+ python -m lidar_slam --result /working/result.json --no-model /working/72c4f4b7-97ea-4ff3-ae43-ebdac9d7e672 Lidar SLAM 0.0.16 ===================================================== The recording path: /working/72c4f4b7-97ea-4ff3-ae43-ebdac9d7e672 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 0.025779523 Adjusted end_distance from 9.223372036854776e+18 to 109.115779523 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.025779523 meters Centerline goodness : 0.967598 with order 1 Centerline is valid? [0, True] SLAMing on 0.085779523 meters Centerline goodness : 0.966726 with order 1 Centerline is valid? [True, True] Translation: X:0.06, Y:0.01, Z:-0.02 [[ 0.99987365 -0.01589625 0. 0.0615342 ] [ 0.01589625 0.99987365 0. 0.00876253] [ 0. 0. 1. -0.01858739] [ 0. 0. 0. 1. ]] SLAMing on 0.145779523 meters Centerline goodness : 0.967984 with order 1 Centerline is valid? [True, True] Translation: X:0.12, Y:0.01, Z:-0.02 [[ 0.99977781 -0.0210793 0. 0.12077973] [ 0.0210793 0.99977781 0. 0.01286684] [ 0. 0. 1. -0.02100997] [ 0. 0. 0. 1. ]] SLAMing on 0.205779523 meters Centerline goodness : 0.973239 with order 1 Centerline is valid? [True, True] Translation: X:0.18, Y:0.01, Z:-0.02 [[ 0.99978688 -0.02064456 0. 0.18160855] [ 0.02064456 0.99978688 0. 0.01015235] [ 0. 0. 1. -0.0190746 ] [ 0. 0. 0. 1. ]] SLAMing on 0.26577952299999996 meters Centerline goodness : 0.209319 with order 1 Centerline is valid? [True, False] Translation: X:0.24, Y:0.03, Z:-0.03 [[ 0.99904183 -0.02867932 -0.03305919 0.23814735] [ 0.02884234 0.999574 0.00446482 0.02722708] [ 0.03291706 -0.00541404 0.99944342 -0.0299163 ] [ 0. 0. 0. 1. ]] SLAMing on 0.325779523 meters Centerline goodness : 0.202609 with order 1 Centerline is valid? [False, False] Translation: X:0.28, Y:0.04, Z:-0.04 [[ 0.99805525 -0.03057712 -0.0543208 0.28301196] [ 0.03106133 0.99948472 0.00809198 0.04162394] [ 0.05404538 -0.00976352 0.99849075 -0.03966704] [ 0. 0. 0. 1. ]] SLAMing on 0.38577952299999996 meters Centerline goodness : 0.928790 with order 3 Centerline is valid? [False, False] Translation: X:0.35, Y:0.07, Z:-0.06 [[ 0.99449571 -0.02840121 -0.10085461 0.35387651] [ 0.03047756 0.99935282 0.01910645 0.06766117] [ 0.1002467 -0.02207508 0.99471769 -0.0551368 ] [ 0. 0. 0. 1. ]] SLAMing on 0.445779523 meters Centerline goodness : 0.158246 with order 1 Centerline is valid? [False, False] Translation: X:0.41, Y:0.09, Z:-0.07 [[ 0.99108948 -0.01407833 -0.13245166 0.41054737] [ 0.01827575 0.99936682 0.03052799 0.09293813] [ 0.13193801 -0.03267662 0.99071923 -0.07014752] [ 0. 0. 0. 1. ]] SLAMing on 0.505779523 meters Centerline goodness : 0.853383 with order 3 Centerline is valid? [False, False] Translation: X:0.49, Y:0.22, Z:-0.14 [[ 0.98171613 0.0714224 -0.17644343 0.48592222] [-0.09247544 0.98915283 -0.11412702 0.21732414] [ 0.16637829 0.12835702 0.9776721 -0.13962275] [ 0. 0. 0. 1. ]] SLAMing on 0.565779523 meters SLAMing on 0.625779523 meters Centerline goodness : 0.675746 with order 1 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.27, Z:-0.09 [[ 0.27432027 0.74405956 0.60919928 -0.82365875] [-0.95624662 0.27805335 0.09098759 -0.26575468] [-0.10168971 -0.60750449 0.78778011 -0.09251824] [ 0. 0. 0. 1. ]] SLAMing on 0.6857795229999999 meters Centerline goodness : 0.688841 with order 1 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.24, Z:-0.09 [[ 0.74250461 0.41360779 0.5268923 -1.32852824] [-0.39082775 0.906327 -0.16070172 0.23586472] [-0.5440042 -0.08660237 0.83460138 -0.09318086] [ 0. 0. 0. 1. ]] SLAMing on 0.7457795229999999 meters SLAMing on 0.805779523 meters SLAMing on 0.8657795229999999 meters Centerline goodness : 0.816708 with order 1 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.30, Z:-0.01 [[ 0.80701518 0.12691839 0.57673063 -1.30324972] [-0.2210464 0.97055423 0.0957234 0.29994642] [-0.54759929 -0.20473447 0.81130685 -0.01195615] [ 0. 0. 0. 1. ]] SLAMing on 0.9257795229999999 meters Centerline goodness : 0.719461 with order 1 Centerline is valid? [False, False] Translation: X:-1.46, Y:0.38, Z:0.10 [[ 0.64637544 0.15176581 0.74777398 -1.45991888] [-0.27399578 0.96082048 0.04183677 0.38367013] [-0.71212716 -0.23192918 0.66263396 0.095518 ] [ 0. 0. 0. 1. ]] SLAMing on 0.9857795229999999 meters Centerline goodness : 0.744400 with order 1 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.10, Z:-0.00 [[ 0.67090741 0.02984009 0.74094049 -1.15206041] [-0.29255148 0.92879494 0.22749415 0.09585967] [-0.68139334 -0.36939075 0.63186517 -0.00480741] [ 0. 0. 0. 1. ]] SLAMing on 1.045779523 meters Centerline goodness : 0.200205 with order 1 Centerline is valid? [False, False] Translation: X:-0.71, Y:0.20, Z:0.35 [[ 0.94673306 0.23031256 0.22506141 -0.70860503] [-0.28394683 0.92672094 0.24609449 0.20158454] [-0.15189047 -0.29689126 0.94275387 0.35155306] [ 0. 0. 0. 1. ]] SLAMing on 1.105779523 meters Centerline goodness : 0.303213 with order 2 Centerline is valid? [False, False] Translation: X:-0.60, Y:0.17, Z:0.39 [[ 0.91690245 0.21548147 0.33594289 -0.59871441] [-0.2922177 0.93577084 0.19733665 0.1725226 ] [-0.27184317 -0.27910691 0.92097808 0.39309018] [ 0. 0. 0. 1. ]] SLAMing on 1.1657795229999999 meters Centerline goodness : 0.279865 with order 2 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.16, Z:0.41 [[ 0.91244728 0.21262205 0.34961668 -0.58375334] [-0.28989411 0.93889265 0.18558558 0.16444543] [-0.28879294 -0.27068887 0.91832792 0.40776397] [ 0. 0. 0. 1. ]] SLAMing on 1.225779523 meters Centerline goodness : 0.292860 with order 2 Centerline is valid? [False, False] Translation: X:-0.58, Y:0.16, Z:0.41 [[ 0.91089575 0.20892695 0.35583489 -0.57819004] [-0.28333982 0.9435992 0.17128657 0.16023308] [-0.29997914 -0.2568464 0.91871782 0.41478875] [ 0. 0. 0. 1. ]] SLAMing on 1.285779523 meters Centerline goodness : 0.323322 with order 2 Centerline is valid? [False, False] Translation: X:-0.56, Y:0.14, Z:0.42 [[ 0.90757858 0.21308231 0.36179698 -0.56301742] [-0.28371519 0.94641045 0.15431444 0.14269855] [-0.30952676 -0.24269978 0.91939654 0.4191386 ] [ 0. 0. 0. 1. ]] SLAMing on 1.3457795229999998 meters Centerline goodness : 0.196531 with order 1 Centerline is valid? [False, False] Translation: X:-0.56, Y:0.14, Z:0.42 [[ 0.90864246 0.21035168 0.36072296 -0.56119034] [-0.28020248 0.94763524 0.15321233 0.13849004] [-0.30960532 -0.24029069 0.92000268 0.41983294] [ 0. 0. 0. 1. ]] SLAMing on 1.4057795229999999 meters Centerline goodness : 0.124087 with order 1 Centerline is valid? [False, False] Translation: X:-0.56, Y:0.12, Z:0.42 [[ 0.90573437 0.20832458 0.36911533 -0.55531972] [-0.28135672 0.94683672 0.1560084 0.11504779] [-0.31699156 -0.24515525 0.91619608 0.42335054] [ 0. 0. 0. 1. ]] SLAMing on 1.465779523 meters Centerline goodness : 0.125107 with order 1 Centerline is valid? [False, False] Translation: X:-0.54, Y:0.09, Z:0.43 [[ 0.90268214 0.21268672 0.37407128 -0.54378006] [-0.28283298 0.94840828 0.14327332 0.0863075 ] [-0.32429996 -0.23512996 0.91626603 0.42852141] [ 0. 0. 0. 1. ]] SLAMing on 1.525779523 meters Centerline goodness : 0.124591 with order 1 Centerline is valid? [False, False] Translation: X:-0.53, Y:0.07, Z:0.42 [[ 0.90575581 0.20767055 0.36943112 -0.53138335] [-0.2779544 0.94913479 0.14793413 0.07464551] [-0.31991836 -0.2366772 0.9174073 0.42407541] [ 0. 0. 0. 1. ]] SLAMing on 1.585779523 meters Centerline goodness : 0.123176 with order 1 Centerline is valid? [False, False] Translation: X:-0.50, Y:0.06, Z:0.42 [[ 0.90944017 0.20575966 0.36136067 -0.50083984] [-0.2742434 0.95000714 0.14925481 0.0607251 ] [-0.3125846 -0.2348391 0.92040288 0.41723131] [ 0. 0. 0. 1. ]] SLAMing on 1.6457795229999999 meters Centerline goodness : 0.204433 with order 1 Centerline is valid? [False, False] Translation: X:-0.45, Y:0.04, Z:0.41 [[ 0.91473207 0.21017301 0.34509788 -0.45360176] [-0.27272459 0.951328 0.14351424 0.03823542] [-0.29813846 -0.22539375 0.92752958 0.40603268] [ 0. 0. 0. 1. ]] SLAMing on 1.705779523 meters Centerline goodness : 0.131161 with order 1 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.08, Z:0.54 [[ 0.94949708 0.2962957 0.10326738 -0.18132468] [-0.29397432 0.95508251 -0.03736979 0.08238777] [-0.10970137 0.00512455 0.99395138 0.54225731] [ 0. 0. 0. 1. ]] SLAMing on 1.765779523 meters Centerline goodness : 0.129303 with order 1 Centerline is valid? [False, False] Translation: X:-0.15, Y:0.08, Z:0.54 [[ 9.49097617e-01 2.97954313e-01 1.02161348e-01 -1.45354330e-01] [-2.96209204e-01 9.54580084e-01 -3.22020331e-02 7.95897773e-02] [-1.07115922e-01 3.01741412e-04 9.94246493e-01 5.36206580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8257795229999998 meters Centerline goodness : 0.128142 with order 1 Centerline is valid? [False, False] Translation: X:-0.12, Y:0.08, Z:0.53 [[ 0.94962788 0.29930139 0.09287391 -0.1181858 ] [-0.29684495 0.95410634 -0.03954951 0.07554038] [-0.1004488 0.00998816 0.99489209 0.53394259] [ 0. 0. 0. 1. ]] SLAMing on 1.8857795229999998 meters Centerline goodness : 0.119535 with order 1 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.07, Z:0.53 [[ 0.94951862 0.30002903 0.09163495 -0.08214627] [-0.29773022 0.95388836 -0.03812746 0.07140486] [-0.09884886 0.00892024 0.99506248 0.52513471] [ 0. 0. 0. 1. ]] SLAMing on 1.945779523 meters Centerline goodness : 0.118663 with order 1 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.07, Z:0.52 [[ 0.94644605 0.30949746 0.09193039 -0.04607304] [-0.30684791 0.9508298 -0.04203636 0.06641781] [-0.1004203 0.0115765 0.99487776 0.5213728 ] [ 0. 0. 0. 1. ]] SLAMing on 2.005779523 meters Centerline goodness : 0.116925 with order 1 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.06, Z:0.52 [[ 0.94245242 0.32211106 0.08959852 -0.0018627 ] [-0.31921371 0.94659598 -0.04537246 0.05947659] [-0.09942858 0.01416031 0.99494394 0.51787891] [ 0. 0. 0. 1. ]] SLAMing on 2.0657795230000002 meters Centerline goodness : 0.114671 with order 1 Centerline is valid? [False, False] Translation: X:0.04, Y:0.05, Z:0.52 [[ 0.9397695 0.32967689 0.09025762 0.03536455] [-0.32658782 0.94397186 -0.04751331 0.04942239] [-0.1008647 0.01517452 0.99478442 0.51590818] [ 0. 0. 0. 1. ]] SLAMing on 2.1257795230000003 meters Centerline goodness : 0.209847 with order 1 Centerline is valid? [False, False] Translation: X:0.05, Y:0.05, Z:0.51 [[ 0.94075906 0.32826324 0.08494485 0.04998383] [-0.32538485 0.9444544 -0.04615831 0.04670482] [-0.09537862 0.01578408 0.99531592 0.51484267] [ 0. 0. 0. 1. ]] SLAMing on 2.1857795230000003 meters Centerline goodness : 0.214777 with order 1 Centerline is valid? [False, False] Translation: X:0.08, Y:0.04, Z:0.51 [[ 0.94113763 0.32664443 0.08696772 0.07668586] [-0.32372166 0.94502269 -0.04622128 0.03701287] [-0.09728439 0.01534726 0.99513829 0.51404092] [ 0. 0. 0. 1. ]] SLAMing on 2.245779523 meters Centerline goodness : 0.216293 with order 1 Centerline is valid? [False, False] Translation: X:0.09, Y:0.03, Z:0.51 [[ 0.94136476 0.32428972 0.09310512 0.08752716] [-0.32077607 0.94578519 -0.05092231 0.03007063] [-0.10457103 0.01807058 0.99435323 0.51399836] [ 0. 0. 0. 1. ]] SLAMing on 2.305779523 meters Centerline goodness : 0.221551 with order 1 Centerline is valid? [False, False] Translation: X:0.10, Y:0.02, Z:0.51 [[ 0.9403022 0.32499791 0.10103532 0.09920604] [-0.32134788 0.94558832 -0.05097328 0.02395549] [-0.11210403 0.01546281 0.99357616 0.51122949] [ 0. 0. 0. 1. ]] SLAMing on 2.365779523 meters Centerline goodness : 0.221377 with order 1 Centerline is valid? [False, False] Translation: X:0.13, Y:0.01, Z:0.51 [[ 0.93891628 0.32864843 0.10210991 0.13346826] [-0.32498308 0.94433577 -0.05114647 0.00513645] [-0.11323525 0.01483826 0.9934574 0.51052926] [ 0. 0. 0. 1. ]] SLAMing on 2.425779523 meters Centerline goodness : 0.226919 with order 1 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.01, Z:0.50 [[ 0.93928808 0.32966832 0.0951667 0.159539 ] [-0.326564 0.94400656 -0.04698478 -0.01140502] [-0.10532738 0.01305422 0.99435191 0.50476253] [ 0. 0. 0. 1. ]] SLAMing on 2.485779523 meters Centerline goodness : 0.234170 with order 1 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.04, Z:0.50 [[ 0.94401395 0.31427141 0.10035507 0.19518004] [-0.31215226 0.94932778 -0.03657503 -0.03637611] [-0.10676434 0.00320127 0.9942792 0.50032079] [ 0. 0. 0. 1. ]] SLAMing on 2.545779523 meters SLAMing on 2.6057795230000003 meters SLAMing on 2.665779523 meters SLAMing on 2.725779523 meters SLAMing on 2.785779523 meters Centerline goodness : 0.303867 with order 3 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.12, Z:0.48 [[ 9.58320071e-01 2.53537774e-01 1.31686137e-01 2.62652336e-01] [-2.51231109e-01 9.67325411e-01 -3.41244529e-02 -1.22514470e-01] [-1.36035184e-01 -3.81505985e-04 9.90703933e-01 4.80749482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.845779523 meters Centerline goodness : 0.906195 with order 3 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.14, Z:0.47 [[ 0.95952441 0.24563663 0.1377518 0.30777002] [-0.24485413 0.96929028 -0.0228649 -0.13863306] [-0.13913794 -0.01178967 0.99020283 0.47175227] [ 0. 0. 0. 1. ]] SLAMing on 2.905779523 meters Centerline goodness : 0.922219 with order 2 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.15, Z:0.47 [[ 0.96023367 0.24604698 0.13195526 0.33531323] [-0.24456737 0.96924051 -0.02756143 -0.1482544 ] [-0.13467779 -0.00580654 0.99087243 0.46592368] [ 0. 0. 0. 1. ]] SLAMing on 2.965779523 meters Centerline goodness : 0.921466 with order 2 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.15, Z:0.46 [[ 0.9605265 0.24660841 0.12873667 0.34230759] [-0.24493873 0.96910785 -0.02889627 -0.14892195] [-0.13188578 -0.00377697 0.99125772 0.46333136] [ 0. 0. 0. 1. ]] SLAMing on 3.025779523 meters SLAMing on 3.0857795230000002 meters Centerline goodness : 0.941459 with order 3 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.16, Z:0.44 [[ 0.95594931 0.26202049 0.13231091 0.42177918] [-0.26066247 0.96502982 -0.02779422 -0.15909195] [-0.13496663 -0.00791862 0.9908185 0.44295022] [ 0. 0. 0. 1. ]] SLAMing on 3.1457795230000003 meters Centerline goodness : 0.950712 with order 3 Centerline is valid? [False, True] Translation: X:0.45, Y:-0.16, Z:0.44 [[ 0.95299867 0.27310949 0.13116688 0.45151449] [-0.26980405 0.96196838 -0.04269208 -0.16198668] [-0.137838 0.00529614 0.99044063 0.44083439] [ 0. 0. 0. 1. ]] SLAMing on 3.205779523 meters Centerline goodness : 0.959366 with order 2 Centerline is valid? [True, True] Translation: X:0.61, Y:-0.23, Z:0.41 [[ 0.95106635 0.27335881 0.14404084 0.60655739] [-0.27651885 0.96100641 0.00200082 -0.22933525] [-0.13787723 -0.04173292 0.98956972 0.40797546] [ 0. 0. 0. 1. ]] SLAMing on 3.265779523 meters Centerline goodness : 0.961297 with order 2 Centerline is valid? [True, True] Translation: X:0.65, Y:-0.24, Z:0.41 [[ 0.94404457 0.29891352 0.13939356 0.6503099 ] [-0.3000677 0.95382712 -0.01316085 -0.23893387] [-0.13689131 -0.02940307 0.9901496 0.41049565] [ 0. 0. 0. 1. ]] SLAMing on 3.325779523 meters Centerline goodness : 0.965611 with order 1 Centerline is valid? [True, True] Translation: X:0.78, Y:-0.29, Z:0.37 [[ 0.94002914 0.31125541 0.13951803 0.77870576] [-0.31259609 0.94980036 -0.01276587 -0.2877375 ] [-0.13648772 -0.0316125 0.99013724 0.37100776] [ 0. 0. 0. 1. ]] SLAMing on 3.385779523 meters Centerline goodness : 0.970946 with order 2 Centerline is valid? [True, True] Translation: X:0.76, Y:-0.27, Z:0.40 [[ 0.93184119 0.33887093 0.1297632 0.76369903] [-0.33619777 0.94082489 -0.04265668 -0.26800139] [-0.13653956 -0.00387684 0.99062703 0.39836684] [ 0. 0. 0. 1. ]] SLAMing on 3.445779523 meters Centerline goodness : 0.964874 with order 1 Centerline is valid? [True, True] Translation: X:0.88, Y:-0.33, Z:0.35 [[ 0.93007327 0.3411019 0.13643023 0.88198064] [-0.3414254 0.93965705 -0.02175594 -0.33353138] [-0.13561862 -0.02634613 0.99041076 0.35288 ] [ 0. 0. 0. 1. ]] SLAMing on 3.505779523 meters Centerline goodness : 0.968966 with order 1 Centerline is valid? [True, True] Translation: X:0.94, Y:-0.34, Z:0.35 [[ 0.93170314 0.33931048 0.12960579 0.94259682] [-0.33664654 0.94066625 -0.04261598 -0.34445807] [-0.13637584 -0.0039259 0.99064939 0.34504126] [ 0. 0. 0. 1. ]] SLAMing on 3.5657795230000002 meters Centerline goodness : 0.977385 with order 1 Centerline is valid? [True, True] Translation: X:1.00, Y:-0.37, Z:0.36 [[ 0.93406752 0.33274702 0.12960438 1.0000418 ] [-0.3300195 0.94301148 -0.04262026 -0.37494959] [-0.13640018 -0.00296177 0.99064939 0.35900129] [ 0. 0. 0. 1. ]] SLAMing on 3.625779523 meters Centerline goodness : 0.979613 with order 1 Centerline is valid? [True, True] Translation: X:1.06, Y:-0.38, Z:0.35 [[ 0.93684322 0.32485045 0.12960312 1.06074804] [-0.32204699 0.94576367 -0.04262409 -0.38405395] [-0.13642038 -0.0018062 0.99064939 0.3491944 ] [ 0. 0. 0. 1. ]] SLAMing on 3.685779523 meters Centerline goodness : 0.980888 with order 1 Centerline is valid? [True, True] Translation: X:1.12, Y:-0.40, Z:0.34 [[ 9.39988857e-01 3.15633165e-01 1.29601905e-01 1.11932683e+00] [-3.12741716e-01 9.48881179e-01 -4.26277802e-02 -3.98272948e-01] [-1.36431549e-01 -4.62283672e-04 9.90649392e-01 3.38356739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.745779523 meters Centerline goodness : 0.981913 with order 1 Centerline is valid? [True, True] Translation: X:1.18, Y:-0.42, Z:0.32 [[ 9.41196454e-01 3.12014297e-01 1.29600590e-01 1.17653211e+00] [-3.09088107e-01 9.50077404e-01 -4.26317755e-02 -4.16071056e-01] [-1.36432316e-01 6.68748472e-05 9.90649392e-01 3.24565792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.805779523 meters Centerline goodness : 0.964995 with order 1 Centerline is valid? [True, True] Translation: X:1.23, Y:-0.43, Z:0.30 [[ 9.42678529e-01 3.07508074e-01 1.29599291e-01 1.23153457e+00] [-3.04538888e-01 9.51545196e-01 -4.26357240e-02 -4.31758474e-01] [-1.36430413e-01 7.23757460e-04 9.90649392e-01 2.97263049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.865779523 meters Centerline goodness : 0.982577 with order 1 Centerline is valid? [True, True] Translation: X:1.29, Y:-0.45, Z:0.31 [[ 0.94619129 0.29652346 0.1295989 1.29222001] [-0.29345119 0.95502277 -0.0426369 -0.44923391] [-0.13641275 0.00231171 0.99064939 0.30557939] [ 0. 0. 0. 1. ]] SLAMing on 3.925779523 meters Centerline goodness : 0.987725 with order 1 Centerline is valid? [True, True] Translation: X:1.35, Y:-0.48, Z:0.32 [[ 0.94650021 0.29553668 0.12959715 1.34885815] [-0.29245447 0.95532823 -0.04264224 -0.48092421] [-0.13641016 0.00245962 0.99064939 0.31732433] [ 0. 0. 0. 1. ]] SLAMing on 3.985779523 meters Centerline goodness : 0.989310 with order 1 Centerline is valid? [True, True] Translation: X:1.41, Y:-0.50, Z:0.31 [[ 0.94932685 0.28632757 0.12959573 1.40555329] [-0.28315915 0.9581243 -0.04264655 -0.50455751] [-0.1363797 0.0037893 0.99064939 0.30723593] [ 0. 0. 0. 1. ]] SLAMing on 4.045779522999999 meters Centerline goodness : 0.990285 with order 1 Centerline is valid? [True, True] Translation: X:1.46, Y:-0.52, Z:0.30 [[ 0.95162996 0.27857861 0.1295931 1.46354379] [-0.27533749 0.96040088 -0.04265454 -0.52033191] [-0.13634397 0.0049095 0.99064939 0.29705968] [ 0. 0. 0. 1. ]] SLAMing on 4.105779523 meters Centerline goodness : 0.989648 with order 1 Centerline is valid? [True, True] Translation: X:1.52, Y:-0.54, Z:0.28 [[ 0.95322289 0.27307878 0.12959209 1.51907972] [-0.26978665 0.96197479 -0.04265761 -0.53997871] [-0.13631321 0.00569999 0.99064939 0.27627689] [ 0. 0. 0. 1. ]] SLAMing on 4.165779522999999 meters Centerline goodness : 0.992951 with order 1 Centerline is valid? [True, True] Translation: X:1.57, Y:-0.57, Z:0.28 [[ 0.95836457 0.2544478 0.1295904 1.57438035] [-0.25098503 0.96705036 -0.04266274 -0.57121323] [-0.13617588 0.00836121 0.99064939 0.27799236] [ 0. 0. 0. 1. ]] SLAMing on 4.225779523 meters Centerline goodness : 0.992958 with order 1 Centerline is valid? [True, True] Translation: X:1.63, Y:-0.60, Z:0.27 [[ 0.9567486 0.26045886 0.12958896 1.62903714] [-0.25705009 0.96545573 -0.04266711 -0.60228196] [-0.13622543 0.00751085 0.99064939 0.27189736] [ 0. 0. 0. 1. ]] SLAMing on 4.2857795229999995 meters Centerline goodness : 0.994326 with order 1 Centerline is valid? [True, True] Translation: X:1.68, Y:-0.63, Z:0.26 [[ 0.96190622 0.24071723 0.12958257 1.68444828] [-0.23712742 0.97054029 -0.04268651 -0.62901288] [-0.13604048 0.01033284 0.99064939 0.26287404] [ 0. 0. 0. 1. ]] SLAMing on 4.345779523 meters Centerline goodness : 0.994529 with order 1 Centerline is valid? [True, True] Translation: X:1.74, Y:-0.65, Z:0.25 [[ 0.96382573 0.23291724 0.12957437 1.74253949] [-0.22925429 0.97242902 -0.0427114 -0.64723773] [-0.1359501 0.01146086 0.99064939 0.24859716] [ 0. 0. 0. 1. ]] SLAMing on 4.405779523 meters Centerline goodness : 0.988652 with order 1 Centerline is valid? [True, True] Translation: X:1.79, Y:-0.68, Z:0.23 [[ 0.96219504 0.23956935 0.12956554 1.7939372 ] [-0.23596233 0.97082193 -0.04273817 -0.676775 ] [-0.13602382 0.01054987 0.99064939 0.22769089] [ 0. 0. 0. 1. ]] SLAMing on 4.465779522999999 meters Centerline goodness : 0.982390 with order 1 Centerline is valid? [True, True] Translation: X:1.85, Y:-0.69, Z:0.21 [[ 0.96617074 0.22299614 0.12956395 1.85115057] [-0.21924074 0.97473408 -0.04274299 -0.69443995] [-0.13582192 0.01289133 0.99064939 0.21342559] [ 0. 0. 0. 1. ]] SLAMing on 4.525779523 meters Centerline goodness : 0.998301 with order 1 Centerline is valid? [True, True] Translation: X:1.91, Y:-0.72, Z:0.25 [[ 0.96666212 0.22085696 0.12956295 1.9124827 ] [-0.21708221 0.97521695 -0.04274601 -0.71808126] [-0.13579274 0.01319514 0.99064939 0.24556824] [ 0. 0. 0. 1. ]] SLAMing on 4.585779522999999 meters Centerline goodness : 0.998363 with order 1 Centerline is valid? [True, True] Translation: X:1.97, Y:-0.74, Z:0.27 [[ 0.96356005 0.23402134 0.12956098 1.97497592] [-0.23036283 0.97216523 -0.04275197 -0.73591502] [-0.13595956 0.01134805 0.99064939 0.26803943] [ 0. 0. 0. 1. ]] SLAMing on 4.645779523 meters Centerline goodness : 0.998468 with order 1 Centerline is valid? [True, True] Translation: X:2.03, Y:-0.75, Z:0.26 [[ 0.95937506 0.2506267 0.12955983 2.03421885] [-0.24711688 0.96804195 -0.04275546 -0.75460003] [-0.13613501 0.0090021 0.99064939 0.26484375] [ 0. 0. 0. 1. ]] SLAMing on 4.7057795229999995 meters Centerline goodness : 0.998862 with order 1 Centerline is valid? [True, True] Translation: X:2.09, Y:-0.77, Z:0.24 [[ 0.95724679 0.25864105 0.12955071 2.09115327] [-0.25520011 0.96594126 -0.04278308 -0.77402745] [-0.13620384 0.00789261 0.99064939 0.24335052] [ 0. 0. 0. 1. ]] SLAMing on 4.765779523 meters Centerline goodness : 0.996418 with order 1 Centerline is valid? [True, True] Translation: X:2.15, Y:-0.78, Z:0.22 [[ 0.95841766 0.25426976 0.12954721 2.15007389] [-0.25078775 0.96709576 -0.04279368 -0.78419447] [-0.13616569 0.00852537 0.99064939 0.22108311] [ 0. 0. 0. 1. ]] SLAMing on 4.825779523 meters Centerline goodness : 0.999107 with order 1 Centerline is valid? [True, True] Translation: X:2.21, Y:-0.81, Z:0.23 [[ 0.96097263 0.24443755 0.12954492 2.20815617] [-0.24086588 0.96961422 -0.04280061 -0.80734624] [-0.13607067 0.00992726 0.99064939 0.2332961 ] [ 0. 0. 0. 1. ]] SLAMing on 4.885779522999999 meters Centerline goodness : 0.996635 with order 1 Centerline is valid? [True, True] Translation: X:2.26, Y:-0.82, Z:0.20 [[ 0.96383355 0.23290302 0.12954179 2.26297826] [-0.22922679 0.97243117 -0.04281007 -0.82441461] [-0.13594107 0.01156734 0.99064939 0.20242595] [ 0. 0. 0. 1. ]] SLAMing on 4.945779523 meters Centerline goodness : 0.999499 with order 1 Centerline is valid? [True, True] Translation: X:2.32, Y:-0.85, Z:0.22 [[ 0.9673069 0.21802938 0.12953975 2.31981935] [-0.21422033 0.97584651 -0.04281626 -0.85353275] [-0.13574611 0.01366641 0.99064939 0.22087608] [ 0. 0. 0. 1. ]] SLAMing on 5.005779522999999 meters Centerline goodness : 0.999457 with order 1 Centerline is valid? [True, True] Translation: X:2.38, Y:-0.87, Z:0.21 [[ 0.96838118 0.21320752 0.12953933 2.37736472] [-0.20935581 0.97690164 -0.04281751 -0.87360764] [-0.1356762 0.01434386 0.99064939 0.20879882] [ 0. 0. 0. 1. ]] SLAMing on 5.065779523 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:2.43, Y:-0.89, Z:0.20 [[ 0.96733586 0.21790645 0.12953037 2.43495506] [-0.21409256 0.97587331 -0.04284461 -0.89373893] [-0.13574135 0.01371364 0.99064939 0.2026799 ] [ 0. 0. 0. 1. ]] SLAMing on 5.125779522999999 meters Centerline goodness : 0.999748 with order 1 Centerline is valid? [True, True] Translation: X:2.49, Y:-0.92, Z:0.20 [[ 0.96552163 0.22581219 0.1295254 2.49212066] [-0.22206627 0.97408913 -0.04285962 -0.92237607] [-0.13584751 0.01261867 0.99064939 0.20025247] [ 0. 0. 0. 1. ]] SLAMing on 5.185779523 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:2.55, Y:-0.94, Z:0.18 [[ 0.96321064 0.23548045 0.12951533 2.54798671] [-0.23181656 0.97181353 -0.04289003 -0.94302432] [-0.13596452 0.01128833 0.9906494 0.18398421] [ 0. 0. 0. 1. ]] SLAMing on 5.2457795229999995 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:2.60, Y:-0.96, Z:0.18 [[ 0.96334494 0.2349311 0.12951408 2.60398299] [-0.2312618 0.97194552 -0.04289381 -0.9627223 ] [-0.13595772 0.01136987 0.9906494 0.17690932] [ 0. 0. 0. 1. ]] SLAMing on 5.305779522999999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:2.66, Y:-0.99, Z:0.18 [[ 0.96457574 0.22982718 0.12951107 2.66163122] [-0.22611117 0.97315625 -0.0429029 -0.98809577] [-0.13589476 0.0120992 0.9906494 0.1790092 ] [ 0. 0. 0. 1. ]] SLAMing on 5.365779523 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:2.72, Y:-1.00, Z:0.15 [[ 0.96689556 0.21986864 0.12950194 2.71834021] [-0.21606071 0.97543567 -0.04293044 -1.00165687] [-0.13575987 0.01352897 0.9906494 0.15425521] [ 0. 0. 0. 1. ]] SLAMing on 5.425779522999999 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:2.78, Y:-1.01, Z:0.14 [[ 0.96743058 0.21750711 0.12949415 2.77865776] [-0.21367523 0.97595997 -0.04295393 -1.01282074] [-0.13572389 0.01388525 0.9906494 0.14359486] [ 0. 0. 0. 1. ]] SLAMing on 5.485779523 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:2.84, Y:-1.03, Z:0.13 [[ 0.96680804 0.22026268 0.1294858 2.83864207] [-0.21645178 0.97534682 -0.04297907 -1.02558086] [-0.13576025 0.01352508 0.9906494 0.13277608] [ 0. 0. 0. 1. ]] SLAMing on 5.545779522999999 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:2.90, Y:-1.04, Z:0.14 [[ 0.96430752 0.23096877 0.12947755 2.90138055] [-0.22724948 0.9728866 -0.04300392 -1.03779789] [-0.13589954 0.01204529 0.9906494 0.13550474] [ 0. 0. 0. 1. ]] SLAMing on 5.605779523 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:2.96, Y:-1.05, Z:0.14 [[ 0.96272363 0.23748978 0.12946742 2.96434185] [-0.23382457 0.97132596 -0.04303439 -1.05003174] [-0.13597529 0.01115756 0.9906494 0.13633137] [ 0. 0. 0. 1. ]] SLAMing on 5.665779522999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.03, Y:-1.05, Z:0.13 [[ 0.95903581 0.25197547 0.12945527 3.0293033 ] [-0.24843545 0.96769041 -0.04307092 -1.05191819] [-0.13612544 0.00914528 0.9906494 0.12887192] [ 0. 0. 0. 1. ]] SLAMing on 5.725779523 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:3.09, Y:-1.07, Z:0.12 [[ 0.95614447 0.26273577 0.12945143 3.08968083] [-0.25929166 0.96483767 -0.04308244 -1.06808665] [-0.13621892 0.00762736 0.9906494 0.12486302] [ 0. 0. 0. 1. ]] SLAMing on 5.7857795229999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.15, Y:-1.08, Z:0.11 [[ 0.95751392 0.25770566 0.12944065 3.14967467] [-0.25421154 0.96618715 -0.04311481 -1.08217034] [-0.13617483 0.00837772 0.9906494 0.10903107] [ 0. 0. 0. 1. ]] SLAMing on 5.845779522999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.21, Y:-1.10, Z:0.10 [[ 0.96094073 0.24462462 0.12942841 3.20923342] [-0.24100764 0.96956344 -0.04315152 -1.09842034] [-0.13604498 0.01027282 0.9906494 0.09877478] [ 0. 0. 0. 1. ]] SLAMing on 5.905779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.27, Y:-1.12, Z:0.10 [[ 0.96469614 0.2293749 0.12941605 3.26710126] [-0.22561688 0.97325833 -0.04318857 -1.1216567 ] [-0.13586162 0.0124654 0.9906494 0.10224572] [ 0. 0. 0. 1. ]] SLAMing on 5.965779522999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.32, Y:-1.15, Z:0.11 [[ 0.96733852 0.21796843 0.12940617 3.32215841] [-0.21410567 0.97585396 -0.04321814 -1.15319332] [-0.13570172 0.01409998 0.9906494 0.10537832] [ 0. 0. 0. 1. ]] SLAMing on 6.025779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.38, Y:-1.17, Z:0.10 [[ 0.9659798 0.22391653 0.12940021 3.37995562] [-0.22010388 0.97451779 -0.04323599 -1.17405576] [-0.13578406 0.0132836 0.9906494 0.09679799] [ 0. 0. 0. 1. ]] SLAMing on 6.085779522999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.44, Y:-1.19, Z:0.08 [[ 0.96344173 0.23460231 0.12939009 3.43661869] [-0.23088042 0.97201968 -0.04326626 -1.19421708] [-0.13592008 0.01181088 0.9906494 0.08356368] [ 0. 0. 0. 1. ]] SLAMing on 6.145779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.50, Y:-1.21, Z:0.07 [[ 0.96221154 0.23960292 0.12938079 3.49593461] [-0.23592193 0.97080712 -0.04329403 -1.21436428] [-0.13597717 0.01113425 0.9906494 0.0745919 ] [ 0. 0. 0. 1. ]] SLAMing on 6.2057795229999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.55, Y:-1.24, Z:0.07 [[ 0.96063718 0.24584496 0.12936952 3.55409224] [-0.24221535 0.96925458 -0.04332769 -1.23755616] [-0.1360439 0.01028691 0.9906494 0.07256195] [ 0. 0. 0. 1. ]] SLAMing on 6.265779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.61, Y:-1.25, Z:0.06 [[ 0.96123242 0.24351273 0.12935917 3.61304638] [-0.23985809 0.96983923 -0.04335857 -1.25304202] [-0.13601596 0.01064982 0.9906494 0.06326403] [ 0. 0. 0. 1. ]] SLAMing on 6.325779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.67, Y:-1.27, Z:0.04 [[ 0.96177946 0.24134817 0.12934965 3.66931857] [-0.23767037 0.97037641 -0.04338696 -1.27092196] [-0.13598921 0.01098611 0.9906494 0.03761872] [ 0. 0. 0. 1. ]] SLAMing on 6.385779522999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.73, Y:-1.29, Z:0.03 [[ 0.96283331 0.23711423 0.12934009 3.72678684] [-0.23339485 0.97141235 -0.04341545 -1.29364424] [-0.13593698 0.01161453 0.9906494 0.03288685] [ 0. 0. 0. 1. ]] SLAMing on 6.445779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.79, Y:-1.31, Z:0.03 [[ 0.96413954 0.23175098 0.12933067 3.78591845] [-0.22798017 0.9726961 -0.0434435 -1.31185049] [-0.13586751 0.01240076 0.9906494 0.02827342] [ 0. 0. 0. 1. ]] SLAMing on 6.505779522999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.84, Y:-1.34, Z:0.02 [[ 0.96622701 0.22289354 0.12932068 3.84263906] [-0.21904044 0.97474682 -0.04347319 -1.337455 ] [-0.13574482 0.01367851 0.9906494 0.01681398] [ 0. 0. 0. 1. ]] SLAMing on 6.565779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.90, Y:-1.37, Z:0.01 [[ 0.9669761 0.21962781 0.12930915 3.89736945] [-0.21574142 0.97548077 -0.04350748 -1.36653597] [-0.13569404 0.01417335 0.99064941 0.01004995] [ 0. 0. 0. 1. ]] SLAMing on 6.625779522999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:3.96, Y:-1.38, Z:0.00 [[ 9.66968589e-01 2.19667130e-01 1.29298488e-01 3.95820465e+00] [-2.15776899e-01 9.75471513e-01 -4.35391321e-02 -1.38208085e+00] [-1.35691108e-01 1.42013464e-02 9.90649406e-01 3.36663484e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.685779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.02, Y:-1.40, Z:-0.01 [[ 0.96609223 0.22349637 0.12928716 4.01743137] [-0.21963541 0.97460849 -0.04357273 -1.39518852] [-0.13574271 0.01369924 0.99064941 -0.01119692] [ 0. 0. 0. 1. ]] SLAMing on 6.7457795229999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.07, Y:-1.42, Z:-0.03 [[ 0.96485436 0.22878688 0.12927732 4.07272426] [-0.22496877 0.97338991 -0.04360193 -1.42089257] [-0.13581279 0.01298615 0.99064941 -0.02622491] [ 0. 0. 0. 1. ]] SLAMing on 6.805779522999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.13, Y:-1.44, Z:-0.03 [[ 0.96365192 0.23380556 0.12926692 4.13090299] [-0.23002784 0.97220542 -0.04363274 -1.44044066] [-0.13587557 0.01231178 0.99064941 -0.02862004] [ 0. 0. 0. 1. ]] SLAMing on 6.865779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.19, Y:-1.45, Z:-0.04 [[ 0.96160864 0.24207522 0.129261 4.19079868] [-0.23836877 0.97019327 -0.04365026 -1.45265587] [-0.1359748 0.01116268 0.99064941 -0.04092295] [ 0. 0. 0. 1. ]] SLAMing on 6.925779522999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.25, Y:-1.46, Z:-0.04 [[ 0.9601613 0.24775864 0.12925147 4.25341255] [-0.24409926 0.96876609 -0.04367847 -1.46246034] [-0.13603616 0.01038819 0.99064941 -0.04498936] [ 0. 0. 0. 1. ]] SLAMing on 6.985779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.31, Y:-1.48, Z:-0.04 [[ 0.95956127 0.25007769 0.12924134 4.31339687] [-0.24643511 0.96817318 -0.04370841 -1.48335157] [-0.1360585 0.01009129 0.99064941 -0.04206341] [ 0. 0. 0. 1. ]] SLAMing on 7.045779522999999 meters Centerline goodness : 0.999959 with order 1 Centerline is valid? [True, True] Translation: X:4.37, Y:-1.50, Z:-0.04 [[ 0.96112302 0.24401233 0.1292305 4.37469435] [-0.24031115 0.96970992 -0.04374046 -1.49510772] [-0.1359893 0.01098443 0.99064941 -0.0422578 ] [ 0. 0. 0. 1. ]] SLAMing on 7.105779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.43, Y:-1.50, Z:-0.07 [[ 0.96228248 0.23940442 0.12922056 4.43386046] [-0.23565823 0.97084984 -0.04376979 -1.5047644 ] [-0.13593244 0.01166702 0.99064941 -0.06615819] [ 0. 0. 0. 1. ]] SLAMing on 7.165779522999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.49, Y:-1.53, Z:-0.07 [[ 0.96415424 0.23175718 0.12920998 4.49162535] [-0.22793894 0.97268973 -0.04380101 -1.5274568 ] [-0.13583242 0.01277894 0.99064941 -0.07423814] [ 0. 0. 0. 1. ]] SLAMing on 7.225779522999999 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:4.55, Y:-1.55, Z:-0.08 [[ 0.96710564 0.21912134 0.12919952 4.55004128] [-0.21518768 0.97558856 -0.04383182 -1.55087673] [-0.13565006 0.01458785 0.99064941 -0.07556979] [ 0. 0. 0. 1. ]] SLAMing on 7.2857795229999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.61, Y:-1.56, Z:-0.10 [[ 0.96802278 0.21503533 0.12919636 4.60802994] [-0.21106465 0.97648844 -0.04384114 -1.56335024] [-0.13558615 0.01517044 0.99064941 -0.10056184] [ 0. 0. 0. 1. ]] SLAMing on 7.345779522999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.66, Y:-1.59, Z:-0.11 [[ 0.96726514 0.21842463 0.12918525 4.66472047] [-0.21447932 0.97574264 -0.04387387 -1.58741267] [-0.13563469 0.0147301 0.99064941 -0.10678122] [ 0. 0. 0. 1. ]] SLAMing on 7.405779523 meters Centerline goodness : 0.998096 with order 1 Centerline is valid? [True, True] Translation: X:4.72, Y:-1.61, Z:-0.10 [[ 0.96546593 0.22625104 0.12917428 4.72442582] [-0.22237025 0.97397316 -0.04390614 -1.60824734] [-0.13574609 0.01366537 0.99064941 -0.10216894] [ 0. 0. 0. 1. ]] SLAMing on 7.465779522999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.79, Y:-1.63, Z:-0.11 [[ 0.96305936 0.23628729 0.12917036 4.78506989] [-0.23249372 0.97160584 -0.04391767 -1.62537657] [-0.13587986 0.01226402 0.99064941 -0.10994365] [ 0. 0. 0. 1. ]] SLAMing on 7.525779523 meters Centerline goodness : 0.997292 with order 1 Centerline is valid? [True, True] Translation: X:4.84, Y:-1.65, Z:-0.12 [[ 0.9599439 0.24865037 0.1291538 4.84407888] [-0.24496049 0.96853566 -0.04396631 -1.64606829] [-0.1360223 0.01056762 0.99064941 -0.12021381] [ 0. 0. 0. 1. ]] SLAMing on 7.585779522999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.90, Y:-1.67, Z:-0.13 [[ 0.95674194 0.26070712 0.12913815 4.90106905] [-0.25711946 0.96537687 -0.04401224 -1.66717153] [-0.13614128 0.00890442 0.99064941 -0.13376425] [ 0. 0. 0. 1. ]] SLAMing on 7.645779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.96, Y:-1.68, Z:-0.14 [[ 0.9551368 0.26653437 0.12912443 4.9605342 ] [-0.262994 0.96379123 -0.04405244 -1.67955119] [-0.13619048 0.00811716 0.99064942 -0.14357756] [ 0. 0. 0. 1. ]] SLAMing on 7.7057795229999995 meters Centerline goodness : 0.997267 with order 1 Centerline is valid? [True, True] Translation: X:5.02, Y:-1.69, Z:-0.16 [[ 0.95505539 0.26683072 0.12911454 5.02089822] [-0.26328913 0.96370933 -0.04408141 -1.6892671 ] [-0.13619116 0.00810573 0.99064942 -0.15845167] [ 0. 0. 0. 1. ]] SLAMing on 7.765779522999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.07, Y:-1.72, Z:-0.18 [[ 0.95185853 0.27802256 0.12910769 5.07138267] [-0.27458008 0.96055236 -0.04410146 -1.72467464] [-0.1362759 0.00652796 0.99064942 -0.18046073] [ 0. 0. 0. 1. ]] SLAMing on 7.825779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.13, Y:-1.75, Z:-0.18 [[ 0.95009955 0.28398151 0.12909437 5.12590406] [-0.28058829 0.95881272 -0.04414041 -1.75351782] [-0.13631239 0.00571542 0.99064942 -0.17625885] [ 0. 0. 0. 1. ]] SLAMing on 7.885779522999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.19, Y:-1.76, Z:-0.19 [[ 0.95043755 0.28284812 0.12909453 5.18646891] [-0.27944457 0.9591467 -0.04413994 -1.76248595] [-0.1363055 0.00587749 0.99064942 -0.18918593] [ 0. 0. 0. 1. ]] SLAMing on 7.945779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.24, Y:-1.79, Z:-0.19 [[ 0.95246841 0.27593286 0.12909295 5.24143745] [-0.27246548 0.96115234 -0.04414457 -1.79419668] [-0.13625893 0.00687293 0.99064942 -0.19267312] [ 0. 0. 0. 1. ]] SLAMing on 8.005779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.30, Y:-1.82, Z:-0.20 [[ 0.95362614 0.27190987 0.12908219 5.29767323] [-0.26840162 0.96229364 -0.044176 -1.82305306] [-0.13622687 0.00748152 0.99064942 -0.19677559] [ 0. 0. 0. 1. ]] SLAMing on 8.065779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.36, Y:-1.83, Z:-0.21 [[ 0.95709357 0.25944642 0.12907154 5.35825251] [-0.25582122 0.96571281 -0.04420711 -1.83033487] [-0.13611542 0.0092911 0.99064942 -0.21393572] [ 0. 0. 0. 1. ]] SLAMing on 8.125779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.41, Y:-1.87, Z:-0.19 [[ 0.95731342 0.25863888 0.12906181 5.41483778] [-0.25500261 0.96592799 -0.04423551 -1.86572582] [-0.13610543 0.00943615 0.99064942 -0.18905894] [ 0. 0. 0. 1. ]] SLAMing on 8.185779523 meters Centerline goodness : 0.999959 with order 1 Centerline is valid? [True, True] Translation: X:5.47, Y:-1.88, Z:-0.21 [[ 0.96003107 0.24836227 0.1290602 5.47224007] [-0.24463324 0.9686059 -0.04424021 -1.88107379] [-0.13599606 0.01089956 0.99064942 -0.20683857] [ 0. 0. 0. 1. ]] SLAMing on 8.245779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.53, Y:-1.89, Z:-0.23 [[ 0.96195811 0.24079598 0.12904997 5.53137229] [-0.23699559 0.97050155 -0.04427002 -1.8918723 ] [-0.13590324 0.01200163 0.99064942 -0.23389533] [ 0. 0. 0. 1. ]] SLAMing on 8.305779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.59, Y:-1.90, Z:-0.26 [[ 0.9618491 0.2412343 0.12904389 5.59265652] [-0.23743545 0.97039322 -0.04428774 -1.89839683] [-0.13590704 0.01195852 0.99064942 -0.25529927] [ 0. 0. 0. 1. ]] SLAMing on 8.365779523 meters Centerline goodness : 0.998441 with order 1 Centerline is valid? [True, True] Translation: X:5.66, Y:-1.91, Z:-0.26 [[ 0.96135353 0.24320764 0.12903267 5.65547374] [-0.23942197 0.96990351 -0.04432041 -1.90800212] [-0.1359283 0.01171433 0.99064942 -0.25602632] [ 0. 0. 0. 1. ]] SLAMing on 8.425779523000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.72, Y:-1.92, Z:-0.26 [[ 0.96210694 0.24021724 0.12901901 5.71560785] [-0.23639973 0.97064275 -0.04436011 -1.92440914] [-0.13588744 0.01217911 0.99064942 -0.25862052] [ 0. 0. 0. 1. ]] SLAMing on 8.485779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.78, Y:-1.94, Z:-0.27 [[ 0.96527009 0.22717894 0.12900922 5.77654952] [-0.22324254 0.97375173 -0.04438859 -1.93829978] [-0.1357071 0.01404663 0.99064942 -0.26753051] [ 0. 0. 0. 1. ]] SLAMing on 8.545779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.83, Y:-1.96, Z:-0.28 [[ 0.96741487 0.21786992 0.12900065 5.83318091] [-0.21384872 0.97585663 -0.04441348 -1.96419416] [-0.1355625 0.01537964 0.99064942 -0.27568786] [ 0. 0. 0. 1. ]] SLAMing on 8.605779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.89, Y:-1.99, Z:-0.28 [[ 0.96731242 0.21833217 0.12898735 5.88838871] [-0.21430994 0.97575369 -0.04445207 -1.99076691] [-0.1355652 0.01535577 0.99064942 -0.28054039] [ 0. 0. 0. 1. ]] SLAMing on 8.665779523000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.95, Y:-2.01, Z:-0.28 [[ 0.96475232 0.22938362 0.12898104 5.94750586] [-0.2254558 0.97323793 -0.04447038 -2.01248182] [-0.13573001 0.01382338 0.99064942 -0.2793127 ] [ 0. 0. 0. 1. ]] SLAMing on 8.725779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.01, Y:-2.03, Z:-0.28 [[ 0.96358731 0.23423544 0.12897001 6.0060249 ] [-0.23034613 0.97209064 -0.04450234 -2.03025634] [-0.13579456 0.01317415 0.99064942 -0.28450165] [ 0. 0. 0. 1. ]] SLAMing on 8.785779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.06, Y:-2.05, Z:-0.30 [[ 0.96183016 0.24135469 0.12895988 6.0628332 ] [-0.23752448 0.97036027 -0.04453166 -2.05002303] [-0.13588547 0.01220076 0.99064942 -0.30129493] [ 0. 0. 0. 1. ]] SLAMing on 8.845779523000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.12, Y:-2.07, Z:-0.31 [[ 0.96190978 0.24103928 0.12895598 6.11992577] [-0.23720476 0.97043795 -0.04454297 -2.06987568] [-0.13588038 0.01225735 0.99064942 -0.31333277] [ 0. 0. 0. 1. ]] SLAMing on 8.905779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.18, Y:-2.09, Z:-0.32 [[ 0.96409632 0.23214578 0.12894424 6.17898776] [-0.22822819 0.97258665 -0.04457691 -2.09020922] [-0.13575779 0.01354773 0.99064942 -0.32152826] [ 0. 0. 0. 1. ]] SLAMing on 8.965779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.24, Y:-2.12, Z:-0.32 [[ 0.96543703 0.22651259 0.12893168 6.23514088] [-0.2225407 0.9739021 -0.0446132 -2.12153928] [-0.13567229 0.01437869 0.99064942 -0.31813832] [ 0. 0. 0. 1. ]] SLAMing on 9.025779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.29, Y:-2.14, Z:-0.33 [[ 0.96649535 0.22195967 0.1289211 6.29284114] [-0.2179439 0.97493968 -0.04464378 -2.13935295] [-0.13559941 0.01505044 0.99064943 -0.33318163] [ 0. 0. 0. 1. ]] SLAMing on 9.085779523000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.35, Y:-2.16, Z:-0.34 [[ 0.9660135 0.22405382 0.12891003 6.35221486] [-0.22005215 0.97446454 -0.04467571 -2.15802463] [-0.13562802 0.01479041 0.99064943 -0.34498065] [ 0. 0. 0. 1. ]] SLAMing on 9.145779523 meters Centerline goodness : 0.998526 with order 1 Centerline is valid? [True, True] Translation: X:6.41, Y:-2.19, Z:-0.34 [[ 0.96525271 0.22731245 0.12890407 6.40926907] [-0.22333706 0.97371613 -0.04469291 -2.18605349] [-0.13567523 0.01435089 0.99064943 -0.34467081] [ 0. 0. 0. 1. ]] SLAMing on 9.205779523 meters Centerline goodness : 0.999772 with order 1 Centerline is valid? [True, True] Translation: X:6.46, Y:-2.21, Z:-0.35 [[ 0.96528967 0.22716527 0.12888675 6.46422465] [-0.22318201 0.97374939 -0.0447428 -2.21416651] [-0.1356674 0.01442456 0.99064943 -0.35120928] [ 0. 0. 0. 1. ]] SLAMing on 9.265779523 meters Centerline goodness : 0.999377 with order 1 Centerline is valid? [True, True] Translation: X:6.53, Y:-2.23, Z:-0.34 [[ 0.96473186 0.22953177 0.12887046 6.5259857 ] [-0.22556308 0.97319843 -0.04478967 -2.2273911 ] [-0.13569718 0.0141416 0.99064943 -0.34397438] [ 0. 0. 0. 1. ]] SLAMing on 9.325779523 meters Centerline goodness : 0.999315 with order 1 Centerline is valid? [True, True] Translation: X:6.58, Y:-2.25, Z:-0.37 [[ 0.96468893 0.2297128 0.12886933 6.57718249] [-0.22574528 0.97315603 -0.04479292 -2.25194951] [-0.13569947 0.01411959 0.99064943 -0.37269727] [ 0. 0. 0. 1. ]] SLAMing on 9.385779523 meters Centerline goodness : 0.999606 with order 1 Centerline is valid? [True, True] Translation: X:6.64, Y:-2.27, Z:-0.37 [[ 0.96507095 0.22810265 0.12886913 6.63689884] [-0.22412092 0.97353138 -0.04479348 -2.27101306] [-0.13567566 0.01434662 0.99064943 -0.36947986] [ 0. 0. 0. 1. ]] SLAMing on 9.445779523 meters Centerline goodness : 0.999482 with order 1 Centerline is valid? [True, True] Translation: X:6.69, Y:-2.29, Z:-0.39 [[ 0.96528756 0.22718566 0.12886661 6.69403178] [-0.22319494 0.97374376 -0.04480075 -2.28587695] [-0.13566114 0.01448324 0.99064943 -0.38689746] [ 0. 0. 0. 1. ]] SLAMing on 9.505779523000001 meters Centerline goodness : 0.999254 with order 1 Centerline is valid? [True, True] Translation: X:6.75, Y:-2.31, Z:-0.40 [[ 0.96667901 0.2211913 0.12886469 6.74914116] [-0.21714745 0.97510993 -0.04480626 -2.30618087] [-0.135568 0.01533063 0.99064943 -0.40468873] [ 0. 0. 0. 1. ]] SLAMing on 9.565779523 meters Centerline goodness : 0.999358 with order 1 Centerline is valid? [True, True] Translation: X:6.81, Y:-2.33, Z:-0.41 [[ 0.96740897 0.2179775 0.12886309 6.80594549] [-0.21390506 0.97582612 -0.04481086 -2.332561 ] [-0.13551573 0.01578596 0.99064943 -0.40696659] [ 0. 0. 0. 1. ]] SLAMing on 9.625779523 meters Centerline goodness : 0.999607 with order 1 Centerline is valid? [True, True] Translation: X:6.87, Y:-2.34, Z:-0.42 [[ 0.96715107 0.21912571 0.12885158 6.86783391] [-0.21505892 0.97557095 -0.04484393 -2.3419186 ] [-0.13553032 0.01566017 0.99064943 -0.41862091] [ 0. 0. 0. 1. ]] SLAMing on 9.685779523 meters Centerline goodness : 0.999524 with order 1 Centerline is valid? [True, True] Translation: X:6.93, Y:-2.36, Z:-0.43 [[ 0.96537652 0.22682265 0.12883964 6.92672305] [-0.22281854 0.97382639 -0.04487821 -2.35657499] [-0.13564684 0.01461651 0.99064943 -0.4324466 ] [ 0. 0. 0. 1. ]] SLAMing on 9.745779523 meters Centerline goodness : 0.999420 with order 1 Centerline is valid? [True, True] Translation: X:6.98, Y:-2.38, Z:-0.43 [[ 0.96268455 0.23799505 0.12882861 6.98305791] [-0.23408494 0.97117833 -0.04490987 -2.38445011] [-0.13580388 0.0130772 0.99064943 -0.43210498] [ 0. 0. 0. 1. ]] SLAMing on 9.805779523 meters Centerline goodness : 0.999503 with order 1 Centerline is valid? [True, True] Translation: X:7.04, Y:-2.40, Z:-0.44 [[ 0.96211847 0.24027922 0.12881751 7.04361268] [-0.23638506 0.97061957 -0.04494168 -2.39931767] [-0.13583135 0.01278868 0.99064943 -0.43820424] [ 0. 0. 0. 1. ]] SLAMing on 9.865779523 meters Centerline goodness : 0.999483 with order 1 Centerline is valid? [True, True] Translation: X:7.11, Y:-2.41, Z:-0.44 [[ 0.9635948 0.23429465 0.12880633 7.10650961] [-0.2303435 0.97206956 -0.04497368 -2.40560058] [-0.13574581 0.0136667 0.99064943 -0.43967362] [ 0. 0. 0. 1. ]] SLAMing on 9.925779523000001 meters Centerline goodness : 0.999545 with order 1 Centerline is valid? [True, True] Translation: X:7.16, Y:-2.43, Z:-0.45 [[ 0.96413734 0.23205764 0.12879612 7.16337469] [-0.22808297 0.9726011 -0.04500292 -2.43080635] [-0.13571052 0.01401279 0.99064943 -0.44573869] [ 0. 0. 0. 1. ]] SLAMing on 9.985779523 meters Centerline goodness : 0.999482 with order 1 Centerline is valid? [True, True] Translation: X:7.22, Y:-2.46, Z:-0.46 [[ 0.96442898 0.23084892 0.12878473 7.21907472] [-0.22685936 0.97288573 -0.04503547 -2.45544675] [-0.13568922 0.01421749 0.99064943 -0.45872003] [ 0. 0. 0. 1. ]] SLAMing on 10.045779523 meters Centerline goodness : 0.999586 with order 1 Centerline is valid? [True, True] Translation: X:7.28, Y:-2.46, Z:-0.48 [[ 0.96422905 0.23168843 0.12877427 7.28151944] [-0.22770229 0.9726874 -0.04506536 -2.46049294] [-0.13569824 0.01413114 0.99064943 -0.47638301] [ 0. 0. 0. 1. ]] SLAMing on 10.105779523 meters Centerline goodness : 0.999606 with order 1 Centerline is valid? [True, True] Translation: X:7.34, Y:-2.48, Z:-0.49 [[ 0.96409892 0.23223513 0.12876381 7.3386703 ] [-0.22824984 0.97255767 -0.04509525 -2.47975896] [-0.13570293 0.01408596 0.99064943 -0.49108322] [ 0. 0. 0. 1. ]] SLAMing on 10.165779523 meters Centerline goodness : 0.999772 with order 1 Centerline is valid? [True, True] Translation: X:7.39, Y:-2.51, Z:-0.49 [[ 0.96433891 0.2312378 0.12876158 7.39408671] [-0.22724292 0.97279314 -0.0451016 -2.50819961] [-0.13568758 0.01423307 0.99064943 -0.48985274] [ 0. 0. 0. 1. ]] SLAMing on 10.225779523 meters Centerline goodness : 0.999813 with order 1 Centerline is valid? [True, True] Translation: X:7.45, Y:-2.53, Z:-0.49 [[ 0.96643568 0.22231724 0.12875213 7.45366633] [-0.21824087 0.97485093 -0.04512856 -2.52596395] [-0.13554699 0.01551487 0.99064943 -0.48849547] [ 0. 0. 0. 1. ]] SLAMing on 10.285779523 meters Centerline goodness : 0.999793 with order 1 Centerline is valid? [True, True] Translation: X:7.51, Y:-2.54, Z:-0.50 [[ 0.967418 0.2180085 0.12874282 7.51458437] [-0.21389119 0.97581329 -0.04515512 -2.53938587] [-0.13547315 0.01614692 0.99064943 -0.49927023] [ 0. 0. 0. 1. ]] SLAMing on 10.345779523000001 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:7.57, Y:-2.55, Z:-0.52 [[ 0.96772648 0.21664174 0.12873152 7.57228767] [-0.21250838 0.97611388 -0.0451873 -2.55360235] [-0.13544608 0.01637242 0.99064944 -0.5175944 ] [ 0. 0. 0. 1. ]] SLAMing on 10.405779523 meters Centerline goodness : 0.999876 with order 1 Centerline is valid? [True, True] Translation: X:7.63, Y:-2.58, Z:-0.52 [[ 0.96821361 0.21445962 0.12872249 7.62924393] [-0.21030399 0.97658999 -0.04521303 -2.57920743] [-0.13540546 0.01670502 0.99064944 -0.52321455] [ 0. 0. 0. 1. ]] SLAMing on 10.465779523 meters Centerline goodness : 0.999917 with order 1 Centerline is valid? [True, True] Translation: X:7.69, Y:-2.59, Z:-0.53 [[ 0.96851289 0.21311038 0.12871188 7.69131806] [-0.20893914 0.97688151 -0.04524321 -2.58860949] [-0.13537805 0.01692568 0.99064944 -0.52786382] [ 0. 0. 0. 1. ]] SLAMing on 10.525779523 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:7.75, Y:-2.60, Z:-0.54 [[ 0.96777289 0.21645183 0.12870213 7.75114755] [-0.21230587 0.97615406 -0.04527093 -2.60444115] [-0.13543208 0.01648776 0.99064944 -0.5380541 ] [ 0. 0. 0. 1. ]] SLAMing on 10.585779523 meters Centerline goodness : 0.999813 with order 1 Centerline is valid? [True, True] Translation: X:7.81, Y:-2.63, Z:-0.54 [[ 0.96713965 0.21927091 0.12869021 7.80907324] [-0.21514496 0.97553069 -0.04530477 -2.6281446 ] [-0.13547527 0.01612899 0.99064944 -0.54355094] [ 0. 0. 0. 1. ]] SLAMing on 10.645779523 meters Centerline goodness : 0.999855 with order 1 Centerline is valid? [True, True] Translation: X:7.87, Y:-2.64, Z:-0.55 [[ 0.96483192 0.22921896 0.12867803 7.8699624 ] [-0.22517509 0.97326282 -0.04533935 -2.6426326 ] [-0.13563018 0.01476976 0.99064944 -0.54566777] [ 0. 0. 0. 1. ]] SLAMing on 10.705779523 meters Centerline goodness : 0.999897 with order 1 Centerline is valid? [True, True] Translation: X:7.93, Y:-2.65, Z:-0.56 [[ 0.96370096 0.23393429 0.12866705 7.93222387] [-0.22992758 0.97214959 -0.0453705 -2.65193955] [-0.13569733 0.01413949 0.99064944 -0.55918594] [ 0. 0. 0. 1. ]] SLAMing on 10.765779523 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:7.99, Y:-2.67, Z:-0.57 [[ 0.96345506 0.23495188 0.12865445 7.98965641] [-0.23094939 0.97190568 -0.04540619 -2.67189089] [-0.13570826 0.01403416 0.99064944 -0.56917611] [ 0. 0. 0. 1. ]] SLAMing on 10.825779523 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:8.04, Y:-2.71, Z:-0.58 [[ 0.96409329 0.23232553 0.1286428 8.04413043] [-0.22829568 0.97253091 -0.04543917 -2.70535855] [-0.13566578 0.01443901 0.99064944 -0.57635261] [ 0. 0. 0. 1. ]] SLAMing on 10.885779523 meters Centerline goodness : 0.999917 with order 1 Centerline is valid? [True, True] Translation: X:8.10, Y:-2.73, Z:-0.59 [[ 0.96454051 0.23046864 0.12863053 8.10163674] [-0.22641799 0.97296815 -0.04547387 -2.72766962] [-0.13563371 0.01473713 0.99064944 -0.58502777] [ 0. 0. 0. 1. ]] SLAMing on 10.945779523 meters Centerline goodness : 0.999918 with order 1 Centerline is valid? [True, True] Translation: X:8.16, Y:-2.74, Z:-0.60 [[ 0.96470138 0.22980067 0.12861919 8.15962781] [-0.22573996 0.97312419 -0.04550593 -2.74441175] [-0.13561974 0.01486515 0.99064944 -0.59572338] [ 0. 0. 0. 1. ]] SLAMing on 11.005779523000001 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:8.22, Y:-2.77, Z:-0.61 [[ 0.96553106 0.22629274 0.12861328 8.21528546] [-0.22219925 0.97393798 -0.04552262 -2.77111626] [-0.1355628 0.01537573 0.99064944 -0.60726762] [ 0. 0. 0. 1. ]] SLAMing on 11.065779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.27, Y:-2.80, Z:-0.61 [[ 0.96759538 0.21730266 0.12860298 8.27135864] [-0.21312736 0.97596197 -0.04555171 -2.7968791 ] [-0.13541012 0.01666682 0.99064944 -0.61329521] [ 0. 0. 0. 1. ]] SLAMing on 11.125779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.33, Y:-2.82, Z:-0.62 [[ 0.96751271 0.21767372 0.12859745 8.32943931] [-0.21349959 0.97587988 -0.0455673 -2.817436 ] [-0.13541447 0.01663144 0.99064944 -0.61701487] [ 0. 0. 0. 1. ]] SLAMing on 11.185779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.39, Y:-2.84, Z:-0.62 [[ 0.96494991 0.22877245 0.12858788 8.38791291] [-0.22469115 0.97336275 -0.04559429 -2.84213906] [-0.13559337 0.01510365 0.99064944 -0.61909411] [ 0. 0. 0. 1. ]] SLAMing on 11.245779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.45, Y:-2.85, Z:-0.64 [[ 0.96235697 0.23945197 0.1285761 8.44883064] [-0.23545976 0.97081246 -0.0456275 -2.85406783] [-0.13574887 0.01363544 0.99064944 -0.63653636] [ 0. 0. 0. 1. ]] SLAMing on 11.305779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.51, Y:-2.88, Z:-0.65 [[ 0.96206888 0.24061339 0.12856386 8.50519039] [-0.23662684 0.97052703 -0.04566195 -2.8782564 ] [-0.13576158 0.01350828 0.99064944 -0.64713614] [ 0. 0. 0. 1. ]] SLAMing on 11.365779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.56, Y:-2.91, Z:-0.66 [[ 0.96235507 0.2394723 0.1285525 8.56152009] [-0.23547151 0.97080649 -0.04569392 -2.90536982] [-0.13574203 0.01370332 0.99064944 -0.65691315] [ 0. 0. 0. 1. ]] SLAMing on 11.425779523000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.62, Y:-2.93, Z:-0.67 [[ 0.96225737 0.23987099 0.12854054 8.61931665] [-0.23586925 0.97070834 -0.04572754 -2.92575274] [-0.13574409 0.0136829 0.99064944 -0.67141009] [ 0. 0. 0. 1. ]] SLAMing on 11.485779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.68, Y:-2.95, Z:-0.67 [[ 0.96064289 0.24625904 0.12853684 8.67631158] [-0.24231217 0.96911963 -0.04573794 -2.9499254 ] [-0.13583096 0.01279179 0.99064944 -0.67485942] [ 0. 0. 0. 1. ]] SLAMing on 11.545779523 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:8.74, Y:-2.98, Z:-0.67 [[ 0.95918994 0.2518642 0.12852661 8.73562703] [-0.24796308 0.96768782 -0.04576668 -2.97571204] [-0.13590062 0.01202908 0.99064944 -0.66978784] [ 0. 0. 0. 1. ]] SLAMing on 11.605779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.79, Y:-3.00, Z:-0.68 [[ 0.95636672 0.26238633 0.128515 8.79389043] [-0.25857445 0.96490501 -0.04579924 -2.99597118] [-0.13602186 0.01057018 0.99064945 -0.68363306] [ 0. 0. 0. 1. ]] SLAMing on 11.665779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:8.85, Y:-3.02, Z:-0.70 [[ 0.95507382 0.26705966 0.12850347 8.85122217] [-0.26328524 0.96362874 -0.04583157 -3.01857178] [-0.1360694 0.00993947 0.99064945 -0.69880565] [ 0. 0. 0. 1. ]] SLAMing on 11.725779523 meters Centerline goodness : 0.999959 with order 1 Centerline is valid? [True, True] Translation: X:8.91, Y:-3.04, Z:-0.70 [[ 0.95474712 0.2682314 0.12849068 8.90759071] [-0.26446269 0.96330455 -0.04586739 -3.04473924] [-0.13607874 0.00981077 0.99064945 -0.70103712] [ 0. 0. 0. 1. ]] SLAMing on 11.785779523 meters Centerline goodness : 0.999959 with order 1 Centerline is valid? [True, True] Translation: X:8.96, Y:-3.07, Z:-0.70 [[ 0.95554483 0.26538135 0.12847886 8.96406561] [-0.2615827 0.96408902 -0.04590049 -3.07093511] [-0.13604619 0.01025212 0.99064945 -0.7028417 ] [ 0. 0. 0. 1. ]] SLAMing on 11.845779523000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.02, Y:-3.09, Z:-0.72 [[ 0.95665179 0.26136835 0.12846762 9.0236502 ] [-0.25752969 0.96517808 -0.04593193 -3.08933445] [-0.13599928 0.01085664 0.99064945 -0.71534457] [ 0. 0. 0. 1. ]] SLAMing on 11.905779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.08, Y:-3.12, Z:-0.73 [[ 0.9570428 0.25993935 0.12845471 9.07670306] [-0.25608315 0.96556117 -0.045968 -3.11884544] [-0.13597977 0.01109826 0.99064945 -0.72546515] [ 0. 0. 0. 1. ]] SLAMing on 11.965779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.13, Y:-3.15, Z:-0.73 [[ 0.95841963 0.25481909 0.12844857 9.13122696] [-0.25091513 0.96691621 -0.04598516 -3.15257866] [-0.1359169 0.01184339 0.99064945 -0.73441693] [ 0. 0. 0. 1. ]] SLAMing on 12.025779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.19, Y:-3.17, Z:-0.75 [[ 0.95945513 0.25089845 0.12843602 9.19009634] [-0.24695514 0.96793352 -0.04602017 -3.16765414] [-0.13586392 0.01243635 0.99064945 -0.74862307] [ 0. 0. 0. 1. ]] SLAMing on 12.085779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.25, Y:-3.19, Z:-0.76 [[ 0.96056177 0.24663384 0.12842445 9.24711171] [-0.24264863 0.96902054 -0.04605245 -3.19236931] [-0.13580402 0.0130742 0.99064945 -0.7558363 ] [ 0. 0. 0. 1. ]] SLAMing on 12.145779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.30, Y:-3.22, Z:-0.76 [[ 0.96005228 0.24861556 0.12841311 9.30134976] [-0.24464363 0.9685173 -0.04608405 -3.22442495] [-0.13582753 0.01282765 0.99064945 -0.76066391] [ 0. 0. 0. 1. ]] SLAMing on 12.205779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.36, Y:-3.24, Z:-0.77 [[ 0.95953051 0.25062749 0.12840191 9.36098949] [-0.24666919 0.96800191 -0.04611522 -3.24300115] [-0.13585104 0.01257617 0.99064945 -0.76793168] [ 0. 0. 0. 1. ]] SLAMing on 12.265779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.42, Y:-3.25, Z:-0.78 [[ 0.96067262 0.24622017 0.12838902 9.42295998] [-0.24221827 0.96912351 -0.0461511 -3.25489652] [-0.13578815 0.01323793 0.99064945 -0.77666516] [ 0. 0. 0. 1. ]] SLAMing on 12.325779523 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:9.48, Y:-3.28, Z:-0.79 [[ 0.96144966 0.24317506 0.1283762 9.47967751] [-0.2391417 0.96988558 -0.04618673 -3.27907099] [-0.13574168 0.01370612 0.99064945 -0.78647657] [ 0. 0. 0. 1. ]] SLAMing on 12.385779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.54, Y:-3.30, Z:-0.79 [[ 0.96249438 0.23901077 0.12836829 9.53742829] [-0.23493804 0.97091136 -0.04620868 -3.30247602] [-0.13567861 0.014317 0.99064945 -0.79306232] [ 0. 0. 0. 1. ]] SLAMing on 12.445779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.60, Y:-3.32, Z:-0.80 [[ 0.96244779 0.23920503 0.1283558 9.59820922] [-0.23512943 0.97086338 -0.04624336 -3.31686237] [-0.13567759 0.0143266 0.99064945 -0.80074458] [ 0. 0. 0. 1. ]] SLAMing on 12.505779523000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.66, Y:-3.33, Z:-0.81 [[ 0.96156077 0.2427527 0.12834336 9.65941084] [-0.23870361 0.96998915 -0.04627787 -3.33185661] [-0.13572574 0.01386296 0.99064945 -0.8055722 ] [ 0. 0. 0. 1. ]] SLAMing on 12.565779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.72, Y:-3.35, Z:-0.81 [[ 0.95999089 0.2488949 0.12833087 9.71840469] [-0.2448952 0.96844282 -0.04631246 -3.35268497] [-0.13580805 0.01303193 0.99064945 -0.81485625] [ 0. 0. 0. 1. ]] SLAMing on 12.625779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.78, Y:-3.37, Z:-0.83 [[ 0.95792194 0.25674881 0.12831839 9.77527901] [-0.25281388 0.96640421 -0.04634702 -3.37470435] [-0.13590698 0.01195615 0.99064946 -0.8292536 ] [ 0. 0. 0. 1. ]] SLAMing on 12.685779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.84, Y:-3.39, Z:-0.84 [[ 0.95556555 0.26538978 0.12830723 9.83613788] [-0.2615275 0.96408115 -0.0463779 -3.38815884] [-0.1360068 0.01076126 0.99064946 -0.83985257] [ 0. 0. 0. 1. ]] SLAMing on 12.745779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.90, Y:-3.41, Z:-0.84 [[ 9.52703589e-01 2.75493090e-01 1.28294307e-01 9.89513389e+00] [-2.71716404e-01 9.61257495e-01 -4.64136247e-02 -3.40925178e+00] [-1.36110497e-01 9.35875911e-03 9.90649457e-01 -8.37893961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.805779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:9.95, Y:-3.43, Z:-0.84 [[ 9.51149008e-01 2.80816998e-01 1.28286315e-01 9.95391391e+00] [-2.77085247e-01 9.59722612e-01 -4.64357036e-02 -3.43230615e+00] [-1.36159212e-01 8.62102815e-03 9.90649457e-01 -8.44148611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.865779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.01, Y:-3.45, Z:-0.87 [[ 9.49465673e-01 2.86462447e-01 1.28273937e-01 1.00119128e+01] [-2.82777095e-01 9.58059323e-01 -4.64698722e-02 -3.44930311e+00] [-1.36205914e-01 7.84861730e-03 9.90649458e-01 -8.66291948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.925779523000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.06, Y:-3.49, Z:-0.86 [[ 9.48885192e-01 2.88385243e-01 1.28260842e-01 1.00634931e+01] [-2.84712443e-01 9.57484213e-01 -4.65059856e-02 -3.49159897e+00] [-1.36219372e-01 7.61138336e-03 9.90649458e-01 -8.62111707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.985779523 meters Centerline goodness : 0.999917 with order 1 Centerline is valid? [True, True] Translation: X:10.12, Y:-3.51, Z:-0.87 [[ 9.48372527e-01 2.90072489e-01 1.28247811e-01 1.01220758e+01] [-2.86410149e-01 9.56976007e-01 -4.65418953e-02 -3.51467038e+00] [-1.36230601e-01 7.40758035e-03 9.90649459e-01 -8.69576272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.045779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.17, Y:-3.54, Z:-0.90 [[ 9.47253149e-01 2.93713137e-01 1.28234414e-01 1.01745179e+01] [-2.90078891e-01 9.55868534e-01 -4.65787783e-02 -3.54086890e+00] [-1.36256040e-01 6.92379787e-03 9.90649460e-01 -8.97566670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.105779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.22, Y:-3.59, Z:-0.90 [[ 9.46451607e-01 2.96290350e-01 1.28223959e-01 1.02242635e+01] [-2.92675681e-01 9.55075224e-01 -4.66075417e-02 -3.58501755e+00] [-1.36272891e-01 6.58374833e-03 9.90649460e-01 -9.02844721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.165779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.28, Y:-3.62, Z:-0.90 [[ 9.43966712e-01 3.04119040e-01 1.28212546e-01 1.02772862e+01] [-3.00571665e-01 9.52618227e-01 -4.66389149e-02 -3.61877106e+00] [-1.36321391e-01 5.48852460e-03 9.90649461e-01 -9.01284452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.225779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.34, Y:-3.64, Z:-0.91 [[ 9.41965283e-01 3.10266379e-01 1.28203664e-01 1.03365190e+01] [-3.06772162e-01 9.50638404e-01 -4.66633193e-02 -3.63681895e+00] [-1.36353386e-01 4.62591161e-03 9.90649461e-01 -9.12984257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.285779523 meters Centerline goodness : 0.996888 with order 1 Centerline is valid? [True, True] Translation: X:10.39, Y:-3.67, Z:-0.92 [[ 9.40134285e-01 3.15776403e-01 1.28190441e-01 1.03904088e+01] [-3.12328084e-01 9.48825755e-01 -4.66996152e-02 -3.66874190e+00] [-1.36377029e-01 3.86643434e-03 9.90649462e-01 -9.21338080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.345779523000001 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.44, Y:-3.72, Z:-0.93 [[ 9.36990020e-01 3.24993292e-01 1.28175907e-01 1.04394118e+01] [-3.21625039e-01 9.45712830e-01 -4.67394737e-02 -3.71727479e+00] [-1.36407615e-01 2.56983929e-03 9.90649463e-01 -9.27060045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.405779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.50, Y:-3.74, Z:-0.94 [[ 9.36053634e-01 3.27686867e-01 1.28159711e-01 1.04964842e+01] [-3.24337643e-01 9.44783767e-01 -4.67838426e-02 -3.73872254e+00] [-1.36413665e-01 2.22516748e-03 9.90649464e-01 -9.35551640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.465779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.55, Y:-3.76, Z:-0.95 [[ 9.37789976e-01 3.22689520e-01 1.28146148e-01 1.05526409e+01] [-3.19288709e-01 9.46500142e-01 -4.68209620e-02 -3.76467543e+00] [-1.36398981e-01 2.99261054e-03 9.90649465e-01 -9.50484119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.525779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.60, Y:-3.82, Z:-0.95 [[ 9.40180499e-01 3.15662381e-01 1.28132318e-01 1.06003777e+01] [-3.12191332e-01 9.48862913e-01 -4.68587795e-02 -3.81745155e+00] [-1.36371559e-01 4.05391147e-03 9.90649466e-01 -9.49912201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.585779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.66, Y:-3.84, Z:-0.97 [[ 9.41152652e-01 3.12756965e-01 1.28120125e-01 1.06555445e+01] [-3.09254586e-01 9.49822474e-01 -4.68920956e-02 -3.84308127e+00] [-1.36357203e-01 4.51088399e-03 9.90649466e-01 -9.68989756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.645779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.71, Y:-3.86, Z:-0.99 [[ 9.41077798e-01 3.12983767e-01 1.28116116e-01 1.07148192e+01] [-3.09481988e-01 9.49747863e-01 -4.69030450e-02 -3.85830664e+00] [-1.36357899e-01 4.48978394e-03 9.90649466e-01 -9.87852201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.705779523 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:10.77, Y:-3.90, Z:-0.99 [[ 9.40809808e-01 3.13793794e-01 1.28102926e-01 1.07659231e+01] [-3.10294584e-01 9.49480909e-01 -4.69390444e-02 -3.89674627e+00] [-1.36360463e-01 4.41106932e-03 9.90649467e-01 -9.87892006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.765779523 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:10.82, Y:-3.94, Z:-0.98 [[ 9.43363353e-01 3.06033791e-01 1.28097240e-01 1.08182632e+01] [-3.02461175e-01 9.52004468e-01 -4.69545542e-02 -3.94059396e+00] [-1.36318826e-01 5.55076383e-03 9.90649467e-01 -9.78065744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.825779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.88, Y:-3.96, Z:-0.99 [[ 9.44899556e-01 3.01262247e-01 1.28085473e-01 1.08755248e+01] [-2.97641667e-01 9.53520684e-01 -4.69866318e-02 -3.95740885e+00] [-1.36287446e-01 6.27407373e-03 9.90649468e-01 -9.94314890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.885779523 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:10.93, Y:-3.99, Z:-1.02 [[ 9.44737009e-01 3.01776771e-01 1.28073277e-01 1.09273821e+01] [-2.98156393e-01 9.53358222e-01 -4.70198534e-02 -3.98559681e+00] [-1.36289211e-01 6.23552950e-03 9.90649468e-01 -1.01872455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.945779523 meters Centerline goodness : 0.995822 with order 1 Centerline is valid? [True, True] Translation: X:10.98, Y:-4.02, Z:-1.02 [[ 9.41134875e-01 3.12834211e-01 1.28062110e-01 1.09798329e+01] [-3.09311045e-01 9.49796268e-01 -4.70502477e-02 -4.02132595e+00] [-1.36351841e-01 4.66960389e-03 9.90649469e-01 -1.02380875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.005779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.04, Y:-4.05, Z:-1.02 [[ 9.33383324e-01 3.35259924e-01 1.28048250e-01 1.10373814e+01] [-3.31939808e-01 9.42124562e-01 -4.70879375e-02 -4.04663667e+00] [-1.36424100e-01 1.44678415e-03 9.90649470e-01 -1.02220932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.065779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.09, Y:-4.06, Z:-1.04 [[ 9.33318318e-01 3.35446156e-01 1.28034346e-01 1.10949898e+01] [-3.32122603e-01 9.42058249e-01 -4.71257136e-02 -4.06394645e+00] [-1.36423951e-01 1.46019162e-03 9.90649470e-01 -1.03750494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.125779523 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:11.15, Y:-4.09, Z:-1.04 [[ 9.33095986e-01 3.36066690e-01 1.28027577e-01 1.11525065e+01] [-3.32746426e-01 9.41837167e-01 -4.71440948e-02 -4.08721050e+00] [-1.36424691e-01 1.38924678e-03 9.90649471e-01 -1.04303758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.185779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.21, Y:-4.11, Z:-1.05 [[ 9.27511814e-01 3.51188997e-01 1.28016105e-01 1.12081247e+01] [-3.48006956e-01 9.36304254e-01 -4.71752277e-02 -4.11147762e+00] [-1.36429444e-01 -7.94913770e-04 9.90649471e-01 -1.04745951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.245779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.27, Y:-4.13, Z:-1.07 [[ 9.24373303e-01 3.59370732e-01 1.28010444e-01 1.12666687e+01] [-3.56264379e-01 9.33192767e-01 -4.71905829e-02 -4.12808832e+00] [-1.36417335e-01 -1.98384631e-03 9.90649471e-01 -1.06530161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.305779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.33, Y:-4.14, Z:-1.08 [[ 9.23889728e-01 3.60616866e-01 1.27997054e-01 1.13251794e+01] [-3.57517381e-01 9.32711609e-01 -4.72268726e-02 -4.14448433e+00] [-1.36415145e-01 -2.12874914e-03 9.90649472e-01 -1.08264416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.365779523 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:11.38, Y:-4.17, Z:-1.09 [[ 9.28888320e-01 3.47543102e-01 1.27985473e-01 1.13818369e+01] [-3.44315111e-01 9.37663993e-01 -4.72582387e-02 -4.16898803e+00] [-1.36431644e-01 -1.69706191e-04 9.90649473e-01 -1.08739159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.425779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.44, Y:-4.19, Z:-1.09 [[ 9.30436694e-01 3.43377859e-01 1.27981264e-01 1.14390807e+01] [-3.40109015e-01 9.39197232e-01 -4.72696335e-02 -4.19115504e+00] [-1.36430994e-01 4.53819959e-04 9.90649473e-01 -1.09346656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.485779523 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:11.50, Y:-4.22, Z:-1.10 [[ 9.31413358e-01 3.40724504e-01 1.27968629e-01 1.14965809e+01] [-3.37426007e-01 9.40162773e-01 -4.73038151e-02 -4.21645682e+00] [-1.36428910e-01 8.79461837e-04 9.90649473e-01 -1.09661889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.545779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.55, Y:-4.24, Z:-1.10 [[ 9.29038488e-01 3.47152432e-01 1.27955760e-01 1.15543685e+01] [-3.43909681e-01 9.37808716e-01 -4.73386002e-02 -4.24155802e+00] [-1.36431737e-01 -2.58428638e-05 9.90649474e-01 -1.09897370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.605779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.61, Y:-4.26, Z:-1.11 [[ 9.27853260e-01 3.50312740e-01 1.27942614e-01 1.16141707e+01] [-3.47094964e-01 9.36632682e-01 -4.73741039e-02 -4.25680216e+00] [-1.36430985e-01 -4.52020141e-04 9.90649475e-01 -1.11159601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.665779523 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:11.67, Y:-4.28, Z:-1.12 [[ 9.29104335e-01 3.46985793e-01 1.27929648e-01 1.16711184e+01] [-3.43731762e-01 9.37870382e-01 -4.74090904e-02 -4.27943980e+00] [-1.36431709e-01 7.45080780e-05 9.90649475e-01 -1.12440822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.725779523 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:11.73, Y:-4.31, Z:-1.13 [[ 9.29485002e-01 3.45969744e-01 1.27916254e-01 1.17286236e+01] [-3.42701160e-01 9.38245633e-01 -4.74452030e-02 -4.30683378e+00] [-1.36431471e-01 2.62555986e-04 9.90649476e-01 -1.12528917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.785779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.79, Y:-4.32, Z:-1.14 [[ 9.29299853e-01 3.46471679e-01 1.27902929e-01 1.17859322e+01] [-3.43202886e-01 9.38060405e-01 -4.74810986e-02 -4.32352743e+00] [-1.36431529e-01 2.27523665e-04 9.90649477e-01 -1.13738720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.845779523000001 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:11.84, Y:-4.34, Z:-1.16 [[ 9.30710927e-01 3.42667074e-01 1.27892324e-01 1.18441140e+01] [-3.39358548e-01 9.39456550e-01 -4.75096442e-02 -4.33655246e+00] [-1.36429273e-01 8.16391478e-04 9.90649477e-01 -1.16179321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.905779523 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:11.90, Y:-4.36, Z:-1.16 [[ 9.32542953e-01 3.37653806e-01 1.27880994e-01 1.19007517e+01] [-3.34294087e-01 9.41269037e-01 -4.75401232e-02 -4.36456099e+00] [-1.36422523e-01 1.58334683e-03 9.90649478e-01 -1.16121512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.965779523 meters Centerline goodness : 0.999798 with order 1 Centerline is valid? [True, True] Translation: X:11.96, Y:-4.39, Z:-1.16 [[ 9.40301035e-01 3.15409836e-01 1.27869458e-01 1.19590167e+01] [-3.11839601e-01 9.48943123e-01 -4.75711322e-02 -4.38998275e+00] [-1.36345245e-01 4.85642423e-03 9.90649478e-01 -1.15750192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.025779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.02, Y:-4.40, Z:-1.17 [[ 9.46118634e-01 2.97509488e-01 1.27857871e-01 1.20194824e+01] [-2.93771709e-01 9.54689587e-01 -4.76022540e-02 -4.40386726e+00] [-1.36226700e-01 7.47635427e-03 9.90649479e-01 -1.16928031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.085779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.08, Y:-4.43, Z:-1.17 [[ 9.49602797e-01 2.86199684e-01 1.27844704e-01 1.20774714e+01] [-2.82355173e-01 9.58126409e-01 -4.76375914e-02 -4.42879346e+00] [-1.36125250e-01 9.13917661e-03 9.90649480e-01 -1.17464502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.145779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.14, Y:-4.45, Z:-1.18 [[ 9.46790727e-01 2.95375102e-01 1.27831408e-01 1.21374030e+01] [-2.91608454e-01 9.55349031e-01 -4.76732428e-02 -4.44863017e+00] [-1.36205101e-01 7.85986501e-03 9.90649480e-01 -1.17807638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.205779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.20, Y:-4.46, Z:-1.20 [[ 9.44850235e-01 3.01530378e-01 1.27818096e-01 1.22001011e+01] [-2.97814694e-01 9.53430788e-01 -4.77089078e-02 -4.45648987e+00] [-1.36251393e-01 7.01166557e-03 9.90649481e-01 -1.19547891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.265779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.26, Y:-4.48, Z:-1.21 [[ 9.43262007e-01 3.06468080e-01 1.27804937e-01 1.22592053e+01] [-3.02792565e-01 9.51859843e-01 -4.77441336e-02 -4.47534991e+00] [-1.36284440e-01 6.33684271e-03 9.90649482e-01 -1.20798704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.325779523 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:12.31, Y:-4.51, Z:-1.21 [[ 9.42955451e-01 3.07415680e-01 1.27791305e-01 1.23135228e+01] [-3.03743876e-01 9.51554871e-01 -4.77805916e-02 -4.50909233e+00] [-1.36288942e-01 6.23914282e-03 9.90649483e-01 -1.20663016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.385779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.38, Y:-4.52, Z:-1.23 [[ 9.41095903e-01 3.13067256e-01 1.27778693e-01 1.23753129e+01] [-3.09442541e-01 9.49715277e-01 -4.78142976e-02 -4.51739461e+00] [-1.36322467e-01 5.45767630e-03 9.90649483e-01 -1.22643865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.445779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.43, Y:-4.53, Z:-1.24 [[ 9.37293801e-01 3.24278129e-01 1.27765509e-01 1.24349909e+01] [-3.20751761e-01 9.45953875e-01 -4.78495003e-02 -4.53373812e+00] [-1.36376825e-01 3.86802803e-03 9.90649484e-01 -1.23836962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.505779523 meters Centerline goodness : 0.999779 with order 1 Centerline is valid? [True, True] Translation: X:12.49, Y:-4.57, Z:-1.23 [[ 9.32343844e-01 3.38251790e-01 1.27752427e-01 1.24907178e+01] [-3.34850478e-01 9.41053793e-01 -4.78844015e-02 -4.57018944e+00] [-1.36418891e-01 1.86676560e-03 9.90649485e-01 -1.22971660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.565779523 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:12.55, Y:-4.59, Z:-1.24 [[ 9.30570339e-01 3.43105674e-01 1.27739350e-01 1.25501551e+01] [-3.39745010e-01 9.39296051e-01 -4.79192623e-02 -4.58897155e+00] [-1.36426438e-01 1.19343732e-03 9.90649485e-01 -1.23862901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.625779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.61, Y:-4.60, Z:-1.27 [[ 9.29761447e-01 3.45296600e-01 1.27725919e-01 1.26061485e+01] [-3.41951584e-01 9.38493169e-01 -4.79550345e-02 -4.60377443e+00] [-1.36428613e-01 9.10661874e-04 9.90649486e-01 -1.26577123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.685779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.66, Y:-4.65, Z:-1.27 [[ 9.30888492e-01 3.42249009e-01 1.27719344e-01 1.26575002e+01] [-3.38873006e-01 9.39608281e-01 -4.79725408e-02 -4.64538284e+00] [-1.36424708e-01 1.37644822e-03 9.90649486e-01 -1.26747285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.745779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.71, Y:-4.68, Z:-1.27 [[ 9.32700273e-01 3.37284648e-01 1.27707743e-01 1.27129245e+01] [-3.33858012e-01 9.41400288e-01 -4.80034026e-02 -4.67800898e+00] [-1.36414917e-01 2.13653336e-03 9.90649487e-01 -1.26776049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.805779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.77, Y:-4.69, Z:-1.29 [[ 9.34336345e-01 3.32730619e-01 1.27694674e-01 1.27740129e+01] [-3.29256836e-01 9.43017642e-01 -4.80381450e-02 -4.68958597e+00] [-1.36402092e-01 2.83944062e-03 9.90649487e-01 -1.28556741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.865779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.83, Y:-4.71, Z:-1.30 [[ 9.34608350e-01 3.31970857e-01 1.27681568e-01 1.28319297e+01] [-3.28485263e-01 9.43284911e-01 -4.80729534e-02 -4.71120665e+00] [-1.36398916e-01 2.98787005e-03 9.90649488e-01 -1.29711823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.925779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.89, Y:-4.74, Z:-1.30 [[ 9.33117955e-01 3.36142304e-01 1.27668453e-01 1.28894649e+01] [-3.32690742e-01 9.41808109e-01 -4.81077581e-02 -4.73940555e+00] [-1.36410237e-01 2.41610046e-03 9.90649489e-01 -1.29780354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.985779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:12.95, Y:-4.76, Z:-1.31 [[ 9.32566240e-01 3.37674832e-01 1.27655455e-01 1.29477282e+01] [-3.34232835e-01 9.41260186e-01 -4.81422238e-02 -4.75886937e+00] [-1.36413415e-01 2.22916786e-03 9.90649489e-01 -1.30974354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.045779523 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:13.01, Y:-4.78, Z:-1.33 [[ 9.32409411e-01 3.38112021e-01 1.27643844e-01 1.30058920e+01] [-3.34669889e-01 9.41103304e-01 -4.81729897e-02 -4.77703630e+00] [-1.36413911e-01 2.19839773e-03 9.90649490e-01 -1.32555792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.105779523 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:13.06, Y:-4.80, Z:-1.33 [[ 9.32876916e-01 3.36824340e-01 1.27632378e-01 1.30631746e+01] [-3.33366056e-01 9.41564395e-01 -4.82033508e-02 -4.80012548e+00] [-1.36410164e-01 2.41949076e-03 9.90649491e-01 -1.32676918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.165779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.12, Y:-4.82, Z:-1.34 [[ 9.33120927e-01 3.36151739e-01 1.27621874e-01 1.31195924e+01] [-3.32683393e-01 9.41804394e-01 -4.82311442e-02 -4.81879758e+00] [-1.36407825e-01 2.54781186e-03 9.90649491e-01 -1.34189031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.225779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.18, Y:-4.84, Z:-1.36 [[ 9.31524654e-01 3.40554119e-01 1.27611561e-01 1.31759084e+01] [-3.37123078e-01 9.40222929e-01 -4.82584167e-02 -4.83599526e+00] [-1.36417918e-01 1.93310281e-03 9.90649491e-01 -1.36373751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.285779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.23, Y:-4.86, Z:-1.37 [[ 9.30067668e-01 3.44516394e-01 1.27603243e-01 1.32322934e+01] [-3.41119396e-01 9.38779293e-01 -4.82804007e-02 -4.85715481e+00] [-1.36424672e-01 1.37609859e-03 9.90649492e-01 -1.37246527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.345779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.29, Y:-4.89, Z:-1.36 [[ 9.28419562e-01 3.48937152e-01 1.27593029e-01 1.32894950e+01] [-3.45577929e-01 9.37145822e-01 -4.83073776e-02 -4.88521756e+00] [-1.36429513e-01 7.56179526e-04 9.90649492e-01 -1.36141035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.405779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.35, Y:-4.92, Z:-1.35 [[ 9.31596357e-01 3.40368516e-01 1.27583308e-01 1.33455279e+01] [-3.36925524e-01 9.40289907e-01 -4.83330400e-02 -4.91818066e+00] [-1.36416341e-01 2.04081133e-03 9.90649492e-01 -1.35499432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.465779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.40, Y:-4.94, Z:-1.37 [[ 9.31895382e-01 3.39553556e-01 1.27571075e-01 1.34037263e+01] [-3.36098545e-01 9.40584162e-01 -4.83653064e-02 -4.93728676e+00] [-1.36413944e-01 2.19495312e-03 9.90649493e-01 -1.36775554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.525779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.46, Y:-4.95, Z:-1.39 [[ 9.28101032e-01 3.49795626e-01 1.27559766e-01 1.34624744e+01] [-3.46432416e-01 9.36825755e-01 -4.83951135e-02 -4.95239850e+00] [-1.36429673e-01 7.24716841e-04 9.90649494e-01 -1.38988873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.585779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.52, Y:-4.98, Z:-1.40 [[ 9.26292127e-01 3.54562678e-01 1.27546863e-01 1.35207934e+01] [-3.51239688e-01 9.35032248e-01 -4.84290963e-02 -4.97582244e+00] [-1.36431580e-01 5.99701465e-05 9.90649494e-01 -1.39870520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.645779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.58, Y:-5.00, Z:-1.41 [[ 9.26805617e-01 3.53220295e-01 1.27541253e-01 1.35784643e+01] [-3.49882614e-01 9.35540137e-01 -4.84438657e-02 -4.99808632e+00] [-1.36431318e-01 2.73579684e-04 9.90649494e-01 -1.40522195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.705779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.64, Y:-5.02, Z:-1.41 [[ 9.27960248e-01 3.50179936e-01 1.27529570e-01 1.36361089e+01] [-3.46809413e-01 9.36682146e-01 -4.84746041e-02 -5.02323952e+00] [-1.36429505e-01 7.54050397e-04 9.90649495e-01 -1.41081878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.765779523 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:13.69, Y:-5.05, Z:-1.42 [[ 9.30656263e-01 3.42955696e-01 1.27515922e-01 1.36922227e+01] [-3.39512559e-01 9.39349752e-01 -4.85104775e-02 -5.04560226e+00] [-1.36418995e-01 1.85332262e-03 9.90649496e-01 -1.42287061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.825779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.75, Y:-5.06, Z:-1.44 [[ 9.32885847e-01 3.36847844e-01 1.27505003e-01 1.37511247e+01] [-3.33343877e-01 9.41554996e-01 -4.85391603e-02 -5.06434383e+00] [-1.36403284e-01 2.77848357e-03 9.90649496e-01 -1.43566259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.885779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.81, Y:-5.08, Z:-1.44 [[ 9.35235937e-01 3.30271984e-01 1.27491796e-01 1.38093204e+01] [-3.26702351e-01 9.43878254e-01 -4.85738254e-02 -5.08441500e+00] [-1.36379308e-01 3.77611759e-03 9.90649497e-01 -1.44440525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.945779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.87, Y:-5.10, Z:-1.45 [[ 9.37331951e-01 3.24280225e-01 1.27479999e-01 1.38684871e+01] [-3.20651156e-01 9.45949477e-01 -4.86047670e-02 -5.10089641e+00] [-1.36351203e-01 4.68219204e-03 9.90649497e-01 -1.45203888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.005779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.93, Y:-5.12, Z:-1.46 [[ 9.38782030e-01 3.20062701e-01 1.27468297e-01 1.39274165e+01] [-3.16390767e-01 9.47381379e-01 -4.86354374e-02 -5.12003556e+00] [-1.36327480e-01 5.32828247e-03 9.90649498e-01 -1.46128250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.065779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.98, Y:-5.15, Z:-1.46 [[ 9.41002776e-01 3.13478831e-01 1.27455083e-01 1.39823562e+01] [-3.09742074e-01 9.49574154e-01 -4.86700420e-02 -5.15415301e+00] [-1.36285080e-01 6.32044291e-03 9.90649498e-01 -1.45738822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.125779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.04, Y:-5.17, Z:-1.46 [[ 9.42186461e-01 3.09907705e-01 1.27443660e-01 1.40413318e+01] [-3.06134435e-01 9.50741828e-01 -4.86999352e-02 -5.17482700e+00] [-1.36258503e-01 6.86952680e-03 9.90649499e-01 -1.46411069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.185779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.10, Y:-5.18, Z:-1.49 [[ 9.42893030e-01 3.07756813e-01 1.27430288e-01 1.41025451e+01] [-3.03959319e-01 9.51437671e-01 -4.87349005e-02 -5.18186617e+00] [-1.36240474e-01 7.21817457e-03 9.90649500e-01 -1.48545158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.245779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.16, Y:-5.21, Z:-1.50 [[ 9.40663702e-01 3.14509630e-01 1.27418575e-01 1.41572944e+01] [-3.10769364e-01 9.49233548e-01 -4.87655060e-02 -5.20760529e+00] [-1.36287207e-01 6.27415199e-03 9.90649500e-01 -1.50059431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.305779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.21, Y:-5.23, Z:-1.50 [[ 9.36674370e-01 3.26203421e-01 1.27406645e-01 1.42143499e+01] [-3.22565972e-01 9.45288358e-01 -4.87966545e-02 -5.23394279e+00] [-1.36353654e-01 4.60952743e-03 9.90649501e-01 -1.49945545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.365779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.27, Y:-5.25, Z:-1.50 [[ 9.32939814e-01 3.36740357e-01 1.27394016e-01 1.42744565e+01] [-3.33195734e-01 9.41592413e-01 -4.88296013e-02 -5.25070537e+00] [-1.36396137e-01 3.10793630e-03 9.90649501e-01 -1.50002317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.425779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.34, Y:-5.27, Z:-1.51 [[ 9.29583542e-01 3.45902075e-01 1.27382074e-01 1.43355922e+01] [-3.42438479e-01 9.38268893e-01 -4.88607370e-02 -5.26534413e+00] [-1.36419668e-01 1.79961340e-03 9.90649502e-01 -1.51066025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.485779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.39, Y:-5.29, Z:-1.53 [[ 9.28177427e-01 3.49662731e-01 1.27368120e-01 1.43915590e+01] [-3.46229340e-01 9.36874762e-01 -4.88970832e-02 -5.29120218e+00] [-1.36425465e-01 1.28658864e-03 9.90649503e-01 -1.52505847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.545779523 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:14.44, Y:-5.32, Z:-1.55 [[ 9.25573150e-01 3.56504174e-01 1.27354303e-01 1.44438948e+01] [-3.53130124e-01 9.34293676e-01 -4.89330460e-02 -5.31629073e+00] [-1.36431155e-01 3.18472896e-04 9.90649503e-01 -1.54543570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.605779523 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:14.50, Y:-5.35, Z:-1.55 [[ 9.24510706e-01 3.59253010e-01 1.27346883e-01 1.44979613e+01] [-3.55902230e-01 9.33240200e-01 -4.89523467e-02 -5.34553469e+00] [-1.36431509e-01 -6.60711975e-05 9.90649504e-01 -1.54901492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.665779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.56, Y:-5.37, Z:-1.55 [[ 9.24722245e-01 3.58711997e-01 1.27336066e-01 1.45558148e+01] [-3.55352236e-01 9.33448285e-01 -4.89804701e-02 -5.37068425e+00] [-1.36431514e-01 4.41745997e-05 9.90649504e-01 -1.54534859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.725779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.61, Y:-5.39, Z:-1.56 [[ 9.25355720e-01 3.57076866e-01 1.27329895e-01 1.46140243e+01] [-3.53699481e-01 9.34074954e-01 -4.89965057e-02 -5.39203062e+00] [-1.36431185e-01 3.02679069e-04 9.90649504e-01 -1.55780164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.785779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.67, Y:-5.42, Z:-1.57 [[ 9.21944887e-01 3.65798250e-01 1.27315614e-01 1.46687207e+01] [-3.62498222e-01 9.30693691e-01 -4.90335877e-02 -5.41813894e+00] [-1.36428239e-01 -9.45418116e-04 9.90649505e-01 -1.56969972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.845779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.73, Y:-5.45, Z:-1.57 [[ 9.22526886e-01 3.64332374e-01 1.27303050e-01 1.47256514e+01] [-3.61013945e-01 9.31268726e-01 -4.90661856e-02 -5.44715566e+00] [-1.36429749e-01 -6.93300775e-04 9.90649506e-01 -1.56626528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.905779523 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:14.79, Y:-5.46, Z:-1.59 [[ 9.25962969e-01 3.55513701e-01 1.27289385e-01 1.47868421e+01] [-3.52107146e-01 9.34670846e-01 -4.91016096e-02 -5.45828086e+00] [-1.36429972e-01 6.46770132e-04 9.90649506e-01 -1.58544354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.965779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.85, Y:-5.47, Z:-1.60 [[ 9.29972531e-01 3.44894197e-01 1.27275627e-01 1.48456877e+01] [-3.41383340e-01 9.38638879e-01 -4.91372471e-02 -5.47255232e+00] [-1.36413003e-01 2.24651143e-03 9.90649507e-01 -1.59909153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.025779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.90, Y:-5.50, Z:-1.60 [[ 9.34500019e-01 3.32435595e-01 1.27264641e-01 1.49012869e+01] [-3.28805369e-01 9.43117047e-01 -4.91656838e-02 -5.50293583e+00] [-1.36369876e-01 4.10003524e-03 9.90649508e-01 -1.60173495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.085779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.96, Y:-5.52, Z:-1.61 [[ 9.39337107e-01 3.18516918e-01 1.27250824e-01 1.49592337e+01] [-3.14754257e-01 9.47897135e-01 -4.92014177e-02 -5.52329801e+00] [-1.36292176e-01 6.16397869e-03 9.90649508e-01 -1.61045554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.145779523 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:15.02, Y:-5.54, Z:-1.61 [[ 9.43183282e-01 3.06945544e-01 1.27238870e-01 1.50180331e+01] [-3.03073786e-01 9.51694520e-01 -4.92323142e-02 -5.54310521e+00] [-1.36204175e-01 7.87232978e-03 9.90649509e-01 -1.61496578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.205779523 meters Centerline goodness : 0.999753 with order 1 Centerline is valid? [True, True] Translation: X:15.08, Y:-5.57, Z:-1.62 [[ 9.44630599e-01 3.02467047e-01 1.27227032e-01 1.50761176e+01] [-2.98550851e-01 9.53121481e-01 -4.92628869e-02 -5.56824570e+00] [-1.36163217e-01 8.55149166e-03 9.90649509e-01 -1.61906639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.265779523 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:15.14, Y:-5.58, Z:-1.63 [[ 9.46682261e-01 2.95988924e-01 1.27213420e-01 1.51371995e+01] [-2.92009960e-01 9.55143910e-01 -4.92980122e-02 -5.57760252e+00] [-1.36098789e-01 9.52196790e-03 9.90649510e-01 -1.62955656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.325779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.20, Y:-5.59, Z:-1.65 [[ 9.45332389e-01 3.00276853e-01 1.27202536e-01 1.51952988e+01] [-2.96332526e-01 9.53810239e-01 -4.93260812e-02 -5.59342582e+00] [-1.36138562e-01 8.93529352e-03 9.90649510e-01 -1.64766862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.385779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.25, Y:-5.62, Z:-1.65 [[ 9.39228649e-01 3.18860692e-01 1.27190421e-01 1.52513823e+01] [-3.15080099e-01 9.47780770e-01 -4.93573007e-02 -5.61619623e+00] [-1.36286738e-01 6.28262042e-03 9.90649511e-01 -1.65265827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.445779523 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:15.31, Y:-5.63, Z:-1.66 [[ 9.35146178e-01 3.30646402e-01 1.27179336e-01 1.53118483e+01] [-3.26969775e-01 9.43743506e-01 -4.93858470e-02 -5.63302049e+00] [-1.36353925e-01 4.59918722e-03 9.90649511e-01 -1.65716665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.505779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.37, Y:-5.65, Z:-1.67 [[ 9.32038592e-01 3.39308964e-01 1.27175036e-01 1.53715568e+01] [-3.35710756e-01 9.40669035e-01 -4.93969165e-02 -5.65225946e+00] [-1.36390435e-01 3.34580485e-03 9.90649512e-01 -1.66509729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.565779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.43, Y:-5.68, Z:-1.68 [[ 9.30498974e-01 3.43513743e-01 1.27161185e-01 1.54284599e+01] [-3.39949673e-01 9.39143569e-01 -4.94325479e-02 -5.67673216e+00] [-1.36403369e-01 2.76853182e-03 9.90649512e-01 -1.67637794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.625779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.48, Y:-5.70, Z:-1.69 [[ 9.29820170e-01 3.45352013e-01 1.27147309e-01 1.54830254e+01] [-3.41800158e-01 9.38469791e-01 -4.94682140e-02 -5.70446993e+00] [-1.36407856e-01 2.53757292e-03 9.90649513e-01 -1.68525745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.685779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.54, Y:-5.73, Z:-1.71 [[ 9.29920991e-01 3.45084534e-01 1.27136206e-01 1.55385992e+01] [-3.41526293e-01 9.38567986e-01 -4.94967333e-02 -5.72527836e+00] [-1.36406530e-01 2.60769425e-03 9.90649513e-01 -1.70745936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.745779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.60, Y:-5.75, Z:-1.71 [[ 9.31113621e-01 3.41857944e-01 1.27124237e-01 1.55954622e+01] [-3.38265549e-01 9.39746481e-01 -4.95274541e-02 -5.75173685e+00] [-1.36395908e-01 3.11393722e-03 9.90649514e-01 -1.70759482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.805779522999998 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:15.65, Y:-5.78, Z:-1.71 [[ 9.36158230e-01 3.27796035e-01 1.27112266e-01 1.56513604e+01] [-3.24069870e-01 9.44734200e-01 -4.95581587e-02 -5.78114375e+00] [-1.36332273e-01 5.20102260e-03 9.90649515e-01 -1.70510335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.865779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.71, Y:-5.81, Z:-1.72 [[ 9.39205729e-01 3.18964197e-01 1.27100116e-01 1.57064864e+01] [-3.15153219e-01 9.47744348e-01 -4.95893010e-02 -5.80681250e+00] [-1.36275628e-01 6.51854487e-03 9.90649515e-01 -1.71934352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.925779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.76, Y:-5.84, Z:-1.73 [[ 9.40710207e-01 3.14504416e-01 1.27087680e-01 1.57578000e+01] [-3.10648680e-01 9.49228708e-01 -4.96211504e-02 -5.83937892e+00] [-1.36241346e-01 7.19950253e-03 9.90649516e-01 -1.73111761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.985779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.82, Y:-5.86, Z:-1.74 [[ 9.40597471e-01 3.14844247e-01 1.27080674e-01 1.58154354e+01] [-3.10989173e-01 9.49116271e-01 -4.96390886e-02 -5.85846860e+00] [-1.36242916e-01 7.16968763e-03 9.90649516e-01 -1.74192884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.045779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.87, Y:-5.87, Z:-1.76 [[ 9.40354059e-01 3.15574984e-01 1.27069561e-01 1.58737943e+01] [-3.11722699e-01 9.48874120e-01 -4.96675187e-02 -5.87415332e+00] [-1.36246845e-01 7.09458624e-03 9.90649516e-01 -1.75691122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.105779523 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:15.93, Y:-5.91, Z:-1.76 [[ 9.37074894e-01 3.25187259e-01 1.27058609e-01 1.59280494e+01] [-3.21418629e-01 9.45632286e-01 -4.96955200e-02 -5.90639351e+00] [-1.36311073e-01 5.72942011e-03 9.90649517e-01 -1.76226754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.165779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:15.99, Y:-5.93, Z:-1.77 [[ 9.30783907e-01 3.42783399e-01 1.27046681e-01 1.59859151e+01] [-3.39172496e-01 9.39409040e-01 -4.97259965e-02 -5.92807170e+00] [-1.36394047e-01 3.19341757e-03 9.90649517e-01 -1.76655048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.225779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.05, Y:-5.94, Z:-1.78 [[ 9.27495391e-01 3.51588497e-01 1.27034753e-01 1.60463341e+01] [-3.48055321e-01 9.36152653e-01 -4.97564504e-02 -5.94297174e+00] [-1.36417717e-01 1.93375673e-03 9.90649518e-01 -1.77841241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.285779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.10, Y:-5.97, Z:-1.78 [[ 9.25303738e-01 3.57321586e-01 1.27020771e-01 1.61033984e+01] [-3.53837157e-01 9.33980734e-01 -4.97921197e-02 -5.96686127e+00] [-1.36426752e-01 1.12816613e-03 9.90649519e-01 -1.78272617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.345779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.16, Y:-6.00, Z:-1.78 [[ 9.25342498e-01 3.57225525e-01 1.27008603e-01 1.61585782e+01] [-3.53735938e-01 9.34017420e-01 -4.98231367e-02 -5.99764599e+00] [-1.36426344e-01 1.17595836e-03 9.90649519e-01 -1.78353867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.405779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.22, Y:-6.02, Z:-1.80 [[ 9.25492300e-01 3.56841607e-01 1.26996339e-01 1.62161408e+01] [-3.53344134e-01 9.34164046e-01 -4.98543777e-02 -6.01926505e+00] [-1.36425530e-01 1.26643111e-03 9.90649520e-01 -1.79894789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.465779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.27, Y:-6.05, Z:-1.80 [[ 9.23129497e-01 3.62915159e-01 1.26982360e-01 1.62716491e+01] [-3.59469848e-01 9.31822097e-01 -4.98899589e-02 -6.04903583e+00] [-1.36430791e-01 4.08563023e-04 9.90649520e-01 -1.80371148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.525779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.33, Y:-6.07, Z:-1.81 [[ 9.19724831e-01 3.71460406e-01 1.26977958e-01 1.63275269e+01] [-3.68094309e-01 9.28448412e-01 -4.99011600e-02 -6.07148925e+00] [-1.36428789e-01 -8.44527812e-04 9.90649520e-01 -1.81280663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.585779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.38, Y:-6.09, Z:-1.82 [[ 9.17846744e-01 3.76080861e-01 1.26966694e-01 1.63844664e+01] [-3.72754714e-01 9.26585634e-01 -4.99298025e-02 -6.09422020e+00] [-1.36423158e-01 -1.49952728e-03 9.90649521e-01 -1.82375827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.645779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.44, Y:-6.11, Z:-1.84 [[ 9.20715307e-01 3.69006571e-01 1.26954616e-01 1.64436381e+01] [-3.65609042e-01 9.29426693e-01 -4.99604958e-02 -6.11089361e+00] [-1.36430760e-01 -4.16362235e-04 9.90649521e-01 -1.83619165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.705779523 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:16.50, Y:-6.13, Z:-1.85 [[ 9.23798749e-01 3.61222267e-01 1.26942288e-01 1.65006069e+01] [-3.57747031e-01 9.32479427e-01 -4.99917998e-02 -6.13465649e+00] [-1.36429223e-01 7.69135614e-04 9.90649522e-01 -1.84514774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.765779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.56, Y:-6.17, Z:-1.84 [[ 9.27553129e-01 3.51473991e-01 1.26930010e-01 1.65562399e+01] [-3.47903271e-01 9.36194968e-01 -5.00229554e-02 -6.16649310e+00] [-1.36413004e-01 2.23958324e-03 9.90649523e-01 -1.84115703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.825779523 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:16.61, Y:-6.18, Z:-1.85 [[ 9.30193507e-01 3.44430106e-01 1.26917061e-01 1.66146783e+01] [-3.40789480e-01 9.38806129e-01 -5.00557863e-02 -6.18376787e+00] [-1.36391235e-01 3.30956817e-03 9.90649523e-01 -1.85261636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.885779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.67, Y:-6.20, Z:-1.86 [[ 9.31771119e-01 3.40143624e-01 1.26905070e-01 1.66735345e+01] [-3.36459248e-01 9.40365115e-01 -5.00861697e-02 -6.20315722e+00] [-1.36373592e-01 3.97046214e-03 9.90649524e-01 -1.85884876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.945779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.73, Y:-6.22, Z:-1.88 [[ 9.35425292e-01 3.29966280e-01 1.26892774e-01 1.67301367e+01] [-3.26184225e-01 9.43976752e-01 -5.01173024e-02 -6.22031237e+00] [-1.36320848e-01 5.49057123e-03 9.90649524e-01 -1.87590320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.005779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.79, Y:-6.24, Z:-1.88 [[ 9.38128440e-01 3.22205059e-01 1.26881554e-01 1.67895817e+01] [-3.18348457e-01 9.46646539e-01 -5.01456905e-02 -6.23906145e+00] [-1.36269179e-01 6.65055141e-03 9.90649525e-01 -1.88137034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.065779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.85, Y:-6.27, Z:-1.88 [[ 9.39471305e-01 3.18269716e-01 1.26878113e-01 1.68458904e+01] [-3.14376269e-01 9.47972625e-01 -5.01543968e-02 -6.26749395e+00] [-1.36239603e-01 7.23114890e-03 9.90649525e-01 -1.87616584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.125779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.90, Y:-6.29, Z:-1.88 [[ 9.39269046e-01 3.18870492e-01 1.26867128e-01 1.69036975e+01] [-3.14978743e-01 9.47771144e-01 -5.01821667e-02 -6.29083876e+00] [-1.36242616e-01 7.17410724e-03 9.90649525e-01 -1.88191137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.185779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:16.96, Y:-6.30, Z:-1.90 [[ 9.36771434e-01 3.26140422e-01 1.26853083e-01 1.69638525e+01] [-3.22309889e-01 9.45301287e-01 -5.02176475e-02 -6.30203016e+00] [-1.36292387e-01 6.15645461e-03 9.90649526e-01 -1.90193409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.245779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.02, Y:-6.32, Z:-1.92 [[ 9.34012105e-01 3.33965310e-01 1.26840686e-01 1.70213794e+01] [-3.30202022e-01 9.42571837e-01 -5.02489403e-02 -6.31917224e+00] [-1.36337861e-01 5.05006758e-03 9.90649527e-01 -1.91817399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.305779522999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.08, Y:-6.34, Z:-1.92 [[ 9.28980224e-01 3.47721242e-01 1.26829341e-01 1.70793970e+01] [-3.44080859e-01 9.37592944e-01 -5.02775577e-02 -6.34323321e+00] [-1.36396871e-01 3.06730796e-03 9.90649527e-01 -1.91767857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.365779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.14, Y:-6.36, Z:-1.92 [[ 9.25754525e-01 3.56224557e-01 1.26817287e-01 1.71388419e+01] [-3.52659136e-01 9.34398547e-01 -5.03079463e-02 -6.36090090e+00] [-1.36418814e-01 1.84953422e-03 9.90649528e-01 -1.92057063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.425779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.19, Y:-6.39, Z:-1.93 [[ 9.22750140e-01 3.63940072e-01 1.26806165e-01 1.71927915e+01] [-3.60443082e-01 9.31422071e-01 -5.03359639e-02 -6.38775009e+00] [-1.36429335e-01 7.41112757e-04 9.90649528e-01 -1.93363619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.485779523 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:17.25, Y:-6.41, Z:-1.95 [[ 9.21360239e-01 3.67448353e-01 1.26795179e-01 1.72479150e+01] [-3.63980577e-01 9.30043894e-01 -5.03636232e-02 -6.41378971e+00] [-1.36431112e-01 2.52057620e-04 9.90649528e-01 -1.94623852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.545779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.31, Y:-6.43, Z:-1.95 [[ 9.16538812e-01 3.79318542e-01 1.26783477e-01 1.73077486e+01] [-3.75959148e-01 9.25264967e-01 -5.03930630e-02 -6.42933933e+00] [-1.36423333e-01 -1.47820998e-03 9.90649529e-01 -1.95496676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.605779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.36, Y:-6.46, Z:-1.96 [[ 9.14286550e-01 3.84719482e-01 1.26771549e-01 1.73621905e+01] [-3.81407473e-01 9.23030799e-01 -5.04230522e-02 -6.45829594e+00] [-1.36412775e-01 -2.25049774e-03 9.90649529e-01 -1.96009966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.665779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.42, Y:-6.49, Z:-1.97 [[ 9.13817946e-01 3.85835380e-01 1.26758907e-01 1.74164472e+01] [-3.82529644e-01 9.22564569e-01 -5.04548131e-02 -6.48958999e+00] [-1.36410528e-01 -2.38252592e-03 9.90649530e-01 -1.96767129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.725779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.47, Y:-6.52, Z:-1.99 [[ 9.16046274e-01 3.80519353e-01 1.26744804e-01 1.74688539e+01] [-3.77157955e-01 9.24771656e-01 -5.04902168e-02 -6.51625750e+00] [-1.36422507e-01 -1.55143597e-03 9.90649531e-01 -1.98748606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.785779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.52, Y:-6.54, Z:-2.00 [[ 9.16752946e-01 3.78817429e-01 1.26733543e-01 1.75248104e+01] [-3.75435927e-01 9.25470556e-01 -5.05184671e-02 -6.54036520e+00] [-1.36425438e-01 -1.26737157e-03 9.90649531e-01 -1.99952736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.845779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.58, Y:-6.57, Z:-1.99 [[ 9.20798535e-01 3.68878666e-01 1.26722486e-01 1.75809355e+01] [-3.65399248e-01 9.29477527e-01 -5.05461875e-02 -6.57249944e+00] [-1.36431113e-01 2.38554411e-04 9.90649532e-01 -1.98837030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.905779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.64, Y:-6.58, Z:-2.01 [[ 9.23328570e-01 3.62503520e-01 1.26710493e-01 1.76413953e+01] [-3.58960056e-01 9.31981611e-01 -5.05762328e-02 -6.57888834e+00] [-1.36425912e-01 1.21447484e-03 9.90649532e-01 -2.00989582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.965779523 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:17.70, Y:-6.60, Z:-2.03 [[ 9.24653853e-01 3.59111902e-01 1.26703960e-01 1.76984705e+01] [-3.55534458e-01 9.33292901e-01 -5.05925963e-02 -6.60024181e+00] [-1.36420309e-01 1.73301561e-03 9.90649532e-01 -2.02565239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.025779523 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:17.75, Y:-6.63, Z:-2.02 [[ 9.26768364e-01 3.53624121e-01 1.26690100e-01 1.77528124e+01] [-3.49990787e-01 9.35384054e-01 -5.06272798e-02 -6.63445010e+00] [-1.36406926e-01 2.57939368e-03 9.90649533e-01 -2.02220245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.085779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.81, Y:-6.65, Z:-2.02 [[ 9.30575860e-01 3.43483932e-01 1.26678164e-01 1.78145405e+01] [-3.39752683e-01 9.39149599e-01 -5.06571261e-02 -6.64980722e+00] [-1.36369656e-01 4.10105248e-03 9.90649533e-01 -2.02281387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.145779522999998 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:17.88, Y:-6.66, Z:-2.04 [[ 9.31820429e-01 3.40098241e-01 1.26664416e-01 1.78756745e+01] [-3.36331181e-01 9.40378493e-01 -5.06914799e-02 -6.66180151e+00] [-1.36352576e-01 4.63416397e-03 9.90649534e-01 -2.03998139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.205779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.93, Y:-6.70, Z:-2.04 [[ 9.32500146e-01 3.38235248e-01 1.26650682e-01 1.79286070e+01] [-3.34446440e-01 9.41048604e-01 -5.07257699e-02 -6.69684297e+00] [-1.36341691e-01 4.94391795e-03 9.90649535e-01 -2.04277765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.265779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.99, Y:-6.71, Z:-2.06 [[ 9.35739501e-01 3.29172103e-01 1.26638512e-01 1.79886285e+01] [-3.25296436e-01 9.44248931e-01 -5.07561353e-02 -6.71034603e+00] [-1.36285784e-01 6.29946402e-03 9.90649535e-01 -2.05918884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.325779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.05, Y:-6.73, Z:-2.08 [[ 9.35278913e-01 3.30483725e-01 1.26624892e-01 1.80469796e+01] [-3.26615406e-01 9.43791684e-01 -5.07900917e-02 -6.72665176e+00] [-1.36292819e-01 6.14526117e-03 9.90649536e-01 -2.07594202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.385779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.10, Y:-6.76, Z:-2.08 [[ 9.29770479e-01 3.45682492e-01 1.26611501e-01 1.81018275e+01] [-3.41948884e-01 9.38343187e-01 -5.08234532e-02 -6.75676517e+00] [-1.36373817e-01 3.95948509e-03 9.90649537e-01 -2.08006300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.445779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.16, Y:-6.78, Z:-2.08 [[ 9.24582290e-01 3.59332982e-01 1.26599354e-01 1.81609424e+01] [-3.55721845e-01 9.33207303e-01 -5.08536916e-02 -6.77680205e+00] [-1.36416851e-01 1.98426675e-03 9.90649537e-01 -2.08353990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.505779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.22, Y:-6.79, Z:-2.09 [[ 9.19716112e-01 3.71615344e-01 1.26587161e-01 1.82215310e+01] [-3.68115227e-01 9.28386771e-01 -5.08840251e-02 -6.79439847e+00] [-1.36431130e-01 2.00196191e-04 9.90649538e-01 -2.08558092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.565779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.28, Y:-6.83, Z:-2.10 [[ 9.19585192e-01 3.71943932e-01 1.26573241e-01 1.82751869e+01] [-3.68442150e-01 9.28255178e-01 -5.09186287e-02 -6.82515018e+00] [-1.36431141e-01 1.89100025e-04 9.90649538e-01 -2.09834558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.625779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.33, Y:-6.86, Z:-2.11 [[ 9.20218376e-01 3.70379368e-01 1.26559329e-01 1.83284222e+01] [-3.66858092e-01 9.28880463e-01 -5.09531838e-02 -6.85547902e+00] [-1.36430496e-01 4.58742240e-04 9.90649539e-01 -2.11249752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.685779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.39, Y:-6.87, Z:-2.13 [[ 9.20431100e-01 3.69854629e-01 1.26547003e-01 1.83874456e+01] [-3.66324209e-01 9.29089462e-01 -5.09837786e-02 -6.86535622e+00] [-1.36430073e-01 5.69824747e-04 9.90649540e-01 -2.13350109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.745779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.44, Y:-6.90, Z:-2.14 [[ 9.19355914e-01 3.72523036e-01 1.26535734e-01 1.84435234e+01] [-3.69013898e-01 9.28022923e-01 -5.10117308e-02 -6.89526267e+00] [-1.36431107e-01 2.04491829e-04 9.90649540e-01 -2.13575584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.805779522999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.49, Y:-6.94, Z:-2.12 [[ 9.17569422e-01 3.76906642e-01 1.26521695e-01 1.84933103e+01] [-3.73434112e-01 9.26251162e-01 -5.10465288e-02 -6.94495451e+00] [-1.36430642e-01 -4.08782759e-04 9.90649541e-01 -2.12043917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.865779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.56, Y:-6.95, Z:-2.15 [[ 9.18389150e-01 3.74909215e-01 1.26508691e-01 1.85552180e+01] [-3.71413366e-01 9.27061527e-01 -5.10787350e-02 -6.95109831e+00] [-1.36431229e-01 -7.68627104e-05 9.90649541e-01 -2.14567109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.925779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.61, Y:-6.97, Z:-2.16 [[ 9.21300052e-01 3.67702828e-01 1.26494441e-01 1.86124015e+01] [-3.64134302e-01 9.29942777e-01 -5.11140012e-02 -6.97158238e+00] [-1.36427354e-01 1.03036695e-03 9.90649542e-01 -2.16312730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.985779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.67, Y:-7.00, Z:-2.16 [[ 9.25254515e-01 3.57640598e-01 1.26480377e-01 1.86692010e+01] [-3.53973343e-01 9.33855811e-01 -5.11487795e-02 -6.99951991e+00] [-1.36407315e-01 2.55495752e-03 9.90649543e-01 -2.16466496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.045779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.73, Y:-7.03, Z:-2.16 [[ 9.28808857e-01 3.48310838e-01 1.26466073e-01 1.87263770e+01] [-3.44552399e-01 9.37370700e-01 -5.11841225e-02 -7.02808048e+00] [-1.36373576e-01 3.96607760e-03 9.90649544e-01 -2.16438380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.105779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.78, Y:-7.05, Z:-2.17 [[ 9.30199607e-01 3.44584766e-01 1.26451689e-01 1.87844209e+01] [-3.40787214e-01 9.38744174e-01 -5.12196319e-02 -7.05178890e+00] [-1.36355292e-01 4.55136255e-03 9.90649544e-01 -2.17141154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.165779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.84, Y:-7.07, Z:-2.18 [[ 9.34902494e-01 3.31618674e-01 1.26437267e-01 1.88434566e+01] [-3.27697892e-01 9.43391220e-01 -5.12552106e-02 -7.06902286e+00] [-1.36276992e-01 6.48539843e-03 9.90649545e-01 -2.18095690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.225779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.90, Y:-7.08, Z:-2.20 [[ 9.38460375e-01 3.21417346e-01 1.26423950e-01 1.89024746e+01] [-3.17399945e-01 9.46903803e-01 -5.12880350e-02 -7.08060747e+00] [-1.36196184e-01 8.00483368e-03 9.90649546e-01 -2.20174146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.285779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:18.96, Y:-7.10, Z:-2.21 [[ 9.38882593e-01 3.20186375e-01 1.26412668e-01 1.89602388e+01] [-3.16154178e-01 9.47318965e-01 -5.13158282e-02 -7.09963097e+00] [-1.36183747e-01 8.21364464e-03 9.90649546e-01 -2.21324606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.345779523 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:19.02, Y:-7.13, Z:-2.20 [[ 9.38934577e-01 3.20038558e-01 1.26400876e-01 1.90164458e+01] [-3.16001141e-01 9.47368452e-01 -5.13448572e-02 -7.13250112e+00] [-1.36180537e-01 8.26664053e-03 9.90649547e-01 -2.20298649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.405779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.08, Y:-7.15, Z:-2.21 [[ 9.37913754e-01 3.23022882e-01 1.26388319e-01 1.90785751e+01] [-3.19008160e-01 9.46358455e-01 -5.13757500e-02 -7.14809488e+00] [-1.36204197e-01 7.86711741e-03 9.90649547e-01 -2.20675632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.465779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.14, Y:-7.15, Z:-2.23 [[ 9.33946009e-01 3.34326843e-01 1.26374105e-01 1.91408498e+01] [-3.30409687e-01 9.42436406e-01 -5.14106892e-02 -7.15253062e+00] [-1.36287531e-01 6.25957945e-03 9.90649548e-01 -2.23295481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.525779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.20, Y:-7.18, Z:-2.24 [[ 9.29914066e-01 3.45387802e-01 1.26360972e-01 1.91956351e+01] [-3.41567313e-01 9.38448397e-01 -5.14429479e-02 -7.18146681e+00] [-1.36351019e-01 4.67674311e-03 9.90649548e-01 -2.24261427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.585779523 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:19.25, Y:-7.21, Z:-2.24 [[ 9.24808597e-01 3.58838386e-01 1.26349008e-01 1.92530106e+01] [-3.55138064e-01 9.33395713e-01 -5.14723176e-02 -7.20795305e+00] [-1.36403866e-01 2.73069977e-03 9.90649549e-01 -2.24353126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.645779522999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.32, Y:-7.21, Z:-2.26 [[ 9.21137277e-01 3.68161883e-01 1.26344546e-01 1.93175608e+01] [-3.64546989e-01 9.29760704e-01 -5.14832670e-02 -7.20825833e+00] [-1.36424371e-01 1.36463253e-03 9.90649549e-01 -2.26160259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.705779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.37, Y:-7.24, Z:-2.26 [[ 9.20122618e-01 3.70694672e-01 1.26332213e-01 1.93727050e+01] [-3.67099364e-01 9.28754227e-01 -5.15135133e-02 -7.24128151e+00] [-1.36427362e-01 1.02227361e-03 9.90649549e-01 -2.26266970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.765779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.42, Y:-7.29, Z:-2.26 [[ 9.22053172e-01 3.65871140e-01 1.26318079e-01 1.94219278e+01] [-3.62225935e-01 9.30663828e-01 -5.15481486e-02 -7.28521427e+00] [-1.36419647e-01 1.77444968e-03 9.90649550e-01 -2.26263701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.825779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.48, Y:-7.30, Z:-2.28 [[ 9.22702686e-01 3.64232399e-01 1.26311177e-01 1.94802502e+01] [-3.60569587e-01 9.31305867e-01 -5.15650558e-02 -7.30493233e+00] [-1.36416004e-01 2.03524651e-03 9.90649550e-01 -2.27642371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.885779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.54, Y:-7.32, Z:-2.30 [[ 9.18644764e-01 3.74354036e-01 1.26296690e-01 1.95396913e+01] [-3.70781150e-01 9.27285677e-01 -5.16005131e-02 -7.31781053e+00] [-1.36429972e-01 5.74109061e-04 9.90649551e-01 -2.29836667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.945779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.59, Y:-7.35, Z:-2.30 [[ 9.14961413e-01 3.83272928e-01 1.26283313e-01 1.95948990e+01] [-3.79779754e-01 9.23634856e-01 -5.16332303e-02 -7.34843968e+00] [-1.36429289e-01 -7.17432360e-04 9.90649552e-01 -2.30459962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.005779523 meters Centerline goodness : 0.999821 with order 1 Centerline is valid? [True, True] Translation: X:19.64, Y:-7.39, Z:-2.31 [[ 9.15732087e-01 3.81432799e-01 1.26268621e-01 1.96431196e+01] [-3.77917244e-01 9.24396483e-01 -5.16691351e-02 -7.38911458e+00] [-1.36430572e-01 -4.04004507e-04 9.90649552e-01 -2.31496844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.065779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.70, Y:-7.42, Z:-2.32 [[ 9.19663468e-01 3.71857608e-01 1.26257772e-01 1.96982962e+01] [-3.68248206e-01 9.28289190e-01 -5.16956328e-02 -7.41790434e+00] [-1.36427139e-01 1.04838694e-03 9.90649553e-01 -2.31619385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.125779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.76, Y:-7.44, Z:-2.32 [[ 9.22928661e-01 3.63682019e-01 1.26246093e-01 1.97566230e+01] [-3.59992318e-01 9.31520340e-01 -5.17241386e-02 -7.43888342e+00] [-1.36411943e-01 2.29006639e-03 9.90649553e-01 -2.31790697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.185779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.81, Y:-7.46, Z:-2.33 [[ 9.22341292e-01 3.65173111e-01 1.26234469e-01 1.98137833e+01] [-3.61493420e-01 9.30937263e-01 -5.17524927e-02 -7.46256434e+00] [-1.36414989e-01 2.10053122e-03 9.90649554e-01 -2.33161786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.245779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.87, Y:-7.49, Z:-2.34 [[ 9.18720598e-01 3.74193810e-01 1.26219871e-01 1.98684614e+01] [-3.70593642e-01 9.27350176e-01 -5.17880702e-02 -7.48866150e+00] [-1.36428795e-01 8.02485046e-04 9.90649555e-01 -2.34348642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.305779522999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.93, Y:-7.51, Z:-2.35 [[ 9.18552789e-01 3.74609783e-01 1.26207308e-01 1.99264572e+01] [-3.71009319e-01 9.27182243e-01 -5.18186695e-02 -7.51335203e+00] [-1.36428955e-01 7.74096060e-04 9.90649555e-01 -2.34883376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.365779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:19.99, Y:-7.52, Z:-2.36 [[ 9.24490148e-01 3.59712773e-01 1.26193058e-01 1.99886286e+01] [-3.55968555e-01 9.33058207e-01 -5.18533485e-02 -7.52404000e+00] [-1.36397780e-01 3.01714928e-03 9.90649556e-01 -2.35613092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.425779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.04, Y:-7.55, Z:-2.37 [[ 9.28215025e-01 3.49993352e-01 1.26180506e-01 2.00431880e+01] [-3.46155301e-01 9.36741464e-01 -5.18838745e-02 -7.55125090e+00] [-1.36357523e-01 4.48134078e-03 9.90649556e-01 -2.36959549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.485779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.10, Y:-7.58, Z:-2.37 [[ 9.29181046e-01 3.47425402e-01 1.26167247e-01 2.01000203e+01] [-3.43559420e-01 9.37694856e-01 -5.19160983e-02 -7.57934402e+00] [-1.36343350e-01 4.89350834e-03 9.90649557e-01 -2.37241064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.545779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.16, Y:-7.60, Z:-2.39 [[ 9.28664430e-01 3.48809120e-01 1.26152977e-01 2.01589638e+01] [-3.44951124e-01 9.37181862e-01 -5.19507498e-02 -7.59778615e+00] [-1.36349177e-01 4.72820229e-03 9.90649558e-01 -2.38501459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.605779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.22, Y:-7.62, Z:-2.39 [[ 9.26501118e-01 3.54520426e-01 1.26138598e-01 2.02188047e+01] [-3.50710199e-01 9.35040025e-01 -5.19856407e-02 -7.61538220e+00] [-1.36374609e-01 3.92666152e-03 9.90649558e-01 -2.39297793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.665779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.27, Y:-7.64, Z:-2.41 [[ 9.23167359e-01 3.63118102e-01 1.26124032e-01 2.02749886e+01] [-3.59382597e-01 9.31739217e-01 -5.20209557e-02 -7.64170707e+00] [-1.36404457e-01 2.69726625e-03 9.90649559e-01 -2.40693151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.725779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.33, Y:-7.67, Z:-2.42 [[ 9.20977202e-01 3.68642668e-01 1.26109387e-01 2.03320980e+01] [-3.64953731e-01 9.29569203e-01 -5.20564335e-02 -7.66564282e+00] [-1.36417625e-01 1.91869717e-03 9.90649560e-01 -2.41902747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.785779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.39, Y:-7.69, Z:-2.42 [[ 9.18178120e-01 3.75564971e-01 1.26094771e-01 2.03885651e+01] [-3.71935957e-01 9.26795601e-01 -5.20918129e-02 -7.69347635e+00] [-1.36427940e-01 9.30383407e-04 9.90649560e-01 -2.42104727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.845779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.45, Y:-7.71, Z:-2.43 [[ 9.14357640e-01 3.84777698e-01 1.26080249e-01 2.04478883e+01] [-3.81230668e-01 9.23009188e-01 -5.21269382e-02 -7.71290573e+00] [-1.36430512e-01 -4.02993401e-04 9.90649561e-01 -2.42530811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.905779523 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:20.51, Y:-7.73, Z:-2.44 [[ 9.14060014e-01 3.85488582e-01 1.26066823e-01 2.05057287e+01] [-3.81943804e-01 9.22712484e-01 -5.21593898e-02 -7.73431383e+00] [-1.36430280e-01 -4.73629240e-04 9.90649562e-01 -2.43535465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.965779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.56, Y:-7.76, Z:-2.44 [[ 9.13795659e-01 3.86118888e-01 1.26054349e-01 2.05621025e+01] [-3.82575922e-01 9.22448870e-01 -5.21895176e-02 -7.76162183e+00] [-1.36430050e-01 -5.34804205e-04 9.90649562e-01 -2.44357113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.025779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.61, Y:-7.80, Z:-2.45 [[ 9.14486607e-01 3.84484258e-01 1.26040075e-01 2.06145207e+01] [-3.80921075e-01 9.23131514e-01 -5.22239672e-02 -7.79637753e+00] [-1.36430859e-01 -2.53202341e-04 9.90649563e-01 -2.45147095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.085779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.67, Y:-7.82, Z:-2.46 [[ 9.13835497e-01 3.86033290e-01 1.26027709e-01 2.06726229e+01] [-3.82480648e-01 9.22484740e-01 -5.22537931e-02 -7.81894681e+00] [-1.36430342e-01 -4.51788736e-04 9.90649564e-01 -2.46162633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.145779522999998 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:20.73, Y:-7.83, Z:-2.49 [[ 9.11503476e-01 3.91512586e-01 1.26013126e-01 2.07323975e+01] [-3.88007076e-01 9.20171928e-01 -5.22889375e-02 -7.82682084e+00] [-1.36425518e-01 -1.23243615e-03 9.90649564e-01 -2.48578561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.205779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.79, Y:-7.85, Z:-2.50 [[ 9.09107467e-01 3.97048164e-01 1.26001464e-01 2.07909698e+01] [-3.93591539e-01 9.17795527e-01 -5.23170245e-02 -7.84593275e+00] [-1.36415958e-01 -2.03131241e-03 9.90649565e-01 -2.49525091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.265779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.85, Y:-7.88, Z:-2.50 [[ 9.10517947e-01 3.93806820e-01 1.25989112e-01 2.08450682e+01] [-3.90315152e-01 9.19191982e-01 -5.23467526e-02 -7.87939427e+00] [-1.36422690e-01 -1.51280180e-03 9.90649565e-01 -2.49516630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.325779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.90, Y:-7.91, Z:-2.50 [[ 9.14629900e-01 3.84164266e-01 1.25976041e-01 2.08993706e+01] [-3.80576812e-01 9.23264759e-01 -5.23781912e-02 -7.91045012e+00] [-1.36431068e-01 -3.69001692e-05 9.90649566e-01 -2.49625861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.385779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:20.96, Y:-7.93, Z:-2.51 [[ 9.15209223e-01 3.82786258e-01 1.25963326e-01 2.09570392e+01] [-3.79181597e-01 9.23836912e-01 -5.24087512e-02 -7.93205053e+00] [-1.36430920e-01 2.01997388e-04 9.90649566e-01 -2.50862745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.445779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.02, Y:-7.95, Z:-2.52 [[ 9.12933839e-01 3.88186368e-01 1.25948996e-01 2.10154878e+01] [-3.84627991e-01 9.21580720e-01 -5.24431678e-02 -7.95212729e+00] [-1.36429889e-01 -5.66366596e-04 9.90649567e-01 -2.51694182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.505779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.07, Y:-7.98, Z:-2.53 [[ 9.13112471e-01 3.87770297e-01 1.25935747e-01 2.10721163e+01] [-3.84203594e-01 9.21755920e-01 -5.24749637e-02 -7.97657854e+00] [-1.36430253e-01 -4.69422829e-04 9.90649568e-01 -2.52710813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.565779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.13, Y:-8.00, Z:-2.54 [[ 9.15030568e-01 3.83226519e-01 1.25922574e-01 2.11273465e+01] [-3.79612547e-01 9.23654360e-01 -5.25065555e-02 -8.00215606e+00] [-1.36430839e-01 2.43314284e-04 9.90649568e-01 -2.54070199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.625779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.18, Y:-8.03, Z:-2.54 [[ 9.14279302e-01 3.85019596e-01 1.25909766e-01 2.11828836e+01] [-3.81418309e-01 9.22908398e-01 -5.25372502e-02 -8.03300800e+00] [-1.36431052e-01 9.43014802e-06 9.90649569e-01 -2.53827347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.685779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.24, Y:-8.06, Z:-2.54 [[ 9.13591565e-01 3.86652878e-01 1.25896803e-01 2.12411488e+01] [-3.83062740e-01 9.22225304e-01 -5.25682964e-02 -8.05569860e+00] [-1.36430901e-01 -2.00422182e-04 9.90649569e-01 -2.54261981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.745779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.30, Y:-8.07, Z:-2.56 [[ 9.13225806e-01 3.87520809e-01 1.25881889e-01 2.13027113e+01] [-3.83933956e-01 9.21860910e-01 -5.26039864e-02 -8.06594945e+00] [-1.36430732e-01 -2.91013759e-04 9.90649570e-01 -2.56413189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.805779522999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.36, Y:-8.10, Z:-2.57 [[ 9.12978028e-01 3.88108973e-01 1.25867178e-01 2.13558409e+01] [-3.84522833e-01 9.21613427e-01 -5.26391620e-02 -8.09889892e+00] [-1.36430613e-01 -3.40405725e-04 9.90649571e-01 -2.57480250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.865779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.41, Y:-8.13, Z:-2.58 [[ 9.12366841e-01 3.89545076e-01 1.25862552e-01 2.14108289e+01] [-3.85971003e-01 9.21007242e-01 -5.26502203e-02 -8.12873836e+00] [-1.36429956e-01 -5.42980420e-04 9.90649571e-01 -2.57880348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.925779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.47, Y:-8.14, Z:-2.59 [[ 9.11487314e-01 3.91602771e-01 1.25849696e-01 2.14711000e+01] [-3.88043963e-01 9.20134013e-01 -5.26809341e-02 -8.14382374e+00] [-1.36428585e-01 -8.17211439e-04 9.90649571e-01 -2.58615202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.985779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.53, Y:-8.16, Z:-2.59 [[ 9.11781601e-01 3.90921316e-01 1.25836545e-01 2.15289870e+01] [-3.87351713e-01 9.20423849e-01 -5.27123281e-02 -8.16433347e+00] [-1.36429330e-01 -6.80870273e-04 9.90649572e-01 -2.59414231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.045779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.58, Y:-8.19, Z:-2.60 [[ 9.12837221e-01 3.88454225e-01 1.25823377e-01 2.15849582e+01] [-3.84856934e-01 9.21467980e-01 -5.27437400e-02 -8.18846393e+00] [-1.36430742e-01 -2.77550213e-04 9.90649573e-01 -2.60303451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.105779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.64, Y:-8.22, Z:-2.61 [[ 9.14172627e-01 3.85305579e-01 1.25809453e-01 2.16371417e+01] [-3.81673993e-01 9.22789011e-01 -5.27769344e-02 -8.22388472e+00] [-1.36430828e-01 2.29032644e-04 9.90649573e-01 -2.60873940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.165779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.70, Y:-8.24, Z:-2.61 [[ 9.13308230e-01 3.87354143e-01 1.25796842e-01 2.16953979e+01] [-3.83737746e-01 9.21930998e-01 -5.28069747e-02 -8.24492093e+00] [-1.36431009e-01 -4.39521756e-05 9.90649574e-01 -2.61290002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.225779523 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:21.76, Y:-8.26, Z:-2.63 [[ 9.12684083e-01 3.88826497e-01 1.25784420e-01 2.17555206e+01] [-3.85219934e-01 9.21310969e-01 -5.28365475e-02 -8.25957676e+00] [-1.36430816e-01 -2.31590184e-04 9.90649574e-01 -2.62803386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.285779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.81, Y:-8.29, Z:-2.64 [[ 9.09155777e-01 3.97011102e-01 1.25769466e-01 2.18096871e+01] [-3.93477275e-01 9.17812711e-01 -5.28721190e-02 -8.28635308e+00] [-1.36423633e-01 -1.41843461e-03 9.90649575e-01 -2.63693177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.345779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.86, Y:-8.32, Z:-2.65 [[ 9.07642713e-01 4.00461922e-01 1.25757522e-01 2.18626452e+01] [-3.96957072e-01 9.16311420e-01 -5.29005145e-02 -8.31827872e+00] [-1.36417695e-01 -1.90557121e-03 9.90649575e-01 -2.64677961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.405779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.92, Y:-8.33, Z:-2.67 [[ 9.07071187e-01 4.01755662e-01 1.25754719e-01 2.19201510e+01] [-3.98262253e-01 9.15744511e-01 -5.29071776e-02 -8.33495082e+00] [-1.36414951e-01 -2.09278110e-03 9.90649575e-01 -2.66622844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.465779523 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:21.97, Y:-8.36, Z:-2.67 [[ 9.07550961e-01 4.00674721e-01 1.25741887e-01 2.19744969e+01] [-3.97166759e-01 9.16218407e-01 -5.29376574e-02 -8.36445900e+00] [-1.36417812e-01 -1.89687573e-03 9.90649576e-01 -2.66919619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.525779523 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:22.03, Y:-8.38, Z:-2.67 [[ 9.09689902e-01 3.95798098e-01 1.25730461e-01 2.20340095e+01] [-3.92239920e-01 9.18336854e-01 -5.29647798e-02 -8.38308991e+00] [-1.36426275e-01 -1.13498066e-03 9.90649576e-01 -2.67120659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.585779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.09, Y:-8.40, Z:-2.68 [[ 9.11208331e-01 3.92293602e-01 1.25718366e-01 2.20941636e+01] [-3.88698207e-01 9.19839875e-01 -5.29934740e-02 -8.39848789e+00] [-1.36429767e-01 -5.78408342e-04 9.90649577e-01 -2.68489780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.645779522999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.15, Y:-8.44, Z:-2.68 [[ 9.10646464e-01 3.93600815e-01 1.25703682e-01 2.21453938e+01] [-3.90013006e-01 9.19281163e-01 -5.30282818e-02 -8.43896463e+00] [-1.36429002e-01 -7.36053660e-04 9.90649578e-01 -2.68181296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.705779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.20, Y:-8.46, Z:-2.69 [[ 9.10040716e-01 3.95003453e-01 1.25690762e-01 2.22026686e+01] [-3.91424725e-01 9.18679182e-01 -5.30588894e-02 -8.46223829e+00] [-1.36427931e-01 -9.12722122e-04 9.90649578e-01 -2.68738459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.765779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.27, Y:-8.47, Z:-2.71 [[ 9.09943633e-01 3.95231400e-01 1.25677070e-01 2.22655670e+01] [-3.91650359e-01 9.18581140e-01 -5.30913003e-02 -8.46783832e+00] [-1.36427935e-01 -9.11379019e-04 9.90649579e-01 -2.71407704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.825779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.32, Y:-8.49, Z:-2.73 [[ 9.10024008e-01 3.95051131e-01 1.25661882e-01 2.23225482e+01] [-3.91463419e-01 9.18658745e-01 -5.31272258e-02 -8.48757630e+00] [-1.36428357e-01 -8.44978831e-04 9.90649580e-01 -2.72833979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.885779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.37, Y:-8.53, Z:-2.73 [[ 9.11925325e-01 3.90645171e-01 1.25652502e-01 2.23737854e+01] [-3.87012683e-01 9.20541321e-01 -5.31494001e-02 -8.53095795e+00] [-1.36430877e-01 -1.60827997e-04 9.90649580e-01 -2.72553599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.945779523 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:22.43, Y:-8.56, Z:-2.73 [[ 9.11287213e-01 3.92136236e-01 1.25637524e-01 2.24284388e+01] [-3.88512967e-01 9.19907090e-01 -5.31847836e-02 -8.55873810e+00] [-1.36430530e-01 -3.45193873e-04 9.90649581e-01 -2.73282161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.005779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.49, Y:-8.57, Z:-2.75 [[ 9.07052031e-01 4.01839607e-01 1.25624613e-01 2.24892245e+01] [-3.98304319e-01 9.15708363e-01 -5.32152614e-02 -8.56872413e+00] [-1.36419509e-01 -1.76781509e-03 9.90649581e-01 -2.74658123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.065779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.55, Y:-8.60, Z:-2.74 [[ 9.05491925e-01 4.05346267e-01 1.25613605e-01 2.25457126e+01] [-4.01840898e-01 9.14160415e-01 -5.32412344e-02 -8.59745633e+00] [-1.36412121e-01 -2.26717585e-03 9.90649581e-01 -2.74229823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.125779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.60, Y:-8.63, Z:-2.75 [[ 9.08015580e-01 3.99665041e-01 1.25600798e-01 2.25991870e+01] [-3.96101253e-01 9.16660216e-01 -5.32714292e-02 -8.63066875e+00] [-1.36423983e-01 -1.37934579e-03 9.90649582e-01 -2.74664819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.185779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.66, Y:-8.65, Z:-2.76 [[ 9.11802271e-01 3.90953015e-01 1.25588053e-01 2.26566367e+01] [-3.87302486e-01 9.20410636e-01 -5.33014584e-02 -8.64922857e+00] [-1.36430946e-01 -4.01744968e-05 9.90649583e-01 -2.76078928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.245779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.72, Y:-8.67, Z:-2.77 [[ 9.12630676e-01 3.89019028e-01 1.25576454e-01 2.27156527e+01] [-3.85346499e-01 9.21229677e-01 -5.33287718e-02 -8.66897435e+00] [-1.36430663e-01 2.79026042e-04 9.90649583e-01 -2.77250295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.305779522999998 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:22.77, Y:-8.70, Z:-2.78 [[ 9.13421737e-01 3.87162696e-01 1.25561847e-01 2.27697356e+01] [-3.83467966e-01 9.22011222e-01 -5.33631433e-02 -8.69897394e+00] [-1.36429650e-01 5.94109091e-04 9.90649584e-01 -2.77842377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.365779523 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:22.82, Y:-8.73, Z:-2.78 [[ 9.13072105e-01 3.87990663e-01 1.25549096e-01 2.28246526e+01] [-3.84299600e-01 9.21663166e-01 -5.33931245e-02 -8.72930108e+00] [-1.36430011e-01 5.03305054e-04 9.90649584e-01 -2.78186226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.425779523 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:22.89, Y:-8.74, Z:-2.80 [[ 9.10720449e-01 3.93483041e-01 1.25536289e-01 2.28851677e+01] [-3.89839640e-01 9.19331831e-01 -5.34232191e-02 -8.74058456e+00] [-1.36430637e-01 -2.85403815e-04 9.90649585e-01 -2.79860433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.485779522999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.94, Y:-8.76, Z:-2.81 [[ 9.07889517e-01 3.99975565e-01 1.25523596e-01 2.29428876e+01] [-3.96389621e-01 9.16524982e-01 -5.34530274e-02 -8.76162563e+00] [-1.36425416e-01 -1.22680736e-03 9.90649585e-01 -2.80548829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.545779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.00, Y:-8.79, Z:-2.81 [[ 9.09916514e-01 3.95346819e-01 1.25510277e-01 2.29952115e+01] [-3.91712633e-01 9.18531788e-01 -5.34842838e-02 -8.79488510e+00] [-1.36430020e-01 -4.97727724e-04 9.90649586e-01 -2.81151768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.605779523 meters Centerline goodness : 0.998458 with order 1 Centerline is valid? [True, True] Translation: X:23.05, Y:-8.82, Z:-2.83 [[ 9.11202912e-01 3.92376719e-01 1.25498060e-01 2.30512811e+01] [-3.88710504e-01 9.19804604e-01 -5.35129337e-02 -8.81620829e+00] [-1.36430923e-01 -2.12731628e-05 9.90649586e-01 -2.83136700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.665779523 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:23.11, Y:-8.84, Z:-2.83 [[ 9.10597656e-01 3.93784196e-01 1.25482730e-01 2.31088389e+01] [-3.90126325e-01 9.19202899e-01 -5.35488587e-02 -8.83754996e+00] [-1.36430783e-01 -1.92650882e-04 9.90649587e-01 -2.83303666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.725779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.17, Y:-8.86, Z:-2.84 [[ 9.07989749e-01 3.99763341e-01 1.25474650e-01 2.31662265e+01] [-3.96159518e-01 9.16617766e-01 -5.35677839e-02 -8.86386742e+00] [-1.36426730e-01 -1.06897820e-03 9.90649587e-01 -2.83510096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.785779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.22, Y:-8.89, Z:-2.84 [[ 9.07594706e-01 4.00663983e-01 1.25460041e-01 2.32222834e+01] [-3.97063996e-01 9.16224324e-01 -5.36019786e-02 -8.89228121e+00] [-1.36425923e-01 -1.16679308e-03 9.90649588e-01 -2.84235006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.845779523 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:23.28, Y:-8.91, Z:-2.86 [[ 9.09306031e-01 3.96769421e-01 1.25445482e-01 2.32812773e+01] [-3.93127773e-01 9.17918150e-01 -5.36360295e-02 -8.91013938e+00] [-1.36429821e-01 -5.44537910e-04 9.90649589e-01 -2.85565892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.905779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.34, Y:-8.93, Z:-2.87 [[ 9.09217134e-01 3.96977220e-01 1.25432410e-01 2.33396143e+01] [-3.93333326e-01 9.17828302e-01 -5.36665809e-02 -8.92852554e+00] [-1.36429826e-01 -5.42172311e-04 9.90649589e-01 -2.86582218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.965779523 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:23.39, Y:-8.96, Z:-2.87 [[ 9.08833517e-01 3.97859050e-01 1.25418559e-01 2.33919857e+01] [-3.94219047e-01 9.17446330e-01 -5.36989324e-02 -8.96287410e+00] [-1.36429403e-01 -6.38995194e-04 9.90649590e-01 -2.87195951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.025779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.45, Y:-8.99, Z:-2.88 [[ 9.09661774e-01 3.95965749e-01 1.25405676e-01 2.34495373e+01] [-3.92303673e-01 9.18265224e-01 -5.37290022e-02 -8.98606897e+00] [-1.36430516e-01 -3.21887916e-04 9.90649590e-01 -2.87900864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.085779523 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:23.51, Y:-9.00, Z:-2.90 [[ 9.10766113e-01 3.93423706e-01 1.25390886e-01 2.35099535e+01] [-3.89732868e-01 9.19357264e-01 -5.37634974e-02 -9.00145454e+00] [-1.36430856e-01 9.70220976e-05 9.90649591e-01 -2.89505276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.145779522999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.57, Y:-9.03, Z:-2.91 [[ 9.11621177e-01 3.91443101e-01 1.25375950e-01 2.35660966e+01] [-3.87728810e-01 9.20202212e-01 -5.37983056e-02 -9.02570425e+00] [-1.36430202e-01 4.31806819e-04 9.90649592e-01 -2.90743658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.205779523 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:23.62, Y:-9.06, Z:-2.91 [[ 9.14294840e-01 3.85161072e-01 1.25363048e-01 2.36214293e+01] [-3.81383704e-01 9.22848297e-01 -5.38283522e-02 -9.05694874e+00] [-1.36423661e-01 1.40356102e-03 9.90649592e-01 -2.91234383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.265779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.68, Y:-9.08, Z:-2.91 [[ 9.21151531e-01 3.68466718e-01 1.25348051e-01 2.36787887e+01] [-3.64529647e-01 9.29632662e-01 -5.38632527e-02 -9.07923381e+00] [-1.36374459e-01 3.92313681e-03 9.90649593e-01 -2.91250728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.325779523 meters Centerline goodness : 0.998282 with order 1 Centerline is valid? [True, True] Translation: X:23.74, Y:-9.10, Z:-2.93 [[ 9.24524806e-01 3.59923266e-01 1.25336052e-01 2.37362576e+01] [-3.55904072e-01 9.32967328e-01 -5.38911609e-02 -9.09974148e+00] [-1.36331124e-01 5.21610392e-03 9.90649593e-01 -2.92766240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.385779523 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:23.79, Y:-9.13, Z:-2.94 [[ 9.23332262e-01 3.62976439e-01 1.25322139e-01 2.37918200e+01] [-3.58980783e-01 9.31785949e-01 -5.39234950e-02 -9.12521919e+00] [-1.36346366e-01 4.80106307e-03 9.90649594e-01 -2.93872360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.445779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.85, Y:-9.15, Z:-2.94 [[ 9.21141658e-01 3.68505314e-01 1.25307140e-01 2.38472827e+01] [-3.64555676e-01 9.29616942e-01 -5.39583273e-02 -9.14919513e+00] [-1.36371571e-01 4.02183398e-03 9.90649595e-01 -2.94424788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.505779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.91, Y:-9.17, Z:-2.95 [[ 9.18740982e-01 3.74454351e-01 1.25295436e-01 2.39074620e+01] [-3.70555900e-01 9.27239932e-01 -5.39854923e-02 -9.16714548e+00] [-1.36394034e-01 3.16972140e-03 9.90649595e-01 -2.95372548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.565779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:23.97, Y:-9.19, Z:-2.97 [[ 9.17481352e-01 3.77535144e-01 1.25280422e-01 2.39657300e+01] [-3.73660481e-01 9.25991172e-01 -5.40203114e-02 -9.18883530e+00] [-1.36403131e-01 2.75028561e-03 9.90649596e-01 -2.96524745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.625779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.02, Y:-9.22, Z:-2.97 [[ 9.16307210e-01 3.80380908e-01 1.25265567e-01 2.40203902e+01] [-3.76527971e-01 9.24826888e-01 -5.40547355e-02 -9.21963493e+00] [-1.36410354e-01 2.36475401e-03 9.90649597e-01 -2.96736050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.685779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.08, Y:-9.24, Z:-2.97 [[ 9.15683633e-01 3.81883882e-01 1.25252480e-01 2.40774038e+01] [-3.78040785e-01 9.24207754e-01 -5.40850436e-02 -9.24006437e+00] [-1.36413520e-01 2.17424333e-03 9.90649597e-01 -2.97320044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.745779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.13, Y:-9.26, Z:-2.98 [[ 9.15060627e-01 3.83378231e-01 1.25240493e-01 2.41343944e+01] [-3.79545258e-01 9.23589305e-01 -5.41127866e-02 -9.26153978e+00] [-1.36416444e-01 1.98204509e-03 9.90649598e-01 -2.98192695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.805779522999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.19, Y:-9.29, Z:-2.99 [[ 9.13555815e-01 3.86954789e-01 1.25226850e-01 2.41917183e+01] [-3.83150882e-01 9.22097496e-01 -5.41443422e-02 -9.28784878e+00] [-1.36422777e-01 1.48310077e-03 9.90649598e-01 -2.98821825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.865779523 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:24.25, Y:-9.31, Z:-3.00 [[ 9.15432920e-01 3.82497814e-01 1.25211788e-01 2.42495270e+01] [-3.78647563e-01 9.23953810e-01 -5.41791505e-02 -9.30611518e+00] [-1.36413315e-01 2.18623952e-03 9.90649599e-01 -3.00414709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.925779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.30, Y:-9.33, Z:-3.01 [[ 9.11861840e-01 3.90935750e-01 1.25208719e-01 2.43043623e+01] [-3.87163382e-01 9.20417496e-01 -5.41862426e-02 -9.33095261e+00] [-1.36427635e-01 9.34135858e-04 9.90649599e-01 -3.01165692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.985779522999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.36, Y:-9.36, Z:-3.02 [[ 9.10908588e-01 3.93155282e-01 1.25197718e-01 2.43597609e+01] [-3.89400269e-01 9.19471874e-01 -5.42116489e-02 -9.35634051e+00] [-1.36429376e-01 6.29831616e-04 9.90649599e-01 -3.02471492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.045779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.41, Y:-9.40, Z:-3.03 [[ 9.11246956e-01 3.92374442e-01 1.25184995e-01 2.44095828e+01] [-3.88608057e-01 9.19805246e-01 -5.42410124e-02 -9.39943082e+00] [-1.36428602e-01 7.79059741e-04 9.90649600e-01 -3.02530125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.105779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.47, Y:-9.41, Z:-3.05 [[ 9.12637545e-01 3.89133392e-01 1.25171540e-01 2.44699079e+01] [-3.85332359e-01 9.21180502e-01 -5.42720453e-02 -9.40771238e+00] [-1.36424647e-01 1.29806139e-03 9.90649600e-01 -3.04578234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.165779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.52, Y:-9.44, Z:-3.05 [[ 9.13031020e-01 3.88213235e-01 1.25159261e-01 2.45233793e+01] [-3.84399712e-01 9.21568409e-01 -5.43003487e-02 -9.44085127e+00] [-1.36422935e-01 1.46671896e-03 9.90649601e-01 -3.05177093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.225779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.58, Y:-9.48, Z:-3.04 [[ 9.12554661e-01 3.89336571e-01 1.25144015e-01 2.45768148e+01] [-3.85528743e-01 9.21094591e-01 -5.43354614e-02 -9.48026442e+00] [-1.36424258e-01 1.33746356e-03 9.90649602e-01 -3.04151286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.285779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.64, Y:-9.49, Z:-3.06 [[ 9.12359002e-01 3.89799680e-01 1.25128976e-01 2.46367933e+01] [-3.85991440e-01 9.20898747e-01 -5.43700730e-02 -9.49426500e+00] [-1.36424555e-01 1.30631172e-03 9.90649602e-01 -3.06250261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.345779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.70, Y:-9.51, Z:-3.08 [[ 9.11924531e-01 3.90819853e-01 1.25113915e-01 2.46953899e+01] [-3.87016415e-01 9.20466416e-01 -5.44047091e-02 -9.51422961e+00] [-1.36425597e-01 1.19184992e-03 9.90649603e-01 -3.07750861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.405779523 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:24.75, Y:-9.54, Z:-3.08 [[ 9.12261413e-01 3.90037604e-01 1.25099085e-01 2.47515087e+01] [-3.86222169e-01 9.20797944e-01 -5.44387892e-02 -9.54368154e+00] [-1.36424155e-01 1.34636695e-03 9.90649604e-01 -3.08080489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.465779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.81, Y:-9.57, Z:-3.09 [[ 9.15043902e-01 3.83469144e-01 1.25084264e-01 2.48083467e+01] [-3.79587786e-01 9.23550662e-01 -5.44728215e-02 -9.56894746e+00] [-1.36410301e-01 2.36456422e-03 9.90649604e-01 -3.09235723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.525779523 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:24.86, Y:-9.60, Z:-3.10 [[ 9.16438711e-01 3.80128662e-01 1.25069139e-01 2.48643903e+01] [-3.76211565e-01 9.24929072e-01 -5.45075278e-02 -9.59679931e+00] [-1.36399956e-01 2.90035216e-03 9.90649605e-01 -3.10215070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.585779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.92, Y:-9.62, Z:-3.11 [[ 9.13872093e-01 3.86263230e-01 1.25054047e-01 2.49242336e+01] [-3.82398400e-01 9.22386372e-01 -5.45421308e-02 -9.61676339e+00] [-1.36415768e-01 2.02406387e-03 9.90649606e-01 -3.10919397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.645779522999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:24.98, Y:-9.64, Z:-3.12 [[ 9.12418425e-01 3.89689539e-01 1.25038713e-01 2.49801689e+01] [-3.85851869e-01 9.20944981e-01 -5.45772605e-02 -9.64178021e+00] [-1.36421963e-01 1.55087691e-03 9.90649606e-01 -3.11596770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.705779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.04, Y:-9.66, Z:-3.13 [[ 9.11891152e-01 3.90926325e-01 1.25024538e-01 2.50376694e+01] [-3.87095770e-01 9.20420906e-01 -5.46097142e-02 -9.66318085e+00] [-1.36423573e-01 1.40164541e-03 9.90649607e-01 -3.13132294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.765779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.09, Y:-9.69, Z:-3.14 [[ 9.09628272e-01 3.96168015e-01 1.25009243e-01 2.50931351e+01] [-3.92381805e-01 9.18177801e-01 -5.46447047e-02 -9.69202139e+00] [-1.36429196e-01 6.55015992e-04 9.90649608e-01 -3.13573245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.825779522999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.15, Y:-9.72, Z:-3.14 [[ 9.08863392e-01 3.97924057e-01 1.24995117e-01 2.51504957e+01] [-3.94149925e-01 9.17418259e-01 -5.46769964e-02 -9.71689392e+00] [-1.36430095e-01 4.27104261e-04 9.90649608e-01 -3.14072891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.885779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.21, Y:-9.73, Z:-3.16 [[ 9.09826750e-01 3.95721300e-01 1.24979746e-01 2.52088369e+01] [-3.91921633e-01 9.18370306e-01 -5.47121096e-02 -9.73411520e+00] [-1.36428435e-01 7.96274696e-04 9.90649609e-01 -3.16060732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.945779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.26, Y:-9.77, Z:-3.16 [[ 9.08471432e-01 3.98827778e-01 1.24964237e-01 2.52601887e+01] [-3.95052456e-01 9.17025772e-01 -5.47475094e-02 -9.77196050e+00] [-1.36430254e-01 3.69119328e-04 9.90649610e-01 -3.16452751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.005779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.32, Y:-9.80, Z:-3.16 [[ 9.05857163e-01 4.04734597e-01 1.24950816e-01 2.53168798e+01] [-4.01010831e-01 9.14434071e-01 -5.47781250e-02 -9.79883696e+00] [-1.36429885e-01 -4.85473522e-04 9.90649610e-01 -3.16329731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.065779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.38, Y:-9.81, Z:-3.18 [[ 9.07373210e-01 4.01328453e-01 1.24937306e-01 2.53795995e+01] [-3.97568249e-01 9.15934206e-01 -5.48089208e-02 -9.80640988e+00] [-1.36430731e-01 6.10404544e-05 9.90649611e-01 -3.18441396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.125779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.43, Y:-9.83, Z:-3.20 [[ 9.09614149e-01 3.96227987e-01 1.24921901e-01 2.54344301e+01] [-3.92414961e-01 9.18151748e-01 -5.48440092e-02 -9.83436285e+00] [-1.36427993e-01 8.65663763e-04 9.90649612e-01 -3.19649041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.185779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.49, Y:-9.87, Z:-3.20 [[ 9.11837185e-01 3.91089877e-01 1.24906592e-01 2.54886261e+01] [-3.87223972e-01 9.20350969e-01 -5.48788534e-02 -9.86987404e+00] [-1.36420467e-01 1.67375239e-03 9.90649612e-01 -3.19569793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.245779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.54, Y:-9.90, Z:-3.20 [[ 9.13101768e-01 3.88133159e-01 1.24891201e-01 2.55436271e+01] [-3.84234901e-01 9.21600786e-01 -5.49138572e-02 -9.89584132e+00] [-1.36413718e-01 2.15438170e-03 9.90649613e-01 -3.20328306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.305779522999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.60, Y:-9.91, Z:-3.22 [[ 9.13994659e-01 3.86029826e-01 1.24878890e-01 2.56049064e+01] [-3.82108188e-01 9.22482914e-01 -5.49418393e-02 -9.90699043e+00] [-1.36407831e-01 2.49930115e-03 9.90649614e-01 -3.22122851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.365779523 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:25.66, Y:-9.93, Z:-3.23 [[ 9.15980905e-01 3.81297297e-01 1.24865340e-01 2.56627915e+01] [-3.77327615e-01 9.24446798e-01 -5.49726173e-02 -9.92900132e+00] [-1.36392274e-01 3.23872672e-03 9.90649614e-01 -3.23480677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.425779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.72, Y:-9.96, Z:-3.23 [[ 9.20284110e-01 3.70795958e-01 1.24849964e-01 2.57163070e+01] [-3.66724981e-01 9.28701761e-01 -5.50075171e-02 -9.96482263e+00] [-1.36344946e-01 4.83694320e-03 9.90649615e-01 -3.22765670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.485779522999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.77, Y:-9.99, Z:-3.23 [[ 9.21734468e-01 3.67180286e-01 1.24836724e-01 2.57730188e+01] [-3.63072235e-01 9.30134088e-01 -5.50375478e-02 -9.98916558e+00] [-1.36323595e-01 5.40525646e-03 9.90649615e-01 -3.23459100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.545779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.83, Y:-10.01, Z:-3.24 [[ 9.22743733e-01 3.64641057e-01 1.24823489e-01 2.58323689e+01] [-3.60505844e-01 9.31130013e-01 -5.50675493e-02 -1.00055586e+01] [-1.36306786e-01 5.81363884e-03 9.90649616e-01 -3.24287043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.605779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.89, Y:-10.03, Z:-3.25 [[ 9.23941225e-01 3.61600887e-01 1.24809498e-01 2.58899201e+01] [-3.57433814e-01 9.32311719e-01 -5.50992417e-02 -1.00299181e+01] [-1.36285292e-01 6.29732615e-03 9.90649617e-01 -3.25216362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.665779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:25.95, Y:-10.05, Z:-3.26 [[ 9.24099008e-01 3.61202704e-01 1.24794354e-01 2.59464211e+01] [-3.57027407e-01 9.32465402e-01 -5.51335201e-02 -1.00522010e+01] [-1.36280794e-01 6.39382671e-03 9.90649617e-01 -3.26374269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.725779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.00, Y:-10.07, Z:-3.28 [[ 9.23410706e-01 3.62963379e-01 1.24780822e-01 2.60036002e+01] [-3.58799909e-01 9.31782992e-01 -5.51641279e-02 -1.00740007e+01] [-1.36291206e-01 6.16779846e-03 9.90649618e-01 -3.27743277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.785779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.06, Y:-10.10, Z:-3.28 [[ 9.21934069e-01 3.66702391e-01 1.24767496e-01 2.60608057e+01] [-3.62568815e-01 9.30321154e-01 -5.51942530e-02 -1.01019124e+01] [-1.36313705e-01 5.64865922e-03 9.90649618e-01 -3.27556520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.845779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.12, Y:-10.12, Z:-3.29 [[ 9.20908605e-01 3.69275213e-01 1.24752392e-01 2.61203666e+01] [-3.65160457e-01 9.29304938e-01 -5.52283706e-02 -1.01165265e+01] [-1.36327482e-01 5.30564119e-03 9.90649619e-01 -3.29057441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.905779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.18, Y:-10.14, Z:-3.30 [[ 9.20110479e-01 3.71263919e-01 1.24738962e-01 2.61754336e+01] [-3.67163210e-01 9.28513681e-01 -5.52586868e-02 -1.01399167e+01] [-1.36337390e-01 5.04453897e-03 9.90649620e-01 -3.30460434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.965779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.23, Y:-10.18, Z:-3.30 [[ 9.17761950e-01 3.77034598e-01 1.24731373e-01 2.62278672e+01] [-3.72984414e-01 9.26189620e-01 -5.52758130e-02 -1.01772935e+01] [-1.36365796e-01 4.20718010e-03 9.90649620e-01 -3.30277492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.025779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.29, Y:-10.19, Z:-3.31 [[ 9.16727673e-01 3.79546702e-01 1.24718381e-01 2.62886783e+01] [-3.75515632e-01 9.25164501e-01 -5.53051104e-02 -1.01908262e+01] [-1.36375891e-01 3.86602342e-03 9.90649620e-01 -3.31034738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.085779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.34, Y:-10.22, Z:-3.32 [[ 9.18329055e-01 3.75659509e-01 1.24706374e-01 2.63431782e+01] [-3.71589062e-01 9.26746956e-01 -5.53321713e-02 -1.02187747e+01] [-1.36357309e-01 4.47361591e-03 9.90649621e-01 -3.31965598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.145779522999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.39, Y:-10.26, Z:-3.32 [[ 9.20070452e-01 3.71378524e-01 1.24693048e-01 2.63927713e+01] [-3.67264855e-01 9.28467315e-01 -5.53621869e-02 -1.02570847e+01] [-1.36333746e-01 5.14173823e-03 9.90649621e-01 -3.32321881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.205779523 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:26.45, Y:-10.27, Z:-3.34 [[ 9.19697690e-01 3.72303184e-01 1.24685595e-01 2.64529856e+01] [-3.68195687e-01 9.28097574e-01 -5.53789670e-02 -1.02696814e+01] [-1.36338164e-01 5.02320979e-03 9.90649621e-01 -3.33792972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.265779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.51, Y:-10.29, Z:-3.36 [[ 9.17854652e-01 3.76827997e-01 1.24673570e-01 2.65090503e+01] [-3.72758246e-01 9.26272888e-01 -5.54060261e-02 -1.02873585e+01] [-1.36360289e-01 4.38157762e-03 9.90649622e-01 -3.35731153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.325779522999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.56, Y:-10.33, Z:-3.35 [[ 9.17244365e-01 3.78314278e-01 1.24663878e-01 2.65583624e+01] [-3.74255209e-01 9.25667756e-01 -5.54278241e-02 -1.03324464e+01] [-1.36366469e-01 4.18475363e-03 9.90649622e-01 -3.34938246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.385779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.62, Y:-10.35, Z:-3.36 [[ 9.16894049e-01 3.79166416e-01 1.24652041e-01 2.66187265e+01] [-3.75111562e-01 9.25319470e-01 -5.54544311e-02 -1.03466672e+01] [-1.36369419e-01 4.08741594e-03 9.90649623e-01 -3.36468470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.445779523 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:26.68, Y:-10.36, Z:-3.38 [[ 9.16649445e-01 3.79761843e-01 1.24638425e-01 2.66779870e+01] [-3.75708307e-01 9.25075500e-01 -5.54850174e-02 -1.03592506e+01] [-1.36371046e-01 4.03261868e-03 9.90649623e-01 -3.37912333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.505779523 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:26.72, Y:-10.42, Z:-3.37 [[ 9.16993911e-01 3.78932804e-01 1.24627836e-01 2.67222407e+01] [-3.74868423e-01 9.25414739e-01 -5.55087933e-02 -1.04153124e+01] [-1.36366539e-01 4.18218517e-03 9.90649623e-01 -3.37047073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.565779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.78, Y:-10.44, Z:-3.38 [[ 9.15896942e-01 3.81580416e-01 1.24616121e-01 2.67776239e+01] [-3.77536806e-01 9.24327764e-01 -5.55350805e-02 -1.04385072e+01] [-1.36377239e-01 3.81723813e-03 9.90649624e-01 -3.38070560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.625779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.84, Y:-10.45, Z:-3.40 [[ 9.12551783e-01 3.89516599e-01 1.24603619e-01 2.68385883e+01] [-3.85542500e-01 9.21015592e-01 -5.55631163e-02 -1.04484450e+01] [-1.36404632e-01 2.66423001e-03 9.90649624e-01 -3.40386867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.685779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.89, Y:-10.48, Z:-3.40 [[ 9.11434059e-01 3.92126203e-01 1.24599347e-01 2.68924791e+01] [-3.88175029e-01 9.19908594e-01 -5.55726949e-02 -1.04825899e+01] [-1.36411520e-01 2.28449171e-03 9.90649624e-01 -3.39965050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.745779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.94, Y:-10.52, Z:-3.40 [[ 9.10896720e-01 3.93377114e-01 1.24585756e-01 2.69435098e+01] [-3.89433415e-01 9.19374736e-01 -5.56031471e-02 -1.05201900e+01] [-1.36414002e-01 2.13086789e-03 9.90649625e-01 -3.40008652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.805779522999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.00, Y:-10.54, Z:-3.42 [[ 9.09871602e-01 3.95746331e-01 1.24573307e-01 2.70014928e+01] [-3.91820892e-01 9.18358088e-01 -5.56310244e-02 -1.05388715e+01] [-1.36418678e-01 1.80666500e-03 9.90649625e-01 -3.41726983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.865779523 meters Centerline goodness : 0.998415 with order 1 Centerline is valid? [True, True] Translation: X:27.05, Y:-10.57, Z:-3.44 [[ 9.07532395e-01 4.01085956e-01 1.24559257e-01 2.70549413e+01] [-3.97206137e-01 9.16039832e-01 -5.56624657e-02 -1.05662460e+01] [-1.36426674e-01 1.03978957e-03 9.90649626e-01 -3.43668497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.925779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.11, Y:-10.60, Z:-3.43 [[ 9.04481785e-01 4.07923268e-01 1.24544403e-01 2.71103313e+01] [-4.04103187e-01 9.13016213e-01 -5.56956813e-02 -1.05971219e+01] [-1.36430623e-01 4.69390059e-05 9.90649627e-01 -3.43185960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.985779522999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.17, Y:-10.62, Z:-3.44 [[ 9.01846789e-01 4.13720957e-01 1.24528468e-01 2.71659424e+01] [-4.09950823e-01 9.10403398e-01 -5.57312871e-02 -1.06215627e+01] [-1.36428342e-01 -7.89465609e-04 9.90649627e-01 -3.44157875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.045779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.22, Y:-10.64, Z:-3.45 [[ 9.00981195e-01 4.15606935e-01 1.24514100e-01 2.72232321e+01] [-4.11850278e-01 9.09543729e-01 -5.57633709e-02 -1.06435267e+01] [-1.36426662e-01 -1.03941795e-03 9.90649628e-01 -3.44977682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.105779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.28, Y:-10.66, Z:-3.47 [[ 9.01495748e-01 4.14493680e-01 1.24500625e-01 2.72799886e+01] [-4.10722296e-01 9.10051805e-01 -5.57934381e-02 -1.06619950e+01] [-1.36428046e-01 -8.37635478e-04 9.90649629e-01 -3.46985315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.165779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.33, Y:-10.69, Z:-3.47 [[ 9.02895364e-01 4.11439975e-01 1.24487380e-01 2.73335621e+01] [-4.07635580e-01 9.11436794e-01 -5.58229750e-02 -1.06948811e+01] [-1.36430182e-01 -3.43180145e-04 9.90649629e-01 -3.47292272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.225779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.39, Y:-10.72, Z:-3.47 [[ 9.03875178e-01 4.09286781e-01 1.24474867e-01 2.73900427e+01] [-4.05458198e-01 9.12405793e-01 -5.58508635e-02 -1.07238382e+01] [-1.36430610e-01 1.28537922e-05 9.90649630e-01 -3.46945701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.285779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.45, Y:-10.73, Z:-3.48 [[ 9.05684351e-01 4.05271753e-01 1.24461494e-01 2.74538446e+01] [-4.01401259e-01 9.14196031e-01 -5.58806490e-02 -1.07302369e+01] [-1.36429052e-01 6.51228902e-04 9.90649630e-01 -3.48470433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.345779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.51, Y:-10.76, Z:-3.49 [[ 9.07341303e-01 4.01552539e-01 1.24448053e-01 2.75067337e+01] [-3.97643054e-01 9.15835144e-01 -5.59105667e-02 -1.07609787e+01] [-1.36424931e-01 1.24406260e-03 9.90649631e-01 -3.49163727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.405779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.56, Y:-10.80, Z:-3.49 [[ 9.11127687e-01 3.92889400e-01 1.24435755e-01 2.75589842e+01] [-3.88895430e-01 9.19582130e-01 -5.59379252e-02 -1.07964799e+01] [-1.36406314e-01 2.57409615e-03 9.90649631e-01 -3.49314823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.465779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.62, Y:-10.81, Z:-3.51 [[ 9.12974859e-01 3.88581983e-01 1.24422467e-01 2.76194575e+01] [-3.84544105e-01 9.21408419e-01 -5.59674658e-02 -1.08120864e+01] [-1.36391857e-01 3.25096299e-03 9.90649632e-01 -3.50877098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.525779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.68, Y:-10.83, Z:-3.52 [[ 9.13047819e-01 3.88415355e-01 1.24407367e-01 2.76764443e+01] [-3.84371370e-01 9.21478451e-01 -5.60010117e-02 -1.08326313e+01] [-1.36390360e-01 3.31297158e-03 9.90649632e-01 -3.52341917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.585779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.73, Y:-10.87, Z:-3.52 [[ 9.11911858e-01 3.91079102e-01 1.24394129e-01 2.77295497e+01] [-3.87055739e-01 9.20352351e-01 -5.60304009e-02 -1.08674623e+01] [-1.36398748e-01 2.94732548e-03 9.90649633e-01 -3.52267040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.645779522999998 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:27.79, Y:-10.89, Z:-3.53 [[ 9.11095153e-01 3.92982316e-01 1.24380549e-01 2.77863615e+01] [-3.88972474e-01 9.19542077e-01 -5.60605308e-02 -1.08925417e+01] [-1.36403946e-01 2.69586807e-03 9.90649633e-01 -3.52971863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.705779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.85, Y:-10.91, Z:-3.54 [[ 9.10061257e-01 3.95374951e-01 1.24367021e-01 2.78455728e+01] [-3.91383220e-01 9.18516754e-01 -5.60905266e-02 -1.09099263e+01] [-1.36409981e-01 2.37065015e-03 9.90649634e-01 -3.54463820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.765779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.90, Y:-10.94, Z:-3.55 [[ 9.05949477e-01 4.04712648e-01 1.24351189e-01 2.78979227e+01] [-4.00803265e-01 9.14443360e-01 -5.61256031e-02 -1.09446770e+01] [-1.36426861e-01 1.00659817e-03 9.90649635e-01 -3.55170428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.825779522999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.95, Y:-10.97, Z:-3.55 [[ 9.02110069e-01 4.13204126e-01 1.24337335e-01 2.79517982e+01] [-4.09370468e-01 9.10638398e-01 -5.61562783e-02 -1.09745996e+01] [-1.36430357e-01 -2.40888889e-04 9.90649635e-01 -3.55416256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.885779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.01, Y:-11.00, Z:-3.56 [[ 8.98868097e-01 4.20212129e-01 1.24329844e-01 2.80105067e+01] [-4.16442665e-01 9.07424992e-01 -5.61728592e-02 -1.09962173e+01] [-1.36424524e-01 -1.28426025e-03 9.90649635e-01 -3.56437279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.945779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.07, Y:-11.02, Z:-3.58 [[ 8.97129571e-01 4.23915581e-01 1.24314576e-01 2.80672825e+01] [-4.20176759e-01 9.05699898e-01 -5.62066270e-02 -1.10206876e+01] [-1.36418564e-01 -1.80946861e-03 9.90649636e-01 -3.57716201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.005779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.12, Y:-11.05, Z:-3.59 [[ 8.97696915e-01 4.22717393e-01 1.24299055e-01 2.81204694e+01] [-4.18962382e-01 9.06260161e-01 -5.62409313e-02 -1.10534056e+01] [-1.36421301e-01 -1.58931761e-03 9.90649637e-01 -3.58510981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.065779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.18, Y:-11.07, Z:-3.60 [[ 8.95607175e-01 4.27131670e-01 1.24283248e-01 2.81768293e+01] [-4.23414019e-01 9.04186706e-01 -5.62758403e-02 -1.10732607e+01] [-1.36412454e-01 -2.22222317e-03 9.90649637e-01 -3.60202571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.125779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.23, Y:-11.10, Z:-3.61 [[ 8.97998818e-01 4.22084041e-01 1.24270613e-01 2.82338359e+01] [-4.18314301e-01 9.06555589e-01 -5.63037281e-02 -1.10984588e+01] [-1.36423124e-01 -1.42349322e-03 9.90649638e-01 -3.60852380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.185779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.29, Y:-11.13, Z:-3.60 [[ 9.01873682e-01 4.13744230e-01 1.24256079e-01 2.82881216e+01] [-4.09890940e-01 9.10393155e-01 -5.63357837e-02 -1.11326783e+01] [-1.36430490e-01 -1.23680546e-04 9.90649638e-01 -3.60393035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.245779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.35, Y:-11.15, Z:-3.63 [[ 9.08156463e-01 3.99769443e-01 1.24242634e-01 2.83476969e+01] [-3.95781012e-01 9.16613512e-01 -5.63654209e-02 -1.11468726e+01] [-1.36415650e-01 2.01574587e-03 9.90649639e-01 -3.62742851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.305779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.40, Y:-11.17, Z:-3.64 [[ 9.09499503e-01 3.96709218e-01 1.24227416e-01 2.84035592e+01] [-3.92687757e-01 9.17940894e-01 -5.63989418e-02 -1.11708833e+01] [-1.36407405e-01 2.51222430e-03 9.90649640e-01 -3.64484963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.36577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.46, Y:-11.21, Z:-3.63 [[ 9.06470406e-01 4.03584823e-01 1.24220342e-01 2.84559318e+01] [-3.99625263e-01 9.14941010e-01 -5.64145175e-02 -1.12119627e+01] [-1.36422328e-01 1.49650368e-03 9.90649640e-01 -3.63004534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.425779522999996 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:28.52, Y:-11.22, Z:-3.65 [[ 9.05073754e-01 4.06711376e-01 1.24206907e-01 2.85187766e+01] [-4.02777021e-01 9.13556094e-01 -5.64440828e-02 -1.12225338e+01] [-1.36426427e-01 1.05837004e-03 9.90649640e-01 -3.64623445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.485779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.58, Y:-11.24, Z:-3.66 [[ 9.03506434e-01 4.10186105e-01 1.24191312e-01 2.85794326e+01] [-4.06279659e-01 9.12001662e-01 -5.64783737e-02 -1.12365751e+01] [-1.36429327e-01 5.72170022e-04 9.90649641e-01 -3.66191023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.54577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.63, Y:-11.27, Z:-3.67 [[ 9.02689027e-01 4.11986532e-01 1.24175757e-01 2.86343092e+01] [-4.08092328e-01 9.11189872e-01 -5.65125547e-02 -1.12671986e+01] [-1.36430103e-01 3.38089404e-04 9.90649642e-01 -3.66694119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.605779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.69, Y:-11.31, Z:-3.66 [[ 9.01835191e-01 4.13856890e-01 1.24160228e-01 2.86870603e+01] [-4.09975622e-01 9.10341950e-01 -5.65466507e-02 -1.13054283e+01] [-1.36430485e-01 9.30927926e-05 9.90649642e-01 -3.65998025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.665779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.75, Y:-11.31, Z:-3.68 [[ 8.98126897e-01 4.21848170e-01 1.24145877e-01 2.87495120e+01] [-4.18038235e-01 9.06665841e-01 -5.65781411e-02 -1.13147804e+01] [-1.36426211e-01 -1.08337290e-03 9.90649643e-01 -3.67829949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.72577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.81, Y:-11.34, Z:-3.69 [[ 8.96075191e-01 4.26193376e-01 1.24130813e-01 2.88051741e+01] [-4.22420270e-01 9.04630472e-01 -5.66111721e-02 -1.13419915e+01] [-1.36419822e-01 -1.70750465e-03 9.90649644e-01 -3.68788202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.785779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.86, Y:-11.37, Z:-3.69 [[ 8.97074632e-01 4.24090377e-01 1.24114688e-01 2.88583412e+01] [-4.20292327e-01 9.05618868e-01 -5.66465032e-02 -1.13739991e+01] [-1.36423840e-01 -1.34830974e-03 9.90649644e-01 -3.69275186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.845779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.91, Y:-11.40, Z:-3.71 [[ 8.97127112e-01 4.23983441e-01 1.24100711e-01 2.89134794e+01] [-4.20180139e-01 9.05669011e-01 -5.66771066e-02 -1.13965376e+01] [-1.36424323e-01 -1.29808507e-03 9.90649645e-01 -3.70530437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.90577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:28.97, Y:-11.42, Z:-3.72 [[ 8.94635012e-01 4.29220675e-01 1.24087902e-01 2.89707867e+01] [-4.25463485e-01 9.03197293e-01 -5.67051365e-02 -1.14178655e+01] [-1.36414874e-01 -2.06447088e-03 9.90649645e-01 -3.71801261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.965779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.03, Y:-11.44, Z:-3.72 [[ 8.92045256e-01 4.34581363e-01 1.24073773e-01 2.90273930e+01] [-4.30871325e-01 9.00628072e-01 -5.67360351e-02 -1.14430758e+01] [-1.36400746e-01 -2.84871995e-03 9.90649646e-01 -3.72034161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.025779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.08, Y:-11.47, Z:-3.72 [[ 8.91980231e-01 4.34718798e-01 1.24059799e-01 2.90833987e+01] [-4.31005837e-01 9.00561783e-01 -5.67665739e-02 -1.14704262e+01] [-1.36401011e-01 -2.83583586e-03 9.90649647e-01 -3.72384481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.085779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.14, Y:-11.50, Z:-3.73 [[ 8.93740714e-01 4.31091834e-01 1.24045827e-01 2.91368253e+01] [-4.27339810e-01 9.02305257e-01 -5.67970891e-02 -1.15004411e+01] [-1.36411964e-01 -2.24784936e-03 9.90649647e-01 -3.73129846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.145779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.19, Y:-11.52, Z:-3.76 [[ 8.93170831e-01 4.32273484e-01 1.24038310e-01 2.91927754e+01] [-4.28530511e-01 9.01739334e-01 -5.68135013e-02 -1.15203565e+01] [-1.36409193e-01 -2.41003824e-03 9.90649647e-01 -3.75517417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.205779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.25, Y:-11.55, Z:-3.77 [[ 8.90308554e-01 4.38139441e-01 1.24034308e-01 2.92470511e+01] [-4.34451697e-01 8.98900971e-01 -5.68222363e-02 -1.15482135e+01] [-1.36390623e-01 -3.29759282e-03 9.90649647e-01 -3.76855637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.265779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.30, Y:-11.58, Z:-3.78 [[ 8.89653397e-01 4.39472089e-01 1.24020629e-01 2.92980816e+01] [-4.35793059e-01 8.98249548e-01 -5.68520772e-02 -1.15815988e+01] [-1.36386375e-01 -3.46868580e-03 9.90649648e-01 -3.78181425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.325779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.36, Y:-11.61, Z:-3.78 [[ 8.88677747e-01 4.41445180e-01 1.24008126e-01 2.93566717e+01] [-4.37781434e-01 8.97280423e-01 -5.68793363e-02 -1.16066711e+01] [-1.36379173e-01 -3.74105491e-03 9.90649648e-01 -3.77950739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.385779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.41, Y:-11.63, Z:-3.79 [[ 8.93537563e-01 4.31528239e-01 1.23991943e-01 2.94149139e+01] [-4.27764094e-01 9.02096785e-01 -5.69145937e-02 -1.16258755e+01] [-1.36412987e-01 -2.18397359e-03 9.90649649e-01 -3.78683876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.445779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.47, Y:-11.65, Z:-3.80 [[ 8.95286911e-01 4.27890643e-01 1.23979617e-01 2.94708790e+01] [-4.24088002e-01 9.03829099e-01 -5.69414301e-02 -1.16488152e+01] [-1.36421091e-01 -1.59935112e-03 9.90649650e-01 -3.79810434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.505779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.52, Y:-11.68, Z:-3.81 [[ 8.88910883e-01 4.40987196e-01 1.23966666e-01 2.95218744e+01] [-4.37306436e-01 8.97506292e-01 -5.69696122e-02 -1.16846398e+01] [-1.36383732e-01 -3.57051260e-03 9.90649650e-01 -3.81060421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.565779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.58, Y:-11.71, Z:-3.82 [[ 8.85651173e-01 4.47500858e-01 1.23955564e-01 2.95755668e+01] [-4.43879921e-01 8.94271954e-01 -5.69937578e-02 -1.17145253e+01] [-1.36354740e-01 -4.54479758e-03 9.90649650e-01 -3.81942441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.625779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.63, Y:-11.73, Z:-3.84 [[ 8.86152310e-01 4.46511810e-01 1.23940659e-01 2.96335714e+01] [-4.42876726e-01 8.94767134e-01 -5.70261519e-02 -1.17332373e+01] [-1.36360879e-01 -4.35657719e-03 9.90649651e-01 -3.83643093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.685779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.69, Y:-11.75, Z:-3.85 [[ 8.88143951e-01 4.42538497e-01 1.23935474e-01 2.96943302e+01] [-4.38863295e-01 8.96741736e-01 -5.70374202e-02 -1.17485341e+01] [-1.36379366e-01 -3.73329056e-03 9.90649651e-01 -3.84551379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.745779522999996 meters Centerline goodness : 0.990701 with order 1 Centerline is valid? [True, True] Translation: X:29.75, Y:-11.78, Z:-3.84 [[ 8.88416528e-01 4.41995321e-01 1.23920173e-01 2.97471181e+01] [-4.38310232e-01 8.97010079e-01 -5.70706438e-02 -1.17842790e+01] [-1.36382602e-01 -3.61297634e-03 9.90649652e-01 -3.84387602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.805779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.30, Y:-11.01, Z:-2.98 [[ 9.33195218e-01 3.37330840e-01 1.23913640e-01 3.03011091e+01] [-3.32683865e-01 9.41309072e-01 -5.70848239e-02 -1.10061769e+01] [-1.35897505e-01 1.20472160e-02 9.90649652e-01 -2.97648644e+00] [ 0.00000000e+00 -0.00000000e+00 -0.00000000e+00 1.00000000e+00]] SLAMing on 33.86577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.36, Y:-11.03, Z:-2.98 [[ 9.34312847e-01 3.32522983e-01 1.28405493e-01 3.03586967e+01] [-3.29598131e-01 9.43094400e-01 -4.40229984e-02 -1.10271991e+01] [-1.35737160e-01 -1.19095755e-03 9.90744167e-01 -2.98372408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.925779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.42, Y:-11.04, Z:-3.00 [[ 9.34690883e-01 3.31463023e-01 1.28394771e-01 3.04176622e+01] [-3.28523920e-01 9.43467677e-01 -4.40542479e-02 -1.10419130e+01] [-1.35738670e-01 -1.00364949e-03 9.90744168e-01 -2.99933924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.985779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.47, Y:-11.06, Z:-3.01 [[ 9.35026728e-01 3.30518634e-01 1.28383994e-01 3.04738722e+01] [-3.27566357e-01 9.43799099e-01 -4.40856323e-02 -1.10647757e+01] [-1.35739820e-01 -8.33032582e-04 9.90744168e-01 -3.00792310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.04577952299999 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:30.53, Y:-11.08, Z:-3.02 [[ 9.34879371e-01 3.30939028e-01 1.28374146e-01 3.05339043e+01] [-3.27986761e-01 9.43651744e-01 -4.41142885e-02 -1.10827032e+01] [-1.35739627e-01 -8.63482210e-04 9.90744169e-01 -3.01523681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.105779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.59, Y:-11.10, Z:-3.02 [[ 9.33956222e-01 3.33540519e-01 1.28360810e-01 3.05927612e+01] [-3.30607358e-01 9.42735001e-01 -4.41530589e-02 -1.11015314e+01] [-1.35737063e-01 -1.20000424e-03 9.90744170e-01 -3.02377753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.165779523 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:30.65, Y:-11.13, Z:-3.03 [[ 9.33170591e-01 3.35736966e-01 1.28348500e-01 3.06496771e+01] [-3.32819550e-01 9.41954614e-01 -4.41888157e-02 -1.11301574e+01] [-1.35734281e-01 -1.48118669e-03 9.90744170e-01 -3.02790377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.22577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.71, Y:-11.14, Z:-3.04 [[ 9.34551242e-01 3.31879004e-01 1.28336677e-01 3.07109869e+01] [-3.28920612e-01 9.43321549e-01 -4.42231275e-02 -1.11417048e+01] [-1.35739480e-01 -8.83799552e-04 9.90744171e-01 -3.04165223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.285779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.77, Y:-11.17, Z:-3.05 [[ 9.36302867e-01 3.26909480e-01 1.28324325e-01 3.07678191e+01] [-3.23899629e-01 9.45055647e-01 -4.42589389e-02 -1.11679334e+01] [-1.35742295e-01 -1.24429972e-04 9.90744172e-01 -3.04738936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.345779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.82, Y:-11.20, Z:-3.04 [[ 9.35527864e-01 3.29125623e-01 1.28311888e-01 3.08233960e+01] [-3.26131564e-01 9.44286058e-01 -4.42949673e-02 -1.11995017e+01] [-1.35741735e-01 -4.07380592e-04 9.90744172e-01 -3.04445251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.40577952299999 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:30.88, Y:-11.21, Z:-3.06 [[ 9.32852358e-01 3.36638511e-01 1.28300392e-01 3.08841247e+01] [-3.33710407e-01 9.41632822e-01 -4.43282398e-02 -1.12116820e+01] [-1.35734453e-01 -1.46347307e-03 9.90744173e-01 -3.05942999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.465779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.94, Y:-11.23, Z:-3.07 [[ 9.28594282e-01 3.48217085e-01 1.28286872e-01 3.09401619e+01] [-3.45393038e-01 9.37408763e-01 -4.43673346e-02 -1.12337700e+01] [-1.35706702e-01 -3.11013916e-03 9.90744174e-01 -3.06760937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.525779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.00, Y:-11.26, Z:-3.07 [[ 9.32013639e-01 3.38961302e-01 1.28280214e-01 3.09973946e+01] [-3.36047052e-01 9.40798709e-01 -4.43865754e-02 -1.12593800e+01] [-1.35731191e-01 -1.73929407e-03 9.90744174e-01 -3.07085781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.585779523 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:31.06, Y:-11.27, Z:-3.08 [[ 9.32997475e-01 3.36248365e-01 1.28268268e-01 3.10568310e+01] [-3.33303827e-01 9.41772439e-01 -4.44210698e-02 -1.12743291e+01] [-1.35736032e-01 -1.30755869e-03 9.90744175e-01 -3.08487852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.645779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.11, Y:-11.30, Z:-3.09 [[ 9.30703155e-01 3.42552724e-01 1.28254703e-01 3.11128235e+01] [-3.39662228e-01 9.39496068e-01 -4.44602009e-02 -1.12975141e+01] [-1.35724752e-01 -2.18402902e-03 9.90744176e-01 -3.09040919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.705779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.17, Y:-11.32, Z:-3.10 [[ 9.30064706e-01 3.44284864e-01 1.28248103e-01 3.11700519e+01] [-3.41408120e-01 9.38862127e-01 -4.44792323e-02 -1.13204616e+01] [-1.35720813e-01 -2.41637963e-03 9.90744176e-01 -3.09789208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.765779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.23, Y:-11.34, Z:-3.11 [[ 9.29039926e-01 3.47044864e-01 1.28236801e-01 3.12294097e+01] [-3.44189762e-01 9.37844395e-01 -4.45117929e-02 -1.13352653e+01] [-1.35713754e-01 -2.78456117e-03 9.90744176e-01 -3.11126475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.825779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.29, Y:-11.36, Z:-3.12 [[ 9.30837704e-01 3.42198140e-01 1.28224807e-01 3.12866845e+01] [-3.39292433e-01 9.39625601e-01 -4.45463175e-02 -1.13553199e+01] [-1.35726978e-01 -2.04031489e-03 9.90744177e-01 -3.11743146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.885779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.35, Y:-11.38, Z:-3.12 [[ 9.32496804e-01 3.37655029e-01 1.28213850e-01 3.13451508e+01] [-3.34702172e-01 9.41268970e-01 -4.45778335e-02 -1.13797293e+01] [-1.35735648e-01 -1.34476656e-03 9.90744178e-01 -3.12247712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.945779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.40, Y:-11.40, Z:-3.13 [[ 9.32723380e-01 3.37033672e-01 1.28200627e-01 3.14008250e+01] [-3.34069749e-01 9.41491811e-01 -4.46158266e-02 -1.14038241e+01] [-1.35736877e-01 -1.21372682e-03 9.90744178e-01 -3.13031768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.005779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.46, Y:-11.42, Z:-3.14 [[ 9.31698564e-01 3.39860394e-01 1.28190088e-01 3.14602331e+01] [-3.36918910e-01 9.40474548e-01 -4.46460875e-02 -1.14207712e+01] [-1.35732952e-01 -1.59296920e-03 9.90744179e-01 -3.14157053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.065779522999996 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:31.52, Y:-11.43, Z:-3.16 [[ 9.30919305e-01 3.41993957e-01 1.28177146e-01 3.15218756e+01] [-3.39067475e-01 9.39700302e-01 -4.46832123e-02 -1.14287693e+01] [-1.35729492e-01 -1.86423641e-03 9.90744180e-01 -3.15888393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.125779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.58, Y:-11.46, Z:-3.15 [[ 9.34270758e-01 3.32734203e-01 1.28164352e-01 3.15778054e+01] [-3.29715650e-01 9.43020531e-01 -4.47198812e-02 -1.14596204e+01] [-1.35741449e-01 -4.77315309e-04 9.90744180e-01 -3.14917445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.185779522999994 meters Centerline goodness : 0.999888 with order 1 Centerline is valid? [True, True] Translation: X:31.63, Y:-11.49, Z:-3.15 [[ 9.38866999e-01 3.19537587e-01 1.28158059e-01 3.16332737e+01] [-3.16393592e-01 9.47572485e-01 -4.47379077e-02 -1.14865946e+01] [-1.35734494e-01 1.45455649e-03 9.90744181e-01 -3.15250090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.245779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.69, Y:-11.49, Z:-3.18 [[ 9.43685225e-01 3.05016748e-01 1.28152174e-01 3.16941887e+01] [-3.01736551e-01 9.52340310e-01 -4.47547582e-02 -1.14923158e+01] [-1.35695432e-01 3.56620896e-03 9.90744181e-01 -3.17553866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.305779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.75, Y:-11.51, Z:-3.19 [[ 9.46298110e-01 2.96815877e-01 1.28141416e-01 3.17528050e+01] [-2.93456530e-01 9.54922782e-01 -4.47855410e-02 -1.15118353e+01] [-1.35658217e-01 4.77653747e-03 9.90744181e-01 -3.18534873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.36577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.81, Y:-11.54, Z:-3.19 [[ 9.47910012e-01 2.91632708e-01 1.28128733e-01 3.18107400e+01] [-2.88221321e-01 9.56514232e-01 -4.48217981e-02 -1.15370625e+01] [-1.35628459e-01 5.55759861e-03 9.90744182e-01 -3.18897254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.425779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.87, Y:-11.56, Z:-3.19 [[ 9.50358031e-01 2.83559229e-01 1.28116264e-01 3.18688568e+01] [-2.80069990e-01 9.58930974e-01 -4.48574104e-02 -1.15613705e+01] [-1.35574386e-01 6.74907962e-03 9.90744183e-01 -3.18649582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.485779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:31.93, Y:-11.57, Z:-3.20 [[ 9.50227758e-01 2.84000500e-01 1.28105128e-01 3.19287986e+01] [-2.80510969e-01 9.58800582e-01 -4.48891888e-02 -1.15741816e+01] [-1.35575824e-01 6.72005946e-03 9.90744183e-01 -3.19888059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.54577952299999 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:31.99, Y:-11.59, Z:-3.22 [[ 9.47308262e-01 2.93596908e-01 1.28093376e-01 3.19883897e+01] [-2.90189741e-01 9.55914152e-01 -4.49226992e-02 -1.15856360e+01] [-1.35635437e-01 5.38426045e-03 9.90744184e-01 -3.21600705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.605779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.05, Y:-11.60, Z:-3.22 [[ 9.44478086e-01 3.02582291e-01 1.28082406e-01 3.20478501e+01] [-2.99252792e-01 9.53114321e-01 -4.49539549e-02 -1.16025222e+01] [-1.35679446e-01 4.12900761e-03 9.90744185e-01 -3.22250199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.665779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.11, Y:-11.62, Z:-3.22 [[ 9.41388118e-01 3.12067470e-01 1.28071489e-01 3.21080471e+01] [-3.08820784e-01 9.50055824e-01 -4.49850372e-02 -1.16161413e+01] [-1.35713431e-01 2.79724183e-03 9.90744185e-01 -3.22249320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.72577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.17, Y:-11.63, Z:-3.22 [[ 9.39346978e-01 3.18161085e-01 1.28065522e-01 3.21690820e+01] [-3.14968320e-01 9.48034691e-01 -4.50020171e-02 -1.16332909e+01] [-1.35728448e-01 1.93592646e-03 9.90744185e-01 -3.22154319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.785779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.23, Y:-11.65, Z:-3.24 [[ 9.36528694e-01 3.26368427e-01 1.28053333e-01 3.22260999e+01] [-3.23247064e-01 9.45242315e-01 -4.50366754e-02 -1.16538883e+01] [-1.35739978e-01 7.85274856e-04 9.90744186e-01 -3.23758086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.845779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.29, Y:-11.67, Z:-3.25 [[ 9.34986966e-01 3.30763668e-01 1.28042061e-01 3.22850180e+01] [-3.27678882e-01 9.43713602e-01 -4.50687001e-02 -1.16710068e+01] [-1.35742123e-01 1.81967882e-04 9.90744186e-01 -3.25304781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.90577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.34, Y:-11.69, Z:-3.26 [[ 9.32761365e-01 3.36993324e-01 1.28030209e-01 3.23445677e+01] [-3.33962202e-01 9.41506785e-01 -4.51023420e-02 -1.16919767e+01] [-1.35740499e-01 -6.87528513e-04 9.90744187e-01 -3.25626456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.965779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.40, Y:-11.72, Z:-3.25 [[ 9.34074666e-01 3.33340784e-01 1.28017341e-01 3.24025425e+01] [-3.30270460e-01 9.42806400e-01 -4.51388387e-02 -1.17175832e+01] [-1.35742184e-01 -1.17300364e-04 9.90744188e-01 -3.25431287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.025779523 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:32.46, Y:-11.74, Z:-3.27 [[ 9.36922533e-01 3.25253374e-01 1.28009414e-01 3.24583998e+01] [-3.22104611e-01 9.45626288e-01 -4.51613068e-02 -1.17437765e+01] [-1.35737935e-01 1.08022334e-03 9.90744188e-01 -3.26836651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.08577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.51, Y:-11.77, Z:-3.28 [[ 9.40197405e-01 3.15667296e-01 1.27996089e-01 3.25145680e+01] [-3.12424667e-01 9.48866626e-01 -4.51990418e-02 -1.17665624e+01] [-1.35719076e-01 2.50688629e-03 9.90744189e-01 -3.28409070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.145779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.57, Y:-11.79, Z:-3.30 [[ 9.41884558e-01 3.10602046e-01 1.27983784e-01 3.25724297e+01] [-3.07308074e-01 9.50534400e-01 -4.52338564e-02 -1.17878079e+01] [-1.35702718e-01 3.27462060e-03 9.90744190e-01 -3.29521362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.205779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.63, Y:-11.82, Z:-3.30 [[ 9.43260012e-01 3.06404639e-01 1.27971669e-01 3.26278352e+01] [-3.03067538e-01 9.51893306e-01 -4.52681060e-02 -1.18180995e+01] [-1.35685733e-01 3.91553545e-03 9.90744190e-01 -3.30146534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.265779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.68, Y:-11.85, Z:-3.29 [[ 9.44409125e-01 3.02845910e-01 1.27967806e-01 3.26834458e+01] [-2.99474804e-01 9.53029198e-01 -4.52790232e-02 -1.18511093e+01] [-1.35669623e-01 4.43878899e-03 9.90744190e-01 -3.29487374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.325779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.74, Y:-11.86, Z:-3.31 [[ 9.46136615e-01 2.97410194e-01 1.27955778e-01 3.27435949e+01] [-2.93984989e-01 9.54735335e-01 -4.53129891e-02 -1.18606317e+01] [-1.35640448e-01 5.25520008e-03 9.90744191e-01 -3.30904697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.385779523 meters Centerline goodness : 0.995011 with order 1 Centerline is valid? [True, True] Translation: X:32.80, Y:-11.87, Z:-3.33 [[ 9.45016982e-01 3.00953551e-01 1.27944769e-01 3.28018407e+01] [-2.97556392e-01 9.53626819e-01 -4.53440526e-02 -1.18741443e+01] [-1.35658017e-01 4.78011582e-03 9.90744191e-01 -3.33413185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.445779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.85, Y:-11.91, Z:-3.33 [[ 9.42381455e-01 3.09109283e-01 1.27940005e-01 3.28541999e+01] [-3.05784835e-01 9.51019628e-01 -4.53574906e-02 -1.19119290e+01] [-1.35693878e-01 3.62194457e-03 9.90744192e-01 -3.32982703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.505779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.91, Y:-11.93, Z:-3.32 [[ 9.42079860e-01 3.10032354e-01 1.27927625e-01 3.29136416e+01] [-3.06711636e-01 9.50719467e-01 -4.53923820e-02 -1.19342670e+01] [-1.35696390e-01 3.52635772e-03 9.90744192e-01 -3.32472277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.565779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.98, Y:-11.93, Z:-3.35 [[ 9.42458338e-01 3.08884214e-01 1.27917252e-01 3.29792244e+01] [-3.05549010e-01 9.51092362e-01 -4.54215933e-02 -1.19281239e+01] [-1.35691135e-01 3.72296952e-03 9.90744193e-01 -3.34882744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.625779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.03, Y:-11.96, Z:-3.36 [[ 9.40508969e-01 3.14775015e-01 1.27904530e-01 3.30326724e+01] [-3.11489032e-01 9.49161845e-01 -4.54573908e-02 -1.19582198e+01] [-1.35710951e-01 2.91222550e-03 9.90744193e-01 -3.35847229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.685779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.09, Y:-11.99, Z:-3.35 [[ 9.38084449e-01 3.21932591e-01 1.27894388e-01 3.30871455e+01] [-3.18708751e-01 9.46760669e-01 -4.54859085e-02 -1.19941401e+01] [-1.35728772e-01 1.90856293e-03 9.90744194e-01 -3.35283549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.745779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.15, Y:-12.00, Z:-3.36 [[ 9.37640932e-01 3.23226427e-01 1.27883382e-01 3.31493195e+01] [-3.20010343e-01 9.46320030e-01 -4.55168301e-02 -1.20049024e+01] [-1.35730848e-01 1.75443810e-03 9.90744194e-01 -3.36481519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.805779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.21, Y:-12.02, Z:-3.37 [[ 9.36585715e-01 3.26276326e-01 1.27870865e-01 3.32071247e+01] [-3.23083708e-01 9.45273471e-01 -4.55519669e-02 -1.20239571e+01] [-1.35735465e-01 1.35032814e-03 9.90744195e-01 -3.37436287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.86577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.26, Y:-12.05, Z:-3.38 [[ 9.34062127e-01 3.33436151e-01 1.27860381e-01 3.32647097e+01] [-3.30306104e-01 9.42772622e-01 -4.55813757e-02 -1.20501973e+01] [-1.35741745e-01 3.42772343e-04 9.90744196e-01 -3.38041954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.925779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.32, Y:-12.07, Z:-3.40 [[ 9.31799251e-01 3.39713453e-01 1.27847276e-01 3.33224991e+01] [-3.36637046e-01 9.40528834e-01 -4.56181030e-02 -1.20668803e+01] [-1.35741133e-01 -5.31215262e-04 9.90744196e-01 -3.39590281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.985779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.38, Y:-12.09, Z:-3.41 [[ 9.31351756e-01 3.40942612e-01 1.27836000e-01 3.33805006e+01] [-3.37873392e-01 9.40083867e-01 -4.56496805e-02 -1.20874968e+01] [-1.35740483e-01 -6.76472962e-04 9.90744197e-01 -3.40752663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.04577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.44, Y:-12.11, Z:-3.41 [[ 9.27512591e-01 3.51257150e-01 1.27823344e-01 3.34367818e+01] [-3.48280143e-01 9.36276569e-01 -4.56850927e-02 -1.21129828e+01] [-1.35725217e-01 -2.14483378e-03 9.90744198e-01 -3.41460679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.105779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.49, Y:-12.13, Z:-3.43 [[ 9.27877624e-01 3.50296036e-01 1.27811585e-01 3.34931706e+01] [-3.47305423e-01 9.36636968e-01 -4.57179652e-02 -1.21338978e+01] [-1.35727878e-01 -1.96897981e-03 9.90744198e-01 -3.43049766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.165779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.55, Y:-12.15, Z:-3.43 [[ 9.29280990e-01 3.46556859e-01 1.27809175e-01 3.35502983e+01] [-3.43530073e-01 9.38027900e-01 -4.57247033e-02 -1.21541844e+01] [-1.35734781e-01 -1.41519762e-03 9.90744198e-01 -3.43418792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.22577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.61, Y:-12.18, Z:-3.44 [[ 9.30377897e-01 3.43603115e-01 1.27804024e-01 3.36072713e+01] [-3.40546581e-01 9.39114456e-01 -4.57390950e-02 -1.21778543e+01] [-1.35738702e-01 -9.68580575e-04 9.90744198e-01 -3.43840526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.285779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.66, Y:-12.20, Z:-3.44 [[ 9.29914661e-01 3.44859136e-01 1.27792413e-01 3.36646518e+01] [-3.41809947e-01 9.38653785e-01 -4.57715145e-02 -1.22026317e+01] [-1.35737557e-01 -1.11711541e-03 9.90744199e-01 -3.44200040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.345779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.72, Y:-12.22, Z:-3.45 [[ 9.28622796e-01 3.48326872e-01 1.27781424e-01 3.37219228e+01] [-3.45306098e-01 9.37371783e-01 -4.58021710e-02 -1.22248908e+01] [-1.35732828e-01 -1.59076493e-03 9.90744199e-01 -3.45453607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.40577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.78, Y:-12.23, Z:-3.48 [[ 9.28192343e-01 3.49473744e-01 1.27777454e-01 3.37820173e+01] [-3.46462256e-01 9.36944530e-01 -4.58132435e-02 -1.22327373e+01] [-1.35730912e-01 -1.74656318e-03 9.90744200e-01 -3.47820748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.465779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.84, Y:-12.25, Z:-3.49 [[ 9.31097334e-01 3.41662853e-01 1.27766386e-01 3.38395043e+01] [-3.38573704e-01 9.39822412e-01 -4.58440898e-02 -1.22526234e+01] [-1.35740936e-01 -5.73028826e-04 9.90744200e-01 -3.49183192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.525779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.90, Y:-12.28, Z:-3.48 [[ 9.33352277e-01 3.35458049e-01 1.27755333e-01 3.38965006e+01] [-3.32306681e-01 9.42055076e-01 -4.58748731e-02 -1.22844722e+01] [-1.35741655e-01 3.63466613e-04 9.90744201e-01 -3.48150403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.58577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:33.96, Y:-12.31, Z:-3.48 [[ 9.35115925e-01 3.30514272e-01 1.27743975e-01 3.39560731e+01] [-3.27312579e-01 9.43800334e-01 -4.59064770e-02 -1.23063710e+01] [-1.35737553e-01 1.11566769e-03 9.90744201e-01 -3.48415912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.645779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.01, Y:-12.32, Z:-3.51 [[ 9.36136873e-01 3.27616920e-01 1.27729827e-01 3.40139553e+01] [-3.24382983e-01 9.44809326e-01 -4.59458094e-02 -1.23181976e+01] [-1.35732957e-01 1.57818392e-03 9.90744202e-01 -3.50627972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.705779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.07, Y:-12.34, Z:-3.52 [[ 9.37647964e-01 3.23269499e-01 1.27722851e-01 3.40719614e+01] [-3.19992714e-01 9.46304319e-01 -4.59651935e-02 -1.23369524e+01] [-1.35723831e-01 2.22878823e-03 9.90744202e-01 -3.51722207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.765779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.13, Y:-12.36, Z:-3.52 [[ 9.42146115e-01 3.09919917e-01 1.27711955e-01 3.41289987e+01] [-3.06516425e-01 9.50753438e-01 -4.59954474e-02 -1.23646392e+01] [-1.35677486e-01 4.18862006e-03 9.90744203e-01 -3.52152397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.825779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.19, Y:-12.39, Z:-3.53 [[ 9.44727234e-01 3.01965848e-01 1.27699180e-01 3.41853956e+01] [-2.98485127e-01 9.53303617e-01 -4.60308886e-02 -1.23873591e+01] [-1.35635847e-01 5.37032809e-03 9.90744203e-01 -3.52601184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.885779523 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:34.25, Y:-12.40, Z:-3.54 [[ 9.46343319e-01 2.96866723e-01 1.27688965e-01 3.42472905e+01] [-2.93335989e-01 9.54899234e-01 -4.60592078e-02 -1.23963594e+01] [-1.35603541e-01 6.13205469e-03 9.90744204e-01 -3.53510422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.945779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.30, Y:-12.42, Z:-3.54 [[ 9.46242042e-01 2.97194238e-01 1.27677651e-01 3.43045983e+01] [-2.93662247e-01 9.54797437e-01 -4.60905508e-02 -1.24193618e+01] [-1.35604140e-01 6.11871114e-03 9.90744204e-01 -3.54211009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.005779522999994 meters Centerline goodness : 0.999933 with order 1 Centerline is valid? [True, True] Translation: X:34.36, Y:-12.43, Z:-3.56 [[ 9.48809018e-01 2.88899175e-01 1.27666418e-01 3.43624436e+01] [-2.85288252e-01 9.57331399e-01 -4.61216433e-02 -1.24328620e+01] [-1.35543575e-01 7.33890191e-03 9.90744205e-01 -3.56158979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.065779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.42, Y:-12.45, Z:-3.57 [[ 9.50481987e-01 2.83351197e-01 1.27656145e-01 3.44207387e+01] [-2.79686746e-01 9.58981489e-01 -4.61500597e-02 -1.24542651e+01] [-1.35496555e-01 8.16106865e-03 9.90744205e-01 -3.56758969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.125779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.48, Y:-12.47, Z:-3.58 [[ 9.49961927e-01 2.85094950e-01 1.27644846e-01 3.44793014e+01] [-2.81441922e-01 9.58466344e-01 -4.61812910e-02 -1.24730707e+01] [-1.35509342e-01 7.94585746e-03 9.90744206e-01 -3.57746457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.185779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.54, Y:-12.49, Z:-3.58 [[ 9.45752125e-01 2.98768733e-01 1.27632921e-01 3.45409805e+01] [-2.95234329e-01 9.54306521e-01 -4.62142256e-02 -1.24859259e+01] [-1.35608294e-01 6.02558229e-03 9.90744207e-01 -3.58414760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.245779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.60, Y:-12.51, Z:-3.59 [[ 9.43739492e-01 3.05071911e-01 1.27620138e-01 3.45975970e+01] [-3.01589896e-01 9.52315346e-01 -4.62494975e-02 -1.25104760e+01] [-1.35644039e-01 5.15853309e-03 9.90744207e-01 -3.59065658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.305779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.66, Y:-12.53, Z:-3.59 [[ 9.41791666e-01 3.11038434e-01 1.27607016e-01 3.46585142e+01] [-3.07605866e-01 9.50387430e-01 -4.62856758e-02 -1.25282610e+01] [-1.35672728e-01 4.33879715e-03 9.90744208e-01 -3.59423076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.36577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.72, Y:-12.54, Z:-3.61 [[ 9.40808236e-01 3.14006081e-01 1.27593279e-01 3.47199523e+01] [-3.10595503e-01 9.49412748e-01 -4.63235128e-02 -1.25374904e+01] [-1.35684550e-01 3.95164369e-03 9.90744209e-01 -3.61136532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.425779522999996 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:34.78, Y:-12.56, Z:-3.62 [[ 9.37650890e-01 3.23314604e-01 1.27587132e-01 3.47771642e+01] [-3.19987167e-01 9.46287893e-01 -4.63404369e-02 -1.25595592e+01] [-1.35716698e-01 2.62490692e-03 9.90744209e-01 -3.61956482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.485779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.83, Y:-12.58, Z:-3.63 [[ 9.35724312e-01 3.28851145e-01 1.27581096e-01 3.48335353e+01] [-3.25572553e-01 9.44379975e-01 -4.63570478e-02 -1.25830344e+01] [-1.35729601e-01 1.84051337e-03 9.90744209e-01 -3.63328416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.54577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:34.89, Y:-12.61, Z:-3.64 [[ 9.33557543e-01 3.34955887e-01 1.27572988e-01 3.48923656e+01] [-3.31730852e-01 9.42233303e-01 -4.63793504e-02 -1.26052133e+01] [-1.35738555e-01 9.77896342e-04 9.90744209e-01 -3.63936115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.605779522999995 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:34.95, Y:-12.63, Z:-3.64 [[ 9.31173576e-01 3.41532059e-01 1.27560277e-01 3.49490237e+01] [-3.38363510e-01 9.39870124e-01 -4.64142860e-02 -1.26305182e+01] [-1.35742060e-01 5.80137400e-05 9.90744210e-01 -3.64255467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.665779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.01, Y:-12.65, Z:-3.65 [[ 9.29566411e-01 3.45886576e-01 1.27549069e-01 3.50087238e+01] [-3.42754541e-01 9.38276175e-01 -4.64450663e-02 -1.26467414e+01] [-1.35740977e-01 -5.44248904e-04 9.90744211e-01 -3.65429163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.72577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.06, Y:-12.67, Z:-3.67 [[ 9.29180884e-01 3.46922413e-01 1.27544989e-01 3.50639876e+01] [-3.43798550e-01 9.37893583e-01 -4.64562657e-02 -1.26710932e+01] [-1.35740347e-01 -6.83508458e-04 9.90744211e-01 -3.66917491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.785779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.12, Y:-12.70, Z:-3.67 [[ 9.29038491e-01 3.47307815e-01 1.27533385e-01 3.51180473e+01] [-3.44183196e-01 9.37750918e-01 -4.64881015e-02 -1.27036175e+01] [-1.35740230e-01 -7.05612332e-04 9.90744211e-01 -3.67135249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.845779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.17, Y:-12.73, Z:-3.67 [[ 9.28263100e-01 3.49379426e-01 1.27521112e-01 3.51742217e+01] [-3.46269629e-01 9.36980828e-01 -4.65217442e-02 -1.27295172e+01] [-1.35738577e-01 -9.72269407e-04 9.90744212e-01 -3.67389680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.90577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.23, Y:-12.75, Z:-3.70 [[ 9.30102511e-01 3.44457717e-01 1.27507648e-01 3.52313188e+01] [-3.41296733e-01 9.38801808e-01 -4.65586153e-02 -1.27468789e+01] [-1.35741885e-01 -2.13658785e-04 9.90744213e-01 -3.69506956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.965779522999995 meters Centerline goodness : 0.999775 with order 1 Centerline is valid? [True, True] Translation: X:35.28, Y:-12.79, Z:-3.69 [[ 9.33683739e-01 3.34633502e-01 1.27495470e-01 3.52841440e+01] [-3.31376435e-01 9.42347520e-01 -4.65919407e-02 -1.27877052e+01] [-1.35736264e-01 1.25314309e-03 9.90744213e-01 -3.69015025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.025779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.34, Y:-12.81, Z:-3.69 [[ 9.34541684e-01 3.32235343e-01 1.27481441e-01 3.53428699e+01] [-3.28950813e-01 9.43195090e-01 -4.66302944e-02 -1.28075601e+01] [-1.35732101e-01 1.64283012e-03 9.90744214e-01 -3.69356914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.08577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.40, Y:-12.82, Z:-3.72 [[ 9.35533964e-01 3.29436683e-01 1.27466361e-01 3.54016917e+01] [-3.26120657e-01 9.44175349e-01 -4.66714794e-02 -1.28210263e+01] [-1.35725894e-01 2.09334056e-03 9.90744215e-01 -3.71544405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.145779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.46, Y:-12.84, Z:-3.72 [[ 9.35829429e-01 3.28600769e-01 1.27455145e-01 3.54595053e+01] [-3.25272857e-01 9.44466242e-01 -4.67020907e-02 -1.28440709e+01] [-1.35723425e-01 2.24749172e-03 9.90744216e-01 -3.72470678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.205779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.52, Y:-12.87, Z:-3.73 [[ 9.35326078e-01 3.30035761e-01 1.27442241e-01 3.55177415e+01] [-3.26716307e-01 9.43966144e-01 -4.67372759e-02 -1.28681152e+01] [-1.35726134e-01 2.07713445e-03 9.90744216e-01 -3.72991311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.265779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.58, Y:-12.88, Z:-3.74 [[ 9.37928282e-01 3.22571389e-01 1.27429342e-01 3.55775655e+01] [-3.19178413e-01 9.46539741e-01 -4.67724200e-02 -1.28848037e+01] [-1.35704381e-01 3.19648033e-03 9.90744217e-01 -3.74024011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.325779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.64, Y:-12.90, Z:-3.75 [[ 9.40253726e-01 3.15734012e-01 1.27416500e-01 3.56379652e+01] [-3.12273695e-01 9.48838347e-01 -4.68073782e-02 -1.28996703e+01] [-1.35676343e-01 4.22199040e-03 9.90744218e-01 -3.75175114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.385779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.70, Y:-12.92, Z:-3.76 [[ 9.43971208e-01 3.04445386e-01 1.27402380e-01 3.56953097e+01] [-3.00877286e-01 9.52511591e-01 -4.68457808e-02 -1.29219505e+01] [-1.35614225e-01 5.88858612e-03 9.90744219e-01 -3.76163000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.445779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.75, Y:-12.94, Z:-3.76 [[ 9.47213878e-01 2.94207089e-01 1.27389392e-01 3.57529572e+01] [-2.90542001e-01 9.55713090e-01 -4.68810719e-02 -1.29443682e+01] [-1.35540453e-01 7.39443312e-03 9.90744219e-01 -3.76091217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.505779522999994 meters Centerline goodness : 0.995282 with order 1 Centerline is valid? [True, True] Translation: X:35.81, Y:-12.96, Z:-3.76 [[ 9.48153189e-01 2.91168693e-01 1.27382582e-01 3.58120690e+01] [-2.87473898e-01 9.56639529e-01 -4.68995697e-02 -1.29643659e+01] [-1.35514899e-01 7.84880935e-03 9.90744219e-01 -3.76123678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.565779522999996 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:35.87, Y:-12.98, Z:-3.79 [[ 9.49162275e-01 2.87868566e-01 1.27368226e-01 3.58713932e+01] [-2.84139066e-01 9.57633419e-01 -4.69385229e-02 -1.29760938e+01] [-1.35484195e-01 8.36198623e-03 9.90744220e-01 -3.78510552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.625779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.93, Y:-12.99, Z:-3.80 [[ 9.47658837e-01 2.92781722e-01 1.27364011e-01 3.59281307e+01] [-2.89094625e-01 9.56148524e-01 -4.69499581e-02 -1.29919053e+01] [-1.35525001e-01 7.67229168e-03 9.90744220e-01 -3.80342263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.685779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.99, Y:-13.02, Z:-3.81 [[ 9.46032400e-01 2.97999683e-01 1.27353398e-01 3.59853214e+01] [-2.94355566e-01 9.54540623e-01 -4.69787288e-02 -1.30151254e+01] [-1.35563638e-01 6.95621799e-03 9.90744221e-01 -3.80762329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.745779522999996 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:36.04, Y:-13.03, Z:-3.81 [[ 9.45090218e-01 3.00979298e-01 1.27341835e-01 3.60446054e+01] [-2.97357800e-01 9.53608092e-01 -4.70100517e-02 -1.30326008e+01] [-1.35583257e-01 6.56265216e-03 9.90744221e-01 -3.80949306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.805779523 meters Centerline goodness : 0.999956 with order 1 Centerline is valid? [True, True] Translation: X:36.11, Y:-13.04, Z:-3.82 [[ 9.45880481e-01 2.98490994e-01 1.27331229e-01 3.61087511e+01] [-2.94843238e-01 9.54387143e-01 -4.70387621e-02 -1.30384445e+01] [-1.35563935e-01 6.95029509e-03 9.90744222e-01 -3.82241777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.86577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.16, Y:-13.07, Z:-3.83 [[ 9.45544314e-01 2.99560116e-01 1.27317269e-01 3.61627643e+01] [-2.95916909e-01 9.54052925e-01 -4.70765173e-02 -1.30673619e+01] [-1.35569659e-01 6.83760063e-03 9.90744223e-01 -3.83419646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.925779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.22, Y:-13.08, Z:-3.84 [[ 9.47330393e-01 2.93866669e-01 1.27308706e-01 3.62233447e+01] [-2.90169245e-01 9.55815584e-01 -4.70996618e-02 -1.30820282e+01] [-1.35524666e-01 7.67787006e-03 9.90744223e-01 -3.83850113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.985779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.28, Y:-13.09, Z:-3.85 [[ 9.46899283e-01 2.95258043e-01 1.27296645e-01 3.62847773e+01] [-2.91568724e-01 9.55388000e-01 -4.71322372e-02 -1.30928796e+01] [-1.35533859e-01 7.51376126e-03 9.90744224e-01 -3.85028819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.04577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.34, Y:-13.11, Z:-3.87 [[ 9.46502749e-01 2.96532049e-01 1.27284290e-01 3.63404248e+01] [-2.92849688e-01 9.54994486e-01 -4.71655783e-02 -1.31146118e+01] [-1.35541901e-01 7.36718481e-03 9.90744224e-01 -3.86570218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.105779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.40, Y:-13.15, Z:-3.86 [[ 9.46396972e-01 2.96874252e-01 1.27273132e-01 3.63957991e+01] [-2.93190928e-01 9.54888291e-01 -4.71956705e-02 -1.31471625e+01] [-1.35542802e-01 7.35051205e-03 9.90744225e-01 -3.86100805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.165779523 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:36.46, Y:-13.16, Z:-3.87 [[ 9.46224928e-01 2.97427289e-01 1.27261126e-01 3.64575661e+01] [-2.93744591e-01 9.54716518e-01 -4.72280204e-02 -1.31563416e+01] [-1.35545201e-01 7.30606267e-03 9.90744225e-01 -3.86861880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.22577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.51, Y:-13.18, Z:-3.88 [[ 9.43965232e-01 3.04527277e-01 1.27250846e-01 3.65145956e+01] [-3.00904753e-01 9.52482666e-01 -4.72557027e-02 -1.31753655e+01] [-1.35594876e-01 6.31735595e-03 9.90744226e-01 -3.88483646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.285779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.57, Y:-13.20, Z:-3.88 [[ 9.41687616e-01 3.11500956e-01 1.27246174e-01 3.65704372e+01] [-3.07939833e-01 9.50230903e-01 -4.72682802e-02 -1.32029993e+01] [-1.35637361e-01 5.32778842e-03 9.90744226e-01 -3.88395880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.345779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.63, Y:-13.22, Z:-3.89 [[ 9.38809116e-01 3.20076464e-01 1.27234038e-01 3.66320988e+01] [-3.16588986e-01 9.47382730e-01 -4.73009247e-02 -1.32160860e+01] [-1.35679243e-01 4.12564425e-03 9.90744226e-01 -3.89371721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.40577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.69, Y:-13.23, Z:-3.91 [[ 9.36256265e-01 3.27474075e-01 1.27220032e-01 3.66935961e+01] [-3.24049243e-01 9.44855094e-01 -4.73385648e-02 -1.32271643e+01] [-1.35706648e-01 3.09547270e-03 9.90744227e-01 -3.90586346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.465779522999995 meters Centerline goodness : 0.997995 with order 1 Centerline is valid? [True, True] Translation: X:36.75, Y:-13.26, Z:-3.91 [[ 9.33587754e-01 3.35007674e-01 1.27215428e-01 3.67466798e+01] [-3.31650556e-01 9.42213244e-01 -4.73509356e-02 -1.32594883e+01] [-1.35726988e-01 2.01518628e-03 9.90744227e-01 -3.91258436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.525779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.81, Y:-13.27, Z:-3.93 [[ 9.31243855e-01 3.41474202e-01 1.27201617e-01 3.68075834e+01] [-3.38171920e-01 9.39890488e-01 -4.73880090e-02 -1.32677446e+01] [-1.35737372e-01 1.11377729e-03 9.90744228e-01 -3.92882730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.58577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.87, Y:-13.28, Z:-3.94 [[ 9.29317877e-01 3.46684208e-01 1.27194121e-01 3.68673643e+01] [-3.43427650e-01 9.37981833e-01 -4.74081186e-02 -1.32806614e+01] [-1.35741421e-01 3.75233925e-04 9.90744228e-01 -3.94365536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.645779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.92, Y:-13.32, Z:-3.94 [[ 9.29014312e-01 3.47501175e-01 1.27182314e-01 3.69213128e+01] [-3.44247903e-01 9.37679502e-01 -4.74397742e-02 -1.33158336e+01] [-1.35741626e-01 2.89984481e-04 9.90744229e-01 -3.94283892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.705779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.98, Y:-13.33, Z:-3.95 [[ 9.28804352e-01 3.48065017e-01 1.27173972e-01 3.69819572e+01] [-3.44813944e-01 9.37470368e-01 -4.74621254e-02 -1.33311248e+01] [-1.35741736e-01 2.31669705e-04 9.90744229e-01 -3.94592781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.765779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.03, Y:-13.36, Z:-3.96 [[ 9.27519659e-01 3.51478496e-01 1.27161899e-01 3.70339572e+01] [-3.48254884e-01 9.36195927e-01 -4.74944501e-02 -1.33592851e+01] [-1.35741730e-01 -2.32716240e-04 9.90744230e-01 -3.96391739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.825779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.09, Y:-13.39, Z:-3.97 [[ 9.27460948e-01 3.51635250e-01 1.27156758e-01 3.70886144e+01] [-3.48411218e-01 9.36137059e-01 -4.75082099e-02 -1.33882523e+01] [-1.35741715e-01 -2.40831552e-04 9.90744230e-01 -3.97012153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.885779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.15, Y:-13.40, Z:-3.98 [[ 9.30419945e-01 3.43730317e-01 1.27154220e-01 3.71468761e+01] [-3.40431645e-01 9.39067953e-01 -4.75150010e-02 -1.34039002e+01] [-1.35738800e-01 9.21584179e-04 9.90744230e-01 -3.98235733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.945779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.20, Y:-13.43, Z:-3.99 [[ 9.31363454e-01 3.41169493e-01 1.27143596e-01 3.72030656e+01] [-3.37843165e-01 9.40000862e-01 -4.75434123e-02 -1.34318204e+01] [-1.35735452e-01 1.32560162e-03 9.90744230e-01 -3.98825463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.005779522999994 meters Centerline goodness : 0.995826 with order 1 Centerline is valid? [True, True] Translation: X:37.26, Y:-13.47, Z:-4.00 [[ 9.32453749e-01 3.38179839e-01 1.27139301e-01 3.72554646e+01] [-3.34824253e-01 9.41079833e-01 -4.75548966e-02 -1.34661360e+01] [-1.35730339e-01 1.77342012e-03 9.90744230e-01 -3.99818040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.065779522999996 meters Centerline goodness : 0.996719 with order 1 Centerline is valid? [True, True] Translation: X:37.31, Y:-13.50, Z:-4.00 [[ 9.33327123e-01 3.35763095e-01 1.27136246e-01 3.73099242e+01] [-3.32384062e-01 9.41944049e-01 -4.75630621e-02 -1.34985379e+01] [-1.35725151e-01 2.13383401e-03 9.90744230e-01 -3.99692936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.125779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.37, Y:-13.52, Z:-4.00 [[ 9.33767752e-01 3.34541187e-01 1.27121906e-01 3.73709411e+01] [-3.31145666e-01 9.42378193e-01 -4.76013595e-02 -1.35150835e+01] [-1.35721527e-01 2.35274642e-03 9.90744231e-01 -3.99694992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.185779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.43, Y:-13.54, Z:-4.01 [[ 9.34599300e-01 3.32216360e-01 1.27107977e-01 3.74283346e+01] [-3.28794369e-01 9.43199255e-01 -4.76385227e-02 -1.35365174e+01] [-1.35714446e-01 2.73054283e-03 9.90744232e-01 -4.00601906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.245779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.48, Y:-13.57, Z:-4.02 [[ 9.37256823e-01 3.24647779e-01 1.27096293e-01 3.74822372e+01] [-3.21152135e-01 9.45827103e-01 -4.76696747e-02 -1.35650585e+01] [-1.35686973e-01 3.86148196e-03 9.90744233e-01 -4.01519045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.305779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.54, Y:-13.59, Z:-4.03 [[ 9.41239090e-01 3.12918879e-01 1.27085602e-01 3.75369799e+01] [-3.09312650e-01 9.49763428e-01 -4.76981601e-02 -1.35892785e+01] [-1.35626912e-01 5.58618839e-03 9.90744233e-01 -4.03260340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.36577952299999 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:37.60, Y:-13.60, Z:-4.04 [[ 9.43233077e-01 3.06861326e-01 1.27072769e-01 3.75969721e+01] [-3.03195780e-01 9.51732076e-01 -4.77323247e-02 -1.36042043e+01] [-1.35586435e-01 6.49478023e-03 9.90744234e-01 -4.04085264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.425779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.65, Y:-13.63, Z:-4.04 [[ 9.43626292e-01 3.05655419e-01 1.27059772e-01 3.76534319e+01] [-3.01974370e-01 9.52118587e-01 -4.77668963e-02 -1.36317847e+01] [-1.35576182e-01 6.70530455e-03 9.90744234e-01 -4.03617656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.485779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.71, Y:-13.65, Z:-4.03 [[ 9.43832449e-01 3.05022959e-01 1.27048427e-01 3.77122142e+01] [-3.01332171e-01 9.52320516e-01 -4.77970535e-02 -1.36549022e+01] [-1.35570022e-01 6.82863172e-03 9.90744235e-01 -4.03489635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.54577952299999 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:37.77, Y:-13.67, Z:-4.05 [[ 9.45063726e-01 3.01192151e-01 1.27034809e-01 3.77709199e+01] [-2.97462119e-01 9.53534620e-01 -4.78332213e-02 -1.36697992e+01] [-1.35539079e-01 7.41739900e-03 9.90744236e-01 -4.05060510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.605779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:37.83, Y:-13.68, Z:-4.06 [[ 9.46286303e-01 2.97330776e-01 1.27030084e-01 3.78316009e+01] [-2.93564510e-01 9.54741149e-01 -4.78457659e-02 -1.36805536e+01] [-1.35506867e-01 7.98426864e-03 9.90744236e-01 -4.06072614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.665779523 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:37.89, Y:-13.70, Z:-4.07 [[ 9.46742856e-01 2.95879101e-01 1.27017805e-01 3.78889130e+01] [-2.92095520e-01 9.55189966e-01 -4.78783399e-02 -1.36998090e+01] [-1.35492333e-01 8.22714443e-03 9.90744236e-01 -4.07457488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.72577952299999 meters Centerline goodness : 0.999828 with order 1 Centerline is valid? [True, True] Translation: X:37.95, Y:-13.71, Z:-4.08 [[ 9.43115893e-01 3.07248671e-01 1.27006558e-01 3.79509171e+01] [-3.03562993e-01 9.51606178e-01 -4.79081575e-02 -1.37129047e+01] [-1.35579943e-01 6.62845390e-03 9.90744237e-01 -4.07629059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.785779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.01, Y:-13.72, Z:-4.08 [[ 9.39074679e-01 3.19389606e-01 1.27000106e-01 3.80136700e+01] [-3.15811453e-01 9.47610836e-01 -4.79252542e-02 -1.37214934e+01] [-1.35653505e-01 4.89730464e-03 9.90744237e-01 -4.07833716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.845779523 meters Centerline goodness : 0.999830 with order 1 Centerline is valid? [True, True] Translation: X:38.07, Y:-13.74, Z:-4.09 [[ 9.35273728e-01 3.30357190e-01 1.26992834e-01 3.80697776e+01] [-3.26876563e-01 9.43850113e-01 -4.79445158e-02 -1.37441507e+01] [-1.35701016e-01 3.33026494e-03 9.90744237e-01 -4.08883837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.90577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.13, Y:-13.75, Z:-4.10 [[ 9.31455616e-01 3.40974943e-01 1.26990248e-01 3.81313105e+01] [-3.37591167e-01 9.40070673e-01 -4.79513645e-02 -1.37539646e+01] [-1.35730022e-01 1.79378179e-03 9.90744237e-01 -4.10103724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.965779522999995 meters Centerline goodness : 0.999937 with order 1 Centerline is valid? [True, True] Translation: X:38.19, Y:-13.77, Z:-4.11 [[ 9.29162580e-01 3.47179400e-01 1.26977807e-01 3.81916488e+01] [-3.43848655e-01 9.37798278e-01 -4.79842865e-02 -1.37679629e+01] [-1.35738725e-01 9.24055226e-04 9.90744238e-01 -4.10760918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.025779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.25, Y:-13.79, Z:-4.11 [[ 9.26390352e-01 3.54514224e-01 1.26966845e-01 3.82466357e+01] [-3.51247882e-01 9.35050614e-01 -4.80132749e-02 -1.37941961e+01] [-1.35741815e-01 -1.17800762e-04 9.90744238e-01 -4.11275278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.08577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.31, Y:-13.81, Z:-4.12 [[ 9.25209815e-01 3.57586127e-01 1.26960470e-01 3.83053583e+01] [-3.54346226e-01 9.33880003e-01 -4.80301278e-02 -1.38145666e+01] [-1.35740751e-01 -5.50017499e-04 9.90744238e-01 -4.11758911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.145779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.36, Y:-13.83, Z:-4.14 [[ 9.24743342e-01 3.58794850e-01 1.26948833e-01 3.83616517e+01] [-3.55562062e-01 9.33416184e-01 -4.80608636e-02 -1.38327587e+01] [-1.35740086e-01 -6.94225365e-04 9.90744239e-01 -4.13622382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.205779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.42, Y:-13.85, Z:-4.14 [[ 9.24517423e-01 3.59378908e-01 1.26942250e-01 3.84195113e+01] [-3.56149212e-01 9.33191417e-01 -4.80782466e-02 -1.38544754e+01] [-1.35739726e-01 -7.61205549e-04 9.90744239e-01 -4.14333381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.26577952299999 meters Centerline goodness : 0.999874 with order 1 Centerline is valid? [True, True] Translation: X:38.48, Y:-13.88, Z:-4.15 [[ 9.25123683e-01 3.57819503e-01 1.26930589e-01 3.84760913e+01] [-3.54570964e-01 9.33790637e-01 -4.81090116e-02 -1.38775383e+01] [-1.35740939e-01 -4.99115478e-04 9.90744240e-01 -4.14923754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.325779522999994 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:38.53, Y:-13.91, Z:-4.16 [[ 9.26372341e-01 3.54578087e-01 1.26919918e-01 3.85294353e+01] [-3.51295367e-01 9.35026406e-01 -4.81371490e-02 -1.39092780e+01] [-1.35741853e-01 6.54438144e-06 9.90744240e-01 -4.15922516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.385779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.59, Y:-13.93, Z:-4.17 [[ 9.26970252e-01 3.53012948e-01 1.26917334e-01 3.85860964e+01] [-3.49714683e-01 9.35618405e-01 -4.81439614e-02 -1.39342186e+01] [-1.35741635e-01 2.43164845e-04 9.90744240e-01 -4.16769144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.445779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.64, Y:-13.96, Z:-4.18 [[ 9.26765294e-01 3.53552353e-01 1.26912662e-01 3.86418502e+01] [-3.50257436e-01 9.35414722e-01 -4.81562735e-02 -1.39585794e+01] [-1.35741736e-01 1.77459376e-04 9.90744240e-01 -4.17512322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.505779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.70, Y:-13.99, Z:-4.18 [[ 9.29103204e-01 3.47366512e-01 1.26900522e-01 3.86973177e+01] [-3.44009643e-01 9.37728777e-01 -4.81882445e-02 -1.39853391e+01] [-1.35737253e-01 1.11684933e-03 9.90744241e-01 -4.17951095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.565779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.75, Y:-14.02, Z:-4.19 [[ 9.31236737e-01 3.41606853e-01 1.26897191e-01 3.87501925e+01] [-3.38195444e-01 9.39840885e-01 -4.81970126e-02 -1.40173067e+01] [-1.35727598e-01 1.96677676e-03 9.90744241e-01 -4.18742296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.625779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.80, Y:-14.05, Z:-4.19 [[ 9.32243159e-01 3.38855117e-01 1.26885387e-01 3.88046317e+01] [-3.35414087e-01 9.40835503e-01 -4.82280687e-02 -1.40472244e+01] [-1.35720605e-01 2.40114089e-03 9.90744241e-01 -4.19344638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.685779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.86, Y:-14.07, Z:-4.20 [[ 9.33380915e-01 3.35712964e-01 1.26873453e-01 3.88625065e+01] [-3.32238747e-01 9.41959894e-01 -4.82594434e-02 -1.40712078e+01] [-1.35711025e-01 2.89216631e-03 9.90744242e-01 -4.19658565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.745779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.92, Y:-14.10, Z:-4.20 [[ 9.33615753e-01 3.35063824e-01 1.26861575e-01 3.89182062e+01] [-3.31579404e-01 9.42190592e-01 -4.82906482e-02 -1.40983914e+01] [-1.35708232e-01 3.02022454e-03 9.90744243e-01 -4.20287092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.805779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.97, Y:-14.12, Z:-4.23 [[ 9.32728211e-01 3.37531351e-01 1.26849013e-01 3.89709865e+01] [-3.34065134e-01 9.41310424e-01 -4.83236231e-02 -1.41240031e+01] [-1.35715036e-01 2.69697391e-03 9.90744243e-01 -4.22840633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.86577952299999 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:39.03, Y:-14.15, Z:-4.23 [[ 9.33601502e-01 3.35112061e-01 1.26839042e-01 3.90281610e+01] [-3.31620054e-01 9.42173253e-01 -4.83497801e-02 -1.41491416e+01] [-1.35706948e-01 3.07705714e-03 9.90744244e-01 -4.23331523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.925779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.08, Y:-14.18, Z:-4.23 [[ 9.34597976e-01 3.32327398e-01 1.26827142e-01 3.90840596e+01] [-3.28805624e-01 9.43157539e-01 -4.83809765e-02 -1.41772067e+01] [-1.35696299e-01 3.51528516e-03 9.90744244e-01 -4.23462083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.985779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.14, Y:-14.20, Z:-4.24 [[ 9.35490423e-01 3.29811399e-01 1.26815258e-01 3.91399014e+01] [-3.26262389e-01 9.44038729e-01 -4.84121077e-02 -1.42018087e+01] [-1.35685380e-01 3.91401425e-03 9.90744245e-01 -4.24430765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.04577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.19, Y:-14.23, Z:-4.25 [[ 9.34059948e-01 3.33845908e-01 1.26802694e-01 3.91947400e+01] [-3.30329364e-01 9.42621660e-01 -4.84449918e-02 -1.42329020e+01] [-1.35700128e-01 3.36387311e-03 9.90744245e-01 -4.24614426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.105779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.25, Y:-14.25, Z:-4.26 [[ 9.32113713e-01 3.39246268e-01 1.26791149e-01 3.92540912e+01] [-3.35775228e-01 9.40693974e-01 -4.84751887e-02 -1.42492783e+01] [-1.35716697e-01 2.61106094e-03 9.90744246e-01 -4.26076109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.165779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.31, Y:-14.27, Z:-4.28 [[ 9.30334347e-01 3.44100961e-01 1.26777489e-01 3.93101914e+01] [-3.40669835e-01 9.38930645e-01 -4.85108897e-02 -1.42697804e+01] [-1.35727913e-01 1.94208075e-03 9.90744246e-01 -4.27633780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.22577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.36, Y:-14.30, Z:-4.28 [[ 9.32613249e-01 3.37879818e-01 1.26766544e-01 3.93640699e+01] [-3.34387473e-01 9.41184858e-01 -4.85394728e-02 -1.43027586e+01] [-1.35711260e-01 2.87941102e-03 9.90744247e-01 -4.27775841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.285779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.42, Y:-14.33, Z:-4.28 [[ 9.31057608e-01 3.42147843e-01 1.26754034e-01 3.94222829e+01] [-3.38690351e-01 9.39643334e-01 -4.85721202e-02 -1.43257811e+01] [-1.35722429e-01 2.29307385e-03 9.90744248e-01 -4.28030365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.345779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.48, Y:-14.34, Z:-4.30 [[ 9.31016018e-01 3.42265860e-01 1.26740899e-01 3.94798556e+01] [-3.38804795e-01 9.39600304e-01 -4.86063698e-02 -1.43428444e+01] [-1.35722088e-01 2.31288458e-03 9.90744248e-01 -4.30132522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.40577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.53, Y:-14.38, Z:-4.30 [[ 9.30011360e-01 3.44991138e-01 1.26727995e-01 3.95319620e+01] [-3.41550649e-01 9.38603913e-01 -4.86399902e-02 -1.43811987e+01] [-1.35727757e-01 1.95171453e-03 9.90744249e-01 -4.30338181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.465779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.59, Y:-14.41, Z:-4.31 [[ 9.28913602e-01 3.47940352e-01 1.26716341e-01 3.95889365e+01] [-3.44523006e-01 9.37515385e-01 -4.86703320e-02 -1.44060683e+01] [-1.35732892e-01 1.55383867e-03 9.90744249e-01 -4.30882469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.525779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.65, Y:-14.42, Z:-4.32 [[ 9.28553174e-01 3.48905259e-01 1.26704866e-01 3.96483766e+01] [-3.45492778e-01 9.37156888e-01 -4.87001880e-02 -1.44189506e+01] [-1.35734089e-01 1.44509811e-03 9.90744250e-01 -4.32452729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.58577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.70, Y:-14.47, Z:-4.32 [[ 9.28033393e-01 3.50289703e-01 1.26693114e-01 3.96960005e+01] [-3.46885886e-01 9.36640538e-01 -4.87307419e-02 -1.44659479e+01] [-1.35735783e-01 1.27570277e-03 9.90744250e-01 -4.32478930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.645779522999995 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:39.75, Y:-14.49, Z:-4.33 [[ 9.25096348e-01 3.57978115e-01 1.26682342e-01 3.97537535e+01] [-3.54642001e-01 9.33729959e-01 -4.87587294e-02 -1.44900215e+01] [-1.35741656e-01 1.79643346e-04 9.90744251e-01 -4.33266342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.705779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.81, Y:-14.50, Z:-4.35 [[ 9.19028529e-01 3.73284753e-01 1.26669085e-01 3.98146980e+01] [-3.70087669e-01 9.27714582e-01 -4.87931452e-02 -1.44996903e+01] [-1.35726494e-01 -2.03637376e-03 9.90744252e-01 -4.34890489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.76577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.87, Y:-14.53, Z:-4.35 [[ 9.15901793e-01 3.80896254e-01 1.26656821e-01 3.98702330e+01] [-3.77766943e-01 9.24612492e-01 -4.88249580e-02 -1.45265443e+01] [-1.35705723e-01 -3.12789360e-03 9.90744252e-01 -4.35238883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.825779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.93, Y:-14.56, Z:-4.35 [[ 9.17372709e-01 3.77343362e-01 1.26646354e-01 3.99260782e+01] [-3.74176568e-01 9.26069851e-01 -4.88520944e-02 -1.45575896e+01] [-1.35717384e-01 -2.57251975e-03 9.90744253e-01 -4.35442921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.885779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.98, Y:-14.58, Z:-4.37 [[ 9.18430036e-01 3.74767158e-01 1.26632726e-01 3.99838447e+01] [-3.71571100e-01 9.27116465e-01 -4.88873957e-02 -1.45773890e+01] [-1.35724675e-01 -2.15340853e-03 9.90744253e-01 -4.37029722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.945779523 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:40.04, Y:-14.59, Z:-4.39 [[ 9.19928791e-01 3.71074473e-01 1.26628409e-01 4.00426666e+01] [-3.67842006e-01 9.28601738e-01 -4.88985740e-02 -1.45909957e+01] [-1.35732373e-01 -1.59604190e-03 9.90744253e-01 -4.38814604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.005779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.10, Y:-14.62, Z:-4.39 [[ 9.18062937e-01 3.75671177e-01 1.26615994e-01 4.00976688e+01] [-3.72477702e-01 9.26750316e-01 -4.89307012e-02 -1.46201678e+01] [-1.35723266e-01 -2.24017108e-03 9.90744254e-01 -4.38570800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.065779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.15, Y:-14.64, Z:-4.39 [[ 9.21234503e-01 3.67827605e-01 1.26609020e-01 4.01547753e+01] [-3.64557674e-01 9.29893393e-01 -4.89487397e-02 -1.46441164e+01] [-1.35737589e-01 -1.06302187e-03 9.90744254e-01 -4.38888612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.125779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.21, Y:-14.66, Z:-4.40 [[ 9.25905694e-01 3.55909913e-01 1.26596918e-01 4.02131890e+01] [-3.52524248e-01 9.34519990e-01 -4.89800180e-02 -1.46630443e+01] [-1.35739825e-01 7.22394109e-04 9.90744255e-01 -4.40448963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.185779522999994 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:40.27, Y:-14.69, Z:-4.41 [[ 9.25201282e-01 3.57742208e-01 1.26582383e-01 4.02684479e+01] [-3.54368468e-01 9.33820255e-01 -4.90175548e-02 -1.46889944e+01] [-1.35740841e-01 4.94299513e-04 9.90744255e-01 -4.41044071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.245779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.33, Y:-14.71, Z:-4.42 [[ 9.26476442e-01 3.54430859e-01 1.26570805e-01 4.03268189e+01] [-3.51022233e-01 9.35081676e-01 -4.90474334e-02 -1.47052199e+01] [-1.35737964e-01 1.01212525e-03 9.90744256e-01 -4.42184299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.305779523 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:40.39, Y:-14.73, Z:-4.43 [[ 9.29093634e-01 3.47516387e-01 1.26559790e-01 4.03852623e+01] [-3.44039855e-01 9.37671659e-01 -4.90758380e-02 -1.47255067e+01] [-1.35726186e-01 2.05443679e-03 9.90744256e-01 -4.43021146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.36577952299999 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:40.44, Y:-14.75, Z:-4.43 [[ 9.33462705e-01 3.35608490e-01 1.26547695e-01 4.04418104e+01] [-3.32018341e-01 9.41993802e-01 -4.91070071e-02 -1.47503088e+01] [-1.35687873e-01 3.82340387e-03 9.90744257e-01 -4.42996861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.425779522999996 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:40.50, Y:-14.78, Z:-4.44 [[ 9.37729066e-01 3.23500655e-01 1.26536657e-01 4.04973276e+01] [-3.19796580e-01 9.46211317e-01 -4.91354321e-02 -1.47754026e+01] [-1.35625762e-01 5.60973258e-03 9.90744257e-01 -4.43879338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.485779523 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:40.55, Y:-14.80, Z:-4.45 [[ 9.38502415e-01 3.21254801e-01 1.26524981e-01 4.05544544e+01] [-3.17526387e-01 9.46973996e-01 -4.91654818e-02 -1.47965912e+01] [-1.35610514e-01 5.96690335e-03 9.90744258e-01 -4.45223530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.54577952299999 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:40.61, Y:-14.81, Z:-4.47 [[ 9.40169191e-01 3.16348309e-01 1.26513401e-01 4.06132297e+01] [-3.12571700e-01 9.48619396e-01 -4.91952610e-02 -1.48123181e+01] [-1.35575904e-01 6.70735996e-03 9.90744258e-01 -4.46944872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.605779522999995 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:40.67, Y:-14.83, Z:-4.47 [[ 9.41635384e-01 3.11961635e-01 1.26501946e-01 4.06712555e+01] [-3.08141729e-01 9.50066105e-01 -4.92247004e-02 -1.48341575e+01] [-1.35541429e-01 7.37119148e-03 9.90744259e-01 -4.47276532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.665779523 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:40.73, Y:-14.86, Z:-4.47 [[ 9.41457321e-01 3.12503044e-01 1.26490953e-01 4.07287738e+01] [-3.08684205e-01 9.49888525e-01 -4.92529316e-02 -1.48618611e+01] [-1.35543996e-01 7.32377374e-03 9.90744259e-01 -4.47343048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.72577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.79, Y:-14.88, Z:-4.47 [[ 9.38581796e-01 3.21041287e-01 1.26478079e-01 4.07882396e+01] [-3.17294745e-01 9.47045373e-01 -4.92859679e-02 -1.48836216e+01] [-1.35603311e-01 6.12808229e-03 9.90744260e-01 -4.46858207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.785779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.85, Y:-14.89, Z:-4.49 [[ 9.34280064e-01 3.33357217e-01 1.26466312e-01 4.08503264e+01] [-3.29718226e-01 9.42790437e-01 -4.93161458e-02 -1.48928751e+01] [-1.35671122e-01 4.37684386e-03 9.90744261e-01 -4.48666468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.845779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.91, Y:-14.91, Z:-4.50 [[ 9.32487622e-01 3.38343835e-01 1.26452698e-01 4.09085165e+01] [-3.34745636e-01 9.41015321e-01 -4.93510289e-02 -1.49120156e+01] [-1.35691542e-01 3.68973477e-03 9.90744261e-01 -4.50051049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.90577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.96, Y:-14.94, Z:-4.51 [[ 9.32104946e-01 3.39401885e-01 1.26438644e-01 4.09642939e+01] [-3.35808489e-01 9.40634670e-01 -4.93870092e-02 -1.49358610e+01] [-1.35694616e-01 3.57470565e-03 9.90744262e-01 -4.50968316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.965779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.02, Y:-14.96, Z:-4.51 [[ 9.30518000e-01 3.43732986e-01 1.26427394e-01 4.10229048e+01] [-3.40175388e-01 9.39062716e-01 -4.94157920e-02 -1.49596790e+01] [-1.35709090e-01 2.97479624e-03 9.90744262e-01 -4.51348479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.025779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.08, Y:-14.98, Z:-4.52 [[ 9.28707656e-01 3.48599590e-01 1.26413666e-01 4.10827397e+01] [-3.45081997e-01 9.37268918e-01 -4.94508849e-02 -1.49767323e+01] [-1.35722158e-01 2.30233502e-03 9.90744263e-01 -4.51575573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.08577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.14, Y:-15.00, Z:-4.53 [[ 9.26537859e-01 3.54330748e-01 1.26401408e-01 4.11375671e+01] [-3.50861845e-01 9.35118964e-01 -4.94821986e-02 -1.50002076e+01] [-1.35733418e-01 1.49769917e-03 9.90744264e-01 -4.53007965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.145779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.19, Y:-15.02, Z:-4.54 [[ 9.25162188e-01 3.57911235e-01 1.26390168e-01 4.11945405e+01] [-3.54471623e-01 9.33755075e-01 -4.95108909e-02 -1.50217694e+01] [-1.35737965e-01 1.00387607e-03 9.90744264e-01 -4.54317267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.205779523 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:41.25, Y:-15.04, Z:-4.56 [[ 9.24067150e-01 3.60733285e-01 1.26378001e-01 4.12521185e+01] [-3.57315671e-01 9.32668810e-01 -4.95419287e-02 -1.50407501e+01] [-1.35740243e-01 6.23228550e-04 9.90744265e-01 -4.55614721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.26577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.31, Y:-15.07, Z:-4.55 [[ 9.20884759e-01 3.68785713e-01 1.26365970e-01 4.13068575e+01] [-3.65439105e-01 9.29514292e-01 -4.95725970e-02 -1.50721417e+01] [-1.35740641e-01 -5.28417982e-04 9.90744265e-01 -4.54966075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.325779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.36, Y:-15.09, Z:-4.56 [[ 9.19361858e-01 3.72569720e-01 1.26354968e-01 4.13629993e+01] [-3.69254777e-01 9.28003603e-01 -4.96006260e-02 -1.50935711e+01] [-1.35737557e-01 -1.05625170e-03 9.90744266e-01 -4.56336327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.385779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.42, Y:-15.11, Z:-4.58 [[ 9.16953918e-01 3.78460931e-01 1.26344115e-01 4.14219173e+01] [-3.75197697e-01 9.25615322e-01 -4.96282545e-02 -1.51086191e+01] [-1.35728404e-01 -1.89719863e-03 9.90744266e-01 -4.58038744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.445779523 meters Centerline goodness : 0.999471 with order 1 Centerline is valid? [True, True] Translation: X:41.48, Y:-15.14, Z:-4.58 [[ 9.15603755e-01 3.81719635e-01 1.26332431e-01 4.14780027e+01] [-3.78483126e-01 9.24275180e-01 -4.96579786e-02 -1.51369332e+01] [-1.35721356e-01 -2.34766193e-03 9.90744267e-01 -4.58408308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.505779522999994 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:41.53, Y:-15.17, Z:-4.58 [[ 9.13759777e-01 3.86116370e-01 1.26321888e-01 4.15342783e+01] [-3.82917876e-01 9.22445295e-01 -4.96847858e-02 -1.51674074e+01] [-1.35709140e-01 -2.97095005e-03 9.90744267e-01 -4.58089866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.565779522999996 meters Centerline goodness : 0.997751 with order 1 Centerline is valid? [True, True] Translation: X:41.59, Y:-15.19, Z:-4.60 [[ 9.12433221e-01 3.89245988e-01 1.26305889e-01 4.15905679e+01] [-3.86071660e-01 9.21127600e-01 -4.97254232e-02 -1.51853361e+01] [-1.35699262e-01 -3.39199632e-03 9.90744268e-01 -4.60267528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.625779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.65, Y:-15.20, Z:-4.61 [[ 9.11751873e-01 3.90843805e-01 1.26291890e-01 4.16488420e+01] [-3.87679796e-01 9.20450011e-01 -4.97609530e-02 -1.52028889e+01] [-1.35694132e-01 -3.59117205e-03 9.90744269e-01 -4.61095941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.685779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.70, Y:-15.24, Z:-4.61 [[ 9.13225750e-01 3.87391683e-01 1.26279112e-01 4.17003971e+01] [-3.84190311e-01 9.21910205e-01 -4.97933600e-02 -1.52448809e+01] [-1.35707535e-01 -3.04263260e-03 9.90744269e-01 -4.60933622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.745779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.76, Y:-15.27, Z:-4.62 [[ 9.13176920e-01 3.87508100e-01 1.26275035e-01 4.17566353e+01] [-3.84306406e-01 9.21861257e-01 -4.98036964e-02 -1.52696595e+01] [-1.35707398e-01 -3.04871880e-03 9.90744269e-01 -4.61774428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.805779523 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:41.82, Y:-15.28, Z:-4.64 [[ 9.11613793e-01 3.91174852e-01 1.26263725e-01 4.18166569e+01] [-3.88004119e-01 9.20309481e-01 -4.98323532e-02 -1.52775643e+01] [-1.35694867e-01 -3.56298486e-03 9.90744270e-01 -4.63560944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.86577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.87, Y:-15.31, Z:-4.64 [[ 9.14465158e-01 3.84463723e-01 1.26258150e-01 4.18687686e+01] [-3.81227212e-01 9.23136578e-01 -4.98464742e-02 -1.53137744e+01] [-1.35717678e-01 -2.55017861e-03 9.90744270e-01 -4.63694471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.925779522999996 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:41.92, Y:-15.34, Z:-4.64 [[ 9.18039545e-01 3.75850788e-01 1.26252044e-01 4.19246874e+01] [-3.72530783e-01 9.26679342e-01 -4.98619348e-02 -1.53422989e+01] [-1.35735809e-01 -1.25754494e-03 9.90744270e-01 -4.64151287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.985779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:41.98, Y:-15.36, Z:-4.65 [[ 9.18260667e-01 3.75315080e-01 1.26237628e-01 4.19846185e+01] [-3.71985020e-01 9.26896593e-01 -4.98984070e-02 -1.53577822e+01] [-1.35736852e-01 -1.13876199e-03 9.90744271e-01 -4.64968417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.04577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.04, Y:-15.38, Z:-4.66 [[ 9.15064088e-01 3.83047172e-01 1.26224316e-01 4.20405532e+01] [-3.79785433e-01 9.23726049e-01 -4.99320582e-02 -1.53809677e+01] [-1.35723023e-01 -2.24712330e-03 9.90744272e-01 -4.66203570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.105779522999995 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:42.09, Y:-15.41, Z:-4.67 [[ 9.14580494e-01 3.84204397e-01 1.26212124e-01 4.20940023e+01] [-3.80949369e-01 9.23244979e-01 -4.99628575e-02 -1.54110220e+01] [-1.35720659e-01 -2.38537406e-03 9.90744272e-01 -4.67381228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.165779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.15, Y:-15.43, Z:-4.68 [[ 9.17665801e-01 3.76779869e-01 1.26199876e-01 4.21523494e+01] [-3.73450478e-01 9.26301983e-01 -4.99937762e-02 -1.54280964e+01] [-1.35735843e-01 -1.25182511e-03 9.90744273e-01 -4.68492980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.22577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.21, Y:-15.45, Z:-4.69 [[ 9.20339208e-01 3.70205572e-01 1.26188653e-01 4.22077336e+01] [-3.66810604e-01 9.28949822e-01 -5.00220860e-02 -1.54523226e+01] [-1.35741382e-01 -2.50049112e-04 9.90744273e-01 -4.69016054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.285779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.26, Y:-15.49, Z:-4.69 [[ 9.20294830e-01 3.70319085e-01 1.26179242e-01 4.22605976e+01] [-3.66921925e-01 9.28904579e-01 -5.00458158e-02 -1.54882328e+01] [-1.35741396e-01 -2.41024761e-04 9.90744273e-01 -4.69159647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.345779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.32, Y:-15.50, Z:-4.71 [[ 9.15831707e-01 3.81227074e-01 1.26167361e-01 4.23188475e+01] [-3.77928324e-01 9.24479638e-01 -5.00757484e-02 -1.55029521e+01] [-1.35729388e-01 -1.82126134e-03 9.90744274e-01 -4.70550389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.40577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.38, Y:-15.51, Z:-4.72 [[ 9.14623033e-01 3.84121398e-01 1.26156488e-01 4.23797327e+01] [-3.80846238e-01 9.23279925e-01 -5.01031267e-02 -1.55140115e+01] [-1.35723436e-01 -2.22075024e-03 9.90744274e-01 -4.71752280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.465779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.44, Y:-15.54, Z:-4.71 [[ 9.16196753e-01 3.80356552e-01 1.26144374e-01 4.24365480e+01] [-3.77041620e-01 9.24838493e-01 -5.01336078e-02 -1.55446629e+01] [-1.35731819e-01 -1.62943053e-03 9.90744275e-01 -4.71037158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.525779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.49, Y:-15.57, Z:-4.73 [[ 9.17277331e-01 3.77747774e-01 1.26130553e-01 4.24940375e+01] [-3.74403486e-01 9.25907752e-01 -5.01683567e-02 -1.55665002e+01] [-1.35736242e-01 -1.20542232e-03 9.90744276e-01 -4.72699138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.58577952299999 meters Centerline goodness : 0.998949 with order 1 Centerline is valid? [True, True] Translation: X:42.55, Y:-15.58, Z:-4.75 [[ 9.15324106e-01 3.82461178e-01 1.26115932e-01 4.25522580e+01] [-3.79156268e-01 9.23969682e-01 -5.02050858e-02 -1.55787741e+01] [-1.35728794e-01 -1.86372066e-03 9.90744276e-01 -4.74916691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.645779522999995 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:42.61, Y:-15.60, Z:-4.75 [[ 9.14526698e-01 3.84368426e-01 1.26102465e-01 4.26082210e+01] [-3.81076885e-01 9.23177373e-01 -5.02388888e-02 -1.56041799e+01] [-1.35725185e-01 -2.10992937e-03 9.90744277e-01 -4.75161383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.705779523 meters Centerline goodness : 0.999887 with order 1 Centerline is valid? [True, True] Translation: X:42.66, Y:-15.64, Z:-4.75 [[ 9.16456352e-01 3.79748930e-01 1.26089274e-01 4.26634014e+01] [-3.76409230e-01 9.25088547e-01 -5.02719734e-02 -1.56369545e+01] [-1.35734471e-01 -1.38909716e-03 9.90744278e-01 -4.75104531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.76577952299999 meters Centerline goodness : 0.997342 with order 1 Centerline is valid? [True, True] Translation: X:42.72, Y:-15.66, Z:-4.76 [[ 9.17461207e-01 3.77319357e-01 1.26075517e-01 4.27200380e+01] [-3.73952059e-01 9.26082674e-01 -5.03064495e-02 -1.56597800e+01] [-1.35737950e-01 -9.91983359e-04 9.90744278e-01 -4.76280644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.825779522999994 meters Centerline goodness : 0.999798 with order 1 Centerline is valid? [True, True] Translation: X:42.78, Y:-15.67, Z:-4.78 [[ 9.18239081e-01 3.75424153e-01 1.26070202e-01 4.27793933e+01] [-3.72037232e-01 9.26852857e-01 -5.03197677e-02 -1.56721953e+01] [-1.35739783e-01 -6.97231590e-04 9.90744278e-01 -4.78122641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.885779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.84, Y:-15.70, Z:-4.78 [[ 9.20507196e-01 3.69830745e-01 1.26062377e-01 4.28368595e+01] [-3.66388797e-01 9.29099132e-01 -5.03393627e-02 -1.56953583e+01] [-1.35741489e-01 1.49902872e-04 9.90744279e-01 -4.78270253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.945779523 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:42.89, Y:-15.73, Z:-4.79 [[ 9.21437427e-01 3.67511063e-01 1.26050338e-01 4.28894129e+01] [-3.64043364e-01 9.30019002e-01 -5.03694912e-02 -1.57287149e+01] [-1.35740555e-01 5.24545343e-04 9.90744279e-01 -4.78759265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.005779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:42.95, Y:-15.75, Z:-4.80 [[ 9.22766452e-01 3.64165306e-01 1.26038503e-01 4.29475965e+01] [-3.60662450e-01 9.31333737e-01 -5.03990877e-02 -1.57464588e+01] [-1.35737509e-01 1.04923206e-03 9.90744280e-01 -4.80055410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.065779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.00, Y:-15.77, Z:-4.81 [[ 9.19543465e-01 3.72232886e-01 1.26025771e-01 4.30046081e+01] [-3.68800835e-01 9.28139358e-01 -5.04309050e-02 -1.57678433e+01] [-1.35741520e-01 -1.05000538e-04 9.90744280e-01 -4.80805226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.125779523 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:43.06, Y:-15.79, Z:-4.82 [[ 9.18335961e-01 3.75205934e-01 1.26014165e-01 4.30615843e+01] [-3.71797734e-01 9.26941338e-01 -5.04598891e-02 -1.57939373e+01] [-1.35740589e-01 -5.12650211e-04 9.90744281e-01 -4.81730358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.185779522999994 meters Centerline goodness : 0.999772 with order 1 Centerline is valid? [True, True] Translation: X:43.12, Y:-15.82, Z:-4.82 [[ 9.18472189e-01 3.74877065e-01 1.26000095e-01 4.31172809e+01] [-3.71460967e-01 9.27074433e-01 -5.04949971e-02 -1.58213437e+01] [-1.35740883e-01 -4.25866783e-04 9.90744281e-01 -4.82181022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.245779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.18, Y:-15.84, Z:-4.83 [[ 9.17248027e-01 3.77866780e-01 1.25987117e-01 4.31769795e+01] [-3.74474276e-01 9.25859602e-01 -5.05273585e-02 -1.58393404e+01] [-1.35738992e-01 -8.32814548e-04 9.90744282e-01 -4.82724241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.305779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.24, Y:-15.86, Z:-4.84 [[ 9.15168882e-01 3.82878796e-01 1.25975174e-01 4.32353744e+01] [-3.79529355e-01 9.23797297e-01 -5.05571184e-02 -1.58615179e+01] [-1.35732774e-01 -1.54297489e-03 9.90744283e-01 -4.83704843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.36577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.29, Y:-15.88, Z:-4.85 [[ 9.12187530e-01 3.89932913e-01 1.25961239e-01 4.32925648e+01] [-3.86645398e-01 9.20839728e-01 -5.05918123e-02 -1.58845058e+01] [-1.35717526e-01 -2.55311307e-03 9.90744283e-01 -4.84644376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.425779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.35, Y:-15.91, Z:-4.86 [[ 9.10883193e-01 3.92974034e-01 1.25949263e-01 4.33475447e+01] [-3.89711285e-01 9.19544761e-01 -5.06216105e-02 -1.59098904e+01] [-1.35708963e-01 -2.97347479e-03 9.90744284e-01 -4.85877123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.485779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.40, Y:-15.93, Z:-4.87 [[ 9.10567275e-01 3.93709307e-01 1.25937365e-01 4.34047071e+01] [-3.90449462e-01 9.19229935e-01 -5.06511913e-02 -1.59334780e+01] [-1.35707242e-01 -3.05085939e-03 9.90744284e-01 -4.86557455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.54577952299999 meters Centerline goodness : 0.999842 with order 1 Centerline is valid? [True, True] Translation: X:43.46, Y:-15.96, Z:-4.87 [[ 9.11584891e-01 3.91351035e-01 1.25925984e-01 4.34611629e+01] [-3.88064874e-01 9.20237602e-01 -5.06794707e-02 -1.59554383e+01] [-1.35715289e-01 -2.66881149e-03 9.90744285e-01 -4.87225799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.605779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.52, Y:-15.98, Z:-4.87 [[ 9.11437049e-01 3.91698603e-01 1.25915488e-01 4.35189167e+01] [-3.88412142e-01 9.20089646e-01 -5.07055350e-02 -1.59820650e+01] [-1.35714824e-01 -2.69220141e-03 9.90744285e-01 -4.87477459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.665779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.57, Y:-16.01, Z:-4.89 [[ 9.09895294e-01 3.95270846e-01 1.25902785e-01 4.35737765e+01] [-3.92013993e-01 9.18559078e-01 -5.07370576e-02 -1.60104989e+01] [-1.35704026e-01 -3.19024357e-03 9.90744286e-01 -4.88782007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.72577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.63, Y:-16.03, Z:-4.90 [[ 9.09488097e-01 3.96208294e-01 1.25898328e-01 4.36326548e+01] [-3.92958841e-01 9.18154659e-01 -5.07481169e-02 -1.60281269e+01] [-1.35700961e-01 -3.31805255e-03 9.90744286e-01 -4.90332093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.785779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.69, Y:-16.05, Z:-4.91 [[ 9.10798723e-01 3.93190666e-01 1.25884023e-01 4.36884981e+01] [-3.89907597e-01 9.19452606e-01 -5.07835751e-02 -1.60509923e+01] [-1.35712021e-01 -2.82952174e-03 9.90744286e-01 -4.90909758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.845779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.74, Y:-16.08, Z:-4.91 [[ 9.14730967e-01 3.83955756e-01 1.25877857e-01 4.37426317e+01] [-3.80583199e-01 9.23350369e-01 -5.07988546e-02 -1.60830867e+01] [-1.35733878e-01 -1.43971215e-03 9.90744287e-01 -4.90904233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.90577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.80, Y:-16.11, Z:-4.93 [[ 9.16100440e-01 3.80680756e-01 1.25865583e-01 4.37988964e+01] [-3.77273208e-01 9.24706069e-01 -5.08292486e-02 -1.61051026e+01] [-1.35738385e-01 -9.21015302e-04 9.90744287e-01 -4.92613793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.965779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.86, Y:-16.12, Z:-4.94 [[ 9.14993872e-01 3.83336813e-01 1.25853494e-01 4.38564101e+01] [-3.79950130e-01 9.23607733e-01 -5.08591645e-02 -1.61245288e+01] [-1.35735450e-01 -1.28222747e-03 9.90744288e-01 -4.93926278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.025779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.91, Y:-16.15, Z:-4.94 [[ 9.15429472e-01 3.82299530e-01 1.25840976e-01 4.39111184e+01] [-3.78898832e-01 9.24037808e-01 -5.08901182e-02 -1.61542890e+01] [-1.35737088e-01 -1.09468473e-03 9.90744288e-01 -4.93644929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.08577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:43.97, Y:-16.18, Z:-4.94 [[ 9.17967849e-01 3.76167456e-01 1.25829540e-01 4.39688966e+01] [-3.72705377e-01 9.26551683e-01 -5.09183787e-02 -1.61785120e+01] [-1.35741409e-01 -1.55911612e-04 9.90744289e-01 -4.93708079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.145779522999995 meters Centerline goodness : 0.999817 with order 1 Centerline is valid? [True, True] Translation: X:44.03, Y:-16.19, Z:-4.96 [[ 9.19474914e-01 3.72472713e-01 1.25817167e-01 4.40270767e+01] [-3.68971960e-01 9.28043048e-01 -5.09489338e-02 -1.61924046e+01] [-1.35740835e-01 4.23259740e-04 9.90744289e-01 -4.95874467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.205779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.08, Y:-16.21, Z:-4.97 [[ 9.19785112e-01 3.71710481e-01 1.25804080e-01 4.40830265e+01] [-3.68198211e-01 9.28348529e-01 -5.09812282e-02 -1.62142954e+01] [-1.35740290e-01 5.70937473e-04 9.90744290e-01 -4.97431611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.26577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.14, Y:-16.25, Z:-4.97 [[ 9.21967282e-01 3.66268806e-01 1.25791462e-01 4.41385512e+01] [-3.62701749e-01 9.30508024e-01 -5.10123422e-02 -1.62471192e+01] [-1.35734195e-01 1.40692707e-03 9.90744290e-01 -4.97107384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.325779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.20, Y:-16.27, Z:-4.97 [[ 9.27317211e-01 3.52509469e-01 1.25777043e-01 4.41957253e+01] [-3.48810906e-01 9.35801831e-01 -5.10478701e-02 -1.62698145e+01] [-1.35697245e-01 3.46516405e-03 9.90744291e-01 -4.97116877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.385779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.26, Y:-16.28, Z:-4.99 [[ 9.29888934e-01 3.45670936e-01 1.25770321e-01 4.42558548e+01] [-3.41907754e-01 9.38345092e-01 -5.10644272e-02 -1.62832494e+01] [-1.35667452e-01 4.48239785e-03 9.90744291e-01 -4.98742877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.445779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.31, Y:-16.31, Z:-5.00 [[ 9.30940258e-01 3.42834717e-01 1.25756086e-01 4.43105238e+01] [-3.39041050e-01 9.39382782e-01 -5.10994587e-02 -1.63092971e+01] [-1.35651771e-01 4.93406776e-03 9.90744292e-01 -4.99784695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.505779522999994 meters Centerline goodness : 0.999908 with order 1 Centerline is valid? [True, True] Translation: X:44.37, Y:-16.33, Z:-5.01 [[ 9.32176459e-01 3.39463265e-01 1.25744750e-01 4.43675196e+01] [-3.35635314e-01 9.40603493e-01 -5.11273411e-02 -1.63307221e+01] [-1.35631805e-01 5.45532537e-03 9.90744292e-01 -5.00837344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.565779522999996 meters Centerline goodness : 0.999840 with order 1 Centerline is valid? [True, True] Translation: X:44.43, Y:-16.35, Z:-5.02 [[ 9.33475720e-01 3.35878529e-01 1.25732626e-01 4.44270336e+01] [-3.32014217e-01 9.41886143e-01 -5.11571388e-02 -1.63489858e+01] [-1.35608402e-01 6.00892765e-03 9.90744293e-01 -5.01786502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.625779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.49, Y:-16.37, Z:-5.02 [[ 9.32792164e-01 3.37777383e-01 1.25718811e-01 4.44853114e+01] [-3.33925630e-01 9.41208345e-01 -5.11910668e-02 -1.63729256e+01] [-1.35618778e-01 5.76989279e-03 9.90744294e-01 -5.01737492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.685779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.54, Y:-16.39, Z:-5.03 [[ 9.31093638e-01 3.42436005e-01 1.25706878e-01 4.45448148e+01] [-3.38622424e-01 9.39527184e-01 -5.12203518e-02 -1.63909166e+01] [-1.35644722e-01 5.12377590e-03 9.90744294e-01 -5.02592514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.745779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.60, Y:-16.41, Z:-5.04 [[ 9.28788472e-01 3.48645026e-01 1.25692559e-01 4.46042592e+01] [-3.44883092e-01 9.37245182e-01 -5.12554667e-02 -1.64050933e+01] [-1.35674709e-01 4.25624823e-03 9.90744295e-01 -5.03748017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.805779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.67, Y:-16.42, Z:-5.04 [[ 9.24802945e-01 3.59088041e-01 1.25679325e-01 4.46654450e+01] [-3.55417226e-01 9.33299602e-01 -5.12878972e-02 -1.64218518e+01] [-1.35713334e-01 2.76260127e-03 9.90744295e-01 -5.04295630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.86577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.73, Y:-16.44, Z:-5.05 [[ 9.21876738e-01 3.66540046e-01 1.25664930e-01 4.47256074e+01] [-3.62933120e-01 9.30400712e-01 -5.13231441e-02 -1.64420596e+01] [-1.35730728e-01 1.70564767e-03 9.90744296e-01 -5.04709472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.925779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.78, Y:-16.46, Z:-5.06 [[ 9.17669819e-01 3.76953606e-01 1.25650635e-01 4.47830020e+01] [-3.73438627e-01 9.26232118e-01 -5.13581171e-02 -1.64593351e+01] [-1.35741281e-01 2.06993325e-04 9.90744297e-01 -5.06226961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.985779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.84, Y:-16.47, Z:-5.08 [[ 9.13270988e-01 3.87493091e-01 1.25639192e-01 4.48418151e+01] [-3.84073067e-01 9.21871655e-01 -5.13860956e-02 -1.64734545e+01] [-1.35734967e-01 -1.32519951e-03 9.90744297e-01 -5.07802209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.04577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.90, Y:-16.49, Z:-5.08 [[ 9.11458951e-01 3.91738582e-01 1.25632257e-01 4.48994368e+01] [-3.88356281e-01 9.20074522e-01 -5.14030450e-02 -1.64915015e+01] [-1.35727595e-01 -1.93831065e-03 9.90744297e-01 -5.08488009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.105779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:44.96, Y:-16.52, Z:-5.09 [[ 9.11188889e-01 3.92368579e-01 1.25625261e-01 4.49561235e+01] [-3.88989878e-01 9.19805873e-01 -5.14201370e-02 -1.65179476e+01] [-1.35726499e-01 -2.01349754e-03 9.90744298e-01 -5.08502742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.165779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.01, Y:-16.54, Z:-5.09 [[ 9.10952995e-01 3.92920083e-01 1.25612298e-01 4.50123574e+01] [-3.89542237e-01 9.19570313e-01 -5.14517852e-02 -1.65442123e+01] [-1.35725780e-01 -2.06113767e-03 9.90744298e-01 -5.08989412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.22577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.07, Y:-16.56, Z:-5.10 [[ 9.10524267e-01 3.93916942e-01 1.25598575e-01 4.50706164e+01] [-3.90543913e-01 9.19143471e-01 -5.14852616e-02 -1.65642912e+01] [-1.35724027e-01 -2.17317895e-03 9.90744299e-01 -5.10030230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.285779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.13, Y:-16.59, Z:-5.11 [[ 9.10506346e-01 3.93962651e-01 1.25585127e-01 4.51270474e+01] [-3.90585533e-01 9.19123948e-01 -5.15180445e-02 -1.65879768e+01] [-1.35724483e-01 -2.14422744e-03 9.90744299e-01 -5.11022445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.345779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.18, Y:-16.61, Z:-5.12 [[ 9.11891642e-01 3.90749421e-01 1.25572779e-01 4.51840314e+01] [-3.87337795e-01 9.20495640e-01 -5.15481256e-02 -1.66123907e+01] [-1.35731596e-01 -1.63277831e-03 9.90744300e-01 -5.12052077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.40577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.24, Y:-16.64, Z:-5.13 [[ 9.14298984e-01 3.85087685e-01 1.25558123e-01 4.52402306e+01] [-3.81617875e-01 9.22879683e-01 -5.15837985e-02 -1.66366476e+01] [-1.35739326e-01 -7.52209556e-04 9.90744301e-01 -5.13243436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.465779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.30, Y:-16.66, Z:-5.14 [[ 9.18461652e-01 3.75055655e-01 1.25544610e-01 4.52966662e+01] [-3.71487627e-01 9.27001976e-01 -5.16166650e-02 -1.66631579e+01] [-1.35739224e-01 7.69657952e-04 9.90744301e-01 -5.13638322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.525779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.35, Y:-16.69, Z:-5.14 [[ 9.22436717e-01 3.65174152e-01 1.25532231e-01 4.53535231e+01] [-3.61510553e-01 9.30936482e-01 -5.16467557e-02 -1.66898130e+01] [-1.35722593e-01 2.25963774e-03 9.90744302e-01 -5.14086292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.58577952299999 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:45.41, Y:-16.72, Z:-5.15 [[ 9.24979440e-01 3.58689557e-01 1.25518279e-01 4.54100138e+01] [-3.54961783e-01 9.33451254e-01 -5.16806411e-02 -1.67168631e+01] [-1.35702501e-01 3.24933844e-03 9.90744303e-01 -5.15000976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.645779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.47, Y:-16.74, Z:-5.16 [[ 9.27402026e-01 3.52383645e-01 1.25503982e-01 4.54686317e+01] [-3.48593588e-01 9.35846159e-01 -5.17153365e-02 -1.67385595e+01] [-1.35676059e-01 4.21102431e-03 9.90744303e-01 -5.16037868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.705779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.52, Y:-16.76, Z:-5.17 [[ 9.29792582e-01 3.46031912e-01 1.25489720e-01 4.55244850e+01] [-3.42179526e-01 9.38208462e-01 -5.17499209e-02 -1.67598182e+01] [-1.35642642e-01 5.17667957e-03 9.90744304e-01 -5.17279530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.76577952299999 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:45.58, Y:-16.79, Z:-5.19 [[ 9.33497490e-01 3.35913122e-01 1.25478330e-01 4.55783500e+01] [-3.31965859e-01 9.41869288e-01 -5.17775249e-02 -1.67876388e+01] [-1.35576935e-01 6.67966793e-03 9.90744304e-01 -5.18660339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.825779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.63, Y:-16.81, Z:-5.19 [[ 9.34183446e-01 3.34005480e-01 1.25465651e-01 4.56337062e+01] [-3.30037012e-01 9.42545213e-01 -5.18082298e-02 -1.68133016e+01] [-1.35561281e-01 6.99008212e-03 9.90744305e-01 -5.19038744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.885779523 meters Centerline goodness : 0.999779 with order 1 Centerline is valid? [True, True] Translation: X:45.69, Y:-16.83, Z:-5.19 [[ 9.34172489e-01 3.34040470e-01 1.25454080e-01 4.56947110e+01] [-3.30068566e-01 9.42532624e-01 -5.18362342e-02 -1.68277640e+01] [-1.35559963e-01 7.01553564e-03 9.90744305e-01 -5.19284123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.945779523 meters Centerline goodness : 0.999912 with order 1 Centerline is valid? [True, True] Translation: X:45.75, Y:-16.85, Z:-5.20 [[ 9.32721036e-01 3.38076497e-01 1.25442223e-01 4.57549523e+01] [-3.34136930e-01 9.41096458e-01 -5.18649126e-02 -1.68456349e+01] [-1.35587539e-01 6.46061572e-03 9.90744306e-01 -5.19987152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.005779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.81, Y:-16.87, Z:-5.21 [[ 9.29571947e-01 3.46646601e-01 1.25427788e-01 4.58104473e+01] [-3.42779586e-01 9.37981112e-01 -5.18997983e-02 -1.68730320e+01] [-1.35639784e-01 5.25051136e-03 9.90744307e-01 -5.20522367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.065779522999996 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:45.87, Y:-16.89, Z:-5.22 [[ 9.28202657e-01 3.50301358e-01 1.25414460e-01 4.58693746e+01] [-3.46463117e-01 9.36624993e-01 -5.19319854e-02 -1.68901195e+01] [-1.35658162e-01 4.75192221e-03 9.90744307e-01 -5.21915555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.125779523 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:45.93, Y:-16.90, Z:-5.24 [[ 9.26845009e-01 3.53882373e-01 1.25401732e-01 4.59319036e+01] [-3.50072526e-01 9.35280228e-01 -5.19627018e-02 -1.68975713e+01] [-1.35674445e-01 4.26166981e-03 9.90744308e-01 -5.23813042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.185779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:45.98, Y:-16.93, Z:-5.23 [[ 9.27433342e-01 3.52340599e-01 1.25393372e-01 4.59848940e+01] [-3.48514007e-01 9.35860977e-01 -5.19828670e-02 -1.69318698e+01] [-1.35666438e-01 4.50929750e-03 9.90744308e-01 -5.23120447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.245779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.05, Y:-16.95, Z:-5.24 [[ 9.28247835e-01 3.50191541e-01 1.25386766e-01 4.60452266e+01] [-3.46343291e-01 9.36665602e-01 -5.19987979e-02 -1.69474238e+01] [-1.35655009e-01 4.84090660e-03 9.90744308e-01 -5.24362068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.305779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.11, Y:-16.95, Z:-5.26 [[ 9.29002580e-01 3.48189682e-01 1.25372057e-01 4.61095011e+01] [-3.44318519e-01 9.37409833e-01 -5.20342362e-02 -1.69521593e+01] [-1.35642784e-01 5.17201854e-03 9.90744309e-01 -5.26351417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.36577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.16, Y:-16.99, Z:-5.26 [[ 9.29872991e-01 3.45863799e-01 1.25357300e-01 4.61633705e+01] [-3.41966829e-01 9.38268313e-01 -5.20697654e-02 -1.69878240e+01] [-1.35627829e-01 5.55023023e-03 9.90744310e-01 -5.26147499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.425779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.22, Y:-17.01, Z:-5.26 [[ 9.30867334e-01 3.43183906e-01 1.25342782e-01 4.62223934e+01] [-3.39258078e-01 9.39249199e-01 -5.21046902e-02 -1.70111336e+01] [-1.35609598e-01 5.97900288e-03 9.90744310e-01 -5.25917382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.485779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.29, Y:-17.01, Z:-5.28 [[ 9.30195452e-01 3.45006153e-01 1.25328273e-01 4.62872106e+01] [-3.41092057e-01 9.38582801e-01 -5.21395650e-02 -1.70126078e+01] [-1.35619432e-01 5.75150782e-03 9.90744311e-01 -5.28114983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.54577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.34, Y:-17.05, Z:-5.29 [[ 9.28802348e-01 3.48744351e-01 1.25313913e-01 4.63390128e+01] [-3.44859373e-01 9.37203223e-01 -5.21740560e-02 -1.70471370e+01] [-1.35640010e-01 5.24370832e-03 9.90744312e-01 -5.29140617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.605779522999995 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:46.39, Y:-17.08, Z:-5.30 [[ 9.29095766e-01 3.47966524e-01 1.25301063e-01 4.63932058e+01] [-3.44070360e-01 9.37491459e-01 -5.22048974e-02 -1.70776904e+01] [-1.35634233e-01 5.39096712e-03 9.90744312e-01 -5.29576960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.665779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.46, Y:-17.08, Z:-5.31 [[ 9.29840204e-01 3.45976958e-01 1.25288226e-01 4.64571748e+01] [-3.42058692e-01 9.38225604e-01 -5.22356879e-02 -1.70821416e+01] [-1.35620966e-01 5.71491588e-03 9.90744313e-01 -5.30568475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.72577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.52, Y:-17.10, Z:-5.32 [[ 9.29397324e-01 3.47167276e-01 1.25281672e-01 4.65186213e+01] [-3.43257636e-01 9.37786749e-01 -5.22514016e-02 -1.70952865e+01] [-1.35627469e-01 5.55842216e-03 9.90744313e-01 -5.31843485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.785779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.57, Y:-17.14, Z:-5.32 [[ 9.28666045e-01 3.49123954e-01 1.25267077e-01 4.65705474e+01] [-3.45227284e-01 9.37061502e-01 -5.22863684e-02 -1.71351991e+01] [-1.35637379e-01 5.31096204e-03 9.90744314e-01 -5.32166841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.845779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.63, Y:-17.16, Z:-5.33 [[ 9.29027645e-01 3.48162941e-01 1.25260533e-01 4.66297710e+01] [-3.44255477e-01 9.37418083e-01 -5.23020421e-02 -1.71559764e+01] [-1.35631122e-01 5.46841840e-03 9.90744314e-01 -5.33116907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.90577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.70, Y:-17.16, Z:-5.34 [[ 9.26683782e-01 3.54359846e-01 1.25244832e-01 4.66952751e+01] [-3.50503435e-01 9.35097806e-01 -5.23396140e-02 -1.71593117e+01] [-1.35663225e-01 4.60352769e-03 9.90744315e-01 -5.33910125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.965779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.75, Y:-17.19, Z:-5.35 [[ 9.24710470e-01 3.59482744e-01 1.25230605e-01 4.67492379e+01] [-3.55668352e-01 9.33143625e-01 -5.23736330e-02 -1.71884748e+01] [-1.35685558e-01 3.88988392e-03 9.90744315e-01 -5.35258942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.025779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.81, Y:-17.22, Z:-5.36 [[ 9.24414365e-01 3.60248006e-01 1.25217637e-01 4.68063209e+01] [-3.56436402e-01 9.32848780e-01 -5.24046188e-02 -1.72152855e+01] [-1.35687779e-01 3.81145841e-03 9.90744316e-01 -5.35978557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.08577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.87, Y:-17.23, Z:-5.37 [[ 9.25650480e-01 3.57065065e-01 1.25202751e-01 4.68672097e+01] [-3.53219660e-01 9.34069538e-01 -5.24401605e-02 -1.72282228e+01] [-1.35672625e-01 4.31718676e-03 9.90744317e-01 -5.36996462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.145779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.93, Y:-17.25, Z:-5.37 [[ 9.25472547e-01 3.57530504e-01 1.25189873e-01 4.69264687e+01] [-3.53685182e-01 9.33891642e-01 -5.24708860e-02 -1.72508923e+01] [-1.35673718e-01 4.28256157e-03 9.90744317e-01 -5.37157200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.205779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:46.98, Y:-17.29, Z:-5.37 [[ 9.24127364e-01 3.60998283e-01 1.25175301e-01 4.69781200e+01] [-3.57179855e-01 9.32558690e-01 -5.25056268e-02 -1.72881221e+01] [-1.35687755e-01 3.81179070e-03 9.90744318e-01 -5.37330953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.26577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.04, Y:-17.30, Z:-5.39 [[ 9.25507004e-01 3.57448113e-01 1.25170414e-01 4.70364800e+01] [-3.53595775e-01 9.33922890e-01 -5.25172738e-02 -1.73031906e+01] [-1.35671715e-01 4.34537524e-03 9.90744318e-01 -5.38717861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.325779522999994 meters Centerline goodness : 0.999811 with order 1 Centerline is valid? [True, True] Translation: X:47.10, Y:-17.32, Z:-5.41 [[ 9.27493144e-01 3.52266965e-01 1.25157715e-01 4.70953278e+01] [-3.48363549e-01 9.35885461e-01 -5.25475192e-02 -1.73193099e+01] [-1.35644041e-01 5.13707776e-03 9.90744318e-01 -5.40590461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.385779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.15, Y:-17.35, Z:-5.41 [[ 9.28037923e-01 3.50834591e-01 1.25142732e-01 4.71520622e+01] [-3.46913423e-01 9.36421959e-01 -5.25831788e-02 -1.73468204e+01] [-1.35634400e-01 5.38549047e-03 9.90744319e-01 -5.40909444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.44577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.21, Y:-17.37, Z:-5.41 [[ 9.28251076e-01 3.50272715e-01 1.25135787e-01 4.72092867e+01] [-3.46344249e-01 9.36631695e-01 -5.25997019e-02 -1.73744089e+01] [-1.35630384e-01 5.48566982e-03 9.90744319e-01 -5.41101517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.505779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.27, Y:-17.39, Z:-5.42 [[ 9.27472690e-01 3.52334256e-01 1.25119869e-01 4.72687976e+01] [-3.48419324e-01 9.35859639e-01 -5.26375389e-02 -1.73936109e+01] [-1.35640643e-01 5.22569962e-03 9.90744320e-01 -5.42174138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.565779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.33, Y:-17.41, Z:-5.43 [[ 9.26687749e-01 3.54399372e-01 1.25103562e-01 4.73276654e+01] [-3.50497912e-01 9.35080972e-01 -5.26762676e-02 -1.74145313e+01] [-1.35650396e-01 4.96591461e-03 9.90744321e-01 -5.43186344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.625779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.38, Y:-17.44, Z:-5.44 [[ 9.25138359e-01 3.58430224e-01 1.25087133e-01 4.73842895e+01] [-3.54560075e-01 9.33546065e-01 -5.27152509e-02 -1.74410877e+01] [-1.35669340e-01 4.41799740e-03 9.90744322e-01 -5.44077691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.685779522999994 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:47.44, Y:-17.46, Z:-5.45 [[ 9.23639438e-01 3.62281090e-01 1.25070380e-01 4.74413313e+01] [-3.58440626e-01 9.32060744e-01 -5.27549688e-02 -1.74618092e+01] [-1.35685319e-01 3.89626432e-03 9.90744323e-01 -5.45360666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.745779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.50, Y:-17.48, Z:-5.46 [[ 9.21676363e-01 3.67251074e-01 1.25057312e-01 4.74993876e+01] [-3.63451829e-01 9.30116344e-01 -5.27859288e-02 -1.74841482e+01] [-1.35703539e-01 3.19923403e-03 9.90744323e-01 -5.45670293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.805779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.56, Y:-17.51, Z:-5.47 [[ 9.22293053e-01 3.65701274e-01 1.25052402e-01 4.75563430e+01] [-3.61886272e-01 9.30725923e-01 -5.27975586e-02 -1.75064629e+01] [-1.35697647e-01 3.44007389e-03 9.90744323e-01 -5.46753838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.86577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.61, Y:-17.53, Z:-5.47 [[ 9.22331831e-01 3.65608503e-01 1.25037659e-01 4.76126404e+01] [-3.61787925e-01 9.30762177e-01 -5.28324506e-02 -1.75330943e+01] [-1.35696317e-01 3.49193557e-03 9.90744324e-01 -5.47193247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.925779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.67, Y:-17.56, Z:-5.48 [[ 9.22636433e-01 3.64843763e-01 1.25024162e-01 4.76689932e+01] [-3.61011877e-01 9.31061643e-01 -5.28643708e-02 -1.75592795e+01] [-1.35692438e-01 3.63938695e-03 9.90744325e-01 -5.47899712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.985779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.73, Y:-17.57, Z:-5.49 [[ 9.25255676e-01 3.58151591e-01 1.25017482e-01 4.77286794e+01] [-3.54256651e-01 9.33651923e-01 -5.28801637e-02 -1.75743184e+01] [-1.35661928e-01 4.63939701e-03 9.90744325e-01 -5.49383671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.04577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.78, Y:-17.60, Z:-5.51 [[ 9.25919487e-01 3.56436764e-01 1.25003746e-01 4.77836823e+01] [-3.52521900e-01 9.34306462e-01 -5.29126162e-02 -1.76014124e+01] [-1.35651809e-01 4.92626451e-03 9.90744326e-01 -5.50993758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.105779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.84, Y:-17.63, Z:-5.51 [[ 9.25799119e-01 3.56754652e-01 1.24988440e-01 4.78388766e+01] [-3.52837797e-01 9.34185163e-01 -5.29487456e-02 -1.76311111e+01] [-1.35652058e-01 4.91925607e-03 9.90744326e-01 -5.50970501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.165779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.90, Y:-17.64, Z:-5.52 [[ 9.26275739e-01 3.55520101e-01 1.24974848e-01 4.78995827e+01] [-3.51587751e-01 9.34654528e-01 -5.29808082e-02 -1.76440267e+01] [-1.35644050e-01 5.13521146e-03 9.90744327e-01 -5.51756605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.22577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:47.95, Y:-17.68, Z:-5.52 [[ 9.27146506e-01 3.53247440e-01 1.24962406e-01 4.79547790e+01] [-3.49290608e-01 9.35513761e-01 -5.30101396e-02 -1.76763124e+01] [-1.35629746e-01 5.49997120e-03 9.90744327e-01 -5.52188948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.285779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.01, Y:-17.70, Z:-5.54 [[ 9.27488612e-01 3.52353538e-01 1.24947428e-01 4.80085018e+01] [-3.48383898e-01 9.35849797e-01 -5.30454194e-02 -1.77037211e+01] [-1.35622766e-01 5.66935039e-03 9.90744328e-01 -5.53861847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.345779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.07, Y:-17.71, Z:-5.55 [[ 9.25534426e-01 3.57456805e-01 1.24942627e-01 4.80705587e+01] [-3.53531755e-01 9.33916636e-01 -5.30567255e-02 -1.77138287e+01] [-1.35651485e-01 4.93463980e-03 9.90744328e-01 -5.54696322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.40577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.12, Y:-17.75, Z:-5.55 [[ 9.23957361e-01 3.61516276e-01 1.24935092e-01 4.81242327e+01] [-3.57625664e-01 9.32355611e-01 -5.30744628e-02 -1.77469786e+01] [-1.35671216e-01 4.35854539e-03 9.90744328e-01 -5.54984332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.465779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.18, Y:-17.77, Z:-5.56 [[ 9.21724492e-01 3.67176465e-01 1.24921595e-01 4.81811068e+01] [-3.63333137e-01 9.30144484e-01 -5.31062107e-02 -1.77703211e+01] [-1.35694484e-01 3.56114000e-03 9.90744329e-01 -5.55854517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.525779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.24, Y:-17.79, Z:-5.57 [[ 9.21436232e-01 3.67904109e-01 1.24907313e-01 4.82391203e+01] [-3.64062883e-01 9.29857183e-01 -5.31397818e-02 -1.77906012e+01] [-1.35696306e-01 3.49080372e-03 9.90744330e-01 -5.57155378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.58577952299999 meters Centerline goodness : 0.999729 with order 1 Centerline is valid? [True, True] Translation: X:48.30, Y:-17.81, Z:-5.58 [[ 9.21276925e-01 3.68307122e-01 1.24894720e-01 4.82976542e+01] [-3.64465572e-01 9.29697728e-01 -5.31693620e-02 -1.78094365e+01] [-1.35696993e-01 3.46388057e-03 9.90744330e-01 -5.58493630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.645779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.35, Y:-17.84, Z:-5.58 [[ 9.21117161e-01 3.68711232e-01 1.24880752e-01 4.83525829e+01] [-3.64868935e-01 9.29537622e-01 -5.32021508e-02 -1.78445838e+01] [-1.35697588e-01 3.44030716e-03 9.90744331e-01 -5.57733948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.705779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.41, Y:-17.87, Z:-5.59 [[ 9.22194603e-01 3.66013723e-01 1.24864202e-01 4.84093024e+01] [-3.62141546e-01 9.30601365e-01 -5.32409655e-02 -1.78675829e+01] [-1.35685720e-01 3.88001596e-03 9.90744332e-01 -5.59452133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.76577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.47, Y:-17.89, Z:-5.61 [[ 9.21840514e-01 3.66910237e-01 1.24847688e-01 4.84670970e+01] [-3.63041000e-01 9.30248628e-01 -5.32796612e-02 -1.78853189e+01] [-1.35688244e-01 3.79052065e-03 9.90744333e-01 -5.61099682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.825779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.52, Y:-17.91, Z:-5.62 [[ 9.20536076e-01 3.70174242e-01 1.24837343e-01 4.85225702e+01] [-3.66331538e-01 9.28956350e-01 -5.33038901e-02 -1.79143199e+01] [-1.35700169e-01 3.33629803e-03 9.90744333e-01 -5.61833032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.885779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.58, Y:-17.95, Z:-5.62 [[ 9.19584255e-01 3.72537515e-01 1.24822266e-01 4.85786736e+01] [-3.68711665e-01 9.28012199e-01 -5.33391730e-02 -1.79451408e+01] [-1.35707428e-01 3.02643825e-03 9.90744334e-01 -5.61714237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.94577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.64, Y:-17.96, Z:-5.63 [[ 9.18735935e-01 3.74630021e-01 1.24806366e-01 4.86395816e+01] [-3.70818320e-01 9.27170286e-01 -5.33763496e-02 -1.79595524e+01] [-1.35713137e-01 2.75828338e-03 9.90744334e-01 -5.63203470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.005779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.70, Y:-17.99, Z:-5.64 [[ 9.17708402e-01 3.77145284e-01 1.24790717e-01 4.86952159e+01] [-3.73351731e-01 9.26150930e-01 -5.34129127e-02 -1.79864269e+01] [-1.35719467e-01 2.42664867e-03 9.90744335e-01 -5.64310420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.065779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.75, Y:-18.02, Z:-5.66 [[ 9.15445115e-01 3.82611376e-01 1.24774899e-01 4.87461621e+01] [-3.78863205e-01 9.23907889e-01 -5.34498388e-02 -1.80226894e+01] [-1.35731030e-01 1.65777573e-03 9.90744336e-01 -5.65636723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.125779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.81, Y:-18.04, Z:-5.66 [[ 9.14048171e-01 3.85941966e-01 1.24758724e-01 4.88057638e+01] [-3.82219483e-01 9.22522275e-01 -5.34875666e-02 -1.80409613e+01] [-1.35735798e-01 1.20499740e-03 9.90744337e-01 -5.66260269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.185779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.86, Y:-18.07, Z:-5.67 [[ 9.13245390e-01 3.87840885e-01 1.24748969e-01 4.88622190e+01] [-3.84132916e-01 9.21725854e-01 -5.35103083e-02 -1.80685147e+01] [-1.35737835e-01 9.47857135e-04 9.90744337e-01 -5.67108189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.245779522999996 meters Centerline goodness : 0.999979 with order 1 Centerline is valid? [True, True] Translation: X:48.92, Y:-18.10, Z:-5.68 [[ 9.15110537e-01 3.83424136e-01 1.24734263e-01 4.89152191e+01] [-3.79670569e-01 9.23570917e-01 -5.35445669e-02 -1.81010202e+01] [-1.35731217e-01 1.64126869e-03 9.90744338e-01 -5.67612557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.305779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:48.97, Y:-18.13, Z:-5.69 [[ 9.16722612e-01 3.79558398e-01 1.24719983e-01 4.89694380e+01] [-3.75764636e-01 9.25165043e-01 -5.35778090e-02 -1.81265536e+01] [-1.35722476e-01 2.25063012e-03 9.90744338e-01 -5.69163275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.36577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.02, Y:-18.16, Z:-5.70 [[ 9.15548069e-01 3.82387400e-01 1.24706092e-01 4.90245115e+01] [-3.78615325e-01 9.24000211e-01 -5.36101207e-02 -1.81550650e+01] [-1.35728290e-01 1.86700472e-03 9.90744339e-01 -5.69793361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.425779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.08, Y:-18.18, Z:-5.71 [[ 9.16254553e-01 3.80695728e-01 1.24693054e-01 4.90806140e+01] [-3.76903924e-01 9.24697862e-01 -5.36404294e-02 -1.81788400e+01] [-1.35724083e-01 2.15098606e-03 9.90744340e-01 -5.71267820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.485779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.13, Y:-18.22, Z:-5.71 [[ 9.14003455e-01 3.86073334e-01 1.24679853e-01 4.91315380e+01] [-3.82327029e-01 9.22467049e-01 -5.36710976e-02 -1.82183538e+01] [-1.35734035e-01 1.38709097e-03 9.90744340e-01 -5.71469196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.54577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.19, Y:-18.23, Z:-5.74 [[ 9.15430159e-01 3.82679843e-01 1.24674625e-01 4.91889253e+01] [-3.78900511e-01 9.23879057e-01 -5.36832392e-02 -1.82333595e+01] [-1.35727768e-01 1.90397714e-03 9.90744340e-01 -5.74040159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.605779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.24, Y:-18.26, Z:-5.75 [[ 9.13546373e-01 3.87160054e-01 1.24660009e-01 4.92427553e+01] [-3.83417531e-01 9.22011640e-01 -5.37171577e-02 -1.82641915e+01] [-1.35735117e-01 1.27628179e-03 9.90744341e-01 -5.74659373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.665779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.30, Y:-18.30, Z:-5.74 [[ 9.10128532e-01 3.95132104e-01 1.24646203e-01 4.92951123e+01] [-3.91459349e-01 9.18624300e-01 -5.37491747e-02 -1.83044503e+01] [-1.35741055e-01 1.24735994e-04 9.90744342e-01 -5.73865999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.72577952299999 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:49.35, Y:-18.33, Z:-5.75 [[ 9.06972049e-01 4.02328532e-01 1.24633281e-01 4.93515537e+01] [-3.98719068e-01 9.15494899e-01 -5.37791211e-02 -1.83306227e+01] [-1.35738008e-01 -9.17506020e-04 9.90744342e-01 -5.75107982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.785779522999995 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:49.40, Y:-18.36, Z:-5.77 [[ 9.04865407e-01 4.07048987e-01 1.24618287e-01 4.94045265e+01] [-4.03479201e-01 9.13404951e-01 -5.38138441e-02 -1.83622792e+01] [-1.35731831e-01 -1.58660083e-03 9.90744343e-01 -5.76537480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.845779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.46, Y:-18.40, Z:-5.77 [[ 9.05147400e-01 4.06426105e-01 1.24603393e-01 4.94583534e+01] [-4.02845698e-01 9.13682496e-01 -5.38483070e-02 -1.83961462e+01] [-1.35733297e-01 -1.45528596e-03 9.90744343e-01 -5.77325904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.90577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.51, Y:-18.43, Z:-5.78 [[ 9.06655233e-01 4.03055819e-01 1.24588505e-01 4.95126254e+01] [-3.99438953e-01 9.15174942e-01 -5.38827328e-02 -1.84273272e+01] [-1.35738027e-01 -9.12440274e-04 9.90744344e-01 -5.78095508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.965779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.57, Y:-18.46, Z:-5.78 [[ 9.09450832e-01 3.96712235e-01 1.24573619e-01 4.95665859e+01] [-3.93031228e-01 9.17943025e-01 -5.39171260e-02 -1.84607758e+01] [-1.35741068e-01 7.36525517e-05 9.90744345e-01 -5.78315737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.025779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.62, Y:-18.50, Z:-5.79 [[ 9.11957800e-01 3.90918899e-01 1.24560774e-01 4.96173914e+01] [-3.87179894e-01 9.20424616e-01 -5.39467853e-02 -1.84997529e+01] [-1.35737620e-01 9.69764412e-04 9.90744345e-01 -5.79070084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.08577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.67, Y:-18.53, Z:-5.80 [[ 9.12656811e-01 3.89288932e-01 1.24545863e-01 4.96713586e+01] [-3.85530112e-01 9.21114849e-01 -5.39811873e-02 -1.85304283e+01] [-1.35735323e-01 1.25011768e-03 9.90744346e-01 -5.80102772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.145779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.72, Y:-18.56, Z:-5.82 [[ 9.13404038e-01 3.87537607e-01 1.24529781e-01 4.97249804e+01] [-3.83757516e-01 9.21852589e-01 -5.40182624e-02 -1.85606948e+01] [-1.35732209e-01 1.55125958e-03 9.90744347e-01 -5.81901215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.205779523 meters Centerline goodness : 0.999840 with order 1 Centerline is valid? [True, True] Translation: X:49.78, Y:-18.60, Z:-5.82 [[ 9.12838578e-01 3.88872828e-01 1.24513671e-01 4.97764692e+01] [-3.85100033e-01 9.21290389e-01 -5.40553710e-02 -1.85966064e+01] [-1.35733914e-01 1.39360911e-03 9.90744348e-01 -5.82498908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.26577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.83, Y:-18.62, Z:-5.83 [[ 9.09578045e-01 3.96442417e-01 1.24503772e-01 4.98342166e+01] [-3.92736842e-01 9.18059543e-01 -5.40781624e-02 -1.86213385e+01] [-1.35740753e-01 2.91091079e-04 9.90744348e-01 -5.82644853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.325779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.89, Y:-18.64, Z:-5.85 [[ 9.05843359e-01 4.04907852e-01 1.24488714e-01 4.98928484e+01] [-4.01276776e-01 9.14357017e-01 -5.41128036e-02 -1.86400333e+01] [-1.35737828e-01 -9.36705983e-04 9.90744349e-01 -5.84592639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.385779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:49.95, Y:-18.66, Z:-5.86 [[ 9.04151074e-01 4.08677450e-01 1.24473201e-01 4.99485581e+01] [-4.05076958e-01 9.12677710e-01 -5.41484647e-02 -1.86649151e+01] [-1.35733172e-01 -1.46283311e-03 9.90744349e-01 -5.85508990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.44577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.00, Y:-18.70, Z:-5.86 [[ 9.04815329e-01 4.07209051e-01 1.24458865e-01 5.00034806e+01] [-4.03590192e-01 9.13334185e-01 -5.41813949e-02 -1.86964724e+01] [-1.35735691e-01 -1.20622067e-03 9.90744350e-01 -5.85733300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.505779522999994 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:50.06, Y:-18.72, Z:-5.86 [[ 9.09081481e-01 3.97598509e-01 1.24443910e-01 5.00614309e+01] [-3.93884885e-01 9.17559455e-01 -5.42157239e-02 -1.87225764e+01] [-1.35740777e-01 2.69935627e-04 9.90744351e-01 -5.85567395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.565779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.12, Y:-18.74, Z:-5.87 [[ 9.11753666e-01 3.91436772e-01 1.24428721e-01 5.01203471e+01] [-3.87661100e-01 9.20204188e-01 -5.42505609e-02 -1.87415251e+01] [-1.35735494e-01 1.22697294e-03 9.90744352e-01 -5.87143629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.625779523 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:50.18, Y:-18.77, Z:-5.89 [[ 9.13115695e-01 3.88253737e-01 1.24413678e-01 5.01753430e+01] [-3.84443912e-01 9.21550874e-01 -5.42850368e-02 -1.87678924e+01] [-1.35729902e-01 1.73843795e-03 9.90744352e-01 -5.88729333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.685779522999994 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:50.23, Y:-18.79, Z:-5.89 [[ 9.12960124e-01 3.88624227e-01 1.24398646e-01 5.02311317e+01] [-3.84813134e-01 9.21394730e-01 -5.43194634e-02 -1.87944946e+01] [-1.35730116e-01 1.72127126e-03 9.90744353e-01 -5.88980017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.745779522999996 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:50.29, Y:-18.81, Z:-5.90 [[ 9.15032082e-01 3.83724480e-01 1.24385743e-01 5.02919302e+01] [-3.79864214e-01 9.23444295e-01 -5.43489924e-02 -1.88088087e+01] [-1.35718344e-01 2.48137904e-03 9.90744353e-01 -5.90243898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.805779523 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:50.35, Y:-18.83, Z:-5.91 [[ 9.18556898e-01 3.75213733e-01 1.24369931e-01 5.03495066e+01] [-3.71270650e-01 9.26930612e-01 -5.43851540e-02 -1.88328506e+01] [-1.35688352e-01 3.78095340e-03 9.90744354e-01 -5.91082609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.86577952299999 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:50.40, Y:-18.86, Z:-5.92 [[ 9.21204035e-01 3.68672144e-01 1.24354233e-01 5.04043024e+01] [-3.64664779e-01 9.29547175e-01 -5.44210241e-02 -1.88618324e+01] [-1.35656642e-01 4.78525824e-03 9.90744355e-01 -5.91553055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.925779522999996 meters Centerline goodness : 0.999797 with order 1 Centerline is valid? [True, True] Translation: X:50.46, Y:-18.89, Z:-5.92 [[ 9.25597459e-01 3.57502123e-01 1.24344587e-01 5.04612806e+01] [-3.53391179e-01 9.33890052e-01 -5.44430538e-02 -1.88884256e+01] [-1.35587680e-01 6.45007198e-03 9.90744355e-01 -5.91615331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.985779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.52, Y:-18.91, Z:-5.92 [[ 9.26623652e-01 3.54837114e-01 1.24335153e-01 5.05197056e+01] [-3.50699442e-01 9.34902941e-01 -5.44645909e-02 -1.89076867e+01] [-1.35567359e-01 6.86390920e-03 9.90744356e-01 -5.92392300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.04577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.58, Y:-18.93, Z:-5.94 [[ 9.28285846e-01 3.50470476e-01 1.24321492e-01 5.05793264e+01] [-3.46289712e-01 9.36543458e-01 -5.44957568e-02 -1.89258574e+01] [-1.35531634e-01 7.53638616e-03 9.90744356e-01 -5.93869828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.105779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.64, Y:-18.95, Z:-5.95 [[ 9.30515514e-01 3.44512575e-01 1.24305925e-01 5.06375952e+01] [-3.40274243e-01 9.38743726e-01 -5.45312433e-02 -1.89470768e+01] [-1.35478106e-01 8.44406360e-03 9.90744357e-01 -5.94631810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.165779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.70, Y:-18.97, Z:-5.95 [[ 9.31615888e-01 3.41531029e-01 1.24291568e-01 5.06970500e+01] [-3.37262028e-01 9.39828229e-01 -5.45639470e-02 -1.89669557e+01] [-1.35448005e-01 8.91381366e-03 9.90744357e-01 -5.95113445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.22577952299999 meters Centerline goodness : 0.999934 with order 1 Centerline is valid? [True, True] Translation: X:50.76, Y:-18.98, Z:-5.96 [[ 9.32504970e-01 3.39101353e-01 1.24276922e-01 5.07568645e+01] [-3.34806540e-01 9.40703841e-01 -5.45972844e-02 -1.89849876e+01] [-1.35421791e-01 9.30351269e-03 9.90744358e-01 -5.96117290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.285779522999995 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:50.82, Y:-19.00, Z:-5.97 [[ 9.32693072e-01 3.38589514e-01 1.24260915e-01 5.08175683e+01] [-3.34285379e-01 9.40887052e-01 -5.46336922e-02 -1.89997630e+01] [-1.35413881e-01 9.41785928e-03 9.90744359e-01 -5.97068957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.345779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.88, Y:-19.02, Z:-5.98 [[ 9.32819148e-01 3.38247444e-01 1.24246142e-01 5.08769230e+01] [-3.33935858e-01 9.41009210e-01 -5.46672677e-02 -1.90199339e+01] [-1.35407827e-01 9.50443207e-03 9.90744360e-01 -5.97666030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.40577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.94, Y:-19.03, Z:-5.99 [[ 9.33108392e-01 3.37454382e-01 1.24230710e-01 5.09386728e+01] [-3.33131198e-01 9.41292336e-01 -5.47023154e-02 -1.90323763e+01] [-1.35396951e-01 9.65806448e-03 9.90744360e-01 -5.98747715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.465779522999995 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:51.00, Y:-19.05, Z:-5.99 [[ 9.33023915e-01 3.37692938e-01 1.24216963e-01 5.09990764e+01] [-3.33367718e-01 9.41206782e-01 -5.47335127e-02 -1.90495240e+01] [-1.35396969e-01 9.65775079e-03 9.90744361e-01 -5.99253225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.525779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.06, Y:-19.06, Z:-6.00 [[ 9.32401829e-01 3.39412105e-01 1.24202464e-01 5.10607628e+01] [-3.35097619e-01 9.40590361e-01 -5.47663959e-02 -1.90648574e+01] [-1.35412018e-01 9.44433791e-03 9.90744362e-01 -6.00017864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.58577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.12, Y:-19.07, Z:-6.02 [[ 9.31673388e-01 3.41412190e-01 1.24187015e-01 5.11227674e+01] [-3.37110644e-01 9.39868725e-01 -5.48014056e-02 -1.90728796e+01] [-1.35429359e-01 9.19224677e-03 9.90744362e-01 -6.01603628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.645779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.18, Y:-19.09, Z:-6.03 [[ 9.30849922e-01 3.43653708e-01 1.24179515e-01 5.11825024e+01] [-3.39369646e-01 9.39054411e-01 -5.48183955e-02 -1.90917954e+01] [-1.35449866e-01 8.88494135e-03 9.90744362e-01 -6.02531932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.705779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.25, Y:-19.11, Z:-6.03 [[ 9.29417625e-01 3.47514274e-01 1.24164032e-01 5.12455265e+01] [-3.43259641e-01 9.37637413e-01 -5.48534423e-02 -1.91062579e+01] [-1.35483196e-01 8.36125521e-03 9.90744363e-01 -6.02619673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.76577952299999 meters Centerline goodness : 0.999834 with order 1 Centerline is valid? [True, True] Translation: X:51.31, Y:-19.12, Z:-6.03 [[ 9.28507337e-01 3.49945111e-01 1.24147271e-01 5.13079386e+01] [-3.45706954e-01 9.36735631e-01 -5.48913503e-02 -1.91167404e+01] [-1.35502132e-01 8.04844666e-03 9.90744364e-01 -6.02979577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.825779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.37, Y:-19.13, Z:-6.04 [[ 9.25662227e-01 3.57407693e-01 1.24133729e-01 5.13690455e+01] [-3.53231814e-01 9.33922301e-01 -5.49219578e-02 -1.91286903e+01] [-1.35560788e-01 6.99119954e-03 9.90744365e-01 -6.04448592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.885779523 meters Centerline goodness : 0.999876 with order 1 Centerline is valid? [True, True] Translation: X:51.43, Y:-19.15, Z:-6.06 [[ 9.24999864e-01 3.59123120e-01 1.24120251e-01 5.14290044e+01] [-3.54958488e-01 9.33265613e-01 -5.49524007e-02 -1.91450183e+01] [-1.35571840e-01 6.77342650e-03 9.90744365e-01 -6.05793034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.94577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.49, Y:-19.16, Z:-6.06 [[ 9.24367118e-01 3.60754007e-01 1.24104708e-01 5.14922916e+01] [-3.56599263e-01 9.32637841e-01 -5.49874807e-02 -1.91563926e+01] [-1.35581701e-01 6.57297173e-03 9.90744366e-01 -6.06468552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.005779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.55, Y:-19.17, Z:-6.07 [[ 9.21872913e-01 3.67086062e-01 1.24089303e-01 5.15534196e+01] [-3.62983480e-01 9.30169634e-01 -5.50222227e-02 -1.91741672e+01] [-1.35621993e-01 5.68112965e-03 9.90744367e-01 -6.07092491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.065779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.61, Y:-19.20, Z:-6.08 [[ 9.19256232e-01 3.73595582e-01 1.24073853e-01 5.16096303e+01] [-3.69547077e-01 9.27579474e-01 -5.50570403e-02 -1.91991477e+01] [-1.35657426e-01 4.76039760e-03 9.90744367e-01 -6.07738712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.125779523 meters Centerline goodness : 0.999835 with order 1 Centerline is valid? [True, True] Translation: X:51.67, Y:-19.21, Z:-6.09 [[ 9.14708836e-01 3.84598221e-01 1.24064313e-01 5.16729189e+01] [-3.80646960e-01 9.23078679e-01 -5.50785304e-02 -1.92076796e+01] [-1.35704227e-01 3.15611507e-03 9.90744368e-01 -6.08720701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.185779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.73, Y:-19.23, Z:-6.10 [[ 9.09536887e-01 3.96678789e-01 1.24050754e-01 5.17303373e+01] [-3.92834562e-01 9.17956426e-01 -5.51090506e-02 -1.92253741e+01] [-1.35733778e-01 1.39229066e-03 9.90744368e-01 -6.10078703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.245779522999996 meters Centerline goodness : 0.999855 with order 1 Centerline is valid? [True, True] Translation: X:51.79, Y:-19.25, Z:-6.11 [[ 9.06381083e-01 4.03841344e-01 1.24038303e-01 5.17857550e+01] [-4.00059820e-01 9.14828970e-01 -5.51370609e-02 -1.92536525e+01] [-1.35740458e-01 3.52447764e-04 9.90744369e-01 -6.11283870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.305779523 meters Centerline goodness : 0.999897 with order 1 Centerline is valid? [True, True] Translation: X:51.84, Y:-19.28, Z:-6.12 [[ 9.04724524e-01 4.07543590e-01 1.24023216e-01 5.18433737e+01] [-4.03791986e-01 9.13185740e-01 -5.51709759e-02 -1.92792138e+01] [-1.35740810e-01 -1.65046057e-04 9.90744369e-01 -6.11929722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.36577952299999 meters Centerline goodness : 0.999835 with order 1 Centerline is valid? [True, True] Translation: X:51.90, Y:-19.30, Z:-6.13 [[ 9.01784945e-01 4.14011933e-01 1.24008198e-01 5.19005369e+01] [-4.10316378e-01 9.10270789e-01 -5.52047121e-02 -1.93000471e+01] [-1.35736450e-01 -1.09981646e-03 9.90744370e-01 -6.12579598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.425779522999996 meters Centerline goodness : 0.999856 with order 1 Centerline is valid? [True, True] Translation: X:51.96, Y:-19.33, Z:-6.14 [[ 9.00533627e-01 4.16730289e-01 1.23996184e-01 5.19558900e+01] [-4.13056634e-01 9.09028975e-01 -5.52316845e-02 -1.93276080e+01] [-1.35732840e-01 -1.47945731e-03 9.90744370e-01 -6.13526854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.485779523 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:52.01, Y:-19.36, Z:-6.14 [[ 8.97963702e-01 4.22243724e-01 1.23981563e-01 5.20092738e+01] [-4.18617698e-01 9.06479487e-01 -5.52644847e-02 -1.93597281e+01] [-1.35721826e-01 -2.27537532e-03 9.90744371e-01 -6.14453457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.54577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.07, Y:-19.39, Z:-6.15 [[ 8.96836112e-01 4.24637966e-01 1.23966066e-01 5.20653547e+01] [-4.21029872e-01 9.05359510e-01 -5.52992260e-02 -1.93880090e+01] [-1.35716008e-01 -2.59907405e-03 9.90744372e-01 -6.15349907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.605779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.12, Y:-19.43, Z:-6.17 [[ 8.96580315e-01 4.25182286e-01 1.23950648e-01 5.21157126e+01] [-4.21574593e-01 9.05103882e-01 -5.53337629e-02 -1.94251350e+01] [-1.35715149e-01 -2.64328153e-03 9.90744372e-01 -6.16583612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.665779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.17, Y:-19.46, Z:-6.17 [[ 8.96440054e-01 4.25479378e-01 1.23945672e-01 5.21673250e+01] [-4.21872970e-01 9.04964164e-01 -5.53449083e-02 -1.94614133e+01] [-1.35714508e-01 -2.67593593e-03 9.90744372e-01 -6.17327430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.72577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.22, Y:-19.49, Z:-6.18 [[ 8.96975127e-01 4.24354565e-01 1.23930727e-01 5.22216799e+01] [-4.20732848e-01 9.05492744e-01 -5.53783530e-02 -1.94924369e+01] [-1.35718431e-01 -2.46872251e-03 9.90744373e-01 -6.18265690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.785779522999995 meters Centerline goodness : 0.999813 with order 1 Centerline is valid? [True, True] Translation: X:52.27, Y:-19.53, Z:-6.19 [[ 8.99451144e-01 4.19085350e-01 1.23915738e-01 5.22716700e+01] [-4.15409111e-01 9.07945370e-01 -5.54118721e-02 -1.95329436e+01] [-1.35731025e-01 -1.63545489e-03 9.90744374e-01 -6.18887795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.845779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.32, Y:-19.56, Z:-6.20 [[ 9.01828548e-01 4.13949230e-01 1.23900386e-01 5.23243593e+01] [-4.10219897e-01 9.10299597e-01 -5.54461772e-02 -1.95647081e+01] [-1.35738374e-01 -8.23458352e-04 9.90744375e-01 -6.20053894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.90577952299999 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:52.38, Y:-19.60, Z:-6.21 [[ 9.02951912e-01 4.11497086e-01 1.23887019e-01 5.23757825e+01] [-4.07740653e-01 9.11410978e-01 -5.54760284e-02 -1.96011045e+01] [-1.35740213e-01 -4.21588269e-04 9.90744375e-01 -6.20603325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.965779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.43, Y:-19.63, Z:-6.21 [[ 9.05209533e-01 4.06510768e-01 1.23873714e-01 5.24280586e+01] [-4.02703674e-01 9.13645919e-01 -5.55057216e-02 -1.96343948e+01] [-1.35740387e-01 3.59908415e-04 9.90744376e-01 -6.21299755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.025779523 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:52.48, Y:-19.68, Z:-6.23 [[ 9.09692452e-01 3.96381685e-01 1.23859604e-01 5.24768960e+01] [-3.92476379e-01 9.18083826e-01 -5.55371908e-02 -1.96754352e+01] [-1.35727425e-01 1.90979429e-03 9.90744376e-01 -6.22555853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.08577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.53, Y:-19.71, Z:-6.24 [[ 9.14182550e-01 3.85918250e-01 1.23844137e-01 5.25293572e+01] [-3.81912256e-01 9.22526324e-01 -5.55716609e-02 -1.97074143e+01] [-1.35695594e-01 3.50504900e-03 9.90744377e-01 -6.23644201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.145779522999995 meters Centerline goodness : 0.999850 with order 1 Centerline is valid? [True, True] Translation: X:52.58, Y:-19.74, Z:-6.24 [[ 9.17247041e-01 3.78581589e-01 1.23829906e-01 5.25805888e+01] [-3.74504602e-01 9.25556357e-01 -5.56033521e-02 -1.97446377e+01] [-1.35661963e-01 4.62714037e-03 9.90744377e-01 -6.24404352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.205779523 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:52.64, Y:-19.77, Z:-6.25 [[ 9.20310693e-01 3.71077302e-01 1.23813827e-01 5.26351323e+01] [-3.66927781e-01 9.28584024e-01 -5.56391330e-02 -1.97733396e+01] [-1.35617962e-01 5.77455610e-03 9.90744378e-01 -6.25367937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.26577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.69, Y:-19.81, Z:-6.26 [[ 9.22340242e-01 3.66008465e-01 1.23799358e-01 5.26864774e+01] [-3.61809183e-01 9.30588427e-01 -5.56713105e-02 -1.98080171e+01] [-1.35582420e-01 6.55614566e-03 9.90744379e-01 -6.25936740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.325779522999994 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:52.74, Y:-19.84, Z:-6.27 [[ 9.20700495e-01 3.70118330e-01 1.23786188e-01 5.27379944e+01] [-3.65951949e-01 9.28965347e-01 -5.57005783e-02 -1.98403670e+01] [-1.35608884e-01 5.98375330e-03 9.90744379e-01 -6.26620465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.385779523 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:52.79, Y:-19.87, Z:-6.28 [[ 9.19184555e-01 3.73870725e-01 1.23775745e-01 5.27921072e+01] [-3.69734973e-01 9.27464776e-01 -5.57237740e-02 -1.98680331e+01] [-1.35631132e-01 5.45621059e-03 9.90744380e-01 -6.27594038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.44577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.85, Y:-19.89, Z:-6.28 [[ 9.18815402e-01 3.74781662e-01 1.23761715e-01 5.28485406e+01] [-3.70649932e-01 9.27097631e-01 -5.57549179e-02 -1.98915979e+01] [-1.35635114e-01 5.35620598e-03 9.90744380e-01 -6.28388983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.505779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.90, Y:-19.92, Z:-6.29 [[ 9.15967282e-01 3.81694291e-01 1.23747353e-01 5.29027016e+01] [-3.77620786e-01 9.24278301e-01 -5.57867759e-02 -1.99188221e+01] [-1.35670487e-01 4.36928871e-03 9.90744381e-01 -6.29204392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.565779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:52.96, Y:-19.95, Z:-6.30 [[ 9.14088130e-01 3.86177062e-01 1.23734262e-01 5.29588230e+01] [-3.82140397e-01 9.22417104e-01 -5.58157979e-02 -1.99463508e+01] [-1.35689380e-01 3.73669845e-03 9.90744381e-01 -6.30188882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.62577952299999 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:53.01, Y:-19.97, Z:-6.31 [[ 9.12766747e-01 3.89294917e-01 1.23718765e-01 5.30144636e+01] [-3.85282055e-01 9.21107215e-01 -5.58501262e-02 -1.99747093e+01] [-1.35700417e-01 3.31151798e-03 9.90744382e-01 -6.31099573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.685779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.07, Y:-20.00, Z:-6.31 [[ 9.11118341e-01 3.93142245e-01 1.23703453e-01 5.30718189e+01] [-3.89160006e-01 9.19473472e-01 -5.58840216e-02 -2.00017099e+01] [-1.35712413e-01 2.77652078e-03 9.90744383e-01 -6.31330942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.745779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.13, Y:-20.03, Z:-6.32 [[ 9.09892704e-01 3.95975357e-01 1.23688249e-01 5.31280275e+01] [-3.92014565e-01 9.18258023e-01 -5.59176513e-02 -2.00275165e+01] [-1.35719739e-01 2.39146786e-03 9.90744383e-01 -6.32492378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.805779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.19, Y:-20.05, Z:-6.34 [[ 9.09353531e-01 3.97216985e-01 1.23672237e-01 5.31863565e+01] [-3.93262802e-01 9.17721976e-01 -5.59530437e-02 -2.00455107e+01] [-1.35722229e-01 2.24540757e-03 9.90744384e-01 -6.34323323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.86577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.24, Y:-20.08, Z:-6.35 [[ 9.06287581e-01 4.04167803e-01 1.23657624e-01 5.32382562e+01] [-4.00273405e-01 9.14684014e-01 -5.59853205e-02 -2.00807959e+01] [-1.35735115e-01 1.24194258e-03 9.90744385e-01 -6.34750029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.925779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.29, Y:-20.11, Z:-6.35 [[ 9.05537621e-01 4.05848428e-01 1.23647362e-01 5.32928651e+01] [-4.01966521e-01 9.13939836e-01 -5.60079754e-02 -2.01118901e+01] [-1.35736998e-01 1.01522900e-03 9.90744385e-01 -6.35393167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.985779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.35, Y:-20.14, Z:-6.36 [[ 9.04248715e-01 4.08716890e-01 1.23631572e-01 5.33466403e+01] [-4.04856874e-01 9.12661008e-01 -5.60428076e-02 -2.01413493e+01] [-1.35739357e-01 6.23544827e-04 9.90744386e-01 -6.35783098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.04577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.40, Y:-20.16, Z:-6.37 [[ 9.03306922e-01 4.10797967e-01 1.23618913e-01 5.34033275e+01] [-4.06953512e-01 9.11726337e-01 -5.60707175e-02 -2.01644085e+01] [-1.35740356e-01 3.41916416e-04 9.90744386e-01 -6.37126258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.105779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.45, Y:-20.20, Z:-6.38 [[ 9.04278613e-01 4.08659135e-01 1.23603811e-01 5.34533156e+01] [-4.04790218e-01 9.12686815e-01 -5.61039897e-02 -2.02018986e+01] [-1.35738976e-01 7.00024444e-04 9.90744387e-01 -6.38280788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.165779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.50, Y:-20.24, Z:-6.39 [[ 9.07945602e-01 4.00450137e-01 1.23589929e-01 5.35040477e+01] [-3.96501047e-01 9.16316447e-01 -5.61345524e-02 -2.02392323e+01] [-1.35726574e-01 1.96358364e-03 9.90744388e-01 -6.38555784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.22577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.56, Y:-20.26, Z:-6.39 [[ 9.08635416e-01 3.98886383e-01 1.23577242e-01 5.35610603e+01] [-3.94919091e-01 9.16997649e-01 -5.61624700e-02 -2.02644659e+01] [-1.35722485e-01 2.22819731e-03 9.90744388e-01 -6.39071722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.285779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.62, Y:-20.29, Z:-6.40 [[ 9.08810445e-01 3.98491793e-01 1.23563208e-01 5.36170832e+01] [-3.94516676e-01 9.17168961e-01 -5.61933285e-02 -2.02903660e+01] [-1.35720919e-01 2.32133781e-03 9.90744389e-01 -6.39535688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.345779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.67, Y:-20.33, Z:-6.41 [[ 9.07118469e-01 4.02332816e-01 1.23549129e-01 5.36664256e+01] [-3.98388881e-01 9.15491743e-01 -5.62242671e-02 -2.03278480e+01] [-1.35729075e-01 1.78147200e-03 9.90744389e-01 -6.40526089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.40577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.72, Y:-20.36, Z:-6.42 [[ 9.06370830e-01 4.04016605e-01 1.23541500e-01 5.37206564e+01] [-4.00085941e-01 9.14750341e-01 -5.62410248e-02 -2.03579619e+01] [-1.35731937e-01 1.54800699e-03 9.90744389e-01 -6.41540941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.465779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.78, Y:-20.38, Z:-6.43 [[ 9.06178010e-01 4.04450354e-01 1.23536738e-01 5.37758634e+01] [-4.00522276e-01 9.14558734e-01 -5.62514829e-02 -2.03836575e+01] [-1.35732535e-01 1.49464138e-03 9.90744389e-01 -6.43016174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.525779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.83, Y:-20.41, Z:-6.44 [[ 9.03205838e-01 4.11048936e-01 1.23523218e-01 5.38297832e+01] [-4.07178030e-01 9.11613121e-01 -5.62811563e-02 -2.04129863e+01] [-1.35739696e-01 5.37528370e-04 9.90744390e-01 -6.43771992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.58577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.89, Y:-20.44, Z:-6.44 [[ 9.00459788e-01 4.17031742e-01 1.23518003e-01 5.38860272e+01] [-4.13215125e-01 9.08891855e-01 -5.62926000e-02 -2.04382937e+01] [-1.35740307e-01 -3.50284308e-04 9.90744390e-01 -6.44283695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.645779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:53.94, Y:-20.46, Z:-6.45 [[ 8.97673179e-01 4.23001221e-01 1.23502347e-01 5.39443581e+01] [-4.19235952e-01 9.06128299e-01 -5.63269258e-02 -2.04609282e+01] [-1.35735330e-01 -1.21345357e-03 9.90744391e-01 -6.45249777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.705779523 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:54.00, Y:-20.49, Z:-6.46 [[ 8.96753122e-01 4.24952931e-01 1.23486214e-01 5.39981820e+01] [-4.21201195e-01 9.05214255e-01 -5.63622737e-02 -2.04923392e+01] [-1.35732794e-01 -1.46949587e-03 9.90744391e-01 -6.45977539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.76577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.05, Y:-20.52, Z:-6.47 [[ 8.96292282e-01 4.25928697e-01 1.23470200e-01 5.40523450e+01] [-4.22181343e-01 9.04755356e-01 -5.63973323e-02 -2.05212352e+01] [-1.35731567e-01 -1.57832132e-03 9.90744392e-01 -6.46539889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.825779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.11, Y:-20.53, Z:-6.49 [[ 8.95720081e-01 4.27132964e-01 1.23462411e-01 5.41128495e+01] [-4.23394639e-01 9.04187147e-01 -5.64143785e-02 -2.05341590e+01] [-1.35729566e-01 -1.74183135e-03 9.90744392e-01 -6.48581836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.885779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.17, Y:-20.56, Z:-6.50 [[ 8.94786782e-01 4.29089205e-01 1.23446620e-01 5.41701277e+01] [-4.25364628e-01 9.03259904e-01 -5.64489116e-02 -2.05578092e+01] [-1.35726001e-01 -2.00008570e-03 9.90744393e-01 -6.49720291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.94577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.22, Y:-20.59, Z:-6.49 [[ 8.93823010e-01 4.31097762e-01 1.23430735e-01 5.42222994e+01] [-4.27387432e-01 9.02302379e-01 -5.64836240e-02 -2.05945938e+01] [-1.35721810e-01 -2.26638230e-03 9.90744394e-01 -6.49452197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.005779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.28, Y:-20.62, Z:-6.50 [[ 8.93098133e-01 4.32601639e-01 1.23416152e-01 5.42797155e+01] [-4.28901188e-01 9.01581817e-01 -5.65154704e-02 -2.06212198e+01] [-1.35718444e-01 -2.45947317e-03 9.90744394e-01 -6.49982433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.065779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.34, Y:-20.63, Z:-6.53 [[ 8.92860270e-01 4.33095370e-01 1.23405585e-01 5.43401599e+01] [-4.29396423e-01 9.01344610e-01 -5.65385360e-02 -2.06320143e+01] [-1.35717537e-01 -2.50890416e-03 9.90744395e-01 -6.52597329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.12577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.39, Y:-20.67, Z:-6.53 [[ 8.93947469e-01 4.30851416e-01 1.23389543e-01 5.43934926e+01] [-4.27126342e-01 9.02420370e-01 -5.65735246e-02 -2.06656649e+01] [-1.35724020e-01 -2.12916490e-03 9.90744395e-01 -6.53067255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.185779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.45, Y:-20.70, Z:-6.53 [[ 8.95802395e-01 4.26985946e-01 1.23373707e-01 5.44471781e+01] [-4.23219555e-01 9.04257009e-01 -5.66080373e-02 -2.07020748e+01] [-1.35732376e-01 -1.50455016e-03 9.90744396e-01 -6.52749298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.245779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.50, Y:-20.72, Z:-6.53 [[ 8.95250858e-01 4.28145834e-01 1.23357395e-01 5.45044154e+01] [-4.24385502e-01 9.03708168e-01 -5.66435625e-02 -2.07241338e+01] [-1.35730791e-01 -1.64089201e-03 9.90744397e-01 -6.53489152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.305779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.56, Y:-20.75, Z:-6.55 [[ 8.93553512e-01 4.31681362e-01 1.23342298e-01 5.45604917e+01] [-4.27949957e-01 9.02023624e-01 -5.66764166e-02 -2.07476782e+01] [-1.35723820e-01 -2.14092014e-03 9.90744398e-01 -6.54916815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.36577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.61, Y:-20.78, Z:-6.56 [[ 8.93234805e-01 4.32344449e-01 1.23328266e-01 5.46139877e+01] [-4.28615119e-01 9.01705830e-01 -5.67069348e-02 -2.07758303e+01] [-1.35722745e-01 -2.20775152e-03 9.90744398e-01 -6.55969354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.425779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.67, Y:-20.80, Z:-6.57 [[ 8.93992851e-01 4.30778474e-01 1.23315403e-01 5.46714332e+01] [-4.27030450e-01 9.02455621e-01 -5.67348922e-02 -2.07993444e+01] [-1.35726849e-01 -1.93884410e-03 9.90744399e-01 -6.56675228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.485779523 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:54.73, Y:-20.82, Z:-6.57 [[ 8.97007397e-01 4.24469584e-01 1.23301672e-01 5.47286907e+01] [-4.20657933e-01 9.05441699e-01 -5.67647189e-02 -2.08241477e+01] [-1.35737372e-01 -9.49453740e-04 9.90744399e-01 -6.57483386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.54577952299999 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:54.78, Y:-20.85, Z:-6.58 [[ 8.98119392e-01 4.22116224e-01 1.23286056e-01 5.47833229e+01] [-4.18277817e-01 9.06541552e-01 -5.67986157e-02 -2.08542625e+01] [-1.35739549e-01 -5.55884131e-04 9.90744400e-01 -6.58145628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.605779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.84, Y:-20.88, Z:-6.59 [[ 8.99809609e-01 4.18505793e-01 1.23270307e-01 5.48367589e+01] [-4.14628912e-01 9.08214127e-01 -5.68327747e-02 -2.08818651e+01] [-1.35740680e-01 2.72434554e-05 9.90744400e-01 -6.59180992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.665779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.89, Y:-20.90, Z:-6.60 [[ 9.04050649e-01 4.09267590e-01 1.23257713e-01 5.48942323e+01] [-4.05301108e-01 9.12413253e-01 -5.68600759e-02 -2.09028495e+01] [-1.35732957e-01 1.44790092e-03 9.90744401e-01 -6.60141084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.72577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:54.95, Y:-20.93, Z:-6.61 [[ 9.06431855e-01 4.03970581e-01 1.23243915e-01 5.49495817e+01] [-3.99951170e-01 9.14769147e-01 -5.68899668e-02 -2.09295433e+01] [-1.35721604e-01 2.27533000e-03 9.90744401e-01 -6.60815497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.785779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.01, Y:-20.95, Z:-6.62 [[ 9.09658244e-01 3.96655017e-01 1.23234235e-01 5.50066771e+01] [-3.92565732e-01 9.17961487e-01 -5.69109284e-02 -2.09547616e+01] [-1.35698287e-01 3.39195755e-03 9.90744402e-01 -6.61598346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.845779523 meters Centerline goodness : 0.999817 with order 1 Centerline is valid? [True, True] Translation: X:55.06, Y:-20.98, Z:-6.63 [[ 9.12140206e-01 3.90918752e-01 1.23218397e-01 5.50612220e+01] [-3.86772636e-01 9.20415217e-01 -5.69451996e-02 -2.09824551e+01] [-1.35673034e-01 4.28450203e-03 9.90744402e-01 -6.62705242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.90577952299999 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:55.12, Y:-21.00, Z:-6.63 [[ 9.13746992e-01 3.87152501e-01 1.23204605e-01 5.51194800e+01] [-3.82968267e-01 9.22002794e-01 -5.69750224e-02 -2.10047528e+01] [-1.35653013e-01 4.87730109e-03 9.90744403e-01 -6.63320394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.965779522999995 meters Centerline goodness : 0.999819 with order 1 Centerline is valid? [True, True] Translation: X:55.18, Y:-21.02, Z:-6.64 [[ 9.14497819e-01 3.85380676e-01 1.23188770e-01 5.51781865e+01] [-3.81175847e-01 9.22743150e-01 -5.70092403e-02 -2.10249290e+01] [-1.35641853e-01 5.17824214e-03 9.90744404e-01 -6.63911218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.025779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.24, Y:-21.05, Z:-6.65 [[ 9.15986464e-01 3.81833405e-01 1.23174869e-01 5.52365408e+01] [-3.77592622e-01 9.24213360e-01 -5.70392589e-02 -2.10483324e+01] [-1.35619354e-01 5.73726716e-03 9.90744404e-01 -6.64709261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.08577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.30, Y:-21.06, Z:-6.65 [[ 9.17039174e-01 3.79303352e-01 1.23158921e-01 5.52978849e+01] [-3.75035265e-01 9.25251937e-01 -5.70736742e-02 -2.10649429e+01] [-1.35601266e-01 6.14985665e-03 9.90744405e-01 -6.65341331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.145779522999995 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:55.35, Y:-21.09, Z:-6.66 [[ 9.16837388e-01 3.79796008e-01 1.23142995e-01 5.53544110e+01] [-3.75527732e-01 9.25050051e-01 -5.71080148e-02 -2.10877750e+01] [-1.35602830e-01 6.11515344e-03 9.90744406e-01 -6.66394550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.205779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.41, Y:-21.11, Z:-6.66 [[ 9.13594905e-01 3.87535513e-01 1.23128289e-01 5.54113529e+01] [-3.83332575e-01 9.21841196e-01 -5.71397045e-02 -2.11146710e+01] [-1.35648394e-01 5.00345868e-03 9.90744406e-01 -6.66489788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.26577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.47, Y:-21.13, Z:-6.68 [[ 9.10592161e-01 3.94543648e-01 1.23114689e-01 5.54702249e+01] [-3.90400237e-01 9.18868522e-01 -5.71689943e-02 -2.11315998e+01] [-1.35681875e-01 3.99363445e-03 9.90744407e-01 -6.67818340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.325779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.53, Y:-21.14, Z:-6.69 [[ 9.07420285e-01 4.01789256e-01 1.23100849e-01 5.55348675e+01] [-3.97707908e-01 9.15727426e-01 -5.71987789e-02 -2.11362545e+01] [-1.35708679e-01 2.94515100e-03 9.90744407e-01 -6.69212929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.385779523 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:55.59, Y:-21.16, Z:-6.70 [[ 9.06702094e-01 4.03411534e-01 1.23087155e-01 5.55905703e+01] [-3.99341052e-01 9.15014565e-01 -5.72282327e-02 -2.11631156e+01] [-1.35713069e-01 2.73520439e-03 9.90744408e-01 -6.70443095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.44577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.65, Y:-21.19, Z:-6.70 [[ 9.04307429e-01 4.08756150e-01 1.23071051e-01 5.56480606e+01] [-4.04730093e-01 9.12641506e-01 -5.72628439e-02 -2.11911495e+01] [-1.35726289e-01 1.97265723e-03 9.90744409e-01 -6.70040357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.505779522999994 meters Centerline goodness : 0.999893 with order 1 Centerline is valid? [True, True] Translation: X:55.71, Y:-21.20, Z:-6.71 [[ 8.99537327e-01 4.19154088e-01 1.23054658e-01 5.57121635e+01] [-4.15219560e-01 9.07915002e-01 -5.72980509e-02 -2.12008166e+01] [-1.35739882e-01 4.47034712e-04 9.90744409e-01 -6.71097647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.565779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.77, Y:-21.23, Z:-6.72 [[ 8.96482662e-01 4.25652879e-01 1.23038466e-01 5.57677160e+01] [-4.21774311e-01 9.04886391e-01 -5.73328001e-02 -2.12303306e+01] [-1.35739705e-01 -4.96602872e-04 9.90744410e-01 -6.71781022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.62577952299999 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:55.83, Y:-21.25, Z:-6.73 [[ 8.94560340e-01 4.29682797e-01 1.23022324e-01 5.58250757e+01] [-4.25837326e-01 9.02979264e-01 -5.73674145e-02 -2.12531459e+01] [-1.35736399e-01 -1.06888383e-03 9.90744411e-01 -6.73429499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.685779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.89, Y:-21.27, Z:-6.75 [[ 8.92856462e-01 4.33216817e-01 1.23006211e-01 5.58850354e+01] [-4.29399910e-01 9.01288374e-01 -5.74019447e-02 -2.12686448e+01] [-1.35731555e-01 -1.56715853e-03 9.90744411e-01 -6.74640062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.745779522999996 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:55.94, Y:-21.31, Z:-6.75 [[ 8.93148194e-01 4.32619279e-01 1.22991313e-01 5.59356531e+01] [-4.28792339e-01 9.01575556e-01 -5.74338477e-02 -2.13086866e+01] [-1.35732951e-01 -1.44079536e-03 9.90744412e-01 -6.74879565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.805779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:55.99, Y:-21.34, Z:-6.75 [[ 8.93388963e-01 4.32126456e-01 1.22975151e-01 5.59912953e+01] [-4.28290106e-01 9.01812045e-01 -5.74684320e-02 -2.13393495e+01] [-1.35734102e-01 -1.32737771e-03 9.90744413e-01 -6.74612390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.86577952299999 meters Centerline goodness : 0.999957 with order 1 Centerline is valid? [True, True] Translation: X:56.05, Y:-21.35, Z:-6.77 [[ 8.92538037e-01 4.33884151e-01 1.22965020e-01 5.60525665e+01] [-4.30061403e-01 9.00967301e-01 -5.74901010e-02 -2.13517587e+01] [-1.35731506e-01 -1.57040724e-03 9.90744413e-01 -6.76557405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.925779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.10, Y:-21.39, Z:-6.78 [[ 8.93258922e-01 4.32402628e-01 1.22949038e-01 5.61042395e+01] [-4.28561198e-01 9.01679687e-01 -5.75242606e-02 -2.13851368e+01] [-1.35734292e-01 -1.30712812e-03 9.90744414e-01 -6.77715332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.985779523 meters Centerline goodness : 0.999935 with order 1 Centerline is valid? [True, True] Translation: X:56.16, Y:-21.42, Z:-6.79 [[ 8.98918227e-01 4.20515381e-01 1.22934273e-01 5.61550249e+01] [-4.16558274e-01 9.07285255e-01 -5.75557969e-02 -2.14213704e+01] [-1.35739552e-01 5.28666162e-04 9.90744414e-01 -6.78992714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.04577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.21, Y:-21.45, Z:-6.79 [[ 9.01622768e-01 4.14688506e-01 1.22922038e-01 5.62104141e+01] [-4.10673767e-01 9.09962296e-01 -5.75819174e-02 -2.14483573e+01] [-1.35732979e-01 1.43631157e-03 9.90744415e-01 -6.79424881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.105779522999995 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:56.26, Y:-21.48, Z:-6.80 [[ 9.05017019e-01 4.07231011e-01 1.22910939e-01 5.62645857e+01] [-4.03144347e-01 9.13321537e-01 -5.76055985e-02 -2.14798443e+01] [-1.35715994e-01 2.58319684e-03 9.90744415e-01 -6.80460890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.165779523 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:56.32, Y:-21.51, Z:-6.81 [[ 9.07027531e-01 4.02738085e-01 1.22894642e-01 5.63180749e+01] [-3.98605585e-01 9.15309335e-01 -5.76403450e-02 -2.15145613e+01] [-1.35700575e-01 3.29488914e-03 9.90744416e-01 -6.80805470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.22577952299999 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:56.37, Y:-21.54, Z:-6.82 [[ 9.09954407e-01 3.96085712e-01 1.22878339e-01 5.63727825e+01] [-3.91887995e-01 9.18203346e-01 -5.76750784e-02 -2.15415592e+01] [-1.35671577e-01 4.32714577e-03 9.90744417e-01 -6.82391749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.285779522999995 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:56.43, Y:-21.57, Z:-6.82 [[ 9.10419747e-01 3.95016542e-01 1.22873166e-01 5.64265422e+01] [-3.90807653e-01 9.18662992e-01 -5.76860974e-02 -2.15739596e+01] [-1.35665993e-01 4.49878848e-03 9.90744417e-01 -6.82264753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.345779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.48, Y:-21.60, Z:-6.84 [[ 9.14109835e-01 3.86405332e-01 1.22858164e-01 5.64834858e+01] [-3.82114539e-01 9.22310744e-01 -5.77180303e-02 -2.15977835e+01] [-1.35615960e-01 5.81472825e-03 9.90744417e-01 -6.83575196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.40577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.54, Y:-21.62, Z:-6.85 [[ 9.15172689e-01 3.83886431e-01 1.22842001e-01 5.65396304e+01] [-3.79568465e-01 9.23359323e-01 -5.77524109e-02 -2.16223926e+01] [-1.35597674e-01 6.22647937e-03 9.90744418e-01 -6.84978546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.465779522999995 meters Centerline goodness : 0.999845 with order 1 Centerline is valid? [True, True] Translation: X:56.59, Y:-21.65, Z:-6.86 [[ 9.12192521e-01 3.90917754e-01 1.22833686e-01 5.65923702e+01] [-3.86660540e-01 9.20410910e-01 -5.77700901e-02 -2.16543507e+01] [-1.35640819e-01 5.20250468e-03 9.90744418e-01 -6.85638254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.525779523 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:56.65, Y:-21.68, Z:-6.87 [[ 9.09874140e-01 3.96288935e-01 1.22817461e-01 5.66503792e+01] [-3.92075600e-01 9.18115111e-01 -5.78045652e-02 -2.16773469e+01] [-1.35667876e-01 4.44114961e-03 9.90744419e-01 -6.86510181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.58577952299999 meters Centerline goodness : 0.995864 with order 1 Centerline is valid? [True, True] Translation: X:56.70, Y:-21.71, Z:-6.87 [[ 9.07019965e-01 4.02781163e-01 1.22809273e-01 5.67043225e+01] [-3.98624476e-01 9.15289653e-01 -5.78219558e-02 -2.17079646e+01] [-1.35695651e-01 3.49088631e-03 9.90744419e-01 -6.86730374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.645779522999995 meters Centerline goodness : 0.995577 with order 1 Centerline is valid? [True, True] Translation: X:56.76, Y:-21.73, Z:-6.88 [[ 9.03701359e-01 4.10178453e-01 1.22790429e-01 5.67620171e+01] [-4.06084040e-01 9.12002055e-01 -5.78619445e-02 -2.17297284e+01] [-1.35718847e-01 2.42668431e-03 9.90744420e-01 -6.87860040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.705779523 meters Centerline goodness : 0.995762 with order 1 Centerline is valid? [True, True] Translation: X:56.82, Y:-21.75, Z:-6.89 [[ 9.01273615e-01 4.15492220e-01 1.22768424e-01 5.68179610e+01] [-4.11440397e-01 9.09595181e-01 -5.79085963e-02 -2.17511738e+01] [-1.35730138e-01 1.67960072e-03 9.90744421e-01 -6.89083545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.76577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.87, Y:-21.78, Z:-6.89 [[ 8.97288035e-01 4.24035870e-01 1.22750822e-01 5.68729831e+01] [-4.20058186e-01 9.05645292e-01 -5.79458837e-02 -2.17789796e+01] [-1.35739838e-01 4.31660376e-04 9.90744422e-01 -6.89143396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.825779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.93, Y:-21.81, Z:-6.89 [[ 8.95136455e-01 4.28561856e-01 1.22741444e-01 5.69289818e+01] [-4.24623705e-01 9.03512414e-01 -5.79657412e-02 -2.18092958e+01] [-1.35740324e-01 -2.31678773e-04 9.90744422e-01 -6.89333006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.885779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.99, Y:-21.83, Z:-6.91 [[ 8.91921298e-01 4.35218230e-01 1.22725266e-01 5.69865661e+01] [-4.31337874e-01 9.00324187e-01 -5.79999736e-02 -2.18309179e+01] [-1.35735171e-01 -1.20464379e-03 9.90744423e-01 -6.90770729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.94577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.04, Y:-21.86, Z:-6.92 [[ 8.89801193e-01 4.39541056e-01 1.22708993e-01 5.70423065e+01] [-4.35696776e-01 8.98220646e-01 -5.80343830e-02 -2.18576673e+01] [-1.35728245e-01 -1.82484926e-03 9.90744424e-01 -6.92130287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.005779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.10, Y:-21.89, Z:-6.93 [[ 8.89040540e-01 4.41082188e-01 1.22692389e-01 5.70978815e+01] [-4.37247662e-01 8.97464439e-01 -5.80694650e-02 -2.18874826e+01] [-1.35725463e-01 -2.02085162e-03 9.90744425e-01 -6.92769136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.065779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.15, Y:-21.93, Z:-6.93 [[ 8.87028372e-01 4.45119405e-01 1.22675925e-01 5.71501968e+01] [-4.41318410e-01 8.95467453e-01 -5.81042256e-02 -2.19262792e+01] [-1.35715616e-01 -2.59904744e-03 9.90744425e-01 -6.92675171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.12577952299999 meters Centerline goodness : 0.999847 with order 1 Centerline is valid? [True, True] Translation: X:57.21, Y:-21.95, Z:-6.94 [[ 8.85880816e-01 4.47403412e-01 1.22659557e-01 5.72060287e+01] [-4.43619394e-01 8.94327523e-01 -5.81387587e-02 -2.19512271e+01] [-1.35709297e-01 -2.91014735e-03 9.90744426e-01 -6.94282030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.185779522999994 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:57.26, Y:-21.98, Z:-6.96 [[ 8.85164630e-01 4.48823135e-01 1.22643266e-01 5.72623082e+01] [-4.45047909e-01 8.93615269e-01 -5.81731041e-02 -2.19760000e+01] [-1.35705330e-01 -3.08935483e-03 9.90744427e-01 -6.95691830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.245779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.31, Y:-22.01, Z:-6.96 [[ 8.86585161e-01 4.46015019e-01 1.22626892e-01 5.73137634e+01] [-4.42208255e-01 8.95021639e-01 -5.82075989e-02 -2.20142910e+01] [-1.35715186e-01 -2.62063069e-03 9.90744428e-01 -6.96050122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.305779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.36, Y:-22.05, Z:-6.97 [[ 8.89385210e-01 4.40409581e-01 1.22610561e-01 5.73649864e+01] [-4.36544898e-01 8.97795313e-01 -5.82419807e-02 -2.20507638e+01] [-1.35729513e-01 -1.72545839e-03 9.90744428e-01 -6.96531207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.36577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.42, Y:-22.08, Z:-6.97 [[ 8.90627046e-01 4.37897027e-01 1.22595504e-01 5.74202309e+01] [-4.34004257e-01 8.99024185e-01 -5.82736566e-02 -2.20772862e+01] [-1.35734184e-01 -1.30687597e-03 9.90744429e-01 -6.97372571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.425779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.47, Y:-22.11, Z:-6.98 [[ 8.92982342e-01 4.33077663e-01 1.22581705e-01 5.74729788e+01] [-4.29135588e-01 9.01356448e-01 -5.83026704e-02 -2.21114555e+01] [-1.35739394e-01 -5.40916705e-04 9.90744429e-01 -6.98366527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.485779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.52, Y:-22.15, Z:-6.99 [[ 8.96242572e-01 4.26294291e-01 1.22566022e-01 5.75237962e+01] [-4.22284328e-01 9.04584381e-01 -5.83356213e-02 -2.21476906e+01] [-1.35739451e-01 5.25157201e-04 9.90744430e-01 -6.99442444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.54577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.58, Y:-22.17, Z:-7.02 [[ 9.02114335e-01 4.13727789e-01 1.22552207e-01 5.75793959e+01] [-4.09597703e-01 9.10397326e-01 -5.83646280e-02 -2.21685091e+01] [-1.35718270e-01 2.45446493e-03 9.90744431e-01 -7.02001872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.605779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.64, Y:-22.20, Z:-7.02 [[ 9.02720173e-01 4.12408566e-01 1.22537602e-01 5.76354499e+01] [-4.08262216e-01 9.10995035e-01 -5.83952760e-02 -2.21967149e+01] [-1.35713859e-01 2.68712067e-03 9.90744431e-01 -7.01879240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.665779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.69, Y:-22.23, Z:-7.02 [[ 9.02521394e-01 4.12847841e-01 1.22522627e-01 5.76886167e+01] [-4.08701258e-01 9.10796138e-01 -5.84266804e-02 -2.22256056e+01] [-1.35714464e-01 2.65617744e-03 9.90744432e-01 -7.02402612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.72577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.74, Y:-22.25, Z:-7.03 [[ 9.03822415e-01 4.09995145e-01 1.22511318e-01 5.77430009e+01] [-4.05819236e-01 9.12082398e-01 -5.84503843e-02 -2.22539977e+01] [-1.35704790e-01 3.11131828e-03 9.90744432e-01 -7.03293550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.785779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.80, Y:-22.28, Z:-7.04 [[ 9.05189604e-01 4.06972267e-01 1.22496344e-01 5.77985268e+01] [-4.02764535e-01 9.13433421e-01 -5.84817484e-02 -2.22817842e+01] [-1.35692704e-01 3.59988766e-03 9.90744433e-01 -7.03786157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.845779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.86, Y:-22.29, Z:-7.06 [[ 9.06821030e-01 4.03328296e-01 1.22482264e-01 5.78605833e+01] [-3.99083464e-01 9.15045805e-01 -5.85112226e-02 -2.22936239e+01] [-1.35676113e-01 4.17856111e-03 9.90744433e-01 -7.05678084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.90577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.92, Y:-22.32, Z:-7.07 [[ 9.07745947e-01 4.01247211e-01 1.22466205e-01 5.79181298e+01] [-3.96978999e-01 9.15958612e-01 -5.85448146e-02 -2.23163838e+01] [-1.35664919e-01 4.52730669e-03 9.90744434e-01 -7.06798914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.965779522999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.97, Y:-22.35, Z:-7.07 [[ 9.09461424e-01 3.97348650e-01 1.22449862e-01 5.79730840e+01] [-3.93040647e-01 9.17653286e-01 -5.85789785e-02 -2.23452737e+01] [-1.35642796e-01 5.14754826e-03 9.90744435e-01 -7.06797769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.025779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.03, Y:-22.36, Z:-7.08 [[ 9.10326836e-01 3.95366639e-01 1.22434764e-01 5.80331158e+01] [-3.91036569e-01 9.18507055e-01 -5.86105162e-02 -2.23632722e+01] [-1.35629838e-01 5.47825568e-03 9.90744435e-01 -7.07582962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.08577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.09, Y:-22.38, Z:-7.09 [[ 9.08539205e-01 3.99461670e-01 1.22420947e-01 5.80934372e+01] [-3.95164596e-01 9.16736804e-01 -5.86393628e-02 -2.23780015e+01] [-1.35651965e-01 4.89973597e-03 9.90744436e-01 -7.09371705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.145779522999995 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:58.15, Y:-22.41, Z:-7.10 [[ 9.07509974e-01 4.01796677e-01 1.22413550e-01 5.81487933e+01] [-3.97518618e-01 9.15717512e-01 -5.86548010e-02 -2.24056031e+01] [-1.35663535e-01 4.56815183e-03 9.90744436e-01 -7.10097601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.205779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.21, Y:-22.42, Z:-7.10 [[ 9.05078628e-01 4.07248110e-01 1.22399571e-01 5.82086447e+01] [-4.03015558e-01 9.13309725e-01 -5.86839582e-02 -2.24236742e+01] [-1.35687649e-01 3.78466518e-03 9.90744436e-01 -7.10434464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.26577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.27, Y:-22.43, Z:-7.12 [[ 9.03418866e-01 4.10921181e-01 1.22385195e-01 5.82709920e+01] [-4.06718042e-01 9.11665021e-01 -5.87139224e-02 -2.24330005e+01] [-1.35701096e-01 3.26699814e-03 9.90744437e-01 -7.12363176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.325779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.32, Y:-22.47, Z:-7.12 [[ 8.98088361e-01 4.22448539e-01 1.22370452e-01 5.83215082e+01] [-4.18347085e-01 9.06385560e-01 -5.87446352e-02 -2.24708969e+01] [-1.35731396e-01 1.56455140e-03 9.90744437e-01 -7.12080346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.385779523 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:58.38, Y:-22.49, Z:-7.13 [[ 8.94925734e-01 4.29111533e-01 1.22356952e-01 5.83824784e+01] [-4.25068015e-01 9.03251320e-01 -5.87727405e-02 -2.24853389e+01] [-1.35739139e-01 5.87211404e-04 9.90744438e-01 -7.13419632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.44577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.44, Y:-22.51, Z:-7.14 [[ 8.91642571e-01 4.35896465e-01 1.22342947e-01 5.84410769e+01] [-4.31912301e-01 8.99996724e-01 -5.88018780e-02 -2.25086839e+01] [-1.35739783e-01 -4.11166247e-04 9.90744438e-01 -7.14078978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.505779522999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.49, Y:-22.54, Z:-7.14 [[ 8.88066911e-01 4.43140348e-01 1.22326583e-01 5.84938100e+01] [-4.39219636e-01 8.96451029e-01 -5.88359012e-02 -2.25444224e+01] [-1.35732353e-01 -1.47802037e-03 9.90744439e-01 -7.13924585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.565779522999996 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:58.55, Y:-22.57, Z:-7.16 [[ 8.87443739e-01 4.44391181e-01 1.22311443e-01 5.85514189e+01] [-4.40477951e-01 8.95831351e-01 -5.88673591e-02 -2.25655837e+01] [-1.35730560e-01 -1.63402448e-03 9.90744440e-01 -7.15581147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.62577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.61, Y:-22.59, Z:-7.16 [[ 8.87044931e-01 4.45191061e-01 1.22295583e-01 5.86069236e+01] [-4.41280856e-01 8.95433952e-01 -5.89002904e-02 -2.25932882e+01] [-1.35729500e-01 -1.71949528e-03 9.90744440e-01 -7.16374031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.685779522999994 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:58.66, Y:-22.63, Z:-7.17 [[ 8.88997948e-01 4.41282548e-01 1.22279846e-01 5.86589679e+01] [-4.37330967e-01 8.97367558e-01 -5.89329415e-02 -2.26290484e+01] [-1.35736046e-01 -1.08549932e-03 9.90744441e-01 -7.16926397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.745779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.71, Y:-22.66, Z:-7.17 [[ 8.91653623e-01 4.35896075e-01 1.22263769e-01 5.87133849e+01] [-4.31889358e-01 8.99996978e-01 -5.89662775e-02 -2.26601941e+01] [-1.35740191e-01 -2.26925720e-04 9.90744442e-01 -7.16934689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.805779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.77, Y:-22.69, Z:-7.18 [[ 8.93133348e-01 4.32860288e-01 1.22248901e-01 5.87687313e+01] [-4.28820994e-01 9.01460980e-01 -5.89970866e-02 -2.26901765e+01] [-1.35740110e-01 2.69370431e-04 9.90744442e-01 -7.17509977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.86577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.82, Y:-22.71, Z:-7.19 [[ 8.97990956e-01 4.22695659e-01 1.22231841e-01 5.88246549e+01] [-4.18557302e-01 9.06269805e-01 -5.90324104e-02 -2.27126933e+01] [-1.35727770e-01 1.84954103e-03 9.90744443e-01 -7.19434794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.925779522999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.88, Y:-22.75, Z:-7.20 [[ 8.95934119e-01 4.27042276e-01 1.22216810e-01 5.88767217e+01] [-4.22939844e-01 9.04230828e-01 -5.90635137e-02 -2.27452763e+01] [-1.35734824e-01 1.22665870e-03 9.90744444e-01 -7.19719907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.985779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.93, Y:-22.77, Z:-7.21 [[ 8.98236593e-01 4.22180091e-01 1.22208812e-01 5.89305158e+01] [-4.18030501e-01 9.06509816e-01 -5.90800575e-02 -2.27749245e+01] [-1.35725912e-01 1.98085860e-03 9.90744444e-01 -7.20547983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.045779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.98, Y:-22.81, Z:-7.21 [[ 8.99380960e-01 4.19741078e-01 1.22193765e-01 5.89834284e+01] [-4.15564828e-01 9.07640757e-01 -5.91111622e-02 -2.28088578e+01] [-1.35719424e-01 2.38402279e-03 9.90744444e-01 -7.21021644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.105779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.04, Y:-22.84, Z:-7.22 [[ 9.00853468e-01 4.16575593e-01 1.22179393e-01 5.90394521e+01] [-4.12366297e-01 9.09096473e-01 -5.91408534e-02 -2.28355729e+01] [-1.35709492e-01 2.89457902e-03 9.90744445e-01 -7.22066340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.165779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.10, Y:-22.86, Z:-7.24 [[ 9.02693394e-01 4.12578328e-01 1.22162844e-01 5.90960949e+01] [-4.08327914e-01 9.10915271e-01 -5.91750191e-02 -2.28589371e+01] [-1.35694330e-01 3.53439969e-03 9.90744446e-01 -7.23891616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.225779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.15, Y:-22.89, Z:-7.24 [[ 9.03965031e-01 4.09789629e-01 1.22146156e-01 5.91487359e+01] [-4.05509207e-01 9.12171324e-01 -5.92094451e-02 -2.28905216e+01] [-1.35681637e-01 3.99187700e-03 9.90744446e-01 -7.24003510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.28577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.20, Y:-22.92, Z:-7.24 [[ 9.06220240e-01 4.04781976e-01 1.22132835e-01 5.92034928e+01] [-4.00452520e-01 9.14400770e-01 -5.92369112e-02 -2.29231904e+01] [-1.35656392e-01 4.77328653e-03 9.90744447e-01 -7.23835389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.34577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.26, Y:-22.94, Z:-7.25 [[ 9.07022109e-01 4.02987033e-01 1.22116113e-01 5.92630001e+01] [-3.98636759e-01 9.15191586e-01 -5.92713623e-02 -2.29410470e+01] [-1.35645230e-01 5.08046445e-03 9.90744448e-01 -7.25243410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.40577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.32, Y:-22.97, Z:-7.26 [[ 9.05707174e-01 4.05938710e-01 1.22099461e-01 5.93164044e+01] [-4.01610448e-01 9.13888335e-01 -5.93056463e-02 -2.29683395e+01] [-1.35659731e-01 4.67713011e-03 9.90744448e-01 -7.26337506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.465779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.37, Y:-22.99, Z:-7.27 [[ 9.02708432e-01 4.12568122e-01 1.22086162e-01 5.93739060e+01] [-4.08296260e-01 9.10919183e-01 -5.93330111e-02 -2.29899986e+01] [-1.35689536e-01 3.71308612e-03 9.90744449e-01 -7.27293723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.525779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.43, Y:-23.01, Z:-7.29 [[ 9.01317225e-01 4.15602732e-01 1.22072231e-01 5.94318454e+01] [-4.11354640e-01 9.09540298e-01 -5.93616600e-02 -2.30088955e+01] [-1.35700481e-01 3.28870821e-03 9.90744449e-01 -7.28736722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.585779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.49, Y:-23.04, Z:-7.28 [[ 8.99326430e-01 4.19897342e-01 1.22058161e-01 5.94866353e+01] [-4.15684600e-01 9.07567669e-01 -5.93905745e-02 -2.30422511e+01] [-1.35713985e-01 2.67381530e-03 9.90744450e-01 -7.28156842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.645779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.54, Y:-23.06, Z:-7.29 [[ 8.96287770e-01 4.26349135e-01 1.22043636e-01 5.95432628e+01] [-4.22191662e-01 9.04557027e-01 -5.94204090e-02 -2.30628035e+01] [-1.35729268e-01 1.73198045e-03 9.90744450e-01 -7.29498717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.70577952299999 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:59.60, Y:-23.08, Z:-7.32 [[ 8.94416630e-01 4.30264444e-01 1.22030328e-01 5.95994966e+01] [-4.26139445e-01 9.02702133e-01 -5.94477256e-02 -2.30842696e+01] [-1.35735280e-01 1.16909798e-03 9.90744451e-01 -7.31600764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.76577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.65, Y:-23.11, Z:-7.32 [[ 8.92463058e-01 4.34306170e-01 1.22015740e-01 5.96540128e+01] [-4.30214603e-01 9.00765122e-01 -5.94776523e-02 -2.31146521e+01] [-1.35739035e-01 5.88654129e-04 9.90744451e-01 -7.32104714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.825779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.71, Y:-23.14, Z:-7.32 [[ 8.89803108e-01 4.39734712e-01 1.21999228e-01 5.97085853e+01] [-4.35689153e-01 8.98127687e-01 -5.95115035e-02 -2.31427410e+01] [-1.35740158e-01 -2.00219530e-04 9.90744452e-01 -7.32150945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.885779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.76, Y:-23.17, Z:-7.33 [[ 8.87685601e-01 4.43997396e-01 1.21986009e-01 5.97635127e+01] [-4.39988088e-01 8.96027700e-01 -5.95385874e-02 -2.31721460e+01] [-1.35737821e-01 -8.20844115e-04 9.90744453e-01 -7.32707389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.945779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.82, Y:-23.20, Z:-7.33 [[ 8.86483865e-01 4.46396334e-01 1.21969953e-01 5.98187124e+01] [-4.42405078e-01 8.94834615e-01 -5.95714617e-02 -2.32009937e+01] [-1.35735418e-01 -1.15098681e-03 9.90744453e-01 -7.33487535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.005779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.87, Y:-23.23, Z:-7.35 [[ 8.84149189e-01 4.51007107e-01 1.21954094e-01 5.98727747e+01] [-4.47054921e-01 8.92518499e-01 -5.96039104e-02 -2.32281851e+01] [-1.35728072e-01 -1.82142877e-03 9.90744454e-01 -7.34869032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.06577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.93, Y:-23.26, Z:-7.36 [[ 8.83468417e-01 4.52343159e-01 1.21939422e-01 5.99262049e+01] [-4.48399489e-01 8.91841743e-01 -5.96339111e-02 -2.32573916e+01] [-1.35725659e-01 -1.99289763e-03 9.90744454e-01 -7.35977203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.12577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:59.98, Y:-23.29, Z:-7.37 [[ 8.84815194e-01 4.49707118e-01 1.21924488e-01 5.99777169e+01] [-4.45734296e-01 8.93174727e-01 -5.96644292e-02 -2.32945039e+01] [-1.35731390e-01 -1.55393248e-03 9.90744455e-01 -7.36516244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.185779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.03, Y:-23.32, Z:-7.37 [[ 8.88442579e-01 4.42502326e-01 1.21907646e-01 6.00318192e+01] [-4.38456987e-01 8.96767261e-01 -5.96988215e-02 -2.33226601e+01] [-1.35739653e-01 -4.12284314e-04 9.90744456e-01 -7.37385663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.245779523 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:60.08, Y:-23.36, Z:-7.39 [[ 8.91618384e-01 4.36071635e-01 1.21894156e-01 6.00819976e+01] [-4.31962490e-01 8.99911757e-01 -5.97263532e-02 -2.33579880e+01] [-1.35738953e-01 5.99411310e-04 9.90744456e-01 -7.38615663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.305779523 meters Centerline goodness : 0.999800 with order 1 Centerline is valid? [True, True] Translation: X:60.14, Y:-23.39, Z:-7.39 [[ 8.93452053e-01 4.32306350e-01 1.21879651e-01 6.01356089e+01] [-4.28158219e-01 9.01725993e-01 -5.97559392e-02 -2.33883470e+01] [-1.35734921e-01 1.20529234e-03 9.90744457e-01 -7.39484550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.365779523 meters Centerline goodness : 0.999889 with order 1 Centerline is valid? [True, True] Translation: X:60.19, Y:-23.42, Z:-7.39 [[ 8.97903413e-01 4.22987645e-01 1.21864326e-01 6.01922442e+01] [-4.18749420e-01 9.06131567e-01 -5.97871747e-02 -2.34174982e+01] [-1.35714349e-01 2.65249212e-03 9.90744457e-01 -7.39332065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.42577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.25, Y:-23.45, Z:-7.40 [[ 9.00176100e-01 4.18134162e-01 1.21847496e-01 6.02469767e+01] [-4.13846943e-01 9.08378831e-01 -5.98214552e-02 -2.34466917e+01] [-1.35697080e-01 3.42363035e-03 9.90744458e-01 -7.40061068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.48577952299999 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:60.30, Y:-23.48, Z:-7.42 [[ 9.02178204e-01 4.13801693e-01 1.21830399e-01 6.02984476e+01] [-4.09470394e-01 9.10357746e-01 -5.98562562e-02 -2.34756841e+01] [-1.35677867e-01 4.11506843e-03 9.90744459e-01 -7.41859335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.545779523 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:60.35, Y:-23.50, Z:-7.43 [[ 9.03555373e-01 4.10788353e-01 1.21822072e-01 6.03544981e+01] [-4.06427498e-01 9.11719194e-01 -5.98731988e-02 -2.35000616e+01] [-1.35662734e-01 4.58691065e-03 9.90744459e-01 -7.43249359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.605779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.41, Y:-23.53, Z:-7.44 [[ 9.03525697e-01 4.10857951e-01 1.21807467e-01 6.04084196e+01] [-4.06493726e-01 9.11687717e-01 -5.99028970e-02 -2.35284938e+01] [-1.35661953e-01 4.60983582e-03 9.90744459e-01 -7.43761411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.665779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.46, Y:-23.56, Z:-7.44 [[ 9.01624763e-01 4.15016849e-01 1.21794092e-01 6.04631939e+01] [-4.10686612e-01 9.09804865e-01 -5.99300789e-02 -2.35569784e+01] [-1.35680850e-01 4.01524043e-03 9.90744460e-01 -7.44081346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.725779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.52, Y:-23.58, Z:-7.45 [[ 8.99469334e-01 4.19671705e-01 1.21780860e-01 6.05209085e+01] [-4.15380171e-01 9.07669806e-01 -5.99569544e-02 -2.35800180e+01] [-1.35699047e-01 3.34408735e-03 9.90744460e-01 -7.45160216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.78577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.58, Y:-23.61, Z:-7.46 [[ 8.98038634e-01 4.22729190e-01 1.21764702e-01 6.05771792e+01] [-4.18461134e-01 9.06251350e-01 -5.99897503e-02 -2.36081371e+01] [-1.35708845e-01 2.91931800e-03 9.90744461e-01 -7.45809411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.84577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.63, Y:-23.64, Z:-7.46 [[ 8.96070803e-01 4.26889387e-01 1.21747964e-01 6.06317825e+01] [-4.22654852e-01 9.04300852e-01 -6.00237019e-02 -2.36393645e+01] [-1.35720269e-01 2.32811909e-03 9.90744462e-01 -7.46150644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.90577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.69, Y:-23.66, Z:-7.47 [[ 8.93803336e-01 4.31621524e-01 1.21731082e-01 6.06879460e+01] [-4.27425906e-01 9.02053292e-01 -6.00579196e-02 -2.36626448e+01] [-1.35730214e-01 1.64895087e-03 9.90744462e-01 -7.47192771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.965779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.75, Y:-23.68, Z:-7.49 [[ 8.91390256e-01 4.36587623e-01 1.21715486e-01 6.07452431e+01] [-4.32433656e-01 8.99661261e-01 -6.00895113e-02 -2.36822428e+01] [-1.35737044e-01 9.29332370e-04 9.90744463e-01 -7.49326695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.025779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.80, Y:-23.72, Z:-7.49 [[ 8.92282349e-01 4.34765657e-01 1.21700589e-01 6.07971996e+01] [-4.30590688e-01 9.00542772e-01 -6.01196671e-02 -2.37188795e+01] [-1.35734552e-01 1.24057747e-03 9.90744464e-01 -7.49427361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.085779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.85, Y:-23.74, Z:-7.51 [[ 8.94556598e-01 4.30069780e-01 1.21690089e-01 6.08543967e+01] [-4.25848562e-01 9.02793483e-01 -6.01409132e-02 -2.37441621e+01] [-1.35725809e-01 1.97790123e-03 9.90744464e-01 -7.50519218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.145779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.91, Y:-23.77, Z:-7.51 [[ 8.98109256e-01 4.22602852e-01 1.21682349e-01 6.09097512e+01] [-4.18311045e-01 9.06309581e-01 -6.01565693e-02 -2.37702885e+01] [-1.35704217e-01 3.12610107e-03 9.90744464e-01 -7.50922477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.20577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:60.96, Y:-23.80, Z:-7.52 [[ 8.99826780e-01 4.18937530e-01 1.21668037e-01 6.09645659e+01] [-4.14608415e-01 9.08007471e-01 -6.01855017e-02 -2.38001227e+01] [-1.35689452e-01 3.71193423e-03 9.90744465e-01 -7.51858545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.26577952299999 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:61.02, Y:-23.83, Z:-7.53 [[ 9.01913148e-01 4.14431531e-01 1.21651876e-01 6.10184120e+01] [-4.10057154e-01 9.10069725e-01 -6.02181501e-02 -2.38288996e+01] [-1.35667990e-01 4.42731927e-03 9.90744465e-01 -7.53075042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.325779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.07, Y:-23.86, Z:-7.54 [[ 9.03011427e-01 4.12037105e-01 1.21637938e-01 6.10730767e+01] [-4.07637317e-01 9.11154324e-01 -6.02462922e-02 -2.38572921e+01] [-1.35654641e-01 4.81892782e-03 9.90744466e-01 -7.53567440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.385779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.13, Y:-23.88, Z:-7.55 [[ 9.03657729e-01 4.10622098e-01 1.21623194e-01 6.11300517e+01] [-4.06205563e-01 9.11791555e-01 -6.02760423e-02 -2.38791625e+01] [-1.35645676e-01 5.06489363e-03 9.90744466e-01 -7.55130144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.445779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.18, Y:-23.91, Z:-7.56 [[ 9.03459444e-01 4.11062426e-01 1.21608856e-01 6.11843260e+01] [-4.06645970e-01 9.11593312e-01 -6.03049553e-02 -2.39084674e+01] [-1.35646921e-01 5.03133020e-03 9.90744467e-01 -7.55726616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.505779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.24, Y:-23.94, Z:-7.56 [[ 9.02536051e-01 4.13090157e-01 1.21594400e-01 6.12388657e+01] [-4.08688058e-01 9.10677698e-01 -6.03340897e-02 -2.39360690e+01] [-1.35656727e-01 4.75951196e-03 9.90744467e-01 -7.55880092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.56577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.30, Y:-23.96, Z:-7.57 [[ 8.98353349e-01 4.22112879e-01 1.21581155e-01 6.12968263e+01] [-4.17788972e-01 9.06536790e-01 -6.03607680e-02 -2.39595113e+01] [-1.35696848e-01 3.43003225e-03 9.90744468e-01 -7.56610607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.62577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.35, Y:-23.99, Z:-7.58 [[ 8.92134837e-01 4.35106233e-01 1.21564794e-01 6.13504025e+01] [-4.30897061e-01 9.00377878e-01 -6.03937010e-02 -2.39879056e+01] [-1.35731927e-01 1.49741217e-03 9.90744468e-01 -7.57869650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.685779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.41, Y:-24.01, Z:-7.59 [[ 8.89102817e-01 4.41272916e-01 1.21549971e-01 6.14066297e+01] [-4.37116842e-01 8.97372757e-01 -6.04235200e-02 -2.40107567e+01] [-1.35738895e-01 5.91182410e-04 9.90744469e-01 -7.59270012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.745779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.46, Y:-24.04, Z:-7.60 [[ 8.85847248e-01 4.47775396e-01 1.21539487e-01 6.14616380e+01] [-4.43677135e-01 8.94145989e-01 -6.04446004e-02 -2.40380420e+01] [-1.35739650e-01 -3.79608352e-04 9.90744469e-01 -7.59971227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.805779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.52, Y:-24.07, Z:-7.61 [[ 8.83699966e-01 4.52002461e-01 1.21524257e-01 6.15156469e+01] [-4.47939686e-01 8.92016136e-01 -6.04752046e-02 -2.40678045e+01] [-1.35736540e-01 -9.93601369e-04 9.90744470e-01 -7.60618663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.865779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.57, Y:-24.10, Z:-7.62 [[ 8.81249653e-01 4.56765605e-01 1.21508152e-01 6.15703556e+01] [-4.52743315e-01 8.89585481e-01 -6.05075473e-02 -2.40961418e+01] [-1.35729654e-01 -1.68974828e-03 9.90744470e-01 -7.61564485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.92577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.63, Y:-24.13, Z:-7.62 [[ 8.80070027e-01 4.59037125e-01 1.21497598e-01 6.16253162e+01] [-4.55033426e-01 8.88414798e-01 -6.05287317e-02 -2.41254337e+01] [-1.35725199e-01 -2.01594563e-03 9.90744471e-01 -7.62379472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.98577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.68, Y:-24.16, Z:-7.63 [[ 8.79685925e-01 4.59777270e-01 1.21480597e-01 6.16787076e+01] [-4.55775884e-01 8.88031805e-01 -6.05628337e-02 -2.41559788e+01] [-1.35724048e-01 -2.09165400e-03 9.90744471e-01 -7.63205446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.045779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.73, Y:-24.18, Z:-7.65 [[ 8.80140116e-01 4.58911389e-01 1.21464869e-01 6.17330156e+01] [-4.54897441e-01 8.88479961e-01 -6.05943603e-02 -2.41826803e+01] [-1.35726544e-01 -1.92253100e-03 9.90744472e-01 -7.64801030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.105779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.79, Y:-24.21, Z:-7.66 [[ 8.82088006e-01 4.55159916e-01 1.21450403e-01 6.17868105e+01] [-4.51106507e-01 8.90408743e-01 -6.06233413e-02 -2.42135417e+01] [-1.35733816e-01 -1.31194492e-03 9.90744473e-01 -7.65746625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.165779523 meters Centerline goodness : 0.998097 with order 1 Centerline is valid? [True, True] Translation: X:61.84, Y:-24.24, Z:-7.67 [[ 8.82891052e-01 4.53601697e-01 1.21445012e-01 6.18409811e+01] [-4.49532117e-01 8.91203892e-01 -6.06341401e-02 -2.42445615e+01] [-1.35736016e-01 -1.06009348e-03 9.90744473e-01 -7.66641594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.225779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.90, Y:-24.26, Z:-7.68 [[ 8.85309494e-01 4.48868621e-01 1.21425122e-01 6.19017288e+01] [-4.44749136e-01 8.93597716e-01 -6.06739453e-02 -2.42592437e+01] [-1.35739842e-01 -2.88498309e-04 9.90744474e-01 -7.67715672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.28577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.96, Y:-24.29, Z:-7.68 [[ 8.83566017e-01 4.52295967e-01 1.21406147e-01 6.19552551e+01] [-4.48203418e-01 8.91867570e-01 -6.07118908e-02 -2.42896347e+01] [-1.35737948e-01 -7.71686378e-04 9.90744475e-01 -7.68150745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.34577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.01, Y:-24.33, Z:-7.68 [[ 8.85301994e-01 4.48893021e-01 1.21389600e-01 6.20064132e+01] [-4.44764027e-01 8.93585480e-01 -6.07449570e-02 -2.43278969e+01] [-1.35739971e-01 -2.12095818e-04 9.90744475e-01 -7.68317312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.40577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.06, Y:-24.35, Z:-7.70 [[ 8.88947827e-01 4.41633762e-01 1.21372903e-01 6.20639814e+01] [-4.37432571e-01 8.97194931e-01 -6.07783003e-02 -2.43498767e+01] [-1.35736903e-01 9.36276771e-04 9.90744476e-01 -7.69786017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.465779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.12, Y:-24.37, Z:-7.71 [[ 8.91803925e-01 4.35842386e-01 1.21355570e-01 6.21180447e+01] [-4.31582936e-01 9.00021089e-01 -6.08128892e-02 -2.43735937e+01] [-1.35727407e-01 1.85817989e-03 9.90744477e-01 -7.71413674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.525779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.17, Y:-24.41, Z:-7.71 [[ 8.90918487e-01 4.37653317e-01 1.21341762e-01 6.21711350e+01] [-4.33406820e-01 8.99142353e-01 -6.08404299e-02 -2.44088631e+01] [-1.35730533e-01 1.61351671e-03 9.90744477e-01 -7.71058551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.585779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.23, Y:-24.43, Z:-7.72 [[ 8.91911377e-01 4.35630398e-01 1.21327047e-01 6.22300689e+01] [-4.31361260e-01 9.00123511e-01 -6.08697598e-02 -2.44285193e+01] [-1.35726045e-01 1.95464346e-03 9.90744478e-01 -7.72296006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.645779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.28, Y:-24.46, Z:-7.73 [[ 8.89316674e-01 4.40908091e-01 1.21309141e-01 6.22845521e+01] [-4.36682828e-01 8.97551468e-01 -6.09054240e-02 -2.44557163e+01] [-1.35734892e-01 1.19059031e-03 9.90744478e-01 -7.73228113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.70577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.34, Y:-24.49, Z:-7.74 [[ 8.88703791e-01 4.42146657e-01 1.21292647e-01 6.23392865e+01] [-4.37928389e-01 8.96942169e-01 -6.09382539e-02 -2.44856570e+01] [-1.35736135e-01 1.03856360e-03 9.90744479e-01 -7.73895713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.76577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.40, Y:-24.51, Z:-7.75 [[ 8.88179356e-01 4.43203848e-01 1.21275636e-01 6.23950357e+01] [-4.38990766e-01 8.96420388e-01 -6.09720901e-02 -2.45135060e+01] [-1.35737018e-01 9.15267372e-04 9.90744480e-01 -7.74829548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.825779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.45, Y:-24.54, Z:-7.76 [[ 8.87044501e-01 4.45475407e-01 1.21258873e-01 6.24497249e+01] [-4.41278875e-01 8.95293971e-01 -6.10054100e-02 -2.45417237e+01] [-1.35738748e-01 6.05534567e-04 9.90744481e-01 -7.75854810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.885779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.50, Y:-24.57, Z:-7.77 [[ 8.83948060e-01 4.51592385e-01 1.21244154e-01 6.25044824e+01] [-4.47448928e-01 8.92224315e-01 -6.10346498e-02 -2.45692399e+01] [-1.35739765e-01 -2.99106171e-04 9.90744481e-01 -7.76877846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.945779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.56, Y:-24.59, Z:-7.78 [[ 8.81637085e-01 4.56091731e-01 1.21228641e-01 6.25616576e+01] [-4.51986275e-01 8.89932255e-01 -6.10654464e-02 -2.45944619e+01] [-1.35736723e-01 -9.56119540e-04 9.90744482e-01 -7.77730339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.005779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.62, Y:-24.62, Z:-7.78 [[ 8.81383083e-01 4.56586859e-01 1.21211802e-01 6.26174514e+01] [-4.52481469e-01 8.89678285e-01 -6.10988518e-02 -2.46223392e+01] [-1.35736441e-01 -9.94599935e-04 9.90744482e-01 -7.78386269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.06577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.67, Y:-24.65, Z:-7.79 [[ 8.82138047e-01 4.55131093e-01 1.21194697e-01 6.26717673e+01] [-4.51007353e-01 8.90424142e-01 -6.11327632e-02 -2.46531733e+01] [-1.35738105e-01 -7.32163161e-04 9.90744483e-01 -7.78998568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.12577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.73, Y:-24.68, Z:-7.80 [[ 8.83041268e-01 4.53380849e-01 1.21177248e-01 6.27257708e+01] [-4.49235942e-01 8.91316793e-01 -6.11673309e-02 -2.46811788e+01] [-1.35739413e-01 -4.23897816e-04 9.90744484e-01 -7.79963494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.185779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.78, Y:-24.71, Z:-7.81 [[ 8.84740531e-01 4.50060185e-01 1.21161145e-01 6.27805083e+01] [-4.45879851e-01 8.92998217e-01 -6.11992108e-02 -2.47101268e+01] [-1.35740015e-01 1.22108876e-04 9.90744484e-01 -7.80933509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.245779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.83, Y:-24.74, Z:-7.82 [[ 8.85889411e-01 4.47799122e-01 1.21144121e-01 6.28347809e+01] [-4.43593106e-01 8.94134044e-01 -6.12328933e-02 -2.47375171e+01] [-1.35739118e-01 5.06875035e-04 9.90744485e-01 -7.82147058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.305779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.89, Y:-24.77, Z:-7.83 [[ 8.86720049e-01 4.46156035e-01 1.21129464e-01 6.28889137e+01] [-4.41930782e-01 8.94954841e-01 -6.12618724e-02 -2.47662047e+01] [-1.35737754e-01 7.91291628e-04 9.90744486e-01 -7.83412683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.365779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:62.95, Y:-24.79, Z:-7.84 [[ 8.86164221e-01 4.47262971e-01 1.21114858e-01 6.29455500e+01] [-4.43044060e-01 8.94402262e-01 -6.12907361e-02 -2.47914453e+01] [-1.35738479e-01 6.54439065e-04 9.90744486e-01 -7.83620062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.42577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.00, Y:-24.82, Z:-7.85 [[ 8.86474190e-01 4.46651946e-01 1.21101403e-01 6.30032149e+01] [-4.42423726e-01 8.94707457e-01 -6.13173091e-02 -2.48154749e+01] [-1.35737824e-01 7.78077931e-04 9.90744487e-01 -7.84523208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.48577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.06, Y:-24.85, Z:-7.85 [[ 8.86030883e-01 4.47535306e-01 1.21084372e-01 6.30568596e+01] [-4.43310701e-01 8.94266004e-01 -6.13509226e-02 -2.48497567e+01] [-1.35738341e-01 6.80814330e-04 9.90744487e-01 -7.84870847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.545779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.11, Y:-24.87, Z:-7.86 [[ 8.84278038e-01 4.50993337e-01 1.21067592e-01 6.31144081e+01] [-4.46796405e-01 8.92527297e-01 -6.13840179e-02 -2.48749267e+01] [-1.35739914e-01 1.87974095e-04 9.90744488e-01 -7.85640271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.605779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.17, Y:-24.89, Z:-7.87 [[ 8.82296214e-01 4.54862689e-01 1.21050919e-01 6.31718174e+01] [-4.50697425e-01 8.90561507e-01 -6.14168805e-02 -2.48948122e+01] [-1.35739536e-01 -3.69456233e-04 9.90744489e-01 -7.87418244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.665779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.22, Y:-24.93, Z:-7.88 [[ 8.80950897e-01 4.57466578e-01 1.21036550e-01 6.32246716e+01] [-4.53321855e-01 8.89226509e-01 -6.14451846e-02 -2.49253392e+01] [-1.35738027e-01 -7.38322945e-04 9.90744489e-01 -7.88341552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.725779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.28, Y:-24.96, Z:-7.88 [[ 8.79291835e-01 4.60651297e-01 1.21021702e-01 6.32789684e+01] [-4.56532523e-01 8.87580392e-01 -6.14744151e-02 -2.49585188e+01] [-1.35734759e-01 -1.19639177e-03 9.90744490e-01 -7.88078132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.78577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.34, Y:-24.98, Z:-7.89 [[ 8.77359756e-01 4.64324405e-01 1.21007051e-01 6.33368700e+01] [-4.60236354e-01 8.85663508e-01 -6.15032406e-02 -2.49817067e+01] [-1.35728985e-01 -1.73137601e-03 9.90744490e-01 -7.89092170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.84577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.39, Y:-25.01, Z:-7.91 [[ 8.75936904e-01 4.67007566e-01 1.20989559e-01 6.33911046e+01] [-4.62940200e-01 8.84250808e-01 -6.15376325e-02 -2.50068938e+01] [-1.35723655e-01 -2.10784739e-03 9.90744491e-01 -7.90648140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.90577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.44, Y:-25.04, Z:-7.91 [[ 8.78282212e-01 4.62585404e-01 1.20975617e-01 6.34431676e+01] [-4.58472401e-01 8.86573632e-01 -6.15650288e-02 -2.50422450e+01] [-1.35732876e-01 -1.39251190e-03 9.90744491e-01 -7.91315292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.965779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.50, Y:-25.07, Z:-7.92 [[ 8.81457926e-01 4.56509507e-01 1.20958647e-01 6.34977357e+01] [-4.52334773e-01 8.89718436e-01 -6.15983529e-02 -2.50739021e+01] [-1.35739372e-01 -4.17445675e-04 9.90744492e-01 -7.91743251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.025779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.55, Y:-25.10, Z:-7.93 [[ 8.85771488e-01 4.48087065e-01 1.20941528e-01 6.35529162e+01] [-4.43829198e-01 8.93989455e-01 -6.16319466e-02 -2.51002456e+01] [-1.35736928e-01 9.14439925e-04 9.90744493e-01 -7.93090944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.085779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.61, Y:-25.13, Z:-7.94 [[ 8.87640536e-01 4.44377205e-01 1.20926333e-01 6.36072201e+01] [-4.40080934e-01 8.95838490e-01 -6.16617443e-02 -2.51305643e+01] [-1.35731538e-01 1.51609001e-03 9.90744493e-01 -7.93640565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.145779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.66, Y:-25.16, Z:-7.94 [[ 8.88743412e-01 4.42171462e-01 1.20911315e-01 6.36621423e+01] [-4.37850841e-01 8.96928559e-01 -6.16911789e-02 -2.51607455e+01] [-1.35726891e-01 1.88650756e-03 9.90744494e-01 -7.94005794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.20577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.72, Y:-25.18, Z:-7.95 [[ 8.91634207e-01 4.36317568e-01 1.20894257e-01 6.37198676e+01] [-4.31938687e-01 8.99788334e-01 -6.17245898e-02 -2.51825095e+01] [-1.35710765e-01 2.81684897e-03 9.90744495e-01 -7.95083872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.26577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.77, Y:-25.21, Z:-7.96 [[ 8.92807715e-01 4.33915629e-01 1.20878497e-01 6.37741934e+01] [-4.29510639e-01 9.00947766e-01 -6.17554390e-02 -2.52133774e+01] [-1.35701862e-01 3.21713200e-03 9.90744495e-01 -7.95686412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.325779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.83, Y:-25.24, Z:-7.96 [[ 8.95276276e-01 4.28803905e-01 1.20861911e-01 6.38297912e+01] [-4.24348070e-01 9.03388606e-01 -6.17878829e-02 -2.52399710e+01] [-1.35680158e-01 4.02970717e-03 9.90744496e-01 -7.96312029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.385779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.89, Y:-25.26, Z:-7.98 [[ 8.99521731e-01 4.19829339e-01 1.20846934e-01 6.38873927e+01] [-4.15288675e-01 9.07586886e-01 -6.18171604e-02 -2.52617013e+01] [-1.35631750e-01 5.41951600e-03 9.90744496e-01 -7.97753121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.445779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.94, Y:-25.29, Z:-7.98 [[ 9.01920314e-01 4.14653788e-01 1.20838666e-01 6.39406417e+01] [-4.10064697e-01 9.09958013e-01 -6.18333187e-02 -2.52912932e+01] [-1.35597532e-01 6.21705522e-03 9.90744497e-01 -7.98360255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.505779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.00, Y:-25.31, Z:-7.99 [[ 9.02915545e-01 4.12486248e-01 1.20824728e-01 6.39983692e+01] [-4.07874232e-01 9.10940110e-01 -6.18605428e-02 -2.53148514e+01] [-1.35580714e-01 6.57355264e-03 9.90744497e-01 -7.98826608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.56577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.06, Y:-25.34, Z:-8.00 [[ 9.02260345e-01 4.13921928e-01 1.20809385e-01 6.40573022e+01] [-4.09318684e-01 9.10289944e-01 -6.18904913e-02 -2.53373584e+01] [-1.35589400e-01 6.39179752e-03 9.90744498e-01 -7.99577896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.62577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.11, Y:-25.36, Z:-8.00 [[ 9.00310277e-01 4.18151501e-01 1.20792081e-01 6.41141372e+01] [-4.13581470e-01 9.08358825e-01 -6.19242454e-02 -2.53625416e+01] [-1.35616269e-01 5.79366794e-03 9.90744498e-01 -8.00333263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.685779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.17, Y:-25.38, Z:-8.02 [[ 8.99808826e-01 4.19234465e-01 1.20774749e-01 6.41724522e+01] [-4.14669597e-01 9.07860302e-01 -6.19580310e-02 -2.53819026e+01] [-1.35621542e-01 5.66876660e-03 9.90744499e-01 -8.01971019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.745779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.23, Y:-25.41, Z:-8.02 [[ 8.94106123e-01 4.31264537e-01 1.20768953e-01 6.42296328e+01] [-4.26806537e-01 9.02217259e-01 -6.19693260e-02 -2.54052367e+01] [-1.35685007e-01 3.86217506e-03 9.90744499e-01 -8.02165790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.805779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.29, Y:-25.42, Z:-8.03 [[ 8.90977409e-01 4.37695959e-01 1.20753901e-01 6.42889942e+01] [-4.33292549e-01 8.99118310e-01 -6.19986437e-02 -2.54236083e+01] [-1.35708599e-01 2.91762526e-03 9.90744500e-01 -8.03212433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.865779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.35, Y:-25.44, Z:-8.04 [[ 8.87733211e-01 4.44240602e-01 1.20747811e-01 6.43472367e+01] [-4.39895606e-01 8.95905438e-01 -6.20105024e-02 -2.54440608e+01] [-1.35726203e-01 1.93235098e-03 9.90744500e-01 -8.03797861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.92577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.40, Y:-25.46, Z:-8.06 [[ 8.88144732e-01 4.43421607e-01 1.20731991e-01 6.44044597e+01] [-4.39064892e-01 8.96310716e-01 -6.20412877e-02 -2.54637636e+01] [-1.35723825e-01 2.09246415e-03 9.90744500e-01 -8.05774555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.98577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.46, Y:-25.49, Z:-8.06 [[ 8.89746531e-01 4.40200328e-01 1.20726058e-01 6.44622571e+01] [-4.35812484e-01 8.97895832e-01 -6.20528301e-02 -2.54903480e+01] [-1.35715101e-01 2.59736693e-03 9.90744500e-01 -8.05518744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.045779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.52, Y:-25.52, Z:-8.06 [[ 8.91048214e-01 4.37561120e-01 1.20720116e-01 6.45194516e+01] [-4.33147576e-01 8.99183624e-01 -6.20643887e-02 -2.55173240e+01] [-1.35706515e-01 3.01273711e-03 9.90744500e-01 -8.05839335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.105779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.58, Y:-25.53, Z:-8.07 [[ 8.91606678e-01 4.36426961e-01 1.20702281e-01 6.45792650e+01] [-4.31998378e-01 8.99733910e-01 -6.20990548e-02 -2.55342197e+01] [-1.35701637e-01 3.22474230e-03 9.90744501e-01 -8.06554880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.165779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.64, Y:-25.56, Z:-8.08 [[ 8.91577876e-01 4.36489732e-01 1.20688046e-01 6.46356819e+01] [-4.32057981e-01 8.99703381e-01 -6.21267085e-02 -2.55583506e+01] [-1.35701113e-01 3.24656545e-03 9.90744502e-01 -8.07851685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.225779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.69, Y:-25.58, Z:-8.09 [[ 8.91707173e-01 4.36229796e-01 1.20672624e-01 6.46930868e+01] [-4.31791627e-01 8.99829174e-01 -6.21566497e-02 -2.55826796e+01] [-1.35699330e-01 3.32010203e-03 9.90744502e-01 -8.08749179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.28577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.75, Y:-25.60, Z:-8.10 [[ 8.92650025e-01 4.34302122e-01 1.20654883e-01 6.47534606e+01] [-4.29841766e-01 9.00759861e-01 -6.21910684e-02 -2.56007883e+01] [-1.35690788e-01 3.65235092e-03 9.90744503e-01 -8.09825967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.34577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.81, Y:-25.62, Z:-8.10 [[ 8.92866522e-01 4.33861862e-01 1.20636885e-01 6.48099707e+01] [-4.29392797e-01 9.00971562e-01 -6.22259614e-02 -2.56247712e+01] [-1.35687874e-01 3.75886843e-03 9.90744504e-01 -8.10199627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.40577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.87, Y:-25.65, Z:-8.11 [[ 8.92221549e-01 4.35189026e-01 1.20628436e-01 6.48670573e+01] [-4.30729805e-01 9.00332009e-01 -6.22423358e-02 -2.56466822e+01] [-1.35692823e-01 3.57569067e-03 9.90744504e-01 -8.11489609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.465779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.93, Y:-25.67, Z:-8.12 [[ 8.90325506e-01 4.39056592e-01 1.20622561e-01 6.49257941e+01] [-4.34631066e-01 8.98454401e-01 -6.22537188e-02 -2.56676779e+01] [-1.35706776e-01 2.99976146e-03 9.90744504e-01 -8.11838578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.525779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.98, Y:-25.69, Z:-8.13 [[ 8.89500171e-01 4.40731094e-01 1.20604927e-01 6.49837304e+01] [-4.36316245e-01 8.97634868e-01 -6.22878631e-02 -2.56912727e+01] [-1.35711386e-01 2.78317610e-03 9.90744505e-01 -8.12614927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.585779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.04, Y:-25.71, Z:-8.14 [[ 8.89341470e-01 4.41056043e-01 1.20587385e-01 6.50436100e+01] [-4.36639566e-01 8.97475282e-01 -6.23218044e-02 -2.57102275e+01] [-1.35711606e-01 2.77214153e-03 9.90744506e-01 -8.13899915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.64577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.10, Y:-25.74, Z:-8.14 [[ 8.89859075e-01 4.40015641e-01 1.20569740e-01 6.51000588e+01] [-4.35585034e-01 8.97985199e-01 -6.23559226e-02 -2.57374360e+01] [-1.35707424e-01 2.96960907e-03 9.90744506e-01 -8.14489138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.70577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.16, Y:-25.76, Z:-8.16 [[ 8.91478968e-01 4.36729242e-01 1.20552139e-01 6.51582666e+01] [-4.32264086e-01 8.99586158e-01 -6.23899325e-02 -2.57603186e+01] [-1.35694544e-01 3.50895238e-03 9.90744507e-01 -8.15502572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.76577952299999 meters Centerline goodness : 0.999876 with order 1 Centerline is valid? [True, True] Translation: X:65.22, Y:-25.78, Z:-8.17 [[ 8.93939004e-01 4.31676479e-01 1.20534119e-01 6.52163844e+01] [-4.27160822e-01 9.02018174e-01 -6.24247267e-02 -2.57803761e+01] [-1.35671252e-01 4.31644463e-03 9.90744508e-01 -8.16621100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.825779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.27, Y:-25.81, Z:-8.17 [[ 8.95467385e-01 4.28501689e-01 1.20517491e-01 6.52731560e+01] [-4.23953080e-01 9.03528047e-01 -6.24568133e-02 -2.58066130e+01] [-1.35653783e-01 4.83427782e-03 9.90744508e-01 -8.17317204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.885779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.33, Y:-25.83, Z:-8.18 [[ 8.95076081e-01 4.29323383e-01 1.20499968e-01 6.53320621e+01] [-4.24777632e-01 9.03138355e-01 -6.24906033e-02 -2.58281916e+01] [-1.35656820e-01 4.74815342e-03 9.90744509e-01 -8.18370177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.945779523 meters Centerline goodness : 0.999897 with order 1 Centerline is valid? [True, True] Translation: X:65.39, Y:-25.85, Z:-8.19 [[ 8.93433651e-01 4.32735758e-01 1.20482675e-01 6.53906915e+01] [-4.28216316e-01 9.01510702e-01 -6.25239265e-02 -2.58494325e+01] [-1.35672760e-01 4.26833280e-03 9.90744510e-01 -8.19323565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.005779523 meters Centerline goodness : 0.999897 with order 1 Centerline is valid? [True, True] Translation: X:65.45, Y:-25.87, Z:-8.20 [[ 8.92090699e-01 4.35502436e-01 1.20464988e-01 6.54496081e+01] [-4.31003452e-01 9.00179162e-01 -6.25579861e-02 -2.58715175e+01] [-1.35684227e-01 3.88657208e-03 9.90744511e-01 -8.20375508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.06577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.51, Y:-25.90, Z:-8.21 [[ 8.89731355e-01 4.40307346e-01 1.20447319e-01 6.55067068e+01] [-4.35847450e-01 8.97841435e-01 -6.25919869e-02 -2.58981398e+01] [-1.35702305e-01 3.19339651e-03 9.90744511e-01 -8.20932063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.12577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.57, Y:-25.92, Z:-8.22 [[ 8.87196043e-01 4.45398528e-01 1.20429785e-01 6.55662041e+01] [-4.40980603e-01 8.95329062e-01 -6.26257043e-02 -2.59199981e+01] [-1.35717683e-01 2.45407766e-03 9.90744512e-01 -8.21592419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.185779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.62, Y:-25.94, Z:-8.23 [[ 8.85749770e-01 4.48272554e-01 1.20412050e-01 6.56220706e+01] [-4.43876388e-01 8.93894570e-01 -6.26597862e-02 -2.59440587e+01] [-1.35724340e-01 2.05282535e-03 9.90744513e-01 -8.22933915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.245779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.68, Y:-25.97, Z:-8.24 [[ 8.84150347e-01 4.51423363e-01 1.20395646e-01 6.56766407e+01] [-4.47051935e-01 8.92308450e-01 -6.26912901e-02 -2.59727758e+01] [-1.35730365e-01 1.60541953e-03 9.90744513e-01 -8.23664239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.305779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.73, Y:-26.00, Z:-8.24 [[ 8.82890699e-01 4.53884833e-01 1.20385101e-01 6.57332310e+01] [-4.49533389e-01 8.91059479e-01 -6.27115325e-02 -2.59986894e+01] [-1.35734099e-01 1.25030631e-03 9.90744514e-01 -8.24445183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.365779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.79, Y:-26.02, Z:-8.25 [[ 8.80907161e-01 4.57727264e-01 1.20367459e-01 6.57892024e+01] [-4.53406829e-01 8.89092383e-01 -6.27453752e-02 -2.60231669e+01] [-1.35738060e-01 6.97422193e-04 9.90744514e-01 -8.25286846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.42577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.84, Y:-26.06, Z:-8.26 [[ 8.79040176e-01 4.61306805e-01 1.20351154e-01 6.58409186e+01] [-4.57015421e-01 8.87240666e-01 -6.27766342e-02 -2.60574326e+01] [-1.35739727e-01 1.80850032e-04 9.90744515e-01 -8.25961327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.48577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.90, Y:-26.08, Z:-8.27 [[ 8.77459497e-01 4.64310560e-01 1.20335094e-01 6.58977423e+01] [-4.60043028e-01 8.85672424e-01 -6.28074052e-02 -2.60833910e+01] [-1.35739616e-01 -2.48366934e-04 9.90744516e-01 -8.27034243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.545779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:65.95, Y:-26.11, Z:-8.28 [[ 8.76708937e-01 4.65730897e-01 1.20316963e-01 6.59528127e+01] [-4.61471906e-01 8.84926295e-01 -6.28421194e-02 -2.61097004e+01] [-1.35739161e-01 -4.28650498e-04 9.90744516e-01 -8.28056758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.605779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.00, Y:-26.14, Z:-8.29 [[ 8.74863316e-01 4.69192960e-01 1.20300223e-01 6.60046369e+01] [-4.64962082e-01 8.83095184e-01 -6.28741481e-02 -2.61447635e+01] [-1.35736655e-01 -9.28756587e-04 9.90744517e-01 -8.28821621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.665779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.06, Y:-26.18, Z:-8.30 [[ 8.73572136e-01 4.71597189e-01 1.20282229e-01 6.60577751e+01] [-4.67384229e-01 8.81813187e-01 -6.29085533e-02 -2.61771492e+01] [-1.35733953e-01 -1.26285763e-03 9.90744518e-01 -8.29883680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.725779523 meters Centerline goodness : 0.999835 with order 1 Centerline is valid? [True, True] Translation: X:66.11, Y:-26.21, Z:-8.31 [[ 8.71658557e-01 4.75129380e-01 1.20264014e-01 6.61091441e+01] [-4.70945011e-01 8.79914161e-01 -6.29433560e-02 -2.62090081e+01] [-1.35728247e-01 -1.77262280e-03 9.90744518e-01 -8.31087219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.78577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.16, Y:-26.25, Z:-8.31 [[ 8.70579150e-01 4.77106553e-01 1.20255066e-01 6.61604020e+01] [-4.72938573e-01 8.78843040e-01 -6.29604471e-02 -2.62460171e+01] [-1.35724170e-01 -2.06120682e-03 9.90744519e-01 -8.30895596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.84577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.21, Y:-26.28, Z:-8.31 [[ 8.70800811e-01 4.76705787e-01 1.20239514e-01 6.62147544e+01] [-4.72529905e-01 8.79060710e-01 -6.29901350e-02 -2.62768180e+01] [-1.35725594e-01 -1.96490525e-03 9.90744519e-01 -8.31338458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.90577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.26, Y:-26.31, Z:-8.33 [[ 8.70518983e-01 4.77224219e-01 1.20223733e-01 6.62621344e+01] [-4.73049099e-01 8.78779266e-01 -6.30202409e-02 -2.63128653e+01] [-1.35724909e-01 -2.01141239e-03 9.90744520e-01 -8.33184187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.965779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.31, Y:-26.36, Z:-8.34 [[ 8.68646673e-01 4.80626840e-01 1.20211475e-01 6.63085070e+01] [-4.76480840e-01 8.76921611e-01 -6.30436140e-02 -2.63551685e+01] [-1.35716493e-01 -2.51583901e-03 9.90744520e-01 -8.33675390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.025779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.36, Y:-26.38, Z:-8.35 [[ 8.67384237e-01 4.82903599e-01 1.20202742e-01 6.63641537e+01] [-4.78777013e-01 8.75668873e-01 -6.30602611e-02 -2.63824181e+01] [-1.35709826e-01 -2.85283312e-03 9.90744520e-01 -8.34728501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.085779523 meters Centerline goodness : 0.999876 with order 1 Centerline is valid? [True, True] Translation: X:66.41, Y:-26.42, Z:-8.36 [[ 8.68632398e-01 4.80659252e-01 1.20185030e-01 6.64134360e+01] [-4.76506592e-01 8.76903994e-01 -6.30939993e-02 -2.64224429e+01] [-1.35717447e-01 -2.46346710e-03 9.90744521e-01 -8.35683962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.14577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.46, Y:-26.47, Z:-8.36 [[ 8.70622824e-01 4.77049059e-01 1.20166944e-01 6.64598154e+01] [-4.72857345e-01 8.78874697e-01 -6.31284267e-02 -2.64701533e+01] [-1.35727043e-01 -1.86077302e-03 9.90744522e-01 -8.36069070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.20577952299999 meters Centerline goodness : 0.999917 with order 1 Centerline is valid? [True, True] Translation: X:66.51, Y:-26.50, Z:-8.37 [[ 8.71268207e-01 4.75873866e-01 1.20148970e-01 6.65147984e+01] [-4.71666308e-01 8.79512011e-01 -6.31626172e-02 -2.64961194e+01] [-1.35729901e-01 -1.63864082e-03 9.90744522e-01 -8.37418597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.26577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.57, Y:-26.53, Z:-8.38 [[ 8.71085000e-01 4.76213201e-01 1.20132884e-01 6.65661827e+01] [-4.72004637e-01 8.79328291e-01 -6.31931972e-02 -2.65347647e+01] [-1.35729678e-01 -1.65663223e-03 9.90744523e-01 -8.37721886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.325779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.61, Y:-26.58, Z:-8.38 [[ 8.72378966e-01 4.73843233e-01 1.20114651e-01 6.66127911e+01] [-4.69607504e-01 8.80608331e-01 -6.32278357e-02 -2.65786804e+01] [-1.35734044e-01 -1.24810749e-03 9.90744524e-01 -8.38132801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.385779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.67, Y:-26.61, Z:-8.40 [[ 8.74325341e-01 4.70246193e-01 1.20098774e-01 6.66672377e+01] [-4.65972466e-01 8.82535036e-01 -6.32579783e-02 -2.66051194e+01] [-1.35738200e-01 -6.54668505e-04 9.90744524e-01 -8.39825363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.445779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.72, Y:-26.64, Z:-8.41 [[ 8.78882557e-01 4.61676873e-01 1.20082958e-01 6.67166060e+01] [-4.57318996e-01 8.87047894e-01 -6.32879881e-02 -2.66414093e+01] [-1.35737936e-01 7.06490886e-04 9.90744525e-01 -8.41155802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.505779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.77, Y:-26.68, Z:-8.41 [[ 8.83666700e-01 4.52456631e-01 1.20067314e-01 6.67655302e+01] [-4.48009537e-01 8.91783791e-01 -6.33176532e-02 -2.66823603e+01] [-1.35722577e-01 2.16039977e-03 9.90744526e-01 -8.41011500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.56577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.82, Y:-26.71, Z:-8.42 [[ 8.86813815e-01 4.46260626e-01 1.20052950e-01 6.68206878e+01] [-4.41753145e-01 8.94897528e-01 -6.33448764e-02 -2.67102801e+01] [-1.35703413e-01 3.14134323e-03 9.90744526e-01 -8.42031284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.62577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.87, Y:-26.74, Z:-8.43 [[ 8.89559013e-01 4.40767887e-01 1.20035128e-01 6.68731255e+01] [-4.36205951e-01 8.97612120e-01 -6.33786306e-02 -2.67443317e+01] [-1.35680251e-01 4.01899492e-03 9.90744527e-01 -8.42605792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.685779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.92, Y:-26.78, Z:-8.43 [[ 8.91031671e-01 4.37787453e-01 1.20019611e-01 6.69248307e+01] [-4.33194633e-01 8.99067203e-01 -6.34080027e-02 -2.67823135e+01] [-1.35664924e-01 4.50668753e-03 9.90744527e-01 -8.42959225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.745779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:66.98, Y:-26.80, Z:-8.45 [[ 8.90951888e-01 4.37954662e-01 1.20001859e-01 6.69822366e+01] [-4.33358833e-01 8.98985699e-01 -6.34415803e-02 -2.68032976e+01] [-1.35664491e-01 4.51953009e-03 9.90744528e-01 -8.44570782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.805779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.04, Y:-26.83, Z:-8.46 [[ 8.89933115e-01 4.40025437e-01 1.19986111e-01 6.70383594e+01] [-4.35444294e-01 8.97975308e-01 -6.34713512e-02 -2.68282156e+01] [-1.35673574e-01 4.23799000e-03 9.90744529e-01 -8.45759790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.865779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.09, Y:-26.87, Z:-8.46 [[ 8.88076281e-01 4.43764031e-01 1.19975011e-01 6.70884297e+01] [-4.39213918e-01 8.96136071e-01 -6.34923255e-02 -2.68668251e+01] [-1.35689545e-01 3.69133364e-03 9.90744529e-01 -8.45747746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.92577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.14, Y:-26.89, Z:-8.47 [[ 8.90030293e-01 4.39836116e-01 1.19959448e-01 6.71449754e+01] [-4.35246482e-01 8.98067643e-01 -6.35217153e-02 -2.68868304e+01] [-1.35670844e-01 4.32432298e-03 9.90744529e-01 -8.47174015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.98577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.20, Y:-26.91, Z:-8.48 [[ 8.93193915e-01 4.33379484e-01 1.19945207e-01 6.72014343e+01] [-4.28728166e-01 9.01195726e-01 -6.35485948e-02 -2.69119675e+01] [-1.35634765e-01 5.33732946e-03 9.90744530e-01 -8.48024377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.045779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.26, Y:-26.94, Z:-8.49 [[ 8.96085264e-01 4.27373442e-01 1.19929737e-01 6.72572840e+01] [-4.22664615e-01 9.04053367e-01 -6.35777776e-02 -2.69392225e+01] [-1.35594336e-01 6.28105364e-03 9.90744530e-01 -8.48603621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.105779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.31, Y:-26.97, Z:-8.49 [[ 8.93532913e-01 4.32689129e-01 1.19912676e-01 6.73119579e+01] [-4.28023413e-01 9.01526336e-01 -6.36099392e-02 -2.69689124e+01] [-1.35627765e-01 5.51214142e-03 9.90744531e-01 -8.48519809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.165779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.37, Y:-26.98, Z:-8.50 [[ 8.91748263e-01 4.36360265e-01 1.19894765e-01 6.73733951e+01] [-4.31722933e-01 8.99758185e-01 -6.36436812e-02 -2.69848066e+01] [-1.35647870e-01 4.99282255e-03 9.90744532e-01 -8.49870385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.225779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.43, Y:-27.01, Z:-8.51 [[ 8.88982848e-01 4.41971755e-01 1.19876872e-01 6.74288834e+01] [-4.37380460e-01 8.97019245e-01 -6.36773657e-02 -2.70101224e+01] [-1.35675459e-01 4.17628439e-03 9.90744532e-01 -8.51343629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.28577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.48, Y:-27.04, Z:-8.52 [[ 8.84486009e-01 4.50907796e-01 1.19861002e-01 6.74828030e+01] [-4.46393674e-01 8.92566007e-01 -6.37072258e-02 -2.70402636e+01] [-1.35709940e-01 2.84295699e-03 9.90744533e-01 -8.52007398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.34577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.55, Y:-27.05, Z:-8.53 [[ 8.81122017e-01 4.57450660e-01 1.19845254e-01 6.75456050e+01] [-4.52992519e-01 8.89233036e-01 -6.37368359e-02 -2.70525775e+01] [-1.35726817e-01 1.87092585e-03 9.90744534e-01 -8.52920505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.40577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.60, Y:-27.09, Z:-8.54 [[ 8.76505655e-01 4.66238968e-01 1.19829304e-01 6.75977359e+01] [-4.61858062e-01 8.84658649e-01 -6.37668092e-02 -2.70866145e+01] [-1.35738601e-01 5.47838716e-04 9.90744534e-01 -8.53763054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.465779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.65, Y:-27.12, Z:-8.54 [[ 8.74377681e-01 4.70219818e-01 1.19820674e-01 6.76511456e+01] [-4.65873809e-01 8.82549330e-01 -6.37830211e-02 -2.71200546e+01] [-1.35739696e-01 -5.08637760e-05 9.90744534e-01 -8.54246689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.525779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.71, Y:-27.14, Z:-8.55 [[ 8.68776155e-01 4.80494941e-01 1.19802357e-01 6.77103241e+01] [-4.76240826e-01 8.76996017e-01 -6.38174077e-02 -2.71411716e+01] [-1.35730131e-01 -1.61173139e-03 9.90744535e-01 -8.54599035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.585779523 meters Centerline goodness : 0.999814 with order 1 Centerline is valid? [True, True] Translation: X:67.77, Y:-27.16, Z:-8.56 [[ 8.65925534e-01 4.85617334e-01 1.19786369e-01 6.77708444e+01] [-4.81407690e-01 8.74168259e-01 -6.38474040e-02 -2.71559034e+01] [-1.35718847e-01 -2.37898158e-03 9.90744536e-01 -8.56495922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.64577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.81, Y:-27.21, Z:-8.56 [[ 8.63658304e-01 4.89642337e-01 1.19769426e-01 6.78149997e+01] [-4.85466700e-01 8.71918308e-01 -6.38791708e-02 -2.72067123e+01] [-1.35707102e-01 -2.97429154e-03 9.90744536e-01 -8.56436543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.70577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.87, Y:-27.23, Z:-8.57 [[ 8.63957023e-01 4.89118988e-01 1.19753404e-01 6.78708934e+01] [-4.84934188e-01 8.72212387e-01 -6.39091928e-02 -2.72310676e+01] [-1.35709602e-01 -2.85772373e-03 9.90744537e-01 -8.57454043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.76577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.93, Y:-27.25, Z:-8.59 [[ 8.63781507e-01 4.89432476e-01 1.19738718e-01 6.79302271e+01] [-4.85246860e-01 8.72036458e-01 -6.39366968e-02 -2.72478417e+01] [-1.35709223e-01 -2.87550062e-03 9.90744537e-01 -8.58999836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.825779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:67.97, Y:-27.30, Z:-8.59 [[ 8.66443339e-01 4.84708594e-01 1.19722678e-01 6.79732916e+01] [-4.80473819e-01 8.74673178e-01 -6.39667178e-02 -2.72999440e+01] [-1.35723433e-01 -2.10007575e-03 9.90744538e-01 -8.59164718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.885779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.02, Y:-27.33, Z:-8.60 [[ 8.72501704e-01 4.73720481e-01 1.19706649e-01 6.80245999e+01] [-4.69377928e-01 8.80675186e-01 -6.39967009e-02 -2.73334632e+01] [-1.35739223e-01 -3.50428178e-04 9.90744538e-01 -8.60121347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.945779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.08, Y:-27.36, Z:-8.62 [[ 8.75027130e-01 4.69043384e-01 1.19690539e-01 6.80785019e+01] [-4.64653023e-01 8.83175031e-01 -6.40268160e-02 -2.73590079e+01] [-1.35739050e-01 4.10630266e-04 9.90744539e-01 -8.61523514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.005779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.12, Y:-27.40, Z:-8.62 [[ 8.78051105e-01 4.63361561e-01 1.19675895e-01 6.81248325e+01] [-4.58914748e-01 8.86168334e-01 -6.40541762e-02 -2.74038921e+01] [-1.35733232e-01 1.32180685e-03 9.90744540e-01 -8.61767541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.06577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.17, Y:-27.44, Z:-8.62 [[ 8.81849787e-01 4.56094948e-01 1.19659319e-01 6.81748019e+01] [-4.51577057e-01 8.89927670e-01 -6.40851267e-02 -2.74407828e+01] [-1.35717042e-01 2.47805207e-03 9.90744540e-01 -8.62427299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.12577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.23, Y:-27.47, Z:-8.64 [[ 8.82303417e-01 4.55220853e-01 1.19643871e-01 6.82303827e+01] [-4.50691052e-01 8.90374627e-01 -6.41139555e-02 -2.74671690e+01] [-1.35713876e-01 2.64553992e-03 9.90744541e-01 -8.63624836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.185779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.28, Y:-27.50, Z:-8.63 [[ 8.81461761e-01 4.56853026e-01 1.19626403e-01 6.82811257e+01] [-4.52333752e-01 8.89538869e-01 -6.41465304e-02 -2.75041732e+01] [-1.35717872e-01 2.43165370e-03 9.90744541e-01 -8.63462039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.245779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.33, Y:-27.53, Z:-8.64 [[ 8.82711233e-01 4.54437859e-01 1.19612337e-01 6.83343054e+01] [-4.49892936e-01 8.90773936e-01 -6.41727484e-02 -2.75347727e+01] [-1.35710079e-01 2.83326022e-03 9.90744542e-01 -8.64298808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.305779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.39, Y:-27.56, Z:-8.66 [[ 8.84988419e-01 4.49991376e-01 1.19596235e-01 6.83866309e+01] [-4.45401897e-01 8.93025844e-01 -6.42027445e-02 -2.75626984e+01] [-1.35693210e-01 3.55029545e-03 9.90744542e-01 -8.66022581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.365779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.44, Y:-27.59, Z:-8.67 [[ 8.87120839e-01 4.45776718e-01 1.19581498e-01 6.84404134e+01] [-4.41145367e-01 8.95134207e-01 -6.42301813e-02 -2.75927655e+01] [-1.35673809e-01 4.22710856e-03 9.90744543e-01 -8.66693089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.42577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.49, Y:-27.62, Z:-8.67 [[ 8.88873227e-01 4.42276311e-01 1.19566098e-01 6.84947827e+01] [-4.37609559e-01 8.96866030e-01 -6.42588358e-02 -2.76234328e+01] [-1.35654933e-01 4.79469127e-03 9.90744543e-01 -8.67446333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.48577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.55, Y:-27.65, Z:-8.68 [[ 8.89118516e-01 4.41787792e-01 1.19548367e-01 6.85492611e+01] [-4.37112222e-01 8.97106164e-01 -6.42918064e-02 -2.76542693e+01] [-1.35650912e-01 4.90698310e-03 9.90744544e-01 -8.67829662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.545779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.61, Y:-27.67, Z:-8.69 [[ 8.86107262e-01 4.47798624e-01 1.19542098e-01 6.86066809e+01] [-4.43175683e-01 8.94125483e-01 -6.43034601e-02 -2.76746088e+01] [-1.35680637e-01 4.00161192e-03 9.90744544e-01 -8.68662948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.605779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.66, Y:-27.70, Z:-8.70 [[ 8.82614473e-01 4.54648514e-01 1.19525815e-01 6.86629507e+01] [-4.50083721e-01 8.90665940e-01 -6.43337132e-02 -2.76998389e+01] [-1.35706799e-01 2.98524279e-03 9.90744545e-01 -8.69790435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.665779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.72, Y:-27.73, Z:-8.70 [[ 8.79373935e-01 4.60889202e-01 1.19509944e-01 6.87170116e+01] [-4.56377553e-01 8.87455300e-01 -6.43631816e-02 -2.77312031e+01] [-1.35724029e-01 2.05764817e-03 9.90744545e-01 -8.70333662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.725779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.77, Y:-27.76, Z:-8.71 [[ 8.78021322e-01 4.63462270e-01 1.19504319e-01 6.87726301e+01] [-4.58972884e-01 8.86115076e-01 -6.43736247e-02 -2.77558845e+01] [-1.35729325e-01 1.67217310e-03 9.90744545e-01 -8.71013402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.78577952299999 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:68.83, Y:-27.78, Z:-8.73 [[ 8.78459614e-01 4.62634697e-01 1.19489931e-01 6.88288937e+01] [-4.58134056e-01 8.86547114e-01 -6.44003217e-02 -2.77796109e+01] [-1.35727276e-01 1.83067525e-03 9.90744546e-01 -8.72742336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.84577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.88, Y:-27.81, Z:-8.73 [[ 8.78309155e-01 4.62921865e-01 1.19483787e-01 6.88821567e+01] [-4.58422318e-01 8.86397264e-01 -6.44117174e-02 -2.78095184e+01] [-1.35727694e-01 1.79936630e-03 9.90744546e-01 -8.72900583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.90577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.94, Y:-27.84, Z:-8.74 [[ 8.80629379e-01 4.58496821e-01 1.19467829e-01 6.89354586e+01] [-4.53952624e-01 8.88692485e-01 -6.44413019e-02 -2.78380470e+01] [-1.35716294e-01 2.51616894e-03 9.90744546e-01 -8.73768641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.965779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.99, Y:-27.87, Z:-8.74 [[ 8.82545632e-01 4.54799765e-01 1.19458702e-01 6.89909722e+01] [-4.50219506e-01 8.90588308e-01 -6.44582172e-02 -2.78666058e+01] [-1.35704106e-01 3.10468011e-03 9.90744547e-01 -8.74303962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.025779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.05, Y:-27.89, Z:-8.75 [[ 8.85275759e-01 4.49466602e-01 1.19442893e-01 6.90473775e+01] [-4.44833954e-01 8.93288372e-01 -6.44874998e-02 -2.78935957e+01] [-1.35681924e-01 3.95696614e-03 9.90744547e-01 -8.75131643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.085779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.10, Y:-27.92, Z:-8.77 [[ 8.86308813e-01 4.47430833e-01 1.19425033e-01 6.91032786e+01] [-4.42775333e-01 8.94308170e-01 -6.45205579e-02 -2.79163908e+01] [-1.35671269e-01 4.30668048e-03 9.90744548e-01 -8.76760618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.14577952299999 meters Centerline goodness : 0.999873 with order 1 Centerline is valid? [True, True] Translation: X:69.16, Y:-27.95, Z:-8.78 [[ 8.87741887e-01 4.44584931e-01 1.19409305e-01 6.91563470e+01] [-4.39899882e-01 8.95723973e-01 -6.45496524e-02 -2.79473045e+01] [-1.35655580e-01 4.77529097e-03 9.90744548e-01 -8.77707657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.20577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.21, Y:-27.97, Z:-8.78 [[ 8.89363766e-01 4.41335883e-01 1.19393177e-01 6.92145223e+01] [-4.36617683e-01 8.97326301e-01 -6.45794695e-02 -2.79689607e+01] [-1.35635875e-01 5.30546785e-03 9.90744549e-01 -8.78058296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.26577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.27, Y:-27.99, Z:-8.79 [[ 8.90974049e-01 4.38077203e-01 1.19388475e-01 6.92712896e+01] [-4.33328724e-01 8.98918565e-01 -6.45881611e-02 -2.79944874e+01] [-1.35615118e-01 5.81191983e-03 9.90744549e-01 -8.78567324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.325779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.32, Y:-28.03, Z:-8.79 [[ 8.91684603e-01 4.36633567e-01 1.19372098e-01 6.93231254e+01] [-4.31868187e-01 8.99618991e-01 -6.46184156e-02 -2.80305765e+01] [-1.35603975e-01 6.06623474e-03 9.90744550e-01 -8.79324099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.385779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.38, Y:-28.05, Z:-8.80 [[ 8.91814471e-01 4.36370695e-01 1.19363164e-01 6.93794080e+01] [-4.31600775e-01 8.99746130e-01 -6.46349139e-02 -2.80529080e+01] [-1.35601327e-01 6.12511751e-03 9.90744550e-01 -8.80214869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.445779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.44, Y:-28.07, Z:-8.82 [[ 8.87566206e-01 4.44952367e-01 1.19346647e-01 6.94378600e+01] [-4.40255080e-01 8.95541094e-01 -6.46653982e-02 -2.80716124e+01] [-1.35652849e-01 4.85185456e-03 9.90744550e-01 -8.81638967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.505779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.49, Y:-28.10, Z:-8.82 [[ 8.86877526e-01 4.46325038e-01 1.19340752e-01 6.94916166e+01] [-4.41638633e-01 8.94858814e-01 -6.46762750e-02 -2.80989544e+01] [-1.35659765e-01 4.65444800e-03 9.90744550e-01 -8.82490330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.56577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.55, Y:-28.13, Z:-8.83 [[ 8.84731698e-01 4.50567920e-01 1.19324652e-01 6.95480144e+01] [-4.45915798e-01 8.92733017e-01 -6.47059657e-02 -2.81266758e+01] [-1.35679489e-01 4.03867143e-03 9.90744551e-01 -8.82663177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.62577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.61, Y:-28.14, Z:-8.84 [[ 8.79678900e-01 4.60359156e-01 1.19308342e-01 6.96079512e+01] [-4.55792046e-01 8.87729045e-01 -6.47360255e-02 -2.81434944e+01] [-1.35715302e-01 2.56712254e-03 9.90744552e-01 -8.84005041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.685779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.66, Y:-28.17, Z:-8.85 [[ 8.73937304e-01 4.71170730e-01 1.19296823e-01 6.96642506e+01] [-4.66700330e-01 8.82041553e-01 -6.47572463e-02 -2.81677533e+01] [-1.35736474e-01 9.17906688e-04 9.90744552e-01 -8.85154744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.745779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.72, Y:-28.20, Z:-8.86 [[ 8.71494918e-01 4.75677135e-01 1.19280639e-01 6.97165915e+01] [-4.71244564e-01 8.79619918e-01 -6.47870420e-02 -2.82002685e+01] [-1.35739341e-01 2.51225037e-04 9.90744552e-01 -8.85599842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.805779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.77, Y:-28.23, Z:-8.86 [[ 8.69878600e-01 4.78630798e-01 1.19263493e-01 6.97727059e+01] [-4.74221490e-01 8.78016246e-01 -6.48185902e-02 -2.82286824e+01] [-1.35739458e-01 -1.73006945e-04 9.90744553e-01 -8.86350532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.865779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.83, Y:-28.25, Z:-8.87 [[ 8.67520036e-01 4.82897062e-01 1.19245188e-01 6.98325363e+01] [-4.78523145e-01 8.75676759e-01 -6.48522495e-02 -2.82459980e+01] [-1.35737200e-01 -8.00956338e-04 9.90744554e-01 -8.87465632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.92577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.88, Y:-28.28, Z:-8.88 [[ 8.65404585e-01 4.86682000e-01 1.19228918e-01 6.98844453e+01] [-4.82339636e-01 8.73578149e-01 -6.48821467e-02 -2.82817389e+01] [-1.35732751e-01 -1.35952577e-03 9.90744554e-01 -8.88329591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.98577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.93, Y:-28.32, Z:-8.89 [[ 8.63856396e-01 4.89429272e-01 1.19210382e-01 6.99339654e+01] [-4.85108204e-01 8.72041237e-01 -6.49161870e-02 -2.83169432e+01] [-1.35728251e-01 -1.75167082e-03 9.90744555e-01 -8.89297675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.045779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:69.99, Y:-28.34, Z:-8.91 [[ 8.65852313e-01 4.85893703e-01 1.19193461e-01 6.99931248e+01] [-4.81534936e-01 8.74017140e-01 -6.49472401e-02 -2.83356745e+01] [-1.35734583e-01 -1.16109758e-03 9.90744556e-01 -8.90722275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.105779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.04, Y:-28.38, Z:-8.91 [[ 8.65876761e-01 4.85854409e-01 1.19176037e-01 7.00402939e+01] [-4.81490873e-01 8.74039040e-01 -6.49791965e-02 -2.83797308e+01] [-1.35734938e-01 -1.11819816e-03 9.90744556e-01 -8.90596147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.165779523 meters Centerline goodness : 0.999834 with order 1 Centerline is valid? [True, True] Translation: X:70.09, Y:-28.41, Z:-8.92 [[ 8.67247215e-01 4.83408070e-01 1.19159164e-01 7.00923249e+01] [-4.79017260e-01 8.75394853e-01 -6.50101245e-02 -2.84123885e+01] [-1.35737738e-01 -6.99446854e-04 9.90744557e-01 -8.91724795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.225779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.15, Y:-28.44, Z:-8.93 [[ 8.68736289e-01 4.80730987e-01 1.19142684e-01 7.01475917e+01] [-4.76310928e-01 8.76868096e-01 -6.50403139e-02 -2.84384616e+01] [-1.35739312e-01 -2.46081228e-04 9.90744558e-01 -8.92507174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.28577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.20, Y:-28.48, Z:-8.93 [[ 8.69443091e-01 4.79456455e-01 1.19122709e-01 7.01966969e+01] [-4.75019465e-01 8.77565672e-01 -6.50768783e-02 -2.84795754e+01] [-1.35739529e-01 -4.96302820e-06 9.90744559e-01 -8.92884153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.34577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.25, Y:-28.51, Z:-8.95 [[ 8.68587284e-01 4.81010109e-01 1.19102497e-01 7.02478755e+01] [-4.76582578e-01 8.76715024e-01 -6.51138476e-02 -2.85090237e+01] [-1.35739368e-01 -2.05115294e-04 9.90744559e-01 -8.94740041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.40577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.30, Y:-28.54, Z:-8.96 [[ 8.66777116e-01 4.84268387e-01 1.19086356e-01 7.02999364e+01] [-4.79867354e-01 8.74919234e-01 -6.51433557e-02 -2.85407873e+01] [-1.35737811e-01 -6.80884521e-04 9.90744560e-01 -8.95883903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.465779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.35, Y:-28.58, Z:-8.96 [[ 8.65203327e-01 4.87078937e-01 1.19068516e-01 7.03505112e+01] [-4.82699867e-01 8.73357278e-01 -6.51759466e-02 -2.85798211e+01] [-1.35735186e-01 -1.08391110e-03 9.90744561e-01 -8.95866739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.525779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.40, Y:-28.61, Z:-8.97 [[ 8.63621541e-01 4.89882216e-01 1.19051456e-01 7.04015095e+01] [-4.85525319e-01 8.71787359e-01 -6.52070944e-02 -2.86137772e+01] [-1.35731350e-01 -1.48824480e-03 9.90744561e-01 -8.96767833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.585779523 meters Centerline goodness : 0.999557 with order 1 Centerline is valid? [True, True] Translation: X:70.45, Y:-28.64, Z:-8.99 [[ 8.60976354e-01 4.94517864e-01 1.19045370e-01 7.04522229e+01] [-4.90203393e-01 8.69164668e-01 -6.52182028e-02 -2.86444381e+01] [-1.35721596e-01 -2.20511397e-03 9.90744561e-01 -8.98573265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.64577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.50, Y:-28.68, Z:-8.99 [[ 8.60770949e-01 4.94879336e-01 1.19028637e-01 7.05004606e+01] [-4.90564084e-01 8.68958850e-01 -6.52487280e-02 -2.86849010e+01] [-1.35721235e-01 -2.22696488e-03 9.90744562e-01 -8.98626176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.70577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.55, Y:-28.72, Z:-8.98 [[ 8.60868918e-01 4.94712848e-01 1.19012204e-01 7.05522562e+01] [-4.90391871e-01 8.69053799e-01 -6.52786882e-02 -2.87222733e+01] [-1.35722214e-01 -2.16622384e-03 9.90744563e-01 -8.98497263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.76577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.61, Y:-28.75, Z:-9.00 [[ 8.60921205e-01 4.94626725e-01 1.18991938e-01 7.06066763e+01] [-4.90299828e-01 8.69102957e-01 -6.53156086e-02 -2.87516948e+01] [-1.35723091e-01 -2.11013435e-03 9.90744563e-01 -9.00047208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.825779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.65, Y:-28.79, Z:-9.01 [[ 8.62787543e-01 4.91368545e-01 1.18973144e-01 7.06533309e+01] [-4.87006031e-01 8.70950358e-01 -6.53498246e-02 -2.87940519e+01] [-1.35730551e-01 -1.55762416e-03 9.90744564e-01 -9.00763188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.885779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.70, Y:-28.83, Z:-9.02 [[ 8.67209045e-01 4.83526373e-01 1.18956794e-01 7.07029953e+01] [-4.79085954e-01 8.75329744e-01 -6.53795729e-02 -2.88293499e+01] [-1.35739168e-01 -2.92772294e-04 9.90744565e-01 -9.02448519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.945779523 meters Centerline goodness : 0.998233 with order 1 Centerline is valid? [True, True] Translation: X:70.76, Y:-28.86, Z:-9.04 [[ 8.69014843e-01 4.80274840e-01 1.18950753e-01 7.07562616e+01] [-4.75802531e-01 8.77118023e-01 -6.53905626e-02 -2.88567600e+01] [-1.35739291e-01 2.28300179e-04 9.90744565e-01 -9.03781593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.005779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.80, Y:-28.91, Z:-9.03 [[ 8.70278330e-01 4.77985799e-01 1.18933613e-01 7.08011361e+01] [-4.73487918e-01 8.78367343e-01 -6.54217220e-02 -2.89083963e+01] [-1.35738056e-01 6.21477983e-04 9.90744565e-01 -9.02655511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.06577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.85, Y:-28.94, Z:-9.04 [[ 8.71106237e-01 4.76479986e-01 1.18914876e-01 7.08532716e+01] [-4.71963475e-01 8.79184862e-01 -6.54557634e-02 -2.89387248e+01] [-1.35736520e-01 8.95445844e-04 9.90744566e-01 -9.04008402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.12577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.91, Y:-28.97, Z:-9.06 [[ 8.71565506e-01 4.75643584e-01 1.18898065e-01 7.09078738e+01] [-4.71115157e-01 8.79637457e-01 -6.54862851e-02 -2.89670687e+01] [-1.35735323e-01 1.06090663e-03 9.90744567e-01 -9.05560328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.185779523 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:70.95, Y:-29.01, Z:-9.06 [[ 8.73597525e-01 4.71905762e-01 1.18879420e-01 7.09541109e+01] [-4.67338196e-01 8.81647393e-01 -6.55201143e-02 -2.90117416e+01] [-1.35729050e-01 1.68131587e-03 9.90744568e-01 -9.05957295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.245779523 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:71.00, Y:-29.05, Z:-9.07 [[ 8.74892632e-01 4.69504437e-01 1.18863221e-01 7.10036629e+01] [-4.64910788e-01 8.82927643e-01 -6.55494884e-02 -2.90479577e+01] [-1.35723400e-01 2.08797044e-03 9.90744568e-01 -9.06687541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.305779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.06, Y:-29.07, Z:-9.08 [[ 8.76234089e-01 4.66998409e-01 1.18854141e-01 7.10598085e+01] [-4.62379549e-01 8.84254635e-01 -6.55659487e-02 -2.90724342e+01] [-1.35716519e-01 2.49539516e-03 9.90744568e-01 -9.07918489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.365779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.11, Y:-29.11, Z:-9.09 [[ 8.77756170e-01 4.64135422e-01 1.18837770e-01 7.11117993e+01] [-4.59486390e-01 8.85759264e-01 -6.55956072e-02 -2.91058974e+01] [-1.35706901e-01 2.97261075e-03 9.90744569e-01 -9.08847175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.42577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.16, Y:-29.15, Z:-9.09 [[ 8.78875949e-01 4.62015735e-01 1.18821411e-01 7.11601169e+01] [-4.57343401e-01 8.86865460e-01 -6.56252283e-02 -2.91482496e+01] [-1.35698493e-01 3.33424669e-03 9.90744569e-01 -9.08991712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.48577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.21, Y:-29.18, Z:-9.10 [[ 8.82080316e-01 4.55872381e-01 1.18805254e-01 7.12128969e+01] [-4.51140483e-01 8.90034694e-01 -6.56544644e-02 -2.91795224e+01] [-1.35670855e-01 4.31465086e-03 9.90744570e-01 -9.10351766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.545779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.27, Y:-29.21, Z:-9.12 [[ 8.84688965e-01 4.50791291e-01 1.18796659e-01 7.12677363e+01] [-4.46011635e-01 8.92614738e-01 -6.56700129e-02 -2.92064446e+01] [-1.35643119e-01 5.11284352e-03 9.90744570e-01 -9.11977180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.605779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.32, Y:-29.24, Z:-9.12 [[ 8.85096652e-01 4.49995085e-01 1.18778535e-01 7.13175178e+01] [-4.45203911e-01 8.93015466e-01 -6.57027790e-02 -2.92446534e+01] [-1.35636996e-01 5.27264165e-03 9.90744571e-01 -9.11974365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.665779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.37, Y:-29.27, Z:-9.13 [[ 8.84342739e-01 4.51478713e-01 1.18764016e-01 7.13722241e+01] [-4.46697308e-01 8.92267455e-01 -6.57290120e-02 -2.92743224e+01] [-1.35644516e-01 5.07540809e-03 9.90744571e-01 -9.12533905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.725779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.43, Y:-29.29, Z:-9.14 [[ 8.82815334e-01 4.54462681e-01 1.18746611e-01 7.14290586e+01] [-4.49703844e-01 8.90753623e-01 -6.57604417e-02 -2.92947049e+01] [-1.35659641e-01 4.65351889e-03 9.90744572e-01 -9.13689626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.78577952299999 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:71.48, Y:-29.32, Z:-9.15 [[ 8.82290983e-01 4.55481775e-01 1.18739100e-01 7.14848873e+01] [-4.50730286e-01 8.90233672e-01 -6.57740005e-02 -2.93234704e+01] [-1.35664404e-01 4.51249900e-03 9.90744572e-01 -9.14519082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.84577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.54, Y:-29.35, Z:-9.16 [[ 8.75178979e-01 4.69004124e-01 1.18730313e-01 7.15365134e+01] [-4.64373265e-01 8.83192598e-01 -6.57898590e-02 -2.93539153e+01] [-1.35717449e-01 2.44271853e-03 9.90744572e-01 -9.15657236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.90577952299999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:71.59, Y:-29.38, Z:-9.17 [[ 8.70266039e-01 4.78062750e-01 1.18714061e-01 7.15919522e+01] [-4.73511320e-01 8.78325035e-01 -6.58191723e-02 -2.93789251e+01] [-1.35735226e-01 1.06773881e-03 9.90744573e-01 -9.16524848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.965779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.64, Y:-29.41, Z:-9.17 [[ 8.67268295e-01 4.83483325e-01 1.18699530e-01 7.16442898e+01] [-4.78978680e-01 8.75353535e-01 -6.58453677e-02 -2.94088189e+01] [-1.35739190e-01 2.51055761e-04 9.90744573e-01 -9.17271139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.025779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.70, Y:-29.44, Z:-9.18 [[ 8.65296436e-01 4.87007087e-01 1.18685195e-01 7.16991352e+01] [-4.82531825e-01 8.73397976e-01 -6.58711949e-02 -2.94372505e+01] [-1.35739148e-01 -2.71273679e-04 9.90744574e-01 -9.18187699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.085779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.75, Y:-29.47, Z:-9.19 [[ 8.60819606e-01 4.94881127e-01 1.18668768e-01 7.17517775e+01] [-4.90475886e-01 8.68959431e-01 -6.59007764e-02 -2.94684931e+01] [-1.35731396e-01 -1.47548868e-03 9.90744574e-01 -9.18853337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.14577952299999 meters Centerline goodness : 0.999843 with order 1 Centerline is valid? [True, True] Translation: X:71.80, Y:-29.50, Z:-9.20 [[ 8.58776075e-01 4.98420909e-01 1.18660233e-01 7.18048728e+01] [-4.94047094e-01 8.66932830e-01 -6.59161415e-02 -2.95018407e+01] [-1.35724434e-01 -2.01653772e-03 9.90744574e-01 -9.19522129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.20577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.86, Y:-29.53, Z:-9.21 [[ 8.55547585e-01 5.03946763e-01 1.18642274e-01 7.18604147e+01] [-4.99621145e-01 8.63730001e-01 -6.59484485e-02 -2.95299951e+01] [-1.35709399e-01 -2.85415316e-03 9.90744575e-01 -9.20640853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.26577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.91, Y:-29.56, Z:-9.22 [[ 8.53014573e-01 5.08226838e-01 1.18623861e-01 7.19109096e+01] [-5.03937669e-01 8.61216152e-01 -6.59815528e-02 -2.95622026e+01] [-1.35694381e-01 -3.49580596e-03 9.90744576e-01 -9.21765954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.325779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.96, Y:-29.59, Z:-9.22 [[ 8.56385356e-01 5.02529598e-01 1.18609130e-01 7.19640231e+01] [-4.98182190e-01 8.64556213e-01 -6.60080239e-02 -2.95934591e+01] [-1.35715246e-01 -2.56065098e-03 9.90744576e-01 -9.22279068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.385779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.01, Y:-29.63, Z:-9.23 [[ 8.55386989e-01 5.04231136e-01 1.18591993e-01 7.20133165e+01] [-4.99895717e-01 8.63564213e-01 -6.60387975e-02 -2.96284849e+01] [-1.35710619e-01 -2.79490132e-03 9.90744577e-01 -9.23447330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.445779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.06, Y:-29.66, Z:-9.24 [[ 8.56743049e-01 5.01927255e-01 1.18576465e-01 7.20634945e+01] [-4.97565988e-01 8.64906517e-01 -6.60666681e-02 -2.96620163e+01] [-1.35718218e-01 -2.39745714e-03 9.90744577e-01 -9.24472066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.505779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.11, Y:-29.70, Z:-9.24 [[ 8.58322594e-01 4.99224871e-01 1.18561598e-01 7.21143122e+01] [-4.94834217e-01 8.66470293e-01 -6.60933365e-02 -2.97007326e+01] [-1.35725540e-01 -1.93893158e-03 9.90744578e-01 -9.23957396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.56577952299999 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:72.17, Y:-29.73, Z:-9.25 [[ 8.59773652e-01 4.96725414e-01 1.18545901e-01 7.21700486e+01] [-4.92307192e-01 8.67906434e-01 -6.61214792e-02 -2.97258765e+01] [-1.35730969e-01 -1.51149410e-03 9.90744578e-01 -9.25469576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.62577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.23, Y:-29.75, Z:-9.27 [[ 8.62119498e-01 4.92646579e-01 1.18529826e-01 7.22262229e+01] [-4.88185916e-01 8.70229080e-01 -6.61502835e-02 -2.97496293e+01] [-1.35736812e-01 -8.35142448e-04 9.90744579e-01 -9.26807544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.685779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.28, Y:-29.79, Z:-9.27 [[ 8.68568154e-01 4.81190278e-01 1.18512779e-01 7.22777515e+01] [-4.76618483e-01 8.76615607e-01 -6.61808110e-02 -2.97880435e+01] [-1.35735714e-01 9.97164129e-04 9.90744579e-01 -9.26631457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.745779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.33, Y:-29.81, Z:-9.28 [[ 8.72618483e-01 4.73810120e-01 1.18494533e-01 7.23336418e+01] [-4.69165838e-01 8.80624321e-01 -6.62134630e-02 -2.98127679e+01] [-1.35721777e-01 2.18550474e-03 9.90744580e-01 -9.27930072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.805779523 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:72.39, Y:-29.84, Z:-9.29 [[ 8.77515269e-01 4.64682462e-01 1.18478527e-01 7.23876627e+01] [-4.59951066e-01 8.85469933e-01 -6.62420917e-02 -2.98407999e+01] [-1.35690711e-01 3.63412234e-03 9.90744581e-01 -9.29288720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.865779523 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:72.44, Y:-29.87, Z:-9.30 [[ 8.80422758e-01 4.59154122e-01 1.18462054e-01 7.24404648e+01] [-4.54368832e-01 8.88345118e-01 -6.62715373e-02 -2.98736665e+01] [-1.35664037e-01 4.52150455e-03 9.90744581e-01 -9.29657485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.92577952299999 meters Centerline goodness : 0.999910 with order 1 Centerline is valid? [True, True] Translation: X:72.50, Y:-29.90, Z:-9.31 [[ 8.84911275e-01 4.50447436e-01 1.18444678e-01 7.24978211e+01] [-4.45580089e-01 8.92783486e-01 -6.63025788e-02 -2.98958774e+01] [-1.35611279e-01 5.89530955e-03 9.90744582e-01 -9.30581528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.98577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.55, Y:-29.92, Z:-9.31 [[ 8.89085622e-01 4.42155231e-01 1.18429339e-01 7.25540532e+01] [-4.37210869e-01 8.96909690e-01 -6.63299651e-02 -2.99228450e+01] [-1.35548563e-01 7.19442401e-03 9.90744582e-01 -9.31206739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.045779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.61, Y:-29.95, Z:-9.31 [[ 8.87562178e-01 4.45209827e-01 1.18412800e-01 7.26077137e+01] [-4.40288473e-01 8.95400737e-01 -6.63594777e-02 -2.99541810e+01] [-1.35570800e-01 6.76237162e-03 9.90744583e-01 -9.31182327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.105779523 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:72.67, Y:-29.98, Z:-9.32 [[ 8.86038279e-01 4.48238027e-01 1.18401180e-01 7.26658263e+01] [-4.43340707e-01 8.93891876e-01 -6.63802043e-02 -2.99768707e+01] [-1.35591985e-01 6.32333907e-03 9.90744583e-01 -9.32493125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.165779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.72, Y:-30.00, Z:-9.33 [[ 8.83477667e-01 4.53268974e-01 1.18382642e-01 7.27218613e+01] [-4.48411971e-01 8.91356261e-01 -6.64132494e-02 -3.00002622e+01] [-1.35624174e-01 5.59042878e-03 9.90744584e-01 -9.33483367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.225779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.78, Y:-30.03, Z:-9.34 [[ 8.81825656e-01 4.56476942e-01 1.18373620e-01 7.27770909e+01] [-4.51646452e-01 8.89720533e-01 -6.64293258e-02 -3.00305259e+01] [-1.35642896e-01 5.11605829e-03 9.90744584e-01 -9.34049862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.28577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.84, Y:-30.05, Z:-9.35 [[ 8.82773931e-01 4.54645076e-01 1.18355573e-01 7.28360958e+01] [-4.49793905e-01 8.90656116e-01 -6.64614643e-02 -3.00497541e+01] [-1.35630493e-01 5.43483270e-03 9.90744585e-01 -9.35290948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.34577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.90, Y:-30.07, Z:-9.36 [[ 8.84191801e-01 4.51885549e-01 1.18339809e-01 7.28956590e+01] [-4.47006035e-01 8.92056471e-01 -6.64895220e-02 -3.00698393e+01] [-1.35611446e-01 5.89088140e-03 9.90744585e-01 -9.36349517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.40577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.95, Y:-30.10, Z:-9.37 [[ 8.83946875e-01 4.52369540e-01 1.18320420e-01 7.29512762e+01] [-4.47489728e-01 8.91811359e-01 -6.65240069e-02 -3.00997110e+01] [-1.35612929e-01 5.85651530e-03 9.90744586e-01 -9.36569679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.465779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.01, Y:-30.12, Z:-9.37 [[ 8.85336416e-01 4.49649270e-01 1.18300316e-01 7.30082641e+01] [-4.44740535e-01 8.93182880e-01 -6.65597398e-02 -3.01234289e+01] [-1.35592355e-01 6.31481571e-03 9.90744587e-01 -9.37200908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.525779523 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:73.06, Y:-30.15, Z:-9.38 [[ 8.87641475e-01 4.45086558e-01 1.18281733e-01 7.30644972e+01] [-4.40133120e-01 8.95459794e-01 -6.65927466e-02 -3.01474536e+01] [-1.35556073e-01 7.05077551e-03 9.90744588e-01 -9.38342813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.585779523 meters Centerline goodness : 0.999871 with order 1 Centerline is valid? [True, True] Translation: X:73.12, Y:-30.17, Z:-9.40 [[ 8.89029933e-01 4.42308080e-01 1.18276540e-01 7.31211124e+01] [-4.37328991e-01 8.96831941e-01 -6.66019692e-02 -3.01664843e+01] [-1.35532768e-01 7.48538432e-03 9.90744588e-01 -9.40360314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.64577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.18, Y:-30.19, Z:-9.40 [[ 8.89246896e-01 4.41875697e-01 1.18261686e-01 7.31794612e+01] [-4.36889322e-01 8.97044250e-01 -6.66283337e-02 -3.01902122e+01] [-1.35527407e-01 7.58177107e-03 9.90744588e-01 -9.40401168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.70577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.24, Y:-30.21, Z:-9.40 [[ 8.87181847e-01 4.46011751e-01 1.18245036e-01 7.32370728e+01] [-4.41057816e-01 8.94999850e-01 -6.66578708e-02 -3.02143424e+01] [-1.35559483e-01 6.98475577e-03 9.90744589e-01 -9.39828158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.76577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.29, Y:-30.24, Z:-9.41 [[ 8.87026758e-01 4.46322584e-01 1.18235701e-01 7.32933675e+01] [-4.41369190e-01 8.94845104e-01 -6.66744234e-02 -3.02396383e+01] [-1.35560939e-01 6.95640198e-03 9.90744589e-01 -9.40774827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.825779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.35, Y:-30.26, Z:-9.42 [[ 8.87113875e-01 4.46153658e-01 1.18219650e-01 7.33534936e+01] [-4.41194997e-01 8.94928881e-01 -6.67028719e-02 -3.02602854e+01] [-1.35557909e-01 7.01512516e-03 9.90744589e-01 -9.41740661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.885779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.41, Y:-30.28, Z:-9.43 [[ 8.88143903e-01 4.44104648e-01 1.18200972e-01 7.34148923e+01] [-4.39123574e-01 8.95944641e-01 -6.67359536e-02 -3.02782300e+01] [-1.35539275e-01 7.36629696e-03 9.90744590e-01 -9.42665164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.945779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.47, Y:-30.30, Z:-9.44 [[ 8.88732906e-01 4.42929828e-01 1.18182014e-01 7.34720730e+01] [-4.37933999e-01 8.96524202e-01 -6.67695106e-02 -3.02984415e+01] [-1.35527243e-01 7.58433944e-03 9.90744591e-01 -9.44033317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.005779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.53, Y:-30.33, Z:-9.45 [[ 8.89136974e-01 4.42122190e-01 1.18166873e-01 7.35284411e+01] [-4.37115740e-01 8.96921449e-01 -6.67962953e-02 -3.03265428e+01] [-1.35518527e-01 7.73845575e-03 9.90744591e-01 -9.44632276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.06577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.59, Y:-30.34, Z:-9.45 [[ 8.88489715e-01 4.43426296e-01 1.18148832e-01 7.35912169e+01] [-4.38427048e-01 8.96278816e-01 -6.68281912e-02 -3.03414139e+01] [-1.35527673e-01 7.57651693e-03 9.90744592e-01 -9.45075629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.12577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.65, Y:-30.36, Z:-9.46 [[ 8.86554350e-01 4.47287305e-01 1.18133191e-01 7.36495675e+01] [-4.42318319e-01 8.94362791e-01 -6.68558279e-02 -3.03616039e+01] [-1.35557694e-01 7.01885029e-03 9.90744592e-01 -9.46370776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.185779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.70, Y:-30.39, Z:-9.47 [[ 8.82494801e-01 4.55248718e-01 1.18116603e-01 7.37046633e+01] [-4.50346303e-01 8.90345207e-01 -6.68851218e-02 -3.03886698e+01] [-1.35613918e-01 5.83239662e-03 9.90744593e-01 -9.46932007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.245779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.77, Y:-30.41, Z:-9.47 [[ 8.77376455e-01 4.65041038e-01 1.18099066e-01 7.37669921e+01] [-4.60222126e-01 8.85278394e-01 -6.69160728e-02 -3.04053480e+01] [-1.35669272e-01 4.35878335e-03 9.90744594e-01 -9.47424733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.305779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.83, Y:-30.42, Z:-9.49 [[ 8.72994138e-01 4.73220580e-01 1.18082676e-01 7.38261759e+01] [-4.68471821e-01 8.80938433e-01 -6.69449836e-02 -3.04239321e+01] [-1.35703312e-01 3.12417199e-03 9.90744594e-01 -9.48804103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.365779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.88, Y:-30.46, Z:-9.50 [[ 8.66163814e-01 4.85613651e-01 1.18066206e-01 7.38796298e+01] [-4.80974631e-01 8.74172686e-01 -6.69740186e-02 -3.04552688e+01] [-1.35733750e-01 1.22362164e-03 9.90744595e-01 -9.49531471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.42577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.94, Y:-30.48, Z:-9.50 [[ 8.60386133e-01 4.95781020e-01 1.18054571e-01 7.39394228e+01] [-4.91233832e-01 8.68447498e-01 -6.69945215e-02 -3.04773054e+01] [-1.35738809e-01 -3.51241790e-04 9.90744595e-01 -9.50311936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.48577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.00, Y:-30.50, Z:-9.52 [[ 8.57537584e-01 5.00696294e-01 1.18036065e-01 7.39964367e+01] [-4.96190824e-01 8.65622338e-01 -6.70271098e-02 -3.04997434e+01] [-1.35734880e-01 -1.09014685e-03 9.90744596e-01 -9.51565877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.545779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.05, Y:-30.54, Z:-9.52 [[ 8.55280913e-01 5.04545432e-01 1.18018930e-01 7.40451926e+01] [-5.00072183e-01 8.63383538e-01 -6.70572680e-02 -3.05386707e+01] [-1.35729040e-01 -1.66518255e-03 9.90744596e-01 -9.52301736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.605779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.10, Y:-30.57, Z:-9.53 [[ 8.54176442e-01 5.06416904e-01 1.18002225e-01 7.40985054e+01] [-5.01957349e-01 8.62286612e-01 -6.70866518e-02 -3.05698171e+01] [-1.35725553e-01 -1.92824624e-03 9.90744597e-01 -9.53276387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.665779523 meters Centerline goodness : 0.999876 with order 1 Centerline is valid? [True, True] Translation: X:74.15, Y:-30.60, Z:-9.55 [[ 8.53701552e-01 5.07220886e-01 1.17985734e-01 7.41542805e+01] [-5.02764963e-01 8.61813717e-01 -6.71156413e-02 -3.05970412e+01] [-1.35724179e-01 -2.02236615e-03 9.90744597e-01 -9.54562283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.725779523 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:74.20, Y:-30.64, Z:-9.55 [[ 8.52501108e-01 5.09240318e-01 1.17966770e-01 7.42030479e+01] [-5.04799001e-01 8.60621279e-01 -6.71489581e-02 -3.06361744e+01] [-1.35719669e-01 -2.30494634e-03 9.90744598e-01 -9.55133264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.78577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.25, Y:-30.68, Z:-9.56 [[ 8.52116135e-01 5.09888288e-01 1.17949256e-01 7.42514804e+01] [-5.05448891e-01 8.60237354e-01 -6.71797072e-02 -3.06764164e+01] [-1.35718502e-01 -2.37240833e-03 9.90744599e-01 -9.55944316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.84577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.30, Y:-30.71, Z:-9.57 [[ 8.52139862e-01 5.09852358e-01 1.17933150e-01 7.43048961e+01] [-5.05408708e-01 8.60258755e-01 -6.72079704e-02 -3.07059430e+01] [-1.35719167e-01 -2.33385027e-03 9.90744599e-01 -9.56757478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.90577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.36, Y:-30.74, Z:-9.57 [[ 8.52852127e-01 5.08663442e-01 1.17918416e-01 7.43561451e+01] [-5.04204901e-01 8.60962852e-01 -6.72338120e-02 -3.07432539e+01] [-1.35722758e-01 -2.11454359e-03 9.90744600e-01 -9.57325022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.965779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.40, Y:-30.79, Z:-9.58 [[ 8.55391560e-01 5.04385821e-01 1.17899208e-01 7.44023947e+01] [-4.99882077e-01 8.63477270e-01 -6.72674778e-02 -3.07868393e+01] [-1.35732048e-01 -1.39566803e-03 9.90744600e-01 -9.58051022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.025779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.45, Y:-30.82, Z:-9.59 [[ 8.59418008e-01 4.97498143e-01 1.17882503e-01 7.44530835e+01] [-4.92925577e-01 8.67464999e-01 -6.72967400e-02 -3.08225492e+01] [-1.35738948e-01 -2.71270412e-04 9.90744601e-01 -9.59253260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.085779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.50, Y:-30.86, Z:-9.60 [[ 8.60129642e-01 4.96271300e-01 1.17863466e-01 7.45048659e+01] [-4.91682689e-01 8.68167493e-01 -6.73300640e-02 -3.08563136e+01] [-1.35739208e-01 -3.88421364e-05 9.90744602e-01 -9.59757704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.14577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.55, Y:-30.90, Z:-9.60 [[ 8.60450532e-01 4.95717511e-01 1.17851738e-01 7.45545534e+01] [-4.91120916e-01 8.68483819e-01 -6.73505857e-02 -3.08955819e+01] [-1.35739193e-01 7.23935155e-05 9.90744602e-01 -9.60078802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.20577952299999 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:74.61, Y:-30.93, Z:-9.61 [[ 8.60477786e-01 4.95674810e-01 1.17832349e-01 7.46061413e+01] [-4.91073173e-01 8.68508186e-01 -6.73844905e-02 -3.09285651e+01] [-1.35739155e-01 1.18551389e-04 9.90744603e-01 -9.61243880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.26577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.66, Y:-30.96, Z:-9.63 [[ 8.62026198e-01 4.92981109e-01 1.17815361e-01 7.46574906e+01] [-4.88350321e-01 8.70039822e-01 -6.74141809e-02 -3.09618785e+01] [-1.35737973e-01 5.77620894e-04 9.90744603e-01 -9.62785097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.325779523 meters Centerline goodness : 0.999834 with order 1 Centerline is valid? [True, True] Translation: X:74.70, Y:-31.01, Z:-9.63 [[ 8.67173311e-01 4.83871279e-01 1.17809312e-01 7.47032864e+01] [-4.79154879e-01 8.75136849e-01 -6.74247502e-02 -3.10060035e+01] [-1.35724170e-01 2.02003741e-03 9.90744603e-01 -9.63286055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.385779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.76, Y:-31.04, Z:-9.64 [[ 8.72930542e-01 4.73410218e-01 1.17792336e-01 7.47558010e+01] [-4.68594416e-01 8.80834364e-01 -6.74543944e-02 -3.10376910e+01] [-1.35689137e-01 3.68617020e-03 9.90744604e-01 -9.63721133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.445779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.81, Y:-31.07, Z:-9.65 [[ 8.76085976e-01 4.67548902e-01 1.17776850e-01 7.48114955e+01] [-4.62676606e-01 8.83955098e-01 -6.74814227e-02 -3.10659093e+01] [-1.35660312e-01 4.62693494e-03 9.90744604e-01 -9.64776687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.505779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.86, Y:-31.11, Z:-9.65 [[ 8.80172379e-01 4.59814911e-01 1.17757512e-01 7.48566920e+01] [-4.54868997e-01 8.87995439e-01 -6.75151514e-02 -3.11104138e+01] [-1.35612607e-01 5.86073007e-03 9.90744605e-01 -9.65418914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.56577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.91, Y:-31.14, Z:-9.66 [[ 8.82099763e-01 4.56110861e-01 1.17740779e-01 7.49109202e+01] [-4.51128223e-01 8.89899484e-01 -6.75443196e-02 -3.11407459e+01] [-1.35585156e-01 6.46463988e-03 9.90744606e-01 -9.66190982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.62577952299999 meters Centerline goodness : 0.999917 with order 1 Centerline is valid? [True, True] Translation: X:74.97, Y:-31.16, Z:-9.68 [[ 8.81386235e-01 4.57493057e-01 1.17721733e-01 7.49706044e+01] [-4.52518233e-01 8.89190941e-01 -6.75774985e-02 -3.11595268e+01] [-1.35593335e-01 6.29064642e-03 9.90744606e-01 -9.67684634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.685779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.02, Y:-31.20, Z:-9.68 [[ 8.78158099e-01 4.63664084e-01 1.17702890e-01 7.50166353e+01] [-4.58739739e-01 8.85994751e-01 -6.76103026e-02 -3.12043311e+01] [-1.35632612e-01 5.37754178e-03 9.90744607e-01 -9.67610247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.745779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.07, Y:-31.23, Z:-9.69 [[ 8.72886177e-01 4.73518588e-01 1.17685467e-01 7.50728984e+01] [-4.68678675e-01 8.80775253e-01 -6.76406170e-02 -3.12283358e+01] [-1.35683536e-01 3.88589104e-03 9.90744608e-01 -9.68932992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.805779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.14, Y:-31.24, Z:-9.71 [[ 8.67797214e-01 4.82785667e-01 1.17669008e-01 7.51360661e+01] [-4.78026147e-01 8.75735050e-01 -6.76692371e-02 -3.12384496e+01] [-1.35716612e-01 2.47431296e-03 9.90744608e-01 -9.70729442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.865779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.18, Y:-31.29, Z:-9.70 [[ 8.64101255e-01 4.89374219e-01 1.17651583e-01 7.51810780e+01] [-4.84671107e-01 8.72072642e-01 -6.76995188e-02 -3.12853770e+01] [-1.35731126e-01 1.47691612e-03 9.90744609e-01 -9.70477181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.92577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.24, Y:-31.31, Z:-9.71 [[ 8.63550212e-01 4.90349750e-01 1.17635683e-01 7.52355345e+01] [-4.85651882e-01 8.71524689e-01 -6.77271363e-02 -3.13142189e+01] [-1.35732386e-01 1.35579224e-03 9.90744609e-01 -9.70694690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.98577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.30, Y:-31.33, Z:-9.73 [[ 8.62549909e-01 4.92110895e-01 1.17620244e-01 7.52956758e+01] [-4.87425655e-01 8.70531811e-01 -6.77539386e-02 -3.13293720e+01] [-1.35734615e-01 1.11002922e-03 9.90744610e-01 -9.72926876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.045779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.34, Y:-31.38, Z:-9.73 [[ 8.62047163e-01 4.92993831e-01 1.17608550e-01 7.53394040e+01] [-4.88313998e-01 8.70032237e-01 -6.77742306e-02 -3.13780554e+01] [-1.35735507e-01 9.94682027e-04 9.90744610e-01 -9.73288773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.105779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.39, Y:-31.41, Z:-9.74 [[ 8.61207875e-01 4.94462527e-01 1.17591685e-01 7.53938744e+01] [-4.89792318e-01 8.69198581e-01 -6.78034794e-02 -3.14066365e+01] [-1.35736806e-01 7.97386342e-04 9.90744611e-01 -9.74169240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.165779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.45, Y:-31.43, Z:-9.75 [[ 8.58940238e-01 4.98395480e-01 1.17573861e-01 7.54542939e+01] [-4.93757631e-01 8.66949768e-01 -6.78343734e-02 -3.14250850e+01] [-1.35738977e-01 2.12681809e-04 9.90744611e-01 -9.75125842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.225779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.50, Y:-31.47, Z:-9.76 [[ 8.57708983e-01 5.00515338e-01 1.17557205e-01 7.54982743e+01] [-4.95893329e-01 8.65727664e-01 -6.78632256e-02 -3.14731290e+01] [-1.35739110e-01 -8.89356843e-05 9.90744612e-01 -9.75649149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.28577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.55, Y:-31.50, Z:-9.77 [[ 8.57944171e-01 5.00115976e-01 1.17540678e-01 7.55532242e+01] [-4.95486314e-01 8.65958435e-01 -6.78918396e-02 -3.15010669e+01] [-1.35739135e-01 7.61076523e-06 9.90744612e-01 -9.76962291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.34577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.61, Y:-31.53, Z:-9.78 [[ 8.56439502e-01 5.02692860e-01 1.17521349e-01 7.56065651e+01] [-4.98082722e-01 8.64465012e-01 -6.79252824e-02 -3.15293134e+01] [-1.35738649e-01 -3.61458238e-04 9.90744613e-01 -9.77813529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.40577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.65, Y:-31.57, Z:-9.78 [[ 8.54187891e-01 5.06512991e-01 1.17505902e-01 7.56539124e+01] [-5.01935069e-01 8.62231821e-01 -6.79519932e-02 -3.15744592e+01] [-1.35735895e-01 -9.36563486e-04 9.90744614e-01 -9.77922597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.465779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.71, Y:-31.61, Z:-9.79 [[ 8.51527996e-01 5.10976562e-01 1.17486277e-01 7.57064864e+01] [-5.06436124e-01 8.59593142e-01 -6.79859076e-02 -3.16074757e+01] [-1.35729603e-01 -1.60739108e-03 9.90744614e-01 -9.79142406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.525779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.76, Y:-31.64, Z:-9.80 [[ 8.49878453e-01 5.13719919e-01 1.17466847e-01 7.57578671e+01] [-5.09200875e-01 8.57955606e-01 -6.80194621e-02 -3.16439793e+01] [-1.35724293e-01 -2.00594624e-03 9.90744615e-01 -9.79982669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.585779523 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:75.81, Y:-31.68, Z:-9.81 [[ 8.49289261e-01 5.14697787e-01 1.17447602e-01 7.58076675e+01] [-5.10183451e-01 8.57369045e-01 -6.80526767e-02 -3.16811471e+01] [-1.35722500e-01 -2.12341534e-03 9.90744616e-01 -9.81041478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.64577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.85, Y:-31.72, Z:-9.82 [[ 8.47532895e-01 5.17589288e-01 1.17427940e-01 7.58542484e+01] [-5.13097819e-01 8.55625411e-01 -6.80865867e-02 -3.17206122e+01] [-1.35715218e-01 -2.54639824e-03 9.90744617e-01 -9.82119706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.70577952299999 meters Centerline goodness : 0.999872 with order 1 Centerline is valid? [True, True] Translation: X:75.90, Y:-31.76, Z:-9.83 [[ 8.45974929e-01 5.20133997e-01 1.17418245e-01 7.59023952e+01] [-5.15664550e-01 8.54079629e-01 -6.81033028e-02 -3.17609439e+01] [-1.35707374e-01 -2.93473979e-03 9.90744617e-01 -9.82653842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.76577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.95, Y:-31.80, Z:-9.83 [[ 8.45278393e-01 5.21269021e-01 1.17401218e-01 7.59535661e+01] [-5.16806383e-01 8.53386844e-01 -6.81326424e-02 -3.17964351e+01] [-1.35704091e-01 -3.08264859e-03 9.90744617e-01 -9.82776752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.825779523 meters Centerline goodness : 0.999892 with order 1 Centerline is valid? [True, True] Translation: X:76.00, Y:-31.84, Z:-9.84 [[ 8.45830061e-01 5.20377233e-01 1.17384173e-01 7.60002200e+01] [-5.15901974e-01 8.53931552e-01 -6.81619974e-02 -3.18367654e+01] [-1.35708000e-01 -2.90525999e-03 9.90744618e-01 -9.84257345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.885779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.05, Y:-31.88, Z:-9.85 [[ 8.45329016e-01 5.21194546e-01 1.17367373e-01 7.60480848e+01] [-5.16723108e-01 8.53432615e-01 -6.81909117e-02 -3.18768715e+01] [-1.35705876e-01 -3.00267767e-03 9.90744619e-01 -9.84992978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.945779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.10, Y:-31.92, Z:-9.86 [[ 8.46189555e-01 5.19800121e-01 1.17350209e-01 7.60968124e+01] [-5.15311235e-01 8.54283502e-01 -6.82204380e-02 -3.19178324e+01] [-1.35711339e-01 -2.74445887e-03 9.90744619e-01 -9.85708877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.005779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.15, Y:-31.95, Z:-9.87 [[ 8.46907630e-01 5.18633786e-01 1.17330569e-01 7.61472482e+01] [-5.14129079e-01 8.54992781e-01 -6.82541984e-02 -3.19516024e+01] [-1.35715723e-01 -2.51805616e-03 9.90744620e-01 -9.86636723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.06577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.19, Y:-32.00, Z:-9.87 [[ 8.47327386e-01 5.17951271e-01 1.17314882e-01 7.61929800e+01] [-5.13436320e-01 8.55406821e-01 -6.82811512e-02 -3.19981876e+01] [-1.35718259e-01 -2.37723208e-03 9.90744620e-01 -9.87110992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.12577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.24, Y:-32.04, Z:-9.88 [[ 8.48275374e-01 5.16401525e-01 1.17296017e-01 7.62406449e+01] [-5.11867334e-01 8.56344027e-01 -6.83135429e-02 -3.20357053e+01] [-1.35722961e-01 -2.09130354e-03 9.90744621e-01 -9.88047884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.185779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.29, Y:-32.07, Z:-9.89 [[ 8.51400975e-01 5.11235323e-01 1.17280964e-01 7.62912677e+01] [-5.06648609e-01 8.59439885e-01 -6.83393766e-02 -3.20724904e+01] [-1.35733442e-01 -1.23602542e-03 9.90744622e-01 -9.89236891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.245779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.34, Y:-32.12, Z:-9.90 [[ 8.55825162e-01 5.03798415e-01 1.17262311e-01 7.63391815e+01] [-4.99137455e-01 8.63821253e-01 -6.83713676e-02 -3.21160243e+01] [-1.35739063e-01 -1.60749972e-05 9.90744622e-01 -9.89559704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.305779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.39, Y:-32.15, Z:-9.90 [[ 8.59089156e-01 4.98216567e-01 1.17243654e-01 7.63883908e+01] [-4.93499290e-01 8.67052152e-01 -6.84033458e-02 -3.21545425e+01] [-1.35736043e-01 9.04912473e-04 9.90744623e-01 -9.90358661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.365779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.44, Y:-32.18, Z:-9.92 [[ 8.58214870e-01 4.99724863e-01 1.17227550e-01 7.64421522e+01] [-4.95017813e-01 8.66183914e-01 -6.84309335e-02 -3.21821169e+01] [-1.35737257e-01 6.98719137e-04 9.90744623e-01 -9.91598473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.42577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.50, Y:-32.21, Z:-9.92 [[ 8.60151060e-01 4.96388800e-01 1.17210549e-01 7.64955559e+01] [-4.91646875e-01 8.68099402e-01 -6.84600416e-02 -3.22129949e+01] [-1.35733206e-01 1.25977717e-03 9.90744624e-01 -9.92206266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.48577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.55, Y:-32.25, Z:-9.93 [[ 8.63571693e-01 4.90417757e-01 1.17193661e-01 7.65476048e+01] [-4.85616960e-01 8.71484614e-01 -6.84889389e-02 -3.22471753e+01] [-1.35720665e-01 2.23387932e-03 9.90744625e-01 -9.92662846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.545779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.60, Y:-32.27, Z:-9.94 [[ 8.66128717e-01 4.85891825e-01 1.17175850e-01 7.66023072e+01] [-4.81045566e-01 8.74013876e-01 -6.85193992e-02 -3.22738465e+01] [-1.35706334e-01 2.97969640e-03 9.90744625e-01 -9.93943677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.605779523 meters Centerline goodness : 0.999817 with order 1 Centerline is valid? [True, True] Translation: X:76.66, Y:-32.30, Z:-9.95 [[ 8.67611112e-01 4.83243866e-01 1.17159394e-01 7.66564064e+01] [-4.78369748e-01 8.75479081e-01 -6.85475254e-02 -3.23023107e+01] [-1.35695769e-01 3.42708517e-03 9.90744626e-01 -9.95324700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.665779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.71, Y:-32.33, Z:-9.96 [[ 8.70801472e-01 4.77475005e-01 1.17142718e-01 7.67097957e+01] [-4.72544949e-01 8.78634510e-01 -6.85760113e-02 -3.23322618e+01] [-1.35668966e-01 4.36089193e-03 9.90744626e-01 -9.96012373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.725779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.76, Y:-32.36, Z:-9.96 [[ 8.74577143e-01 4.70527587e-01 1.17126473e-01 7.67640000e+01] [-4.65531623e-01 8.82368310e-01 -6.86037458e-02 -3.23606609e+01] [-1.35628643e-01 5.47319074e-03 9.90744627e-01 -9.96098630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.78577952299999 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:76.82, Y:-32.39, Z:-9.97 [[ 8.76247621e-01 4.67412136e-01 1.17115338e-01 7.68188086e+01] [-4.62385943e-01 8.84019320e-01 -6.86227503e-02 -3.23901366e+01] [-1.35607328e-01 5.97803584e-03 9.90744627e-01 -9.96679581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.84577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:76.87, Y:-32.42, Z:-9.98 [[ 8.74568850e-01 4.70549982e-01 1.17098423e-01 7.68738735e+01] [-4.65547823e-01 8.82356040e-01 -6.86516010e-02 -3.24172183e+01] [-1.35626511e-01 5.52563560e-03 9.90744627e-01 -9.97739555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.90577952299999 meters Centerline goodness : 0.999865 with order 1 Centerline is valid? [True, True] Translation: X:76.93, Y:-32.44, Z:-9.99 [[ 8.72486207e-01 4.74404538e-01 1.17081821e-01 7.69276809e+01] [-4.69432999e-01 8.80292980e-01 -6.86799047e-02 -3.24439050e+01] [-1.35648363e-01 4.96019940e-03 9.90744628e-01 -9.98885424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.965779523 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:76.98, Y:-32.47, Z:-10.00 [[ 8.68360055e-01 4.81919353e-01 1.17066441e-01 7.69840719e+01] [-4.77011869e-01 8.76207252e-01 -6.87061101e-02 -3.24701004e+01] [-1.35685269e-01 3.81955990e-03 9.90744628e-01 -9.99706740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.025779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.04, Y:-32.50, Z:-10.00 [[ 8.64721750e-01 4.88421667e-01 1.17049432e-01 7.70395898e+01] [-4.83569285e-01 8.72603138e-01 -6.87350747e-02 -3.24957291e+01] [-1.35709401e-01 2.83520395e-03 9.90744629e-01 -1.00045167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.085779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.09, Y:-32.53, Z:-10.00 [[ 8.61955604e-01 4.93290592e-01 1.17033878e-01 7.70945169e+01] [-4.88479141e-01 8.69862045e-01 -6.87615488e-02 -3.25267322e+01] [-1.35722753e-01 2.10079435e-03 9.90744630e-01 -1.00040455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.14577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.15, Y:-32.55, Z:-10.02 [[ 8.59504558e-01 4.97552892e-01 1.17017245e-01 7.71495362e+01] [-4.92776800e-01 8.67432408e-01 -6.87898430e-02 -3.25539414e+01] [-1.35731136e-01 1.46180029e-03 9.90744630e-01 -1.00175264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.20577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.20, Y:-32.58, Z:-10.03 [[ 8.55536394e-01 5.04346946e-01 1.17011265e-01 7.72045050e+01] [-4.99632424e-01 8.63501013e-01 -6.88000135e-02 -3.25803928e+01] [-1.35738422e-01 3.98293662e-04 9.90744630e-01 -1.00330781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.26577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.26, Y:-32.61, Z:-10.04 [[ 8.53016808e-01 5.08600715e-01 1.16994175e-01 7.72582628e+01] [-5.03921926e-01 8.61002470e-01 -6.88290616e-02 -3.26106589e+01] [-1.35738784e-01 -2.43583717e-04 9.90744631e-01 -1.00425296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.325779523 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:77.31, Y:-32.64, Z:-10.05 [[ 8.50771197e-01 5.12352289e-01 1.16976503e-01 7.73130289e+01] [-5.07704584e-01 8.58774989e-01 -6.88590831e-02 -3.26398271e+01] [-1.35736604e-01 -8.06182321e-04 9.90744631e-01 -1.00460079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.385779523 meters Centerline goodness : 0.999761 with order 1 Centerline is valid? [True, True] Translation: X:77.37, Y:-32.67, Z:-10.05 [[ 8.49870116e-01 5.13849250e-01 1.16960394e-01 7.73659271e+01] [-5.09211878e-01 8.57879900e-01 -6.88864339e-02 -3.26712203e+01] [-1.35735214e-01 -1.01310041e-03 9.90744632e-01 -1.00522944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.445779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.42, Y:-32.70, Z:-10.06 [[ 8.45557927e-01 5.20916127e-01 1.16953753e-01 7.74204065e+01] [-5.16344130e-01 8.53605205e-01 -6.88977073e-02 -3.27023047e+01] [-1.35722259e-01 -2.13138131e-03 9.90744632e-01 -1.00599808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.50577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.47, Y:-32.73, Z:-10.07 [[ 8.43325925e-01 5.24526913e-01 1.16931184e-01 7.74741000e+01] [-5.19984061e-01 8.51389691e-01 -6.89359908e-02 -3.27301178e+01] [-1.35712787e-01 -2.66684346e-03 9.90744633e-01 -1.00731723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.56577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.52, Y:-32.76, Z:-10.08 [[ 8.44320129e-01 5.22928909e-01 1.16913964e-01 7.75239650e+01] [-5.18366754e-01 8.52372989e-01 -6.89651822e-02 -3.27647613e+01] [-1.35718193e-01 -2.37562049e-03 9.90744633e-01 -1.00798505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.62577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.58, Y:-32.80, Z:-10.08 [[ 8.44093468e-01 5.23298216e-01 1.16898222e-01 7.75772784e+01] [-5.18735891e-01 8.52146231e-01 -6.89918553e-02 -3.27962659e+01] [-1.35717694e-01 -2.40372896e-03 9.90744634e-01 -1.00838859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.685779523 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:77.63, Y:-32.83, Z:-10.09 [[ 8.44118997e-01 5.23260715e-01 1.16881752e-01 7.76293489e+01] [-5.18694171e-01 8.52169368e-01 -6.90197461e-02 -3.28300173e+01] [-1.35718371e-01 -2.36500493e-03 9.90744634e-01 -1.00928937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.745779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.68, Y:-32.87, Z:-10.10 [[ 8.45389623e-01 5.21206732e-01 1.16875696e-01 7.76788023e+01] [-5.16619211e-01 8.53428058e-01 -6.90300002e-02 -3.28654550e+01] [-1.35723899e-01 -2.02298405e-03 9.90744634e-01 -1.00977063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.805779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.73, Y:-32.90, Z:-10.11 [[ 8.47160426e-01 5.18325654e-01 1.16866286e-01 7.77307090e+01] [-5.13708597e-01 8.55181932e-01 -6.90459277e-02 -3.28951117e+01] [-1.35730212e-01 -1.54223825e-03 9.90744635e-01 -1.01116761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.865779523 meters Centerline goodness : 0.999104 with order 1 Centerline is valid? [True, True] Translation: X:77.78, Y:-32.93, Z:-10.13 [[ 8.47960000e-01 5.17019981e-01 1.16851091e-01 7.77829883e+01] [-5.12387029e-01 8.55972337e-01 -6.90716338e-02 -3.29255916e+01] [-1.35732716e-01 -1.30300074e-03 9.90744635e-01 -1.01255955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.92577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.83, Y:-32.96, Z:-10.12 [[ 8.48653974e-01 5.15884279e-01 1.16832544e-01 7.78329174e+01] [-5.11236288e-01 8.56657595e-01 -6.91029921e-02 -3.29637171e+01] [-1.35734633e-01 -1.08450696e-03 9.90744636e-01 -1.01242893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.98577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.88, Y:-33.00, Z:-10.13 [[ 8.50683381e-01 5.12534900e-01 1.16815075e-01 7.78845881e+01] [-5.07851341e-01 8.58666240e-01 -6.91325089e-02 -3.29983782e+01] [-1.35737985e-01 -5.14816265e-04 9.90744636e-01 -1.01324769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.045779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.94, Y:-33.03, Z:-10.14 [[ 8.54100221e-01 5.06822241e-01 1.16807657e-01 7.79369290e+01] [-5.02083574e-01 8.62050491e-01 -6.91450410e-02 -3.30285404e+01] [-1.35738343e-01 4.09588980e-04 9.90744636e-01 -1.01414722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.105779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.99, Y:-33.06, Z:-10.15 [[ 8.57985993e-01 5.00219712e-01 1.16791590e-01 7.79879846e+01] [-4.95416174e-01 8.65897237e-01 -6.91721694e-02 -3.30627173e+01] [-1.35730797e-01 1.48831000e-03 9.90744637e-01 -1.01530884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.165779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.04, Y:-33.09, Z:-10.16 [[ 8.60728649e-01 4.95489477e-01 1.16774872e-01 7.80408473e+01] [-4.90638640e-01 8.68610979e-01 -6.92003804e-02 -3.30937431e+01] [-1.35719996e-01 2.26848559e-03 9.90744637e-01 -1.01635221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.225779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.09, Y:-33.13, Z:-10.17 [[ 8.65454672e-01 4.87191916e-01 1.16757215e-01 7.80911845e+01] [-4.82261512e-01 8.73287478e-01 -6.92301596e-02 -3.31315281e+01] [-1.35690988e-01 3.60805413e-03 9.90744638e-01 -1.01652130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.28577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.14, Y:-33.16, Z:-10.17 [[ 8.69106564e-01 4.80650884e-01 1.16741201e-01 7.81446074e+01] [-4.75657925e-01 8.76899644e-01 -6.92571520e-02 -3.31645101e+01] [-1.35658829e-01 4.66296772e-03 9.90744639e-01 -1.01714385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.34577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.20, Y:-33.19, Z:-10.18 [[ 8.71250501e-01 4.76758298e-01 1.16722279e-01 7.81999861e+01] [-4.71726267e-01 8.79018407e-01 -6.92890292e-02 -3.31913232e+01] [-1.35635151e-01 5.30713666e-03 9.90744639e-01 -1.01849284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.40577952299999 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:78.25, Y:-33.22, Z:-10.20 [[ 8.72814716e-01 4.73893324e-01 1.16702993e-01 7.82515998e+01] [-4.68831468e-01 8.80563220e-01 -6.93214961e-02 -3.32246718e+01] [-1.35615358e-01 5.79078624e-03 9.90744640e-01 -1.01964716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.465779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.31, Y:-33.26, Z:-10.20 [[ 8.72902086e-01 4.73736461e-01 1.16686388e-01 7.83065016e+01] [-4.68669487e-01 8.80647243e-01 -6.93494362e-02 -3.32558933e+01] [-1.35612902e-01 5.84791796e-03 9.90744640e-01 -1.01965100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.525779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.36, Y:-33.28, Z:-10.21 [[ 8.73379442e-01 4.72860639e-01 1.16666899e-01 7.83634017e+01] [-4.67781533e-01 8.81116648e-01 -6.93822065e-02 -3.32799285e+01] [-1.35605262e-01 6.02237181e-03 9.90744641e-01 -1.02127207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.585779523 meters Centerline goodness : 0.999867 with order 1 Centerline is valid? [True, True] Translation: X:78.42, Y:-33.31, Z:-10.22 [[ 8.69614604e-01 4.79753895e-01 1.16647502e-01 7.84161309e+01] [-4.74731781e-01 8.77388923e-01 -6.94148024e-02 -3.33086461e+01] [-1.35647248e-01 4.98784942e-03 9.90744642e-01 -1.02219858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.64577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.47, Y:-33.34, Z:-10.23 [[ 8.67413485e-01 4.83725974e-01 1.16632022e-01 7.84729376e+01] [-4.78735976e-01 8.75208455e-01 -6.94408037e-02 -3.33358079e+01] [-1.35667652e-01 4.39794479e-03 9.90744642e-01 -1.02307707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.70577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.53, Y:-33.36, Z:-10.24 [[ 8.67826126e-01 4.82990008e-01 1.16612462e-01 7.85279792e+01] [-4.77988994e-01 8.75614033e-01 -6.94736342e-02 -3.33636973e+01] [-1.35662580e-01 4.55156123e-03 9.90744643e-01 -1.02382690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.76577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.58, Y:-33.39, Z:-10.25 [[ 8.68252752e-01 4.82226865e-01 1.16595070e-01 7.85829237e+01] [-4.77215094e-01 8.76033740e-01 -6.95028118e-02 -3.33921513e+01] [-1.35657338e-01 4.70508041e-03 9.90744644e-01 -1.02456661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.825779523 meters Centerline goodness : 0.999825 with order 1 Centerline is valid? [True, True] Translation: X:78.64, Y:-33.42, Z:-10.26 [[ 8.65731457e-01 4.86742889e-01 1.16577887e-01 7.86378193e+01] [-4.81767841e-01 8.73535976e-01 -6.95316211e-02 -3.34168906e+01] [-1.35679000e-01 4.03223475e-03 9.90744644e-01 -1.02554236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.885779523 meters Centerline goodness : 0.999782 with order 1 Centerline is valid? [True, True] Translation: X:78.69, Y:-33.45, Z:-10.27 [[ 8.64608830e-01 4.88736268e-01 1.16569425e-01 7.86904851e+01] [-4.83777305e-01 8.72423578e-01 -6.95458049e-02 -3.34467828e+01] [-1.35687472e-01 3.73627490e-03 9.90744644e-01 -1.02680773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.945779523 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:78.75, Y:-33.47, Z:-10.27 [[ 8.67390875e-01 4.83783902e-01 1.16559883e-01 7.87494948e+01] [-4.78778185e-01 8.75175757e-01 -6.95617934e-02 -3.34689353e+01] [-1.35663260e-01 4.53093564e-03 9.90744644e-01 -1.02748075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.00577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.80, Y:-33.50, Z:-10.28 [[ 8.68311553e-01 4.82133772e-01 1.16542148e-01 7.88022029e+01] [-4.77109282e-01 8.76084332e-01 -6.95914934e-02 -3.35022487e+01] [-1.35653159e-01 4.82375719e-03 9.90744645e-01 -1.02765729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.06577952299999 meters Centerline goodness : 0.999848 with order 1 Centerline is valid? [True, True] Translation: X:78.86, Y:-33.53, Z:-10.29 [[ 8.71131462e-01 4.77023901e-01 1.16525424e-01 7.88554974e+01] [-4.71950095e-01 8.78872138e-01 -6.96194857e-02 -3.35305005e+01] [-1.35621107e-01 5.65353957e-03 9.90744646e-01 -1.02913482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.12577952299999 meters Centerline goodness : 0.999827 with order 1 Centerline is valid? [True, True] Translation: X:78.91, Y:-33.55, Z:-10.30 [[ 8.72074207e-01 4.75302299e-01 1.16508804e-01 7.89123772e+01] [-4.70209509e-01 8.79802406e-01 -6.96472875e-02 -3.35543102e+01] [-1.35608242e-01 5.95405541e-03 9.90744646e-01 -1.02995016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.185779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.97, Y:-33.59, Z:-10.30 [[ 8.73175434e-01 4.73280514e-01 1.16491271e-01 7.89671952e+01] [-4.68165932e-01 8.80889228e-01 -6.96766018e-02 -3.35850850e+01] [-1.35592484e-01 6.30265272e-03 9.90744647e-01 -1.03028230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.245779523 meters Centerline goodness : 0.999914 with order 1 Centerline is valid? [True, True] Translation: X:79.02, Y:-33.62, Z:-10.31 [[ 8.73295837e-01 4.73063231e-01 1.16471289e-01 7.90184573e+01] [-4.67942290e-01 8.81005409e-01 -6.97099870e-02 -3.36160220e+01] [-1.35589068e-01 6.37559957e-03 9.90744647e-01 -1.03144380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.305779523 meters Centerline goodness : 0.999764 with order 1 Centerline is valid? [True, True] Translation: X:79.08, Y:-33.64, Z:-10.32 [[ 8.76140784e-01 4.67777601e-01 1.16453608e-01 7.90778546e+01] [-4.62606257e-01 8.83816639e-01 -6.97395127e-02 -3.36404258e+01] [-1.35546218e-01 7.22946376e-03 9.90744648e-01 -1.03176525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.365779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.13, Y:-33.66, Z:-10.33 [[ 8.75911170e-01 4.68213023e-01 1.16431042e-01 7.91330209e+01] [-4.63040509e-01 8.83586235e-01 -6.97771659e-02 -3.36647162e+01] [-1.35547444e-01 7.20630994e-03 9.90744649e-01 -1.03292638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.42577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.19, Y:-33.69, Z:-10.34 [[ 8.75178463e-01 4.69585113e-01 1.16415115e-01 7.91875524e+01] [-4.64421112e-01 8.82859258e-01 -6.98037288e-02 -3.36938254e+01] [-1.35556954e-01 7.02508287e-03 9.90744649e-01 -1.03364543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.48577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.25, Y:-33.72, Z:-10.34 [[ 8.75297275e-01 4.69365267e-01 1.16408450e-01 7.92457890e+01] [-4.64197865e-01 8.82975781e-01 -6.98148410e-02 -3.37186432e+01] [-1.35554504e-01 7.07218594e-03 9.90744650e-01 -1.03412686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.545779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.30, Y:-33.75, Z:-10.35 [[ 8.72768906e-01 4.74055747e-01 1.16385503e-01 7.92990165e+01] [-4.68924541e-01 8.80471648e-01 -6.98530751e-02 -3.37474922e+01] [-1.35588387e-01 6.38957331e-03 9.90744651e-01 -1.03504544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.605779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.36, Y:-33.77, Z:-10.36 [[ 8.71797028e-01 4.75844833e-01 1.16368540e-01 7.93575161e+01] [-4.70725677e-01 8.79507781e-01 -6.98813219e-02 -3.37694130e+01] [-1.35599703e-01 6.14466869e-03 9.90744651e-01 -1.03634893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.665779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.42, Y:-33.80, Z:-10.37 [[ 8.70298033e-01 4.78585691e-01 1.16348914e-01 7.94153472e+01] [-4.73486467e-01 8.78021982e-01 -6.99139833e-02 -3.37950506e+01] [-1.35616736e-01 5.75636573e-03 9.90744652e-01 -1.03719756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.725779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.47, Y:-33.82, Z:-10.38 [[ 8.68883788e-01 4.81153312e-01 1.16329075e-01 7.94680785e+01] [-4.76072508e-01 8.76619865e-01 -6.99469779e-02 -3.38247205e+01] [-1.35631598e-01 5.39472047e-03 9.90744653e-01 -1.03797750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.78577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.52, Y:-33.86, Z:-10.39 [[ 8.68055184e-01 4.82650408e-01 1.16313292e-01 7.95218602e+01] [-4.77579439e-01 8.75797710e-01 -6.99732146e-02 -3.38554741e+01] [-1.35639515e-01 5.19177521e-03 9.90744653e-01 -1.03888730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.84577952299999 meters Centerline goodness : 0.999833 with order 1 Centerline is valid? [True, True] Translation: X:79.58, Y:-33.88, Z:-10.40 [[ 8.66079527e-01 4.86191380e-01 1.16293568e-01 7.95808662e+01] [-4.81147680e-01 8.73839844e-01 -7.00059794e-02 -3.38773294e+01] [-1.35658257e-01 4.67636515e-03 9.90744654e-01 -1.04047996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.90577952299999 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:79.64, Y:-33.90, Z:-10.41 [[ 8.64186404e-01 4.89553172e-01 1.16273605e-01 7.96360113e+01] [-4.84535211e-01 8.71963388e-01 -7.00391199e-02 -3.39045745e+01] [-1.35674200e-01 4.18819916e-03 9.90744654e-01 -1.04095852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.965779523 meters Centerline goodness : 0.999875 with order 1 Centerline is valid? [True, True] Translation: X:79.69, Y:-33.94, Z:-10.42 [[ 8.64522970e-01 4.88962366e-01 1.16257636e-01 7.96893503e+01] [-4.83935532e-01 8.72294222e-01 -7.00656171e-02 -3.39355612e+01] [-1.35670314e-01 4.31213425e-03 9.90744655e-01 -1.04182029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.025779523 meters Centerline goodness : 0.999793 with order 1 Centerline is valid? [True, True] Translation: X:79.75, Y:-33.96, Z:-10.43 [[ 8.65127133e-01 4.87896855e-01 1.16239851e-01 7.97466910e+01] [-4.82856493e-01 8.72889616e-01 -7.00951114e-02 -3.39587971e+01] [-1.35663743e-01 4.51401606e-03 9.90744656e-01 -1.04336528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.085779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.80, Y:-33.99, Z:-10.44 [[ 8.66192440e-01 4.86005337e-01 1.16230246e-01 7.97982787e+01] [-4.80945892e-01 8.73942499e-01 -7.01110335e-02 -3.39937196e+01] [-1.35652888e-01 4.82918755e-03 9.90744656e-01 -1.04351647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.14577952299999 meters Centerline goodness : 0.999834 with order 1 Centerline is valid? [True, True] Translation: X:79.85, Y:-34.03, Z:-10.44 [[ 8.67287226e-01 4.84053156e-01 1.16212777e-01 7.98505123e+01] [-4.78972397e-01 8.75023329e-01 -7.01399782e-02 -3.40265161e+01] [-1.35640369e-01 5.16879474e-03 9.90744656e-01 -1.04407658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.20577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.91, Y:-34.05, Z:-10.45 [[ 8.65655017e-01 4.86970506e-01 1.16194310e-01 7.99110520e+01] [-4.81911725e-01 8.73405508e-01 -7.01705584e-02 -3.40461191e+01] [-1.35655742e-01 4.74809573e-03 9.90744657e-01 -1.04543006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.26577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:79.96, Y:-34.08, Z:-10.46 [[ 8.62545569e-01 4.92461745e-01 1.16174749e-01 7.99616086e+01] [-4.87447963e-01 8.70325245e-01 -7.02029287e-02 -3.40828419e+01] [-1.35682073e-01 3.92408043e-03 9.90744658e-01 -1.04627698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.325779523 meters Centerline goodness : 0.999876 with order 1 Centerline is valid? [True, True] Translation: X:80.01, Y:-34.12, Z:-10.47 [[ 8.60302549e-01 4.96374491e-01 1.16154594e-01 8.00129811e+01] [-4.91391601e-01 8.68102046e-01 -7.02362600e-02 -3.41164407e+01] [-1.35697529e-01 3.34704159e-03 9.90744658e-01 -1.04701579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.385779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.07, Y:-34.14, Z:-10.48 [[ 8.57016669e-01 5.02030502e-01 1.16137010e-01 8.00709953e+01] [-4.97095158e-01 8.64846338e-01 -7.02653229e-02 -3.41375732e+01] [-1.35716004e-01 2.48740738e-03 9.90744659e-01 -1.04808189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.445779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.12, Y:-34.18, Z:-10.48 [[ 8.53651417e-01 5.07733855e-01 1.16127477e-01 8.01188399e+01] [-5.02848686e-01 8.61512489e-01 -7.02810749e-02 -3.41818033e+01] [-1.35729353e-01 1.60098978e-03 9.90744659e-01 -1.04810461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.50577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.17, Y:-34.21, Z:-10.49 [[ 8.51268221e-01 5.11724062e-01 1.16107283e-01 8.01728379e+01] [-5.06871194e-01 8.59149274e-01 -7.03144213e-02 -3.42133551e+01] [-1.35735069e-01 1.00499518e-03 9.90744660e-01 -1.04920667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.56577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.23, Y:-34.24, Z:-10.51 [[ 8.50250333e-01 5.13416685e-01 1.16093406e-01 8.02291255e+01] [-5.08576379e-01 8.58139107e-01 -7.03373253e-02 -3.42357024e+01] [-1.35736648e-01 7.61970093e-04 9.90744660e-01 -1.05114297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.62577952299999 meters Centerline goodness : 0.999793 with order 1 Centerline is valid? [True, True] Translation: X:80.27, Y:-34.28, Z:-10.52 [[ 8.47670154e-01 5.17669585e-01 1.16075453e-01 8.02730094e+01] [-5.12864804e-01 8.55580614e-01 -7.03669404e-02 -3.42821960e+01] [-1.35738732e-01 1.16940733e-04 9.90744661e-01 -1.05183368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.685779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.32, Y:-34.32, Z:-10.52 [[ 8.48512729e-01 5.16291304e-01 1.16057908e-01 8.03226571e+01] [-5.11469716e-01 8.56412956e-01 -7.03958661e-02 -3.43207077e+01] [-1.35738270e-01 3.71683179e-04 9.90744661e-01 -1.05168168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.745779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.38, Y:-34.35, Z:-10.53 [[ 8.51660414e-01 5.11085983e-01 1.16041623e-01 8.03785364e+01] [-5.06212454e-01 8.59528705e-01 -7.04227003e-02 -3.43486928e+01] [-1.35733161e-01 1.23451118e-03 9.90744662e-01 -1.05258279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.805779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.42, Y:-34.40, Z:-10.54 [[ 8.51092723e-01 5.12035300e-01 1.16021671e-01 8.04216173e+01] [-5.07166069e-01 8.58963674e-01 -7.04555556e-02 -3.43961999e+01] [-1.35734133e-01 1.12195556e-03 9.90744663e-01 -1.05383714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.865779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.47, Y:-34.44, Z:-10.55 [[ 8.49626060e-01 5.14466708e-01 1.16015363e-01 8.04688348e+01] [-5.09618585e-01 8.57510029e-01 -7.04659411e-02 -3.44370248e+01] [-1.35736718e-01 7.46114588e-04 9.90744663e-01 -1.05454894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.92577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.52, Y:-34.47, Z:-10.55 [[ 8.46595500e-01 5.19442563e-01 1.15997770e-01 8.05211409e+01] [-5.14636811e-01 8.54505368e-01 -7.04948908e-02 -3.44700983e+01] [-1.35738764e-01 -1.60650356e-05 9.90744663e-01 -1.05538279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.98577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.57, Y:-34.51, Z:-10.56 [[ 8.44747441e-01 5.22446521e-01 1.15980146e-01 8.05698310e+01] [-5.17664917e-01 8.52671928e-01 -7.05238753e-02 -3.45112822e+01] [-1.35737968e-01 -4.63989255e-04 9.90744664e-01 -1.05602337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.045779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.62, Y:-34.55, Z:-10.57 [[ 8.41553265e-01 5.27580658e-01 1.15960126e-01 8.06174450e+01] [-5.22842863e-01 8.49504021e-01 -7.05567771e-02 -3.45518985e+01] [-1.35732985e-01 -1.25163829e-03 9.90744665e-01 -1.05689612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.105779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.67, Y:-34.59, Z:-10.57 [[ 8.36639620e-01 5.35342432e-01 1.15942342e-01 8.06668354e+01] [-5.30674337e-01 8.44631497e-01 -7.05859889e-02 -3.45890982e+01] [-1.35716229e-01 -2.47259063e-03 9.90744665e-01 -1.05712608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.165779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.71, Y:-34.63, Z:-10.58 [[ 8.31636346e-01 5.43085752e-01 1.15926069e-01 8.07141002e+01] [-5.38488324e-01 8.39669084e-01 -7.06127051e-02 -3.46307913e+01] [-1.35688290e-01 -3.70074251e-03 9.90744666e-01 -1.05796686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.225779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.76, Y:-34.67, Z:-10.59 [[ 8.29228861e-01 5.46755948e-01 1.15919927e-01 8.07625751e+01] [-5.42192659e-01 8.37281042e-01 -7.06227858e-02 -3.46684986e+01] [-1.35670986e-01 -4.28848148e-03 9.90744666e-01 -1.05905429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.28577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.81, Y:-34.71, Z:-10.61 [[ 8.28661286e-01 5.47619552e-01 1.15902115e-01 8.08095611e+01] [-5.43060573e-01 8.36715906e-01 -7.06520073e-02 -3.47068496e+01] [-1.35667563e-01 -4.39528562e-03 9.90744666e-01 -1.06085716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.34577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.85, Y:-34.75, Z:-10.61 [[ 8.31024968e-01 5.44029661e-01 1.15884562e-01 8.08531042e+01] [-5.39431871e-01 8.39057497e-01 -7.06807853e-02 -3.47525537e+01] [-1.35686254e-01 -3.77432894e-03 9.90744667e-01 -1.06117222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.40577952299999 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:80.90, Y:-34.80, Z:-10.61 [[ 8.33484981e-01 5.40256686e-01 1.15868462e-01 8.08970880e+01] [-5.35618864e-01 8.41494462e-01 -7.07071696e-02 -3.47984921e+01] [-1.35702690e-01 -3.12796986e-03 9.90744667e-01 -1.06126858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.465779523 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:80.95, Y:-34.84, Z:-10.62 [[ 8.33607808e-01 5.40070511e-01 1.15852778e-01 8.09464441e+01] [-5.35427332e-01 8.41614184e-01 -7.07328586e-02 -3.48356506e+01] [-1.35704072e-01 -3.06728038e-03 9.90744668e-01 -1.06177304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.525779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.99, Y:-34.87, Z:-10.63 [[ 8.33711999e-01 5.39911701e-01 1.15843246e-01 8.09934192e+01] [-5.35264830e-01 8.41716233e-01 -7.07484651e-02 -3.48738484e+01] [-1.35705065e-01 -3.02297128e-03 9.90744668e-01 -1.06346623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.585779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.04, Y:-34.91, Z:-10.65 [[ 8.34775832e-01 5.38269226e-01 1.15825519e-01 8.10399907e+01] [-5.33602581e-01 8.42768553e-01 -7.07774761e-02 -3.49143542e+01] [-1.35711442e-01 -2.72146925e-03 9.90744668e-01 -1.06461664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.64577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.08, Y:-34.96, Z:-10.64 [[ 8.37478275e-01 5.34058679e-01 1.15807890e-01 8.10840757e+01] [-5.29347858e-01 8.45445038e-01 -7.08063090e-02 -3.49602873e+01] [-1.35723930e-01 -2.00391297e-03 9.90744669e-01 -1.06434622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.70577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.13, Y:-35.00, Z:-10.65 [[ 8.40534885e-01 5.29238173e-01 1.15793192e-01 8.11330958e+01] [-5.24478347e-01 8.48472467e-01 -7.08303371e-02 -3.49993701e+01] [-1.35733454e-01 -1.19565282e-03 9.90744669e-01 -1.06464058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.76577952299999 meters Centerline goodness : 0.999793 with order 1 Centerline is valid? [True, True] Translation: X:81.18, Y:-35.03, Z:-10.67 [[ 8.43341027e-01 5.24758945e-01 1.15775476e-01 8.11817890e+01] [-5.19952984e-01 8.51250760e-01 -7.08592833e-02 -3.50349637e+01] [-1.35738005e-01 -4.39263404e-04 9.90744670e-01 -1.06651244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.825779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.23, Y:-35.07, Z:-10.67 [[ 8.42496431e-01 5.26117736e-01 1.15757903e-01 8.12297789e+01] [-5.21320588e-01 8.50411511e-01 -7.08879796e-02 -3.50730945e+01] [-1.35737277e-01 -6.24108296e-04 9.90744671e-01 -1.06736887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.885779523 meters Centerline goodness : 0.999767 with order 1 Centerline is valid? [True, True] Translation: X:81.28, Y:-35.10, Z:-10.69 [[ 8.45534981e-01 5.21223960e-01 1.15741865e-01 8.12837898e+01] [-5.16377416e-01 8.53419912e-01 -7.09141562e-02 -3.51016827e+01] [-1.35738569e-01 1.93914542e-04 9.90744671e-01 -1.06857631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.945779523 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:81.34, Y:-35.14, Z:-10.69 [[ 8.47357444e-01 5.18259870e-01 1.15724108e-01 8.13371941e+01] [-5.13381789e-01 8.55222902e-01 -7.09431211e-02 -3.51359193e+01] [-1.35736881e-01 7.03531942e-04 9.90744672e-01 -1.06875101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.00577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.39, Y:-35.16, Z:-10.71 [[ 8.47414788e-01 5.18170774e-01 1.15703183e-01 8.13919223e+01] [-5.13287209e-01 8.55276841e-01 -7.09772320e-02 -3.51629860e+01] [-1.35736580e-01 7.58191893e-04 9.90744672e-01 -1.07059220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.06577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.44, Y:-35.20, Z:-10.71 [[ 8.43727642e-01 5.24157615e-01 1.15682588e-01 8.14401171e+01] [-5.19325235e-01 8.51621259e-01 -7.10107839e-02 -3.52010931e+01] [-1.35738594e-01 -1.63126033e-04 9.90744673e-01 -1.07089254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.12577952299999 meters Centerline goodness : 0.999884 with order 1 Centerline is valid? [True, True] Translation: X:81.49, Y:-35.24, Z:-10.71 [[ 8.49004682e-01 5.15569795e-01 1.15666916e-01 8.14912766e+01] [-5.10654096e-01 8.56846683e-01 -7.10363025e-02 -3.52400829e+01] [-1.35732985e-01 1.24436897e-03 9.90744674e-01 -1.07077309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.185779523 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:81.55, Y:-35.26, Z:-10.72 [[ 8.59239702e-01 4.98330027e-01 1.15647388e-01 8.15508817e+01] [-4.93252788e-01 8.66978094e-01 -7.10680805e-02 -3.52587897e+01] [-1.35679110e-01 4.02111979e-03 9.90744674e-01 -1.07223773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.245779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.60, Y:-35.30, Z:-10.72 [[ 8.58419573e-01 4.99745362e-01 1.15630488e-01 8.16000658e+01] [-4.94677184e-01 8.66163901e-01 -7.10955662e-02 -3.52955184e+01] [-1.35684634e-01 3.83006129e-03 9.90744675e-01 -1.07249875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.305779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.65, Y:-35.33, Z:-10.73 [[ 8.62287328e-01 4.93045567e-01 1.15614152e-01 8.16509385e+01] [-4.87913682e-01 8.69989587e-01 -7.11221227e-02 -3.53305896e+01] [-1.35649555e-01 4.91797878e-03 9.90744675e-01 -1.07303676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.365779523 meters Centerline goodness : 0.999698 with order 1 Centerline is valid? [True, True] Translation: X:81.71, Y:-35.36, Z:-10.74 [[ 8.65699460e-01 4.87033599e-01 1.15597225e-01 8.17054274e+01] [-4.81844581e-01 8.73363344e-01 -7.11496241e-02 -3.53593461e+01] [-1.35610636e-01 5.89429490e-03 9.90744676e-01 -1.07411041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.42577952299999 meters Centerline goodness : 0.999908 with order 1 Centerline is valid? [True, True] Translation: X:81.76, Y:-35.39, Z:-10.75 [[ 8.66329579e-01 4.85915949e-01 1.15580063e-01 8.17619830e+01] [-4.80713337e-01 8.73984240e-01 -7.11774919e-02 -3.53853116e+01] [-1.35601432e-01 6.10228881e-03 9.90744676e-01 -1.07463972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.48577952299999 meters Centerline goodness : 0.999793 with order 1 Centerline is valid? [True, True] Translation: X:81.81, Y:-35.42, Z:-10.75 [[ 8.65882537e-01 4.86716290e-01 1.15562470e-01 8.18140962e+01] [-4.81516953e-01 8.73539423e-01 -7.12060439e-02 -3.54161725e+01] [-1.35605515e-01 6.01078155e-03 9.90744677e-01 -1.07542416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.545779523 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:81.87, Y:-35.44, Z:-10.76 [[ 8.63775428e-01 4.90449839e-01 1.15546381e-01 8.18689824e+01] [-4.85280122e-01 8.71452342e-01 -7.12321419e-02 -3.54437100e+01] [-1.35628957e-01 5.45621184e-03 9.90744677e-01 -1.07599524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.605779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.92, Y:-35.47, Z:-10.76 [[ 8.61160716e-01 4.95030143e-01 1.15530855e-01 8.19242971e+01] [-4.89897896e-01 8.68862732e-01 -7.12573146e-02 -3.54747053e+01] [-1.35654973e-01 4.76567712e-03 9.90744678e-01 -1.07629284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.665779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.98, Y:-35.50, Z:-10.77 [[ 8.56733761e-01 5.02657488e-01 1.15510655e-01 8.19780901e+01] [-4.97589427e-01 8.64478161e-01 -7.12900450e-02 -3.55023750e+01] [-1.35690914e-01 3.59970765e-03 9.90744679e-01 -1.07744195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.725779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.04, Y:-35.53, Z:-10.79 [[ 8.49075594e-01 5.15491668e-01 1.15494480e-01 8.20350866e+01] [-5.10537146e-01 8.56893118e-01 -7.13162399e-02 -3.55284870e+01] [-1.35729353e-01 1.58865647e-03 9.90744679e-01 -1.07863447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.78577952299999 meters Centerline goodness : 0.999823 with order 1 Centerline is valid? [True, True] Translation: X:82.09, Y:-35.56, Z:-10.79 [[ 8.42581904e-01 5.26043079e-01 1.15474735e-01 8.20890729e+01] [-5.21182080e-01 8.50457920e-01 -7.13481969e-02 -3.55593163e+01] [-1.35738628e-01 -6.66631381e-05 9.90744680e-01 -1.07940341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.84577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.14, Y:-35.59, Z:-10.80 [[ 8.39080548e-01 5.31614638e-01 1.15454368e-01 8.21432694e+01] [-5.26801400e-01 8.46985843e-01 -7.13811402e-02 -3.55902242e+01] [-1.35735474e-01 -9.26996359e-04 9.90744680e-01 -1.07997139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.90577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.20, Y:-35.62, Z:-10.80 [[ 8.35289433e-01 5.37553138e-01 1.15447768e-01 8.21963602e+01] [-5.32794622e-01 8.43227787e-01 -7.13918120e-02 -3.56231698e+01] [-1.35725659e-01 -1.87712397e-03 9.90744681e-01 -1.08038010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.965779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.25, Y:-35.65, Z:-10.81 [[ 8.32270754e-01 5.42219036e-01 1.15429239e-01 8.22501985e+01] [-5.37500866e-01 8.40233153e-01 -7.14217579e-02 -3.56538016e+01] [-1.35713711e-01 -2.60107580e-03 9.90744681e-01 -1.08125322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.025779523 meters Centerline goodness : 0.999801 with order 1 Centerline is valid? [True, True] Translation: X:82.30, Y:-35.69, Z:-10.83 [[ 8.32982584e-01 5.41129213e-01 1.15408791e-01 8.23015137e+01] [-5.36396051e-01 8.40936080e-01 -7.14547855e-02 -3.56868661e+01] [-1.35717688e-01 -2.38422767e-03 9.90744682e-01 -1.08268206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.085779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.35, Y:-35.72, Z:-10.83 [[ 8.33544043e-01 5.40267736e-01 1.15391086e-01 8.23525531e+01] [-5.35522398e-01 8.41490279e-01 -7.14833653e-02 -3.57241057e+01] [-1.35720633e-01 -2.20997779e-03 9.90744682e-01 -1.08302810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.14577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.40, Y:-35.76, Z:-10.84 [[ 8.37338099e-01 5.34373061e-01 1.15370442e-01 8.24043693e+01] [-5.29567187e-01 8.45247869e-01 -7.15166689e-02 -3.57574055e+01] [-1.35733201e-01 -1.21276851e-03 9.90744683e-01 -1.08390738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.20577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.45, Y:-35.79, Z:-10.85 [[ 8.41037917e-01 5.28534814e-01 1.15352387e-01 8.24538270e+01] [-5.23670035e-01 8.48911595e-01 -7.15457783e-02 -3.57948245e+01] [-1.35738413e-01 -2.33876176e-04 9.90744684e-01 -1.08496173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.26577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.50, Y:-35.83, Z:-10.86 [[ 8.42931976e-01 5.25510206e-01 1.15346034e-01 8.25038516e+01] [-5.20615773e-01 8.50787255e-01 -7.15560196e-02 -3.58315222e+01] [-1.35738354e-01 2.65892504e-04 9.90744684e-01 -1.08562912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.325779523 meters Centerline goodness : 0.999798 with order 1 Centerline is valid? [True, True] Translation: X:82.56, Y:-35.86, Z:-10.87 [[ 8.46092178e-01 5.20411048e-01 1.15327219e-01 8.25568628e+01] [-5.15465143e-01 8.53915150e-01 -7.15863314e-02 -3.58619543e+01] [-1.35733977e-01 1.12147380e-03 9.90744684e-01 -1.08732285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.385779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.61, Y:-35.90, Z:-10.88 [[ 8.48318024e-01 5.16779099e-01 1.15307817e-01 8.26076389e+01] [-5.11795458e-01 8.56117009e-01 -7.16175693e-02 -3.58995955e+01] [-1.35727446e-01 1.74045803e-03 9.90744685e-01 -1.08772831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.445779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.66, Y:-35.93, Z:-10.88 [[ 8.52257286e-01 5.10260848e-01 1.15288270e-01 8.26589895e+01] [-5.05213314e-01 8.60015072e-01 -7.16490217e-02 -3.59344970e+01] [-1.35709340e-01 2.81823188e-03 9.90744686e-01 -1.08792474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.50577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.71, Y:-35.97, Z:-10.89 [[ 8.55445993e-01 5.04900788e-01 1.15270756e-01 8.27128756e+01] [-4.99800863e-01 8.63169438e-01 -7.16771882e-02 -3.59660046e+01] [-1.35688062e-01 3.70354033e-03 9.90744686e-01 -1.08896763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.56577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.77, Y:-36.00, Z:-10.90 [[ 8.58601994e-01 4.99519581e-01 1.15251045e-01 8.27661521e+01] [-4.94367016e-01 8.66290420e-01 -7.17088683e-02 -3.59980133e+01] [-1.35660860e-01 4.59306236e-03 9.90744687e-01 -1.08998469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.62577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.82, Y:-36.03, Z:-10.91 [[ 8.58970749e-01 4.98889792e-01 1.15231191e-01 8.28182072e+01] [-4.93727319e-01 8.66652525e-01 -7.17407578e-02 -3.60291691e+01] [-1.35656134e-01 4.73042563e-03 9.90744688e-01 -1.09109603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.685779523 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:82.87, Y:-36.06, Z:-10.92 [[ 8.59403006e-01 4.98148841e-01 1.15213743e-01 8.28717367e+01] [-4.92975996e-01 8.67077800e-01 -7.17687685e-02 -3.60594625e+01] [-1.35650807e-01 4.88068590e-03 9.90744688e-01 -1.09236302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.745779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.92, Y:-36.09, Z:-10.93 [[ 8.58716990e-01 4.99331948e-01 1.15207369e-01 8.29241955e+01] [-4.94168307e-01 8.66397980e-01 -7.17789985e-02 -3.60911167e+01] [-1.35656979e-01 4.70601511e-03 9.90744688e-01 -1.09288977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.805779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:82.98, Y:-36.12, Z:-10.94 [[ 8.57589580e-01 5.01270090e-01 1.15188583e-01 8.29813793e+01] [-4.96119769e-01 8.65279506e-01 -7.18091329e-02 -3.61162104e+01] [-1.35666091e-01 4.43543101e-03 9.90744689e-01 -1.09352477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.865779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.04, Y:-36.14, Z:-10.95 [[ 8.52461029e-01 5.09946817e-01 1.15171341e-01 8.30364696e+01] [-5.04871063e-01 8.60200376e-01 -7.18367760e-02 -3.61437444e+01] [-1.35703366e-01 3.09137466e-03 9.90744690e-01 -1.09483156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.92577952299999 meters Centerline goodness : 0.999844 with order 1 Centerline is valid? [True, True] Translation: X:83.09, Y:-36.18, Z:-10.95 [[ 8.48054539e-01 5.17246185e-01 1.15151560e-01 8.30900278e+01] [-5.12232756e-01 8.55834404e-01 -7.18684699e-02 -3.61781935e+01] [-1.35724359e-01 1.96398102e-03 9.90744690e-01 -1.09499987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.98577952299999 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:83.15, Y:-36.20, Z:-10.97 [[ 8.42564302e-01 5.26146627e-01 1.15130900e-01 8.31494449e+01] [-5.21210869e-01 8.50393672e-01 -7.19015524e-02 -3.61967046e+01] [-1.35737348e-01 5.74204990e-04 9.90744691e-01 -1.09678923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.045779523 meters Centerline goodness : 0.999868 with order 1 Centerline is valid? [True, True] Translation: X:83.20, Y:-36.23, Z:-10.98 [[ 8.37106783e-01 5.34791083e-01 1.15111826e-01 8.32005962e+01] [-5.29931974e-01 8.44983952e-01 -7.19320767e-02 -3.62295712e+01] [-1.35736278e-01 -7.86607695e-04 9.90744692e-01 -1.09778050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.105779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.25, Y:-36.26, Z:-10.98 [[ 8.35090122e-01 5.37938388e-01 1.15094654e-01 8.32524522e+01] [-5.33105180e-01 8.42983209e-01 -7.19595410e-02 -3.62637584e+01] [-1.35732661e-01 -1.26485457e-03 9.90744692e-01 -1.09828835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.165779523 meters Centerline goodness : 0.999781 with order 1 Centerline is valid? [True, True] Translation: X:83.31, Y:-36.29, Z:-10.99 [[ 8.35000073e-01 5.38081899e-01 1.15077138e-01 8.33080772e+01] [-5.33246189e-01 8.42891627e-01 -7.19875431e-02 -3.62896250e+01] [-1.35732750e-01 -1.25484126e-03 9.90744693e-01 -1.09920241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.225779523 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:83.36, Y:-36.33, Z:-11.00 [[ 8.32676392e-01 5.41674361e-01 1.15060474e-01 8.33580202e+01] [-5.36869017e-01 8.40586473e-01 -7.20141670e-02 -3.63263035e+01] [-1.35726506e-01 -1.80790692e-03 9.90744693e-01 -1.10006627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.28577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.41, Y:-36.36, Z:-11.01 [[ 8.31026036e-01 5.44206925e-01 1.15041518e-01 8.34104050e+01] [-5.39421496e-01 8.38948180e-01 -7.20444368e-02 -3.63583419e+01] [-1.35720953e-01 -2.18506503e-03 9.90744694e-01 -1.10106032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.34577952299999 meters Centerline goodness : 0.999824 with order 1 Centerline is valid? [True, True] Translation: X:83.46, Y:-36.39, Z:-11.02 [[ 8.31242032e-01 5.43880752e-01 1.15023527e-01 8.34622028e+01] [-5.39088243e-01 8.39159894e-01 -7.20731498e-02 -3.63915842e+01] [-1.35722329e-01 -2.09759932e-03 9.90744694e-01 -1.10236697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.40577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.51, Y:-36.43, Z:-11.02 [[ 8.31722595e-01 5.43149907e-01 1.15003063e-01 8.35112979e+01] [-5.38345928e-01 8.39633502e-01 -7.21057881e-02 -3.64330514e+01] [-1.35724676e-01 -1.93941741e-03 9.90744695e-01 -1.10167482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.465779523 meters Centerline goodness : 0.999890 with order 1 Centerline is valid? [True, True] Translation: X:83.56, Y:-36.46, Z:-11.03 [[ 8.31585309e-01 5.43363911e-01 1.14984930e-01 8.35635979e+01] [-5.38557972e-01 8.39495025e-01 -7.21346930e-02 -3.64635874e+01] [-1.35724665e-01 -1.93989954e-03 9.90744696e-01 -1.10349039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.525779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.61, Y:-36.50, Z:-11.05 [[ 8.30917032e-01 5.44389628e-01 1.14964421e-01 8.36139528e+01] [-5.39588934e-01 8.38829932e-01 -7.21673642e-02 -3.64954415e+01] [-1.35722762e-01 -2.06843726e-03 9.90744696e-01 -1.10472997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.585779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.66, Y:-36.54, Z:-11.05 [[ 8.33514510e-01 5.40406361e-01 1.14954455e-01 8.36614815e+01] [-5.35565659e-01 8.41402998e-01 -7.21832357e-02 -3.65385843e+01] [-1.35731303e-01 -1.39988399e-03 9.90744697e-01 -1.10492309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.64577952299999 meters Centerline goodness : 0.999822 with order 1 Centerline is valid? [True, True] Translation: X:83.71, Y:-36.58, Z:-11.06 [[ 8.37341550e-01 5.34461600e-01 1.14934448e-01 8.37124398e+01] [-5.29560517e-01 8.45192665e-01 -7.22150772e-02 -3.65755569e+01] [-1.35737938e-01 -3.96061255e-04 9.90744697e-01 -1.10574123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.70577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.76, Y:-36.61, Z:-11.07 [[ 8.38683628e-01 5.32357438e-01 1.14914450e-01 8.37641810e+01] [-5.27432299e-01 8.46519674e-01 -7.22468867e-02 -3.66078044e+01] [-1.35738510e-01 -1.73113740e-05 9.90744698e-01 -1.10680553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.76577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.82, Y:-36.64, Z:-11.08 [[ 8.42404831e-01 5.26450683e-01 1.14907696e-01 8.38151395e+01] [-5.21469135e-01 8.50205138e-01 -7.22576273e-02 -3.66446639e+01] [-1.35735191e-01 9.49357666e-04 9.90744698e-01 -1.10764460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.825779523 meters Centerline goodness : 0.999819 with order 1 Centerline is valid? [True, True] Translation: X:83.86, Y:-36.68, Z:-11.09 [[ 8.48569692e-01 5.16459488e-01 1.14887230e-01 8.38628865e+01] [-5.11381712e-01 8.56307701e-01 -7.22901534e-02 -3.66831652e+01] [-1.35713755e-01 2.59200503e-03 9.90744699e-01 -1.10871529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.885779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.91, Y:-36.71, Z:-11.09 [[ 8.53378565e-01 5.08478064e-01 1.14869857e-01 8.39147328e+01] [-5.03324226e-01 8.61066122e-01 -7.23177480e-02 -3.67142217e+01] [-1.35682531e-01 3.89763405e-03 9.90744699e-01 -1.10936024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.945779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:83.97, Y:-36.75, Z:-11.10 [[ 8.57286533e-01 5.01864882e-01 1.14853997e-01 8.39661200e+01] [-4.96648393e-01 8.64931717e-01 -7.23429280e-02 -3.67495431e+01] [-1.35647240e-01 4.97656479e-03 9.90744700e-01 -1.10985552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.00577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.02, Y:-36.78, Z:-11.11 [[ 8.65938698e-01 4.86788199e-01 1.14836493e-01 8.40193654e+01] [-4.81435074e-01 8.73488839e-01 -7.23707034e-02 -3.67793210e+01] [-1.35537599e-01 7.38227722e-03 9.90744700e-01 -1.11134438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.06577952299999 meters Centerline goodness : 0.999817 with order 1 Centerline is valid? [True, True] Translation: X:84.07, Y:-36.82, Z:-11.12 [[ 8.66759853e-01 4.85328871e-01 1.14818314e-01 8.40700792e+01] [-4.79959232e-01 8.74298257e-01 -7.23995337e-02 -3.68152763e+01] [-1.35523036e-01 7.64489935e-03 9.90744701e-01 -1.11170186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.12577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.12, Y:-36.85, Z:-11.12 [[ 8.66507888e-01 4.85783091e-01 1.14799252e-01 8.41233631e+01] [-4.80413419e-01 8.74046268e-01 -7.24297467e-02 -3.68466613e+01] [-1.35525004e-01 7.60984583e-03 9.90744702e-01 -1.11237455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.185779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.18, Y:-36.87, Z:-11.14 [[ 8.65463450e-01 4.87645489e-01 1.14781936e-01 8.41776205e+01] [-4.82288418e-01 8.73010790e-01 -7.24571777e-02 -3.68748459e+01] [-1.35539284e-01 7.35104074e-03 9.90744702e-01 -1.11354080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.245779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.23, Y:-36.90, Z:-11.14 [[ 8.62387330e-01 4.93069093e-01 1.14764813e-01 8.42329401e+01] [-4.87755912e-01 8.69965631e-01 -7.24842893e-02 -3.69041469e+01] [-1.35581205e-01 6.53231699e-03 9.90744703e-01 -1.11440905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.305779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.29, Y:-36.93, Z:-11.15 [[ 8.58350586e-01 5.00067749e-01 1.14745450e-01 8.42911467e+01] [-4.94812301e-01 8.65969037e-01 -7.25149286e-02 -3.69274619e+01] [-1.35628384e-01 5.46577150e-03 9.90744703e-01 -1.11485648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.365779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.35, Y:-36.95, Z:-11.16 [[ 8.54326046e-01 5.06916658e-01 1.14727982e-01 8.43485837e+01] [-5.01718604e-01 8.61983770e-01 -7.25425550e-02 -3.69540064e+01] [-1.35666688e-01 4.41383132e-03 9.90744704e-01 -1.11570577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.42577952299999 meters Centerline goodness : 0.999846 with order 1 Centerline is valid? [True, True] Translation: X:84.40, Y:-36.99, Z:-11.17 [[ 8.52332860e-01 5.10265368e-01 1.14708106e-01 8.44015053e+01] [-5.05093182e-01 8.60008079e-01 -7.25739707e-02 -3.69853063e+01] [-1.35681881e-01 3.91889797e-03 9.90744704e-01 -1.11678532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.48577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.45, Y:-37.02, Z:-11.17 [[ 8.50830026e-01 5.12771358e-01 1.14690023e-01 8.44547270e+01] [-5.07617933e-01 8.58517854e-01 -7.26025361e-02 -3.70158585e+01] [-1.35691933e-01 3.55370539e-03 9.90744705e-01 -1.11729471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.545779523 meters Centerline goodness : 0.999870 with order 1 Centerline is valid? [True, True] Translation: X:84.52, Y:-37.03, Z:-11.19 [[ 8.48361245e-01 5.16849863e-01 1.14670907e-01 8.45157394e+01] [-5.11729326e-01 8.56071016e-01 -7.26327154e-02 -3.70343855e+01] [-1.35706649e-01 2.93831472e-03 9.90744706e-01 -1.11881806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.605779523 meters Centerline goodness : 0.999913 with order 1 Centerline is valid? [True, True] Translation: X:84.57, Y:-37.07, Z:-11.19 [[ 8.47566113e-01 5.18157355e-01 1.14650074e-01 8.45678671e+01] [-5.13044267e-01 8.55280826e-01 -7.26655867e-02 -3.70681374e+01] [-1.35710218e-01 2.76832591e-03 9.90744706e-01 -1.11931575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.665779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.63, Y:-37.09, Z:-11.20 [[ 8.48077784e-01 5.17323733e-01 1.14630827e-01 8.46253590e+01] [-5.12198963e-01 8.55784741e-01 -7.26959358e-02 -3.70944242e+01] [-1.35706645e-01 2.93801743e-03 9.90744707e-01 -1.11985381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.725779523 meters Centerline goodness : 0.999807 with order 1 Centerline is valid? [True, True] Translation: X:84.68, Y:-37.12, Z:-11.22 [[ 8.48791741e-01 5.16155968e-01 1.14610638e-01 8.46822597e+01] [-5.11016301e-01 8.56488770e-01 -7.27277522e-02 -3.71173605e+01] [-1.35701587e-01 3.16281123e-03 9.90744708e-01 -1.12171205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.78577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.73, Y:-37.15, Z:-11.21 [[ 8.48770097e-01 5.16195433e-01 1.14593183e-01 8.47336854e+01] [-5.11052416e-01 8.56464887e-01 -7.27552446e-02 -3.71537664e+01] [-1.35700962e-01 3.18935316e-03 9.90744708e-01 -1.12148706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.84577952299999 meters Centerline goodness : 0.999829 with order 1 Centerline is valid? [True, True] Translation: X:84.79, Y:-37.18, Z:-11.23 [[ 8.49305535e-01 5.15317894e-01 1.14575634e-01 8.47880881e+01] [-5.10163202e-01 8.56992509e-01 -7.27828702e-02 -3.71795318e+01] [-1.35696775e-01 3.36262225e-03 9.90744709e-01 -1.12263807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.90577952299999 meters Centerline goodness : 0.999915 with order 1 Centerline is valid? [True, True] Translation: X:84.84, Y:-37.20, Z:-11.24 [[ 8.48740496e-01 5.16250163e-01 1.14565876e-01 8.48441522e+01] [-5.11101844e-01 8.56431739e-01 -7.27982268e-02 -3.72043243e+01] [-1.35699949e-01 3.23197264e-03 9.90744709e-01 -1.12420248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.965779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.90, Y:-37.24, Z:-11.24 [[ 8.48283962e-01 5.17003982e-01 1.14547814e-01 8.48954258e+01] [-5.11858664e-01 8.55977213e-01 -7.28266357e-02 -3.72414167e+01] [-1.35701980e-01 3.14537582e-03 9.90744709e-01 -1.12413255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.025779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:84.95, Y:-37.27, Z:-11.25 [[ 8.48026523e-01 5.17430163e-01 1.14529656e-01 8.49509707e+01] [-5.12284859e-01 8.55719782e-01 -7.28551805e-02 -3.72705836e+01] [-1.35702761e-01 3.11131652e-03 9.90744710e-01 -1.12494344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.085779523 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:85.01, Y:-37.30, Z:-11.26 [[ 8.47661290e-01 5.18032846e-01 1.14508988e-01 8.50070335e+01] [-5.12888628e-01 8.55355275e-01 -7.28876509e-02 -3.72972329e+01] [-1.35704064e-01 3.05368233e-03 9.90744711e-01 -1.12629632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.14577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.06, Y:-37.34, Z:-11.26 [[ 8.46608767e-01 5.19755721e-01 1.14488371e-01 8.50581183e+01] [-5.14622786e-01 8.54310282e-01 -7.29200207e-02 -3.73355340e+01] [-1.35709191e-01 2.81640410e-03 9.90744712e-01 -1.12631964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.20577952299999 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:85.11, Y:-37.36, Z:-11.28 [[ 8.44924692e-01 5.22493478e-01 1.14467596e-01 8.51119236e+01] [-5.17381086e-01 8.52639858e-01 -7.29526186e-02 -3.73649384e+01] [-1.35716903e-01 2.41609958e-03 9.90744712e-01 -1.12752022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.26577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.17, Y:-37.39, Z:-11.29 [[ 8.39627719e-01 5.30967631e-01 1.14449415e-01 8.51668384e+01] [-5.25929231e-01 8.47391408e-01 -7.29811305e-02 -3.73890459e+01] [-1.35734069e-01 1.08468726e-03 9.90744713e-01 -1.12917125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.325779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.22, Y:-37.43, Z:-11.29 [[ 8.36892551e-01 5.35270531e-01 1.14439140e-01 8.52177310e+01] [-5.30269847e-01 8.44680586e-01 -7.29972397e-02 -3.74255081e+01] [-1.35737791e-01 4.07221141e-04 9.90744713e-01 -1.12933267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.385779523 meters Centerline goodness : 0.999832 with order 1 Centerline is valid? [True, True] Translation: X:85.27, Y:-37.46, Z:-11.30 [[ 8.35781679e-01 5.37007232e-01 1.14421225e-01 8.52675367e+01] [-5.32018888e-01 8.43577624e-01 -7.30253099e-02 -3.74617384e+01] [-1.35738305e-01 1.58963288e-04 9.90744714e-01 -1.12976619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.445779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.32, Y:-37.49, Z:-11.31 [[ 8.32508653e-01 5.42071459e-01 1.14402255e-01 8.53225458e+01] [-5.37126454e-01 8.40332159e-01 -7.30550170e-02 -3.74865862e+01] [-1.35736933e-01 -6.29543542e-04 9.90744714e-01 -1.13091054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.50577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.37, Y:-37.52, Z:-11.32 [[ 8.30098774e-01 5.45758031e-01 1.14386175e-01 8.53735844e+01] [-5.40844301e-01 8.37941960e-01 -7.30801858e-02 -3.75216128e+01] [-1.35733074e-01 -1.20133797e-03 9.90744715e-01 -1.13181805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.56577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.42, Y:-37.56, Z:-11.32 [[ 8.29443287e-01 5.46757537e-01 1.14367953e-01 8.54223603e+01] [-5.41849328e-01 8.37289929e-01 -7.31086903e-02 -3.75606445e+01] [-1.35731863e-01 -1.33068628e-03 9.90744715e-01 -1.13221136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.62577952299999 meters Centerline goodness : 0.999916 with order 1 Centerline is valid? [True, True] Translation: X:85.48, Y:-37.59, Z:-11.33 [[ 8.29939220e-01 5.46008270e-01 1.14349725e-01 8.54752999e+01] [-5.41089051e-01 8.37778963e-01 -7.31371903e-02 -3.75904226e+01] [-1.35733305e-01 -1.17396159e-03 9.90744716e-01 -1.13343764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.685779523 meters Centerline goodness : 0.999809 with order 1 Centerline is valid? [True, True] Translation: X:85.52, Y:-37.63, Z:-11.35 [[ 8.30535389e-01 5.45104780e-01 1.14331740e-01 8.55225941e+01] [-5.40173163e-01 8.38367338e-01 -7.31652943e-02 -3.76301300e+01] [-1.35734749e-01 -9.92571660e-04 9.90744716e-01 -1.13470357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.745779523 meters Centerline goodness : 0.999894 with order 1 Centerline is valid? [True, True] Translation: X:85.57, Y:-37.67, Z:-11.35 [[ 8.32533949e-01 5.42048892e-01 1.14325070e-01 8.55721544e+01] [-5.37087095e-01 8.40346813e-01 -7.31757165e-02 -3.76671772e+01] [-1.35737524e-01 -4.81251204e-04 9.90744716e-01 -1.13511039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.805779523 meters Centerline goodness : 0.999831 with order 1 Centerline is valid? [True, True] Translation: X:85.62, Y:-37.70, Z:-11.36 [[ 8.33692368e-01 5.40269452e-01 1.14306405e-01 8.56232656e+01] [-5.35286982e-01 8.41492065e-01 -7.32048601e-02 -3.77018880e+01] [-1.35738283e-01 -1.56397575e-04 9.90744717e-01 -1.13582535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.865779523 meters Centerline goodness : 0.999808 with order 1 Centerline is valid? [True, True] Translation: X:85.67, Y:-37.75, Z:-11.36 [[ 8.34451319e-01 5.39100397e-01 1.14288050e-01 8.56703532e+01] [-5.34103076e-01 8.42241508e-01 -7.32335055e-02 -3.77460318e+01] [-1.35738351e-01 6.81961311e-05 9.90744718e-01 -1.13588556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.92577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.72, Y:-37.78, Z:-11.37 [[ 8.34074686e-01 5.39687328e-01 1.14267257e-01 8.57202186e+01] [-5.34691046e-01 8.41865540e-01 -7.32659349e-02 -3.77822605e+01] [-1.35738363e-01 1.15825315e-05 9.90744718e-01 -1.13685047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.98577952299999 meters Centerline goodness : 0.999851 with order 1 Centerline is valid? [True, True] Translation: X:85.77, Y:-37.81, Z:-11.39 [[ 8.34219949e-01 5.39466674e-01 1.14248786e-01 8.57711198e+01] [-5.34464388e-01 8.42006948e-01 -7.32947266e-02 -3.78134776e+01] [-1.35738334e-01 8.20154010e-05 9.90744719e-01 -1.13883028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.045779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.82, Y:-37.86, Z:-11.39 [[ 8.33565111e-01 5.40481845e-01 1.14230383e-01 8.58160190e+01] [-5.35485114e-01 8.41355675e-01 -7.33233964e-02 -3.78577526e+01] [-1.35738346e-01 -4.88448444e-05 9.90744719e-01 -1.13889492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.105779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.87, Y:-37.90, Z:-11.39 [[ 8.33188499e-01 5.41065789e-01 1.14213558e-01 8.58664759e+01] [-5.36070926e-01 8.40980261e-01 -7.33495961e-02 -3.78962038e+01] [-1.35738305e-01 -1.12527730e-04 9.90744720e-01 -1.13925123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.165779523 meters Centerline goodness : 0.999806 with order 1 Centerline is valid? [True, True] Translation: X:85.92, Y:-37.93, Z:-11.41 [[ 8.31905467e-01 5.43040867e-01 1.14192432e-01 8.59175307e+01] [-5.38059989e-01 8.39706175e-01 -7.33824700e-02 -3.79306540e+01] [-1.35737771e-01 -3.95100992e-04 9.90744721e-01 -1.14052168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.225779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:85.96, Y:-37.98, Z:-11.41 [[ 8.29007717e-01 5.47458829e-01 1.14171081e-01 8.59638673e+01] [-5.42514948e-01 8.36831925e-01 -7.34156746e-02 -3.79760282e+01] [-1.35734065e-01 -1.07735718e-03 9.90744721e-01 -1.14071212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.28577952299999 meters Centerline goodness : 0.999978 with order 1 Centerline is valid? [True, True] Translation: X:86.01, Y:-38.01, Z:-11.42 [[ 8.29359407e-01 5.46930287e-01 1.14150056e-01 8.60126994e+01] [-5.41976922e-01 8.37177613e-01 -7.34483501e-02 -3.80132510e+01] [-1.35734999e-01 -9.51616175e-04 9.90744722e-01 -1.14205847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.34577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.06, Y:-38.05, Z:-11.43 [[ 8.30080121e-01 5.45839692e-01 1.14131607e-01 8.60614408e+01] [-5.40872115e-01 8.37889303e-01 -7.34770080e-02 -3.80497422e+01] [-1.35736320e-01 -7.38799878e-04 9.90744723e-01 -1.14329769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.40577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.11, Y:-38.09, Z:-11.44 [[ 8.29843934e-01 5.46202573e-01 1.14113079e-01 8.61096214e+01] [-5.41234455e-01 8.37652772e-01 -7.35057719e-02 -3.80890775e+01] [-1.35736178e-01 -7.63611013e-04 9.90744723e-01 -1.14387101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.465779523 meters Centerline goodness : 0.999800 with order 1 Centerline is valid? [True, True] Translation: X:86.16, Y:-38.13, Z:-11.44 [[ 8.29683561e-01 5.46449971e-01 1.14094772e-01 8.61568409e+01] [-5.41480275e-01 8.37491395e-01 -7.35341764e-02 -3.81299484e+01] [-1.35736138e-01 -7.69971179e-04 9.90744724e-01 -1.14429776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.525779523 meters Centerline goodness : 0.999799 with order 1 Centerline is valid? [True, True] Translation: X:86.21, Y:-38.17, Z:-11.45 [[ 8.30078697e-01 5.45853366e-01 1.14076556e-01 8.62050855e+01] [-5.40874176e-01 8.37880478e-01 -7.35624243e-02 -3.81670319e+01] [-1.35736816e-01 -6.38462150e-04 9.90744724e-01 -1.14524560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.585779523 meters Centerline goodness : 0.999820 with order 1 Centerline is valid? [True, True] Translation: X:86.25, Y:-38.21, Z:-11.46 [[ 8.29282017e-01 5.47065078e-01 1.14066367e-01 8.62539089e+01] [-5.42095116e-01 8.37089679e-01 -7.35782202e-02 -3.82062408e+01] [-1.35735854e-01 -8.17725710e-04 9.90744725e-01 -1.14637010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.64577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.30, Y:-38.25, Z:-11.47 [[ 8.26684774e-01 5.50986381e-01 1.14045129e-01 8.63014732e+01] [-5.46048912e-01 8.34513025e-01 -7.36111248e-02 -3.82457938e+01] [-1.35730873e-01 -1.42102238e-03 9.90744725e-01 -1.14737197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.70577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.35, Y:-38.28, Z:-11.48 [[ 8.25107203e-01 5.53349805e-01 1.14026734e-01 8.63529931e+01] [-5.48430822e-01 8.32947082e-01 -7.36396081e-02 -3.82797179e+01] [-1.35726698e-01 -1.77520441e-03 9.90744726e-01 -1.14783023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.76577952299999 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:86.40, Y:-38.32, Z:-11.48 [[ 8.24451447e-01 5.54330101e-01 1.14008553e-01 8.64030184e+01] [-5.49416549e-01 8.32294731e-01 -7.36677449e-02 -3.83156758e+01] [-1.35724967e-01 -1.90270715e-03 9.90744727e-01 -1.14814844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.825779523 meters Centerline goodness : 0.999819 with order 1 Centerline is valid? [True, True] Translation: X:86.46, Y:-38.35, Z:-11.49 [[ 8.22762484e-01 5.56835855e-01 1.13998794e-01 8.64562531e+01] [-5.51944097e-01 8.30619379e-01 -7.36828445e-02 -3.83479566e+01] [-1.35718857e-01 -2.29748112e-03 9.90744727e-01 -1.14925765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.885779523 meters Centerline goodness : 0.999751 with order 1 Centerline is valid? [True, True] Translation: X:86.51, Y:-38.38, Z:-11.51 [[ 8.21281890e-01 5.59021537e-01 1.13977975e-01 8.65066075e+01] [-5.54146222e-01 8.29148997e-01 -7.37150348e-02 -3.83810559e+01] [-1.35713016e-01 -2.61964105e-03 9.90744727e-01 -1.15055551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.945779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.56, Y:-38.42, Z:-11.51 [[ 8.22971735e-01 5.56535251e-01 1.13956296e-01 8.65583622e+01] [-5.51631529e-01 8.30821166e-01 -7.37485327e-02 -3.84169544e+01] [-1.35720961e-01 -2.16892815e-03 9.90744728e-01 -1.15126121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.00577952299999 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:86.61, Y:-38.45, Z:-11.52 [[ 8.26157021e-01 5.51800577e-01 1.13932878e-01 8.66089327e+01] [-5.46846877e-01 8.33975007e-01 -7.37846938e-02 -3.84514916e+01] [-1.35731609e-01 -1.34609576e-03 9.90744729e-01 -1.15220516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.06577952299999 meters Centerline goodness : 0.999818 with order 1 Centerline is valid? [True, True] Translation: X:86.66, Y:-38.49, Z:-11.52 [[ 8.28265304e-01 5.48634858e-01 1.13913910e-01 8.66619118e+01] [-5.43647250e-01 8.36061700e-01 -7.38139673e-02 -3.84864020e+01] [-1.35735972e-01 -7.91435645e-04 9.90744730e-01 -1.15247617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.12577952299999 meters Centerline goodness : 0.999795 with order 1 Centerline is valid? [True, True] Translation: X:86.71, Y:-38.52, Z:-11.54 [[ 8.30219719e-01 5.45677128e-01 1.13893329e-01 8.67128174e+01] [-5.40657389e-01 8.37995465e-01 -7.38457096e-02 -3.85202652e+01] [-1.35738008e-01 -2.69105444e-04 9.90744730e-01 -1.15351684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.185779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.77, Y:-38.55, Z:-11.55 [[ 8.35190869e-01 5.38041688e-01 1.13874295e-01 8.67681995e+01] [-5.32946861e-01 8.42917624e-01 -7.38750489e-02 -3.85464400e+01] [-1.35734506e-01 1.01081817e-03 9.90744731e-01 -1.15519263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.245779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.82, Y:-38.59, Z:-11.55 [[ 8.34866239e-01 5.38549373e-01 1.13854887e-01 8.68152615e+01] [-5.33455167e-01 8.42593403e-01 -7.39049488e-02 -3.85872845e+01] [-1.35734840e-01 9.64269000e-04 9.90744732e-01 -1.15470762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.305779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.87, Y:-38.62, Z:-11.57 [[ 8.41761605e-01 5.27708813e-01 1.13845549e-01 8.68681040e+01] [-5.22513171e-01 8.49420932e-01 -7.39193299e-02 -3.86154343e+01] [-1.35710674e-01 2.73665485e-03 9.90744732e-01 -1.15712237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.365779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.92, Y:-38.65, Z:-11.58 [[ 8.40209264e-01 5.30180904e-01 1.13827073e-01 8.69175746e+01] [-5.25003947e-01 8.47881232e-01 -7.39477707e-02 -3.86526754e+01] [-1.35717535e-01 2.37193946e-03 9.90744732e-01 -1.15799624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.42577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.97, Y:-38.69, Z:-11.57 [[ 8.34513907e-01 5.39105014e-01 1.13808272e-01 8.69672388e+01] [-5.34006168e-01 8.42238008e-01 -7.39766943e-02 -3.86903154e+01] [-1.35734859e-01 9.60260904e-04 9.90744733e-01 -1.15743588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.48577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.02, Y:-38.73, Z:-11.58 [[ 8.31407560e-01 5.43886986e-01 1.13791102e-01 8.70172017e+01] [-5.38828954e-01 8.39158448e-01 -7.40030956e-02 -3.87275994e+01] [-1.35738086e-01 2.12792530e-04 9.90744733e-01 -1.15785656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.545779523 meters Centerline goodness : 0.999815 with order 1 Centerline is valid? [True, True] Translation: X:87.07, Y:-38.76, Z:-11.59 [[ 8.30800819e-01 5.44817121e-01 1.13773037e-01 8.70667440e+01] [-5.39763964e-01 8.38554885e-01 -7.40308594e-02 -3.87630790e+01] [-1.35738216e-01 9.43132895e-05 9.90744734e-01 -1.15908610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.605779523 meters Centerline goodness : 0.999815 with order 1 Centerline is valid? [True, True] Translation: X:87.12, Y:-38.80, Z:-11.60 [[ 8.31655149e-01 5.43513488e-01 1.13766433e-01 8.71177703e+01] [-5.38446787e-01 8.39400373e-01 -7.40410066e-02 -3.87966751e+01] [-1.35737872e-01 3.19414165e-04 9.90744734e-01 -1.16007667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.665779523 meters Centerline goodness : 0.999746 with order 1 Centerline is valid? [True, True] Translation: X:87.17, Y:-38.82, Z:-11.62 [[ 8.36044023e-01 5.36742119e-01 1.13746606e-01 8.71722774e+01] [-5.31608548e-01 8.43745087e-01 -7.40714542e-02 -3.88227835e+01] [-1.35730409e-01 1.45832863e-03 9.90744735e-01 -1.16212039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.725779523 meters Centerline goodness : 0.999884 with order 1 Centerline is valid? [True, True] Translation: X:87.22, Y:-38.86, Z:-11.62 [[ 8.33634374e-01 5.40479128e-01 1.13736728e-01 8.72200602e+01] [-5.35378012e-01 8.41356974e-01 -7.40866189e-02 -3.88624612e+01] [-1.35735460e-01 8.69009027e-04 9.90744735e-01 -1.16178761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.78577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.27, Y:-38.89, Z:-11.63 [[ 8.33438615e-01 5.40784612e-01 1.13719298e-01 8.72724480e+01] [-5.35682677e-01 8.41160674e-01 -7.41133635e-02 -3.88940510e+01] [-1.35735567e-01 8.51481250e-04 9.90744735e-01 -1.16316705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.84577952299999 meters Centerline goodness : 0.999815 with order 1 Centerline is valid? [True, True] Translation: X:87.32, Y:-38.93, Z:-11.64 [[ 8.34551478e-01 5.39069440e-01 1.13701225e-01 8.73228912e+01] [-5.33947859e-01 8.42260520e-01 -7.41410793e-02 -3.89282569e+01] [-1.35733243e-01 1.16402163e-03 9.90744736e-01 -1.16437586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.90577952299999 meters Centerline goodness : 0.999815 with order 1 Centerline is valid? [True, True] Translation: X:87.37, Y:-38.96, Z:-11.65 [[ 8.36197202e-01 5.36516947e-01 1.13682912e-01 8.73739183e+01] [-5.31368020e-01 8.43888005e-01 -7.41691483e-02 -3.89635314e+01] [-1.35728651e-01 1.61257033e-03 9.90744736e-01 -1.16489515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.965779523 meters Centerline goodness : 0.999838 with order 1 Centerline is valid? [True, True] Translation: X:87.43, Y:-38.99, Z:-11.67 [[ 8.39063884e-01 5.32025307e-01 1.13670011e-01 8.74262518e+01] [-5.26832537e-01 8.46725152e-01 -7.41889157e-02 -3.89929185e+01] [-1.35717638e-01 2.36417960e-03 9.90744737e-01 -1.16651578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.025779523 meters Centerline goodness : 0.999884 with order 1 Centerline is valid? [True, True] Translation: X:87.48, Y:-39.02, Z:-11.68 [[ 8.42304644e-01 5.26883142e-01 1.13653160e-01 8.74794710e+01] [-5.21640128e-01 8.49931616e-01 -7.42147219e-02 -3.90239425e+01] [-1.35699899e-01 3.22535612e-03 9.90744737e-01 -1.16768863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.085779523 meters Centerline goodness : 0.999838 with order 1 Centerline is valid? [True, True] Translation: X:87.53, Y:-39.06, Z:-11.69 [[ 8.45485957e-01 5.21767348e-01 1.13632440e-01 8.75308290e+01] [-5.16473938e-01 8.53078037e-01 -7.42464333e-02 -3.90568764e+01] [-1.35676703e-01 4.08612294e-03 9.90744738e-01 -1.16866721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.14577952299999 meters Centerline goodness : 0.999631 with order 1 Centerline is valid? [True, True] Translation: X:87.58, Y:-39.09, Z:-11.70 [[ 8.46872893e-01 5.19517136e-01 1.13614469e-01 8.75847463e+01] [-5.14199873e-01 8.54448287e-01 -7.42739226e-02 -3.90880182e+01] [-1.35664264e-01 4.48002609e-03 9.90744738e-01 -1.16975327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.20577952299999 meters Centerline goodness : 0.999931 with order 1 Centerline is valid? [True, True] Translation: X:87.64, Y:-39.12, Z:-11.71 [[ 8.47424421e-01 5.18621685e-01 1.13593123e-01 8.76396497e+01] [-5.13292051e-01 8.54991115e-01 -7.43065550e-02 -3.91172303e+01] [-1.35658102e-01 4.66274243e-03 9.90744739e-01 -1.17069198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.26577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.69, Y:-39.15, Z:-11.72 [[ 8.47076347e-01 5.19194658e-01 1.13571872e-01 8.76933534e+01] [-5.13865795e-01 8.54643583e-01 -7.43390211e-02 -3.91462713e+01] [-1.35659894e-01 4.61012596e-03 9.90744740e-01 -1.17198060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.325779523 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:87.75, Y:-39.17, Z:-11.73 [[ 8.48944202e-01 5.16139150e-01 1.13552278e-01 8.77474308e+01] [-5.10779063e-01 8.56489352e-01 -7.43689387e-02 -3.91739669e+01] [-1.35641038e-01 5.13495306e-03 9.90744741e-01 -1.17334298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.385779523 meters Centerline goodness : 0.999817 with order 1 Centerline is valid? [True, True] Translation: X:87.80, Y:-39.21, Z:-11.74 [[ 8.45876892e-01 5.21153003e-01 1.13542205e-01 8.77967946e+01] [-5.15835590e-01 8.53452177e-01 -7.43843152e-02 -3.92128500e+01] [-1.35668451e-01 4.35086320e-03 9.90744741e-01 -1.17352003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.445779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.85, Y:-39.24, Z:-11.75 [[ 8.44388950e-01 5.23564455e-01 1.13523401e-01 8.78497464e+01] [-5.18264827e-01 8.51976687e-01 -7.44130022e-02 -3.92421518e+01] [-1.35679294e-01 3.99833107e-03 9.90744741e-01 -1.17479451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.50577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.90, Y:-39.27, Z:-11.76 [[ 8.42862253e-01 5.26022853e-01 1.13504096e-01 8.79030565e+01] [-5.20741398e-01 8.50462650e-01 -7.44424376e-02 -3.92743049e+01] [-1.35689417e-01 3.63843915e-03 9.90744742e-01 -1.17601373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.56577952299999 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:87.96, Y:-39.31, Z:-11.77 [[ 8.42594679e-01 5.26455702e-01 1.13483920e-01 8.79553849e+01] [-5.21174015e-01 8.50194914e-01 -7.44731814e-02 -3.93080642e+01] [-1.35690283e-01 3.60583612e-03 9.90744743e-01 -1.17663911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.62577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.01, Y:-39.34, Z:-11.77 [[ 8.43175111e-01 5.25530007e-01 1.13463404e-01 8.80074501e+01] [-5.20235776e-01 8.50766612e-01 -7.45044256e-02 -3.93426278e+01] [-1.35685187e-01 3.79255524e-03 9.90744743e-01 -1.17730956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.685779523 meters Centerline goodness : 0.999819 with order 1 Centerline is valid? [True, True] Translation: X:88.06, Y:-39.38, Z:-11.78 [[ 8.45400118e-01 5.21947683e-01 1.13442750e-01 8.80595221e+01] [-5.16617076e-01 8.52966120e-01 -7.45358614e-02 -3.93753909e+01] [-1.35666642e-01 4.40616422e-03 9.90744744e-01 -1.17811684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.745779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:88.11, Y:-39.41, Z:-11.79 [[ 8.46259513e-01 5.20557299e-01 1.13423694e-01 8.81120487e+01] [-5.15210383e-01 8.53813999e-01 -7.45648489e-02 -3.94100264e+01] [-1.35658014e-01 4.66414802e-03 9.90744745e-01 -1.17865767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.805779523 meters Centerline goodness : 0.999931 with order 1 Centerline is valid? [True, True] Translation: X:88.16, Y:-39.44, Z:-11.80 [[ 8.52028309e-01 5.11065073e-01 1.13403050e-01 8.81646922e+01] [-5.05629881e-01 8.59519532e-01 -7.45962325e-02 -3.94404963e+01] [-1.35595665e-01 6.21813135e-03 9.90744745e-01 -1.18018539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.865779523 meters Centerline goodness : 0.999817 with order 1 Centerline is valid? [True, True] Translation: X:88.21, Y:-39.48, Z:-11.80 [[ 8.48165667e-01 5.17454350e-01 1.13384286e-01 8.82094159e+01] [-5.12071811e-01 8.55694810e-01 -7.46247415e-02 -3.94840325e+01] [-1.35637243e-01 5.23324673e-03 9.90744746e-01 -1.18027529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.92577952299999 meters Centerline goodness : 0.999862 with order 1 Centerline is valid? [True, True] Translation: X:88.26, Y:-39.52, Z:-11.82 [[ 8.48375773e-01 5.17111971e-01 1.13374414e-01 8.82625930e+01] [-5.11724393e-01 8.55901312e-01 -7.46397371e-02 -3.95158008e+01] [-1.35634411e-01 5.30609146e-03 9.90744746e-01 -1.18179912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.98577952299999 meters Centerline goodness : 0.999931 with order 1 Centerline is valid? [True, True] Translation: X:88.31, Y:-39.56, Z:-11.82 [[ 8.49854981e-01 5.14681925e-01 1.13353553e-01 8.83121181e+01] [-5.09268619e-01 8.57362033e-01 -7.46714049e-02 -3.95558492e+01] [-1.35617055e-01 5.73245790e-03 9.90744747e-01 -1.18216509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.045779523 meters Centerline goodness : 0.999839 with order 1 Centerline is valid? [True, True] Translation: X:88.36, Y:-39.59, Z:-11.82 [[ 8.51379993e-01 5.12159884e-01 1.13332961e-01 8.83639909e+01] [-5.06720197e-01 8.58867950e-01 -7.47026464e-02 -3.95924500e+01] [-1.35597746e-01 6.17223839e-03 9.90744747e-01 -1.18245605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.105779523 meters Centerline goodness : 0.999977 with order 1 Centerline is valid? [True, True] Translation: X:88.42, Y:-39.62, Z:-11.84 [[ 8.56222157e-01 5.04027678e-01 1.13312483e-01 8.84200761e+01] [-4.98512827e-01 8.63654929e-01 -7.47336946e-02 -3.96187171e+01] [-1.35530735e-01 7.50091883e-03 9.90744748e-01 -1.18388478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.165779523 meters Centerline goodness : 0.999793 with order 1 Centerline is valid? [True, True] Translation: X:88.47, Y:-39.66, Z:-11.84 [[ 8.55697768e-01 5.04920388e-01 1.13299300e-01 8.84662650e+01] [-4.99410658e-01 8.63134336e-01 -7.47536765e-02 -3.96583855e+01] [-1.35537171e-01 7.38367637e-03 9.90744748e-01 -1.18444673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.225779523 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:88.52, Y:-39.69, Z:-11.85 [[ 8.58357671e-01 5.00388997e-01 1.13282653e-01 8.85185927e+01] [-4.94836713e-01 8.65762522e-01 -7.47788940e-02 -3.96925332e+01] [-1.35494411e-01 8.13062151e-03 9.90744749e-01 -1.18506713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.28577952299999 meters Centerline goodness : 0.999861 with order 1 Centerline is valid? [True, True] Translation: X:88.57, Y:-39.72, Z:-11.87 [[ 8.64046702e-01 4.90504912e-01 1.13261771e-01 8.85718940e+01] [-4.84863896e-01 8.71384181e-01 -7.48105096e-02 -3.97211316e+01] [-1.35389438e-01 9.72323052e-03 9.90744750e-01 -1.18653771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.34577952299999 meters Centerline goodness : 0.999954 with order 1 Centerline is valid? [True, True] Translation: X:88.62, Y:-39.76, Z:-11.87 [[ 8.64297712e-01 4.90066818e-01 1.13243009e-01 8.86192297e+01] [-4.84418391e-01 8.71629487e-01 -7.48388994e-02 -3.97610185e+01] [-1.35382007e-01 9.82609330e-03 9.90744750e-01 -1.18683866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.40577952299999 meters Centerline goodness : 0.999816 with order 1 Centerline is valid? [True, True] Translation: X:88.67, Y:-39.78, Z:-11.89 [[ 8.69795063e-01 4.80244454e-01 1.13233445e-01 8.86747610e+01] [-4.74511469e-01 8.77060910e-01 -7.48533670e-02 -3.97843525e+01] [-1.35260543e-01 1.13765206e-02 9.90744750e-01 -1.18910475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.465779523 meters Centerline goodness : 0.999861 with order 1 Centerline is valid? [True, True] Translation: X:88.72, Y:-39.83, Z:-11.89 [[ 8.67020931e-01 4.85239438e-01 1.13213927e-01 8.87220018e+01] [-4.79544520e-01 8.74316652e-01 -7.48828761e-02 -3.98261610e+01] [-1.35320947e-01 1.06339025e-02 9.90744751e-01 -1.18922062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.525779523 meters Centerline goodness : 0.999746 with order 1 Centerline is valid? [True, True] Translation: X:88.77, Y:-39.86, Z:-11.90 [[ 8.67795883e-01 4.83856949e-01 1.13193460e-01 8.87735724e+01] [-4.78146413e-01 8.75079385e-01 -7.49138021e-02 -3.98598901e+01] [-1.35300827e-01 1.08868422e-02 9.90744752e-01 -1.19010379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.585779523 meters Centerline goodness : 0.999931 with order 1 Centerline is valid? [True, True] Translation: X:88.83, Y:-39.89, Z:-11.91 [[ 8.67424544e-01 4.84525348e-01 1.13180598e-01 8.88277034e+01] [-4.78817914e-01 8.74710476e-01 -7.49332287e-02 -3.98909268e+01] [-1.35307304e-01 1.08060238e-02 9.90744752e-01 -1.19089456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.64577952299999 meters Centerline goodness : 0.999886 with order 1 Centerline is valid? [True, True] Translation: X:88.88, Y:-39.92, Z:-11.92 [[ 8.66819190e-01 4.85612312e-01 1.13159946e-01 8.88815847e+01] [-4.79909981e-01 8.74109117e-01 -7.49644042e-02 -3.99207131e+01] [-1.35317778e-01 1.06739968e-02 9.90744753e-01 -1.19201374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.70577952299999 meters Centerline goodness : 0.999841 with order 1 Centerline is valid? [True, True] Translation: X:88.94, Y:-39.95, Z:-11.93 [[ 8.66539572e-01 4.86115541e-01 1.13140847e-01 8.89359077e+01] [-4.80413714e-01 8.73829892e-01 -7.49932175e-02 -3.99506916e+01] [-1.35321223e-01 1.06301758e-02 9.90744753e-01 -1.19325346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.76577952299999 meters Centerline goodness : 0.999864 with order 1 Centerline is valid? [True, True] Translation: X:88.99, Y:-39.98, Z:-11.94 [[ 8.64798212e-01 4.89211426e-01 1.13120437e-01 8.89871290e+01] [-4.83531715e-01 8.72105774e-01 -7.50239917e-02 -3.99829300e+01] [-1.35355581e-01 1.01832948e-02 9.90744754e-01 -1.19414035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.825779523 meters Centerline goodness : 0.999909 with order 1 Centerline is valid? [True, True] Translation: X:89.04, Y:-40.02, Z:-11.95 [[ 8.62929873e-01 4.92503289e-01 1.13104133e-01 8.90399177e+01] [-4.86848268e-01 8.70256558e-01 -7.50485637e-02 -4.00152734e+01] [-1.35391278e-01 9.69709617e-03 9.90744754e-01 -1.19505417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.885779523 meters Centerline goodness : 0.999932 with order 1 Centerline is valid? [True, True] Translation: X:89.10, Y:-40.04, Z:-11.96 [[ 8.62753519e-01 4.92816705e-01 1.13084307e-01 8.90979679e+01] [-4.87160460e-01 8.70079258e-01 -7.50784268e-02 -4.00389309e+01] [-1.35392213e-01 9.68397411e-03 9.90744755e-01 -1.19626722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.945779523 meters Centerline goodness : 0.999955 with order 1 Centerline is valid? [True, True] Translation: X:89.15, Y:-40.07, Z:-11.97 [[ 8.60863916e-01 4.96114574e-01 1.13064799e-01 8.91515331e+01] [-4.90482571e-01 8.68208308e-01 -7.51077937e-02 -4.00687917e+01] [-1.35425869e-01 9.20127622e-03 9.90744756e-01 -1.19704100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.00577952299999 meters Centerline goodness : 0.999866 with order 1 Centerline is valid? [True, True] Translation: X:89.20, Y:-40.11, Z:-11.98 [[ 8.58686778e-01 4.99877755e-01 1.13045333e-01 8.91984061e+01] [-4.94274119e-01 8.66052836e-01 -7.51370801e-02 -4.01087070e+01] [-1.35462586e-01 8.64383479e-03 9.90744756e-01 -1.19751443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.06577952299999 meters Centerline goodness : 0.999911 with order 1 Centerline is valid? [True, True] Translation: X:89.26, Y:-40.13, Z:-11.99 [[ 8.60732947e-01 4.96350252e-01 1.13027520e-01 8.92560812e+01] [-4.90712946e-01 8.68073268e-01 -7.51638665e-02 -4.01310078e+01] [-1.35423773e-01 9.23194895e-03 9.90744757e-01 -1.19888491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.12577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.31, Y:-40.16, Z:-11.99 [[ 8.59093598e-01 4.99186769e-01 1.13007783e-01 8.93097492e+01] [-4.93569827e-01 8.66449513e-01 -7.51935292e-02 -4.01625676e+01] [-1.35451154e-01 8.82104761e-03 9.90744757e-01 -1.19903652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.185779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.36, Y:-40.19, Z:-11.99 [[ 8.58877362e-01 4.99562756e-01 1.12989960e-01 8.93645056e+01] [-4.93945533e-01 8.66233061e-01 -7.52203013e-02 -4.01946053e+01] [-1.35452900e-01 8.79412768e-03 9.90744758e-01 -1.19947487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.245779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.42, Y:-40.22, Z:-12.01 [[ 8.61536930e-01 4.94966643e-01 1.12969645e-01 8.94228613e+01] [-4.89306228e-01 8.68859443e-01 -7.52507990e-02 -4.02162497e+01] [-1.35401379e-01 9.55459122e-03 9.90744758e-01 -1.20092417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.305779523 meters Centerline goodness : 0.999869 with order 1 Centerline is valid? [True, True] Translation: X:89.47, Y:-40.25, Z:-12.01 [[ 8.60534613e-01 4.96711595e-01 1.12950301e-01 8.94734190e+01] [-4.91062248e-01 8.67865668e-01 -7.52798236e-02 -4.02496152e+01] [-1.35418050e-01 9.31526518e-03 9.90744759e-01 -1.20143329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.365779523 meters Centerline goodness : 0.999826 with order 1 Centerline is valid? [True, True] Translation: X:89.53, Y:-40.28, Z:-12.02 [[ 8.62523395e-01 4.93253768e-01 1.12934110e-01 8.95263214e+01] [-4.87571887e-01 8.69829263e-01 -7.53041057e-02 -4.02802132e+01] [-1.35377427e-01 9.88805586e-03 9.90744760e-01 -1.20234101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.42577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.59, Y:-40.31, Z:-12.02 [[ 8.66676091e-01 4.85924429e-01 1.12915911e-01 8.95857419e+01] [-4.80177300e-01 8.73930743e-01 -7.53313844e-02 -4.03057733e+01] [-1.35286046e-01 1.10682525e-02 9.90744760e-01 -1.20209681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.48577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.64, Y:-40.34, Z:-12.02 [[ 8.70568214e-01 4.78918155e-01 1.12908746e-01 8.96410649e+01] [-4.73111322e-01 8.77775166e-01 -7.53421221e-02 -4.03355900e+01] [-1.35191203e-01 1.21720505e-02 9.90744760e-01 -1.20221920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.545779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.69, Y:-40.36, Z:-12.04 [[ 8.71967421e-01 4.76370529e-01 1.12889040e-01 8.96946699e+01] [-4.70538873e-01 8.79154301e-01 -7.53716366e-02 -4.03623901e+01] [-1.35151712e-01 1.26029297e-02 9.90744761e-01 -1.20370814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.605779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.75, Y:-40.39, Z:-12.04 [[ 8.70228287e-01 4.79543869e-01 1.12873406e-01 8.97544374e+01] [-4.73735432e-01 8.77433945e-01 -7.53950432e-02 -4.03857434e+01] [-1.35194189e-01 1.21387676e-02 9.90744761e-01 -1.20420866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.665779523 meters Centerline goodness : 0.999791 with order 1 Centerline is valid? [True, True] Translation: X:89.81, Y:-40.41, Z:-12.06 [[ 8.65168207e-01 4.88618878e-01 1.12851965e-01 8.98125041e+01] [-4.82881972e-01 8.72430943e-01 -7.54271219e-02 -4.04076986e+01] [-1.35310662e-01 1.07629682e-02 9.90744762e-01 -1.20578358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.725779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.87, Y:-40.43, Z:-12.06 [[ 8.60198249e-01 4.97320416e-01 1.12833397e-01 8.98705014e+01] [-4.91653439e-01 8.67515680e-01 -7.54548884e-02 -4.04307980e+01] [-1.35409998e-01 9.43123505e-03 9.90744762e-01 -1.20617764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.78577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.93, Y:-40.46, Z:-12.07 [[ 8.58358559e-01 5.00489975e-01 1.12828939e-01 8.99269760e+01] [-4.94849157e-01 8.65696174e-01 -7.54615550e-02 -4.04582162e+01] [-1.35443332e-01 8.93976656e-03 9.90744762e-01 -1.20651048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.84577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.98, Y:-40.49, Z:-12.07 [[ 8.59219782e-01 4.99011205e-01 1.12823687e-01 8.99791300e+01] [-4.93356736e-01 8.66546882e-01 -7.54694055e-02 -4.04898279e+01] [-1.35427093e-01 9.18247991e-03 9.90744763e-01 -1.20721645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.90577952299999 meters Centerline goodness : 0.999855 with order 1 Centerline is valid? [True, True] Translation: X:90.03, Y:-40.52, Z:-12.09 [[ 8.60508877e-01 4.96787165e-01 1.12813939e-01 9.00326689e+01] [-4.91111867e-01 8.67819856e-01 -7.54839752e-02 -4.05173999e+01] [-1.35401646e-01 9.55036668e-03 9.90744763e-01 -1.20876560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.965779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.09, Y:-40.54, Z:-12.10 [[ 8.62448525e-01 4.93416078e-01 1.12796790e-01 9.00893769e+01] [-4.87708891e-01 8.69734637e-01 -7.55095922e-02 -4.05445676e+01] [-1.35360922e-01 1.01111390e-02 9.90744763e-01 -1.20950293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.025779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.14, Y:-40.57, Z:-12.10 [[ 8.66535711e-01 4.86207268e-01 1.12775681e-01 9.01433393e+01] [-4.80435463e-01 8.73770741e-01 -7.55411061e-02 -4.05741269e+01] [-1.35268725e-01 1.12776296e-02 9.90744764e-01 -1.21035494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.085779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.20, Y:-40.60, Z:-12.11 [[ 8.71500728e-01 4.77255323e-01 1.12755654e-01 9.01970434e+01] [-4.71405478e-01 8.78672807e-01 -7.55709871e-02 -4.06032810e+01] [-1.35141983e-01 1.27065372e-02 9.90744764e-01 -1.21087209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.14577952299999 meters Centerline goodness : 0.999814 with order 1 Centerline is valid? [True, True] Translation: X:90.25, Y:-40.63, Z:-12.12 [[ 8.73777165e-01 4.73079069e-01 1.12737125e-01 9.02543323e+01] [-4.67191453e-01 8.80918268e-01 -7.55986197e-02 -4.06284175e+01] [-1.35076317e-01 1.33865266e-02 9.90744765e-01 -1.21216754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.20577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.32, Y:-40.65, Z:-12.12 [[ 8.73718814e-01 4.73191802e-01 1.12716249e-01 9.03153955e+01] [-4.67301149e-01 8.80857412e-01 -7.56297318e-02 -4.06494198e+01] [-1.35074313e-01 1.34066867e-02 9.90744766e-01 -1.21246241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.26577952299999 meters Centerline goodness : 0.999896 with order 1 Centerline is valid? [True, True] Translation: X:90.37, Y:-40.67, Z:-12.13 [[ 8.73312659e-01 4.73945310e-01 1.12698016e-01 9.03745550e+01] [-4.68057361e-01 8.80453486e-01 -7.56568928e-02 -4.06738048e+01] [-1.35082590e-01 1.33229865e-02 9.90744766e-01 -1.21334205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.325779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.44, Y:-40.69, Z:-12.15 [[ 8.72636329e-01 4.75194459e-01 1.12676804e-01 9.04371613e+01] [-4.69312713e-01 8.79782265e-01 -7.56884702e-02 -4.06908262e+01] [-1.35097796e-01 1.31678522e-02 9.90744767e-01 -1.21453893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.385779523 meters Centerline goodness : 0.999814 with order 1 Centerline is valid? [True, True] Translation: X:90.50, Y:-40.71, Z:-12.15 [[ 8.74085454e-01 4.72527966e-01 1.12658513e-01 9.04971964e+01] [-4.66620972e-01 8.81210533e-01 -7.57156867e-02 -4.07109338e+01] [-1.35053647e-01 1.36131558e-02 9.90744768e-01 -1.21540249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.445779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.56, Y:-40.73, Z:-12.16 [[ 8.74712756e-01 4.71368107e-01 1.12648584e-01 9.05578839e+01] [-4.65449793e-01 8.81828435e-01 -7.57304551e-02 -4.07304168e+01] [-1.35033646e-01 1.38101349e-02 9.90744768e-01 -1.21580678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.50577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.62, Y:-40.76, Z:-12.17 [[ 8.73780142e-01 4.73098718e-01 1.12631548e-01 9.06156829e+01] [-4.67191284e-01 8.80904856e-01 -7.57557845e-02 -4.07557339e+01] [-1.35057642e-01 1.35734227e-02 9.90744768e-01 -1.21664193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.56577952299999 meters Centerline goodness : 0.999835 with order 1 Centerline is valid? [True, True] Translation: X:90.68, Y:-40.77, Z:-12.18 [[ 8.72496034e-01 4.75465088e-01 1.12621582e-01 9.06769330e+01] [-4.69575100e-01 8.79635176e-01 -7.57705973e-02 -4.07740828e+01] [-1.35092179e-01 1.32252551e-02 9.90744768e-01 -1.21809865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.62577952299999 meters Centerline goodness : 0.999834 with order 1 Centerline is valid? [True, True] Translation: X:90.74, Y:-40.79, Z:-12.19 [[ 8.73044813e-01 4.74460943e-01 1.12603584e-01 9.07378057e+01] [-4.68559345e-01 8.80174360e-01 -7.57973350e-02 -4.07925295e+01] [-1.35073663e-01 1.34130087e-02 9.90744769e-01 -1.21935842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.685779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.80, Y:-40.81, Z:-12.19 [[ 8.73934062e-01 4.72825360e-01 1.12585230e-01 9.07992893e+01] [-4.66906962e-01 8.81049670e-01 -7.58245873e-02 -4.08145942e+01] [-1.35044967e-01 1.36988618e-02 9.90744769e-01 -1.21918798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.745779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.86, Y:-40.83, Z:-12.21 [[ 8.74811031e-01 4.71202116e-01 1.12579862e-01 9.08588089e+01] [-4.65269509e-01 8.81914796e-01 -7.58325560e-02 -4.08325273e+01] [-1.35018307e-01 1.39591792e-02 9.90744769e-01 -1.22055314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.805779523 meters Centerline goodness : 0.999835 with order 1 Centerline is valid? [True, True] Translation: X:90.92, Y:-40.85, Z:-12.21 [[ 8.75106723e-01 4.70653120e-01 1.12578259e-01 9.09151327e+01] [-4.64715755e-01 8.82206512e-01 -7.58349363e-02 -4.08543401e+01] [-1.35009222e-01 1.40467720e-02 9.90744769e-01 -1.22097298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.865779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.98, Y:-40.87, Z:-12.21 [[ 8.73056065e-01 4.74444718e-01 1.12584714e-01 9.09800578e+01] [-4.68539425e-01 8.80182551e-01 -7.58253518e-02 -4.08708198e+01] [-1.35070039e-01 1.34494060e-02 9.90744769e-01 -1.22089415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.92577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.04, Y:-40.89, Z:-12.22 [[ 8.70813327e-01 4.78553141e-01 1.12565719e-01 9.10372343e+01] [-4.72677895e-01 8.77964605e-01 -7.58535399e-02 -4.08890188e+01] [-1.35128667e-01 1.28469462e-02 9.90744770e-01 -1.22212786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.98577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:91.09, Y:-40.91, Z:-12.23 [[ 8.70258080e-01 4.79560869e-01 1.12571077e-01 9.10945279e+01] [-4.73694921e-01 8.77416987e-01 -7.58455875e-02 -4.09087226e+01] [-1.35144351e-01 1.26808877e-02 9.90744770e-01 -1.22289447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.045779523 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:91.16, Y:-40.92, Z:-12.24 [[ 8.69310197e-01 4.81275700e-01 1.12576557e-01 9.11566204e+01] [-4.75424919e-01 8.76481504e-01 -7.58374532e-02 -4.09195020e+01] [-1.35169993e-01 1.24045709e-02 9.90744770e-01 -1.22356267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.105779523 meters Centerline goodness : 0.999856 with order 1 Centerline is valid? [True, True] Translation: X:91.21, Y:-40.95, Z:-12.25 [[ 8.68800080e-01 4.82194384e-01 1.12583289e-01 9.12070552e+01] [-4.76352467e-01 8.75978609e-01 -7.58274574e-02 -4.09466849e+01] [-1.35184127e-01 1.22495734e-02 9.90744770e-01 -1.22450363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.165779523 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:91.26, Y:-40.97, Z:-12.25 [[ 8.68887771e-01 4.82034487e-01 1.12591274e-01 9.12595271e+01] [-4.76192767e-01 8.76066461e-01 -7.58156005e-02 -4.09718538e+01] [-1.35183173e-01 1.22600980e-02 9.90744770e-01 -1.22534263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.225779523 meters Centerline goodness : 0.999420 with order 1 Centerline is valid? [True, True] Translation: X:91.32, Y:-40.99, Z:-12.27 [[ 8.69853720e-01 4.80284227e-01 1.12612470e-01 9.13179075e+01] [-4.74432093e-01 8.77023921e-01 -7.57841035e-02 -4.09872992e+01] [-1.35161740e-01 1.24941144e-02 9.90744771e-01 -1.22651588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.28577952299999 meters Centerline goodness : 0.998882 with order 1 Centerline is valid? [True, True] Translation: X:91.37, Y:-41.01, Z:-12.28 [[ 8.68777513e-01 4.82223281e-01 1.12633653e-01 9.13720978e+01] [-4.76391191e-01 8.75964026e-01 -7.57526081e-02 -4.10060829e+01] [-1.35192699e-01 1.21544826e-02 9.90744772e-01 -1.22774335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.34577952299999 meters Centerline goodness : 0.998617 with order 1 Centerline is valid? [True, True] Translation: X:91.43, Y:-41.03, Z:-12.28 [[ 8.65974136e-01 4.87237531e-01 1.12642726e-01 9.14276414e+01] [-4.81448820e-01 8.73195637e-01 -7.57391139e-02 -4.10283297e+01] [-1.35262076e-01 1.13564063e-02 9.90744772e-01 -1.22833277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.40577952299999 meters Centerline goodness : 0.998245 with order 1 Centerline is valid? [True, True] Translation: X:91.48, Y:-41.05, Z:-12.29 [[ 8.62845184e-01 4.92753060e-01 1.12661488e-01 9.14830579e+01] [-4.87014158e-01 8.70106330e-01 -7.57111954e-02 -4.10504568e+01] [-1.35334397e-01 1.04593006e-02 9.90744772e-01 -1.22852232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.465779523 meters Centerline goodness : 0.997834 with order 1 Centerline is valid? [True, True] Translation: X:91.54, Y:-41.07, Z:-12.30 [[ 8.57466208e-01 5.02049823e-01 1.12683972e-01 9.15405671e+01] [-4.96394105e-01 8.64792331e-01 -7.56777174e-02 -4.10670766e+01] [-1.35442219e-01 8.95542615e-03 9.90744773e-01 -1.22954942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.525779523 meters Centerline goodness : 0.995920 with order 1 Centerline is valid? [True, True] Translation: X:91.59, Y:-41.09, Z:-12.31 [[ 8.52288011e-01 5.10789504e-01 1.12690856e-01 9.15920735e+01] [-5.05210326e-01 8.59672590e-01 -7.56674640e-02 -4.10933501e+01] [-1.35527387e-01 7.55788814e-03 9.90744773e-01 -1.23065803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.585779523 meters Centerline goodness : 0.995809 with order 1 Centerline is valid? [True, True] Translation: X:91.64, Y:-41.12, Z:-12.32 [[ 8.48483006e-01 5.17080557e-01 1.12713287e-01 9.16408944e+01] [-5.11560587e-01 8.55911945e-01 -7.56340369e-02 -4.11216243e+01] [-1.35581539e-01 6.51451970e-03 9.90744774e-01 -1.23151282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.64577952299999 meters Centerline goodness : 0.994599 with order 1 Centerline is valid? [True, True] Translation: X:91.69, Y:-41.14, Z:-12.32 [[ 8.41825363e-01 5.27848093e-01 1.12722885e-01 9.16933199e+01] [-5.22425126e-01 8.49325406e-01 -7.56197305e-02 -4.11446549e+01] [-1.35654140e-01 4.76934002e-03 9.90744774e-01 -1.23229903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.70577952299999 meters Centerline goodness : 0.995068 with order 1 Centerline is valid? [True, True] Translation: X:91.74, Y:-41.18, Z:-12.33 [[ 8.35034620e-01 5.38524507e-01 1.12732157e-01 9.17400047e+01] [-5.33199345e-01 8.42604418e-01 -7.56059046e-02 -4.11775552e+01] [-1.35704246e-01 3.02483543e-03 9.90744774e-01 -1.23337932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.76577952299999 meters Centerline goodness : 0.995215 with order 1 Centerline is valid? [True, True] Translation: X:91.79, Y:-41.21, Z:-12.34 [[ 8.29696427e-01 5.46708745e-01 1.12753660e-01 9.17855065e+01] [-5.41462627e-01 8.37321217e-01 -7.55738240e-02 -4.12132293e+01] [-1.35727902e-01 1.65143904e-03 9.90744775e-01 -1.23413108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.825779523 meters Centerline goodness : 0.995067 with order 1 Centerline is valid? [True, True] Translation: X:91.83, Y:-41.25, Z:-12.35 [[ 8.23515511e-01 5.55971262e-01 1.12774816e-01 9.18325488e+01] [-5.50815234e-01 8.31201508e-01 -7.55422397e-02 -4.12465678e+01] [-1.35737912e-01 9.21192371e-05 9.90744776e-01 -1.23490208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.885779523 meters Centerline goodness : 0.996089 with order 1 Centerline is valid? [True, True] Translation: X:91.87, Y:-41.29, Z:-12.36 [[ 8.20676589e-01 5.60149002e-01 1.12796417e-01 9.18728019e+01] [-5.55036534e-01 8.28391628e-01 -7.55099732e-02 -4.12876218e+01] [-1.35736444e-01 -6.36864991e-04 9.90744777e-01 -1.23567782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.945779523 meters Centerline goodness : 0.997053 with order 1 Centerline is valid? [True, True] Translation: X:91.91, Y:-41.33, Z:-12.37 [[ 8.20561145e-01 5.60316236e-01 1.12805684e-01 9.19131332e+01] [-5.55207244e-01 8.28278487e-01 -7.54961256e-02 -4.13308931e+01] [-1.35736227e-01 -6.81345876e-04 9.90744777e-01 -1.23658911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.00577952299999 meters Centerline goodness : 0.997542 with order 1 Centerline is valid? [True, True] Translation: X:91.96, Y:-41.37, Z:-12.37 [[ 8.23543690e-01 5.55918899e-01 1.12827161e-01 9.19550837e+01] [-5.50773097e-01 8.31236536e-01 -7.54640162e-02 -4.13715104e+01] [-1.35737931e-01 5.74955540e-06 9.90744777e-01 -1.23739893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.06577952299999 meters Centerline goodness : 0.999006 with order 1 Centerline is valid? [True, True] Translation: X:91.99, Y:-41.42, Z:-12.38 [[ 8.28405461e-01 5.48643442e-01 1.12848423e-01 9.19931549e+01] [-5.43434412e-01 8.36055633e-01 -7.54322083e-02 -4.14186814e+01] [-1.35732946e-01 1.16273709e-03 9.90744778e-01 -1.23805492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.12577952299999 meters Centerline goodness : 0.999567 with order 1 Centerline is valid? [True, True] Translation: X:92.03, Y:-41.46, Z:-12.39 [[ 8.37326869e-01 5.34924374e-01 1.12869962e-01 9.20313628e+01] [-5.29594387e-01 8.44893266e-01 -7.53999644e-02 -4.14642967e+01] [-1.35696350e-01 3.35911751e-03 9.90744779e-01 -1.23874553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.185779523 meters Centerline goodness : 0.999362 with order 1 Centerline is valid? [True, True] Translation: X:92.07, Y:-41.50, Z:-12.39 [[ 8.44305827e-01 5.23835100e-01 1.12891354e-01 9.20748958e+01] [-5.18410065e-01 8.51804367e-01 -7.53679230e-02 -4.15023898e+01] [-1.35641712e-01 5.10956247e-03 9.90744780e-01 -1.23927586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.245779523 meters Centerline goodness : 0.999938 with order 1 Centerline is valid? [True, True] Translation: X:92.11, Y:-41.55, Z:-12.40 [[ 8.53359357e-01 5.08948323e-01 1.12913296e-01 9.21136581e+01] [-5.03396955e-01 8.60764856e-01 -7.53350364e-02 -4.15465593e+01] [-1.35533437e-01 7.44764892e-03 9.90744780e-01 -1.23952093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.305779523 meters Centerline goodness : 0.999378 with order 1 Centerline is valid? [True, True] Translation: X:92.16, Y:-41.58, Z:-12.41 [[ 8.58738969e-01 4.99815797e-01 1.12922773e-01 9.21575392e+01] [-4.94187601e-01 8.66086247e-01 -7.53208276e-02 -4.15843532e+01] [-1.35447400e-01 8.87589550e-03 9.90744781e-01 -1.24072529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.36577952299999 meters Centerline goodness : 0.999918 with order 1 Centerline is valid? [True, True] Translation: X:92.20, Y:-41.62, Z:-12.41 [[ 8.62771159e-01 4.92817998e-01 1.12944002e-01 9.22041379e+01] [-4.87134393e-01 8.70075659e-01 -7.52889813e-02 -4.16196981e+01] [-1.35373592e-01 9.93825371e-03 9.90744781e-01 -1.24108853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.42577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:92.25, Y:-41.65, Z:-12.42 [[ 8.65149014e-01 4.88629682e-01 1.12952276e-01 9.22509117e+01] [-4.82912341e-01 8.72427137e-01 -7.52765666e-02 -4.16517962e+01] [-1.35324996e-01 1.05793994e-02 9.90744781e-01 -1.24158032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.48577952299999 meters Centerline goodness : 0.999959 with order 1 Centerline is valid? [True, True] Translation: X:92.30, Y:-41.68, Z:-12.43 [[ 8.64152055e-01 4.90387345e-01 1.12966711e-01 9.23033765e+01] [-4.84687619e-01 8.71443981e-01 -7.52548973e-02 -4.16774552e+01] [-1.35348210e-01 1.02781077e-02 9.90744782e-01 -1.24292432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.545779523 meters Centerline goodness : 0.999918 with order 1 Centerline is valid? [True, True] Translation: X:92.35, Y:-41.71, Z:-12.43 [[ 8.62307107e-01 4.93623093e-01 1.12972101e-01 9.23531272e+01] [-4.87951792e-01 8.69621163e-01 -7.52468050e-02 -4.17091451e+01] [-1.35386491e-01 9.76091537e-03 9.90744782e-01 -1.24349108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.605779523 meters Centerline goodness : 0.999877 with order 1 Centerline is valid? [True, True] Translation: X:92.40, Y:-41.74, Z:-12.44 [[ 8.61337885e-01 4.95311152e-01 1.12977481e-01 9.24037345e+01] [-4.89655240e-01 8.68663847e-01 -7.52387275e-02 -4.17375676e+01] [-1.35406034e-01 9.48595095e-03 9.90744782e-01 -1.24389951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.665779523 meters Centerline goodness : 0.999711 with order 1 Centerline is valid? [True, True] Translation: X:92.46, Y:-41.76, Z:-12.45 [[ 8.60243024e-01 4.97208399e-01 1.12985605e-01 9.24557692e+01] [-4.91570240e-01 8.67582658e-01 -7.52265261e-02 -4.17593911e+01] [-1.35427612e-01 9.17273357e-03 9.90744782e-01 -1.24542677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.725779523 meters Centerline goodness : 0.999337 with order 1 Centerline is valid? [True, True] Translation: X:92.51, Y:-41.79, Z:-12.46 [[ 8.59435349e-01 4.98601072e-01 1.12994920e-01 9.25053489e+01] [-4.92976637e-01 8.66785504e-01 -7.52125309e-02 -4.17881183e+01] [-1.35443407e-01 8.93645201e-03 9.90744782e-01 -1.24640703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.78577952299999 meters Centerline goodness : 0.999793 with order 1 Centerline is valid? [True, True] Translation: X:92.56, Y:-41.82, Z:-12.47 [[ 8.56455079e-01 5.03698508e-01 1.13015534e-01 9.25553367e+01] [-4.98121910e-01 8.63841593e-01 -7.51815437e-02 -4.18183050e+01] [-1.35496350e-01 8.09410127e-03 9.90744783e-01 -1.24653211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.84577952299999 meters Centerline goodness : 0.999010 with order 1 Centerline is valid? [True, True] Translation: X:92.61, Y:-41.84, Z:-12.48 [[ 8.53373111e-01 5.08897923e-01 1.13036442e-01 9.26097958e+01] [-5.03370499e-01 8.60796494e-01 -7.51500945e-02 -4.18397011e+01] [-1.35545100e-01 7.23185943e-03 9.90744783e-01 -1.24782194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.90577952299999 meters Centerline goodness : 0.999132 with order 1 Centerline is valid? [True, True] Translation: X:92.66, Y:-41.87, Z:-12.49 [[ 8.49847374e-01 5.14759699e-01 1.13057034e-01 9.26572147e+01] [-5.09287611e-01 8.57311641e-01 -7.51191032e-02 -4.18723219e+01] [-1.35593398e-01 6.26122568e-03 9.90744784e-01 -1.24878800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.965779523 meters Centerline goodness : 0.998762 with order 1 Centerline is valid? [True, True] Translation: X:92.71, Y:-41.90, Z:-12.50 [[ 8.45416770e-01 5.21999602e-01 1.13079178e-01 9.27091995e+01] [-5.16595919e-01 8.52930704e-01 -7.50857547e-02 -4.18981438e+01] [-1.35643437e-01 5.06251432e-03 9.90744785e-01 -1.24954422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.025779523 meters Centerline goodness : 0.999030 with order 1 Centerline is valid? [True, True] Translation: X:92.76, Y:-41.93, Z:-12.50 [[ 8.43705105e-01 5.24756916e-01 1.13101167e-01 9.27589221e+01] [-5.19382227e-01 8.51239805e-01 -7.50526186e-02 -4.19273273e+01] [-1.35660596e-01 4.57954139e-03 9.90744786e-01 -1.24989973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.085779523 meters Centerline goodness : 0.999135 with order 1 Centerline is valid? [True, True] Translation: X:92.81, Y:-41.96, Z:-12.51 [[ 8.39977459e-01 5.30698581e-01 1.13123317e-01 9.28066114e+01] [-5.25381697e-01 8.47553060e-01 -7.50192190e-02 -4.19575252e+01] [-1.35690606e-01 3.58153287e-03 9.90744787e-01 -1.25063942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.14577952299999 meters Centerline goodness : 0.998767 with order 1 Centerline is valid? [True, True] Translation: X:92.86, Y:-41.99, Z:-12.51 [[ 8.40876956e-01 5.29270168e-01 1.13132819e-01 9.28555215e+01] [-5.23942343e-01 8.48444865e-01 -7.50048863e-02 -4.19887319e+01] [-1.35684808e-01 3.79480634e-03 9.90744787e-01 -1.25119714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.20577952299999 meters Centerline goodness : 0.998269 with order 1 Centerline is valid? [True, True] Translation: X:92.90, Y:-42.02, Z:-12.53 [[ 8.41525351e-01 5.28234056e-01 1.13154163e-01 9.29028852e+01] [-5.22901239e-01 8.49089743e-01 -7.49726723e-02 -4.20197951e+01] [-1.35681158e-01 3.92295225e-03 9.90744787e-01 -1.25270561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.26577952299999 meters Centerline goodness : 0.998985 with order 1 Centerline is valid? [True, True] Translation: X:92.95, Y:-42.06, Z:-12.54 [[ 8.43303117e-01 5.25386698e-01 1.13175394e-01 9.29466540e+01] [-5.20032641e-01 8.50852489e-01 -7.49406091e-02 -4.20559772e+01] [-1.35668365e-01 4.34275010e-03 9.90744788e-01 -1.25413044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.325779523 meters Centerline goodness : 0.999171 with order 1 Centerline is valid? [True, True] Translation: X:93.00, Y:-42.09, Z:-12.54 [[ 8.48026545e-01 5.17723425e-01 1.13196442e-01 9.29966108e+01] [-5.12305412e-01 8.55530149e-01 -7.49088035e-02 -4.20874495e+01] [-1.35625011e-01 5.53350394e-03 9.90744789e-01 -1.25430912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.385779523 meters Centerline goodness : 0.998674 with order 1 Centerline is valid? [True, True] Translation: X:93.04, Y:-42.12, Z:-12.55 [[ 8.53739309e-01 5.08243480e-01 1.13215535e-01 9.30398010e+01] [-5.02746020e-01 8.61184902e-01 -7.48799354e-02 -4.21241911e+01] [-1.35556749e-01 7.00928458e-03 9.90744789e-01 -1.25509343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.445779523 meters Centerline goodness : 0.999340 with order 1 Centerline is valid? [True, True] Translation: X:93.08, Y:-42.16, Z:-12.56 [[ 8.58214199e-01 5.00648079e-01 1.13224951e-01 9.30848781e+01] [-4.95086638e-01 8.65612124e-01 -7.48656960e-02 -4.21610719e+01] [-1.35490257e-01 8.19464328e-03 9.90744790e-01 -1.25581812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.50577952299999 meters Centerline goodness : 0.999052 with order 1 Centerline is valid? [True, True] Translation: X:93.13, Y:-42.19, Z:-12.56 [[ 8.61397536e-01 4.95145979e-01 1.13246392e-01 9.31349015e+01] [-4.89541549e-01 8.68762946e-01 -7.48332489e-02 -4.21890968e+01] [-1.35437651e-01 9.02236216e-03 9.90744790e-01 -1.25644965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.56577952299999 meters Centerline goodness : 0.999153 with order 1 Centerline is valid? [True, True] Translation: X:93.18, Y:-42.22, Z:-12.57 [[ 8.62682488e-01 4.92902311e-01 1.13252976e-01 9.31811754e+01] [-4.87280029e-01 8.70034281e-01 -7.48232833e-02 -4.22225683e+01] [-1.35414541e-01 9.36282283e-03 9.90744790e-01 -1.25721748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.62577952299999 meters Centerline goodness : 0.999670 with order 1 Centerline is valid? [True, True] Translation: X:93.23, Y:-42.26, Z:-12.58 [[ 8.62707712e-01 4.92853382e-01 1.13273775e-01 9.32271250e+01] [-4.87234791e-01 8.70062324e-01 -7.47917832e-02 -4.22580080e+01] [-1.35416627e-01 9.33252427e-03 9.90744791e-01 -1.25805812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.685779523 meters Centerline goodness : 0.999628 with order 1 Centerline is valid? [True, True] Translation: X:93.28, Y:-42.29, Z:-12.58 [[ 8.60518155e-01 4.96661740e-01 1.13294399e-01 9.32780497e+01] [-4.91079801e-01 8.67900623e-01 -7.47605288e-02 -4.22851527e+01] [-1.35458974e-01 8.69620154e-03 9.90744792e-01 -1.25838867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.745779523 meters Centerline goodness : 0.999338 with order 1 Centerline is valid? [True, True] Translation: X:93.33, Y:-42.31, Z:-12.59 [[ 8.59081628e-01 4.99140865e-01 1.13301162e-01 9.33275625e+01] [-4.93581581e-01 8.66481171e-01 -7.47502774e-02 -4.23148774e+01] [-1.35484242e-01 8.29322330e-03 9.90744792e-01 -1.25916116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.805779523 meters Centerline goodness : 0.999091 with order 1 Centerline is valid? [True, True] Translation: X:93.37, Y:-42.35, Z:-12.60 [[ 8.56880280e-01 5.02905813e-01 1.13322235e-01 9.33735725e+01] [-4.97383259e-01 8.64307275e-01 -7.47183168e-02 -4.23480072e+01] [-1.35521508e-01 7.66006951e-03 9.90744793e-01 -1.26021472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.86577952299999 meters Centerline goodness : 0.998867 with order 1 Centerline is valid? [True, True] Translation: X:93.42, Y:-42.38, Z:-12.61 [[ 8.56893363e-01 5.02878843e-01 1.13342988e-01 9.34214992e+01] [-4.97360202e-01 8.64323266e-01 -7.46868238e-02 -4.23787376e+01] [-1.35523405e-01 7.62635247e-03 9.90744793e-01 -1.26096244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.92577952299999 meters Centerline goodness : 0.998985 with order 1 Centerline is valid? [True, True] Translation: X:93.47, Y:-42.41, Z:-12.62 [[ 8.58793689e-01 4.99624604e-01 1.13351906e-01 9.34695736e+01] [-4.94079595e-01 8.66203933e-01 -7.46732865e-02 -4.24100042e+01] [-1.35494478e-01 8.12408356e-03 9.90744793e-01 -1.26194642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.98577952299999 meters Centerline goodness : 0.999046 with order 1 Centerline is valid? [True, True] Translation: X:93.52, Y:-42.44, Z:-12.63 [[ 8.59101387e-01 4.99090410e-01 1.13373585e-01 9.35170732e+01] [-4.93545116e-01 8.66511417e-01 -7.46403565e-02 -4.24404807e+01] [-1.35491792e-01 8.16865443e-03 9.90744794e-01 -1.26313232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.045779523 meters Centerline goodness : 0.999669 with order 1 Centerline is valid? [True, True] Translation: X:93.56, Y:-42.48, Z:-12.64 [[ 8.56497842e-01 5.03540334e-01 1.13395675e-01 9.35637436e+01] [-4.98037980e-01 8.63939812e-01 -7.46067827e-02 -4.24751912e+01] [-1.35534562e-01 7.42519562e-03 9.90744795e-01 -1.26360248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.105779523 meters Centerline goodness : 0.998654 with order 1 Centerline is valid? [True, True] Translation: X:93.61, Y:-42.50, Z:-12.65 [[ 8.52055921e-01 5.11019179e-01 1.13402409e-01 9.36149923e+01] [-5.05583544e-01 8.59546762e-01 -7.45965448e-02 -4.25016323e+01] [-1.35594939e-01 6.22603569e-03 9.90744795e-01 -1.26452870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.165779523 meters Centerline goodness : 0.998247 with order 1 Centerline is valid? [True, True] Translation: X:93.66, Y:-42.53, Z:-12.66 [[ 8.48004934e-01 5.17708928e-01 1.13424413e-01 9.36635686e+01] [-5.12336881e-01 8.55541506e-01 -7.45630735e-02 -4.25311315e+01] [-1.35641262e-01 5.11834424e-03 9.90744796e-01 -1.26555521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.225779523 meters Centerline goodness : 0.998887 with order 1 Centerline is valid? [True, True] Translation: X:93.71, Y:-42.57, Z:-12.66 [[ 8.43356535e-01 5.25245782e-01 1.13431141e-01 9.37086602e+01] [-5.19942489e-01 8.50941645e-01 -7.45528373e-02 -4.25690589e+01] [-1.35681845e-01 3.89695292e-03 9.90744796e-01 -1.26587363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.28577952299999 meters Centerline goodness : 0.999114 with order 1 Centerline is valid? [True, True] Translation: X:93.76, Y:-42.60, Z:-12.66 [[ 8.41497664e-01 5.28214820e-01 1.13449482e-01 9.37567058e+01] [-5.22942054e-01 8.49104025e-01 -7.45249168e-02 -4.26009359e+01] [-1.35695577e-01 3.38503831e-03 9.90744797e-01 -1.26645185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.34577952299999 meters Centerline goodness : 0.999257 with order 1 Centerline is valid? [True, True] Translation: X:93.80, Y:-42.63, Z:-12.68 [[ 8.40766761e-01 5.29372996e-01 1.13470193e-01 9.38031064e+01] [-5.24114962e-01 8.48383313e-01 -7.44933697e-02 -4.26344185e+01] [-1.35700996e-01 3.16012354e-03 9.90744797e-01 -1.26779268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.40577952299999 meters Centerline goodness : 0.999048 with order 1 Centerline is valid? [True, True] Translation: X:93.85, Y:-42.67, Z:-12.69 [[ 8.40722862e-01 5.29438307e-01 1.13490742e-01 9.38468102e+01] [-5.24185088e-01 8.48342735e-01 -7.44620490e-02 -4.26718169e+01] [-1.35702108e-01 3.11179211e-03 9.90744798e-01 -1.26871395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.465779523 meters Centerline goodness : 0.999320 with order 1 Centerline is valid? [True, True] Translation: X:93.89, Y:-42.71, Z:-12.69 [[ 8.41844243e-01 5.27649003e-01 1.13511230e-01 9.38909293e+01] [-5.22383799e-01 8.49455839e-01 -7.44308043e-02 -4.27103472e+01] [-1.35696117e-01 3.36271647e-03 9.90744799e-01 -1.26904953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.525779523 meters Centerline goodness : 0.999256 with order 1 Centerline is valid? [True, True] Translation: X:93.94, Y:-42.75, Z:-12.70 [[ 8.43712656e-01 5.24651838e-01 1.13531508e-01 9.39371743e+01] [-5.19363757e-01 8.51308374e-01 -7.43998606e-02 -4.27451425e+01] [-1.35684347e-01 3.80795322e-03 9.90744799e-01 -1.26968835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.585779523 meters Centerline goodness : 0.999710 with order 1 Centerline is valid? [True, True] Translation: X:93.98, Y:-42.78, Z:-12.71 [[ 8.46678659e-01 5.19849995e-01 1.13539559e-01 9.39809713e+01] [-5.14520491e-01 8.54245370e-01 -7.43875723e-02 -4.27845936e+01] [-1.35661022e-01 4.56394008e-03 9.90744799e-01 -1.27069812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.64577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.02, Y:-42.83, Z:-12.71 [[ 8.49789620e-01 5.14747641e-01 1.13545002e-01 9.40239793e+01] [-5.09373826e-01 8.57324927e-01 -7.43792631e-02 -4.28271899e+01] [-1.35631511e-01 5.36987351e-03 9.90744799e-01 -1.27091422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.70577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.07, Y:-42.86, Z:-12.72 [[ 8.51682630e-01 5.11608261e-01 1.13550363e-01 9.40689668e+01] [-5.06207764e-01 8.59198837e-01 -7.43710782e-02 -4.28602936e+01] [-1.35611198e-01 5.86047998e-03 9.90744800e-01 -1.27206933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.76577952299999 meters Centerline goodness : 0.999793 with order 1 Centerline is valid? [True, True] Translation: X:94.12, Y:-42.89, Z:-12.73 [[ 8.52566612e-01 5.10129898e-01 1.13567862e-01 9.41161435e+01] [-5.04719920e-01 8.60075997e-01 -7.43443472e-02 -4.28945096e+01] [-1.35602266e-01 6.06354598e-03 9.90744800e-01 -1.27266791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.825779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.16, Y:-42.93, Z:-12.73 [[ 8.51530733e-01 5.11851282e-01 1.13594351e-01 9.41589178e+01] [-5.06461873e-01 8.59054893e-01 -7.43038514e-02 -4.29343051e+01] [-1.35616305e-01 5.74080513e-03 9.90744801e-01 -1.27297544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.885779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.21, Y:-42.97, Z:-12.74 [[ 8.49031713e-01 5.15984480e-01 1.13600909e-01 9.42055243e+01] [-5.10633049e-01 8.56582931e-01 -7.42938243e-02 -4.29671244e+01] [-1.35643060e-01 5.06943448e-03 9.90744801e-01 -1.27403809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.945779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.25, Y:-43.00, Z:-12.75 [[ 8.48062622e-01 5.17574075e-01 1.13608387e-01 9.42539021e+01] [-5.12238328e-01 8.55624931e-01 -7.42823874e-02 -4.29984816e+01] [-1.35652806e-01 4.80154610e-03 9.90744801e-01 -1.27479014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.00577952299999 meters Centerline goodness : 0.999835 with order 1 Centerline is valid? [True, True] Translation: X:94.30, Y:-43.03, Z:-12.76 [[ 8.45732946e-01 5.21370478e-01 1.13616062e-01 9.42989663e+01] [-5.16070259e-01 8.53320197e-01 -7.42706458e-02 -4.30345504e+01] [-1.35673403e-01 4.17926131e-03 9.90744801e-01 -1.27588787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.06577952299999 meters Centerline goodness : 0.999876 with order 1 Centerline is valid? [True, True] Translation: X:94.34, Y:-43.07, Z:-12.77 [[ 8.44292466e-01 5.23698824e-01 1.13621185e-01 9.43442559e+01] [-5.18420585e-01 8.51895024e-01 -7.42628085e-02 -4.30709210e+01] [-1.35684667e-01 3.79596866e-03 9.90744801e-01 -1.27683296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.12577952299999 meters Centerline goodness : 0.999814 with order 1 Centerline is valid? [True, True] Translation: X:94.39, Y:-43.10, Z:-12.78 [[ 8.43237713e-01 5.25394340e-01 1.13626348e-01 9.43924419e+01] [-5.20132453e-01 8.50851597e-01 -7.42549083e-02 -4.31045355e+01] [-1.35692268e-01 3.51378823e-03 9.90744802e-01 -1.27762553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.185779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.44, Y:-43.14, Z:-12.78 [[ 8.42949285e-01 5.25855848e-01 1.13631557e-01 9.44400326e+01] [-5.20599202e-01 8.50566789e-01 -7.42469351e-02 -4.31425768e+01] [-1.35694414e-01 3.42990274e-03 9.90744802e-01 -1.27787067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.245779523 meters Centerline goodness : 0.999855 with order 1 Centerline is valid? [True, True] Translation: X:94.49, Y:-43.18, Z:-12.79 [[ 8.43237712e-01 5.25393214e-01 1.13631557e-01 9.44889988e+01] [-5.20132390e-01 8.50852331e-01 -7.42469351e-02 -4.31766685e+01] [-1.35692511e-01 3.50436224e-03 9.90744802e-01 -1.27899550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.305779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.54, Y:-43.21, Z:-12.80 [[ 8.42678565e-01 5.26289565e-01 1.13631557e-01 9.45388282e+01] [-5.21036840e-01 8.50298773e-01 -7.42469351e-02 -4.32093779e+01] [-1.35696161e-01 3.36007312e-03 9.90744802e-01 -1.27961758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.36577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.58, Y:-43.25, Z:-12.80 [[ 8.39639963e-01 5.31123349e-01 1.13634151e-01 9.45836596e+01] [-5.25915037e-01 8.47290597e-01 -7.42429659e-02 -4.32461402e+01] [-1.35713320e-01 2.57545271e-03 9.90744802e-01 -1.28005249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.42577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.63, Y:-43.28, Z:-12.81 [[ 8.37261768e-01 5.34863123e-01 1.13640532e-01 9.46315814e+01] [-5.29690314e-01 8.44936450e-01 -7.42331964e-02 -4.32790570e+01] [-1.35723627e-01 1.95832816e-03 9.90744802e-01 -1.28099471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.48577952299999 meters Centerline goodness : 0.999876 with order 1 Centerline is valid? [True, True] Translation: X:94.68, Y:-43.31, Z:-12.82 [[ 8.29989701e-01 5.46078543e-01 1.13645593e-01 9.46819693e+01] [-5.41010511e-01 8.37733973e-01 -7.42254478e-02 -4.33095335e+01] [-1.35737699e-01 1.22896762e-04 9.90744802e-01 -1.28242316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.545779523 meters Centerline goodness : 0.999876 with order 1 Centerline is valid? [True, True] Translation: X:94.73, Y:-43.35, Z:-12.83 [[ 8.26994665e-01 5.50603763e-01 1.13645593e-01 9.47286610e+01] [-5.45578106e-01 8.34766502e-01 -7.42254478e-02 -4.33481613e+01] [-1.35736345e-01 -6.18498088e-04 9.90744802e-01 -1.28329214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.605779523 meters Centerline goodness : 0.999855 with order 1 Centerline is valid? [True, True] Translation: X:94.78, Y:-43.39, Z:-12.84 [[ 8.27136015e-01 5.50391398e-01 1.13645593e-01 9.47771540e+01] [-5.45363746e-01 8.34906562e-01 -7.42254478e-02 -4.33863808e+01] [-1.35736499e-01 -5.83645207e-04 9.90744802e-01 -1.28449965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.665779523 meters Centerline goodness : 0.999855 with order 1 Centerline is valid? [True, True] Translation: X:94.83, Y:-43.43, Z:-12.85 [[ 8.32168299e-01 5.42757299e-01 1.13624104e-01 9.48259076e+01] [-5.37653869e-01 8.39889289e-01 -7.42583289e-02 -4.34252285e+01] [-1.35735918e-01 7.04988164e-04 9.90744802e-01 -1.28507574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.725779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.88, Y:-43.46, Z:-12.85 [[ 8.36499529e-01 5.36062130e-01 1.13604277e-01 9.48755880e+01] [-5.30892790e-01 8.44176546e-01 -7.42886493e-02 -4.34646910e+01] [-1.35725398e-01 1.83072858e-03 9.90744803e-01 -1.28538620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.78577952299999 meters Centerline goodness : 0.999835 with order 1 Centerline is valid? [True, True] Translation: X:94.92, Y:-43.51, Z:-12.87 [[ 8.43752586e-01 5.24576385e-01 1.13583409e-01 9.49198950e+01] [-5.19298288e-01 8.51355240e-01 -7.43205421e-02 -4.35076850e+01] [-1.35686631e-01 3.72447990e-03 9.90744804e-01 -1.28680211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.84577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:94.97, Y:-43.55, Z:-12.87 [[ 8.49096335e-01 5.15886232e-01 1.13564123e-01 9.49700100e+01] [-5.10526428e-01 8.56641608e-01 -7.43499998e-02 -4.35452519e+01] [-1.35639894e-01 5.15282622e-03 9.90744804e-01 -1.28725820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.90577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.02, Y:-43.58, Z:-12.88 [[ 8.52582994e-01 5.10107914e-01 1.13543619e-01 9.50215072e+01] [-5.04692835e-01 8.60088696e-01 -7.43812993e-02 -4.35799423e+01] [-1.35600073e-01 6.11157989e-03 9.90744805e-01 -1.28810089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.965779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.07, Y:-43.62, Z:-12.89 [[ 8.54378633e-01 5.07099197e-01 1.13523375e-01 9.50705787e+01] [-5.01653602e-01 8.61862222e-01 -7.44121832e-02 -4.36187982e+01] [-1.35575867e-01 6.62676915e-03 9.90744806e-01 -1.28893787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.025779523 meters Centerline goodness : 0.999835 with order 1 Centerline is valid? [True, True] Translation: X:95.12, Y:-43.65, Z:-12.90 [[ 8.57197645e-01 5.02323787e-01 1.13503351e-01 9.51218892e+01] [-4.96832491e-01 8.64647765e-01 -7.44427152e-02 -4.36527377e+01] [-1.35534765e-01 7.41996763e-03 9.90744806e-01 -1.28999227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.085779523 meters Centerline goodness : 0.999835 with order 1 Centerline is valid? [True, True] Translation: X:95.18, Y:-43.68, Z:-12.91 [[ 8.60242071e-01 4.97096334e-01 1.13484861e-01 9.51779291e+01] [-4.91556091e-01 8.67655862e-01 -7.44708919e-02 -4.36811472e+01] [-1.35485012e-01 8.27881970e-03 9.90744807e-01 -1.29081137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.14577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.23, Y:-43.71, Z:-12.92 [[ 8.62474200e-01 4.93217973e-01 1.13464913e-01 9.52314326e+01] [-4.87640432e-01 8.69859971e-01 -7.45012730e-02 -4.37135030e+01] [-1.35443952e-01 8.92534689e-03 9.90744808e-01 -1.29156914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.20577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.28, Y:-43.75, Z:-12.92 [[ 8.64457683e-01 4.89738062e-01 1.13444018e-01 9.52838696e+01] [-4.84126656e-01 8.71817757e-01 -7.45330767e-02 -4.37463589e+01] [-1.35404193e-01 9.50941790e-03 9.90744808e-01 -1.29249440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.26577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.34, Y:-43.77, Z:-12.93 [[ 8.67269045e-01 4.84746867e-01 1.13423448e-01 9.53404140e+01] [-4.79089069e-01 8.74593516e-01 -7.45643656e-02 -4.37734829e+01] [-1.35344255e-01 1.03274318e-02 9.90744809e-01 -1.29318761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.325779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.40, Y:-43.80, Z:-12.94 [[ 8.69044285e-01 4.81561839e-01 1.13402939e-01 9.53996477e+01] [-4.75873176e-01 8.76344810e-01 -7.45955451e-02 -4.37968120e+01] [-1.35302445e-01 1.08614155e-02 9.90744810e-01 -1.29399177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.385779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.46, Y:-43.82, Z:-12.95 [[ 8.68692165e-01 4.82201584e-01 1.13382335e-01 9.54561469e+01] [-4.76514249e-01 8.75993724e-01 -7.46268485e-02 -4.38237920e+01] [-1.35307399e-01 1.07994602e-02 9.90744810e-01 -1.29506503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.445779523 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.51, Y:-43.85, Z:-12.96 [[ 8.67287782e-01 4.84727964e-01 1.13360951e-01 9.55096371e+01] [-4.79057696e-01 8.74602601e-01 -7.46593179e-02 -4.38540808e+01] [-1.35335242e-01 1.04446780e-02 9.90744811e-01 -1.29616801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.50577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.57, Y:-43.87, Z:-12.97 [[ 8.65575883e-01 4.87783342e-01 1.13339323e-01 9.55711305e+01] [-4.82134640e-01 8.72907368e-01 -7.46921369e-02 -4.38678926e+01] [-1.35368311e-01 1.00068985e-02 9.90744812e-01 -1.29676593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.56577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.63, Y:-43.89, Z:-12.98 [[ 8.63281239e-01 4.91832375e-01 1.13342033e-01 9.56253364e+01] [-4.86218613e-01 8.70639512e-01 -7.46880241e-02 -4.38900881e+01] [-1.35414041e-01 9.36776370e-03 9.90744812e-01 -1.29779770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.62577952299999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.68, Y:-43.91, Z:-12.99 [[ 8.61502133e-01 4.94940237e-01 1.13350064e-01 9.56787830e+01] [-4.89354623e-01 8.68881795e-01 -7.46758343e-02 -4.39138742e+01] [-1.35447882e-01 8.86501264e-03 9.90744812e-01 -1.29866916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.685779523 meters Centerline goodness : 0.999794 with order 1 Centerline is valid? [True, True] Translation: X:95.74, Y:-43.93, Z:-12.99 [[ 8.59156651e-01 4.98998803e-01 1.13358033e-01 9.57384783e+01] [-4.93449651e-01 8.66563771e-01 -7.46637360e-02 -4.39269789e+01] [-1.35489079e-01 8.21136361e-03 9.90744812e-01 -1.29946274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.745779523 meters Centerline goodness : 0.999753 with order 1 Centerline is valid? [True, True] Translation: X:95.79, Y:-43.95, Z:-13.00 [[ 8.56312967e-01 5.03858421e-01 1.13378985e-01 9.57895509e+01] [-4.98355520e-01 8.63754510e-01 -7.46319059e-02 -4.39512288e+01] [-1.35535524e-01 7.40522559e-03 9.90744813e-01 -1.30039419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.805779523 meters Centerline goodness : 0.999711 with order 1 Centerline is valid? [True, True] Translation: X:95.84, Y:-43.98, Z:-13.01 [[ 8.54612720e-01 5.06734906e-01 1.13387978e-01 9.58425535e+01] [-5.01258865e-01 8.62074051e-01 -7.46182407e-02 -4.39764239e+01] [-1.35560501e-01 6.93296854e-03 9.90744813e-01 -1.30092953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.86577952299999 meters Centerline goodness : 0.998952 with order 1 Centerline is valid? [True, True] Translation: X:95.90, Y:-44.00, Z:-13.02 [[ 8.52862240e-01 5.09670849e-01 1.13409104e-01 9.58958609e+01] [-5.04224756e-01 8.60345457e-01 -7.45861192e-02 -4.39998111e+01] [-1.35585378e-01 6.42800711e-03 9.90744814e-01 -1.30209141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.92577952299999 meters Centerline goodness : 0.999031 with order 1 Centerline is valid? [True, True] Translation: X:95.95, Y:-44.03, Z:-13.03 [[ 8.51095024e-01 5.12611835e-01 1.13430006e-01 9.59462097e+01] [-5.07195832e-01 8.58600047e-01 -7.45543170e-02 -4.40278989e+01] [-1.35608434e-01 5.92158180e-03 9.90744815e-01 -1.30273001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.98577952299999 meters Centerline goodness : 0.998760 with order 1 Centerline is valid? [True, True] Translation: X:96.00, Y:-44.06, Z:-13.04 [[ 8.49379576e-01 5.15444760e-01 1.13450585e-01 9.59956312e+01] [-5.10057968e-01 8.56905592e-01 -7.45229890e-02 -4.40554168e+01] [-1.35628925e-01 5.43192994e-03 9.90744815e-01 -1.30438183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.045779523 meters Centerline goodness : 0.998799 with order 1 Centerline is valid? [True, True] Translation: X:96.05, Y:-44.08, Z:-13.05 [[ 8.49212160e-01 5.15715091e-01 1.13475336e-01 9.60468206e+01] [-5.10335721e-01 8.56743482e-01 -7.44852817e-02 -4.40822578e+01] [-1.35632439e-01 5.34328945e-03 9.90744816e-01 -1.30503052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.105779523 meters Centerline goodness : 0.999051 with order 1 Centerline is valid? [True, True] Translation: X:96.09, Y:-44.11, Z:-13.06 [[ 8.48708026e-01 5.16538408e-01 1.13502247e-01 9.60944493e+01] [-5.11171820e-01 8.56248459e-01 -7.44442525e-02 -4.41119447e+01] [-1.35639440e-01 5.16228453e-03 9.90744817e-01 -1.30578052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.165779523 meters Centerline goodness : 0.998681 with order 1 Centerline is valid? [True, True] Translation: X:96.14, Y:-44.14, Z:-13.06 [[ 8.51917305e-01 5.11225979e-01 1.13511689e-01 9.61444908e+01] [-5.05814300e-01 8.59425443e-01 -7.44298521e-02 -4.41412821e+01] [-1.35605308e-01 5.99224345e-03 9.90744818e-01 -1.30639545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.225779523 meters Centerline goodness : 0.999423 with order 1 Centerline is valid? [True, True] Translation: X:96.19, Y:-44.18, Z:-13.07 [[ 8.57033954e-01 5.02596287e-01 1.13533146e-01 9.61910168e+01] [-4.97113377e-01 8.64490232e-01 -7.43971090e-02 -4.41759894e+01] [-1.35540006e-01 7.32200315e-03 9.90744818e-01 -1.30697773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.28577952299999 meters Centerline goodness : 0.998741 with order 1 Centerline is valid? [True, True] Translation: X:96.24, Y:-44.21, Z:-13.08 [[ 8.61985313e-01 4.94051347e-01 1.13554338e-01 9.62370548e+01] [-4.88498820e-01 8.69389893e-01 -7.43647491e-02 -4.42093238e+01] [-1.35462998e-01 8.63016154e-03 9.90744819e-01 -1.30839663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.34577952299999 meters Centerline goodness : 0.999442 with order 1 Centerline is valid? [True, True] Translation: X:96.29, Y:-44.24, Z:-13.09 [[ 8.65994690e-01 4.86984355e-01 1.13575683e-01 9.62866396e+01] [-4.81375695e-01 8.73356842e-01 -7.43321354e-02 -4.42380590e+01] [-1.35390686e-01 9.69866142e-03 9.90744820e-01 -1.30875836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.40577952299999 meters Centerline goodness : 0.999274 with order 1 Centerline is valid? [True, True] Translation: X:96.33, Y:-44.27, Z:-13.10 [[ 8.67447599e-01 4.84388221e-01 1.13590114e-01 9.63345791e+01] [-4.78760400e-01 8.74795114e-01 -7.43100763e-02 -4.42684929e+01] [-1.35363002e-01 1.00776491e-02 9.90744820e-01 -1.30988688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.465779523 meters Centerline goodness : 0.999338 with order 1 Centerline is valid? [True, True] Translation: X:96.38, Y:-44.30, Z:-13.11 [[ 8.68303719e-01 4.82846990e-01 1.13610896e-01 9.63823897e+01] [-4.77210253e-01 8.75644397e-01 -7.42782888e-02 -4.43010738e+01] [-1.35347793e-01 1.02798298e-02 9.90744821e-01 -1.31056622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.525779523 meters Centerline goodness : 0.998880 with order 1 Centerline is valid? [True, True] Translation: X:96.43, Y:-44.33, Z:-13.11 [[ 8.67861580e-01 4.83636198e-01 1.13632333e-01 9.64340040e+01] [-4.78010399e-01 8.75210642e-01 -7.42454805e-02 -4.43257503e+01] [-1.35360029e-01 1.01173633e-02 9.90744822e-01 -1.31127618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.585779523 meters Centerline goodness : 0.998590 with order 1 Centerline is valid? [True, True] Translation: X:96.48, Y:-44.35, Z:-13.12 [[ 8.65982274e-01 4.86989845e-01 1.13646782e-01 9.64840392e+01] [-4.81395400e-01 8.73355232e-01 -7.42233567e-02 -4.43526347e+01] [-1.35400033e-01 9.56707313e-03 9.90744822e-01 -1.31242468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.64577952299999 meters Centerline goodness : 0.998475 with order 1 Centerline is valid? [True, True] Translation: X:96.54, Y:-44.38, Z:-13.13 [[ 8.62819028e-01 4.92567538e-01 1.13668579e-01 9.65367612e+01] [-4.87025158e-01 8.70231202e-01 -7.41899617e-02 -4.43770756e+01] [-1.35461511e-01 8.65305325e-03 9.90744823e-01 -1.31278528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.70577952299999 meters Centerline goodness : 0.997847 with order 1 Centerline is valid? [True, True] Translation: X:96.59, Y:-44.40, Z:-13.14 [[ 8.60821936e-01 4.96047300e-01 1.13677929e-01 9.65887374e+01] [-4.90536776e-01 8.68257823e-01 -7.41756324e-02 -4.44021566e+01] [-1.35496373e-01 8.08880697e-03 9.90744823e-01 -1.31374113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.76577952299999 meters Centerline goodness : 0.997616 with order 1 Centerline is valid? [True, True] Translation: X:96.64, Y:-44.43, Z:-13.15 [[ 8.60728726e-01 4.96204065e-01 1.13699542e-01 9.66388293e+01] [-4.90699250e-01 8.68168841e-01 -7.41424879e-02 -4.44294005e+01] [-1.35500203e-01 8.02428917e-03 9.90744824e-01 -1.31515726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.825779523 meters Centerline goodness : 0.997411 with order 1 Centerline is valid? [True, True] Translation: X:96.69, Y:-44.46, Z:-13.16 [[ 8.61165439e-01 4.95440806e-01 1.13721127e-01 9.66894271e+01] [-4.89933749e-01 8.68603893e-01 -7.41093660e-02 -4.44563560e+01] [-1.35495417e-01 8.10460664e-03 9.90744824e-01 -1.31603308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.885779523 meters Centerline goodness : 0.997069 with order 1 Centerline is valid? [True, True] Translation: X:96.74, Y:-44.48, Z:-13.17 [[ 8.60793424e-01 4.96081914e-01 1.13742762e-01 9.67408398e+01] [-4.90584766e-01 8.68239202e-01 -7.40761462e-02 -4.44830299e+01] [-1.35503761e-01 7.96379347e-03 9.90744825e-01 -1.31697776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.945779523 meters Centerline goodness : 0.996628 with order 1 Centerline is valid? [True, True] Translation: X:96.79, Y:-44.51, Z:-13.18 [[ 8.60243532e-01 4.97029970e-01 1.13764116e-01 9.67902376e+01] [-4.91545346e-01 8.67698540e-01 -7.40433365e-02 -4.45130638e+01] [-1.35514715e-01 7.77507957e-03 9.90744826e-01 -1.31781282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.00577952299999 meters Centerline goodness : 0.995824 with order 1 Centerline is valid? [True, True] Translation: X:96.84, Y:-44.54, Z:-13.18 [[ 8.59066281e-01 4.99057013e-01 1.13785860e-01 9.68415037e+01] [-4.93594392e-01 8.66537426e-01 -7.40099071e-02 -4.45400162e+01] [-1.35534869e-01 7.41535352e-03 9.90744827e-01 -1.31834852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.06577952299999 meters Centerline goodness : 0.995950 with order 1 Centerline is valid? [True, True] Translation: X:96.89, Y:-44.57, Z:-13.19 [[ 8.56818422e-01 5.02905011e-01 1.13792537e-01 9.68884267e+01] [-4.97477312e-01 8.64314976e-01 -7.39996393e-02 -4.45723392e+01] [-1.35567383e-01 6.79504893e-03 9.90744827e-01 -1.31923646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.12577952299999 meters Centerline goodness : 0.995641 with order 1 Centerline is valid? [True, True] Translation: X:96.94, Y:-44.60, Z:-13.20 [[ 8.54892692e-01 5.06167103e-01 1.13812782e-01 9.69379100e+01] [-5.00772151e-01 8.62412845e-01 -7.39684887e-02 -4.45986094e+01] [-1.35594021e-01 6.24084868e-03 9.90744828e-01 -1.32010574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.185779523 meters Centerline goodness : 0.994935 with order 1 Centerline is valid? [True, True] Translation: X:96.99, Y:-44.63, Z:-13.20 [[ 8.54414312e-01 5.06970699e-01 1.13828354e-01 9.69888691e+01] [-5.01586005e-01 8.61941813e-01 -7.39445180e-02 -4.46279210e+01] [-1.35601122e-01 6.08454514e-03 9.90744828e-01 -1.32042804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.245779523 meters Centerline goodness : 0.995509 with order 1 Centerline is valid? [True, True] Translation: X:97.04, Y:-44.66, Z:-13.21 [[ 8.55981126e-01 5.04316616e-01 1.13846667e-01 9.70355998e+01] [-4.98912325e-01 8.63494569e-01 -7.39163120e-02 -4.46610652e+01] [-1.35583203e-01 6.47146259e-03 9.90744829e-01 -1.32125310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.305779523 meters Centerline goodness : 0.995631 with order 1 Centerline is valid? [True, True] Translation: X:97.09, Y:-44.69, Z:-13.22 [[ 8.59112547e-01 4.98958726e-01 1.13867561e-01 9.70853686e+01] [-4.93511848e-01 8.66595173e-01 -7.38841117e-02 -4.46902389e+01] [-1.35542201e-01 7.27977704e-03 9.90744829e-01 -1.32239171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.36577952299999 meters Centerline goodness : 0.995443 with order 1 Centerline is valid? [True, True] Translation: X:97.13, Y:-44.72, Z:-13.23 [[ 8.61272458e-01 4.95216941e-01 1.13885621e-01 9.71325771e+01] [-4.89741230e-01 8.68734010e-01 -7.38562629e-02 -4.47224932e+01] [-1.35511185e-01 7.83588095e-03 9.90744830e-01 -1.32340651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.42577952299999 meters Centerline goodness : 0.995775 with order 1 Centerline is valid? [True, True] Translation: X:97.18, Y:-44.75, Z:-13.24 [[ 8.65791788e-01 4.87267699e-01 1.13906843e-01 9.71829993e+01] [-4.81727814e-01 8.73205818e-01 -7.38235177e-02 -4.47516643e+01] [-1.35435934e-01 9.04370073e-03 9.90744831e-01 -1.32396227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.48577952299999 meters Centerline goodness : 0.995789 with order 1 Centerline is valid? [True, True] Translation: X:97.23, Y:-44.78, Z:-13.25 [[ 8.71542834e-01 4.76899723e-01 1.13928674e-01 9.72298268e+01] [-4.71276114e-01 8.78893559e-01 -7.37898121e-02 -4.47820461e+01] [-1.35321519e-01 1.06191192e-02 9.90744831e-01 -1.32489887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.545779523 meters Centerline goodness : 0.995559 with order 1 Centerline is valid? [True, True] Translation: X:97.28, Y:-44.81, Z:-13.25 [[ 8.76829988e-01 4.67105222e-01 1.13938071e-01 9.72782572e+01] [-4.61401474e-01 8.84118705e-01 -7.37752994e-02 -4.48137439e+01] [-1.35195608e-01 1.21172008e-02 9.90744831e-01 -1.32537487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.605779523 meters Centerline goodness : 0.994621 with order 1 Centerline is valid? [True, True] Translation: X:97.33, Y:-44.84, Z:-13.26 [[ 8.79832359e-01 4.61419766e-01 1.13959728e-01 9.73319395e+01] [-4.55673237e-01 8.87087393e-01 -7.37418313e-02 -4.48358496e+01] [-1.35118177e-01 1.29520512e-02 9.90744832e-01 -1.32586106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.665779523 meters Centerline goodness : 0.993926 with order 1 Centerline is valid? [True, True] Translation: X:97.38, Y:-44.87, Z:-13.28 [[ 8.77453812e-01 4.65924740e-01 1.13969051e-01 9.73782784e+01] [-4.60217333e-01 8.84739664e-01 -7.37274200e-02 -4.48700434e+01] [-1.35184369e-01 1.22418730e-02 9.90744832e-01 -1.32753381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.725779523 meters Centerline goodness : 0.993439 with order 1 Centerline is valid? [True, True] Translation: X:97.43, Y:-44.89, Z:-13.28 [[ 8.79812266e-01 4.61451383e-01 1.13986826e-01 9.74348676e+01] [-4.55710473e-01 8.87071748e-01 -7.36999284e-02 -4.48911471e+01] [-1.35123427e-01 1.28971106e-02 9.90744833e-01 -1.32772004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.78577952299999 meters Centerline goodness : 0.991848 with order 1 Centerline is valid? [True, True] Translation: X:97.48, Y:-44.92, Z:-13.29 [[ 8.76057113e-01 4.68536701e-01 1.14005676e-01 9.74849858e+01] [-4.62858319e-01 8.83365607e-01 -7.36707582e-02 -4.49199152e+01] [-1.35226147e-01 1.17713162e-02 9.90744834e-01 -1.32864333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.84577952299999 meters Centerline goodness : 0.991597 with order 1 Centerline is valid? [True, True] Translation: X:97.54, Y:-44.93, Z:-13.29 [[ 8.75586142e-01 4.69411562e-01 1.14024968e-01 9.75443690e+01] [-4.63744333e-01 8.82903286e-01 -7.36408874e-02 -4.49337604e+01] [-1.35240903e-01 1.16005079e-02 9.90744834e-01 -1.32934066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.90577952299999 meters Centerline goodness : 0.989713 with order 1 Centerline is valid? [True, True] Translation: X:97.59, Y:-44.96, Z:-13.31 [[ 8.69950546e-01 4.79773722e-01 1.14031679e-01 9.75942826e+01] [-4.74195115e-01 8.77335479e-01 -7.36304933e-02 -4.49612440e+01] [-1.35370014e-01 9.98162248e-03 9.90744834e-01 -1.33115560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.965779523 meters Centerline goodness : 0.987906 with order 1 Centerline is valid? [True, True] Translation: X:97.65, Y:-44.98, Z:-13.32 [[ 8.67972680e-01 4.83338074e-01 1.14051450e-01 9.76509819e+01] [-4.77793804e-01 8.75383425e-01 -7.35998563e-02 -4.49798584e+01] [-1.35412362e-01 9.38958829e-03 9.90744835e-01 -1.33166875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.025779523 meters Centerline goodness : 0.988102 with order 1 Centerline is valid? [True, True] Translation: X:97.71, Y:-45.00, Z:-13.32 [[ 8.70254746e-01 4.79211733e-01 1.14073629e-01 9.77101316e+01] [-4.73636814e-01 8.77642462e-01 -7.35654644e-02 -4.49951127e+01] [-1.35369295e-01 9.99122418e-03 9.90744836e-01 -1.33157538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.085779523 meters Centerline goodness : 0.985726 with order 1 Centerline is valid? [True, True] Translation: X:97.76, Y:-45.03, Z:-13.33 [[ 8.65282998e-01 4.88129780e-01 1.14081772e-01 9.77575983e+01] [-4.82632733e-01 8.72728839e-01 -7.35528351e-02 -4.50251150e+01] [-1.35465782e-01 8.58442038e-03 9.90744836e-01 -1.33291851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.14577952299999 meters Centerline goodness : 0.985136 with order 1 Centerline is valid? [True, True] Translation: X:97.81, Y:-45.05, Z:-13.34 [[ 8.62562213e-01 4.92916685e-01 1.14103334e-01 9.78115726e+01] [-4.87465385e-01 8.70041609e-01 -7.35193714e-02 -4.50471073e+01] [-1.35513573e-01 7.79360629e-03 9.90744837e-01 -1.33356549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.20577952299999 meters Centerline goodness : 0.987145 with order 1 Centerline is valid? [True, True] Translation: X:97.87, Y:-45.06, Z:-13.34 [[ 8.62300039e-01 4.93370020e-01 1.14125659e-01 9.78692545e+01] [-4.87927219e-01 8.69785622e-01 -7.34846984e-02 -4.50642633e+01] [-1.35520005e-01 7.68084274e-03 9.90744837e-01 -1.33376017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.26577952299999 meters Centerline goodness : 0.986285 with order 1 Centerline is valid? [True, True] Translation: X:97.92, Y:-45.10, Z:-13.35 [[ 8.59110796e-01 4.98901211e-01 1.14132475e-01 9.79152910e+01] [-4.93508029e-01 8.66632206e-01 -7.34741107e-02 -4.50981469e+01] [-1.35567202e-01 6.79710886e-03 9.90744838e-01 -1.33465083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.325779523 meters Centerline goodness : 0.987113 with order 1 Centerline is valid? [True, True] Translation: X:97.97, Y:-45.13, Z:-13.35 [[ 8.58025851e-01 5.00760053e-01 1.14153445e-01 9.79659029e+01] [-4.95387489e-01 8.65562002e-01 -7.34415163e-02 -4.51258851e+01] [-1.35583462e-01 6.46453096e-03 9.90744838e-01 -1.33521599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.385779523 meters Centerline goodness : 0.985626 with order 1 Centerline is valid? [True, True] Translation: X:98.01, Y:-45.16, Z:-13.36 [[ 8.54511130e-01 5.06729561e-01 1.14174780e-01 9.80134462e+01] [-5.01414088e-01 8.62087657e-01 -7.34083332e-02 -4.51577183e+01] [-1.35626841e-01 5.47939431e-03 9.90744839e-01 -1.33614645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.445779523 meters Centerline goodness : 0.987103 with order 1 Centerline is valid? [True, True] Translation: X:98.06, Y:-45.19, Z:-13.37 [[ 8.56220819e-01 5.03830405e-01 1.14196464e-01 9.80605402e+01] [-4.98493772e-01 8.63782455e-01 -7.33745869e-02 -4.51910216e+01] [-1.35609249e-01 5.89862305e-03 9.90744840e-01 -1.33733862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.50577952299999 meters Centerline goodness : 0.984882 with order 1 Centerline is valid? [True, True] Translation: X:98.10, Y:-45.23, Z:-13.38 [[ 8.57410693e-01 5.01798582e-01 1.14215088e-01 9.81047428e+01] [-4.96447885e-01 8.64962382e-01 -7.33455839e-02 -4.52288498e+01] [-1.35596465e-01 6.18544881e-03 9.90744840e-01 -1.33805400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.56577952299999 meters Centerline goodness : 0.984951 with order 1 Centerline is valid? [True, True] Translation: X:98.15, Y:-45.26, Z:-13.39 [[ 8.58616907e-01 4.99726872e-01 1.14236861e-01 9.81521618e+01] [-4.94362455e-01 8.66158856e-01 -7.33116573e-02 -4.52625326e+01] [-1.35583074e-01 6.47221343e-03 9.90744841e-01 -1.33942369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.62577952299999 meters Centerline goodness : 0.983467 with order 1 Centerline is valid? [True, True] Translation: X:98.20, Y:-45.30, Z:-13.40 [[ 8.62565539e-01 4.92879302e-01 1.14239591e-01 9.81967490e+01] [-4.87455607e-01 8.70064972e-01 -7.33074023e-02 -4.52963564e+01] [-1.35527568e-01 7.54570956e-03 9.90744841e-01 -1.34034419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.685779523 meters Centerline goodness : 0.983889 with order 1 Centerline is valid? [True, True] Translation: X:98.25, Y:-45.33, Z:-13.40 [[ 8.68398747e-01 4.82525424e-01 1.14248988e-01 9.82477051e+01] [-4.77014319e-01 8.75834181e-01 -7.32927553e-02 -4.53290693e+01] [-1.35428786e-01 9.14893377e-03 9.90744841e-01 -1.34015246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.745779523 meters Centerline goodness : 0.982707 with order 1 Centerline is valid? [True, True] Translation: X:98.30, Y:-45.36, Z:-13.41 [[ 8.70220757e-01 4.79231017e-01 1.14251771e-01 9.82962223e+01] [-4.73692338e-01 8.77635674e-01 -7.32884165e-02 -4.53581214e+01] [-1.35393512e-01 9.65691267e-03 9.90744841e-01 -1.34134805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.805779523 meters Centerline goodness : 0.983674 with order 1 Centerline is valid? [True, True] Translation: X:98.35, Y:-45.38, Z:-13.42 [[ 8.70889794e-01 4.78011658e-01 1.14262074e-01 9.83476580e+01] [-4.72464691e-01 8.78298513e-01 -7.32723491e-02 -4.53843380e+01] [-1.35381247e-01 9.82734534e-03 9.90744842e-01 -1.34231156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.86577952299999 meters Centerline goodness : 0.983433 with order 1 Centerline is valid? [True, True] Translation: X:98.40, Y:-45.41, Z:-13.43 [[ 8.69794520e-01 4.79996448e-01 1.14284308e-01 9.83962759e+01] [-4.74470918e-01 8.77219239e-01 -7.32376554e-02 -4.54130851e+01] [-1.35406208e-01 9.47713089e-03 9.90744842e-01 -1.34289664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.92577952299999 meters Centerline goodness : 0.980679 with order 1 Centerline is valid? [True, True] Translation: X:98.45, Y:-45.44, Z:-13.44 [[ 8.71037060e-01 4.77735656e-01 1.14293846e-01 9.84491561e+01] [-4.72192799e-01 8.78448853e-01 -7.32227677e-02 -4.54376939e+01] [-1.35382424e-01 9.81101343e-03 9.90744843e-01 -1.34356713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.98577952299999 meters Centerline goodness : 0.982030 with order 1 Centerline is valid? [True, True] Translation: X:98.50, Y:-45.46, Z:-13.44 [[ 8.70741748e-01 4.78268532e-01 1.14315438e-01 9.85005285e+01] [-4.72734607e-01 8.78160211e-01 -7.31890421e-02 -4.54631525e+01] [-1.35391285e-01 9.68789080e-03 9.90744843e-01 -1.34446491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.045779523 meters Centerline goodness : 0.982249 with order 1 Centerline is valid? [True, True] Translation: X:98.55, Y:-45.49, Z:-13.48 [[ 8.66462630e-01 4.85976312e-01 1.14322068e-01 9.85477983e+01] [-4.80509792e-01 8.73930901e-01 -7.31786841e-02 -4.54947036e+01] [-1.35472695e-01 8.47372178e-03 9.90744843e-01 -1.34750197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.105779523 meters Centerline goodness : 0.983527 with order 1 Centerline is valid? [True, True] Translation: X:98.61, Y:-45.51, Z:-13.47 [[ 8.70542230e-01 4.78629679e-01 1.14323476e-01 9.86091980e+01] [-4.73100468e-01 8.77964207e-01 -7.31764845e-02 -4.55145318e+01] [-1.35396357e-01 9.61672989e-03 9.90744843e-01 -1.34653479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 1181.12 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%| | 0/3638 [00:00