365e-02 6.29690345e+01] [ 3.65596434e-02 -1.09211228e-03 9.99330876e-01 3.19106548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.8592541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:870.53, Y:62.99, Z:31.91 [[ 9.15136240e-01 -4.01715357e-01 -3.39180620e-02 8.70526203e+02] [ 4.01483565e-01 9.15763933e-01 -1.36881445e-02 6.29936775e+01] [ 3.65596757e-02 -1.09102738e-03 9.99330876e-01 3.19134828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.919254154 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:870.58, Y:63.02, Z:31.91 [[ 9.13560574e-01 -4.05286020e-01 -3.39163656e-02 8.70578762e+02] [ 4.05056525e-01 9.14189111e-01 -1.36923464e-02 6.30202512e+01] [ 3.65552887e-02 -1.22925738e-03 9.99330876e-01 3.19149357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.9792541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:870.63, Y:63.05, Z:31.92 [[ 9.12939676e-01 -4.06683005e-01 -3.39128537e-02 8.70630491e+02] [ 4.06454150e-01 9.13568446e-01 -1.37010392e-02 6.30462600e+01] [ 3.65536928e-02 -1.27579785e-03 9.99330876e-01 3.19201909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.039254154 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:870.68, Y:63.07, Z:31.92 [[ 9.12253062e-01 -4.08220961e-01 -3.39116221e-02 8.70682150e+02] [ 4.07993052e-01 9.12882176e-01 -1.37040869e-02 6.30732210e+01] [ 3.65516108e-02 -1.33411098e-03 9.99330876e-01 3.19210047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.0992541539999 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:870.73, Y:63.10, Z:31.92 [[ 9.12474152e-01 -4.07726859e-01 -3.39076848e-02 8.70733412e+02] [ 4.07498249e-01 9.13103011e-01 -1.37138217e-02 6.31019136e+01] [ 3.65527026e-02 -1.30381433e-03 9.99330876e-01 3.19221187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.159254154 meters Centerline goodness : 0.999726 with order 1 Centerline is valid? [True, True] Translation: X:870.79, Y:63.13, Z:31.92 [[ 9.12722907e-01 -4.07170026e-01 -3.39037653e-02 8.70785305e+02] [ 4.06940673e-01 9.13351495e-01 -1.37235048e-02 6.31316739e+01] [ 3.65538546e-02 -1.27106386e-03 9.99330876e-01 3.19227959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.2192541539999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:870.84, Y:63.16, Z:31.93 [[ 9.12893600e-01 -4.06787466e-01 -3.39003373e-02 8.70836397e+02] [ 4.06557536e-01 9.13521977e-01 -1.37319677e-02 6.31596757e+01] [ 3.65546955e-02 -1.24661219e-03 9.99330876e-01 3.19278468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.279254154 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:870.89, Y:63.19, Z:31.93 [[ 9.12423444e-01 -4.07841267e-01 -3.38963000e-02 8.70886950e+02] [ 4.07611693e-01 9.13051952e-01 -1.37419262e-02 6.31885806e+01] [ 3.65536075e-02 -1.27807262e-03 9.99330876e-01 3.19287964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.339254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:870.94, Y:63.21, Z:31.93 [[ 9.12497990e-01 -4.07674556e-01 -3.38950613e-02 8.70939278e+02] [ 4.07444753e-01 9.13126414e-01 -1.37449808e-02 6.32148269e+01] [ 3.65539547e-02 -1.26809756e-03 9.99330876e-01 3.19342351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.399254154 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:870.99, Y:63.25, Z:31.93 [[ 9.12036951e-01 -4.08705224e-01 -3.38915965e-02 8.70989645e+02] [ 4.08475815e-01 9.12665519e-01 -1.37535190e-02 6.32463723e+01] [ 3.65528265e-02 -1.30017997e-03 9.99330876e-01 3.19330817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.459254154 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:871.04, Y:63.27, Z:31.94 [[ 9.12308342e-01 -4.08099396e-01 -3.38876332e-02 8.71041144e+02] [ 4.07869208e-01 9.12936625e-01 -1.37632773e-02 6.32732602e+01] [ 3.65540466e-02 -1.26536945e-03 9.99330876e-01 3.19352421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.519254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:871.09, Y:63.30, Z:31.94 [[ 9.13515367e-01 -4.05390642e-01 -3.38836537e-02 8.71092523e+02] [ 4.05158228e-01 9.14142830e-01 -1.37730674e-02 6.33014014e+01] [ 3.65579717e-02 -1.14633240e-03 9.99330876e-01 3.19395147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.579254154 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:871.14, Y:63.33, Z:31.94 [[ 9.14149679e-01 -4.03958575e-01 -3.38796912e-02 8.71142216e+02] [ 4.03724817e-01 9.14776643e-01 -1.37828075e-02 6.33299658e+01] [ 3.65600335e-02 -1.07852308e-03 9.99330877e-01 3.19388508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.639254154 meters Centerline goodness : 0.999771 with order 1 Centerline is valid? [True, True] Translation: X:871.19, Y:63.36, Z:31.94 [[ 9.15412217e-01 -4.01089460e-01 -3.38779869e-02 8.71193553e+02] [ 4.00853582e-01 9.16038386e-01 -1.37869955e-02 6.33595699e+01] [ 3.65633550e-02 -9.59328250e-04 9.99330877e-01 3.19396157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.699254154 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:871.24, Y:63.39, Z:31.94 [[ 9.16824902e-01 -3.97849978e-01 -3.38746703e-02 8.71244814e+02] [ 3.97611586e-01 9.17450119e-01 -1.37951397e-02 6.33875959e+01] [ 3.65667163e-02 -8.21233790e-04 9.99330877e-01 3.19436849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.759254154 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:871.30, Y:63.42, Z:31.95 [[ 9.17619811e-01 -3.96013459e-01 -3.38706826e-02 8.71296074e+02] [ 3.95773454e-01 9.18244410e-01 -1.38049236e-02 6.34153942e+01] [ 3.65685005e-02 -7.37445697e-04 9.99330877e-01 3.19462783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.819254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:871.35, Y:63.44, Z:31.95 [[ 9.17950567e-01 -3.95246515e-01 -3.38666465e-02 8.71347872e+02] [ 3.95005624e-01 9.18574824e-01 -1.38148179e-02 6.34424562e+01] [ 3.65693075e-02 -6.96195925e-04 9.99330877e-01 3.19509987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.879254154 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:871.40, Y:63.47, Z:31.95 [[ 9.17749418e-01 -3.95713458e-01 -3.38654058e-02 8.71398840e+02] [ 3.95472772e-01 9.18373755e-01 -1.38178586e-02 6.34688193e+01] [ 3.65690125e-02 -7.11514282e-04 9.99330877e-01 3.19495549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.939254154 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:871.45, Y:63.50, Z:31.95 [[ 9.18510590e-01 -3.93943662e-01 -3.38627571e-02 8.71450139e+02] [ 3.93701535e-01 9.19134369e-01 -1.38243466e-02 6.34955559e+01] [ 3.65704376e-02 -6.34010651e-04 9.99330877e-01 3.19519375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.999254154 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:871.50, Y:63.52, Z:31.95 [[ 9.19336080e-01 -3.92013717e-01 -3.38587898e-02 8.71502469e+02] [ 3.91769922e-01 9.19959209e-01 -1.38340566e-02 6.35208042e+01] [ 3.65718454e-02 -5.46708089e-04 9.99330877e-01 3.19528827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.059254154 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:871.55, Y:63.55, Z:31.96 [[ 9.20836106e-01 -3.88477432e-01 -3.38548550e-02 8.71554586e+02] [ 3.88230891e-01 9.21458153e-01 -1.38436792e-02 6.35462130e+01] [ 3.65737891e-02 -3.95740897e-04 9.99330877e-01 3.19554638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.119254154 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:871.61, Y:63.57, Z:31.96 [[ 9.21708699e-01 -3.86402887e-01 -3.38508842e-02 8.71606540e+02] [ 3.86154589e-01 9.22330048e-01 -1.38533820e-02 6.35711742e+01] [ 3.65746744e-02 -3.02891556e-04 9.99330877e-01 3.19578052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.179254154 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:871.66, Y:63.60, Z:31.96 [[ 9.21870433e-01 -3.86017224e-01 -3.38468385e-02 8.71658314e+02] [ 3.85768303e-01 9.22491532e-01 -1.38632593e-02 6.35956381e+01] [ 3.65748788e-02 -2.76908638e-04 9.99330877e-01 3.19580507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.2392541539999 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:871.71, Y:63.62, Z:31.96 [[ 9.21265131e-01 -3.87459848e-01 -3.38441085e-02 8.71711744e+02] [ 3.87211656e-01 9.21886522e-01 -1.38699210e-02 6.36188690e+01] [ 3.65744649e-02 -3.26958681e-04 9.99330877e-01 3.19618352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.299254154 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:871.76, Y:63.64, Z:31.97 [[ 9.20468748e-01 -3.89348353e-01 -3.38399811e-02 8.71764452e+02] [ 3.89101065e-01 9.21090499e-01 -1.38799836e-02 6.36421443e+01] [ 3.65738338e-02 -3.91081602e-04 9.99330877e-01 3.19655491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.3592541539999 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:871.82, Y:63.66, Z:31.96 [[ 9.19810300e-01 -3.90901710e-01 -3.38358412e-02 8.71816801e+02] [ 3.90655101e-01 9.20432321e-01 -1.38900683e-02 6.36645291e+01] [ 3.65732533e-02 -4.41916089e-04 9.99330877e-01 3.19632358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.419254154 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:871.87, Y:63.69, Z:31.97 [[ 9.19791533e-01 -3.90946109e-01 -3.38330539e-02 8.71870182e+02] [ 3.90699281e-01 9.20413467e-01 -1.38968542e-02 6.36879346e+01] [ 3.65733195e-02 -4.36340954e-04 9.99330877e-01 3.19686477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.4792541539999 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:871.92, Y:63.71, Z:31.97 [[ 9.19604240e-01 -3.91386824e-01 -3.38289266e-02 8.71923735e+02] [ 3.91139924e-01 9.20226145e-01 -1.39068941e-02 6.37108460e+01] [ 3.65732378e-02 -4.43005035e-04 9.99330877e-01 3.19681462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.539254154 meters Centerline goodness : 0.999749 with order 1 Centerline is valid? [True, True] Translation: X:871.98, Y:63.73, Z:31.97 [[ 9.19099511e-01 -3.92570978e-01 -3.38247776e-02 8.71977523e+02] [ 3.92324509e-01 9.19721587e-01 -1.39169781e-02 6.37334796e+01] [ 3.65727798e-02 -4.79201459e-04 9.99330877e-01 3.19697232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.5992541539999 meters Centerline goodness : 0.999917 with order 1 Centerline is valid? [True, True] Translation: X:872.03, Y:63.76, Z:31.97 [[ 9.17854801e-01 -3.95472786e-01 -3.38206942e-02 8.72030119e+02] [ 3.95227918e-01 9.18477509e-01 -1.39268943e-02 6.37555083e+01] [ 3.65712547e-02 -5.84015784e-04 9.99330877e-01 3.19737167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.659254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:872.08, Y:63.78, Z:31.98 [[ 9.17248250e-01 -3.96877809e-01 -3.38179379e-02 8.72083756e+02] [ 3.96633648e-01 9.17871235e-01 -1.39335841e-02 6.37785467e+01] [ 3.65704428e-02 -6.32776507e-04 9.99330877e-01 3.19782035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.7192541539999 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:872.14, Y:63.80, Z:31.98 [[ 9.16942707e-01 -3.97583564e-01 -3.38139338e-02 8.72137140e+02] [ 3.97339525e-01 9.17565740e-01 -1.39432944e-02 6.38013554e+01] [ 3.65701319e-02 -6.50410251e-04 9.99330877e-01 3.19784380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.779254154 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:872.19, Y:63.82, Z:31.98 [[ 9.17620357e-01 -3.96017393e-01 -3.38098208e-02 8.72190761e+02] [ 3.95771924e-01 9.18242828e-01 -1.39532606e-02 6.38237276e+01] [ 3.65713594e-02 -5.77181823e-04 9.99330877e-01 3.19805494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.839254154 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:872.24, Y:63.85, Z:31.98 [[ 9.18428742e-01 -3.94139335e-01 -3.38057707e-02 8.72243720e+02] [ 3.93892232e-01 9.19050566e-01 -1.39630663e-02 6.38474596e+01] [ 3.65726064e-02 -4.91749056e-04 9.99330877e-01 3.19819616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.899254154 meters Centerline goodness : 0.999770 with order 1 Centerline is valid? [True, True] Translation: X:872.30, Y:63.87, Z:31.98 [[ 9.19119331e-01 -3.92526564e-01 -3.38016623e-02 8.72296724e+02] [ 3.92278004e-01 9.19740574e-01 -1.39730047e-02 6.38705140e+01] [ 3.65735358e-02 -4.16789920e-04 9.99330878e-01 3.19833491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.959254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:872.35, Y:63.89, Z:31.99 [[ 9.20159221e-01 -3.90082986e-01 -3.37975263e-02 8.72349640e+02] [ 3.89832409e-01 9.20779653e-01 -1.39830017e-02 6.38922545e+01] [ 3.65746056e-02 -3.08783159e-04 9.99330878e-01 3.19884757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.019254154 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:872.40, Y:63.92, Z:31.99 [[ 9.21189791e-01 -3.87643155e-01 -3.37957485e-02 8.72403214e+02] [ 3.87390777e-01 9.21809493e-01 -1.39872971e-02 6.39156884e+01] [ 3.65753218e-02 -2.07205938e-04 9.99330878e-01 3.19885391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.079254154 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:872.46, Y:63.94, Z:31.99 [[ 9.22274201e-01 -3.85056392e-01 -3.37916050e-02 8.72456316e+02] [ 3.84801910e-01 9.22893041e-01 -1.39973002e-02 6.39391577e+01] [ 3.65757870e-02 -9.37253113e-05 9.99330878e-01 3.19897567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.139254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:872.51, Y:63.96, Z:31.99 [[ 9.22821335e-01 -3.83743651e-01 -3.37874771e-02 8.72509222e+02] [ 3.83487924e-01 9.23439662e-01 -1.40072572e-02 6.39607170e+01] [ 3.65758925e-02 -3.08936862e-05 9.99330878e-01 3.19939105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.199254154 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:872.56, Y:63.98, Z:31.99 [[ 9.21009800e-01 -3.88071480e-01 -3.37857029e-02 8.72563064e+02] [ 3.87818501e-01 9.21629257e-01 -1.40115354e-02 6.39818927e+01] [ 3.65753695e-02 -1.97959215e-04 9.99330878e-01 3.19918079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.259254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:872.62, Y:64.00, Z:32.00 [[ 9.18070498e-01 -3.94974899e-01 -3.37844638e-02 8.72617067e+02] [ 3.94726467e-01 9.18691792e-01 -1.40145225e-02 6.40017806e+01] [ 3.65728942e-02 -4.69302370e-04 9.99330878e-01 3.19979822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.319254154 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:872.67, Y:64.02, Z:32.00 [[ 9.15051488e-01 -4.01919962e-01 -3.37804364e-02 8.72671470e+02] [ 4.01675888e-01 9.15674507e-01 -1.40242233e-02 6.40232130e+01] [ 3.65684997e-02 -7.35900402e-04 9.99330878e-01 3.19966865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.379254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:872.73, Y:64.04, Z:32.00 [[ 9.12906258e-01 -4.06769377e-01 -3.37762937e-02 8.72725508e+02] [ 4.06528243e-01 9.13530421e-01 -1.40341936e-02 6.40443162e+01] [ 3.65643520e-02 -9.19114172e-04 9.99330878e-01 3.20019991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.439254154 meters Centerline goodness : 0.999666 with order 1 Centerline is valid? [True, True] Translation: X:872.78, Y:64.07, Z:32.00 [[ 9.12172999e-01 -4.08411389e-01 -3.37721411e-02 8.72779366e+02] [ 4.08171009e-01 9.12797452e-01 -1.40441793e-02 6.40669060e+01] [ 3.65629272e-02 -9.74087756e-04 9.99330878e-01 3.19990526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.499254154 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:872.83, Y:64.09, Z:32.00 [[ 9.12378963e-01 -4.07951170e-01 -3.37708700e-02 8.72833235e+02] [ 4.07710361e-01 9.13003251e-01 -1.40472354e-02 6.40915211e+01] [ 3.65635002e-02 -9.52331575e-04 9.99330878e-01 3.20036916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.559254154 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:872.89, Y:64.11, Z:32.01 [[ 9.11795831e-01 -4.09253141e-01 -3.37672788e-02 8.72885660e+02] [ 4.09012905e-01 9.12420340e-01 -1.40558627e-02 6.41144200e+01] [ 3.65623579e-02 -9.95175782e-04 9.99330878e-01 3.20056649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.619254154 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:872.94, Y:64.14, Z:32.01 [[ 9.11284976e-01 -4.10389549e-01 -3.37655113e-02 8.72938429e+02] [ 4.10149935e-01 9.11909724e-01 -1.40601073e-02 6.41380371e+01] [ 3.65612192e-02 -1.03615777e-03 9.99330878e-01 3.20084386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.679254154 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:872.99, Y:64.16, Z:32.01 [[ 9.11701730e-01 -4.09463210e-01 -3.37614527e-02 8.72990824e+02] [ 4.09222601e-01 9.12326094e-01 -1.40698462e-02 6.41627379e+01] [ 3.65625387e-02 -9.88446403e-04 9.99330878e-01 3.20083650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.7392541539999 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:873.04, Y:64.19, Z:32.01 [[ 9.12415801e-01 -4.07869885e-01 -3.37574260e-02 8.73042682e+02] [ 4.07627828e-01 9.13039606e-01 -1.40795006e-02 6.41859869e+01] [ 3.65644713e-02 -9.14107426e-04 9.99330878e-01 3.20104626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.799254154 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:873.10, Y:64.21, Z:32.01 [[ 9.13722973e-01 -4.04933265e-01 -3.37547107e-02 8.73095290e+02] [ 4.04688963e-01 9.14345902e-01 -1.40860073e-02 6.42101296e+01] [ 3.65673744e-02 -7.89450366e-04 9.99330878e-01 3.20139175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.8592541539999 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:873.15, Y:64.23, Z:32.01 [[ 9.14226329e-01 -4.03795872e-01 -3.37507508e-02 8.73147011e+02] [ 4.03550445e-01 9.14848815e-01 -1.40954893e-02 6.42345798e+01] [ 3.65685348e-02 -7.33663055e-04 9.99330878e-01 3.20148791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.919254154 meters Centerline goodness : 0.999855 with order 1 Centerline is valid? [True, True] Translation: X:873.20, Y:64.26, Z:32.02 [[ 9.14027422e-01 -4.04246056e-01 -3.37490439e-02 8.73199894e+02] [ 4.04000785e-01 9.14649970e-01 -1.40995749e-02 6.42581595e+01] [ 3.65682595e-02 -7.47242083e-04 9.99330878e-01 3.20166090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.9792541539999 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:873.25, Y:64.28, Z:32.02 [[ 9.12805579e-01 -4.06997833e-01 -3.37452005e-02 8.73252165e+02] [ 4.06754099e-01 9.13428731e-01 -1.41087674e-02 6.42821214e+01] [ 3.65660734e-02 -8.47437033e-04 9.99330878e-01 3.20203117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.039254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:873.31, Y:64.30, Z:32.03 [[ 9.10332145e-01 -4.12500817e-01 -3.37411032e-02 8.73305595e+02] [ 4.12260487e-01 9.10956617e-01 -1.41185593e-02 6.43043153e+01] [ 3.65605985e-02 -1.05754528e-03 9.99330878e-01 3.20258059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.0992541539999 meters Centerline goodness : 0.999855 with order 1 Centerline is valid? [True, True] Translation: X:873.36, Y:64.33, Z:32.02 [[ 9.06419130e-01 -4.21029894e-01 -3.37370571e-02 8.73360045e+02] [ 4.20795078e-01 9.07045696e-01 -1.41282211e-02 6.43281485e+01] [ 3.65494559e-02 -1.39029770e-03 9.99330878e-01 3.20245975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.159254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:873.41, Y:64.35, Z:32.03 [[ 9.03255534e-01 -4.27775027e-01 -3.37337649e-02 8.73412195e+02] [ 4.27544596e-01 9.03883726e-01 -1.41360776e-02 6.43524550e+01] [ 3.65384621e-02 -1.65419856e-03 9.99330878e-01 3.20306524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.2192541539999 meters Centerline goodness : 0.998356 with order 1 Centerline is valid? [True, True] Translation: X:873.46, Y:64.38, Z:32.03 [[ 9.01948464e-01 -4.30524431e-01 -3.37295629e-02 8.73463800e+02] [ 4.30295540e-01 9.02577219e-01 -1.41460968e-02 6.43788505e+01] [ 3.65337753e-02 -1.75463022e-03 9.99330878e-01 3.20260279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.279254154 meters Centerline goodness : 0.999917 with order 1 Centerline is valid? [True, True] Translation: X:873.52, Y:64.41, Z:32.03 [[ 9.02628919e-01 -4.29096095e-01 -3.37279598e-02 8.73515857e+02] [ 4.28866067e-01 9.03257259e-01 -1.41499178e-02 6.44051555e+01] [ 3.65366990e-02 -1.69265251e-03 9.99330878e-01 3.20332192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.339254154 meters Centerline goodness : 0.999813 with order 1 Centerline is valid? [True, True] Translation: X:873.57, Y:64.43, Z:32.04 [[ 9.04409219e-01 -4.25331328e-01 -3.37227887e-02 8.73565663e+02] [ 4.25098226e-01 9.05036424e-01 -1.41622311e-02 6.44344330e+01] [ 3.65439927e-02 -1.52704534e-03 9.99330879e-01 3.20350243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.399254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:873.62, Y:64.46, Z:32.04 [[ 9.05979309e-01 -4.21976836e-01 -3.37200408e-02 8.73618051e+02] [ 4.21741168e-01 9.06605555e-01 -1.41687709e-02 6.44609037e+01] [ 3.65496694e-02 -1.38451614e-03 9.99330879e-01 3.20426092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.459254154 meters Centerline goodness : 0.999771 with order 1 Centerline is valid? [True, True] Translation: X:873.67, Y:64.49, Z:32.04 [[ 9.08115685e-01 -4.17359676e-01 -3.37165024e-02 8.73668875e+02] [ 4.17120512e-01 9.08740605e-01 -1.41771859e-02 6.44919947e+01] [ 3.65565405e-02 -1.18931983e-03 9.99330879e-01 3.20428327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.519254154 meters Centerline goodness : 0.999418 with order 1 Centerline is valid? [True, True] Translation: X:873.72, Y:64.52, Z:32.04 [[ 9.09763982e-01 -4.13754679e-01 -3.37129311e-02 8.73718726e+02] [ 4.13512724e-01 9.10387826e-01 -1.41856732e-02 6.45228759e+01] [ 3.65612308e-02 -1.03511143e-03 9.99330879e-01 3.20446451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.579254154 meters Centerline goodness : 0.999791 with order 1 Centerline is valid? [True, True] Translation: X:873.77, Y:64.55, Z:32.05 [[ 9.09746094e-01 -4.13794164e-01 -3.37110389e-02 8.73771706e+02] [ 4.13552069e-01 9.10369884e-01 -1.41901687e-02 6.45495099e+01] [ 3.65613235e-02 -1.03181936e-03 9.99330879e-01 3.20500420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.639254154 meters Centerline goodness : 0.999792 with order 1 Centerline is valid? [True, True] Translation: X:873.82, Y:64.58, Z:32.05 [[ 9.07471283e-01 -4.18759691e-01 -3.37074610e-02 8.73823522e+02] [ 4.18520693e-01 9.08096265e-01 -1.41986624e-02 6.45774059e+01] [ 3.65554469e-02 -1.22239161e-03 9.99330879e-01 3.20523096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.699254154 meters Centerline goodness : 0.999646 with order 1 Centerline is valid? [True, True] Translation: X:873.87, Y:64.60, Z:32.05 [[ 9.06190045e-01 -4.21525390e-01 -3.37038100e-02 8.73874665e+02] [ 4.21287979e-01 9.06815632e-01 -1.42073238e-02 6.46048394e+01] [ 3.65518894e-02 -1.32447460e-03 9.99330879e-01 3.20514454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.759254154 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:873.93, Y:64.63, Z:32.06 [[ 9.06410397e-01 -4.21051460e-01 -3.37025305e-02 8.73927686e+02] [ 4.20813608e-01 9.07035817e-01 -1.42103581e-02 6.46307628e+01] [ 3.65526944e-02 -1.30206712e-03 9.99330879e-01 3.20557090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.819254154 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:873.98, Y:64.66, Z:32.06 [[ 9.06585461e-01 -4.20674675e-01 -3.36989664e-02 8.73979890e+02] [ 4.20436250e-01 9.07210662e-01 -1.42188052e-02 6.46584633e+01] [ 3.65535529e-02 -1.27770501e-03 9.99330879e-01 3.20568368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.879254154 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:874.03, Y:64.68, Z:32.06 [[ 9.07283826e-01 -4.19166647e-01 -3.36954156e-02 8.74031574e+02] [ 4.18926870e-01 9.07908511e-01 -1.42272150e-02 6.46839205e+01] [ 3.65559285e-02 -1.20779295e-03 9.99330879e-01 3.20604554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.939254154 meters Centerline goodness : 0.999813 with order 1 Centerline is valid? [True, True] Translation: X:874.08, Y:64.71, Z:32.06 [[ 9.08008809e-01 -4.17593949e-01 -3.36941680e-02 8.74083260e+02] [ 4.17352981e-01 9.08633034e-01 -1.42301689e-02 6.47103063e+01] [ 3.65580666e-02 -1.14124274e-03 9.99330879e-01 3.20606791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.999254154 meters Centerline goodness : 0.999772 with order 1 Centerline is valid? [True, True] Translation: X:874.14, Y:64.74, Z:32.06 [[ 9.09376867e-01 -4.14606439e-01 -3.36929464e-02 8.74136223e+02] [ 4.14363314e-01 9.10000255e-01 -1.42330608e-02 6.47356974e+01] [ 3.65617085e-02 -1.01790463e-03 9.99330879e-01 3.20638020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.059254154 meters Centerline goodness : 0.999730 with order 1 Centerline is valid? [True, True] Translation: X:874.19, Y:64.76, Z:32.06 [[ 9.10798388e-01 -4.11474570e-01 -3.36893871e-02 8.74188495e+02] [ 4.11228989e-01 9.11420813e-01 -1.42414806e-02 6.47633146e+01] [ 3.65652157e-02 -8.82935056e-04 9.99330879e-01 3.20561914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.119254154 meters Centerline goodness : 0.999834 with order 1 Centerline is valid? [True, True] Translation: X:874.24, Y:64.79, Z:32.06 [[ 9.11817869e-01 -4.09210764e-01 -3.36856632e-02 8.74242202e+02] [ 4.08963313e-01 9.12439553e-01 -1.42502833e-02 6.47863278e+01] [ 3.65675008e-02 -7.82537475e-04 9.99330879e-01 3.20612503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.179254154 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:874.30, Y:64.81, Z:32.06 [[ 9.12978425e-01 -4.06615208e-01 -3.36818831e-02 8.74296213e+02] [ 4.06365660e-01 9.13599270e-01 -1.42592123e-02 6.48102150e+01] [ 3.65697564e-02 -6.68807488e-04 9.99330879e-01 3.20612166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.2392541539999 meters Centerline goodness : 0.999813 with order 1 Centerline is valid? [True, True] Translation: X:874.35, Y:64.83, Z:32.07 [[ 9.12914932e-01 -4.06758052e-01 -3.36781107e-02 8.74350682e+02] [ 4.06508272e-01 9.13535684e-01 -1.42681167e-02 6.48328758e+01] [ 3.65698272e-02 -6.64853852e-04 9.99330879e-01 3.20656477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.299254154 meters Centerline goodness : 0.999917 with order 1 Centerline is valid? [True, True] Translation: X:874.40, Y:64.85, Z:32.07 [[ 9.12492590e-01 -4.07704933e-01 -3.36743459e-02 8.74404575e+02] [ 4.07455470e-01 9.13113469e-01 -1.42769966e-02 6.48533532e+01] [ 3.65693007e-02 -6.93142866e-04 9.99330879e-01 3.20696770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.3592541539999 meters Centerline goodness : 0.999687 with order 1 Centerline is valid? [True, True] Translation: X:874.46, Y:64.87, Z:32.07 [[ 9.12589907e-01 -4.07487408e-01 -3.36700594e-02 8.74459492e+02] [ 4.07237425e-01 9.13210577e-01 -1.42870984e-02 6.48718282e+01] [ 3.65696671e-02 -6.73446445e-04 9.99330879e-01 3.20737617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.419254154 meters Centerline goodness : 0.999750 with order 1 Centerline is valid? [True, True] Translation: X:874.51, Y:64.89, Z:32.08 [[ 9.11014463e-01 -4.10997645e-01 -3.36687396e-02 8.74514390e+02] [ 4.10749938e-01 9.11636045e-01 -1.42902080e-02 6.48922382e+01] [ 3.65668784e-02 -8.10846471e-04 9.99330879e-01 3.20757880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.4792541539999 meters Centerline goodness : 0.999687 with order 1 Centerline is valid? [True, True] Translation: X:874.57, Y:64.91, Z:32.08 [[ 9.09336523e-01 -4.14697173e-01 -3.36651595e-02 8.74569606e+02] [ 4.14451683e-01 9.09958983e-01 -1.42986370e-02 6.49137902e+01] [ 3.65635187e-02 -9.50309165e-04 9.99330879e-01 3.20776042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.539254154 meters Centerline goodness : 0.999542 with order 1 Centerline is valid? [True, True] Translation: X:874.62, Y:64.94, Z:32.08 [[ 9.08876524e-01 -4.15704673e-01 -3.36613884e-02 8.74622724e+02] [ 4.15459544e-01 9.09499127e-01 -1.43075093e-02 6.49365712e+01] [ 3.65627019e-02 -9.81185807e-04 9.99330879e-01 3.20791771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.5992541539999 meters Centerline goodness : 0.999729 with order 1 Centerline is valid? [True, True] Translation: X:874.68, Y:64.96, Z:32.08 [[ 9.09011222e-01 -4.15410156e-01 -3.36600703e-02 8.74677134e+02] [ 4.15164711e-01 9.09633700e-01 -1.43106096e-02 6.49580026e+01] [ 3.65631069e-02 -9.65968612e-04 9.99330879e-01 3.20843334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.659254154 meters Centerline goodness : 0.999708 with order 1 Centerline is valid? [True, True] Translation: X:874.73, Y:64.98, Z:32.09 [[ 9.08529399e-01 -4.16463176e-01 -3.36564101e-02 8.74729799e+02] [ 4.16218134e-01 9.09152036e-01 -1.43192126e-02 6.49808173e+01] [ 3.65622186e-02 -9.98982567e-04 9.99330879e-01 3.20855309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.7192541539999 meters Centerline goodness : 0.999666 with order 1 Centerline is valid? [True, True] Translation: X:874.78, Y:65.00, Z:32.09 [[ 9.08383128e-01 -4.16782270e-01 -3.36546086e-02 8.74782999e+02] [ 4.16537290e-01 9.09005789e-01 -1.43234455e-02 6.50036270e+01] [ 3.65619922e-02 -1.00722331e-03 9.99330879e-01 3.20878635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.779254154 meters Centerline goodness : 0.999730 with order 1 Centerline is valid? [True, True] Translation: X:874.84, Y:65.03, Z:32.09 [[ 9.10329635e-01 -4.12513764e-01 -3.36504105e-02 8.74835218e+02] [ 4.12265500e-01 9.10950994e-01 -1.43333016e-02 6.50279954e+01] [ 3.65665591e-02 -8.24874087e-04 9.99330879e-01 3.20872584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.839254154 meters Centerline goodness : 0.999499 with order 1 Centerline is valid? [True, True] Translation: X:874.89, Y:65.05, Z:32.09 [[ 9.12716467e-01 -4.07205818e-01 -3.36462890e-02 8.74888010e+02] [ 4.06953583e-01 9.13336225e-01 -1.43429698e-02 6.50518006e+01] [ 3.65709154e-02 -6.01413192e-04 9.99330879e-01 3.20868215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.899254154 meters Centerline goodness : 0.999791 with order 1 Centerline is valid? [True, True] Translation: X:874.94, Y:65.07, Z:32.09 [[ 9.13518308e-01 -4.05404143e-01 -3.36419754e-02 8.74941905e+02] [ 4.05150314e-01 9.14137414e-01 -1.43530804e-02 6.50735255e+01] [ 3.65721867e-02 -5.18255220e-04 9.99330879e-01 3.20894320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.959254154 meters Centerline goodness : 0.999563 with order 1 Centerline is valid? [True, True] Translation: X:874.99, Y:65.10, Z:32.09 [[ 9.12949017e-01 -4.06684892e-01 -3.36376401e-02 8.74993828e+02] [ 4.06431558e-01 9.13568326e-01 -1.43632333e-02 6.50960326e+01] [ 3.65715926e-02 -5.58498730e-04 9.99330879e-01 3.20907534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.019254154 meters Centerline goodness : 0.999604 with order 1 Centerline is valid? [True, True] Translation: X:875.05, Y:65.12, Z:32.09 [[ 9.10701024e-01 -4.11694401e-01 -3.36357795e-02 8.75048051e+02] [ 4.11444312e-01 9.11321651e-01 -1.43675893e-02 6.51165015e+01] [ 3.65680701e-02 -7.54671873e-04 9.99330879e-01 3.20919077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.079254154 meters Centerline goodness : 0.999709 with order 1 Centerline is valid? [True, True] Translation: X:875.10, Y:65.14, Z:32.10 [[ 9.09840519e-01 -4.13592970e-01 -3.36316176e-02 8.75102715e+02] [ 4.13343816e-01 9.10461521e-01 -1.43773249e-02 6.51368547e+01] [ 3.65666542e-02 -8.20348408e-04 9.99330880e-01 3.20989861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.139254154 meters Centerline goodness : 0.999749 with order 1 Centerline is valid? [True, True] Translation: X:875.16, Y:65.16, Z:32.10 [[ 9.09845792e-01 -4.13581677e-01 -3.36278294e-02 8.75157327e+02] [ 4.13332188e-01 9.10466661e-01 -1.43861798e-02 6.51570691e+01] [ 3.65668779e-02 -8.10259143e-04 9.99330880e-01 3.20995020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.199254154 meters Centerline goodness : 0.999647 with order 1 Centerline is valid? [True, True] Translation: X:875.21, Y:65.18, Z:32.10 [[ 9.11265107e-01 -4.10445079e-01 -3.36265053e-02 8.75211238e+02] [ 4.10193339e-01 9.11885066e-01 -1.43892741e-02 6.51785988e+01] [ 3.65695147e-02 -6.80925125e-04 9.99330880e-01 3.20994332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.259254154 meters Centerline goodness : 0.999646 with order 1 Centerline is valid? [True, True] Translation: X:875.27, Y:65.20, Z:32.10 [[ 9.13128745e-01 -4.06282450e-01 -3.36223960e-02 8.75265792e+02] [ 4.06027531e-01 9.13747403e-01 -1.43988696e-02 6.51995048e+01] [ 3.65723851e-02 -5.03596673e-04 9.99330880e-01 3.21010685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.319254154 meters Centerline goodness : 0.999583 with order 1 Centerline is valid? [True, True] Translation: X:875.32, Y:65.22, Z:32.10 [[ 9.13707891e-01 -4.04978648e-01 -3.36182135e-02 8.75318530e+02] [ 4.04722487e-01 9.14326036e-01 -1.44086283e-02 6.52212614e+01] [ 3.65731947e-02 -4.40769541e-04 9.99330880e-01 3.21026800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.379254154 meters Centerline goodness : 0.999730 with order 1 Centerline is valid? [True, True] Translation: X:875.37, Y:65.24, Z:32.10 [[ 9.15345782e-01 -4.01263050e-01 -3.36164155e-02 8.75373066e+02] [ 4.01004225e-01 9.15962817e-01 -1.44128218e-02 6.52418482e+01] [ 3.65747195e-02 -2.87608972e-04 9.99330880e-01 3.21036180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.439254154 meters Centerline goodness : 0.999647 with order 1 Centerline is valid? [True, True] Translation: X:875.43, Y:65.26, Z:32.11 [[ 9.16817591e-01 -3.97889082e-01 -3.36122452e-02 8.75427750e+02] [ 3.97627630e-01 9.17433517e-01 -1.44225409e-02 6.52602387e+01] [ 3.65755719e-02 -1.42318213e-04 9.99330880e-01 3.21052908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.499254154 meters Centerline goodness : 0.999604 with order 1 Centerline is valid? [True, True] Translation: X:875.48, Y:65.28, Z:32.11 [[ 9.18183261e-01 -3.94727749e-01 -3.36080992e-02 8.75483284e+02] [ 3.94463823e-01 9.18798130e-01 -1.44321957e-02 6.52779714e+01] [ 3.65758468e-02 -5.77876679e-06 9.99330880e-01 3.21073773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.559254154 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:875.54, Y:65.29, Z:32.11 [[ 9.20339171e-01 -3.89674975e-01 -3.36039233e-02 8.75539181e+02] [ 3.89407318e-01 9.20952426e-01 -1.44419123e-02 6.52946776e+01] [ 3.65752665e-02 2.05843990e-04 9.99330880e-01 3.21111061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.619254154 meters Centerline goodness : 0.999771 with order 1 Centerline is valid? [True, True] Translation: X:875.59, Y:65.31, Z:32.11 [[ 9.22930679e-01 -3.83497101e-01 -3.35996364e-02 8.75594905e+02] [ 3.83224977e-01 9.23541965e-01 -1.44518789e-02 6.53098894e+01] [ 3.65729279e-02 4.61862556e-04 9.99330880e-01 3.21124571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.679254154 meters Centerline goodness : 0.999625 with order 1 Centerline is valid? [True, True] Translation: X:875.65, Y:65.32, Z:32.11 [[ 9.24352832e-01 -3.80056615e-01 -3.35977930e-02 8.75651906e+02] [ 3.79782060e-01 9.24963030e-01 -1.44561634e-02 6.53247547e+01] [ 3.65708769e-02 6.02756572e-04 9.99330880e-01 3.21149128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.7392541539999 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:875.71, Y:65.34, Z:32.13 [[ 9.25560875e-01 -3.77105470e-01 -3.35936191e-02 8.75710428e+02] [ 3.76828618e-01 9.26170034e-01 -1.44658564e-02 6.53369104e+01] [ 3.65685569e-02 7.29993636e-04 9.99330880e-01 3.21268087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.799254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:875.77, Y:65.35, Z:32.12 [[ 9.25416544e-01 -3.77459864e-01 -3.35897482e-02 8.75767726e+02] [ 3.77182920e-01 9.26025661e-01 -1.44748388e-02 6.53509548e+01] [ 3.65686395e-02 7.25776011e-04 9.99330880e-01 3.21211002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.8592541539999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:875.83, Y:65.36, Z:32.12 [[ 9.25177502e-01 -3.78045514e-01 -3.35883951e-02 8.75825704e+02] [ 3.77768841e-01 9.25786742e-01 -1.44779781e-02 6.53626788e+01] [ 3.65690255e-02 7.06050565e-04 9.99330880e-01 3.21210020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.919254154 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:875.88, Y:65.38, Z:32.12 [[ 9.24286318e-01 -3.80219546e-01 -3.35842217e-02 8.75882529e+02] [ 3.79943954e-01 9.24896048e-01 -1.44876526e-02 6.53776249e+01] [ 3.65704026e-02 6.30617080e-04 9.99330880e-01 3.21225876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.9792541539999 meters Centerline goodness : 0.999729 with order 1 Centerline is valid? [True, True] Translation: X:875.94, Y:65.39, Z:32.12 [[ 9.22202222e-01 -3.85247246e-01 -3.35800642e-02 8.75942478e+02] [ 3.84974628e-01 9.22813288e-01 -1.44972826e-02 6.53865675e+01] [ 3.65731676e-02 4.41953525e-04 9.99330880e-01 3.21220400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.039254154 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:876.00, Y:65.39, Z:32.13 [[ 9.19314760e-01 -3.92088052e-01 -3.35757537e-02 8.76002712e+02] [ 3.91819617e-01 9.19927675e-01 -1.45072588e-02 6.53904886e+01] [ 3.65753879e-02 1.81098223e-04 9.99330880e-01 3.21252953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.0992541539999 meters Centerline goodness : 0.999749 with order 1 Centerline is valid? [True, True] Translation: X:876.06, Y:65.40, Z:32.13 [[ 9.16627444e-01 -3.98330166e-01 -3.35739041e-02 8.76061504e+02] [ 3.98065749e-01 9.17242103e-01 -1.45115380e-02 6.54008142e+01] [ 3.65757818e-02 -6.29473078e-05 9.99330880e-01 3.21295793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.159254154 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:876.12, Y:65.41, Z:32.13 [[ 9.14593828e-01 -4.02977678e-01 -3.35726080e-02 8.76119659e+02] [ 4.02716274e-01 9.15209774e-01 -1.45145359e-02 6.54130540e+01] [ 3.65750130e-02 -2.45330631e-04 9.99330880e-01 3.21349072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.2192541539999 meters Centerline goodness : 0.999728 with order 1 Centerline is valid? [True, True] Translation: X:876.18, Y:65.43, Z:32.13 [[ 9.13204940e-01 -4.06115616e-01 -3.35685056e-02 8.76176534e+02] [ 4.05855980e-01 9.13821633e-01 -1.45240175e-02 6.54275636e+01] [ 3.65740570e-02 -3.60574200e-04 9.99330880e-01 3.21340612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.279254154 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:876.23, Y:65.45, Z:32.14 [[ 9.12373185e-01 -4.07981129e-01 -3.35644006e-02 8.76232069e+02] [ 4.07722405e-01 9.12990261e-01 -1.45334980e-02 6.54456387e+01] [ 3.65733638e-02 -4.24984292e-04 9.99330880e-01 3.21363272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.339254154 meters Centerline goodness : 0.999666 with order 1 Centerline is valid? [True, True] Translation: X:876.29, Y:65.46, Z:32.14 [[ 9.10891648e-01 -4.11278626e-01 -3.35603505e-02 8.76287779e+02] [ 4.11021791e-01 9.11509513e-01 -1.45428444e-02 6.54619111e+01] [ 3.65717398e-02 -5.47079869e-04 9.99330880e-01 3.21353710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.399254154 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:876.34, Y:65.48, Z:32.14 [[ 9.10078897e-01 -4.13074070e-01 -3.35591070e-02 8.76344872e+02] [ 4.12818349e-01 9.10697224e-01 -1.45457132e-02 6.54795643e+01] [ 3.65706425e-02 -6.16068477e-04 9.99330880e-01 3.21362659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.459254154 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:876.40, Y:65.50, Z:32.14 [[ 9.10136489e-01 -4.12947420e-01 -3.35559088e-02 8.76400381e+02] [ 4.12691341e-01 9.10754668e-01 -1.45530876e-02 6.54979171e+01] [ 3.65708605e-02 -6.02936949e-04 9.99330880e-01 3.21406094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.519254154 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:876.45, Y:65.52, Z:32.14 [[ 9.11322378e-01 -4.10324024e-01 -3.35517403e-02 8.76454719e+02] [ 4.10065811e-01 9.11939668e-01 -1.45626915e-02 6.55186291e+01] [ 3.65725851e-02 -4.87114932e-04 9.99330881e-01 3.21415801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.579254154 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:876.51, Y:65.54, Z:32.14 [[ 9.12971757e-01 -4.06641043e-01 -3.35504606e-02 8.76509410e+02] [ 4.06380232e-01 9.13587954e-01 -1.45656393e-02 6.55401020e+01] [ 3.65742834e-02 -3.36226684e-04 9.99330881e-01 3.21432261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.639254154 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:876.56, Y:65.56, Z:32.15 [[ 9.15052744e-01 -4.01936641e-01 -3.35471778e-02 8.76563556e+02] [ 4.01672385e-01 9.15667471e-01 -1.45731961e-02 6.55614840e+01] [ 3.65755610e-02 -1.39731844e-04 9.99330881e-01 3.21506770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.699254154 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:876.62, Y:65.58, Z:32.15 [[ 9.16592273e-01 -3.98413701e-01 -3.35429303e-02 8.76616070e+02] [ 3.98146725e-01 9.17205824e-01 -1.45829661e-02 6.55834028e+01] [ 3.65758245e-02 1.16262295e-05 9.99330881e-01 3.21511638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.759254154 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:876.67, Y:65.61, Z:32.15 [[ 9.16973762e-01 -3.97535049e-01 -3.35410983e-02 8.76669940e+02] [ 3.97267330e-01 9.17586989e-01 -1.45871785e-02 6.56052493e+01] [ 3.65757901e-02 5.12773279e-05 9.99330881e-01 3.21515567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.819254154 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:876.72, Y:65.63, Z:32.15 [[ 9.16349637e-01 -3.98971953e-01 -3.35369143e-02 8.76724465e+02] [ 3.98704844e-01 9.16963130e-01 -1.45967913e-02 6.56253418e+01] [ 3.65758243e-02 4.43418323e-06 9.99330881e-01 3.21513816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.879254154 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:876.78, Y:65.64, Z:32.15 [[ 9.14103479e-01 -4.04092049e-01 -3.35327525e-02 8.76779234e+02] [ 4.03828026e-01 9.14718306e-01 -1.46063459e-02 6.56442430e+01] [ 3.65753308e-02 -1.89753704e-04 9.99330881e-01 3.21526413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.939254154 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:876.84, Y:65.66, Z:32.15 [[ 9.10914224e-01 -4.11231031e-01 -3.35308269e-02 8.76835072e+02] [ 4.10971664e-01 9.11531029e-01 -1.46107651e-02 6.56621291e+01] [ 3.65727891e-02 -4.71065934e-04 9.99330881e-01 3.21539720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.999254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:876.89, Y:65.68, Z:32.16 [[ 9.08690888e-01 -4.16121163e-01 -3.35268130e-02 8.76891301e+02] [ 4.15864775e-01 9.09308938e-01 -1.46199699e-02 6.56799398e+01] [ 3.65699096e-02 -6.57587127e-04 9.99330881e-01 3.21608744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.059254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:876.95, Y:65.70, Z:32.16 [[ 9.08149846e-01 -4.17300910e-01 -3.35232533e-02 8.76945973e+02] [ 4.17045024e-01 9.08768104e-01 -1.46281276e-02 6.56995103e+01] [ 3.65691943e-02 -6.96174188e-04 9.99330881e-01 3.21638408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.119254154 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:877.00, Y:65.72, Z:32.16 [[ 9.08069669e-01 -4.17475686e-01 -3.35190529e-02 8.76999501e+02] [ 4.17219564e-01 9.08687830e-01 -1.46377460e-02 6.57238453e+01] [ 3.65692585e-02 -6.92711476e-04 9.99330881e-01 3.21576115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.179254154 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:877.05, Y:65.74, Z:32.16 [[ 9.09968063e-01 -4.13321728e-01 -3.35152855e-02 8.77054891e+02] [ 4.13062466e-01 9.10584912e-01 -1.46463670e-02 6.57424537e+01] [ 3.65721751e-02 -5.16180252e-04 9.99330881e-01 3.21647523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.2392541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:877.11, Y:65.76, Z:32.17 [[ 9.11698991e-01 -4.09489834e-01 -3.35115817e-02 8.77108953e+02] [ 4.09227668e-01 9.12314612e-01 -1.46548366e-02 6.57625226e+01] [ 3.65741123e-02 -3.53066699e-04 9.99330881e-01 3.21693381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.299254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:877.16, Y:65.78, Z:32.17 [[ 9.12573477e-01 -4.07537613e-01 -3.35073574e-02 8.77164072e+02] [ 4.07273776e-01 9.13188384e-01 -1.46644889e-02 6.57830015e+01] [ 3.65748603e-02 -2.64244322e-04 9.99330881e-01 3.21738100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.3592541539999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:877.22, Y:65.81, Z:32.17 [[ 9.10805410e-01 -4.11474200e-01 -3.35035555e-02 8.77218433e+02] [ 4.11212702e-01 9.11421314e-01 -1.46731698e-02 6.58057193e+01] [ 3.65734854e-02 -4.12685102e-04 9.99330881e-01 3.21685448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.419254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:877.27, Y:65.82, Z:32.18 [[ 9.10015473e-01 -4.13218592e-01 -3.34997728e-02 8.77274224e+02] [ 4.12957956e-01 9.10631743e-01 -1.46818010e-02 6.58218107e+01] [ 3.65727496e-02 -4.73331619e-04 9.99330881e-01 3.21750924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.4792541539999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:877.33, Y:65.84, Z:32.18 [[ 9.08297464e-01 -4.16981624e-01 -3.34969041e-02 8.77329438e+02] [ 4.16723300e-01 9.08914706e-01 -1.46883429e-02 6.58406593e+01] [ 3.65705979e-02 -6.17555815e-04 9.99330881e-01 3.21798568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.539254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:877.38, Y:65.86, Z:32.18 [[ 9.06269504e-01 -4.21371199e-01 -3.34947690e-02 8.77384223e+02] [ 4.21115684e-01 9.06887915e-01 -1.46932102e-02 6.58607852e+01] [ 3.65672968e-02 -7.89164269e-04 9.99330881e-01 3.21826333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.5992541539999 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:877.44, Y:65.88, Z:32.18 [[ 9.04385269e-01 -4.25400597e-01 -3.34905500e-02 8.77438834e+02] [ 4.25147482e-01 9.05004666e-01 -1.47028205e-02 6.58829117e+01] [ 3.65636926e-02 -9.41408752e-04 9.99330881e-01 3.21808467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.659254154 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:877.49, Y:65.91, Z:32.18 [[ 8.99851352e-01 -4.34909385e-01 -3.34868767e-02 8.77492318e+02] [ 4.34662502e-01 9.00473259e-01 -1.47111820e-02 6.59066649e+01] [ 3.65520681e-02 -1.31761262e-03 9.99330881e-01 3.21802985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.7192541539999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:877.55, Y:65.92, Z:32.19 [[ 8.94496424e-01 -4.45819547e-01 -3.34825127e-02 8.77547479e+02] [ 4.45579874e-01 8.95121145e-01 -1.47211075e-02 6.59246860e+01] [ 3.65338626e-02 -1.75115579e-03 9.99330881e-01 3.21859293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.779254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:877.60, Y:65.95, Z:32.19 [[ 8.91024060e-01 -4.52719711e-01 -3.34811635e-02 8.77600825e+02] [ 4.52484759e-01 8.91650572e-01 -1.47241755e-02 6.59479925e+01] [ 3.65194231e-02 -2.03012160e-03 9.99330881e-01 3.21893160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.839254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:877.65, Y:65.97, Z:32.19 [[ 8.86534200e-01 -4.61450162e-01 -3.34792581e-02 8.77653467e+02] [ 4.61221212e-01 8.87162930e-01 -1.47285068e-02 6.59731703e+01] [ 3.64980285e-02 -2.38401900e-03 9.99330881e-01 3.21909111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.899254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:877.70, Y:66.00, Z:32.20 [[ 8.83876624e-01 -4.66520457e-01 -3.34780170e-02 8.77704987e+02] [ 4.66295006e-01 8.84506617e-01 -1.47313271e-02 6.59997561e+01] [ 3.64839930e-02 -2.58995653e-03 9.99330881e-01 3.21952762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.959254154 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:877.76, Y:66.03, Z:32.20 [[ 8.83403519e-01 -4.67416007e-01 -3.34738621e-02 8.77755536e+02] [ 4.67190839e-01 8.84033613e-01 -1.47407622e-02 6.60304469e+01] [ 3.64820875e-02 -2.61664050e-03 9.99330881e-01 3.21950467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.019254154 meters Centerline goodness : 0.995501 with order 1 Centerline is valid? [True, True] Translation: X:877.81, Y:66.06, Z:32.19 [[ 8.83374627e-01 -4.67470886e-01 -3.34699690e-02 8.77805756e+02] [ 4.67245424e-01 8.84004617e-01 -1.47495965e-02 6.60621391e+01] [ 3.64826141e-02 -2.60927058e-03 9.99330881e-01 3.21907280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.079254154 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:877.85, Y:66.09, Z:32.20 [[ 8.83872909e-01 -4.66528410e-01 -3.34652595e-02 8.77854893e+02] [ 4.66301875e-01 8.84502513e-01 -1.47602741e-02 6.60935933e+01] [ 3.64861934e-02 -2.55870683e-03 9.99330881e-01 3.21972391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.139254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:877.91, Y:66.12, Z:32.20 [[ 8.83807850e-01 -4.66651768e-01 -3.34635800e-02 8.77906141e+02] [ 4.66425178e-01 8.84437434e-01 -1.47640809e-02 6.61234387e+01] [ 3.64861273e-02 -2.55964567e-03 9.99330882e-01 3.21998283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.199254154 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:877.96, Y:66.15, Z:32.20 [[ 8.84815233e-01 -4.64739096e-01 -3.34600611e-02 8.77955644e+02] [ 4.64510844e-01 8.85444217e-01 -1.47720514e-02 6.61541682e+01] [ 3.64921675e-02 -2.47202514e-03 9.99330882e-01 3.22006993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.259254154 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:878.00, Y:66.19, Z:32.20 [[ 8.86885795e-01 -4.60775543e-01 -3.34587086e-02 8.78004452e+02] [ 4.60544364e-01 8.87513710e-01 -1.47751144e-02 6.61857087e+01] [ 3.65030739e-02 -2.30538061e-03 9.99330882e-01 3.22017443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.319254154 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:878.05, Y:66.22, Z:32.20 [[ 8.90046274e-01 -4.54640809e-01 -3.34569161e-02 8.78054207e+02] [ 4.54405149e-01 8.90672519e-01 -1.47791720e-02 6.62187217e+01] [ 3.65183705e-02 -2.04884796e-03 9.99330882e-01 3.22025045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.379254154 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:878.11, Y:66.25, Z:32.21 [[ 8.92588048e-01 -4.49630327e-01 -3.34536320e-02 8.78105199e+02] [ 4.49390872e-01 8.93212853e-01 -1.47866021e-02 6.62472193e+01] [ 3.65297188e-02 -1.83541254e-03 9.99330882e-01 3.22061423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.439254154 meters Centerline goodness : 0.999746 with order 1 Centerline is valid? [True, True] Translation: X:878.15, Y:66.28, Z:32.21 [[ 8.98415070e-01 -4.37871569e-01 -3.34492270e-02 8.78153902e+02] [ 4.37623561e-01 8.99036529e-01 -1.47965600e-02 6.62803148e+01] [ 3.65510699e-02 -1.34471733e-03 9.99330882e-01 3.22089911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.499254154 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:878.20, Y:66.31, Z:32.21 [[ 9.01187943e-01 -4.32136238e-01 -3.34449372e-02 8.78204598e+02] [ 4.31883914e-01 9.01807662e-01 -1.48062501e-02 6.63085500e+01] [ 3.65592178e-02 -1.10111632e-03 9.99330882e-01 3.22099109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.559254154 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:878.26, Y:66.34, Z:32.21 [[ 9.04784804e-01 -4.24554097e-01 -3.34406553e-02 8.78255304e+02] [ 4.24296222e-01 9.05402234e-01 -1.48159147e-02 6.63371333e+01] [ 3.65674013e-02 -7.83529296e-04 9.99330882e-01 3.22123358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.619254154 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:878.31, Y:66.36, Z:32.22 [[ 9.07731044e-01 -4.18218074e-01 -3.34364279e-02 8.78307629e+02] [ 4.17955537e-01 9.08346506e-01 -1.48254489e-02 6.63646309e+01] [ 3.65721332e-02 -5.17419991e-04 9.99330882e-01 3.22158705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.679254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:878.36, Y:66.39, Z:32.22 [[ 9.10346937e-01 -4.12493283e-01 -3.34326986e-02 8.78360135e+02] [ 4.12226567e-01 9.10960600e-01 -1.48338541e-02 6.63909122e+01] [ 3.65747363e-02 -2.77892928e-04 9.99330882e-01 3.22214287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.7392541539999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:878.41, Y:66.42, Z:32.22 [[ 9.12243878e-01 -4.08281294e-01 -3.34289020e-02 8.78412255e+02] [ 4.08011431e-01 9.12856164e-01 -1.48424049e-02 6.64157602e+01] [ 3.65756555e-02 -9.94811008e-05 9.99330882e-01 3.22240611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.799254154 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:878.46, Y:66.44, Z:32.23 [[ 9.13226268e-01 -4.06079534e-01 -3.34244765e-02 8.78464188e+02] [ 4.05807830e-01 9.13837739e-01 -1.48523645e-02 6.64384543e+01] [ 3.65757892e-02 -3.44897924e-07 9.99330882e-01 3.22261411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.8592541539999 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:878.52, Y:66.46, Z:32.23 [[ 9.13457235e-01 -4.05559964e-01 -3.34214886e-02 8.78519085e+02] [ 4.05287667e-01 9.14068441e-01 -1.48590849e-02 6.64612748e+01] [ 3.65757779e-02 2.78214505e-05 9.99330882e-01 3.22251272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.919254154 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:878.57, Y:66.48, Z:32.23 [[ 9.12130608e-01 -4.08535181e-01 -3.34179521e-02 8.78574342e+02] [ 4.08264586e-01 9.12742570e-01 -1.48670342e-02 6.64832485e+01] [ 3.65756940e-02 -8.26893728e-05 9.99330882e-01 3.22263467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.9792541539999 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:878.63, Y:66.50, Z:32.23 [[ 9.08932034e-01 -4.15603224e-01 -3.34143395e-02 8.78629605e+02] [ 4.15337089e-01 9.09545948e-01 -1.48751493e-02 6.65023223e+01] [ 3.65740371e-02 -3.57714781e-04 9.99330882e-01 3.22260276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.039254154 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:878.69, Y:66.52, Z:32.23 [[ 9.05938099e-01 -4.22089775e-01 -3.34123074e-02 8.78685219e+02] [ 4.21827867e-01 9.06553829e-01 -1.48797122e-02 6.65210804e+01] [ 3.65706296e-02 -6.14144164e-04 9.99330882e-01 3.22317036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.0992541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:878.74, Y:66.54, Z:32.24 [[ 9.04467748e-01 -4.25231656e-01 -3.34085550e-02 8.78740188e+02] [ 4.24971576e-01 9.05084252e-01 -1.48881325e-02 6.65419108e+01] [ 3.65684623e-02 -7.31850569e-04 9.99330882e-01 3.22353749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.159254154 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:878.79, Y:66.56, Z:32.24 [[ 9.02843285e-01 -4.28670178e-01 -3.34048030e-02 8.78793989e+02] [ 4.28412134e-01 9.03460645e-01 -1.48965462e-02 6.65614248e+01] [ 3.65656300e-02 -8.61776286e-04 9.99330882e-01 3.22359894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.2192541539999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:878.85, Y:66.58, Z:32.24 [[ 9.02444272e-01 -4.29509695e-01 -3.34029602e-02 8.78848097e+02] [ 4.29252074e-01 9.03061807e-01 -1.49006772e-02 6.65835925e+01] [ 3.65649229e-02 -8.91259185e-04 9.99330882e-01 3.22410861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.279254154 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:878.90, Y:66.61, Z:32.24 [[ 9.01156808e-01 -4.32204695e-01 -3.33992341e-02 8.78901487e+02] [ 4.31948611e-01 9.01774982e-01 -1.49090244e-02 6.66057867e+01] [ 3.65623441e-02 -9.91383952e-04 9.99330882e-01 3.22426589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.339254154 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:878.95, Y:66.63, Z:32.24 [[ 9.00582929e-01 -4.33399542e-01 -3.33949996e-02 8.78954716e+02] [ 4.33143926e-01 9.01201297e-01 -1.49185034e-02 6.66290801e+01] [ 3.65612895e-02 -1.02949174e-03 9.99330882e-01 3.22442283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.399254154 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:879.01, Y:66.65, Z:32.25 [[ 9.00168754e-01 -4.34259450e-01 -3.33907831e-02 8.79008444e+02] [ 4.34004076e-01 9.00787222e-01 -1.49279348e-02 6.66530883e+01] [ 3.65605875e-02 -1.05407549e-03 9.99330882e-01 3.22460658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.459254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:879.06, Y:66.68, Z:32.25 [[ 8.98574824e-01 -4.37548382e-01 -3.33870988e-02 8.79062738e+02] [ 4.37294966e-01 8.99194097e-01 -1.49361705e-02 6.66771433e+01] [ 3.65567794e-02 -1.17874345e-03 9.99330882e-01 3.22472030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.519254154 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:879.12, Y:66.70, Z:32.25 [[ 8.96780239e-01 -4.41215061e-01 -3.33837045e-02 8.79117323e+02] [ 4.40963895e-01 8.97400428e-01 -1.49437532e-02 6.66996669e+01] [ 3.65519597e-02 -1.31974582e-03 9.99330882e-01 3.22509243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.579254154 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:879.17, Y:66.72, Z:32.25 [[ 8.94235424e-01 -4.46350540e-01 -3.33796606e-02 8.79169748e+02] [ 4.46102598e-01 8.94856908e-01 -1.49527804e-02 6.67249439e+01] [ 3.65442015e-02 -1.51944739e-03 9.99330882e-01 3.22516140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.639254154 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:879.22, Y:66.75, Z:32.26 [[ 8.94520068e-01 -4.45779925e-01 -3.33782232e-02 8.79222276e+02] [ 4.45531467e-01 8.95141347e-01 -1.49559885e-02 6.67507924e+01] [ 3.65453071e-02 -1.49261692e-03 9.99330882e-01 3.22552586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.699254154 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:879.27, Y:66.78, Z:32.26 [[ 8.96988632e-01 -4.40791952e-01 -3.33743730e-02 8.79273617e+02] [ 4.40539719e-01 8.97608388e-01 -1.49645753e-02 6.67777082e+01] [ 3.65533815e-02 -1.27968302e-03 9.99330882e-01 3.22592029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.759254154 meters Centerline goodness : 0.999747 with order 1 Centerline is valid? [True, True] Translation: X:879.32, Y:66.80, Z:32.26 [[ 8.98575351e-01 -4.37548374e-01 -3.33730217e-02 8.79324914e+02] [ 4.37293792e-01 8.99194145e-01 -1.49675882e-02 6.68045921e+01] [ 3.65578696e-02 -1.14430935e-03 9.99330883e-01 3.22594196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.819254154 meters Centerline goodness : 0.999791 with order 1 Centerline is valid? [True, True] Translation: X:879.38, Y:66.83, Z:32.26 [[ 9.00517264e-01 -4.33537992e-01 -3.33686399e-02 8.79377195e+02] [ 4.33280293e-01 9.01134766e-01 -1.49773507e-02 6.68321325e+01] [ 3.65628921e-02 -9.70611193e-04 9.99330883e-01 3.22623422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.879254154 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:879.43, Y:66.86, Z:32.27 [[ 9.02005737e-01 -4.30432848e-01 -3.33648637e-02 8.79429842e+02] [ 4.30172712e-01 9.02622216e-01 -1.49857581e-02 6.68591552e+01] [ 3.65662298e-02 -8.35414161e-04 9.99330883e-01 3.22674812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.939254154 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:879.48, Y:66.89, Z:32.27 [[ 9.01638630e-01 -4.31201589e-01 -3.33612207e-02 8.79481328e+02] [ 4.30941678e-01 9.02255205e-01 -1.49938638e-02 6.68852631e+01] [ 3.65657129e-02 -8.57693617e-04 9.99330883e-01 3.22697051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.999254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:879.53, Y:66.91, Z:32.27 [[ 9.00930046e-01 -4.32680477e-01 -3.33565144e-02 8.79533954e+02] [ 4.32421191e-01 9.01546884e-01 -1.50043265e-02 6.69100601e+01] [ 3.65645407e-02 -9.06215166e-04 9.99330883e-01 3.22688044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.059254154 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:879.59, Y:66.93, Z:32.27 [[ 8.98750149e-01 -4.37190584e-01 -3.33551004e-02 8.79587171e+02] [ 4.36934276e-01 8.99368231e-01 -1.50074692e-02 6.69339395e+01] [ 3.65596418e-02 -1.08602152e-03 9.99330883e-01 3.22694019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.119254154 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:879.64, Y:66.96, Z:32.27 [[ 8.96234784e-01 -4.42324247e-01 -3.33537502e-02 8.79641243e+02] [ 4.42071368e-01 8.96854275e-01 -1.50104693e-02 6.69583187e+01] [ 3.65529480e-02 -1.29183332e-03 9.99330883e-01 3.22712068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.179254154 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:879.69, Y:66.98, Z:32.28 [[ 8.94357587e-01 -4.46107933e-01 -3.33499325e-02 8.79693317e+02] [ 4.45857359e-01 8.94978015e-01 -1.50189466e-02 6.69829523e+01] [ 3.65475276e-02 -1.43700394e-03 9.99330883e-01 3.22753922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.2392541539999 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:879.75, Y:67.01, Z:32.28 [[ 8.92514297e-01 -4.49784505e-01 -3.33485942e-02 8.79746380e+02] [ 4.49536375e-01 8.93135706e-01 -1.50219177e-02 6.70089758e+01] [ 3.65414460e-02 -1.58412979e-03 9.99330883e-01 3.22787554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.299254154 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:879.80, Y:67.03, Z:32.29 [[ 8.93633377e-01 -4.47557275e-01 -3.33447531e-02 8.79799101e+02] [ 4.47307278e-01 8.94254038e-01 -1.50304391e-02 6.70335447e+01] [ 3.65456625e-02 -1.48364871e-03 9.99330883e-01 3.22885755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.3592541539999 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:879.85, Y:67.06, Z:32.29 [[ 8.97105568e-01 -4.40556241e-01 -3.33436387e-02 8.79849867e+02] [ 4.40301307e-01 8.97724217e-01 -1.50329109e-02 6.70636233e+01] [ 3.65562347e-02 -1.19513967e-03 9.99330883e-01 3.22880599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.419254154 meters Centerline goodness : 0.999959 with order 1 Centerline is valid? [True, True] Translation: X:879.90, Y:67.10, Z:32.29 [[ 9.01691284e-01 -4.31093137e-01 -3.33396930e-02 8.79898756e+02] [ 4.30831385e-01 9.02307080e-01 -1.50416564e-02 6.70950098e+01] [ 3.65669959e-02 -8.00855623e-04 9.99330883e-01 3.22869031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.4792541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:879.95, Y:67.12, Z:32.29 [[ 9.04038286e-01 -4.26149449e-01 -3.33380293e-02 8.79950383e+02] [ 4.25884194e-01 9.04652580e-01 -1.50453431e-02 6.71223717e+01] [ 3.65708989e-02 -5.96573521e-04 9.99330883e-01 3.22892295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.539254154 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:880.00, Y:67.15, Z:32.29 [[ 9.06654689e-01 -4.20554563e-01 -3.33336865e-02 8.80002208e+02] [ 4.20285163e-01 9.07267177e-01 -1.50549586e-02 6.71503561e+01] [ 3.65739912e-02 -3.60005054e-04 9.99330883e-01 3.22868323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.5992541539999 meters Centerline goodness : 0.999917 with order 1 Centerline is valid? [True, True] Translation: X:880.05, Y:67.18, Z:32.29 [[ 9.07703742e-01 -4.18285831e-01 -3.33298548e-02 8.80054755e+02] [ 4.18014589e-01 9.08315417e-01 -1.50634368e-02 6.71756613e+01] [ 3.65748431e-02 -2.59227596e-04 9.99330883e-01 3.22889633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.659254154 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:880.11, Y:67.20, Z:32.29 [[ 9.09378264e-01 -4.14633071e-01 -3.33255068e-02 8.80107084e+02] [ 4.14359019e-01 9.09988685e-01 -1.50730499e-02 6.72002559e+01] [ 3.65756190e-02 -1.01620308e-04 9.99330883e-01 3.22918485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.7192541539999 meters Centerline goodness : 0.999813 with order 1 Centerline is valid? [True, True] Translation: X:880.16, Y:67.22, Z:32.30 [[ 9.11039801e-01 -4.10969811e-01 -3.33210952e-02 8.80161770e+02] [ 4.10692949e-01 9.11648952e-01 -1.50827960e-02 6.72226094e+01] [ 3.65757153e-02 5.62885926e-05 9.99330883e-01 3.22985165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.779254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:880.22, Y:67.25, Z:32.30 [[ 9.12905621e-01 -4.06808674e-01 -3.33171041e-02 8.80216136e+02] [ 4.06528714e-01 9.13513354e-01 -1.50916070e-02 6.72454799e+01] [ 3.65750161e-02 2.32853405e-04 9.99330883e-01 3.22998558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.839254154 meters Centerline goodness : 0.999813 with order 1 Centerline is valid? [True, True] Translation: X:880.27, Y:67.27, Z:32.30 [[ 9.14541730e-01 -4.03117426e-01 -3.33131402e-02 8.80270424e+02] [ 4.02834695e-01 9.15148178e-01 -1.51003518e-02 6.72657438e+01] [ 3.65736745e-02 3.90213233e-04 9.99330883e-01 3.22971169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.899254154 meters Centerline goodness : 0.999855 with order 1 Centerline is valid? [True, True] Translation: X:880.33, Y:67.28, Z:32.30 [[ 9.16189765e-01 -3.99357847e-01 -3.33110385e-02 8.80325671e+02] [ 3.99072458e-01 9.16794967e-01 -1.51049867e-02 6.72843267e+01] [ 3.65716874e-02 5.45516169e-04 9.99330883e-01 3.23008685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.959254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:880.38, Y:67.30, Z:32.31 [[ 9.17078178e-01 -3.97313834e-01 -3.33066377e-02 8.80380958e+02] [ 3.97026744e-01 9.17682576e-01 -1.51146843e-02 6.73046238e+01] [ 3.65701943e-02 6.37721197e-04 9.99330883e-01 3.23063129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.019254154 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:880.44, Y:67.32, Z:32.30 [[ 9.17044083e-01 -3.97392842e-01 -3.33028461e-02 8.80436797e+02] [ 3.97105501e-01 9.17648361e-01 -1.51230339e-02 6.73241137e+01] [ 3.65700876e-02 6.43745395e-04 9.99330883e-01 3.23047831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.079254154 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:880.49, Y:67.34, Z:32.31 [[ 9.16261145e-01 -3.99195048e-01 -3.32990549e-02 8.80494148e+02] [ 3.98908593e-01 9.16865844e-01 -1.51313770e-02 6.73410584e+01] [ 3.65711369e-02 5.81013646e-04 9.99330883e-01 3.23053450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.139254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:880.55, Y:67.36, Z:32.31 [[ 9.13987467e-01 -4.04374017e-01 -3.32951154e-02 8.80550700e+02] [ 4.04090673e-01 9.14593630e-01 -1.51400406e-02 6.73554428e+01] [ 3.65737395e-02 3.83561799e-04 9.99330883e-01 3.23087841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.199254154 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:880.61, Y:67.37, Z:32.31 [[ 9.09457532e-01 -4.14461773e-01 -3.32931798e-02 8.80608450e+02] [ 4.14184997e-01 9.10066722e-01 -1.51442958e-02 6.73691868e+01] [ 3.65757467e-02 -1.64416967e-05 9.99330883e-01 3.23105347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.259254154 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:880.67, Y:67.38, Z:32.31 [[ 9.04564248e-01 -4.25035741e-01 -3.32887401e-02 8.80666745e+02] [ 4.24765727e-01 9.05176465e-01 -1.51540485e-02 6.73828644e+01] [ 3.65731963e-02 -4.32105411e-04 9.99330883e-01 3.23136418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.319254154 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:880.72, Y:67.40, Z:32.31 [[ 8.99490156e-01 -4.35671405e-01 -3.32849264e-02 8.80723463e+02] [ 4.35408319e-01 9.00105381e-01 -1.51624204e-02 6.73975621e+01] [ 3.65657743e-02 -8.54085940e-04 9.99330883e-01 3.23138952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.379254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:880.78, Y:67.41, Z:32.32 [[ 8.96186911e-01 -4.42426567e-01 -3.32829238e-02 8.80780496e+02] [ 4.42167954e-01 8.96804030e-01 -1.51668151e-02 6.74146472e+01] [ 3.65584621e-02 -1.12434115e-03 9.99330883e-01 3.23172924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.439254154 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:880.84, Y:67.43, Z:32.32 [[ 8.93000191e-01 -4.48824187e-01 -3.32792513e-02 8.80835984e+02] [ 4.48569694e-01 8.93619020e-01 -1.51748689e-02 6.74325975e+01] [ 3.65498202e-02 -1.37690281e-03 9.99330884e-01 3.23199794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.499254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:880.89, Y:67.45, Z:32.33 [[ 8.90896842e-01 -4.52985219e-01 -3.32747244e-02 8.80890304e+02] [ 4.52733246e-01 8.91516702e-01 -1.51847889e-02 6.74534533e+01] [ 3.65434575e-02 -1.53649346e-03 9.99330884e-01 3.23266660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.559254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:880.94, Y:67.48, Z:32.33 [[ 8.86490681e-01 -4.61548880e-01 -3.32701803e-02 8.80944382e+02] [ 4.61302519e-01 8.87112792e-01 -1.51947385e-02 6.74751027e+01] [ 3.65275171e-02 -1.87762386e-03 9.99330884e-01 3.23271412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.619254154 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:881.00, Y:67.50, Z:32.33 [[ 8.82200949e-01 -4.69696413e-01 -3.32680852e-02 8.80997531e+02] [ 4.69455622e-01 8.82825237e-01 -1.51993243e-02 6.74983451e+01] [ 3.65089733e-02 -2.20903129e-03 9.99330884e-01 3.23292446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.679254154 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:881.05, Y:67.52, Z:32.33 [[ 8.80581680e-01 -4.72725533e-01 -3.32637198e-02 8.81050915e+02] [ 4.72486529e-01 8.81206656e-01 -1.52088719e-02 6.75231084e+01] [ 3.65018334e-02 -2.32400556e-03 9.99330884e-01 3.23307542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.7392541539999 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:881.10, Y:67.55, Z:32.33 [[ 8.81323974e-01 -4.71340463e-01 -3.32598845e-02 8.81103629e+02] [ 4.71100163e-01 8.81948452e-01 -1.52172547e-02 6.75499770e+01] [ 3.65060115e-02 -2.25740555e-03 9.99330884e-01 3.23318109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.799254154 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:881.16, Y:67.58, Z:32.33 [[ 8.82598581e-01 -4.68949654e-01 -3.32560697e-02 8.81155599e+02] [ 4.68707349e-01 8.83222284e-01 -1.52255870e-02 6.75780108e+01] [ 3.65125356e-02 -2.14928279e-03 9.99330884e-01 3.23330197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.8592541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:881.21, Y:67.60, Z:32.34 [[ 8.83187371e-01 -4.67840097e-01 -3.32522275e-02 8.81207992e+02] [ 4.67596694e-01 8.83810646e-01 -1.52339737e-02 6.76044184e+01] [ 3.65157364e-02 -2.09417843e-03 9.99330884e-01 3.23389882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.919254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:881.26, Y:67.63, Z:32.34 [[ 8.81598047e-01 -4.70828448e-01 -3.32484024e-02 8.81259259e+02] [ 4.70586843e-01 8.82222021e-01 -1.52423174e-02 6.76324673e+01] [ 3.65089894e-02 -2.20866353e-03 9.99330884e-01 3.23415279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.9792541539999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:881.31, Y:67.66, Z:32.34 [[ 8.79250483e-01 -4.75198089e-01 -3.32470234e-02 8.81310406e+02] [ 4.74959471e-01 8.79875605e-01 -1.52453247e-02 6.76604544e+01] [ 3.64977940e-02 -2.38652956e-03 9.99330884e-01 3.23425924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.039254154 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:881.36, Y:67.69, Z:32.35 [[ 8.80824505e-01 -4.72274197e-01 -3.32456673e-02 8.81358903e+02] [ 4.72033393e-01 8.81448788e-01 -1.52482814e-02 6.76902950e+01] [ 3.65057230e-02 -2.26200528e-03 9.99330884e-01 3.23455067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.0992541539999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:881.41, Y:67.72, Z:32.35 [[ 8.85538700e-01 -4.63374643e-01 -3.32438002e-02 8.81407922e+02] [ 4.63127408e-01 8.86160465e-01 -1.52523509e-02 6.77229848e+01] [ 3.65268941e-02 -1.88956807e-03 9.99330884e-01 3.23461314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.159254154 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:881.46, Y:67.76, Z:32.35 [[ 8.90803100e-01 -4.53172119e-01 -3.32395535e-02 8.81456059e+02] [ 4.52917414e-01 8.91421842e-01 -1.52616002e-02 6.77564312e+01] [ 3.65465957e-02 -1.45969188e-03 9.99330884e-01 3.23466812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.2192541539999 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:881.51, Y:67.79, Z:32.35 [[ 8.94591940e-01 -4.45646362e-01 -3.32352296e-02 8.81505360e+02] [ 4.45386101e-01 8.95208365e-01 -1.52710107e-02 6.77886854e+01] [ 3.65579259e-02 -1.14118624e-03 9.99330884e-01 3.23506846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.279254154 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:881.56, Y:67.82, Z:32.35 [[ 8.95340788e-01 -4.44140274e-01 -3.32308638e-02 8.81555439e+02] [ 4.43878623e-01 8.95956625e-01 -1.52805050e-02 6.78174256e+01] [ 3.65601003e-02 -1.06921063e-03 9.99330884e-01 3.23537561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.339254154 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:881.60, Y:67.85, Z:32.35 [[ 8.95715006e-01 -4.43385416e-01 -3.32265190e-02 8.81604476e+02] [ 4.43122897e-01 8.96330473e-01 -1.52899467e-02 6.78511191e+01] [ 3.65612808e-02 -1.02799666e-03 9.99330884e-01 3.23516629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.399254154 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:881.66, Y:67.88, Z:32.36 [[ 8.95412537e-01 -4.43996265e-01 -3.32220627e-02 8.81655515e+02] [ 4.43733807e-01 8.96028030e-01 -1.52996232e-02 6.78795058e+01] [ 3.65608750e-02 -1.04227790e-03 9.99330884e-01 3.23555315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.459254154 meters Centerline goodness : 0.999770 with order 1 Centerline is valid? [True, True] Translation: X:881.71, Y:67.91, Z:32.36 [[ 8.94200429e-01 -4.46432502e-01 -3.32206708e-02 8.81706653e+02] [ 4.46171609e-01 8.94816587e-01 -1.53026449e-02 6.79065481e+01] [ 3.65580053e-02 -1.13848850e-03 9.99330884e-01 3.23553697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.519254154 meters Centerline goodness : 0.999750 with order 1 Centerline is valid? [True, True] Translation: X:881.76, Y:67.93, Z:32.36 [[ 8.91511359e-01 -4.51778903e-01 -3.32162577e-02 8.81758333e+02] [ 4.51521348e-01 8.92128919e-01 -1.53122182e-02 6.79345169e+01] [ 3.65509212e-02 -1.34683299e-03 9.99330884e-01 3.23553825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.579254154 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:881.81, Y:67.96, Z:32.36 [[ 8.90003146e-01 -4.54743157e-01 -3.32123749e-02 8.81809477e+02] [ 4.54487345e-01 8.90621430e-01 -1.53206353e-02 6.79610461e+01] [ 3.65466069e-02 -1.45919045e-03 9.99330884e-01 3.23594574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.639254154 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:881.86, Y:67.99, Z:32.36 [[ 8.90476852e-01 -4.53815169e-01 -3.32079433e-02 8.81859526e+02] [ 4.53558355e-01 8.91094722e-01 -1.53302350e-02 6.79906996e+01] [ 3.65485162e-02 -1.41052066e-03 9.99330884e-01 3.23622576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.699254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:881.91, Y:68.02, Z:32.37 [[ 8.93292130e-01 -4.48248478e-01 -3.32034988e-02 8.81910138e+02] [ 4.47987456e-01 8.93908233e-01 -1.53398552e-02 6.80198827e+01] [ 3.65569477e-02 -1.17177906e-03 9.99330884e-01 3.23658514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.759254154 meters Centerline goodness : 0.999771 with order 1 Centerline is valid? [True, True] Translation: X:881.96, Y:68.05, Z:32.36 [[ 8.96356991e-01 -4.42087958e-01 -3.32021343e-02 8.81961485e+02] [ 4.41822590e-01 8.96971235e-01 -1.53428079e-02 6.80486612e+01] [ 3.65642301e-02 -9.16819827e-04 9.99330884e-01 3.23647276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.819254154 meters Centerline goodness : 0.999728 with order 1 Centerline is valid? [True, True] Translation: X:882.01, Y:68.08, Z:32.37 [[ 8.97959168e-01 -4.38824804e-01 -3.31982714e-02 8.82012237e+02] [ 4.38556895e-01 8.98572307e-01 -1.53511619e-02 6.80778936e+01] [ 3.65675179e-02 -7.74614294e-04 9.99330884e-01 3.23682125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.879254154 meters Centerline goodness : 0.999770 with order 1 Centerline is valid? [True, True] Translation: X:882.06, Y:68.10, Z:32.37 [[ 8.97842613e-01 -4.39063524e-01 -3.31943398e-02 8.82064450e+02] [ 4.38795464e-01 8.98455687e-01 -1.53596586e-02 6.81038257e+01] [ 3.65675092e-02 -7.74969738e-04 9.99330884e-01 3.23737464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.939254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:882.12, Y:68.13, Z:32.38 [[ 8.97013763e-01 -4.40754702e-01 -3.31903784e-02 8.82116859e+02] [ 4.40487482e-01 8.97627204e-01 -1.53682140e-02 6.81293236e+01] [ 3.65661991e-02 -8.34446703e-04 9.99330885e-01 3.23795759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.999254154 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:882.17, Y:68.16, Z:32.38 [[ 8.95218991e-01 -4.44389045e-01 -3.31863725e-02 8.82168693e+02] [ 4.44123994e-01 8.95833372e-01 -1.53768596e-02 6.81567661e+01] [ 3.65627679e-02 -9.73207577e-04 9.99330885e-01 3.23774830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.059254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:882.22, Y:68.19, Z:32.38 [[ 8.95060522e-01 -4.44708432e-01 -3.31824196e-02 8.82220156e+02] [ 4.44443285e-01 8.95674861e-01 -1.53853850e-02 6.81854206e+01] [ 3.65626695e-02 -9.76852820e-04 9.99330885e-01 3.23824071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.119254154 meters Centerline goodness : 0.999771 with order 1 Centerline is valid? [True, True] Translation: X:882.27, Y:68.21, Z:32.38 [[ 8.95500277e-01 -4.43822531e-01 -3.31785254e-02 8.82272830e+02] [ 4.43556466e-01 8.96114219e-01 -1.53937781e-02 6.82117507e+01] [ 3.65638540e-02 -9.31416893e-04 9.99330885e-01 3.23800097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.179254154 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:882.32, Y:68.24, Z:32.38 [[ 8.97806383e-01 -4.39139089e-01 -3.31746796e-02 8.82324036e+02] [ 4.38869515e-01 8.98418792e-01 -1.54020617e-02 6.82419846e+01] [ 3.65684029e-02 -7.31286252e-04 9.99330885e-01 3.23794959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.2392541539999 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:882.38, Y:68.27, Z:32.39 [[ 8.98229102e-01 -4.38274083e-01 -3.31708868e-02 8.82376690e+02] [ 4.38003618e-01 8.98841118e-01 -1.54102257e-02 6.82682875e+01] [ 3.65692596e-02 -6.87055194e-04 9.99330885e-01 3.23890956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.299254154 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:882.43, Y:68.30, Z:32.39 [[ 8.96663557e-01 -4.41468488e-01 -3.31668614e-02 8.82428614e+02] [ 4.41199882e-01 8.97276391e-01 -1.54188846e-02 6.82951060e+01] [ 3.65667934e-02 -8.07663391e-04 9.99330885e-01 3.23870645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.3592541539999 meters Centerline goodness : 0.999813 with order 1 Centerline is valid? [True, True] Translation: X:882.48, Y:68.32, Z:32.39 [[ 8.95557380e-01 -4.43708252e-01 -3.31657293e-02 8.82480533e+02] [ 4.43441089e-01 8.96170845e-01 -1.54213193e-02 6.83219987e+01] [ 3.65647263e-02 -8.96370791e-04 9.99330885e-01 3.23886829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.419254154 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:882.53, Y:68.35, Z:32.39 [[ 8.96579255e-01 -4.41640096e-01 -3.31611958e-02 8.82531782e+02] [ 4.41371158e-01 8.97191944e-01 -1.54310619e-02 6.83500004e+01] [ 3.65669333e-02 -8.01225412e-04 9.99330885e-01 3.23909303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.4792541539999 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:882.58, Y:68.38, Z:32.39 [[ 8.98761766e-01 -4.37181792e-01 -3.31567294e-02 8.82582875e+02] [ 4.36909461e-01 8.99372953e-01 -1.54406527e-02 6.83764471e+01] [ 3.65706379e-02 -6.09020456e-04 9.99330885e-01 3.23928748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.539254154 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:882.63, Y:68.40, Z:32.40 [[ 9.00510655e-01 -4.33568125e-01 -3.31548090e-02 8.82633661e+02] [ 4.33293188e-01 9.01120676e-01 -1.54447753e-02 6.84032436e+01] [ 3.65728461e-02 -4.57568157e-04 9.99330885e-01 3.23966853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.5992541539999 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:882.69, Y:68.43, Z:32.40 [[ 9.00513556e-01 -4.33562202e-01 -3.31534614e-02 8.82686582e+02] [ 4.33287155e-01 9.01123527e-01 -1.54476676e-02 6.84290064e+01] [ 3.65728888e-02 -4.54134890e-04 9.99330885e-01 3.23953862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.659254154 meters Centerline goodness : 0.999771 with order 1 Centerline is valid? [True, True] Translation: X:882.74, Y:68.45, Z:32.40 [[ 8.98912357e-01 -4.36872614e-01 -3.31495605e-02 8.82738736e+02] [ 4.36599505e-01 8.99523198e-01 -1.54560341e-02 6.84527829e+01] [ 3.65711166e-02 -5.79461632e-04 9.99330885e-01 3.23957957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.7192541539999 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:882.79, Y:68.48, Z:32.40 [[ 8.97394466e-01 -4.39982280e-01 -3.31476425e-02 8.82791109e+02] [ 4.39711136e-01 8.98006181e-01 -1.54601463e-02 6.84767377e+01] [ 3.65689783e-02 -7.01537754e-04 9.99330885e-01 3.23984441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.779254154 meters Centerline goodness : 0.999729 with order 1 Centerline is valid? [True, True] Translation: X:882.84, Y:68.50, Z:32.40 [[ 8.95212495e-01 -4.44405364e-01 -3.31430436e-02 8.82844417e+02] [ 4.44136877e-01 8.95825381e-01 -1.54699991e-02 6.85009033e+01] [ 3.65653302e-02 -8.71111351e-04 9.99330885e-01 3.24025463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.839254154 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:882.90, Y:68.53, Z:32.40 [[ 8.94143770e-01 -4.46552035e-01 -3.31390843e-02 8.82896178e+02] [ 4.46284706e-01 8.94757162e-01 -1.54784758e-02 6.85252889e+01] [ 3.65633779e-02 -9.49483778e-04 9.99330885e-01 3.24047303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.899254154 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:882.95, Y:68.55, Z:32.41 [[ 8.92302698e-01 -4.50219833e-01 -3.31360363e-02 8.82948270e+02] [ 4.49954783e-01 8.92917078e-01 -1.54849981e-02 6.85512966e+01] [ 3.65593860e-02 -1.09241241e-03 9.99330885e-01 3.24075831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.959254154 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:883.00, Y:68.58, Z:32.41 [[ 8.91154162e-01 -4.52489295e-01 -3.31315146e-02 8.82999976e+02] [ 4.52225450e-01 8.91769061e-01 -1.54946667e-02 6.85779188e+01] [ 3.65568305e-02 -1.17477741e-03 9.99330885e-01 3.24100588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.019254154 meters Centerline goodness : 0.999917 with order 1 Centerline is valid? [True, True] Translation: X:883.05, Y:68.60, Z:32.41 [[ 8.91238574e-01 -4.52323342e-01 -3.31269913e-02 8.83050550e+02] [ 4.52059024e-01 8.91853270e-01 -1.55043314e-02 6.86045722e+01] [ 3.65573865e-02 -1.15729710e-03 9.99330885e-01 3.24091485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.079254154 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:883.10, Y:68.63, Z:32.41 [[ 8.92735696e-01 -4.49361525e-01 -3.31239495e-02 8.83101652e+02] [ 4.49094926e-01 8.93349406e-01 -1.55108272e-02 6.86328379e+01] [ 3.65612296e-02 -1.02872859e-03 9.99330885e-01 3.24100501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.139254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:883.15, Y:68.66, Z:32.41 [[ 8.94308726e-01 -4.46223035e-01 -3.31195749e-02 8.83152919e+02] [ 4.45953937e-01 8.94921343e-01 -1.55201625e-02 6.86603213e+01] [ 3.65648685e-02 -8.89988104e-04 9.99330885e-01 3.24144288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.199254154 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:883.20, Y:68.69, Z:32.41 [[ 8.94824860e-01 -4.45187439e-01 -3.31151669e-02 8.83203963e+02] [ 4.44917284e-01 8.95437013e-01 -1.55295621e-02 6.86877196e+01] [ 3.65661121e-02 -8.37271918e-04 9.99330885e-01 3.24134214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.259254154 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:883.26, Y:68.71, Z:32.42 [[ 8.95482742e-01 -4.43862970e-01 -3.31107514e-02 8.83255325e+02] [ 4.43591562e-01 8.96094340e-01 -1.55389708e-02 6.87140289e+01] [ 3.65675306e-02 -7.72769727e-04 9.99330885e-01 3.24164099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.319254154 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:883.31, Y:68.74, Z:32.42 [[ 8.96408154e-01 -4.41991393e-01 -3.31063478e-02 8.83306850e+02] [ 4.41718362e-01 8.97019029e-01 -1.55483471e-02 6.87414596e+01] [ 3.65692595e-02 -6.86016567e-04 9.99330885e-01 3.24199947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.379254154 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:883.36, Y:68.77, Z:32.42 [[ 8.96513308e-01 -4.41778350e-01 -3.31025335e-02 8.83358007e+02] [ 4.41504874e-01 8.97123984e-01 -1.55564635e-02 6.87678716e+01] [ 3.65695855e-02 -6.68353343e-04 9.99330886e-01 3.24219650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.439254154 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:883.41, Y:68.79, Z:32.42 [[ 8.95399146e-01 -4.44032539e-01 -3.30979421e-02 8.83410148e+02] [ 4.43760240e-01 8.96010347e-01 -1.55662260e-02 6.87924541e+01] [ 3.65680095e-02 -7.49565261e-04 9.99330886e-01 3.24230627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.499254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:883.46, Y:68.82, Z:32.43 [[ 8.94767108e-01 -4.45305131e-01 -3.30932505e-02 8.83461507e+02] [ 4.45033332e-01 8.95378532e-01 -1.55761938e-02 6.88165018e+01] [ 3.65671451e-02 -7.90533636e-04 9.99330886e-01 3.24287735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.559254154 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:883.51, Y:68.84, Z:32.43 [[ 8.93504742e-01 -4.47832832e-01 -3.30912348e-02 8.83513923e+02] [ 4.47562605e-01 8.94116862e-01 -1.55804751e-02 6.88406133e+01] [ 3.65648793e-02 -8.89170840e-04 9.99330886e-01 3.24292538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.619254154 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:883.57, Y:68.87, Z:32.43 [[ 8.94417719e-01 -4.46006973e-01 -3.30866102e-02 8.83566209e+02] [ 4.45735133e-01 8.95029125e-01 -1.55902895e-02 6.88651163e+01] [ 3.65668576e-02 -8.03633426e-04 9.99330886e-01 3.24269976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.679254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:883.62, Y:68.89, Z:32.43 [[ 8.97305922e-01 -4.40167527e-01 -3.30851921e-02 8.83618768e+02] [ 4.39891596e-01 8.97915493e-01 -1.55932986e-02 6.88903887e+01] [ 3.65713702e-02 -5.61938809e-04 9.99330886e-01 3.24330266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.7392541539999 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:883.67, Y:68.91, Z:32.44 [[ 9.00046087e-01 -4.34537334e-01 -3.30809207e-02 8.83671365e+02] [ 4.34257257e-01 9.00653763e-01 -1.56023550e-02 6.89148302e+01] [ 3.65742614e-02 -3.22791325e-04 9.99330886e-01 3.24351386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.799254154 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:883.72, Y:68.94, Z:32.44 [[ 9.01013282e-01 -4.32528636e-01 -3.30763328e-02 8.83723168e+02] [ 4.32246848e-01 9.01620167e-01 -1.56120751e-02 6.89392015e+01] [ 3.65749582e-02 -2.30453553e-04 9.99330886e-01 3.24358731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.8592541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:883.78, Y:68.96, Z:32.44 [[ 9.04063083e-01 -4.26117387e-01 -3.30743606e-02 8.83775440e+02] [ 4.25831142e-01 9.04667879e-01 -1.56162521e-02 6.89628878e+01] [ 3.65756682e-02 3.39843266e-05 9.99330886e-01 3.24418218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.919254154 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:883.83, Y:68.99, Z:32.44 [[ 9.05573364e-01 -4.22898664e-01 -3.30696686e-02 8.83827384e+02] [ 4.22609907e-01 9.06176963e-01 -1.56261817e-02 6.89856274e+01] [ 3.65752633e-02 1.75084357e-04 9.99330886e-01 3.24404714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.9792541539999 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:883.88, Y:69.01, Z:32.44 [[ 9.05525177e-01 -4.23001991e-01 -3.30676512e-02 8.83882174e+02] [ 4.22713147e-01 9.06128735e-01 -1.56304497e-02 6.90065008e+01] [ 3.65752603e-02 1.75634858e-04 9.99330886e-01 3.24422990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.039254154 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:883.94, Y:69.02, Z:32.44 [[ 9.03132754e-01 -4.28086520e-01 -3.30629684e-02 8.83936971e+02] [ 4.27800711e-01 9.03737756e-01 -1.56403489e-02 6.90249675e+01] [ 3.65756754e-02 -1.90500014e-05 9.99330886e-01 3.24436025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.0992541539999 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:883.99, Y:69.04, Z:32.45 [[ 9.00218789e-01 -4.34180960e-01 -3.30609585e-02 8.83991885e+02] [ 4.33899091e-01 9.00825636e-01 -1.56445963e-02 6.90446757e+01] [ 3.65747448e-02 -2.61560340e-04 9.99330886e-01 3.24472201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.159254154 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:884.05, Y:69.06, Z:32.45 [[ 8.94845870e-01 -4.45149580e-01 -3.30563168e-02 8.84046936e+02] [ 4.44874786e-01 8.95455954e-01 -1.56543980e-02 6.90632377e+01] [ 3.65690243e-02 -6.97648434e-04 9.99330886e-01 3.24484229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.2192541539999 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:884.10, Y:69.08, Z:32.45 [[ 8.90288152e-01 -4.54196641e-01 -3.30517369e-02 8.84102090e+02] [ 4.53927686e-01 8.90900832e-01 -1.56640617e-02 6.90822181e+01] [ 3.65603841e-02 -1.05756995e-03 9.99330886e-01 3.24520976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.279254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:884.16, Y:69.10, Z:32.46 [[ 8.88871297e-01 -4.56963573e-01 -3.30471049e-02 8.84155800e+02] [ 4.56696162e-01 8.89484652e-01 -1.56738280e-02 6.91029945e+01] [ 3.65572610e-02 -1.16047019e-03 9.99330886e-01 3.24553761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.339254154 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:884.21, Y:69.13, Z:32.45 [[ 8.90825404e-01 -4.53142576e-01 -3.30439914e-02 8.84208182e+02] [ 4.52872291e-01 8.91437498e-01 -1.56803892e-02 6.91266961e+01] [ 3.65621050e-02 -9.96219012e-04 9.99330886e-01 3.24546642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.399254154 meters Centerline goodness : 0.999876 with order 1 Centerline is valid? [True, True] Translation: X:884.26, Y:69.15, Z:32.46 [[ 8.94863059e-01 -4.45116082e-01 -3.30420868e-02 8.84261066e+02] [ 4.44840157e-01 8.95472632e-01 -1.56844015e-02 6.91517515e+01] [ 3.65696638e-02 -6.63055595e-04 9.99330886e-01 3.24564518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.459254154 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:884.31, Y:69.18, Z:32.46 [[ 8.99521714e-01 -4.35625057e-01 -3.30378007e-02 8.84313316e+02] [ 4.35342368e-01 9.00128179e-01 -1.56934247e-02 6.91771619e+01] [ 3.65747044e-02 -2.66178090e-04 9.99330886e-01 3.24585954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.519254154 meters Centerline goodness : 0.999813 with order 1 Centerline is valid? [True, True] Translation: X:884.37, Y:69.20, Z:32.46 [[ 9.02645433e-01 -4.29115401e-01 -3.30332396e-02 8.84365679e+02] [ 4.28827988e-01 9.03249673e-01 -1.57030196e-02 6.92019039e+01] [ 3.65756704e-02 8.68127534e-06 9.99330886e-01 3.24598351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.579254154 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:884.42, Y:69.23, Z:32.46 [[ 9.06687057e-01 -4.20508844e-01 -3.30286595e-02 8.84418109e+02] [ 4.20215345e-01 9.07288365e-01 -1.57126472e-02 6.92250619e+01] [ 3.65738255e-02 3.67304306e-04 9.99330886e-01 3.24626340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.639254154 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:884.47, Y:69.25, Z:32.47 [[ 9.10549635e-01 -4.12078480e-01 -3.30255730e-02 8.84471871e+02] [ 4.11779179e-01 9.11148076e-01 -1.57191316e-02 6.92467159e+01] [ 3.65687032e-02 7.13806229e-04 9.99330886e-01 3.24654941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.699254154 meters Centerline goodness : 0.999770 with order 1 Centerline is valid? [True, True] Translation: X:884.53, Y:69.27, Z:32.47 [[ 9.13717190e-01 -4.05006801e-01 -3.30210297e-02 8.84525460e+02] [ 4.04702525e-01 9.14313117e-01 -1.57286701e-02 6.92665857e+01] [ 3.65617789e-02 1.00786214e-03 9.99330886e-01 3.24656936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.759254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:884.58, Y:69.28, Z:32.47 [[ 9.16105067e-01 -3.99576334e-01 -3.30190726e-02 8.84580886e+02] [ 3.99268378e-01 9.16699101e-01 -1.57327775e-02 6.92840645e+01] [ 3.65549997e-02 1.22940564e-03 9.99330886e-01 3.24712388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.819254154 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:884.64, Y:69.30, Z:32.47 [[ 9.16667331e-01 -3.98285136e-01 -3.30144681e-02 8.84637591e+02] [ 3.97975996e-01 9.17260749e-01 -1.57424338e-02 6.92999515e+01] [ 3.65528532e-02 1.29160896e-03 9.99330886e-01 3.24678434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.879254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:884.69, Y:69.32, Z:32.47 [[ 9.16518308e-01 -3.98628059e-01 -3.30130544e-02 8.84693558e+02] [ 3.98319035e-01 9.17111786e-01 -1.57453980e-02 6.93173611e+01] [ 3.65532187e-02 1.28121756e-03 9.99330886e-01 3.24717590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.939254154 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:884.75, Y:69.33, Z:32.47 [[ 9.14877521e-01 -4.02379853e-01 -3.30087073e-02 8.84754134e+02] [ 4.02072935e-01 9.15472092e-01 -1.57545060e-02 6.93266349e+01] [ 3.65578461e-02 1.14153562e-03 9.99330887e-01 3.24716601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.999254154 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:884.81, Y:69.34, Z:32.47 [[ 9.13561414e-01 -4.05359395e-01 -3.30046007e-02 8.84810312e+02] [ 4.05054106e-01 9.14156822e-01 -1.57631043e-02 6.93427387e+01] [ 3.65611033e-02 1.03191477e-03 9.99330887e-01 3.24727550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.059254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:884.87, Y:69.35, Z:32.48 [[ 9.10933849e-01 -4.11230503e-01 -3.29999460e-02 8.84869895e+02] [ 4.10928699e-01 9.11531032e-01 -1.57728429e-02 6.93536531e+01] [ 3.65667489e-02 8.07391590e-04 9.99330887e-01 3.24797955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.119254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:884.93, Y:69.37, Z:32.48 [[ 9.06037622e-01 -4.21908872e-01 -3.29959158e-02 8.84928356e+02] [ 4.21613801e-01 9.06638160e-01 -1.57812693e-02 6.93684078e+01] [ 3.65736140e-02 3.86890171e-04 9.99330887e-01 3.24798392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.179254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:884.99, Y:69.38, Z:32.48 [[ 9.01676507e-01 -4.31150812e-01 -3.29917299e-02 8.84987694e+02] [ 4.30861577e-01 9.02279877e-01 -1.57900153e-02 6.93804998e+01] [ 3.65756520e-02 2.26170278e-05 9.99330887e-01 3.24808512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.2392541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:885.05, Y:69.39, Z:32.48 [[ 8.97479086e-01 -4.39821663e-01 -3.29878027e-02 8.85045289e+02] [ 4.39537956e-01 8.98085075e-01 -1.57982157e-02 6.93937733e+01] [ 3.65742507e-02 -3.20823162e-04 9.99330887e-01 3.24844090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.299254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:885.10, Y:69.41, Z:32.49 [[ 8.94399251e-01 -4.46051688e-01 -3.29828823e-02 8.85103182e+02] [ 4.45771823e-01 8.95007024e-01 -1.58084815e-02 6.94056739e+01] [ 3.65713113e-02 -5.63745522e-04 9.99330887e-01 3.24890162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.3592541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:885.16, Y:69.43, Z:32.49 [[ 8.90640164e-01 -4.53511106e-01 -3.29814314e-02 8.85158019e+02] [ 4.53236218e-01 8.91250204e-01 -1.58115080e-02 6.94279416e+01] [ 3.65654020e-02 -8.66015206e-04 9.99330887e-01 3.24878299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.419254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:885.22, Y:69.44, Z:32.49 [[ 8.90019136e-01 -4.54728969e-01 -3.29773032e-02 8.85215580e+02] [ 4.54454598e-01 8.90629408e-01 -1.58201133e-02 6.94417389e+01] [ 3.65644199e-02 -9.06483486e-04 9.99330887e-01 3.24927941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.4792541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:885.27, Y:69.46, Z:32.50 [[ 8.90670385e-01 -4.53452210e-01 -3.29751157e-02 8.85269796e+02] [ 4.53176795e-01 8.91280187e-01 -1.58246716e-02 6.94632089e+01] [ 3.65657996e-02 -8.48990966e-04 9.99330887e-01 3.24951631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.539254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:885.32, Y:69.49, Z:32.50 [[ 8.94337597e-01 -4.46176209e-01 -3.29704897e-02 8.85321164e+02] [ 4.45895477e-01 8.94944969e-01 -1.58343041e-02 6.94875234e+01] [ 3.65716636e-02 -5.40178782e-04 9.99330887e-01 3.24950158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.5992541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:885.37, Y:69.51, Z:32.50 [[ 8.97496082e-01 -4.39788428e-01 -3.29684995e-02 8.85373807e+02] [ 4.39503220e-01 8.98101366e-01 -1.58384467e-02 6.95129710e+01] [ 3.65746200e-02 -2.74817871e-04 9.99330887e-01 3.24977889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.659254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:885.42, Y:69.54, Z:32.50 [[ 8.99222740e-01 -4.36247453e-01 -3.29639867e-02 8.85424451e+02] [ 4.35959517e-01 8.99826731e-01 -1.58478334e-02 6.95406899e+01] [ 3.65754534e-02 -1.20231538e-04 9.99330887e-01 3.24975722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.7192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:885.48, Y:69.57, Z:32.50 [[ 8.99746521e-01 -4.35166484e-01 -3.29595051e-02 8.85476138e+02] [ 4.34877481e-01 9.00350003e-01 -1.58571487e-02 6.95671119e+01] [ 3.65755901e-02 -6.59321838e-05 9.99330887e-01 3.25009846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.779254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:885.53, Y:69.59, Z:32.50 [[ 9.00991026e-01 -4.32584257e-01 -3.29549892e-02 8.85527512e+02] [ 4.32293182e-01 9.01593510e-01 -1.58665282e-02 6.95946640e+01] [ 3.65756147e-02 4.93823915e-05 9.99330887e-01 3.25031661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.839254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:885.58, Y:69.62, Z:32.50 [[ 9.01280872e-01 -4.31980393e-01 -3.29504124e-02 8.85579640e+02] [ 4.31688567e-01 9.01882993e-01 -1.58760273e-02 6.96212503e+01] [ 3.65755490e-02 8.44433918e-05 9.99330887e-01 3.25021333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.899254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:885.63, Y:69.65, Z:32.51 [[ 9.02282829e-01 -4.29884014e-01 -3.29458950e-02 8.85631566e+02] [ 4.29590446e-01 9.02884103e-01 -1.58853962e-02 6.96476201e+01] [ 3.65752027e-02 1.79878430e-04 9.99330887e-01 3.25054766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.959254154 meters Centerline goodness : 0.999758 with order 1 Centerline is valid? [True, True] Translation: X:885.68, Y:69.67, Z:32.50 [[ 9.03608138e-01 -4.27091561e-01 -3.29413305e-02 8.85684396e+02] [ 4.26795791e-01 9.04208331e-01 -1.58948560e-02 6.96749188e+01] [ 3.65743843e-02 3.03499994e-04 9.99330887e-01 3.25032614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.019254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:885.74, Y:69.70, Z:32.51 [[ 9.04934368e-01 -4.24274577e-01 -3.29373980e-02 8.85737129e+02] [ 4.23976643e-01 9.05533490e-01 -1.59030008e-02 6.96994278e+01] [ 3.65731559e-02 4.26484566e-04 9.99330887e-01 3.25089587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.079254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:885.79, Y:69.72, Z:32.51 [[ 9.06393705e-01 -4.21148280e-01 -3.29329368e-02 8.85790375e+02] [ 4.20847944e-01 9.06991626e-01 -1.59122338e-02 6.97235773e+01] [ 3.65713078e-02 5.62989793e-04 9.99330887e-01 3.25108435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.139254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:885.84, Y:69.75, Z:32.51 [[ 9.07756788e-01 -4.18202512e-01 -3.29283034e-02 8.85842253e+02] [ 4.17899888e-01 9.08353554e-01 -1.59218164e-02 6.97468466e+01] [ 3.65690850e-02 6.92402558e-04 9.99330887e-01 3.25134161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.199254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:885.90, Y:69.77, Z:32.51 [[ 9.07091347e-01 -4.19644071e-01 -3.29263113e-02 8.85896005e+02] [ 4.19342245e-01 9.07688518e-01 -1.59259350e-02 6.97701336e+01] [ 3.65700589e-02 6.38884524e-04 9.99330887e-01 3.25145206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.259254154 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:885.95, Y:69.79, Z:32.51 [[ 9.04100977e-01 -4.26048801e-01 -3.29217770e-02 8.85949604e+02] [ 4.25750865e-01 9.04700098e-01 -1.59353027e-02 6.97920582e+01] [ 3.65735514e-02 3.90647748e-04 9.99330888e-01 3.25147996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.319254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:886.00, Y:69.82, Z:32.52 [[ 9.02015900e-01 -4.30446019e-01 -3.29171676e-02 8.86002332e+02] [ 4.30150658e-01 9.02616294e-01 -1.59448184e-02 6.98159507e+01] [ 3.65749555e-02 2.23138421e-04 9.99330888e-01 3.25217266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.379254154 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:886.05, Y:69.84, Z:32.52 [[ 8.98547906e-01 -4.37639365e-01 -3.29157532e-02 8.86054321e+02] [ 4.37348703e-01 8.99150589e-01 -1.59477378e-02 6.98420761e+01] [ 3.65755767e-02 -6.58555652e-05 9.99330888e-01 3.25217351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.439254154 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:886.11, Y:69.87, Z:32.53 [[ 8.94457075e-01 -4.45941016e-01 -3.29112543e-02 8.86106780e+02] [ 4.45655606e-01 8.95062263e-01 -1.59570167e-02 6.98666323e+01] [ 3.65735100e-02 -3.94218544e-04 9.99330888e-01 3.25261318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.499254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:886.16, Y:69.89, Z:32.53 [[ 8.91034165e-01 -4.52741941e-01 -3.29066965e-02 8.86158018e+02] [ 4.52460803e-01 8.91641349e-01 -1.59664103e-02 6.98939294e+01] [ 3.65696349e-02 -6.62373250e-04 9.99330888e-01 3.25283978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.559254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:886.21, Y:69.92, Z:32.53 [[ 8.87866399e-01 -4.58923416e-01 -3.29022072e-02 8.86209669e+02] [ 4.58646162e-01 8.88475366e-01 -1.59756561e-02 6.99217869e+01] [ 3.65644033e-02 -9.06222760e-04 9.99330888e-01 3.25284112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.619254154 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:886.26, Y:69.95, Z:32.53 [[ 8.85940650e-01 -4.62630389e-01 -3.28981366e-02 8.86260357e+02] [ 4.62355372e-01 8.86550631e-01 -1.59840342e-02 6.99491487e+01] [ 3.65605637e-02 -1.04972451e-03 9.99330888e-01 3.25271292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.679254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:886.31, Y:69.98, Z:32.53 [[ 8.85848259e-01 -4.62807430e-01 -3.28959793e-02 8.86311693e+02] [ 4.62532369e-01 8.86458220e-01 -1.59884729e-02 6.99771458e+01] [ 3.65604953e-02 -1.05209436e-03 9.99330888e-01 3.25317580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.7392541539999 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:886.36, Y:70.01, Z:32.53 [[ 8.87591186e-01 -4.59456206e-01 -3.28919741e-02 8.86362410e+02] [ 4.59178537e-01 8.88199964e-01 -1.59967083e-02 7.00071258e+01] [ 3.65644371e-02 -9.04751266e-04 9.99330888e-01 3.25348939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.799254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:886.41, Y:70.04, Z:32.54 [[ 8.91376490e-01 -4.52068948e-01 -3.28879867e-02 8.86413254e+02] [ 4.51785931e-01 8.91982800e-01 -1.60049017e-02 7.00374288e+01] [ 3.65708376e-02 -5.91936618e-04 9.99330888e-01 3.25399373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.8592541539999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:886.46, Y:70.07, Z:32.54 [[ 8.95122506e-01 -4.44605827e-01 -3.28840028e-02 8.86462586e+02] [ 4.44317454e-01 8.95726287e-01 -1.60130830e-02 7.00669998e+01] [ 3.65745758e-02 -2.77265399e-04 9.99330888e-01 3.25401366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.919254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:886.51, Y:70.10, Z:32.54 [[ 8.97734763e-01 -4.39307486e-01 -3.28820413e-02 8.86513068e+02] [ 4.39015401e-01 8.98336757e-01 -1.60171099e-02 7.00962080e+01] [ 3.65755826e-02 -5.66061877e-05 9.99330888e-01 3.25412379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.9792541539999 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:886.56, Y:70.12, Z:32.54 [[ 8.99161800e-01 -4.36379560e-01 -3.28775958e-02 8.86564278e+02] [ 4.36085182e-01 8.99762677e-01 -1.60262298e-02 7.01242554e+01] [ 3.65755527e-02 7.27413202e-05 9.99330888e-01 3.25411203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.039254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:886.62, Y:70.15, Z:32.55 [[ 8.99381519e-01 -4.35926885e-01 -3.28729943e-02 8.86615410e+02] [ 4.35631859e-01 8.99982078e-01 -1.60356629e-02 7.01517276e+01] [ 3.65754822e-02 1.01655229e-04 9.99330888e-01 3.25459020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.0992541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:886.67, Y:70.18, Z:32.55 [[ 8.98682175e-01 -4.37366902e-01 -3.28715825e-02 8.86667609e+02] [ 4.37072733e-01 8.99283154e-01 -1.60385563e-02 7.01773144e+01] [ 3.65755941e-02 4.62922750e-05 9.99330888e-01 3.25484755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.159254154 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:886.72, Y:70.20, Z:32.55 [[ 8.98171886e-01 -4.38414210e-01 -3.28670680e-02 8.86720523e+02] [ 4.38120404e-01 8.98773041e-01 -1.60478024e-02 7.02035593e+01] [ 3.65756193e-02 1.39518753e-05 9.99330888e-01 3.25467883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.2192541539999 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:886.77, Y:70.23, Z:32.55 [[ 8.98856776e-01 -4.37008607e-01 -3.28629695e-02 8.86773671e+02] [ 4.36713553e-01 8.99457320e-01 -1.60561909e-02 7.02294838e+01] [ 3.65755321e-02 8.05117851e-05 9.99330888e-01 3.25482092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.279254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:886.83, Y:70.25, Z:32.55 [[ 9.01283343e-01 -4.31982208e-01 -3.28589225e-02 8.86826162e+02] [ 4.31683503e-01 9.01882080e-01 -1.60644689e-02 7.02542169e+01] [ 3.65744381e-02 2.93983467e-04 9.99330888e-01 3.25526195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.339254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:886.88, Y:70.28, Z:32.56 [[ 9.01861959e-01 -4.30773257e-01 -3.28543628e-02 8.86879393e+02] [ 4.30473410e-01 9.02460125e-01 -1.60737888e-02 7.02800442e+01] [ 3.65739107e-02 3.53409053e-04 9.99330888e-01 3.25559329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.399254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:886.93, Y:70.30, Z:32.56 [[ 9.01391092e-01 -4.31757988e-01 -3.28502491e-02 8.86932841e+02] [ 4.31458488e-01 9.01989432e-01 -1.60821916e-02 7.03033866e+01] [ 3.65741922e-02 3.22825435e-04 9.99330888e-01 3.25578418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.459254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:886.99, Y:70.33, Z:32.56 [[ 8.99406663e-01 -4.35876829e-01 -3.28488049e-02 8.86986918e+02] [ 4.35579962e-01 9.00006314e-01 -1.60851410e-02 7.03259472e+01] [ 3.65752720e-02 1.58801806e-04 9.99330888e-01 3.25611830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.519254154 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:887.04, Y:70.35, Z:32.56 [[ 8.96057080e-01 -4.42722179e-01 -3.28448037e-02 8.87038442e+02] [ 4.42429594e-01 8.96658831e-01 -1.60933070e-02 7.03545144e+01] [ 3.65754472e-02 -1.10991506e-04 9.99330888e-01 3.25579105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.579254154 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:887.09, Y:70.37, Z:32.56 [[ 8.97742825e-01 -4.39294108e-01 -3.28406198e-02 8.87093350e+02] [ 4.38998913e-01 8.98343300e-01 -1.61018402e-02 7.03748472e+01] [ 3.65755943e-02 3.83151647e-05 9.99330888e-01 3.25638852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.639254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:887.14, Y:70.40, Z:32.56 [[ 8.96534369e-01 -4.41755467e-01 -3.28364632e-02 8.87143906e+02] [ 4.41461610e-01 8.97135500e-01 -1.61103124e-02 7.04046264e+01] [ 3.65755754e-02 -5.25891485e-05 9.99330888e-01 3.25618977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.699254154 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:887.20, Y:70.43, Z:32.56 [[ 8.97726737e-01 -4.39327405e-01 -3.28350010e-02 8.87196389e+02] [ 4.39031813e-01 8.98327017e-01 -1.61132920e-02 7.04288618e+01] [ 3.65755792e-02 4.97230057e-05 9.99330888e-01 3.25598857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.759254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:887.25, Y:70.45, Z:32.57 [[ 8.99873168e-01 -4.34914301e-01 -3.28303644e-02 8.87250051e+02] [ 4.34615421e-01 9.00471817e-01 -1.61227334e-02 7.04495144e+01] [ 3.65748252e-02 2.39832473e-04 9.99330888e-01 3.25662657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.819254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:887.30, Y:70.47, Z:32.57 [[ 8.99942436e-01 -4.34771067e-01 -3.28288213e-02 8.87303072e+02] [ 4.34471977e-01 9.00540980e-01 -1.61258748e-02 7.04726322e+01] [ 3.65747627e-02 2.49156104e-04 9.99330888e-01 3.25695660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.879254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:887.36, Y:70.50, Z:32.57 [[ 8.98684882e-01 -4.37364898e-01 -3.28242027e-02 8.87356352e+02] [ 4.37067192e-01 8.99284117e-01 -1.61352705e-02 7.04981387e+01] [ 3.65752851e-02 1.54141518e-04 9.99330889e-01 3.25706826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.939254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:887.41, Y:70.52, Z:32.57 [[ 8.98617046e-01 -4.37504577e-01 -3.28199537e-02 8.87410308e+02] [ 4.37206650e-01 8.99216170e-01 -1.61439085e-02 7.05188697e+01] [ 3.65752669e-02 1.58089373e-04 9.99330889e-01 3.25748431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.999254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:887.46, Y:70.54, Z:32.58 [[ 8.97483129e-01 -4.39826081e-01 -3.28184645e-02 8.87463886e+02] [ 4.39529592e-01 8.98082966e-01 -1.61469353e-02 7.05418795e+01] [ 3.65755472e-02 6.69157257e-05 9.99330889e-01 3.25782558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.059254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:887.52, Y:70.56, Z:32.58 [[ 8.96765406e-01 -4.41287957e-01 -3.28137940e-02 8.87516634e+02] [ 4.40992099e-01 8.97365555e-01 -1.61564211e-02 7.05644407e+01] [ 3.65756025e-02 1.78956250e-05 9.99330889e-01 3.25803478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.119254154 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:887.57, Y:70.59, Z:32.58 [[ 8.96341794e-01 -4.42147910e-01 -3.28117890e-02 8.87569239e+02] [ 4.41852479e-01 8.96942153e-01 -1.61604921e-02 7.05893862e+01] [ 3.65756044e-02 -1.26458218e-05 9.99330889e-01 3.25800851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.179254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:887.62, Y:70.62, Z:32.58 [[ 8.97590918e-01 -4.39606901e-01 -3.28072727e-02 8.87620472e+02] [ 4.39309435e-01 8.98190271e-01 -1.61696553e-02 7.06159779e+01] [ 3.65754652e-02 1.01191346e-04 9.99330889e-01 3.25831689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.2392541539999 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:887.67, Y:70.64, Z:32.58 [[ 8.98310847e-01 -4.38133994e-01 -3.28058829e-02 8.87672735e+02] [ 4.37835443e-01 8.98909660e-01 -1.61724745e-02 7.06425321e+01] [ 3.65752359e-02 1.64331024e-04 9.99330889e-01 3.25821800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.299254154 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:887.72, Y:70.67, Z:32.59 [[ 8.99310264e-01 -4.36079220e-01 -3.28018818e-02 8.87724143e+02] [ 4.35779005e-01 8.99908244e-01 -1.61805858e-02 7.06686604e+01] [ 3.65747011e-02 2.56995531e-04 9.99330889e-01 3.25852835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.3592541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:887.78, Y:70.70, Z:32.59 [[ 9.00112390e-01 -4.34421479e-01 -3.27973111e-02 8.87776076e+02] [ 4.34119825e-01 9.00709646e-01 -1.61898451e-02 7.06962623e+01] [ 3.65740709e-02 3.34717180e-04 9.99330889e-01 3.25893224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.419254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:887.83, Y:70.72, Z:32.59 [[ 9.00005799e-01 -4.34642577e-01 -3.27931735e-02 8.87827263e+02] [ 4.34340764e-01 9.00602975e-01 -1.61982216e-02 7.07232651e+01] [ 3.65740664e-02 3.35081323e-04 9.99330889e-01 3.25902651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.4792541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:887.88, Y:70.75, Z:32.59 [[ 8.99468052e-01 -4.35754684e-01 -3.27883892e-02 8.87877878e+02] [ 4.35453257e-01 9.00065423e-01 -1.62079003e-02 7.07486512e+01] [ 3.65743638e-02 3.00677641e-04 9.99330889e-01 3.25933205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.539254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:887.93, Y:70.77, Z:32.59 [[ 8.98227382e-01 -4.38306632e-01 -3.27851656e-02 8.87929469e+02] [ 4.38006665e-01 8.98825486e-01 -1.62144183e-02 7.07746766e+01] [ 3.65750295e-02 2.04113479e-04 9.99330889e-01 3.25944099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.5992541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:887.98, Y:70.80, Z:32.60 [[ 8.97068442e-01 -4.40674092e-01 -3.27803924e-02 8.87980783e+02] [ 4.40375351e-01 8.97667160e-01 -1.62240625e-02 7.08002641e+01] [ 3.65754057e-02 1.18417693e-04 9.99330889e-01 3.25992829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.659254154 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:888.03, Y:70.83, Z:32.60 [[ 8.95286116e-01 -4.44284046e-01 -3.27789280e-02 8.88032353e+02] [ 4.43987610e-01 8.95885978e-01 -1.62270206e-02 7.08265193e+01] [ 3.65755883e-02 -2.56116437e-05 9.99330889e-01 3.25980337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.7192541539999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:888.08, Y:70.85, Z:32.60 [[ 8.93536395e-01 -4.47792985e-01 -3.27742891e-02 8.88084222e+02] [ 4.47498561e-01 8.94137248e-01 -1.62363845e-02 7.08524780e+01] [ 3.65752517e-02 -1.58646724e-04 9.99330889e-01 3.26012496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.779254154 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:888.14, Y:70.88, Z:32.60 [[ 8.91664615e-01 -4.51508981e-01 -3.27697128e-02 8.88136298e+02] [ 4.51216722e-01 8.92266524e-01 -1.62456156e-02 7.08793615e+01] [ 3.65743590e-02 -3.00601761e-04 9.99330889e-01 3.26010729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.839254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:888.19, Y:70.91, Z:32.61 [[ 8.90420570e-01 -4.53957729e-01 -3.27656653e-02 8.88187553e+02] [ 4.53666825e-01 8.91023135e-01 -1.62537748e-02 7.09056835e+01] [ 3.65734925e-02 -3.91999903e-04 9.99330889e-01 3.26059857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.899254154 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:888.24, Y:70.93, Z:32.61 [[ 8.88240524e-01 -4.58208999e-01 -3.27610365e-02 8.88239626e+02] [ 4.57920635e-01 8.88844308e-01 -1.62630991e-02 7.09325279e+01] [ 3.65713592e-02 -5.56410953e-04 9.99330889e-01 3.26064612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.959254154 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:888.29, Y:70.96, Z:32.61 [[ 8.85928037e-01 -4.62664595e-01 -3.27564622e-02 8.88291272e+02] [ 4.62378927e-01 8.86533101e-01 -1.62723073e-02 7.09593427e+01] [ 3.65683085e-02 -7.29804576e-04 9.99330889e-01 3.26084050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.019254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:888.34, Y:70.99, Z:32.61 [[ 8.84724644e-01 -4.64961953e-01 -3.27519053e-02 8.88342743e+02] [ 4.64677517e-01 8.85330288e-01 -1.62814741e-02 7.09862312e+01] [ 3.65665197e-02 -8.14452698e-04 9.99330889e-01 3.26129865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.079254154 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:888.39, Y:71.02, Z:32.61 [[ 8.82946251e-01 -4.68330573e-01 -3.27474033e-02 8.88391534e+02] [ 4.68048111e-01 8.83552819e-01 -1.62905241e-02 7.10164125e+01] [ 3.65634110e-02 -9.43703074e-04 9.99330889e-01 3.26126160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.139254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:888.44, Y:71.04, Z:32.62 [[ 8.82597483e-01 -4.68987651e-01 -3.27454705e-02 8.88442029e+02] [ 4.68705498e-01 8.83204194e-01 -1.62944082e-02 7.10448754e+01] [ 3.65628131e-02 -9.66578440e-04 9.99330889e-01 3.26153308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.199254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:888.49, Y:71.07, Z:32.62 [[ 8.83096597e-01 -4.68047457e-01 -3.27410900e-02 8.88492439e+02] [ 4.67764331e-01 8.83702855e-01 -1.63032055e-02 7.10747533e+01] [ 3.65640686e-02 -9.17808785e-04 9.99330889e-01 3.26193249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.259254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:888.54, Y:71.11, Z:32.62 [[ 8.84685948e-01 -4.65036625e-01 -3.27369985e-02 8.88542077e+02] [ 4.64751132e-01 8.85291095e-01 -1.63114171e-02 7.11055942e+01] [ 3.65671796e-02 -7.84075644e-04 9.99330889e-01 3.26202315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.319254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:888.59, Y:71.14, Z:32.62 [[ 8.87851314e-01 -4.58964748e-01 -3.27323181e-02 8.88591481e+02] [ 4.58674770e-01 8.88454324e-01 -1.63208040e-02 7.11356328e+01] [ 3.65718432e-02 -5.23041221e-04 9.99330890e-01 3.26198799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.379254154 meters Centerline goodness : 0.999762 with order 1 Centerline is valid? [True, True] Translation: X:888.64, Y:71.17, Z:32.62 [[ 8.91116717e-01 -4.52592186e-01 -3.27308794e-02 8.88642084e+02] [ 4.52297789e-01 8.91717583e-01 -1.63236886e-02 7.11659734e+01] [ 3.65746746e-02 -2.57792577e-04 9.99330890e-01 3.26193197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.439254154 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:888.69, Y:71.20, Z:32.62 [[ 8.94701454e-01 -4.45464097e-01 -3.27268634e-02 8.88693473e+02] [ 4.45164619e-01 8.95299803e-01 -1.63317362e-02 7.11957837e+01] [ 3.65755565e-02 4.31864424e-05 9.99330890e-01 3.26228306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.499254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:888.74, Y:71.23, Z:32.62 [[ 8.96810530e-01 -4.41202998e-01 -3.27228978e-02 8.88743055e+02] [ 4.40900387e-01 8.97407301e-01 -1.63396780e-02 7.12274365e+01] [ 3.65748823e-02 2.26057016e-04 9.99330890e-01 3.26227129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.559254154 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:888.80, Y:71.25, Z:32.63 [[ 8.99097752e-01 -4.36523486e-01 -3.27181682e-02 8.88795673e+02] [ 4.36217425e-01 8.99692761e-01 -1.63491429e-02 7.12511964e+01] [ 3.65730840e-02 4.27242569e-04 9.99330890e-01 3.26296493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.619254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:888.85, Y:71.28, Z:32.63 [[ 9.01571205e-01 -4.31391926e-01 -3.27164809e-02 8.88847002e+02] [ 4.31082356e-01 9.02164396e-01 -1.63525187e-02 7.12789917e+01] [ 3.65699888e-02 6.39462301e-04 9.99330890e-01 3.26320617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.679254154 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:888.90, Y:71.31, Z:32.63 [[ 9.02584524e-01 -4.29268124e-01 -3.27116781e-02 8.88898152e+02] [ 4.28956811e-01 9.03176802e-01 -1.63621207e-02 7.13059422e+01] [ 3.65681657e-02 7.36299771e-04 9.99330890e-01 3.26294668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.7392541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:888.95, Y:71.33, Z:32.63 [[ 9.01929124e-01 -4.30643640e-01 -3.27094696e-02 8.88951359e+02] [ 4.30333070e-01 9.02521792e-01 -1.63665345e-02 7.13301293e+01] [ 3.65691531e-02 6.85487680e-04 9.99330890e-01 3.26334831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.799254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:889.00, Y:71.35, Z:32.63 [[ 9.00458151e-01 -4.33711295e-01 -3.27052187e-02 8.89004209e+02] [ 4.33402435e-01 9.01051712e-01 -1.63750246e-02 7.13536328e+01] [ 3.65711264e-02 5.70502877e-04 9.99330890e-01 3.26321332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.8592541539999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:889.06, Y:71.37, Z:32.63 [[ 8.96315994e-01 -4.42208270e-01 -3.27029922e-02 8.89059812e+02] [ 4.41904876e-01 8.96912367e-01 -1.63794701e-02 7.13736087e+01] [ 3.65748552e-02 2.29569310e-04 9.99330890e-01 3.26349599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.919254154 meters Centerline goodness : 0.999760 with order 1 Centerline is valid? [True, True] Translation: X:889.12, Y:71.39, Z:32.64 [[ 8.89777356e-01 -4.55221969e-01 -3.26988561e-02 8.89115562e+02] [ 4.54926995e-01 8.90377938e-01 -1.63877229e-02 7.13911893e+01] [ 3.65743916e-02 -2.94167597e-04 9.99330890e-01 3.26371070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.9792541539999 meters Centerline goodness : 0.999759 with order 1 Centerline is valid? [True, True] Translation: X:889.17, Y:71.41, Z:32.64 [[ 8.83108685e-01 -4.68027931e-01 -3.26941409e-02 8.89171555e+02] [ 4.67741315e-01 8.83713300e-01 -1.63971246e-02 7.14095032e+01] [ 3.65665594e-02 -8.11957312e-04 9.99330890e-01 3.26419487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.039254154 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:889.23, Y:71.43, Z:32.64 [[ 8.76026577e-01 -4.81153433e-01 -3.26926547e-02 8.89225575e+02] [ 4.80875761e-01 8.76635352e-01 -1.64000871e-02 7.14343692e+01] [ 3.65504951e-02 -1.35419302e-03 9.99330890e-01 3.26377771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.0992541539999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:889.28, Y:71.45, Z:32.65 [[ 8.77436472e-01 -4.78577794e-01 -3.26884072e-02 8.89279826e+02] [ 4.78298020e-01 8.78044283e-01 -1.64085488e-02 7.14538222e+01] [ 3.65546362e-02 -1.23734123e-03 9.99330890e-01 3.26490842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.159254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:889.33, Y:71.48, Z:32.65 [[ 8.78743480e-01 -4.76173773e-01 -3.26869055e-02 8.89331295e+02] [ 4.75892224e-01 8.79350472e-01 -1.64115399e-02 7.14800277e+01] [ 3.65579906e-02 -1.13391050e-03 9.99330890e-01 3.26512684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.2192541539999 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:889.38, Y:71.51, Z:32.65 [[ 8.80367556e-01 -4.73164703e-01 -3.26822548e-02 8.89383091e+02] [ 4.72880736e-01 8.80973420e-01 -1.64207961e-02 7.15067098e+01] [ 3.65619389e-02 -9.98472596e-04 9.99330890e-01 3.26501641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.279254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:889.43, Y:71.54, Z:32.65 [[ 8.79809755e-01 -4.74201179e-01 -3.26808264e-02 8.89433622e+02] [ 4.73917820e-01 8.80415904e-01 -1.64236384e-02 7.15366130e+01] [ 3.65608280e-02 -1.03834878e-03 9.99330890e-01 3.26519993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.339254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:889.49, Y:71.56, Z:32.65 [[ 8.79045599e-01 -4.75616522e-01 -3.26765788e-02 8.89485769e+02] [ 4.75333825e-01 8.79652057e-01 -1.64320851e-02 7.15623636e+01] [ 3.65593909e-02 -1.08773113e-03 9.99330890e-01 3.26539066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.399254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:889.54, Y:71.59, Z:32.66 [[ 8.76031353e-01 -4.81146159e-01 -3.26717397e-02 8.89536962e+02] [ 4.80866932e-01 8.76639415e-01 -1.64417011e-02 7.15888516e+01] [ 3.65521961e-02 -1.30731351e-03 9.99330890e-01 3.26597799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.459254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:889.59, Y:71.62, Z:32.66 [[ 8.73318656e-01 -4.86052660e-01 -3.26701298e-02 8.89587574e+02] [ 4.85776728e-01 8.73928221e-01 -1.64448993e-02 7.16169008e+01] [ 3.65444355e-02 -1.50875146e-03 9.99330890e-01 3.26608813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.519254154 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:889.64, Y:71.65, Z:32.66 [[ 8.73454749e-01 -4.85808369e-01 -3.26654159e-02 8.89637816e+02] [ 4.85531918e-01 8.74064079e-01 -1.64542576e-02 7.16467450e+01] [ 3.65452827e-02 -1.48805257e-03 9.99330890e-01 3.26617372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.579254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:889.69, Y:71.68, Z:32.67 [[ 8.74970497e-01 -4.83073178e-01 -3.26639719e-02 8.89688207e+02] [ 4.82794715e-01 8.75578909e-01 -1.64571236e-02 7.16751860e+01] [ 3.65498799e-02 -1.37049538e-03 9.99330890e-01 3.26655079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.639254154 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:889.74, Y:71.70, Z:32.67 [[ 8.78809964e-01 -4.76052956e-01 -3.26593106e-02 8.89736950e+02] [ 4.75769287e-01 8.79415967e-01 -1.64663687e-02 7.17047315e+01] [ 3.65599827e-02 -1.06748800e-03 9.99330890e-01 3.26673210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.699254154 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:889.79, Y:71.74, Z:32.67 [[ 8.84063449e-01 -4.66224537e-01 -3.26573053e-02 8.89787094e+02] [ 4.65933983e-01 8.84666181e-01 -1.64703448e-02 7.17359991e+01] [ 3.65696925e-02 -6.55318456e-04 9.99330890e-01 3.26702214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.759254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:889.84, Y:71.77, Z:32.67 [[ 8.90093330e-01 -4.54607125e-01 -3.26531126e-02 8.89837719e+02] [ 4.54308397e-01 8.90692053e-01 -1.64786528e-02 7.17672883e+01] [ 3.65751809e-02 -1.67044332e-04 9.99330890e-01 3.26718768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.819254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:889.89, Y:71.80, Z:32.67 [[ 8.94876580e-01 -4.45117907e-01 -3.26489762e-02 8.89888334e+02] [ 4.44812531e-01 8.95471940e-01 -1.64868442e-02 7.17969071e+01] [ 3.65748316e-02 2.31016950e-04 9.99330890e-01 3.26735985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.879254154 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:889.94, Y:71.83, Z:32.68 [[ 8.97533846e-01 -4.39735498e-01 -3.26448724e-02 8.89940084e+02] [ 4.39426257e-01 8.98127207e-01 -1.64949660e-02 7.18253878e+01] [ 3.65726701e-02 4.59776144e-04 9.99330890e-01 3.26760748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.939254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:889.99, Y:71.85, Z:32.68 [[ 8.98713241e-01 -4.37320355e-01 -3.26407319e-02 8.89991946e+02] [ 4.37009222e-01 8.99305613e-01 -1.65031553e-02 7.18528497e+01] [ 3.65711591e-02 5.67303290e-04 9.99330890e-01 3.26803222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.999254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:890.04, Y:71.88, Z:32.68 [[ 8.97592211e-01 -4.39616967e-01 -3.26365560e-02 8.90044084e+02] [ 4.39307050e-01 8.98185220e-01 -1.65114094e-02 7.18821225e+01] [ 3.65723679e-02 4.83043318e-04 9.99330890e-01 3.26817494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.059254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:890.10, Y:71.90, Z:32.69 [[ 8.97840934e-01 -4.39108950e-01 -3.26341449e-02 8.90098102e+02] [ 4.38798525e-01 8.98433676e-01 -1.65161735e-02 7.19041278e+01] [ 3.65720143e-02 5.09081969e-04 9.99330890e-01 3.26882514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.119254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:890.15, Y:71.93, Z:32.69 [[ 8.96721676e-01 -4.41390225e-01 -3.26328925e-02 8.90150687e+02] [ 4.41081218e-01 8.97315158e-01 -1.65186475e-02 7.19299923e+01] [ 3.65731587e-02 4.18873253e-04 9.99330890e-01 3.26900781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.179254154 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:890.20, Y:71.96, Z:32.68 [[ 8.91342344e-01 -4.52155062e-01 -3.26285982e-02 8.90202933e+02] [ 4.51852913e-01 8.91939347e-01 -1.65271256e-02 7.19588779e+01] [ 3.65755541e-02 -1.20002105e-05 9.99330890e-01 3.26806508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.2392541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:890.26, Y:71.98, Z:32.69 [[ 8.89040145e-01 -4.56665386e-01 -3.26242996e-02 8.90258767e+02] [ 4.56365954e-01 8.89638516e-01 -1.65356065e-02 7.19770376e+01] [ 3.65750727e-02 -1.87801620e-04 9.99330891e-01 3.26937729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.299254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:890.31, Y:72.00, Z:32.70 [[ 8.83314165e-01 -4.67644964e-01 -3.26232204e-02 8.90312891e+02] [ 4.67352889e-01 8.83916161e-01 -1.65377355e-02 7.20004872e+01] [ 3.65699804e-02 -6.38540332e-04 9.99330891e-01 3.26969390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.3592541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:890.37, Y:72.03, Z:32.69 [[ 8.77803078e-01 -4.77909778e-01 -3.26190261e-02 8.90365086e+02] [ 4.77624434e-01 8.78408293e-01 -1.65460041e-02 7.20292848e+01] [ 3.65603202e-02 -1.05551055e-03 9.99330891e-01 3.26910155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.419254154 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:890.42, Y:72.05, Z:32.69 [[ 8.74613680e-01 -4.83721996e-01 -3.26181087e-02 8.90418078e+02] [ 4.83440605e-01 8.75220744e-01 -1.65478126e-02 7.20532079e+01] [ 3.65525863e-02 -1.29597495e-03 9.99330891e-01 3.26937885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.4792541539999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:890.47, Y:72.07, Z:32.71 [[ 8.74093037e-01 -4.84662503e-01 -3.26132168e-02 8.90471900e+02] [ 4.84381406e-01 8.74700237e-01 -1.65574482e-02 7.20738305e+01] [ 3.65515627e-02 -1.32448565e-03 9.99330891e-01 3.27068013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.539254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:890.52, Y:72.10, Z:32.70 [[ 8.71704050e-01 -4.88946388e-01 -3.26110108e-02 8.90522858e+02] [ 4.88668113e-01 8.72312549e-01 -1.65617917e-02 7.21039352e+01] [ 3.65448222e-02 -1.49898021e-03 9.99330891e-01 3.27029091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.5992541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:890.58, Y:72.13, Z:32.71 [[ 8.73439533e-01 -4.85839668e-01 -3.26067396e-02 8.90576376e+02] [ 4.85558915e-01 8.74046892e-01 -1.65701967e-02 7.21282199e+01] [ 3.65502782e-02 -1.35942823e-03 9.99330891e-01 3.27114208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.659254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:890.63, Y:72.16, Z:32.71 [[ 8.74007604e-01 -4.84817263e-01 -3.26026029e-02 8.90627489e+02] [ 4.84535496e-01 8.74614493e-01 -1.65783318e-02 7.21560697e+01] [ 3.65521705e-02 -1.30753030e-03 9.99330891e-01 3.27116670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.7192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:890.68, Y:72.19, Z:32.71 [[ 8.74024672e-01 -4.84786593e-01 -3.26011030e-02 8.90677232e+02] [ 4.84504695e-01 8.74631500e-01 -1.65812808e-02 7.21884228e+01] [ 3.65523343e-02 -1.30293903e-03 9.99330891e-01 3.27092469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.779254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:890.73, Y:72.22, Z:32.71 [[ 8.74948169e-01 -4.83118161e-01 -3.25966902e-02 8.90726753e+02] [ 4.82834784e-01 8.75554307e-01 -1.65899513e-02 7.22201066e+01] [ 3.65550793e-02 -1.22346837e-03 9.99330891e-01 3.27084898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.839254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:890.78, Y:72.24, Z:32.72 [[ 8.79528611e-01 -4.74728323e-01 -3.25951132e-02 8.90779959e+02] [ 4.74439047e-01 8.80131957e-01 -1.65930491e-02 7.22437827e+01] [ 3.65651912e-02 -8.70333023e-04 9.99330891e-01 3.27183583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.899254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:890.83, Y:72.27, Z:32.72 [[ 8.80501106e-01 -4.72922236e-01 -3.25938737e-02 8.90830925e+02] [ 4.72631632e-01 8.81103814e-01 -1.65954836e-02 7.22728088e+01] [ 3.65669596e-02 -7.92554048e-04 9.99330891e-01 3.27215062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.959254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:890.88, Y:72.30, Z:32.72 [[ 8.81433204e-01 -4.71182996e-01 -3.25897297e-02 8.90880298e+02] [ 4.70890902e-01 8.82035191e-01 -1.66036174e-02 7.23031753e+01] [ 3.65686307e-02 -7.11227532e-04 9.99330891e-01 3.27242414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.019254154 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:890.93, Y:72.33, Z:32.73 [[ 8.82327969e-01 -4.69505441e-01 -3.25882740e-02 8.90930622e+02] [ 4.69212097e-01 8.82929348e-01 -1.66064741e-02 7.23349385e+01] [ 3.65699734e-02 -6.38455778e-04 9.99330891e-01 3.27250028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.079254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:890.98, Y:72.36, Z:32.73 [[ 8.83508039e-01 -4.67281306e-01 -3.25841497e-02 8.90981942e+02] [ 4.66986149e-01 8.84108530e-01 -1.66145625e-02 7.23639889e+01] [ 3.65715992e-02 -5.37247065e-04 9.99330891e-01 3.27276016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.139254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:891.03, Y:72.40, Z:32.72 [[ 8.81202044e-01 -4.71615847e-01 -3.25799125e-02 8.91029592e+02] [ 4.71323337e-01 8.81803828e-01 -1.66228672e-02 7.24015565e+01] [ 3.65686992e-02 -7.07568586e-04 9.99330891e-01 3.27174095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.199254154 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:891.08, Y:72.42, Z:32.73 [[ 8.81949425e-01 -4.70216780e-01 -3.25790032e-02 8.91084150e+02] [ 4.69923250e-01 8.82550713e-01 -1.66246491e-02 7.24228655e+01] [ 3.65698115e-02 -6.47531370e-04 9.99330891e-01 3.27298455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.259254154 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:891.13, Y:72.46, Z:32.73 [[ 8.77148247e-01 -4.79113379e-01 -3.25779427e-02 8.91134444e+02] [ 4.78825868e-01 8.77752437e-01 -1.66267270e-02 7.24565242e+01] [ 3.65614560e-02 -1.01505723e-03 9.99330891e-01 3.27265014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.319254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:891.19, Y:72.48, Z:32.73 [[ 8.74986824e-01 -4.83049631e-01 -3.25747058e-02 8.91185432e+02] [ 4.82764603e-01 8.75592188e-01 -1.66330664e-02 7.24829609e+01] [ 3.65567545e-02 -1.17220093e-03 9.99330891e-01 3.27343451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.379254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:891.24, Y:72.51, Z:32.74 [[ 8.74750962e-01 -4.83476953e-01 -3.25697722e-02 8.91236358e+02] [ 4.83191861e-01 8.75356296e-01 -1.66427214e-02 7.25113159e+01] [ 3.65565274e-02 -1.17921231e-03 9.99330891e-01 3.27354874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.439254154 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:891.29, Y:72.54, Z:32.74 [[ 8.77554128e-01 -4.78370213e-01 -3.25682638e-02 8.91288575e+02] [ 4.78081488e-01 8.78157738e-01 -1.66456727e-02 7.25376435e+01] [ 3.65628668e-02 -9.62805255e-04 9.99330891e-01 3.27398944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.499254154 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:891.34, Y:72.57, Z:32.74 [[ 8.80019711e-01 -4.73819257e-01 -3.25671622e-02 8.91339413e+02] [ 4.73527330e-01 8.80621779e-01 -1.66478277e-02 7.25665992e+01] [ 3.65674136e-02 -7.71024853e-04 9.99330891e-01 3.27423001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.559254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:891.39, Y:72.60, Z:32.75 [[ 8.82700204e-01 -4.68806974e-01 -3.25633448e-02 8.91389090e+02] [ 4.68511353e-01 8.83300466e-01 -1.66552912e-02 7.25977234e+01] [ 3.65713343e-02 -5.54667730e-04 9.99330891e-01 3.27469638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.619254154 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:891.44, Y:72.63, Z:32.75 [[ 8.84294084e-01 -4.65793815e-01 -3.25590923e-02 8.91439694e+02] [ 4.65495842e-01 8.84893183e-01 -1.66636002e-02 7.26284509e+01] [ 3.65731207e-02 -4.20598946e-04 9.99330891e-01 3.27472062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.679254154 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:891.49, Y:72.66, Z:32.76 [[ 8.85082355e-01 -4.64294523e-01 -3.25548874e-02 8.91492081e+02] [ 4.63995234e-01 8.85680797e-01 -1.66718111e-02 7.26557850e+01] [ 3.65738692e-02 -3.49386774e-04 9.99330891e-01 3.27579807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.7392541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:891.54, Y:72.68, Z:32.76 [[ 8.84636940e-01 -4.65142909e-01 -3.25508538e-02 8.91544383e+02] [ 4.64843904e-01 8.85235524e-01 -1.66796827e-02 7.26831801e+01] [ 3.65736083e-02 -3.75602443e-04 9.99330891e-01 3.27618902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.799254154 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:891.60, Y:72.71, Z:32.77 [[ 8.84285159e-01 -4.65811638e-01 -3.25465237e-02 8.91596632e+02] [ 4.65512775e-01 8.84883813e-01 -1.66881276e-02 7.27093973e+01] [ 3.65734161e-02 -3.93758973e-04 9.99330891e-01 3.27660054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.8592541539999 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:891.65, Y:72.74, Z:32.76 [[ 8.83992544e-01 -4.66367010e-01 -3.25421966e-02 8.91648668e+02] [ 4.66068213e-01 8.84591231e-01 -1.66965614e-02 7.27364108e+01] [ 3.65732671e-02 -4.07247593e-04 9.99330891e-01 3.27599374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.919254154 meters Centerline goodness : 0.995134 with order 1 Centerline is valid? [True, True] Translation: X:891.70, Y:72.76, Z:32.76 [[ 8.84023975e-01 -4.66307512e-01 -3.25409792e-02 8.91700625e+02] [ 4.66008587e-01 8.84622599e-01 -1.66989336e-02 7.27640963e+01] [ 3.65733238e-02 -4.02118075e-04 9.99330891e-01 3.27587544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.9792541539999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:891.75, Y:72.79, Z:32.76 [[ 8.83568063e-01 -4.67171152e-01 -3.25360197e-02 8.91751595e+02] [ 4.66872456e-01 8.84166801e-01 -1.67085911e-02 7.27908717e+01] [ 3.65730402e-02 -4.26993914e-04 9.99330891e-01 3.27623742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.039254154 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:891.80, Y:72.82, Z:32.76 [[ 8.83029142e-01 -4.68189135e-01 -3.25341132e-02 8.91804547e+02] [ 4.67890993e-01 8.83628156e-01 -1.67123026e-02 7.28165273e+01] [ 3.65725769e-02 -4.64968344e-04 9.99330891e-01 3.27646853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.0992541539999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:891.86, Y:72.84, Z:32.77 [[ 8.83077971e-01 -4.68097312e-01 -3.25300354e-02 8.91856834e+02] [ 4.67798815e-01 8.83676809e-01 -1.67202361e-02 7.28426618e+01] [ 3.65727354e-02 -4.52239801e-04 9.99330891e-01 3.27685828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.159254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:891.91, Y:72.87, Z:32.77 [[ 8.84156551e-01 -4.66057191e-01 -3.25252046e-02 8.91909513e+02] [ 4.65756967e-01 8.84754524e-01 -1.67296279e-02 7.28684891e+01] [ 3.65737853e-02 -3.57230559e-04 9.99330891e-01 3.27725549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.2192541539999 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:891.96, Y:72.89, Z:32.77 [[ 8.85236105e-01 -4.64003693e-01 -3.25209232e-02 8.91961331e+02] [ 4.63701777e-01 8.85833226e-01 -1.67379465e-02 7.28949348e+01] [ 3.65745833e-02 -2.62975327e-04 9.99330891e-01 3.27730432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.279254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:892.01, Y:72.92, Z:32.78 [[ 8.86753373e-01 -4.61097541e-01 -3.25194201e-02 8.92013747e+02] [ 4.60793560e-01 8.87349446e-01 -1.67408663e-02 7.29205232e+01] [ 3.65752617e-02 -1.39719691e-04 9.99330892e-01 3.27764961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.339254154 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:892.07, Y:72.95, Z:32.78 [[ 8.87922139e-01 -4.58843007e-01 -3.25172189e-02 8.92065687e+02] [ 4.58537356e-01 8.88517357e-01 -1.67451407e-02 7.29472524e+01] [ 3.65755041e-02 -4.19784584e-05 9.99330892e-01 3.27806234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.399254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:892.12, Y:72.97, Z:32.78 [[ 8.90053508e-01 -4.54695178e-01 -3.25122827e-02 8.92117818e+02] [ 4.54386404e-01 8.90647110e-01 -1.67547195e-02 7.29736147e+01] [ 3.65752608e-02 1.39457616e-04 9.99330892e-01 3.27820093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.459254154 meters Centerline goodness : 0.999724 with order 1 Centerline is valid? [True, True] Translation: X:892.17, Y:73.00, Z:32.79 [[ 8.91823688e-01 -4.51213669e-01 -3.25074500e-02 8.92168854e+02] [ 4.50902236e-01 8.92415900e-01 -1.67640906e-02 7.30001208e+01] [ 3.65743521e-02 2.92931252e-04 9.99330892e-01 3.27864234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.519254154 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:892.22, Y:73.03, Z:32.79 [[ 8.93121538e-01 -4.48639640e-01 -3.25021727e-02 8.92220249e+02] [ 4.48326128e-01 8.93712653e-01 -1.67743159e-02 7.30260785e+01] [ 3.65732261e-02 4.09929596e-04 9.99330892e-01 3.27864784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.579254154 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:892.28, Y:73.05, Z:32.79 [[ 8.94000946e-01 -4.46884790e-01 -3.25006503e-02 8.92275672e+02] [ 4.46570011e-01 8.94591387e-01 -1.67772652e-02 7.30483968e+01] [ 3.65723064e-02 4.85075180e-04 9.99330892e-01 3.27853650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.639254154 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:892.33, Y:73.08, Z:32.79 [[ 8.92237152e-01 -4.50396180e-01 -3.24983948e-02 8.92326132e+02] [ 4.50083565e-01 8.92828741e-01 -1.67816329e-02 7.30757974e+01] [ 3.65738843e-02 3.46202966e-04 9.99330892e-01 3.27888060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.699254154 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:892.38, Y:73.10, Z:32.79 [[ 8.91205081e-01 -4.52435089e-01 -3.24960536e-02 8.92379818e+02] [ 4.52123662e-01 8.91797297e-01 -1.67861653e-02 7.31001400e+01] [ 3.65745429e-02 2.67681094e-04 9.99330892e-01 3.27903989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.759254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:892.43, Y:73.12, Z:32.79 [[ 8.90113335e-01 -4.54579511e-01 -3.24918352e-02 8.92434211e+02] [ 4.54269213e-01 8.90706143e-01 -1.67943266e-02 7.31232962e+01] [ 3.65750340e-02 1.88813644e-04 9.99330892e-01 3.27939763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.819254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:892.49, Y:73.15, Z:32.80 [[ 8.89099616e-01 -4.56559343e-01 -3.24875302e-02 8.92487755e+02] [ 4.56250061e-01 8.89692954e-01 -1.68026502e-02 7.31473413e+01] [ 3.65753337e-02 1.16792136e-04 9.99330892e-01 3.27963717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.879254154 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:892.54, Y:73.16, Z:32.80 [[ 8.88860493e-01 -4.57025012e-01 -3.24832629e-02 8.92544170e+02] [ 4.56715740e-01 8.89453836e-01 -1.68108958e-02 7.31646828e+01] [ 3.65753627e-02 1.06923672e-04 9.99330892e-01 3.27975343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.939254154 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:892.60, Y:73.19, Z:32.80 [[ 8.86927993e-01 -4.60764474e-01 -3.24782281e-02 8.92598304e+02] [ 4.60457347e-01 8.87522449e-01 -1.68206174e-02 7.31873049e+01] [ 3.65754994e-02 -3.61623453e-05 9.99330892e-01 3.27973089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.999254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:892.65, Y:73.21, Z:32.80 [[ 8.85846197e-01 -4.62840991e-01 -3.24766489e-02 8.92649858e+02] [ 4.62535146e-01 8.86441314e-01 -1.68236658e-02 7.32128551e+01] [ 3.65753255e-02 -1.18411178e-04 9.99330892e-01 3.28039983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.059254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:892.70, Y:73.24, Z:32.80 [[ 8.85919695e-01 -4.62700401e-01 -3.24750962e-02 8.92704329e+02] [ 4.62394352e-01 8.86514707e-01 -1.68266626e-02 7.32362767e+01] [ 3.65753539e-02 -1.09229283e-04 9.99330892e-01 3.27987032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.119254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:892.76, Y:73.26, Z:32.80 [[ 8.86947067e-01 -4.60728289e-01 -3.24706589e-02 8.92757588e+02] [ 4.60420603e-01 8.87541235e-01 -1.68352210e-02 7.32591833e+01] [ 3.65755112e-02 -1.82104797e-05 9.99330892e-01 3.28001044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.179254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:892.81, Y:73.28, Z:32.80 [[ 8.88318749e-01 -4.58078370e-01 -3.24654712e-02 8.92810784e+02] [ 4.57768546e-01 8.88911805e-01 -1.68452191e-02 7.32828360e+01] [ 3.65753711e-02 1.02252403e-04 9.99330892e-01 3.28015251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.2392541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:892.86, Y:73.31, Z:32.81 [[ 8.89595040e-01 -4.55595209e-01 -3.24603080e-02 8.92864011e+02] [ 4.55283367e-01 8.90187036e-01 -1.68551625e-02 7.33057271e+01] [ 3.65748767e-02 2.15630663e-04 9.99330892e-01 3.28059461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.299254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:892.92, Y:73.33, Z:32.81 [[ 8.91466738e-01 -4.51922247e-01 -3.24551732e-02 8.92918773e+02] [ 4.51607607e-01 8.92057251e-01 -1.68650440e-02 7.33277835e+01] [ 3.65735612e-02 3.77622637e-04 9.99330892e-01 3.28139731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.3592541539999 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:892.97, Y:73.35, Z:32.82 [[ 8.92717159e-01 -4.49447474e-01 -3.24506019e-02 8.92972543e+02] [ 4.49130877e-01 8.93306627e-01 -1.68738351e-02 7.33519485e+01] [ 3.65722403e-02 4.88994826e-04 9.99330892e-01 3.28170418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.419254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:893.03, Y:73.38, Z:32.82 [[ 8.93524425e-01 -4.47840770e-01 -3.24460608e-02 8.93025463e+02] [ 4.47522796e-01 8.94113151e-01 -1.68825626e-02 7.33774748e+01] [ 3.65711495e-02 5.64630249e-04 9.99330892e-01 3.28178013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.4792541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:893.08, Y:73.40, Z:32.82 [[ 8.93947064e-01 -4.46996859e-01 -3.24415689e-02 8.93078209e+02] [ 4.46678016e-01 8.94535319e-01 -1.68911898e-02 7.34027339e+01] [ 3.65704380e-02 6.08893920e-04 9.99330892e-01 3.28226915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.539254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:893.13, Y:73.43, Z:32.82 [[ 8.92864061e-01 -4.49156554e-01 -3.24369962e-02 8.93128591e+02] [ 4.48838816e-01 8.93452913e-01 -1.68999664e-02 7.34318223e+01] [ 3.65716595e-02 5.30389700e-04 9.99330892e-01 3.28225324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.5992541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:893.18, Y:73.46, Z:32.82 [[ 8.93259340e-01 -4.48370044e-01 -3.24353942e-02 8.93180476e+02] [ 4.48051676e-01 8.93847852e-01 -1.69030405e-02 7.34574078e+01] [ 3.65711245e-02 5.66066047e-04 9.99330892e-01 3.28244697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.659254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:893.23, Y:73.48, Z:32.82 [[ 8.93838321e-01 -4.47215072e-01 -3.24304712e-02 8.93232883e+02] [ 4.46895601e-01 8.94426235e-01 -1.69124806e-02 7.34826724e+01] [ 3.65701805e-02 6.23988317e-04 9.99330892e-01 3.28245257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.7192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:893.28, Y:73.51, Z:32.83 [[ 8.93824787e-01 -4.47242475e-01 -3.24255942e-02 8.93284817e+02] [ 4.46922683e-01 8.94412526e-01 -1.69218260e-02 7.35083253e+01] [ 3.65700169e-02 6.33413941e-04 9.99330892e-01 3.28254899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.779254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:893.34, Y:73.54, Z:32.83 [[ 8.93923040e-01 -4.47046412e-01 -3.24207290e-02 8.93335918e+02] [ 4.46726153e-01 8.94510526e-01 -1.69311420e-02 7.35352025e+01] [ 3.65696897e-02 6.51950398e-04 9.99330893e-01 3.28250014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.839254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:893.39, Y:73.56, Z:32.83 [[ 8.94569158e-01 -4.45752441e-01 -3.24157829e-02 8.93387351e+02] [ 4.45430989e-01 8.95155992e-01 -1.69406065e-02 7.35623477e+01] [ 3.65684990e-02 7.15549893e-04 9.99330893e-01 3.28283051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.899254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:893.44, Y:73.59, Z:32.83 [[ 8.94247500e-01 -4.46397744e-01 -3.24108545e-02 8.93438720e+02] [ 4.46076375e-01 8.94834378e-01 -1.69500302e-02 7.35893839e+01] [ 3.65688021e-02 6.99805632e-04 9.99330893e-01 3.28285352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.959254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:893.49, Y:73.62, Z:32.83 [[ 8.93301604e-01 -4.48287969e-01 -3.24058972e-02 8.93490170e+02] [ 4.47967498e-01 8.93888973e-01 -1.69595026e-02 7.36164381e+01] [ 3.65700151e-02 6.33162196e-04 9.99330893e-01 3.28312157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.019254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:893.54, Y:73.64, Z:32.83 [[ 8.91228269e-01 -4.52396231e-01 -3.24009770e-02 8.93542274e+02] [ 4.52078126e-01 8.91816923e-01 -1.69688973e-02 7.36429862e+01] [ 3.65724048e-02 4.75388013e-04 9.99330893e-01 3.28333342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.079254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:893.59, Y:73.67, Z:32.84 [[ 8.88970529e-01 -4.56817140e-01 -3.23959832e-02 8.93594022e+02] [ 4.56501616e-01 8.89560570e-01 -1.69784260e-02 7.36679396e+01] [ 3.65742252e-02 3.04501649e-04 9.99330893e-01 3.28386450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.139254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:893.65, Y:73.69, Z:32.84 [[ 8.85915907e-01 -4.62713308e-01 -3.23944534e-02 8.93645828e+02] [ 4.62401604e-01 8.86507975e-01 -1.69813441e-02 7.36948316e+01] [ 3.65754352e-02 6.47956223e-05 9.99330893e-01 3.28381208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.199254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:893.70, Y:73.72, Z:32.84 [[ 8.83437556e-01 -4.67428081e-01 -3.23894135e-02 8.93698079e+02] [ 4.67119184e-01 8.84031094e-01 -1.69909517e-02 7.37192533e+01] [ 3.65752966e-02 -1.19271525e-04 9.99330893e-01 3.28423159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.259254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:893.75, Y:73.75, Z:32.84 [[ 8.82477767e-01 -4.69237697e-01 -3.23878686e-02 8.93749203e+02] [ 4.68929910e-01 8.83071881e-01 -1.69938961e-02 7.37461023e+01] [ 3.65749927e-02 -1.90904818e-04 9.99330893e-01 3.28448726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.319254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:893.80, Y:73.77, Z:32.84 [[ 8.79447425e-01 -4.74893208e-01 -3.23831373e-02 8.93799956e+02] [ 4.74588909e-01 8.80043333e-01 -1.70029070e-02 7.37748292e+01] [ 3.65731292e-02 -4.15515005e-04 9.99330893e-01 3.28436226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.379254154 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:893.85, Y:73.80, Z:32.85 [[ 8.79738202e-01 -4.74354646e-01 -3.23784729e-02 8.93853477e+02] [ 4.74049655e-01 8.80333757e-01 -1.70117849e-02 7.38005914e+01] [ 3.65734818e-02 -3.83086839e-04 9.99330893e-01 3.28465561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.439254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:893.90, Y:73.83, Z:32.85 [[ 8.79545560e-01 -4.74712018e-01 -3.23744856e-02 8.93903168e+02] [ 4.74406991e-01 8.80141096e-01 -1.70193695e-02 7.38323510e+01] [ 3.65734145e-02 -3.89371431e-04 9.99330893e-01 3.28479623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.499254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:893.96, Y:73.86, Z:32.85 [[ 8.82364390e-01 -4.69452091e-01 -3.23700157e-02 8.93955557e+02] [ 4.69143202e-01 8.82957931e-01 -1.70278667e-02 7.38579099e+01] [ 3.65751298e-02 -1.61389572e-04 9.99330893e-01 3.28529243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.559254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:894.01, Y:73.89, Z:32.86 [[ 8.85509903e-01 -4.63491832e-01 -3.23656284e-02 8.94005736e+02] [ 4.63178643e-01 8.86101186e-01 -1.70362018e-02 7.38865252e+01] [ 3.65753621e-02 9.46575397e-05 9.99330893e-01 3.28553563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.619254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:894.06, Y:73.92, Z:32.86 [[ 8.87616074e-01 -4.59445847e-01 -3.23607505e-02 8.94056393e+02] [ 4.59129625e-01 8.88205742e-01 -1.70454625e-02 7.39156947e+01] [ 3.65744714e-02 2.72047284e-04 9.99330893e-01 3.28576893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.679254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:894.10, Y:73.95, Z:32.85 [[ 8.87471362e-01 -4.59725656e-01 -3.23558874e-02 8.94104552e+02] [ 4.59409283e-01 8.88060948e-01 -1.70546887e-02 7.39506366e+01] [ 3.65744780e-02 2.70952707e-04 9.99330893e-01 3.28539343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.7392541539999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:894.16, Y:73.97, Z:32.86 [[ 8.90428480e-01 -4.53971924e-01 -3.23514264e-02 8.94156888e+02] [ 4.53651435e-01 8.91015839e-01 -1.70631467e-02 7.39737688e+01] [ 3.65718229e-02 5.17240774e-04 9.99330893e-01 3.28646460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.799254154 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:894.21, Y:74.00, Z:32.86 [[ 8.89539816e-01 -4.55710876e-01 -3.23498619e-02 8.94207956e+02] [ 4.55391427e-01 8.90127742e-01 -1.70661123e-02 7.40023853e+01] [ 3.65727225e-02 4.49136631e-04 9.99330893e-01 3.28631954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.8592541539999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:894.26, Y:74.03, Z:32.87 [[ 8.87858202e-01 -4.58978888e-01 -3.23449090e-02 8.94258332e+02] [ 4.58661262e-01 8.88447114e-01 -1.70754943e-02 7.40308643e+01] [ 3.65740324e-02 3.25260843e-04 9.99330893e-01 3.28660156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.919254154 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:894.31, Y:74.06, Z:32.87 [[ 8.83372265e-01 -4.67554878e-01 -3.23400229e-02 8.94309141e+02] [ 4.67242630e-01 8.83964047e-01 -1.70847433e-02 7.40590800e+01] [ 3.65754726e-02 -1.84489038e-05 9.99330893e-01 3.28666988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.9792541539999 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:894.36, Y:74.09, Z:32.87 [[ 8.76632547e-01 -4.80072725e-01 -3.23350564e-02 8.94359790e+02] [ 4.79768580e-01 8.77228534e-01 -1.70941378e-02 7.40865522e+01] [ 3.65716634e-02 -5.28066512e-04 9.99330893e-01 3.28670784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.039254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:894.41, Y:74.11, Z:32.87 [[ 8.71826038e-01 -4.88747503e-01 -3.23301552e-02 8.94411121e+02] [ 4.88448943e-01 8.72424841e-01 -1.71034024e-02 7.41136662e+01] [ 3.65648758e-02 -8.80438587e-04 9.99330893e-01 3.28732075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.0992541539999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:894.46, Y:74.14, Z:32.87 [[ 8.64214189e-01 -5.02084566e-01 -3.23252781e-02 8.94459832e+02] [ 5.01794898e-01 8.64817344e-01 -1.71126152e-02 7.41447617e+01] [ 3.65474411e-02 -1.43169472e-03 9.99330894e-01 3.28701385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.159254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:894.51, Y:74.17, Z:32.88 [[ 8.62040497e-01 -5.05807626e-01 -3.23237856e-02 8.94511732e+02] [ 5.05520457e-01 8.62644846e-01 -1.71154340e-02 7.41722567e+01] [ 3.65410640e-02 -1.58613764e-03 9.99330894e-01 3.28774910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.2192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:894.56, Y:74.20, Z:32.88 [[ 8.62863526e-01 -5.04402611e-01 -3.23193654e-02 8.94562001e+02] [ 5.04114146e-01 8.63467257e-01 -1.71237766e-02 7.42017513e+01] [ 3.65439914e-02 -1.51716703e-03 9.99330894e-01 3.28809038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.279254154 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:894.61, Y:74.23, Z:32.88 [[ 8.64246966e-01 -5.02028626e-01 -3.23177989e-02 8.94612612e+02] [ 5.01738391e-01 8.64849849e-01 -1.71267325e-02 7.42330060e+01] [ 3.65481535e-02 -1.41335378e-03 9.99330894e-01 3.28789531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.339254154 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:894.66, Y:74.27, Z:32.88 [[ 8.69679383e-01 -4.92558225e-01 -3.23135522e-02 8.94659789e+02] [ 4.92261126e-01 8.70278912e-01 -1.71347411e-02 7.42662107e+01] [ 3.65616607e-02 -1.00497449e-03 9.99330894e-01 3.28820028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.399254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:894.71, Y:74.30, Z:32.89 [[ 8.76872045e-01 -4.79636722e-01 -3.23114645e-02 8.94707822e+02] [ 4.79330640e-01 8.77467038e-01 -1.71386771e-02 7.43019649e+01] [ 3.65725840e-02 -4.59448088e-04 9.99330894e-01 3.28868898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.459254154 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:894.76, Y:74.34, Z:32.89 [[ 8.83592602e-01 -4.67140621e-01 -3.23071782e-02 8.94755319e+02] [ 4.66825828e-01 8.84183033e-01 -1.71467532e-02 7.43372452e+01] [ 3.65754037e-02 6.89191226e-05 9.99330894e-01 3.28861174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.519254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:894.80, Y:74.37, Z:32.89 [[ 8.87661778e-01 -4.59361613e-01 -3.23028810e-02 8.94804433e+02] [ 4.59041352e-01 8.88249261e-01 -1.71548449e-02 7.43688415e+01] [ 3.65732874e-02 3.99341929e-04 9.99330894e-01 3.28915827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.579254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:894.85, Y:74.40, Z:32.89 [[ 8.91731312e-01 -4.51411248e-01 -3.22978834e-02 8.94852995e+02] [ 4.51085409e-01 8.92315719e-01 -1.71642487e-02 7.44038028e+01] [ 3.65680440e-02 7.36794072e-04 9.99330894e-01 3.28931483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.639254154 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:894.90, Y:74.44, Z:32.89 [[ 8.94084767e-01 -4.46731952e-01 -3.22953948e-02 8.94902770e+02] [ 4.46402886e-01 8.94667363e-01 -1.71689300e-02 7.44350861e+01] [ 3.65635453e-02 9.33721311e-04 9.99330894e-01 3.28925980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.699254154 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:894.95, Y:74.46, Z:32.90 [[ 8.93982471e-01 -4.46936961e-01 -3.22907788e-02 8.94952661e+02] [ 4.46607715e-01 8.94564966e-01 -1.71776072e-02 7.44638944e+01] [ 3.65635070e-02 9.35168834e-04 9.99330894e-01 3.28953313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.759254154 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:895.00, Y:74.49, Z:32.90 [[ 8.92098595e-01 -4.50685829e-01 -3.22859202e-02 8.95003438e+02] [ 4.50358701e-01 8.92682282e-01 -1.71867344e-02 7.44934624e+01] [ 3.65668865e-02 7.92016511e-04 9.99330894e-01 3.28960356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.819254154 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:895.06, Y:74.52, Z:32.90 [[ 8.88900846e-01 -4.56960806e-01 -3.22816958e-02 8.95055193e+02] [ 4.56637511e-01 8.89486665e-01 -1.71946653e-02 7.45216149e+01] [ 3.65714260e-02 5.43319363e-04 9.99330894e-01 3.28974494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.879254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:895.11, Y:74.55, Z:32.90 [[ 8.86232529e-01 -4.62114777e-01 -3.22775225e-02 8.95106877e+02] [ 4.61794604e-01 8.86820059e-01 -1.72024957e-02 7.45483009e+01] [ 3.65738819e-02 3.39825485e-04 9.99330894e-01 3.29021590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.939254154 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:895.16, Y:74.57, Z:32.90 [[ 8.80690862e-01 -4.72590586e-01 -3.22760575e-02 8.95159702e+02] [ 4.72277302e-01 8.81282094e-01 -1.72052441e-02 7.45740007e+01] [ 3.65753479e-02 -9.07480965e-05 9.99330894e-01 3.29017864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.999254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:895.21, Y:74.60, Z:32.91 [[ 8.77046377e-01 -4.79320528e-01 -3.22720197e-02 8.95212241e+02] [ 4.79011502e-01 8.77639846e-01 -1.72128143e-02 7.46004392e+01] [ 3.65736657e-02 -3.62232202e-04 9.99330894e-01 3.29098196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.059254154 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:895.26, Y:74.63, Z:32.91 [[ 8.71002122e-01 -4.90218419e-01 -3.22677276e-02 8.95263829e+02] [ 4.89916518e-01 8.71599247e-01 -1.72208568e-02 7.46263492e+01] [ 3.65665083e-02 -8.09089900e-04 9.99330894e-01 3.29068218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.119254154 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:895.32, Y:74.65, Z:32.91 [[ 8.66321915e-01 -4.98442851e-01 -3.22655214e-02 8.95315340e+02] [ 4.98146464e-01 8.66921796e-01 -1.72249893e-02 7.46536222e+01] [ 3.65573566e-02 -1.15056965e-03 9.99330894e-01 3.29132946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.179254154 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:895.37, Y:74.68, Z:32.91 [[ 8.64107675e-01 -5.02271975e-01 -3.22612591e-02 8.95366541e+02] [ 5.01977948e-01 8.64708717e-01 -1.72329688e-02 7.46831521e+01] [ 3.65522292e-02 -1.30330007e-03 9.99330894e-01 3.29139540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.2392541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:895.42, Y:74.71, Z:32.92 [[ 8.61810406e-01 -5.06203835e-01 -3.22568096e-02 8.95417374e+02] [ 5.05912239e-01 8.62412630e-01 -1.72412933e-02 7.47113805e+01] [ 3.65462888e-02 -1.46038880e-03 9.99330894e-01 3.29220459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.299254154 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:895.47, Y:74.74, Z:32.92 [[ 8.60379281e-01 -5.08632797e-01 -3.22516680e-02 8.95467579e+02] [ 5.08342541e-01 8.60982153e-01 -1.72509059e-02 7.47402272e+01] [ 3.65424870e-02 -1.55257289e-03 9.99330894e-01 3.29221399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.3592541539999 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:895.52, Y:74.77, Z:32.92 [[ 8.59451828e-01 -5.10198478e-01 -3.22500929e-02 8.95518626e+02] [ 5.09909210e-01 8.60055174e-01 -1.72538499e-02 7.47698830e+01] [ 3.65397472e-02 -1.61576652e-03 9.99330894e-01 3.29240072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.419254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:895.57, Y:74.80, Z:32.93 [[ 8.59339265e-01 -5.10388315e-01 -3.22458615e-02 8.95566223e+02] [ 5.10098884e-01 8.59942533e-01 -1.72617545e-02 7.48042232e+01] [ 3.65397856e-02 -1.61487451e-03 9.99330894e-01 3.29308969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.4792541539999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:895.62, Y:74.84, Z:32.93 [[ 8.61695415e-01 -5.06400355e-01 -3.22442586e-02 8.95615327e+02] [ 5.06108020e-01 8.62297281e-01 -1.72647481e-02 7.48362369e+01] [ 3.65470111e-02 -1.44212354e-03 9.99330894e-01 3.29347912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.539254154 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:895.66, Y:74.87, Z:32.94 [[ 8.65541245e-01 -4.99798908e-01 -3.22397946e-02 8.95662860e+02] [ 4.99501671e-01 8.66140706e-01 -1.72730800e-02 7.48700117e+01] [ 3.65572650e-02 -1.15326810e-03 9.99330894e-01 3.29352839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.5992541539999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:895.71, Y:74.90, Z:32.94 [[ 8.68434970e-01 -4.94754110e-01 -3.22346654e-02 8.95711448e+02] [ 4.94453035e-01 8.69032512e-01 -1.72826467e-02 7.49037605e+01] [ 3.65636327e-02 -9.29673415e-04 9.99330894e-01 3.29368741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.659254154 meters Centerline goodness : 0.999834 with order 1 Centerline is valid? [True, True] Translation: X:895.76, Y:74.94, Z:32.94 [[ 8.73555115e-01 -4.85656963e-01 -3.22300279e-02 8.95758799e+02] [ 4.85349345e-01 8.74149315e-01 -1.72912908e-02 7.49385686e+01] [ 3.65714926e-02 -5.37927453e-04 9.99330894e-01 3.29366178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.7192541539999 meters Centerline goodness : 0.999791 with order 1 Centerline is valid? [True, True] Translation: X:895.81, Y:74.97, Z:32.93 [[ 8.77408016e-01 -4.78661157e-01 -3.22283985e-02 8.95806407e+02] [ 4.78348689e-01 8.77999680e-01 -1.72943273e-02 7.49748348e+01] [ 3.65746462e-02 -2.42230753e-04 9.99330894e-01 3.29349819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.779254154 meters Centerline goodness : 0.999917 with order 1 Centerline is valid? [True, True] Translation: X:895.85, Y:75.01, Z:32.94 [[ 8.80200737e-01 -4.73506378e-01 -3.22237792e-02 8.95854165e+02] [ 4.73190130e-01 8.80790389e-01 -1.73029299e-02 7.50075260e+01] [ 3.65754427e-02 -1.79226488e-05 9.99330894e-01 3.29350887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.839254154 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:895.90, Y:75.04, Z:32.94 [[ 8.84649218e-01 -4.65142444e-01 -3.22221525e-02 8.95903973e+02] [ 4.64820511e-01 8.85235786e-01 -1.73059587e-02 7.50389307e+01] [ 3.65739384e-02 3.32185504e-04 9.99330894e-01 3.29395710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.899254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:895.95, Y:75.07, Z:32.94 [[ 8.86482946e-01 -4.61638168e-01 -3.22209221e-02 8.95953573e+02] [ 4.61313833e-01 8.87068189e-01 -1.73082491e-02 7.50708701e+01] [ 3.65723035e-02 4.79510520e-04 9.99330894e-01 3.29416592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.959254154 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:896.00, Y:75.10, Z:32.94 [[ 8.87944551e-01 -4.58820860e-01 -3.22163448e-02 8.96004189e+02] [ 4.58494360e-01 8.88528588e-01 -1.73167649e-02 7.50990658e+01] [ 3.65704363e-02 6.05314687e-04 9.99330895e-01 3.29425264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.019254154 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:896.05, Y:75.13, Z:32.94 [[ 8.88779445e-01 -4.57201606e-01 -3.22147420e-02 8.96054531e+02] [ 4.56873933e-01 8.89362826e-01 -1.73197460e-02 7.51276769e+01] [ 3.65692097e-02 6.75358395e-04 9.99330895e-01 3.29447639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.079254154 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:896.11, Y:75.15, Z:32.95 [[ 8.88331946e-01 -4.58070587e-01 -3.22132282e-02 8.96105692e+02] [ 4.57743383e-01 8.88915589e-01 -1.73225612e-02 7.51540874e+01] [ 3.65697965e-02 6.42792456e-04 9.99330895e-01 3.29467263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.139254154 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:896.16, Y:75.18, Z:32.95 [[ 8.87076526e-01 -4.60497167e-01 -3.22117457e-02 8.96157420e+02] [ 4.60171459e-01 8.87661006e-01 -1.73253174e-02 7.51798279e+01] [ 3.65713702e-02 5.45956285e-04 9.99330895e-01 3.29487406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.199254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:896.21, Y:75.21, Z:32.96 [[ 8.86645856e-01 -4.61326161e-01 -3.22071435e-02 8.96210078e+02] [ 4.61000690e-01 8.87230467e-01 -1.73338685e-02 7.52059205e+01] [ 3.65717260e-02 5.21487312e-04 9.99330895e-01 3.29557891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.259254154 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:896.26, Y:75.23, Z:32.96 [[ 8.85423502e-01 -4.63668199e-01 -3.22028523e-02 8.96261790e+02] [ 4.63343984e-01 8.86008811e-01 -1.73418371e-02 7.52316293e+01] [ 3.65728692e-02 4.33872279e-04 9.99330895e-01 3.29559870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.319254154 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:896.31, Y:75.26, Z:32.96 [[ 8.84410803e-01 -4.65597272e-01 -3.21980137e-02 8.96313857e+02] [ 4.65274007e-01 8.84996637e-01 -1.73508160e-02 7.52565236e+01] [ 3.65736265e-02 3.64350291e-04 9.99330895e-01 3.29591529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.379254154 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:896.37, Y:75.28, Z:32.96 [[ 8.83023629e-01 -4.68223106e-01 -3.21930703e-02 8.96367314e+02] [ 4.67901249e-01 8.83610238e-01 -1.73599833e-02 7.52804310e+01] [ 3.65744718e-02 2.66097634e-04 9.99330895e-01 3.29637311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.439254154 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:896.42, Y:75.31, Z:32.96 [[ 8.81096377e-01 -4.71840122e-01 -3.21880998e-02 8.96419667e+02] [ 4.71520336e-01 8.81684118e-01 -1.73691946e-02 7.53056447e+01] [ 3.65752192e-02 1.26590790e-04 9.99330895e-01 3.29630336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.499254154 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:896.47, Y:75.33, Z:32.97 [[ 8.79144101e-01 -4.75467848e-01 -3.21865749e-02 8.96472428e+02] [ 4.75150385e-01 8.79733099e-01 -1.73720199e-02 7.53288207e+01] [ 3.65754322e-02 -2.09546485e-05 9.99330895e-01 3.29652222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.559254154 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:896.53, Y:75.35, Z:32.97 [[ 8.77485860e-01 -4.78521352e-01 -3.21850973e-02 8.96525862e+02] [ 4.78205838e-01 8.78075905e-01 -1.73747570e-02 7.53534408e+01] [ 3.65751506e-02 -1.44997841e-04 9.99330895e-01 3.29698806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.619254154 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:896.58, Y:75.38, Z:32.97 [[ 8.76772440e-01 -4.79827563e-01 -3.21807221e-02 8.96577784e+02] [ 4.79512630e-01 8.77362795e-01 -1.73828567e-02 7.53787485e+01] [ 3.65749421e-02 -1.90253031e-04 9.99330895e-01 3.29743307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.679254154 meters Centerline goodness : 0.999770 with order 1 Centerline is valid? [True, True] Translation: X:896.63, Y:75.40, Z:32.97 [[ 8.75237153e-01 -4.82622674e-01 -3.21757696e-02 8.96629377e+02] [ 4.82309290e-01 8.75828332e-01 -1.73920190e-02 7.54045932e+01] [ 3.65742333e-02 -2.96531387e-04 9.99330895e-01 3.29733013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.7392541539999 meters Centerline goodness : 0.999792 with order 1 Centerline is valid? [True, True] Translation: X:896.68, Y:75.43, Z:32.98 [[ 8.74701515e-01 -4.83593113e-01 -3.21708145e-02 8.96681473e+02] [ 4.83280047e-01 8.75292862e-01 -1.74011799e-02 7.54307843e+01] [ 3.65739750e-02 -3.26674319e-04 9.99330895e-01 3.29751771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.799254154 meters Centerline goodness : 0.999791 with order 1 Centerline is valid? [True, True] Translation: X:896.73, Y:75.46, Z:32.98 [[ 8.74478405e-01 -4.83996769e-01 -3.21659179e-02 8.96733171e+02] [ 4.83683644e-01 8.75069721e-01 -1.74102265e-02 7.54572747e+01] [ 3.65739142e-02 -3.33261226e-04 9.99330895e-01 3.29779939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.8592541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:896.78, Y:75.48, Z:32.98 [[ 8.74522357e-01 -4.83917687e-01 -3.21608299e-02 8.96784217e+02] [ 4.83604163e-01 8.75113461e-01 -1.74196201e-02 7.54832620e+01] [ 3.65740375e-02 -3.19264029e-04 9.99330895e-01 3.29829812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.919254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:896.84, Y:75.51, Z:32.99 [[ 8.72305392e-01 -4.87902783e-01 -3.21586445e-02 8.96835660e+02] [ 4.87591810e-01 8.72897842e-01 -1.74236537e-02 7.55100857e+01] [ 3.65722605e-02 -4.81544623e-04 9.99330895e-01 3.29858763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.9792541539999 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:896.89, Y:75.54, Z:32.99 [[ 8.69454656e-01 -4.92965260e-01 -3.21535796e-02 8.96886640e+02] [ 4.92657392e-01 8.70048726e-01 -1.74329955e-02 7.55373640e+01] [ 3.65690421e-02 -6.83499601e-04 9.99330895e-01 3.29855841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.039254154 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:896.94, Y:75.56, Z:32.99 [[ 8.66457887e-01 -4.98213786e-01 -3.21520261e-02 8.96938275e+02] [ 4.97909410e-01 8.67053753e-01 -1.74358602e-02 7.55639558e+01] [ 3.65643208e-02 -9.01357706e-04 9.99330895e-01 3.29906717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.0992541539999 meters Centerline goodness : 0.999771 with order 1 Centerline is valid? [True, True] Translation: X:896.99, Y:75.59, Z:32.99 [[ 8.63432689e-01 -5.03438731e-01 -3.21471053e-02 8.96989520e+02] [ 5.03137622e-01 8.64030212e-01 -1.74449281e-02 7.55922677e+01] [ 3.65585227e-02 -1.11189690e-03 9.99330895e-01 3.29912904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.159254154 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:897.04, Y:75.62, Z:33.00 [[ 8.61865328e-01 -5.06117608e-01 -3.21422332e-02 8.97040554e+02] [ 5.05818022e-01 8.62463616e-01 -1.74539003e-02 7.56201371e+01] [ 3.65552330e-02 -1.21520938e-03 9.99330895e-01 3.29977970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.2192541539999 meters Centerline goodness : 0.999770 with order 1 Centerline is valid? [True, True] Translation: X:897.09, Y:75.65, Z:33.00 [[ 8.62347154e-01 -5.05296519e-01 -3.21374291e-02 8.97090199e+02] [ 5.04996034e-01 8.62944991e-01 -1.74627415e-02 7.56514739e+01] [ 3.65566960e-02 -1.17032882e-03 9.99330895e-01 3.29952073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.279254154 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:897.14, Y:75.68, Z:33.00 [[ 8.64595504e-01 -5.01440007e-01 -3.21330737e-02 8.97139870e+02] [ 5.01136557e-01 8.65191842e-01 -1.74707523e-02 7.56817472e+01] [ 3.65618073e-02 -9.97924054e-04 9.99330895e-01 3.29980422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.339254154 meters Centerline goodness : 0.999834 with order 1 Centerline is valid? [True, True] Translation: X:897.19, Y:75.71, Z:33.00 [[ 8.68811039e-01 -4.94100370e-01 -3.21279210e-02 8.97188552e+02] [ 4.93791531e-01 8.69404604e-01 -1.74802227e-02 7.57132992e+01] [ 3.65691469e-02 -6.77484903e-04 9.99330895e-01 3.29994899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.399254154 meters Centerline goodness : 0.999750 with order 1 Centerline is valid? [True, True] Translation: X:897.24, Y:75.75, Z:33.00 [[ 8.73282539e-01 -4.86154020e-01 -3.21228126e-02 8.97237810e+02] [ 4.85839435e-01 8.73873079e-01 -1.74896051e-02 7.57451753e+01] [ 3.65739030e-02 -3.33162362e-04 9.99330895e-01 3.30002872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.459254154 meters Centerline goodness : 0.999792 with order 1 Centerline is valid? [True, True] Translation: X:897.29, Y:75.78, Z:33.00 [[ 8.76570450e-01 -4.80200643e-01 -3.21183555e-02 8.97288014e+02] [ 4.79881746e-01 8.77158673e-01 -1.74977865e-02 7.57766811e+01] [ 3.65753424e-02 -7.49699428e-05 9.99330896e-01 3.30034650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.519254154 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:897.34, Y:75.81, Z:33.01 [[ 8.77459857e-01 -4.78573819e-01 -3.21138504e-02 8.97338042e+02] [ 4.78253529e-01 8.78047322e-01 -1.75060509e-02 7.58055412e+01] [ 3.65754179e-02 2.29460809e-06 9.99330896e-01 3.30075930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.579254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:897.39, Y:75.83, Z:33.01 [[ 8.76588625e-01 -4.80167871e-01 -3.21122674e-02 8.97388257e+02] [ 4.79848543e-01 8.77176614e-01 -1.75089540e-02 7.58342011e+01] [ 3.65753672e-02 -6.08748109e-05 9.99330896e-01 3.30113716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.639254154 meters Centerline goodness : 0.999729 with order 1 Centerline is valid? [True, True] Translation: X:897.44, Y:75.86, Z:33.01 [[ 8.73229605e-01 -4.86250123e-01 -3.21072418e-02 8.97438870e+02] [ 4.85934552e-01 8.73819618e-01 -1.75181650e-02 7.58639974e+01] [ 3.65741477e-02 -3.04637822e-04 9.99330896e-01 3.30084679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.699254154 meters Centerline goodness : 0.999792 with order 1 Centerline is valid? [True, True] Translation: X:897.49, Y:75.89, Z:33.01 [[ 8.70835451e-01 -4.90525253e-01 -3.21028626e-02 8.97488970e+02] [ 4.90212282e-01 8.71426848e-01 -1.75261865e-02 7.58925576e+01] [ 3.65723334e-02 -4.74793048e-04 9.99330896e-01 3.30113002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.759254154 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:897.54, Y:75.92, Z:33.01 [[ 8.67676225e-01 -4.96092429e-01 -3.20978112e-02 8.97538931e+02] [ 4.95782911e-01 8.68269436e-01 -1.75354327e-02 7.59208943e+01] [ 3.65687439e-02 -6.98468199e-04 9.99330896e-01 3.30143459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.819254154 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:897.59, Y:75.95, Z:33.01 [[ 8.65445130e-01 -4.99974557e-01 -3.20962633e-02 8.97589096e+02] [ 4.99667594e-01 8.66039667e-01 -1.75382656e-02 7.59497062e+01] [ 3.65653237e-02 -8.59056144e-04 9.99330896e-01 3.30145941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.879254154 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:897.64, Y:75.98, Z:33.02 [[ 8.65138534e-01 -5.00504989e-01 -3.20947617e-02 8.97639796e+02] [ 5.00198289e-01 8.65733207e-01 -1.75410131e-02 7.59783201e+01] [ 3.65648655e-02 -8.78338509e-04 9.99330896e-01 3.30195066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.939254154 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:897.69, Y:76.01, Z:33.02 [[ 8.65793095e-01 -4.99372183e-01 -3.20895590e-02 8.97689525e+02] [ 4.99064352e-01 8.66387183e-01 -1.75505257e-02 7.60072398e+01] [ 3.65662270e-02 -8.19631012e-04 9.99330896e-01 3.30195140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.999254154 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:897.74, Y:76.04, Z:33.02 [[ 8.68968168e-01 -4.93826575e-01 -3.20879632e-02 8.97740531e+02] [ 4.93514845e-01 8.69560219e-01 -1.75534428e-02 7.60363237e+01] [ 3.65707729e-02 -5.82503200e-04 9.99330896e-01 3.30248347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.059254154 meters Centerline goodness : 0.999730 with order 1 Centerline is valid? [True, True] Translation: X:897.79, Y:76.07, Z:33.03 [[ 8.72581592e-01 -4.87413595e-01 -3.20835330e-02 8.97790085e+02] [ 4.87097216e-01 8.73171171e-01 -1.75615366e-02 7.60664907e+01] [ 3.65741477e-02 -3.03926049e-04 9.99330896e-01 3.30251070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.119254154 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:897.84, Y:76.10, Z:33.03 [[ 8.75204440e-01 -4.82688472e-01 -3.20784383e-02 8.97840170e+02] [ 4.82368569e-01 8.75792116e-01 -1.75708378e-02 7.60960376e+01] [ 3.65752842e-02 -9.55550858e-05 9.99330896e-01 3.30267789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.179254154 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:897.89, Y:76.13, Z:33.03 [[ 8.79318187e-01 -4.75153476e-01 -3.20733715e-02 8.97890447e+02] [ 4.74828199e-01 8.79902905e-01 -1.75800817e-02 7.61250713e+01] [ 3.65746897e-02 2.29144324e-04 9.99330896e-01 3.30299750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.2392541539999 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:897.94, Y:76.15, Z:33.03 [[ 8.82481166e-01 -4.69253261e-01 -3.20681893e-02 8.97942416e+02] [ 4.68923732e-01 8.83063498e-01 -1.75895296e-02 7.61536443e+01] [ 3.65721915e-02 4.84893602e-04 9.99330896e-01 3.30304709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.299254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:897.99, Y:76.18, Z:33.03 [[ 8.82999819e-01 -4.68276885e-01 -3.20636510e-02 8.97993865e+02] [ 4.67946412e-01 8.83581616e-01 -1.75977985e-02 7.61810256e+01] [ 3.65714948e-02 5.34782478e-04 9.99330896e-01 3.30335619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.3592541539999 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:898.05, Y:76.20, Z:33.04 [[ 8.83426221e-01 -4.67472076e-01 -3.20619804e-02 8.98046411e+02] [ 4.67140963e-01 8.84007653e-01 -1.76008416e-02 7.62033446e+01] [ 3.65709380e-02 5.71580534e-04 9.99330896e-01 3.30371012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.419254154 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:898.10, Y:76.23, Z:33.04 [[ 8.82232785e-01 -4.69720652e-01 -3.20596813e-02 8.98100070e+02] [ 4.69390868e-01 8.82814973e-01 -1.76050285e-02 7.62266783e+01] [ 3.65722121e-02 4.83211658e-04 9.99330896e-01 3.30376098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.4792541539999 meters Centerline goodness : 0.999917 with order 1 Centerline is valid? [True, True] Translation: X:898.15, Y:76.25, Z:33.04 [[ 8.81470427e-01 -4.71150078e-01 -3.20545003e-02 8.98151700e+02] [ 4.70820895e-01 8.82052955e-01 -1.76144567e-02 7.62500637e+01] [ 3.65728194e-02 4.34694089e-04 9.99330896e-01 3.30393099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.539254154 meters Centerline goodness : 0.999769 with order 1 Centerline is valid? [True, True] Translation: X:898.21, Y:76.27, Z:33.04 [[ 8.80230126e-01 -4.73463384e-01 -3.20522764e-02 8.98205713e+02] [ 4.73135586e-01 8.80813434e-01 -1.76185025e-02 7.62726595e+01] [ 3.65737915e-02 3.43264114e-04 9.99330896e-01 3.30406510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.5992541539999 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:898.26, Y:76.30, Z:33.04 [[ 8.79652281e-01 -4.74536461e-01 -3.20470271e-02 8.98258954e+02] [ 4.74209026e-01 8.80235793e-01 -1.76280455e-02 7.62970143e+01] [ 3.65740907e-02 3.09560894e-04 9.99330896e-01 3.30439847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.659254154 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:898.31, Y:76.32, Z:33.05 [[ 8.78553738e-01 -4.76567530e-01 -3.20424380e-02 8.98312136e+02] [ 4.76241140e-01 8.79137836e-01 -1.76363832e-02 7.63190327e+01] [ 3.65746472e-02 2.34583125e-04 9.99330896e-01 3.30469423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.7192541539999 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:898.37, Y:76.34, Z:33.05 [[ 8.75661628e-01 -4.81861121e-01 -3.20401824e-02 8.98366153e+02] [ 4.81538113e-01 8.76247602e-01 -1.76404800e-02 7.63415516e+01] [ 3.65753945e-02 1.85224208e-05 9.99330896e-01 3.30480819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.779254154 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:898.42, Y:76.37, Z:33.05 [[ 8.73189222e-01 -4.86327409e-01 -3.20348869e-02 8.98418686e+02] [ 4.86007045e-01 8.73776645e-01 -1.76500913e-02 7.63658889e+01] [ 3.65750592e-02 -1.57311309e-04 9.99330896e-01 3.30489351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.839254154 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:898.47, Y:76.39, Z:33.05 [[ 8.69779597e-01 -4.92399794e-01 -3.20296010e-02 8.98472029e+02] [ 4.92083178e-01 8.70369049e-01 -1.76596785e-02 7.63879640e+01] [ 3.65731954e-02 -4.01199731e-04 9.99330896e-01 3.30505387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.899254154 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:898.53, Y:76.41, Z:33.06 [[ 8.67003419e-01 -4.97271879e-01 -3.20273327e-02 8.98525205e+02] [ 4.96958423e-01 8.67594558e-01 -1.76637913e-02 7.64104638e+01] [ 3.65704462e-02 -6.01685237e-04 9.99330896e-01 3.30552446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.959254154 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:898.58, Y:76.44, Z:33.06 [[ 8.65831883e-01 -4.99309024e-01 -3.20257514e-02 8.98576958e+02] [ 4.98996853e-01 8.66423701e-01 -1.76666578e-02 7.64378438e+01] [ 3.65689917e-02 -6.84393622e-04 9.99330896e-01 3.30551710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.019254154 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:898.63, Y:76.46, Z:33.06 [[ 8.64171044e-01 -5.02178341e-01 -3.20206244e-02 8.98629022e+02] [ 5.01867791e-01 8.64763714e-01 -1.76759456e-02 7.64633468e+01] [ 3.65667511e-02 -7.95079601e-04 9.99330896e-01 3.30561818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.079254154 meters Centerline goodness : 0.999641 with order 1 Centerline is valid? [True, True] Translation: X:898.68, Y:76.49, Z:33.06 [[ 8.64352921e-01 -5.01865555e-01 -3.20154933e-02 8.98680108e+02] [ 5.01554447e-01 8.64945299e-01 -1.76852344e-02 7.64900477e+01] [ 3.65672604e-02 -7.71229007e-04 9.99330896e-01 3.30580909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.139254154 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:898.73, Y:76.52, Z:33.06 [[ 8.65356296e-01 -5.00133795e-01 -3.20104202e-02 8.98731530e+02] [ 4.99821162e-01 8.65947870e-01 -1.76944120e-02 7.65174702e+01] [ 3.65689286e-02 -6.87514596e-04 9.99330897e-01 3.30613549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.199254154 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:898.78, Y:76.54, Z:33.06 [[ 8.66919470e-01 -4.97419414e-01 -3.20087478e-02 8.98783387e+02] [ 4.97104816e-01 8.67510002e-01 -1.76974368e-02 7.65441376e+01] [ 3.65709575e-02 -5.69450113e-04 9.99330897e-01 3.30644371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.259254154 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:898.83, Y:76.57, Z:33.07 [[ 8.67962653e-01 -4.95597230e-01 -3.20034109e-02 8.98833637e+02] [ 4.95281037e-01 8.68552332e-01 -1.77070826e-02 7.65721266e+01] [ 3.65722183e-02 -4.81596092e-04 9.99330897e-01 3.30690846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.319254154 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:898.88, Y:76.60, Z:33.07 [[ 8.70712227e-01 -4.90750806e-01 -3.19978883e-02 8.98883989e+02] [ 4.90430964e-01 8.71299934e-01 -1.77170567e-02 7.66012432e+01] [ 3.65744178e-02 -2.66297288e-04 9.99330897e-01 3.30717045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.379254154 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:898.94, Y:76.63, Z:33.07 [[ 8.72373594e-01 -4.87791509e-01 -3.19961959e-02 8.98935239e+02] [ 4.87469561e-01 8.72960151e-01 -1.77201126e-02 7.66295153e+01] [ 3.65751244e-02 -1.38613234e-04 9.99330897e-01 3.30739857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.439254154 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:898.98, Y:76.66, Z:33.07 [[ 8.73161315e-01 -4.86380368e-01 -3.19915017e-02 8.98984751e+02] [ 4.86057162e-01 8.73747179e-01 -1.77285833e-02 7.66595098e+01] [ 3.65753192e-02 -6.97854506e-05 9.99330897e-01 3.30700215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.499254154 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:899.04, Y:76.69, Z:33.07 [[ 8.73137072e-01 -4.86423994e-01 -3.19898546e-02 8.99035688e+02] [ 4.86100708e-01 8.73722893e-01 -1.77315549e-02 7.66874887e+01] [ 3.65753220e-02 -6.82130672e-05 9.99330897e-01 3.30732045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.559254154 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:899.09, Y:76.71, Z:33.08 [[ 8.72092174e-01 -4.88295206e-01 -3.19848797e-02 8.99088060e+02] [ 4.87972848e-01 8.72678505e-01 -1.77405243e-02 7.67148618e+01] [ 3.65751299e-02 -1.36380437e-04 9.99330897e-01 3.30790064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.619254154 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:899.14, Y:76.74, Z:33.08 [[ 8.70690695e-01 -4.90790164e-01 -3.19801402e-02 8.99139233e+02] [ 4.90469172e-01 8.71277775e-01 -1.77490639e-02 7.67411945e+01] [ 3.65746514e-02 -2.31328113e-04 9.99330897e-01 3.30824631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.679254154 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:899.19, Y:76.77, Z:33.08 [[ 8.69332255e-01 -4.93192465e-01 -3.19784819e-02 8.99190435e+02] [ 4.92872986e-01 8.69920160e-01 -1.77520511e-02 7.67708814e+01] [ 3.65739039e-02 -3.28899283e-04 9.99330897e-01 3.30825340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.7392541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:899.24, Y:76.80, Z:33.09 [[ 8.69065004e-01 -4.93663536e-01 -3.19739380e-02 8.99242060e+02] [ 4.93344074e-01 8.69652918e-01 -1.77602316e-02 7.67986745e+01] [ 3.65738072e-02 -3.39357046e-04 9.99330897e-01 3.30864301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.799254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:899.29, Y:76.83, Z:33.09 [[ 8.69296728e-01 -4.93255679e-01 -3.19692479e-02 8.99293139e+02] [ 4.92935632e-01 8.69884324e-01 -1.77686700e-02 7.68269942e+01] [ 3.65740450e-02 -3.12534692e-04 9.99330897e-01 3.30884770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.8592541539999 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:899.34, Y:76.86, Z:33.09 [[ 8.69880957e-01 -4.92224980e-01 -3.19638832e-02 8.99343842e+02] [ 4.91903882e-01 8.70467979e-01 -1.77783152e-02 7.68566437e+01] [ 3.65744677e-02 -2.58140360e-04 9.99330897e-01 3.30854257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.919254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:899.40, Y:76.88, Z:33.09 [[ 8.70801920e-01 -4.90594200e-01 -3.19585268e-02 8.99395003e+02] [ 4.90271649e-01 8.71388145e-01 -1.77879387e-02 7.68848041e+01] [ 3.65749410e-02 -1.78588434e-04 9.99330897e-01 3.30880836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.9792541539999 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:899.45, Y:76.91, Z:33.09 [[ 8.71174282e-01 -4.89932979e-01 -3.19538294e-02 8.99445911e+02] [ 4.89609674e-01 8.71760091e-01 -1.77963730e-02 7.69132142e+01] [ 3.65751033e-02 -1.41161486e-04 9.99330897e-01 3.30869850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.039254154 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:899.50, Y:76.94, Z:33.09 [[ 8.72558786e-01 -4.87463291e-01 -3.19484739e-02 8.99497817e+02] [ 4.87137976e-01 8.73143482e-01 -1.78059822e-02 7.69395439e+01] [ 3.65753644e-02 -2.65486432e-05 9.99330897e-01 3.30931582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.0992541539999 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:899.55, Y:76.97, Z:33.09 [[ 8.73557270e-01 -4.85672043e-01 -3.19431106e-02 8.99549157e+02] [ 4.85345178e-01 8.74141100e-01 -1.78155986e-02 7.69676754e+01] [ 3.65753240e-02 5.95109998e-05 9.99330897e-01 3.30921891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.159254154 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:899.60, Y:76.99, Z:33.10 [[ 8.76987939e-01 -4.79449827e-01 -3.19377275e-02 8.99600602e+02] [ 4.79118468e-01 8.77569231e-01 -1.78252435e-02 7.69930217e+01] [ 3.65738768e-02 3.30568550e-04 9.99330897e-01 3.30997306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.2192541539999 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:899.65, Y:77.02, Z:33.10 [[ 8.78333592e-01 -4.76980337e-01 -3.19352348e-02 8.99651444e+02] [ 4.76647182e-01 8.78913856e-01 -1.78297082e-02 7.70208914e+01] [ 3.65727406e-02 4.38591968e-04 9.99330897e-01 3.31008045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.279254154 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:899.70, Y:77.05, Z:33.10 [[ 8.80428124e-01 -4.73103368e-01 -3.19299629e-02 8.99702297e+02] [ 4.72767315e-01 8.81006714e-01 -1.78391443e-02 7.70482657e+01] [ 3.65702709e-02 6.10641562e-04 9.99330897e-01 3.31020805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.339254154 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:899.75, Y:77.08, Z:33.10 [[ 8.81304415e-01 -4.71469338e-01 -3.19247701e-02 8.99753689e+02] [ 4.71131876e-01 8.81882185e-01 -1.78484325e-02 7.70757810e+01] [ 3.65688747e-02 6.89125533e-04 9.99330897e-01 3.31035175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.399254154 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:899.81, Y:77.10, Z:33.10 [[ 8.81107491e-01 -4.71837618e-01 -3.19194579e-02 8.99805161e+02] [ 4.71500054e-01 8.81685201e-01 -1.78579276e-02 7.71003951e+01] [ 3.65689556e-02 6.84727653e-04 9.99330897e-01 3.31047678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.459254154 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:899.86, Y:77.12, Z:33.11 [[ 8.79003086e-01 -4.75746642e-01 -3.19171781e-02 8.99857790e+02] [ 4.75411500e-01 8.79582205e-01 -1.78620012e-02 7.71241513e+01] [ 3.65715690e-02 5.26960687e-04 9.99330897e-01 3.31079362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.519254154 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:899.91, Y:77.15, Z:33.11 [[ 8.76093896e-01 -4.81083266e-01 -3.19120190e-02 8.99911362e+02] [ 4.80751316e-01 8.76674849e-01 -1.78712136e-02 7.71480112e+01] [ 3.65740063e-02 3.15115995e-04 9.99330898e-01 3.31128105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.579254154 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:899.96, Y:77.17, Z:33.11 [[ 8.73692457e-01 -4.85431188e-01 -3.19069288e-02 8.99963620e+02] [ 4.85101797e-01 8.74274866e-01 -1.78802971e-02 7.71737997e+01] [ 3.65750797e-02 1.43772235e-04 9.99330898e-01 3.31121884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.639254154 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:900.02, Y:77.20, Z:33.11 [[ 8.71757583e-01 -4.88897727e-01 -3.19018566e-02 9.00016513e+02] [ 4.88570322e-01 8.72341110e-01 -1.78893423e-02 7.71968799e+01] [ 3.65753598e-02 8.86949562e-06 9.99330898e-01 3.31149392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.699254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:900.07, Y:77.22, Z:33.12 [[ 8.71384880e-01 -4.89561806e-01 -3.19003019e-02 9.00069814e+02] [ 4.89234743e-01 8.71968599e-01 -1.78921142e-02 7.72213738e+01] [ 3.65753573e-02 -1.58182447e-05 9.99330898e-01 3.31179216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.759254154 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:900.12, Y:77.25, Z:33.12 [[ 8.72101252e-01 -4.88284844e-01 -3.18954053e-02 9.00121709e+02] [ 4.87956608e-01 8.72684312e-01 -1.79008388e-02 7.72480678e+01] [ 3.65753281e-02 4.77701570e-05 9.99330898e-01 3.31218472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.819254154 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:900.17, Y:77.27, Z:33.12 [[ 8.73157846e-01 -4.86393239e-01 -3.18903385e-02 9.00174436e+02] [ 4.86063410e-01 8.73740006e-01 -1.79098608e-02 7.72746956e+01] [ 3.65750998e-02 1.37408803e-04 9.99330898e-01 3.31215672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.879254154 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:900.23, Y:77.30, Z:33.12 [[ 8.73550304e-01 -4.85688334e-01 -3.18858624e-02 9.00225178e+02] [ 4.85357744e-01 8.74132033e-01 -1.79178262e-02 7.73021138e+01] [ 3.65749329e-02 1.76072268e-04 9.99330898e-01 3.31239842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.939254154 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:900.28, Y:77.33, Z:33.13 [[ 8.74924310e-01 -4.83209141e-01 -3.18806788e-02 9.00277295e+02] [ 4.82876568e-01 8.75504907e-01 -1.79270446e-02 7.73278718e+01] [ 3.65742025e-02 2.90374339e-04 9.99330898e-01 3.31274137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.999254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:900.33, Y:77.35, Z:33.13 [[ 8.76227741e-01 -4.80841861e-01 -3.18755504e-02 9.00329727e+02] [ 4.80507387e-01 8.76807245e-01 -1.79361586e-02 7.73536077e+01] [ 3.65731694e-02 3.99722241e-04 9.99330898e-01 3.31296902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.059254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:900.38, Y:77.38, Z:33.13 [[ 8.76709174e-01 -4.79963621e-01 -3.18739144e-02 9.00382378e+02] [ 4.79628461e-01 8.77288282e-01 -1.79390655e-02 7.73805515e+01] [ 3.65727104e-02 4.39706791e-04 9.99330898e-01 3.31281413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.119254154 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:900.43, Y:77.41, Z:33.13 [[ 8.77659362e-01 -4.78224227e-01 -3.18689996e-02 9.00434290e+02] [ 4.77887603e-01 8.78237619e-01 -1.79477924e-02 7.74061154e+01] [ 3.65716235e-02 5.22248239e-04 9.99330898e-01 3.31344638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.179254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:900.49, Y:77.43, Z:33.14 [[ 8.78283281e-01 -4.77077525e-01 -3.18671107e-02 9.00485879e+02] [ 4.76740024e-01 8.78861028e-01 -1.79511456e-02 7.74329501e+01] [ 3.65708498e-02 5.73863940e-04 9.99330898e-01 3.31383592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.2392541539999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:900.54, Y:77.46, Z:33.14 [[ 8.78400860e-01 -4.76861351e-01 -3.18618899e-02 9.00538525e+02] [ 4.76523372e-01 8.78978327e-01 -1.79604073e-02 7.74598090e+01] [ 3.65705348e-02 5.93501997e-04 9.99330898e-01 3.31369854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.299254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:900.59, Y:77.48, Z:33.14 [[ 8.77978887e-01 -4.77638127e-01 -3.18573951e-02 9.00591626e+02] [ 4.77300370e-01 8.78556484e-01 -1.79683765e-02 7.74846029e+01] [ 3.65709027e-02 5.70308697e-04 9.99330898e-01 3.31393101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.3592541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:900.64, Y:77.51, Z:33.14 [[ 8.77365609e-01 -4.78764056e-01 -3.18522728e-02 9.00644040e+02] [ 4.78426711e-01 8.77943446e-01 -1.79774522e-02 7.75085410e+01] [ 3.65714520e-02 5.33820203e-04 9.99330898e-01 3.31418238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.419254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:900.70, Y:77.53, Z:33.14 [[ 8.76886271e-01 -4.79641534e-01 -3.18506987e-02 9.00695677e+02] [ 4.79304666e-01 8.77464386e-01 -1.79802405e-02 7.75343373e+01] [ 3.65719239e-02 5.00437550e-04 9.99330898e-01 3.31430870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.4792541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:900.75, Y:77.56, Z:33.15 [[ 8.77520430e-01 -4.78480674e-01 -3.18455411e-02 9.00749237e+02] [ 4.78142710e-01 8.78097905e-01 -1.79893708e-02 7.75597579e+01] [ 3.65710692e-02 5.59327143e-04 9.99330898e-01 3.31461068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.539254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:900.80, Y:77.59, Z:33.15 [[ 8.78701059e-01 -4.76309350e-01 -3.18410360e-02 9.00801734e+02] [ 4.75969670e-01 8.79277526e-01 -1.79973413e-02 7.75854118e+01] [ 3.65694093e-02 6.58915465e-04 9.99330898e-01 3.31479104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.5992541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:900.85, Y:77.61, Z:33.15 [[ 8.79824116e-01 -4.74232020e-01 -3.18357752e-02 9.00854101e+02] [ 4.73890643e-01 8.80399580e-01 -1.80066423e-02 7.76105294e+01] [ 3.65675295e-02 7.56002153e-04 9.99330898e-01 3.31493654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.659254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:900.90, Y:77.64, Z:33.15 [[ 8.80415059e-01 -4.73134376e-01 -3.18305802e-02 9.00904672e+02] [ 4.72791950e-01 8.80989899e-01 -1.80158208e-02 7.76398215e+01] [ 3.65663238e-02 8.12157869e-04 9.99330898e-01 3.31502381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.7192541539999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:900.95, Y:77.67, Z:33.15 [[ 8.81204348e-01 -4.71663066e-01 -3.18252893e-02 9.00953980e+02] [ 4.71319343e-01 8.81778413e-01 -1.80251626e-02 7.76702118e+01] [ 3.65646565e-02 8.83977231e-04 9.99330898e-01 3.31527837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.779254154 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:901.00, Y:77.70, Z:33.15 [[ 8.80820764e-01 -4.72379367e-01 -3.18200496e-02 9.01002484e+02] [ 4.72035777e-01 8.81394909e-01 -1.80344075e-02 7.77000321e+01] [ 3.65651117e-02 8.64878679e-04 9.99330898e-01 3.31514074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.839254154 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:901.05, Y:77.73, Z:33.15 [[ 8.80132551e-01 -4.73660639e-01 -3.18165205e-02 9.01052940e+02] [ 4.73317660e-01 8.80707062e-01 -1.80406314e-02 7.77288492e+01] [ 3.65661713e-02 8.18825888e-04 9.99330898e-01 3.31546318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.899254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:901.10, Y:77.76, Z:33.16 [[ 8.79611148e-01 -4.74628557e-01 -3.18113340e-02 9.01103255e+02] [ 4.74285880e-01 8.80185838e-01 -1.80497723e-02 7.77567410e+01] [ 3.65668231e-02 7.89114455e-04 9.99330899e-01 3.31588328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.959254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:901.15, Y:77.79, Z:33.15 [[ 8.76617066e-01 -4.80136138e-01 -3.18089523e-02 9.01153232e+02] [ 4.79796919e-01 8.77193804e-01 -1.80539686e-02 7.77887169e+01] [ 3.65709786e-02 5.64579688e-04 9.99330899e-01 3.31531863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.019254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:901.21, Y:77.81, Z:33.16 [[ 8.76761016e-01 -4.79873409e-01 -3.18061640e-02 9.01205232e+02] [ 4.79533840e-01 8.77337548e-01 -1.80588795e-02 7.78135305e+01] [ 3.65707180e-02 5.81189612e-04 9.99330899e-01 3.31597005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.079254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:901.26, Y:77.84, Z:33.16 [[ 8.74750510e-01 -4.83528778e-01 -3.18035597e-02 9.01255894e+02] [ 4.83191451e-01 8.75328357e-01 -1.80634647e-02 7.78420796e+01] [ 3.65727627e-02 4.33816752e-04 9.99330899e-01 3.31637582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.139254154 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:901.31, Y:77.87, Z:33.17 [[ 8.72035789e-01 -4.88407839e-01 -3.18019737e-02 9.01307175e+02] [ 4.88073643e-01 8.72615453e-01 -1.80662565e-02 7.78710312e+01] [ 3.65745950e-02 2.32717027e-04 9.99330899e-01 3.31664304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.199254154 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:901.36, Y:77.90, Z:33.16 [[ 8.69648929e-01 -4.92645565e-01 -3.17975891e-02 9.01356820e+02] [ 4.92313913e-01 8.70230052e-01 -1.80739704e-02 7.78990868e+01] [ 3.65752790e-02 6.36134520e-05 9.99330899e-01 3.31641615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.259254154 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:901.41, Y:77.93, Z:33.17 [[ 8.68621980e-01 -4.94454151e-01 -3.17954348e-02 9.01407255e+02] [ 4.94123569e-01 8.69203712e-01 -1.80777595e-02 7.79286040e+01] [ 3.65753331e-02 -8.13451213e-06 9.99330899e-01 3.31667671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.319254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:901.46, Y:77.96, Z:33.17 [[ 8.67954123e-01 -4.95625883e-01 -3.17903273e-02 9.01456554e+02] [ 4.95295759e-01 8.68536114e-01 -1.80867366e-02 7.79588164e+01] [ 3.65753022e-02 -4.71567049e-05 9.99330899e-01 3.31702309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.379254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:901.51, Y:77.99, Z:33.17 [[ 8.67464728e-01 -4.96482266e-01 -3.17852920e-02 9.01505879e+02] [ 4.96152391e-01 8.68046862e-01 -1.80955812e-02 7.79889715e+01] [ 3.65752582e-02 -7.30702180e-05 9.99330899e-01 3.31711883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.439254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:901.56, Y:78.02, Z:33.17 [[ 8.66799195e-01 -4.97643631e-01 -3.17800642e-02 9.01555800e+02] [ 4.97314200e-01 8.67381579e-01 -1.81047578e-02 7.80195454e+01] [ 3.65751597e-02 -1.11487731e-04 9.99330899e-01 3.31738705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.499254154 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:901.61, Y:78.05, Z:33.17 [[ 8.65541117e-01 -4.99828900e-01 -3.17749100e-02 9.01605118e+02] [ 4.99500608e-01 8.66124144e-01 -1.81137992e-02 7.80501557e+01] [ 3.65748171e-02 -1.93348859e-04 9.99330899e-01 3.31740102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.559254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:901.65, Y:78.08, Z:33.18 [[ 8.65349323e-01 -5.00161209e-01 -3.17697141e-02 9.01654671e+02] [ 4.99832806e-01 8.65932287e-01 -1.81229078e-02 7.80804164e+01] [ 3.65747967e-02 -1.96899358e-04 9.99330899e-01 3.31759542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.619254154 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:901.70, Y:78.11, Z:33.18 [[ 8.65533629e-01 -4.99842526e-01 -3.17645336e-02 9.01704778e+02] [ 4.99513575e-01 8.66116285e-01 -1.81319832e-02 7.81107504e+01] [ 3.65749161e-02 -1.72974497e-04 9.99330899e-01 3.31761279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.679254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:901.75, Y:78.14, Z:33.17 [[ 8.65577804e-01 -4.99766355e-01 -3.17593466e-02 9.01753434e+02] [ 4.99437019e-01 8.66160242e-01 -1.81410640e-02 7.81430762e+01] [ 3.65749768e-02 -1.59291114e-04 9.99330899e-01 3.31742746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.7392541539999 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:901.80, Y:78.17, Z:33.18 [[ 8.67343513e-01 -4.96696006e-01 -3.17538667e-02 9.01803508e+02] [ 4.96364258e-01 8.67924580e-01 -1.81506509e-02 7.81712144e+01] [ 3.65753173e-02 -1.86352079e-05 9.99330899e-01 3.31779740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.799254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:901.85, Y:78.20, Z:33.18 [[ 8.67849804e-01 -4.95811098e-01 -3.17501592e-02 9.01853900e+02] [ 4.95478520e-01 8.68430397e-01 -1.81571339e-02 7.82002917e+01] [ 3.65753119e-02 2.61431901e-05 9.99330899e-01 3.31828264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.8592541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:901.90, Y:78.23, Z:33.19 [[ 8.68472318e-01 -4.94720199e-01 -3.17452031e-02 9.01903830e+02] [ 4.94386575e-01 8.69052310e-01 -1.81657949e-02 7.82298886e+01] [ 3.65752278e-02 8.20877433e-05 9.99330899e-01 3.31851562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.919254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:901.95, Y:78.26, Z:33.19 [[ 8.68479840e-01 -4.94707328e-01 -3.17399747e-02 9.01953824e+02] [ 4.94373362e-01 8.69059636e-01 -1.81749255e-02 7.82588858e+01] [ 3.65751997e-02 9.31583911e-05 9.99330899e-01 3.31856440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.9792541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:902.00, Y:78.29, Z:33.19 [[ 8.68770381e-01 -4.94197255e-01 -3.17348037e-02 9.02004168e+02] [ 4.93862619e-01 8.69349790e-01 -1.81839500e-02 7.82873192e+01] [ 3.65751031e-02 1.25043896e-04 9.99330899e-01 3.31888367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.039254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:902.05, Y:78.32, Z:33.19 [[ 8.67258741e-01 -4.96845560e-01 -3.17295734e-02 9.02053353e+02] [ 4.96512360e-01 8.67838976e-01 -1.81930720e-02 7.83184129e+01] [ 3.65753075e-02 2.39753943e-05 9.99330899e-01 3.31851494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.0992541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:902.10, Y:78.34, Z:33.19 [[ 8.67912571e-01 -4.95702889e-01 -3.17240633e-02 9.02104746e+02] [ 4.95368573e-01 8.68492164e-01 -1.82026751e-02 7.83449671e+01] [ 3.65752190e-02 8.32265407e-05 9.99330899e-01 3.31907204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.159254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:902.16, Y:78.37, Z:33.19 [[ 8.66361494e-01 -4.98408974e-01 -3.17215323e-02 9.02155090e+02] [ 4.98076308e-01 8.66942036e-01 -1.82070848e-02 7.83729842e+01] [ 3.65753042e-02 -2.58264347e-05 9.99330899e-01 3.31903296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.2192541539999 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:902.21, Y:78.40, Z:33.19 [[ 8.64087595e-01 -5.02341005e-01 -3.17197543e-02 9.02205964e+02] [ 5.02010866e-01 8.64669578e-01 -1.82101819e-02 7.84017735e+01] [ 3.65748276e-02 -1.88469069e-04 9.99330899e-01 3.31937168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.279254154 meters Centerline goodness : 0.999779 with order 1 Centerline is valid? [True, True] Translation: X:902.26, Y:78.43, Z:33.19 [[ 8.61815936e-01 -5.06228684e-01 -3.17145437e-02 9.02256837e+02] [ 5.05900837e-01 8.62399213e-01 -1.82192521e-02 7.84304030e+01] [ 3.65737055e-02 -3.42772405e-04 9.99330899e-01 3.31946920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.339254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:902.31, Y:78.46, Z:33.20 [[ 8.57342538e-01 -5.13768713e-01 -3.17093331e-02 9.02306882e+02] [ 5.13445660e-01 8.57928484e-01 -1.82283162e-02 7.84607842e+01] [ 3.65694786e-02 -6.53108501e-04 9.99330899e-01 3.31965810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.399254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:902.36, Y:78.49, Z:33.20 [[ 8.57091411e-01 -5.14187824e-01 -3.17047941e-02 9.02358016e+02] [ 5.13864766e-01 8.57677354e-01 -1.82362075e-02 7.84869438e+01] [ 3.65693198e-02 -6.61879799e-04 9.99330900e-01 3.32014396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.459254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:902.41, Y:78.52, Z:33.20 [[ 8.55698445e-01 -5.16502747e-01 -3.17030504e-02 9.02407576e+02] [ 5.16181161e-01 8.56285197e-01 -1.82392384e-02 7.85163249e+01] [ 3.65674695e-02 -7.57229395e-04 9.99330900e-01 3.32044838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.519254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:902.46, Y:78.55, Z:33.21 [[ 8.54591388e-01 -5.18332713e-01 -3.16979306e-02 9.02456825e+02] [ 5.18012054e-01 8.55178647e-01 -1.82481317e-02 7.85453522e+01] [ 3.65659970e-02 -8.25213899e-04 9.99330900e-01 3.32063588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.579254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:902.51, Y:78.58, Z:33.21 [[ 8.53672907e-01 -5.19844159e-01 -3.16957306e-02 9.02506038e+02] [ 5.19524397e-01 8.54260655e-01 -1.82519521e-02 7.85757799e+01] [ 3.65645863e-02 -8.85508337e-04 9.99330900e-01 3.32073502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.639254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:902.55, Y:78.61, Z:33.21 [[ 8.53667870e-01 -5.19852734e-01 -3.16907315e-02 9.02554873e+02] [ 5.19532657e-01 8.54255447e-01 -1.82606280e-02 7.86065938e+01] [ 3.65648174e-02 -8.75858552e-04 9.99330900e-01 3.32097506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.699254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:902.60, Y:78.64, Z:33.21 [[ 8.53078450e-01 -5.20819727e-01 -3.16855019e-02 9.02602554e+02] [ 5.20499979e-01 8.53666205e-01 -1.82696977e-02 7.86412054e+01] [ 3.65640612e-02 -9.06817701e-04 9.99330900e-01 3.32083112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.759254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:902.65, Y:78.67, Z:33.22 [[ 8.56258473e-01 -5.15575156e-01 -3.16809978e-02 9.02652441e+02] [ 5.15251519e-01 8.56844096e-01 -1.82775049e-02 7.86708631e+01] [ 3.65691033e-02 -6.73413825e-04 9.99330900e-01 3.32161094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.819254154 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:902.70, Y:78.70, Z:33.22 [[ 8.57377894e-01 -5.13711565e-01 -3.16792670e-02 9.02701425e+02] [ 5.13386544e-01 8.57962750e-01 -1.82805043e-02 7.87032173e+01] [ 3.65705375e-02 -5.90409149e-04 9.99330900e-01 3.32164427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.879254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:902.75, Y:78.74, Z:33.22 [[ 8.60035163e-01 -5.09250702e-01 -3.16739725e-02 9.02750056e+02] [ 5.08922310e-01 8.60618133e-01 -1.82896732e-02 7.87358130e+01] [ 3.65732240e-02 -3.89829188e-04 9.99330900e-01 3.32195831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.939254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:902.80, Y:78.77, Z:33.22 [[ 8.62169627e-01 -5.05628941e-01 -3.16687275e-02 9.02799388e+02] [ 5.05297767e-01 8.62751020e-01 -1.82987505e-02 7.87690573e+01] [ 3.65746048e-02 -2.25510354e-04 9.99330900e-01 3.32187193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.999254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:902.85, Y:78.80, Z:33.22 [[ 8.63894641e-01 -5.02676265e-01 -3.16641873e-02 9.02848117e+02] [ 5.02342816e-01 8.64474733e-01 -1.83066035e-02 7.87999591e+01] [ 3.65751850e-02 -9.13003927e-05 9.99330900e-01 3.32222874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.059254154 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:902.90, Y:78.83, Z:33.22 [[ 8.65650754e-01 -4.99646356e-01 -3.16589917e-02 9.02896779e+02] [ 4.99310547e-01 8.66229483e-01 -1.83155842e-02 7.88324890e+01] [ 3.65752669e-02 4.72308414e-05 9.99330900e-01 3.32216328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.119254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:902.95, Y:78.86, Z:33.23 [[ 8.67752765e-01 -4.95987085e-01 -3.16535901e-02 9.02946257e+02] [ 4.95648495e-01 8.68329872e-01 -1.83249148e-02 7.88630969e+01] [ 3.65746789e-02 2.12441237e-04 9.99330900e-01 3.32259566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.179254154 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:903.00, Y:78.90, Z:33.23 [[ 8.70613403e-01 -4.90948528e-01 -3.16519322e-02 9.02995003e+02] [ 4.90606495e-01 8.71188476e-01 -1.83277779e-02 7.88953225e+01] [ 3.65727942e-02 4.27765573e-04 9.99330900e-01 3.32275224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.2392541539999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:903.04, Y:78.93, Z:33.23 [[ 8.73067798e-01 -4.86570761e-01 -3.16467036e-02 9.03043644e+02] [ 4.86225518e-01 8.73640949e-01 -1.83368018e-02 7.89266525e+01] [ 3.65700077e-02 6.21836351e-04 9.99330900e-01 3.32295765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.299254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:903.09, Y:78.96, Z:33.23 [[ 8.74441097e-01 -4.84098736e-01 -3.16414535e-02 9.03093444e+02] [ 4.83751545e-01 8.75013070e-01 -1.83458567e-02 7.89567087e+01] [ 3.65678914e-02 7.35769027e-04 9.99330900e-01 3.32311589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.3592541539999 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:903.14, Y:78.99, Z:33.23 [[ 8.75073845e-01 -4.82954125e-01 -3.16398406e-02 9.03144261e+02] [ 4.82606085e-01 8.75645302e-01 -1.83486380e-02 7.89873577e+01] [ 3.65668281e-02 7.86833594e-04 9.99330900e-01 3.32330608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.419254154 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:903.19, Y:79.02, Z:33.23 [[ 8.74545981e-01 -4.83909530e-01 -3.16369028e-02 9.03194013e+02] [ 4.83561931e-01 8.75117707e-01 -1.83537019e-02 7.90168051e+01] [ 3.65675451e-02 7.52754420e-04 9.99330900e-01 3.32320312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.4792541539999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:903.25, Y:79.04, Z:33.24 [[ 8.72724736e-01 -4.87186567e-01 -3.16351780e-02 9.03245495e+02] [ 4.86841008e-01 8.73297696e-01 -1.83566743e-02 7.90438416e+01] [ 3.65700532e-02 6.19021769e-04 9.99330900e-01 3.32385640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.539254154 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:903.30, Y:79.07, Z:33.24 [[ 8.70354287e-01 -4.91409162e-01 -3.16299039e-02 9.03296847e+02] [ 4.91066053e-01 8.70928717e-01 -1.83657575e-02 7.90715469e+01] [ 3.65724932e-02 4.52343669e-04 9.99330900e-01 3.32428325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.5992541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:903.35, Y:79.10, Z:33.25 [[ 8.65666475e-01 -4.99621256e-01 -3.16252345e-02 9.03349851e+02] [ 4.99283303e-01 8.66243954e-01 -1.83737946e-02 7.90979010e+01] [ 3.65751065e-02 1.15626480e-04 9.99330900e-01 3.32465948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.659254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:903.40, Y:79.13, Z:33.24 [[ 8.61929556e-01 -5.06041084e-01 -3.16205770e-02 9.03398959e+02] [ 5.05707139e-01 8.62509362e-01 -1.83818065e-02 7.91299408e+01] [ 3.65749930e-02 -1.46929190e-04 9.99330900e-01 3.32443795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.7192541539999 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:903.45, Y:79.15, Z:33.25 [[ 8.58954034e-01 -5.11075548e-01 -3.16188522e-02 9.03452620e+02] [ 5.10744891e-01 8.59535722e-01 -1.83847728e-02 7.91517978e+01] [ 3.65735408e-02 -3.57492481e-04 9.99330900e-01 3.32502206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.779254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:903.50, Y:79.18, Z:33.25 [[ 8.55156145e-01 -5.17405375e-01 -3.16171619e-02 9.03504380e+02] [ 5.17078916e-01 8.55740199e-01 -1.83876793e-02 7.91789031e+01] [ 3.65699605e-02 -6.24230772e-04 9.99330900e-01 3.32539475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.839254154 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:903.56, Y:79.21, Z:33.25 [[ 8.52365758e-01 -5.21989756e-01 -3.16118570e-02 9.03556263e+02] [ 5.21666099e-01 8.52951370e-01 -1.83967948e-02 7.92080972e+01] [ 3.65663152e-02 -8.10036176e-04 9.99330900e-01 3.32527810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.899254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:903.61, Y:79.24, Z:33.25 [[ 8.47225067e-01 -5.30292870e-01 -3.16094625e-02 9.03606653e+02] [ 5.29974797e-01 8.47813730e-01 -1.84009082e-02 7.92399138e+01] [ 3.65568067e-02 -1.16250778e-03 9.99330900e-01 3.32500020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.959254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:903.66, Y:79.26, Z:33.26 [[ 8.46769984e-01 -5.31019303e-01 -3.16084432e-02 9.03658859e+02] [ 5.30701670e-01 8.47358885e-01 -1.84026590e-02 7.92643898e+01] [ 3.65558623e-02 -1.19183433e-03 9.99330900e-01 3.32591015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.019254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:903.71, Y:79.30, Z:33.25 [[ 8.43923131e-01 -5.35532224e-01 -3.16067583e-02 9.03707653e+02] [ 5.35217631e-01 8.44513661e-01 -1.84055524e-02 7.92984364e+01] [ 3.65491055e-02 -1.38362289e-03 9.99330900e-01 3.32520931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.079254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:903.76, Y:79.32, Z:33.26 [[ 8.47115316e-01 -5.30468401e-01 -3.16056458e-02 9.03759211e+02] [ 5.30150206e-01 8.47703913e-01 -1.84074625e-02 7.93239186e+01] [ 3.65568068e-02 -1.16249625e-03 9.99330900e-01 3.32634322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.139254154 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:903.81, Y:79.36, Z:33.26 [[ 8.48447712e-01 -5.28334848e-01 -3.16032946e-02 9.03808188e+02] [ 5.28015023e-01 8.49035425e-01 -1.84114984e-02 7.93573416e+01] [ 3.65597528e-02 -1.06582059e-03 9.99330900e-01 3.32566136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.199254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:903.86, Y:79.39, Z:33.27 [[ 8.50623388e-01 -5.24825092e-01 -3.15986468e-02 9.03856774e+02] [ 5.24502545e-01 8.51209612e-01 -1.84194717e-02 7.93884983e+01] [ 3.65640728e-02 -9.05537226e-04 9.99330900e-01 3.32677866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.259254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:903.90, Y:79.42, Z:33.27 [[ 8.52073315e-01 -5.22467897e-01 -3.15968604e-02 9.03904762e+02] [ 5.22143615e-01 8.52658581e-01 -1.84225355e-02 7.94216405e+01] [ 3.65665175e-02 -8.00747988e-04 9.99330900e-01 3.32705411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.319254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:903.95, Y:79.45, Z:33.27 [[ 8.52524746e-01 -5.21731287e-01 -3.15914863e-02 9.03953893e+02] [ 5.21406158e-01 8.53109541e-01 -1.84317465e-02 7.94549499e+01] [ 3.65674172e-02 -7.58475481e-04 9.99330901e-01 3.32725458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.379254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:904.00, Y:79.49, Z:33.27 [[ 8.52004110e-01 -5.22581352e-01 -3.15868334e-02 9.04002183e+02] [ 5.22256511e-01 8.52589065e-01 -1.84397168e-02 7.94865793e+01] [ 3.65668409e-02 -7.85714911e-04 9.99330901e-01 3.32746848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.439254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:904.05, Y:79.52, Z:33.28 [[ 8.50860097e-01 -5.24442280e-01 -3.15814693e-02 9.04051063e+02] [ 5.24118378e-01 8.51445573e-01 -1.84488994e-02 7.95192245e+01] [ 3.65652851e-02 -8.54996173e-04 9.99330901e-01 3.32774802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.499254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:904.10, Y:79.55, Z:33.28 [[ 8.48584239e-01 -5.28117124e-01 -3.15767852e-02 9.04099697e+02] [ 5.27795459e-01 8.49170946e-01 -1.84569131e-02 7.95518457e+01] [ 3.65615004e-02 -1.00383834e-03 9.99330901e-01 3.32791386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.559254154 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:904.15, Y:79.58, Z:33.28 [[ 8.46252487e-01 -5.31845821e-01 -3.15713765e-02 9.04148852e+02] [ 5.31526396e-01 8.46840417e-01 -1.84661602e-02 7.95840743e+01] [ 3.65570678e-02 -1.15398597e-03 9.99330901e-01 3.32797089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.619254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:904.20, Y:79.62, Z:33.29 [[ 8.43097104e-01 -5.36834067e-01 -3.15667288e-02 9.04198059e+02] [ 5.36517823e-01 8.43686751e-01 -1.84741018e-02 7.96169916e+01] [ 3.65499581e-02 -1.36065091e-03 9.99330901e-01 3.32861953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.679254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:904.25, Y:79.65, Z:33.28 [[ 8.40213618e-01 -5.41336250e-01 -3.15616907e-02 9.04245761e+02] [ 5.41022842e-01 8.40804777e-01 -1.84827050e-02 7.96493276e+01] [ 3.65425786e-02 -1.54617514e-03 9.99330901e-01 3.32839179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.7392541539999 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:904.30, Y:79.68, Z:33.29 [[ 8.39825116e-01 -5.41938897e-01 -3.15595762e-02 9.04295710e+02] [ 5.41625778e-01 8.40416428e-01 -1.84863150e-02 7.96810891e+01] [ 3.65416394e-02 -1.56820838e-03 9.99330901e-01 3.32936798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.799254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:904.34, Y:79.71, Z:33.30 [[ 8.41031676e-01 -5.40064807e-01 -3.15550959e-02 9.04343158e+02] [ 5.39750085e-01 8.41622136e-01 -1.84939594e-02 7.97125193e+01] [ 3.65454038e-02 -1.47785995e-03 9.99330901e-01 3.32987418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.8592541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:904.39, Y:79.75, Z:33.29 [[ 8.40945583e-01 -5.40198998e-01 -3.15526438e-02 9.04388156e+02] [ 5.39884212e-01 8.41536010e-01 -1.84981420e-02 7.97512970e+01] [ 3.65453637e-02 -1.47884346e-03 9.99330901e-01 3.32915370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.919254154 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:904.44, Y:79.78, Z:33.29 [[ 8.42334114e-01 -5.38031387e-01 -3.15510166e-02 9.04436353e+02] [ 5.37714979e-01 8.42923673e-01 -1.85009170e-02 7.97848214e+01] [ 3.65491728e-02 -1.38150068e-03 9.99330901e-01 3.32944603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.9792541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:904.48, Y:79.82, Z:33.30 [[ 8.43050373e-01 -5.36908630e-01 -3.15466574e-02 9.04482958e+02] [ 5.36591159e-01 8.43639360e-01 -1.85083470e-02 7.98200672e+01] [ 3.65512931e-02 -1.32418866e-03 9.99330901e-01 3.32961897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.039254154 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:904.53, Y:79.85, Z:33.30 [[ 8.43761019e-01 -5.35791245e-01 -3.15449823e-02 9.04528244e+02] [ 5.35472887e-01 8.44349527e-01 -1.85112016e-02 7.98546233e+01] [ 3.65531306e-02 -1.27245244e-03 9.99330901e-01 3.32975086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.0992541539999 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:904.57, Y:79.89, Z:33.30 [[ 8.43971051e-01 -5.35460477e-01 -3.15427220e-02 9.04574121e+02] [ 5.35141745e-01 8.44559356e-01 -1.85150522e-02 7.98904687e+01] [ 3.65537797e-02 -1.25365926e-03 9.99330901e-01 3.32960434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.159254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:904.62, Y:79.92, Z:33.30 [[ 8.44749876e-01 -5.34231085e-01 -3.15403573e-02 9.04622737e+02] [ 5.33911346e-01 8.45337635e-01 -1.85190796e-02 7.99242195e+01] [ 3.65557191e-02 -1.19576446e-03 9.99330901e-01 3.33019300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.2192541539999 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:904.67, Y:79.96, Z:33.30 [[ 8.42548637e-01 -5.37696282e-01 -3.15357313e-02 9.04668504e+02] [ 5.37378666e-01 8.43137546e-01 -1.85269539e-02 7.99613570e+01] [ 3.65508333e-02 -1.33676942e-03 9.99330901e-01 3.33012746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.279254154 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:904.72, Y:79.99, Z:33.30 [[ 8.44005671e-01 -5.35406649e-01 -3.15301106e-02 9.04715089e+02] [ 5.35087079e-01 8.44593521e-01 -1.85365146e-02 7.99940672e+01] [ 3.65547002e-02 -1.22643133e-03 9.99330901e-01 3.33042973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.339254154 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:904.76, Y:80.03, Z:33.31 [[ 8.44571832e-01 -5.34513340e-01 -3.15263292e-02 9.04760769e+02] [ 5.34192908e-01 8.45159213e-01 -1.85429436e-02 8.00300314e+01] [ 3.65562183e-02 -1.18029359e-03 9.99330901e-01 3.33057893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.399254154 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:904.81, Y:80.06, Z:33.31 [[ 8.45572425e-01 -5.32929360e-01 -3.15209574e-02 9.04808517e+02] [ 5.32607488e-01 8.46159019e-01 -1.85520706e-02 8.00635573e+01] [ 3.65586855e-02 -1.10117860e-03 9.99330901e-01 3.33087650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.459254154 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:904.85, Y:80.10, Z:33.31 [[ 8.47441136e-01 -5.29953098e-01 -3.15156125e-02 9.04854981e+02] [ 5.29628828e-01 8.48026408e-01 -1.85611458e-02 8.00987179e+01] [ 3.65626084e-02 -9.62098428e-04 9.99330901e-01 3.33106686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.519254154 meters Centerline goodness : 0.999917 with order 1 Centerline is valid? [True, True] Translation: X:904.90, Y:80.13, Z:33.31 [[ 8.49514250e-01 -5.26623813e-01 -3.15102897e-02 9.04900953e+02] [ 5.26296914e-01 8.50098057e-01 -1.85701777e-02 8.01324017e+01] [ 3.65663338e-02 -8.08137593e-04 9.99330901e-01 3.33138687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.579254154 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:904.95, Y:80.16, Z:33.32 [[ 8.49719189e-01 -5.26293291e-01 -3.15067001e-02 9.04949971e+02] [ 5.25965939e-01 8.50302742e-01 -1.85762659e-02 8.01634761e+01] [ 3.65667976e-02 -7.86841478e-04 9.99330901e-01 3.33159844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.639254154 meters Centerline goodness : 0.999792 with order 1 Centerline is valid? [True, True] Translation: X:905.00, Y:80.20, Z:33.32 [[ 8.49402365e-01 -5.26804793e-01 -3.15013112e-02 9.04996825e+02] [ 5.26477455e-01 8.49985925e-01 -1.85853998e-02 8.01965937e+01] [ 3.65665488e-02 -7.98247603e-04 9.99330901e-01 3.33172443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.699254154 meters Centerline goodness : 0.999772 with order 1 Centerline is valid? [True, True] Translation: X:905.05, Y:80.23, Z:33.32 [[ 8.48357223e-01 -5.28486363e-01 -3.14989954e-02 9.05045175e+02] [ 5.28160035e-01 8.48941349e-01 -1.85893238e-02 8.02285137e+01] [ 3.65650038e-02 -8.66123370e-04 9.99330901e-01 3.33194316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.759254154 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:905.09, Y:80.26, Z:33.32 [[ 8.46410097e-01 -5.31599563e-01 -3.14936704e-02 9.05093376e+02] [ 5.31275049e-01 8.46995233e-01 -1.85983409e-02 8.02612330e+01] [ 3.65618586e-02 -9.89977733e-04 9.99330901e-01 3.33227842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.819254154 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:905.14, Y:80.29, Z:33.32 [[ 8.44501096e-01 -5.34627331e-01 -3.14883456e-02 9.05141397e+02] [ 5.34304579e-01 8.45087205e-01 -1.86073520e-02 8.02933876e+01] [ 3.65583969e-02 -1.11043807e-03 9.99330901e-01 3.33246909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.879254154 meters Centerline goodness : 0.999834 with order 1 Centerline is valid? [True, True] Translation: X:905.19, Y:80.33, Z:33.33 [[ 8.44265332e-01 -5.34999884e-01 -3.14829231e-02 9.05188042e+02] [ 5.34677048e-01 8.44851395e-01 -1.86165220e-02 8.03258216e+01] [ 3.65582286e-02 -1.11591231e-03 9.99330901e-01 3.33253219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.939254154 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:905.24, Y:80.36, Z:33.33 [[ 8.45347383e-01 -5.33288640e-01 -3.14805972e-02 9.05236276e+02] [ 5.32964472e-01 8.45932710e-01 -1.86204544e-02 8.03575807e+01] [ 3.65605437e-02 -1.03728743e-03 9.99330901e-01 3.33280338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.999254154 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:905.28, Y:80.39, Z:33.33 [[ 8.46777543e-01 -5.31015158e-01 -3.14752877e-02 9.05284057e+02] [ 5.30689085e-01 8.47361811e-01 -1.86294250e-02 8.03905617e+01] [ 3.65634639e-02 -9.28612923e-04 9.99330902e-01 3.33318185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.059254154 meters Centerline goodness : 0.999917 with order 1 Centerline is valid? [True, True] Translation: X:905.33, Y:80.42, Z:33.33 [[ 8.45866974e-01 -5.32464751e-01 -3.14698361e-02 9.05332280e+02] [ 5.32139337e-01 8.46451610e-01 -1.86386295e-02 8.04238560e+01] [ 3.65621067e-02 -9.80536548e-04 9.99330902e-01 3.33327720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.119254154 meters Centerline goodness : 0.999728 with order 1 Centerline is valid? [True, True] Translation: X:905.38, Y:80.46, Z:33.33 [[ 8.44753453e-01 -5.34229907e-01 -3.14644197e-02 9.05381131e+02] [ 5.33905375e-01 8.45338578e-01 -1.86477687e-02 8.04560762e+01] [ 3.65602835e-02 -1.04625574e-03 9.99330902e-01 3.33333219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.179254154 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:905.43, Y:80.49, Z:33.34 [[ 8.44676171e-01 -5.34352405e-01 -3.14590780e-02 9.05428346e+02] [ 5.34027623e-01 8.45261157e-01 -1.86567759e-02 8.04896738e+01] [ 3.65604297e-02 -1.04108257e-03 9.99330902e-01 3.33375206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.2392541539999 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:905.48, Y:80.52, Z:33.34 [[ 8.46604214e-01 -5.31292735e-01 -3.14536922e-02 9.05475773e+02] [ 5.30965501e-01 8.47187832e-01 -1.86658514e-02 8.05242330e+01] [ 3.65642166e-02 -8.98236952e-04 9.99330902e-01 3.33397910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.299254154 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:905.52, Y:80.56, Z:33.34 [[ 8.48472197e-01 -5.28304783e-01 -3.14481704e-02 9.05523404e+02] [ 5.27975148e-01 8.49054463e-01 -1.86751500e-02 8.05575678e+01] [ 3.65673805e-02 -7.58506852e-04 9.99330902e-01 3.33420543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.3592541539999 meters Centerline goodness : 0.999813 with order 1 Centerline is valid? [True, True] Translation: X:905.57, Y:80.59, Z:33.34 [[ 8.51686617e-01 -5.23107314e-01 -3.14427178e-02 9.05570463e+02] [ 5.22773787e-01 8.52266662e-01 -1.86843257e-02 8.05925982e+01] [ 3.65714876e-02 -5.24238533e-04 9.99330902e-01 3.33432497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.419254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:905.62, Y:80.63, Z:33.35 [[ 8.55404602e-01 -5.17005479e-01 -3.14372730e-02 9.05617535e+02] [ 5.16667477e-01 8.55982051e-01 -1.86934824e-02 8.06261483e+01] [ 3.65743743e-02 -2.52125661e-04 9.99330902e-01 3.33479624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.4792541539999 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:905.66, Y:80.66, Z:33.35 [[ 8.57165423e-01 -5.14081196e-01 -3.14318529e-02 9.05664422e+02] [ 5.13740890e-01 8.57741517e-01 -1.87025915e-02 8.06584134e+01] [ 3.65750558e-02 -1.16613317e-04 9.99330902e-01 3.33467014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.539254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:905.71, Y:80.69, Z:33.35 [[ 8.57566669e-01 -5.13411719e-01 -3.14295196e-02 9.05714259e+02] [ 5.13070821e-01 8.58142412e-01 -1.87065118e-02 8.06889120e+01] [ 3.65751462e-02 -8.34883489e-05 9.99330902e-01 3.33533495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.5992541539999 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:905.76, Y:80.72, Z:33.35 [[ 8.55659923e-01 -5.16583565e-01 -3.14247789e-02 9.05764037e+02] [ 5.16244508e-01 8.56236753e-01 -1.87144723e-02 8.07190322e+01] [ 3.65746394e-02 -2.09645570e-04 9.99330902e-01 3.33540266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.659254154 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:905.81, Y:80.75, Z:33.36 [[ 8.52623003e-01 -5.21581099e-01 -3.14192780e-02 9.05814028e+02] [ 5.21245083e-01 8.53201610e-01 -1.87237031e-02 8.07483284e+01] [ 3.65729082e-02 -4.12884184e-04 9.99330902e-01 3.33564733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.7192541539999 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:905.86, Y:80.78, Z:33.36 [[ 8.50188190e-01 -5.25540874e-01 -3.14138668e-02 9.05863377e+02] [ 5.25207217e-01 8.50768160e-01 -1.87327773e-02 8.07781074e+01] [ 3.65707578e-02 -5.72403532e-04 9.99330902e-01 3.33560301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.779254154 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:905.91, Y:80.81, Z:33.36 [[ 8.47317122e-01 -5.30157717e-01 -3.14084175e-02 9.05912803e+02] [ 5.29826882e-01 8.47898706e-01 -1.87419095e-02 8.08075752e+01] [ 3.65673245e-02 -7.60683068e-04 9.99330902e-01 3.33587000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.839254154 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:905.96, Y:80.84, Z:33.36 [[ 8.45532501e-01 -5.32999668e-01 -3.14029330e-02 9.05961393e+02] [ 5.32670446e-01 8.46115000e-01 -1.87510945e-02 8.08377714e+01] [ 3.65648198e-02 -8.72754497e-04 9.99330902e-01 3.33589509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.899254154 meters Centerline goodness : 0.999813 with order 1 Centerline is valid? [True, True] Translation: X:906.01, Y:80.87, Z:33.36 [[ 8.44867284e-01 -5.34053705e-01 -3.13992409e-02 9.06010586e+02] [ 5.33724980e-01 8.45450064e-01 -1.87572750e-02 8.08682007e+01] [ 3.65638824e-02 -9.11151282e-04 9.99330902e-01 3.33608397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.959254154 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:906.06, Y:80.90, Z:33.37 [[ 8.44138430e-01 -5.35205316e-01 -3.13939656e-02 9.06059870e+02] [ 5.34877058e-01 8.44721473e-01 -1.87661001e-02 8.08986390e+01] [ 3.65628734e-02 -9.50725633e-04 9.99330902e-01 3.33659349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.019254154 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:906.11, Y:80.93, Z:33.37 [[ 8.44956967e-01 -5.33912428e-01 -3.13885679e-02 9.06109005e+02] [ 5.33582944e-01 8.45539317e-01 -1.87751241e-02 8.09293049e+01] [ 3.65645404e-02 -8.84232497e-04 9.99330902e-01 3.33664642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.079254154 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:906.16, Y:80.96, Z:33.37 [[ 8.47445376e-01 -5.29954176e-01 -3.13832011e-02 9.06156665e+02] [ 5.29621639e-01 8.48025989e-01 -1.87840906e-02 8.09598089e+01] [ 3.65684774e-02 -7.02731658e-04 9.99330902e-01 3.33685703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.139254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:906.21, Y:80.99, Z:33.38 [[ 8.49080758e-01 -5.27330168e-01 -3.13808931e-02 9.06206651e+02] [ 5.26995694e-01 8.49660257e-01 -1.87879455e-02 8.09906708e+01] [ 3.65705482e-02 -5.85112498e-04 9.99330902e-01 3.33761242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.199254154 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:906.25, Y:81.02, Z:33.38 [[ 8.50087178e-01 -5.25706503e-01 -3.13761525e-02 9.06254060e+02] [ 5.25370630e-01 8.50665867e-01 -1.87958591e-02 8.10226431e+01] [ 3.65717273e-02 -5.05990222e-04 9.99330903e-01 3.33751383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.259254154 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:906.30, Y:81.05, Z:33.38 [[ 8.49772421e-01 -5.26215276e-01 -3.13738200e-02 9.06302904e+02] [ 5.25879606e-01 8.50351227e-01 -1.87997517e-02 8.10538935e+01] [ 3.65714829e-02 -5.23341626e-04 9.99330903e-01 3.33759830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.319254154 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:906.35, Y:81.08, Z:33.38 [[ 8.48132997e-01 -5.28853889e-01 -3.13684984e-02 9.06352234e+02] [ 5.28519691e-01 8.48712655e-01 -1.88086269e-02 8.10843578e+01] [ 3.65698571e-02 -6.26651974e-04 9.99330903e-01 3.33806370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.379254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:906.40, Y:81.11, Z:33.38 [[ 8.46561925e-01 -5.31365485e-01 -3.13628576e-02 9.06401454e+02] [ 5.31032658e-01 8.47142371e-01 -1.88180280e-02 8.11140515e+01] [ 3.65680562e-02 -7.24075608e-04 9.99330903e-01 3.33849214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.439254154 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:906.45, Y:81.15, Z:33.38 [[ 8.45197308e-01 -5.33533495e-01 -3.13611282e-02 9.06451657e+02] [ 5.33202051e-01 8.45778544e-01 -1.88209098e-02 8.11453254e+01] [ 3.65661551e-02 -8.14435550e-04 9.99330903e-01 3.33829795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.499254154 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:906.50, Y:81.17, Z:33.38 [[ 8.45544237e-01 -5.32983799e-01 -3.13562403e-02 9.06500422e+02] [ 5.32651675e-01 8.46125085e-01 -1.88290497e-02 8.11749467e+01] [ 3.65668799e-02 -7.81159500e-04 9.99330903e-01 3.33848997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.559254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:906.55, Y:81.21, Z:33.39 [[ 8.47628178e-01 -5.29663567e-01 -3.13524767e-02 9.06550262e+02] [ 5.29328937e-01 8.48207585e-01 -1.88353143e-02 8.12054868e+01] [ 3.65697884e-02 -6.30430038e-04 9.99330903e-01 3.33902207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.619254154 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:906.60, Y:81.24, Z:33.39 [[ 8.48060903e-01 -5.28970721e-01 -3.13477362e-02 9.06598535e+02] [ 5.28635325e-01 8.48639869e-01 -1.88432008e-02 8.12354496e+01] [ 3.65704402e-02 -5.91338840e-04 9.99330903e-01 3.33893979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.679254154 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:906.65, Y:81.27, Z:33.39 [[ 8.48277130e-01 -5.28624041e-01 -3.13454053e-02 9.06647816e+02] [ 5.28288266e-01 8.48855875e-01 -1.88470773e-02 8.12650014e+01] [ 3.65707496e-02 -5.71865170e-04 9.99330903e-01 3.33930593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.7392541539999 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:906.70, Y:81.29, Z:33.39 [[ 8.48390812e-01 -5.28441898e-01 -3.13399359e-02 9.06697155e+02] [ 5.28105662e-01 8.48969290e-01 -1.88561678e-02 8.12944845e+01] [ 3.65710322e-02 -5.53398127e-04 9.99330903e-01 3.33920009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.799254154 meters Centerline goodness : 0.999750 with order 1 Centerline is valid? [True, True] Translation: X:906.75, Y:81.32, Z:33.39 [[ 8.48691691e-01 -5.27958642e-01 -3.13382587e-02 9.06746359e+02] [ 5.27621974e-01 8.49269917e-01 -1.88589548e-02 8.13243869e+01] [ 3.65713885e-02 -5.29315721e-04 9.99330903e-01 3.33936461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.8592541539999 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:906.80, Y:81.35, Z:33.40 [[ 8.50024626e-01 -5.25810212e-01 -3.13329779e-02 9.06796590e+02] [ 5.25471760e-01 8.50601810e-01 -1.88677244e-02 8.13541075e+01] [ 3.65727299e-02 -4.26564695e-04 9.99330903e-01 3.33975575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.919254154 meters Centerline goodness : 0.999917 with order 1 Centerline is valid? [True, True] Translation: X:906.85, Y:81.38, Z:33.40 [[ 8.51042126e-01 -5.24162040e-01 -3.13281876e-02 9.06846453e+02] [ 5.23822177e-01 8.51618480e-01 -1.88756750e-02 8.13825691e+01] [ 3.65735758e-02 -3.46404859e-04 9.99330903e-01 3.33989927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.9792541539999 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:906.90, Y:81.41, Z:33.40 [[ 8.52457711e-01 -5.21856903e-01 -3.13244939e-02 9.06896809e+02] [ 5.21515256e-01 8.53033009e-01 -1.88818027e-02 8.14110103e+01] [ 3.65744264e-02 -2.40263172e-04 9.99330903e-01 3.34004545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.039254154 meters Centerline goodness : 0.999748 with order 1 Centerline is valid? [True, True] Translation: X:906.95, Y:81.44, Z:33.40 [[ 8.53938409e-01 -5.19430755e-01 -3.13190839e-02 9.06947757e+02] [ 5.19087144e-01 8.54512537e-01 -1.88907720e-02 8.14387728e+01] [ 3.65749978e-02 -1.25777989e-04 9.99330903e-01 3.34015284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.0992541539999 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:907.00, Y:81.47, Z:33.41 [[ 8.54891624e-01 -5.17860760e-01 -3.13136368e-02 9.06999027e+02] [ 5.17515765e-01 8.55464921e-01 -1.88997970e-02 8.14666712e+01] [ 3.65751810e-02 -4.80225379e-05 9.99330903e-01 3.34053957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.159254154 meters Centerline goodness : 0.999895 with order 1 Centerline is valid? [True, True] Translation: X:907.05, Y:81.49, Z:33.41 [[ 8.56332154e-01 -5.15475507e-01 -3.13088504e-02 9.07051471e+02] [ 5.15128625e-01 8.56904311e-01 -1.89077226e-02 8.14926520e+01] [ 3.65751568e-02 6.32057383e-05 9.99330903e-01 3.34090898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.2192541539999 meters Centerline goodness : 0.999791 with order 1 Centerline is valid? [True, True] Translation: X:907.10, Y:81.52, Z:33.41 [[ 8.58294459e-01 -5.12201841e-01 -3.13032771e-02 9.07103271e+02] [ 5.11852441e-01 8.58865082e-01 -1.89169451e-02 8.15196177e+01] [ 3.65745858e-02 2.13650403e-04 9.99330903e-01 3.34089071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.279254154 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:907.15, Y:81.55, Z:33.41 [[ 8.59886694e-01 -5.09524607e-01 -3.12977358e-02 9.07154228e+02] [ 5.09173096e-01 8.60456019e-01 -1.89261087e-02 8.15464079e+01] [ 3.65736432e-02 3.38344048e-04 9.99330903e-01 3.34102676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.339254154 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:907.21, Y:81.57, Z:33.41 [[ 8.61653320e-01 -5.06531455e-01 -3.12960353e-02 9.07207196e+02] [ 5.06177865e-01 8.62221355e-01 -1.89289202e-02 8.15707247e+01] [ 3.65722035e-02 4.68806585e-04 9.99330903e-01 3.34122846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.399254154 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:907.26, Y:81.59, Z:33.41 [[ 8.63215205e-01 -5.03865455e-01 -3.12907784e-02 9.07261599e+02] [ 5.03509796e-01 8.63781947e-01 -1.89376062e-02 8.15938792e+01] [ 3.65704151e-02 5.92016210e-04 9.99330903e-01 3.34133151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.459254154 meters Centerline goodness : 0.999917 with order 1 Centerline is valid? [True, True] Translation: X:907.31, Y:81.62, Z:33.42 [[ 8.63245838e-01 -5.03813250e-01 -3.12863021e-02 9.07314526e+02] [ 5.03457288e-01 8.63812390e-01 -1.89449985e-02 8.16191324e+01] [ 3.65702367e-02 6.02874272e-04 9.99330903e-01 3.34160070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.519254154 meters Centerline goodness : 0.999771 with order 1 Centerline is valid? [True, True] Translation: X:907.37, Y:81.64, Z:33.42 [[ 8.63285525e-01 -5.03745589e-01 -3.12807228e-02 9.07369536e+02] [ 5.03389250e-01 8.63851840e-01 -1.89542062e-02 8.16407085e+01] [ 3.65700077e-02 6.16512274e-04 9.99330903e-01 3.34165992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.579254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:907.42, Y:81.66, Z:33.42 [[ 8.63355106e-01 -5.03626671e-01 -3.12751937e-02 9.07424035e+02] [ 5.03269923e-01 8.63921163e-01 -1.89633250e-02 8.16648593e+01] [ 3.65697380e-02 6.32219088e-04 9.99330903e-01 3.34228667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.639254154 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:907.48, Y:81.68, Z:33.43 [[ 8.62510147e-01 -5.05072678e-01 -3.12703791e-02 9.07480355e+02] [ 5.04716592e-01 8.63076621e-01 -1.89712609e-02 8.16847938e+01] [ 3.65705987e-02 5.80225877e-04 9.99330903e-01 3.34253936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.699254154 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:907.54, Y:81.70, Z:33.43 [[ 8.61382201e-01 -5.06994296e-01 -3.12647921e-02 9.07535422e+02] [ 5.06639139e-01 8.61949259e-01 -1.89804640e-02 8.17043504e+01] [ 3.65716513e-02 5.09466482e-04 9.99330904e-01 3.34266977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.759254154 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:907.59, Y:81.73, Z:33.43 [[ 8.60011863e-01 -5.09315481e-01 -3.12623912e-02 9.07591199e+02] [ 5.08961711e-01 8.60579786e-01 -1.89844176e-02 8.17250732e+01] [ 3.65728397e-02 4.15464241e-04 9.99330904e-01 3.34267811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.819254154 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:907.65, Y:81.75, Z:33.43 [[ 8.59158857e-01 -5.10753441e-01 -3.12567110e-02 9.07646347e+02] [ 5.10400281e-01 8.59727160e-01 -1.89937651e-02 8.17458927e+01] [ 3.65733743e-02 3.65227405e-04 9.99330904e-01 3.34266394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.879254154 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:907.70, Y:81.77, Z:33.43 [[ 8.58524293e-01 -5.11819465e-01 -3.12549711e-02 9.07699586e+02] [ 5.11466907e-01 8.59092970e-01 -1.89966278e-02 8.17699823e+01] [ 3.65737698e-02 3.23183124e-04 9.99330904e-01 3.34289967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.939254154 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:907.76, Y:81.79, Z:33.43 [[ 8.58619974e-01 -5.11659268e-01 -3.12495336e-02 9.07755276e+02] [ 5.11306279e-01 8.59188383e-01 -1.90055683e-02 8.17911660e+01] [ 3.65736114e-02 3.40477851e-04 9.99330904e-01 3.34342423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.999254154 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:907.81, Y:81.82, Z:33.43 [[ 8.58657905e-01 -5.11595913e-01 -3.12445837e-02 9.07808098e+02] [ 5.11242586e-01 8.59226104e-01 -1.90137022e-02 8.18152578e+01] [ 3.65734943e-02 3.52703917e-04 9.99330904e-01 3.34332804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.059254154 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:907.86, Y:81.84, Z:33.44 [[ 8.59864055e-01 -5.09566233e-01 -3.12419865e-02 9.07863892e+02] [ 5.09211410e-01 8.60431320e-01 -1.90179688e-02 8.18374248e+01] [ 3.65724984e-02 4.44091802e-04 9.99330904e-01 3.34366865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.119254154 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:907.92, Y:81.86, Z:33.44 [[ 8.61410915e-01 -5.06947220e-01 -3.12370264e-02 9.07919369e+02] [ 5.06590377e-01 8.61976912e-01 -1.90261123e-02 8.18594960e+01] [ 3.65708303e-02 5.64923836e-04 9.99330904e-01 3.34391716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.179254154 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:907.97, Y:81.88, Z:33.44 [[ 8.62511885e-01 -5.05072078e-01 -3.12321108e-02 9.07972636e+02] [ 5.04713712e-01 8.63076919e-01 -1.90341781e-02 8.18840453e+01] [ 3.65693458e-02 6.53930294e-04 9.99330904e-01 3.34407636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.2392541539999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:908.03, Y:81.91, Z:33.45 [[ 8.64591418e-01 -5.01504081e-01 -3.12303849e-02 9.08028027e+02] [ 5.01143282e-01 8.65154901e-01 -1.90370094e-02 8.19067686e+01] [ 3.65662585e-02 8.08337349e-04 9.99330904e-01 3.34450501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.299254154 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:908.08, Y:81.93, Z:33.45 [[ 8.65929126e-01 -4.99191060e-01 -3.12255404e-02 9.08082003e+02] [ 4.98828470e-01 8.66491458e-01 -1.90449523e-02 8.19295058e+01] [ 3.65637340e-02 9.15390340e-04 9.99330904e-01 3.34469985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.3592541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:908.13, Y:81.95, Z:33.45 [[ 8.66235494e-01 -4.98659582e-01 -3.12200309e-02 9.08134721e+02] [ 4.98296322e-01 8.66797394e-01 -1.90539796e-02 8.19543022e+01] [ 3.65628910e-02 9.48406893e-04 9.99330904e-01 3.34505821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.419254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:908.19, Y:81.98, Z:33.45 [[ 8.65837902e-01 -4.99349957e-01 -3.12145471e-02 9.08185850e+02] [ 4.98986821e-01 8.66399882e-01 -1.90629591e-02 8.19821214e+01] [ 3.65633677e-02 9.29784944e-04 9.99330904e-01 3.34520087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.4792541539999 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:908.24, Y:82.01, Z:33.45 [[ 8.64576839e-01 -5.01530537e-01 -3.12091203e-02 9.08240599e+02] [ 5.01168499e-01 8.65139527e-01 -1.90718396e-02 8.20052198e+01] [ 3.65653535e-02 8.48042813e-04 9.99330904e-01 3.34501545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.539254154 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:908.29, Y:82.03, Z:33.45 [[ 8.63815469e-01 -5.02841066e-01 -3.12041461e-02 9.08294178e+02] [ 5.02479587e-01 8.64378516e-01 -1.90799745e-02 8.20285427e+01] [ 3.65663882e-02 8.02130620e-04 9.99330904e-01 3.34493909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.5992541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:908.34, Y:82.06, Z:33.44 [[ 8.59848218e-01 -5.09595380e-01 -3.12024072e-02 9.08344988e+02] [ 5.09238222e-01 8.60414016e-01 -1.90828177e-02 8.20583577e+01] [ 3.65715043e-02 5.18868429e-04 9.99330904e-01 3.34419440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.659254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:908.40, Y:82.08, Z:33.46 [[ 8.61182233e-01 -5.07338034e-01 -3.11974455e-02 9.08400501e+02] [ 5.06979099e-01 8.61746906e-01 -1.90909259e-02 8.20774055e+01] [ 3.65698550e-02 6.24313401e-04 9.99330904e-01 3.34550939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.7192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:908.45, Y:82.10, Z:33.46 [[ 8.56321299e-01 -5.15500399e-01 -3.11957081e-02 9.08453630e+02] [ 5.15146744e-01 8.56889293e-01 -1.90937646e-02 8.21022651e+01] [ 3.65741115e-02 2.80029884e-04 9.99330904e-01 3.34586677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.779254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:908.50, Y:82.14, Z:33.46 [[ 8.51802752e-01 -5.22933129e-01 -3.11931909e-02 9.08501634e+02] [ 5.22584280e-01 8.52373710e-01 -1.90978760e-02 8.21377469e+01] [ 3.65751679e-02 -3.34478705e-05 9.99330904e-01 3.34551729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.839254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:908.55, Y:82.17, Z:33.46 [[ 8.52418154e-01 -5.21929680e-01 -3.11881478e-02 9.08548140e+02] [ 5.21579857e-01 8.52988516e-01 -1.91061082e-02 8.21728653e+01] [ 3.65751768e-02 1.92837939e-05 9.99330904e-01 3.34566368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.899254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:908.60, Y:82.21, Z:33.46 [[ 8.53613595e-01 -5.19972581e-01 -3.11824534e-02 9.08595951e+02] [ 5.19621112e-01 8.54182944e-01 -1.91153972e-02 8.22061080e+01] [ 3.65750023e-02 1.14101839e-04 9.99330904e-01 3.34564787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.959254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:908.65, Y:82.23, Z:33.47 [[ 8.59833557e-01 -5.09621692e-01 -3.11766741e-02 9.08646874e+02] [ 5.09263029e-01 8.60398401e-01 -1.91248185e-02 8.22334977e+01] [ 3.65707830e-02 5.67033212e-04 9.99330904e-01 3.34653859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.019254154 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:908.70, Y:82.27, Z:33.47 [[ 8.61861746e-01 -5.06184265e-01 -3.11740448e-02 9.08695231e+02] [ 5.05823194e-01 8.62425054e-01 -1.91291034e-02 8.22656432e+01] [ 3.65681284e-02 7.18087481e-04 9.99330904e-01 3.34658462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.079254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:908.74, Y:82.30, Z:33.47 [[ 8.62127203e-01 -5.05732352e-01 -3.11684705e-02 9.08743711e+02] [ 5.05370657e-01 8.62690112e-01 -1.91381818e-02 8.22964613e+01] [ 3.65675290e-02 7.47916695e-04 9.99330904e-01 3.34684496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.139254154 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:908.79, Y:82.33, Z:33.47 [[ 8.57688351e-01 -5.13224492e-01 -3.11658992e-02 9.08791759e+02] [ 5.12867563e-01 8.58254294e-01 -1.91423681e-02 8.23310128e+01] [ 3.65725989e-02 4.34207402e-04 9.99330904e-01 3.34657991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.199254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:908.84, Y:82.36, Z:33.47 [[ 8.57252472e-01 -5.13952519e-01 -3.11609950e-02 9.08843962e+02] [ 5.13595781e-01 8.57818534e-01 -1.91503481e-02 8.23561962e+01] [ 3.65728487e-02 4.12527743e-04 9.99330904e-01 3.34741006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.259254154 meters Centerline goodness : 0.998065 with order 1 Centerline is valid? [True, True] Translation: X:908.89, Y:82.39, Z:33.47 [[ 8.55633647e-01 -5.16643399e-01 -3.11554257e-02 9.08893460e+02] [ 5.16288111e-01 8.56200621e-01 -1.91594045e-02 8.23883857e+01] [ 3.65738747e-02 3.08255281e-04 9.99330904e-01 3.34736975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.319254154 meters Centerline goodness : 0.999735 with order 1 Centerline is valid? [True, True] Translation: X:908.94, Y:82.42, Z:33.48 [[ 8.55087226e-01 -5.17547630e-01 -3.11494260e-02 9.08943381e+02] [ 5.17192587e-01 8.55654353e-01 -1.91691538e-02 8.24169450e+01] [ 3.65740921e-02 2.81046372e-04 9.99330905e-01 3.34775797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.379254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:908.99, Y:82.45, Z:33.48 [[ 8.55325671e-01 -5.17153613e-01 -3.11470166e-02 9.08991729e+02] [ 5.16798166e-01 8.55892545e-01 -1.91730680e-02 8.24474297e+01] [ 3.65739207e-02 3.02496197e-04 9.99330905e-01 3.34795023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.439254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:909.04, Y:82.48, Z:33.48 [[ 8.54831177e-01 -5.17970718e-01 -3.11447103e-02 9.09039316e+02] [ 5.17615677e-01 8.55398305e-01 -1.91768136e-02 8.24801426e+01] [ 3.65741603e-02 2.71947873e-04 9.99330905e-01 3.34786811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.499254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:909.09, Y:82.51, Z:33.48 [[ 8.56503949e-01 -5.15200292e-01 -3.11391192e-02 9.09089117e+02] [ 5.14843086e-01 8.57069716e-01 -1.91858881e-02 8.25091799e+01] [ 3.65729712e-02 4.01028711e-04 9.99330905e-01 3.34811527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.559254154 meters Centerline goodness : 0.999273 with order 1 Centerline is valid? [True, True] Translation: X:909.14, Y:82.54, Z:33.48 [[ 8.56456616e-01 -5.15279078e-01 -3.11374049e-02 9.09138148e+02] [ 5.14921823e-01 8.57022352e-01 -1.91886697e-02 8.25397769e+01] [ 3.65729721e-02 4.00933839e-04 9.99330905e-01 3.34813022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.619254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:909.19, Y:82.57, Z:33.49 [[ 8.57974238e-01 -5.12748570e-01 -3.11305476e-02 9.09186938e+02] [ 5.12389243e-01 8.58538661e-01 -1.91997882e-02 8.25708432e+01] [ 3.65714426e-02 5.21965978e-04 9.99330905e-01 3.34884759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.679254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:909.24, Y:82.60, Z:33.49 [[ 8.56759261e-01 -5.14776252e-01 -3.11284091e-02 9.09235358e+02] [ 5.14418136e-01 8.57324452e-01 -1.92032548e-02 8.26042406e+01] [ 3.65725258e-02 4.39548204e-04 9.99330905e-01 3.34877287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.7392541539999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:909.29, Y:82.63, Z:33.49 [[ 8.58154199e-01 -5.12447761e-01 -3.11233321e-02 9.09285945e+02] [ 5.12087813e-01 8.58718226e-01 -1.92114797e-02 8.26325634e+01] [ 3.65710523e-02 5.48532968e-04 9.99330905e-01 3.34904927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.799254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:909.34, Y:82.66, Z:33.49 [[ 8.56636092e-01 -5.14981606e-01 -3.11215550e-02 9.09336659e+02] [ 5.14623222e-01 8.57201113e-01 -1.92143582e-02 8.26616998e+01] [ 3.65724726e-02 4.43837802e-04 9.99330905e-01 3.34915172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.8592541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:909.39, Y:82.69, Z:33.50 [[ 8.55329547e-01 -5.17149068e-01 -3.11160477e-02 9.09386966e+02] [ 5.16791790e-01 8.55895269e-01 -1.92232726e-02 8.26925826e+01] [ 3.65733755e-02 3.61715061e-04 9.99330905e-01 3.34959979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.919254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:909.43, Y:82.73, Z:33.49 [[ 8.50518823e-01 -5.25023638e-01 -3.11112750e-02 9.09433973e+02] [ 5.24671317e-01 8.51087644e-01 -1.92309937e-02 8.27265571e+01] [ 3.65751480e-02 3.31284619e-05 9.99330905e-01 3.34935634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.9792541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:909.49, Y:82.76, Z:33.50 [[ 8.48053508e-01 -5.28996879e-01 -3.11054646e-02 9.09485233e+02] [ 5.28646878e-01 8.48623760e-01 -1.92403873e-02 8.27552071e+01] [ 3.65749411e-02 -1.26928790e-04 9.99330905e-01 3.34976147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.039254154 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:909.54, Y:82.78, Z:33.50 [[ 8.47592144e-01 -5.29736088e-01 -3.11003960e-02 9.09536042e+02] [ 5.29386284e-01 8.48162517e-01 -1.92485766e-02 8.27831820e+01] [ 3.65748559e-02 -1.49180715e-04 9.99330905e-01 3.35018619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.0992541539999 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:909.58, Y:82.82, Z:33.50 [[ 8.47260372e-01 -5.30266666e-01 -3.10986213e-02 9.09584101e+02] [ 5.29917114e-01 8.47830899e-01 -1.92514436e-02 8.28151611e+01] [ 3.65747708e-02 -1.68706375e-04 9.99330905e-01 3.35015137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.159254154 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:909.63, Y:82.85, Z:33.50 [[ 8.48385784e-01 -5.28464549e-01 -3.10931232e-02 9.09632086e+02] [ 5.28113460e-01 8.48955366e-01 -1.92603195e-02 8.28482719e+01] [ 3.65750698e-02 -8.05155653e-05 9.99330905e-01 3.35030976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.2192541539999 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:909.68, Y:82.88, Z:33.51 [[ 8.50416295e-01 -5.25191091e-01 -3.10876644e-02 9.09679947e+02] [ 5.24837487e-01 8.50984320e-01 -1.92691263e-02 8.28812124e+01] [ 3.65750884e-02 7.08073262e-05 9.99330905e-01 3.35050806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.279254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:909.73, Y:82.92, Z:33.50 [[ 8.48743471e-01 -5.27890313e-01 -3.10859899e-02 9.09727071e+02] [ 5.27538416e-01 8.49312555e-01 -1.92718274e-02 8.29178449e+01] [ 3.65751325e-02 -4.22161700e-05 9.99330905e-01 3.35037953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.339254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:909.77, Y:82.95, Z:33.50 [[ 8.50596506e-01 -5.24899586e-01 -3.10806791e-02 9.09773647e+02] [ 5.24545376e-01 8.51164153e-01 -1.92803886e-02 8.29510755e+01] [ 3.65750279e-02 9.66047236e-05 9.99330905e-01 3.35037443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.399254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:909.83, Y:82.98, Z:33.51 [[ 8.54681576e-01 -5.18221620e-01 -3.10766044e-02 9.09825154e+02] [ 5.17862737e-01 8.55246280e-01 -1.92869541e-02 8.29779947e+01] [ 3.65730669e-02 3.90788927e-04 9.99330905e-01 3.35133479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.459254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:909.87, Y:83.01, Z:33.52 [[ 8.54996223e-01 -5.17702437e-01 -3.10748351e-02 9.09874569e+02] [ 5.17343107e-01 8.55560643e-01 -1.92898043e-02 8.30086358e+01] [ 3.65727846e-02 4.16358098e-04 9.99330905e-01 3.35157899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.519254154 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:909.92, Y:83.05, Z:33.51 [[ 8.51474045e-01 -5.23475552e-01 -3.10692252e-02 9.09920690e+02] [ 5.23119719e-01 8.52040677e-01 -1.92988356e-02 8.30459121e+01] [ 3.65747123e-02 1.79533248e-04 9.99330905e-01 3.35078983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.579254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:909.97, Y:83.07, Z:33.52 [[ 8.55654210e-01 -5.16614896e-01 -3.10632017e-02 9.09973708e+02] [ 5.16254169e-01 8.56217737e-01 -1.93085262e-02 8.30698920e+01] [ 3.65719365e-02 4.84914410e-04 9.99330905e-01 3.35195666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.639254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:910.02, Y:83.10, Z:33.52 [[ 8.55561610e-01 -5.16768405e-01 -3.10603788e-02 9.10023379e+02] [ 5.16407614e-01 8.56125097e-01 -1.93130662e-02 8.31004855e+01] [ 3.65719522e-02 4.83701896e-04 9.99330905e-01 3.35208206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.699254154 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:910.07, Y:83.13, Z:33.52 [[ 8.54884803e-01 -5.17887608e-01 -3.10547883e-02 9.10072937e+02] [ 5.17527228e-01 8.55448553e-01 -1.93220513e-02 8.31307708e+01] [ 3.65724246e-02 4.46429503e-04 9.99330905e-01 3.35196679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.759254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:910.12, Y:83.16, Z:33.52 [[ 8.55059947e-01 -5.17598717e-01 -3.10492231e-02 9.10122677e+02] [ 5.17237823e-01 8.55623368e-01 -1.93309900e-02 8.31599603e+01] [ 3.65721365e-02 4.69322697e-04 9.99330905e-01 3.35217197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.819254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:910.17, Y:83.19, Z:33.52 [[ 8.55309058e-01 -5.17187300e-01 -3.10437173e-02 9.10172880e+02] [ 5.16825814e-01 8.55872099e-01 -1.93398277e-02 8.31891697e+01] [ 3.65717648e-02 4.97335363e-04 9.99330905e-01 3.35237510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.879254154 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:910.22, Y:83.22, Z:33.52 [[ 8.53980925e-01 -5.19377722e-01 -3.10380680e-02 9.10222918e+02] [ 5.19017350e-01 8.54544680e-01 -1.93488900e-02 8.32182654e+01] [ 3.65727983e-02 4.14287156e-04 9.99330906e-01 3.35229485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.939254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:910.27, Y:83.25, Z:33.53 [[ 8.53489524e-01 -5.20185176e-01 -3.10324686e-02 9.10273388e+02] [ 5.19825012e-01 8.54053412e-01 -1.93578664e-02 8.32477936e+01] [ 3.65730608e-02 3.90282840e-04 9.99330906e-01 3.35281890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.999254154 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:910.32, Y:83.28, Z:33.53 [[ 8.51233883e-01 -5.23868461e-01 -3.10276077e-02 9.10324367e+02] [ 5.23510453e-01 8.51799142e-01 -1.93656545e-02 8.32774286e+01] [ 3.65743452e-02 2.41424328e-04 9.99330906e-01 3.35302373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.059254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:910.37, Y:83.31, Z:33.53 [[ 8.47473842e-01 -5.29929876e-01 -3.10227910e-02 9.10372379e+02] [ 5.29575628e-01 8.48041465e-01 -1.93733675e-02 8.33121956e+01] [ 3.65751394e-02 -1.04918587e-05 9.99330906e-01 3.35274073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.119254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:910.42, Y:83.34, Z:33.54 [[ 8.49541982e-01 -5.26608301e-01 -3.10180356e-02 9.10423851e+02] [ 5.26251557e-01 8.50108038e-01 -1.93809782e-02 8.33376044e+01] [ 3.65748654e-02 1.41665141e-04 9.99330906e-01 3.35362517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.179254154 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:910.47, Y:83.37, Z:33.54 [[ 8.48824156e-01 -5.27764670e-01 -3.10162083e-02 9.10472547e+02] [ 5.27408590e-01 8.49390631e-01 -1.93839022e-02 8.33694660e+01] [ 3.65750154e-02 9.53097285e-05 9.99330906e-01 3.35368176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.2392541539999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:910.52, Y:83.41, Z:33.54 [[ 8.47296003e-01 -5.30214885e-01 -3.10106142e-02 9.10519090e+02] [ 5.29860116e-01 8.47863300e-01 -1.93928476e-02 8.34065895e+01] [ 3.65751381e-02 1.94622560e-07 9.99330906e-01 3.35357404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.299254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:910.57, Y:83.43, Z:33.54 [[ 8.48599786e-01 -5.28125989e-01 -3.10055177e-02 9.10570275e+02] [ 5.27769526e-01 8.49166020e-01 -1.94009925e-02 8.34347481e+01] [ 3.65750004e-02 9.99107384e-05 9.99330906e-01 3.35398997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.3592541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:910.62, Y:83.47, Z:33.54 [[ 8.48602759e-01 -5.28121505e-01 -3.10005263e-02 9.10618699e+02] [ 5.27764747e-01 8.49168808e-01 -1.94089648e-02 8.34658783e+01] [ 3.65749717e-02 1.09516166e-04 9.99330906e-01 3.35428753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.419254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:910.67, Y:83.50, Z:33.55 [[ 8.48570655e-01 -5.28173189e-01 -3.09988086e-02 9.10666379e+02] [ 5.27816365e-01 8.49136662e-01 -1.94117079e-02 8.34985612e+01] [ 3.65749685e-02 1.10527220e-04 9.99330906e-01 3.35466984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.4792541539999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:910.71, Y:83.53, Z:33.55 [[ 8.48859515e-01 -5.27709144e-01 -3.09932675e-02 9.10714592e+02] [ 5.27351688e-01 8.49425123e-01 -1.94205509e-02 8.35317549e+01] [ 3.65748624e-02 1.40967493e-04 9.99330906e-01 3.35479715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.539254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:910.76, Y:83.56, Z:33.55 [[ 8.49351454e-01 -5.26917327e-01 -3.09877060e-02 9.10762625e+02] [ 5.26559019e-01 8.49916523e-01 -1.94294209e-02 8.35631268e+01] [ 3.65746618e-02 1.85550841e-04 9.99330906e-01 3.35497972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.5992541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:910.81, Y:83.60, Z:33.54 [[ 8.47772252e-01 -5.29454548e-01 -3.09853155e-02 9.10808680e+02] [ 5.29097793e-01 8.48338302e-01 -1.94332324e-02 8.36003107e+01] [ 3.65750432e-02 8.06931224e-05 9.99330906e-01 3.35443669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.659254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:910.86, Y:83.63, Z:33.55 [[ 8.48192675e-01 -5.28781081e-01 -3.09799102e-02 9.10857756e+02] [ 5.28423562e-01 8.48758242e-01 -1.94418456e-02 8.36310517e+01] [ 3.65749342e-02 1.19916581e-04 9.99330906e-01 3.35469424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.7192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:910.91, Y:83.66, Z:33.55 [[ 8.48640625e-01 -5.28062210e-01 -3.09740514e-02 9.10905866e+02] [ 5.27703872e-01 8.49205673e-01 -1.94511751e-02 8.36630689e+01] [ 3.65747707e-02 1.61930598e-04 9.99330906e-01 3.35489942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.779254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:910.96, Y:83.69, Z:33.55 [[ 8.48825972e-01 -5.27764569e-01 -3.09682081e-02 9.10955159e+02] [ 5.27405692e-01 8.49390679e-01 -1.94604737e-02 8.36930458e+01] [ 3.65746559e-02 1.85746258e-04 9.99330906e-01 3.35533026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.839254154 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:911.00, Y:83.72, Z:33.55 [[ 8.49542895e-01 -5.26610105e-01 -3.09623667e-02 9.11004150e+02] [ 5.26250122e-01 8.50106897e-01 -1.94697632e-02 8.37217690e+01] [ 3.65742956e-02 2.46449740e-04 9.99330906e-01 3.35539226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.899254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:911.05, Y:83.75, Z:33.56 [[ 8.48230782e-01 -5.28721327e-01 -3.09564171e-02 9.11053640e+02] [ 5.28362403e-01 8.48795459e-01 -1.94792184e-02 8.37538460e+01] [ 3.65747444e-02 1.66665659e-04 9.99330906e-01 3.35581362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.959254154 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:911.10, Y:83.78, Z:33.56 [[ 8.49336967e-01 -5.26942835e-01 -3.09510194e-02 9.11103017e+02] [ 5.26582417e-01 8.49900691e-01 -1.94877911e-02 8.37834926e+01] [ 3.65742447e-02 2.53438763e-04 9.99330906e-01 3.35594648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.019254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:911.15, Y:83.82, Z:33.56 [[ 8.49353603e-01 -5.26916357e-01 -3.09452627e-02 9.11151756e+02] [ 5.26555588e-01 8.49917103e-01 -1.94969281e-02 8.38171495e+01] [ 3.65741584e-02 2.65385118e-04 9.99330906e-01 3.35593505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.079254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:911.20, Y:83.84, Z:33.56 [[ 8.52590895e-01 -5.21662222e-01 -3.09401426e-02 9.11202876e+02] [ 5.21297686e-01 8.53151965e-01 -1.95050500e-02 8.38445589e+01] [ 3.65716911e-02 5.00803300e-04 9.99330906e-01 3.35634430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.139254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:911.25, Y:83.87, Z:33.57 [[ 8.53176222e-01 -5.20704477e-01 -3.09383459e-02 9.11252911e+02] [ 5.20339208e-01 8.53736816e-01 -1.95078994e-02 8.38745669e+01] [ 3.65710555e-02 5.45241487e-04 9.99330906e-01 3.35664109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.199254154 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:911.30, Y:83.91, Z:33.56 [[ 8.50948919e-01 -5.24336820e-01 -3.09327794e-02 9.11301736e+02] [ 5.23973624e-01 8.51510857e-01 -1.95167219e-02 8.39086490e+01] [ 3.65729334e-02 3.99772909e-04 9.99330907e-01 3.35614510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.259254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:911.35, Y:83.93, Z:33.57 [[ 8.51785215e-01 -5.22977464e-01 -3.09276675e-02 9.11353154e+02] [ 5.22613077e-01 8.52346381e-01 -1.95248193e-02 8.39346451e+01] [ 3.65721260e-02 4.67748948e-04 9.99330907e-01 3.35720064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.319254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:911.40, Y:83.97, Z:33.57 [[ 8.48354954e-01 -5.28524084e-01 -3.09219175e-02 9.11401393e+02] [ 5.28163034e-01 8.48918274e-01 -1.95339214e-02 8.39695155e+01] [ 3.65743288e-02 2.39885209e-04 9.99330907e-01 3.35673403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.379254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:911.45, Y:84.00, Z:33.57 [[ 8.49877410e-01 -5.26072752e-01 -3.09167742e-02 9.11452576e+02] [ 5.25709782e-01 8.50439494e-01 -1.95420586e-02 8.39965820e+01] [ 3.65733903e-02 3.55103511e-04 9.99330907e-01 3.35749962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.439254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:911.50, Y:84.03, Z:33.57 [[ 8.47509787e-01 -5.29878690e-01 -3.09149714e-02 9.11498507e+02] [ 5.29518139e-01 8.48073426e-01 -1.95449101e-02 8.40345208e+01] [ 3.65745971e-02 1.94464470e-04 9.99330907e-01 3.35697001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.499254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:911.55, Y:84.06, Z:33.58 [[ 8.50669390e-01 -5.24791546e-01 -3.09098884e-02 9.11549587e+02] [ 5.24427334e-01 8.51230670e-01 -1.95529454e-02 8.40621366e+01] [ 3.65726655e-02 4.23101827e-04 9.99330907e-01 3.35798472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.559254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:911.60, Y:84.10, Z:33.57 [[ 8.49328788e-01 -5.26958589e-01 -3.09072026e-02 9.11596284e+02] [ 5.26595654e-01 8.49890895e-01 -1.95571900e-02 8.40982436e+01] [ 3.65735793e-02 3.34885933e-04 9.99330907e-01 3.35706729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.619254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:911.65, Y:84.13, Z:33.58 [[ 8.51771361e-01 -5.23001596e-01 -3.09011272e-02 9.11646312e+02] [ 5.22635702e-01 8.52331546e-01 -1.95667846e-02 8.41258731e+01] [ 3.65714651e-02 5.16394435e-04 9.99330907e-01 3.35807756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.679254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:911.69, Y:84.16, Z:33.58 [[ 8.51533420e-01 -5.23389068e-01 -3.08985205e-02 9.11694795e+02] [ 5.23023280e-01 8.52093674e-01 -1.95709001e-02 8.41576175e+01] [ 3.65716290e-02 5.04629991e-04 9.99330907e-01 3.35830062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.7392541539999 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:911.74, Y:84.19, Z:33.58 [[ 8.50822067e-01 -5.24544984e-01 -3.08928745e-02 9.11742454e+02] [ 5.24179634e-01 8.51382607e-01 -1.95798083e-02 8.41891531e+01] [ 3.65721462e-02 4.65517306e-04 9.99330907e-01 3.35823292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.799254154 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:911.79, Y:84.22, Z:33.59 [[ 8.50151787e-01 -5.25630783e-01 -3.08904460e-02 9.11790017e+02] [ 5.25266009e-01 8.50712702e-01 -1.95836389e-02 8.42197071e+01] [ 3.65726582e-02 4.23364308e-04 9.99330907e-01 3.35871749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.8592541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:911.84, Y:84.25, Z:33.59 [[ 8.48005658e-01 -5.29086396e-01 -3.08867107e-02 9.11836855e+02] [ 5.28723693e-01 8.48567915e-01 -1.95895283e-02 8.42547824e+01] [ 3.65740246e-02 2.81495064e-04 9.99330907e-01 3.35855899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.919254154 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:911.89, Y:84.28, Z:33.59 [[ 8.49395044e-01 -5.26853333e-01 -3.08808244e-02 9.11886120e+02] [ 5.26488815e-01 8.49956125e-01 -1.95988031e-02 8.42840507e+01] [ 3.65730406e-02 3.88717534e-04 9.99330907e-01 3.35903320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.9792541539999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:911.93, Y:84.32, Z:33.59 [[ 8.49287322e-01 -5.27027068e-01 -3.08790216e-02 9.11934848e+02] [ 5.26662562e-01 8.49848411e-01 -1.96016430e-02 8.43158784e+01] [ 3.65730839e-02 3.84602235e-04 9.99330907e-01 3.35913442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.039254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:911.98, Y:84.35, Z:33.59 [[ 8.49229405e-01 -5.27120727e-01 -3.08732395e-02 9.11982948e+02] [ 5.26755951e-01 8.49790319e-01 -1.96107459e-02 8.43458003e+01] [ 3.65730106e-02 3.91359449e-04 9.99330907e-01 3.35921268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.0992541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:912.03, Y:84.38, Z:33.59 [[ 8.49284921e-01 -5.27031505e-01 -3.08693443e-02 9.12031612e+02] [ 5.26666448e-01 8.49845651e-01 -1.96168753e-02 8.43768940e+01] [ 3.65728894e-02 4.02468490e-04 9.99330907e-01 3.35943381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.159254154 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:912.08, Y:84.41, Z:33.60 [[ 8.48605237e-01 -5.28125535e-01 -3.08637647e-02 9.12080354e+02] [ 5.27760882e-01 8.49166230e-01 -1.96256499e-02 8.44080021e+01] [ 3.65732736e-02 3.65741628e-04 9.99330907e-01 3.35955770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.2192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:912.13, Y:84.44, Z:33.60 [[ 8.47526999e-01 -5.29854477e-01 -3.08580523e-02 9.12128780e+02] [ 5.29490642e-01 8.48088522e-01 -1.96346277e-02 8.44381403e+01] [ 3.65738554e-02 3.01827233e-04 9.99330907e-01 3.35976547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.279254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:912.18, Y:84.47, Z:33.60 [[ 8.44885389e-01 -5.34056749e-01 -3.08556004e-02 9.12178644e+02] [ 5.33695566e-01 8.45448623e-01 -1.96384801e-02 8.44684384e+01] [ 3.65748877e-02 1.24767801e-04 9.99330907e-01 3.36009812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.339254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:912.23, Y:84.50, Z:33.61 [[ 8.43247754e-01 -5.36639079e-01 -3.08500236e-02 9.12229596e+02] [ 5.36279301e-01 8.43811885e-01 -1.96472367e-02 8.44976122e+01] [ 3.65750916e-02 2.32591628e-05 9.99330907e-01 3.36124351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.399254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:912.28, Y:84.53, Z:33.61 [[ 8.40928682e-01 -5.40266176e-01 -3.08449459e-02 9.12279034e+02] [ 5.39908538e-01 8.41494173e-01 -1.96552051e-02 8.45296189e+01] [ 3.65748848e-02 -1.24823941e-04 9.99330907e-01 3.36122959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.459254154 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:912.33, Y:84.57, Z:33.60 [[ 8.37697153e-01 -5.45263586e-01 -3.08399485e-02 9.12325628e+02] [ 5.44909033e-01 8.38264583e-01 -1.96630433e-02 8.45650841e+01] [ 3.65735780e-02 -3.33291141e-04 9.99330907e-01 3.36049543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.519254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:912.37, Y:84.60, Z:33.61 [[ 8.36125745e-01 -5.47670298e-01 -3.08380282e-02 9.12373992e+02] [ 5.47317267e-01 8.36694123e-01 -1.96660544e-02 8.45979395e+01] [ 3.65725108e-02 -4.34890913e-04 9.99330907e-01 3.36072324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.579254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:912.42, Y:84.63, Z:33.61 [[ 8.36191154e-01 -5.47570742e-01 -3.08323992e-02 9.12424300e+02] [ 5.47217318e-01 8.36759288e-01 -1.96748756e-02 8.46287946e+01] [ 3.65726826e-02 -4.20065928e-04 9.99330907e-01 3.36143360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.639254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:912.47, Y:84.66, Z:33.61 [[ 8.33521441e-01 -5.51626365e-01 -3.08279086e-02 9.12470496e+02] [ 5.51275446e-01 8.34091125e-01 -1.96819093e-02 8.46646043e+01] [ 3.65703451e-02 -5.89375621e-04 9.99330907e-01 3.36072140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.699254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:912.52, Y:84.70, Z:33.61 [[ 8.31257864e-01 -5.55031616e-01 -3.08264286e-02 9.12519143e+02] [ 5.54682944e-01 8.31828927e-01 -1.96842270e-02 8.46967096e+01] [ 3.65676833e-02 -7.36225731e-04 9.99330907e-01 3.36108220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.759254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:912.57, Y:84.73, Z:33.62 [[ 8.29798285e-01 -5.57211691e-01 -3.08210655e-02 9.12567129e+02] [ 5.56864207e-01 8.30370071e-01 -1.96926209e-02 8.47286028e+01] [ 3.65658489e-02 -8.22245196e-04 9.99330907e-01 3.36160320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.819254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:912.62, Y:84.76, Z:33.62 [[ 8.29947664e-01 -5.56989263e-01 -3.08194197e-02 9.12615618e+02] [ 5.56641530e-01 8.30519299e-01 -1.96951963e-02 8.47614699e+01] [ 3.65661357e-02 -8.09386783e-04 9.99330907e-01 3.36201801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.879254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:912.66, Y:84.80, Z:33.62 [[ 8.33166209e-01 -5.52163498e-01 -3.08145985e-02 9.12663296e+02] [ 5.51812175e-01 8.33735645e-01 -1.97027365e-02 8.47968262e+01] [ 3.65703610e-02 -5.88216330e-04 9.99330908e-01 3.36206221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.939254154 meters Centerline goodness : 0.999740 with order 1 Centerline is valid? [True, True] Translation: X:912.71, Y:84.83, Z:33.62 [[ 8.38463191e-01 -5.44086618e-01 -3.08095695e-02 9.12710889e+02] [ 5.43729520e-01 8.39029023e-01 -1.97105972e-02 8.48307881e+01] [ 3.65743952e-02 -2.25462207e-04 9.99330908e-01 3.36202505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.999254154 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:912.76, Y:84.86, Z:33.63 [[ 8.44327772e-01 -5.34940827e-01 -3.08046167e-02 9.12762457e+02] [ 5.34577318e-01 8.44889507e-01 -1.97183347e-02 8.48598271e+01] [ 3.65746397e-02 1.81288220e-04 9.99330908e-01 3.36257240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.059254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:912.81, Y:84.90, Z:33.62 [[ 8.47760113e-01 -5.29484741e-01 -3.08009616e-02 9.12807308e+02] [ 5.29117410e-01 8.48319356e-01 -1.97240424e-02 8.48979640e+01] [ 3.65726314e-02 4.23931411e-04 9.99330908e-01 3.36230231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.119254154 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:912.86, Y:84.93, Z:33.62 [[ 8.48747195e-01 -5.27901122e-01 -3.07994187e-02 9.12856191e+02] [ 5.27532660e-01 8.49305693e-01 -1.97264514e-02 8.49300196e+01] [ 3.65717375e-02 4.95071014e-04 9.99330908e-01 3.36241763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.179254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:912.91, Y:84.96, Z:33.63 [[ 8.50388962e-01 -5.25252661e-01 -3.07937648e-02 9.12906326e+02] [ 5.24882140e-01 8.50946096e-01 -1.97352735e-02 8.49610752e+01] [ 3.65698388e-02 6.19561612e-04 9.99330908e-01 3.36278663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.2392541539999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:912.96, Y:84.99, Z:33.63 [[ 8.50822554e-01 -5.24550310e-01 -3.07888562e-02 9.12955601e+02] [ 5.24179052e-01 8.51379198e-01 -1.97429283e-02 8.49923295e+01] [ 3.65691509e-02 6.58855260e-04 9.99330908e-01 3.36289744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.299254154 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:913.01, Y:85.02, Z:33.63 [[ 8.50857488e-01 -5.24493974e-01 -3.07832178e-02 9.13007049e+02] [ 5.24122362e-01 8.51413895e-01 -1.97517158e-02 8.50215027e+01] [ 3.65689153e-02 6.71722472e-04 9.99330908e-01 3.36315553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.3592541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:913.06, Y:85.05, Z:33.64 [[ 8.50073920e-01 -5.25763286e-01 -3.07782113e-02 9.13057750e+02] [ 5.25392222e-01 8.50630692e-01 -1.97595143e-02 8.50516663e+01] [ 3.65697183e-02 6.26414938e-04 9.99330908e-01 3.36365871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.419254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:913.11, Y:85.08, Z:33.64 [[ 8.47233891e-01 -5.30327968e-01 -3.07730259e-02 9.13108806e+02] [ 5.29959611e-01 8.47792459e-01 -1.97675866e-02 8.50798299e+01] [ 3.65724433e-02 4.39308463e-04 9.99330908e-01 3.36363570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.4792541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:913.16, Y:85.11, Z:33.64 [[ 8.44231903e-01 -5.35094034e-01 -3.07712135e-02 9.13158811e+02] [ 5.34728728e-01 8.44792471e-01 -1.97704074e-02 8.51089582e+01] [ 3.65743165e-02 2.36556860e-04 9.99330908e-01 3.36382336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.539254154 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:913.21, Y:85.14, Z:33.64 [[ 8.39766026e-01 -5.42076103e-01 -3.07655532e-02 9.13207872e+02] [ 5.41715135e-01 8.40329397e-01 -1.97792117e-02 8.51407587e+01] [ 3.65750368e-02 -5.62558532e-05 9.99330908e-01 3.36408212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.5992541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:913.26, Y:85.17, Z:33.64 [[ 8.38156414e-01 -5.44561896e-01 -3.07598200e-02 9.13256317e+02] [ 5.44202272e-01 8.38720643e-01 -1.97881238e-02 8.51732712e+01] [ 3.65747542e-02 -1.54021063e-04 9.99330908e-01 3.36439678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.659254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:913.31, Y:85.20, Z:33.66 [[ 8.37962668e-01 -5.44860305e-01 -3.07541157e-02 9.13309154e+02] [ 5.44500556e-01 8.38526817e-01 -1.97969852e-02 8.52003434e+01] [ 3.65747422e-02 -1.56498595e-04 9.99330908e-01 3.36554843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.7192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:913.36, Y:85.23, Z:33.66 [[ 8.36741859e-01 -5.46733509e-01 -3.07494948e-02 9.13357617e+02] [ 5.46374760e-01 8.37306645e-01 -1.98041600e-02 8.52327982e+01] [ 3.65743542e-02 -2.29778220e-04 9.99330908e-01 3.36560840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.779254154 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:913.40, Y:85.27, Z:33.65 [[ 8.34678728e-01 -5.49878180e-01 -3.07474806e-02 9.13403181e+02] [ 5.49521443e-01 8.35244787e-01 -1.98072867e-02 8.52703668e+01] [ 3.65732677e-02 -3.63679031e-04 9.99330908e-01 3.36542455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.839254154 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:913.45, Y:85.31, Z:33.65 [[ 8.33847877e-01 -5.51137397e-01 -3.07455104e-02 9.13449343e+02] [ 5.50781403e-01 8.34414403e-01 -1.98103445e-02 8.53079043e+01] [ 3.65727184e-02 -4.15241607e-04 9.99330908e-01 3.36501352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.899254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:913.50, Y:85.34, Z:33.66 [[ 8.35990446e-01 -5.47882067e-01 -3.07443572e-02 9.13497186e+02] [ 5.47523800e-01 8.36555538e-01 -1.98121340e-02 8.53424111e+01] [ 3.65740752e-02 -2.70512592e-04 9.99330908e-01 3.36553803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.959254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:913.55, Y:85.38, Z:33.66 [[ 8.37005700e-01 -5.46330074e-01 -3.07393812e-02 9.13545072e+02] [ 5.45970476e-01 8.37569945e-01 -1.98198515e-02 8.53768035e+01] [ 3.65745627e-02 -1.93465940e-04 9.99330908e-01 3.36596925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.019254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:913.59, Y:85.41, Z:33.66 [[ 8.39303717e-01 -5.42793414e-01 -3.07340277e-02 9.13592485e+02] [ 5.42431134e-01 8.39866245e-01 -1.98281496e-02 8.54100251e+01] [ 3.65750614e-02 -2.92538509e-05 9.99330908e-01 3.36599109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.079254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:913.64, Y:85.44, Z:33.66 [[ 8.40664743e-01 -5.40683212e-01 -3.07319697e-02 9.13641265e+02] [ 5.40319404e-01 8.41226283e-01 -1.98313388e-02 8.54420475e+01] [ 3.65750126e-02 6.64277438e-05 9.99330908e-01 3.36611556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.139254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:913.69, Y:85.47, Z:33.67 [[ 8.44109328e-01 -5.35289963e-01 -3.07261703e-02 9.13693731e+02] [ 5.34922240e-01 8.44668313e-01 -1.98403202e-02 8.54700501e+01] [ 3.65737466e-02 3.11287483e-04 9.99330908e-01 3.36689314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.199254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:913.74, Y:85.50, Z:33.67 [[ 8.44359247e-01 -5.34895813e-01 -3.07234593e-02 9.13742956e+02] [ 5.34527676e-01 8.44917960e-01 -1.98445172e-02 8.55027599e+01] [ 3.65735517e-02 3.33362297e-04 9.99330908e-01 3.36691130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.259254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:913.79, Y:85.54, Z:33.66 [[ 8.41250183e-01 -5.39772685e-01 -3.07177236e-02 9.13790439e+02] [ 5.39407463e-01 8.41810805e-01 -1.98533917e-02 8.55370499e+01] [ 3.65748302e-02 1.32300044e-04 9.99330908e-01 3.36635740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.319254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:913.84, Y:85.57, Z:33.67 [[ 8.38276403e-01 -5.44379664e-01 -3.07156844e-02 9.13840017e+02] [ 5.44017408e-01 8.38838946e-01 -1.98565461e-02 8.55667166e+01] [ 3.65750122e-02 -6.45929372e-05 9.99330908e-01 3.36652207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.379254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:913.89, Y:85.59, Z:33.67 [[ 8.32584436e-01 -5.53046157e-01 -3.07100262e-02 9.13891610e+02] [ 5.52689434e-01 8.33150503e-01 -1.98652932e-02 8.55946275e+01] [ 3.65724978e-02 -4.33573011e-04 9.99330908e-01 3.36680902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.439254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:913.94, Y:85.62, Z:33.67 [[ 8.27164339e-01 -5.61120675e-01 -3.07041543e-02 9.13941913e+02] [ 5.60769139e-01 8.27733642e-01 -1.98743648e-02 8.56224267e+01] [ 3.65667784e-02 -7.78576350e-04 9.99330908e-01 3.36690380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.499254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:913.99, Y:85.65, Z:33.67 [[ 8.24046929e-01 -5.65689020e-01 -3.07016371e-02 9.13991956e+02] [ 5.65340496e-01 8.24618081e-01 -1.98782525e-02 8.56528375e+01] [ 3.65620343e-02 -9.76265827e-04 9.99330908e-01 3.36715096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.559254154 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:914.04, Y:85.69, Z:33.67 [[ 8.23401656e-01 -5.66628124e-01 -3.06966124e-02 9.14040215e+02] [ 5.66279962e-01 8.23973029e-01 -1.98860088e-02 8.56868627e+01] [ 3.65611526e-02 -1.00870387e-03 9.99330908e-01 3.36711775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.619254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:914.09, Y:85.72, Z:33.67 [[ 8.21842856e-01 -5.68886932e-01 -3.06916675e-02 9.14089466e+02] [ 5.68540055e-01 8.22415010e-01 -1.98936378e-02 8.57193211e+01] [ 3.65585186e-02 -1.09999822e-03 9.99330909e-01 3.36729961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.679254154 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:914.14, Y:85.75, Z:33.68 [[ 8.19075048e-01 -5.72865072e-01 -3.06867117e-02 9.14137463e+02] [ 5.72520688e-01 8.19648706e-01 -1.99012793e-02 8.57526223e+01] [ 3.65530714e-02 -1.26813602e-03 9.99330909e-01 3.36764219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.7392541539999 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:914.18, Y:85.79, Z:33.68 [[ 8.18044768e-01 -5.74335611e-01 -3.06816603e-02 9.14184533e+02] [ 5.73991966e-01 8.18618868e-01 -1.99090640e-02 8.57874906e+01] [ 3.65510705e-02 -1.32452085e-03 9.99330909e-01 3.36789579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.799254154 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:914.23, Y:85.82, Z:33.68 [[ 8.19919108e-01 -5.71656888e-01 -3.06766668e-02 9.14230705e+02] [ 5.71311081e-01 8.20491909e-01 -1.99167553e-02 8.58222643e+01] [ 3.65555072e-02 -1.19579141e-03 9.99330909e-01 3.36829906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.8592541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:914.28, Y:85.85, Z:33.69 [[ 8.28228698e-01 -5.59550063e-01 -3.06749150e-02 9.14279948e+02] [ 5.59195778e-01 8.28796294e-01 -1.99194529e-02 8.58537391e+01] [ 3.65691870e-02 -6.55420434e-04 9.99330909e-01 3.36908685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.919254154 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:914.33, Y:85.89, Z:33.69 [[ 8.36660843e-01 -5.46861956e-01 -3.06697602e-02 9.14325262e+02] [ 5.46498771e-01 8.37222786e-01 -1.99273865e-02 8.58915703e+01] [ 3.65749517e-02 -8.85223142e-05 9.99330909e-01 3.36920714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.9792541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:914.37, Y:85.93, Z:33.69 [[ 8.42409887e-01 -5.37964000e-01 -3.06645815e-02 9.14371085e+02] [ 5.37594590e-01 8.42967757e-01 -1.99353524e-02 8.59284734e+01] [ 3.65737554e-02 3.08624898e-04 9.99330909e-01 3.36936550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.039254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:914.42, Y:85.96, Z:33.69 [[ 8.47027276e-01 -5.30664485e-01 -3.06593909e-02 9.14418200e+02] [ 5.30289978e-01 8.47581738e-01 -1.99433321e-02 8.59643657e+01] [ 3.65695579e-02 6.34178554e-04 9.99330909e-01 3.36945464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.0992541539999 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:914.47, Y:86.00, Z:33.69 [[ 8.50163907e-01 -5.25625017e-01 -3.06540800e-02 9.14465811e+02] [ 5.25246930e-01 8.50715934e-01 -1.99514919e-02 8.59978722e+01] [ 3.65649176e-02 8.61076870e-04 9.99330909e-01 3.36938839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.159254154 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:914.51, Y:86.03, Z:33.70 [[ 8.51586403e-01 -5.23317342e-01 -3.06522105e-02 9.14514144e+02] [ 5.22937656e-01 8.52137331e-01 -1.99543637e-02 8.60308368e+01] [ 3.65623574e-02 9.63669665e-04 9.99330909e-01 3.36956622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.2192541539999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:914.56, Y:86.06, Z:33.70 [[ 8.49986615e-01 -5.25912134e-01 -3.06460558e-02 9.14563599e+02] [ 5.25533790e-01 8.50538466e-01 -1.99638117e-02 8.60619039e+01] [ 3.65648601e-02 8.63434854e-04 9.99330909e-01 3.37000187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.279254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:914.61, Y:86.09, Z:33.70 [[ 8.46736193e-01 -5.31129951e-01 -3.06397703e-02 9.14612435e+02] [ 5.30754659e-01 8.47290123e-01 -1.99734537e-02 8.60919704e+01] [ 3.65692743e-02 6.50045279e-04 9.99330909e-01 3.37013770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.339254154 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:914.66, Y:86.12, Z:33.70 [[ 8.42804681e-01 -5.37346829e-01 -3.06374651e-02 9.14663262e+02] [ 5.36975496e-01 8.43361273e-01 -1.99769890e-02 8.61217190e+01] [ 3.65730233e-02 3.85131870e-04 9.99330909e-01 3.37019098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.399254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:914.71, Y:86.15, Z:33.70 [[ 8.36657860e-01 -5.46868622e-01 -3.06322649e-02 9.14714060e+02] [ 5.46503332e-01 8.37218436e-01 -1.99849598e-02 8.61499353e+01] [ 3.65750443e-02 -2.00611543e-05 9.99330909e-01 3.37027548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.459254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:914.77, Y:86.18, Z:33.70 [[ 8.32672865e-01 -5.52917422e-01 -3.06304478e-02 9.14765796e+02] [ 5.52556101e-01 8.33236008e-01 -1.99877444e-02 8.61776606e+01] [ 3.65739642e-02 -2.81788455e-04 9.99330909e-01 3.37043090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.519254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:914.82, Y:86.21, Z:33.71 [[ 8.26117942e-01 -5.62664441e-01 -3.06247133e-02 9.14817717e+02] [ 5.62309437e-01 8.26685088e-01 -1.99965269e-02 8.62052969e+01] [ 3.65683284e-02 -7.01075676e-04 9.99330909e-01 3.37138265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.579254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:914.87, Y:86.23, Z:33.71 [[ 8.20755454e-01 -5.70458331e-01 -3.06231481e-02 9.14870150e+02] [ 5.70108622e-01 8.21325881e-01 -1.99989235e-02 8.62311352e+01] [ 3.65601366e-02 -1.04429525e-03 9.99330909e-01 3.37126489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.639254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:914.92, Y:86.26, Z:33.72 [[ 8.16121052e-01 -5.77069118e-01 -3.06212470e-02 9.14919723e+02] [ 5.76723919e-01 8.16694219e-01 -2.00018340e-02 8.62620785e+01] [ 3.65506361e-02 -1.33608773e-03 9.99330909e-01 3.37184387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.699254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:914.97, Y:86.29, Z:33.72 [[ 8.14574197e-01 -5.79250834e-01 -3.06161606e-02 9.14971043e+02] [ 5.78906878e-01 8.15148111e-01 -2.00096165e-02 8.62895848e+01] [ 3.65472925e-02 -1.42458868e-03 9.99330909e-01 3.37211634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.759254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:915.02, Y:86.32, Z:33.72 [[ 8.16619678e-01 -5.76363654e-01 -3.06143809e-02 9.15018704e+02] [ 5.76017567e-01 8.17192309e-01 -2.00123391e-02 8.63214427e+01] [ 3.65522215e-02 -1.29195123e-03 9.99330909e-01 3.37239597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.819254154 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:915.06, Y:86.36, Z:33.72 [[ 8.18304092e-01 -5.73969866e-01 -3.06105546e-02 9.15064946e+02] [ 5.73621885e-01 8.18875574e-01 -2.00181899e-02 8.63587281e+01] [ 3.65560733e-02 -1.17791731e-03 9.99330909e-01 3.37235221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.879254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:915.11, Y:86.39, Z:33.73 [[ 8.26350981e-01 -5.62323170e-01 -3.06056912e-02 9.15114010e+02] [ 5.61966855e-01 8.26917304e-01 -2.00256229e-02 8.63917586e+01] [ 3.65692474e-02 -6.51190889e-04 9.99330909e-01 3.37311754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.939254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:915.16, Y:86.43, Z:33.73 [[ 8.30183943e-01 -5.56649076e-01 -3.06010939e-02 9.15159857e+02] [ 5.56288631e-01 8.30747646e-01 -2.00326456e-02 8.64270809e+01] [ 3.65729404e-02 -3.92259908e-04 9.99330909e-01 3.37324784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.999254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:915.21, Y:86.46, Z:33.73 [[ 8.31056230e-01 -5.55346087e-01 -3.05984764e-02 9.15206884e+02] [ 5.54984611e-01 8.31619273e-01 -2.00366428e-02 8.64605965e+01] [ 3.65735539e-02 -3.30106710e-04 9.99330909e-01 3.37347561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.059254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:915.25, Y:86.49, Z:33.74 [[ 8.30686969e-01 -5.55898592e-01 -3.05927307e-02 9.15254358e+02] [ 5.55537168e-01 8.31250045e-01 -2.00454117e-02 8.64940013e+01] [ 3.65734249e-02 -3.43936664e-04 9.99330909e-01 3.37363077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.119254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:915.30, Y:86.53, Z:33.74 [[ 8.29928908e-01 -5.57030016e-01 -3.05870615e-02 9.15302065e+02] [ 5.56669040e-01 8.30492272e-01 -2.00540586e-02 8.65286328e+01] [ 3.65730308e-02 -3.83427224e-04 9.99330909e-01 3.37376599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.179254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:915.35, Y:86.56, Z:33.74 [[ 8.29343818e-01 -5.57901036e-01 -3.05821106e-02 9.15349684e+02] [ 5.57540374e-01 8.29907383e-01 -2.00616057e-02 8.65605347e+01] [ 3.65727100e-02 -4.12792663e-04 9.99330909e-01 3.37402791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.2392541539999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:915.40, Y:86.59, Z:33.74 [[ 8.29417436e-01 -5.57791699e-01 -3.05800230e-02 9.15397604e+02] [ 5.57430845e-01 8.29980878e-01 -2.00647873e-02 8.65933073e+01] [ 3.65728062e-02 -4.04163617e-04 9.99330909e-01 3.37421311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.299254154 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:915.44, Y:86.63, Z:33.74 [[ 8.32437746e-01 -5.53274433e-01 -3.05745165e-02 9.15444794e+02] [ 5.52910213e-01 8.32999018e-01 -2.00731746e-02 8.66274567e+01] [ 3.65745165e-02 -1.95294258e-04 9.99330909e-01 3.37433738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.3592541539999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:915.49, Y:86.66, Z:33.74 [[ 8.35935404e-01 -5.47975641e-01 -3.05728253e-02 9.15492888e+02] [ 5.47607770e-01 8.36494289e-01 -2.00757501e-02 8.66622905e+01] [ 3.65750158e-02 4.01136050e-05 9.99330909e-01 3.37436778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.419254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:915.54, Y:86.70, Z:33.75 [[ 8.38889248e-01 -5.43443120e-01 -3.05680357e-02 9.15541388e+02] [ 5.43071963e-01 8.39445957e-01 -2.00830403e-02 8.66953453e+01] [ 3.65742040e-02 2.46803489e-04 9.99330910e-01 3.37451148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.4792541539999 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:915.59, Y:86.73, Z:33.74 [[ 8.41483432e-01 -5.39417775e-01 -3.05630293e-02 9.15589440e+02] [ 5.39043678e-01 8.42038169e-01 -2.00906563e-02 8.67293995e+01] [ 3.65724944e-02 4.31146626e-04 9.99330910e-01 3.37447082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.539254154 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:915.64, Y:86.76, Z:33.75 [[ 8.42374250e-01 -5.38025870e-01 -3.05579180e-02 9.15638214e+02] [ 5.37650575e-01 8.42928177e-01 -2.00984276e-02 8.67616955e+01] [ 3.65716041e-02 5.00915619e-04 9.99330910e-01 3.37468921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.5992541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:915.69, Y:86.79, Z:33.75 [[ 8.41813399e-01 -5.38903308e-01 -3.05520226e-02 9.15688576e+02] [ 5.38528266e-01 8.42367497e-01 -2.01073853e-02 8.67927177e+01] [ 3.65719673e-02 4.73538646e-04 9.99330910e-01 3.37485388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.659254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:915.74, Y:86.82, Z:33.75 [[ 8.37417401e-01 -5.45709613e-01 -3.05469200e-02 9.15740383e+02] [ 5.45338792e-01 8.37974334e-01 -2.01151341e-02 8.68215010e+01] [ 3.65745570e-02 1.86342883e-04 9.99330910e-01 3.37508579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.7192541539999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:915.79, Y:86.85, Z:33.76 [[ 8.30555555e-01 -5.56097710e-01 -3.05418817e-02 9.15792074e+02] [ 5.55733573e-01 8.31116881e-01 -2.01227811e-02 8.68493856e+01] [ 3.65741060e-02 -2.60061444e-04 9.99330910e-01 3.37558493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.779254154 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:915.84, Y:86.88, Z:33.76 [[ 8.25968476e-01 -5.62888604e-01 -3.05367835e-02 9.15843196e+02] [ 5.62528796e-01 8.26532586e-01 -2.01305148e-02 8.68794477e+01] [ 3.65708840e-02 -5.50649382e-04 9.99330910e-01 3.37590681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.839254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:915.89, Y:86.91, Z:33.76 [[ 8.22546580e-01 -5.67877570e-01 -3.05317642e-02 9.15893710e+02] [ 5.67520901e-01 8.23112680e-01 -2.01381247e-02 8.69081871e+01] [ 3.65670716e-02 -7.62868738e-04 9.99330910e-01 3.37604784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.899254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:915.94, Y:86.94, Z:33.76 [[ 8.22114338e-01 -5.68503452e-01 -3.05260702e-02 9.15942459e+02] [ 5.68146893e-01 8.22680507e-01 -2.01467522e-02 8.69396940e+01] [ 3.65667010e-02 -7.80358121e-04 9.99330910e-01 3.37616790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.959254154 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:915.99, Y:86.97, Z:33.76 [[ 8.23205539e-01 -5.66922519e-01 -3.05204496e-02 9.15992831e+02] [ 5.66564557e-01 8.23770823e-01 -2.01552633e-02 8.69705350e+01] [ 3.65683285e-02 -6.99880617e-04 9.99330910e-01 3.37631075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.019254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:916.04, Y:87.00, Z:33.76 [[ 8.25921199e-01 -5.62959135e-01 -3.05153455e-02 9.16041502e+02] [ 5.62598175e-01 8.26484572e-01 -2.01629880e-02 8.70021319e+01] [ 3.65714005e-02 -5.14838464e-04 9.99330910e-01 3.37620097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.079254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:916.09, Y:87.03, Z:33.77 [[ 8.30020830e-01 -5.56897069e-01 -3.05135553e-02 9.16090492e+02] [ 5.56531894e-01 8.30581480e-01 -2.01656969e-02 8.70343639e+01] [ 3.65742114e-02 -2.43818264e-04 9.99330910e-01 3.37664569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.139254154 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:916.14, Y:87.07, Z:33.77 [[ 8.33608458e-01 -5.51512620e-01 -3.05085181e-02 9.16138356e+02] [ 5.51143545e-01 8.34166548e-01 -2.01733147e-02 8.70662016e+01] [ 3.65750229e-02 2.07292608e-06 9.99330910e-01 3.37688396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.199254154 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:916.19, Y:87.10, Z:33.77 [[ 8.38984716e-01 -5.43299167e-01 -3.05067471e-02 9.16187641e+02] [ 5.42924532e-01 8.39539089e-01 -2.01759925e-02 8.70977206e+01] [ 3.65732066e-02 3.64487976e-04 9.99330910e-01 3.37727766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.259254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:916.24, Y:87.13, Z:33.78 [[ 8.41834546e-01 -5.38873123e-01 -3.05017221e-02 9.16236396e+02] [ 5.38495298e-01 8.42386750e-01 -2.01835862e-02 8.71294147e+01] [ 3.65706387e-02 5.66206187e-04 9.99330910e-01 3.37762288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.319254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:916.28, Y:87.16, Z:33.78 [[ 8.44241045e-01 -5.35095372e-01 -3.04959293e-02 9.16284409e+02] [ 5.34714760e-01 8.44791332e-01 -2.01923350e-02 8.71605623e+01] [ 3.65675218e-02 7.40574461e-04 9.99330910e-01 3.37780974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.379254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:916.33, Y:87.19, Z:33.78 [[ 8.45135127e-01 -5.33682273e-01 -3.04934371e-02 9.16333618e+02] [ 5.33300606e-01 8.45684682e-01 -2.01960980e-02 8.71932259e+01] [ 3.65661321e-02 8.06263373e-04 9.99330910e-01 3.37791412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.439254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:916.38, Y:87.23, Z:33.78 [[ 8.44154779e-01 -5.35231883e-01 -3.04883808e-02 9.16382324e+02] [ 5.34850949e-01 8.44704843e-01 -2.02037281e-02 8.72253463e+01] [ 3.65673624e-02 7.48334216e-04 9.99330910e-01 3.37788737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.499254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:916.43, Y:87.26, Z:33.78 [[ 8.40203738e-01 -5.41413193e-01 -3.04866071e-02 9.16433321e+02] [ 5.41036209e-01 8.40756517e-01 -2.02064042e-02 8.72554750e+01] [ 3.65718274e-02 4.83137972e-04 9.99330910e-01 3.37809299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.559254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:916.48, Y:87.28, Z:33.78 [[ 8.33428272e-01 -5.51786360e-01 -3.04816086e-02 9.16484960e+02] [ 5.51415982e-01 8.33985499e-01 -2.02139417e-02 8.72844271e+01] [ 3.65749968e-02 3.88244131e-05 9.99330910e-01 3.37846488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.6192541539999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:916.53, Y:87.32, Z:33.79 [[ 8.27664264e-01 -5.60395431e-01 -3.04766616e-02 9.16533242e+02] [ 5.60030574e-01 8.28225121e-01 -2.02213976e-02 8.73176866e+01] [ 3.65735155e-02 -3.31334092e-04 9.99330910e-01 3.37887642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.679254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:916.58, Y:87.35, Z:33.79 [[ 8.21453596e-01 -5.69460680e-01 -3.04716895e-02 9.16580341e+02] [ 5.69101734e-01 8.22018253e-01 -2.02288873e-02 8.73519644e+01] [ 3.65678409e-02 -7.24399095e-04 9.99330910e-01 3.37879556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.7392541539999 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:916.63, Y:87.38, Z:33.79 [[ 8.19642840e-01 -5.72064204e-01 -3.04657239e-02 9.16629197e+02] [ 5.71706717e-01 8.20208423e-01 -2.02378677e-02 8.73841834e+01] [ 3.65656031e-02 -8.29635624e-04 9.99330910e-01 3.37890513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.799254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:916.68, Y:87.42, Z:33.79 [[ 8.16297979e-01 -5.76827315e-01 -3.04607800e-02 9.16676593e+02] [ 5.76472850e-01 8.16865460e-01 -2.02453062e-02 8.74196516e+01] [ 3.65604048e-02 -1.03361012e-03 9.99330910e-01 3.37883963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.8592541539999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:916.72, Y:87.45, Z:33.79 [[ 8.11440695e-01 -5.83640670e-01 -3.04559656e-02 9.16722691e+02] [ 5.83290697e-01 8.12010958e-01 -2.02525462e-02 8.74547853e+01] [ 3.65507875e-02 -1.33094128e-03 9.99330910e-01 3.37925686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.919254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:916.77, Y:87.49, Z:33.80 [[ 8.09293609e-01 -5.86614561e-01 -3.04501421e-02 9.16769676e+02] [ 5.86266355e-01 8.09864952e-01 -2.02612982e-02 8.74893320e+01] [ 3.65460754e-02 -1.45455471e-03 9.99330910e-01 3.37966924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.9792541539999 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:916.81, Y:87.53, Z:33.80 [[ 8.08898379e-01 -5.87159528e-01 -3.04483514e-02 9.16814416e+02] [ 5.86811605e-01 8.09469895e-01 -2.02639889e-02 8.75270443e+01] [ 3.65452180e-02 -1.47593819e-03 9.99330910e-01 3.38022725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.039254154 meters Centerline goodness : 0.995560 with order 1 Centerline is valid? [True, True] Translation: X:916.86, Y:87.57, Z:33.80 [[ 8.13211802e-01 -5.81170864e-01 -3.04465505e-02 9.16859420e+02] [ 5.80818630e-01 8.13780671e-01 -2.02666944e-02 8.75664053e+01] [ 3.65552266e-02 -1.20280871e-03 9.99330910e-01 3.38015378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.0992541539999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:916.90, Y:87.61, Z:33.80 [[ 8.21196349e-01 -5.69833230e-01 -3.04408734e-02 9.16902787e+02] [ 5.69472822e-01 8.21760075e-01 -2.02752179e-02 8.76053075e+01] [ 3.65685873e-02 -6.85315169e-04 9.99330911e-01 3.38043954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.159254154 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:916.95, Y:87.64, Z:33.80 [[ 8.26746547e-01 -5.61750773e-01 -3.04338056e-02 9.16948537e+02] [ 5.61384462e-01 8.27306455e-01 -2.02858213e-02 8.76419338e+01] [ 3.65736597e-02 -3.13832866e-04 9.99330911e-01 3.38042812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.2192541539999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:916.99, Y:87.68, Z:33.80 [[ 8.33710574e-01 -5.51362684e-01 -3.04281221e-02 9.16992268e+02] [ 5.50989085e-01 8.34265646e-01 -2.02943428e-02 8.76793126e+01] [ 3.65746803e-02 1.54044981e-04 9.99330911e-01 3.38031926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.279254154 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:917.04, Y:87.72, Z:33.81 [[ 8.38458725e-01 -5.44115293e-01 -3.04222706e-02 9.17037753e+02] [ 5.43736579e-01 8.39010319e-01 -2.03031108e-02 8.77163712e+01] [ 3.65718320e-02 4.81619092e-04 9.99330911e-01 3.38065401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.339254154 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:917.08, Y:87.75, Z:33.81 [[ 8.40065901e-01 -5.41630950e-01 -3.04170497e-02 9.17084175e+02] [ 5.41250322e-01 8.40616176e-01 -2.03109294e-02 8.77505948e+01] [ 3.65700920e-02 5.99281224e-04 9.99330911e-01 3.38087566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.399254154 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:917.13, Y:87.79, Z:33.81 [[ 8.39293206e-01 -5.42827853e-01 -3.04111215e-02 9.17130625e+02] [ 5.42447689e-01 8.39843801e-01 -2.03198018e-02 8.77856024e+01] [ 3.65707462e-02 5.57829046e-04 9.99330911e-01 3.38102850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.459254154 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:917.18, Y:87.82, Z:33.81 [[ 8.38452820e-01 -5.44125355e-01 -3.04050523e-02 9.17180443e+02] [ 5.43745714e-01 8.39003776e-01 -2.03288793e-02 8.78160422e+01] [ 3.65714123e-02 5.12189281e-04 9.99330911e-01 3.38133246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.519254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:917.23, Y:87.85, Z:33.82 [[ 8.36944570e-01 -5.46442772e-01 -3.03987594e-02 9.17230260e+02] [ 5.46064314e-01 8.37496340e-01 -2.03382849e-02 8.78473516e+01] [ 3.65725585e-02 4.22339391e-04 9.99330911e-01 3.38152871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.579254154 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:917.28, Y:87.88, Z:33.82 [[ 8.36146979e-01 -5.47662742e-01 -3.03932528e-02 9.17279037e+02] [ 5.47284791e-01 8.36699096e-01 -2.03465105e-02 8.78787603e+01] [ 3.65730329e-02 3.78908298e-04 9.99330911e-01 3.38154532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.639254154 meters Centerline goodness : 0.999616 with order 1 Centerline is valid? [True, True] Translation: X:917.33, Y:87.91, Z:33.81 [[ 8.33985371e-01 -5.50948971e-01 -3.03913242e-02 9.17329041e+02] [ 5.50573090e-01 8.34538899e-01 -2.03493909e-02 8.79084211e+01] [ 3.65742182e-02 2.38448991e-04 9.99330911e-01 3.38103477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.699254154 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:917.38, Y:87.94, Z:33.81 [[ 8.27547984e-01 -5.60571861e-01 -3.03895110e-02 9.17380037e+02] [ 5.60202317e-01 8.28105764e-01 -2.03520983e-02 8.79361831e+01] [ 3.65745429e-02 -1.81936553e-04 9.99330911e-01 3.38121330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.759254154 meters Centerline goodness : 0.999612 with order 1 Centerline is valid? [True, True] Translation: X:917.43, Y:87.96, Z:33.82 [[ 8.19299409e-01 -5.72560310e-01 -3.03836938e-02 9.17432693e+02] [ 5.72198605e-01 8.19862303e-01 -2.03607792e-02 8.79624204e+01] [ 3.65682192e-02 -7.03932779e-04 9.99330911e-01 3.38155842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.819254154 meters Centerline goodness : 0.999416 with order 1 Centerline is valid? [True, True] Translation: X:917.48, Y:87.99, Z:33.82 [[ 8.16917620e-01 -5.75953765e-01 -3.03786604e-02 9.17482038e+02] [ 5.75594119e-01 8.17481831e-01 -2.03682863e-02 8.79924411e+01] [ 3.65651941e-02 -8.46566312e-04 9.99330911e-01 3.38165052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.879254154 meters Centerline goodness : 0.999545 with order 1 Centerline is valid? [True, True] Translation: X:917.53, Y:88.02, Z:33.82 [[ 8.09207028e-01 -5.86737988e-01 -3.03730006e-02 9.17531490e+02] [ 5.86385540e-01 8.09775764e-01 -2.03767226e-02 8.80226238e+01] [ 3.65511170e-02 -1.32130121e-03 9.99330911e-01 3.38221245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.939254154 meters Centerline goodness : 0.999481 with order 1 Centerline is valid? [True, True] Translation: X:917.59, Y:88.04, Z:33.84 [[ 8.11753086e-01 -5.83210698e-01 -3.03679073e-02 9.17588151e+02] [ 5.82855494e-01 8.12320105e-01 -2.03843105e-02 8.80434102e+01] [ 3.65568096e-02 -1.15307465e-03 9.99330911e-01 3.38403728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.999254154 meters Centerline goodness : 0.999501 with order 1 Centerline is valid? [True, True] Translation: X:917.64, Y:88.07, Z:33.84 [[ 8.12422133e-01 -5.82278635e-01 -3.03623062e-02 9.17639345e+02] [ 5.81922470e-01 8.12988548e-01 -2.03926499e-02 8.80728943e+01] [ 3.65584116e-02 -1.10106813e-03 9.99330911e-01 3.38415707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.059254154 meters Centerline goodness : 0.999718 with order 1 Centerline is valid? [True, True] Translation: X:917.69, Y:88.11, Z:33.84 [[ 8.15337959e-01 -5.78188948e-01 -3.03570836e-02 9.17685688e+02] [ 5.77829652e-01 8.15902394e-01 -2.04004215e-02 8.81084087e+01] [ 3.65637154e-02 -9.07985008e-04 9.99330911e-01 3.38391865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.1192541539999 meters Centerline goodness : 0.999675 with order 1 Centerline is valid? [True, True] Translation: X:917.73, Y:88.14, Z:33.84 [[ 8.19972230e-01 -5.71597840e-01 -3.03554123e-02 9.17734572e+02] [ 5.71233914e-01 8.20533691e-01 -2.04029081e-02 8.81410188e+01] [ 3.65698966e-02 -6.10222869e-04 9.99330911e-01 3.38430772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.179254154 meters Centerline goodness : 0.999655 with order 1 Centerline is valid? [True, True] Translation: X:917.78, Y:88.18, Z:33.83 [[ 8.25637175e-01 -5.63384541e-01 -3.03498732e-02 9.17779589e+02] [ 5.63014726e-01 8.26194773e-01 -2.04111443e-02 8.81791012e+01] [ 3.65742298e-02 -2.35226017e-04 9.99330911e-01 3.38341921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.2392541539999 meters Centerline goodness : 0.999610 with order 1 Centerline is valid? [True, True] Translation: X:917.83, Y:88.21, Z:33.84 [[ 8.28159470e-01 -5.59670330e-01 -3.03482060e-02 9.17826886e+02] [ 5.59297923e-01 8.28715341e-01 -2.04136228e-02 8.82119135e+01] [ 3.65749229e-02 -6.79535562e-05 9.99330911e-01 3.38373770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.299254154 meters Centerline goodness : 0.999590 with order 1 Centerline is valid? [True, True] Translation: X:917.87, Y:88.24, Z:33.84 [[ 8.29067415e-01 -5.58324793e-01 -3.03421776e-02 9.17874429e+02] [ 5.57951156e-01 8.29622460e-01 -2.04225794e-02 8.82440698e+01] [ 3.65749844e-02 2.24208021e-06 9.99330911e-01 3.38383419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.3592541539999 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:917.93, Y:88.27, Z:33.85 [[ 8.29047769e-01 -5.58354115e-01 -3.03393982e-02 9.17927095e+02] [ 5.57980347e-01 8.29602726e-01 -2.04267075e-02 8.82717012e+01] [ 3.65749836e-02 5.92832736e-06 9.99330911e-01 3.38548508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.419254154 meters Centerline goodness : 0.999633 with order 1 Centerline is valid? [True, True] Translation: X:917.98, Y:88.30, Z:33.85 [[ 8.24048065e-01 -5.65707165e-01 -3.03346402e-02 9.17977536e+02] [ 5.65338088e-01 8.24606153e-01 -2.04337709e-02 8.83028847e+01] [ 3.65736616e-02 -3.10918149e-04 9.99330911e-01 3.38545365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.4792541539999 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:918.02, Y:88.34, Z:33.84 [[ 8.18863519e-01 -5.73186413e-01 -3.03293968e-02 9.18024309e+02] [ 5.72822145e-01 8.19424757e-01 -2.04415506e-02 8.83386251e+01] [ 3.65694777e-02 -6.34510084e-04 9.99330912e-01 3.38423381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.539254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:918.07, Y:88.37, Z:33.85 [[ 8.11399737e-01 -5.83704277e-01 -3.03279288e-02 9.18074345e+02] [ 5.83347200e-01 8.11965577e-01 -2.04437285e-02 8.83677603e+01] [ 3.65583259e-02 -1.10367641e-03 9.99330912e-01 3.38457928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.5992541539999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:918.12, Y:88.40, Z:33.85 [[ 8.07936062e-01 -5.88489497e-01 -3.03221392e-02 9.18123060e+02] [ 5.88135448e-01 8.08503802e-01 -2.04523120e-02 8.83984592e+01] [ 3.65515356e-02 -1.30936447e-03 9.99330912e-01 3.38482340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.659254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:918.17, Y:88.43, Z:33.86 [[ 8.07341525e-01 -5.89305163e-01 -3.03164505e-02 9.18174056e+02] [ 5.88951372e-01 8.07909426e-01 -2.04607408e-02 8.84286654e+01] [ 3.65505663e-02 -1.33610942e-03 9.99330912e-01 3.38592141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.7192541539999 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:918.22, Y:88.46, Z:33.85 [[ 8.09351822e-01 -5.86541296e-01 -3.03139808e-02 9.18219839e+02] [ 5.86185428e-01 8.09918423e-01 -2.04643991e-02 8.84645081e+01] [ 3.65550668e-02 -1.20671512e-03 9.99330912e-01 3.38529689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.779254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:918.27, Y:88.50, Z:33.86 [[ 8.13187657e-01 -5.81211673e-01 -3.03121297e-02 9.18266520e+02] [ 5.80851989e-01 8.13751844e-01 -2.04671407e-02 8.84993117e+01] [ 3.65622925e-02 -9.63234605e-04 9.99330912e-01 3.38559687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.839254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:918.31, Y:88.53, Z:33.87 [[ 8.19911876e-01 -5.71687016e-01 -3.03062781e-02 9.18314576e+02] [ 5.71320456e-01 8.20471619e-01 -2.04758017e-02 8.85333311e+01] [ 3.65711910e-02 -5.26243646e-04 9.99330912e-01 3.38675150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.899254154 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:918.36, Y:88.57, Z:33.86 [[ 8.22402719e-01 -5.68098237e-01 -3.03011862e-02 9.18359245e+02] [ 5.67728956e-01 8.22960671e-01 -2.04833342e-02 8.85722080e+01] [ 3.65732306e-02 -3.57311012e-04 9.99330912e-01 3.38619115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.959254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:918.41, Y:88.61, Z:33.87 [[ 8.24609046e-01 -5.64891043e-01 -3.02990294e-02 9.18406621e+02] [ 5.64519475e-01 8.25165477e-01 -2.04865240e-02 8.86074790e+01] [ 3.65743670e-02 -2.11019111e-04 9.99330912e-01 3.38693401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.019254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:918.45, Y:88.64, Z:33.87 [[ 8.25146598e-01 -5.64105816e-01 -3.02938864e-02 9.18453690e+02] [ 5.63733439e-01 8.25702489e-01 -2.04941262e-02 8.86425130e+01] [ 3.65745932e-02 -1.67018207e-04 9.99330912e-01 3.38669328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.079254154 meters Centerline goodness : 0.996536 with order 1 Centerline is valid? [True, True] Translation: X:918.50, Y:88.68, Z:33.87 [[ 8.26495291e-01 -5.62127994e-01 -3.02927644e-02 9.18500712e+02] [ 5.61754226e-01 8.27050247e-01 -2.04957846e-02 8.86781729e+01] [ 3.65748926e-02 -7.74190268e-05 9.99330912e-01 3.38667035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.139254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:918.55, Y:88.71, Z:33.88 [[ 8.29952656e-01 -5.57011016e-01 -3.02872399e-02 9.18547360e+02] [ 5.56633528e-01 8.30505089e-01 -2.05039451e-02 8.87133926e+01] [ 3.65746301e-02 1.58410493e-04 9.99330912e-01 3.38752652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.199254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:918.60, Y:88.75, Z:33.88 [[ 8.31667953e-01 -5.54447006e-01 -3.02809042e-02 9.18595594e+02] [ 5.54067475e-01 8.32218984e-01 -2.05132975e-02 8.87472172e+01] [ 3.65738798e-02 2.82588020e-04 9.99330912e-01 3.38825967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.259254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:918.64, Y:88.78, Z:33.88 [[ 8.34600570e-01 -5.50022990e-01 -3.02754031e-02 9.18643239e+02] [ 5.49640244e-01 8.35149372e-01 -2.05214134e-02 8.87819057e+01] [ 3.65717330e-02 4.86603432e-04 9.99330912e-01 3.38837507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.319254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:918.69, Y:88.82, Z:33.88 [[ 8.37872705e-01 -5.45025751e-01 -3.02698180e-02 9.18689029e+02] [ 5.44639435e-01 8.38419000e-01 -2.05296482e-02 8.88163862e+01] [ 3.65679775e-02 7.15095310e-04 9.99330912e-01 3.38769917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.379254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:918.74, Y:88.85, Z:33.88 [[ 8.39505550e-01 -5.42507453e-01 -3.02670791e-02 9.18737543e+02] [ 5.42119353e-01 8.40050579e-01 -2.05336855e-02 8.88496726e+01] [ 3.65655547e-02 8.29773618e-04 9.99330912e-01 3.38780586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.439254154 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:918.79, Y:88.88, Z:33.88 [[ 8.38803568e-01 -5.43592484e-01 -3.02619407e-02 9.18786852e+02] [ 5.43204816e-01 8.39348905e-01 -2.05412556e-02 8.88824376e+01] [ 3.65663989e-02 7.91646520e-04 9.99330912e-01 3.38813645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.499254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:918.84, Y:88.91, Z:33.89 [[ 8.36557990e-01 -5.47042280e-01 -3.02567852e-02 9.18836250e+02] [ 5.46656587e-01 8.37104725e-01 -2.05488467e-02 8.89148017e+01] [ 3.65691858e-02 6.50231020e-04 9.99330912e-01 3.38858959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.559254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:918.89, Y:88.95, Z:33.89 [[ 8.33182355e-01 -5.52170271e-01 -3.02515537e-02 9.18885987e+02] [ 5.51787663e-01 8.33731254e-01 -2.05565454e-02 8.89452224e+01] [ 3.65723791e-02 4.34916766e-04 9.99330912e-01 3.38908812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.6192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:918.94, Y:88.98, Z:33.89 [[ 8.30428379e-01 -5.56303573e-01 -3.02496664e-02 9.18935421e+02] [ 5.55923597e-01 8.30979102e-01 -2.05593224e-02 8.89766784e+01] [ 3.65740651e-02 2.56541392e-04 9.99330912e-01 3.38943014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.679254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:918.99, Y:89.01, Z:33.90 [[ 8.29906183e-01 -5.57082579e-01 -3.02444492e-02 9.18985282e+02] [ 5.56702840e-01 8.30457071e-01 -2.05669944e-02 8.90078884e+01] [ 3.65742310e-02 2.31505081e-04 9.99330912e-01 3.39030181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.7392541539999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:919.03, Y:89.04, Z:33.90 [[ 8.29468459e-01 -5.57734388e-01 -3.02395217e-02 9.19034463e+02] [ 5.57354818e-01 8.30019462e-01 -2.05742367e-02 8.90402470e+01] [ 3.65743509e-02 2.11537348e-04 9.99330912e-01 3.39000353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.799254154 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:919.08, Y:89.07, Z:33.90 [[ 8.27659639e-01 -5.60415393e-01 -3.02342434e-02 9.19083130e+02] [ 5.60037325e-01 8.28211674e-01 -2.05819904e-02 8.90727454e+01] [ 3.65748176e-02 1.02577924e-04 9.99330912e-01 3.38980659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.8592541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:919.13, Y:89.10, Z:33.90 [[ 8.26655427e-01 -5.61895713e-01 -3.02326262e-02 9.19132280e+02] [ 5.61518547e-01 8.27208079e-01 -2.05843656e-02 8.91048673e+01] [ 3.65749394e-02 3.99971632e-05 9.99330912e-01 3.38992132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.919254154 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:919.18, Y:89.14, Z:33.90 [[ 8.26598957e-01 -5.61979057e-01 -3.02275285e-02 9.19181331e+02] [ 5.61601672e-01 8.27151460e-01 -2.05918487e-02 8.91358261e+01] [ 3.65749320e-02 4.53701088e-05 9.99330912e-01 3.38981530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.9792541539999 meters Centerline goodness : 0.999610 with order 1 Centerline is valid? [True, True] Translation: X:919.23, Y:89.17, Z:33.91 [[ 8.25594869e-01 -5.63453410e-01 -3.02219792e-02 9.19230344e+02] [ 5.63076714e-01 8.26147841e-01 -2.05999899e-02 8.91683320e+01] [ 3.65749575e-02 -1.00467608e-05 9.99330912e-01 3.39071022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.039254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:919.28, Y:89.20, Z:33.91 [[ 8.26239605e-01 -5.62507893e-01 -3.02156566e-02 9.19278999e+02] [ 5.62130225e-01 8.26791914e-01 -2.06092598e-02 8.92000700e+01] [ 3.65749318e-02 4.30528364e-05 9.99330912e-01 3.39090500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.0992541539999 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:919.33, Y:89.23, Z:33.91 [[ 8.25780501e-01 -5.63181759e-01 -3.02137440e-02 9.19325983e+02] [ 5.62804439e-01 8.26333048e-01 -2.06120633e-02 8.92349585e+01] [ 3.65749532e-02 1.66107599e-05 9.99330912e-01 3.39094720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.159254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:919.37, Y:89.27, Z:33.91 [[ 8.27948760e-01 -5.59989580e-01 -3.02079774e-02 9.19373260e+02] [ 5.59609822e-01 8.28499633e-01 -2.06205110e-02 8.92677986e+01] [ 3.65745695e-02 1.68045709e-04 9.99330912e-01 3.39136458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.2192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:919.42, Y:89.30, Z:33.92 [[ 8.32226521e-01 -5.53612600e-01 -3.02011181e-02 9.19422025e+02] [ 5.53228256e-01 8.32774205e-01 -2.06305523e-02 8.92997835e+01] [ 3.65720459e-02 4.61180863e-04 9.99330913e-01 3.39154477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.279254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:919.47, Y:89.33, Z:33.92 [[ 8.33384291e-01 -5.51868506e-01 -3.01956057e-02 9.19469254e+02] [ 5.51482725e-01 8.33930964e-01 -2.06386173e-02 8.93322259e+01] [ 3.65708535e-02 5.47544579e-04 9.99330913e-01 3.39166799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.339254154 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:919.52, Y:89.36, Z:33.92 [[ 8.31937923e-01 -5.54046637e-01 -3.01929759e-02 9.19517522e+02] [ 5.53662147e-01 8.32485505e-01 -2.06424639e-02 8.93631874e+01] [ 3.65721025e-02 4.56540728e-04 9.99330913e-01 3.39183840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.399254154 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:919.57, Y:89.39, Z:33.92 [[ 8.30603988e-01 -5.56044561e-01 -3.01904073e-02 9.19566741e+02] [ 5.55661252e-01 8.31152397e-01 -2.06462198e-02 8.93944182e+01] [ 3.65730477e-02 3.73193006e-04 9.99330913e-01 3.39229418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.459254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:919.62, Y:89.43, Z:33.93 [[ 8.29041086e-01 -5.58372267e-01 -3.01875767e-02 9.19616625e+02] [ 5.57990347e-01 8.29590462e-01 -2.06503578e-02 8.94265141e+01] [ 3.65739128e-02 2.75618695e-04 9.99330913e-01 3.39253104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.519254154 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:919.67, Y:89.46, Z:33.93 [[ 8.28170727e-01 -5.59662643e-01 -3.01823279e-02 9.19667145e+02] [ 5.59281300e-01 8.28720504e-01 -2.06580265e-02 8.94572112e+01] [ 3.65742397e-02 2.27961239e-04 9.99330913e-01 3.39275259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.579254154 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:919.71, Y:89.49, Z:33.92 [[ 8.26677472e-01 -5.61866266e-01 -3.01770796e-02 9.19713893e+02] [ 5.61486108e-01 8.27228070e-01 -2.06656903e-02 8.94948606e+01] [ 3.65746816e-02 1.39849633e-04 9.99330913e-01 3.39189344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.639254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:919.76, Y:89.53, Z:33.92 [[ 8.29864690e-01 -5.57148293e-01 -3.01724182e-02 9.19761660e+02] [ 5.56764758e-01 8.30412941e-01 -2.06724939e-02 8.95277929e+01] [ 3.65732112e-02 3.56433607e-04 9.99330913e-01 3.39186761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.699254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:919.81, Y:89.56, Z:33.92 [[ 8.31351480e-01 -5.54927432e-01 -3.01705454e-02 9.19810989e+02] [ 5.54542333e-01 8.31898633e-01 -2.06752267e-02 8.95591432e+01] [ 3.65720860e-02 4.57535665e-04 9.99330913e-01 3.39242381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.759254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:919.86, Y:89.59, Z:33.93 [[ 8.31000432e-01 -5.55453308e-01 -3.01646262e-02 9.19860832e+02] [ 5.55068242e-01 8.31547608e-01 -2.06838591e-02 8.95885747e+01] [ 3.65722407e-02 4.44869849e-04 9.99330913e-01 3.39282818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.819254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:919.91, Y:89.62, Z:33.93 [[ 8.28860890e-01 -5.58641301e-01 -3.01582815e-02 9.19909448e+02] [ 5.58258003e-01 8.29409306e-01 -2.06931060e-02 8.96180336e+01] [ 3.65735830e-02 3.15604249e-04 9.99330913e-01 3.39312280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.879254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:919.96, Y:89.64, Z:33.94 [[ 8.29558068e-01 -5.57605644e-01 -3.01555603e-02 9.19961691e+02] [ 5.57221518e-01 8.30105904e-01 -2.06970707e-02 8.96432129e+01] [ 3.65731121e-02 3.66094888e-04 9.99330913e-01 3.39423513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.939254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:920.01, Y:89.67, Z:33.95 [[ 8.28328442e-01 -5.59430736e-01 -3.01536829e-02 9.20012121e+02] [ 5.59047717e-01 8.28877053e-01 -2.06998055e-02 8.96737472e+01] [ 3.65738033e-02 2.88890042e-04 9.99330913e-01 3.39474904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.999254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:920.06, Y:89.71, Z:33.95 [[ 8.27502733e-01 -5.60651672e-01 -3.01484602e-02 9.20061045e+02] [ 5.60269186e-01 8.28051715e-01 -2.07074094e-02 8.97065523e+01] [ 3.65741279e-02 2.44184602e-04 9.99330913e-01 3.39481980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.059254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:920.11, Y:89.74, Z:33.95 [[ 8.28037901e-01 -5.59861251e-01 -3.01432320e-02 9.20110260e+02] [ 5.59477964e-01 8.28586324e-01 -2.07150172e-02 8.97393514e+01] [ 3.65738052e-02 2.88345272e-04 9.99330913e-01 3.39483488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.1192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:920.16, Y:89.78, Z:33.95 [[ 8.25945680e-01 -5.62943542e-01 -3.01380612e-02 9.20156903e+02] [ 5.62562027e-01 8.26495337e-01 -2.07225374e-02 8.97757756e+01] [ 3.65745857e-02 1.61161457e-04 9.99330913e-01 3.39450589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.179254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:920.21, Y:89.80, Z:33.95 [[ 8.26990907e-01 -5.61407214e-01 -3.01327188e-02 9.20209109e+02] [ 5.61024394e-01 8.27539657e-01 -2.07303028e-02 8.98039173e+01] [ 3.65741614e-02 2.38581611e-04 9.99330913e-01 3.39526467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.2392541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:920.26, Y:89.84, Z:33.95 [[ 8.24154765e-01 -5.65562781e-01 -3.01274595e-02 9.20255424e+02] [ 5.65182449e-01 8.24705242e-01 -2.07379435e-02 8.98416920e+01] [ 3.65748828e-02 6.37635901e-05 9.99330913e-01 3.39501093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.299254154 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:920.31, Y:89.87, Z:33.96 [[ 8.23661841e-01 -5.66280663e-01 -3.01227666e-02 9.20306446e+02] [ 5.65900562e-01 8.24212478e-01 -2.07447579e-02 8.98701980e+01] [ 3.65749153e-02 4.01749130e-05 9.99330913e-01 3.39602230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.3592541539999 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:920.36, Y:89.90, Z:33.96 [[ 8.21360946e-01 -5.69613142e-01 -3.01175325e-02 9.20355940e+02] [ 5.69234996e-01 8.21912927e-01 -2.07523540e-02 8.99025736e+01] [ 3.65748029e-02 -9.87804487e-05 9.99330913e-01 3.39645772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.419254154 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:920.40, Y:89.94, Z:33.97 [[ 8.20548130e-01 -5.70783688e-01 -3.01122567e-02 9.20402746e+02] [ 5.70406049e-01 8.21100458e-01 -2.07600066e-02 8.99354229e+01] [ 3.65746609e-02 -1.41628773e-04 9.99330913e-01 3.39657148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.4792541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:920.45, Y:89.97, Z:33.96 [[ 8.19179740e-01 -5.72745978e-01 -3.01097635e-02 9.20448071e+02] [ 5.72369529e-01 8.19732880e-01 -2.07636220e-02 8.99736650e+01] [ 3.65742441e-02 -2.24772629e-04 9.99330913e-01 3.39610061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.539254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:920.49, Y:90.01, Z:33.96 [[ 8.21286668e-01 -5.69720942e-01 -3.01041028e-02 9.20494648e+02] [ 5.69342155e-01 8.21838209e-01 -2.07718259e-02 9.00087615e+01] [ 3.65748461e-02 -7.99110353e-05 9.99330913e-01 3.39586895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.5992541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:920.54, Y:90.04, Z:33.96 [[ 8.21934911e-01 -5.68785430e-01 -3.01021166e-02 9.20541535e+02] [ 5.68405910e-01 8.22485947e-01 -2.07747038e-02 9.00437297e+01] [ 3.65749168e-02 -3.47666303e-05 9.99330913e-01 3.39600310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.659254154 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:920.59, Y:90.07, Z:33.96 [[ 8.22044430e-01 -5.68627459e-01 -3.00959886e-02 9.20590073e+02] [ 5.68247508e-01 8.22595169e-01 -2.07835776e-02 9.00749751e+01] [ 3.65749278e-02 -1.69463599e-05 9.99330913e-01 3.39629002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.7192541539999 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:920.64, Y:90.11, Z:33.97 [[ 8.21366676e-01 -5.69606363e-01 -3.00894524e-02 9.20639259e+02] [ 5.69226722e-01 8.21917629e-01 -2.07930361e-02 9.01057405e+01] [ 3.65748970e-02 -4.90133559e-05 9.99330913e-01 3.39749841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.779254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:920.69, Y:90.14, Z:33.98 [[ 8.17753199e-01 -5.74782305e-01 -3.00833546e-02 9.20686517e+02] [ 5.74405826e-01 8.18306318e-01 -2.08018547e-02 9.01416832e+01] [ 3.65739371e-02 -2.69270886e-04 9.99330913e-01 3.39761772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.839254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:920.73, Y:90.18, Z:33.98 [[ 8.17043891e-01 -5.75790418e-01 -3.00778165e-02 9.20733761e+02] [ 5.75414328e-01 8.17597273e-01 -2.08098592e-02 9.01750313e+01] [ 3.65736583e-02 -3.04638296e-04 9.99330914e-01 3.39785629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.899254154 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:920.78, Y:90.21, Z:33.98 [[ 8.17878734e-01 -5.74604283e-01 -3.00714980e-02 9.20782474e+02] [ 5.74227054e-01 8.18431341e-01 -2.08189859e-02 9.02087075e+01] [ 3.65741349e-02 -2.40461830e-04 9.99330914e-01 3.39790055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.959254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:920.83, Y:90.24, Z:33.98 [[ 8.19158300e-01 -5.72778941e-01 -3.00659910e-02 9.20829436e+02] [ 5.72400189e-01 8.19709865e-01 -2.08269359e-02 9.02429920e+01] [ 3.65746197e-02 -1.49221522e-04 9.99330914e-01 3.39848298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.019254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:920.88, Y:90.28, Z:33.99 [[ 8.18671333e-01 -5.73474857e-01 -3.00638750e-02 9.20876856e+02] [ 5.73096462e-01 8.19223142e-01 -2.08299898e-02 9.02772692e+01] [ 3.65744976e-02 -1.76584852e-04 9.99330914e-01 3.39862359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.079254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:920.92, Y:90.31, Z:33.99 [[ 8.18876863e-01 -5.73181654e-01 -3.00578555e-02 9.20924008e+02] [ 5.72802743e-01 8.19428318e-01 -2.08386723e-02 9.03129502e+01] [ 3.65746027e-02 -1.52915462e-04 9.99330914e-01 3.39891160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.139254154 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:920.97, Y:90.35, Z:33.99 [[ 8.18625796e-01 -5.73540445e-01 -3.00526715e-02 9.20970692e+02] [ 5.73161501e-01 8.19177229e-01 -2.08461458e-02 9.03476857e+01] [ 3.65745719e-02 -1.59841617e-04 9.99330914e-01 3.39897800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.199254154 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:921.02, Y:90.38, Z:33.99 [[ 8.18307361e-01 -5.73994995e-01 -3.00467731e-02 9.21017249e+02] [ 5.73616045e-01 8.18858789e-01 -2.08546441e-02 9.03828965e+01] [ 3.65745256e-02 -1.69802325e-04 9.99330914e-01 3.39893798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.259254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:921.06, Y:90.42, Z:34.00 [[ 8.19168098e-01 -5.72766236e-01 -3.00410881e-02 9.21063692e+02] [ 5.72386158e-01 8.19718749e-01 -2.08628302e-02 9.04181903e+01] [ 3.65747679e-02 -1.04938122e-04 9.99330914e-01 3.39975789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.319254154 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:921.11, Y:90.46, Z:34.00 [[ 8.19515191e-01 -5.72269794e-01 -3.00355699e-02 9.21109528e+02] [ 5.71889092e-01 8.20065411e-01 -2.08707714e-02 9.04560991e+01] [ 3.65748441e-02 -7.31005763e-05 9.99330914e-01 3.39968037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.379254154 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:921.16, Y:90.49, Z:34.00 [[ 8.19900475e-01 -5.71717918e-01 -3.00305211e-02 9.21155216e+02] [ 5.71336580e-01 8.20450255e-01 -2.08780336e-02 9.04924017e+01] [ 3.65748946e-02 -3.96255006e-05 9.99330914e-01 3.40009888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.439254154 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:921.20, Y:90.53, Z:34.00 [[ 8.19549740e-01 -5.72220683e-01 -3.00285526e-02 9.21200366e+02] [ 5.71839578e-01 8.20099681e-01 -2.08808645e-02 9.05288835e+01] [ 3.65748689e-02 -5.86078326e-05 9.99330914e-01 3.40029276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.499254154 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:921.24, Y:90.57, Z:34.01 [[ 8.18736301e-01 -5.73384264e-01 -3.00225895e-02 9.21244784e+02] [ 5.73003626e-01 8.19286565e-01 -2.08894348e-02 9.05661417e+01] [ 3.65747774e-02 -1.00114067e-04 9.99330914e-01 3.40060749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.559254154 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:921.29, Y:90.60, Z:34.01 [[ 8.18244718e-01 -5.74085652e-01 -3.00207588e-02 9.21289922e+02] [ 5.73705389e-01 8.18795242e-01 -2.08920653e-02 9.06020857e+01] [ 3.65746894e-02 -1.28249007e-04 9.99330914e-01 3.40094878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.6192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:921.33, Y:90.64, Z:34.01 [[ 8.19362902e-01 -5.72488911e-01 -3.00147017e-02 9.21333796e+02] [ 5.72107257e-01 8.19912462e-01 -2.09007638e-02 9.06383984e+01] [ 3.65748834e-02 -4.63181878e-05 9.99330914e-01 3.40136614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.679254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:921.38, Y:90.68, Z:34.02 [[ 8.21245581e-01 -5.69785021e-01 -3.00120977e-02 9.21377539e+02] [ 5.69401421e-01 8.21793784e-01 -2.09045022e-02 9.06777495e+01] [ 3.65748276e-02 7.87989767e-05 9.99330914e-01 3.40157702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.7392541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:921.42, Y:90.72, Z:34.02 [[ 8.24369022e-01 -5.65256896e-01 -3.00059621e-02 9.21420347e+02] [ 5.64869964e-01 8.24914879e-01 -2.09133054e-02 9.07173049e+01] [ 3.65737547e-02 2.90814371e-04 9.99330914e-01 3.40152784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.799254154 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:921.47, Y:90.75, Z:34.02 [[ 8.26126660e-01 -5.62685078e-01 -3.00040808e-02 9.21465681e+02] [ 5.62296349e-01 8.26671238e-01 -2.09160042e-02 9.07542256e+01] [ 3.65726341e-02 4.08083652e-04 9.99330914e-01 3.40162224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.8592541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:921.51, Y:90.79, Z:34.02 [[ 8.28010677e-01 -5.59909308e-01 -2.99981076e-02 9.21511247e+02] [ 5.59518443e-01 8.28553725e-01 -2.09245676e-02 9.07909102e+01] [ 3.65709039e-02 5.41270928e-04 9.99330914e-01 3.40217091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.919254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:921.56, Y:90.83, Z:34.02 [[ 8.28365938e-01 -5.59383907e-01 -2.99919559e-02 9.21557335e+02] [ 5.58992379e-01 8.28908508e-01 -2.09333813e-02 9.08266747e+01] [ 3.65703840e-02 5.75225274e-04 9.99330914e-01 3.40249423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.9792541539999 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:921.60, Y:90.86, Z:34.02 [[ 8.28184032e-01 -5.59653291e-01 -2.99900375e-02 9.21603351e+02] [ 5.59261840e-01 8.28726657e-01 -2.09361294e-02 9.08618915e+01] [ 3.65705172e-02 5.66684500e-04 9.99330914e-01 3.40240097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.039254154 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:921.65, Y:90.90, Z:34.03 [[ 8.28626334e-01 -5.58998309e-01 -2.99881497e-02 9.21650924e+02] [ 5.58606331e-01 8.29168579e-01 -2.09388330e-02 9.08958540e+01] [ 3.65700037e-02 5.98898213e-04 9.99330914e-01 3.40261466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.0992541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:921.70, Y:90.93, Z:34.03 [[ 8.30300292e-01 -5.56509205e-01 -2.99821700e-02 9.21698080e+02] [ 5.56115293e-01 8.30841133e-01 -2.09473918e-02 9.09298287e+01] [ 3.65678364e-02 7.19082335e-04 9.99330914e-01 3.40302061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.159254154 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:921.75, Y:90.96, Z:34.03 [[ 8.31472118e-01 -5.54756971e-01 -2.99803357e-02 9.21745927e+02] [ 5.54361824e-01 8.32012058e-01 -2.09500167e-02 9.09636841e+01] [ 3.65661686e-02 7.99401128e-04 9.99330914e-01 3.40299972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.2192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:921.79, Y:91.00, Z:34.03 [[ 8.32596669e-01 -5.53068064e-01 -2.99750608e-02 9.21794009e+02] [ 5.52671551e-01 8.33135606e-01 -2.09575612e-02 9.09964951e+01] [ 3.65642483e-02 8.82832318e-04 9.99330914e-01 3.40337010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.279254154 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:921.84, Y:91.03, Z:34.03 [[ 8.33872104e-01 -5.51143510e-01 -2.99690676e-02 9.21841866e+02] [ 5.50745446e-01 8.34409896e-01 -2.09661280e-02 9.10303114e+01] [ 3.65618320e-02 9.77741728e-04 9.99330914e-01 3.40330361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.339254154 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:921.89, Y:91.06, Z:34.04 [[ 8.34238376e-01 -5.50589231e-01 -2.99638389e-02 9.21890885e+02] [ 5.50190541e-01 8.34775704e-01 -2.09735979e-02 9.10619380e+01] [ 3.65609219e-02 1.01115952e-03 9.99330914e-01 3.40359821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.399254154 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:921.94, Y:91.09, Z:34.04 [[ 8.32307020e-01 -5.53504790e-01 -2.99578329e-02 9.21941270e+02] [ 5.53107675e-01 8.32845513e-01 -2.09821731e-02 9.10930014e+01] [ 3.65639801e-02 8.93702689e-04 9.99330914e-01 3.40369568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.459254154 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:921.99, Y:91.13, Z:34.04 [[ 8.28692795e-01 -5.58901683e-01 -2.99526391e-02 9.21990255e+02] [ 5.58507807e-01 8.29233662e-01 -2.09895849e-02 9.11250719e+01] [ 3.65688509e-02 6.65135025e-04 9.99330915e-01 3.40354997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.519254154 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:922.04, Y:91.16, Z:34.04 [[ 8.26549883e-01 -5.62066270e-01 -2.99466216e-02 9.22037147e+02] [ 5.61674154e-01 8.27092027e-01 -2.09981668e-02 9.11592186e+01] [ 3.65709732e-02 5.35788962e-04 9.99330915e-01 3.40356680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.579254154 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:922.09, Y:91.18, Z:34.04 [[ 8.27773970e-01 -5.60262319e-01 -2.99397332e-02 9.22089497e+02] [ 5.59868668e-01 8.28315000e-01 -2.10079839e-02 9.11846283e+01] [ 3.65695119e-02 6.27543690e-04 9.99330915e-01 3.40438047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.639254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:922.14, Y:91.22, Z:34.04 [[ 8.25329300e-01 -5.63857700e-01 -2.99339341e-02 9.22137858e+02] [ 5.63466106e-01 8.25871821e-01 -2.10162437e-02 9.12175224e+01] [ 3.65717635e-02 4.78564429e-04 9.99330915e-01 3.40404793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.699254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:922.19, Y:91.24, Z:34.05 [[ 8.25582686e-01 -5.63486745e-01 -2.99318798e-02 9.22189750e+02] [ 5.63094800e-01 8.26124954e-01 -2.10191690e-02 9.12432077e+01] [ 3.65714959e-02 4.98576159e-04 9.99330915e-01 3.40499597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.759254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:922.24, Y:91.27, Z:34.06 [[ 8.24039069e-01 -5.65741877e-01 -2.99289390e-02 9.22241089e+02] [ 5.65351265e-01 8.24582298e-01 -2.10233555e-02 9.12728933e+01] [ 3.65726659e-02 4.03702754e-04 9.99330915e-01 3.40556021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.819254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:922.29, Y:91.30, Z:34.06 [[ 8.23047233e-01 -5.67184134e-01 -2.99234011e-02 9.22290698e+02] [ 5.66794188e-01 8.23590940e-01 -2.10312349e-02 9.13040400e+01] [ 3.65732248e-02 3.49289910e-04 9.99330915e-01 3.40588401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.879254154 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:922.34, Y:91.33, Z:34.06 [[ 8.22233601e-01 -5.68363326e-01 -2.99171357e-02 9.22339704e+02] [ 5.67973835e-01 8.22777634e-01 -2.10401437e-02 9.13339544e+01] [ 3.65735962e-02 3.07762748e-04 9.99330915e-01 3.40605091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.939254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:922.39, Y:91.36, Z:34.06 [[ 8.22452946e-01 -5.68046017e-01 -2.99144499e-02 9.22388465e+02] [ 5.67656178e-01 8.22996729e-01 -2.10439617e-02 9.13647106e+01] [ 3.65734330e-02 3.26546015e-04 9.99330915e-01 3.40639092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.999254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:922.44, Y:91.40, Z:34.07 [[ 8.26454292e-01 -5.62208858e-01 -2.99082370e-02 9.22436647e+02] [ 5.61814859e-01 8.26995069e-01 -2.10527879e-02 9.13963847e+01] [ 3.65700284e-02 5.96275004e-04 9.99330915e-01 3.40658084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.059254154 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:922.49, Y:91.43, Z:34.06 [[ 8.24875442e-01 -5.64523111e-01 -2.99025496e-02 9.22485359e+02] [ 5.64130337e-01 8.25417109e-01 -2.10608629e-02 9.14301050e+01] [ 3.65714199e-02 5.03653221e-04 9.99330915e-01 3.40643088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.1192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:922.53, Y:91.46, Z:34.07 [[ 8.27905692e-01 -5.60069951e-01 -2.98967345e-02 9.22534483e+02] [ 5.59673965e-01 8.28445016e-01 -2.10691145e-02 9.14626778e+01] [ 3.65679786e-02 7.10815910e-04 9.99330915e-01 3.40687966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.179254154 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:922.58, Y:91.50, Z:34.07 [[ 8.30174485e-01 -5.56701741e-01 -2.98913880e-02 9.22583348e+02] [ 5.56303295e-01 8.30711994e-01 -2.10766970e-02 9.14954761e+01] [ 3.65645684e-02 8.68658458e-04 9.99330915e-01 3.40691807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.2392541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:922.63, Y:91.53, Z:34.07 [[ 8.31706043e-01 -5.54411292e-01 -2.98860739e-02 9.22633836e+02] [ 5.54011096e-01 8.32242249e-01 -2.10842295e-02 9.15251277e+01] [ 3.65617883e-02 9.78664546e-04 9.99330915e-01 3.40736334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.299254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:922.68, Y:91.56, Z:34.08 [[ 8.31938674e-01 -5.54062437e-01 -2.98807433e-02 9.22682973e+02] [ 5.53661744e-01 8.32474510e-01 -2.10917814e-02 9.15565763e+01] [ 3.65611209e-02 1.00324425e-03 9.99330915e-01 3.40757590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.3592541539999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:922.73, Y:91.59, Z:34.08 [[ 8.32591564e-01 -5.53081180e-01 -2.98746839e-02 9.22732069e+02] [ 5.52679548e-01 8.33126696e-01 -2.11003606e-02 9.15884524e+01] [ 3.65596090e-02 1.05685542e-03 9.99330915e-01 3.40772542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.419254154 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:922.78, Y:91.62, Z:34.08 [[ 8.33421836e-01 -5.51829603e-01 -2.98685932e-02 9.22780498e+02] [ 5.51426859e-01 8.33956132e-01 -2.11089787e-02 9.16201197e+01] [ 3.65576558e-02 1.12233927e-03 9.99330915e-01 3.40775267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.4792541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:922.83, Y:91.65, Z:34.09 [[ 8.35774738e-01 -5.48259579e-01 -2.98667299e-02 9.22831506e+02] [ 5.47854460e-01 8.36307234e-01 -2.11116148e-02 9.16491533e+01] [ 3.65524073e-02 1.28193312e-03 9.99330915e-01 3.40893164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.539254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:922.88, Y:91.68, Z:34.09 [[ 8.35266957e-01 -5.49032953e-01 -2.98651513e-02 9.22880132e+02] [ 5.48628247e-01 8.35799768e-01 -2.11138476e-02 9.16817727e+01] [ 3.65534846e-02 1.25083359e-03 9.99330915e-01 3.40867878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.5992541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:922.93, Y:91.71, Z:34.09 [[ 8.34103770e-01 -5.50798830e-01 -2.98588394e-02 9.22929767e+02] [ 5.50394933e-01 8.34637194e-01 -2.11227700e-02 9.17125525e+01] [ 3.65556950e-02 1.18442816e-03 9.99330915e-01 3.40906916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.659254154 meters Centerline goodness : 0.997019 with order 1 Centerline is valid? [True, True] Translation: X:922.98, Y:91.74, Z:34.08 [[ 8.29278206e-01 -5.58037886e-01 -2.98558913e-02 9.22979465e+02] [ 5.57638498e-01 8.29815015e-01 -2.11269362e-02 9.17423939e+01] [ 3.65644977e-02 8.71313337e-04 9.99330915e-01 3.40804948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.7192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:923.03, Y:91.77, Z:34.09 [[ 8.26733000e-01 -5.61801842e-01 -2.98535811e-02 9.23030255e+02] [ 5.61404781e-01 8.27271532e-01 -2.11302001e-02 9.17711209e+01] [ 3.65680031e-02 7.09090534e-04 9.99330915e-01 3.40906618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.779254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:923.08, Y:91.80, Z:34.09 [[ 8.25272383e-01 -5.63945382e-01 -2.98512874e-02 9.23079056e+02] [ 5.63549602e-01 8.25811858e-01 -2.11334400e-02 9.18019367e+01] [ 3.65696530e-02 6.18163316e-04 9.99330915e-01 3.40927696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.839254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:923.13, Y:91.83, Z:34.10 [[ 8.24080588e-01 -5.65685819e-01 -2.98452574e-02 9.23128714e+02] [ 5.65290870e-01 8.24620671e-01 -2.11419524e-02 9.18317849e+01] [ 3.65707188e-02 5.51421086e-04 9.99330915e-01 3.40972429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.899254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:923.18, Y:91.86, Z:34.10 [[ 8.24295329e-01 -5.65373192e-01 -2.98389623e-02 9.23179100e+02] [ 5.64977717e-01 8.24835027e-01 -2.11508332e-02 9.18631690e+01] [ 3.65703354e-02 5.76184232e-04 9.99330915e-01 3.40994558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.959254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:923.23, Y:91.90, Z:34.10 [[ 8.24018137e-01 -5.65777403e-01 -2.98335439e-02 9.23227648e+02] [ 5.65381916e-01 8.24557826e-01 -2.11584733e-02 9.18968495e+01] [ 3.65704681e-02 5.67619568e-04 9.99330915e-01 3.41006874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.019254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:923.28, Y:91.93, Z:34.10 [[ 8.24999758e-01 -5.64345372e-01 -2.98278434e-02 9.23276519e+02] [ 5.63948658e-01 8.25538545e-01 -2.11665064e-02 9.19272946e+01] [ 3.65692544e-02 6.40990413e-04 9.99330916e-01 3.41032508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.079254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:923.33, Y:91.96, Z:34.11 [[ 8.23465806e-01 -5.66581452e-01 -2.98249127e-02 9.23325103e+02] [ 5.66186051e-01 8.24005558e-01 -2.11706351e-02 9.19583566e+01] [ 3.65707830e-02 5.46844559e-04 9.99330916e-01 3.41053256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.139254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:923.37, Y:91.99, Z:34.11 [[ 8.20455583e-01 -5.70931892e-01 -2.98230019e-02 9.23374590e+02] [ 5.70539256e-01 8.20997350e-01 -2.11733265e-02 9.19900846e+01] [ 3.65731329e-02 3.56580585e-04 9.99330916e-01 3.41114459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.199254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:923.42, Y:92.02, Z:34.11 [[ 8.18021707e-01 -5.74413947e-01 -2.98178532e-02 9.23422641e+02] [ 5.74023353e-01 8.18564948e-01 -2.11805748e-02 9.20238673e+01] [ 3.65742670e-02 2.10025926e-04 9.99330916e-01 3.41149146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.259254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:923.47, Y:92.06, Z:34.12 [[ 8.16968559e-01 -5.75911093e-01 -2.98125056e-02 9.23469566e+02] [ 5.75521220e-01 8.17512318e-01 -2.11880992e-02 9.20574087e+01] [ 3.65745519e-02 1.52281242e-04 9.99330916e-01 3.41163916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.319254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:923.52, Y:92.09, Z:34.12 [[ 8.16263156e-01 -5.76910771e-01 -2.98064049e-02 9.23517323e+02] [ 5.76521251e-01 8.16807167e-01 -2.11966779e-02 9.20919168e+01] [ 3.65746769e-02 1.18041386e-04 9.99330916e-01 3.41174509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.379254154 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:923.56, Y:92.13, Z:34.12 [[ 8.16269464e-01 -5.76902118e-01 -2.98011485e-02 9.23563598e+02] [ 5.76512322e-01 8.16813278e-01 -2.12040655e-02 9.21278901e+01] [ 3.65746440e-02 1.27501842e-04 9.99330916e-01 3.41199272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.439254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:923.61, Y:92.16, Z:34.12 [[ 8.16880015e-01 -5.76037538e-01 -2.97959162e-02 9.23611283e+02] [ 5.75646898e-01 8.17423222e-01 -2.12114153e-02 9.21623159e+01] [ 3.65744453e-02 1.75254464e-04 9.99330916e-01 3.41228543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.499254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:923.66, Y:92.20, Z:34.12 [[ 8.18724540e-01 -5.73413151e-01 -2.97906974e-02 9.23656482e+02] [ 5.73020503e-01 8.19266298e-01 -2.12187424e-02 9.21993685e+01] [ 3.65736203e-02 3.01624769e-04 9.99330916e-01 3.41248029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.559254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:923.70, Y:92.23, Z:34.13 [[ 8.21228475e-01 -5.69821611e-01 -2.97846295e-02 9.23703049e+02] [ 5.69426285e-01 8.21768282e-01 -2.12272565e-02 9.22348914e+01] [ 3.65718133e-02 4.72276502e-04 9.99330916e-01 3.41252481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.6192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:923.75, Y:92.27, Z:34.13 [[ 8.22500457e-01 -5.67984362e-01 -2.97785690e-02 9.23749519e+02] [ 5.67587523e-01 8.23039152e-01 -2.12357550e-02 9.22702127e+01] [ 3.65705049e-02 5.64473985e-04 9.99330916e-01 3.41266529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.679254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:923.79, Y:92.31, Z:34.12 [[ 8.21343066e-01 -5.69657057e-01 -2.97725648e-02 9.23792006e+02] [ 5.69261011e-01 8.21882344e-01 -2.12441695e-02 9.23127702e+01] [ 3.65714365e-02 5.00390999e-04 9.99330916e-01 3.41234915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.7392541539999 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:923.84, Y:92.35, Z:34.13 [[ 8.21747820e-01 -5.69073093e-01 -2.97713712e-02 9.23839133e+02] [ 5.68676603e-01 8.22286772e-01 -2.12458421e-02 9.23471658e+01] [ 3.65710418e-02 5.28442227e-04 9.99330916e-01 3.41268338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.799254154 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:923.89, Y:92.38, Z:34.14 [[ 8.24570451e-01 -5.64975765e-01 -2.97650058e-02 9.23889118e+02] [ 5.64576276e-01 8.25107183e-01 -2.12547562e-02 9.23766716e+01] [ 3.65677422e-02 7.21427814e-04 9.99330916e-01 3.41385610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.8592541539999 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:923.94, Y:92.41, Z:34.14 [[ 8.23566623e-01 -5.66438150e-01 -2.97630535e-02 9.23936119e+02] [ 5.66039515e-01 8.24103990e-01 -2.12574897e-02 9.24126766e+01] [ 3.65689043e-02 6.59894653e-04 9.99330916e-01 3.41398842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.919254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:923.98, Y:92.45, Z:34.14 [[ 8.19452122e-01 -5.72374616e-01 -2.97576654e-02 9.23980394e+02] [ 5.71979601e-01 8.19992155e-01 -2.12650296e-02 9.24520635e+01] [ 3.65726153e-02 4.04895989e-04 9.99330916e-01 3.41351060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.9792541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:924.03, Y:92.48, Z:34.14 [[ 8.19845876e-01 -5.71810776e-01 -2.97519123e-02 9.24031755e+02] [ 5.71415097e-01 8.20385423e-01 -2.12730757e-02 9.24799099e+01] [ 3.65722091e-02 4.39951525e-04 9.99330916e-01 3.41422427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.039254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:924.08, Y:92.52, Z:34.14 [[ 8.14937840e-01 -5.78784295e-01 -2.97499037e-02 9.24076633e+02] [ 5.78393131e-01 8.15480670e-01 -2.12758843e-02 9.25177549e+01] [ 3.65746191e-02 1.31383256e-04 9.99330916e-01 3.41385821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.0992541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:924.12, Y:92.55, Z:34.14 [[ 8.12570459e-01 -5.82103351e-01 -2.97479141e-02 9.24123983e+02] [ 5.81714303e-01 8.13114806e-01 -2.12786659e-02 9.25518605e+01] [ 3.65748521e-02 -1.43717946e-05 9.99330916e-01 3.41423409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.159254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:924.17, Y:92.59, Z:34.14 [[ 8.09519608e-01 -5.86338982e-01 -2.97422724e-02 9.24171168e+02] [ 5.85952492e-01 8.10065775e-01 -2.12865486e-02 9.25857467e+01] [ 3.65743302e-02 -1.95680152e-04 9.99330916e-01 3.41443568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.2192541539999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:924.22, Y:92.62, Z:34.15 [[ 8.06730855e-01 -5.90170409e-01 -2.97357715e-02 9.24218102e+02] [ 5.89786178e-01 8.07278614e-01 -2.12956260e-02 9.26201758e+01] [ 3.65731007e-02 -3.57908393e-04 9.99330916e-01 3.41460680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.279254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:924.27, Y:92.65, Z:34.15 [[ 8.03471203e-01 -5.94600871e-01 -2.97292643e-02 9.24265767e+02] [ 5.94219325e-01 8.04020835e-01 -2.13047064e-02 9.26535993e+01] [ 3.65707449e-02 -5.47985316e-04 9.99330916e-01 3.41512809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.339254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:924.31, Y:92.69, Z:34.16 [[ 8.01918357e-01 -5.96693812e-01 -2.97227673e-02 9.24311859e+02] [ 5.96313364e-01 8.02468750e-01 -2.13137666e-02 9.26879329e+01] [ 3.65693846e-02 -6.32182642e-04 9.99330916e-01 3.41565208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.399254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:924.35, Y:92.73, Z:34.16 [[ 8.01257591e-01 -5.97581140e-01 -2.97162199e-02 9.24354482e+02] [ 5.97200964e-01 8.01808171e-01 -2.13228913e-02 9.27259528e+01] [ 3.65688656e-02 -6.61426697e-04 9.99330916e-01 3.41565751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.459254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:924.40, Y:92.76, Z:34.16 [[ 8.01119220e-01 -5.97766767e-01 -2.97134107e-02 9.24399914e+02] [ 5.97386573e-01 8.01669788e-01 -2.13268052e-02 9.27617677e+01] [ 3.65687991e-02 -6.65079052e-04 9.99330916e-01 3.41603032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.519254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:924.44, Y:92.80, Z:34.17 [[ 8.00559873e-01 -5.98515993e-01 -2.97068444e-02 9.24444821e+02] [ 5.98135975e-01 8.01110562e-01 -2.13359477e-02 9.27978974e+01] [ 3.65683728e-02 -6.88028760e-04 9.99330917e-01 3.41651479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.579254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:924.49, Y:92.84, Z:34.17 [[ 8.00105510e-01 -5.99123577e-01 -2.97003798e-02 9.24490113e+02] [ 5.98743643e-01 8.00656258e-01 -2.13449429e-02 9.28354354e+01] [ 3.65680535e-02 -7.04707109e-04 9.99330917e-01 3.41666412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.639254154 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:924.54, Y:92.87, Z:34.17 [[ 8.00374183e-01 -5.98764888e-01 -2.96947123e-02 9.24535643e+02] [ 5.98384415e-01 8.00924559e-01 -2.13528245e-02 9.28711924e+01] [ 3.65685459e-02 -6.78603653e-04 9.99330917e-01 3.41683060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.699254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:924.58, Y:92.91, Z:34.17 [[ 7.98987237e-01 -6.00614517e-01 -2.96917151e-02 9.24579459e+02] [ 6.00235164e-01 7.99538384e-01 -2.13569913e-02 9.29100741e+01] [ 3.65669850e-02 -7.58048013e-04 9.99330917e-01 3.41692878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.759254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:924.62, Y:92.95, Z:34.17 [[ 7.96852040e-01 -6.03444669e-01 -2.96876755e-02 9.24623641e+02] [ 6.03067064e-01 7.97404387e-01 -2.13626052e-02 9.29476376e+01] [ 3.65642329e-02 -8.80823817e-04 9.99330917e-01 3.41725505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.819254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:924.67, Y:92.99, Z:34.17 [[ 7.93420855e-01 -6.07949325e-01 -2.96810576e-02 9.24666376e+02] [ 6.07574512e-01 7.93975100e-01 -2.13717962e-02 9.29897104e+01] [ 3.65589897e-02 -1.07662521e-03 9.99330917e-01 3.41749271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.879254154 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:924.71, Y:93.03, Z:34.17 [[ 7.90025627e-01 -6.12355185e-01 -2.96755010e-02 9.24708010e+02] [ 6.11983173e-01 7.90581756e-01 -2.13795089e-02 9.30307487e+01] [ 3.65527628e-02 -1.27054737e-03 9.99330917e-01 3.41711691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.939254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:924.75, Y:93.07, Z:34.18 [[ 7.90270484e-01 -6.12039460e-01 -2.96691948e-02 9.24752081e+02] [ 6.11666898e-01 7.90826244e-01 -2.13882568e-02 9.30683923e+01] [ 3.65536350e-02 -1.24515629e-03 9.99330917e-01 3.41792333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.999254154 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:924.79, Y:93.11, Z:34.17 [[ 7.89574254e-01 -6.12937685e-01 -2.96629664e-02 9.24791451e+02] [ 6.12565430e-01 7.90130221e-01 -2.13968913e-02 9.31139022e+01] [ 3.65525672e-02 -1.27607332e-03 9.99330917e-01 3.41710963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.059254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:924.83, Y:93.15, Z:34.18 [[ 7.92222539e-01 -6.09511222e-01 -2.96566776e-02 9.24834358e+02] [ 6.09136237e-01 7.92776668e-01 -2.14056042e-02 9.31510273e+01] [ 3.65580780e-02 -1.10695488e-03 9.99330917e-01 3.41751348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.1192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:924.88, Y:93.19, Z:34.18 [[ 7.96369890e-01 -6.04082554e-01 -2.96524367e-02 9.24877009e+02] [ 6.03703572e-01 7.96921292e-01 -2.14114773e-02 9.31897919e+01] [ 3.65649581e-02 -8.49826125e-04 9.99330917e-01 3.41801119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.179254154 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:924.92, Y:93.23, Z:34.19 [[ 8.02287063e-01 -5.96201619e-01 -2.96495912e-02 9.24922083e+02] [ 5.95817074e-01 8.02834600e-01 -2.14154170e-02 9.32275284e+01] [ 3.65716239e-02 -4.84420686e-04 9.99330917e-01 3.41855073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.2392541539999 meters Centerline goodness : 0.999812 with order 1 Centerline is valid? [True, True] Translation: X:924.96, Y:93.27, Z:34.19 [[ 8.04417911e-01 -5.93323742e-01 -2.96439075e-02 9.24959784e+02] [ 5.92936948e-01 8.04963862e-01 -2.14232816e-02 9.32735060e+01] [ 3.65732159e-02 -3.43696564e-04 9.99330917e-01 3.41855337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.299254154 meters Centerline goodness : 0.999294 with order 1 Centerline is valid? [True, True] Translation: X:925.00, Y:93.31, Z:34.19 [[ 8.11258188e-01 -5.83936253e-01 -2.96412848e-02 9.25002820e+02] [ 5.83543008e-01 8.11799511e-01 -2.14269098e-02 9.33133564e+01] [ 3.65747299e-02 8.57915206e-05 9.99330917e-01 3.41899492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.3592541539999 meters Centerline goodness : 0.998021 with order 1 Centerline is valid? [True, True] Translation: X:925.05, Y:93.35, Z:34.19 [[ 8.13681271e-01 -5.80555374e-01 -2.96352236e-02 9.25047800e+02] [ 5.80159575e-01 8.14220729e-01 -2.14352896e-02 9.33490146e+01] [ 3.65739860e-02 2.48335008e-04 9.99330917e-01 3.41916379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.419254154 meters Centerline goodness : 0.996128 with order 1 Centerline is valid? [True, True] Translation: X:925.09, Y:93.39, Z:34.19 [[ 8.20593647e-01 -5.70743353e-01 -2.96326131e-02 9.25090308e+02] [ 5.70340975e-01 8.21128215e-01 -2.14388978e-02 9.33890550e+01] [ 3.65682832e-02 6.91929901e-04 9.99330917e-01 3.41905203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.4792541539999 meters Centerline goodness : 0.994924 with order 1 Centerline is valid? [True, True] Translation: X:925.13, Y:93.43, Z:34.19 [[ 8.25618310e-01 -5.63450698e-01 -2.96263119e-02 9.25133904e+02] [ 5.63043287e-01 8.26149053e-01 -2.14476019e-02 9.34257762e+01] [ 3.65604158e-02 1.02663673e-03 9.99330917e-01 3.41910092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.539254154 meters Centerline goodness : 0.994016 with order 1 Centerline is valid? [True, True] Translation: X:925.18, Y:93.46, Z:34.19 [[ 8.27038361e-01 -5.61364402e-01 -2.96235967e-02 9.25180428e+02] [ 5.60955519e-01 8.27567970e-01 -2.14513514e-02 9.34605521e+01] [ 3.65575649e-02 1.12357046e-03 9.99330917e-01 3.41922738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.5992541539999 meters Centerline goodness : 0.993637 with order 1 Centerline is valid? [True, True] Translation: X:925.23, Y:93.49, Z:34.19 [[ 8.26942400e-01 -5.61506085e-01 -2.96172903e-02 9.25226817e+02] [ 5.61096981e-01 8.27471839e-01 -2.14600551e-02 9.34939056e+01] [ 3.65574252e-02 1.12805725e-03 9.99330917e-01 3.41923087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.659254154 meters Centerline goodness : 0.993646 with order 1 Centerline is valid? [True, True] Translation: X:925.28, Y:93.53, Z:34.19 [[ 8.26259397e-01 -5.62510787e-01 -2.96145761e-02 9.25275217e+02] [ 5.62102193e-01 8.26789230e-01 -2.14637999e-02 9.35252372e+01] [ 3.65586316e-02 1.08824823e-03 9.99330917e-01 3.41932431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.7192541539999 meters Centerline goodness : 0.993822 with order 1 Centerline is valid? [True, True] Translation: X:925.32, Y:93.56, Z:34.19 [[ 8.25565783e-01 -5.63528594e-01 -2.96084685e-02 9.25324016e+02] [ 5.63120351e-01 8.26095887e-01 -2.14722218e-02 9.35575101e+01] [ 3.65596450e-02 1.05360047e-03 9.99330917e-01 3.41947614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.779254154 meters Centerline goodness : 0.993848 with order 1 Centerline is valid? [True, True] Translation: X:925.37, Y:93.59, Z:34.20 [[ 8.25175824e-01 -5.64099775e-01 -2.96024205e-02 9.25373613e+02] [ 5.63691600e-01 8.25705980e-01 -2.14805566e-02 9.35872479e+01] [ 3.65600728e-02 1.03860022e-03 9.99330917e-01 3.41984085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.839254154 meters Centerline goodness : 0.994457 with order 1 Centerline is valid? [True, True] Translation: X:925.42, Y:93.62, Z:34.20 [[ 8.26330346e-01 -5.62407516e-01 -2.95963672e-02 9.25423980e+02] [ 5.61997958e-01 8.26859434e-01 -2.14888938e-02 9.36168609e+01] [ 3.65575508e-02 1.12382715e-03 9.99330917e-01 3.42033651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.899254154 meters Centerline goodness : 0.994579 with order 1 Centerline is valid? [True, True] Translation: X:925.47, Y:93.65, Z:34.20 [[ 8.27335639e-01 -5.60927937e-01 -2.95903549e-02 9.25473768e+02] [ 5.60517137e-01 8.27863763e-01 -2.14971696e-02 9.36465563e+01] [ 3.65551455e-02 1.19947355e-03 9.99330917e-01 3.42044253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.959254154 meters Centerline goodness : 0.995107 with order 1 Centerline is valid? [True, True] Translation: X:925.52, Y:93.68, Z:34.21 [[ 8.27716514e-01 -5.60366084e-01 -2.95841768e-02 9.25522643e+02] [ 5.59954622e-01 8.28244123e-01 -2.15056684e-02 9.36772839e+01] [ 3.65539678e-02 1.23480034e-03 9.99330918e-01 3.42053229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.019254154 meters Centerline goodness : 0.995464 with order 1 Centerline is valid? [True, True] Translation: X:925.57, Y:93.71, Z:34.21 [[ 8.29309780e-01 -5.58005762e-01 -2.95780086e-02 9.25573202e+02] [ 5.57592497e-01 8.29835977e-01 -2.15141486e-02 9.37058021e+01] [ 3.65499145e-02 1.34941819e-03 9.99330918e-01 3.42070401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.079254154 meters Centerline goodness : 0.995367 with order 1 Centerline is valid? [True, True] Translation: X:925.62, Y:93.74, Z:34.21 [[ 8.29721074e-01 -5.57394109e-01 -2.95761164e-02 9.25623304e+02] [ 5.56980363e-01 8.30246894e-01 -2.15167496e-02 9.37370012e+01] [ 3.65487882e-02 1.37958454e-03 9.99330918e-01 3.42077934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.139254154 meters Centerline goodness : 0.995358 with order 1 Centerline is valid? [True, True] Translation: X:925.67, Y:93.77, Z:34.21 [[ 8.28803022e-01 -5.58758557e-01 -2.95707063e-02 9.25673965e+02] [ 5.58345412e-01 8.29329313e-01 -2.15241822e-02 9.37651643e+01] [ 3.65506745e-02 1.32863902e-03 9.99330918e-01 3.42059564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.199254154 meters Centerline goodness : 0.995826 with order 1 Centerline is valid? [True, True] Translation: X:925.73, Y:93.79, Z:34.21 [[ 8.25342840e-01 -5.63857147e-01 -2.95688073e-02 9.25726422e+02] [ 5.63447161e-01 8.25871597e-01 -2.15267906e-02 9.37917713e+01] [ 3.65580728e-02 1.10652194e-03 9.99330918e-01 3.42123346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.259254154 meters Centerline goodness : 0.996000 with order 1 Centerline is valid? [True, True] Translation: X:925.78, Y:93.82, Z:34.22 [[ 8.19308911e-01 -5.72589697e-01 -2.95625936e-02 9.25778834e+02] [ 5.72185042e-01 8.19841758e-01 -2.15353204e-02 9.38183107e+01] [ 3.65675513e-02 7.28806048e-04 9.99330918e-01 3.42160166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.319254154 meters Centerline goodness : 0.996181 with order 1 Centerline is valid? [True, True] Translation: X:925.83, Y:93.85, Z:34.22 [[ 8.12903494e-01 -5.81647945e-01 -2.95563641e-02 9.25828581e+02] [ 5.81248918e-01 8.13440568e-01 -2.15438667e-02 9.38504080e+01] [ 3.65732914e-02 3.33479834e-04 9.99330918e-01 3.42199270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.379254154 meters Centerline goodness : 0.996377 with order 1 Centerline is valid? [True, True] Translation: X:925.88, Y:93.87, Z:34.22 [[ 8.07493036e-01 -5.89136447e-01 -2.95506905e-02 9.25882985e+02] [ 5.88742117e-01 8.08033568e-01 -2.15516461e-02 9.38745473e+01] [ 3.65748101e-02 5.06810234e-06 9.99330918e-01 3.42236519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.439254154 meters Centerline goodness : 0.996330 with order 1 Centerline is valid? [True, True] Translation: X:925.93, Y:93.91, Z:34.22 [[ 8.00322385e-01 -5.98841343e-01 -2.95487082e-02 9.25932260e+02] [ 5.98453466e-01 8.00867566e-01 -2.15543637e-02 9.39077027e+01] [ 3.65722461e-02 -4.33087028e-04 9.99330918e-01 3.42192151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.499254154 meters Centerline goodness : 0.996611 with order 1 Centerline is valid? [True, True] Translation: X:925.98, Y:93.94, Z:34.22 [[ 7.96298026e-01 -6.04182629e-01 -2.95432625e-02 9.25983216e+02] [ 6.03798131e-01 7.96845596e-01 -2.15618252e-02 9.39382132e+01] [ 3.65686988e-02 -6.68527788e-04 9.99330918e-01 3.42209238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.559254154 meters Centerline goodness : 0.996667 with order 1 Centerline is valid? [True, True] Translation: X:926.03, Y:93.97, Z:34.22 [[ 7.94745175e-01 -6.06224079e-01 -2.95376552e-02 9.26032543e+02] [ 6.05840703e-01 7.95293530e-01 -2.15695039e-02 9.39696235e+01] [ 3.65670587e-02 -7.52854705e-04 9.99330918e-01 3.42227683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.6192541539999 meters Centerline goodness : 0.996886 with order 1 Centerline is valid? [True, True] Translation: X:926.08, Y:94.00, Z:34.23 [[ 7.94264660e-01 -6.06853820e-01 -2.95311719e-02 9.26082649e+02] [ 6.06470549e-01 7.94813089e-01 -2.15783767e-02 9.39984165e+01] [ 3.65666823e-02 -7.70844018e-04 9.99330918e-01 3.42295062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.679254154 meters Centerline goodness : 0.997098 with order 1 Centerline is valid? [True, True] Translation: X:926.13, Y:94.03, Z:34.23 [[ 7.93511788e-01 -6.07838075e-01 -2.95282333e-02 9.26131562e+02] [ 6.07455335e-01 7.94060588e-01 -2.15823972e-02 9.40306420e+01] [ 3.65658090e-02 -8.11196208e-04 9.99330918e-01 3.42335996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.7392541539999 meters Centerline goodness : 0.997376 with order 1 Centerline is valid? [True, True] Translation: X:926.18, Y:94.06, Z:34.24 [[ 7.95258924e-01 -6.05550693e-01 -2.95228909e-02 9.26179992e+02] [ 6.05166103e-01 7.95806429e-01 -2.15897026e-02 9.40648767e+01] [ 3.65681658e-02 -6.96849126e-04 9.99330918e-01 3.42371507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.799254154 meters Centerline goodness : 0.997424 with order 1 Centerline is valid? [True, True] Translation: X:926.22, Y:94.10, Z:34.24 [[ 7.98383280e-01 -6.01425685e-01 -2.95175019e-02 9.26224985e+02] [ 6.01037994e-01 7.98928593e-01 -2.15970680e-02 9.40998296e+01] [ 3.65714077e-02 -4.98402070e-04 9.99330918e-01 3.42381612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.8592541539999 meters Centerline goodness : 0.997632 with order 1 Centerline is valid? [True, True] Translation: X:926.27, Y:94.14, Z:34.24 [[ 8.03960373e-01 -5.93949992e-01 -2.95148505e-02 9.26270639e+02] [ 5.93557096e-01 8.04501948e-01 -2.16006907e-02 9.41358557e+01] [ 3.65744848e-02 -1.52649606e-04 9.99330918e-01 3.42391039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.919254154 meters Centerline goodness : 0.997933 with order 1 Centerline is valid? [True, True] Translation: X:926.32, Y:94.17, Z:34.24 [[ 8.07074653e-01 -5.89711576e-01 -2.95086822e-02 9.26316932e+02] [ 5.89315528e-01 8.07613927e-01 -2.16091140e-02 9.41721062e+01] [ 3.65747674e-02 5.02435780e-05 9.99330918e-01 3.42370799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.9792541539999 meters Centerline goodness : 0.997954 with order 1 Centerline is valid? [True, True] Translation: X:926.36, Y:94.21, Z:34.24 [[ 8.09854557e-01 -5.85888356e-01 -2.95030467e-02 9.26363478e+02] [ 5.85489483e-01 8.10391745e-01 -2.16168055e-02 9.42071429e+01] [ 3.65740601e-02 2.32744892e-04 9.99330918e-01 3.42358994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.039254154 meters Centerline goodness : 0.998183 with order 1 Centerline is valid? [True, True] Translation: X:926.41, Y:94.24, Z:34.25 [[ 8.11877164e-01 -5.83082463e-01 -2.95010703e-02 9.26413268e+02] [ 5.82681634e-01 8.12412894e-01 -2.16195024e-02 9.42384608e+01] [ 3.65730026e-02 3.62648394e-04 9.99330918e-01 3.42454239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.0992541539999 meters Centerline goodness : 0.998270 with order 1 Centerline is valid? [True, True] Translation: X:926.46, Y:94.27, Z:34.25 [[ 8.13036014e-01 -5.81465778e-01 -2.94955729e-02 9.26461003e+02] [ 5.81063612e-01 8.13570741e-01 -2.16270000e-02 9.42713426e+01] [ 3.65720955e-02 4.44725753e-04 9.99330918e-01 3.42493903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.159254154 meters Centerline goodness : 0.998404 with order 1 Centerline is valid? [True, True] Translation: X:926.51, Y:94.30, Z:34.26 [[ 8.17111889e-01 -5.75724371e-01 -2.94891460e-02 9.26512289e+02] [ 5.75318132e-01 8.17643529e-01 -2.16357597e-02 9.43011715e+01] [ 3.65678435e-02 7.13196089e-04 9.99330918e-01 3.42558687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.2192541539999 meters Centerline goodness : 0.998486 with order 1 Centerline is valid? [True, True] Translation: X:926.56, Y:94.33, Z:34.26 [[ 8.18852666e-01 -5.73245912e-01 -2.94862124e-02 9.26559347e+02] [ 5.72837921e-01 8.19382962e-01 -2.16397570e-02 9.43331769e+01] [ 3.65654023e-02 8.28952088e-04 9.99330918e-01 3.42559743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.279254154 meters Centerline goodness : 0.998744 with order 1 Centerline is valid? [True, True] Translation: X:926.60, Y:94.37, Z:34.25 [[ 8.18871703e-01 -5.73218863e-01 -2.94833528e-02 9.26604270e+02] [ 5.72810715e-01 8.19401878e-01 -2.16436523e-02 9.43692695e+01] [ 3.65652645e-02 8.34994056e-04 9.99330918e-01 3.42537950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.339254154 meters Centerline goodness : 0.998658 with order 1 Centerline is valid? [True, True] Translation: X:926.65, Y:94.40, Z:34.26 [[ 8.19367185e-01 -5.72510573e-01 -2.94798299e-02 9.26653853e+02] [ 5.72101793e-01 8.19896873e-01 -2.16484498e-02 9.44017339e+01] [ 3.65643867e-02 8.72565811e-04 9.99330918e-01 3.42558911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.399254154 meters Centerline goodness : 0.998605 with order 1 Centerline is valid? [True, True] Translation: X:926.71, Y:94.43, Z:34.26 [[ 8.16366598e-01 -5.76781455e-01 -2.94742345e-02 9.26705368e+02] [ 5.76375173e-01 8.16898204e-01 -2.16560651e-02 9.44311776e+01] [ 3.65682660e-02 6.91071219e-04 9.99330918e-01 3.42595147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.459254154 meters Centerline goodness : 0.998867 with order 1 Centerline is valid? [True, True] Translation: X:926.76, Y:94.46, Z:34.26 [[ 8.09430578e-01 -5.86475690e-01 -2.94686983e-02 9.26756385e+02] [ 5.86075502e-01 8.09966786e-01 -2.16635959e-02 9.44585007e+01] [ 3.65738392e-02 2.64294842e-04 9.99330918e-01 3.42630680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.519254154 meters Centerline goodness : 0.998901 with order 1 Centerline is valid? [True, True] Translation: X:926.81, Y:94.49, Z:34.27 [[ 8.00195519e-01 -5.99014912e-01 -2.94663711e-02 9.26808514e+02] [ 5.98623010e-01 8.00737812e-01 -2.16667609e-02 9.44863839e+01] [ 3.65735504e-02 -3.01602737e-04 9.99330918e-01 3.42668124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.579254154 meters Centerline goodness : 0.998852 with order 1 Centerline is valid? [True, True] Translation: X:926.86, Y:94.51, Z:34.27 [[ 7.92779112e-01 -6.08796623e-01 -2.94610115e-02 9.26858648e+02] [ 6.08411139e-01 7.93325987e-01 -2.16740461e-02 9.45147648e+01] [ 3.65672721e-02 -7.41676507e-04 9.99330918e-01 3.42688432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.639254154 meters Centerline goodness : 0.999136 with order 1 Centerline is valid? [True, True] Translation: X:926.91, Y:94.55, Z:34.27 [[ 7.91753928e-01 -6.10129429e-01 -2.94584020e-02 9.26905775e+02] [ 6.09744734e-01 7.92301358e-01 -2.16775922e-02 9.45497917e+01] [ 3.65660689e-02 -7.98786692e-04 9.99330918e-01 3.42722744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.699254154 meters Centerline goodness : 0.999118 with order 1 Centerline is valid? [True, True] Translation: X:926.95, Y:94.58, Z:34.27 [[ 7.93954623e-01 -6.07263183e-01 -2.94530828e-02 9.26952895e+02] [ 6.06876243e-01 7.94500469e-01 -2.16848170e-02 9.45847635e+01] [ 3.65688790e-02 -6.57615528e-04 9.99330918e-01 3.42739644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.759254154 meters Centerline goodness : 0.999115 with order 1 Centerline is valid? [True, True] Translation: X:927.00, Y:94.62, Z:34.27 [[ 7.96767466e-01 -6.03568094e-01 -2.94476155e-02 9.26999120e+02] [ 6.03178348e-01 7.97311312e-01 -2.16922390e-02 9.46191684e+01] [ 3.65716602e-02 -4.78493770e-04 9.99330919e-01 3.42744334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.819254154 meters Centerline goodness : 0.999339 with order 1 Centerline is valid? [True, True] Translation: X:927.04, Y:94.66, Z:34.28 [[ 7.99364836e-01 -6.00123995e-01 -2.94456957e-02 9.27043952e+02] [ 5.99731810e-01 7.99906926e-01 -2.16948446e-02 9.46573330e+01] [ 3.65734127e-02 -3.17424448e-04 9.99330919e-01 3.42777476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.879254154 meters Centerline goodness : 0.999451 with order 1 Centerline is valid? [True, True] Translation: X:927.09, Y:94.69, Z:34.28 [[ 8.01208857e-01 -5.97660133e-01 -2.94403352e-02 9.27089228e+02] [ 5.97266014e-01 8.01749541e-01 -2.17021165e-02 9.46946776e+01] [ 3.65742651e-02 -1.95783675e-04 9.99330919e-01 3.42804855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.939254154 meters Centerline goodness : 0.999540 with order 1 Centerline is valid? [True, True] Translation: X:927.13, Y:94.73, Z:34.28 [[ 8.04187284e-01 -5.93646688e-01 -2.94350558e-02 9.27134929e+02] [ 5.93249608e-01 8.04725798e-01 -2.17092746e-02 9.47325337e+01] [ 3.65747878e-02 -4.01272225e-06 9.99330919e-01 3.42843521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.999254154 meters Centerline goodness : 0.999389 with order 1 Centerline is valid? [True, True] Translation: X:927.18, Y:94.77, Z:34.29 [[ 8.07212915e-01 -5.89526245e-01 -2.94298530e-02 9.27180146e+02] [ 5.89126160e-01 8.07749199e-01 -2.17163255e-02 9.47701444e+01] [ 3.65742840e-02 1.91802119e-04 9.99330919e-01 3.42853740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.059254154 meters Centerline goodness : 0.999695 with order 1 Centerline is valid? [True, True] Translation: X:927.23, Y:94.81, Z:34.29 [[ 8.11570271e-01 -5.83513400e-01 -2.94246234e-02 9.27225056e+02] [ 5.83109084e-01 8.12103374e-01 -2.17234090e-02 9.48074331e+01] [ 3.65717362e-02 4.72307744e-04 9.99330919e-01 3.42873164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.1192541539999 meters Centerline goodness : 0.999673 with order 1 Centerline is valid? [True, True] Translation: X:927.27, Y:94.84, Z:34.29 [[ 8.13626449e-01 -5.80643006e-01 -2.94227892e-02 9.27271140e+02] [ 5.80236720e-01 8.14158052e-01 -2.17258931e-02 9.48433103e+01] [ 3.65697886e-02 6.04578586e-04 9.99330919e-01 3.42902246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.179254154 meters Centerline goodness : 0.999501 with order 1 Centerline is valid? [True, True] Translation: X:927.32, Y:94.88, Z:34.29 [[ 8.15241996e-01 -5.78372846e-01 -2.94166434e-02 9.27316721e+02] [ 5.77964780e-01 8.15772234e-01 -2.17342112e-02 9.48793232e+01] [ 3.65677585e-02 7.16857842e-04 9.99330919e-01 3.42914711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.2392541539999 meters Centerline goodness : 0.999653 with order 1 Centerline is valid? [True, True] Translation: X:927.36, Y:94.91, Z:34.29 [[ 8.15982530e-01 -5.77327922e-01 -2.94105743e-02 9.27362590e+02] [ 5.76918881e-01 8.16512016e-01 -2.17424208e-02 9.49141972e+01] [ 3.65665939e-02 7.73919875e-04 9.99330919e-01 3.42917258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.299254154 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:927.41, Y:94.95, Z:34.29 [[ 8.16254441e-01 -5.76943511e-01 -2.94087096e-02 9.27409995e+02] [ 5.76534130e-01 8.16783664e-01 -2.17449427e-02 9.49483286e+01] [ 3.65661572e-02 7.94281208e-04 9.99330919e-01 3.42926497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.3592541539999 meters Centerline goodness : 0.999738 with order 1 Centerline is valid? [True, True] Translation: X:927.46, Y:94.98, Z:34.29 [[ 8.14724122e-01 -5.79102824e-01 -2.94027916e-02 9.27458557e+02] [ 5.78694558e-01 8.15254205e-01 -2.17529418e-02 9.49819070e+01] [ 3.65679396e-02 7.07410929e-04 9.99330919e-01 3.42931559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.419254154 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:927.51, Y:95.01, Z:34.29 [[ 8.12070267e-01 -5.82818718e-01 -2.93976938e-02 9.27507328e+02] [ 5.82412628e-01 8.12602019e-01 -2.17598290e-02 9.50142095e+01] [ 3.65706610e-02 5.48922041e-04 9.99330919e-01 3.42949945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.4792541539999 meters Centerline goodness : 0.999715 with order 1 Centerline is valid? [True, True] Translation: X:927.56, Y:95.05, Z:34.30 [[ 8.08723991e-01 -5.87453468e-01 -2.93926704e-02 9.27555291e+02] [ 5.87050179e-01 8.09257871e-01 -2.17666125e-02 9.50467826e+01] [ 3.65731218e-02 3.48209304e-04 9.99330919e-01 3.42960836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.539254154 meters Centerline goodness : 0.999758 with order 1 Centerline is valid? [True, True] Translation: X:927.61, Y:95.08, Z:34.30 [[ 8.02031611e-01 -5.96558211e-01 -2.93869916e-02 9.27605046e+02] [ 5.96160703e-01 8.02569808e-01 -2.17742766e-02 9.50762591e+01] [ 3.65747357e-02 -5.57114149e-05 9.99330919e-01 3.43001187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.5992541539999 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:927.65, Y:95.11, Z:34.31 [[ 7.94255384e-01 -6.06873045e-01 -2.93852462e-02 9.27654587e+02] [ 6.06482437e-01 7.94798611e-01 -2.17766319e-02 9.51067359e+01] [ 3.65710037e-02 -5.25428625e-04 9.99330919e-01 3.43052035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.659254154 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:927.70, Y:95.14, Z:34.31 [[ 7.89446183e-01 -6.13116084e-01 -2.93835382e-02 9.27702017e+02] [ 6.12729685e-01 7.89992412e-01 -2.17789362e-02 9.51409630e+01] [ 3.65657883e-02 -8.10868073e-04 9.99330919e-01 3.43068051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.7192541539999 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:927.75, Y:95.17, Z:34.31 [[ 7.89947727e-01 -6.12470010e-01 -2.93781295e-02 9.27747855e+02] [ 6.12082894e-01 7.90493448e-01 -2.17862297e-02 9.51744081e+01] [ 3.65666312e-02 -7.71867865e-04 9.99330919e-01 3.43085150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.779254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:927.79, Y:95.21, Z:34.31 [[ 7.91366057e-01 -6.10636436e-01 -2.93752729e-02 9.27793962e+02] [ 6.10247913e-01 7.91910776e-01 -2.17900807e-02 9.52106139e+01] [ 3.65684124e-02 -6.82268704e-04 9.99330919e-01 3.43086439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.839254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:927.84, Y:95.25, Z:34.31 [[ 7.95270233e-01 -6.05543244e-01 -2.93706726e-02 9.27837326e+02] [ 6.05151002e-01 7.95812281e-01 -2.17962797e-02 9.52475413e+01] [ 3.65721318e-02 -4.39759506e-04 9.99330919e-01 3.43085653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.899254154 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:927.88, Y:95.29, Z:34.31 [[ 7.99598964e-01 -5.99815825e-01 -2.93678990e-02 9.27880026e+02] [ 5.99419563e-01 8.00138080e-01 -2.18000161e-02 9.52854367e+01] [ 3.65743690e-02 -1.72422927e-04 9.99330919e-01 3.43098013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.959254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:927.93, Y:95.32, Z:34.31 [[ 8.02523702e-01 -5.95897229e-01 -2.93632360e-02 9.27925377e+02] [ 5.95498105e-01 8.03060703e-01 -2.18062951e-02 9.53216631e+01] [ 3.65747718e-02 1.43173064e-05 9.99330919e-01 3.43123127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.019254154 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:927.97, Y:95.36, Z:34.31 [[ 8.06336713e-01 -5.90727691e-01 -2.93581472e-02 9.27969088e+02] [ 5.90324875e-01 8.06870949e-01 -2.18131440e-02 9.53583900e+01] [ 3.65738643e-02 2.57894270e-04 9.99330919e-01 3.43147823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.079254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:928.01, Y:95.40, Z:34.32 [[ 8.05422307e-01 -5.91974051e-01 -2.93535465e-02 9.28012253e+02] [ 5.91571836e-01 8.05956996e-01 -2.18193334e-02 9.53992872e+01] [ 3.65741753e-02 2.09046379e-04 9.99330919e-01 3.43181141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.139254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:928.06, Y:95.43, Z:34.32 [[ 8.07459215e-01 -5.89192946e-01 -2.93477209e-02 9.28061343e+02] [ 5.88788605e-01 8.07992298e-01 -2.18271662e-02 9.54302709e+01] [ 3.65731448e-02 3.44942874e-04 9.99330919e-01 3.43226045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.199254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:928.11, Y:95.46, Z:34.32 [[ 8.04008078e-01 -5.93893796e-01 -2.93456844e-02 9.28107745e+02] [ 5.93492473e-01 8.04543436e-01 -2.18299039e-02 9.54643117e+01] [ 3.65745222e-02 1.34976284e-04 9.99330919e-01 3.43201194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.259254154 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:928.15, Y:95.50, Z:34.33 [[ 7.97708634e-01 -6.02328750e-01 -2.93430081e-02 9.28154349e+02] [ 6.01932955e-01 7.98248092e-01 -2.18335007e-02 9.54992860e+01] [ 3.65739454e-02 -2.45751537e-04 9.99330919e-01 3.43269525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.319254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:928.20, Y:95.53, Z:34.33 [[ 7.93535042e-01 -6.07816977e-01 -2.93370208e-02 9.28201552e+02] [ 6.07424615e-01 7.94077002e-01 -2.18415427e-02 9.55336584e+01] [ 3.65715139e-02 -4.87999073e-04 9.99330919e-01 3.43291675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.379254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:928.25, Y:95.57, Z:34.33 [[ 7.88049257e-01 -6.14913048e-01 -2.93310856e-02 9.28249383e+02] [ 6.14525268e-01 7.88594505e-01 -2.18495101e-02 9.55688017e+01] [ 3.65658818e-02 -8.06203094e-04 9.99330919e-01 3.43301653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.439254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:928.29, Y:95.61, Z:34.32 [[ 7.82269612e-01 -6.22249348e-01 -2.93258009e-02 9.28292740e+02] [ 6.21866414e-01 7.82818275e-01 -2.18566008e-02 9.56088125e+01] [ 3.65570285e-02 -1.13897597e-03 9.99330919e-01 3.43226608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.499254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:928.34, Y:95.64, Z:34.33 [[ 7.85473091e-01 -6.18200724e-01 -2.93238666e-02 9.28344196e+02] [ 6.17814864e-01 7.86019700e-01 -2.18591957e-02 9.56381050e+01] [ 3.65625074e-02 -9.46910632e-04 9.99330919e-01 3.43324253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.559254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:928.39, Y:95.68, Z:34.33 [[ 7.83929349e-01 -6.20157376e-01 -2.93190071e-02 9.28388073e+02] [ 6.19772638e-01 7.84476748e-01 -2.18657116e-02 9.56776953e+01] [ 3.65602617e-02 -1.02994527e-03 9.99330919e-01 3.43274570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.6192541539999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:928.44, Y:95.71, Z:34.34 [[ 7.90399453e-01 -6.11890048e-01 -2.93133662e-02 9.28436986e+02] [ 6.11499302e-01 7.90942579e-01 -2.18732712e-02 9.57083666e+01] [ 3.65692265e-02 -6.36481321e-04 9.99330919e-01 3.43368578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.679254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:928.48, Y:95.75, Z:34.34 [[ 7.95539470e-01 -6.05192361e-01 -2.93113874e-02 9.28482701e+02] [ 6.04796943e-01 7.96079205e-01 -2.18759226e-02 9.57457203e+01] [ 3.65733272e-02 -3.24277626e-04 9.99330919e-01 3.43402596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.7392541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:928.53, Y:95.78, Z:34.34 [[ 8.02531925e-01 -5.95888974e-01 -2.93059749e-02 9.28528875e+02] [ 5.95487034e-01 8.03066821e-01 -2.18831711e-02 9.57825919e+01] [ 3.65745964e-02 1.10615324e-04 9.99330919e-01 3.43440772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.799254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:928.57, Y:95.82, Z:34.35 [[ 8.07165942e-01 -5.89596994e-01 -2.93006219e-02 9.28574659e+02] [ 5.89190626e-01 8.07697480e-01 -2.18903361e-02 9.58195706e+01] [ 3.65725149e-02 4.05481976e-04 9.99330920e-01 3.43475003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.8592541539999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:928.62, Y:95.86, Z:34.34 [[ 8.11926720e-01 -5.83023838e-01 -2.92951480e-02 9.28617653e+02] [ 5.82612902e-01 8.12454736e-01 -2.18976593e-02 9.58609153e+01] [ 3.65678391e-02 7.11563460e-04 9.99330920e-01 3.43430871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.919254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:928.66, Y:95.89, Z:34.35 [[ 8.18302537e-01 -5.74041018e-01 -2.92893840e-02 9.28664290e+02] [ 5.73624013e-01 8.18825773e-01 -2.19053662e-02 9.58949616e+01] [ 3.65574812e-02 1.12412279e-03 9.99330920e-01 3.43501316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.9792541539999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:928.71, Y:95.94, Z:34.34 [[ 8.16847315e-01 -5.76109983e-01 -2.92873717e-02 9.28708470e+02] [ 5.75694208e-01 8.17371529e-01 -2.19080563e-02 9.59353828e+01] [ 3.65601137e-02 1.03496670e-03 9.99330920e-01 3.43438240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.039254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:928.75, Y:95.97, Z:34.34 [[ 8.12893503e-01 -5.81675804e-01 -2.92815897e-02 9.28754874e+02] [ 5.81263341e-01 8.13420326e-01 -2.19157816e-02 9.59697878e+01] [ 3.65661201e-02 7.94881781e-04 9.99330920e-01 3.43449772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.0992541539999 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:928.81, Y:96.00, Z:34.35 [[ 8.12036470e-01 -5.82871983e-01 -2.92749626e-02 9.28805205e+02] [ 5.82459977e-01 8.12563650e-01 -2.19246305e-02 9.59985485e+01] [ 3.65670233e-02 7.52105482e-04 9.99330920e-01 3.43545928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.159254154 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:928.85, Y:96.03, Z:34.36 [[ 8.04519567e-01 -5.93204317e-01 -2.92729383e-02 9.28853500e+02] [ 5.92798985e-01 8.05051896e-01 -2.19273329e-02 9.60294784e+01] [ 3.65736230e-02 2.88000268e-04 9.99330920e-01 3.43562170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.2192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:928.90, Y:96.06, Z:34.36 [[ 7.95960529e-01 -6.04640531e-01 -2.92688206e-02 9.28902774e+02] [ 6.04242646e-01 7.96498447e-01 -2.19328279e-02 9.60606029e+01] [ 3.65740469e-02 -2.27804340e-04 9.99330920e-01 3.43594771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.279254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:928.95, Y:96.09, Z:34.36 [[ 7.90200673e-01 -6.12149163e-01 -2.92625758e-02 9.28950000e+02] [ 6.11756080e-01 7.90742110e-01 -2.19411565e-02 9.60919980e+01] [ 3.65704115e-02 -5.63642050e-04 9.99330920e-01 3.43611360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.339254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:929.00, Y:96.13, Z:34.37 [[ 7.80242163e-01 -6.24792785e-01 -2.92599004e-02 9.28998078e+02] [ 6.24408337e-01 7.80789765e-01 -2.19447237e-02 9.61258460e+01] [ 3.65567358e-02 -1.14792710e-03 9.99330920e-01 3.43666518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.399254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:929.05, Y:96.16, Z:34.37 [[ 7.74075575e-01 -6.32416948e-01 -2.92541991e-02 9.29046834e+02] [ 6.32037604e-01 7.74626725e-01 -2.19523215e-02 9.61572002e+01] [ 3.65441046e-02 -1.49699801e-03 9.99330920e-01 3.43668165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.459254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:929.09, Y:96.19, Z:34.38 [[ 7.71283321e-01 -6.35819429e-01 -2.92522133e-02 9.29093413e+02] [ 6.35442416e-01 7.71836068e-01 -2.19549672e-02 9.61921356e+01] [ 3.65373080e-02 -1.65459709e-03 9.99330920e-01 3.43795370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.519254154 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:929.14, Y:96.23, Z:34.37 [[ 7.69118637e-01 -6.38436433e-01 -2.92479614e-02 9.29136878e+02] [ 6.38061085e-01 7.69672516e-01 -2.19606300e-02 9.62311236e+01] [ 3.65318184e-02 -1.77165618e-03 9.99330920e-01 3.43709162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.579254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:929.18, Y:96.27, Z:34.37 [[ 7.69755654e-01 -6.37668372e-01 -2.92451777e-02 9.29182378e+02] [ 6.37292332e-01 7.70309063e-01 -2.19643366e-02 9.62688528e+01] [ 3.65337882e-02 -1.73055519e-03 9.99330920e-01 3.43739642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.639254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:929.22, Y:96.31, Z:34.38 [[ 7.72697295e-01 -6.34100884e-01 -2.92396739e-02 9.29223081e+02] [ 6.33722011e-01 7.73248769e-01 -2.19716609e-02 9.63104611e+01] [ 3.65417915e-02 -1.55238202e-03 9.99330920e-01 3.43773070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.699254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:929.27, Y:96.35, Z:34.38 [[ 7.78328140e-01 -6.27176781e-01 -2.92334210e-02 9.29265459e+02] [ 6.26792687e-01 7.78875990e-01 -2.19799774e-02 9.63512306e+01] [ 3.65545411e-02 -1.21565958e-03 9.99330920e-01 3.43793685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.759254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:929.31, Y:96.39, Z:34.38 [[ 7.82186731e-01 -6.22358021e-01 -2.92303210e-02 9.29307832e+02] [ 6.21970397e-01 7.82732090e-01 -2.19840992e-02 9.63902323e+01] [ 3.65614907e-02 -9.84723676e-04 9.99330920e-01 3.43806337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.819254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:929.35, Y:96.44, Z:34.38 [[ 7.90081853e-01 -6.12304269e-01 -2.92258250e-02 9.29345500e+02] [ 6.11909482e-01 7.90622048e-01 -2.19900745e-02 9.64356453e+01] [ 3.65711981e-02 -5.09600677e-04 9.99330920e-01 3.43813798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.879254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:929.39, Y:96.48, Z:34.38 [[ 7.93372330e-01 -6.08034829e-01 -2.92231541e-02 9.29388080e+02] [ 6.07637004e-01 7.93910292e-01 -2.19936234e-02 9.64758289e+01] [ 3.65734518e-02 -3.07937571e-04 9.99330920e-01 3.43833275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.939254154 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:929.43, Y:96.52, Z:34.38 [[ 7.97099122e-01 -6.03141251e-01 -2.92167954e-02 9.29430990e+02] [ 6.02739813e-01 7.97634394e-01 -2.20020672e-02 9.65177824e+01] [ 3.65746752e-02 -7.22973401e-05 9.99330920e-01 3.43781904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.999254154 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:929.47, Y:96.56, Z:34.38 [[ 7.97083427e-01 -6.03162265e-01 -2.92111738e-02 9.29471997e+02] [ 6.02760568e-01 7.97618504e-01 -2.20095282e-02 9.65621238e+01] [ 3.65746896e-02 -6.39135257e-05 9.99330920e-01 3.43756199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.059254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:929.52, Y:96.60, Z:34.39 [[ 8.02376880e-01 -5.96102682e-01 -2.92050507e-02 9.29518461e+02] [ 5.95695982e-01 8.02908165e-01 -2.20176500e-02 9.65967302e+01] [ 3.65737539e-02 2.69121983e-04 9.99330920e-01 3.43894814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.1192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:929.56, Y:96.64, Z:34.39 [[ 8.03900743e-01 -5.94046335e-01 -2.91984198e-02 9.29560624e+02] [ 5.93637956e-01 8.04430738e-01 -2.20264401e-02 9.66380567e+01] [ 3.65728324e-02 3.73781311e-04 9.99330920e-01 3.43852437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.179254154 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:929.61, Y:96.68, Z:34.39 [[ 8.05696980e-01 -5.91607939e-01 -2.91962837e-02 9.29605333e+02] [ 5.91197854e-01 8.06225656e-01 -2.20292711e-02 9.66752761e+01] [ 3.65714847e-02 4.88136972e-04 9.99330920e-01 3.43878514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.2392541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:929.65, Y:96.71, Z:34.39 [[ 8.08652818e-01 -5.87561570e-01 -2.91894187e-02 9.29650119e+02] [ 5.87148512e-01 8.09179174e-01 -2.20383637e-02 9.67120751e+01] [ 3.65683653e-02 6.82861145e-04 9.99330920e-01 3.43908285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.299254154 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:929.70, Y:96.75, Z:34.39 [[ 8.08965737e-01 -5.87130766e-01 -2.91873358e-02 9.29696243e+02] [ 5.86717328e-01 8.09491795e-01 -2.20411219e-02 9.67468776e+01] [ 3.65679296e-02 7.05796767e-04 9.99330920e-01 3.43932714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.3592541539999 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:929.74, Y:96.78, Z:34.40 [[ 8.05987478e-01 -5.91212656e-01 -2.91852863e-02 9.29742967e+02] [ 5.90801785e-01 8.06515543e-01 -2.20438354e-02 9.67817606e+01] [ 3.65709815e-02 5.24336067e-04 9.99330920e-01 3.43978200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.419254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:929.79, Y:96.82, Z:34.40 [[ 8.03550316e-01 -5.94521186e-01 -2.91796022e-02 9.29791105e+02] [ 5.94112216e-01 8.04079854e-01 -2.20513570e-02 9.68160238e+01] [ 3.65727292e-02 3.83416727e-04 9.99330920e-01 3.44026509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.4792541539999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:929.84, Y:96.85, Z:34.41 [[ 7.99125598e-01 -6.00455794e-01 -2.91739360e-02 9.29838851e+02] [ 6.00050483e-01 7.99657942e-01 -2.20588508e-02 9.68487974e+01] [ 3.65745344e-02 1.21957916e-04 9.99330920e-01 3.44054474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.539254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:929.89, Y:96.88, Z:34.41 [[ 7.95425388e-01 -6.05349031e-01 -2.91719497e-02 9.29886890e+02] [ 6.04946899e-01 7.95960138e-01 -2.20614772e-02 9.68817301e+01] [ 3.65746030e-02 -9.92214059e-05 9.99330920e-01 3.44089080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.5992541539999 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:929.93, Y:96.92, Z:34.41 [[ 7.92696994e-01 -6.08917773e-01 -2.91654274e-02 9.29933861e+02] [ 6.08517731e-01 7.93233309e-01 -2.20700964e-02 9.69157666e+01] [ 3.65738624e-02 -2.52780648e-04 9.99330921e-01 3.44078429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.659254154 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:929.98, Y:96.95, Z:34.41 [[ 7.90106336e-01 -6.12275860e-01 -2.91590201e-02 9.29979636e+02] [ 6.11877785e-01 7.90644113e-01 -2.20785585e-02 9.69521705e+01] [ 3.65725760e-02 -3.97347612e-04 9.99330921e-01 3.44060302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.7192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:930.03, Y:96.99, Z:34.41 [[ 7.89628333e-01 -6.12892297e-01 -2.91569633e-02 9.30028135e+02] [ 6.12494541e-01 7.90166346e-01 -2.20812744e-02 9.69861797e+01] [ 3.65722941e-02 -4.22480931e-04 9.99330921e-01 3.44081457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.779254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:930.08, Y:97.02, Z:34.41 [[ 7.90571758e-01 -6.11675158e-01 -2.91512748e-02 9.30075608e+02] [ 6.11276298e-01 7.91108952e-01 -2.20887817e-02 9.70199923e+01] [ 3.65729935e-02 -3.56716364e-04 9.99330921e-01 3.44107168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.839254154 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:930.12, Y:97.05, Z:34.42 [[ 7.94215368e-01 -6.06937013e-01 -2.91446733e-02 9.30124831e+02] [ 6.06534628e-01 7.94749927e-01 -2.20974884e-02 9.70516658e+01] [ 3.65745106e-02 -1.27088676e-04 9.99330921e-01 3.44174725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.899254154 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:930.17, Y:97.08, Z:34.42 [[ 7.97582481e-01 -6.02505689e-01 -2.91389993e-02 9.30172260e+02] [ 6.02100060e-01 7.98114583e-01 -2.21049680e-02 9.70849398e+01] [ 3.65746293e-02 8.59419817e-05 9.99330921e-01 3.44212773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.959254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:930.22, Y:97.12, Z:34.42 [[ 8.03117382e-01 -5.95108197e-01 -2.91325297e-02 9.30218173e+02] [ 5.94697359e-01 8.03645472e-01 -2.21134911e-02 9.71187429e+01] [ 3.65721454e-02 4.34690623e-04 9.99330921e-01 3.44234805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.019254154 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:930.26, Y:97.16, Z:34.42 [[ 8.04929039e-01 -5.92655633e-01 -2.91297480e-02 9.30262372e+02] [ 5.92243053e-01 8.05455770e-01 -2.21171548e-02 9.71581535e+01] [ 3.65705800e-02 5.50849326e-04 9.99330921e-01 3.44183303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.079254154 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:930.31, Y:97.19, Z:34.43 [[ 8.12564831e-01 -5.82142768e-01 -2.91237438e-02 9.30311507e+02] [ 5.81723094e-01 8.13085926e-01 -2.21250583e-02 9.71884447e+01] [ 3.65600489e-02 1.03608991e-03 9.99330921e-01 3.44263722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.139254154 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:930.36, Y:97.22, Z:34.43 [[ 8.14131188e-01 -5.79950290e-01 -2.91216375e-02 9.30358286e+02] [ 5.79529113e-01 8.14651070e-01 -2.21278303e-02 9.72227698e+01] [ 3.65570148e-02 1.13812005e-03 9.99330921e-01 3.44271489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.199254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:930.41, Y:97.26, Z:34.43 [[ 8.12606604e-01 -5.82084876e-01 -2.91153597e-02 9.30405215e+02] [ 5.81664770e-01 8.13127351e-01 -2.21360875e-02 9.72583845e+01] [ 3.65595770e-02 1.05255192e-03 9.99330921e-01 3.44264964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.259254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:930.46, Y:97.29, Z:34.43 [[ 8.13306016e-01 -5.81107530e-01 -2.91094993e-02 9.30455586e+02] [ 5.80686523e-01 8.13826035e-01 -2.21437914e-02 9.72879454e+01] [ 3.65579923e-02 1.10618485e-03 9.99330921e-01 3.44330532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.319254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:930.50, Y:97.32, Z:34.43 [[ 8.12449831e-01 -5.82304119e-01 -2.91064552e-02 9.30504628e+02] [ 5.81883734e-01 8.12970353e-01 -2.21477918e-02 9.73204683e+01] [ 3.65594356e-02 1.05739687e-03 9.99330921e-01 3.44336585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.379254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:930.55, Y:97.35, Z:34.43 [[ 8.11916016e-01 -5.83048469e-01 -2.91009606e-02 9.30551731e+02] [ 5.82628303e-01 8.12436715e-01 -2.21550091e-02 9.73544824e+01] [ 3.65601330e-02 1.03296339e-03 9.99330921e-01 3.44335964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.439254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:930.60, Y:97.39, Z:34.43 [[ 8.09124880e-01 -5.86916034e-01 -2.90946424e-02 9.30598121e+02] [ 5.86498060e-01 8.09647339e-01 -2.21633032e-02 9.73908144e+01] [ 3.65643979e-02 8.68928697e-04 9.99330921e-01 3.44271111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.499254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:930.65, Y:97.42, Z:34.43 [[ 8.07987610e-01 -5.88480971e-01 -2.90889989e-02 9.30647709e+02] [ 5.88063742e-01 8.08510665e-01 -2.21707077e-02 9.74211476e+01] [ 3.65658055e-02 8.07471571e-04 9.99330921e-01 3.44311194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.559254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:930.70, Y:97.45, Z:34.43 [[ 8.07377670e-01 -5.89317839e-01 -2.90823376e-02 9.30695788e+02] [ 5.88900838e-01 8.07900907e-01 -2.21794424e-02 9.74532323e+01] [ 3.65663879e-02 7.80573516e-04 9.99330921e-01 3.44340201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.6192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:930.75, Y:97.48, Z:34.44 [[ 8.09616938e-01 -5.86238022e-01 -2.90756788e-02 9.30748274e+02] [ 5.85818718e-01 8.10138331e-01 -2.21881681e-02 9.74792714e+01] [ 3.65628697e-02 9.30839849e-04 9.99330921e-01 3.44443948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.679254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:930.80, Y:97.51, Z:34.44 [[ 8.06050498e-01 -5.91132282e-01 -2.90726626e-02 9.30795609e+02] [ 5.90716002e-01 8.06574308e-01 -2.21921194e-02 9.75140729e+01] [ 3.65677409e-02 7.14281854e-04 9.99330921e-01 3.44406664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.7392541539999 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:930.84, Y:97.54, Z:34.44 [[ 8.05433797e-01 -5.91972576e-01 -2.90666202e-02 9.30844929e+02] [ 5.91556557e-01 8.05957815e-01 -2.22000308e-02 9.75442931e+01] [ 3.65682791e-02 6.86105301e-04 9.99330921e-01 3.44411709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.799254154 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:930.89, Y:97.58, Z:34.44 [[ 8.03630661e-01 -5.94418468e-01 -2.90593285e-02 9.30891758e+02] [ 5.94003699e-01 8.04155669e-01 -2.22095713e-02 9.75779341e+01] [ 3.65700031e-02 5.86943864e-04 9.99330921e-01 3.44438232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.8592541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:930.94, Y:97.61, Z:34.45 [[ 8.03415806e-01 -5.94709192e-01 -2.90520295e-02 9.30942507e+02] [ 5.94294268e-01 8.03940691e-01 -2.22191150e-02 9.76073528e+01] [ 3.65700206e-02 5.85733573e-04 9.99330921e-01 3.44494577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.919254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:930.99, Y:97.64, Z:34.46 [[ 8.04052142e-01 -5.93848907e-01 -2.90453022e-02 9.30992500e+02] [ 5.93433104e-01 8.04576330e-01 -2.22279056e-02 9.76365783e+01] [ 3.65691801e-02 6.35951233e-04 9.99330921e-01 3.44561576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.9792541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:931.04, Y:97.67, Z:34.46 [[ 8.03858788e-01 -5.94110722e-01 -2.90430627e-02 9.31037949e+02] [ 5.93694984e-01 8.04383028e-01 -2.22308314e-02 9.76702612e+01] [ 3.65693220e-02 6.27728560e-04 9.99330921e-01 3.44572816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.039254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:931.09, Y:97.70, Z:34.46 [[ 8.03604770e-01 -5.94454405e-01 -2.90402037e-02 9.31086170e+02] [ 5.94038757e-01 8.04129082e-01 -2.22345654e-02 9.77032039e+01] [ 3.65695077e-02 6.16796374e-04 9.99330922e-01 3.44582091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.0992541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:931.13, Y:97.74, Z:34.46 [[ 8.03368503e-01 -5.94773980e-01 -2.90338018e-02 9.31134136e+02] [ 5.94358238e-01 8.03892740e-01 -2.22429218e-02 9.77375301e+01] [ 3.65695736e-02 6.12783491e-04 9.99330922e-01 3.44593718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.159254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:931.18, Y:97.77, Z:34.46 [[ 8.03320837e-01 -5.94838633e-01 -2.90281407e-02 9.31180200e+02] [ 5.94422666e-01 8.03844896e-01 -2.22503075e-02 9.77728794e+01] [ 3.65694652e-02 6.19150837e-04 9.99330922e-01 3.44611373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.2192541539999 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:931.23, Y:97.81, Z:34.46 [[ 8.03069023e-01 -5.95178868e-01 -2.90217045e-02 9.31226485e+02] [ 5.94762821e-01 8.03593017e-01 -2.22586992e-02 9.78079288e+01] [ 3.65695465e-02 6.14240921e-04 9.99330922e-01 3.44635780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.279254154 meters Centerline goodness : 0.997120 with order 1 Centerline is valid? [True, True] Translation: X:931.27, Y:97.84, Z:34.46 [[ 8.03365550e-01 -5.94778873e-01 -2.90152620e-02 9.31273425e+02] [ 5.94362261e-01 8.03889096e-01 -2.22670942e-02 9.78434884e+01] [ 3.65690499e-02 6.43039676e-04 9.99330922e-01 3.44615041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.339254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:931.32, Y:97.88, Z:34.47 [[ 8.02866487e-01 -5.95452720e-01 -2.90079594e-02 9.31319522e+02] [ 5.95036204e-01 8.03390110e-01 -2.22766034e-02 9.78797652e+01] [ 3.65693718e-02 6.24352277e-04 9.99330922e-01 3.44683212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.399254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:931.36, Y:97.92, Z:34.47 [[ 8.03212149e-01 -5.94986698e-01 -2.90012442e-02 9.31364906e+02] [ 5.94569563e-01 8.03735279e-01 -2.22853423e-02 9.79163705e+01] [ 3.65688053e-02 6.56600545e-04 9.99330922e-01 3.44694357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.459254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:931.41, Y:97.95, Z:34.47 [[ 8.03048378e-01 -5.95208028e-01 -2.89949350e-02 9.31410301e+02] [ 5.94790741e-01 8.03571386e-01 -2.22935481e-02 9.79526231e+01] [ 3.65687988e-02 6.56878760e-04 9.99330922e-01 3.44712589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.519254154 meters Centerline goodness : 0.997740 with order 1 Centerline is valid? [True, True] Translation: X:931.46, Y:97.99, Z:34.47 [[ 8.02420709e-01 -5.96054244e-01 -2.89886992e-02 9.31456356e+02] [ 5.95637216e-01 8.02943923e-01 -2.23016536e-02 9.79877286e+01] [ 3.65692951e-02 6.28560605e-04 9.99330922e-01 3.44708914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.579254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:931.50, Y:98.02, Z:34.47 [[ 7.99926258e-01 -5.99398087e-01 -2.89812864e-02 9.31501116e+02] [ 5.98982898e-01 8.00450932e-01 -2.23112824e-02 9.80236738e+01] [ 3.65714377e-02 4.88085748e-04 9.99330922e-01 3.44728094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.639254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:931.55, Y:98.06, Z:34.48 [[ 7.97011039e-01 -6.03269196e-01 -2.89772464e-02 9.31547396e+02] [ 6.02856365e-01 7.97537570e-01 -2.23165283e-02 9.80595304e+01] [ 3.65733168e-02 3.17401973e-04 9.99330922e-01 3.44775600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.699254154 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:931.59, Y:98.10, Z:34.48 [[ 7.92168381e-01 -6.09614553e-01 -2.89715744e-02 9.31594088e+02] [ 6.09205670e-01 7.92697985e-01 -2.23238893e-02 9.80959322e+01] [ 3.65746764e-02 3.46318921e-05 9.99330922e-01 3.44773657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.759254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:931.64, Y:98.13, Z:34.48 [[ 7.87372566e-01 -6.15796569e-01 -2.89659870e-02 9.31639487e+02] [ 6.15391577e-01 7.87905151e-01 -2.23311368e-02 9.81301497e+01] [ 3.65738878e-02 -2.42499920e-04 9.99330922e-01 3.44806423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.819254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:931.69, Y:98.17, Z:34.48 [[ 7.84488154e-01 -6.19467082e-01 -2.89632466e-02 9.31685307e+02] [ 6.19064451e-01 7.85022526e-01 -2.23346905e-02 9.81659905e+01] [ 3.65724066e-02 -4.08816229e-04 9.99330922e-01 3.44830444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.879254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:931.73, Y:98.20, Z:34.49 [[ 7.81783255e-01 -6.22877550e-01 -2.89568756e-02 9.31730974e+02] [ 6.22476944e-01 7.82319146e-01 -2.23429474e-02 9.82025720e+01] [ 3.65704386e-02 -5.57645283e-04 9.99330922e-01 3.44855458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.939254154 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:931.78, Y:98.24, Z:34.49 [[ 7.81324948e-01 -6.23452641e-01 -2.89504761e-02 9.31775965e+02] [ 6.23052122e-01 7.81860905e-01 -2.23512364e-02 9.82396806e+01] [ 3.65701828e-02 -5.74077009e-04 9.99330922e-01 3.44862392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.999254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:931.82, Y:98.28, Z:34.49 [[ 7.82116067e-01 -6.22459992e-01 -2.89485156e-02 9.31820912e+02] [ 6.22058699e-01 7.82651445e-01 -2.23537753e-02 9.82782798e+01] [ 3.65709283e-02 -5.24429108e-04 9.99330922e-01 3.44912894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.059254154 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:931.86, Y:98.32, Z:34.49 [[ 7.86313293e-01 -6.17149678e-01 -2.89426997e-02 9.31864290e+02] [ 6.16744492e-01 7.86845731e-01 -2.23613029e-02 9.83183295e+01] [ 3.65737106e-02 -2.67260938e-04 9.99330922e-01 3.44866039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.1192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:931.91, Y:98.35, Z:34.50 [[ 7.96420085e-01 -6.04051078e-01 -2.89368847e-02 9.31910195e+02] [ 6.03636862e-01 7.96945528e-01 -2.23688253e-02 9.83527922e+01] [ 3.65730339e-02 3.47611476e-04 9.99330922e-01 3.44951671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.179254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:931.95, Y:98.39, Z:34.50 [[ 8.02577738e-01 -5.95845407e-01 -2.89348442e-02 9.31954266e+02] [ 5.95425725e-01 8.03098825e-01 -2.23714645e-02 9.83907674e+01] [ 3.65674738e-02 7.26288758e-04 9.99330922e-01 3.44976109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.2392541539999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:932.00, Y:98.43, Z:34.50 [[ 8.05896416e-01 -5.91349392e-01 -2.89285783e-02 9.31998127e+02] [ 5.90926513e-01 8.06414912e-01 -2.23795640e-02 9.84277778e+01] [ 3.65625785e-02 9.40946535e-04 9.99330922e-01 3.44995389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.299254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:932.04, Y:98.46, Z:34.50 [[ 8.07191443e-01 -5.89580568e-01 -2.89262640e-02 9.32043713e+02] [ 5.89156446e-01 8.07708922e-01 -2.23825550e-02 9.84642201e+01] [ 3.65603210e-02 1.02491195e-03 9.99330922e-01 3.45047779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.3592541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:932.09, Y:98.50, Z:34.51 [[ 8.08867558e-01 -5.87279217e-01 -2.89205033e-02 9.32090845e+02] [ 5.86853357e-01 8.09383608e-01 -2.23899958e-02 9.84994990e+01] [ 3.65569605e-02 1.13844677e-03 9.99330922e-01 3.45124704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.419254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:932.14, Y:98.54, Z:34.51 [[ 8.07403236e-01 -5.89290900e-01 -2.89179764e-02 9.32135281e+02] [ 5.88866209e-01 8.07920250e-01 -2.23932590e-02 9.85372483e+01] [ 3.65595625e-02 1.05157063e-03 9.99330922e-01 3.45072622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.4792541539999 meters Centerline goodness : 0.998868 with order 1 Centerline is valid? [True, True] Translation: X:932.18, Y:98.57, Z:34.51 [[ 8.06491346e-01 -5.90538362e-01 -2.89162885e-02 9.32183031e+02] [ 5.90114393e-01 8.07008951e-01 -2.23954383e-02 9.85718188e+01] [ 3.65610692e-02 9.97809124e-04 9.99330922e-01 3.45089205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.539254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:932.23, Y:98.61, Z:34.51 [[ 8.03025246e-01 -5.95243394e-01 -2.89094571e-02 9.32227543e+02] [ 5.94822141e-01 8.03545064e-01 -2.24042533e-02 9.86081764e+01] [ 3.65660353e-02 7.95195855e-04 9.99330923e-01 3.45091285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.5992541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:932.28, Y:98.64, Z:34.51 [[ 7.99451488e-01 -6.00034840e-01 -2.89051869e-02 9.32275469e+02] [ 5.99616504e-01 7.99973656e-01 -2.24097612e-02 9.86421522e+01] [ 3.65700255e-02 5.83489823e-04 9.99330923e-01 3.45108313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.659254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:932.32, Y:98.68, Z:34.51 [[ 7.94121581e-01 -6.07071432e-01 -2.88996734e-02 9.32323743e+02] [ 6.06657465e-01 7.94647220e-01 -2.24168692e-02 9.86758932e+01] [ 3.65736860e-02 2.69517047e-04 9.99330923e-01 3.45137905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.7192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:932.37, Y:98.71, Z:34.52 [[ 7.90026806e-01 -6.12391025e-01 -2.88942562e-02 9.32370268e+02] [ 6.11980342e-01 7.90555015e-01 -2.24238496e-02 9.87083372e+01] [ 3.65746633e-02 3.27254779e-05 9.99330923e-01 3.45165746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.779254154 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:932.42, Y:98.74, Z:34.52 [[ 7.84563221e-01 -6.19375424e-01 -2.88900848e-02 9.32418786e+02] [ 6.18969245e-01 7.85094901e-01 -2.24292225e-02 9.87407345e+01] [ 3.65735675e-02 -2.84930944e-04 9.99330923e-01 3.45213338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.839254154 meters Centerline goodness : 0.999780 with order 1 Centerline is valid? [True, True] Translation: X:932.47, Y:98.77, Z:34.52 [[ 7.82414825e-01 -6.22087438e-01 -2.88835969e-02 9.32466281e+02] [ 6.21682794e-01 7.82947673e-01 -2.24375743e-02 9.87742459e+01] [ 3.65724781e-02 -4.00944519e-04 9.99330923e-01 3.45233869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.899254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:932.51, Y:98.81, Z:34.53 [[ 7.82602909e-01 -6.21850898e-01 -2.88816085e-02 9.32512851e+02] [ 6.21445998e-01 7.83135564e-01 -2.24401334e-02 9.88100935e+01] [ 3.65726319e-02 -3.86646320e-04 9.99330923e-01 3.45279028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.959254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:932.56, Y:98.84, Z:34.53 [[ 7.85269935e-01 -6.18479841e-01 -2.88758653e-02 9.32559033e+02] [ 6.18072383e-01 7.85800635e-01 -2.24475214e-02 9.88447142e+01] [ 3.65740127e-02 -2.20011260e-04 9.99330923e-01 3.45283039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.019254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:932.61, Y:98.88, Z:34.53 [[ 7.90403608e-01 -6.11905579e-01 -2.88738460e-02 9.32605597e+02] [ 6.11493612e-01 7.90930816e-01 -2.24501185e-02 9.88810295e+01] [ 3.65745673e-02 8.84823164e-05 9.99330923e-01 3.45301415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.079254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:932.65, Y:98.92, Z:34.53 [[ 7.96432397e-01 -6.04038125e-01 -2.88683225e-02 9.32651485e+02] [ 6.03620693e-01 7.96955288e-01 -2.24572188e-02 9.89173599e+01] [ 3.65717786e-02 4.60139784e-04 9.99330923e-01 3.45342048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.139254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:932.70, Y:98.95, Z:34.54 [[ 7.99903147e-01 -5.99434653e-01 -2.88626566e-02 9.32697313e+02] [ 5.99013950e-01 8.00423409e-01 -2.24644984e-02 9.89531165e+01] [ 3.65683448e-02 6.80289022e-04 9.99330923e-01 3.45382291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.199254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:932.74, Y:98.99, Z:34.54 [[ 8.04239982e-01 -5.93603719e-01 -2.88561151e-02 9.32742874e+02] [ 5.93178944e-01 8.04756925e-01 -2.24728981e-02 9.89894137e+01] [ 3.65621543e-02 9.56763269e-04 9.99330923e-01 3.45433845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.259254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:932.79, Y:99.03, Z:34.55 [[ 8.06573625e-01 -5.90429022e-01 -2.88540764e-02 9.32788082e+02] [ 5.90002119e-01 8.07088812e-01 -2.24755153e-02 9.90261449e+01] [ 3.65579988e-02 1.10419161e-03 9.99330923e-01 3.45458443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.319254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:932.83, Y:99.06, Z:34.55 [[ 8.06820498e-01 -5.90091724e-01 -2.88520645e-02 9.32833603e+02] [ 5.89664513e-01 8.07335430e-01 -2.24780976e-02 9.90620964e+01] [ 3.65574333e-02 1.12275133e-03 9.99330923e-01 3.45480429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.379254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:932.88, Y:99.10, Z:34.55 [[ 8.05975400e-01 -5.91245572e-01 -2.88500937e-02 9.32879952e+02] [ 5.90819009e-01 8.06490868e-01 -2.24806269e-02 9.90985171e+01] [ 3.65589082e-02 1.07364852e-03 9.99330923e-01 3.45517329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.439254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:932.93, Y:99.13, Z:34.55 [[ 8.04243101e-01 -5.93600060e-01 -2.88444683e-02 9.32926420e+02] [ 5.93174747e-01 8.04759602e-01 -2.24878424e-02 9.91343337e+01] [ 3.65616474e-02 9.75881901e-04 9.99330923e-01 3.45528869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.499254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:932.97, Y:99.17, Z:34.55 [[ 8.00498105e-01 -5.98641023e-01 -2.88393651e-02 9.32974185e+02] [ 5.98218728e-01 8.01017076e-01 -2.24943851e-02 9.91690925e+01] [ 3.65668856e-02 7.54464327e-04 9.99330923e-01 3.45548776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.559254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:933.02, Y:99.20, Z:34.56 [[ 7.95837882e-01 -6.04822849e-01 -2.88337719e-02 9.33021847e+02] [ 6.04404326e-01 7.96359900e-01 -2.25015522e-02 9.92041992e+01] [ 3.65715127e-02 4.80331186e-04 9.99330923e-01 3.45554351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.6192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:933.07, Y:99.24, Z:34.56 [[ 7.87987431e-01 -6.15016057e-01 -2.88280858e-02 9.33069916e+02] [ 6.14604021e-01 7.88514584e-01 -2.25088348e-02 9.92379776e+01] [ 3.65746609e-02 1.88214714e-05 9.99330923e-01 3.45601093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.679254154 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:933.12, Y:99.27, Z:34.56 [[ 7.81858503e-01 -6.22789330e-01 -2.88224354e-02 9.33116615e+02] [ 6.22382268e-01 7.82389506e-01 -2.25160677e-02 9.92739641e+01] [ 3.65731377e-02 -3.34193699e-04 9.99330923e-01 3.45639927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.7392541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:933.16, Y:99.31, Z:34.57 [[ 7.77832128e-01 -6.27811096e-01 -2.88168088e-02 9.33161812e+02] [ 6.27407195e-01 7.78365540e-01 -2.25232664e-02 9.93096815e+01] [ 3.65703676e-02 -5.60552942e-04 9.99330923e-01 3.45666335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.799254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:933.21, Y:99.35, Z:34.57 [[ 7.75697342e-01 -6.30446936e-01 -2.88148369e-02 9.33206788e+02] [ 6.30044754e-01 7.76232050e-01 -2.25257890e-02 9.93473050e+01] [ 3.65683146e-02 -6.81442170e-04 9.99330923e-01 3.45683555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.8592541539999 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:933.25, Y:99.39, Z:34.57 [[ 7.73318768e-01 -6.33362539e-01 -2.88093133e-02 9.33249836e+02] [ 6.32962110e-01 7.73854791e-01 -2.25328512e-02 9.93869971e+01] [ 3.65656889e-02 -8.10127022e-04 9.99330923e-01 3.45729589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.919254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:933.29, Y:99.43, Z:34.58 [[ 7.72822796e-01 -6.33967884e-01 -2.88035969e-02 9.33293411e+02] [ 6.33567603e-01 7.73358929e-01 -2.25401560e-02 9.94272309e+01] [ 3.65652539e-02 -8.29479421e-04 9.99330923e-01 3.45774309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.9792541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:933.34, Y:99.47, Z:34.58 [[ 7.73415753e-01 -6.33244625e-01 -2.87978839e-02 9.33335080e+02] [ 6.32843571e-01 7.73951308e-01 -2.25474527e-02 9.94670193e+01] [ 3.65662132e-02 -7.86000565e-04 9.99330923e-01 3.45786048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.039254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:933.38, Y:99.51, Z:34.58 [[ 7.74073731e-01 -6.32440309e-01 -2.87943598e-02 9.33378268e+02] [ 6.32038531e-01 7.74608743e-01 -2.25519524e-02 9.95071235e+01] [ 3.65671265e-02 -7.42270935e-04 9.99330923e-01 3.45802929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.0992541539999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:933.42, Y:99.55, Z:34.58 [[ 7.75981848e-01 -6.30097909e-01 -2.87888298e-02 9.33419794e+02] [ 6.29694254e-01 7.76515446e-01 -2.25590095e-02 9.95499483e+01] [ 3.65693557e-02 -6.22778815e-04 9.99330923e-01 3.45822231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.159254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:933.46, Y:99.59, Z:34.59 [[ 7.78039883e-01 -6.27555142e-01 -2.87833830e-02 9.33460721e+02] [ 6.27149487e-01 7.78571961e-01 -2.25659569e-02 9.95914941e+01] [ 3.65713173e-02 -4.94269411e-04 9.99330923e-01 3.45851957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.2192541539999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:933.50, Y:99.63, Z:34.59 [[ 7.78933826e-01 -6.26445306e-01 -2.87814695e-02 9.33502661e+02] [ 6.26038802e-01 7.79465256e-01 -2.25683973e-02 9.96340344e+01] [ 3.65720220e-02 -4.39028672e-04 9.99330923e-01 3.45893794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.279254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:933.54, Y:99.68, Z:34.59 [[ 7.79514532e-01 -6.25722826e-01 -2.87756921e-02 9.33543414e+02] [ 6.25315557e-01 7.80045376e-01 -2.25757612e-02 9.96762387e+01] [ 3.65725147e-02 -3.95754019e-04 9.99330923e-01 3.45906173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.339254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:933.59, Y:99.72, Z:34.59 [[ 7.79712784e-01 -6.25475860e-01 -2.87736630e-02 9.33586181e+02] [ 6.25068328e-01 7.80243426e-01 -2.25783472e-02 9.97169543e+01] [ 3.65726725e-02 -3.80879448e-04 9.99330923e-01 3.45924785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.399254154 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:933.63, Y:99.76, Z:34.59 [[ 7.80953975e-01 -6.23925708e-01 -2.87680324e-02 9.33628161e+02] [ 6.23516858e-01 7.81483603e-01 -2.25855190e-02 9.97593229e+01] [ 3.65734316e-02 -2.99102315e-04 9.99330923e-01 3.45944926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.459254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:933.67, Y:99.80, Z:34.60 [[ 7.83437072e-01 -6.20805187e-01 -2.87623885e-02 9.33668949e+02] [ 6.20393964e-01 7.83964859e-01 -2.25927042e-02 9.98008969e+01] [ 3.65743698e-02 -1.44050242e-04 9.99330924e-01 3.45969772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.519254154 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:933.71, Y:99.84, Z:34.60 [[ 7.85420701e-01 -6.18293963e-01 -2.87558238e-02 9.33709680e+02] [ 6.17880747e-01 7.85946929e-01 -2.26010566e-02 9.98416950e+01] [ 3.65746483e-02 -1.63321523e-05 9.99330924e-01 3.45976621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.579254154 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:933.75, Y:99.88, Z:34.60 [[ 7.86160797e-01 -6.17352784e-01 -2.87531058e-02 9.33752789e+02] [ 6.16938811e-01 7.86686430e-01 -2.26045140e-02 9.98807741e+01] [ 3.65746378e-02 3.18758341e-05 9.99330924e-01 3.46006776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.639254154 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:933.80, Y:99.92, Z:34.60 [[ 7.86636789e-01 -6.16746464e-01 -2.87464942e-02 9.33795169e+02] [ 6.16331779e-01 7.87161860e-01 -2.26129189e-02 9.99205480e+01] [ 3.65745816e-02 7.07759663e-05 9.99330924e-01 3.46023456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.699254154 meters Centerline goodness : 0.999661 with order 1 Centerline is valid? [True, True] Translation: X:933.84, Y:99.96, Z:34.60 [[ 7.86555793e-01 -6.16850067e-01 -2.87398558e-02 9.33838735e+02] [ 6.16435143e-01 7.87080675e-01 -2.26213528e-02 9.99593306e+01] [ 3.65745681e-02 7.66989510e-05 9.99330924e-01 3.46041731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.759254154 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:933.88, Y:100.00, Z:34.61 [[ 7.86687760e-01 -6.16681852e-01 -2.87378206e-02 9.33883950e+02] [ 6.16266721e-01 7.87212479e-01 -2.26239380e-02 9.99956688e+01] [ 3.65745430e-02 8.78126046e-05 9.99330924e-01 3.46076872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.819254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:933.93, Y:100.03, Z:34.61 [[ 7.87208829e-01 -6.16016862e-01 -2.87312584e-02 9.33927745e+02] [ 6.15600984e-01 7.87732955e-01 -2.26322687e-02 1.00034184e+02] [ 3.65744182e-02 1.29330793e-04 9.99330924e-01 3.46107376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.879254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:933.97, Y:100.07, Z:34.61 [[ 7.88257584e-01 -6.14674441e-01 -2.87282479e-02 9.33972645e+02] [ 6.14257531e-01 7.88780890e-01 -2.26360893e-02 1.00072024e+02] [ 3.65741185e-02 1.96526427e-04 9.99330924e-01 3.46144033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.939254154 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:934.02, Y:100.11, Z:34.61 [[ 7.88475093e-01 -6.14395678e-01 -2.87224357e-02 9.34016705e+02] [ 6.13978314e-01 7.88998038e-01 -2.26434619e-02 1.00108615e+02] [ 3.65739905e-02 2.18853129e-04 9.99330924e-01 3.46149214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.999254154 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:934.06, Y:100.15, Z:34.62 [[ 7.89270807e-01 -6.13373278e-01 -2.87195782e-02 9.34062846e+02] [ 6.12955105e-01 7.89793105e-01 -2.26470856e-02 1.00145331e+02] [ 3.65736420e-02 2.70871401e-04 9.99330924e-01 3.46186571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.059254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:934.11, Y:100.18, Z:34.62 [[ 7.89357920e-01 -6.13261438e-01 -2.87137928e-02 9.34109309e+02] [ 6.12842925e-01 7.89879945e-01 -2.26544184e-02 1.00180362e+02] [ 3.65735303e-02 2.85399792e-04 9.99330924e-01 3.46207094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.1192541539999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:934.15, Y:100.22, Z:34.62 [[ 7.89136390e-01 -6.13546780e-01 -2.87072489e-02 9.34154540e+02] [ 6.13128154e-01 7.89658324e-01 -2.26627077e-02 1.00215492e+02] [ 3.65735494e-02 2.82744838e-04 9.99330924e-01 3.46216835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.179254154 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:934.20, Y:100.25, Z:34.62 [[ 7.88231789e-01 -6.14708706e-01 -2.87028417e-02 9.34201635e+02] [ 6.14290646e-01 7.88754176e-01 -2.26682881e-02 1.00249750e+02] [ 3.65738804e-02 2.35978084e-04 9.99330924e-01 3.46240414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.2392541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:934.25, Y:100.28, Z:34.63 [[ 7.88193932e-01 -6.14757564e-01 -2.86960460e-02 9.34249160e+02] [ 6.14339223e-01 7.88716094e-01 -2.26768876e-02 1.00282780e+02] [ 3.65738215e-02 2.44678565e-04 9.99330924e-01 3.46268747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.299254154 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:934.30, Y:100.32, Z:34.63 [[ 7.88181769e-01 -6.14773474e-01 -2.86892829e-02 9.34295017e+02] [ 6.14354832e-01 7.88703690e-01 -2.26854406e-02 1.00318175e+02] [ 3.65737505e-02 2.54851122e-04 9.99330924e-01 3.46269873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.3592541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:934.34, Y:100.35, Z:34.63 [[ 7.89222448e-01 -6.13437231e-01 -2.86826063e-02 9.34342290e+02] [ 6.13017399e-01 7.89743412e-01 -2.26938792e-02 1.00349854e+02] [ 3.65731698e-02 3.27582225e-04 9.99330924e-01 3.46302190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.419254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:934.39, Y:100.38, Z:34.63 [[ 7.89912893e-01 -6.12548111e-01 -2.86781103e-02 9.34390830e+02] [ 6.12127486e-01 7.90433217e-01 -2.26995594e-02 1.00382429e+02] [ 3.65727032e-02 3.76015051e-04 9.99330924e-01 3.46324741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.4792541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:934.44, Y:100.42, Z:34.64 [[ 7.90273701e-01 -6.12082853e-01 -2.86715599e-02 9.34439556e+02] [ 6.11661622e-01 7.90793535e-01 -2.27078300e-02 1.00415077e+02] [ 3.65723576e-02 4.08108020e-04 9.99330924e-01 3.46355104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.539254154 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:934.49, Y:100.45, Z:34.64 [[ 7.91160690e-01 -6.10936231e-01 -2.86650219e-02 9.34487614e+02] [ 6.10513948e-01 7.91679669e-01 -2.27160803e-02 1.00447885e+02] [ 3.65715915e-02 4.71674046e-04 9.99330924e-01 3.46365471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.5992541539999 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:934.54, Y:100.48, Z:34.64 [[ 7.92447088e-01 -6.09267018e-01 -2.86585701e-02 9.34535297e+02] [ 6.08843347e-01 7.92964935e-01 -2.27242169e-02 1.00481635e+02] [ 3.65703570e-02 5.59159742e-04 9.99330924e-01 3.46384436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.659254154 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:934.58, Y:100.51, Z:34.64 [[ 7.94837645e-01 -6.06145339e-01 -2.86521563e-02 9.34584010e+02] [ 6.05719344e-01 7.95353581e-01 -2.27323009e-02 1.00512983e+02] [ 3.65676734e-02 7.13323215e-04 9.99330924e-01 3.46415694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.7192541539999 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:934.63, Y:100.55, Z:34.64 [[ 7.96148212e-01 -6.04423233e-01 -2.86457847e-02 9.34632566e+02] [ 6.03995833e-01 7.96662985e-01 -2.27403272e-02 1.00545444e+02] [ 3.65658184e-02 8.02736223e-04 9.99330924e-01 3.46435310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.779254154 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:934.68, Y:100.58, Z:34.64 [[ 7.97202943e-01 -6.03031737e-01 -2.86389983e-02 9.34681620e+02] [ 6.02603132e-01 7.97716713e-01 -2.27488707e-02 1.00577500e+02] [ 3.65640986e-02 8.77516554e-04 9.99330924e-01 3.46436926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.839254154 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:934.73, Y:100.61, Z:34.65 [[ 7.97573302e-01 -6.02541911e-01 -2.86369176e-02 9.34729672e+02] [ 6.02112896e-01 7.98086731e-01 -2.27514897e-02 1.00610708e+02] [ 3.65634700e-02 9.03323390e-04 9.99330925e-01 3.46462628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.899254154 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:934.78, Y:100.64, Z:34.65 [[ 7.97411103e-01 -6.02756846e-01 -2.86307053e-02 9.34779292e+02] [ 6.02327689e-01 7.97924413e-01 -2.27593047e-02 1.00642886e+02] [ 3.65634654e-02 9.03455712e-04 9.99330925e-01 3.46457817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.959254154 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:934.83, Y:100.67, Z:34.65 [[ 7.97233366e-01 -6.02992164e-01 -2.86253489e-02 9.34830015e+02] [ 6.02562917e-01 7.97746600e-01 -2.27660396e-02 1.00674196e+02] [ 3.65635183e-02 9.01272632e-04 9.99330925e-01 3.46502353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.019254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:934.88, Y:100.70, Z:34.65 [[ 7.97313511e-01 -6.02886457e-01 -2.86196626e-02 9.34880372e+02] [ 6.02456886e-01 7.97826474e-01 -2.27731858e-02 1.00702288e+02] [ 3.65631698e-02 9.15255923e-04 9.99330925e-01 3.46512556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.079254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:934.93, Y:100.74, Z:34.66 [[ 7.95014223e-01 -6.05915577e-01 -2.86129127e-02 9.34928674e+02] [ 6.05487656e-01 7.95528563e-01 -2.27816634e-02 1.00736243e+02] [ 3.65661540e-02 7.86980985e-04 9.99330925e-01 3.46565994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.139254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:934.98, Y:100.77, Z:34.66 [[ 7.93585515e-01 -6.07785882e-01 -2.86068597e-02 9.34976499e+02] [ 6.07358900e-01 7.94100634e-01 -2.27892616e-02 1.00769467e+02] [ 3.65677169e-02 7.10597097e-04 9.99330925e-01 3.46583906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.199254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:935.03, Y:100.80, Z:34.66 [[ 7.90502784e-01 -6.11790295e-01 -2.86004078e-02 9.35026566e+02] [ 6.11365629e-01 7.91019815e-01 -2.27973558e-02 1.00799627e+02] [ 3.65706903e-02 5.36066893e-04 9.99330925e-01 3.46588836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.259254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:935.08, Y:100.83, Z:34.66 [[ 7.88787942e-01 -6.13999971e-01 -2.85940250e-02 9.35075329e+02] [ 6.13576464e-01 7.89305922e-01 -2.28053588e-02 1.00832181e+02] [ 3.65719229e-02 4.43971277e-04 9.99330925e-01 3.46626900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.319254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:935.12, Y:100.86, Z:34.67 [[ 7.87200644e-01 -6.16034014e-01 -2.85873968e-02 9.35124330e+02] [ 6.15611544e-01 7.87719470e-01 -2.28136644e-02 1.00863024e+02] [ 3.65728423e-02 3.60199873e-04 9.99330925e-01 3.46650906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.379254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:935.17, Y:100.90, Z:34.67 [[ 7.87141065e-01 -6.16110235e-01 -2.85853666e-02 9.35172127e+02] [ 6.15687722e-01 7.87659856e-01 -2.28162079e-02 1.00896160e+02] [ 3.65728450e-02 3.59914956e-04 9.99330925e-01 3.46675450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.439254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:935.22, Y:100.93, Z:34.67 [[ 7.88047812e-01 -6.14950326e-01 -2.85787076e-02 9.35217857e+02] [ 6.14526748e-01 7.88565733e-01 -2.28245457e-02 1.00931297e+02] [ 3.65721514e-02 4.24453085e-04 9.99330925e-01 3.46681356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.499254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:935.26, Y:100.97, Z:34.67 [[ 7.89854895e-01 -6.12627847e-01 -2.85721071e-02 9.35262517e+02] [ 6.12202447e-01 7.90371322e-01 -2.28328053e-02 1.00969168e+02] [ 3.65705864e-02 5.42689188e-04 9.99330925e-01 3.46689157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.559254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:935.30, Y:101.01, Z:34.67 [[ 7.88378460e-01 -6.14526985e-01 -2.85655133e-02 9.35304939e+02] [ 6.14102531e-01 7.88895664e-01 -2.28410517e-02 1.01007665e+02] [ 3.65716522e-02 4.65239100e-04 9.99330925e-01 3.46688583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.6192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:935.35, Y:101.04, Z:34.67 [[ 7.87090718e-01 -6.16175604e-01 -2.85626805e-02 9.35350089e+02] [ 6.15752105e-01 7.87608704e-01 -2.28445936e-02 1.01042255e+02] [ 3.65724970e-02 3.93236982e-04 9.99330925e-01 3.46725573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.679254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:935.40, Y:101.08, Z:34.67 [[ 7.85789232e-01 -6.17834803e-01 -2.85558981e-02 9.35395097e+02] [ 6.17412089e-01 7.86307859e-01 -2.28530685e-02 1.01080853e+02] [ 3.65731482e-02 3.26938479e-04 9.99330925e-01 3.46749492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.7392541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:935.44, Y:101.12, Z:34.68 [[ 7.85643088e-01 -6.18020917e-01 -2.85496973e-02 9.35440987e+02] [ 6.17598044e-01 7.86161586e-01 -2.28608124e-02 1.01118212e+02] [ 3.65731355e-02 3.28202033e-04 9.99330925e-01 3.46766297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.799254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:935.49, Y:101.16, Z:34.67 [[ 7.84660748e-01 -6.19267919e-01 -2.85439203e-02 9.35485017e+02] [ 6.18845609e-01 7.85179703e-01 -2.28680231e-02 1.01156387e+02] [ 3.65735400e-02 2.79360385e-04 9.99330925e-01 3.46747495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.8592541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:935.53, Y:101.19, Z:34.68 [[ 7.83597479e-01 -6.20613090e-01 -2.85374062e-02 9.35530526e+02] [ 6.20191375e-01 7.84116918e-01 -2.28761494e-02 1.01193142e+02] [ 3.65739007e-02 2.27039834e-04 9.99330925e-01 3.46752417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.919254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:935.58, Y:101.23, Z:34.68 [[ 7.83458707e-01 -6.20788562e-01 -2.85309582e-02 9.35576437e+02] [ 6.20366670e-01 7.83978002e-01 -2.28841884e-02 1.01228813e+02] [ 3.65738861e-02 2.29161142e-04 9.99330925e-01 3.46771395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.9792541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:935.62, Y:101.27, Z:34.68 [[ 7.84935165e-01 -6.18920953e-01 -2.85244021e-02 9.35621026e+02] [ 6.18497528e-01 7.85453212e-01 -2.28923574e-02 1.01265403e+02] [ 3.65731430e-02 3.26744136e-04 9.99330925e-01 3.46792387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.039254154 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:935.67, Y:101.30, Z:34.68 [[ 7.86216875e-01 -6.17292282e-01 -2.85177945e-02 9.35665521e+02] [ 6.16867486e-01 7.86733798e-01 -2.29005858e-02 1.01301799e+02] [ 3.65722677e-02 4.13126819e-04 9.99330925e-01 3.46795840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.0992541539999 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:935.71, Y:101.34, Z:34.68 [[ 7.86804412e-01 -6.16543323e-01 -2.85157651e-02 9.35712032e+02] [ 6.16117943e-01 7.87320854e-01 -2.29031126e-02 1.01336023e+02] [ 3.65718177e-02 4.51195502e-04 9.99330925e-01 3.46797790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.159254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:935.76, Y:101.37, Z:34.69 [[ 7.86299012e-01 -6.17188046e-01 -2.85092993e-02 9.35758164e+02] [ 6.16762798e-01 7.86815563e-01 -2.29111582e-02 1.01370828e+02] [ 3.65720534e-02 4.31545840e-04 9.99330926e-01 3.46852498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.2192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:935.80, Y:101.41, Z:34.68 [[ 7.82281590e-01 -6.22272333e-01 -2.85071475e-02 9.35800044e+02] [ 6.21850346e-01 7.82800807e-01 -2.29138352e-02 1.01412290e+02] [ 3.65740638e-02 1.97891907e-04 9.99330926e-01 3.46825573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.279254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:935.85, Y:101.44, Z:34.69 [[ 7.84286092e-01 -6.19744343e-01 -2.85004549e-02 9.35850448e+02] [ 6.19320379e-01 7.84803697e-01 -2.29221566e-02 1.01443665e+02] [ 3.65731393e-02 3.26616065e-04 9.99330926e-01 3.46897891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.339254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:935.89, Y:101.48, Z:34.69 [[ 7.81004134e-01 -6.23875476e-01 -2.84944286e-02 9.35893377e+02] [ 6.23453977e-01 7.81523749e-01 -2.29296454e-02 1.01483500e+02] [ 3.65743161e-02 1.43183043e-04 9.99330926e-01 3.46860254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.399254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:935.94, Y:101.52, Z:34.69 [[ 7.81298721e-01 -6.23506834e-01 -2.84874935e-02 9.35939599e+02] [ 6.23084776e-01 7.81817881e-01 -2.29382583e-02 1.01518986e+02] [ 3.65741926e-02 1.71508367e-04 9.99330926e-01 3.46870971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.459254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:935.99, Y:101.55, Z:34.69 [[ 7.85025264e-01 -6.18808686e-01 -2.84806169e-02 9.35987169e+02] [ 6.18383212e-01 7.85541627e-01 -2.29467932e-02 1.01551588e+02] [ 3.65723851e-02 4.01877059e-04 9.99330926e-01 3.46932273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.519254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:936.03, Y:101.59, Z:34.69 [[ 7.84454453e-01 -6.19532232e-01 -2.84785042e-02 9.36031140e+02] [ 6.19107138e-01 7.84971131e-01 -2.29494149e-02 1.01589647e+02] [ 3.65727059e-02 3.71525507e-04 9.99330926e-01 3.46938547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.579254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:936.08, Y:101.62, Z:34.70 [[ 7.87865778e-01 -6.15188486e-01 -2.84717799e-02 9.36075495e+02] [ 6.14760243e-01 7.88379848e-01 -2.29577542e-02 1.01624721e+02] [ 3.65699236e-02 5.84310537e-04 9.99330926e-01 3.46958576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.639254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:936.12, Y:101.66, Z:34.70 [[ 7.88146728e-01 -6.14828640e-01 -2.84689014e-02 9.36120920e+02] [ 6.14400033e-01 7.88660495e-01 -2.29613232e-02 1.01661484e+02] [ 3.65695770e-02 6.05597754e-04 9.99330926e-01 3.46983609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.699254154 meters Centerline goodness : 0.999779 with order 1 Centerline is valid? [True, True] Translation: X:936.16, Y:101.70, Z:34.70 [[ 7.83407682e-01 -6.20856101e-01 -2.84623623e-02 9.36164152e+02] [ 6.20431153e-01 7.83924480e-01 -2.29694261e-02 1.01701149e+02] [ 3.65730509e-02 3.35488540e-04 9.99330926e-01 3.46999001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.759254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:936.21, Y:101.73, Z:34.70 [[ 7.79711905e-01 -6.25491516e-01 -2.84553746e-02 9.36211473e+02] [ 6.25069326e-01 7.80230957e-01 -2.29780794e-02 1.01734951e+02] [ 3.65743579e-02 1.29700266e-04 9.99330926e-01 3.47044785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.819254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:936.26, Y:101.77, Z:34.70 [[ 7.77768527e-01 -6.27906681e-01 -2.84485253e-02 9.36255394e+02] [ 6.27485792e-01 7.78288635e-01 -2.29865563e-02 1.01772646e+02] [ 3.65745762e-02 2.71745964e-05 9.99330926e-01 3.47042300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.879254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:936.30, Y:101.81, Z:34.70 [[ 7.77294273e-01 -6.28493982e-01 -2.84416557e-02 9.36299935e+02] [ 6.28073175e-01 7.77814447e-01 -2.29950530e-02 1.01809848e+02] [ 3.65745831e-02 1.04820014e-05 9.99330926e-01 3.47039371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.939254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:936.34, Y:101.85, Z:34.71 [[ 7.76533336e-01 -6.29434223e-01 -2.84347916e-02 9.36344561e+02] [ 6.29013735e-01 7.77053768e-01 -2.30035378e-02 1.01846760e+02] [ 3.65745759e-02 -2.28604977e-05 9.99330926e-01 3.47056692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.999254154 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:936.39, Y:101.88, Z:34.71 [[ 7.75525239e-01 -6.30676194e-01 -2.84278357e-02 9.36388956e+02] [ 6.30256225e-01 7.76046090e-01 -2.30121307e-02 1.01883827e+02] [ 3.65745137e-02 -7.03322761e-05 9.99330926e-01 3.47079062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.059254154 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:936.43, Y:101.92, Z:34.71 [[ 7.75385175e-01 -6.30848702e-01 -2.84208489e-02 9.36431803e+02] [ 6.30428532e-01 7.75905864e-01 -2.30207564e-02 1.01921321e+02] [ 3.65745176e-02 -6.73607751e-05 9.99330926e-01 3.47097057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.1192541539999 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:936.47, Y:101.96, Z:34.71 [[ 7.75520876e-01 -6.30682087e-01 -2.84161350e-02 9.36474376e+02] [ 6.30261592e-01 7.76041302e-01 -2.30265737e-02 1.01960471e+02] [ 3.65745419e-02 -5.20098532e-05 9.99330926e-01 3.47084917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.179254154 meters Centerline goodness : 0.999758 with order 1 Centerline is valid? [True, True] Translation: X:936.52, Y:102.00, Z:34.71 [[ 7.78534716e-01 -6.26958206e-01 -2.84095611e-02 9.36518816e+02] [ 6.26534926e-01 7.79052880e-01 -2.30346815e-02 1.01997332e+02] [ 3.65743330e-02 1.33717016e-04 9.99330926e-01 3.47113830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.2392541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:936.56, Y:102.04, Z:34.71 [[ 7.82644406e-01 -6.21820706e-01 -2.84032294e-02 9.36560763e+02] [ 6.21393742e-01 7.83159538e-01 -2.30424862e-02 1.02037463e+02] [ 3.65725551e-02 3.84483894e-04 9.99330926e-01 3.47126292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.299254154 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:936.60, Y:102.07, Z:34.72 [[ 7.87496295e-01 -6.15664892e-01 -2.83958801e-02 9.36604582e+02] [ 6.15233575e-01 7.88007789e-01 -2.30515395e-02 1.02074190e+02] [ 3.65681982e-02 6.82903131e-04 9.99330926e-01 3.47154084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.3592541539999 meters Centerline goodness : 0.999716 with order 1 Centerline is valid? [True, True] Translation: X:936.65, Y:102.11, Z:34.73 [[ 7.88624446e-01 -6.14219479e-01 -2.83886400e-02 9.36650018e+02] [ 6.13786904e-01 7.89134876e-01 -2.30604524e-02 1.02110329e+02] [ 3.65666449e-02 7.61461001e-04 9.99330926e-01 3.47260135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.419254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:936.69, Y:102.15, Z:34.72 [[ 7.86728392e-01 -6.16646478e-01 -2.83823644e-02 9.36694408e+02] [ 6.16215199e-01 7.87239917e-01 -2.30681737e-02 1.02149170e+02] [ 3.65686383e-02 6.58742854e-04 9.99330927e-01 3.47231949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.4792541539999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:936.74, Y:102.19, Z:34.73 [[ 7.83990668e-01 -6.20123695e-01 -2.83766544e-02 9.36737199e+02] [ 6.19694432e-01 7.84503886e-01 -2.30751955e-02 1.02188674e+02] [ 3.65710712e-02 5.05883194e-04 9.99330927e-01 3.47251651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.539254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:936.78, Y:102.22, Z:34.73 [[ 7.81529232e-01 -6.23223241e-01 -2.83699011e-02 9.36783865e+02] [ 6.22795712e-01 7.82043895e-01 -2.30834955e-02 1.02223332e+02] [ 3.65726788e-02 3.71773755e-04 9.99330927e-01 3.47255327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.5992541539999 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:936.83, Y:102.26, Z:34.73 [[ 7.80458982e-01 -6.24563293e-01 -2.83631870e-02 9.36829289e+02] [ 6.24136348e-01 7.80974129e-01 -2.30917423e-02 1.02258693e+02] [ 3.65731699e-02 3.19661722e-04 9.99330927e-01 3.47277646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.659254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:936.87, Y:102.30, Z:34.73 [[ 7.78683864e-01 -6.26775357e-01 -2.83564942e-02 9.36873594e+02] [ 6.26349576e-01 7.79199974e-01 -2.30999581e-02 1.02295196e+02] [ 3.65738640e-02 2.26486474e-04 9.99330927e-01 3.47299198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.7192541539999 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:936.92, Y:102.33, Z:34.73 [[ 7.74086793e-01 -6.32444235e-01 -2.83536175e-02 9.36920111e+02] [ 6.32022104e-01 7.74605892e-01 -2.31034884e-02 1.02330657e+02] [ 3.65745473e-02 -3.60077778e-05 9.99330927e-01 3.47320967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.779254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:936.97, Y:102.36, Z:34.73 [[ 7.72044873e-01 -6.34935537e-01 -2.83474731e-02 9.36966283e+02] [ 6.34514804e-01 7.72565106e-01 -2.31110251e-02 1.02364481e+02] [ 3.65742797e-02 -1.44142955e-04 9.99330927e-01 3.47337068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.839254154 meters Centerline goodness : 0.999648 with order 1 Centerline is valid? [True, True] Translation: X:937.01, Y:102.40, Z:34.74 [[ 7.71546854e-01 -6.35540749e-01 -2.83444544e-02 9.37013106e+02] [ 6.35120289e-01 7.72067308e-01 -2.31147267e-02 1.02399856e+02] [ 3.65741773e-02 -1.68043372e-04 9.99330927e-01 3.47359902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.899254154 meters Centerline goodness : 0.999759 with order 1 Centerline is valid? [True, True] Translation: X:937.06, Y:102.44, Z:34.74 [[ 7.71458019e-01 -6.35648842e-01 -2.83385851e-02 9.37057606e+02] [ 6.35228190e-01 7.71978318e-01 -2.31219203e-02 1.02436092e+02] [ 3.65741951e-02 -1.63877273e-04 9.99330927e-01 3.47368884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.959254154 meters Centerline goodness : 0.999737 with order 1 Centerline is valid? [True, True] Translation: X:937.10, Y:102.47, Z:34.74 [[ 7.70689027e-01 -6.36581111e-01 -2.83357042e-02 9.37103222e+02] [ 6.36160959e-01 7.71209730e-01 -2.31254503e-02 1.02473047e+02] [ 3.65739956e-02 -2.03537988e-04 9.99330927e-01 3.47391573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.019254154 meters Centerline goodness : 0.999451 with order 1 Centerline is valid? [True, True] Translation: X:937.15, Y:102.51, Z:34.74 [[ 7.71523968e-01 -6.35569196e-01 -2.83295717e-02 9.37148657e+02] [ 6.35148085e-01 7.72043895e-01 -2.31329604e-02 1.02509147e+02] [ 3.65742699e-02 -1.45839836e-04 9.99330927e-01 3.47419510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.079254154 meters Centerline goodness : 0.999758 with order 1 Centerline is valid? [True, True] Translation: X:937.19, Y:102.55, Z:34.74 [[ 7.72468894e-01 -6.34420495e-01 -2.83274197e-02 9.37192929e+02] [ 6.33998514e-01 7.72988116e-01 -2.31355952e-02 1.02546052e+02] [ 3.65744546e-02 -8.80143586e-05 9.99330927e-01 3.47440136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.139254154 meters Centerline goodness : 0.999715 with order 1 Centerline is valid? [True, True] Translation: X:937.24, Y:102.58, Z:34.75 [[ 7.73294258e-01 -6.33414484e-01 -2.83210612e-02 9.37237587e+02] [ 6.32991543e-01 7.73812697e-01 -2.31433763e-02 1.02583024e+02] [ 3.65745465e-02 -3.03521816e-05 9.99330927e-01 3.47464312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.199254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:937.28, Y:102.62, Z:34.75 [[ 7.73748569e-01 -6.32859733e-01 -2.83144848e-02 9.37282929e+02] [ 6.32436126e-01 7.74266465e-01 -2.31514193e-02 1.02619219e+02] [ 3.65745571e-02 6.27444407e-06 9.99330927e-01 3.47488425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.259254154 meters Centerline goodness : 0.997966 with order 1 Centerline is valid? [True, True] Translation: X:937.33, Y:102.66, Z:34.75 [[ 7.72886111e-01 -6.33913022e-01 -2.83079625e-02 9.37327675e+02] [ 6.33489828e-01 7.73404344e-01 -2.31593916e-02 1.02657858e+02] [ 3.65745411e-02 -3.32342697e-05 9.99330927e-01 3.47459970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.319254154 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:937.37, Y:102.70, Z:34.75 [[ 7.72129075e-01 -6.34835202e-01 -2.83011993e-02 9.37371463e+02] [ 6.34412325e-01 7.72647566e-01 -2.31676534e-02 1.02695420e+02] [ 3.65744947e-02 -6.62108169e-05 9.99330927e-01 3.47515259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.379254154 meters Centerline goodness : 0.999649 with order 1 Centerline is valid? [True, True] Translation: X:937.42, Y:102.73, Z:34.75 [[ 7.69467659e-01 -6.38058772e-01 -2.82935416e-02 9.37415599e+02] [ 6.37637723e-01 7.69987637e-01 -2.31770016e-02 1.02732075e+02] [ 3.65739664e-02 -2.07076226e-04 9.99330927e-01 3.47523936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.439254154 meters Centerline goodness : 0.999693 with order 1 Centerline is valid? [True, True] Translation: X:937.46, Y:102.77, Z:34.76 [[ 7.67357843e-01 -6.40594705e-01 -2.82907317e-02 9.37460230e+02] [ 6.40175248e-01 7.67879105e-01 -2.31804310e-02 1.02769279e+02] [ 3.65731231e-02 -3.23340585e-04 9.99330927e-01 3.47565804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.499254154 meters Centerline goodness : 0.999693 with order 1 Centerline is valid? [True, True] Translation: X:937.50, Y:102.81, Z:34.76 [[ 7.66726699e-01 -6.41350279e-01 -2.82840593e-02 9.37503831e+02] [ 6.40931036e-01 7.67248133e-01 -2.31885696e-02 1.02807073e+02] [ 3.65728873e-02 -3.48836017e-04 9.99330927e-01 3.47572427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.559254154 meters Centerline goodness : 0.999673 with order 1 Centerline is valid? [True, True] Translation: X:937.55, Y:102.85, Z:34.76 [[ 7.67888691e-01 -6.39958863e-01 -2.82774211e-02 9.37547566e+02] [ 6.39538377e-01 7.68409123e-01 -2.31966618e-02 1.02846294e+02] [ 3.65735376e-02 -2.72041775e-04 9.99330927e-01 3.47562058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.6192541539999 meters Centerline goodness : 0.999695 with order 1 Centerline is valid? [True, True] Translation: X:937.59, Y:102.89, Z:34.76 [[ 7.69975328e-01 -6.37447022e-01 -2.82716845e-02 9.37592104e+02] [ 6.37024581e-01 7.70494175e-01 -2.32036513e-02 1.02885666e+02] [ 3.65742667e-02 -1.43518991e-04 9.99330927e-01 3.47558199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.679254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:937.64, Y:102.92, Z:34.76 [[ 7.71510220e-01 -6.35588697e-01 -2.82663773e-02 9.37636290e+02] [ 6.35164770e-01 7.72027853e-01 -2.32101147e-02 1.02924046e+02] [ 3.65745171e-02 -4.69662744e-05 9.99330927e-01 3.47602070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.7392541539999 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:937.68, Y:102.96, Z:34.76 [[ 7.73242187e-01 -6.33480748e-01 -2.82606088e-02 9.37679764e+02] [ 6.33055153e-01 7.73758450e-01 -2.32171362e-02 1.02961427e+02] [ 3.65744937e-02 6.19451785e-05 9.99330927e-01 3.47636234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.799254154 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:937.72, Y:103.00, Z:34.77 [[ 7.74831731e-01 -6.31535690e-01 -2.82570597e-02 9.37724435e+02] [ 6.31108642e-01 7.75346791e-01 -2.32214550e-02 1.02999811e+02] [ 3.65741982e-02 1.59445620e-04 9.99330927e-01 3.47673189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.8592541539999 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:937.77, Y:103.04, Z:34.77 [[ 7.78343144e-01 -6.27203167e-01 -2.82513389e-02 9.37768159e+02] [ 6.26772999e-01 7.78855602e-01 -2.32284129e-02 1.03038661e+02] [ 3.65726477e-02 3.72499545e-04 9.99330928e-01 3.47701482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.919254154 meters Centerline goodness : 0.999695 with order 1 Centerline is valid? [True, True] Translation: X:937.81, Y:103.08, Z:34.77 [[ 7.81374626e-01 -6.23422710e-01 -2.82456646e-02 9.37809989e+02] [ 6.22989814e-01 7.81884782e-01 -2.32353108e-02 1.03076860e+02] [ 3.65702757e-02 5.58720945e-04 9.99330928e-01 3.47709463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.9792541539999 meters Centerline goodness : 0.999675 with order 1 Centerline is valid? [True, True] Translation: X:937.85, Y:103.12, Z:34.77 [[ 7.84185331e-01 -6.19883624e-01 -2.82428709e-02 9.37853637e+02] [ 6.19448303e-01 7.84693419e-01 -2.32387060e-02 1.03115159e+02] [ 3.65672883e-02 7.28453920e-04 9.99330928e-01 3.47710562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.039254154 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:937.90, Y:103.15, Z:34.77 [[ 7.85468225e-01 -6.18257586e-01 -2.82351802e-02 9.37896023e+02] [ 6.17820878e-01 7.85975121e-01 -2.32480465e-02 1.03154719e+02] [ 3.65654303e-02 8.16317973e-04 9.99330928e-01 3.47744481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.0992541539999 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:937.94, Y:103.19, Z:34.77 [[ 7.84938310e-01 -6.18930407e-01 -2.82311852e-02 9.37941704e+02] [ 6.18493960e-01 7.85445431e-01 -2.32528968e-02 1.03191595e+02] [ 3.65659803e-02 7.91271983e-04 9.99330928e-01 3.47735053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.159254154 meters Centerline goodness : 0.999697 with order 1 Centerline is valid? [True, True] Translation: X:937.99, Y:103.23, Z:34.78 [[ 7.80703583e-01 -6.24263662e-01 -2.82275831e-02 9.37985588e+02] [ 6.23830521e-01 7.81213531e-01 -2.32572687e-02 1.03227670e+02] [ 3.65704376e-02 5.47805145e-04 9.99330928e-01 3.47762973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.2192541539999 meters Centerline goodness : 0.999566 with order 1 Centerline is valid? [True, True] Translation: X:938.03, Y:103.26, Z:34.78 [[ 7.75205585e-01 -6.31078279e-01 -2.82224493e-02 9.38032872e+02] [ 6.30649395e-01 7.75719118e-01 -2.32634969e-02 1.03262837e+02] [ 3.65737811e-02 2.35522084e-04 9.99330928e-01 3.47817534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.279254154 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:938.08, Y:103.30, Z:34.79 [[ 7.70504615e-01 -6.36809595e-01 -2.82166282e-02 9.38079818e+02] [ 6.36384272e-01 7.71021102e-01 -2.32705553e-02 1.03298579e+02] [ 3.65745286e-02 -2.65481887e-05 9.99330928e-01 3.47867861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.339254154 meters Centerline goodness : 0.999738 with order 1 Centerline is valid? [True, True] Translation: X:938.13, Y:103.33, Z:34.79 [[ 7.66725145e-01 -6.41355362e-01 -2.82108356e-02 9.38125199e+02] [ 6.40932843e-01 7.67243928e-01 -2.32775755e-02 1.03334218e+02] [ 3.65737902e-02 -2.33748616e-04 9.99330928e-01 3.47885780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.399254154 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:938.17, Y:103.37, Z:34.79 [[ 7.65108882e-01 -6.43282922e-01 -2.82042617e-02 9.38169501e+02] [ 6.42861416e-01 7.65628489e-01 -2.32855380e-02 1.03370456e+02] [ 3.65731752e-02 -3.15459683e-04 9.99330928e-01 3.47901172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.459254154 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:938.21, Y:103.41, Z:34.79 [[ 7.65883259e-01 -6.42360885e-01 -2.82015412e-02 9.38213148e+02] [ 6.41938632e-01 7.66402259e-01 -2.32888325e-02 1.03408532e+02] [ 3.65735599e-02 -2.67131826e-04 9.99330928e-01 3.47933381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.519254154 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:938.26, Y:103.45, Z:34.79 [[ 7.66369816e-01 -6.41780613e-01 -2.81948510e-02 9.38256571e+02] [ 6.41357670e-01 7.66888253e-01 -2.32969292e-02 1.03445343e+02] [ 3.65738175e-02 -2.28920528e-04 9.99330928e-01 3.47945584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.579254154 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:938.30, Y:103.48, Z:34.80 [[ 7.68706146e-01 -6.38980495e-01 -2.81919756e-02 9.38300076e+02] [ 6.38555536e-01 7.69222932e-01 -2.33004082e-02 1.03483121e+02] [ 3.65744205e-02 -9.09750979e-05 9.99330928e-01 3.47958325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.639254154 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:938.34, Y:103.52, Z:34.80 [[ 7.71210933e-01 -6.35955399e-01 -2.81855848e-02 9.38343463e+02] [ 6.35528130e-01 7.71725810e-01 -2.33081364e-02 1.03521274e+02] [ 3.65744784e-02 6.27576325e-05 9.99330928e-01 3.47982691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.699254154 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:938.39, Y:103.56, Z:34.80 [[ 7.72508322e-01 -6.34379103e-01 -2.81788148e-02 9.38387402e+02] [ 6.33950485e-01 7.73022077e-01 -2.33163182e-02 1.03559342e+02] [ 3.65742310e-02 1.48076578e-04 9.99330928e-01 3.47992980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.759254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:938.43, Y:103.60, Z:34.80 [[ 7.73429262e-01 -6.33256273e-01 -2.81721384e-02 9.38431312e+02] [ 6.32826615e-01 7.73942148e-01 -2.33243823e-02 1.03596763e+02] [ 3.65739167e-02 2.11680845e-04 9.99330928e-01 3.48025277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.819254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:938.48, Y:103.63, Z:34.81 [[ 7.73566288e-01 -6.33088971e-01 -2.81700878e-02 9.38476111e+02] [ 6.32659112e-01 7.74079005e-01 -2.33268586e-02 1.03634603e+02] [ 3.65738504e-02 2.22808665e-04 9.99330928e-01 3.48064518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.879254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:938.52, Y:103.67, Z:34.81 [[ 7.72982512e-01 -6.33801861e-01 -2.81644582e-02 9.38519401e+02] [ 6.33372228e-01 7.73495418e-01 -2.33336537e-02 1.03672733e+02] [ 3.65739925e-02 1.97920569e-04 9.99330928e-01 3.48088058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.939254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:938.56, Y:103.71, Z:34.81 [[ 7.71017419e-01 -6.36191220e-01 -2.81579600e-02 9.38563644e+02] [ 6.35762890e-01 7.71531414e-01 -2.33414927e-02 1.03712192e+02] [ 3.65744035e-02 9.49114352e-05 9.99330928e-01 3.48084665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.999254154 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:938.61, Y:103.75, Z:34.81 [[ 7.67232262e-01 -6.40751219e-01 -2.81519386e-02 9.38606507e+02] [ 6.40325678e-01 7.67748567e-01 -2.33487529e-02 1.03749846e+02] [ 3.65743524e-02 -1.12492721e-04 9.99330928e-01 3.48071272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.059254154 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:938.65, Y:103.79, Z:34.81 [[ 7.64273976e-01 -6.44277056e-01 -2.81489841e-02 9.38651334e+02] [ 6.43853765e-01 7.64792128e-01 -2.33523143e-02 1.03786770e+02] [ 3.65734817e-02 -2.76263292e-04 9.99330928e-01 3.48082554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.1192541539999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:938.70, Y:103.83, Z:34.81 [[ 7.62096581e-01 -6.46851260e-01 -2.81469191e-02 9.38695060e+02] [ 6.46429627e-01 7.62616083e-01 -2.33548029e-02 1.03825712e+02] [ 3.65723769e-02 -3.96386990e-04 9.99330928e-01 3.48084392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.179254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:938.74, Y:103.86, Z:34.81 [[ 7.63240394e-01 -6.45501525e-01 -2.81404064e-02 9.38740569e+02] [ 6.45078684e-01 7.63758913e-01 -2.33626475e-02 1.03863222e+02] [ 3.65731108e-02 -3.21460023e-04 9.99330928e-01 3.48143744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.2392541539999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:938.78, Y:103.90, Z:34.81 [[ 7.63356596e-01 -6.45364344e-01 -2.81348704e-02 9.38784030e+02] [ 6.44941164e-01 7.63874839e-01 -2.33693124e-02 1.03901742e+02] [ 3.65732406e-02 -3.06217314e-04 9.99330928e-01 3.48125614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.299254154 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:938.83, Y:103.94, Z:34.82 [[ 7.65874833e-01 -6.42373984e-01 -2.81319166e-02 9.38829907e+02] [ 6.41948650e-01 7.66391310e-01 -2.33728677e-02 1.03939010e+02] [ 3.65741786e-02 -1.58554770e-04 9.99330928e-01 3.48186889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.3592541539999 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:938.87, Y:103.98, Z:34.82 [[ 7.69197715e-01 -6.38391554e-01 -2.81264902e-02 9.38874940e+02] [ 6.37963307e-01 7.69711779e-01 -2.33793959e-02 1.03975889e+02] [ 3.65744997e-02 3.97091840e-05 9.99330928e-01 3.48225048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.419254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:938.92, Y:104.01, Z:34.83 [[ 7.73452559e-01 -6.33229932e-01 -2.81245818e-02 9.38920388e+02] [ 6.32798171e-01 7.73963675e-01 -2.33816914e-02 1.04013070e+02] [ 3.65733916e-02 2.87445064e-04 9.99330928e-01 3.48281359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.4792541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:938.96, Y:104.05, Z:34.83 [[ 7.78037123e-01 -6.27588671e-01 -2.81192907e-02 9.38963895e+02] [ 6.27152975e-01 7.78544889e-01 -2.33880528e-02 1.04049516e+02] [ 3.65702071e-02 5.61676504e-04 9.99330928e-01 3.48288285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.539254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:939.01, Y:104.09, Z:34.83 [[ 7.80315777e-01 -6.24753373e-01 -2.81160265e-02 9.39009048e+02] [ 6.24315692e-01 7.80821832e-01 -2.33919763e-02 1.04086716e+02] [ 3.65678234e-02 6.99851651e-04 9.99330928e-01 3.48296976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.5992541539999 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:939.05, Y:104.12, Z:34.83 [[ 7.83018757e-01 -6.21362539e-01 -2.81108549e-02 9.39054197e+02] [ 6.20922444e-01 7.83522714e-01 -2.33981895e-02 1.04122747e+02] [ 3.65642518e-02 8.66560528e-04 9.99330928e-01 3.48280142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.659254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:939.10, Y:104.16, Z:34.83 [[ 7.84937979e-01 -6.18936387e-01 -2.81090364e-02 9.39099312e+02] [ 6.18494655e-01 7.85440503e-01 -2.34003740e-02 1.04158657e+02] [ 3.65613186e-02 9.82553478e-04 9.99330928e-01 3.48295234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.7192541539999 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:939.15, Y:104.19, Z:34.83 [[ 7.84638459e-01 -6.19316312e-01 -2.81032798e-02 9.39146942e+02] [ 6.18874577e-01 7.85140979e-01 -2.34072855e-02 1.04194326e+02] [ 3.65615503e-02 9.73851023e-04 9.99330928e-01 3.48267441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.779254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:939.19, Y:104.23, Z:34.83 [[ 7.83107557e-01 -6.21251173e-01 -2.80986485e-02 9.39194883e+02] [ 6.20810480e-01 7.83610992e-01 -2.34128436e-02 1.04227639e+02] [ 3.65636664e-02 8.90839276e-04 9.99330929e-01 3.48313710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.839254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:939.24, Y:104.26, Z:34.84 [[ 7.80206853e-01 -6.24890304e-01 -2.80958053e-02 9.39243597e+02] [ 6.24451837e-01 7.80712228e-01 -2.34162550e-02 1.04260542e+02] [ 3.65673295e-02 7.25045404e-04 9.99330929e-01 3.48353676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.899254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:939.29, Y:104.30, Z:34.84 [[ 7.76858620e-01 -6.29048179e-01 -2.80904435e-02 9.39290813e+02] [ 6.28612185e-01 7.77366130e-01 -2.34226853e-02 1.04295719e+02] [ 3.65705569e-02 5.38119961e-04 9.99330929e-01 3.48381555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.959254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:939.34, Y:104.33, Z:34.85 [[ 7.76093440e-01 -6.29992197e-01 -2.80856481e-02 9.39338942e+02] [ 6.29556613e-01 7.76601301e-01 -2.34284340e-02 1.04329492e+02] [ 3.65710815e-02 5.01148454e-04 9.99330929e-01 3.48482661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.019254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:939.39, Y:104.37, Z:34.85 [[ 7.73888251e-01 -6.32699382e-01 -2.80796674e-02 9.39385705e+02] [ 6.32265314e-01 7.74397408e-01 -2.34355999e-02 1.04365796e+02] [ 3.65725112e-02 3.82735650e-04 9.99330929e-01 3.48474647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.079254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:939.43, Y:104.40, Z:34.85 [[ 7.74048386e-01 -6.32503730e-01 -2.80736076e-02 9.39433262e+02] [ 6.32069270e-01 7.74557209e-01 -2.34428567e-02 1.04399075e+02] [ 3.65723094e-02 4.01440782e-04 9.99330929e-01 3.48509508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.139254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:939.48, Y:104.44, Z:34.85 [[ 7.72256536e-01 -6.34690389e-01 -2.80704936e-02 9.39477872e+02] [ 6.34257235e-01 7.72766470e-01 -2.34465848e-02 1.04435383e+02] [ 3.65732583e-02 3.02864729e-04 9.99330929e-01 3.48519312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.199254154 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:939.52, Y:104.47, Z:34.85 [[ 7.71948878e-01 -6.35064675e-01 -2.80675670e-02 9.39521654e+02] [ 6.34631640e-01 7.72458915e-01 -2.34500876e-02 1.04473549e+02] [ 3.65733646e-02 2.89702711e-04 9.99330929e-01 3.48535432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.259254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:939.57, Y:104.51, Z:34.86 [[ 7.72854167e-01 -6.33962948e-01 -2.80609501e-02 9.39565541e+02] [ 6.33528899e-01 7.73363340e-01 -2.34580029e-02 1.04512878e+02] [ 3.65728148e-02 3.52192460e-04 9.99330929e-01 3.48567681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.319254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:939.61, Y:104.55, Z:34.86 [[ 7.72981936e-01 -6.33807415e-01 -2.80550710e-02 9.39609708e+02] [ 6.33373008e-01 7.73490805e-01 -2.34650321e-02 1.04551417e+02] [ 3.65726508e-02 3.68721234e-04 9.99330929e-01 3.48594082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.379254154 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:939.65, Y:104.59, Z:34.86 [[ 7.72418391e-01 -6.34494341e-01 -2.80492694e-02 9.39653396e+02] [ 6.34060135e-01 7.72927430e-01 -2.34719651e-02 1.04589738e+02] [ 3.65728787e-02 3.45253948e-04 9.99330929e-01 3.48612579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.439254154 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:939.70, Y:104.63, Z:34.86 [[ 7.72493787e-01 -6.34402834e-01 -2.80426954e-02 9.39696329e+02] [ 6.33968283e-01 7.73002532e-01 -2.34798166e-02 1.04628041e+02] [ 3.65727367e-02 3.59832950e-04 9.99330929e-01 3.48646698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.499254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:939.74, Y:104.67, Z:34.87 [[ 7.71838076e-01 -6.35200568e-01 -2.80396732e-02 9.39739334e+02] [ 6.34766411e-01 7.72347157e-01 -2.34834251e-02 1.04668474e+02] [ 3.65730469e-02 3.26758913e-04 9.99330929e-01 3.48677127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.559254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:939.78, Y:104.71, Z:34.86 [[ 7.66473654e-01 -6.41663654e-01 -2.80337797e-02 9.39780113e+02] [ 6.41233533e-01 7.66986150e-01 -2.34904586e-02 1.04712704e+02] [ 3.65744942e-02 2.86180235e-05 9.99330929e-01 3.48589005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.6192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:939.83, Y:104.75, Z:34.87 [[ 7.66873537e-01 -6.41185944e-01 -2.80278941e-02 9.39827234e+02] [ 6.40755248e-01 7.67385549e-01 -2.34974788e-02 1.04746432e+02] [ 3.65744541e-02 6.05744518e-05 9.99330929e-01 3.48713863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.679254154 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:939.87, Y:104.79, Z:34.87 [[ 7.63819530e-01 -6.44821130e-01 -2.80256322e-02 9.39870101e+02] [ 6.44392771e-01 7.64333499e-01 -2.35001764e-02 1.04785040e+02] [ 3.65743398e-02 -1.09621094e-04 9.99330929e-01 3.48720439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.7392541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:939.91, Y:104.82, Z:34.87 [[ 7.61246686e-01 -6.47856796e-01 -2.80188381e-02 9.39913968e+02] [ 6.47430189e-01 7.61762110e-01 -2.35082740e-02 1.04822959e+02] [ 3.65736843e-02 -2.44645991e-04 9.99330929e-01 3.48725025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.799254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:939.96, Y:104.86, Z:34.87 [[ 7.59722157e-01 -6.49643984e-01 -2.80167557e-02 9.39958734e+02] [ 6.49218497e-01 7.60238507e-01 -2.35107555e-02 1.04859920e+02] [ 3.65730374e-02 -3.27354158e-04 9.99330929e-01 3.48747492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.8592541539999 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:940.00, Y:104.90, Z:34.87 [[ 7.58110716e-01 -6.51524041e-01 -2.80100907e-02 9.40001739e+02] [ 6.51099542e-01 7.58627878e-01 -2.35186934e-02 1.04899912e+02] [ 3.65722298e-02 -4.07583792e-04 9.99330929e-01 3.48723184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.919254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:940.05, Y:104.94, Z:34.88 [[ 7.61667729e-01 -6.47362411e-01 -2.80032159e-02 9.40046948e+02] [ 6.46934785e-01 7.62182308e-01 -2.35268762e-02 1.04935544e+02] [ 3.65739710e-02 -1.96592103e-04 9.99330929e-01 3.48760891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.9792541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:940.09, Y:104.97, Z:34.88 [[ 7.65519219e-01 -6.42803483e-01 -2.80001575e-02 9.40091669e+02] [ 6.42372659e-01 7.66031123e-01 -2.35305156e-02 1.04972412e+02] [ 3.65744895e-02 2.65262697e-05 9.99330929e-01 3.48793966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.039254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:940.14, Y:105.01, Z:34.88 [[ 7.69900009e-01 -6.37550254e-01 -2.79937622e-02 9.40135012e+02] [ 6.37115661e-01 7.70408717e-01 -2.35381215e-02 1.05011347e+02] [ 3.65733738e-02 2.86735685e-04 9.99330929e-01 3.48831052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.0992541539999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:940.18, Y:105.05, Z:34.89 [[ 7.72828809e-01 -6.33997135e-01 -2.79868734e-02 9.40178274e+02] [ 6.33559907e-01 7.73335255e-01 -2.35463094e-02 1.05049591e+02] [ 3.65715286e-02 4.65905400e-04 9.99330929e-01 3.48851283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.159254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:940.22, Y:105.09, Z:34.89 [[ 7.74316686e-01 -6.32179393e-01 -2.79800737e-02 9.40223671e+02] [ 6.31740685e-01 7.74821849e-01 -2.35543868e-02 1.05085688e+02] [ 3.65701704e-02 5.62403783e-04 9.99330929e-01 3.48882029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.2192541539999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:940.27, Y:105.12, Z:34.89 [[ 7.75123732e-01 -6.31189909e-01 -2.79731749e-02 9.40268678e+02] [ 6.30750260e-01 7.75628078e-01 -2.35625770e-02 1.05122480e+02] [ 3.65692406e-02 6.19825286e-04 9.99330929e-01 3.48880051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.279254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:940.31, Y:105.16, Z:34.89 [[ 7.75892946e-01 -6.30244414e-01 -2.79663172e-02 9.40312538e+02] [ 6.29803858e-01 7.76396498e-01 -2.35707134e-02 1.05161430e+02] [ 3.65682613e-02 6.75055815e-04 9.99330929e-01 3.48879902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.339254154 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:940.36, Y:105.20, Z:34.89 [[ 7.74847906e-01 -6.31529050e-01 -2.79603349e-02 9.40357240e+02] [ 6.31089073e-01 7.75351965e-01 -2.35778077e-02 1.05197665e+02] [ 3.65691711e-02 6.23753117e-04 9.99330929e-01 3.48868834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.399254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:940.40, Y:105.23, Z:34.89 [[ 7.72771649e-01 -6.34068069e-01 -2.79582341e-02 9.40403310e+02] [ 6.33629657e-01 7.73277070e-01 -2.35802986e-02 1.05233735e+02] [ 3.65709757e-02 5.07019919e-04 9.99330930e-01 3.48909661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.459254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:940.45, Y:105.27, Z:34.89 [[ 7.69529315e-01 -6.37999479e-01 -2.79517101e-02 9.40449462e+02] [ 6.37563369e-01 7.70036723e-01 -2.35880294e-02 1.05269568e+02] [ 3.65729938e-02 3.30693631e-04 9.99330930e-01 3.48937790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.519254154 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:940.50, Y:105.31, Z:34.90 [[ 7.66369030e-01 -6.41792487e-01 -2.79448303e-02 9.40495017e+02] [ 6.41358591e-01 7.66878333e-01 -2.35961772e-02 1.05305593e+02] [ 3.65741341e-02 1.60722432e-04 9.99330930e-01 3.48968537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.579254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:940.54, Y:105.34, Z:34.90 [[ 7.63949090e-01 -6.44671434e-01 -2.79379672e-02 9.40538269e+02] [ 6.44239161e-01 7.64459771e-01 -2.36043004e-02 1.05343854e+02] [ 3.65744702e-02 3.37512374e-05 9.99330930e-01 3.49010205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.639254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:940.58, Y:105.38, Z:34.90 [[ 7.65840560e-01 -6.42423615e-01 -2.79309113e-02 9.40583676e+02] [ 6.41989538e-01 7.66349709e-01 -2.36126467e-02 1.05380114e+02] [ 3.65741675e-02 1.52169744e-04 9.99330930e-01 3.49019874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.699254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:940.63, Y:105.42, Z:34.90 [[ 7.68654973e-01 -6.39053657e-01 -2.79276980e-02 9.40626991e+02] [ 6.38617210e-01 7.69162091e-01 -2.36164465e-02 1.05419363e+02] [ 3.65731031e-02 3.17790422e-04 9.99330930e-01 3.49020619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.759254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:940.67, Y:105.46, Z:34.91 [[ 7.71089332e-01 -6.36114463e-01 -2.79218955e-02 9.40670518e+02] [ 6.35675835e-01 7.71594565e-01 -2.36233048e-02 1.05459573e+02] [ 3.65715087e-02 4.66404065e-04 9.99330930e-01 3.49058936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.819254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:940.71, Y:105.50, Z:34.91 [[ 7.70931831e-01 -6.36305596e-01 -2.79159520e-02 9.40714656e+02] [ 6.35866839e-01 7.71436952e-01 -2.36303263e-02 1.05498551e+02] [ 3.65715058e-02 4.66542611e-04 9.99330930e-01 3.49096880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.879254154 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:940.76, Y:105.54, Z:34.91 [[ 7.67649486e-01 -6.40261899e-01 -2.79099711e-02 9.40759435e+02] [ 6.39825489e-01 7.68156636e-01 -2.36373883e-02 1.05536975e+02] [ 3.65733486e-02 2.87718074e-04 9.99330930e-01 3.49133885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.939254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:940.80, Y:105.58, Z:34.92 [[ 7.60616107e-01 -6.48601960e-01 -2.79040511e-02 9.40802096e+02] [ 6.48170854e-01 7.61127773e-01 -2.36443748e-02 1.05577840e+02] [ 3.65743361e-02 -1.02300318e-04 9.99330930e-01 3.49150100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.999254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:940.84, Y:105.62, Z:34.92 [[ 7.53387853e-01 -6.56984356e-01 -2.78979942e-02 9.40844671e+02] [ 6.56558678e-01 7.53904044e-01 -2.36515192e-02 1.05615592e+02] [ 3.65710888e-02 -4.97902912e-04 9.99330930e-01 3.49172211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.059254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:940.89, Y:105.65, Z:34.92 [[ 7.47537796e-01 -6.63633336e-01 -2.78933492e-02 9.40888920e+02] [ 6.63212044e-01 7.48057573e-01 -2.36569960e-02 1.05653827e+02] [ 3.65654023e-02 -8.14706498e-04 9.99330930e-01 3.49209790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.1192541539999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:940.93, Y:105.69, Z:34.92 [[ 7.45160473e-01 -6.66301865e-01 -2.78871667e-02 9.40933014e+02] [ 6.65882161e-01 7.45681533e-01 -2.36642817e-02 1.05692933e+02] [ 3.65625003e-02 -9.35879492e-04 9.99330930e-01 3.49241233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.179254154 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:940.97, Y:105.73, Z:34.92 [[ 7.44711122e-01 -6.66804324e-01 -2.78807978e-02 9.40973449e+02] [ 6.66384691e-01 7.45232239e-01 -2.36717831e-02 1.05733121e+02] [ 3.65621167e-02 -9.50696693e-04 9.99330930e-01 3.49223270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.2392541539999 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:941.01, Y:105.77, Z:34.92 [[ 7.45755959e-01 -6.65635700e-01 -2.78776702e-02 9.41013369e+02] [ 6.65215113e-01 7.46276306e-01 -2.36754658e-02 1.05773490e+02] [ 3.65636800e-02 -8.88527847e-04 9.99330930e-01 3.49243198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.299254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:941.06, Y:105.81, Z:34.93 [[ 7.46645747e-01 -6.64637623e-01 -2.78739809e-02 9.41056936e+02] [ 6.64216179e-01 7.47165400e-01 -2.36798085e-02 1.05812383e+02] [ 3.65649658e-02 -8.33920777e-04 9.99330930e-01 3.49281900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.3592541539999 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:941.10, Y:105.85, Z:34.93 [[ 7.50027210e-01 -6.60819600e-01 -2.78682650e-02 9.41098465e+02] [ 6.60395260e-01 7.50544501e-01 -2.36865336e-02 1.05854741e+02] [ 3.65688987e-02 -6.38525391e-04 9.99330930e-01 3.49310797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.419254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:941.14, Y:105.90, Z:34.93 [[ 7.54783353e-01 -6.55382166e-01 -2.78622616e-02 9.41138387e+02] [ 6.54953839e-01 7.55297347e-01 -2.36935932e-02 1.05898609e+02] [ 3.65726507e-02 -3.64965426e-04 9.99330930e-01 3.49329805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.4792541539999 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:941.18, Y:105.94, Z:34.93 [[ 7.61747529e-01 -6.47274856e-01 -2.78561235e-02 9.41179222e+02] [ 6.46840793e-01 7.62256689e-01 -2.37008075e-02 1.05939884e+02] [ 3.65744532e-02 3.55545216e-05 9.99330930e-01 3.49305622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.539254154 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:941.22, Y:105.98, Z:34.94 [[ 7.64574790e-01 -6.43933056e-01 -2.78497587e-02 9.41219675e+02] [ 6.43496496e-01 7.65081810e-01 -2.37082841e-02 1.05983124e+02] [ 3.65738917e-02 2.05534192e-04 9.99330930e-01 3.49369831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.5992541539999 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:941.26, Y:106.02, Z:34.94 [[ 7.66921386e-01 -6.41136741e-01 -2.78436341e-02 9.41259850e+02] [ 6.40698071e-01 7.67426582e-01 -2.37154748e-02 1.06024989e+02] [ 3.65728072e-02 3.48542155e-04 9.99330930e-01 3.49419257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.659254154 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:941.30, Y:106.07, Z:34.94 [[ 7.67746887e-01 -6.40148299e-01 -2.78365228e-02 9.41300437e+02] [ 6.39708676e-01 7.68251254e-01 -2.37238189e-02 1.06065850e+02] [ 3.65722059e-02 4.06622976e-04 9.99330930e-01 3.49417898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.7192541539999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:941.34, Y:106.11, Z:34.94 [[ 7.67078283e-01 -6.40949438e-01 -2.78339027e-02 9.41342943e+02] [ 6.40510231e-01 7.67583011e-01 -2.37268926e-02 1.06106509e+02] [ 3.65725693e-02 3.72484590e-04 9.99330930e-01 3.49433286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.779254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:941.38, Y:106.15, Z:34.94 [[ 7.67172750e-01 -6.40836630e-01 -2.78277905e-02 9.41383620e+02] [ 6.40397088e-01 7.67677187e-01 -2.37340590e-02 1.06146539e+02] [ 3.65724143e-02 3.87287332e-04 9.99330930e-01 3.49438410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.839254154 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:941.43, Y:106.18, Z:34.94 [[ 7.66624142e-01 -6.41492945e-01 -2.78249329e-02 9.41426625e+02] [ 6.41053713e-01 7.67128850e-01 -2.37374087e-02 1.06184994e+02] [ 3.65726890e-02 3.60394043e-04 9.99330930e-01 3.49430982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.899254154 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:941.47, Y:106.22, Z:34.95 [[ 7.65035329e-01 -6.43387002e-01 -2.78228627e-02 9.41471543e+02] [ 6.42948932e-01 7.65541045e-01 -2.37398349e-02 1.06222766e+02] [ 3.65734446e-02 2.73132574e-04 9.99330930e-01 3.49498127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.959254154 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:941.52, Y:106.26, Z:34.95 [[ 7.62863942e-01 -6.45960400e-01 -2.78166689e-02 9.41516466e+02] [ 6.45523772e-01 7.63370903e-01 -2.37470902e-02 1.06261200e+02] [ 3.65741156e-02 1.59477848e-04 9.99330930e-01 3.49545446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.019254154 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:941.56, Y:106.30, Z:34.95 [[ 7.61910176e-01 -6.47085367e-01 -2.78102620e-02 9.41559204e+02] [ 6.46649213e-01 7.62417546e-01 -2.37545910e-02 1.06299468e+02] [ 3.65742799e-02 1.15380565e-04 9.99330931e-01 3.49541186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.079254154 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:941.60, Y:106.34, Z:34.95 [[ 7.61711857e-01 -6.47318921e-01 -2.78075665e-02 9.41602825e+02] [ 6.46882808e-01 7.62219262e-01 -2.37577460e-02 1.06339571e+02] [ 3.65743013e-02 1.08320125e-04 9.99330931e-01 3.49544581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.139254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:941.65, Y:106.38, Z:34.96 [[ 7.64471310e-01 -6.44057985e-01 -2.78016039e-02 9.41648119e+02] [ 6.43619453e-01 7.64976625e-01 -2.37647214e-02 1.06376886e+02] [ 3.65734357e-02 2.73794591e-04 9.99330931e-01 3.49605116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.199254154 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:941.69, Y:106.41, Z:34.96 [[ 7.67318652e-01 -6.40663344e-01 -2.77950819e-02 9.41690982e+02] [ 6.40222301e-01 7.67821777e-01 -2.37723470e-02 1.06414884e+02] [ 3.65717405e-02 4.45933961e-04 9.99330931e-01 3.49568245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.259254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:941.74, Y:106.45, Z:34.96 [[ 7.70310818e-01 -6.37062747e-01 -2.77903006e-02 9.41735950e+02] [ 6.36619151e-01 7.70811693e-01 -2.37779351e-02 1.06453015e+02] [ 3.65691254e-02 6.24563040e-04 9.99330931e-01 3.49613255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.319254154 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:941.78, Y:106.49, Z:34.96 [[ 7.71384186e-01 -6.35762902e-01 -2.77843576e-02 9.41781812e+02] [ 6.35318212e-01 7.71884090e-01 -2.37848775e-02 1.06489605e+02] [ 3.65678463e-02 6.95369949e-04 9.99330931e-01 3.49639331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.379254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:941.83, Y:106.52, Z:34.97 [[ 7.71881233e-01 -6.35159604e-01 -2.77784223e-02 9.41828709e+02] [ 6.34714274e-01 7.72380567e-01 -2.37918074e-02 1.06524968e+02] [ 3.65671085e-02 7.33088465e-04 9.99330931e-01 3.49681560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.439254154 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:941.88, Y:106.56, Z:34.97 [[ 7.72445163e-01 -6.34473928e-01 -2.77723908e-02 9.41875138e+02] [ 6.34027902e-01 7.72943875e-01 -2.37988458e-02 1.06560930e+02] [ 3.65662466e-02 7.74832637e-04 9.99330931e-01 3.49682090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.499254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:941.92, Y:106.60, Z:34.97 [[ 7.75084140e-01 -6.31247668e-01 -2.77661371e-02 9.41919285e+02] [ 6.30799305e-01 7.75580753e-01 -2.38061398e-02 1.06596578e+02] [ 3.65624518e-02 9.36901372e-04 9.99330931e-01 3.49716514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.559254154 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:941.97, Y:106.63, Z:34.97 [[ 7.75929492e-01 -6.30208407e-01 -2.77630667e-02 9.41965842e+02] [ 6.29759251e-01 7.76425388e-01 -2.38097200e-02 1.06633084e+02] [ 3.65610356e-02 9.90615881e-04 9.99330931e-01 3.49719359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.6192541539999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:942.01, Y:106.67, Z:34.98 [[ 7.76011332e-01 -6.30107906e-01 -2.77567877e-02 9.42012213e+02] [ 6.29658425e-01 7.76506933e-01 -2.38170377e-02 1.06668467e+02] [ 3.65606418e-02 1.00499598e-03 9.99330931e-01 3.49751838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.679254154 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:942.06, Y:106.70, Z:34.98 [[ 7.72886822e-01 -6.33936852e-01 -2.77493770e-02 9.42060418e+02] [ 6.33489517e-01 7.73384361e-01 -2.38256689e-02 1.06701668e+02] [ 3.65649037e-02 8.35606119e-04 9.99330931e-01 3.49777522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.7392541539999 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:942.11, Y:106.73, Z:34.98 [[ 7.61859742e-01 -6.47147458e-01 -2.77471055e-02 9.42111812e+02] [ 6.46708658e-01 7.62364823e-01 -2.38283139e-02 1.06731363e+02] [ 3.65738500e-02 2.09539737e-04 9.99330931e-01 3.49810360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.799254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:942.16, Y:106.77, Z:34.98 [[ 7.56313956e-01 -6.53620440e-01 -2.77402296e-02 9.42158402e+02] [ 6.53185669e-01 7.56822510e-01 -2.38363159e-02 1.06765376e+02] [ 3.65743335e-02 -9.17820323e-05 9.99330931e-01 3.49849285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.8592541539999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:942.21, Y:106.80, Z:34.99 [[ 7.50560886e-01 -6.60219066e-01 -2.77334027e-02 9.42207879e+02] [ 6.59788472e-01 7.51072981e-01 -2.38442564e-02 1.06797652e+02] [ 3.65722421e-02 -4.01613176e-04 9.99330931e-01 3.49902424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.919254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:942.25, Y:106.83, Z:34.99 [[ 7.48389346e-01 -6.62679855e-01 -2.77271594e-02 9.42254600e+02] [ 6.62250676e-01 7.48902629e-01 -2.38515141e-02 1.06832755e+02] [ 3.65708605e-02 -5.12111021e-04 9.99330931e-01 3.49935861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.9792541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:942.30, Y:106.87, Z:34.99 [[ 7.47442542e-01 -6.63747888e-01 -2.77197960e-02 9.42299140e+02] [ 6.63319125e-01 7.47956172e-01 -2.38600687e-02 1.06869783e+02] [ 3.65702627e-02 -5.53040449e-04 9.99330931e-01 3.49914619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.039254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:942.35, Y:106.91, Z:34.99 [[ 7.48905608e-01 -6.62096767e-01 -2.77175279e-02 9.42345137e+02] [ 6.61666774e-01 7.49418208e-01 -2.38627032e-02 1.06906898e+02] [ 3.65714387e-02 -4.68855001e-04 9.99330931e-01 3.49949783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.0992541539999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:942.39, Y:106.95, Z:35.00 [[ 7.52786197e-01 -6.57681553e-01 -2.77113005e-02 9.42388095e+02] [ 6.57248287e-01 7.53296035e-01 -2.38699327e-02 1.06946146e+02] [ 3.65736272e-02 -2.44248912e-04 9.99330931e-01 3.49959950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.159254154 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:942.43, Y:106.98, Z:35.00 [[ 7.57385115e-01 -6.52380252e-01 -2.77090892e-02 9.42430800e+02] [ 6.51943324e-01 7.57891817e-01 -2.38724994e-02 1.06984017e+02] [ 3.65744392e-02 1.59199744e-05 9.99330931e-01 3.49959732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.2192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:942.47, Y:107.02, Z:35.00 [[ 7.61073923e-01 -6.48073187e-01 -2.77061042e-02 9.42474637e+02] [ 6.47633265e-01 7.61578028e-01 -2.38759633e-02 1.07021614e+02] [ 3.65737318e-02 2.27978277e-04 9.99330931e-01 3.50011068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.279254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:942.52, Y:107.06, Z:35.00 [[ 7.65129756e-01 -6.43280041e-01 -2.76991860e-02 9.42518601e+02] [ 6.42836671e-01 7.65630831e-01 -2.38839866e-02 1.07059602e+02] [ 3.65714427e-02 4.68296270e-04 9.99330931e-01 3.50034763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.339254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:942.56, Y:107.10, Z:35.01 [[ 7.67830630e-01 -6.40054113e-01 -2.76921809e-02 9.42563286e+02] [ 6.39608345e-01 7.68329573e-01 -2.38921058e-02 1.07097321e+02] [ 3.65689621e-02 6.32940657e-04 9.99330931e-01 3.50050780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.399254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:942.61, Y:107.14, Z:35.00 [[ 7.68034761e-01 -6.39809450e-01 -2.76852539e-02 9.42607108e+02] [ 6.39363234e-01 7.68533304e-01 -2.39001299e-02 1.07136315e+02] [ 3.65685686e-02 6.55197071e-04 9.99330931e-01 3.50043095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.459254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:942.65, Y:107.17, Z:35.00 [[ 7.68756211e-01 -6.38942692e-01 -2.76789631e-02 9.42651205e+02] [ 6.38495652e-01 7.69254014e-01 -2.39074131e-02 1.07174093e+02] [ 3.65676204e-02 7.06074741e-04 9.99330931e-01 3.50038011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.519254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:942.70, Y:107.21, Z:35.01 [[ 7.72307140e-01 -6.34646325e-01 -2.76717179e-02 9.42698475e+02] [ 6.34196216e-01 7.72802170e-01 -2.39157962e-02 1.07208170e+02] [ 3.65628358e-02 9.21041325e-04 9.99330932e-01 3.50092700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.579254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:942.74, Y:107.25, Z:35.00 [[ 7.72531807e-01 -6.34372923e-01 -2.76695108e-02 9.42744598e+02] [ 6.33922548e-01 7.73026595e-01 -2.39183495e-02 1.07245575e+02] [ 3.65624209e-02 9.37358972e-04 9.99330932e-01 3.50027992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.639254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:942.79, Y:107.28, Z:35.01 [[ 7.74017409e-01 -6.32559717e-01 -2.76632443e-02 9.42792649e+02] [ 6.32107925e-01 7.74510902e-01 -2.39255948e-02 1.07280439e+02] [ 3.65598518e-02 1.03267097e-03 9.99330932e-01 3.50116123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.699254154 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:942.84, Y:107.32, Z:35.01 [[ 7.72378143e-01 -6.34560555e-01 -2.76569439e-02 9.42840762e+02] [ 6.34109780e-01 7.72872566e-01 -2.39328756e-02 1.07315365e+02] [ 3.65621521e-02 9.47691419e-04 9.99330932e-01 3.50131573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.759254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:942.89, Y:107.35, Z:35.02 [[ 7.69019300e-01 -6.38627236e-01 -2.76508444e-02 9.42889558e+02] [ 6.38178824e-01 7.69515867e-01 -2.39399206e-02 1.07348538e+02] [ 3.65664489e-02 7.64077668e-04 9.99330932e-01 3.50212538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.819254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:942.94, Y:107.38, Z:35.02 [[ 7.65484358e-01 -6.42860383e-01 -2.76446498e-02 9.42936097e+02] [ 6.42414458e-01 7.65983160e-01 -2.39470717e-02 1.07383888e+02] [ 3.65699599e-02 5.71786059e-04 9.99330932e-01 3.50232155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.879254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:942.98, Y:107.42, Z:35.03 [[ 7.63843838e-01 -6.44809081e-01 -2.76376530e-02 9.42981205e+02] [ 6.44364137e-01 7.64343515e-01 -2.39551441e-02 1.07420945e+02] [ 3.65711553e-02 4.89276820e-04 9.99330932e-01 3.50258923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.939254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:943.02, Y:107.46, Z:35.03 [[ 7.64764402e-01 -6.43717294e-01 -2.76306952e-02 9.43024099e+02] [ 6.43271347e-01 7.65263184e-01 -2.39631668e-02 1.07461079e+02] [ 3.65702587e-02 5.52142438e-04 9.99330932e-01 3.50270082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.999254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:943.07, Y:107.50, Z:35.03 [[ 7.66984703e-01 -6.41070468e-01 -2.76246357e-02 9.43066842e+02] [ 6.40622548e-01 7.67481715e-01 -2.39701501e-02 1.07501327e+02] [ 3.65679581e-02 6.87773959e-04 9.99330932e-01 3.50285306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.059254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:943.11, Y:107.54, Z:35.03 [[ 7.66274241e-01 -6.41919781e-01 -2.76185267e-02 9.43110716e+02] [ 6.41472159e-01 7.66771520e-01 -2.39771869e-02 1.07540004e+02] [ 3.65685302e-02 6.56584746e-04 9.99330932e-01 3.50291807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.1192541539999 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:943.15, Y:107.58, Z:35.03 [[ 7.63625988e-01 -6.45068174e-01 -2.76116294e-02 9.43154345e+02] [ 6.44622315e-01 7.64124849e-01 -2.39851270e-02 1.07578316e+02] [ 3.65707742e-02 5.16593846e-04 9.99330932e-01 3.50308429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.179254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:943.20, Y:107.61, Z:35.04 [[ 7.59817744e-01 -6.49549824e-01 -2.76047462e-02 9.43198249e+02] [ 6.49106620e-01 7.60318966e-01 -2.39930464e-02 1.07614942e+02] [ 3.65730911e-02 3.11918840e-04 9.99330932e-01 3.50367959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.2392541539999 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:943.24, Y:107.65, Z:35.04 [[ 7.54407634e-01 -6.55825617e-01 -2.76022059e-02 9.43243635e+02] [ 6.55386477e-01 7.54912418e-01 -2.39959684e-02 1.07652435e+02] [ 3.65744188e-02 1.26292390e-05 9.99330932e-01 3.50373517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.299254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:943.29, Y:107.69, Z:35.04 [[ 7.49946685e-01 -6.60922395e-01 -2.75963260e-02 9.43287851e+02] [ 6.60486436e-01 7.50454221e-01 -2.40027287e-02 1.07691673e+02] [ 3.65737202e-02 -2.26232196e-04 9.99330932e-01 3.50408380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.3592541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:943.33, Y:107.73, Z:35.04 [[ 7.44709318e-01 -6.66818422e-01 -2.75902857e-02 9.43331663e+02] [ 6.66386224e-01 7.45220059e-01 -2.40096698e-02 1.07730891e+02] [ 3.65709245e-02 -5.05561439e-04 9.99330932e-01 3.50446825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.419254154 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:943.37, Y:107.77, Z:35.04 [[ 7.42167657e-01 -6.69646384e-01 -2.75842311e-02 9.43374140e+02] [ 6.69215873e-01 7.42679821e-01 -2.40166238e-02 1.07769300e+02] [ 3.65688971e-02 -6.35443933e-04 9.99330932e-01 3.50424447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.4792541539999 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:943.42, Y:107.81, Z:35.05 [[ 7.40434055e-01 -6.71562885e-01 -2.75808190e-02 9.43417019e+02] [ 6.71133554e-01 7.40947209e-01 -2.40205416e-02 1.07809649e+02] [ 3.65672351e-02 -7.24786103e-04 9.99330932e-01 3.50486287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.539254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:943.46, Y:107.85, Z:35.05 [[ 7.39912686e-01 -6.72137516e-01 -2.75749527e-02 9.43459621e+02] [ 6.71708332e-01 7.40425963e-01 -2.40272741e-02 1.07850044e+02] [ 3.65668432e-02 -7.44240529e-04 9.99330932e-01 3.50513357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.5992541539999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:943.50, Y:107.89, Z:35.05 [[ 7.41219237e-01 -6.70696644e-01 -2.75690906e-02 9.43501223e+02] [ 6.70266213e-01 7.41731468e-01 -2.40339984e-02 1.07890231e+02] [ 3.65683841e-02 -6.64167963e-04 9.99330932e-01 3.50525654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.659254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:943.54, Y:107.93, Z:35.05 [[ 7.44913333e-01 -6.66591668e-01 -2.75621839e-02 9.43542835e+02] [ 6.66158121e-01 7.45422930e-01 -2.40419164e-02 1.07931103e+02] [ 3.65716250e-02 -4.51628585e-04 9.99330932e-01 3.50547389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.7192541539999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:943.58, Y:107.97, Z:35.06 [[ 7.50019398e-01 -6.60841600e-01 -2.75551028e-02 9.43583120e+02] [ 6.60403847e-01 7.50525386e-01 -2.40500295e-02 1.07971661e+02] [ 3.65740641e-02 -1.59507251e-04 9.99330932e-01 3.50567162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.779254154 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:943.62, Y:108.01, Z:35.06 [[ 7.53929323e-01 -6.56377529e-01 -2.75520570e-02 9.43624534e+02] [ 6.55936653e-01 7.54432592e-01 -2.40535184e-02 1.08012988e+02] [ 3.65743587e-02 6.22488062e-05 9.99330932e-01 3.50581313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.839254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:943.67, Y:108.05, Z:35.06 [[ 7.56906772e-01 -6.52942120e-01 -2.75449941e-02 9.43666960e+02] [ 6.52498666e-01 7.57407770e-01 -2.40616038e-02 1.08053744e+02] [ 3.65736271e-02 2.39318940e-04 9.99330932e-01 3.50637339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.899254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:943.71, Y:108.09, Z:35.07 [[ 7.58860515e-01 -6.50670680e-01 -2.75387812e-02 9.43708086e+02] [ 6.50225468e-01 7.59359953e-01 -2.40687124e-02 1.08094215e+02] [ 3.65726530e-02 3.58378582e-04 9.99330932e-01 3.50657389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.959254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:943.75, Y:108.13, Z:35.07 [[ 7.60159216e-01 -6.49153270e-01 -2.75317746e-02 9.43750008e+02] [ 6.48706771e-01 7.60657503e-01 -2.40767245e-02 1.08133939e+02] [ 3.65717353e-02 4.42095428e-04 9.99330933e-01 3.50685378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.019254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:943.79, Y:108.17, Z:35.07 [[ 7.59934578e-01 -6.49416527e-01 -2.75247381e-02 9.43791486e+02] [ 6.48969910e-01 7.60432759e-01 -2.40847660e-02 1.08174362e+02] [ 3.65717576e-02 4.40119663e-04 9.99330933e-01 3.50683778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.079254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:943.83, Y:108.21, Z:35.07 [[ 7.60756199e-01 -6.48454158e-01 -2.75174641e-02 9.43833725e+02] [ 6.48006610e-01 7.61253543e-01 -2.40930738e-02 1.08214424e+02] [ 3.65710210e-02 4.97456660e-04 9.99330933e-01 3.50675212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.139254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:943.88, Y:108.25, Z:35.07 [[ 7.60259866e-01 -6.49036091e-01 -2.75152353e-02 9.43877199e+02] [ 6.48588832e-01 7.60757470e-01 -2.40956190e-02 1.08253611e+02] [ 3.65713471e-02 4.72857768e-04 9.99330933e-01 3.50698822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.199254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:943.92, Y:108.29, Z:35.07 [[ 7.59434642e-01 -6.50001796e-01 -2.75079997e-02 9.43922946e+02] [ 6.49554870e-01 7.59932546e-01 -2.41038764e-02 1.08291357e+02] [ 3.65717872e-02 4.37363602e-04 9.99330933e-01 3.50746647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.259254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:943.97, Y:108.33, Z:35.08 [[ 7.54374733e-01 -6.55867666e-01 -2.75021248e-02 9.43969720e+02] [ 6.55424368e-01 7.54875869e-01 -2.41105777e-02 1.08327591e+02] [ 3.65740387e-02 1.62847845e-04 9.99330933e-01 3.50817989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.319254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:944.01, Y:108.37, Z:35.08 [[ 7.45486594e-01 -6.65953239e-01 -2.74958403e-02 9.44013561e+02] [ 6.65516456e-01 7.45993419e-01 -2.41177425e-02 1.08365562e+02] [ 3.65730046e-02 -3.19480458e-04 9.99330933e-01 3.50829640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.379254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:944.06, Y:108.40, Z:35.09 [[ 7.38061285e-01 -6.74173293e-01 -2.74938102e-02 9.44057511e+02] [ 6.73742067e-01 7.38572847e-01 -2.41200565e-02 1.08403846e+02] [ 3.65672796e-02 -7.21656582e-04 9.99330933e-01 3.50855211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.439254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:944.10, Y:108.44, Z:35.10 [[ 7.34314841e-01 -6.78252300e-01 -2.74869260e-02 9.44103218e+02] [ 6.77823622e-01 7.34828539e-01 -2.41278991e-02 1.08441398e+02] [ 3.65629808e-02 -9.13813331e-04 9.99330933e-01 3.50956486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.499254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:944.14, Y:108.48, Z:35.09 [[ 7.27331857e-01 -6.85735491e-01 -2.74810067e-02 9.44143112e+02] [ 6.85311841e-01 7.27849710e-01 -2.41346391e-02 1.08484350e+02] [ 3.65520214e-02 -1.27916742e-03 9.99330933e-01 3.50876130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.559254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:944.19, Y:108.52, Z:35.09 [[ 7.22720698e-01 -6.90593773e-01 -2.74778811e-02 9.44185751e+02] [ 6.90173467e-01 7.23241269e-01 -2.41381972e-02 1.08524329e+02] [ 3.65428263e-02 -1.51932969e-03 9.99330933e-01 3.50903864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.6192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:944.23, Y:108.56, Z:35.10 [[ 7.19379467e-01 -6.94073866e-01 -2.74709088e-02 9.44228727e+02] [ 6.93655776e-01 7.19901819e-01 -2.41461296e-02 1.08563908e+02] [ 3.65355547e-02 -1.68512473e-03 9.99330933e-01 3.50957444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.679254154 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:944.27, Y:108.61, Z:35.09 [[ 7.17098219e-01 -6.96430783e-01 -2.74646843e-02 9.44269620e+02] [ 6.96014140e-01 7.17621725e-01 -2.41532074e-02 1.08605738e+02] [ 3.65302913e-02 -1.79558658e-03 9.99330933e-01 3.50901679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.7392541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:944.31, Y:108.65, Z:35.10 [[ 7.18738366e-01 -6.94738061e-01 -2.74624853e-02 9.44309600e+02] [ 6.94320089e-01 7.19260812e-01 -2.41557075e-02 1.08649649e+02] [ 3.65345789e-02 -1.70612149e-03 9.99330933e-01 3.50983332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.799254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:944.35, Y:108.69, Z:35.10 [[ 7.22453962e-01 -6.90873661e-01 -2.74564738e-02 9.44349280e+02] [ 6.90452634e-01 7.22973950e-01 -2.41625385e-02 1.08691407e+02] [ 3.65435767e-02 -1.50107302e-03 9.99330933e-01 3.50997342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.8592541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:944.39, Y:108.74, Z:35.10 [[ 7.31511754e-01 -6.81275904e-01 -2.74535544e-02 9.44386252e+02] [ 6.80847925e-01 7.32026034e-01 -2.41658551e-02 1.08736900e+02] [ 3.65603313e-02 -1.01408849e-03 9.99330933e-01 3.51013242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.919254154 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:944.42, Y:108.78, Z:35.10 [[ 7.41340599e-01 -6.70567523e-01 -2.74465469e-02 9.44423831e+02] [ 6.70131818e-01 7.41848350e-01 -2.41738113e-02 1.08782499e+02] [ 3.65713483e-02 -4.71776647e-04 9.99330933e-01 3.51005048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.9792541539999 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:944.46, Y:108.83, Z:35.10 [[ 7.48023906e-01 -6.63104096e-01 -2.74443919e-02 9.44462440e+02] [ 6.62663233e-01 7.48527186e-01 -2.41762576e-02 1.08826851e+02] [ 3.65742489e-02 -1.01970819e-04 9.99330933e-01 3.51008958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.039254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:944.50, Y:108.87, Z:35.11 [[ 7.51593031e-01 -6.59056221e-01 -2.74374469e-02 9.44503100e+02] [ 6.58612361e-01 7.52093668e-01 -2.41841368e-02 1.08867903e+02] [ 3.65742359e-02 1.05987037e-04 9.99330933e-01 3.51073835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.0992541539999 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:944.54, Y:108.91, Z:35.11 [[ 7.53094773e-01 -6.57339979e-01 -2.74302017e-02 9.44544808e+02] [ 6.56894678e-01 7.53594130e-01 -2.41923517e-02 1.08908382e+02] [ 3.65738389e-02 2.00380090e-04 9.99330933e-01 3.51057653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.159254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:944.59, Y:108.95, Z:35.11 [[ 7.54605237e-01 -6.55605553e-01 -2.74279816e-02 9.44588126e+02] [ 6.55159014e-01 7.55103487e-01 -2.41948685e-02 1.08948593e+02] [ 3.65732547e-02 2.87885165e-04 9.99330933e-01 3.51124274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.2192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:944.63, Y:108.99, Z:35.11 [[ 7.55611125e-01 -6.54446238e-01 -2.74216900e-02 9.44631161e+02] [ 6.53998675e-01 7.56108455e-01 -2.42019971e-02 1.08987897e+02] [ 3.65726776e-02 3.53549314e-04 9.99330933e-01 3.51135476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.279254154 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:944.67, Y:109.03, Z:35.11 [[ 7.57651538e-01 -6.52083268e-01 -2.74145654e-02 9.44674773e+02] [ 6.51633862e-01 7.58147204e-01 -2.42100647e-02 1.09026565e+02] [ 3.65712542e-02 4.78533619e-04 9.99330933e-01 3.51115896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.339254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:944.72, Y:109.06, Z:35.11 [[ 7.57473649e-01 -6.52290035e-01 -2.74113372e-02 9.44719021e+02] [ 6.51840632e-01 7.57969317e-01 -2.42137193e-02 1.09063838e+02] [ 3.65713203e-02 4.73430950e-04 9.99330933e-01 3.51144465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.399254154 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:944.76, Y:109.10, Z:35.12 [[ 7.55283322e-01 -6.54825247e-01 -2.74043641e-02 9.44764413e+02] [ 6.54377222e-01 7.55780236e-01 -2.42216087e-02 1.09100523e+02] [ 3.65725976e-02 3.61385442e-04 9.99330933e-01 3.51176602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.459254154 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:944.81, Y:109.14, Z:35.12 [[ 7.51675393e-01 -6.58963957e-01 -2.73972319e-02 9.44810915e+02] [ 6.58518374e-01 7.52174498e-01 -2.42296733e-02 1.09136307e+02] [ 3.65739805e-02 1.71268582e-04 9.99330933e-01 3.51195526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.519254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:944.86, Y:109.17, Z:35.12 [[ 7.47819170e-01 -6.63337200e-01 -2.73906473e-02 9.44858132e+02] [ 6.62894263e-01 7.48320625e-01 -2.42371146e-02 1.09170398e+02] [ 3.65743660e-02 -3.21240204e-05 9.99330934e-01 3.51233281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.579254154 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:944.91, Y:109.21, Z:35.13 [[ 7.44686040e-01 -6.66852736e-01 -2.73884936e-02 9.44905638e+02] [ 6.66412077e-01 7.45189498e-01 -2.42395481e-02 1.09205664e+02] [ 3.65738267e-02 -2.01169837e-04 9.99330934e-01 3.51257659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.639254154 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:944.95, Y:109.24, Z:35.13 [[ 7.44388610e-01 -6.67184984e-01 -2.73823642e-02 9.44951301e+02] [ 6.66744295e-01 7.44892042e-01 -2.42464701e-02 1.09241263e+02] [ 3.65737860e-02 -2.08238952e-04 9.99330934e-01 3.51281462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.699254154 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:945.00, Y:109.28, Z:35.13 [[ 7.45350218e-01 -6.66110831e-01 -2.73754182e-02 9.44996617e+02] [ 6.65669129e-01 7.45852760e-01 -2.42543101e-02 1.09276923e+02] [ 3.65740898e-02 -1.45015465e-04 9.99330934e-01 3.51310424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.759254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:945.04, Y:109.31, Z:35.13 [[ 7.45444061e-01 -6.66005897e-01 -2.73732878e-02 9.45042794e+02] [ 6.65564036e-01 7.45946463e-01 -2.42567141e-02 1.09313986e+02] [ 3.65741219e-02 -1.36652476e-04 9.99330934e-01 3.51337954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.819254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:945.09, Y:109.35, Z:35.14 [[ 7.43990002e-01 -6.67630065e-01 -2.73673678e-02 9.45088056e+02] [ 6.67189055e-01 7.44493152e-01 -2.42633915e-02 1.09349738e+02] [ 3.65737875e-02 -2.07487565e-04 9.99330934e-01 3.51379686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.879254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:945.13, Y:109.39, Z:35.14 [[ 7.41860495e-01 -6.69995834e-01 -2.73603568e-02 9.45133040e+02] [ 6.69556136e-01 7.42364792e-01 -2.42712948e-02 1.09386135e+02] [ 3.65730320e-02 -3.13380005e-04 9.99330934e-01 3.51409946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.939254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:945.18, Y:109.42, Z:35.14 [[ 7.40777375e-01 -6.71193474e-01 -2.73532616e-02 9.45176954e+02] [ 6.70754297e-01 7.41282125e-01 -2.42792882e-02 1.09423030e+02] [ 3.65725838e-02 -3.61770363e-04 9.99330934e-01 3.51437168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.999254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:945.22, Y:109.46, Z:35.15 [[ 7.40503155e-01 -6.71496120e-01 -2.73502725e-02 9.45220139e+02] [ 6.71057025e-01 7.41007977e-01 -2.42826550e-02 1.09461274e+02] [ 3.65724787e-02 -3.72209829e-04 9.99330934e-01 3.51461405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.059254154 meters Centerline goodness : 0.999678 with order 1 Centerline is valid? [True, True] Translation: X:945.26, Y:109.50, Z:35.15 [[ 7.40642417e-01 -6.71342796e-01 -2.73433633e-02 9.45264969e+02] [ 6.70903310e-01 7.41146898e-01 -2.42904326e-02 1.09499764e+02] [ 3.65726558e-02 -3.54228159e-04 9.99330934e-01 3.51470897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.1192541539999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:945.31, Y:109.54, Z:35.15 [[ 7.43222200e-01 -6.68485930e-01 -2.73371984e-02 9.45308413e+02] [ 6.68044249e-01 7.43724760e-01 -2.42973688e-02 1.09537251e+02] [ 3.65738005e-02 -2.04114251e-04 9.99330934e-01 3.51484626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.179254154 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:945.35, Y:109.58, Z:35.15 [[ 7.46755790e-01 -6.64536405e-01 -2.73341669e-02 9.45351777e+02] [ 6.64091941e-01 7.47255891e-01 -2.43007786e-02 1.09575720e+02] [ 3.65743694e-02 -5.65281868e-06 9.99330934e-01 3.51496845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.2392541539999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:945.39, Y:109.62, Z:35.15 [[ 7.48511223e-01 -6.62558799e-01 -2.73273849e-02 9.45393230e+02] [ 6.62112735e-01 7.49009898e-01 -2.43084030e-02 1.09618201e+02] [ 3.65742281e-02 1.01302963e-04 9.99330934e-01 3.51485517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.299254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:945.44, Y:109.66, Z:35.15 [[ 7.53314155e-01 -6.57093104e-01 -2.73210049e-02 9.45437364e+02] [ 6.56643162e-01 7.53809333e-01 -2.43155715e-02 1.09655498e+02] [ 3.65724229e-02 3.77113128e-04 9.99330934e-01 3.51534856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.3592541539999 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:945.48, Y:109.69, Z:35.16 [[ 7.58750603e-01 -6.50808331e-01 -2.73137138e-02 9.45484558e+02] [ 6.50353994e-01 7.59241752e-01 -2.43237589e-02 1.09689881e+02] [ 3.65678169e-02 6.92083889e-04 9.99330934e-01 3.51565479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.419254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:945.53, Y:109.73, Z:35.16 [[ 7.61900329e-01 -6.47118206e-01 -2.73114753e-02 9.45529646e+02] [ 6.46661401e-01 7.62389182e-01 -2.43262721e-02 1.09727505e+02] [ 3.65639469e-02 8.72917801e-04 9.99330934e-01 3.51605892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.4792541539999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:945.57, Y:109.77, Z:35.15 [[ 7.61050399e-01 -6.48117817e-01 -2.73054269e-02 9.45569590e+02] [ 6.47661410e-01 7.61539625e-01 -2.43330593e-02 1.09771756e+02] [ 3.65648539e-02 8.34013188e-04 9.99330934e-01 3.51525105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.539254154 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:945.62, Y:109.80, Z:35.16 [[ 7.67172172e-01 -6.40860058e-01 -2.72991666e-02 9.45618417e+02] [ 6.40398776e-01 7.67656804e-01 -2.43400807e-02 1.09802965e+02] [ 3.65549765e-02 1.19067973e-03 9.99330934e-01 3.51634069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.5992541539999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:945.66, Y:109.84, Z:35.16 [[ 7.66037606e-01 -6.42215902e-01 -2.72969162e-02 9.45660480e+02] [ 6.41755388e-01 7.66522968e-01 -2.43426043e-02 1.09844710e+02] [ 3.65569208e-02 1.12940730e-03 9.99330934e-01 3.51550198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.659254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:945.71, Y:109.88, Z:35.16 [[ 7.65679290e-01 -6.42643320e-01 -2.72908043e-02 9.45707306e+02] [ 6.42182833e-01 7.66164677e-01 -2.43494544e-02 1.09879162e+02] [ 3.65572645e-02 1.11818696e-03 9.99330934e-01 3.51609326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.7192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:945.76, Y:109.91, Z:35.17 [[ 7.64108247e-01 -6.44510833e-01 -2.72832075e-02 9.45755786e+02] [ 6.44051229e-01 7.64594470e-01 -2.43579635e-02 1.09911949e+02] [ 3.65595610e-02 1.04033746e-03 9.99330934e-01 3.51656283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.779254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:945.81, Y:109.94, Z:35.17 [[ 7.62044986e-01 -6.46949142e-01 -2.72808843e-02 9.45809188e+02] [ 6.46491001e-01 7.62532589e-01 -2.43605653e-02 1.09939005e+02] [ 3.65626101e-02 9.27000451e-04 9.99330934e-01 3.51723912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.839254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:945.86, Y:109.97, Z:35.17 [[ 7.59513702e-01 -6.49919082e-01 -2.72786342e-02 9.45856726e+02] [ 6.49462757e-01 7.60003005e-01 -2.43630847e-02 1.09973038e+02] [ 3.65658776e-02 7.87639705e-04 9.99330934e-01 3.51733882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.899254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:945.90, Y:110.01, Z:35.18 [[ 7.58401978e-01 -6.51216321e-01 -2.72716547e-02 9.45903178e+02] [ 6.50760553e-01 7.58891799e-01 -2.43708949e-02 1.10008491e+02] [ 3.65669596e-02 7.35617832e-04 9.99330934e-01 3.51770455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.959254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:945.95, Y:110.04, Z:35.18 [[ 7.56689536e-01 -6.53205633e-01 -2.72644110e-02 9.45949442e+02] [ 6.52750861e-01 7.57180281e-01 -2.43789959e-02 1.10041649e+02] [ 3.65685719e-02 6.50463316e-04 9.99330934e-01 3.51789233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.019254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:946.00, Y:110.08, Z:35.18 [[ 7.55109023e-01 -6.55032201e-01 -2.72613061e-02 9.45996821e+02] [ 6.54578491e-01 7.55600751e-01 -2.43824675e-02 1.10076500e+02] [ 3.65699647e-02 5.66756631e-04 9.99330934e-01 3.51808568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.079254154 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:946.04, Y:110.11, Z:35.18 [[ 7.53101847e-01 -6.57339190e-01 -2.72543071e-02 9.46042253e+02] [ 6.56886703e-01 7.53594701e-01 -2.43902882e-02 1.10112500e+02] [ 3.65713938e-02 4.65379174e-04 9.99330934e-01 3.51799049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.139254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:946.08, Y:110.15, Z:35.18 [[ 7.54379747e-01 -6.55872544e-01 -2.72470771e-02 9.46084666e+02] [ 6.55418808e-01 7.54871450e-01 -2.43983624e-02 1.10150719e+02] [ 3.65702567e-02 5.47383649e-04 9.99330935e-01 3.51846619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.199254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:946.13, Y:110.19, Z:35.19 [[ 7.53770944e-01 -6.56572311e-01 -2.72426955e-02 9.46126650e+02] [ 6.56118854e-01 7.54262906e-01 -2.44032539e-02 1.10190731e+02] [ 3.65706555e-02 5.20017620e-04 9.99330935e-01 3.51863542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.259254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:946.17, Y:110.23, Z:35.19 [[ 7.53857561e-01 -6.56473145e-01 -2.72357708e-02 9.46168792e+02] [ 6.56019345e-01 7.54349205e-01 -2.44109800e-02 1.10231350e+02] [ 3.65704348e-02 5.35209340e-04 9.99330935e-01 3.51904333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.319254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:946.21, Y:110.27, Z:35.19 [[ 7.56269548e-01 -6.53693293e-01 -2.72295595e-02 9.46210293e+02] [ 6.53237436e-01 7.56759286e-01 -2.44179064e-02 1.10273905e+02] [ 3.65680437e-02 6.79151390e-04 9.99330935e-01 3.51928609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.379254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:946.25, Y:110.31, Z:35.19 [[ 7.57872615e-01 -6.51834324e-01 -2.72233992e-02 9.46252119e+02] [ 6.51377020e-01 7.58361001e-01 -2.44247725e-02 1.10314748e+02] [ 3.65660694e-02 7.78169557e-04 9.99330935e-01 3.51944677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.439254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:946.29, Y:110.36, Z:35.19 [[ 7.58699850e-01 -6.50871574e-01 -2.72163786e-02 9.46292438e+02] [ 6.50413370e-01 7.59187392e-01 -2.44325931e-02 1.10356781e+02] [ 3.65648118e-02 8.35108249e-04 9.99330935e-01 3.51937267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.499254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:946.33, Y:110.40, Z:35.20 [[ 7.56557920e-01 -6.53360160e-01 -2.72142239e-02 9.46334989e+02] [ 6.52903474e-01 7.57046884e-01 -2.44349928e-02 1.10396451e+02] [ 3.65672943e-02 7.18226014e-04 9.99330935e-01 3.51960750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.559254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:946.38, Y:110.44, Z:35.20 [[ 7.52647482e-01 -6.57861326e-01 -2.72074348e-02 9.46377969e+02] [ 6.57407291e-01 7.53138909e-01 -2.44425499e-02 1.10435349e+02] [ 3.65707861e-02 5.10257588e-04 9.99330935e-01 3.51982040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.6192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:946.42, Y:110.47, Z:35.20 [[ 7.48225716e-01 -6.62886421e-01 -2.72005583e-02 9.46422861e+02] [ 6.62435409e-01 7.48719919e-01 -2.44502000e-02 1.10472723e+02] [ 3.65733054e-02 2.75655475e-04 9.99330935e-01 3.51996142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.679254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:946.47, Y:110.51, Z:35.20 [[ 7.44270787e-01 -6.67324133e-01 -2.71936854e-02 9.46467861e+02] [ 6.66875788e-01 7.44767411e-01 -2.44578417e-02 1.10509139e+02] [ 3.65742787e-02 6.84467353e-05 9.99330935e-01 3.52000484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.7392541539999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:946.51, Y:110.55, Z:35.20 [[ 7.42043844e-01 -6.69799635e-01 -2.71915776e-02 9.46512097e+02] [ 6.69352862e-01 7.42541882e-01 -2.44601848e-02 1.10546404e+02] [ 3.65743081e-02 -5.02307403e-05 9.99330935e-01 3.52033765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.799254154 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:946.56, Y:110.58, Z:35.21 [[ 7.40518075e-01 -6.71486390e-01 -2.71847053e-02 9.46557571e+02] [ 6.71040470e-01 7.41016878e-01 -2.44678202e-02 1.10584479e+02] [ 3.65741337e-02 -1.23174312e-04 9.99330935e-01 3.52063173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.8592541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:946.60, Y:110.62, Z:35.21 [[ 7.41353738e-01 -6.70563906e-01 -2.71787443e-02 9.46603153e+02] [ 6.70117123e-01 7.41851767e-01 -2.44744399e-02 1.10622209e+02] [ 3.65742755e-02 -6.87244537e-05 9.99330935e-01 3.52115456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.919254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:946.65, Y:110.66, Z:35.21 [[ 7.41551824e-01 -6.70345088e-01 -2.71726987e-02 9.46646232e+02] [ 6.69897912e-01 7.42049500e-01 -2.44811502e-02 1.10661097e+02] [ 3.65743063e-02 -4.88925954e-05 9.99330935e-01 3.52144144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.9792541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:946.69, Y:110.70, Z:35.22 [[ 7.45134619e-01 -6.66360588e-01 -2.71655286e-02 9.46689540e+02] [ 6.65910461e-01 7.45629628e-01 -2.44891039e-02 1.10700033e+02] [ 3.65739967e-02 1.57869430e-04 9.99330935e-01 3.52167999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.039254154 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:946.73, Y:110.74, Z:35.22 [[ 7.46584459e-01 -6.64735887e-01 -2.71633305e-02 9.46732105e+02] [ 6.64284594e-01 7.47078404e-01 -2.44915418e-02 1.10739094e+02] [ 3.65735444e-02 2.40822470e-04 9.99330935e-01 3.52184189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.0992541539999 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:946.77, Y:110.78, Z:35.22 [[ 7.48780442e-01 -6.62261569e-01 -2.71562924e-02 9.46774231e+02] [ 6.61808361e-01 7.49272631e-01 -2.44993431e-02 1.10778872e+02] [ 3.65724401e-02 3.72367595e-04 9.99330935e-01 3.52198297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.159254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:946.82, Y:110.82, Z:35.22 [[ 7.51414775e-01 -6.59271381e-01 -2.71492486e-02 9.46815974e+02] [ 6.58815933e-01 7.51904892e-01 -2.45071464e-02 1.10820073e+02] [ 3.65705131e-02 5.28674346e-04 9.99330935e-01 3.52214622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.2192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:946.86, Y:110.86, Z:35.22 [[ 7.51775500e-01 -6.58860264e-01 -2.71431491e-02 9.46857976e+02] [ 6.58404304e-01 7.52265141e-01 -2.45139000e-02 1.10858948e+02] [ 3.65700795e-02 5.57783245e-04 9.99330935e-01 3.52229617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.279254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:946.90, Y:110.90, Z:35.23 [[ 7.50614918e-01 -6.60182361e-01 -2.71384513e-02 9.46901772e+02] [ 6.59727075e-01 7.51105186e-01 -2.45190997e-02 1.10898413e+02] [ 3.65709087e-02 5.00430936e-04 9.99330935e-01 3.52262039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.339254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:946.94, Y:110.94, Z:35.23 [[ 7.49800568e-01 -6.61107365e-01 -2.71322599e-02 9.46944113e+02] [ 6.60652437e-01 7.50291167e-01 -2.45259491e-02 1.10935982e+02] [ 3.65713805e-02 4.64577023e-04 9.99330935e-01 3.52270393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.399254154 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:946.99, Y:110.98, Z:35.23 [[ 7.50075055e-01 -6.60796085e-01 -2.71283281e-02 9.46987102e+02] [ 6.60340795e-01 7.50565319e-01 -2.45302974e-02 1.10975007e+02] [ 3.65711067e-02 4.85622432e-04 9.99330935e-01 3.52280536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.459254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:947.03, Y:111.02, Z:35.23 [[ 7.49785225e-01 -6.61125220e-01 -2.71212168e-02 9.47029107e+02] [ 6.60669862e-01 7.50275425e-01 -2.45381572e-02 1.11016897e+02] [ 3.65711770e-02 4.80177202e-04 9.99330935e-01 3.52269792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.519254154 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:947.07, Y:111.05, Z:35.23 [[ 7.52950963e-01 -6.57517787e-01 -2.71146894e-02 9.47074294e+02] [ 6.57059821e-01 7.53438728e-01 -2.45453679e-02 1.11053768e+02] [ 3.65682731e-02 6.65485409e-04 9.99330935e-01 3.52330386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.579254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:947.12, Y:111.09, Z:35.24 [[ 7.54008480e-01 -6.56305076e-01 -2.71082810e-02 9.47117146e+02] [ 6.55846071e-01 7.54495267e-01 -2.45524434e-02 1.11092698e+02] [ 3.65669629e-02 7.33890912e-04 9.99330935e-01 3.52353893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.639254154 meters Centerline goodness : 0.999757 with order 1 Centerline is valid? [True, True] Translation: X:947.16, Y:111.13, Z:35.24 [[ 7.53142027e-01 -6.57299483e-01 -2.71012254e-02 9.47160242e+02] [ 6.56840841e-01 7.53629156e-01 -2.45602289e-02 1.11131270e+02] [ 3.65676994e-02 6.96148876e-04 9.99330936e-01 3.52371116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.699254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:947.20, Y:111.17, Z:35.24 [[ 7.50066725e-01 -6.60806950e-01 -2.70939667e-02 9.47204796e+02] [ 6.60350297e-01 7.50555719e-01 -2.45682338e-02 1.11168808e+02] [ 3.65703913e-02 5.36305691e-04 9.99330936e-01 3.52405955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.759254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:947.25, Y:111.21, Z:35.24 [[ 7.44554863e-01 -6.67011515e-01 -2.70867985e-02 9.47249235e+02] [ 6.66558650e-01 7.45047367e-01 -2.45761343e-02 1.11206149e+02] [ 3.65735125e-02 2.43340490e-04 9.99330936e-01 3.52434743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.819254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:947.29, Y:111.24, Z:35.25 [[ 7.38580822e-01 -6.73620856e-01 -2.70797265e-02 9.47292082e+02] [ 6.73172113e-01 7.39077085e-01 -2.45839244e-02 1.11244887e+02] [ 3.65742495e-02 -7.21015852e-05 9.99330936e-01 3.52462649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.879254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:947.33, Y:111.29, Z:35.24 [[ 7.28508310e-01 -6.84501644e-01 -2.70765719e-02 9.47330020e+02] [ 6.84060182e-01 7.29011061e-01 -2.45873983e-02 1.11289298e+02] [ 3.65692350e-02 -6.09880686e-04 9.99330936e-01 3.52413624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.939254154 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:947.38, Y:111.32, Z:35.25 [[ 7.22880577e-01 -6.90442546e-01 -2.70695812e-02 9.47376094e+02] [ 6.90004927e-01 7.23386676e-01 -2.45950923e-02 1.11323830e+02] [ 3.65632725e-02 -8.98829874e-04 9.99330936e-01 3.52482031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.999254154 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:947.42, Y:111.37, Z:35.25 [[ 7.11289268e-01 -7.02378054e-01 -2.70674419e-02 9.47415499e+02] [ 7.01948829e-01 7.11802506e-01 -2.45974464e-02 1.11368759e+02] [ 3.65433795e-02 -1.50405953e-03 9.99330936e-01 3.52473553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.059254154 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:947.45, Y:111.41, Z:35.25 [[ 7.04428674e-01 -7.09258737e-01 -2.70608041e-02 9.47454602e+02] [ 7.08834242e-01 7.04945831e-01 -2.46047468e-02 1.11410516e+02] [ 3.65275327e-02 -1.84933540e-03 9.99330936e-01 3.52473032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.1192541539999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:947.49, Y:111.45, Z:35.25 [[ 7.04833875e-01 -7.08856350e-01 -2.70533556e-02 9.47494667e+02] [ 7.08431247e-01 7.05350531e-01 -2.46129338e-02 1.11452460e+02] [ 3.65291332e-02 -1.81741294e-03 9.99330936e-01 3.52544380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.179254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:947.53, Y:111.50, Z:35.26 [[ 7.09046696e-01 -7.04642688e-01 -2.70456096e-02 9.47530619e+02] [ 7.04214190e-01 7.09560540e-01 -2.46214425e-02 1.11498026e+02] [ 3.65398168e-02 -1.58814964e-03 9.99330936e-01 3.52551635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.2392541539999 meters Centerline goodness : 0.999739 with order 1 Centerline is valid? [True, True] Translation: X:947.57, Y:111.54, Z:35.26 [[ 7.18972587e-01 -6.94512153e-01 -2.70423501e-02 9.47568665e+02] [ 6.94076273e-01 7.19480184e-01 -2.46250220e-02 1.11542896e+02] [ 3.65588121e-02 -1.06473784e-03 9.99330936e-01 3.52580408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.299254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:947.61, Y:111.59, Z:35.26 [[ 7.26131621e-01 -6.87023963e-01 -2.70359498e-02 9.47607330e+02] [ 6.86582585e-01 7.26634445e-01 -2.46320470e-02 1.11586706e+02] [ 3.65680589e-02 -6.76304096e-04 9.99330936e-01 3.52612050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.3592541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:947.64, Y:111.64, Z:35.26 [[ 7.38360791e-01 -6.73864066e-01 -2.70289221e-02 9.47641768e+02] [ 6.73413440e-01 7.38855345e-01 -2.46397561e-02 1.11635958e+02] [ 3.65743098e-02 -8.60964451e-06 9.99330936e-01 3.52645390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.419254154 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:947.68, Y:111.68, Z:35.26 [[ 7.41424837e-01 -6.70491598e-01 -2.70227442e-02 9.47677977e+02] [ 6.70038476e-01 7.41917104e-01 -2.46465296e-02 1.11682244e+02] [ 3.65739271e-02 1.67270902e-04 9.99330936e-01 3.52599371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.4792541539999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:947.72, Y:111.72, Z:35.26 [[ 7.42667421e-01 -6.69115294e-01 -2.70152898e-02 9.47717827e+02] [ 6.68660963e-01 7.43158572e-01 -2.46546977e-02 1.11724347e+02] [ 3.65734795e-02 2.46171014e-04 9.99330936e-01 3.52623804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.539254154 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:947.76, Y:111.77, Z:35.27 [[ 7.44093739e-01 -6.67529089e-01 -2.70078262e-02 9.47757398e+02] [ 6.67073414e-01 7.44583644e-01 -2.46628709e-02 1.11765846e+02] [ 3.65727694e-02 3.35284982e-04 9.99330936e-01 3.52673413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.5992541539999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:947.80, Y:111.81, Z:35.27 [[ 7.44639383e-01 -6.66920492e-01 -2.70045786e-02 9.47796988e+02] [ 6.66464287e-01 7.45128795e-01 -2.46664265e-02 1.11807657e+02] [ 3.65724343e-02 3.70005374e-04 9.99330936e-01 3.52678478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.659254154 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:947.84, Y:111.85, Z:35.26 [[ 7.43929298e-01 -6.67712598e-01 -2.70016052e-02 9.47837085e+02] [ 6.67256797e-01 7.44419085e-01 -2.46696809e-02 1.11850700e+02] [ 3.65727669e-02 3.35493796e-04 9.99330936e-01 3.52619357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.7192541539999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:947.88, Y:111.89, Z:35.26 [[ 7.43333893e-01 -6.68375672e-01 -2.69941673e-02 9.47878173e+02] [ 6.67920012e-01 7.43823812e-01 -2.46778169e-02 1.11891867e+02] [ 3.65729569e-02 3.13913144e-04 9.99330936e-01 3.52639251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.779254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:947.92, Y:111.93, Z:35.27 [[ 7.43169675e-01 -6.68558564e-01 -2.69866800e-02 9.47922772e+02] [ 6.68102728e-01 7.43659429e-01 -2.46860021e-02 1.11928926e+02] [ 3.65729371e-02 3.16013652e-04 9.99330936e-01 3.52732393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.839254154 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:947.97, Y:111.97, Z:35.27 [[ 7.41894474e-01 -6.69973503e-01 -2.69832318e-02 9.47965414e+02] [ 6.69518463e-01 7.42384969e-01 -2.46897705e-02 1.11968111e+02] [ 3.65734378e-02 2.51432397e-04 9.99330936e-01 3.52729217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.899254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:948.01, Y:112.01, Z:35.28 [[ 7.39446445e-01 -6.72674698e-01 -2.69760126e-02 9.48009601e+02] [ 6.72221163e-01 7.39938331e-01 -2.46976557e-02 1.12006712e+02] [ 3.65740738e-02 1.28747159e-04 9.99330936e-01 3.52803307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.959254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:948.05, Y:112.05, Z:35.28 [[ 7.38320095e-01 -6.73911027e-01 -2.69697007e-02 9.48052472e+02] [ 6.73458064e-01 7.38812508e-01 -2.47045463e-02 1.12045927e+02] [ 3.65742184e-02 7.69005548e-05 9.99330936e-01 3.52821514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.019254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:948.10, Y:112.09, Z:35.28 [[ 7.36525675e-01 -6.75871993e-01 -2.69625587e-02 9.48095650e+02] [ 6.75420055e-01 7.37019029e-01 -2.47123387e-02 1.12085302e+02] [ 3.65742964e-02 -9.78100305e-06 9.99330937e-01 3.52848987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.079254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:948.14, Y:112.12, Z:35.29 [[ 7.32514435e-01 -6.80217615e-01 -2.69554985e-02 9.48138923e+02] [ 6.79768321e-01 7.33010198e-01 -2.47200373e-02 1.12123200e+02] [ 3.65736601e-02 -2.15709818e-04 9.99330937e-01 3.52887138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.139254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:948.19, Y:112.16, Z:35.29 [[ 7.25845263e-01 -6.87329931e-01 -2.69484684e-02 9.48185295e+02] [ 6.86885210e-01 7.26345131e-01 -2.47276988e-02 1.12159632e+02] [ 3.65699763e-02 -5.62021366e-04 9.99330937e-01 3.52906519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.199254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:948.23, Y:112.20, Z:35.29 [[ 7.17810295e-01 -6.95717254e-01 -2.69422364e-02 9.48231365e+02] [ 6.95278115e-01 7.18315075e-01 -2.47344871e-02 1.12196698e+02] [ 3.65612240e-02 -9.77677912e-04 9.99330937e-01 3.52925456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.259254154 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:948.27, Y:112.24, Z:35.29 [[ 7.08811919e-01 -7.04883064e-01 -2.69356621e-02 9.48272925e+02] [ 7.04450177e-01 7.09322070e-01 -2.47416444e-02 1.12236555e+02] [ 3.65460257e-02 -1.43765951e-03 9.99330937e-01 3.52913560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.319254154 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:948.32, Y:112.27, Z:35.30 [[ 7.05833296e-01 -7.07865781e-01 -2.69331355e-02 9.48317153e+02] [ 7.07434945e-01 7.06345180e-01 -2.47443944e-02 1.12274674e+02] [ 3.65398006e-02 -1.58802378e-03 9.99330937e-01 3.52974875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.379254154 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:948.36, Y:112.32, Z:35.30 [[ 7.08697696e-01 -7.04998246e-01 -2.69267239e-02 9.48357129e+02] [ 7.04565074e-01 7.09207605e-01 -2.47513696e-02 1.12317257e+02] [ 3.65463095e-02 -1.43039056e-03 9.99330937e-01 3.52955553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.439254154 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:948.40, Y:112.36, Z:35.30 [[ 7.17040956e-01 -6.96510832e-01 -2.69244797e-02 9.48397641e+02] [ 6.96071528e-01 7.17545592e-01 -2.47538105e-02 1.12360774e+02] [ 3.65608389e-02 -9.91867791e-04 9.99330937e-01 3.52981326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.499254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:948.44, Y:112.41, Z:35.30 [[ 7.25977243e-01 -6.87191722e-01 -2.69180383e-02 9.48436503e+02] [ 6.86745677e-01 7.26475930e-01 -2.47608131e-02 1.12405338e+02] [ 3.65707327e-02 -5.10059600e-04 9.99330937e-01 3.53017533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.559254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:948.48, Y:112.45, Z:35.30 [[ 7.32705402e-01 -6.80013649e-01 -2.69115583e-02 9.48475357e+02] [ 6.79562459e-01 7.33199439e-01 -2.47678540e-02 1.12449458e+02] [ 3.65740182e-02 -1.40544285e-04 9.99330937e-01 3.53025368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.6192541539999 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:948.52, Y:112.49, Z:35.30 [[ 7.37047655e-01 -6.75305029e-01 -2.69048860e-02 9.48516432e+02] [ 6.74850418e-01 7.37538546e-01 -2.47750999e-02 1.12491138e+02] [ 3.65741401e-02 1.03655775e-04 9.99330937e-01 3.53018504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.679254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:948.56, Y:112.53, Z:35.31 [[ 7.38370151e-01 -6.73859040e-01 -2.68982312e-02 9.48558041e+02] [ 6.73403205e-01 7.38859906e-01 -2.47823229e-02 1.12532080e+02] [ 3.65738169e-02 1.85172350e-04 9.99330937e-01 3.53081044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.7392541539999 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:948.60, Y:112.57, Z:35.31 [[ 7.37423001e-01 -6.74895654e-01 -2.68918874e-02 9.48600814e+02] [ 6.74440257e-01 7.37913163e-01 -2.47892047e-02 1.12571326e+02] [ 3.65740043e-02 1.43158300e-04 9.99330937e-01 3.53065285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.799254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:948.64, Y:112.61, Z:35.31 [[ 7.35676338e-01 -6.76799487e-01 -2.68845817e-02 9.48644935e+02] [ 6.76345068e-01 7.36167407e-01 -2.47971255e-02 1.12609695e+02] [ 3.65742346e-02 5.94042099e-05 9.99330937e-01 3.53128218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.8592541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:948.69, Y:112.65, Z:35.31 [[ 7.33361619e-01 -6.79307218e-01 -2.68782327e-02 9.48688749e+02] [ 6.78854226e-01 7.33854005e-01 -2.48040055e-02 1.12647374e+02] [ 3.65742386e-02 -5.60962158e-05 9.99330937e-01 3.53116353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.919254154 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:948.73, Y:112.68, Z:35.31 [[ 7.32924958e-01 -6.79778410e-01 -2.68760011e-02 9.48734825e+02] [ 6.79325647e-01 7.33417553e-01 -2.48064232e-02 1.12684461e+02] [ 3.65742019e-02 -7.63101987e-05 9.99330937e-01 3.53123827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.9792541539999 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:948.78, Y:112.72, Z:35.32 [[ 7.33478816e-01 -6.79181015e-01 -2.68695915e-02 9.48779822e+02] [ 6.78727596e-01 7.33970808e-01 -2.48133640e-02 1.12720547e+02] [ 3.65742615e-02 -3.70564185e-05 9.99330937e-01 3.53167465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.039254154 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:948.82, Y:112.76, Z:35.32 [[ 7.35859258e-01 -6.76601485e-01 -2.68622973e-02 9.48824438e+02] [ 6.76146053e-01 7.36349388e-01 -2.48212580e-02 1.12757017e+02] [ 3.65741361e-02 1.02116186e-04 9.99330937e-01 3.53158940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.0992541539999 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:948.87, Y:112.79, Z:35.32 [[ 7.38736919e-01 -6.73458463e-01 -2.68600611e-02 9.48871040e+02] [ 6.73000858e-01 7.39225020e-01 -2.48236775e-02 1.12792275e+02] [ 3.65733450e-02 2.61322879e-04 9.99330937e-01 3.53194949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.159254154 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:948.92, Y:112.83, Z:35.32 [[ 7.40712441e-01 -6.71285332e-01 -2.68529885e-02 9.48917875e+02] [ 6.70826018e-01 7.41198933e-01 -2.48313261e-02 1.12827640e+02] [ 3.65723114e-02 3.79188812e-04 9.99330937e-01 3.53240068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.2192541539999 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:948.97, Y:112.86, Z:35.33 [[ 7.41150339e-01 -6.70802089e-01 -2.68464636e-02 9.48965736e+02] [ 6.70342202e-01 7.41636291e-01 -2.48383784e-02 1.12862762e+02] [ 3.65719478e-02 4.12655091e-04 9.99330937e-01 3.53276142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.279254154 meters Centerline goodness : 0.997250 with order 1 Centerline is valid? [True, True] Translation: X:949.01, Y:112.90, Z:35.33 [[ 7.41833019e-01 -6.70047300e-01 -2.68400321e-02 9.49014497e+02] [ 6.69586667e-01 7.42318264e-01 -2.48453262e-02 1.12896269e+02] [ 3.65713898e-02 4.59355705e-04 9.99330937e-01 3.53309722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.339254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:949.06, Y:112.93, Z:35.34 [[ 7.41302614e-01 -6.70634354e-01 -2.68327815e-02 9.49059620e+02] [ 6.70173822e-01 7.41787954e-01 -2.48531544e-02 1.12930753e+02] [ 3.65716133e-02 4.41080628e-04 9.99330937e-01 3.53358828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.399254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:949.11, Y:112.97, Z:35.34 [[ 7.40049901e-01 -6.72016671e-01 -2.68279178e-02 9.49107511e+02] [ 6.71556856e-01 7.40535920e-01 -2.48584035e-02 1.12965169e+02] [ 3.65722984e-02 3.79986917e-04 9.99330937e-01 3.53360833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.459254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:949.16, Y:113.00, Z:35.34 [[ 7.39244379e-01 -6.72902926e-01 -2.68216580e-02 9.49157478e+02] [ 6.72443448e-01 7.39730717e-01 -2.48651559e-02 1.12997378e+02] [ 3.65726404e-02 3.45378548e-04 9.99330938e-01 3.53381154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.519254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:949.21, Y:113.03, Z:35.34 [[ 7.37121376e-01 -6.75228122e-01 -2.68153052e-02 9.49205022e+02] [ 6.74769929e-01 7.37608925e-01 -2.48720050e-02 1.13032504e+02] [ 3.65734857e-02 2.39524907e-04 9.99330938e-01 3.53394119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.579254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:949.25, Y:113.07, Z:35.34 [[ 7.35476702e-01 -6.77019447e-01 -2.68083653e-02 9.49254741e+02] [ 6.76562170e-01 7.35965109e-01 -2.48794829e-02 1.13066085e+02] [ 3.65739153e-02 1.60754283e-04 9.99330938e-01 3.53412014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.639254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:949.30, Y:113.10, Z:35.34 [[ 7.32776785e-01 -6.79941068e-01 -2.68016386e-02 9.49300813e+02] [ 6.79485473e-01 7.33266761e-01 -2.48867273e-02 1.13101199e+02] [ 3.65742586e-02 2.50919253e-05 9.99330938e-01 3.53443426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.699254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:949.35, Y:113.14, Z:35.35 [[ 7.33500537e-01 -6.79160344e-01 -2.67990541e-02 9.49348256e+02] [ 6.78704125e-01 7.33989934e-01 -2.48895100e-02 1.13136251e+02] [ 3.65742041e-02 6.78403862e-05 9.99330938e-01 3.53488415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.759254154 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:949.39, Y:113.17, Z:35.35 [[ 7.33103296e-01 -6.79589365e-01 -2.67927656e-02 9.49390995e+02] [ 6.79133185e-01 7.33592729e-01 -2.48962776e-02 1.13174538e+02] [ 3.65742235e-02 5.56869130e-05 9.99330938e-01 3.53492033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.819254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:949.44, Y:113.21, Z:35.35 [[ 7.34857945e-01 -6.77691747e-01 -2.67898652e-02 9.49437676e+02] [ 6.77234189e-01 7.35346091e-01 -2.48993982e-02 1.13210916e+02] [ 3.65739393e-02 1.54507938e-04 9.99330938e-01 3.53536370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.879254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:949.48, Y:113.25, Z:35.35 [[ 7.39392424e-01 -6.72741762e-01 -2.67836758e-02 9.49481789e+02] [ 6.72280696e-01 7.39877256e-01 -2.49060542e-02 1.13249556e+02] [ 3.65719753e-02 4.09199607e-04 9.99330938e-01 3.53543378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.939254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:949.52, Y:113.29, Z:35.36 [[ 7.40929079e-01 -6.71049237e-01 -2.67772548e-02 9.49522102e+02] [ 6.70586814e-01 7.41412618e-01 -2.49129557e-02 1.13290975e+02] [ 3.65708145e-02 5.02259359e-04 9.99330938e-01 3.53569304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.999254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:949.56, Y:113.33, Z:35.36 [[ 7.40711717e-01 -6.71289297e-01 -2.67737063e-02 9.49564783e+02] [ 6.70826894e-01 7.41195274e-01 -2.49167686e-02 1.13331709e+02] [ 3.65709047e-02 4.95620186e-04 9.99330938e-01 3.53573978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.059254154 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:949.61, Y:113.37, Z:35.36 [[ 7.39599142e-01 -6.72515142e-01 -2.67673916e-02 9.49606944e+02] [ 6.72053294e-01 7.40083229e-01 -2.49235505e-02 1.13372568e+02] [ 3.65715627e-02 4.44322813e-04 9.99330938e-01 3.53563190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.1192541539999 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:949.65, Y:113.41, Z:35.36 [[ 7.38804450e-01 -6.73388316e-01 -2.67611638e-02 9.49649388e+02] [ 6.72926799e-01 7.39288852e-01 -2.49302357e-02 1.13412591e+02] [ 3.65719595e-02 4.10264766e-04 9.99330938e-01 3.53586128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.179254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:949.69, Y:113.46, Z:35.36 [[ 7.36125844e-01 -6.76315724e-01 -2.67541372e-02 9.49689231e+02] [ 6.75855859e-01 7.36611815e-01 -2.49377741e-02 1.13455879e+02] [ 3.65732223e-02 2.75399590e-04 9.99330938e-01 3.53587737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.2392541539999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:949.73, Y:113.49, Z:35.37 [[ 7.38010108e-01 -6.74259334e-01 -2.67475529e-02 9.49733383e+02] [ 6.73797859e-01 7.38494550e-01 -2.49448341e-02 1.13493781e+02] [ 3.65722093e-02 3.87095829e-04 9.99330938e-01 3.53656260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.299254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:949.77, Y:113.54, Z:35.36 [[ 7.36363649e-01 -6.76057313e-01 -2.67410848e-02 9.49773179e+02] [ 6.75596769e-01 7.36848977e-01 -2.49517661e-02 1.13538052e+02] [ 3.65729649e-02 3.07383070e-04 9.99330938e-01 3.53634109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.3592541539999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:949.82, Y:113.58, Z:35.37 [[ 7.37415133e-01 -6.74910504e-01 -2.67344842e-02 9.49815532e+02] [ 6.74448949e-01 7.37899500e-01 -2.49588363e-02 1.13578488e+02] [ 3.65723433e-02 3.73978832e-04 9.99330938e-01 3.53655069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.419254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:949.86, Y:113.62, Z:35.37 [[ 7.38087659e-01 -6.74175237e-01 -2.67274687e-02 9.49856067e+02] [ 6.73712927e-01 7.38571305e-01 -2.49663467e-02 1.13618234e+02] [ 3.65718341e-02 4.20711245e-04 9.99330938e-01 3.53676960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.4792541539999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:949.90, Y:113.66, Z:35.37 [[ 7.38292720e-01 -6.73950795e-01 -2.67242518e-02 9.49897908e+02] [ 6.73488214e-01 7.38776106e-01 -2.49697897e-02 1.13659088e+02] [ 3.65716483e-02 4.36545312e-04 9.99330938e-01 3.53698223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.539254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:949.94, Y:113.70, Z:35.38 [[ 7.39464363e-01 -6.72665341e-01 -2.67169461e-02 9.49941141e+02] [ 6.72201637e-01 7.39946673e-01 -2.49776041e-02 1.13697322e+02] [ 3.65706839e-02 5.10873158e-04 9.99330938e-01 3.53769820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.5992541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:949.98, Y:113.74, Z:35.38 [[ 7.39136215e-01 -6.73025988e-01 -2.67147063e-02 9.49983296e+02] [ 6.72562433e-01 7.39618667e-01 -2.49799994e-02 1.13737271e+02] [ 3.65708843e-02 4.96314336e-04 9.99330938e-01 3.53789567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.659254154 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:950.03, Y:113.78, Z:35.38 [[ 7.38299103e-01 -6.73944464e-01 -2.67075671e-02 9.50025658e+02] [ 6.73481233e-01 7.38781867e-01 -2.49876300e-02 1.13777306e+02] [ 3.65713412e-02 4.61299603e-04 9.99330938e-01 3.53772512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.7192541539999 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:950.07, Y:113.82, Z:35.38 [[ 7.36181431e-01 -6.76257202e-01 -2.67038819e-02 9.50068818e+02] [ 6.75795345e-01 7.36665510e-01 -2.49915677e-02 1.13816305e+02] [ 3.65725564e-02 3.51969038e-04 9.99330938e-01 3.53787371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.779254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:950.11, Y:113.86, Z:35.38 [[ 7.33688824e-01 -6.78960969e-01 -2.66966632e-02 9.50112662e+02] [ 6.78500616e-01 7.34174332e-01 -2.49992765e-02 1.13856240e+02] [ 3.65735379e-02 2.27987320e-04 9.99330938e-01 3.53797940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.839254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:950.16, Y:113.89, Z:35.39 [[ 7.29341131e-01 -6.83629387e-01 -2.66903736e-02 9.50156253e+02] [ 6.83171896e-01 7.29829337e-01 -2.50059899e-02 1.13893667e+02] [ 3.65742472e-02 3.78383097e-06 9.99330938e-01 3.53858552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.899254154 meters Centerline goodness : 0.999800 with order 1 Centerline is valid? [True, True] Translation: X:950.20, Y:113.93, Z:35.39 [[ 7.26902486e-01 -6.86221924e-01 -2.66879568e-02 9.50198358e+02] [ 6.85766080e-01 7.27392229e-01 -2.50085689e-02 1.13931915e+02] [ 3.65740407e-02 -1.22904663e-04 9.99330938e-01 3.53864085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.959254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:950.24, Y:113.97, Z:35.39 [[ 7.25258557e-01 -6.87959292e-01 -2.66840598e-02 9.50241874e+02] [ 6.87504467e-01 7.25749248e-01 -2.50127263e-02 1.13970833e+02] [ 3.65736738e-02 -2.04716508e-04 9.99330938e-01 3.53920598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.019254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:950.28, Y:114.01, Z:35.40 [[ 7.25611066e-01 -6.87587719e-01 -2.66778918e-02 9.50283961e+02] [ 6.87132402e-01 7.26101299e-01 -2.50193032e-02 1.14011429e+02] [ 3.65738175e-02 -1.76960577e-04 9.99330938e-01 3.53955567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.079254154 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:950.33, Y:114.05, Z:35.39 [[ 7.27257458e-01 -6.85846383e-01 -2.66707652e-02 9.50325085e+02] [ 6.85389613e-01 7.27746339e-01 -2.50268979e-02 1.14052136e+02] [ 3.65741591e-02 -7.88672320e-05 9.99330939e-01 3.53944972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.139254154 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:950.37, Y:114.09, Z:35.40 [[ 7.30565958e-01 -6.82321355e-01 -2.66636285e-02 9.50367243e+02] [ 6.81861949e-01 7.31052363e-01 -2.50344991e-02 1.14093778e+02] [ 3.65740819e-02 1.08439142e-04 9.99330939e-01 3.53956768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.199254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:950.41, Y:114.14, Z:35.40 [[ 7.33485294e-01 -6.79182381e-01 -2.66574055e-02 9.50409118e+02] [ 6.78720652e-01 7.33969494e-01 -2.50411237e-02 1.14135653e+02] [ 3.65732124e-02 2.74364391e-04 9.99330939e-01 3.53983594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.259254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:950.45, Y:114.18, Z:35.40 [[ 7.34726949e-01 -6.77839231e-01 -2.66512179e-02 9.50451608e+02] [ 6.77376378e-01 7.35210075e-01 -2.50477074e-02 1.14176685e+02] [ 3.65725626e-02 3.50320127e-04 9.99330939e-01 3.54031436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.319254154 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:950.49, Y:114.22, Z:35.40 [[ 7.35037417e-01 -6.77502801e-01 -2.66448974e-02 9.50493601e+02] [ 6.77039484e-01 7.35520097e-01 -2.50544291e-02 1.14218114e+02] [ 3.65723034e-02 3.76295298e-04 9.99330939e-01 3.54048821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.379254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:950.53, Y:114.26, Z:35.41 [[ 7.35133156e-01 -6.77399163e-01 -2.66386284e-02 9.50534936e+02] [ 6.76935536e-01 7.35615539e-01 -2.50610928e-02 1.14258775e+02] [ 3.65721523e-02 3.90606094e-04 9.99330939e-01 3.54059237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.439254154 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:950.58, Y:114.30, Z:35.41 [[ 7.34796512e-01 -6.77764596e-01 -2.66315092e-02 9.50576306e+02] [ 6.77300935e-01 7.35278862e-01 -2.50686558e-02 1.14298904e+02] [ 3.65722332e-02 3.82814757e-04 9.99330939e-01 3.54059640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.499254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:950.62, Y:114.34, Z:35.41 [[ 7.35276105e-01 -6.77244423e-01 -2.66278338e-02 9.50618329e+02] [ 6.76780279e-01 7.35757990e-01 -2.50725592e-02 1.14339569e+02] [ 3.65718924e-02 4.14060819e-04 9.99330939e-01 3.54107657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.559254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:950.66, Y:114.38, Z:35.41 [[ 7.35544282e-01 -6.76953397e-01 -2.66215782e-02 9.50660229e+02] [ 6.76488822e-01 7.36025752e-01 -2.50791996e-02 1.14380906e+02] [ 3.65716164e-02 4.37661781e-04 9.99330939e-01 3.54108843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.6192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:950.70, Y:114.42, Z:35.41 [[ 7.35199786e-01 -6.77327762e-01 -2.66153735e-02 9.50702309e+02] [ 6.76863194e-01 7.35681262e-01 -2.50857825e-02 1.14420943e+02] [ 3.65717285e-02 4.28095220e-04 9.99330939e-01 3.54120837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.679254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:950.75, Y:114.46, Z:35.41 [[ 7.34032931e-01 -6.78592401e-01 -2.66084388e-02 9.50746363e+02] [ 6.78128397e-01 7.34514950e-01 -2.50931360e-02 1.14459647e+02] [ 3.65723075e-02 3.75250199e-04 9.99330939e-01 3.54116339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.7392541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:950.79, Y:114.50, Z:35.42 [[ 7.31764360e-01 -6.81038361e-01 -2.66021068e-02 9.50790441e+02] [ 6.80575724e-01 7.32247691e-01 -2.50998470e-02 1.14498859e+02] [ 3.65732900e-02 2.62425338e-04 9.99330939e-01 3.54151597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.799254154 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:950.83, Y:114.54, Z:35.42 [[ 7.28854951e-01 -6.84151390e-01 -2.65957876e-02 9.50834905e+02] [ 6.83690573e-01 7.29340018e-01 -2.51065410e-02 1.14537172e+02] [ 3.65740472e-02 1.15737383e-04 9.99330939e-01 3.54179061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.8592541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:950.88, Y:114.58, Z:35.42 [[ 7.28710539e-01 -6.84305452e-01 -2.65894508e-02 9.50878057e+02] [ 6.83844492e-01 7.29195471e-01 -2.51132503e-02 1.14576945e+02] [ 3.65740412e-02 1.17240654e-04 9.99330939e-01 3.54238227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.919254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:950.92, Y:114.62, Z:35.42 [[ 7.29635298e-01 -6.83319592e-01 -2.65832012e-02 9.50919604e+02] [ 6.82857737e-01 7.30119377e-01 -2.51198640e-02 1.14616770e+02] [ 3.65738055e-02 1.75794874e-04 9.99330939e-01 3.54241220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.9792541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:950.96, Y:114.66, Z:35.42 [[ 7.30821838e-01 -6.82050568e-01 -2.65793652e-02 9.50961692e+02] [ 6.81587725e-01 7.31304972e-01 -2.51239222e-02 1.14657190e+02] [ 3.65734074e-02 2.44942023e-04 9.99330939e-01 3.54248045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.039254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:951.00, Y:114.70, Z:35.43 [[ 7.32009714e-01 -6.80775796e-01 -2.65724399e-02 9.51002941e+02] [ 6.80311845e-01 7.32491784e-01 -2.51312447e-02 1.14698526e+02] [ 3.65728370e-02 3.18769661e-04 9.99330939e-01 3.54270001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.0992541539999 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:951.04, Y:114.74, Z:35.43 [[ 7.32948957e-01 -6.79764747e-01 -2.65653026e-02 9.51044244e+02] [ 6.79299858e-01 7.33430122e-01 -2.51387870e-02 1.14739556e+02] [ 3.65722543e-02 3.79641461e-04 9.99330939e-01 3.54275217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.159254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:951.09, Y:114.78, Z:35.43 [[ 7.33709410e-01 -6.78944153e-01 -2.65582207e-02 9.51085884e+02] [ 6.78478455e-01 7.34189793e-01 -2.51462665e-02 1.14779221e+02] [ 3.65716852e-02 4.30871840e-04 9.99330939e-01 3.54285712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.2192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:951.13, Y:114.82, Z:35.43 [[ 7.32938613e-01 -6.79776363e-01 -2.65534479e-02 9.51127485e+02] [ 6.79311028e-01 7.33419347e-01 -2.51513054e-02 1.14819073e+02] [ 3.65720753e-02 3.96312926e-04 9.99330939e-01 3.54311327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.279254154 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:951.17, Y:114.86, Z:35.43 [[ 7.30127155e-01 -6.82795289e-01 -2.65505276e-02 9.51169853e+02] [ 6.82331830e-01 7.30609698e-01 -2.51543878e-02 1.14858789e+02] [ 3.65733704e-02 2.49631552e-04 9.99330939e-01 3.54335256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.339254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:951.21, Y:114.90, Z:35.44 [[ 7.28521273e-01 -6.84508724e-01 -2.65435689e-02 9.51213072e+02] [ 6.84046132e-01 7.29004648e-01 -2.51617287e-02 1.14898157e+02] [ 3.65738079e-02 1.73829002e-04 9.99330939e-01 3.54379912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.399254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:951.26, Y:114.94, Z:35.44 [[ 7.23806481e-01 -6.89492523e-01 -2.65375100e-02 9.51255777e+02] [ 6.89033025e-01 7.24292798e-01 -2.51681172e-02 1.14936746e+02] [ 3.65741560e-02 -6.83744308e-05 9.99330939e-01 3.54396846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.459254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:951.30, Y:114.98, Z:35.44 [[ 7.21198529e-01 -6.92220122e-01 -2.65327158e-02 9.51297691e+02] [ 6.91762277e-01 7.21686402e-01 -2.51731703e-02 1.14975699e+02] [ 3.65736752e-02 -1.99478506e-04 9.99330939e-01 3.54416034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.519254154 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:951.34, Y:115.02, Z:35.44 [[ 7.19195771e-01 -6.94300840e-01 -2.65289779e-02 9.51339860e+02] [ 6.93844261e-01 7.19684830e-01 -2.51771089e-02 1.15015423e+02] [ 3.65729908e-02 -2.99708784e-04 9.99330939e-01 3.54428289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.579254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:951.38, Y:115.06, Z:35.45 [[ 7.19595731e-01 -6.93886572e-01 -2.65218644e-02 9.51380567e+02] [ 6.93429436e-01 7.20084268e-01 -2.51846002e-02 1.15055166e+02] [ 3.65732332e-02 -2.68310677e-04 9.99330939e-01 3.54456927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.639254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:951.42, Y:115.10, Z:35.44 [[ 7.16634829e-01 -6.96944273e-01 -2.65179640e-02 9.51420313e+02] [ 6.96489069e-01 7.17125167e-01 -2.51887064e-02 1.15099762e+02] [ 3.65718240e-02 -4.18367759e-04 9.99330940e-01 3.54418588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.699254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:951.46, Y:115.14, Z:35.45 [[ 7.18236269e-01 -6.95294046e-01 -2.65113532e-02 9.51463738e+02] [ 6.94837459e-01 7.18725319e-01 -2.51956624e-02 1.15137076e+02] [ 3.65727748e-02 -3.24642697e-04 9.99330940e-01 3.54494888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.759254154 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:951.50, Y:115.18, Z:35.45 [[ 7.17001621e-01 -6.96567259e-01 -2.65090387e-02 9.51504416e+02] [ 6.96111450e-01 7.17491397e-01 -2.51980973e-02 1.15179284e+02] [ 3.65721768e-02 -3.86168775e-04 9.99330940e-01 3.54509752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.819254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:951.55, Y:115.22, Z:35.45 [[ 7.17970698e-01 -6.95568628e-01 -2.65020863e-02 9.51545634e+02] [ 6.95111869e-01 7.18459587e-01 -2.52054074e-02 1.15221691e+02] [ 3.65727686e-02 -3.25170775e-04 9.99330940e-01 3.54546690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.879254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:951.58, Y:115.27, Z:35.45 [[ 7.17787785e-01 -6.95757623e-01 -2.64957903e-02 9.51584787e+02] [ 6.95300747e-01 7.18276565e-01 -2.52120239e-02 1.15265539e+02] [ 3.65727631e-02 -3.25659999e-04 9.99330940e-01 3.54548507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.939254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:951.63, Y:115.31, Z:35.46 [[ 7.23164844e-01 -6.90167322e-01 -2.64891655e-02 9.51626118e+02] [ 6.89706414e-01 7.23649823e-01 -2.52189825e-02 1.15305967e+02] [ 3.65741975e-02 -3.22657928e-05 9.99330940e-01 3.54588967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.999254154 meters Centerline goodness : 0.999235 with order 1 Centerline is valid? [True, True] Translation: X:951.67, Y:115.35, Z:35.46 [[ 7.24501244e-01 -6.88764397e-01 -2.64868393e-02 9.51666976e+02] [ 6.88302460e-01 7.24985244e-01 -2.52214253e-02 1.15347345e+02] [ 3.65741875e-02 4.19973618e-05 9.99330940e-01 3.54590238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.059254154 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:951.71, Y:115.39, Z:35.46 [[ 7.25049074e-01 -6.88187986e-01 -2.64789632e-02 9.51706866e+02] [ 6.87725362e-01 7.25532418e-01 -2.52296914e-02 1.15387987e+02] [ 3.65741167e-02 8.25098368e-05 9.99330940e-01 3.54614669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.1192541539999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:951.75, Y:115.43, Z:35.46 [[ 7.25175187e-01 -6.88055386e-01 -2.64713753e-02 9.51747906e+02] [ 6.87592383e-01 7.25658167e-01 -2.52376503e-02 1.15429548e+02] [ 3.65740709e-02 1.00201740e-04 9.99330940e-01 3.54625783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.179254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:951.79, Y:115.47, Z:35.46 [[ 7.25151813e-01 -6.88080286e-01 -2.64644754e-02 9.51789427e+02] [ 6.87617036e-01 7.25634555e-01 -2.52448835e-02 1.15470809e+02] [ 3.65740445e-02 1.08948949e-04 9.99330940e-01 3.54631502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.2392541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:951.83, Y:115.51, Z:35.47 [[ 7.26098530e-01 -6.87081424e-01 -2.64583041e-02 9.51830442e+02] [ 6.86617274e-01 7.26580408e-01 -2.52513498e-02 1.15511510e+02] [ 3.65738187e-02 1.68239395e-04 9.99330940e-01 3.54659528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.299254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:951.87, Y:115.55, Z:35.47 [[ 7.26969270e-01 -6.86160349e-01 -2.64510160e-02 9.51871372e+02] [ 6.85695310e-01 7.27450291e-01 -2.52589819e-02 1.15552892e+02] [ 3.65735111e-02 2.25166024e-04 9.99330940e-01 3.54671194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.3592541539999 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:951.91, Y:115.59, Z:35.47 [[ 7.26709762e-01 -6.86435466e-01 -2.64437818e-02 9.51913235e+02] [ 6.85970334e-01 7.27190692e-01 -2.52665531e-02 1.15594678e+02] [ 3.65735301e-02 2.21800972e-04 9.99330940e-01 3.54682562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.419254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:951.95, Y:115.64, Z:35.47 [[ 7.27717037e-01 -6.85367768e-01 -2.64373929e-02 9.51954916e+02] [ 6.84901688e-01 7.28197048e-01 -2.52732363e-02 1.15635133e+02] [ 3.65730930e-02 2.84749615e-04 9.99330940e-01 3.54724477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.4792541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:952.00, Y:115.68, Z:35.47 [[ 7.27319722e-01 -6.85789475e-01 -2.64351502e-02 9.51995052e+02] [ 6.85323588e-01 7.27799921e-01 -2.52755819e-02 1.15675562e+02] [ 3.65732283e-02 2.66797210e-04 9.99330940e-01 3.54742575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.539254154 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:952.04, Y:115.72, Z:35.48 [[ 7.26084186e-01 -6.87097625e-01 -2.64311861e-02 9.52037542e+02] [ 6.86632453e-01 7.26565077e-01 -2.52797265e-02 1.15717063e+02] [ 3.65736168e-02 2.06699481e-04 9.99330940e-01 3.54751292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.5992541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:952.08, Y:115.76, Z:35.48 [[ 7.23556544e-01 -6.89759106e-01 -2.64254464e-02 9.52078635e+02] [ 6.89295483e-01 7.24038928e-01 -2.52857250e-02 1.15758304e+02] [ 3.65741109e-02 8.07109753e-05 9.99330940e-01 3.54778345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.659254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:952.12, Y:115.80, Z:35.48 [[ 7.22831975e-01 -6.90518462e-01 -2.64232770e-02 9.52121323e+02] [ 6.90055263e-01 7.23314767e-01 -2.52879918e-02 1.15798529e+02] [ 3.65741716e-02 4.54477250e-05 9.99330940e-01 3.54803759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.7192541539999 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:952.16, Y:115.84, Z:35.48 [[ 7.23052304e-01 -6.90287991e-01 -2.64169495e-02 9.52162077e+02] [ 6.89824397e-01 7.23534716e-01 -2.52946000e-02 1.15839880e+02] [ 3.65741387e-02 6.62625457e-05 9.99330940e-01 3.54778983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.779254154 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:952.20, Y:115.88, Z:35.48 [[ 7.23477813e-01 -6.89842095e-01 -2.64147258e-02 9.52203883e+02] [ 6.89378119e-01 7.23959857e-01 -2.52969220e-02 1.15880640e+02] [ 3.65740828e-02 9.20278318e-05 9.99330940e-01 3.54826902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.839254154 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:952.25, Y:115.92, Z:35.49 [[ 7.25833639e-01 -6.87363205e-01 -2.64074546e-02 9.52245134e+02] [ 6.86897306e-01 7.26313826e-01 -2.53045101e-02 1.15922073e+02] [ 3.65734885e-02 2.27655265e-04 9.99330940e-01 3.54871246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.899254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:952.29, Y:115.96, Z:35.49 [[ 7.27865414e-01 -6.85211586e-01 -2.64011631e-02 9.52286168e+02] [ 6.84744030e-01 7.28343987e-01 -2.53110726e-02 1.15963435e+02] [ 3.65725686e-02 3.45015544e-04 9.99330940e-01 3.54907857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.959254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:952.33, Y:116.00, Z:35.49 [[ 7.27963305e-01 -6.85107673e-01 -2.63989109e-02 9.52328128e+02] [ 6.84639963e-01 7.28441728e-01 -2.53134213e-02 1.16003629e+02] [ 3.65724875e-02 3.53492462e-04 9.99330940e-01 3.54922345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.019254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:952.37, Y:116.04, Z:35.49 [[ 7.26823873e-01 -6.86316640e-01 -2.63917955e-02 9.52370642e+02] [ 6.85849457e-01 7.27302810e-01 -2.53208377e-02 1.16044898e+02] [ 3.65729393e-02 3.02990697e-04 9.99330940e-01 3.54933237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.079254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:952.41, Y:116.09, Z:35.50 [[ 7.25175836e-01 -6.88058001e-01 -2.63855028e-02 9.52412438e+02] [ 6.87591729e-01 7.25655660e-01 -2.53273933e-02 1.16085033e+02] [ 3.65735050e-02 2.24360148e-04 9.99330940e-01 3.54960363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.139254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:952.46, Y:116.12, Z:35.50 [[ 7.22623834e-01 -6.90738003e-01 -2.63781262e-02 9.52455304e+02] [ 6.90273231e-01 7.23105111e-01 -2.53350736e-02 1.16124810e+02] [ 3.65740560e-02 9.96136236e-05 9.99330940e-01 3.54971811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.199254154 meters Centerline goodness : 0.999544 with order 1 Centerline is valid? [True, True] Translation: X:952.50, Y:116.16, Z:35.49 [[ 7.19345131e-01 -6.94152086e-01 -2.63716485e-02 9.52499319e+02] [ 6.93689350e-01 7.19828367e-01 -2.53418145e-02 1.16163244e+02] [ 3.65741341e-02 -6.42208493e-05 9.99330940e-01 3.54944947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.259254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:952.54, Y:116.20, Z:35.50 [[ 7.14345477e-01 -6.99296400e-01 -2.63644757e-02 9.52543197e+02] [ 6.98836869e-01 7.14831760e-01 -2.53492746e-02 1.16201395e+02] [ 3.65728210e-02 -3.16327938e-04 9.99330941e-01 3.55026374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.319254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:952.59, Y:116.24, Z:35.51 [[ 7.11063585e-01 -7.02633573e-01 -2.63560153e-02 9.52586547e+02] [ 7.02175998e-01 7.11551710e-01 -2.53580680e-02 1.16240473e+02] [ 3.65710976e-02 -4.75362629e-04 9.99330941e-01 3.55051944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.379254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:952.63, Y:116.28, Z:35.50 [[ 7.05434165e-01 -7.08285377e-01 -2.63526884e-02 9.52627590e+02] [ 7.07831582e-01 7.05925806e-01 -2.53615249e-02 1.16282227e+02] [ 3.65662400e-02 -7.62378961e-04 9.99330941e-01 3.55012030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.439254154 meters Centerline goodness : 0.999780 with order 1 Centerline is valid? [True, True] Translation: X:952.67, Y:116.32, Z:35.50 [[ 7.03705192e-01 -7.10003327e-01 -2.63491455e-02 9.52672144e+02] [ 7.09550596e-01 7.04197812e-01 -2.53652052e-02 1.16320620e+02] [ 3.65643907e-02 -8.46425316e-04 9.99330941e-01 3.55035052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.499254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:952.72, Y:116.36, Z:35.51 [[ 7.04719882e-01 -7.08996444e-01 -2.63425591e-02 9.52715145e+02] [ 7.08542752e-01 7.05211619e-01 -2.53720435e-02 1.16358695e+02] [ 3.65657674e-02 -7.84645837e-04 9.99330941e-01 3.55112637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.559254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:952.76, Y:116.40, Z:35.51 [[ 7.04778984e-01 -7.08937820e-01 -2.63391355e-02 9.52757876e+02] [ 7.08483956e-01 7.05270561e-01 -2.53755972e-02 1.16398875e+02] [ 3.65659374e-02 -7.76667288e-04 9.99330941e-01 3.55143421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.6192541539999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:952.80, Y:116.44, Z:35.52 [[ 7.05976715e-01 -7.07745336e-01 -2.63328163e-02 9.52799151e+02] [ 7.07290397e-01 7.06467297e-01 -2.53821530e-02 1.16440102e+02] [ 3.65673740e-02 -7.05739095e-04 9.99330941e-01 3.55170449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.679254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:952.84, Y:116.48, Z:35.52 [[ 7.11524622e-01 -7.02167661e-01 -2.63303607e-02 9.52839861e+02] [ 7.01708781e-01 7.12011520e-01 -2.53847001e-02 1.16480817e+02] [ 3.65718356e-02 -4.14406204e-04 9.99330941e-01 3.55197648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.7392541539999 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:952.88, Y:116.52, Z:35.52 [[ 7.17338194e-01 -6.96227516e-01 -2.63279515e-02 9.52879235e+02] [ 6.95764512e-01 7.17821172e-01 -2.53871986e-02 1.16523354e+02] [ 3.65740272e-02 -1.06847067e-04 9.99330941e-01 3.55183697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.799254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:952.92, Y:116.57, Z:35.52 [[ 7.22758465e-01 -6.90599133e-01 -2.63256262e-02 9.52919425e+02] [ 6.90132280e-01 7.23237723e-01 -2.53896096e-02 1.16566243e+02] [ 3.65737283e-02 1.82390868e-04 9.99330941e-01 3.55203390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.8592541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:952.96, Y:116.61, Z:35.52 [[ 7.25961562e-01 -6.87231491e-01 -2.63189832e-02 9.52960371e+02] [ 6.86762165e-01 7.26438398e-01 -2.53964939e-02 1.16607188e+02] [ 3.65723904e-02 3.61996427e-04 9.99330941e-01 3.55231705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.919254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:953.00, Y:116.65, Z:35.53 [[ 7.25182614e-01 -6.88053540e-01 -2.63154558e-02 9.53001026e+02] [ 6.87584622e-01 7.25659852e-01 -2.54001484e-02 1.16648996e+02] [ 3.65727318e-02 3.25643266e-04 9.99330941e-01 3.55260667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.9792541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:953.04, Y:116.69, Z:35.53 [[ 7.22627322e-01 -6.90736836e-01 -2.63130611e-02 9.53042350e+02] [ 6.90269600e-01 7.23106207e-01 -2.54026290e-02 1.16690706e+02] [ 3.65736693e-02 1.93527575e-04 9.99330941e-01 3.55275988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.039254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:953.09, Y:116.73, Z:35.53 [[ 7.21495575e-01 -6.91919155e-01 -2.63062595e-02 9.53086072e+02] [ 6.91452447e-01 7.21974974e-01 -2.54096706e-02 1.16728468e+02] [ 3.65738988e-02 1.43437389e-04 9.99330941e-01 3.55304284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.0992541539999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:953.13, Y:116.77, Z:35.53 [[ 7.18123439e-01 -6.95418458e-01 -2.63038844e-02 9.53128092e+02] [ 6.94953996e-01 7.18605015e-01 -2.54121290e-02 1.16768828e+02] [ 3.65741668e-02 -3.09440645e-05 9.99330941e-01 3.55317108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.159254154 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:953.17, Y:116.81, Z:35.53 [[ 7.14068434e-01 -6.99581830e-01 -2.62970258e-02 9.53170937e+02] [ 6.99119915e-01 7.14552453e-01 -2.54192245e-02 1.16809239e+02] [ 3.65734319e-02 -2.33708606e-04 9.99330941e-01 3.55323010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.2192541539999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:953.21, Y:116.85, Z:35.53 [[ 7.09347800e-01 -7.04368155e-01 -2.62907143e-02 9.53214098e+02] [ 7.03909263e-01 7.09834686e-01 -2.54257506e-02 1.16848603e+02] [ 3.65711500e-02 -4.70577069e-04 9.99330941e-01 3.55345499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.279254154 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:953.26, Y:116.89, Z:35.54 [[ 7.04962924e-01 -7.08756986e-01 -2.62832696e-02 9.53257256e+02] [ 7.08300838e-01 7.05452382e-01 -2.54334441e-02 1.16888043e+02] [ 3.65677263e-02 -6.86826793e-04 9.99330941e-01 3.55379494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.339254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:953.30, Y:116.93, Z:35.54 [[ 7.03430869e-01 -7.10277798e-01 -2.62766608e-02 9.53300939e+02] [ 7.09822453e-01 7.03921074e-01 -2.54402702e-02 1.16927899e+02] [ 3.65663544e-02 -7.56292476e-04 9.99330941e-01 3.55435550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.399254154 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:953.35, Y:116.97, Z:35.55 [[ 7.02043447e-01 -7.11649410e-01 -2.62700456e-02 9.53346323e+02] [ 7.11194768e-01 7.02534303e-01 -2.54470993e-02 1.16965832e+02] [ 3.65650214e-02 -8.18149621e-04 9.99330941e-01 3.55535004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.459254154 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:953.39, Y:117.01, Z:35.55 [[ 6.98648096e-01 -7.14983251e-01 -2.62638357e-02 9.53385744e+02] [ 7.14530710e-01 6.99140890e-01 -2.54535069e-02 1.17009431e+02] [ 3.65609526e-02 -9.83273014e-04 9.99330941e-01 3.55461729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.519254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:953.43, Y:117.05, Z:35.55 [[ 6.99102024e-01 -7.14539655e-01 -2.62572095e-02 9.53426620e+02] [ 7.14086545e-01 6.99594295e-01 -2.54603406e-02 1.17050952e+02] [ 3.65618169e-02 -9.50544361e-04 9.99330941e-01 3.55488572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.579254154 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:953.47, Y:117.09, Z:35.56 [[ 7.06310063e-01 -7.07415740e-01 -2.62500884e-02 9.53472660e+02] [ 7.06957389e-01 7.06797458e-01 -2.54676803e-02 1.17086671e+02] [ 3.65697337e-02 -5.69615096e-04 9.99330941e-01 3.55632595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.639254154 meters Centerline goodness : 0.995060 with order 1 Centerline is valid? [True, True] Translation: X:953.51, Y:117.13, Z:35.55 [[ 7.06238373e-01 -7.07487457e-01 -2.62461215e-02 9.53509222e+02] [ 7.07029004e-01 7.06725673e-01 -2.54717679e-02 1.17133951e+02] [ 3.65697642e-02 -5.67629185e-04 9.99330941e-01 3.55533006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.699254154 meters Centerline goodness : 0.995941 with order 1 Centerline is valid? [True, True] Translation: X:953.55, Y:117.18, Z:35.55 [[ 7.09680133e-01 -7.04035284e-01 -2.62379019e-02 9.53549377e+02] [ 7.03574148e-01 7.10164894e-01 -2.54802319e-02 1.17175573e+02] [ 3.65722191e-02 -3.77495049e-04 9.99330941e-01 3.55542506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.759254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:953.59, Y:117.22, Z:35.56 [[ 7.12493505e-01 -7.01188335e-01 -2.62283105e-02 9.53587965e+02] [ 7.00724899e-01 7.12976066e-01 -2.54901011e-02 1.17220392e+02] [ 3.65735192e-02 -2.17298766e-04 9.99330941e-01 3.55563126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.819254154 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:953.63, Y:117.26, Z:35.56 [[ 7.15616752e-01 -6.98000835e-01 -2.62202147e-02 9.53628111e+02] [ 6.97534943e-01 7.16096944e-01 -2.54984260e-02 1.17261301e+02] [ 3.65741383e-02 -4.24151995e-05 9.99330941e-01 3.55567511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.879254154 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:953.67, Y:117.30, Z:35.56 [[ 7.18929628e-01 -6.94588292e-01 -2.62162826e-02 9.53670034e+02] [ 6.94119974e-01 7.19407454e-01 -2.55024682e-02 1.17302592e+02] [ 3.65739050e-02 1.37234528e-04 9.99330942e-01 3.55607793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.939254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:953.71, Y:117.34, Z:35.56 [[ 7.21732563e-01 -6.91675621e-01 -2.62095943e-02 9.53711815e+02] [ 6.91205125e-01 7.22208245e-01 -2.55093401e-02 1.17342572e+02] [ 3.65729738e-02 2.94715491e-04 9.99330942e-01 3.55607581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.999254154 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:953.75, Y:117.38, Z:35.56 [[ 7.24064459e-01 -6.89234241e-01 -2.62072480e-02 9.53754614e+02] [ 6.88762054e-01 7.24538462e-01 -2.55117504e-02 1.17381215e+02] [ 3.65717311e-02 4.21593735e-04 9.99330942e-01 3.55630815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.059254154 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:953.80, Y:117.42, Z:35.56 [[ 7.26945817e-01 -6.86194821e-01 -2.62001091e-02 9.53797844e+02] [ 6.85720389e-01 7.27417573e-01 -2.55190798e-02 1.17420564e+02] [ 3.65694802e-02 5.85039261e-04 9.99330942e-01 3.55643889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.1192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:953.84, Y:117.46, Z:35.57 [[ 7.30257675e-01 -6.82669513e-01 -2.61928223e-02 9.53842288e+02] [ 6.82192536e-01 7.30726857e-01 -2.55265568e-02 1.17459304e+02] [ 3.65660008e-02 7.72416214e-04 9.99330942e-01 3.55655396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.179254154 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:953.89, Y:117.50, Z:35.57 [[ 7.31838217e-01 -6.80975110e-01 -2.61863078e-02 9.53886959e+02] [ 6.80496808e-01 7.32306048e-01 -2.55332380e-02 1.17497342e+02] [ 3.65638911e-02 8.66500534e-04 9.99330942e-01 3.55650058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.2392541539999 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:953.93, Y:117.53, Z:35.57 [[ 7.32309473e-01 -6.80468555e-01 -2.61797976e-02 9.53931548e+02] [ 6.79989690e-01 7.32776729e-01 -2.55399112e-02 1.17534301e+02] [ 3.65630529e-02 9.01126487e-04 9.99330942e-01 3.55672280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.299254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:953.97, Y:117.58, Z:35.57 [[ 7.27271184e-01 -6.85851025e-01 -2.61724281e-02 9.53973556e+02] [ 6.85375348e-01 7.27741684e-01 -2.55474610e-02 1.17575638e+02] [ 3.65685192e-02 6.41995187e-04 9.99330942e-01 3.55650535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.3592541539999 meters Centerline goodness : 0.999780 with order 1 Centerline is valid? [True, True] Translation: X:954.02, Y:117.61, Z:35.58 [[ 7.25727094e-01 -6.87484934e-01 -2.61658372e-02 9.54023143e+02] [ 6.87010073e-01 7.26198418e-01 -2.55542096e-02 1.17608135e+02] [ 3.65697237e-02 5.69188525e-04 9.99330942e-01 3.55761347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.419254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:954.06, Y:117.65, Z:35.57 [[ 7.18612726e-01 -6.94918299e-01 -2.61592868e-02 9.54060660e+02] [ 6.94448071e-01 7.19088671e-01 -2.55609134e-02 1.17653547e+02] [ 3.65735933e-02 2.02131385e-04 9.99330942e-01 3.55730235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.4792541539999 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:954.11, Y:117.69, Z:35.58 [[ 7.18715863e-01 -6.94811720e-01 -2.61568748e-02 9.54105404e+02] [ 6.94341331e-01 7.19191650e-01 -2.55633814e-02 1.17690006e+02] [ 3.65735430e-02 2.11008484e-04 9.99330942e-01 3.55806294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.539254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:954.14, Y:117.73, Z:35.58 [[ 7.12880973e-01 -7.00797160e-01 -2.61545212e-02 9.54143512e+02] [ 7.00330678e-01 7.13360591e-01 -2.55657892e-02 1.17734770e+02] [ 3.65740372e-02 -9.14489186e-05 9.99330942e-01 3.55774098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.5992541539999 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:954.18, Y:117.78, Z:35.58 [[ 7.10777633e-01 -7.02930452e-01 -2.61521991e-02 9.54183990e+02] [ 7.02465321e-01 7.11258561e-01 -2.55681644e-02 1.17776375e+02] [ 3.65736168e-02 -1.97733602e-04 9.99330942e-01 3.55780151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.659254154 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:954.22, Y:117.82, Z:35.58 [[ 7.08381002e-01 -7.05345886e-01 -2.61445654e-02 9.54221900e+02] [ 7.04882107e-01 7.08863234e-01 -2.55759678e-02 1.17819301e+02] [ 3.65728248e-02 -3.11306619e-04 9.99330942e-01 3.55762557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.7192541539999 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:954.26, Y:117.86, Z:35.58 [[ 7.06506610e-01 -7.07223504e-01 -2.61404899e-02 9.54262527e+02] [ 7.06760853e-01 7.06989925e-01 -2.55801326e-02 1.17860409e+02] [ 3.65719340e-02 -4.02542182e-04 9.99330942e-01 3.55791257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.779254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:954.31, Y:117.90, Z:35.59 [[ 7.08506017e-01 -7.05220744e-01 -2.61328736e-02 9.54306619e+02] [ 7.04756440e-01 7.08987743e-01 -2.55879110e-02 1.17897250e+02] [ 3.65730127e-02 -2.88122033e-04 9.99330942e-01 3.55901461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.839254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:954.34, Y:117.94, Z:35.59 [[ 7.06397950e-01 -7.07332406e-01 -2.61305352e-02 9.54342205e+02] [ 7.06869453e-01 7.06880975e-01 -2.55902988e-02 1.17944649e+02] [ 3.65720258e-02 -3.93942568e-04 9.99330942e-01 3.55863498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.899254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:954.38, Y:117.99, Z:35.59 [[ 7.08736935e-01 -7.04988851e-01 -2.61280707e-02 9.54380903e+02] [ 7.04524209e-01 7.09218335e-01 -2.55928148e-02 1.17987872e+02] [ 3.65731560e-02 -2.69285208e-04 9.99330942e-01 3.55874733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.959254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:954.42, Y:118.03, Z:35.59 [[ 7.12939067e-01 -7.00739347e-01 -2.61200044e-02 9.54420289e+02] [ 7.00271533e-01 7.13417386e-01 -2.56010446e-02 1.18029737e+02] [ 3.65741246e-02 -3.91106858e-05 9.99330942e-01 3.55899242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.019254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:954.46, Y:118.07, Z:35.60 [[ 7.19768252e-01 -6.93722990e-01 -2.61165826e-02 9.54461147e+02] [ 6.93250387e-01 7.20241840e-01 -2.56045349e-02 1.18069863e+02] [ 3.65727100e-02 3.24000391e-04 9.99330942e-01 3.55980946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.079254154 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:954.50, Y:118.11, Z:35.60 [[ 7.20577850e-01 -6.92882105e-01 -2.61141941e-02 9.54501237e+02] [ 6.92408861e-01 7.21050797e-01 -2.56069708e-02 1.18111686e+02] [ 3.65722722e-02 3.70116589e-04 9.99330942e-01 3.55970409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.139254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:954.54, Y:118.15, Z:35.60 [[ 7.22397538e-01 -6.90984968e-01 -2.61068983e-02 9.54542579e+02] [ 6.90510214e-01 7.22868969e-01 -2.56144068e-02 1.18153396e+02] [ 3.65710367e-02 4.76704451e-04 9.99330942e-01 3.55988583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.199254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:954.58, Y:118.20, Z:35.60 [[ 7.21100479e-01 -6.92338694e-01 -2.61004357e-02 9.54583273e+02] [ 6.91864586e-01 7.21572560e-01 -2.56209903e-02 1.18196690e+02] [ 3.65717612e-02 4.17341237e-04 9.99330942e-01 3.55964678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.259254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:954.63, Y:118.23, Z:35.60 [[ 7.21040778e-01 -6.92401132e-01 -2.60934672e-02 9.54625162e+02] [ 6.91926809e-01 7.21512642e-01 -2.56280854e-02 1.18234956e+02] [ 3.65716818e-02 4.24125183e-04 9.99330942e-01 3.55977129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.319254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:954.67, Y:118.27, Z:35.60 [[ 7.20049175e-01 -6.93432570e-01 -2.60855637e-02 9.54667969e+02] [ 6.92958631e-01 7.20521425e-01 -2.56361274e-02 1.18274833e+02] [ 3.65721333e-02 3.83055894e-04 9.99330942e-01 3.55997367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.379254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:954.71, Y:118.31, Z:35.60 [[ 7.18678559e-01 -6.94853283e-01 -2.60776525e-02 9.54710934e+02] [ 6.94379986e-01 7.19151453e-01 -2.56441723e-02 1.18314178e+02] [ 3.65727190e-02 3.22116833e-04 9.99330942e-01 3.56030069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.439254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:954.75, Y:118.35, Z:35.61 [[ 7.17894881e-01 -6.95663227e-01 -2.60694169e-02 9.54754912e+02] [ 6.95190160e-01 7.18368003e-01 -2.56525418e-02 1.18351664e+02] [ 3.65729650e-02 2.92626339e-04 9.99330942e-01 3.56065736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.499254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:954.80, Y:118.39, Z:35.61 [[ 7.18812699e-01 -6.94715115e-01 -2.60617262e-02 9.54797985e+02] [ 6.94241140e-01 7.19284913e-01 -2.56603528e-02 1.18389256e+02] [ 3.65724414e-02 3.51864929e-04 9.99330943e-01 3.56132821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.559254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:954.84, Y:118.43, Z:35.61 [[ 7.17535030e-01 -6.96034840e-01 -2.60573113e-02 9.54839316e+02] [ 6.95561571e-01 7.18007951e-01 -2.56648352e-02 1.18430855e+02] [ 3.65729762e-02 2.90953930e-04 9.99330943e-01 3.56114816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.6192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:954.88, Y:118.47, Z:35.61 [[ 7.18375143e-01 -6.95167981e-01 -2.60505449e-02 9.54883638e+02] [ 6.94693893e-01 7.18847243e-01 -2.56717015e-02 1.18468466e+02] [ 3.65725073e-02 3.44757756e-04 9.99330943e-01 3.56120240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.679254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:954.93, Y:118.51, Z:35.62 [[ 7.19107109e-01 -6.94411072e-01 -2.60428323e-02 9.54926727e+02] [ 6.93936204e-01 7.19578423e-01 -2.56795232e-02 1.18507708e+02] [ 3.65720055e-02 3.94263483e-04 9.99330943e-01 3.56158734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.7392541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:954.97, Y:118.55, Z:35.62 [[ 7.20645941e-01 -6.92814269e-01 -2.60349173e-02 9.54967002e+02] [ 6.92338066e-01 7.21115908e-01 -2.56875453e-02 1.18548000e+02] [ 3.65708909e-02 4.86660966e-04 9.99330943e-01 3.56176654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.799254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:955.01, Y:118.59, Z:35.62 [[ 7.20555625e-01 -6.92908506e-01 -2.60267945e-02 9.55006734e+02] [ 6.92432068e-01 7.21025353e-01 -2.56957727e-02 1.18589818e+02] [ 3.65707981e-02 4.93446454e-04 9.99330943e-01 3.56186381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.8592541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:955.05, Y:118.63, Z:35.62 [[ 7.20758466e-01 -6.92697814e-01 -2.60187057e-02 9.55049828e+02] [ 6.92220943e-01 7.21227754e-01 -2.57039605e-02 1.18627288e+02] [ 3.65704899e-02 5.15654184e-04 9.99330943e-01 3.56245306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.919254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:955.09, Y:118.67, Z:35.63 [[ 7.17785071e-01 -6.95778576e-01 -2.60147147e-02 9.55091369e+02] [ 6.95303573e-01 7.18256250e-01 -2.57079992e-02 1.18667405e+02] [ 3.65723065e-02 3.64693938e-04 9.99330943e-01 3.56268210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.9792541539999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:955.13, Y:118.71, Z:35.63 [[ 7.15475301e-01 -6.98153789e-01 -2.60073115e-02 9.55131598e+02] [ 6.97680079e-01 7.15947779e-01 -2.57154864e-02 1.18707244e+02] [ 3.65732412e-02 2.54012192e-04 9.99330943e-01 3.56292761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.039254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:955.17, Y:118.75, Z:35.63 [[ 7.14948252e-01 -6.98693661e-01 -2.60031882e-02 9.55172618e+02] [ 6.98220155e-01 7.15420935e-01 -2.57196551e-02 1.18748470e+02] [ 3.65733852e-02 2.32272329e-04 9.99330943e-01 3.56326114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.0992541539999 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:955.21, Y:118.79, Z:35.63 [[ 7.16752570e-01 -6.96842862e-01 -2.59957324e-02 9.55211802e+02] [ 6.96367863e-01 7.17223753e-01 -2.57271888e-02 1.18792028e+02] [ 3.65725646e-02 3.37436127e-04 9.99330943e-01 3.56320944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.159254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:955.25, Y:118.84, Z:35.64 [[ 7.19108474e-01 -6.94411702e-01 -2.59882949e-02 9.55249113e+02] [ 6.93934838e-01 7.19577769e-01 -2.57346996e-02 1.18836561e+02] [ 3.65710758e-02 4.71857348e-04 9.99330943e-01 3.56352464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.2192541539999 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:955.29, Y:118.88, Z:35.63 [[ 7.19370944e-01 -6.94140069e-01 -2.59809327e-02 9.55287987e+02] [ 6.93662760e-01 7.19839786e-01 -2.57421300e-02 1.18880181e+02] [ 3.65707530e-02 4.96134840e-04 9.99330943e-01 3.56343061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.279254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:955.33, Y:118.92, Z:35.64 [[ 7.18000992e-01 -6.95557292e-01 -2.59736283e-02 9.55327346e+02] [ 6.95080641e-01 7.18470504e-01 -2.57494980e-02 1.18922782e+02] [ 3.65715369e-02 4.34398877e-04 9.99330943e-01 3.56354201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.339254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:955.37, Y:118.97, Z:35.64 [[ 7.18273288e-01 -6.95276398e-01 -2.59656469e-02 9.55366969e+02] [ 6.94799273e-01 7.18742318e-01 -2.57575439e-02 1.18965125e+02] [ 3.65712216e-02 4.60043134e-04 9.99330943e-01 3.56389111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.399254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:955.41, Y:119.01, Z:35.64 [[ 7.15267933e-01 -6.98367926e-01 -2.59619792e-02 9.55406728e+02] [ 6.97892694e-01 7.15738881e-01 -2.57612402e-02 1.19008518e+02] [ 3.65728218e-02 3.07513392e-04 9.99330943e-01 3.56408878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.459254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:955.45, Y:119.05, Z:35.64 [[ 7.12846559e-01 -7.00839575e-01 -2.59551988e-02 9.55447274e+02] [ 7.00365728e-01 7.13318900e-01 -2.57680698e-02 1.19049395e+02] [ 3.65736170e-02 1.90548228e-04 9.99330943e-01 3.56440422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.519254154 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:955.49, Y:119.09, Z:35.65 [[ 7.11963111e-01 -7.01737207e-01 -2.59503532e-02 9.55488455e+02] [ 7.01263778e-01 7.12435870e-01 -2.57729488e-02 1.19088977e+02] [ 3.65737996e-02 1.51346086e-04 9.99330943e-01 3.56460816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.579254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:955.53, Y:119.13, Z:35.65 [[ 7.11504022e-01 -7.02202878e-01 -2.59450278e-02 9.55529395e+02] [ 7.01729563e-01 7.11976895e-01 -2.57783087e-02 1.19129874e+02] [ 3.65738629e-02 1.34977270e-04 9.99330943e-01 3.56514097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.639254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:955.57, Y:119.17, Z:35.65 [[ 7.11858027e-01 -7.01844276e-01 -2.59376349e-02 9.55570434e+02] [ 7.01370452e-01 7.12330390e-01 -2.57857451e-02 1.19171653e+02] [ 3.65737432e-02 1.63898974e-04 9.99330943e-01 3.56525680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.699254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:955.61, Y:119.21, Z:35.65 [[ 7.12528267e-01 -7.01164095e-01 -2.59303000e-02 9.55611130e+02] [ 7.00689551e-01 7.12999908e-01 -2.57931190e-02 1.19213518e+02] [ 3.65735104e-02 2.09236092e-04 9.99330943e-01 3.56539104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.759254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:955.65, Y:119.25, Z:35.66 [[ 7.13638909e-01 -7.00033929e-01 -2.59230649e-02 9.55652689e+02] [ 6.99558374e-01 7.14109530e-01 -2.58003885e-02 1.19254356e+02] [ 3.65730550e-02 2.77463971e-04 9.99330944e-01 3.56577313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.819254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:955.69, Y:119.30, Z:35.66 [[ 7.13796511e-01 -6.99873494e-01 -2.59158914e-02 9.55693067e+02] [ 6.99397571e-01 7.14266761e-01 -2.58075921e-02 1.19297396e+02] [ 3.65729095e-02 2.95857658e-04 9.99330944e-01 3.56565914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.879254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:955.73, Y:119.34, Z:35.66 [[ 7.16716526e-01 -6.96883152e-01 -2.59093291e-02 9.55734345e+02] [ 6.96405030e-01 7.17184539e-01 -2.58141786e-02 1.19335866e+02] [ 3.65712364e-02 4.58061300e-04 9.99330944e-01 3.56626249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.939254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:955.78, Y:119.38, Z:35.67 [[ 7.17220795e-01 -6.96364312e-01 -2.59051293e-02 9.55776423e+02] [ 6.95885699e-01 7.17688306e-01 -2.58183925e-02 1.19376325e+02] [ 3.65708155e-02 4.90478997e-04 9.99330944e-01 3.56652016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.999254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:955.82, Y:119.42, Z:35.67 [[ 7.15746217e-01 -6.97880123e-01 -2.58976070e-02 9.55818624e+02] [ 6.97402228e-01 7.16214461e-01 -2.58259357e-02 1.19416399e+02] [ 3.65716478e-02 4.23766948e-04 9.99330944e-01 3.56676870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.059254154 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:955.86, Y:119.46, Z:35.67 [[ 7.13814220e-01 -6.99856389e-01 -2.58900491e-02 9.55859856e+02] [ 6.99379515e-01 7.14283504e-01 -2.58335102e-02 1.19455685e+02] [ 3.65725821e-02 3.33356926e-04 9.99330944e-01 3.56672160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.1192541539999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:955.90, Y:119.49, Z:35.67 [[ 7.08998597e-01 -7.04734639e-01 -2.58858807e-02 9.55901863e+02] [ 7.04260842e-01 7.09470987e-01 -2.58376863e-02 1.19494433e+02] [ 3.65739939e-02 8.84712081e-05 9.99330944e-01 3.56707017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.179254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:955.94, Y:119.53, Z:35.67 [[ 7.06820595e-01 -7.06919218e-01 -2.58817599e-02 9.55943463e+02] [ 7.06446730e-01 7.07294294e-01 -2.58418135e-02 1.19534850e+02] [ 3.65740957e-02 -1.85586169e-05 9.99330944e-01 3.56742048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.2392541539999 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:955.98, Y:119.58, Z:35.67 [[ 7.04643739e-01 -7.09089357e-01 -2.58744128e-02 9.55984746e+02] [ 7.08618057e-01 7.05118621e-01 -2.58491678e-02 1.19575392e+02] [ 3.65739000e-02 -1.20621843e-04 9.99330944e-01 3.56723119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.299254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:956.03, Y:119.62, Z:35.68 [[ 7.04349439e-01 -7.09381961e-01 -2.58669995e-02 9.56025831e+02] [ 7.08910586e-01 7.04824246e-01 -2.58565840e-02 1.19615676e+02] [ 3.65738827e-02 -1.25319332e-04 9.99330944e-01 3.56769703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.3592541539999 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:956.07, Y:119.66, Z:35.68 [[ 7.05030546e-01 -7.08705309e-01 -2.58595209e-02 9.56066512e+02] [ 7.08233204e-01 7.05504627e-01 -2.58640614e-02 1.19657526e+02] [ 3.65740092e-02 -7.96179994e-05 9.99330944e-01 3.56778475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.419254154 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:956.11, Y:119.70, Z:35.68 [[ 7.05482795e-01 -7.08255390e-01 -2.58520607e-02 9.56107375e+02] [ 7.07782709e-01 7.05956303e-01 -2.58715160e-02 1.19699352e+02] [ 3.65740658e-02 -4.57321172e-05 9.99330944e-01 3.56763772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.4792541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:956.15, Y:119.74, Z:35.68 [[ 7.08668411e-01 -7.05068143e-01 -2.58456398e-02 9.56147689e+02] [ 7.04593100e-01 7.09139547e-01 -2.58779288e-02 1.19741603e+02] [ 3.65738685e-02 1.28211188e-04 9.99330944e-01 3.56794543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.539254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:956.19, Y:119.78, Z:35.68 [[ 7.10011484e-01 -7.03715870e-01 -2.58392477e-02 9.56188306e+02] [ 7.03239697e-01 7.10481478e-01 -2.58843098e-02 1.19783765e+02] [ 3.65735065e-02 2.06972442e-04 9.99330944e-01 3.56834669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.5992541539999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:956.23, Y:119.83, Z:35.69 [[ 7.11180303e-01 -7.02534873e-01 -2.58326960e-02 9.56229361e+02] [ 7.02057682e-01 7.11649264e-01 -2.58908467e-02 1.19825863e+02] [ 3.65730419e-02 2.77017524e-04 9.99330944e-01 3.56883445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.659254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:956.27, Y:119.87, Z:35.69 [[ 7.10817252e-01 -7.02902440e-01 -2.58262311e-02 9.56269435e+02] [ 7.02425257e-01 7.11286221e-01 -2.58972940e-02 1.19867250e+02] [ 3.65731134e-02 2.67246312e-04 9.99330944e-01 3.56916438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.7192541539999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:956.31, Y:119.91, Z:35.69 [[ 7.10705430e-01 -7.03015771e-01 -2.58189321e-02 9.56309877e+02] [ 7.02538399e-01 7.11174206e-01 -2.59045689e-02 1.19909331e+02] [ 3.65730790e-02 2.71726546e-04 9.99330944e-01 3.56937279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.779254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:956.35, Y:119.95, Z:35.69 [[ 7.11364204e-01 -7.02349446e-01 -2.58113405e-02 9.56349594e+02] [ 7.01871360e-01 7.11832252e-01 -2.59121309e-02 1.19951582e+02] [ 3.65727154e-02 3.16721641e-04 9.99330944e-01 3.56923766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.839254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:956.39, Y:119.99, Z:35.69 [[ 7.11710710e-01 -7.01998462e-01 -2.58074598e-02 9.56390496e+02] [ 7.01520005e-01 7.12178379e-01 -2.59159954e-02 1.19994081e+02] [ 3.65725038e-02 3.40242164e-04 9.99330944e-01 3.56912606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.899254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:956.43, Y:120.04, Z:35.69 [[ 7.11354993e-01 -7.02359158e-01 -2.58009097e-02 9.56432500e+02] [ 7.01880702e-01 7.11822663e-01 -2.59225147e-02 1.20035982e+02] [ 3.65725879e-02 3.30949609e-04 9.99330944e-01 3.56929225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.959254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:956.47, Y:120.08, Z:35.70 [[ 7.09770681e-01 -7.03960285e-01 -2.57972280e-02 9.56474130e+02] [ 7.03482751e-01 7.10239293e-01 -2.59261781e-02 1.20078124e+02] [ 3.65732047e-02 2.53736144e-04 9.99330944e-01 3.56961351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.019254154 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:956.51, Y:120.12, Z:35.70 [[ 7.08224277e-01 -7.05516272e-01 -2.57907521e-02 9.56514975e+02] [ 7.05039533e-01 7.08693697e-01 -2.59326186e-02 1.20119540e+02] [ 3.65736279e-02 1.82610195e-04 9.99330944e-01 3.56968347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.079254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:956.56, Y:120.16, Z:35.71 [[ 7.09930701e-01 -7.03799413e-01 -2.57834566e-02 9.56562408e+02] [ 7.03321275e-01 7.10398696e-01 -2.59398701e-02 1.20155675e+02] [ 3.65729993e-02 2.81456609e-04 9.99330944e-01 3.57096232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.139254154 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:956.60, Y:120.20, Z:35.71 [[ 7.07197640e-01 -7.06545851e-01 -2.57770737e-02 9.56603167e+02] [ 7.06069300e-01 7.07667251e-01 -2.59462114e-02 1.20197029e+02] [ 3.65737789e-02 1.48699151e-04 9.99330944e-01 3.57076812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.199254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:956.64, Y:120.24, Z:35.71 [[ 7.04016855e-01 -7.09715399e-01 -2.57744158e-02 9.56640987e+02] [ 7.09240865e-01 7.04488504e-01 -2.59488514e-02 1.20240676e+02] [ 3.65740791e-02 -1.18402376e-05 9.99330944e-01 3.57056168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.259254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:956.68, Y:120.28, Z:35.71 [[ 7.03475085e-01 -7.10252521e-01 -2.57713404e-02 9.56683363e+02] [ 7.09778235e-01 7.03946984e-01 -2.59519055e-02 1.20281480e+02] [ 3.65740636e-02 -3.54175971e-05 9.99330944e-01 3.57074101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.319254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:956.73, Y:120.32, Z:35.71 [[ 7.02693594e-01 -7.11025937e-01 -2.57648880e-02 9.56725946e+02] [ 7.10551936e-01 7.03165779e-01 -2.59583098e-02 1.20322434e+02] [ 3.65740191e-02 -6.65530425e-05 9.99330945e-01 3.57109207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.379254154 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:956.77, Y:120.36, Z:35.71 [[ 7.01669288e-01 -7.12037020e-01 -2.57583378e-02 9.56768102e+02] [ 7.11563461e-01 7.02141916e-01 -2.59648079e-02 1.20360644e+02] [ 3.65739131e-02 -1.09983706e-04 9.99330945e-01 3.57110323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.439254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:956.81, Y:120.40, Z:35.72 [[ 7.03675420e-01 -7.10054657e-01 -2.57543612e-02 9.56811684e+02] [ 7.09579622e-01 7.04146564e-01 -2.59687517e-02 1.20400271e+02] [ 3.65740780e-02 -1.19766719e-06 9.99330945e-01 3.57151121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.499254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:956.85, Y:120.44, Z:35.71 [[ 7.07042153e-01 -7.06702512e-01 -2.57478591e-02 9.56852554e+02] [ 7.06225009e-01 7.07510796e-01 -2.59751969e-02 1.20442571e+02] [ 3.65736251e-02 1.81777127e-04 9.99330945e-01 3.57113027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.559254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:956.89, Y:120.48, Z:35.72 [[ 7.12909429e-01 -7.00783532e-01 -2.57407896e-02 9.56894281e+02] [ 7.00301885e-01 7.13373812e-01 -2.59822006e-02 1.20483130e+02] [ 3.65707035e-02 4.96632298e-04 9.99330945e-01 3.57181299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.6192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:956.94, Y:120.52, Z:35.72 [[ 7.16141579e-01 -6.97480496e-01 -2.57331731e-02 9.56935728e+02] [ 6.96996437e-01 7.16603447e-01 -2.59897420e-02 1.20524547e+02] [ 3.65678187e-02 6.76404937e-04 9.99330945e-01 3.57216123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.679254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:956.98, Y:120.57, Z:35.72 [[ 7.16548085e-01 -6.97063118e-01 -2.57264855e-02 9.56975790e+02] [ 6.96578552e-01 7.17009421e-01 -2.59963602e-02 1.20567862e+02] [ 3.65672363e-02 7.07124083e-04 9.99330945e-01 3.57214104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.7392541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:957.02, Y:120.61, Z:35.72 [[ 7.15076243e-01 -6.98573160e-01 -2.57197827e-02 9.57017020e+02] [ 6.98089330e-01 7.15538351e-01 -2.60029899e-02 1.20609417e+02] [ 3.65684817e-02 6.39414443e-04 9.99330945e-01 3.57231173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.799254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:957.06, Y:120.65, Z:35.73 [[ 7.13591968e-01 -7.00089519e-01 -2.57131926e-02 9.57058712e+02] [ 6.99606437e-01 7.14054857e-01 -2.60095050e-02 1.20650475e+02] [ 3.65696119e-02 5.71058857e-04 9.99330945e-01 3.57263963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.8592541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:957.10, Y:120.69, Z:35.73 [[ 7.12477553e-01 -7.01223863e-01 -2.57066189e-02 9.57099997e+02] [ 7.00741284e-01 7.12940966e-01 -2.60160005e-02 1.20691953e+02] [ 3.65703421e-02 5.22127247e-04 9.99330945e-01 3.57282405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.919254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:957.14, Y:120.73, Z:35.73 [[ 7.10196907e-01 -7.03533873e-01 -2.56990961e-02 9.57141571e+02] [ 7.03052532e-01 7.10661606e-01 -2.60234296e-02 1.20732552e+02] [ 3.65717251e-02 4.13944608e-04 9.99330945e-01 3.57297297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.9792541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:957.18, Y:120.77, Z:35.73 [[ 7.08185890e-01 -7.05558424e-01 -2.56915664e-02 9.57183043e+02] [ 7.05078142e-01 7.08651683e-01 -2.60308611e-02 1.20773560e+02] [ 3.65726651e-02 3.20126594e-04 9.99330945e-01 3.57319865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.039254154 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:957.22, Y:120.82, Z:35.73 [[ 7.06039044e-01 -7.07706997e-01 -2.56841335e-02 9.57224627e+02] [ 7.07227866e-01 7.06506022e-01 -2.60381929e-02 1.20815364e+02] [ 3.65734063e-02 2.19445953e-04 9.99330945e-01 3.57339780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.0992541539999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:957.26, Y:120.86, Z:35.74 [[ 7.04807992e-01 -7.08933249e-01 -2.56776772e-02 9.57264361e+02] [ 7.08454699e-01 7.05275564e-01 -2.60445583e-02 1.20858901e+02] [ 3.65736916e-02 1.64941806e-04 9.99330945e-01 3.57357492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.159254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:957.31, Y:120.90, Z:35.75 [[ 7.07079347e-01 -7.06668092e-01 -2.56710734e-02 9.57307700e+02] [ 7.06187808e-01 7.07545138e-01 -2.60510657e-02 1.20898150e+02] [ 3.65729001e-02 2.91571482e-04 9.99330945e-01 3.57472237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.2192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:957.35, Y:120.94, Z:35.75 [[ 7.05834809e-01 -7.07911345e-01 -2.56661133e-02 9.57347101e+02] [ 7.07431703e-01 7.06301262e-01 -2.60559516e-02 1.20942512e+02] [ 3.65733120e-02 2.34175401e-04 9.99330945e-01 3.57460628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.279254154 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:957.39, Y:120.99, Z:35.75 [[ 7.04684448e-01 -7.09056718e-01 -2.56593139e-02 9.57386997e+02] [ 7.08577590e-01 7.05151429e-01 -2.60626458e-02 1.20986550e+02] [ 3.65735960e-02 1.84326342e-04 9.99330945e-01 3.57459176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.339254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:957.43, Y:121.03, Z:35.75 [[ 7.02761376e-01 -7.10963010e-01 -2.56524146e-02 9.57427249e+02] [ 7.10484902e-01 7.03229400e-01 -2.60694348e-02 1.21029361e+02] [ 3.65739359e-02 9.49385612e-05 9.99330945e-01 3.57488726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.399254154 meters Centerline goodness : 0.999736 with order 1 Centerline is valid? [True, True] Translation: X:957.47, Y:121.07, Z:35.75 [[ 6.99062603e-01 -7.14600433e-01 -2.56456262e-02 9.57468216e+02] [ 7.14124515e-01 6.99532854e-01 -2.60761111e-02 1.21071479e+02] [ 3.65739584e-02 -8.53363134e-05 9.99330945e-01 3.57483616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.459254154 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:957.51, Y:121.11, Z:35.75 [[ 6.95719058e-01 -7.17856284e-01 -2.56388087e-02 9.57507223e+02] [ 7.17382319e-01 6.96191278e-01 -2.60828126e-02 1.21114943e+02] [ 3.65732259e-02 -2.46518225e-04 9.99330945e-01 3.57484422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.519254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:957.55, Y:121.16, Z:35.75 [[ 6.94561753e-01 -7.18976182e-01 -2.56363052e-02 9.57548285e+02] [ 7.18502888e-01 6.95034645e-01 -2.60852729e-02 1.21156391e+02] [ 3.65728103e-02 -3.01926437e-04 9.99330945e-01 3.57530007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.579254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:957.59, Y:121.20, Z:35.75 [[ 6.94314703e-01 -7.19215012e-01 -2.56292868e-02 9.57588260e+02] [ 7.18741626e-01 6.94787503e-01 -2.60921669e-02 1.21197718e+02] [ 3.65727863e-02 -3.04660179e-04 9.99330945e-01 3.57501167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.639254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:957.63, Y:121.24, Z:35.75 [[ 6.94327671e-01 -7.19202596e-01 -2.56263649e-02 9.57627729e+02] [ 7.18729096e-01 6.94800357e-01 -2.60950363e-02 1.21240892e+02] [ 3.65728253e-02 -2.99908299e-04 9.99330945e-01 3.57547223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.699254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:957.67, Y:121.28, Z:35.76 [[ 6.97492913e-01 -7.16133576e-01 -2.56190755e-02 9.57667087e+02] [ 7.15657733e-01 6.97963240e-01 -2.61021907e-02 1.21284997e+02] [ 3.65738282e-02 -1.28396454e-04 9.99330945e-01 3.57551783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.759254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:957.71, Y:121.33, Z:35.75 [[ 6.99312659e-01 -7.14356926e-01 -2.56122463e-02 9.57705554e+02] [ 7.13879643e-01 6.99781524e-01 -2.61088901e-02 1.21327856e+02] [ 3.65740432e-02 -2.57838428e-05 9.99330946e-01 3.57527625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.819254154 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:957.75, Y:121.37, Z:35.75 [[ 7.00945640e-01 -7.12754846e-01 -2.56074142e-02 9.57748100e+02] [ 7.12276318e-01 7.01413234e-01 -2.61136284e-02 1.21368555e+02] [ 3.65739945e-02 6.46792632e-05 9.99330946e-01 3.57541378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.879254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:957.79, Y:121.41, Z:35.76 [[ 6.98295790e-01 -7.15351361e-01 -2.56011748e-02 9.57787251e+02] [ 7.14874347e-01 6.98764929e-01 -2.61197440e-02 1.21412212e+02] [ 3.65739975e-02 -6.23158501e-05 9.99330946e-01 3.57565495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.939254154 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:957.83, Y:121.45, Z:35.76 [[ 6.96201034e-01 -7.17390457e-01 -2.55940033e-02 9.57829620e+02] [ 7.16914559e-01 6.96671305e-01 -2.61267693e-02 1.21452788e+02] [ 3.65737026e-02 -1.59229757e-04 9.99330946e-01 3.57601111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.999254154 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:957.87, Y:121.49, Z:35.76 [[ 6.95937259e-01 -7.17646590e-01 -2.55871935e-02 9.57871202e+02] [ 7.17170620e-01 6.96407457e-01 -2.61334368e-02 1.21492610e+02] [ 3.65736841e-02 -1.63151082e-04 9.99330946e-01 3.57624859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.059254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:957.91, Y:121.53, Z:35.77 [[ 6.94742982e-01 -7.18803086e-01 -2.55795349e-02 9.57912164e+02] [ 7.18327622e-01 6.95213693e-01 -2.61409308e-02 1.21534318e+02] [ 3.65734247e-02 -2.13258245e-04 9.99330946e-01 3.57655303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.1192541539999 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:957.95, Y:121.58, Z:35.77 [[ 6.95766959e-01 -7.17812243e-01 -2.55719110e-02 9.57952767e+02] [ 7.17335835e-01 6.96236714e-01 -2.61483867e-02 1.21575288e+02] [ 3.65737354e-02 -1.50464563e-04 9.99330946e-01 3.57652260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.179254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:958.00, Y:121.62, Z:35.78 [[ 6.96709313e-01 -7.16897875e-01 -2.55649966e-02 9.57995493e+02] [ 7.16420603e-01 6.97178189e-01 -2.61551451e-02 1.21615410e+02] [ 3.65739260e-02 -9.27571158e-05 9.99330946e-01 3.57770857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.2392541539999 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:958.04, Y:121.66, Z:35.78 [[ 6.98328563e-01 -7.15320923e-01 -2.55576896e-02 9.58037426e+02] [ 7.14842330e-01 6.98796092e-01 -2.61622833e-02 1.21656882e+02] [ 3.65740422e-02 1.51314505e-07 9.99330946e-01 3.57807841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.299254154 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:958.08, Y:121.70, Z:35.78 [[ 6.99424643e-01 -7.14249485e-01 -2.55507589e-02 9.58078246e+02] [ 7.13769930e-01 6.99891183e-01 -2.61690502e-02 1.21698422e+02] [ 3.65739815e-02 6.59151852e-05 9.99330946e-01 3.57827191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.3592541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:958.12, Y:121.74, Z:35.78 [[ 6.98917688e-01 -7.14745844e-01 -2.55429590e-02 9.58118503e+02] [ 7.14266342e-01 6.99384283e-01 -2.61766612e-02 1.21741468e+02] [ 3.65740039e-02 5.08556508e-05 9.99330946e-01 3.57820992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.419254154 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:958.16, Y:121.78, Z:35.78 [[ 6.98102773e-01 -7.15542044e-01 -2.55362836e-02 9.58159111e+02] [ 7.15062835e-01 6.98569669e-01 -2.61831717e-02 1.21782593e+02] [ 3.65740334e-02 1.84973892e-05 9.99330946e-01 3.57779985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.4792541539999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:958.20, Y:121.82, Z:35.79 [[ 6.98924764e-01 -7.14739249e-01 -2.55339183e-02 9.58199842e+02] [ 7.14259419e-01 6.99391023e-01 -2.61854782e-02 1.21823796e+02] [ 3.65739822e-02 6.38374894e-05 9.99330946e-01 3.57852387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.539254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:958.24, Y:121.87, Z:35.78 [[ 7.00968317e-01 -7.12735461e-01 -2.55260983e-02 9.58238995e+02] [ 7.12254021e-01 7.01432913e-01 -2.61930990e-02 1.21866419e+02] [ 3.65735960e-02 1.79466358e-04 9.99330946e-01 3.57845319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.5992541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:958.28, Y:121.91, Z:35.79 [[ 7.03637254e-01 -7.10100806e-01 -2.55237013e-02 9.58278244e+02] [ 7.09617542e-01 7.04099952e-01 -2.61954346e-02 1.21907484e+02] [ 3.65726361e-02 3.20017450e-04 9.99330946e-01 3.57867460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.659254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:958.32, Y:121.95, Z:35.79 [[ 7.05702532e-01 -7.08048507e-01 -2.55195732e-02 9.58318009e+02] [ 7.07563752e-01 7.06163668e-01 -2.61994556e-02 1.21949173e+02] [ 3.65714808e-02 4.32297224e-04 9.99330946e-01 3.57892400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.7192541539999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:958.36, Y:121.99, Z:35.79 [[ 7.06229453e-01 -7.07523219e-01 -2.55118501e-02 9.58357993e+02] [ 7.07037850e-01 7.06689942e-01 -2.62069738e-02 1.21990483e+02] [ 3.65710103e-02 4.70293188e-04 9.99330946e-01 3.57898408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.779254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:958.40, Y:122.03, Z:35.79 [[ 7.03534746e-01 -7.10202926e-01 -2.55081616e-02 9.58399330e+02] [ 7.09719180e-01 7.03996940e-01 -2.62105635e-02 1.22031731e+02] [ 3.65724866e-02 3.36410537e-04 9.99330946e-01 3.57925597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.839254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:958.44, Y:122.07, Z:35.80 [[ 6.97988235e-01 -7.15655045e-01 -2.55006072e-02 9.58441461e+02] [ 7.15174642e-01 6.98453902e-01 -2.62179112e-02 1.22071596e+02] [ 3.65739790e-02 6.24058883e-05 9.99330946e-01 3.57956675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.899254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:958.48, Y:122.12, Z:35.79 [[ 6.88054102e-01 -7.25211458e-01 -2.54930003e-02 9.58481842e+02] [ 7.24737248e-01 6.88526074e-01 -2.62253056e-02 1.22115408e+02] [ 3.65714876e-02 -4.31297773e-04 9.99330946e-01 3.57896191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.959254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:958.52, Y:122.15, Z:35.79 [[ 6.82950359e-01 -7.30020050e-01 -2.54859322e-02 9.58522990e+02] [ 7.29548906e-01 6.83425392e-01 -2.62321728e-02 1.22154651e+02] [ 3.65677453e-02 -6.77962116e-04 9.99330946e-01 3.57929111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.019254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:958.56, Y:122.19, Z:35.80 [[ 6.81477561e-01 -7.31395226e-01 -2.54824679e-02 9.58564599e+02] [ 7.30924915e-01 6.81953419e-01 -2.62355375e-02 1.22194965e+02] [ 3.65664030e-02 -7.46840555e-04 9.99330946e-01 3.57957778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.079254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:958.61, Y:122.23, Z:35.81 [[ 6.82721870e-01 -7.30234042e-01 -2.54772891e-02 9.58606793e+02] [ 7.29762734e-01 6.83196740e-01 -2.62405657e-02 1.22234728e+02] [ 3.65677552e-02 -6.77368031e-04 9.99330946e-01 3.58064124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.139254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:958.65, Y:122.28, Z:35.81 [[ 6.84900286e-01 -7.28191406e-01 -2.54729964e-02 9.58646706e+02] [ 7.27718527e-01 6.85373591e-01 -2.62447322e-02 1.22277243e+02] [ 3.65697075e-02 -5.62146860e-04 9.99330946e-01 3.58085692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.199254154 meters Centerline goodness : 0.995771 with order 1 Centerline is valid? [True, True] Translation: X:958.69, Y:122.32, Z:35.80 [[ 6.89949154e-01 -7.23409757e-01 -2.54654492e-02 9.58685114e+02] [ 7.22933326e-01 6.90418884e-01 -2.62520533e-02 1.22321190e+02] [ 3.65728185e-02 -2.97239910e-04 9.99330946e-01 3.58033682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.259254154 meters Centerline goodness : 0.998339 with order 1 Centerline is valid? [True, True] Translation: X:958.72, Y:122.37, Z:35.80 [[ 6.96394958e-01 -7.17207105e-01 -2.54564662e-02 9.58723760e+02] [ 7.16726172e-01 6.96860077e-01 -2.62607612e-02 1.22365072e+02] [ 3.65739995e-02 4.25461421e-05 9.99330947e-01 3.58030511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.319254154 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:958.76, Y:122.41, Z:35.81 [[ 7.01853007e-01 -7.11867129e-01 -2.54469613e-02 9.58762797e+02] [ 7.11382324e-01 7.02314088e-01 -2.62699683e-02 1.22408514e+02] [ 3.65724863e-02 3.35137790e-04 9.99330947e-01 3.58079003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.379254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:958.80, Y:122.45, Z:35.82 [[ 7.06615482e-01 -7.07140356e-01 -2.54376948e-02 9.58802105e+02] [ 7.06652144e-01 7.07072955e-01 -2.62789381e-02 1.22450742e+02] [ 3.65692037e-02 5.93502983e-04 9.99330947e-01 3.58162862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.439254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:958.84, Y:122.50, Z:35.82 [[ 7.05592405e-01 -7.08161328e-01 -2.54340612e-02 9.58840504e+02] [ 7.07673652e-01 7.06050448e-01 -2.62824544e-02 1.22496049e+02] [ 3.65699482e-02 5.45685250e-04 9.99330947e-01 3.58166811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.499254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:958.88, Y:122.54, Z:35.82 [[ 7.06355962e-01 -7.07399979e-01 -2.54268612e-02 9.58880369e+02] [ 7.06911558e-01 7.06813212e-01 -2.62894182e-02 1.22537413e+02] [ 3.65691753e-02 5.95145189e-04 9.99330947e-01 3.58193285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.559254154 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:958.92, Y:122.58, Z:35.82 [[ 7.07548080e-01 -7.06207809e-01 -2.54213501e-02 9.58921477e+02] [ 7.05718426e-01 7.08004300e-01 -2.62947463e-02 1.22580215e+02] [ 3.65679803e-02 6.64482024e-04 9.99330947e-01 3.58189329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.6192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:958.96, Y:122.62, Z:35.82 [[ 7.09362558e-01 -7.04385453e-01 -2.54144393e-02 9.58961109e+02] [ 7.03894660e-01 7.09817260e-01 -2.63014240e-02 1.22623833e+02] [ 3.65659482e-02 7.68157355e-04 9.99330947e-01 3.58196167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.679254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:959.00, Y:122.66, Z:35.82 [[ 7.10040176e-01 -7.03702641e-01 -2.54075234e-02 9.59002962e+02] [ 7.03211171e-01 7.10494147e-01 -2.63081032e-02 1.22664445e+02] [ 3.65649783e-02 8.12955913e-04 9.99330947e-01 3.58203917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.7392541539999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:959.04, Y:122.71, Z:35.82 [[ 7.01617345e-01 -7.12101046e-01 -2.54008097e-02 9.59043270e+02] [ 7.11614778e-01 7.02076883e-01 -2.63145837e-02 1.22707306e+02] [ 3.65719639e-02 3.87176830e-04 9.99330947e-01 3.58195738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.799254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:959.09, Y:122.74, Z:35.83 [[ 6.93760585e-01 -7.19757883e-01 -2.53937053e-02 9.59087677e+02] [ 7.19276437e-01 6.94225172e-01 -2.63214377e-02 1.22743900e+02] [ 3.65740117e-02 -4.31781092e-06 9.99330947e-01 3.58263306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.8592541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:959.13, Y:122.78, Z:35.83 [[ 6.82756658e-01 -7.30204713e-01 -2.53854989e-02 9.59130580e+02] [ 7.29730079e-01 6.83228203e-01 -2.63293499e-02 1.22783595e+02] [ 3.65699042e-02 -5.48023153e-04 9.99330947e-01 3.58337285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.919254154 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:959.17, Y:122.82, Z:35.84 [[ 6.74609047e-01 -7.37738828e-01 -2.53782510e-02 9.59175000e+02] [ 7.37269196e-01 6.75085573e-01 -2.63363342e-02 1.22821501e+02] [ 3.65618274e-02 -9.43873391e-04 9.99330947e-01 3.58361070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.9792541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:959.22, Y:122.86, Z:35.84 [[ 6.67372286e-01 -7.44291868e-01 -2.53741422e-02 9.59215855e+02] [ 7.43826762e-01 6.67853231e-01 -2.63402923e-02 1.22864053e+02] [ 3.65510682e-02 -1.29518490e-03 9.99330947e-01 3.58396410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.039254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:959.25, Y:122.91, Z:35.84 [[ 6.62254747e-01 -7.48849212e-01 -2.53674613e-02 9.59254291e+02] [ 7.48387168e-01 6.62738634e-01 -2.63467249e-02 1.22907562e+02] [ 3.65417208e-02 -1.53643886e-03 9.99330947e-01 3.58401401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.0992541539999 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:959.29, Y:122.95, Z:35.84 [[ 6.58327548e-01 -7.52304094e-01 -2.53651243e-02 9.59291954e+02] [ 7.51844502e-01 6.58813765e-01 -2.63489746e-02 1.22952935e+02] [ 3.65333345e-02 -1.72437338e-03 9.99330947e-01 3.58421268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.159254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:959.33, Y:123.00, Z:35.84 [[ 6.58676621e-01 -7.51998713e-01 -2.53583354e-02 9.59329539e+02] [ 7.51538645e-01 6.59162387e-01 -2.63555066e-02 1.22998936e+02] [ 3.65345680e-02 -1.69801300e-03 9.99330947e-01 3.58425354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.2192541539999 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:959.37, Y:123.04, Z:35.85 [[ 6.64636530e-01 -7.46736615e-01 -2.53517227e-02 9.59365475e+02] [ 7.46272457e-01 6.65118390e-01 -2.63618659e-02 1.23043831e+02] [ 3.65472675e-02 -1.39823330e-03 9.99330947e-01 3.58477863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.279254154 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:959.40, Y:123.09, Z:35.85 [[ 6.72935704e-01 -7.39266542e-01 -2.53479635e-02 9.59399236e+02] [ 7.38796894e-01 6.73412215e-01 -2.63654800e-02 1.23092470e+02] [ 3.65607455e-02 -9.84723861e-04 9.99330947e-01 3.58514867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.339254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:959.43, Y:123.14, Z:35.85 [[ 6.88637751e-01 -7.24662586e-01 -2.53413786e-02 9.59430765e+02] [ 7.24182592e-01 6.89103839e-01 -2.63718077e-02 1.23143717e+02] [ 3.65735036e-02 -1.91162963e-04 9.99330947e-01 3.58549425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.399254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:959.46, Y:123.19, Z:35.86 [[ 6.99519914e-01 -7.14163874e-01 -2.53347951e-02 9.59463148e+02] [ 7.13676657e-01 6.99978445e-01 -2.63781308e-02 1.23193327e+02] [ 3.65721186e-02 3.71175875e-04 9.99330947e-01 3.58564139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.459254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:959.50, Y:123.24, Z:35.86 [[ 7.04208578e-01 -7.09541272e-01 -2.53270884e-02 9.59499340e+02] [ 7.09050780e-01 7.04663604e-01 -2.63855283e-02 1.23239343e+02] [ 3.65686988e-02 6.22723600e-04 9.99330947e-01 3.58563529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.519254154 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:959.54, Y:123.28, Z:35.86 [[ 7.02936032e-01 -7.10802265e-01 -2.53194688e-02 9.59536319e+02] [ 7.10312326e-01 7.03391653e-01 -2.63928381e-02 1.23284026e+02] [ 3.65695921e-02 5.67746098e-04 9.99330947e-01 3.58566585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.579254154 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:959.58, Y:123.33, Z:35.86 [[ 7.00463045e-01 -7.13239697e-01 -2.53112249e-02 9.59575817e+02] [ 7.12751058e-01 7.00920060e-01 -2.64007418e-02 1.23325782e+02] [ 3.65712023e-02 4.52141642e-04 9.99330948e-01 3.58585398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.639254154 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:959.62, Y:123.37, Z:35.86 [[ 6.97187197e-01 -7.16442297e-01 -2.53070600e-02 9.59616127e+02] [ 7.15955612e-01 6.97646294e-01 -2.64047335e-02 1.23368522e+02] [ 3.65728445e-02 2.90310548e-04 9.99330948e-01 3.58588131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.699254154 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:959.66, Y:123.41, Z:35.86 [[ 6.95316924e-01 -7.18257797e-01 -2.53004330e-02 9.59658539e+02] [ 7.17772081e-01 6.95777044e-01 -2.64110818e-02 1.23410218e+02] [ 3.65734260e-02 2.04127704e-04 9.99330948e-01 3.58577829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.759254154 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:959.70, Y:123.45, Z:35.86 [[ 6.92568537e-01 -7.20908375e-01 -2.52969770e-02 9.59701033e+02] [ 7.20424298e-01 6.93030382e-01 -2.64143917e-02 1.23450419e+02] [ 3.65739298e-02 6.92196718e-05 9.99330948e-01 3.58604914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.819254154 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:959.74, Y:123.49, Z:35.87 [[ 6.86833846e-01 -7.26374322e-01 -2.52905420e-02 9.59743914e+02] [ 7.25893694e-01 6.87299279e-01 -2.64205514e-02 1.23490503e+02] [ 3.65733814e-02 -2.11716007e-04 9.99330948e-01 3.58651741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.879254154 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:959.79, Y:123.53, Z:35.87 [[ 6.79698921e-01 -7.33055320e-01 -2.52838767e-02 9.59787428e+02] [ 7.32579029e-01 6.80168791e-01 -2.64269284e-02 1.23529734e+02] [ 3.65697043e-02 -5.60083158e-04 9.99330948e-01 3.58694129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.939254154 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:959.83, Y:123.57, Z:35.87 [[ 6.72766726e-01 -7.39422744e-01 -2.52772053e-02 9.59830732e+02] [ 7.38950659e-01 6.73240822e-01 -2.64333080e-02 1.23570007e+02] [ 3.65630356e-02 -8.95157397e-04 9.99330948e-01 3.58731611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.999254154 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:959.87, Y:123.61, Z:35.88 [[ 6.69339082e-01 -7.42527168e-01 -2.52704915e-02 9.59871722e+02] [ 7.42057039e-01 6.69815117e-01 -2.64397249e-02 1.23611098e+02] [ 3.65587713e-02 -1.05500493e-03 9.99330948e-01 3.58758321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.059254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:959.91, Y:123.65, Z:35.88 [[ 6.68870826e-01 -7.42949262e-01 -2.52628731e-02 9.59913402e+02] [ 7.42479159e-01 6.69346887e-01 -2.64470023e-02 1.23651063e+02] [ 3.65584063e-02 -1.06752846e-03 9.99330948e-01 3.58816242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.1192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:959.95, Y:123.69, Z:35.89 [[ 6.69956025e-01 -7.41971095e-01 -2.52550553e-02 9.59953426e+02] [ 7.41500016e-01 6.70431120e-01 -2.64544656e-02 1.23693243e+02] [ 3.65602238e-02 -1.00329533e-03 9.99330948e-01 3.58851259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.179254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:959.99, Y:123.74, Z:35.89 [[ 6.74173898e-01 -7.38140998e-01 -2.52472281e-02 9.59991954e+02] [ 7.37666940e-01 6.74646020e-01 -2.64619335e-02 1.23737052e+02] [ 3.65655800e-02 -7.84100679e-04 9.99330948e-01 3.58863504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.2392541539999 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:960.03, Y:123.78, Z:35.89 [[ 6.79003937e-01 -7.33700451e-01 -2.52448300e-02 9.60030553e+02] [ 7.33223219e-01 6.79472851e-01 -2.64642211e-02 1.23779319e+02] [ 3.65699876e-02 -5.40785177e-04 9.99330948e-01 3.58867741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.299254154 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:960.07, Y:123.83, Z:35.89 [[ 6.81817138e-01 -7.31087102e-01 -2.52396585e-02 9.60067060e+02] [ 7.30607890e-01 6.82284028e-01 -2.64691524e-02 1.23825412e+02] [ 3.65718718e-02 -3.93171874e-04 9.99330948e-01 3.58865353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.3592541539999 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:960.11, Y:123.87, Z:35.89 [[ 6.85623807e-01 -7.27518593e-01 -2.52327579e-02 9.60105293e+02] [ 7.27036709e-01 6.86087939e-01 -2.64757290e-02 1.23868847e+02] [ 3.65734760e-02 -1.92751089e-04 9.99330948e-01 3.58862591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.419254154 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:960.15, Y:123.91, Z:35.89 [[ 6.92156348e-01 -7.21306661e-01 -2.52247831e-02 9.60146349e+02] [ 7.20820335e-01 6.92615823e-01 -2.64833249e-02 1.23909840e+02] [ 3.65736825e-02 1.48064828e-04 9.99330948e-01 3.58925561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.4792541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:960.19, Y:123.95, Z:35.90 [[ 6.93947696e-01 -7.19583511e-01 -2.52223160e-02 9.60185917e+02] [ 7.19095958e-01 6.94405870e-01 -2.64856742e-02 1.23952597e+02] [ 3.65731788e-02 2.42407103e-04 9.99330948e-01 3.58966760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.539254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:960.23, Y:123.99, Z:35.90 [[ 6.95745034e-01 -7.17846102e-01 -2.52154853e-02 9.60227213e+02] [ 7.17357170e-01 6.96201735e-01 -2.64921757e-02 1.23993663e+02] [ 3.65723697e-02 3.43290512e-04 9.99330948e-01 3.58988578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.5992541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:960.27, Y:124.03, Z:35.90 [[ 6.97455208e-01 -7.16184889e-01 -2.52078689e-02 9.60268206e+02] [ 7.15694607e-01 6.97910460e-01 -2.64994210e-02 1.24034438e+02] [ 3.65713203e-02 4.41023390e-04 9.99330948e-01 3.59007428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.659254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:960.31, Y:124.07, Z:35.90 [[ 6.98491720e-01 -7.15174286e-01 -2.52003599e-02 9.60310209e+02] [ 7.14683088e-01 6.98945983e-01 -2.65065600e-02 1.24074811e+02] [ 3.65705004e-02 5.04341685e-04 9.99330948e-01 3.59028591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.7192541539999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:960.35, Y:124.11, Z:35.90 [[ 7.00136629e-01 -7.13564315e-01 -2.51926586e-02 9.60354367e+02] [ 7.13071809e-01 7.00589473e-01 -2.65138775e-02 1.24113582e+02] [ 3.65690682e-02 5.99162158e-04 9.99330948e-01 3.59009395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.779254154 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:960.40, Y:124.15, Z:35.90 [[ 7.00967929e-01 -7.12747985e-01 -2.51847799e-02 9.60395062e+02] [ 7.12254683e-01 7.01419906e-01 -2.65213592e-02 1.24154828e+02] [ 3.65681512e-02 6.52644791e-04 9.99330948e-01 3.59029343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.839254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:960.44, Y:124.19, Z:35.90 [[ 7.01809176e-01 -7.11919756e-01 -2.51821587e-02 9.60437332e+02] [ 7.11425832e-01 7.02260473e-01 -2.65238477e-02 1.24192922e+02] [ 3.65672859e-02 6.99441517e-04 9.99330948e-01 3.59040379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.899254154 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:960.48, Y:124.23, Z:35.91 [[ 7.02100823e-01 -7.11632283e-01 -2.51779440e-02 9.60480352e+02] [ 7.11138030e-01 7.02551760e-01 -2.65278480e-02 1.24232604e+02] [ 3.65668819e-02 7.20230349e-04 9.99330948e-01 3.59074800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.959254154 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:960.53, Y:124.27, Z:35.91 [[ 7.04397156e-01 -7.09359605e-01 -2.51713627e-02 9.60525696e+02] [ 7.08863674e-01 7.04846248e-01 -2.65340912e-02 1.24270550e+02] [ 3.65641531e-02 8.47473750e-04 9.99330948e-01 3.59104180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.019254154 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:960.57, Y:124.31, Z:35.91 [[ 7.06434995e-01 -7.07330429e-01 -2.51646948e-02 9.60567723e+02] [ 7.06832984e-01 7.06882408e-01 -2.65404135e-02 1.24310718e+02] [ 3.65613222e-02 9.61840528e-04 9.99330948e-01 3.59124931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.079254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:960.61, Y:124.35, Z:35.91 [[ 7.10181566e-01 -7.03568948e-01 -2.51570750e-02 9.60613282e+02] [ 7.03068879e-01 7.10626044e-01 -2.65476343e-02 1.24348570e+02] [ 3.65553638e-02 1.16648400e-03 9.99330949e-01 3.59130478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.139254154 meters Centerline goodness : 0.999759 with order 1 Centerline is valid? [True, True] Translation: X:960.66, Y:124.39, Z:35.91 [[ 7.10671275e-01 -7.03074551e-01 -2.51498373e-02 9.60657360e+02] [ 7.02573930e-01 7.11115132e-01 -2.65544891e-02 1.24387114e+02] [ 3.65542154e-02 1.20189258e-03 9.99330949e-01 3.59120063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.199254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:960.70, Y:124.43, Z:35.92 [[ 7.08514895e-01 -7.05247653e-01 -2.51474085e-02 9.60699090e+02] [ 7.04748312e-01 7.08960191e-01 -2.65567890e-02 1.24427607e+02] [ 3.65576246e-02 1.09328692e-03 9.99330949e-01 3.59157357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.259254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:960.74, Y:124.47, Z:35.92 [[ 7.06488584e-01 -7.07277790e-01 -2.51397753e-02 9.60737994e+02] [ 7.06779473e-01 7.06935025e-01 -2.65640129e-02 1.24470601e+02] [ 3.65603240e-02 9.98894685e-04 9.99330949e-01 3.59170045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.319254154 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:960.78, Y:124.51, Z:35.92 [[ 7.02898193e-01 -7.10846330e-01 -2.51321591e-02 9.60776358e+02] [ 7.10350023e-01 7.03346867e-01 -2.65712166e-02 1.24512852e+02] [ 3.65646772e-02 8.24230351e-04 9.99330949e-01 3.59172198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.379254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:960.82, Y:124.55, Z:35.92 [[ 7.01787754e-01 -7.11942788e-01 -2.51279753e-02 9.60817048e+02] [ 7.11447040e-01 7.02237046e-01 -2.65751726e-02 1.24554849e+02] [ 3.65657976e-02 7.72907058e-04 9.99330949e-01 3.59247016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.439254154 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:960.85, Y:124.60, Z:35.92 [[ 7.03277056e-01 -7.10471883e-01 -2.51214287e-02 9.60854990e+02] [ 7.09974975e-01 7.03725065e-01 -2.65813597e-02 1.24598594e+02] [ 3.65638877e-02 8.58474688e-04 9.99330949e-01 3.59228827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.499254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:960.89, Y:124.64, Z:35.92 [[ 7.05581030e-01 -7.08184095e-01 -2.51137018e-02 9.60892654e+02] [ 7.07685475e-01 7.06027133e-01 -2.65886579e-02 1.24642142e+02] [ 3.65606195e-02 9.87850708e-04 9.99330949e-01 3.59219402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.559254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:960.93, Y:124.69, Z:35.92 [[ 7.06170575e-01 -7.07596311e-01 -2.51113305e-02 9.60931985e+02] [ 7.07097240e-01 7.06616174e-01 -2.65908973e-02 1.24686228e+02] [ 3.65596931e-02 1.02155672e-03 9.99330949e-01 3.59226881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.6192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:960.97, Y:124.73, Z:35.93 [[ 7.06734431e-01 -7.07033385e-01 -2.51045145e-02 9.60971357e+02] [ 7.06533731e-01 7.07179376e-01 -2.65973307e-02 1.24729588e+02] [ 3.65585957e-02 1.06006313e-03 9.99330949e-01 3.59266933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.679254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:961.01, Y:124.77, Z:35.92 [[ 7.03350206e-01 -7.10400301e-01 -2.50977978e-02 9.61009977e+02] [ 7.09902552e-01 7.03797280e-01 -2.66036672e-02 1.24774762e+02] [ 3.65630150e-02 8.94704104e-04 9.99330949e-01 3.59246234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.7392541539999 meters Centerline goodness : 0.999391 with order 1 Centerline is valid? [True, True] Translation: X:961.05, Y:124.81, Z:35.93 [[ 7.01401917e-01 -7.12324232e-01 -2.50906184e-02 9.61051047e+02] [ 7.11827467e-01 7.01850085e-01 -2.66104366e-02 1.24814737e+02] [ 3.65651115e-02 8.04419956e-04 9.99330949e-01 3.59278446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.799254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:961.09, Y:124.86, Z:35.94 [[ 7.00127731e-01 -7.13576969e-01 -2.50812576e-02 9.61091736e+02] [ 7.13080690e-01 7.00576437e-01 -2.66192566e-02 1.24855720e+02] [ 3.65662265e-02 7.51919215e-04 9.99330949e-01 3.59352869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.8592541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:961.13, Y:124.90, Z:35.94 [[ 6.99606539e-01 -7.14088066e-01 -2.50783696e-02 9.61131295e+02] [ 7.13592018e-01 7.00055500e-01 -2.66219771e-02 1.24897863e+02] [ 3.65666867e-02 7.29184867e-04 9.99330949e-01 3.59382029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.919254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:961.17, Y:124.94, Z:35.94 [[ 6.99086699e-01 -7.14597268e-01 -2.50705550e-02 9.61171965e+02] [ 7.14101283e-01 6.99535729e-01 -2.66293342e-02 1.24939858e+02] [ 3.65669985e-02 7.13297842e-04 9.99330949e-01 3.59382993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.9792541539999 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:961.21, Y:124.98, Z:35.94 [[ 6.98288574e-01 -7.15377475e-01 -2.50626231e-02 9.61213411e+02] [ 7.14881724e-01 6.98737863e-01 -2.66367974e-02 1.24980835e+02] [ 3.65675686e-02 6.83360038e-04 9.99330949e-01 3.59366806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.039254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:961.25, Y:125.02, Z:35.94 [[ 6.97470970e-01 -7.16174722e-01 -2.50601923e-02 9.61254370e+02] [ 7.15679403e-01 6.97920734e-01 -2.66390841e-02 1.25020954e+02] [ 3.65682665e-02 6.44924353e-04 9.99330949e-01 3.59401142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.0992541539999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:961.30, Y:125.06, Z:35.94 [[ 6.95406724e-01 -7.18179389e-01 -2.50569989e-02 9.61295423e+02] [ 7.17685258e-01 6.95857794e-01 -2.66420875e-02 1.25062700e+02] [ 3.65699061e-02 5.44048078e-04 9.99330949e-01 3.59411863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.159254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:961.34, Y:125.10, Z:35.95 [[ 6.92544564e-01 -7.20940047e-01 -2.50494800e-02 9.61337702e+02] [ 7.20447459e-01 6.92997317e-01 -2.66491551e-02 1.25103650e+02] [ 3.65716656e-02 4.08893300e-04 9.99330949e-01 3.59484717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.2192541539999 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:961.38, Y:125.15, Z:35.95 [[ 6.89308409e-01 -7.24035068e-01 -2.50427090e-02 9.61379415e+02] [ 7.23544282e-01 6.89763116e-01 -2.66555165e-02 1.25145416e+02] [ 3.65730656e-02 2.54362772e-04 9.99330949e-01 3.59503078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.279254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:961.42, Y:125.19, Z:35.95 [[ 6.86575825e-01 -7.26627027e-01 -2.50359829e-02 9.61419050e+02] [ 7.26137727e-01 6.87032131e-01 -2.66618323e-02 1.25186641e+02] [ 3.65737327e-02 1.25797819e-04 9.99330949e-01 3.59537882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.339254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:961.46, Y:125.23, Z:35.95 [[ 6.85473266e-01 -7.27667382e-01 -2.50316350e-02 9.61458714e+02] [ 7.27178626e-01 6.85930153e-01 -2.66659138e-02 1.25230645e+02] [ 3.65738689e-02 7.63010347e-05 9.99330949e-01 3.59543755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.399254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:961.50, Y:125.27, Z:35.95 [[ 6.84893886e-01 -7.28212961e-01 -2.50249675e-02 9.61497507e+02] [ 7.27724340e-01 6.85350918e-01 -2.66721695e-02 1.25273367e+02] [ 3.65739040e-02 5.63278263e-05 9.99330949e-01 3.59538710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.459254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:961.53, Y:125.32, Z:35.95 [[ 6.81721633e-01 -7.31183618e-01 -2.50226271e-02 9.61534027e+02] [ 7.30696908e-01 6.82180699e-01 -2.66743650e-02 1.25319879e+02] [ 3.65738120e-02 -9.94645699e-05 9.99330949e-01 3.59547936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.519254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:961.57, Y:125.36, Z:35.96 [[ 6.81313182e-01 -7.31564463e-01 -2.50156911e-02 9.61574655e+02] [ 7.31077771e-01 6.81772267e-01 -2.66808681e-02 1.25360859e+02] [ 3.65737794e-02 -1.10388536e-04 9.99330949e-01 3.59604328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.579254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:961.61, Y:125.41, Z:35.96 [[ 6.77209860e-01 -7.35364632e-01 -2.50132620e-02 9.61613550e+02] [ 7.34880431e-01 6.77671573e-01 -2.66831452e-02 1.25405007e+02] [ 3.65726179e-02 -3.11667728e-04 9.99330949e-01 3.59635655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.639254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:961.65, Y:125.45, Z:35.97 [[ 6.76380524e-01 -7.36127747e-01 -2.50065474e-02 9.61652898e+02] [ 7.35643835e-01 6.76842539e-01 -2.66894365e-02 1.25449060e+02] [ 3.65723297e-02 -3.43697364e-04 9.99330949e-01 3.59683999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.699254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:961.69, Y:125.49, Z:35.97 [[ 6.78275507e-01 -7.34382310e-01 -2.49991931e-02 9.61690608e+02] [ 7.33896955e-01 6.78736006e-01 -2.66963232e-02 1.25492456e+02] [ 3.65731600e-02 -2.39369507e-04 9.99330950e-01 3.59711705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.759254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:961.73, Y:125.54, Z:35.97 [[ 6.79379166e-01 -7.33361580e-01 -2.49948302e-02 9.61727201e+02] [ 7.32875383e-01 6.79838776e-01 -2.67004074e-02 1.25538453e+02] [ 3.65735077e-02 -1.78395239e-04 9.99330950e-01 3.59716288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.819254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:961.76, Y:125.58, Z:35.97 [[ 6.83377902e-01 -7.29637109e-01 -2.49866412e-02 9.61764723e+02] [ 7.29148127e-01 6.83834547e-01 -2.67080686e-02 1.25583004e+02] [ 3.65739264e-02 3.27412025e-05 9.99330950e-01 3.59724614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.879254154 meters Centerline goodness : 0.999741 with order 1 Centerline is valid? [True, True] Translation: X:961.80, Y:125.63, Z:35.97 [[ 6.87408353e-01 -7.25841270e-01 -2.49841376e-02 9.61801878e+02] [ 7.25349681e-01 6.87862191e-01 -2.67104104e-02 1.25627245e+02] [ 3.65731618e-02 2.38722910e-04 9.99330950e-01 3.59697791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.939254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:961.84, Y:125.67, Z:35.97 [[ 6.87288800e-01 -7.25954599e-01 -2.49805302e-02 9.61839290e+02] [ 7.25462962e-01 6.87742586e-01 -2.67137838e-02 1.25673214e+02] [ 3.65731686e-02 2.37634954e-04 9.99330950e-01 3.59733920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.999254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:961.88, Y:125.71, Z:35.98 [[ 6.88241044e-01 -7.25052127e-01 -2.49735675e-02 9.61879902e+02] [ 7.24559659e-01 6.88693928e-01 -2.67202913e-02 1.25713639e+02] [ 3.65727483e-02 2.95161620e-04 9.99330950e-01 3.59808918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.059254154 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:961.92, Y:125.76, Z:35.98 [[ 6.83903425e-01 -7.29145080e-01 -2.49711223e-02 9.61918074e+02] [ 7.28655240e-01 6.84359150e-01 -2.67225763e-02 1.25758633e+02] [ 3.65738510e-02 8.03223491e-05 9.99330950e-01 3.59800591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.1192541539999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:961.96, Y:125.80, Z:35.98 [[ 6.81162877e-01 -7.31706183e-01 -2.49639113e-02 9.61956826e+02] [ 7.31217809e-01 6.81620172e-01 -2.67293110e-02 1.25802020e+02] [ 3.65739076e-02 -4.70421698e-05 9.99330950e-01 3.59816946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.179254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:962.00, Y:125.84, Z:35.99 [[ 6.79891846e-01 -7.32887445e-01 -2.49613876e-02 9.61996966e+02] [ 7.32399779e-01 6.80349896e-01 -2.67316675e-02 1.25844349e+02] [ 3.65737810e-02 -1.07072060e-04 9.99330950e-01 3.59868013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.2392541539999 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:962.04, Y:125.89, Z:35.99 [[ 6.78591790e-01 -7.34091599e-01 -2.49540953e-02 9.62037993e+02] [ 7.33604496e-01 6.79050438e-01 -2.67384732e-02 1.25885014e+02] [ 3.65735779e-02 -1.61928178e-04 9.99330950e-01 3.59855010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.299254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:962.08, Y:125.93, Z:35.99 [[ 6.75849879e-01 -7.36616832e-01 -2.49516531e-02 9.62076889e+02] [ 7.36131358e-01 6.76310252e-01 -2.67407520e-02 1.25928962e+02] [ 3.65727468e-02 -2.94960346e-04 9.99330950e-01 3.59921143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.3592541539999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:962.12, Y:125.97, Z:35.99 [[ 6.73212217e-01 -7.39028466e-01 -2.49446801e-02 9.62115243e+02] [ 7.38544400e-01 6.73674071e-01 -2.67472550e-02 1.25970852e+02] [ 3.65715671e-02 -4.16174967e-04 9.99330950e-01 3.59902027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.419254154 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:962.16, Y:126.01, Z:35.99 [[ 6.71702580e-01 -7.40400986e-01 -2.49403825e-02 9.62156811e+02] [ 7.39917716e-01 6.72165265e-01 -2.67512618e-02 1.26012865e+02] [ 3.65707194e-02 -4.84939295e-04 9.99330950e-01 3.59923426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.4792541539999 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:962.20, Y:126.05, Z:36.00 [[ 6.70780415e-01 -7.41236767e-01 -2.49337181e-02 9.62198765e+02] [ 7.40753842e-01 6.71243461e-01 -2.67574719e-02 1.26054829e+02] [ 3.65702172e-02 -5.21359393e-04 9.99330950e-01 3.59967534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.539254154 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:962.24, Y:126.10, Z:36.00 [[ 6.66976848e-01 -7.44661255e-01 -2.49298803e-02 9.62237435e+02] [ 7.44180574e-01 6.67442222e-01 -2.67610471e-02 1.26099740e+02] [ 3.65671696e-02 -7.03333754e-04 9.99330950e-01 3.59961628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.5992541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:962.28, Y:126.14, Z:36.01 [[ 6.68838707e-01 -7.42989675e-01 -2.49224154e-02 9.62277011e+02] [ 7.42507571e-01 6.69302608e-01 -2.67679973e-02 1.26141026e+02] [ 3.65689833e-02 -6.01609470e-04 9.99330950e-01 3.60071254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.659254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:962.31, Y:126.18, Z:36.01 [[ 6.68697852e-01 -7.43116533e-01 -2.49198968e-02 9.62314927e+02] [ 7.42634429e-01 6.69161754e-01 -2.67703418e-02 1.26183184e+02] [ 3.65689255e-02 -6.05103234e-04 9.99330950e-01 3.60095678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.7192541539999 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:962.35, Y:126.23, Z:36.01 [[ 6.68463445e-01 -7.43327546e-01 -2.49155115e-02 9.62353051e+02] [ 7.42845437e-01 6.68927341e-01 -2.67744227e-02 1.26227712e+02] [ 3.65688327e-02 -6.10651222e-04 9.99330950e-01 3.60107547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.779254154 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:962.39, Y:126.27, Z:36.01 [[ 6.69261516e-01 -7.42609305e-01 -2.49087096e-02 9.62393847e+02] [ 7.42126463e-01 6.69724648e-01 -2.67807491e-02 1.26270047e+02] [ 3.65696103e-02 -5.62087791e-04 9.99330950e-01 3.60083820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.839254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:962.43, Y:126.31, Z:36.02 [[ 6.69157409e-01 -7.42703262e-01 -2.49043506e-02 9.62431064e+02] [ 7.42220334e-01 6.69620452e-01 -2.67848020e-02 1.26314908e+02] [ 3.65696224e-02 -5.61266718e-04 9.99330950e-01 3.60150898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.899254154 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:962.47, Y:126.36, Z:36.01 [[ 6.68099096e-01 -7.43655703e-01 -2.48956585e-02 9.62468495e+02] [ 7.43173134e-01 6.68562513e-01 -2.67928787e-02 1.26358616e+02] [ 3.65689810e-02 -6.01486524e-04 9.99330950e-01 3.60131005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.959254154 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:962.50, Y:126.40, Z:36.02 [[ 6.65190957e-01 -7.46258412e-01 -2.48872142e-02 9.62502789e+02] [ 7.45777363e-01 6.65655951e-01 -2.68007201e-02 1.26404042e+02] [ 3.65665851e-02 -7.32724376e-04 9.99330950e-01 3.60175905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.019254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:962.54, Y:126.45, Z:36.02 [[ 6.65213314e-01 -7.46238667e-01 -2.48817053e-02 9.62540532e+02] [ 7.45757414e-01 6.65678096e-01 -2.68058336e-02 1.26449603e+02] [ 3.65667557e-02 -7.24118824e-04 9.99330950e-01 3.60220305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.079254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:962.58, Y:126.49, Z:36.03 [[ 6.66314940e-01 -7.45255410e-01 -2.48751894e-02 9.62578592e+02] [ 7.44773245e-01 6.66778776e-01 -2.68118788e-02 1.26494401e+02] [ 3.65679461e-02 -6.61220172e-04 9.99330950e-01 3.60270058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.139254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:962.62, Y:126.54, Z:36.03 [[ 6.68908644e-01 -7.42928528e-01 -2.48682194e-02 9.62615370e+02] [ 7.42444509e-01 6.69370546e-01 -2.68183420e-02 1.26540418e+02] [ 3.65701649e-02 -5.24252137e-04 9.99330950e-01 3.60266711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.199254154 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:962.65, Y:126.59, Z:36.02 [[ 6.70421968e-01 -7.41563411e-01 -2.48614491e-02 9.62648200e+02] [ 7.41078219e-01 6.70882637e-01 -2.68246168e-02 1.26587831e+02] [ 3.65712689e-02 -4.40466103e-04 9.99330950e-01 3.60247728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.259254154 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:962.69, Y:126.63, Z:36.03 [[ 6.73050122e-01 -7.39179057e-01 -2.48566821e-02 9.62685107e+02] [ 7.38692070e-01 6.73508893e-01 -2.68290334e-02 1.26632828e+02] [ 3.65726560e-02 -3.04149721e-04 9.99330950e-01 3.60290612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.319254154 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:962.72, Y:126.68, Z:36.03 [[ 6.76210034e-01 -7.36289711e-01 -2.48485489e-02 9.62721538e+02] [ 7.35800487e-01 6.76666419e-01 -2.68365641e-02 1.26678500e+02] [ 3.65736646e-02 -1.36420476e-04 9.99330950e-01 3.60315033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.379254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:962.76, Y:126.72, Z:36.04 [[ 6.81430775e-01 -7.31460712e-01 -2.48460308e-02 9.62758648e+02] [ 7.30968168e-01 6.81883576e-01 -2.68388952e-02 1.26724011e+02] [ 3.65736977e-02 1.27191584e-04 9.99330950e-01 3.60366473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.439254154 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:962.80, Y:126.77, Z:36.03 [[ 6.88460374e-01 -7.24848482e-01 -2.48393201e-02 9.62795941e+02] [ 7.24351366e-01 6.88908150e-01 -2.68451045e-02 1.26769203e+02] [ 3.65706433e-02 4.89395299e-04 9.99330950e-01 3.60320913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.499254154 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:962.83, Y:126.81, Z:36.04 [[ 6.91771103e-01 -7.21689748e-01 -2.48324099e-02 9.62833661e+02] [ 7.21190359e-01 6.92216342e-01 -2.68514950e-02 1.26813701e+02] [ 3.65678486e-02 6.66193732e-04 9.99330951e-01 3.60350560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.559254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:962.87, Y:126.86, Z:36.04 [[ 6.94804877e-01 -7.18769734e-01 -2.48244428e-02 9.62872356e+02] [ 7.18268211e-01 6.95247711e-01 -2.68588587e-02 1.26857346e+02] [ 3.65644717e-02 8.31057880e-04 9.99330951e-01 3.60397534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.6192541539999 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:962.91, Y:126.90, Z:36.04 [[ 6.95132013e-01 -7.18453621e-01 -2.48168887e-02 9.62912132e+02] [ 7.17951648e-01 6.95574337e-01 -2.68658367e-02 1.26901015e+02] [ 3.65638486e-02 8.57976997e-04 9.99330951e-01 3.60394567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.679254154 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:962.95, Y:126.94, Z:36.04 [[ 6.95295364e-01 -7.18295777e-01 -2.48099521e-02 9.62952793e+02] [ 7.17793475e-01 6.95737314e-01 -2.68722409e-02 1.26942122e+02] [ 3.65634266e-02 8.75722737e-04 9.99330951e-01 3.60389559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.7392541539999 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:962.99, Y:126.98, Z:36.04 [[ 6.94551833e-01 -7.19014839e-01 -2.48075168e-02 9.62994165e+02] [ 7.18512914e-01 6.94994212e-01 -2.68744889e-02 1.26983718e+02] [ 3.65642369e-02 8.41204332e-04 9.99330951e-01 3.60438372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.799254154 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:963.04, Y:127.02, Z:36.05 [[ 6.92584267e-01 -7.20910506e-01 -2.48007309e-02 9.63037924e+02] [ 7.20409568e-01 6.93027762e-01 -2.68807497e-02 1.27023190e+02] [ 3.65662099e-02 7.50500497e-04 9.99330951e-01 3.60473076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.8592541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:963.08, Y:127.06, Z:36.05 [[ 6.91208585e-01 -7.22229846e-01 -2.47939806e-02 9.63081886e+02] [ 7.21729532e-01 6.91652784e-01 -2.68869746e-02 1.27062241e+02] [ 3.65674012e-02 6.89959629e-04 9.99330951e-01 3.60530315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.919254154 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:963.13, Y:127.10, Z:36.05 [[ 6.88752123e-01 -7.24573052e-01 -2.47872102e-02 9.63127915e+02] [ 7.24074025e-01 6.89197767e-01 -2.68932148e-02 1.27100416e+02] [ 3.65693886e-02 5.74983726e-04 9.99330951e-01 3.60515016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.9792541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:963.17, Y:127.14, Z:36.06 [[ 6.87875248e-01 -7.25405797e-01 -2.47804721e-02 9.63170289e+02] [ 7.24907086e-01 6.88321246e-01 -2.68994221e-02 1.27140200e+02] [ 3.65699222e-02 5.39906850e-04 9.99330951e-01 3.60567725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.039254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:963.21, Y:127.18, Z:36.06 [[ 6.85725554e-01 -7.27438501e-01 -2.47728188e-02 9.63214809e+02] [ 7.26940857e-01 6.86172742e-01 -2.69064686e-02 1.27178948e+02] [ 3.65712341e-02 4.42078960e-04 9.99330951e-01 3.60603054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.0992541539999 meters Centerline goodness : 0.999654 with order 1 Centerline is valid? [True, True] Translation: X:963.26, Y:127.22, Z:36.06 [[ 6.83225851e-01 -7.29787012e-01 -2.47659887e-02 9.63259132e+02] [ 7.29290678e-01 6.83674492e-01 -2.69127538e-02 1.27217647e+02] [ 3.65724529e-02 3.25884413e-04 9.99330951e-01 3.60597629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.159254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:963.30, Y:127.26, Z:36.06 [[ 6.83259818e-01 -7.29755481e-01 -2.47580219e-02 9.63303337e+02] [ 7.29258860e-01 6.83708142e-01 -2.69200808e-02 1.27255567e+02] [ 3.65723376e-02 3.38402669e-04 9.99330951e-01 3.60621522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.2192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:963.35, Y:127.29, Z:36.07 [[ 6.84337540e-01 -7.28745067e-01 -2.47539500e-02 9.63347119e+02] [ 7.28247650e-01 6.84784980e-01 -2.69238245e-02 1.27293948e+02] [ 3.65717374e-02 3.97977950e-04 9.99330951e-01 3.60659092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.279254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:963.39, Y:127.33, Z:36.07 [[ 6.84110992e-01 -7.28958008e-01 -2.47461843e-02 9.63391263e+02] [ 7.28460471e-01 6.84558299e-01 -2.69309602e-02 1.27333708e+02] [ 3.65717449e-02 3.97148858e-04 9.99330951e-01 3.60662542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.339254154 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:963.44, Y:127.37, Z:36.07 [[ 6.81766569e-01 -7.31151357e-01 -2.47394152e-02 9.63435361e+02] [ 7.30655034e-01 6.82215223e-01 -2.69371771e-02 1.27371945e+02] [ 3.65727592e-02 2.88888575e-04 9.99330951e-01 3.60664294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.399254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:963.48, Y:127.41, Z:36.07 [[ 6.79196235e-01 -7.33539923e-01 -2.47316621e-02 9.63480259e+02] [ 7.33044919e-01 6.79646343e-01 -2.69442934e-02 1.27410096e+02] [ 3.65734987e-02 1.71043380e-04 9.99330951e-01 3.60737890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.459254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:963.52, Y:127.45, Z:36.08 [[ 6.76302919e-01 -7.36208556e-01 -2.47249661e-02 9.63523080e+02] [ 7.35715103e-01 6.76754727e-01 -2.69504365e-02 1.27450766e+02] [ 3.65738796e-02 3.61278318e-05 9.99330951e-01 3.60758495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.519254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:963.57, Y:127.49, Z:36.08 [[ 6.75051886e-01 -7.37356058e-01 -2.47183137e-02 9.63566774e+02] [ 7.36863149e-01 6.75504289e-01 -2.69565366e-02 1.27490543e+02] [ 3.65738925e-02 -1.69536327e-05 9.99330951e-01 3.60804283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.579254154 meters Centerline goodness : 0.999758 with order 1 Centerline is valid? [True, True] Translation: X:963.61, Y:127.53, Z:36.08 [[ 6.78372584e-01 -7.34302370e-01 -2.47116717e-02 9.63605630e+02] [ 7.33807204e-01 6.78822514e-01 -2.69626241e-02 1.27534435e+02] [ 3.65735579e-02 1.57102227e-04 9.99330951e-01 3.60787415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.639254154 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:963.64, Y:127.58, Z:36.08 [[ 6.81020270e-01 -7.31847703e-01 -2.47048947e-02 9.63644620e+02] [ 7.31350690e-01 6.81468158e-01 -2.69688322e-02 1.27577086e+02] [ 3.65726770e-02 2.98379639e-04 9.99330951e-01 3.60821289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.699254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:963.68, Y:127.62, Z:36.08 [[ 6.82225464e-01 -7.30724620e-01 -2.46970877e-02 9.63684123e+02] [ 7.30226611e-01 6.82672245e-01 -2.69759797e-02 1.27619868e+02] [ 3.65720288e-02 3.69229618e-04 9.99330951e-01 3.60842051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.759254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:963.72, Y:127.66, Z:36.09 [[ 6.81578879e-01 -7.31328019e-01 -2.46892779e-02 9.63722530e+02] [ 7.30830147e-01 6.82025812e-01 -2.69831255e-02 1.27663679e+02] [ 3.65722405e-02 3.47459826e-04 9.99330951e-01 3.60864299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.819254154 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:963.76, Y:127.71, Z:36.09 [[ 6.77318310e-01 -7.35275954e-01 -2.46815561e-02 9.63761454e+02] [ 7.34780429e-01 6.77767844e-01 -2.69901869e-02 1.27706673e+02] [ 3.65736004e-02 1.45423428e-04 9.99330951e-01 3.60871385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.879254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:963.80, Y:127.75, Z:36.09 [[ 6.71712335e-01 -7.40401071e-01 -2.46737232e-02 9.63798867e+02] [ 7.39908714e-01 6.72165336e-01 -2.69973456e-02 1.27752281e+02] [ 3.65736850e-02 -1.21852801e-04 9.99330952e-01 3.60881436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.939254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:963.84, Y:127.79, Z:36.09 [[ 6.71983514e-01 -7.40155194e-01 -2.46666699e-02 9.63839646e+02] [ 7.39662434e-01 6.72436078e-01 -2.70037884e-02 1.27792752e+02] [ 3.65737530e-02 -9.89085043e-05 9.99330952e-01 3.60945561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.999254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:963.88, Y:127.84, Z:36.10 [[ 6.71959202e-01 -7.40177349e-01 -2.46642022e-02 9.63877665e+02] [ 7.39684521e-01 6.72411692e-01 -2.70060421e-02 1.27836071e+02] [ 3.65737586e-02 -9.67700678e-05 9.99330952e-01 3.60974569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.059254154 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:963.92, Y:127.88, Z:36.10 [[ 6.72733728e-01 -7.39473729e-01 -2.46563390e-02 9.63916736e+02] [ 7.38980165e-01 6.73185414e-01 -2.70132193e-02 1.27880759e+02] [ 3.65738538e-02 -4.78417683e-05 9.99330952e-01 3.60969831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.1192541539999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:963.95, Y:127.93, Z:36.10 [[ 6.71493640e-01 -7.40600226e-01 -2.46494891e-02 9.63952226e+02] [ 7.40107190e-01 6.71945902e-01 -2.70194684e-02 1.27928153e+02] [ 3.65737476e-02 -9.98629445e-05 9.99330952e-01 3.60951671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.179254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:963.99, Y:127.97, Z:36.10 [[ 6.77029597e-01 -7.35543116e-01 -2.46424149e-02 9.63993072e+02] [ 7.35046468e-01 6.77477889e-01 -2.70259186e-02 1.27969133e+02] [ 3.65734197e-02 1.84026751e-04 9.99330952e-01 3.61043093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.2392541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:964.03, Y:128.01, Z:36.11 [[ 6.78365115e-01 -7.34311680e-01 -2.46399465e-02 9.64031232e+02] [ 7.33814136e-01 6.78812413e-01 -2.70281690e-02 1.28012712e+02] [ 3.65730017e-02 2.53825903e-04 9.99330952e-01 3.61059322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.299254154 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:964.07, Y:128.06, Z:36.10 [[ 6.77359700e-01 -7.35239482e-01 -2.46321155e-02 9.64071177e+02] [ 7.34742291e-01 6.77807390e-01 -2.70353039e-02 1.28055564e+02] [ 3.65732527e-02 2.14368326e-04 9.99330952e-01 3.61036757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.3592541539999 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:964.11, Y:128.10, Z:36.11 [[ 6.76135468e-01 -7.36365684e-01 -2.46253756e-02 9.64111450e+02] [ 7.35869015e-01 6.76583737e-01 -2.70414416e-02 1.28098068e+02] [ 3.65735183e-02 1.62626859e-04 9.99330952e-01 3.61066010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.419254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:964.15, Y:128.14, Z:36.11 [[ 6.73506971e-01 -7.38770795e-01 -2.46185562e-02 9.64150452e+02] [ 7.38275500e-01 6.73956758e-01 -2.70476485e-02 1.28142552e+02] [ 3.65738551e-02 4.15029032e-05 9.99330952e-01 3.61086754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.4792541539999 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:964.19, Y:128.18, Z:36.11 [[ 6.75438152e-01 -7.37005820e-01 -2.46114764e-02 9.64193215e+02] [ 7.36509115e-01 6.75886381e-01 -2.70540891e-02 1.28182348e+02] [ 3.65735829e-02 1.46787277e-04 9.99330952e-01 3.61143778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.539254154 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:964.23, Y:128.23, Z:36.12 [[ 6.77250329e-01 -7.35341152e-01 -2.46045304e-02 9.64232693e+02] [ 7.34843116e-01 6.77697078e-01 -2.70604048e-02 1.28225249e+02] [ 3.65730476e-02 2.46198267e-04 9.99330952e-01 3.61158275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.5992541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:964.27, Y:128.27, Z:36.12 [[ 6.78816541e-01 -7.33895843e-01 -2.45966683e-02 9.64270740e+02] [ 7.33396597e-01 6.79261937e-01 -2.70675492e-02 1.28269773e+02] [ 3.65723424e-02 3.34787252e-04 9.99330952e-01 3.61177640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.659254154 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:964.31, Y:128.31, Z:36.12 [[ 6.82717707e-01 -7.30268366e-01 -2.45895459e-02 9.64311309e+02] [ 7.29766521e-01 6.83160174e-01 -2.70740179e-02 1.28310661e+02] [ 3.65698973e-02 5.39284062e-04 9.99330952e-01 3.61201114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.7192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:964.35, Y:128.35, Z:36.12 [[ 6.84104193e-01 -7.28969773e-01 -2.45870568e-02 9.64350726e+02] [ 7.28467007e-01 6.84545612e-01 -2.70762782e-02 1.28353267e+02] [ 3.65687503e-02 6.12135764e-04 9.99330952e-01 3.61241071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.779254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:964.39, Y:128.40, Z:36.12 [[ 6.82234142e-01 -7.30720492e-01 -2.45792148e-02 9.64390906e+02] [ 7.30218602e-01 6.82676558e-01 -2.70833952e-02 1.28396020e+02] [ 3.65700456e-02 5.29017009e-04 9.99330952e-01 3.61246686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.839254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:964.43, Y:128.44, Z:36.13 [[ 6.80455650e-01 -7.32377160e-01 -2.45724114e-02 9.64431139e+02] [ 7.31876125e-01 6.80899033e-01 -2.70895664e-02 1.28438235e+02] [ 3.65711109e-02 4.49287318e-04 9.99330952e-01 3.61287110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.899254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:964.47, Y:128.48, Z:36.13 [[ 6.77266473e-01 -7.35327615e-01 -2.45646677e-02 9.64472306e+02] [ 7.34828257e-01 6.77711744e-01 -2.70965865e-02 1.28479114e+02] [ 3.65726321e-02 3.00797651e-04 9.99330952e-01 3.61320171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.959254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:964.51, Y:128.52, Z:36.13 [[ 6.75625176e-01 -7.36836071e-01 -2.45606565e-02 9.64511400e+02] [ 7.36337574e-01 6.76071412e-01 -2.71002219e-02 1.28521705e+02] [ 3.65731787e-02 2.24657977e-04 9.99330952e-01 3.61337917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.019254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:964.55, Y:128.57, Z:36.14 [[ 6.75842159e-01 -7.36637312e-01 -2.45529270e-02 9.64550583e+02] [ 7.36138430e-01 6.76287964e-01 -2.71072230e-02 1.28565778e+02] [ 3.65730409e-02 2.45851035e-04 9.99330952e-01 3.61366215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.079254154 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:964.59, Y:128.61, Z:36.14 [[ 6.78095281e-01 -7.34564001e-01 -2.45462404e-02 9.64588610e+02] [ 7.34063537e-01 6.78539309e-01 -2.71132765e-02 1.28610376e+02] [ 3.65720259e-02 3.66884843e-04 9.99330952e-01 3.61356769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.139254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:964.63, Y:128.65, Z:36.14 [[ 6.79777556e-01 -7.33007702e-01 -2.45393957e-02 9.64626564e+02] [ 7.32505998e-01 6.80220182e-01 -2.71194700e-02 1.28654224e+02] [ 3.65709726e-02 4.59952454e-04 9.99330952e-01 3.61391715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.199254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:964.66, Y:128.70, Z:36.14 [[ 6.82059741e-01 -7.30884883e-01 -2.45315756e-02 9.64663926e+02] [ 7.30381547e-01 6.82500510e-01 -2.71265420e-02 1.28697971e+02] [ 3.65691924e-02 5.84512088e-04 9.99330952e-01 3.61412111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.259254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:964.70, Y:128.74, Z:36.14 [[ 6.82348103e-01 -7.30615823e-01 -2.45272407e-02 9.64702387e+02] [ 7.30112173e-01 6.82788513e-01 -2.71304610e-02 1.28741679e+02] [ 3.65688623e-02 6.04781525e-04 9.99330952e-01 3.61433273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.319254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:964.74, Y:128.79, Z:36.15 [[ 6.81471795e-01 -7.31433512e-01 -2.45196000e-02 9.64741057e+02] [ 7.30930142e-01 6.81912525e-01 -2.71373646e-02 1.28786344e+02] [ 3.65694003e-02 5.71233867e-04 9.99330953e-01 3.61471968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.379254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:964.78, Y:128.83, Z:36.15 [[ 6.78831801e-01 -7.33884539e-01 -2.45126179e-02 9.64779836e+02] [ 7.33382533e-01 6.79274084e-01 -2.71436699e-02 1.28830966e+02] [ 3.65711058e-02 4.48860529e-04 9.99330953e-01 3.61499167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.439254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:964.82, Y:128.87, Z:36.15 [[ 6.74815703e-01 -7.37579310e-01 -2.45056926e-02 9.64818625e+02] [ 7.37079498e-01 6.75260465e-01 -2.71499208e-02 1.28873627e+02] [ 3.65729452e-02 2.58549359e-04 9.99330953e-01 3.61539880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.499254154 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:964.86, Y:128.92, Z:36.15 [[ 6.69904862e-01 -7.42042531e-01 -2.45022113e-02 9.64856766e+02] [ 7.41545568e-01 6.70352804e-01 -2.71530623e-02 1.28917252e+02] [ 3.65738531e-02 2.04622649e-05 9.99330953e-01 3.61531267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.559254154 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:964.89, Y:128.96, Z:36.15 [[ 6.66066911e-01 -7.45489699e-01 -2.44944581e-02 9.64894697e+02] [ 7.44994797e-01 6.66517130e-01 -2.71600545e-02 1.28961752e+02] [ 3.65735168e-02 -1.57830185e-04 9.99330953e-01 3.61530053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.6192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:964.93, Y:129.00, Z:36.16 [[ 6.65159267e-01 -7.46299906e-01 -2.44867115e-02 9.64933253e+02] [ 7.45805296e-01 6.65609806e-01 -2.71670368e-02 1.29004664e+02] [ 3.65733523e-02 -1.91912825e-04 9.99330953e-01 3.61572664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.679254154 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:964.97, Y:129.05, Z:36.16 [[ 6.61727603e-01 -7.49344626e-01 -2.44787794e-02 9.64971858e+02] [ 7.48851824e-01 6.62180118e-01 -2.71741821e-02 1.29049383e+02] [ 3.65721884e-02 -3.49072256e-04 9.99330953e-01 3.61555190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.7392541539999 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:965.01, Y:129.09, Z:36.16 [[ 6.60365271e-01 -7.50545691e-01 -2.44719273e-02 9.65008666e+02] [ 7.50053483e-01 6.60818433e-01 -2.71803514e-02 1.29092822e+02] [ 3.65715963e-02 -4.06294202e-04 9.99330953e-01 3.61580543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.799254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:965.05, Y:129.14, Z:36.16 [[ 6.61276244e-01 -7.49743336e-01 -2.44675271e-02 9.65045840e+02] [ 7.49250432e-01 6.61728648e-01 -2.71843119e-02 1.29137914e+02] [ 3.65721203e-02 -3.55965507e-04 9.99330953e-01 3.61617393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.8592541539999 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:965.08, Y:129.18, Z:36.16 [[ 6.62178541e-01 -7.48946759e-01 -2.44608163e-02 9.65082459e+02] [ 7.48453088e-01 6.62630108e-01 -2.71903490e-02 1.29181412e+02] [ 3.65725971e-02 -3.02907841e-04 9.99330953e-01 3.61623638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.919254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:965.12, Y:129.23, Z:36.17 [[ 6.64605165e-01 -7.46794378e-01 -2.44567353e-02 9.65119189e+02] [ 7.46299109e-01 6.65054979e-01 -2.71940193e-02 1.29226106e+02] [ 3.65734143e-02 -1.78754084e-04 9.99330953e-01 3.61674692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.9792541539999 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:965.15, Y:129.27, Z:36.17 [[ 6.66468838e-01 -7.45131902e-01 -2.44486353e-02 9.65154333e+02] [ 7.44635244e-01 6.66917118e-01 -2.72012996e-02 1.29271631e+02] [ 3.65737695e-02 -7.64969538e-05 9.99330953e-01 3.61669883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.039254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:965.19, Y:129.32, Z:36.17 [[ 6.67469621e-01 -7.44235702e-01 -2.44443283e-02 9.65191655e+02] [ 7.43738300e-01 6.67917076e-01 -2.72051695e-02 1.29316524e+02] [ 3.65738427e-02 -2.15590319e-05 9.99330953e-01 3.61729807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.0992541539999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:965.23, Y:129.36, Z:36.18 [[ 6.65909264e-01 -7.45632389e-01 -2.44375245e-02 9.65229184e+02] [ 7.45135702e-01 6.66357511e-01 -2.72112797e-02 1.29361248e+02] [ 3.65737395e-02 -8.90287603e-05 9.99330953e-01 3.61764071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.159254154 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:965.27, Y:129.41, Z:36.18 [[ 6.62765536e-01 -7.48428345e-01 -2.44306687e-02 9.65265100e+02] [ 7.47933321e-01 6.63215620e-01 -2.72174336e-02 1.29406519e+02] [ 3.65730999e-02 -2.33734201e-04 9.99330953e-01 3.61766258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.2192541539999 meters Centerline goodness : 0.996702 with order 1 Centerline is valid? [True, True] Translation: X:965.30, Y:129.45, Z:36.17 [[ 6.60306687e-01 -7.50598829e-01 -2.44228739e-02 9.65302322e+02] [ 7.50105027e-01 6.60758110e-01 -2.72244262e-02 1.29451593e+02] [ 3.65722345e-02 -3.43249811e-04 9.99330953e-01 3.61740164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.279254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:965.34, Y:129.50, Z:36.18 [[ 6.60060455e-01 -7.50815689e-01 -2.44130700e-02 9.65337364e+02] [ 7.50321709e-01 6.60511684e-01 -2.72332149e-02 1.29496139e+02] [ 3.65722430e-02 -3.42088159e-04 9.99330953e-01 3.61784900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.339254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:965.37, Y:129.54, Z:36.18 [[ 6.63089269e-01 -7.48142396e-01 -2.44044280e-02 9.65373800e+02] [ 7.47646313e-01 6.63538184e-01 -2.72409571e-02 1.29541572e+02] [ 3.65733847e-02 -1.82694270e-04 9.99330953e-01 3.61786776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.399254154 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:965.41, Y:129.59, Z:36.18 [[ 6.66742559e-01 -7.44888689e-01 -2.43967624e-02 9.65409689e+02] [ 7.44390163e-01 6.67188760e-01 -2.72478206e-02 1.29586398e+02] [ 3.65738390e-02 6.57165831e-06 9.99330953e-01 3.61784277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.459254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:965.44, Y:129.64, Z:36.18 [[ 6.69127030e-01 -7.42747735e-01 -2.43889158e-02 9.65443078e+02] [ 7.42247526e-01 6.69571343e-01 -2.72548421e-02 1.29635142e+02] [ 3.65735913e-02 1.34339192e-04 9.99330953e-01 3.61827089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.519254154 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:965.48, Y:129.68, Z:36.19 [[ 6.73126589e-01 -7.39125280e-01 -2.43806625e-02 9.65481134e+02] [ 7.38622412e-01 6.73567891e-01 -2.72622231e-02 1.29678514e+02] [ 3.65722296e-02 3.42823480e-04 9.99330953e-01 3.61872367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.579254154 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:965.52, Y:129.73, Z:36.19 [[ 6.76230310e-01 -7.36286871e-01 -2.43764668e-02 9.65517837e+02] [ 7.35782016e-01 6.76669337e-01 -2.72659741e-02 1.29725119e+02] [ 3.65703864e-02 5.02312180e-04 9.99330953e-01 3.61915325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.639254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:965.56, Y:129.77, Z:36.20 [[ 6.76239405e-01 -7.36278731e-01 -2.43700117e-02 9.65555455e+02] [ 7.35773663e-01 6.76678187e-01 -2.72717423e-02 1.29768605e+02] [ 3.65702592e-02 5.11413996e-04 9.99330953e-01 3.61961417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.699254154 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:965.59, Y:129.81, Z:36.20 [[ 6.74535033e-01 -7.37840755e-01 -2.43620532e-02 9.65593270e+02] [ 7.37336446e-01 6.74974688e-01 -2.72788499e-02 1.29813393e+02] [ 3.65712165e-02 4.37510244e-04 9.99330954e-01 3.61957918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.759254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:965.63, Y:129.86, Z:36.20 [[ 6.71788204e-01 -7.40342813e-01 -2.43542126e-02 9.65631893e+02] [ 7.39839889e-01 6.72229441e-01 -2.72858481e-02 1.29856745e+02] [ 3.65725003e-02 3.12092916e-04 9.99330954e-01 3.61994950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.819254154 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:965.67, Y:129.90, Z:36.20 [[ 6.68053862e-01 -7.43714532e-01 -2.43461032e-02 9.65671225e+02] [ 7.43213571e-01 6.68497327e-01 -2.72930819e-02 1.29899433e+02] [ 3.65735665e-02 1.38894546e-04 9.99330954e-01 3.62006370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.879254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:965.71, Y:129.94, Z:36.20 [[ 6.64773101e-01 -7.46648767e-01 -2.43381029e-02 9.65710418e+02] [ 7.46149502e-01 6.65218474e-01 -2.73002142e-02 1.29941720e+02] [ 3.65738269e-02 -1.14153652e-05 9.99330954e-01 3.62029648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.939254154 meters Centerline goodness : 0.999700 with order 1 Centerline is valid? [True, True] Translation: X:965.75, Y:129.98, Z:36.20 [[ 6.62500362e-01 -7.48666361e-01 -2.43300307e-02 9.65749583e+02] [ 7.48168189e-01 6.62946956e-01 -2.73074062e-02 1.29984311e+02] [ 3.65736563e-02 -1.11788568e-04 9.99330954e-01 3.61998706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.999254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:965.79, Y:130.03, Z:36.20 [[ 6.60118767e-01 -7.50767196e-01 -2.43275571e-02 9.65787177e+02] [ 7.50270364e-01 6.60566852e-01 -2.73096098e-02 1.30029902e+02] [ 3.65731369e-02 -2.24659151e-04 9.99330954e-01 3.62040921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.059254154 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:965.83, Y:130.07, Z:36.21 [[ 6.59719615e-01 -7.51118200e-01 -2.43203538e-02 9.65827035e+02] [ 7.50621369e-01 6.60167702e-01 -2.73160230e-02 1.30071962e+02] [ 3.65730742e-02 -2.34461126e-04 9.99330954e-01 3.62078750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.1192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:965.87, Y:130.11, Z:36.21 [[ 6.59842525e-01 -7.51010494e-01 -2.43121283e-02 9.65867250e+02] [ 7.50513321e-01 6.60290232e-01 -2.73233421e-02 1.30113841e+02] [ 3.65731775e-02 -2.17473092e-04 9.99330954e-01 3.62112077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.179254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:965.91, Y:130.15, Z:36.21 [[ 6.61875843e-01 -7.49219384e-01 -2.43039708e-02 9.65906214e+02] [ 7.48720733e-01 6.62321902e-01 -2.73305962e-02 1.30154899e+02] [ 3.65736646e-02 -1.07425492e-04 9.99330954e-01 3.62130859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.2392541539999 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:965.94, Y:130.20, Z:36.21 [[ 6.63517345e-01 -7.47766188e-01 -2.42993995e-02 9.65944858e+02] [ 7.47266411e-01 6.63962143e-01 -2.73346599e-02 1.30198102e+02] [ 3.65738158e-02 -2.11040262e-05 9.99330954e-01 3.62078611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.299254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:965.98, Y:130.24, Z:36.21 [[ 6.63437814e-01 -7.47837006e-01 -2.42915595e-02 9.65983337e+02] [ 7.47337021e-01 6.63882379e-01 -2.73416253e-02 1.30242823e+02] [ 3.65738175e-02 -1.45135464e-05 9.99330954e-01 3.62093735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.3592541539999 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:966.03, Y:130.28, Z:36.21 [[ 6.67233491e-01 -7.44452659e-01 -2.42838724e-02 9.66026195e+02] [ 7.43950171e-01 6.67675224e-01 -2.73484510e-02 1.30283506e+02] [ 3.65733670e-02 1.81811447e-04 9.99330954e-01 3.62112072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.419254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:966.06, Y:130.33, Z:36.21 [[ 6.67177247e-01 -7.44503326e-01 -2.42758790e-02 9.66063595e+02] [ 7.44000613e-01 6.67618725e-01 -2.73555445e-02 1.30328620e+02] [ 3.65733253e-02 1.89728060e-04 9.99330954e-01 3.62134822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.4792541539999 meters Centerline goodness : 0.999653 with order 1 Centerline is valid? [True, True] Translation: X:966.10, Y:130.37, Z:36.22 [[ 6.68881944e-01 -7.42972424e-01 -2.42677209e-02 9.66103999e+02] [ 7.42468438e-01 6.69321968e-01 -2.73627798e-02 1.30369917e+02] [ 3.65727096e-02 2.84452483e-04 9.99330954e-01 3.62159490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.539254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:966.15, Y:130.41, Z:36.23 [[ 6.70928878e-01 -7.41124783e-01 -2.42589393e-02 9.66146097e+02] [ 7.40619304e-01 6.71367186e-01 -2.73705631e-02 1.30409846e+02] [ 3.65716585e-02 3.97062460e-04 9.99330954e-01 3.62262943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.5992541539999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:966.19, Y:130.45, Z:36.23 [[ 6.70806410e-01 -7.41235729e-01 -2.42560182e-02 9.66185756e+02] [ 7.40730229e-01 6.71244693e-01 -2.73731516e-02 1.30453009e+02] [ 3.65716815e-02 3.94919604e-04 9.99330954e-01 3.62264881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.659254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:966.23, Y:130.50, Z:36.23 [[ 6.71307733e-01 -7.40781956e-01 -2.42491474e-02 9.66226267e+02] [ 7.40275940e-01 6.71745420e-01 -2.73792369e-02 1.30495550e+02] [ 3.65712984e-02 4.28833000e-04 9.99330954e-01 3.62283711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.7192541539999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:966.27, Y:130.54, Z:36.23 [[ 6.71876717e-01 -7.40266174e-01 -2.42418739e-02 9.66266388e+02] [ 7.39759590e-01 6.72313747e-01 -2.73856755e-02 1.30537297e+02] [ 3.65708342e-02 4.66639069e-04 9.99330954e-01 3.62297525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.779254154 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:966.31, Y:130.58, Z:36.23 [[ 6.72796671e-01 -7.39430427e-01 -2.42339223e-02 9.66307047e+02] [ 7.38923047e-01 6.73232775e-01 -2.73927101e-02 1.30579989e+02] [ 3.65700741e-02 5.22720442e-04 9.99330954e-01 3.62311805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.839254154 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:966.35, Y:130.62, Z:36.23 [[ 6.73077636e-01 -7.39174909e-01 -2.42270647e-02 9.66347911e+02] [ 7.38667145e-01 6.73513294e-01 -2.73987738e-02 1.30620782e+02] [ 3.65697363e-02 5.45765166e-04 9.99330954e-01 3.62333028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.899254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:966.39, Y:130.66, Z:36.24 [[ 6.72903594e-01 -7.39333611e-01 -2.42190963e-02 9.66388750e+02] [ 7.38825697e-01 6.73339076e-01 -2.74058157e-02 1.30662465e+02] [ 3.65697046e-02 5.47781155e-04 9.99330955e-01 3.62375343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.959254154 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:966.43, Y:130.70, Z:36.24 [[ 6.70960525e-01 -7.41097553e-01 -2.42155257e-02 9.66431132e+02] [ 7.40590669e-01 6.71397207e-01 -2.74089703e-02 1.30703054e+02] [ 3.65709571e-02 4.56544673e-04 9.99330955e-01 3.62375484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.019254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:966.47, Y:130.74, Z:36.24 [[ 6.70905316e-01 -7.41147791e-01 -2.42075934e-02 9.66472377e+02] [ 7.40640688e-01 6.71341743e-01 -2.74159743e-02 1.30744776e+02] [ 3.65708567e-02 4.64394265e-04 9.99330955e-01 3.62403653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.079254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:966.51, Y:130.79, Z:36.24 [[ 6.71553614e-01 -7.40560649e-01 -2.42005832e-02 9.66512760e+02] [ 7.40052941e-01 6.71989337e-01 -2.74221609e-02 1.30785892e+02] [ 3.65703072e-02 5.05738458e-04 9.99330955e-01 3.62430499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.139254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:966.55, Y:130.83, Z:36.24 [[ 6.71358650e-01 -7.40737662e-01 -2.41925564e-02 9.66552685e+02] [ 7.40229814e-01 6.71794209e-01 -2.74292406e-02 1.30826414e+02] [ 3.65702908e-02 5.06806385e-04 9.99330955e-01 3.62437520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.199254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:966.59, Y:130.87, Z:36.25 [[ 6.70286144e-01 -7.41708447e-01 -2.41881181e-02 9.66593198e+02] [ 7.41201089e-01 6.70722273e-01 -2.74331539e-02 1.30867841e+02] [ 3.65709115e-02 4.59803467e-04 9.99330955e-01 3.62458885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.259254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:966.63, Y:130.91, Z:36.25 [[ 6.68509839e-01 -7.43310103e-01 -2.41802703e-02 9.66634036e+02] [ 7.42803540e-01 6.68946892e-01 -2.74400693e-02 1.30910816e+02] [ 3.65717975e-02 3.82765935e-04 9.99330955e-01 3.62475509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.319254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:966.67, Y:130.95, Z:36.25 [[ 6.67145014e-01 -7.44535545e-01 -2.41733859e-02 9.66674503e+02] [ 7.44029565e-01 6.67582741e-01 -2.74461329e-02 1.30952532e+02] [ 3.65723567e-02 3.24836884e-04 9.99330955e-01 3.62520421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.379254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:966.71, Y:131.00, Z:36.25 [[ 6.66651647e-01 -7.44977589e-01 -2.41655257e-02 9.66712539e+02] [ 7.44471648e-01 6.67089421e-01 -2.74530518e-02 1.30996043e+02] [ 3.65724749e-02 3.11073456e-04 9.99330955e-01 3.62530161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.439254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:966.75, Y:131.04, Z:36.25 [[ 6.67314453e-01 -7.44384192e-01 -2.41577333e-02 9.66749554e+02] [ 7.43877613e-01 6.67751488e-01 -2.74599072e-02 1.31042040e+02] [ 3.65720831e-02 3.53995955e-04 9.99330955e-01 3.62541715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.499254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:966.79, Y:131.09, Z:36.26 [[ 6.67784764e-01 -7.43962542e-01 -2.41504752e-02 9.66785623e+02] [ 7.43455457e-01 6.68221211e-01 -2.74662890e-02 1.31085967e+02] [ 3.65717500e-02 3.86766773e-04 9.99330955e-01 3.62563726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.559254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:966.82, Y:131.13, Z:36.25 [[ 6.65169639e-01 -7.46301767e-01 -2.41459065e-02 9.66822132e+02] [ 7.45796071e-01 6.65607695e-01 -2.74703049e-02 1.31132661e+02] [ 3.65728382e-02 2.64490602e-04 9.99330955e-01 3.62537795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.6192541539999 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:966.86, Y:131.18, Z:36.26 [[ 6.66377415e-01 -7.45223773e-01 -2.41385354e-02 9.66859542e+02] [ 7.44717134e-01 6.66814380e-01 -2.74767804e-02 1.31175952e+02] [ 3.65722725e-02 3.33524985e-04 9.99330955e-01 3.62616552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.679254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:966.90, Y:131.22, Z:36.26 [[ 6.66140664e-01 -7.45435491e-01 -2.41359501e-02 9.66897178e+02] [ 7.44928909e-01 6.66577695e-01 -2.74790512e-02 1.31220795e+02] [ 3.65723460e-02 3.25346447e-04 9.99330955e-01 3.62628754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.7392541539999 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:966.93, Y:131.27, Z:36.26 [[ 6.65572489e-01 -7.45943088e-01 -2.41282216e-02 9.66934292e+02] [ 7.45436593e-01 6.66009621e-01 -2.74858355e-02 1.31265574e+02] [ 3.65724968e-02 3.07756643e-04 9.99330955e-01 3.62639991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.799254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:966.97, Y:131.31, Z:36.26 [[ 6.63355949e-01 -7.47915167e-01 -2.41202979e-02 9.66971185e+02] [ 7.47409718e-01 6.63794290e-01 -2.74927873e-02 1.31311527e+02] [ 3.65731886e-02 2.09758913e-04 9.99330955e-01 3.62611297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.8592541539999 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:967.01, Y:131.35, Z:36.27 [[ 6.64253084e-01 -7.47118733e-01 -2.41130439e-02 9.67010838e+02] [ 7.46612529e-01 6.64690551e-01 -2.74991481e-02 1.31354551e+02] [ 3.65728411e-02 2.63293225e-04 9.99330955e-01 3.62654168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.919254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:967.05, Y:131.40, Z:36.27 [[ 6.63191910e-01 -7.48061164e-01 -2.41036391e-02 9.67048802e+02] [ 7.47555281e-01 6.63629750e-01 -2.75073891e-02 1.31398961e+02] [ 3.65731015e-02 2.23875219e-04 9.99330955e-01 3.62667211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.9792541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:967.09, Y:131.44, Z:36.27 [[ 6.63454177e-01 -7.47828880e-01 -2.40940086e-02 9.67086417e+02] [ 7.47322538e-01 6.63891485e-01 -2.75158220e-02 1.31441796e+02] [ 3.65729335e-02 2.49491380e-04 9.99330955e-01 3.62743078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.039254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:967.12, Y:131.48, Z:36.28 [[ 6.63020178e-01 -7.48213883e-01 -2.40879352e-02 9.67124783e+02] [ 7.47707601e-01 6.63457557e-01 -2.75211377e-02 1.31484883e+02] [ 3.65730200e-02 2.36337356e-04 9.99330955e-01 3.62758910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.0992541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:967.16, Y:131.53, Z:36.28 [[ 6.63206091e-01 -7.48049353e-01 -2.40800122e-02 9.67163481e+02] [ 7.47542711e-01 6.63643052e-01 -2.75280683e-02 1.31528520e+02] [ 3.65728865e-02 2.55944919e-04 9.99330955e-01 3.62758466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.159254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:967.20, Y:131.57, Z:36.28 [[ 6.65124354e-01 -7.46344513e-01 -2.40720214e-02 9.67202694e+02] [ 7.45836498e-01 6.65559718e-01 -2.75350542e-02 1.31571734e+02] [ 3.65720044e-02 3.60442974e-04 9.99330955e-01 3.62777080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.2192541539999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:967.24, Y:131.62, Z:36.28 [[ 6.66027181e-01 -7.45539218e-01 -2.40638516e-02 9.67240471e+02] [ 7.45030420e-01 6.66461628e-01 -2.75421922e-02 1.31615055e+02] [ 3.65714181e-02 4.15547158e-04 9.99330956e-01 3.62788288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.279254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:967.28, Y:131.66, Z:36.28 [[ 6.66366379e-01 -7.45236234e-01 -2.40583474e-02 9.67279388e+02] [ 7.44727064e-01 6.66800392e-01 -2.75469994e-02 1.31657863e+02] [ 3.65711375e-02 4.39491821e-04 9.99330956e-01 3.62790251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.339254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:967.32, Y:131.70, Z:36.29 [[ 6.64815856e-01 -7.46620020e-01 -2.40504455e-02 9.67319482e+02] [ 7.46111504e-01 6.65250634e-01 -2.75538965e-02 1.31699777e+02] [ 3.65718649e-02 3.73953205e-04 9.99330956e-01 3.62853913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.399254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:967.36, Y:131.74, Z:36.29 [[ 6.63902229e-01 -7.47432798e-01 -2.40425220e-02 9.67358273e+02] [ 7.46924564e-01 6.64337337e-01 -2.75608085e-02 1.31743527e+02] [ 3.65721973e-02 3.39731970e-04 9.99330956e-01 3.62881028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.459254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:967.40, Y:131.79, Z:36.29 [[ 6.61041530e-01 -7.49964286e-01 -2.40346738e-02 9.67396626e+02] [ 7.49457470e-01 6.61478288e-01 -2.75676509e-02 1.31785444e+02] [ 3.65731685e-02 2.10396315e-04 9.99330956e-01 3.62906260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.519254154 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:967.43, Y:131.83, Z:36.29 [[ 6.59847829e-01 -7.51014934e-01 -2.40293910e-02 9.67434395e+02] [ 7.50508646e-01 6.60285199e-01 -2.75722549e-02 1.31828900e+02] [ 3.65734264e-02 1.59226862e-04 9.99330956e-01 3.62890858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.579254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:967.47, Y:131.87, Z:36.29 [[ 6.60666221e-01 -7.50295314e-01 -2.40226221e-02 9.67472339e+02] [ 7.49788335e-01 6.61102790e-01 -2.75781511e-02 1.31872492e+02] [ 3.65731801e-02 2.08071060e-04 9.99330956e-01 3.62916681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.639254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:967.51, Y:131.92, Z:36.29 [[ 6.61938590e-01 -7.49173259e-01 -2.40152198e-02 9.67510126e+02] [ 7.48665306e-01 6.62374025e-01 -2.75845956e-02 1.31916619e+02] [ 3.65726992e-02 2.79946440e-04 9.99330956e-01 3.62921384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.699254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:967.55, Y:131.96, Z:36.29 [[ 6.64874626e-01 -7.46569074e-01 -2.40073023e-02 9.67547318e+02] [ 7.46059167e-01 6.65307771e-01 -2.75914846e-02 1.31960123e+02] [ 3.65711939e-02 4.34010073e-04 9.99330956e-01 3.62940937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.759254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:967.59, Y:132.00, Z:36.30 [[ 6.67349796e-01 -7.44357520e-01 -2.40027729e-02 9.67585076e+02] [ 7.43846036e-01 6.67781078e-01 -2.75954243e-02 1.32004605e+02] [ 3.65694592e-02 5.61433343e-04 9.99330956e-01 3.62951749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.819254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:967.62, Y:132.05, Z:36.30 [[ 6.69383875e-01 -7.42529082e-01 -2.39956184e-02 9.67623611e+02] [ 7.42016197e-01 6.69813491e-01 -2.76016441e-02 1.32048292e+02] [ 3.65676124e-02 6.70958016e-04 9.99330956e-01 3.63002148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.879254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:967.66, Y:132.09, Z:36.30 [[ 6.70580370e-01 -7.41448836e-01 -2.39914648e-02 9.67662223e+02] [ 7.40935130e-01 6.71009003e-01 -2.76052540e-02 1.32093306e+02] [ 3.65663723e-02 7.35422318e-04 9.99330956e-01 3.63036366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.939254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:967.70, Y:132.14, Z:36.31 [[ 6.72010544e-01 -7.40153068e-01 -2.39846655e-02 9.67699468e+02] [ 7.39638325e-01 6.72437931e-01 -2.76111603e-02 1.32138133e+02] [ 3.65646838e-02 8.15013059e-04 9.99330956e-01 3.63078492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.999254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:967.74, Y:132.18, Z:36.31 [[ 6.72971215e-01 -7.39279962e-01 -2.39767146e-02 9.67736713e+02] [ 7.38764419e-01 6.73397636e-01 -2.76180629e-02 1.32183471e+02] [ 3.65633434e-02 8.73017726e-04 9.99330956e-01 3.63085826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.059254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:967.77, Y:132.23, Z:36.31 [[ 6.73327101e-01 -7.38956066e-01 -2.39697146e-02 9.67774206e+02] [ 7.38440102e-01 6.73753013e-01 -2.76241368e-02 1.32228281e+02] [ 3.65626909e-02 8.99881452e-04 9.99330956e-01 3.63085450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.1192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:967.81, Y:132.27, Z:36.31 [[ 6.72904000e-01 -7.39341630e-01 -2.39616583e-02 9.67811360e+02] [ 7.38825661e-01 6.73329907e-01 -2.76311232e-02 1.32273217e+02] [ 3.65629408e-02 8.89605279e-04 9.99330956e-01 3.63098740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.179254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:967.85, Y:132.32, Z:36.31 [[ 6.71088363e-01 -7.40990180e-01 -2.39575070e-02 9.67850267e+02] [ 7.40475130e-01 6.71515379e-01 -2.76347221e-02 1.32318065e+02] [ 3.65648921e-02 8.05402288e-04 9.99330956e-01 3.63107795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.2392541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:967.89, Y:132.36, Z:36.32 [[ 6.70484224e-01 -7.41537009e-01 -2.39534952e-02 9.67889226e+02] [ 7.41022183e-01 6.70911510e-01 -2.76381991e-02 1.32361821e+02] [ 3.65654231e-02 7.80905145e-04 9.99330956e-01 3.63156259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.299254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:967.93, Y:132.41, Z:36.32 [[ 6.70336310e-01 -7.41670948e-01 -2.39465303e-02 9.67926650e+02] [ 7.41155992e-01 6.70763440e-01 -2.76442324e-02 1.32405485e+02] [ 3.65653811e-02 7.82818368e-04 9.99330956e-01 3.63186453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.3592541539999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:967.96, Y:132.45, Z:36.32 [[ 6.69800001e-01 -7.42155437e-01 -2.39429687e-02 9.67963850e+02] [ 7.41640680e-01 6.70227371e-01 -2.76473168e-02 1.32448168e+02] [ 3.65658394e-02 7.61093249e-04 9.99330956e-01 3.63205047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.419254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:968.00, Y:132.49, Z:36.32 [[ 6.68539488e-01 -7.43291260e-01 -2.39385808e-02 9.68001942e+02] [ 7.42777093e-01 6.68967568e-01 -2.76511155e-02 1.32492187e+02] [ 3.65669667e-02 7.04833201e-04 9.99330956e-01 3.63236210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.4792541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:968.04, Y:132.54, Z:36.32 [[ 6.67726328e-01 -7.44022081e-01 -2.39310135e-02 9.68039899e+02] [ 7.43508148e-01 6.68154688e-01 -2.76576632e-02 1.32537497e+02] [ 3.65675310e-02 6.74846333e-04 9.99330956e-01 3.63249615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.539254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:968.08, Y:132.58, Z:36.33 [[ 6.66973191e-01 -7.44697527e-01 -2.39239488e-02 9.68077328e+02] [ 7.44183809e-01 6.67401808e-01 -2.76637728e-02 1.32581592e+02] [ 3.65680299e-02 6.47179432e-04 9.99330956e-01 3.63260077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.5992541539999 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:968.12, Y:132.63, Z:36.32 [[ 6.64595405e-01 -7.46820578e-01 -2.39159207e-02 9.68115465e+02] [ 7.46307980e-01 6.65025361e-01 -2.76707116e-02 1.32625616e+02] [ 3.65697506e-02 5.41185348e-04 9.99330956e-01 3.63218128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.659254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:968.15, Y:132.67, Z:36.33 [[ 6.61050560e-01 -7.49960202e-01 -2.39134552e-02 9.68154606e+02] [ 7.49449569e-01 6.61482848e-01 -2.76728421e-02 1.32668829e+02] [ 3.65718707e-02 3.71219037e-04 9.99330956e-01 3.63299747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.7192541539999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:968.19, Y:132.71, Z:36.33 [[ 6.55556661e-01 -7.54767478e-01 -2.39064502e-02 9.68192962e+02] [ 7.54259795e-01 6.55992409e-01 -2.76788924e-02 1.32712491e+02] [ 3.65735777e-02 1.13408113e-04 9.99330956e-01 3.63318227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.779254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:968.23, Y:132.76, Z:36.33 [[ 6.48954489e-01 -7.60451798e-01 -2.38984196e-02 9.68231807e+02] [ 7.59947676e-01 6.49394352e-01 -2.76858244e-02 1.32756247e+02] [ 3.65732337e-02 -1.94708437e-04 9.99330957e-01 3.63348827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.839254154 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:968.27, Y:132.80, Z:36.34 [[ 6.43050326e-01 -7.65451162e-01 -2.38913651e-02 9.68270628e+02] [ 7.64950233e-01 6.43493822e-01 -2.76919107e-02 1.32799958e+02] [ 3.65707511e-02 -4.68413104e-04 9.99330957e-01 3.63376306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.899254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:968.31, Y:132.84, Z:36.34 [[ 6.39890838e-01 -7.68094590e-01 -2.38833840e-02 9.68308177e+02] [ 7.67595236e-01 6.40336107e-01 -2.76987924e-02 1.32844683e+02] [ 3.65686858e-02 -6.08568313e-04 9.99330957e-01 3.63398609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.959254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:968.34, Y:132.89, Z:36.34 [[ 6.40371004e-01 -7.67694562e-01 -2.38754495e-02 9.68343395e+02] [ 7.67194675e-01 6.40815674e-01 -2.77056300e-02 1.32890408e+02] [ 3.65692238e-02 -5.75235634e-04 9.99330957e-01 3.63408221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.019254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:968.38, Y:132.94, Z:36.34 [[ 6.43161236e-01 -7.65358718e-01 -2.38674953e-02 9.68378654e+02] [ 7.64856962e-01 6.43603796e-01 -2.77124806e-02 1.32937321e+02] [ 3.65711992e-02 -4.31626647e-04 9.99330957e-01 3.63410573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.079254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:968.41, Y:132.98, Z:36.34 [[ 6.45767029e-01 -7.63161592e-01 -2.38605976e-02 9.68414361e+02] [ 7.62658111e-01 6.46207626e-01 -2.77184183e-02 1.32982683e+02] [ 3.65725324e-02 -2.97837642e-04 9.99330957e-01 3.63432911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.139254154 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:968.45, Y:133.03, Z:36.35 [[ 6.50064567e-01 -7.59504512e-01 -2.38527751e-02 9.68449458e+02] [ 7.58998304e-01 6.50502029e-01 -2.77251483e-02 1.33029735e+02] [ 3.65736538e-02 -8.10793570e-05 9.99330957e-01 3.63450394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.199254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:968.49, Y:133.08, Z:36.35 [[ 6.54722437e-01 -7.55493191e-01 -2.38446914e-02 9.68485190e+02] [ 7.54984050e-01 6.55156482e-01 -2.77320988e-02 1.33077129e+02] [ 3.65734159e-02 1.54465596e-04 9.99330957e-01 3.63500989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.259254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:968.52, Y:133.12, Z:36.35 [[ 6.58816184e-01 -7.51926193e-01 -2.38376939e-02 9.68520438e+02] [ 7.51414485e-01 6.59247199e-01 -2.77381124e-02 1.33123825e+02] [ 3.65719462e-02 3.62328875e-04 9.99330957e-01 3.63514204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.319254154 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:968.56, Y:133.17, Z:36.35 [[ 6.60434327e-01 -7.50505591e-01 -2.38297629e-02 9.68555821e+02] [ 7.49992710e-01 6.60863945e-01 -2.77449242e-02 1.33169644e+02] [ 3.65709519e-02 4.51551846e-04 9.99330957e-01 3.63530814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.379254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:968.59, Y:133.22, Z:36.35 [[ 6.59959657e-01 -7.50923280e-01 -2.38218172e-02 9.68589067e+02] [ 7.50410425e-01 6.60389306e-01 -2.77517447e-02 1.33219136e+02] [ 3.65711045e-02 4.38891935e-04 9.99330957e-01 3.63515466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.439254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:968.63, Y:133.26, Z:36.36 [[ 6.61475644e-01 -7.49588433e-01 -2.38149951e-02 9.68627871e+02] [ 7.49074500e-01 6.61904003e-01 -2.77575978e-02 1.33263709e+02] [ 3.65700148e-02 5.21769333e-04 9.99330957e-01 3.63588007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.499254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:968.66, Y:133.31, Z:36.36 [[ 6.60477541e-01 -7.50468267e-01 -2.38075196e-02 9.68662837e+02] [ 7.49954674e-01 6.60906308e-01 -2.77640080e-02 1.33310667e+02] [ 3.65705469e-02 4.82943135e-04 9.99330957e-01 3.63606296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.559254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:968.70, Y:133.36, Z:36.36 [[ 6.57273770e-01 -7.53276029e-01 -2.37994867e-02 9.68696283e+02] [ 7.52764018e-01 6.57704425e-01 -2.77708922e-02 1.33360220e+02] [ 3.65721751e-02 3.37681793e-04 9.99330957e-01 3.63566083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.6192541539999 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:968.74, Y:133.40, Z:36.36 [[ 6.60310889e-01 -7.50615388e-01 -2.37921898e-02 9.68736606e+02] [ 7.50101418e-01 6.60739203e-01 -2.77771423e-02 1.33402646e+02] [ 3.65703829e-02 4.94994208e-04 9.99330957e-01 3.63610955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.679254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:968.77, Y:133.45, Z:36.36 [[ 6.56074809e-01 -7.54320965e-01 -2.37849978e-02 9.68771950e+02] [ 7.53809191e-01 6.56505744e-01 -2.77832992e-02 1.33450397e+02] [ 3.65725128e-02 2.98572789e-04 9.99330957e-01 3.63599827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.7392541539999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:968.81, Y:133.50, Z:36.36 [[ 6.54378446e-01 -7.55793271e-01 -2.37777342e-02 9.68810180e+02] [ 7.55282241e-01 6.54810263e-01 -2.77895143e-02 1.33495694e+02] [ 3.65730323e-02 2.25958839e-04 9.99330957e-01 3.63624896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.799254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:968.85, Y:133.54, Z:36.37 [[ 6.52273252e-01 -7.57611094e-01 -2.37704595e-02 9.68848065e+02] [ 7.57101040e-01 6.52706222e-01 -2.77957355e-02 1.33539222e+02] [ 3.65734844e-02 1.33775118e-04 9.99330957e-01 3.63666983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.8592541539999 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:968.89, Y:133.58, Z:36.37 [[ 6.53498144e-01 -7.56555047e-01 -2.37620940e-02 9.68887964e+02] [ 7.56044033e-01 6.53929980e-01 -2.78028852e-02 1.33581417e+02] [ 3.65731588e-02 2.03944471e-04 9.99330957e-01 3.63722571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.919254154 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:968.93, Y:133.63, Z:36.38 [[ 6.54425010e-01 -7.55753579e-01 -2.37578391e-02 9.68925022e+02] [ 7.55241904e-01 6.54856063e-01 -2.78065205e-02 1.33626249e+02] [ 3.65728424e-02 2.54366816e-04 9.99330957e-01 3.63771629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.9792541539999 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:968.96, Y:133.67, Z:36.38 [[ 6.56032499e-01 -7.54358873e-01 -2.37497634e-02 9.68961591e+02] [ 7.53846033e-01 6.56462164e-01 -2.78134164e-02 1.33671977e+02] [ 3.65721185e-02 3.42840119e-04 9.99330957e-01 3.63763278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.039254154 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:969.00, Y:133.72, Z:36.38 [[ 6.59352810e-01 -7.51458715e-01 -2.37417523e-02 9.68998163e+02] [ 7.50943739e-01 6.59779914e-01 -2.78202530e-02 1.33717674e+02] [ 3.65701029e-02 5.14641814e-04 9.99330958e-01 3.63769267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.0992541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:969.03, Y:133.76, Z:36.38 [[ 6.62455389e-01 -7.48725291e-01 -2.37338645e-02 9.69034644e+02] [ 7.48208311e-01 6.62880066e-01 -2.78269805e-02 1.33762843e+02] [ 3.65674698e-02 6.76258524e-04 9.99330958e-01 3.63799082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.159254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:969.07, Y:133.81, Z:36.38 [[ 6.63418016e-01 -7.47872729e-01 -2.37258795e-02 9.69071803e+02] [ 7.47354961e-01 6.63841730e-01 -2.78337871e-02 1.33805600e+02] [ 3.65663592e-02 7.33782058e-04 9.99330958e-01 3.63800415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.2192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:969.11, Y:133.85, Z:36.39 [[ 6.62274636e-01 -7.48885572e-01 -2.37214380e-02 9.69110164e+02] [ 7.48368316e-01 6.62698976e-01 -2.78375719e-02 1.33848760e+02] [ 3.65673286e-02 6.83745168e-04 9.99330958e-01 3.63874627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.279254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:969.15, Y:133.89, Z:36.39 [[ 6.61129105e-01 -7.49897322e-01 -2.37131390e-02 9.69148680e+02] [ 7.49380463e-01 6.61553927e-01 -2.78446395e-02 1.33892326e+02] [ 3.65681408e-02 6.38738564e-04 9.99330958e-01 3.63895939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.339254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:969.19, Y:133.94, Z:36.39 [[ 6.58701198e-01 -7.52030944e-01 -2.37105584e-02 9.69186955e+02] [ 7.51515382e-01 6.59127594e-01 -2.78468368e-02 1.33936203e+02] [ 3.65699663e-02 5.23895422e-04 9.99330958e-01 3.63916655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.399254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:969.23, Y:133.98, Z:36.39 [[ 6.56528896e-01 -7.53928376e-01 -2.37025944e-02 9.69225175e+02] [ 7.53413801e-01 6.56956483e-01 -2.78536139e-02 1.33980464e+02] [ 3.65712029e-02 4.28840683e-04 9.99330958e-01 3.63933698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.459254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:969.26, Y:134.03, Z:36.40 [[ 6.53911289e-01 -7.56200097e-01 -2.36947184e-02 9.69263010e+02] [ 7.55686766e-01 6.54340367e-01 -2.78603123e-02 1.34025687e+02] [ 3.65723816e-02 3.12387669e-04 9.99330958e-01 3.63953815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.519254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:969.30, Y:134.07, Z:36.39 [[ 6.52782618e-01 -7.57174844e-01 -2.36877504e-02 9.69301504e+02] [ 7.56661938e-01 6.53212205e-01 -2.78662355e-02 1.34067694e+02] [ 3.65727402e-02 2.66975015e-04 9.99330958e-01 3.63948630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.579254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:969.34, Y:134.11, Z:36.40 [[ 6.51108621e-01 -7.58614951e-01 -2.36837370e-02 9.69339675e+02] [ 7.58102871e-01 6.51539193e-01 -2.78696461e-02 1.34110900e+02] [ 3.65732131e-02 1.91457787e-04 9.99330958e-01 3.63971655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.639254154 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:969.38, Y:134.15, Z:36.40 [[ 6.50037842e-01 -7.59532926e-01 -2.36756653e-02 9.69378232e+02] [ 7.59021205e-01 6.50468839e-01 -2.78765014e-02 1.34154812e+02] [ 3.65734032e-02 1.50448778e-04 9.99330958e-01 3.63986163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.699254154 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:969.42, Y:134.20, Z:36.40 [[ 6.49742894e-01 -7.59785477e-01 -2.36685613e-02 9.69417111e+02] [ 7.59273703e-01 6.50173829e-01 -2.78825318e-02 1.34199406e+02] [ 3.65734218e-02 1.45560673e-04 9.99330958e-01 3.64001675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.759254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:969.45, Y:134.25, Z:36.40 [[ 6.48844767e-01 -7.60552826e-01 -2.36615210e-02 9.69453864e+02] [ 7.60041344e-01 6.49276048e-01 -2.78885050e-02 1.34246003e+02] [ 3.65735401e-02 1.11576319e-04 9.99330958e-01 3.64005609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.819254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:969.49, Y:134.29, Z:36.40 [[ 6.49629742e-01 -7.59882670e-01 -2.36543019e-02 9.69492348e+02] [ 7.59370521e-01 6.50060230e-01 -2.78946267e-02 1.34290319e+02] [ 3.65733644e-02 1.58799596e-04 9.99330958e-01 3.64026927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.879254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:969.53, Y:134.33, Z:36.41 [[ 6.52555474e-01 -7.57371882e-01 -2.36471268e-02 9.69532881e+02] [ 7.56857855e-01 6.52983719e-01 -2.79007080e-02 1.34331868e+02] [ 3.65724005e-02 3.09246060e-04 9.99330958e-01 3.64115624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.939254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:969.57, Y:134.38, Z:36.41 [[ 6.51893045e-01 -7.57942208e-01 -2.36446122e-02 9.69569445e+02] [ 7.57428479e-01 6.52321647e-01 -2.79028388e-02 1.34378148e+02] [ 3.65726316e-02 2.80563938e-04 9.99330958e-01 3.64103195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.999254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:969.61, Y:134.42, Z:36.41 [[ 6.54439730e-01 -7.55744612e-01 -2.36372807e-02 9.69609134e+02] [ 7.55229220e-01 6.54866330e-01 -2.79090482e-02 1.34420359e+02] [ 3.65713720e-02 4.13224915e-04 9.99330958e-01 3.64146282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.059254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:969.65, Y:134.46, Z:36.42 [[ 6.56343312e-01 -7.54092075e-01 -2.36347076e-02 9.69649591e+02] [ 7.53575530e-01 6.56768517e-01 -2.79112270e-02 1.34463521e+02] [ 3.65701669e-02 5.08809933e-04 9.99330958e-01 3.64157008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.1192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:969.69, Y:134.51, Z:36.42 [[ 6.58206160e-01 -7.52466860e-01 -2.36278596e-02 9.69688960e+02] [ 7.51949057e-01 6.58629831e-01 -2.79170229e-02 1.34507746e+02] [ 3.65686477e-02 6.08209679e-04 9.99330958e-01 3.64198684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.179254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:969.73, Y:134.55, Z:36.42 [[ 6.62746859e-01 -7.48470887e-01 -2.36205938e-02 9.69730024e+02] [ 7.47950312e-01 6.63167119e-01 -2.79231691e-02 1.34550921e+02] [ 3.65640803e-02 8.38962161e-04 9.99330958e-01 3.64202360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.2392541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:969.77, Y:134.60, Z:36.42 [[ 6.62658084e-01 -7.48549670e-01 -2.36147373e-02 9.69766899e+02] [ 7.48028969e-01 6.63078187e-01 -2.79281211e-02 1.34595146e+02] [ 3.65640030e-02 8.42287568e-04 9.99330958e-01 3.64228917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.299254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:969.81, Y:134.64, Z:36.42 [[ 6.62982190e-01 -7.48262756e-01 -2.36106941e-02 9.69806400e+02] [ 7.47741751e-01 6.63401917e-01 -2.79315389e-02 1.34636285e+02] [ 3.65635099e-02 8.63411094e-04 9.99330958e-01 3.64239993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.3592541539999 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:969.85, Y:134.68, Z:36.43 [[ 6.62597957e-01 -7.48603153e-01 -2.36064916e-02 9.69845368e+02] [ 7.48082237e-01 6.63017795e-01 -2.79350902e-02 1.34677797e+02] [ 3.65638206e-02 8.50136672e-04 9.99330958e-01 3.64257660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.419254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:969.88, Y:134.72, Z:36.43 [[ 6.62541597e-01 -7.48653228e-01 -2.36003752e-02 9.69884792e+02] [ 7.48132160e-01 6.62961246e-01 -2.79402565e-02 1.34721279e+02] [ 3.65636974e-02 8.55382526e-04 9.99330958e-01 3.64300253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.4792541539999 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:969.93, Y:134.76, Z:36.43 [[ 6.62318216e-01 -7.48851054e-01 -2.35940387e-02 9.69926019e+02] [ 7.48329922e-01 6.62737785e-01 -2.79456064e-02 1.34763189e+02] [ 3.65637577e-02 8.52759057e-04 9.99330958e-01 3.64345879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.539254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:969.97, Y:134.81, Z:36.44 [[ 6.62271490e-01 -7.48892604e-01 -2.35869138e-02 9.69965289e+02] [ 7.48371283e-01 6.62690825e-01 -2.79516187e-02 1.34806931e+02] [ 3.65635918e-02 8.59791233e-04 9.99330958e-01 3.64373063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.5992541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:970.01, Y:134.85, Z:36.44 [[ 6.61199200e-01 -7.49839724e-01 -2.35797939e-02 9.70006035e+02] [ 7.49318790e-01 6.61619015e-01 -2.79576237e-02 1.34850293e+02] [ 3.65645768e-02 8.16775796e-04 9.99330958e-01 3.64393337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.659254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:970.05, Y:134.89, Z:36.44 [[ 6.56729508e-01 -7.53757693e-01 -2.35731592e-02 9.70047487e+02] [ 7.53239064e-01 6.57152167e-01 -2.79632168e-02 1.34890992e+02] [ 3.65686424e-02 6.08045256e-04 9.99330959e-01 3.64427174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.7192541539999 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:970.09, Y:134.93, Z:36.45 [[ 6.53638782e-01 -7.56439708e-01 -2.35650462e-02 9.70086877e+02] [ 7.55922567e-01 6.54063261e-01 -2.79700521e-02 1.34933485e+02] [ 3.65706889e-02 4.68960549e-04 9.99330959e-01 3.64457268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.779254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:970.13, Y:134.98, Z:36.45 [[ 6.49826750e-01 -7.59717223e-01 -2.35570619e-02 9.70127175e+02] [ 7.59201980e-01 6.50253530e-01 -2.79767750e-02 1.34975649e+02] [ 3.65725005e-02 2.95488795e-04 9.99330959e-01 3.64507365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.839254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:970.16, Y:135.02, Z:36.45 [[ 6.49555250e-01 -7.59949495e-01 -2.35529649e-02 9.70164711e+02] [ 7.59434279e-01 6.49982063e-01 -2.79802238e-02 1.35020498e+02] [ 3.65725616e-02 2.87772339e-04 9.99330959e-01 3.64532716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.899254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:970.20, Y:135.07, Z:36.45 [[ 6.51341894e-01 -7.58418996e-01 -2.35449299e-02 9.70200517e+02] [ 7.57902533e-01 6.51767197e-01 -2.79869835e-02 1.35067311e+02] [ 3.65716728e-02 3.84332856e-04 9.99330959e-01 3.64545355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.959254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:970.24, Y:135.11, Z:36.46 [[ 6.53907125e-01 -7.56208597e-01 -2.35378469e-02 9.70236032e+02] [ 7.55690482e-01 6.54330414e-01 -2.79929392e-02 1.35114152e+02] [ 3.65700304e-02 5.17455496e-04 9.99330959e-01 3.64552727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.019254154 meters Centerline goodness : 0.999714 with order 1 Centerline is valid? [True, True] Translation: X:970.27, Y:135.16, Z:36.46 [[ 6.54837332e-01 -7.55403450e-01 -2.35307346e-02 9.70272483e+02] [ 7.54884601e-01 6.55259720e-01 -2.79989164e-02 1.35161171e+02] [ 3.65692207e-02 5.71746525e-04 9.99330959e-01 3.64570698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.079254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:970.31, Y:135.21, Z:36.46 [[ 6.53142615e-01 -7.56869432e-01 -2.35241932e-02 9.70309576e+02] [ 7.56351333e-01 6.53565922e-01 -2.80044113e-02 1.35207060e+02] [ 3.65702939e-02 4.98319531e-04 9.99330959e-01 3.64605534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.139254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:970.34, Y:135.26, Z:36.45 [[ 6.46725596e-01 -7.62360116e-01 -2.35171716e-02 9.70342231e+02] [ 7.61845397e-01 6.47153007e-01 -2.80103067e-02 1.35257459e+02] [ 3.65731489e-02 1.98533373e-04 9.99330959e-01 3.64493249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.199254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:970.38, Y:135.30, Z:36.47 [[ 6.49120865e-01 -7.60321881e-01 -2.35104097e-02 9.70384139e+02] [ 7.59805615e-01 6.49546406e-01 -2.80159810e-02 1.35298190e+02] [ 3.65722655e-02 3.22416518e-04 9.99330959e-01 3.64658727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.259254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:970.42, Y:135.34, Z:36.47 [[ 6.46985527e-01 -7.62139987e-01 -2.35025362e-02 9.70420888e+02] [ 7.61624676e-01 6.47412224e-01 -2.80225846e-02 1.35341624e+02] [ 3.65729615e-02 2.30095142e-04 9.99330959e-01 3.64663956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.319254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:970.46, Y:135.39, Z:36.47 [[ 6.44838524e-01 -7.63957546e-01 -2.34977889e-02 9.70458386e+02] [ 7.63443293e-01 6.45266496e-01 -2.80265648e-02 1.35386286e+02] [ 3.65734415e-02 1.33379343e-04 9.99330959e-01 3.64679209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.379254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:970.50, Y:135.43, Z:36.47 [[ 6.43106949e-01 -7.65416017e-01 -2.34898620e-02 9.70496006e+02] [ 7.64902492e-01 6.43535793e-01 -2.80332069e-02 1.35430882e+02] [ 3.65736326e-02 6.08961579e-05 9.99330959e-01 3.64705406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.439254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:970.53, Y:135.48, Z:36.47 [[ 6.42215833e-01 -7.66163962e-01 -2.34862961e-02 9.70534437e+02] [ 7.65650827e-01 6.42645145e-01 -2.80361942e-02 1.35475577e+02] [ 3.65736758e-02 2.29857709e-05 9.99330959e-01 3.64734467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.499254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:970.57, Y:135.52, Z:36.47 [[ 6.41750453e-01 -7.66554035e-01 -2.34790880e-02 9.70571560e+02] [ 7.66040940e-01 6.42179813e-01 -2.80422294e-02 1.35519182e+02] [ 3.65736804e-02 1.01707844e-05 9.99330959e-01 3.64747758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.559254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:970.61, Y:135.57, Z:36.47 [[ 6.40690757e-01 -7.67440101e-01 -2.34743368e-02 9.70608568e+02] [ 7.66927455e-01 6.41120651e-01 -2.80462061e-02 1.35565801e+02] [ 3.65736653e-02 -3.41683403e-05 9.99330959e-01 3.64667879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.6192541539999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:970.65, Y:135.61, Z:36.47 [[ 6.43119862e-01 -7.65405849e-01 -2.34676060e-02 9.70645333e+02] [ 7.64891637e-01 6.43547883e-01 -2.80518369e-02 1.35611005e+02] [ 3.65735682e-02 9.05179019e-05 9.99330959e-01 3.64688921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.679254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:970.68, Y:135.66, Z:36.48 [[ 6.48103465e-01 -7.61190873e-01 -2.34596112e-02 9.70682963e+02] [ 7.60673636e-01 6.48527824e-01 -2.80585213e-02 1.35655315e+02] [ 3.65721009e-02 3.39717112e-04 9.99330959e-01 3.64806017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.7392541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:970.72, Y:135.70, Z:36.48 [[ 6.50974699e-01 -7.58737071e-01 -2.34520399e-02 9.70721051e+02] [ 7.58218006e-01 6.51396822e-01 -2.80648481e-02 1.35700789e+02] [ 3.65704250e-02 4.87747116e-04 9.99330959e-01 3.64829040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.799254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:970.76, Y:135.75, Z:36.49 [[ 6.52218909e-01 -7.57668019e-01 -2.34449876e-02 9.70758237e+02] [ 7.57148051e-01 6.52639918e-01 -2.80707383e-02 1.35746101e+02] [ 3.65694355e-02 5.56939683e-04 9.99330959e-01 3.64859341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.8592541539999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:970.80, Y:135.79, Z:36.49 [[ 6.53138376e-01 -7.56875771e-01 -2.34377840e-02 9.70796215e+02] [ 7.56355076e-01 6.53558486e-01 -2.80767517e-02 1.35791122e+02] [ 3.65685757e-02 6.10717095e-04 9.99330959e-01 3.64877867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.919254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:970.83, Y:135.84, Z:36.49 [[ 6.53973199e-01 -7.56154787e-01 -2.34306184e-02 9.70834990e+02] [ 7.55633415e-01 6.54392468e-01 -2.80827303e-02 1.35835816e+02] [ 3.65677111e-02 6.60394806e-04 9.99330959e-01 3.64899492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.9792541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:970.87, Y:135.88, Z:36.49 [[ 6.53437967e-01 -7.56617579e-01 -2.34235486e-02 9.70872138e+02] [ 7.56096293e-01 6.53857343e-01 -2.80886259e-02 1.35880633e+02] [ 3.65680074e-02 6.43716358e-04 9.99330959e-01 3.64919545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.039254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:970.91, Y:135.93, Z:36.49 [[ 6.52346250e-01 -7.57559293e-01 -2.34155679e-02 9.70909387e+02] [ 7.57038373e-01 6.52766081e-01 -2.80952773e-02 1.35925143e+02] [ 3.65687269e-02 6.01365279e-04 9.99330959e-01 3.64930779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.0992541539999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:970.95, Y:135.97, Z:36.49 [[ 6.51768338e-01 -7.58056813e-01 -2.34073075e-02 9.70945805e+02] [ 7.57535968e-01 6.52188260e-01 -2.81021577e-02 1.35969683e+02] [ 3.65690033e-02 5.84219302e-04 9.99330960e-01 3.64942710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.159254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:970.98, Y:136.01, Z:36.50 [[ 6.50845962e-01 -7.58849023e-01 -2.34028620e-02 9.70984323e+02] [ 7.58328556e-01 6.51266353e-01 -2.81058593e-02 1.36013497e+02] [ 3.65696005e-02 5.45526537e-04 9.99330960e-01 3.64953661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.2192541539999 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:971.02, Y:136.06, Z:36.50 [[ 6.49085961e-01 -7.60355245e-01 -2.33947970e-02 9.71021312e+02] [ 7.59835511e-01 6.49507259e-01 -2.81125709e-02 1.36058408e+02] [ 3.65706312e-02 4.71277584e-04 9.99330960e-01 3.64967342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.279254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:971.06, Y:136.10, Z:36.50 [[ 6.46651975e-01 -7.62426577e-01 -2.33867108e-02 9.71060260e+02] [ 7.61907949e-01 6.47074634e-01 -2.81192961e-02 1.36102622e+02] [ 3.65718460e-02 3.64877463e-04 9.99330960e-01 3.64991421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.339254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:971.10, Y:136.15, Z:36.50 [[ 6.42045397e-01 -7.66310053e-01 -2.33797065e-02 9.71098961e+02] [ 7.65793771e-01 6.42470917e-01 -2.81251186e-02 1.36146163e+02] [ 3.65733426e-02 1.53569371e-04 9.99330960e-01 3.65023626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.399254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:971.14, Y:136.19, Z:36.50 [[ 6.37315854e-01 -7.70248182e-01 -2.33718012e-02 9.71137263e+02] [ 7.69734287e-01 6.37744255e-01 -2.81316864e-02 1.36190061e+02] [ 3.65736122e-02 -6.13070485e-05 9.99330960e-01 3.65049535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.459254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:971.17, Y:136.23, Z:36.51 [[ 6.34176075e-01 -7.72835587e-01 -2.33636802e-02 9.71173889e+02] [ 7.72323192e-01 6.34606268e-01 -2.81384293e-02 1.36234833e+02] [ 3.65731175e-02 -1.99593482e-04 9.99330960e-01 3.65066976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.519254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:971.21, Y:136.28, Z:36.51 [[ 6.32986980e-01 -7.73810056e-01 -2.33555370e-02 9.71210551e+02] [ 7.73298074e-01 6.33417664e-01 -2.81451868e-02 1.36280631e+02] [ 3.65728382e-02 -2.45254949e-04 9.99330960e-01 3.65062566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.579254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:971.24, Y:136.33, Z:36.51 [[ 6.33880665e-01 -7.73078400e-01 -2.33471501e-02 9.71244831e+02] [ 7.72565665e-01 6.34310452e-01 -2.81521422e-02 1.36325590e+02] [ 3.65731544e-02 -1.92107980e-04 9.99330960e-01 3.65092234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.639254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:971.28, Y:136.37, Z:36.51 [[ 6.35487740e-01 -7.71758028e-01 -2.33426274e-02 9.71279679e+02] [ 7.71244262e-01 6.35916295e-01 -2.81558917e-02 1.36372881e+02] [ 3.65734926e-02 -1.10143430e-04 9.99330960e-01 3.65103479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.699254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:971.32, Y:136.42, Z:36.51 [[ 6.36160271e-01 -7.71203969e-01 -2.33355683e-02 9.71315908e+02] [ 7.70689615e-01 6.36588120e-01 -2.81617411e-02 1.36418358e+02] [ 3.65735920e-02 -6.90993168e-05 9.99330960e-01 3.65124359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.759254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:971.35, Y:136.46, Z:36.52 [[ 6.36901567e-01 -7.70592121e-01 -2.33276140e-02 9.71350116e+02] [ 7.70077115e-01 6.37328630e-01 -2.81683285e-02 1.36464559e+02] [ 3.65736482e-02 -2.36091194e-05 9.99330960e-01 3.65162377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.819254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:971.39, Y:136.51, Z:36.52 [[ 6.36796226e-01 -7.70679326e-01 -2.33225792e-02 9.71385158e+02] [ 7.70164226e-01 6.37223176e-01 -2.81724965e-02 1.36510870e+02] [ 3.65736486e-02 -2.20766659e-05 9.99330960e-01 3.65199613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.879254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:971.42, Y:136.56, Z:36.52 [[ 6.36546367e-01 -7.70885954e-01 -2.33145391e-02 9.71419632e+02] [ 7.70370749e-01 6.36973190e-01 -2.81791486e-02 1.36557452e+02] [ 3.65736462e-02 -2.35042510e-05 9.99330960e-01 3.65219684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.939254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:971.45, Y:136.60, Z:36.52 [[ 6.36882090e-01 -7.70608855e-01 -2.33065456e-02 9.71453540e+02] [ 7.70093222e-01 6.37308396e-01 -2.81857584e-02 1.36604336e+02] [ 3.65736522e-02 2.79197239e-06 9.99330960e-01 3.65231938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.999254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:971.49, Y:136.65, Z:36.52 [[ 6.37245135e-01 -7.70308909e-01 -2.32985373e-02 9.71488286e+02] [ 7.69792834e-01 6.37670905e-01 -2.81923765e-02 1.36651450e+02] [ 3.65736382e-02 3.04077259e-05 9.99330960e-01 3.65239539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.059254154 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:971.52, Y:136.70, Z:36.52 [[ 6.38482131e-01 -7.69284158e-01 -2.32906209e-02 9.71521471e+02] [ 7.68767160e-01 6.38906781e-01 -2.81989150e-02 1.36699726e+02] [ 3.65735142e-02 9.94388318e-05 9.99330960e-01 3.65245714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.1192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:971.55, Y:136.75, Z:36.52 [[ 6.37568454e-01 -7.70041803e-01 -2.32827947e-02 9.71553557e+02] [ 7.69525074e-01 6.37993430e-01 -2.82053753e-02 1.36749081e+02] [ 3.65735882e-02 6.61632178e-05 9.99330960e-01 3.65220855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.179254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:971.59, Y:136.80, Z:36.53 [[ 6.40238151e-01 -7.67823679e-01 -2.32788990e-02 9.71588236e+02] [ 7.67305361e-01 6.40661188e-01 -2.82085902e-02 1.36795796e+02] [ 3.65731106e-02 1.98191641e-04 9.99330960e-01 3.65266717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.2392541539999 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:971.62, Y:136.84, Z:36.53 [[ 6.38705195e-01 -7.69099399e-01 -2.32763366e-02 9.71623278e+02] [ 7.68581849e-01 6.39129172e-01 -2.82107044e-02 1.36841793e+02] [ 3.65734216e-02 1.28553676e-04 9.99330960e-01 3.65289874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.299254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:971.66, Y:136.89, Z:36.53 [[ 6.37041696e-01 -7.70477940e-01 -2.32727713e-02 9.71661532e+02] [ 7.69961200e-01 6.37466659e-01 -2.82136454e-02 1.36886889e+02] [ 3.65736071e-02 5.41375471e-05 9.99330960e-01 3.65333276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.3592541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:971.69, Y:136.93, Z:36.54 [[ 6.34703401e-01 -7.72405546e-01 -2.32650968e-02 9.71694236e+02] [ 7.71889865e-01 6.35129648e-01 -2.82199724e-02 1.36933536e+02] [ 3.65736159e-02 -4.67800049e-05 9.99330960e-01 3.65376189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.419254154 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:971.73, Y:136.98, Z:36.54 [[ 6.34614478e-01 -7.72478864e-01 -2.32565965e-02 9.71728915e+02] [ 7.71962975e-01 6.35040474e-01 -2.82269759e-02 1.36979875e+02] [ 3.65736223e-02 -3.99837749e-05 9.99330960e-01 3.65375432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.4792541539999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:971.76, Y:137.03, Z:36.54 [[ 6.34173954e-01 -7.72840801e-01 -2.32484815e-02 9.71764541e+02] [ 7.72324910e-01 6.34599948e-01 -2.82336580e-02 1.37026129e+02] [ 3.65736081e-02 -5.03308507e-05 9.99330961e-01 3.65382514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.539254154 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:971.80, Y:137.07, Z:36.54 [[ 6.34145365e-01 -7.72864501e-01 -2.32404568e-02 9.71799369e+02] [ 7.72348384e-01 6.34571084e-01 -2.82402620e-02 1.37072182e+02] [ 3.65736179e-02 -4.12979722e-05 9.99330961e-01 3.65403780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.5992541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:971.83, Y:137.12, Z:36.54 [[ 6.35210425e-01 -7.71989620e-01 -2.32323673e-02 9.71834578e+02] [ 7.71472673e-01 6.35635136e-01 -2.82469155e-02 1.37118112e+02] [ 3.65736345e-02 1.95987018e-05 9.99330961e-01 3.65426261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.659254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:971.87, Y:137.16, Z:36.54 [[ 6.38633512e-01 -7.69160361e-01 -2.32287799e-02 9.71869226e+02] [ 7.68641425e-01 6.39055791e-01 -2.82498652e-02 1.37164466e+02] [ 3.65731628e-02 1.86708102e-04 9.99330961e-01 3.65436937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.7192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:971.90, Y:137.21, Z:36.55 [[ 6.41863314e-01 -7.66467399e-01 -2.32209523e-02 9.71904172e+02] [ 7.65946459e-01 6.42283118e-01 -2.82562979e-02 1.37210800e+02] [ 3.65719568e-02 3.50674816e-04 9.99330961e-01 3.65456208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.779254154 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:971.94, Y:137.26, Z:36.55 [[ 6.47641854e-01 -7.61591222e-01 -2.32129349e-02 9.71937741e+02] [ 7.61066886e-01 6.48057408e-01 -2.82628828e-02 1.37258175e+02] [ 3.65680779e-02 6.37629720e-04 9.99330961e-01 3.65468419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.839254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:971.97, Y:137.31, Z:36.55 [[ 6.51820694e-01 -7.58018016e-01 -2.32049628e-02 9.71973483e+02] [ 7.57491170e-01 6.52233061e-01 -2.82694267e-02 1.37305019e+02] [ 3.65637787e-02 8.49042942e-04 9.99330961e-01 3.65500252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.899254154 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:972.01, Y:137.35, Z:36.55 [[ 6.53856092e-01 -7.56263230e-01 -2.31978077e-02 9.72010083e+02] [ 7.55735069e-01 6.54266775e-01 -2.82752969e-02 1.37351247e+02] [ 3.65611222e-02 9.56578344e-04 9.99330961e-01 3.65533357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.959254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:972.05, Y:137.40, Z:36.56 [[ 6.54366183e-01 -7.55822130e-01 -2.31906617e-02 9.72045865e+02] [ 7.55293486e-01 6.54776242e-01 -2.82811567e-02 1.37397052e+02] [ 3.65602184e-02 9.90476852e-04 9.99330961e-01 3.65556037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.019254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:972.08, Y:137.44, Z:36.56 [[ 6.54314725e-01 -7.55866932e-01 -2.31823625e-02 9.72081847e+02] [ 7.55338075e-01 6.54724510e-01 -2.82879580e-02 1.37441036e+02] [ 3.65599929e-02 9.98706404e-04 9.99330961e-01 3.65569180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.079254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:972.12, Y:137.49, Z:36.56 [[ 6.54062643e-01 -7.56085211e-01 -2.31778231e-02 9.72118805e+02] [ 7.55556360e-01 6.54472435e-01 -2.82916769e-02 1.37485808e+02] [ 3.65601648e-02 9.92377319e-04 9.99330961e-01 3.65578272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.139254154 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:972.16, Y:137.53, Z:36.56 [[ 6.54714348e-01 -7.55521202e-01 -2.31696987e-02 9.72156007e+02] [ 7.54991763e-01 6.55123380e-01 -2.82983289e-02 1.37531074e+02] [ 3.65589988e-02 1.03439030e-03 9.99330961e-01 3.65575005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.199254154 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:972.19, Y:137.58, Z:36.56 [[ 6.55323390e-01 -7.54993212e-01 -2.31625665e-02 9.72194382e+02] [ 7.54463237e-01 6.55731728e-01 -2.83041655e-02 1.37576349e+02] [ 3.65578825e-02 1.07307675e-03 9.99330961e-01 3.65585449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.259254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:972.23, Y:137.62, Z:36.56 [[ 6.54898336e-01 -7.55362159e-01 -2.31555098e-02 9.72233673e+02] [ 7.54832211e-01 6.55306708e-01 -2.83099373e-02 1.37619896e+02] [ 3.65582163e-02 1.06160620e-03 9.99330961e-01 3.65623455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.319254154 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:972.27, Y:137.66, Z:36.57 [[ 6.52901863e-01 -7.57088711e-01 -2.31482306e-02 9.72272790e+02] [ 7.56559632e-01 6.53311361e-01 -2.83158881e-02 1.37662788e+02] [ 3.65606412e-02 9.74479307e-04 9.99330961e-01 3.65651363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.379254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:972.31, Y:137.71, Z:36.57 [[ 6.50617118e-01 -7.59053157e-01 -2.31445574e-02 9.72313158e+02] [ 7.58525208e-01 6.51028071e-01 -2.83188901e-02 1.37705803e+02] [ 3.65632995e-02 8.69024489e-04 9.99330961e-01 3.65700563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.439254154 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:972.35, Y:137.75, Z:36.57 [[ 6.50374060e-01 -7.59261649e-01 -2.31372062e-02 9.72350993e+02] [ 7.58733618e-01 6.50784909e-01 -2.83248950e-02 1.37748846e+02] [ 3.65633511e-02 8.66800804e-04 9.99330961e-01 3.65710273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.499254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:972.39, Y:137.79, Z:36.57 [[ 6.52856893e-01 -7.57127957e-01 -2.31329711e-02 9.72389481e+02] [ 7.56598461e-01 6.53265852e-01 -2.83283533e-02 1.37792935e+02] [ 3.65601684e-02 9.91990367e-04 9.99330961e-01 3.65716292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.559254154 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:972.43, Y:137.84, Z:36.57 [[ 6.56766226e-01 -7.53739560e-01 -2.31257587e-02 9.72426591e+02] [ 7.53207748e-01 6.57172169e-01 -2.83342399e-02 1.37837158e+02] [ 3.65542425e-02 1.19047118e-03 9.99330961e-01 3.65725867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.6192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:972.46, Y:137.88, Z:36.58 [[ 6.60713021e-01 -7.50282536e-01 -2.31175247e-02 9.72464509e+02] [ 7.49748367e-01 6.61115856e-01 -2.83409564e-02 1.37880431e+02] [ 3.65470868e-02 1.39291252e-03 9.99330961e-01 3.65751617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.679254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:972.50, Y:137.92, Z:36.58 [[ 6.62453357e-01 -7.48746486e-01 -2.31138440e-02 9.72502284e+02] [ 7.48211279e-01 6.62854812e-01 -2.83439579e-02 1.37924039e+02] [ 3.65435616e-02 1.48251122e-03 9.99330961e-01 3.65769807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.7392541539999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:972.54, Y:137.97, Z:36.58 [[ 6.62571646e-01 -7.48642061e-01 -2.31058166e-02 9.72541835e+02] [ 7.48106564e-01 6.62972713e-01 -2.83505002e-02 1.37966866e+02] [ 3.65429029e-02 1.49862452e-03 9.99330961e-01 3.65787361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.799254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:972.58, Y:138.01, Z:36.58 [[ 6.62534007e-01 -7.48675620e-01 -2.30977217e-02 9.72581427e+02] [ 7.48139914e-01 6.62934796e-01 -2.83570938e-02 1.38009348e+02] [ 3.65425482e-02 1.50721142e-03 9.99330961e-01 3.65818511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.8592541539999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:972.62, Y:138.05, Z:36.58 [[ 6.62814941e-01 -7.48427178e-01 -2.30892294e-02 9.72620191e+02] [ 7.47891082e-01 6.63215208e-01 -2.83640068e-02 1.38053466e+02] [ 3.65415217e-02 1.53185871e-03 9.99330961e-01 3.65799944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.919254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:972.66, Y:138.10, Z:36.59 [[ 6.64392248e-01 -7.47027554e-01 -2.30819081e-02 9.72657177e+02] [ 7.46490409e-01 6.64791106e-01 -2.83699635e-02 1.38097253e+02] [ 3.65377916e-02 1.61836080e-03 9.99330962e-01 3.65853073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.9792541539999 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:972.70, Y:138.14, Z:36.59 [[ 6.64809241e-01 -7.46656631e-01 -2.30770072e-02 9.72695306e+02] [ 7.46119126e-01 6.65207613e-01 -2.83739495e-02 1.38141080e+02] [ 3.65365984e-02 1.64506735e-03 9.99330962e-01 3.65858435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.039254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:972.73, Y:138.18, Z:36.59 [[ 6.64714008e-01 -7.46741660e-01 -2.30690213e-02 9.72734817e+02] [ 7.46203982e-01 6.65112147e-01 -2.83804408e-02 1.38184298e+02] [ 3.65363438e-02 1.65068099e-03 9.99330962e-01 3.65894938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.0992541539999 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:972.77, Y:138.23, Z:36.59 [[ 6.63879685e-01 -7.47483757e-01 -2.30607099e-02 9.72772730e+02] [ 7.46946290e-01 6.64278109e-01 -2.83871927e-02 1.38227082e+02] [ 3.65376902e-02 1.62056883e-03 9.99330962e-01 3.65898338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.159254154 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:972.81, Y:138.27, Z:36.59 [[ 6.64340734e-01 -7.47074161e-01 -2.30561881e-02 9.72811853e+02] [ 7.46536322e-01 6.64738655e-01 -2.83908649e-02 1.38271930e+02] [ 3.65364210e-02 1.64892616e-03 9.99330962e-01 3.65897962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.2192541539999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:972.85, Y:138.32, Z:36.59 [[ 6.64711325e-01 -7.46744647e-01 -2.30496714e-02 9.72850507e+02] [ 7.46206428e-01 6.65108732e-01 -2.83961546e-02 1.38316145e+02] [ 3.65352141e-02 1.67543257e-03 9.99330962e-01 3.65928161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.279254154 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:972.89, Y:138.36, Z:36.59 [[ 6.63464965e-01 -7.47852449e-01 -2.30424556e-02 9.72887145e+02] [ 7.47314692e-01 6.63862996e-01 -2.84020087e-02 1.38361219e+02] [ 3.65375454e-02 1.62377213e-03 9.99330962e-01 3.65940802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.339254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:972.92, Y:138.41, Z:36.60 [[ 6.61488161e-01 -7.49601777e-01 -2.30345084e-02 9.72924328e+02] [ 7.49064849e-01 6.61887311e-01 -2.84084526e-02 1.38407014e+02] [ 3.65412753e-02 1.53751450e-03 9.99330962e-01 3.66001528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.399254154 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:972.96, Y:138.45, Z:36.60 [[ 6.59372591e-01 -7.51463586e-01 -2.30275041e-02 9.72961059e+02] [ 7.50927588e-01 6.59772988e-01 -2.84141290e-02 1.38452372e+02] [ 3.65451085e-02 1.44350973e-03 9.99330962e-01 3.66012744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.459254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:973.00, Y:138.50, Z:36.60 [[ 6.58754722e-01 -7.52005530e-01 -2.30195216e-02 9.72997431e+02] [ 7.51469637e-01 6.59155259e-01 -2.84205945e-02 1.38497624e+02] [ 3.65458830e-02 1.42372934e-03 9.99330962e-01 3.66042325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.519254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:973.03, Y:138.54, Z:36.61 [[ 6.58083862e-01 -7.52592916e-01 -2.30115790e-02 9.73032664e+02] [ 7.52057156e-01 6.58484577e-01 -2.84270240e-02 1.38543683e+02] [ 3.65467468e-02 1.40134305e-03 9.99330962e-01 3.66070965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.579254154 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:973.07, Y:138.59, Z:36.61 [[ 6.58288276e-01 -7.52414386e-01 -2.30029719e-02 9.73068450e+02] [ 7.51878275e-01 6.58688522e-01 -2.84339871e-02 1.38589226e+02] [ 3.65459345e-02 1.42232553e-03 9.99330962e-01 3.66085347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.639254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:973.10, Y:138.63, Z:36.61 [[ 6.58893382e-01 -7.51884789e-01 -2.29951075e-02 9.73104297e+02] [ 7.51348135e-01 6.59292900e-01 -2.84403458e-02 1.38634292e+02] [ 3.65443745e-02 1.46182458e-03 9.99330962e-01 3.66115960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.699254154 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:973.14, Y:138.68, Z:36.61 [[ 6.59288185e-01 -7.51538869e-01 -2.29873480e-02 9.73139098e+02] [ 7.51001787e-01 6.59687127e-01 -2.84466162e-02 1.38680433e+02] [ 3.65431953e-02 1.49097850e-03 9.99330962e-01 3.66113437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.759254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:973.18, Y:138.73, Z:36.62 [[ 6.59522020e-01 -7.51333847e-01 -2.29816530e-02 9.73175858e+02] [ 7.50796482e-01 6.59920580e-01 -2.84512164e-02 1.38726895e+02] [ 3.65424276e-02 1.50965949e-03 9.99330962e-01 3.66169184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.819254154 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:973.21, Y:138.77, Z:36.62 [[ 6.59108493e-01 -7.51696844e-01 -2.29749799e-02 9.73211562e+02] [ 7.51159511e-01 6.59507097e-01 -2.84566040e-02 1.38772315e+02] [ 3.65429017e-02 1.49811470e-03 9.99330962e-01 3.66187654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.879254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:973.25, Y:138.82, Z:36.62 [[ 6.58063529e-01 -7.52611891e-01 -2.29724548e-02 9.73248266e+02] [ 7.52075042e-01 6.58462784e-01 -2.84586423e-02 1.38818590e+02] [ 3.65448191e-02 1.45058472e-03 9.99330962e-01 3.66214230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.939254154 meters Centerline goodness : 0.999520 with order 1 Centerline is valid? [True, True] Translation: X:973.29, Y:138.86, Z:36.62 [[ 6.59086497e-01 -7.51716422e-01 -2.29654208e-02 9.73286823e+02] [ 7.51178833e-01 6.59484756e-01 -2.84643175e-02 1.38863681e+02] [ 3.65424398e-02 1.50930933e-03 9.99330962e-01 3.66230436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.999254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:973.32, Y:138.91, Z:36.63 [[ 6.57579123e-01 -7.53035640e-01 -2.29569667e-02 9.73320681e+02] [ 7.52498613e-01 6.57978139e-01 -2.84711342e-02 1.38909763e+02] [ 3.65449610e-02 1.44693786e-03 9.99330962e-01 3.66272416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.059254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:973.35, Y:138.96, Z:36.63 [[ 6.57734370e-01 -7.52900282e-01 -2.29491484e-02 9.73354980e+02] [ 7.52362955e-01 6.58132981e-01 -2.84774348e-02 1.38955376e+02] [ 3.65442601e-02 1.46449856e-03 9.99330962e-01 3.66289077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.1192541539999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:973.39, Y:139.00, Z:36.63 [[ 6.58313011e-01 -7.52394550e-01 -2.29438546e-02 9.73389967e+02] [ 7.51856768e-01 6.58711009e-01 -2.84816993e-02 1.39002211e+02] [ 3.65428449e-02 1.49938086e-03 9.99330962e-01 3.66342993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.179254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:973.42, Y:139.05, Z:36.63 [[ 6.57594854e-01 -7.53022523e-01 -2.29366031e-02 9.73424377e+02] [ 7.52484919e-01 6.57993091e-01 -2.84875377e-02 1.39047958e+02] [ 3.65438839e-02 1.47381026e-03 9.99330962e-01 3.66330626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.2392541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:973.46, Y:139.09, Z:36.64 [[ 6.54468762e-01 -7.55741199e-01 -2.29320787e-02 9.73460150e+02] [ 7.55205122e-01 6.54869053e-01 -2.84911794e-02 1.39093740e+02] [ 3.65494667e-02 1.32816357e-03 9.99330962e-01 3.66390085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.299254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:973.50, Y:139.14, Z:36.64 [[ 6.50354917e-01 -7.59284518e-01 -2.29238612e-02 9.73496039e+02] [ 7.58750390e-01 6.50757806e-01 -2.84977896e-02 1.39139803e+02] [ 3.65558120e-02 1.14018898e-03 9.99330962e-01 3.66415783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.3592541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:973.53, Y:139.19, Z:36.64 [[ 6.46904579e-01 -7.62226533e-01 -2.29167456e-02 9.73531443e+02] [ 7.61694037e-01 6.47309620e-01 -2.85035105e-02 1.39186552e+02] [ 3.65603619e-02 9.83503003e-04 9.99330963e-01 3.66447765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.419254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:973.57, Y:139.23, Z:36.65 [[ 6.43209998e-01 -7.65347015e-01 -2.29095180e-02 9.73567926e+02] [ 7.64816277e-01 6.43617341e-01 -2.85093185e-02 1.39233336e+02] [ 3.65644848e-02 8.15906435e-04 9.99330963e-01 3.66465787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.4792541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:973.60, Y:139.28, Z:36.65 [[ 6.38387264e-01 -7.69374542e-01 -2.29022846e-02 9.73603892e+02] [ 7.68846167e-01 6.38797667e-01 -2.85151281e-02 1.39279555e+02] [ 3.65687396e-02 5.95360891e-04 9.99330963e-01 3.66482214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.539254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:973.64, Y:139.33, Z:36.65 [[ 6.33447931e-01 -7.73446531e-01 -2.28950380e-02 9.73640397e+02] [ 7.72920584e-01 6.33861441e-01 -2.85209452e-02 1.39325687e+02] [ 3.65717079e-02 3.70487541e-04 9.99330963e-01 3.66496427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.5992541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:973.68, Y:139.37, Z:36.65 [[ 6.28853566e-01 -7.77186811e-01 -2.28878432e-02 9.73677754e+02] [ 7.76663114e-01 6.29269922e-01 -2.85267179e-02 1.39370897e+02] [ 3.65732202e-02 1.62984703e-04 9.99330963e-01 3.66523442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.659254154 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:973.71, Y:139.42, Z:36.66 [[ 6.25439950e-01 -7.79936754e-01 -2.28807541e-02 9.73714531e+02] [ 7.79414679e-01 6.25858338e-01 -2.85324027e-02 1.39416886e+02] [ 3.65735803e-02 1.17088661e-05 9.99330963e-01 3.66566272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.7192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:973.75, Y:139.46, Z:36.66 [[ 6.26350663e-01 -7.79205781e-01 -2.28735116e-02 9.73750747e+02] [ 7.78683007e-01 6.26768176e-01 -2.85382077e-02 1.39463091e+02] [ 3.65735255e-02 6.37105071e-05 9.99330963e-01 3.66605553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.779254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:973.78, Y:139.51, Z:36.66 [[ 6.31094798e-01 -7.75368613e-01 -2.28663453e-02 9.73784518e+02] [ 7.74843092e-01 6.31508849e-01 -2.85439486e-02 1.39511812e+02] [ 3.65723812e-02 2.96107773e-04 9.99330963e-01 3.66612489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.839254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:973.82, Y:139.56, Z:36.66 [[ 6.35559470e-01 -7.71713429e-01 -2.28592359e-02 9.73819396e+02] [ 7.71185322e-01 6.35970217e-01 -2.85496409e-02 1.39558642e+02] [ 3.65699345e-02 5.16287390e-04 9.99330963e-01 3.66593012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.899254154 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:973.85, Y:139.61, Z:36.66 [[ 6.36299697e-01 -7.71103278e-01 -2.28567364e-02 9.73854663e+02] [ 7.70574705e-01 6.36709845e-01 -2.85516418e-02 1.39606315e+02] [ 3.65693737e-02 5.54578110e-04 9.99330963e-01 3.66609712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.959254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:973.89, Y:139.65, Z:36.67 [[ 6.36080333e-01 -7.71284449e-01 -2.28497041e-02 9.73891659e+02] [ 7.70755791e-01 6.36490372e-01 -2.85572687e-02 1.39651740e+02] [ 3.65693939e-02 5.53175223e-04 9.99330963e-01 3.66663679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.019254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:973.93, Y:139.70, Z:36.67 [[ 6.32957940e-01 -7.73849118e-01 -2.28426805e-02 9.73929104e+02] [ 7.73321919e-01 6.33369853e-01 -2.85628857e-02 1.39695366e+02] [ 3.65712291e-02 4.14359794e-04 9.99330963e-01 3.66701663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.079254154 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:973.97, Y:139.74, Z:36.67 [[ 6.29804665e-01 -7.76417718e-01 -2.28388119e-02 9.73966669e+02] [ 7.75892087e-01 6.30218577e-01 -2.85659786e-02 1.39741070e+02] [ 3.65725755e-02 2.70533172e-04 9.99330963e-01 3.66733378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.139254154 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:974.01, Y:139.78, Z:36.68 [[ 6.29389858e-01 -7.76754229e-01 -2.28314314e-02 9.74009281e+02] [ 7.76228605e-01 6.29803779e-01 -2.85718763e-02 1.39782591e+02] [ 3.65726475e-02 2.60439009e-04 9.99330963e-01 3.66757571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.199254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:974.05, Y:139.83, Z:36.68 [[ 6.30314139e-01 -7.76004591e-01 -2.28245582e-02 9.74046745e+02] [ 7.75478277e-01 6.30727181e-01 -2.85773659e-02 1.39825415e+02] [ 3.65722364e-02 3.12768758e-04 9.99330963e-01 3.66784207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.259254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:974.08, Y:139.87, Z:36.68 [[ 6.31566724e-01 -7.74985691e-01 -2.28177717e-02 9.74082428e+02] [ 7.74458515e-01 6.31978665e-01 -2.85827836e-02 1.39869513e+02] [ 3.65715932e-02 3.80517453e-04 9.99330963e-01 3.66810280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.319254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:974.11, Y:139.92, Z:36.68 [[ 6.29019066e-01 -7.77055150e-01 -2.28102855e-02 9.74114410e+02] [ 7.76529112e-01 6.29432459e-01 -2.85887567e-02 1.39919377e+02] [ 3.65725747e-02 2.70022304e-04 9.99330963e-01 3.66831300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.379254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:974.15, Y:139.96, Z:36.69 [[ 6.27637979e-01 -7.78171319e-01 -2.28027360e-02 9.74151969e+02] [ 7.77645798e-01 6.28052029e-01 -2.85947770e-02 1.39963217e+02] [ 3.65729399e-02 2.14716213e-04 9.99330963e-01 3.66883246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.439254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:974.19, Y:140.01, Z:36.69 [[ 6.27216511e-01 -7.78511171e-01 -2.27992226e-02 9.74188793e+02] [ 7.77985772e-01 6.27630717e-01 -2.85975780e-02 1.40008620e+02] [ 3.65730264e-02 1.99402269e-04 9.99330963e-01 3.66917474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.499254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:974.22, Y:140.05, Z:36.69 [[ 6.28304412e-01 -7.77633676e-01 -2.27910531e-02 9.74224160e+02] [ 7.77107462e-01 6.28717582e-01 -2.86040872e-02 1.40054633e+02] [ 3.65726373e-02 2.60976757e-04 9.99330963e-01 3.66928156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.559254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:974.26, Y:140.10, Z:36.69 [[ 6.30834448e-01 -7.75582900e-01 -2.27829828e-02 9.74260427e+02] [ 7.75055111e-01 6.31245604e-01 -2.86105138e-02 1.40101131e+02] [ 3.65714830e-02 3.90430376e-04 9.99330963e-01 3.66933698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.6192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:974.30, Y:140.15, Z:36.69 [[ 6.32481689e-01 -7.74240386e-01 -2.27758033e-02 9.74296849e+02] [ 7.73711519e-01 6.32891457e-01 -2.86162280e-02 1.40146597e+02] [ 3.65704507e-02 4.77338894e-04 9.99330963e-01 3.66925064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.679254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:974.33, Y:140.19, Z:36.70 [[ 6.30761549e-01 -7.75642473e-01 -2.27732821e-02 9.74334337e+02] [ 7.75114445e-01 6.31172397e-01 -2.86182343e-02 1.40191307e+02] [ 3.65713850e-02 3.99381863e-04 9.99330963e-01 3.66964184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.7392541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:974.37, Y:140.24, Z:36.70 [[ 6.26956562e-01 -7.78721527e-01 -2.27651591e-02 9.74373018e+02] [ 7.78195282e-01 6.27369692e-01 -2.86246944e-02 1.40235660e+02] [ 3.65728366e-02 2.30700608e-04 9.99330963e-01 3.66988564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.799254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:974.41, Y:140.28, Z:36.70 [[ 6.23383746e-01 -7.81584802e-01 -2.27574904e-02 9.74411170e+02] [ 7.81060232e-01 6.23799000e-01 -2.86307900e-02 1.40278544e+02] [ 3.65734901e-02 7.29984323e-05 9.99330963e-01 3.66997303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.8592541539999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:974.45, Y:140.32, Z:36.70 [[ 6.21998450e-01 -7.82687891e-01 -2.27506945e-02 9.74448902e+02] [ 7.82163860e-01 6.22414384e-01 -2.86361892e-02 1.40322851e+02] [ 3.65735580e-02 1.68942220e-05 9.99330963e-01 3.67012405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.919254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:974.49, Y:140.37, Z:36.70 [[ 6.20822335e-01 -7.83621329e-01 -2.27429370e-02 9.74486674e+02] [ 7.83097697e-01 6.21238773e-01 -2.86423489e-02 1.40367005e+02] [ 3.65735498e-02 -2.81316727e-05 9.99330964e-01 3.67007226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.9792541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:974.52, Y:140.41, Z:36.71 [[ 6.24303039e-01 -7.80851346e-01 -2.27352103e-02 9.74523250e+02] [ 7.80325644e-01 6.24716859e-01 -2.86484807e-02 1.40412234e+02] [ 3.65732739e-02 1.44465953e-04 9.99330964e-01 3.67063245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.039254154 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:974.56, Y:140.46, Z:36.71 [[ 6.26611693e-01 -7.79000167e-01 -2.27272035e-02 9.74558559e+02] [ 7.78473012e-01 6.27023660e-01 -2.86548312e-02 1.40458265e+02] [ 3.65726126e-02 2.62937710e-04 9.99330964e-01 3.67097839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.0992541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:974.59, Y:140.50, Z:36.71 [[ 6.28848371e-01 -7.77195962e-01 -2.27192176e-02 9.74594709e+02] [ 7.76667396e-01 6.29258526e-01 -2.86611615e-02 1.40504327e+02] [ 3.65716004e-02 3.78249097e-04 9.99330964e-01 3.67127977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.159254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:974.63, Y:140.55, Z:36.72 [[ 6.31162566e-01 -7.75317977e-01 -2.27123376e-02 9.74630550e+02] [ 7.74787995e-01 6.31570890e-01 -2.86666125e-02 1.40550180e+02] [ 3.65701913e-02 4.96046163e-04 9.99330964e-01 3.67153511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.2192541539999 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:974.67, Y:140.60, Z:36.72 [[ 6.33231543e-01 -7.73629331e-01 -2.27040049e-02 9.74665629e+02] [ 7.73098023e-01 6.33638141e-01 -2.86732105e-02 1.40596922e+02] [ 3.65685601e-02 6.04359969e-04 9.99330964e-01 3.67156156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.279254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:974.70, Y:140.64, Z:36.72 [[ 6.35462065e-01 -7.71798431e-01 -2.26968374e-02 9.74702019e+02] [ 7.71265749e-01 6.35866862e-01 -2.86788829e-02 1.40643091e+02] [ 3.65664836e-02 7.19048824e-04 9.99330964e-01 3.67174279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.339254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:974.74, Y:140.69, Z:36.72 [[ 6.36191046e-01 -7.71197854e-01 -2.26897155e-02 9.74737546e+02] [ 7.70664589e-01 6.36595075e-01 -2.86845165e-02 1.40687789e+02] [ 3.65655986e-02 7.62672292e-04 9.99330964e-01 3.67171041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.399254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:974.77, Y:140.73, Z:36.72 [[ 6.35101116e-01 -7.72095878e-01 -2.26831974e-02 9.74773636e+02] [ 7.71563001e-01 6.35505655e-01 -2.86896699e-02 1.40732753e+02] [ 3.65664761e-02 7.19325507e-04 9.99330964e-01 3.67191896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.459254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:974.81, Y:140.78, Z:36.72 [[ 6.31716905e-01 -7.74867473e-01 -2.26749033e-02 9.74812182e+02] [ 7.74336136e-01 6.32123465e-01 -2.86962237e-02 1.40776174e+02] [ 3.65691087e-02 5.69892602e-04 9.99330964e-01 3.67223301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.519254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:974.85, Y:140.82, Z:36.72 [[ 6.26502138e-01 -7.79090047e-01 -2.26664877e-02 9.74850269e+02] [ 7.78561211e-01 6.26911945e-01 -2.87028694e-02 1.40818771e+02] [ 3.65720118e-02 3.35160999e-04 9.99330964e-01 3.67249088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.579254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:974.89, Y:140.86, Z:36.73 [[ 6.21993071e-01 -7.82694773e-01 -2.26608230e-02 9.74889416e+02] [ 7.82168149e-01 6.22405716e-01 -2.87073410e-02 1.40863282e+02] [ 3.65733115e-02 1.31193167e-04 9.99330964e-01 3.67278650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.639254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:974.93, Y:140.91, Z:36.73 [[ 6.20318981e-01 -7.84022436e-01 -2.26535394e-02 9.74927308e+02] [ 7.83496485e-01 6.20732484e-01 -2.87130874e-02 1.40908914e+02] [ 3.65734925e-02 6.23046286e-05 9.99330964e-01 3.67303823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.699254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:974.96, Y:140.96, Z:36.73 [[ 6.21281936e-01 -7.83259792e-01 -2.26462895e-02 9.74963847e+02] [ 7.82733125e-01 6.21694527e-01 -2.87188044e-02 1.40955537e+02] [ 3.65733590e-02 1.16473445e-04 9.99330964e-01 3.67324230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.759254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:975.00, Y:141.00, Z:36.73 [[ 6.24732388e-01 -7.80510677e-01 -2.26390414e-02 9.74998122e+02] [ 7.79981988e-01 6.25142384e-01 -2.87245169e-02 1.41001358e+02] [ 3.65724165e-02 2.87091474e-04 9.99330964e-01 3.67324551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.819254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:975.03, Y:141.05, Z:36.73 [[ 6.29204228e-01 -7.76910450e-01 -2.26316523e-02 9.75033671e+02] [ 7.76379206e-01 6.29610909e-01 -2.87303375e-02 1.41047894e+02] [ 3.65700346e-02 5.06505637e-04 9.99330964e-01 3.67330783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.879254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:975.07, Y:141.09, Z:36.73 [[ 6.32885440e-01 -7.73914849e-01 -2.26236045e-02 9.75068910e+02] [ 7.73381454e-01 6.33289294e-01 -2.87366733e-02 1.41094481e+02] [ 3.65670247e-02 6.90345988e-04 9.99330964e-01 3.67336302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.939254154 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:975.10, Y:141.14, Z:36.74 [[ 6.34863184e-01 -7.72293522e-01 -2.26153227e-02 9.75104412e+02] [ 7.71758865e-01 6.35265365e-01 -2.87431896e-02 1.41140910e+02] [ 3.65649103e-02 7.94417100e-04 9.99330964e-01 3.67350732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.999254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:975.14, Y:141.19, Z:36.74 [[ 6.34914883e-01 -7.72251234e-01 -2.26080367e-02 9.75141456e+02] [ 7.71716346e-01 6.35316757e-01 -2.87489192e-02 1.41185904e+02] [ 3.65646529e-02 8.06125185e-04 9.99330964e-01 3.67382785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.059254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:975.18, Y:141.23, Z:36.74 [[ 6.34331857e-01 -7.72730331e-01 -2.26037809e-02 9.75178090e+02] [ 7.72195626e-01 6.34733977e-01 -2.87522649e-02 1.41231814e+02] [ 3.65651349e-02 7.83936892e-04 9.99330964e-01 3.67411612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.1192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:975.21, Y:141.28, Z:36.74 [[ 6.33842503e-01 -7.73131992e-01 -2.25965641e-02 9.75214578e+02] [ 7.72597341e-01 6.34244693e-01 -2.87579355e-02 1.41277443e+02] [ 3.65654308e-02 7.69956479e-04 9.99330964e-01 3.67436447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.179254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:975.25, Y:141.32, Z:36.75 [[ 6.33944413e-01 -7.73048676e-01 -2.25881816e-02 9.75249912e+02] [ 7.72513738e-01 6.34346220e-01 -2.87645181e-02 1.41323204e+02] [ 3.65651003e-02 7.85424902e-04 9.99330964e-01 3.67452830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.2392541539999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:975.29, Y:141.37, Z:36.74 [[ 6.36294777e-01 -7.71115496e-01 -2.25798279e-02 9.75285051e+02] [ 7.70579105e-01 6.36694643e-01 -2.87710743e-02 1.41369766e+02] [ 3.65622766e-02 9.07340747e-04 9.99330965e-01 3.67448578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.299254154 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:975.32, Y:141.42, Z:36.75 [[ 6.37368916e-01 -7.70227974e-01 -2.25772631e-02 9.75320647e+02] [ 7.69690955e-01 6.37767938e-01 -2.87730868e-02 1.41415763e+02] [ 3.65608908e-02 9.61555934e-04 9.99330965e-01 3.67478183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.3592541539999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:975.35, Y:141.46, Z:36.75 [[ 6.38869866e-01 -7.68983705e-01 -2.25689037e-02 9.75354476e+02] [ 7.68445678e-01 6.39267528e-01 -2.87796421e-02 1.41462332e+02] [ 3.65586431e-02 1.04346962e-03 9.99330965e-01 3.67499645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.419254154 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:975.39, Y:141.51, Z:36.75 [[ 6.40393917e-01 -7.67715078e-01 -2.25652483e-02 9.75387460e+02] [ 7.67176162e-01 6.40790374e-01 -2.87825079e-02 1.41510794e+02] [ 3.65563592e-02 1.12062243e-03 9.99330965e-01 3.67537661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.4792541539999 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:975.42, Y:141.56, Z:36.76 [[ 6.42183877e-01 -7.66218658e-01 -2.25573888e-02 9.75420396e+02] [ 7.65678603e-01 6.42578781e-01 -2.87886662e-02 1.41558710e+02] [ 3.65533126e-02 1.21590733e-03 9.99330965e-01 3.67571871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.539254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:975.45, Y:141.61, Z:36.76 [[ 6.44753168e-01 -7.64058158e-01 -2.25495763e-02 9.75452038e+02] [ 7.63516567e-01 6.45145962e-01 -2.87947844e-02 1.41607238e+02] [ 3.65486580e-02 1.34855339e-03 9.99330965e-01 3.67586206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.5992541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:975.48, Y:141.66, Z:36.76 [[ 6.47424763e-01 -7.61795941e-01 -2.25415153e-02 9.75483333e+02] [ 7.61252759e-01 6.47815354e-01 -2.88010934e-02 1.41656186e+02] [ 3.65432958e-02 1.48675034e-03 9.99330965e-01 3.67584821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.659254154 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:975.52, Y:141.70, Z:36.76 [[ 6.49285330e-01 -7.60211032e-01 -2.25332509e-02 9.75515214e+02] [ 7.59666673e-01 6.49674280e-01 -2.88075578e-02 1.41704585e+02] [ 3.65390968e-02 1.58656491e-03 9.99330965e-01 3.67594696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.7192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:975.55, Y:141.75, Z:36.76 [[ 6.49410635e-01 -7.60104237e-01 -2.25250235e-02 9.75550079e+02] [ 7.59559593e-01 6.49799184e-01 -2.88139894e-02 1.41750793e+02] [ 3.65383774e-02 1.60301348e-03 9.99330965e-01 3.67609827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.779254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:975.58, Y:141.80, Z:36.76 [[ 6.49321331e-01 -7.60180771e-01 -2.25167760e-02 9.75582853e+02] [ 7.59635950e-01 6.49709633e-01 -2.88204331e-02 1.41798590e+02] [ 3.65381053e-02 1.60916949e-03 9.99330965e-01 3.67637115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.839254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:975.62, Y:141.85, Z:36.77 [[ 6.48277872e-01 -7.61071071e-01 -2.25083379e-02 9.75615596e+02] [ 7.60526556e-01 6.48666602e-01 -2.88270216e-02 1.41845516e+02] [ 3.65398193e-02 1.56973150e-03 9.99330965e-01 3.67662032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.899254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:975.65, Y:141.89, Z:36.77 [[ 6.46375724e-01 -7.62687365e-01 -2.25034917e-02 9.75649383e+02] [ 7.62143691e-01 6.46765629e-01 -2.88308043e-02 1.41893049e+02] [ 3.65433751e-02 1.48463780e-03 9.99330965e-01 3.67695853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.959254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:975.68, Y:141.94, Z:36.77 [[ 6.42219078e-01 -7.66190977e-01 -2.24953921e-02 9.75681183e+02] [ 7.65649211e-01 6.42611629e-01 -2.88371226e-02 1.41943439e+02] [ 3.65505437e-02 1.29617105e-03 9.99330965e-01 3.67653668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.019254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:975.71, Y:141.99, Z:36.77 [[ 6.41711218e-01 -7.66616605e-01 -2.24876527e-02 9.75713874e+02] [ 7.66074888e-01 6.42103838e-01 -2.88431567e-02 1.41992260e+02] [ 3.65510509e-02 1.28175123e-03 9.99330965e-01 3.67681742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.079254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:975.75, Y:142.04, Z:36.77 [[ 6.44156015e-01 -7.64563720e-01 -2.24799172e-02 9.75747876e+02] [ 7.64020542e-01 6.44546612e-01 -2.88491843e-02 1.42037462e+02] [ 3.65463942e-02 1.40825711e-03 9.99330965e-01 3.67734212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.139254154 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:975.78, Y:142.09, Z:36.77 [[ 6.44915272e-01 -7.63923537e-01 -2.24749377e-02 9.75778977e+02] [ 7.63379837e-01 6.45305141e-01 -2.88530631e-02 1.42085422e+02] [ 3.65447268e-02 1.45086669e-03 9.99330965e-01 3.67720798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.199254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:975.81, Y:142.13, Z:36.77 [[ 6.43677655e-01 -7.64966767e-01 -2.24704837e-02 9.75812121e+02] [ 7.64423579e-01 6.44068236e-01 -2.88565314e-02 1.42132834e+02] [ 3.65468123e-02 1.39733691e-03 9.99330965e-01 3.67742327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.259254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:975.85, Y:142.18, Z:36.78 [[ 6.43274950e-01 -7.65305673e-01 -2.24625348e-02 9.75845624e+02] [ 7.64762475e-01 6.43665519e-01 -2.88627177e-02 1.42179378e+02] [ 3.65471607e-02 1.38815953e-03 9.99330965e-01 3.67763149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.319254154 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:975.88, Y:142.23, Z:36.78 [[ 6.42409639e-01 -7.66032330e-01 -2.24571725e-02 9.75878896e+02] [ 7.65489429e-01 6.42800620e-01 -2.88668893e-02 1.42226124e+02] [ 3.65484549e-02 1.35363981e-03 9.99330965e-01 3.67786209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.379254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:975.91, Y:142.27, Z:36.78 [[ 6.41101787e-01 -7.67127375e-01 -2.24519081e-02 9.75912605e+02] [ 7.66584999e-01 6.41493496e-01 -2.88709832e-02 1.42273009e+02] [ 3.65504746e-02 1.29794296e-03 9.99330965e-01 3.67799791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.439254154 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:975.95, Y:142.32, Z:36.78 [[ 6.39484235e-01 -7.68476536e-01 -2.24438386e-02 9.75946865e+02] [ 7.67934767e-01 6.39876783e-01 -2.88772550e-02 1.42320051e+02] [ 3.65527841e-02 1.23114533e-03 9.99330965e-01 3.67801221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.499254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:975.98, Y:142.37, Z:36.78 [[ 6.37114294e-01 -7.70442743e-01 -2.24356138e-02 9.75982159e+02] [ 7.69901961e-01 6.37508200e-01 -2.88836437e-02 1.42365708e+02] [ 3.65560814e-02 1.12895922e-03 9.99330965e-01 3.67831592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.559254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:976.02, Y:142.41, Z:36.79 [[ 6.32473448e-01 -7.74257287e-01 -2.24274516e-02 9.76019328e+02] [ 7.73718658e-01 6.32870293e-01 -2.88899800e-02 1.42410521e+02] [ 3.65619454e-02 9.19607499e-04 9.99330965e-01 3.67869358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.6192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:976.05, Y:142.45, Z:36.79 [[ 6.30072425e-01 -7.76212686e-01 -2.24188657e-02 9.76054568e+02] [ 7.75675051e-01 6.30470617e-01 -2.88966412e-02 1.42454711e+02] [ 3.65643756e-02 8.17222044e-04 9.99330965e-01 3.67892337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.679254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:976.09, Y:142.50, Z:36.79 [[ 6.27491718e-01 -7.78300552e-01 -2.24141705e-02 9.76090795e+02] [ 7.77764113e-01 6.27891518e-01 -2.89002827e-02 1.42500631e+02] [ 3.65667735e-02 7.01750641e-04 9.99330966e-01 3.67911168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.7392541539999 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:976.13, Y:142.55, Z:36.79 [[ 6.26343805e-01 -7.79224882e-01 -2.24058299e-02 9.76125617e+02] [ 7.78688802e-01 6.26744087e-01 -2.89067476e-02 1.42545509e+02] [ 3.65675783e-02 6.58393463e-04 9.99330966e-01 3.67888336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.799254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:976.16, Y:142.59, Z:36.79 [[ 6.27453154e-01 -7.78332118e-01 -2.23976139e-02 9.76164637e+02] [ 7.77795241e-01 6.27852367e-01 -2.89131121e-02 1.42588040e+02] [ 3.65663987e-02 7.20865844e-04 9.99330966e-01 3.67922566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.8592541539999 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:976.20, Y:142.63, Z:36.79 [[ 6.27233402e-01 -7.78509453e-01 -2.23895140e-02 9.76201657e+02] [ 7.77972466e-01 6.27632465e-01 -2.89193831e-02 1.42632296e+02] [ 3.65663990e-02 7.20777632e-04 9.99330966e-01 3.67929810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.919254154 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:976.24, Y:142.68, Z:36.80 [[ 6.26642087e-01 -7.78985730e-01 -2.23814261e-02 9.76239506e+02] [ 7.78448822e-01 6.27041257e-01 -2.89256412e-02 1.42676761e+02] [ 3.65667392e-02 7.03229344e-04 9.99330966e-01 3.67965832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.9792541539999 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:976.28, Y:142.72, Z:36.80 [[ 6.27867237e-01 -7.77998833e-01 -2.23729616e-02 9.76276396e+02] [ 7.77461065e-01 6.28265247e-01 -2.89321867e-02 1.42720688e+02] [ 3.65653617e-02 7.71465531e-04 9.99330966e-01 3.67978117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.039254154 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:976.32, Y:142.76, Z:36.80 [[ 6.22144285e-01 -7.82583107e-01 -2.23644671e-02 9.76315289e+02] [ 7.82048037e-01 6.22545916e-01 -2.89387514e-02 1.42764483e+02] [ 3.65698856e-02 5.13991184e-04 9.99330966e-01 3.68005837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.0992541539999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:976.35, Y:142.81, Z:36.80 [[ 6.18791742e-01 -7.85236899e-01 -2.23560706e-02 9.76354381e+02] [ 7.84703317e-01 6.19195347e-01 -2.89452365e-02 1.42807504e+02] [ 3.65716426e-02 3.68190583e-04 9.99330966e-01 3.68037800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.159254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:976.39, Y:142.85, Z:36.81 [[ 6.16989533e-01 -7.86653984e-01 -2.23478364e-02 9.76393419e+02] [ 7.86121099e-01 6.17394058e-01 -2.89515925e-02 1.42850817e+02] [ 3.65723070e-02 2.94723843e-04 9.99330966e-01 3.68056083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.2192541539999 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:976.43, Y:142.90, Z:36.81 [[ 6.14504475e-01 -7.88596888e-01 -2.23427432e-02 9.76431010e+02] [ 7.88065140e-01 6.14910492e-01 -2.89555225e-02 1.42895281e+02] [ 3.65730222e-02 1.85761135e-04 9.99330966e-01 3.68093776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.279254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:976.47, Y:142.94, Z:36.81 [[ 6.11282153e-01 -7.91097555e-01 -2.23335852e-02 9.76468987e+02] [ 7.90567209e-01 6.11690001e-01 -2.89625845e-02 1.42940113e+02] [ 3.65734605e-02 4.81108649e-05 9.99330966e-01 3.68076188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.339254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:976.51, Y:142.98, Z:36.82 [[ 6.12144211e-01 -7.90430925e-01 -2.23252509e-02 9.76507881e+02] [ 7.89899901e-01 6.12551175e-01 -2.89690073e-02 1.42982612e+02] [ 3.65733580e-02 9.84966251e-05 9.99330966e-01 3.68153880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.399254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:976.55, Y:143.03, Z:36.82 [[ 6.13717566e-01 -7.89210152e-01 -2.23178351e-02 9.76545448e+02] [ 7.88678111e-01 6.14123199e-01 -2.89747194e-02 1.43026858e+02] [ 3.65730430e-02 1.80706194e-04 9.99330966e-01 3.68175757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.459254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:976.58, Y:143.07, Z:36.82 [[ 6.16428013e-01 -7.87095157e-01 -2.23096221e-02 9.76582398e+02] [ 7.86561495e-01 6.16831511e-01 -2.89810417e-02 1.43071963e+02] [ 3.65721155e-02 3.16836195e-04 9.99330966e-01 3.68194505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.519254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:976.62, Y:143.12, Z:36.82 [[ 6.18277522e-01 -7.85643404e-01 -2.23012698e-02 9.76618703e+02] [ 7.85108564e-01 6.18679457e-01 -2.89874676e-02 1.43118545e+02] [ 3.65711502e-02 4.13381769e-04 9.99330966e-01 3.68178076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.579254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:976.66, Y:143.16, Z:36.82 [[ 6.22139549e-01 -7.82588882e-01 -2.22940352e-02 9.76655336e+02] [ 7.82051868e-01 6.22538577e-01 -2.89930305e-02 1.43163883e+02] [ 3.65685203e-02 6.02619025e-04 9.99330966e-01 3.68213706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.639254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:976.69, Y:143.21, Z:36.82 [[ 6.22057849e-01 -7.82654027e-01 -2.22869124e-02 9.76691646e+02] [ 7.82116860e-01 6.22456669e-01 -2.89985048e-02 1.43210576e+02] [ 3.65684338e-02 6.07777517e-04 9.99330966e-01 3.68193972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.699254154 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:976.73, Y:143.25, Z:36.83 [[ 6.24154989e-01 -7.80982748e-01 -2.22822146e-02 9.76728766e+02] [ 7.80444384e-01 6.24552192e-01 -2.90021141e-02 1.43254010e+02] [ 3.65665567e-02 7.11784988e-04 9.99330966e-01 3.68270201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.759254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:976.77, Y:143.30, Z:36.83 [[ 6.25715217e-01 -7.79733447e-01 -2.22759970e-02 9.76765058e+02] [ 7.79194120e-01 6.26111111e-01 -2.90068889e-02 1.43297653e+02] [ 3.65648907e-02 7.92725872e-04 9.99330966e-01 3.68297858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.819254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:976.80, Y:143.34, Z:36.83 [[ 6.27973015e-01 -7.77916345e-01 -2.22722429e-02 9.76801845e+02] [ 7.77375771e-01 6.28367205e-01 -2.90097711e-02 1.43342285e+02] [ 3.65623222e-02 9.03451436e-04 9.99330966e-01 3.68308098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.879254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:976.84, Y:143.39, Z:36.83 [[ 6.29617107e-01 -7.76586529e-01 -2.22634745e-02 9.76838938e+02] [ 7.76044885e-01 6.30009825e-01 -2.90164989e-02 1.43387902e+02] [ 3.65600298e-02 9.91828610e-04 9.99330966e-01 3.68325110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.939254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:976.87, Y:143.43, Z:36.83 [[ 6.30477641e-01 -7.75888281e-01 -2.22557881e-02 9.76874240e+02] [ 7.75345994e-01 6.30869472e-01 -2.90223932e-02 1.43433295e+02] [ 3.65586320e-02 1.04203381e-03 9.99330966e-01 3.68342502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.999254154 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:976.91, Y:143.48, Z:36.84 [[ 6.30402179e-01 -7.75949724e-01 -2.22512597e-02 9.76911737e+02] [ 7.75407353e-01 6.30793893e-01 -2.90258647e-02 1.43478176e+02] [ 3.65585704e-02 1.04417793e-03 9.99330967e-01 3.68363937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.059254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:976.95, Y:143.52, Z:36.84 [[ 6.30234030e-01 -7.76086541e-01 -2.22429246e-02 9.76948172e+02] [ 7.75544031e-01 6.30625551e-01 -2.90322506e-02 1.43522465e+02] [ 3.65584955e-02 1.04674491e-03 9.99330967e-01 3.68399084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.1192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:976.99, Y:143.57, Z:36.84 [[ 6.30566233e-01 -7.75816866e-01 -2.22354829e-02 9.76986987e+02] [ 7.75273987e-01 6.30957243e-01 -2.90379490e-02 1.43567062e+02] [ 3.65577695e-02 1.07175861e-03 9.99330967e-01 3.68429211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.179254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:977.02, Y:143.61, Z:36.84 [[ 6.29870952e-01 -7.76381673e-01 -2.22279487e-02 9.77022016e+02] [ 7.75838942e-01 6.30262166e-01 -2.90437151e-02 1.43613067e+02] [ 3.65584432e-02 1.04848431e-03 9.99330967e-01 3.68441213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.2392541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:977.06, Y:143.66, Z:36.85 [[ 6.30834446e-01 -7.75599251e-01 -2.22194518e-02 9.77055104e+02] [ 7.75055807e-01 6.31224668e-01 -2.90502141e-02 1.43659528e+02] [ 3.65567904e-02 1.10456052e-03 9.99330967e-01 3.68457604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.299254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:977.09, Y:143.71, Z:36.85 [[ 6.31650687e-01 -7.74934777e-01 -2.22148769e-02 9.77089736e+02] [ 7.74390799e-01 6.32040166e-01 -2.90537121e-02 1.43706033e+02] [ 3.65554264e-02 1.14880094e-03 9.99330967e-01 3.68476980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.3592541539999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:977.12, Y:143.75, Z:36.85 [[ 6.30692745e-01 -7.75714846e-01 -2.22067188e-02 9.77123459e+02] [ 7.75171132e-01 6.31082591e-01 -2.90599463e-02 1.43754347e+02] [ 3.65565054e-02 1.11388996e-03 9.99330967e-01 3.68482638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.419254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:977.16, Y:143.80, Z:36.85 [[ 6.31228199e-01 -7.75279409e-01 -2.21990652e-02 9.77158324e+02] [ 7.74735221e-01 6.31617382e-01 -2.90657918e-02 1.43800344e+02] [ 3.65554253e-02 1.14874972e-03 9.99330967e-01 3.68497495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.4792541539999 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:977.19, Y:143.85, Z:36.85 [[ 6.29369685e-01 -7.76788980e-01 -2.21963993e-02 9.77193075e+02] [ 7.76245653e-01 6.29760071e-01 -2.90678274e-02 1.43848057e+02] [ 3.65579740e-02 1.06455091e-03 9.99330967e-01 3.68528709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.539254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:977.23, Y:143.89, Z:36.86 [[ 6.28923673e-01 -7.77150335e-01 -2.21894445e-02 9.77228105e+02] [ 7.76607045e-01 6.29314111e-01 -2.90731355e-02 1.43893777e+02] [ 3.65583275e-02 1.05230422e-03 9.99330967e-01 3.68567058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.5992541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:977.26, Y:143.94, Z:36.86 [[ 6.27219723e-01 -7.78526404e-01 -2.21823824e-02 9.77259757e+02] [ 7.77983781e-01 6.27611087e-01 -2.90785228e-02 1.43943265e+02] [ 3.65603069e-02 9.81089248e-04 9.99330967e-01 3.68581672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.659254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:977.30, Y:143.99, Z:36.86 [[ 6.29163357e-01 -7.76956725e-01 -2.21747184e-02 9.77295402e+02] [ 7.76412920e-01 6.29553077e-01 -2.90843661e-02 1.43989191e+02] [ 3.65574560e-02 1.08207951e-03 9.99330967e-01 3.68615321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.7192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:977.33, Y:144.04, Z:36.86 [[ 6.29837244e-01 -7.76410654e-01 -2.21707730e-02 9.77329346e+02] [ 7.75866406e-01 6.30226344e-01 -2.90873733e-02 1.44035434e+02] [ 3.65563517e-02 1.11875308e-03 9.99330967e-01 3.68637811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.779254154 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:977.37, Y:144.08, Z:36.87 [[ 6.31291590e-01 -7.75228795e-01 -2.21640018e-02 9.77365593e+02] [ 7.74683639e-01 6.31679416e-01 -2.90925319e-02 1.44081665e+02] [ 3.65539122e-02 1.19578119e-03 9.99330967e-01 3.68674828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.839254154 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:977.40, Y:144.13, Z:36.87 [[ 6.30690655e-01 -7.75717888e-01 -2.21597988e-02 9.77397796e+02] [ 7.75172919e-01 6.31078746e-01 -2.90957330e-02 1.44130242e+02] [ 3.65546586e-02 1.17273095e-03 9.99330967e-01 3.68696865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.899254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:977.43, Y:144.18, Z:36.87 [[ 6.32155098e-01 -7.74525070e-01 -2.21550991e-02 9.77431662e+02] [ 7.73979245e-01 6.32541982e-01 -2.90993111e-02 1.44177517e+02] [ 3.65521763e-02 1.24769096e-03 9.99330967e-01 3.68740696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.959254154 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:977.46, Y:144.23, Z:36.88 [[ 6.33753497e-01 -7.73217950e-01 -2.21474078e-02 9.77464895e+02] [ 7.72671122e-01 6.34138964e-01 -2.91051638e-02 1.44226677e+02] [ 3.65491693e-02 1.33283695e-03 9.99330967e-01 3.68757140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.019254154 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:977.50, Y:144.27, Z:36.87 [[ 6.35499951e-01 -7.71783413e-01 -2.21399214e-02 9.77497279e+02] [ 7.71235518e-01 6.35883899e-01 -2.91108575e-02 1.44274136e+02] [ 3.65456965e-02 1.42485474e-03 9.99330967e-01 3.68747030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.079254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:977.53, Y:144.32, Z:36.88 [[ 6.37982387e-01 -7.69732750e-01 -2.21352099e-02 9.77528848e+02] [ 7.69183498e-01 6.38364392e-01 -2.91144395e-02 1.44322523e+02] [ 3.65406674e-02 1.54846144e-03 9.99330967e-01 3.68789642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.139254154 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:977.56, Y:144.37, Z:36.88 [[ 6.38700844e-01 -7.69136939e-01 -2.21269288e-02 9.77561176e+02] [ 7.68587113e-01 6.39082023e-01 -2.91207318e-02 1.44371257e+02] [ 3.65387530e-02 1.59296364e-03 9.99330967e-01 3.68789029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.199254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:977.60, Y:144.42, Z:36.88 [[ 6.37798963e-01 -7.69885210e-01 -2.21189127e-02 9.77595239e+02] [ 7.69335622e-01 6.38180483e-01 -2.91268193e-02 1.44419616e+02] [ 3.65401658e-02 1.56018766e-03 9.99330967e-01 3.68824897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.259254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:977.63, Y:144.47, Z:36.89 [[ 6.33730869e-01 -7.73237517e-01 -2.21117330e-02 9.77628126e+02] [ 7.72689758e-01 6.34115012e-01 -2.91322688e-02 1.44468871e+02] [ 3.65475450e-02 1.37650835e-03 9.99330967e-01 3.68853210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.319254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:977.66, Y:144.52, Z:36.89 [[ 6.30021370e-01 -7.76263145e-01 -2.21043468e-02 9.77661705e+02] [ 7.75717037e-01 6.30407855e-01 -2.91378720e-02 1.44515692e+02] [ 3.65534100e-02 1.21076366e-03 9.99330967e-01 3.68873740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.379254154 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:977.70, Y:144.56, Z:36.89 [[ 6.24090845e-01 -7.81039301e-01 -2.20958440e-02 9.77695030e+02] [ 7.80495925e-01 6.24481161e-01 -2.91443185e-02 1.44562841e+02] [ 3.65612964e-02 9.42986169e-04 9.99330967e-01 3.68865143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.439254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:977.73, Y:144.61, Z:36.89 [[ 6.18608896e-01 -7.85388440e-01 -2.20914699e-02 9.77729031e+02] [ 7.84847690e-01 6.19002843e-01 -2.91476336e-02 1.44610051e+02] [ 3.65668972e-02 6.92546319e-04 9.99330967e-01 3.68887260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.499254154 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:977.76, Y:144.66, Z:36.89 [[ 6.15890721e-01 -7.87522034e-01 -2.20831610e-02 9.77763290e+02] [ 7.86982423e-01 6.16286227e-01 -2.91539274e-02 1.44657821e+02] [ 3.65689082e-02 5.76573843e-04 9.99330967e-01 3.68895491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.559254154 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:977.80, Y:144.70, Z:36.89 [[ 6.14042350e-01 -7.88964287e-01 -2.20759227e-02 9.77797036e+02] [ 7.88425409e-01 6.14438853e-01 -2.91594073e-02 1.44704868e+02] [ 3.65700356e-02 4.99892617e-04 9.99330967e-01 3.68924639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.6192541539999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:977.83, Y:144.75, Z:36.89 [[ 6.13767453e-01 -7.89178401e-01 -2.20672690e-02 9.77829645e+02] [ 7.88639426e-01 6.14163824e-01 -2.91659548e-02 1.44751408e+02] [ 3.65700599e-02 4.97995451e-04 9.99330968e-01 3.68936752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.679254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:977.87, Y:144.80, Z:36.90 [[ 6.15954294e-01 -7.87472889e-01 -2.20625522e-02 9.77865461e+02] [ 7.86932689e-01 6.16348994e-01 -2.91695224e-02 1.44796500e+02] [ 3.65684399e-02 6.05349106e-04 9.99330968e-01 3.68967658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.7392541539999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:977.90, Y:144.84, Z:36.90 [[ 6.17958384e-01 -7.85901435e-01 -2.20538031e-02 9.77899136e+02] [ 7.85359995e-01 6.18351381e-01 -2.91761357e-02 1.44844047e+02] [ 3.65665665e-02 7.09462980e-04 9.99330968e-01 3.68982609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.799254154 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:977.93, Y:144.89, Z:36.90 [[ 6.20259339e-01 -7.84086990e-01 -2.20441551e-02 9.77928856e+02] [ 7.83544142e-01 6.20650390e-01 -2.91834235e-02 1.44893251e+02] [ 3.65640561e-02 8.28722408e-04 9.99330968e-01 3.69001631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.8592541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:977.96, Y:144.94, Z:36.90 [[ 6.26240167e-01 -7.79318739e-01 -2.20353525e-02 9.77963476e+02] [ 7.78772682e-01 6.26626723e-01 -2.91900685e-02 1.44940217e+02] [ 3.65563081e-02 1.11946278e-03 9.99330968e-01 3.69042640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.919254154 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:977.99, Y:144.99, Z:36.90 [[ 6.28462192e-01 -7.77528201e-01 -2.20265550e-02 9.77994224e+02] [ 7.76980811e-01 6.28846858e-01 -2.91967055e-02 1.44989599e+02] [ 3.65525918e-02 1.23481500e-03 9.99330968e-01 3.69028582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.9792541539999 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:978.03, Y:145.04, Z:36.91 [[ 6.29706833e-01 -7.76520642e-01 -2.20226392e-02 9.78029160e+02] [ 7.75972533e-01 6.30090475e-01 -2.91996588e-02 1.45037361e+02] [ 3.65503930e-02 1.29826154e-03 9.99330968e-01 3.69076645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.039254154 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:978.06, Y:145.08, Z:36.91 [[ 6.29955843e-01 -7.76318857e-01 -2.20151992e-02 9.78062875e+02] [ 7.75770430e-01 6.30339030e-01 -2.92052672e-02 1.45084434e+02] [ 3.65496389e-02 1.31928816e-03 9.99330968e-01 3.69100347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.0992541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:978.10, Y:145.13, Z:36.91 [[ 6.29314030e-01 -7.76839464e-01 -2.20068074e-02 9.78096982e+02] [ 7.76291134e-01 6.29697355e-01 -2.92115892e-02 1.45130818e+02] [ 3.65503437e-02 1.29957346e-03 9.99330968e-01 3.69117907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.159254154 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:978.13, Y:145.18, Z:36.91 [[ 6.27299804e-01 -7.78467100e-01 -2.19984054e-02 9.78132776e+02] [ 7.77919544e-01 6.27684233e-01 -2.92179152e-02 1.45177028e+02] [ 3.65532379e-02 1.21540300e-03 9.99330968e-01 3.69116211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.2192541539999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:978.17, Y:145.22, Z:36.91 [[ 6.24847818e-01 -7.80436796e-01 -2.19911919e-02 9.78168605e+02] [ 7.79890261e-01 6.25233698e-01 -2.92233435e-02 1.45223007e+02] [ 3.65566068e-02 1.10942599e-03 9.99330968e-01 3.69136566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.279254154 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:978.21, Y:145.27, Z:36.92 [[ 6.21816509e-01 -7.82854376e-01 -2.19830585e-02 9.78205420e+02] [ 7.82309126e-01 6.22204202e-01 -2.92294605e-02 1.45267629e+02] [ 3.65603624e-02 9.77813814e-04 9.99330968e-01 3.69153194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.339254154 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:978.24, Y:145.31, Z:36.92 [[ 6.20122320e-01 -7.84197300e-01 -2.19750517e-02 9.78241510e+02] [ 7.83652677e-01 6.20510894e-01 -2.92354788e-02 1.45313299e+02] [ 3.65621425e-02 9.08764849e-04 9.99330968e-01 3.69181315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.399254154 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:978.28, Y:145.36, Z:36.92 [[ 6.19669884e-01 -7.84555075e-01 -2.19674479e-02 9.78276771e+02] [ 7.84010474e-01 6.20058488e-01 -2.92411912e-02 1.45358750e+02] [ 3.65624275e-02 8.97176320e-04 9.99330968e-01 3.69217933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.459254154 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:978.31, Y:145.40, Z:36.92 [[ 6.21873936e-01 -7.82809295e-01 -2.19639499e-02 9.78311474e+02] [ 7.82263511e-01 6.22260877e-01 -2.92438185e-02 1.45403924e+02] [ 3.65596396e-02 1.00437198e-03 9.99330968e-01 3.69220624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.519254154 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:978.35, Y:145.45, Z:36.93 [[ 6.23336990e-01 -7.81644933e-01 -2.19589512e-02 9.78347580e+02] [ 7.81098294e-01 6.23722722e-01 -2.92475714e-02 1.45449937e+02] [ 3.65575128e-02 1.07899376e-03 9.99330968e-01 3.69253505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.579254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:978.39, Y:145.50, Z:36.93 [[ 6.22487736e-01 -7.82321639e-01 -2.19515715e-02 9.78385206e+02] [ 7.81775225e-01 6.22873786e-01 -2.92531092e-02 1.45495311e+02] [ 3.65583988e-02 1.04850698e-03 9.99330968e-01 3.69273221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.639254154 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:978.42, Y:145.54, Z:36.93 [[ 6.20010618e-01 -7.84286483e-01 -2.19441368e-02 9.78422207e+02] [ 7.83741096e-01 6.20398118e-01 -2.92586852e-02 1.45539498e+02] [ 3.65612925e-02 9.42173704e-04 9.99330968e-01 3.69259487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.699254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:978.46, Y:145.58, Z:36.94 [[ 6.15312018e-01 -7.87978316e-01 -2.19384194e-02 9.78461029e+02] [ 7.87435102e-01 6.15702558e-01 -2.92629715e-02 1.45583798e+02] [ 3.65661280e-02 7.30776530e-04 9.99330968e-01 3.69357139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.759254154 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:978.50, Y:145.63, Z:36.94 [[ 6.12061778e-01 -7.90505797e-01 -2.19309241e-02 9.78498714e+02] [ 7.89963994e-01 6.12454274e-01 -2.92685878e-02 1.45627714e+02] [ 3.65686765e-02 5.89543522e-04 9.99330968e-01 3.69377823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.819254154 meters Centerline goodness : 0.998815 with order 1 Centerline is valid? [True, True] Translation: X:978.53, Y:145.67, Z:36.94 [[ 6.12408224e-01 -7.90237671e-01 -2.19223885e-02 9.78534951e+02] [ 7.89695468e-01 6.12800166e-01 -2.92749796e-02 1.45672726e+02] [ 3.65682350e-02 6.16227458e-04 9.99330968e-01 3.69388929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.879254154 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:978.57, Y:145.72, Z:36.94 [[ 6.14556830e-01 -7.88568142e-01 -2.19131815e-02 9.78570553e+02] [ 7.88024629e-01 6.14946954e-01 -2.92818697e-02 1.45718130e+02] [ 3.65661938e-02 7.27246340e-04 9.99330968e-01 3.69427678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.939254154 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:978.61, Y:145.76, Z:36.94 [[ 6.18908065e-01 -7.85157987e-01 -2.19030106e-02 9.78606879e+02] [ 7.84612056e-01 6.19294799e-01 -2.92894756e-02 1.45763635e+02] [ 3.65612863e-02 9.42126540e-04 9.99330969e-01 3.69413240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.999254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:978.64, Y:145.81, Z:36.94 [[ 6.22616646e-01 -7.82220485e-01 -2.19003686e-02 9.78642677e+02] [ 7.81672661e-01 6.23000692e-01 -2.92914510e-02 1.45809210e+02] [ 3.65563178e-02 1.11842557e-03 9.99330969e-01 3.69424888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.059254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:978.68, Y:145.85, Z:36.94 [[ 6.24255220e-01 -7.80913668e-01 -2.18920771e-02 9.78679210e+02] [ 7.80364824e-01 6.24637807e-01 -2.92976466e-02 1.45854432e+02] [ 3.65535517e-02 1.20540194e-03 9.99330969e-01 3.69437361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.1192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:978.72, Y:145.90, Z:36.95 [[ 6.22651089e-01 -7.82193530e-01 -2.18838755e-02 9.78715895e+02] [ 7.81645257e-01 6.23034495e-01 -2.93037716e-02 1.45900876e+02] [ 3.65556298e-02 1.14059782e-03 9.99330969e-01 3.69461608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.179254154 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:978.75, Y:145.94, Z:36.95 [[ 6.21486007e-01 -7.83119773e-01 -2.18761317e-02 9.78754679e+02] [ 7.82571868e-01 6.21869939e-01 -2.93095514e-02 1.45944250e+02] [ 3.65569979e-02 1.09583083e-03 9.99330969e-01 3.69474381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.2392541539999 meters Centerline goodness : 0.999738 with order 1 Centerline is valid? [True, True] Translation: X:978.79, Y:145.99, Z:36.95 [[ 6.22358953e-01 -7.82426454e-01 -2.18672807e-02 9.78793900e+02] [ 7.81877891e-01 6.22741943e-01 -2.93161534e-02 1.45987154e+02] [ 3.65554069e-02 1.14762721e-03 9.99330969e-01 3.69503569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.299254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:978.83, Y:146.03, Z:36.95 [[ 6.22115066e-01 -7.82620513e-01 -2.18627175e-02 9.78830387e+02] [ 7.82071950e-01 6.22498056e-01 -2.93195561e-02 1.46032857e+02] [ 3.65555852e-02 1.14191944e-03 9.99330969e-01 3.69504252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.3592541539999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:978.87, Y:146.08, Z:36.95 [[ 6.20918777e-01 -7.83570197e-01 -2.18545012e-02 9.78867978e+02] [ 7.83022004e-01 6.21302298e-01 -2.93256791e-02 1.46078109e+02] [ 3.65569800e-02 1.09630947e-03 9.99330969e-01 3.69510551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.419254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:978.90, Y:146.12, Z:36.96 [[ 6.18978963e-01 -7.85103654e-01 -2.18471120e-02 9.78904854e+02] [ 7.84556218e-01 6.19363562e-01 -2.93311830e-02 1.46123786e+02] [ 3.65593240e-02 1.01509768e-03 9.99330969e-01 3.69551081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.4792541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:978.94, Y:146.17, Z:36.96 [[ 6.18074858e-01 -7.85815815e-01 -2.18397500e-02 9.78939915e+02] [ 7.85268629e-01 6.18459813e-01 -2.93366636e-02 1.46171246e+02] [ 3.65602219e-02 9.82183699e-04 9.99330969e-01 3.69592702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.539254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:978.97, Y:146.22, Z:36.96 [[ 6.13367008e-01 -7.89496211e-01 -2.18322077e-02 9.78972449e+02] [ 7.88951137e-01 6.13754947e-01 -2.93422755e-02 1.46220177e+02] [ 3.65652408e-02 7.73038691e-04 9.99330969e-01 3.69631165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.5992541539999 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:979.01, Y:146.26, Z:36.96 [[ 6.09823018e-01 -7.92237073e-01 -2.18244482e-02 9.79010953e+02] [ 7.91693536e-01 6.10213108e-01 -2.93480458e-02 1.46263584e+02] [ 3.65681743e-02 6.18839344e-04 9.99330969e-01 3.69643971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.659254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:979.05, Y:146.31, Z:36.97 [[ 6.08075125e-01 -7.93579520e-01 -2.18217321e-02 9.79046103e+02] [ 7.93036772e-01 6.08466311e-01 -2.93500652e-02 1.46310231e+02] [ 3.65693995e-02 5.41608544e-04 9.99330969e-01 3.69655561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.7192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:979.08, Y:146.36, Z:36.97 [[ 6.09736788e-01 -7.92303752e-01 -2.18131489e-02 9.79079790e+02] [ 7.91759958e-01 6.10126519e-01 -2.93564429e-02 1.46358555e+02] [ 3.65680005e-02 6.28925354e-04 9.99330969e-01 3.69655385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.779254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:979.11, Y:146.41, Z:36.97 [[ 6.10261781e-01 -7.91899660e-01 -2.18056870e-02 9.79113692e+02] [ 7.91355409e-01 6.10650874e-01 -2.93619845e-02 1.46406247e+02] [ 3.65674074e-02 6.62448635e-04 9.99330969e-01 3.69660555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.839254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:979.15, Y:146.45, Z:36.97 [[ 6.09487183e-01 -7.92496191e-01 -2.17982115e-02 9.79147326e+02] [ 7.91952123e-01 6.09876531e-01 -2.93675332e-02 1.46452465e+02] [ 3.65678758e-02 6.35995183e-04 9.99330969e-01 3.69670203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.899254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:979.18, Y:146.50, Z:36.97 [[ 6.04339182e-01 -7.96429108e-01 -2.17905751e-02 9.79183034e+02] [ 7.95887370e-01 6.04731766e-01 -2.93731983e-02 1.46499026e+02] [ 3.65711231e-02 4.08531047e-04 9.99330969e-01 3.69704881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.959254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:979.22, Y:146.54, Z:36.97 [[ 5.96900075e-01 -8.02019818e-01 -2.17833234e-02 9.79219664e+02] [ 8.01481561e-01 5.97297419e-01 -2.93785752e-02 1.46544491e+02] [ 3.65733224e-02 7.71417199e-05 9.99330969e-01 3.69744208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.019254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:979.26, Y:146.59, Z:36.98 [[ 5.91079445e-01 -8.06319369e-01 -2.17753178e-02 9.79255671e+02] [ 8.05783784e-01 5.91480383e-01 -2.93845078e-02 1.46589563e+02] [ 3.65729711e-02 -1.77619384e-04 9.99330969e-01 3.69779490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.079254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:979.29, Y:146.64, Z:36.98 [[ 5.88450677e-01 -8.08240061e-01 -2.17670365e-02 9.79290427e+02] [ 8.07705558e-01 5.88853056e-01 -2.93906410e-02 1.46636398e+02] [ 3.65722794e-02 -2.86413768e-04 9.99330969e-01 3.69795344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.139254154 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:979.32, Y:146.68, Z:36.98 [[ 5.86072958e-01 -8.09966076e-01 -2.17587555e-02 9.79324859e+02] [ 8.09432531e-01 5.86476605e-01 -2.93967703e-02 1.46682852e+02] [ 3.65713878e-02 -3.83592433e-04 9.99330969e-01 3.69813738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.199254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:979.36, Y:146.73, Z:36.98 [[ 5.84712635e-01 -8.10948859e-01 -2.17504556e-02 9.79358212e+02] [ 8.10415764e-01 5.85116876e-01 -2.94029101e-02 1.46732002e+02] [ 3.65708151e-02 -4.34659078e-04 9.99330969e-01 3.69805613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.259254154 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:979.39, Y:146.78, Z:36.98 [[ 5.87442816e-01 -8.08973539e-01 -2.17428430e-02 9.79392367e+02] [ 8.08438876e-01 5.87844981e-01 -2.94085384e-02 1.46779641e+02] [ 3.65721505e-02 -3.01924895e-04 9.99330970e-01 3.69836403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.319254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:979.43, Y:146.83, Z:36.99 [[ 5.92110837e-01 -8.05563364e-01 -2.17352822e-02 9.79427519e+02] [ 8.05026179e-01 5.92509628e-01 -2.94141254e-02 1.46825355e+02] [ 3.65733058e-02 -8.10487683e-05 9.99330970e-01 3.69918699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.379254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:979.46, Y:146.87, Z:36.99 [[ 5.97738817e-01 -8.01396436e-01 -2.17269052e-02 9.79459723e+02] [ 8.00856247e-01 5.98133528e-01 -2.94203118e-02 1.46873491e+02] [ 3.65729235e-02 1.85534650e-04 9.99330970e-01 3.69947450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.439254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:979.49, Y:146.92, Z:37.00 [[ 6.04347489e-01 -7.96424769e-01 -2.17186662e-02 9.79490552e+02] [ 7.95881114e-01 6.04737413e-01 -2.94263928e-02 1.46922032e+02] [ 3.65699981e-02 4.98290323e-04 9.99330970e-01 3.69950605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.499254154 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:979.52, Y:146.97, Z:37.00 [[ 6.08941833e-01 -7.92917696e-01 -2.17110717e-02 9.79521787e+02] [ 7.92371597e-01 6.09328327e-01 -2.94319950e-02 1.46971434e+02] [ 3.65663206e-02 7.19136446e-04 9.99330970e-01 3.69954492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.559254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:979.55, Y:147.02, Z:37.00 [[ 6.11883447e-01 -7.90650135e-01 -2.17027647e-02 9.79554288e+02] [ 7.90102387e-01 6.12267600e-01 -2.94381192e-02 1.47019359e+02] [ 3.65631526e-02 8.65291642e-04 9.99330970e-01 3.69978825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.6192541539999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:979.59, Y:147.07, Z:37.00 [[ 6.12131321e-01 -7.90458473e-01 -2.16944323e-02 9.79587542e+02] [ 7.89910387e-01 6.12514992e-01 -2.94442584e-02 1.47067095e+02] [ 3.65626286e-02 8.87095356e-04 9.99330970e-01 3.69987740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.679254154 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:979.62, Y:147.11, Z:37.00 [[ 6.10388894e-01 -7.91804970e-01 -2.16861176e-02 9.79620299e+02] [ 7.91257514e-01 6.10773462e-01 -2.94503811e-02 1.47113680e+02] [ 3.65642632e-02 8.16882028e-04 9.99330970e-01 3.69981371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.7392541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:979.66, Y:147.16, Z:37.01 [[ 6.06472130e-01 -7.94809154e-01 -2.16786338e-02 9.79657049e+02] [ 7.94263407e-01 6.06859120e-01 -2.94558889e-02 1.47159761e+02] [ 3.65676868e-02 6.45630177e-04 9.99330970e-01 3.70051851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.799254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:979.69, Y:147.21, Z:37.01 [[ 6.00164349e-01 -7.99583087e-01 -2.16712297e-02 9.79693749e+02] [ 7.99040222e-01 6.00555371e-01 -2.94613353e-02 1.47205975e+02] [ 3.65715588e-02 3.65458911e-04 9.99330970e-01 3.70091225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.8592541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:979.73, Y:147.25, Z:37.01 [[ 5.96659577e-01 -8.02201985e-01 -2.16638936e-02 9.79728047e+02] [ 8.01660641e-01 5.97052702e-01 -2.94667287e-02 1.47251307e+02] [ 3.65727545e-02 2.14515043e-04 9.99330970e-01 3.70117777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.919254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:979.76, Y:147.30, Z:37.01 [[ 5.94006275e-01 -8.04168855e-01 -2.16563655e-02 9.79763276e+02] [ 8.03628611e-01 5.94400910e-01 -2.94722604e-02 1.47296058e+02] [ 3.65732373e-02 1.03032683e-04 9.99330970e-01 3.70146501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.9792541539999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:979.80, Y:147.34, Z:37.02 [[ 5.91162844e-01 -8.06261627e-01 -2.16490607e-02 9.79796533e+02] [ 8.05722583e-01 5.91559117e-01 -2.94776253e-02 1.47344967e+02] [ 3.65733773e-02 -1.70603228e-05 9.99330970e-01 3.70152026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.039254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:979.83, Y:147.39, Z:37.02 [[ 5.91780056e-01 -8.05808924e-01 -2.16412447e-02 9.79830562e+02] [ 8.05269367e-01 5.92175630e-01 -2.94833623e-02 1.47392532e+02] [ 3.65733742e-02 2.06343299e-05 9.99330970e-01 3.70189268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.0992541539999 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:979.87, Y:147.44, Z:37.02 [[ 5.91256328e-01 -8.06193491e-01 -2.16335295e-02 9.79865861e+02] [ 8.05653985e-01 5.91651971e-01 -2.94890223e-02 1.47439993e+02] [ 3.65733782e-02 6.43179262e-06 9.99330970e-01 3.70209879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.159254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:979.90, Y:147.49, Z:37.03 [[ 5.87092744e-01 -8.09230767e-01 -2.16257999e-02 9.79899874e+02] [ 8.08693099e-01 5.87490881e-01 -2.94946897e-02 1.47486158e+02] [ 3.65729706e-02 -1.72516843e-04 9.99330970e-01 3.70266066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.2192541539999 meters Centerline goodness : 0.999760 with order 1 Centerline is valid? [True, True] Translation: X:979.94, Y:147.53, Z:37.03 [[ 5.81707704e-01 -8.13110492e-01 -2.16211804e-02 9.79935930e+02] [ 8.12575352e-01 5.82109234e-01 -2.94980757e-02 1.47531309e+02] [ 3.65710836e-02 -4.09580351e-04 9.99330970e-01 3.70294248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.279254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:979.97, Y:147.58, Z:37.04 [[ 5.73132519e-01 -8.19177534e-01 -2.16167458e-02 9.79968422e+02] [ 8.18646520e-01 5.73539490e-01 -2.95013251e-02 1.47579856e+02] [ 3.65648801e-02 -7.88304920e-04 9.99330970e-01 3.70352720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.339254154 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:980.00, Y:147.62, Z:37.03 [[ 5.72086286e-01 -8.19908762e-01 -2.16079259e-02 9.80003170e+02] [ 8.19378025e-01 5.72493618e-01 -2.95077837e-02 1.47624928e+02] [ 3.65640901e-02 -8.24061302e-04 9.99330970e-01 3.70346662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.399254154 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:980.04, Y:147.67, Z:37.04 [[ 5.67941559e-01 -8.22785356e-01 -2.16019308e-02 9.80036106e+02] [ 8.22256515e-01 5.68351349e-01 -2.95121720e-02 1.47673325e+02] [ 3.65596694e-02 -1.00113936e-03 9.99330970e-01 3.70361176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.459254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:980.07, Y:147.72, Z:37.04 [[ 5.67723445e-01 -8.22936084e-01 -2.15937782e-02 9.80067131e+02] [ 8.22407126e-01 5.68133083e-01 -2.95181359e-02 1.47722656e+02] [ 3.65596790e-02 -1.00073921e-03 9.99330970e-01 3.70384705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.519254154 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:980.11, Y:147.77, Z:37.06 [[ 5.74244392e-01 -8.18399316e-01 -2.15855860e-02 9.80105090e+02] [ 8.17866895e-01 5.74649518e-01 -2.95241253e-02 1.47766787e+02] [ 3.65666706e-02 -7.00072832e-04 9.99330970e-01 3.70597162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.579254154 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:980.13, Y:147.82, Z:37.04 [[ 5.72881207e-01 -8.19354247e-01 -2.15810170e-02 9.80129566e+02] [ 8.18822375e-01 5.73287054e-01 -2.95274647e-02 1.47820925e+02] [ 3.65655713e-02 -7.55290022e-04 9.99330970e-01 3.70428985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.639254154 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:980.16, Y:147.87, Z:37.05 [[ 5.76855709e-01 -8.16561072e-01 -2.15756189e-02 9.80160424e+02] [ 8.16027087e-01 5.77258772e-01 -2.95314086e-02 1.47870767e+02] [ 3.65689139e-02 -5.70927848e-04 9.99330970e-01 3.70469215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.699254154 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:980.19, Y:147.92, Z:37.05 [[ 5.84956238e-01 -8.10778031e-01 -2.15681471e-02 9.80190189e+02] [ 8.10239858e-01 5.85353693e-01 -2.95368646e-02 1.47921181e+02] [ 3.65728355e-02 -1.97599191e-04 9.99330971e-01 3.70493565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.759254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:980.22, Y:147.97, Z:37.05 [[ 5.93612239e-01 -8.04462361e-01 -2.15596631e-02 9.80219423e+02] [ 8.03919735e-01 5.94003592e-01 -2.95430559e-02 1.47972633e+02] [ 3.65727939e-02 2.04880904e-04 9.99330971e-01 3.70536522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.819254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:980.25, Y:148.02, Z:37.06 [[ 6.04559243e-01 -7.96268568e-01 -2.15520106e-02 9.80252495e+02] [ 7.95720441e-01 6.04942855e-01 -2.95486375e-02 1.48021049e+02] [ 3.65663861e-02 7.14526609e-04 9.99330971e-01 3.70572873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.879254154 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:980.28, Y:148.07, Z:37.05 [[ 6.05758067e-01 -7.95357190e-01 -2.15430814e-02 9.80280964e+02] [ 7.94808255e-01 6.06140520e-01 -2.95551461e-02 1.48071881e+02] [ 3.65650325e-02 7.80649183e-04 9.99330971e-01 3.70528841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.939254154 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:980.31, Y:148.12, Z:37.05 [[ 6.07098254e-01 -7.94334833e-01 -2.15379325e-02 9.80313963e+02] [ 7.93785122e-01 6.07479590e-01 -2.95588978e-02 1.48120543e+02] [ 3.65635166e-02 8.48664859e-04 9.99330971e-01 3.70548957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.999254154 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:980.35, Y:148.17, Z:37.06 [[ 6.04043361e-01 -7.96660571e-01 -2.15302614e-02 9.80348783e+02] [ 7.96112129e-01 6.04426521e-01 -2.95644843e-02 1.48166933e+02] [ 3.65663199e-02 7.17728211e-04 9.99330971e-01 3.70574008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.059254154 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:980.39, Y:148.21, Z:37.06 [[ 5.98699913e-01 -8.00684101e-01 -2.15263771e-02 9.80385070e+02] [ 8.00138133e-01 5.99086590e-01 -2.95673123e-02 1.48212820e+02] [ 3.65702407e-02 4.77872127e-04 9.99330971e-01 3.70607750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.1192541539999 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:980.42, Y:148.26, Z:37.06 [[ 5.95522165e-01 -8.03050615e-01 -2.15188336e-02 9.80421174e+02] [ 8.02505986e-01 5.95910725e-01 -2.95728013e-02 1.48259365e+02] [ 3.65717600e-02 3.42265845e-04 9.99330971e-01 3.70636861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.179254154 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:980.46, Y:148.31, Z:37.07 [[ 5.92662832e-01 -8.05163356e-01 -2.15113385e-02 9.80457389e+02] [ 8.04619914e-01 5.93053050e-01 -2.95782523e-02 1.48305511e+02] [ 3.65726898e-02 2.21479390e-04 9.99330971e-01 3.70667609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.2392541539999 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:980.49, Y:148.35, Z:37.07 [[ 5.92498468e-01 -8.05284519e-01 -2.15036642e-02 9.80493933e+02] [ 8.04740955e-01 5.92888516e-01 -2.95838305e-02 1.48350420e+02] [ 3.65726763e-02 2.23495047e-04 9.99330971e-01 3.70669010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.299254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:980.53, Y:148.40, Z:37.07 [[ 5.92357380e-01 -8.05388380e-01 -2.15009746e-02 9.80529656e+02] [ 8.04844812e-01 5.92747425e-01 -2.95857852e-02 1.48397222e+02] [ 3.65726949e-02 2.20410365e-04 9.99330971e-01 3.70694555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.3592541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:980.57, Y:148.44, Z:37.07 [[ 5.94246702e-01 -8.03995588e-01 -2.14930805e-02 9.80566211e+02] [ 8.03450899e-01 5.94635178e-01 -2.95915188e-02 1.48442907e+02] [ 3.65719923e-02 3.16027632e-04 9.99330971e-01 3.70706099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.419254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:980.60, Y:148.49, Z:37.07 [[ 5.93909869e-01 -8.04244644e-01 -2.14853370e-02 9.80602454e+02] [ 8.03699915e-01 5.94298289e-01 -2.95971401e-02 1.48488006e+02] [ 3.65720404e-02 3.10270083e-04 9.99330971e-01 3.70733234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.4792541539999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:980.64, Y:148.53, Z:37.08 [[ 5.94073053e-01 -8.04124334e-01 -2.14770425e-02 9.80639538e+02] [ 8.03579308e-01 5.94461057e-01 -2.96031577e-02 1.48533449e+02] [ 3.65718848e-02 3.27931348e-04 9.99330971e-01 3.70792560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.539254154 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:980.67, Y:148.58, Z:37.08 [[ 5.94446551e-01 -8.03848464e-01 -2.14696241e-02 9.80674684e+02] [ 8.03303064e-01 5.94834029e-01 -2.96085369e-02 1.48580168e+02] [ 3.65716399e-02 3.54077828e-04 9.99330971e-01 3.70815884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.5992541539999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:980.71, Y:148.63, Z:37.08 [[ 5.97681189e-01 -8.01446579e-01 -2.14610578e-02 9.80709705e+02] [ 8.00899400e-01 5.98066149e-01 -2.96147447e-02 1.48626747e+02] [ 3.65697680e-02 5.12027534e-04 9.99330971e-01 3.70824533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.659254154 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:980.75, Y:148.67, Z:37.08 [[ 6.01037187e-01 -7.98933090e-01 -2.14527077e-02 9.80746067e+02] [ 7.98384085e-01 6.01419539e-01 -2.96207922e-02 1.48673247e+02] [ 3.65671086e-02 6.75697168e-04 9.99330971e-01 3.70786341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.7192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:980.78, Y:148.72, Z:37.09 [[ 6.02472643e-01 -7.97851375e-01 -2.14451994e-02 9.80781307e+02] [ 7.97301491e-01 6.02853730e-01 -2.96262271e-02 1.48719981e+02] [ 3.65656445e-02 7.50701866e-04 9.99330971e-01 3.70853685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.779254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:980.82, Y:148.77, Z:37.08 [[ 6.00169493e-01 -7.99585554e-01 -2.14364498e-02 9.80815163e+02] [ 7.99036545e-01 6.00551839e-01 -2.96325567e-02 1.48768403e+02] [ 3.65674636e-02 6.56049785e-04 9.99330971e-01 3.70805529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.839254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:980.85, Y:148.81, Z:37.08 [[ 5.98149807e-01 -8.01097749e-01 -2.14290560e-02 9.80852498e+02] [ 8.00549515e-01 5.98533264e-01 -2.96379026e-02 1.48812545e+02] [ 3.65688599e-02 5.72885346e-04 9.99330971e-01 3.70842426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.899254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:980.89, Y:148.85, Z:37.09 [[ 5.98435604e-01 -8.00884522e-01 -2.14198454e-02 9.80893038e+02] [ 8.00335914e-01 5.98818525e-01 -2.96445578e-02 1.48854916e+02] [ 3.65684677e-02 5.97287317e-04 9.99330971e-01 3.70915077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.959254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:980.93, Y:148.90, Z:37.09 [[ 5.97390189e-01 -8.01664824e-01 -2.14119509e-02 9.80929507e+02] [ 8.01116512e-01 5.97773533e-01 -2.96502588e-02 1.48900305e+02] [ 3.65690670e-02 5.59306223e-04 9.99330971e-01 3.70939946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.019254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:980.97, Y:148.95, Z:37.10 [[ 5.98477411e-01 -8.00853720e-01 -2.14034578e-02 9.80966492e+02] [ 8.00304669e-01 5.98859697e-01 -2.96563884e-02 1.48945001e+02] [ 3.65680972e-02 6.19391388e-04 9.99330972e-01 3.70966206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.079254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:981.00, Y:148.99, Z:37.10 [[ 6.01053312e-01 -7.98922516e-01 -2.13945893e-02 9.81002616e+02] [ 7.98372010e-01 6.01433499e-01 -2.96627849e-02 1.48990529e+02] [ 3.65656894e-02 7.48073878e-04 9.99330972e-01 3.70970169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.139254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:981.04, Y:149.04, Z:37.10 [[ 6.04154212e-01 -7.96580403e-01 -2.13857418e-02 9.81038273e+02] [ 7.96028198e-01 6.04531926e-01 -2.96691622e-02 1.49036015e+02] [ 3.65622369e-02 9.01095799e-04 9.99330972e-01 3.70991497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.199254154 meters Centerline goodness : 0.999759 with order 1 Centerline is valid? [True, True] Translation: X:981.08, Y:149.08, Z:37.10 [[ 6.06934416e-01 -7.94464260e-01 -2.13811788e-02 9.81075749e+02] [ 7.93910622e-01 6.07310028e-01 -2.96724502e-02 1.49081035e+02] [ 3.65587055e-02 1.03448631e-03 9.99330972e-01 3.71022358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.259254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:981.11, Y:149.13, Z:37.11 [[ 6.07120558e-01 -7.94322249e-01 -2.13727024e-02 9.81110733e+02] [ 7.93768309e-01 6.07495724e-01 -2.96785544e-02 1.49127876e+02] [ 3.65581614e-02 1.05348666e-03 9.99330972e-01 3.71057192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.319254154 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:981.15, Y:149.17, Z:37.11 [[ 6.04233583e-01 -7.96520770e-01 -2.13644592e-02 9.81145337e+02] [ 7.95967986e-01 6.04610450e-01 -2.96844872e-02 1.49174045e+02] [ 3.65614859e-02 9.30938466e-04 9.99330972e-01 3.71064082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.379254154 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:981.18, Y:149.22, Z:37.11 [[ 6.01804098e-01 -7.98358161e-01 -2.13558946e-02 9.81180886e+02] [ 7.97806310e-01 6.02182329e-01 -2.96906476e-02 1.49220527e+02] [ 3.65639131e-02 8.30085893e-04 9.99330972e-01 3.71087646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.439254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:981.22, Y:149.27, Z:37.11 [[ 6.01206776e-01 -7.98808303e-01 -2.13473077e-02 9.81215371e+02] [ 7.98256516e-01 6.01585101e-01 -2.96968202e-02 1.49267038e+02] [ 3.65642888e-02 8.13302069e-04 9.99330972e-01 3.71117492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.499254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:981.25, Y:149.31, Z:37.11 [[ 6.01835658e-01 -7.98334836e-01 -2.13384798e-02 9.81248556e+02] [ 7.97782527e-01 6.02213220e-01 -2.97031620e-02 1.49313885e+02] [ 3.65633836e-02 8.52955718e-04 9.99330972e-01 3.71148306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.559254154 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:981.29, Y:149.36, Z:37.12 [[ 6.04961332e-01 -7.95969087e-01 -2.13306899e-02 9.81286118e+02] [ 7.95415105e-01 6.05336435e-01 -2.97087552e-02 1.49359343e+02] [ 3.65594945e-02 1.00589516e-03 9.99330972e-01 3.71199091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.6192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:981.32, Y:149.41, Z:37.12 [[ 6.03676433e-01 -7.96944235e-01 -2.13225315e-02 9.81315500e+02] [ 7.96390653e-01 6.04052126e-01 -2.97146094e-02 1.49409206e+02] [ 3.65608072e-02 9.56944664e-04 9.99330972e-01 3.71209355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.679254154 meters Centerline goodness : 0.999780 with order 1 Centerline is valid? [True, True] Translation: X:981.35, Y:149.46, Z:37.12 [[ 6.05627514e-01 -7.95462624e-01 -2.13196598e-02 9.81350910e+02] [ 7.94908051e-01 6.06001741e-01 -2.97166697e-02 1.49455663e+02] [ 3.65582510e-02 1.05006355e-03 9.99330972e-01 3.71200466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.7392541539999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:981.38, Y:149.51, Z:37.12 [[ 6.07066342e-01 -7.94365387e-01 -2.13093659e-02 9.81379101e+02] [ 7.93809878e-01 6.07439181e-01 -2.97240495e-02 1.49506105e+02] [ 3.65558998e-02 1.12888487e-03 9.99330972e-01 3.71225955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.799254154 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:981.41, Y:149.55, Z:37.12 [[ 6.08995332e-01 -7.92887759e-01 -2.12999472e-02 9.81411559e+02] [ 7.92331110e-01 6.09366467e-01 -2.97307973e-02 1.49554845e+02] [ 3.65526588e-02 1.22930598e-03 9.99330972e-01 3.71222005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.8592541539999 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:981.44, Y:149.60, Z:37.12 [[ 6.09853352e-01 -7.92228227e-01 -2.12914113e-02 9.81444453e+02] [ 7.91670965e-01 6.10223565e-01 -2.97369089e-02 1.49603274e+02] [ 3.65509395e-02 1.27936142e-03 9.99330972e-01 3.71242994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.919254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:981.48, Y:149.65, Z:37.13 [[ 6.09792075e-01 -7.92275627e-01 -2.12827677e-02 9.81478115e+02] [ 7.91718178e-01 6.10162007e-01 -2.97430939e-02 1.49651791e+02] [ 3.65506646e-02 1.28714884e-03 9.99330972e-01 3.71277344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.9792541539999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:981.51, Y:149.70, Z:37.13 [[ 6.06705317e-01 -7.94642075e-01 -2.12751260e-02 9.81512141e+02] [ 7.94085879e-01 6.07077129e-01 -2.97485589e-02 1.49699356e+02] [ 3.65550990e-02 1.15433174e-03 9.99330972e-01 3.71309221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.039254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:981.55, Y:149.75, Z:37.13 [[ 6.00430837e-01 -7.99393834e-01 -2.12675251e-02 9.81546392e+02] [ 7.98840391e-01 6.00806733e-01 -2.97539919e-02 1.49747376e+02] [ 3.65628300e-02 8.75856249e-04 9.99330972e-01 3.71258179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.0992541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:981.58, Y:149.79, Z:37.13 [[ 5.98233262e-01 -8.01039959e-01 -2.12590486e-02 9.81582269e+02] [ 8.00487335e-01 5.98610362e-01 -2.97600471e-02 1.49792619e+02] [ 3.65648737e-02 7.85850918e-04 9.99330972e-01 3.71323967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.159254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:981.62, Y:149.84, Z:37.13 [[ 5.94829731e-01 -8.03570633e-01 -2.12562724e-02 9.81617165e+02] [ 8.03019543e-01 5.95209069e-01 -2.97620299e-02 1.49840656e+02] [ 3.65678193e-02 6.34138081e-04 9.99330972e-01 3.71328933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.2192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:981.65, Y:149.89, Z:37.14 [[ 5.91679597e-01 -8.05893142e-01 -2.12484899e-02 9.81653444e+02] [ 8.05343342e-01 5.92060802e-01 -2.97675852e-02 1.49887482e+02] [ 3.65698907e-02 5.00542944e-04 9.99330972e-01 3.71360664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.279254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:981.69, Y:149.93, Z:37.14 [[ 5.88631248e-01 -8.08122566e-01 -2.12408009e-02 9.81688176e+02] [ 8.07574012e-01 5.89014244e-01 -2.97730707e-02 1.49934033e+02] [ 3.65714245e-02 3.71840981e-04 9.99330973e-01 3.71391932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.339254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:981.72, Y:149.99, Z:37.13 [[ 5.82704793e-01 -8.12406491e-01 -2.12324423e-02 9.81717897e+02] [ 8.11860536e-01 5.83091485e-01 -2.97790303e-02 1.49985534e+02] [ 3.65731338e-02 1.14601719e-04 9.99330973e-01 3.71344487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.399254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:981.76, Y:150.03, Z:37.15 [[ 5.87647494e-01 -8.08838636e-01 -2.12245919e-02 9.81756567e+02] [ 8.08290131e-01 5.88030561e-01 -2.97846246e-02 1.50028103e+02] [ 3.65716638e-02 3.47231861e-04 9.99330973e-01 3.71464950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.459254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:981.78, Y:150.08, Z:37.14 [[ 5.83290553e-01 -8.11986308e-01 -2.12218459e-02 9.81784643e+02] [ 8.11439799e-01 5.83676462e-01 -2.97865810e-02 1.50081311e+02] [ 3.65729878e-02 1.53980949e-04 9.99330973e-01 3.71398897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.519254154 meters Centerline goodness : 0.999693 with order 1 Centerline is valid? [True, True] Translation: X:981.82, Y:150.12, Z:37.15 [[ 5.87334311e-01 -8.09066358e-01 -2.12140421e-02 9.81821668e+02] [ 8.08517730e-01 5.87717202e-01 -2.97921378e-02 1.50124862e+02] [ 3.65716739e-02 3.46015634e-04 9.99330973e-01 3.71477054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.579254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:981.85, Y:150.17, Z:37.15 [[ 5.87187352e-01 -8.09173109e-01 -2.12107182e-02 9.81854273e+02] [ 8.08624465e-01 5.87570219e-01 -2.97945041e-02 1.50171572e+02] [ 3.65716978e-02 3.43450241e-04 9.99330973e-01 3.71499906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.639254154 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:981.89, Y:150.22, Z:37.15 [[ 5.83565378e-01 -8.11789309e-01 -2.12030115e-02 9.81887017e+02] [ 8.11242182e-01 5.83950411e-01 -2.97999875e-02 1.50218967e+02] [ 3.65728185e-02 1.89463696e-04 9.99330973e-01 3.71524500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.699254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:981.92, Y:150.27, Z:37.16 [[ 5.78636658e-01 -8.15310012e-01 -2.11944092e-02 9.81922516e+02] [ 8.14765004e-01 5.79024684e-01 -2.98061044e-02 1.50265321e+02] [ 3.65733014e-02 -2.15582469e-05 9.99330973e-01 3.71576922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.759254154 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:981.95, Y:150.31, Z:37.16 [[ 5.73444916e-01 -8.18970110e-01 -2.11869789e-02 9.81954981e+02] [ 8.18427383e-01 5.73836126e-01 -2.98113851e-02 1.50311709e+02] [ 3.65724872e-02 -2.44816485e-04 9.99330973e-01 3.71585427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.819254154 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:981.99, Y:150.36, Z:37.16 [[ 5.70765675e-01 -8.20839752e-01 -2.11812524e-02 9.81987501e+02] [ 8.20298156e-01 5.71158449e-01 -2.98154533e-02 1.50358533e+02] [ 3.65715605e-02 -3.57305006e-04 9.99330973e-01 3.71604977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.879254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:982.02, Y:150.41, Z:37.16 [[ 5.69073019e-01 -8.22014332e-01 -2.11739756e-02 9.82020787e+02] [ 8.21473354e-01 5.69466644e-01 -2.98206201e-02 1.50406639e+02] [ 3.65708500e-02 -4.23746467e-04 9.99330973e-01 3.71634902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.939254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:982.05, Y:150.46, Z:37.17 [[ 5.65747884e-01 -8.24306594e-01 -2.11653480e-02 9.82050777e+02] [ 8.23766982e-01 5.66143379e-01 -2.98267424e-02 1.50457202e+02] [ 3.65690020e-02 -5.60898469e-04 9.99330973e-01 3.71656259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.999254154 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:982.08, Y:150.51, Z:37.17 [[ 5.63479973e-01 -8.25858751e-01 -2.11575615e-02 9.82082650e+02] [ 8.25320022e-01 5.63876669e-01 -2.98322647e-02 1.50507034e+02] [ 3.65674922e-02 -6.51875394e-04 9.99330973e-01 3.71650371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.059254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:982.12, Y:150.55, Z:37.17 [[ 5.65974498e-01 -8.24151415e-01 -2.11497791e-02 9.82116853e+02] [ 8.23611282e-01 5.66369282e-01 -2.98377811e-02 1.50552853e+02] [ 3.65694347e-02 -5.31773467e-04 9.99330973e-01 3.71732318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.1192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:982.15, Y:150.60, Z:37.17 [[ 5.64970830e-01 -8.24839962e-01 -2.11423522e-02 9.82145833e+02] [ 8.24300114e-01 5.65366002e-01 -2.98430426e-02 1.50604550e+02] [ 3.65689013e-02 -5.67194802e-04 9.99330973e-01 3.71684388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.179254154 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:982.18, Y:150.65, Z:37.18 [[ 5.70038404e-01 -8.21346177e-01 -2.11346940e-02 9.82178782e+02] [ 8.20803705e-01 5.70429967e-01 -2.98484652e-02 1.50652150e+02] [ 3.65717856e-02 -3.32663654e-04 9.99330973e-01 3.71757041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.2392541539999 meters Centerline goodness : 0.999719 with order 1 Centerline is valid? [True, True] Translation: X:982.21, Y:150.70, Z:37.18 [[ 5.76455895e-01 -8.16854975e-01 -2.11317502e-02 9.82207642e+02] [ 8.16309376e-01 5.76843088e-01 -2.98505491e-02 1.50703545e+02] [ 3.65732736e-02 -4.25207830e-05 9.99330973e-01 3.71756104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.299254154 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:982.24, Y:150.75, Z:37.18 [[ 5.80245616e-01 -8.14167569e-01 -2.11233030e-02 9.82237535e+02] [ 8.13619959e-01 5.80629960e-01 -2.98565255e-02 1.50752124e+02] [ 3.65730374e-02 1.37777151e-04 9.99330973e-01 3.71773715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.3592541539999 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:982.27, Y:150.80, Z:37.18 [[ 5.83901767e-01 -8.11549663e-01 -2.11156762e-02 9.82267428e+02] [ 8.11000134e-01 5.84283363e-01 -2.98619185e-02 1.50802053e+02] [ 3.65719682e-02 3.11610691e-04 9.99330973e-01 3.71806197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.419254154 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:982.30, Y:150.85, Z:37.18 [[ 5.83162846e-01 -8.12081021e-01 -2.11071108e-02 9.82298254e+02] [ 8.11531621e-01 5.83544627e-01 -2.98679715e-02 1.50852425e+02] [ 3.65721539e-02 2.88803462e-04 9.99330973e-01 3.71777628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.4792541539999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:982.33, Y:150.90, Z:37.19 [[ 5.86596705e-01 -8.09604300e-01 -2.10993444e-02 9.82330678e+02] [ 8.09053091e-01 5.86975870e-01 -2.98734568e-02 1.50899916e+02] [ 3.65704851e-02 4.53181575e-04 9.99330973e-01 3.71862628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.539254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:982.36, Y:150.95, Z:37.19 [[ 5.88443053e-01 -8.08263396e-01 -2.10963605e-02 9.82363046e+02] [ 8.07711248e-01 5.88820848e-01 -2.98755639e-02 1.50949661e+02] [ 3.65693016e-02 5.40300415e-04 9.99330973e-01 3.71874708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.5992541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:982.40, Y:151.00, Z:37.19 [[ 5.88706769e-01 -8.08071533e-01 -2.10887876e-02 9.82396479e+02] [ 8.07519071e-01 5.89084104e-01 -2.98809085e-02 1.50998497e+02] [ 3.65689811e-02 5.61494935e-04 9.99330973e-01 3.71890057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.659254154 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:982.43, Y:151.05, Z:37.19 [[ 5.87478225e-01 -8.08965338e-01 -2.10812082e-02 9.82430096e+02] [ 8.08413257e-01 5.87856119e-01 -2.98862549e-02 1.51047201e+02] [ 3.65696615e-02 5.15195849e-04 9.99330973e-01 3.71915243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.7192541539999 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:982.46, Y:151.09, Z:37.19 [[ 5.86712782e-01 -8.09520859e-01 -2.10734667e-02 9.82464281e+02] [ 8.08968940e-01 5.87090912e-01 -2.98917126e-02 1.51094697e+02] [ 3.65700057e-02 4.90069816e-04 9.99330973e-01 3.71937359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.779254154 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:982.50, Y:151.14, Z:37.20 [[ 5.86280037e-01 -8.09834519e-01 -2.10658487e-02 9.82500437e+02] [ 8.09282610e-01 5.86658181e-01 -2.98970804e-02 1.51141687e+02] [ 3.65701402e-02 4.79836359e-04 9.99330974e-01 3.71976951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.839254154 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:982.54, Y:151.19, Z:37.20 [[ 5.86436364e-01 -8.09721520e-01 -2.10582766e-02 9.82535424e+02] [ 8.09169347e-01 5.86814122e-01 -2.99024129e-02 1.51187965e+02] [ 3.65699213e-02 4.96150344e-04 9.99330974e-01 3.71989606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.899254154 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:982.57, Y:151.23, Z:37.20 [[ 5.87662343e-01 -8.08832414e-01 -2.10498474e-02 9.82570261e+02] [ 8.08279457e-01 5.88038953e-01 -2.99083455e-02 1.51234893e+02] [ 3.65689695e-02 5.61849145e-04 9.99330974e-01 3.72024866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.959254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:982.60, Y:151.28, Z:37.21 [[ 5.90721192e-01 -8.06601340e-01 -2.10416373e-02 9.82604936e+02] [ 8.06046756e-01 5.91095401e-01 -2.99141204e-02 1.51281204e+02] [ 3.65663847e-02 7.10361367e-04 9.99330974e-01 3.72051190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.019254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:982.64, Y:151.33, Z:37.20 [[ 5.93460623e-01 -8.04588150e-01 -2.10332300e-02 9.82641615e+02] [ 8.04032087e-01 5.93832631e-01 -2.99200306e-02 1.51327423e+02] [ 3.65635204e-02 8.44968185e-04 9.99330974e-01 3.72045576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.079254154 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:982.67, Y:151.37, Z:37.21 [[ 5.94080069e-01 -8.04131074e-01 -2.10258629e-02 9.82674914e+02] [ 8.03574542e-01 5.94451375e-01 -2.99252069e-02 1.51374323e+02] [ 3.65626419e-02 8.82120829e-04 9.99330974e-01 3.72090563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.139254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:982.71, Y:151.42, Z:37.21 [[ 5.93640320e-01 -8.04455842e-01 -2.10230310e-02 9.82711540e+02] [ 8.03899443e-01 5.94011825e-01 -2.99271962e-02 1.51420395e+02] [ 3.65630368e-02 8.65587478e-04 9.99330974e-01 3.72149605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.199254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:982.75, Y:151.47, Z:37.22 [[ 5.93513548e-01 -8.04549579e-01 -2.10153153e-02 9.82746374e+02] [ 8.03993047e-01 5.93884854e-01 -2.99326133e-02 1.51465377e+02] [ 3.65629489e-02 8.69244142e-04 9.99330974e-01 3.72159315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.259254154 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:982.78, Y:151.51, Z:37.22 [[ 5.93441107e-01 -8.04603219e-01 -2.10074384e-02 9.82781948e+02] [ 8.04046525e-01 5.93812170e-01 -2.99381405e-02 1.51512801e+02] [ 3.65627968e-02 8.75565336e-04 9.99330974e-01 3.72161287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.319254154 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:982.82, Y:151.56, Z:37.22 [[ 5.94291878e-01 -8.03975224e-01 -2.10000523e-02 9.82817042e+02] [ 8.03417956e-01 5.94662077e-01 -2.99433206e-02 1.51559904e+02] [ 3.65616226e-02 9.23253183e-04 9.99330974e-01 3.72174411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.379254154 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:982.85, Y:151.61, Z:37.22 [[ 5.93730133e-01 -8.04390364e-01 -2.09921923e-02 9.82851699e+02] [ 8.03833160e-01 5.94100429e-01 -2.99488299e-02 1.51606514e+02] [ 3.65620206e-02 9.07302429e-04 9.99330974e-01 3.72199820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.439254154 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:982.89, Y:151.65, Z:37.22 [[ 5.91960994e-01 -8.05693408e-01 -2.09836276e-02 9.82887369e+02] [ 8.05136807e-01 5.92332196e-01 -2.99548296e-02 1.51652561e+02] [ 3.65636869e-02 8.37399826e-04 9.99330974e-01 3.72221460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.499254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:982.92, Y:151.70, Z:37.23 [[ 5.90115809e-01 -8.07045972e-01 -2.09793035e-02 9.82923753e+02] [ 8.06490114e-01 5.90488123e-01 -2.99578577e-02 1.51699175e+02] [ 3.65653979e-02 7.59004601e-04 9.99330974e-01 3.72255356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.559254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:982.96, Y:151.75, Z:37.23 [[ 5.89430400e-01 -8.07546888e-01 -2.09720729e-02 9.82959069e+02] [ 8.06991166e-01 5.89802917e-01 -2.99629186e-02 1.51745615e+02] [ 3.65658515e-02 7.36777521e-04 9.99330974e-01 3.72281686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.6192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:982.99, Y:151.79, Z:37.23 [[ 5.90092503e-01 -8.07063407e-01 -2.09641512e-02 9.82992617e+02] [ 8.06507183e-01 5.90464270e-01 -2.99684602e-02 1.51792857e+02] [ 3.65650298e-02 7.76425139e-04 9.99330974e-01 3.72315394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.679254154 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:983.03, Y:151.84, Z:37.23 [[ 5.91702069e-01 -8.05884316e-01 -2.09554304e-02 9.83025641e+02] [ 8.05327136e-01 5.92072402e-01 -2.99745569e-02 1.51839509e+02] [ 3.65631574e-02 8.60030573e-04 9.99330974e-01 3.72304774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.7392541539999 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:983.06, Y:151.89, Z:37.23 [[ 5.92909906e-01 -8.04996265e-01 -2.09489094e-02 9.83059266e+02] [ 8.04438370e-01 5.93279160e-01 -2.99791137e-02 1.51886990e+02] [ 3.65616260e-02 9.22806956e-04 9.99330974e-01 3.72309690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.799254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:983.09, Y:151.93, Z:37.24 [[ 5.93095423e-01 -8.04859807e-01 -2.09406182e-02 9.83094064e+02] [ 8.04301623e-01 5.93464240e-01 -2.99849041e-02 1.51934582e+02] [ 3.65611522e-02 9.41336155e-04 9.99330974e-01 3.72354813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.8592541539999 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:983.13, Y:151.98, Z:37.24 [[ 5.92328763e-01 -8.05424388e-01 -2.09330194e-02 9.83127539e+02] [ 8.04866369e-01 5.92697829e-01 -2.99902080e-02 1.51981963e+02] [ 3.65618001e-02 9.15779492e-04 9.99330974e-01 3.72376415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.919254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:983.16, Y:152.03, Z:37.24 [[ 5.90304039e-01 -8.06909729e-01 -2.09243957e-02 9.83161711e+02] [ 8.06352425e-01 5.90674185e-01 -2.99962236e-02 1.52029487e+02] [ 3.65637451e-02 8.34454721e-04 9.99330974e-01 3.72406503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.9792541539999 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:983.20, Y:152.08, Z:37.24 [[ 5.86574414e-01 -8.09625183e-01 -2.09169669e-02 9.83195988e+02] [ 8.09069409e-01 5.86946853e-01 -3.00014030e-02 1.52076723e+02] [ 3.65670393e-02 6.74777352e-04 9.99330974e-01 3.72416039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.039254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:983.23, Y:152.12, Z:37.24 [[ 5.81781617e-01 -8.13076246e-01 -2.09085612e-02 9.83230084e+02] [ 8.12522471e-01 5.82157022e-01 -3.00072599e-02 1.52123341e+02] [ 3.65702560e-02 4.68996350e-04 9.99330974e-01 3.72433668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.0992541539999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:983.26, Y:152.17, Z:37.25 [[ 5.79954879e-01 -8.14380454e-01 -2.09001067e-02 9.83263324e+02] [ 8.13827311e-01 5.80331214e-01 -3.00131474e-02 1.52170507e+02] [ 3.65711049e-02 3.97193664e-04 9.99330974e-01 3.72452580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.159254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:983.30, Y:152.22, Z:37.25 [[ 5.74611849e-01 -8.18159373e-01 -2.08917272e-02 9.83296986e+02] [ 8.17608493e-01 5.74991489e-01 -3.00189791e-02 1.52216871e+02] [ 3.65728744e-02 1.68007459e-04 9.99330975e-01 3.72468794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.2192541539999 meters Centerline goodness : 0.999757 with order 1 Centerline is valid? [True, True] Translation: X:983.33, Y:152.26, Z:37.25 [[ 5.69434186e-01 -8.21771597e-01 -2.08842167e-02 9.83331163e+02] [ 8.21222934e-01 5.69817023e-01 -3.00242033e-02 1.52263932e+02] [ 3.65732196e-02 -5.37899541e-05 9.99330975e-01 3.72487271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.279254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:983.37, Y:152.31, Z:37.25 [[ 5.65737293e-01 -8.24321236e-01 -2.08761774e-02 9.83366156e+02] [ 8.23774092e-01 5.66122298e-01 -3.00297920e-02 1.52311596e+02] [ 3.65726648e-02 -2.08280801e-04 9.99330975e-01 3.72547920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.339254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:983.40, Y:152.36, Z:37.26 [[ 5.60829372e-01 -8.27668368e-01 -2.08683315e-02 9.83399595e+02] [ 8.27123319e-01 5.61217337e-01 -3.00352433e-02 1.52357890e+02] [ 3.65708902e-02 -4.16036975e-04 9.99330975e-01 3.72554571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.399254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:983.43, Y:152.40, Z:37.26 [[ 5.56294554e-01 -8.30723308e-01 -2.08603760e-02 9.83432837e+02] [ 8.30180182e-01 5.56685205e-01 -3.00407676e-02 1.52404870e+02] [ 3.65682286e-02 -6.06355335e-04 9.99330975e-01 3.72585335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.459254154 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:983.47, Y:152.45, Z:37.26 [[ 5.53667152e-01 -8.32476961e-01 -2.08517303e-02 9.83465058e+02] [ 8.31934846e-01 5.54059206e-01 -3.00467676e-02 1.52453171e+02] [ 3.65663349e-02 -7.11372784e-04 9.99330975e-01 3.72563901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.519254154 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:983.50, Y:152.50, Z:37.26 [[ 5.54610730e-01 -8.31848847e-01 -2.08430550e-02 9.83497373e+02] [ 8.31306063e-01 5.55001856e-01 -3.00527843e-02 1.52500054e+02] [ 3.65673082e-02 -6.59361323e-04 9.99330975e-01 3.72585495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.579254154 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:983.53, Y:152.55, Z:37.26 [[ 5.54993136e-01 -8.31593907e-01 -2.08372983e-02 9.83529779e+02] [ 8.31050793e-01 5.55383804e-01 -3.00567752e-02 1.52548651e+02] [ 3.65677291e-02 -6.35549363e-04 9.99330975e-01 3.72640427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.639254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:983.56, Y:152.60, Z:37.27 [[ 5.59095873e-01 -8.28841362e-01 -2.08279001e-02 9.83560421e+02] [ 8.28296081e-01 5.59483512e-01 -3.00632863e-02 1.52598490e+02] [ 3.65705618e-02 -4.43408730e-04 9.99330975e-01 3.72664420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.699254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:983.59, Y:152.65, Z:37.27 [[ 5.64762582e-01 -8.24990772e-01 -2.08195029e-02 9.83590448e+02] [ 8.24442634e-01 5.65146169e-01 -3.00691004e-02 1.52648051e+02] [ 3.65727927e-02 -1.82583076e-04 9.99330975e-01 3.72690154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.759254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:983.62, Y:152.70, Z:37.27 [[ 5.78115654e-01 -8.15689398e-01 -2.08109698e-02 9.83617281e+02] [ 8.15134877e-01 5.78489954e-01 -3.00750050e-02 1.52700479e+02] [ 3.65707997e-02 4.23083872e-04 9.99330975e-01 3.72723425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.819254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:983.65, Y:152.75, Z:37.27 [[ 5.83576524e-01 -8.11791651e-01 -2.08027693e-02 9.83647518e+02] [ 8.11234429e-01 5.83946791e-01 -3.00806763e-02 1.52750092e+02] [ 3.65669522e-02 6.78453855e-04 9.99330975e-01 3.72745440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.879254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:983.68, Y:152.80, Z:37.28 [[ 5.89007682e-01 -8.07859864e-01 -2.07940059e-02 9.83676500e+02] [ 8.07299957e-01 5.89373878e-01 -3.00867329e-02 1.52801082e+02] [ 3.65613079e-02 9.34316714e-04 9.99330975e-01 3.72760173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.939254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:983.71, Y:152.85, Z:37.28 [[ 5.91354418e-01 -8.06143864e-01 -2.07851795e-02 9.83706732e+02] [ 8.05582681e-01 5.91718654e-01 -3.00928293e-02 1.52851256e+02] [ 3.65581282e-02 1.05134695e-03 9.99330975e-01 3.72783407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.999254154 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:983.74, Y:152.90, Z:37.28 [[ 5.90838925e-01 -8.06521971e-01 -2.07767930e-02 9.83737713e+02] [ 8.05960818e-01 5.91203208e-01 -3.00986185e-02 1.52899484e+02] [ 3.65585038e-02 1.03815434e-03 9.99330975e-01 3.72794598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.059254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:983.77, Y:152.95, Z:37.28 [[ 5.87739777e-01 -8.08783411e-01 -2.07689480e-02 9.83769161e+02] [ 8.08223469e-01 5.88105918e-01 -3.01040308e-02 1.52948366e+02] [ 3.65619819e-02 9.07385179e-04 9.99330975e-01 3.72822346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.1192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:983.80, Y:153.00, Z:37.28 [[ 5.81759204e-01 -8.13096080e-01 -2.07603644e-02 9.83802061e+02] [ 8.12538643e-01 5.82129147e-01 -3.01099491e-02 1.52996568e+02] [ 3.65674948e-02 6.48141692e-04 9.99330975e-01 3.72835739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.179254154 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:983.84, Y:153.04, Z:37.29 [[ 5.75645010e-01 -8.17436347e-01 -2.07519191e-02 9.83835493e+02] [ 8.16881490e-01 5.76018812e-01 -3.01157685e-02 1.53043580e+02] [ 3.65712195e-02 3.84133224e-04 9.99330975e-01 3.72859107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.2392541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:983.87, Y:153.09, Z:37.29 [[ 5.72589223e-01 -8.19579943e-01 -2.07436433e-02 9.83868823e+02] [ 8.19026279e-01 5.72964790e-01 -3.01214677e-02 1.53091463e+02] [ 3.65723280e-02 2.57638815e-04 9.99330975e-01 3.72903700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.299254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:983.90, Y:153.14, Z:37.29 [[ 5.71611520e-01 -8.20262357e-01 -2.07348858e-02 9.83901965e+02] [ 8.19708923e-01 5.71987426e-01 -3.01274950e-02 1.53139723e+02] [ 3.65725440e-02 2.24652340e-04 9.99330975e-01 3.72922787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.3592541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:983.93, Y:153.19, Z:37.29 [[ 5.72370972e-01 -8.19732820e-01 -2.07261573e-02 9.83934305e+02] [ 8.19178821e-01 5.72746044e-01 -3.01334985e-02 1.53187331e+02] [ 3.65722424e-02 2.69110696e-04 9.99330976e-01 3.72924823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.419254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:983.97, Y:153.24, Z:37.29 [[ 5.74105938e-01 -8.18518853e-01 -2.07185872e-02 9.83966290e+02] [ 8.17963873e-01 5.74479557e-01 -3.01387025e-02 1.53236024e+02] [ 3.65715010e-02 3.55752245e-04 9.99330976e-01 3.72949617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.4792541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:984.00, Y:153.28, Z:37.30 [[ 5.75756198e-01 -8.17359100e-01 -2.07099542e-02 9.83999053e+02] [ 8.16803154e-01 5.76128379e-01 -3.01446336e-02 1.53284450e+02] [ 3.65705829e-02 4.40003721e-04 9.99330976e-01 3.72975903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.539254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:984.03, Y:153.33, Z:37.30 [[ 5.77730762e-01 -8.15964839e-01 -2.07014077e-02 9.84030521e+02] [ 8.15407785e-01 5.78101281e-01 -3.01505016e-02 1.53331562e+02] [ 3.65692595e-02 5.38783290e-04 9.99330976e-01 3.72989609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.5992541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:984.06, Y:153.38, Z:37.30 [[ 5.78695580e-01 -8.15281051e-01 -2.06938373e-02 9.84063139e+02] [ 8.14723373e-01 5.79065160e-01 -3.01556967e-02 1.53378982e+02] [ 3.65684483e-02 5.91215475e-04 9.99330976e-01 3.73019044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.659254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:984.10, Y:153.43, Z:37.31 [[ 5.77741577e-01 -8.15957586e-01 -2.06854588e-02 9.84095966e+02] [ 8.15400136e-01 5.78111500e-01 -3.01614429e-02 1.53425914e+02] [ 3.65689597e-02 5.58593706e-04 9.99330976e-01 3.73055945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.7192541539999 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:984.13, Y:153.47, Z:37.31 [[ 5.75979314e-01 -8.17202697e-01 -2.06780319e-02 9.84128876e+02] [ 8.16645864e-01 5.76350165e-01 -3.01665338e-02 1.53472211e+02] [ 3.65699599e-02 4.88670206e-04 9.99330976e-01 3.73075452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.779254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:984.16, Y:153.52, Z:37.31 [[ 5.75392511e-01 -8.17616156e-01 -2.06707492e-02 9.84162815e+02] [ 8.17059410e-01 5.75763493e-01 -3.01715232e-02 1.53519351e+02] [ 3.65701876e-02 4.71238377e-04 9.99330976e-01 3.73117700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.839254154 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:984.20, Y:153.57, Z:37.31 [[ 5.73598724e-01 -8.18875801e-01 -2.06622045e-02 9.84196450e+02] [ 8.18319659e-01 5.73970611e-01 -3.01773737e-02 1.53566731e+02] [ 3.65710192e-02 4.01414909e-04 9.99330976e-01 3.73123125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.899254154 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:984.23, Y:153.61, Z:37.32 [[ 5.76280264e-01 -8.16991121e-01 -2.06534857e-02 9.84234215e+02] [ 8.16433549e-01 5.76650003e-01 -3.01833397e-02 1.53612207e+02] [ 3.65693531e-02 5.31864318e-04 9.99330976e-01 3.73153301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.959254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:984.27, Y:153.66, Z:37.32 [[ 5.75913443e-01 -8.17249958e-01 -2.06448990e-02 9.84267356e+02] [ 8.16692342e-01 5.76283116e-01 -3.01892117e-02 1.53659805e+02] [ 3.65694387e-02 5.25841947e-04 9.99330976e-01 3.73159481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.019254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:984.30, Y:153.71, Z:37.32 [[ 5.74451519e-01 -8.18278491e-01 -2.06340620e-02 9.84298141e+02] [ 8.17721271e-01 5.74821788e-01 -3.01966169e-02 1.53709237e+02] [ 3.65701505e-02 4.73580984e-04 9.99330976e-01 3.73166317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.079254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:984.33, Y:153.76, Z:37.32 [[ 5.75735232e-01 -8.17375934e-01 -2.06282430e-02 9.84332514e+02] [ 8.16817992e-01 5.76104411e-01 -3.02005915e-02 1.53756435e+02] [ 3.65692585e-02 5.38024568e-04 9.99330976e-01 3.73187652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.139254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:984.37, Y:153.80, Z:37.32 [[ 5.76943595e-01 -8.16523679e-01 -2.06196362e-02 9.84366416e+02] [ 8.15964981e-01 5.77311630e-01 -3.02064667e-02 1.53803725e+02] [ 3.65682511e-02 6.02526466e-04 9.99330976e-01 3.73210511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.199254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:984.40, Y:153.85, Z:37.32 [[ 5.79587147e-01 -8.14649575e-01 -2.06109188e-02 9.84400489e+02] [ 8.14089476e-01 5.79953046e-01 -3.02124137e-02 1.53850434e+02] [ 3.65658951e-02 7.31594546e-04 9.99330976e-01 3.73217415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.259254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:984.43, Y:153.90, Z:37.32 [[ 5.82313909e-01 -8.12702934e-01 -2.06022497e-02 9.84434575e+02] [ 8.12141403e-01 5.82677607e-01 -3.02183241e-02 1.53897051e+02] [ 3.65629902e-02 8.64610451e-04 9.99330976e-01 3.73231357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.319254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:984.47, Y:153.94, Z:37.32 [[ 5.83006909e-01 -8.12206144e-01 -2.05942395e-02 9.84469086e+02] [ 8.11644111e-01 5.83369831e-01 -3.02237822e-02 1.53944000e+02] [ 3.65619996e-02 9.05480645e-04 9.99330976e-01 3.73244900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.379254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:984.51, Y:153.99, Z:37.33 [[ 5.86393027e-01 -8.09765066e-01 -2.05853332e-02 9.84510182e+02] [ 8.09201311e-01 5.86753266e-01 -3.02298471e-02 1.53986661e+02] [ 3.65575856e-02 1.06889291e-03 9.99330976e-01 3.73285826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.439254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:984.54, Y:154.04, Z:37.33 [[ 5.83357238e-01 -8.11954991e-01 -2.05773010e-02 9.84540612e+02] [ 8.11392396e-01 5.83719287e-01 -3.02353135e-02 1.54036271e+02] [ 3.65610812e-02 9.41723412e-04 9.99330976e-01 3.73275803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.499254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:984.58, Y:154.08, Z:37.33 [[ 5.82348972e-01 -8.12678599e-01 -2.05710729e-02 9.84575613e+02] [ 8.12116305e-01 5.82711487e-01 -3.02395504e-02 1.54082256e+02] [ 3.65620359e-02 9.03867388e-04 9.99330976e-01 3.73287886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.559254154 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:984.61, Y:154.13, Z:37.33 [[ 5.78776056e-01 -8.15227252e-01 -2.05622072e-02 9.84609884e+02] [ 8.14666341e-01 5.79140707e-01 -3.02455776e-02 1.54127610e+02] [ 3.65654304e-02 7.54078015e-04 9.99330977e-01 3.73281586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.6192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:984.64, Y:154.18, Z:37.33 [[ 5.76773477e-01 -8.16645498e-01 -2.05544875e-02 9.84643156e+02] [ 8.16085296e-01 5.77139218e-01 -3.02508229e-02 1.54175291e+02] [ 3.65669992e-02 6.73657325e-04 9.99330977e-01 3.73305799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.679254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:984.67, Y:154.22, Z:37.33 [[ 5.76502866e-01 -8.16836770e-01 -2.05459480e-02 9.84673758e+02] [ 8.16276484e-01 5.76868477e-01 -3.02566218e-02 1.54223497e+02] [ 3.65670309e-02 6.71855000e-04 9.99330977e-01 3.73311585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.7392541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:984.70, Y:154.27, Z:37.33 [[ 5.76366918e-01 -8.16932894e-01 -2.05383097e-02 9.84704143e+02] [ 8.16372484e-01 5.76732339e-01 -3.02618057e-02 1.54272592e+02] [ 3.65669719e-02 6.74992785e-04 9.99330977e-01 3.73313999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.799254154 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:984.74, Y:154.32, Z:37.33 [[ 5.75525691e-01 -8.17525968e-01 -2.05297699e-02 9.84736418e+02] [ 8.16965727e-01 5.75891373e-01 -3.02675981e-02 1.54320556e+02] [ 3.65674648e-02 6.47661938e-04 9.99330977e-01 3.73325396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.8592541539999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:984.77, Y:154.37, Z:37.34 [[ 5.71624320e-01 -8.20258810e-01 -2.05212326e-02 9.84768419e+02] [ 8.19700111e-01 5.71992352e-01 -3.02733852e-02 1.54369376e+02] [ 3.65699990e-02 4.83746587e-04 9.99330977e-01 3.73350289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.919254154 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:984.80, Y:154.42, Z:37.34 [[ 5.65866900e-01 -8.24241395e-01 -2.05127747e-02 9.84801080e+02] [ 8.23685079e-01 5.66238524e-01 -3.02791151e-02 1.54417176e+02] [ 3.65724233e-02 2.37882500e-04 9.99330977e-01 3.73367763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.9792541539999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:984.83, Y:154.46, Z:37.34 [[ 5.59989635e-01 -8.28245848e-01 -2.05042342e-02 9.84833948e+02] [ 8.27691978e-01 5.60364894e-01 -3.02848974e-02 1.54464438e+02] [ 3.65731936e-02 -1.19615439e-05 9.99330977e-01 3.73392253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.039254154 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:984.87, Y:154.51, Z:37.34 [[ 5.56685994e-01 -8.30470131e-01 -2.04955324e-02 9.84866362e+02] [ 8.29917543e-01 5.57063139e-01 -3.02907853e-02 1.54511573e+02] [ 3.65728980e-02 -1.47145999e-04 9.99330977e-01 3.73414090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.0992541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:984.90, Y:154.56, Z:37.34 [[ 5.53721818e-01 -8.32449591e-01 -2.04896855e-02 9.84898553e+02] [ 8.31898205e-01 5.54100718e-01 -3.02947398e-02 1.54560357e+02] [ 3.65721932e-02 -2.70474253e-04 9.99330977e-01 3.73434234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.159254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:984.93, Y:154.61, Z:37.34 [[ 5.51425221e-01 -8.33972866e-01 -2.04813027e-02 9.84928913e+02] [ 8.33422317e-01 5.51805335e-01 -3.03004061e-02 1.54610411e+02] [ 3.65714086e-02 -3.61166638e-04 9.99330977e-01 3.73440058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.2192541539999 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:984.96, Y:154.66, Z:37.35 [[ 5.52963520e-01 -8.32953920e-01 -2.04722652e-02 9.84960715e+02] [ 8.32402443e-01 5.53342288e-01 -3.03065110e-02 1.54658309e+02] [ 3.65720972e-02 -2.82768587e-04 9.99330977e-01 3.73457280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.279254154 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:984.99, Y:154.71, Z:37.35 [[ 5.61291131e-01 -8.27365387e-01 -2.04641902e-02 9.84991450e+02] [ 8.26809940e-01 5.61664053e-01 -3.03119625e-02 1.54706366e+02] [ 3.65730686e-02 9.38398336e-05 9.99330977e-01 3.73483056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.339254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:985.02, Y:154.76, Z:37.35 [[ 5.65699000e-01 -8.24358040e-01 -2.04563915e-02 9.85022209e+02] [ 8.23800421e-01 5.66068665e-01 -3.03172247e-02 1.54756103e+02] [ 3.65719701e-02 2.98439806e-04 9.99330977e-01 3.73506103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.399254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:985.05, Y:154.81, Z:37.35 [[ 5.70730925e-01 -8.20882509e-01 -2.04479313e-02 9.85052881e+02] [ 8.20322434e-01 5.71096860e-01 -3.03229297e-02 1.54805952e+02] [ 3.65693120e-02 5.32336965e-04 9.99330977e-01 3.73528976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.459254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:985.08, Y:154.85, Z:37.35 [[ 5.73665373e-01 -8.18834706e-01 -2.04392928e-02 9.85082940e+02] [ 8.18273118e-01 5.74028981e-01 -3.03287514e-02 1.54854772e+02] [ 3.65669807e-02 6.73630662e-04 9.99330977e-01 3.73547427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.519254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:985.11, Y:154.90, Z:37.36 [[ 5.75148529e-01 -8.17793765e-01 -2.04334599e-02 9.85113946e+02] [ 8.17231380e-01 5.75510903e-01 -3.03326807e-02 1.54904521e+02] [ 3.65655561e-02 7.46932080e-04 9.99330977e-01 3.73553339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.579254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:985.15, Y:154.95, Z:37.36 [[ 5.74778842e-01 -8.18053857e-01 -2.04247302e-02 9.85145464e+02] [ 8.17491428e-01 5.75141146e-01 -3.03385578e-02 1.54953148e+02] [ 3.65656770e-02 7.40919272e-04 9.99330977e-01 3.73559756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.639254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:985.18, Y:155.00, Z:37.36 [[ 5.72065401e-01 -8.19953880e-01 -2.04159770e-02 9.85177661e+02] [ 8.19392444e-01 5.72429243e-01 -3.03444470e-02 1.55001163e+02] [ 3.65677493e-02 6.30311007e-04 9.99330977e-01 3.73564292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.699254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:985.21, Y:155.05, Z:37.36 [[ 5.66389412e-01 -8.23885048e-01 -2.04073674e-02 9.85211359e+02] [ 8.23325930e-01 5.66756805e-01 -3.03502361e-02 1.55048562e+02] [ 3.65711201e-02 3.88137583e-04 9.99330977e-01 3.73582101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.759254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:985.24, Y:155.10, Z:37.36 [[ 5.58231733e-01 -8.29434288e-01 -2.03983663e-02 9.85244913e+02] [ 8.28878601e-01 5.58604297e-01 -3.03562845e-02 1.55095610e+02] [ 3.65731583e-02 3.80719749e-05 9.99330978e-01 3.73611509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.819254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:985.28, Y:155.14, Z:37.36 [[ 5.54471304e-01 -8.31953035e-01 -2.03892175e-02 9.85279543e+02] [ 8.31398815e-01 5.54846045e-01 -3.03624282e-02 1.55140943e+02] [ 3.65729910e-02 -1.16476121e-04 9.99330978e-01 3.73639134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.879254154 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:985.31, Y:155.19, Z:37.37 [[ 5.50253026e-01 -8.34749191e-01 -2.03812653e-02 9.85312864e+02] [ 8.34196677e-01 5.50630278e-01 -3.03677653e-02 1.55188814e+02] [ 3.65720093e-02 -2.92029109e-04 9.99330978e-01 3.73665679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.939254154 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:985.35, Y:155.24, Z:37.37 [[ 5.46352195e-01 -8.37307732e-01 -2.03725353e-02 9.85346120e+02] [ 8.36756766e-01 5.46731705e-01 -3.03736207e-02 1.55236842e+02] [ 3.65703785e-02 -4.52162421e-04 9.99330978e-01 3.73685085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.999254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:985.38, Y:155.28, Z:37.37 [[ 5.45152383e-01 -8.38089612e-01 -2.03637411e-02 9.85379567e+02] [ 8.37538970e-01 5.45532363e-01 -3.03795156e-02 1.55284816e+02] [ 3.65698363e-02 -4.93961443e-04 9.99330978e-01 3.73714155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.059254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:985.41, Y:155.33, Z:37.37 [[ 5.45672029e-01 -8.37751582e-01 -2.03549551e-02 9.85411394e+02] [ 8.37200485e-01 5.46051348e-01 -3.03854013e-02 1.55331943e+02] [ 3.65702687e-02 -4.60714750e-04 9.99330978e-01 3.73732046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.1192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:985.44, Y:155.38, Z:37.37 [[ 5.48215332e-01 -8.36089627e-01 -2.03491041e-02 9.85443214e+02] [ 8.35537235e-01 5.48592762e-01 -3.03893192e-02 1.55380838e+02] [ 3.65715658e-02 -3.42543467e-04 9.99330978e-01 3.73748714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.179254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:985.47, Y:155.43, Z:37.38 [[ 5.51452188e-01 -8.33958480e-01 -2.03405408e-02 9.85474415e+02] [ 8.33404418e-01 5.51827162e-01 -3.03950498e-02 1.55430307e+02] [ 3.65726725e-02 -1.90479821e-04 9.99330978e-01 3.73755306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.2392541539999 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:985.51, Y:155.48, Z:37.38 [[ 5.54832161e-01 -8.31713820e-01 -2.03321161e-02 9.85505222e+02] [ 8.31158034e-01 5.55204576e-01 -3.04006843e-02 1.55479701e+02] [ 3.65731532e-02 -3.19242511e-05 9.99330978e-01 3.73778286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.299254154 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:985.54, Y:155.53, Z:37.38 [[ 5.57511531e-01 -8.29920385e-01 -2.03235800e-02 9.85536691e+02] [ 8.29363193e-01 5.57881838e-01 -3.04063898e-02 1.55528628e+02] [ 3.65730389e-02 9.62837506e-05 9.99330978e-01 3.73805289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.3592541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:985.57, Y:155.58, Z:37.38 [[ 5.63009143e-01 -8.26200949e-01 -2.03149316e-02 9.85566602e+02] [ 8.25641103e-01 5.63375425e-01 -3.04121668e-02 1.55576939e+02] [ 3.65714943e-02 3.49485437e-04 9.99330978e-01 3.73830866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.419254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:985.60, Y:155.63, Z:37.38 [[ 5.68029661e-01 -8.22757463e-01 -2.03091535e-02 9.85596377e+02] [ 8.22195259e-01 5.68392314e-01 -3.04160250e-02 1.55625494e+02] [ 3.65685783e-02 5.79114657e-04 9.99330978e-01 3.73843488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.4792541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:985.63, Y:155.67, Z:37.39 [[ 5.72445838e-01 -8.19691193e-01 -2.03004945e-02 9.85626618e+02] [ 8.19126843e-01 5.72805141e-01 -3.04218031e-02 1.55673480e+02] [ 3.65647117e-02 7.86154662e-04 9.99330978e-01 3.73863887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.539254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:985.66, Y:155.72, Z:37.39 [[ 5.73713800e-01 -8.18804436e-01 -2.02921415e-02 9.85658312e+02] [ 8.18239333e-01 5.74071919e-01 -3.04273738e-02 1.55721988e+02] [ 3.65632172e-02 8.52775927e-04 9.99330978e-01 3.73890305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.5992541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:985.69, Y:155.77, Z:37.39 [[ 5.73941406e-01 -8.18645115e-01 -2.02839309e-02 9.85689901e+02] [ 8.18079720e-01 5.74299063e-01 -3.04328463e-02 1.55770718e+02] [ 3.65627434e-02 8.72798106e-04 9.99330978e-01 3.73909210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.659254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:985.72, Y:155.82, Z:37.39 [[ 5.72191618e-01 -8.19869297e-01 -2.02753144e-02 9.85722538e+02] [ 8.19304464e-01 5.72550162e-01 -3.04385858e-02 1.55817984e+02] [ 3.65642965e-02 8.05048068e-04 9.99330978e-01 3.73912394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.7192541539999 meters Centerline goodness : 0.999452 with order 1 Centerline is valid? [True, True] Translation: X:985.76, Y:155.87, Z:37.39 [[ 5.67580622e-01 -8.23068305e-01 -2.02682692e-02 9.85756172e+02] [ 8.22505326e-01 5.67942070e-01 -3.04432762e-02 1.55866423e+02] [ 3.65680986e-02 6.08254268e-04 9.99330978e-01 3.73906299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.779254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:985.79, Y:155.91, Z:37.40 [[ 5.63107200e-01 -8.26135494e-01 -2.02589923e-02 9.85790394e+02] [ 8.25574263e-01 5.63471355e-01 -3.04494485e-02 1.55912235e+02] [ 3.65707320e-02 4.21000999e-04 9.99330978e-01 3.73962643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.839254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:985.82, Y:155.96, Z:37.40 [[ 5.60742367e-01 -8.27742725e-01 -2.02479435e-02 9.85824667e+02] [ 8.27182272e-01 5.61107719e-01 -3.04567938e-02 1.55959762e+02] [ 3.65716669e-02 3.29674689e-04 9.99330978e-01 3.74009505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.899254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:985.86, Y:156.01, Z:37.40 [[ 5.57984680e-01 -8.29604400e-01 -2.02394841e-02 9.85858059e+02] [ 8.29044962e-01 5.58351585e-01 -3.04624143e-02 1.56006103e+02] [ 3.65725010e-02 2.18118202e-04 9.99330979e-01 3.74026526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.959254154 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:985.89, Y:156.05, Z:37.40 [[ 5.56365793e-01 -8.30691101e-01 -2.02335826e-02 9.85891090e+02] [ 8.30132238e-01 5.56733572e-01 -3.04663337e-02 1.56053629e+02] [ 3.65728270e-02 1.53876770e-04 9.99330979e-01 3.74034571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.019254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:985.92, Y:156.10, Z:37.41 [[ 5.56286238e-01 -8.30744585e-01 -2.02251409e-02 9.85924254e+02] [ 8.30185553e-01 5.56653761e-01 -3.04719367e-02 1.56100486e+02] [ 3.65727971e-02 1.60499210e-04 9.99330979e-01 3.74064171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.079254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:985.96, Y:156.15, Z:37.41 [[ 5.56198582e-01 -8.30803465e-01 -2.02173224e-02 9.85956928e+02] [ 8.30244283e-01 5.56565877e-01 -3.04771232e-02 1.56148578e+02] [ 3.65727713e-02 1.66016386e-04 9.99330979e-01 3.74081193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.139254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:985.99, Y:156.20, Z:37.41 [[ 5.57977084e-01 -8.29610254e-01 -2.02089032e-02 9.85989211e+02] [ 8.29050085e-01 5.58342870e-01 -3.04827048e-02 1.56196194e+02] [ 3.65722615e-02 2.54457822e-04 9.99330979e-01 3.74114591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.199254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:986.02, Y:156.25, Z:37.41 [[ 5.59633182e-01 -8.28494178e-01 -2.02014646e-02 9.86021344e+02] [ 8.27933101e-01 5.59997575e-01 -3.04876337e-02 1.56245173e+02] [ 3.65715982e-02 3.36430185e-04 9.99330979e-01 3.74122483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.259254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:986.05, Y:156.29, Z:37.41 [[ 5.60687110e-01 -8.27781478e-01 -2.01937956e-02 9.86053904e+02] [ 8.27219755e-01 5.61050506e-01 -3.04927125e-02 1.56293433e+02] [ 3.65710419e-02 3.92164170e-04 9.99330979e-01 3.74143120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.319254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:986.09, Y:156.34, Z:37.42 [[ 5.62510447e-01 -8.26543729e-01 -2.01856503e-02 9.86086174e+02] [ 8.25981014e-01 5.62872304e-01 -3.04981036e-02 1.56342009e+02] [ 3.65699598e-02 4.82538008e-04 9.99330979e-01 3.74179056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.379254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:986.12, Y:156.39, Z:37.42 [[ 5.63689410e-01 -8.25740342e-01 -2.01776157e-02 9.86117205e+02] [ 8.25176921e-01 5.64050167e-01 -3.05034184e-02 1.56391280e+02] [ 3.65690906e-02 5.44351085e-04 9.99330979e-01 3.74215149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.439254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:986.15, Y:156.44, Z:37.42 [[ 5.63399004e-01 -8.25938730e-01 -2.01687314e-02 9.86147464e+02] [ 8.25375225e-01 5.63759631e-01 -3.05092915e-02 1.56439816e+02] [ 3.65691220e-02 5.42133229e-04 9.99330979e-01 3.74218952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.499254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:986.18, Y:156.49, Z:37.42 [[ 5.62093437e-01 -8.26827983e-01 -2.01607207e-02 9.86179506e+02] [ 8.26264859e-01 5.62454658e-01 -3.05145841e-02 1.56488116e+02] [ 3.65698033e-02 4.93952445e-04 9.99330979e-01 3.74237319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.559254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:986.21, Y:156.54, Z:37.43 [[ 5.59841629e-01 -8.28354546e-01 -2.01518467e-02 9.86211319e+02] [ 8.27792196e-01 5.60204054e-01 -3.05204434e-02 1.56536756e+02] [ 3.65708942e-02 4.05073350e-04 9.99330979e-01 3.74252791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.6192541539999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:986.25, Y:156.58, Z:37.43 [[ 5.61647009e-01 -8.27131727e-01 -2.01430870e-02 9.86247831e+02] [ 8.26568381e-01 5.62007884e-01 -3.05262236e-02 1.56582863e+02] [ 3.65697817e-02 4.95323347e-04 9.99330979e-01 3.74293258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.679254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:986.28, Y:156.63, Z:37.43 [[ 5.61479399e-01 -8.27245714e-01 -2.01348967e-02 9.86280033e+02] [ 8.26682247e-01 5.61840085e-01 -3.05316249e-02 1.56631433e+02] [ 3.65697479e-02 4.97716742e-04 9.99330979e-01 3.74325150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.7392541539999 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:986.31, Y:156.68, Z:37.43 [[ 5.56019523e-01 -8.30925554e-01 -2.01249556e-02 9.86305390e+02] [ 8.30364238e-01 5.56383547e-01 -3.05381762e-02 1.56683863e+02] [ 3.65721451e-02 2.68778665e-04 9.99330979e-01 3.74278970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.799254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:986.34, Y:156.73, Z:37.43 [[ 5.55505366e-01 -8.31269620e-01 -2.01148434e-02 9.86336802e+02] [ 8.30708289e-01 5.55869366e-01 -3.05448354e-02 1.56732492e+02] [ 3.65722190e-02 2.58252807e-04 9.99330979e-01 3.74304165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.8592541539999 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:986.37, Y:156.78, Z:37.43 [[ 5.54333397e-01 -8.32051816e-01 -2.01062207e-02 9.86368136e+02] [ 8.31490792e-01 5.54697871e-01 -3.05505103e-02 1.56781970e+02] [ 3.65724854e-02 2.17030818e-04 9.99330979e-01 3.74333492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.919254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:986.40, Y:156.83, Z:37.44 [[ 5.53342085e-01 -8.32711599e-01 -2.00980014e-02 9.86400359e+02] [ 8.32150814e-01 5.53706925e-01 -3.05559165e-02 1.56831014e+02] [ 3.65726686e-02 1.83306247e-04 9.99330979e-01 3.74372333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.9792541539999 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:986.43, Y:156.88, Z:37.44 [[ 5.50617796e-01 -8.34515682e-01 -2.00902509e-02 9.86433128e+02] [ 8.33955907e-01 5.50984184e-01 -3.05610116e-02 1.56878036e+02] [ 3.65730539e-02 7.30534706e-05 9.99330979e-01 3.74394681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.039254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:986.47, Y:156.93, Z:37.45 [[ 5.50924669e-01 -8.34313308e-01 -2.00826424e-02 9.86467774e+02] [ 8.33753216e-01 5.51290572e-01 -3.05660105e-02 1.56925620e+02] [ 3.65730008e-02 9.56015615e-05 9.99330979e-01 3.74508448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.099254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:986.50, Y:156.98, Z:37.45 [[ 5.51555594e-01 -8.33896447e-01 -2.00784240e-02 9.86497983e+02] [ 8.33335977e-01 5.51920918e-01 -3.05687813e-02 1.56975443e+02] [ 3.65729003e-02 1.28309247e-04 9.99330979e-01 3.74512931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.1592541539999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:986.53, Y:157.03, Z:37.45 [[ 5.51658935e-01 -8.33828156e-01 -2.00755101e-02 9.86526565e+02] [ 8.33267571e-01 5.52024083e-01 -3.05706948e-02 1.57025735e+02] [ 3.65728711e-02 1.36325395e-04 9.99330979e-01 3.74463401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.219254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:986.56, Y:157.08, Z:37.45 [[ 5.54021931e-01 -8.32260061e-01 -2.00721420e-02 9.86557603e+02] [ 8.31698362e-01 5.54385364e-01 -3.05729061e-02 1.57075642e+02] [ 3.65723104e-02 2.44092852e-04 9.99330979e-01 3.74494281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.279254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:986.59, Y:157.12, Z:37.45 [[ 5.54312117e-01 -8.32066940e-01 -2.00669955e-02 9.86588564e+02] [ 8.31504992e-01 5.54675165e-01 -3.05762837e-02 1.57124979e+02] [ 3.65721788e-02 2.62997569e-04 9.99330979e-01 3.74511035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.339254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:986.62, Y:157.17, Z:37.45 [[ 5.53475210e-01 -8.32624074e-01 -2.00585164e-02 9.86618960e+02] [ 8.32062290e-01 5.53838511e-01 -3.05818451e-02 1.57173209e+02] [ 3.65723593e-02 2.36358058e-04 9.99330980e-01 3.74528032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.399254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:986.65, Y:157.22, Z:37.46 [[ 5.50565860e-01 -8.34550900e-01 -2.00506414e-02 9.86651378e+02] [ 8.33990200e-01 5.50930831e-01 -3.05870074e-02 1.57221474e+02] [ 3.65729311e-02 1.18123566e-04 9.99330980e-01 3.74563072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.459254154 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:986.68, Y:157.27, Z:37.46 [[ 5.48210431e-01 -8.36100255e-01 -2.00421060e-02 9.86683939e+02] [ 8.35540382e-01 5.48576670e-01 -3.05925992e-02 1.57270314e+02] [ 3.65731117e-02 2.51930528e-05 9.99330980e-01 3.74596314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.519254154 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:986.72, Y:157.32, Z:37.46 [[ 5.44611650e-01 -8.38449044e-01 -2.00337685e-02 9.86715273e+02] [ 8.37890550e-01 5.44979987e-01 -3.05980581e-02 1.57318858e+02] [ 3.65729154e-02 -1.22046416e-04 9.99330980e-01 3.74612719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.579254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:986.75, Y:157.37, Z:37.46 [[ 5.42556893e-01 -8.39780331e-01 -2.00252962e-02 9.86746065e+02] [ 8.39222536e-01 5.42926288e-01 -3.06036019e-02 1.57367046e+02] [ 3.65725627e-02 -2.01484686e-04 9.99330980e-01 3.74631920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.639254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:986.78, Y:157.42, Z:37.47 [[ 5.41561313e-01 -8.40422895e-01 -2.00175292e-02 9.86777216e+02] [ 8.39865350e-01 5.41931086e-01 -3.06086814e-02 1.57416410e+02] [ 3.65723579e-02 -2.35551458e-04 9.99330980e-01 3.74653215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.699254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:986.81, Y:157.47, Z:37.47 [[ 5.41799738e-01 -8.40269415e-01 -2.00088469e-02 9.86808793e+02] [ 8.39711556e-01 5.42169036e-01 -3.06143559e-02 1.57465209e+02] [ 3.65724842e-02 -2.14809918e-04 9.99330980e-01 3.74674893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.759254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:986.84, Y:157.52, Z:37.47 [[ 5.43392399e-01 -8.39240548e-01 -2.00000679e-02 9.86838681e+02] [ 8.38681779e-01 5.43760319e-01 -3.06200901e-02 1.57515087e+02] [ 3.65728645e-02 -1.34968304e-04 9.99330980e-01 3.74687528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.819254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:986.87, Y:157.57, Z:37.47 [[ 5.46031964e-01 -8.37525783e-01 -1.99914239e-02 9.86868731e+02] [ 8.36965651e-01 5.46397806e-01 -3.06257326e-02 1.57565186e+02] [ 3.65731108e-02 -9.50621843e-06 9.99330980e-01 3.74707011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.879254154 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:986.90, Y:157.62, Z:37.47 [[ 5.45092059e-01 -8.38138015e-01 -1.99828684e-02 9.86895417e+02] [ 8.37578090e-01 5.45458216e-01 -3.06313139e-02 1.57618165e+02] [ 3.65730884e-02 -4.03267890e-05 9.99330980e-01 3.74664278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.939254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:986.93, Y:157.67, Z:37.47 [[ 5.48633227e-01 -8.35824496e-01 -1.99748529e-02 9.86926317e+02] [ 8.35262836e-01 5.48996719e-01 -3.06365400e-02 1.57666778e+02] [ 3.65728993e-02 1.23971466e-04 9.99330980e-01 3.74709825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.999254154 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:986.96, Y:157.72, Z:37.47 [[ 5.51404037e-01 -8.33999377e-01 -1.99656546e-02 9.86957480e+02] [ 8.33436297e-01 5.51765325e-01 -3.06425333e-02 1.57715753e+02] [ 3.65722096e-02 2.56315344e-04 9.99330980e-01 3.74744582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.059254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:986.99, Y:157.77, Z:37.48 [[ 5.55027632e-01 -8.31592489e-01 -1.99564460e-02 9.86987508e+02] [ 8.31027627e-01 5.55386128e-01 -3.06485293e-02 1.57765782e+02] [ 3.65706201e-02 4.26422675e-04 9.99330980e-01 3.74767277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.119254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:987.02, Y:157.81, Z:37.48 [[ 5.60565673e-01 -8.27869697e-01 -1.99472019e-02 9.87019102e+02] [ 8.27302242e-01 5.60920048e-01 -3.06545446e-02 1.57814248e+02] [ 3.65667540e-02 6.81520541e-04 9.99330980e-01 3.74820729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.1792541539999 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:987.05, Y:157.86, Z:37.48 [[ 5.63005223e-01 -8.26212696e-01 -1.99424308e-02 9.87048536e+02] [ 8.25644088e-01 5.63357745e-01 -3.06576481e-02 1.57864319e+02] [ 3.65644610e-02 7.95065904e-04 9.99330980e-01 3.74825438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.239254154 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:987.08, Y:157.91, Z:37.48 [[ 5.64529804e-01 -8.25171954e-01 -1.99335544e-02 9.87079633e+02] [ 8.24602493e-01 5.64880946e-01 -3.06634185e-02 1.57913355e+02] [ 3.65626780e-02 8.73154913e-04 9.99330980e-01 3.74836423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.299254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:987.11, Y:157.96, Z:37.49 [[ 5.64446494e-01 -8.25229163e-01 -1.99244418e-02 9.87111214e+02] [ 8.24659529e-01 5.64797356e-01 -3.06693385e-02 1.57961976e+02] [ 3.65625046e-02 8.80319839e-04 9.99330980e-01 3.74851549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.359254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:987.14, Y:158.01, Z:37.48 [[ 5.62022896e-01 -8.26881879e-01 -1.99153996e-02 9.87141690e+02] [ 8.26313069e-01 5.62375092e-01 -3.06752090e-02 1.58012133e+02] [ 3.65646992e-02 7.83814847e-04 9.99330980e-01 3.74848303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.4192541539999 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:987.17, Y:158.06, Z:37.49 [[ 5.61592763e-01 -8.27174270e-01 -1.99071791e-02 9.87174325e+02] [ 8.26605454e-01 5.61944950e-01 -3.06805429e-02 1.58059548e+02] [ 3.65648945e-02 7.74588003e-04 9.99330980e-01 3.74873258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.479254154 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:987.21, Y:158.11, Z:37.49 [[ 5.58521370e-01 -8.29251288e-01 -1.99043086e-02 9.87207208e+02] [ 8.28683716e-01 5.58875558e-01 -3.06824051e-02 1.58107701e+02] [ 3.65674555e-02 6.42402488e-04 9.99330980e-01 3.74910902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.539254154 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:987.24, Y:158.16, Z:37.49 [[ 5.53866739e-01 -8.32367591e-01 -1.98954498e-02 9.87238408e+02] [ 8.31801806e-01 5.54223775e-01 -3.06881483e-02 1.58156181e+02] [ 3.65703514e-02 4.48073566e-04 9.99330981e-01 3.74934798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.599254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:987.27, Y:158.20, Z:37.50 [[ 5.51027638e-01 -8.34250013e-01 -1.98861585e-02 9.87272216e+02] [ 8.33685230e-01 5.51386257e-01 -3.06941680e-02 1.58204374e+02] [ 3.65715645e-02 3.34538214e-04 9.99330981e-01 3.74983326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.6592541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:987.30, Y:158.25, Z:37.50 [[ 5.48840978e-01 -8.35690406e-01 -1.98777944e-02 9.87304307e+02] [ 8.35126369e-01 5.49200768e-01 -3.06995837e-02 1.58253030e+02] [ 3.65722475e-02 2.48719289e-04 9.99330981e-01 3.74958048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.719254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:987.34, Y:158.30, Z:37.50 [[ 5.47222064e-01 -8.36751458e-01 -1.98748664e-02 9.87336431e+02] [ 8.36188050e-01 5.47582838e-01 -3.07014791e-02 1.58301984e+02] [ 3.65726432e-02 1.81400971e-04 9.99330981e-01 3.75030798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.779254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:987.37, Y:158.35, Z:37.51 [[ 5.46580281e-01 -8.37171021e-01 -1.98665169e-02 9.87369353e+02] [ 8.36607693e-01 5.46941181e-01 -3.07068811e-02 1.58349658e+02] [ 3.65727272e-02 1.63294817e-04 9.99330981e-01 3.75089578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.839254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:987.40, Y:158.40, Z:37.50 [[ 5.45867103e-01 -8.37636284e-01 -1.98635597e-02 9.87399446e+02] [ 8.37073195e-01 5.46228374e-01 -3.07087939e-02 1.58399615e+02] [ 3.65728399e-02 1.35666934e-04 9.99330981e-01 3.75046198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.899254154 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:987.43, Y:158.45, Z:37.50 [[ 5.46348409e-01 -8.37322631e-01 -1.98551764e-02 9.87431104e+02] [ 8.36759137e-01 5.46709049e-01 -3.07142133e-02 1.58449236e+02] [ 3.65727105e-02 1.66661290e-04 9.99330981e-01 3.75034844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.959254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:987.46, Y:158.50, Z:37.50 [[ 5.48679574e-01 -8.35797101e-01 -1.98476907e-02 9.87461480e+02] [ 8.35232429e-01 5.49038368e-01 -3.07190498e-02 1.58497543e+02] [ 3.65720365e-02 2.77480292e-04 9.99330981e-01 3.75032733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.019254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:987.49, Y:158.55, Z:37.51 [[ 5.51693534e-01 -8.33810938e-01 -1.98384771e-02 9.87492407e+02] [ 8.33244761e-01 5.52049946e-01 -3.07249989e-02 1.58546384e+02] [ 3.65706703e-02 4.20476103e-04 9.99330981e-01 3.75089218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.079254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:987.52, Y:158.59, Z:37.51 [[ 5.53109206e-01 -8.32872750e-01 -1.98289825e-02 9.87523321e+02] [ 8.32305749e-01 5.53464307e-01 -3.07311252e-02 1.58594000e+02] [ 3.65697508e-02 4.93892131e-04 9.99330981e-01 3.75128197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.139254154 meters Centerline goodness : 0.999717 with order 1 Centerline is valid? [True, True] Translation: X:987.55, Y:158.64, Z:37.51 [[ 5.53148429e-01 -8.32846888e-01 -1.98211259e-02 9.87554454e+02] [ 8.32279689e-01 5.53503213e-01 -3.07361917e-02 1.58643468e+02] [ 3.65695985e-02 5.04955649e-04 9.99330981e-01 3.75146671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.199254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:987.59, Y:158.69, Z:37.52 [[ 5.53200090e-01 -8.32812777e-01 -1.98125830e-02 9.87585469e+02] [ 8.32245359e-01 5.53554523e-01 -3.07416975e-02 1.58692445e+02] [ 3.65694234e-02 5.17379506e-04 9.99330981e-01 3.75182874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.259254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:987.62, Y:158.74, Z:37.52 [[ 5.52352455e-01 -8.33375405e-01 -1.98040251e-02 9.87616756e+02] [ 8.32808150e-01 5.52707150e-01 -3.07472096e-02 1.58741124e+02] [ 3.65697945e-02 4.90343182e-04 9.99330981e-01 3.75206001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.319254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:987.65, Y:158.79, Z:37.52 [[ 5.51299738e-01 -8.34072395e-01 -1.97949286e-02 9.87647746e+02] [ 8.33505378e-01 5.51654814e-01 -3.07530647e-02 1.58789035e+02] [ 3.65702500e-02 4.54977063e-04 9.99330981e-01 3.75208996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.379254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:987.68, Y:158.84, Z:37.52 [[ 5.49727047e-01 -8.35109964e-01 -1.97868960e-02 9.87678905e+02] [ 8.34543432e-01 5.50082895e-01 -3.07582322e-02 1.58837497e+02] [ 3.65709392e-02 3.95608086e-04 9.99330981e-01 3.75220020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.439254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:987.71, Y:158.89, Z:37.52 [[ 5.46631936e-01 -8.37139386e-01 -1.97781422e-02 9.87711933e+02] [ 8.36573971e-01 5.46989557e-01 -3.07638599e-02 1.58886793e+02] [ 3.65720761e-02 2.70629322e-04 9.99330981e-01 3.75223149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.499254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:987.75, Y:158.93, Z:37.52 [[ 5.42908844e-01 -8.39558883e-01 -1.97704279e-02 9.87745214e+02] [ 8.38994882e-01 5.43268689e-01 -3.07688168e-02 1.58934867e+02] [ 3.65728879e-02 1.17374901e-04 9.99330981e-01 3.75243078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.559254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:987.78, Y:158.98, Z:37.53 [[ 5.39293088e-01 -8.41886242e-01 -1.97616069e-02 9.87777698e+02] [ 8.41323586e-01 5.39655033e-01 -3.07744811e-02 1.58982472e+02] [ 3.65730629e-02 -2.94410465e-05 9.99330981e-01 3.75274096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.619254154 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:987.81, Y:159.03, Z:37.53 [[ 5.38020622e-01 -8.42700210e-01 -1.97526578e-02 9.87809683e+02] [ 8.42137890e-01 5.38383090e-01 -3.07802240e-02 1.59029435e+02] [ 3.65729982e-02 -7.40663336e-05 9.99330981e-01 3.75294857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.6792541539999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:987.84, Y:159.08, Z:37.53 [[ 5.38705387e-01 -8.42262820e-01 -1.97445904e-02 9.87841675e+02] [ 8.41700016e-01 5.39067103e-01 -3.07853982e-02 1.59077538e+02] [ 3.65730554e-02 -3.47622511e-05 9.99330981e-01 3.75324156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.739254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:987.87, Y:159.13, Z:37.53 [[ 5.42801802e-01 -8.39628910e-01 -1.97356939e-02 9.87873213e+02] [ 8.39064144e-01 5.43160446e-01 -3.07911005e-02 1.59127535e+02] [ 3.65727464e-02 1.53951724e-04 9.99330981e-01 3.75349933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.799254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:987.91, Y:159.18, Z:37.54 [[ 5.46949180e-01 -8.36933332e-01 -1.97279515e-02 9.87905159e+02] [ 8.36366620e-01 5.47304741e-01 -3.07960602e-02 1.59176011e+02] [ 3.65714507e-02 3.44079721e-04 9.99330982e-01 3.75375794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.859254154 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:987.94, Y:159.22, Z:37.54 [[ 5.48793040e-01 -8.35725650e-01 -1.97189708e-02 9.87937415e+02] [ 8.35157949e-01 5.49147019e-01 -3.08018096e-02 1.59224516e+02] [ 3.65704764e-02 4.35363529e-04 9.99330982e-01 3.75386439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.9192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:987.97, Y:159.27, Z:37.54 [[ 5.51834573e-01 -8.33720645e-01 -1.97101571e-02 9.87970133e+02] [ 8.33151457e-01 5.52186156e-01 -3.08074484e-02 1.59272138e+02] [ 3.65684817e-02 5.79069018e-04 9.99330982e-01 3.75412060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.979254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:988.00, Y:159.32, Z:37.54 [[ 5.53148076e-01 -8.32849973e-01 -1.97009554e-02 9.88001630e+02] [ 8.32280023e-01 5.53498421e-01 -3.08133317e-02 1.59319450e+02] [ 3.65673302e-02 6.47623566e-04 9.99330982e-01 3.75409825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.039254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:988.04, Y:159.37, Z:37.54 [[ 5.53581284e-01 -8.32562277e-01 -1.96930693e-02 9.88036037e+02] [ 8.31991965e-01 5.53931040e-01 -3.08183710e-02 1.59367707e+02] [ 3.65668155e-02 6.75997965e-04 9.99330982e-01 3.75446258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.099254154 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:988.07, Y:159.41, Z:37.55 [[ 5.52546731e-01 -8.33249429e-01 -1.96850030e-02 9.88070039e+02] [ 8.32679369e-01 5.52896898e-01 -3.08235224e-02 1.59414644e+02] [ 3.65674595e-02 6.40140704e-04 9.99330982e-01 3.75461964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.1592541539999 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:988.10, Y:159.46, Z:37.55 [[ 5.50221306e-01 -8.34786905e-01 -1.96808993e-02 9.88102760e+02] [ 8.34217730e-01 5.50572909e-01 -3.08261424e-02 1.59462810e+02] [ 3.65690300e-02 5.43045155e-04 9.99330982e-01 3.75508565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.219254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:988.14, Y:159.51, Z:37.55 [[ 5.47494277e-01 -8.36578162e-01 -1.96722098e-02 9.88135808e+02] [ 8.36009938e-01 5.47847416e-01 -3.08316867e-02 1.59510088e+02] [ 3.65704851e-02 4.34009176e-04 9.99330982e-01 3.75539536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.279254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:988.17, Y:159.56, Z:37.56 [[ 5.44058420e-01 -8.38816789e-01 -1.96679927e-02 9.88169211e+02] [ 8.38249921e-01 5.44413731e-01 -3.08343767e-02 1.59558406e+02] [ 3.65719181e-02 2.89008955e-04 9.99330982e-01 3.75597036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.339254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:988.20, Y:159.61, Z:37.56 [[ 5.41568603e-01 -8.40426640e-01 -1.96598680e-02 9.88200800e+02] [ 8.39860640e-01 5.41925296e-01 -3.08395560e-02 1.59607638e+02] [ 3.65725643e-02 1.90185920e-04 9.99330982e-01 3.75558243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.399254154 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:988.23, Y:159.66, Z:37.56 [[ 5.39062260e-01 -8.42036551e-01 -1.96551914e-02 9.88232204e+02] [ 8.41471508e-01 5.39420466e-01 -3.08425363e-02 1.59657197e+02] [ 3.65729554e-02 8.67637277e-05 9.99330982e-01 3.75574960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.459254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:988.26, Y:159.71, Z:37.56 [[ 5.38969294e-01 -8.42096239e-01 -1.96475168e-02 9.88261705e+02] [ 8.41531057e-01 5.39327281e-01 -3.08474245e-02 1.59706239e+02] [ 3.65729420e-02 9.18189601e-05 9.99330982e-01 3.75604109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.519254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:988.29, Y:159.76, Z:37.56 [[ 5.40886801e-01 -8.40866072e-01 -1.96397077e-02 9.88291734e+02] [ 8.40299895e-01 5.41243213e-01 -3.08523955e-02 1.59756205e+02] [ 3.65725911e-02 1.84409231e-04 9.99330982e-01 3.75641291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.579254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:988.32, Y:159.81, Z:37.57 [[ 5.42225478e-01 -8.40003661e-01 -1.96311211e-02 9.88321740e+02] [ 8.39436720e-01 5.42580672e-01 -3.08578581e-02 1.59805039e+02] [ 3.65721807e-02 2.52832930e-04 9.99330982e-01 3.75663475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.639254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:988.35, Y:159.86, Z:37.57 [[ 5.45942020e-01 -8.37593116e-01 -1.96235227e-02 9.88350791e+02] [ 8.37024433e-01 5.46294419e-01 -3.08626895e-02 1.59856175e+02] [ 3.65705972e-02 4.23871115e-04 9.99330982e-01 3.75699746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.699254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:988.38, Y:159.91, Z:37.57 [[ 5.48688750e-01 -8.35796561e-01 -1.96154278e-02 9.88379560e+02] [ 8.35226541e-01 5.49038981e-01 -3.08678335e-02 1.59906496e+02] [ 3.65688636e-02 5.53507093e-04 9.99330982e-01 3.75716456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.759254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:988.41, Y:159.96, Z:37.58 [[ 5.50999060e-01 -8.34275499e-01 -1.96068118e-02 9.88408336e+02] [ 8.33704318e-01 5.51347394e-01 -3.08733053e-02 1.59956788e+02] [ 3.65670068e-02 6.64878522e-04 9.99330982e-01 3.75750261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.819254154 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:988.44, Y:160.01, Z:37.58 [[ 5.50951165e-01 -8.34307344e-01 -1.95977086e-02 9.88437756e+02] [ 8.33735977e-01 5.51299195e-01 -3.08790827e-02 1.60006148e+02] [ 3.65668465e-02 6.73551888e-04 9.99330982e-01 3.75770786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.879254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:988.47, Y:160.06, Z:37.58 [[ 5.49946349e-01 -8.34970162e-01 -1.95918658e-02 9.88467883e+02] [ 8.34399083e-01 5.50294851e-01 -3.08827894e-02 1.60056591e+02] [ 3.65675105e-02 6.36442431e-04 9.99330982e-01 3.75793596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.939254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:988.50, Y:160.11, Z:37.58 [[ 5.46398127e-01 -8.37296573e-01 -1.95840683e-02 9.88497045e+02] [ 8.36726801e-01 5.46748762e-01 -3.08877333e-02 1.60106782e+02] [ 3.65697583e-02 4.90484785e-04 9.99330982e-01 3.75808414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.999254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:988.53, Y:160.16, Z:37.58 [[ 5.41857352e-01 -8.40242476e-01 -1.95752765e-02 9.88526938e+02] [ 8.39674409e-01 5.42210743e-01 -3.08933041e-02 1.60155952e+02] [ 3.65717916e-02 3.02905251e-04 9.99330982e-01 3.75826998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.059254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:988.56, Y:160.21, Z:37.58 [[ 5.36693091e-01 -8.43550619e-01 -1.95672844e-02 9.88557190e+02] [ 8.42984547e-01 5.37049667e-01 -3.08983654e-02 1.60205097e+02] [ 3.65729388e-02 8.80208683e-05 9.99330982e-01 3.75842465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.119254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:988.59, Y:160.25, Z:37.59 [[ 5.36120512e-01 -8.43914839e-01 -1.95586430e-02 9.88590966e+02] [ 8.43348809e-01 5.36477156e-01 -3.09038344e-02 1.60253140e+02] [ 3.65729696e-02 7.34212433e-05 9.99330982e-01 3.75897526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.1792541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:988.62, Y:160.31, Z:37.58 [[ 5.31524526e-01 -8.46817261e-01 -1.95500366e-02 9.88616881e+02] [ 8.46252979e-01 5.31883928e-01 -3.09092779e-02 1.60305197e+02] [ 3.65728603e-02 -1.15237431e-04 9.99330983e-01 3.75846926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.239254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:988.65, Y:160.36, Z:37.59 [[ 5.28829898e-01 -8.48502728e-01 -1.95463540e-02 9.88647381e+02] [ 8.47939505e-01 5.29190957e-01 -3.09116065e-02 1.60355804e+02] [ 3.65723363e-02 -2.27144024e-04 9.99330983e-01 3.75890453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.299254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:988.68, Y:160.41, Z:37.59 [[ 5.26927353e-01 -8.49685710e-01 -1.95386500e-02 9.88678750e+02] [ 8.49123117e-01 5.27289393e-01 -3.09164753e-02 1.60405934e+02] [ 3.65718102e-02 -2.99982902e-04 9.99330983e-01 3.75913920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.359254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:988.71, Y:160.46, Z:37.59 [[ 5.20686495e-01 -8.53524524e-01 -1.95310329e-02 9.88707144e+02] [ 8.52964418e-01 5.21052373e-01 -3.09212866e-02 1.60457459e+02] [ 3.65687674e-02 -5.58979732e-04 9.99330983e-01 3.75917302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.4192541539999 meters Centerline goodness : 0.996317 with order 1 Centerline is valid? [True, True] Translation: X:988.74, Y:160.51, Z:37.59 [[ 5.18540690e-01 -8.54830045e-01 -1.95229856e-02 9.88738967e+02] [ 8.54270670e-01 5.18907682e-01 -3.09263666e-02 1.60506762e+02] [ 3.65674146e-02 -6.41334496e-04 9.99330983e-01 3.75944608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.479254154 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:988.77, Y:160.56, Z:37.60 [[ 5.19123775e-01 -8.54476304e-01 -1.95128501e-02 9.88768575e+02] [ 8.53916439e-01 5.19490019e-01 -3.09327602e-02 1.60555408e+02] [ 3.65680415e-02 -6.04412213e-04 9.99330983e-01 3.76021372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.539254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:988.80, Y:160.61, Z:37.60 [[ 5.19872979e-01 -8.54020962e-01 -1.95008290e-02 9.88796587e+02] [ 8.53460491e-01 5.20238297e-01 -3.09403368e-02 1.60606962e+02] [ 3.65687743e-02 -5.58142045e-04 9.99330983e-01 3.76037023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.599254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:988.82, Y:160.66, Z:37.60 [[ 5.21005572e-01 -8.53330685e-01 -1.94919512e-02 9.88823727e+02] [ 8.52769521e-01 5.21369823e-01 -3.09459287e-02 1.60659130e+02] [ 3.65696257e-02 -4.99140585e-04 9.99330983e-01 3.76048883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.6592541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:988.85, Y:160.71, Z:37.61 [[ 5.22320038e-01 -8.52526937e-01 -1.94833224e-02 9.88850239e+02] [ 8.51965010e-01 5.22683111e-01 -3.09513604e-02 1.60710902e+02] [ 3.65704720e-02 -4.32593277e-04 9.99330983e-01 3.76083736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.719254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:988.88, Y:160.76, Z:37.61 [[ 5.24554947e-01 -8.51153839e-01 -1.94743577e-02 9.88875922e+02] [ 8.50590752e-01 5.24916219e-01 -3.09569998e-02 1.60762720e+02] [ 3.65715755e-02 -3.26061170e-04 9.99330983e-01 3.76109347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.779254154 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:988.90, Y:160.82, Z:37.61 [[ 5.25824042e-01 -8.50370507e-01 -1.94699334e-02 9.88902398e+02] [ 8.49806779e-01 5.26184312e-01 -3.09597822e-02 1.60815064e+02] [ 3.65720592e-02 -2.66283543e-04 9.99330983e-01 3.76137585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.839254154 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:988.93, Y:160.87, Z:37.62 [[ 5.29775150e-01 -8.47914826e-01 -1.94612112e-02 9.88927878e+02] [ 8.47349226e-01 5.30132475e-01 -3.09652640e-02 1.60867767e+02] [ 3.65729265e-02 -8.58149329e-05 9.99330983e-01 3.76157990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.899254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:988.95, Y:160.92, Z:37.62 [[ 5.33192757e-01 -8.45770112e-01 -1.94525385e-02 9.88953810e+02] [ 8.45202877e-01 5.33547479e-01 -3.09707113e-02 1.60920947e+02] [ 3.65729548e-02 7.20173993e-05 9.99330983e-01 3.76154667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.959254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:988.98, Y:160.97, Z:37.62 [[ 5.36325526e-01 -8.43787200e-01 -1.94445670e-02 9.88981254e+02] [ 8.43218472e-01 5.36677850e-01 -3.09757153e-02 1.60972715e+02] [ 3.65723805e-02 2.17048687e-04 9.99330983e-01 3.76178669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.019254154 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:989.00, Y:161.03, Z:37.61 [[ 5.33053534e-01 -8.45858254e-01 -1.94356321e-02 9.89002839e+02] [ 8.45290690e-01 5.33407731e-01 -3.09813205e-02 1.61029175e+02] [ 3.65729220e-02 8.59435326e-05 9.99330983e-01 3.76078501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.079254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:989.04, Y:161.07, Z:37.62 [[ 5.40565943e-01 -8.41077308e-01 -1.94273838e-02 9.89036582e+02] [ 8.40506427e-01 5.40914766e-01 -3.09864918e-02 1.61074889e+02] [ 3.65705939e-02 4.21401207e-04 9.99330983e-01 3.76199782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.139254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:989.07, Y:161.12, Z:37.62 [[ 5.40877756e-01 -8.40876931e-01 -1.94226802e-02 9.89065180e+02] [ 8.40305814e-01 5.41226194e-01 -3.09894398e-02 1.61124790e+02] [ 3.65703683e-02 4.40507590e-04 9.99330983e-01 3.76211120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.199254154 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:989.10, Y:161.17, Z:37.62 [[ 5.41286105e-01 -8.40614317e-01 -1.94144992e-02 9.89095266e+02] [ 8.40042848e-01 5.41633964e-01 -3.09945642e-02 1.61174459e+02] [ 3.65700266e-02 4.67915743e-04 9.99330983e-01 3.76227493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.259254154 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:989.12, Y:161.22, Z:37.63 [[ 5.42043961e-01 -8.40126045e-01 -1.94054652e-02 9.89124554e+02] [ 8.39554060e-01 5.42390972e-01 -3.10002193e-02 1.61224625e+02] [ 3.65694408e-02 5.11544562e-04 9.99330983e-01 3.76250987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.319254154 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:989.16, Y:161.27, Z:37.63 [[ 5.44072788e-01 -8.38813803e-01 -1.93960275e-02 9.89155621e+02] [ 8.38240770e-01 5.44418067e-01 -3.10061232e-02 1.61273831e+02] [ 3.65679119e-02 6.11046860e-04 9.99330983e-01 3.76269057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.379254154 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:989.19, Y:161.32, Z:37.63 [[ 5.45753324e-01 -8.37721589e-01 -1.93868425e-02 9.89186033e+02] [ 8.37147662e-01 5.46097113e-01 -3.10118651e-02 1.61321563e+02] [ 3.65664076e-02 6.95178551e-04 9.99330983e-01 3.76280105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.439254154 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:989.22, Y:161.37, Z:37.63 [[ 5.45951735e-01 -8.37592503e-01 -1.93778967e-02 9.89218705e+02] [ 8.37018296e-01 5.46295057e-01 -3.10174539e-02 1.61370239e+02] [ 3.65660360e-02 7.14378666e-04 9.99330984e-01 3.76282753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.499254154 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:989.25, Y:161.42, Z:37.63 [[ 5.45680674e-01 -8.37769329e-01 -1.93688481e-02 9.89251234e+02] [ 8.37195034e-01 5.46023847e-01 -3.10231033e-02 1.61418618e+02] [ 3.65660574e-02 7.13204505e-04 9.99330984e-01 3.76322545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.559254154 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:989.29, Y:161.47, Z:37.63 [[ 5.42595955e-01 -8.39770706e-01 -1.93595128e-02 9.89285412e+02] [ 8.39197469e-01 5.42940893e-01 -3.10289277e-02 1.61465103e+02] [ 3.65682557e-02 5.89716528e-04 9.99330984e-01 3.76335418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.619254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:989.32, Y:161.51, Z:37.64 [[ 5.38655370e-01 -8.42303962e-01 -1.93501392e-02 9.89320931e+02] [ 8.41732138e-01 5.39002645e-01 -3.10347722e-02 1.61510812e+02] [ 3.65704878e-02 4.29412641e-04 9.99330984e-01 3.76372162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.6792541539999 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:989.35, Y:161.56, Z:37.63 [[ 5.32128637e-01 -8.46442574e-01 -1.93412076e-02 9.89351653e+02] [ 8.45873249e-01 5.32479994e-01 -3.10403375e-02 1.61560552e+02] [ 3.65726692e-02 1.57242360e-04 9.99330984e-01 3.76341930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.739254154 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:989.39, Y:161.61, Z:37.64 [[ 5.29854172e-01 -8.47868411e-01 -1.93316922e-02 9.89389519e+02] [ 8.47299815e-01 5.30206708e-01 -3.10462624e-02 1.61605554e+02] [ 3.65729381e-02 7.02524296e-05 9.99330984e-01 3.76395669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.799254154 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:989.42, Y:161.65, Z:37.64 [[ 5.28749881e-01 -8.48557611e-01 -1.93273187e-02 9.89424906e+02] [ 8.47989375e-01 5.29102996e-01 -3.10489849e-02 1.61650124e+02] [ 3.65729946e-02 2.77861396e-05 9.99330984e-01 3.76424318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.859254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:989.46, Y:161.70, Z:37.65 [[ 5.26164730e-01 -8.50163105e-01 -1.93228087e-02 9.89459497e+02] [ 8.49595844e-01 5.26519409e-01 -3.10517913e-02 1.61696725e+02] [ 3.65729212e-02 -7.82205541e-05 9.99330984e-01 3.76451509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.9192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:989.49, Y:161.74, Z:37.65 [[ 5.24639465e-01 -8.51105400e-01 -1.93139747e-02 9.89493620e+02] [ 8.50538573e-01 5.24994838e-01 -3.10572850e-02 1.61743588e+02] [ 3.65727600e-02 -1.33403054e-04 9.99330984e-01 3.76473572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.979254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:989.53, Y:161.79, Z:37.65 [[ 5.24581987e-01 -8.51141032e-01 -1.93049804e-02 9.89526534e+02] [ 8.50574024e-01 5.24937071e-01 -3.10628748e-02 1.61791105e+02] [ 3.65727872e-02 -1.25290222e-04 9.99330984e-01 3.76487281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.039254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:989.56, Y:161.84, Z:37.65 [[ 5.24810654e-01 -8.51000257e-01 -1.92961071e-02 9.89560836e+02] [ 8.50432951e-01 5.25165261e-01 -3.10683859e-02 1.61838320e+02] [ 3.65728495e-02 -1.05025366e-04 9.99330984e-01 3.76518361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.099254154 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:989.59, Y:161.89, Z:37.65 [[ 5.23178876e-01 -8.52004616e-01 -1.92872443e-02 9.89594099e+02] [ 8.51437788e-01 5.23534246e-01 -3.10738870e-02 1.61887251e+02] [ 3.65726280e-02 -1.64687367e-04 9.99330984e-01 3.76512586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.1592541539999 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:989.63, Y:161.93, Z:37.65 [[ 5.24490459e-01 -8.51198023e-01 -1.92790909e-02 9.89627422e+02] [ 8.50630463e-01 5.24844658e-01 -3.10789447e-02 1.61934849e+02] [ 3.65728642e-02 -9.87720683e-05 9.99330984e-01 3.76520974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.219254154 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:989.66, Y:161.98, Z:37.65 [[ 5.27798791e-01 -8.49150817e-01 -1.92698214e-02 9.89661279e+02] [ 8.48581673e-01 5.28150440e-01 -3.10846910e-02 1.61981860e+02] [ 3.65729554e-02 5.44451055e-05 9.99330984e-01 3.76524432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.279254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:989.70, Y:162.03, Z:37.66 [[ 5.32234655e-01 -8.46377752e-01 -1.92606849e-02 9.89696158e+02] [ 8.45806570e-01 5.32582985e-01 -3.10903512e-02 1.62027937e+02] [ 3.65720945e-02 2.56548498e-04 9.99330984e-01 3.76565382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.339254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:989.73, Y:162.07, Z:37.66 [[ 5.38579607e-01 -8.42354682e-01 -1.92509045e-02 9.89733108e+02] [ 8.41780683e-01 5.38923274e-01 -3.10964059e-02 1.62073624e+02] [ 3.65689636e-02 5.42850510e-04 9.99330984e-01 3.76618420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.399254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:989.76, Y:162.12, Z:37.66 [[ 5.37742783e-01 -8.42889333e-01 -1.92424560e-02 9.89762809e+02] [ 8.42315489e-01 5.38086708e-01 -3.11016330e-02 1.62124892e+02] [ 3.65693445e-02 5.16459967e-04 9.99330984e-01 3.76592571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.459254154 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:989.80, Y:162.17, Z:37.67 [[ 5.44026357e-01 -8.38847642e-01 -1.92342492e-02 9.89800964e+02] [ 8.38271065e-01 5.44365681e-01 -3.11067075e-02 1.62168646e+02] [ 3.65642534e-02 7.99354233e-04 9.99330984e-01 3.76666046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.519254154 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:989.83, Y:162.22, Z:37.67 [[ 5.45580945e-01 -8.37837446e-01 -1.92313785e-02 9.89834419e+02] [ 8.37260179e-01 5.45919093e-01 -3.11084821e-02 1.62216286e+02] [ 3.65626280e-02 8.70527667e-04 9.99330984e-01 3.76673003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.579254154 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:989.87, Y:162.26, Z:37.67 [[ 5.46219663e-01 -8.37421390e-01 -1.92222757e-02 9.89865450e+02] [ 8.36843667e-01 5.46557033e-01 -3.11141059e-02 1.62264162e+02] [ 3.65616877e-02 9.09096760e-04 9.99330984e-01 3.76675365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.639254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:989.90, Y:162.31, Z:37.67 [[ 5.45521965e-01 -8.37876234e-01 -1.92146147e-02 9.89895611e+02] [ 8.37298626e-01 5.45859532e-01 -3.11188362e-02 1.62314422e+02] [ 3.65622139e-02 8.87638202e-04 9.99330985e-01 3.76695628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.699254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:989.93, Y:162.36, Z:37.67 [[ 5.44440576e-01 -8.38579512e-01 -1.92057566e-02 9.89925360e+02] [ 8.38002148e-01 5.44778559e-01 -3.11243022e-02 1.62364299e+02] [ 3.65630866e-02 8.50867722e-04 9.99330985e-01 3.76721855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.759254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:989.95, Y:162.41, Z:37.67 [[ 5.40863606e-01 -8.40891222e-01 -1.91967035e-02 9.89954835e+02] [ 8.40315105e-01 5.41203710e-01 -3.11298850e-02 1.62412894e+02] [ 3.65661742e-02 7.05741956e-04 9.99330985e-01 3.76747846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.819254154 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:989.99, Y:162.46, Z:37.68 [[ 5.36249134e-01 -8.43841612e-01 -1.91885351e-02 9.89985404e+02] [ 8.43267187e-01 5.36592088e-01 -3.11349192e-02 1.62461607e+02] [ 3.65693565e-02 5.15011442e-04 9.99330985e-01 3.76760692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.879254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:990.02, Y:162.51, Z:37.68 [[ 5.30240518e-01 -8.47630192e-01 -1.91846515e-02 9.90017451e+02] [ 8.47058131e-01 5.30587401e-01 -3.11373120e-02 1.62510444e+02] [ 3.65720601e-02 2.59749455e-04 9.99330985e-01 3.76802370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.939254154 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:990.05, Y:162.56, Z:37.68 [[ 5.25449140e-01 -8.50608889e-01 -1.91759813e-02 9.90048512e+02] [ 8.50038600e-01 5.25798929e-01 -3.11426506e-02 1.62559601e+02] [ 3.65729259e-02 6.35546966e-05 9.99330985e-01 3.76814273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.999254154 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:990.08, Y:162.61, Z:37.69 [[ 5.21454703e-01 -8.53063664e-01 -1.91670897e-02 9.90079209e+02] [ 8.52494821e-01 5.21806837e-01 -3.11481221e-02 1.62609067e+02] [ 3.65728497e-02 -9.75098852e-05 9.99330985e-01 3.76856578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.059254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:990.11, Y:162.66, Z:37.69 [[ 5.21420537e-01 -8.53084749e-01 -1.91581310e-02 9.90107693e+02] [ 8.52515717e-01 5.21772367e-01 -3.11536314e-02 1.62659338e+02] [ 3.65728711e-02 -8.84645798e-05 9.99330985e-01 3.76895330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.119254154 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:990.14, Y:162.71, Z:37.69 [[ 5.22309314e-01 -8.52541079e-01 -1.91491382e-02 9.90136221e+02] [ 8.51971478e-01 5.22660222e-01 -3.11591579e-02 1.62709260e+02] [ 3.65729550e-02 -3.98011641e-05 9.99330985e-01 3.76886766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.1792541539999 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:990.17, Y:162.76, Z:37.69 [[ 5.23023837e-01 -8.52103062e-01 -1.91425351e-02 9.90165568e+02] [ 8.51533019e-01 5.23374026e-01 -3.11632140e-02 1.62759425e+02] [ 3.65729758e-02 -1.39689200e-06 9.99330985e-01 3.76910638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.239254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:990.19, Y:162.81, Z:37.70 [[ 5.24415961e-01 -8.51247205e-01 -1.91336033e-02 9.90193444e+02] [ 8.50676391e-01 5.24764891e-01 -3.11686970e-02 1.62809807e+02] [ 3.65729095e-02 6.88576179e-05 9.99330985e-01 3.76965390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.299254154 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:990.22, Y:162.86, Z:37.70 [[ 5.23339539e-01 -8.51909495e-01 -1.91295441e-02 9.90222011e+02] [ 8.51339031e-01 5.23689041e-01 -3.11711881e-02 1.62860601e+02] [ 3.65729637e-02 2.73876810e-05 9.99330985e-01 3.76980048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.359254154 meters Centerline goodness : 0.999430 with order 1 Centerline is valid? [True, True] Translation: X:990.25, Y:162.91, Z:37.70 [[ 5.23913956e-01 -8.51556553e-01 -1.91207764e-02 9.90251501e+02] [ 8.50985657e-01 5.24262752e-01 -3.11765654e-02 1.62910953e+02] [ 3.65729194e-02 6.23312080e-05 9.99330985e-01 3.76970278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.4192541539999 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:990.28, Y:162.96, Z:37.71 [[ 5.23630439e-01 -8.51731142e-01 -1.91108702e-02 9.90282850e+02] [ 8.51160140e-01 5.23979063e-01 -3.11826366e-02 1.62959200e+02] [ 3.65729185e-02 6.17667563e-05 9.99330985e-01 3.77109992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.479254154 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:990.31, Y:163.01, Z:37.71 [[ 5.22460058e-01 -8.52449809e-01 -1.91000216e-02 9.90311240e+02] [ 8.51879044e-01 5.22809069e-01 -3.11892802e-02 1.63011069e+02] [ 3.65729604e-02 2.42449996e-05 9.99330985e-01 3.77109305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.539254154 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:990.34, Y:163.06, Z:37.71 [[ 5.22309147e-01 -8.52542465e-01 -1.90918931e-02 9.90338755e+02] [ 8.51971580e-01 5.22657961e-01 -3.11942551e-02 1.63062664e+02] [ 3.65729571e-02 2.72944515e-05 9.99330985e-01 3.77113351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.599254154 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:990.37, Y:163.11, Z:37.71 [[ 5.24804779e-01 -8.51008594e-01 -1.90871040e-02 9.90367259e+02] [ 8.50436583e-01 5.25151743e-01 -3.11971851e-02 1.63112242e+02] [ 3.65726986e-02 1.40060304e-04 9.99330985e-01 3.77082802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.6592541539999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:990.40, Y:163.16, Z:37.71 [[ 5.27764940e-01 -8.49176153e-01 -1.90795219e-02 9.90395820e+02] [ 8.48602771e-01 5.28109633e-01 -3.12018216e-02 1.63163465e+02] [ 3.65719221e-02 2.76292384e-04 9.99330985e-01 3.77128656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.719254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:990.42, Y:163.21, Z:37.71 [[ 5.29406621e-01 -8.48153832e-01 -1.90710926e-02 9.90424066e+02] [ 8.47579598e-01 5.29749893e-01 -3.12069728e-02 1.63214004e+02] [ 3.65712229e-02 3.56909057e-04 9.99330985e-01 3.77129901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.779254154 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:990.46, Y:163.26, Z:37.72 [[ 5.32180592e-01 -8.46416150e-01 -1.90661486e-02 9.90455468e+02] [ 8.45840687e-01 5.32521801e-01 -3.12099931e-02 1.63264185e+02] [ 3.65697820e-02 4.82428337e-04 9.99330985e-01 3.77163692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.839254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:990.48, Y:163.32, Z:37.72 [[ 5.32777599e-01 -8.46040673e-01 -1.90580569e-02 9.90484207e+02] [ 8.45464793e-01 5.33118102e-01 -3.12149334e-02 1.63315576e+02] [ 3.65692984e-02 5.17701103e-04 9.99330985e-01 3.77188888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.899254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:990.51, Y:163.36, Z:37.72 [[ 5.35077673e-01 -8.44588058e-01 -1.90498479e-02 9.90514798e+02] [ 8.44011075e-01 5.35416305e-01 -3.12199424e-02 1.63364313e+02] [ 3.65675897e-02 6.26811565e-04 9.99330985e-01 3.77218341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.959254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:990.55, Y:163.41, Z:37.72 [[ 5.36427445e-01 -8.43731522e-01 -1.90450893e-02 9.90545093e+02] [ 8.43153896e-01 5.36764978e-01 -3.12228451e-02 1.63414748e+02] [ 3.65664355e-02 6.90849790e-04 9.99330985e-01 3.77229646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.019254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:990.58, Y:163.46, Z:37.72 [[ 5.36212898e-01 -8.43868074e-01 -1.90368484e-02 9.90575380e+02] [ 8.43290356e-01 5.36550273e-01 -3.12278688e-02 1.63463417e+02] [ 3.65664277e-02 6.91195303e-04 9.99330986e-01 3.77241252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.079254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:990.61, Y:163.51, Z:37.73 [[ 5.32986123e-01 -8.45909936e-01 -1.90308393e-02 9.90607635e+02] [ 8.45333380e-01 5.33325480e-01 -3.12315304e-02 1.63511332e+02] [ 3.65686934e-02 5.58568618e-04 9.99330986e-01 3.77273768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.139254154 meters Centerline goodness : 0.997743 with order 1 Centerline is valid? [True, True] Translation: X:990.64, Y:163.56, Z:37.73 [[ 5.29038455e-01 -8.48384632e-01 -1.90218070e-02 9.90640736e+02] [ 8.47809466e-01 5.29380164e-01 -3.12370306e-02 1.63558088e+02] [ 3.65707840e-02 3.98722382e-04 9.99330986e-01 3.77283019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.199254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:990.67, Y:163.61, Z:37.73 [[ 5.21695520e-01 -8.52919911e-01 -1.90107836e-02 9.90673298e+02] [ 8.52347471e-01 5.22041777e-01 -3.12437380e-02 1.63605874e+02] [ 3.65728295e-02 9.59247994e-05 9.99330986e-01 3.77346559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.259254154 meters Centerline goodness : 0.998136 with order 1 Centerline is valid? [True, True] Translation: X:990.71, Y:163.65, Z:37.73 [[ 5.18427992e-01 -8.54910179e-01 -1.90000913e-02 9.90705700e+02] [ 8.54338830e-01 5.18776046e-01 -3.12502389e-02 1.63654225e+02] [ 3.65729396e-02 -3.15171624e-05 9.99330986e-01 3.77307464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.319254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:990.74, Y:163.70, Z:37.74 [[ 5.16005362e-01 -8.56374847e-01 -1.89891465e-02 9.90736389e+02] [ 8.55804242e-01 5.16354632e-01 -3.12568881e-02 1.63702137e+02] [ 3.65727465e-02 -1.22270307e-04 9.99330986e-01 3.77379802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.379254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:990.77, Y:163.75, Z:37.74 [[ 5.16055479e-01 -8.56344826e-01 -1.89810853e-02 9.90766652e+02] [ 8.55774020e-01 5.16404422e-01 -3.12617826e-02 1.63751296e+02] [ 3.65727821e-02 -1.10705461e-04 9.99330986e-01 3.77398687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.439254154 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:990.80, Y:163.80, Z:37.74 [[ 5.18205292e-01 -8.55045809e-01 -1.89720760e-02 9.90796976e+02] [ 8.54473929e-01 5.18552470e-01 -3.12672492e-02 1.63801327e+02] [ 3.65729472e-02 -8.29029825e-06 9.99330986e-01 3.77414516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.499254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:990.83, Y:163.85, Z:37.74 [[ 5.20777701e-01 -8.53481660e-01 -1.89642176e-02 9.90827362e+02] [ 8.52908564e-01 5.21122868e-01 -3.12720147e-02 1.63851694e+02] [ 3.65727785e-02 1.11024394e-04 9.99330986e-01 3.77441874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.559254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:990.86, Y:163.90, Z:37.75 [[ 5.24678924e-01 -8.51089115e-01 -1.89564150e-02 9.90857425e+02] [ 8.50514273e-01 5.25021177e-01 -3.12767438e-02 1.63901854e+02] [ 3.65718155e-02 2.87546774e-04 9.99330986e-01 3.77468612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.619254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:990.89, Y:163.95, Z:37.75 [[ 5.26262627e-01 -8.50110962e-01 -1.89472814e-02 9.90887634e+02] [ 8.49535286e-01 5.26603473e-01 -3.12822759e-02 1.63951600e+02] [ 3.65711098e-02 3.66308545e-04 9.99330986e-01 3.77489918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.6792541539999 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:990.92, Y:164.00, Z:37.75 [[ 5.28355871e-01 -8.48811769e-01 -1.89381486e-02 9.90918375e+02] [ 8.48235057e-01 5.28694961e-01 -3.12878039e-02 1.64001413e+02] [ 3.65699599e-02 4.67093336e-04 9.99330986e-01 3.77525689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.739254154 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:990.95, Y:164.05, Z:37.75 [[ 5.30303078e-01 -8.47596777e-01 -1.89301349e-02 9.90948472e+02] [ 8.47019114e-01 5.30640547e-01 -3.12926517e-02 1.64050990e+02] [ 3.65686478e-02 5.60403433e-04 9.99330986e-01 3.77549882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.799254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:990.98, Y:164.10, Z:37.76 [[ 5.32133095e-01 -8.46449168e-01 -1.89255175e-02 9.90979143e+02] [ 8.45870679e-01 5.32469145e-01 -3.12954440e-02 1.64101632e+02] [ 3.65672566e-02 6.44801088e-04 9.99330986e-01 3.77562595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.859254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:991.01, Y:164.15, Z:37.76 [[ 5.32648394e-01 -8.46125171e-01 -1.89177793e-02 9.91009013e+02] [ 8.45546312e-01 5.32983806e-01 -3.13001209e-02 1.64150979e+02] [ 3.65666902e-02 6.76100641e-04 9.99330986e-01 3.77570894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.9192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:991.04, Y:164.20, Z:37.75 [[ 5.28708556e-01 -8.48592790e-01 -1.89086988e-02 9.91036114e+02] [ 8.48015301e-01 5.29046320e-01 -3.13056056e-02 1.64204113e+02] [ 3.65692887e-02 5.16675598e-04 9.99330986e-01 3.77531669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.979254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:991.07, Y:164.25, Z:37.76 [[ 5.31579569e-01 -8.46797458e-01 -1.89004442e-02 9.91070200e+02] [ 8.46218651e-01 5.31915070e-01 -3.13105884e-02 1.64250675e+02] [ 3.65671578e-02 6.50160687e-04 9.99330986e-01 3.77585830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.039254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:991.10, Y:164.30, Z:37.76 [[ 5.28269716e-01 -8.48866297e-01 -1.88975523e-02 9.91098819e+02] [ 8.48288741e-01 5.28607368e-01 -3.13123338e-02 1.64302075e+02] [ 3.65693702e-02 5.10776863e-04 9.99330986e-01 3.77580927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.099254154 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:991.13, Y:164.35, Z:37.76 [[ 5.29213692e-01 -8.48278292e-01 -1.88893450e-02 9.91132392e+02] [ 8.47700185e-01 5.29550398e-01 -3.13172840e-02 1.64348864e+02] [ 3.65686324e-02 5.61034227e-04 9.99330986e-01 3.77597004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.1592541539999 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:991.16, Y:164.40, Z:37.76 [[ 5.27838139e-01 -8.49135106e-01 -1.88804521e-02 9.91162763e+02] [ 8.48557353e-01 5.28175454e-01 -3.13226445e-02 1.64396826e+02] [ 3.65693484e-02 5.12139961e-04 9.99330986e-01 3.77643942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.219254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:991.19, Y:164.45, Z:37.77 [[ 5.26213461e-01 -8.50143038e-01 -1.88734864e-02 9.91194117e+02] [ 8.49565781e-01 5.26551623e-01 -3.13268411e-02 1.64446882e+02] [ 3.65701608e-02 4.50337247e-04 9.99330986e-01 3.77688800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.279254154 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:991.23, Y:164.50, Z:37.78 [[ 5.24722767e-01 -8.51064101e-01 -1.88656701e-02 9.91226780e+02] [ 8.50487269e-01 5.25061653e-01 -3.13315475e-02 1.64495439e+02] [ 3.65707953e-02 3.95364052e-04 9.99330987e-01 3.77756806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.339254154 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:991.25, Y:164.55, Z:37.77 [[ 5.22744507e-01 -8.52280812e-01 -1.88573242e-02 9.91254902e+02] [ 8.51704587e-01 5.23084425e-01 -3.13365698e-02 1.64545262e+02] [ 3.65715298e-02 3.20150215e-04 9.99330987e-01 3.77707325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.399254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:991.28, Y:164.60, Z:37.78 [[ 5.20902576e-01 -8.53407913e-01 -1.88531350e-02 9.91284804e+02] [ 8.52832333e-01 5.21243584e-01 -3.13390900e-02 1.64595374e+02] [ 3.65721030e-02 2.46049593e-04 9.99330987e-01 3.77760375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.459254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:991.31, Y:164.65, Z:37.78 [[ 5.20163185e-01 -8.53858980e-01 -1.88441950e-02 9.91314454e+02] [ 8.53283501e-01 5.20504363e-01 -3.13444647e-02 1.64645393e+02] [ 3.65722384e-02 2.24795843e-04 9.99330987e-01 3.77780220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.519254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:991.34, Y:164.69, Z:37.78 [[ 5.18953006e-01 -8.54595230e-01 -1.88353269e-02 9.91344146e+02] [ 8.54020042e-01 5.19294674e-01 -3.13497927e-02 1.64694876e+02] [ 3.65724683e-02 1.83322507e-04 9.99330987e-01 3.77802138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.579254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:991.37, Y:164.74, Z:37.78 [[ 5.17022252e-01 -8.55764894e-01 -1.88265320e-02 9.91372837e+02] [ 8.55190286e-01 5.17364895e-01 -3.13550735e-02 1.64744410e+02] [ 3.65727579e-02 1.11003465e-04 9.99330987e-01 3.77818994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.639254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:991.40, Y:164.79, Z:37.78 [[ 5.16195211e-01 -8.56264178e-01 -1.88191939e-02 9.91401862e+02] [ 8.55689741e-01 5.16538140e-01 -3.13594771e-02 1.64794415e+02] [ 3.65728284e-02 8.42207157e-05 9.99330987e-01 3.77829814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.699254154 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:991.43, Y:164.85, Z:37.79 [[ 5.14541678e-01 -8.57259016e-01 -1.88106520e-02 9.91431573e+02] [ 8.56685055e-01 5.14885403e-01 -3.13646001e-02 1.64845321e+02] [ 3.65729164e-02 2.35894999e-05 9.99330987e-01 3.77865832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.759254154 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:991.46, Y:164.90, Z:37.79 [[ 5.11732530e-01 -8.58939039e-01 -1.88027817e-02 9.91460652e+02] [ 8.58366033e-01 5.12077845e-01 -3.13693175e-02 1.64895151e+02] [ 3.65728194e-02 -8.69689208e-05 9.99330987e-01 3.77903620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.819254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:991.49, Y:164.95, Z:37.80 [[ 5.07507669e-01 -8.61442256e-01 -1.87937640e-02 9.91490302e+02] [ 8.60870753e-01 5.07855465e-01 -3.13747193e-02 1.64946221e+02] [ 3.65720247e-02 -2.56091137e-04 9.99330987e-01 3.77950993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.879254154 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:991.52, Y:165.00, Z:37.80 [[ 5.04253452e-01 -8.63351349e-01 -1.87857504e-02 9.91519281e+02] [ 8.62780984e-01 5.04603111e-01 -3.13795167e-02 1.64996087e+02] [ 3.65708962e-02 -3.84758608e-04 9.99330987e-01 3.77980138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.939254154 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:991.55, Y:165.05, Z:37.80 [[ 4.99993916e-01 -8.65825342e-01 -1.87765996e-02 9.91547467e+02] [ 8.65256501e-01 5.00346050e-01 -3.13849913e-02 1.65045376e+02] [ 3.65687183e-02 -5.54270186e-04 9.99330987e-01 3.77991645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.999254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:991.58, Y:165.10, Z:37.80 [[ 4.97471955e-01 -8.67276960e-01 -1.87704366e-02 9.91575825e+02] [ 8.66709007e-01 4.97825520e-01 -3.13886768e-02 1.65096887e+02] [ 3.65670785e-02 -6.53519997e-04 9.99330987e-01 3.78007524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.059254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:991.60, Y:165.15, Z:37.80 [[ 4.98264086e-01 -8.66822284e-01 -1.87623955e-02 9.91603388e+02] [ 8.66253828e-01 4.98616841e-01 -3.13934826e-02 1.65148264e+02] [ 3.65678167e-02 -6.10751975e-04 9.99330987e-01 3.78026295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.119254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:991.63, Y:165.20, Z:37.81 [[ 5.01385319e-01 -8.65020845e-01 -1.87536380e-02 9.91630892e+02] [ 8.64450926e-01 5.01735705e-01 -3.13987132e-02 1.65200622e+02] [ 3.65699112e-02 -4.68745942e-04 9.99330987e-01 3.78055540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.1792541539999 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:991.66, Y:165.25, Z:37.81 [[ 5.04561793e-01 -8.63172052e-01 -1.87458003e-02 9.91658356e+02] [ 8.62600675e-01 5.04909796e-01 -3.14033918e-02 1.65252052e+02] [ 3.65714684e-02 -3.25188325e-04 9.99330987e-01 3.78071259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.239254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:991.68, Y:165.30, Z:37.81 [[ 5.10643193e-01 -8.59588534e-01 -1.87371660e-02 9.91684363e+02] [ 8.59014525e-01 5.10986838e-01 -3.14085427e-02 1.65304664e+02] [ 3.65728684e-02 -5.69392454e-05 9.99330987e-01 3.78093629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.299254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:991.71, Y:165.36, Z:37.81 [[ 5.15797523e-01 -8.56505770e-01 -1.87291661e-02 9.91711859e+02] [ 8.55929534e-01 5.16137420e-01 -3.14133124e-02 1.65356652e+02] [ 3.65725068e-02 1.72062297e-04 9.99330987e-01 3.78131237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.359254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:991.74, Y:165.41, Z:37.82 [[ 5.20328195e-01 -8.53761143e-01 -1.87211296e-02 9.91739170e+02] [ 8.53182942e-01 5.20664739e-01 -3.14181011e-02 1.65408880e+02] [ 3.65709860e-02 3.75175381e-04 9.99330987e-01 3.78161626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.4192541539999 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:991.77, Y:165.46, Z:37.82 [[ 5.25429272e-01 -8.50631471e-01 -1.87131254e-02 9.91766203e+02] [ 8.50051096e-01 5.25762054e-01 -3.14228678e-02 1.65459937e+02] [ 3.65679315e-02 6.03381783e-04 9.99330987e-01 3.78192581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.479254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:991.79, Y:165.51, Z:37.82 [[ 5.29100318e-01 -8.48353120e-01 -1.87039516e-02 9.91794114e+02] [ 8.47771120e-01 5.29430248e-01 -3.14283275e-02 1.65510979e+02] [ 3.65647574e-02 7.72068062e-04 9.99330987e-01 3.78189341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.539254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:991.82, Y:165.56, Z:37.82 [[ 5.32423690e-01 -8.46271433e-01 -1.86996093e-02 9.91822690e+02] [ 8.45688054e-01 5.32751175e-01 -3.14309109e-02 1.65561527e+02] [ 3.65613208e-02 9.20525413e-04 9.99330987e-01 3.78197843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.599254154 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:991.85, Y:165.61, Z:37.82 [[ 5.32871663e-01 -8.45989627e-01 -1.86906796e-02 9.91853508e+02] [ 8.45405888e-01 5.33198507e-01 -3.14362201e-02 1.65611594e+02] [ 3.65605586e-02 9.50260323e-04 9.99330987e-01 3.78213025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.6592541539999 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:991.88, Y:165.66, Z:37.82 [[ 5.30562022e-01 -8.47440198e-01 -1.86829275e-02 9.91883730e+02] [ 8.46857191e-01 5.30890170e-01 -3.14408266e-02 1.65660858e+02] [ 3.65628029e-02 8.59537072e-04 9.99330988e-01 3.78242480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.719254154 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:991.92, Y:165.71, Z:37.83 [[ 5.26788766e-01 -8.49791082e-01 -1.86738596e-02 9.91915170e+02] [ 8.49209350e-01 5.27119167e-01 -3.14462114e-02 1.65709551e+02] [ 3.65660594e-02 7.07494733e-04 9.99330988e-01 3.78260741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.779254154 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:991.95, Y:165.76, Z:37.83 [[ 5.22978800e-01 -8.52141206e-01 -1.86692196e-02 9.91945906e+02] [ 8.51560860e-01 5.23311631e-01 -3.14489659e-02 1.65758418e+02] [ 3.65687795e-02 5.49165726e-04 9.99330988e-01 3.78280271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.839254154 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:991.98, Y:165.81, Z:37.83 [[ 5.16334443e-01 -8.56183687e-01 -1.86611225e-02 9.91977287e+02] [ 8.55605774e-01 5.16671481e-01 -3.14537698e-02 1.65806855e+02] [ 3.65718744e-02 2.74100578e-04 9.99330988e-01 3.78294579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.899254154 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:992.01, Y:165.85, Z:37.83 [[ 5.08448709e-01 -8.60890245e-01 -1.86519905e-02 9.92009528e+02] [ 8.60315254e-01 5.08790708e-01 -3.14591841e-02 1.65854426e+02] [ 3.65728642e-02 -5.12103708e-05 9.99330988e-01 3.78309042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.959254154 meters Centerline goodness : 0.999714 with order 1 Centerline is valid? [True, True] Translation: X:992.04, Y:165.90, Z:37.84 [[ 5.02147255e-01 -8.64581133e-01 -1.86440129e-02 9.92044091e+02] [ 8.64008479e-01 5.02493154e-01 -3.14639113e-02 1.65901766e+02] [ 3.65715929e-02 -3.09068503e-04 9.99330988e-01 3.78384708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.019254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:992.07, Y:165.95, Z:37.84 [[ 4.92110018e-01 -8.70333527e-01 -1.86355017e-02 9.92072300e+02] [ 8.69764724e-01 4.92462212e-01 -3.14689515e-02 1.65952127e+02] [ 3.65657639e-02 -7.22315712e-04 9.99330988e-01 3.78350728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.079254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:992.10, Y:166.00, Z:37.84 [[ 4.85120952e-01 -8.74248537e-01 -1.86321670e-02 9.92102882e+02] [ 8.73682498e-01 4.85477572e-01 -3.14709258e-02 1.66001266e+02] [ 3.65589100e-02 -1.01139273e-03 9.99330988e-01 3.78356171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.139254154 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:992.13, Y:166.05, Z:37.84 [[ 4.73145053e-01 -8.80787668e-01 -1.86237209e-02 9.92133961e+02] [ 8.80226353e-01 4.73509063e-01 -3.14759232e-02 1.66049076e+02] [ 3.65421056e-02 -1.50041260e-03 9.99330988e-01 3.78400641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.199254154 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:992.16, Y:166.10, Z:37.84 [[ 4.65377473e-01 -8.84916531e-01 -1.86155967e-02 9.92163254e+02] [ 8.84358251e-01 4.65746120e-01 -3.14807273e-02 1.66097770e+02] [ 3.65279579e-02 -1.81243520e-03 9.99330988e-01 3.78408756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.259254154 meters Centerline goodness : 0.995192 with order 1 Centerline is valid? [True, True] Translation: X:992.19, Y:166.15, Z:37.84 [[ 4.60123834e-01 -8.87659756e-01 -1.86068428e-02 9.92190038e+02] [ 8.87103464e-01 4.60495475e-01 -3.14859005e-02 1.66147032e+02] [ 3.65171337e-02 -2.01878140e-03 9.99330988e-01 3.78400153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.319254154 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:992.22, Y:166.20, Z:37.85 [[ 4.59872352e-01 -8.87790317e-01 -1.85949544e-02 9.92216658e+02] [ 8.87233850e-01 4.60243730e-01 -3.14929200e-02 1.66198265e+02] [ 3.65173206e-02 -2.01534980e-03 9.99330988e-01 3.78476297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.379254154 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:992.24, Y:166.25, Z:37.85 [[ 4.67136327e-01 -8.83989972e-01 -1.85844313e-02 9.92241766e+02] [ 8.83430234e-01 4.67502756e-01 -3.14991286e-02 1.66251169e+02] [ 3.65331867e-02 -1.70366126e-03 9.99330988e-01 3.78456932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.439254154 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:992.26, Y:166.31, Z:37.85 [[ 4.77330120e-01 -8.78527689e-01 -1.85756664e-02 9.92264027e+02] [ 8.77963550e-01 4.77689736e-01 -3.15042966e-02 1.66305003e+02] [ 3.65508021e-02 -1.27080830e-03 9.99330988e-01 3.78503048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.499254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:992.28, Y:166.36, Z:37.85 [[ 4.87580555e-01 -8.72880581e-01 -1.85659313e-02 9.92283569e+02] [ 8.72312053e-01 4.87933192e-01 -3.15100326e-02 1.66362043e+02] [ 3.65634297e-02 -8.31606417e-04 9.99330988e-01 3.78475562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.559254154 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:992.31, Y:166.41, Z:37.86 [[ 4.99448187e-01 -8.66144981e-01 -1.85574913e-02 9.92311544e+02] [ 8.65571509e-01 4.99792725e-01 -3.15150024e-02 1.66413045e+02] [ 3.65714603e-02 -3.22724910e-04 9.99330988e-01 3.78554646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.619254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:992.33, Y:166.47, Z:37.86 [[ 5.10343116e-01 -8.59770802e-01 -1.85491835e-02 9.92332265e+02] [ 8.59192848e-01 5.10680082e-01 -3.15198915e-02 1.66468601e+02] [ 3.65725810e-02 1.48633837e-04 9.99330988e-01 3.78556115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.6792541539999 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:992.36, Y:166.52, Z:37.86 [[ 5.20118720e-01 -8.53892626e-01 -1.85445361e-02 9.92356993e+02] [ 8.53310769e-01 5.20448899e-01 -3.15226255e-02 1.66519741e+02] [ 3.65684209e-02 5.71255250e-04 9.99330988e-01 3.78607522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.739254154 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:992.38, Y:166.57, Z:37.86 [[ 5.23490807e-01 -8.51829590e-01 -1.85398469e-02 9.92381130e+02] [ 8.51246333e-01 5.23818509e-01 -3.15253832e-02 1.66573994e+02] [ 3.65657692e-02 7.21271567e-04 9.99330988e-01 3.78598258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.799254154 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:992.41, Y:166.62, Z:37.86 [[ 5.26146434e-01 -8.50192049e-01 -1.85313189e-02 9.92409543e+02] [ 8.49607597e-01 5.26471998e-01 -3.15303954e-02 1.66624464e+02] [ 3.65631120e-02 8.45255724e-04 9.99330988e-01 3.78627392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.859254154 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:992.44, Y:166.67, Z:37.86 [[ 5.25423386e-01 -8.50639152e-01 -1.85283262e-02 9.92436301e+02] [ 8.50054915e-01 5.25749337e-01 -3.15321539e-02 1.66674646e+02] [ 3.65637399e-02 8.17636378e-04 9.99330988e-01 3.78625432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.9192541539999 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:992.46, Y:166.72, Z:37.86 [[ 5.22474408e-01 -8.52453796e-01 -1.85207658e-02 9.92464808e+02] [ 8.51870534e-01 5.22802101e-01 -3.15365939e-02 1.66724993e+02] [ 3.65661845e-02 6.99768596e-04 9.99330988e-01 3.78632166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.979254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:992.50, Y:166.77, Z:37.87 [[ 5.17957281e-01 -8.55206155e-01 -1.85118230e-02 9.92495457e+02] [ 8.54624448e-01 5.18287724e-01 -3.15418425e-02 1.66774031e+02] [ 3.65692284e-02 5.16670453e-04 9.99330989e-01 3.78660232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.039254154 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:992.53, Y:166.82, Z:37.87 [[ 5.08731101e-01 -8.60726623e-01 -1.85025992e-02 9.92526659e+02] [ 8.60148306e-01 5.09067443e-01 -3.15472523e-02 1.66824052e+02] [ 3.65726308e-02 1.34089000e-04 9.99330989e-01 3.78655860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.099254154 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:992.56, Y:166.87, Z:37.87 [[ 5.03672481e-01 -8.63696707e-01 -1.84940620e-02 9.92556711e+02] [ 8.63120190e-01 5.04011898e-01 -3.15522563e-02 1.66872795e+02] [ 3.65728071e-02 -7.05951334e-05 9.99330989e-01 3.78681966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.1592541539999 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:992.59, Y:166.92, Z:37.87 [[ 4.98770077e-01 -8.66537114e-01 -1.84889197e-02 9.92588456e+02] [ 8.65962418e-01 4.99112569e-01 -3.15552692e-02 1.66921767e+02] [ 3.65718642e-02 -2.71885576e-04 9.99330989e-01 3.78732825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.219254154 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:992.62, Y:166.97, Z:37.88 [[ 4.96881616e-01 -8.67621559e-01 -1.84794296e-02 9.92620441e+02] [ 8.67047404e-01 4.97225013e-01 -3.15608259e-02 1.66970641e+02] [ 3.65712876e-02 -3.40547329e-04 9.99330989e-01 3.78771910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.279254154 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:992.65, Y:167.02, Z:37.88 [[ 4.95101846e-01 -8.68638607e-01 -1.84697856e-02 9.92651430e+02] [ 8.68064946e-01 4.95446069e-01 -3.15664687e-02 1.67019279e+02] [ 3.65706360e-02 -4.04356561e-04 9.99330989e-01 3.78794817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.339254154 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:992.68, Y:167.07, Z:37.88 [[ 4.93245567e-01 -8.69694216e-01 -1.84602424e-02 9.92681512e+02] [ 8.69121084e-01 4.93590668e-01 -3.15720486e-02 1.67069344e+02] [ 3.65698314e-02 -4.71412836e-04 9.99330989e-01 3.78814372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.399254154 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:992.71, Y:167.12, Z:37.88 [[ 4.93323125e-01 -8.69650426e-01 -1.84507608e-02 9.92712687e+02] [ 8.69077056e-01 4.93667831e-01 -3.15775887e-02 1.67117896e+02] [ 3.65700105e-02 -4.57178168e-04 9.99330989e-01 3.78830774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.459254154 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:992.74, Y:167.17, Z:37.89 [[ 4.95263212e-01 -8.68547219e-01 -1.84412417e-02 9.92743130e+02] [ 8.67972874e-01 4.95606291e-01 -3.15831469e-02 1.67166592e+02] [ 3.65710498e-02 -3.64526799e-04 9.99330989e-01 3.78857324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.519254154 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:992.77, Y:167.22, Z:37.88 [[ 4.94804357e-01 -8.68808886e-01 -1.84328024e-02 9.92770087e+02] [ 8.68234538e-01 4.95147433e-01 -3.15880715e-02 1.67218613e+02] [ 3.65709520e-02 -3.74080270e-04 9.99330989e-01 3.78843732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.579254154 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:992.80, Y:167.27, Z:37.89 [[ 4.95873653e-01 -8.68199223e-01 -1.84235894e-02 9.92798962e+02] [ 8.67624254e-01 4.96215686e-01 -3.15934440e-02 1.67269465e+02] [ 3.65714776e-02 -3.18396527e-04 9.99330989e-01 3.78862707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.639254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:992.83, Y:167.32, Z:37.89 [[ 4.97882056e-01 -8.67049235e-01 -1.84142090e-02 9.92826767e+02] [ 8.66473274e-01 4.98222415e-01 -3.15989104e-02 1.67321101e+02] [ 3.65721828e-02 -2.22889444e-04 9.99330989e-01 3.78863135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.699254154 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:992.86, Y:167.37, Z:37.89 [[ 5.00633990e-01 -8.65463375e-01 -1.84053050e-02 9.92856351e+02] [ 8.64886145e-01 5.00972193e-01 -3.16040959e-02 1.67371570e+02] [ 3.65727335e-02 -9.64086725e-05 9.99330989e-01 3.78872511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.759254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:992.89, Y:167.42, Z:37.90 [[ 5.08969409e-01 -8.60588020e-01 -1.83956593e-02 9.92888447e+02] [ 8.60007348e-01 5.09301667e-01 -3.16097093e-02 1.67419065e+02] [ 3.65718771e-02 2.67972953e-04 9.99330989e-01 3.78965557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.819254154 meters Centerline goodness : 0.999721 with order 1 Centerline is valid? [True, True] Translation: X:992.91, Y:167.47, Z:37.89 [[ 5.11116341e-01 -8.59314773e-01 -1.83903928e-02 9.92914514e+02] [ 8.58733163e-01 5.11446954e-01 -3.16127731e-02 1.67470926e+02] [ 3.65710333e-02 3.65364744e-04 9.99330989e-01 3.78913051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.879254154 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:992.94, Y:167.52, Z:37.89 [[ 5.16441474e-01 -8.56125201e-01 -1.83805543e-02 9.92944422e+02] [ 8.55541346e-01 5.16768107e-01 -3.16184924e-02 1.67519705e+02] [ 3.65678724e-02 6.03776671e-04 9.99330989e-01 3.78941302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.939254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:992.98, Y:167.57, Z:37.90 [[ 5.19787315e-01 -8.54098063e-01 -1.83751318e-02 9.92975200e+02] [ 8.53512824e-01 5.20111460e-01 -3.16216434e-02 1.67568689e+02] [ 3.65651010e-02 7.53118449e-04 9.99330989e-01 3.78963880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.999254154 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:993.01, Y:167.62, Z:37.90 [[ 5.22055509e-01 -8.52713757e-01 -1.83655581e-02 9.93005649e+02] [ 8.52127463e-01 5.22377743e-01 -3.16272027e-02 1.67616674e+02] [ 3.65627096e-02 8.61358991e-04 9.99330989e-01 3.78999536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.059254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:993.04, Y:167.67, Z:37.90 [[ 5.21143328e-01 -8.53271728e-01 -1.83572693e-02 9.93035555e+02] [ 8.52685610e-01 5.21465882e-01 -3.16320130e-02 1.67667603e+02] [ 3.65633920e-02 8.31833161e-04 9.99330989e-01 3.78978463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.119254154 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:993.07, Y:167.72, Z:37.90 [[ 5.22087074e-01 -8.52694801e-01 -1.83484040e-02 9.93068080e+02] [ 8.52108146e-01 5.22408650e-01 -3.16371546e-02 1.67715024e+02] [ 3.65622022e-02 8.82524941e-04 9.99330989e-01 3.79026116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.1792541539999 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:993.10, Y:167.76, Z:37.90 [[ 5.19828627e-01 -8.54073602e-01 -1.83434145e-02 9.93101000e+02] [ 8.53487699e-01 5.20151570e-01 -3.16400473e-02 1.67762809e+02] [ 3.65642850e-02 7.91523700e-04 9.99330989e-01 3.79040532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.239254154 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:993.13, Y:167.81, Z:37.91 [[ 5.17560724e-01 -8.55450030e-01 -1.83341972e-02 9.93133497e+02] [ 8.54864797e-01 5.17884879e-01 -3.16453874e-02 1.67811224e+02] [ 3.65660511e-02 7.05149873e-04 9.99330990e-01 3.79061484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.299254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:993.17, Y:167.86, Z:37.90 [[ 5.11508311e-01 -8.59082910e-01 -1.83249244e-02 9.93165776e+02] [ 8.58499787e-01 5.11836248e-01 -3.16507561e-02 1.67860672e+02] [ 3.65699842e-02 4.57681110e-04 9.99330990e-01 3.79042658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.359254154 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:993.20, Y:167.91, Z:37.91 [[ 5.08069757e-01 -8.61121136e-01 -1.83169604e-02 9.93201374e+02] [ 8.60539163e-01 5.08399731e-01 -3.16553644e-02 1.67905426e+02] [ 3.65714411e-02 3.20671535e-04 9.99330990e-01 3.79122976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.4192541539999 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:993.24, Y:167.95, Z:37.92 [[ 5.02309671e-01 -8.64493956e-01 -1.83082897e-02 9.93235951e+02] [ 8.63914017e-01 5.02643205e-01 -3.16603784e-02 1.67952277e+02] [ 3.65727432e-02 8.65262093e-05 9.99330990e-01 3.79154231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.479254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:993.27, Y:168.00, Z:37.92 [[ 4.99597903e-01 -8.66064129e-01 -1.82992008e-02 9.93268401e+02] [ 8.65485045e-01 4.99932920e-01 -3.16656308e-02 1.68000960e+02] [ 3.65728398e-02 -1.76018757e-05 9.99330990e-01 3.79184749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.539254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:993.30, Y:168.05, Z:37.92 [[ 4.97598003e-01 -8.67214911e-01 -1.82900327e-02 9.93300928e+02] [ 8.66636407e-01 4.97934022e-01 -3.16709254e-02 1.68047549e+02] [ 3.65727283e-02 -9.14190402e-05 9.99330990e-01 3.79217089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.599254154 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:993.33, Y:168.10, Z:37.92 [[ 4.97222572e-01 -8.67430394e-01 -1.82818579e-02 9.93333265e+02] [ 8.66851862e-01 4.97558542e-01 -3.16756436e-02 1.68096201e+02] [ 3.65727105e-02 -9.78175772e-05 9.99330990e-01 3.79212816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.6592541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:993.36, Y:168.14, Z:37.93 [[ 4.99514016e-01 -8.66113076e-01 -1.82725691e-02 9.93364304e+02] [ 8.65533463e-01 4.99848116e-01 -3.16810010e-02 1.68144928e+02] [ 3.65728385e-02 9.58406259e-06 9.99330990e-01 3.79251033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.719254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:993.39, Y:168.19, Z:37.92 [[ 5.01469896e-01 -8.64982307e-01 -1.82634035e-02 9.93394572e+02] [ 8.64401748e-01 5.01802349e-01 -3.16862839e-02 1.68194192e+02] [ 3.65726937e-02 1.02799529e-04 9.99330990e-01 3.79241018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.779254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:993.42, Y:168.24, Z:37.93 [[ 5.02406975e-01 -8.64438554e-01 -1.82542445e-02 9.93424672e+02] [ 8.63857443e-01 5.02738464e-01 -3.16915595e-02 1.68243512e+02] [ 3.65725167e-02 1.52995556e-04 9.99330990e-01 3.79267935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.839254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:993.46, Y:168.29, Z:37.93 [[ 5.02769108e-01 -8.64228176e-01 -1.82451045e-02 9.93455003e+02] [ 8.63646736e-01 5.03100017e-01 -3.16968206e-02 1.68291752e+02] [ 3.65723978e-02 1.78857233e-04 9.99330990e-01 3.79289774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.899254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:993.48, Y:168.34, Z:37.93 [[ 5.02955173e-01 -8.64120078e-01 -1.82369155e-02 9.93483317e+02] [ 8.63538396e-01 5.03285657e-01 -3.17015314e-02 1.68341475e+02] [ 3.65723078e-02 1.96172419e-04 9.99330990e-01 3.79329666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.959254154 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:993.51, Y:168.39, Z:37.93 [[ 5.02881076e-01 -8.64163369e-01 -1.82289545e-02 9.93512099e+02] [ 8.63581549e-01 5.03211318e-01 -3.17061085e-02 1.68391559e+02] [ 3.65722738e-02 2.02213182e-04 9.99330990e-01 3.79327775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.019254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:993.54, Y:168.44, Z:37.94 [[ 5.03093010e-01 -8.64040198e-01 -1.82197470e-02 9.93540554e+02] [ 8.63458106e-01 5.03422771e-01 -3.17113987e-02 1.68441598e+02] [ 3.65721587e-02 2.21794766e-04 9.99330990e-01 3.79365806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.079254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:993.57, Y:168.49, Z:37.94 [[ 5.03535845e-01 -8.63782396e-01 -1.82105979e-02 9.93568480e+02] [ 8.63199945e-01 5.03864972e-01 -3.17166517e-02 1.68492868e+02] [ 3.65719678e-02 2.51083901e-04 9.99330990e-01 3.79377505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.139254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:993.59, Y:168.54, Z:37.94 [[ 5.05385673e-01 -8.62701586e-01 -1.82014975e-02 9.93594678e+02] [ 8.62118243e-01 5.05713217e-01 -3.17218734e-02 1.68544949e+02] [ 3.65712484e-02 3.39937350e-04 9.99330990e-01 3.79388683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.199254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:993.62, Y:168.60, Z:37.94 [[ 5.07662213e-01 -8.61364104e-01 -1.81922176e-02 9.93620732e+02] [ 8.60779708e-01 5.07987874e-01 -3.17271945e-02 1.68595343e+02] [ 3.65700924e-02 4.47205973e-04 9.99330990e-01 3.79410101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.259254154 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:993.65, Y:168.65, Z:37.94 [[ 5.08387550e-01 -8.60936370e-01 -1.81842292e-02 9.93646680e+02] [ 8.60351535e-01 5.08712424e-01 -3.17317723e-02 1.68645954e+02] [ 3.65695802e-02 4.87208515e-04 9.99330990e-01 3.79381203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.319254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:993.67, Y:168.70, Z:37.94 [[ 5.08616710e-01 -8.60801166e-01 -1.81767348e-02 9.93674173e+02] [ 8.60216093e-01 5.08941152e-01 -3.17360647e-02 1.68696803e+02] [ 3.65693299e-02 5.05573103e-04 9.99330990e-01 3.79422739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.379254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:993.70, Y:168.75, Z:37.95 [[ 5.07637970e-01 -8.61378906e-01 -1.81678628e-02 9.93702742e+02] [ 8.60794020e-01 5.07962750e-01 -3.17411429e-02 1.68747394e+02] [ 3.65697484e-02 4.74221694e-04 9.99330991e-01 3.79481251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.439254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:993.73, Y:168.80, Z:37.95 [[ 5.04576519e-01 -8.63175989e-01 -1.81589775e-02 9.93731737e+02] [ 8.62592077e-01 5.04903046e-01 -3.17462253e-02 1.68797274e+02] [ 3.65711025e-02 3.54609710e-04 9.99330991e-01 3.79513411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.499254154 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:993.76, Y:168.85, Z:37.95 [[ 4.99854579e-01 -8.65919153e-01 -1.81499215e-02 9.93760672e+02] [ 8.65336845e-01 5.00183959e-01 -3.17514019e-02 1.68847190e+02] [ 3.65724467e-02 1.65287852e-04 9.99330991e-01 3.79511955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.559254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:993.79, Y:168.90, Z:37.96 [[ 4.97012979e-01 -8.67553465e-01 -1.81406974e-02 9.93789545e+02] [ 8.66972047e-01 4.97343928e-01 -3.17566711e-02 1.68897186e+02] [ 3.65727757e-02 5.60001437e-05 9.99330991e-01 3.79552973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.619254154 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:993.82, Y:168.95, Z:37.96 [[ 4.96353558e-01 -8.67931098e-01 -1.81316182e-02 9.93818309e+02] [ 8.67349743e-01 4.96684617e-01 -3.17618541e-02 1.68947242e+02] [ 3.65727967e-02 3.86548780e-05 9.99330991e-01 3.79573583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.6792541539999 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:993.85, Y:169.00, Z:37.96 [[ 4.97408500e-01 -8.67327137e-01 -1.81223945e-02 9.93846483e+02] [ 8.66745189e-01 4.97738514e-01 -3.17671160e-02 1.68997046e+02] [ 3.65726955e-02 9.37352648e-05 9.99330991e-01 3.79588865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.739254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:993.87, Y:169.05, Z:37.96 [[ 4.99637628e-01 -8.66045093e-01 -1.81145800e-02 9.93874770e+02] [ 8.65462136e-01 4.99965857e-01 -3.17715714e-02 1.69048030e+02] [ 3.65722850e-02 1.96789489e-04 9.99330991e-01 3.79619377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.799254154 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:993.90, Y:169.10, Z:37.96 [[ 5.02696935e-01 -8.64273091e-01 -1.81057068e-02 9.93902000e+02] [ 8.63688795e-01 5.03022774e-01 -3.17766272e-02 1.69099489e+02] [ 3.65712667e-02 3.36317031e-04 9.99330991e-01 3.79648146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.859254154 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:993.93, Y:169.15, Z:37.97 [[ 5.04612859e-01 -8.63156057e-01 -1.80965089e-02 9.93930035e+02] [ 8.62570852e-01 5.04937064e-01 -3.17818644e-02 1.69150433e+02] [ 3.65703069e-02 4.28016357e-04 9.99330991e-01 3.79663372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.9192541539999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:993.96, Y:169.20, Z:37.97 [[ 5.07551091e-01 -8.61431795e-01 -1.80873704e-02 9.93958238e+02] [ 8.60845304e-01 5.07872962e-01 -3.17870644e-02 1.69201684e+02] [ 3.65684743e-02 5.63131351e-04 9.99330991e-01 3.79692712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.979254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:993.99, Y:169.25, Z:37.97 [[ 5.08973607e-01 -8.60592266e-01 -1.80781313e-02 9.93987467e+02] [ 8.60005057e-01 5.09294168e-01 -3.17923181e-02 1.69252376e+02] [ 3.65673099e-02 6.34166511e-04 9.99330991e-01 3.79721275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.039254154 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:994.02, Y:169.30, Z:37.97 [[ 5.08965723e-01 -8.60597108e-01 -1.80695797e-02 9.94015733e+02] [ 8.60009730e-01 5.09285974e-01 -3.17971777e-02 1.69302368e+02] [ 3.65671427e-02 6.43659205e-04 9.99330991e-01 3.79702283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.099254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:994.05, Y:169.35, Z:37.98 [[ 5.09632006e-01 -8.60202872e-01 -1.80620702e-02 9.94045590e+02] [ 8.59615095e-01 5.09951524e-01 -3.18014429e-02 1.69352720e+02] [ 3.65664727e-02 6.80604935e-04 9.99330991e-01 3.79759543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.1592541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:994.07, Y:169.40, Z:37.98 [[ 5.09928589e-01 -8.60027268e-01 -1.80536174e-02 9.94074694e+02] [ 8.59439212e-01 5.10247591e-01 -3.18062408e-02 1.69402543e+02] [ 3.65660492e-02 7.02924727e-04 9.99330991e-01 3.79788872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.219254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:994.10, Y:169.45, Z:37.98 [[ 5.10079587e-01 -8.59937915e-01 -1.80443294e-02 9.94103841e+02] [ 8.59349617e-01 5.10398143e-01 -3.18115092e-02 1.69453094e+02] [ 3.65657151e-02 7.20013951e-04 9.99330991e-01 3.79811907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.279254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:994.13, Y:169.50, Z:37.98 [[ 5.10916076e-01 -8.59441389e-01 -1.80350233e-02 9.94132411e+02] [ 8.58852595e-01 5.11233715e-01 -3.18167842e-02 1.69502327e+02] [ 3.65647732e-02 7.66279966e-04 9.99330991e-01 3.79830321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.339254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:994.16, Y:169.55, Z:37.98 [[ 5.12515357e-01 -8.58488772e-01 -1.80287600e-02 9.94159858e+02] [ 8.57899264e-01 5.12831668e-01 -3.18203329e-02 1.69553311e+02] [ 3.65631176e-02 8.41549363e-04 9.99330991e-01 3.79838027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.399254154 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:994.19, Y:169.61, Z:37.98 [[ 5.14509495e-01 -8.57295325e-01 -1.80196001e-02 9.94185995e+02] [ 8.56704901e-01 5.14824095e-01 -3.18255192e-02 1.69605169e+02] [ 3.65607932e-02 9.37052077e-04 9.99330991e-01 3.79806864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.459254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:994.21, Y:169.66, Z:37.98 [[ 5.16141497e-01 -8.56313940e-01 -1.80108519e-02 9.94212881e+02] [ 8.55722747e-01 5.16454647e-01 -3.18304693e-02 1.69656309e+02] [ 3.65586628e-02 1.01673041e-03 9.99330991e-01 3.79842616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.519254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:994.24, Y:169.71, Z:37.99 [[ 5.16258496e-01 -8.56243598e-01 -1.80018304e-02 9.94239888e+02] [ 8.55652185e-01 5.16571230e-01 -3.18355707e-02 1.69707433e+02] [ 3.65582312e-02 1.03207835e-03 9.99330991e-01 3.79873661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.579254154 meters Centerline goodness : 0.999716 with order 1 Centerline is valid? [True, True] Translation: X:994.27, Y:169.76, Z:37.99 [[ 5.14970624e-01 -8.57018964e-01 -1.79930894e-02 9.94268047e+02] [ 8.56427850e-01 5.15283922e-01 -3.18405102e-02 1.69758279e+02] [ 3.65594707e-02 9.87144497e-04 9.99330992e-01 3.79886665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.639254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:994.30, Y:169.81, Z:38.00 [[ 5.12518397e-01 -8.58487894e-01 -1.79841427e-02 9.94297132e+02] [ 8.57897500e-01 5.12833052e-01 -3.18455626e-02 1.69808668e+02] [ 3.65618928e-02 8.92885639e-04 9.99330992e-01 3.79959531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.699254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:994.32, Y:169.86, Z:37.99 [[ 5.06591531e-01 -8.61998692e-01 -1.79798458e-02 9.94321922e+02] [ 8.61410395e-01 5.06910088e-01 -3.18479885e-02 1.69862243e+02] [ 3.65670896e-02 6.45895173e-04 9.99330992e-01 3.79873291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.759254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:994.35, Y:169.91, Z:37.99 [[ 5.02969893e-01 -8.64117073e-01 -1.79714037e-02 9.94351272e+02] [ 8.63529947e-01 5.03290604e-01 -3.18527515e-02 1.69912886e+02] [ 3.65693450e-02 5.02129690e-04 9.99330992e-01 3.79896568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.819254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:994.38, Y:169.96, Z:37.99 [[ 4.99277801e-01 -8.66255764e-01 -1.79618591e-02 9.94381702e+02] [ 8.65669819e-01 4.99600664e-01 -3.18581328e-02 1.69962935e+02] [ 3.65710480e-02 3.57019126e-04 9.99330992e-01 3.79913460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.879254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:994.41, Y:170.01, Z:37.99 [[ 4.95179952e-01 -8.68604931e-01 -1.79524160e-02 9.94410882e+02] [ 8.68020325e-01 4.95505233e-01 -3.18634533e-02 1.70011765e+02] [ 3.65722687e-02 1.95081262e-04 9.99330992e-01 3.79918558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.939254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:994.44, Y:170.06, Z:38.00 [[ 4.98077677e-01 -8.66946692e-01 -1.79460566e-02 9.94444284e+02] [ 8.66360874e-01 4.98400771e-01 -3.18670346e-02 1.70059289e+02] [ 3.65713487e-02 3.24497308e-04 9.99330992e-01 3.80029090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.999254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:994.47, Y:170.11, Z:38.01 [[ 4.98748146e-01 -8.66561208e-01 -1.79432147e-02 9.94473167e+02] [ 8.65975083e-01 4.99070682e-01 -3.18686347e-02 1.70109224e+02] [ 3.65710550e-02 3.56045650e-04 9.99330992e-01 3.80062398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.059254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:994.50, Y:170.16, Z:38.01 [[ 5.00211125e-01 -8.65717734e-01 -1.79341899e-02 9.94500986e+02] [ 8.65130883e-01 5.00532338e-01 -3.18737126e-02 1.70158847e+02] [ 3.65702803e-02 4.28164072e-04 9.99330992e-01 3.80064558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.119254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:994.53, Y:170.21, Z:38.01 [[ 5.01768602e-01 -8.64816122e-01 -1.79260753e-02 9.94529543e+02] [ 8.64228531e-01 5.02088459e-01 -3.18782757e-02 1.70209792e+02] [ 3.65693223e-02 5.03292126e-04 9.99330992e-01 3.80091243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.1792541539999 meters Centerline goodness : 0.998597 with order 1 Centerline is valid? [True, True] Translation: X:994.56, Y:170.26, Z:38.01 [[ 5.01631378e-01 -8.64895908e-01 -1.79172794e-02 9.94556597e+02] [ 8.64308191e-01 5.01951004e-01 -3.18832187e-02 1.70261526e+02] [ 3.65692618e-02 5.07571571e-04 9.99330992e-01 3.80074015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.239254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:994.58, Y:170.31, Z:38.02 [[ 5.04542150e-01 -8.63201359e-01 -1.79062269e-02 9.94584633e+02] [ 8.62612349e-01 5.04859386e-01 -3.18894248e-02 1.70311054e+02] [ 3.65671215e-02 6.43426432e-04 9.99330992e-01 3.80161912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.299254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:994.61, Y:170.36, Z:38.02 [[ 5.05261045e-01 -8.62781013e-01 -1.78941593e-02 9.94611561e+02] [ 8.62191499e-01 5.05577344e-01 -3.18961949e-02 1.70361389e+02] [ 3.65663128e-02 6.87712736e-04 9.99330992e-01 3.80167624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.359254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:994.64, Y:170.41, Z:38.02 [[ 5.04485721e-01 -8.63234718e-01 -1.78879497e-02 9.94639799e+02] [ 8.62645366e-01 5.04802321e-01 -3.18996769e-02 1.70412098e+02] [ 3.65667871e-02 6.61974555e-04 9.99330992e-01 3.80187277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.4192541539999 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:994.67, Y:170.46, Z:38.02 [[ 5.02228912e-01 -8.64549873e-01 -1.78784109e-02 9.94668513e+02] [ 8.63961160e-01 5.02546699e-01 -3.19050221e-02 1.70461492e+02] [ 3.65682192e-02 5.77371979e-04 9.99330992e-01 3.80186799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.479254154 meters Centerline goodness : 0.998704 with order 1 Centerline is valid? [True, True] Translation: X:994.70, Y:170.51, Z:38.02 [[ 4.99632545e-01 -8.66053096e-01 -1.78704961e-02 9.94697985e+02] [ 8.65465181e-01 4.99951805e-01 -3.19094547e-02 1.70511945e+02] [ 3.65696688e-02 4.76709894e-04 9.99330992e-01 3.80158715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.539254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:994.73, Y:170.56, Z:38.02 [[ 4.98134804e-01 -8.66915652e-01 -1.78597138e-02 9.94727126e+02] [ 8.66328073e-01 4.98454683e-01 -3.19154884e-02 1.70562263e+02] [ 3.65702944e-02 4.25844140e-04 9.99330992e-01 3.80249184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.599254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:994.76, Y:170.61, Z:38.03 [[ 4.96985363e-01 -8.67575343e-01 -1.78486219e-02 9.94755616e+02] [ 8.66987966e-01 4.97305612e-01 -3.19216903e-02 1.70613251e+02] [ 3.65706913e-02 3.90072405e-04 9.99330992e-01 3.80266325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.6592541539999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:994.78, Y:170.66, Z:38.03 [[ 4.96307686e-01 -8.67963384e-01 -1.78394203e-02 9.94783856e+02] [ 8.67376073e-01 4.96628056e-01 -3.19268318e-02 1.70663877e+02] [ 3.65708776e-02 3.72045731e-04 9.99330992e-01 3.80283441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.719254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:994.81, Y:170.72, Z:38.03 [[ 4.94855173e-01 -8.68792519e-01 -1.78302470e-02 9.94811552e+02] [ 8.68205560e-01 4.95176187e-01 -3.19319540e-02 1.70715963e+02] [ 3.65713565e-02 3.21373042e-04 9.99330993e-01 3.80279094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.779254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:994.84, Y:170.77, Z:38.03 [[ 4.96697857e-01 -8.67740524e-01 -1.78219604e-02 9.94838969e+02] [ 8.67152719e-01 4.97017320e-01 -3.19365783e-02 1.70767623e+02] [ 3.65704862e-02 4.08468592e-04 9.99330993e-01 3.80306659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.839254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:994.87, Y:170.82, Z:38.04 [[ 5.00595193e-01 -8.65498223e-01 -1.78123280e-02 9.94868302e+02] [ 8.64908797e-01 5.00911654e-01 -3.19419498e-02 1.70817946e+02] [ 3.65681035e-02 5.83947314e-04 9.99330993e-01 3.80360207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.899254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:994.90, Y:170.87, Z:38.04 [[ 5.03354031e-01 -8.63896831e-01 -1.78040661e-02 9.94895584e+02] [ 8.63306236e-01 5.03668304e-01 -3.19465542e-02 1.70869505e+02] [ 3.65658707e-02 7.10065552e-04 9.99330993e-01 3.80393444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.959254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:994.92, Y:170.92, Z:38.04 [[ 5.03443409e-01 -8.63844935e-01 -1.77949900e-02 9.94923654e+02] [ 8.63254129e-01 5.03757286e-01 -3.19516090e-02 1.70920972e+02] [ 3.65655915e-02 7.24228350e-04 9.99330993e-01 3.80393569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.019254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:994.95, Y:170.97, Z:38.04 [[ 5.01355993e-01 -8.65058268e-01 -1.77865345e-02 9.94949210e+02] [ 8.64468055e-01 5.01670983e-01 -3.19563152e-02 1.70973692e+02] [ 3.65670630e-02 6.45599215e-04 9.99330993e-01 3.80402350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.079254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:994.98, Y:171.02, Z:38.05 [[ 5.04147679e-01 -8.63434401e-01 -1.77806899e-02 9.94980553e+02] [ 8.62843059e-01 5.04460545e-01 -3.19595669e-02 1.71022406e+02] [ 3.65646460e-02 7.70396639e-04 9.99330993e-01 3.80464609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.139254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:995.01, Y:171.07, Z:38.05 [[ 5.03778185e-01 -8.63650098e-01 -1.77777322e-02 9.95007762e+02] [ 8.63058832e-01 5.04091195e-01 -3.19612120e-02 1.71072359e+02] [ 3.65649022e-02 7.58132590e-04 9.99330993e-01 3.80481175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.199254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:995.04, Y:171.12, Z:38.05 [[ 5.03833699e-01 -8.63617881e-01 -1.77696545e-02 9.95035541e+02] [ 8.63026436e-01 5.04146372e-01 -3.19657024e-02 1.71122882e+02] [ 3.65646590e-02 7.69716515e-04 9.99330993e-01 3.80511441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.259254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:995.06, Y:171.17, Z:38.05 [[ 5.03569153e-01 -8.63772350e-01 -1.77605243e-02 9.95063468e+02] [ 8.63180823e-01 5.03881670e-01 -3.19707745e-02 1.71172891e+02] [ 3.65646736e-02 7.68951825e-04 9.99330993e-01 3.80513803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.319254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:995.09, Y:171.22, Z:38.06 [[ 5.01824629e-01 -8.64787156e-01 -1.77543153e-02 9.95092124e+02] [ 8.64196140e-01 5.02138110e-01 -3.19742222e-02 1.71223139e+02] [ 3.65660150e-02 7.02241444e-04 9.99330993e-01 3.80557253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.379254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:995.12, Y:171.27, Z:38.06 [[ 4.98829010e-01 -8.66518732e-01 -1.77455657e-02 9.95121186e+02] [ 8.65928632e-01 4.99144211e-01 -3.19790774e-02 1.71273736e+02] [ 3.65680660e-02 5.85698160e-04 9.99330993e-01 3.80575063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.439254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:995.15, Y:171.33, Z:38.06 [[ 4.93481342e-01 -8.69575516e-01 -1.77366083e-02 9.95148127e+02] [ 8.68987190e-01 4.93799843e-01 -3.19840447e-02 1.71325624e+02] [ 3.65708766e-02 3.70643891e-04 9.99330993e-01 3.80607142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.499254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:995.18, Y:171.37, Z:38.06 [[ 4.93072241e-01 -8.69807740e-01 -1.77273826e-02 9.95177701e+02] [ 8.69219380e-01 4.93390679e-01 -3.19891573e-02 1.71374476e+02] [ 3.65709420e-02 3.63980935e-04 9.99330993e-01 3.80633518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.559254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:995.21, Y:171.43, Z:38.06 [[ 4.88722661e-01 -8.72259238e-01 -1.77195511e-02 9.95205927e+02] [ 8.71672318e-01 4.89043746e-01 -3.19934948e-02 1.71426123e+02] [ 3.65722570e-02 1.90303721e-04 9.99330993e-01 3.80623343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.619254154 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:995.23, Y:171.48, Z:38.06 [[ 4.83874835e-01 -8.74957972e-01 -1.77113528e-02 9.95233562e+02] [ 8.74372677e-01 4.84198872e-01 -3.19980326e-02 1.71476377e+02] [ 3.65727508e-02 -3.28016445e-06 9.99330993e-01 3.80630396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.6792541539999 meters Centerline goodness : 0.999780 with order 1 Centerline is valid? [True, True] Translation: X:995.26, Y:171.53, Z:38.07 [[ 4.80772961e-01 -8.76666414e-01 -1.77019328e-02 9.95262195e+02] [ 8.76082079e-01 4.81098725e-01 -3.20032431e-02 1.71527373e+02] [ 3.65725457e-02 -1.22052197e-04 9.99330993e-01 3.80663576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.739254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:995.29, Y:171.58, Z:38.08 [[ 4.78527436e-01 -8.77894328e-01 -1.76930186e-02 9.95290404e+02] [ 8.77310646e-01 4.78854370e-01 -3.20081706e-02 1.71578278e+02] [ 3.65721707e-02 -2.05485765e-04 9.99330993e-01 3.80769268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.799254154 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:995.32, Y:171.63, Z:38.07 [[ 4.77367720e-01 -8.78525672e-01 -1.76834036e-02 9.95316328e+02] [ 8.77942226e-01 4.77695074e-01 -3.20134816e-02 1.71630793e+02] [ 3.65719403e-02 -2.42804009e-04 9.99330993e-01 3.80747348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.859254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:995.34, Y:171.68, Z:38.08 [[ 4.79735922e-01 -8.77234804e-01 -1.76789196e-02 9.95342949e+02] [ 8.76650386e-01 4.80061537e-01 -3.20159577e-02 1.71683459e+02] [ 3.65724817e-02 -1.39026716e-04 9.99330993e-01 3.80787482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.9192541539999 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:995.37, Y:171.73, Z:38.08 [[ 4.83555569e-01 -8.75135290e-01 -1.76702171e-02 9.95370393e+02] [ 8.74549282e-01 4.83878315e-01 -3.20207600e-02 1.71733455e+02] [ 3.65727320e-02 3.03411538e-05 9.99330993e-01 3.80782852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.979254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:995.40, Y:171.79, Z:38.08 [[ 4.90045711e-01 -8.71517750e-01 -1.76638949e-02 9.95395034e+02] [ 8.70929234e-01 4.90363861e-01 -3.20242472e-02 1.71785987e+02] [ 3.65714356e-02 3.09342532e-04 9.99330993e-01 3.80812557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.039254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:995.42, Y:171.84, Z:38.08 [[ 4.95268734e-01 -8.68560413e-01 -1.76547347e-02 9.95417664e+02] [ 8.67969819e-01 4.95583008e-01 -3.20292964e-02 1.71839585e+02] [ 3.65687654e-02 5.39332188e-04 9.99330993e-01 3.80779038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.099254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:995.44, Y:171.89, Z:38.08 [[ 4.99333065e-01 -8.66230411e-01 -1.76455250e-02 9.95442822e+02] [ 8.65638172e-01 4.99644228e-01 -3.20343693e-02 1.71892889e+02] [ 3.65656297e-02 7.21179797e-04 9.99330994e-01 3.80827680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.1592541539999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:995.47, Y:171.94, Z:38.09 [[ 5.00261120e-01 -8.65694940e-01 -1.76375396e-02 9.95469063e+02] [ 8.65102213e-01 5.00571352e-01 -3.20387654e-02 1.71944325e+02] [ 3.65646441e-02 7.69474110e-04 9.99330994e-01 3.80873062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.219254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:995.49, Y:172.00, Z:38.09 [[ 4.99827964e-01 -8.65945301e-01 -1.76278787e-02 9.95492913e+02] [ 8.65352542e-01 5.00138135e-01 -3.20440800e-02 1.71998569e+02] [ 3.65647949e-02 7.62197574e-04 9.99330994e-01 3.80902613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.279254154 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:995.52, Y:172.05, Z:38.09 [[ 5.00915070e-01 -8.65317083e-01 -1.76192874e-02 9.95520291e+02] [ 8.64723769e-01 5.01224179e-01 -3.20488032e-02 1.72050183e+02] [ 3.65635897e-02 8.17911858e-04 9.99330994e-01 3.80911910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.339254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:995.55, Y:172.10, Z:38.09 [[ 5.00797759e-01 -8.65385153e-01 -1.76108288e-02 9.95545403e+02] [ 8.64791719e-01 5.01106635e-01 -3.20534505e-02 1.72102383e+02] [ 3.65634833e-02 8.22597242e-04 9.99330994e-01 3.80937122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.399254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:995.57, Y:172.16, Z:38.09 [[ 4.94100455e-01 -8.69226621e-01 -1.76017597e-02 9.95568968e+02] [ 8.68635412e-01 4.94413570e-01 -3.20584299e-02 1.72156987e+02] [ 3.65685896e-02 5.50573073e-04 9.99330994e-01 3.80901666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.459254154 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:995.60, Y:172.21, Z:38.09 [[ 4.89498648e-01 -8.71826564e-01 -1.75930456e-02 9.95595118e+02] [ 8.71236847e-01 4.89814564e-01 -3.20632113e-02 1.72208787e+02] [ 3.65708893e-02 3.67189004e-04 9.99330994e-01 3.80906336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.519254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:995.62, Y:172.26, Z:38.09 [[ 4.83246140e-01 -8.75307945e-01 -1.75832365e-02 9.95623829e+02] [ 8.74720308e-01 4.83565909e-01 -3.20685897e-02 1.72259657e+02] [ 3.65725451e-02 1.16608115e-04 9.99330994e-01 3.80938410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.579254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:995.66, Y:172.31, Z:38.11 [[ 4.82172901e-01 -8.75899802e-01 -1.75735808e-02 9.95656357e+02] [ 8.75312365e-01 4.82493037e-01 -3.20738801e-02 1.72307147e+02] [ 3.65726356e-02 8.27832549e-05 9.99330994e-01 3.81060222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.639254154 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:995.68, Y:172.36, Z:38.11 [[ 4.78156104e-01 -8.78099091e-01 -1.75706280e-02 9.95683131e+02] [ 8.77513067e-01 4.78478819e-01 -3.20754977e-02 1.72359375e+02] [ 3.65726386e-02 -8.13606464e-05 9.99330994e-01 3.81053627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.699254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:995.71, Y:172.41, Z:38.11 [[ 4.78614900e-01 -8.77849287e-01 -1.75615366e-02 9.95709348e+02] [ 8.77262912e-01 4.78936976e-01 -3.20804744e-02 1.72411005e+02] [ 3.65726909e-02 -5.18917192e-05 9.99330994e-01 3.81107553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.759254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:995.73, Y:172.46, Z:38.11 [[ 4.80345073e-01 -8.76903939e-01 -1.75525872e-02 9.95734325e+02] [ 8.76316751e-01 4.80665665e-01 -3.20853703e-02 1.72463957e+02] [ 3.65727136e-02 3.04234097e-05 9.99330994e-01 3.81132882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.819254154 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:995.76, Y:172.52, Z:38.11 [[ 4.81071488e-01 -8.76505822e-01 -1.75433209e-02 9.95759131e+02] [ 8.75918184e-01 4.81391254e-01 -3.20904360e-02 1.72516408e+02] [ 3.65726553e-02 7.12800008e-05 9.99330994e-01 3.81125237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.879254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:995.78, Y:172.57, Z:38.12 [[ 4.83063331e-01 -8.75409830e-01 -1.75342060e-02 9.95784660e+02] [ 8.74821285e-01 4.83381426e-01 -3.20954157e-02 1.72568272e+02] [ 3.65723519e-02 1.64821761e-04 9.99330994e-01 3.81166438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.939254154 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:995.81, Y:172.62, Z:38.12 [[ 4.84369991e-01 -8.74687709e-01 -1.75249416e-02 9.95808815e+02] [ 8.74098508e-01 4.84686867e-01 -3.21004735e-02 1.72622046e+02] [ 3.65719986e-02 2.29980797e-04 9.99330994e-01 3.81160251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.999254154 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:995.83, Y:172.67, Z:38.12 [[ 4.86630181e-01 -8.73432449e-01 -1.75163974e-02 9.95833630e+02] [ 8.72842262e-01 4.86945218e-01 -3.21051351e-02 1.72674837e+02] [ 3.65711928e-02 3.34275782e-04 9.99330994e-01 3.81182054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.059254154 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:995.86, Y:172.73, Z:38.12 [[ 4.89044456e-01 -8.72083154e-01 -1.75069238e-02 9.95858448e+02] [ 8.71491914e-01 4.89357510e-01 -3.21103003e-02 1.72726811e+02] [ 3.65699966e-02 4.46221834e-04 9.99330994e-01 3.81185580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.119254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:995.89, Y:172.78, Z:38.12 [[ 4.91062096e-01 -8.70948763e-01 -1.75005642e-02 9.95885613e+02] [ 8.70356676e-01 4.91373547e-01 -3.21137660e-02 1.72778623e+02] [ 3.65687591e-02 5.38120371e-04 9.99330994e-01 3.81246146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.1792541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:995.91, Y:172.83, Z:38.13 [[ 4.92486969e-01 -8.70144027e-01 -1.74916520e-02 9.95911147e+02] [ 8.69551258e-01 4.92797122e-01 -3.21186195e-02 1.72830513e+02] [ 3.65676607e-02 6.08113614e-04 9.99330994e-01 3.81278311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.239254154 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:995.94, Y:172.88, Z:38.13 [[ 4.93972762e-01 -8.69301599e-01 -1.74825916e-02 9.95936375e+02] [ 8.68708128e-01 4.94281566e-01 -3.21235504e-02 1.72882480e+02] [ 3.65663765e-02 6.80889469e-04 9.99330994e-01 3.81285790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.299254154 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:995.96, Y:172.93, Z:38.13 [[ 4.96363665e-01 -8.67938824e-01 -1.74731126e-02 9.95962764e+02] [ 8.67344324e-01 4.96670485e-01 -3.21287056e-02 1.72934854e+02] [ 3.65641302e-02 7.92317068e-04 9.99330995e-01 3.81291851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.359254154 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:995.99, Y:172.99, Z:38.13 [[ 4.99536534e-01 -8.66116773e-01 -1.74638510e-02 9.95990078e+02] [ 8.65520979e-01 4.99840833e-01 -3.21337391e-02 1.72986153e+02] [ 3.65607162e-02 9.36647268e-04 9.99330995e-01 3.81321096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.4192541539999 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:996.02, Y:173.04, Z:38.13 [[ 5.00079289e-01 -8.65803697e-01 -1.74545859e-02 9.96017076e+02] [ 8.65207538e-01 5.00382870e-01 -3.21387709e-02 1.73036285e+02] [ 3.65598425e-02 9.70094437e-04 9.99330995e-01 3.81313929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.479254154 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:996.05, Y:173.09, Z:38.14 [[ 4.98838780e-01 -8.66519166e-01 -1.74472605e-02 9.96046665e+02] [ 8.65923302e-01 4.99142944e-01 -3.21427472e-02 1.73085839e+02] [ 3.65609834e-02 9.26059336e-04 9.99330995e-01 3.81352804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.539254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:996.08, Y:173.13, Z:38.14 [[ 4.95761915e-01 -8.68283389e-01 -1.74378767e-02 9.96076841e+02] [ 8.67688430e-01 4.96067843e-01 -3.21478372e-02 1.73134972e+02] [ 3.65638029e-02 8.07029544e-04 9.99330995e-01 3.81392947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.599254154 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:996.11, Y:173.18, Z:38.14 [[ 4.89645446e-01 -8.71747327e-01 -1.74337511e-02 9.96108411e+02] [ 8.71154454e-01 4.89955396e-01 -3.21500744e-02 1.73183447e+02] [ 3.65685018e-02 5.54647630e-04 9.99330995e-01 3.81411239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.6592541539999 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:996.14, Y:173.23, Z:38.15 [[ 4.82034678e-01 -8.75978855e-01 -1.74245595e-02 9.96140115e+02] [ 8.75388524e-01 4.82349443e-01 -3.21550553e-02 1.73231664e+02] [ 3.65718750e-02 2.46592318e-04 9.99330995e-01 3.81450412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.719254154 meters Centerline goodness : 0.999743 with order 1 Centerline is valid? [True, True] Translation: X:996.17, Y:173.28, Z:38.15 [[ 4.77067319e-01 -8.78694198e-01 -1.74149280e-02 9.96169623e+02] [ 8.78105468e-01 4.77385069e-01 -3.21602707e-02 1.73280612e+02] [ 3.65726699e-02 5.04706055e-05 9.99330995e-01 3.81458258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.779254154 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:996.20, Y:173.33, Z:38.15 [[ 4.70082771e-01 -8.82450682e-01 -1.74063710e-02 9.96201772e+02] [ 8.81864320e-01 4.70404869e-01 -3.21649014e-02 1.73329361e+02] [ 3.65719809e-02 -2.29891543e-04 9.99330995e-01 3.81519191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.839254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:996.23, Y:173.38, Z:38.15 [[ 4.61712526e-01 -8.86858901e-01 -1.74020806e-02 9.96232303e+02] [ 8.86275525e-01 4.62040001e-01 -3.21672225e-02 1.73377672e+02] [ 3.65682450e-02 -5.71028566e-04 9.99330995e-01 3.81518043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.899254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:996.26, Y:173.43, Z:38.15 [[ 4.52971806e-01 -8.91355140e-01 -1.73941798e-02 9.96263235e+02] [ 8.90774848e-01 4.53304716e-01 -3.21714942e-02 1.73426700e+02] [ 3.65610905e-02 -9.21518001e-04 9.99330995e-01 3.81540965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.959254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:996.29, Y:173.48, Z:38.16 [[ 4.47593140e-01 -8.94068308e-01 -1.73850959e-02 9.96293831e+02] [ 8.93489843e-01 4.47929213e-01 -3.21764023e-02 1.73476574e+02] [ 3.65551939e-02 -1.13146963e-03 9.99330995e-01 3.81576564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.019254154 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:996.32, Y:173.53, Z:38.16 [[ 4.40902480e-01 -8.97386806e-01 -1.73759320e-02 9.96323446e+02] [ 8.96810674e-01 4.41242537e-01 -3.21813503e-02 1.73526802e+02] [ 3.65461194e-02 -1.39408413e-03 9.99330995e-01 3.81587261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.079254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:996.35, Y:173.58, Z:38.16 [[ 4.40362617e-01 -8.97652030e-01 -1.73665960e-02 9.96352052e+02] [ 8.97075904e-01 4.40702687e-01 -3.21863876e-02 1.73576991e+02] [ 3.65456817e-02 -1.40547294e-03 9.99330995e-01 3.81639851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.139254154 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:996.38, Y:173.63, Z:38.16 [[ 4.43284331e-01 -8.96212905e-01 -1.73617772e-02 9.96378289e+02] [ 8.95635573e-01 4.43622349e-01 -3.21889867e-02 1.73628049e+02] [ 3.65502577e-02 -1.28095180e-03 9.99330995e-01 3.81644556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.199254154 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:996.40, Y:173.68, Z:38.17 [[ 4.47813499e-01 -8.93958569e-01 -1.73535744e-02 9.96403575e+02] [ 8.93379364e-01 4.48148297e-01 -3.21934084e-02 1.73679895e+02] [ 3.65565481e-02 -1.08668243e-03 9.99330995e-01 3.81662167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.259254154 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:996.43, Y:173.73, Z:38.17 [[ 4.57711099e-01 -8.88931783e-01 -1.73446051e-02 9.96427442e+02] [ 8.88348714e-01 4.58039120e-01 -3.21982400e-02 1.73733316e+02] [ 3.65665465e-02 -6.70565798e-04 9.99330995e-01 3.81679136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.319254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:996.45, Y:173.79, Z:38.17 [[ 4.70648679e-01 -8.82150387e-01 -1.73353997e-02 9.96450270e+02] [ 8.81562405e-01 4.70967812e-01 -3.22031954e-02 1.73786853e+02] [ 3.65724765e-02 -1.25845286e-04 9.99330995e-01 3.81694638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.379254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:996.47, Y:173.84, Z:38.17 [[ 4.82681488e-01 -8.75624566e-01 -1.73263146e-02 9.96472628e+02] [ 8.75032096e-01 4.82992206e-01 -3.22080827e-02 1.73840760e+02] [ 3.65706633e-02 3.85163893e-04 9.99330995e-01 3.81701141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.439254154 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:996.49, Y:173.90, Z:38.16 [[ 4.88502757e-01 -8.72390496e-01 -1.73169967e-02 9.96494245e+02] [ 8.71795792e-01 4.88809179e-01 -3.22130918e-02 1.73896794e+02] [ 3.65671021e-02 6.39299312e-04 9.99330995e-01 3.81628792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.499254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:996.52, Y:173.95, Z:38.18 [[ 4.96264721e-01 -8.67998701e-01 -1.73084394e-02 9.96523189e+02] [ 8.67401128e-01 4.96565509e-01 -3.22176891e-02 1.73945825e+02] [ 3.65596863e-02 9.75142633e-04 9.99330995e-01 3.81757019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.559254154 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:996.55, Y:174.00, Z:38.17 [[ 4.99975829e-01 -8.65866547e-01 -1.73000773e-02 9.96548320e+02] [ 8.65267537e-01 5.00273745e-01 -3.22221787e-02 1.73998676e+02] [ 3.65548811e-02 1.14111526e-03 9.99330995e-01 3.81742073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.619254154 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:996.58, Y:174.05, Z:38.18 [[ 5.00818089e-01 -8.65379841e-01 -1.72908318e-02 9.96575647e+02] [ 8.64780371e-01 5.01115079e-01 -3.22271391e-02 1.74049507e+02] [ 3.65534131e-02 1.18716227e-03 9.99330996e-01 3.81765664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.6792541539999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:996.60, Y:174.10, Z:38.18 [[ 5.00066835e-01 -8.65814361e-01 -1.72815827e-02 9.96603974e+02] [ 8.65214978e-01 5.00364000e-01 -3.22320982e-02 1.74100184e+02] [ 3.65540953e-02 1.16591911e-03 9.99330996e-01 3.81786895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.739254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:996.63, Y:174.15, Z:38.18 [[ 4.99220111e-01 -8.66303040e-01 -1.72720323e-02 9.96631905e+02] [ 8.65703772e-01 4.99517508e-01 -3.22372151e-02 1.74150576e+02] [ 3.65548800e-02 1.14100257e-03 9.99330996e-01 3.81814853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.799254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:996.66, Y:174.20, Z:38.18 [[ 4.93190598e-01 -8.69749987e-01 -1.72625014e-02 9.96662265e+02] [ 8.69152622e-01 4.93491797e-01 -3.22423179e-02 1.74200498e+02] [ 3.65616584e-02 8.97859719e-04 9.99330996e-01 3.81820401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.859254154 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:996.69, Y:174.25, Z:38.18 [[ 4.82990247e-01 -8.75455742e-01 -1.72529848e-02 9.96694693e+02] [ 8.74861756e-01 4.83298057e-01 -3.22474095e-02 1.74248738e+02] [ 3.65695138e-02 4.81207655e-04 9.99330996e-01 3.81848004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.9192541539999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:996.73, Y:174.30, Z:38.19 [[ 4.73390211e-01 -8.80684029e-01 -1.72438199e-02 9.96727684e+02] [ 8.80093265e-01 4.73704162e-01 -3.22523096e-02 1.74295567e+02] [ 3.65725632e-02 9.17579106e-05 9.99330996e-01 3.81899762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.979254154 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:996.76, Y:174.35, Z:38.19 [[ 4.67571725e-01 -8.83787089e-01 -1.72354910e-02 9.96757465e+02] [ 8.83198245e-01 4.67889261e-01 -3.22567598e-02 1.74345371e+02] [ 3.65724091e-02 -1.40006589e-04 9.99330996e-01 3.81909667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.039254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:996.78, Y:174.40, Z:38.19 [[ 4.60840603e-01 -8.87315724e-01 -1.72262517e-02 9.96784386e+02] [ 8.86729126e-01 4.61162270e-01 -3.22616932e-02 1.74396917e+02] [ 3.65704050e-02 -4.07520997e-04 9.99330996e-01 3.81884717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.099254154 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:996.82, Y:174.44, Z:38.19 [[ 4.65944437e-01 -8.84646468e-01 -1.72165328e-02 9.96817901e+02] [ 8.84057835e-01 4.66262364e-01 -3.22668789e-02 1.74443534e+02] [ 3.65722017e-02 -1.85838031e-04 9.99330996e-01 3.81938807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.1592541539999 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:996.85, Y:174.49, Z:38.19 [[ 4.70987490e-01 -8.81971991e-01 -1.72102094e-02 9.96846484e+02] [ 8.81381430e-01 4.71301820e-01 -3.22702513e-02 1.74492496e+02] [ 3.65726608e-02 3.01256768e-05 9.99330996e-01 3.81948191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.219254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:996.88, Y:174.54, Z:38.20 [[ 4.77898728e-01 -8.78246456e-01 -1.72037469e-02 9.96875745e+02] [ 8.77653321e-01 4.78208174e-01 -3.22736962e-02 1.74542547e+02] [ 3.65712316e-02 3.24632779e-04 9.99330996e-01 3.81982195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.279254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:996.91, Y:174.59, Z:38.20 [[ 4.85279859e-01 -8.74189804e-01 -1.71943165e-02 9.96906214e+02] [ 8.73593906e-01 4.85583950e-01 -3.22787196e-02 1.74592123e+02] [ 3.65670117e-02 6.43362415e-04 9.99330996e-01 3.82026644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.339254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:996.93, Y:174.64, Z:38.20 [[ 4.89896805e-01 -8.71611033e-01 -1.71850916e-02 9.96934744e+02] [ 8.71013363e-01 4.90197398e-01 -3.22836301e-02 1.74642590e+02] [ 3.65628554e-02 8.47202789e-04 9.99330996e-01 3.82043763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.399254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:996.96, Y:174.69, Z:38.21 [[ 4.97789827e-01 -8.67127604e-01 -1.71757342e-02 9.96963633e+02] [ 8.66527059e-01 4.98084634e-01 -3.22886077e-02 1.74691976e+02] [ 3.65533124e-02 1.18970199e-03 9.99330996e-01 3.82072122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.459254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:996.99, Y:174.74, Z:38.21 [[ 5.03320325e-01 -8.63929357e-01 -1.71673283e-02 9.96993687e+02] [ 8.63326788e-01 5.03610974e-01 -3.22930764e-02 1.74742075e+02] [ 3.65445917e-02 1.43274729e-03 9.99330996e-01 3.82104856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.519254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:997.02, Y:174.79, Z:38.21 [[ 5.04081277e-01 -8.63485771e-01 -1.71578053e-02 9.97023949e+02] [ 8.62882776e-01 5.04371040e-01 -3.22981353e-02 1.74791804e+02] [ 3.65428804e-02 1.47571065e-03 9.99330996e-01 3.82125534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.579254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:997.05, Y:174.84, Z:38.21 [[ 5.00227333e-01 -8.65724297e-01 -1.71480614e-02 9.97053889e+02] [ 8.65122424e-01 5.00519419e-01 -3.23033078e-02 1.74840211e+02] [ 3.65486962e-02 1.32382512e-03 9.99330996e-01 3.82107929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.639254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:997.09, Y:174.89, Z:38.22 [[ 4.93633460e-01 -8.69501149e-01 -1.71394061e-02 9.97087594e+02] [ 8.68901354e-01 4.93929790e-01 -3.23078995e-02 1.74888209e+02] [ 3.65574190e-02 1.05580702e-03 9.99330996e-01 3.82150560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.699254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:997.12, Y:174.94, Z:38.21 [[ 4.89358304e-01 -8.71914568e-01 -1.71299765e-02 9.97116382e+02] [ 8.71316060e-01 4.89657226e-01 -3.23128984e-02 1.74937639e+02] [ 3.65619036e-02 8.86961548e-04 9.99330996e-01 3.82147147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.759254154 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:997.14, Y:174.99, Z:38.22 [[ 4.86457075e-01 -8.73536697e-01 -1.71217060e-02 9.97144534e+02] [ 8.72939033e-01 4.86757679e-01 -3.23172801e-02 1.74988911e+02] [ 3.65644520e-02 7.74764103e-04 9.99330997e-01 3.82160100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.819254154 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:997.17, Y:175.04, Z:38.22 [[ 4.84515648e-01 -8.74615202e-01 -1.71124517e-02 9.97171154e+02] [ 8.74018034e-01 4.84817237e-01 -3.23221797e-02 1.75040431e+02] [ 3.65658812e-02 7.04010478e-04 9.99330997e-01 3.82157177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.879254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:997.20, Y:175.09, Z:38.22 [[ 4.82735086e-01 -8.75599405e-01 -1.71031809e-02 9.97197604e+02] [ 8.75002679e-01 4.83037547e-01 -3.23270845e-02 1.75091287e+02] [ 3.65670545e-02 6.40088771e-04 9.99330997e-01 3.82194181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.939254154 meters Centerline goodness : 0.999779 with order 1 Centerline is valid? [True, True] Translation: X:997.22, Y:175.14, Z:38.22 [[ 4.79016947e-01 -8.77639182e-01 -1.70947818e-02 9.97224688e+02] [ 8.77043585e-01 4.79321627e-01 -3.23315254e-02 1.75143042e+02] [ 3.65693121e-02 4.94479817e-04 9.99330997e-01 3.82220602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.999254154 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:997.25, Y:175.19, Z:38.22 [[ 4.73807902e-01 -8.80462474e-01 -1.70851688e-02 9.97252891e+02] [ 8.79868511e-01 4.74115754e-01 -3.23366045e-02 1.75194238e+02] [ 3.65715145e-02 2.88636707e-04 9.99330997e-01 3.82246927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.059254154 meters Centerline goodness : 0.999780 with order 1 Centerline is valid? [True, True] Translation: X:997.28, Y:175.25, Z:38.23 [[ 4.70195576e-01 -8.82397041e-01 -1.70758037e-02 9.97279266e+02] [ 8.81804164e-01 4.70505515e-01 -3.23415491e-02 1.75245116e+02] [ 3.65723470e-02 1.49338530e-04 9.99330997e-01 3.82264420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.119254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:997.31, Y:175.30, Z:38.23 [[ 4.65784334e-01 -8.84733666e-01 -1.70673413e-02 9.97305661e+02] [ 8.84142181e-01 4.66096920e-01 -3.23460143e-02 1.75297267e+02] [ 3.65726430e-02 -2.36896348e-05 9.99330997e-01 3.82334251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.1792541539999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:997.33, Y:175.35, Z:38.24 [[ 4.61257354e-01 -8.87102402e-01 -1.70581716e-02 9.97330937e+02] [ 8.86512343e-01 4.61572625e-01 -3.23508493e-02 1.75349434e+02] [ 3.65721012e-02 -2.00212541e-04 9.99330997e-01 3.82358890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.239254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:997.36, Y:175.40, Z:38.24 [[ 4.55546022e-01 -8.90048968e-01 -1.70486584e-02 9.97356270e+02] [ 8.89460760e-01 4.55864733e-01 -3.23558620e-02 1.75400920e+02] [ 3.65701836e-02 -4.24528396e-04 9.99330997e-01 3.82394940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.299254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:997.38, Y:175.45, Z:38.24 [[ 4.50075729e-01 -8.92827795e-01 -1.70401668e-02 9.97380587e+02] [ 8.92241385e-01 4.50397736e-01 -3.23603334e-02 1.75453381e+02] [ 3.65670577e-02 -6.39341346e-04 9.99330997e-01 3.82385838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.359254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:997.41, Y:175.51, Z:38.24 [[ 4.47290953e-01 -8.94226341e-01 -1.70310105e-02 9.97405440e+02] [ 8.93640754e-01 4.47614454e-01 -3.23651516e-02 1.75505909e+02] [ 3.65650976e-02 -7.42965559e-04 9.99330997e-01 3.82427668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.4192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:997.43, Y:175.56, Z:38.24 [[ 4.42626759e-01 -8.96544370e-01 -1.70219275e-02 9.97425293e+02] [ 8.95960293e-01 4.42952979e-01 -3.23699280e-02 1.75560899e+02] [ 3.65609901e-02 -9.23174831e-04 9.99330997e-01 3.82392259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.479254154 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:997.45, Y:175.61, Z:38.25 [[ 4.45739489e-01 -8.95001039e-01 -1.70131778e-02 9.97449175e+02] [ 8.94415657e-01 4.46063361e-01 -3.23745260e-02 1.75612968e+02] [ 3.65641897e-02 -7.86247882e-04 9.99330997e-01 3.82453609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.539254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:997.47, Y:175.67, Z:38.25 [[ 4.48525760e-01 -8.93608083e-01 -1.70069371e-02 9.97470191e+02] [ 8.93021572e-01 4.48847581e-01 -3.23778041e-02 1.75666520e+02] [ 3.65665900e-02 -6.65282523e-04 9.99330997e-01 3.82489761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.599254154 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:997.49, Y:175.72, Z:38.25 [[ 4.53759820e-01 -8.90961882e-01 -1.69985563e-02 9.97489524e+02] [ 8.90373327e-01 4.54077891e-01 -3.23822035e-02 1.75720683e+02] [ 3.65699775e-02 -4.41318271e-04 9.99330997e-01 3.82476331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.6592541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:997.51, Y:175.77, Z:38.25 [[ 4.56102120e-01 -8.89765237e-01 -1.69905736e-02 9.97514936e+02] [ 8.89175692e-01 4.56418350e-01 -3.23863913e-02 1.75772693e+02] [ 3.65710947e-02 -3.36103250e-04 9.99330997e-01 3.82532628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.719254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:997.54, Y:175.83, Z:38.26 [[ 4.63978045e-01 -8.85683921e-01 -1.69813226e-02 9.97536070e+02] [ 8.85091417e-01 4.64288694e-01 -3.23912412e-02 1.75827695e+02] [ 3.65726376e-02 -1.19813016e-06 9.99330997e-01 3.82560948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.779254154 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:997.56, Y:175.88, Z:38.26 [[ 4.73018903e-01 -8.80888792e-01 -1.69721407e-02 9.97556661e+02] [ 8.80292966e-01 4.73323134e-01 -3.23960516e-02 1.75882923e+02] [ 3.65706256e-02 3.83488649e-04 9.99330997e-01 3.82566885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.839254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:997.58, Y:175.94, Z:38.26 [[ 4.82282898e-01 -8.75851281e-01 -1.69628835e-02 9.97578230e+02] [ 8.75252110e-01 4.82580486e-01 -3.24008980e-02 1.75936574e+02] [ 3.65643246e-02 7.79599404e-04 9.99330997e-01 3.82609768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.899254154 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:997.60, Y:175.99, Z:38.26 [[ 4.87430344e-01 -8.72997269e-01 -1.69536977e-02 9.97600117e+02] [ 8.72396190e-01 4.87724059e-01 -3.24057037e-02 1.75990234e+02] [ 3.65588171e-02 1.00518201e-03 9.99330997e-01 3.82593878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.959254154 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:997.63, Y:176.04, Z:38.26 [[ 4.87849075e-01 -8.72763524e-01 -1.69443648e-02 9.97625194e+02] [ 8.72162136e-01 4.88142155e-01 -3.24105830e-02 1.76043153e+02] [ 3.65580334e-02 1.03323957e-03 9.99330998e-01 3.82597459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.019254154 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:997.65, Y:176.10, Z:38.26 [[ 4.85519151e-01 -8.74061987e-01 -1.69350560e-02 9.97651457e+02] [ 8.73461214e-01 4.85813490e-01 -3.24154463e-02 1.76095455e+02] [ 3.65603881e-02 9.46205403e-04 9.99330998e-01 3.82617707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.079254154 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:997.68, Y:176.14, Z:38.27 [[ 4.81212708e-01 -8.76440449e-01 -1.69254043e-02 9.97679399e+02] [ 8.75840954e-01 4.81509643e-01 -3.24204850e-02 1.76144942e+02] [ 3.65643698e-02 7.77187123e-04 9.99330998e-01 3.82653687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.139254154 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:997.71, Y:176.19, Z:38.27 [[ 4.75567128e-01 -8.79516757e-01 -1.69168944e-02 9.97708449e+02] [ 8.78919026e-01 4.75867597e-01 -3.24249249e-02 1.76194939e+02] [ 3.65684667e-02 5.51648022e-04 9.99330998e-01 3.82666916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.199254154 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:997.74, Y:176.24, Z:38.27 [[ 4.68814334e-01 -8.83134902e-01 -1.69075220e-02 9.97738959e+02] [ 8.82539315e-01 4.69119031e-01 -3.24298113e-02 1.76244238e+02] [ 3.65715385e-02 2.82007480e-04 9.99330998e-01 3.82702556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.259254154 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:997.77, Y:176.29, Z:38.27 [[ 4.61570273e-01 -8.86942694e-01 -1.68979526e-02 9.97769806e+02] [ 8.86349438e-01 4.61879484e-01 -3.24347967e-02 1.76293773e+02] [ 3.65726236e-02 -6.55282369e-06 9.99330998e-01 3.82731214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.319254154 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:997.80, Y:176.34, Z:38.27 [[ 4.53251798e-01 -8.91222523e-01 -1.68885408e-02 9.97799742e+02] [ 8.90632003e-01 4.53566203e-01 -3.24396967e-02 1.76343769e+02] [ 3.65710596e-02 -3.38124108e-04 9.99330998e-01 3.82747208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.379254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:997.83, Y:176.39, Z:38.28 [[ 4.47476336e-01 -8.94136465e-01 -1.68792837e-02 9.97828236e+02] [ 8.93547811e-01 4.47794220e-01 -3.24445127e-02 1.76394215e+02] [ 3.65682676e-02 -5.64295366e-04 9.99330998e-01 3.82790799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.439254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:997.86, Y:176.44, Z:38.28 [[ 4.39858066e-01 -8.97908843e-01 -1.68698357e-02 9.97856518e+02] [ 8.97322725e-01 4.40180602e-01 -3.24494245e-02 1.76444198e+02] [ 3.65623997e-02 -8.64545867e-04 9.99330998e-01 3.82801815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.499254154 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:997.88, Y:176.49, Z:38.28 [[ 4.34899059e-01 -9.00321329e-01 -1.68615744e-02 9.97882502e+02] [ 8.99736833e-01 4.35224525e-01 -3.24537167e-02 1.76494687e+02] [ 3.65573441e-02 -1.05688874e-03 9.99330998e-01 3.82767055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.559254154 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:997.91, Y:176.55, Z:38.28 [[ 4.35054855e-01 -9.00246227e-01 -1.68524047e-02 9.97907956e+02] [ 8.99661491e-01 4.35379890e-01 -3.24584776e-02 1.76546524e+02] [ 3.65578201e-02 -1.04024126e-03 9.99330998e-01 3.82818977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.619254154 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:997.93, Y:176.60, Z:38.29 [[ 4.40546339e-01 -8.97571850e-01 -1.68432967e-02 9.97932192e+02] [ 8.96984960e-01 4.40867466e-01 -3.24632033e-02 1.76599619e+02] [ 3.65637190e-02 -8.06638451e-04 9.99330998e-01 3.82851607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.6792541539999 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:997.96, Y:176.65, Z:38.29 [[ 4.46337754e-01 -8.94706230e-01 -1.68336283e-02 9.97955651e+02] [ 8.94117087e-01 4.46654731e-01 -3.24682160e-02 1.76651902e+02] [ 3.65683348e-02 -5.59444096e-04 9.99330998e-01 3.82860266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.739254154 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:997.98, Y:176.71, Z:38.29 [[ 4.56334296e-01 -8.89649329e-01 -1.68250483e-02 9.97978141e+02] [ 8.89056508e-01 4.56644339e-01 -3.24726615e-02 1.76705430e+02] [ 3.65723446e-02 -1.40029577e-04 9.99330998e-01 3.82879929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.799254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:998.00, Y:176.76, Z:38.29 [[ 4.65371471e-01 -8.84955720e-01 -1.68157209e-02 9.98001833e+02] [ 8.84359597e-01 4.65675118e-01 -3.24774910e-02 1.76758423e+02] [ 3.65718042e-02 2.42953592e-04 9.99330998e-01 3.82926220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.859254154 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:998.02, Y:176.81, Z:38.29 [[ 4.72097435e-01 -8.81386151e-01 -1.68066786e-02 9.98024755e+02] [ 8.80787568e-01 4.72396200e-01 -3.24821695e-02 1.76812390e+02] [ 3.65687455e-02 5.31635303e-04 9.99330998e-01 3.82926850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.9192541539999 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:998.05, Y:176.86, Z:38.29 [[ 4.76443711e-01 -8.79044504e-01 -1.67973003e-02 9.98048132e+02] [ 8.78444282e-01 4.76739171e-01 -3.24870186e-02 1.76864556e+02] [ 3.65654662e-02 7.22743335e-04 9.99330998e-01 3.82949511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.979254154 meters Centerline goodness : 0.999788 with order 1 Centerline is valid? [True, True] Translation: X:998.07, Y:176.92, Z:38.30 [[ 4.77582586e-01 -8.78426437e-01 -1.67889508e-02 9.98074123e+02] [ 8.77825681e-01 4.77876958e-01 -3.24913329e-02 1.76916887e+02] [ 3.65642986e-02 7.79522661e-04 9.99330998e-01 3.82952969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.039254154 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:998.10, Y:176.97, Z:38.30 [[ 4.79092689e-01 -8.77603914e-01 -1.67799302e-02 9.98101419e+02] [ 8.77002490e-01 4.79385694e-01 -3.24959909e-02 1.76967603e+02] [ 3.65626673e-02 8.52551143e-04 9.99330998e-01 3.82967369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.099254154 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:998.13, Y:177.02, Z:38.30 [[ 4.79241332e-01 -8.77522932e-01 -1.67705030e-02 9.98129071e+02] [ 8.76921289e-01 4.79533886e-01 -3.25008554e-02 1.77018740e+02] [ 3.65622704e-02 8.69342120e-04 9.99330999e-01 3.82968981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.1592541539999 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:998.16, Y:177.07, Z:38.30 [[ 4.79227445e-01 -8.77530694e-01 -1.67611628e-02 9.98159285e+02] [ 8.76928888e-01 4.79519663e-01 -3.25056715e-02 1.77068156e+02] [ 3.65620316e-02 8.79262076e-04 9.99330999e-01 3.82993746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.219254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:998.19, Y:177.12, Z:38.30 [[ 4.77633924e-01 -8.78399237e-01 -1.67515525e-02 9.98190825e+02] [ 8.77797789e-01 4.77926878e-01 -3.25106233e-02 1.77115714e+02] [ 3.65633240e-02 8.23700797e-04 9.99330999e-01 3.83030914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.279254154 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:998.22, Y:177.17, Z:38.30 [[ 4.71839739e-01 -8.81525346e-01 -1.67429494e-02 9.98222249e+02] [ 8.80925682e-01 4.72136330e-01 -3.25150534e-02 1.77165002e+02] [ 3.65677983e-02 5.92600193e-04 9.99330999e-01 3.83045163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.339254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:998.26, Y:177.21, Z:38.31 [[ 4.64467319e-01 -8.85432159e-01 -1.67332543e-02 9.98255061e+02] [ 8.84834812e-01 4.64768548e-01 -3.25200420e-02 1.77213978e+02] [ 3.65713813e-02 2.98330813e-04 9.99330999e-01 3.83115774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.399254154 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:998.28, Y:177.26, Z:38.31 [[ 4.59217348e-01 -8.88166488e-01 -1.67247389e-02 9.98284592e+02] [ 8.87570775e-01 4.59521797e-01 -3.25244208e-02 1.77264727e+02] [ 3.65724826e-02 9.13888514e-05 9.99330999e-01 3.83110939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.459254154 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:998.31, Y:177.31, Z:38.31 [[ 4.55188886e-01 -8.90237993e-01 -1.67150548e-02 9.98314233e+02] [ 8.89643483e-01 4.55495676e-01 -3.25293969e-02 1.77314650e+02] [ 3.65725402e-02 -6.34196023e-05 9.99330999e-01 3.83149051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.519254154 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:998.34, Y:177.37, Z:38.31 [[ 4.53759243e-01 -8.90967720e-01 -1.67054214e-02 9.98341593e+02] [ 8.90373521e-01 4.54066636e-01 -3.25343434e-02 1.77365411e+02] [ 3.65724242e-02 -1.11305879e-04 9.99330999e-01 3.83144068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.579254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:998.37, Y:177.42, Z:38.32 [[ 4.54141586e-01 -8.90773073e-01 -1.66958908e-02 9.98368661e+02] [ 8.90178562e-01 4.54448375e-01 -3.25392335e-02 1.77416411e+02] [ 3.65724935e-02 -8.49049278e-05 9.99330999e-01 3.83190014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.639254154 meters Centerline goodness : 0.999718 with order 1 Centerline is valid? [True, True] Translation: X:998.39, Y:177.47, Z:38.32 [[ 4.54363249e-01 -8.90660208e-01 -1.66862620e-02 9.98394864e+02] [ 8.90065440e-01 4.54669538e-01 -3.25441705e-02 1.77466708e+02] [ 3.65725327e-02 -6.49901504e-05 9.99330999e-01 3.83168442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.699254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:998.42, Y:177.52, Z:38.32 [[ 4.56117826e-01 -8.89763066e-01 -1.66797831e-02 9.98422500e+02] [ 8.89167574e-01 4.56422706e-01 -3.25474907e-02 1.77517303e+02] [ 3.65725869e-02 1.43684089e-05 9.99330999e-01 3.83215475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.759254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:998.45, Y:177.57, Z:38.32 [[ 4.59057041e-01 -8.88250375e-01 -1.66704734e-02 9.98449254e+02] [ 8.87653705e-01 4.59359609e-01 -3.25522584e-02 1.77568540e+02] [ 3.65722979e-02 1.45735996e-04 9.99330999e-01 3.83234254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.819254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:998.48, Y:177.62, Z:38.33 [[ 4.63416322e-01 -8.85984038e-01 -1.66612526e-02 9.98475438e+02] [ 8.85385719e-01 4.63715615e-01 -3.25569772e-02 1.77620563e+02] [ 3.65710451e-02 3.35799491e-04 9.99330999e-01 3.83253052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.879254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:998.50, Y:177.67, Z:38.33 [[ 4.68872505e-01 -8.83108874e-01 -1.66520622e-02 9.98501618e+02] [ 8.82508554e-01 4.69167763e-01 -3.25616772e-02 1.77671923e+02] [ 3.65681168e-02 5.71687820e-04 9.99330999e-01 3.83273613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.939254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:998.53, Y:177.72, Z:38.33 [[ 4.72552285e-01 -8.81145477e-01 -1.66429073e-02 9.98528639e+02] [ 8.80543766e-01 4.72844698e-01 -3.25663557e-02 1.77723425e+02] [ 3.65652076e-02 7.34497515e-04 9.99330999e-01 3.83312234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.999254154 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:998.55, Y:177.77, Z:38.33 [[ 4.77778989e-01 -8.78322580e-01 -1.66338000e-02 9.98554757e+02] [ 8.77718981e-01 4.78067485e-01 -3.25710068e-02 1.77774252e+02] [ 3.65599296e-02 9.61940693e-04 9.99330999e-01 3.83298516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.059254154 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:998.58, Y:177.83, Z:38.33 [[ 4.78751668e-01 -8.77792957e-01 -1.66242446e-02 9.98581907e+02] [ 8.77188870e-01 4.79039141e-01 -3.25758831e-02 1.77825294e+02] [ 3.65585446e-02 1.01315605e-03 9.99330999e-01 3.83310689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.119254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:998.61, Y:177.87, Z:38.34 [[ 4.78343033e-01 -8.78015870e-01 -1.66154945e-02 9.98611307e+02] [ 8.77411762e-01 4.78630463e-01 -3.25803456e-02 1.77874428e+02] [ 3.65587423e-02 1.00595105e-03 9.99330999e-01 3.83355115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.1792541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:998.64, Y:177.92, Z:38.34 [[ 4.75410688e-01 -8.79607247e-01 -1.66062831e-02 9.98640952e+02] [ 8.79003938e-01 4.75699791e-01 -3.25850400e-02 1.77924819e+02] [ 3.65616427e-02 8.94288030e-04 9.99330999e-01 3.83361100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.239254154 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:998.67, Y:177.98, Z:38.34 [[ 4.71949976e-01 -8.81469078e-01 -1.65977473e-02 9.98669550e+02] [ 8.80866758e-01 4.72241132e-01 -3.25893872e-02 1.77975786e+02] [ 3.65646761e-02 7.60156673e-04 9.99331000e-01 3.83356195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.299254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:998.70, Y:178.02, Z:38.34 [[ 4.65962780e-01 -8.84648792e-01 -1.65892528e-02 9.98700365e+02] [ 8.84048306e-01 4.66257701e-01 -3.25937107e-02 1.78024954e+02] [ 3.65688536e-02 5.21755167e-04 9.99331000e-01 3.83388446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.359254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:998.73, Y:178.07, Z:38.34 [[ 4.57368048e-01 -8.89122921e-01 -1.65800789e-02 9.98730900e+02] [ 8.88525153e-01 4.57668438e-01 -3.25983767e-02 1.78074322e+02] [ 3.65721427e-02 1.77638787e-04 9.99331000e-01 3.83405481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.4192541539999 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:998.76, Y:178.12, Z:38.34 [[ 4.46843921e-01 -8.94458456e-01 -1.65704549e-02 9.98760101e+02] [ 8.93864093e-01 4.47150993e-01 -3.26032681e-02 1.78123481e+02] [ 3.65717642e-02 -2.43162452e-04 9.99331000e-01 3.83416091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.479254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:998.78, Y:178.18, Z:38.34 [[ 4.40342841e-01 -8.97676939e-01 -1.65618877e-02 9.98784666e+02] [ 8.97084655e-01 4.40653906e-01 -3.26076194e-02 1.78175262e+02] [ 3.65691685e-02 -4.98883564e-04 9.99331000e-01 3.83436312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.539254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:998.81, Y:178.23, Z:38.34 [[ 4.36677086e-01 -8.99465973e-01 -1.65555553e-02 9.98810136e+02] [ 8.98874841e-01 4.36990335e-01 -3.26108342e-02 1.78227552e+02] [ 3.65669534e-02 -6.40968087e-04 9.99331000e-01 3.83439290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.599254154 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:998.83, Y:178.28, Z:38.34 [[ 4.33153547e-01 -9.01168259e-01 -1.65461244e-02 9.98834514e+02] [ 9.00578176e-01 4.33468766e-01 -3.26156186e-02 1.78280811e+02] [ 3.65643883e-02 -7.73507687e-04 9.99331000e-01 3.83447020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.6592541539999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:998.86, Y:178.34, Z:38.35 [[ 4.32590498e-01 -9.01438849e-01 -1.65367099e-02 9.98855752e+02] [ 9.00848781e-01 4.32905745e-01 -3.26203912e-02 1.78335174e+02] [ 3.65641246e-02 -7.85803711e-04 9.99331000e-01 3.83463174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.719254154 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:998.88, Y:178.39, Z:38.35 [[ 4.33919742e-01 -9.00799923e-01 -1.65274346e-02 9.98876864e+02] [ 9.00209212e-01 4.34233783e-01 -3.26250900e-02 1.78389196e+02] [ 3.65654490e-02 -7.21478225e-04 9.99331000e-01 3.83490199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.779254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:998.90, Y:178.44, Z:38.35 [[ 4.37839275e-01 -8.98901508e-01 -1.65181476e-02 9.98897620e+02] [ 8.98309257e-01 4.38150402e-01 -3.26297913e-02 1.78443595e+02] [ 3.65684016e-02 -5.51800760e-04 9.99331000e-01 3.83520645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.839254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:998.92, Y:178.50, Z:38.36 [[ 4.42101167e-01 -8.96813256e-01 -1.65088293e-02 9.98920005e+02] [ 8.96219360e-01 4.42409141e-01 -3.26345051e-02 1.78496889e+02] [ 3.65707138e-02 -3.67779664e-04 9.99331000e-01 3.83552664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.899254154 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:998.94, Y:178.55, Z:38.35 [[ 4.50716688e-01 -8.92514557e-01 -1.64994785e-02 9.98940486e+02] [ 8.91917550e-01 4.51018586e-01 -3.26392321e-02 1.78551213e+02] [ 3.65725613e-02 -5.12787380e-06 9.99331000e-01 3.83546172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.959254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:998.96, Y:178.61, Z:38.36 [[ 4.61915470e-01 -8.86770647e-01 -1.64899414e-02 9.98961238e+02] [ 8.86169715e-01 4.62209479e-01 -3.26440497e-02 1.78605666e+02] [ 3.65695923e-02 4.65904914e-04 9.99331000e-01 3.83573112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.019254154 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:998.98, Y:178.66, Z:38.36 [[ 4.70498674e-01 -8.82246787e-01 -1.64804137e-02 9.98982394e+02] [ 8.81642862e-01 4.70786486e-01 -3.26488591e-02 1.78660634e+02] [ 3.65631071e-02 8.31405810e-04 9.99331000e-01 3.83558366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.079254154 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:999.01, Y:178.71, Z:38.36 [[ 4.75960329e-01 -8.79312501e-01 -1.64708870e-02 9.99005423e+02] [ 8.78706638e-01 4.76244037e-01 -3.26536644e-02 1.78712541e+02] [ 3.65569371e-02 1.06877111e-03 9.99331000e-01 3.83576342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.139254154 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:999.03, Y:178.76, Z:38.36 [[ 4.77142527e-01 -8.78671724e-01 -1.64623941e-02 9.99030286e+02] [ 8.78065332e-01 4.77425105e-01 -3.26579456e-02 1.78764685e+02] [ 3.65551736e-02 1.12743715e-03 9.99331000e-01 3.83586517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.199254154 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:999.06, Y:178.82, Z:38.36 [[ 4.76841838e-01 -8.78835117e-01 -1.64529390e-02 9.99055753e+02] [ 8.78228659e-01 4.77124272e-01 -3.26627084e-02 1.78815481e+02] [ 3.65552317e-02 1.12550338e-03 9.99331000e-01 3.83596197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.259254154 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:999.08, Y:178.87, Z:38.36 [[ 4.75545421e-01 -8.79537452e-01 -1.64445318e-02 9.99083103e+02] [ 8.78931265e-01 4.75828437e-01 -3.26669405e-02 1.78866871e+02] [ 3.65565735e-02 1.08100083e-03 9.99331000e-01 3.83606967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.319254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:999.11, Y:178.92, Z:38.36 [[ 4.74160936e-01 -8.80284780e-01 -1.64351025e-02 9.99111204e+02] [ 8.79678876e-01 4.74444556e-01 -3.26716838e-02 1.78916200e+02] [ 3.65579309e-02 1.03402369e-03 9.99331000e-01 3.83641259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.379254154 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:999.14, Y:178.97, Z:38.36 [[ 4.68793305e-01 -8.83155100e-01 -1.64288348e-02 9.99138883e+02] [ 8.82550824e-01 4.69080376e-01 -3.26748353e-02 1.78967174e+02] [ 3.65633914e-02 8.18462351e-04 9.99331000e-01 3.83624803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.439254154 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:999.17, Y:179.02, Z:38.37 [[ 4.66380012e-01 -8.84432070e-01 -1.64194653e-02 9.99166162e+02] [ 8.83828414e-01 4.66668386e-01 -3.26795428e-02 1.79018757e+02] [ 3.65652811e-02 7.29095562e-04 9.99331001e-01 3.83658527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.499254154 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:999.20, Y:179.07, Z:38.37 [[ 4.56739712e-01 -8.89449009e-01 -1.64102154e-02 9.99196580e+02] [ 8.88848356e-01 4.57034291e-01 -3.26841870e-02 1.79068768e+02] [ 3.65709490e-02 3.41973177e-04 9.99331001e-01 3.83693733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.559254154 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:999.23, Y:179.12, Z:38.37 [[ 4.45816061e-01 -8.94974332e-01 -1.64007708e-02 9.99226873e+02] [ 8.94377157e-01 4.46117626e-01 -3.26889256e-02 1.79118678e+02] [ 3.65724223e-02 -9.52266875e-05 9.99331001e-01 3.83740551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.619254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:999.25, Y:179.17, Z:38.38 [[ 4.39582213e-01 -8.98052783e-01 -1.63913643e-02 9.99254375e+02] [ 8.97457543e-01 4.39887581e-01 -3.26936417e-02 1.79168366e+02] [ 3.65709735e-02 -3.39010140e-04 9.99331001e-01 3.83769914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.6792541539999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:999.28, Y:179.22, Z:38.38 [[ 4.32205082e-01 -9.01626514e-01 -1.63828354e-02 9.99282828e+02] [ 9.01033635e-01 4.32515010e-01 -3.26979150e-02 1.79219513e+02] [ 3.65671293e-02 -6.29280686e-04 9.99331001e-01 3.83778220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.739254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:999.31, Y:179.27, Z:38.38 [[ 4.28731466e-01 -9.03283592e-01 -1.63732322e-02 9.99309479e+02] [ 9.02691728e-01 4.29043327e-01 -3.27027230e-02 1.79270711e+02] [ 3.65646591e-02 -7.59294861e-04 9.99331001e-01 3.83807652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.799254154 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:999.33, Y:179.32, Z:38.38 [[ 4.29948122e-01 -9.02705306e-01 -1.63628600e-02 9.99334761e+02] [ 9.02112825e-01 4.30258809e-01 -3.27079120e-02 1.79322122e+02] [ 3.65658703e-02 -6.98440532e-04 9.99331001e-01 3.83788481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.859254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:999.36, Y:179.38, Z:38.38 [[ 4.30567405e-01 -9.02410223e-01 -1.63554274e-02 9.99359163e+02] [ 9.01817388e-01 4.30877416e-01 -3.27116281e-02 1.79375787e+02] [ 3.65664919e-02 -6.65048009e-04 9.99331001e-01 3.83810461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.9192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:999.39, Y:179.43, Z:38.39 [[ 4.33838674e-01 -9.00842264e-01 -1.63468883e-02 9.99385768e+02] [ 9.00248148e-01 4.34146222e-01 -3.27158948e-02 1.79426494e+02] [ 3.65688006e-02 -5.22835485e-04 9.99331001e-01 3.83878150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.979254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:999.41, Y:179.48, Z:38.39 [[ 4.31486884e-01 -9.01971234e-01 -1.63389500e-02 9.99409204e+02] [ 9.01377773e-01 4.31795694e-01 -3.27198589e-02 1.79480372e+02] [ 3.65674598e-02 -6.09376434e-04 9.99331001e-01 3.83868643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.039254154 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:999.43, Y:179.53, Z:38.39 [[ 4.33387089e-01 -9.01059919e-01 -1.63295396e-02 9.99434062e+02] [ 9.00465631e-01 4.33694305e-01 -3.27245547e-02 1.79531236e+02] [ 3.65688129e-02 -5.21789727e-04 9.99331001e-01 3.83909143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.099254154 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:999.46, Y:179.58, Z:38.39 [[ 4.34304880e-01 -9.00618065e-01 -1.63209313e-02 9.99457025e+02] [ 9.00023303e-01 4.34611178e-01 -3.27288474e-02 1.79583743e+02] [ 3.65694504e-02 -4.74920361e-04 9.99331001e-01 3.83924393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.1592541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:999.48, Y:179.64, Z:38.40 [[ 4.36515047e-01 -8.99549066e-01 -1.63123265e-02 9.99480039e+02] [ 8.98953394e-01 4.36819570e-01 -3.27331355e-02 1.79637603e+02] [ 3.65706049e-02 -3.75515092e-04 9.99331001e-01 3.83962502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.219254154 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:999.50, Y:179.69, Z:38.39 [[ 4.39677555e-01 -8.98007717e-01 -1.63029961e-02 9.99502936e+02] [ 8.97410805e-01 4.39979641e-01 -3.27377819e-02 1.79691259e+02] [ 3.65717672e-02 -2.36416960e-04 9.99331001e-01 3.83936348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.279254154 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:999.53, Y:179.74, Z:38.39 [[ 4.42144593e-01 -8.96795781e-01 -1.62937472e-02 9.99527003e+02] [ 8.96197871e-01 4.42444699e-01 -3.27423845e-02 1.79743989e+02] [ 3.65723144e-02 -1.25553235e-04 9.99331001e-01 3.83944146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.339254154 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:999.55, Y:179.80, Z:38.39 [[ 4.45642012e-01 -8.95063137e-01 -1.62842793e-02 9.99550489e+02] [ 8.94463889e-01 4.45939435e-01 -3.27470927e-02 1.79796078e+02] [ 3.65725178e-02 2.77805211e-05 9.99331001e-01 3.83940275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.399254154 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:999.58, Y:179.85, Z:38.40 [[ 4.48226047e-01 -8.93772042e-01 -1.62771850e-02 9.99575712e+02] [ 8.93171809e-01 4.48521478e-01 -3.27506185e-02 1.79848874e+02] [ 3.65722543e-02 1.41357480e-04 9.99331001e-01 3.83957326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.459254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:999.60, Y:179.90, Z:38.40 [[ 4.51680925e-01 -8.92031221e-01 -1.62678600e-02 9.99602590e+02] [ 8.91429682e-01 4.51973689e-01 -3.27552498e-02 1.79900633e+02] [ 3.65713502e-02 2.93268230e-04 9.99331001e-01 3.84011690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.519254154 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:999.63, Y:179.95, Z:38.40 [[ 4.56812589e-01 -8.89414372e-01 -1.62583181e-02 9.99629372e+02] [ 8.88810989e-01 4.57101531e-01 -3.27599853e-02 1.79952150e+02] [ 3.65689039e-02 5.14601962e-04 9.99331001e-01 3.84027763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.579254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:999.66, Y:180.00, Z:38.41 [[ 4.61033573e-01 -8.87233917e-01 -1.62487006e-02 9.99655566e+02] [ 8.86629000e-01 4.61319290e-01 -3.27647549e-02 1.80002880e+02] [ 3.65658408e-02 6.99082890e-04 9.99331002e-01 3.84077066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.639254154 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:999.68, Y:180.05, Z:38.41 [[ 4.66515077e-01 -8.84364144e-01 -1.62401943e-02 9.99682138e+02] [ 8.83757324e-01 4.66796730e-01 -3.27689706e-02 1.80054156e+02] [ 3.65605722e-02 9.34828235e-04 9.99331002e-01 3.84079171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.699254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:999.71, Y:180.11, Z:38.41 [[ 4.69897709e-01 -8.82571642e-01 -1.62308282e-02 9.99709849e+02] [ 8.81963589e-01 4.70176689e-01 -3.27736090e-02 1.80105374e+02] [ 3.65564150e-02 1.08524431e-03 9.99331002e-01 3.84117766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.759254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:999.74, Y:180.16, Z:38.41 [[ 4.69374325e-01 -8.82850277e-01 -1.62213633e-02 9.99737305e+02] [ 8.82242228e-01 4.69653314e-01 -3.27782930e-02 1.80157364e+02] [ 3.65567421e-02 1.07411742e-03 9.99331002e-01 3.84084156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.819254154 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:999.77, Y:180.21, Z:38.41 [[ 4.67636905e-01 -8.83771957e-01 -1.62127578e-02 9.99768239e+02] [ 8.83164311e-01 4.67916771e-01 -3.27825489e-02 1.80207191e+02] [ 3.65585187e-02 1.01180070e-03 9.99331002e-01 3.84120976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.879254154 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:999.80, Y:180.26, Z:38.42 [[ 4.62215010e-01 -8.86619835e-01 -1.62034875e-02 9.99798339e+02] [ 8.86013754e-01 4.62498250e-01 -3.27871303e-02 1.80256987e+02] [ 3.65638047e-02 7.98191003e-04 9.99331002e-01 3.84150434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.939254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:999.83, Y:180.31, Z:38.42 [[ 4.47610283e-01 -8.94082094e-01 -1.61939446e-02 9.99830280e+02] [ 8.93480570e-01 4.47903076e-01 -3.27918430e-02 1.80307182e+02] [ 3.65719173e-02 2.08991223e-04 9.99331002e-01 3.84174613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.999254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:999.87, Y:180.35, Z:38.42 [[ 4.34307134e-01 -9.00619424e-01 -1.61853792e-02 9.99865649e+02] [ 9.00022150e-01 4.34608500e-01 -3.27960702e-02 1.80353223e+02] [ 3.65710812e-02 -3.23632554e-04 9.99331002e-01 3.84242193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.059254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:999.89, Y:180.41, Z:38.43 [[ 4.23577118e-01 -9.05715580e-01 -1.61775310e-02 9.99890555e+02] [ 9.05121781e-01 4.23885274e-01 -3.27999410e-02 1.80406158e+02] [ 3.65648348e-02 -7.49331190e-04 9.99331002e-01 3.84250808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.119254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:999.92, Y:180.46, Z:38.43 [[ 4.22281894e-01 -9.06320349e-01 -1.61686898e-02 9.99916374e+02] [ 9.05726824e-01 4.22590579e-01 -3.28042987e-02 1.80456960e+02] [ 3.65639395e-02 -7.91754717e-04 9.99331002e-01 3.84305238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.1792541539999 meters Centerline goodness : 0.999735 with order 1 Centerline is valid? [True, True] Translation: X:999.94, Y:180.51, Z:38.43 [[ 4.19416197e-01 -9.07650190e-01 -1.61612313e-02 9.99942096e+02] [ 9.07057503e-01 4.19726487e-01 -3.28079728e-02 1.80509669e+02] [ 3.65614596e-02 -8.98970962e-04 9.99331002e-01 3.84300379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.239254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:999.96, Y:180.56, Z:38.43 [[ 4.17068046e-01 -9.08731732e-01 -1.61518803e-02 9.99961096e+02] [ 9.08139671e-01 4.17379530e-01 -3.28125758e-02 1.80564650e+02] [ 3.65592930e-02 -9.83086391e-04 9.99331002e-01 3.84333747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.299254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:999.98, Y:180.62, Z:38.44 [[ 4.17536227e-01 -9.08516881e-01 -1.61423745e-02 9.99981845e+02] [ 9.07924479e-01 4.17847063e-01 -3.28172516e-02 1.80618600e+02] [ 3.65600708e-02 -9.53665573e-04 9.99331002e-01 3.84356697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.359254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1000.01, Y:180.67, Z:38.44 [[ 4.18341946e-01 -9.08146306e-01 -1.61339050e-02 1.00000511e+03] [ 9.07553469e-01 4.18651950e-01 -3.28214149e-02 1.80671420e+02] [ 3.65611375e-02 -9.11806925e-04 9.99331002e-01 3.84379731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.4192541539999 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:1000.02, Y:180.73, Z:38.44 [[ 4.22376201e-01 -9.06277187e-01 -1.61246817e-02 1.00002497e+03] [ 9.05682805e-01 4.22683232e-01 -3.28259455e-02 1.80726158e+02] [ 3.65650381e-02 -7.38948789e-04 9.99331002e-01 3.84403427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.479254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1000.04, Y:180.78, Z:38.44 [[ 4.28953245e-01 -9.03182929e-01 -1.61154961e-02 1.00004205e+03] [ 9.02586162e-01 4.29255613e-01 -3.28304545e-02 1.80782182e+02] [ 3.65695732e-02 -4.62893791e-04 9.99331002e-01 3.84433291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.539254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1000.06, Y:180.84, Z:38.44 [[ 4.35562725e-01 -9.00014280e-01 -1.61061274e-02 1.00005931e+03] [ 8.99415142e-01 4.35860369e-01 -3.28350500e-02 1.80838805e+02] [ 3.65720365e-02 -1.84371010e-04 9.99331002e-01 3.84441212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.599254154 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:1000.08, Y:180.89, Z:38.44 [[ 4.40270351e-01 -8.97720958e-01 -1.60965658e-02 1.00007792e+03] [ 8.97120098e-01 4.40564503e-01 -3.28397367e-02 1.80893947e+02] [ 3.65724954e-02 1.78097510e-05 9.99331002e-01 3.84430226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.6592541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1000.10, Y:180.95, Z:38.45 [[ 4.43799754e-01 -8.95981578e-01 -1.60869493e-02 1.00009630e+03] [ 8.95379395e-01 4.44091186e-01 -3.28444467e-02 1.80948883e+02] [ 3.65720916e-02 1.72434436e-04 9.99331002e-01 3.84473882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.719254154 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:1000.12, Y:181.00, Z:38.45 [[ 4.43910789e-01 -8.95926727e-01 -1.60782802e-02 1.00011838e+03] [ 8.95324354e-01 4.44201829e-01 -3.28486900e-02 1.81003039e+02] [ 3.65720208e-02 1.86612043e-04 9.99331002e-01 3.84457692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.779254154 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1000.14, Y:181.06, Z:38.45 [[ 4.45038621e-01 -8.95367200e-01 -1.60686904e-02 1.00014045e+03] [ 8.94764292e-01 4.45328551e-01 -3.28533804e-02 1.81057002e+02] [ 3.65716858e-02 2.43332744e-04 9.99331003e-01 3.84480287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.839254154 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:1000.16, Y:181.11, Z:38.45 [[ 4.46156508e-01 -8.94810862e-01 -1.60590159e-02 1.00016319e+03] [ 8.94207422e-01 4.46445329e-01 -3.28581087e-02 1.81111315e+02] [ 3.65712652e-02 2.99767864e-04 9.99331003e-01 3.84468610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.899254154 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:1000.19, Y:181.16, Z:38.45 [[ 4.47627699e-01 -8.94075966e-01 -1.60502345e-02 1.00018723e+03] [ 8.93471898e-01 4.47915204e-01 -3.28623976e-02 1.81164181e+02] [ 3.65706239e-02 3.69685921e-04 9.99331003e-01 3.84460056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.959254154 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:1000.21, Y:181.22, Z:38.45 [[ 4.46515902e-01 -8.94631841e-01 -1.60442515e-02 1.00021166e+03] [ 8.94028026e-01 4.46803938e-01 -3.28653184e-02 1.81216896e+02] [ 3.65709950e-02 3.30876758e-04 9.99331003e-01 3.84513629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.019254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1000.24, Y:181.27, Z:38.45 [[ 4.39682295e-01 -8.98010236e-01 -1.60341931e-02 1.00023745e+03] [ 8.97408456e-01 4.39974558e-01 -3.28702249e-02 1.81269527e+02] [ 3.65724354e-02 6.32353893e-05 9.99331003e-01 3.84522374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.079254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1000.27, Y:181.32, Z:38.46 [[ 4.34872073e-01 -9.00349633e-01 -1.60255738e-02 1.00026539e+03] [ 8.99749269e-01 4.35167237e-01 -3.28744266e-02 1.81319859e+02] [ 3.65722826e-02 -1.22828225e-04 9.99331003e-01 3.84582523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.139254154 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:1000.29, Y:181.37, Z:38.46 [[ 4.21678355e-01 -9.06603965e-01 -1.60192077e-02 1.00029317e+03] [ 9.06007859e-01 4.21982024e-01 -3.28775284e-02 1.81371664e+02] [ 3.65667153e-02 -6.49785979e-04 9.99331003e-01 3.84560501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.199254154 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:1000.32, Y:181.42, Z:38.46 [[ 4.14477114e-01 -9.09918887e-01 -1.60106293e-02 1.00032056e+03] [ 9.09325047e-01 4.14785189e-01 -3.28817054e-02 1.81422882e+02] [ 3.65606567e-02 -9.30151925e-04 9.99331003e-01 3.84587887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.259254154 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1000.35, Y:181.47, Z:38.46 [[ 4.12261481e-01 -9.10925054e-01 -1.60005231e-02 1.00034593e+03] [ 9.10331775e-01 4.12570636e-01 -3.28866224e-02 1.81474251e+02] [ 3.65585943e-02 -1.00789689e-03 9.99331003e-01 3.84607346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.319254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1000.37, Y:181.53, Z:38.47 [[ 4.15801221e-01 -9.09314914e-01 -1.59916057e-02 1.00037203e+03] [ 9.08720271e-01 4.16107744e-01 -3.28909580e-02 1.81526364e+02] [ 3.65624697e-02 -8.55795756e-04 9.99331003e-01 3.84651380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.379254154 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:1000.40, Y:181.58, Z:38.47 [[ 4.21509086e-01 -9.06683337e-01 -1.59817732e-02 1.00039679e+03] [ 9.06086598e-01 4.21811508e-01 -3.28957350e-02 1.81578107e+02] [ 3.65673106e-02 -6.15019362e-04 9.99331003e-01 3.84672891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.439254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1000.42, Y:181.63, Z:38.47 [[ 4.26042183e-01 -9.04562254e-01 -1.59745675e-02 1.00042170e+03] [ 9.03963877e-01 4.26341352e-01 -3.28992338e-02 1.81630635e+02] [ 3.65700238e-02 -4.23970641e-04 9.99331003e-01 3.84716434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.499254154 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1000.45, Y:181.68, Z:38.47 [[ 4.33546066e-01 -9.00989968e-01 -1.59651726e-02 1.00044599e+03] [ 9.00388958e-01 4.33839908e-01 -3.29037923e-02 1.81683941e+02] [ 3.65723158e-02 -1.09555385e-04 9.99331003e-01 3.84720146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.559254154 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:1000.47, Y:181.74, Z:38.47 [[ 4.43254175e-01 -8.96253954e-01 -1.59557785e-02 1.00046953e+03] [ 8.95649640e-01 4.43541163e-01 -3.29083471e-02 1.81737298e+02] [ 3.65712807e-02 2.95975007e-04 9.99331003e-01 3.84737981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.619254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1000.49, Y:181.79, Z:38.48 [[ 4.54075000e-01 -8.90820755e-01 -1.59460680e-02 1.00049370e+03] [ 8.90212845e-01 4.54354290e-01 -3.29130517e-02 1.81789519e+02] [ 3.65647940e-02 7.49599428e-04 9.99331003e-01 3.84776459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.6792541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1000.52, Y:181.84, Z:38.48 [[ 4.60551775e-01 -8.87489751e-01 -1.59374750e-02 1.00051929e+03] [ 8.86879681e-01 4.60826312e-01 -3.29172122e-02 1.81841032e+02] [ 3.65580963e-02 1.02545774e-03 9.99331003e-01 3.84796457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.739254154 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:1000.55, Y:181.89, Z:38.48 [[ 4.60866094e-01 -8.87326744e-01 -1.59277202e-02 1.00054734e+03] [ 8.86716414e-01 4.61140053e-01 -3.29219316e-02 1.81891625e+02] [ 3.65574201e-02 1.04923105e-03 9.99331003e-01 3.84803788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.799254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1000.57, Y:181.94, Z:38.48 [[ 4.58584176e-01 -8.88508395e-01 -1.59181066e-02 1.00057454e+03] [ 8.87898610e-01 4.58859346e-01 -3.29265792e-02 1.81942952e+02] [ 3.65597140e-02 9.65943488e-04 9.99331003e-01 3.84839837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.859254154 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1000.60, Y:181.99, Z:38.48 [[ 4.57353356e-01 -8.89142746e-01 -1.59086306e-02 1.00060441e+03] [ 8.88533184e-01 4.57629019e-01 -3.29311569e-02 1.81992514e+02] [ 3.65607503e-02 9.25828938e-04 9.99331003e-01 3.84833921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.9192541539999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1000.63, Y:182.04, Z:38.48 [[ 4.57285850e-01 -8.89177611e-01 -1.59005711e-02 1.00063451e+03] [ 8.88567935e-01 4.57561261e-01 -3.29350479e-02 1.82043273e+02] [ 3.65605926e-02 9.31993764e-04 9.99331003e-01 3.84822354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.979254154 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:1000.67, Y:182.09, Z:38.48 [[ 4.57187581e-01 -8.89228303e-01 -1.58915145e-02 1.00066633e+03] [ 8.88618507e-01 4.57462725e-01 -3.29394173e-02 1.82092635e+02] [ 3.65604377e-02 9.37998571e-04 9.99331003e-01 3.84817339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.039254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1000.70, Y:182.14, Z:38.49 [[ 4.57241027e-01 -8.89200988e-01 -1.58822694e-02 1.00069605e+03] [ 8.88591020e-01 4.57515792e-01 -3.29438743e-02 1.82142417e+02] [ 3.65601147e-02 9.50448983e-04 9.99331004e-01 3.84874946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.099254154 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:1000.73, Y:182.19, Z:38.49 [[ 4.56462980e-01 -8.89600807e-01 -1.58729729e-02 1.00072965e+03] [ 8.88990925e-01 4.56737935e-01 -3.29483530e-02 1.82189465e+02] [ 3.65606703e-02 9.28774562e-04 9.99331004e-01 3.84873653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.1592541539999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:1000.76, Y:182.24, Z:38.49 [[ 4.55859686e-01 -8.89910258e-01 -1.58644196e-02 1.00075911e+03] [ 8.89300419e-01 4.56134738e-01 -3.29524708e-02 1.82239500e+02] [ 3.65610547e-02 9.13468011e-04 9.99331004e-01 3.84912392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.219254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1000.79, Y:182.29, Z:38.49 [[ 4.54566037e-01 -8.90571909e-01 -1.58553479e-02 1.00079084e+03] [ 8.89962320e-01 4.54841639e-01 -3.29568351e-02 1.82288574e+02] [ 3.65621040e-02 8.70395739e-04 9.99331004e-01 3.84948278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.279254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1000.82, Y:182.34, Z:38.50 [[ 4.54857802e-01 -8.90423094e-01 -1.58459491e-02 1.00081779e+03] [ 8.89813257e-01 4.55132856e-01 -3.29613536e-02 1.82339732e+02] [ 3.65615625e-02 8.92793222e-04 9.99331004e-01 3.84978553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.339254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:1000.84, Y:182.39, Z:38.50 [[ 4.55528760e-01 -8.90080195e-01 -1.58364870e-02 1.00084146e+03] [ 8.89469994e-01 4.55803005e-01 -3.29658991e-02 1.82391624e+02] [ 3.65606122e-02 9.30835103e-04 9.99331004e-01 3.84968226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.399254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1000.86, Y:182.45, Z:38.50 [[ 4.55308411e-01 -8.90193054e-01 -1.58296333e-02 1.00086310e+03] [ 8.89582807e-01 4.55582553e-01 -3.29691898e-02 1.82445599e+02] [ 3.65606485e-02 9.29379771e-04 9.99331004e-01 3.84999038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.459254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1000.89, Y:182.50, Z:38.50 [[ 4.53756269e-01 -8.90985392e-01 -1.58202310e-02 1.00088788e+03] [ 8.90375467e-01 4.54031126e-01 -3.29737008e-02 1.82497907e+02] [ 3.65619631e-02 8.76077897e-04 9.99331004e-01 3.85029288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.519254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1000.91, Y:182.55, Z:38.50 [[ 4.49679611e-01 -8.93049983e-01 -1.58106096e-02 1.00091025e+03] [ 8.92441158e-01 4.49956898e-01 -3.29783136e-02 1.82552189e+02] [ 3.65653752e-02 7.19636457e-04 9.99331004e-01 3.85013869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.579254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1000.94, Y:182.60, Z:38.51 [[ 4.50060743e-01 -8.92858122e-01 -1.58019640e-02 1.00093884e+03] [ 8.92249033e-01 4.50337451e-01 -3.29824557e-02 1.82602438e+02] [ 3.65648696e-02 7.44821435e-04 9.99331004e-01 3.85062071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.639254154 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:1000.96, Y:182.65, Z:38.51 [[ 4.46724823e-01 -8.94531903e-01 -1.57989390e-02 1.00096448e+03] [ 8.93923801e-01 4.47003691e-01 -3.29839047e-02 1.82654969e+02] [ 3.65673390e-02 6.11681410e-04 9.99331004e-01 3.85058048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.699254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:1000.99, Y:182.71, Z:38.51 [[ 4.46043841e-01 -8.94871825e-01 -1.57895092e-02 1.00099029e+03] [ 8.94263776e-01 4.46322824e-01 -3.29884181e-02 1.82706669e+02] [ 3.65676243e-02 5.94294632e-04 9.99331004e-01 3.85113059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.759254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1001.01, Y:182.76, Z:38.51 [[ 4.47177491e-01 -8.94306025e-01 -1.57805388e-02 1.00101487e+03] [ 8.93697471e-01 4.47455373e-01 -3.29927087e-02 1.82759329e+02] [ 3.65666650e-02 6.50569032e-04 9.99331004e-01 3.85130711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.819254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1001.04, Y:182.81, Z:38.51 [[ 4.46075476e-01 -8.94856382e-01 -1.57710465e-02 1.00103665e+03] [ 8.94248011e-01 4.46353758e-01 -3.29972455e-02 1.82813590e+02] [ 3.65672616e-02 6.16035042e-04 9.99331004e-01 3.85090626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.879254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1001.06, Y:182.87, Z:38.51 [[ 4.47024108e-01 -8.94383023e-01 -1.57624712e-02 1.00106265e+03] [ 8.93774213e-01 4.47301427e-01 -3.30013414e-02 1.82865043e+02] [ 3.65664153e-02 6.64304877e-04 9.99331004e-01 3.85117225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.939254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1001.09, Y:182.92, Z:38.52 [[ 4.48161649e-01 -8.93813724e-01 -1.57532145e-02 1.00108836e+03] [ 8.93204407e-01 4.48437853e-01 -3.30057595e-02 1.82915922e+02] [ 3.65653385e-02 7.21075027e-04 9.99331004e-01 3.85169591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.999254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1001.11, Y:182.97, Z:38.52 [[ 4.47371392e-01 -8.94209698e-01 -1.57433498e-02 1.00111283e+03] [ 8.93600461e-01 4.47647770e-01 -3.30104641e-02 1.82967745e+02] [ 3.65657526e-02 6.99672647e-04 9.99331004e-01 3.85186031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.059254154 meters Centerline goodness : 0.999649 with order 1 Centerline is valid? [True, True] Translation: X:1001.14, Y:183.02, Z:38.52 [[ 4.45374850e-01 -8.95205897e-01 -1.57367548e-02 1.00113787e+03] [ 8.94597166e-01 4.45652344e-01 -3.30136078e-02 1.83019571e+02] [ 3.65670980e-02 6.25374413e-04 9.99331004e-01 3.85165439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.119254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1001.16, Y:183.07, Z:38.52 [[ 4.42606012e-01 -8.96578287e-01 -1.57255678e-02 1.00116348e+03] [ 8.95970228e-01 4.42884974e-01 -3.30189357e-02 1.83069800e+02] [ 3.65686785e-02 5.24738849e-04 9.99331004e-01 3.85210086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.1792541539999 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:1001.19, Y:183.12, Z:38.52 [[ 4.37783120e-01 -8.98943278e-01 -1.57137572e-02 1.00118929e+03] [ 8.98336525e-01 4.38064910e-01 -3.30245555e-02 1.83121292e+02] [ 3.65708478e-02 3.41350929e-04 9.99331005e-01 3.85243735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.239254154 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:1001.21, Y:183.17, Z:38.53 [[ 4.32984434e-01 -9.01264586e-01 -1.57043309e-02 1.00121372e+03] [ 9.00659181e-01 4.33269110e-01 -3.30290374e-02 1.83173898e+02] [ 3.65721032e-02 1.56809205e-04 9.99331005e-01 3.85286960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.299254154 meters Centerline goodness : 0.999759 with order 1 Centerline is valid? [True, True] Translation: X:1001.24, Y:183.23, Z:38.52 [[ 4.29620781e-01 -9.02872998e-01 -1.56950226e-02 1.00123845e+03] [ 9.02268498e-01 4.29907372e-01 -3.30334600e-02 1.83225926e+02] [ 3.65724250e-02 3.07363867e-05 9.99331005e-01 3.85248776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.359254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1001.26, Y:183.28, Z:38.53 [[ 4.30080058e-01 -9.02654442e-01 -1.56876491e-02 1.00126224e+03] [ 9.02049668e-01 4.30366072e-01 -3.30369613e-02 1.83278251e+02] [ 3.65723918e-02 5.74996029e-05 9.99331005e-01 3.85311374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.4192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1001.28, Y:183.33, Z:38.54 [[ 4.31141665e-01 -9.02148011e-01 -1.56790166e-02 1.00128410e+03] [ 9.01542752e-01 4.31426650e-01 -3.30410577e-02 1.83331961e+02] [ 3.65722701e-02 1.10072885e-04 9.99331005e-01 3.85356592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.479254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1001.31, Y:183.39, Z:38.54 [[ 4.32890489e-01 -9.01310317e-01 -1.56696111e-02 1.00130639e+03] [ 9.00704346e-01 4.33173955e-01 -3.30455176e-02 1.83385857e+02] [ 3.65719334e-02 1.91403432e-04 9.99331005e-01 3.85383957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.539254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:1001.33, Y:183.44, Z:38.54 [[ 4.34808477e-01 -9.00386774e-01 -1.56603056e-02 1.00132930e+03] [ 8.99780042e-01 4.35090311e-01 -3.30499270e-02 1.83439656e+02] [ 3.65713643e-02 2.79558015e-04 9.99331005e-01 3.85396445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.599254154 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:1001.35, Y:183.49, Z:38.54 [[ 4.38556962e-01 -8.98567106e-01 -1.56507617e-02 1.00135145e+03] [ 8.97959044e-01 4.38835914e-01 -3.30544458e-02 1.83491813e+02] [ 3.65697541e-02 4.42514303e-04 9.99331005e-01 3.85400775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.6592541539999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:1001.38, Y:183.55, Z:38.55 [[ 4.43004070e-01 -8.96383095e-01 -1.56442060e-02 1.00137567e+03] [ 8.95773548e-01 4.43279764e-01 -3.30575483e-02 1.83545294e+02] [ 3.65669874e-02 6.30962491e-04 9.99331005e-01 3.85452253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.719254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1001.40, Y:183.60, Z:38.54 [[ 4.41718886e-01 -8.97017259e-01 -1.56352869e-02 1.00139851e+03] [ 8.96407959e-01 4.41995125e-01 -3.30617662e-02 1.83600140e+02] [ 3.65676955e-02 5.88410963e-04 9.99331005e-01 3.85427434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.779254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:1001.42, Y:183.65, Z:38.54 [[ 4.41906909e-01 -8.96924798e-01 -1.56266049e-02 1.00142247e+03] [ 8.96315295e-01 4.42182700e-01 -3.30658692e-02 1.83652951e+02] [ 3.65674124e-02 6.05671113e-04 9.99331005e-01 3.85421915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.839254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1001.45, Y:183.71, Z:38.55 [[ 4.43377554e-01 -8.96198898e-01 -1.56166893e-02 1.00144700e+03] [ 8.95588779e-01 4.43651979e-01 -3.30705516e-02 1.83705539e+02] [ 3.65661670e-02 6.76608623e-04 9.99331005e-01 3.85460468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.899254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1001.47, Y:183.76, Z:38.55 [[ 4.44436201e-01 -8.95674546e-01 -1.56067373e-02 1.00147091e+03] [ 8.95063939e-01 4.44709538e-01 -3.30752475e-02 1.83758438e+02] [ 3.65651222e-02 7.30809550e-04 9.99331005e-01 3.85467328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.959254154 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:1001.50, Y:183.81, Z:38.55 [[ 4.48723136e-01 -8.93534715e-01 -1.55967931e-02 1.00149885e+03] [ 8.92922643e-01 4.48993175e-01 -3.30799361e-02 1.83809285e+02] [ 3.65609249e-02 9.17002974e-04 9.99331005e-01 3.85515791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.019254154 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:1001.52, Y:183.86, Z:38.55 [[ 4.51378327e-01 -8.92196518e-01 -1.55877799e-02 1.00152347e+03] [ 8.91583499e-01 4.51646212e-01 -3.30841827e-02 1.83862517e+02] [ 3.65577544e-02 1.03567570e-03 9.99331005e-01 3.85505646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.079254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1001.55, Y:183.92, Z:38.55 [[ 4.50701640e-01 -8.92538702e-01 -1.55787419e-02 1.00154605e+03] [ 8.91925740e-01 4.50969654e-01 -3.30884380e-02 1.83916577e+02] [ 3.65582514e-02 1.01793238e-03 9.99331005e-01 3.85486853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.139254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1001.58, Y:183.97, Z:38.56 [[ 4.53551612e-01 -8.91093995e-01 -1.55700854e-02 1.00157600e+03] [ 8.90480041e-01 4.53817345e-01 -3.30925109e-02 1.83965732e+02] [ 3.65545126e-02 1.14431141e-03 9.99331005e-01 3.85588334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.199254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:1001.60, Y:184.02, Z:38.56 [[ 4.51812017e-01 -8.91977347e-01 -1.55664271e-02 1.00160177e+03] [ 8.91363853e-01 4.52078813e-01 -3.30942316e-02 1.84017717e+02] [ 3.65565568e-02 1.07702110e-03 9.99331005e-01 3.85609369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.259254154 meters Centerline goodness : 0.999780 with order 1 Centerline is valid? [True, True] Translation: X:1001.63, Y:184.07, Z:38.57 [[ 4.48706284e-01 -8.93543877e-01 -1.55567029e-02 1.00163037e+03] [ 8.92931157e-01 4.48974852e-01 -3.30988021e-02 1.84069373e+02] [ 3.65598003e-02 9.60575781e-04 9.99331005e-01 3.85669609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.319254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:1001.66, Y:184.12, Z:38.57 [[ 4.44787926e-01 -8.95500952e-01 -1.55482079e-02 1.00165848e+03] [ 8.94889275e-01 4.45058861e-01 -3.31027922e-02 1.84120906e+02] [ 3.65634496e-02 8.09797798e-04 9.99331005e-01 3.85698350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.379254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1001.68, Y:184.17, Z:38.57 [[ 4.44045233e-01 -8.95869619e-01 -1.55388708e-02 1.00168452e+03] [ 8.95258015e-01 4.44316330e-01 -3.31071745e-02 1.84172508e+02] [ 3.65638859e-02 7.89784435e-04 9.99331005e-01 3.85729004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.439254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1001.71, Y:184.22, Z:38.57 [[ 4.44876466e-01 -8.95457297e-01 -1.55293228e-02 1.00171005e+03] [ 8.94845285e-01 4.45146643e-01 -3.31116525e-02 1.84224993e+02] [ 3.65628968e-02 8.34253654e-04 9.99331006e-01 3.85737762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.499254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1001.74, Y:184.28, Z:38.58 [[ 4.47180518e-01 -8.94309074e-01 -1.55198112e-02 1.00173510e+03] [ 8.93696215e-01 4.47448766e-01 -3.31161101e-02 1.84277570e+02] [ 3.65603582e-02 9.38882686e-04 9.99331006e-01 3.85750358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.559254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1001.76, Y:184.33, Z:38.58 [[ 4.48362852e-01 -8.93717058e-01 -1.55104188e-02 1.00175999e+03] [ 8.93103693e-01 4.48629942e-01 -3.31205086e-02 1.84330154e+02] [ 3.65588018e-02 9.97593373e-04 9.99331006e-01 3.85758839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.619254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1001.79, Y:184.38, Z:38.58 [[ 4.47536676e-01 -8.94131224e-01 -1.55009193e-02 1.00178660e+03] [ 8.93517953e-01 4.47803981e-01 -3.31249539e-02 1.84381936e+02] [ 3.65594290e-02 9.74282069e-04 9.99331006e-01 3.85798818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.6792541539999 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:1001.81, Y:184.43, Z:38.58 [[ 4.45659148e-01 -8.95068680e-01 -1.54913668e-02 1.00181160e+03] [ 8.94455816e-01 4.45927387e-01 -3.31294207e-02 1.84434101e+02] [ 3.65611316e-02 9.08086284e-04 9.99331006e-01 3.85805242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.739254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1001.83, Y:184.49, Z:38.58 [[ 4.41175650e-01 -8.97287222e-01 -1.54818017e-02 1.00183160e+03] [ 8.96675552e-01 4.41446598e-01 -3.31338900e-02 1.84489700e+02] [ 3.65650048e-02 7.35712396e-04 9.99331006e-01 3.85783506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.799254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1001.86, Y:184.54, Z:38.58 [[ 4.41800989e-01 -8.96979637e-01 -1.54730820e-02 1.00185555e+03] [ 8.96367636e-01 4.42071189e-01 -3.31379615e-02 1.84542236e+02] [ 3.65642804e-02 7.70814204e-04 9.99331006e-01 3.85803810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.859254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1001.88, Y:184.60, Z:38.58 [[ 4.42786934e-01 -8.96493515e-01 -1.54631241e-02 1.00187813e+03] [ 8.95881056e-01 4.43056093e-01 -3.31426075e-02 1.84595979e+02] [ 3.65631640e-02 8.21993577e-04 9.99331006e-01 3.85807912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.9192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1001.91, Y:184.65, Z:38.59 [[ 4.51564984e-01 -8.92104402e-01 -1.54531829e-02 1.00190798e+03] [ 8.91489173e-01 4.51827750e-01 -3.31472420e-02 1.84645279e+02] [ 3.65529774e-02 1.19178860e-03 9.99331006e-01 3.85927169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.979254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1001.93, Y:184.70, Z:38.59 [[ 4.46885818e-01 -8.94457578e-01 -1.54501197e-02 1.00192532e+03] [ 8.93843684e-01 4.47151690e-01 -3.31486698e-02 1.84702807e+02] [ 3.65586260e-02 1.00367853e-03 9.99331006e-01 3.85854295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.039254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1001.95, Y:184.76, Z:38.59 [[ 4.48650458e-01 -8.93573909e-01 -1.54413899e-02 1.00194944e+03] [ 8.92959352e-01 4.48914793e-01 -3.31527358e-02 1.84755753e+02] [ 3.65562881e-02 1.08545659e-03 9.99331006e-01 3.85876799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.099254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:1001.97, Y:184.81, Z:38.59 [[ 4.47155556e-01 -8.94323084e-01 -1.54314392e-02 1.00197326e+03] [ 8.93708812e-01 4.47420550e-01 -3.31573668e-02 1.84808457e+02] [ 3.65577416e-02 1.03528760e-03 9.99331006e-01 3.85881791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.1592541539999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:1002.00, Y:184.86, Z:38.60 [[ 4.50224116e-01 -8.92782405e-01 -1.54214845e-02 1.00200461e+03] [ 8.92167069e-01 4.50486630e-01 -3.31619961e-02 1.84857578e+02] [ 3.65536193e-02 1.17178972e-03 9.99331006e-01 3.86012105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.219254154 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:1002.03, Y:184.91, Z:38.60 [[ 4.45886122e-01 -8.94956926e-01 -1.54164327e-02 1.00202845e+03] [ 8.94342790e-01 4.46151432e-01 -3.31643445e-02 1.84909222e+02] [ 3.65587233e-02 9.99945543e-04 9.99331006e-01 3.86005397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.279254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1002.05, Y:184.97, Z:38.60 [[ 4.38073498e-01 -8.98807074e-01 -1.54095727e-02 1.00204564e+03] [ 8.98195160e-01 4.38343894e-01 -3.31675316e-02 1.84966568e+02] [ 3.65659041e-02 6.89012950e-04 9.99331006e-01 3.85967611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.339254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1002.07, Y:185.02, Z:38.60 [[ 4.34440686e-01 -9.00568767e-01 -1.54008630e-02 1.00207017e+03] [ 8.99957807e-01 4.34713230e-01 -3.31715753e-02 1.85019095e+02] [ 3.65682436e-02 5.50955050e-04 9.99331006e-01 3.86001274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.399254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1002.09, Y:185.07, Z:38.60 [[ 4.31480184e-01 -9.01991116e-01 -1.53908058e-02 1.00209397e+03] [ 9.01380888e-01 4.31754364e-01 -3.31762410e-02 1.85071445e+02] [ 3.65697222e-02 4.41912315e-04 9.99331006e-01 3.86045057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.459254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1002.12, Y:185.12, Z:38.61 [[ 4.28001021e-01 -9.03647362e-01 -1.53808829e-02 1.00211734e+03] [ 9.03038030e-01 4.28277186e-01 -3.31808407e-02 1.85124183e+02] [ 3.65710604e-02 3.11911454e-04 9.99331006e-01 3.86074954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.519254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1002.14, Y:185.18, Z:38.61 [[ 4.24916535e-01 -9.05102020e-01 -1.53710921e-02 1.00214152e+03] [ 9.04493470e-01 4.25194418e-01 -3.31853757e-02 1.85177235e+02] [ 3.65718532e-02 1.97962420e-04 9.99331006e-01 3.86102414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.579254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1002.16, Y:185.23, Z:38.61 [[ 4.22394470e-01 -9.06281941e-01 -1.53608352e-02 1.00216442e+03] [ 9.05673994e-01 4.22673671e-01 -3.31901228e-02 1.85229847e+02] [ 3.65722295e-02 1.07415385e-04 9.99331006e-01 3.86115591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.639254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:1002.19, Y:185.28, Z:38.62 [[ 4.26333557e-01 -9.04435711e-01 -1.53539420e-02 1.00219298e+03] [ 9.03826440e-01 4.26609857e-01 -3.31933113e-02 1.85279803e+02] [ 3.65713591e-02 2.74123706e-04 9.99331006e-01 3.86185431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.699254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1002.21, Y:185.34, Z:38.62 [[ 4.21853187e-01 -9.06534190e-01 -1.53509159e-02 1.00221028e+03] [ 9.05926243e-01 4.22132388e-01 -3.31947107e-02 1.85336484e+02] [ 3.65722590e-02 9.64969317e-05 9.99331007e-01 3.86198331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.759254154 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:1002.24, Y:185.39, Z:38.63 [[ 4.24255076e-01 -9.05412755e-01 -1.53419022e-02 1.00223564e+03] [ 9.04803919e-01 4.24532333e-01 -3.31988761e-02 1.85387633e+02] [ 3.65718194e-02 2.03378526e-04 9.99331007e-01 3.86258077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.819254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1002.26, Y:185.44, Z:38.63 [[ 4.23269822e-01 -9.05873898e-01 -1.53342186e-02 1.00225754e+03] [ 9.05265236e-01 4.23547460e-01 -3.32024247e-02 1.85441363e+02] [ 3.65719792e-02 1.72049417e-04 9.99331007e-01 3.86287223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.879254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1002.27, Y:185.50, Z:38.63 [[ 4.19486417e-01 -9.07632250e-01 -1.53246563e-02 1.00227463e+03] [ 9.07024590e-01 4.19766243e-01 -3.32068376e-02 1.85497939e+02] [ 3.65723701e-02 2.99772158e-05 9.99331007e-01 3.86261277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.939254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1002.30, Y:185.55, Z:38.63 [[ 4.22342664e-01 -9.06306859e-01 -1.53151038e-02 1.00229725e+03] [ 9.05698161e-01 4.22620224e-01 -3.32112427e-02 1.85550989e+02] [ 3.65720496e-02 1.55663383e-04 9.99331007e-01 3.86312420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.999254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1002.32, Y:185.61, Z:38.63 [[ 4.22036704e-01 -9.06449426e-01 -1.53120505e-02 1.00231708e+03] [ 9.05840771e-01 4.22314358e-01 -3.32126503e-02 1.85605290e+02] [ 3.65720866e-02 1.46677796e-04 9.99331007e-01 3.86338156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.059254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1002.34, Y:185.66, Z:38.64 [[ 4.20163204e-01 -9.07319525e-01 -1.53023680e-02 1.00233932e+03] [ 9.06711283e-01 4.20441760e-01 -3.32171109e-02 1.85659408e+02] [ 3.65722878e-02 8.17779616e-05 9.99331007e-01 3.86356253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.119254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1002.36, Y:185.71, Z:38.64 [[ 4.19684034e-01 -9.07541430e-01 -1.52926386e-02 1.00236112e+03] [ 9.06933172e-01 4.19962555e-01 -3.32215895e-02 1.85712220e+02] [ 3.65723044e-02 7.31694536e-05 9.99331007e-01 3.86377491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.1792541539999 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:1002.38, Y:185.77, Z:38.64 [[ 4.16255607e-01 -9.09119189e-01 -1.52830075e-02 1.00238100e+03] [ 9.08511824e-01 4.16536070e-01 -3.32260195e-02 1.85766516e+02] [ 3.65723358e-02 -5.42761354e-05 9.99331007e-01 3.86398523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.239254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1002.40, Y:185.82, Z:38.64 [[ 4.15829272e-01 -9.09314439e-01 -1.52730852e-02 1.00240017e+03] [ 9.08707038e-01 4.16109658e-01 -3.32305800e-02 1.85819873e+02] [ 3.65723244e-02 -6.05121179e-05 9.99331007e-01 3.86430187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.299254154 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:1002.42, Y:185.88, Z:38.64 [[ 4.16413096e-01 -9.09047354e-01 -1.52657095e-02 1.00242043e+03] [ 9.08439649e-01 4.16692822e-01 -3.32339679e-02 1.85875124e+02] [ 3.65723622e-02 -2.89162454e-05 9.99331007e-01 3.86426742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.359254154 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1002.44, Y:185.93, Z:38.65 [[ 4.20567830e-01 -9.07132818e-01 -1.52561994e-02 1.00243888e+03] [ 9.06523681e-01 4.20844423e-01 -3.32383330e-02 1.85929958e+02] [ 3.65720691e-02 1.48867546e-04 9.99331007e-01 3.86459712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.4192541539999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:1002.46, Y:185.99, Z:38.65 [[ 4.24262419e-01 -9.05410927e-01 -1.52464278e-02 1.00245678e+03] [ 9.04800507e-01 4.24536168e-01 -3.32428146e-02 1.85985387e+02] [ 3.65710676e-02 3.08701305e-04 9.99331007e-01 3.86451337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.479254154 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1002.48, Y:186.04, Z:38.65 [[ 4.26415000e-01 -9.04399292e-01 -1.52370704e-02 1.00247811e+03] [ 9.03788069e-01 4.26686953e-01 -3.32471031e-02 1.86039372e+02] [ 3.65701156e-02 4.05980995e-04 9.99331007e-01 3.86491109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.539254154 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:1002.50, Y:186.09, Z:38.65 [[ 4.26275375e-01 -9.04465263e-01 -1.52280219e-02 1.00250037e+03] [ 9.03853935e-01 4.26547089e-01 -3.32512470e-02 1.86093488e+02] [ 3.65700663e-02 4.10280320e-04 9.99331007e-01 3.86504734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.599254154 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:1002.52, Y:186.15, Z:38.65 [[ 4.26553052e-01 -9.04334501e-01 -1.52185334e-02 1.00252277e+03] [ 9.03722935e-01 4.26824230e-01 -3.32555892e-02 1.86146995e+02] [ 3.65698155e-02 4.31935434e-04 9.99331007e-01 3.86529797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.6592541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1002.55, Y:186.20, Z:38.66 [[ 4.28260821e-01 -9.03527172e-01 -1.52091819e-02 1.00254613e+03] [ 9.02914942e-01 4.28530499e-01 -3.32598655e-02 1.86199051e+02] [ 3.65687905e-02 5.11299733e-04 9.99331007e-01 3.86569668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.719254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1002.57, Y:186.25, Z:38.66 [[ 4.31622399e-01 -9.01926296e-01 -1.52007132e-02 1.00256938e+03] [ 9.01312930e-01 4.31889483e-01 -3.32637355e-02 1.86252828e+02] [ 3.65664659e-02 6.56773910e-04 9.99331007e-01 3.86590709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.779254154 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:1002.59, Y:186.31, Z:38.66 [[ 4.35138854e-01 -9.00235187e-01 -1.51916058e-02 1.00259210e+03] [ 8.99620640e-01 4.35403206e-01 -3.32678943e-02 1.86305854e+02] [ 3.65634029e-02 8.09471274e-04 9.99331007e-01 3.86572131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.839254154 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1002.62, Y:186.36, Z:38.66 [[ 4.38473967e-01 -8.98615613e-01 -1.51841974e-02 1.00261730e+03] [ 8.97999973e-01 4.38735765e-01 -3.32712753e-02 1.86359268e+02] [ 3.65599379e-02 9.53179203e-04 9.99331007e-01 3.86621548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.899254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1002.64, Y:186.41, Z:38.67 [[ 4.41515366e-01 -8.97125340e-01 -1.51758165e-02 1.00264208e+03] [ 8.96508686e-01 4.41774766e-01 -3.32750976e-02 1.86411270e+02] [ 3.65562261e-02 1.08621561e-03 9.99331007e-01 3.86650883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.959254154 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:1002.67, Y:186.46, Z:38.67 [[ 4.43182310e-01 -8.96303199e-01 -1.51662561e-02 1.00266724e+03] [ 8.95685915e-01 4.43440209e-01 -3.32794545e-02 1.86464173e+02] [ 3.65538093e-02 1.16466357e-03 9.99331008e-01 3.86653435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.019254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1002.70, Y:186.51, Z:38.67 [[ 4.44495883e-01 -8.95652658e-01 -1.51567075e-02 1.00269522e+03] [ 8.95034850e-01 4.44752522e-01 -3.32838027e-02 1.86514914e+02] [ 3.65517103e-02 1.22873182e-03 9.99331008e-01 3.86695711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.079254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1002.72, Y:186.57, Z:38.67 [[ 4.44254370e-01 -8.95772643e-01 -1.51468649e-02 1.00272267e+03] [ 8.95154752e-01 4.44510810e-01 -3.32882814e-02 1.86565917e+02] [ 3.65516769e-02 1.22967638e-03 9.99331008e-01 3.86730556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.139254154 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:1002.75, Y:186.62, Z:38.67 [[ 4.42336819e-01 -8.96721250e-01 -1.51373510e-02 1.00275049e+03] [ 8.96103762e-01 4.42594228e-01 -3.32926071e-02 1.86617365e+02] [ 3.65538924e-02 1.16190871e-03 9.99331008e-01 3.86729316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.199254154 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:1002.78, Y:186.67, Z:38.67 [[ 4.36641404e-01 -8.99508444e-01 -1.51275523e-02 1.00277924e+03] [ 8.98892447e-01 4.36902362e-01 -3.32970588e-02 1.86666951e+02] [ 3.65602489e-02 9.40832017e-04 9.99331008e-01 3.86732162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.259254154 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:1002.81, Y:186.72, Z:38.68 [[ 4.26666824e-01 -9.04282498e-01 -1.51190129e-02 1.00280876e+03] [ 9.03669288e-01 4.26934263e-01 -3.33009358e-02 1.86717473e+02] [ 3.65682781e-02 5.45816894e-04 9.99331008e-01 3.86762349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.319254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1002.84, Y:186.77, Z:38.68 [[ 4.18911618e-01 -9.07901295e-01 -1.51094617e-02 1.00283722e+03] [ 9.07290240e-01 4.19183945e-01 -3.33052689e-02 1.86768348e+02] [ 3.65715405e-02 2.43296960e-04 9.99331008e-01 3.86799427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.379254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1002.86, Y:186.82, Z:38.68 [[ 4.04663238e-01 -9.14341110e-01 -1.50996567e-02 1.00286347e+03] [ 9.13734222e-01 4.04944730e-01 -3.33097136e-02 1.86820925e+02] [ 3.65709669e-02 -3.17856545e-04 9.99331008e-01 3.86787921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.439254154 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:1002.90, Y:186.87, Z:38.68 [[ 4.00360872e-01 -9.16233285e-01 -1.50910655e-02 1.00289607e+03] [ 9.15627580e-01 4.00644902e-01 -3.33136054e-02 1.86870671e+02] [ 3.65691926e-02 -4.80331626e-04 9.99331008e-01 3.86824676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.499254154 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:1002.92, Y:186.92, Z:38.68 [[ 3.97179621e-01 -9.17616949e-01 -1.50826002e-02 1.00292186e+03] [ 9.17012088e-01 3.97465443e-01 -3.33174376e-02 1.86921821e+02] [ 3.65674578e-02 -5.97919520e-04 9.99331008e-01 3.86837915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.559254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1002.95, Y:186.97, Z:38.69 [[ 3.96508043e-01 -9.17907481e-01 -1.50740728e-02 1.00294984e+03] [ 9.17302684e-01 3.96793999e-01 -3.33212953e-02 1.86972777e+02] [ 3.65671678e-02 -6.15325828e-04 9.99331008e-01 3.86887898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.619254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1002.97, Y:187.03, Z:38.69 [[ 3.94698202e-01 -9.18687321e-01 -1.50643795e-02 1.00297153e+03] [ 9.18082922e-01 3.94984997e-01 -3.33256770e-02 1.87028147e+02] [ 3.65660808e-02 -6.76764791e-04 9.99331008e-01 3.86883872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.6792541539999 meters Centerline goodness : 0.999739 with order 1 Centerline is valid? [True, True] Translation: X:1003.00, Y:187.08, Z:38.69 [[ 4.02273723e-01 -9.15395644e-01 -1.50554623e-02 1.00299954e+03] [ 9.14788745e-01 4.02555191e-01 -3.33297050e-02 1.87079422e+02] [ 3.65705213e-02 -3.64902923e-04 9.99331008e-01 3.86896528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.739254154 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:1003.02, Y:187.13, Z:38.69 [[ 4.06177712e-01 -9.13670156e-01 -1.50503189e-02 1.00302054e+03] [ 9.13061976e-01 4.06456399e-01 -3.33320274e-02 1.87134404e+02] [ 3.65717771e-02 -2.03147298e-04 9.99331008e-01 3.86914838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.799254154 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:1003.05, Y:187.19, Z:38.70 [[ 4.17115488e-01 -9.08729013e-01 -1.50416529e-02 1.00304687e+03] [ 9.08117390e-01 4.17386537e-01 -3.33359376e-02 1.87185266e+02] [ 3.65715171e-02 2.45349339e-04 9.99331008e-01 3.86967497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.859254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1003.07, Y:187.24, Z:38.70 [[ 4.25378279e-01 -9.04890785e-01 -1.50328674e-02 1.00307109e+03] [ 9.04276578e-01 4.25643421e-01 -3.33398990e-02 1.87238595e+02] [ 3.65676085e-02 5.88198944e-04 9.99331008e-01 3.87005829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.9192541539999 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:1003.10, Y:187.29, Z:38.70 [[ 4.29118038e-01 -9.03123473e-01 -1.50233877e-02 1.00309543e+03] [ 9.02508025e-01 4.29380287e-01 -3.33441701e-02 1.87291763e+02] [ 3.65646492e-02 7.49856894e-04 9.99331008e-01 3.87003216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.979254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1003.12, Y:187.35, Z:38.70 [[ 4.28671848e-01 -9.03335505e-01 -1.50137340e-02 1.00311757e+03] [ 9.02720036e-01 4.28934044e-01 -3.33485163e-02 1.87346474e+02] [ 3.65648004e-02 7.42371560e-04 9.99331008e-01 3.87004967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.039254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1003.15, Y:187.40, Z:38.71 [[ 4.33605399e-01 -9.00977922e-01 -1.50047053e-02 1.00314679e+03] [ 9.00360888e-01 4.33863892e-01 -3.33525781e-02 1.87395661e+02] [ 3.65599364e-02 9.52208196e-04 9.99331008e-01 3.87053208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.099254154 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:1003.17, Y:187.45, Z:38.71 [[ 4.34164291e-01 -9.00708866e-01 -1.49969381e-02 1.00317194e+03] [ 9.00091551e-01 4.34422113e-01 -3.33560703e-02 1.87447111e+02] [ 3.65591098e-02 9.83397310e-04 9.99331008e-01 3.87055962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.1592541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1003.20, Y:187.50, Z:38.71 [[ 4.34784192e-01 -9.00409940e-01 -1.49881902e-02 1.00319850e+03] [ 8.99792313e-01 4.35041266e-01 -3.33600006e-02 1.87497912e+02] [ 3.65581574e-02 1.01814253e-03 9.99331008e-01 3.87074169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.219254154 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:1003.23, Y:187.55, Z:38.71 [[ 4.33747277e-01 -9.00910068e-01 -1.49782657e-02 1.00322661e+03] [ 9.00292585e-01 4.34004694e-01 -3.33644560e-02 1.87549369e+02] [ 3.65590120e-02 9.86920368e-04 9.99331009e-01 3.87068483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.279254154 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:1003.26, Y:187.60, Z:38.71 [[ 4.31064572e-01 -9.02196912e-01 -1.49688855e-02 1.00325570e+03] [ 9.01580051e-01 4.31323479e-01 -3.33686639e-02 1.87599882e+02] [ 3.65615372e-02 8.88400232e-04 9.99331009e-01 3.87095386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.339254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1003.28, Y:187.65, Z:38.71 [[ 4.28436474e-01 -9.03448068e-01 -1.49591785e-02 1.00328486e+03] [ 9.02831812e-01 4.28696817e-01 -3.33730149e-02 1.87649814e+02] [ 3.65637381e-02 7.92594628e-04 9.99331009e-01 3.87148615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.399254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:1003.31, Y:187.70, Z:38.72 [[ 4.24678855e-01 -9.05220566e-01 -1.49531516e-02 1.00331491e+03] [ 9.04605303e-01 4.24941535e-01 -3.33757152e-02 1.87700321e+02] [ 3.65665989e-02 6.47260307e-04 9.99331009e-01 3.87166985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.459254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1003.34, Y:187.75, Z:38.72 [[ 4.22574716e-01 -9.06204886e-01 -1.49437093e-02 1.00334242e+03] [ 9.05590085e-01 4.22838476e-01 -3.33799423e-02 1.87751925e+02] [ 3.65678421e-02 5.72644672e-04 9.99331009e-01 3.87202781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.519254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:1003.37, Y:187.80, Z:38.72 [[ 4.21781951e-01 -9.06574297e-01 -1.49342134e-02 1.00336792e+03] [ 9.05959577e-01 4.22045899e-01 -3.33841903e-02 1.87804480e+02] [ 3.65681723e-02 5.51055211e-04 9.99331009e-01 3.87224068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.579254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1003.39, Y:187.86, Z:38.73 [[ 4.22095967e-01 -9.06428294e-01 -1.49245397e-02 1.00339035e+03] [ 9.05813331e-01 4.22359346e-01 -3.33885144e-02 1.87858419e+02] [ 3.65678130e-02 5.74310242e-04 9.99331009e-01 3.87266476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.639254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1003.41, Y:187.91, Z:38.73 [[ 4.21117814e-01 -9.06883307e-01 -1.49148781e-02 1.00341202e+03] [ 9.06268475e-01 4.21381501e-01 -3.33928297e-02 1.87911102e+02] [ 3.65682536e-02 5.45431620e-04 9.99331009e-01 3.87297241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.699254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1003.43, Y:187.96, Z:38.73 [[ 4.19201296e-01 -9.07770963e-01 -1.49047809e-02 1.00343471e+03] [ 9.07156529e-01 4.19465909e-01 -3.33973360e-02 1.87964117e+02] [ 3.65691793e-02 4.79237214e-04 9.99331009e-01 3.87316672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.759254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1003.46, Y:188.02, Z:38.73 [[ 4.15561157e-01 -9.09443267e-01 -1.48952400e-02 1.00345735e+03] [ 9.08829747e-01 4.15827880e-01 -3.34015907e-02 1.88017717e+02] [ 3.65707078e-02 3.43166491e-04 9.99331009e-01 3.87329152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.819254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1003.48, Y:188.07, Z:38.73 [[ 4.12413190e-01 -9.10875282e-01 -1.48856284e-02 1.00348066e+03] [ 9.10262533e-01 4.12681680e-01 -3.34058736e-02 1.88070992e+02] [ 3.65716107e-02 2.27193114e-04 9.99331009e-01 3.87348580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.879254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:1003.50, Y:188.12, Z:38.74 [[ 4.06780431e-01 -9.13404834e-01 -1.48758207e-02 1.00350423e+03] [ 9.12793595e-01 4.07052342e-01 -3.34102405e-02 1.88123590e+02] [ 3.65723128e-02 1.20782070e-05 9.99331009e-01 3.87358495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.939254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:1003.53, Y:188.18, Z:38.74 [[ 4.00846063e-01 -9.16024799e-01 -1.48661236e-02 1.00352843e+03] [ 9.15415177e-01 4.01121580e-01 -3.34145547e-02 1.88176645e+02] [ 3.65716837e-02 -2.14582427e-04 9.99331009e-01 3.87397903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.999254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1003.55, Y:188.23, Z:38.74 [[ 3.94969363e-01 -9.18574161e-01 -1.48564167e-02 1.00355106e+03] [ 9.17966154e-01 3.95248427e-01 -3.34188699e-02 1.88229015e+02] [ 3.65696857e-02 -4.38257886e-04 9.99331009e-01 3.87424767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.059254154 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:1003.57, Y:188.28, Z:38.74 [[ 3.89325993e-01 -9.20980379e-01 -1.48462814e-02 1.00357386e+03] [ 9.20373925e-01 3.89608414e-01 -3.34233719e-02 1.88281509e+02] [ 3.65665059e-02 -6.51542853e-04 9.99331009e-01 3.87433017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.119254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:1003.60, Y:188.33, Z:38.75 [[ 3.86989516e-01 -9.21964699e-01 -1.48394298e-02 1.00359646e+03] [ 9.21358846e-01 3.87273226e-01 -3.34264136e-02 1.88334732e+02] [ 3.65648872e-02 -7.36768282e-04 9.99331009e-01 3.87486376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.1792541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1003.62, Y:188.39, Z:38.75 [[ 3.84957846e-01 -9.22814999e-01 -1.48301809e-02 1.00361531e+03] [ 9.22209615e-01 3.85242555e-01 -3.34305166e-02 1.88390420e+02] [ 3.65633989e-02 -8.07195748e-04 9.99331009e-01 3.87472523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.239254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:1003.64, Y:188.44, Z:38.75 [[ 3.90710513e-01 -9.20394274e-01 -1.48214245e-02 1.00363768e+03] [ 9.19786978e-01 3.90991119e-01 -3.34343982e-02 1.88444000e+02] [ 3.65678741e-02 -5.69382396e-04 9.99331009e-01 3.87501215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.299254154 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:1003.66, Y:188.50, Z:38.75 [[ 3.95254427e-01 -9.18452258e-01 -1.48117667e-02 1.00365791e+03] [ 9.17843422e-01 3.95531677e-01 -3.34386762e-02 1.88499179e+02] [ 3.65703506e-02 -3.78097822e-04 9.99331009e-01 3.87504804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.359254154 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:1003.68, Y:188.55, Z:38.75 [[ 4.01002265e-01 -9.15957463e-01 -1.48023184e-02 1.00367859e+03] [ 9.15346748e-01 4.01275350e-01 -3.34428582e-02 1.88551986e+02] [ 3.65720410e-02 -1.38592074e-04 9.99331010e-01 3.87530456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.4192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1003.70, Y:188.61, Z:38.76 [[ 4.05431691e-01 -9.14005654e-01 -1.47921897e-02 1.00370049e+03] [ 9.13393460e-01 4.05701445e-01 -3.34473376e-02 1.88605681e+02] [ 3.65722684e-02 4.95213756e-05 9.99331010e-01 3.87612411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.479254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1003.72, Y:188.66, Z:38.76 [[ 4.10438745e-01 -9.11768333e-01 -1.47832370e-02 1.00372061e+03] [ 9.11154526e-01 4.10704809e-01 -3.34512941e-02 1.88660196e+02] [ 3.65713772e-02 2.59893859e-04 9.99331010e-01 3.87622838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.539254154 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:1003.74, Y:188.71, Z:38.76 [[ 4.14924846e-01 -9.09735738e-01 -1.47736259e-02 1.00374164e+03] [ 9.09120477e-01 4.15187530e-01 -3.34555383e-02 1.88714205e+02] [ 3.65695240e-02 4.50528243e-04 9.99331010e-01 3.87632589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.599254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:1003.76, Y:188.77, Z:38.76 [[ 4.18394646e-01 -9.08145334e-01 -1.47638665e-02 1.00376247e+03] [ 9.07528924e-01 4.18654620e-01 -3.34598445e-02 1.88768681e+02] [ 3.65673626e-02 6.00783915e-04 9.99331010e-01 3.87648156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.6592541539999 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:1003.78, Y:188.82, Z:38.77 [[ 4.19615877e-01 -9.07581857e-01 -1.47542619e-02 1.00378445e+03] [ 9.06964949e-01 4.19874667e-01 -3.34640792e-02 1.88821976e+02] [ 3.65663320e-02 6.60460542e-04 9.99331010e-01 3.87657685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.719254154 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:1003.81, Y:188.88, Z:38.77 [[ 4.19041552e-01 -9.07847330e-01 -1.47445760e-02 1.00380719e+03] [ 9.07230437e-01 4.19300375e-01 -3.34683463e-02 1.88875315e+02] [ 3.65665551e-02 6.47899662e-04 9.99331010e-01 3.87686494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.779254154 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:1003.83, Y:188.93, Z:38.77 [[ 4.16050996e-01 -9.09221893e-01 -1.47349071e-02 1.00383098e+03] [ 9.08605704e-01 4.16311493e-01 -3.34726027e-02 1.88928347e+02] [ 3.65683344e-02 5.38089015e-04 9.99331010e-01 3.87709238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.839254154 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:1003.85, Y:188.98, Z:38.77 [[ 4.13238623e-01 -9.10503711e-01 -1.47252138e-02 1.00385400e+03] [ 9.09888179e-01 4.13500667e-01 -3.34768664e-02 1.88982175e+02] [ 3.65696968e-02 4.35636168e-04 9.99331010e-01 3.87717683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.899254154 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:1003.88, Y:189.03, Z:38.77 [[ 4.12395205e-01 -9.10886187e-01 -1.47156087e-02 1.00387703e+03] [ 9.10270747e-01 4.12657466e-01 -3.34810880e-02 1.89034250e+02] [ 3.65699664e-02 4.12252064e-04 9.99331010e-01 3.87726302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.959254154 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:1003.90, Y:189.09, Z:38.78 [[ 4.08372988e-01 -9.12696641e-01 -1.47086558e-02 1.00390170e+03] [ 9.12082253e-01 4.08637707e-01 -3.34841422e-02 1.89087128e+02] [ 3.65713755e-02 2.58515280e-04 9.99331010e-01 3.87762268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.019254154 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:1003.93, Y:189.14, Z:38.78 [[ 4.02723566e-01 -9.15203623e-01 -1.46989188e-02 1.00392714e+03] [ 9.14590728e-01 4.02991721e-01 -3.34884161e-02 1.89139119e+02] [ 3.65722623e-02 4.30794618e-05 9.99331010e-01 3.87797568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.079254154 meters Centerline goodness : 0.999674 with order 1 Centerline is valid? [True, True] Translation: X:1003.95, Y:189.19, Z:38.78 [[ 3.97913420e-01 -9.17305367e-01 -1.46892635e-02 1.00395122e+03] [ 9.16693732e-01 3.98184436e-01 -3.34926507e-02 1.89191894e+02] [ 3.65720243e-02 -1.38380550e-04 9.99331010e-01 3.87803526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.139254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:1003.98, Y:189.24, Z:38.79 [[ 3.90619607e-01 -9.20435130e-01 -1.46797401e-02 1.00397622e+03] [ 9.19825508e-01 3.90895123e-01 -3.34968243e-02 1.89244656e+02] [ 3.65698926e-02 -4.18283108e-04 9.99331010e-01 3.87861541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.199254154 meters Centerline goodness : 0.999760 with order 1 Centerline is valid? [True, True] Translation: X:1004.00, Y:189.30, Z:38.79 [[ 3.80767140e-01 -9.24554578e-01 -1.46702735e-02 1.00399999e+03] [ 9.23947775e-01 3.81048808e-01 -3.35009698e-02 1.89296964e+02] [ 3.65635652e-02 -7.98498097e-04 9.99331010e-01 3.87868547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.259254154 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:1004.02, Y:189.35, Z:38.79 [[ 3.71389506e-01 -9.28361393e-01 -1.46614782e-02 1.00402331e+03] [ 9.27757321e-01 3.71676985e-01 -3.35048185e-02 1.89349867e+02] [ 3.65539140e-02 -1.15895571e-03 9.99331010e-01 3.87907424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.319254154 meters Centerline goodness : 0.999759 with order 1 Centerline is valid? [True, True] Translation: X:1004.05, Y:189.40, Z:38.79 [[ 3.66368417e-01 -9.30354506e-01 -1.46518096e-02 1.00404626e+03] [ 9.29751829e-01 3.66658807e-01 -3.35090461e-02 1.89403527e+02] [ 3.65475071e-02 -1.34589064e-03 9.99331010e-01 3.87927876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.379254154 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:1004.07, Y:189.46, Z:38.80 [[ 3.61992251e-01 -9.32066099e-01 -1.46422817e-02 1.00406668e+03] [ 9.31464626e-01 3.62285129e-01 -3.35132090e-02 1.89458448e+02] [ 3.65412069e-02 -1.50724546e-03 9.99331010e-01 3.87956834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.439254154 meters Centerline goodness : 0.999522 with order 1 Centerline is valid? [True, True] Translation: X:1004.08, Y:189.51, Z:38.80 [[ 3.61961317e-01 -9.32078265e-01 -1.46326191e-02 1.00408469e+03] [ 9.31476633e-01 3.62253868e-01 -3.35174273e-02 1.89513863e+02] [ 3.65415884e-02 -1.49793068e-03 9.99331010e-01 3.87971256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.499254154 meters Centerline goodness : 0.999022 with order 1 Centerline is valid? [True, True] Translation: X:1004.10, Y:189.57, Z:38.80 [[ 3.64185519e-01 -9.31211617e-01 -1.46230097e-02 1.00410084e+03] [ 9.30609122e-01 3.64476287e-01 -3.35216192e-02 1.89568785e+02] [ 3.65454615e-02 -1.40021798e-03 9.99331011e-01 3.87978073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.559254154 meters Centerline goodness : 0.998592 with order 1 Centerline is valid? [True, True] Translation: X:1004.12, Y:189.62, Z:38.80 [[ 3.65805675e-01 -9.30576478e-01 -1.46159754e-02 1.00411914e+03] [ 9.29973356e-01 3.66095141e-01 -3.35246860e-02 1.89624520e+02] [ 3.65481218e-02 -1.32894733e-03 9.99331011e-01 3.88020728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.619254154 meters Centerline goodness : 0.997885 with order 1 Centerline is valid? [True, True] Translation: X:1004.13, Y:189.68, Z:38.81 [[ 3.69594476e-01 -9.29078348e-01 -1.46063732e-02 1.00413319e+03] [ 9.28473887e-01 3.69881137e-01 -3.35288691e-02 1.89681571e+02] [ 3.65535682e-02 -1.16955133e-03 9.99331011e-01 3.88058336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.6792541539999 meters Centerline goodness : 0.997903 with order 1 Centerline is valid? [True, True] Translation: X:1004.15, Y:189.74, Z:38.81 [[ 3.74324529e-01 -9.27182864e-01 -1.45973731e-02 1.00414691e+03] [ 9.26576799e-01 3.74607780e-01 -3.35327869e-02 1.89739060e+02] [ 3.65593150e-02 -9.73442595e-04 9.99331011e-01 3.88073026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.739254154 meters Centerline goodness : 0.997870 with order 1 Centerline is valid? [True, True] Translation: X:1004.16, Y:189.80, Z:38.81 [[ 3.78442207e-01 -9.25509964e-01 -1.45877782e-02 1.00416048e+03] [ 9.24902484e-01 3.78722414e-01 -3.35369605e-02 1.89796427e+02] [ 3.65635097e-02 -8.00470979e-04 9.99331011e-01 3.88084788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.799254154 meters Centerline goodness : 0.997752 with order 1 Centerline is valid? [True, True] Translation: X:1004.17, Y:189.85, Z:38.81 [[ 3.81351166e-01 -9.24315296e-01 -1.45781064e-02 1.00417386e+03] [ 9.23706779e-01 3.81629110e-01 -3.35411642e-02 1.89852889e+02] [ 3.65660409e-02 -6.74933647e-04 9.99331011e-01 3.88088783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.859254154 meters Centerline goodness : 0.997740 with order 1 Centerline is valid? [True, True] Translation: X:1004.19, Y:189.91, Z:38.81 [[ 3.83311427e-01 -9.23504230e-01 -1.45700973e-02 1.00419149e+03] [ 9.22894992e-01 3.83587789e-01 -3.35446429e-02 1.89908650e+02] [ 3.65675310e-02 -5.88624900e-04 9.99331011e-01 3.88103776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.9192541539999 meters Centerline goodness : 0.997964 with order 1 Centerline is valid? [True, True] Translation: X:1004.21, Y:189.97, Z:38.81 [[ 3.86602920e-01 -9.22131318e-01 -1.45606848e-02 1.00420602e+03] [ 9.21520945e-01 3.86876764e-01 -3.35487281e-02 1.89965574e+02] [ 3.65695235e-02 -4.47939697e-04 9.99331011e-01 3.88149364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.979254154 meters Centerline goodness : 0.997676 with order 1 Centerline is valid? [True, True] Translation: X:1004.22, Y:190.02, Z:38.81 [[ 3.89858591e-01 -9.20759758e-01 -1.45515468e-02 1.00422231e+03] [ 9.20148273e-01 3.90129944e-01 -3.35526912e-02 1.90023069e+02] [ 3.65709620e-02 -3.08775690e-04 9.99331011e-01 3.88131553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.039254154 meters Centerline goodness : 0.997711 with order 1 Centerline is valid? [True, True] Translation: X:1004.24, Y:190.08, Z:38.82 [[ 3.91791378e-01 -9.19939135e-01 -1.45431926e-02 1.00424158e+03] [ 9.19326947e-01 3.92061142e-01 -3.35563119e-02 1.90078385e+02] [ 3.65715852e-02 -2.22875116e-04 9.99331011e-01 3.88155747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.099254154 meters Centerline goodness : 0.998117 with order 1 Centerline is valid? [True, True] Translation: X:1004.26, Y:190.13, Z:38.82 [[ 3.94440296e-01 -9.18806637e-01 -1.45333214e-02 1.00425977e+03] [ 9.18193517e-01 3.94707934e-01 -3.35605866e-02 1.90133933e+02] [ 3.65721070e-02 -1.06753761e-04 9.99331011e-01 3.88210869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.1592541539999 meters Centerline goodness : 0.997878 with order 1 Centerline is valid? [True, True] Translation: X:1004.28, Y:190.19, Z:38.82 [[ 3.97701384e-01 -9.17399873e-01 -1.45286699e-02 1.00427808e+03] [ 9.16785733e-01 3.97966672e-01 -3.35626001e-02 1.90188807e+02] [ 3.65722515e-02 2.82152104e-05 9.99331011e-01 3.88221653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.219254154 meters Centerline goodness : 0.998163 with order 1 Centerline is valid? [True, True] Translation: X:1004.30, Y:190.24, Z:38.83 [[ 4.02652392e-01 -9.15237795e-01 -1.45199576e-02 1.00429669e+03] [ 9.14622095e-01 4.02914039e-01 -3.35663689e-02 1.90244039e+02] [ 3.65715042e-02 2.35304666e-04 9.99331011e-01 3.88257047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.279254154 meters Centerline goodness : 0.997933 with order 1 Centerline is valid? [True, True] Translation: X:1004.32, Y:190.30, Z:38.83 [[ 4.05589454e-01 -9.13940172e-01 -1.45105977e-02 1.00431715e+03] [ 9.13323489e-01 4.05848778e-01 -3.35704146e-02 1.90298367e+02] [ 3.65704589e-02 3.62936438e-04 9.99331011e-01 3.88297695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.339254154 meters Centerline goodness : 0.998045 with order 1 Centerline is valid? [True, True] Translation: X:1004.34, Y:190.35, Z:38.83 [[ 4.07559343e-01 -9.13063573e-01 -1.45014906e-02 1.00433931e+03] [ 9.12446194e-01 4.07817002e-01 -3.35743482e-02 1.90352533e+02] [ 3.65694687e-02 4.51709410e-04 9.99331011e-01 3.88291019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.399254154 meters Centerline goodness : 0.998145 with order 1 Centerline is valid? [True, True] Translation: X:1004.36, Y:190.41, Z:38.83 [[ 4.06325923e-01 -9.13613279e-01 -1.44920743e-02 1.00436335e+03] [ 9.12996103e-01 4.06584070e-01 -3.35784122e-02 1.90405351e+02] [ 3.65699298e-02 4.12571972e-04 9.99331011e-01 3.88312115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.459254154 meters Centerline goodness : 0.998105 with order 1 Centerline is valid? [True, True] Translation: X:1004.39, Y:190.46, Z:38.84 [[ 4.01964760e-01 -9.15540598e-01 -1.44825948e-02 1.00438800e+03] [ 9.14924512e-01 4.02225500e-01 -3.35825002e-02 1.90457844e+02] [ 3.65714113e-02 2.48500637e-04 9.99331011e-01 3.88359566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.519254154 meters Centerline goodness : 0.998299 with order 1 Centerline is valid? [True, True] Translation: X:1004.41, Y:190.51, Z:38.84 [[ 3.98784636e-01 -9.16930402e-01 -1.44724545e-02 1.00441459e+03] [ 9.16315067e-01 3.99047141e-01 -3.35868696e-02 1.90509443e+02] [ 3.65720135e-02 1.32599459e-04 9.99331011e-01 3.88381622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.579254154 meters Centerline goodness : 0.998369 with order 1 Centerline is valid? [True, True] Translation: X:1004.44, Y:190.56, Z:38.84 [[ 3.92784082e-01 -9.19516912e-01 -1.44676941e-02 1.00444043e+03] [ 9.18903230e-01 3.93050428e-01 -3.35889201e-02 1.90560234e+02] [ 3.65721134e-02 -1.01217653e-04 9.99331011e-01 3.88396991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.639254154 meters Centerline goodness : 0.998342 with order 1 Centerline is valid? [True, True] Translation: X:1004.47, Y:190.61, Z:38.84 [[ 3.88378025e-01 -9.21386665e-01 -1.44610738e-02 1.00446577e+03] [ 9.20774159e-01 3.88647064e-01 -3.35917701e-02 1.90612893e+02] [ 3.65712629e-02 -2.69077772e-04 9.99331011e-01 3.88408707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.699254154 meters Centerline goodness : 0.998495 with order 1 Centerline is valid? [True, True] Translation: X:1004.49, Y:190.66, Z:38.84 [[ 3.84131622e-01 -9.23165232e-01 -1.44517175e-02 1.00449113e+03] [ 9.22553820e-01 3.84403138e-01 -3.35957948e-02 1.90664688e+02] [ 3.65697553e-02 -4.27280064e-04 9.99331011e-01 3.88438619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.759254154 meters Centerline goodness : 0.998623 with order 1 Centerline is valid? [True, True] Translation: X:1004.52, Y:190.72, Z:38.85 [[ 3.83456858e-01 -9.23445859e-01 -1.44424318e-02 1.00451509e+03] [ 9.22834495e-01 3.83728483e-01 -3.35997862e-02 1.90716428e+02] [ 3.65695559e-02 -4.43905832e-04 9.99331011e-01 3.88469507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.819254154 meters Centerline goodness : 0.998681 with order 1 Centerline is valid? [True, True] Translation: X:1004.54, Y:190.77, Z:38.85 [[ 3.83741534e-01 -9.23327702e-01 -1.44357191e-02 1.00453838e+03] [ 9.22716146e-01 3.84012726e-01 -3.36026700e-02 1.90769636e+02] [ 3.65697759e-02 -4.25330959e-04 9.99331012e-01 3.88512827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.879254154 meters Centerline goodness : 0.998850 with order 1 Centerline is valid? [True, True] Translation: X:1004.56, Y:190.82, Z:38.86 [[ 3.86709335e-01 -9.22088813e-01 -1.44260357e-02 1.00456245e+03] [ 9.21476234e-01 3.86978206e-01 -3.36068267e-02 1.90822980e+02] [ 3.65710403e-02 -2.97175400e-04 9.99331012e-01 3.88559783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.939254154 meters Centerline goodness : 0.998763 with order 1 Centerline is valid? [True, True] Translation: X:1004.59, Y:190.88, Z:38.85 [[ 3.91641930e-01 -9.20004762e-01 -1.44165668e-02 1.00458588e+03] [ 9.19390601e-01 3.91907171e-01 -3.36108881e-02 1.90875789e+02] [ 3.65721330e-02 -9.10229328e-05 9.99331012e-01 3.88544100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.999254154 meters Centerline goodness : 0.998826 with order 1 Centerline is valid? [True, True] Translation: X:1004.61, Y:190.93, Z:38.86 [[ 3.97406641e-01 -9.17529509e-01 -1.44070040e-02 1.00460830e+03] [ 9.16913548e-01 3.97667673e-01 -3.36149866e-02 1.90928634e+02] [ 3.65719419e-02 1.48841782e-04 9.99331012e-01 3.88564262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.059254154 meters Centerline goodness : 0.998954 with order 1 Centerline is valid? [True, True] Translation: X:1004.63, Y:190.98, Z:38.86 [[ 4.05106184e-01 -9.14156261e-01 -1.43982871e-02 1.00463268e+03] [ 9.13537994e-01 4.05361708e-01 -3.36187199e-02 1.90981537e+02] [ 3.65692775e-02 4.65769061e-04 9.99331012e-01 3.88566216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.119254154 meters Centerline goodness : 0.998988 with order 1 Centerline is valid? [True, True] Translation: X:1004.66, Y:191.03, Z:38.86 [[ 4.10774954e-01 -9.11623220e-01 -1.43889289e-02 1.00465694e+03] [ 9.11003240e-01 4.11026288e-01 -3.36227248e-02 1.91033775e+02] [ 3.65654847e-02 7.03012385e-04 9.99331012e-01 3.88586913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.1792541539999 meters Centerline goodness : 0.998949 with order 1 Centerline is valid? [True, True] Translation: X:1004.68, Y:191.09, Z:38.86 [[ 4.12974668e-01 -9.10628985e-01 -1.43796867e-02 1.00468276e+03] [ 9.10008262e-01 4.13224164e-01 -3.36266770e-02 1.91085706e+02] [ 3.65634608e-02 8.01332065e-04 9.99331012e-01 3.88611478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.239254154 meters Centerline goodness : 0.998966 with order 1 Centerline is valid? [True, True] Translation: X:1004.71, Y:191.14, Z:38.86 [[ 4.13174547e-01 -9.10538462e-01 -1.43702107e-02 1.00470934e+03] [ 9.09917544e-01 4.13423557e-01 -3.36307260e-02 1.91135899e+02] [ 3.65630532e-02 8.19653128e-04 9.99331012e-01 3.88630316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.299254154 meters Centerline goodness : 0.999087 with order 1 Centerline is valid? [True, True] Translation: X:1004.74, Y:191.19, Z:38.87 [[ 4.13436113e-01 -9.10419882e-01 -1.43602924e-02 1.00473696e+03] [ 9.09798746e-01 4.13684579e-01 -3.36349606e-02 1.91187573e+02] [ 3.65625684e-02 8.40931344e-04 9.99331012e-01 3.88656257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.359254154 meters Centerline goodness : 0.999237 with order 1 Centerline is valid? [True, True] Translation: X:1004.76, Y:191.24, Z:38.87 [[ 4.14238041e-01 -9.10055440e-01 -1.43506511e-02 1.00476369e+03] [ 9.09433944e-01 4.14485603e-01 -3.36390736e-02 1.91238488e+02] [ 3.65615603e-02 8.83614687e-04 9.99331012e-01 3.88690626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.4192541539999 meters Centerline goodness : 0.999043 with order 1 Centerline is valid? [True, True] Translation: X:1004.79, Y:191.29, Z:38.87 [[ 4.12620142e-01 -9.10790278e-01 -1.43418229e-02 1.00479372e+03] [ 9.10169092e-01 4.12868482e-01 -3.36428371e-02 1.91289062e+02] [ 3.65628556e-02 8.28228285e-04 9.99331012e-01 3.88673591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.479254154 meters Centerline goodness : 0.998841 with order 1 Centerline is valid? [True, True] Translation: X:1004.82, Y:191.34, Z:38.87 [[ 4.09481819e-01 -9.12205687e-01 -1.43326573e-02 1.00482400e+03] [ 9.11585223e-01 4.09731958e-01 -3.36467414e-02 1.91338817e+02] [ 3.65652966e-02 7.12290222e-04 9.99331012e-01 3.88702400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.539254154 meters Centerline goodness : 0.999207 with order 1 Centerline is valid? [True, True] Translation: X:1004.86, Y:191.39, Z:38.87 [[ 4.05654233e-01 -9.13914383e-01 -1.43228509e-02 1.00485501e+03] [ 9.13294826e-01 4.05906611e-01 -3.36509153e-02 1.91387705e+02] [ 3.65677954e-02 5.69650651e-04 9.99331012e-01 3.88746548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.599254154 meters Centerline goodness : 0.999093 with order 1 Centerline is valid? [True, True] Translation: X:1004.88, Y:191.44, Z:38.88 [[ 4.03714868e-01 -9.14772881e-01 -1.43136812e-02 1.00488472e+03] [ 9.14153723e-01 4.03968222e-01 -3.36548153e-02 1.91438567e+02] [ 3.65687847e-02 5.02044396e-04 9.99331012e-01 3.88793481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.6592541539999 meters Centerline goodness : 0.999268 with order 1 Centerline is valid? [True, True] Translation: X:1004.91, Y:191.49, Z:38.88 [[ 4.04817305e-01 -9.14285686e-01 -1.43050111e-02 1.00491128e+03] [ 9.13666093e-01 4.05069593e-01 -3.36585001e-02 1.91490657e+02] [ 3.65680099e-02 5.55539659e-04 9.99331012e-01 3.88812704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.719254154 meters Centerline goodness : 0.999331 with order 1 Centerline is valid? [True, True] Translation: X:1004.94, Y:191.54, Z:38.88 [[ 4.05381845e-01 -9.14035671e-01 -1.42951876e-02 1.00493731e+03] [ 9.13415775e-01 4.05633389e-01 -3.36626717e-02 1.91544131e+02] [ 3.65674881e-02 5.88786115e-04 9.99331012e-01 3.88773640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.779254154 meters Centerline goodness : 0.999328 with order 1 Centerline is valid? [True, True] Translation: X:1004.97, Y:191.59, Z:38.88 [[ 4.10199906e-01 -9.11883731e-01 -1.42863161e-02 1.00496751e+03] [ 9.11262386e-01 4.10447848e-01 -3.36664363e-02 1.91594663e+02] [ 3.65636633e-02 7.91386521e-04 9.99331012e-01 3.88824893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.839254154 meters Centerline goodness : 0.999435 with order 1 Centerline is valid? [True, True] Translation: X:1004.99, Y:191.65, Z:38.88 [[ 4.10016031e-01 -9.11966559e-01 -1.42775777e-02 1.00499422e+03] [ 9.11345136e-01 4.10263775e-01 -3.36701418e-02 1.91645494e+02] [ 3.65636163e-02 7.93496958e-04 9.99331012e-01 3.88801530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.899254154 meters Centerline goodness : 0.999390 with order 1 Centerline is valid? [True, True] Translation: X:1005.02, Y:191.70, Z:38.88 [[ 4.07643698e-01 -9.13029510e-01 -1.42734072e-02 1.00502429e+03] [ 9.12408670e-01 4.07892903e-01 -3.36719097e-02 1.91696052e+02] [ 3.65654687e-02 7.02961328e-04 9.99331012e-01 3.88842291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.959254154 meters Centerline goodness : 0.999366 with order 1 Centerline is valid? [True, True] Translation: X:1005.05, Y:191.75, Z:38.89 [[ 4.06406221e-01 -9.13581164e-01 -1.42632453e-02 1.00505135e+03] [ 9.12960513e-01 4.06655892e-01 -3.36762137e-02 1.91746153e+02] [ 3.65661872e-02 6.64443023e-04 9.99331012e-01 3.88897659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.019254154 meters Centerline goodness : 0.999496 with order 1 Centerline is valid? [True, True] Translation: X:1005.08, Y:191.80, Z:38.89 [[ 4.02846301e-01 -9.15156617e-01 -1.42557000e-02 1.00508017e+03] [ 9.14536829e-01 4.03098110e-01 -3.36794074e-02 1.91797696e+02] [ 3.65683783e-02 5.30262051e-04 9.99331012e-01 3.88941100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.079254154 meters Centerline goodness : 0.999648 with order 1 Centerline is valid? [True, True] Translation: X:1005.11, Y:191.85, Z:38.90 [[ 3.98165234e-01 -9.17203075e-01 -1.42465745e-02 1.00510806e+03] [ 9.16584445e-01 3.98419871e-01 -3.36832671e-02 1.91848149e+02] [ 3.65705146e-02 3.53317307e-04 9.99331013e-01 3.88974939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.139254154 meters Centerline goodness : 0.999648 with order 1 Centerline is valid? [True, True] Translation: X:1005.13, Y:191.90, Z:38.90 [[ 3.92917836e-01 -9.19463326e-01 -1.42396165e-02 1.00513493e+03] [ 9.18846053e-01 3.93175749e-01 -3.36862084e-02 1.91899894e+02] [ 3.65719050e-02 1.51896683e-04 9.99331013e-01 3.88989146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.199254154 meters Centerline goodness : 0.999581 with order 1 Centerline is valid? [True, True] Translation: X:1005.16, Y:191.95, Z:38.90 [[ 3.88937742e-01 -9.21154137e-01 -1.42298663e-02 1.00515916e+03] [ 9.20537835e-01 3.89197965e-01 -3.36903266e-02 1.91951726e+02] [ 3.65722187e-02 4.30919390e-06 9.99331013e-01 3.88963717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.259254154 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:1005.18, Y:192.00, Z:38.90 [[ 3.87816222e-01 -9.21627025e-01 -1.42198761e-02 1.00518239e+03] [ 9.21010886e-01 3.88076831e-01 -3.36945427e-02 1.92004279e+02] [ 3.65722056e-02 -2.93703904e-05 9.99331013e-01 3.88993352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.319254154 meters Centerline goodness : 0.999713 with order 1 Centerline is valid? [True, True] Translation: X:1005.20, Y:192.06, Z:38.90 [[ 3.86804560e-01 -9.22052220e-01 -1.42103935e-02 1.00520400e+03] [ 9.21436221e-01 3.87065498e-01 -3.36985414e-02 1.92057920e+02] [ 3.65721680e-02 -5.92217802e-05 9.99331013e-01 3.89017024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.379254154 meters Centerline goodness : 0.999758 with order 1 Centerline is valid? [True, True] Translation: X:1005.23, Y:192.11, Z:38.90 [[ 3.86548958e-01 -9.22159550e-01 -1.42009744e-02 1.00522652e+03] [ 9.21543477e-01 3.86809722e-01 -3.37025103e-02 1.92110095e+02] [ 3.65721666e-02 -5.91451003e-05 9.99331013e-01 3.89047780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.439254154 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:1005.25, Y:192.16, Z:38.91 [[ 3.88610934e-01 -9.21292607e-01 -1.41941720e-02 1.00524720e+03] [ 9.20675847e-01 3.88870071e-01 -3.37053749e-02 1.92163709e+02] [ 3.65722014e-02 3.00458978e-05 9.99331013e-01 3.89064191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.499254154 meters Centerline goodness : 0.999780 with order 1 Centerline is valid? [True, True] Translation: X:1005.27, Y:192.22, Z:38.91 [[ 3.89947230e-01 -9.20727904e-01 -1.41874903e-02 1.00526762e+03] [ 9.20110667e-01 3.90205227e-01 -3.37081872e-02 1.92217938e+02] [ 3.65721014e-02 9.03530496e-05 9.99331013e-01 3.89054947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.559254154 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:1005.29, Y:192.27, Z:38.91 [[ 3.92943393e-01 -9.19453350e-01 -1.41784088e-02 1.00528793e+03] [ 9.18835138e-01 3.93199045e-01 -3.37120066e-02 1.92271006e+02] [ 3.65715542e-02 2.19290020e-04 9.99331013e-01 3.89065022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.619254154 meters Centerline goodness : 0.999780 with order 1 Centerline is valid? [True, True] Translation: X:1005.31, Y:192.32, Z:38.91 [[ 3.93420673e-01 -9.19249332e-01 -1.41718173e-02 1.00530954e+03] [ 9.18630888e-01 3.93675762e-01 -3.37147774e-02 1.92324240e+02] [ 3.65713875e-02 2.45421325e-04 9.99331013e-01 3.89095119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.6792541539999 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:1005.33, Y:192.38, Z:38.91 [[ 3.92833447e-01 -9.19500585e-01 -1.41618009e-02 1.00533104e+03] [ 9.18882153e-01 3.93088565e-01 -3.37189842e-02 1.92376384e+02] [ 3.65714677e-02 2.32918679e-04 9.99331013e-01 3.89115920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.739254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1005.35, Y:192.43, Z:38.92 [[ 3.90784961e-01 -9.20373214e-01 -1.41513814e-02 1.00535374e+03] [ 9.19755193e-01 3.91041073e-01 -3.37233565e-02 1.92429638e+02] [ 3.65718454e-02 1.62774088e-04 9.99331013e-01 3.89183730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.799254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1005.38, Y:192.48, Z:38.92 [[ 3.85693547e-01 -9.22518548e-01 -1.41427121e-02 1.00537578e+03] [ 9.21901818e-01 3.85952753e-01 -3.37269918e-02 1.92483735e+02] [ 3.65721942e-02 -2.99089272e-05 9.99331013e-01 3.89178325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.859254154 meters Centerline goodness : 0.999758 with order 1 Centerline is valid? [True, True] Translation: X:1005.40, Y:192.54, Z:38.92 [[ 3.85710472e-01 -9.22511543e-01 -1.41380471e-02 1.00540013e+03] [ 9.21894737e-01 3.85969496e-01 -3.37289472e-02 1.92536003e+02] [ 3.65721981e-02 -2.41830554e-05 9.99331013e-01 3.89205900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.9192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1005.42, Y:192.59, Z:38.92 [[ 3.86726308e-01 -9.22086255e-01 -1.41315757e-02 1.00542259e+03] [ 9.21469065e-01 3.86984416e-01 -3.37316584e-02 1.92590024e+02] [ 3.65721981e-02 2.31098421e-05 9.99331013e-01 3.89240147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.979254154 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:1005.44, Y:192.64, Z:38.92 [[ 3.86478530e-01 -9.22190272e-01 -1.41226133e-02 1.00544474e+03] [ 9.21573014e-01 3.86736476e-01 -3.37354103e-02 1.92644293e+02] [ 3.65721969e-02 2.29924639e-05 9.99331013e-01 3.89199339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.039254154 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:1005.47, Y:192.70, Z:38.92 [[ 3.84865109e-01 -9.22864918e-01 -1.41135364e-02 1.00546775e+03] [ 9.22247973e-01 3.85123802e-01 -3.37392073e-02 1.92698044e+02] [ 3.65721895e-02 -3.11365934e-05 9.99331013e-01 3.89230148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.099254154 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:1005.49, Y:192.75, Z:38.93 [[ 3.83575274e-01 -9.23401912e-01 -1.41038001e-02 1.00549099e+03] [ 9.22785180e-01 3.83834473e-01 -3.37432768e-02 1.92751603e+02] [ 3.65721310e-02 -7.16910513e-05 9.99331013e-01 3.89257964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.1592541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1005.51, Y:192.81, Z:38.93 [[ 3.81576810e-01 -9.24229676e-01 -1.40941317e-02 1.00551074e+03] [ 9.23613356e-01 3.81836990e-01 -3.37473147e-02 1.92806659e+02] [ 3.65719305e-02 -1.40335575e-04 9.99331013e-01 3.89286371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.219254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1005.53, Y:192.86, Z:38.93 [[ 3.82417940e-01 -9.23882080e-01 -1.40862224e-02 1.00553149e+03] [ 9.23265403e-01 3.82677269e-01 -3.37506157e-02 1.92860849e+02] [ 3.65720662e-02 -9.84808526e-05 9.99331013e-01 3.89312286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.279254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1005.55, Y:192.91, Z:38.93 [[ 3.86609545e-01 -9.22136067e-01 -1.40759817e-02 1.00555347e+03] [ 9.21518063e-01 3.86865697e-01 -3.37548862e-02 1.92914902e+02] [ 3.65721124e-02 7.86898124e-05 9.99331013e-01 3.89335361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.339254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1005.58, Y:192.97, Z:38.94 [[ 3.93526260e-01 -9.19205763e-01 -1.40658160e-02 1.00557601e+03] [ 9.18585701e-01 3.93777389e-01 -3.37591217e-02 1.92967193e+02] [ 3.65703795e-02 3.64443505e-04 9.99331013e-01 3.89400566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.399254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:1005.59, Y:193.02, Z:38.94 [[ 3.98915788e-01 -9.16879791e-01 -1.40585140e-02 1.00559445e+03] [ 9.16258158e-01 3.99163004e-01 -3.37621623e-02 1.93021674e+02] [ 3.65674830e-02 5.87031456e-04 9.99331014e-01 3.89377785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.459254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:1005.62, Y:193.08, Z:38.94 [[ 4.00718988e-01 -9.16093301e-01 -1.40483519e-02 1.00561531e+03] [ 9.15471035e-01 4.00964605e-01 -3.37663902e-02 1.93075530e+02] [ 3.65660557e-02 6.69974409e-04 9.99331014e-01 3.89396827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.519254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1005.64, Y:193.13, Z:38.94 [[ 3.97289915e-01 -9.17585766e-01 -1.40387141e-02 1.00563835e+03] [ 9.16964282e-01 3.97537503e-01 -3.37703967e-02 1.93128631e+02] [ 3.65681507e-02 5.43638612e-04 9.99331014e-01 3.89444443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.579254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:1005.66, Y:193.18, Z:38.95 [[ 3.91328514e-01 -9.20144102e-01 -1.40294879e-02 1.00566261e+03] [ 9.19524099e-01 3.91579791e-01 -3.37742292e-02 1.93181592e+02] [ 3.65708217e-02 3.16366718e-04 9.99331014e-01 3.89481104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.639254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1005.69, Y:193.23, Z:38.95 [[ 3.87485782e-01 -9.21769060e-01 -1.40202941e-02 1.00568595e+03] [ 9.21149974e-01 3.87739306e-01 -3.37780453e-02 1.93234591e+02] [ 3.65717761e-02 1.73718753e-04 9.99331014e-01 3.89520147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.699254154 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:1005.71, Y:193.29, Z:38.95 [[ 3.81386139e-01 -9.24309643e-01 -1.40106265e-02 1.00570930e+03] [ 9.23692098e-01 3.81643395e-01 -3.37820548e-02 1.93287302e+02] [ 3.65721420e-02 -5.74975707e-05 9.99331014e-01 3.89513495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.759254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1005.73, Y:193.34, Z:38.95 [[ 3.79010484e-01 -9.25286463e-01 -1.40005215e-02 1.00573225e+03] [ 9.24669427e-01 3.79268957e-01 -3.37862421e-02 1.93340336e+02] [ 3.65719157e-02 -1.40514197e-04 9.99331014e-01 3.89525289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.819254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1005.75, Y:193.39, Z:38.95 [[ 3.80377491e-01 -9.24725485e-01 -1.39907852e-02 1.00575286e+03] [ 9.24107919e-01 3.80634697e-01 -3.37902734e-02 1.93394917e+02] [ 3.65721052e-02 -7.59359597e-05 9.99331014e-01 3.89524593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.879254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:1005.77, Y:193.45, Z:38.95 [[ 3.80537188e-01 -9.24659925e-01 -1.39811498e-02 1.00577182e+03] [ 9.24042168e-01 3.80793934e-01 -3.37942597e-02 1.93450319e+02] [ 3.65721347e-02 -5.91994529e-05 9.99331014e-01 3.89469632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.939254154 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:1005.79, Y:193.50, Z:38.96 [[ 3.84595451e-01 -9.22979432e-01 -1.39752023e-02 1.00579399e+03] [ 9.22360464e-01 3.84849264e-01 -3.37967191e-02 1.93502787e+02] [ 3.65720229e-02 1.07890368e-04 9.99331014e-01 3.89551045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.999254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1005.81, Y:193.56, Z:38.96 [[ 3.85818603e-01 -9.22468925e-01 -1.39674169e-02 1.00581241e+03] [ 9.21849504e-01 3.86071309e-01 -3.37999363e-02 1.93558897e+02] [ 3.65718098e-02 1.64787818e-04 9.99331014e-01 3.89568078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.059254154 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:1005.83, Y:193.61, Z:38.96 [[ 3.90426676e-01 -9.20528145e-01 -1.39622679e-02 1.00583433e+03] [ 9.19907393e-01 3.90676093e-01 -3.38020631e-02 1.93611451e+02] [ 3.65704747e-02 3.53233705e-04 9.99331014e-01 3.89591241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.119254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:1005.86, Y:193.67, Z:38.96 [[ 3.91927386e-01 -9.19890315e-01 -1.39546488e-02 1.00585588e+03] [ 9.19269045e-01 3.92175510e-01 -3.38052083e-02 1.93665856e+02] [ 3.65697552e-02 4.21110244e-04 9.99331014e-01 3.89632977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.1792541539999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1005.88, Y:193.72, Z:38.97 [[ 3.95152211e-01 -9.18509811e-01 -1.39447950e-02 1.00587832e+03] [ 9.17887531e-01 3.95397791e-01 -3.38092725e-02 1.93718770e+02] [ 3.65678896e-02 5.60055374e-04 9.99331014e-01 3.89653537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.239254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:1005.90, Y:193.77, Z:38.97 [[ 3.94816924e-01 -9.18654086e-01 -1.39379526e-02 1.00590115e+03] [ 9.18031797e-01 3.95062479e-01 -3.38120931e-02 1.93771789e+02] [ 3.65679796e-02 5.54102881e-04 9.99331014e-01 3.89671940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.299254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1005.93, Y:193.82, Z:38.97 [[ 3.93617979e-01 -9.19168588e-01 -1.39281414e-02 1.00592553e+03] [ 9.18546477e-01 3.93863986e-01 -3.38161341e-02 1.93824021e+02] [ 3.65685215e-02 5.16993114e-04 9.99331014e-01 3.89706538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.359254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:1005.95, Y:193.88, Z:38.97 [[ 3.92786329e-01 -9.19524438e-01 -1.39178984e-02 1.00594834e+03] [ 9.18902400e-01 3.93032522e-01 -3.38203493e-02 1.93876459e+02] [ 3.65688244e-02 4.94980608e-04 9.99331014e-01 3.89704381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.4192541539999 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:1005.97, Y:193.93, Z:38.97 [[ 3.93358527e-01 -9.19279935e-01 -1.39093508e-02 1.00597083e+03] [ 9.18657620e-01 3.93604018e-01 -3.38238644e-02 1.93930287e+02] [ 3.65683762e-02 5.26974394e-04 9.99331014e-01 3.89714825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.479254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:1005.99, Y:193.98, Z:38.97 [[ 3.94926001e-01 -9.18607783e-01 -1.38994703e-02 1.00599099e+03] [ 9.17984908e-01 3.95170066e-01 -3.38279242e-02 1.93983643e+02] [ 3.65672490e-02 6.00022864e-04 9.99331014e-01 3.89720301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.539254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1006.01, Y:194.04, Z:38.97 [[ 3.95598919e-01 -9.18318345e-01 -1.38893036e-02 1.00601158e+03] [ 9.17695145e-01 3.95842154e-01 -3.38320979e-02 1.94038490e+02] [ 3.65666080e-02 6.37794860e-04 9.99331014e-01 3.89736639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.599254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:1006.03, Y:194.09, Z:38.98 [[ 3.96118621e-01 -9.18094435e-01 -1.38797429e-02 1.00603384e+03] [ 9.17470960e-01 3.96361151e-01 -3.38360198e-02 1.94092568e+02] [ 3.65660523e-02 6.68816476e-04 9.99331014e-01 3.89755026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.6592541539999 meters Centerline goodness : 0.999735 with order 1 Centerline is valid? [True, True] Translation: X:1006.06, Y:194.15, Z:38.98 [[ 3.96662691e-01 -9.17859648e-01 -1.38699995e-02 1.00605580e+03] [ 9.17235890e-01 3.96904492e-01 -3.38400133e-02 1.94146231e+02] [ 3.65654478e-02 7.01009406e-04 9.99331015e-01 3.89764891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.719254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:1006.08, Y:194.20, Z:38.98 [[ 3.97142869e-01 -9.17652132e-01 -1.38602317e-02 1.00607727e+03] [ 9.17028109e-01 3.97383984e-01 -3.38440136e-02 1.94199248e+02] [ 3.65648653e-02 7.30686576e-04 9.99331015e-01 3.89795552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.779254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1006.10, Y:194.25, Z:38.98 [[ 3.95257280e-01 -9.18465989e-01 -1.38531662e-02 1.00609795e+03] [ 9.17842361e-01 3.95499416e-01 -3.38469054e-02 1.94253965e+02] [ 3.65661506e-02 6.63213017e-04 9.99331015e-01 3.89804962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.839254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:1006.12, Y:194.31, Z:38.98 [[ 3.94598974e-01 -9.18749091e-01 -1.38476623e-02 1.00612160e+03] [ 9.18125558e-01 3.94841353e-01 -3.38491570e-02 1.94306729e+02] [ 3.65665120e-02 6.42949950e-04 9.99331015e-01 3.89835999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.899254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:1006.14, Y:194.36, Z:38.99 [[ 3.94704501e-01 -9.18703903e-01 -1.38381815e-02 1.00614213e+03] [ 9.18080207e-01 3.94946460e-01 -3.38530325e-02 1.94360530e+02] [ 3.65662539e-02 6.57383779e-04 9.99331015e-01 3.89867210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.959254154 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:1006.16, Y:194.42, Z:38.98 [[ 3.92701459e-01 -9.19562039e-01 -1.38282900e-02 1.00616241e+03] [ 9.18938729e-01 3.92944412e-01 -3.38570725e-02 1.94415894e+02] [ 3.65674279e-02 5.88370555e-04 9.99331015e-01 3.89836940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.019254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1006.19, Y:194.47, Z:38.99 [[ 3.92800070e-01 -9.19520058e-01 -1.38190777e-02 1.00618661e+03] [ 9.18896591e-01 3.93042618e-01 -3.38608322e-02 1.94467382e+02] [ 3.65672009e-02 6.02233898e-04 9.99331015e-01 3.89918098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.079254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:1006.21, Y:194.52, Z:39.00 [[ 3.90833349e-01 -9.20357879e-01 -1.38082104e-02 1.00620928e+03] [ 9.19734776e-01 3.91076830e-01 -3.38652632e-02 1.94520477e+02] [ 3.65682330e-02 5.35782960e-04 9.99331015e-01 3.89958664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.139254154 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:1006.23, Y:194.57, Z:38.99 [[ 3.87941411e-01 -9.21580742e-01 -1.37984829e-02 1.00623107e+03] [ 9.20958264e-01 3.88186490e-01 -3.38692263e-02 1.94574927e+02] [ 3.65696113e-02 4.31448590e-04 9.99331015e-01 3.89920499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.199254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:1006.25, Y:194.63, Z:38.99 [[ 3.85842395e-01 -9.22461667e-01 -1.37883280e-02 1.00625059e+03] [ 9.21839602e-01 3.86088517e-01 -3.38733599e-02 1.94630213e+02] [ 3.65703911e-02 3.59151551e-04 9.99331015e-01 3.89932572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.259254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1006.27, Y:194.68, Z:39.00 [[ 3.86970764e-01 -9.21989051e-01 -1.37774501e-02 1.00627487e+03] [ 9.21366528e-01 3.87215725e-01 -3.38777837e-02 1.94681864e+02] [ 3.65697910e-02 4.15630494e-04 9.99331015e-01 3.90028048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.319254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:1006.30, Y:194.73, Z:39.00 [[ 3.83346858e-01 -9.23501798e-01 -1.37700767e-02 1.00629739e+03] [ 9.22880134e-01 3.83593992e-01 -3.38807805e-02 1.94734975e+02] [ 3.65710804e-02 2.79960488e-04 9.99331015e-01 3.90047672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.379254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1006.32, Y:194.79, Z:39.01 [[ 3.80727442e-01 -9.24584915e-01 -1.37604372e-02 1.00631886e+03] [ 9.23963813e-01 3.80975984e-01 -3.38846950e-02 1.94788734e+02] [ 3.65716740e-02 1.86687205e-04 9.99331015e-01 3.90087814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.439254154 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:1006.34, Y:194.84, Z:39.01 [[ 3.78192741e-01 -9.25624746e-01 -1.37506370e-02 1.00633903e+03] [ 9.25004183e-01 3.78442625e-01 -3.38886716e-02 1.94841909e+02] [ 3.65720202e-02 9.70528665e-05 9.99331015e-01 3.90090088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.499254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1006.36, Y:194.90, Z:39.00 [[ 3.74291637e-01 -9.27209239e-01 -1.37403986e-02 1.00635519e+03] [ 9.26589581e-01 3.74543757e-01 -3.38928223e-02 1.94898378e+02] [ 3.65721184e-02 -4.59102234e-05 9.99331015e-01 3.90046502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.559254154 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:1006.38, Y:194.95, Z:39.01 [[ 3.78897819e-01 -9.25336642e-01 -1.37310328e-02 1.00637893e+03] [ 9.24715601e-01 3.79146512e-01 -3.38966162e-02 1.94950799e+02] [ 3.65718542e-02 1.46053733e-04 9.99331015e-01 3.90082771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.619254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:1006.40, Y:195.00, Z:39.01 [[ 3.80102481e-01 -9.24842561e-01 -1.37237549e-02 1.00639885e+03] [ 9.24221090e-01 3.80350098e-01 -3.38995626e-02 1.95004934e+02] [ 3.65715898e-02 2.01524098e-04 9.99331015e-01 3.90099237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.6792541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1006.42, Y:195.06, Z:39.01 [[ 3.82483845e-01 -9.23860399e-01 -1.37138774e-02 1.00641860e+03] [ 9.23238149e-01 3.82729498e-01 -3.39035580e-02 1.95058609e+02] [ 3.65708600e-02 3.06388468e-04 9.99331015e-01 3.90130352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.739254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:1006.44, Y:195.11, Z:39.02 [[ 3.83926821e-01 -9.23261831e-01 -1.37035417e-02 1.00643906e+03] [ 9.22639049e-01 3.84171121e-01 -3.39077351e-02 1.95113368e+02] [ 3.65702226e-02 3.74666290e-04 9.99331015e-01 3.90161494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.799254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1006.46, Y:195.17, Z:39.02 [[ 3.84976322e-01 -9.22824851e-01 -1.36939972e-02 1.00645906e+03] [ 9.22201655e-01 3.85219563e-01 -3.39115893e-02 1.95167181e+02] [ 3.65696530e-02 4.26532063e-04 9.99331016e-01 3.90182837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.859254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:1006.48, Y:195.22, Z:39.02 [[ 3.86546486e-01 -9.22168360e-01 -1.36868797e-02 1.00647935e+03] [ 9.21544649e-01 3.86788405e-01 -3.39144617e-02 1.95221199e+02] [ 3.65687699e-02 4.96445205e-04 9.99331016e-01 3.90189296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.9192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1006.50, Y:195.28, Z:39.02 [[ 3.83620633e-01 -9.23389485e-01 -1.36773110e-02 1.00649547e+03] [ 9.22766407e-01 3.83864176e-01 -3.39183202e-02 1.95277975e+02] [ 3.65700500e-02 3.90804327e-04 9.99331016e-01 3.90157740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.979254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1006.52, Y:195.33, Z:39.02 [[ 3.84659491e-01 -9.22957360e-01 -1.36670155e-02 1.00651687e+03] [ 9.22333861e-01 3.84901955e-01 -3.39224682e-02 1.95330935e+02] [ 3.65694527e-02 4.43048201e-04 9.99331016e-01 3.90171515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.039254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1006.54, Y:195.38, Z:39.02 [[ 3.85634165e-01 -9.22550679e-01 -1.36577856e-02 1.00654480e+03] [ 9.21926793e-01 3.85875631e-01 -3.39261839e-02 1.95381120e+02] [ 3.65688306e-02 4.91617159e-04 9.99331016e-01 3.90216033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.099254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1006.57, Y:195.43, Z:39.02 [[ 3.81798813e-01 -9.24144646e-01 -1.36506103e-02 1.00656859e+03] [ 9.23521665e-01 3.82042605e-01 -3.39290707e-02 1.95433641e+02] [ 3.65704838e-02 3.47444558e-04 9.99331016e-01 3.90245899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.1592541539999 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:1006.59, Y:195.49, Z:39.02 [[ 3.76179519e-01 -9.26446383e-01 -1.36407466e-02 1.00658638e+03] [ 9.25824750e-01 3.76426728e-01 -3.39330359e-02 1.95490176e+02] [ 3.65718799e-02 1.35972325e-04 9.99331016e-01 3.90229448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.219254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1006.61, Y:195.54, Z:39.02 [[ 3.75845207e-01 -9.26582189e-01 -1.36318360e-02 1.00660878e+03] [ 9.25960516e-01 3.76092315e-01 -3.39366151e-02 1.95543961e+02] [ 3.65718919e-02 1.32372293e-04 9.99331016e-01 3.90241616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.279254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:1006.63, Y:195.60, Z:39.03 [[ 3.79441904e-01 -9.25115291e-01 -1.36213344e-02 1.00663428e+03] [ 9.24492511e-01 3.79686209e-01 -3.39408297e-02 1.95595989e+02] [ 3.65710133e-02 2.85751435e-04 9.99331016e-01 3.90278799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.339254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1006.65, Y:195.65, Z:39.03 [[ 3.80000007e-01 -9.24886232e-01 -1.36181146e-02 1.00665463e+03] [ 9.24263259e-01 3.80243818e-01 -3.39421215e-02 1.95650453e+02] [ 3.65708047e-02 3.11283389e-04 9.99331016e-01 3.90319019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.399254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1006.67, Y:195.70, Z:39.03 [[ 3.79657636e-01 -9.25026971e-01 -1.36082134e-02 1.00667452e+03] [ 9.24403945e-01 3.79901315e-01 -3.39460907e-02 1.95703953e+02] [ 3.65708276e-02 3.08406337e-04 9.99331016e-01 3.90344992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.459254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:1006.70, Y:195.76, Z:39.04 [[ 3.77835506e-01 -9.25772882e-01 -1.35978674e-02 1.00669560e+03] [ 9.25150189e-01 3.78080031e-01 -3.39502345e-02 1.95757544e+02] [ 3.65712885e-02 2.47534372e-04 9.99331016e-01 3.90370518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.519254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1006.72, Y:195.81, Z:39.04 [[ 3.76763963e-01 -9.26209629e-01 -1.35882165e-02 1.00671662e+03] [ 9.25587080e-01 3.77008855e-01 -3.39540967e-02 1.95811655e+02] [ 3.65714893e-02 2.15602383e-04 9.99331016e-01 3.90402769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.579254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1006.74, Y:195.87, Z:39.04 [[ 3.75018385e-01 -9.26917923e-01 -1.35784635e-02 1.00673803e+03] [ 9.26295695e-01 3.75264093e-01 -3.39579966e-02 1.95865391e+02] [ 3.65717854e-02 1.57200739e-04 9.99331016e-01 3.90427832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.639254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:1006.76, Y:195.92, Z:39.04 [[ 3.72345364e-01 -9.27995052e-01 -1.35688471e-02 1.00675939e+03] [ 9.27373395e-01 3.72592512e-01 -3.39618386e-02 1.95919907e+02] [ 3.65720690e-02 6.21453256e-05 9.99331016e-01 3.90447272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.699254154 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:1006.78, Y:195.97, Z:39.05 [[ 3.70687002e-01 -9.28658871e-01 -1.35590271e-02 1.00678059e+03] [ 9.28037513e-01 3.70934901e-01 -3.39657588e-02 1.95973703e+02] [ 3.65721195e-02 7.37954292e-06 9.99331016e-01 3.90475556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.759254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1006.80, Y:196.03, Z:39.05 [[ 3.68053235e-01 -9.29705994e-01 -1.35491787e-02 1.00680036e+03] [ 9.29085197e-01 3.68302535e-01 -3.39696869e-02 1.96028403e+02] [ 3.65720184e-02 -8.56881814e-05 9.99331016e-01 3.90493061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.819254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1006.82, Y:196.08, Z:39.05 [[ 3.67918807e-01 -9.29759344e-01 -1.35393782e-02 1.00682204e+03] [ 9.29138439e-01 3.68167838e-01 -3.39735926e-02 1.96081849e+02] [ 3.65720288e-02 -8.04330978e-05 9.99331016e-01 3.90507412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.879254154 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:1006.84, Y:196.14, Z:39.05 [[ 3.68735336e-01 -9.29435965e-01 -1.35291787e-02 1.00684412e+03] [ 9.28814693e-01 3.68983449e-01 -3.39776539e-02 1.96136106e+02] [ 3.65720965e-02 -3.73383516e-05 9.99331016e-01 3.90521323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.939254154 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:1006.87, Y:196.19, Z:39.05 [[ 3.72625773e-01 -9.27883216e-01 -1.35192488e-02 1.00686581e+03] [ 9.27260767e-01 3.72870917e-01 -3.39816044e-02 1.96189376e+02] [ 3.65718951e-02 1.26552551e-04 9.99331016e-01 3.90531923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.999254154 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:1006.89, Y:196.24, Z:39.05 [[ 3.74092911e-01 -9.27292801e-01 -1.35113180e-02 1.00688692e+03] [ 9.26669851e-01 3.74336779e-01 -3.39847575e-02 1.96243959e+02] [ 3.65716042e-02 1.92925840e-04 9.99331017e-01 3.90522812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.059254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1006.91, Y:196.30, Z:39.06 [[ 3.76070033e-01 -9.26492874e-01 -1.35012509e-02 1.00690718e+03] [ 9.25869262e-01 3.76312203e-01 -3.39887564e-02 1.96299067e+02] [ 3.65710260e-02 2.81759565e-04 9.99331017e-01 3.90554704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.119254154 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:1006.93, Y:196.35, Z:39.06 [[ 3.77958566e-01 -9.25724193e-01 -1.34922222e-02 1.00693077e+03] [ 9.25099961e-01 3.78199132e-01 -3.39923400e-02 1.96350924e+02] [ 3.65702783e-02 3.66041866e-04 9.99331017e-01 3.90569266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.1792541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1006.95, Y:196.41, Z:39.06 [[ 3.73019793e-01 -9.27725377e-01 -1.34854996e-02 1.00695217e+03] [ 9.27102339e-01 3.73263437e-01 -3.39950068e-02 1.96405968e+02] [ 3.65716744e-02 1.78372200e-04 9.99331017e-01 3.90592235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.239254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1006.98, Y:196.46, Z:39.06 [[ 3.69552388e-01 -9.29112164e-01 -1.34766066e-02 1.00697516e+03] [ 9.28489912e-01 3.69798031e-01 -3.39985319e-02 1.96459264e+02] [ 3.65720721e-02 5.13453334e-05 9.99331017e-01 3.90631628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.299254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1007.00, Y:196.51, Z:39.07 [[ 3.68233985e-01 -9.29635621e-01 -1.34664142e-02 1.00700110e+03] [ 9.29013570e-01 3.68480138e-01 -3.40025685e-02 1.96510400e+02] [ 3.65721051e-02 1.04197338e-05 9.99331017e-01 3.90727703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.359254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1007.02, Y:196.56, Z:39.07 [[ 3.62680173e-01 -9.31816486e-01 -1.34584175e-02 1.00702329e+03] [ 9.31195797e-01 3.62929741e-01 -3.40057334e-02 1.96564116e+02] [ 3.65715629e-02 -1.99216517e-04 9.99331017e-01 3.90738940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.4192541539999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:1007.04, Y:196.62, Z:39.07 [[ 3.53287844e-01 -9.35417999e-01 -1.34486496e-02 1.00703970e+03] [ 9.34799706e-01 3.53543289e-01 -3.40095959e-02 1.96621336e+02] [ 3.65678680e-02 -5.56616889e-04 9.99331017e-01 3.90701772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.479254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:1007.07, Y:196.67, Z:39.08 [[ 3.51768320e-01 -9.35990603e-01 -1.34402312e-02 1.00706715e+03] [ 9.35372599e-01 3.52024463e-01 -3.40129225e-02 1.96672301e+02] [ 3.65670660e-02 -6.06955432e-04 9.99331017e-01 3.90757750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.539254154 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:1007.09, Y:196.73, Z:39.08 [[ 3.47109066e-01 -9.37728563e-01 -1.34327466e-02 1.00708787e+03] [ 9.37111726e-01 3.47368008e-01 -3.40158781e-02 1.96726483e+02] [ 3.65637669e-02 -7.80764683e-04 9.99331017e-01 3.90777495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.599254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:1007.11, Y:196.78, Z:39.08 [[ 3.46708937e-01 -9.37876717e-01 -1.34229905e-02 1.00710699e+03] [ 9.37259843e-01 3.46967788e-01 -3.40197275e-02 1.96781520e+02] [ 3.65636557e-02 -7.85886418e-04 9.99331017e-01 3.90815190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.6592541539999 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:1007.13, Y:196.84, Z:39.08 [[ 3.47536526e-01 -9.37570503e-01 -1.34132272e-02 1.00712522e+03] [ 9.36953252e-01 3.47794478e-01 -3.40235766e-02 1.96836697e+02] [ 3.65645482e-02 -7.43131202e-04 9.99331017e-01 3.90796038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.719254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:1007.14, Y:196.89, Z:39.08 [[ 3.48651480e-01 -9.37156599e-01 -1.34035376e-02 1.00714408e+03] [ 9.36538895e-01 3.48908347e-01 -3.40273934e-02 1.96890710e+02] [ 3.65656024e-02 -6.89233218e-04 9.99331017e-01 3.90822590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.779254154 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:1007.16, Y:196.95, Z:39.08 [[ 3.52370061e-01 -9.35764905e-01 -1.33933949e-02 1.00716182e+03] [ 9.35146035e-01 3.52624104e-01 -3.40313851e-02 1.96945963e+02] [ 3.65682097e-02 -5.33138907e-04 9.99331017e-01 3.90839001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.839254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1007.18, Y:197.00, Z:39.09 [[ 3.60736452e-01 -9.32571756e-01 -1.33840261e-02 1.00717778e+03] [ 9.31950499e-01 3.60984601e-01 -3.40350693e-02 1.97001862e+02] [ 3.65715717e-02 -1.95559606e-04 9.99331017e-01 3.90898305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.899254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1007.19, Y:197.06, Z:39.09 [[ 3.69991183e-01 -9.28938984e-01 -1.33748819e-02 1.00719379e+03] [ 9.28315161e-01 3.70232807e-01 -3.40386624e-02 1.97057555e+02] [ 3.65716605e-02 1.77899296e-04 9.99331017e-01 3.90922513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.959254154 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:1007.21, Y:197.11, Z:39.09 [[ 3.75832226e-01 -9.26591341e-01 -1.33650668e-02 1.00721112e+03] [ 9.25965871e-01 3.76069558e-01 -3.40425158e-02 1.97113713e+02] [ 3.65696951e-02 4.18678819e-04 9.99331017e-01 3.90927708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.019254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1007.23, Y:197.17, Z:39.10 [[ 3.78339954e-01 -9.25570364e-01 -1.33559060e-02 1.00722918e+03] [ 9.24944128e-01 3.78575254e-01 -3.40461095e-02 1.97168791e+02] [ 3.65682854e-02 5.27536693e-04 9.99331017e-01 3.90972952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.079254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1007.25, Y:197.22, Z:39.10 [[ 3.79252966e-01 -9.25196770e-01 -1.33463190e-02 1.00724827e+03] [ 9.24570170e-01 3.79487295e-01 -3.40498672e-02 1.97224007e+02] [ 3.65675857e-02 5.73904683e-04 9.99331017e-01 3.90989310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.139254154 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:1007.27, Y:197.28, Z:39.10 [[ 3.78618593e-01 -9.25456699e-01 -1.33363726e-02 1.00726810e+03] [ 9.24830123e-01 3.78852986e-01 -3.40537625e-02 1.97279631e+02] [ 3.65678072e-02 5.59508557e-04 9.99331017e-01 3.90979806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.199254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1007.29, Y:197.33, Z:39.10 [[ 3.79212279e-01 -9.25213719e-01 -1.33274728e-02 1.00728896e+03] [ 9.24586871e-01 3.79445942e-01 -3.40572452e-02 1.97334814e+02] [ 3.65672860e-02 5.92519249e-04 9.99331017e-01 3.91028765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.259254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1007.31, Y:197.39, Z:39.10 [[ 3.78383493e-01 -9.25553050e-01 -1.33223113e-02 1.00730967e+03] [ 9.24926340e-01 3.78617527e-01 -3.40592641e-02 1.97388562e+02] [ 3.65677164e-02 5.65306696e-04 9.99331018e-01 3.91015307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.319254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1007.33, Y:197.44, Z:39.10 [[ 3.76786560e-01 -9.26204388e-01 -1.33161388e-02 1.00733216e+03] [ 9.25577998e-01 3.77021448e-01 -3.40616772e-02 1.97441847e+02] [ 3.65685449e-02 5.08857127e-04 9.99331018e-01 3.91047423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.379254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1007.35, Y:197.50, Z:39.11 [[ 3.73494325e-01 -9.27537023e-01 -1.33064191e-02 1.00735317e+03] [ 9.26911335e-01 3.73731080e-01 -3.40654739e-02 1.97496498e+02] [ 3.65700106e-02 3.89390504e-04 9.99331018e-01 3.91101620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.439254154 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1007.37, Y:197.55, Z:39.11 [[ 3.71129062e-01 -9.28486082e-01 -1.32971918e-02 1.00737346e+03] [ 9.27860871e-01 3.71367072e-01 -3.40690753e-02 1.97550808e+02] [ 3.65708014e-02 3.06080046e-04 9.99331018e-01 3.91080191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.499254154 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:1007.40, Y:197.60, Z:39.11 [[ 3.69885264e-01 -9.28982349e-01 -1.32923428e-02 1.00739856e+03] [ 9.28357390e-01 3.70123933e-01 -3.40709671e-02 1.97603152e+02] [ 3.65711412e-02 2.62303941e-04 9.99331018e-01 3.91124075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.559254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1007.42, Y:197.66, Z:39.12 [[ 3.64156849e-01 -9.31242916e-01 -1.32823127e-02 1.00742106e+03] [ 9.30619296e-01 3.64398996e-01 -3.40748768e-02 1.97657612e+02] [ 3.65720491e-02 4.78232982e-05 9.99331018e-01 3.91159878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.619254154 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:1007.45, Y:197.71, Z:39.12 [[ 3.57161491e-01 -9.33948332e-01 -1.32733798e-02 1.00744625e+03] [ 9.33326416e-01 3.57407983e-01 -3.40783561e-02 1.97710294e+02] [ 3.65714358e-02 -2.16919462e-04 9.99331018e-01 3.91174479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.6792541539999 meters Centerline goodness : 0.997164 with order 1 Centerline is valid? [True, True] Translation: X:1007.47, Y:197.76, Z:39.12 [[ 3.49137667e-01 -9.36977476e-01 -1.32702526e-02 1.00747040e+03] [ 9.36357651e-01 3.49389371e-01 -3.40795738e-02 1.97763077e+02] [ 3.65682783e-02 -5.27239623e-04 9.99331018e-01 3.91157534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.739254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1007.49, Y:197.82, Z:39.12 [[ 3.44564026e-01 -9.38669183e-01 -1.32588221e-02 1.00749178e+03] [ 9.38050423e-01 3.44818335e-01 -3.40840203e-02 1.97816607e+02] [ 3.65655045e-02 -6.93316405e-04 9.99331018e-01 3.91199074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.799254154 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:1007.52, Y:197.87, Z:39.12 [[ 3.46805564e-01 -9.37843526e-01 -1.32446642e-02 1.00751579e+03] [ 9.37223950e-01 3.47057879e-01 -3.40895210e-02 1.97868914e+02] [ 3.65673017e-02 -5.90780962e-04 9.99331018e-01 3.91232087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.859254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1007.54, Y:197.92, Z:39.13 [[ 3.53006423e-01 -9.35527200e-01 -1.32409642e-02 1.00753770e+03] [ 9.34905914e-01 3.53254496e-01 -3.40909581e-02 1.97922649e+02] [ 3.65704488e-02 -3.44728536e-04 9.99331018e-01 3.91256537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.9192541539999 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:1007.56, Y:197.98, Z:39.13 [[ 3.61150350e-01 -9.32413729e-01 -1.32311240e-02 1.00755851e+03] [ 9.31790163e-01 3.61392636e-01 -3.40947768e-02 1.97976137e+02] [ 3.65720688e-02 -1.52906543e-05 9.99331018e-01 3.91250378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.979254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:1007.58, Y:198.03, Z:39.13 [[ 3.70372586e-01 -9.28789184e-01 -1.32211661e-02 1.00757891e+03] [ 9.28163110e-01 3.70608316e-01 -3.40986378e-02 1.98030313e+02] [ 3.65703201e-02 3.57802058e-04 9.99331018e-01 3.91294716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.039254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1007.60, Y:198.08, Z:39.13 [[ 3.75584092e-01 -9.26694137e-01 -1.32123598e-02 1.00759978e+03] [ 9.26066629e-01 3.75815977e-01 -3.41020497e-02 1.98083970e+02] [ 3.65675854e-02 5.72661809e-04 9.99331018e-01 3.91327847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.099254154 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:1007.62, Y:198.14, Z:39.13 [[ 3.79540673e-01 -9.25080844e-01 -1.32026599e-02 1.00762088e+03] [ 9.24452220e-01 3.79769517e-01 -3.41058046e-02 1.98138065e+02] [ 3.65645943e-02 7.39311816e-04 9.99331018e-01 3.91338389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.1592541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1007.64, Y:198.19, Z:39.14 [[ 3.82891047e-01 -9.23699298e-01 -1.31928767e-02 1.00764253e+03] [ 9.23069720e-01 3.83117250e-01 -3.41095885e-02 1.98191119e+02] [ 3.65614217e-02 8.82311050e-04 9.99331018e-01 3.91386605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.219254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1007.67, Y:198.24, Z:39.14 [[ 3.83064812e-01 -9.23627375e-01 -1.31841281e-02 1.00766552e+03] [ 9.22997639e-01 3.83290574e-01 -3.41129698e-02 1.98243991e+02] [ 3.65610248e-02 8.98559291e-04 9.99331018e-01 3.91400608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.279254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:1007.69, Y:198.30, Z:39.14 [[ 3.80856535e-01 -9.24540284e-01 -1.31743332e-02 1.00768890e+03] [ 9.23910959e-01 3.81083440e-01 -3.41167521e-02 1.98297244e+02] [ 3.65628319e-02 8.21677191e-04 9.99331018e-01 3.91396444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.339254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:1007.71, Y:198.35, Z:39.14 [[ 3.78806329e-01 -9.25382332e-01 -1.31644943e-02 1.00771138e+03] [ 9.24753380e-01 3.79034266e-01 -3.41205482e-02 1.98349287e+02] [ 3.65643469e-02 7.51169012e-04 9.99331018e-01 3.91400131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.399254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1007.74, Y:198.40, Z:39.14 [[ 3.74654075e-01 -9.27071350e-01 -1.31542947e-02 1.00773653e+03] [ 9.26443288e-01 3.74884454e-01 -3.41244799e-02 1.98401580e+02] [ 3.65671683e-02 5.98167443e-04 9.99331018e-01 3.91424656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.459254154 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:1007.76, Y:198.45, Z:39.14 [[ 3.69014600e-01 -9.29330645e-01 -1.31444548e-02 1.00776061e+03] [ 9.28703860e-01 3.69248429e-01 -3.41282698e-02 1.98454812e+02] [ 3.65700162e-02 3.86523926e-04 9.99331018e-01 3.91427961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.519254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1007.78, Y:198.51, Z:39.15 [[ 3.67960029e-01 -9.29748834e-01 -1.31347666e-02 1.00778149e+03] [ 9.29122182e-01 3.68194213e-01 -3.41319980e-02 1.98509031e+02] [ 3.65703304e-02 3.55407987e-04 9.99331019e-01 3.91474684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.579254154 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:1007.80, Y:198.56, Z:39.15 [[ 3.67786482e-01 -9.29817627e-01 -1.31257146e-02 1.00780008e+03] [ 9.29190894e-01 3.68020451e-01 -3.41354787e-02 1.98564252e+02] [ 3.65703012e-02 3.58273146e-04 9.99331019e-01 3.91483592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.639254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1007.82, Y:198.62, Z:39.14 [[ 3.68750461e-01 -9.29435885e-01 -1.31161235e-02 1.00781765e+03] [ 9.28808779e-01 3.68983427e-01 -3.41391635e-02 1.98620211e+02] [ 3.65697959e-02 4.06461627e-04 9.99331019e-01 3.91443144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.699254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1007.84, Y:198.67, Z:39.15 [[ 3.74830822e-01 -9.27000531e-01 -1.31099638e-02 1.00783735e+03] [ 9.26371829e-01 3.75059449e-01 -3.41415288e-02 1.98673896e+02] [ 3.65662311e-02 6.52596104e-04 9.99331019e-01 3.91543550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.759254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:1007.86, Y:198.73, Z:39.16 [[ 3.76806577e-01 -9.26199286e-01 -1.31028589e-02 1.00785574e+03] [ 9.25570004e-01 3.77033602e-01 -3.41442553e-02 1.98728552e+02] [ 3.65646030e-02 7.38166807e-04 9.99331019e-01 3.91556376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.819254154 meters Centerline goodness : 0.999014 with order 1 Centerline is valid? [True, True] Translation: X:1007.87, Y:198.78, Z:39.15 [[ 3.74219797e-01 -9.27247603e-01 -1.30930034e-02 1.00787457e+03] [ 9.26618825e-01 3.74448214e-01 -3.41480341e-02 1.98783985e+02] [ 3.65663345e-02 6.46647006e-04 9.99331019e-01 3.91488085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.879254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:1007.89, Y:198.84, Z:39.15 [[ 3.67901658e-01 -9.29772689e-01 -1.30811863e-02 1.00789246e+03] [ 9.29145319e-01 3.68133914e-01 -3.41525603e-02 1.98839494e+02] [ 3.65697461e-02 4.10460535e-04 9.99331019e-01 3.91507108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.939254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1007.92, Y:198.89, Z:39.16 [[ 3.63632741e-01 -9.31450711e-01 -1.30691453e-02 1.00791693e+03] [ 9.30824248e-01 3.63867432e-01 -3.41571674e-02 1.98891772e+02] [ 3.65711542e-02 2.55587059e-04 9.99331019e-01 3.91576876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.999254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1007.94, Y:198.94, Z:39.17 [[ 3.59954704e-01 -9.32878377e-01 -1.30592514e-02 1.00794270e+03] [ 9.32252708e-01 3.60191502e-01 -3.41609497e-02 1.98943339e+02] [ 3.65718427e-02 1.21872048e-04 9.99331019e-01 3.91682406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.059254154 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:1007.97, Y:199.00, Z:39.17 [[ 3.51013209e-01 -9.36279544e-01 -1.30515326e-02 1.00796503e+03] [ 9.35656059e-01 3.51255701e-01 -3.41638985e-02 1.98996613e+02] [ 3.65713845e-02 -2.19765865e-04 9.99331019e-01 3.91685899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.119254154 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:1007.99, Y:199.05, Z:39.17 [[ 3.43027395e-01 -9.39234859e-01 -1.30417438e-02 1.00798705e+03] [ 9.38613319e-01 3.43274831e-01 -3.41676348e-02 1.99050338e+02] [ 3.65683361e-02 -5.20719728e-04 9.99331019e-01 3.91699929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.1792541539999 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:1008.01, Y:199.10, Z:39.17 [[ 3.39549091e-01 -9.40498052e-01 -1.30318543e-02 1.00800715e+03] [ 9.39877289e-01 3.39798466e-01 -3.41714064e-02 1.99103450e+02] [ 3.65663452e-02 -6.45473953e-04 9.99331019e-01 3.91728522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.239254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:1008.02, Y:199.16, Z:39.17 [[ 3.32642706e-01 -9.42962983e-01 -1.30247015e-02 1.00802366e+03] [ 9.42343959e-01 3.32896368e-01 -3.41741325e-02 1.99160178e+02] [ 3.65608178e-02 -9.05972873e-04 9.99331019e-01 3.91704123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.299254154 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:1008.05, Y:199.21, Z:39.17 [[ 3.34683480e-01 -9.42240711e-01 -1.30158188e-02 1.00804721e+03] [ 9.41621008e-01 3.34935479e-01 -3.41775153e-02 1.99212902e+02] [ 3.65629058e-02 -8.17318648e-04 9.99331019e-01 3.91748435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.359254154 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:1008.07, Y:199.27, Z:39.18 [[ 3.34450085e-01 -9.42323713e-01 -1.30061953e-02 1.00806662e+03] [ 9.41703931e-01 3.34701889e-01 -3.41811771e-02 1.99267267e+02] [ 3.65629319e-02 -8.16087661e-04 9.99331019e-01 3.91778836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.4192541539999 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:1008.08, Y:199.32, Z:39.18 [[ 3.36277949e-01 -9.41673102e-01 -1.29965726e-02 1.00808406e+03] [ 9.41052691e-01 3.36528201e-01 -3.41848356e-02 1.99322275e+02] [ 3.65646533e-02 -7.34853189e-04 9.99331019e-01 3.91798033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.479254154 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:1008.10, Y:199.38, Z:39.18 [[ 3.39935698e-01 -9.40359006e-01 -1.29869769e-02 1.00810068e+03] [ 9.39737488e-01 3.40183187e-01 -3.41884806e-02 1.99377801e+02] [ 3.65673968e-02 -5.82464039e-04 9.99331019e-01 3.91807708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.539254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1008.12, Y:199.43, Z:39.18 [[ 3.43290578e-01 -9.39139589e-01 -1.29773439e-02 1.00811621e+03] [ 9.38517054e-01 3.43535496e-01 -3.41921367e-02 1.99434382e+02] [ 3.65693675e-02 -4.41620176e-04 9.99331019e-01 3.91821894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.599254154 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:1008.14, Y:199.49, Z:39.19 [[ 3.51176416e-01 -9.36219445e-01 -1.29721354e-02 1.00813532e+03] [ 9.35594799e-01 3.51415900e-01 -3.41941127e-02 1.99488112e+02] [ 3.65718078e-02 -1.28496504e-04 9.99331019e-01 3.91854591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.6592541539999 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:1008.15, Y:199.54, Z:39.19 [[ 3.57064718e-01 -9.33989673e-01 -1.29645129e-02 1.00815288e+03] [ 9.33363426e-01 3.57299985e-01 -3.41970024e-02 1.99543939e+02] [ 3.65718674e-02 1.09940825e-04 9.99331019e-01 3.91903673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.719254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1008.17, Y:199.60, Z:39.19 [[ 3.59945172e-01 -9.32883511e-01 -1.29548634e-02 1.00817132e+03] [ 9.32256410e-01 3.60178151e-01 -3.42006576e-02 1.99598484e+02] [ 3.65712883e-02 2.33107169e-04 9.99331019e-01 3.91942075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.779254154 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:1008.19, Y:199.65, Z:39.19 [[ 3.61422573e-01 -9.32312261e-01 -1.29449444e-02 1.00818814e+03] [ 9.31684658e-01 3.61654195e-01 -3.42044115e-02 1.99654556e+02] [ 3.65707857e-02 3.01640317e-04 9.99331020e-01 3.91939266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.839254154 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:1008.21, Y:199.71, Z:39.20 [[ 3.62427612e-01 -9.31922158e-01 -1.29351440e-02 1.00820749e+03] [ 9.31294173e-01 3.62658197e-01 -3.42081174e-02 1.99709109e+02] [ 3.65703386e-02 3.51542076e-04 9.99331020e-01 3.91980049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.899254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1008.22, Y:199.77, Z:39.19 [[ 3.59762949e-01 -9.32954214e-01 -1.29250022e-02 1.00822301e+03] [ 9.32326753e-01 3.59994957e-01 -3.42119489e-02 1.99766338e+02] [ 3.65711174e-02 2.57866293e-04 9.99331020e-01 3.91926974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.959254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1008.24, Y:199.82, Z:39.19 [[ 3.59287977e-01 -9.33137368e-01 -1.29151454e-02 1.00824321e+03] [ 9.32509892e-01 3.59519943e-01 -3.42156694e-02 1.99821262e+02] [ 3.65711721e-02 2.49777799e-04 9.99331020e-01 3.91936130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.019254154 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:1008.27, Y:199.87, Z:39.20 [[ 3.61097154e-01 -9.32438903e-01 -1.29049265e-02 1.00826768e+03] [ 9.31810840e-01 3.61327527e-01 -3.42195232e-02 1.99872702e+02] [ 3.65705199e-02 3.31622063e-04 9.99331020e-01 3.92004537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.079254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1008.29, Y:199.93, Z:39.21 [[ 3.58324384e-01 -9.33508045e-01 -1.28982731e-02 1.00828990e+03] [ 9.32880580e-01 3.58556379e-01 -3.42220308e-02 1.99926966e+02] [ 3.65712992e-02 2.30039593e-04 9.99331020e-01 3.92064549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.139254154 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:1008.31, Y:199.98, Z:39.21 [[ 3.52365401e-01 -9.35773750e-01 -1.28885039e-02 1.00831290e+03] [ 9.35147642e-01 3.52601034e-01 -3.42257097e-02 1.99980148e+02] [ 3.65720205e-02 7.30183452e-06 9.99331020e-01 3.92055968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.199254154 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:1008.34, Y:200.03, Z:39.21 [[ 3.47756304e-01 -9.37496505e-01 -1.28785036e-02 1.00833560e+03] [ 9.36871425e-01 3.47994650e-01 -3.42294722e-02 2.00033526e+02] [ 3.65716609e-02 -1.61987291e-04 9.99331020e-01 3.92077879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.259254154 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:1008.36, Y:200.09, Z:39.21 [[ 3.46435754e-01 -9.37985432e-01 -1.28684882e-02 1.00835648e+03] [ 9.37360548e-01 3.46674615e-01 -3.42332370e-02 2.00087621e+02] [ 3.65714558e-02 -2.02795880e-04 9.99331020e-01 3.92113425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.319254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1008.38, Y:200.14, Z:39.21 [[ 3.47397446e-01 -9.37629819e-01 -1.28583677e-02 1.00837616e+03] [ 9.37004549e-01 3.47635297e-01 -3.42370380e-02 2.00142607e+02] [ 3.65716902e-02 -1.54489418e-04 9.99331020e-01 3.92144290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.379254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1008.40, Y:200.20, Z:39.22 [[ 3.50558976e-01 -9.36452521e-01 -1.28483169e-02 1.00839503e+03] [ 9.35826315e-01 3.50794348e-01 -3.42408094e-02 2.00197164e+02] [ 3.65720093e-02 -2.03699193e-05 9.99331020e-01 3.92177446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.439254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1008.41, Y:200.25, Z:39.21 [[ 3.48833953e-01 -9.37096607e-01 -1.28383070e-02 1.00841017e+03] [ 9.36470697e-01 3.49070112e-01 -3.42445621e-02 2.00254164e+02] [ 3.65719323e-02 -7.70323561e-05 9.99331020e-01 3.92141930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.499254154 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1008.43, Y:200.31, Z:39.22 [[ 3.56069474e-01 -9.34371413e-01 -1.28293595e-02 1.00843283e+03] [ 9.33743575e-01 3.56300458e-01 -3.42479139e-02 2.00307026e+02] [ 3.65713784e-02 2.15304715e-04 9.99331020e-01 3.92198360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.559254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1008.45, Y:200.36, Z:39.22 [[ 3.57780582e-01 -9.33717640e-01 -1.28227706e-02 1.00845328e+03] [ 9.33089292e-01 3.58010174e-01 -3.42503807e-02 2.00360964e+02] [ 3.65708669e-02 2.89331148e-04 9.99331020e-01 3.92244283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.619254154 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:1008.47, Y:200.42, Z:39.23 [[ 3.58452265e-01 -9.33460127e-01 -1.28126903e-02 1.00847278e+03] [ 9.32831479e-01 3.58681034e-01 -3.42541512e-02 2.00415469e+02] [ 3.65705533e-02 3.26397248e-04 9.99331020e-01 3.92250491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.6792541539999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1008.49, Y:200.47, Z:39.23 [[ 3.56971970e-01 -9.34027356e-01 -1.28027259e-02 1.00849105e+03] [ 9.33398939e-01 3.57201371e-01 -3.42578751e-02 2.00470416e+02] [ 3.65709437e-02 2.79050424e-04 9.99331020e-01 3.92264017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.739254154 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1008.51, Y:200.53, Z:39.23 [[ 3.56708582e-01 -9.34128111e-01 -1.27929717e-02 1.00851255e+03] [ 9.33499627e-01 3.56937803e-01 -3.42615172e-02 2.00525025e+02] [ 3.65709415e-02 2.79142900e-04 9.99331020e-01 3.92282597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.799254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1008.53, Y:200.58, Z:39.23 [[ 3.57729332e-01 -9.33737815e-01 -1.27834910e-02 1.00853405e+03] [ 9.33108955e-01 3.57957517e-01 -3.42650542e-02 2.00577764e+02] [ 3.65705236e-02 3.29225047e-04 9.99331020e-01 3.92345217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.859254154 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:1008.55, Y:200.63, Z:39.23 [[ 3.56120090e-01 -9.34352846e-01 -1.27765653e-02 1.00855472e+03] [ 9.33724287e-01 3.56349104e-01 -3.42676364e-02 2.00631099e+02] [ 3.65709812e-02 2.73604444e-04 9.99331020e-01 3.92327059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.9192541539999 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:1008.58, Y:200.69, Z:39.23 [[ 3.55688298e-01 -9.34517446e-01 -1.27662692e-02 1.00857553e+03] [ 9.33888856e-01 3.55917225e-01 -3.42714718e-02 2.00685227e+02] [ 3.65710234e-02 2.67684911e-04 9.99331021e-01 3.92341871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.979254154 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:1008.60, Y:200.74, Z:39.24 [[ 3.55376155e-01 -9.34636325e-01 -1.27565331e-02 1.00859700e+03] [ 9.34007681e-01 3.55604935e-01 -3.42750954e-02 2.00738806e+02] [ 3.65710353e-02 2.65851672e-04 9.99331021e-01 3.92366447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.039254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1008.62, Y:200.79, Z:39.24 [[ 3.50847861e-01 -9.36345719e-01 -1.27464596e-02 1.00861606e+03] [ 9.35718054e-01 3.51079313e-01 -3.42788412e-02 2.00794151e+02] [ 3.65718645e-02 9.95657089e-05 9.99331021e-01 3.92359468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.099254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1008.64, Y:200.85, Z:39.25 [[ 3.52150883e-01 -9.35856556e-01 -1.27382358e-02 1.00864200e+03] [ 9.35228459e-01 3.52381160e-01 -3.42818969e-02 2.00845577e+02] [ 3.65716523e-02 1.59239606e-04 9.99331021e-01 3.92469533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.1592541539999 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:1008.66, Y:200.90, Z:39.25 [[ 3.48627589e-01 -9.37174863e-01 -1.27310846e-02 1.00866403e+03] [ 9.36547540e-01 3.48859966e-01 -3.42845524e-02 2.00899487e+02] [ 3.65719864e-02 2.92748768e-05 9.99331021e-01 3.92474040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.219254154 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:1008.68, Y:200.95, Z:39.25 [[ 3.47099280e-01 -9.37742107e-01 -1.27212318e-02 1.00868496e+03] [ 9.37115030e-01 3.47332319e-01 -3.42882079e-02 2.00954009e+02] [ 3.65719913e-02 -1.98452638e-05 9.99331021e-01 3.92487005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.279254154 meters Centerline goodness : 0.999717 with order 1 Centerline is valid? [True, True] Translation: X:1008.71, Y:201.01, Z:39.25 [[ 3.42014521e-01 -9.39608690e-01 -1.27113348e-02 1.00870675e+03] [ 9.38982747e-01 3.42250592e-01 -3.42918765e-02 2.01007171e+02] [ 3.65714070e-02 -2.07404328e-04 9.99331021e-01 3.92483913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.339254154 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:1008.73, Y:201.06, Z:39.25 [[ 3.36635704e-01 -9.41549259e-01 -1.27041676e-02 1.00872879e+03] [ 9.40924577e-01 3.36875089e-01 -3.42945316e-02 2.01060859e+02] [ 3.65697084e-02 -4.08899789e-04 9.99331021e-01 3.92503358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.399254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:1008.75, Y:201.12, Z:39.26 [[ 3.32758775e-01 -9.42926532e-01 -1.26945961e-02 1.00875056e+03] [ 9.42302706e-01 3.33000380e-01 -3.42980742e-02 2.01115075e+02] [ 3.65678695e-02 -5.49167051e-04 9.99331021e-01 3.92551702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.459254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:1008.77, Y:201.17, Z:39.26 [[ 3.31404922e-01 -9.43403347e-01 -1.26847123e-02 1.00877149e+03] [ 9.42779728e-01 3.31647064e-01 -3.43017292e-02 2.01168614e+02] [ 3.65672138e-02 -5.91127669e-04 9.99331021e-01 3.92592555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.519254154 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:1008.79, Y:201.22, Z:39.26 [[ 3.31828067e-01 -9.43254692e-01 -1.26775417e-02 1.00879122e+03] [ 9.42630864e-01 3.32069668e-01 -3.43043792e-02 2.01222176e+02] [ 3.65675937e-02 -5.67086296e-04 9.99331021e-01 3.92610379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.579254154 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:1008.81, Y:201.28, Z:39.26 [[ 3.34368330e-01 -9.42357341e-01 -1.26673517e-02 1.00881050e+03] [ 9.41732722e-01 3.34607879e-01 -3.43081416e-02 2.01277230e+02] [ 3.65691248e-02 -4.57703516e-04 9.99331021e-01 3.92632620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.639254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1008.83, Y:201.33, Z:39.26 [[ 3.34945057e-01 -9.42152638e-01 -1.26575991e-02 1.00882746e+03] [ 9.41527737e-01 3.35183868e-01 -3.43117393e-02 2.01333494e+02] [ 3.65695188e-02 -4.24933135e-04 9.99331021e-01 3.92633855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.699254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1008.85, Y:201.39, Z:39.27 [[ 3.38976914e-01 -9.40709660e-01 -1.26485976e-02 1.00884502e+03] [ 9.40083618e-01 3.39212718e-01 -3.43150573e-02 2.01388762e+02] [ 3.65710711e-02 -2.58727209e-04 9.99331021e-01 3.92652524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.759254154 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:1008.87, Y:201.44, Z:39.26 [[ 3.40525115e-01 -9.40150476e-01 -1.26383958e-02 1.00886521e+03] [ 9.39523907e-01 3.40759516e-01 -3.43188143e-02 2.01442922e+02] [ 3.65715032e-02 -1.87656838e-04 9.99331021e-01 3.92640444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.819254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:1008.89, Y:201.50, Z:39.27 [[ 3.40843411e-01 -9.40035263e-01 -1.26282403e-02 1.00888505e+03] [ 9.39408477e-01 3.41077229e-01 -3.43225508e-02 2.01496509e+02] [ 3.65716133e-02 -1.64460686e-04 9.99331021e-01 3.92724278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.879254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1008.90, Y:201.55, Z:39.28 [[ 3.41188191e-01 -9.39910332e-01 -1.26168758e-02 1.00890442e+03] [ 9.39283305e-01 3.41421364e-01 -3.43267278e-02 2.01551414e+02] [ 3.65717171e-02 -1.38946670e-04 9.99331021e-01 3.92774104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.939254154 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:1008.92, Y:201.61, Z:39.28 [[ 3.43297972e-01 -9.39141931e-01 -1.26070048e-02 1.00892241e+03] [ 9.38514249e-01 3.43529375e-01 -3.43303527e-02 2.01606644e+02] [ 3.65719502e-02 -4.63132241e-05 9.99331021e-01 3.92758141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.999254154 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:1008.94, Y:201.66, Z:39.28 [[ 3.49263809e-01 -9.36939756e-01 -1.25970245e-02 1.00894128e+03] [ 9.36310483e-01 3.49490850e-01 -3.43340144e-02 2.01662197e+02] [ 3.65714479e-02 1.96902530e-04 9.99331021e-01 3.92766829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.059254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:1008.96, Y:201.72, Z:39.28 [[ 3.56928940e-01 -9.34046729e-01 -1.25872964e-02 1.00895940e+03] [ 9.33415491e-01 3.57150460e-01 -3.43375805e-02 2.01717197e+02] [ 3.65684635e-02 5.06898708e-04 9.99331021e-01 3.92812364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.119254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1008.98, Y:201.77, Z:39.28 [[ 3.60089942e-01 -9.32832807e-01 -1.25773020e-02 1.00897663e+03] [ 9.32200695e-01 3.60308955e-01 -3.43412409e-02 2.01772222e+02] [ 3.65663507e-02 6.41365774e-04 9.99331022e-01 3.92778846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.1792541539999 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:1009.00, Y:201.83, Z:39.29 [[ 3.62749438e-01 -9.31801963e-01 -1.25677221e-02 1.00899925e+03] [ 9.31169108e-01 3.62966295e-01 -3.43447465e-02 2.01825633e+02] [ 3.65641617e-02 7.55862879e-04 9.99331022e-01 3.92850279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.239254154 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:1009.02, Y:201.88, Z:39.29 [[ 3.61845582e-01 -9.32153465e-01 -1.25575862e-02 1.00902032e+03] [ 9.31520692e-01 3.62062679e-01 -3.43484521e-02 2.01879174e+02] [ 3.65646619e-02 7.31184272e-04 9.99331022e-01 3.92891935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.299254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:1009.04, Y:201.93, Z:39.29 [[ 3.60856904e-01 -9.32536769e-01 -1.25487159e-02 1.00904104e+03] [ 9.31904114e-01 3.61074345e-01 -3.43516924e-02 2.01933770e+02] [ 3.65652356e-02 7.01845387e-04 9.99331022e-01 3.92914195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.359254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1009.06, Y:201.99, Z:39.30 [[ 3.60151927e-01 -9.32809396e-01 -1.25387557e-02 1.00906329e+03] [ 9.32176780e-01 3.60369480e-01 -3.43553276e-02 2.01987920e+02] [ 3.65655573e-02 6.84800504e-04 9.99331022e-01 3.92952075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.4192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1009.08, Y:202.04, Z:39.30 [[ 3.58467744e-01 -9.33458027e-01 -1.25294959e-02 1.00908428e+03] [ 9.32825687e-01 3.58686097e-01 -3.43587044e-02 2.02040977e+02] [ 3.65665644e-02 6.28651569e-04 9.99331022e-01 3.92960857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.479254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1009.11, Y:202.09, Z:39.30 [[ 3.55625175e-01 -9.34544812e-01 -1.25191743e-02 1.00910631e+03] [ 9.33913007e-01 3.55845072e-01 -3.43624648e-02 2.02094360e+02] [ 3.65681497e-02 5.28337802e-04 9.99331022e-01 3.92990814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.539254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1009.13, Y:202.15, Z:39.30 [[ 3.51237709e-01 -9.36202749e-01 -1.25093799e-02 1.00913033e+03] [ 9.35571856e-01 3.51460209e-01 -3.43660300e-02 2.02147050e+02] [ 3.65701211e-02 3.67221901e-04 9.99331022e-01 3.92971397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.599254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1009.15, Y:202.20, Z:39.30 [[ 3.49572447e-01 -9.36825950e-01 -1.24997418e-02 1.00915258e+03] [ 9.36195329e-01 3.49795714e-01 -3.43695353e-02 2.02200430e+02] [ 3.65706287e-02 3.12442715e-04 9.99331022e-01 3.93010482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.6592541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1009.18, Y:202.25, Z:39.30 [[ 3.47400556e-01 -9.37633644e-01 -1.24901049e-02 1.00917559e+03] [ 9.37003416e-01 3.47624930e-01 -3.43730371e-02 2.02254441e+02] [ 3.65711878e-02 2.37941265e-04 9.99331022e-01 3.93044564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.719254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1009.20, Y:202.31, Z:39.31 [[ 3.47401558e-01 -9.37633394e-01 -1.24810106e-02 1.00919755e+03] [ 9.37003047e-01 3.47625599e-01 -3.43763389e-02 2.02306668e+02] [ 3.65711221e-02 2.47648748e-04 9.99331022e-01 3.93079447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.779254154 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:1009.22, Y:202.36, Z:39.31 [[ 3.48474905e-01 -9.37235102e-01 -1.24741416e-02 1.00921805e+03] [ 9.36604410e-01 3.48697971e-01 -3.43788313e-02 2.02359482e+02] [ 3.65707553e-02 2.96823905e-04 9.99331022e-01 3.93079880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.839254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1009.24, Y:202.41, Z:39.31 [[ 3.50822009e-01 -9.36359219e-01 -1.24632257e-02 1.00923892e+03] [ 9.35727829e-01 3.51043094e-01 -3.43827881e-02 2.02413009e+02] [ 3.65697699e-02 4.00051715e-04 9.99331022e-01 3.93111522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.899254154 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:1009.26, Y:202.47, Z:39.31 [[ 3.51494501e-01 -9.36107119e-01 -1.24529672e-02 1.00925975e+03] [ 9.35475440e-01 3.51714756e-01 -3.43865032e-02 2.02467082e+02] [ 3.65693428e-02 4.37221874e-04 9.99331022e-01 3.93096425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.959254154 meters Centerline goodness : 0.999779 with order 1 Centerline is valid? [True, True] Translation: X:1009.28, Y:202.52, Z:39.31 [[ 3.51059843e-01 -9.36270339e-01 -1.24434254e-02 1.00928105e+03] [ 9.35638640e-01 3.51280041e-01 -3.43899557e-02 2.02520931e+02] [ 3.65694225e-02 4.30382817e-04 9.99331022e-01 3.93118716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.019254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1009.30, Y:202.57, Z:39.32 [[ 3.49920968e-01 -9.36696703e-01 -1.24339477e-02 1.00930320e+03] [ 9.36065150e-01 3.50141586e-01 -3.43933822e-02 2.02573231e+02] [ 3.65698098e-02 3.95980502e-04 9.99331022e-01 3.93166137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.079254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:1009.33, Y:202.63, Z:39.32 [[ 3.47631013e-01 -9.37549104e-01 -1.24240329e-02 1.00932523e+03] [ 9.36917964e-01 3.47852810e-01 -3.43969634e-02 2.02627411e+02] [ 3.65705769e-02 3.17151634e-04 9.99331022e-01 3.93163465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.139254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1009.35, Y:202.68, Z:39.32 [[ 3.47891474e-01 -9.37452614e-01 -1.24144813e-02 1.00934537e+03] [ 9.36821290e-01 3.48112745e-01 -3.44004103e-02 2.02680871e+02] [ 3.65703937e-02 3.37459098e-04 9.99331022e-01 3.93208644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.199254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1009.36, Y:202.73, Z:39.32 [[ 3.49446402e-01 -9.36874240e-01 -1.24044819e-02 1.00936442e+03] [ 9.36242421e-01 3.49666258e-01 -3.44040157e-02 2.02734135e+02] [ 3.65696648e-02 4.08757353e-04 9.99331022e-01 3.93225953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.259254154 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:1009.38, Y:202.79, Z:39.32 [[ 3.52187132e-01 -9.35847543e-01 -1.23935271e-02 1.00938271e+03] [ 9.35214946e-01 3.52404736e-01 -3.44079615e-02 2.02788818e+02] [ 3.65681439e-02 5.27429497e-04 9.99331023e-01 3.93230957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.319254154 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:1009.40, Y:202.84, Z:39.33 [[ 3.54856482e-01 -9.34838762e-01 -1.23840839e-02 1.00940072e+03] [ 9.34205428e-01 3.55071931e-01 -3.44113600e-02 2.02843552e+02] [ 3.65663138e-02 6.41815708e-04 9.99331023e-01 3.93250588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.379254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1009.42, Y:202.90, Z:39.33 [[ 3.56291197e-01 -9.34293026e-01 -1.23743894e-02 1.00941935e+03] [ 9.33659241e-01 3.56505316e-01 -3.44148458e-02 2.02898640e+02] [ 3.65650860e-02 7.08243571e-04 9.99331023e-01 3.93278850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.439254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:1009.44, Y:202.95, Z:39.33 [[ 3.54281295e-01 -9.35057151e-01 -1.23648039e-02 1.00943773e+03] [ 9.34423708e-01 3.54496425e-01 -3.44182894e-02 2.02952453e+02] [ 3.65663464e-02 6.39790198e-04 9.99331023e-01 3.93263987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.499254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1009.45, Y:203.01, Z:39.33 [[ 3.48669785e-01 -9.37164201e-01 -1.23547952e-02 1.00945401e+03] [ 9.36531932e-01 3.48888340e-01 -3.44218817e-02 2.03008323e+02] [ 3.65693993e-02 4.31209882e-04 9.99331023e-01 3.93258507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.559254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1009.47, Y:203.06, Z:39.33 [[ 3.46501860e-01 -9.37968043e-01 -1.23454997e-02 1.00947500e+03] [ 9.37336162e-01 3.46721536e-01 -3.44252152e-02 2.03060804e+02] [ 3.65702024e-02 3.56517782e-04 9.99331023e-01 3.93303966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.619254154 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:1009.50, Y:203.12, Z:39.33 [[ 3.45085188e-01 -9.38490313e-01 -1.23347582e-02 1.00949539e+03] [ 9.37858627e-01 3.45305423e-01 -3.44290636e-02 2.03115629e+02] [ 3.65706015e-02 3.12700499e-04 9.99331023e-01 3.93339548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.6792541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1009.51, Y:203.17, Z:39.34 [[ 3.43836285e-01 -9.38948712e-01 -1.23258002e-02 1.00951411e+03] [ 9.38317205e-01 3.44057032e-01 -3.44322703e-02 2.03169562e+02] [ 3.65709141e-02 2.73553508e-04 9.99331023e-01 3.93378129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.739254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:1009.53, Y:203.22, Z:39.34 [[ 3.42022193e-01 -9.39611170e-01 -1.23154138e-02 1.00953303e+03] [ 9.38979957e-01 3.42243779e-01 -3.44359848e-02 2.03222292e+02] [ 3.65713097e-02 2.13944265e-04 9.99331023e-01 3.93355078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.799254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:1009.55, Y:203.28, Z:39.34 [[ 3.40400651e-01 -9.40199938e-01 -1.23074336e-02 1.00955298e+03] [ 9.39569005e-01 3.40623033e-01 -3.44388367e-02 2.03276281e+02] [ 3.65715875e-02 1.59319295e-04 9.99331023e-01 3.93370901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.859254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1009.57, Y:203.33, Z:39.34 [[ 3.37702859e-01 -9.41172431e-01 -1.22977259e-02 1.00957157e+03] [ 9.40542012e-01 3.37926695e-01 -3.44423029e-02 2.03331620e+02] [ 3.65718758e-02 6.47362817e-05 9.99331023e-01 3.93410542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.9192541539999 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:1009.59, Y:203.38, Z:39.34 [[ 3.38972013e-01 -9.40716201e-01 -1.22883233e-02 1.00959346e+03] [ 9.40085360e-01 3.39194653e-01 -3.44456572e-02 2.03384941e+02] [ 3.65717214e-02 1.24040918e-04 9.99331023e-01 3.93444581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.979254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:1009.61, Y:203.44, Z:39.35 [[ 3.39029050e-01 -9.40695745e-01 -1.22807816e-02 1.00961302e+03] [ 9.40064793e-01 3.39251376e-01 -3.44483458e-02 2.03439669e+02] [ 3.65716844e-02 1.34259511e-04 9.99331023e-01 3.93519117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.039254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1009.63, Y:203.49, Z:39.36 [[ 3.40298275e-01 -9.40237475e-01 -1.22709163e-02 1.00963235e+03] [ 9.39606096e-01 3.40519388e-01 -3.44518596e-02 2.03494001e+02] [ 3.65714144e-02 1.94080621e-04 9.99331023e-01 3.93554534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.099254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:1009.65, Y:203.55, Z:39.35 [[ 3.42109079e-01 -9.39580251e-01 -1.22609133e-02 1.00965183e+03] [ 9.38948320e-01 3.42328609e-01 -3.44554192e-02 2.03548799e+02] [ 3.65708928e-02 2.75147806e-04 9.99331023e-01 3.93540865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.1592541539999 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:1009.67, Y:203.60, Z:39.35 [[ 3.42799240e-01 -9.39328800e-01 -1.22509818e-02 1.00967094e+03] [ 9.38696582e-01 3.43017941e-01 -3.44589500e-02 2.03603816e+02] [ 3.65705907e-02 3.12547139e-04 9.99331023e-01 3.93538192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.219254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:1009.69, Y:203.66, Z:39.36 [[ 3.41615840e-01 -9.39759955e-01 -1.22411172e-02 1.00969055e+03] [ 9.39127888e-01 3.41834975e-01 -3.44624540e-02 2.03658058e+02] [ 3.65708762e-02 2.76945612e-04 9.99331023e-01 3.93574424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.279254154 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:1009.71, Y:203.71, Z:39.36 [[ 3.37088524e-01 -9.41393500e-01 -1.22313232e-02 1.00971124e+03] [ 9.40762369e-01 3.37310340e-01 -3.44659297e-02 2.03712603e+02] [ 3.65717540e-02 1.11300738e-04 9.99331023e-01 3.93593180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.339254154 meters Centerline goodness : 0.999779 with order 1 Centerline is valid? [True, True] Translation: X:1009.73, Y:203.77, Z:39.36 [[ 3.32763652e-01 -9.42931061e-01 -1.22215548e-02 1.00973139e+03] [ 9.42300827e-01 3.32988006e-01 -3.44693932e-02 2.03767067e+02] [ 3.65718926e-02 -4.62200080e-05 9.99331023e-01 3.93630432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.399254154 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:1009.75, Y:203.82, Z:39.37 [[ 3.29654857e-01 -9.44022537e-01 -1.22116919e-02 1.00974988e+03] [ 9.43392916e-01 3.29880926e-01 -3.44728870e-02 2.03822189e+02] [ 3.65715865e-02 -1.56269046e-04 9.99331024e-01 3.93665108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.459254154 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:1009.77, Y:203.88, Z:39.37 [[ 3.27852778e-01 -9.44650027e-01 -1.22017715e-02 1.00976786e+03] [ 9.44020708e-01 3.28079686e-01 -3.44763980e-02 2.03876425e+02] [ 3.65712837e-02 -2.15542079e-04 9.99331024e-01 3.93662602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.519254154 meters Centerline goodness : 0.999691 with order 1 Centerline is valid? [True, True] Translation: X:1009.79, Y:203.93, Z:39.37 [[ 3.27283624e-01 -9.44847501e-01 -1.21913862e-02 1.00978535e+03] [ 9.44218182e-01 3.27510533e-01 -3.44800700e-02 2.03931748e+02] [ 3.65712154e-02 -2.26566253e-04 9.99331024e-01 3.93685493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.579254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1009.80, Y:203.99, Z:39.37 [[ 3.27622884e-01 -9.44730046e-01 -1.21813951e-02 1.00980247e+03] [ 9.44100515e-01 3.27849203e-01 -3.44835994e-02 2.03986746e+02] [ 3.65713531e-02 -2.02845065e-04 9.99331024e-01 3.93745699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.639254154 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:1009.82, Y:204.04, Z:39.37 [[ 3.27979566e-01 -9.44606403e-01 -1.21715502e-02 1.00981936e+03] [ 9.43976658e-01 3.28205288e-01 -3.44870740e-02 2.04042912e+02] [ 3.65714780e-02 -1.78603669e-04 9.99331024e-01 3.93734911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.699254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1009.84, Y:204.10, Z:39.38 [[ 3.29580975e-01 -9.44048977e-01 -1.21618069e-02 1.00983641e+03] [ 9.43418723e-01 3.29805272e-01 -3.44905096e-02 2.04097782e+02] [ 3.65717583e-02 -1.06260552e-04 9.99331024e-01 3.93782734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.759254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1009.85, Y:204.15, Z:39.38 [[ 3.30966810e-01 -9.43564152e-01 -1.21516160e-02 1.00985363e+03] [ 9.42933438e-01 3.31189809e-01 -3.44940997e-02 2.04152946e+02] [ 3.65718873e-02 -4.17628582e-05 9.99331024e-01 3.93800062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.819254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:1009.87, Y:204.21, Z:39.38 [[ 3.32706886e-01 -9.42952123e-01 -1.21417166e-02 1.00987165e+03] [ 9.42320871e-01 3.32928359e-01 -3.44975838e-02 2.04208005e+02] [ 3.65718917e-02 3.61907581e-05 9.99331024e-01 3.93794010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.879254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1009.89, Y:204.26, Z:39.38 [[ 3.33606855e-01 -9.42634229e-01 -1.21316060e-02 1.00988627e+03] [ 9.42002637e-01 3.33827355e-01 -3.45011390e-02 2.04264914e+02] [ 3.65718165e-02 8.18116864e-05 9.99331024e-01 3.93782214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.939254154 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:1009.91, Y:204.32, Z:39.38 [[ 3.40022905e-01 -9.40339026e-01 -1.21218872e-02 1.00990577e+03] [ 9.39705825e-01 3.40238739e-01 -3.45045534e-02 2.04318809e+02] [ 3.65703137e-02 3.41330476e-04 9.99331024e-01 3.93818414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.999254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:1009.92, Y:204.37, Z:39.39 [[ 3.43513724e-01 -9.39069557e-01 -1.21114903e-02 1.00992397e+03] [ 9.38435430e-01 3.43726822e-01 -3.45082024e-02 2.04373940e+02] [ 3.65686464e-02 4.88189491e-04 9.99331024e-01 3.93860106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.059254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:1009.94, Y:204.43, Z:39.39 [[ 3.43760575e-01 -9.38979352e-01 -1.21014151e-02 1.00994263e+03] [ 9.38345044e-01 3.43973136e-01 -3.45117352e-02 2.04428711e+02] [ 3.65683685e-02 5.08471062e-04 9.99331024e-01 3.93873186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.119254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:1009.96, Y:204.48, Z:39.39 [[ 3.45125193e-01 -9.38478769e-01 -1.20913706e-02 1.00996108e+03] [ 9.37844030e-01 3.45336463e-01 -3.45152540e-02 2.04484070e+02] [ 3.65674243e-02 5.72263983e-04 9.99331024e-01 3.93894135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.1792541539999 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:1009.98, Y:204.54, Z:39.39 [[ 3.44741106e-01 -9.38620055e-01 -1.20814701e-02 1.00997984e+03] [ 9.37985281e-01 3.44952272e-01 -3.45187192e-02 2.04538646e+02] [ 3.65674927e-02 5.67780300e-04 9.99331024e-01 3.93875762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.239254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:1010.00, Y:204.59, Z:39.39 [[ 3.41927787e-01 -9.39648690e-01 -1.20717371e-02 1.01000006e+03] [ 9.39014432e-01 3.42140496e-01 -3.45221226e-02 2.04593280e+02] [ 3.65688974e-02 4.68537678e-04 9.99331024e-01 3.93889348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.299254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1010.02, Y:204.65, Z:39.39 [[ 3.35830211e-01 -9.41845309e-01 -1.20616110e-02 1.01002172e+03] [ 9.41212316e-01 3.36046655e-01 -3.45256602e-02 2.04646046e+02] [ 3.65710952e-02 2.42222969e-04 9.99331024e-01 3.93930849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.359254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1010.04, Y:204.70, Z:39.40 [[ 3.26649230e-01 -9.45068810e-01 -1.20509573e-02 1.01004369e+03] [ 9.44437816e-01 3.26871434e-01 -3.45293784e-02 2.04699303e+02] [ 3.65717523e-02 -1.02384884e-04 9.99331024e-01 3.93960596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.4192541539999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:1010.06, Y:204.75, Z:39.40 [[ 3.16647045e-01 -9.48467012e-01 -1.20406150e-02 1.01006488e+03] [ 9.47838264e-01 3.16875526e-01 -3.45329845e-02 2.04753382e+02] [ 3.65687728e-02 -4.77788129e-04 9.99331025e-01 3.93976948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.479254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1010.09, Y:204.81, Z:39.40 [[ 3.08700961e-01 -9.51083054e-01 -1.20308251e-02 1.01008565e+03] [ 9.50456107e-01 3.08934340e-01 -3.45363948e-02 2.04807924e+02] [ 3.65637149e-02 -7.73352942e-04 9.99331025e-01 3.93998941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.539254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1010.10, Y:204.86, Z:39.40 [[ 3.01045671e-01 -9.53533953e-01 -1.20210343e-02 1.01010180e+03] [ 9.52908767e-01 3.01283727e-01 -3.45398023e-02 2.04864075e+02] [ 3.65566163e-02 -1.05689099e-03 9.99331025e-01 3.93952024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.599254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:1010.12, Y:204.92, Z:39.40 [[ 3.00806716e-01 -9.53609477e-01 -1.20118425e-02 1.01012300e+03] [ 9.52984225e-01 3.01044596e-01 -3.45429986e-02 2.04918773e+02] [ 3.65566312e-02 -1.05633045e-03 9.99331025e-01 3.94029063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.6592541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1010.14, Y:204.97, Z:39.41 [[ 3.02464713e-01 -9.53085005e-01 -1.20029048e-02 1.01014009e+03] [ 9.52459217e-01 3.02701182e-01 -3.45461040e-02 2.04974637e+02] [ 3.65586672e-02 -9.83299854e-04 9.99331025e-01 3.94065540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.719254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:1010.16, Y:205.03, Z:39.41 [[ 3.06828009e-01 -9.51689414e-01 -1.19929844e-02 1.01015593e+03] [ 9.51062416e-01 3.07061248e-01 -3.45495476e-02 2.05030770e+02] [ 3.65630195e-02 -8.05307791e-04 9.99331025e-01 3.94084485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.779254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:1010.17, Y:205.09, Z:39.41 [[ 3.14205765e-01 -9.49279277e-01 -1.19829807e-02 1.01017046e+03] [ 9.48650355e-01 3.14433766e-01 -3.45530169e-02 2.05087619e+02] [ 3.65683167e-02 -5.10901805e-04 9.99331025e-01 3.94114510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.839254154 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:1010.19, Y:205.14, Z:39.41 [[ 3.22075457e-01 -9.46638287e-01 -1.19730483e-02 1.01018507e+03] [ 9.46007366e-01 3.22297867e-01 -3.45564583e-02 2.05143193e+02] [ 3.65713544e-02 -1.96804856e-04 9.99331025e-01 3.94125811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.899254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1010.20, Y:205.20, Z:39.42 [[ 3.29883766e-01 -9.43945759e-01 -1.19626698e-02 1.01020029e+03] [ 9.43312892e-01 3.30100577e-01 -3.45600507e-02 2.05199533e+02] [ 3.65716975e-02 1.16259081e-04 9.99331025e-01 3.94175243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.959254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1010.22, Y:205.26, Z:39.42 [[ 3.36609568e-01 -9.41568442e-01 -1.19527317e-02 1.01021544e+03] [ 9.40933922e-01 3.36821494e-01 -3.45634875e-02 2.05255683e+02] [ 3.65698260e-02 3.87669842e-04 9.99331025e-01 3.94187424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.019254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1010.23, Y:205.31, Z:39.42 [[ 3.42400075e-01 -9.39478345e-01 -1.19427330e-02 1.01023187e+03] [ 9.38842412e-01 3.42607723e-01 -3.45669420e-02 2.05311093e+02] [ 3.65665660e-02 6.23379331e-04 9.99331025e-01 3.94213643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.079254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1010.25, Y:205.37, Z:39.42 [[ 3.45295203e-01 -9.38418261e-01 -1.19327355e-02 1.01024960e+03] [ 9.37781573e-01 3.45500521e-01 -3.45703929e-02 2.05366094e+02] [ 3.65642543e-02 7.46691313e-04 9.99331025e-01 3.94238962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.139254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:1010.27, Y:205.42, Z:39.42 [[ 3.45656367e-01 -9.38285418e-01 -1.19226932e-02 1.01026847e+03] [ 9.37648532e-01 3.45861069e-01 -3.45738559e-02 2.05421680e+02] [ 3.65637403e-02 7.71377672e-04 9.99331025e-01 3.94234474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.199254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1010.29, Y:205.47, Z:39.42 [[ 3.45840032e-01 -9.38217859e-01 -1.19130414e-02 1.01028768e+03] [ 9.37580819e-01 3.46044255e-01 -3.45771813e-02 2.05474953e+02] [ 3.65633686e-02 7.88734371e-04 9.99331025e-01 3.94248016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.259254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1010.30, Y:205.53, Z:39.42 [[ 3.40091484e-01 -9.40317025e-01 -1.19027637e-02 1.01030433e+03] [ 9.39681123e-01 3.40299223e-01 -3.45807189e-02 2.05531160e+02] [ 3.65673400e-02 5.75805603e-04 9.99331025e-01 3.94199014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.319254154 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:1010.33, Y:205.58, Z:39.43 [[ 3.39529632e-01 -9.40520162e-01 -1.18934143e-02 1.01033122e+03] [ 9.39884272e-01 3.39737408e-01 -3.45839342e-02 2.05582309e+02] [ 3.65675251e-02 5.63837439e-04 9.99331025e-01 3.94287108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.379254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1010.36, Y:205.64, Z:39.44 [[ 3.32295664e-01 -9.43100420e-01 -1.18823196e-02 1.01035535e+03] [ 9.42466008e-01 3.32507912e-01 -3.45877457e-02 2.05635672e+02] [ 3.65706828e-02 2.94675569e-04 9.99331025e-01 3.94351504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.439254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1010.38, Y:205.69, Z:39.44 [[ 3.22071829e-01 -9.46640780e-01 -1.18730844e-02 1.01037927e+03] [ 9.46008585e-01 3.22290591e-01 -3.45909156e-02 2.05688760e+02] [ 3.65717547e-02 -9.12803132e-05 9.99331025e-01 3.94390072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.499254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:1010.40, Y:205.74, Z:39.44 [[ 3.14328114e-01 -9.49240277e-01 -1.18631138e-02 1.01040164e+03] [ 9.48609761e-01 3.14551669e-01 -3.45943347e-02 2.05742823e+02] [ 3.65698981e-02 -3.79493572e-04 9.99331026e-01 3.94407452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.559254154 meters Centerline goodness : 0.999757 with order 1 Centerline is valid? [True, True] Translation: X:1010.43, Y:205.80, Z:39.44 [[ 3.01436628e-01 -9.53412535e-01 -1.18531944e-02 1.01042619e+03] [ 9.52784973e-01 3.01668346e-01 -3.45977331e-02 2.05796482e+02] [ 3.65616460e-02 -8.64521543e-04 9.99331026e-01 3.94429711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.619254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:1010.45, Y:205.85, Z:39.44 [[ 2.97113967e-01 -9.54768560e-01 -1.18443274e-02 1.01044645e+03] [ 9.54141935e-01 2.97348206e-01 -3.46007684e-02 2.05849999e+02] [ 3.65576153e-02 -1.02079788e-03 9.99331026e-01 3.94447690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.6792541539999 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:1010.47, Y:205.90, Z:39.45 [[ 2.92912188e-01 -9.56066110e-01 -1.18339638e-02 1.01046656e+03] [ 9.55440380e-01 2.93148805e-01 -3.46043126e-02 2.05904377e+02] [ 3.65531229e-02 -1.17062192e-03 9.99331026e-01 3.94475207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.739254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1010.49, Y:205.96, Z:39.45 [[ 2.93336204e-01 -9.55936220e-01 -1.18243466e-02 1.01048514e+03] [ 9.55310253e-01 2.93572197e-01 -3.46075985e-02 2.05959137e+02] [ 3.65539563e-02 -1.14425794e-03 9.99331026e-01 3.94516030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.799254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1010.50, Y:206.01, Z:39.46 [[ 2.99214969e-01 -9.54112582e-01 -1.18145175e-02 1.01050150e+03] [ 9.53485043e-01 2.99446747e-01 -3.46109536e-02 2.06014376e+02] [ 3.65605652e-02 -9.08850351e-04 9.99331026e-01 3.94555940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.859254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:1010.52, Y:206.07, Z:39.46 [[ 3.05663215e-01 -9.52066514e-01 -1.18047164e-02 1.01051750e+03] [ 9.51437293e-01 3.05890387e-01 -3.46142962e-02 2.06069980e+02] [ 3.65660616e-02 -6.51130352e-04 9.99331026e-01 3.94601210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.9192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1010.54, Y:206.13, Z:39.46 [[ 3.07858771e-01 -9.51358955e-01 -1.17947304e-02 1.01053542e+03] [ 9.50729081e-01 3.08084127e-01 -3.46176986e-02 2.06125713e+02] [ 3.65676267e-02 -5.56231014e-04 9.99331026e-01 3.94621017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.979254154 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:1010.55, Y:206.18, Z:39.46 [[ 3.14311862e-01 -9.49246633e-01 -1.17848411e-02 1.01055019e+03] [ 9.48615118e-01 3.14532575e-01 -3.46210648e-02 2.06181398e+02] [ 3.65706456e-02 -2.97467106e-04 9.99331026e-01 3.94636863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.039254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1010.57, Y:206.24, Z:39.47 [[ 3.19689190e-01 -9.47449259e-01 -1.17781272e-02 1.01056675e+03] [ 9.46816417e-01 3.19906073e-01 -3.46233487e-02 2.06237847e+02] [ 3.65717605e-02 -8.30139010e-05 9.99331026e-01 3.94673680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.099254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:1010.58, Y:206.29, Z:39.47 [[ 3.22746607e-01 -9.46412234e-01 -1.17690679e-02 1.01058215e+03] [ 9.45778584e-01 3.22961115e-01 -3.46264279e-02 2.06294687e+02] [ 3.65718263e-02 4.46297935e-05 9.99331026e-01 3.94664197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.1592541539999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:1010.60, Y:206.35, Z:39.47 [[ 3.24877242e-01 -9.45683088e-01 -1.17590605e-02 1.01059922e+03] [ 9.45048833e-01 3.25089955e-01 -3.46298260e-02 2.06351491e+02] [ 3.65715933e-02 1.37555936e-04 9.99331026e-01 3.94677766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.219254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1010.62, Y:206.41, Z:39.47 [[ 3.28718461e-01 -9.44354870e-01 -1.17495966e-02 1.01061641e+03] [ 9.43719641e-01 3.28928248e-01 -3.46330368e-02 2.06406611e+02] [ 3.65706511e-02 2.96193458e-04 9.99331026e-01 3.94678730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.279254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:1010.64, Y:206.46, Z:39.47 [[ 3.32441659e-01 -9.43050732e-01 -1.17413899e-02 1.01063731e+03] [ 9.42414582e-01 3.32648636e-01 -3.46358188e-02 2.06461309e+02] [ 3.65690916e-02 4.49132004e-04 9.99331026e-01 3.94707321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.339254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1010.66, Y:206.52, Z:39.48 [[ 3.30881780e-01 -9.43599289e-01 -1.17315176e-02 1.01065570e+03] [ 9.42963364e-01 3.31089447e-01 -3.46391623e-02 2.06516028e+02] [ 3.65696706e-02 3.99076438e-04 9.99331026e-01 3.94753443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.399254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1010.68, Y:206.57, Z:39.48 [[ 3.26178574e-01 -9.45235497e-01 -1.17214618e-02 1.01067820e+03] [ 9.44600492e-01 3.26389037e-01 -3.46425648e-02 2.06569365e+02] [ 3.65711385e-02 2.27563771e-04 9.99331026e-01 3.94787234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.459254154 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:1010.70, Y:206.62, Z:39.48 [[ 3.22845718e-01 -9.46379136e-01 -1.17121207e-02 1.01070037e+03] [ 9.45744762e-01 3.23058075e-01 -3.46457226e-02 2.06623531e+02] [ 3.65716841e-02 1.08546428e-04 9.99331026e-01 3.94842380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.519254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1010.72, Y:206.68, Z:39.49 [[ 3.20797425e-01 -9.47075537e-01 -1.17020677e-02 1.01072222e+03] [ 9.46441501e-01 3.21010786e-01 -3.46491178e-02 2.06678180e+02] [ 3.65718218e-02 4.00252999e-05 9.99331026e-01 3.94869116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.579254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:1010.74, Y:206.73, Z:39.49 [[ 3.20085166e-01 -9.47316615e-01 -1.16925951e-02 1.01074278e+03] [ 9.46682622e-01 3.20298657e-01 -3.46523141e-02 2.06731260e+02] [ 3.65718354e-02 2.25151564e-05 9.99331026e-01 3.94879069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.639254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1010.76, Y:206.79, Z:39.49 [[ 3.21437918e-01 -9.46858591e-01 -1.16822285e-02 1.01076335e+03] [ 9.46224166e-01 3.21650124e-01 -3.46558086e-02 2.06785318e+02] [ 3.65717403e-02 8.56840132e-05 9.99331026e-01 3.94900908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.699254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1010.78, Y:206.84, Z:39.49 [[ 3.23755417e-01 -9.46068806e-01 -1.16724016e-02 1.01078399e+03] [ 9.45433744e-01 3.23965709e-01 -3.46591181e-02 2.06840032e+02] [ 3.65713683e-02 1.85594925e-04 9.99331027e-01 3.94933654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.759254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1010.80, Y:206.89, Z:39.49 [[ 3.25983701e-01 -9.45303452e-01 -1.16623372e-02 1.01080224e+03] [ 9.44667776e-01 3.26192127e-01 -3.46625043e-02 2.06893905e+02] [ 3.65707475e-02 2.82377322e-04 9.99331027e-01 3.94945592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.819254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1010.82, Y:206.95, Z:39.50 [[ 3.25513388e-01 -9.45465636e-01 -1.16518108e-02 1.01081941e+03] [ 9.44829938e-01 3.25721744e-01 -3.46660424e-02 2.06948570e+02] [ 3.65707999e-02 2.75281257e-04 9.99331027e-01 3.94968893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.879254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1010.84, Y:207.00, Z:39.50 [[ 3.21500798e-01 -9.46837726e-01 -1.16429228e-02 1.01083721e+03] [ 9.46202808e-01 3.21711523e-01 -3.46690272e-02 2.07004006e+02] [ 3.65716053e-02 1.29553649e-04 9.99331027e-01 3.95035324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.939254154 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:1010.86, Y:207.06, Z:39.51 [[ 3.17829133e-01 -9.48076633e-01 -1.16335419e-02 1.01085523e+03] [ 9.47442422e-01 3.18041974e-01 -3.46721748e-02 2.07058655e+02] [ 3.65718334e-02 -2.28386778e-06 9.99331027e-01 3.95075678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.999254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1010.87, Y:207.11, Z:39.51 [[ 3.16561672e-01 -9.48500700e-01 -1.16245284e-02 1.01087261e+03] [ 9.47866663e-01 3.16775031e-01 -3.46751965e-02 2.07114414e+02] [ 3.65718085e-02 -4.16647099e-05 9.99331027e-01 3.95099868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.059254154 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:1010.89, Y:207.17, Z:39.51 [[ 3.16457887e-01 -9.48535448e-01 -1.16150326e-02 1.01088965e+03] [ 9.47901318e-01 3.16670968e-01 -3.46783770e-02 2.07169973e+02] [ 3.65718135e-02 -3.56588586e-05 9.99331027e-01 3.95103707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.119254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1010.91, Y:207.23, Z:39.51 [[ 3.12961667e-01 -9.49694855e-01 -1.16050867e-02 1.01090643e+03] [ 9.49061390e-01 3.13176720e-01 -3.46817050e-02 2.07225293e+02] [ 3.65714798e-02 -1.59895480e-04 9.99331027e-01 3.95124904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.1792541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1010.92, Y:207.28, Z:39.52 [[ 3.09206141e-01 -9.50924348e-01 -1.15951360e-02 1.01092458e+03] [ 9.50291613e-01 3.09423332e-01 -3.46850315e-02 2.07280281e+02] [ 3.65706466e-02 -2.93935750e-04 9.99331027e-01 3.95152476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.239254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1010.94, Y:207.33, Z:39.52 [[ 3.06783308e-01 -9.51708877e-01 -1.15851408e-02 1.01094311e+03] [ 9.51076572e-01 3.07001746e-01 -3.46883697e-02 2.07334798e+02] [ 3.65698878e-02 -3.76543207e-04 9.99331027e-01 3.95171574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.299254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1010.96, Y:207.39, Z:39.52 [[ 3.02386263e-01 -9.53115195e-01 -1.15746921e-02 1.01096128e+03] [ 9.52483772e-01 3.02607238e-01 -3.46918559e-02 2.07390266e+02] [ 3.65679206e-02 -5.34365717e-04 9.99331027e-01 3.95172328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.359254154 meters Centerline goodness : 0.999734 with order 1 Centerline is valid? [True, True] Translation: X:1010.98, Y:207.45, Z:39.52 [[ 3.02932759e-01 -9.52941761e-01 -1.15647929e-02 1.01097805e+03] [ 9.52310085e-01 3.03153011e-01 -3.46951555e-02 2.07446152e+02] [ 3.65683644e-02 -5.02969668e-04 9.99331027e-01 3.95187424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.4192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1011.00, Y:207.50, Z:39.52 [[ 3.02149368e-01 -9.53190559e-01 -1.15550316e-02 1.01099524e+03] [ 9.52558940e-01 3.02369783e-01 -3.46984062e-02 2.07501451e+02] [ 3.65680856e-02 -5.22747148e-04 9.99331027e-01 3.95208030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.479254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:1011.01, Y:207.56, Z:39.52 [[ 3.00391131e-01 -9.53746225e-01 -1.15458264e-02 1.01101265e+03] [ 9.53114897e-01 3.00612377e-01 -3.47014689e-02 2.07556300e+02] [ 3.65672133e-02 -5.80485592e-04 9.99331027e-01 3.95242849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.539254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1011.03, Y:207.61, Z:39.53 [[ 2.99161621e-01 -9.54132716e-01 -1.15362674e-02 1.01102841e+03] [ 9.53501551e-01 2.99383332e-01 -3.47046464e-02 2.07612121e+02] [ 3.65666047e-02 -6.17550578e-04 9.99331027e-01 3.95274308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.599254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1011.04, Y:207.67, Z:39.53 [[ 3.00316530e-01 -9.53769949e-01 -1.15267878e-02 1.01104455e+03] [ 9.53138396e-01 3.00537132e-01 -3.47077947e-02 2.07668116e+02] [ 3.65674793e-02 -5.63299571e-04 9.99331027e-01 3.95290981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.6592541539999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1011.06, Y:207.72, Z:39.53 [[ 3.04393226e-01 -9.52476840e-01 -1.15166914e-02 1.01106029e+03] [ 9.51844222e-01 3.04610757e-01 -3.47111446e-02 2.07723452e+02] [ 3.65696694e-02 -3.96258943e-04 9.99331027e-01 3.95276558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.719254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1011.07, Y:207.78, Z:39.53 [[ 3.12068945e-01 -9.49989778e-01 -1.15062847e-02 1.01107481e+03] [ 9.49355299e-01 3.12280984e-01 -3.47145939e-02 2.07780430e+02] [ 3.65717033e-02 -9.02056452e-05 9.99331027e-01 3.95254724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.779254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1011.09, Y:207.84, Z:39.53 [[ 3.17577182e-01 -9.48162725e-01 -1.14969641e-02 1.01109131e+03] [ 9.47526914e-01 3.17785194e-01 -3.47176805e-02 2.07836097e+02] [ 3.65715755e-02 1.31860242e-04 9.99331027e-01 3.95272986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.839254154 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:1011.11, Y:207.89, Z:39.53 [[ 3.19460392e-01 -9.47530002e-01 -1.14871086e-02 1.01110890e+03] [ 9.46893662e-01 3.19666779e-01 -3.47209411e-02 2.07891803e+02] [ 3.65711804e-02 2.14895185e-04 9.99331028e-01 3.95297779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.899254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1011.13, Y:207.95, Z:39.53 [[ 3.20762307e-01 -9.47090178e-01 -1.14776868e-02 1.01112674e+03] [ 9.46453443e-01 3.20967474e-01 -3.47240554e-02 2.07946814e+02] [ 3.65707759e-02 2.75071909e-04 9.99331028e-01 3.95332029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.959254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1011.14, Y:208.00, Z:39.53 [[ 3.22787729e-01 -9.46401866e-01 -1.14712818e-02 1.01114485e+03] [ 9.45764619e-01 3.22991298e-01 -3.47261712e-02 2.08001574e+02] [ 3.65700374e-02 3.60049410e-04 9.99331028e-01 3.95341806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.019254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1011.16, Y:208.06, Z:39.53 [[ 3.28193574e-01 -9.44540911e-01 -1.14649948e-02 1.01116271e+03] [ 9.43902438e-01 3.28393265e-01 -3.47282467e-02 2.08056914e+02] [ 3.65672769e-02 5.75750894e-04 9.99331028e-01 3.95335735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.079254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1011.18, Y:208.11, Z:39.53 [[ 3.31726712e-01 -9.43305983e-01 -1.14547620e-02 1.01117938e+03] [ 9.42666651e-01 3.31923636e-01 -3.47316216e-02 2.08112136e+02] [ 3.65646527e-02 7.23384499e-04 9.99331028e-01 3.95327080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.139254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1011.20, Y:208.17, Z:39.53 [[ 3.36809387e-01 -9.41503296e-01 -1.14446918e-02 1.01119649e+03] [ 9.40862799e-01 3.37002489e-01 -3.47349396e-02 2.08167973e+02] [ 3.65599497e-02 9.31168991e-04 9.99331028e-01 3.95313419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.199254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1011.22, Y:208.22, Z:39.53 [[ 3.38433985e-01 -9.40920655e-01 -1.14349691e-02 1.01121560e+03] [ 9.40279719e-01 3.38625622e-01 -3.47381401e-02 2.08222363e+02] [ 3.65580070e-02 1.00449761e-03 9.99331028e-01 3.95327719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.259254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1011.24, Y:208.28, Z:39.54 [[ 3.36674027e-01 -9.41551946e-01 -1.14250750e-02 1.01123589e+03] [ 9.40911260e-01 3.36866497e-01 -3.47413939e-02 2.08276474e+02] [ 3.65595520e-02 9.46543308e-04 9.99331028e-01 3.95366303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.319254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:1011.26, Y:208.33, Z:39.54 [[ 3.32860834e-01 -9.42906856e-01 -1.14160615e-02 1.01125659e+03] [ 9.42266852e-01 3.33055564e-01 -3.47443554e-02 2.08330597e+02] [ 3.65628737e-02 8.08058825e-04 9.99331028e-01 3.95399019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.379254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1011.28, Y:208.38, Z:39.54 [[ 3.30218915e-01 -9.43835456e-01 -1.14061225e-02 1.01127831e+03] [ 9.43195889e-01 3.30415070e-01 -3.47476180e-02 2.08384988e+02] [ 3.65647886e-02 7.16112825e-04 9.99331028e-01 3.95417973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.439254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1011.30, Y:208.44, Z:39.54 [[ 3.29879142e-01 -9.43954382e-01 -1.13963189e-02 1.01129810e+03] [ 9.43314775e-01 3.30075167e-01 -3.47508330e-02 2.08439482e+02] [ 3.65648430e-02 7.13258929e-04 9.99331028e-01 3.95421735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.499254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1011.32, Y:208.49, Z:39.54 [[ 3.29777600e-01 -9.43989984e-01 -1.13861704e-02 1.01131690e+03] [ 9.43350283e-01 3.29973320e-01 -3.47541579e-02 2.08494395e+02] [ 3.65647094e-02 7.19995751e-04 9.99331028e-01 3.95441512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.559254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1011.34, Y:208.55, Z:39.55 [[ 3.29614351e-01 -9.44047122e-01 -1.13759037e-02 1.01133719e+03] [ 9.43407339e-01 3.29809804e-01 -3.47575181e-02 2.08548704e+02] [ 3.65646195e-02 7.24465676e-04 9.99331028e-01 3.95471812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.619254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:1011.36, Y:208.60, Z:39.55 [[ 3.29313880e-01 -9.44152101e-01 -1.13656911e-02 1.01135635e+03] [ 9.43512266e-01 3.29509161e-01 -3.47608573e-02 2.08603848e+02] [ 3.65646358e-02 7.23563850e-04 9.99331028e-01 3.95492062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.6792541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1011.37, Y:208.66, Z:39.55 [[ 3.27675555e-01 -9.44722066e-01 -1.13556073e-02 1.01137442e+03] [ 9.44082457e-01 3.27871574e-01 -3.47641511e-02 2.08659317e+02] [ 3.65656415e-02 6.70732899e-04 9.99331028e-01 3.95504767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.739254154 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:1011.39, Y:208.71, Z:39.55 [[ 3.25112327e-01 -9.45607347e-01 -1.13455174e-02 1.01139307e+03] [ 9.44968157e-01 3.25309709e-01 -3.47674437e-02 2.08714033e+02] [ 3.65671572e-02 5.82171881e-04 9.99331028e-01 3.95530316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.799254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1011.41, Y:208.77, Z:39.55 [[ 3.23580576e-01 -9.46132719e-01 -1.13353020e-02 1.01140931e+03] [ 9.45493733e-01 3.23778618e-01 -3.47707740e-02 2.08768455e+02] [ 3.65678953e-02 5.33690092e-04 9.99331028e-01 3.95548952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.859254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:1011.43, Y:208.82, Z:39.56 [[ 3.22692293e-01 -9.46436177e-01 -1.13246262e-02 1.01142551e+03] [ 9.45797256e-01 3.22890542e-01 -3.47742506e-02 2.08824076e+02] [ 3.65682236e-02 5.10582236e-04 9.99331028e-01 3.95552619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.9192541539999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:1011.44, Y:208.88, Z:39.56 [[ 3.19713040e-01 -9.47446861e-01 -1.13145220e-02 1.01144238e+03] [ 9.46808450e-01 3.19912927e-01 -3.47775380e-02 2.08879273e+02] [ 3.65695310e-02 4.06147326e-04 9.99331028e-01 3.95554972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.979254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1011.46, Y:208.93, Z:39.56 [[ 3.13141308e-01 -9.49639265e-01 -1.13043399e-02 1.01145971e+03] [ 9.49002135e-01 3.13345241e-01 -3.47808473e-02 2.08934785e+02] [ 3.65714194e-02 1.63477375e-04 9.99331029e-01 3.95592530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.039254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:1011.48, Y:208.99, Z:39.56 [[ 3.08301510e-01 -9.51221651e-01 -1.12937940e-02 1.01147994e+03] [ 9.50585443e-01 3.08508300e-01 -3.47842714e-02 2.08987931e+02] [ 3.65717812e-02 -1.16728032e-05 9.99331029e-01 3.95602544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.099254154 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:1011.50, Y:209.04, Z:39.56 [[ 3.03151535e-01 -9.52875519e-01 -1.12867965e-02 1.01149838e+03] [ 9.52240354e-01 3.03361507e-01 -3.47865418e-02 2.09041442e+02] [ 3.65712237e-02 -2.02149626e-04 9.99331029e-01 3.95621773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.1592541539999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1011.52, Y:209.10, Z:39.56 [[ 3.02818747e-01 -9.52981455e-01 -1.12762469e-02 1.01151591e+03] [ 9.52346236e-01 3.03028556e-01 -3.47899611e-02 2.09096411e+02] [ 3.65712126e-02 -2.03838853e-04 9.99331029e-01 3.95634534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.219254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:1011.53, Y:209.15, Z:39.57 [[ 3.04424736e-01 -9.52469763e-01 -1.12663110e-02 1.01153374e+03] [ 9.51834073e-01 3.04633111e-01 -3.47931785e-02 2.09151736e+02] [ 3.65715418e-02 -1.31754497e-04 9.99331029e-01 3.95655051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.279254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1011.55, Y:209.21, Z:39.57 [[ 3.07935222e-01 -9.51340734e-01 -1.12563778e-02 1.01155004e+03] [ 9.50704162e-01 3.08140888e-01 -3.47963918e-02 2.09207598e+02] [ 3.65717752e-02 1.35494374e-05 9.99331029e-01 3.95656519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.339254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:1011.57, Y:209.26, Z:39.57 [[ 3.09895279e-01 -9.50704178e-01 -1.12463755e-02 1.01156546e+03] [ 9.50067067e-01 3.10099267e-01 -3.47996243e-02 2.09263879e+02] [ 3.65716410e-02 9.94282906e-05 9.99331029e-01 3.95654953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.399254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1011.58, Y:209.32, Z:39.57 [[ 3.12079155e-01 -9.49989656e-01 -1.12363058e-02 1.01158162e+03] [ 9.49351960e-01 3.12281309e-01 -3.48028754e-02 2.09318481e+02] [ 3.65712599e-02 1.94043017e-04 9.99331029e-01 3.95695892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.459254154 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:1011.60, Y:209.37, Z:39.57 [[ 3.12446120e-01 -9.49869151e-01 -1.12257772e-02 1.01159709e+03] [ 9.49231255e-01 3.12647642e-01 -3.48062711e-02 2.09374127e+02] [ 3.65711159e-02 2.19225809e-04 9.99331029e-01 3.95721890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.519254154 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:1011.61, Y:209.43, Z:39.57 [[ 3.13283478e-01 -9.49593423e-01 -1.12157245e-02 1.01161268e+03] [ 9.48955234e-01 3.13484069e-01 -3.48095101e-02 2.09429772e+02] [ 3.65708328e-02 2.62023945e-04 9.99331029e-01 3.95741713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.579254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1011.63, Y:209.49, Z:39.58 [[ 3.15407512e-01 -9.48890161e-01 -1.12055161e-02 1.01162817e+03] [ 9.48251408e-01 3.15606300e-01 -3.48127959e-02 2.09485216e+02] [ 3.65700510e-02 3.54570946e-04 9.99331029e-01 3.95759336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.639254154 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:1011.64, Y:209.54, Z:39.57 [[ 3.16193683e-01 -9.48628605e-01 -1.11948450e-02 1.01164378e+03] [ 9.47989566e-01 3.16391550e-01 -3.48162271e-02 2.09541254e+02] [ 3.65696233e-02 3.96074813e-04 9.99331029e-01 3.95739133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.699254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1011.66, Y:209.60, Z:39.58 [[ 3.14963473e-01 -9.49037887e-01 -1.11848285e-02 1.01165640e+03] [ 9.48398991e-01 3.15161801e-01 -3.48194447e-02 2.09597784e+02] [ 3.65700029e-02 3.59173166e-04 9.99331029e-01 3.95752707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.759254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1011.68, Y:209.65, Z:39.58 [[ 3.16632988e-01 -9.48482304e-01 -1.11745282e-02 1.01167697e+03] [ 9.47842943e-01 3.16829813e-01 -3.48227500e-02 2.09651424e+02] [ 3.65691859e-02 4.34333647e-04 9.99331029e-01 3.95795912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.819254154 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:1011.70, Y:209.71, Z:39.58 [[ 3.11517905e-01 -9.50174702e-01 -1.11638239e-02 1.01169511e+03] [ 9.49536288e-01 3.11717780e-01 -3.48261814e-02 2.09706802e+02] [ 3.65709189e-02 2.48523205e-04 9.99331029e-01 3.95820298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.879254154 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:1011.71, Y:209.76, Z:39.59 [[ 3.02426852e-01 -9.53107334e-01 -1.11538479e-02 1.01171033e+03] [ 9.52470741e-01 3.02632452e-01 -3.48293761e-02 2.09762965e+02] [ 3.65716502e-02 -9.03752177e-05 9.99331029e-01 3.95856444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.939254154 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:1011.73, Y:209.82, Z:39.59 [[ 2.97546401e-01 -9.54642319e-01 -1.11436588e-02 1.01172626e+03] [ 9.54006665e-01 2.97754884e-01 -3.48326358e-02 2.09817914e+02] [ 3.65707871e-02 -2.66799362e-04 9.99331029e-01 3.95855914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.999254154 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:1011.74, Y:209.87, Z:39.59 [[ 2.98025373e-01 -9.54493009e-01 -1.11343500e-02 1.01174367e+03] [ 9.53857139e-01 2.98233196e-01 -3.48356112e-02 2.09873245e+02] [ 3.65709801e-02 -2.38683207e-04 9.99331029e-01 3.95876356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.059254154 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:1011.76, Y:209.93, Z:39.58 [[ 3.01032186e-01 -9.53549098e-01 -1.11238523e-02 1.01175684e+03] [ 9.52912452e-01 3.01237622e-01 -3.48389630e-02 2.09929587e+02] [ 3.65715846e-02 -1.12408174e-04 9.99331030e-01 3.95832845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.119254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1011.77, Y:209.98, Z:39.59 [[ 3.04406273e-01 -9.52477447e-01 -1.11145526e-02 1.01177466e+03] [ 9.51839970e-01 3.04609112e-01 -3.48419296e-02 2.09984437e+02] [ 3.65717462e-02 2.68265434e-05 9.99331030e-01 3.95880400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.1792541539999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1011.80, Y:210.04, Z:39.59 [[ 3.06870343e-01 -9.51686551e-01 -1.11040954e-02 1.01179578e+03] [ 9.51048430e-01 3.07071149e-01 -3.48452620e-02 2.10037932e+02] [ 3.65715145e-02 1.32445039e-04 9.99331030e-01 3.95926134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.239254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1011.81, Y:210.09, Z:39.59 [[ 3.02303308e-01 -9.53147190e-01 -1.10970235e-02 1.01181233e+03] [ 9.52509957e-01 3.02506913e-01 -3.48475140e-02 2.10093971e+02] [ 3.65717364e-02 -3.55066628e-05 9.99331030e-01 3.95947254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.299254154 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:1011.83, Y:210.15, Z:39.60 [[ 2.98627238e-01 -9.54305423e-01 -1.10874516e-02 1.01183360e+03] [ 9.53668867e-01 2.98832949e-01 -3.48505592e-02 2.10148223e+02] [ 3.65713735e-02 -1.66431166e-04 9.99331030e-01 3.95995795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.359254154 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:1011.85, Y:210.20, Z:39.60 [[ 2.99048433e-01 -9.54173635e-01 -1.10774138e-02 1.01185239e+03] [ 9.53536869e-01 2.99253496e-01 -3.48537495e-02 2.10201996e+02] [ 3.65714837e-02 -1.39763322e-04 9.99331030e-01 3.96024005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.4192541539999 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:1011.87, Y:210.26, Z:39.60 [[ 3.01781667e-01 -9.53312829e-01 -1.10668923e-02 1.01186951e+03] [ 9.52675356e-01 3.01984520e-01 -3.48570900e-02 2.10257591e+02] [ 3.65717412e-02 -2.39248077e-05 9.99331030e-01 3.96017126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.479254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1011.89, Y:210.31, Z:39.61 [[ 3.06102475e-01 -9.51934355e-01 -1.10571059e-02 1.01188595e+03] [ 9.51295856e-01 3.06302076e-01 -3.48601941e-02 2.10313251e+02] [ 3.65714309e-02 1.52212714e-04 9.99331030e-01 3.96053088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.539254154 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:1011.90, Y:210.37, Z:39.60 [[ 3.07153266e-01 -9.51595936e-01 -1.10474433e-02 1.01190238e+03] [ 9.50957107e-01 3.07351808e-01 -3.48632560e-02 2.10368816e+02] [ 3.65711844e-02 2.02718259e-04 9.99331030e-01 3.96028431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.599254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1011.92, Y:210.42, Z:39.61 [[ 3.09840186e-01 -9.50724580e-01 -1.10378006e-02 1.01192000e+03] [ 9.50085084e-01 3.10036569e-01 -3.48663086e-02 2.10422773e+02] [ 3.65703784e-02 3.16133788e-04 9.99331030e-01 3.96069473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.6592541539999 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:1011.94, Y:210.48, Z:39.61 [[ 3.08222607e-01 -9.51250307e-01 -1.10308096e-02 1.01193976e+03] [ 9.50611067e-01 3.08419821e-01 -3.48685203e-02 2.10477097e+02] [ 3.65708109e-02 2.61256505e-04 9.99331030e-01 3.96076574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.719254154 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:1011.96, Y:210.53, Z:39.61 [[ 3.06713093e-01 -9.51738208e-01 -1.10209911e-02 1.01195929e+03] [ 9.51099170e-01 3.06910961e-01 -3.48716233e-02 2.10531587e+02] [ 3.65711193e-02 2.13527925e-04 9.99331030e-01 3.96114308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.779254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1011.98, Y:210.59, Z:39.62 [[ 3.06608206e-01 -9.51772110e-01 -1.10117575e-02 1.01197778e+03] [ 9.51132989e-01 3.06805807e-01 -3.48745389e-02 2.10586096e+02] [ 3.65710846e-02 2.19173953e-04 9.99331030e-01 3.96170261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.839254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:1012.00, Y:210.64, Z:39.62 [[ 3.05953853e-01 -9.51982769e-01 -1.10021818e-02 1.01199735e+03] [ 9.51343676e-01 3.06151542e-01 -3.48775596e-02 2.10640373e+02] [ 3.65711706e-02 2.04067648e-04 9.99331030e-01 3.96180233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.899254154 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:1012.02, Y:210.70, Z:39.62 [[ 3.05316331e-01 -9.52187533e-01 -1.09927023e-02 1.01201662e+03] [ 9.51548465e-01 3.05514100e-01 -3.48805470e-02 2.10695265e+02] [ 3.65712476e-02 1.89511608e-04 9.99331030e-01 3.96183678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.959254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1012.04, Y:210.75, Z:39.62 [[ 3.06920416e-01 -9.51671812e-01 -1.09827418e-02 1.01203578e+03] [ 9.51032300e-01 3.07116743e-01 -3.48836830e-02 2.10749617e+02] [ 3.65708017e-02 2.61572259e-04 9.99331030e-01 3.96230036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.019254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1012.05, Y:210.80, Z:39.62 [[ 3.09267453e-01 -9.50911797e-01 -1.09725325e-02 1.01205446e+03] [ 9.50271688e-01 3.09461828e-01 -3.48868940e-02 2.10803145e+02] [ 3.65699390e-02 3.62493911e-04 9.99331030e-01 3.96220142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.079254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:1012.07, Y:210.86, Z:39.62 [[ 3.10362999e-01 -9.50554877e-01 -1.09651428e-02 1.01207348e+03] [ 9.49914463e-01 3.10556364e-01 -3.48892165e-02 2.10857887e+02] [ 3.65694098e-02 4.12374117e-04 9.99331030e-01 3.96228928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.139254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1012.09, Y:210.91, Z:39.63 [[ 3.11653549e-01 -9.50132651e-01 -1.09549396e-02 1.01209230e+03] [ 9.49491863e-01 3.11845670e-01 -3.48924199e-02 2.10912446e+02] [ 3.65686779e-02 4.72720441e-04 9.99331030e-01 3.96283484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.199254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1012.11, Y:210.97, Z:39.63 [[ 3.11801434e-01 -9.50084248e-01 -1.09447044e-02 1.01210949e+03] [ 9.49443318e-01 3.11993080e-01 -3.48956301e-02 2.10967663e+02] [ 3.65684605e-02 4.89131113e-04 9.99331030e-01 3.96311803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.259254154 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:1012.13, Y:211.02, Z:39.63 [[ 3.08256024e-01 -9.51240590e-01 -1.09344915e-02 1.01212744e+03] [ 9.50600265e-01 3.08449684e-01 -3.48988300e-02 2.11023325e+02] [ 3.65699241e-02 3.63444089e-04 9.99331031e-01 3.96297715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.319254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1012.15, Y:211.08, Z:39.64 [[ 3.04409360e-01 -9.52478662e-01 -1.09242543e-02 1.01214545e+03] [ 9.51839010e-01 3.04605231e-01 -3.49020342e-02 2.11077941e+02] [ 3.65710279e-02 2.26374477e-04 9.99331031e-01 3.96354568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.379254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:1012.16, Y:211.13, Z:39.64 [[ 3.00356334e-01 -9.53764621e-01 -1.09142042e-02 1.01216143e+03] [ 9.53125694e-01 3.00554555e-01 -3.49051767e-02 2.11133547e+02] [ 3.65716364e-02 8.13824175e-05 9.99331031e-01 3.96371723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.439254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:1012.18, Y:211.19, Z:39.64 [[ 2.97582551e-01 -9.54633817e-01 -1.09041431e-02 1.01217724e+03] [ 9.53995353e-01 2.97782261e-01 -3.49083194e-02 2.11189116e+02] [ 3.65717226e-02 -1.43951288e-05 9.99331031e-01 3.96372301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.499254154 meters Centerline goodness : 0.999780 with order 1 Centerline is valid? [True, True] Translation: X:1012.19, Y:211.24, Z:39.64 [[ 2.95862284e-01 -9.55168481e-01 -1.08941138e-02 1.01219236e+03] [ 9.54530263e-01 2.96062777e-01 -3.49114491e-02 2.11244835e+02] [ 3.65716574e-02 -6.97802068e-05 9.99331031e-01 3.96378750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.559254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1012.21, Y:211.30, Z:39.64 [[ 2.95737687e-01 -9.55207182e-01 -1.08839493e-02 1.01220733e+03] [ 9.54568873e-01 2.95937892e-01 -3.49146177e-02 2.11300558e+02] [ 3.65716666e-02 -6.39109039e-05 9.99331031e-01 3.96417638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.619254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:1012.22, Y:211.36, Z:39.64 [[ 2.93425697e-01 -9.55920038e-01 -1.08738956e-02 1.01222236e+03] [ 9.55282099e-01 2.93627079e-01 -3.49177486e-02 2.11355744e+02] [ 3.65714457e-02 -1.41873069e-04 9.99331031e-01 3.96412923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.6792541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1012.24, Y:211.41, Z:39.65 [[ 2.90908299e-01 -9.56689263e-01 -1.08635134e-02 1.01223846e+03] [ 9.56051736e-01 2.91110980e-01 -3.49209783e-02 2.11411789e+02] [ 3.65710131e-02 -2.27278442e-04 9.99331031e-01 3.96455501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.739254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:1012.25, Y:211.47, Z:39.65 [[ 2.83238807e-01 -9.58987999e-01 -1.08533921e-02 1.01225428e+03] [ 9.58351996e-01 2.83446217e-01 -3.49241237e-02 2.11466395e+02] [ 3.65681685e-02 -5.09502824e-04 9.99331031e-01 3.96460395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.799254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1012.27, Y:211.52, Z:39.65 [[ 2.78214889e-01 -9.60457619e-01 -1.08460623e-02 1.01227108e+03] [ 9.59822622e-01 2.78425360e-01 -3.49263999e-02 2.11522058e+02] [ 3.65651457e-02 -6.93251456e-04 9.99331031e-01 3.96521402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.859254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:1012.29, Y:211.58, Z:39.65 [[ 2.70327369e-01 -9.62707484e-01 -1.08357936e-02 1.01228531e+03] [ 9.62074107e-01 2.70542669e-01 -3.49295855e-02 2.11577028e+02] [ 3.65585179e-02 -9.82413456e-04 9.99331031e-01 3.96539645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.9192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1012.30, Y:211.63, Z:39.66 [[ 2.70905823e-01 -9.62544950e-01 -1.08283735e-02 1.01229866e+03] [ 9.61911354e-01 2.71120473e-01 -3.49318856e-02 2.11633240e+02] [ 3.65593038e-02 -9.52684169e-04 9.99331031e-01 3.96574604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.979254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1012.31, Y:211.69, Z:39.66 [[ 2.74347906e-01 -9.61569649e-01 -1.08183373e-02 1.01231301e+03] [ 9.60935167e-01 2.74559923e-01 -3.49349935e-02 2.11689687e+02] [ 3.65627113e-02 -8.11378482e-04 9.99331031e-01 3.96587768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.039254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:1012.32, Y:211.75, Z:39.66 [[ 2.87840687e-01 -9.57617313e-01 -1.08083688e-02 1.01232276e+03] [ 9.56979797e-01 2.88043399e-01 -3.49380774e-02 2.11747458e+02] [ 3.65705870e-02 -2.86790381e-04 9.99331031e-01 3.96587114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.099254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:1012.33, Y:211.80, Z:39.66 [[ 2.98176240e-01 -9.54449750e-01 -1.07983783e-02 1.01233462e+03] [ 9.53809967e-01 2.98371683e-01 -3.49411649e-02 2.11804478e+02] [ 3.65715164e-02 1.19024325e-04 9.99331031e-01 3.96585799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.1592541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1012.35, Y:211.86, Z:39.66 [[ 3.04435232e-01 -9.52471942e-01 -1.07883944e-02 1.01234834e+03] [ 9.51830781e-01 3.04626104e-01 -3.49442472e-02 2.11861135e+02] [ 3.65698416e-02 3.69534137e-04 9.99331031e-01 3.96625479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.219254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1012.36, Y:211.92, Z:39.67 [[ 3.05566740e-01 -9.52109655e-01 -1.07783220e-02 1.01236387e+03] [ 9.51468159e-01 3.05756481e-01 -3.49473537e-02 2.11916763e+02] [ 3.65692547e-02 4.23518723e-04 9.99331031e-01 3.96662048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.279254154 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1012.38, Y:211.97, Z:39.67 [[ 3.02360247e-01 -9.53132902e-01 -1.07681367e-02 1.01237917e+03] [ 9.52491936e-01 3.02551772e-01 -3.49504918e-02 2.11972885e+02] [ 3.65703825e-02 3.11075937e-04 9.99331031e-01 3.96689351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.339254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1012.40, Y:212.03, Z:39.67 [[ 2.96647073e-01 -9.54926577e-01 -1.07585831e-02 1.01239576e+03] [ 9.54286663e-01 2.96842084e-01 -3.49534323e-02 2.12028588e+02] [ 3.65715617e-02 1.02061006e-04 9.99331031e-01 3.96732654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.399254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1012.41, Y:212.08, Z:39.67 [[ 2.86755719e-01 -9.57943436e-01 -1.07485658e-02 1.01241157e+03] [ 9.57305457e-01 2.86956972e-01 -3.49565125e-02 2.12084530e+02] [ 3.65707376e-02 -2.65680778e-04 9.99331032e-01 3.96691693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.459254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1012.43, Y:212.14, Z:39.67 [[ 2.77744910e-01 -9.60594841e-01 -1.07385171e-02 1.01242895e+03] [ 9.59958663e-01 2.77951781e-01 -3.49595992e-02 2.12140107e+02] [ 3.65668006e-02 -5.98681747e-04 9.99331032e-01 3.96701395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.519254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1012.45, Y:212.19, Z:39.68 [[ 2.70571354e-01 -9.62640145e-01 -1.07281260e-02 1.01244831e+03] [ 9.62005402e-01 2.70782588e-01 -3.49627876e-02 2.12193696e+02] [ 3.65615727e-02 -8.60586397e-04 9.99331032e-01 3.96754634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.579254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1012.47, Y:212.25, Z:39.68 [[ 2.62052306e-01 -9.64994108e-01 -1.07219968e-02 1.01246656e+03] [ 9.64361180e-01 2.62268920e-01 -3.49646671e-02 2.12247714e+02] [ 3.65527443e-02 -1.17730582e-03 9.99331032e-01 3.96761834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.639254154 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:1012.48, Y:212.30, Z:39.68 [[ 2.55883421e-01 -9.66648297e-01 -1.07119305e-02 1.01248399e+03] [ 9.66016639e-01 2.56103709e-01 -3.49677508e-02 2.12303158e+02] [ 3.65448819e-02 -1.40023535e-03 9.99331032e-01 3.96781221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.699254154 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:1012.50, Y:212.36, Z:39.68 [[ 2.58259003e-01 -9.66016438e-01 -1.07018704e-02 1.01249921e+03] [ 9.65384114e-01 2.58477374e-01 -3.49708295e-02 2.12358658e+02] [ 3.65485874e-02 -1.29988412e-03 9.99331032e-01 3.96818410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.759254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1012.51, Y:212.41, Z:39.69 [[ 2.65195826e-01 -9.64135290e-01 -1.06919321e-02 1.01251371e+03] [ 9.63501292e-01 2.65409286e-01 -3.49738677e-02 2.12414790e+02] [ 3.65572781e-02 -1.02676663e-03 9.99331032e-01 3.96878203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.819254154 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1012.52, Y:212.47, Z:39.69 [[ 2.82757463e-01 -9.59131951e-01 -1.06825569e-02 1.01252449e+03] [ 9.58494053e-01 2.82958969e-01 -3.49767311e-02 2.12472409e+02] [ 3.65700256e-02 -3.49235515e-04 9.99331032e-01 3.96875307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.879254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1012.54, Y:212.53, Z:39.69 [[ 2.97569740e-01 -9.54640427e-01 -1.06726219e-02 1.01253713e+03] [ 9.53999378e-01 2.97760983e-01 -3.49797623e-02 2.12529770e+02] [ 3.65709856e-02 2.27244165e-04 9.99331032e-01 3.96911194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.939254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1012.55, Y:212.59, Z:39.69 [[ 3.04974407e-01 -9.52300849e-01 -1.06631613e-02 1.01255025e+03] [ 9.51658234e-01 3.05160319e-01 -3.49826461e-02 2.12587271e+02] [ 3.65679773e-02 5.21126530e-04 9.99331032e-01 3.96882403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.999254154 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:1012.57, Y:212.64, Z:39.69 [[ 3.10982194e-01 -9.50356025e-01 -1.06536530e-02 1.01256768e+03] [ 9.49712150e-01 3.11163694e-01 -3.49855415e-02 2.12642446e+02] [ 3.65637502e-02 7.61976757e-04 9.99331032e-01 3.96911627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.059254154 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:1012.59, Y:212.70, Z:39.69 [[ 3.11684519e-01 -9.50125956e-01 -1.06503134e-02 1.01258588e+03] [ 9.49481911e-01 3.11865421e-01 -3.49865581e-02 2.12697049e+02] [ 3.65631014e-02 7.92488655e-04 9.99331032e-01 3.96932995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.119254154 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:1012.61, Y:212.75, Z:39.69 [[ 3.10468015e-01 -9.50524266e-01 -1.06409889e-02 1.01260542e+03] [ 9.49880358e-01 3.10649398e-01 -3.49893939e-02 2.12750927e+02] [ 3.65638847e-02 7.55421300e-04 9.99331032e-01 3.96935363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.1792541539999 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:1012.62, Y:212.81, Z:39.69 [[ 3.07455553e-01 -9.51503064e-01 -1.06302221e-02 1.01262395e+03] [ 9.50859621e-01 3.07638579e-01 -3.49926647e-02 2.12806938e+02] [ 3.65658941e-02 6.50840124e-04 9.99331032e-01 3.96879216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.239254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1012.64, Y:212.86, Z:39.69 [[ 3.06921246e-01 -9.51675658e-01 -1.06202519e-02 1.01264359e+03] [ 9.51032213e-01 3.07104267e-01 -3.49956903e-02 2.12861092e+02] [ 3.65660713e-02 6.40719203e-04 9.99331032e-01 3.96923691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.299254154 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:1012.66, Y:212.92, Z:39.69 [[ 3.07530415e-01 -9.51479112e-01 -1.06086770e-02 1.01266406e+03] [ 9.50835429e-01 3.07712598e-01 -3.49991988e-02 2.12915880e+02] [ 3.65654302e-02 6.76212200e-04 9.99331032e-01 3.96921122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.359254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1012.69, Y:212.97, Z:39.70 [[ 3.10041194e-01 -9.50664050e-01 -1.05981822e-02 1.01268522e+03] [ 9.50019781e-01 3.10221291e-01 -3.50023765e-02 2.12970052e+02] [ 3.65632828e-02 7.83695910e-04 9.99331032e-01 3.96961711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.4192541539999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1012.71, Y:213.02, Z:39.70 [[ 3.12635732e-01 -9.49814087e-01 -1.05876590e-02 1.01270638e+03] [ 9.49169222e-01 3.12813681e-01 -3.50055593e-02 2.13023935e+02] [ 3.65607380e-02 8.94508591e-04 9.99331032e-01 3.96983160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.479254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:1012.73, Y:213.08, Z:39.70 [[ 3.17677600e-01 -9.48139796e-01 -1.05768021e-02 1.01273009e+03] [ 9.47493886e-01 3.17851721e-01 -3.50088394e-02 2.13076325e+02] [ 3.65551286e-02 1.10006875e-03 9.99331032e-01 3.97012177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.539254154 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:1012.75, Y:213.13, Z:39.70 [[ 3.19067334e-01 -9.47673149e-01 -1.05659013e-02 1.01274883e+03] [ 9.47026877e-01 3.19240105e-01 -3.50121290e-02 2.13131252e+02] [ 3.65531140e-02 1.16503417e-03 9.99331033e-01 3.97046746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.599254154 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:1012.77, Y:213.19, Z:39.71 [[ 3.19874697e-01 -9.47401061e-01 -1.05549924e-02 1.01277048e+03] [ 9.46754535e-01 3.20046515e-01 -3.50154174e-02 2.13185468e+02] [ 3.65517321e-02 1.20755913e-03 9.99331033e-01 3.97070874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.6592541539999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:1012.79, Y:213.24, Z:39.71 [[ 3.16440703e-01 -9.48553683e-01 -1.05447317e-02 1.01279231e+03] [ 9.47907682e-01 3.16614483e-01 -3.50185071e-02 2.13238557e+02] [ 3.65555486e-02 1.08584877e-03 9.99331033e-01 3.97130551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.719254154 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:1012.81, Y:213.29, Z:39.71 [[ 3.09152765e-01 -9.50954039e-01 -1.05348711e-02 1.01281349e+03] [ 9.50309290e-01 3.09331134e-01 -3.50214733e-02 2.13292311e+02] [ 3.65625751e-02 8.15599421e-04 9.99331033e-01 3.97138558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.779254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1012.83, Y:213.35, Z:39.72 [[ 3.06271519e-01 -9.51886022e-01 -1.05241452e-02 1.01283374e+03] [ 9.51241706e-01 3.06451445e-01 -3.50246961e-02 2.13346753e+02] [ 3.65646582e-02 7.16061023e-04 9.99331033e-01 3.97173353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.839254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1012.84, Y:213.41, Z:39.71 [[ 3.02441123e-01 -9.53110080e-01 -1.05139516e-02 1.01284472e+03] [ 9.52466386e-01 3.02623264e-01 -3.50277559e-02 2.13405147e+02] [ 3.65670735e-02 5.79648346e-04 9.99331033e-01 3.97116809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.899254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1012.86, Y:213.46, Z:39.71 [[ 3.06939448e-01 -9.51671074e-01 -1.05044287e-02 1.01285518e+03] [ 9.51026430e-01 3.07118197e-01 -3.50306114e-02 2.13461526e+02] [ 3.65637208e-02 7.62287184e-04 9.99331033e-01 3.97093976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.959254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1012.87, Y:213.52, Z:39.72 [[ 3.13864399e-01 -9.49409816e-01 -1.04947756e-02 1.01287486e+03] [ 9.48763791e-01 3.14038091e-01 -3.50335032e-02 2.13515810e+02] [ 3.65569111e-02 1.03870629e-03 9.99331033e-01 3.97214347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.019254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1012.89, Y:213.57, Z:39.72 [[ 3.16439060e-01 -9.48554891e-01 -1.04851931e-02 1.01288924e+03] [ 9.47908304e-01 3.16610645e-01 -3.50363709e-02 2.13572550e+02] [ 3.65536447e-02 1.14787470e-03 9.99331033e-01 3.97239524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.079254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1012.90, Y:213.63, Z:39.72 [[ 3.18381995e-01 -9.47904622e-01 -1.04753298e-02 1.01290265e+03] [ 9.47257589e-01 3.18551891e-01 -3.50393196e-02 2.13628916e+02] [ 3.65508691e-02 1.23305286e-03 9.99331033e-01 3.97246461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.139254154 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:1012.92, Y:213.69, Z:39.72 [[ 3.19137656e-01 -9.47650584e-01 -1.04655445e-02 1.01291624e+03] [ 9.47003321e-01 3.19306674e-01 -3.50422420e-02 2.13685092e+02] [ 3.65495193e-02 1.27239356e-03 9.99331033e-01 3.97235887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.199254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1012.93, Y:213.74, Z:39.73 [[ 3.19928618e-01 -9.47383957e-01 -1.04555181e-02 1.01293164e+03] [ 9.46736457e-01 3.20096725e-01 -3.50452334e-02 2.13740782e+02] [ 3.65480690e-02 1.31335290e-03 9.99331033e-01 3.97273626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.259254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:1012.95, Y:213.80, Z:39.73 [[ 3.17469135e-01 -9.48211076e-01 -1.04452992e-02 1.01294771e+03] [ 9.47563915e-01 3.17638545e-01 -3.50482789e-02 2.13796858e+02] [ 3.65509958e-02 1.22915814e-03 9.99331033e-01 3.97274843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.319254154 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:1012.96, Y:213.85, Z:39.73 [[ 3.14812893e-01 -9.49096385e-01 -1.04352272e-02 1.01296371e+03] [ 9.48449603e-01 3.14983742e-01 -3.50512774e-02 2.13852420e+02] [ 3.65539676e-02 1.13730697e-03 9.99331033e-01 3.97305903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.379254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1012.98, Y:213.91, Z:39.74 [[ 3.12842487e-01 -9.49747806e-01 -1.04251480e-02 1.01298065e+03] [ 9.49101281e-01 3.13014307e-01 -3.50542750e-02 2.13907759e+02] [ 3.65559412e-02 1.07194524e-03 9.99331033e-01 3.97378304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.439254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1013.00, Y:213.96, Z:39.74 [[ 3.11404756e-01 -9.50220288e-01 -1.04154998e-02 1.01299728e+03] [ 9.49573929e-01 3.11577198e-01 -3.50571415e-02 2.13963466e+02] [ 3.65572393e-02 1.02667348e-03 9.99331033e-01 3.97411297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.499254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1013.01, Y:214.02, Z:39.74 [[ 3.06408897e-01 -9.51843115e-01 -1.04054441e-02 1.01300710e+03] [ 9.51197570e-01 3.06584362e-01 -3.50601259e-02 2.14021979e+02] [ 3.65618859e-02 8.45101386e-04 9.99331033e-01 3.97354016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.559254154 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:1013.03, Y:214.08, Z:39.74 [[ 3.11353131e-01 -9.50237416e-01 -1.03961869e-02 1.01302663e+03] [ 9.49590877e-01 3.11524897e-01 -3.50628707e-02 2.14076178e+02] [ 3.65567227e-02 1.04481032e-03 9.99331033e-01 3.97413256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.619254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1013.04, Y:214.13, Z:39.74 [[ 3.09352197e-01 -9.50890785e-01 -1.03891379e-02 1.01303641e+03] [ 9.50244539e-01 3.09525063e-01 -3.50649592e-02 2.14134631e+02] [ 3.65586451e-02 9.75200570e-04 9.99331033e-01 3.97396021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.6792541539999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1013.05, Y:214.19, Z:39.74 [[ 3.08405226e-01 -9.51198441e-01 -1.03799325e-02 1.01305209e+03] [ 9.50552277e-01 3.08578397e-01 -3.50676839e-02 2.14191061e+02] [ 3.65593492e-02 9.48388507e-04 9.99331034e-01 3.97436987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.739254154 meters Centerline goodness : 0.999763 with order 1 Centerline is valid? [True, True] Translation: X:1013.07, Y:214.25, Z:39.75 [[ 3.03210212e-01 -9.52867270e-01 -1.03698495e-02 1.01307032e+03] [ 9.52221959e-01 3.03386535e-01 -3.50706653e-02 2.14245523e+02] [ 3.65637618e-02 7.59385517e-04 9.99331034e-01 3.97482836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.799254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1013.08, Y:214.30, Z:39.75 [[ 2.88501772e-01 -9.57423291e-01 -1.03619665e-02 1.01308361e+03] [ 9.56780688e-01 2.88687722e-01 -3.50729943e-02 2.14302745e+02] [ 3.65710741e-02 2.04491574e-04 9.99331034e-01 3.97484617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.859254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:1013.10, Y:214.36, Z:39.76 [[ 2.80982692e-01 -9.59656995e-01 -1.03527369e-02 1.01310277e+03] [ 9.59015770e-01 2.81173340e-01 -3.50757184e-02 2.14357024e+02] [ 3.65715722e-02 -7.27681957e-05 9.99331034e-01 3.97554467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.9192541539999 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:1013.11, Y:214.42, Z:39.75 [[ 2.66264720e-01 -9.63844420e-01 -1.03456589e-02 1.01311417e+03] [ 9.63206107e-01 2.66464901e-01 -3.50778060e-02 2.14415186e+02] [ 3.65663025e-02 -6.25019676e-04 9.99331034e-01 3.97522917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.979254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1013.13, Y:214.47, Z:39.76 [[ 2.64929400e-01 -9.64212409e-01 -1.03365005e-02 1.01313474e+03] [ 9.63574269e-01 2.65130131e-01 -3.50805045e-02 2.14469077e+02] [ 3.65655755e-02 -6.66128846e-04 9.99331034e-01 3.97631804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.039254154 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:1013.15, Y:214.53, Z:39.76 [[ 2.57622884e-01 -9.66190359e-01 -1.03266133e-02 1.01314908e+03] [ 9.65553641e-01 2.57828082e-01 -3.50834148e-02 2.14525184e+02] [ 3.65597480e-02 -9.32608525e-04 9.99331034e-01 3.97645717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.099254154 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:1013.16, Y:214.58, Z:39.77 [[ 2.50957766e-01 -9.67943061e-01 -1.03164869e-02 1.01315980e+03] [ 9.67307652e-01 2.51166980e-01 -3.50863922e-02 2.14583206e+02] [ 3.65527908e-02 -1.17401412e-03 9.99331034e-01 3.97666052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.1592541539999 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:1013.17, Y:214.64, Z:39.77 [[ 2.52929556e-01 -9.67429799e-01 -1.03065036e-02 1.01317372e+03] [ 9.66793846e-01 2.53137113e-01 -3.50893246e-02 2.14638829e+02] [ 3.65554168e-02 -1.08913693e-03 9.99331034e-01 3.97688404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.219254154 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1013.18, Y:214.70, Z:39.77 [[ 2.52679552e-01 -9.67495240e-01 -1.02958094e-02 1.01318268e+03] [ 9.66859215e-01 2.52886886e-01 -3.50924621e-02 2.14697378e+02] [ 3.65554653e-02 -1.08745056e-03 9.99331034e-01 3.97679288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.279254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1013.19, Y:214.75, Z:39.78 [[ 2.60665570e-01 -9.65374355e-01 -1.02866946e-02 1.01319387e+03] [ 9.64736533e-01 2.60867311e-01 -3.50951338e-02 2.14754467e+02] [ 3.65634045e-02 -7.75857014e-04 9.99331034e-01 3.97751022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.339254154 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1013.21, Y:214.81, Z:39.78 [[ 2.70087327e-01 -9.62780994e-01 -1.02759015e-02 1.01320518e+03] [ 9.62141111e-01 2.70282431e-01 -3.50982937e-02 2.14811114e+02] [ 3.65693657e-02 -4.07262981e-04 9.99331034e-01 3.97784264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.399254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1013.21, Y:214.87, Z:39.78 [[ 2.76985917e-01 -9.60819115e-01 -1.02679288e-02 1.01321437e+03] [ 9.60177763e-01 2.77176135e-01 -3.51006260e-02 2.14867864e+02] [ 3.65713772e-02 -1.36657790e-04 9.99331034e-01 3.97817698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.459254154 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1013.23, Y:214.92, Z:39.78 [[ 2.80238356e-01 -9.59875645e-01 -1.02571695e-02 1.01322634e+03] [ 9.59233538e-01 2.80426008e-01 -3.51037698e-02 2.14924376e+02] [ 3.65716308e-02 -1.59828943e-06 9.99331034e-01 3.97839897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.519254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1013.24, Y:214.98, Z:39.79 [[ 2.84023587e-01 -9.58762536e-01 -1.02470475e-02 1.01323878e+03] [ 9.58119586e-01 2.84208333e-01 -3.51067242e-02 2.14981126e+02] [ 3.65713082e-02 1.53240810e-04 9.99331034e-01 3.97885928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.579254154 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:1013.25, Y:215.04, Z:39.79 [[ 2.86806870e-01 -9.57933726e-01 -1.02369725e-02 1.01325038e+03] [ 9.57290138e-01 2.86989379e-01 -3.51096618e-02 2.15038069e+02] [ 3.65706315e-02 2.69939401e-04 9.99331034e-01 3.97884098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.639254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1013.26, Y:215.09, Z:39.79 [[ 2.89519369e-01 -9.57117519e-01 -1.02268992e-02 1.01326342e+03] [ 9.56473313e-01 2.89699684e-01 -3.51125958e-02 2.15094567e+02] [ 3.65696100e-02 3.84020434e-04 9.99331034e-01 3.97934632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.699254154 meters Centerline goodness : 0.999810 with order 1 Centerline is valid? [True, True] Translation: X:1013.28, Y:215.15, Z:39.79 [[ 2.89629792e-01 -9.57084222e-01 -1.02164654e-02 1.01327708e+03] [ 9.56439888e-01 2.89809651e-01 -3.51156314e-02 2.15149731e+02] [ 3.65694470e-02 3.99098003e-04 9.99331034e-01 3.97907235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.759254154 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:1013.29, Y:215.21, Z:39.79 [[ 2.89898809e-01 -9.57002865e-01 -1.02077038e-02 1.01329227e+03] [ 9.56358391e-01 2.90078165e-01 -3.51181781e-02 2.15206207e+02] [ 3.65692290e-02 4.18494847e-04 9.99331034e-01 3.97942514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.819254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1013.31, Y:215.26, Z:39.79 [[ 2.87050247e-01 -9.57861248e-01 -1.01973418e-02 1.01330687e+03] [ 9.57217204e-01 2.87231139e-01 -3.51211866e-02 2.15262766e+02] [ 3.65702178e-02 3.20474271e-04 9.99331034e-01 3.97937731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.879254154 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:1013.33, Y:215.32, Z:39.80 [[ 2.86925126e-01 -9.57898795e-01 -1.01917180e-02 1.01332644e+03] [ 9.57254716e-01 2.87105896e-01 -3.51228185e-02 2.15317660e+02] [ 3.65702079e-02 3.21548976e-04 9.99331034e-01 3.97975638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.939254154 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1013.34, Y:215.37, Z:39.80 [[ 2.85084386e-01 -9.58448295e-01 -1.01861856e-02 1.01334424e+03] [ 9.57804508e-01 2.85266190e-01 -3.51244230e-02 2.15371415e+02] [ 3.65707176e-02 2.57050097e-04 9.99331035e-01 3.98035707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.999254154 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:1013.36, Y:215.43, Z:39.80 [[ 2.82317520e-01 -9.59267017e-01 -1.01787642e-02 1.01336330e+03] [ 9.58623680e-01 2.82500909e-01 -3.51265735e-02 2.15426880e+02] [ 3.65712735e-02 1.59242688e-04 9.99331035e-01 3.98028865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.059254154 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:1013.38, Y:215.48, Z:39.81 [[ 2.81422182e-01 -9.59530173e-01 -1.01687135e-02 1.01338169e+03] [ 9.58886902e-01 2.81605804e-01 -3.51294828e-02 2.15481214e+02] [ 3.65713674e-02 1.35569466e-04 9.99331035e-01 3.98059958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.119254154 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1013.40, Y:215.54, Z:39.81 [[ 2.82766900e-01 -9.59134866e-01 -1.01582032e-02 1.01340094e+03] [ 9.58491229e-01 2.82949235e-01 -3.51325217e-02 2.15536213e+02] [ 3.65710823e-02 1.97765624e-04 9.99331035e-01 3.98122213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.1792541539999 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:1013.42, Y:215.59, Z:39.81 [[ 2.82619806e-01 -9.59178327e-01 -1.01479899e-02 1.01341912e+03] [ 9.58534612e-01 2.82801866e-01 -3.51354716e-02 2.15591868e+02] [ 3.65710533e-02 2.02780595e-04 9.99331035e-01 3.98137384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.239254154 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1013.44, Y:215.65, Z:39.82 [[ 2.83158600e-01 -9.59019520e-01 -1.01374720e-02 1.01343703e+03] [ 9.58375594e-01 2.83339913e-01 -3.51385060e-02 2.15646411e+02] [ 3.65708636e-02 2.34264376e-04 9.99331035e-01 3.98167635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.299254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1013.46, Y:215.70, Z:39.82 [[ 2.85424989e-01 -9.58347535e-01 -1.01280242e-02 1.01345530e+03] [ 9.57703086e-01 2.85604433e-01 -3.51412290e-02 2.15701095e+02] [ 3.65701188e-02 3.30544896e-04 9.99331035e-01 3.98215245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.359254154 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:1013.47, Y:215.76, Z:39.82 [[ 2.86712594e-01 -9.57963214e-01 -1.01177734e-02 1.01347393e+03] [ 9.57318420e-01 2.86890795e-01 -3.51441801e-02 2.15756429e+02] [ 3.65695278e-02 3.90348212e-04 9.99331035e-01 3.98193964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.4192541539999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:1013.49, Y:215.81, Z:39.82 [[ 2.89003129e-01 -9.57274792e-01 -1.01076688e-02 1.01349328e+03] [ 9.56629472e-01 2.89179416e-01 -3.51470860e-02 2.15811129e+02] [ 3.65683492e-02 4.88323896e-04 9.99331035e-01 3.98235478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.479254154 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:1013.51, Y:215.86, Z:39.82 [[ 2.90315015e-01 -9.56877859e-01 -1.00972686e-02 1.01351317e+03] [ 9.56232195e-01 2.90490036e-01 -3.51500736e-02 2.15864666e+02] [ 3.65674831e-02 5.49260844e-04 9.99331035e-01 3.98240892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.539254154 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:1013.53, Y:215.92, Z:39.83 [[ 2.91243249e-01 -9.56595858e-01 -1.00863103e-02 1.01353374e+03] [ 9.55949917e-01 2.91417241e-01 -3.51532178e-02 2.15919619e+02] [ 3.65667473e-02 5.96129837e-04 9.99331035e-01 3.98265931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.599254154 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:1013.55, Y:215.97, Z:39.83 [[ 2.92437948e-01 -9.56231416e-01 -1.00760248e-02 1.01355433e+03] [ 9.55585156e-01 2.92610755e-01 -3.51561657e-02 2.15974228e+02] [ 3.65657833e-02 6.52497246e-04 9.99331035e-01 3.98279379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.6592541539999 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:1013.58, Y:216.03, Z:39.83 [[ 2.96133377e-01 -9.55093556e-01 -1.00658686e-02 1.01357724e+03] [ 9.54446535e-01 2.96303310e-01 -3.51590734e-02 2.16027951e+02] [ 3.65627546e-02 8.04441726e-04 9.99331035e-01 3.98288870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.719254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1013.60, Y:216.08, Z:39.83 [[ 2.98103192e-01 -9.54480682e-01 -1.00555409e-02 1.01359639e+03] [ 9.53833213e-01 2.98271410e-01 -3.51620269e-02 2.16083261e+02] [ 3.65607557e-02 8.90603592e-04 9.99331035e-01 3.98335927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.779254154 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1013.62, Y:216.14, Z:39.83 [[ 2.99982263e-01 -9.53891888e-01 -1.00452788e-02 1.01361714e+03] [ 9.53243991e-01 3.00148828e-01 -3.51649583e-02 2.16136590e+02] [ 3.65586472e-02 9.73262153e-04 9.99331035e-01 3.98318105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.839254154 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:1013.64, Y:216.19, Z:39.83 [[ 3.01334498e-01 -9.53465658e-01 -1.00378503e-02 1.01363815e+03] [ 9.52817456e-01 3.01499870e-01 -3.51670787e-02 2.16189683e+02] [ 3.65570124e-02 1.03281505e-03 9.99331035e-01 3.98320441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.899254154 meters Centerline goodness : 0.999783 with order 1 Centerline is valid? [True, True] Translation: X:1013.66, Y:216.24, Z:39.83 [[ 3.01078200e-01 -9.53546698e-01 -1.00305777e-02 1.01366021e+03] [ 9.52898472e-01 3.01243478e-01 -3.51691529e-02 2.16244179e+02] [ 3.65570757e-02 1.03054309e-03 9.99331035e-01 3.98339571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.959254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1013.68, Y:216.30, Z:39.84 [[ 3.00232401e-01 -9.53813446e-01 -1.00207562e-02 1.01368267e+03] [ 9.53165274e-01 3.00397892e-01 -3.51719511e-02 2.16297734e+02] [ 3.65576939e-02 1.00832250e-03 9.99331035e-01 3.98420776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.019254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1013.71, Y:216.35, Z:39.84 [[ 2.99837371e-01 -9.53937795e-01 -1.00117372e-02 1.01370508e+03] [ 9.53289607e-01 3.00002798e-01 -3.51745182e-02 2.16350620e+02] [ 3.65578515e-02 1.00255001e-03 9.99331035e-01 3.98439675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.079254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1013.73, Y:216.41, Z:39.85 [[ 2.95344497e-01 -9.55338476e-01 -1.00012046e-02 1.01372526e+03] [ 9.54690973e-01 2.95512585e-01 -3.51775127e-02 2.16405634e+02] [ 3.65619132e-02 8.41424989e-04 9.99331035e-01 3.98476774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.139254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1013.74, Y:216.46, Z:39.85 [[ 2.89027567e-01 -9.57268639e-01 -9.99088583e-03 1.01374422e+03] [ 9.56622160e-01 2.89199550e-01 -3.51804431e-02 2.16461058e+02] [ 3.65664946e-02 6.10615111e-04 9.99331036e-01 3.98496132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.199254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:1013.77, Y:216.52, Z:39.85 [[ 2.78325699e-01 -9.60434897e-01 -9.98069711e-03 1.01376540e+03] [ 9.59790274e-01 2.78504512e-01 -3.51833334e-02 2.16515389e+02] [ 3.65709704e-02 2.13049842e-04 9.99331036e-01 3.98504247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.259254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1013.78, Y:216.57, Z:39.86 [[ 2.73244346e-01 -9.61892984e-01 -9.97067128e-03 1.01378355e+03] [ 9.61249212e-01 2.73426198e-01 -3.51861744e-02 2.16570291e+02] [ 3.65715771e-02 3.01232940e-05 9.99331036e-01 3.98570391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.319254154 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:1013.80, Y:216.63, Z:39.86 [[ 2.73539090e-01 -9.61809311e-01 -9.96068785e-03 1.01379722e+03] [ 9.61165380e-01 2.73720380e-01 -3.51890004e-02 2.16627319e+02] [ 3.65715515e-02 5.16988014e-05 9.99331036e-01 3.98558903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.379254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1013.81, Y:216.68, Z:39.86 [[ 2.73817223e-01 -9.61730271e-01 -9.95060558e-03 1.01381261e+03] [ 9.61086184e-01 2.73997958e-01 -3.51918512e-02 2.16682716e+02] [ 3.65715142e-02 7.27454111e-05 9.99331036e-01 3.98598362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.439254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1013.83, Y:216.74, Z:39.86 [[ 2.74807786e-01 -9.61447796e-01 -9.94061558e-03 1.01382747e+03] [ 9.60803421e-01 2.74987492e-01 -3.51946728e-02 2.16737378e+02] [ 3.65713856e-02 1.20792663e-04 9.99331036e-01 3.98602176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.499254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1013.84, Y:216.79, Z:39.86 [[ 2.75974834e-01 -9.61113531e-01 -9.93339297e-03 1.01384027e+03] [ 9.60468865e-01 2.76153493e-01 -3.51967112e-02 2.16794137e+02] [ 3.65711765e-02 1.72691876e-04 9.99331036e-01 3.98616026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.559254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1013.85, Y:216.85, Z:39.86 [[ 2.75944423e-01 -9.61122371e-01 -9.92289214e-03 1.01385387e+03] [ 9.60477604e-01 2.76122717e-01 -3.51996714e-02 2.16849863e+02] [ 3.65711276e-02 1.82437341e-04 9.99331036e-01 3.98642677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.619254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1013.87, Y:216.91, Z:39.87 [[ 2.75029298e-01 -9.61384751e-01 -9.91191844e-03 1.01386743e+03] [ 9.60740043e-01 2.75207804e-01 -3.52027613e-02 2.16906225e+02] [ 3.65712352e-02 1.59013765e-04 9.99331036e-01 3.98675470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.6792541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1013.88, Y:216.96, Z:39.87 [[ 2.73229235e-01 -9.61897988e-01 -9.90178559e-03 1.01388087e+03] [ 9.61253512e-01 2.73408577e-01 -3.52056112e-02 2.16962941e+02] [ 3.65714397e-02 1.01076037e-04 9.99331036e-01 3.98704633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.739254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1013.89, Y:217.02, Z:39.87 [[ 2.71771705e-01 -9.62310915e-01 -9.89153291e-03 1.01389443e+03] [ 9.61666607e-01 2.71951648e-01 -3.52084916e-02 2.17018290e+02] [ 3.65715345e-02 5.63149021e-05 9.99331036e-01 3.98718949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.799254154 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:1013.91, Y:217.08, Z:39.87 [[ 2.71277151e-01 -9.62450558e-01 -9.88082908e-03 1.01390947e+03] [ 9.61806233e-01 2.71457033e-01 -3.52114952e-02 2.17075066e+02] [ 3.65715438e-02 4.86311045e-05 9.99331036e-01 3.98695726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.859254154 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:1013.92, Y:217.13, Z:39.87 [[ 2.73075979e-01 -9.61941817e-01 -9.87168195e-03 1.01392308e+03] [ 9.61297064e-01 2.73254321e-01 -3.52140595e-02 2.17131740e+02] [ 3.65713561e-02 1.26494878e-04 9.99331036e-01 3.98703442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.9192541539999 meters Centerline goodness : 0.999759 with order 1 Centerline is valid? [True, True] Translation: X:1013.94, Y:217.19, Z:39.87 [[ 2.74768771e-01 -9.61459760e-01 -9.86165116e-03 1.01393693e+03] [ 9.60814594e-01 2.74945611e-01 -3.52168684e-02 2.17188032e+02] [ 3.65710195e-02 2.01277286e-04 9.99331036e-01 3.98720759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.979254154 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:1013.95, Y:217.24, Z:39.87 [[ 2.75477251e-01 -9.61257111e-01 -9.85144932e-03 1.01395328e+03] [ 9.60611712e-01 2.75653242e-01 -3.52197220e-02 2.17244119e+02] [ 3.65707921e-02 2.38814576e-04 9.99331036e-01 3.98742393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.039254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1013.97, Y:217.30, Z:39.88 [[ 2.77611486e-01 -9.60643019e-01 -9.84135825e-03 1.01397015e+03] [ 9.59997132e-01 2.77785673e-01 -3.52225415e-02 2.17299593e+02] [ 3.65700769e-02 3.30506381e-04 9.99331036e-01 3.98802489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.099254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1013.99, Y:217.36, Z:39.88 [[ 2.81311664e-01 -9.59566096e-01 -9.83129891e-03 1.01398529e+03] [ 9.58919444e-01 2.81482991e-01 -3.52253490e-02 2.17355237e+02] [ 3.65683941e-02 4.81877843e-04 9.99331036e-01 3.98805438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.1592541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1014.00, Y:217.41, Z:39.88 [[ 2.83940288e-01 -9.58791665e-01 -9.82120875e-03 1.01399998e+03] [ 9.58144449e-01 2.84109472e-01 -3.52281620e-02 2.17411786e+02] [ 3.65667666e-02 5.92557814e-04 9.99331036e-01 3.98765826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.219254154 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:1014.02, Y:217.47, Z:39.88 [[ 2.88001852e-01 -9.57579591e-01 -9.81126942e-03 1.01401635e+03] [ 9.56931569e-01 2.88167925e-01 -3.52309300e-02 2.17467190e+02] [ 3.65637127e-02 7.57859634e-04 9.99331037e-01 3.98797495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.279254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1014.03, Y:217.52, Z:39.89 [[ 2.88255846e-01 -9.57503264e-01 -9.80133899e-03 1.01403381e+03] [ 9.56855106e-01 2.88421383e-01 -3.52336924e-02 2.17522900e+02] [ 3.65632913e-02 7.77856569e-04 9.99331037e-01 3.98857699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.339254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:1014.05, Y:217.58, Z:39.89 [[ 2.86649775e-01 -9.57985410e-01 -9.79082456e-03 1.01405093e+03] [ 9.57337431e-01 2.86816012e-01 -3.52366140e-02 2.17578112e+02] [ 3.65643273e-02 7.27444637e-04 9.99331037e-01 3.98885148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.399254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1014.07, Y:217.63, Z:39.89 [[ 2.84770009e-01 -9.58545974e-01 -9.78044483e-03 1.01406803e+03] [ 9.57898224e-01 2.84937135e-01 -3.52394948e-02 2.17633653e+02] [ 3.65654878e-02 6.66480508e-04 9.99331037e-01 3.98912129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.459254154 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:1014.08, Y:217.69, Z:39.89 [[ 2.82653910e-01 -9.59172201e-01 -9.77019654e-03 1.01408425e+03] [ 9.58524723e-01 2.82822089e-01 -3.52423359e-02 2.17689887e+02] [ 3.65666963e-02 5.96409120e-04 9.99331037e-01 3.98878746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.519254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:1014.10, Y:217.74, Z:39.89 [[ 2.81632403e-01 -9.59472736e-01 -9.76009915e-03 1.01410202e+03] [ 9.58825340e-01 2.81800900e-01 -3.52451321e-02 2.17744948e+02] [ 3.65671480e-02 5.67940844e-04 9.99331037e-01 3.98939013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.579254154 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:1014.12, Y:217.80, Z:39.89 [[ 2.81153469e-01 -9.59613290e-01 -9.74990322e-03 1.01411675e+03] [ 9.58965882e-01 2.81321915e-01 -3.52479524e-02 2.17800583e+02] [ 3.65672650e-02 5.60259541e-04 9.99331037e-01 3.98930928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.639254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:1014.13, Y:217.86, Z:39.90 [[ 2.80024369e-01 -9.59943488e-01 -9.73924010e-03 1.01413044e+03] [ 9.59296176e-01 2.80193185e-01 -3.52508984e-02 2.17856690e+02] [ 3.65677391e-02 5.28294803e-04 9.99331037e-01 3.98989480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.699254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:1014.15, Y:217.91, Z:39.90 [[ 2.75214752e-01 -9.61333534e-01 -9.73017165e-03 1.01414576e+03] [ 9.60686987e-01 2.75386474e-01 -3.52534014e-02 2.17913159e+02] [ 3.65698346e-02 3.54606824e-04 9.99331037e-01 3.98983167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.759254154 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:1014.16, Y:217.97, Z:39.90 [[ 2.66074624e-01 -9.63903425e-01 -9.72013466e-03 1.01416099e+03] [ 9.63258437e-01 2.66252110e-01 -3.52561686e-02 2.17969211e+02] [ 3.65715480e-02 1.77700707e-05 9.99331037e-01 3.98999851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.819254154 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:1014.18, Y:218.03, Z:39.90 [[ 2.59744444e-01 -9.65628572e-01 -9.71001679e-03 1.01417567e+03] [ 9.64984658e-01 2.59925789e-01 -3.52589550e-02 2.18025345e+02] [ 3.65709381e-02 -2.11699599e-04 9.99331037e-01 3.99025946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.879254154 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:1014.19, Y:218.08, Z:39.90 [[ 2.54650493e-01 -9.66984508e-01 -9.69988680e-03 1.01419009e+03] [ 9.66341453e-01 2.54834860e-01 -3.52617415e-02 2.18080524e+02] [ 3.65694271e-02 -3.93982845e-04 9.99331037e-01 3.99036841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.939254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1014.20, Y:218.14, Z:39.91 [[ 2.52607666e-01 -9.67520276e-01 -9.68930576e-03 1.01420483e+03] [ 9.66877500e-01 2.52793006e-01 -3.52646488e-02 2.18136099e+02] [ 3.65686515e-02 -4.60251093e-04 9.99331037e-01 3.99094017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.999254154 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:1014.22, Y:218.19, Z:39.91 [[ 2.51686089e-01 -9.67760527e-01 -9.67859173e-03 1.01421789e+03] [ 9.67117815e-01 2.51871650e-01 -3.52675891e-02 2.18193043e+02] [ 3.65683435e-02 -4.83976937e-04 9.99331037e-01 3.99091810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.059254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1014.23, Y:218.25, Z:39.91 [[ 2.54141913e-01 -9.67118610e-01 -9.66858290e-03 1.01423190e+03] [ 9.66475326e-01 2.54325478e-01 -3.52703328e-02 2.18249031e+02] [ 3.65695622e-02 -3.80776947e-04 9.99331037e-01 3.99130471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.119254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1014.24, Y:218.31, Z:39.91 [[ 2.59517403e-01 -9.65690130e-01 -9.65866957e-03 1.01424439e+03] [ 9.65045734e-01 2.59697024e-01 -3.52730473e-02 2.18306219e+02] [ 3.65711614e-02 -1.67088238e-04 9.99331037e-01 3.99134559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.1792541539999 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:1014.25, Y:218.36, Z:39.91 [[ 2.69931824e-01 -9.62831091e-01 -9.64889265e-03 1.01425467e+03] [ 9.62184696e-01 2.70104117e-01 -3.52757216e-02 2.18363438e+02] [ 3.65707671e-02 2.38023002e-04 9.99331037e-01 3.99146741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.239254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:1014.27, Y:218.42, Z:39.92 [[ 2.77918932e-01 -9.60556173e-01 -9.63875530e-03 1.01426659e+03] [ 9.59908274e-01 2.78085478e-01 -3.52784913e-02 2.18420346e+02] [ 3.65673705e-02 5.52239644e-04 9.99331037e-01 3.99200149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.299254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1014.28, Y:218.48, Z:39.92 [[ 2.80290461e-01 -9.59866937e-01 -9.62913760e-03 1.01428118e+03] [ 9.59218539e-01 2.80455053e-01 -3.52811162e-02 2.18476275e+02] [ 3.65657173e-02 6.52513026e-04 9.99331038e-01 3.99248624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.359254154 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:1014.29, Y:218.53, Z:39.93 [[ 2.85944720e-01 -9.58197834e-01 -9.61914326e-03 1.01429343e+03] [ 9.57548386e-01 2.86105119e-01 -3.52838409e-02 2.18533414e+02] [ 3.65609860e-02 8.78432910e-04 9.99331038e-01 3.99251661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.4192541539999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1014.30, Y:218.59, Z:39.93 [[ 2.93433395e-01 -9.55931225e-01 -9.60918362e-03 1.01430299e+03] [ 9.55280454e-01 2.93588340e-01 -3.52865531e-02 2.18590974e+02] [ 3.65526622e-02 1.17478777e-03 9.99331038e-01 3.99276618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.479254154 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:1014.31, Y:218.65, Z:39.93 [[ 2.96093201e-01 -9.55110816e-01 -9.59919137e-03 1.01431463e+03] [ 9.54459530e-01 2.96245966e-01 -3.52892711e-02 2.18647646e+02] [ 3.65488863e-02 1.28687356e-03 9.99331038e-01 3.99266660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.539254154 meters Centerline goodness : 0.999720 with order 1 Centerline is valid? [True, True] Translation: X:1014.33, Y:218.70, Z:39.93 [[ 2.94223949e-01 -9.55688400e-01 -9.58907548e-03 1.01432887e+03] [ 9.55037326e-01 2.94377614e-01 -3.52920197e-02 2.18704429e+02] [ 3.65509830e-02 1.22583238e-03 9.99331038e-01 3.99287315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.599254154 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:1014.34, Y:218.76, Z:39.93 [[ 2.88504694e-01 -9.57430561e-01 -9.57924451e-03 1.01434462e+03] [ 9.56780330e-01 2.88661887e-01 -3.52946879e-02 2.18760173e+02] [ 3.65573756e-02 1.01745040e-03 9.99331038e-01 3.99326683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.6592541539999 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:1014.36, Y:218.82, Z:39.93 [[ 2.83244747e-01 -9.58999923e-01 -9.56870639e-03 1.01435961e+03] [ 9.58350469e-01 2.83405120e-01 -3.52975446e-02 2.18815312e+02] [ 3.65621630e-02 8.27669857e-04 9.99331038e-01 3.99341170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.719254154 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:1014.37, Y:218.87, Z:39.93 [[ 2.79506916e-01 -9.60096105e-01 -9.55788205e-03 1.01437369e+03] [ 9.59447180e-01 2.79669420e-01 -3.53004754e-02 2.18872379e+02] [ 3.65648963e-02 6.96444047e-04 9.99331038e-01 3.99342024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.779254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1014.39, Y:218.93, Z:39.94 [[ 2.75903905e-01 -9.61137801e-01 -9.54786908e-03 1.01438752e+03] [ 9.60489398e-01 2.76068474e-01 -3.53031835e-02 2.18928628e+02] [ 3.65670898e-02 5.69659172e-04 9.99331038e-01 3.99391666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.839254154 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1014.40, Y:218.99, Z:39.94 [[ 2.69059354e-01 -9.63076371e-01 -9.53769116e-03 1.01440019e+03] [ 9.62429057e-01 2.69228158e-01 -3.53059330e-02 2.18985813e+02] [ 3.65701248e-02 3.20040403e-04 9.99331038e-01 3.99362198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.899254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1014.42, Y:219.04, Z:39.95 [[ 2.67037584e-01 -9.63639010e-01 -9.52822959e-03 1.01441568e+03] [ 9.62991961e-01 2.67207400e-01 -3.53084862e-02 2.19041057e+02] [ 3.65706482e-02 2.53084378e-04 9.99331038e-01 3.99464174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.959254154 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:1014.43, Y:219.10, Z:39.95 [[ 2.65249102e-01 -9.64132911e-01 -9.52076220e-03 1.01442798e+03] [ 9.63486105e-01 2.65419844e-01 -3.53104997e-02 2.19097375e+02] [ 3.65710140e-02 1.92956224e-04 9.99331038e-01 3.99482572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.019254154 meters Centerline goodness : 0.999722 with order 1 Centerline is valid? [True, True] Translation: X:1014.44, Y:219.15, Z:39.95 [[ 2.67588674e-01 -9.63486301e-01 -9.51045035e-03 1.01443936e+03] [ 9.62838985e-01 2.67757468e-01 -3.53132768e-02 2.19154647e+02] [ 3.65703526e-02 2.92400572e-04 9.99331038e-01 3.99528479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.079254154 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:1014.45, Y:219.21, Z:39.96 [[ 2.71567401e-01 -9.62372528e-01 -9.50077941e-03 1.01445055e+03] [ 9.61724428e-01 2.71733164e-01 -3.53158785e-02 2.19211582e+02] [ 3.65687081e-02 4.53509699e-04 9.99331038e-01 3.99561860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.139254154 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:1014.46, Y:219.27, Z:39.96 [[ 2.75065161e-01 -9.61378742e-01 -9.49061030e-03 1.01446139e+03] [ 9.60729951e-01 2.75228192e-01 -3.53186111e-02 2.19268954e+02] [ 3.65666454e-02 5.97005878e-04 9.99331038e-01 3.99599440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.199254154 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1014.47, Y:219.33, Z:39.97 [[ 2.76830276e-01 -9.60872058e-01 -9.48083042e-03 1.01447293e+03] [ 9.60222879e-01 2.76991757e-01 -3.53212362e-02 2.19326584e+02] [ 3.65653008e-02 6.74277302e-04 9.99331038e-01 3.99668587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.259254154 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:1014.49, Y:219.38, Z:39.97 [[ 2.75690627e-01 -9.61199760e-01 -9.47097903e-03 1.01448506e+03] [ 9.60550683e-01 2.75852515e-01 -3.53238775e-02 2.19383165e+02] [ 3.65658960e-02 6.41106557e-04 9.99331038e-01 3.99671780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.319254154 meters Centerline goodness : 0.999637 with order 1 Centerline is valid? [True, True] Translation: X:1014.50, Y:219.44, Z:39.97 [[ 2.72501630e-01 -9.62108808e-01 -9.46057631e-03 1.01449774e+03] [ 9.61460175e-01 2.72665288e-01 -3.53266634e-02 2.19440319e+02] [ 3.65676648e-02 5.30606020e-04 9.99331038e-01 3.99663149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.379254154 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:1014.51, Y:219.50, Z:39.97 [[ 2.68518925e-01 -9.63228051e-01 -9.45032594e-03 1.01451096e+03] [ 9.62580004e-01 2.68684889e-01 -3.53294053e-02 2.19496492e+02] [ 3.65694340e-02 3.89919142e-04 9.99331038e-01 3.99662718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.439254154 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:1014.52, Y:219.55, Z:39.96 [[ 2.64854636e-01 -9.64242142e-01 -9.43998376e-03 1.01452437e+03] [ 9.63594632e-01 2.65022684e-01 -3.53321685e-02 2.19553237e+02] [ 3.65705757e-02 2.61570964e-04 9.99331039e-01 3.99628364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.499254154 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:1014.54, Y:219.61, Z:39.97 [[ 2.60285872e-01 -9.65485542e-01 -9.43039007e-03 1.01453743e+03] [ 9.64838743e-01 2.60456633e-01 -3.53347290e-02 2.19610051e+02] [ 3.65713776e-02 9.83250343e-05 9.99331039e-01 3.99674208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.559254154 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:1014.55, Y:219.67, Z:39.97 [[ 2.57683781e-01 -9.66183390e-01 -9.41943699e-03 1.01455145e+03] [ 9.65536946e-01 2.57855883e-01 -3.53376486e-02 2.19666415e+02] [ 3.65715063e-02 1.11244571e-05 9.99331039e-01 3.99701763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.619254154 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:1014.57, Y:219.72, Z:39.97 [[ 2.54969491e-01 -9.66903320e-01 -9.40898090e-03 1.01456513e+03] [ 9.66257259e-01 2.55143026e-01 -3.53404324e-02 2.19723282e+02] [ 3.65714172e-02 -8.07640404e-05 9.99331039e-01 3.99721301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.6792541539999 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:1014.58, Y:219.78, Z:39.98 [[ 2.54470320e-01 -9.67034914e-01 -9.39853334e-03 1.01457774e+03] [ 9.66388840e-01 2.54643806e-01 -3.53432106e-02 2.19779470e+02] [ 3.65713969e-02 -8.88396356e-05 9.99331039e-01 3.99752332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.739254154 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1014.59, Y:219.84, Z:39.98 [[ 2.56603199e-01 -9.66471241e-01 -9.38817000e-03 1.01458799e+03] [ 9.65824686e-01 2.56774881e-01 -3.53459632e-02 2.19836482e+02] [ 3.65715032e-02 2.56088615e-06 9.99331039e-01 3.99787538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.799254154 meters Centerline goodness : 0.999746 with order 1 Centerline is valid? [True, True] Translation: X:1014.60, Y:219.89, Z:39.98 [[ 2.58885443e-01 -9.65862507e-01 -9.37788294e-03 1.01459982e+03] [ 9.65215449e-01 2.59055221e-01 -3.53486923e-02 2.19893296e+02] [ 3.65713661e-02 9.95843819e-05 9.99331039e-01 3.99815615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.859254154 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:1014.61, Y:219.95, Z:39.98 [[ 2.60326812e-01 -9.65475118e-01 -9.36732179e-03 1.01461207e+03] [ 9.64827707e-01 2.60495237e-01 -3.53514908e-02 2.19948482e+02] [ 3.65711275e-02 1.65089314e-04 9.99331039e-01 3.99842324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.9192541539999 meters Centerline goodness : 0.999790 with order 1 Centerline is valid? [True, True] Translation: X:1014.62, Y:220.00, Z:39.99 [[ 2.64833370e-01 -9.64248773e-01 -9.35897077e-03 1.01462248e+03] [ 9.63600503e-01 2.64998463e-01 -3.53537015e-02 2.20004615e+02] [ 3.65698762e-02 3.44530970e-04 9.99331039e-01 3.99860657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.979254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1014.63, Y:220.06, Z:39.99 [[ 2.65389093e-01 -9.64096073e-01 -9.34832459e-03 1.01463251e+03] [ 9.63447610e-01 2.65553422e-01 -3.53565164e-02 2.20063145e+02] [ 3.65695582e-02 3.76612830e-04 9.99331039e-01 3.99869280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.039254154 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:1014.65, Y:220.12, Z:39.99 [[ 2.73802337e-01 -9.61740641e-01 -9.33912177e-03 1.01464712e+03] [ 9.61090684e-01 2.73960656e-01 -3.53589470e-02 2.20118342e+02] [ 3.65646883e-02 7.05619416e-04 9.99331039e-01 3.99901377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.099254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1014.66, Y:220.18, Z:39.99 [[ 2.78829699e-01 -9.60295216e-01 -9.33258300e-03 1.01466054e+03] [ 9.59644383e-01 2.78984375e-01 -3.53606728e-02 2.20175328e+02] [ 3.65603298e-02 9.03644881e-04 9.99331039e-01 3.99910435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.1592541539999 meters Centerline goodness : 0.999747 with order 1 Centerline is valid? [True, True] Translation: X:1014.68, Y:220.23, Z:39.99 [[ 2.77272323e-01 -9.60746140e-01 -9.32268592e-03 1.01467562e+03] [ 9.60095472e-01 2.77427691e-01 -3.53632819e-02 2.20231906e+02] [ 3.65615078e-02 8.54590809e-04 9.99331039e-01 3.99903205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.219254154 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:1014.69, Y:220.29, Z:39.99 [[ 2.76703328e-01 -9.60910274e-01 -9.31200843e-03 1.01469057e+03] [ 9.60259604e-01 2.76858688e-01 -3.53660933e-02 2.20288565e+02] [ 3.65617529e-02 8.43970206e-04 9.99331039e-01 3.99947867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.279254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1014.71, Y:220.34, Z:40.00 [[ 2.77077377e-01 -9.60802574e-01 -9.30269514e-03 1.01470635e+03] [ 9.60151762e-01 2.77232141e-01 -3.53685429e-02 2.20344830e+02] [ 3.65611932e-02 8.67823990e-04 9.99331039e-01 4.00007694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.339254154 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:1014.72, Y:220.40, Z:40.00 [[ 2.76434118e-01 -9.60987938e-01 -9.29308890e-03 1.01472222e+03] [ 9.60337145e-01 2.76588964e-01 -3.53710668e-02 2.20400403e+02] [ 3.65615344e-02 8.53271195e-04 9.99331039e-01 3.99995451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.399254154 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:1014.74, Y:220.46, Z:40.00 [[ 2.76364021e-01 -9.61008195e-01 -9.28317161e-03 1.01473820e+03] [ 9.60357327e-01 2.76518549e-01 -3.53736694e-02 2.20455766e+02] [ 3.65613553e-02 8.60847633e-04 9.99331039e-01 4.00007037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.459254154 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:1014.76, Y:220.51, Z:40.00 [[ 2.75884835e-01 -9.61145964e-01 -9.27326683e-03 1.01475654e+03] [ 9.60495087e-01 2.76039324e-01 -3.53762658e-02 2.20511059e+02] [ 3.65615414e-02 8.52848033e-04 9.99331039e-01 4.00033389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.519254154 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:1014.77, Y:220.57, Z:40.00 [[ 2.73536447e-01 -9.61817037e-01 -9.26279391e-03 1.01477392e+03] [ 9.61166447e-01 2.73692140e-01 -3.53790078e-02 2.20565688e+02] [ 3.65632863e-02 7.74361381e-04 9.99331039e-01 4.00038492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.579254154 meters Centerline goodness : 0.999746 with order 1 Centerline is valid? [True, True] Translation: X:1014.79, Y:220.62, Z:40.01 [[ 2.69807204e-01 -9.62869915e-01 -9.25195092e-03 1.01479110e+03] [ 9.62219837e-01 2.69965019e-01 -3.53818431e-02 2.20621137e+02] [ 3.65658154e-02 6.43865457e-04 9.99331040e-01 4.00054885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.639254154 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:1014.81, Y:220.68, Z:40.01 [[ 2.63201877e-01 -9.64696515e-01 -9.24152846e-03 1.01480985e+03] [ 9.64047437e-01 2.63363762e-01 -3.53845652e-02 2.20676379e+02] [ 3.65692504e-02 4.04012151e-04 9.99331040e-01 4.00086296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.699254154 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1014.83, Y:220.73, Z:40.01 [[ 2.54266708e-01 -9.67090082e-01 -9.23116878e-03 1.01482717e+03] [ 9.66442432e-01 2.54434211e-01 -3.53872676e-02 2.20732193e+02] [ 3.65714007e-02 7.64108504e-05 9.99331040e-01 4.00096763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.759254154 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:1014.85, Y:220.79, Z:40.01 [[ 2.53889604e-01 -9.67189211e-01 -9.22490748e-03 1.01484653e+03] [ 9.66541567e-01 2.54057130e-01 -3.53888998e-02 2.20786128e+02] [ 3.65714156e-02 6.86172222e-05 9.99331040e-01 4.00129335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.819254154 meters Centerline goodness : 0.999787 with order 1 Centerline is valid? [True, True] Translation: X:1014.86, Y:220.84, Z:40.01 [[ 2.50757328e-01 -9.68006087e-01 -9.21839697e-03 1.01486143e+03] [ 9.67358926e-01 2.50926711e-01 -3.53905956e-02 2.20843397e+02] [ 3.65714540e-02 -4.30474083e-05 9.99331040e-01 4.00124262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.879254154 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:1014.88, Y:220.90, Z:40.02 [[ 2.51879831e-01 -9.67714701e-01 -9.20908392e-03 1.01487817e+03] [ 9.67067256e-01 2.52048123e-01 -3.53930188e-02 2.20899295e+02] [ 3.65714769e-02 8.98408436e-06 9.99331040e-01 4.00155512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.939254154 meters Centerline goodness : 0.999766 with order 1 Centerline is valid? [True, True] Translation: X:1014.90, Y:220.95, Z:40.02 [[ 2.54822930e-01 -9.66943982e-01 -9.19836375e-03 1.01489552e+03] [ 9.66295927e-01 2.54988859e-01 -3.53958047e-02 2.20953579e+02] [ 3.65712406e-02 1.31321210e-04 9.99331040e-01 4.00189254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.999254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1014.91, Y:221.01, Z:40.03 [[ 2.59600497e-01 -9.65672358e-01 -9.19118744e-03 1.01491066e+03] [ 9.65023425e-01 2.59762957e-01 -3.53976680e-02 2.21009198e+02] [ 3.65700796e-02 3.19541044e-04 9.99331040e-01 4.00271844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.059254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1014.93, Y:221.07, Z:40.03 [[ 2.65296208e-01 -9.64123238e-01 -9.18170831e-03 1.01492590e+03] [ 9.63473272e-01 2.65454486e-01 -3.54001266e-02 2.21065019e+02] [ 3.65674104e-02 5.45188794e-04 9.99331040e-01 4.00302801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.119254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1014.94, Y:221.12, Z:40.03 [[ 2.69248760e-01 -9.63026993e-01 -9.17145863e-03 1.01493835e+03] [ 9.62376294e-01 2.69403995e-01 -3.54027819e-02 2.21122652e+02] [ 3.65646622e-02 7.05760782e-04 9.99331040e-01 4.00292319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.1792541539999 meters Centerline goodness : 0.999765 with order 1 Centerline is valid? [True, True] Translation: X:1014.96, Y:221.18, Z:40.03 [[ 2.77649931e-01 -9.60638621e-01 -9.16275698e-03 1.01495510e+03] [ 9.59986517e-01 2.77799156e-01 -3.54050339e-02 2.21177772e+02] [ 3.65568491e-02 1.03408205e-03 9.99331040e-01 4.00302571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.239254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1014.97, Y:221.24, Z:40.03 [[ 2.80459805e-01 -9.59822098e-01 -9.15632018e-03 1.01496652e+03] [ 9.59169507e-01 2.80606884e-01 -3.54066985e-02 2.21235217e+02] [ 3.65534581e-02 1.14769264e-03 9.99331040e-01 4.00299650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.299254154 meters Centerline goodness : 0.999744 with order 1 Centerline is valid? [True, True] Translation: X:1014.99, Y:221.29, Z:40.03 [[ 2.85726534e-01 -9.58267529e-01 -9.14824544e-03 1.01498597e+03] [ 9.57614075e-01 2.85869729e-01 -3.54087847e-02 2.21288816e+02] [ 3.65462950e-02 1.35674073e-03 9.99331040e-01 4.00325816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.359254154 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:1015.00, Y:221.34, Z:40.03 [[ 2.84595591e-01 -9.58604076e-01 -9.14190154e-03 1.01500348e+03] [ 9.57950740e-01 2.84739323e-01 -3.54104225e-02 2.21343299e+02] [ 3.65476342e-02 1.32015878e-03 9.99331040e-01 4.00338845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.4192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1015.02, Y:221.40, Z:40.04 [[ 2.83909464e-01 -9.58807580e-01 -9.13462518e-03 1.01502142e+03] [ 9.58154287e-01 2.84053395e-01 -3.54122994e-02 2.21398319e+02] [ 3.65483024e-02 1.30150667e-03 9.99331040e-01 4.00403008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.479254154 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:1015.04, Y:221.45, Z:40.04 [[ 2.84933639e-01 -9.58503811e-01 -9.12498537e-03 1.01503923e+03] [ 9.57850287e-01 2.85076516e-01 -3.54147832e-02 2.21453790e+02] [ 3.65465237e-02 1.35049319e-03 9.99331040e-01 4.00403538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.539254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1015.05, Y:221.51, Z:40.04 [[ 2.85709710e-01 -9.58272862e-01 -9.11499382e-03 1.01505186e+03] [ 9.57619143e-01 2.85851689e-01 -3.54173546e-02 2.21510992e+02] [ 3.65450262e-02 1.39038954e-03 9.99331040e-01 4.00381167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.599254154 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1015.07, Y:221.57, Z:40.05 [[ 2.92410322e-01 -9.56249600e-01 -9.10529037e-03 1.01507238e+03] [ 9.55594827e-01 2.92547364e-01 -3.54198491e-02 2.21565084e+02] [ 3.65339452e-02 1.65616111e-03 9.99331040e-01 4.00475306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.6592541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1015.09, Y:221.62, Z:40.05 [[ 2.94403938e-01 -9.55637798e-01 -9.09511927e-03 1.01508784e+03] [ 9.54982663e-01 2.94539238e-01 -3.54224606e-02 2.21620741e+02] [ 3.65299118e-02 1.74283069e-03 9.99331040e-01 4.00527789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.719254154 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:1015.10, Y:221.68, Z:40.05 [[ 2.96244928e-01 -9.55068788e-01 -9.08585984e-03 1.01510414e+03] [ 9.54413324e-01 2.96378623e-01 -3.54248355e-02 2.21676867e+02] [ 3.65260094e-02 1.82276217e-03 9.99331040e-01 4.00516468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.779254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1015.12, Y:221.73, Z:40.06 [[ 2.99444071e-01 -9.54070690e-01 -9.07562628e-03 1.01511869e+03] [ 9.53414706e-01 2.99575189e-01 -3.54274571e-02 2.21732913e+02] [ 3.65191309e-02 1.95570644e-03 9.99331040e-01 4.00553562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.839254154 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1015.13, Y:221.79, Z:40.05 [[ 2.99965527e-01 -9.53906966e-01 -9.06542882e-03 1.01513348e+03] [ 9.53250836e-01 3.00095909e-01 -3.54300663e-02 2.21789371e+02] [ 3.65174852e-02 1.98617093e-03 9.99331040e-01 4.00547595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.899254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1015.15, Y:221.85, Z:40.06 [[ 3.00194447e-01 -9.53835047e-01 -9.05524475e-03 1.01514881e+03] [ 9.53178810e-01 3.00324294e-01 -3.54326690e-02 2.21845658e+02] [ 3.65164315e-02 2.00542305e-03 9.99331040e-01 4.00588955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.959254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1015.16, Y:221.90, Z:40.06 [[ 2.98850341e-01 -9.54257125e-01 -9.04511536e-03 1.01516460e+03] [ 9.53600997e-01 2.98980737e-01 -3.54352546e-02 2.21901207e+02] [ 3.65186594e-02 1.96440688e-03 9.99331041e-01 4.00606458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.019254154 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:1015.18, Y:221.96, Z:40.06 [[ 2.96973542e-01 -9.54842962e-01 -9.03511550e-03 1.01517981e+03] [ 9.54187018e-01 2.97104858e-01 -3.54378041e-02 2.21957639e+02] [ 3.65219146e-02 1.90290029e-03 9.99331041e-01 4.00613781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.079254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1015.19, Y:222.01, Z:40.07 [[ 2.97787398e-01 -9.54589554e-01 -9.02488319e-03 1.01519457e+03] [ 9.53933423e-01 2.97917776e-01 -3.54404098e-02 2.22013416e+02] [ 3.65197181e-02 1.94456969e-03 9.99331041e-01 4.00655574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.139254154 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:1015.21, Y:222.07, Z:40.07 [[ 2.98847068e-01 -9.54258437e-01 -9.01474283e-03 1.01520832e+03] [ 9.53602087e-01 2.98976343e-01 -3.54429889e-02 2.22070381e+02] [ 3.65169661e-02 1.99555575e-03 9.99331041e-01 4.00652730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.199254154 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1015.22, Y:222.13, Z:40.07 [[ 3.00426422e-01 -9.53762488e-01 -9.00457155e-03 1.01522159e+03] [ 9.53105852e-01 3.00554233e-01 -3.54455728e-02 2.22126480e+02] [ 3.65130198e-02 2.06647679e-03 9.99331041e-01 4.00671506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.259254154 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:1015.23, Y:222.18, Z:40.07 [[ 2.98653016e-01 -9.54319379e-01 -8.99436904e-03 1.01523491e+03] [ 9.53662908e-01 2.98781670e-01 -3.54481615e-02 2.22182797e+02] [ 3.65162201e-02 2.00910423e-03 9.99331041e-01 4.00689582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.319254154 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1015.25, Y:222.24, Z:40.07 [[ 2.96276361e-01 -9.55060002e-01 -8.98389493e-03 1.01524918e+03] [ 9.54403776e-01 2.96406261e-01 -3.54508159e-02 2.22239095e+02] [ 3.65205390e-02 1.92897549e-03 9.99331041e-01 4.00722302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.379254154 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1015.26, Y:222.29, Z:40.07 [[ 2.90346017e-01 -9.56879651e-01 -8.97347611e-03 1.01526401e+03] [ 9.56224165e-01 2.90479600e-01 -3.54534530e-02 2.22294933e+02] [ 3.65312995e-02 1.71311415e-03 9.99331041e-01 4.00739721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.439254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1015.28, Y:222.35, Z:40.08 [[ 2.80806547e-01 -9.59722535e-01 -8.96315796e-03 1.01527890e+03] [ 9.59068330e-01 2.80946268e-01 -3.54560613e-02 2.22350998e+02] [ 3.65461469e-02 1.36001322e-03 9.99331041e-01 4.00766183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.499254154 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:1015.29, Y:222.41, Z:40.08 [[ 2.67440172e-01 -9.63532876e-01 -8.95267881e-03 1.01529442e+03] [ 9.62880589e-01 2.67588587e-01 -3.54587071e-02 2.22406589e+02] [ 3.65612648e-02 8.62722095e-04 9.99331041e-01 4.00783563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.559254154 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:1015.31, Y:222.46, Z:40.08 [[ 2.53510350e-01 -9.67291342e-01 -8.94218152e-03 1.01531077e+03] [ 9.66641170e-01 2.53667776e-01 -3.54613542e-02 2.22462488e+02] [ 3.65698042e-02 3.45939519e-04 9.99331041e-01 4.00815641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.619254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1015.32, Y:222.52, Z:40.09 [[ 2.39033207e-01 -9.70970313e-01 -8.93181259e-03 1.01532423e+03] [ 9.70322468e-01 2.39199949e-01 -3.54639657e-02 2.22520013e+02] [ 3.65709470e-02 -1.89672965e-04 9.99331041e-01 4.00858326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.6792541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1015.34, Y:222.58, Z:40.09 [[ 2.28583823e-01 -9.73483349e-01 -8.92215933e-03 1.01533691e+03] [ 9.72837239e-01 2.28757166e-01 -3.54663941e-02 2.22576762e+02] [ 3.65669520e-02 -5.72764906e-04 9.99331041e-01 4.00862054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.739254154 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1015.35, Y:222.63, Z:40.09 [[ 2.23057906e-01 -9.74764409e-01 -8.91721866e-03 1.01534923e+03] [ 9.74119244e-01 2.23234732e-01 -3.54676363e-02 2.22633131e+02] [ 3.65632225e-02 -7.75097618e-04 9.99331041e-01 4.00882709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.799254154 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:1015.36, Y:222.69, Z:40.09 [[ 2.26000351e-01 -9.74086500e-01 -8.90683829e-03 1.01536233e+03] [ 9.73440701e-01 2.26174850e-01 -3.54702429e-02 2.22688582e+02] [ 3.65655876e-02 -6.53991575e-04 9.99331041e-01 4.00942965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.859254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1015.37, Y:222.75, Z:40.10 [[ 2.31893963e-01 -9.72700353e-01 -8.90017462e-03 1.01537098e+03] [ 9.72053446e-01 2.32064306e-01 -3.54719149e-02 2.22746185e+02] [ 3.65689570e-02 -4.25722488e-04 9.99331041e-01 4.00990882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.9192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1015.37, Y:222.81, Z:40.10 [[ 2.36863037e-01 -9.71502376e-01 -8.89020714e-03 1.01537475e+03] [ 9.70854512e-01 2.37029707e-01 -3.54744128e-02 2.22805219e+02] [ 3.65707195e-02 -2.28520559e-04 9.99331041e-01 4.00969245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.979254154 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1015.39, Y:222.86, Z:40.10 [[ 2.47329540e-01 -9.68890729e-01 -8.87998862e-03 1.01538611e+03] [ 9.68241013e-01 2.47488837e-01 -3.54769705e-02 2.22861464e+02] [ 3.65710059e-02 1.76533629e-04 9.99331041e-01 4.01029999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.039254154 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1015.39, Y:222.92, Z:40.10 [[ 2.49544855e-01 -9.68322585e-01 -8.87340514e-03 1.01539310e+03] [ 9.67672448e-01 2.49702424e-01 -3.54786171e-02 2.22920578e+02] [ 3.65704570e-02 2.66956687e-04 9.99331041e-01 4.01045619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.099254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1015.41, Y:222.98, Z:40.11 [[ 2.54313221e-01 -9.67081287e-01 -8.86401729e-03 1.01540547e+03] [ 9.66430300e-01 2.54467240e-01 -3.54809624e-02 2.22976086e+02] [ 3.65685768e-02 4.56822936e-04 9.99331041e-01 4.01104991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.1592541539999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:1015.42, Y:223.03, Z:40.11 [[ 2.54069556e-01 -9.67145393e-01 -8.85718928e-03 1.01541594e+03] [ 9.66494386e-01 2.54223489e-01 -3.54826668e-02 2.23033439e+02] [ 3.65686033e-02 4.54641708e-04 9.99331042e-01 4.01104185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.219254154 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:1015.43, Y:223.09, Z:40.11 [[ 2.51893912e-01 -9.67714413e-01 -8.84709449e-03 1.01542829e+03] [ 9.67063666e-01 2.52048939e-01 -3.54851836e-02 2.23090717e+02] [ 3.65694245e-02 3.82798092e-04 9.99331042e-01 4.01113250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.279254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1015.44, Y:223.15, Z:40.11 [[ 2.44219697e-01 -9.69679628e-01 -8.84074175e-03 1.01543582e+03] [ 9.69030072e-01 2.44379642e-01 -3.54867663e-02 2.23149877e+02] [ 3.65712916e-02 9.96226910e-05 9.99331042e-01 4.01083408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.339254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1015.45, Y:223.20, Z:40.11 [[ 2.46527146e-01 -9.69095647e-01 -8.83135632e-03 1.01545384e+03] [ 9.68445629e-01 2.46685200e-01 -3.54891018e-02 2.23204553e+02] [ 3.65708990e-02 1.96338555e-04 9.99331042e-01 4.01141656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.399254154 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:1015.47, Y:223.26, Z:40.11 [[ 2.44649533e-01 -9.69571451e-01 -8.82084320e-03 1.01546795e+03] [ 9.68921646e-01 2.44808461e-01 -3.54917147e-02 2.23260756e+02] [ 3.65711704e-02 1.36325508e-04 9.99331042e-01 4.01139323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.459254154 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:1015.48, Y:223.32, Z:40.12 [[ 2.43839841e-01 -9.69775488e-01 -8.81106780e-03 1.01548188e+03] [ 9.69125728e-01 2.43998954e-01 -3.54941413e-02 2.23317633e+02] [ 3.65712396e-02 1.15853265e-04 9.99331042e-01 4.01203719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.519254154 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:1015.50, Y:223.37, Z:40.12 [[ 2.43964744e-01 -9.69744163e-01 -8.80126309e-03 1.01549549e+03] [ 9.69094295e-01 2.44123414e-01 -3.54965724e-02 2.23373886e+02] [ 3.65711883e-02 1.30658334e-04 9.99331042e-01 4.01222868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.579254154 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:1015.51, Y:223.43, Z:40.12 [[ 2.45413921e-01 -9.69378525e-01 -8.79111306e-03 1.01550871e+03] [ 9.68728330e-01 2.45571248e-01 -3.54990860e-02 2.23430348e+02] [ 3.65708962e-02 1.95769595e-04 9.99331042e-01 4.01246437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.639254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1015.52, Y:223.49, Z:40.13 [[ 2.47931402e-01 -9.68737795e-01 -8.78086184e-03 1.01552182e+03] [ 9.68087105e-01 2.48086664e-01 -3.55016215e-02 2.23486991e+02] [ 3.65701772e-02 3.01327675e-04 9.99331042e-01 4.01304526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.699254154 meters Centerline goodness : 0.999789 with order 1 Centerline is valid? [True, True] Translation: X:1015.54, Y:223.54, Z:40.13 [[ 2.48844765e-01 -9.68503666e-01 -8.77103926e-03 1.01553573e+03] [ 9.67852744e-01 2.48999053e-01 -3.55040481e-02 2.23543132e+02] [ 3.65697812e-02 3.45922072e-04 9.99331042e-01 4.01311187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.759254154 meters Centerline goodness : 0.999958 with order 1 Centerline is valid? [True, True] Translation: X:1015.55, Y:223.60, Z:40.14 [[ 2.50816132e-01 -9.67995103e-01 -8.76057292e-03 1.01555028e+03] [ 9.67343778e-01 2.50968711e-01 -3.55066304e-02 2.23599038e+02] [ 3.65688741e-02 4.31150019e-04 9.99331042e-01 4.01357425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.819254154 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:1015.56, Y:223.66, Z:40.14 [[ 2.53492540e-01 -9.67297757e-01 -8.75109724e-03 1.01556464e+03] [ 9.66645932e-01 2.53642969e-01 -3.55089657e-02 2.23655132e+02] [ 3.65673972e-02 5.42045375e-04 9.99331042e-01 4.01367406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.879254154 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:1015.58, Y:223.71, Z:40.14 [[ 2.58734522e-01 -9.65908924e-01 -8.74059992e-03 1.01557974e+03] [ 9.65256206e-01 2.58881028e-01 -3.55115495e-02 2.23710989e+02] [ 3.65636980e-02 7.51145448e-04 9.99331042e-01 4.01380738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.939254154 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:1015.59, Y:223.77, Z:40.14 [[ 2.60901403e-01 -9.65325978e-01 -8.73008428e-03 1.01559460e+03] [ 9.64672847e-01 2.61046058e-01 -3.55141344e-02 2.23766189e+02] [ 3.65616706e-02 8.44012250e-04 9.99331042e-01 4.01385598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.999254154 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1015.61, Y:223.82, Z:40.14 [[ 2.61432001e-01 -9.65182484e-01 -8.72245913e-03 1.01560897e+03] [ 9.64529212e-01 2.61576016e-01 -3.55160071e-02 2.23822570e+02] [ 3.65610141e-02 8.71954158e-04 9.99331042e-01 4.01428023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.059254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1015.62, Y:223.88, Z:40.14 [[ 2.60305812e-01 -9.65486915e-01 -8.71210177e-03 1.01562366e+03] [ 9.64833728e-01 2.60450208e-01 -3.55185476e-02 2.23879226e+02] [ 3.65617617e-02 8.39954746e-04 9.99331042e-01 4.01429299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.119254154 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1015.64, Y:223.93, Z:40.15 [[ 2.61749067e-01 -9.65096697e-01 -8.70577656e-03 1.01564181e+03] [ 9.64443244e-01 2.61892254e-01 -3.55200979e-02 2.23933814e+02] [ 3.65603046e-02 9.01125097e-04 9.99331042e-01 4.01480212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.1792541539999 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:1015.66, Y:223.99, Z:40.15 [[ 2.60208954e-01 -9.65513147e-01 -8.69847070e-03 1.01565826e+03] [ 9.64859863e-01 2.60352914e-01 -3.55218869e-02 2.23989692e+02] [ 3.65615210e-02 8.50307766e-04 9.99331042e-01 4.01493358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.239254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1015.68, Y:224.04, Z:40.15 [[ 2.58844070e-01 -9.65880046e-01 -8.68821549e-03 1.01567535e+03] [ 9.65226882e-01 2.58988577e-01 -3.55243950e-02 2.24044836e+02] [ 3.65624528e-02 8.09179834e-04 9.99331042e-01 4.01532999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.299254154 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1015.69, Y:224.10, Z:40.16 [[ 2.56416150e-01 -9.66527522e-01 -8.67800932e-03 1.01569198e+03] [ 9.65874640e-01 2.56561923e-01 -3.55268880e-02 2.24100163e+02] [ 3.65641618e-02 7.27798741e-04 9.99331042e-01 4.01559734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.359254154 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1015.71, Y:224.16, Z:40.16 [[ 2.55154686e-01 -9.66861395e-01 -8.66772679e-03 1.01570808e+03] [ 9.66208619e-01 2.55300932e-01 -3.55293966e-02 2.24155917e+02] [ 3.65648806e-02 6.90659676e-04 9.99331042e-01 4.01570206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.4192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1015.72, Y:224.21, Z:40.16 [[ 2.53089685e-01 -9.67404082e-01 -8.65755350e-03 1.01572321e+03] [ 9.66751536e-01 2.53236952e-01 -3.55318753e-02 2.24211566e+02] [ 3.65660937e-02 6.23048006e-04 9.99331043e-01 4.01622831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.479254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1015.74, Y:224.27, Z:40.16 [[ 2.51469138e-01 -9.67826692e-01 -8.64679133e-03 1.01574045e+03] [ 9.67174304e-01 2.51617102e-01 -3.55344942e-02 2.24266252e+02] [ 3.65669125e-02 5.72874223e-04 9.99331043e-01 4.01634447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.539254154 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:1015.76, Y:224.32, Z:40.16 [[ 2.47849437e-01 -9.68760060e-01 -8.63722916e-03 1.01575701e+03] [ 9.68108149e-01 2.47999489e-01 -3.55368182e-02 2.24322041e+02] [ 3.65686786e-02 4.46008468e-04 9.99331043e-01 4.01647039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.599254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1015.77, Y:224.38, Z:40.17 [[ 2.46831546e-01 -9.69020003e-01 -8.62675856e-03 1.01577220e+03] [ 9.68368161e-01 2.46981898e-01 -3.55393599e-02 2.24377874e+02] [ 3.65690038e-02 4.18356803e-04 9.99331043e-01 4.01694463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.6592541539999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1015.79, Y:224.43, Z:40.17 [[ 2.45854510e-01 -9.69268437e-01 -8.61729529e-03 1.01578739e+03] [ 9.68616666e-01 2.46005172e-01 -3.55416543e-02 2.24433655e+02] [ 3.65693029e-02 3.91220166e-04 9.99331043e-01 4.01709856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.719254154 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1015.80, Y:224.49, Z:40.17 [[ 2.46482697e-01 -9.69108974e-01 -8.60676405e-03 1.01580224e+03] [ 9.68457017e-01 2.46632551e-01 -3.55442044e-02 2.24489264e+02] [ 3.65689156e-02 4.25750309e-04 9.99331043e-01 4.01723939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.779254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1015.81, Y:224.55, Z:40.17 [[ 2.44938989e-01 -9.69500388e-01 -8.59589122e-03 1.01581397e+03] [ 9.68848579e-01 2.45089483e-01 -3.55468336e-02 2.24546453e+02] [ 3.65694315e-02 3.78688516e-04 9.99331043e-01 4.01730593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.839254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1015.83, Y:224.60, Z:40.18 [[ 2.49562376e-01 -9.68320662e-01 -8.58577828e-03 1.01583093e+03] [ 9.67668059e-01 2.49709386e-01 -3.55492761e-02 2.24601147e+02] [ 3.65670480e-02 5.63578406e-04 9.99331043e-01 4.01804593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.899254154 meters Centerline goodness : 0.999936 with order 1 Centerline is valid? [True, True] Translation: X:1015.84, Y:224.66, Z:40.18 [[ 2.49330097e-01 -9.68380554e-01 -8.57940964e-03 1.01584487e+03] [ 9.67727933e-01 2.49477030e-01 -3.55508130e-02 2.24657923e+02] [ 3.65670816e-02 5.61353295e-04 9.99331043e-01 4.01815038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.959254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1015.86, Y:224.71, Z:40.19 [[ 2.48618015e-01 -9.68563706e-01 -8.56910597e-03 1.01585949e+03] [ 9.67911108e-01 2.48765050e-01 -3.55532964e-02 2.24714062e+02] [ 3.65673266e-02 5.45057126e-04 9.99331043e-01 4.01861378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.019254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1015.87, Y:224.77, Z:40.19 [[ 2.47251195e-01 -9.68913615e-01 -8.55887630e-03 1.01587313e+03] [ 9.68261140e-01 2.47398774e-01 -3.55557589e-02 2.24769221e+02] [ 3.65679143e-02 5.03976538e-04 9.99331043e-01 4.01868934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.079254154 meters Centerline goodness : 0.999786 with order 1 Centerline is valid? [True, True] Translation: X:1015.89, Y:224.83, Z:40.19 [[ 2.45003088e-01 -9.69484617e-01 -8.54771658e-03 1.01588778e+03] [ 9.68832393e-01 2.45151772e-01 -3.55584415e-02 2.24826295e+02] [ 3.65688499e-02 4.30623257e-04 9.99331043e-01 4.01861074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.139254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1015.90, Y:224.88, Z:40.19 [[ 2.47828723e-01 -9.68766207e-01 -8.54168156e-03 1.01590159e+03] [ 9.68113502e-01 2.47975283e-01 -3.55598911e-02 2.24882406e+02] [ 3.65673468e-02 5.43445184e-04 9.99331043e-01 4.01895115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.199254154 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1015.91, Y:224.94, Z:40.19 [[ 2.50923914e-01 -9.67969217e-01 -8.53139469e-03 1.01591469e+03] [ 9.67315964e-01 2.51068009e-01 -3.55623590e-02 2.24939059e+02] [ 3.65652290e-02 6.70892037e-04 9.99331043e-01 4.01907331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.259254154 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:1015.93, Y:224.99, Z:40.19 [[ 2.53939665e-01 -9.67182525e-01 -8.52114710e-03 1.01592901e+03] [ 9.66528744e-01 2.54081346e-01 -3.55648142e-02 2.24994677e+02] [ 3.65627314e-02 7.95383390e-04 9.99331043e-01 4.01914983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.319254154 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1015.94, Y:225.05, Z:40.20 [[ 2.57832689e-01 -9.66152096e-01 -8.51069443e-03 1.01594334e+03] [ 9.65497668e-01 2.57971353e-01 -3.55673154e-02 2.25050780e+02] [ 3.65589517e-02 9.53360953e-04 9.99331043e-01 4.01976975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.379254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1015.96, Y:225.11, Z:40.20 [[ 2.61748760e-01 -9.65098609e-01 -8.50068441e-03 1.01595661e+03] [ 9.64443548e-01 2.61884400e-01 -3.55697077e-02 2.25106686e+02] [ 3.65544720e-02 1.11189665e-03 9.99331043e-01 4.02012949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.439254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1015.97, Y:225.16, Z:40.20 [[ 2.64759034e-01 -9.64277217e-01 -8.49139434e-03 1.01596988e+03] [ 9.63621666e-01 2.64892286e-01 -3.55719253e-02 2.25161610e+02] [ 3.65505020e-02 1.23549701e-03 9.99331043e-01 4.02037116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.499254154 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1015.98, Y:225.22, Z:40.21 [[ 2.65235565e-01 -9.64146311e-01 -8.48446391e-03 1.01598446e+03] [ 9.63490643e-01 2.65368238e-01 -3.55735782e-02 2.25218164e+02] [ 3.65496415e-02 1.26067653e-03 9.99331043e-01 4.02075993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.559254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1016.00, Y:225.27, Z:40.21 [[ 2.66447840e-01 -9.63812088e-01 -8.47396233e-03 1.01599920e+03] [ 9.63156176e-01 2.66579302e-01 -3.55760796e-02 2.25273372e+02] [ 3.65476385e-02 1.31742044e-03 9.99331044e-01 4.02093615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.619254154 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1016.01, Y:225.33, Z:40.21 [[ 2.67586012e-01 -9.63496781e-01 -8.46635505e-03 1.01601389e+03] [ 9.62840658e-01 2.67716418e-01 -3.55778899e-02 2.25329232e+02] [ 3.65457647e-02 1.36839481e-03 9.99331044e-01 4.02137277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.6792541539999 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:1016.03, Y:225.38, Z:40.21 [[ 2.66800890e-01 -9.63714575e-01 -8.45588962e-03 1.01602818e+03] [ 9.63058482e-01 2.66931445e-01 -3.55803771e-02 2.25384978e+02] [ 3.65464708e-02 1.34936006e-03 9.99331044e-01 4.02121267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.739254154 meters Centerline goodness : 0.999785 with order 1 Centerline is valid? [True, True] Translation: X:1016.04, Y:225.44, Z:40.22 [[ 2.66012356e-01 -9.63932627e-01 -8.44495630e-03 1.01604291e+03] [ 9.63276561e-01 2.66143044e-01 -3.55829719e-02 2.25441657e+02] [ 3.65471540e-02 1.33068172e-03 9.99331044e-01 4.02184468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.799254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1016.06, Y:225.50, Z:40.22 [[ 2.66560474e-01 -9.63781282e-01 -8.43528672e-03 1.01605776e+03] [ 9.63125071e-01 2.66690433e-01 -3.55852640e-02 2.25497876e+02] [ 3.65460217e-02 1.36138872e-03 9.99331044e-01 4.02236458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.859254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1016.07, Y:225.55, Z:40.23 [[ 2.67988808e-01 -9.63385181e-01 -8.42569172e-03 1.01607146e+03] [ 9.62728708e-01 2.68117441e-01 -3.55875357e-02 2.25554093e+02] [ 3.65435795e-02 1.42540600e-03 9.99331044e-01 4.02258195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.9192541539999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1016.08, Y:225.61, Z:40.23 [[ 2.68015816e-01 -9.63377759e-01 -8.41517663e-03 1.01608420e+03] [ 9.62721207e-01 2.68144042e-01 -3.55900220e-02 2.25609602e+02] [ 3.65431151e-02 1.43721979e-03 9.99331044e-01 4.02252281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.979254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1016.10, Y:225.67, Z:40.23 [[ 2.70793923e-01 -9.62600655e-01 -8.40417383e-03 1.01609794e+03] [ 9.61943658e-01 2.70919849e-01 -3.55926200e-02 2.25665878e+02] [ 3.65383368e-02 1.55392350e-03 9.99331044e-01 4.02263838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.039254154 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:1016.11, Y:225.72, Z:40.22 [[ 2.71717272e-01 -9.62340516e-01 -8.39379817e-03 1.01611308e+03] [ 9.61683325e-01 2.71842184e-01 -3.55950667e-02 2.25722129e+02] [ 3.65363633e-02 1.59961870e-03 9.99331044e-01 4.02244447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.099254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1016.13, Y:225.78, Z:40.23 [[ 2.71347799e-01 -9.62444847e-01 -8.38388795e-03 1.01612827e+03] [ 9.61787635e-01 2.71472597e-01 -3.55974008e-02 2.25777883e+02] [ 3.65365308e-02 1.59575658e-03 9.99331044e-01 4.02283010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.1592541539999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:1016.15, Y:225.83, Z:40.23 [[ 2.66006378e-01 -9.63934900e-01 -8.37350425e-03 1.01614611e+03] [ 9.63278315e-01 2.66134436e-01 -3.55998432e-02 2.25833732e+02] [ 3.65444091e-02 1.40377028e-03 9.99331044e-01 4.02324213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.219254154 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:1016.16, Y:225.89, Z:40.24 [[ 2.60710144e-01 -9.65380892e-01 -8.36381236e-03 1.01616182e+03] [ 9.64724949e-01 2.60841448e-01 -3.56021200e-02 2.25889495e+02] [ 3.65512353e-02 1.21305539e-03 9.99331044e-01 4.02367707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.279254154 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:1016.18, Y:225.95, Z:40.24 [[ 2.56903400e-01 -9.66400978e-01 -8.35425395e-03 1.01617733e+03] [ 9.65745485e-01 2.57036936e-01 -3.56043628e-02 2.25945932e+02] [ 3.65554429e-02 1.07879883e-03 9.99331044e-01 4.02400439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.339254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1016.19, Y:226.00, Z:40.24 [[ 2.56669566e-01 -9.66463200e-01 -8.34366180e-03 1.01619130e+03] [ 9.65807661e-01 2.56802871e-01 -3.56068449e-02 2.26000842e+02] [ 3.65553815e-02 1.08082091e-03 9.99331044e-01 4.02427267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.399254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1016.21, Y:226.06, Z:40.24 [[ 2.54352849e-01 -9.67075590e-01 -8.33260483e-03 1.01620575e+03] [ 9.66420288e-01 2.54487318e-01 -3.56094322e-02 2.26057514e+02] [ 3.65575549e-02 1.00456217e-03 9.99331044e-01 4.02432425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.459254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1016.22, Y:226.11, Z:40.25 [[ 2.50419072e-01 -9.68101767e-01 -8.32210746e-03 1.01622106e+03] [ 9.67446937e-01 2.50555818e-01 -3.56118853e-02 2.26112192e+02] [ 3.65610815e-02 8.66697915e-04 9.99331044e-01 4.02457018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.519254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1016.24, Y:226.17, Z:40.25 [[ 2.44678620e-01 -9.69568614e-01 -8.31115871e-03 1.01623688e+03] [ 9.68914520e-01 2.44818841e-01 -3.56144404e-02 2.26167725e+02] [ 3.65653718e-02 6.61289761e-04 9.99331044e-01 4.02492526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.579254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1016.25, Y:226.22, Z:40.25 [[ 2.40831228e-01 -9.70531513e-01 -8.30076086e-03 1.01625216e+03] [ 9.69877896e-01 2.40973661e-01 -3.56168637e-02 2.26224140e+02] [ 3.65675533e-02 5.26928516e-04 9.99331044e-01 4.02521968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.639254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1016.27, Y:226.28, Z:40.25 [[ 2.41978835e-01 -9.70246109e-01 -8.29041994e-03 1.01626561e+03] [ 9.69592243e-01 2.42120115e-01 -3.56192705e-02 2.26279166e+02] [ 3.65667361e-02 5.80782712e-04 9.99331044e-01 4.02541047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.699254154 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:1016.27, Y:226.34, Z:40.24 [[ 2.36226860e-01 -9.71662656e-01 -8.27967241e-03 1.01626917e+03] [ 9.71009551e-01 2.36371618e-01 -3.56217686e-02 2.26338755e+02] [ 3.65694219e-02 3.75177561e-04 9.99331045e-01 4.02446700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.759254154 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:1016.29, Y:226.39, Z:40.26 [[ 2.45797980e-01 -9.69285779e-01 -8.27232543e-03 1.01629280e+03] [ 9.68631221e-01 2.45936019e-01 -3.56234747e-02 2.26391712e+02] [ 3.65637902e-02 7.43345433e-04 9.99331045e-01 4.02556600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.819254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1016.31, Y:226.45, Z:40.26 [[ 2.45002084e-01 -9.69487311e-01 -8.26636192e-03 1.01630820e+03] [ 9.68832820e-01 2.45140442e-01 -3.56248585e-02 2.26447653e+02] [ 3.65642678e-02 7.19441841e-04 9.99331045e-01 4.02594569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.879254154 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:1016.32, Y:226.50, Z:40.26 [[ 2.43588326e-01 -9.69843578e-01 -8.25596491e-03 1.01632362e+03] [ 9.69189209e-01 2.43727256e-01 -3.56272678e-02 2.26503050e+02] [ 3.65650805e-02 6.76794406e-04 9.99331045e-01 4.02616783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.939254154 meters Centerline goodness : 0.999758 with order 1 Centerline is valid? [True, True] Translation: X:1016.34, Y:226.56, Z:40.27 [[ 2.45189493e-01 -9.69440097e-01 -8.24681584e-03 1.01633832e+03] [ 9.68785429e-01 2.45327006e-01 -3.56293854e-02 2.26559196e+02] [ 3.65637215e-02 7.46555930e-04 9.99331045e-01 4.02654336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.999254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:1016.35, Y:226.62, Z:40.27 [[ 2.48128705e-01 -9.68692059e-01 -8.23649726e-03 1.01635222e+03] [ 9.68036898e-01 2.48263853e-01 -3.56317706e-02 2.26615233e+02] [ 3.65610378e-02 8.68031855e-04 9.99331045e-01 4.02659670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.059254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1016.37, Y:226.67, Z:40.27 [[ 2.51125140e-01 -9.67919672e-01 -8.22632743e-03 1.01636739e+03] [ 9.67264020e-01 2.51257886e-01 -3.56341184e-02 2.26671490e+02] [ 3.65578938e-02 9.91592425e-04 9.99331045e-01 4.02690978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.119254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1016.38, Y:226.73, Z:40.27 [[ 2.51651421e-01 -9.67783065e-01 -8.21590668e-03 1.01638287e+03] [ 9.67127264e-01 2.51783427e-01 -3.56365209e-02 2.26727703e+02] [ 3.65570505e-02 1.02215376e-03 9.99331045e-01 4.02711658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.1792541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1016.40, Y:226.78, Z:40.27 [[ 2.50408251e-01 -9.68105560e-01 -8.20559767e-03 1.01639893e+03] [ 9.67449852e-01 2.50540720e-01 -3.56388945e-02 2.26783055e+02] [ 3.65580482e-02 9.85768978e-04 9.99331045e-01 4.02741039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.239254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1016.41, Y:226.84, Z:40.28 [[ 2.51395431e-01 -9.67849774e-01 -8.19468583e-03 1.01641402e+03] [ 9.67193850e-01 2.51526830e-01 -3.56414033e-02 2.26839116e+02] [ 3.65567075e-02 1.03423622e-03 9.99331045e-01 4.02771318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.299254154 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:1016.43, Y:226.90, Z:40.28 [[ 2.52845353e-01 -9.67472090e-01 -8.18424304e-03 1.01642829e+03] [ 9.66815895e-01 2.52975385e-01 -3.56438011e-02 2.26895662e+02] [ 3.65547948e-02 1.09971323e-03 9.99331045e-01 4.02778500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.359254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1016.44, Y:226.95, Z:40.28 [[ 2.52056650e-01 -9.67677960e-01 -8.17378224e-03 1.01644306e+03] [ 9.67021794e-01 2.52186831e-01 -3.56461998e-02 2.26952366e+02] [ 3.65553622e-02 1.08063613e-03 9.99331045e-01 4.02798405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.4192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1016.46, Y:227.01, Z:40.28 [[ 2.49608155e-01 -9.68312516e-01 -8.16338432e-03 1.01645625e+03] [ 9.67656605e-01 2.49739613e-01 -3.56485809e-02 2.27008491e+02] [ 3.65576875e-02 9.98823752e-04 9.99331045e-01 4.02819258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.479254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1016.46, Y:227.07, Z:40.27 [[ 2.41929029e-01 -9.70259693e-01 -8.15311694e-03 1.01646209e+03] [ 9.69604765e-01 2.42065302e-01 -3.56509290e-02 2.27067706e+02] [ 3.65642461e-02 7.19693587e-04 9.99331045e-01 4.02739665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.539254154 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:1016.48, Y:227.12, Z:40.28 [[ 2.47539182e-01 -9.68843660e-01 -8.14347485e-03 1.01648158e+03] [ 9.68187883e-01 2.47671309e-01 -3.56531313e-02 2.27121976e+02] [ 3.65592153e-02 9.41133288e-04 9.99331045e-01 4.02839598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.599254154 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:1016.49, Y:227.18, Z:40.29 [[ 2.44900576e-01 -9.69514082e-01 -8.13346463e-03 1.01649413e+03] [ 9.68858592e-01 2.45034119e-01 -3.56554148e-02 2.27178298e+02] [ 3.65614030e-02 8.51854522e-04 9.99331045e-01 4.02852671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.6592541539999 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:1016.51, Y:227.24, Z:40.29 [[ 2.43141234e-01 -9.69956883e-01 -8.12321195e-03 1.01650752e+03] [ 9.69301559e-01 2.43275589e-01 -3.56577504e-02 2.27235251e+02] [ 3.65626596e-02 7.96027413e-04 9.99331045e-01 4.02881122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.719254154 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:1016.52, Y:227.29, Z:40.29 [[ 2.41565974e-01 -9.70350484e-01 -8.11283954e-03 1.01652165e+03] [ 9.69695301e-01 2.41701013e-01 -3.56601102e-02 2.27291057e+02] [ 3.65636867e-02 7.47286866e-04 9.99331045e-01 4.02913714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.779254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1016.54, Y:227.35, Z:40.29 [[ 2.40614985e-01 -9.70586822e-01 -8.10246381e-03 1.01653539e+03] [ 9.69931693e-01 2.40750284e-01 -3.56624676e-02 2.27347823e+02] [ 3.65641915e-02 7.22087643e-04 9.99331045e-01 4.02940583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.839254154 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:1016.55, Y:227.40, Z:40.29 [[ 2.40053301e-01 -9.70725981e-01 -8.09211874e-03 1.01654800e+03] [ 9.70070852e-01 2.40188600e-01 -3.56648148e-02 2.27404439e+02] [ 3.65643970e-02 7.11528003e-04 9.99331046e-01 4.02940894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.899254154 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:1016.56, Y:227.46, Z:40.29 [[ 2.40196058e-01 -9.70690753e-01 -8.08178469e-03 1.01656065e+03] [ 9.70035526e-01 2.40330881e-01 -3.56671564e-02 2.27461241e+02] [ 3.65640813e-02 7.27492100e-04 9.99331046e-01 4.02943610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.959254154 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:1016.57, Y:227.52, Z:40.29 [[ 2.39946520e-01 -9.70752554e-01 -8.07135695e-03 1.01657360e+03] [ 9.70097283e-01 2.40081128e-01 -3.56695160e-02 2.27516564e+02] [ 3.65640542e-02 7.28774781e-04 9.99331046e-01 4.02948524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.019254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1016.59, Y:227.57, Z:40.30 [[ 2.39477239e-01 -9.70868519e-01 -8.06048344e-03 1.01658755e+03] [ 9.70213230e-01 2.39611765e-01 -3.56719730e-02 2.27572598e+02] [ 3.65641822e-02 7.22237935e-04 9.99331046e-01 4.03004347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.079254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1016.60, Y:227.63, Z:40.30 [[ 2.33283108e-01 -9.72375538e-01 -8.05018102e-03 1.01659511e+03] [ 9.71721040e-01 2.33421430e-01 -3.56742978e-02 2.27631031e+02] [ 3.65678993e-02 4.99680784e-04 9.99331046e-01 4.02953094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.139254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1016.61, Y:227.69, Z:40.31 [[ 2.37239619e-01 -9.71417898e-01 -8.03936740e-03 1.01661274e+03] [ 9.70762761e-01 2.37374879e-01 -3.56767345e-02 2.27685484e+02] [ 3.65653623e-02 6.59616435e-04 9.99331046e-01 4.03072375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.199254154 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:1016.62, Y:227.74, Z:40.31 [[ 2.36548278e-01 -9.71586533e-01 -8.03256062e-03 1.01662399e+03] [ 9.70931440e-01 2.36683754e-01 -3.56782670e-02 2.27742912e+02] [ 3.65657003e-02 6.40566953e-04 9.99331046e-01 4.03062368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.259254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1016.64, Y:227.80, Z:40.31 [[ 2.38187580e-01 -9.71186039e-01 -8.02215335e-03 1.01663528e+03] [ 9.70530641e-01 2.38321568e-01 -3.56806069e-02 2.27798936e+02] [ 3.65643594e-02 7.12931768e-04 9.99331046e-01 4.03073592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.319254154 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:1016.65, Y:227.86, Z:40.31 [[ 2.39192058e-01 -9.70939224e-01 -8.01135207e-03 1.01664537e+03] [ 9.70283608e-01 2.39324972e-01 -3.56830319e-02 2.27855798e+02] [ 3.65633720e-02 7.61814259e-04 9.99331046e-01 4.03070186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.379254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1016.66, Y:227.91, Z:40.31 [[ 2.39658160e-01 -9.70824365e-01 -8.00123165e-03 1.01665600e+03] [ 9.70168609e-01 2.39790387e-01 -3.56853011e-02 2.27912561e+02] [ 3.65627782e-02 7.89729817e-04 9.99331046e-01 4.03116551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.439254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1016.67, Y:227.97, Z:40.31 [[ 2.39262755e-01 -9.70921975e-01 -7.99080783e-03 1.01666702e+03] [ 9.70266196e-01 2.39394866e-01 -3.56876351e-02 2.27969370e+02] [ 3.65628675e-02 7.85511175e-04 9.99331046e-01 4.03146273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.499254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1016.68, Y:228.03, Z:40.32 [[ 2.40122962e-01 -9.70709677e-01 -7.98031286e-03 1.01667657e+03] [ 9.70053704e-01 2.40254107e-01 -3.56899818e-02 2.28026899e+02] [ 3.65619137e-02 8.28652104e-04 9.99331046e-01 4.03157789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.559254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1016.69, Y:228.08, Z:40.32 [[ 2.41593820e-01 -9.70344736e-01 -7.96990218e-03 1.01668623e+03] [ 9.69688490e-01 2.41723587e-01 -3.56923064e-02 2.28084558e+02] [ 3.65603550e-02 8.94718245e-04 9.99331046e-01 4.03158596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.619254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1016.70, Y:228.14, Z:40.32 [[ 2.41386114e-01 -9.70396510e-01 -7.95970136e-03 1.01669668e+03] [ 9.69740217e-01 2.41515647e-01 -3.56945812e-02 2.28142281e+02] [ 3.65602894e-02 8.97333717e-04 9.99331046e-01 4.03164925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.6792541539999 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:1016.71, Y:228.20, Z:40.32 [[ 2.37557825e-01 -9.71340864e-01 -7.95018992e-03 1.01670709e+03] [ 9.70685017e-01 2.37689596e-01 -3.56966995e-02 2.28199850e+02] [ 3.65633404e-02 7.62900064e-04 9.99331046e-01 4.03181389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.739254154 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:1016.72, Y:228.26, Z:40.32 [[ 2.30819402e-01 -9.72964214e-01 -7.93989196e-03 1.01671922e+03] [ 9.72309217e-01 2.30955337e-01 -3.56989899e-02 2.28256107e+02] [ 3.65676001e-02 5.19989362e-04 9.99331046e-01 4.03223712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.799254154 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:1016.73, Y:228.31, Z:40.32 [[ 2.28354966e-01 -9.73545649e-01 -7.92957654e-03 1.01673063e+03] [ 9.72890920e-01 2.28492181e-01 -3.57012811e-02 2.28313428e+02] [ 3.65686731e-02 4.37951805e-04 9.99331046e-01 4.03246571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.859254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1016.74, Y:228.37, Z:40.33 [[ 2.26728501e-01 -9.73925804e-01 -7.91928883e-03 1.01673990e+03] [ 9.73271225e-01 2.26866433e-01 -3.57035630e-02 2.28370845e+02] [ 3.65692421e-02 3.87399387e-04 9.99331046e-01 4.03276325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.9192541539999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1016.75, Y:228.43, Z:40.33 [[ 2.27457810e-01 -9.73755817e-01 -7.90911240e-03 1.01674848e+03] [ 9.73101057e-01 2.27594878e-01 -3.57058171e-02 2.28428380e+02] [ 3.65688206e-02 4.25201325e-04 9.99331047e-01 4.03295543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.979254154 meters Centerline goodness : 0.999739 with order 1 Centerline is valid? [True, True] Translation: X:1016.76, Y:228.49, Z:40.33 [[ 2.27241488e-01 -9.73806405e-01 -7.89891266e-03 1.01675606e+03] [ 9.73151597e-01 2.27378327e-01 -3.57080734e-02 2.28485323e+02] [ 3.65687921e-02 4.27516244e-04 9.99331047e-01 4.03288824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.039254154 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:1016.77, Y:228.54, Z:40.33 [[ 2.27350715e-01 -9.73780996e-01 -7.88827427e-03 1.01676599e+03] [ 9.73126091e-01 2.27487091e-01 -3.57104234e-02 2.28542578e+02] [ 3.65686122e-02 4.42504769e-04 9.99331047e-01 4.03317078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.099254154 meters Centerline goodness : 0.999652 with order 1 Centerline is valid? [True, True] Translation: X:1016.78, Y:228.60, Z:40.34 [[ 2.27482227e-01 -9.73750362e-01 -7.87834393e-03 1.01677503e+03] [ 9.73095364e-01 2.27618151e-01 -3.57126140e-02 2.28599659e+02] [ 3.65684249e-02 4.57605020e-04 9.99331047e-01 4.03358183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.1592541539999 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:1016.78, Y:228.66, Z:40.34 [[ 2.28963985e-01 -9.73403097e-01 -7.86796472e-03 1.01678332e+03] [ 9.72747814e-01 2.29098531e-01 -3.57149006e-02 2.28657381e+02] [ 3.65675340e-02 5.23880488e-04 9.99331047e-01 4.03397767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.219254154 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:1016.79, Y:228.72, Z:40.34 [[ 2.29192965e-01 -9.73349292e-01 -7.85752960e-03 1.01679134e+03] [ 9.72693899e-01 2.29326974e-01 -3.57171962e-02 2.28715208e+02] [ 3.65672511e-02 5.43158986e-04 9.99331047e-01 4.03402672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.279254154 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:1016.80, Y:228.77, Z:40.34 [[ 2.27112680e-01 -9.73836871e-01 -7.84717776e-03 1.01680162e+03] [ 9.73181688e-01 2.27247710e-01 -3.57194704e-02 2.28772828e+02] [ 3.65681905e-02 4.75614960e-04 9.99331047e-01 4.03425360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.339254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1016.81, Y:228.83, Z:40.35 [[ 2.22890181e-01 -9.74812060e-01 -7.83672674e-03 1.01681247e+03] [ 9.74157388e-01 2.23027666e-01 -3.57217632e-02 2.28829497e+02] [ 3.65698124e-02 3.27825023e-04 9.99331047e-01 4.03481419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.399254154 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:1016.82, Y:228.89, Z:40.35 [[ 2.17830586e-01 -9.75955217e-01 -7.82621365e-03 1.01682259e+03] [ 9.75301184e-01 2.17971080e-01 -3.57240663e-02 2.28887032e+02] [ 3.65709772e-02 1.48878871e-04 9.99331047e-01 4.03470322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.459254154 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:1016.83, Y:228.94, Z:40.35 [[ 2.15333252e-01 -9.76509346e-01 -7.81587030e-03 1.01683302e+03] [ 9.75855592e-01 2.15475040e-01 -3.57263291e-02 2.28944338e+02] [ 3.65712193e-02 6.59058960e-05 9.99331047e-01 4.03475511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.519254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1016.84, Y:229.00, Z:40.35 [[ 2.12887342e-01 -9.77045574e-01 -7.80549253e-03 1.01684043e+03] [ 9.76392094e-01 2.13030387e-01 -3.57285963e-02 2.29002700e+02] [ 3.65712740e-02 -1.50552974e-05 9.99331047e-01 4.03476385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.579254154 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1016.85, Y:229.06, Z:40.35 [[ 2.15709789e-01 -9.76426402e-01 -7.79542919e-03 1.01685372e+03] [ 9.75772432e-01 2.15850577e-01 -3.57307919e-02 2.29058584e+02] [ 3.65711364e-02 1.00916689e-04 9.99331047e-01 4.03519213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.639254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1016.86, Y:229.12, Z:40.35 [[ 2.14510624e-01 -9.76690605e-01 -7.78807354e-03 1.01686052e+03] [ 9.76036750e-01 2.14651946e-01 -3.57323951e-02 2.29116866e+02] [ 3.65712197e-02 6.35323906e-05 9.99331047e-01 4.03504850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.699254154 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:1016.88, Y:229.17, Z:40.36 [[ 2.18180170e-01 -9.75877507e-01 -7.77847010e-03 1.01687627e+03] [ 9.75223051e-01 2.18318682e-01 -3.57344855e-02 2.29173113e+02] [ 3.65706660e-02 2.10812788e-04 9.99331047e-01 4.03566200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.759254154 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1016.88, Y:229.23, Z:40.36 [[ 2.17194458e-01 -9.76097442e-01 -7.76864562e-03 1.01688324e+03] [ 9.75443050e-01 2.17333271e-01 -3.57366212e-02 2.29231458e+02] [ 3.65708097e-02 1.83924698e-04 9.99331047e-01 4.03551504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.819254154 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:1016.90, Y:229.29, Z:40.36 [[ 2.23561924e-01 -9.74658813e-01 -7.76304277e-03 1.01689770e+03] [ 9.74003487e-01 2.23696256e-01 -3.57378383e-02 2.29286471e+02] [ 3.65687626e-02 4.28389155e-04 9.99331047e-01 4.03632891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.879254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1016.90, Y:229.35, Z:40.36 [[ 2.22995518e-01 -9.74788621e-01 -7.75523035e-03 1.01690471e+03] [ 9.74133314e-01 2.23129945e-01 -3.57395335e-02 2.29345244e+02] [ 3.65689147e-02 4.15127556e-04 9.99331047e-01 4.03611757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.939254154 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:1016.92, Y:229.40, Z:40.37 [[ 2.30380419e-01 -9.73069820e-01 -7.74523588e-03 1.01692033e+03] [ 9.72413440e-01 2.30509506e-01 -3.57416993e-02 2.29400122e+02] [ 3.65645194e-02 7.02616185e-04 9.99331047e-01 4.03661767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.999254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1016.93, Y:229.46, Z:40.37 [[ 2.33349195e-01 -9.72362215e-01 -7.73801112e-03 1.01693349e+03] [ 9.71705393e-01 2.33476013e-01 -3.57432634e-02 2.29456592e+02] [ 3.65620387e-02 8.21594603e-04 9.99331047e-01 4.03710789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.059254154 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:1016.95, Y:229.51, Z:40.37 [[ 2.33926921e-01 -9.72223470e-01 -7.72782339e-03 1.01694776e+03] [ 9.71566502e-01 2.34052974e-01 -3.57454659e-02 2.29513087e+02] [ 3.65613009e-02 8.53732424e-04 9.99331047e-01 4.03712190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.119254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1016.96, Y:229.57, Z:40.37 [[ 2.29192789e-01 -9.73350453e-01 -7.71759973e-03 1.01695740e+03] [ 9.72694032e-01 2.29321663e-01 -3.57476731e-02 2.29571235e+02] [ 3.65648266e-02 6.86245699e-04 9.99331048e-01 4.03678276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.1792541539999 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:1016.98, Y:229.63, Z:40.37 [[ 2.30956426e-01 -9.72933564e-01 -7.70775111e-03 1.01697869e+03] [ 9.72276840e-01 2.31083748e-01 -3.57497965e-02 2.29625254e+02] [ 3.65633129e-02 7.62577339e-04 9.99331048e-01 4.03725081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.239254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1017.00, Y:229.68, Z:40.37 [[ 2.25759573e-01 -9.74152606e-01 -7.70162034e-03 1.01699540e+03] [ 9.73496526e-01 2.25890174e-01 -3.57511172e-02 2.29680272e+02] [ 3.65667643e-02 5.73656295e-04 9.99331048e-01 4.03749006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.299254154 meters Centerline goodness : 0.999784 with order 1 Centerline is valid? [True, True] Translation: X:1017.01, Y:229.74, Z:40.38 [[ 2.20194868e-01 -9.75425585e-01 -7.69078389e-03 1.01701050e+03] [ 9.74770180e-01 2.20328815e-01 -3.57534482e-02 2.29736266e+02] [ 3.65693294e-02 3.75978999e-04 9.99331048e-01 4.03768879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.359254154 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:1017.03, Y:229.79, Z:40.38 [[ 2.14073200e-01 -9.76787426e-01 -7.68047612e-03 1.01702943e+03] [ 9.76132795e-01 2.14210878e-01 -3.57556623e-02 2.29791522e+02] [ 3.65709229e-02 1.57164442e-04 9.99331048e-01 4.03829959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.4192541539999 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:1017.04, Y:229.85, Z:40.38 [[ 2.15258700e-01 -9.76526940e-01 -7.66987866e-03 1.01704368e+03] [ 9.75872061e-01 2.15395195e-01 -3.57579354e-02 2.29847221e+02] [ 3.65706423e-02 2.12386407e-04 9.99331048e-01 4.03818290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.479254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1017.06, Y:229.90, Z:40.39 [[ 2.19941755e-01 -9.75482940e-01 -7.65883298e-03 1.01705686e+03] [ 9.74827332e-01 2.20074701e-01 -3.57603011e-02 2.29903698e+02] [ 3.65690790e-02 3.99143670e-04 9.99331048e-01 4.03883240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.539254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1017.07, Y:229.96, Z:40.39 [[ 2.21427357e-01 -9.75146873e-01 -7.64865425e-03 1.01706713e+03] [ 9.74490988e-01 2.21558931e-01 -3.57624781e-02 2.29961277e+02] [ 3.65682963e-02 4.65246368e-04 9.99331048e-01 4.03925750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.599254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1017.08, Y:230.02, Z:40.40 [[ 2.25975633e-01 -9.74103002e-01 -7.63904350e-03 1.01708317e+03] [ 9.73446441e-01 2.26103792e-01 -3.57645309e-02 2.30016666e+02] [ 3.65655536e-02 6.45712801e-04 9.99331048e-01 4.03968251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.6592541539999 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:1017.10, Y:230.07, Z:40.40 [[ 2.27653058e-01 -9.73712421e-01 -7.62929598e-03 1.01709591e+03] [ 9.73055572e-01 2.27779728e-01 -3.57666101e-02 2.30073138e+02] [ 3.65641915e-02 7.18649191e-04 9.99331048e-01 4.04011276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.719254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1017.11, Y:230.13, Z:40.41 [[ 2.34045967e-01 -9.72195678e-01 -7.61896626e-03 1.01710996e+03] [ 9.71537940e-01 2.34167939e-01 -3.57688104e-02 2.30129609e+02] [ 3.65584005e-02 9.69431029e-04 9.99331048e-01 4.04114903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.779254154 meters Centerline goodness : 0.999891 with order 1 Centerline is valid? [True, True] Translation: X:1017.12, Y:230.19, Z:40.40 [[ 2.36433977e-01 -9.71617767e-01 -7.60849303e-03 1.01711962e+03] [ 9.70959661e-01 2.36553947e-01 -3.57710380e-02 2.30186845e+02] [ 3.65555952e-02 1.06994895e-03 9.99331048e-01 4.04015330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.839254154 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:1017.13, Y:230.24, Z:40.40 [[ 2.39397372e-01 -9.70891915e-01 -7.60188084e-03 1.01713389e+03] [ 9.70233402e-01 2.39515090e-01 -3.57724432e-02 2.30242862e+02] [ 3.65519410e-02 1.18823016e-03 9.99331048e-01 4.04023742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.899254154 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:1017.15, Y:230.30, Z:40.40 [[ 2.38920086e-01 -9.71009556e-01 -7.59171261e-03 1.01714973e+03] [ 9.70351035e-01 2.39037753e-01 -3.57746010e-02 2.30299343e+02] [ 3.65521853e-02 1.18064454e-03 9.99331048e-01 4.04039691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.959254154 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:1017.17, Y:230.36, Z:40.41 [[ 2.35311696e-01 -9.71890389e-01 -7.58143722e-03 1.01716693e+03] [ 9.71232240e-01 2.35431431e-01 -3.57767784e-02 2.30355391e+02] [ 3.65560157e-02 1.05535816e-03 9.99331048e-01 4.04075303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.019254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1017.18, Y:230.41, Z:40.41 [[ 2.30477031e-01 -9.73048309e-01 -7.57139397e-03 1.01718425e+03] [ 9.72390695e-01 2.30599668e-01 -3.57789037e-02 2.30411095e+02] [ 3.65605627e-02 8.83862466e-04 9.99331048e-01 4.04116925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.079254154 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:1017.20, Y:230.47, Z:40.41 [[ 2.24246098e-01 -9.74503213e-01 -7.56142902e-03 1.01720094e+03] [ 9.73846327e-01 2.24372574e-01 -3.57810096e-02 2.30467200e+02] [ 3.65652861e-02 6.60081889e-04 9.99331048e-01 4.04130855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.139254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:1017.22, Y:230.52, Z:40.41 [[ 2.18862202e-01 -9.75726560e-01 -7.55097728e-03 1.01721615e+03] [ 9.75070306e-01 2.18991920e-01 -3.57832151e-02 2.30522137e+02] [ 3.65682364e-02 4.68859525e-04 9.99331048e-01 4.04134290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.199254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1017.23, Y:230.58, Z:40.41 [[ 2.14808619e-01 -9.76627055e-01 -7.54006348e-03 1.01723190e+03] [ 9.75971265e-01 2.14940661e-01 -3.57855147e-02 2.30577982e+02] [ 3.65697680e-02 3.28151705e-04 9.99331048e-01 4.04119204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.259254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1017.24, Y:230.63, Z:40.41 [[ 2.09636921e-01 -9.77750313e-01 -7.52906842e-03 1.01724216e+03] [ 9.77095148e-01 2.09772029e-01 -3.57878278e-02 2.30634305e+02] [ 3.65709478e-02 1.45833801e-04 9.99331049e-01 4.04073443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.319254154 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:1017.25, Y:230.69, Z:40.41 [[ 2.09579575e-01 -9.77762696e-01 -7.51748955e-03 1.01725401e+03] [ 9.77107451e-01 2.09714298e-01 -3.57902599e-02 2.30690443e+02] [ 3.65709060e-02 1.55512397e-04 9.99331049e-01 4.04142496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.379254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1017.26, Y:230.75, Z:40.42 [[ 2.09876120e-01 -9.77699166e-01 -7.50695377e-03 1.01726233e+03] [ 9.77043802e-01 2.10010259e-01 -3.57924696e-02 2.30747903e+02] [ 3.65708050e-02 1.77362000e-04 9.99331049e-01 4.04162259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.4392541539999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:1017.27, Y:230.81, Z:40.41 [[ 2.10388488e-01 -9.77589118e-01 -7.49666811e-03 1.01727037e+03] [ 9.76933607e-01 2.10521907e-01 -3.57946238e-02 2.30806229e+02] [ 3.65706476e-02 2.07029778e-04 9.99331049e-01 4.04081069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.499254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1017.28, Y:230.86, Z:40.40 [[ 2.13638660e-01 -9.76884070e-01 -7.48571858e-03 1.01727761e+03] [ 9.76228039e-01 2.13769497e-01 -3.57969135e-02 2.30863831e+02] [ 3.65696529e-02 3.39836285e-04 9.99331049e-01 4.04046703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.559254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:1017.28, Y:230.92, Z:40.40 [[ 2.15037419e-01 -9.76577205e-01 -7.47470685e-03 1.01728362e+03] [ 9.75920907e-01 2.15166912e-01 -3.57992127e-02 2.30922175e+02] [ 3.65690047e-02 4.03447627e-04 9.99331049e-01 4.04003303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.619254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1017.29, Y:230.98, Z:40.40 [[ 2.13757462e-01 -9.76858250e-01 -7.46371072e-03 1.01729302e+03] [ 9.76202042e-01 2.13887412e-01 -3.58015051e-02 2.30979658e+02] [ 3.65693894e-02 3.66749216e-04 9.99331049e-01 4.04003278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.6792541539999 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:1017.30, Y:231.04, Z:40.40 [[ 2.10980057e-01 -9.77461954e-01 -7.45272062e-03 1.01730398e+03] [ 9.76806038e-01 2.11111469e-01 -3.58037928e-02 2.31035801e+02] [ 3.65702001e-02 2.74023757e-04 9.99331049e-01 4.03991063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.739254154 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:1017.32, Y:231.09, Z:40.40 [[ 2.07288067e-01 -9.78251636e-01 -7.44274545e-03 1.01731691e+03] [ 9.77596146e-01 2.07421589e-01 -3.58058663e-02 2.31092231e+02] [ 3.65709333e-02 1.46129531e-04 9.99331049e-01 4.04018133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.799254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1017.33, Y:231.15, Z:40.41 [[ 2.04069621e-01 -9.78928168e-01 -7.43183444e-03 1.01732873e+03] [ 9.78273038e-01 2.04204900e-01 -3.58081308e-02 2.31149728e+02] [ 3.65712049e-02 3.69884380e-05 9.99331049e-01 4.04077296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.859254154 meters Centerline goodness : 0.998761 with order 1 Centerline is valid? [True, True] Translation: X:1017.35, Y:231.21, Z:40.42 [[ 2.06344931e-01 -9.78451166e-01 -7.42200079e-03 1.01734525e+03] [ 9.77795650e-01 2.06478326e-01 -3.58101689e-02 2.31205367e+02] [ 3.65709838e-02 1.32046735e-04 9.99331049e-01 4.04182095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.9192541539999 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:1017.36, Y:231.26, Z:40.43 [[ 2.07522959e-01 -9.78202082e-01 -7.41004825e-03 1.01735662e+03] [ 9.77546317e-01 2.07655127e-01 -3.58126420e-02 2.31260981e+02] [ 3.65707355e-02 1.88280072e-04 9.99331049e-01 4.04256300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.979254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1017.37, Y:231.32, Z:40.43 [[ 2.05439860e-01 -9.78641791e-01 -7.39649673e-03 1.01736649e+03] [ 9.77986209e-01 2.05572928e-01 -3.58154407e-02 2.31317171e+02] [ 3.65710065e-02 1.24247322e-04 9.99331049e-01 4.04251525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.039254154 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:1017.38, Y:231.37, Z:40.42 [[ 1.96441143e-01 -9.80487813e-01 -7.38421330e-03 1.01737752e+03] [ 9.79833385e-01 1.96579780e-01 -3.58179730e-02 2.31372973e+02] [ 3.65706730e-02 -1.99175145e-04 9.99331049e-01 4.04243933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.099254154 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:1017.39, Y:231.43, Z:40.43 [[ 1.86605868e-01 -9.82407187e-01 -7.37357526e-03 1.01738920e+03] [ 9.81754096e-01 1.86750668e-01 -3.58201629e-02 2.31429028e+02] [ 3.65670055e-02 -5.54785128e-04 9.99331049e-01 4.04287724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.1592541539999 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:1017.40, Y:231.49, Z:40.43 [[ 1.79085432e-01 -9.83805968e-01 -7.36382781e-03 1.01740067e+03] [ 9.83153922e-01 1.79234868e-01 -3.58221666e-02 2.31486082e+02] [ 3.65619160e-02 -8.24548024e-04 9.99331049e-01 4.04312098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.219254154 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:1017.40, Y:231.55, Z:40.42 [[ 1.70004286e-01 -9.85415883e-01 -7.35392203e-03 1.01740282e+03] [ 9.84765158e-01 1.70159370e-01 -3.58242000e-02 2.31545498e+02] [ 3.65530745e-02 -1.15161863e-03 9.99331050e-01 4.04237781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.279254154 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:1017.42, Y:231.60, Z:40.43 [[ 1.75133281e-01 -9.84517346e-01 -7.34361169e-03 1.01741811e+03] [ 9.83865735e-01 1.75284599e-01 -3.58263134e-02 2.31600589e+02] [ 3.65588491e-02 -9.50748097e-04 9.99331050e-01 4.04306570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.339254154 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:1017.42, Y:231.66, Z:40.42 [[ 1.65621191e-01 -9.86162180e-01 -7.33318085e-03 1.01741755e+03] [ 9.85511968e-01 1.65778414e-01 -3.58284484e-02 2.31660983e+02] [ 3.65483438e-02 -1.29298719e-03 9.99331050e-01 4.04237905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.399254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1017.42, Y:231.72, Z:40.42 [[ 1.54725682e-01 -9.87930327e-01 -7.32347703e-03 1.01742150e+03] [ 9.87281801e-01 1.54889721e-01 -3.58304318e-02 2.31719086e+02] [ 3.65323015e-02 -1.68644762e-03 9.99331050e-01 4.04213030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.459254154 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:1017.43, Y:231.78, Z:40.43 [[ 1.45161704e-01 -9.89380917e-01 -7.31298838e-03 1.01743376e+03] [ 9.88733909e-01 1.45331631e-01 -3.58325724e-02 2.31776302e+02] [ 3.65148719e-02 -2.02908231e-03 9.99331050e-01 4.04298488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.519254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1017.44, Y:231.83, Z:40.43 [[ 1.39672327e-01 -9.90170846e-01 -7.30320272e-03 1.01743835e+03] [ 9.89524696e-01 1.39845487e-01 -3.58345667e-02 2.31834038e+02] [ 3.65036632e-02 -2.22160214e-03 9.99331050e-01 4.04333433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.579254154 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:1017.44, Y:231.89, Z:40.44 [[ 1.45740927e-01 -9.89295882e-01 -7.29661935e-03 1.01744286e+03] [ 9.88648620e-01 1.45909884e-01 -3.58359072e-02 2.31891912e+02] [ 3.65169643e-02 -1.99103432e-03 9.99331050e-01 4.04360033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.639254154 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:1017.44, Y:231.95, Z:40.43 [[ 1.57625019e-01 -9.87472156e-01 -7.28662765e-03 1.01744186e+03] [ 9.86822820e-01 1.57785820e-01 -3.58379387e-02 2.31952288e+02] [ 3.65386931e-02 -1.54165466e-03 9.99331050e-01 4.04308033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.699254154 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:1017.45, Y:232.01, Z:40.44 [[ 1.79515261e-01 -9.83728276e-01 -7.27664841e-03 1.01745217e+03] [ 9.83075448e-01 1.79661238e-01 -3.58399648e-02 2.32008913e+02] [ 3.65641185e-02 -7.19673772e-04 9.99331050e-01 4.04385596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.759254154 meters Centerline goodness : 0.999701 with order 1 Centerline is valid? [True, True] Translation: X:1017.46, Y:232.07, Z:40.44 [[ 1.89602968e-01 -9.81833937e-01 -7.26877147e-03 1.01745773e+03] [ 9.81179583e-01 1.89741950e-01 -3.58415623e-02 2.32067768e+02] [ 3.65696531e-02 -3.36303568e-04 9.99331050e-01 4.04405791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.819254154 meters Centerline goodness : 0.999132 with order 1 Centerline is valid? [True, True] Translation: X:1017.47, Y:232.12, Z:40.44 [[ 2.00785588e-01 -9.79608315e-01 -7.25931313e-03 1.01746526e+03] [ 9.78952350e-01 2.00916753e-01 -3.58434779e-02 2.32124974e+02] [ 3.65710866e-02 9.03321166e-05 9.99331050e-01 4.04416296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.879254154 meters Centerline goodness : 0.998872 with order 1 Centerline is valid? [True, True] Translation: X:1017.48, Y:232.18, Z:40.44 [[ 2.08761096e-01 -9.77939808e-01 -7.24820417e-03 1.01747555e+03] [ 9.77282719e-01 2.08886505e-01 -3.58457242e-02 2.32182347e+02] [ 3.65690126e-02 3.99647995e-04 9.99331050e-01 4.04379445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.9392541539999 meters Centerline goodness : 0.996191 with order 1 Centerline is valid? [True, True] Translation: X:1017.49, Y:232.24, Z:40.44 [[ 2.10263532e-01 -9.77617952e-01 -7.23784520e-03 1.01749028e+03] [ 9.76960599e-01 2.10387552e-01 -3.58478157e-02 2.32238608e+02] [ 3.65682207e-02 4.66398774e-04 9.99331050e-01 4.04416677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.999254154 meters Centerline goodness : 0.995673 with order 1 Centerline is valid? [True, True] Translation: X:1017.51, Y:232.29, Z:40.44 [[ 2.05520771e-01 -9.78626079e-01 -7.22562742e-03 1.01750964e+03] [ 9.77969249e-01 2.05647529e-01 -3.58502782e-02 2.32292993e+02] [ 3.65699496e-02 3.01535397e-04 9.99331050e-01 4.04421246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.059254154 meters Centerline goodness : 0.992464 with order 1 Centerline is valid? [True, True] Translation: X:1017.53, Y:232.35, Z:40.44 [[ 1.94712792e-01 -9.80833788e-01 -7.21177470e-03 1.01752966e+03] [ 9.80178292e-01 1.94846282e-01 -3.58530646e-02 2.32347761e+02] [ 3.65710847e-02 -8.77746806e-05 9.99331050e-01 4.04433169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.119254154 meters Centerline goodness : 0.991082 with order 1 Centerline is valid? [True, True] Translation: X:1017.55, Y:232.40, Z:40.45 [[ 1.85321740e-01 -9.82651541e-01 -7.19735580e-03 1.01755300e+03] [ 9.81997240e-01 1.85460967e-01 -3.58559589e-02 2.32401295e+02] [ 3.65687419e-02 -4.22894828e-04 9.99331050e-01 4.04460300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.1792541539999 meters Centerline goodness : 0.989165 with order 1 Centerline is valid? [True, True] Translation: X:1017.58, Y:232.45, Z:40.45 [[ 1.78018493e-01 -9.84000911e-01 -7.18495176e-03 1.01757736e+03] [ 9.83347563e-01 1.78162124e-01 -3.58584443e-02 2.32453394e+02] [ 3.65648282e-02 -6.81838602e-04 9.99331050e-01 4.04509270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.239254154 meters Centerline goodness : 0.987206 with order 1 Centerline is valid? [True, True] Translation: X:1017.60, Y:232.51, Z:40.45 [[ 1.69085174e-01 -9.85575355e-01 -7.17106586e-03 1.01760032e+03] [ 9.84923221e-01 1.69234221e-01 -3.58612211e-02 2.32506741e+02] [ 3.65575254e-02 -9.99348491e-04 9.99331051e-01 4.04525976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.299254154 meters Centerline goodness : 0.985736 with order 1 Centerline is valid? [True, True] Translation: X:1017.62, Y:232.56, Z:40.46 [[ 1.67126550e-01 -9.85909475e-01 -7.15703952e-03 1.01762249e+03] [ 9.85257522e-01 1.67276383e-01 -3.58640202e-02 2.32560856e+02] [ 3.65558810e-02 -1.05769705e-03 9.99331051e-01 4.04618200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.359254154 meters Centerline goodness : 0.983933 with order 1 Centerline is valid? [True, True] Translation: X:1017.64, Y:232.62, Z:40.47 [[ 1.73130240e-01 -9.84873026e-01 -7.14439654e-03 1.01763691e+03] [ 9.84220069e-01 1.73275638e-01 -3.58665386e-02 2.32616112e+02] [ 3.65619362e-02 -8.22076031e-04 9.99331051e-01 4.04655107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.4192541539999 meters Centerline goodness : 0.983328 with order 1 Centerline is valid? [True, True] Translation: X:1017.65, Y:232.67, Z:40.47 [[ 1.85785633e-01 -9.82564422e-01 -7.13130316e-03 1.01764985e+03] [ 9.81909549e-01 1.85922140e-01 -3.58691417e-02 2.32671677e+02] [ 3.65696097e-02 -3.38323478e-04 9.99331051e-01 4.04684022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.479254154 meters Centerline goodness : 0.983427 with order 1 Centerline is valid? [True, True] Translation: X:1017.66, Y:232.73, Z:40.47 [[ 1.88107231e-01 -9.82122707e-01 -7.11742238e-03 1.01766451e+03] [ 9.81467409e-01 1.88241684e-01 -3.58718959e-02 2.32727306e+02] [ 3.65703990e-02 -2.37755113e-04 9.99331051e-01 4.04667757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.539254154 meters Centerline goodness : 0.983808 with order 1 Centerline is valid? [True, True] Translation: X:1017.68, Y:232.78, Z:40.47 [[ 1.86521896e-01 -9.82425124e-01 -7.10339836e-03 1.01767639e+03] [ 9.81769938e-01 1.86656894e-01 -3.58746727e-02 2.32783446e+02] [ 3.65700780e-02 -2.82491005e-04 9.99331051e-01 4.04679071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.599254154 meters Centerline goodness : 0.183542 with order 1 Centerline is valid? [True, False] Translation: X:1017.79, Y:231.81, Z:40.23 [[ 9.45094052e-01 7.70054652e-02 3.17596270e-01 1.01778621e+03] [-7.47784159e-02 9.97015010e-01 -1.92161214e-02 2.31806731e+02] [-3.18127995e-01 -5.58830394e-03 9.48031302e-01 4.02270897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.6592541539999 meters Centerline goodness : 0.181118 with order 1 Centerline is valid? [False, False] Translation: X:1017.78, Y:231.81, Z:40.23 [[ 9.44886100e-01 7.54600477e-02 3.18584432e-01 1.01778352e+03] [-7.31032259e-02 9.97136336e-01 -1.93660861e-02 2.31807275e+02] [-3.19133479e-01 -4.99080411e-03 9.47696636e-01 4.02300768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.719254154 meters Centerline goodness : 0.985685 with order 1 Centerline is valid? [False, True] Translation: X:1017.78, Y:231.81, Z:40.24 [[ 9.48423846e-01 7.24691459e-02 3.08610483e-01 1.01778003e+03] [-6.92483048e-02 9.97370068e-01 -2.13920581e-02 2.31813500e+02] [-3.09349123e-01 -1.08201474e-03 9.50947922e-01 4.02386241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.779254154 meters Centerline goodness : 0.986430 with order 1 Centerline is valid? [True, True] Translation: X:1017.84, Y:231.82, Z:40.22 [[ 9.48187860e-01 7.75457479e-02 3.08101345e-01 1.01783973e+03] [-7.26929100e-02 9.96982967e-01 -2.72158988e-02 2.31817492e+02] [-3.09282270e-01 3.40900151e-03 9.50964172e-01 4.02198232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.839254154 meters Centerline goodness : 0.987375 with order 1 Centerline is valid? [True, True] Translation: X:1017.90, Y:231.82, Z:40.20 [[ 9.47681742e-01 8.35367808e-02 3.08092391e-01 1.01789982e+03] [-7.89595901e-02 9.96503472e-01 -2.73169039e-02 2.31821960e+02] [-3.09297103e-01 1.56088216e-03 9.50964177e-01 4.02000648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.899254154 meters Centerline goodness : 0.988303 with order 1 Centerline is valid? [True, True] Translation: X:1017.96, Y:231.83, Z:40.18 [[ 9.47086183e-01 9.00741210e-02 3.08081830e-01 1.01795864e+03] [-8.57953410e-02 9.95934964e-01 -2.74355173e-02 2.31831396e+02] [-3.09300696e-01 -4.48186290e-04 9.50964184e-01 4.01760706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.959254154 meters Centerline goodness : 0.991483 with order 1 Centerline is valid? [True, True] Translation: X:1018.02, Y:231.84, Z:40.16 [[ 9.46455169e-01 9.65090089e-02 3.08072432e-01 1.01801837e+03] [-9.25281110e-02 9.95329122e-01 -2.75406598e-02 2.31836453e+02] [-3.09291385e-01 -2.43936039e-03 9.50964189e-01 4.01569992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.019254154 meters Centerline goodness : 0.987926 with order 1 Centerline is valid? [True, True] Translation: X:1018.08, Y:231.84, Z:40.13 [[ 9.45979131e-01 1.01079307e-01 3.08068917e-01 1.01807681e+03] [-9.73217325e-02 9.94870759e-01 -2.75799280e-02 2.31842618e+02] [-3.09276518e-01 -3.89176442e-03 9.50964190e-01 4.01341916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 9911.77 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%| | 0/37002 [00:00